Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
032604,000002: ## Copyright: Public domain.
032605,000003: ## Filename: P40-P47.agc
032606,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
032607,000005: ## It is part of the source code for the Lunar Module's (LM)
032608,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
032609,000007: ## Assembler: yaYUL
032610,000008: ## Contact: Ron Burkey <info@sandroid.org>.
032611,000009: ## Website: www.ibiblio.org/apollo.
032612,000010: ## Pages: 752-784
032613,000011: ## Mod history: 2009-05-19 RSB Adapted from the corresponding
032614,000012: ## Luminary131 file, using page
032615,000013: ## images from Luminary 1A.
032616,000014: ## 2011-01-06 JL Fixed interpretive indentation.
032617,000015: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
032618,000016: ## 2016-12-15 RSB Proofed text comments with octopus/ProoferComments
032619,000017: ## and corrected the errors found.
032620,000018: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
032621,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
032622,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
032623,000021: ## 2017-08-16 RSB Fixed comment typo identified in AP11ROPE.
032624,000022: ## 2017-08-26 MAS Fixed an incorrect label found while transcribing
032625,000023: ## Zerlina 56 (it was unreferenced so caused no errors).
032626,000024:
032627,000025: ## This source code has been transcribed or otherwise adapted from
032628,000026: ## digitized images of a hardcopy from the MIT Museum. The digitization
032629,000027: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
032630,000028: ## the Museum. Many thanks to both. The images (with suitable reduction
032631,000029: ## in storage size and consequent reduction in image quality as well) are
032632,000030: ## available online at www.ibiblio.org/apollo. If for some reason you
032633,000031: ## find that the images are illegible, contact me at info@sandroid.org
032634,000032: ## about getting access to the (much) higher-quality images which Paul
032635,000033: ## actually created.
032636,000034: ##
032637,000035: ## Notations on the hardcopy document read, in part:
032638,000036: ##
032639,000037: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
032640,000038: ## 16:27 JULY 14, 1969
032641,000039:
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Page 752 |
032643,000041: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
032644,000042: # MOD 03 BY PETER ADLER MARCH 3, 1967
032645,000043: # CALLED VIA JOB FROM V37E
032646,000044:
032647,000045: # FUNCTIONAL DESCRIPTION
032648,000046:
032649,000047: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032650,000048: # THRUSTING MANEUVER.
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There is no item #2 in the original program listing — RSB 2009. |
032652,000050: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032653,000051: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032654,000052: # PGNCS CONTROLLED DPS MANEUVER.
032655,000053: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032656,000054: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032657,000055:
032658,000056: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032659,000057: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032660,000058:
032661,000059: # SUBROUTINES USED
032662,000060:
032663,000061: # R02 IMU STATUS CHECK
032664,000062: # S40.1 COMPUTATION OF THRUST DIRECTION
032665,000063: # S40.13 LENGTH OF BURN
032666,000064: # S40.2,3 PREFERRED IMU ORIENATTION
032667,000065: # S40.8 X PRODUCT STEERING
032668,000066: # S40.9 LAMBERT VTOGAIN
032669,000067: # R60LEM ATTITUDE MANEUVER
032670,000068: # LEMPREC EXTRAPOLATE STATE VECTOR
032671,000069: # PREREAD AVERAGE G, SERVICER
032672,000070: # ALLCOAST DAP COASTING INITIALIZATION
032673,000071: # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN
032674,000072: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032675,000073: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032676,000074: # KILLTASK, SGNAGREE, TPAGREE, ETC.
032677,000075:
032678,000076: # RESTARTS VIA GROUP 4
032679,000077:
032680,000078: # DISPLAYS
032681,000079:
032682,000080: # V50N25 203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
032683,000081: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032684,000082: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
032685,000083: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
032686,000084: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
032687,000085: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032688,000086: # V05N09 POSSIBLE ALARMS
032689,000087: # V50N07 PLEASE SELECT P00
032690,000088:
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Page 753 |
032692,000090: # VIA R30
032693,000091:
032694,000092: # V06N44 HAPO, PERI, TFF
032695,000093: # V06N35 TIME TO PERIGEE, HMS
032696,000094:
032697,000095: # ALARM OR ABORT EXIT MODES
032698,000096:
032699,000097: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032700,000098: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032701,000099:
032702,000100: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
032703,000101: # TIG BY 45 SECS.
032704,000102:
032705,000103: # ERASABLE INITIALIZATION
032706,000104:
032707,000105: # DEBRIS
032708,000106:
032709,000107: # OUTPUT
032710,000108:
032711,000109: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032712,000110: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
032713,000111: # = 0 FOR AIMPT (LAMBERT) COMP
032714,000112:
032715,000113: 27,2246 COUNT* $$/P40
032716,000114: 27,2246 E7,1455 EBANK= WHICH
032717,000115:
032718,000116: 36,3147 BANK 36
032719,000117: 36,2000 SETLOC P40S
032720,000118: 36,2000 BANK
032721,000119:
032722,000120: 36,3147 05353 P40LM TC PHASCHNG
032723,000121: 36,3150 04024 OCT 04024
032724,000122:
032725,000123: 36,3151 33133 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
032726,000124: 36,3152 55455 TS WHICH
032727,000125:
032728,000126: 36,3153 30106 CA FLGWRD10
032729,000127: 36,3154 74737 MASK APSFLBIT
032730,000128: 36,3155 10000 CCS A
032731,000129: 36,3156 13121 TCF P40ALM
032732,000130: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
032733,000131: 36,3160 11254 CADR R02BOTH
032734,000132:
032735,000133: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
032736,000134: 36,3162 74737 MASK CSMDOCKD
032737,000135: 36,3163 10000 CCS A
032738,000136: 36,3164 32020 CAF THRESH1
032739,000137: 36,3165 62021 AD THRESH3
032740,000138: 36,3166 55251 TS DVTHRUSH
032741,000139: 36,3167 34751 CAF FOUR
032742,000140: 36,3170 55515 TS DVCNTR
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Page 754 |
032744,000142: 36,3171 06037 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
032745,000143: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
032746,000144: 36,3173 34001 FDPS
032747,000145: 36,3174 02663 NOTHROTL
032748,000146: 36,3175 03735 STORE F
032749,000147: 36,3176 77735 SLOAD
032750,000148: 36,3177 26002 DPSVEX
032751,000149: 36,3200 70476 P40IN DCOMP SR1
032752,000150: 36,3201 37743 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
032753,000151: 36,3202 56246 S40.1 # COMPUTES UT AND VGTIG
032754,000152: 36,3203 77624 CALL
032755,000153: 36,3204 56413 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
032756,000154: 36,3205 77776 EXIT
032757,000155:
032758,000156: 36,3206 00004 INHINT
032759,000157: 36,3207 04674 TC IBNKCALL
032760,000158: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032761,000159:
032762,000160: 36,3211 03213 TC P40SXT4
032763,000161:
032764,000162: # ***********************
032765,000163:
032766,000164: 36,3212 12126 TCF BURNBABY
032767,000165:
032768,000166: # ***********************
032769,000167:
032770,000168: 36,3213 00006 P40SXT4 EXTEND
032771,000169: 36,3214 23142 QXCH P40/RET
032772,000170: 36,3215 00003 P41MANU RELINT
032773,000171:
032774,000172: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032775,000173: 36,3217 00124 ADRES 3AXISFLG
032776,000174:
032777,000175: 36,3220 04616 TC BANKCALL
032778,000176: 36,3221 54123 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
032779,000177: 36,3222 01142 TC P40/RET
032780,000178:
032781,000179: 36,3223 E7,1462 EBANK= TRKMKCNT
032782,000180: 36,3223 30005 POSTBURN CA Z
032783,000181: 36,3224 55163 TS DISPDEX
032784,000182: 36,3225 00006 EXTEND
032785,000183: 36,3226 32056 DCA ACADN85
032786,000184: 36,3227 53253 DXCH AVEGEXIT
032787,000185: 36,3230 33760 CAF V16N40
032788,000186: 36,3231 04616 TC BANKCALL
032789,000187: 36,3232 20635 CADR GOFLASHR
032790,000188: 36,3233 03256 TC TERM40
032791,000189: 36,3234 13241 TCF TIGNOW
032792,000190: 36,3235 03223 TC POSTBURN
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Page 755 |
032794,000192: 36,3236 05353 P40PHS1 TC PHASCHNG
032795,000193: 36,3237 00014 OCT 00014
032796,000194: 36,3240 15155 TCF ENDOFJOB
032797,000195:
032798,000196: 36,3241 00004 TIGNOW INHINT
032799,000197: 36,3242 04674 TC IBNKCALL
032800,000198: 36,3243 40153 CADR ZATTEROR
032801,000199: 36,3244 04674 TC IBNKCALL
032802,000200: 36,3245 40140 CADR SETMINDB
032803,000201: 36,3246 00003 RELINT
032804,000202: 36,3247 33761 CAF V16N85B
032805,000203: 36,3250 04616 TC BANKCALL
032806,000204: 36,3251 20462 CADR REFLASHR
032807,000205: 36,3252 03256 TC TERM40
032808,000206: 36,3253 13256 TCF TERM40
032809,000207: 36,3254 03247 TC -5
032810,000208:
032811,000209: 36,3255 13236 TCF P40PHS1
032812,000210:
032813,000211: 36,3256 00006 TERM40 EXTEND
032814,000212: 36,3257 32106 DCA SERVCADR
032815,000213: 36,3260 53253 DXCH AVEGEXIT
032816,000214: 36,3261 34755 CAF ZERO
032817,000215: 36,3262 55462 TS TRKMKCNT # ZERO RENDZVS CNTERS
032818,000216: 36,3263 30005 CA Z
032819,000217: 36,3264 55163 TS DISPDEX
032820,000218: 36,3265 00004 INHINT
032821,000219: 36,3266 04674 TC IBNKCALL
032822,000220: 36,3267 40123 CADR RESTORDB
032823,000221: 36,3270 00003 RELINT
032824,000222: 36,3271 06001 TC GOTOPOOH
032825,000223:
032826,000224: 36,3272 E7,1455 EBANK= WHICH
032827,000225: 36,3272 COUNT* $$/P41
032828,000226: 36,3272 33134 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
032829,000227: 36,3273 55455 TS WHICH
032830,000228:
032831,000229: 36,3274 04616 TC BANKCALL
032832,000230: 36,3275 11254 CADR R02BOTH
032833,000231:
032834,000232: 36,3276 06037 TC INTPRET # BOTH LM
032835,000233: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD 2 JET F
032836,000234: 36,3300 00700 NJETSFLG
032837,000235: 36,3301 75305 P41FJET1
032838,000236: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032839,000237:
032840,000238: 36,3303 37735 P41FJET STCALL F
032841,000239: 36,3304 75310 P41IN
032842,000240: 36,3305 77745 P41FJET1 DLOAD
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Page 756 |
032844,000242: 36,3306 34017 FRCS2
032845,000243: 36,3307 03735 STORE F
032846,000244:
032847,000245: 36,3310 77624 P41IN CALL
032848,000246: 36,3311 56246 S40.1 # BOTH
032849,000247: 36,3312 77624 P41NORM CALL
032850,000248: 36,3313 56413 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
032851,000249: 36,3314 77776 EXIT # SET PFRATFLG.
032852,000250:
032853,000251: 36,3315 00004 INHINT
032854,000252: 36,3316 04674 TC IBNKCALL
032855,000253: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
032856,000254: 36,3320 04674 TC IBNKCALL
032857,000255: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
032858,000256: 36,3322 03213 TC P40SXT4
032859,000257:
032860,000258: 36,3323 06037 TC INTPRET
032861,000259: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032862,000260: 36,3325 03701 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
032863,000261: 36,3326 57267 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
032864,000262: 36,3327 03502 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
032865,000263: 36,3330 77776 EXIT
032866,000264:
032867,000265: 36,3331 33761 CAF V16N85B
032868,000266: 36,3332 04616 TC BANKCALL
032869,000267: 36,3333 20446 CADR GODSPRET
032870,000268:
032871,000269: 36,3334 35017 CAF PRIO5
032872,000270: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
032873,000271: 36,3336 05105 TC FINDVAC
032874,000272: 36,3337 E7,1700 EBANK= VGPREV
032875,000273: 36,3337 03361 74067 2CADR DYNMDISP
032876,000274:
032877,000275: 36,3341 05327 TC 2PHSCHNG
032878,000276: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
032879,000277: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
032880,000278:
032881,000279: # ***********************
032882,000280:
032883,000281: 36,3344 12135 TCF B*RNB*B*
032884,000282:
032885,000283: # ***********************
032886,000284:
032887,000285: 36,3345 34777 BLNKWAIT CAF 1SEC
032888,000286: 36,3346 04616 TC BANKCALL
032889,000287: 36,3347 01735 CADR DELAYJOB
032890,000288:
032891,000289: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
032892,000290: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
032893,000291:
032894,000292: # ***********************
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Page 757 |
032896,000294:
032897,000295: 36,3352 00006 EXTEND
032898,000296: 36,3353 13345 BZF BLNKWAIT
032899,000297:
032900,000298: 36,3354 33761 CAF V16N85B
032901,000299: 36,3355 04616 TC BANKCALL
032902,000300: 36,3356 20446 CADR GODSPRET
032903,000301:
032904,000302: 36,3357 35017 CAF PRIO5
032905,000303: 36,3360 05146 TC PRIOCHNG
032906,000304:
032907,000305: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
032908,000306: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
032909,000307: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
032910,000308: 36,3364 06037 TC INTPRET
032911,000309: 36,3365 45175 VLOAD CALL
032912,000310: 36,3366 03701 VGPREV
032913,000311: 36,3367 57267 S41.1
032914,000312: 36,3370 03502 STORE VGBODY
032915,000313: 36,3371 77776 EXIT
032916,000314: 36,3372 34777 CAF 1SEC
032917,000315: 36,3373 04616 TC BANKCALL
032918,000316: 36,3374 01735 CADR DELAYJOB
032919,000317: 36,3375 13361 TCF DYNMDISP
032920,000318:
032921,000319: 36,3376 06037 CALCN85 TC INTPRET
032922,000320: 36,3377 77624 CALL
032923,000321: 36,3400 75611 UPDATEVG
032924,000322: 36,3401 45175 VLOAD CALL
032925,000323: 36,3402 03701 VGPREV
032926,000324: 36,3403 57267 S41.1
032927,000325: 36,3404 03502 STORE VGBODY
032928,000326: 36,3405 77776 EXIT
032929,000327: 36,3406 04635 TC POSTJUMP
032930,000328: 36,3407 65770 CADR SERVEXIT
032931,000329:
032932,000330: 36,3410 COUNT* $$/P42
032933,000331: 36,3410 E7,1455 EBANK= WHICH
032934,000332:
032935,000333: 36,3410 05353 P42LM TC PHASCHNG
032936,000334: 36,3411 04024 OCT 04024
032937,000335:
032938,000336: 36,3412 33135 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
032939,000337: 36,3413 55455 TS WHICH
032940,000338:
032941,000339: 36,3414 40106 CS FLGWRD10
032942,000340: 36,3415 74737 MASK APSFLBIT
032943,000341: 36,3416 10000 CCS A
032944,000342: 36,3417 03121 TC P40ALM
032945,000343: 36,3420 04616 P42STAGE TC BANKCALL
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Page 758 |
032947,000345: 36,3421 11254 CADR R02BOTH
032948,000346: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
032949,000347: 36,3423 55251 TS DVTHRUSH
032950,000348: 36,3424 34751 CAF FOUR
032951,000349: 36,3425 55515 TS DVCNTR
032952,000350:
032953,000351: 36,3426 06037 TC INTPRET
032954,000352: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032955,000353: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
032956,000354: 36,3431 34007 FAPS
032957,000355: 36,3432 03735 STORE F
032958,000356: 36,3433 52135 SLOAD GOTO
032959,000357: 36,3434 26001 APSVEX
032960,000358: 36,3435 75200 P40IN
032961,000359:
032962,000360: 36,3436 E7,1455 EBANK= WHICH
032963,000361:
032964,000362: 36,3436 COUNT* $$/P47
032965,000363: 36,3436 04616 P47LM TC BANKCALL
032966,000364: 36,3437 11254 CADR R02BOTH
032967,000365: 36,3440 06037 TC INTPRET
032968,000366: 36,3441 77624 CALRB
032969,000367: 36,3442 27553 MIDTOAV2
032970,000368:
032971,000369: 36,3443 30155 CA MPAC +1
032972,000370: 36,3444 05173 TC TWIDDLE
032973,000371: 36,3445 03447 ADRES STARTP47
032974,000372:
032975,000373: 36,3446 15155 TCF ENDOFJOB
032976,000374:
032977,000375: 36,3447 05353 STARTP47 TC PHASCHNG
032978,000376: 36,3450 05014 OCT 05014
032979,000377: 36,3451 77777 OCT 77777
032980,000378:
032981,000379: 36,3452 00006 EXTEND
032982,000380: 36,3453 33764 DCA ACADN83
032983,000381: 36,3454 53253 DXCH AVEGEXIT
032984,000382: 36,3455 34736 CAF PRIO20
032985,000383: 36,3456 05105 TC FINDVAC
032986,000384: 36,3457 E7,1622 EBANK= DELVIMU
032987,000385: 36,3457 03513 74067 2CADR P47BODY
032988,000386:
032989,000387: 36,3461 12342 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
032990,000388: # SEE TIG-30 IN BURNBABY.
032991,000389:
032992,000390: 36,3462 06037 CALCN83 TC INTPRET
032993,000391: 36,3463 53375 VLOAD VAD
032994,000392: 36,3464 03502 DELVCTL
032995,000393: 36,3465 03527 DELVREF
032996,000394: 36,3466 03656 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
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Page 759 |
032998,000396: 36,3467 77624 CALL
032999,000397: 36,3470 57267 S41.1
033000,000398: 36,3471 03623 STORE DELVIMU
033001,000399: 36,3472 77776 EXIT
033002,000400: 36,3473 05353 TC PHASCHNG
033003,000401: 36,3474 10035 OCT 10035 # REREADAC AND HERE
033004,000402:
033005,000403: 36,3475 06037 TC INTPRET
033006,000404: 36,3476 77775 VLOAD
033007,000405: 36,3477 03656 DELVSIN
033008,000406: 36,3500 03502 STORE DELVCTL
033009,000407: 36,3501 77776 EXIT
033010,000408:
033011,000409: 36,3502 04635 TC POSTJUMP
033012,000410: 36,3503 65770 CADR SERVEXIT
033013,000411:
033014,000412: 36,3504 33762 P47BOD CAF V1683
033015,000413: 36,3505 04616 TC BANKCALL
033016,000414: 36,3506 20635 CADR GOFLASHR
033017,000415: 36,3507 06001 TC GOTOPOOH
033018,000416: 36,3510 06001 TC GOTOPOOH
033019,000417:
033020,000418: 36,3511 13513 TCF P47BODY
033021,000419:
033022,000420: 36,3512 13236 TCF P40PHS1
033023,000421:
033024,000422: 36,3513 06037 P47BODY TC INTPRET
033025,000423: 36,3514 77775 VLOAD
033026,000424: 36,3515 06522 HI6ZEROS
033027,000425: 36,3516 03623 STORE DELVIMU
033028,000426: 36,3517 03502 STORE DELVCTL
033029,000427: 36,3520 77776 EXIT
033030,000428: 36,3521 03504 TC P47BOD
033031,000429:
033032,000430: 36,3522 COUNT* $$/P40
033033,000431: 36,3522 31517 IMPLBURN CA TGO +1
033034,000432: 36,3523 03735 TC GETDT
033035,000433: 36,3524 05173 TC TWIDDLE
033036,000434: 36,3525 03542 ADRES ENGOFTSK
033037,000435: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
033038,000436: 36,3527 00153 ADRES IGNFLAG
033039,000437: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
033040,000438: 36,3531 00154 ADRES ASTNFLAG
033041,000439: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
033042,000440: 36,3533 00044 ADRES IMPULSW
033043,000441: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
033044,000442: 36,3535 40114 OCT 40114
033045,000443:
033046,000444: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
033047,000445: 36,3537 00062 DEC 50 B-14
![]() |
Page 760 |
033049,000447: 36,3540 02653 TC NOULLAGE # TURN OFF ULLAGE
033050,000448:
033051,000449: 36,3541 05261 TC TASKOVER
033052,000450:
033053,000451: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
033054,000452: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
033055,000453: 36,3544 05261 TC TASKOVER
033056,000454:
033057,000455: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
033058,000456: 36,3546 05105 TC FINDVAC
033059,000457: 36,3547 E7,1462 EBANK= TRKMKCNT
033060,000458: 36,3547 03223 74067 2CADR POSTBURN
033061,000459:
033062,000460: 36,3551 34753 ENGINOF2 CAF BIT1
033063,000461: 36,3552 05203 TC WAITLIST
033064,000462: 36,3553 E6,1422 EBANK= OMEGAQ
033065,000463: 36,3553 03606 74066 2CADR COASTSET
033066,000464:
033067,000465: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
033068,000466: 36,3556 74745 MASK IDLEFBIT
033069,000467: 36,3557 26103 ADS FLAGWRD7
033070,000468:
033071,000469: 36,3560 02653 TC NOULLAGE
033072,000470:
033073,000471: 36,3561 00006 ENGINOF4 EXTEND
033074,000472: 36,3562 30025 DCA TIME2
033075,000473: 36,3563 53345 DXCH TEVENT
033076,000474:
033077,000475: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
033078,000476: 36,3565 70101 MASK FLAGWRD5
033079,000477: 36,3566 54101 TS FLAGWRD5
033080,000478: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
033081,000479: 36,3570 00006 EXTEND # SUBROUTINE.
033082,000480: 36,3571 02011 RAND DSALMOUT
033083,000481: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
033084,000482: 36,3573 00006 EXTEND
033085,000483: 36,3574 01011 WRITE DSALMOUT
033086,000484:
033087,000485: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
033088,000486: 36,3576 74736 MASK USEQRJTS
033089,000487: 36,3577 26111 ADS DAPBOOLS
033090,000488:
033091,000489: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033092,000490: 36,3601 54055 TS THRUST # IS TURNED OFF.
033093,000491: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
033094,000492: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
033095,000493: 36,3604 05014 WOR CHAN14
033096,000494:
033097,000495: 36,3605 04707 TC ISWRETRN
![]() |
Page 761 |
033099,000497: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
033100,000498: 36,3607 40204 CADR ALLCOAST
033101,000499: 36,3610 05261 TC TASKOVER
033102,000500:
033103,000501: 36,3611 E6,1422 EBANK= OMEGAQ
033104,000502: 36,3611 45020 UPDATEVG STQ CALL
033105,000503: 36,3612 03665 QTEMP1
033106,000504: 36,3613 56447 S40.8 # X-PRODUCT STEERING
033107,000505: 36,3614 43014 BON BON
033108,000506: 36,3615 01307 XDELVFLG
033109,000507: 36,3616 03665 QTEMP1
033110,000508: 36,3617 03705 NORMSW
033111,000509: 36,3620 75633 180SETUP
033112,000510: 36,3621 45345 DLOAD DSU
033113,000511: 36,3622 01235 PIPTIME
033114,000512: 36,3623 03763 TIGSAVE
033115,000513: 36,3624 50025 DSU BMN
033116,000514: 36,3625 03432 TNEWA
033117,000515: 36,3626 75656 GETRANS
033118,000516: 36,3627 43345 DLOAD DAD
033119,000517: 36,3630 03763 TIGSAVE
033120,000518: 36,3631 03432 TNEWA
033121,000519: 36,3632 03765 STORE TIGSAVEP
033122,000520: 36,3633 77776 180SETUP EXIT
033123,000521: 36,3634 10755 CCS PHASE2
033124,000522: 36,3635 13663 TCF NO.9
033125,000523: 36,3636 34737 CAF PRIO10
033126,000524: 36,3637 00004 INHINT
033127,000525: 36,3640 05105 TC FINDVAC
033128,000526: 36,3641 E7,1706 EBANK= VG
033129,000527: 36,3641 02707 56067 2CADR S40.9 # LAMBERT VTOGAIN
033130,000528:
033131,000529: 36,3643 05327 TC 2PHSCHNG
033132,000530: 36,3644 00172 OCT 00172 # 2.17SPOT FOR S40.9
033133,000531: 36,3645 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
033134,000532:
033135,000533: 36,3646 06037 ENDSTEER TC INTPRET
033136,000534: 36,3647 77745 DLOAD
033137,000535: 36,3650 03765 TIGSAVEP
033138,000536: 36,3651 27763 STOVL TIGSAVE
033139,000537: 36,3652 01221 RN
033140,000538: 36,3653 26323 STOVL RINIT
033141,000539: 36,3654 01227 VN
033142,000540: 36,3655 02331 STORE VINIT
033143,000541: 36,3656 45345 GETRANS DLOAD DSU
033144,000542: 36,3657 03631 TPASS4
033145,000543: 36,3660 01235 PIPTIME
033146,000544: 36,3661 37452 STCALL DELLT4
033147,000545: 36,3662 03665 QTEMP1
033148,000546:
![]() |
Page 762 |
033150,000548: 36,3663 06037 NO.9 TC INTPRET
033151,000549: 36,3664 77650 GOTO
033152,000550: 36,3665 03665 QTEMP1
033153,000551: 36,3666 06037 STEERING TC INTPRET
033154,000552:
033155,000553: 36,3667 77624 CALL
033156,000554: 36,3670 75611 UPDATEVG
033157,000555: 36,3671 77776 EXIT
033158,000556:
033159,000557: 36,3672 E7,1515 EBANK= DVCNTR
033160,000558: 36,3672 00004 NSTEER INHINT
033161,000559: 36,3673 35016 CA EBANK7
033162,000560: 36,3674 54003 TS EBANK
033163,000561: 36,3675 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
033164,000562: 36,3676 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033165,000563: 36,3677 10000 CCS A # STEERING IS ALMOST DONE.
033166,000564:
033167,000565: 36,3700 13705 TCF +5 # IMPULSW = 0 EXIT
033168,000566: 36,3701 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
033169,000567: 36,3702 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
033170,000568: 36,3703 10000 CCS A
033171,000569: 36,3704 13707 TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
033172,000570: 36,3705 04635 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
033173,000571: 36,3706 65770 CADR SERVEXIT
033174,000572:
033175,000573: 36,3707 04674 TC IBNKCALL
033176,000574: 36,3710 40165 CADR STOPRATE
033177,000575:
033178,000576: 36,3711 05516 TC DOWNFLAG # TURN OFF IMPULSW
033179,000577: 36,3712 00044 ADRES IMPULSW
033180,000578:
033181,000579: 36,3713 05504 TC UPFLAG
033182,000580: 36,3714 00161 ADRES IDLEFLAG # TURN OFF DVMON
033183,000581:
033184,000582: 36,3715 00004 INHINT
033185,000583: 36,3716 00006 EXTEND
033186,000584: 36,3717 31442 DCA TIG
033187,000585: 36,3720 52155 DXCH MPAC
033188,000586: 36,3721 00006 EXTEND
033189,000587: 36,3722 40025 DCS TIME2
033190,000588: 36,3723 20155 DAS MPAC
033191,000589: 36,3724 07257 TC TPAGREE
033192,000590: 36,3725 30155 CAE MPAC +1
033193,000591: 36,3726 03735 TC GETDT
033194,000592: 36,3727 05173 TC TWIDDLE
033195,000593: 36,3730 03542 ADRES ENGOFTSK
033196,000594: 36,3731 05327 TC 2PHSCHNG
033197,000595: 36,3732 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
033198,000596: 36,3733 00035 OCT 00035 # SERVICER -- REREADAC
![]() |
Page 763 |
033200,000598: 36,3734 15155 TCF ENDOFJOB
033201,000599:
033202,000600: 36,3735 10000 GETDT CCS A
033203,000601: 36,3736 13741 TCF +3
033204,000602: 36,3737 13741 TCF +2
033205,000603: 36,3740 34755 CAF ZERO
033206,000604: 36,3741 64753 AD ONE
033207,000605: 36,3742 56001 XCH L
033208,000606: 36,3743 34755 CAF ZERO
033209,000607: 36,3744 53517 DXCH TGO
033210,000608: 36,3745 31517 CA TGO +1
033211,000609: 36,3746 00002 TC Q
033212,000610:
033213,000611: # ************************************************************************
033214,000612:
033215,000613: 36,3747 00000 SEC15DP OCT 00000 # DON'T SEPARATE
033216,000614: 36,3750 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
033217,000615: 36,3751 00000 05670 SEC30DP 2DEC 3000 B-28
033218,000616:
033219,000617: 36,3753 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
033220,000618: 36,3754 10624 SEC45 DEC 4500 B-14
033221,000619: 36,3755 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
033222,000620: 36,3756 00764 5SEC DEC 500 B-14
033223,000621: 36,3757 05050 26SECS DEC 2600 B-14
033224,000622: 36,3760 04050 V16N40 VN 1640
033225,000623: 36,3761 04125 V16N85B VN 1685
033226,000624: 36,3762 04123 V1683 VN 1683
033227,000625: 36,3763 4777 SEC01 = 1SEC
033228,000626: 36,3763 36,2055 ACADN85 = P41TABLE +2
033229,000627:
033230,000628: 36,3763 E7,1622 EBANK= DELVIMU
033231,000629: 36,3763 03462 74067 ACADN83 2CADR CALCN83
033232,000630:
033233,000631: # *************************************************
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Page 764 |
033235,000633: # PROGRAM DESCRIPTION S40.1 DATE 15NOV66
033236,000634: # MOD N02 LOG SECTION P40-P47
033237,000635: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
033238,000636:
033239,000637: # FUNCTIONAL DESCRIPTION
033240,000638: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033241,000639: # VECTOR(VGTIG).
033242,000640:
033243,000641: # CALLING SEQUENCE
033244,000642: # L CALL
033245,000643: # L+1 S40.1
033246,000644:
033247,000645: # NORMAL EXIT MODE
033248,000646: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033249,000647: # ERROR RETURN IF NOSOFLAG =1
033250,000648:
033251,000649: # SUBROUTINES CALLED
033252,000650: # LEMPREC
033253,000651: # INITVEL
033254,000652: # CALCGRAV
033255,000653: # MIDGIM
033256,000654:
033257,000655: # ALARM OR ABORT EXIT MODES
033258,000656: # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
033259,000657:
033260,000658: # ERASABLE INITIALIZATION REQUIRED
033261,000659: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM
033262,000660: # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
033263,000661: # F THRUST FOR ENGINE USED
033264,000662: # IF DELTA-V MANEUVER
033265,000663: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
033266,000664: # INERTIAL COORDS. OF ACTIVE VEHICLE
033267,000665: # AT TIME OF IGNITION VECTOR B7 M/CS
033268,000666: # DELVSAB MAG. OF DELVSIN DP B7 M/CS
033269,000667: # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
033270,000668: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS
033271,000669: # IF AIMPT STEER
033272,000670: # TIG TIME OF IGNITION DP B28 CS
033273,000671: # RTARG POSITION TARGET TIME VECTOR B29 M
033274,000672: # CSTEER C FOR STEER LAW DP B2
033275,000673: # DLTARG TARGET TIME-IGNITION TIME DP B28 CS
033276,000674:
033277,000675: # OUTPUT
033278,000676: # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
033279,000677: # VGTIG INITIAL VALUE OF VELOCITY
033280,000678: # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
033281,000679: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
033282,000680: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033283,000681: # -GDT FOR S40.13 VECT B7 M/CS
033284,000682: # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
033285,000683: # POSITION AT TIME OF IGNITION
033286,000684:
033287,000685: # DEBRIS QTEMP1
033288,000686: # MPAC, QPRET
033289,000687: # PUSHLIST
033290,000688:
033291,000689: 14,2347 BANK 14
033292,000690: 27,2000 SETLOC P40S1
033293,000691: 27,2000 BANK
![]() |
Page 765 |
033295,000693: 27,2246 COUNT* $$/S40.1
033296,000694: 27,2246 71220 S40.1 STQ DLOAD
033297,000695: 27,2247 03632 QTEMP
033298,000696: 27,2250 03442 TIG
033299,000697: 27,2251 03763 STORE TIGSAVE
033300,000698: 27,2252 77614 DELVTEST BOFF
033301,000699: 27,2253 01347 XDELVFLG
033302,000700: 27,2254 56336 S40.1B
033303,000701: 27,2255 77201 CALCTHET SETPD VLOAD
033304,000702: 27,2256 00001 0
033305,000703: 27,2257 03650 VTIG
033306,000704: 27,2260 02331 STORE VINIT
033307,000705: 27,2261 53435 VXV UNIT
033308,000706: 27,2262 03642 RTIG
033309,000707: 27,2263 27673 STOVL UT # UP IN UT
033310,000708: 27,2264 03642 RTIG
033311,000709: 27,2265 02323 STORE RINIT
033312,000710: 27,2266 65236 VSQ PDDL
033313,000711: 27,2267 00045 36D
033314,000712: 27,2270 56205 DMP DDV
033315,000713: 27,2271 16412 THETACON
033316,000714: 27,2272 41205 DMP DMP
033317,000715: 27,2273 03664 DELVSAB
033318,000716: 27,2274 01245 WEIGHT/G
033319,000717: 27,2275 77671 DDV
033320,000718: 27,2276 03735 F
033321,000719: 27,2277 24017 STOVL 14D
033322,000720: 27,2300 03656 DELVSIN
033323,000721:
033324,000722: 27,2301 74241 DOT VXSC
033325,000723: 27,2302 03673 UT
033326,000724: 27,2303 03673 UT
033327,000725: 27,2304 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033328,000726: 27,2305 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
033329,000727: 27,2306 03656 DELVSIN
033330,000728: 27,2307 00017 14D
033331,000729: 27,2310 63356 SIN PDVL
033332,000730: 27,2311 00007 6D
033333,000731: 27,2312 53435 VXV UNIT
033334,000732: 27,2313 03673 UT
033335,000733: 27,2314 45561 VXSC STADR
033336,000734: 27,2315 50076 STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
033337,000735: 27,2316 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
033338,000736: 27,2317 00017 14D
033339,000737: 27,2320 74346 COS VXSC
033340,000738: 27,2321 74255 VAD VXSC
033341,000739: 27,2322 03701 VGTIG
033342,000740: 27,2323 00045 36D
033343,000741: 27,2324 53352 VSL2 VAD
033344,000742: 27,2325 77626 STADR
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Page 766 |
033346,000744: 27,2326 74076 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
033347,000745:
033348,000746: 27,2327 77656 UNIT
033349,000747: 27,2330 27673 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
033350,000748: 27,2331 03701 VGTIG
033351,000749: 27,2332 45006 PUSH CALL
033352,000750: 27,2333 15733 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033353,000751: 27,2334 77650 GOTO
033354,000752: 27,2335 03632 QTEMP
033355,000753: 27,2336 77745 S40.1B DLOAD
033356,000754: 27,2337 03442 TIG
033357,000755: 27,2340 00041 STORE TDEC1
033358,000756: 27,2341 77621 BDSU
033359,000757: 27,2342 03631 TPASS4
033360,000758: 27,2343 37452 STCALL DELLT4 # INTERCEPT TIME - TIG.
033361,000759: 27,2344 27057 LEMPREC
033362,000760: 27,2345 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
033363,000761: 27,2346 00001 RATT
033364,000762: 27,2347 00001 0
033365,000763: 27,2350 03642 STORE RTIG
033366,000764: 27,2351 02323 STORE RINIT
033367,000765: 27,2352 77656 UNIT
033368,000766: 27,2353 27537 STOVL UNIT/R/
033369,000767: 27,2354 00007 VATT
033370,000768: 27,2355 03650 STORE VTIG
033371,000769: 27,2356 02331 STORE VINIT
033372,000770: 27,2357 65345 DLOAD PDDL # NUMIT = 0
033373,000771: 27,2360 06522 ZEROVECS
033374,000772: 27,2361 16406 EPS1
033375,000773: 27,2362 43214 BOFF DAD
033376,000774: 27,2363 03745 NORMSW
033377,000775: 27,2364 56366 SMALLEPS
033378,000776: 27,2365 16410 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
033379,000777: 27,2366 66006 SMALLEPS PUSH SXA,1
033380,000778: 27,2367 02776 RTX1
033381,000779: 27,2370 45134 SXA,2 CALL
033382,000780: 27,2371 02777 RTX2
033383,000781: 27,2372 22000 INITVEL
033384,000782: 27,2373 41575 VLOAD PUSH
033385,000783: 27,2374 02366 DELVEET3 # VGTIG = VR - VN.
033386,000784: 27,2375 03701 STORE VGTIG
033387,000785: 27,2376 77656 UNIT # UT = UNIT (VGTIG)
033388,000786: 27,2377 17673 STODL UT
033389,000787: 27,2400 00045 36D
033390,000788: 27,2401 37664 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL
033391,000789: 27,2402 15733 GET.LVC # VERTICAL COORDINATES.
033392,000790: 27,2403 77650 GOTO
033393,000791: 27,2404 03632 QTEMP
033394,000792:
033395,000793: 27,2405 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
033396,000794:
![]() |
Page 767 |
033398,000796: 27,2407 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
033399,000797:
033400,000798: 27,2411 00024 13714 THETACON 2DEC .31830989 B-8
033401,000799:
![]() |
Page 768 |
033403,000801: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
033404,000802: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033405,000803: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
033406,000804: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
033407,000805: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033408,000806:
033409,000807: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033410,000808: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033411,000809: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033412,000810: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
033413,000811: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033414,000812:
033415,000813: # CALLING SEQUENCE:
033416,000814: # L CALL INTERPRETIVE CALL.
033417,000815: # L +1 S40.2,3
033418,000816: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
033419,000817:
033420,000818: # SUBROUTINES CALLED: NONE.
033421,000819:
033422,000820: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
033423,000821:
033424,000822: # ALARM/ABORT MODES: NONE.
033425,000823:
033426,000824: # INPUT:
033427,000825: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033428,000826: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
033429,000827: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
033430,000828:
033431,000829: # OUTPUT:
033432,000830: # 1. :XSCREF: WINGS-LEVEL HEADS-UP LM ORIENTATION
033433,000831: # :YSCREF: IN REFERENCE COORDINATES
033434,000832: # :ZSCREF: (PREFERRED IMU ORIENTATION).
033435,000833: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033436,000834: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033437,000835: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
033438,000836:
033439,000837: # DEBRIS: NONE.
![]() |
Page 769 |
033441,000839:
033442,000840: 27,2413 COUNT* $$/S40.2
033443,000841: 27,2413 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
033444,000842: 27,2414 03673 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
033445,000843: 27,2415 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
033446,000844: 27,2416 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
033447,000845: 27,2417 27773 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033448,000846: 27,2420 06520 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
033449,000847: 27,2421 27765 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033450,000848:
033451,000849: 27,2422 03673 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033452,000850: 27,2423 03607 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
033453,000851: 27,2424 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
033454,000852: 27,2425 03642 RTIG # YSCREF = UNIT(UT X RTIG)
033455,000853: 27,2426 46125 PDDL BHIZ
033456,000854: 27,2427 00045 36D # TEST MAGNITUDE OF UT X RTIG
033457,000855: 27,2430 56441 FIXY # IF SMALL, USE UT X VTIG AS YSC
033458,000856: 27,2431 45575 STORY VLOAD STADR
033459,000857: 27,2432 74162 STORE YSCREF
033460,000858: 27,2433 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF), BUT FOR A
033461,000859: 27,2434 03607 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033462,000860: 27,2435 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
033463,000861: 27,2436 03623 STORE ZSCREF # = + (XSCREF X YSCREF)
033464,000862:
033465,000863: 27,2437 43414 SET RVQ
033466,000864: 27,2440 01073 PFRATFLG
033467,000865: 27,2441 47375 FIXY VLOAD VXV # IN THIS CASE,
033468,000866: 27,2442 03607 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
033469,000867: 27,2443 03650 VTIG
033470,000868: 27,2444 41456 UNIT PUSH
033471,000869: 27,2445 77650 GOTO
033472,000870: 27,2446 56431 STORY
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Page 770 |
033474,000872: # SUBROUTINE S40.8
033475,000873: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
033476,000874:
033477,000875: # DESCRIPTION
033478,000876: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
033479,000877: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
033480,000878: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
033481,000879:
033482,000880: # CALLING SEQUENCE
033483,000881: # L-1 CALL
033484,000882: # L S40.8
033485,000883: # L+1 INTERPRETIVE RETURN
033486,000884:
033487,000885: # ALARM
033488,000886: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
033489,000887: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
033490,000888:
033491,000889: # INPUT AND INITIALIZATION
033492,000890: # VGPREV REFERENCE 2(7) M/CS
033493,000891: # DELVREF REFERENCE 2(7) M/CS
033494,000892: # BDT REFERENCE 2(7) M/CS
033495,000893: # TDECAY TAIL-OFF TIME 2(28) CS
033496,000894: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
033497,000895: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033498,000896: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
033499,000897:
033500,000898: # NOTE: VGTIG EQUALS VGPREV
033501,000899:
033502,000900: # OUTPUT
033503,000901: # STEERSW SEE INPUT
033504,000902: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
033505,000903: # TGO TIME TO CUT-OFF 2(28) CS
033506,000904: # SEE FINDCDUW FOR STEERING OUTPUTS.
033507,000905:
033508,000906: # SUBROUTINE CALLED
033509,000907: # FINDCDUW
033510,000908:
033511,000909: # DEBRIS
033512,000910: # MPACS, PUSHLIST
033513,000911:
033514,000912: 27,2447 COUNT* $$/S40.8
![]() |
Page 771 |
033516,000914: 27,2447 77614 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN
033517,000915: 27,2450 01347 XDELVFLG
033518,000916: 27,2451 56731 RASTEER1
033519,000917: 27,2452 52375 VLOAD VSU
033520,000918: 27,2453 03701 VGPREV
033521,000919: 27,2454 03527 DELVREF
033522,000920: 27,2455 03707 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS
033523,000921: 27,2456 76521 MXV VSL1
033524,000922: 27,2457 01734 REFSMMAT
033525,000923: 27,2460 03254 STORE UNFC/2
033526,000924: 27,2461 51575 BDTOK VLOAD ABVAL
033527,000925: 27,2462 03707 VG
033528,000926: 27,2463 03664 STORE VGDISP
033529,000927: 27,2464 77201 TGDCALC SETPD VLOAD
033530,000928: 27,2465 00001 0
033531,000929: 27,2466 03707 VG
033532,000930: 27,2467 27701 STOVL VGPREV
033533,000931: 27,2470 03527 DELVREF
033534,000932: 27,2471 57414 BOFF VCOMP
033535,000933: 27,2472 01344 STEERSW
033536,000934: 27,2473 00052 QPRET
033537,000935: 27,2474 77656 UNIT
033538,000936: 27,2475 41441 DOT PUSH
033539,000937: 27,2476 03707 VG
033540,000938: 27,2477 56244 BPL DDV
033541,000939: 27,2500 56526 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
033542,000940: 27,2501 03743 VEX
033543,000941: 27,2502 41215 DAD DMP
033544,000942: 27,2503 06520 DPHALF
033545,000943: 27,2504 56261 SR DDV
033546,000944: 27,2505 20613 10D
033547,000945: 27,2506 00045 36D
033548,000946: 27,2507 43205 DMP DAD
033549,000947: 27,2510 16535 -FOURDT
033550,000948: 27,2511 03741 TDECAY
033551,000949: 27,2512 03517 STORE TGO
033552,000950: 27,2513 77615 DAD
033553,000951: 27,2514 01235 PIPTIME
033554,000952: 27,2515 17442 STODL TIG
033555,000953: 27,2516 03517 TGO
033556,000954: 27,2517 51025 DSU BPL
033557,000955: 27,2520 16537 FOURSECS # 400 CS
033558,000956: 27,2521 61111 FINDCDUW -2
033559,000957: 27,2522 43014 SET CLRGO
033560,000958: 27,2523 01066 IMPULSW
033561,000959: 27,2524 01224 STEERSW
033562,000960: 27,2525 00052 QPRET
033563,000961:
033564,000962: 27,2526 77776 ALARMIT EXIT
033565,000963:
![]() |
Page 772 |
033567,000965: 27,2527 05567 TC ALARM
033568,000966: 27,2530 01407 OCT 01407
033569,000967: 27,2531 06037 TC INTPRET
033570,000968: 27,2532 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033571,000969: 27,2533 61111 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
033572,000970:
033573,000971: 27,2534 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
033574,000972: 27,2536 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28) CS
033575,000973: 27,2540 E7,1742 2VEXHUST = VEX
033576,000974:
![]() |
Page 773 |
033578,000976: # NAME S40.13 - TIMEBURN
033579,000977:
033580,000978: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033581,000979: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033582,000980: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033583,000981: # BURN
033584,000982: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033585,000983: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
033586,000984: # SIGNAL
033587,000985:
033588,000986: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
033589,000987:
033590,000988: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033591,000989: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033592,000990: # F APS ENGINE THRUST IN M.NEWTONS AT +7
033593,000991: # AND ALSO FOR RCS ENGINE
033594,000992: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033595,000993: # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY
033596,000994: # REQUIRE MODIFICATION FOR SATURN BURNS.
033597,000995: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033598,000996: # =0 DPS
033599,000997: # =1 APS
033600,000998:
033601,000999: # OUTPUT IMPULSW ZERO FOR STEERING
033602,001000: # ONE FOR ATTITUDE HOLD
033603,001001: # NOTHROTL ZERO FOR THROTTLING
033604,001002: # ONE TO INHIBIT THROTTLING
033605,001003: # TGO TIME TO BURN IN CS
033606,001004:
033607,001005: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033608,001006: # FORCE
033609,001007:
033610,001008: 27,2540 E7,1516 EBANK= TGO
033611,001009: 27,2540 COUNT* $$/40.13
033612,001010: 27,2540 06037 S40.13 TC INTPRET
033613,001011: 27,2541 43001 SETPD CLEAR
033614,001012: 27,2542 00001 00D
033615,001013: 27,2543 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
033616,001014: 27,2544 51575 VLOAD ABVAL
033617,001015: 27,2545 03701 VGTIG # VELOCITY TO BE GAINED AT +7
033618,001016: 27,2546 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
033619,001017: 27,2547 21021 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
033620,001018: 27,2550 34017 FRCS2
033621,001019: 27,2551 72471 DDV SL1 # SCALE
033622,001020: 27,2552 01245 WEIGHT/G
033623,001021: 27,2553 41421 BDSU PUSH
033624,001022: 27,2554 43014 BOFF SET
033625,001023: 27,2555 05342 APSFLAG
033626,001024: 27,2556 56626 S40.13D # FOR DPS ENGINE
033627,001025: 27,2557 02463 NOTHROTL
033628,001026: 27,2560 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
033629,001027: 27,2561 16001 K1VAL # M.NEWTONS-CS AT +24
033630,001028: 27,2562 01245 WEIGHT/G
033631,001029: 27,2563 50021 BDSU BMN
![]() |
Page 774 |
033633,001031: 27,2564 00001 00D
033634,001032: 27,2565 56610 S40.131 # TGO LESS THAN 100 CS
033635,001033: 27,2566 41325 PDDL DMP # 02D = TEMP1 AT +7
033636,001034: 27,2567 03737 MDOT
033637,001035:
033638,001036: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033639,001037: # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY
033640,001038: # REQUIRE ADJUSTMENT
033641,001039:
033642,001040: 27,2570 16700 3.5SEC # 350 CS AT +14
033643,001041: 27,2571 65221 BDSU PDDL
033644,001042: 27,2572 01245 WEIGHT/G
033645,001043: 27,2573 03735 F
033646,001044: 27,2574 60405 DMP SR2 # SCALE
033647,001045: 27,2575 16702 5SECS
033648,001046: 27,2576 41471 DDV PUSH # 04D = TEMP2
033649,001047: 27,2577 51021 BDSU BPL
033650,001048: 27,2600 00003 02D
033651,001049: 27,2601 56626 S40.13D
033652,001050: 27,2602 55345 DLOAD BDDV
033653,001051: 27,2603 43205 DMP DAD
033654,001052: 27,2604 16702 5SECS
033655,001053: 27,2605 16676 1SEC2D # 100 CS AT +14
033656,001054: 27,2606 77650 GOTO
033657,001055: 27,2607 56616 S40.132
033658,001056: 27,2610 41345 S40.131 DLOAD DMP
033659,001057: 27,2611 01245 WEIGHT/G
033660,001058: 27,2612 41542 SR1 PUSH
033661,001059: 27,2613 56215 DAD DDV
033662,001060: 27,2614 16003 K2VAL # M.NEWTON CS AT +24
033663,001061: 27,2615 16005 K3VAL # M.NEWTON CS AT +10
033664,001062: 27,2616 77414 S40.132 SET EXIT
033665,001063: 27,2617 01066 IMPULSW
033666,001064: 27,2620 07257 S40.132* TC TPAGREE
033667,001065: 27,2621 30154 CA MPAC
033668,001066: 27,2622 56001 XCH L
033669,001067: 27,2623 34755 CA ZERO
033670,001068: 27,2624 53517 DXCH TGO
033671,001069: 27,2625 12650 TCF S40.134
033672,001070:
033673,001071: 27,2626 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
033674,001072: 27,2627 00001 00D
033675,001073: 27,2630 01245 WEIGHT/G
033676,001074: 27,2631 43006 PUSH BON
033677,001075: 27,2632 05302 APSFLAG
033678,001076: 27,2633 56671 APSTGO
033679,001077: 27,2634 43071 DDV CLEAR
033680,001078: 27,2635 16007 S40.136
033681,001079: 27,2636 02663 NOTHROTL
033682,001080: 27,2637 41400 BOV PUSH
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Page 775 |
033684,001082: 27,2640 56653 S40.130V
033685,001083: 27,2641 51025 S40.137 DSU BPL
033686,001084: 27,2642 16704 6SEC # 600.0 CS AT +14
033687,001085: 27,2643 56661 S40.138
033688,001086: 27,2644 52015 DAD GOTO
033689,001087: 27,2645 16704 6SEC
033690,001088: 27,2646 56616 S40.132
033691,001089: 27,2647 77776 S40.133 EXIT
033692,001090: 27,2650 05353 S40.134 TC PHASCHNG
033693,001091: 27,2651 00003 OCT 00003
033694,001092: 27,2652 05155 TC ENDOFJOB
033695,001093: 27,2653 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
033696,001094: 27,2654 77671 DDV
033697,001095: 27,2655 16011 S40.136_ # S40.136 SHIFTED LEFT 10
033698,001096: 27,2656 03517 STORE TGO
033699,001097: 27,2657 77776 EXIT
033700,001098: 27,2660 12650 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
033701,001099:
033702,001100: 27,2661 51025 S40.138 DSU BPL
033703,001101: 27,2662 16706 89SECS
033704,001102: 27,2663 56666 STORETGO
033705,001103: 27,2664 77614 SET
033706,001104: 27,2665 02463 NOTHROTL
033707,001105: 27,2666 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
033708,001106: 27,2667 77776 EXIT
033709,001107: 27,2670 12620 TCF S40.132*
033710,001108:
033711,001109: 27,2671 62471 APSTGO DDV SL2
033712,001110: 27,2672 34007 FAPS
033713,001111: 27,2673 77650 GOTO
033714,001112: 27,2674 56667 STORETGO +1
033715,001113: 27,2675 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
033716,001114:
033717,001115: 27,2677 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
033718,001116:
033719,001117: 27,2701 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
033720,001118:
033721,001119: 27,2703 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
033722,001120:
033723,001121: 27,2705 21304 00000 89SECS 2DEC 8900.0 B-14
033724,001122:
033725,001123: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033726,001124: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033727,001125: # COMPUTATION CYCLES (4 SECONDS).
033728,001126: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033729,001127: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033730,001128: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033731,001129:
033732,001130: # CALLING SEQ VIA FINDVAC AS NEW JOB.
033733,001131:
033734,001132: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033735,001133: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
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Page 776 |
033737,001135: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033738,001136: # METERS/CS AT +7.
033739,001137: # TIG - TIME OF IGNITION IN CS AT +28.
033740,001138: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033741,001139: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
033742,001140: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033743,001141: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033744,001142: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033745,001143: # METERS/CS AT +7.
033746,001144:
033747,001145: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033748,001146: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
033749,001147: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033750,001148: # BDT - B VECTOR IN METERS/CS AT +7.
033751,001149:
033752,001150: # SUBROUTINES USED - INITVEL
033753,001151:
033754,001152: 27,2707 E7,1700 EBANK= VGPREV
033755,001153: 27,2707 COUNT* $$/S40.9
033756,001154: 27,2707 06037 S40.9 TC INTPRET
033757,001155: 27,2710 77601 SETPD
033758,001156: 27,2711 00001 00D
033759,001157: 27,2712 71214 SET DLOAD
033760,001158: 27,2713 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
033761,001159: 27,2714 06522 HI6ZEROS
033762,001160: 27,2715 77725 PDDL
033763,001161: 27,2716 16406 EPS1
033764,001162: 27,2717 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
033765,001163: 27,2720 03745 NORMSW
033766,001164: 27,2721 56723 EPSSMALL
033767,001165: 27,2722 16410 EPS2
033768,001166: 27,2723 45006 EPSSMALL PUSH CALL
033769,001167: 27,2724 22002 HAVEGUES
033770,001168: 27,2725 77776 ENDS40.9 EXIT
033771,001169: 27,2726 05353 TC PHASCHNG
033772,001170: 27,2727 00002 OCT 2
033773,001171: 27,2730 15155 TCF ENDOFJOB
033774,001172:
033775,001173: 27,2731 51575 RASTEER1 VLOAD ABVAL
033776,001174: 27,2732 01221 RN
033777,001175: 27,2733 53744 LXC,2 SL*
033778,001176: 27,2734 02777 RTX2
033779,001177: 27,2735 57576 0,2
033780,001178: 27,2736 27715 STOVL RMAG
033781,001179: 27,2737 03444 RTARG
033782,001180: 27,2740 47051 VSU RTB
033783,001181: 27,2741 01221 RN
033784,001182: 27,2742 21724 NORMUNX1
033785,001183: 27,2743 17656 STODL IC
033786,001184: 27,2744 00045 36D # C(36D) = ABVAL(C)
033787,001185: 27,2745 53674 XAD,2 SL*
033788,001186: 27,2746 00046 X1
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Page 777 |
033790,001188: 27,2747 57576 0,2
033791,001189: 27,2750 00037 STORE 30D
033792,001190: 27,2751 41301 NORM DMP
033793,001191: 27,2752 00050 X2
033794,001192: 27,2753 03715 RMAG
033795,001193: 27,2754 57101 NORM XAD,2
033796,001194: 27,2755 00047 X1
033797,001195: 27,2756 00046 X1
033798,001196: 27,2757 77734 SXA,2
033799,001197: 27,2760 03766 MUSCALE
033800,001198: 27,2761 17725 STODL R1C # 2(+58 -X)
033801,001199: 27,2762 00037 30D
033802,001200: 27,2763 65342 SR1 PDDL
033803,001201: 27,2764 03715 RMAG
033804,001202: 27,2765 65342 SR1 PDDL
033805,001203: 27,2766 03723 RTMAG
033806,001204: 27,2767 43342 SR1 DAD
033807,001205: 27,2770 45415 DAD STADR
033808,001206: 27,2771 74044 STORE SS # SS = (R1 + R2 + C)/2
033809,001207: 27,2772 41225 DSU DMP
033810,001208: 27,2773 00037 30D
033811,001209: 27,2774 03721 MU/A
033812,001210: 27,2775 77621 BDSU
033813,001211: 27,2776 03717 MUASTEER
033814,001212: 27,2777 45325 PDDL DSU
033815,001213: 27,3000 03733 SS
033816,001214: 27,3001 03715 RMAG
033817,001215: 27,3002 70501 NORM SR1
033818,001216: 27,3003 00047 X1
033819,001217: 27,3004 41271 DDV DMP
033820,001218: 27,3005 03725 R1C
033821,001219: 27,3006 53664 XSU,2 SL*
033822,001220: 27,3007 00046 X1
033823,001221: 27,3010 57575 1,2
033824,001222: 27,3011 77754 LXA,2
033825,001223: 27,3012 03766 MUSCALE
033826,001224: 27,3013 75366 SQRT SIGN
033827,001225: 27,3014 02673 GEOMSGN
033828,001226: 27,3015 00041 STORE 32D # + OR - A
033829,001227: 27,3016 41345 DLOAD DMP
033830,001228: 27,3017 03733 SS
033831,001229: 27,3020 03721 MU/A
033832,001230: 27,3021 77621 BDSU
033833,001231: 27,3022 03717 MUASTEER
033834,001232: 27,3023 45325 PDDL DSU
033835,001233: 27,3024 03733 SS
033836,001234: 27,3025 03723 RTMAG
033837,001235: 27,3026 70501 NORM SR1
033838,001236: 27,3027 00047 X1
033839,001237: 27,3030 41271 DDV DMP
033840,001238:
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Page 778 |
033842,001240: 27,3031 03725 R1C
033843,001241: 27,3032 53664 XSU,2 SL*
033844,001242: 27,3033 00046 X1
033845,001243: 27,3034 57575 1,2
033846,001244: 27,3035 65366 SQRT PDDL # -B (NO SIGN)
033847,001245: 27,3036 03733 SS
033848,001246: 27,3037 56225 DSU DDV
033849,001247: 27,3040 00037 30D
033850,001248: 27,3041 03733 SS
033851,001249: 27,3042 41566 SQRT PUSH
033852,001250: 27,3043 67542 SR1 ASIN
033853,001251: 27,3044 65205 DMP PDDL
033854,001252: 27,3045 17216 2PI+3
033855,001253: 27,3046 56325 PDDL DDV
033856,001254: 27,3047 00037 30D
033857,001255: 27,3050 03733 SS
033858,001256: 27,3051 77600 BOV
033859,001257: 27,3052 57053 +1
033860,001258: 27,3053 41366 SQRT DMP
033861,001259: 27,3054 44242 SR3 BDSU
033862,001260: 27,3055 65365 SIGN PDDL
033863,001261: 27,3056 02673 GEOMSGN
033864,001262: 27,3057 17216 2PI+3
033865,001263: 27,3060 45302 SR2 DSU
033866,001264: 27,3061 65205 DMP PDDL
033867,001265: 27,3062 03733 SS
033868,001266: 27,3063 03733 SS
033869,001267: 27,3064 75442 SR3 SQRT
033870,001268: 27,3065 77605 DMP
033871,001269: 27,3066 52525 PDDL SL3
033872,001270: 27,3067 03717 MUASTEER
033873,001271: 27,3070 55366 SQRT BDDV
033874,001272: 27,3071 43225 DSU DAD
033875,001273: 27,3072 03631 TPASS4
033876,001274: 27,3073 01235 PIPTIME
033877,001275: 27,3074 14037 STODL 30D
033878,001276: 27,3075 77765 SIGN
033879,001277: 27,3076 00037 30D # B WITH SIGN
033880,001278: 27,3077 00037 STORE 30D
033881,001279: 27,3100 77214 BON VLOAD
033882,001280: 27,3101 03705 NORMSW
033883,001281: 27,3102 57123 180MESS
033884,001282: 27,3103 03656 IC
033885,001283: 27,3104 53451 VSU UNIT
033886,001284: 27,3105 03537 UNIT/R/
033887,001285: 27,3106 63361 VXSC PDVL
033888,001286: 27,3107 00037 30D
033889,001287: 27,3110 03656 IC
033890,001288: 27,3111 53455 VAD UNIT
033891,001289: 27,3112 03537 UNIT/R/
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Page 779 |
033893,001291: 27,3113 53361 GETVRVG1 VXSC VAD
033894,001292: 27,3114 00041 32D
033895,001293: 27,3115 53744 GETVRVG2 LXC,2 VSR*
033896,001294: 27,3116 02777 RTX2
033897,001295: 27,3117 57177 0 -1,2
033898,001296: 27,3120 02337 STORE VIPRIME
033899,001297: 27,3121 77650 GOTO
033900,001298: 27,3122 57166 ASTREND -2
033901,001299: 27,3123 50375 180MESS VLOAD DOT
033902,001300: 27,3124 03656 IC
033903,001301: 27,3125 03537 UNIT/R/
033904,001302: 27,3126 77240 BMN VLOAD
033905,001303: 27,3127 57146 NEGPROD
033906,001304: 27,3130 03656 IC
033907,001305: 27,3131 63362 VSR1 PDVL
033908,001306: 27,3132 03537 UNIT/R/
033909,001307: 27,3133 53362 VSR1 VAD
033910,001308: 27,3134 77656 UNIT
033911,001309: 27,3135 57406 PUSH VCOMP # FOR A
033912,001310: 27,3136 75235 VXV SIGN
033913,001311: 27,3137 02674 UN
033914,001312: 27,3140 02673 GEOMSGN
033915,001313: 27,3141 74256 UNIT VXSC
033916,001314: 27,3142 00037 30D
033917,001315: 27,3143 77715 PDVL # UNIT(IC-IR) +-B
033918,001316: 27,3144 77650 GOTO
033919,001317: 27,3145 57113 GETVRVG1
033920,001318: 27,3146 74575 NEGPROD VLOAD VSR1
033921,001319: 27,3147 03537 UNIT/R/
033922,001320: 27,3150 74515 PDVL VSR1
033923,001321: 27,3151 03656 IC
033924,001322: 27,3152 53451 VSU UNIT
033925,001323: 27,3153 77606 PUSH
033926,001324: 27,3154 75235 VXV SIGN
033927,001325: 27,3155 02674 UN # FOR B
033928,001326: 27,3156 02673 GEOMSGN
033929,001327: 27,3157 74256 UNIT VXSC
033930,001328: 27,3160 00041 32D
033931,001329: 27,3161 77715 PDVL
033932,001330: 27,3162 53361 VXSC VAD
033933,001331: 27,3163 00037 30D
033934,001332: 27,3164 77650 GOTO
033935,001333: 27,3165 57115 GETVRVG2
033936,001334: 27,3166 77651 VSU
033937,001335: 27,3167 03553 VN1
033938,001336: 27,3170 02366 ASTREND STORE DELVEET3
033939,001337: 27,3171 53135 FIRSTTME SLOAD BZE
033940,001338: 27,3172 03000 RTX2
033941,001339: 27,3173 57177 GETGOBL
033942,001340: 27,3174 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
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Page 780 |
033944,001342: 27,3175 02366 DELVEET3
033945,001343: 27,3176 57212 NOGOBL
033946,001344: 27,3177 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
033947,001345: 27,3200 01221 RN
033948,001346: 27,3201 45345 DLOAD DSU
033949,001347: 27,3202 01235 PIPTIME # 2
033950,001348: 27,3203 03512 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG)
033951,001349: 27,3204 56205 DMP DDV # OBL
033952,001350: 27,3205 16023 EARTHMU
033953,001351: 27,3206 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
033954,001352: 27,3207 53361 VXSC VAD
033955,001353: 27,3210 03521 UNITGOBL
033956,001354: 27,3211 02366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
033957,001355: 27,3212 02366 NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN
033958,001356: 27,3213 77650 GOTO
033959,001357: 27,3214 56455 VGAIN*
033960,001358:
033961,001359: 27,3215 31103 36652 2PI+3 2DEC 3.141592653 B-2
033962,001360:
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Page 781 |
033964,001362: # TRIMGIMB (FORMERLY S40.6)
033965,001363: # MOD 0 24 FEB 67 PETER ADLER
033966,001364:
033967,001365: # FUNCTION:
033968,001366: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033969,001367: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033970,001368: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033971,001369:
033972,001370: # CALLING SEQUENCE:
033973,001371: # VIA WAITLIST FROM R03
033974,001372:
033975,001373: # INPUT:
033976,001374: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033977,001375: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033978,001376:
033979,001377: # SUBROUTINES USED:
033980,001378: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033981,001379:
033982,001380: 27,3217 COUNT* $$/S40.6
033983,001381: 27,3217 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
033984,001382:
033985,001383: 27,3217 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033986,001384: 27,3220 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
033987,001385:
033988,001386: 27,3221 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
033989,001387: 27,3222 00006 EXTEND
033990,001388: 27,3223 03012 WAND CHAN12
033991,001389: 27,3224 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
033992,001390: 27,3225 00006 EXTEND
033993,001391: 27,3226 05012 WOR CHAN12
033994,001392: 27,3227 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033995,001393: 27,3230 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
033996,001394: 27,3231 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
033997,001395: 27,3232 00006 EXTEND
033998,001396: 27,3233 03012 WAND CHAN12
033999,001397: 27,3234 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
034000,001398: 27,3235 00006 EXTEND
034001,001399: 27,3236 05012 WOR CHAN12
034002,001400: 27,3237 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
034003,001401: 27,3240 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
034004,001402: 27,3241 03260 ADRES PITCHOFF
034005,001403:
034006,001404: 27,3242 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
034007,001405: 27,3243 05224 TC VARDELAY # UNTIL THEN
034008,001406: 27,3244 44740 CS BIT12
034009,001407: 27,3245 00006 EXTEND
034010,001408: 27,3246 03012 WAND CHAN12 # SHUT OFF ROLL
034011,001409: 27,3247 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
034012,001410: 27,3250 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
034013,001411: 27,3251 00006 EXTEND
034014,001412: 27,3252 13264 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
034015,001413: 27,3253 34737 CAF PRIO10 # RETURN TO R03
034016,001414: 27,3254 05072 TC NOVAC
034017,001415: 27,3255 E7,1471 EBANK= WHOCARES
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Page 782 |
034019,001417: 27,3255 02323 02067 2CADR TRIMDONE
034020,001418:
034021,001419: 27,3257 05261 TC TASKOVER
034022,001420: 27,3260 44742 PITCHOFF CS BIT10
034023,001421: 27,3261 00006 EXTEND
034024,001422: 27,3262 03012 WAND CHAN12 # SHUT OFF PITCH
034025,001423: 27,3263 13247 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
034026,001424: 27,3264 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034027,001425: 27,3265 00137 ADRES GMBDRVSW
034028,001426: 27,3266 05261 TC TASKOVER
034029,001427:
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Page 783 |
034031,001429: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
034032,001430: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034033,001431:
034034,001432: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034035,001433:
034036,001434: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034037,001435: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034038,001436: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
034039,001437: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
034040,001438: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034041,001439: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034042,001440: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034043,001441: # CALLER WITH C(MPAC) = VELOCITY(LM).
034044,001442:
034045,001443: # CALLING SEQUENCE:
034046,001444: # L VLOAD CALL
034047,001445: # L +1 VELOCITY(REF) SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
034048,001446: # L +2 S41.1
034049,001447: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
034050,001448:
034051,001449: # SUBROUTINES CALLED:
034052,001450: # 1. CDUTRIG,
034053,001451: # WHICH CALLS CDULOGIC.
034054,001452: # 2. *SMNB*
034055,001453:
034056,001454: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034057,001455:
034058,001456: # ALARM/ABORT MODES: NONE.
034059,001457:
034060,001458: # RESTART PROTECTION: NONE.
034061,001459:
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Page 784 |
034063,001461: # INPUT:
034064,001462: # 1. REFSMMAT.
034065,001463: # 2. CDUX, CDUY, CDUZ.
034066,001464: # 3. VELOCITY (REF) IN MPAC.
034067,001465:
034068,001466: # OUTPUT:
034069,001467: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034070,001468: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
034071,001469: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
034072,001470: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034073,001471:
034074,001472: # DEBRIS: NONE.
034075,001473:
034076,001474: # CHECKOUT STATUS: CODED.
034077,001475:
034078,001476: 27,3267 COUNT* $$/S41.1
034079,001477: 27,3267 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034080,001478: 27,3270 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034081,001479: 27,3271 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
034082,001480: 27,3272 47646 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
034083,001481: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc