Source Code
![]() |
These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
031784,000002: ## Copyright: Public domain.
031785,000003: ## Filename: P40-P47.agc
031786,000004: ## Purpose: A section of Luminary revision 116.
031787,000005: ## It is part of the source code for the Lunar Module's (LM)
031788,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
031789,000007: ## This file is intended to be a faithful transcription, except
031790,000008: ## that the code format has been changed to conform to the
031791,000009: ## requirements of the yaYUL assembler rather than the
031792,000010: ## original YUL assembler.
031793,000011: ## Reference: pp. 745-777
031794,000012: ## Assembler: yaYUL
031795,000013: ## Contact: Ron Burkey <info@sandroid.org>.
031796,000014: ## Website: www.ibiblio.org/apollo/index.html
031797,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
031798,000016: ## 2017-03-10 RSB Transcribed, and then proofed comment-text using
031799,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
031800,000018: ## (Admittedly, the former is more for detecting errors
031801,000019: ## in Luminary 99 than the other way around.)
031802,000020: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
031803,000021: ## side-by-side diff of Luminary 69/99/116/131/210.
031804,000022: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
031805,000023: ## 2017-08-26 MAS Fixed an incorrect label found while transcribing
031806,000024: ## Zerlina 56 (it was unreferenced so caused no errors).
031807,000025:
![]() |
Page 745 |
031809,000027: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
031810,000028: # MOD 03 BY PETER ADLER MARCH 3, 1967
031811,000029: # CALLED VIA JOB FROM V37E
031812,000030:
031813,000031: # FUNCTIONAL DESCRIPTION
031814,000032:
031815,000033: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031816,000034: # THRUSTING MANEUVER.
031817,000035: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031818,000036: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031819,000037: # PGNCS CONTROLLED DPS MANEUVER.
031820,000038: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031821,000039: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031822,000040:
031823,000041: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031824,000042: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031825,000043:
031826,000044: # SUBROUTINES USED
031827,000045:
031828,000046: # R02 IMU STATUS CHECK
031829,000047: # S40.1 COMPUTATION OF THRUST DIRECTION
031830,000048: # S40.13 LENGTH OF BURN
031831,000049: # S40.2,3 PREFERRED IMU ORIENATTION
031832,000050: # S40.8 X PRODUCT STEERING
031833,000051: # S40.9 LAMBERT VTOGAIN
031834,000052: # R60LEM ATTITUDE MANEUVER
031835,000053: # LEMPREC EXTRAPOLATE STATE VECTOR
031836,000054: # PREREAD AVERAGE G, SERVICER
031837,000055: # ALLCOAST DAP COASTING INITIALIZATION
031838,000056: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
031839,000057: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031840,000058: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031841,000059: # KILLTASK, SGNAGREE, TPAGREE, ETC.
031842,000060:
031843,000061: # RESTARTS VIA GROUP 4
031844,000062:
031845,000063: # DISPLAYS
031846,000064:
031847,000065: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
031848,000066: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031849,000067: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
031850,000068: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031851,000069: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
031852,000070: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031853,000071: # V05N09 POSSIBLE ALARMS
031854,000072: # V50N07 PLEASE SELECT P00
031855,000073:
![]() |
Page 746 |
031857,000075: # VIA R30
031858,000076:
031859,000077: # V06N44 HAPO, PERI, TFF
031860,000078: # V06N35 TIME TO PERIGEE, HMS
031861,000079:
031862,000080: # ALARM OR ABORT EXIT MODES
031863,000081:
031864,000082: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031865,000083: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
031866,000084:
031867,000085: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
031868,000086: # TIG BY 45 SECS.
031869,000087:
031870,000088: # ERASABLE INITIALIZATION
031871,000089:
031872,000090: # DEBRIS
031873,000091:
031874,000092: # OUTPUT
031875,000093:
031876,000094: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031877,000095: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
031878,000096: # = 0 FOR AIMPT (LAMBERT) COMP
031879,000097:
031880,000098: 27,2246 COUNT* $$/P40
031881,000099: 27,2246 E7,1455 EBANK= WHICH
031882,000100:
031883,000101: 36,3153 BANK 36
031884,000102: 36,2000 SETLOC P40S
031885,000103: 36,2000 BANK
031886,000104:
031887,000105: 36,3153 05353 P40LM TC PHASCHNG
031888,000106: 36,3154 04024 OCT 04024
031889,000107:
031890,000108: 36,3155 33137 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
031891,000109: 36,3156 55455 TS WHICH
031892,000110:
031893,000111: 36,3157 30106 CA FLGWRD10
031894,000112: 36,3160 74737 MASK APSFLBIT
031895,000113: 36,3161 10000 CCS A
031896,000114: 36,3162 13125 TCF P40ALM
031897,000115: 36,3163 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
031898,000116: 36,3164 11236 CADR R02BOTH
031899,000117:
031900,000118: 36,3165 40111 CS DAPBOOLS # INITIALIZE DVMON
031901,000119: 36,3166 74737 MASK CSMDOCKD
031902,000120: 36,3167 10000 CCS A
031903,000121: 36,3170 32022 CAF THRESH1
031904,000122: 36,3171 62023 AD THRESH3
031905,000123: 36,3172 55250 TS DVTHRUSH
031906,000124: 36,3173 34751 CAF FOUR
031907,000125: 36,3174 55515 TS DVCNTR
![]() |
Page 747 |
031909,000127: 36,3175 06042 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
031910,000128: 36,3176 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
031911,000129: 36,3177 34001 FDPS
031912,000130: 36,3200 02663 NOTHROTL
031913,000131: 36,3201 03735 STORE F
031914,000132: 36,3202 77735 SLOAD
031915,000133: 36,3203 26002 DPSVEX
031916,000134: 36,3204 70476 P40IN DCOMP SR1
031917,000135: 36,3205 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
031918,000136: 36,3206 56246 S40.1 # COMPUTES UT AND VGTIG
031919,000137: 36,3207 77624 CALL
031920,000138: 36,3210 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
031921,000139: 36,3211 77776 EXIT
031922,000140:
031923,000141: 36,3212 00004 INHINT
031924,000142: 36,3213 04674 TC IBNKCALL
031925,000143: 36,3214 40143 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031926,000144:
031927,000145: 36,3215 03217 TC P40SXT4
031928,000146:
031929,000147: # ***********************
031930,000148:
031931,000149: 36,3216 12130 TCF BURNBABY
031932,000150:
031933,000151: # ***********************
031934,000152:
031935,000153: 36,3217 00006 P40SXT4 EXTEND
031936,000154: 36,3220 23141 QXCH P40/RET
031937,000155: 36,3221 00003 P41MANU RELINT
031938,000156:
031939,000157: 36,3222 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031940,000158: 36,3223 00124 ADRES 3AXISFLG
031941,000159:
031942,000160: 36,3224 04616 TC BANKCALL
031943,000161: 36,3225 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
031944,000162: 36,3226 01141 TC P40/RET
031945,000163:
031946,000164: 36,3227 E7,1462 EBANK= TRKMKCNT
031947,000165: 36,3227 30005 POSTBURN CA Z
031948,000166: 36,3230 55162 TS DISPDEX
031949,000167: 36,3231 00006 EXTEND
031950,000168: 36,3232 32060 DCA ACADN85
031951,000169: 36,3233 53252 DXCH AVEGEXIT
031952,000170: 36,3234 33764 CAF V16N40
031953,000171: 36,3235 04616 TC BANKCALL
031954,000172: 36,3236 20636 CADR GOFLASHR
031955,000173: 36,3237 03262 TC TERM40
031956,000174: 36,3240 13245 TCF TIGNOW
031957,000175: 36,3241 03227 TC POSTBURN
![]() |
Page 748 |
031959,000177: 36,3242 05353 P40PHS1 TC PHASCHNG
031960,000178: 36,3243 00014 OCT 00014
031961,000179: 36,3244 15155 TCF ENDOFJOB
031962,000180:
031963,000181: 36,3245 00004 TIGNOW INHINT
031964,000182: 36,3246 04674 TC IBNKCALL
031965,000183: 36,3247 40154 CADR ZATTEROR
031966,000184: 36,3250 04674 TC IBNKCALL
031967,000185: 36,3251 40141 CADR SETMINDB
031968,000186: 36,3252 00003 RELINT
031969,000187: 36,3253 33765 CAF V16N85B
031970,000188: 36,3254 04616 TC BANKCALL
031971,000189: 36,3255 20463 CADR REFLASHR
031972,000190: 36,3256 03262 TC TERM40
031973,000191: 36,3257 13262 TCF TERM40
031974,000192: 36,3260 03253 TC -5
031975,000193:
031976,000194: 36,3261 13242 TCF P40PHS1
031977,000195:
031978,000196: 36,3262 00006 TERM40 EXTEND
031979,000197: 36,3263 32110 DCA SERVCADR
031980,000198: 36,3264 53252 DXCH AVEGEXIT
031981,000199: 36,3265 34755 CAF ZERO
031982,000200: 36,3266 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
031983,000201: 36,3267 30005 CA Z
031984,000202: 36,3270 55162 TS DISPDEX
031985,000203: 36,3271 00004 INHINT
031986,000204: 36,3272 04674 TC IBNKCALL
031987,000205: 36,3273 40115 CADR RESTORDB
031988,000206: 36,3274 00003 RELINT
031989,000207: 36,3275 06001 TC GOTOPOOH
031990,000208:
031991,000209: 36,3276 E7,1455 EBANK= WHICH
031992,000210: 36,3276 COUNT* $$/P41
031993,000211: 36,3276 33140 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
031994,000212: 36,3277 55455 TS WHICH
031995,000213:
031996,000214: 36,3300 04616 TC BANKCALL
031997,000215: 36,3301 11236 CADR R02BOTH
031998,000216:
031999,000217: 36,3302 06042 TC INTPRET # BOTH LM
032000,000218: 36,3303 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032001,000219: 36,3304 00700 NJETSFLG
032002,000220: 36,3305 75311 P41FJET1
032003,000221: 36,3306 34017 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032004,000222:
032005,000223: 36,3307 37735 P41FJET STCALL F
032006,000224: 36,3310 75314 P41IN
032007,000225: 36,3311 77745 P41FJET1 DLOAD
![]() |
Page 749 |
032009,000227: 36,3312 34021 FRCS2
032010,000228: 36,3313 03735 STORE F
032011,000229:
032012,000230: 36,3314 77624 P41IN CALL
032013,000231: 36,3315 56246 S40.1 # BOTH
032014,000232: 36,3316 77624 P41NORM CALL
032015,000233: 36,3317 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032016,000234: 36,3320 77776 EXIT # SET PFRATFLG.
032017,000235:
032018,000236: 36,3321 00004 INHINT
032019,000237: 36,3322 04674 TC IBNKCALL
032020,000238: 36,3323 40154 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032021,000239: 36,3324 04674 TC IBNKCALL
032022,000240: 36,3325 40141 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032023,000241: 36,3326 03217 TC P40SXT4
032024,000242:
032025,000243: 36,3327 06042 TC INTPRET
032026,000244: 36,3330 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032027,000245: 36,3331 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032028,000246: 36,3332 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032029,000247: 36,3333 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032030,000248: 36,3334 77776 EXIT
032031,000249:
032032,000250: 36,3335 33765 CAF V16N85B
032033,000251: 36,3336 04616 TC BANKCALL
032034,000252: 36,3337 20447 CADR GODSPRET
032035,000253:
032036,000254: 36,3340 35017 CAF PRIO5
032037,000255: 36,3341 55162 TS DISPDEX # FOR SAFETY ONLY
032038,000256: 36,3342 05105 TC FINDVAC
032039,000257: 36,3343 E7,1700 EBANK= VGPREV
032040,000258: 36,3343 03365 74067 2CADR DYNMDISP
032041,000259:
032042,000260: 36,3345 05327 TC 2PHSCHNG
032043,000261: 36,3346 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032044,000262: 36,3347 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032045,000263:
032046,000264: # ***********************
032047,000265:
032048,000266: 36,3350 12137 TCF B*RNB*B*
032049,000267:
032050,000268: # ***********************
032051,000269:
032052,000270: 36,3351 34777 BLNKWAIT CAF 1SEC
032053,000271: 36,3352 04616 TC BANKCALL
032054,000272: 36,3353 01736 CADR DELAYJOB
032055,000273:
032056,000274: 36,3354 31162 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032057,000275: 36,3355 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032058,000276:
032059,000277: # ***********************
![]() |
Page 750 |
032061,000279:
032062,000280: 36,3356 00006 EXTEND
032063,000281: 36,3357 13351 BZF BLNKWAIT
032064,000282:
032065,000283: 36,3360 33765 CAF V16N85B
032066,000284: 36,3361 04616 TC BANKCALL
032067,000285: 36,3362 20447 CADR GODSPRET
032068,000286:
032069,000287: 36,3363 35017 CAF PRIO5
032070,000288: 36,3364 05146 TC PRIOCHNG
032071,000289:
032072,000290: 36,3365 31162 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032073,000291: 36,3366 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032074,000292: 36,3367 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032075,000293: 36,3370 06042 TC INTPRET
032076,000294: 36,3371 45175 VLOAD CALL
032077,000295: 36,3372 03701 VGPREV
032078,000296: 36,3373 57267 S41.1
032079,000297: 36,3374 03502 STORE VGBODY
032080,000298: 36,3375 77776 EXIT
032081,000299: 36,3376 34777 CAF 1SEC
032082,000300: 36,3377 04616 TC BANKCALL
032083,000301: 36,3400 01736 CADR DELAYJOB
032084,000302: 36,3401 13365 TCF DYNMDISP
032085,000303:
032086,000304: 36,3402 06042 CALCN85 TC INTPRET
032087,000305: 36,3403 77624 CALL
032088,000306: 36,3404 75615 UPDATEVG
032089,000307: 36,3405 45175 VLOAD CALL
032090,000308: 36,3406 03701 VGPREV
032091,000309: 36,3407 57267 S41.1
032092,000310: 36,3410 03502 STORE VGBODY
032093,000311: 36,3411 77776 EXIT
032094,000312: 36,3412 04635 TC POSTJUMP
032095,000313: 36,3413 65761 CADR SERVEXIT
032096,000314:
032097,000315: 36,3414 COUNT* $$/P42
032098,000316: 36,3414 E7,1455 EBANK= WHICH
032099,000317:
032100,000318: 36,3414 05353 P42LM TC PHASCHNG
032101,000319: 36,3415 04024 OCT 04024
032102,000320:
032103,000321: 36,3416 33141 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032104,000322: 36,3417 55455 TS WHICH
032105,000323:
032106,000324: 36,3420 40106 CS FLGWRD10
032107,000325: 36,3421 74737 MASK APSFLBIT
032108,000326: 36,3422 10000 CCS A
032109,000327: 36,3423 03125 TC P40ALM
032110,000328: 36,3424 04616 P42STAGE TC BANKCALL
![]() |
Page 751 |
032112,000330: 36,3425 11236 CADR R02BOTH
032113,000331: 36,3426 36000 CAF THRESH2 # INITIALIZE DVMON
032114,000332: 36,3427 55250 TS DVTHRUSH
032115,000333: 36,3430 34751 CAF FOUR
032116,000334: 36,3431 55515 TS DVCNTR
032117,000335:
032118,000336: 36,3432 06042 TC INTPRET
032119,000337: 36,3433 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032120,000338: 36,3434 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032121,000339: 36,3435 34007 FAPS
032122,000340: 36,3436 03735 STORE F
032123,000341: 36,3437 52135 SLOAD GOTO
032124,000342: 36,3440 26001 APSVEX
032125,000343: 36,3441 75204 P40IN
032126,000344:
032127,000345: 36,3442 E7,1455 EBANK= WHICH
032128,000346:
032129,000347: 36,3442 COUNT* $$/P47
032130,000348: 36,3442 04616 P47LM TC BANKCALL
032131,000349: 36,3443 11236 CADR R02BOTH
032132,000350: 36,3444 06042 TC INTPRET
032133,000351: 36,3445 77624 CALRB
032134,000352: 36,3446 27551 MIDTOAV2
032135,000353:
032136,000354: 36,3447 30155 CA MPAC +1
032137,000355: 36,3450 05173 TC TWIDDLE
032138,000356: 36,3451 03453 ADRES STARTP47
032139,000357:
032140,000358: 36,3452 15155 TCF ENDOFJOB
032141,000359:
032142,000360: 36,3453 05353 STARTP47 TC PHASCHNG
032143,000361: 36,3454 05014 OCT 05014
032144,000362: 36,3455 77777 OCT 77777
032145,000363:
032146,000364: 36,3456 00006 EXTEND
032147,000365: 36,3457 33770 DCA ACADN83
032148,000366: 36,3460 53252 DXCH AVEGEXIT
032149,000367: 36,3461 34736 CAF PRIO20
032150,000368: 36,3462 05105 TC FINDVAC
032151,000369: 36,3463 E7,1622 EBANK= DELVIMU
032152,000370: 36,3463 03517 74067 2CADR P47BODY
032153,000371:
032154,000372: 36,3465 12344 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032155,000373: # SEE TIG-30 IN BURNBABY.
032156,000374:
032157,000375: 36,3466 06042 CALCN83 TC INTPRET
032158,000376: 36,3467 53375 VLOAD VAD
032159,000377: 36,3470 03502 DELVCTL
032160,000378: 36,3471 03527 DELVREF
032161,000379: 36,3472 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
![]() |
Page 752 |
032163,000381: 36,3473 77624 CALL
032164,000382: 36,3474 57267 S41.1
032165,000383: 36,3475 03623 STORE DELVIMU
032166,000384: 36,3476 77776 EXIT
032167,000385: 36,3477 05353 TC PHASCHNG
032168,000386: 36,3500 10035 OCT 10035 # REREADAC AND HERE
032169,000387:
032170,000388: 36,3501 06042 TC INTPRET
032171,000389: 36,3502 77775 VLOAD
032172,000390: 36,3503 03656 DELVSIN
032173,000391: 36,3504 03502 STORE DELVCTL
032174,000392: 36,3505 77776 EXIT
032175,000393:
032176,000394: 36,3506 04635 TC POSTJUMP
032177,000395: 36,3507 65761 CADR SERVEXIT
032178,000396:
032179,000397: 36,3510 33766 P47BOD CAF V1683
032180,000398: 36,3511 04616 TC BANKCALL
032181,000399: 36,3512 20636 CADR GOFLASHR
032182,000400: 36,3513 06001 TC GOTOPOOH
032183,000401: 36,3514 06001 TC GOTOPOOH
032184,000402:
032185,000403: 36,3515 13517 TCF P47BODY
032186,000404:
032187,000405: 36,3516 13242 TCF P40PHS1
032188,000406:
032189,000407: 36,3517 06042 P47BODY TC INTPRET
032190,000408: 36,3520 77775 VLOAD
032191,000409: 36,3521 06524 HI6ZEROS
032192,000410: 36,3522 03623 STORE DELVIMU
032193,000411: 36,3523 03502 STORE DELVCTL
032194,000412: 36,3524 77776 EXIT
032195,000413: 36,3525 03510 TC P47BOD
032196,000414:
032197,000415: 36,3526 COUNT* $$/P40
032198,000416: 36,3526 31517 IMPLBURN CA TGO +1
032199,000417: 36,3527 03741 TC GETDT
032200,000418: 36,3530 05173 TC TWIDDLE
032201,000419: 36,3531 03546 ADRES ENGOFTSK
032202,000420: 36,3532 05516 TC DOWNFLAG # TURN OFF IGNFLAG
032203,000421: 36,3533 00153 ADRES IGNFLAG
032204,000422: 36,3534 05516 TC DOWNFLAG # TURN OFF ASTNFLG
032205,000423: 36,3535 00154 ADRES ASTNFLAG
032206,000424: 36,3536 05516 TC DOWNFLAG # TURN OFF IMPULSW
032207,000425: 36,3537 00044 ADRES IMPULSW
032208,000426: 36,3540 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
032209,000427: 36,3541 40114 OCT 40114
032210,000428:
032211,000429: 36,3542 05221 TC FIXDELAY # WAIT HALF A SECOND
032212,000430: 36,3543 00062 DEC 50 B-14
![]() |
Page 753 |
032214,000432: 36,3544 02657 TC NOULLAGE # TURN OFF ULLAGE
032215,000433:
032216,000434: 36,3545 05261 TC TASKOVER
032217,000435:
032218,000436: 36,3546 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
032219,000437: 36,3547 75551 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
032220,000438: 36,3550 05261 TC TASKOVER
032221,000439:
032222,000440: 36,3551 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
032223,000441: 36,3552 05105 TC FINDVAC
032224,000442: 36,3553 E7,1462 EBANK= TRKMKCNT
032225,000443: 36,3553 03227 74067 2CADR POSTBURN
032226,000444:
032227,000445: 36,3555 34753 ENGINOF2 CAF BIT1
032228,000446: 36,3556 05203 TC WAITLIST
032229,000447: 36,3557 E6,1422 EBANK= OMEGAQ
032230,000448: 36,3557 03612 74066 2CADR COASTSET
032231,000449:
032232,000450: 36,3561 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
032233,000451: 36,3562 74745 MASK IDLEFBIT
032234,000452: 36,3563 26103 ADS FLAGWRD7
032235,000453:
032236,000454: 36,3564 02657 TC NOULLAGE
032237,000455:
032238,000456: 36,3565 00006 ENGINOF4 EXTEND
032239,000457: 36,3566 30025 DCA TIME2
032240,000458: 36,3567 53342 DXCH TEVENT
032241,000459:
032242,000460: 36,3570 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
032243,000461: 36,3571 70101 MASK FLAGWRD5
032244,000462: 36,3572 54101 TS FLAGWRD5
032245,000463: 36,3573 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
032246,000464: 36,3574 00006 EXTEND # SUBROUTINE.
032247,000465: 36,3575 02011 RAND DSALMOUT
032248,000466: 36,3576 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
032249,000467: 36,3577 00006 EXTEND
032250,000468: 36,3600 01011 WRITE DSALMOUT
032251,000469:
032252,000470: 36,3601 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
032253,000471: 36,3602 74736 MASK USEQRJTS
032254,000472: 36,3603 26111 ADS DAPBOOLS
032255,000473:
032256,000474: 36,3604 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032257,000475: 36,3605 54055 TS THRUST # IS TURNED OFF.
032258,000476: 36,3606 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
032259,000477: 36,3607 00006 EXTEND # ENGINE IS DISARMED.
032260,000478: 36,3610 05014 WOR CHAN14
032261,000479:
032262,000480: 36,3611 04707 TC ISWRETRN
![]() |
Page 754 |
032264,000482: 36,3612 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
032265,000483: 36,3613 40205 CADR ALLCOAST
032266,000484: 36,3614 05261 TC TASKOVER
032267,000485:
032268,000486: 36,3615 E6,1422 EBANK= OMEGAQ
032269,000487: 36,3615 45020 UPDATEVG STQ CALL
032270,000488: 36,3616 03665 QTEMP1
032271,000489: 36,3617 56447 S40.8 # X-PRODUCT STEERING
032272,000490: 36,3620 43014 BON BON
032273,000491: 36,3621 01307 XDELVFLG
032274,000492: 36,3622 03665 QTEMP1
032275,000493: 36,3623 03705 NORMSW
032276,000494: 36,3624 75637 180SETUP
032277,000495: 36,3625 45345 DLOAD DSU
032278,000496: 36,3626 01234 PIPTIME
032279,000497: 36,3627 03763 TIGSAVE
032280,000498: 36,3630 50025 DSU BMN
032281,000499: 36,3631 03432 TNEWA
032282,000500: 36,3632 75662 GETRANS
032283,000501: 36,3633 43345 DLOAD DAD
032284,000502: 36,3634 03763 TIGSAVE
032285,000503: 36,3635 03432 TNEWA
032286,000504: 36,3636 03765 STORE TIGSAVEP
032287,000505: 36,3637 77776 180SETUP EXIT
032288,000506: 36,3640 10754 CCS PHASE2
032289,000507: 36,3641 13667 TCF NO.9
032290,000508: 36,3642 34737 CAF PRIO10
032291,000509: 36,3643 00004 INHINT
032292,000510: 36,3644 05105 TC FINDVAC
032293,000511: 36,3645 E7,1706 EBANK= VG
032294,000512: 36,3645 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
032295,000513:
032296,000514: 36,3647 05327 TC 2PHSCHNG
032297,000515: 36,3650 00172 OCT 00172 # 2.17SPOT FOR S40.9
032298,000516: 36,3651 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
032299,000517:
032300,000518: 36,3652 06042 ENDSTEER TC INTPRET
032301,000519: 36,3653 77745 DLOAD
032302,000520: 36,3654 03765 TIGSAVEP
032303,000521: 36,3655 27763 STOVL TIGSAVE
032304,000522: 36,3656 01220 RN
032305,000523: 36,3657 26323 STOVL RINIT
032306,000524: 36,3660 01226 VN
032307,000525: 36,3661 02331 STORE VINIT
032308,000526: 36,3662 45345 GETRANS DLOAD DSU
032309,000527: 36,3663 03631 TPASS4
032310,000528: 36,3664 01234 PIPTIME
032311,000529: 36,3665 37452 STCALL DELLT4
032312,000530: 36,3666 03665 QTEMP1
032313,000531:
![]() |
Page 755 |
032315,000533: 36,3667 06042 NO.9 TC INTPRET
032316,000534: 36,3670 77650 GOTO
032317,000535: 36,3671 03665 QTEMP1
032318,000536: 36,3672 06042 STEERING TC INTPRET
032319,000537:
032320,000538: 36,3673 77624 CALL
032321,000539: 36,3674 75615 UPDATEVG
032322,000540: 36,3675 77776 EXIT
032323,000541:
032324,000542: 36,3676 E7,1515 EBANK= DVCNTR
032325,000543: 36,3676 00004 NSTEER INHINT
032326,000544: 36,3677 35016 CA EBANK7
032327,000545: 36,3700 54003 TS EBANK
032328,000546: 36,3701 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
032329,000547: 36,3702 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032330,000548: 36,3703 10000 CCS A # STEERING IS ALMOST DONE.
032331,000549:
032332,000550: 36,3704 13711 TCF +5 # IMPULSW = 0 EXIT
032333,000551: 36,3705 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
032334,000552: 36,3706 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
032335,000553: 36,3707 10000 CCS A
032336,000554: 36,3710 13713 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032337,000555: 36,3711 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032338,000556: 36,3712 65761 CADR SERVEXIT
032339,000557:
032340,000558: 36,3713 04674 TC IBNKCALL
032341,000559: 36,3714 40166 CADR STOPRATE
032342,000560:
032343,000561: 36,3715 05516 TC DOWNFLAG # TURN OFF IMPULSW
032344,000562: 36,3716 00044 ADRES IMPULSW
032345,000563:
032346,000564: 36,3717 05504 TC UPFLAG
032347,000565: 36,3720 00161 ADRES IDLEFLAG # TURN OFF DVMON
032348,000566:
032349,000567: 36,3721 00004 INHINT
032350,000568: 36,3722 00006 EXTEND
032351,000569: 36,3723 31442 DCA TIG
032352,000570: 36,3724 52155 DXCH MPAC
032353,000571: 36,3725 00006 EXTEND
032354,000572: 36,3726 40025 DCS TIME2
032355,000573: 36,3727 20155 DAS MPAC
032356,000574: 36,3730 07262 TC TPAGREE
032357,000575: 36,3731 30155 CAE MPAC +1
032358,000576: 36,3732 03741 TC GETDT
032359,000577: 36,3733 05173 TC TWIDDLE
032360,000578: 36,3734 03546 ADRES ENGOFTSK
032361,000579: 36,3735 05327 TC 2PHSCHNG
032362,000580: 36,3736 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
032363,000581: 36,3737 00035 OCT 00035 # SERVICER -- REREADAC
![]() |
Page 756 |
032365,000583: 36,3740 15155 TCF ENDOFJOB
032366,000584:
032367,000585: 36,3741 10000 GETDT CCS A
032368,000586: 36,3742 13745 TCF +3
032369,000587: 36,3743 13745 TCF +2
032370,000588: 36,3744 34755 CAF ZERO
032371,000589: 36,3745 64753 AD ONE
032372,000590: 36,3746 56001 XCH L
032373,000591: 36,3747 34755 CAF ZERO
032374,000592: 36,3750 53517 DXCH TGO
032375,000593: 36,3751 31517 CA TGO +1
032376,000594: 36,3752 00002 TC Q
032377,000595:
032378,000596: # ************************************************************************
032379,000597:
032380,000598: 36,3753 00000 SEC15DP OCT 00000 # DON'T SEPARATE
032381,000599: 36,3754 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
032382,000600: 36,3755 00000 05670 SEC30DP 2DEC 3000 B-28
032383,000601:
032384,000602: 36,3757 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
032385,000603: 36,3760 10624 SEC45 DEC 4500 B-14
032386,000604: 36,3761 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
032387,000605: 36,3762 00764 5SEC DEC 500 B-14
032388,000606: 36,3763 05050 26SECS DEC 2600 B-14
032389,000607: 36,3764 04050 V16N40 VN 1640
032390,000608: 36,3765 04125 V16N85B VN 1685
032391,000609: 36,3766 04123 V1683 VN 1683
032392,000610: 36,3767 4777 SEC01 = 1SEC
032393,000611: 36,3767 36,2057 ACADN85 = P41TABLE +2
032394,000612:
032395,000613: 36,3767 E7,1622 EBANK= DELVIMU
032396,000614: 36,3767 03466 74067 ACADN83 2CADR CALCN83
032397,000615:
032398,000616: # *************************************************
![]() |
Page 757 |
032400,000618: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
032401,000619: # MOD N02 LOG SECTION P40-P47
032402,000620: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
032403,000621:
032404,000622: # FUNCTIONAL DESCRIPTION
032405,000623: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032406,000624: # VECTOR(VGTIG).
032407,000625:
032408,000626: # CALLING SEQUENCE
032409,000627: # L CALL
032410,000628: # L+1 S40.1
032411,000629:
032412,000630: # NORMAL EXIT MODE
032413,000631: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032414,000632: # ERROR RETURN IF NOSOFLAG =1
032415,000633:
032416,000634: # SUBROUTINES CALLED
032417,000635: # LEMPREC
032418,000636: # INITVEL
032419,000637: # CALCGRAV
032420,000638: # MIDGIM
032421,000639:
032422,000640: # ALARM OR ABORT EXIT MODES
032423,000641: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032424,000642:
032425,000643: # ERASABLE INITIALIZATION REQUIRED
032426,000644: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
032427,000645: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
032428,000646: # F THRUST FOR ENGINE USED
032429,000647: # IF DELTA-V MANEUVER
032430,000648: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
032431,000649: # INERTIAL COORDS. OF ACTIVE VEHICLE
032432,000650: # AT TIME OF IGNITION VECTOR B7 M/CS
032433,000651: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
032434,000652: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
032435,000653: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
032436,000654: # IF AIMPT STEER
032437,000655: # TIG TIME OF IGNITION DP B28 CS
032438,000656: # RTARG POSITION TARGET TIME VECTOR B29 M
032439,000657: # CSTEER C FOR STEER LAW DP B2
032440,000658: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
032441,000659:
032442,000660: # OUTPUT
032443,000661: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
032444,000662: # VGTIG INITIAL VALUE OF VELOCITY
032445,000663: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
032446,000664: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
032447,000665: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032448,000666: # -GDT FOR S40.13 VECT B7 M/CS
032449,000667: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
032450,000668: # POSITION AT TIME OF IGNITION
032451,000669:
032452,000670: # DEBRIS QTEMP1
032453,000671: # MPAC, QPRET
032454,000672: # PUSHLIST
032455,000673:
032456,000674: 14,2347 BANK 14
032457,000675: 27,2000 SETLOC P40S1
032458,000676: 27,2000 BANK
![]() |
Page 758 |
032460,000678: 27,2246 COUNT* $$/S40.1
032461,000679: 27,2246 71220 S40.1 STQ DLOAD
032462,000680: 27,2247 03632 QTEMP
032463,000681: 27,2250 03442 TIG
032464,000682: 27,2251 03763 STORE TIGSAVE
032465,000683: 27,2252 77614 DELVTEST BOFF
032466,000684: 27,2253 01347 XDELVFLG
032467,000685: 27,2254 56336 S40.1B
032468,000686: 27,2255 77201 CALCTHET SETPD VLOAD
032469,000687: 27,2256 00001 0
032470,000688: 27,2257 03650 VTIG
032471,000689: 27,2260 02331 STORE VINIT
032472,000690: 27,2261 53435 VXV UNIT
032473,000691: 27,2262 03642 RTIG
032474,000692: 27,2263 27673 STOVL UT # UP IN UT
032475,000693: 27,2264 03642 RTIG
032476,000694: 27,2265 02323 STORE RINIT
032477,000695: 27,2266 65236 VSQ PDDL
032478,000696: 27,2267 00045 36D
032479,000697: 27,2270 56205 DMP DDV
032480,000698: 27,2271 16412 THETACON
032481,000699: 27,2272 41205 DMP DMP
032482,000700: 27,2273 03664 DELVSAB
032483,000701: 27,2274 01244 WEIGHT/G
032484,000702: 27,2275 77671 DDV
032485,000703: 27,2276 03735 F
032486,000704: 27,2277 24017 STOVL 14D
032487,000705: 27,2300 03656 DELVSIN
032488,000706:
032489,000707: 27,2301 74241 DOT VXSC
032490,000708: 27,2302 03673 UT
032491,000709: 27,2303 03673 UT
032492,000710: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032493,000711: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
032494,000712: 27,2306 03656 DELVSIN
032495,000713: 27,2307 00017 14D
032496,000714: 27,2310 63356 SIN PDVL
032497,000715: 27,2311 00007 6D
032498,000716: 27,2312 53435 VXV UNIT
032499,000717: 27,2313 03673 UT
032500,000718: 27,2314 45561 VXSC STADR
032501,000719: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032502,000720: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
032503,000721: 27,2317 00017 14D
032504,000722: 27,2320 74346 COS VXSC
032505,000723: 27,2321 74255 VAD VXSC
032506,000724: 27,2322 03701 VGTIG
032507,000725: 27,2323 00045 36D
032508,000726: 27,2324 53352 VSL2 VAD
032509,000727: 27,2325 77626 STADR
![]() |
Page 759 |
032511,000729: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
032512,000730:
032513,000731: 27,2327 77656 UNIT
032514,000732: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
032515,000733: 27,2331 03701 VGTIG
032516,000734: 27,2332 45006 PUSH CALL
032517,000735: 27,2333 15741 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032518,000736: 27,2334 77650 GOTO
032519,000737: 27,2335 03632 QTEMP
032520,000738: 27,2336 77745 S40.1B DLOAD
032521,000739: 27,2337 03442 TIG
032522,000740: 27,2340 00041 STORE TDEC1
032523,000741: 27,2341 77621 BDSU
032524,000742: 27,2342 03631 TPASS4
032525,000743: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
032526,000744: 27,2344 27060 LEMPREC
032527,000745: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
032528,000746: 27,2346 00001 RATT
032529,000747: 27,2347 00001 0
032530,000748: 27,2350 03642 STORE RTIG
032531,000749: 27,2351 02323 STORE RINIT
032532,000750: 27,2352 77656 UNIT
032533,000751: 27,2353 27537 STOVL UNIT/R/
032534,000752: 27,2354 00007 VATT
032535,000753: 27,2355 03650 STORE VTIG
032536,000754: 27,2356 02331 STORE VINIT
032537,000755: 27,2357 65345 DLOAD PDDL # NUMIT = 0
032538,000756: 27,2360 06524 ZEROVECS
032539,000757: 27,2361 16406 EPS1
032540,000758: 27,2362 43214 BOFF DAD
032541,000759: 27,2363 03745 NORMSW
032542,000760: 27,2364 56366 SMALLEPS
032543,000761: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
032544,000762: 27,2366 66006 SMALLEPS PUSH SXA,1
032545,000763: 27,2367 02776 RTX1
032546,000764: 27,2370 45134 SXA,2 CALL
032547,000765: 27,2371 02777 RTX2
032548,000766: 27,2372 22000 INITVEL
032549,000767: 27,2373 41575 VLOAD PUSH
032550,000768: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
032551,000769: 27,2375 03701 STORE VGTIG
032552,000770: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
032553,000771: 27,2377 17673 STODL UT
032554,000772: 27,2400 00045 36D
032555,000773: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032556,000774: 27,2402 15741 GET.LVC # VERTICAL COORDINATES.
032557,000775: 27,2403 77650 GOTO
032558,000776: 27,2404 03632 QTEMP
032559,000777:
032560,000778: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
032561,000779:
![]() |
Page 760 |
032563,000781: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
032564,000782:
032565,000783: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
032566,000784:
![]() |
Page 761 |
032568,000786: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
032569,000787: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032570,000788: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
032571,000789: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
032572,000790: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032573,000791:
032574,000792: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032575,000793: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032576,000794: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032577,000795: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
032578,000796: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032579,000797:
032580,000798: # CALLING SEQUENCE:
032581,000799: # L CALL INTERPRETIVE CALL.
032582,000800: # L +1 S40.2,3
032583,000801: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
032584,000802:
032585,000803: # SUBROUTINES CALLED: NONE.
032586,000804:
032587,000805: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
032588,000806:
032589,000807: # ALARM/ABORT MODES: NONE.
032590,000808:
032591,000809: # INPUT:
032592,000810: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032593,000811: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
032594,000812: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
032595,000813:
032596,000814: # OUTPUT:
032597,000815: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
032598,000816: # : YSCREF : IN REFERENCE COORDINATES
032599,000817: # : ZSCREF : (PREFERRED IMU ORIENTATION).
032600,000818: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032601,000819: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032602,000820: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032603,000821:
032604,000822: # DEBRIS: NONE.
![]() |
Page 762 |
032606,000824:
032607,000825: 27,2413 COUNT* $$/S40.2
032608,000826: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032609,000827: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
032610,000828: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
032611,000829: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
032612,000830: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032613,000831: 27,2420 06522 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
032614,000832: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032615,000833:
032616,000834: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032617,000835: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
032618,000836: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
032619,000837: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
032620,000838: 27,2426 46125 PDDL BHIZ
032621,000839: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
032622,000840: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
032623,000841: 27,2431 45575 STORY VLOAD STADR
032624,000842: 27,2432 74162 STORE YSCREF
032625,000843: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
032626,000844: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032627,000845: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
032628,000846: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
032629,000847:
032630,000848: 27,2437 43414 SET RVQ
032631,000849: 27,2440 01073 PFRATFLG
032632,000850: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
032633,000851: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
032634,000852: 27,2443 03650 VTIG
032635,000853: 27,2444 41456 UNIT PUSH
032636,000854: 27,2445 77650 GOTO
032637,000855: 27,2446 56431 STORY
![]() |
Page 763 |
032639,000857: # SUBROUTINE S40.8
032640,000858: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
032641,000859:
032642,000860: # DESCRIPTION
032643,000861: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032644,000862: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032645,000863: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032646,000864:
032647,000865: # CALLING SEQUENCE
032648,000866: # L-1 CALL
032649,000867: # L S40.8
032650,000868: # L+1 INTERPRETIVE RETURN
032651,000869:
032652,000870: # ALARM
032653,000871: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032654,000872: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
032655,000873:
032656,000874: # INPUT AND INITIALIZATION
032657,000875: # VGPREV REFERENCE 2(7) M/CS
032658,000876: # DELVREF REFERENCE 2(7) M/CS
032659,000877: # BDT REFERENCE 2(7) M/CS
032660,000878: # TDECAY TAIL-OFF TIME 2(28) CS
032661,000879: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032662,000880: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032663,000881: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032664,000882:
032665,000883: # NOTE: VGTIG EQUALS VGPREV
032666,000884:
032667,000885: # OUTPUT
032668,000886: # STEERSW SEE INPUT
032669,000887: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032670,000888: # TGO TIME TO CUT-OFF 2(28) CS
032671,000889: # SEE FINDCDUW FOR STEERING OUTPUTS.
032672,000890:
032673,000891: # SUBROUTINE CALLED
032674,000892: # FINDCDUW
032675,000893:
032676,000894: # DEBRIS
032677,000895: # MPACS, PUSHLIST
032678,000896:
032679,000897: 27,2447 COUNT* $$/S40.8
![]() |
Page 764 |
032681,000899: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032682,000900: 27,2450 01347 XDELVFLG
032683,000901: 27,2451 56731 RASTEER1
032684,000902: 27,2452 52375 VLOAD VSU
032685,000903: 27,2453 03701 VGPREV
032686,000904: 27,2454 03527 DELVREF
032687,000905: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
032688,000906: 27,2456 76521 MXV VSL1
032689,000907: 27,2457 01734 REFSMMAT
032690,000908: 27,2460 03254 STORE UNFC/2
032691,000909: 27,2461 51575 BDTOK VLOAD ABVAL
032692,000910: 27,2462 03707 VG
032693,000911: 27,2463 03664 STORE VGDISP
032694,000912: 27,2464 77201 TGDCALC SETPD VLOAD
032695,000913: 27,2465 00001 0
032696,000914: 27,2466 03707 VG
032697,000915: 27,2467 27701 STOVL VGPREV
032698,000916: 27,2470 03527 DELVREF
032699,000917: 27,2471 57414 BOFF VCOMP
032700,000918: 27,2472 01344 STEERSW
032701,000919: 27,2473 00052 QPRET
032702,000920: 27,2474 77656 UNIT
032703,000921: 27,2475 41441 DOT PUSH
032704,000922: 27,2476 03707 VG
032705,000923: 27,2477 56244 BPL DDV
032706,000924: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
032707,000925: 27,2501 03743 VEX
032708,000926: 27,2502 41215 DAD DMP
032709,000927: 27,2503 06522 DPHALF
032710,000928: 27,2504 56261 SR DDV
032711,000929: 27,2505 20613 10D
032712,000930: 27,2506 00045 36D
032713,000931: 27,2507 43205 DMP DAD
032714,000932: 27,2510 16535 -FOURDT
032715,000933: 27,2511 03741 TDECAY
032716,000934: 27,2512 03517 STORE TGO
032717,000935: 27,2513 77615 DAD
032718,000936: 27,2514 01234 PIPTIME
032719,000937: 27,2515 17442 STODL TIG
032720,000938: 27,2516 03517 TGO
032721,000939: 27,2517 51025 DSU BPL
032722,000940: 27,2520 16537 FOURSECS # 400 CS
032723,000941: 27,2521 61076 FINDCDUW -2
032724,000942: 27,2522 43014 SET CLRGO
032725,000943: 27,2523 01066 IMPULSW
032726,000944: 27,2524 01224 STEERSW
032727,000945: 27,2525 00052 QPRET
032728,000946:
032729,000947: 27,2526 77776 ALARMIT EXIT
032730,000948:
![]() |
Page 765 |
032732,000950: 27,2527 05567 TC ALARM
032733,000951: 27,2530 01407 OCT 01407
032734,000952: 27,2531 06042 TC INTPRET
032735,000953: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032736,000954: 27,2533 61076 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
032737,000955:
032738,000956: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
032739,000957: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
032740,000958: 27,2540 E7,1742 2VEXHUST = VEX
032741,000959:
![]() |
Page 766 |
032743,000961: # NAME S40.13 - TIMEBURN
032744,000962:
032745,000963: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032746,000964: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032747,000965: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032748,000966: # BURN
032749,000967: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032750,000968: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032751,000969: # SIGNAL
032752,000970:
032753,000971: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
032754,000972:
032755,000973: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032756,000974: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032757,000975: # F APS ENGINE THRUST IN M.NEWTONS AT +7
032758,000976: # AND ALSO FOR RCS ENGINE
032759,000977: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032760,000978: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
032761,000979: # REQUIRE MODIFICATION FOR SATURN BURNS.
032762,000980: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032763,000981: # =0 DPS
032764,000982: # =1 APS
032765,000983:
032766,000984: # OUTPUT IMPULSW ZERO FOR STEERING
032767,000985: # ONE FOR ATTITUDE HOLD
032768,000986: # NOTHROTL ZERO FOR THROTTLING
032769,000987: # ONE TO INHIBIT THROTTLING
032770,000988: # TGO TIME TO BURN IN CS
032771,000989:
032772,000990: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032773,000991: # FORCE
032774,000992:
032775,000993: 27,2540 E7,1516 EBANK= TGO
032776,000994: 27,2540 COUNT* $$/40.13
032777,000995: 27,2540 06042 S40.13 TC INTPRET
032778,000996: 27,2541 43001 SETPD CLEAR
032779,000997: 27,2542 00001 00D
032780,000998: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
032781,000999: 27,2544 51575 VLOAD ABVAL
032782,001000: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
032783,001001: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
032784,001002: 27,2547 21006 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032785,001003: 27,2550 34021 FRCS2
032786,001004: 27,2551 72471 DDV SL1 # SCALE
032787,001005: 27,2552 01244 WEIGHT/G
032788,001006: 27,2553 41421 BDSU PUSH
032789,001007: 27,2554 43014 BOFF SET
032790,001008: 27,2555 05342 APSFLAG
032791,001009: 27,2556 56626 S40.13D # FOR DPS ENGINE
032792,001010: 27,2557 02463 NOTHROTL
032793,001011: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
032794,001012: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
032795,001013: 27,2562 01244 WEIGHT/G
032796,001014: 27,2563 50021 BDSU BMN
![]() |
Page 767 |
032798,001016: 27,2564 00001 00D
032799,001017: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
032800,001018: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
032801,001019: 27,2567 03737 MDOT
032802,001020:
032803,001021: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032804,001022: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
032805,001023: # REQUIRE ADJUSTMENT
032806,001024:
032807,001025: 27,2570 16700 3.5SEC # 350 CS AT +14
032808,001026: 27,2571 65221 BDSU PDDL
032809,001027: 27,2572 01244 WEIGHT/G
032810,001028: 27,2573 03735 F
032811,001029: 27,2574 60405 DMP SR2 # SCALE
032812,001030: 27,2575 16702 5SECS
032813,001031: 27,2576 41471 DDV PUSH # 04D = TEMP2
032814,001032: 27,2577 51021 BDSU BPL
032815,001033: 27,2600 00003 02D
032816,001034: 27,2601 56626 S40.13D
032817,001035: 27,2602 55345 DLOAD BDDV
032818,001036: 27,2603 43205 DMP DAD
032819,001037: 27,2604 16702 5SECS
032820,001038: 27,2605 16676 1SEC2D # 100 CS AT +14
032821,001039: 27,2606 77650 GOTO
032822,001040: 27,2607 56616 S40.132
032823,001041: 27,2610 41345 S40.131 DLOAD DMP
032824,001042: 27,2611 01244 WEIGHT/G
032825,001043: 27,2612 41542 SR1 PUSH
032826,001044: 27,2613 56215 DAD DDV
032827,001045: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
032828,001046: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
032829,001047: 27,2616 77414 S40.132 SET EXIT
032830,001048: 27,2617 01066 IMPULSW
032831,001049: 27,2620 07262 S40.132* TC TPAGREE
032832,001050: 27,2621 30154 CA MPAC
032833,001051: 27,2622 56001 XCH L
032834,001052: 27,2623 34755 CA ZERO
032835,001053: 27,2624 53517 DXCH TGO
032836,001054: 27,2625 12650 TCF S40.134
032837,001055:
032838,001056: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
032839,001057: 27,2627 00001 00D
032840,001058: 27,2630 01244 WEIGHT/G
032841,001059: 27,2631 43006 PUSH BON
032842,001060: 27,2632 05302 APSFLAG
032843,001061: 27,2633 56671 APSTGO
032844,001062: 27,2634 43071 DDV CLEAR
032845,001063: 27,2635 16007 S40.136
032846,001064: 27,2636 02663 NOTHROTL
032847,001065: 27,2637 41400 BOV PUSH
![]() |
Page 768 |
032849,001067: 27,2640 56653 S40.130V
032850,001068: 27,2641 51025 S40.137 DSU BPL
032851,001069: 27,2642 16704 6SEC # 600.0 CS AT +14
032852,001070: 27,2643 56661 S40.138
032853,001071: 27,2644 52015 DAD GOTO
032854,001072: 27,2645 16704 6SEC
032855,001073: 27,2646 56616 S40.132
032856,001074: 27,2647 77776 S40.133 EXIT
032857,001075: 27,2650 05353 S40.134 TC PHASCHNG
032858,001076: 27,2651 00003 OCT 00003
032859,001077: 27,2652 05155 TC ENDOFJOB
032860,001078: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
032861,001079: 27,2654 77671 DDV
032862,001080: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
032863,001081: 27,2656 03517 STORE TGO
032864,001082: 27,2657 77776 EXIT
032865,001083: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
032866,001084:
032867,001085: 27,2661 51025 S40.138 DSU BPL
032868,001086: 27,2662 16706 89SECS
032869,001087: 27,2663 56666 STORETGO
032870,001088: 27,2664 77614 SET
032871,001089: 27,2665 02463 NOTHROTL
032872,001090: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
032873,001091: 27,2667 77776 EXIT
032874,001092: 27,2670 12620 TCF S40.132*
032875,001093:
032876,001094: 27,2671 62471 APSTGO DDV SL2
032877,001095: 27,2672 34007 FAPS
032878,001096: 27,2673 77650 GOTO
032879,001097: 27,2674 56667 STORETGO +1
032880,001098: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
032881,001099:
032882,001100: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
032883,001101:
032884,001102: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
032885,001103:
032886,001104: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
032887,001105:
032888,001106: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
032889,001107:
032890,001108: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032891,001109: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032892,001110: # COMPUTATION CYCLES (4 SECONDS).
032893,001111: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032894,001112: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032895,001113: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032896,001114:
032897,001115: # CALLING SEQ VIA FINDVAC AS NEW JOB.
032898,001116:
032899,001117: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032900,001118: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
![]() |
Page 769 |
032902,001120: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032903,001121: # METERS/CS AT +7.
032904,001122: # TIG - TIME OF IGNITION IN CS AT +28.
032905,001123: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032906,001124: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
032907,001125: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032908,001126: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032909,001127: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032910,001128: # METERS/CS AT +7.
032911,001129:
032912,001130: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032913,001131: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
032914,001132: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032915,001133: # BDT - B VECTOR IN METERS/CS AT +7.
032916,001134:
032917,001135: # SUBROUTINES USED - INITVEL
032918,001136:
032919,001137: 27,2707 E7,1700 EBANK= VGPREV
032920,001138: 27,2707 COUNT* $$/S40.9
032921,001139: 27,2707 06042 S40.9 TC INTPRET
032922,001140: 27,2710 77601 SETPD
032923,001141: 27,2711 00001 00D
032924,001142: 27,2712 71214 SET DLOAD
032925,001143: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
032926,001144: 27,2714 06524 HI6ZEROS
032927,001145: 27,2715 77725 PDDL
032928,001146: 27,2716 16406 EPS1
032929,001147: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
032930,001148: 27,2720 03745 NORMSW
032931,001149: 27,2721 56723 EPSSMALL
032932,001150: 27,2722 16410 EPS2
032933,001151: 27,2723 45006 EPSSMALL PUSH CALL
032934,001152: 27,2724 22002 HAVEGUES
032935,001153: 27,2725 77776 ENDS40.9 EXIT
032936,001154: 27,2726 05353 TC PHASCHNG
032937,001155: 27,2727 00002 OCT 2
032938,001156: 27,2730 15155 TCF ENDOFJOB
032939,001157:
032940,001158: 27,2731 51575 RASTEER1 VLOAD ABVAL
032941,001159: 27,2732 01220 RN
032942,001160: 27,2733 53744 LXC,2 SL*
032943,001161: 27,2734 02777 RTX2
032944,001162: 27,2735 57576 0,2
032945,001163: 27,2736 27715 STOVL RMAG
032946,001164: 27,2737 03444 RTARG
032947,001165: 27,2740 47051 VSU RTB
032948,001166: 27,2741 01220 RN
032949,001167: 27,2742 21725 NORMUNX1
032950,001168: 27,2743 17656 STODL IC
032951,001169: 27,2744 00045 36D # C(36D) = ABVAL(C)
032952,001170: 27,2745 53674 XAD,2 SL*
032953,001171: 27,2746 00046 X1
![]() |
Page 770 |
032955,001173: 27,2747 57576 0,2
032956,001174: 27,2750 00037 STORE 30D
032957,001175: 27,2751 41301 NORM DMP
032958,001176: 27,2752 00050 X2
032959,001177: 27,2753 03715 RMAG
032960,001178: 27,2754 57101 NORM XAD,2
032961,001179: 27,2755 00047 X1
032962,001180: 27,2756 00046 X1
032963,001181: 27,2757 77734 SXA,2
032964,001182: 27,2760 03766 MUSCALE
032965,001183: 27,2761 17725 STODL R1C # 2(+58 -X)
032966,001184: 27,2762 00037 30D
032967,001185: 27,2763 65342 SR1 PDDL
032968,001186: 27,2764 03715 RMAG
032969,001187: 27,2765 65342 SR1 PDDL
032970,001188: 27,2766 03723 RTMAG
032971,001189: 27,2767 43342 SR1 DAD
032972,001190: 27,2770 45415 DAD STADR
032973,001191: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
032974,001192: 27,2772 41225 DSU DMP
032975,001193: 27,2773 00037 30D
032976,001194: 27,2774 03721 MU/A
032977,001195: 27,2775 77621 BDSU
032978,001196: 27,2776 03717 MUASTEER
032979,001197: 27,2777 45325 PDDL DSU
032980,001198: 27,3000 03733 SS
032981,001199: 27,3001 03715 RMAG
032982,001200: 27,3002 70501 NORM SR1
032983,001201: 27,3003 00047 X1
032984,001202: 27,3004 41271 DDV DMP
032985,001203: 27,3005 03725 R1C
032986,001204: 27,3006 53664 XSU,2 SL*
032987,001205: 27,3007 00046 X1
032988,001206: 27,3010 57575 1,2
032989,001207: 27,3011 77754 LXA,2
032990,001208: 27,3012 03766 MUSCALE
032991,001209: 27,3013 75366 SQRT SIGN
032992,001210: 27,3014 02673 GEOMSGN
032993,001211: 27,3015 00041 STORE 32D # + OR - A
032994,001212: 27,3016 41345 DLOAD DMP
032995,001213: 27,3017 03733 SS
032996,001214: 27,3020 03721 MU/A
032997,001215: 27,3021 77621 BDSU
032998,001216: 27,3022 03717 MUASTEER
032999,001217: 27,3023 45325 PDDL DSU
033000,001218: 27,3024 03733 SS
033001,001219: 27,3025 03723 RTMAG
033002,001220: 27,3026 70501 NORM SR1
033003,001221: 27,3027 00047 X1
033004,001222: 27,3030 41271 DDV DMP
033005,001223:
![]() |
Page 771 |
033007,001225: 27,3031 03725 R1C
033008,001226: 27,3032 53664 XSU,2 SL*
033009,001227: 27,3033 00046 X1
033010,001228: 27,3034 57575 1,2
033011,001229: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033012,001230: 27,3036 03733 SS
033013,001231: 27,3037 56225 DSU DDV
033014,001232: 27,3040 00037 30D
033015,001233: 27,3041 03733 SS
033016,001234: 27,3042 41566 SQRT PUSH
033017,001235: 27,3043 67542 SR1 ASIN
033018,001236: 27,3044 65205 DMP PDDL
033019,001237: 27,3045 17216 2PI+3
033020,001238: 27,3046 56325 PDDL DDV
033021,001239: 27,3047 00037 30D
033022,001240: 27,3050 03733 SS
033023,001241: 27,3051 77600 BOV
033024,001242: 27,3052 57053 +1
033025,001243: 27,3053 41366 SQRT DMP
033026,001244: 27,3054 44242 SR3 BDSU
033027,001245: 27,3055 65365 SIGN PDDL
033028,001246: 27,3056 02673 GEOMSGN
033029,001247: 27,3057 17216 2PI+3
033030,001248: 27,3060 45302 SR2 DSU
033031,001249: 27,3061 65205 DMP PDDL
033032,001250: 27,3062 03733 SS
033033,001251: 27,3063 03733 SS
033034,001252: 27,3064 75442 SR3 SQRT
033035,001253: 27,3065 77605 DMP
033036,001254: 27,3066 52525 PDDL SL3
033037,001255: 27,3067 03717 MUASTEER
033038,001256: 27,3070 55366 SQRT BDDV
033039,001257: 27,3071 43225 DSU DAD
033040,001258: 27,3072 03631 TPASS4
033041,001259: 27,3073 01234 PIPTIME
033042,001260: 27,3074 14037 STODL 30D
033043,001261: 27,3075 77765 SIGN
033044,001262: 27,3076 00037 30D # B WITH SIGN
033045,001263: 27,3077 00037 STORE 30D
033046,001264: 27,3100 77214 BON VLOAD
033047,001265: 27,3101 03705 NORMSW
033048,001266: 27,3102 57123 180MESS
033049,001267: 27,3103 03656 IC
033050,001268: 27,3104 53451 VSU UNIT
033051,001269: 27,3105 03537 UNIT/R/
033052,001270: 27,3106 63361 VXSC PDVL
033053,001271: 27,3107 00037 30D
033054,001272: 27,3110 03656 IC
033055,001273: 27,3111 53455 VAD UNIT
033056,001274: 27,3112 03537 UNIT/R/
![]() |
Page 772 |
033058,001276: 27,3113 53361 GETVRVG1 VXSC VAD
033059,001277: 27,3114 00041 32D
033060,001278: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033061,001279: 27,3116 02777 RTX2
033062,001280: 27,3117 57177 0 -1,2
033063,001281: 27,3120 02337 STORE VIPRIME
033064,001282: 27,3121 77650 GOTO
033065,001283: 27,3122 57166 ASTREND -2
033066,001284: 27,3123 50375 180MESS VLOAD DOT
033067,001285: 27,3124 03656 IC
033068,001286: 27,3125 03537 UNIT/R/
033069,001287: 27,3126 77240 BMN VLOAD
033070,001288: 27,3127 57146 NEGPROD
033071,001289: 27,3130 03656 IC
033072,001290: 27,3131 63362 VSR1 PDVL
033073,001291: 27,3132 03537 UNIT/R/
033074,001292: 27,3133 53362 VSR1 VAD
033075,001293: 27,3134 77656 UNIT
033076,001294: 27,3135 57406 PUSH VCOMP # FOR A
033077,001295: 27,3136 75235 VXV SIGN
033078,001296: 27,3137 02674 UN
033079,001297: 27,3140 02673 GEOMSGN
033080,001298: 27,3141 74256 UNIT VXSC
033081,001299: 27,3142 00037 30D
033082,001300: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033083,001301: 27,3144 77650 GOTO
033084,001302: 27,3145 57113 GETVRVG1
033085,001303: 27,3146 74575 NEGPROD VLOAD VSR1
033086,001304: 27,3147 03537 UNIT/R/
033087,001305: 27,3150 74515 PDVL VSR1
033088,001306: 27,3151 03656 IC
033089,001307: 27,3152 53451 VSU UNIT
033090,001308: 27,3153 77606 PUSH
033091,001309: 27,3154 75235 VXV SIGN
033092,001310: 27,3155 02674 UN # FOR B
033093,001311: 27,3156 02673 GEOMSGN
033094,001312: 27,3157 74256 UNIT VXSC
033095,001313: 27,3160 00041 32D
033096,001314: 27,3161 77715 PDVL
033097,001315: 27,3162 53361 VXSC VAD
033098,001316: 27,3163 00037 30D
033099,001317: 27,3164 77650 GOTO
033100,001318: 27,3165 57115 GETVRVG2
033101,001319: 27,3166 77651 VSU
033102,001320: 27,3167 03553 VN1
033103,001321: 27,3170 02366 ASTREND STORE DELVEET3
033104,001322: 27,3171 53135 FIRSTTME SLOAD BZE
033105,001323: 27,3172 03000 RTX2
033106,001324: 27,3173 57177 GETGOBL
033107,001325: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
![]() |
Page 773 |
033109,001327: 27,3175 02366 DELVEET3
033110,001328: 27,3176 57212 NOGOBL
033111,001329: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033112,001330: 27,3200 01220 RN
033113,001331: 27,3201 45345 DLOAD DSU
033114,001332: 27,3202 01234 PIPTIME # 2
033115,001333: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033116,001334: 27,3204 56205 DMP DDV # OBL
033117,001335: 27,3205 16023 EARTHMU
033118,001336: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033119,001337: 27,3207 53361 VXSC VAD
033120,001338: 27,3210 03521 UNITGOBL
033121,001339: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033122,001340: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033123,001341: 27,3213 77650 GOTO
033124,001342: 27,3214 56455 VGAIN*
033125,001343:
033126,001344: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033127,001345:
![]() |
Page 774 |
033129,001347: # TRIMGIMB (FORMERLY S40.6)
033130,001348: # MOD 0 24 FEB 67 PETER ADLER
033131,001349:
033132,001350: # FUNCTION:
033133,001351: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033134,001352: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033135,001353: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033136,001354:
033137,001355: # CALLING SEQUENCE:
033138,001356: # VIA WAITLIST FROM R03
033139,001357:
033140,001358: # INPUT:
033141,001359: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033142,001360: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033143,001361:
033144,001362: # SUBROUTINES USED:
033145,001363: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033146,001364:
033147,001365: 27,3217 COUNT* $$/S40.6
033148,001366: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033149,001367:
033150,001368: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033151,001369: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033152,001370:
033153,001371: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033154,001372: 27,3222 00006 EXTEND
033155,001373: 27,3223 03012 WAND CHAN12
033156,001374: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033157,001375: 27,3225 00006 EXTEND
033158,001376: 27,3226 05012 WOR CHAN12
033159,001377: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033160,001378: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033161,001379: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033162,001380: 27,3232 00006 EXTEND
033163,001381: 27,3233 03012 WAND CHAN12
033164,001382: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
033165,001383: 27,3235 00006 EXTEND
033166,001384: 27,3236 05012 WOR CHAN12
033167,001385: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
033168,001386: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
033169,001387: 27,3241 03260 ADRES PITCHOFF
033170,001388:
033171,001389: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
033172,001390: 27,3243 05224 TC VARDELAY # UNTIL THEN
033173,001391: 27,3244 44740 CS BIT12
033174,001392: 27,3245 00006 EXTEND
033175,001393: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
033176,001394: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
033177,001395: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
033178,001396: 27,3251 00006 EXTEND
033179,001397: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
033180,001398: 27,3253 34737 CAF PRIO10 # RETURN TO R03
033181,001399: 27,3254 05072 TC NOVAC
033182,001400: 27,3255 E7,1471 EBANK= WHOCARES
![]() |
Page 775 |
033184,001402: 27,3255 02325 02067 2CADR TRIMDONE
033185,001403:
033186,001404: 27,3257 05261 TC TASKOVER
033187,001405: 27,3260 44742 PITCHOFF CS BIT10
033188,001406: 27,3261 00006 EXTEND
033189,001407: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
033190,001408: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
033191,001409: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033192,001410: 27,3265 00137 ADRES GMBDRVSW
033193,001411: 27,3266 05261 TC TASKOVER
033194,001412:
![]() |
Page 776 |
033196,001414: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
033197,001415: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033198,001416:
033199,001417: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033200,001418:
033201,001419: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033202,001420: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033203,001421: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
033204,001422: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
033205,001423: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033206,001424: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033207,001425: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033208,001426: # CALLER WITH C(MPAC) = VELOCITY(LM).
033209,001427:
033210,001428: # CALLING SEQUENCE:
033211,001429: # L VLOAD CALL
033212,001430: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033213,001431: # L +2 S41.1
033214,001432: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033215,001433:
033216,001434: # SUBROUTINES CALLED:
033217,001435: # 1. CDUTRIG,
033218,001436: # WHICH CALLS CDULOGIC.
033219,001437: # 2. *SMNB*
033220,001438:
033221,001439: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033222,001440:
033223,001441: # ALARM/ABORT MODES: NONE.
033224,001442:
033225,001443: # RESTART PROTECTION: NONE.
033226,001444:
![]() |
Page 777 |
033228,001446: # INPUT:
033229,001447: # 1. REFSMMAT.
033230,001448: # 2. CDUX, CDUY, CDUZ.
033231,001449: # 3. VELOCITY (REF) IN MPAC.
033232,001450:
033233,001451: # OUTPUT:
033234,001452: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033235,001453: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
033236,001454: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
033237,001455: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033238,001456:
033239,001457: # DEBRIS: NONE.
033240,001458:
033241,001459: # CHECKOUT STATUS: CODED.
033242,001460:
033243,001461: 27,3267 COUNT* $$/S41.1
033244,001462: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033245,001463: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033246,001464: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
033247,001465: 27,3272 47650 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
033248,001466: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc