Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
033302,000002: ## Copyright: Public domain.
033303,000003: ## Filename: P61-P67.agc
033304,000004: ## Purpose: Part of the source code for Colossus, build 249.
033305,000005: ## It is part of the source code for the Command Module's (CM)
033306,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
033307,000007: ## Assembler: yaYUL
033308,000008: ## Reference: pp. 743-772.
033309,000009: ## Contact: Ron Burkey <info@sandroid.org>.
033310,000010: ## Website: www.ibiblio.org/apollo.
033311,000011: ## Mod history: 08/17/04 RSB. Began transcribing.
033312,000012: ## 2010-10-24 JL Indentation fixes.
033313,000013: ## 2010-10-24 JL Fixed a pseudo-label on p751.
033314,000014: ## 2010-10-25 JL Fixed page number.
033315,000015: ## 2011-05-07 JL Flagged SBANK= workarounds for future removal.
033316,000016: ## Fixed garbled lines.
033317,000017: ## 2017-01-06 RSB Page numbers now agree with those on the
033318,000018: ## original harcopy, as opposed to the PDF page
033319,000019: ## numbers in 1701.pdf.
033320,000020: ## 2017-01-18 RSB Cross-diff'd comment text (not whitespace)
033321,000021: ## vs the already-proofed corresponding Colossus
033322,000022: ## 237 and Comanche 55 source-code files
033323,000023: ## and corrected errors found.
033324,000024: ## 2017-02-08 RSB Fixed comment-text errors noted while diff'ing
033325,000025: ## vs Artemis 72.
033326,000026: ##
033327,000027: ## The contents of the "Colossus249" files, in general, are transcribed
033328,000028: ## from a scanned copy of the program listing. Notations on this
033329,000029: ## document read, in part:
033330,000030: ##
033331,000031: ## Assemble revision 249 of AGC program Colossus by NASA
033332,000032: ## 2021111-041. October 28, 1968.
033333,000033: ##
033334,000034: ## This AGC program shall also be referred to as
033335,000035: ## Colossus 1A
033336,000036: ##
033337,000037: ## Prepared by
033338,000038: ## Massachusetts Institute of Technology
033339,000039: ## 75 Cambridge Parkway
033340,000040: ## Cambridge, Massachusetts
033341,000041: ## under NASA contract NAS 9-4065.
033342,000042: ##
033343,000043: ## Refer directly to the online document mentioned above for further information.
033344,000044: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
033345,000045: ##
033346,000046: ## In some cases, where the source code for Luminary 131 overlaps that of
033347,000047: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
033348,000048: ## source file, and then is proofed to incorporate any changes.
033349,000049:
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Page 743 |
033351,000051: # PROGRAM: P61
033352,000052: # MOD NO.: 0 MAR. 13, 1967
033353,000053: # MOD BY: R. HIRSCHKOP
033354,000054: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
033355,000055: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES.
033356,000056: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 DELETE CMSM MANEUVER (PCR 50)
033357,000057: # FUNCTION: TO CALCULATE AND DISPLAY EMS INITIALIZATION DATA
033358,000058: # CALLING SEQUENCE- BY V37
033359,000059: # EXIT- TO P62
033360,000060: # SUBROUTINE CALLS- S61.1, S61.3, GOFLASH, FLAGUP, R02BOTH
033361,000061: # ERASABLE INITIALIZATION:
033362,000062: # EMSALT (-29) M .05G ALTITUDE ABOVE FISCHER ELLIPSOID PAD LOADED.
033363,000063: # ALFAPAD /180 HYPERSONIC CM TRIM ANGLE OF ATTACK PAD LOADED
033364,000064: # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
033365,000065: # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
033366,000066: # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
033367,000067: # GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT
033368,000068: # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED
033369,000069: # VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED
033370,000070: # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED
033371,000071: # LAT(SPL) /360 TARGET LOCATION LEFT BY DSKY
033372,000072: # LNG(SPL) /360 TARGET LOCATION LEFT BY DSKY
033373,000073: # HEADSUP (0) +1 = LIFT DOWN, -1 = LIFT UP LEFT BY DSKY
033374,000074: # DEBRIS: SEE SUBROUTINES.
033375,000075:
033376,000076: 26,2217 BANK 26
033377,000077: 26,2000 SETLOC P60S
033378,000078: 26,2000 BANK
033379,000079:
033380,000080: 26,2217 E6,1661 EBANK= AOG
033381,000081:
033382,000082: 26,2217 COUNT* $$/P61
033383,000083:
033384,000084: 26,2217 34675 P61 CA BIT14 # EXTENDED VERB SHOULD BE FREE THIS CLOSE
033385,000085: 26,2220 55044 TS EXTVBACT # TO V37
033386,000086: # LOCK OUT EXTENDED VERBS SO CAN USE TFF
033387,000087: # ROUTINES. EXT VERB ERASE IS USED
033388,000088:
033389,000089: 26,2221 44712 CS ONE # REMOVE IF HEADSUP EVER ON UPLINK DATA
033390,000090: 26,2222 55726 TS HEADSUP # PRELOAD
033391,000091:
033392,000092: 26,2223 02543 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION
033393,000093: # RV 60GENRET. DOES PHASCHNG, GROUP 4.
033394,000094:
033395,000095: 26,2224 32424 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
033396,000096: # XXX.XX DEG XXX.XX DEG XXXXX.
033397,000097: 26,2225 04555 TC BANKCALL
033398,000098: 26,2226 20763 CADR GOFLASHR
033399,000099: 26,2227 04106 TC GOTOPOOH
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Page 744 |
033401,000101: 26,2230 02235 TC P61.4
033402,000102: 26,2231 02224 TC -5
033403,000103:
033404,000104: 26,2232 05301 P61.3 TC PHASCHNG
033405,000105: 26,2233 00014 OCT 00014
033406,000106:
033407,000107: 26,2234 05112 TC ENDOFJOB
033408,000108:
033409,000109: 26,2235 22007 P61.4 ZL
033410,000110: 26,2236 11726 CCS HEADSUP # C(HEADSUP)= +1/-1
033411,000111: 26,2237 34675 CA BIT14 # IF HEADSUP POS,ROLLC =180 DEG.(LIFT DWN)
033412,000112: 26,2240 12241 NOOP # IF HEADSUP NEG,ROLLC =0 (LIFT UP)
033413,000113: 26,2241 53716 DXCH ROLLC # ROLLC IS USED BY S62.3: GIM ANG AT .05G
033414,000114:
033415,000115: 26,2242 06006 TC INTPRET
033416,000116: 26,2243 77745 NEWRNVN DLOAD
033417,000117: 26,2244 01205 PIPTIME # SAVE TIME OF RN,VN TO DETERMINE IF AN
033418,000118: 26,2245 37651 STCALL MM # UPDATE HAS OCCURRED
033419,000119: 26,2246 52063 STARTEN1 # INITIALIZE
033420,000120: 26,2247 77775 VLOAD
033421,000121: 26,2250 01171 RN
033422,000122: 26,2251 02327 STORE RONE
033423,000123: 26,2252 77656 UNIT
033424,000124: 26,2253 26343 STOVL URONE
033425,000125: 26,2254 01177 VN
033426,000126: 26,2255 02335 STORE VONE
033427,000127: 26,2256 53435 VXV UNIT
033428,000128: 26,2257 02343 URONE
033429,000129: 26,2260 03502 STORE UNI
033430,000130: 26,2261 45345 DUMPP61 DLOAD DSU
033431,000131: 26,2262 03651 MM # INITIAL VALUE OF PIPTIME
033432,000132: 26,2263 01205 PIPTIME
033433,000133: 26,2264 45040 BMN CALRB
033434,000134: 26,2265 54243 NEWRNVN # UPDATED... GO TRY AGAIN
033435,000135: 26,2266 54650 S61.2 # GET DISPLAY DATA FOR N60 AND N63
033436,000136: # AND RETURN IN BASIC, BELOW.
033437,000137: 26,2267 05425 P61.1 TC CLEARMRK
033438,000138: 26,2270 32423 CA V06N60 # GMAX VPRED GAMMAEI
033439,000139: # XXX.XX G XXXXX. FPS XXX.XX DEG
033440,000140: 26,2271 04555 TC BANKCALL
033441,000141: 26,2272 20624 CADR GOFLASH
033442,000142:
033443,000143: 26,2273 04106 TC GOTOPOOH
033444,000144: 26,2274 02276 TC P61.2 # PROCEED
033445,000145: 26,2275 02270 TC -5
033446,000146:
033447,000147: 26,2276 06006 P61.2 TC INTPRET # CORRECT TTE FOR TIME LAPSE DURING
033448,000148: # ABOVE DISPLAY.
033449,000149: 26,2277 45234 RTB DSU
033450,000150: 26,2300 45505 LOADTIME # CURRENT TIME.
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Page 745 |
033452,000152: 26,2301 03651 MM # PIPTIME FOR RONE & VONE.
033453,000153: 26,2302 77615 DAD
033454,000154: 26,2303 03733 TTE1 # NEGATIVE OF FREE FALL TIME.
033455,000155: 26,2304 03727 STORE TTE # DECREMENTED
033456,000156:
033457,000157: 26,2305 77776 EXIT
033458,000158:
033459,000159: 26,2306 32425 CA V06N63 # RTGO VIO TTE
033460,000160: # XXXX.X NM XXXXX. FPS XXBXX M,S
033461,000161: 26,2307 04555 TC BANKCALL
033462,000162: 26,2310 20624 CADR GOFLASH
033463,000163: 26,2311 04106 TC GOTOPOOH
033464,000164: 26,2312 02314 TC +2
033465,000165: 26,2313 02276 TC P61.2 # REDO
033466,000166:
033467,000167: # .... THEN FALL INTO P62
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Page 746 |
033469,000169:
033470,000170: # PROGRAM- P62
033471,000171: # MOD NO.- 0 MAR. 13, 1967
033472,000172: # MOD BY- R. HIRSCHKOP
033473,000173: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67
033474,000174: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
033475,000175: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES.
033476,000176: # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 MOVE START OF DESIRED GIMBAL CALC.
033477,000177: # FUNCTION- 1) TO NOTIFY CREW WHEN GNC SYSTEM IS PREPARED FOR CM/SM SEPARATION
033478,000178: # 2) TO ORIENT THE CM TO THE CORRECT ATTITUDE FOR ATMOSPHERIC ENTRY
033479,000179: # CALLING SEQUENCE- BY V37 OR DIRECTLY FROM P61
033480,000180: # EXIT- TO P63
033481,000181: # ERASABLE INITIALIZATION:
033482,000182: # ALFAPAD LEFT BY PAD LOAD
033483,000183: # LADPAD LEFT BY PAD LOAD
033484,000184: # LODPAD LEFT BY PAD LOAD
033485,000185: # LAT(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
033486,000186: # LNG(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
033487,000187: # HEADSUP (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
033488,000188: # SUBROUTINE CALLS: NEWMODEX, S61.1, CM/DAPIC, CM/DAPON, R02BOTH, GOPERF1, GOFLASH, GODSPR
033489,000189:
033490,000190: 26,2314 COUNT* $$/P62
033491,000191:
033492,000192: 26,2314 05243 TC NEWMODEX # MODE CHANGE IF CAME FROM P61.
033493,000193: 26,2315 00076 MM 62 B-14 # MODE CHANGE AUTOMATIC VIA V 37.
033494,000194: 26,2316 34712 CA ONE
033495,000195: 26,2317 54332 TS DNLSTCOD
033496,000196:
033497,000197: 26,2320 02543 P62 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION.
033498,000198:
033499,000199: 26,2321 06006 TC INTPRET
033500,000200: 26,2322 47131 SSP RTB
033501,000201: 26,2323 03325 POSEXIT
033502,000202: 26,2324 54402 P62.3 # CALCULATE DESIRED .05G GIMBAL ANGLES,
033503,000203: # WITHOUT DISPLAY.
033504,000204: 26,2325 41645 CM/DAPIC # START CM/POSE AND BODY RATE CALC
033505,000205:
033506,000206: # DOES 2PHSCHNG, OCT 40116, OCT 05024, OCT 13000.
033507,000207: # CM/DAPIC SETS EBANK = EBAOG
033508,000208: # AND RETURNS IN BASIC TO P62.2.
033509,000209: 26,2326 00006 P62.2 EXTEND
033510,000210: 26,2327 32431 DCA POSECADR # CONTINUE WITH CM/POSE AFTER AV G.
033511,000211: 26,2330 53223 DXCH AVEGEXIT
033512,000212:
033513,000213: 26,2331 34270 CAF OCT41 # REQUEST SEPARATION
033514,000214: 26,2332 04555 TC BANKCALL
033515,000215: 26,2333 21031 CADR GOPERF1R
033516,000216: 26,2334 04106 TC GOTOPOOH
033517,000217: 26,2335 02340 TC +3 # PROCEED
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Page 747 |
033519,000219: # NOTE: NODOFLAG WILL BE SET IN CM/DAPON. <<<
033520,000220: 26,2336 02331 TC -5 # ENTER
033521,000221: 26,2337 02232 TC P61.3 # FOR PHASCHNG AND ENDOFJOB.
033522,000222:
033523,000223: 26,2340 04574 +3 TC POSTJUMP
033524,000224: 26,2341 41565 CADR CM/DAPON # DISABLE RCS DAP, ENABLE ENTRY DAP AND
033525,000225: # DO ATTITUDE HOLD.
033526,000226:
033527,000227: # WILL IDLE UNTIL CM/POSE DOES ONE UPDATE.
033528,000228: # CM/DAPON DOES NO PHASCHNG.
033529,000229:
033530,000230: 26,2342 32424 P62.1 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
033531,000231: # XXX.XX DEG XXX.XX DEG 0000X.
033532,000232:
033533,000233: # TERMINATE ATTITUDE HOLD. SET UP COMMANDS:
033534,000234: # ROLLC, ALFACOM, BETACOM. BEGIN MANUVER TO
033535,000235: # ENTRY ATTITUDE.
033536,000236:
033537,000237: 26,2343 04555 TC BANKCALL
033538,000238: 26,2344 20624 CADR GOFLASH
033539,000239: 26,2345 02342 TC -3
033540,000240: 26,2346 02350 TC +2
033541,000241: 26,2347 02342 TC -5
033542,000242:
033543,000243: 26,2350 05301 TC PHASCHNG
033544,000244: 26,2351 04024 OCT 04024 # USE ENTRYVN FOR DISPLAY BELOW.
033545,000245: # EBANK WAS SET IN CM/DAPON TO EBAOG
033546,000246:
033547,000247: 26,2352 11726 CCS HEADSUP # C(HEADSUP) = +/- 1
033548,000248: 26,2353 34675 CA BIT14 # IF HEADSUP POS, ROLLC=180 DEG (LIFT DWN)
033549,000249: 26,2354 12355 NOOP # IF HEADSUP NEG, ROLLC=0 DEG (LIFT UP)
033550,000250: 26,2355 55715 TS ROLLC
033551,000251: 26,2356 31411 CA ALFAPAD # NOMINAL ALFATRIM PAD LOADED, NEG. NO.
033552,000252: 26,2357 22007 ZL
033553,000253: 26,2360 53604 DXCH ALFACOM # SET ALFACOM = ALFA TRIM, BETACOM=0
033554,000254:
033555,000255: 26,2361 34712 CA ONE # PERMITS EXDAP2 TO CHANGE FLAG TO +0
033556,000256: 26,2362 55727 TS P63FLAG # AS INDICATOR. STARTS UP P63.
033557,000257:
033558,000258: 26,2363 34745 CA V06N22 # SET UP DISPLAY FOR CDU DESIRED VALUES
033559,000259: 26,2364 55263 TS ENTRYVN # FROM ENTRY ATTITUDE CALC, THAT IS
033560,000260: # ALREADY GOING.
033561,000261: 26,2365 05435 TC UPFLAG # TURN ON ENTRY DISPLAY
033562,000262: 26,2366 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
033563,000263: # SKIP
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Page 748 |
033565,000265: 26,2367 41700 CS CMDAPMOD # GO DIRECTLY TO P63 IF BODY ATTITUDE
033566,000266: 26,2370 74712 MASK ONE # IS SUCH THAT THE DELAY TASK: WAKEP62
033567,000267: 26,2371 00006 EXTEND # WILL BE OMITTED.
033568,000268: 26,2372 12420 BZF P63.1 # DISABLE GRP 4, GO TO ENDOFJOB.
033569,000269: # (IE, CONTINUE IF CMDAPMOD = -1, OR +0)
033570,000270: 26,2373 02406 TC P63
033571,000271:
033572,000272: # PUT JOB TO SLEEP UNTIL VEHICLE MANUVER HAS
033573,000273: # REDUCED ALFA TO +/-45 DEG. CONSIDER REMAINING
033574,000274: # 65 DEG (25 DEG IF ALFA NEG) TO ALFA TRIM TO
033575,000275: # OCCUR AT 3 DEG/SEC, AND TERMINATE P62 AT THAT
033576,000276: # TIME.
033577,000277:
033578,000278: # TASK WAKEP62 IS CALLED FROM ENTRY DAP.
033579,000279: 26,2374 34760 WAKEP62 CA PRIO13
033580,000280: 26,2375 05027 TC NOVAC
033581,000281: 26,2376 E6,1661 EBANK= AOG
033582,000282: 26,2376 02406 54066 2CADR P63
033583,000283:
033584,000284: 26,2400 05213 TC TASKOVER
033585,000285:
033586,000286: 26,2401 54402 P62.3CAD CADR P62.3
033587,000287:
033588,000288: # EACH 2 SEC, CALCULATE GIMBAL ANGLES FOR ENTRY CON-
033589,000289: # DITIONS THAT WILL HOLD IF REORIENTATION WERE MADE
033590,000290: # AT PRESENT RN, VN. COME HERE FROM CM/POSE AND ALSO
033591,000291: # IN KEPLER PHASE OF ENTRY.
033592,000292:
033593,000293: 26,2402 52131 P62.3 SSP GOTO # SET RETURN ADDRESS SO THAT ROUTINE
033594,000294: 26,2403 00053 QPRET # GOES DIRECTLY TO ENTRY GUIDANCE EXIT
033595,000295: 26,2404 53570 ENDEXIT # THAT DOES ENTRY DISPLAY, GRP 5.
033596,000296: 26,2405 20302 S62.3 # PUT DESIRED CDU VALUES IN CPHI'S FOR
033597,000297: # N22 DISPLAY.
033598,000298:
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Page 749 |
033600,000300: # P63
033601,000301: # PROGRAM- P63
033602,000302: # MOD NO.- 0 MAR. 13, 1967
033603,000303: # MOD BY- R. HIRSCHKOP
033604,000304: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JIN 67 RESTARTS.
033605,000305: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 JUL 67 REVISED RESTARTS
033606,000306: # FUNCTION- 1) TO INITIALIZE THE ENTRY EQUATIONS
033607,000307: # 2) TO CONTINUE TO HOLD THE CM TO THE CORRECT ATTITUDE WITH RESPECT TO THE ATMOSPHERE FOR
033608,000308: # THE ONSET OF ENTRY DECELERATION. ROLL ANGLE IS LIFT UP/DOWN AS SPECIFIED BY HEADSUP.
033609,000309: # 3) TO SENSE .05 G
033610,000310: # CALLING SEQUENCE- DIRECTLY FROM P62
033611,000311: # EXIT- TO ENDOFJOB
033612,000312: # SUBROUTINE CALLS- NEWMODEX, GODSPR
033613,000313:
033614,000314: 26,2406 COUNT* $$/P63
033615,000315:
033616,000316: 26,2406 05243 P63 TC NEWMODEX
033617,000317: 26,2407 00077 MM 63 B-14
033618,000318:
033619,000319: 26,2410 04555 TC BANKCALL # FLUSH N22 DISPLAY, IF ON. (ONIT DISP
033620,000320: 26,2411 20607 CADR CLEANDSP # DURING STARTENT PASS.)
033621,000321:
033622,000322: # ARRIVE WITH EBANK = AOG.
033623,000323:
033624,000324: 26,2412 32427 CA ENTCADR # CONTINUE AT STARTENT AFTER CM/POSE.
033625,000325:
033626,000326: # AT END OF STARTENT, CHANGE ADDRESS IN GOTOADDR
033627,000327: # TO CONTINUE AT SCALEPOP THEREAFTER.
033628,000328:
033629,000329: 26,2413 55724 TS POSEXIT
033630,000330:
033631,000331: 26,2414 32426 CA V06N64 # G VI R TO SPLSH
033632,000332: # XXX.XX G XXXXX. FPS XXXX.X NM
033633,000333: 26,2415 55263 TS ENTRYVN # FOR DISPLAY CALL IN OVERNOUT.
033634,000334:
033635,000335: 26,2416 44712 CS ONE # IN CASE FLAG IS LEFT AT +1 BY DAP. THE
033636,000336: 26,2417 55727 TS P63FLAG # -1 ASSURES THAT EXO-ATM DAP WILL NOT
033637,000337: # CALL P63 OUT OF SEQUENCE IN P66.
033638,000338:
033639,000339: 26,2420 05301 P63.1 TC PHASCHNG
033640,000340: 26,2421 00004 OCT 00004 # DISABLE. DISPLAY RESTARTED VIA ENTRY.
033641,000341:
033642,000342: 26,2422 05112 TC ENDOFJOB
033643,000343:
033644,000344: 26,2423 01474 V06N60 VN 0660
033645,000345: 26,2424 01475 V06N61 VN 0661
033646,000346: 26,2425 01477 V06N63 VN 0663
033647,000347: 26,2426 01500 V06N64 VN 0664
033648,000348: 26,2427 52000 ENTCADR CADR STARTENT
033649,000349:
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Page 750 |
033651,000351: 26,2430 E7,1451 EBANK= RTINIT # TO CARY OVER INTO ENTRY STEERING.
033652,000352: 26,2430 03373 76067 POSECADR 2CADR CM/POSE
033653,000353:
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Page 751 |
033655,000355: # PROGRAM- P64
033656,000356: # MOD NO.- 1 SEPT. 19, 1967
033657,000357: # MOD BY- R. HIRSCHKOP
033658,000358: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 REVISED COMMENTS FOR COLOSSUS
033659,000359: # FUNCTION- 1. TO START ENTRY GUIDANCE AT .05G SELECTING ROLL ATTITUDE, CONSTANT DRAG LEVEL, AND
033660,000360: # DRAG THRESHOLD, KA, WHICH ARE KEYED TO THE .05G POINT.
033661,000361: # 2. SELECT FINAL PHASE P67 IF V < 27000 FPS WHEN .2G OCCURS.
033662,000362: # 3. ITERATE FOR UP-CONTROL SOLUTION P65 IF V > 27000 FPS AND IF ALTITUDE RATE AND DRAG
033663,000363: # LEVEL CONDITIONS ARE SATISFIED. ENTER P65 WHEN CONSTANT DRAG CONTROLLER HAS BROUGHT RANGE
033664,000364: # AS PREDICTED TO WITHIN 25 NM OF DESIRED RANGE.
033665,000365: # 4. SELECT FINAL PHASE P67 IF NO UP-CONTROL SOLUTION EXISTS WITH VL > 18000 FPS.
033666,000366: # CALLING SEQUENCE- BY RTB FROM REENTRY CONTROL
033667,000367: # EXIT- BACK TO REENTRY CONTROL
033668,000368: # SUBROUTINE CALLS- NEWMODEX
033669,000369:
033670,000370: 25,2000 BANK 25
033671,000371: 26,2000 SETLOC P60S1
033672,000372: 26,2000 BANK
033673,000373:
033674,000374: # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
033675,000375: 26,2432 COUNT* $$/P64
033676,000376:
033677,000377: 26,2432 05243 P64 TC NEWMODEX # ENTER VIA RTB WHEN .05G IS EXCEEDED.
033678,000378: 26,2433 00100 MM 64 B-14
033679,000379: 26,2434 32437 CA V06N68 # ROLLC VI HDOT
033680,000380: # XXX.XX DEG XXXXX. FPS XXXXX. FPS
033681,000381: 26,2435 55263 TS ENTRYVN # DISPLAY VIA OVERNOUT.
033682,000382:
033683,000383: 26,2436 06030 TC DANZIG # ... AND CONTINUE IN INITROLL ...
033684,000384: 26,2437 01504 V06N68 VN 0668
033685,000385:
![]() |
Page 752 |
033687,000387: # PROGRAM: P65
033688,000388: # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITION.
033689,000389: # FUNCTION: TO CONTINUE ENTRY GUIDANCE, USING THE UP-CONTROL PHASE TO STEER TO A CONTROLLED EXIT
033690,000390: # CONDITION. THIS PHASE TERMINATES A) IF D < Q7 FPSS, GO TO P66 ,
033691,000391: # B) IF RDOT NEG, AND IF V < VL +500 FPS, GO TO P67.
033692,000392: # CALLING SEQUENCE: BY RTB FROM REENTRY CONTROL
033693,000393: # EXIT: BACK TO REENTRY CONTROL, OR TO ENDOFJOB.
033694,000394: # SUBROUTINE CALLS: NEWMODEX
033695,000395:
033696,000396: 26,2440 COUNT* $$/P65
033697,000397:
033698,000398: 26,2440 05243 P65 TC NEWMODEX # ENTER VIA RTB WHEN RANGE < 25 N M OF
033699,000399: 26,2441 00101 MM 65 B-14 # TARGET.
033700,000400:
033701,000401: 26,2442 34760 CA PRIO13
033702,000402: 26,2443 05027 TC NOVAC
033703,000403: 26,2444 1263 EBANK= ENTRYVN
033704,000404: 26,2444 02456 54062 2CADR P65.1
033705,000405:
033706,000406: 26,2446 05261 TC 2PHSCHNG # 2 PHASE CHG REQUIRED TO PREVENT RE-
033707,000407: 26,2447 00554 OCT 00554 # STARTING FLASHING DISPLAY TWICE.
033708,000408: 26,2450 10035 OCT 10035 # 4.55 SPOT AND SERVICER, HERE.
033709,000409: 26,2451 06006 TC INTPRET
033710,000410: 26,2452 47131 SSP RTB
033711,000411: 26,2453 03646 GOTOADDR # CHANGE ENTRY MODE TO UPCONTRL.
033712,000412: 26,2454 53027 UPCONTRL
033713,000413: 26,2455 52120 REFAZE10 # GO HERE TO REESTABLISH ENTRY SEQUENCER.
033714,000414: # AND CONTINUE AT UPCONTRL...
033715,000415:
033716,000416: 26,2456 05447 P65.1 TC DOWNFLAG
033717,000417: 26,2457 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
033718,000418:
033719,000419: 26,2460 32472 CA V16N69 # ROLLC DL (Q7) VL
033720,000420: 26,2461 04555 TC BANKCALL # XXX.XX DEG XXX.XX G XXXXX. FPS
033721,000421: 26,2462 20763 CADR GOFLASHR
033722,000422: 26,2463 02460 TC -3 # NODOFLAG IS SET ..
033723,000423: 26,2464 02467 TC +3
033724,000424: 26,2465 02460 TC -5
033725,000425: 26,2466 02232 TC P61.3 # EST. GRP 4 FOR DSPLAY AND DO ENDOFJOB
033726,000426: # IF PROCEED, CONTINUE.
033727,000427: 26,2467 05435 TC UPFLAG
033728,000428: 26,2470 00134 ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
033729,000429:
033730,000430: 26,2471 02420 TC P63.1 # DISABLE GRP 4, START UP ENTRY DISPLAY
033731,000431: # N06V68 VIA OVERNOUT, AS USED IN P64.
033732,000432: 26,2472 04105 V16N69 VN 1669
033733,000433:
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Page 753 |
033735,000435: # PROGRAM: P66
033736,000436: # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITIONS.
033737,000437: # FUNCTION: KEEP CM ATTITUDE IN TRIM TO THE RELATIVE VELOCITY VECTOR. ENTRY GUIDANCE STOPS GENERATING
033738,000438: # ROLL COMMANDS UNTIL DRAG BUILDS UP TO Q7+0.5 FPSS.
033739,000439: # CALLING SEQUENCE: VIA RTB FROM REENTRY CONTROL.
033740,000440: # EXIT: BACK TO REENTRY CONTROL.
033741,000441: # SUBROUTINE CALLS: NEWMODEX
033742,000442:
033743,000443: 26,2473 COUNT* $$/P66
033744,000444:
033745,000445: 26,2473 05243 P66 TC NEWMODEX # ENTER VIA RTB WHEN D < Q7 FPSS
033746,000446: 26,2474 00102 MM 66 B-14
033747,000447:
033748,000448: 26,2475 34745 CA V06N22 # OGA IGA MGA
033749,000449: # XXX.XX DEG XXX.XX DEG XXX.XX DEG
033750,000450: 26,2476 02502 TC P66END # IN CASE CAME FROM P65, GO DISABLE GRP 4,
033751,000451: # AND SET ENTRYDSP TO DO DISPLAY VIA
033752,000452: # OVERNOUT.
033753,000453:
033754,000454: # ... AND CONTINUE AT KEP2
033755,000455:
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Page 754 |
033757,000457: # P67
033758,000458:
033759,000459: # PROGRAM- P67
033760,000460: # MOD NO.- 0 MAR. 16, 1967
033761,000461: # MOD BY- R. HIRSCHKOP
033762,000462: # FUNCTION- TO TERMINATE STEERING WHEN THE CM VELOCITY WRT EARTH = 1000 FT/SEC
033763,000463: # CALLING SEQUENCE-
033764,000464: # EXIT- TO POOH
033765,000465: # SUBROUTINE CALLS- GOFLASH
033766,000466:
033767,000467: # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
033768,000468:
033769,000469: 26,2477 COUNT* $$/P67
033770,000470:
033771,000471: 26,2477 05243 P67 TC NEWMODEX # ENTER VIA RTB
033772,000472: 26,2500 00103 MM 67 B-14
033773,000473: 26,2501 32510 CA V06N66 # ROLLC XRNGERR DNRNGERR
033774,000474: # XXX.XX DEG XXXX.X NM XXXX.X NM
033775,000475: 26,2502 55263 P66END TS ENTRYVN # DISPLAY VIA OVERNOUT.
033776,000476:
033777,000477: 26,2503 05435 TC UPFLAG # (IN CASE CAME FROM P65. ENTRY DISPLAY
033778,000478: 26,2504 00134 ADRES ENTRYDSP # WILL FLUSH FLASHING DISP. IF STILL ON)
033779,000479: # BIT 13 FLAG 6
033780,000480: 26,2505 05301 KILLGRP4 TC PHASCHNG # DISABLE GRP4, IN CASE CAME FROM HUNTEST.
033781,000481: 26,2506 00004 OCT 00004 # (COME TO KILLGRP4 VIA RTB, RET TO CALLER)
033782,000482:
033783,000483: 26,2507 06030 TC DANZIG # ... AND CONTINUE AT PREDICT3 ...
033784,000484:
033785,000485: 26,2510 01502 V06N66 VN 0666
033786,000486:
033787,000487: 26,2511 BANK 26
033788,000488: 26,2000 SETLOC P60S2
033789,000489: 26,2000 BANK
033790,000490:
033791,000491: 26,2511 32542 P67.1 CA V16N67 # RTOGO LAT LONG
033792,000492: # XXXX.X NM XXX.XX DEG XXX.XX DEG
033793,000493: 26,2512 04555 TC BANKCALL
033794,000494: 26,2513 20624 CADR GOFLASH
033795,000495: 26,2514 02517 TC +3 # EFFECTIVE GOTOPOOH
033796,000496: 26,2515 02517 TC +2
033797,000497: 26,2516 02511 TC P67.1 # REDO
033798,000498:
033799,000499: 26,2517 46214 CS THREE # TURN OFF ENTRY DAP
033800,000500: 26,2520 00004 INHINT
033801,000501: 26,2521 70102 MASK CM/FLAGS # CM/DSTBY, GAMDIFSW
033802,000502: 26,2522 54102 TS CM/FLAGS
033803,000503: 26,2523 00003 RELINT
033804,000504: 26,2524 00006 EXTEND
033805,000505: 26,2525 32642 DCA SERVCAD2
033806,000506:
![]() |
Page 755 |
033808,000508: 26,2526 53223 DXCH AVEGEXIT
033809,000509: 26,2527 14106 TCF GOTOPOOH
033810,000510:
![]() |
Page 756 |
033812,000512: 26,2530 43175 P67.2 VLOAD CLEAR # CALC PRESENT LAT, LONG, ALT.
033813,000513: 26,2531 01171 RN
033814,000514: 26,2532 00662 ERADFLAG # USE PAD RAD FOR ALT. (NOT SEEN ANYWAY)
033815,000515: 26,2533 16152 STODL ALPHAV
033816,000516: 26,2534 01205 PIPTIME # USE TIME OF RN
033817,000517: 26,2535 45014 CLEAR CALL
033818,000518: 26,2536 01663 LUNAFLAG
033819,000519: 26,2537 26322 LAT-LONG
033820,000520: 26,2540 77634 P67.3 RTB # ENTRY EXIT THAT OMITS DISPLAY.
033821,000521: 26,2541 53603 SERVNOUT
033822,000522:
033823,000523: 26,2542 04103 V16N67 VN 1667
033824,000524: 26,2543 4270 OCT41 = 33DEC
033825,000525: 26,2543 26,2641 SERVCAD2 = SERVCAD1
033826,000526:
![]() |
Page 757 |
033828,000528: # SUBROUTINE NAME: S61.1
033829,000529: # MOD NO: 0 DATE: 21 FEB 67
033830,000530: # MOD BY: RR BAIRNSFATHER LOG SECTION: P61-P67
033831,000531: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
033832,000532:
033833,000533: # FUNCTIONAL DESCRIPTION: CALLED BY BOTH P61 AND P62
033834,000534: # FIRST, TEST TO SEE IF AVERAGEG IS ON. IF NOT, UPDATE THE STATE VECTOR TO PRESENT TIME + TOLERANCE
033835,000535: # AND TURN ON AVERAGEG AT THAT TIME, AND CONTINUE. OTHERWISE CONTINUE: SEE IF IMU Y AXIS IS
033836,000536: # WITHIN 30 DEG OF V*R. IF YES, EXIT SUBROUTINE S61.1. IF NO, SEE IF -Y AXIS OF IMU IS WITHIN
033837,000537: # 30 DEG OF V*R. IF YES, DISPLAY ALARM: 01427 IMU REVERSED.
033838,000538: # IF NO, DISPLAY ALARM: 01426 IMU UNSATISFACTORY.
033839,000539: # IN EITHER OF THESE LAST 2 CASES, WAIT 10 SEC AND THEN EXIT SUBROUTINE S61.1.
033840,000540:
033841,000541: # REMARK: THERE WILL BE A SHORT 10 SEC DELAY IF AN ALARM EXIT IS TAKEN. THE DELAY FOR INTEGRATION IS
033842,000542: # AS SHORT AS CAN BE MADE, BUT IS ARBITRARY SINCE IT DEPENDS ON THE AGE OF THE STATE VECTOR.
033843,000543:
033844,000544: # CALLING SEQUENCE: CALL
033845,000545: # S61.1
033846,000546:
033847,000547: # C(MPAC) UNSPECIFIED
033848,000548: # PUSHLOC UNSPECIFIED
033849,000549:
033850,000550: # SUBROUTINES CALLED: LOADTIME, CSMPREC, TPAGREE,
033851,000551: # WAITLIST, JOBSLEEP, JOBWAKE, PREREAD, ALARM, GODSPR, BANKCALL, DELAYJOB
033852,000552:
033853,000553: # NORMAL EXIT MODES: RVQ
033854,000554:
033855,000555: # ALARMS: 01426 IMU UNSATISFACTORY
033856,000556: # 01427 IMU REVERSED
033857,000557:
033858,000558: # OUTPUT: POSSIBLE ALARMS
033859,000559: # POSSIBLY TDEC1, RATT, VATT, RN, VN
033860,000560:
033861,000561: # ERASABLE INITIALIZATION REQUIRED:
033862,000562: # AVEGFLAG AVERAGEG ON OR OFF LEFT BY SERVICER
033863,000563: # PIPTIME (-28) CS TIME OF PIPA UPDATE LEFT BY READACCS
033864,000564: # RN (-29) M STATE VECTOR LEFT BY AVERAGEG
033865,000565: # VN (-7) M/CS STATE VECTOR LEFT BY AVERAGEG
033866,000566: # REFSMMAT (-1) .5 REF TO SM MATRIX LEFT BY LAST IMU ALIGNMENT
033867,000567:
033868,000568: # DEBRIS: QPRET
033869,000569: # POSSIBLY PIPTIME1, RATT, VATT, TDEC1, RN1, VN1, QTEMP, X1 IF UPDATED
033870,000570: # PUSH LIST LOCS USED BY CSMPREC
033871,000571:
033872,000572: 26,2543 E6,1661 EBANK= AOG # FOR 60GENRET, S61DT
033873,000573: 26,2543 BANK 26
033874,000574: 26,2000 SETLOC P60S3
033875,000575: 26,2000 BANK
033876,000576:
033877,000577: 26,2543 COUNT* $$/S61.1
033878,000578:
033879,000579: 26,2543 00006 S61.1 EXTEND
033880,000580: 26,2544 23773 QXCH 60GENRET # SAVE RET ADDR IN EB 6
033881,000581: 26,2545 04555 TC BANKCALL
033882,000582: 26,2546 17573 CADR R02BOTH
033883,000583: 26,2547 06006 TC INTPRET
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Page 758 |
033885,000585: 26,2550 45014 BON CALRB
033886,000586: 26,2551 00716 AVEGFLAG # IS AVERAGEG ON
033887,000587: 26,2552 54603 S61.1A # YES
033888,000588: 26,2553 27573 MIDTOAV2 # GET FUTURE STATE VECTOR SOON AS CAN
033889,000589:
033890,000590: 26,2554 30155 CA MPAC +1 # RETURN INHINTED ***
033891,000591: 26,2555 55774 TS S61DT # FOR RESTART.
033892,000592: 26,2556 05140 TC WAITLIST
033893,000593: 26,2557 E7,1431 EBANK= DVCNTR
033894,000594: 26,2557 02564 54067 2CADR S61.1C
033895,000595:
033896,000596: 26,2561 05301 TC PHASCHNG
033897,000597: 26,2562 40434 OCT 40434
033898,000598: 26,2563 05112 TC ENDOFJOB
033899,000599:
033900,000600: 26,2564 34760 S61.1C CA PRIO13
033901,000601: 26,2565 05042 TC FINDVAC
033902,000602: 26,2566 E6,1661 EBANK= AOG
033903,000603: 26,2566 02602 54066 2CADR S61.1A -1
033904,000604:
033905,000605: 26,2570 00006 EXTEND
033906,000606: 26,2571 32642 DCA SERVCAD1 # HE WHO STARTS AVERAGEG MUST SERVICE
033907,000607: 26,2572 53223 DXCH AVEGEXIT # THE EXIT.
033908,000608:
033909,000609: 26,2573 05261 TC 2PHSCHNG
033910,000610: 26,2574 00454 OCT 00454
033911,000611: 26,2575 00415 OCT 00415
033912,000612:
033913,000613: 26,2576 34753 CA EBENTRY # SET EB= 7 FOR PREREAD.
033914,000614: 26,2577 54003 TS EBANK
033915,000615:
033916,000616: 26,2600 04574 TC POSTJUMP
033917,000617: 26,2601 76604 CADR PREREAD # PREREAD DOES TC TASKOVER.
033918,000618:
033919,000619: 26,2602 06006 TC INTPRET
033920,000620: 26,2603 77204 S61.1A BOVB VLOAD
033921,000621: 26,2604 57343 TCDANZIG # TURN OFF OVFIND, IF ON
033922,000622: 26,2605 01177 VN # VN (-7) M/CS
033923,000623: 26,2606 64235 VXV MXV
033924,000624: 26,2607 01171 RN # RN (-29) M
033925,000625: 26,2610 01736 REFSMMAT # .5 UNIT MATRIX
033926,000626: 26,2611 71256 UNIT DLOAD
033927,000627: 26,2612 00160 MPAC +3 # GET COS(THETA)/2
033928,000628: 26,2613 43240 BMN DAD
033929,000629: 26,2614 54621 S61.1B # DO TEST ON -YSM
033930,000630: 26,2615 14644 C(30)LIM # = 1.0 -.5 COS(30)
033931,000631: 26,2616 47004 BOVB RTB
033932,000632: 26,2617 54640 RETRN1
033933,000633: 26,2620 54625 RETRN3
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Page 759 |
033935,000635: 26,2621 43276 S61.1B DCOMP DAD
033936,000636: 26,2622 14644 C(30)LIM # = 1.0 - .5 COS(30)
033937,000637: 26,2623 77404 BOVB EXIT
033938,000638: 26,2624 54630 RETRN2
033939,000639:
033940,000640: 26,2625 05537 RETRN3 TC ALARM
033941,000641: 26,2626 01426 OCT 01426 # IMU UNSATISFACTORY
033942,000642: 26,2627 02632 TC RETRN2 +2
033943,000643:
033944,000644: 26,2630 05537 RETRN2 TC ALARM
033945,000645: 26,2631 01427 OCT 01427 # IMU REVERSED
033946,000646:
033947,000647: 26,2632 34743 +2 CAF V05N09
033948,000648: 26,2633 04555 TC BANKCALL
033949,000649: 26,2634 20602 CADR GODSPR # DO DISPLAY
033950,000650: 26,2635 32645 CA 10SECS
033951,000651: 26,2636 04555 TC BANKCALL
033952,000652: 26,2637 01732 CADR DELAYJOB
033953,000653:
033954,000654: 26,2640 01773 RETRN1 TC 60GENRET
033955,000655:
033956,000656: 26,2641 E7,1431 EBANK= DVCNTR
033957,000657: 26,2641 03132 76067 SERVCAD1 2CADR SERVEXIT
033958,000658: 26,2643 22111 17335 C(30)LIM 2DEC .566985 # = 1.0 - .5 COS(30)
033959,000659: 26,2645 01750 10SECS DEC 1000 B-14 # 1000 CS
033960,000660: 26,2646 00000 13560 60SECDP 2DEC 6000 B-28 # 6000 CS
033961,000661:
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Page 760 |
033963,000663: # PROGRAM NAME: S61.2 DATE: 14 FEB 67
033964,000664: # MOD NO: 1 LOG SECTION: P61-P67
033965,000665: # MOD BY: MORTH / BAIRNSFATHER
033966,000666: # MOD NO: 2 MOD BY: MORTH/BAIRNSFATHER DATE: 11 MAY 67 ADD 2ND ITER FOR ERAD AT 400K FT.
033967,000667: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
033968,000668: # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 DIFFERENT EARTH/MOON SCALES IN TFF'S
033969,000669:
033970,000670: # FUNCTIONAL DESCRIPTION: CALLED BY P61. PROVIDES DISPLAYS FOR NOUNS N60 AND N63.
033971,000671: # PROGRAM CALCULATES ENTRY DISPLAY OF MAXIMUM ACCELERATION EXPECTED (GMAX) AND ALSO THE EXPECTED
033972,000672: # INERTIAL VELOCITY (VPRED) AND ENTRY ANGLE (GAMMAEI) THAT WILL OBTAIN AT 400K FT ABOVE THE FISCHER
033973,000673: # ELLIPSOID. PROGRAM ALSO CALCULATES A SECOND DISPLAY RELATIVE TO THE EMSALT ABOVE FISCHER ELLIPSOID
033974,000674: # AND CONSISTS OF RANGE TO SPLASH FROM NOW (RTGO), PREDICTED INERTIAL VELOCITY (VIO), AND THE TIME TO
033975,000675: # GO FROM NOW (TTE) .
033976,000676:
033977,000677: # CALLING SEQUENCE: CALL
033978,000678: # S61.2
033979,000679: # C(MPAC) UNSPECIFIED
033980,000680: # PUSHLOC WILL BE SET TO ZERO.
033981,000681:
033982,000682: # SUBROUTINES CALLED: TFFCONIC, CALCTFF, TFF/TRIG, FISHCALC, GETERAD, VGAMCALC
033983,000683:
033984,000684: # NORMAL EXIT MODES: RTB P61.1
033985,000685:
033986,000686: # ALARMS: NONE
033987,000687:
033988,000688: # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
033989,000689: # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
033990,000690: # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
033991,000691: # GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT
033992,000692: # FOR TM, DP(GAMMAEI) = (GAMMAEI, RTGO) / 360
033993,000693: # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED
033994,000694: # VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED
033995,000695: # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED
033996,000696: # PUSHLOC = 0
033997,000697: # CONIC PARAMETERS STORED IN VAC AREA (SEE TFF SUBROUTINES)
033998,000698:
033999,000699: # ERASABLE INITIALIZATION REQUIRED:
034000,000700: # RONE (-29) M STATE VECTOR LEFT BY USER
034001,000701: # VONE (-7) M/CS STATE VECTOR LEFT BY USER
034002,000702: # URONE UR/2 LEFT BY USER
034003,000703: # UNI (-1) UNIT NORMAL V*R LEFT BY ENTRY / P61
034004,000704: # THETAH THETAH/360 RANGE ANGLE LEFT BY ENTRY / P61
034005,000705: # UNITW (0) UNIT POLAR VECTOR LEFT BY PAD LOAD
034006,000706: # EMSALT (-29) M EMS INTERFACE ALTITUDE LEFT BY PAD LOAD
034007,000707: # ORBITAL REENTRY: 284643 FT, LUNAR REENTRY: 297431 FT.
034008,000708:
034009,000709: # DEBRIS: QPRET,
034010,000710: # ALL PDL LOCATIONS ABOVE 12D, INCLUDING X1,X2,S1,S2
034011,000711: # ALSO PDL+0 ... PDL+5, WHERE INITIAL PUSHLOC = PDL
034012,000712:
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Page 761 |
034014,000714: # THE FOLLOWING PUSH LIST LOCATIONS HAVE BEEN RESERVED FOR TFF ROUTINES AND ARE REPEATED HERE FOR CONVENIENCE.
034015,000715: # OF COURSE FOR S61.2 USAGE, EARTH ORIGIN SCALING IS USED.
034016,000716:
034017,000717: # BELOW E: IS USED FOR EARTH ORIGIN SCALE
034018,000718: # M: IS USED FOR MOON ORIGIN SCALE
034019,000719:
034020,000720: # RTERM = 18D TERMINAL RADIUS M E: (-29) M: (-27)
034021,000721: # NRTERM = 16D TERMINAL RADIUS M E: (-29+NR)
034022,000722: # M: (-27+NR)
034023,000723: # RMAG1 = 12D PRESENT RADIUS M E: (-29) M: (-27)
034024,000724: # NRMAG = 32D PRESENT RADIUS M E: (-29+NR)
034025,000725: # M: (-27+NR)
034026,000726: # SDELF/2 SIN(THETA) / 2
034027,000727: # CDELF/2 = 14D COS(THETA) / 2
034028,000728: # TFFX = 34D X, ARGUMENT OF SERIES T(X).
034029,000729: # TFFTEM = 36D ARG FOR TRANSFER ANGLE CALCULATION.
034030,000730: # TFFNP = 28D LC P M E: (-38+2NR) M: (-36+2NR)
034031,000731: # TFF/RTMU= 30D 1/SQRT(MU) E: (17) M: (14)
034032,000732: # TFFVSQ = 20D -(VN.VN/MU) 1/M E: (20) M: (18)
034033,000733:
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Page 762 |
034035,000735: 34,3652 BANK 34
034036,000736: 26,2000 SETLOC P60S2
034037,000737: 26,2000 BANK
034038,000738:
034039,000739: 26,2650 COUNT* $$/S61.2
034040,000740: # PDL LEFT AT ZERO BY TARGETNG
034041,000741:
034042,000742: 26,2650 45345 S61.2 DLOAD DSU
034043,000743: 26,2651 02020 EMSALT
034044,000744: 26,2652 15000 290KFT
034045,000745: 26,2653 71244 BPL DLOAD
034046,000746: 26,2654 54774 LUNENT
034047,000747: 26,2655 17345 1/RTMU # ESTABLISH MU FOR ORBITAL ENTRIES
034048,000748: 26,2656 77624 CALLCON CALL
034049,000749: 26,2657 56750 TFFCONIC # FILL VAC AREA WITH CONIC PARAMETERS
034050,000750:
034051,000751: 26,2660 45145 DLOAD CALL
034052,000752: 26,2661 15020 RTRIAL # 1ST GUESS AT TERMINAL RADIUS (-29)
034053,000753: 26,2662 57060 CALCTFF # SAVES MPAC IN RTERM (18D)
034054,000754:
034055,000755: 26,2663 77624 CALL # CALC SDELF/2, CDELF/2
034056,000756: 26,2664 56573 TFF/TRIG # RETURN WITH S(THETA) IN MPAC
034057,000757:
034058,000758: 26,2665 77624 CALL # GET FISCHER RADIUS (-29) M
034059,000759: 26,2666 55027 FISHCALC # ANS IN MPAC AND IN ERADM.
034060,000760:
034061,000761: 26,2667 45015 DAD CALL
034062,000762: 26,2670 02020 EMSALT
034063,000763: 26,2671 57060 CALCTFF # SAVES MPAC IN RTERM (18D)
034064,000764:
034065,000765: 26,2672 77676 DCOMP # NEGATIVE AS IN COUNTDOWN.
034066,000766: 26,2673 03733 STORE TTE1 # DECR TTE FROM BASE TTE1. (RESTART)
034067,000767: # DNLIST AND DSKY WILL USE TTE.
034068,000768: 26,2674 37727 STCALL TTE # LET MISS CONTRL DECR BY ELAPSED TIME
034069,000769: # TTE= TIME FROM NOW TO EMSALT +FISCHER
034070,000770:
034071,000771: 26,2675 56573 TFF/TRIG # S(THETA) IN MPAC ON RETURNING
034072,000772: # AND THETA= RANGE FROM NOW TO EMSALT
034073,000773:
034074,000774: 26,2676 77624 CALL
034075,000775: 26,2677 55027 FISHCALC
034076,000776: 26,2700 77624 CALL
034077,000777: 26,2701 56626 VRCALC
034078,000778: 26,2702 77624 CALL
034079,000779: 26,2703 56613 DISPTARG
034080,000780: 26,2704 77624 CALL
034081,000781: 26,2705 56613 DISPTARG
034082,000782: 26,2706 37714 STCALL RTGO
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Page 763 |
034084,000784: 26,2707 55050 VGAMCALC
034085,000785:
034086,000786: 26,2710 77605 DMP # MPAC = GAMMA
034087,000787: # PDL0 HAS VGAM.
034088,000788: 26,2711 43265 BDDV DAD
034089,000789: 26,2712 15026 VEMSCON # -HS D 180/PI (-14)
034090,000790: 26,2713 00001 0 # VGAM FROM PDL0.
034091,000791: 26,2714 17725 STODL VIO # PREDICTED VELOCITY AT EMSALT.
034092,000792: # GAMMA AND VGAM AT 300K FT ARE REQUIRED BY GMAX
034093,000793: # ALGORITHM.
034094,000794: 26,2715 02241 ERADM # EARTH RADIUS FROM GETERAD (-29) M
034095,000795: # = FISCHER RADIUS (-29)
034096,000796:
034097,000797: 26,2716 77615 DAD
034098,000798: 26,2717 06462 300KFT # M (-29)
034099,000799: 26,2720 34023 STCALL RTERM # TERMINAL RADIUS M (-29)
034100,000800: 26,2721 55045 PREVGAM # VGAMCALC WITH NEW RTERM
034101,000801: # VBAR = (V(FPS) - 36KF/S) / 20KF/S
034102,000802:
034103,000803: # GMAX = (4/(1 + 4.8 VBARSQ))(GAM - 6.05 - 2.4 VBARSQ) - 10(L/D - .3) + 10 ASSUME L/D = 0.3, BANK =0.
034104,000804: # GMAXCALC
034105,000805:
034106,000806: 26,2722 45325 PDDL DSU # GAM TO PDL2
034107,000807: 26,2723 00001 0 # VGAM IS IN PDL0 (-7)
034108,000808: 26,2724 15004 36KFT/S # (-7) M/CS
034109,000809: 26,2725 63471 DDV DSQ
034110,000810: 26,2726 15006 20KFT/S # (-6) M/CS
034111,000811: 26,2727 00001 STORE 0 # VBARSQ (-2) TO PDL0
034112,000812:
034113,000813: 26,2730 43205 DMP DAD
034114,000814: 26,2731 15010 KR1
034115,000815: # GAM, POS DOWN, FROM PDL2
034116,000816: 26,2732 41215 DAD DMP
034117,000817: 26,2733 15012 -6.05DEG
034118,000818: 26,2734 15014 KR2
034119,000819: 26,2735 77725 PDDL # XCH PDL+0 FOR VBARSQ (-2)
034120,000820: 26,2736 43271 DDV DAD
034121,000821: 26,2737 15024 KR4
034122,000822: 26,2740 17357 DP2(-4)
034123,000823: 26,2741 77665 BDDV
034124,000824: # NUM FROM PDL+0
034125,000825: 26,2742 51015 DAD BPL
034126,000826: 26,2743 15016 KR3
034127,000827: 26,2744 54747 +3
034128,000828: 26,2745 77745 DLOAD
034129,000829: 26,2746 15332 HI6ZEROS
034130,000830: 26,2747 17722 STODL GMAX # 100 GMAX (-14)
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Page 764 |
034132,000832: # DISPLAY USES GMAX AS SP, SO LO WORD IS WRITTEN OVER BY VPRED.
034133,000833: 26,2750 02241 ERADM # = FISCHER RADIUS (-29) M
034134,000834: 26,2751 45015 DAD CALL # 2 ND ITERATION FOR FISCHER RADIUS
034135,000835: 26,2752 15022 400KFT
034136,000836: 26,2753 57060 CALCTFF # ESTABLISH TRANSFER ANGLE DATA.
034137,000837: 26,2754 77624 CALL
034138,000838: 26,2755 56573 TFF/TRIG # GET SIN, COS DELF
034139,000839: 26,2756 77624 CALL
034140,000840: 26,2757 55027 FISHCALC # GET CORRESPONDING FISCHER RADIUS.
034141,000841:
034142,000842: 26,2760 73015 DAD LXA,2 # SAVE HI-WORD FOR DOWNLIST.
034143,000843: 26,2761 15022 400KFT # M (-29)
034144,000844: 26,2762 03713 RTGO # (RANGE ANGLE FROM EMSALT) / 360
034145,000845: 26,2763 34023 STCALL RTERM
034146,000846: 26,2764 55045 PREVGAM # VGAMCALC WITH NEW RTERM
034147,000847:
034148,000848: 26,2765 67076 DCOMP SXA,2 # HI-WORD OF EACH ON DOWNLIST.
034149,000849: 26,2766 00155 MPAC +1
034150,000850: 26,2767 17771 STODL GAMMAEI # CONIC GAMMA/360 AT 400K FT. (HI-WORD)
034151,000851: # CONIC RTGO/360 FROM EMSALT (LOW-WORD)
034152,000852: # FOR TM, DP(GAMMAEI) = (GAMMA, RTGO) / 360
034153,000853:
034154,000854: # VGAM FROM PDL+0 (-7)
034155,000855: 26,2770 77626 STADR
034156,000856: 26,2771 74010 STORE VPRED # CONIC VELOCITY AT 400K FT
034157,000857:
034158,000858: 26,2772 77634 RTB
034159,000859: 26,2773 54267 P61.1
034160,000860: # PDL BACK TO ZERO.
034161,000861:
034162,000862: 26,2774 52145 LUNENT DLOAD GOTO
034163,000863: 26,2775 06456 1/RTMUE # ESTABLISH MU FOR LUNAR TYPE ENTRIES
034164,000864: 26,2776 54656 CALLCON
034165,000865:
034166,000866: 26,2777 00002 26244 290KFT 2DEC 88392 B-29
034167,000867: 26,3001 00052 05716 KTETA1 2DEC* .421844723 E2 B-14* # 1100 2PI/16384(163.84)
034168,000868: 26,3003 33335 05707 36KFT/S 2DEC 109.728 B-7 # (-7) M/CS = 36 KFT/S (-7)
034169,000869: 26,3005 36365 30244 20KFT/S 2DEC 121.92 B-7 # (-6) M/CS = 2 20KFT/S (-7)
034170,000870: 26,3007 77113 42770 KR1 2DEC -.026666667 # = -2.4 4 / 360
034171,000871: 26,3011 77354 65030 -6.05DEG 2DEC -.016805556 # = -6.05 / 360
034172,000872: 26,3013 21450 00001 KR2 2DEC .54931641 # = (360/4) 100 (-14) = 9000 B-14
034173,000873: 26,3015 01750 00000 KR3 2DEC 1000 B-14 # = 100 (10.0) (-14) G,S
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Page 765 |
034175,000875: # ASSUMES L/D = 0.3, BANK =0.
034176,000876: 26,3017 00305 04541 RTRIAL 2DEC 6460097.16 B-29 # RPAD +284643 FT =21 194 545 FT
034177,000877: # RPAD DEFINED AS 20 909 901.57 FT =6 373 338 M
034178,000878: 26,3021 00003 27040 400KFT 2DEC 121920 B-29 # METERS
034179,000879:
034180,000880: # 300KFT 2DEC 91440 B-29 (-29) M
034181,000881: # EMSALT 2DEC 86759.2 B-29 284643 FT (-29) M (ORBITAL REENTRY)
034182,000882: # EMSALT 2DEC 90657 B-29 297431 FT (-29) M (LUNAR REENTRY)
034183,000883:
034184,000884: 26,3023 32525 12525 KR4 2DEC .833333333
034185,000885: 26,3025 23,2461 300KFT EQUALS MINPERE
034186,000886: 26,3025 77777 76601 VEMSCON 2DEC -.0389676 B-14 # = -HS D / 2 PI (-14) M SQ / CS SQ
034187,000887: # = -16369 .05G 32.2 .3048 .3048/2 PI (-14)
034188,000888:
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Page 766 |
034190,000890: # SUBROUTINE NAME: FISHCALC (USED BY S61.2) DATE: 01.21.67
034191,000891: # MOD NO: 0 LOG SECTION: P61-P67
034192,000892: # MOD BY: MORTH / BAIRNSFATHER
034193,000893: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 MAY 67 INCLUDE GETERAD CALL
034194,000894:
034195,000895: # FUNCTIONAL DESCRIPTION: GIVEN THE PRESENT POSITION, UNITR, CALCULATE A NEW UNITR THAT IS ROTATED THROUGH
034196,000896: # TRANSFER ANGLE, THETA, ALONG TRAJECTORY. THEN CALCULATE SIN(LAT) AND USE TO OBTAIN FISCHER RADIUS.
034197,000897: # SINCE FISHCALC USES UNI (LEFT BY ENTRY) EARTH SCALING IS ASSUMED. (WILL IMPROVE FOR SUITABLE TENNANT)
034198,000898:
034199,000899: # CALLING SEQUENCE: CALL
034200,000900: # FISHCALC
034201,000901: # ENTER WITH .5 SIN(THETA) IN MPAC.
034202,000902: # PUSHLOC IS AT PDL+0, AN ARBITRARY BASE VALUE IF LEQ 8D
034203,000903:
034204,000904: # SUBROUTINES CALLED: GET ERAD
034205,000905:
034206,000906: # NORMAL EXIT MODE: RVQ
034207,000907:
034208,000908: # EXIT MODES: NONE
034209,000909:
034210,000910: # OUTPUT: ERADM (-29) M IN MPAC ON RETURNING
034211,000911: # NEW UNIT VECTOR NOT SAVED.
034212,000912: # SIN(LAT) NOT SAVED.
034213,000913: # PUSHLOC AT PDL+0
034214,000914:
034215,000915: # ERASEABLE INITIALIZATION REQUIRED:
034216,000916: # SDELF/2 =SIN(THETA) / 2, IN MPAC LEFT BY TFF/TRIG
034217,000917: # CDELF/2 =COS(THETA) / 2, STORED IN PDL 14D LEFT BY TFF/TRIG
034218,000918: # RONE (-29) M LEFT BY USER
034219,000919: # VONE (-7) M/CS LEFT BY USER
034220,000920: # URONE UR/2 LEFT BY USER
034221,000921: # UNI .5 UNIT(V*R) LEFT BY ENTRY / P61
034222,000922: # UNITW UNIT NORTH POLE LEFT BY PAD LOAD
034223,000923:
034224,000924: # DEBRIS: QPRET, PDL+0 ... PDL+5
034225,000925: # - - -
034226,000926: 26,3027 47315 FISHCALC PDVL VXV # URPR = UR CDELF + UHOR SDELF
034227,000927: 26,3030 02343 URONE
034228,000928: 26,3031 03502 UNI
034229,000929: 26,3032 76561 VXSC VSL1
034230,000930: # SIN(THETA) / 2 FROM PDL+0
034231,000931: 26,3033 74315 PDVL VXSC # TO PDL+0, +5
034232,000932: 26,3034 02343 URONE
034233,000933: 26,3035 00017 CDELF/2 # COS(THETA) / 2
034234,000934: 26,3036 45455 VAD STADR
034235,000935: 26,3037 74235 STORE URH # FOR USE IN RTGO FROM EMS DISPLAY
034236,000936: 26,3040 72441 DOT SL1
034237,000937: 26,3041 01714 UNITW # FULL UNIT VECTOR UNIT NORTH
034238,000938: 26,3042 02156 STORE ALPHAV +4 # = .5 SIN(LAT)
034239,000939: 26,3043 77650 DUMPFISH GOTO
034240,000940: 26,3044 26437 GETERAD # SAVES FISCHER RAD (-29) M IN ERADM AND
034241,000941: # IN MPAC. RETURNS TO CALLER VIQ QPRET.
034242,000942:
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Page 767 |
034244,000944: # SUBROUTINE NAME: VGAMCALC (USED BY S61.2) DATE: 01.21.67
034245,000945: # MOD NO: 0 LOG SECTION: P61-P67
034246,000946: # MOD BY: MORTH / BAIRNSFATHER
034247,000947: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67
034248,000948: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
034249,000949: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
034250,000950:
034251,000951: # FUNCTIONAL DESCRIPTION: EARTH CENTERED VIS VIVA CALCULATION OF TERMINAL VELOCITY AND GAMMA (REL TO
034252,000952: # HORIZONTAL) GIVEN THE SCALAR QUANTITIES: PRESENT RADIUS AND VELOCITY AND THE TERMINAL RADIUS.
034253,000953: # THE USER MUST APPEND PROPER SIGN TO GAMMA, SINCE IT IS CALCULATED AS A POSITIVE NUMBER.
034254,000954: # THE EQUATIONS ARE
034255,000955:
034256,000956: # VGAM = SQRT(VN VN/MU + 2(RN-RTERM)/(RN RTERM) ) RTMU
034257,000957:
034258,000958: # COSGAM = H / RTERM VGAM = SQRT (LCP) / (RTERM VGAM/RTMU)
034259,000959:
034260,000960: # VGAMCALC ASSUMES THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT RADIUS. BOTH CALCTFF AND CALCTPER
034261,000961: # MAKE THIS ASSUMPTION.
034262,000962:
034263,000963: # CALLING SEQUENCE: CALL STCALL RTERM
034264,000964: # VGAMCALC PREVGAM
034265,000965: # PUSHLOC AT PDL+0, ARBITRARY IF LEQ 12D
034266,000966: # C(MPAC) UNSPECIFIED C(MPAC)=NEW RTERM
034267,000967:
034268,000968: # SUBROUTINES CALLED: NONE
034269,000969:
034270,000970: # NORMAL EXIT MODE: RVQ
034271,000971:
034272,000972: # ALARMS: NONE
034273,000973: #
034274,000974: # OUTPUT: GAMMA / 360 IN MPAC, POSITIVE NUMBER
034275,000975: # VGAM E: (-7) M: (-5) M/CS IN PDL+0
034276,000976: # PUSHLOC AT PDL+2
034277,000977:
034278,000978: # ERASABLE INITIALIZATION REQD:
034279,000979: # TFF/RTMU E: (17) M: (14) 1/SQRT(MU) LEFT BY TFFCONIC.
034280,000980: # RMAG1 E: (-29) M: (-27) M PRESENT RADIUS LENGTH LEFT BY TFFCONIC
034281,000981: # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
034282,000982: # M: (-27+NR)
034283,000983: # RTERM E: (-29) M: (-27) M TERMINAL RADIUS LENGTH LEFT BY CALCTFF
034284,000984: # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF
034285,000985: # M: (-27+NR)
034286,000986: # TFFVSQ E: (20) M: (18) 1/M -(V SQ/MU): PRESENT VELOCITY, NORM LEFT BY TFFCONIC
034287,000987: # TFFNP E: (-38+2NR) M LCP, SEMI-LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC
034288,000988: # M: (-36+2NR)
034289,000989:
034290,000990: # DEBRIS: QPRET, PDL+0 ... PDL+3
034291,000991: # RTERM, NRTERM IF PREVGAM ENTERED.
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Page 768 |
034293,000993:
034294,000994: 26,3045 77657 PREVGAM SL* # ENTER WITH NEW RTERM IN MPAC
034295,000995: # E: (-29) M: (-27)
034296,000996: 26,3046 20201 0,1 # X1 = -NR
034297,000997: 26,3047 00021 STORE NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034298,000998: 26,3050 41345 VGAMCALC DLOAD DMP
034299,000999: 26,3051 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
034300,001000: 26,3052 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034301,001001: 26,3053 45325 PDDL DSU # RMAG RTERM M E: (-58+2NR) M: (-54+2NR)
034302,001002: 26,3054 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
034303,001003: 26,3055 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034304,001004: 26,3056 56257 SL* DDV # 2(RN-RTERM) E: (-30+NR) M: (-28+NR)
034305,001005: 26,3057 20171 0 -8D,1 # (-8+NR)
034306,001006: # PUSH UP PRODUCT.
034307,001007:
034308,001008: 26,3060 77625 DSU
034309,001009: 26,3061 00025 TFFVSQ # -(V SQ/MU) E: (20) M: (18)
034310,001010: 26,3062 41566 SQRT PUSH # SAVE VGAM/RT(MU) FOR NOW. E: (10) M: (9)
034311,001011: 26,3063 65271 DDV PDDL # XCH PDL+0, LEAVING VGAM FOR OUTPUT.
034312,001012: # VGAM TO PDL M/CS E: (-7) M: (-2)
034313,001013: 26,3064 00037 TFF/RTMU # E: (17) M: (14)
034314,001014: 26,3065 65205 DMP PDDL # RTERM VGAM/RTMU E: (-19+NR) M: (-18+NR)
034315,001015: 26,3066 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034316,001016: 26,3067 00035 TFFNP # LC P =H.H/MU M E: (-38+2NR) M: (-36+2NR)
034317,001017: 26,3070 56366 SQRT DDV # E: (-19+NR) M: (-18+NR)
034318,001018: # PUSH UP DEN E: (-19+NR) M: (-18+NR)
034319,001019: # USE DDV OVFL AS LIMITER (|COS| <1.0)
034320,001020: 26,3071 65542 SR1 ACOS
034321,001021: 26,3072 77616 DUMPVGAM RVQ
034322,001022: # CALLER MUST SUPPLY OWN SIGN ...
034323,001023: # 22W 27MS
034324,001024:
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Page 769 |
034326,001026: # SUBROUTINE NAME: TFF/TRIG (USED BY S61.2) DATE 01.17.67
034327,001027: # MOD NO: 0 LOG SECTION: P61-P67
034328,001028: # MOD BY: RR BAIRNSFATHER
034329,001029: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67
034330,001030: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
034331,001031:
034332,001032: # FUNCTIONAL DESCRIPTION: USED BY ENTRY DISPLAY TO CALCULATE SIN(THETA), COS(THETA) FROM DATA LEFT IN
034333,001033: # PDL BY TFF SUBROUTINES. THE EQNS ARE
034334,001034:
034335,001035: # COS(THETA) = 1-2 ABS(ARG) / (RN RTERM (1+X) )
034336,001036: # 2
034337,001037: # SIN(THETA) = SGN(ARG) SQRT(1-COS (THETA) )
034338,001038:
034339,001039: # WHERE THETA = TRANSFER ANGLE
034340,001040: # AND ARG = P Z ABS(Z) IF ALFA ZZ LEQ 1
034341,001041: # ARG = (P / ALFA) SGN(Q1 + R 1/Z) IF ALFA Z Z G 1
034342,001042: # AND ARG HAS BEEN AFFIXED WITH THE SIGN OF SIN(THETA).
034343,001043:
034344,001044: # CALLING SEQUENCE: CALL
034345,001045: # TFF/TRIG
034346,001046: # PUSHLOC AT PDL+0, ARBITRARY IF NOT EQ 14D
034347,001047: # C(MPAC) UNSPECIFIED
034348,001048:
034349,001049: # SUBROUTINES CALLED: NONE
034350,001050:
034351,001051: # NORMAL EXIT MODES: RVQ
034352,001052:
034353,001053: # ALARMS: NONE
034354,001054:
034355,001055: # OUTPUT: C(MPAC) = .5 SIN(THETA)
034356,001056: # CDELF/2 = .5 COS(THETA) (IN PDL 14D)
034357,001057: # PUSHLOC AT PDL+0
034358,001058:
034359,001059: # ERASABLE INITIALIZATION REQUIRED:
034360,001060: # TFFX X LEFT BY CALCTFF OR CALCTPER
034361,001061: # TFFTEM E: (-59+2NR) ARG LEFT BY CALCTFF OR CALCTPER
034362,001062: # M: (-55+2NR) WHERE ARG = LCP ZZ SGN(DELF) OR ARG = LCP/ALFA SGN(DELF)
034363,001063: # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF OR CALCTPER
034364,001064: # M: (-27+NR)
034365,001065: # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
034366,001066: # M: (-27+NR)
034367,001067:
034368,001068: # DEBRIS: QPRET, CDELF/2
034369,001069:
034370,001070: 27,2573 BANK 27
034371,001071: 27,2000 SETLOC P60S5
034372,001072: 27,2000 BANK
034373,001073: 27,2573 70545 TFF/TRIG DLOAD SR1
034374,001074: 27,2574 00043 TFFX
034375,001075: 27,2575 41215 DAD DMP
034376,001076: 27,2576 15330 HIDPHALF
034377,001077: 27,2577 00041 NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
034378,001078: 27,2600 55205 DMP BDDV
034379,001079: 27,2601 00021 NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
034380,001080: 27,2602 00045 TFFTEM # P ZSQ OR P/ALFA E: (-59+2NR) M: (-55+2NR)
034381,001081: 27,2603 44246 ABS BDSU # THE SIGN IS FOR SDELF.
034382,001082: 27,2604 15330 HIDPHALF
034383,001083: 27,2605 00017 STORE CDELF/2 # .5 COS(THETA)
034384,001084: 27,2606 57516 DSQ DCOMP # KEEP HONEST FOR SQRT.
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Page 770 |
034386,001086: 27,2607 75415 DAD SQRT
034387,001087: 27,2610 15322 HIDP1/4
034388,001088: 27,2611 43565 DUMPTRIG SIGN RVQ
034389,001089: 27,2612 00045 TFFTEM # AFFIX SIGN(DELE/2)
034390,001090: # RETURN WITH .5 SIN(THETA) IN MPAC
034391,001091: # 16W 15MS
034392,001092:
034393,001093: 27,2613 77620 DISPTARG STQ # C(MPAC) = TRGO ESTIMATE
034394,001094: 27,2614 03373 60GENRET
034395,001095: 27,2615 45205 DMP DSU
034396,001096: 27,2616 15002 KTETA1
034397,001097: 27,2617 03733 TTE1
034398,001098: 27,2620 37606 STCALL DTEAROT
034399,001099: 27,2621 46225 EARROT2
034400,001100: 27,2622 77624 CALL
034401,001101: 27,2623 56626 VRCALC
034402,001102: 27,2624 77650 GOTO
034403,001103: 27,2625 03373 60GENRET
034404,001104: 27,2626 50375 VRCALC VLOAD DOT
034405,001105: 27,2627 03542 URH
034406,001106: 27,2630 03474 RT
034407,001107: 27,2631 65512 SL2 ACOS
034408,001108: 27,2632 77616 RVQ
034409,001109:
034410,001110: # END OF PROGRAM S61.2
034411,001111:
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Page 771 |
034413,001113: # PROGRAM DESCRIPTION S62.3 DATE 10JAN67
034414,001114: # MOD NO 1 LOG SECTION P60-P67
034415,001115: # MOD BY ZELDIN
034416,001116: # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 15 MAY 67 CHANGED TO REF COORDS.
034417,001117: # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 ALFAPAD CHANGES MADE.
034418,001118:
034419,001119: # FUNCTIONAL DESCRIPTION
034420,001120:
034421,001121: # COMPUTE DESIRED GIMBOL ANGLES FOR ENTRY ATTITUDE
034422,001122: # THE FOLLOWING TRAJECTORY TRIAD IS AVAILABLE IN MEMORY AND IS COMPUTED EACH 2 SECONDS BY CM/POSE IN
034423,001123: # REFERENCE COORDINATES (V = VELOCITY RELATIVE TO EARTH) :
034424,001124:
034425,001125: # UXA = -UNIT(V)
034426,001126: # UYA = UNIT(V*R)
034427,001127: # UZA = UXA*UYA
034428,001128:
034429,001129: # GENERATE A DESIRED BODY TRIAD FOR TRIMMED FLIGHT WITH RESPECT TO THE RELATIVE VELOCITY VECTOR, USING
034430,001130: # ROLL COMMAND AND TRIM ANGLE OF ATTACK:
034431,001131:
034432,001132: # UXD = UNIT(UYD*UXA) SIN(ALFATRIM) + UXA COS(ALFATRIM)
034433,001133: # UYD = UYA COS(ROLLC) + UZA SIN(ROLLC)
034434,001134: # UZD = UXD * UYD
034435,001135:
034436,001136: # USE THE DESIRED SET (IN REFERENCE COORDS) AND REFSMMAT TO CALL CALCGA AND OBTAIN GIMBAL ANGLES
034437,001137: # IN 2S, C IN MPAC, +2 AND THETAD, +2.
034438,001138:
034439,001139: # CALLING SEQUENCE
034440,001140:
034441,001141: # L CALL
034442,001142: # L+1 S62.3
034443,001143:
034444,001144: # NORMAL EXIT MODE
034445,001145:
034446,001146: # RETURN VIA QPRET DIRECTLY FROM CALCGA.
034447,001147:
034448,001148: # SUBROUTINES CALLED
034449,001149:
034450,001150: # CALCGA
034451,001151:
034452,001152: # ALARM OR ABORT MODES
034453,001153:
034454,001154: # NONE
034455,001155:
034456,001156: # ERASABLE INITIALIZATION REQUIRED
034457,001157:
034458,001158: # ROLLC ROLL COMMAND DP 1:S COMP AT 1REV
034459,001159: # ALFAPAD SP 1S,C / 180 LEFT BY PAD LOAD ALFATRIM IS NEGATIVE.
034460,001160: # UXA/2 REF COORDS LEFT BY CM/POSE
034461,001161: # UYA/2 REF COORDS LEFT BY CM/POSE
034462,001162: # UZA/2 REF COORDS LEFT BY CM/POSE
034463,001163:
034464,001164: # OUTPUT
034465,001165: #
034466,001166: # CPHI GIMBAL ANGLES (O,I,M) 2:S COMP TP (O,I,M)/180
034467,001167:
034468,001168: # DEBRIS
034469,001169:
034470,001170: # QTEMP, QPRET, PUSHLIST
034471,001171:
034472,001172: 10,2302 BANK 10
034473,001173: 10,2000 SETLOC P60S4
034474,001174: 10,2000 BANK
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Page 772 |
034476,001176: 10,2302 COUNT* $$/S62.3
034477,001177:
034478,001178: 10,2302 67201 S62.3 SETPD SLOAD
034479,001179: 10,2303 00001 0
034480,001180: 10,2304 03012 ALFAPAD # ALFATRIM / 180, ALFA IS NEG.
034481,001181: 10,2305 41542 SR1 PUSH
034482,001182: 10,2306 65346 COS PDDL # XCH PDL, COS TO PDL0
034483,001183: 10,2307 65356 SIN PDDL # SIN TO PDL2
034484,001184: 10,2310 03316 ROLLC
034485,001185: 10,2311 74346 COS VXSC
034486,001186: 10,2312 03550 UYA/2 # REF COORDS
034487,001187: 10,2313 73525 PDDL SIN # PUSH VECTOR INTO PDL4,.9
034488,001188: 10,2314 03316 ROLLC
034489,001189: 10,2315 53361 VXSC VAD
034490,001190: 10,2316 03556 UZA/2 # REF COORDS
034491,001191: # VECTOR FROM PDL4, 9
034492,001192: 10,2317 77772 VSL1
034493,001193: 10,2320 02722 STORE YNB # = UYD REF COORDS
034494,001194:
034495,001195: 10,2321 76435 VXV VSL1
034496,001196: 10,2322 03542 UXA/2 # REF COORDS
034497,001197: 10,2323 65361 VXSC PDDL
034498,001198: # SIN TRIM FROM PDL2
034499,001199: # XCH PDL0 FOR COS TRIM
034500,001200: 10,2324 53361 VXSC VAD
034501,001201: 10,2325 03542 UXA/2 # REF COORDS
034502,001202: # FROM PDL0
034503,001203: 10,2326 77772 VSL1
034504,001204: 10,2327 02714 STORE XNB # X SC AXIS (.5 UNIT) REF COORDS
034505,001205:
034506,001206: 10,2330 76435 VXV VSL1
034507,001207: 10,2331 02722 YNB
034508,001208: 10,2332 26730 STOVL ZNB # Z SC IN REF COOR. SCALED AT 2
034509,001209: 10,2333 01736 REFSMMAT
034510,001210: 10,2334 26672 STOVL XSM
034511,001211: 10,2335 01744 REFSMMAT +6
034512,001212: 10,2336 26700 STOVL YSM
034513,001213: 10,2337 01752 REFSMMAT +12D
034514,001214: 10,2340 02706 STORE ZSM
034515,001215:
034516,001216: 10,2341 52014 CLEAR GOTO
034517,001217: 10,2342 00260 CPHIFLAG # CAUSE CALCGA TO STORE ANS IN TP CPHI
034518,001218: 10,2343 47244 CALCGA
034519,001219: # CALCGA WILL RETURN TO ORIGINAL CALLER
034520,001220: # VIA QPRET WITH 2,S COMP. ANGLES IN CPHI
034521,001221:
034522,001222:
034523,001223:
End of include-file P61-P67.agc. Parent file is MAIN.agc