Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
033299,000002: ## Copyright: Public domain.
033300,000003: ## Filename: P40-P47.agc
033301,000004: ## Purpose: The main source file for Luminary revision 069.
033302,000005: ## It is part of the source code for the original release
033303,000006: ## of the flight software for the Lunar Module's (LM) Apollo
033304,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
033305,000008: ## version was Luminary 69 revision 2, which included a
033306,000009: ## newer lunar gravity model and only affected module 2.
033307,000010: ## This file is intended to be a faithful transcription, except
033308,000011: ## that the code format has been changed to conform to the
033309,000012: ## requirements of the yaYUL assembler rather than the
033310,000013: ## original YUL assembler.
033311,000014: ## Reference: pp. 759-788
033312,000015: ## Assembler: yaYUL
033313,000016: ## Contact: Ron Burkey <info@sandroid.org>.
033314,000017: ## Website: www.ibiblio.org/apollo/index.html
033315,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
033316,000019: ## 2016-12-15 MAS Updated from comment-proofed Luminary 99 version.
033317,000020: ## 2017-01-21 HG Transcribed
033318,000021: ## 2017-01-23 HG Fix operand FIRSTIME -> FIRSTTME
033319,000022: ## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
033320,000023: ## and fixed errors found.
033321,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
033322,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
033323,000026:
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Page 759 |
033325,000028: # PROGRAM DESCRIPTION P40BOTH DECEMBER 22, 1966
033326,000029: # MOD 03 BY PETER ADLER MARCH 3, 1967
033327,000030: # CALLED VIA JOB FROM V37E
033328,000031:
033329,000032: # FUNCTIONAL DESCRIPTION
033330,000033:
033331,000034: # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
033332,000035: # THRUSTING MANEUVER.
033333,000036:
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(There is no item #2 in the original program listing.) |
033335,000038:
033336,000039: # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
033337,000040:
033338,000041: # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
033339,000042: # PGNCS CONTROLLED DPS MANEUVER.
033340,000043:
033341,000044: # 5) IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
033342,000045: # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
033343,000046:
033344,000047: # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
033345,000048: # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
033346,000049:
033347,000050: # SUBROUTINES USED
033348,000051:
033349,000052: # R02 IMU STATUS CHECK
033350,000053: # S40.1 COMPUTATION OF THRUST DIRECTION
033351,000054: # S40.13 LENGTH OF BURN
033352,000055: # S40.2,3 PREFERRED IMU ORIENATTION
033353,000056: # S40.8 X PRODUCT STEERING
033354,000057: # S40.9 LAMBERT VTOGAIN
033355,000058: # R60LEM ATTITUDE MANEUVER
033356,000059: # LEMPREC EXTRAPOLATE STATE VECTOR
033357,000060: # PREREAD AVERAGE G, SERVICER
033358,000061: # ALLCOAST DAP COASTING INITIALIZATION
033359,000062: # CLOKTASK ERGO CLOCKJOB--COUNT DOWN
033360,000063: # PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
033361,000064: # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
033362,000065: # KILLTASK, SGNAGREE, TPAGREE, ETC.
033363,000066:
033364,000067: # RESTARTS VIA GROUP 4
033365,000068:
033366,000069: # DISPLAYS
033367,000070:
033368,000071: # V50N25 203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
033369,000072: # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
033370,000073: # V50N99 PLEASE PERFORM ENGINE ON ENABLE
033371,000074: # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
033372,000075: # V16N40 FINAL VALUES OF TG, VG, DELTAVM
033373,000076: # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
033374,000077: # V05N09 POSSIBLE ALARMS
033375,000078: # V50N07 PLEASE SELECT P00
033376,000079:
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Page 760 |
033378,000081: # VIA R30
033379,000082:
033380,000083: # V06N44 HAPO, PERI, TFF
033381,000084: # V06N35 TIME TO PERIGEE, HMS
033382,000085:
033383,000086: # ALARM OR ABORT EXIT MODES
033384,000087:
033385,000088: # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
033386,000089: # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
033387,000090:
033388,000091: # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP
033389,000092: # TIG BY 45 SECS.
033390,000093:
033391,000094: # ERASABLE INITIALIZATION
033392,000095: # DEBRIS
033393,000096: # OUTPUT
033394,000097:
033395,000098: # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
033396,000099: # XDELVFLG = 1 FOR EXT DELV COMPUTATION
033397,000100: # = 0 FOR AIMPT (LAMBERT) COMP
033398,000101:
033399,000102: 27,2271 COUNT* $$/P40
033400,000103: 27,2271 E7,1453 EBANK= WHICH
033401,000104:
033402,000105: 36,3147 BANK 36
033403,000106: 36,2000 SETLOC P40S
033404,000107: 36,2000 BANK
033405,000108:
033406,000109: 36,3147 05353 P40LM TC PHASCHNG
033407,000110: 36,3150 04024 OCT 04024
033408,000111:
033409,000112: 36,3151 33131 CAF P40ADRES # INITIALIZATION FOR BURNBABY.
033410,000113: 36,3152 55453 TS WHICH
033411,000114:
033412,000115: 36,3153 30106 CA FLGWRD10
033413,000116: 36,3154 74737 MASK APSFLBIT
033414,000117: 36,3155 10000 CCS A
033415,000118: 36,3156 13722 TCF P40ALM
033416,000119: 36,3157 04616 TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE.
033417,000120: 36,3160 11175 CADR R02BOTH
033418,000121:
033419,000122: 36,3161 40111 CS DAPBOOLS # INITIALIZE DVMON
033420,000123: 36,3162 74737 MASK CSMDOCKD
033421,000124: 36,3163 10000 CCS A
033422,000125: 36,3164 32020 CAF THRESH1
033423,000126: 36,3165 62021 AD THRESH3
033424,000127: 36,3166 55251 TS DVTHRUSH
033425,000128: 36,3167 34751 CAF FOUR
033426,000129: 36,3170 55513 TS DVCNTR
033427,000130:
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Page 761 |
033429,000132: 36,3171 06036 TC INTPRET # LOAD CONSTANTS FOR DPS BURN
033430,000133: 36,3172 43175 VLOAD CLEAR # LOAD F, MDOT, TDECAY
033431,000134: 36,3173 34001 FDPS
033432,000135: 36,3174 02663 NOTHROTL
033433,000136: 36,3175 03734 STORE F
033434,000137: 36,3176 77735 SLOAD
033435,000138: 36,3177 26002 DPSVEX
033436,000139: 36,3200 70476 P40IN DCOMP SR1
033437,000140: 36,3201 37742 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP.
033438,000141: 36,3202 56271 S40.1 # COMPUTES UT AND VGTIG
033439,000142: 36,3203 77624 CALL
033440,000143: 36,3204 56436 S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION
033441,000144: 36,3205 77776 EXIT
033442,000145:
033443,000146: 36,3206 00004 INHINT
033444,000147: 36,3207 04674 TC IBNKCALL
033445,000148: 36,3210 40142 CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
033446,000149:
033447,000150: 36,3211 03213 TC P40SXT4
033448,000151:
033449,000152:
033450,000153: # ***********************
033451,000154: 36,3212 12124 TCF BURNBABY
033452,000155: # ***********************
033453,000156:
033454,000157:
033455,000158: 36,3213 00006 P40SXT4 EXTEND
033456,000159: 36,3214 23142 QXCH P40/RET
033457,000160: 36,3215 00003 P41MANU RELINT
033458,000161:
033459,000162: 36,3216 05516 TC DOWNFLAG # CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
033460,000163: 36,3217 00124 ADRES 3AXISFLG
033461,000164:
033462,000165: 36,3220 04616 TC BANKCALL
033463,000166: 36,3221 54101 CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE
033464,000167: 36,3222 01142 TC P40/RET
033465,000168:
033466,000169:
033467,000170: 36,3223 E7,1460 EBANK= TRKMKCNT
033468,000171: 36,3223 30005 POSTBURN CA Z
033469,000172: 36,3224 55163 TS DISPDEX
033470,000173: 36,3225 00006 EXTEND
033471,000174: 36,3226 32055 DCA ACADN85
033472,000175: 36,3227 53253 DXCH AVEGEXIT
033473,000176: 36,3230 33743 CAF V16N40
033474,000177: 36,3231 04616 TC BANKCALL
033475,000178: 36,3232 20510 CADR GOFLASHR
033476,000179: 36,3233 03256 TC TERM40
033477,000180: 36,3234 13241 TCF TIGNOW
033478,000181: 36,3235 03223 TC POSTBURN
033479,000182:
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Page 762 |
033481,000184: 36,3236 05353 P40PHS1 TC PHASCHNG
033482,000185: 36,3237 00014 OCT 00014
033483,000186: 36,3240 15155 TCF ENDOFJOB
033484,000187:
033485,000188: 36,3241 00004 TIGNOW INHINT
033486,000189: 36,3242 04674 TC IBNKCALL
033487,000190: 36,3243 40153 CADR ZATTEROR
033488,000191: 36,3244 04674 TC IBNKCALL
033489,000192: 36,3245 40140 CADR SETMINDB
033490,000193: 36,3246 00003 RELINT
033491,000194: 36,3247 33744 CAF V16N85B
033492,000195: 36,3250 04616 TC BANKCALL
033493,000196: 36,3251 20340 CADR REFLASHR
033494,000197: 36,3252 03256 TC TERM40
033495,000198: 36,3253 13256 TCF TERM40
033496,000199: 36,3254 03247 TC -5
033497,000200:
033498,000201: 36,3255 13236 TCF P40PHS1
033499,000202:
033500,000203: 36,3256 00006 TERM40 EXTEND
033501,000204: 36,3257 32104 DCA SERVCADR
033502,000205: 36,3260 53253 DXCH AVEGEXIT
033503,000206: 36,3261 34755 CAF ZERO
033504,000207: 36,3262 55460 TS TRKMKCNT # ZERO RENDZVS CNTERS
033505,000208: 36,3263 30005 CA Z
033506,000209: 36,3264 55163 TS DISPDEX
033507,000210: 36,3265 00004 INHINT
033508,000211: 36,3266 04674 TC IBNKCALL
033509,000212: 36,3267 40123 CADR RESTORDB
033510,000213: 36,3270 00003 RELINT
033511,000214: 36,3271 06001 TC GOTOPOOH
033512,000215:
033513,000216: 36,3272 E7,1453 EBANK= WHICH
033514,000217: 36,3272 COUNT* $$/P41
033515,000218: 36,3272 33132 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY
033516,000219: 36,3273 55453 TS WHICH
033517,000220:
033518,000221: 36,3274 04616 TC BANKCALL
033519,000222: 36,3275 11175 CADR R02BOTH
033520,000223:
033521,000224: 36,3276 06036 TC INTPRET # BOTH LM
033522,000225: 36,3277 71214 BON DLOAD # IF NJETSFLAG IS SET, LOAD Z JET F
033523,000226: 36,3300 00700 NJETSFLG
033524,000227: 36,3301 75305 P41FJET1
033525,000228: 36,3302 34015 FRCS4 # IF NJETSFLAG IS CLEAR, LOAD 4 JET F
033526,000229:
033527,000230: 36,3303 37734 P41FJET STCALL F
033528,000231: 36,3304 75310 P41IN
033529,000232: 36,3305 77745 P41FJET1 DLOAD
033530,000233:
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Page 763 |
033532,000235: 36,3306 34017 FRCS2
033533,000236: 36,3307 03734 STORE F
033534,000237:
033535,000238: 36,3310 77624 P41IN CALL
033536,000239: 36,3311 56271 S40.1 # BOTH
033537,000240: 36,3312 77624 P41NORM CALL
033538,000241: 36,3313 56436 S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND
033539,000242: 36,3314 77776 EXIT # SET PFRATFLG.
033540,000243:
033541,000244: 36,3315 00004 INHINT
033542,000245: 36,3316 04674 TC IBNKCALL
033543,000246: 36,3317 40153 CADR ZATTEROR # ZERO ATTITUDE ERRORS
033544,000247: 36,3320 04674 TC IBNKCALL
033545,000248: 36,3321 40140 CADR SETMINDB # SET 0.3 DEGREE DEADBAND
033546,000249: 36,3322 03213 TC P40SXT4
033547,000250:
033548,000251: 36,3323 06036 TC INTPRET
033549,000252: 36,3324 45175 VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
033550,000253: 36,3325 03705 VGTIG # FROM REFERENCE COORDINATES TO LM BODY-
033551,000254: 36,3326 57156 S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY.
033552,000255: 36,3327 03500 STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND)
033553,000256: 36,3330 77776 EXIT
033554,000257:
033555,000258: 36,3331 33744 CAF V16N85B
033556,000259: 36,3332 04616 TC BANKCALL
033557,000260: 36,3333 20324 CADR GODSPRET
033558,000261:
033559,000262:
033560,000263: 36,3334 35017 CAF PRIO5
033561,000264: 36,3335 55163 TS DISPDEX # FOR SAFETY ONLY
033562,000265: 36,3336 05105 TC FINDVAC
033563,000266: 36,3337 E7,1704 EBANK= VGPREV
033564,000267: 36,3337 03361 74067 2CADR DYNMDISP
033565,000268:
033566,000269: 36,3341 05327 TC 2PHSCHNG
033567,000270: 36,3342 00076 OCT 00076 # GROUP 6 RESTARTS AT REDO6.7
033568,000271: 36,3343 04024 OCT 04024 # GROUP 4 RESTARTS HERE
033569,000272:
033570,000273: # ***********************
033571,000274: 36,3344 12133 TCF B*RNB*B*
033572,000275: # ***********************
033573,000276:
033574,000277:
033575,000278: 36,3345 34777 BLNKWAIT CAF 1SEC
033576,000279: 36,3346 04616 TC BANKCALL
033577,000280: 36,3347 01735 CADR DELAYJOB
033578,000281:
033579,000282: 36,3350 31163 REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF
033580,000283: 36,3351 64752 AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30)
033581,000284:
033582,000285: # ***********************
033583,000286:
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Page 764 |
033585,000288:
033586,000289: 36,3352 00006 EXTEND
033587,000290: 36,3353 13345 BZF BLNKWAIT
033588,000291:
033589,000292: 36,3354 33744 CAF V16N85B
033590,000293: 36,3355 04616 TC BANKCALL
033591,000294: 36,3356 20324 CADR GODSPRET
033592,000295:
033593,000296: 36,3357 35017 CAF PRIO5
033594,000297: 36,3360 05146 TC PRIOCHNG
033595,000298:
033596,000299: 36,3361 31163 DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST
033597,000300: 36,3362 00006 EXTEND # TIG-35, SO SERVICER WILL BE DOING THE
033598,000301: 36,3363 65155 BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP.
033599,000302: 36,3364 06036 TC INTPRET
033600,000303: 36,3365 45175 VLOAD CALL
033601,000304: 36,3366 03705 VGPREV
033602,000305: 36,3367 57156 S41.1
033603,000306: 36,3370 03500 STORE VGBODY
033604,000307: 36,3371 77776 EXIT
033605,000308: 36,3372 34777 CAF 1SEC
033606,000309: 36,3373 04616 TC BANKCALL
033607,000310: 36,3374 01735 CADR DELAYJOB
033608,000311: 36,3375 13361 TCF DYNMDISP
033609,000312:
033610,000313: 36,3376 06036 CALCN85 TC INTPRET
033611,000314: 36,3377 77624 CALL
033612,000315: 36,3400 75611 UPDATEVG
033613,000316: 36,3401 45175 VLOAD CALL
033614,000317: 36,3402 03705 VGPREV
033615,000318: 36,3403 57156 S41.1
033616,000319: 36,3404 03500 STORE VGBODY
033617,000320: 36,3405 77776 EXIT
033618,000321: 36,3406 04635 TC POSTJUMP
033619,000322: 36,3407 77525 CADR SERVEXIT
033620,000323:
033621,000324: 36,3410 COUNT* $$/P42
033622,000325: 36,3410 E7,1453 EBANK= WHICH
033623,000326:
033624,000327: 36,3410 05353 P42LM TC PHASCHNG
033625,000328: 36,3411 04024 OCT 04024
033626,000329:
033627,000330: 36,3412 33133 CAF P42ADRES # INITIALIZATION FOR BURNBABY.
033628,000331: 36,3413 55453 TS WHICH
033629,000332:
033630,000333: 36,3414 40106 CS FLGWRD10
033631,000334: 36,3415 74737 MASK APSFLBIT
033632,000335: 36,3416 10000 CCS A
033633,000336: 36,3417 03722 TC P40ALM
033634,000337: 36,3420 04616 TC BANKCALL
033635,000338:
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Page 765 |
033637,000340: 36,3421 11175 CADR R02BOTH
033638,000341: 36,3422 36000 CAF THRESH2 # INITIALIZE DVMON
033639,000342: 36,3423 55251 TS DVTHRUSH
033640,000343: 36,3424 34751 CAF FOUR
033641,000344: 36,3425 55513 TS DVCNTR
033642,000345:
033643,000346: 36,3426 06036 TC INTPRET
033644,000347: 36,3427 77214 SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO
033645,000348: 36,3430 01072 AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD.
033646,000349: 36,3431 34007 FAPS
033647,000350: 36,3432 03734 STORE F
033648,000351: 36,3433 52135 SLOAD GOTO
033649,000352: 36,3434 26001 APSVEX
033650,000353: 36,3435 75200 P40IN
033651,000354:
033652,000355: 36,3436 E7,1453 EBANK= WHICH
033653,000356:
033654,000357: 36,3436 COUNT* $$/P47
033655,000358: 36,3436 04616 P47LM TC BANKCALL
033656,000359: 36,3437 11175 CADR R02BOTH
033657,000360: 36,3440 06036 TC INTPRET
033658,000361: 36,3441 77624 CALRB
033659,000362: 36,3442 27577 MIDTOAV2
033660,000363:
033661,000364: 36,3443 30155 CA MPAC +1
033662,000365: 36,3444 05173 TC TWIDDLE
033663,000366: 36,3445 03447 ADRES STARTP47
033664,000367:
033665,000368: 36,3446 15155 TCF ENDOFJOB
033666,000369:
033667,000370: 36,3447 05353 STARTP47 TC PHASCHNG
033668,000371: 36,3450 05014 OCT 05014
033669,000372: 36,3451 77777 OCT 77777
033670,000373:
033671,000374: 36,3452 00006 EXTEND
033672,000375: 36,3453 33747 DCA ACADN83
033673,000376: 36,3454 53253 DXCH AVEGEXIT
033674,000377: 36,3455 34736 CAF PRIO20
033675,000378: 36,3456 05105 TC FINDVAC
033676,000379: 36,3457 E7,1620 EBANK= DELVIMU
033677,000380: 36,3457 03513 74067 2CADR P47BODY
033678,000381: 36,3461 12333 TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD
033679,000382: # SEE TIG-30 IN BURNBABY.
033680,000383:
033681,000384: 36,3462 06036 CALCN83 TC INTPRET
033682,000385: 36,3463 53375 VLOAD VAD
033683,000386: 36,3464 03500 DELVCTL
033684,000387: 36,3465 03525 DELVREF
033685,000388: 36,3466 03654 STORE DELVSIN # TEMP STORAGE FOR RESTARTS
033686,000389:
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Page 766 |
033688,000391: 36,3467 77624 CALL
033689,000392: 36,3470 57156 S41.1
033690,000393: 36,3471 03621 STORE DELVIMU
033691,000394: 36,3472 77776 EXIT
033692,000395: 36,3473 05353 TC PHASCHNG
033693,000396: 36,3474 10035 OCT 10035 # REREADAC AND HERE
033694,000397:
033695,000398: 36,3475 06036 TC INTPRET
033696,000399: 36,3476 77775 VLOAD
033697,000400: 36,3477 03654 DELVSIN
033698,000401: 36,3500 03500 STORE DELVCTL
033699,000402: 36,3501 77776 EXIT
033700,000403:
033701,000404: 36,3502 04635 TC POSTJUMP
033702,000405: 36,3503 77525 CADR SERVEXIT
033703,000406:
033704,000407: 36,3504 33745 P47BOD CAF V1683
033705,000408: 36,3505 04616 TC BANKCALL
033706,000409: 36,3506 20510 CADR GOFLASHR
033707,000410: 36,3507 06001 TC GOTOPOOH
033708,000411: 36,3510 06001 TC GOTOPOOH
033709,000412:
033710,000413: 36,3511 13513 TCF P47BODY
033711,000414:
033712,000415: 36,3512 13236 TCF P40PHS1
033713,000416:
033714,000417: 36,3513 06036 P47BODY TC INTPRET
033715,000418: 36,3514 77775 VLOAD
033716,000419: 36,3515 06424 HI6ZEROS
033717,000420: 36,3516 03621 STORE DELVIMU
033718,000421: 36,3517 03500 STORE DELVCTL
033719,000422: 36,3520 77776 EXIT
033720,000423: 36,3521 03504 TC P47BOD
033721,000424:
033722,000425: 36,3522 COUNT* $$/P40
033723,000426: 36,3522 31515 IMPLBURN CA TGO +1
033724,000427: 36,3523 03710 TC GETDT
033725,000428: 36,3524 05173 TC TWIDDLE
033726,000429: 36,3525 03542 ADRES ENGOFTSK
033727,000430: 36,3526 05516 TC DOWNFLAG # TURN OFF IGNFLAG
033728,000431: 36,3527 00153 ADRES IGNFLAG
033729,000432: 36,3530 05516 TC DOWNFLAG # TURN OFF ASTNFLG
033730,000433: 36,3531 00154 ADRES ASTNFLAG
033731,000434: 36,3532 05516 TC DOWNFLAG # TURN OFF IMPULSW
033732,000435: 36,3533 00044 ADRES IMPULSW
033733,000436: 36,3534 05353 TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF)
033734,000437: 36,3535 40114 OCT 40114
033735,000438:
033736,000439: 36,3536 05221 TC FIXDELAY # WAIT HALF A SECOND
033737,000440: 36,3537 00062 DEC 50 B-14
033738,000441:
![]() |
Page 767 |
033740,000443: 36,3540 02656 TC NOULLAGE # TURN OFF ULLAGE
033741,000444:
033742,000445: 36,3541 05261 TC TASKOVER
033743,000446:
033744,000447: 36,3542 04674 ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE
033745,000448: 36,3543 75545 CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL
033746,000449: 36,3544 05261 TC TASKOVER
033747,000450:
033748,000451: 36,3545 34644 ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB
033749,000452: 36,3546 05105 TC FINDVAC
033750,000453: 36,3547 E7,1460 EBANK= TRKMKCNT
033751,000454: 36,3547 03223 74067 2CADR POSTBURN
033752,000455:
033753,000456: 36,3551 34753 ENGINOF2 CAF BIT1
033754,000457: 36,3552 05203 TC WAITLIST
033755,000458: 36,3553 E6,1420 EBANK= OMEGAQ
033756,000459: 36,3553 03606 74066 2CADR COASTSET
033757,000460: 36,3555 40103 ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT.
033758,000461: 36,3556 74745 MASK IDLEFBIT
033759,000462: 36,3557 26103 ADS FLAGWRD7
033760,000463:
033761,000464: 36,3560 02656 TC NOULLAGE
033762,000465:
033763,000466: 36,3561 00006 ENGINOF4 EXTEND
033764,000467: 36,3562 30025 DCA TIME2
033765,000468: 36,3563 53345 DXCH TEVENT
033766,000469:
033767,000470: 36,3564 44745 ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
033768,000471: 36,3565 70101 MASK FLAGWRD5
033769,000472: 36,3566 54101 TS FLAGWRD5
033770,000473: 36,3567 44355 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM
033771,000474: 36,3570 00006 EXTEND # SUBROUTINE.
033772,000475: 36,3571 02011 RAND DSALMOUT
033773,000476: 36,3572 64736 AD PRIO20 # TURN OFF THE ENGINE - DPS OR APS
033774,000477: 36,3573 00006 EXTEND
033775,000478: 36,3574 01011 WRITE DSALMOUT
033776,000479:
033777,000480: 36,3575 40111 CS DAPBOOLS # TURN OFF TRIM GIMBAL
033778,000481: 36,3576 74736 MASK USEQRJTS
033779,000482: 36,3577 26111 ADS DAPBOOLS
033780,000483:
033781,000484: 36,3600 44737 CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033782,000485: 36,3601 54055 TS THRUST # IS TURNED OFF.
033783,000486: 36,3602 34750 CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE
033784,000487: 36,3603 00006 EXTEND # ENGINE IS DISARMED.
033785,000488: 36,3604 05014 WOR CHAN14
033786,000489:
033787,000490: 36,3605 04707 TC ISWRETRN
033788,000491:
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Page 768 |
033790,000493: 36,3606 04674 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION
033791,000494: 36,3607 40204 CADR ALLCOAST
033792,000495: 36,3610 05261 TC TASKOVER
033793,000496:
033794,000497: 36,3611 E6,1420 EBANK= OMEGAQ
033795,000498: 36,3611 45020 UPDATEVG STQ CALL
033796,000499: 36,3612 03663 QTEMP1
033797,000500: 36,3613 56472 S40.8 # X-PRODUCT STEERING
033798,000501: 36,3614 43014 BON BOFSET
033799,000502: 36,3615 01307 XDELVFLG
033800,000503: 36,3616 03663 QTEMP1
033801,000504: 36,3617 01045 CYCLESW
033802,000505: 36,3620 03663 QTEMP1
033803,000506: 36,3621 77776 EXIT
033804,000507:
033805,000508: 36,3622 10755 CCS PHASE2
033806,000509: 36,3623 13636 TCF ENDSTEER # GROUP 2 ACTIVE --> LAMBERT STILL GOING.
033807,000510:
033808,000511: 36,3624 34737 CAF PRIO10
033809,000512: 36,3625 00004 INHINT
033810,000513: 36,3626 05105 TC FINDVAC
033811,000514: 36,3627 E7,1713 EBANK= VG
033812,000515: 36,3627 02745 56067 2CADR S40.9 # LAMBERT VTOGAIN
033813,000516:
033814,000517: 36,3631 05327 TC 2PHSCHNG
033815,000518: 36,3632 00172 OCT 00172 # 2.17SPOT FOR S40.9
033816,000519: 36,3633 10035 OCT 10035 # HERE AND REREADAC AFTER RESTART
033817,000520:
033818,000521: 36,3634 05516 TC DOWNFLAG
033819,000522: 36,3635 00043 ADRES CYCLESW # VG CALCULATION OMITTED
033820,000523: 36,3636 06036 ENDSTEER TC INTPRET
033821,000524: 36,3637 77650 GOTO
033822,000525: 36,3640 03663 QTEMP1
033823,000526:
033824,000527: 36,3641 06036 STEERING TC INTPRET
033825,000528:
033826,000529: 36,3642 77624 CALL
033827,000530: 36,3643 75611 UPDATEVG
033828,000531: 36,3644 77776 EXIT
033829,000532:
033830,000533: 36,3645 E7,1513 EBANK= DVCNTR
033831,000534: 36,3645 00004 NSTEER INHINT
033832,000535: 36,3646 35016 CA EBANK7
033833,000536: 36,3647 54003 TS EBANK
033834,000537: # PHASE CHANGE IN SERVERICER NEEDED HERE *********************************
033835,000538: 36,3650 40076 CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER
033836,000539: 36,3651 74743 MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033837,000540: 36,3652 10000 CCS A # STEERING IS ALMOST DONE.
033838,000541:
033839,000542: 36,3653 13660 TCF +5 # IMPULSW = 0 EXIT
033840,000543:
![]() |
Page 769 |
033842,000545: 36,3654 40103 CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG
033843,000546: 36,3655 74745 MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON)
033844,000547: 36,3656 10000 CCS A
033845,000548: 36,3657 13662 TCF +3 # DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
033846,000549: 36,3660 04635 TC POSTJUMP # DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
033847,000550: 36,3661 77525 CADR SERVEXIT
033848,000551:
033849,000552: 36,3662 04674 TC IBNKCALL
033850,000553: 36,3663 40165 CADR STOPRATE
033851,000554:
033852,000555: 36,3664 05516 TC DOWNFLAG # TURN OFF IMPULSW
033853,000556: 36,3665 00044 ADRES IMPULSW
033854,000557:
033855,000558: 36,3666 05504 TC UPFLAG
033856,000559: 36,3667 00161 ADRES IDLEFLAG # TURN OFF DVMON
033857,000560:
033858,000561: 36,3670 00004 INHINT
033859,000562: 36,3671 00006 EXTEND
033860,000563: 36,3672 31440 DCA TIG
033861,000564: 36,3673 52155 DXCH MPAC
033862,000565: 36,3674 00006 EXTEND
033863,000566: 36,3675 40025 DCS TIME2
033864,000567: 36,3676 20155 DAS MPAC
033865,000568: 36,3677 07256 TC TPAGREE
033866,000569: 36,3700 30155 CAE MPAC +1
033867,000570: 36,3701 03710 TC GETDT
033868,000571: 36,3702 05173 TC TWIDDLE
033869,000572: 36,3703 03542 ADRES ENGOFTSK
033870,000573: 36,3704 05327 TC 2PHSCHNG
033871,000574: 36,3705 40114 OCT 40114 # ENGOFTSK (ENGINOFF)
033872,000575: 36,3706 00035 OCT 00035 # SERVICER--REREADAC
033873,000576:
033874,000577: 36,3707 15155 TCF ENDOFJOB
033875,000578:
033876,000579: 36,3710 10000 GETDT CCS A
033877,000580: 36,3711 13714 TCF +3
033878,000581: 36,3712 13714 TCF +2
033879,000582: 36,3713 34755 CAF ZERO
033880,000583: 36,3714 64753 AD ONE
033881,000584: 36,3715 56001 XCH L
033882,000585: 36,3716 34755 CAF ZERO
033883,000586: 36,3717 53515 DXCH TGO
033884,000587: 36,3720 31515 CA TGO +1
033885,000588: 36,3721 00002 TC Q
033886,000589: 36,3722 05567 P40ALM TC ALARM # ASTRONAUT DOESN'T AGREE WITH STAGE
033887,000590: 36,3723 01706 OCT 01706 # VERIFY DISCRETE. HE HAS SELECTED P40,
033888,000591: 36,3724 35006 CAF V05N09 # BUT THE DAP THINKS THAT THE DESCENT UNIT
033889,000592: 36,3725 04616 TC BANKCALL # IS GONE--A SITUATION THAT WOULD MAKE A
033890,000593: 36,3726 20351 CADR GOFLASH # DPS BURN EXCEEDINGLY DIFFICULT.
033891,000594:
![]() |
Page 770 |
033893,000596: 36,3727 16001 TCF GOTOPOOH # V34E TERMINATE
033894,000597: 36,3730 13724 TCF -4 # V33E PROCEED (ILLEGAL)
033895,000598: 36,3731 13724 TCF -5 # RECYCLE (ILLEGAL)
033896,000599:
033897,000600: # ************************************************************************
033898,000601:
033899,000602: 36,3732 00000 SEC15DP OCT 00000 # DON'T SEPARATE
033900,000603: 36,3733 02734 SEC15 DEC 1500 B-14 # DON'T SEPARATE
033901,000604: 36,3734 00000 05670 SEC30DP 2DEC 3000 B-28
033902,000605: 36,3736 00000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45
033903,000606: 36,3737 10624 SEC45 DEC 4500 B-14
033904,000607: 36,3740 00000 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC
033905,000608: 36,3741 00764 5SEC DEC 500 B-14
033906,000609: 36,3742 05050 26SECS DEC 2600 B-14
033907,000610: 36,3743 04050 V16N40 VN 1640
033908,000611: 36,3744 04125 V16N85B VN 1685
033909,000612: 36,3745 04123 V1683 VN 1683
033910,000613: 36,3746 4777 SEC01 = 1SEC
033911,000614: 36,3746 36,2054 ACADN85 = P41TABLE +2
033912,000615:
033913,000616: 36,3746 E7,1620 EBANK= DELVIMU
033914,000617: 36,3746 03462 74067 ACADN83 2CADR CALCN83
033915,000618: # *************************************************
033916,000619:
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Page 771 |
033918,000621: # PROGRAM DESCRIPTION S40.1 DATE15NOV66
033919,000622: # MOD N02 LOG SECTION P40-P47
033920,000623: # MOD BY ZELDIN AND ADAPTED BY TALAYCO
033921,000624: # FUNCTIONAL DESCRIPTION
033922,000625: # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033923,000626: # VECTOR(VGTIG).
033924,000627: # CALLING SEQUENCE
033925,000628: # L CALL
033926,000629: # L+1 S40.1
033927,000630: # NORMAL EXIT MODE
033928,000631: # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033929,000632: # ERROR RETURN IF NOSOFLAG =1
033930,000633: # SUBROUTINES CALLED
033931,000634: # LEMPREC
033932,000635: # INITVEL
033933,000636: # CALCGRAV
033934,000637: # MIDGIM
033935,000638: # ALARM OR ABORT EXIT MODES
033936,000639: # L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
033937,000640: # ERASABLE INITIALIZATION REQUIRED
033938,000641: # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16KGM
033939,000642: # XDELVFLG 1=DELTA-V MANEUVER,0=AIMPT STEER
033940,000643: # F THRUST FOR ENGINE USED
033941,000644: # IF DELTA-V MANEUVER
033942,000645: # DELVSIN SPECIFIED DELTA-V REQUIRED IN
033943,000646: # INERTIAL COORDS. OF ACTIVE VEHICLE
033944,000647: # AT TIME OF IGNITION VECTOR B7M/CS
033945,000648: # DELVSAB MAG. OF DELVSIN DP B7M/CS
033946,000649: # RTIG POSITION AT TIME OF IGNITION VECTOR B29M
033947,000650: # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS
033948,000651: # IF AIMPT STEER
033949,000652: # TIG TIME OF IGNITION DP B28CS
033950,000653: # RTARG POSITION TARGET TIME VECTOR B29M
033951,000654: # CSTEER C FOR STEER LAW DP B2
033952,000655: # DLTARG TARGET TIME-IGNITION TIME DP B28CS
033953,000656: # OUTPUT
033954,000657: # UT DESIRED THRUST DIRECTION VECT. B2M/(CS.CS)
033955,000658: # VGTIG INITIAL VALUE OF VELOCITY
033956,000659: # TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
033957,000660: # DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/CS
033958,000661: # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033959,000662: # -GDT FOR S40.13 VECT B7M/CS
033960,000663: # RTIG CALC IN S40.1B(AIMPT) FOR S40.2,3 VECTOR B29M
033961,000664: # POSITION AT TIME OF IGNITION
033962,000665: # DEBRIS QTEMP1
033963,000666: # MPAC,QPRET
033964,000667: # PUSHLIST
033965,000668:
033966,000669: 14,2347 BANK 14
033967,000670: 27,2000 SETLOC P40S1
033968,000671: 27,2000 BANK
033969,000672:
![]() |
Page 772 |
033971,000674: 27,2271 COUNT* $$/S40.1
033972,000675: 27,2271 44014 S40.1 CLEAR STQ
033973,000676: 27,2272 03264 FIRSTFLG
033974,000677: 27,2273 03630 QTEMP
033975,000678: 27,2274 77614 DELVTEST BOFF
033976,000679: 27,2275 01347 XDELVFLG
033977,000680: 27,2276 56363 S40.1B
033978,000681: 27,2277 77201 CALCTHET SETPD VLOAD
033979,000682: 27,2300 00001 0
033980,000683: 27,2301 03646 VTIG
033981,000684: 27,2302 02335 STORE VINIT
033982,000685: 27,2303 53435 VXV UNIT
033983,000686: 27,2304 03640 RTIG
033984,000687: 27,2305 27677 STOVL UT # UP IN UT
033985,000688: 27,2306 03640 RTIG
033986,000689: 27,2307 02327 STORE RINIT
033987,000690: 27,2310 65236 VSQ PDDL
033988,000691: 27,2311 00045 36D
033989,000692: 27,2312 56205 DMP DDV
033990,000693: 27,2313 16435 THETACON
033991,000694: 27,2314 41205 DMP DMP
033992,000695: 27,2315 03662 DELVSAB
033993,000696: 27,2316 01245 WEIGHT/G
033994,000697: 27,2317 77671 DDV
033995,000698: 27,2320 03734 F
033996,000699: 27,2321 24017 STOVL 14D
033997,000700: 27,2322 03654 DELVSIN
033998,000701:
033999,000702: 27,2323 74241 DOT VXSC
034000,000703: 27,2324 03677 UT
034001,000704: 27,2325 03677 UT
034002,000705: 27,2326 41552 VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
034003,000706: 27,2327 65245 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
034004,000707: 27,2330 03654 DELVSIN
034005,000708: 27,2331 00017 14D
034006,000709: 27,2332 63356 SIN PDVL
034007,000710: 27,2333 00007 6D
034008,000711: 27,2334 53435 VXV UNIT
034009,000712: 27,2335 03677 UT
034010,000713: 27,2336 45561 VXSC STADR
034011,000714: 27,2337 50072 STOVL VGTIG # UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
034012,000715: 27,2340 65256 UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
034013,000716: 27,2341 00017 14D
034014,000717: 27,2342 74346 COS VXSC
034015,000718: 27,2343 74255 VAD VXSC
034016,000719: 27,2344 03705 VGTIG
034017,000720: 27,2345 00045 36D
034018,000721: 27,2346 53352 VSL2 VAD
034019,000722: 27,2347 77626 STADR
034020,000723: 27,2350 74072 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
034021,000724:
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Page 773 |
034023,000726: 27,2351 77656 UNIT
034024,000727: 27,2352 27677 STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
034025,000728: 27,2353 03705 VGTIG
034026,000729: 27,2354 45006 PUSH CALL
034027,000730: 27,2355 20021 GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
034028,000731: 27,2356 77775 VLOAD
034029,000732: 27,2357 06424 ZEROVECS
034030,000733: 27,2360 03671 STORE BDT
034031,000734: 27,2361 77650 GOTO
034032,000735: 27,2362 03630 QTEMP
034033,000736: 27,2363 77745 S40.1B DLOAD
034034,000737: 27,2364 03440 TIG
034035,000738: 27,2365 00041 STORE TDEC1
034036,000739: 27,2366 77621 BDSU
034037,000740: 27,2367 03627 TPASS4
034038,000741: 27,2370 37450 STCALL DELLT4 # INTERCEPT TIME - TIG.
034039,000742: 27,2371 27057 LEMPREC
034040,000743: 27,2372 40375 VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL.
034041,000744: 27,2373 00001 RATT
034042,000745: 27,2374 00001 0
034043,000746: 27,2375 03640 STORE RTIG
034044,000747: 27,2376 26327 STOVL RINIT
034045,000748: 27,2377 00007 VATT
034046,000749: 27,2400 03646 STORE VTIG
034047,000750: 27,2401 02335 STORE VINIT
034048,000751: 27,2402 65345 DLOAD PDDL # NUMIT = 0
034049,000752: 27,2403 06424 ZEROVECS
034050,000753: 27,2404 16431 EPS1
034051,000754: 27,2405 43214 BOFF DAD
034052,000755: 27,2406 03745 NORMSW
034053,000756: 27,2407 56411 SMALLEPS
034054,000757: 27,2410 16433 EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES.
034055,000758: 27,2411 66006 SMALLEPS PUSH SXA,1
034056,000759: 27,2412 03375 RTX1
034057,000760: 27,2413 45134 SXA,2 CALL
034058,000761: 27,2414 03376 RTX2
034059,000762: 27,2415 22000 INITVEL
034060,000763: 27,2416 41575 VLOAD PUSH
034061,000764: 27,2417 03366 DELVEET3 # VGTIG = VR - VN.
034062,000765: 27,2420 03705 STORE VGTIG
034063,000766: 27,2421 77656 UNIT # UT = UNIT (VGTIG)
034064,000767: 27,2422 17677 STODL UT
034065,000768: 27,2423 00045 36D
034066,000769: 27,2424 37662 STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
034067,000770: 27,2425 20021 GET.LVC # VERTICAL COORDINATES.
034068,000771: 27,2426 77650 GOTO
034069,000772: 27,2427 03630 QTEMP
034070,000773:
034071,000774: 27,2430 00707 03434 EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION.
034072,000775:
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Page 774 |
034074,000777: 27,2432 03070 34344 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION.
034075,000778: 27,2434 00024 13714 THETACON 2DEC .31830989 B-8
034076,000779:
![]() |
Page 775 |
034078,000781: # SUBROUTINE NAME: S40.2,3 MOD. NO. 3 DATE: APRIL 4, 1967
034079,000782:
034080,000783: # MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034081,000784:
034082,000785: # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL)
034083,000786:
034084,000787: # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL)
034085,000788:
034086,000789: # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
034087,000790:
034088,000791: # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
034089,000792: # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
034090,000793: # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
034091,000794: # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION,
034092,000795: # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
034093,000796:
034094,000797:
034095,000798: # CALLING SEQUENCE:
034096,000799: # L CALL INTERPRETIVE CALL.
034097,000800: # L +1 S40.2,3
034098,000801: # L +2 (RETURN) GIMBAL ANGLE VECTOR IN MPAC.
034099,000802:
034100,000803: # SUBROUTINES CALLED: NONE.
034101,000804:
034102,000805: # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE).
034103,000806:
034104,000807: # ALARM/ABORT MODES: NONE.
034105,000808:
034106,000809: # INPUT:
034107,000810:
034108,000811: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
034109,000812: # 2. UT HALF-UNIT DESIRED THRUST DIRECTION.
034110,000813: # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES.
034111,000814:
034112,000815: # OUTPUT:
034113,000816:
034114,000817: # 1. : XSCREF : WINGS-LEVEL HEADS-UP LM ORIENTATION
034115,000818: # : YSCREF : IN REFERENCE COORDINATES
034116,000819: # : ZSCREF : (PREFERRED IMU ORIENTATION).
034117,000820: # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
034118,000821: # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
034119,000822: # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
034120,000823:
034121,000824: # DEBRIS: NONE.
034122,000825:
![]() |
Page 776 |
034124,000827:
034125,000828: 27,2436 COUNT* $$/S40.2
034126,000829: 27,2436 77775 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT)
034127,000830: 27,2437 03677 UT # (PUT INTO TOP OF PUSH-DOWN-LIST.)
034128,000831: 27,2440 76521 MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE-
034129,000832: 27,2441 01734 REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE).
034130,000833: 27,2442 27767 STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
034131,000834: 27,2443 06422 UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND
034132,000835: 27,2444 27761 STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
034133,000836:
034134,000837: 27,2445 03677 UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS.
034135,000838: 27,2446 03605 PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION.)
034136,000839: 27,2447 53435 VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION.
034137,000840: 27,2450 03640 RTIG # YSCREF = UNIT(UT X RTIG)
034138,000841: 27,2451 46125 PDDL BHIZ
034139,000842: 27,2452 00045 36D # TEST MAGNITUDE OF UT X RTIG
034140,000843: 27,2453 56464 FIXY # IF SMALL, USE UT X VTIG AS YSC
034141,000844: 27,2454 45575 STORY VLOAD STADR
034142,000845: 27,2455 74164 STORE YSCREF
034143,000846: 27,2456 76435 VXV VSL1 # COMPUTE (YSCREF X XSCREF),BUT FOR A
034144,000847: 27,2457 03605 XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y).
034145,000848: 27,2460 77676 VCOMP # ZSCREF = - (YSCREF X XSCREF)
034146,000849: 27,2461 03621 STORE ZSCREF # = + (XSCREF X YSCREF)
034147,000850:
034148,000851: 27,2462 43414 SET RVQ
034149,000852: 27,2463 01073 PFRATFLG
034150,000853: 27,2464 47375 FIXY VLOAD VXV # IN THIS CASE,
034151,000854: 27,2465 03605 XSCREF # YSCREF = UNIT(XSCREF X VTIG)
034152,000855: 27,2466 03646 VTIG
034153,000856: 27,2467 41456 UNIT PUSH
034154,000857: 27,2470 77650 GOTO
034155,000858: 27,2471 56454 STORY
034156,000859:
![]() |
Page 777 |
034158,000861: # SUBROUTINE S40.8
034159,000862:
034160,000863: # MODIFIED APRIL 3, 1968 BY PETER ADLER MIT/IL
034161,000864:
034162,000865: # DESCRIPTION
034163,000866:
034164,000867: # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
034165,000868: # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
034166,000869: # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
034167,000870:
034168,000871: # CALLING SEQUENCE
034169,000872:
034170,000873: # L-1 CALL
034171,000874: # L S40.8
034172,000875: # L+1 INTERPRETIVE RETURN
034173,000876:
034174,000877: # ALARM
034175,000878:
034176,000879: # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
034177,000880: # AND SET ALARM 1407. RETURN TO CALLER NORMALLY.
034178,000881:
034179,000882: # INPUT AND INITIALIZATION
034180,000883:
034181,000884: # VGPREV REFERENCE 2(7) M/CS
034182,000885: # DELVREF REFERENCE 2(7) M/CS
034183,000886: # BDT REFERENCE 2(7) M/CS
034184,000887: # TDECAY TAIL-OFF TIME 2(28) CS
034185,000888: # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
034186,000889: # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
034187,000890: # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
034188,000891:
034189,000892: # NOTE: VGTIG EQUALS VGPREV
034190,000893:
034191,000894: # OUTPUT
034192,000895:
034193,000896: # STEERSW SEE INPUT
034194,000897: # IMPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
034195,000898: # TGO TIME TO CUT-OFF 2(28) CS
034196,000899: # SEE FINDCDUW FOR STEERING OUTPUTS.
034197,000900:
034198,000901: # SUBROUTINE CALLED
034199,000902:
034200,000903: # FINDCDUW
034201,000904:
034202,000905: # DEBRIS
034203,000906:
034204,000907: # MPACS, PUSHLIST
034205,000908:
034206,000909: 27,2472 COUNT* $$/S40.8
034207,000910:
![]() |
Page 778 |
034209,000912: 27,2472 E6,1420 EBANK= OMEGAQ
034210,000913: 27,2472 43175 S40.8 VLOAD BON
034211,000914: 27,2473 03705 VGPREV
034212,000915: 27,2474 01307 XDELVFLG
034213,000916: 27,2475 56502 VGNEW
034214,000917: 27,2476 53214 BOFF VAD
034215,000918: 27,2477 03344 FIRSTFLG
034216,000919: 27,2500 56502 VGNEW
034217,000920: 27,2501 03671 BDT
034218,000921: 27,2502 77651 VGNEW VSU
034219,000922: 27,2503 03525 DELVREF
034220,000923: 27,2504 03714 VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7)M/CS
034221,000924: 27,2505 76521 MXV VSL1
034222,000925: 27,2506 01734 REFSMMAT
034223,000926: 27,2507 03252 STORE UNFC/2
034224,000927: 27,2510 77214 BON VLOAD
034225,000928: 27,2511 03304 FIRSTFLG
034226,000929: 27,2512 56515 BDTOK
034227,000930: 27,2513 06424 HI6ZEROS
034228,000931: 27,2514 03671 STORE BDT
034229,000932: 27,2515 51575 BDTOK VLOAD ABVAL
034230,000933: 27,2516 03714 VG
034231,000934: 27,2517 03662 STORE VGDISP
034232,000935: 27,2520 77201 TGDCALC SETPD VLOAD
034233,000936: 27,2521 00001 0
034234,000937: 27,2522 03714 VG
034235,000938: 27,2523 27705 STOVL VGPREV
034236,000939: 27,2524 03525 DELVREF
034237,000940: 27,2525 57414 BOFF VCOMP
034238,000941: 27,2526 01344 STEERSW
034239,000942: 27,2527 00052 QPRET
034240,000943: 27,2530 77656 UNIT
034241,000944: 27,2531 41441 DOT PUSH
034242,000945: 27,2532 03714 VG
034243,000946: 27,2533 56244 BPL DDV
034244,000947: 27,2534 56562 ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG.
034245,000948: 27,2535 03742 VEX
034246,000949: 27,2536 41215 DAD DMP
034247,000950: 27,2537 06422 DPHALF
034248,000951: 27,2540 56261 SR DDV
034249,000952: 27,2541 20613 10D
034250,000953: 27,2542 00045 36D
034251,000954: 27,2543 43205 DMP DAD
034252,000955: 27,2544 16571 -FOURDT
034253,000956: 27,2545 03740 TDECAY
034254,000957: 27,2546 03515 STORE TGO
034255,000958: 27,2547 77615 DAD
034256,000959: 27,2550 01235 PIPTIME
034257,000960: 27,2551 17440 STODL TIG
034258,000961: 27,2552 03515 TGO
034259,000962:
![]() |
Page 779 |
034261,000964: 27,2553 51025 DSU BPL
034262,000965: 27,2554 16573 FOURSECS # 400 CS
034263,000966: 27,2555 61062 FINDCDUW -2
034264,000967: 27,2556 43014 SET CLRGO
034265,000968: 27,2557 01066 IMPULSW
034266,000969: 27,2560 01224 STEERSW
034267,000970: 27,2561 00052 QPRET
034268,000971:
034269,000972:
034270,000973: 27,2562 77776 ALARMIT EXIT
034271,000974: 27,2563 05567 TC ALARM
034272,000975: 27,2564 01407 OCT 01407
034273,000976: 27,2565 06036 TC INTPRET
034274,000977: 27,2566 77650 GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW.
034275,000978: 27,2567 61062 FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3.
034276,000979:
034277,000980: 27,2570 77715 77777 -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18)
034278,000981: 27,2572 00000 00620 FOURSECS 2DEC 400 B-28 # 400 CS SCALED AT 2(+28)CS
034279,000982: 27,2574 E7,1741 2VEXHUST = VEX
034280,000983:
![]() |
Page 780 |
034282,000985: # NAME S40.13 - TIMEBURN
034283,000986: # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
034284,000987: # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
034285,000988: # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
034286,000989: # BURN
034287,000990: # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
034288,000991: # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
034289,000992: # SIGNAL
034290,000993: # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
034291,000994: # INPUT VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
034292,000995: # WEIGHT/G MASS OF VEHICLE IN KGM AT +16
034293,000996: # F APS ENGINE THRUST IN M.NEWTONS AT +7
034294,000997: # AND ALSO FOR RCS ENGINE
034295,000998: # MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034296,000999: # BURN IN KILOGRAMS/CS AT +3 . THIS SCALING MAY
034297,001000: # REQUIRE MODIFICATION FOR SATURN BURNS.
034298,001001: # ENG1FLAG SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
034299,001002: # =0 DPS
034300,001003: # =1 APS
034301,001004: # OUTPUT IMPULSW ZERO FOR STEERING
034302,001005: # ONE FOR ATTITUDE HOLD
034303,001006: # NOTHROTL ZERO FOR THROTTLING
034304,001007: # ONE TO INHIBIT THROTTLING
034305,001008: # TGO TIME TO BURN IN CS
034306,001009: # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
034307,001010: # FORCE
034308,001011:
034309,001012:
034310,001013: 27,2574 E7,1514 EBANK= TGO
034311,001014: 27,2574 COUNT* $$/40.13
034312,001015: 27,2574 06036 S40.13 TC INTPRET
034313,001016: 27,2575 43001 SETPD CLEAR
034314,001017: 27,2576 00001 00D
034315,001018: 27,2577 01266 IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
034316,001019: 27,2600 51575 VLOAD ABVAL
034317,001020: 27,2601 03705 VGTIG # VELOCITY TO BE GAINED AT +7
034318,001021: 27,2602 41325 PDDL DMP # 00D = MAG OF VGTIG AT +7
034319,001022: 27,2603 16742 7SEC # 700 CS AT + 18
034320,001023: 27,2604 34017 FRCS2
034321,001024: 27,2605 62471 DDV SL2 # SCALE
034322,001025: 27,2606 01245 WEIGHT/G
034323,001026: 27,2607 41421 BDSU PUSH
034324,001027: 27,2610 43014 BOFF SET
034325,001028: 27,2611 05342 APSFLAG
034326,001029: 27,2612 56662 S40.13D # FOR DPS ENGINE
034327,001030: 27,2613 02463 NOTHROTL
034328,001031: 27,2614 56345 DLOAD DDV # 00D = MAG OF VGTIG CORRECTED
034329,001032: 27,2615 16001 K1VAL # M.NEWTONS-CS AT +24
034330,001033: 27,2616 01245 WEIGHT/G
034331,001034: 27,2617 50021 BDSU BMN
034332,001035:
![]() |
Page 781 |
034334,001037: 27,2620 00001 00D
034335,001038: 27,2621 56644 S40.131 # TGO LESS THAN 100 CS
034336,001039: 27,2622 41325 PDDL DMP # 02D = TEMP1 AT +7
034337,001040: 27,2623 03736 MDOT
034338,001041:
034339,001042: # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034340,001043: # BURN IN KILOGRAMS/CS . WHEN SATURN IS USED , THE SCALING MAY
034341,001044: # REQUIRE ADJUSTMENT
034342,001045:
034343,001046: 27,2624 16734 3.5SEC # 350 CS AT +14
034344,001047: 27,2625 65221 BDSU PDDL
034345,001048: 27,2626 01245 WEIGHT/G
034346,001049: 27,2627 03734 F
034347,001050: 27,2630 60405 DMP SR2 # SCALE
034348,001051: 27,2631 16736 5SECS
034349,001052: 27,2632 41471 DDV PUSH # 04D = TEMP2
034350,001053: 27,2633 51021 BDSU BPL
034351,001054: 27,2634 00003 02D
034352,001055: 27,2635 56662 S40.13D
034353,001056: 27,2636 55345 DLOAD BDDV
034354,001057: 27,2637 43205 DMP DAD
034355,001058: 27,2640 16736 5SECS
034356,001059: 27,2641 16732 1SEC2D # 100 CS AT +14
034357,001060: 27,2642 77650 GOTO
034358,001061: 27,2643 56652 S40.132
034359,001062: 27,2644 41345 S40.131 DLOAD DMP
034360,001063: 27,2645 01245 WEIGHT/G
034361,001064: 27,2646 41542 SR1 PUSH
034362,001065: 27,2647 56215 DAD DDV
034363,001066: 27,2650 16003 K2VAL # M.NEWTON CS AT +24
034364,001067: 27,2651 16005 K3VAL # M.NEWTON CS AT +10
034365,001068: 27,2652 77414 S40.132 SET EXIT
034366,001069: 27,2653 01066 IMPULSW
034367,001070: 27,2654 07256 S40.132* TC TPAGREE
034368,001071: 27,2655 30154 CA MPAC
034369,001072: 27,2656 56001 XCH L
034370,001073: 27,2657 34755 CA ZERO
034371,001074: 27,2660 53515 DXCH TGO
034372,001075: 27,2661 12704 TCF S40.134
034373,001076:
034374,001077: 27,2662 41345 S40.13D DLOAD DMP # FOR DPS ENGINE
034375,001078: 27,2663 00001 00D
034376,001079: 27,2664 01245 WEIGHT/G
034377,001080: 27,2665 43006 PUSH BON
034378,001081: 27,2666 05302 APSFLAG
034379,001082: 27,2667 56725 APSTGO
034380,001083: 27,2670 43071 DDV CLEAR
034381,001084: 27,2671 16007 S40.136
034382,001085: 27,2672 02663 NOTHROTL
034383,001086: 27,2673 41400 BOV PUSH
034384,001087:
![]() |
Page 782 |
034386,001089: 27,2674 56707 S40.130V
034387,001090: 27,2675 51025 S40.127 DSU BPL
034388,001091: 27,2676 16740 6SEC # 600.0 CS AT +14
034389,001092: 27,2677 56715 S40.138
034390,001093: 27,2700 52015 DAD GOTO
034391,001094: 27,2701 16740 6SEC
034392,001095: 27,2702 56652 S40.132
034393,001096: 27,2703 77776 S40.133 EXIT
034394,001097: 27,2704 05353 S40.134 TC PHASCHNG
034395,001098: 27,2705 00003 OCT 00003
034396,001099: 27,2706 05155 TC ENDOFJOB
034397,001100: 27,2707 40545 S40.130V DLOAD SR4 # RECOMPUTE TGO IN TIME2 UNITS
034398,001101: 27,2710 77671 DDV
034399,001102: 27,2711 16011 S40.136_ # S40.136 SHIFTED LEFT 10
034400,001103: 27,2712 03515 STORE TGO
034401,001104: 27,2713 77776 EXIT
034402,001105: 27,2714 12704 TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT
034403,001106:
034404,001107: 27,2715 51025 S40.138 DSU BPL
034405,001108: 27,2716 16744 89SECS
034406,001109: 27,2717 56722 STORETGO
034407,001110: 27,2720 77614 SET
034408,001111: 27,2721 02463 NOTHROTL
034409,001112: 27,2722 77745 STORETGO DLOAD # LOAD TGO AT 2(14)
034410,001113: 27,2723 77776 EXIT
034411,001114: 27,2724 12654 TCF S40.132*
034412,001115:
034413,001116: 27,2725 62471 APSTGO DDV SL2
034414,001117: 27,2726 34007 FAPS
034415,001118: 27,2727 77650 GOTO
034416,001119: 27,2730 56723 STORETGO +1
034417,001120: 27,2731 00144 00000 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
034418,001121: 27,2733 01274 00000 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
034419,001122: 27,2735 00764 00000 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14
034420,001123: 27,2737 01130 00000 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14
034421,001124: 27,2741 00053 30000 7SEC 2DEC 700.0 B-18 # 700.0 CS AT + 18
034422,001125: 27,2743 21304 00000 89SECS 2DEC 8900.0 B-14
034423,001126: # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
034424,001127: # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
034425,001128: # COMPUTATION CYCLES (4 SECONDS).
034426,001129: # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
034427,001130: # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
034428,001131: # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
034429,001132: # CALLING SEQ VIA FINDVAC AS NEW JOB.
034430,001133:
![]() |
Page 783 |
034432,001135: # INPUT RN - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
034433,001136: # VN - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
034434,001137: # VRPREV - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
034435,001138: # METERS/CS AT +7.
034436,001139: # TIG - TIME OF IGNITION IN CS AT +28.
034437,001140: # DLTARG - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
034438,001141: # PIPTIME - TIME OF RN AND VN IN CS AT +28.
034439,001142: # GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
034440,001143: # ACCERERATION OF GRAVITY IN METERS/CS AT +7.
034441,001144: # DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
034442,001145: # METERS/CS AT +7.
034443,001146: # OUTPUT VGPREV - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
034444,001147: # VGDISP - MAG OF VGPREV FOR DISPLAY PURPOSES.
034445,001148: # VRPREV - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
034446,001149: # BDT - B VECTOR IN METERS/CS AT +7.
034447,001150: # SUBROUTINES USED - INITVEL
034448,001151:
034449,001152: 27,2745 E7,1704 EBANK= VGPREV
034450,001153: 27,2745 COUNT* $$/S40.9
034451,001154: 27,2745 06036 S40.9 TC INTPRET
034452,001155: 27,2746 77201 SETPD VLOAD
034453,001156: 27,2747 00001 00D
034454,001157: 27,2750 01221 RN # ACTIVE VEHICLE RADIUS VECTOR AT T1
034455,001158: 27,2751 26327 STOVL RINIT
034456,001159: 27,2752 01227 VN # ACTIVE VEHICLE VELOCITY VECTOR AT T1
034457,001160: 27,2753 16335 STODL VINIT
034458,001161: 27,2754 01235 PIPTIME
034459,001162: 27,2755 03730 STORE TNIT
034460,001163: 27,2756 77621 BDSU
034461,001164: 27,2757 03627 TPASS4
034462,001165: 27,2760 03450 STORE DELLT4 # T2 - T1
034463,001166: 27,2761 71214 SET DLOAD
034464,001167: 27,2762 01072 AVFLAG # SET AVFLAG FOR LEM ACTIVE
034465,001168: 27,2763 06424 HI6ZEROS
034466,001169: 27,2764 77725 PDDL
034467,001170: 27,2765 16431 EPS1
034468,001171: 27,2766 43214 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES.
034469,001172: 27,2767 03745 NORMSW
034470,001173: 27,2770 56772 EPSSMALL
034471,001174: 27,2771 16433 EPS2
034472,001175: 27,2772 77606 EPSSMALL PUSH
034473,001176: 27,2773 45014 S40.92 BOFSET CALL
034474,001177: 27,2774 03044 FIRSTFLG
034475,001178: 27,2775 57102 INITINIT
034476,001179: 27,2776 22002 HAVEGUES
034477,001180: 27,2777 52375 VLOAD VSU
034478,001181: 27,3000 02343 VIPRIME
034479,001182: 27,3001 03722 VRPREV
034480,001183: 27,3002 45325 PDDL DSU
034481,001184: 27,3003 03730 TNIT
034482,001185: 27,3004 03732 TNITPREV
034483,001186:
![]() |
Page 784 |
034485,001188: 27,3005 74265 BDDV VXSC
034486,001189: 27,3006 17101 100B28
034487,001190: 27,3007 76451 VSU VSL1
034488,001191: 27,3010 01237 GDT/2
034489,001192: 27,3011 03671 STORE BDT
034490,001193: 27,3012 53135 FIRSTTME SLOAD BZE
034491,001194: 27,3013 03377 RTX2
034492,001195: 27,3014 57020 GETGOBL
034493,001196: 27,3015 52175 VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE
034494,001197: 27,3016 03366 DELVEET3
034495,001198: 27,3017 57034 NOGOBL
034496,001199: 27,3020 53575 GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM.
034497,001200: 27,3021 01221 RN
034498,001201: 27,3022 45345 DLOAD DSU
034499,001202: 27,3023 01235 PIPTIME # 2
034500,001203: 27,3024 03510 GOBLTIME # G = -(MU/R )(UNITGOBL)(T - TIG)
034501,001204: 27,3025 56205 DMP DDV # OBL
034502,001205: 27,3026 16013 EARTHMU
034503,001206: 27,3027 00043 34D # 34D = /RN/ (2) FROM UNIT OPERATION.
034504,001207: 27,3030 53361 VXSC VAD
034505,001208: 27,3031 03517 UNITGOBL
034506,001209: 27,3032 03366 DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN
034507,001210: 27,3033 03366 STORE DELVEET3 # VG = VR + GOBL - VN
034508,001211: 27,3034 77646 NOGOBL ABVAL
034509,001212: 27,3035 17662 STODL VGDISP
034510,001213: 27,3036 03730 TNIT
034511,001214: 27,3037 03732 STORE TNITPREV
034512,001215: 27,3040 77776 EXIT
034513,001216: 27,3041 05353 TC PHASCHNG
034514,001217: 27,3042 05022 OCT 05022
034515,001218: 27,3043 14000 OCT 14000
034516,001219: 27,3044 06036 TC INTPRET
034517,001220: 27,3045 77775 VLOAD
034518,001221: 27,3046 02343 VIPRIME # VR(T)
034519,001222: 27,3047 03722 STORE VRPREV
034520,001223: 27,3050 77776 EXIT
034521,001224: 27,3051 05353 TC PHASCHNG
034522,001225: 27,3052 04022 OCT 04022
034523,001226: 27,3053 06036 TC INTPRET
034524,001227: 27,3054 77214 BON VLOAD
034525,001228: 27,3055 01305 CYCLESW
034526,001229: 27,3056 57064 S40.91
034527,001230: 27,3057 03366 DELVEET3
034528,001231: 27,3060 03705 STORE VGPREV
034529,001232: 27,3061 52014 SET GOTO
034530,001233: 27,3062 01065 CYCLESW
034531,001234: 27,3063 57074 ENDS40.9
034532,001235: 27,3064 53375 S40.91 VLOAD VAD # EXTRAPOLATE FOR V TO GAIN
034533,001236: 27,3065 03366 DELVEET3
034534,001237: 27,3066 03671 BDT
034535,001238:
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Page 785 |
034537,001240: 27,3067 77651 VSU
034538,001241: 27,3070 03525 DELVREF
034539,001242: 27,3071 03705 STORE VGPREV
034540,001243: 27,3072 77646 ABVAL
034541,001244: 27,3073 03662 STORE VGDISP # FOR DISPLAY PURPOSES
034542,001245: 27,3074 77776 ENDS40.9 EXIT
034543,001246: 27,3075 05353 TC PHASCHNG
034544,001247: 27,3076 00002 OCT 2
034545,001248: 27,3077 05155 TC ENDOFJOB
034546,001249: 27,3100 00000 00144 100B28 2DEC 100 B-28
034547,001250: 27,3102 77624 INITINIT CALL
034548,001251: 27,3103 22002 HAVEGUES
034549,001252: 27,3104 77650 GOTO
034550,001253: 27,3105 57012 FIRSTTME
034551,001254: # MOD 0 24 FEB 67 PETER ADLER
034552,001255: # FUNCTION:
034553,001256: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034554,001257: # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034555,001258: # SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034556,001259: # CALLING SEQUENCE:
034557,001260: # VIA WAITLIST FROM R03
034558,001261: # INPUT:
034559,001262: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
034560,001263: # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
034561,001264: # SUBROUTINES USED:
034562,001265: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034563,001266:
034564,001267: 27,3106 COUNT* $$/S40.6
034565,001268: 27,3106 E6,1401 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400
034566,001269:
034567,001270: 27,3106 05516 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034568,001271: 27,3107 00137 ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST.
034569,001272:
034570,001273: 27,3110 45017 CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON.
034571,001274: 27,3111 00006 EXTEND
034572,001275: 27,3112 03012 WAND CHAN12
034573,001276: 27,3113 35014 CAF EBANK5 # TURN ON + PITCH, + ROLL.
034574,001277: 27,3114 00006 EXTEND
034575,001278: 27,3115 05012 WOR CHAN12
034576,001279: 27,3116 05221 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034577,001280: 27,3117 13560 DEC 6000 B-14 # AT FULL + PITCH AND FULL + ROLL
034578,001281: 27,3120 45014 CS EBANK5 # TURN OFF + PITCH, + ROLL.
034579,001282: 27,3121 00006 EXTEND
034580,001283: 27,3122 03012 WAND CHAN12
034581,001284: 27,3123 35017 CAF PRIO5 # TURN ON - PITCH, - ROLL.
034582,001285: 27,3124 00006 EXTEND
034583,001286: 27,3125 05012 WOR CHAN12
034584,001287: 27,3126 31402 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP
034585,001288: 27,3127 05173 TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN
034586,001289:
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Page 786 |
034588,001291: 27,3130 03147 ADRES PITCHOFF
034589,001292:
034590,001293: 27,3131 31401 CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY
034591,001294: 27,3132 05224 TC VARDELAY # UNTIL THEN
034592,001295: 27,3133 44740 CS BIT12
034593,001296: 27,3134 00006 EXTEND
034594,001297: 27,3135 03012 WAND CHAN12 # SHUT OFF ROLL
034595,001298: 27,3136 30102 ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE
034596,001299: 27,3137 74742 MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE?
034597,001300: 27,3140 00006 EXTEND
034598,001301: 27,3141 13153 BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE.
034599,001302: 27,3142 34737 CAF PRIO10 # RETURN TO R03
034600,001303: 27,3143 05072 TC NOVAC
034601,001304: 27,3144 E7,1467 EBANK= WHOCARES
034602,001305: 27,3144 02320 02067 2CADR TRIMDONE
034603,001306: 27,3146 05261 TC TASKOVER
034604,001307: 27,3147 44742 PITCHOFF CS BIT10
034605,001308: 27,3150 00006 EXTEND
034606,001309: 27,3151 03012 WAND CHAN12 # SHUT OFF PITCH
034607,001310: 27,3152 13136 TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO.
034608,001311: 27,3153 05504 TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034609,001312: 27,3154 00137 ADRES GMBDRVSW
034610,001313: 27,3155 05261 TC TASKOVER
034611,001314:
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Page 787 |
034613,001316: # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967
034614,001317:
034615,001318: # MOD. NO. 1 DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034616,001319:
034617,001320: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034618,001321:
034619,001322: # S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034620,001323: # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034621,001324: # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS
034622,001325: # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN
034623,001326: # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034624,001327: # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034625,001328: # SUBROUTINE *SMNB*. FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034626,001329: # CALLER WITH C(MPAC) = VELOCITY(LM).
034627,001330:
034628,001331:
034629,001332: # CALLING SEQUENCE:
034630,001333: # L VLOAD CALL
034631,001334: # L +1 VELOCITY(REF) SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
034632,001335: # L +2 S41.1
034633,001336: # L +3 STORE VELOCITY(LM) SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
034634,001337:
034635,001338: # SUBROUTINES CALLED:
034636,001339:
034637,001340: # 1. CDUTRIG,
034638,001341: # WHICH CALLS CDULOGIC.
034639,001342: # 2. *SMNB*
034640,001343:
034641,001344: # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034642,001345:
034643,001346: # ALARM/ABORT MODES: NONE.
034644,001347:
034645,001348: # RESTART PROTECTION: NONE.
034646,001349:
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Page 788 |
034648,001351: # INPUT:
034649,001352:
034650,001353: # 1. REFSMMAT.
034651,001354: # 2. CDUX, CDUY, CDUZ.
034652,001355: # 3. VELOCITY (REF) IN MPAC.
034653,001356:
034654,001357: # OUTPUT:
034655,001358:
034656,001359: # 1. CDUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034657,001360: # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS.
034658,001361: # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS.
034659,001362: # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034660,001363:
034661,001364: # DEBRIS: NONE.
034662,001365:
034663,001366: # CHECKOUT STATUS: CODED.
034664,001367:
034665,001368: 27,3156 COUNT* $$/S41.1
034666,001369: 27,3156 76521 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034667,001370: 27,3157 01734 REFSMMAT # TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034668,001371: 27,3160 77650 GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT
034669,001372: 27,3161 47552 CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN
034670,001373: # VIA RVQ TO THE CALLER OF S41.1
End of include-file P40-P47.agc. Parent file is MAIN.agc