P40-P47.agc
### FILE="Main.annotation"
# Copyright: Public domain.
# Filename: P40-P47.agc
# Purpose: Part of the source code for Colossus build 237.
# This is for the Command Module's (CM) Apollo Guidance
# Computer (AGC), we believe for Apollo 8.
# Assembler: yaYUL
# Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
# Website: www.ibiblio.org/apollo/index.html
# Page scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
# Mod history: 2011-02-20 JL Adapted from corresponding Colossus 249 file.
# 2011-04-24 JL Fixed incorrect indentation of label.
# 2012-10-08 JL Fixed incorrect opcode on p682.
# 2016-08-14 RSB Added SBANKs for addressing discrepancies.
## Page 637
# 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 638
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 GIMBALTEST
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, PRIO12
EBANK= TIG
## Page 639
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 TTGBLNK
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 640
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 641
# PROGRAM DESCRIPTION **P41CSM**
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
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
CALL # COMPUTE
P40CNV85 # VGTIG IN CTRL COORDS
EXIT
EXTEND # DO CONTROL COORD CALCULATION AFTER AVEG
DCA ACADN85
DXCH AVEGEXIT
## Page 642
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 # 4.4 = TTG/0(2996CS), PRECHECK(-0CS)
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
V1683 VN 1683
V06N85B VN 0685
V16N85B VN 1685
V06N40 VN 0640
P40OK99 OCT 24020 # BITS 14,12, AND5 FOR LINUS VERB 99
V16N40 VN 1640
## Page 643
OCT27/24 OCT 27
OCT53 OCT 53
OCT35 OCT 35
EBANK= DAPDATR1
T5IDL24 2CADR T5IDLOC
MDOTHI 2DEC .289391932 B-3 # 63.8 LB/SEC, SC.AT B+3 KG/CS (=MDOTLO)
3MDOT DEC 86.8175796 B-16 # 3SEC MASS LOSS (63.8 LBS/SEC), SC.AT
# B+16 KG/SEC
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 # DONT 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 644
# PROGRAM DESCRIPTION **P47CSM**
COUNT 24/P47
EBANK= TIG
P47CSM TC BANKCALL # IMU STATUS CHECK
CADR R02BOTH
TC INTPRET
CALRB
MIDTOAV2
CAE MPAC +1 # DELTA TIME TO RPEREAD (LESS THAN 1000
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 # REREADAC AND HERE
## Page 645
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 INTERRUPTSION 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 646
# 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=-2
PRECHECK CCS PHASE5 # HAS SERVICER BEEN RESTARTED
TCF TASKOVER # YES, DONT START ANOTHER ONE
TC POSTJUMP
CADR PREREAD
## Page 647
# 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 648
# 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 649
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
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
ULAGEOFF CAF ZERO
EXTEND
WRITE CHAN5 # ZERO CHANNEL 5
## Page 650
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
CAE TGO +1 # (TPAGREE IN S40.13, LESS THAN 600CS)
TC WAITLIST
EBANK= TGO
2CADR ENGINOFF
TC 2PHSCHNG # PROTECT....
OCT 40153 # A, 3.15 = ENGINOFF (TGO+1)....NOTE GROUP
OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
DEC -0 # -0 CS
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
TC 2PHSCHNG
OCT 00003 # KILL GROUP 3 PROTECTION OF ENGINOFF, DO
OCT 40634 # A, 4.63 = DOSPSOFF (-0CS)
DOSPSOFF TCR SPSOFF # SHUT DOWN SPS, MASS UPDATES, ETC.
CS OCT27/24 # (OCTAL 27)
## Page 651
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
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 MDOTHI # MDOT, SC<AT B+3 KG/CS
LXCH A
EXTEND
MP 1SEC # DEC 100
AD MASSTMP # CORRECTION IS ACCURATE TO 5 CS OF FLOW
TS CSMMASS # (1.44 KG OR 0.4 BITS)
BESTTRIM CAF BIT15 # CHECK FOR SWITCHOVER, SELECT BEST TRIMS
MASK FLAGWRD9 # FOR NEXT IGNITION (OR REIGNITION)
EXTEND
## Page 652
BZF DBARTRIM # PRE-SWITCHOVER
TC Q # POST-SWITCHOVER, SO LEAVE TRIMS AS ARE
DBARTRIM CAE DELPBAR # UPDATE TRIMS WITH DELP,YBAR
TS PACTOFF
CAE DELYBAR
TS YACTOFF
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
VLOAD VAD
DELVSUM
DELVREF
STORE DELVSUMP
EXIT
CA ONE
AD NBRCYCLS
TS NBRCYCLP
## Page 653
TC PHASCHNG # TYPE B 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
VN # ACTIVE VEHICLE VELOCITY VECTORY AT T1
STODL VINIT
PIPTIME
STORE TNIT
BDSU
TPASS4
STOVL DELLT4
HI6ZEROS
STODL DELVSUM
## Page 654
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
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
## Page 655
TCF SERVXT
## Page 656
# 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 657
DYNDISP TC INTPRET # UPDATE N85 FOR A DYNAMIC V06N85 IN P41.
CALL # PRIOR TO BLANKING AND AVEG (V16N85)
P40CNV85
EXIT
TCF CKNVWRD1
## Page 658
# 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 GOFLASHR # LINUS MAKES IT A REDO, INHINT OK
TCF V97T # TERMINATE
TCF V97P # PROCEED
TCF V97E # ENTER
TCF PASTERET
ENGREQST CAF V06N40
TC BANKCALL
CADR GOFLASHR # LINUS MAKES IT A REDO, INHINT OK
TCF V99T # TERMINATE
TCF V99P # PROCEED
TCF V99E # ENTER
PASTERET CAF P40OK99 # IMMED RETURN - SET UP V99 OR V97
TCR LINUS
TCF ENDOFJOB
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
## Page 659
TC Q
EBANK= DAPDATR1
V99E TC 2PHSCHNG
OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION
OCT 05024 # C, PRIORITY NEXT, JOB BELOW
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
## Page 660
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
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 SYNCH 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
## Page 661
EBANK= WHOCARES
R40ENABL TC DOWNFLAG # RE-ENABLE R40 BY CLEARING IDLEFAIL
ADRES IDLEFAIL
TC PHASCHNG
OCT 00004 # KILL GROUP 4
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 (-0CS), CLOKTASK (1SEC)
OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
DEC -0 # -0 CS.
## Page 662
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
DEC 30
V99FLASH CS BIT9 # CAUSE V99 TO FLASH
TS NVWORD1
TC 2PHSCHNG
OCT 40774 # A, 4.77 = TIG-0 (-0CS) 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 NO2 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 MAG. OF VEHICLE MASS SP B16KGM
# 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 B7M/CS
# DELVSAB MAG. OF DELVSIN DP B7M/CS
# RTIG POSITION AT TIME OF IGNITION VECTOR B29M
# VTIG VELOCITY AT TIME OF IGNITION VECTOR B7M/CS.
# CSTEER = 0 DP
## Page 663
# IF AIMPOINT STEERING
# IF AIMPT STEER
# TIG TIME OF IGNITION DP B28CS
# RTARG POSITION TARGET TIME VECTOR B29M
# CSTEER = ECSTEER(GR 0) DP B1
# TPASS4 - TIME OF ARRIVAL AT AIMPOINT
# OUTPUT
# UT 1/2 UNIT VECTOR ALIGNED WITH THRUST DIRECTION IN REF COOR
# VGTIG INITIAL VALUE OF VELOCITY
# TO BE GAINED (INERT. COORD.) VECTOR B7M/CS
# DELVLVC VGTIG IN LOC. VERT. COORDS. B7M/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 B7M/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
SETPD VLOAD # EXTERNAL DELTA V
0
VTIG
STORE VINIT
VXV UNIT
RTIG
STOVL UT # UP IN UT
RTIG
STORE RINIT
VSQ PDDL
36D
DMP DDV
THETACON
DMP DMP
DELVSAB
WEIGHT/G
## Page 664
DDV
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(VPXUP)SIN(THETAT) 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
## Page 665
STORE TDEC1
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
## Page 666
SETPD GOTO
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 12D SCALED AT 2(-5)
F
SRR DDV
4
WEIGHT/G
DSQ PDVL # F/MASS SQUARED PDL 6 AT 2(-10)M/(CS.CS)
12D
VSQ
BDSU SQRT
VXSC VSL1
VAD UNIT
12D
STCALL UT
QTEMP
200CS 2DEC 200 B-12
## Page 667
# PROGRAM DESCRIPTION S40.2,3 DATE 15,NOV,66
# MOD NO 2 LOG SECTION 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.B2M/(CS.CS)
# RTIG POSITION AT TIME OF IGNITION VECT. B29M
# ENG2FLAG ON=RCS OFF=SPS
# OUTPUT
# SCAXIS UNIT VECT. ALIGNED WITH ENG BELL IN SC COOR B1
# XSCREF UNIT VECTORS ALIGNED WITH 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 668
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 # CIN(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 SCZ AXIS SCALED AT 2
VDEF
STODL YSCREF # PD POINTER AT0 NEW SC Y AXIS SCALED AT 2
ZSCREF
PDDL PDDL
YSCREF
XSCREF
VDEF
## Page 669
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 670
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 27FEB,1968
# PROGRAM DESCRIPTION S41.1 DATE 8DEC66
# MOD NO1 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. B7M/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 671
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 672
# NAME S40.8 - CROSS PRODUCT STEERING
# FUNCTION (1) UPDATES TEH 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 BELOW AND 5.3 REREADAC
TC INTPRET
VLOAD
## Page 673
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 674
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 675
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 676
# 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 FINDVAC 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.
# NOMTIG - TIME OF IGN. USED IN TARGETTING ROUTINES%+28"
# DELLT4 - TRANSFER TIME FROM PIPTIME TO TARGET%+28"
# TNIT - TIME OF RNIT AND VNIT IN CS AT +28
# GDT/2 - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
# ACCERERATION 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 O
# 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 677
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 678
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 679
# 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 SEQ VIA FINDVAC AS A NEW JOB.
# INPUT VGTIG - VELOCITY TO BE GAINED VECTOR (METERS/C.S.) 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 680
MDOTLO # MDOT, SC.AT B+3 KG/CS
3.5SEC # 350 CS AT +14
BDSU PDDL
WEIGHT/G
F # F AT +7
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.NEWTONS 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 2DEC 884.52887 B-23 # 19885 LB-SEC, SC.AT B+23 NEWTON-SEC/E+2
K2VAL 2DEC 293.137805 B-23 # 6590 LB-SEC, SC.AT B+23 NEWTON-SEC/E+2
## Page 681
K3VAL 2DEC 11.7766668 B-9 # 26475 LBS, SC.AT B+9 NEWTONS/E+4
1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
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)
MDOTLO 2DEC .289391932 B-3 # 63.8 LB/SEC, SC.AT B+3 KG/CS (=MDOTHI)
## Page 682
# 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 CAE FLAGWRD6 # RESTART ENTRY TO S40.6. CHECK T5 BITS.
MASK OCT60000
EXTEND
BZMF TASKOVER # NOT RCS (BITS NOT 01), DONT DO S40.6
CS BIT1 # RCS, SO DO S40.6, GIMTRIM ONLY
TS MRKRTMP
## Page 683
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
CCS A
TCF GIMTRIM # COMPLETED, GO TO GIMBAL TRIM ROUTINE
CS BIT1 # SET UP YAW TEST
## Page 684
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 -169 # -4 DEG, SC.AT 65.41 ARCSEC/BIT (-169D)
+2ACTDEG DEC +84 # +2 DEG, SC.AT 65.41 ARCSEC/BIT (+84D)
# CALLED BY ..DONOUN46.. (VERB 48), OR DIRECTLY BY ..FRESHDAP.. (RCS DAP) VIA IBNKCALL
COUNT 20/S41.2
S41.2 CA DAPDATR1
MASK THREE
AD A
TS RATEINDX
## Page 685
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
TCF +4
CS BIT15 # KJETSFLG = 0 FOR 4 JET (OR 0 JET) ULLAGE
MASK FLAGWRD1
TS FLAGWRD1
## Page 686
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
BANK
DAPFIG CS BIT9 # TURN OFF SIVB TAKEOVER
EXTEND
## Page 687
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 (DONT 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
EBANK= PACTOFF
T5IDLDAP 2CADR T5IDLOC
BANK 17
SETLOC DAPS6
BANK
DEC409 DEC 409
DEC46 DEC 46
# CALLED BY ..DONOUN47.. (VERB 48), OR DIRECTLY BY ..FRESHDAP.. (RCS DAP)
S40.14 CAE IXX # RCS ENTRY
EXTEND
MP CONTONE
## Page 688
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
## 2016-08-14 RSB Added SBANK for addressing discrepancies.
SBANK= PINSUPER
EBANK= DAPDATR1
RCSCADR 2CADR RCSUP
6SECT5 OCT 37704
COUNT 21/RCSUP
BANK 20
SETLOC DAPS3
BANK
RCSUP LXCH BANKRUPT
EXTEND
QXCH QRUPT
## Page 689
TCR RCSDAPON # ACTIVATE RCS DAP
TCF RESUME
## 2016-08-14 RSB Added SBANK for addressing discrepancies.
SBANK= PINSUPER
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 R00TOPOO
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)
