FLIGHT PROGRAM LISTING - LM ACS FP6 SOS
(Formerly Flight Program X)
FLIGHT PROGRAM X--LMAGS FPX S03 0151 02/14/69
LM ABORT ELECTRONICS ASSEMBLY
Source Code
|
|
The source code was transcribed manually by Ron Burkey, from an assembly listing of
Flight Program 6 scanned by John Pultorak, from
a physical copy preserved by supplied by Davis Peticolas. The original scan is
presented online
at the VirtualAGC project website. Notations on
the program listing read, in part:
FLIGHT PROGRAM LISTING - LM ACS FP6 SOS
(Formerly Flight Program X)
FLIGHT PROGRAM X--LMAGS FPX S03 0151 02/14/69
LM ABORT ELECTRONICS ASSEMBLY
|
0002: ## Copyright: Public domain.
0003: ## Filename: FP6.aea
0004: ## Purpose: This is the Apollo lunar module's firmware for the
0005: ## Abort Guidance System (AGS). This is Flight Program 6.
0006: ## Assembler: yaLEMAP
0007: ## Contact: Ron Burkey <info@sandroid.org>.
0010: ## Website: www.ibiblio.org/apollo/yaAGS.html
0011: ## Reference: http://www.ibiblio.org/apollo/Pultorak_files/FP6_AGS_AssemblyListing.pdf.
0012: ## Mod history: 2005-01-22 RSB Began adapting from FP8.aea.
0013: ## 2005-01-23 RSB Data entry complete. It assembles without
0014: ## errors or warnings, but only the checksum
0015: ## for 4000-7777 is correct so far. Not yet
0016: ## proofed.
0017: ## 2005-01-24 RSB Proofed 0000-3777. The checksums all match
0020: ## now. 4000-7777 isn't proofed, even though
0021: ## its checksum is correct.
0022: ## 2005-05-14 RSB Corrected website reference above.
0023: ## 2005-06-12 RSB Fixed comments on p. 116.
0024: ## 2017-10-09 MAS Began a mostly comment, but also slightly
0025: ## code proofing pass. Many comments fixed.
0026: ## 2017-10-10 MAS Completed the comment proofing pass. I have
0027: ## also restored asterisks preceding operators,
0030: ## moved pre-comment junk out of the comment
0031: ## fields, and moved to the modern style of
0032: ## using ##-style comments for stuff not
0033: ## in the original listing.
0034: ## 2017-10-11 MAS Fixed another comment typo.
0035: ## 2017-10-19 MAS Corrected a few comment errors found by
0036: ## diffing with FP8.
0037: ##
0040: ## The contents have been taken (by means of manual data entry) from
0041: ## an assembly listing of Flight Program 6 scanned by John Pultorak from
0042: ## a physical copy preserved by supplied by Davis Peticolas. (The WWW link
0043: ## for the scan is referenced above.) However, I have not simply slavishly
0044: ## entered the code directly from viewing the scan. Rather, I have started
0045: ## with FP8 source code, and only changed it as needed. There are several
0046: ## reasons for this:
0047: ##
0050: ## 1. FP8 and FP6 are extremely similar. In fact, the checksum
0051: ## of the entire upper half of memory (4000-7777 octal) is
0052: ## identical, leading us to believe that huge hunks of the
0053: ## code are unchanged.
0054: ## 2. FP8 source code, as mentioned, has previously been entered
0055: ## and therefore is available.
0056: ## 3. Pages 90 and 96 are missing from the physical copy of the
0057: ## FP6 source code which was scanned, and therefore we have
0060: ## little choice but to take them from the only available other
0061: ## version of the program (namely, from FP8). Fortunately,
0062: ## pages 90 and 96 are in the 4000-7777 address range, which
0063: ## we believe has not changed.
0064: ## 4. The physical copy of FP6 from which the scan has been taken
0065: ## is much lighter and harder to read than FP8.
0066: ## 5. And finally, it's just easier for me to do it this way and
0067: ## save myself some time.
0070: ##
0071: ## The danger of this approach is mainly not catching changes to the program
0072: ## comments (which, of course, were rather uncertain to begin with, since the
0073: ## method of proofing the FP8 source code did not proof the comments). So,
0074: ## anybody who wants to volunteer to proof the comments has may backing!
0075: ##
0076: ## This file contains the entire source code for FP6. I have not split the
0077: ## source code into many smaller chunks as has been done for AGC source code.
0100: ## The page references are to the scanned PDF of the assembly listing, but
0101: ## the page markings on the physical copy match the PDF pages, because I have
0102: ## specifically manipulated them to do so. In addition
0103: ## to the comments containing the page references, I've also added some
0104: ## blank lines for readability. So don't expect the line numbers in the
0105: ## scanned version to match the line numbers in an assembly listing created
0106: ## by processing this source file with the yaLEMAP cross-assembler.
0107:
|
|
Page 1 |
0111:
0112: # SCRATCH PAD STORAGE
0113: 0000 ORG 0000
0114: 0000 000000 TS0 DEC 0
0115: 0001 000000 TS1 DEC 0
0116: 0002 000000 TS2 DEC 0
0117: 0003 000000 TS3 DEC 0
0120: 0004 000000 TS4 DEC 0
0121: 0005 000000 TS5 DEC 0
0122: 0006 000000 TS6 DEC 0
0123: 0007 000000 TS7 DEC 0
0124: 0010 000000 TS10 DEC 0
0125: 0011 000000 TS11 DEC 0
0126: 0012 000000 TS12 DEC 0
0127: 0013 000000 TS13 DEC 0
0130: 0014 000000 TS14 DEC 0
0131: 0015 000000 TS15 DEC 0
0132: 0016 000000 TS16 DEC 0
0133: 0017 000000 TS17 DEC 0
0134: 0010 B11 EQU TS10 # B3 B13 FOR RATE
0135: 0011 B21 EQU TS11 # B3 B13 FOR RATE
0136: 0012 B31 EQU TS12 # B-7 B3 FOR RATE
0137: 0013 B41 EQU TS13 # B-7 B3 FOR RATE
0140: 0014 B12 EQU TS14 # B3 ZERO FOR RATE
0141: 0015 B22 EQU TS15 # B3 ZERO FOR RATE
0142: 0016 B32 EQU TS16 # B-7 ZERO FOR RATE
0143: 0017 B42 EQU TS17 # B-7 ZERO FOR RATE
0144: 0020 000000 SREX3 DEC 0
0145: 0021 000000 SREX2 DEC 0
0146: 0022 000000 SREX1 DEC 0
0147: 0023 000000 SREX DEC 0
0150: 0024 000000 TVARBR DEC 0 # TEMP STORE FOR CK SUM,
0151: 0025 40 0 6246 TRA RETURN # SERV ROUT, STARTUP
0152:
0153: # TAPE LOAD STARTUP CHECKSUM
0154:
0155: 0026 66 0 6402 SF OUT 6402 # DEDA INPUT SCALE FACTOR
0156:
|
|
Page 2 |
0160: 0027 64 0 2040 OCTF INP 2040 # DEDA OCTAL INPUT
0161: 0030 56 0 0001 U2X ALS 1 B1 # UNIT RADIAL VECTOR TO
0162: 0031 46 0 0033 U2Y TMI *+2 B1 # TRIAL RENDEZ PT.
0163: 0032 40 0 0027 U2Z TRA *-3
0164: 0030 VFX EQU U2X # BRAKING VEL VECTOR AT 13.
0165: 0030 RDOTX EQU U2X 0B13 # RANGE RATE CSM-LSM
0166: 0031 RDOTY EQU U2Y
0167: 0032 RDOTZ EQU U2Z
0170: 0033 70 0 0034 C2 DLY *+1 B1 # RENDEZ ANGLE SINE
0171: 0034 66 0 7012 V1X OUT 7012 B1 # HORIZ UNIT VECTOR
0172: 0035 64 0 6200 V1Y INP 6200
0173: 0036 30 0 0137 V1Z CLZ SUM
0174: 0037 20 0 0066 DLSC CLA V2Z # DOWNLINK SHIFT COUNTER
0175: 0040 10 0 0024 W1X STO TVARBR B1 # U1 X V1
0176: 0041 30 0 0153 W1Y CLZ WRDCNT
0177: 0042 72 0 0024 W1Z TSQ TVARBR
0200: 0043 32 0 0137 SI ADZ SUM B0 # E(SIN(E0))
0201: 0044 10 0 0137 A31S STO SUM B1 # RADAR NULL DIR COS
0202: 0045 20 0 0024 A32S CLA TVARBR
0203: 0046 24 0 4046 A33S SUB CLAFR
0204: 0047 46 0 0060 SIDELL TMI U1X B1 # SIN DELTA L
0205: 0050 30 0 0137 V6X CLZ SUM B13 # TEMP STORAGE FOR TPI QUANT
0206: 0051 46 0 0054 V6Y TMI *+3
0207: 0052 24 0 4006 V6Z SUB 1B17
0210: 0050 DQSX EQU V6X # ACCUM VEL IN XDV
0211: 0053 46 0 1101 CODELL TMI EXIT40 B1 # COS DELTA L
0212: 0054 20 0 7512 WCX CLA 10B4 B1 # UNIT VECTOR NORMAL
0213: 0055 10 0 0412 WCY STO S12 # TO CSM ORBIT
0214: 0056 66 0 6410 WCZ OUT 6410
0215: 0057 40 0 1052 TMPBR TRA SINITC # TEMP BRANCH STORE
0216: 0060 30 0 0153 U1X CLZ WRDCNT B1 # LEM UNIT RAD VECTOR
0217: 0061 22 0 4006 U1Y ADD 1B17
0220: 0062 10 0 0153 U1Z STO WRDCNT
0221: 0063 24 0 4014 BRANCH SUB 1B11 # GUIDANCE BRANCH
0222: 0064 46 0 0042 V2X TMI W1Z B1 # HORZ UNIT VECTOR AT
0223: 0065 70 0 0041 V2Y DLY W1Y # RENDEZ POINT
0224: 0066 20 0 0206 V2Z CLA 0206
0225:
|
|
Page 3 |
0227:
0230: # END OF TAPE LOAD CHECKSUM PROGRAM
0231:
0232: 0064 VGX EQU V2X # VEL TO GAIN VECTOR AT L3
0233: 0067 000000 AT DEC 0B7 # THRUST ACCELERATION
0234: 0070 000000 EX DEC 0B2 # ATTITUDE ERRORS.
0235: 0071 000000 EY DEC 0
0236: 0072 000000 EZ DEC 0
0237: 0073 000000 X3 DEC 0B0 # XFR ORB PARAM.
0240: 0073 Q11 EQU X3 # B30 B10 FOR RATE
0241: 0074 000000 DVXM1 DEC 0B1 # BODY DELTA VS
0242: 0075 000000 DVYM1 DEC 0 # PREVIOUS CYCLE.
0243: 0076 000000 DVZM1 DEC 0
0244: 0077 000000 NI DEC 0B-9 # PREDICTION ANGULAR FREQUENCY
0245: 0077 NE EQU NI # CSM PRED. ANGULAR FREQ.
0246: 0100 000000 VD2X DEC 0B2 # DELTA V EXP LS
0247: 0101 000000 VD2Y DEC 0
0250: 0102 000000 VD2Z DEC 0
0251: 0103 000000 CI DEC 0B0 # E(COS(E0))
0252: 0104 000000 DRX DEC 0B14 # LM POS REMAINDERS
0253: 0105 000000 DRY DEC 0
0254: 0106 000000 DRZ DEC 0
0255: 0107 000000 THEP DEC 0 # PGNS THETA IN COUNTS.
0256: 0110 000000 DIGX DEC 0B7 # PREDICTED CHANGE IN
0257: 0111 000000 DIGY DEC 0 # INTEGRATED GRAVITY.
0260: 0112 000000 DIGZ DEC 0
0261: 0113 000000 PSIP DEC 0 # PGNS PSI IN COUNTS.
0262: 0114 000000 GXDT DEC 0B7 # GRAVITY TIMES MAJOR
0263: 0115 000000 GYDT DEC 0 # CYCLE TIME.
0264: 0116 000000 GZDT DEC 0
0265: 0117 000000 PHIP DEC 0 # PGNS PHI IN COUNTS.
0266: 0120 000000 DVSX DEC 0B7 # RESOLVED SENSED DEL V
0267: 0121 000000 DVSY DEC 0
0270: 0122 000000 DVSZ DEC 0
0271: 0123 000000 SIGA DEC 0B1 # SIN FDAI GAMMA.
0272: 0124 000000 RRX DEC 0B23 # COMPUTED LM-CSM RANGE
0273: 0125 000000 RRY DEC 0
0274:
|
|
Page 4 |
0276: 0126 000000 RRZ DEC 0
0277: 0127 000000 COGA DEC 0B1 # COS FDAI GAMMA.
0300: 0130 200000 A11 DEC 1.0B1 # XB DIRECTION COSINES.
0301: 0131 000000 A12 DEC 0
0302: 0132 000000 A13 DEC 0
0303: 0133 000000 TS8 DEC 0
0304: 0134 000000 A31 DEC 0 # ZB DIRECTION COSINES.
0305: 0135 000000 A32 DEC 0
0306: 0136 200000 A33 DEC 1.0B1
0307: 0137 000000 SUM DEC 0 # RUNNING MEMORY SUM
0310: 0140 000000 A21 DEC 0 # YB DIRECTION COSINES.
0311: 0141 200000 A22 DEC 1.0B1
0312: 0142 000000 A23 DEC 0
0313: 0143 000000 X4 DEC 0B0 # XFR ORB PARAM.
0314: 0143 VHSQ EQU X4 0B26 # VH SQUARED
0315: 0143 Q12 EQU X4 # B30
0316: 0144 000000 E1 DEC 0 # -6 OR -9 XB NORM ERROR
0317: 0145 000000 E3 DEC 0 # ZB NORMALITY ERROR.
0320: 0146 000000 E13 DEC 0 # XB,ZB ORTHOG ERROR.
0321: 0147 000000 T1 DEC 0B18 # TA1 AT RADAR NULL
0322: 0150 000000 DA11 DEC 0B-5 # DIR COSINE REMAINDERS
0323: 0151 000000 DA12 DEC 0
0324: 0152 000000 DA13 DEC 0
0325: 0153 000000 WRDCNT DEC 0 # CKSUM WORD COUNT
0326: 0154 000000 DA31 DEC 0
0327: 0155 000000 DA32 DEC 0
0330: 0156 000000 DA33 DEC 0
0331: 0157 000000 TSEX DEC 0 # EXIT FROM NORTON
0332: 0160 000000 A11D DEC 0B1 # XD DIRECTION COSINES.
0333: 0161 000000 A12D DEC 0
0334: 0162 000000 A13D DEC 0
0335: 0163 000000 DEC 0 # **UNUSED-INDEXED BY A11D**
0336: 0164 000000 A31D DEC 0B1 # ZD DIRECTION COSINES.
0337: 0165 000000 A32D DEC 0
0340: 0166 000000 A33D DEC 0
0341: 0167 000000 MU17 DEC 0B3 # RADAR FILTER ENTRY COUNTER
0342: 0170 000000 P DEC 0B23 # TRIAL SEMI-PARAMETER
0343:
|
|
Page 5 |
0345: 0170 Q22 EQU P # B30
0346: 0171 000000 ALPHA DEC 0B23 # XFR ORBIT SEMI-MAJOR AXIS
0347: 0172 000000 Q1 DEC 0B23 # XFR ORBIT PERILUNE
0350: 0172 ESQ EQU Q1 # XFR ORB E SQ AT -2.
0351: 0173 000000 AI DEC 0B23 # PRED. SEMI-MAJOR AXIS
0352: 0173 AE EQU AI # CSM PRED. SEMI-MAJOR AXIS
0353: 0174 000000 R5X DEC 0B23 # LM PRED POS AHEAD TDEL
0354: 0175 000000 R5Y DEC 0
0355: 0176 000000 R5Z DEC 0
0356: 0177 000000 AL DEC 0B23 # LM PRED. SEMI-MAJOR AXIS
0357: 0200 000000 REX DEC 0B23 # CSM EPOCH POSITION
0360: 0201 000000 REY DEC 0
0361: 0202 000000 REZ DEC 0
0362: 0203 000000 RT DEC 0B23 # CSM PRED POS. MAG.
0363: 0204 000000 R0X DEC 0B23 # PRED EPOCH POS VECTOR
0364: 0205 000000 R0Y DEC 0
0365: # SEE REAR OF LISTING FOR CHECKSUM
|
|
Note that the CHECKSUM pseudo-op is not defined in the AGS programmer's manual. I have decided for the purposes of implementing yaLEMAT that the following syntax will be used. It means that the cross-assembler will compute a checksum of the address range 0207-1004 (octal), and will store it right here. |
0374: 0206 CHECKSUM RANGE 0207-1004
0375: 0206 R0Z DEFINE 0206
0376: 0207 000000 R0 DEC 0B23 # PRED EPOCH POS. MAG.
0377: 0210 000000 R DEC 0B23 # LM POS MAGNITUDE
0400: 0211 000000 Y DEC 0B23 # OUT OF PLANE POSITION
0401: 0212 000000 PP DEC 0B23 # P PRIME
0402: 0212 DELTA EQU PP # B60 B10 FOR RATE
0403: 0213 002261 POUTFS DEC 7.684096E4B23 # MAX P DISPLAYABLE
0404: 0214 000000 POUT DEC 0 # DISPLAY POSITION.
0405: 0215 000000 DPOUT DEC 0 # DISPLAY POSITION INCREMENT.
0406: 0216 040000 2K3 DEC 1048576.B23 # QL SET ON O.F.
0407: 0217 001415 2K14 DEC 5.E4B23 # INITIAL P PERTURBATION
0410: 0220 000000 RIX DEC 0B23 # ELLIPSE PRED POS OUTPUT
0411: 0221 000000 RIY DEC 0
0412: 0222 000000 RIZ DEC 0
0413: 0220 DELR1 EQU RIX # MEASURED MINUS COMPUTED RANGE
0414: 0221 DELR3 EQU RIY # B23
0415: 0222 DELR2 EQU RIZ
0416: 0223 000000 25J DEC 0B23 # DEDA ALTITUDE UPDATE
0417: 0224 270633 7J DEC 6055605B23 # TERM IN AL(O.I.)
0420:
|
|
Page 6 |
0422: 0225 261561 8J DEC 5823542B23 # AL LOWER LIMIT(O.I.)
0423: 0226 326447 9J DEC 7031200B23 # AL UPPER LIMIT(O.I.)
0424: 0227 540764 4K10 DEC -651361.1B20 # TERM IN AL(O.I.)
0425: 0230 017205 2K19 DEC 5.E5B23 # DELTA P LIMITER
0426: 0231 256014 5J DEC 5.7024E6B23 # LANDING SITE RADIUS
0427: 0232 001652 16J DEC 60000B23 # ORBIT INSERTION ALTITUDE
0430: 0233 000607 21J DEC 25000B23 # PITCH STEERING ALT THRESHOLD
0431: 0234 000000 RRSX DEC 0B23 # CALCULATED RANGE AT TIME
0432: 0235 000000 RRSY DEC 0 # OF RADAR RANGE MEASUREMENT
0433: 0236 000000 RRSZ DEC 0
0434: 0234 L12 EQU RRSX # B30 ZERO FOR RATE
0435: 0235 L22 EQU RRSY # B30 ZERO FOR RATE
0436: 0236 L32 EQU RRSZ # B20 ZERO FOR RATE
0437: 0237 000000 L42 DEC 0 # B20 ZERO FOR RATE
0440:
0441: # INITIALIZE DATA FROM DOWNLINK ADDRESSES
0442: # LOCATIONS 0240-0257 USED
0443: 0240 000000 1J1 DEC 0B23 # LM EPHEMERIS POS
0444: 0241 000000 1J2 DEC 0
0445: 0242 000000 1J3 DEC 0
0446: 0243 000000 DEC 0
0447: 0244 000000 2J1 DEC 0 # CSM EPHEMERIS POS
0450: 0245 000000 2J2 DEC 0
0451: 0246 000000 2J3 DEC 0
0452: 0247 000000 DEC 0
0453: 0250 000000 DEC 0
0454: 0251 000000 DEC 0
0455: 0252 000000 DEC 0
0456: 0253 000000 DEC 0
0457: 0254 000000 1J7 DEC 0B18 # LM EPOCH TIME
0460: 0255 000000 1J7LS DEC 0B1
0461: 0256 000000 DEC 0
0462: 0257 000000 DEC 0
0463: 0260 000000 1J4 DEC 0B13 # LM EPHEMERIS VEL
0464: 0261 000000 1J5 DEC 0
0465: 0262 000000 1J6 DEC 0
0466: 0263 000000 VPY DEC 0B13 # OUT-OF-PLANE VELOCITY
0467:
|
|
Page 7 |
0471: 0264 000000 2J4 DEC 0 # CSM EPHEMERIS VEL
0472: 0265 000000 2J5 DEC 0
0473: 0266 000000 2J6 DEC 0
0474: 0267 000000 DELVG DEC 0B13 # VEL-TO-BE-GAINED FOR 40 MS
0475: 0270 000000 VY0 DEC 0B13 # LM OUT-OF-PLANE VEL
0476: 0271 000000 RB DEC 0B23 # RF SAVED FOR ORBIT INSERT.
0477: 0272 000000 2J7 DEC 0 # CSM EPOCH TIME
0500: 0273 000000 2J7LS DEC 0
0501: 0274 776030 29J DEC -2000.B18 # INITIAL FILTER TIME FOR T1
0502: 0275 000000 1J DEC 0B18 # NOMINAL TPI TIME (CSI)
0503: 0276 000000 DELTAT DEC 0B18 # TIME OF LAST RADAR UPDATE
0504: 0277 000000 XI DEC 0B3 # Z-AXIS/LOCAL HORIZ ANGLE
0505: 0300 000000 A31BD DEC 0B1 # UNIT VECTOR (LM-CSM)
0506: 0301 000000 A32BD DEC 0
0507: 0302 000000 A33BD DEC 0
0510: 0303 000000 TLOS DEC 0B3 # DXFR LOS COMPUTED
0511: 0303 THETAF EQU TLOS # LM-CSM CENTRAL ANG AT CSI/CDH
0512: 0304 000034 6K8 DEC .22B10 # RANGE RATE ERROR VARIANCE
0513: 0305 000000 DEC 0 # **UNUSED**
0514: 0306 000000 4J DEC 0B13 # TIME OF NODE PRIOR TO RENDEZ
0515: 0307 120400 6J DEC 2576.0B13 # DESIRED TRANSFER TIME
0516: 0310 000000 TDEL DEC 0B13 # TIME TILL NEXT MANEUVER
0517: 0311 000000 TR DEC 0B13 # TIME TILL RENDEZVOUS
0520: 0312 000000 3J DEC 0B13 # TARGET OFFSET TIME
0521: 0313 000000 TPERG DEC 0B13 # LM TIME TO PERIGEE
0522: 0314 000000 DELRP DEC 0B23 # DIFF. ALT. AT TIG(CSI-CDH)
0523: 0315 000000 QA DEC 0B23 # LM APOFOCUS ALTITUDE
0524: 0316 000000 18J DEC 0B23 # MEASURED RADAR RANGE
0525: 0317 000000 RR DEC 0B23 # COMPUTED RANGE
0526: 0320 000000 READP DEC 0
0527: 0321 000000 ENTERP DEC 0
0530: 0322 000000 HOLDP DEC 0
0531: 0323 000000 CLEARP DEC 0
0532: 0324 000000 HMF DEC 0
0533: # START OF TELEMETRY LIST
0534: 0325 000000 RMF DEC 0 # READOUT MODE FLAG
0535: 0326 000000 DD DEC 0 # DEDA DATA
0536:
|
|
Page 8 |
0540: 0327 000000 CMF DEC 0 # CLEAR MODE FLAG
0541: 0330 200000 A11T DEC 1.B1 # TM DIR COSINES.
0542: 0331 000000 A12T DEC 0
0543: 0332 000000 A13T DEC 0
0544: 0333 000000 ADST DEC 0 # DEDA ADDRESS
0545: 0334 000000 A31T DEC 0
0546: 0335 000000 A32T DEC 0
0547: 0336 200000 A33T DEC 1.B1
0550: 0337 000000 H DEC 0B23 # ALTITUDE
0551: 0340 000000 RX DEC 0B23 # LM POSITION
0552: 0341 000000 RY DEC 0
0553: 0342 000000 RZ DEC 0
0554: 0343 000000 QL DEC 0B23 # PRESENT LM PERICYNTHION
|
|
QL in the following line is circled. |
0556: 0343 EONS10 EQU QL # ENG ON+S10 FOR TM
0557: 0344 000000 RCX DEC 0B23 # CSM PRESENT POSITION
0560: 0345 000000 RCY DEC 0
0561: 0346 000000 RCZ DEC 0
0562: 0347 000000 RF DEC 0B23 # PREDICTED BURNOUT ALT.
0563: 0350 000000 DVX DEC 0B1 # BODY DELTA VS
0564: 0351 000000 DVY DEC 0 # THIS CYCLE.
0565: 0352 000000 DVZ DEC 0
0566: 0353 000000 TA2 DEC 0B1 # ABS TIME LS.
0567: 0354 000000 DAX DEC 0B-6 # DELTA ALPHAS.
0570: 0355 000000 DAY DEC 0
0571: 0356 000000 DAZ DEC 0
0572: 0357 000000 TBO DEC 0B9 # TIME TO BURNOUT.
0573: 0360 000000 VX DEC 0B13 # LM VELOCITY
0574: 0361 000000 VY DEC 0
0575: 0362 000000 VZ DEC 0
0576: 0363 000000 MU8S12 DEC 0 # MU8/S12 FOR TELEMETRY
0577: 0364 000000 VCX DEC 0B13 # CSM PRESENT VELOCITY
0600: 0365 000000 VCY DEC 0
0601: 0366 000000 VCZ DEC 0
0602: 0367 000000 HDOT DEC 0B13 # ALTITUDE RATE
0603: 0370 000000 VG DEC 0B13 # VELOCITY TO GAIN
0604: 0371 000000 VT DEC 0B13 # TOTAL VEL REQ FOR DXFR
0605: 0371 VP0 EQU VT # VEL. TO-BE-GAINED AT CDH
0606:
|
|
Page 9 |
0610: 0372 000000 TA0 DEC 0B18 # TIME FROM CSI TO CDH
0611: 0373 000000 TIG DEC 0B18 # ABSOLUTE TIME OF MANEUVER
0612: 0374 000000 A11BD DEC 0B1 # CMD XB POINTING DIR.
0613: 0375 000000 A12BD DEC 0
0614: 0376 000000 A13BD DEC 0
0615: 0377 000000 TA1 DEC 0B18 # ABS TIME MS.
0616: 0400 000000 S0 DEC 0 # AGS FUNCTION SELECTOR
0617: 0401 000000 DISC1C DEC 0 # DISCRETE WD 1-TRUE STATE
0620: 0402 000000 Q1DEDA DEC 0B23 # TRANS ORBIT PERICYN ALT
0621: 0402 DELH EQU Q1DEDA # DIFF. ALT. AFTER CDH(CSI-CDH)
|
|
A checkmark is written next to 0B23 below. |
0623: 0403 000000 QLTELE DEC 0B23 # QL FOR TELE AND DEDA
0624: 0404 000000 VD1X DEC 0B13 # 40MS VEL ACCUMULATION
0625: 0405 000000 VD1Y DEC 0
0626: 0406 000000 VD1Z DEC 0
0627: # END OF TELEMETRY LIST
0630: 0407 000000 S7 DEC 0 # ENGINE ON FOR EXT DELTA V
0631: 0410 000000 S10 DEC 0 # GUIDANCE MODE SELECTOR
0632: 0411 000000 S11 DEC 0 # RCS-DPS/APS SWITCH
0633: 0412 000000 S12 DEC 0 # TEST STATUS
0634: 0413 000000 S13 DEC 0 # STORE LUNAR AZUMUTH
0635: 0414 000000 S14 DEC 0 # NAVIGATION INITIALIZE
0636: 0415 000000 S15 DEC 0 # RADAR GIMBAL NULL
0637: 0416 000000 S16 DEC 0 # CDH APSIDAL SELECTION
0640: 0417 000000 S17 DEC 0 # RADAR FILTER INIT. SWITCH
0641: 0420 000000 VEX DEC 0B13 # CSM EPOCH VEL
0642: 0421 000000 VEY DEC 0
0643: 0422 000000 VEZ DEC 0
0644: 0423 000000 RFDOT DEC 0B13 # DESIRED ALT RATE
0645: 0424 000000 V0X DEC 0B13 # PRED EPOCH VEL VECTOR
0646: 0425 000000 V0Y DEC 0
0647: 0426 000000 V0Z DEC 0
0650: 0427 000000 VH DEC 0B13 # LM HORIZONTAL VEL
0651: 0430 000000 VIX DEC 0B13 # ELLIPSE PRED VEL OUTPUT
0652: 0431 000000 VIY DEC 0
0653: 0432 000000 VIZ DEC 0
0654: 0433 000000 V DEC 0B13 # LM TOTAL VELOCITY
0655: 0434 000000 TP DEC 0B13 # TRIAL XFR ORB TIME.
0656:
|
|
Page 10 |
0660: 0435 000000 T DEC 0B13 # TIME TO RENDEZ.
0661: 0436 000000 TB DEC 0B13 # TA-TE.
0662: 0437 000000 PDOTM1 DEC 0B13 # DISPLAY POS RATE(-1)
0663: 0440 000000 RRDOT DEC 0B13 # RANGE RATE
0664: 0441 000000 RDOTS DEC 0B13 # R. R. STORED AT RADAR INPUT
0665: 0442 000000 TI DEC 0B13 # PREDICTION TIME
0666: 0443 000000 DPDOUT DEC 0B13 # DISPLAY POS RATE INCREMENT
0667: 0444 000000 PDOUT DEC 0B13 # DSP POS RATE CONV TO FPS AT 13
0670: 0445 000000 TCSM DEC 0B13 # CSM PERIOD (SEC)
0671: 0446 303240 BACCSF DEC 0.762939B0 # .001 FT/SEC2 TO FPS/20MS AT 1
0672: 0447 000360 2K18 DEC 15.B13 # PARITIAL DERIV PROTECTOR.
0673: 0450 000000 28J1 DEC 0B13 # DELTA V DOWNRANGE
0674: 0451 000000 28J2 DEC 0B13 # DELTA V CROSSRANGE
0675: 0452 000000 28J3 DEC 0B13 # DELTA V RADIAL
0676: 0453 000040 2K20 DEC 2.B13 # CONVERGENCE CHECK.
0677: 0454 003100 4K26 DEC 100.0B13 # VG THRESHOLD
0700: 0455 000000 DDF DEC 0 # DEDA DATA RECEIVED FLAG
0701: 0456 031000 6K4 DEC .1E3B10 # INITIAL VALUE OF P33 AND P44
0702: 0457 027657 6K2 DEC .1E9B30 # INIT VALUE OF P11,P22
0703: 0460 000000 V5X DEC 0B13 # TPI-PREDICTED V AT TPI TIME
0704: 0461 000000 V5Y DEC 0
0705: 0462 000000 V5Z DEC 0
0706: 0460 DVGXX EQU V5X # VEL TO GAIN IN EXT DELTA V
0707: 0463 000000 VHA DEC 0B13
0710: 0464 001440 22J DEC 50B13 # PITCH STEERING ALT RATE THRESH
0711: 0465 000000 23J DEC 0B13 # RFDOT LOWER LIMIT
0712: 0466 000360 5K26 DEC 15B13 # PSEUDO ATT HOLD IN STEER
0713: 0467 000000 PART DEC 0B14 # PARTIAL DERIVATIVE
0714: 0470 000000 VDX DEC 0B13 # VD1 AT NAV UPDATE
0715: 0471 000000 VDY DEC 0
0716: 0472 000000 VDZ DEC 0
0717: 0473 432700 4K27 DEC -7332.B13 # DESCENT ENG CAP
0720: 0474 000000 VSMGX DEC 0B13 # VD1 CUTOFF
0721: 0475 000000 VSMGY DEC 0
0722: 0476 000000 VSMGZ DEC 0
0723: 0477 000000 RADOT DEC 0B13 # PRED. RDOT AT TIG
0724: 0500 000000 DELVGX DEC 0B13 # THRUST VEL TO GAIN
0725:
|
|
Page 11 |
0727: 0501 000000 DELVGY DEC 0
0730: 0502 000000 DELVGZ DEC 0
0731: 0503 000000 17J DEC 0B13 # RANGE RATE INPUT
0732: 0504 000000 RD3DOT *DEC 0B-2 # DESIRED RADIAL JERK
0733: 0505 000000 YD3DOT *DEC 0B-2 # DESIRED OUT-OF-PLANE JERK
0734: 0506 012000 4K12 DEC 5B7 # ACCEL THRESH IN O.I. STEER
0735: 0507 000000 S507 DEC 0B3 # ACQ STEER SEL OF PT DIR
0736: 0510 000000 DAXREM DEC 0B-13 # INCRE. GYRO INPUT REMAINDERS
0737: 0511 000000 DAYREM DEC 0
0740: 0512 000000 DAZREM DEC 0
0741: 0513 000000 C1 DEC 0B1 # RENDEZ ANGLE COSINE.
0742: 0514 000000 WBX DEC 0B1 # UNIT VECTOR FOR
0743: 0515 000000 WBY DEC 0 # GUIDANCE STEERING
0744: 0516 000000 WBZ DEC 0
0745: 0517 005754 6K10 DEC .625E7B28 # VARIANCE OF RADAR RANGE ERROR
0746: 0520 000000 TE1 DEC 0B18 # CSM EPOCH TIME MS.
0747: 0521 000000 TL1 DEC 0B18 # LEM EPOCH TIME MS.
0750: 0522 777605 6K6 DEC -.24B8 # Y-VELOCITY FILTER WEIGHT
0751: 0523 000000 5K20 DEC 0B-2 # RD3DOT LOWER LIMIT
0752: 0524 000000 TE2 DEC 0 # CSM EPOCH TIME LS.
0753: 0525 000000 TL2 DEC 0 # LEM EPOCH TIME LS.
0754: 0526 273400 2K11 DEC 6000B13 # VT IF OVERFLOW
0755: 0527 002400 4K6 DEC 80.B13 # RFDOT UPPER LIMIT
0756: 0530 000000 DAXA DEC 0B-6 # ALIGN INCREMENTS
0757: 0531 000000 DAYA DEC 0
0760: 0532 000000 DAZA DEC 0
0761: 0533 000000 DISC1 DEC 0 # DISCRETE WORD
0762: 0534 314632 1K18 DEC .003125B-8 # ACCEL SCALE FACTOR
0763: 0535 314632 1K20 DEC .003125B-8
0764: 0536 314632 1K22 DEC .003125B-8
0765: 0537 000000 1K14 DEC 0B-14 # X-AXIS MASS UNBAL COMP
0766: 0540 000000 1K19 DEC 0B1 # ACCEL BIAS
0767: 0541 000000 1K21 DEC 0B1 # COMPENSATION
0770: 0542 000000 1K23 DEC 0B1
0771: 0543 000000 DSPSC DEC 0 # DISPLAY SHIFT COUNTER.
0772: 0544 000000 1K1 DEC 0B-13 # GYRO BIAS
0773: 0545 000000 1K6 DEC 0 # COMPENSATIONS
0774:
|
|
Page 12 |
0776: 0546 000000 1K11 DEC 0
0777: 0547 000000 DDEL DEC 0B0 # LUNAR ALIGN CORRECTION
1000: 0550 000000 1K3 DEC 0B-7 # GYRO SCALE FACTOR
1001: 0551 000000 1K8 DEC 0 # COMPENSATIONS
1002: 0552 000000 1K13 DEC 0
1003: 0553 000000 HRF DEC 0 # HIGH RATE FLAG.
1004: 0554 000000 RD2DOT *DEC 0B7 # DESIRED RADIAL ACCEL
1005: 0555 000000 YD2DOT *DEC 0B7 # DESIRED OUT-OF-PLANE ACCEL
1006: 0554 L11 *EQU RD2DOT # B30 B20 INTERMEDIATE RESULTS
1007: 0555 L21 *EQU YD2DOT # B30 B20 USED TO COMPUTE
1010: 0556 000000 L31 *DEC 0 # B20 B10 RADAR FILTER
1011: 0557 000000 L41 *DEC 0 # B20 B10 WEIGHTS
1012: 0554 LILA *EQU RD2DOT # INTERMEDIATE RESULTS FOR
1013: 0555 LILE *EQU YD2DOT # COVARIANCE MATRIX COMPUTATION
1014: 0556 LILJ *EQU L31 # B-15
1015: 0557 LILC *EQU L41
1016: 0560 000000 5K14 *DEC 0B-2 # RD3DOT UPPER LIMIT
1017: 0561 010142 5K16 *DEC .008B-2 # YD3DOT UPPER LIMIT
1020: 0562 000000 DLWN DEC 0 # DOWNLINK WORD COUNTER
1021: 0563 000000 DLIF DEC 0 # DOWNLINK INITIALIZE FLAG
1022: 0564 631463 5K18 DEC -.1B-2 # RD3DOT LOWER LIMIT
1023: 0565 203045 4K4 DEC .004B-7 # FACTOR IN RFDOT(OI)
1024: 0566 026263 4K7 DEC .0873B0 # PITCH CANT ANGLE
1025: 0567 000000 DSPF1 DEC 0 # DISPLAY FLAG1.
1026: 0570 000000 ID1F DEC 0 # DOWNLINK ID1 RECEIVED
1027: 0571 000000 IDRF DEC 0 # DOWNLINK INPUT COMPLETE
1030: 0572 000000 FLAGT DEC 0 # MEMORY TEST
1031: 0573 000000 FLAG1 DEC 0 # 20MS BRANCH CONTROL
1032: 0574 000000 DEL2 OCT 0 # STAGED FLAG.
1033: 0575 000000 DEL5 OCT 0 # ATTHLD LOCK FLAG.
1034: 0576 000000 DEL6 DEC 0 # CALIBRATE I.C. FLAG
1035: 0577 000000 DEL10 DEC 0 # TPI LOGIC FLAG
1036: 0600 000000 RD3DTL *DEC 0B-2 # RD3DOT LOWER LIMIT
1037: 0601 767636 5K17 *DEC -.008B-2 # YD3DOT LOWER LIMIT
1040: 0602 010550 4K8 DEC .034B0 # POLL CANT ANGLE
1041: 0603 000000 DEL20 DEC 0 # LOGIC FLAG FOR ENG CONTROL
1042: 0604 000000 DEL21 OCT 0 # LUNAR SURFACE FLAG.
1043:
|
|
Page 13 |
1045: 0605 003775 2J DEC 1.9970B7 # COTAN OF DESIRED LOS AT TPI
1046: 0606 000000 DEL42 OCT 0 # LUNAR ALINE COMPLETE FLAG.
1047: 0607 377777 K55 OCT 377777 # S.F. FOR HDOT DISPLAY
1050: 0610 000000 MU3 DEC 0 # P-ITER COUNTER.
1051: 0611 376057 6K9 DEC .3029E-4B-15 # VARIANCE OF RADAR ANGULAR ERROR
1052: 0612 000000 MU6 DEC 0 # STAGING COUNTER.
1053: 0613 026164 3K4 DEC .17365B1 # CENTRAL ANGLE LIMIT ON TPI
1054: 0614 000000 MU8 DEC 0 # ULLAGE COUNTER.
1055: 0615 000000 MU10 DEC 0 # MINOR CYCLE COUNTER
1056: 0616 000003 1K9 DEC 3.B17 # ULLAGE COUNTER LIMIT.
1057: 0617 000226 1K30 DEC 150.B17 # GYRO CALIBRATE DURATION
1060: 0620 000005 2K17 DEC 5.B17 # NO OF P-ITERATIONS-3
1061: 0621 000017 1K37 DEC 15.B17 # ACCEL CAL DURATION
1062: 0622 000031 4K23 DEC 25.0B17 # STAGING TIME DELAY
1063: 0623 000000 S623 DEC 0B3 # EX SELECTION IN G. S
1064: 0624 031463 1K4 DEC .1B0 # DISPLAY INTERPOLATION
1065: 0625 000071 1K24 DEC .87E-3B1 # SINGULARITY THRESHOLD
1066: 0626 561111 1K26 DEC -.142857E3B8 # NEG INV OF ALIGN GAIN CONSTANT
1067: 0627 262132 1K27 DEC .435E-1B-4 # ALIGN CONSTANT
1070: 0630 327700 1K28 DEC 107.9378B7 # ALIGN CONSTANT
1071: 0631 004061 1K29 DEC .001B-4 # LUN ALIGN STOP CRITERION
1072: 0632 243656 1K33 DEC .08B-3 # CALIBRATE GAIN.
1073: 0633 247613 1K34 DEC .00002B-15 # CALIBRATE GAIN
1074: 0634 000400 1K35 DEC .25B7 # ACCEL BIAS THRESHOLD
1075: 0635 777651 1K36 DEC -.66667E-3B0 # ACCEL CAL GAIN
1076: 0636 235407 2K1 DEC .173189E15B48 # GRAVITY CONST (LUNAR)
1077: 0637 320020 2K2 DEC .57740387E-14B-47 # 1/2K1
1100: #
1101: # ELEMENTS OF LM STATE ERROR COVARIANCE MATRIX
1102:
1103: 0640 000000 P11 DEC 0B30 # VARIANCE OF X-POS ERROR
1104: 0641 000000 P12 DEC 0B30 # COVAR OF X AND Y POS ERROR
1105: 0642 000000 P13 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR
1106: 0643 000000 P14 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR
1107: 0644 000000 P21 DEC 0B30 # COVAR OF X AND Z POS ERROR
1110: 0645 000000 P22 DEC 0B30 # VARIANCE OF Z-POS ERROR
1111: 0646 000000 P23 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR
1112:
|
|
Page 14 |
1114: 0647 000000 P24 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR
1115: 0650 000000 P33 DEC 0B10 # VARIANCE OF X-VEL ERROR
1116: 0651 000000 P34 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR
1117: 0652 000000 P43 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR
1120: 0653 000000 P44 DEC 0B10 # VARIANCE OF Z-VEL ERROR
1121: 0654 713513 4K2 DEC -.499286E-4B-12 # FACTOR IN TB COMP
1122: 0655 012552 4K3 DEC .12464325E-8B-25 # FACTOR IN TB COMP
1123: 0656 505075 6K5 DEC -.73B0 # Y-POSITION FILTER WEIGHT
1124: 0657 000042 4K25 DEC 2.1B13 # ENG CUTOFF COMP
1125: 0660 002000 4K34 DEC 1.B7 # AT LOWER LIMIT
1126: 0661 000146 4K35 DEC .1B7 # ULLAGE THRESHOLD
1127: 0662 257175 4K5 DEC 5.742395E6B23 # NOMINAL BURNOUT ALTITUDE
1130: 0663 000000 SUMLIM DEC 0 # LAST CELL FOR CHECKSUM
1131: 0664 000034 WORDS DEC 28
1132: 0665 006200 VY0FS DEC 200B13 # MAX VY0 DISPLAYABLE
1133: 0666 020603 4K21 DEC .26179938B2 # SC FACTOR FOR ATT ERR OUTPUT
1134: 0667 777716 M25B16 DEC -25.B16 # CYCLE COUNT TO SECONDS
1135: 0670 240000 DTB DEC 1.25B1 # 1 SEC + DEDA TIME BIAS
1136: 0671 077776 ID1 OCT 077776 # DOWNLINK ID1 CODE
1137: 0672 10 0 0257 DLWNL STO 1J1+15
1140: 0673 777616 1K56 DEC -.532333E-7B-14 # NEG LUNAR RATE-RAD/20MS
1141: 0674 542371 2K4 DEC -.173189E15B48 # (-2.)(2K1) B49
1142: 0675 200000 KDT DEC 1.B1 # DELTA T/2 AT 1
1143:
1144: # DEDA CONVERSION SCALE FACTORS
1145:
1146: 0676 365706 BM13SF DEC .96049535B0 # .01 DEG/HR TO RAD/20MS AT -13
1147: 0677 243656 B23SF DEC .64B0 # 100 FT TO FT AT 23
1150: 0700 125253 B18SF DEC .333333B0 # .1 MIN TO SEC AT 18
1151: 0701 240000 B13VSF DEC .625B0 # .1 FPS TO FPS AT 13
1152: 0702 131415 B3SF DEC .34971155B0 # .01 DEG TO RAD AT 3
1153: 0703 032756 B23RSF DEC .10533045B0 # .1 NMI TO FT AT 23
1154: 0704 032525 B13SF DEC .10416666B0 # .01 MIN TO SEC AT 13
1155: 0705 50 1 0002 ADDMS AXT 2,1
1156: 0706 20 1 0010 CLA TS10,1
1157: 0707 62 0 0000 *ABS
1160: 0710 22 0 4036 *ADD MS
1161:
|
|
Page 15 |
1163: 0711 42 1 0706 TIX *-3,1
1164: 0712 40 0 4143 TRA EX3+1
1165: 0713 000026 SFLO OCT 000026
1166: 0714 000000 SDVX *DEC 0B3 # DV SUM FOR ACCEL. CAL
1167: 0715 000000 SDVY *DEC 0 # (ADDR OF SDVX MUST END IN 4)
1170: 0716 000000 SDVZ *DEC 0
1171: 0717 000000 MU7 *DEC 0B17 # CALIBRATION COUNTER
1172: 0720 000145 SFL1 OCT 145
1173: 0721 000024 SFL2 OCT 24
1174: 0722 000020 SFL3 OCT 20
1175: 0723 000000 TMID DEC 0 # TELEMETRY ID
1176: 0724 000034 SFL8 OCT 34
1177: 0725 000062 SFL7 OCT 62
1200: 0726 000064 SFL4 OCT 64
1201: 0727 000000 DEDASC DEC 0 # DEDA SHIFT COUNTER
1202: 0730 377363 DIAK1 *OCT 377363
1203: 0731 377401 DIAK2 *OCT 377401
1204: 0732 40 0 2614 ORBRET TRA DX10P # RETURN FROM NORTON IN O.I.
1205: 0733 000045 SFL6 OCT 45
1206:
1207:
1210: 0734 12 0 0577 EX36P STQ DEL10
1211: # SAVE QUANTITIES FOR LATER USE IN
1212: # T/B COMPUTATIONS
1213: 0735 10 0 0052 STO V6Z
1214: 0736 20 0 0012 CLA TS12
1215: 0737 10 0 0050 STO V6X
1216: 0740 20 0 0013 CLA TS13
1217: 0741 10 0 0051 STO V6Y
1220: 0742 20 0 0442 CLA TI
1221: 0743 24 0 0306 SUB 4J
1222: 0744 40 0 2721 TRA DXFR14-2
1223: 0745 30 0 0577 EX34P CLZ DEL10
1224: 0746 46 0 3621 TMI EX33PP+1
1225: 0747 40 0 5615 TRA EX34+1
1226: 0750 22 0 0370 EX37 ADD VG
1227: 0751 46 0 3611 TMI EX35
1230:
|
|
Page 16 |
1232: 0752 40 0 3612 TRA EX35+1
1233: 0753 20 0 0347 THEF CLA RF
1234: 0754 54 0 0001 LRS 1 # B24
1235: 0755 32 0 0003 ADZ TS3
1236: 0756 14 0 0004 LDQ TS4
1237: 0757 10 0 0004 STO TS4 # =RF+RX B24
1240: 0760 12 0 0003 STQ TS3 # =RZ B24
1241: 0761 72 0 7034 TSQ ARCTAE
1242: 0762 10 0 0000 STO TS0 # THETAF B3
1243: 0763 24 0 1066 SUB PI
1244: 0764 46 0 0766 TMI *+2
1245: 0765 24 0 4021 SUB 2PIB3
1246: 0766 22 0 1066 ADD PI
1247: 0767 10 0 0303 STO THETAF # THETAF B3
1250: 0770 20 0 0000 CLA TS0 # B3
1251: 0771 24 0 4021 SUB 2PIB3
1252: 0772 06 0 4126 MPY M1B1 # B4
1253: 0773 04 0 0077 DVP NI
1254: 0774 22 0 0442 ADD TI # B13
1255: 0775 40 0 2721 TRA DXFR14-2
1256:
1257:
1260: 1000 ORG 1000
1261: 1000 000000 CLADD DEC 0 # PICKUP DEDA DATA
1262: 1001 40 0 7215 TRA ROR
1263: 1002 12 0 0023 RND STQ SREX # DIRECTION COSINE ROUND
1264: 1003 22 0 4013 ADD 1B9
1265: 1004 54 0 0011 LRS 9
1266: 1005 40 0 0023 TRA SREX
1267: 1006 20 0 0324 TMCLA CLA 0324 # CLA FOR TELEM
1270: 1007 20 0 1005 TCLTH CLA 1005
1271: 1010 10 0 0237 DLSTO STO 1J1-1
1272: 1011 40 0 5070 IC1BR TRA IC1 # IC1 TRA.
1273: 1012 40 0 1670 BR1 TRA NAV1P
1274: 1013 40 0 1212 DEDABR TRA DEDAE # DEDA BRANCH TRA.
1275: 1014 40 0 3371 BR50 TRA EXEC2 # BRANCH 50 TRA.
1276:
1277:
|
|
Page 17 |
1301: # HARDWIRE ESCAPE POINTS
1302:
1303: 1015 40 0 4073 EXIT1 TRA EX1+1
1304: 1016 40 0 1153 EXIT2 TRA UBCOMP
1305: 1017 40 0 0705 EXIT3 TRA ADDMS
1306: 1020 40 0 4222 EXIT4 TRA EX4+1
1307: 1021 40 0 7420 EXIT5 TRA PGNSDE
1310: 1022 40 0 7371 EXIT6 TRA TME
1311: 1023 40 0 7455 EXIT7 TRA PGNSD1+5
1312: 1024 40 0 4326 EXIT8 TRA EX8+1
1313: 1025 40 0 1422 EXIT9 TRA TVTG
1314: 1026 72 0 1452 EXIT10 TSQ SOFT1
1315: 1027 72 0 1452 EXIT11 TSQ SOFT1 # ASCENT ENG ON
1316: 1030 40 0 4450 EXIT12 TRA AHE1
1317: 1031 40 0 4476 EXIT13 TRA EROUT+1
1320: 1032 72 0 1635 EXIT14 TSQ SOFT2
1321: 1033 40 0 1661 EXIT15 TRA LUNAL1 # GAIN CHANGE
1322: 1034 40 0 4645 EXIT16 TRA EX16+1
1323: 1035 40 0 3544 EXIT17 TRA FDAI1
1324: 1036 40 0 4743 EXIT18 TRA NOC
1325: 1037 40 0 4047 EXIT19 TRA DELAY
1326: 1040 40 0 1376 EXIT20 TRA DLDC
1327: 1041 40 0 6254 EXIT21 TRA TIMEA
1330: 1042 40 0 3262 EXIT22 TRA IDLE-1
1331: 1043 000031 25B17 DEC 25B17
1332: 1044 30 0 0404 EXIT23 CLZ VD1X
1333: 1045 30 0 0405 CLZ VD1Y
1334: 1046 30 0 0406 CLZ VD1Z
1335: 1047 40 0 5217 TRA NAV3
1336: 1050 40 0 5205 EXIT24 TRA NAV2
1337: 1051 40 0 5217 EXIT25 TRA NAV3
1340: 1052 20 0 0473 SINITC CLA 4K27
1341: 1053 10 0 0404 STO VD1X
1342: 1054 10 0 0470 STO VDX
1343: 1055 40 0 6367 TRA EXEC1+7
1344: 1056 40 0 1676 EXIT26 TRA XDVS
1345: 1057 40 0 5413 EXIT27 TRA EX27+1
1346:
|
|
Page 18 |
1350: 1060 40 0 5267 EXIT28 TRA EX28+1
1351: 1061 30 0 0612 STGCTR CLZ MU6 # STAGING DELAY COUNTER
1352: 1062 22 0 4006 ADD 1B17
1353: 1063 10 0 0612 STO MU6
1354: 1064 40 0 4437 TRA AHE
1355: 1065 40 0 5305 EXIT29 TRA EX29+1
1356: 1066 144420 PI DEC 3.14159266B3
1357: 1067 40 0 5332 EXIT30 TRA EX30+1
1360: 1070 40 0 1710 EXIT31 TRA ALTUP
1361: 1071 40 0 2446 EXIT32 TRA LMORB2
1362: 1072 40 0 3577 EXIT33 TRA EX33P
1363: 1073 40 0 0745 EXIT34 TRA EX34P
1364: 1074 40 0 3611 EXIT35 TRA EX35
1365: 1075 72 0 0734 EXIT36 TSQ EX36P
1366: 1076 40 0 0750 EXIT37 TRA EX37
1367: 1077 40 0 3041 EXIT38 TRA Q5
1370: 1100 40 0 3376 EXIT39 TRA EXECM
1371: 1101 30 0 0400 EXIT40 CLZ S0 # SOFT INITIALIZE
1372: 1102 30 0 0575 CLZ DEL5
1373: 1103 30 0 0572 CLZ FLAGT
1374: 1104 50 1 0007 AXT 7,1 # ZERO S SWITCHES
1375: 1105 30 1 0410 CLZ S10,1
1376: 1106 42 1 1105 TIX *-1,1
1377: 1107 40 0 1052 TRA SINITC # CONTINUE INITIALIZE
1400: 1110 40 0 3345 EXIT41 TRA DSP1
1401: 1111 40 0 3356 EXIT42 TRA DSP2CP
1402: 1112 24 0 1043 EXIT43 SUB 25B17 # CHECK FOR TM RESET
1403: 1113 62 0 0000 ABS
1404: 1114 60 0 0000 COM
1405: 1115 46 0 6364 TMI EXEC1+4 # NOT 25TH
1406: 1116 72 0 1132 TSQ TMIE1 # RESET TM AT 25TH CYCLE
1407: 1117 40 0 4047 TRA DELAY
1410: 1120 40 0 6470 EXIT44 TRA EX44+1
1411: 1121 40 0 6505 EXIT45 TRA EX45+1
1412: 1122 40 0 7225 EXIT46 TRA EX46+1
1413: 1123 40 0 1222 EXIT47 TRA DEXIT
1414: 1124 40 0 1225 EXIT48 TRA CLEARM+1
1415:
|
|
Page 19 |
1417: 1125 40 0 1251 EXIT49 TRA SFTEST
1420: 1126 40 0 7343 EXIT50 TRA EX50+1
1421: 1127 72 0 1351 EXIT51 TSQ DIAT
1422: 1130 40 0 6262 EXIT52 TRA EXEC+1
1423: 1131 40 0 6262 EXIT53 TRA EXEC+1
1424: 1132 12 0 0023 TMIE1 STQ SREX # INITIALIZE TELEMETRY
1425: 1133 72 0 7410 TSQ TMIE2
1426: 1134 20 0 0412 CLA S12
1427: 1135 22 0 0614 ADD MU8
1430: 1136 10 0 0363 STO MU8S12 # SAVE MU8/S12 FOR TM
1431: 1137 24 0 7520 SUB 3B3 # TEST FOR SELF TEST FAILURE
1432: 1140 46 0 1142 TMI *+2
1433: 1141 66 0 6410 OUT 6410 # SET FAILURE INDICATOR
1434: 1142 40 0 0023 TRA SREX
1435:
1436: # ORBIT ALIGN COMPUTATIONS
1437:
1440: 1143 50 1 0006 ORBLIN AXT 6,1
1441: 1144 30 1 0130 CLZ A11,1
1442: 1145 30 1 0150 CLZ DA11,1 # ZERO REMAINDERS
1443: 1146 42 1 1144 TIX *-2,1
1444: 1147 20 0 5033 CLA 1B1
1445: 1150 10 0 0130 STO A11
1446: 1151 10 0 0136 STO A33
1447: 1152 40 0 4273 TRA COA21-2
1450:
1451: # MASS UNBALANCE COMPENSATION
1452:
1453: 1153 26 0 0537 UBCOMP MPR 1K14 # 1K14(DVX) 3-16=-13
1454: 1154 32 0 0510 ADZ DAXREM
1455: 1155 10 0 0510 STO DAXREM
1456:
1457: # 20MS MODE CHECK.
1460:
1461: 1156 20 0 0400 MODCK CLA S0 # CHECK FOR ALIGNMENT
1462: 1157 24 0 7520 SUB 3B3 # SUBMODES
1463: 1160 46 0 4107 TMI GYCOM-2 # - IS INERT REF
1464:
|
|
Page 20 |
1466: 1161 24 0 7701 SUB 1B3
1467: 1162 46 0 5056 TMI ZNOC # IMU ALIGN
1470: 1163 24 0 7701 SUB 1B3
1471: 1164 46 0 4107 TMI GYCOM-2 # - IS LUNAR ALIGN
1472: 1165 24 0 7701 SUB 1B3
1473: 1166 46 0 1143 TMI ORBLIN # ORBIT ALIGN
1474: 1167 20 0 0604 CLA DEL21 # CALIBRATE MODE.
1475: 1170 50 1 0002 AXT 2,1
1476: 1171 46 0 1177 TMI *+6 # - IS LUNAR SURF
1477: 1172 30 1 0714 CLZ SDVX,1
1500: 1173 22 1 0350 ADD DVX,1
1501: 1174 10 1 0714 STO SDVX,1 # DV SUM AT 1.
1502: 1175 42 1 1172 TIX *-3,1
1503: 1176 40 0 4107 TRA GYCOM-2
1504: 1177 20 0 0135 CLA A32
1505: 1200 72 0 1204 TSQ HUGH
1506: 1201 20 0 0141 CLA A22
1507: 1202 72 0 1204 TSQ HUGH
1510: 1203 20 0 0131 CLA A12
1511: 1204 12 0 0023 HUGH STQ SREX
1512: 1205 26 0 0673 MPR 1K56
1513: 1206 32 1 0510 ADZ DAXREM,1
1514: 1207 10 1 0510 STO DAXREM,1
1515: 1210 42 1 0023 TIX SREX,1
1516: 1211 40 0 4107 TRA GYCOM-2
1517:
1520: # DEDA MODE SELECTION
1521:
1522: 1212 30 0 0323 DEDAE CLZ CLEARP
1523: 1213 46 0 1224 TMI CLEARM # SET CLEAR
1524: 1214 20 0 0327 CLA CMF
1525: 1215 46 0 1236 TMI RPT # CLEAR MODE
1526: 1216 20 0 0325 CLA RMF
1527: 1217 46 0 1243 TMI HET # READOUT IN PROGRESS
1530: 1220 20 0 0324 CLA HMF
1531: 1221 46 0 3572 TMI RRT # HOLD IN PROGRESS
1532: 1222 50 1 0003 DEXIT AXT 3,1 # NORMAL EXIT
1533:
|
|
Page 21 |
1535: 1223 40 0 1227 TRA *+4
1536: 1224 10 0 0327 CLEARM STO CMF
1537: 1225 64 0 2200 INP DEDA
1540: 1226 50 1 0005 AXT 5,1 # CLEAR EXIT
1541: 1227 30 1 0320 CLZ READP,1 # RESET FLAGS
1542: 1230 42 1 1227 TIX *-1,1
1543: 1231 30 0 0057 CLZ TMPBR # SET BRANCH FOR NEXT
1544: 1232 10 0 0063 STO BRANCH # GUIDANCE CYCLE
1545: 1233 20 0 4014 CLA 1B11 # INITIALIZE COUNTER
1546: 1234 10 0 0727 STO DEDASC
1547: 1235 40 0 3345 TRA DSP1 # TO DISPLAY
1550: 1236 30 0 0320 RPT CLZ READP # TEST FOR
1551: 1237 46 0 7257 TMI RME # READOUT MODE
1552: 1240 30 0 0321 CLZ ENTERP # OR ENTER MODE
1553: 1241 46 0 7260 TMI RME+1 # ENTRY.
1554: 1242 40 0 1222 TRA DEXIT # EXIT
1555: 1243 30 0 0322 HET CLZ HOLDP # READOUT TEST FOR
1556: 1244 46 0 1246 TMI *+2 # HOLD COMMANDED
1557: 1245 40 0 7202 TRA ADOUT # TO OUTPUT ROUTINE
1560: 1246 10 0 0324 STO HMF # SET HOLD MODE
1561: 1247 30 0 0325 CLZ RMF
1562: 1250 40 0 1222 TRA DEXIT
1563:
1564: # DEDA SCALE FACTOR SELECTION
1565:
1566: 1251 24 0 0713 SFTEST SUB SFLO
1567: 1252 46 0 1225 TMI CLEARM+1 # LESS THAN 0026 PROTECTED
1570: 1253 24 0 0720 SUB SFL1 # LESS THAN 173 IS OCTAL
1571: 1254 46 0 7310 TMI NOTDD
1572: 1255 24 0 4040 SUB 49B17 # 173-253 IS 100 FEET
1573: 1256 46 0 1326 TMI SFP
1574: 1257 24 0 4003 SUB 4B17 # 254(255-257) IS .1 MIN
1575: 1260 46 0 1330 TMI SFT
1576: 1261 24 0 4041 SUB 10B17 # 260-266(267-271) IS .1 FPS
1577: 1262 46 0 1332 TMI SFV
1600: 1263 24 0 4002 SUB 5B17 # 272-276 IS .1 MIN
1601: 1264 46 0 1330 TMI SFT
1602:
|
|
Page 22 |
1604: 1265 24 0 4000 SUB 7B17 # 277(300-302),303(304-305)
1605: # IS .01 DEG
1606: 1266 46 0 1334 TMI SFA
1607: 1267 24 0 4001 SUB 6B17 # 306-313 IS .01 MIN
1610: 1270 46 0 1336 TMI SFT1
1611: 1271 24 0 0721 SUB SFL2 # 314-317,337(320-336) IS .1NMI
1612: 1272 46 0 1340 TMI SFR
1613: 1273 24 0 4041 SUB 10B17 # 340-347(350-351) IS 100 FEET
1614: 1274 46 0 1326 TMI SFP
1615: 1275 24 0 0722 SUB SFL3 # (352-357)360-371 IS .1 FPS
1616: 1276 46 0 1332 TMI SFV
1617: 1277 24 0 4001 SUB 6B17 # (372)373(374-376)377 IS .1 MIN
1620: 1300 46 0 1330 TMI SFT
1621: 1301 24 0 4005 SUB 2B17 # 400-401 IS OCTAL
1622: 1302 46 0 7310 TMI NOTDD
1623: 1303 24 0 4003 SUB 4B17 # 402-403(404-405) IS .1 NMI
1624: 1304 46 0 1340 TMI SFR
1625: 1305 24 0 4041 SUB 10B17 # 406-417 IS OCTAL
1626: 1306 46 0 7310 TMI NOTDD
1627: 1307 24 0 0726 SUB SFL4 # 420-454,456-463,467-503
1630: # (455,464-466) IS .1 FPS
1631: 1310 46 0 1332 TMI SFV
1632: 1311 24 0 0724 SUB SFL8 # 504-537 IS OCTAL
1633: 1312 46 0 7310 TMI NOTDD
1634: 1313 24 0 4003 SUB 4B17 # 540-542(543) IS .001 FT/SEC2
1635: 1314 46 0 1344 TMI SFACC
1636: 1315 24 0 4004 SUB 3B17 # 544-546 IS .01 DEG/HR
1637: 1316 46 0 1346 TMI SFG
1640: 1317 24 0 0733 SUB SFL6 # 547-613 IS OCTAL
1641: 1320 46 0 7310 TMI NOTDD
1642: 1321 24 0 4000 SUB 7B17 # 614-622 IS 1 COUNT
1643: 1322 46 0 1342 TMI SF1
1644: 1323 24 0 0725 SUB SFL7 # 623-704 IS OCTAL
1645: 1324 46 0 7310 TMI NOTDD
1646: 1325 40 0 1225 TRA CLEARM+1 # ILLEGAL ADDRESS
1647: 1326 20 0 0677 SFP CLA B23SF # PICK UP SCALE FACTOR
1650: 1327 40 0 1347 TRA SFG+1 # TO DECIMAL SET UP
1651:
|
|
Page 23 |
1653: 1330 20 0 0700 SFT CLA B18SF
1654: 1331 40 0 1347 TRA SFG+1
1655: 1332 20 0 0701 SFV CLA B13VSF
1656: 1333 40 0 1347 TRA SFG+1
1657: 1334 20 0 0702 SFA CLA B3SF
1660: 1335 40 0 1347 TRA SFG+1
1661: 1336 20 0 0704 SFT1 CLA B13SF
1662: 1337 40 0 1347 TRA SFG+1
1663: 1340 20 0 0703 SFR CLA B23RSF
1664: 1341 40 0 1347 TRA SFG+1
1665: 1342 20 0 4030 SF1 CLA PMAX
1666: 1343 40 0 1347 TRA SFG+1
1667: 1344 20 0 0446 SFACC CLA BACCSF
1670: 1345 40 0 1347 TRA SFG+1
1671: 1346 20 0 0676 SFG CLA BM13SF
1672: 1347 10 0 0026 STO SF # SET SCALE FACTOR
1673: 1350 40 0 7326 TRA DDIN # TO INPUT ROUTINE
1674: 1351 50 1 0001 DIAT AXT 1,1 # IMMEDIATE ACTION TEST
1675: 1352 20 0 0333 CLA ADST # IMMED. ACTION IF
1676: 1353 22 1 0730 *ADD DIAK1,1 # ACCUMULATOR = 400000
1677: 1354 62 0 0000 ABS
1700: 1355 46 0 1361 TMI *+4
1701: 1356 42 1 1352 TIX DIAT+1,1
1702: 1357 12 0 0455 STQ DDF
1703: 1360 40 0 1222 TRA DEXIT
1704: 1361 42 1 7357 TIX ATI,1
1705: 1362 50 1 0002 AXT 2,1
1706: 1363 20 1 0134 CLA A31,1 # STORE DIRECTION COSINES
1707: 1364 10 1 0044 STO A31S,1
1710: 1365 20 1 0124 CLA RRX,1 # SAVE RANGE FOR FILTER
1711: 1366 10 1 0234 STO RRSX,1
1712: 1367 42 1 1363 TIX *-4,1
1713: 1370 20 0 0377 CLA TA1
1714: 1371 24 0 0147 SUB T1
1715: 1372 10 0 0276 STO DELTAT # DELTA T = TA1 - T1 B18
1716: 1373 20 0 0440 CLA RRDOT
1717: 1374 10 0 0441 STO RDOTS
1720:
|
|
Page 24 |
1722: 1375 40 0 1222 TRA DEXIT
1723:
1724: # DOWNLINK DATA FORMATTING
1725:
1726: 1376 50 1 0002 DLDC AXT 2,1
1727: 1377 30 1 0244 CLZ 0244,1 # LEM VEL
1730: 1400 10 1 0260 STO 1J4,1
1731: 1401 30 1 0250 CLZ 0250,1 # CSM POS
1732: 1402 10 1 0244 STO 2J1,1
1733: 1403 30 1 0254 CLZ 0254,1 # CSM VEL
1734: 1404 10 1 0264 STO 2J4,1
1735: 1405 42 1 1377 TIX DLDC+1,1
1736: 1406 30 0 0247 CLZ 0247
1737: 1407 54 0 0016 LRS 14
1740: 1410 32 0 0243 ADZ 0243
1741: 1411 10 0 0254 STO 1J7
1742: 1412 12 0 0255 STQ 1J7LS
1743: 1413 30 0 0257 CLZ 0257
1744: 1414 54 0 0016 LRS 14
1745: 1415 32 0 0253 ADZ 0253
1746: 1416 10 0 0272 STO 2J7
1747: 1417 12 0 0273 STQ 2J7LS
1750: 1420 72 0 5145 TSQ CSMPV
1751: 1421 40 0 5073 TRA IC1+3
1752:
1753: # DELTA V ACCUMULATION AND THRUST VEL TO GAIN.
1754:
1755: 1422 50 1 0002 TVTG AXT 2,1
1756: 1423 20 1 0350 CLA DVX,1 # 1
1757: 1424 54 0 0001 LRS 1 # TO 2
1760: 1425 32 1 0100 ADZ VD2X,1
1761: 1426 10 1 0100 STO VD2X,1
1762: 1427 20 1 0074 CLA DVXM1,1
1763: 1430 54 0 0001 LRS 1 # TO 2
1764: 1431 32 1 0100 ADZ VD2X,1
1765: 1432 10 1 0100 STO VD2X,1
1766: 1433 54 0 0013 LRS 11 # TO 13
1767:
|
|
Page 25 |
1771: 1434 10 0 0001 STO TS1
1772: 1435 56 0 0013 ALS 11
1773: 1436 60 0 0000 COM
1774: 1437 32 1 0100 ADZ VD2X,1
1775: 1440 10 1 0100 STO VD2X,1 # REMAINDER AT 2
1776: 1441 20 1 0404 CLA VD1X,1 # DV EXPENDED MS.
1777: 1442 32 0 0001 ADZ TS1
2000: 1443 10 1 0404 STO VD1X,1 # VD1 AT 13
2001: 1444 60 0 0000 COM
2002: 1445 22 1 0474 ADD VSMGX,1 # VSMG-VD1
2003: 1446 10 1 0500 STO DELVGX,1 # THRUST VEL TO GAIN
2004: 1447 30 1 0070 CLZ EX,1
2005: 1450 42 1 1423 TIX TVTG+1,1
2006: 1451 40 0 4355 TRA EX9+1
2007:
2010: # SOFT 40MS COMPUTATIONS
2011:
2012: 1452 20 0 0400 SOFT1 CLA S0 # TEST MODE
2013: 1453 24 0 7520 SUB 3B3
2014: 1454 10 0 0001 STO TS1 # SAVE
2015: 1455 46 0 1507 TMI IR # - IS INERT. REF.
2016: 1456 20 0 4007 ZERR CLA ZERO
2017: 1457 66 0 6007 OUT 6007 # ZERO ATTITUDE ERRORS
2020: 1460 30 0 0575 CLZ DEL5 # RESET ATT HOLD INIT FLAG
2021: 1461 30 0 0001 CLZ TS1
2022: 1462 46 0 1475 TMI ENCOM1 # - IS INERTIAL REF
2023: 1463 24 0 7701 SUB 1B3
2024: 1464 46 0 1467 TMI SOFT3
2025: 1465 24 0 7701 SUB 1B3
2026: 1466 46 0 4534 TMI LUNAL
2027: 1467 66 0 7040 SOFT3 OUT 7040 # RESET ENG ON
2030: 1470 66 0 6420 OUT 6420 # SET ENG OFF
2031: 1471 20 0 4007 CLA ZERO # SET ENG TM FLAG PLUS
2032: 1472 22 0 0410 ADD S10
2033: 1473 10 0 0343 STO EONS10
2034: 1474 40 0 4626 TRA FDAI # TO ATTITUDE DISPLAY
2035: 1475 20 0 0533 ENCOM1 CLA DISC1 # FOLLOWUP ENG. COMMANDS
2036:
|
|
Page 26 |
2040: 1476 52 0 0005 *LLS 5
2041: 1477 46 0 1503 TMI *+4 # - DESCENT ENG ON
2042: 1500 52 0 0001 *LLS 1
2043: 1501 46 0 1503 TMI *+2 # - ASCENT ENG ON
2044: 1502 40 0 1467 TRA SOFT3 # ENG OFF
2045: 1503 66 0 7020 OUT 7020 # RESET ENG OFF
2046: 1504 66 0 6440 OUT 6440 # SET ENG ON
2047: 1505 20 0 4036 CLA MS # SET ENG TM FLAG NG
2050: 1506 40 0 1472 TRA SOFT3+3
2051: 1507 20 0 0533 IR CLA DISC1
2052: 1510 56 0 0003 *ALS 3
2053: 1511 46 0 1516 TMI IR1 # - IS FOLLOWUP
2054: 1512 56 0 0001 *ALS 1
2055: 1513 46 0 1562 TMI IR2 # - IS AUTOMATIC
2056: 1514 12 0 0603 STQ DEL20
2057: 1515 40 0 4437 TRA AHE # TO ATT HOLD
2060: 1516 20 0 0401 IR1 CLA DISC1C
2061: 1517 56 0 0004 *ALS 4
2062: 1520 46 0 1456 TMI ZERR # PLUS IS AUTOMATIC
2063: 1521 30 0 0575 CLZ DEL5
2064: 1522 12 0 0603 STQ DEL20
2065: 1523 40 0 1602 TRA MODE
2066: 1524 50 1 0002 RSTE AXT 2,1
2067: 1525 20 0 0623 CLA S623
2070: 1526 56 0 0003 *ALS 3
2071: 1527 46 0 1532 TMI *+3
2072: 1530 20 1 0054 CLA WCX,1
2073: 1531 40 0 1533 TRA *+2
2074: 1532 20 1 0514 CLA WBX,1
2075: 1533 26 1 0134 MPR A31,1
2076: 1534 60 0 0000 COM
2077: 1535 32 0 0070 ADZ EX
2100: 1536 10 0 0070 STO EX
2101: 1537 20 0 0411 CLA S11
2102: 1540 56 0 0003 *ALS 3
2103: 1541 46 0 1545 TMI *+4
2104: 1542 20 0 0401 CLA DISC1C
2105:
|
|
Page 27 |
2107: 1543 56 0 0006 *ALS 6
2110: 1544 46 0 1551 TMI *+5
2111: 1545 20 1 0130 CLA A11,1
2112: 1546 26 1 0374 MPR A11BD,1
2113: 1547 32 0 0071 ADZ EY
2114: 1550 10 0 0071 STO EY
2115: 1551 42 1 1525 TIX RSTE+1,1
2116: 1552 20 0 0071 CLA EY
2117: 1553 26 0 0602 MPR 4K8
2120: 1554 60 0 0000 COM
2121: 1555 10 0 0072 STO EZ
2122: 1556 30 0 0071 CLZ EY
2123: 1557 26 0 0566 MPR 4K7
2124: 1560 10 0 0071 STO EY
2125: 1561 40 0 4524 RST1 TRA RST
2126: 1562 56 0 0004 IR2 *ALS 4
2127: 1563 46 0 1572 TMI IR3 # - IS ABORT STAGE
2130: 1564 20 0 0604 CLA DEL21 # IF ON LUNAR SURFACE
2131: 1565 46 0 1456 TMI ZERR # OUTPUT ZERO ATT ERRORS
2132: 1566 20 0 0533 CLA DISC1
2133: 1567 56 0 0007 *ALS 7
2134: 1570 46 0 1602 TMI MODE # - IS ABORT
2135: 1571 72 0 1522 TSQ IR1+4
2136: 1572 20 0 0604 IR3 CLA DEL21
2137: 1573 46 0 4437 TMI AHE
2140: 1574 20 0 0401 CLA DISC1C
2141: 1575 56 0 0006 *ALS 6
2142: 1576 46 0 1602 TMI MODE
2143: 1577 20 0 0612 CLA MU6
2144: 1600 24 0 0622 SUB 4K23
2145: 1601 46 0 1061 TMI STGCTR # STAGING ATT HOLD
2146: 1602 20 0 0400 MODE CLA S0 # TEST STEERING MODE
2147: 1603 24 0 7701 SUB 1B3
2150: 1604 46 0 4437 TMI AHE # ATT HOLD
2151: 1605 24 0 7701 SUB 1B3
2152: 1606 46 0 1524 TMI RSTE # RENDEZVOUS STEERING
2153: 1607 30 0 0575 CLZ DEL5 # ACQUISITION STEERING
2154:
|
|
Page 28 |
2156: 1610 50 1 0002 AXT 2,1
2157: 1611 20 1 0054 MODE1 CLA WCX,1
2160: 1612 26 1 0130 MPR A11,1
2161: 1613 32 0 0072 ADZ EZ
2162: 1614 10 0 0072 STO EZ
2163: 1615 20 0 0507 CLA S507 # ORIENT LM Z-BODY AXIS
2164: 1616 24 0 7701 SUB 1B3 # IN DESIRED THRUST DIR.
2165: 1617 46 0 1622 TMI *+3 # OR ESTIMATED CSM DIR.
2166: 1620 20 1 0374 CLA A11BD,1
2167: 1621 10 1 0300 STO A31BD,1
2170: 1622 20 1 0300 CLA A31BD,1
2171: 1623 26 1 0130 MPR A11,1 # XB
2172: 1624 32 0 0071 ADZ EY
2173: 1625 10 0 0071 STO EY
2174: 1626 20 1 0300 CLA A31BD,1 # ZBD
2175: 1627 26 1 0140 MPR A21,1 # YB
2176: 1630 60 0 0000 COM
2177: 1631 32 0 0070 ADZ EX
2200: 1632 10 0 0070 STO EX
2201: 1633 42 1 1611 TIX MODE1,1
2202: 1634 40 0 4475 TRA EROUT
2203: 1635 30 0 0603 SOFT2 CLZ DEL20 # FIRST TIME FOLLOW
2204: 1636 46 0 1475 TMI ENCOM1 # PREVIOUS ENGINE STATE
2205: 1637 20 0 0400 CLA S0 # IF NOT REND MODE
2206: 1640 24 0 7701 SUB 1B3 # TURN ENGINE OFF
2207: 1641 46 0 1467 TMI SOFT3
2210: 1642 24 0 7701 SUB 1B3
2211: 1643 46 0 1645 TMI *+2
2212: 1644 40 0 1467 TRA SOFT3
2213: 1645 20 0 0614 CLA MU8 # TEST FOR ULLAGE
2214: 1646 24 0 0616 SUB 1K9
2215: 1647 46 0 1467 TMI SOFT3
2216: 1650 20 0 0657 CLA 4K25 # TEST CEL TO BE
2217: 1651 24 0 0500 SUB DELVGX # GAINED GREATER THAN
2220: 1652 46 0 1503 TMI ENCOM1+6 # SHUTDOWN THRESHOLD
2221: 1653 20 0 0454 CLA 4K26
2222: 1654 24 0 0267 SUB DELVG
2223:
|
|
Page 29 |
2225: 1655 46 0 1503 TMI ENCOM1+6
2226: 1656 30 0 0400 CLZ S0 # SET ATT HOLD
2227: 1657 30 0 0411 CLZ S11 # DPS-RCS/APS
2230: 1660 40 0 1467 TRA SOFT3
2231: 1661 30 0 0531 LUNAL1 CLZ DAYA # CHANGE GAIN
2232: 1662 54 0 0002 LRS 2 # 1/4
2233: 1663 10 0 0531 STO DAYA
2234: 1664 30 0 0532 CLZ DAZA
2235: 1665 54 0 0002 LRS 2
2236: 1666 10 0 0532 STO DAZA
2237: 1667 40 0 1467 TRA SOFT3
2240:
2241: # START OF NAVIGATION
2242:
2243: 1670 20 0 0604 NAV1P CLA DEL21
2244: 1671 46 0 5175 TMI NAV1 # - IS ON LUNAR SURFACE
2245: 1672 20 0 0404 CLA VD1X # COMPUTE THRUST ACCEL
2246: 1673 24 0 0470 SUB VDX # 13
2247: 1674 56 0 0005 ALS 5 # 1/2(VD1-VD) AT 7
2250: 1675 40 0 5166 TRA 5166 # TO HARD NAV
2251: 1676 50 1 0002 XDVS AXT 2,1
2252: 1677 20 1 0120 CLA DVSX,1
2253: 1700 22 0 4015 ADD 1B12
2254: 1701 54 0 0006 LRS 6
2255: 1702 32 1 0050 ADZ DQSX,1
2256: 1703 10 1 0050 STO DQSX,1
2257: 1704 20 1 0404 CLA VD1X,1
2260: 1705 10 1 0470 STO VDX,1
2261: 1706 42 1 1677 TIX XDVS+1,1
2262: 1707 40 0 5223 TRA NAV4
2263: 1710 72 0 6261 ALTUP TSQ EXEC
2264:
2265: 1711 50 1 0002 AXT 2,1
2266: 1712 20 0 0223 CLA 25J # ALTITUDE ENTRY TEST
2267: 1713 24 0 4006 SUB 1B17
2270: 1714 46 0 1723 TMI FLTR # IF NO 25J ENTRY
2271: 1715 20 0 0223 CLA 25J
2272:
|
|
Page 30 |
2274: 1716 22 0 0231 ADD 5J
2275: 1717 10 0 0210 STO R # R=5J+25J
2276: 1720 06 1 0060 MPY U1X,1
2277: 1721 52 0 0001 LLS 1
2300: 1722 10 1 0340 STO RX,1 # NEW R COMPONENTS
2301:
2302: # RANGE AND RANGE RATE COMPUTATIONS
2303:
2304: 1723 20 1 0344 FLTR CLA RCX,1 # RELATIVE RANGE
2305: 1724 24 1 0340 *SUB RX,1
2306: 1725 10 1 0124 STO RRX,1
2307: 1726 10 1 0004 STO TS4,1
2310: 1727 42 1 1712 TIX ALTUP+2,1
2311: 1730 72 0 6737 TSQ DPVMAG # DP COMP OF RR MAG
2312: 1731 10 0 0317 STO RR # B23 RANGE VECTOR MAG
2313: 1732 20 0 0636 CLA 2K1 # 48
2314: 1733 54 0 0001 LRS 1 # 49
2315: 1734 04 0 0210 DVP R # 26
2316: 1735 04 0 0210 DVP R # 3
2317: 1736 04 0 0210 DVP R # -20
2320: 1737 10 0 0223 STO 25J # 2K1/R**3 B-20
2321: 1740 30 0 0440 CLZ RRDOT # ZEROED FOR SUM
2322: 1741 50 1 0002 AXT 2,1
2323: 1742 20 1 0124 FLTRA CLA RRX,1
2324: 1743 06 0 5033 MPY 1B1 # B24
2325: 1744 04 0 0317 DVP RR
2326: 1745 10 1 0300 STO A31BD,1 # B1 UNIT POINTING VECTOR
2327: 1746 20 1 0364 CLA VCX,1 # B13
2330: 1747 24 1 0360 SUB VX,1
2331: 1750 10 1 0030 STO RDOTX,1 # B13
2332: 1751 26 1 0300 MPR A31BD,1
2333: 1752 56 0 0001 ALS 1
2334: 1753 32 0 0440 ADZ RRDOT
2335: 1754 10 0 0440 STO RRDOT
2336: 1755 20 1 0060 CLA U1X,1
2337: 1756 26 1 0060 MPR U1X,1 # B2
2340: 1757 26 0 7520 MPR 3B3 # B5
2341:
|
|
Page 31 |
2343: 1760 24 0 4011 SUB 1B5
2344: 1761 26 0 0223 MPR 25J
2345: 1762 10 1 0554 STO LILA,1 # B-15
2346: 1763 42 1 1742 TIX FLTRA,1
2347: 1764 20 0 0060 CLA U1X
2350: 1765 26 0 0062 MPR U1Z
2351: 1766 26 0 7520 MPR 3B3 # B5
2352: 1767 36 0 0223 MPZ 25J
2353: 1770 10 0 0557 STO LILC # B-15
2354: 1771 72 0 6261 TSQ EXEC # END OF FIRST BR. OF FILTER
2355:
2356: 1772 30 0 0167 PUPDAT CLZ MU17 # ZERO MU17 IF FILTER TIME
2357: 1773 22 0 7701 *ADD 1B3
2360: 1774 46 0 2001 TMI FLTRTM
2361: 1775 10 0 0167 STO MU17
2362: 1776 72 0 6261 TSQ EXEC
2363: 1777 72 0 6261 FLTRX TSQ EXEC
2364: 2000 40 0 5444 TRA 5444
2365: # COVARIANCE UPDATE
2366: 2001 44 0 2002 FLTRTM TOV *+1 # RESET OVERFLOW DISCRETE
2367: 2002 50 1 0003 AXT 3,1
2370: 2003 20 1 0640 FLTRB CLA P11,1 # 30, 30, 20,20
2371: 2004 26 0 0554 MPR LILA # B-15
2372: 2005 10 0 0004 STO TS4 # 15, 15, 5, 5
2373: 2006 20 1 0644 CLA P21,1 # 30, 30, 20, 20
2374: 2007 26 0 0557 MPR LILC # B-15
2375: 2010 32 0 0004 ADZ TS4
2376: 2011 10 1 0010 STO TS10,1 # TS10 A*P11+C*P21 B15
2377: 2012 20 1 0640 CLA P11,1 # TS11 A*P12+C*P22 B15
2400: 2013 26 0 0557 MPR LILC # TS12 A*P13+C*P23 B5
2401: 2014 10 0 0004 STO TS4 # TS13 A*P14+C*P24 B5
2402: 2015 20 1 0644 CLA P21,1 # TS14 C*P11+J*P21 B15
2403: 2016 26 0 0556 MPR LILJ # TS15 C*P12+J*P22 B15
2404: 2017 32 0 0004 ADZ TS4 # TS16 C*P13+J*P23 B5
2405: 2020 10 1 0014 STO TS14,1 # TS17 C*P14+J*P24 B5
2406: 2021 42 1 2003 TIX FLTRB,1
2407: 2022 20 0 0642 CLA P13 # B20 32XB25
2410:
|
|
Page 32 |
2412: 2023 54 0 0005 LRS 5 # MPY BY 32,SCALE AT B30
2413: 2024 22 0 4006 ADD 1B17 # ADD 2**13
2414: 2025 22 0 0640 ADD P11
2415: 2026 10 0 0640 STO P11 # B30
2416: 2027 20 0 0643 CLA P14
2417: 2030 22 0 0646 ADD P23 # B20 16XB24
2420: 2031 54 0 0006 LRS 6 # MPY BY 16,SCALE AT B30
2421: 2032 22 0 0641 ADD P12
2422: 2033 10 0 0641 STO P12 # B30
2423: 2034 10 0 0644 STO P21
2424: 2035 20 0 0647 CLA P24 # B20 32XB25
2425: 2036 54 0 0005 LRS 5 # MPY BY 32,SCALE AT B30
2426: 2037 22 0 4006 ADD 1B17 # ADD 2**13
2427: 2040 22 0 0645 ADD P22
2430: 2041 10 0 0645 STO P22 # B30
2431: 2042 20 0 0011 CLA TS11 # EXCHANGE TS11,TS14
2432: 2043 14 0 0014 LDQ TS14
2433: 2044 12 0 0011 STQ TS11
2434: 2045 10 0 0014 STO TS14
2435: 2046 50 1 0001 AXT 1,1
2436: 2047 20 1 0650 FLTRC CLA P33,1 # P34 B10
2437: 2050 54 0 0005 LRS 5 # MPY BY 16,SCALE AT B19
2440: 2051 22 1 0010 ADD TS10,1 # B15 16XB19
2441: 2052 54 0 0001 LRS 1 # SCALE AT B10
2442: 2053 22 1 0642 ADD P13,1
2443: 2054 10 1 0642 STO P13,1 # B20
2444: 2055 20 1 0652 CLA P43,1 # P44 B10
2445: 2056 54 0 0005 LRS 5 # MPY BY 16,SCALE AT B19
2446: 2057 22 1 0014 ADD TS14,1 # B15 16XB19
2447: 2060 54 0 0001 LRS 1 # SCALE AT B20
2450: 2061 22 1 0646 ADD P23,1
2451: 2062 10 1 0646 STO P23,1 # B20
2452: 2063 42 1 2047 TIX FLTRC,1
2453: 2064 20 0 0012 CLA TS12 # B5 32XB10
2454: 2065 22 0 4006 ADD 1B17 # ADD 2**(-7)
2455: 2066 22 0 0650 ADD P33
2456: 2067 10 0 0650 STO P33 # B10
2457:
|
|
Page 33 |
2461: 2070 20 0 0013 CLA TS13
2462: 2071 22 0 0016 ADD TS16 # B5 16XB9
2463: 2072 54 0 0001 LRS 1 # SCALE AT B10
2464: 2073 22 0 0651 ADD P34
2465: 2074 10 0 0651 STO P34 # B10
2466: 2075 10 0 0652 STO P43
2467: 2076 20 0 0017 CLA TS17 # B5 32XB10
2470: 2077 22 0 4006 ADD 1B17 # ADD 2**(-7)
2471: 2100 22 0 0653 ADD P44
2472: 2101 10 0 0653 STO P44 # B10
2473: 2102 30 0 0417 CLZ S17 # IS FILTER INIT. REQUIRED
2474: 2103 56 0 0003 *ALS 3 # FORCE OVERFLOW IF =1B3
2475: 2104 44 0 2106 TOV PINIT
2476: 2105 40 0 2123 TRA FLTRD
2477: 2106 50 1 0003 PINIT AXT 3,1 # INITIALIZE P MATRIX
2500: 2107 30 1 0640 CLZ P11,1
2501: 2110 30 1 0644 CLZ P21,1
2502: 2111 30 1 0650 CLZ P33,1
2503: 2112 42 1 2107 TIX *-3,1
2504: 2113 20 0 0457 CLA 6K2
2505: 2114 10 0 0640 STO P11
2506: 2115 10 0 0645 STO P22
2507: 2116 20 0 0456 CLA 6K4
2510: 2117 10 0 0650 STO P33
2511: 2120 10 0 0653 STO P44
2512: 2121 20 0 0274 CLA 29J
2513: 2122 10 0 0147 STO T1
2514: 2123 20 0 0503 FLTRD CLA 17J
2515: 2124 62 0 0000 ABS
2516: 2125 24 0 4006 SUB 1B17
2517: 2126 46 0 2226 TMI FLTRH # NO RATE CHECK RANGE
2520: 2127 30 0 0503 RATE CLZ 17J
2521: 2130 24 0 0441 SUB RDOTS
2522: 2131 10 0 0220 STO DELR1 # B13
2523: # NOTE, DELR2 IS ALREADY
2524: # ZERO SINCE IT IS TIME
2525: # SHARED WITH RIZ
2526:
|
|
Page 34 |
2530: 2132 30 0 0143 CLZ Q12
2531: 2133 20 0 4030 CLA PMAX # =1B0
2532: 2134 10 0 0170 STO Q22
2533: 2135 50 1 0003 AXT 3,1
2534: 2136 20 0 0440 FLTRE CLA RRDOT # B13
2535: 2137 26 1 0300 MPR A31BD,1 # B14
2536: 2140 56 0 0001 ALS 1
2537: 2141 24 1 0030 SUB RDOTX,1 # B13
2540: 2142 06 0 5033 MPY 1B1 # SCALE AT B14
2541: 2143 04 0 0317 DVP RR # B23
2542: 2144 10 1 0000 STO TS0,1 # B-9
2543: 2145 30 1 0554 CLZ L11,1
2544: 2146 30 1 0234 CLZ L12,1
2545: 2147 42 1 2136 TIX FLTRE,1
2546: 2150 30 0 0002 CLZ TS2
2547: 2151 10 0 0001 STO TS1
2550: 2152 20 0 0300 CLA A31BD
2551: 2153 60 0 0000 COM # TS0 = M11 B-9
2552: 2154 10 0 0002 STO TS2 # TS1 = M12 B-9
2553: 2155 20 0 0302 CLA A33BD # TS2 = M13 B1
2554: 2156 60 0 0000 COM # TS3 = M14 B1
2555: 2157 10 0 0003 STO TS3
2556: 2160 50 1 0001 AXT 1,1
2557: 2161 20 1 0642 FLTRF CLA P13,1 # B20
2560: 2162 26 1 0002 MPR TS2,1 # B1
2561: 2163 32 0 0554 ADZ L11
2562: 2164 10 0 0554 STO L11 # L11=P13(M13)+P14(M14) B21
2563: 2165 20 1 0646 CLA P23,1 # B20
2564: 2166 26 1 0002 MPR TS2,1 # B1
2565: 2167 32 0 0555 ADZ L21
2566: 2170 10 0 0555 STO L21 # L21 = P23(M13)+P24(M14) B21
2567: 2171 20 1 0650 CLA P33,1 # B10
2570: 2172 26 1 0002 MPR TS2,1
2571: 2173 32 0 0556 ADZ L31
2572: 2174 10 0 0556 STO L31 # L31 = P33(M13)+P24(M14) B11
2573: 2175 20 1 0652 CLA P43,1 # B10
2574: 2176 26 1 0002 MPR TS2,1
2575:
|
|
Page 35 |
2577: 2177 32 0 0557 ADZ L41
2600: 2200 10 0 0557 STO L41 # L41 = P43(M13)+P44(M11) B11
2601: 2201 42 1 2161 TIX FLTRF,1
2602: 2202 30 0 0212 CLZ DELTA
2603: 2203 50 1 0003 AXT 3,1
2604: 2204 20 1 0640 FLTRG CLA P11,1 # B30,30,20,20
2605: 2205 26 0 0000 MPR TS0 # M11 B-9
2606: 2206 10 0 0010 STO TS10 # B21
2607: 2207 20 1 0644 CLA P21,1
2610: 2210 26 0 0001 MPR TS1 # M12 B-9
2611: 2211 32 0 0010 ADZ TS10 # B21,21,11,11
2612: 2212 32 1 0554 ADZ L11,1
2613: 2213 56 0 0001 ALS 1 # B20,20,10,10
2614: 2214 10 1 0554 STO L11,1 # L11=P11M11+P21M12+P13M13+P14M14
2615: 2215 26 1 0000 MPR TS0,1
2616: 2216 56 0 0001 ALS 1
2617: 2217 32 0 0212 ADZ DELTA # DELTA=M1J DOT PJ1 B10
2620: 2220 10 0 0212 STO DELTA
2621: 2221 42 1 2204 TIX FLTRG,1
2622: 2222 22 0 0304 ADD 6K8
2623: 2223 10 0 0212 STO DELTA
2624: 2224 10 0 0073 STO Q11
2625: 2225 40 0 2315 TRA FLTRJ-1
2626:
2627:
2630: 2226 20 0 0316 FLTRH CLA 18J # CHECK RANGE
2631: 2227 24 0 4006 SUB 1B17
2632: 2230 46 0 1776 TMI FLTRX-1
2633: 2231 50 1 0002 RANGE AXT 2,1
2634: 2232 20 1 0044 FLTRI CLA A31S,1 # ZB B1
2635: 2233 26 0 0316 MPR 18J
2636: 2234 56 0 0001 ALS 1
2637: 2235 24 1 0234 SUB RRSX,1
2640: 2236 10 1 0220 STO DELR1,1 # B23
2641: 2237 20 1 0124 CLA RRX,1
2642: 2240 26 0 0611 MPR 6K9 # B8
2643: 2241 56 0 0001 ALS 1 # B7
2644:
|
|
Page 36 |
2646: 2242 10 0 0001 STO TS1 # TRICKY, YES
2647: 2243 26 1 0124 MPR RRX,1 # B30
2650: 2244 10 1 0000 STO TS0,1 # B30
2651: 2245 20 1 0300 CLA A31BD,1 # B1
2652: 2246 26 1 0300 MPR A31BD,1 # B2
2653: 2247 26 0 0517 MPR 6K10 # 2+28 B30
2654: 2250 10 1 0004 STO TS4,1
2655: 2251 42 1 2232 TIX FLTRI,1
2656: 2252 32 0 0002 ADZ TS2
2657: 2253 22 0 0640 ADD P11
2660: 2254 10 0 0073 STO Q11 # B30
2661: 2255 20 0 0377 CLA TA1
2662: 2256 10 0 0147 STO T1 # T1 = TA1
2663: 2257 20 0 0001 CLA TS1 # (RRX)(6K9) B7
2664: 2260 26 0 0126 MPR RRZ # B30
2665: 2261 60 0 0000 COM
2666: 2262 22 0 0641 ADD P12
2667: 2263 10 0 0143 STO Q12 # B30 Q12=P12-6K9(RRX)(RRZ)
2670: 2264 26 0 0143 MPR Q12
2671: 2265 10 0 0001 STO TS1 # B60
2672: 2266 30 0 0000 CLZ TS0
2673: 2267 32 0 0006 ADZ TS6
2674: 2270 22 0 0645 ADD P22
2675: 2271 10 0 0170 STO Q22 # B30
2676: 2272 26 0 0073 MPR Q11 # B60
2677: 2273 24 0 0001 SUB TS1
2700: 2274 10 0 0212 STO DELTA # B60
2701: 2275 50 1 0003 AXT 3,1
2702: 2276 20 1 0640 CLA P11,1
2703: 2277 60 0 0000 COM
2704: 2300 10 1 0554 STO L11,1
2705: 2301 20 1 0644 CLA P21,1
2706: 2302 10 1 0234 STO L12,1
2707: 2303 42 1 2276 TIX *-5,1
2710: 2304 20 0 0656 CLA 6K5 # B0
2711: 2305 26 0 0221 MPR DELR3 # B23
2712: 2306 22 0 0341 ADD RY # Y=Y+6K5*DELR3 B23
2713:
|
|
Page 37 |
2715: 2307 10 0 0341 STO RY
2716: 2310 20 0 0522 CLA 6K6 # B8
2717: 2311 06 0 0221 MPY DELR3
2720: 2312 04 0 0276 DVP DELTAT # TO B13
2721: 2313 22 0 0361 ADD VY # VY=VY+6K6*DELR3/DELTAT
2722: 2314 10 0 0361 STO VY # UPDATED VY AT B13
2723: 2315 72 0 6261 TSQ EXEC # END OF 2ND BR. OF FILTER
2724: # POINT B
2725: # SCALING COMMENTS
2726: # RANGE, RATE
2727: 2316 50 1 0003 FLTRJ AXT 3,1
2730: 2317 20 1 0234 CLA L12,1 # B30,30,20,20
2731: 2320 06 0 0143 MPY Q12 # AT B30
2732: 2321 54 0 0003 LRS 3
2733: 2322 04 0 0212 DVP DELTA # AT B60
2734: 2323 10 0 0001 STO TS1 # B3,3,-7,-7
2735: 2324 20 1 0554 CLA L11,1 # B30,30,20,20 20,20,10,10
2736: 2325 06 0 0170 MPY Q22 # AT B30 B0 FOR RATE
2737: 2326 54 0 0003 LRS 3
2740: 2327 04 0 0212 DVP DELTA # AT B60 B10 FOR RATE
2741: 2330 22 0 0001 ADD TS1
2742: 2331 10 1 0010 STO B11,1 # B3,3,-7,-7 13,13,3,3
2743: 2332 26 0 0220 MPR DELR1 # B23 B13 FOR RATE
2744: 2333 10 1 0004 STO TS4,1 # B26,26,16,16 26,26,16,16
2745: 2334 20 1 0554 CLA L11,1 # B30,30,20,20 B20,20,10,10
2746: 2335 06 0 0143 MPY Q12 # B30 ZERO
2747: 2336 54 0 0003 LRS 3
2750: 2337 04 0 0212 DVP DELTA # B60
2751: 2340 10 0 0001 STO TS1 # B3,3,-7,-7
2752: 2341 20 1 0234 CLA L12,1 # B30,30,20,20 ZERO
2753: 2342 60 0 0000 COM
2754: 2343 06 0 0073 MPY Q11 # B30
2755: 2344 54 0 0003 LRS 3
2756: 2345 04 0 0212 DVP DELTA # B60
2757: 2346 24 0 0001 SUB TS1
2760: 2347 10 1 0014 STO B12,1 # B3,3,-7,-7 ZERO FOR RATE
2761: 2350 06 0 0222 MPY DELR2 # B23
2762:
|
|
Page 38 |
2764: 2351 22 1 0004 ADD TS4,1 # DRX,DRZ,DVX,DVZ
2765: 2352 56 0 0003 ALS 3
2766: 2353 10 1 0004 STO TS4,1 # B23,23,13,13
2767: 2354 42 1 2317 TIX FLTRJ+1,1
2770: 2355 22 0 0340 ADD RX
2771: 2356 10 0 0340 STO RX
2772: 2357 20 0 0005 CLA TS5
2773: 2360 22 0 0342 ADD RZ
2774: 2361 10 0 0342 STO RZ
2775: 2362 20 0 0006 CLA TS6
2776: 2363 22 0 0360 ADD VX
2777: 2364 10 0 0360 STO VX
3000: 2365 20 0 0007 CLA TS7
3001: 2366 22 0 0362 ADD VZ
3002: 2367 10 0 0362 STO VZ
3003: 2370 50 1 0003 AXT 3,1
3004: 2371 20 0 0010 FLTRK CLA B11 # B3 B13
3005: 2372 26 1 0554 MPR L11,1 # B30,30,10,10 B20,20,10,10
3006: 2373 10 0 0000 STO TS0
3007: 2374 20 0 0014 CLA B12 # B3 ZERO FOR RATE
3010: 2375 26 1 0234 MPR L12,1
3011: 2376 34 0 0000 SUZ TS0
3012: 2377 56 0 0003 ALS 3
3013: 2400 22 1 0640 ADD P11,1
3014: 2401 10 1 0640 STO P11,1 # B30,30,20,20 FOR BOTH
3015: 2402 20 0 0011 CLA B21 # B3 B13 FOR RATE
3016: 2403 26 1 0554 MPR L11,1 # B30,30,20,20 20,20,10,10
3017: 2404 10 0 0000 STO TS0
3020: 2405 20 0 0015 CLA B22 # B3 ZERO FOR RATE
3021: 2406 26 1 0234 MPR L12,1 # B30,30,20,20 ZERO
3022: 2407 34 0 0000 SUZ TS0
3023: 2410 56 0 0003 ALS 3
3024: 2411 22 1 0644 ADD P21,1
3025: 2412 10 1 0644 STO P21,1 # B30,30,20,20 FOR BOTH
3026: 2413 42 1 2371 TIX FLTRK,1
3027: 2414 50 1 0001 AXT 1,1
3030: 2415 20 0 0012 FLTRL CLA B31 # B-7 3
3031:
|
|
Page 39 |
3033: 2416 26 1 0556 MPR L31,1 # B20,20 10,10
3034: 2417 10 0 0000 STO TS0
3035: 2420 20 0 0016 CLA B32 # B-7 ZERO FOR RATE
3036: 2421 26 1 0236 MPR L32,1 # B20,B20 ZERO FOR RATE
3037: 2422 34 0 0000 SUZ TS0
3040: 2423 56 0 0003 ALS 3
3041: 2424 22 1 0650 ADD P33,1 # B10,10 FOR BOTH
3042: 2425 10 1 0650 STO P33,1
3043: 2426 42 1 2415 TIX FLTRL,1
3044: 2427 20 0 0013 CLA B41 # B-7 B3
3045: 2430 26 0 0557 MPR L41
3046: 2431 10 0 0000 STO TS0
3047: 2432 20 0 0017 CLA B42 # B-7 ZERO
3050: 2433 26 0 0237 MPR L42
3051: 2434 34 0 0000 SUZ TS0
3052: 2435 56 0 0003 ALS 3
3053: 2436 22 0 0653 ADD P44 # B10 FOR BOTH
3054: 2437 10 0 0653 STO P44
3055: 2440 20 0 0651 CLA P34
3056: 2441 10 0 0652 STO P43
3057: 2442 20 0 0641 CLA P12
3060: 2443 10 0 0644 STO P21
3061: 2444 30 0 0316 CLZ 18J
3062: 2445 40 0 1777 TRA FLTRX
3063: 2446 24 0 0231 LMORB2 SUB 5J # QL-5J AT B23
3064: 2447 10 0 0403 STO QLTELE # PERIC. ALT
3065: 2450 30 0 0007 CLZ TS7 # = VH SQ AT B26
3066: 2451 10 0 0143 STO VHSQ # SAVE FOR ORB INS
3067: 2452 72 0 6261 TSQ EXEC
3070:
3071: 2453 50 1 0002 ORBLM AXT 2,1
3072: 2454 20 1 0340 CLA RX,1
3073: 2455 10 1 0204 STO R0X,1
3074: 2456 20 1 0360 CLA VX,1
3075: 2457 10 1 0424 STO V0X,1
3076: 2460 42 1 2454 TIX ORBLM+1,1
3077: 2461 72 0 6444 TSQ ORBPM # COMPUTE LM ORBIT PARAMETERS
3100:
|
|
Page 40 |
3102: # RETURN FROM ORBPM W/ ACC=SI
3103: 2462 10 0 0003 STO TS3 # B0
3104: 2463 54 0 0003 LRS 3 # TO B3
3105: 2464 10 0 0211 STO Y # SAVE FOR TPERG
3106: 2465 20 0 0103 CLA CI
3107: 2466 10 0 0004 STO TS4
3110: 2467 72 0 7034 TSQ ARCTAE # RTN W/ ACCU=E
3111: 2470 60 0 0000 COM
3112: 2471 22 0 4021 ADD 2PIB3
3113: 2472 32 0 0211 ADZ Y # 2*PI-E+SI AT B3, ZERO Y
3114: 2473 06 0 5033 MPY 1B1 # TO B4
3115: 2474 04 0 0077 DVP NI # AT B-9
3116: 2475 10 0 0313 STO TPERG # B13
3117: 2476 20 0 0173 CLA AI
3120: 2477 24 0 0231 SUB 5J
3121: 2500 56 0 0001 ALS 1 # MPY BY 2
3122: 2501 24 0 0403 SUB QLTELE
3123: 2502 10 0 0315 STO QA # LM APOFOCUS ALT. AT B23
3124: 2503 72 0 6261 TSQ EXEC
3125:
3126: # Y ZEROED IN PREVIOUS BR
3127: 2504 30 0 0270 CLZ VY0
3130: 2505 50 1 0002 AXT 2,1
3131: 2506 20 1 0340 KINGK CLA RX,1
3132: 2507 10 1 0220 STO RIX,1 # SAVE R FOR ORBIT INS.
3133: 2510 26 1 0054 MPR WCX,1
3134: 2511 56 0 0001 ALS 1
3135: 2512 32 0 0211 ADZ Y
3136: 2513 10 0 0211 STO Y # Y=(WCX)DOT(RX)
3137: 2514 20 1 0360 CLA VX,1
3140: 2515 10 1 0430 STO VIX,1 # SAVE V FOR ORBIT INS.
3141: 2516 26 1 0054 MPR WCX,1
3142: 2517 56 0 0001 ALS 1
3143: 2520 32 0 0270 ADZ VY0
3144: 2521 10 0 0270 STO VY0 # VY0=(WCX)DOT(VX)
3145: 2522 20 1 0054 CLA WCX,1 # SET UP FOR CROSS
3146: 2523 60 0 0000 COM # PRODUCT SUBROUTINE
3147:
|
|
Page 41 |
3151: 2524 10 1 0010 STO TS10,1 # WC X U1 = U1 X -WC
3152: 2525 20 1 0060 CLA U1X,1
3153: 2526 10 1 0004 STO TS4,1
3154: 2527 42 1 2506 TIX KINGK,1
3155: 2530 72 0 6373 TSQ CRSPRD
3156: 2531 72 0 6422 TSQ NORMV # V1 VECTOR TO TSB
3157: 2532 72 0 6373 TSQ CRSPRD
3160: 2533 30 0 0003 CLZ TS3
3161: 2534 30 0 0004 CLZ TS4
3162: 2535 50 1 0002 AXT 2,1
3163: 2536 30 1 0010 CLZ TS10,1
3164: 2537 10 1 0034 STO V1X,1 # V1 AT 1
3165: 2540 26 1 0134 MPR A31,1
3166: 2541 22 0 0004 ADD TS4 # TS4 = V1 DOT ZB AT B2
3167: 2542 10 0 0004 STO TS4
3170: 2543 30 1 0014 CLZ TS14,1
3171: 2544 56 0 0001 ALS 1
3172: 2545 10 1 0040 STO W1X,1
3173: 2546 20 1 0134 CLA A31,1
3174: 2547 26 1 0060 MPR U1X,1
3175: 2550 22 0 0003 ADD TS3
3176: 2551 10 0 0003 STO TS3 # TS3 = U1 DOT ZB AT B2
3177: 2552 42 1 2536 TIX *-12,1
3200: 2553 72 0 7034 TSQ ARCTAE
3201: 2554 10 0 0277 STO XI
3202: 2555 72 0 6261 TSQ EXEC # END OF LEM ORB PAR BRANCH
3203:
3204: # GUIDANCE MODE CHECK
3205:
3206: 2556 20 0 0410 GM CLA S10
3207: 2557 22 0 7520 *ADD 3B3
3210: 2560 46 0 2773 TMI XDV # EXTERNAL DELTA V
3211: 2561 22 0 4065 *ADD 2B3
3212: 2562 62 0 0000 *ABS
3213: 2563 46 0 2577 TMI DXFR1 # TPI SEARCH
3214: 2564 20 0 0410 CLA S10
3215: 2565 60 0 0000 COM
3216:
|
|
Page 42 |
3220: 2566 46 0 2573 TMI *+5
3221: 2567 30 0 0310 CLZ TDEL # TDEL=0
3222: 2570 20 0 0732 CLA ORBRET # =TRA DX10P
3223: 2571 10 0 0157 STO TSEX # SET UP RETURN FROM NORTON
3224: 2572 40 0 3562 TRA NORTON+5
3225: # CSI,CDH, OR TPI EXECUTE
3226: 2573 20 0 0373 CLA TIG # COMPUTE TDEL FOR
3227: 2574 24 0 0377 SUB TA1 # CSI, CDH, OR TPI(S10=4)
3230: 2575 56 0 0005 ALS 5
3231: 2576 10 0 0310 STO TDEL
3232: 2577 20 0 0310 DXFR1 CLA TDEL
3233: 2600 54 0 0005 LRS 5
3234: 2601 22 0 0377 ADD TA1
3235: 2602 10 0 0373 STO TIG
3236: 2603 20 0 0310 CLA TDEL
3237: 2604 22 0 0307 ADD 6J
3240: 2605 10 0 0311 STO TR # TIME TILL RENDEZ(TPI)
3241: 2606 30 0 0310 CLZ TDEL # LIMIT TDEL POSITIVE
3242: 2607 46 0 2611 TMI *+2
3243: 2610 10 0 0310 STO TDEL
3244: 2611 30 0 0407 CLZ S7 # ZERO S7 WHEN NOT IN XDV
3245: 2612 20 0 0310 CLA TDEL
3246: 2613 72 0 3555 DXFR10 TSQ NORTON
3247: 2614 10 0 0347 DX10P STO RF # PRED. BURNOUT ALTITUDE
3250: 2615 22 0 0217 ADD 2K14
3251: 2616 10 0 0170 STO P
3252: 2617 30 0 0477 CLZ RADOT
3253: 2620 30 0 0263 CLZ VPY
3254: 2621 30 1 0220 DXFRR5 CLZ RIX,1 # R5 STORE
3255: 2622 10 1 0174 STO R5X,1
3256: 2623 30 1 0430 CLZ VIX,1
3257: 2624 10 1 0014 STO TS14,1
3260: 2625 10 1 0460 STO V5X,1 # V5 STORE
3261: 2626 26 1 0054 MPR WCX,1
3262: 2627 56 0 0001 ALS 1 # TO 13
3263: 2630 32 0 0263 ADZ VPY # VPY = V5 DOT WC
3264: 2631 10 0 0263 STO VPY
3265:
|
|
Page 43 |
3267: 2632 30 1 0010 CLZ TS10,1
3270: 2633 10 1 0060 STO U1X,1 # U1 STORE
3271: 2634 26 1 0460 MPR V5X,1 # RADOT = R5 DOT U1
3272: 2635 56 0 0001 ALS 1 # TO 13
3273: 2636 32 0 0477 ADZ RADOT
3274: 2637 10 0 0477 STO RADOT
3275: 2640 20 1 0200 CLA REX,1 # CSM POS AND VEL FOR
3276: 2641 10 1 0204 STO R0X,1 # ELLIPSE PREDICTOR
3277: 2642 20 1 0420 CLA VEX,1 # AND ORBIT PARAMETERS
3300: 2643 10 1 0424 STO V0X,1
3301: 2644 42 1 2621 TIX DXFRR5,1
3302: 2645 72 0 6422 TSQ NORMV
3303: 2646 20 0 0013 CLA TS13
3304: 2647 10 0 0463 STO VHA
3305: 2650 72 0 6261 TSQ EXEC
3306: 2651 72 0 6444 ORBIT3 TSQ ORBPM # CSM ORBIT PARAMETERS
3307: 2652 20 0 0436 CLA TB
3310: 2653 24 0 0445 SUB TCSM
3311: 2654 22 0 0310 ADD TDEL # +TIME INC. TO DXFR
3312: 2655 46 0 2657 TMI *+2
3313: 2656 24 0 0445 SUB TCSM
3314: 2657 72 0 3555 TSQ NORTON
3315: 2660 30 0 0003 DXFR13 CLZ TS3
3316: 2661 20 1 0220 CLA RIX,1
3317: 2662 24 1 0174 SUB R5X,1
3320: 2663 10 1 0430 STO VIX,1 # RC-R5
3321: 2664 20 1 0054 CLA WCX,1
3322: 2665 10 1 0004 STO TS4,1
3323: 2666 20 1 0060 CLA U1X,1
3324: 2667 10 1 0010 STO TS10,1
3325: 2670 26 1 0430 MPR VIX,1 # U1 DOT (RC-R5)
3326: 2671 32 0 0003 ADZ TS3 # SCALE BOTH RX AND RZ
3327: 2672 10 0 0003 STO TS3 # AT 24 FOR ARCTAE
3330: 2673 42 1 2661 TIX DXFR13+1,1
3331: 2674 72 0 6373 TSQ CRSPRD
3332: 2675 72 0 6422 TSQ NORMV
3333: 2676 30 0 0004 CLZ TS4
3334:
|
|
Page 44 |
3336: 2677 50 1 0002 VRUP1 AXT 2,1
3337: 2700 20 1 0010 CLA TS10,1
3340: 2701 26 1 0430 MPR VIX,1
3341: 2702 32 0 0004 ADZ TS4
3342: 2703 10 0 0004 STO TS4 # RZ AT 24
3343: 2704 42 1 2700 TIX VRUP1+1,1
3344: 2705 20 0 0410 CLA S10
3345: 2706 24 0 7520 SUB 3B3
3346: 2707 46 0 0753 TMI THEF # S10 = 1 OR 2
3347: 2710 72 0 7034 TSQ ARCTAE # TLOS=ARCTAN(RX/RZ)
3350: 2711 10 0 0303 STO TLOS # LINE OF SIGHT (DEDA)
3351: 2712 20 0 0311 CLA TR
3352: 2713 24 0 0310 SUB TDEL
3353: 2714 10 0 0435 STO T
3354: 2715 20 0 0436 CLA TB
3355: 2716 24 0 0445 SUB TCSM
3356: 2717 22 0 0311 ADD TR # TIME INC. TPI TO REND.
3357: 2720 24 0 0312 SUB 3J # TARGET OFFSET
3360: 2721 10 0 0442 STO TI
3361: 2722 72 0 6261 TSQ EXEC
3362: 2723 20 0 0410 DXFR14 CLA S10
3363: 2724 60 0 0000 COM
3364: 2725 46 0 5520 TMI CSMT1 # TO ELLIPX
3365:
3366: # ORBIT INSERTION SECTION
3367:
3370: 2726 20 0 0270 CLA VY0
3371: 2727 60 0 0000 COM
3372: 2730 26 0 0270 MPR VY0
3373: 2731 22 0 0143 ADD VHSQ # VH SQ
3374: 2732 72 0 7123 TSQ SQRTE
3375: 2733 10 0 0463 STO VHA # B13
3376: 2734 20 0 0662 CLA 4K5 # COMPUTE DESIRED BURNOUT
3377: 2735 24 0 0271 SUB RB # ALTITUDE RATE
3400: 2736 06 0 0565 MPY 4K4
3401: 2737 52 0 0003 LLS 3
3402: 2740 10 0 0423 STO RFDOT
3403:
|
|
Page 45 |
3405: 2741 24 0 0527 SUB 4K6 # LIMIT RFDOT BETWEEN
3406: 2742 46 0 2745 TMI *+3 # 23J AND 4K6
3407: 2743 20 0 0527 CLA 4K6
3410: 2744 40 0 2751 TRA *+5
3411: 2745 20 0 0465 CLA 23J
3412: 2746 24 0 0423 SUB RFDOT
3413: 2747 46 0 2752 TMI *+3
3414: 2750 20 0 0465 CLA 23J
3415: 2751 10 0 0423 STO RFDOT
3416: 2752 20 0 0271 CLA RB
3417: 2753 10 0 0347 STO RF
3420: 2754 20 0 0227 CLA 4K10
3421: 2755 26 0 0303 MPR THETAF
3422: 2756 22 0 0224 ADD 7J
3423: 2757 10 0 0177 STO AL
3424: 2760 24 0 0226 SUB 9J # LIMIT AL BETWEEN
3425: 2761 46 0 2764 TMI *+3 # 8J AND 9J
3426: 2762 20 0 0226 CLA 9J
3427: 2763 40 0 2770 TRA *+5
3430: 2764 20 0 0225 CLA 8J
3431: 2765 24 0 0177 SUB AL
3432: 2766 46 0 2771 TMI *+3
3433: 2767 20 0 0225 CLA 8J
3434: 2770 40 0 3740 TRA CDH3 # AL IN ACCUM
3435: 2771 20 0 0177 CLA AL
3436: 2772 40 0 3741 TRA CDH3+1
3437: # EXTERNAL DELTA V
3440: 2773 20 0 0407 XDV CLA S7
3441: 2774 56 0 0003 *ALS 3
3442: 2775 46 0 3003 TMI XDV1 # -IS ENGINE ON
3443: 2776 20 0 0614 CLA MU8
3444: 2777 24 0 4006 SUB 1B17
3445: 3000 46 0 3014 TMI XDV2
3446: 3001 20 0 7701 CLA 1B3 # ULLAGE DETECTED SET S7
3447: 3002 10 0 0407 STO S7
3450: 3003 50 1 0002 XDV1 AXT 2,1
3451: 3004 20 1 0460 CLA DVGXX,1 # INPUT VEL TO GAIN
3452:
|
|
Page 46 |
3454: 3005 24 1 0050 SUB DQSX,1 # ACCUM DELTA V
3455: 3006 10 1 0004 STO TS4,1
3456: 3007 10 1 0064 STO VGX,1
3457: 3010 42 1 3004 TIX XDV1+1,1
3460: 3011 72 0 6737 TSQ DPVMAG
3461: 3012 10 0 0370 STO VG # VEL TO GAIN MAG
3462: 3013 40 0 3212 TRA Q7 # TO STEERING
3463: 3014 50 1 0002 XDV2 AXT 2,1
3464: 3015 20 0 0450 CLA 28J1 # IF IN TPI, DELV = VG
3465: 3016 24 0 0526 SUB 2K11 # IF IN EXT DELTA V EQUAL
3466: 3017 46 0 3023 TMI *+4 # FUNCTION OF 28J
3467: 3020 30 1 0050 CLZ DQSX,1 # ZERO DQS VECTOR
3470: 3021 20 1 0064 CLA VGX,1
3471: 3022 40 0 3036 TRA XDV2P
3472: 3023 20 0 0452 CLA 28J3 # RADIAL COMPONENT
3473: 3024 26 1 0060 MPR U1X,1 # 13+1=14
3474: 3025 10 1 0050 STO DQSX,1
3475: 3026 20 0 0451 CLA 28J2 # CROSSRANGE COMPONENT
3476: 3027 26 1 0040 MPR W1X,1
3477: 3030 32 1 0050 ADZ DQSX,1
3500: 3031 10 1 0050 STO DQSX,1
3501: 3032 20 0 0450 CLA 28J1 # DOWNRANGE COMPONENT
3502: 3033 26 1 0034 MPR V1X,1
3503: 3034 34 1 0050 SUZ DQSX,1
3504: 3035 56 0 0001 ALS 1 # TO 13
3505: 3036 10 1 0460 XDV2P STO DVGXX,1 # VELOCITY TO GAIN
3506: 3037 42 1 3015 TIX XDV2+1,1
3507: 3040 40 0 3003 TRA XDV1
3510:
3511: 3041 20 0 0423 Q5 CLA RFDOT # GUIDANCE LAW
3512: 3042 10 0 0004 STO TS4 # SET FOR INDEXING
3513: 3043 30 0 0005 CLZ TS5
3514: 3044 20 0 0477 CLA RADOT
3515: 3045 10 0 0010 STO TS10
3516: 3046 20 0 0270 CLA VY0
3517: 3047 10 0 0011 STO TS11
3520: 3050 50 1 0001 AXT 1,1
3521:
|
|
Page 47 |
3523: 3051 44 0 3052 TOV *+1
3524: 3052 20 1 0504 CLA RD3DOT,1 # -2
3525: 3053 26 0 0357 MPR TBO # 9-2=7
3526: 3054 54 0 0001 LRS 1 # TO 8
3527: 3055 10 0 0001 STO TS1 # 1/2 AT 7
3530: 3056 20 1 0004 CLA TS4,1 # RFDOT OR ZERO
3531: 3057 24 1 0010 SUB TS10,1 # RDOT OR VY0
3532: 3060 10 0 0002 STO TS2
3533: 3061 06 0 7701 MPY 1B3 # B16
3534: 3062 04 0 0357 *DVP TBO # 16-9=7
3535: 3063 34 0 0001 SUZ TS1 # R OR YD2DOT
3536: 3064 10 0 0000 STO TS0 # TEST FOR OVERFLOW
3537: 3065 30 0 0002 CLZ TS2 # SIGN IF OVERFLOW
3540: 3066 72 0 3335 TSQ OVFLT
3541: 3067 10 1 0554 STO RD2DOT,1
3542: 3070 20 0 4020 CLA SIXTH # -2
3543: 3071 26 1 0504 MPR RD3DOT,1 # -4
3544: 3072 26 0 0357 MPR TBO # 5
3545: 3073 54 0 0001 LRS 1 # TO 6
3546: 3074 22 1 0554 ADD RD2DOT,1 # +1/2 2DOT AT 6
3547: 3075 26 0 0357 MPR TBO # 15
3550: 3076 56 0 0001 ALS 1 # TO 14
3551: 3077 10 0 0001 STO TS1
3552: 3100 20 1 0010 CLA TS10,1
3553: 3101 54 0 0001 LRS 1 # TO 14
3554: 3102 32 0 0001 ADZ TS1
3555: 3103 26 0 0357 MPR TBO # 23
3556: 3104 22 1 0210 ADD R,1
3557: 3105 10 1 0014 STO TS14,1 # RF OR YF
3560: 3106 42 1 3051 TIX Q5+8,1
3561: 3107 10 0 0347 STO RF # 23
3562: 3110 10 0 0271 STO RB # SAVE RF FOR ORBIT INSERT.
3563: 3111 24 0 0231 SUB 5J # -LUNAR RADIUS
3564: 3112 24 0 0232 SUB 16J # BURNOUT ALT ERROR
3565: 3113 10 0 0014 STO TS14
3566: 3114 14 0 0523 LDQ 5K20
3567: 3115 20 0 0506 CLA 4K12
3570:
|
|
Page 48 |
3572: 3116 24 0 0067 SUB AT
3573: 3117 46 0 3122 TMI *+3 # IF AT GT 4K12
3574: 3120 20 0 0574 CLA DEL2
3575: 3121 46 0 3123 TMI *+2 # IF AT LE 4K12 AND DEL2=1
3576: 3122 14 0 0564 LDQ 5K18
3577: 3123 12 0 0600 STQ RD3DTL # RD3DOT LOWER LIMIT
3600: 3124 20 0 0357 CLA TBO
3601: 3125 26 0 0357 MPR TBO
3602: 3126 26 0 0357 MPR TBO # TB CUBED
3603: 3127 10 0 0001 STO TS1 # 27
3604: 3130 50 1 0001 AXT 1,1
3605: 3131 44 0 3132 GDLAW3 TOV *+1
3606: 3132 20 1 0014 CLA TS14,1 # BURNOUT ERROR
3607: 3133 06 0 5000 MPY 12B4 # 27
3610: 3134 52 0 0002 LLS 2 # TO 25
3611: 3135 04 0 0001 *DVP TS1 # -2
3612: 3136 32 1 0504 *ADZ RD3DOT,1 # DESIRED ACCEL RATE
3613: 3137 10 0 0000 STO TS0 # TEST FOR OVERFLOW
3614: 3140 20 1 0014 CLA TS14,1
3615: 3141 72 0 3335 TSQ OVFLT
3616: 3142 10 1 0504 STO RD3DOT,1
3617: 3143 46 0 3150 TMI *+5
3620: 3144 24 1 0560 SUB 5K14,1 # UPPER LIMIT TEST
3621: 3145 46 0 3152 TMI *+5
3622: 3146 20 1 0560 CLA 5K14,1 # SET AT UPPER LIMIT
3623: 3147 40 0 3553 TRA LL3DOT+1
3624: 3150 24 1 0600 SUB RD3DTL,1 # LOWER LIMIT TEST
3625: 3151 46 0 3552 TMI LL3DOT
3626: 3152 42 1 3131 GDLAW4 TIX GDLAW3,1
3627: 3153 20 0 0636 CLA 2K1 # 48
3630: 3154 06 0 5033 MPY 1B1 # B49
3631: 3155 04 0 0210 DVP R # 49-23=26
3632: 3156 34 0 0143 SUZ VHSQ # VH SQ
3633: 3157 06 0 4010 MPY 1B4 # B30
3634: 3160 04 0 0210 DVP R # -ORBITAL RAD ACCEL AT 7
3635: 3161 32 0 0554 ADZ RD2DOT
3636: 3162 10 0 0554 STO RD2DOT # CMD RAD ACCEL AT 7
3637:
|
|
Page 49 |
3641: 3163 72 0 6261 TSQ EXEC
3642:
3643: # STEERING EQUATIONS.
3644:
3645: 3164 20 0 0233 STEER CLA 21J
3646: 3165 24 0 0337 SUB H
3647: 3166 46 0 3176 TMI STEER1
3650: 3167 20 0 0464 CLA 22J
3651: 3170 24 0 0367 SUB HDOT
3652: 3171 46 0 3176 TMI STEER1
3653: 3172 20 0 7701 CLA 1B3 =1024B13 # COMMAND X-AXIS VERT
3654: 3173 10 0 0370 STO VG
3655: 3174 20 0 4030 CLA PMAX # PSIP=1
3656: 3175 40 0 3206 TRA *+9
3657: 3176 50 1 0001 STEER1 AXT 1,1
3660: 3177 44 0 3200 TOV *+1
3661: 3200 20 1 0554 CLA RD2DOT,1 # PSIP AND PSIY COMPS
3662: 3201 14 0 4007 LDQ ZERO
3663: 3202 04 0 0067 *DVP AT # PSIP OR Y AT ZERO
3664: 3203 10 0 0000 STO TS0 # TEST FOR OVERFLOW
3665: 3204 20 1 0554 CLA RD2DOT,1 # SIGN IF OVERFLOW
3666: 3205 72 0 3335 TSQ OVFLT
3667: 3206 10 1 0010 STO TS10,1 # PSIP OR PSIY AT 0
3670: 3207 42 1 3177 TIX STEER1+1,1
3671: 3210 26 0 0010 MPR TS10
3672: 3211 10 0 0014 STO TS14 # (PSIP)SQ AT 0
3673: 3212 20 0 0614 Q7 CLA MU8 # TEST IF ENG ON
3674: 3213 24 0 4006 SUB 1B17
3675: 3214 46 0 3220 TMI *+4
3676: 3215 20 0 0370 CLA VG
3677: 3216 24 0 0466 SUB 5K26 # CONSTANT STEERING IF
3700: 3217 46 0 3231 TMI STEER5
3701: 3220 20 0 0410 CLA S10
3702: 3221 24 0 4006 SUB 1B17
3703: 3222 46 0 3264 TMI STEER2
3704: 3223 50 1 0002 AXT 2,1 # XBD FOR EXT DELTA V
3705: 3224 20 1 0064 CLA VGX,1
3706:
|
|
Page 50 |
3710: 3225 06 0 5033 MPY 1B1 # B14
3711: 3226 04 0 0370 DVP VG # RESULT AT B1
3712: 3227 10 1 0374 STO A11BD,1
3713: 3230 42 1 3224 TIX *-4,1
3714: 3231 30 0 0000 STEER5 CLZ TS0
3715: 3232 30 0 0001 CLZ TS1
3716: 3233 30 0 0002 CLZ TS2
3717: 3234 50 1 0002 AXT 2,1 # COMPUTE VELOCITY TO BE
3720: 3235 20 1 0374 CLA A11BD,1 # GAINED COMPONENTS
3721: 3236 26 1 0130 MPR A11,1
3722: 3237 32 0 0000 ADZ TS0
3723: 3240 10 0 0000 STO TS0
3724: 3241 20 1 0374 CLA A11BD,1
3725: 3242 26 1 0140 MPR A21,1
3726: 3243 32 0 0001 ADZ TS1
3727: 3244 10 0 0001 STO TS1
3730: 3245 20 1 0374 CLA A11BD,1
3731: 3246 26 1 0134 MPR A31,1
3732: 3247 32 0 0002 ADZ TS2
3733: 3250 10 0 0002 STO TS2
3734: 3251 42 1 3235 TIX *-12,1
3735: 3252 50 1 0002 AXT 2,1
3736: 3253 20 0 0370 CLA VG
3737: 3254 10 0 0267 STO DELVG
3740: 3255 06 1 0000 MPY TS0,1
3741: 3256 52 0 0002 LLS 2 # TO 13
3742: 3257 22 1 0470 ADD VDX,1
3743: 3260 10 1 0474 STO VSMGX,1 # 13
3744: 3261 42 1 3253 TIX *-6,1
3745: 3262 72 0 6261 TSQ EXEC
3746: 3263 40 0 7472 IDLE TRA TEST
3747: 3264 20 0 4030 STEER2 CLA PMAX
3750: 3265 34 0 0014 SUZ TS14
3751: 3266 10 0 0014 STO TS14 # 1-(PSIP)SQ
3752: 3267 72 0 7123 TSQ SQRTE
3753: 3270 10 0 0015 STO TS15
3754: 3271 20 0 0011 CLA TS11
3755:
|
|
Page 51 |
3757: 3272 62 0 0000 ABS
3760: 3273 24 0 0015 SUB TS15
3761: 3274 46 0 3304 TMI STEER3
3762: 3275 20 0 0011 CLA TS11
3763: 3276 46 0 3301 TMI *+3
3764: 3277 20 0 0015 CLA TS15
3765: 3300 40 0 3303 TRA *+3
3766: 3301 20 0 0015 CLA TS15
3767: 3302 60 0 0000 COM
3770: 3303 10 0 0011 STO TS11
3771: 3304 20 0 0011 STEER3 CLA TS11
3772: 3305 26 0 0011 MPR TS11
3773: 3306 60 0 0000 COM
3774: 3307 32 0 0014 ADZ TS14
3775: 3310 72 0 7123 TSQ SQRTE
3776: 3311 10 0 0012 STO TS12
3777: 3312 50 1 0002 STEER4 AXT 2,1
4000: 3313 20 0 0010 CLA TS10
4001: 3314 26 1 0060 MPR U1X,1
4002: 3315 10 0 0001 STO TS1
4003: 3316 20 0 0450 CLA 28J1
4004: 3317 46 0 3332 OUT1 TMI OUT # IF 28J1 NEGATIVE
4005: 3320 20 0 0012 CLA TS12
4006: 3321 26 1 0034 MPR V1X,1
4007: 3322 32 0 0001 ADZ TS1
4010: 3323 10 0 0001 STO TS1
4011: 3324 20 0 0011 CLA TS11
4012: 3325 26 1 0040 MPR W1X,1
4013: 3326 32 0 0001 ADZ TS1
4014: 3327 10 1 0374 STO A11BD,1
4015: 3330 42 1 3313 TIX STEER4+1,1
4016: 3331 40 0 3231 TRA STEER5
4017: 3332 20 0 0012 OUT CLA TS12
4020: 3333 60 0 0000 COM
4021: 3334 40 0 3321 TRA OUT1+2
4022: 3335 44 0 3340 OVFLT TOV *+3
4023: 3336 20 0 0000 CLA TS0
4024:
|
|
Page 52 |
4026: 3337 40 0 6764 TRA EXIT # EXIT WITH COMPUTED VALUE
4027: 3340 46 0 3343 TMI *+3
4030: 3341 20 0 4030 CLA PMAX # POSITIVE LIMIT
4031: 3342 40 0 3344 TRA *+2
4032: 3343 20 0 4037 CLA NMAX
4033: 3344 40 0 6764 TRA EXIT
4034:
4035: # DISPLAY ROUTINE SOFT PORTION.
4036:
4037: 3345 44 0 3346 DSP1 TOV *+1 # CL. O.F.
4040: 3346 30 0 0567 CLZ DSPF1 # H,HDOT MODE.
4041: 3347 46 0 3351 TMI *+2 # -IS INITIALIZE.
4042: 3350 40 0 6274 TRA DSPLY # TO COUNTER CHECK.(HARD)
4043: 3351 20 0 0337 CLA H
4044: 3352 10 0 0214 STO POUT
4045: 3353 20 0 0367 CLA HDOT
4046: # Q REGISTER DOES NOT NEED TO BE ZERO
4047: # SINCE DVP K55 IS AT WORST A LEFT
4050: # SHIFT OF 2 AND THE ALT RATE REGISTER
4051: # IS ONLY 15 BITS LONG
4052: 3354 04 0 0607 DVP K55
4053: 3355 40 0 6306 TRA DSPLY1
4054: 3356 20 0 0270 DSP2CP CLA VY0 # OUT-OF-CSM PLANE VEL.
4055: 3357 54 0 0021 LRS 17 # SET SIGN OF Q AND USE
4056: 3360 52 0 0021 LLS 17 # UP TIME
4057: 3361 12 0 0010 STQ TS10 # SAVE SIGN
4060: 3362 62 0 0000 ABS
4061: 3363 04 0 0665 *DVP VY0FS # =FULL-SCALE VALUE(200 FPS)
4062: 3364 44 0 3366 TOV *+2
4063: 3365 40 0 3367 TRA *+2
4064: 3366 20 0 4030 CLA PMAX
4065: 3367 32 0 0010 ADZ TS10 # VY0 IN SIGN-MAGNITUDE
4066: 3370 40 0 6345 TRA DSPLY3-1 # TO OUTPUT.(HARD)
4067:
4070: # EXECUTIVE PART 2. (BRANCH 50)
4071:
4072: 3371 20 0 1012 EXEC2 CLA BR1 # SET NAV BRANCH
4073:
|
|
Page 53 |
4075: 3372 10 0 0063 STO BRANCH
4076: 3373 72 0 1132 TSQ TMIE1 # RESET TM
4077: 3374 30 0 0455 CLZ DDF # DEDA DATA FLAG.
4100: 3375 46 0 3461 TMI NEWDD
4101: 3376 30 0 0571 EXECM CLZ IDRF # TEST IF DOWNLINK DATA
4102: 3377 46 0 3533 TMI EXECM2 # HAS BEEN RECEIVED
4103: 3400 20 0 0400 EXECM1 CLA S0
4104: 3401 24 0 7520 SUB 3B3
4105: 3402 46 0 3453 TMI EXECA # S0-3(-IS INER. REF)
4106: 3403 24 0 7701 SUB 1B3
4107: 3404 46 0 3536 TMI EXEC6 # S0-4(-IS IMU ALIGN)
4110: 3405 24 0 7701 SUB 1B3
4111: 3406 46 0 4047 TMI DELAY # S0-5(-IS LUN ALIGN)
4112: 3407 24 0 7701 SUB 1B3
4113: 3410 46 0 3453 TMI EXECA # S0-6(-IS ORB ALIGN)
4114: 3411 22 0 5427 *ADD 7B3 # S0+1
4115: 3412 46 0 3432 TMI INCMU7 # S0=7
4116: 3413 20 0 0604 CAL CLA DEL21 # CALIBRATE MODE
4117: 3414 46 0 3416 TMI *+2
4120: 3415 72 0 4772 TSQ EADICS # IMU DIR COSINES
4121: 3416 72 0 4451 TSQ ATTERR # COMPUTE ATTITUDE ERRORS
4122: 3417 50 1 0002 AXT 2,1
4123: 3420 20 0 0632 CLA 1K33 # -3
4124: 3421 06 1 0070 MPY EX,1 # 2
4125: 3422 52 0 0014 LLS 12 # -3+2-12=-13
4126: 3423 32 1 0510 ADZ DAXREM,1
4127: 3424 10 1 0510 STO DAXREM,1 # -13
4130: 3425 20 0 0633 CLA 1K34 # -15
4131: 3426 26 1 0070 MPR EX,1 # 2
4132: 3427 32 1 0544 ADZ 1K1,1
4133: 3430 10 1 0544 STO 1K1,1 # GYRO BIAS AT -13
4134: 3431 42 1 3420 TIX *-9,1
4135: 3432 30 0 0717 INCMU7 CLZ MU7 # INCR. COUNTER
4136: 3433 22 0 4006 ADD 1B17
4137: 3434 10 0 0717 STO MU7
4140: 3435 24 0 0621 SUB 1K37 # ACCEL. CAL. DURATION
4141: 3436 62 0 0000 ABS
4142:
|
|
Page 54 |
4144: 3437 60 0 0000 COM
4145: 3440 46 0 3447 TMI *+7 # + IS TIME FOR ACCEL CAL
4146: 3441 50 1 0002 AXT 2,1
4147: 3442 30 1 0714 CLZ SDVX,1
4150: 3443 26 0 0635 MPR 1K36
4151: 3444 32 1 0540 ADZ 1K19,1
4152: 3445 10 1 0540 STO 1K19,1 # NEW BIAS CORRECTION
4153: 3446 42 1 3442 TIX *-4,1
4154: 3447 20 0 0717 CLA MU7
4155: 3450 24 0 0617 SUB 1K30
4156: 3451 46 0 3453 TMI EXECA
4157: 3452 30 0 0400 CLZ S0 # CAL COMPLETE, SET ATT HOLD
4160: 3453 30 0 0530 EXECA CLZ DAXA # ZERO ALIGNMENT INCREMENTS
4161: 3454 30 0 0531 CLZ DAYA
4162: 3455 30 0 0532 CLZ DAZA
4163: 3456 40 0 4047 TRA DELAY # END MAJOR CYCLE
4164: 3457 12 0 0023 STQ SREX # STORE NEW DEDA DATA.
4165: 3460 40 0 0022 TRA SREX1
4166: 3461 20 0 4065 NEWDD CLA STOCOM # EQU TO STORE
4167: 3462 22 0 0333 ADD ADST # DEDA ADDRESS.
4170: 3463 10 0 0022 STO SREX1
4171: 3464 20 0 0326 CLA DD # DEDA DATA.
4172: 3465 72 0 3457 TSQ *-6
4173: 3466 20 0 1012 CLA BR1 # PROTECT BRANCH FROM DEDA
4174: 3467 10 0 0063 STO BRANCH
4175: 3470 20 0 0333 CLA ADST
4176: 3471 24 0 4013 SUB 1B9 # S0 ADDRESS
4177: 3472 46 0 3376 TMI EXECM
4200: 3473 24 0 4006 SUB 1B17
4201: 3474 46 0 3513 TMI EXEC3 # NEW WD IS S0
4202: 3475 24 0 4041 SUB 10B17
4203: 3476 46 0 3376 TMI EXECM # NEW WD BTWN S0PS13
4204: 3477 24 0 4006 SUB 1B17
4205: 3500 46 0 6154 TMI LUNAZ # NEW WD IS S13
4206: 3501 24 0 4006 SUB 1B17
4207: 3502 46 0 3504 TMI *+2 # NEW WD IS S14
4210: 3503 40 0 3376 TRA EXECM
4211:
|
|
Page 55 |
4213: 3504 20 0 0414 CLA S14 # NEW WD IS S14.
4214: 3505 24 0 4065 SUB 2B3
4215: 3506 46 0 3511 TMI *+3 # S14-2 (-IS S14=1)
4216: 3507 24 0 7701 SUB 1B3
4217: 3510 46 0 3533 TMI EXECM2 # S14-3 (-IS S14=2)
4220: 3511 10 0 0563 STO DLIF # ENABLE DL IF S14=1
4221: 3512 40 0 3400 TRA EXECM1
4222: 3513 20 0 0400 EXEC3 CLA S0
4223: 3514 22 0 7701 *ADD 1B3 # NEG IF S0=7
4224: 3515 46 0 3525 TMI MABEE
4225: 3516 24 0 5427 SUB 7B3
4226: 3517 46 0 3453 TMI EXECA
4227: 3520 20 0 0604 CLA DEL21 # CALIBRATE I.C.
4230: 3521 46 0 3525 TMI MABEE
4231: 3522 20 0 7520 CLA 3B3 # IMU ALINE FOR 2SECS.
4232: 3523 10 0 0400 STO S0
4233: 3524 12 0 0576 STQ DEL6
4234: 3525 50 1 0006 MABEE AXT 6,1
4235: 3526 30 1 0714 CLZ SDVX,1 # ZERO MU7 AND DV SUMS
4236: 3527 20 1 0130 CLA A11,1
4237: 3530 10 1 0160 STO A11D,1
4240: 3531 42 1 3526 TIX *-3,1
4241: 3532 40 0 3453 TRA EXECA
4242: 3533 20 0 1011 EXECM2 CLA IC1BR # SET IC BRANCH
4243: 3534 10 0 0063 STO BRANCH
4244: 3535 40 0 3400 TRA EXECM1
4245: 3536 30 0 0576 EXEC6 CLZ DEL6 # IMU ALINE.
4246: 3537 46 0 3541 TMI *+2 # -IS CALIBRATE.
4247: 3540 40 0 3542 TRA *+2
4250: 3541 20 0 5000 CLA 6B3
4251: 3542 10 0 0400 STO S0
4252: 3543 40 0 4047 TRA DELAY
4253: 3544 20 0 0140 FDAI1 CLA A21
4254: 3545 26 0 0127 MPR COGA
4255: 3546 10 0 0001 STO TS1
4256: 3547 20 0 0142 CLA A23
4257: 3550 26 0 0123 MPR SIGA
4260:
|
|
Page 56 |
4262: 3551 40 0 4674 TRA EX17+6
4263: 3552 20 1 0600 LL3DOT CLA RD3DTL,1
4264: 3553 10 1 0504 STO RD3DOT,1
4265: 3554 40 0 3152 TRA GDLAW4
4266: 3555 10 0 0442 NORTON STO TI
4267: 3556 12 0 0157 STQ TSEX # SUBR TO GO TO EXEC,
4270: 3557 72 0 6261 TSQ EXEC
4271: 3560 72 0 6535 TSQ ELPRD # ELPR AND COMPT
4272: 3561 72 0 6261 TSQ EXEC # LENGTH OF VECTOR
4273: 3562 50 1 0002 AXT 2,1 # RIX
4274: 3563 20 1 0220 CLA RIX,1
4275: 3564 10 1 0014 STO TS14,1
4276: 3565 42 1 3563 TIX *-2,1
4277: 3566 72 0 6422 TSQ NORMV
4300: 3567 50 1 0002 AXT 2,1
4301: 3570 20 0 0013 CLA TS13 # LENGTH OF RI
4302: 3571 40 0 0157 TRA TSEX
4303: 3572 30 0 0320 RRT CLZ READP # TEST FOR EXIT
4304: 3573 46 0 3575 TMI *+2 # FROM HOLD
4305: 3574 40 0 1222 TRA DEXIT # EXIT
4306: 3575 10 0 0325 STO RMF # TO READOUT
4307: 3576 40 0 7202 TRA ADOUT
4310: 3577 20 0 0410 EX33P CLA S10
4311: 3600 24 0 7520 SUB 3B3
4312: 3601 46 0 3630 TMI CSICDH
4313: 3602 20 0 0526 CLA 2K11
4314: 3603 10 0 0450 STO 28J1
4315: 3604 20 0 0613 CLA 3K4
4316: 3605 24 0 0033 SUB C2
4317: 3606 46 0 5552 TMI EX33+1
4320: 3607 30 0 0577 CLZ DEL10
4321: 3610 46 0 3620 TMI EX33PP
4322: 3611 20 0 0526 EX35 CLA 2K11
4323: 3612 10 0 0371 STO VT
4324: 3613 30 0 0172 CLZ Q1
4325: 3614 24 0 0231 SUB 5J
4326: 3615 10 0 0402 STO Q1DEDA
4327:
|
|
Page 57 |
4331: 3616 72 0 6261 TSQ EXEC
4332: 3617 40 0 2773 TRA XDV
4333: 3620 30 0 0306 EX33PP CLZ 4J
4334: # RESTORE SAVED QUANTITIES FOR T/B COMPUTATIONS
4335: # IN HARD MEMORY
4336: 3621 30 0 0050 CLZ V6X
4337: 3622 10 0 0012 STO TS12
4340: 3623 30 0 0051 CLZ V6Y
4341: 3624 10 0 0013 STO TS13
4342: 3625 30 0 0052 CLZ V6Z
4343: 3626 10 0 0014 STO TS14
4344: 3627 40 0 6067 TRA EX36+1
4345: 3630 72 0 6261 CSICDH TSQ EXEC
4346: 3631 20 0 0203 CLA RT
4347: 3632 24 0 0347 SUB RF
4350: 3633 10 0 0402 STO DELH
4351: 3634 10 0 0314 STO DELRP # LITTLE DELTA R AT 23
4352: 3635 30 0 0423 CLZ RFDOT
4353: 3636 50 1 0002 AXT 2,1
4354: 3637 20 1 0430 CLA VIX,1
4355: 3640 26 1 0030 MPR U2X,1
4356: 3641 56 0 0001 ALS 1
4357: 3642 32 0 0423 ADZ RFDOT
4360: 3643 10 0 0423 STO RFDOT # RFDOT = U2 DOT VT B13
4361: 3644 42 1 3637 TIX *-5,1
4362: 3645 20 0 0410 CLA S10
4363: 3646 22 0 5000 *ADD 6B3
4364: 3647 46 0 3773 TMI CDH # S10 = 2
4365: 3650 20 0 0416 CSI CLA S16
4366: 3651 06 0 4022 MPY 3PID4 # A=3/4(PI)(S16) AT B6
4367: 3652 10 0 0001 STO TS1
4370: 3653 04 0 0173 DVP AE
4371: 3654 26 0 0402 MPR DELH
4372: 3655 10 0 0002 STO TS2 # A(DELH/AE) B6
4373: 3656 20 0 0001 CLA TS1
4374: 3657 26 0 5033 MPR 1B1
4375: 3660 10 0 0005 STO TS5 # A AT B7
4376:
|
|
Page 58 |
4400: 3661 20 0 0275 CLA 1J
4401: 3662 24 0 0373 SUB TIG
4402: 3663 56 0 0003 ALS 3
4403: 3664 26 0 0077 MPR NE # NE(1J-TIG) AT B6
4404: 3665 22 0 0002 ADD TS2
4405: 3666 26 0 5000 MPR 6B3 =1.5B1 # 3/2(NE)(1J-TIG)+
4406: # 3/2(A)(DELH/AE)
4407: 3667 24 0 0005 SUB TS5
4410: 3670 22 0 0605 ADD 2J
4411: 3671 10 0 0007 STO TS7 # B AT B7
4412: 3672 20 0 0477 CLA RADOT
4413: 3673 24 0 0423 SUB RFDOT
4414: 3674 10 0 0005 STO TS5 # VERTICAL COMP. OF VP0
4415: 3675 06 0 4010 MPY 1B4
4416: 3676 04 0 0463 DVP VHA # 4(RADOT-REDOT)/VHA B6
4417: 3677 24 0 0002 SUB TS2
4420: 3700 10 0 0010 STO TS10
4421: 3701 20 0 0303 CLA THETAF
4422: 3702 54 0 0003 LRS 3
4423: 3703 22 0 0010 ADD TS10
4424: 3704 06 0 5033 MPY 1B1 # ACC = C AT B7
4425: 3705 04 0 0007 DVP TS7 # C/B B0
4426: 3706 10 0 0011 STO TS11
4427: 3707 26 0 0173 MPR AE
4430: 3710 10 0 0402 STO DELH # DELH B23
4431: 3711 24 0 0314 SUB DELRP # LITTLE DELTA R
4432: 3712 26 0 0077 MPR NE # TO B14
4433: 3713 54 0 0001 LRS 1 # B13 (DIVIDE BY 4)
4434: 3714 10 0 0004 STO TS4 # HORIZ COMP. OF VP0
4435: 3715 20 0 0011 CLA TS11 # C/B = DELH/AE B0
4436: 3716 26 0 0001 MPR TS1 # A(DELH/AE) B6
4437: 3717 22 0 0002 ADD TS2
4440: 3720 10 0 0001 STO TS1
4441: 3721 20 0 1066 CLA PI
4442: 3722 26 0 0416 MPR S16
4443: 3723 24 0 0001 SUB TS1
4444: 3724 06 0 7701 MPY 1B3 # TO B9
4445:
|
|
Page 59 |
4447: 3725 04 0 0077 DVP NE
4450: 3726 10 0 0372 STO TA0
4451: 3727 30 0 0006 CLZ TS6
4452: 3730 72 0 6737 TSQ DPVMAG # COMPUTE VP0
4453: 3731 10 0 0371 STO VP0 # VEL-TO-BE-GAINED AT CDH
4454: 3732 20 0 0477 CLA RADOT
4455: 3733 10 0 0423 STO RFDOT
4456: 3734 20 0 0314 CDH2 CLA DELRP # LITTLE DELTA R
4457: 3735 22 0 0402 ADD DELH
4460: 3736 26 0 4126 MPR M1B1 # -.5B0 = -1B1
4461: 3737 22 0 0173 ADD AE
4462: 3740 10 0 0177 CDH3 STO AL
4463: 3741 26 0 0347 MPR RF
4464: 3742 10 0 0007 STO TS7
4465: 3743 20 0 0177 CLA AL
4466: 3744 24 0 0347 SUB RF
4467: 3745 22 0 0177 ADD AL
4470: 3746 06 0 0636 MPY 2K1
4471: 3747 54 0 0001 LRS 1
4472: 3750 04 0 0007 DVP TS7
4473: 3751 72 0 7123 TSQ SQRTE
4474: 3752 24 0 0463 SUB VHA
4475: 3753 10 0 0450 STO 28J1 # 28J1 = VHF - VHA
4476: 3754 72 0 6261 TSQ EXEC
4477: 3755 20 0 0477 CLA RADOT
4500: 3756 24 0 0423 SUB RFDOT
4501: 3757 10 0 0452 STO 28J3
4502: 3760 10 0 0005 STO TS4+1
4503: 3761 20 0 0410 CLA S10
4504: 3762 60 0 0000 COM
4505: 3763 46 0 2773 TMI XDV
4506: 3764 20 0 0450 CLA 28J1
4507: 3765 10 0 0004 STO TS4
4510: 3766 20 0 0270 CLA VY0
4511: 3767 10 0 0006 STO TS4+2
4512: 3770 72 0 6737 TSQ DPVMAG
4513: 3771 10 0 0370 STO VG
4514:
|
|
Page 60 |
4516: 3772 40 0 6136 TRA GDLAW
4517: 3773 30 0 0372 CDH CLZ TA0
4520: 3774 22 0 0373 ADD TIG
4521: 3775 10 0 0373 STO TIG # TIG = TIG + TAO
4522: 3776 40 0 3734 TRA CDH2
4523: # SEE REAR OF LISTING FOR CHECKSUM
4524: # START OF HARDWIRED MEMORY
4525: # CONSTANTS
4526:
4527: 3777 CHECKSUM RANGE 1005-3776
4530: 4000 ORG 4000
4531: 4000 000007 7B17 DEC 7.B17 # CONSTANTS FOR NORMALIZE
4532: 4001 000006 6B17 DEC 6.B17
4533: 4002 000005 5B17 DEC 5.B17
4534: 4003 000004 4B17 DEC 4.B17
4535: 4004 000003 3B17 DEC 3.B17
4536: 4005 000002 2B17 DEC 2.B17
4537: 4006 000001 1B17 DEC 1.B17
4540: 4007 000000 ZERO DEC 0
4541: 4065 2B3 EQU 1B2
4542: 7512 5B3 EQU 10B4
4543: 5000 6B3 EQU 12B4
4544: 4010 020000 1B4 DEC 1.B4
4545: 4011 010000 1B5 DEC 1.B5
4546: 4012 004000 1B6 DEC 1.B6
4547: 4013 000400 1B9 DEC 1.B9
4550: 4014 000100 1B11 DEC 1.B11
4551: 4015 000040 1B12 DEC 1.B12
4552: 4016 000020 1B13 DEC 1.B13
4553: 4017 000010 1B14 DEC 1.B14
4554: 4017 8B17 EQU 1B14
4555: 4020 252525 SIXTH OCT 252525
4556: 4021 311040 2PIB3 DEC 6.2831853B3
4557: 4021 1K25 EQU 2PIB3
4560: 4022 113314 3PID4 DEC 2.3561945B3
4561: 4023 062210 PID2 DEC 1.57079633B3
4562: 4024 031104 PID4 DEC .78539816B3
4563:
|
|
Page 61 |
4565: 4025 774761 K173 DEC -.18488E-3B-6
4566: 4026 042027 K172 DEC .83119E-2B-4
4567: 4027 525261 K171 DEC -.16665554B-2
4570: 4030 377777 K170 OCT 377777 # 1B0
4571: 4030 PMAX EQU K170
4572: 4031 660111 K183 DEC -.0389929B-3
4573: 4032 112712 K182 DEC .1462766B-1
4574: 4033 726707 K181 DEC -.3211819B1
4575: 4034 077746 K180 DEC .999215B2
4576: 4035 54 0 0000 SHDUM LRS 0
4577: 4036 400000 MS OCT 400000
4600: 4037 400001 NMAX OCT 400001
4601: 4040 000061 49B17 DEC 49.B17
4602: 4041 000012 10B17 DEC 10.B17
4603: 4042 303240 BCDL DEC 100000.B17
4604: 4043 40 0 4475 TRNSFR TRA EROUT # EXIT FROM ATT ERROR COMPS
4605: 4044 40 0 6246 BACK TRA RETURN
4606: 4045 66 0 6100 TMOUT OUT 6100
4607: 4046 20 0 4000 CLAFR CLA 4000
4610: 7002 CLATEN EQU SICO2 # CLA 0,1
4611: 4036 TRACOM EQU MS # LOOKS LIKE TRA 0
4612: 4065 STOCOM EQU 1B2 # LOOKS LIKE STO 0
4613: 5033 DUMCLA EQU 1B1 # LOOKS LIKE CLA 0
4614:
4615: # ** 20 MILLISECOND COMPUTATIONS
4616:
4617: 4047 70 0 4050 DELAY DLY *+1
4620: 4050 64 0 2001 INP 2001 # INPUT PGNS ANGLES
4621: 4051 10 0 0107 STO THEP
4622: 4052 64 0 2002 INP 2002
4623: 4053 10 0 0117 STO PHIP
4624: 4054 64 0 2004 INP 2004
4625: 4055 10 0 0113 STO PSIP
4626: 4056 64 0 6010 INP 6010 # INPUT GYRO DATA
4627: 4057 10 0 0354 STO DAX
4630: 4060 64 0 6002 INP 6002
4631: 4061 10 0 0355 STO DAY
4632:
|
|
Page 62 |
4634: 4062 64 0 6004 INP 6004
4635: 4063 10 0 0356 STO DAZ
4636: 4064 64 0 6020 INP 6020 # INPUT ACCELEROMETER DATA
4637: 4065 10 0 0000 1B2 STO TS0 # VALUE USED AS CONSTANT
4640: 4066 64 0 6040 INP 6040
4641: 4067 10 0 0001 STO TS1
4642: 4070 64 0 6100 INP 6100
4643: 4071 10 0 0002 STO TS2
4644: 4072 40 0 1015 EX1 TRA EXIT1
4645: # PROCESS ACCELEROMETER INPUTS
4646: 4073 50 1 0002 AXT 2,1
4647: 4074 30 1 0350 DVS CLZ DVX,1 # SAVE PREVIOUS VALUE
4650: 4075 10 1 0074 STO DVXM1,1
4651: 4076 30 1 0000 CLZ TS0,1
4652: 4077 24 0 7507 SUB 1K7 # 11
4653: 4100 56 0 0001 ALS 1
4654: 4101 26 1 0534 MPR 1K18,1 # SCALE FACTOR
4655: 4102 56 0 0001 ALS 1 # SCALE AT 1
4656: 4103 22 1 0540 ADD 1K19,1 # BIAS COMPENSATION
4657: 4104 10 1 0350 STO DVX,1 # AT 1
4660: 4105 42 1 4074 TIX DVS,1
4661: 4106 40 0 1016 TRA EXIT2 # TO MODE CHECK.
4662: # PROCESS GYRO INPUTS
4663: 4107 50 1 0002 AXT 2,1
4664: 4110 44 0 4111 TOV *+1 # RESET
4665: 4111 30 1 0354 GYCOM CLZ DAX,1
4666: 4112 24 0 7507 SUB 1K7
4667: 4113 56 0 0001 ALS 1 # RADIANS AT -6
4670: 4114 10 1 0354 STO DAX,1
4671: 4115 26 1 0550 MPR 1K3,1 # SCALE FACTOR COMP
4672: 4116 22 1 0544 ADD 1K1,1 # AT -13
4673: 4117 32 1 0510 ADZ DAXREM,1
4674: 4120 10 1 0510 STO DAXREM,1
4675: 4121 22 0 4010 ADD 1B4 # ROUND
4676: 4122 54 0 0016 LRS 14 # TO +1
4677: 4123 56 0 0007 ALS 7 # TO -6, QUANTIZED AT -16
4700: 4124 10 0 0006 STO TS6
4701:
|
|
Page 63 |
4703: 4125 56 0 0007 ALS 7 # SAVE REMAINDER
4704: 4126 60 0 0000 M1B1 COM # INSTRUCTION LOOKS LIKE -1B1
4705: 4127 32 1 0510 ADZ DAXREM,1
4706: 4130 10 1 0510 STO DAXREM,1
4707: 4131 30 0 0006 CLZ TS6
4710: 4132 32 1 0354 ADZ DAX,1
4711: 4133 22 1 0530 ADD DAXA,1
4712: 4134 10 1 0354 STO DAX,1 # -6
4713: 4135 56 0 0003 *ALS 3 # TO -9
4714: 4136 10 1 0010 STO TS10,1
4715: 4137 62 0 0000 *ABS
4716: 4140 22 0 4012 *ADD 1B6 # TEST FOR POSSIBLE OVERFL
4717: 4141 42 1 4111 TIX GYCOM,1
4720: 4142 40 0 1017 EX3 TRA EXIT3
4721: 4143 44 0 4405 TOV HRC
4722: 4144 30 0 0553 CLZ HRF
4723: 4145 46 0 4373 TMI LRI
4724: # COMPUTE DIRECTION COSINE CHANGE
4725: 4146 20 0 0010 CDCC CLA TS10 # DAX AT -6 OR -9
4726: 4147 06 0 0011 MPY TS11 # DAY
4727: 4150 54 0 0001 LRS 1 # 1/2DAX(DAY) AT -12 OR -18
4730: 4151 72 0 1002 TSQ RND
4731: 4152 22 0 0012 ADD TS12 # DAZ
4732: 4153 10 0 0001 STO TS1
4733: 4154 20 0 0010 CLA TS10
4734: 4155 06 0 0012 MPY TS12
4735: 4156 54 0 0001 LRS 1 # 1/2DAX(DAZ) AT -12 OR -18
4736: 4157 72 0 1002 TSQ RND
4737: 4160 34 0 0146 SUZ E13
4740: 4161 10 0 0007 STO TS7
4741: 4162 24 0 0011 SUB TS11
4742: 4163 10 0 0002 STO TS2
4743: 4164 20 0 0011 CLA TS11
4744: 4165 26 0 0011 MPR TS11
4745: 4166 54 0 0001 LRS 1
4746: 4167 10 0 0133 STO TS8
4747: 4170 20 0 0012 CLA TS12
4750:
|
|
Page 64 |
4752: 4171 26 0 0012 MPR TS12
4753: 4172 54 0 0001 LRS 1 # 1/2DAZ(DAZ) AT -12 OR -18
4754: 4173 22 0 0133 ADD TS8
4755: 4174 72 0 1002 TSQ RND
4756: 4175 60 0 0000 COM
4757: 4176 32 0 0144 ADZ E1 # NORMALITY CONSTRAINT
4760: 4177 10 0 0003 STO TS3
4761: 4200 30 0 0007 CLZ TS7
4762: 4201 22 0 0011 ADD TS11
4763: 4202 10 0 0004 STO TS4
4764: 4203 20 0 0011 CLA TS11
4765: 4204 06 0 0012 MPY TS12
4766: 4205 54 0 0001 LRS 1 # 1/2DAY(DAZ) AT -12 OR -18
4767: 4206 72 0 1002 TSQ RND
4770: 4207 24 0 0010 SUB TS10
4771: 4210 10 0 0005 STO TS5
4772: 4211 20 0 0010 CLA TS10
4773: 4212 26 0 0010 MPR TS10
4774: 4213 54 0 0001 LRS 1 # 1/2DAX(DAX) AT -12 OR -18
4775: 4214 32 0 0133 ADZ TS8
4776: 4215 72 0 1002 TSQ RND
4777: 4216 60 0 0000 COM
5000: 4217 32 0 0145 ADZ E3
5001: 4220 10 0 0006 STO TS6
5002: 4221 40 0 1020 EX4 TRA EXIT4
5003: 4222 50 1 0002 AXT 2,1 # COMPUTE EQUATIONS
5004: 4223 20 0 0001 DICOS CLA TS1
5005: 4224 26 1 0140 MPR A21,1 # 1
5006: 4225 32 1 0150 ADZ DA11,1
5007: 4226 10 1 0150 STO DA11,1 # -5 OR -8
5010: 4227 20 0 0002 CLA TS2
5011: 4230 26 1 0134 MPR A31,1
5012: 4231 32 1 0150 ADZ DA11,1
5013: 4232 10 1 0150 STO DA11,1 # -5 OR -8
5014: 4233 20 0 0003 CLA TS3
5015: 4234 26 1 0130 MPR A11,1
5016: 4235 32 1 0150 ADZ DA11,1
5017:
|
|
Page 65 |
5021: 4236 10 1 0150 STO DA11,1 # -5 OR -8
5022: 4237 20 0 0004 CLA TS4 # ROW 3
5023: 4240 26 1 0130 MPR A11,1
5024: 4241 32 1 0154 ADZ DA31,1
5025: 4242 10 1 0154 STO DA31,1
5026: 4243 20 0 0005 CLA TS5
5027: 4244 26 1 0140 MPR A21,1
5030: 4245 32 1 0154 ADZ DA31,1
5031: 4246 10 1 0154 STO DA31,1
5032: 4247 20 0 0006 CLA TS6
5033: 4250 26 1 0134 MPR A31,1
5034: 4251 32 1 0154 ADZ DA31,1
5035: 4252 10 1 0154 STO DA31,1
5036: 4253 42 1 4223 TIX DICOS,1
5037: # INTEGRATE DIRECTION COSINES
5040: 4254 50 1 0006 AXT 6,1
5041: 4255 20 0 0553 INTAS CLA HRF
5042: 4256 46 0 4431 TMI HRINT # -5 OR -8 TEST
5043: 4257 20 1 0150 CLA DA11,1
5044: 4260 22 0 4013 RND1 ADD 1B9 # ROUND
5045: 4261 54 0 0011 SHFT1 LRS 9 # TO 1
5046: 4262 10 0 0001 STO TS1
5047: 4263 56 0 0011 ALS 9
5050: 4264 60 0 0000 COM
5051: 4265 32 1 0150 ADZ DA11,1
5052: 4266 10 1 0150 STO DA11,1 # SAVE REMAINDER.
5053: 4267 30 1 0130 CLZ A11,1
5054: 4270 32 0 0001 ADZ TS1
5055: 4271 10 1 0130 STO A11,1
5056: 4272 42 1 4255 TIX INTAS,1
5057: 4273 72 0 1021 TSQ EXIT5 # DOWNLINK INPUT
5060: 4274 72 0 1022 TSQ EXIT6 # TELEMETRY OUTPUT
5061: # COMPUTE ROW 2
5062: 4275 20 0 0131 COA21 CLA A12
5063: 4276 26 0 0136 MPR A33 # 2
5064: 4277 10 0 0001 STO TS1
5065: 4300 20 0 0132 CLA A13
5066:
|
|
Page 66 |
5070: 4301 26 0 0135 MPR A32
5071: 4302 34 0 0001 SUZ TS1
5072: 4303 56 0 0001 ALS 1 # TO 1
5073: 4304 10 0 0140 STO A21 # A21
5074: 4305 20 0 0132 CLA A13
5075: 4306 26 0 0134 MPR A31
5076: 4307 10 0 0001 STO TS1
5077: 4310 20 0 0130 CLA A11
5100: 4311 26 0 0136 MPR A33
5101: 4312 34 0 0001 SUZ TS1
5102: 4313 56 0 0001 ALS 1
5103: 4314 10 0 0141 STO A22 # A22
5104: 4315 20 0 0130 CLA A11
5105: 4316 26 0 0135 MPR A32
5106: 4317 10 0 0001 STO TS1
5107: 4320 20 0 0131 CLA A12
5110: 4321 26 0 0134 MPR A31
5111: 4322 34 0 0001 SUZ TS1
5112: 4323 56 0 0001 ALS 1
5113: 4324 10 0 0142 STO A23 # A23,DIR COS UPDATE COMPLETE
5114: 4325 40 0 1024 EX8 TRA EXIT8
5115: # VELOCITY RESOLUTION
5116: 4326 50 1 0002 DVINT AXT 2,1 # RESOLVE BODY DVS TO
5117: 4327 20 1 0130 CLA A11,1 # INERTIAL FRAME AND
5120: 4330 26 0 0350 MPR DVX # ACCUMULATE.
5121: 4331 10 0 0001 STO TS1 # 2
5122: 4332 20 1 0140 CLA A21,1
5123: 4333 26 0 0351 MPR DVY
5124: 4334 32 0 0001 ADZ TS1
5125: 4335 10 0 0001 STO TS1
5126: 4336 20 1 0134 CLA A31,1
5127: 4337 26 0 0352 MPR DVZ
5130: 4340 32 0 0001 ADZ TS1 # 2
5131: 4341 22 0 4016 ADD 1B13 # ROUND
5132: 4342 54 0 0005 LRS 5
5133: 4343 32 1 0120 ADZ DVSX,1
5134: 4344 10 1 0120 STO DVSX,1 # 7
5135:
|
|
Page 67 |
5137: 4345 42 1 4327 TIX DVINT+1,1
5140: 4346 72 0 1021 TSQ EXIT5 # DOWNLINK INPUT
5141: 4347 72 0 1022 TSQ EXIT6 # TELEMETRY OUTPUT
5142:
5143: 4350 30 0 0573 CLZ FLAG1
5144: 4351 46 0 0063 TMI BRANCH # - IS GUID/NAV CYCLE.
5145: 4352 20 0 4036 CLA MS
5146: 4353 10 0 0573 STO FLAG1
5147: 4354 40 0 1025 EX9 TRA EXIT9
5150:
5151: # HARDWIRED 40 MS COMPUTATIONS
5152: # DISCRETE INPUT AND STAGING RECOGNITION COMPS.
5153:
5154: 4355 64 0 2020 INP DISC1I # INPUT DISCRETE WD 1
5155: 4356 10 0 0401 STO DISC1C
5156: 4357 22 0 4006 ADD 1B17 # OBTAIN TWOS COMP OF INPUT WD
5157: 4360 60 0 0000 COM
5160: 4361 10 0 0533 STO DISC1
5161: 4362 20 0 0574 CLA DEL2 # TEST FOR STAGING
5162: 4363 46 0 1026 TMI EXIT10 # - IS STAGED.
5163: 4364 20 0 0401 CLA DISC1C # TEST FOR ASCENT ENG ON
5164: 4365 56 0 0006 *ALS 6
5165: 4366 46 0 1026 TMI EXIT10 # - IS OFF.
5166: 4367 30 0 0604 CLZ DEL21 # RESET LUNAR SURFACE FLAG
5167: 4370 20 0 4036 CLA MS
5170: 4371 10 0 0574 STO DEL2 # SET STAGED FLAG
5171: 4372 40 0 1027 TRA EXIT11
5172:
5173: # DIRECTION COSINE LOGIC
5174: 4373 50 1 0006 LRI AXT 6,1
5175: 4374 30 1 0150 CLZ DA11,1 # REMAINDERS
5176: 4375 56 0 0003 ALS 3 # TO -8
5177: 4376 10 1 0150 STO DA11,1
5200: 4377 42 1 4374 TIX *-3,1
5201: 4400 20 0 4260 CLA RND1
5202: 4401 10 0 1003 STO RND+1
5203: 4402 20 0 4261 CLA SHFT1
5204:
|
|
Page 68 |
5206: 4403 10 0 1004 STO RND+2
5207: 4404 40 0 4146 TRA CDCC
5210:
5211: 4405 20 0 0553 HRC CLA HRF
5212: 4406 46 0 4421 TMI HRC1
5213: 4407 20 0 4432 CLA RND2 # SET UP FOR HIGH RATE
5214: 4410 10 0 1003 STO RND+1
5215: 4411 20 0 4433 CLA SHFT2
5216: 4412 10 0 1004 STO RND+2
5217: 4413 10 0 0553 STO HRF
5220: 4414 50 1 0006 AXT 6,1
5221: 4415 30 1 0150 CLZ DA11,1
5222: 4416 54 0 0003 LRS 3 # TO -5
5223: 4417 10 1 0150 STO DA11,1
5224: 4420 42 1 4415 TIX *-3,1
5225: 4421 50 1 0002 HRC1 AXT 2,1
5226: 4422 20 1 0354 CLA DAX,1
5227: 4423 10 1 0010 STO TS10,1 # AT -6
5230: 4424 30 1 0144 CLZ E1,1
5231: 4425 54 0 0003 LRS 3 # TO -6
5232: 4426 10 1 0144 STO E1,1
5233: 4427 42 1 4422 TIX *-5,1
5234: 4430 40 0 4146 TRA CDCC
5235:
5236: 4431 20 1 0150 HRINT CLA DA11,1
5237: 4432 22 0 4015 RND2 ADD 1B12 # ROUND
5240: 4433 54 0 0006 SHFT2 LRS 6 # TO 1
5241: 4434 10 0 0001 STO TS1
5242: 4435 56 0 0006 ALS 6
5243: 4436 40 0 4264 TRA INTAS+7
5244:
5245: # ATTITUDE HOLD.(40 MS)
5246: 4437 20 0 0575 AHE CLA DEL5 # ATTITUDE HOLD ENTRY
5247: 4440 46 0 4450 TMI AHE1 # IF MINUS - DRIVE TO REF COSINES
5250: 4441 20 0 4036 CLA MS # FIRST CYCLE IN
5251: 4442 10 0 0575 STO DEL5 # ATTITUDE HOLD
5252: 4443 50 1 0006 AXT 6,1 # SET DESIRED ATTITUDE
5253:
|
|
Page 69 |
5255: 4444 20 1 0130 CLA A11,1
5256: 4445 10 1 0160 STO A11D,1
5257: 4446 42 1 4444 TIX *-2,1
5260: 4447 72 0 1030 TSQ EXIT12 # TO ACQUISITION RESET.
5261: 4450 14 0 4043 AHE1 LDQ TRNSFR # TRA EROUT INTO Q
5262: 4451 12 0 0023 ATTERR STQ SREX # ENTER HERE FROM CALIBRATE
5263: 4452 50 1 0002 AXT 2,1 # COMPUTE EX
5264: 4453 20 1 0164 CLA A31D,1
5265: 4454 26 1 0140 MPR A21,1 # 1+1=+2
5266: 4455 60 0 0000 COM
5267: 4456 32 0 0070 ADZ EX
5270: 4457 10 0 0070 STO EX # +2
5271: 4460 42 1 4453 TIX *-5,1
5272: 4461 50 1 0002 EYEZ AXT 2,1 # COMPUTE EY AND EZ
5273: 4462 20 1 0160 CLA A11D,1
5274: 4463 26 1 0140 MPR A21,1 # 1+1=+2
5275: 4464 32 0 0072 ADZ EZ
5276: 4465 10 0 0072 STO EZ
5277: 4466 20 1 0160 CLA A11D,1
5300: 4467 26 1 0134 MPR A31,1 # 1+1=+2
5301: 4470 60 0 0000 COM
5302: 4471 32 0 0071 ADZ EY
5303: 4472 10 0 0071 STO EY
5304: 4473 42 1 4462 TIX *-9,1
5305: 4474 40 0 0023 TRA SREX
5306:
5307: # LIMIT AND OUTPUT ATTITUDE ERRORS
5310: 4475 40 0 1031 EROUT TRA EXIT13
5311: 4476 50 1 0002 AXT 2,1
5312: 4477 30 1 0070 CLZ EX,1
5313: 4500 14 0 4036 LDQ MS
5314: 4501 46 0 4503 TMI *+2
5315: 4502 40 0 4504 TRA *+2
5316: 4503 12 1 0070 STQ EX,1
5317: 4504 62 0 0000 ABS
5320: 4505 24 0 0666 SUB 4K21 # +2
5321: 4506 46 0 4511 TMI *+3 # LESS THAN MAX
5322:
|
|
Page 70 |
5324: 4507 20 0 4030 CLA PMAX # SET MAX OUTPUT
5325: 4510 40 0 4513 TRA *+3
5326: 4511 22 0 0666 ADD 4K21
5327: 4512 04 0 0666 DVP 4K21 # SCALE FACTOR
5330: 4513 32 1 0070 ADZ EX,1
5331: 4514 10 1 0070 STO EX,1
5332: 4515 42 1 4477 TIX EROUT+2,1
5333: 4516 66 0 6001 OUT EXO # AT 0
5334: 4517 20 0 0071 CLA EY
5335: 4520 66 0 6002 OUT EYO # AT 0
5336: 4521 20 0 0072 CLA EZ
5337: 4522 66 0 6004 OUT EZO # AT 0
5340: 4523 40 0 1032 TRA EXIT14
5341:
5342: # RENDEZVOUS STEERING
5343: 4524 30 0 0575 RST CLZ DEL5 # CLEAR ATT HLD 1ST CYCLE FLAG
5344: 4525 50 1 0002 AXT 2,1
5345: 4526 20 1 0374 CLA A11BD,1
5346: 4527 10 1 0160 STO A11D,1
5347: 4530 42 1 4526 TIX *-2,1
5350: 4531 20 0 4043 CLA TRNSFR # TRA EROUT INTO SREX
5351: 4532 10 0 0023 STO SREX
5352: 4533 40 0 4461 TRA EYEZ
5353:
5354: # LUNAR ALIGN COMPS
5355: 4534 20 0 0134 LUNAL CLA A31
5356: 4535 26 0 0134 MPR A31
5357: 4536 60 0 0000 COM
5360: 4537 22 0 4065 ADD 1B2
5361: 4540 72 0 7123 TSQ SQRTE
5362: 4541 10 0 0001 STO TS1
5363: 4542 20 0 0047 CLA SIDELL # COMPUTE COS DEL A
5364: 4543 26 0 0547 MPR DDEL
5365: 4544 22 0 0053 ADD CODELL
5366: 4545 06 0 0001 MPY TS1 # A32D AT 2
5367: 4546 52 0 0001 LLS 1
5370: 4547 26 0 0141 MPR A22
5371:
|
|
Page 71 |
5373: 4550 10 0 0002 STO TS2
5374: 4551 20 0 0053 CLA CODELL # COMPUTE SIN DEL A
5375: 4552 26 0 0547 MPR DDEL
5376: 4553 60 0 0000 COM
5377: 4554 22 0 0047 ADD SIDELL
5400: 4555 06 0 0001 MPY TS1 # A33D AT 2
5401: 4556 52 0 0001 LLS 1
5402: 4557 26 0 0142 MPR A23
5403: 4560 32 0 0002 ADZ TS2
5404: 4561 10 0 0002 STO TS2
5405: 4562 20 0 0134 CLA A31
5406: 4563 26 0 0140 MPR A21
5407: 4564 32 0 0002 ADZ TS2
5410: 4565 14 0 4007 LDQ ZERO
5411: 4566 04 0 0626 DVP 1K26
5412: 4567 10 0 0530 STO DAXA # -6
5413: 4570 20 0 0134 CLA A31
5414: 4571 14 0 4007 LDQ ZERO
5415: 4572 04 0 0630 DVP 1K28 # 1-7=-6
5416: 4573 10 0 0001 STO TS1
5417: 4574 20 0 0352 CLA DVZ
5420: 4575 22 0 0076 ADD DVZM1
5421: 4576 06 0 0627 MPY 1K27 # 1-4=-3
5422: 4577 52 0 0003 LLS 3 # TO -6
5423: 4600 34 0 0001 SUZ TS1
5424: 4601 10 0 0531 STO DAYA
5425: 4602 20 0 0351 CLA DVY
5426: 4603 22 0 0075 ADD DVYM1
5427: 4604 06 0 0627 MPY 1K27 # 1-4=-3
5430: 4605 52 0 0003 LLS 3 # TO -6
5431: 4606 10 0 0001 STO TS1
5432: 4607 20 0 0140 CLA A21
5433: 4610 14 0 4007 LDQ ZERO
5434: 4611 04 0 0630 DVP 1K28
5435: 4612 34 0 0001 SUZ TS1
5436: 4613 10 0 0532 STO DAZA
5437: 4614 50 1 0002 AXT 2,1
5440:
|
|
Page 72 |
5442: 4615 20 1 0530 CLA DAXA,1
5443: 4616 62 0 0000 ABS
5444: 4617 54 0 0002 LRS 2 # TO -4
5445: 4620 32 0 0002 ADZ TS2
5446: 4621 10 0 0002 STO TS2
5447: 4622 42 1 4615 TIX *-5,1
5450: 4623 24 0 0631 SUB 1K29 # TEST FOR LUNAR ALIGN COMPLETE
5451: 4624 10 0 0606 STO DEL42 # DEL42 NEG IS LUNAL COMPLETE
5452: 4625 40 0 1033 TRA EXIT15
5453:
5454: # FDAI COMPUTATIONS
5455: 4626 20 0 0135 FDAI CLA A32 # TOTAL ATTITUDE
5456: 4627 60 0 0000 COM # -A32
5457: 4630 72 0 4724 TSQ FDAIL # LIMIT ROUTINE
5460: 4631 66 0 2004 OUT SIBEO # SIN BETA AT 0
5461: 4632 20 0 0136 CLA A33
5462: 4633 26 0 0136 MPR A33
5463: 4634 10 0 0001 STO TS1
5464: 4635 20 0 0134 CLA A31
5465: 4636 26 0 0134 MPR A31
5466: 4637 32 0 0001 ADZ TS1
5467: 4640 72 0 7123 TSQ SQRTE
5470: 4641 10 0 0002 STO TS2 # COS BETA
5471: 4642 72 0 4724 TSQ FDAIL
5472: 4643 66 0 2010 OUT COBEO
5473: 4644 40 0 1034 EX16 TRA EXIT16
5474: 4645 20 0 0002 CLA TS2
5475: 4646 24 0 0625 SUB 1K24
5476: 4647 46 0 1035 TMI EXIT17 # USE OLD VALUE OF SIGA AND COGA
5477: 4650 14 0 4007 LDQ ZERO
5500: 4651 20 0 0134 CLA A31
5501: 4652 54 0 0001 LRS 1
5502: 4653 04 0 0002 DVP TS2
5503: 4654 10 0 0123 STO SIGA
5504: 4655 72 0 4724 TSQ FDAIL
5505: 4656 66 0 2020 OUT SIGAO
5506: 4657 14 0 4007 LDQ ZERO
5507:
|
|
Page 73 |
5511: 4660 20 0 0136 CLA A33
5512: 4661 54 0 0001 LRS 1
5513: 4662 04 0 0002 DVP TS2
5514: 4663 10 0 0127 STO COGA
5515: 4664 72 0 4724 TSQ FDAIL
5516: 4665 66 0 2040 OUT COGAO
5517: 4666 40 0 1035 EX17 TRA EXIT17
5520: # THE NEXT 5 CELLS ARE BYPASSED AND
5521: # RE-WRITTEN IN SOFT MEMORY
5522: 4667 20 0 0142 CLA A23 # GAMMA OUTPUT
5523: 4670 26 0 0123 MPR SIGA
5524: 4671 10 0 0001 STO TS1
5525: 4672 20 0 0140 CLA A21
5526: 4673 26 0 0127 MPR COGA
5527: 4674 34 0 0001 SUZ TS1
5530: 4675 56 0 0001 ALS 1
5531: 4676 72 0 4724 TSQ FDAIL
5532: 4677 66 0 2001 OUT SIALO
5533: 4700 20 0 0132 CLA A13
5534: 4701 26 0 0123 MPR SIGA
5535: 4702 10 0 0001 STO TS1
5536: 4703 20 0 0130 CLA A11
5537: 4704 26 0 0127 MPR COGA
5540: 4705 34 0 0001 SUZ TS1
5541: 4706 56 0 0001 ALS 1
5542: 4707 72 0 4724 TSQ FDAIL
5543: 4710 66 0 2002 OUT COALO
5544:
5545: # DEDA DISCRETE SAMPLING
5546:
5547: 4711 64 0 2040 INP DISC2I
5550: 4712 22 0 4006 ADD 1B17
5551: 4713 60 0 0000 COM
5552: 4714 56 0 0001 *ALS 1 # IS TAPE LOAD REQUESTED
5553: 4715 46 0 6214 TMI GSESR # IF MINUS - TRANSFER TO GSE SERV
5554: 4716 56 0 0003 *ALS 3
5555: 4717 50 1 0003 AXT 3,1
5556:
|
|
Page 74 |
5560: 4720 46 0 4741 TMI SPULSE
5561: 4721 56 0 0001 *ALS 1
5562: 4722 42 1 4720 TIX *-2,1
5563: 4723 40 0 4742 TRA SPULSE+1
5564:
5565: # FDAI LIMITING SUBROUTINE.
5566: 4724 12 0 0023 FDAIL STQ SREX
5567: 4725 14 0 4036 LDQ MS
5570: 4726 46 0 4730 TMI *+2
5571: 4727 14 0 4007 LDQ ZERO
5572: 4730 12 0 0001 STQ TS1 # SET SIGN
5573: 4731 62 0 0000 ABS
5574: 4732 22 0 4014 ADD 1B11 # ROUND
5575: 4733 56 0 0001 *ALS 1
5576: 4734 46 0 4736 TMI *+2 # - SET MAX VALUE
5577: 4735 40 0 4737 TRA *+2
5600: 4736 20 0 4030 CLA PMAX
5601: 4737 32 0 0001 ADZ TS1
5602: 4740 40 0 0023 TRA SREX
5603:
5604: 4741 10 1 0320 SPULSE STO READP,1 # SET DEDA FLAG
5605: 4742 40 0 1036 TRA EXIT18
5606:
5607: # COMPUTE NORMALITY AND ORTHOGONALITY CONSTRAINTS
5610: 4743 50 1 0002 NOC AXT 2,1
5611: 4744 20 1 0130 CLA A11,1
5612: 4745 26 1 0130 MPR A11,1
5613: 4746 32 0 0144 ADZ E1
5614: 4747 10 0 0144 STO E1 # AT 2
5615: 4750 20 1 0134 CLA A31,1
5616: 4751 26 1 0134 MPR A31,1
5617: 4752 32 0 0145 ADZ E3 # AT 2
5620: 4753 10 0 0145 STO E3
5621: 4754 20 1 0130 CLA A11,1
5622: 4755 26 1 0134 MPR A31,1
5623: 4756 32 0 0146 ADZ E13
5624: 4757 10 0 0146 STO E13 # AT 2
5625:
|
|
Page 75 |
5627: 4760 42 1 4744 TIX NOC+1,1
5630: 4761 56 0 0012 ALS 10 # DIV BY 2, SCALE AT -9
5631: 4762 10 0 0146 STO E13
5632: 4763 50 1 0001 AXT 1,1
5633: 4764 20 0 4065 CLA 1B2
5634: 4765 34 1 0144 SUZ E1,1 # 1-E
5635: 4766 56 0 0012 ALS 10 # TO -9
5636: 4767 10 1 0144 STO E1,1
5637: 4770 42 1 4764 TIX *-4,1
5640: 4771 40 0 1037 TRA EXIT19
5641:
5642: # EULER ANGLE DIRECTION COSINES SUBROUTINE
5643: 4772 12 0 0022 EADICS STQ SREX1
5644: 4773 20 0 0107 CLA THEP
5645: 4774 26 0 4021 MPR 2PIB3 # RADIANS AT 3
5646: 4775 72 0 6767 TSQ SICOE
5647: 4776 30 0 0001 CLZ TS1
5650: 4777 10 0 0005 STO TS5
5651: 5000 30 0 0000 12B4 CLZ TS0 # VALUE USED AS CONSTANT
5652: 5001 10 0 0006 STO TS6
5653: 5002 20 0 0113 CLA PSIP
5654: 5003 26 0 4021 MPR 2PIB3
5655: 5004 72 0 6767 TSQ SICOE
5656: 5005 30 0 0001 CLZ TS1
5657: 5006 10 0 0161 STO A12D # 1
5660: 5007 30 0 0000 CLZ TS0
5661: 5010 10 0 0007 STO TS7
5662: 5011 20 0 0117 CLA PHIP
5663: 5012 26 0 4021 MPR 2PIB3
5664: 5013 72 0 6767 TSQ SICOE # INPUTS COMPLETE
5665: 5014 20 0 0007 CLA TS7
5666: 5015 26 0 0006 MPR TS6
5667: 5016 56 0 0001 ALS 1
5670: 5017 10 0 0160 STO A11D # 1
5671: 5020 20 0 0007 CLA TS7
5672: 5021 26 0 0005 MPR TS5
5673: 5022 56 0 0001 ALS 1
5674:
|
|
Page 76 |
5676: 5023 60 0 0000 COM
5677: 5024 10 0 0162 STO A13D # 1
5700: 5025 20 0 0001 CLA TS1
5701: 5026 26 0 0161 MPR A12D
5702: 5027 56 0 0001 ALS 1
5703: 5030 10 0 0003 STO TS3
5704: 5031 26 0 0006 MPR TS6
5705: 5032 10 0 0004 STO TS4
5706: 5033 20 0 0000 1B1 CLA TS0 # COSINE PHI
5707: 5034 26 0 0005 MPR TS5
5710: 5035 32 0 0004 ADZ TS4
5711: 5036 56 0 0001 ALS 1
5712: 5037 10 0 0164 STO A31D # 1
5713: 5040 30 0 0001 CLZ TS1
5714: 5041 36 0 0007 MPZ TS7
5715: 5042 56 0 0001 ALS 1
5716: 5043 60 0 0000 COM
5717: 5044 10 0 0165 STO A32D # 1
5720: 5045 30 0 0003 CLZ TS3
5721: 5046 36 0 0005 MPZ TS5
5722: 5047 10 0 0004 STO TS4
5723: 5050 30 0 0000 CLZ TS0
5724: 5051 36 0 0006 MPZ TS6
5725: 5052 34 0 0004 SUZ TS4
5726: 5053 56 0 0001 ALS 1
5727: 5054 10 0 0166 STO A33D # DI-COS COMPLETE
5730: 5055 40 0 0022 TRA SREX1 # EXIT
5731:
5732: # IMU ALIGN COMPUTATIONS
5733: 5056 30 0 0144 ZNOC CLZ E1
5734: 5057 30 0 0145 CLZ E3
5735: 5060 30 0 0146 CLZ E13
5736: 5061 72 0 4772 IMUDC TSQ EADICS
5737: 5062 50 1 0006 AXT 6,1
5740: 5063 20 1 0160 CLA A11D,1 # REPLACE DIR COSINES
5741: 5064 10 1 0130 STO A11,1 # WITH IMU DIR COSINES.
5742: 5065 30 1 0150 CLZ DA11,1 # ZERO REMAINDERS
5743:
|
|
Page 77 |
5745: 5066 42 1 5063 TIX *-3,1
5746: 5067 40 0 4273 TRA COA21-2
5747:
5750: # INITIALIZE BRANCHES.
5751:
5752: 5070 30 0 0414 IC1 CLZ S14
5753: 5071 24 0 4065 SUB 2B3
5754: 5072 46 0 1040 TMI EXIT20 # TO DL FORMATTING
5755: 5073 50 1 0002 AXT 2,1 # LEM POS AND VEL DATA
5756: 5074 30 1 0240 CLZ 1J1,1 # LEM POS
5757: 5075 10 1 0204 STO R0X,1
5760: 5076 30 1 0260 CLZ 1J4,1 # LEM VEL
5761: 5077 10 1 0424 STO V0X,1
5762: 5100 42 1 5074 TIX *-4,1
5763: 5101 30 0 0254 CLZ 1J7 # EPOCH TIME MS
5764: 5102 10 0 0521 STO TL1
5765: 5103 30 0 0255 CLZ 1J7LS # EPOCH TIME LS
5766: 5104 10 0 0525 STO TL2
5767: 5105 72 0 6444 TSQ ORBPM
5770: 5106 30 0 0543 CLZ DSPSC # CLEAR DISPLAY COUNTER
5771: 5107 72 0 1041 TSQ EXIT21
5772:
5773: 5110 50 1 0001 IC2 AXT 1,1
5774: 5111 72 0 6746 TSQ DPTSB # COMPUTE DBL PREC TA - TL
5775: 5112 20 0 0604 CLA DEL21
5776: 5113 46 0 5124 TMI RVCOMP
5777: 5114 72 0 6535 TSQ ELPRD # TRNSFR TO ELLIPSE PRED
6000: 5115 50 1 0002 AXT 2,1
6001: 5116 30 1 0220 CLZ RIX,1
6002: 5117 10 1 0340 STO RX,1
6003: 5120 30 1 0430 CLZ VIX,1
6004: 5121 10 1 0360 STO VX,1
6005: 5122 42 1 5116 TIX *-4,1
6006: 5123 40 0 5134 TRA *+9
6007: 5124 50 1 0002 RVCOMP AXT 2,1
6010: 5125 30 1 0424 CLZ V0X,1
6011: 5126 10 1 0360 STO VX,1
6012:
|
|
Page 78 |
6014: 5127 06 0 0442 MPY TI # 13+13=26
6015: 5130 52 0 0003 LLS 3
6016: 5131 32 1 0204 ADZ R0X,1
6017: 5132 10 1 0340 STO RX,1 # AT 23
6020: 5133 42 1 5125 TIX *-6,1
6021: 5134 72 0 6261 TSQ EXEC # IC3 NEXT
6022:
6023: 5135 72 0 5400 IC3 TSQ GRAV # TO GRAVITY
6024: 5136 50 1 0002 AXT 2,1
6025: 5137 30 1 0120 CLZ DVSX,1
6026: 5140 30 1 0104 CLZ DRX,1
6027: 5141 20 1 0114 CLA GXDT,1
6030: 5142 10 1 0110 STO DIGX,1
6031: 5143 42 1 5137 TIX *-4,1
6032: 5144 40 0 1042 TRA EXIT22
6033:
6034: # CSM DL OR DEDA INPUTS TO EPOCH CELLS.
6035: 5145 50 1 0002 CSMPV AXT 2,1
6036: 5146 30 1 0244 CLZ 2J1,1 # CSM POS
6037: 5147 10 1 0200 STO REX,1
6040: 5150 30 1 0264 CLZ 2J4,1 # CSM VEL
6041: 5151 10 1 0420 STO VEX,1
6042: 5152 42 1 5146 TIX *-4,1
6043: 5153 30 0 0272 CLZ 2J7 # CSM EPOCH MS
6044: 5154 10 0 0520 STO TE1
6045: 5155 30 0 0273 CLZ 2J7LS # CSM EPOCH LS
6046: 5156 10 0 0524 STO TE2
6047: 5157 30 0 0436 CLZ TB
6050: 5160 40 0 6764 TRA EXIT
6051:
6052: # NEXT 5 INSTRUCTIONS BYPASSED
6053:
6054: 5161 20 0 0604 NAV CLA DEL21
6055: 5162 46 0 5175 TMI NAV1 # -IS ON LUNAR SURFACE.
6056: 5163 20 0 0464 CLA 0464
6057: 5164 24 0 0470 SUB VDX
6060: 5165 56 0 0006 ALS 6
6061:
|
|
Page 79 |
6063:
6064: # HARDWIRED NAVIGATION
6065:
6066: 5166 10 0 0067 STO AT # 1/2(VD1-VD) AT 7
6067: 5167 24 0 0661 SUB 4K35 # ULLAGE THRESHOLD.
6070: 5170 46 0 5203 TMI NAV2-2 # AT-4K35
6071: 5171 30 0 0614 CLZ MU8 # INCR ULLAGE COUNTER.
6072: 5172 22 0 4006 ADD 1B17
6073: 5173 10 0 0614 STO MU8
6074: 5174 40 0 1050 TRA EXIT24
6075: 5175 30 0 0110 NAV1 CLZ DIGX # LUNAR SURFACE NAV.
6076: 5176 30 0 0111 CLZ DIGY
6077: 5177 30 0 0112 CLZ DIGZ
6100: 5200 20 0 0616 CLA 1K9 # ULLAGE COUNT LIMIT
6101: 5201 10 0 0614 STO MU8
6102: 5202 40 0 1044 TRA EXIT23
6103: 5203 30 0 0614 CLZ MU8 # RESET ULLAGE COUNTER.
6104: 5204 40 0 1050 TRA EXIT24
6105: 5205 30 0 0001 NAV2 CLZ TS1 # ACCEL DRIFT TEST.
6106: 5206 50 1 0002 AXT 2,1
6107: 5207 20 1 0120 CLA DVSX,1
6110: 5210 62 0 0000 ABS
6111: 5211 32 0 0001 ADZ TS1
6112: 5212 10 0 0001 STO TS1
6113: 5213 42 1 5207 TIX *-4,1
6114: 5214 24 0 0634 SUB 1K35
6115: 5215 46 0 1051 TMI EXIT25 # COAST PHASE
6116: 5216 40 0 1056 TRA EXIT26
6117: 5217 30 0 0120 NAV3 CLZ DVSX
6120: 5220 30 0 0121 CLZ DVSY
6121: 5221 30 0 0122 CLZ DVSZ
6122: 5222 40 0 1056 TRA EXIT26
6123: 5223 50 1 0002 NAV4 AXT 2,1 # VEL AND POS UPDATE.
6124: 5224 30 1 0120 CLZ DVSX,1 # SENSED VEL AT 7
6125: 5225 32 1 0110 ADZ DIGX,1 # PREDICTED INTG GRAVITY.
6126: 5226 10 1 0110 STO DIGX,1 # 7
6127: 5227 22 0 4015 ADD 1B12 # ROUND
6130:
|
|
Page 80 |
6132: 5230 54 0 0006 LRS 6
6133: 5231 10 0 0002 STO TS2 # DV AT 13
6134: 5232 22 1 0360 ADD VX,1
6135: 5233 10 0 0001 STO TS1 # NEW V AT 13
6136: 5234 26 0 0675 MPR KDT # DT/2 AT 1.
6137: 5235 10 0 0004 STO TS4
6140: 5236 30 1 0360 CLZ VX,1 # V(N-1)
6141: 5237 26 0 0675 MPR KDT
6142: 5240 32 0 0004 ADZ TS4
6143: 5241 32 1 0104 ADZ DRX,1
6144: 5242 10 1 0104 STO DRX,1 # 14
6145: 5243 22 0 4013 ADD 1B9 # ROUND
6146: 5244 54 0 0011 LRS 9
6147: 5245 10 0 0003 STO TS3 # DR AT 23
6150: 5246 32 1 0340 ADZ RX,1
6151: 5247 10 1 0340 STO RX,1 # NEW R AT 23
6152: 5250 30 0 0002 CLZ TS2 # DV AT 13
6153: 5251 56 0 0006 ALS 6
6154: 5252 60 0 0000 COM
6155: 5253 32 1 0110 ADZ DIGX,1
6156: 5254 10 1 0110 STO DIGX,1 # VEL REMAINDER AT 7
6157: 5255 30 0 0003 CLZ TS3 # DR AT 23
6160: 5256 56 0 0011 ALS 9
6161: 5257 60 0 0000 COM
6162: 5260 32 1 0104 ADZ DRX,1
6163: 5261 10 1 0104 STO DRX,1 # POS REMAINDER AT 14
6164: 5262 30 0 0001 CLZ TS1
6165: 5263 10 1 0360 STO VX,1 # NEW V AT 13
6166: 5264 42 1 5224 TIX NAV4+1,1
6167: 5265 72 0 5400 TSQ GRAV # TO GRAVITY COMP.
6170: 5266 40 0 1060 EX28 TRA EXIT28
6171: 5267 20 0 0660 CLA 4K34 # LIMIT AT.
6172: 5270 24 0 0067 SUB AT
6173: 5271 46 0 5274 TMI *+3
6174: 5272 20 0 0660 CLA 4K34
6175: 5273 10 0 0067 STO AT
6176: 5274 20 0 4036 CLA MS # SET IC DISPLAY.
6177:
|
|
Page 81 |
6201: 5275 10 0 0567 STO DSPF1
6202: 5276 72 0 6254 TSQ TIMEA # TO TA UPDATE
6203:
6204: # CSM ORBIT PARAMETERS
6205:
6206: 5277 20 0 0414 ORBPAR CLA S14
6207: 5300 24 0 7520 SUB 3B3
6210: 5301 46 0 5305 TMI *+4
6211: 5302 30 0 0414 CLZ S14
6212: 5303 72 0 5145 TSQ CSMPV
6213: 5304 40 0 1065 EX29 TRA EXIT29
6214: 5305 50 1 0002 AXT 2,1
6215: 5306 20 1 0200 CLA REX,1
6216: 5307 10 1 0004 STO TS4,1
6217: 5310 10 1 0204 STO R0X,1
6220: 5311 20 1 0420 CLA VEX,1
6221: 5312 10 1 0010 STO TS10,1
6222: 5313 10 1 0424 STO V0X,1
6223: 5314 42 1 5306 TIX *-6,1
6224: 5315 72 0 6373 TSQ CRSPRD
6225: 5316 72 0 6422 TSQ NORMV
6226: 5317 50 1 0002 AXT 2,1
6227: 5320 30 1 0010 CLZ TS10,1
6230: 5321 10 1 0054 STO WCX,1
6231: 5322 42 1 5320 TIX *-2,1
6232: 5323 72 0 6444 TSQ ORBPM # COMPUTE CSM ORB PARAMS FROM EPD
6233: 5324 20 0 4021 CLA 2PIB3
6234: 5325 14 0 4007 LDQ ZERO
6235: 5326 54 0 0001 LRS 1
6236: 5327 04 0 0077 DVP NI # 4-(-9)=13
6237: 5330 10 0 0445 STO TCSM
6240: 5331 40 0 1067 EX30 TRA EXIT30
6241: 5332 20 0 0436 CLA TB
6242: 5333 24 0 0445 SUB TCSM
6243: 5334 46 0 5355 TMI BR2EX
6244: 5335 20 0 0445 CLA TCSM
6245: 5336 14 0 4007 LDQ ZERO
6246:
|
|
Page 82 |
6250: 5337 54 0 0005 LRS 5 # TO +18
6251: 5340 12 0 0001 STQ TS1
6252: 5341 32 0 0520 ADZ TE1
6253: 5342 10 0 0520 STO TE1
6254: 5343 30 0 0001 CLZ TS1
6255: 5344 32 0 0524 ADZ TE2
6256: 5345 10 0 0524 STO TE2
6257: 5346 46 0 5350 TMI *+2 # OVERFLOW
6260: 5347 40 0 5355 TRA BR2EX
6261: 5350 24 0 4036 SUB MS
6262: 5351 10 0 0524 STO TE2
6263: 5352 30 0 0520 CLZ TE1
6264: 5353 22 0 4006 ADD 1B17
6265: 5354 10 0 0520 STO TE1
6266: 5355 72 0 6261 BR2EX TSQ EXEC
6267:
6270: # CSM PRESENT POS AND VEL.
6271:
6272: 5356 50 1 0000 AXT 0,1
6273: 5357 72 0 6746 TSQ DPTSB # COMPUTE DBL PREC TA-TE
6274: 5360 10 0 0436 STO TB # +13
6275: 5361 72 0 6535 TSQ ELPRD # TRANSFER TO ELLIPSE PRED
6276: 5362 50 1 0002 AXT 2,1
6277: 5363 30 1 0220 CLZ RIX,1
6300: 5364 10 1 0344 STO RCX,1 # 23
6301: 5365 30 1 0430 CLZ VIX,1
6302: 5366 10 1 0364 STO VCX,1 # 13
6303: 5367 42 1 5363 TIX *-4,1
6304: 5370 72 0 6261 TSQ EXEC
6305:
6306: 5371 50 1 0002 AXT 2,1
6307: 5372 20 1 0360 CLA VX,1 # COMPUTE MAGNITUDE OF VEL VECTOR
6310: 5373 10 1 0004 STO TS4,1
6311: 5374 42 1 5372 TIX *-2,1
6312: 5375 72 0 6737 TSQ DPVMAG
6313: 5376 10 0 0433 STO V # 13
6314: 5377 40 0 1070 TRA EXIT31
6315:
|
|
Page 83 |
6317:
6320: # GRAVITY AND H, HDOT COMPUTATIONS.
6321:
6322: 5400 12 0 0020 GRAV STQ SREX3
6323: 5401 50 1 0002 AXT 2,1
6324: 5402 20 1 0340 CLA RX,1
6325: 5403 10 1 0014 STO TS14,1
6326: 5404 42 1 5402 TIX *-2,1
6327: 5405 72 0 6422 TSQ NORMV # COMPUTE U1 AND R.
6330: 5406 30 0 0013 CLZ TS13
6331: 5407 10 0 0210 STO R # 23
6332: 5410 24 0 0231 SUB 5J # MEAN LUNAR RADIUS
6333: 5411 10 0 0337 STO H # ALTITUDE AT 23
6334: 5412 40 0 1057 EX27 TRA EXIT27
6335: 5413 20 0 0674 CLA 2K4
6336: 5414 14 0 4007 LDQ ZERO
6337: 5415 54 0 0003 LRS 3 # 52
6340: 5416 04 0 0017 DVP TS17 # R SQ AT 46
6341: 5417 10 0 0007 STO TS7 # -GRAV VECT MAG AT 6
6342: 5420 50 1 0002 AXT 2,1
6343: 5421 30 1 0114 GRAV1 CLZ GXDT,1
6344: 5422 10 0 0000 STO TS0 # G(N-1)DT
6345: 5423 30 1 0010 CLZ TS10,1 # UNIT VECTOR FR NORMV
6346: 5424 10 1 0060 STO U1X,1 # 1
6347: 5425 26 0 0007 MPR TS7 # -MUDT/(R SQ) AT 6
6350: 5426 10 1 0114 STO GXDT,1 # 7
6351: 5427 34 0 0000 7B3 SUZ TS0 # G(N-1)DT
6352: 5430 54 0 0001 LRS 1
6353: 5431 22 1 0114 ADD GXDT,1 # PREDICTED INTG GRAV IN A
6354: 5432 32 1 0110 ADZ DIGX,1 # VEL REMAINDER
6355: 5433 10 1 0110 STO DIGX,1 # INTG GRAV+VEL REM AT
6356: 5434 20 1 0360 CLA VX,1 # 13
6357: 5435 26 1 0060 MPR U1X,1 # FORM V DOT U1.
6360: 5436 32 0 0013 ADZ TS13
6361: 5437 10 0 0013 STO TS13
6362: 5440 42 1 5421 TIX GRAV1,1
6363: 5441 56 0 0001 ALS 1
6364:
|
|
Page 84 |
6366: 5442 10 0 0367 STO HDOT # ALT RATE AT 13.
6367: 5443 40 0 0020 TRA SREX3
6370:
6371: # LEM ORBIT PARAMETERS.
6372:
6373: 5444 20 0 0367 LMORB CLA HDOT # B13
6374: 5445 06 0 0367 MPY HDOT
6375: 5446 10 0 0014 STO TS14
6376: 5447 12 0 0015 STQ TS15
6377: 5450 20 0 0433 CLA V # 13
6400: 5451 26 0 0433 MPR V
6401: 5452 24 0 0014 SUB TS14
6402: 5453 10 0 0007 STO TS7 # VH SQ AT 26
6403: 5454 72 0 7123 TSQ SQRTE
6404: 5455 10 0 0427 STO VH # 13
6405: 5456 44 0 5457 TOV *+1 # CL. O.F.
6406: 5457 20 0 0210 CLA R # 23
6407: 5460 26 0 0210 MPR R
6410: 5461 26 0 0637 MPR 2K2
6411: 5462 06 0 0007 MPY TS7 # 46-47+26=25
6412: 5463 52 0 0002 LLS 2
6413: 5464 10 0 0010 STO TS10 # PL AT 23
6414: 5465 54 0 0001 LRS 1
6415: 5466 10 0 0011 STO TS11 # SAVE PL AT 24
6416: 5467 12 0 0012 STQ TS12
6417: 5470 04 0 0210 DVP R
6420: 5471 24 0 5033 SUB 1B1
6421: 5472 56 0 0004 ALS 4 # -3
6422: 5473 10 0 0000 STO TS0
6423: 5474 36 0 0000 MPZ TS0
6424: 5475 10 0 0013 STO TS13 # (PL/R-1) SQ AT -6.
6425: 5476 30 0 0014 CLZ TS14 # HDOT SQ AT 26
6426: 5477 14 0 0015 LDQ TS15
6427: 5500 52 0 0010 LLS 8 # 18
6430: 5501 26 0 0637 MPR 2K2
6431: 5502 26 0 0010 MPR TS10 # PL
6432: 5503 32 0 0013 ADZ TS13 # EL SQ IN A AT -6.
6433:
|
|
Page 85 |
6435: 5504 44 0 5516 TOV LMORB1+2
6436: 5505 72 0 7123 TSQ SQRTE
6437: 5506 54 0 0004 LRS 4 # EL AT 1
6440: 5507 22 0 5033 ADD 1B1
6441: 5510 10 0 0001 STO TS1 # 1+EL AT 1.
6442: 5511 30 0 0011 CLZ TS11 # OL AT 24
6443: 5512 14 0 0012 LDQ TS12
6444: 5513 04 0 0001 DVP TS1
6445: 5514 10 0 0343 LMORB1 STO QL # LM PERICYNTHION AT 23
6446: 5515 40 0 1071 TRA EXIT32
6447: 5516 20 0 0216 CLA 2K3 # SET QL=CONST
6450: 5517 40 0 5514 TRA LMORB1
6451:
6452: # CSM PREDICTION.
6453:
6454: 5520 72 0 6535 CSMT1 TSQ ELPRD # TO ELLIPSE PREDICTOR.
6455: 5521 72 0 6261 TSQ EXEC
6456:
6457: # TRANSFER ORBIT VECTORS.
6460:
6461: 5522 50 1 0002 AXT 2,1
6462: 5523 20 1 0220 CLA RIX,1 # CSM PRED POS
6463: 5524 10 1 0014 STO TS14,1
6464: 5525 42 1 5523 TIX *-2,1
6465: 5526 72 0 6422 TSQ NORMV # NORMALIZE RT
6466: 5527 30 0 0013 CLZ TS13
6467: 5530 10 0 0203 STO RT # 23
6470: 5531 50 1 0002 AXT 2,1
6471: 5532 20 1 0010 XORBV1 CLA TS10,1 # C1X=BX
6472: 5533 10 1 0030 STO U2X,1
6473: 5534 20 1 0060 CLA U1X,1
6474: 5535 10 1 0004 STO TS4,1
6475: 5536 26 1 0030 MPR U2X,1
6476: 5537 32 0 0013 ADZ TS13
6477: 5540 10 0 0013 STO TS13
6500: 5541 42 1 5532 TIX XORBV1,1
6501: 5542 56 0 0001 ALS 1
6502:
|
|
Page 86 |
6504: 5543 10 0 0513 STO C1 # U1 DOT U2 AT 1,
6505: 5544 26 0 0513 MPR C1
6506: 5545 60 0 0000 COM
6507: 5546 22 0 4065 ADD 1B2
6510: 5547 72 0 7123 TSQ SQRTE
6511: 5550 10 0 0033 STO C2 # 1
6512: 5551 40 0 1072 EX33 TRA EXIT33
6513: 5552 72 0 6373 TSQ CRSPRD # U1XU2 AT 2.
6514: 5553 20 0 0015 CLA TS14+1
6515: 5554 06 0 0055 MPY WCY
6516: 5555 46 0 5557 TMI *+2 # -IS REND ANG GREAT 180.
6517: 5556 40 0 5562 TRA *+4
6520: 5557 30 0 0033 CLZ C2
6521: 5560 60 0 0000 COM
6522: 5561 10 0 0033 STO C2
6523: 5562 50 1 0002 AXT 2,1 # NORMALIZE W1 AND
6524: 5563 30 1 0014 XORBV2 CLZ TS14,1
6525: 5564 14 0 4007 LDQ ZERO
6526: 5565 04 0 0033 DVP C2
6527: 5566 10 1 0040 STO W1X,1 # 1
6530: 5567 20 1 0060 CLA U1X,1
6531: 5570 26 0 0513 MPR C1
6532: 5571 10 0 0001 STO TS1
6533: 5572 20 1 0030 CLA U2X,1 # 1
6534: 5573 54 0 0001 LRS 1
6535: 5574 34 0 0001 SUZ TS1
6536: 5575 14 0 4007 LDQ ZERO
6537: 5576 04 0 0033 DVP C2
6540: 5577 10 1 0034 STO V1X,1 # 1
6541: 5600 20 1 0060 CLA U1X,1 # 1
6542: 5601 54 0 0001 LRS 1
6543: 5602 10 0 0001 STO TS1 # 2
6544: 5603 20 1 0030 CLA U2X,1
6545: 5604 26 0 0513 MPR C1
6546: 5605 34 0 0001 SUZ TS1
6547: 5606 14 0 4007 LDQ ZERO
6550: 5607 04 0 0033 DVP C2
6551:
|
|
Page 87 |
6553: 5610 10 1 0064 STO V2X,1 # 1
6554: 5611 42 1 5563 TIX XORBV2,1
6555: 5612 30 0 0610 CLZ MU3 # P-ITERATION INDEX.
6556: 5613 72 0 6261 TSQ EXEC
6557:
6560: # P-ITERATOR
6561:
6562: 5614 40 0 1073 EX34 TRA EXIT34
6563: 5615 44 0 5616 TOV *+1 # CL. O.F.
6564: 5616 20 0 0170 CLA P # ITERATION P AT 23
6565: 5617 24 0 0347 SUB RF
6566: 5620 14 0 4007 LDQ ZERO
6567: 5621 04 0 0347 DVP RF
6570: 5622 10 0 0011 STO TS11 # X1 AT 0.
6571: 5623 06 0 0011 MPY TS11
6572: 5624 52 0 0002 LLS 2
6573: 5625 10 0 0001 STO TS1 # X1 SQ. AT -2
6574: 5626 20 0 0170 CLA P
6575: 5627 24 0 0203 SUB RT
6576: 5630 14 0 4007 LDQ ZERO
6577: 5631 04 0 0203 DVP RT
6600: 5632 10 0 0012 STO TS12 # X2 AT .0
6601: 5633 26 0 0513 MPR C1
6602: 5634 10 0 0002 STO TS2 # 1
6603: 5635 20 0 0011 CLA TS11 # X1
6604: 5636 54 0 0001 LRS 1
6605: 5637 34 0 0002 SUZ TS2
6606: 5640 14 0 4007 LDQ ZERO
6607: 5641 04 0 0033 DVP C2
6610: 5642 10 0 0143 STO X4 # AT 0.
6611: 5643 20 0 0012 CLA TS12 # X2
6612: 5644 54 0 0001 LRS 1
6613: 5645 10 0 0002 STO TS2 # 1
6614: 5646 20 0 0011 CLA TS11 # X1
6615: 5647 26 0 0513 MPR C1
6616: 5650 34 0 0002 SUZ TS2
6617: 5651 14 0 4007 LDQ ZERO
6620:
|
|
Page 88 |
6622: 5652 04 0 0033 DVP C2 # 1
6623: 5653 10 0 0073 STO X3 # AT 0.
6624: 5654 06 0 0073 MPY X3
6625: 5655 52 0 0002 LLS 2
6626: 5656 32 0 0001 ADZ TS1 # -2
6627: 5657 44 0 1074 TOV EXIT35 # O.F. IF E TOO LARGE.
6630: 5660 10 0 0172 STO ESQ # E SQ AT -2.
6631: 5661 54 0 0002 LRS 2
6632: 5662 10 0 0013 STO TS13 # E SQ AT 0.
6633: 5663 60 0 0000 COM
6634: 5664 22 0 4030 ADD PMAX
6635: 5665 10 0 0014 STO TS14 # (1-E SQ) AT 0.
6636: 5666 72 0 7123 TSQ SQRTE
6637: 5667 10 0 0015 STO TS15 # ROOT(1-E SQ) AT 0.
6640: 5670 20 0 0143 CLA X4
6641: 5671 24 0 0073 SUB X3
6642: 5672 54 0 0001 LRS 1 # 1
6643: 5673 22 0 0033 ADD C2
6644: 5674 26 0 0015 MPR TS15
6645: 5675 10 0 0003 STO TS3 # SIN(DELTA E) AT 1.
6646: 5676 20 0 0073 CLA X3
6647: 5677 26 0 0143 MPR X4
6650: 5700 60 0 0000 COM
6651: 5701 32 0 0013 ADZ TS13
6652: 5702 54 0 0001 LRS 1 # 1
6653: 5703 10 0 0013 STO TS13 # E SQ-X3(X4)AT 1.
6654: 5704 30 0 0011 CLZ TS11
6655: 5705 32 0 0012 ADZ TS12 # X1+X2
6656: 5706 54 0 0001 LRS 1 # 1
6657: 5707 32 0 0013 ADZ TS13
6660: 5710 22 0 0513 ADD C1
6661: 5711 10 0 0004 STO TS4 # COS(DELTA E) AT 1.
6662: 5712 72 0 7034 TSQ ARCTAE
6663: 5713 10 0 0016 STO TS16 # DELTA E AT 3.
6664: 5714 20 0 0203 CLA RT
6665: 5715 26 0 0143 MPR X4
6666: 5716 10 0 0001 STO TS1 # 23
6667:
|
|
Page 89 |
6671: 5717 20 0 0347 CLA RF
6672: 5720 26 0 0073 MPR X3
6673: 5721 34 0 0001 SUZ TS1
6674: 5722 06 0 0015 MPY TS15
6675: 5723 54 0 0003 LRS 3 # 26
6676: 5724 04 0 0170 DVP P
6677: 5725 32 0 0016 ADZ TS16
6700: 5726 10 0 0016 STO TS16 # DELTAE + X7-X8 AT 3.
6701: 5727 20 0 0170 CLA P
6702: 5730 14 0 4007 LDQ ZERO
6703: 5731 04 0 0014 DVP TS14 # 1-E SQ
6704: 5732 10 0 0171 STO ALPHA # 23
6705: 5733 26 0 0637 MPR 2K2 # 1/2K1 AT -47
6706: 5734 72 0 7123 TSQ SQRTE # (-47+23)/2=-12
6707: 5735 26 0 0171 MPR ALPHA # 1/N AT 11 IN A.
6710: 5736 36 0 0016 MPZ TS16 # 11+3=14
6711: 5737 56 0 0001 ALS 1 # NEW TP AT 13.
6712: 5740 24 0 0434 SUB TP
6713: 5741 10 0 0002 STO TS2 # DELTA TP
6714: 5742 32 0 0434 ADZ TP
6715: 5743 10 0 0434 STO TP # 13
6716: 5744 20 0 0435 CLA T
6717: 5745 24 0 0434 SUB TP
|
|
The following line is underlined. |
6721: 5746 10 0 0000 STO TS0 # T-TP
6722: 5747 30 0 0610 CLZ MU3 # INCREMENT ITER COUNTER.
6723: 5750 22 0 4006 ADD 1B17
6724: 5751 10 0 0610 STO MU3
6725: 5752 24 0 4005 SUB 2B17 # ITERATION SCHEME.
6726: 5753 46 0 6026 TMI PITER2 # -IS MU3=1.
6727: 5754 24 0 4006 SUB 1B17
6730: 5755 46 0 5771 TMI PITER1 # -IS MU3=2.
6731: 5756 24 0 0620 SUB 2K17 # MU3-NO. ITERATIONS IN A.
6732: 5757 46 0 5765 TMI *+6 # -IS NOT DONE.
6733: 5760 30 0 0000 CLZ TS0 # DONE. T-TP
6734: 5761 62 0 0000 ABS
6735: 5762 24 0 0453 SUB 2K20
6736: 5763 46 0 6040 TMI PITER3+5 # -IS CONVERGED.
6737:
|
|
At the bottom of the page is written the formula: mu3 + 1B17 - 2B17 - 1B17 - 2K17 |
6741:
|
|
Page 90 This page is missing from the only available listing of FP6, and so has simply been duplicated from the corresponding section of FP8. There is good reason to believe that this is valid. Refer to the website or the header of this file. |
6747: 5764 40 0 1074 TRA EXIT35
6750: 5765 20 0 0002 CLA TS2 # DELTA TP.
6751: 5766 62 0 0000 ABS
6752: 5767 24 0 0447 SUB 2K18
6753: 5770 46 0 6013 TMI DELP # -IS SKIP PARTIAL
6754: 5771 20 0 0170 PITER1 CLA P # COMPUTE PARITAL T.
6755: 5772 34 0 0212 SUZ PP
6756: 5773 10 0 0001 STO TS1 # 23
6757: 5774 14 0 4007 LDQ ZERO
6760: 5775 54 0 0004 LRS 4 # 27
6761: 5776 44 0 5777 TOV *+1 # CL. O.F.
6762: 5777 40 0 6001 TRA *+2
6763: 6000 70 0 6177 DLY INIT # TO TURN ON SEQUENCE
6764: 6001 04 0 0002 DVP TS2 # 27-13=14
6765: 6002 44 0 6004 TOV *+2
6766: 6003 40 0 6012 TRA *+7
6767: 6004 30 0 0001 CLZ TS1 # DET SIGN OF PART
6770: 6005 06 0 0002 MPY TS2 # NUM X DENOM
6771: 6006 46 0 6011 TMI *+3
6772: 6007 20 0 4030 CLA PMAX
6773: 6010 40 0 6012 TRA *+2
6774: 6011 20 0 4037 CLA NMAX
6775: 6012 10 0 0467 STO PART # PARTIAL T AT 14
6776: 6013 30 0 0000 DELP CLZ TS0 # T-TP
6777: 6014 06 0 0467 MPY PART
7000: 6015 52 0 0004 LLS 4 # 13+14-4=23
7001: 6016 10 0 0003 STO TS3 # DELTA P
7002: 6017 62 0 0000 ABS
7003: 6020 24 0 0230 SUB 2K19
7004: 6021 46 0 6033 TMI PITER3
7005: 6022 30 0 0003 CLZ TS3
7006: 6023 46 0 6030 TMI *+5
7007: 6024 20 0 0230 CLA 2K19
7010: 6025 40 0 6032 TRA *+5
7011: 6026 20 0 0217 PITER2 CLA 2K14
7012: 6027 40 0 6031 TRA *+2
7013: 6030 20 0 0230 CLA 2K19
7014:
|
|
Page 91 |
7016: 6031 60 0 0000 COM
7017: 6032 10 0 0003 STO TS3 # DELTA P
7020: 6033 30 0 0170 PITER3 CLZ P
7021: 6034 10 0 0212 STO PP
7022: 6035 32 0 0003 ADZ TS3
7023: 6036 10 0 0170 STO P # NEW P
7024: 6037 40 0 6262 TRA EXEC+1
7025: 6040 72 0 6261 TSQ EXEC
7026:
7027: # IMPULSE AND BRAKING VELOCITIES.
7030:
7031: 6041 20 0 0636 TBRAKE CLA 2K1 # 48
7032: 6042 14 0 4007 LDQ ZERO
7033: 6043 54 0 0001 LRS 1
7034: 6044 04 0 0170 DVP P # 49-23=26
7035: 6045 72 0 7123 TSQ SQRTE
7036: 6046 10 0 0001 STO TS1 # ROOT(MU/P) AT 13
7037: 6047 36 0 0073 MPZ X3
7040: 6050 10 0 0423 STO RFDOT # 13
7041: 6051 20 0 0001 CLA TS1
7042: 6052 36 0 0143 MPZ X4
7043: 6053 10 0 0013 STO TS13 # 13
7044: 6054 30 0 0001 CLZ TS1
7045: 6055 06 0 0170 MPY P
7046: 6056 10 0 0001 STO TS1 # ROOT(PXMU) AT 36
7047: 6057 12 0 0002 STQ TS2
7050: 6060 04 0 0347 DVP RF
7051: 6061 10 0 0012 STO TS12 # 13
7052: 6062 30 0 0001 CLZ TS1
7053: 6063 14 0 0002 LDQ TS2
7054: 6064 04 0 0203 DVP RT
7055: 6065 10 0 0014 STO TS14 # 13
7056: 6066 40 0 1075 EX36 TRA EXIT36
7057: 6067 44 0 6070 TOV *+1 # CL. O.F.
7060: 6070 50 1 0002 AXT 2,1
7061: 6071 20 0 0013 IMPBK1 CLA TS13 # ROOT(MU/P)X(X4) AT 13
7062: 6072 36 1 0030 MPZ U2X,1 # 1
7063:
|
|
Page 92 |
7065: 6073 10 0 0007 STO TS7
7066: 6074 20 0 0014 CLA TS14 # ROOT(PXMU)/RT AT 13
7067: 6075 36 1 0064 MPZ V2X,1 # 1
7070: 6076 32 0 0007 ADZ TS7
7071: 6077 56 0 0001 ALS 1 # 13
7072: 6100 24 1 0430 SUB VIX,1
7073: 6101 10 1 0030 STO VFX,1 # -BRAKING VEL AT 13
7074: 6102 20 0 0423 CLA RFDOT # 13
7075: 6103 26 1 0060 MPR U1X,1 # 1
7076: 6104 10 0 0007 STO TS7
7077: 6105 20 0 0012 CLA TS12 # ROOT(PXMU)/RF AT 13
7100: 6106 26 1 0034 MPR V1X,1 # 1
7101: 6107 32 0 0007 ADZ TS7
7102: 6110 56 0 0001 ALS 1 # 13
7103: 6111 24 1 0460 SUB V5X,1
7104: 6112 10 1 0064 STO VGX,1 # VEL TO GAIN AT 13
7105: 6113 10 1 0004 STO TS4,1
7106: 6114 42 1 6071 TIX IMPBK1,1
7107: 6115 44 0 1074 TOV EXIT35 # CHECK VG OR VF O.F.
7110: 6116 72 0 6737 TSQ DPVMAG
7111: 6117 10 0 0370 STO VG # 13
7112: 6120 30 0 0172 CLZ ESQ # E SQ FR P ITER AT-2.
7113: 6121 72 0 7123 TSQ SQRTE
7114: 6122 54 0 0001 LRS 1 # E AT 0.
7115: 6123 60 0 0000 COM
7116: 6124 22 0 4030 ADD PMAX # 1-E AT 0.
7117: 6125 26 0 0171 MPR ALPHA
7120: 6126 10 0 0172 STO Q1 # Q OF TRANS ORB AT 23
7121: 6127 72 0 6261 TSQ EXEC
7122: # COMPLETE VF ON FOLLOWING CYCLE.
7123: 6130 50 1 0002 AXT 2,1
7124: 6131 20 1 0030 CLA VFX,1 # 13
7125: 6132 10 1 0004 STO TS4,1
7126: 6133 42 1 6131 TIX *-2,1
7127: 6134 72 0 6737 TSQ DPVMAG
7130: 6135 40 0 1076 TRA EXIT37 # VF IN A AT 8.
7131:
7132:
|
|
Page 93 |
7134: # GUIDANCE LAW COMPUTATIONS.
7135:
7136: 6136 44 0 6137 GDLAW TOV *+1 # TIME TO BURN COMP.
7137: 6137 20 0 0370 CLA VG # 13
7140: 6140 26 0 0655 MPR 4K3 # AT -25
7141: 6141 22 0 0654 ADD 4K2 # AT -12
7142: 6142 26 0 0370 MPR VG
7143: 6143 22 0 5033 ADD 1B1
7144: 6144 06 0 0370 MPY VG
7145: 6145 54 0 0002 LRS 2 # 16
7146: 6146 04 0 0067 DVP AT # 16-7=9
7147: 6147 44 0 6151 TOV *+2
7150: 6150 40 0 6152 TRA *+2
7151: 6151 20 0 4030 CLA PMAX
7152: 6152 10 0 0357 STO TBO # TIME TO BURN AT 9.
7153: 6153 40 0 1077 TRA EXIT38
7154:
7155: # COMPUTE LUNAR AZIMUTH
7156:
7157: 6154 20 0 0134 LUNAZ CLA A31
7160: 6155 26 0 0134 MPR A31 # +2
7161: 6156 60 0 0000 COM
7162: 6157 22 0 4065 ADD 1B2
7163: 6160 72 0 7123 TSQ SQRTE
7164: 6161 10 0 0001 STO TS1 # +1
7165: 6162 14 0 4007 LDQ ZERO
7166: 6163 20 0 0135 CLA A32
7167: 6164 54 0 0001 LRS 1 # TO 2
7170: 6165 04 0 0001 DVP TS1
7171: 6166 10 0 0053 STO CODELL
7172: 6167 14 0 4007 LDQ ZERO
7173: 6170 20 0 0136 CLA A33
7174: 6171 54 0 0001 LRS 1 # TO 2
7175: 6172 04 0 0001 DVP TS1
7176: 6173 10 0 0047 STO SIDELL # AT 1
7177: 6174 20 0 4036 CLA MS
7200: 6175 10 0 0604 STO DEL21
7201:
|
|
Page 94 |
7203: 6176 40 0 1100 TRA EXIT39
7204:
7205: # POWER ON INITIALIZATION
7206:
7207: 6177 66 0 3050 INIT OUT 3050 # RESET CARRY INHIBIT
7210: 6200 64 0 6200 INP 6200
7211: 6201 64 0 2200 INP DEDA
7212: 6202 66 0 7057 OUT 7057 # RESET DISCRETES
7213: 6203 20 0 4044 CLA BACK
7214: 6204 10 0 0025 STO TVARBR+1
7215: 6205 20 0 4046 CLA CLAFR # PRIME HARDWIRED CORES
7216: 6206 10 0 0024 STO TVARBR
7217: 6207 72 0 0024 TSQ TVARBR
7220: 6210 20 0 0024 CLA TVARBR
7221: 6211 24 0 7002 SUB CLATEN
7222: 6212 46 0 6207 TMI *-3
7223: 6213 66 0 7010 OUT 7010 # RESET FAILURE INDICATOR
7224: # GSE SERVICE ROUTINE
7225: 6214 64 0 2040 GSESR INP 2040
7226: 6215 56 0 0001 ALS 1
7227: 6216 46 0 1101 TMI EXIT40 # INITIALIZE
7230: 6217 64 0 6200 INP 6200
7231: 6220 22 0 4011 ADD 1B5
7232: 6221 10 0 0007 STO TS7
7233: 6222 22 0 4065 ADD STOCOM # SET UP VARIABLE STORE
7234: 6223 10 0 0024 STO TVARBR
7235: 6224 66 0 6402 WRDLP OUT 6402 # SET GSE 5
7236: 6225 64 0 2040 INP 2040
7237: 6226 56 0 0001 ALS 1
7240: 6227 46 0 6231 TMI *+2
7241: 6230 40 0 6225 TRA *-3
7242: 6231 66 0 7012 OUT 7012 # RESET GSE 5 AND FAIL INDIC.
7243: 6232 64 0 2040 INP 2040
7244: 6233 56 0 0001 ALS 1
7245: 6234 46 0 6231 TMI *-3 # WAIT FOR NEXT WORD
7246: 6235 56 0 0001 ALS 1
7247: 6236 46 0 6243 TMI *+5
7250:
|
|
Page 95 |
7252: 6237 30 0 0007 CLZ TS7 # END OF BLOCK
7253: 6240 22 0 4036 ADD TRACOM
7254: 6241 10 0 0024 STO TVARBR
7255: 6242 40 0 0024 TRA TVARBR
7256: 6243 64 0 6200 INP 6200 # INPUT WORD AND STORE
7257: 6244 72 0 0024 TSQ TVARBR
7260: 6245 40 0 6224 TRA WRDLP
7261: 6246 10 0 0000 RETURN STO TS0 # INCREMENT OF VARIABLE
7262: 6247 30 0 0024 CLZ TVARBR # STORE OR BRING
7263: 6250 22 0 4006 ADD 1B17
7264: 6251 10 0 0024 STO TVARBR
7265: 6252 30 0 0000 CLZ TS0
7266: 6253 40 0 6764 TRA EXIT
7267:
7270: # TIME UPDATE AND EXECUTIVE PART 1.
7271:
7272: 6254 30 0 0377 TIMEA CLZ TA1 # UPDATE ABS TIME.
7273: 6255 22 0 4006 ADD 1B17 # EQU TO 2SECS.
7274: 6256 10 0 0377 STO TA1
7275: 6257 20 0 4014 CLA 1B11 # I.C. DEDA COUNTER
7276: 6260 10 0 0727 STO DEDASC
7277: 6261 12 0 0063 EXEC STQ BRANCH # SET NEXT BRANCH.
7300: 6262 30 0 0727 CLZ DEDASC
7301: 6263 56 0 0001 *ALS 1
7302: 6264 46 0 6267 TMI *+3 # - IS TIME TO DEDA.
7303: 6265 10 0 0727 STO DEDASC
7304: 6266 40 0 1110 TRA EXIT41
7305: 6267 30 0 0063 CLZ BRANCH # SAVE BRANCH IN
7306: 6270 10 0 0057 STO TMPBR # TEMPORARY BRANCH
7307: 6271 20 0 1013 CLA DEDABR # DEDA START
7310: 6272 10 0 0063 STO BRANCH
7311: 6273 40 0 1110 TRA EXIT41 # TO SOFT DISPLAY
7312:
7313: # DISPLAY SUBROUTINE.
7314:
7315: 6274 30 0 0543 DSPLY CLZ DSPSC
7316: 6275 56 0 0001 *ALS 1
7317:
|
|
Page 96 This page is missing from the only available listing of FP6, and so has simply been duplicated from the corresponding section of FP8. There is good reason to believe that this is valid. Refer to the website or the header of this file. |
7325: 6276 44 0 6300 TOV *+2 # O.F. IS TIME TO DISPLAY
7326: 6277 40 0 6357 TRA DSPLY4
7327: 6300 30 0 0444 CLZ PDOUT # INCREMENT DISPLAY VARIABLES.
7330: 6301 22 0 0443 ADD DPDOUT
7331: 6302 10 0 0444 STO PDOUT # 13
7332: 6303 30 0 0214 CLZ POUT
7333: 6304 22 0 0215 ADD DPOUT
7334: 6305 40 0 6323 TRA DSPLY2-5
7335: 6306 10 0 0444 DSPLY1 STO PDOUT # I.C. DISPLAY COMPS.
7336: 6307 34 0 0437 SUZ PDOTM1
7337: 6310 26 0 0624 MPR 1K4 # .1
7340: 6311 10 0 0443 STO DPDOUT # DELTA PDOT AT 13.
7341: 6312 20 0 0444 CLA PDOUT # 13
7342: 6313 10 0 0437 STO PDOTM1
7343: 6314 06 0 0624 MPY 1K4 # .1
7344: 6315 54 0 0011 LRS 9 # 0.2 PDOT AT 23.
7345: 6316 04 0 0213 DVP POUTFS # =76840 FT B23
7346: 6317 10 0 0215 STO DPOUT # DELTA P AT DISPLAY SCALE.
7347: 6320 20 0 0214 CLA POUT # 23
7350: 6321 14 0 4007 LDQ ZERO
7351: 6322 04 0 0213 *DVP POUTFS # =76840 FT B23
7352: 6323 44 0 6325 TOV *+2
7353: 6324 40 0 6327 TRA *+3
7354: 6325 30 0 0215 CLZ DPOUT
7355: 6326 20 0 4030 CLA PMAX
7356: 6327 10 0 0214 STO POUT # OUTPUT P AT DISPLAY SCALE.
7357: 6330 20 0 0444 DSPLY2 CLA PDOUT # DISPLAY POSITION RATE.
7360: 6331 62 0 0000 ABS
7361: 6332 10 0 0010 STO TS10
7362: 6333 20 0 0444 CLA PDOUT
7363: 6334 46 0 6337 TMI *+3
7364: 6335 20 0 4036 CLA MS # 1 IS +
7365: 6336 40 0 6340 TRA *+2
7366: 6337 20 0 4007 CLA ZERO # 0 IS -
7367: 6340 32 0 0010 ADZ TS10 # SIGN MAGNITUDE.
7370: 6341 66 0 3040 OUT 3040 # RESET
7371: 6342 66 0 2440 OUT 2440 # SELECT ALT RATE.
7372:
|
|
Page 97 |
7374: 6343 66 0 6010 OUT 6010 # OUTPUT ALT RATE.
7375: 6344 40 0 1111 TRA EXIT42 # COMPUTE VY0 FOR OUTPUT
7376: 6345 66 0 6020 OUT 6020 # OUTPUT SAME.
7377: 6346 20 0 0214 DSPLY3 CLA POUT # DISPLAY POSITION.
7400: 6347 46 0 6351 TMI *+2
7401: 6350 40 0 6352 TRA *+2
7402: 6351 20 0 4007 CLA ZERO # ALT NEG.
7403: 6352 56 0 0001 *ALS 1 # SIGN BIT USED
7404: 6353 66 0 3040 OUT 3040 # RESET
7405: 6354 66 0 2420 OUT 2420 # SELECT ALT.
7406: 6355 66 0 6010 OUT 6010 # OUTPUT ALT.
7407: 6356 20 0 4011 CLA 1B5
7410: 6357 10 0 0543 DSPLY4 STO DSPSC # RESET COUNTER.
7411:
7412: # CYCLE COUNTING
7413:
7414: 6360 30 0 0615 EXEC1 CLZ MU10 # UPDATE MINOR CYCLE COUNT.
7415: 6361 22 0 4006 ADD 1B17
7416: 6362 10 0 0615 STO MU10
7417: 6363 40 0 1112 TRA EXIT43
7420: 6364 20 0 0615 CLA MU10 # CHECK FOR END.
7421: 6365 24 0 4040 SUB 49B17
7422: 6366 46 0 4047 TMI DELAY # -IS NOT END.
7423: 6367 30 0 0615 CLZ MU10
7424: 6370 20 0 1014 CLA BR50 # BR50 START.
7425: 6371 10 0 0063 STO BRANCH
7426: 6372 40 0 4047 TRA DELAY
7427:
7430: # CROSS PRODUCT SUBROUTINE. AXB=C.
7431:
7432: 6373 12 0 0023 CRSPRD STQ SREX
7433: 6374 20 0 0006 CLA TS4+2 # AZ
7434: 6375 26 0 0011 MPR TS10+1 # BY
7435: 6376 10 0 0007 STO TS7
7436: 6377 20 0 0005 CLA TS4+1 # AY
7437: 6400 26 0 0012 MPR TS10+2 # BZ
7440: 6401 34 0 0007 SUZ TS7
7441:
|
|
Page 98 |
7443: 6402 10 0 0014 STO TS14 # CX
7444: 6403 20 0 0004 CLA TS4 # AX
7445: 6404 26 0 0012 MPR TS10+2 # BZ
7446: 6405 10 0 0007 STO TS7
7447: 6406 20 0 0006 CLA TS4+2 # AZ
7450: 6407 26 0 0010 MPR TS10
7451: 6410 34 0 0007 SUZ TS7
7452: 6411 10 0 0015 STO TS14+1 # CY
7453: 6412 20 0 0005 CLA TS4+1 # AY
7454: 6413 26 0 0010 MPR TS10 # BX
7455: 6414 10 0 0007 STO TS7
7456: 6415 20 0 0004 CLA TS4 # AX
7457: 6416 26 0 0011 MPR TS10+1 # BY
7460: 6417 34 0 0007 SUZ TS7
7461: 6420 10 0 0016 STO TS14+2 # CZ
7462: 6421 40 0 0023 TRA SREX
7463:
7464: # NORMALIZE VECTOR SUBROUTINE.
7465:
7466: 6422 12 0 0021 NORMV STQ SREX2
7467: 6423 30 0 0017 CLZ TS17
7470: 6424 50 1 0002 AXT 2,1
7471: 6425 20 1 0014 CLA TS14,1 # INPUT VECTOR
7472: 6426 26 1 0014 MPR TS14,1
7473: 6427 32 0 0017 ADZ TS17
7474: 6430 10 0 0017 STO TS17
7475: 6431 42 1 6425 TIX *-4,1
7476: 6432 72 0 7123 TSQ SQRTE
7477: 6433 10 0 0013 STO TS13
7500: 6434 50 1 0002 AXT 2,1
7501: 6435 20 1 0014 CLA TS14,1
7502: 6436 14 0 4007 LDQ ZERO
7503: 6437 54 0 0001 LRS 1
7504: 6440 04 0 0013 DVP TS13
7505: 6441 10 1 0010 STO TS10,1 # UNIT VECTOR AT 1.
7506: 6442 42 1 6435 TIX *-5,1
7507: 6443 40 0 0021 TRA SREX2
7510:
|
|
Page 99 |
7512:
7513: # ORBIT PARAMETERS FROM EPOCH SUBROUTINE.
7514:
7515: 6444 12 0 0021 ORBPM STQ SREX2
7516: 6445 30 0 0011 CLZ TS11
7517: 6446 30 0 0012 CLZ TS12
7520: 6447 30 0 0013 CLZ TS13
7521: 6450 44 0 6451 TOV *+1
7522: 6451 50 1 0002 AXT 2,1
7523: 6452 20 1 0204 ORBPM1 CLA R0X,1 # 23
7524: 6453 26 1 0424 MPR V0X,1 # 13
7525: 6454 32 0 0013 ADZ TS13
7526: 6455 10 0 0013 STO TS13 # R0 DOT V0 AT 36
7527: 6456 20 1 0424 CLA V0X,1
7530: 6457 26 1 0424 MPR V0X,1
7531: 6460 32 0 0012 ADZ TS12
7532: 6461 10 0 0012 STO TS12 # V0 DOT V0 AT 26
7533: 6462 20 1 0204 CLA R0X,1
7534: 6463 26 1 0204 MPR R0X,1
7535: 6464 32 0 0011 ADZ TS11
7536: 6465 10 0 0011 STO TS11 # R0 DOT R0 AT 46
7537: 6466 42 1 6452 TIX ORBPM1,1
7540: 6467 40 0 1120 EX44 TRA EXIT44
7541: 6470 72 0 7123 TSQ SQRTE
7542: 6471 10 0 0207 STO R0 # 23
7543: 6472 06 0 0012 MPY TS12 # 23+26=49
7544: 6473 44 0 6474 TOV *+1
7545: 6474 04 0 0636 DVP 2K1 # 48
7546: 6475 60 0 0000 COM
7547: 6476 22 0 4030 ADD PMAX # 2B1
7550: 6477 10 0 0001 STO TS1
7551: 6500 20 0 0207 CLA R0
7552: 6501 14 0 4007 LDQ ZERO
7553: 6502 54 0 0001 LRS 1
7554: 6503 04 0 0001 DVP TS1
7555: 6504 40 0 1121 EX45 TRA EXIT45
7556: 6505 10 0 0173 STO AI # ALPHA I AT 23
7557:
|
|
Page 100 |
7561: 6506 20 0 0636 CLA 2K1
7562: 6507 14 0 4007 LDQ ZERO
7563: 6510 54 0 0001 LRS 1 # 49
7564: 6511 04 0 0173 DVP AI # 49-23=26
7565: 6512 72 0 7123 TSQ SQRTE
7566: 6513 10 0 0001 STO TS1 # ROOT(MU/ALPHA) AT 13
7567: 6514 14 0 4007 LDQ ZERO
7570: 6515 54 0 0001 LRS 1
7571: 6516 04 0 0173 DVP AI
7572: 6517 10 0 0077 STO NI # ANG FREQ AT -9.
7573: 6520 20 0 0173 CLA AI
7574: 6521 24 0 0207 SUB R0
7575: 6522 14 0 4007 LDQ ZERO
7576: 6523 04 0 0173 DVP AI
7577: 6524 10 0 0103 STO CI # 0
7600: 6525 20 0 0173 CLA AI
7601: 6526 36 0 0001 MPZ TS1
7602: 6527 10 0 0001 STO TS1 # ROOT(ALPHAXMU) AT 36
7603: 6530 30 0 0013 CLZ TS13 # 36
7604: 6531 14 0 4007 LDQ ZERO
7605: 6532 04 0 0001 DVP TS1
7606: 6533 10 0 0043 STO SI # 0
7607: 6534 40 0 0021 TRA SREX2
7610:
7611: # ELLIPSE PREDICTOR SUBROUTINE.
7612:
7613: 6535 12 0 0021 ELPRD STQ SREX2
7614: 6536 30 0 0007 CLZ TS7 # ITERATION COUNTER.
7615: 6537 20 0 0442 CLA TI # 13
7616: 6540 26 0 0077 MPR NI # AT -9.
7617: 6541 56 0 0001 ALS 1
7620: 6542 10 0 0010 STO TS10 # DEL M AT 3.
7621: 6543 10 0 0011 ELPRD1 STO TS11 # DEL E AT 3.
7622: 6544 72 0 6767 TSQ SICOE
7623: 6545 20 0 0000 CLA TS0
7624: 6546 26 0 0103 MPR CI # AT 0.
7625: 6547 10 0 0013 STO TS13 # 1
7626:
|
|
Page 101 |
7630: 6550 20 0 0001 CLA TS1 # 1
7631: 6551 26 0 0043 MPR SI # 0+1=1
7632: 6552 34 0 0013 SUZ TS13
7633: 6553 22 0 5033 ADD 1B1
7634: 6554 10 0 0012 STO TS12 # X12 AT 1.
7635: 6555 30 0 0007 CLZ TS7
7636: 6556 24 0 4005 SUB 2B17 # 2ITERATIONS.
7637: 6557 46 0 6642 TMI ELPRD3 # -IS NOT DONE.
7640: 6560 20 0 0103 CLA CI # 0
7641: 6561 54 0 0001 LRS 1 # 1
7642: 6562 60 0 0000 COM
7643: 6563 22 0 0000 ADD TS0
7644: 6564 06 0 0173 MPY AI # 23+1=24
7645: 6565 04 0 0207 DVP R0 # 23
7646: 6566 10 0 0003 STO TS3 # F AT 1.
7647: 6567 30 0 0010 CLZ TS10 # 3
7650: 6570 34 0 0011 SUZ TS11
7651: 6571 56 0 0002 ALS 2 # 1
7652: 6572 22 0 0001 ADD TS1
7653: 6573 14 0 4007 LDQ ZERO
7654: 6574 54 0 0001 LRS 1
7655: 6575 04 0 0077 DVP NI # AT -9.
7656: 6576 10 0 0007 STO TS7 # G AT 11.
7657: 6577 20 0 0207 CLA R0
7660: 6600 26 0 0012 MPR TS12
7661: 6601 10 0 0014 STO TS14 # 24
7662: 6602 20 0 0173 CLA AI
7663: 6603 26 0 0077 MPR NI
7664: 6604 06 0 0001 MPY TS1 # 23-9+1=15
7665: 6605 04 0 0014 DVP TS14
7666: 6606 60 0 0000 COM
7667: 6607 10 0 0013 STO TS13 # F DOT AT -9.
7670: 6610 20 0 0012 CLA TS12 # X12
7671: 6611 24 0 5033 SUB 1B1
7672: 6612 32 0 0000 ADZ TS0
7673: 6613 14 0 4007 LDQ ZERO
7674: 6614 54 0 0001 LRS 1 # 2
7675:
|
|
Page 102 |
7677: 6615 04 0 0012 DVP TS12
7700: 6616 10 0 0017 STO TS17 # G DOT AT 1.
7701: 6617 50 1 0002 AXT 2,1
7702: 6620 20 1 0204 ELPRD2 CLA R0X,1 # 23
7703: 6621 26 0 0003 MPR TS3 # 1
7704: 6622 10 0 0002 STO TS2 # 24
7705: 6623 20 1 0424 CLA V0X,1 # 13
7706: 6624 26 0 0007 MPR TS7 # 11+13=24
7707: 6625 32 0 0002 ADZ TS2
7710: 6626 56 0 0001 ALS 1 # 23
7711: 6627 10 1 0220 STO RIX,1 # PRED POS AT 23
7712: 6630 20 1 0204 CLA R0X,1 # 23
7713: 6631 26 0 0013 MPR TS13 # -9
7714: 6632 10 0 0002 STO TS2 # 14
7715: 6633 20 1 0424 CLA V0X,1 # 13
7716: 6634 26 0 0017 MPR TS17 # 1
7717: 6635 32 0 0002 ADZ TS2
7720: 6636 56 0 0001 ALS 1
7721: 6637 10 1 0430 STO VIX,1 # PRED VEL AT 13
7722: 6640 42 1 6620 TIX ELPRD2,1
7723: 6641 40 0 0021 TRA SREX2
7724: 6642 22 0 4004 ELPRD3 ADD 3B17
7725: 6643 10 0 0007 STO TS7
7726: 6644 20 0 0010 CLA TS10 # 3
7727: 6645 24 0 0011 SUB TS11
7730: 6646 56 0 0002 ALS 2
7731: 6647 10 0 0013 STO TS13 # DEL(M)-DEL(E) AT 1.
7732: 6650 20 0 0000 CLA TS0 # 1
7733: 6651 54 0 0001 LRS 1 # 2
7734: 6652 24 0 4065 SUB 1B2
7735: 6653 26 0 0043 MPR SI # 0+2=2
7736: 6654 56 0 0001 ALS 1
7737: 6655 10 0 0014 STO TS14 # 1
7740: 6656 20 0 0001 CLA TS1
7741: 6657 26 0 0103 MPR CI # 0+1=1
7742: 6660 32 0 0014 ADZ TS14
7743: 6661 32 0 0013 ADZ TS13 # X11 IN A AT 1.
7744:
|
|
Page 103 |
7746: 6662 14 0 4007 LDQ ZERO
7747: 6663 54 0 0003 LRS 3 # 4
7750: 6664 04 0 0012 DVP TS12 # DEL E CORRECTION AT 3.
7751: 6665 32 0 0011 ADZ TS11 # DEL E
7752: 6666 40 0 6543 TRA ELPRD1
7753:
7754: # DOUBLE PRECISION SQUARE SUBROUTINE.
7755:
7756: 6667 12 0 0023 DPSQ STQ SREX
7757: 6670 30 0 0001 CLZ TS1 # A SQ MS
7760: 6671 30 0 0002 CLZ TS2 # A SQ LS
7761: 6672 50 1 0002 AXT 2,1
7762: 6673 20 1 0004 DPSQ1 CLA TS4,1
7763: 6674 06 1 0004 MPY TS4,1
7764: 6675 32 0 0001 *ADZ TS1
7765: 6676 46 0 6716 TMI DPSQ3 # CHECK FOR O.F.
7766: 6677 10 0 0001 STO TS1
7767: 6700 12 0 0003 STQ TS3
7770: 6701 30 0 0002 CLZ TS2
7771: 6702 32 0 0003 *ADZ TS3
7772: 6703 10 0 0002 STO TS2
7773: 6704 46 0 6706 TMI *+2 # CHECK FOR O.F.
7774: 6705 40 0 6714 TRA DPSQ2
7775: 6706 24 0 4036 *SUB MS
7776: 6707 10 0 0002 STO TS2
7777: 6710 30 0 0001 CLZ TS1
10000: 6711 22 0 4006 *ADD 1B17
10001: 6712 46 0 6716 TMI DPSQ3 # CHECK FOR O.F.
10002: 6713 10 0 0001 STO TS1
10003: 6714 42 1 6673 DPSQ2 TIX DPSQ1,1
10004: 6715 40 0 0023 TRA SREX
10005: 6716 20 0 4030 DPSQ3 CLA PMAX # O.F. DETECTED.
10006: 6717 10 0 0001 STO TS1
10007: 6720 40 0 0023 TRA SREX
10010:
10011: # NORMALIZE SUBROUTINE.
10012:
10013:
|
|
Page 104 |
10015: 6721 12 0 0022 NORM STQ SREX1
10016: 6722 44 0 6723 TOV *+1 # CLEAR O.F.
10017: 6723 14 0 0002 LDQ TS2 # A SQ LS
10020: 6724 50 1 0007 AXT 7,1 # 8 SHIFTS(16 PLACES) POSSIBLE
10021: 6725 20 0 0001 CLA TS1 # A SQ MS
10022: 6726 52 0 0002 *LLS 2
10023: 6727 44 0 6735 TOV NORM1
10024: 6730 10 0 0001 STO TS1 # NORMALIZED A.
10025: 6731 42 1 6725 TIX *-4,1
10026: 6732 20 0 4017 CLA 8B17
10027: 6733 22 0 4035 ADD SHDUM # LRS 0
10030: 6734 40 0 0022 TRA SREX1
10031: 6735 20 1 4000 NORM1 CLA 7B17,1
10032: 6736 40 0 6733 TRA *-3
10033:
10034: # DOUBLE PRECISION VECTOR MAGNITUDE.
10035:
10036: 6737 12 0 0021 DPVMAG STQ SREX2 # SAVE RET ADDRS.
10037: 6740 72 0 6667 TSQ DPSQ # TO DOUB PREC SQ.
10040: 6741 72 0 6721 TSQ NORM # TO NORMALIZE.
10041: 6742 10 0 0020 STO SREX3 # LRS(I/2)
10042: 6743 30 0 0001 CLZ TS1 # NORMALIZED SQ.
10043: 6744 72 0 7123 TSQ SQRTE
10044: 6745 40 0 0020 TRA SREX3 # RE-NORMALIZE A-REG.
10045:
10046: # DOUBLE PRECISION TIME SUBTRACT.
10047:
10050: 6746 12 0 0023 DPTSB STQ SREX
10051: 6747 20 0 0377 CLA TA1 # ABS TIME MS AT 18.
10052: 6750 24 1 0520 SUB TE1,1 # EPOCH TIME MS AT 18.
10053: 6751 56 0 0005 ALS 5 # 13
10054: 6752 10 0 0001 STO TS1
10055: 6753 20 1 0524 CLA TE2,1 # EPOCH TIME LS AT 1.
10056: 6754 54 0 0014 LRS 12 # 13
10057: 6755 10 0 0002 STO TS2
10060: 6756 20 0 0353 CLA TA2 # ABS TIME LS AT 1.
10061: 6757 54 0 0014 LRS 12 # 13
10062:
|
|
Page 105 |
10064: 6760 34 0 0002 SUZ TS2
10065: 6761 32 0 0001 ADZ TS1
10066: 6762 10 0 0442 STO TI # TIME DIFF AT 13.
10067: 6763 40 0 0023 TRA SREX
10070:
10071: 6764 12 0 0021 EXIT STQ SREX2
10072: 6765 40 0 0021 TRA SREX2
10073:
10074: # SINE-COSINE SUBROUTINE ENTER WITH ANGLE IN
10075: # RADIANS AT B3 IN ACC AND RETURN IN Q
10076:
10077: 6766 22 0 4021 ADD 2PIB3
10100: 6767 46 0 6766 SICOE TMI *-1 # SET PLUS
10101: 6770 12 0 0023 STQ SREX
10102: 6771 10 0 0001 STO TS1
10103: 6772 24 0 4021 SUB 2PIB3 # SET BETWEEN 0-2PI
10104: 6773 46 0 6775 TMI *+2
10105: 6774 10 0 0001 STO TS1
10106: 6775 20 0 4023 CLA PID2 # PI/2
10107: 6776 24 0 0001 SUB TS1
10110: 6777 10 0 0000 STO TS0 # PI/2-ALPHA
10111: 7000 46 0 7021 TMI SICO1 # - IS GREATER THAN 90
10112: 7001 50 1 0001 AXT 1,1
10113: 7002 20 1 0000 SICO2 CLA TS0,1
10114: 7003 56 0 0002 ALS 2 # TO 1
10115: 7004 10 1 0000 STO TS0,1
10116: 7005 26 1 0000 MPR TS0,1
10117: 7006 10 0 0002 STO TS2 # ALPHA SQUARED AT 2
10120: 7007 26 0 4025 MPR K173 # 2-6=-4
10121: 7010 22 0 4026 ADD K172
10122: 7011 26 0 0002 MPR TS2 # -2
10123: 7012 22 0 4027 ADD K171
10124: 7013 26 0 0002 MPR TS2 # 0
10125: 7014 22 0 4030 ADD K170
10126: 7015 26 1 0000 MPR TS0,1 # 1
10127: 7016 10 1 0000 STO TS0,1
10130: 7017 42 1 7002 TIX SICO2,1
10131:
|
|
Page 106 |
10133: 7020 40 0 0023 TRA SREX # EXIT
10134: 7021 22 0 4023 SICO1 ADD PID2
10135: 7022 10 0 0001 STO TS1 # PI-ALPHA
10136: 7023 46 0 7025 TMI *+2 # - IS GREATER THAN 180
10137: 7024 40 0 7001 TRA SICO2-1
10140: 7025 22 0 4023 ADD PID2
10141: 7026 60 0 0000 COM
10142: 7027 10 0 0000 STO TS0 # ALPHA-3PI/2
10143: 7030 46 0 7001 TMI SICO2-1 # - IS BETWEEN 180 AND 270
10144: 7031 24 0 4023 SUB PID2
10145: 7032 10 0 0001 STO TS1 # ALPHA-2PI
10146: 7033 40 0 7001 TRA SICO2-1
10147:
10150: # ARCTANGENT SUBROUTINE ENTER WITH SINE AND
10151: # COSINE AT 1 IN TS3 AND TS4
10152:
10153: 7034 12 0 0023 ARCTAE STQ SREX # SET EXIT
10154: 7035 20 0 0003 CLA TS3
10155: 7036 62 0 0000 ABS
10156: 7037 10 0 0001 STO TS1
10157: 7040 20 0 0004 CLA TS4
10160: 7041 44 0 7042 TOV *+1
10161: 7042 62 0 0000 ABS
10162: 7043 22 0 0001 *ADD TS1 # KCOS+KSIN
10163: 7044 44 0 7047 TOV *+3 # O.F. CHECK.
10164: 7045 20 0 0004 CLA TS4
10165: 7046 40 0 7055 TRA *+7
10166: 7047 30 0 0001 CLZ TS1 # O.F. RE-SCALE.
10167: 7050 54 0 0001 LRS 1
10170: 7051 10 0 0001 STO TS1 # ABS SIN.
10171: 7052 30 0 0004 CLZ TS4
10172: 7053 54 0 0001 LRS 1
10173: 7054 10 0 0004 STO TS4 # COS
10174: 7055 46 0 7113 TMI ARCTA2 # - IS 2ND OR 3RD QUAD
10175: 7056 22 0 0001 ADD TS1
10176: 7057 10 0 0002 STO TS2
10177: 7060 20 0 4024 CLA PID4
10200:
|
|
Page 107 |
10202: 7061 10 0 0005 STO TS5 # 1/4 PI
10203: 7062 20 0 0001 CLA TS1
10204: 7063 24 0 0004 SUB TS4 # SIN-COS
10205: 7064 14 0 4007 ARCTA1 LDQ ZERO
10206: 7065 54 0 0001 LRS 1
10207: 7066 04 0 0002 DVP TS2
10210: 7067 10 0 0006 STO TS6 # =X AT 1
10211: 7070 06 0 0006 MPY TS6
10212: 7071 10 0 0007 STO TS7 # X SQUARED AT 2
10213: 7072 26 0 4031 MPR K183 # -1
10214: 7073 22 0 4032 ADD K182
10215: 7074 06 0 0007 MPY TS7 # 1
10216: 7075 22 0 4033 ADD K181
10217: 7076 06 0 0007 MPY TS7 # 3
10220: 7077 52 0 0001 LLS 1 # 2
10221: 7100 22 0 4034 ADD K180
10222: 7101 26 0 0006 MPR TS6 # 3
10223: 7102 22 0 0005 ADD TS5
10224: 7103 10 0 0001 STO TS1
10225: 7104 20 0 0003 CLA TS3
10226: 7105 46 0 7110 TMI *+3
10227: 7106 20 0 0001 CLA TS1
10230: 7107 40 0 0023 TRA SREX # EXIT
10231: 7110 20 0 4021 CLA 2PIB3 # PHI GREATER THAN 180
10232: 7111 24 0 0001 SUB TS1
10233: 7112 40 0 0023 TRA SREX
10234: 7113 20 0 4022 ARCTA2 CLA 3PID4
10235: 7114 10 0 0005 STO TS5 # 3/4 PI
10236: 7115 20 0 0004 CLA TS4
10237: 7116 24 0 0001 SUB TS1
10240: 7117 10 0 0002 STO TS2
10241: 7120 20 0 0001 CLA TS1
10242: 7121 22 0 0004 ADD TS4
10243: 7122 40 0 7064 TRA ARCTA1
10244:
10245: # SQUARE ROOT SUBROUTINE ENTER WITH
10246: # SQUARE IN ACC AND RETURN IN Q
10247:
|
|
Page 108 |
10251:
10252: 7123 12 0 0023 SQRTE STQ SREX
10253: 7124 10 0 0001 STO TS1
10254: 7125 60 0 0000 COM # TEST FOR ZERO OR NEG
10255: 7126 46 0 7131 TMI *+3
10256: 7127 20 0 4007 CLA ZERO # SET ROOT EQUAL ZERO
10257: 7130 40 0 0023 TRA SREX
10260: 7131 30 0 0002 CLZ TS2 # SET TS2=0
10261: 7132 72 0 6721 TSQ NORM # TO NORMALIZE
10262: 7133 10 0 0022 STO SREX1 # SAVE SHIFT
10263: 7134 20 0 0001 CLA TS1
10264: 7135 54 0 0001 LRS 1 # .5SQ
10265: 7136 10 0 0133 STO TS8
10266: 7137 12 0 0001 STQ TS1
10267: 7140 54 0 0002 LRS 2 # .125SQ
10270: 7141 22 0 0133 ADD TS8 # .625SQ
10271: 7142 22 0 7147 ADD KSR # .375+.625SQ=RN-1
10272: 7143 50 1 0001 AXT 1,1 # 2 ITERATIONS
10273: 7144 10 0 0002 SQRT1 STO TS2
10274: 7145 54 0 0001 LRS 1 # .5 RN-1
10275: 7146 10 0 0000 STO TS0
10276: 7147 14 0 0001 KSR LDQ TS1 # KSR=.375+DELTA
10277: 7150 20 0 0133 CLA TS8
10300: 7151 04 0 0002 DVP TS2
10301: 7152 32 0 0000 ADZ TS0 # .5SQ/RN-1+.5RN-1=RN
10302: 7153 42 1 7144 TIX SQRT1,1
10303: 7154 40 0 0022 TRA SREX1 # TO SHIFT
10304:
10305: # ANGLE BETWEEN VECTORS SUBROUTINE.
10306:
10307: 7155 12 0 0022 ABVEC STQ SREX1
10310: 7156 20 0 0010 CLA TS10 # BX
10311: 7157 26 0 0006 MPR TS4+2 # AZ
10312: 7160 54 0 0001 LRS 1
10313: 7161 10 0 0002 STO TS2
10314: 7162 20 0 0004 CLA TS4 # AX
10315: 7163 26 0 0012 MPR TS10+2 # BZ
10316:
|
|
Page 109 |
10320: 7164 54 0 0001 LRS 1
10321: 7165 34 0 0002 SUZ TS2
10322: 7166 10 0 0003 STO TS3 # SIN THETA
10323: 7167 20 0 0004 CLA TS4 # AX
10324: 7170 26 0 0010 MPR TS10 # BX
10325: 7171 54 0 0001 LRS 1
10326: 7172 10 0 0002 STO TS2
10327: 7173 20 0 0006 CLA TS4+2 # AZ
10330: 7174 26 0 0012 MPR TS10+2 # BZ
10331: 7175 54 0 0001 LRS 1
10332: 7176 32 0 0002 ADZ TS2
10333: 7177 10 0 0004 STO TS4 # COS THETA
10334: 7200 72 0 7034 TSQ ARCTAE
10335: 7201 40 0 0022 TRA SREX1 # THETA IN A AT 3.
10336:
10337: # DEDA PROCESSING ENTRY
10340:
10341: 7202 20 0 0333 ADOUT CLA ADST # OUTPUT ADDRESS
10342: 7203 22 0 5033 ADD DUMCLA
10343: 7204 10 0 1000 STO CLADD # SET CLA OF DATA
10344: 7205 54 0 0011 LRS 9
10345: 7206 50 1 0002 AXT 2,1
10346: 7207 52 0 0003 LLS 3 # 3 BITS PER PASS
10347: 7210 66 0 2200 OUT DEDA
10350: 7211 66 0 2600 OUT SHOUT # SET SHIFT OUT
10351: 7212 56 0 0022 *ALS 18 # TIME DELAY
10352: 7213 42 1 7207 TIX *-4,1
10353: 7214 40 0 1000 TRA CLADD # GET DATA
10354: 7215 10 0 0326 ROR STO DD
10355: 7216 46 0 7353 TMI SNS # TEST SIGN
10356: 7217 20 0 4007 CLA ZERO # POSITIVE
10357: 7220 66 0 2200 SOUT OUT DEDA # OUTPUT SIGN
10360: 7221 66 0 2600 OUT SHOUT
10361: 7222 20 0 0027 CLA OCTF # OCTAL OR DECIMAL OUTPUT
10362: 7223 46 0 7247 TMI OCTO
10363: 7224 40 0 1122 EX46 TRA EXIT46
10364: 7225 20 0 0326 CLA DD # DECIMAL OUTPUT
10365:
|
|
Page 110 |
10367: 7226 26 0 0026 MPR SF # SCALE FACTOR
10370: 7227 62 0 0000 ABS # MAGNITUDE
10371: 7230 50 1 0004 AXT 4,1 # OUTPUT 5 DIGITS
10372: 7231 44 0 7232 TOV *+1
10373: 7232 14 0 4007 LDQ ZERO
10374: 7233 04 0 4042 *DVP BCDL # DIVIDE BY 100K
10375: 7234 12 0 0001 STQ TS1
10376: 7235 30 0 0001 CLZ TS1 # UNROUNDED QUOTIENT
10377: 7236 22 0 4006 ADD 1B17 # ROUND UP
10400: 7237 44 0 7355 TOV MAX # TEST FOR TOO LARGE
10401: 7240 06 0 4041 DOUT MPY 10B17 # EXTRACT DIGIT
10402: 7241 66 0 2200 OUT DEDA # OUTPUT
10403: 7242 66 0 2600 OUT SHOUT
10404: 7243 12 0 0001 STQ TS1 # REMAINDER
10405: 7244 30 0 0001 CLZ TS1
10406: 7245 42 1 7240 TIX *-5,1
10407: 7246 40 0 1123 TRA EXIT47
10410: 7247 14 0 0326 OCTO LDQ DD # OCTAL OUTPUT
10411: 7250 50 1 0004 AXT 4,1 # OUTPUT 5 OCTAL DIGITS
10412: 7251 52 0 0003 *LLS 3 # EXTRACT DIGIT
10413: 7252 66 0 2200 OUT DEDA # OUTPUT
10414: 7253 66 0 2600 OUT SHOUT
10415: 7254 56 0 0022 *ALS 18 # TIME DELAY
10416: 7255 42 1 7251 TIX *-4,1
10417: 7256 40 0 1123 TRA EXIT47
10420: 7257 10 0 0325 RME STO RMF # READOUT ENTRY
10421: 7260 66 0 2500 OUT SHIN # ENTER ENTRY SET SHIFT IN
10422: 7261 30 0 0327 CLZ CMF # RESET CLEAR MODE
10423: 7262 30 0 0027 CLZ OCTF # OCTAL FLAG
10424: 7263 30 0 0326 CLZ DD # CLEAR DEDA DATA
10425: 7264 20 0 4007 CLA ZERO
10426: 7265 50 1 0002 AXT 2,1 # INPUT 3 DIGIT ADDRESS
10427: 7266 56 0 0003 ALS 3
10430: 7267 10 0 0333 STO ADST
10431: 7270 64 0 2200 INP DEDA # INPUT DIGIT
10432: 7271 66 0 2500 OUT SHIN # SET SHIFT IN
10433: 7272 54 0 0015 LRS 13
10434:
|
|
Page 111 |
10436: 7273 24 0 4017 SUB 8B17 # TEST FOR ERROR
10437: 7274 46 0 7276 TMI *+2
10440: 7275 40 0 1124 TRA EXIT48 # ERROR EXIT
10441: 7276 22 0 4017 ADD 8B17
10442: 7277 32 0 0333 ADZ ADST # ASSEMBLE ADDRESS
10443: 7300 42 1 7266 TIX *-10,1
10444: 7301 10 0 0333 STO ADST
10445: 7302 64 0 2200 INP DEDA
10446: 7303 66 0 2500 OUT SHIN
10447: 7304 56 0 0004 *ALS 4
10450: 7305 10 0 0002 STO TS2 # SIGN
10451: 7306 20 0 0333 CLA ADST
10452: 7307 40 0 1125 TRA EXIT49 # SCALE FACTOR SELECT
10453: 7310 20 0 4036 NOTDD CLA MS # SET OCTAL FLAG
10454: 7311 10 0 0027 STO OCTF
10455: 7312 20 0 0325 CLA RMF # EXIT IF READOUT
10456: 7313 46 0 1123 TMI EXIT47
10457: 7314 50 1 0004 AXT 4,1 # INPUT 5 OCTAL DIGITS
10460: 7315 64 0 2200 INP DEDA
10461: 7316 66 0 2500 OUT SHIN
10462: 7317 54 0 0016 LRS 14
10463: 7320 32 0 0326 ADZ DD # ASSEMBLE WORD
10464: 7321 52 0 0003 LLS 3
10465: 7322 10 0 0326 STO DD
10466: 7323 42 1 7315 TIX *-6,1
10467: 7324 32 0 0002 ADZ TS2 # ADD SIGN
10470: 7325 40 0 7344 TRA STDD
10471: 7326 20 0 0325 DDIN CLA RMF # DECIMAL DATA
10472: 7327 46 0 1123 TMI EXIT47 # EXIT IF READOUT
10473: 7330 50 1 0004 AXT 4,1 # READ 5 DIGITS
10474: 7331 40 0 7336 TRA *+5
10475: 7332 66 0 2500 OUT SHIN
10476: 7333 06 0 7512 MPY 10B4 # MULTIPLY BY 10
10477: 7334 52 0 0004 LLS 4 # SCALE
10500: 7335 10 0 0326 STO DD
10501: 7336 64 0 2200 INP DEDA
10502: 7337 54 0 0015 LRS 13
10503:
|
|
Page 112 |
10505: 7340 32 0 0326 ADZ DD # ASSEMBLE WORD
10506: 7341 42 1 7332 TIX *-7,1
10507: 7342 40 0 1126 EX50 TRA EXIT50
10510: 7343 04 0 0026 DVP SF # SCALE FACTOR
10511: 7344 10 0 0326 STDD STO DD
10512: 7345 30 0 0002 CLZ TS2
10513: 7346 46 0 7350 TMI *+2 # COMPLEMENT IF MINUS
10514: 7347 40 0 1127 TRA EXIT51 # IMMEDIATE ACTION TEST
10515: 7350 30 0 0326 CLZ DD # COMPLEMENT
10516: 7351 60 0 0000 COM
10517: 7352 40 0 7344 TRA STDD
10520: 7353 20 0 4006 SNS CLA 1B17 # PICK UP NEGATIVE SIGN
10521: 7354 40 0 7220 TRA SOUT
10522: 7355 20 0 4030 MAX CLA PMAX # GET MAXIMUM NUMBER
10523: 7356 40 0 7240 TRA DOUT
10524:
10525: # ABSOLUTE TIME INITIALIZE
10526:
10527: 7357 20 0 0615 ATI CLA MU10 # CYCLE COUNT
10530: 7360 14 0 4007 LDQ ZERO
10531: 7361 04 0 0667 DVP M25B16 # MINUS SEC AT 1
10532: 7362 22 0 0670 ADD DTB # 1+TIME BIAS
10533: 7363 22 0 5033 ADD 1B1 # +1 SEC
10534: 7364 10 0 0353 STO TA2 # 2+BIAS-CYCLE COUNT
10535: 7365 20 0 0326 CLA DD # INPUT TIME
10536: 7366 24 0 4006 SUB 1B17 # T-2 SEC
10537: 7367 10 0 0377 STO TA1 # MOST SIG ABS TIME
10540: 7370 40 0 1123 TRA EXIT47
10541:
10542: # AGS TELEMETRY OUTPUT
10543:
10544: 7371 12 0 0023 TME STQ SREX
10545: 7372 64 0 2020 INP DISC1I
10546: 7373 56 0 0002 *ALS 2 # TEST FOR STOP
10547: 7374 46 0 0023 TMI SREX # EXIT IF NOT
10550: 7375 30 0 0723 CLZ TMID
10551: 7376 22 0 4006 ADD 1B17 # INCREMENT IDENT NUMBER
10552:
|
|
Page 113 |
10554: 7377 10 0 0723 STO TMID
10555: 7400 22 0 1006 ADD TMCLA # SET UP TO GET WORD
10556: 7401 10 0 0021 STO SREX-2
10557: 7402 24 0 1006 SUB TMCLA # GET ID
10560: 7403 56 0 0014 *ALS 12
10561: 7404 66 0 6200 OUT TMIDO # OUTPUT IDENTIFICATION
10562: 7405 20 0 4045 CLA TMOUT # OUTPUT INSTRUCTION
10563: 7406 10 0 0022 STO SREX-1
10564: 7407 40 0 0021 TRA SREX-2
10565:
10566: # TELEMETRY INITIALIZE
10567:
10570: 7410 30 0 0723 TMIE2 CLZ TMID # RESET TO FIRST WORD
10571: 7411 50 1 0002 AXT 2,1
10572: 7412 20 1 0130 CLA A11,1 # SAVE DIRECTION COSINES
10573: 7413 10 1 0330 STO A11T,1 # FOR TELEMETRY
10574: 7414 20 1 0134 CLA A31,1
10575: 7415 10 1 0334 STO A31T,1
10576: 7416 42 1 7412 TIX *-4,1
10577: 7417 40 0 6764 TRA EXIT
10600:
10601: # PGNS DOWNLINK INPUT
10602:
10603: 7420 12 0 0023 PGNSDE STQ SREX
10604: 7421 20 0 0563 CLA DLIF # DOWNLINK INITIALIZE FLAG
10605: 7422 46 0 7424 TMI *+2
10606: 7423 40 0 0023 TRA SREX # EXIT
10607: 7424 64 0 2020 INP DISC1I
10610: 7425 56 0 0001 *ALS 1 # TEST FOR STOP
10611: 7426 46 0 0023 TMI SREX # PULSE RECEIVED
10612: 7427 64 0 6200 INP DLREG # INPUT WORD
10613: 7430 54 0 0002 LRS 2 # DISCARD UNWANTED BITS
10614: 7431 10 0 0012 STO TS12 # SAVE INPUT
10615: 7432 20 0 0570 CLA ID1F # TEST FOR PRIOR ID
10616: 7433 46 0 7450 TMI PGNSD1 # NUMBER 1 FOUND
10617: 7434 30 0 0012 CLZ TS12 # TEST IF CURRENT
10620: 7435 46 0 0023 TMI SREX # WORD IS AN ID
10621:
|
|
Page 114 |
10623: 7436 24 0 0671 SUB ID1
10624: 7437 62 0 0000 ABS
10625: 7440 60 0 0000 COM
10626: 7441 46 0 0023 TMI SREX
10627: 7442 20 0 4025 CLA K173 # IS ID1
10630: 7443 10 0 0570 STO ID1F # SET FLAG
10631: 7444 30 0 0562 CLZ DLWN # ZERO WORD NUMBER
10632: 7445 20 0 4011 PBNSD2 CLA 1B5
10633: 7446 10 0 0037 STO DLSC # SET SHIFT COUNT
10634: 7447 40 0 0023 TRA SREX # EXIT
10635: 7450 40 0 1023 PGNSD1 TRA EXIT7
10636: 7451 30 0 0037 CLZ DLSC
10637: 7452 56 0 0001 *ALS 1 # TEST FOR ID
10640: 7453 46 0 7445 TMI PBNSD2 # WORD EXPECTED
10641: 7454 10 0 0037 STO DLSC
10642: 7455 30 0 0562 CLZ DLWN
10643: 7456 22 0 4006 ADD 1B17 # INCREMENT WORD NUMBER
10644: 7457 10 0 0562 STO DLWN
10645: 7460 22 0 1010 ADD DLSTO # FORM STORE COMMAND
10646: 7461 10 0 0022 STO SREX-1
10647: 7462 24 0 0672 SUB DLWNL # TEST FOR LAST WORD
10650: 7463 46 0 7467 TMI *+4
10651: 7464 30 0 0570 CLZ ID1F # RESET ID1 FLAG
10652: 7465 30 0 0563 CLZ DLIF # RESET INITIALIZE FLAG
10653: 7466 10 0 0571 STO IDRF # SET DATA RECEIVED FLAG
10654: 7467 30 0 0012 CLZ TS12
10655: 7470 56 0 0003 *ALS 3
10656: 7471 40 0 0022 TRA SREX-1
10657:
10660: # SELF-TEST ROUTINE
10661: 7472 20 0 0572 TEST CLA FLAGT
10662: 7473 46 0 7722 TMI CKSUM
10663: 7474 20 0 0412 CLA S12
10664: 7475 24 0 7701 SUB 1B3
10665: 7476 46 0 7502 TMI *+4
10666: 7477 24 0 4065 SUB 1B2
10667: 7500 46 0 7503 TMI *+3 # -IS LESS THAN 3
10670:
|
|
Page 115 |
10672: 7501 40 0 1130 TRA EXIT52
10673: 7502 66 0 7010 OUT 7010
10674: # LOGIC TEST
10675: 7503 44 0 7504 TOV *+1 # ACCUM. Q REG. OPER.
10676: 7504 14 0 4030 LDQ K170 # 377777 377777
10677: 7505 20 0 4020 CLA SIXTH # 252525 377777 252525
10700: 7506 56 0 0001 *ALS 1 # 525252
10701: 7507 12 0 0000 1K7 STQ TS0
10702: 7510 72 0 7775 TSQ OVFLW # TEST FOR OVERFLOW
10703: 7511 54 0 0021 LRS 17 # 777777 525252
10704: 7512 24 0 0000 10B4 SUB TS0 # 400000 525252 377777
10705: 7513 12 0 0000 STQ TS0
10706: 7514 44 0 7772 TOV ERROR # TEST RESET OF OVERFLOW
10707: 7515 60 0 0000 *COM # 400000
10710: 7516 46 0 7520 TMI *+2
10711: 7517 40 0 7772 TRA ERROR
10712: 7520 14 0 0000 3B3 LDQ TS0 # 400000 525252 525252
10713: 7521 52 0 0021 *LLS 17 # 125252 000000
10714: 7522 12 0 0001 STQ TS1
10715: 7523 72 0 7775 TSQ OVFLW
10716: 7524 24 0 0001 SUB TS1 # 125252 000000
10717: 7525 24 0 0000 *SUB TS0 # 400000 525252
10720: 7526 56 0 0001 *ALS 1 # 000000
10721: 7527 72 0 7775 TSQ OVFLW
10722: 7530 14 0 4003 LDQ 4B17 # 000000 000004 00004
10723: 7531 52 0 0037 LLS 31 # 200000 000000
10724: 7532 44 0 7772 TOV ERROR # NO OVERFLOW
10725: 7533 14 0 4036 LDQ MS # 200000 400000 400000
10726: 7534 12 0 0001 STQ TS1
10727: 7535 54 0 0020 LRS 16 # 000001 000000
10730: 7536 22 0 0001 ADD TS1 # 400001 000000 400000
10731: 7537 12 0 0002 STQ TS2
10732: 7540 22 0 0002 ADD TS2
10733: 7541 46 0 7543 TMI *+2
10734: 7542 40 0 7772 TRA ERROR
10735: 7543 22 0 4030 ADD K170 # 000000 000000 377777
10736: 7544 46 0 7772 TMI ERROR
10737:
|
|
Page 116 |
10741: 7545 44 0 7772 TOV ERROR
10742: 7546 60 0 0000 COM # 000000
10743: 7547 72 0 7767 TSQ ACCUM # 777777
10744: 7550 60 0 0000 COM # 000001
10745: 7551 62 0 0000 ABS # 000001
10746: 7552 50 1 0007 AXT 7,1
10747: 7553 10 1 0000 STO TS0,1 # STORE 8 NUMBERS IN
10750: 7554 24 0 4006 SUB 1B17 # SEQUENCE
10751: 7555 42 1 7553 TIX *-2,1
10752: 7556 20 0 4006 CLA 1B17 # 000001 000001
10753: 7557 30 0 0004 CLZ TS4 # 777776 777776
10754: 7560 56 0 0017 ALS 15 # 600000
10755: 7561 44 0 7772 TOV ERROR
10756: 7562 36 0 0005 MPZ TS5 # 000001 200000 777777
10757: 7563 34 0 0007 SUZ TS7 # 000000 200000 000001
10760: 7564 52 0 0003 LLS 3 # 000004 000000
10761: 7565 32 0 0002 ADZ TS2 # 000000 000000 777774
10762: 7566 50 1 0003 AXT 3,1
10763: 7567 22 1 0004 ADD TS4,1
10764: 7570 42 1 7567 TIX *-1,1
10765: 7571 50 1 0007 AXT 7,1
10766: 7572 50 1 0000 AXT 0,1
10767: 7573 34 1 0003 SUZ TS3,1 # 000003 000000 777775
10770: 7574 42 1 7772 TIX ERROR,1
10771: 7575 50 1 0002 AXT 2,1
10772: 7576 32 0 0001 ADZ TS1 # 777776 000000 777773
10773: 7577 42 1 7600 TIX *+1,1
10774: 7600 42 1 7601 TIX *+1,1
10775: 7601 34 1 0000 SUZ TS0,1 # 000004 000000 777772
10776: 7602 50 1 0003 AXT 3,1
10777: 7603 32 1 0000 ADZ TS0,1
11000: 7604 42 1 7603 TIX *-1,1
11001: 7605 22 0 4036 ADD MS # 400004 400000
11002: 7606 62 0 0000 ABS # 377774
11003: 7607 22 0 4030 *ADD K170 # 777773 377777
11004: 7610 72 0 7775 TSQ OVFLW
11005: 7611 62 0 0000 ABS # 000005
11006:
|
|
Page 117 |
11010: 7612 52 0 0000 LLS 0
11011: 7613 24 0 4002 SUB 5B17 # 000000 000005
11012: 7614 72 0 7767 TSQ ACCUM # 777777
11013: 7615 20 0 0000 CLA TS0 # 000000 000000
11014: 7616 40 0 7621 TRA *+3
11015: 7617 72 0 7767 TSQ ACCUM # 777777
11016: 7620 40 0 7622 TRA *+2
11017: 7621 40 0 7617 TRA *-2
11020: 7622 10 0 0000 STO TS0
11021: 7623 22 0 4006 ADD 1B17 # 000000 000001
11022: 7624 20 0 0000 CLA TS0 # 777777 777777
11023: 7625 24 0 0000 SUB TS0 # 000000 777777
11024: 7626 72 0 7767 TSQ ACCUM # 777777
11025: 7627 56 0 0020 ALS 16 # 600000
11026: 7630 06 0 0000 MPY TS0 # 000000 200000 777777
11027: 7631 12 0 0001 STQ TS1
11030: 7632 22 0 0001 ADD TS1 # 200000 200000 200000
11031: 7633 24 0 5033 SUB 1B1 # 000000 200000 200000
11032: 7634 22 0 4020 ADD SIXTH # 252525 200000 252525
11033: 7635 26 0 4004 MPR 3B17 # 000002 377777 000003
11034: 7636 22 0 0000 ADD TS0 # 000001 377777 777777
11035: 7637 04 0 4005 DVP 2B17 # 377777 377777 000002
11036: 7640 44 0 7772 TOV ERROR
11037: 7641 12 0 0002 STQ TS2
11040: 7642 24 0 4030 SUB K170 # 000000 377777 377777
11041: 7643 24 0 4030 SUB K170 # 400001 377777 377777
11042: 7644 22 0 0002 ADD TS2 # 000000 377777 377777
11043: 7645 22 0 4020 ADD SIXTH # 252525 377777 252525
11044: 7646 24 0 4002 SUB 5B17 # 252520 377777 000005
11045: 7647 26 0 4020 MPR SIXTH # 161612 161620 252525
11046: 7650 12 0 0002 STQ TS2
11047: 7651 24 0 0002 SUB TS2 # 777772 161620 161620
11050: 7652 54 0 0021 LRS 17 # 777777 777772
11051: 7653 04 0 4003 DVP 4B17 # 777777 777776 000004
11052: 7654 12 0 0002 STQ TS2
11053: 7655 22 0 0002 ADD TS2 # 777775 777776 777776
11054: 7656 22 0 4004 ADD 3B17 # 000000 777776 000003
11055:
|
|
Page 118 |
11057: 7657 24 0 4020 SUB SIXTH # 525253 777776 252525
11060: 7660 10 0 0003 STO TS3
11061: 7661 26 0 0003 MPR TS3 # 161616 307071 525253
11062: 7662 04 0 0003 DVP TS3 # 525251 525251 525253
11063: 7663 06 0 4020 MPY SIXTH # 616160 743435 252525
11064: 7664 04 0 4020 DVP SIXTH # 525251 525251 252525
11065: 7665 22 0 4005 ADD 2B17 # 525253 525251 000002
11066: 7666 22 0 0003 *ADD TS3 # 252526 525253
11067: 7667 72 0 7775 TSQ OVFLW
11070: 7670 24 0 0003 *SUB TS3 # 525253 525253
11071: 7671 72 0 7775 TSQ OVFLW
11072: 7672 24 0 4020 *SUB SIXTH # 252526 252525
11073: 7673 72 0 7775 TSQ OVFLW
11074: 7674 60 0 0000 COM
11075: 7675 22 0 4020 ADD SIXTH # 777777 252525
11076: 7676 14 0 0006 LDQ TS6 # 777777 000000 000000
11077: 7677 22 0 0000 ADD TS0 # 777776 000000 777777
11100: 7700 54 0 0002 LRS 2 # 777777 600000
11101: 7701 04 0 0000 1B3 *DVP TS0 # 200000 177777 777777
11102: 7702 12 0 0000 STQ TS0
11103: 7703 72 0 7775 TSQ OVFLW
11104: 7704 24 0 0000 SUB TS0 # 000001 177777
11105: 7705 24 0 4006 SUB 1B17 # 000000 000001
11106: 7706 72 0 7767 TSQ ACCUM # 777777
11107: 7707 20 0 4004 CLA 3B17
11110: 7710 04 0 4005 *DVP 2B17
11111: 7711 72 0 7775 TSQ OVFLW # END OF LOGIC TEST
11112: 7712 20 0 4036 SETFG CLA MS
11113: 7713 10 0 0572 STO FLAGT # SET TEST FLAG
11114: 7714 30 0 0137 CLZ SUM
11115: 7715 20 0 1007 CLA TCLTH # INITIALIZE MEMORY
11116: 7716 10 0 0024 STO TVARBR # TEST
11117: 7717 20 0 7002 CLA CLATEN
11120: 7720 10 0 0663 STO SUMLIM
11121: 7721 40 0 1130 TRA EXIT52
11122: # MEMORY CHECKSUM ROUTINE
11123: 7722 72 0 7750 CKSUM TSQ MEMSUM # PERFORM SUMMATION
11124:
|
|
Page 119 |
11126: 7723 30 0 0137 CLZ SUM # TEST SUM
11127: 7724 46 0 7727 TMI *+3
11130: 7725 24 0 4006 SUB 1B17
11131: 7726 46 0 7742 TMI COREX
11132: 7727 20 0 0412 CLA S12 # INCORRECT SUM
11133: 7730 24 0 7520 SUB 3B3 # SET TEST WORD BITS
11134: 7731 46 0 7735 TMI *+4 # AND TEST MODE FAILURE
11135: 7732 20 0 5427 CLA 7B3 # INDICATOR
11136: 7733 10 0 0412 STO S12
11137: 7734 40 0 7737 TRA *+3
11140: 7735 20 0 5033 CLA 1B1
11141: 7736 66 0 6410 OUT 6410
11142: 7737 10 0 0412 STO S12
11143: 7740 30 0 0572 CLZ FLAGT # RESET FLAG
11144: 7741 40 0 1130 TRA EXIT52
11145: 7742 20 0 0412 COREX CLA S12 # CORRECT SUM
11146: 7743 24 0 4006 SUB 1B17
11147: 7744 46 0 7746 TMI *+2
11150: 7745 40 0 7740 TRA *-5
11151: 7746 20 0 7701 CLA 1B3
11152: 7747 40 0 7737 TRA COREX-3
11153: 7750 12 0 0023 MEMSUM STQ SREX # MEMORY SUMMATION SUBRT.
11154: 7751 30 0 0153 CLZ WRDCNT
11155: 7752 72 0 0024 TSQ TVARBR
11156: 7753 32 0 0137 *ADZ SUM # FORM SUM
11157: 7754 10 0 0137 STO SUM
11160: 7755 20 0 0024 CLA TVARBR
11161: 7756 24 0 0663 SUB SUMLIM # TEST FOR LIMIT
11162: 7757 46 0 7761 TMI *+2
11163: 7760 40 0 0023 TRA SREX
11164: 7761 30 0 0153 CLZ WRDCNT
11165: 7762 22 0 4006 ADD 1B17
11166: 7763 10 0 0153 STO WRDCNT # INCREMENT WORD COUNTER
11167: 7764 24 0 0664 SUB WORDS
11170: 7765 46 0 7752 TMI MEMSUM+2
11171: 7766 40 0 1131 TRA EXIT53
11172: 7767 46 0 7772 ACCUM TMI ERROR # SUBROUTINE TO TEST FOR
11173:
|
|
Page 120 |
11175: 7770 24 0 4006 SUB 1B17 # ZERO ACCUMULATOR
11176: 7771 46 0 6764 TMI EXIT
11177: 7772 20 0 7520 ERROR CLA 3B3
11200: 7773 10 0 0412 STO S12
11201: 7774 40 0 7712 TRA SETFG
11202: 7775 44 0 6764 OVFLW TOV EXIT # OVERFLOW TEST
11203: 7776 40 0 7772 TRA ERROR
11204:
11205: # INPUT-OUTPUT ADDRESSES
11206:
11207: 7777 CHECKSUM RANGE 4000-7776
11210: 6200 DLREG DEFINE 6200
11211: 2020 DISC1I DEFINE 2020 # DISCRETE INPUT WORD 1
11212: 2040 DISC2I DEFINE 2040 # DISCRETE INPUT WORD 2
11213: 2200 DEDA DEFINE 2200
11214: 2001 SIALO DEFINE 2001 # DEFINE OUTPUT REGISTERS
11215: 2002 COALO DEFINE 2002 # FOR FDAI ANGLES
11216: 2004 SIBEO DEFINE 2004
11217: 2010 COBEO DEFINE 2010
11220: 2020 SIGAO DEFINE 2020
11221: 2040 COGAO DEFINE 2040
11222: 6001 EXO DEFINE 6001 # DEFINE THE ATT ERROR
11223: 6002 EYO DEFINE 6002 # OUTPUT REGISTERS
11224: 6004 EZO DEFINE 6004
11225: 6200 TMIDO DEFINE 6200
11226: 2600 SHOUT DEFINE 2600
11227: 2500 SHIN DEFINE 2500
11230: 10000 END
Checksums
CHECKSUM at 0206 (0207-1004) = 126003
CHECKSUM at 3777 (1005-3776) = 306163
CHECKSUM at 7777 (4000-7776) = 225333
Symbol Table
1: 10B17 4041 2: 10B4 7512 3: 12B4 5000 4: 16J 0232
5: 17J 0503 6: 18J 0316 7: 1B1 5033 8: 1B11 4014
9: 1B12 4015 10: 1B13 4016 11: 1B14 4017 12: 1B17 4006
13: 1B2 4065 14: 1B3 7701 15: 1B4 4010 16: 1B5 4011
17: 1B6 4012 18: 1B9 4013 19: 1J 0275 20: 1J1 0240
21: 1J2 0241 22: 1J3 0242 23: 1J4 0260 24: 1J5 0261
25: 1J6 0262 26: 1J7 0254 27: 1J7LS 0255 28: 1K1 0544
29: 1K11 0546 30: 1K13 0552 31: 1K14 0537 32: 1K18 0534
33: 1K19 0540 34: 1K20 0535 35: 1K21 0541 36: 1K22 0536
37: 1K23 0542 38: 1K24 0625 39: 1K25 4021 40: 1K26 0626
41: 1K27 0627 42: 1K28 0630 43: 1K29 0631 44: 1K3 0550
45: 1K30 0617 46: 1K33 0632 47: 1K34 0633 48: 1K35 0634
49: 1K36 0635 50: 1K37 0621 51: 1K4 0624 52: 1K56 0673
53: 1K6 0545 54: 1K7 7507 55: 1K8 0551 56: 1K9 0616
57: 21J 0233 58: 22J 0464 59: 23J 0465 60: 25B17 1043
61: 25J 0223 62: 28J1 0450 63: 28J2 0451 64: 28J3 0452
65: 29J 0274 66: 2B17 4005 67: 2B3 4065 68: 2J 0605
69: 2J1 0244 70: 2J2 0245 71: 2J3 0246 72: 2J4 0264
73: 2J5 0265 74: 2J6 0266 75: 2J7 0272 76: 2J7LS 0273
77: 2K1 0636 78: 2K11 0526 79: 2K14 0217 80: 2K17 0620
81: 2K18 0447 82: 2K19 0230 83: 2K2 0637 84: 2K20 0453
85: 2K3 0216 86: 2K4 0674 87: 2PIB3 4021 88: 3B17 4004
89: 3B3 7520 90: 3J 0312 91: 3K4 0613 92: 3PID4 4022
93: 49B17 4040 94: 4B17 4003 95: 4J 0306 96: 4K10 0227
97: 4K12 0506 98: 4K2 0654 99: 4K21 0666 100: 4K23 0622
101: 4K25 0657 102: 4K26 0454 103: 4K27 0473 104: 4K3 0655
105: 4K34 0660 106: 4K35 0661 107: 4K4 0565 108: 4K5 0662
109: 4K6 0527 110: 4K7 0566 111: 4K8 0602 112: 5B17 4002
113: 5B3 7512 114: 5J 0231 115: 5K14 0560 116: 5K16 0561
117: 5K17 0601 118: 5K18 0564 119: 5K20 0523 120: 5K26 0466
121: 6B17 4001 122: 6B3 5000 123: 6J 0307 124: 6K10 0517
125: 6K2 0457 126: 6K4 0456 127: 6K5 0656 128: 6K6 0522
129: 6K8 0304 130: 6K9 0611 131: 7B17 4000 132: 7B3 5427
133: 7J 0224 134: 8B17 4017 135: 8J 0225 136: 9J 0226
137: A11 0130 138: A11BD 0374 139: A11D 0160 140: A11T 0330
141: A12 0131 142: A12BD 0375 143: A12D 0161 144: A12T 0331
145: A13 0132 146: A13BD 0376 147: A13D 0162 148: A13T 0332
149: A21 0140 150: A22 0141 151: A23 0142 152: A31 0134
153: A31BD 0300 154: A31D 0164 155: A31S 0044 156: A31T 0334
157: A32 0135 158: A32BD 0301 159: A32D 0165 160: A32S 0045
161: A32T 0335 162: A33 0136 163: A33BD 0302 164: A33D 0166
165: A33S 0046 166: A33T 0336 167: ABVEC 7155 168: ACCUM 7767
169: ADDMS 0705 170: ADOUT 7202 171: ADST 0333 172: AE 0173
173: AHE 4437 174: AHE1 4450 175: AI 0173 176: AL 0177
177: ALPHA 0171 178: ALTUP 1710 179: ARCTA1 7064 180: ARCTA2 7113
181: ARCTAE 7034 182: AT 0067 183: ATI 7357 184: ATTERR 4451
185: B11 0010 186: B12 0014 187: B13SF 0704 188: B13VSF 0701
189: B18SF 0700 190: B21 0011 191: B22 0015 192: B23RSF 0703
193: B23SF 0677 194: B31 0012 195: B32 0016 196: B3SF 0702
197: B41 0013 198: B42 0017 199: BACCSF 0446 200: BACK 4044
201: BCDL 4042 202: BM13SF 0676 203: BR1 1012 204: BR2EX 5355
205: BR50 1014 206: BRANCH 0063 207: C1 0513 208: C2 0033
209: CAL 3413 210: CDCC 4146 211: CDH 3773 212: CDH2 3734
213: CDH3 3740 214: CI 0103 215: CKSUM 7722 216: CLADD 1000
217: CLAFR 4046 218: CLATEN 7002 219: CLEARM 1224 220: CLEARP 0323
221: CMF 0327 222: COA21 4275 223: COALO 2002 224: COBEO 2010
225: CODELL 0053 226: COGA 0127 227: COGAO 2040 228: COREX 7742
229: CRSPRD 6373 230: CSI 3650 231: CSICDH 3630 232: CSMPV 5145
233: CSMT1 5520 234: DA11 0150 235: DA12 0151 236: DA13 0152
237: DA31 0154 238: DA32 0155 239: DA33 0156 240: DAX 0354
241: DAXA 0530 242: DAXREM 0510 243: DAY 0355 244: DAYA 0531
245: DAYREM 0511 246: DAZ 0356 247: DAZA 0532 248: DAZREM 0512
249: DD 0326 250: DDEL 0547 251: DDF 0455 252: DDIN 7326
253: DEDA 2200 254: DEDABR 1013 255: DEDAE 1212 256: DEDASC 0727
257: DEL10 0577 258: DEL2 0574 259: DEL20 0603 260: DEL21 0604
261: DEL42 0606 262: DEL5 0575 263: DEL6 0576 264: DELAY 4047
265: DELH 0402 266: DELP 6013 267: DELR1 0220 268: DELR2 0222
269: DELR3 0221 270: DELRP 0314 271: DELTA 0212 272: DELTAT 0276
273: DELVG 0267 274: DELVGX 0500 275: DELVGY 0501 276: DELVGZ 0502
277: DEXIT 1222 278: DIAK1 0730 279: DIAK2 0731 280: DIAT 1351
281: DICOS 4223 282: DIGX 0110 283: DIGY 0111 284: DIGZ 0112
285: DISC1 0533 286: DISC1C 0401 287: DISC1I 2020 288: DISC2I 2040
289: DLDC 1376 290: DLIF 0563 291: DLREG 6200 292: DLSC 0037
293: DLSTO 1010 294: DLWN 0562 295: DLWNL 0672 296: DOUT 7240
297: DPDOUT 0443 298: DPOUT 0215 299: DPSQ 6667 300: DPSQ1 6673
301: DPSQ2 6714 302: DPSQ3 6716 303: DPTSB 6746 304: DPVMAG 6737
305: DQSX 0050 306: DRX 0104 307: DRY 0105 308: DRZ 0106
309: DSP1 3345 310: DSP2CP 3356 311: DSPF1 0567 312: DSPLY 6274
313: DSPLY1 6306 314: DSPLY2 6330 315: DSPLY3 6346 316: DSPLY4 6357
317: DSPSC 0543 318: DTB 0670 319: DUMCLA 5033 320: DVGXX 0460
321: DVINT 4326 322: DVS 4074 323: DVSX 0120 324: DVSY 0121
325: DVSZ 0122 326: DVX 0350 327: DVXM1 0074 328: DVY 0351
329: DVYM1 0075 330: DVZ 0352 331: DVZM1 0076 332: DX10P 2614
333: DXFR1 2577 334: DXFR10 2613 335: DXFR13 2660 336: DXFR14 2723
337: DXFRR5 2621 338: E1 0144 339: E13 0146 340: E3 0145
341: EADICS 4772 342: ELPRD 6535 343: ELPRD1 6543 344: ELPRD2 6620
345: ELPRD3 6642 346: ENCOM1 1475 347: ENTERP 0321 348: EONS10 0343
349: EROUT 4475 350: ERROR 7772 351: ESQ 0172 352: EX 0070
353: EX1 4072 354: EX16 4644 355: EX17 4666 356: EX27 5412
357: EX28 5266 358: EX29 5304 359: EX3 4142 360: EX30 5331
361: EX33 5551 362: EX33P 3577 363: EX33PP 3620 364: EX34 5614
365: EX34P 0745 366: EX35 3611 367: EX36 6066 368: EX36P 0734
369: EX37 0750 370: EX4 4221 371: EX44 6467 372: EX45 6504
373: EX46 7224 374: EX50 7342 375: EX8 4325 376: EX9 4354
377: EXEC 6261 378: EXEC1 6360 379: EXEC2 3371 380: EXEC3 3513
381: EXEC6 3536 382: EXECA 3453 383: EXECM 3376 384: EXECM1 3400
385: EXECM2 3533 386: EXIT 6764 387: EXIT1 1015 388: EXIT10 1026
389: EXIT11 1027 390: EXIT12 1030 391: EXIT13 1031 392: EXIT14 1032
393: EXIT15 1033 394: EXIT16 1034 395: EXIT17 1035 396: EXIT18 1036
397: EXIT19 1037 398: EXIT2 1016 399: EXIT20 1040 400: EXIT21 1041
401: EXIT22 1042 402: EXIT23 1044 403: EXIT24 1050 404: EXIT25 1051
405: EXIT26 1056 406: EXIT27 1057 407: EXIT28 1060 408: EXIT29 1065
409: EXIT3 1017 410: EXIT30 1067 411: EXIT31 1070 412: EXIT32 1071
413: EXIT33 1072 414: EXIT34 1073 415: EXIT35 1074 416: EXIT36 1075
417: EXIT37 1076 418: EXIT38 1077 419: EXIT39 1100 420: EXIT4 1020
421: EXIT40 1101 422: EXIT41 1110 423: EXIT42 1111 424: EXIT43 1112
425: EXIT44 1120 426: EXIT45 1121 427: EXIT46 1122 428: EXIT47 1123
429: EXIT48 1124 430: EXIT49 1125 431: EXIT5 1021 432: EXIT50 1126
433: EXIT51 1127 434: EXIT52 1130 435: EXIT53 1131 436: EXIT6 1022
437: EXIT7 1023 438: EXIT8 1024 439: EXIT9 1025 440: EXO 6001
441: EY 0071 442: EYEZ 4461 443: EYO 6002 444: EZ 0072
445: EZO 6004 446: FDAI 4626 447: FDAI1 3544 448: FDAIL 4724
449: FLAG1 0573 450: FLAGT 0572 451: FLTR 1723 452: FLTRA 1742
453: FLTRB 2003 454: FLTRC 2047 455: FLTRD 2123 456: FLTRE 2136
457: FLTRF 2161 458: FLTRG 2204 459: FLTRH 2226 460: FLTRI 2232
461: FLTRJ 2316 462: FLTRK 2371 463: FLTRL 2415 464: FLTRTM 2001
465: FLTRX 1777 466: GDLAW 6136 467: GDLAW3 3131 468: GDLAW4 3152
469: GM 2556 470: GRAV 5400 471: GRAV1 5421 472: GSESR 6214
473: GXDT 0114 474: GYCOM 4111 475: GYDT 0115 476: GZDT 0116
477: H 0337 478: HDOT 0367 479: HET 1243 480: HMF 0324
481: HOLDP 0322 482: HRC 4405 483: HRC1 4421 484: HRF 0553
485: HRINT 4431 486: HUGH 1204 487: IC1 5070 488: IC1BR 1011
489: IC2 5110 490: IC3 5135 491: ID1 0671 492: ID1F 0570
493: IDLE 3263 494: IDRF 0571 495: IMPBK1 6071 496: IMUDC 5061
497: INCMU7 3432 498: INIT 6177 499: INTAS 4255 500: IR 1507
501: IR1 1516 502: IR2 1562 503: IR3 1572 504: K170 4030
505: K171 4027 506: K172 4026 507: K173 4025 508: K180 4034
509: K181 4033 510: K182 4032 511: K183 4031 512: K55 0607
513: KDT 0675 514: KINGK 2506 515: KSR 7147 516: L11 0554
517: L12 0234 518: L21 0555 519: L22 0235 520: L31 0556
521: L32 0236 522: L41 0557 523: L42 0237 524: LILA 0554
525: LILC 0557 526: LILE 0555 527: LILJ 0556 528: LL3DOT 3552
529: LMORB 5444 530: LMORB1 5514 531: LMORB2 2446 532: LRI 4373
533: LUNAL 4534 534: LUNAL1 1661 535: LUNAZ 6154 536: M1B1 4126
537: M25B16 0667 538: MABEE 3525 539: MAX 7355 540: MEMSUM 7750
541: MODCK 1156 542: MODE 1602 543: MODE1 1611 544: MS 4036
545: MU10 0615 546: MU17 0167 547: MU3 0610 548: MU6 0612
549: MU7 0717 550: MU8 0614 551: MU8S12 0363 552: NAV 5161
553: NAV1 5175 554: NAV1P 1670 555: NAV2 5205 556: NAV3 5217
557: NAV4 5223 558: NE 0077 559: NEWDD 3461 560: NI 0077
561: NMAX 4037 562: NOC 4743 563: NORM 6721 564: NORM1 6735
565: NORMV 6422 566: NORTON 3555 567: NOTDD 7310 568: OCTF 0027
569: OCTO 7247 570: ORBIT3 2651 571: ORBLIN 1143 572: ORBLM 2453
573: ORBPAR 5277 574: ORBPM 6444 575: ORBPM1 6452 576: ORBRET 0732
577: OUT 3332 578: OUT1 3317 579: OVFLT 3335 580: OVFLW 7775
581: P 0170 582: P11 0640 583: P12 0641 584: P13 0642
585: P14 0643 586: P21 0644 587: P22 0645 588: P23 0646
589: P24 0647 590: P33 0650 591: P34 0651 592: P43 0652
593: P44 0653 594: PART 0467 595: PBNSD2 7445 596: PDOTM1 0437
597: PDOUT 0444 598: PGNSD1 7450 599: PGNSDE 7420 600: PHIP 0117
601: PI 1066 602: PID2 4023 603: PID4 4024 604: PINIT 2106
605: PITER1 5771 606: PITER2 6026 607: PITER3 6033 608: PMAX 4030
609: POUT 0214 610: POUTFS 0213 611: PP 0212 612: PSIP 0113
613: PUPDAT 1772 614: Q1 0172 615: Q11 0073 616: Q12 0143
617: Q1DEDA 0402 618: Q22 0170 619: Q5 3041 620: Q7 3212
621: QA 0315 622: QL 0343 623: QLTELE 0403 624: R 0210
625: R0 0207 626: R0X 0204 627: R0Y 0205 628: R0Z 0206
629: R5X 0174 630: R5Y 0175 631: R5Z 0176 632: RADOT 0477
633: RANGE 2231 634: RATE 2127 635: RB 0271 636: RCX 0344
637: RCY 0345 638: RCZ 0346 639: RD2DOT 0554 640: RD3DOT 0504
641: RD3DTL 0600 642: RDOTS 0441 643: RDOTX 0030 644: RDOTY 0031
645: RDOTZ 0032 646: READP 0320 647: RETURN 6246 648: REX 0200
649: REY 0201 650: REZ 0202 651: RF 0347 652: RFDOT 0423
653: RIX 0220 654: RIY 0221 655: RIZ 0222 656: RME 7257
657: RMF 0325 658: RND 1002 659: RND1 4260 660: RND2 4432
661: ROR 7215 662: RPT 1236 663: RR 0317 664: RRDOT 0440
665: RRSX 0234 666: RRSY 0235 667: RRSZ 0236 668: RRT 3572
669: RRX 0124 670: RRY 0125 671: RRZ 0126 672: RST 4524
673: RST1 1561 674: RSTE 1524 675: RT 0203 676: RVCOMP 5124
677: RX 0340 678: RY 0341 679: RZ 0342 680: S0 0400
681: S10 0410 682: S11 0411 683: S12 0412 684: S13 0413
685: S14 0414 686: S15 0415 687: S16 0416 688: S17 0417
689: S507 0507 690: S623 0623 691: S7 0407 692: SDVX 0714
693: SDVY 0715 694: SDVZ 0716 695: SETFG 7712 696: SF 0026
697: SF1 1342 698: SFA 1334 699: SFACC 1344 700: SFG 1346
701: SFL1 0720 702: SFL2 0721 703: SFL3 0722 704: SFL4 0726
705: SFL6 0733 706: SFL7 0725 707: SFL8 0724 708: SFLO 0713
709: SFP 1326 710: SFR 1340 711: SFT 1330 712: SFT1 1336
713: SFTEST 1251 714: SFV 1332 715: SHDUM 4035 716: SHFT1 4261
717: SHFT2 4433 718: SHIN 2500 719: SHOUT 2600 720: SI 0043
721: SIALO 2001 722: SIBEO 2004 723: SICO1 7021 724: SICO2 7002
725: SICOE 6767 726: SIDELL 0047 727: SIGA 0123 728: SIGAO 2020
729: SINITC 1052 730: SIXTH 4020 731: SNS 7353 732: SOFT1 1452
733: SOFT2 1635 734: SOFT3 1467 735: SOUT 7220 736: SPULSE 4741
737: SQRT1 7144 738: SQRTE 7123 739: SREX 0023 740: SREX1 0022
741: SREX2 0021 742: SREX3 0020 743: STDD 7344 744: STEER 3164
745: STEER1 3176 746: STEER2 3264 747: STEER3 3304 748: STEER4 3312
749: STEER5 3231 750: STGCTR 1061 751: STOCOM 4065 752: SUM 0137
753: SUMLIM 0663 754: T 0435 755: T1 0147 756: TA0 0372
757: TA1 0377 758: TA2 0353 759: TB 0436 760: TBO 0357
761: TBRAKE 6041 762: TCLTH 1007 763: TCSM 0445 764: TDEL 0310
765: TE1 0520 766: TE2 0524 767: TEST 7472 768: THEF 0753
769: THEP 0107 770: THETAF 0303 771: TI 0442 772: TIG 0373
773: TIMEA 6254 774: TL1 0521 775: TL2 0525 776: TLOS 0303
777: TMCLA 1006 778: TME 7371 779: TMID 0723 780: TMIDO 6200
781: TMIE1 1132 782: TMIE2 7410 783: TMOUT 4045 784: TMPBR 0057
785: TP 0434 786: TPERG 0313 787: TR 0311 788: TRACOM 4036
789: TRNSFR 4043 790: TS0 0000 791: TS1 0001 792: TS10 0010
793: TS11 0011 794: TS12 0012 795: TS13 0013 796: TS14 0014
797: TS15 0015 798: TS16 0016 799: TS17 0017 800: TS2 0002
801: TS3 0003 802: TS4 0004 803: TS5 0005 804: TS6 0006
805: TS7 0007 806: TS8 0133 807: TSEX 0157 808: TVARBR 0024
809: TVTG 1422 810: U1X 0060 811: U1Y 0061 812: U1Z 0062
813: U2X 0030 814: U2Y 0031 815: U2Z 0032 816: UBCOMP 1153
817: V 0433 818: V0X 0424 819: V0Y 0425 820: V0Z 0426
821: V1X 0034 822: V1Y 0035 823: V1Z 0036 824: V2X 0064
825: V2Y 0065 826: V2Z 0066 827: V5X 0460 828: V5Y 0461
829: V5Z 0462 830: V6X 0050 831: V6Y 0051 832: V6Z 0052
833: VCX 0364 834: VCY 0365 835: VCZ 0366 836: VD1X 0404
837: VD1Y 0405 838: VD1Z 0406 839: VD2X 0100 840: VD2Y 0101
841: VD2Z 0102 842: VDX 0470 843: VDY 0471 844: VDZ 0472
845: VEX 0420 846: VEY 0421 847: VEZ 0422 848: VFX 0030
849: VG 0370 850: VGX 0064 851: VH 0427 852: VHA 0463
853: VHSQ 0143 854: VIX 0430 855: VIY 0431 856: VIZ 0432
857: VP0 0371 858: VPY 0263 859: VRUP1 2677 860: VSMGX 0474
861: VSMGY 0475 862: VSMGZ 0476 863: VT 0371 864: VX 0360
865: VY 0361 866: VY0 0270 867: VY0FS 0665 868: VZ 0362
869: W1X 0040 870: W1Y 0041 871: W1Z 0042 872: WBX 0514
873: WBY 0515 874: WBZ 0516 875: WCX 0054 876: WCY 0055
877: WCZ 0056 878: WORDS 0664 879: WRDCNT 0153 880: WRDLP 6224
881: X3 0073 882: X4 0143 883: XDV 2773 884: XDV1 3003
885: XDV2 3014 886: XDV2P 3036 887: XDVS 1676 888: XI 0277
889: XORBV1 5532 890: XORBV2 5563 891: Y 0211 892: YD2DOT 0555
893: YD3DOT 0505 894: ZERO 4007 895: ZERR 1456 896: ZNOC 5056
No duplicate symbols.
Assembly Status
Successful!