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Apollo-11/Comanche055/P40-P47.agc

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# Copyright: Public domain.
# Filename: P40-P47.agc
# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 684-736
# Mod history: 2009-05-11 RSB Adapted from the Colossus249/ file
# of the same name, using Comanche055 page
# images.
# 2009-05-20 RSB In S20.1, a DMP DDV was corrected to DMPR DDV.
# 2009-05-22 RSB In BESTTRIM, TC PACTOFF corrected to
# TS PACTOFF.
# 2009-05-23 RSB Prior to the 2CADR at T5IDLDAP, added an
# SBANK.
#
# This source code has been transcribed or otherwise adapted from digitized
# images of a hardcopy from the MIT Museum. The digitization was performed
# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
# thanks to both. The images (with suitable reduction in storage size and
# consequent reduction in image quality as well) are available online at
# www.ibiblio.org/apollo. If for some reason you find that the images are
# illegible, contact me at info@sandroid.org about getting access to the
# (much) higher-quality images which Paul actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
# Page 684
# PROGRAM DESCRIPTION ** P40CSM **
EBANK= DAPDATR1
BANK 31
SETLOC P40S
BANK
COUNT 24/P40
P40CSM TC DOWNFLAG
ADRES ENG2FLAG
TC INTPRET
SLOAD BOFF
ECSTEER # IS THIS AN EXTERNAL DELTA V BURN
XDELVFLG
P40S/C # NO CSTEER = ECSTEER
DLOAD # YES CSTEER = ZERO
HI6ZEROS
P40S/C STODL CSTEER
FENG # SET UP THRUST FOR P40 20,000 LBS
P40S/F STODL F # P41 ENTERS HERE
TIG # ORIGINAL TIG MAY BE SLIPPED BY P40S/SV
STORE NOMTIG # SET ORIGINAL TIME OF IGNITION FOR S40.9
EXIT
TC BANKCALL
CADR R02BOTH # IMU STATUS CHECK
P40PVA TC INTPRET
CALL
S40.1 # COMPUTE VGTIG,UT
CALL
S40.2,3 # COMPUTE PREFERRED ATTITUDE
SET EXIT
PFRATFLG
P40SXTY TCR SETMINDB -1 # NARROW DEADBAND FOR MANEUVER (EBANK6)
RELINT
TC BANKCALL
CADR R60CSM # ATTITUDE MANEUVER
CS ONE # FOR UPDATEVG
TS NBRCYCLS
TC UPFLAG
ADRES TIMRFLAG # ALLOW CLOCKTASK
TC P41/P40
TC P41/DSP # P41
P40TTOG CAF V06N40 # INITIALIZE FOR CLOCKTASK WHICH IS CALLED
# Page 685
TS NVWORD1 # BELOW
TC INTPRET
VLOAD ABVAL # FOR R2
VGTIG
STODL VGDISP
HI6ZEROS
STORE DVTOTAL
EXIT
EXTEND
DCA STEERADS # SET FOR UPDATEVG AND TEST FOR STEERING
DXCH AVEGEXIT # AFTER AVERAGE G
P40GMB CAF P40CKLS2 # (4.1 PROTECTION)
TC BANKCALL
CADR GOPERF1
TCF POST41 # V34
TCF TST,TRIM # V33
TRIMONLY CS BIT1 # SET MRKRTEMP FOR GIMBAL TRIM (-1)
+1 TS MRKRTMP # ENTRY FROM TST,TRIM
CAF ZERO # SET CNTR +0 FOR RESTART LOGIC IN S40.6
TS CNTR # +0 SAYS NORMAL ENTRY
# +1 (PRE40.6) SAYS RESTART ENTRY
CAF ONE
TC WAITLIST
EBANK= DAPDATR1
2CADR S40.6
CCS MRKRTMP # TEST TO FIND TIME TO WAIT FOR GIMBAL TEST
CAF 18SEC # PLUS, DELAY FOR 18 SECONDS
TCF +2 # HOLE
CAF 5SEC # DELAY FOR TRIM ONLY TASK
TC BANKCALL
CADR DELAYJOB
TC 2PHSCHNG
OCT 40026 # 6.2 = PRE40.6(-0CS), CLOKTASK(100CS)
OCT 00234 # 4.23 = P40S/SV (PRIO12)
P40S/RS CAF ONE
TC WAITLIST # P41/SDP
EBANK= TIG
2CADR CLOKTASK
RELINT
P40S/SV TCR E7SETTER # JOB, 4.23 PRETECTS, PREO12
EBANK= TIG
# Page 686
TC INTPRET
DLOAD DSU
TIG
SEC29.96
STORE TDEC1
CALRB # RETURN IN BASIC
MIDTOAV1
TCF +2
TC P40SNEWM # INTEGRATION TIME GREATER THAN ALLOWED
P40SET EXTEND
DCA MPAC # DELTA TIME TO PREREAD (INT.INIT.)
DXCH P40TMP
EXTEND
DCS 5SECDP # FOR TIGBLNK
DAS P40TMP
EXTEND
DCA P40TMP
TC LONGCALL
EBANK= TIG
2CADR TIGBLNK
TC PHASCHNG
OCT 20214 # 4.21 = TIGBLNK (P40TMP CS)
TCF ENDOFJOB
P40BLNKR TC BANKCALL
CADR CLEANDSP # REMOVE RESIDUE
TCF ENDOFJOB
EBANK= TIG
P40SNEWM EXTEND
DCA PIPTIME1
DXCH TIG # SET NEW TIG FOR 06 40
EXTEND
DCA SEC29.96
DAS TIG
TCF P40SET # FOR LONGCALL OF TIG-30 (OR -35)
EBANK= DAPDATR1
POSTBURN CAF V16N40
TC BANKCALL
CADR REFLASH
TCF POST41 # V34 GO FINISH
TCF P40RCS # PROCEED
TCF POSTBURN # RECYCLE
P40RCS EXTEND # V99N40 ENTERS HERE ON A P40 BYPASS SPS
DCA ACADN85
DXCH AVEGEXIT
CAF 2SECS # WAIT FOR CALCN85 VIA AVEGEXIT
TC BANKCALL
# Page 687
CADR DELAYJOB
P40MINDB TCR SETMINDB -1
RELINT
TIGNOW TC PHASCHNG
OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 85
OCT 20000 # PRIO 20
CAF V16N85B
TC BANKCALL
CADR REFLASH
TCF POST41 # FINISH P40/P41
TCF POST41 # V03 PROCEED WITH REST OF THE CLEAN-UP
TCF TIGNOW # V32 NOT GSOP RESPONSE BUT REDISPLAY N85
POST41 EXTEND
DCA SERVCADR
DXCH AVEGEXIT
TCF GOTOPOOH
MINDB DEC 46
MAXDB DEC 455
EBANK= DAPDATR1
-1 INHINT
SETMINDB CA CDUX # ROUTINE FOR SETTING
TS THETADX # THE MINIMUM DEADBAND
EXTEND # IN AUTOPILOT
DCA CDUY
DXCH THETADY
CA MINDB # SHOULD BE CALLED UNDER
TS ADB # INTERRUPT INHIBITED
CS BIT4 # EBANK = E6
MASK DAPDATR1
TS DAPDATR1
TC Q
EBANK= DAPDATR1
-1 INHINT
SETMAXDB CA MAXDB # ROUTINE FOR SETTING
TS ADB # THE MAXIMUM DEADBAND IN AUTOPILOT
CS DAPDATR1
MASK BIT4 # SHOULD BE CALLED UNDER
ADS DAPDATR1 # INTERRUPT INHIBITED
TC Q # EBANK = E6
# Page 688
# PROGRAM DESCRIPTION ** P41CSM **
SETLOC P40S2
BANK
EBANK= DAPDATR1
COUNT 24/P41
P41CSM TC UPFLAG
ADRES ENG2FLAG # SET FOR RCS
TC INTPRET
DLOAD
HI6ZEROS # FOR P41 CSTEER =0
STORE CSTEER
DLOAD BON
FRCS2 # 2JET THRUST FOR S40.1
NJETSFLG
P40S/F # NJETS = 1 2-JET
DAD GOTO # NJETS = 0 4-JET
FRCS2
P40S/F
SETLOC P40S
BANK
P41/P40 CS MODREG
MASK ONE # P41EXITS AT CALL LOC +1
EXTEND
BZF +2 # P41
INCR Q # P40 EXITS AT CALL LOC +2
TC Q
TTG/0 CAF PRIO20 # TASK (4.4 PROTECTS IN P41)
TC NOVAC
EBANK= DAPDATR1
2CADR TIGNOW
P40CLK TC DOWNFLAG
ADRES TIMRFLAG
TCF TASKOVER
P41/DSP CAF V06N85B # SET UP FOR NONFLASH V 06 N85 BY CLOCKJOB
TS NVWORD1
TC INTPRET
# Page 689
CALL # COMPUTE
P40CNV85 # VGTIG IN CTRL COORDS
EXIT
EXTEND # DO CONTROL COORD CALCULATION AFTER AVEG
DCA ACADN85
DXCH AVEGEXIT
TC 2PHSCHNG
OCT 40036 # 6.3=CLOKTASK(100CS)
OCT 234 # 4.23=P40S/SV(PRIO12)
TCF P40S/RS
P41REDSP CAF V16N85B # ENTER FROM P41 SIDE OF TIGAVEG
TS NVWORD1 # REDISPLAY NONFLASHING
CAF SEC29.96 +1
TC WAITLIST
EBANK= DAPDATR1
2CADR TTG/0
CS BIT3
TCF TTGPHS
P40CNV85 STQ SETPD
QTEMP1
0
VLOAD PUSH
VGPREV # EQUALS VGTIG (TARGETTING INPUT)
CALL
S41.1
STCALL VGBODY
QTEMP1
EBANK= DAPDATR1
CALCN85 TC INTPRET
CALL
UPDATEVG # NEW VG, S40.8 (+MAYBE S40.9)
CALL
P40CNV85 # COMPUTE VGBODY
EXIT
TC SERVXT
FENG 2DEC 9.1188544 B-7 # SPS THRUST (20500LBS), SC.AT B+7 NEWT/E4
FRCS2 2DEC .087437837 B-7 # RCS ULLAGE (199.6COS10 LBS), SC.AT
# B+7 NEWTONS/E+4
SEC24.96 DEC 2496
SEC29.96 2DEC 2996
18SEC DEC 1800
P40CKLS2 OCT 204
40CST5 OCT 37730 # 40 CS FOR THE T5 CLOCK
OCT12 = TEN
# Page 690
V1683 VN 1683
V06N85B VN 0685
V16N85B VN 1685
V06N40 VN 0640
V16N40 VN 1640
OCT27/24 OCT 27
OCT53 OCT 53
OCT35 OCT 35
EBANK= DAPDATR1
T5IDL24 2CADR T5IDLOC
3MDOT DEC 86.6175796 B-16 # 3SEC MASS LOSS (63.8 LBS/SEC), SC.AT
# B+16 KB/SEC (NOT, EMDOT IS PAD-LOADED,
# BUT 3MDOT IS NOT A CRITICAL QUANTITY, SO
# IT CAN REMAIN IN FIXED MEMORY)
TST,TRIM CAF BIT1 # SET UP FOR GIMB DRIVE TEST AND TRIM (+1)
TCF TRIMONLY +1
TIGBLNK CAF 5SEC # CALL TIGAVEG IN FIVE SEC AT TIG-30
TC WAITLIST
EBANK= TIG
2CADR TIGAVEG
CAF ZERO # DISABLE HERE, NOT IN P40BLNKR
TS NVWORD1
CAF PRIO14
TC NOVAC
EBANK= TIG
2CADR P40BLNKR # DON'T PROTECT -- RESTARTS BLANK DSKY
CS OCT37 # 4.37 = TIGAVEG (500CS)
P40TSK TC NEWPHASE
OCT 4
TC TASKOVER
EBANK= TIG
ACADN83 2CADR CALCN83
EBANK= TIG
SERVCADR 2CADR SERVEXIT
EBANK= DAPDATR1
ACADN85 2CADR CALCN85
# Page 691
# PROGRAM DESCRIPTION ** P47CSM **
COUNT 24/P47
EBANK= TIG
P47CSM TC BANKCALL # IMU STATUS CHECK
CADR R02BOTH
TC INTPRET
CALRB
MIDTOAV2
CA MPAC +1 # DELTA TIME TO RPEREAD (LESS THAN 100
TS P40TMP # CS, WITH A TPAGREE, INT.INIT.)
TC WAITLIST
EBANK= TIG
2CADR TIGON # TIGON IS REQUIRED TO MATHCHTAT AND AVEG
TC PHASCHNG
OCT 40574 # A, 4.57 = TIGON (P40TMP CS)
TCF ENDOFJOB
EBANK= P40TMP
TIGON EXTEND
DCA ACADN83
DXCH AVEGEXIT
CAF PRIO30 # FORCE ZEROING OF N83 BEFORE SERVICER
TC NOVAC
EBANK= TIG
2CADR P47BODY
CS BIT2 # 4.2 = PRECHECK (-0CS), P47BODY (PRIO30)
TCF TTGPHS
EBANK= TIG
CALCN83 TC INTPRET
SETPD # SET UP PUSHLIST FOR S41.1
0
VLOAD VAD
DELVCTL
DELVREF
STORE DV47TEMP # FOR COPYCYCLE BELOW
PUSH CALL
S41.1
STCALL DELVIMU
S11.1 # CALC. VI, H, HDOT FOR NOUN 62
EXIT
TC PHASCHNG
OCT 10035
# Page 692
CAF FIVE
TC GENTRAN
ADRES DV47TEMP
ADRES DELVCTL
TC SERVXT
P47BODY TC INTPRET
VLOAD
HI6ZEROS
STORE DELVIMU # CLEAR DISPLAY AND ACCUMULATOR STORAGE
STORE DELVCTL # UPON INITIATION OR ENTER RESPONSE
EXIT
P47BOD CAF PRIO15 # LOWER PRIO THAN CALCN83 (20)
TC PRIOCHNG # TO PREVENT INTERRUPTION OF CALCN83
TC PHASCHNG
OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 83
OCT 15000 # PRIO 15
P47/DSP CAF V1683
TC BANKCALL
CADR GOFLASH
TC GOTOPOOH
TC GOTOPOOH
TCF P47BODY # RECYCLE -- CLEAR ACCUMULATED VELOCITY
# Page 693
# ROUTINE ** TIG-30 ** DESCRIPTION
EBANK= TIG
COUNT 24/P40
TIGAVEG TC P41/P40 # TASK (4.37 PROTECTS)
TCF P41REDSP
CAF V06N40 # UNBLANK DISPLAY
TS NVWORD1
CAF SEC24.96
TC WAITLIST
EBANK= TIG
2CADR TIG-5
CS SIX # 4.6 = TIG-5 (2496CS), PRECHECK (-0CS)
TTGPHS TC NEWPHASE # ENTRY FROM P41REDSP (P41) WITH A=-4, OR
OCT 4 # FROM TIGON (P47) WITH A=-1
PRECHECK CCS PHASE5 # HAS SERVICER BEEN RESTARTED
TCF TASKOVER # YES, DON'T START ANOTHER ONE
TC POSTJUMP
CADR PREREAD
# Page 694
# ROUTINE ** TIG-5 ** DESCRIPTION
EBANK= TIG
TIG-5 CAF 5SEC
TC WAITLIST
EBANK= DAPDATR1
2CADR TIG-0
CS BIT9 # WILL CAUSE V99 FLASH
TS NVWORD1
TC 2PHSCHNG
OCT 40074 # A, 4.7 = TIG-0 (500CS)
OCT 00033 # A, 3.3 = S40.13 (PRIO20)
CAF PRIO20
TC FINDVAC
EBANK= TGO
2CADR S40.13
TCF TASKOVER
# Page 695
# ROUTINES ** TIG-0 ** AND ** IGNITION ** DESCRIPTION
EBANK= DAPDATR1 # TASK, 4.7 PHASE, OR 4.77 (-0CS) IN R40
TIG-0 CS FLAGWRD7 # SET IGN FLAG
MASK BIT13
ADS FLAGWRD7
CAE FLAGWRD7 # CHECK ASTN FLAG FOR V99 RESPONSE
MASK BIT12
EXTEND
BZF TASKOVER # WAIT FOR V99P
CAF V06N40 # CLEAR THE V99 (IN CASE OF A RESTART
TS NVWORD1 # DURING THE V99 SEQUENCE)
TC PHASCHNG # V99P HAS COME ALREADY, DO IGNITION NOW
OCT 00614 # A, 4.61 = IGNITION (-0CS) TBASE OLD
IGNITION CAE CDUX # SAVE FOR ROLL DAP REFERENCE OGAD
TS OGAD # V99PJOB (CLOCKJOB) SETS UP IGNITION
EXTEND # TASK (4.61 PROTECTION)
DCA TIME2 # FOR RESTARTS
DXCH TEVENT
CS FLAGWRD5 # SET ENGONFLG
MASK BIT7
ADS FLAGWRD5
SPSON CAF BIT13 # TURN ON SPS ENGINE
EXTEND
WOR DSALMOUT
IMPULCHK CAF BIT9 # CHECK FOR IMPULSIVE BURN
MASK FLAGWRD2
CCS A
TCF IMPLBURN # IMPULSIVE
CS FLAGWRD6 # NON-IMPULSIVE, SET STRULLSW FOR STEERULL
MASK BIT13
ADS FLAGWRD6
PREPTVC CS OCT60000 # RESET T5 BITS
MASK FLAGWRD6
TS FLAGWRD6
EXTEND # KILL RCS
DCA T5IDL24
DXCH T5LOC
CS THREE # 4.3 = DOTVCON (40CS)
TC NEWPHASE
OCT 4
# Page 696
TC FIXDELAY
DEC 40 # 0.4 SECOND DELAY FOR THRUST BUILDUP
DOTVCON CS BIT1 # SET TVCPHASE = TVCDAPON CALL (FRESHDAP)
TS TVCPHASE
CAF ZERO # SET TVCEXECUTIVE PHASE
TS TVCEXPHS
CS OCT60000 # SET T5 BITS TO INDICATE TVC TAKEOVER ....
MASK FLAGWRD6 # BITS 15,14 = 10
AD BIT15
TS FLAGWRD6
CAF THREE # 6.3 = CLOKTASK (100CS), DROPPING PRE40.6
TS L # WHICH IS HANDLED NOW BY REDOTVC
COM
DXCH -PHASE6
EXTEND # STORE RCS ATTITUDE ERRORS FOR USE IN
DCS ERRORY # INITIALIZING TVC ATTITUDE ERRORS
DXCH ERRBTMP
CS FIVE # 4.5 = DOSTRULL (160 CS)
TC NEWPHASE
OCT 4
CAF POSMAX # SET TIME5 FOR STARTING RIGHT AWAY
TS TIME5
EXTEND
DCA TVCON2C # (TVCDAPON)
DXCH T5LOC # (KILLS RCS DAP)
TC FIXDELAY # 0.4 + 1.6 = 2.0 SEC FOR ULLAGE-OFF AND
DEC 160 # STEERING (IF NON-IMPULSIVE)
DOSTRULL CAF BIT13 # CHECK STRULLSW FOR IMPULSIVE BURN
MASK FLAGWRD6
CCS A
TCR STEERULL # NON-IMPULSIVE, STEERING AND ULLAGE OFF
TCR ULAGEOFF # ULLAGE OFF (ONLY, OR AGAIN)
EXTEND
DCA NEG0 # KILL GROUP 4 (DP NEG0 = -0,+0)
DXCH -PHASE4
ENDIGN TCF TASKOVER
STEERULL CS FLAGWRD2 # SET STEERSW
MASK BIT11
ADS FLAGWRD2
# Page 697
ULAGEOFF CAF ZERO
EXTEND
WRITE CHAN5 # ZERO CHANNEL 5
TC Q
IMPLBURN CS BIT13 # RESET STRULLSW (COULD BE AN IMPULSIVE
MASK FLAGWRD6 # ENGINE FAIL)
TS FLAGWRD6
TCR E7SETTER
EBANK= TIG
EXTEND # PREPARE FOR R1 OF V06N40 (CLOCKTASK)
DCA TGO
DXCH TIG
EXTEND
DCA TIME2
DAS TIG
TC 2PHSCHNG
OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOT GROUP
OCT 07014 # C, DELTAT NEXT, TASK BELOW, IN
DEC -0 # -0 CS
EBANK= DAPDATR1
2CADR IMPLCONT
CAE TGO +1 # (TPAGREE IN S40.13, LESS THAN 600CS)
TC WAITLIST
EBANK= TGO
2CADR ENGINOFF
IMPLCONT CS BIT9 # RESET IMPULSW, ENGINOFF IS NOW SET UP
MASK FLAGWRD2
TS FLAGWRD2
TCR E6SETTER
EBANK= DAPDATR1
CAF ZERO # SET UP V97VCNTR IN CASE ENGINOFF (MASS-=
TS V97VCNTR # BACK) ARRIVES BEFORE TVCDAPON
TCF PREPTVC
EBANK= TGO # E7 FORCED BY 3.15SPOT VARIABLE DELTA-T
ENGINOFF TCR E6SETTER # TASK, 3.15 PHASE (TGO+1 CS) GET E6
EBANK= DAPDATR1
CAE CSMMASS
TS MASSTMP # COPYCYCLE FOR MASSBACK
# Page 698
TC 2PHSCHNG
OCT 00003 # KILL GROUP 3 PROTECTION OF ENGINOFF, DO
OCT 40634 # A, 4.63 = DOSPSOFF (-0CS)
DOSPSOFF TCR SPSOFF # SHUTDOWN SPS, MASS UPDATES, ETC.
CS OCT27/24 # (OCTAL 27)
TC NEWPHASE
OCT 4 # 4.27 = DOTVCRCS (250 CS)
TC FIXDELAY # 2.5 SECOND DELAY FOR SPS TAILOFF
DEC 250
DOTVCRCS TCR SETMAXDB # WIDE DEADBAND FOR CUTOFF TRANSIENT
TC IBNKCALL # SET UP RCS DAP (KILLS TVCDAPS, SETS T5
CADR RCSDAPON # BITS, WAITS 0.6SEC FOR TVCEXEC DIE)
TC IBNKCALL # UPDATE WEIGHT/G AND MASS-PROPERTIES FOR
CADR MASSPROP # RCS DAP STARTUP IN 0.6 SECONDS
TCR TVCZAP # WIPE OUT TVC, TURN OFF CLOKTASK
TC PHASCHNG
OCT 00354 # A, 4.35 = POSTBURN (NOVAC, PRIO12)
CAF PRIO12 # SET UP POSTBURN V16N40 JOB
TC NOVAC
EBANK= DAPDATR1 # (SET MAXDB IN POST41)
2CADR POSTBURN
TCF TASKOVER
EBANK= DAPDATR1
SPSOFF EXTEND # ESTABLISH SPSOFF TEVENT
DCA TIME2
DXCH TEVENT
CS BIT7 # RESET ENGONFLG
MASK FLAGWRD5
TS FLAGWRD5 # (RESTARTS WILL SHUT DOWN SPS NOW)
CS BIT13 # SHUT DOWN SPS ENGINE
EXTEND
WAND DSALMOUT
CAF BIT14 # ISSUE SIV CUTOFF COMMAND
EXTEND # FOR POSSIBLE BACK-UP USE
WOR CHAN12
MASSBACK CAE V97VCNTR # RESTORE PART OF PRE-DECREMENTED MASS
# V97CNTR = VCNTR UNLESS V97 IS
# ACTIVE. ONLY V97CNTR IS THEN RIGHT.
EXTEND # VCNTR COUNTS 1/2-SECONDS IN TVC EXEC
MP EMDOT # MDOT, SC.AT B+3 KG/CS
LXCH A
# Page 699
EXTEND
MP 1SEC # DEC 100
AD MASSTMP # CORRECTION IS ACCURATE TO 5 CS OF FLOW
TS CSMMASS # (1.44 KG OR 0.4 BITS)
CA TVCPHASE # CHECK IF OK FOR TRIM UPDATE
AD ONE # THESE CHECKS ARE ONLY NEEDED
EXTEND # FOR A LESS THAN 0.4 SEC BURN
BZF BTRIMR # NO. INITIALIZATION NOT COMPLETE
CS FLAGWRD6 # YES, CHECK IF TVC
MASK OCT60000
EXTEND
BZMF BTRIMR # NO, NOT TVC YET
BESTTRIM CAE DELPBAR # UPDATE TRIMS WITH DELFILTER VALUES
TS PACTOFF
CAE DELYBAR
TS YACTOFF
BTRIMR TC Q
EBANK= DAPDATR1
STEERADS 2CADR STEERING
.6SECT5 OCT 37703
5SECDP DEC 0 # MAKE DP 5SEC
5SEC DEC 500
OCT02202 OCT 02202 # BITS 2, 8, 11 FOR CHANNEL 12 TVC/OPTICS
EBANK= DAPDATR1
TVCON2C 2CADR TVCDAPON
-1 INHINT
TVCZAP CS OCT02202 # DISABLE TVC AND OPT ERR CNTRLS, REENGAGE
EXTEND # OPTICS DAC
WAND CHAN12
CS BIT1 # ENABLE T4RUPT OPTICS MONITOR .... PERMIT
TS OPTIND # OPTICS-ZERO BUT NOT OPTICS-DRIVE
CAF ZERO # CLEAR NVWORD1 IN CASE CLOCKJOB WAITING
TS NVWORD1
CS BIT11 # CLEAR TIMRFLAG TO STOP CLOKTASK
MASK FLAGWRD7
TS FLAGWRD7
TC Q
EBANK= DAPDATR1
UPDATEVG STQ BON
QTEMP1
XDELVFLG
CALL40.8
SLOAD BMN
NBRCYCLS
SETUP.9
# Page 700
VLOAD VAD
DELVSUM
DELVREF
STORE DELVSUMP
EXIT
CA ONE
AD NBRCYCLS
TS NBRCYCLP
TC PHASCHNG # TYPE B RESTART RESTART BELOW AND 5.3 REREADACCS
OCT 10035
CA NBRCYCLP
TS NBRCYCLS
TC INTPRET
VLOAD
DELVSUMP
STORE DELVSUM
CALL40.8 CALL
S40.8
GOTO
QTEMP1
SETUP.9 BON SLOAD
FIRSTFLG
SURELY.9
NBRCYCLP
NORM VXSC # (NORM HANDLES ZERO PROPERLY)
X1
BDT
VSR* VAD
0 -14D,1
VGTEMP
VSU
DELVSUM
STORE VGPREV
SURELY.9 EXIT
CAF PRIO10
TC FINDVAC
EBANK= DAPDATR1
2CADR S40.9
TC 2PHSCHNG
OCT 00051 # A, 1.5 = REDO40.9, PRIO 10
OCT 10035
TC INTPRET
VLOAD
RN # ACTIVE VEHICLE RADIUS VECTOR AT T1
STOVL RINIT
# Page 701
VN # ACTIVE VEHICLE VELOCITY VECTOR AT T1
STODL VINIT
PIPTIME
STORE TNIT
BDSU
TPASS4
STOVL DELLT4
HI6ZEROS
STODL DELVSUM
HI6ZEROS
STORE NBRCYCLS
GOTO
CALL40.8
EBANK= DAPDATR1
STEERING TC INTPRET
CALL
UPDATEVG
EXIT
CAF BIT9 # CHECK IMPULSW
MASK FLAGWRD2
CCS A
TCF +3 # PRE-IGNITE, REQUEST ENG-OFF, OR POST-OFF
SERVXT TC POSTJUMP
CADR SERVEXIT
CAF BIT13 # CHECK ENGINE-ON/-OFF
EXTEND
RAND DSALMOUT
EXTEND
BZF SERVXT # ENGINE-OFF, SO PRE-IGNITE OR POST-OFF
TCR E7SETTER
EBANK= TIG
INHINT
EXTEND
DCA TIG
DXCH MPAC
EXTEND
DCS TIME2
DAS MPAC
TCR DPAGREE
CAE MPAC +1 # (LESS THAN 6 (OR 4) SECONDS TO GO)
CCS A # PROTECT AGAINST NEG/ZRO W.L. CALL
TCF +3
TCF +2
CAF ZERO
AD ONE
XCH L
CA ZERO
DXCH TGO
CA TGO +1
TC WAITLIST
# Page 702
EBANK= TGO
2CADR ENGINOFF
TC 2PHSCHNG
OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOTE GROUP
OCT 10035 # B, 5.3 = REREADAC, AND START BELOW
TC DOWNFLAG # CLEAR IMPULSW, ENGINOFF IS NOW SET UP
ADRES IMPULSW # RESTARTS OK
TCF SERVXT
# Page 703
# ROUTINE ** CLOKTASK ** DESCRIPTION
EBANK= TIG
CLOKTASK CAF BIT11 # IS TIMRFLAG SET
MASK FLAGWRD7
CCS A
TCF CLOCKON
TC PHASCHNG
OCT 00006 # KILL RESTART
TC TASKOVER
CLOCKON EXTEND
DCA TIME2
DXCH TTOGO
EXTEND
DCS TIG
DAS TTOGO
SETCLOCK CAF 1SEC
TC WAITLIST
EBANK= TIG
2CADR CLOKTASK
CCS NVWORD1
TCF +3
TCF SETTB6
TCF +1
CS V06N85B # CHECK FOR V06N85B (P41)
AD NVWORD1
EXTEND
BZF SETUPDYN # V06N85, SO UPDATE N85 FOR DYNAMIC DISP
CAF PRIO27
TC NOVAC
EBANK= DAPDATR1
2CADR CLOCKJOB
SETTB6 CS TIME1 # SET GROUP6 TIMEBASE
TS TBASE6
TCF TASKOVER
SETUPDYN CAF PRIO27 # SET UP A JOB TO UPDATE N85 (FOR P41=V06)
TC FINDVAC
EBANK= DAPDATR1
2CADR DYNDISP
TCF SETTB6 # CLOSE OUT CLOCKTASK
# Page 704
DYNDISP TC INTPRET # UPDATE N85 FOR A DYNAMIC V06N85 IN P41.
CALL # PRIOR TO BLANKING AND AVEG (V16N85)
P40CNV85
EXIT
TCF CKNVWRD1
# Page 705
# ROUTINE ** CLOCKJOB ** DESCRIPTION
EBANK= DAPDATR1
CLOCKJOB CA CDUX
TS CDUSPOTX
CA CDUY
TS CDUSPOTY
CA CDUZ
TS CDUSPOTZ
TC BANKCALL
CADR QUICTRIG
CKNVWRD1 INHINT
CCS NVWORD1 # DETERMINE FUNCTION, INDICATED BY NVWORD1
TCF NOFLASH
TCF ENDOFJOB
TCF ENGREQST # SPS ENGINE-ON-ENABLE V99 FLASH
FAILDSP CAF V06N40 # SPS ENGINE-FAILED V97 FLASH
TC BANKCALL
CADR CLOCPLAY
TCF V97T # TERMINATE
TCF V97P # PROCEED
TCF V97E # ENTER
ENGREQST CAF V06N40
TC BANKCALL
CADR CLOCPLAY # LINUS MAKES IT A REDO, INHINT OK
TCF V99T # TERMINATE
TCF V99P # PROCEED
TCF V99E # ENTER
NOFLASH CAE NVWORD1 # DISPLAY NVWORD1 NORMALLY
TC BANKCALL
CADR REGODSP
E7SETTER CAF EBANK7
TS EBANK
EBANK= TIG
TC Q
E6SETTER CAF EBANK6 # SET UP EBANK6
TS EBANK
EBANK= DAPDATR1
TC Q
EBANK= DAPDATR1
V99E TC 2PHSCHNG
OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION
OCT 05024 # C, PRIORITY NEXT, JOB BELOW
# Page 706
OCT 27000
V99EJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK
TCF P40RCS # V16N85 POST-BURN OPERATIONS
EBANK= DAPDATR1
V99T TC 2PHSCHNG # (ENTRY FROM V97T FLOW TOO)
OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION
OCT 05024 # C, PRIORITY NEXT, JOB BELOW
OCT 27000
V99TJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK
TCF POST41 # AVEGEXIT, SETMAXDB, GOTOPOOH
V99P INHINT
CAE FLAGWRD7 # CHECK ASTN FLAG FOR PRIOR V99P
MASK BIT12
CCS A
TCF V99P/TIG # YES, THIS MUST BE A RESTART ENTRY
ASTNV99P CAF BIT12 # SET ASTN FLAG
ADS FLAGWRD7
CAE FLAGWRD7 # CHECK IGN FLAG FOR TIG-0 ARRIVAL
MASK BIT13
EXTEND
BZF V99P/TIG # NO, CLEAR THE V99 AND WAIT FOR TIG-0
ENDV99PI CAF BIT1 # TIG-0 HAS COME ALREADY
TC WAITLIST # SET UP IGNITION HERE
EBANK= DAPDATR1
2CADR IGNITION
V99P/TIG CAF V06N40 # CLEAR THE V99 FLASH AND WAIT FOR TIG-0
TS NVWORD1
ENDV99P TCF ENDOFJOB
EBANK= CSMMASS
V97T TC 2PHSCHNG
OCT 00006 # KILL GROUP 6 (CLOKTASK)
OCT 40674 # A, 4.67 = V97TTASK (-0 CS), TBASE NOW
CAF BIT1
TC TWIDDLE
ADRES V97TTASK # KEEP EBANK6 FOR MASSES, SPSOFF, ETC.
TCF ENDOFJOB
EBANK= CSMMASS
V97TTASK CAF ZERO # DISABLE CLOCKJOB
TS NVWORD1
CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL
AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST
TS MASSTMP # FAILED. COPYCYCLE FOR MASSBACK
# Page 707
TC PHASCHNG
OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
DEC -0 # -0 CS
TCR SPSOFF # SHUTDOWN SPS ENGINE, MASS UPDATE, ETC.
TC PHASCHNG
OCT 00714 # A, 4.71 = V97TRCS (250 CS), TBASE OLD
TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL-
DEC 250 # OFF (FALSE THRUST-LOSS)
EBANK= DAPDATR1
V97TRCS TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO
CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS
CAF PRIO27 # SET UP V99T FOR TVCZAP AND POST41 (SET-
TC NOVAC # MAXDB AND GOTOPOOH)
EBANK= DAPDATR1 # EBANK6 FOR SETMAXDB IN POST41
2CADR V99T
ENDV97T TCF TASKOVER
EBANK= V97VCNTR
V97P TC PHASCHNG
OCT 40734 # A, 4.73 = V97PTASK (-0 CS), TBASE NOW
CAF BIT1
TC TWIDDLE
ADRES V97PTASK
TCF ENDOFJOB
EBANK= V97VCNTR
V97PTASK CAE V97VCNTR # GET MASS UPDATES (TVCEXEC) GOING AGAIN
TS VCNTR # (ERRORS IF FLASE THRUST-LOSS AND/OR
# POOR SYNC OF MANUAL ENGINE-ON AND
# THE VERB 97 PROCEED)
CAF V06N40 # REDISPLAY V06N40
TS NVWORD1
TC UPFLAG # SET IDLEFAIL TO ALLOW R41-BYPASS, IN
ADRES IDLEFAIL # CASE OF UNFAVORABLE S40.8 SYNCH
TC UPFLAG # SET STEERSW TO RE-ENABLE STEERING
ADRES STEERSW
TC PHASCHNG
OCT 00134 # A, 4.13 = R40ENABL (200 CS), TBASE OLD
TC FIXDELAY # WAIT 2 SECONDS, THEN
DEC 200
EBANK= WHOCARES
R40ENABL TC DOWNFLAG # RE-ENABLE R40 BY CLEARING IDLEFAIL
ADRES IDLEFAIL
TC PHASCHNG
OCT 00004 # KILL GROUP 4
# Page 708
ENDV97P TCF TASKOVER
EBANK= WHOCARES
V97E TC PHASCHNG
OCT 40534 # A, 4.53 = V97ETASK (-0 CS), TBASE NOW
CAF BIT1
TC WAITLIST
EBANK= TIG
2CADR V97ETASK
TCF ENDOFJOB
EBANK= TIG
V97ETASK CS OCT24 # FORCE R1 OF V06N40 TO READ 59X59
TS TIG
CAF V06N40 # REDISPLAY V06N40
TS NVWORD1
TCR E6SETTER # RETURN TO EBANK6 FOR REST OF V97ETASK
EBANK= CSMMASS
CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL
AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST
TS MASSTMP # FAILED....COPYCYCLE FOR MASSBACK
TC PHASCHNG
OCT 00754 # A, 4.75 = SPSOFF97 (-0 CS), TBASE OLD
SPSOFF97 TCR SPSOFF
TC PHASCHNG
OCT 00114 # A, 4.11 = V97E40.6 (250 CS), TBASE OLD
TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL-
DEC 250 # OFF (FALSE THRUST-LOSS)
EBANK= DAPDATR1
V97E40.6 CAF BIT1
TC WAITLIST
EBANK= CNTR
2CADR PRE40.6 # USE S40.6 RESTART ENTRY TO TRIM ENGINE
TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO
CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS.
# LEAVE NARROW DEADBAND FOR REIGNITE.
TC 2PHSCHNG
OCT 00026 # A, 6.2 = PRE40.6 (-0 CS), CLOKTASK (1 SEC)
OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
DEC -0 # -0 CS.
QUICKIGN CS PRIO14 # CLEAR ASTNFLAG AND SET IGNFLAG FOR
MASK FLAGWRD7 # IMMEDIATE V99 RESPONSE.
AD BIT13
TS FLAGWRD7
TC FIXDELAY # DELAY TO ALLOW TIME FOR PRE40.6
# Page 709
DEC 30
V99FLASH CS BIT9 # CAUSE V99 TO FLASH
TS NVWORD1
TC 2PHSCHNG
OCT 40774 # A, 4.77 = TIG-0 (-0 CS) TBASE FOR PREPTVC
OCT 00033 # A, 3.3 = S40.13 (PRIO 20)
CAF PRIO20 # SET UP TIMEBURN
TC FINDVAC
EBANK= TGO
2CADR S40.13
ENDV97E TCF TASKOVER # WAIT FOR CLOCKJOB (IMMEDIATE) REACTION
# TO FLASHING V99 RESPONSE.
# MOD N02 LOG SECTION P40-P47
# MOD BY ZELDIN
#
# FUNCTIONAL DESCRIPTION
# COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
# VECTOR(VGTIG).
#
# CALLING SEQUENCE
# L CALL
# L+1 S40.1
#
# NORMAL EXIT MODE
# AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
# ERROR RETURN IF NOSOFLAG =1
#
# SUBROUTINES CALLED
# CSMPREC
# INITVEL
# CALCGRAV
# MIDGIM
#
# ALARM OR ABORT EXIT MODES
# L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
#
# ERASABLE INITIALIZATION REQUIRED
# WEIGHT/G ANTICIPATED VEHICLE MASS SP B16 KGM
# XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
# IF DELTA-V MANEUVER:
# DELVSIN SPECIFIED DELTA-V REQUIRED IN
# INERTIAL COORDS. OF ACTIVE VEHICLE
# AT TIME OF IGNITION VECTOR B7 M/CS
# DELVSAB MAG. OF DELVSIN DP B7 M/CS
# RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
# VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS.
# CSTEER = 0 DP
# IF AIMPOINT STEERING:
# IF AIMPT STEER
# TIG TIME OF IGNITION DP B28 CS
# RTARG POSITION TARGET TIME VECTOR B29 M
# CSTEER = ECSTEER (GR 0) DP B1
# Page 710
# TPASS4 -- TIME OF ARRIVAL AT AIMPOINT
#
# OUTPUT
# UT 1/2 UNIT VECTOR ALIGNED WITH THRUST DIRETION IN REF COOR
# VGTIG INITIAL VALUE OF VELOCITY
# TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
# DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
# F NOMINAL THRUST FOR ENG USED FOR S40.13 DP B7 M-NEWT
# BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
# -GDT FOR S40.13 VECT B7 M/CS
# RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
# POSITION AT TIME OF IGNITION
#
# DEBRIS QTEMP1
# MPAC, QPRET
# PUSHLIST
# RTX2,RTX1
BANK 14
SETLOC P40S1
BANK
COUNT 16/S40.1
S40.1 SET VLOAD
FIRSTFLG
LO6ZEROS
STORE BDT
STQ BOF
QTEMP
XDELVFLG
S40.1B # LAMBERT
VLOAD ABVAL # EXTERNAL DELTA-V
DELVSIN
STORE DELVSAB # COMPUTE FOR P30/P40 INTERFACE
# THUS PERMITTING MODULE-ONLY CHANGE
SETPD VLOAD
0
VTIG
STORE VINIT
VXV UNIT
RTIG
STOVL UT # UP IN UT
RTIG
STORE RINIT
VSQ PDDL
36D
DMPR DDV
THETACON
DMP DMP
DELVSAB
WEIGHT/G
DDV
# Page 711
F
STOVL 14D
DELVSIN
DOT VXSC
UT
UT
VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
DELVSIN
14D
SIN PDVL
6D
VXV UNIT
UT
VXSC STADR
STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
14D
COS VXSC
VAD VXSC
VGTIG
36D
VSL2 VAD
STADR
STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
UNIT
STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
VGTIG
PUSH SET
AVFLAG
CALL
MIDGIM # VGTIG IN LV COOR AT 2(+7)M/CS IN DELVLVC
GOTO
QTEMP
S40.1B DLOAD DSU # LAMBERT
TIG
TWODT
STODL TDEC1
TPASS4
DSU
TDEC1
STCALL DELLT4
AGAIN
VLOAD
VIPRIME
STODL UT
TIG
STORE TDEC1
# Page 712
BDSU
TPASS4
STCALL DELLT4
AGAIN
VLOAD PUSH
DELVEET3
STORE VGTIG
SET CALL
AVFLAG
MIDGIM
SETPD GOTO
0
CALCUT
THETACON 2DEC .31830989 B-8
SETLOC P40S3
BANK
COUNT 24/S40.1
EP4(45)H 2DEC .125
EP4(10)H 2DEC .027777777
AGAIN STQ CALL
QTEMP1
THISPREC
SXA,2 SXA,1
RTX2
RTX1
VLOAD
RATT
STORE RTIG
STOVL RINIT
VATT
STORE VTIG
STORE VINIT
SETPD SLOAD
0
HI6ZEROS
PDDL BON
EP4(45)H
NORMSW
+3
DLOAD
EP4(10)H
PUSH CALL
INITVEL
SETPD GOTO
# Page 713
0
QTEMP1
CALCUT VLOAD CALL
RTIG
CALCGRAV # GDELTAT IN MPAC AT 2(+7) M/CS
VSL1 V/SC
200CS # G AT 2(-5) M/CS. CS
PDVL VSU
VIPRIME
UT
V/SC VSU
200CS
VXSC VSL2
CSTEER
STOVL 12D # B.C SCALED AT 2(-15) PDL 12D
VGTIG
UNIT PUSH # UG PDL 0 SCALED AT 2(+1)
DOT VXSC
12D
0
VSL2 BVSU
12D
STODL 12D # Q PDL SCALED AT 2(-5)
F
SRR DDV
4
WEIGHT/G
DSQ PDVL # F/MASS SQUARED PDL 6 AT 2(-10M/(CS.CS)
12D
VSQ
BDSU SQRT
VXSC VSL1
VAD UNIT
12D
STCALL UT
QTEMP
200CS 2DEC 200 B-12
# Page 714
# PROGRAM DESCRIPTION S40.2,3 DATE 15 NOV 66
# MOD NO 2 LOG SECTIONS P40-P47
# MOD BY ZELDIN
#
# FUNCTIONAL DESCRIPTION
#
# COMPUTE GIMBAL ANGLES IF THRUSTING OCCURRED WITH PRESENT IMU
# ORIENTATION, WINGS LEVEL SPACECRAFT, HEADS UP
# COMPUTE X AXIS OF ENGINE BELL
# COMPUTE PREFERRED IMU ORIENTATION (XSCREF)
# FOR THIS CALCULATION, ASSUME X AXIS OF SC ALONG UT INITIALLY,
# YSC=UNIT(XXR), ZSC=UNIT(XX(XXR)) AND ROTATE ENGINE BELL ALONG UT.
# NEW SC AXES WILL BE APPROX. WINGS LEVEL AND NEW SC AXES IN REF.
# COORDS. WILL BE PREFERRED IMU ORIENTATION.
# COMPUTE DESIRED THRUST DIRECTION IN SM COORDS.
#
# CALLING SEQUENCE
# L CALL
# L+1 S40.2,3
#
# NORMAL EXIT MODE
# AT L+2 OF CALLING SEQUENCE (GOTO L+2)
#
# SUBROUTINES CALLED
# CALCGA
#
# ALARM OR ABORT MODES
# NONE
#
# ERASABLE INITIALIZATION REQUIRED
# PACTOFF TOTAL PITCH TRIM ANGLE SP AT 1.0795111 REV.
# YACTOFF TOTAL YAW TRIM ANGLE SP AT 1.0795111 REV.
# UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
# RTIG POSITION AT TIME OF IGNITION VECT. B29 M
# ENG2FLAG ON=RCS OFF=SPS
#
# OUTPUT
# SCAXIS UNIT VECT. ALIGNED WITH ENG BELL IN SC COOR. B1
# XSCREF UNIT VECTORS ALIGNED WTH PREFERRED IMU B1
# YSCREF
# ZSCREF
# GIMBAL ANGLES IN THETAD
# POINTVSM UNIT VECT ALONG DESIRED THRUST DIRECTION IN SM B1
#
# DEBRIS
# PUSHLIST, QPRET, MPAC
# QTEMP TEMP. ERASABLE
BANK 24
SETLOC P40S
BANK
COUNT* $$/S40.2
S40.2,3 VLOAD MXV
UT
REFSMMAT
VSL1 STQ
QTEMP
STORE POINTVSM # THRUST IN SM AT 2
SETPD BON
0
# Page 715
ENG2FLAG
S40.2,3B
DLOAD
HI6ZEROS
PUSH SLOAD # ZERO PDL 0
YACTOFF
DMP SL1
TRIMSCAL
DAD PUSH
YBIAS
COS PDDL # COS(Y +Y0) PDL 2
SIN PUSH # SIN(Y +Y0) PDL 4
SLOAD
PACTOFF
DMP SL1
TRIMSCAL
DAD PUSH
PBIAS
COS PDDL # COS(P +P0) PDL 6
SIN PUSH # SIN(P +P0) PDL 8D
STODL ZSCREF # SIN(P +P0)
6
DMP SL1
4
DCOMP PDDL # -SIN(Y+Y0)COS(P+P0) PDL 10
6
DMP SL1
2
VDEF
STODL XSCREF # PD POINTER AT 6 NEW SC X AXIS SCALED AT
ZSCREF
DMP SL1
4
PDDL DMP
ZSCREF
2
SL1 DCOMP
VDEF
STODL ZSCREF # PD POINTER AT 4 NEW SC Z AXIS SCALED AT 2
VDEF
STODL YSCREF # PD POINTER AT 0 NEW SC Y AXIS SCALED AT 2
ZSCREF
PDDL PDDL
YSCREF
XSCREF
VDEF
# Page 716
STOVL SCAXIS # ENGINE BELL SCALED AT 2
UT
PDVL UNIT
RTIG
VXV VCOMP
0
UNIT PUSH
CALL
TSTRXUT
VXV VCOMP
0
VSL1 PDVL # 2 RF/SC IN PDL 12D
XSCREF
VXM VSL1
0
STOVL XSCREF # X OF PREF. IMU,X OF SC IN REF COOR. AT 2
YSCREF
VXM VSL1
0
STOVL YSCREF # Y OF PREF. IMU,Y OF SC IN REF COOR. AT 2
ZSCREF
VXM VSL1
0
STORE ZSCREF # Z OF PREF. IMU,Z OF SC IN REF COOR. AT 2
SETPD GOTO
0
QTEMP
S40.2,3B VLOAD
UNITX
STOVL SCAXIS
UT
STORE XSCREF
VXV UNIT
RTIG
STCALL 6D
TSTRXUT
STORE YSCREF
VXV VCOMP
XSCREF
VSL1
STCALL ZSCREF # ZNB AXIS IN REF COOR
QTEMP
TSTRXUT DLOAD BHIZ
36D
BADVCTOR
VLOAD RVQ
6D
BADVCTOR VLOAD UNIT
RTIG
PDVL UNIT
# Page 717
VTIG
VSR3 VAD
VXV UNIT
UT
VCOMP
STORE 6D
RVQ
TRIMSCAL 2DEC 1.07975111 B-1
YBIAS 2DEC +.00263888889 # YAW MECH BIAS (+0.95 DEG, THRUST ON)
PBIAS 2DEC -.00597222222 # PITCH MECH BIAS (-2.15 DEG, THRUST ON)
# REFERENCE, TRW 68.6520.3.3-40 27 FEB, 1968
# PROGRAM DESCRIPTION S41.1 DATE 8 DEC 66
# MOD NO 1 LOG SECTION P40-P47
# MOD BY ZELDIN
#
# FUNCTIONAL DESCRIPTION
#
# COMPUTE VELOCITY TO BE GAINED INITIALLY IN REF COORDS.
# TO CONTROL COORDS.
#
# CALLING SEQUENCE
#
# L CALL
# L+1 S41.1
#
# NORMAL EXIT MODE
#
# AT L +2 OF CALLING SEQUENCE
#
# SUBROUTINES CALLED:
#
# CALCSMSC
# CDUTRIG
#
# ALARM OR ABORT MODES
#
# NONE
#
# ERASABLE INITIALIZATION REQUIRED
#
# VG IN REF. COORD. PDL L POINTER AT L+5. S41.1 WILL RETURN WITH
# POINTER AT L (L MUST BE LESS THAN OR = TO 14D)
#
# OUTPUT
#
# MPAC CONTAINS VG IN CONTROL COORDS VECT. B7 M/CS
#
# DEBRIS:
#
# QTEMP TEMP ERASABLE
# QPRET
COUNT 22/S41.1
SETLOC P40S5
BANK
S41.1 STQ CALL
QTEMP
CDUTRIG
VLOAD
MXV CALL
REFSMMAT
*SMNB*
# Page 718
MXV VXSC
QUADROT
TENBNK14 # VG IN CONTROL COORD IN MPAC SCALED AT
VSL5 GOTO # VG IN CONTROL COORDS. IN MPAC AT 2(+7)
QTEMP
TENBNK14 2DEC 10. B-4
# Page 719
# NAME S40.8 -- CROSS PRODUCT STEERING
# FUNCTION (1) UPDATES THE VELOCITY-TO-BE-GAINED VECTOR.
# (2) GENERATES ANGULAR RATE STEERING COMMANDS FOR AUTOPILOT.
# (3) ESTABLISHES ENGINE CUT-OFF SIGNALS AT APPROPRIATE TIMES.
# (4) INITIATES THRUST-FAIL ROUTINE, R40
# CALLING SEQ CALL S40.6
# INPUT VGPREV LAST VALUE OF THE VELOCITY-TO-BE-GAINED VECTOR
# PRIOR TO UPDATING IN METERS/CS AT +7.
# DELVREF CHANGE IN VEHICLE VELOCITY SINCE LAST MEASUREMENT
# IN METERS/CS AT +7.
# BDT EFFECT OF RATE OF CHANGE OF REQUIRED VELOCITY AND
# GRAVITY DURING DT UPON VELOCITY-TO-BE-GAINED IN
# METERS/CS AT +7.
# CSTEER A SCALAR OF THE STEERING LAW, SC.AT B+1, USED FOR
# SPS AIMPOINT STEERING MANEUVERS.
# IDLEFAIL A FLAG TO INHIBIT (IDLE) THE THRUST-FAIL ROUTINE.
# STEERSW A SWITCH TO PRECLUDE NEEDLESS CONDUCT OF STEERING.
# REFSMMAT, DAPDATR1, PIPTIME
# EREPFRAC, ETDECAY, KPRIMEDT FOR TVC.
# OUTPUT TTOGO TIME REMAINING FOR ENGINE BURN IN CS AT +28.
# OMEGAC DP VECTOR RATE COMMAND, SC.AT 1/(2TVCDT) REVS/SEC.
# VG, VGPREV, VGDISP, TGO, TIG, SCALED AS NOTED IN CODING
# STEERSW, IMPULSW, NVWORD1
# REPFRAC, CNTR, VCNTR, VCNTRTMP FOR TVC (R40 INTERFACING)
# DEBRIS OMEGAXC, +1
# SUBROUTINES USED: *SMNB*, ALARM
SETLOC P40S1
BANK
EBANK= DAPDATR1
COUNT 16/S40.8
S40.8 SETPD STQ
SPBIT1 00D
QTEMP
VLOAD BVSU # CONSTRUCT DELVG, SC.AT B+7 M/CS
DELVREF
BDT
VAD
VGPREV
STORE VG # VELOCITY-TO-BE-GAINED, SC.AT B+7 M/CS
ABVAL
STORE VGDISP # FOR DISPLAY PURPOSES
EXIT
TC PHASCHNG
OCT 10035 # TYPE B RESTART RESTART BELOW AND 5.3 REREADAC
TC INTPRET
VLOAD
# Page 720
VG
STORE VGPREV
BOFF VLOAD
STEERSW # SKIP TGO AND CROSS-PRODUCT
QTEMP
DELVREF
ABVAL PUSH # CHECK FOR LOTHRUST
SLOAD DMP
DVTHRESH # SC.AT B-2 M/CS
DPB-9
BDSU
BMN EXIT
LOTHRUST
CAE DAPDATR1 # ENABLE TVCDAP CG TRACKING
MASK BIT14
CCS A
CAF BIT1
INDEX A # LM-OFF, LM-ON VALUE
CAE EREPFRAC
TS REPFRAC
TC INTPRET
TGOCALC VLOAD BVSU # GET DELVG
DELVREF
BDT
UNIT
DOT PUSH # (00D)
VG
BPL DDV # ANGLE SHOULD BE GREATER THAN PI/2
INCRSVG # DISPLAY ALARM IF NOT
2VEXHUST
DAD DMP # (DOT PRODUCT UP FROM 00D)
LODPHALF
NORM SR1
X1
PDDL NORM
36D # (MAG DELVG)
X2
BDDV
XSU,2 SL*
X1
0 -9D,2
DMP PUSH # (00D)
-FOURDT
SLOAD SR
ETDECAY # ETDECAY SC.AT B+14 CS
14D
BDSU STADR
STORE TGO # TIME TO GO IN CS. AT +28
DAD
# Page 721
PIPTIME
STODL TIG
TGO
DSU BMN
FOURSEC
S40.81
XPRODUCT VLOAD VXSC
BDT
CSTEER
VSL2 VSU
DELVREF
UNIT PDVL
VG
UNIT VXV
MXV CALL
REFSMMAT # (REFSMMAT/2)
*SMNB*
VXSC
KPRIMEDT # (KPRIMEDT SCIAT PI/8 RAD)
OMEGACLC STORE OMEGAC
GOTO
QTEMP
SETLOC DAPS7
BANK
COUNT 17/S40.8
TWODT 2DEC 200.0 B-28 # 2 SEC
-FOURDT 2DEC -800 B-18 # -4(200CS), SC.AT B+18CS (-4 FOR SCALING)
2VEXHUST 2DEC 63.020792 B-7 # 2(10338.0564 FPS), SC.AT B+7 M/CS
FOURSEC 2DEC 400.0 B-28 # 4 SEC
DPB-9 2DEC 1 B-9
SETLOC DAPS6
BANK
COUNT 20/S40.8
S40.81 SET VLOAD # TGO LESS THAN 4 SECONDS
IMPULSW # FOR ENGINE-OFF CALL
HI6ZEROS
RATEZRO STORE OMEGAC # TVC TO ATTITUDE HOLD
EXIT
CAF POSMAX # INHIBIT SWITCHOVER/TVC EG TRACKING
TS CNTR
# Page 722
TC INTPRET
CLEAR GOTO
STEERSW # RESTARTS OK
QTEMP
INCRSVG EXIT # ALARM INDICATING THAT THRUST IS POINTING
TC ALARM # IN WRONG DIRECTION.
OCT 01407
TC INTPRET
GOTO
QTEMP
LOTHRUST BON VLOAD # THRUST FAILURE (LO-OR-NO) INDICATED
IDLEFAIL # SET BY V97P. ALLOWS 1 BYPASS IN CASE OF
QTEMP # UNFAVORABLE S40.8 SYNCH.
HI6ZEROS # START OF ENGINE-FAIL (R40) OPERATIONS
STORE OMEGAC # PUT TVC IN ATTITUDE HOLD
EXIT
CS ZERO
TS VCNTR # KILL CSMMASS UPDATING
TS VCNTRTMP # (TVCEXEC LOGIC REQUIRES THIS TOO)
TS REPFRAC # KILL TVCDAP CG TRIM TRACKING
TS NVWORD1 # SET UP ENGINE-FAIL V97FLASH (CLOCKJOB)
TC INTPRET
CLEAR GOTO # INHIBIT STEERING AND TGO CALC (MANUAL
STEERSW # SHUTDOWN IF NOT SET UP AGAIN)
QTEMP # RESTARTS OK
# Page 723
# NAME S40.9 -- VTOGAIN (AIMPOINT MANEUVERS ONLY)
# FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
# VECTORS FOR USE DURING AIMPOINT MANEUVERS.
# (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
# CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED.
# CALLING SEQ VIA FINDVEC AS NEW JOB.
# INPUT RNIT ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
# VNIT ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7.
# VRPREV LAST COMPUTED VELOCITY REQUIRED VECTOR IN
# METERS/CS AT +7.
# NONTIG TIME OF IGN. USED IN TARGETTING ROUTINES B+28
# DELLT4 TRANSFER TIME FROM PIPTIME TO TARGET B+28
# TNIT TIME OF RNIT AND VNIT IN CS AT +28
# GDT/2 HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
# ACCELERATION OF GRAVITY IN METERS/CS AT +7.
# DELVREF CHANGE IN VELOCITY DURING LAST 2 SEC IN
# METERS/CS AT +7.
# NORMSW SET=CENTRAL ANGLE BETWEEN RTARG AND RTIG IS BETWEEN
# 165 TO 195 DEGREES.
# RESET=CENTRAL ANGLE OUTSIDE CONE DESCRIBED ABOVE.
# OUTPUT VGTEMP VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
# COGA INPUT OF INITIAL GUESS FOR LAMBERT FROM S40.1
# OR PREVIOUS PASS THRU S40.9.
# GOBL/2 OBLATENESS TERM IN AVG GRAV CALC: GOBL*RSQ/MU
# VRPREV/ VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
# BDT B VECTOR IN METERS/CS AT +7.
# SUBROUTINES USED -- INITVEL
SETLOC P40S1
BANK
EBANK= NBRCYCLS
COUNT 16/S40.9
S40.9 TC INTPRET
SETPD DLOAD
00D
LO6ZEROS
PDDL
EP4(45)L
BON DLOAD
NORMSW
+2
EP4(10)L
PUSH
CLEAR CALL
GUESSW
HAVEGUES
EXIT
TC PHASCHNG # SAVE TIME BY NOT REDOING LAMBERT CALCS
OCT 05021 # C, PRIORITY NEXT, JOB BELOW
# Page 724
OCT 10000
TC INTPRET
ENDLAMB BON
FIRSTFLG
FIRSTTME
VLOAD VSU
VIPRIME
VRPREV
PDDL DSU
TNIT
TNITPREV
SL BDDV
17D
200CSHI
VXSC
VSU VSL1
GDT/2
STORE BDT
FIRSTTME SLOAD DCOMP
RTX2
BMN
MOONCASE
VLOAD UNIT
RN
DLOAD DSU
PIPTIME
NOMTIG
DMP DDV
EARTHMU
34D
VXSC VAD
GOBL/2
VGTEMP # NOTE: NO TEST IS MADE TO SUBTRACT GOBL
STORE VGTEMP # INSIDE 165-195 DEGREE CONE AREA.
MOONCASE EXIT
TC PHASCHNG
OCT 04021 # C, JOB BELOW
COPY40.9 TC INTPRET
DLOAD
TNIT
STOVL TNITPREV
VIPRIME
STORE VRPREV
CLEAR EXIT
FIRSTFLG
-2 CS ONE # REDO40.9 (RESTART) ENTRY TO END S40.9
TS NBRCYCLS
ENDS40.9 TC PHASCHNG
OCT 00001
# Page 725
TCF ENDOFJOB
REDO40.9 TC INTPRET # S40.9 RESTARTS COME HERE TO GRACEFULLY
VLOAD # TERMINATE S40.9 SO THAT IT CAN BE
LO6ZEROS # SET UP WITH LATEST R,V,T NEXT PASS
STODL DELVSUM # (TYPE C PHASE POINTS '04021' WILL
LO6ZEROS # FORCE NORMAL S40.9 TERMINATIONS,
STOVL NBRCYCLS # RATHER THAN LOSE TIME OF BRAND NEW
VGPREV # PASS -- QUICK OLD DATA BETTER THAN
STORE VGTEMP # NONE) NOW CAN GO THRU SETUP.9
EXIT # WITHOUT DISTURBING VGPREV.
TCF ENDS40.9 -2 # STORE 0,0 COVERED NBRCYCLS,P -- FIX UP S
200CSHI 2DEC 200 B-12
EARTHMU 2DEC* -3.986032 E10 B-36*
EP4(45)L 2DEC .125
EP4(10)L 2DEC .027777777
# Page 726
# NAME: S40.13 -- TIMEBURN
#
# FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY-TO-
# BE-GAINED AND ENGINE CHOICE RESULT IN A BURN TIME SUFFICIENT
# TO ALLOW STEERING AT THE VEHICLE DURING THE BURN, AND
# (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT IS SHORT --
# AND THE ASSOCIATED TIME OF THE ENGINE OFF SIGNAL.
#
# CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
#
# INPUT VGTIG -- VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
# WEIGHT/G -- MASS OF VEHICLE IN KGM AT TIG
# F -- ENGINE THRUST IN M.NEWTONS AT +7
# MDOT -- RATE OF DECREASE OF VEHICLE MASS DURING ENGINE BURN
# IN KILOGRAMS/CENTISECOND AT +3. THIS SCALING MAY
# REQUIRE MODIFICATION FOR SATURN BURNS.
#
# OUTPUT IMPULSW ZERO FOR STEERING
# ONE FOR ATTITUDE HOLD
# TGO TIME TO BURN IN CENTISECONDS AT +14
# THE QUANTITY M.NEWTON SHALL BE USED TO EXPRESS WEIGHT IN TERMS OF
# (KILOGRAM*METER)/(CENTISECOND*CENTISECOND)
# (1) M.NEWTON = (10000) NEWTONS.
EBANK= TGO
COUNT 16/40.13
S40.13 TC INTPRET
SETPD SET
00D
IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
VLOAD ABVAL
VGTIG # VELOCITY TO BE GAINED AT +7
EXIT
CAF BIT7 # TEST +X TRANSLATION
EXTEND
RXOR CHAN31
MASK BIT7
EXTEND
BZF NOTADDUL
TC INTPRET
PDDL DDV # 00D = MAG OF VGTIG AT +7
S40.135 # COMPENSATION FOR 2 JET ULLAGE AT +24
WEIGHT/G # MASS IN KGMS AT +16
BON SL1 # DOUBLE CORRECTION IF FOUR JETS
NJETSFLG
S40.130
S40.130 BDSU
PDDL DDV # 00D = MAG OF VGTIG CORRECTED FOR ULLAGE
K1VAL # M.NEWTON-CS AT +24
WEIGHT/G
BDSU BMN
00D
S40.131 # TGO LESS THAN 100 CS
PDDL DMP # 02D = TEMP1 AT +7
# Page 727
EMDOT # SPS FLOW RATE SC.AT B+3 KG/CS (SP, NOTE)
3.5SEC # 350 CS AT +14
BDSU PDDL
WEIGHT/G
FANG
DMP SR2
5SECOND # 500 CS AT +14
DDV PUSH # 04D = TEMP2
BDSU BPL
02D
S40.133 # TGO GREATER THAN 600 CS
DLOAD BDDV
DMP DAD
5SECOND # 500 CS AT +14
1SEC2D # 100 CS AT +14
GOTO
S40.132
S40.131 DLOAD DMP # TGO LESS THAN 100 CS
WEIGHT/G
DAD DDV
K2VAL # M.NEWTON CS AT +24
K3VAL # M.NEWTON AT +10
S40.132 EXIT
EBANK= TGO
TC TPAGREE
CA MPAC
XCH L
CA ZERO
DXCH TGO # TGO IN CS AT +28
TC S40.134
S40.133 CLEAR EXIT # WILL STEER VEHICLE
IMPULSW
S40.134 TC PHASCHNG # KILL GROUP 3
OCT 3
TCF ENDOFJOB
NOTADDUL TC INTPRET
GOTO
S40.130 +1 # DO NOT COMPENSATE FOR 7 SEC OF ULLAGE
SETLOC DAPS7
BANK
COUNT 17/40.13
K1VAL = EK1VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2
K2VAL = EK2VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2
K3VAL = EK3VAL # DP PAD LOAD B+09 NEWTONS/E+4
1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
# Page 728
3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
5SECOND 2DEC 500.0 B-14 # 500.0 CS AT +14
S40.135 2DEC 69.6005183 B-23 # IMPULSE FROM 7.96 SECS OF 2-JET FIRING
# 7.96 (199.6)COS(10) LB-SEC, SC.AT
# B+23 NEWTON-SEC/E+2 (7 SEC ULLAGE
# TO GO, PLUS 0.96 SEC FROM PIPTIME)
# Page 729
# NAME S40.6 GIMBAL DRIVE TEST AND/OR GIMBAL TRIM
# MOD NO 5 DATE 9 MARCH, 1967
# MOD BY ENGEL LOG SECTION P40-P47
#
# FUNCTIONAL DESCRIPTION
# GIMBAL DRIVE TEST....0,+2,-2,0 DEGREE ENGINE COMMANDS, AT 2 SECOND
# INTERVALS, FIRST IN PITCH, THEN IN YAW. ASTRONAUT VERIFICATION
# OF GIMBAL MOTION ON GPI
# GIMBAL TRIM....AFTER A 4 SECOND DELAY, ENGINE COMMANDED TO
# PRE-COMPUTED TRIM POSITION. ASTRONAUT VERIFICATION ON GPI.
# PRE40.6....RESTART ENTRY TO RE-DO S40.6, ONLY IF RCS IS ON --- IF TVC
# IS NOT ON --- PRIMARILY TO GET ACTUATORS TRIMMED FOR IGNITION.
# BYPASS 4 SEC DELAY. SPEED IS CRITICAL NEAR IGNITION.
# IF TVC IS ON (TVCDAPON OR LATER) THEN REDOTVC WILL TAKE CARE
# OF RESTARTING ACTUATORS.
#
# CALLING SEQUENCE....
# WAITLIST, WITH 2CADR FOR S40.6 (OR PRE40.6), WITH EBANK= CNTR
#
# NORMAL EXIT MODE -- FIXDELAY, TASKOVER
#
# SUBROUTINES CALLED....
# OUTPUT (INTERNAL)
# FIXDELAY
#
# ALARM OR ABORT EXIT MODES --- NONE
#
# ERASABLE INITIALIZATION REQUIRED
# CNTR = +0, NORMALLY SET BY THE P40 CALL AT TST,TRIM.
# MRKRTMP....POSITIVE FOR GIMBAL DRIVE TEST AND GIMBAL TRIM (BOTH)
# NEGATIVE FOR GIMBAL TRIM ONLY
# PACTOFF, YACTOFF SC.AT 85.41 ARCSEC/BIT (V48N48 P, YTRIM)
# "SC CONT" SWITCH AT "CMC" (A/P CONTROL SWITCH AT "GNC")
# ACTIVE SPS GIMBAL MOTOR POWER(S), PITCH, YAW
#
# OUTPUT
# TVCYAW, TVCPITCH (BITS RELEASED)
# TVC ENABLE AND OPTICS ERROR COUNTER ENABLE
#
# DEBRIS
# TBMPR60, CNTR
BANK 17
SETLOC DAPS6
BANK
EBANK= CNTR
COUNT 20/S40.6
PRE40.6 CS FLAGWRD6 # RESTART ENTRY TO S40.6 (DO NOT PERMIT
MASK OCT60000 # IF TVC, BITS 15,14 = 1,0)
EXTEND
BZMF +2
TCF TASKOVER # TVC, REDOTVC WILL REESTABLISH INTERFACE
CS BIT1 # RCS, SO DO S40.6, GIMTRIM ONLY
# Page 730
TS MRKRTMP
CAF BIT1 # FOR REVISED S40.6 TIMING FOR RESTARTS...
TS CNTR # TO INDICATE A RESTART ENTRY (CNTR 1S
# NORMALLY +0, BY S40.6)
EBANK= CNTR
S40.6 CS ZERO # INHIBIT OPTICS ACTIVITY
TS OPTIND
CS BIT2 # DISENABLE OPTICS ERROR COUNTERS (ZERO,
EXTEND # AND INHIBIT PULSE TRANSMISSION --
WAND CHAN12 # NORMAL STATE)
CAF OCT02200 # TVC ENABLE (SPS SERVO AMPS SEE DAC
EXTEND # VOLTAGES) AND DISENGAGE OPTICS/DAC
WOR CHAN12
TC FIXDELAY # 60MS PROCEDURAL DELAY (40MS MINIMUM) FOR
DEC 6 # RELAY LATCHING
CAF BIT2 # ENABLE OPTICS ERROR COUNTERS
EXTEND
WOR CHAN12
TC FIXDELAY # 20MS PROCEDURAL DELAY (4MS MINIMUM) FOR
DEC 2 # RELAY LATCHING
RSTRTST CCS CNTR # CHECK FOR RESTART ENTRY (PRE40.6)
TCF GIMTRIM +2 # RESTART ENTRY....BYPASS 4 SECOND DELAY
# TST,TRIM SETS +0 ON NORMAL ENTRY
CAE MRKRTMP # CHECK FOR TEST/TRIM OR TRIM ONLY
TS CNTR # MRKRTMP SAVES CNTR FOR RESTARTS
EXTEND
BZMF GIMTRIM # (TRIM ONLY)
GDTSETUP CS ZERO # GIMBAL DRIVE TEST SETUP, FOR PITCH
TS CNTR
GIMDTEST CAF +2ACTDEG # GIMBAL DRIVE TEST, 1ST INCREMENT
TC OUTPUT # (LEAVES GIMBAL AT +2 DEG)
CAF -4ACTDEG # 2ND INCREMENT (LEAVES GIMBAL AT -2)
TC OUTPUT
CAF +2ACTDEG # 3RD INCREMENT (LEAVES GIMBAL AT -0)
TC OUTPUT
CS CNTR # CHECK FOR COMPLETION OF YAW TEST.
# Page 731
CCS A
TCF GIMTRIM # COMPLETED, GO TO GIMBAL TRIM ROUTINE
CS BIT1 # SET UP YAW TEST
TS CNTR
TCF GIMDTEST # FOR YAW TEST
OUTPUT EXTEND # OUTPUT THE INCREMENT....SAVE Q
QXCH TEMPR60
INDEX CNTR
TS TVCPITCH
INDEX CNTR
CAF BIT11
EXTEND
WOR CHAN14
TC FIXDELAY # WAIT 2SEC, WHILE ASTRONAUT VERIFIES
DEC 200 # GIMBAL MOTION ON GPI
TC TEMPR60
GIMTRIM TC FIXDELAY # WAIT 4 SECONDS BEFORE GIMBAL TRIM
DEC 400
+2 CS ZERO # PICK UP TRIM VALUES AND OUTPUT THEM
AD PACTOFF # (AVOID +0) ENTRY POINT FROM RSTRTST
TS TVCPITCH # ON A RESTART, TO AVOID 4SEC DELAY
CS ZERO
AD YACTOFF
TS TVCYAW
CAF PRIO6 # RELEASE THE COUNTERS, BITS 11,12
EXTEND
WOR CHAN14
ENDS40.6 TCF TASKOVER
OCT02200 OCT 02200 # BITS 8,11 FOR CHANNEL 12 TVC/OPTICS
-4ACTDEG DEC -168 # -2(+2ACTDEG), WHOLE BITS, NO ROUNDUP
+2ACTDEG DEC +84 # +2 DEG, SC.AT 85.41 ARCSEC/BIT (+84D)
# CALLED BY "DONOUN46" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP) VIA IBNKCALL
COUNT 20/S41.2
S41.2 CA DAPDATR1
# Page 732
MASK THREE
AD A
TS RATEINDX
INHINT
CAE DAPDATR1 # IS LEM ATTACHED (BITS 14,13 OF DAPDATR1
MASK PRIO30 # =10)
AD -BIT14 # (OCT57777)
EXTEND
BZF TOGETHER # YES
CS BIT2 # NO, UNSET FLAG
MASK FLAGWRD7
TS FLAGWRD7
TCF +4
TOGETHER CS FLAGWRD7 # ATTACHED, SET FLAG FOR INTEGRATION
MASK BIT2
ADS FLAGWRD7
RELINT
CA DAPDATR1
MASK BIT4
EXTEND
BZMF +2 # DEC 46 MEANS NARROW DB
CA DEC409
AD DEC46 # DEC 455 MEANS WIDE DB
TS ADB
CA DAPDATR1
MASK BIT7 # QUAD BD
EXTEND
BZMF +2
CA ONE
TS XTRANS
CA DAPDATR1
MASK BIT10 # QUAD AC
EXTEND
BZMF +2
CS ONE
ADS XTRANS
INHINT
EXTEND
BZF +5 # CLEAR NJETSFLG (4 JETS, OR NO JETS)
CS FLAGWRD1 # SET NJETSFLG (2 JETS, AC OR BD QUADS)
MASK BIT15 # NJETSFLG = 1 FOR 2 JET ULLAGE (AC OR BD)
ADS FLAGWRD1
# Page 733
TCF +4
CS BIT15 # KJETSFLG = 0 FOR 4 JET (OR 0 JET) ULLAGE
MASK FLAGWRD1
TS FLAGWRD1
RELINT
CA DAPDATR2
MASK BIT13
EXTEND
BZMF +2
TCF +2
CS ONE
COM
TS ACORBD # MINUS FOR A-C, PLUS FOR B-D
CA DAPDATR2
MASK BIT10
CCS A
TCF +4
CA ONE
TS RACFAIL
TCF BDFAIL
CA ZERO
TS RACFAIL
CA DAPDATR2
MASK BIT4
CCS A
TCF BDFAIL
CS ONE
TS RACFAIL
BDFAIL CA DAPDATR2
MASK BIT7
CCS A
TCF +4
CA ONE
TS RBDFAIL
TC Q
CA ZERO
TS RBDFAIL
CA DAPDATR2
MASK BIT1
CCS A
TC Q
CS ONE
TS RBDFAIL
TC Q
# DAPFIG ENTRY VIA TC POSTJUMP AS JOB FROM "STABLISH" (VERB 46)
BANK 42
SETLOC EXTVBS
# Page 734
BANK
DAPFIG CS BIT9 # TURN OFF SIVB TAKEOVER
EXTEND
WAND CHAN12
CAE DAPDATR1 # DETERMINE VEHICLE CONFIGURATION
EXTEND
MP BIT3 # RIGHT SHIFT 4 OCTAL DIGITS
MASK THREE # (IN CASE BIT 15 IS USED)
INDEX A
TCF +1 # BRANCH BASED ON CONFIG....
TCF NODAPUP # CM.......ACTIVATE NODAP
TCF RCSDAPUP # CSM......ACTIVATE RCSDAP
TCF RCSDAPUP # CSM/LEM..ACTIVATE RCSDAP
TC POSTJUMP
CADR SATSTKON
RCSDAPUP INHINT # CALL TO ACTIVATE RCSDAP, AND RETURN
TCR IBNKCALL
CADR RCSDAPON
RELINT
TCF ENDFIG # CAME IN VIA V46, GO OUT VIA GOPIN
NODAPUP EXTEND # T5 IDLE FOR NODAP (DON'T WORRY ABOUT T)
DCA T5IDLDAP
DXCH T5LOC
TC DOWNFLAG # RESET T5-USAGE FLAGS FOR NODAP
ADRES DAPBIT1 # BIT 15 FLAG 6 = 0
TC DOWNFLAG
ADRES DAPBIT2 # BIT 14 FLAG 6 = 0
INHINT
TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED.
RELINT
CAF BIT1 # KILL KALCMANU JOB
TS HOLDFLAG
ENDFIG TC POSTJUMP # CAME IN VIA V46, GO OUT VIA GOPIN
CADR GOPIN
SBANK= PINSUPER # Added by RSB 2009
EBANK= PACTOFF
T5IDLDAP 2CADR T5IDLOC
SBANK= LOWSUPER
BANK 17
SETLOC DAPS6
BANK
DEC409 DEC 409
DEC46 DEC 46
# Page 735
# CALLED BY "DONOUN47" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP)
S40.14 CAE IXX # RCS ENTRY
EXTEND
MP CONTONE
TS J/M
CA IAVG
EXTEND
MP CONTONE
TS J/M1
TS J/M2
EXTEND
DCA CONTTWO
EXTEND
DV IXX
TS KMJ
EXTEND
DCA CONTTWO
EXTEND
DV IAVG
TS KMJ1
TS KMJ2
TC Q
CONTONE DEC .662034 # 2PI/M
CONTTWO 2DEC .00118
COUNT 24/TVNG
BANK 31
SETLOC P40S
BANK
POS-2.5 OCT 37405
EBANK= DAPDATR1
RCSCADR 2CADR RCSUP
6SECT5 OCT 37704
COUNT 21/RCSUP
BANK 20
SETLOC DAPS3
BANK
# Page 736
RCSUP LXCH BANKRUPT
EXTEND
QXCH QRUPT
TCR RCSDAPON # ACTIVATE RCS DAP
TCF RESUME
EBANK= DAPDATR1
RCSADDR 2CADR RCSATT
0.6SECT5 OCT 37704
# RCSDAPON ENTRY MUST BE UNDER INT-INHIBIT
RCSDAPON CAF 0.6SECT5 # 0.6 SEC ALLOWS TVCEXEC/ROLLDAP TO DIE
+1 TS TIME5 # ENTRY FROM R00TOP00
TS T5PHASE # WILL CAUSE FRESHDAP (+1)
CS RCSFLAGS # SET BIT3 TO REINITIALIZE FDAI ERROR
MASK BIT3 # DISPLAY, IN CASE SC CONT SWITCH
ADS RCSFLAGS # IN SCS NOT GNC (GUIDEMODE PRIMARY)
EXTEND
DCA RCSADDR # (RCSATT)
DXCH T5LOC
CS OCT60000 # SEE BITS 15,14 TO 01 TO INDICATE
MASK FLAGWRD6 # T5 TAKEOVER BY RCSDAP
AD BIT14
TS FLAGWRD6 # KILLS TVCEXEC AND ROLLDAP STARTS
TC Q # RETURN TO CALLER (TVCDAPOF OR RCSDAPUP)
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