FLIGHT PROGRAM 8--LM AGS FP8 S03 4039 12/18/70
LM ABORT ELECTRONICS ASSEMBLY
Source Code
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The source code was transcribed manually by Ron Burkey from an assembly listing of
Flight Program 8 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 8--LM AGS FP8 S03 4039 12/18/70
LM ABORT ELECTRONICS ASSEMBLY
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0002: ## Copyright: Public domain.
0003: ## Filename: FP8.aea
0004: ## Purpose: This is the Apollo lunar module's firmware for the
0005: ## Abort Guidance System (AGS). This is Flight Program 8.
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/FP8Listing.pdf.
0012: ## Mod history: 2005-01-15 RSB Began.
0013: ## 2005-01-17 RSB Data entry complete, but not debugged.
0014: ## 2005-01-18 RSB As of yesterday, this assembled with
0015: ## 86 fatal errors. These have all been
0016: ## repaired. Lots of other stuff fixed too.
0017: ## I know know that the addresses and
0020: ## opcodes at the ends of each page are
0021: ## correct. However, the checksums are
0022: ## still wrong, so the next step is to
0023: ## proceed with a binary comparison.
0024: ## 2005-01-18 RSB Fully debugged and ready to go.
0025: ## It has been completely proofed against
0026: ## the binary in the scanned assembly
0027: ## listing, and the checksums are correct.
0030: ## (Of course, it could always use more
0031: ## proofing if somebody wanted to do it.
0032: ## Particularly the program comments.)
0033: ## 2005-05-14 RSB Corrected website reference above.
0034: ## 2005-06-12 RSB Fixed comments on p. 117.
0035: ## 2017-10-17 MAS Modernized (##-style comments, etc.)
0036: ## and started a proofing pass.
0037: ## 2017-10-18 MAS Completed the proofing pass, mostly
0040: ## focusing on comments.
0041: ## 2017-10-19 MAS Corrected a comment error found by
0042: ## diffing with FP6.
0043: ##
0044: ## The contents have been taken (by means of manual data entry) from
0045: ## an assembly listing of Flight Program 8 scanned by John Pultorak from
0046: ## a physical copy preserved by supplied by Davis Peticolas. (The WWW link
0047: ## for the scan is referenced above.)
0050: ##
0051: ## This file contains the entire source code for FP8. I have not split the
0052: ## source code into many smaller chunks as has been done for AGC source code.
0053: ## The page references are to the scanned PDF of the assembly listing, but
0054: ## the page markings on the physical copy match the PDF pages. In addition
0055: ## to the comments containing the page references, I've also added some
0056: ## blank lines for readability. So don't expect the line number in the
0057: ## scanned version to match the line numbers in an assembly listing created
0060: ## by processing this source file with the yaLEMAP cross-assembler.
0061:
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Page 1 |
0063:
0064: # SCRATCH PAD STORAGE
0065: 0000 ORG 0000
0066: 0000 000000 TS0 DEC 0
0067: 0001 000000 TS1 DEC 0
0070: 0002 000000 TS2 DEC 0
0071: 0003 000000 TS3 DEC 0
0072: 0004 000000 TS4 DEC 0
0073: 0005 000000 TS5 DEC 0
0074: 0006 000000 TS6 DEC 0
0075: 0007 000000 TS7 DEC 0
0076: 0010 000000 TS10 DEC 0
0077: 0011 000000 TS11 DEC 0
0100: 0012 000000 TS12 DEC 0
0101: 0013 000000 TS13 DEC 0
0102: 0014 000000 TS14 DEC 0
0103: 0015 000000 TS15 DEC 0
0104: 0016 000000 TS16 DEC 0
0105: 0017 000000 TS17 DEC 0
0106: 0020 000000 SREX3 DEC 0
0107: 0021 000000 SREX2 DEC 0
0110: 0022 000000 SREX1 DEC 0
0111: 0023 000000 SREX DEC 0
0112: 0024 000000 TVARBR DEC 0 # TEMP STORE FOR CK SUM,
0113: 0025 40 0 6246 TRA RETURN # SERV ROUT, STARTUP
0114:
0115: # TAPE LOAD STARTUP CHECKSUM
0116:
0117: 0026 66 0 6402 SF OUT 6402 # DEDA INPUT SCALE FACTOR
0120: 0027 64 0 2040 OCTF INP 2040 # DEDA OCTAL INPUT
0121:
0122: # THE NEXT 16 LOCATIONS ARE SHARED
0123: # WITH A RR FILTER TEMPORY MATRIX
0124:
0125: 0030 56 0 0001 U2X ALS 1 B1 # UNIT RADIAL VECTOR TO
0126: 0031 46 0 0033 U2Y TMI *+2 B1 # TRIAL RENDEZ PT.
0127: 0032 40 0 0027 U2Z TRA *-3
0130:
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Page 2 |
0132: 0030 D11 EQU U2X # RADAR TEMP. MATRIX (16 LOC)
0133: 0030 VFX EQU U2X # BRAKING VEL VECTOR AT 13.
0134: 0033 70 0 0034 C2 DLY *+1 B1 # RENDEZ ANGLE SINE
0135: 0034 66 0 7012 V1X OUT 7012 B1 # HORIZ UNIT VECTOR
0136: 0035 64 0 6200 V1Y INP 6200
0137: 0036 30 0 0137 V1Z CLZ SUM
0140: 0037 20 0 0066 DLSC CLA V2Z # DOWNLINK SHIFT COUNTER
0141: 0040 10 0 0024 W1X STO TVARBR B1 # U1 X V1
0142: 0040 D31 EQU W1X
0143: 0041 30 0 0153 W1Y CLZ WRDCNT
0144: 0042 72 0 0024 W1Z TSQ TVARBR
0145: 0043 32 0 0137 SI ADZ SUM B0 # E(SIN(E0))
0146: 0044 10 0 0137 RD2DOT *STO SUM B7 # DESIRED RADIAL ACCEL
0147: 0045 20 0 0024 YD2DOT *CLA TVARBR B7 # DESIRED OUT-OF-PLANE ACCEL
0150: 0046 24 0 4046 TSEX SUB CLAFR # EXIT FROM NORTON
0151: 0047 46 0 0060 SIDELL TMI U1X B1 # SIN DELTA L
0152: 0050 30 0 0137 V6X CLZ SUM B13 # TEMP STORAGE FOR TPI QUANT
0153: 0051 46 0 0054 V6Y TMI *+3
0154: 0052 24 0 4006 V6Z SUB 1B17
0155: 0050 DQSX EQU V6X # ACCUM VEL IN XDV
0156: 0053 46 0 1101 CODELL TMI EXIT40 B1 # COS DELTA L
0157: 0054 20 0 7512 WCX CLA 10B4 B1 # UNIT VECTOR NORMAL
0160: 0055 10 0 0412 WCY STO S12 # TO CSM ORBIT
0161: 0056 66 0 6410 WCZ OUT 6410
0162: 0057 40 0 1052 TMPBR TRA SINITC # TEMP BRANCH STORE
0163: 0060 30 0 0153 U1X CLZ WRDCNT B1 # LEM UNIT RAD VECTOR
0164: 0061 22 0 4006 U1Y ADD 1B17
0165: 0062 10 0 0153 U1Z STO WRDCNT
0166: 0063 24 0 4014 BRANCH SUB 1B11 # GUIDANCE BRANCH
0167: 0064 46 0 0042 V2X TMI W1Z B1 # HORZ UNIT VECTOR AT
0170: 0065 70 0 0041 V2Y DLY W1Y # RENDEZ POINT
0171: 0066 20 0 0206 V2Z CLA 0206
0172: 0064 VGX EQU V2X # VEL TO GAIN VECTOR AT 13
0173:
0174: # END OF TAPE LOAD CHECKSUM PROGRAM
0175:
0176: 0067 000000 AT DEC 0B7 # THRUST ACCELERATION
0177:
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Page 3 |
0201: 0070 000000 EX DEC 0B2 # ATTITUDE ERRORS.
0202: 0071 000000 EY DEC 0
0203: 0072 000000 EZ DEC 0
0204: 0073 000000 X3 DEC 0B0 # XFR ORB PARAM.
0205: 0073 TR3 EQU X3 # ADDRESS OF RESULT FOR MXM
0206: 0074 000000 DVXM1 DEC 0B1 # BODY DELTA VS
0207: 0075 000000 DVYM1 DEC 0 # PREVIOUS CYCLE.
0210: 0076 000000 DVZM1 DEC 0
0211: 0077 000000 NI DEC 0B-9 # PREDICTION ANGULAR FREQUENCY
0212: 0077 NE EQU NI # CSM PRED. ANGULAR FREQ.
0213: 0077 TR8 EQU NI # RADAR TEMP
0214: 0100 000000 VD2X DEC 0B2 # DELTA V EXP LS
0215: 0101 000000 VD2Y DEC 0
0216: 0102 000000 VD2Z DEC 0
0217: 0103 000000 CI DEC 0B0 # E(COS(E0))
0220: 0103 TR1 EQU CI # ADDR. OF 1ST MATRIX FOR MXM
0221: 0104 000000 DRX DEC 0B14 # LM POS REMAINDERS
0222: 0105 000000 DRY DEC 0
0223: 0106 000000 DRZ DEC 0
0224: 0107 000000 THEP DEC 0 # PGNS THETA IN COUNTS.
0225: 0110 000000 DIGX DEC 0B7 # PREDICTED CHANGE IN
0226: 0111 000000 DIGY DEC 0 # INTEGRATED GRAVITY.
0227: 0112 000000 DIGZ DEC 0
0230: 0113 000000 PSIP DEC 0 # PGNS PSI IN COUNTS.
0231: 0114 000000 GXDT DEC 0B7 # GRAVITY TIMES MAJOR
0232: 0115 000000 GYDT DEC 0 # CYCLE TIME.
0233: 0116 000000 GZDT DEC 0
0234: 0117 000000 PHIP DEC 0 # PGNS PHI IN COUNTS.
0235: 0120 000000 DVSX DEC 0B7 # RESOLVED SENSED DEL V
0236: 0121 000000 DVSY DEC 0
0237: 0122 000000 DVSZ DEC 0
0240: 0123 000000 SIGA DEC 0B1 # SIN FDAI GAMMA.
0241: 0124 000000 RRX DEC 0B23 # COMPUTED LM-CSM RANGE
0242: 0125 000000 RRY DEC 0
0243: 0126 000000 RRZ DEC 0
0244: 0127 000000 COGA DEC 0B1 # COS FDAI GAMMA.
0245: 0130 200000 A11 DEC 1.0B1 # XB DIRECTION COSINES.
0246:
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Page 4 |
0250: 0131 000000 A12 DEC 0
0251: 0132 000000 A13 DEC 0
0252: 0133 000000 TS8 DEC 0
0253: 0134 000000 A31 DEC 0 # ZB DIRECTION COSINES.
0254: 0135 000000 A32 DEC 0
0255: 0136 200000 A33 DEC 1.0B1
0256: 0137 000000 SUM DEC 0 # RUNNING MEMORY SUM
0257: 0140 000000 A21 DEC 0 # YB DIRECTION COSINES.
0260: 0141 200000 A22 DEC 1.0B1
0261: 0142 000000 A23 DEC 0
0262: 0143 000000 X4 DEC 0B0 # XFR ORB PARAM.
0263: 0143 VHSQ EQU X4 0B26 # VH SQUARED
0264: 0143 TR2 EQU X4 # ADDR. OF 2ND MATRIX FOR MXM
0265: 0144 000000 E1 DEC 0 # -6 OR -9 XB NORM ERROR
0266: 0145 000000 E3 DEC 0 # ZB NORMALITY ERROR.
0267: 0146 000000 E13 DEC 0 # XB,ZB ORTHOG ERROR.
0270: 0147 000000 DEL10 DEC 0 # TPI LOGIC FLAG
0271: 0150 000000 DA11 DEC 0B-5 # DIR COSINE REMAINDERS
0272: 0151 000000 DA12 DEC 0
0273: 0152 000000 DA13 DEC 0
0274: 0153 000000 WRDCNT DEC 0 # CKSUM WORD COUNT
0275: 0154 000000 DA31 DEC 0
0276: 0155 000000 DA32 DEC 0
0277: 0156 000000 DA33 DEC 0
0300: 0157 000000 DEL44 DEC 0 # RADAR CODE WORD RESET FLAG
0301: 0160 000000 A11D DEC 0B1 # XD DIRECTION COSINES.
0302: 0161 000000 A12D DEC 0
0303: 0162 000000 A13D DEC 0
0304: 0163 000000 DEC 0 # **UNUSED-INDEXED BY A11D**
0305: 0164 000000 A31D DEC 0B1 # ZD DIRECTION COSINES.
0306: 0165 000000 A32D DEC 0
0307: 0166 000000 A33D DEC 0
0310: 0167 000000 MU17 DEC 0B3 # RADAR FILTER ENTRY COUNTER
0311: 0170 000000 P DEC 0B23 # TRIAL SEMI-PARAMETER
0312: 0171 000000 ALPHA DEC 0B23 # XFR ORBIT SEMI-MAJOR AXIS
0313: 0172 000000 Q1 DEC 0B23 # XFR ORBIT PERILUNE
0314: 0172 ESQ EQU Q1 # XFR ORB E SQ AT -2.
0315:
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Page 5 |
0317: 0173 000000 AI DEC 0B23 # PRED. SEMI-MAJOR AXIS
0320: 0173 AE EQU AI # CSM PRED. SEMI-MAJOR AXIS
0321: 0174 000000 R5X DEC 0B23 # LM PRED POS AHEAD TDEL
0322: 0175 000000 R5Y DEC 0
0323: 0176 000000 R5Z DEC 0
0324: 0177 000000 AL DEC 0B23 # LM PRED. SEMI-MAJOR AXIS
0325: 0200 000000 REX DEC 0B23 # CSM EPOCH POSITION
0326: 0201 000000 REY DEC 0
0327: 0202 000000 REZ DEC 0
0330: 0203 000000 RT DEC 0B23 # CSM PRED POS. MAG.
0331: 0204 000000 R0X DEC 0B23 # PRED EPOCH POS VECTOR
0332: 0205 000000 R0Y DEC 0
0333: # SEE REAR OF LISTING FOR CHECKSUM
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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. |
0342: 0206 CHECKSUM RANGE 0207-1004
0343: 0206 R0Z DEFINE 0206
0344: 0207 000000 R0 DEC 0B23 # PRED EPOCH POS. MAG.
0345: 0170 C11 EQU P # RADAR TEMP. MATRIX
0346: 0171 C12 EQU ALPHA
0347: 0172 C13 EQU Q1
0350: 0173 C14 EQU AI
0351: 0174 C21 EQU R5X
0352: 0175 C22 EQU R5Y
0353: 0176 C23 EQU R5Z
0354: 0177 C24 EQU AL
0355: 0200 C31 EQU REX
0356: 0201 C32 EQU REY
0357: 0202 C33 EQU REZ
0360: 0203 C34 EQU RT
0361: 0204 C41 EQU R0X
0362: 0205 C42 EQU R0Y
0363: 0206 C43 EQU R0Z
0364: 0207 C44 EQU R0
0365: 0210 000000 R DEC 0B23 # LM POS MAGNITUDE
0366: 0211 000000 Y DEC 0B23 # OUT OF PLANE POSITION
0367: 0212 000000 PP DEC 0B23 # P PRIME/EXIT FOR MXM
0370: 0213 002261 POUTFS DEC 7.684096E4B23 # MAX P DISPLAYABLE
0371: 0214 000000 POUT DEC 0 # DISPLAY POSITION.
0372:
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Page 6 |
0374: 0215 000000 DPOUT DEC 0 # DISPLAY POSITION INCREMENT.
0375: 0216 040000 2K3 DEC 1048576.B23 # QL SET ON O.F.
0376: 0217 001415 2K14 DEC 5.E4B23 # INITIAL P PERTURBATION
0377: 0220 000000 RIX DEC 0B23 # ELLIPSE PRED POS OUTPUT
0400: 0221 000000 RIY DEC 0
0401: 0222 000000 RIZ DEC 0
0402: 0220 DELR1 EQU RIX # MEASURED MINUS COMPUTED RANGE
0403: 0221 DELR3 EQU RIY # B23
0404: 0222 DELR2 EQU RIZ
0405: 0223 000000 25J DEC 0B23 # DEDA ALTITUDE UPDATE
0406: 0224 270322 7J DEC 6042736B23 # TERM IN AL(O.I.)
0407: 0225 131565 8J DEC 2940243B23 # TERM IN AL(O.I) LOWER LIMIT
0410: 0226 270423 10J DEC 6046910B23 # RETARGET VALUE FOR 7J
0411: 0227 257015 4K5 DEC 5735200B23 # NOMINAL BURNOUT ALTITUDE
0412: 0230 017205 2K19 DEC 5.E5B23 # DELTA P LIMITER
0413: 0231 255704 5J DEC 5.697785E6B23 # LANDING SITE RADIUS
0414: 0232 001652 16J DEC 60000B23 # ORBIT INSERTION ALTITUDE
0415: 0233 000607 21J DEC 25000B23 # PITCH STEERING ALT THRESHOLD
0416: 0234 000000 RRSX DEC 0B23 # CALCULATED RANGE AT TIME
0417: 0235 000000 RRSY DEC 0 # OF RADAR RANGE MEASUREMENT
0420: 0236 000000 RRSZ DEC 0
0421: 0237 121372 6K11 DEC 0.318310B0 # 1/PI
0422:
0423: # INITIALIZE DATA FROM DOWNLINK ADDRESSES
0424: # LOCATIONS 0240-0257 USED
0425: 0240 000000 1J1 DEC 0B23 # LM EPHEMERIS POS
0426: 0241 000000 1J2 DEC 0
0427: 0242 000000 1J3 DEC 0
0430: 0243 000000 DEC 0
0431: 0244 000000 2J1 DEC 0 # CSM EPHEMERIS POS
0432: 0245 000000 2J2 DEC 0
0433: 0246 000000 2J3 DEC 0
0434: 0247 000000 DEC 0
0435: 0250 000000 DEC 0
0436: 0251 000000 DEC 0
0437: 0252 000000 DEC 0
0440: 0253 000000 DEC 0
0441:
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Page 7 |
0443: 0254 000000 1J7 DEC 0B18 # LM EPOCH TIME
0444: 0255 000000 1J7LS DEC 0B1
0445: 0256 000000 DEC 0
0446: 0257 000000 DEC 0
0447: 0252 THETAR EQU 2J3+4 # RADAR ANTENNA TRUNNION ANGLE
0450: 0253 BETAR EQU 2J3+5 # RADAR ANTENNA SHAFT ANGLE
0451: 0254 RM EQU 1J7 # RADAR RAW RANGE INPUT
0452: 0255 RMDOT EQU 1J7+1 # RADAR RAW RANGE RATE IPUT
0453: 0256 DEL46 EQU 1J7+2 # RADAR COMPOSITE WORD
0454: 0260 000000 1J4 DEC 0B13 # LM EPHEMERIS VEL
0455: 0261 000000 1J5 DEC 0
0456: 0262 000000 1J6 DEC 0
0457: 0263 000000 VPY DEC 0B13 # OUT-OF-PLANE VELOCITY
0460: 0264 000000 2J4 DEC 0 # CSM EPHEMERIS VEL
0461: 0265 000000 2J5 DEC 0
0462: 0266 000000 2J6 DEC 0
0463: 0267 631463 5K18 DEC -.1B-2 # RD3DOT LOWER LIMIT
0464: 0270 000000 VY0 DEC 0B13 # LM OUT-OF-PLANE VEL
0465: 0271 006200 VY0FS DEC 200B13 # MAX VY0 DISPLAYABLE
0466: 0272 000000 2J7 DEC 0 # CSM EPOCH TIME
0467: 0273 000000 2J7LS DEC 0
0470: 0274 000017 7K1 DEC 30B18 # TIG TIME BIAS
0471: 0275 000000 1J DEC 0B18 # NOMINAL TPI TIME (CSI)
0472: 0276 505075 6K5 DEC -.73B0 # Y-POSITION FILTER WEIGHT
0473: 0277 000000 XI DEC 0B3 # Z-AXIS/LOCAL HORIZ ANGLE
0474: 0300 000000 A31BD DEC 0B1 # UNIT VECTOR (LM-CSM)
0475: 0301 000000 A32BD DEC 0
0476: 0302 000000 A33BD DEC 0
0477: 0303 000000 TLOS DEC 0B3 # DXFR LOS COMPUTED
0500: 0303 THETAF EQU TLOS # LM-CSM CENTRAL ANG AT CSI/CDH
0501: 0304 026164 3K4 DEC .17365B1 # CENTRAL ANGLE LIMIT ON TPI
0502: 0305 766316 12J DEC -.299904B3 # PHASE ANGLE LIMIT FOR RETARGET
0503: 0306 000000 4J DEC 0B13 # TIME OF NODE PRIOR TO RENDEZ
0504: 0307 120500 6J DEC 2580.0B13 # DESIRED TRANSFER TIME
0505: 0310 000000 TDEL DEC 0B13 # TIME TILL NEXT MANEUVER
0506: 0311 000000 TR DEC 0B13 # TIME TILL RENDEZVOUS
0507: 0312 000000 3J DEC 0B13 # TARGET OFFSET TIME
0510:
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Page 8 |
0512: 0313 226051 6K12 DEC 9.38B4 # RAW RADAR AT 18 TO FT. AT 22
0513: 0314 000000 DELRP DEC 0B23 # DIFF. ALT. AT TIG(CSI-CDH)
0514: 0315 000000 QA DEC 0B23 # LM APOFOCUS ALTITUDE
0515: 0316 000000 18J DEC 0B22 # MEASURED RADAR RANGE
0516: 0317 000000 RR DEC 0B22 # COMPUTED RANGE
0517: 0320 000000 READP DEC 0
0520: 0321 000000 ENTERP DEC 0
0521: 0322 000000 HOLDP DEC 0
0522: 0323 000000 CLEARP DEC 0
0523: 0324 000000 HMF DEC 0
0524: # START OF TELEMETRY LIST
0525: 0325 000000 RMF DEC 0 # READOUT MODE FLAG
0526: 0326 000000 DD DEC 0 # DEDA DATA
0527: 0327 000000 CMF DEC 0 # CLEAR MODE FLAG
0530: 0330 200000 A11T DEC 1.B1 # TM DIR COSINES.
0531: 0331 000000 A12T DEC 0
0532: 0332 000000 A13T DEC 0
0533: 0333 000000 ADST DEC 0 # DEDA ADDRESS
0534: 0334 000000 A31T DEC 0
0535: 0335 000000 A32T DEC 0
0536: 0336 200000 A33T DEC 1.B1
0537: 0337 000000 H DEC 0B23 # ALTITUDE
0540: 0340 000000 RX DEC 0B23 # LM POSITION
0541: 0341 000000 RY DEC 0
0542: 0342 000000 RZ DEC 0
0543: 0343 000000 QL DEC 0B23 # PRESENT LM PERICYNTHION
0544: 0343 EONS10 EQU QL # ENG ON+S10 FOR TM
0545: 0344 000000 RCX DEC 0B23 # CSM PRESENT POSITION
0546: 0345 000000 RCY DEC 0
0547: 0346 000000 RCZ DEC 0
0550: 0347 000000 RF DEC 0B23 # PREDICTED BURNOUT ALT.
0551: 0350 000000 DVX DEC 0B1 # BODY DELTA VS
0552: 0351 000000 DVY DEC 0 # THIS CYCLE.
0553: 0352 000000 DVZ DEC 0
0554: 0353 000000 TA2 DEC 0B1 # ABS TIME LS.
0555: 0354 000000 DAX DEC 0B-6 # DELTA ALPHAS.
0556: 0355 000000 DAY DEC 0
0557:
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Page 9 |
0561: 0356 000000 DAZ DEC 0
0562: 0357 000000 TBO DEC 0B9 # TIME TO BURNOUT.
0563: 0360 000000 VX DEC 0B13 # LM VELOCITY
0564: 0361 000000 VY DEC 0
0565: 0362 000000 VZ DEC 0
0566: 0363 000000 MU8S12 DEC 0 # MU8/S12 FOR TELEMETRY
0567: 0364 000000 VCX DEC 0B13 # CSM PRESENT VELOCITY
0570: 0365 000000 VCY DEC 0
0571: 0366 000000 VCZ DEC 0
0572: 0367 000000 HDOT DEC 0B13 # ALTITUDE RATE
0573: 0370 000000 VG DEC 0B13 # VELOCITY TO GAIN
0574: 0371 000000 VF DEC 0B13 # TRANSFER BRAKING VELOCITY
0575: 0372 000000 TA0 DEC 0B18 # TIME FROM CSI TO CDH
0576: 0373 000000 TIG DEC 0B18 # ABSOLUTE TIME OF MANEUVER
0577: 0374 000000 A11BD DEC 0B1 # CMD XB POINTING DIR.
0600: 0375 000000 A12BD DEC 0
0601: 0376 000000 A13BD DEC 0
0602: 0377 000000 TA1 DEC 0B18 # ABS TIME MS.
0603: 0400 000000 S0 DEC 0 # AGS FUNCTION SELECTOR
0604: 0401 000000 DISC1C DEC 0 # DISCRETE WD 1-TRUE STATE
0605: 0402 377776 Q1DEDA DEC 8388500B23 # TRANS ORBIT PERICYN ALT
0606: 0402 DELH EQU Q1DEDA # DIFF. ALT. AFTER CDH(CSI-CDH)
0607: 0403 000000 QLTELE DEC 0B23 # QL FOR TELE AND DEDA
0610: 0404 000000 VD1X DEC 0B13 # 40MS VEL ACCUMULATION
0611: 0405 000000 VD1Y DEC 0
0612: 0406 000000 VD1Z DEC 0
0613: # END OF TELEMETRY LIST
0614: 0407 000000 DEL6 DEC 0 # CALIBRATE I.C. FLAG
0615: 0410 000000 S10 DEC 0 # GUIDANCE MODE SELECTOR
0616: 0411 000000 S11 DEC 0 # AUTO RADAR SWITCH
0617: 0412 000000 S12 DEC 0 # TEST STATUS
0620: 0413 000000 S13 DEC 0 # STORE LUNAR AZUMUTH
0621: 0414 000000 S14 DEC 0 # NAVIGATION INITIALIZE
0622: 0415 000000 S15 DEC 0 # RADAR GIMBAL NULL
0623: 0415 RDOTS EQU S15 # R. R. STORED AT RADAR INPUT
0624: 0416 000000 S16 DEC 0 # CDH APSIDAL SELECTION
0625: 0417 000000 S17 DEC 0 # RADAR FILTER INIT. SWITCH
0626:
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Page 10 |
0630: 0420 000000 VEX DEC 0B13 # CSM EPOCH VEL
0631: 0421 000000 VEY DEC 0
0632: 0422 000000 VEZ DEC 0
0633: 0423 000000 RFDOT DEC 0B13 # DESIRED ALT RATE
0634: 0424 000000 V0X DEC 0B13 # PRED EPOCH VEL VECTOR
0635: 0425 000000 V0Y DEC 0
0636: 0426 000000 V0Z DEC 0
0637: 0424 I EQU V0X # MXM INDEX
0640: 0425 J EQU V0Y # MXM INDEX
0641: 0426 K EQU V0Z # MXM INDEX
0642: 0427 000000 VH DEC 0B13 # LM HORIZONTAL VEL
0643: # VIX,VIY,VIZ ARE SHARED WITH RR FILTER
0644: 0430 000000 VIX DEC 0B13 # ELLIPSE PRED VEL OUTPUT
0645: 0431 000000 VIY DEC 0
0646: 0432 000000 VIZ DEC 0
0647: 0433 000000 V DEC 0B13 # LM TOTAL VELOCITY
0650: 0434 000000 TP DEC 0B13 # TRIAL XFR ORB TIME.
0651: 0435 000000 T DEC 0B13 # TIME TO RENDEZ.
0652: 0435 RB EQU T # RF SAVED FOR ORBIT INSERT.
0653: 0436 000000 TB DEC 0B13 # TA-TE.
0654: 0437 000000 PDOTM1 DEC 0B13 # DISPLAY POS RATE(-1)
0655: 0440 000000 RRDOT DEC 0B13 # RANGE RATE
0656: 0441 001750 1000D DEC 1000B17 # RANGE MARK COUNTER INCREMENT
0657: 0442 000000 TI DEC 0B13 # PREDICTION TIME/RR FILTER TEMP
0660: 0443 000000 DPDOUT DEC 0B13 # DISPLAY POS RATE INCREMENT
0661: 0444 000000 PDOUT DEC 0B13 # DSP POS RATE CONV TO FPS AT 13
0662: 0445 000000 TCSM DEC 0B13 # CSM PERIOD (SEC)
0663: 0446 000066 4K25 DEC 3.402B13 # ENG CUTOFF COMP
0664: 0447 000360 2K18 DEC 15.B13 # PARITIAL DERIV PROTECTOR.
0665: 0450 000000 28J1 DEC 0B13 # DELTA V DOWNRANGE
0666: 0451 000000 28J2 DEC 0B13 # DELTA V CROSSRANGE
0667: 0452 000000 28J3 DEC 0B13 # DELTA V RADIAL
0670: 0453 000040 2K20 DEC 2.B13 # CONVERGENCE CHECK.
0671: 0454 002140 4K26 DEC 70.0B13 # VG THRESHOLD
0672: 0455 000000 DDF DEC 0 # DEDA DATA RECEIVED FLAG
0673: 0456 031000 6K4 DEC .1E3B10 # INITIAL VALUE OF P33 AND P44
0674: 0457 027657 6K2 DEC .1E9B30 # INIT VALUE OF P11,P22
0675:
|
|
Page 11 |
0677: 0460 000000 V5X DEC 0B13 # TPI-PREDICTED V AT TPI TIME
0700: 0461 000000 V5Y DEC 0
0701: 0462 000000 V5Z DEC 0
0702: 0460 TR4 EQU V5X # NO. OF COL IN MATRIX A
0703: 0461 TR6 EQU V5Y # NO. OF ROWS IN MATRIX B
0704: 0462 TR5 EQU V5Z # NO. OF ROWS IN MATRIX A
0705: 0463 000000 VHA DEC 0B13
0706: 0464 001440 22J DEC 50B13 # PITCH STEERING ALT RATE THRESH
0707: 0465 000470 23J DEC 19.5B13 # RFDOT LOWER LIMIT
0710: 0466 000360 5K26 DEC 15B13 # PSEUDO ATT HOLD IN STEER
0711: 0467 000000 PART DEC 0B14 # PARTIAL DERIVATIVE
0712: 0470 000000 VDX DEC 0B13 # VD1 AT NAV UPDATE
0713: 0471 000000 VDY DEC 0
0714: 0472 000000 VDZ DEC 0
0715: 0473 406000 4K27 DEC -8000.0B13 # OVERFLOW PROTECTION FOR VD1X
0716: 0474 000000 VSMGX DEC 0B13 # VD1 CUTOFF
0717: 0475 000000 VSMGY DEC 0
0720: 0476 000000 VSMGZ DEC 0
0721: 0477 000000 RADOT DEC 0B13 # PRED. RDOT AT TIG
0722: 0500 000000 DELVGX DEC 0B13 # THRUST VEL TO GAIN
0723: 0501 000000 DELVGY DEC 0
0724: 0502 000000 DELVGZ DEC 0
0725: 0503 000000 17J DEC 0B13 # RANGE RATE INPUT
0726: 0504 000000 RD3DOT *DEC 0B-2 # DESIRED RADIAL JERK
0727: 0505 000000 YD3DOT *DEC 0B-2 # DESIRED OUT-OF-PLANE JERK
0730: 0506 012000 4K12 DEC 5B7 # ACCEL THRESH IN O.I. STEER
0731: 0507 000000 S507 DEC 0B3 # ACQ STEER SEL OF PT DIR
0732: 0510 000000 DAXREM DEC 0B-13 # INCRE. GYRO INPUT REMAINDERS
0733: 0511 000000 DAYREM DEC 0
0734: 0512 000000 DAZREM DEC 0
0735: 0513 000000 C1 DEC 0B1 # RENDEZ ANGLE COSINE.
0736: 0514 000000 WBX DEC 0B1 # UNIT VECTOR FOR
0737: 0515 000000 WBY DEC 0 # GUIDANCE STEERING
0740: 0516 000000 WBZ DEC 0
0741: 0517 411500 6K14 DEC -15768B14 # RADAR RANGE RATE NULL
0742: 0520 000000 TE1 DEC 0B18 # CSM EPOCH TIME MS.
0743: 0521 000000 TL1 DEC 0B18 # LEM EPOCH TIME MS.
0744:
|
|
Page 12 |
0746: 0522 676356 6K6 DEC -.001B-8 # Y-VELOCITY FILTER WEIGHT
0747: 0523 000000 5K20 DEC 0B-2 # RD3DOT LOWER LIMIT
0750: 0524 000000 TE2 DEC 0 # CSM EPOCH TIME LS.
0751: 0525 000000 TL2 DEC 0 # LEM EPOCH TIME LS.
0752: 0526 273400 2K11 DEC 6000B13 # VF IF OVERFLOW
0753: 0527 002400 4K6 DEC 80.B13 # RFDOT UPPER LIMIT
0754: 0530 000000 DAXA DEC 0B-6 # ALIGN INCREMENTS
0755: 0531 000000 DAYA DEC 0
0756: 0532 000000 DAZA DEC 0
0757: 0533 000000 DISC1 DEC 0 # DISCRETE WORD
0760: 0534 314632 1K18 DEC .003125B-8 # ACCEL SCALE FACTOR
0761: 0535 314632 1K20 DEC .003125B-8
0762: 0536 314632 1K22 DEC .003125B-8
0763: 0537 000000 1K14 DEC 0B-14 # X-AXIS MASS UNBAL COMP
0764: 0540 000000 1K19 DEC 0B1 # ACCEL BIAS
0765: 0541 000000 1K21 DEC 0B1 # COMPENSATION
0766: 0542 000000 1K23 DEC 0B1
0767: 0543 000000 DSPSC DEC 0 # DISPLAY SHIFT COUNTER.
0770: 0544 000000 1K1 DEC 0B-13 # GYRO BIAS
0771: 0545 000000 1K6 DEC 0 # COMPENSATIONS
0772: 0546 000000 1K11 DEC 0
0773: 0547 000000 DDEL DEC 0B0 # LUNAR ALIGN CORRECTION
0774: 0550 000000 1K3 DEC 0B-7 # GYRO SCALE FACTOR
0775: 0551 000000 1K8 DEC 0 # COMPENSATIONS
0776: 0552 000000 1K13 DEC 0
0777: 0553 000000 HRF DEC 0 # HIGH RATE FLAG.
1000: 0554 000000 A31S DEC 0B1 # RADAR NULL DIR COS
1001: 0555 000000 A32S DEC 0
1002: 0556 000000 A33S DEC 0
1003: 0557 203045 4K4 DEC .004B-7 # FACTOR IN RFDOT(OI)
1004: 0560 000000 5K14 *DEC 0B-2 # RD3DOT UPPER LIMIT
1005: 0561 012173 5K16 *DEC .01B-2 # YD3DOT UPPER LIMIT
1006: 0562 000000 DLWN DEC 0 # DOWNLINK WORD COUNTER
1007: 0563 000000 DEL32 DEC 0 # DOWNLINK INITIALIZE FLAG
1010: 0564 000034 6K8 DEC .22B10 # RANGE RATE ERROR VARIANCE
1011: # (ADDR OF 6K8 MUST END IN 4)
1012: 0565 000100 6K9 DEC .3029E-4B-4 # VARIANCE OF RADAR ANGULAR ERROR
1013:
|
|
Page 13 |
1015: 0566 005754 6K10 DEC .625E7B28 # RANGE ERROR VARIANCE
1016: 0567 000000 DSPF1 DEC 0 # DISPLAY FLAG1.
1017: 0570 000000 ID1F DEC 0 # DOWNLINK ID RECEIVED
1020: 0571 000000 DEL31 DEC 0 # DOWNLINK INPUT COMPLETE
1021: 0572 000000 FLAGT DEC 0 # MEMORY TEST
1022: 0573 000000 FLAG1 DEC 0 # 20MS BRANCH CONTROL
1023: 0574 000000 DEL2 OCT 0 # STAGED FLAG.
1024: 0575 000000 DEL5 OCT 0 # ATTHLD LOCK FLAG.
1025: 0576 144420 PI DEC 3.14159266B3
1026: 0577 464072 6K13 DEC -1.59286B1 # RADAR RANGE RATE TO FPS AT 13
1027: 0600 000000 DVGXX DEC 0B13 # VEL TO GAIN IN EXT DELTA V
1030: 0601 000000 DVGXY DEC 0
1031: 0602 000000 DVGXZ DEC 0
1032: 0603 000000 DEL20 DEC 0 # LOGIC FLAG FOR ENG CONTROL
1033: 0604 000000 DEL21 OCT 0 # LUNAR SURFACE FLAG.
1034: 0605 003775 2J DEC 1.9970B7 # COTAN OF DESIRED LOS AT TPI
1035: 0606 000000 DEL42 OCT 0 # LUNAR ALINE COMPLETE FLAG.
1036: 0606 DEL45 EQU DEL42 # RR RANGE/RANGE RT. UPDATE FLAG
1037: 0607 377777 K55 OCT 377777 # S.F. FOR HDOT DISPLAY
1040: 0610 000000 MU3 DEC 0 # P-ITER COUNTER.
1041: 0610 RD3DTL *EQU MU3 # RD3DOT LOWER LIMIT
1042: 0611 765605 5K17 *DEC -.01B-2 # YD3DOT LOWER LIMIT
1043: 0612 000000 MU6 DEC 0 # STAGING COUNTER.
1044: 0613 000017 1K37 DEC 15.B17 # ACCEL CAL DURATION
1045: 0614 000000 MU8 DEC 0 # ULLAGE COUNTER.
1046: 0615 000000 MU10 DEC 0 # MINOR CYCLE COUNTER
1047: 0616 000005 1K9 DEC 5.0B17 # ULLAGE COUNTER LIMIT
1050: 0617 000226 1K30 DEC 150.B17 # GYRO CALIBRATE DURATION
1051: 0620 000005 2K17 DEC 5.B17 # NO OF P-ITERATIONS-3
1052: 0621 000000 MU19 DEC 0 # MARK COUNTER
1053: 0622 000076 4K23 DEC 62.0B17 # STAGING TIME DELAY
1054: 0623 000000 S623 DEC 0B3 # EX SELECTION IN G. S
1055: 0624 031463 1K4 DEC .1B0 # DISPLAY INTERPOLATION
1056: 0625 000071 1K24 DEC .87E-3B1 # SINGULARITY THRESHOLD
1057: 0626 561111 1K26 DEC -.142857E3B8 # NEG INV OF ALIGN GAIN CONSTANT
1060: 0627 262132 1K27 DEC .435E-1B-4 # ALIGN CONSTANT
1061: 0630 327443 1K28 DEC 107.78396B7 # ALIGN CONSTANT
1062:
|
|
Page 14 |
1064: 0631 004061 1K29 DEC .001B-4 # LUN ALIGN STOP CRITERION
1065: 0632 243656 1K33 DEC .08B-3 # CALIBRATE GAIN.
1066: 0633 247613 1K34 DEC .00002B-15 # CALIBRATE GAIN
1067: 0634 000400 1K35 DEC .25B7 # ACCEL BIAS THRESHOLD
1070: 0635 777651 1K36 DEC -.66667E-3B0 # ACCEL CAL GAIN
1071: 0636 235407 2K1 DEC .173189E15B48 # GRAVITY CONST (LUNAR)
1072: 0637 320020 2K2 DEC .57740387E-14B-47 # 1/2K1
1073: 0640 000007 6J1 DEC .3358E-8B-14 # LUNAR ROT RATE ABOUT X-REF
1074: 0641 777616 6J2 DEC -.53039E-7B-14 # LUNAR ROT RATE ABOUT Y-REF
1075: 0642 000007 6J3 DEC .3052E-8B-14 # LUNAR ROT RATE ABOUT Z-REF
1076: 0643 032525 B13SF DEC .10416666B0 # .01 MIN TO SEC AT 13
1077: 0644 000000 SDVX *DEC 0B1 # DV SUM FOR ACCEL CAL
1100: 0645 000000 SDVY *DEC 0 # (ADDR OF SDVX MUST END IN 4)
1101: 0646 000000 SDVZ *DEC 0
1102: 0647 000000 MU7 *DEC 0B17 # CALIBRATION COUNTER
1103: 0650 000002 7K2 DEC 2B17 # NOISE IN P-MATRIX DIAGONALS
1104: 0651 240000 B13VSF DEC .625B0 # .1 FPS TO FPS AT 13
1105: 0652 131415 B3SF DEC .34971155B0 # .01 DEG TO RAD AT 3
1106: 0653 032756 B23RSF DEC .10533045B0 # .1 NMI TO FT AT 23
1107: 0654 713267 4K2 DEC -.50204E-4B-12 # FACTOR IN TB COMP
1110: 0655 016336 4K3 DEC .16803E-8B-25 # FACTOR IN TB COMP
1111: 0656 206645 B22RSF DEC .5266522B0 # .01 NMI TO FT AT 22
1112: 0657 303240 BACCSF DEC 0.762939B0 # .001 FT/SEC2 TO FPS/20MS AT 1
1113: 0660 002000 4K34 DEC 1.B7 # AT LOWER LIMIT
1114: 0661 000146 4K35 DEC .1B7 # ULLAGE THRESHOLD
1115: 0662 662400 4K10 DEC -317438.91B20 # TERM IN AL(O.I.)
1116: 0663 000000 SUMLIM DEC 0 # LAST CELL FOR CHECKSUM
1117: 0664 000034 WORDS DEC 28
1120: 0665 125253 B18SF DEC .333333B0 # .1 MIN TO SEC AT 18
1121: 0666 020603 4K21 DEC .26179938B2 # SC FACTOR FOR ATT ERR OUTPUT
1122: 0667 777716 M25B16 DEC -25.B16 # CYCLE COUNT TO SECONDS
1123: 0670 240000 DTB DEC 1.25B1 # 1 SEC + DEDA TIME BIAS
1124: 0671 000000 ID DEC 0 # CURRENT DOWNLIST ID CODE
1125: 0672 10 0 0257 DLWNL STO 1J1+15 # END OF DOWNLINK BUFFER
1126: 0673 547405 11J DEC -624599.84B20 # RETARGET VALUE FOR 4K10
1127: 0674 542371 2K4 DEC -.173189E15B48 # (-2.)(2K1) B49
1130: 0675 200000 KDT DEC 1.B1 # DELTA T/2 AT 1
1131:
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|
Page 15 |
1133: 0676 365706 BM13SF DEC .96049535B0 # .01 DEG/HR TO RAD/20MS AT -13
1134: 0677 243656 B23SF DEC .64B0 # 100 FT TO FT AT 23
1135: # THE FOLLOWING 16 PARAMETERS HAVE
1136: # VARIABLE SCALING. INITIAL SCALING IS INDICATED
1137: 0700 027657 P11 DEC .1E9B30 # VARIANCE OF X-POS ERROR
1140: 0701 000000 P12 DEC 0B30 # COVARIANCE OF X AND Y POS ERROR
1141: 0702 000000 P13 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR
1142: 0703 000000 P14 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR
1143: 0704 000000 P21 DEC 0B30 # COVAR OF X AND Z POS ERROR
1144: 0705 027657 P22 DEC .1E9B30 # VARIANCE OF Z-POS ERROR
1145: 0706 000000 P23 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR
1146: 0707 000000 P24 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR
1147: 0710 000000 P31 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR
1150: 0711 000000 P32 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR
1151: 0712 031000 P33 DEC .1E3B10 # VARIANCE OF X-VEL ERROR
1152: 0713 000000 P34 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR
1153: 0714 000000 P41 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR
1154: 0715 000000 P42 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR
1155: 0716 000000 P43 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR
1156: 0717 031000 P44 DEC .1E3B10 # VARIANCE OF Z-VEL ERROR
1157: 0720 12 0 0021 VRSH STQ SREX2
1160: 0721 54 0 0000 LRS 0
1161: 0722 40 0 0021 TRA SREX2
1162: 0723 000000 TMID DEC 0 # TELEMETRY ID
1163: 0724 000026 SFLO OCT 000026
1164: 0725 377777 PMAXP OCT 377777 # COUNTS AT 17
1165: 0726 40 0 2606 ORBRET TRA DX10P # RETURN FROM NORTON IN O.I.
1166: 0727 000000 DEDASC DEC 0 # DEDA SHIFT COUNTER
1167:
1170:
1171: 0730 12 0 0147 EX36P STQ DEL10
1172: # SAVE QUANTITIES FOR LATER USE IN
1173: # T/B COMPUTATIONS
1174: 0731 10 0 0052 STO V6Z
1175: 0732 20 0 0012 CLA TS12
1176: 0733 10 0 0050 STO V6X
1177: 0734 20 0 0013 CLA TS13
1200:
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|
Page 16 |
1202: 0735 10 0 0051 STO V6Y
1203: 0736 20 0 0442 CLA TI
1204: 0737 24 0 0306 SUB 4J
1205: 0740 40 0 2742 TRA DXFR14-2
1206: 0741 20 0 0000 RREX CLA TS0 # VARIABLE ADDRESS LOAD, MULTIPLY
1207: 0742 06 0 0000 RREX1 MPY TS0 # AND STORE FOR MATRIX MULTIPLY
1210: 0743 04 0 7701 DVP 1B3 # ROUTINE (MXM) - PERFORMS
1211: 0744 32 0 0077 ADZ TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K)
1212: 0745 10 0 0000 RREX2 STO TS0
1213: 0746 10 0 0077 STO TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K)
1214: 0747 20 0 0741 CLA RREX
1215: 0750 22 0 0460 ADD TR4 # INCREMENT CLA
1216: 0751 10 0 0741 STO RREX
1217: 0752 20 0 0742 CLA RREX1
1220: 0753 22 0 4006 ADD 1B17 # INCREMENT MPY
1221: 0754 10 0 0742 STO RREX1
1222: 0755 50 1 0002 AXT 2,1 # INCREMENT AND TEST INDEXES
1223: 0756 20 1 0424 CLA I,1
1224: 0757 22 0 4006 ADD 1B17
1225: 0760 10 1 0424 STO I,1
1226: 0761 24 1 0460 SUB TR4,1
1227: 0762 46 0 2434 TMI R1+1
1230: 0763 42 1 0756 TIX *-5,1
1231: 0764 20 0 0461 CLA TR6 # REARRANGE DIMENSIONS AND
1232: 0765 10 0 0460 STO TR4 # ADDRESSES ON EXIT TO SAVE
1233: 0766 20 0 0073 CLA TR3 # STEPS IN FILTER
1234: 0767 10 0 0103 STO TR1
1235: 0770 50 1 0007 AXT 7,1
1236: 0771 40 0 0212 TRA PP # EXIT MXM
1237: 0772 377363 DIAK1 *OCT 377363 # TEST FOR DEDA ENTRY INTO 415
1240: 0773 377401 DIAK2 *OCT 377401 # TEST FOR DEDA ENTRY INTO 377
1241: 0774 000034 6K8S DEC .22B10 # WORKING VALUE OF 6K8
1242: # (ADDR OF 6K8S MUST END IN 4)
1243: 0775 000100 6K9S DEC .3029E-4B-4 # WORKING VALUE OF 6K9
1244: 0776 005754 6K10S DEC .625E7B28 # WORKING VALUE OF 6K10
1245: 0777 000000 6K6S DEC 0 # WORKING VALUE OF 6K6
1246:
1247:
|
|
Page 17 |
1251:
1252: 1000 ORG 1000
1253: 1000 000000 CLADD DEC 0 # PICKUP DEDA DATA
1254: 1001 40 0 7215 TRA ROR
1255: 1002 12 0 0023 RND STQ SREX # DIRECTION COSINE ROUND
1256: 1003 22 0 4013 ADD 1B9
1257: 1004 54 0 0011 LRS 9
1260: 1005 40 0 0023 TRA SREX
1261: 1006 20 0 0324 TMCLA CLA 0324 # CLA FOR TELEM
1262: 1007 20 0 1005 TCLTH CLA 1005
1263: 1010 10 0 0237 DLSTO STO 1J1-1
1264: 1011 40 0 5070 IC1BR TRA IC1 # IC1 TRA.
1265: 1012 40 0 1742 BR1 TRA NAV1P
1266: 1013 40 0 1277 DEDABR TRA DEDAE # DEDA BRANCH TRA.
1267: 1014 40 0 3405 BR50 TRA EXEC2 # BRANCH 50 TRA.
1270:
1271: # HARDWIRE ESCAPE POINTS
1272:
1273: 1015 40 0 4073 EXIT1 TRA EX1+1
1274: 1016 40 0 1236 EXIT2 TRA UBCOMP
1275: 1017 40 0 1133 EXIT3 TRA ADDMS
1276: 1020 40 0 4222 EXIT4 TRA EX4+1
1277: 1021 40 0 7420 EXIT5 TRA PGNSDE
1300: 1022 40 0 7371 EXIT6 TRA TME
1301: 1023 40 0 7455 EXIT7 TRA PGNSD1+5
1302: 1024 40 0 4326 EXIT8 TRA EX8+1
1303: 1025 40 0 1426 EXIT9 TRA TVTG
1304: 1026 72 0 1456 EXIT10 TSQ SOFT1
1305: 1027 72 0 1456 EXIT11 TSQ SOFT1 # ASCENT ENG ON
1306: 1030 40 0 4450 EXIT12 TRA AHE1
1307: 1031 40 0 4476 EXIT13 TRA EROUT+1
1310: 1032 72 0 1623 EXIT14 TSQ SOFT2
1311: 1033 40 0 1733 EXIT15 TRA LUNAL1 # GAIN CHANGE
1312: 1034 40 0 4645 EXIT16 TRA EX16+1
1313: 1035 40 0 3560 EXIT17 TRA FDAI1
1314: 1036 40 0 4743 EXIT18 TRA NOC
1315: 1037 40 0 4047 EXIT19 TRA DELAY
1316:
|
|
Page 18 |
1320: 1040 40 0 1405 EXIT20 TRA DLDC
1321: 1041 40 0 6254 EXIT21 TRA TIMEA
1322: 1042 40 0 3341 EXIT22 TRA IDLE-1
1323: 1043 377747 O25C OCT 377747 # TEST FOR TM RESET
1324: 1044 30 0 0404 EXIT23 CLZ VD1X
1325: 1045 30 0 0405 CLZ VD1Y
1326: 1046 30 0 0406 CLZ VD1Z
1327: 1047 40 0 5217 TRA NAV3
1330: 1050 40 0 5205 EXIT24 TRA NAV2
1331: 1051 40 0 5217 EXIT25 TRA NAV3
1332: 1052 20 0 0473 SINITC CLA 4K27
1333: 1053 10 0 0404 STO VD1X
1334: 1054 10 0 0470 STO VDX
1335: 1055 40 0 6367 TRA EXEC1+7
1336: 1056 40 0 1750 EXIT26 TRA XDVS
1337: 1057 40 0 5413 EXIT27 TRA EX27+1
1340: 1060 40 0 5267 EXIT28 TRA EX28+1
1341: 1061 30 0 0612 STGCTR CLZ MU6 # STAGING DELAY COUNTER
1342: 1062 22 0 4006 ADD 1B17
1343: 1063 10 0 0612 STO MU6
1344: 1064 40 0 4437 TRA AHE
1345: 1065 40 0 5305 EXIT29 TRA EX29+1
1346: 1066 20 0 1176 CLATAB CLA SFTAB-1 # CLA FOR DEDA SF TABLE
1347: 1067 40 0 5332 EXIT30 TRA EX30+1
1350: 1070 40 0 1762 EXIT31 TRA ALTUP
1351: 1071 40 0 2456 EXIT32 TRA LMORB2
1352: 1072 40 0 3612 EXIT33 TRA EX33P
1353: 1073 40 0 1141 EXIT34 TRA EX34P
1354: 1074 40 0 3622 EXIT35 TRA EX35
1355: 1075 72 0 0730 EXIT36 TSQ EX36P
1356: 1076 40 0 3623 EXIT37 TRA EX35+1
1357: 1077 40 0 3063 EXIT38 TRA Q5
1360: 1100 40 0 3411 EXIT39 TRA EXECM
1361: 1101 30 0 0400 EXIT40 CLZ S0 # SOFT INITIALIZE
1362: 1102 30 0 0575 CLZ DEL5
1363: 1103 30 0 0572 CLZ FLAGT
1364: 1104 50 1 0007 AXT 7,1 # ZERO S SWITCHES
1365:
|
|
Page 19 |
1367: 1105 30 1 0410 CLZ S10,1
1370: 1106 42 1 1105 TIX *-1,1
1371: 1107 40 0 1052 TRA SINITC # CONTINUE INITIALIZE
1372: 1110 40 0 3356 EXIT41 TRA DSP1
1373: 1111 40 0 3367 EXIT42 TRA DSP2CP
1374: 1112 22 0 1043 EXIT43 *ADD O25C # CHECK FOR TM RESET
1375: 1113 62 0 0000 *ABS
1376: 1114 46 0 1167 TMI TMIE1 # - RESET TM AT 25 CYCLE
1377: 1115 40 0 6364 TRA EXEC1+4 # NOT 25TH CYCLE
1400: 1116 077776 IDAI OCT 077776 # AGS INITIALIZE DOWNLIST ID
1401: 1117 077775 IDRP OCT 077775 # REND./PRETHRUST DOWNLIST ID
1402: 1120 40 0 6470 EXIT44 TRA EX44+1
1403: 1121 40 0 6505 EXIT45 TRA EX45+1
1404: 1122 40 0 7225 EXIT46 TRA EX46+1
1405: 1123 40 0 1307 EXIT47 TRA DEXIT
1406: 1124 40 0 1312 EXIT48 TRA CLEARM+1
1407: 1125 40 0 1336 EXIT49 TRA SFTEST
1410: 1126 40 0 7343 EXIT50 TRA EX50+1
1411: 1127 72 0 1362 EXIT51 TSQ DIAT
1412: 1130 40 0 6262 EXIT52 TRA EXEC+1
1413: 1131 40 0 6262 EXIT53 TRA EXEC+1
1414: 1132 10 0 0257 DLWNLC STO 1J1+15 # DLWNL PROTECTION
1415: 1133 50 1 0002 ADDMS AXT 2,1
1416: 1134 20 1 0010 CLA TS10,1
1417: 1135 62 0 0000 *ABS
1420: 1136 22 0 4036 *ADD MS
1421: 1137 42 1 1134 TIX *-3,1
1422: 1140 40 0 4143 TRA EX3+1
1423: 1141 30 0 0147 EX34P CLZ DEL10
1424: 1142 46 0 3631 TMI EX33PP+1
1425: 1143 40 0 5615 TRA EX34+1
1426: 1144 20 0 0347 THEF CLA RF
1427: 1145 54 0 0001 LRS 1 # B24
1430: 1146 32 0 0003 ADZ TS3
1431: 1147 14 0 0004 LDQ TS4
1432: 1150 10 0 0004 STO TS4 # =RF+RX B24
1433: 1151 12 0 0003 STQ TS3 # =RZ B24
1434:
|
|
Page 20 |
1436: 1152 72 0 7034 TSQ ARCTAE
1437: 1153 10 0 0000 STO TS0 # THETAF B3
1440: 1154 24 0 0576 SUB PI
1441: 1155 46 0 1157 TMI *+2
1442: 1156 24 0 4021 SUB 2PIB3
1443: 1157 22 0 0576 ADD PI
1444: 1160 10 0 0303 STO THETAF # THETAF B3
1445: 1161 20 0 0000 CLA TS0 # B3
1446: 1162 24 0 4021 SUB 2PIB3
1447: 1163 06 0 4126 MPY M1B1 # B4
1450: 1164 04 0 0077 DVP NI
1451: 1165 22 0 0442 ADD TI # B13
1452: 1166 40 0 2742 TRA DXFR14-2
1453: 1167 72 0 7410 TMIE1 TSQ TMIE2 # INITIALIZE TELEMETRY
1454: 1170 20 0 0412 CLA S12
1455: 1171 22 0 0614 ADD MU8
1456: 1172 10 0 0363 STO MU8S12 # SAVE MU8/S12 FOR TM
1457: 1173 24 0 7520 SUB 3B3 # TEST FOR SELF TEST FAILURE
1460: 1174 46 0 1176 TMI *+2
1461: 1175 66 0 6410 OUT 6410 # SET FAILURE INDICATOR
1462: 1176 40 0 4047 TRA DELAY # END MAJOR CYCLE
1463:
1464: # DEDA SCALE FACTOR LOCATOR TABLE
1465: # SCALE FACTORS MUST REMAIN AT LOCS IN COMMENTS
1466: # FORMAT OF TABLE IS, BIT 0=1 TABLE EXCEEDED,
1467: # BITS 1-9 LAST ADDRESS OF DEDA SCALE FACTOR REGION,
1470: # BIT 10=1 FOR OCTAL REGION, BITS 11-17 ADDRESS OF
1471: # SCALE FACTOR RELATIVE TO LOCATION 636
1472: 1177 075200 SFTAB OCT 075200 # OCT LOC 026-172,OCT
1473: 1200 125441 OCT 125441 # OCT LOC 173-253,DEC,SF AT 677
1474: 1201 127427 OCT 127427 # OCT LOC 254-257,DEC,SF AT 665
1475: 1202 134413 OCT 134413 # OCT LOC 260-271,DEC,SF AT 651
1476: 1203 137027 OCT 137027 # OCT LOC 272-276,DEC,SF AT 665
1477: 1204 142414 OCT 142414 # OCT LOC 277-305,DEC,SF AT 652
1500: 1205 145405 OCT 145405 # OCT LOC 306-313,DEC,SF AT 643
1501: 1206 146415 OCT 146415 # OCT LOC 314-315,DEC,SF AT 653
1502: 1207 147420 OCT 147420 # OCT LOC 316-317,DEC,SF AT 656
1503:
|
|
Page 21 |
1505: 1210 157415 OCT 157415 # OCT LOC 320-337,DEC,SF AT 653
1506: 1211 164441 OCT 164441 # OCT LOC 340-351,DEC,SF AT 677
1507: 1212 174413 OCT 174413 # OCT LOC 352-371,DEC,SF AT 651
1510: 1213 177427 OCT 177427 # OCT LOC 372-377,DEC,SF AT 665
1511: 1214 200600 OCT 200600 # OCT LOC 400-401,OCT
1512: 1215 202415 OCT 202415 # OCT LOC 402-405,DEC,SF AT 653
1513: 1216 207600 OCT 207600 # OCT LOC 406-417,OCT
1514: 1217 241413 OCT 241413 # OCT LOC 420-503,DEC,SF AT 651
1515: 1220 257600 OCT 257600 # OCT LOC 504-537,OCT
1516: 1221 261421 OCT 261421 # OCT LOC 540-543,DEC,SF AT 657
1517: 1222 263040 OCT 263040 # OCT LOC 544-546,DEC,SF AT 676
1520: 1223 305600 OCT 305600 # OCT LOC 547-613,OCT
1521: 1224 311067 OCT 311067 # OCT LOC 614-622,DEC,SF AT 725
1522: 1225 342200 OCT 342200 # OCT LOC 623-704,OCT
1523: # THE ABOVE 23 PLACE TABLE MUST BE FOLLOWED
1524: # BY A WORD WITH BIT 0 SET
1525:
1526: # ORBIT ALIGN COMPUTATIONS
1527:
1530: 1226 50 1 0006 ORBLIN AXT 6,1
1531: 1227 30 1 0130 CLZ A11,1
1532: 1230 30 1 0150 CLZ DA11,1 # ZERO REMAINDERS
1533: 1231 42 1 1227 TIX *-2,1
1534: 1232 20 0 5033 CLA 1B1
1535: 1233 10 0 0130 STO A11
1536: 1234 10 0 0136 STO A33
1537: 1235 40 0 4273 TRA COA21-2
1540:
1541: # MASS UNBALANCE COMPENSATION
1542:
1543: 1236 26 0 0537 UBCOMP MPR 1K14 # (DVX)(1K14) 1+(-14)=-13
1544: 1237 32 0 0510 ADZ DAXREM
1545: 1240 10 0 0510 STO DAXREM
1546:
1547: # 20MS MODE CHECK.
1550:
1551: 1241 20 0 0400 MODCK CLA S0 # CHECK FOR ALIGNMENT
1552:
|
|
Page 22 |
1554: 1242 24 0 7520 SUB 3B3 # SUBMODES
1555: 1243 46 0 4107 TMI GYCOM-2 # - IS INERT REF
1556: 1244 24 0 7701 SUB 1B3
1557: 1245 46 0 5056 TMI ZNOC # IMU ALIGN
1560: 1246 24 0 7701 SUB 1B3
1561: 1247 46 0 4107 TMI GYCOM-2 # - IS LUNAR ALIGN
1562: 1250 24 0 7701 SUB 1B3
1563: 1251 46 0 1226 TMI ORBLIN # ORBIT ALIGN
1564: 1252 50 1 0002 AXT 2,1 # CALIBRATE MODE
1565: 1253 20 0 0604 CALIB1 CLA DEL21
1566: 1254 46 0 1261 TMI *+5 # - LM IS ON LUNAR SURFACE
1567: 1255 30 1 0644 CLZ SDVX,1 # SUM BODY AXIS VEL
1570: 1256 22 1 0350 ADD DVX,1 # INCREMENTS SINCE START OF ACC.
1571: 1257 10 1 0644 STO SDVX,1 # BIAS CALCULATIONS
1572: 1260 40 0 1275 TRA CALIB2
1573: 1261 20 1 0130 CLA A11,1 # LUNAR CAL., COMPENSATE COMP.
1574: 1262 26 1 0640 MPR 6J1,1 # OF VEH ROT FOR LUNAR ROTATION
1575: 1263 32 0 0510 ADZ DAXREM # 1+(-14)=-13
1576: 1264 10 0 0510 STO DAXREM # A11 DOT 6J1
1577: 1265 20 1 0140 CLA A21,1
1600: 1266 26 1 0640 MPR 6J1,1
1601: 1267 32 0 0511 ADZ DAYREM
1602: 1270 10 0 0511 STO DAYREM # A21 DOT 6J1
1603: 1271 20 1 0134 CLA A31,1
1604: 1272 26 1 0640 MPR 6J1,1
1605: 1273 32 0 0512 ADZ DAZREM
1606: 1274 10 0 0512 STO DAZREM # A31 DOT 6J1
1607: 1275 42 1 1253 CALIB2 TIX CALIB1,1
1610: 1276 40 0 4107 TRA GYCOM-2
1611:
1612: # DEDA MODE SELECTION
1613:
1614: 1277 30 0 0323 DEDAE CLZ CLEARP
1615: 1300 46 0 1311 TMI CLEARM # SET CLEAR
1616: 1301 20 0 0327 CLA CMF
1617: 1302 46 0 1323 TMI RPT # CLEAR MODE
1620: 1303 20 0 0325 CLA RMF
1621:
|
|
Page 23 |
1623: 1304 46 0 1330 TMI HET # READOUT IN PROGRESS
1624: 1305 20 0 0324 CLA HMF
1625: 1306 46 0 3606 TMI RRT # HOLD IN PROGRESS
1626: 1307 50 1 0003 DEXIT AXT 3,1 # NORMAL EXIT
1627: 1310 40 0 1314 TRA *+4
1630: 1311 10 0 0327 CLEARM STO CMF
1631: 1312 64 0 2200 INP DEDA
1632: 1313 50 1 0005 AXT 5,1 # CLEAR EXIT
1633: 1314 30 1 0320 CLZ READP,1 # RESET FLAGS
1634: 1315 42 1 1314 TIX *-1,1
1635: 1316 30 0 0057 CLZ TMPBR # SET BRANCH FOR NEXT
1636: 1317 10 0 0063 STO BRANCH # GUIDANCE CYCLE
1637: 1320 20 0 4014 CLA 1B11 # INITIALIZE COUNTER
1640: 1321 10 0 0727 STO DEDASC
1641: 1322 40 0 3356 TRA DSP1 # TO DISPLAY
1642: 1323 30 0 0320 RPT CLZ READP # TEST FOR
1643: 1324 46 0 7257 TMI RME # READOUT MODE
1644: 1325 30 0 0321 CLZ ENTERP # OR ENTER MODE
1645: 1326 46 0 7260 TMI RME+1 # ENTRY.
1646: 1327 40 0 1307 TRA DEXIT # EXIT
1647: 1330 30 0 0322 HET CLZ HOLDP # READOUT TEST FOR
1650: 1331 46 0 1333 TMI *+2 # HOLD COMMANDED
1651: 1332 40 0 7202 TRA ADOUT # TO OUTPUT ROUTINE
1652: 1333 10 0 0324 STO HMF # SET HOLD MODE
1653: 1334 30 0 0325 CLZ RMF
1654: 1335 40 0 1307 TRA DEXIT
1655:
1656: # DEDA SCALE FACTOR SELECTION
1657:
1660: 1336 24 0 0724 SFTEST SUB SFLO
1661: 1337 46 0 1312 TMI CLEARM+1 # - IF OCT LOC BELOW 0026
1662: 1340 20 0 1066 CLA CLATAB # INITIALIZE FIRST TABLE VALUE
1663: 1341 10 0 0721 STO VRSH+1 # STORE CLA INSTRUCTION
1664: 1342 20 0 0721 CLA VRSH+1 # INCREMENT CLA INSTRUCTION
1665: 1343 22 0 4006 ADD 1B17 # ADDRESS
1666: 1344 10 0 0721 STO VRSH+1
1667: 1345 72 0 0720 TSQ VRSH
1670:
|
|
Page 24 |
1672: 1346 46 0 1312 TMI CLEARM+1 # - IF OCT LOC ABOVE 704
1673: 1347 54 0 0010 LRS 8 # EXAMINE BITS 1-9 OF VALUE
1674: 1350 24 0 0333 SUB ADST # -IF OCT LOC ABOVE VALUE,
1675: 1351 46 0 1342 TMI *-7 # CHECK NEXT VALUE IN TABLE
1676: 1352 52 0 0022 *LLS 18 # RECOVER BITS 10-17 OF THIS VAL
1677: 1353 46 0 7310 TMI NOTDD # -IF OCT REGION, NO SF REQ
1700: 1354 54 0 0012 LRS 10 # SCALE BITS 11-17 OF VAL
1701: 1355 22 0 6041 ADD TBRAKE # CONSTRUCT INSTRUCTION TO OBTAIN
1702: 1356 10 0 0721 STO VRSH+1 # SCALE FACTOR FOR THIS REGION
1703: 1357 72 0 0720 TSQ VRSH # OBTAIN SF FOR THIS REGION
1704: 1360 10 0 0026 STO SF # SET SCALE FACTOR
1705: 1361 40 0 7326 TRA DDIN # TO INPUT ROUTINE
1706: 1362 50 1 0001 DIAT AXT 1,1 # IMMEDIATE ACTION TEST
1707: 1363 20 0 0333 CLA ADST # IMMED. ACTION IF
1710: 1364 22 1 0772 *ADD DIAK1,1 # ACCUMULATOR = 400000
1711: 1365 62 0 0000 ABS
1712: 1366 46 0 1372 TMI *+4
1713: 1367 42 1 1363 TIX DIAT+1,1
1714: 1370 12 0 0455 STQ DDF
1715: 1371 40 0 1307 TRA DEXIT
1716: 1372 42 1 7357 TIX ATI,1
1717: 1373 14 0 1371 LDQ *-2 # SET RETURN TO DEXIT
1720: 1374 50 1 0002 AXT 2,1
1721: 1375 20 1 0124 CLA RRX,1 # SAVE RANGE FOR FILTER
1722: 1376 10 1 0234 STO RRSX,1
1723: 1377 20 1 0134 CLA A31,1 # STORE DIRECTION COSINES
1724: 1400 10 1 0554 STO A31S,1
1725: 1401 42 1 1375 TIX *-4,1
1726: 1402 20 0 0440 CLA RRDOT
1727: 1403 10 0 0415 STO RDOTS
1730: 1404 40 0 6764 TRA EXIT
1731:
1732: # DOWNLINK DATA FORMATTING
1733:
1734: 1405 50 1 0002 DLDC AXT 2,1
1735: 1406 30 1 0244 CLZ 0244,1 # LEM VEL
1736: 1407 10 1 0260 STO 1J4,1
1737:
|
|
Page 25 |
1741: 1410 30 1 0250 CLZ 0250,1 # CSM POS
1742: 1411 10 1 0244 STO 2J1,1
1743: 1412 30 1 0254 CLZ 0254,1 # CSM VEL
1744: 1413 10 1 0264 STO 2J4,1
1745: 1414 42 1 1406 TIX DLDC+1,1
1746: 1415 30 0 0247 CLZ 0247
1747: 1416 54 0 0016 LRS 14
1750: 1417 32 0 0243 ADZ 0243
1751: 1420 10 0 0254 STO 1J7
1752: 1421 12 0 0255 STQ 1J7LS
1753: 1422 10 0 0272 STO 2J7
1754: 1423 12 0 0273 STQ 2J7LS
1755: 1424 72 0 5145 TSQ CSMPV
1756: 1425 40 0 5073 TRA IC1+3
1757:
1760: # DELTA V ACCUMULATION AND THRUST VEL TO GAIN.
1761:
1762: 1426 50 1 0002 TVTG AXT 2,1
1763: 1427 20 1 0350 CLA DVX,1 # 1
1764: 1430 54 0 0001 LRS 1 # TO 2
1765: 1431 32 1 0100 ADZ VD2X,1
1766: 1432 10 1 0100 STO VD2X,1
1767: 1433 20 1 0074 CLA DVXM1,1
1770: 1434 54 0 0001 LRS 1 # TO 2
1771: 1435 32 1 0100 ADZ VD2X,1
1772: 1436 10 1 0100 STO VD2X,1
1773: 1437 54 0 0013 LRS 11 # TO 13
1774: 1440 10 0 0001 STO TS1
1775: 1441 56 0 0013 ALS 11
1776: 1442 60 0 0000 COM
1777: 1443 32 1 0100 ADZ VD2X,1
2000: 1444 10 1 0100 STO VD2X,1 # REMAINDER AT 2
2001: 1445 20 1 0404 CLA VD1X,1 # DV EXPENDED MS.
2002: 1446 32 0 0001 ADZ TS1
2003: 1447 10 1 0404 STO VD1X,1 # VD1 AT 13
2004: 1450 60 0 0000 COM
2005: 1451 22 1 0474 ADD VSMGX,1 # VSMG-VD1
2006:
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|
Page 26 |
2010: 1452 10 1 0500 STO DELVGX,1 # THRUST VEL TO GAIN
2011: 1453 30 1 0070 CLZ EX,1
2012: 1454 42 1 1427 TIX TVTG+1,1
2013: 1455 40 0 4355 TRA EX9+1
2014:
2015: # SOFT 40MS COMPUTATIONS
2016:
2017: 1456 20 0 0400 SOFT1 CLA S0 # TEST MODE
2020: 1457 24 0 7520 SUB 3B3
2021: 1460 10 0 0001 STO TS1 # SAVE
2022: 1461 46 0 1513 TMI IR # - IS INERT. REF.
2023: 1462 20 0 4007 ZERR CLA ZERO
2024: 1463 66 0 6007 OUT 6007 # ZERO ATTITUDE ERRORS
2025: 1464 30 0 0575 CLZ DEL5 # RESET ATT HOLD INIT FLAG
2026: 1465 30 0 0001 CLZ TS1
2027: 1466 46 0 1501 TMI ENCOM1 # - IS INERTIAL REF
2030: 1467 24 0 7701 SUB 1B3
2031: 1470 46 0 1473 TMI SOFT3
2032: 1471 24 0 7701 SUB 1B3
2033: 1472 46 0 4534 TMI LUNAL
2034: 1473 66 0 7040 SOFT3 OUT 7040 # RESET ENG ON
2035: 1474 66 0 6420 OUT 6420 # SET ENG OFF
2036: 1475 20 0 4007 CLA ZERO # SET ENG TM FLAG PLUS
2037: 1476 22 0 0410 ADD S10
2040: 1477 10 0 0343 STO EONS10
2041: 1500 40 0 4626 TRA FDAI # TO ATTITUDE DISPLAY
2042: 1501 20 0 0533 ENCOM1 CLA DISC1 # FOLLOWUP ENG. COMMANDS
2043: 1502 52 0 0005 *LLS 5
2044: 1503 46 0 1507 TMI *+4 # - DESCENT ENG ON
2045: 1504 52 0 0001 *LLS 1
2046: 1505 46 0 1507 TMI *+2 # - ASCENT ENG ON
2047: 1506 40 0 1473 TRA SOFT3 # ENG OFF
2050: 1507 66 0 7020 OUT 7020 # RESET ENG OFF
2051: 1510 66 0 6440 OUT 6440 # SET ENG ON
2052: 1511 20 0 4036 CLA MS # SET ENG TM FLAG NG
2053: 1512 40 0 1476 TRA SOFT3+3
2054: 1513 20 0 0411 IR CLA S11 # TEST FOR AUTO RADAR DATA
2055:
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|
Page 27 |
2057: 1514 56 0 0003 *ALS 3
2060: 1515 46 0 1644 TMI RADCK
2061: 1516 10 0 0157 STO DEL44 # SET/RESET CODE WORD FLAG
2062: 1517 20 0 0533 IR4 CLA DISC1
2063: 1520 56 0 0003 *ALS 3
2064: 1521 46 0 1526 TMI IR1 # - IS FOLLOWUP
2065: 1522 56 0 0001 *ALS 1
2066: 1523 46 0 1550 TMI IR2 # - IS AUTOMATIC
2067: 1524 12 0 0603 STQ DEL20
2070: 1525 40 0 4437 TRA AHE # TO ATT HOLD
2071: 1526 20 0 0401 IR1 CLA DISC1C
2072: 1527 56 0 0004 *ALS 4
2073: 1530 46 0 1462 TMI ZERR # PLUS IS AUTOMATIC
2074: 1531 30 0 0575 CLZ DEL5
2075: 1532 12 0 0603 STQ DEL20
2076: 1533 40 0 1570 TRA MODE
2077: 1534 20 0 0623 RSTE CLA S623
2100: 1535 56 0 0003 *ALS 3
2101: 1536 46 0 1541 TMI *+3
2102: 1537 20 1 0054 CLA WCX,1
2103: 1540 40 0 1542 TRA *+2
2104: 1541 20 1 0514 CLA WBX,1
2105: 1542 26 1 0134 MPR A31,1
2106: 1543 60 0 0000 COM
2107: 1544 32 0 0070 ADZ EX
2110: 1545 10 0 0070 STO EX
2111: 1546 42 1 1534 TIX RSTE,1
2112: 1547 40 0 4524 RST1 TRA RST
2113: 1550 56 0 0004 IR2 *ALS 4
2114: 1551 46 0 1560 TMI IR3 # - IS ABORT STAGE
2115: 1552 20 0 0604 CLA DEL21 # IF ON LUNAR SURFACE
2116: 1553 46 0 1462 TMI ZERR # OUTPUT ZERO ATT ERRORS
2117: 1554 20 0 0533 CLA DISC1
2120: 1555 56 0 0007 *ALS 7
2121: 1556 46 0 1570 TMI MODE # - IS ABORT
2122: 1557 72 0 1532 TSQ IR1+4
2123: 1560 20 0 0604 IR3 CLA DEL21
2124:
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|
Page 28 |
2126: 1561 46 0 4437 TMI AHE
2127: 1562 20 0 0401 CLA DISC1C
2130: 1563 56 0 0006 *ALS 6
2131: 1564 46 0 1570 TMI MODE
2132: 1565 20 0 0612 CLA MU6
2133: 1566 24 0 0622 SUB 4K23
2134: 1567 46 0 1061 TMI STGCTR # STAGING ATT HOLD
2135: 1570 20 0 0400 MODE CLA S0 # TEST STEERING MODE
2136: 1571 24 0 7701 SUB 1B3
2137: 1572 46 0 4437 TMI AHE # ATT HOLD
2140: 1573 50 1 0002 AXT 2,1
2141: 1574 24 0 7701 SUB 1B3
2142: 1575 46 0 1534 TMI RSTE # RENDEZVOUS STEERING
2143: 1576 30 0 0575 CLZ DEL5 # ACQUISITION STEERING
2144: 1577 20 1 0054 MODE1 CLA WCX,1
2145: 1600 26 1 0130 MPR A11,1
2146: 1601 32 0 0072 ADZ EZ
2147: 1602 10 0 0072 STO EZ
2150: 1603 20 0 0507 CLA S507 # ORIENT LM Z-BODY AXIS
2151: 1604 24 0 7701 SUB 1B3 # IN DESIRED THRUST DIR.
2152: 1605 46 0 1610 TMI *+3 # OR ESTIMATED CSM DIR.
2153: 1606 20 1 0374 CLA A11BD,1
2154: 1607 10 1 0300 STO A31BD,1
2155: 1610 20 1 0300 CLA A31BD,1
2156: 1611 26 1 0130 MPR A11,1 # XB
2157: 1612 32 0 0071 ADZ EY
2160: 1613 10 0 0071 STO EY
2161: 1614 20 1 0300 CLA A31BD,1 # ZBD
2162: 1615 26 1 0140 MPR A21,1 # YB
2163: 1616 60 0 0000 COM
2164: 1617 32 0 0070 ADZ EX
2165: 1620 10 0 0070 STO EX
2166: 1621 42 1 1577 TIX MODE1,1
2167: 1622 40 0 4475 TRA EROUT
2170: 1623 30 0 0603 SOFT2 CLZ DEL20 # FIRST TIME FOLLOW
2171: 1624 46 0 1501 TMI ENCOM1 # PREVIOUS ENGINE STATE
2172: 1625 20 0 0400 CLA S0 # IF NOT GUIDANCE STEERING
2173:
|
|
Page 29 |
2175: 1626 56 0 0003 *ALS 3 # TURN ENGINE OFF
2176: 1627 46 0 1631 TMI *+2
2177: 1630 40 0 1473 TRA SOFT3
2200: 1631 20 0 0614 CLA MU8 # TEST FOR ULLAGE
2201: 1632 24 0 0616 SUB 1K9
2202: 1633 46 0 1473 TMI SOFT3
2203: 1634 20 0 0446 CLA 4K25 # TEST CEL TO BE
2204: 1635 24 0 0500 SUB DELVGX # GAINED GREATER THAN
2205: 1636 46 0 1507 TMI ENCOM1+6 # SHUTDOWN THRESHOLD
2206: 1637 20 0 0454 CLA 4K26
2207: 1640 24 0 0370 SUB VG
2210: 1641 46 0 1507 TMI ENCOM1+6
2211: 1642 30 0 0400 CLZ S0 # SET ATT HOLD
2212: 1643 40 0 1473 TRA SOFT3
2213: 1644 12 0 0563 RADCK STQ DEL32 # REINITIALIZE DOWNLINK
2214: 1645 20 0 1117 CLA IDRP # SET DOWNLIST ID TO REND/PRETHRU
2215: 1646 10 0 0671 STO ID
2216: 1647 20 0 0256 CLA DEL46 # IS CODE WORD RESET
2217: 1650 56 0 0001 *ALS 1
2220: 1651 62 0 0000 *ABS
2221: 1652 46 0 1516 TMI IR+3
2222: 1653 22 0 4015 *ADD 1B12 # IS CODE WORD SET
2223: 1654 62 0 0000 ABS
2224: 1655 46 0 1657 TMI *+2 # YES IF NEGATIVE
2225: 1656 40 0 1517 TRA IR4
2226: 1657 30 0 0157 CLZ DEL44 # HAS CODE WORD BEEN RESET
2227: 1660 46 0 1662 TMI *+2 # PRIOR TO BEING SET
2230: 1661 40 0 1517 TRA IR4 # NO
2231: 1662 44 0 1663 TOV *+1
2232: 1663 50 1 0001 AXT 1,1 # IF SHAFT OR TRUNNION
2233: 1664 20 1 0252 CLA THETAR,1 # ANGLE IS GREATER
2234: 1665 56 0 0004 *ALS 4 # THAN 11.2 DEG, THEN
2235: 1666 44 0 1517 TOV IR4 # DO NOT PROCESS
2236: 1667 42 1 1664 TIX *-3,1
2237: 1670 30 0 0606 CLZ DEL45 # ALTERNATE RANGE, RATE
2240: 1671 46 0 1704 TMI IR6
2241: 1672 12 0 0606 STQ DEL45
2242:
|
|
Page 30 |
2244: 1673 30 0 0254 CLZ RM # RANGE ENTRY
2245: 1674 54 0 0022 LRS 18
2246: 1675 30 0 0256 CLZ DEL46 # TEST FOR HIGH SCALING
2247: 1676 46 0 1700 TMI *+2
2250: 1677 54 0 0003 LRS 3 # LOW SCALE
2251: 1700 52 0 0021 LLS 17
2252: 1701 26 0 0313 MPR 6K12 # COUNTS TO FEET AT 22
2253: 1702 10 0 0316 STO 18J
2254: 1703 40 0 1710 TRA *+5
2255: 1704 30 0 0255 IR6 CLZ RMDOT # RANGE RATE ENTRY
2256: 1705 24 0 0517 SUB 6K14 # NULL AT 17000
2257: 1706 04 0 0577 DVP 6K13 # COUNTS TO FT/SEC AT B13
2260: 1707 10 0 0503 STO 17J
2261: 1710 72 0 1374 TSQ DIAT+10 # SAVE REL RNG VECT, REL VEL
2262: 1711 50 1 0002 AXT 2,1
2263: 1712 20 1 0140 IR5 CLA A21,1 # B1, ADJUST Z BODY FOR SHAFT
2264: 1713 26 0 0252 MPR THETAR # B1+B0=B1, AND TRUNNION ANGLES
2265: 1714 04 0 0237 DVP 6K11 # B1-B0=B1
2266: 1715 10 1 0554 STO A31S,1 # B1
2267: 1716 20 1 0130 CLA A11,1 # B1
2270: 1717 26 0 0253 MPR BETAR # B1+B0=B1
2271: 1720 04 0 0237 DVP 6K11 # B1-B0=B1
2272: 1721 34 1 0554 SUZ A31S,1 # B1
2273: 1722 22 1 0134 ADD A31,1
2274: 1723 10 1 0014 STO TS14,1 # XB*BETAR/6K11-YB*THETAR/6K11+ZB
2275: 1724 42 1 1712 TIX IR5,1
2276: 1725 72 0 6422 TSQ NORMV
2277: 1726 50 1 0002 AXT 2,1
2300: 1727 30 1 0010 CLZ TS10,1 # MOVE NORMALIZED DIRECTION
2301: 1730 10 1 0554 STO A31S,1 # INTO ZB*
2302: 1731 42 1 1727 TIX *-2,1
2303: 1732 40 0 4711 TRA 4711 # EXIT TO DEDA DISCRETE SAMPLING
2304: 1733 30 0 0531 LUNAL1 CLZ DAYA # CHANGE GAIN
2305: 1734 54 0 0002 LRS 2 # 1/4
2306: 1735 10 0 0531 STO DAYA
2307: 1736 30 0 0532 CLZ DAZA
2310: 1737 54 0 0002 LRS 2
2311:
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|
Page 31 |
2313: 1740 10 0 0532 STO DAZA
2314: 1741 40 0 1473 TRA SOFT3
2315:
2316: # START OF NAVIGATION
2317:
2320: 1742 20 0 0604 NAV1P CLA DEL21
2321: 1743 46 0 5175 TMI NAV1 # - IS ON LUNAR SURFACE
2322: 1744 20 0 0404 CLA VD1X # COMPUTE THRUST ACCEL
2323: 1745 24 0 0470 SUB VDX # 13
2324: 1746 56 0 0005 ALS 5 # 1/2(VD1-VD) AT 7
2325: 1747 40 0 5166 TRA 5166 # TO HARD NAV
2326: 1750 50 1 0002 XDVS AXT 2,1
2327: 1751 20 1 0120 CLA DVSX,1
2330: 1752 22 0 4015 ADD 1B12
2331: 1753 54 0 0006 LRS 6
2332: 1754 32 1 0050 ADZ DQSX,1
2333: 1755 10 1 0050 STO DQSX,1
2334: 1756 20 1 0404 CLA VD1X,1
2335: 1757 10 1 0470 STO VDX,1
2336: 1760 42 1 1751 TIX XDVS+1,1
2337: 1761 40 0 5223 TRA NAV4
2340: 1762 72 0 6261 ALTUP TSQ EXEC
2341:
2342: 1763 50 1 0002 AXT 2,1
2343: 1764 20 1 0200 CLA REX,1 # SAVE REX FROM FILTER
2344: 1765 10 1 0430 STO VIX,1 # SCRATCH MATRIX C AREA
2345: 1766 20 0 0223 CLA 25J # ALTITUDE ENTRY TEST
2346: 1767 24 0 4006 SUB 1B17
2347: 1770 46 0 1777 TMI FLTR # IF NO 25J ENTRY
2350: 1771 20 0 0223 CLA 25J
2351: 1772 22 0 0231 ADD 5J
2352: 1773 10 0 0210 STO R # R=5J+25J
2353: 1774 06 1 0060 MPY U1X,1
2354: 1775 52 0 0001 LLS 1
2355: 1776 10 1 0340 STO RX,1 # NEW R COMPONENTS
2356:
2357: # RANGE AND RANGE RATE COMPUTATIONS
2360:
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|
Page 32 |
2362:
2363: 1777 20 1 0344 FLTR CLA RCX,1 # RELATIVE RANGE
2364: 2000 24 1 0340 *SUB RX,1
2365: 2001 10 1 0124 STO RRX,1
2366: 2002 10 1 0004 STO TS4,1
2367: 2003 42 1 1764 TIX ALTUP+2,1
2370: 2004 30 0 0223 CLZ 25J
2371: 2005 72 0 6737 TSQ DPVMAG # DP COMP OF RR MAG
2372: 2006 56 0 0001 ALS 1
2373: 2007 10 0 0317 STO RR # B22 RANGE VECTOR MAG
2374: 2010 20 0 0636 CLA 2K1 # 48
2375: 2011 54 0 0005 LRS 5 # 53
2376: 2012 04 0 0210 DVP R # 30
2377: 2013 04 0 0210 DVP R # 7
2400: 2014 04 0 0210 DVP R # -16
2401: 2015 10 0 0030 DAD STO D11 # 2K1/R**3 B-16
2402: 2016 50 1 0007 AXT 7,1
2403: 2017 30 1 0170 CLZ C11,1 # ZERO PHI,M
2404: 2020 30 1 0200 CLZ C31,1
2405: 2021 42 1 2017 TIX *-2,1
2406: 2022 30 0 0440 CLZ RRDOT # ZEROED FOR SUM
2407: 2023 50 1 0002 AXT 2,1
2410: 2024 20 1 0124 FLTRA CLA RRX,1
2411: 2025 04 0 0317 DVP RR
2412: 2026 10 1 0300 STO A31BD,1 # B1 UNIT POINTING VECTOR
2413: 2027 20 1 0364 CLA VCX,1 # B13
2414: 2030 24 1 0360 SUB VX,1
2415: 2031 10 1 0004 STO TS4,1 # B13 RANGE RATE CSM-LM
2416: 2032 26 1 0300 MPR A31BD,1
2417: 2033 56 0 0001 ALS 1
2420: 2034 32 0 0440 ADZ RRDOT
2421: 2035 10 0 0440 STO RRDOT
2422: 2036 20 1 0060 CLA U1X,1
2423: 2037 26 1 0060 MPR U1X,1 # B2
2424: 2040 26 0 7520 MPR 3B3 # B5
2425: 2041 24 0 4011 SUB 1B5
2426: 2042 26 0 0030 MPR D11
2427:
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|
Page 33 |
2431: 2043 10 1 0200 STO C31,1 # ADT,JDT AT B-7
2432: 2044 20 0 4003 CLA 4B17
2433: 2045 10 1 0460 STO TR4,1 # SET UP DIMENSION FOR MXM
2434: 2046 42 1 2024 TIX FLTRA,1
2435: 2047 14 0 7701 LDQ 1B3 # COMMON SETUP OF PHI AND M
2436: 2050 12 0 0170 STQ C11
2437: 2051 12 0 0175 STQ C22
2440: 2052 12 0 0207 STQ C44
2441: 2053 20 0 2373 CLA PAD # COMMON ADDR SETUP FOR
2442: 2054 10 0 0103 STO TR1 # PHI*P*PHI(T) AND M*P*M(T)
2443: 2055 20 0 2220 CLA CAD
2444: 2056 10 0 0143 STO TR2
2445: 2057 20 0 0604 CLA DEL21 # BYPASS FILTER IF ON SURFACE TO
2446: 2060 46 0 2402 TMI FLTRX # AVOID CONFLICT WITH D44, SIDELL
2447:
2450: 2061 30 0 0167 PUPDAT CLZ MU17 # ZERO MU17 IF FILTER TIME
2451: 2062 22 0 7701 *ADD 1B3
2452: 2063 46 0 2274 TMI FLTRTM
2453: 2064 10 0 0167 STO MU17
2454: 2065 20 0 0503 FLTRD CLA 17J
2455: 2066 62 0 0000 ABS
2456: 2067 24 0 4006 SUB 1B17
2457: 2070 46 0 2121 TMI FLTRH # NO RATE CHECK RANGE
2460: 2071 30 0 0503 RATE CLZ 17J
2461: 2072 24 0 0415 SUB RDOTS
2462: 2073 10 0 0220 STO DELR1 # B13
2463: 2074 50 1 0002 AXT 2,1
2464: 2075 20 0 0440 FLTRE CLA RRDOT # B13
2465: 2076 26 1 0300 MPR A31BD,1 # B14
2466: 2077 04 0 4126 DVP M1B1
2467: 2100 22 1 0004 ADD TS4,1 # B13
2470: 2101 06 0 4065 MPY 1B2 # SCALE AT B15
2471: 2102 04 0 0317 DVP RR # B22
2472: 2103 10 1 0170 STO C11,1 # M11 AT B-7
2473: 2104 20 1 0300 CLA A31BD,1 # B1
2474: 2105 54 0 0002 LRS 2
2475: 2106 10 1 0171 STO C12,1 # M14 AT B3
2476:
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Page 34 |
2500: 2107 42 1 2075 TIX FLTRE,1
2501: 2110 14 0 0172 LDQ C13
2502: 2111 20 0 0171 CLA C12
2503: 2112 12 0 0171 STQ C12 # M12 AT B-7
2504: 2113 10 0 0172 STO C13 # M13 AT B3
2505: 2114 30 0 0175 CLZ C22 # M22 (M21,M23,M24 ALREADY ZERO)
2506: 2115 20 0 0774 CLA 6K8S # B10
2507: 2116 10 0 0316 STO 18J # N11,(N12=C42=0,N22=C44=1B3)
2510: 2117 20 0 4006 CLA 1B17
2511: 2120 40 0 2167 TRA FLTRJ
2512:
2513:
2514: 2121 22 0 0316 FLTRH ADD 18J # CHECK RANGE
2515: 2122 46 0 2402 TMI FLTRX
2516: 2123 50 1 0002 RANGE AXT 2,1
2517: 2124 20 1 0554 FLTRI CLA A31S,1 # ZB B1
2520: 2125 26 0 0316 MPR 18J # B22
2521: 2126 24 1 0234 SUB RRSX,1
2522: 2127 10 1 0220 STO DELR1,1 # B23
2523: 2130 20 1 0124 CLA RRX,1
2524: 2131 26 1 0124 MPR RRX,1 # B46
2525: 2132 06 0 0775 MPY 6K9S # B42
2526: 2133 52 0 0014 LLS 12 # B30
2527: 2134 10 1 0000 STO TS0,1 # B30
2530: 2135 20 1 0300 CLA A31BD,1 # B1
2531: 2136 26 1 0300 MPR A31BD,1 # B2
2532: 2137 26 0 0776 MPR 6K10S
2533: 2140 10 1 0004 STO TS4,1
2534: 2141 42 1 2124 TIX FLTRI,1
2535: 2142 32 0 0002 ADZ TS2
2536: 2143 10 0 0316 STO 18J # N11 AT B30
2537: 2144 20 0 0126 CLA RRZ
2540: 2145 06 0 0000 MPY TS0
2541: 2146 04 0 0124 DVP RRX # B30
2542: 2147 10 0 0205 STO C42 # -N12
2543: 2150 30 0 0000 CLZ TS0
2544: 2151 32 0 0006 ADZ TS6
2545:
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Page 35 |
2547: 2152 10 0 0207 STO C44 # N22
2550: # M IS ALREADY SET UP IN C11-C24
2551: 2153 20 0 0276 CLA 6K5 # B0
2552: 2154 26 0 0221 MPR DELR3 # B23
2553: 2155 22 0 0341 ADD RY # Y=Y+6K5*DELR3 B23
2554: 2156 10 0 0341 STO RY
2555: 2157 20 0 0777 CLA 6K6S # B-8
2556: 2160 06 0 0221 MPY DELR3 # B15
2557: 2161 52 0 0002 LLS 2 # B13
2560: 2162 22 0 0361 ADD VY
2561: 2163 10 0 0361 STO VY # VY=VY+6K6*DELR3
2562: 2164 20 0 0522 CLA 6K6
2563: 2165 10 0 0777 STO 6K6S # RESTORE GAIN AFTER 1ST PASS
2564: 2166 20 0 0441 CLA 1000D
2565: 2167 32 0 0621 FLTRJ ADZ MU19 # INCREMENT MARK COUNTER
2566: 2170 10 0 0621 STO MU19
2567: 2171 20 0 4005 CLA 2B17 # DIMENSION FOR MXM (OTHER DIM.
2570: 2172 10 0 0461 STO TR6 # AND ADDR. ALREADY SET UP)
2571: 2173 20 0 2015 CLA DAD
2572: 2174 72 0 2404 TSQ MXM # RETURN WITH D=P(T)*M(T)
2573: 2175 20 0 2213 CLA C31AD
2574: 2176 72 0 2404 TSQ MXM # RETURN WITH Q IN C31-C34
2575: 2177 30 0 0205 CLZ C42
2576: 2200 24 0 0201 SUB C32
2577: 2201 10 0 0201 STO C32 # QP12=QP21= -(Q12+N12)
2600: 2202 10 0 0202 STO C33
2601: 2203 06 0 0201 MPY C32
2602: 2204 52 0 0003 LLS 3 # (QP12)**2 AT B57(ZERO FOR RATE)
2603: 2205 10 0 0040 D31AD STO D31
2604: 2206 20 0 0200 CLA C31
2605: 2207 32 0 0316 ADZ 18J
2606: 2210 54 0 0021 LRS 17
2607: 2211 20 0 0203 CLA C34
2610: 2212 32 0 0207 ADZ C44
2611: 2213 10 0 0200 C31AD STO C31 # QP11=Q22+N22
2612: 2214 12 0 0203 STQ C34 # QP22=Q11+N11
2613: 2215 06 0 0203 MPY C34
2614:
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Page 36 |
2616: 2216 52 0 0003 LLS 3 # QP11*QP22 AT B57(B10 FOR RATE)
2617: 2217 24 0 0040 SUB D31
2620: 2220 10 0 0170 CAD STO C11 # DETERMINANT OF (Q+N) MATRIX
2621: 2221 20 0 2015 CLA DAD
2622: 2222 10 0 0143 STO TR2
2623: 2223 20 0 4005 CLA 2B17
2624: 2224 10 0 0462 STO TR5
2625: 2225 20 0 4003 CLA 4B17
2626: 2226 10 0 0461 STO TR6
2627: 2227 20 0 2205 CLA D31AD
2630: 2230 72 0 2404 TSQ MXM # RETURN WITH B(T)*C11 IN D31-D44
2631: 2231 20 0 0220 CLA DELR1 # SETUP FOR TRICKY INDEXING
2632: 2232 10 0 0173 STO C14
2633: 2233 20 0 0222 CLA DELR2
2634: 2234 10 0 0177 STO C24
2635: # INDEX IS LOADED IN MXM
2636: 2235 20 1 0040 CLA D31,1 # AT B57,B47 (B20,B10 FOR RATE)
2637: 2236 06 0 7701 MPY 1B3
2640: 2237 04 0 0170 DVP C11
2641: 2240 10 1 0040 STO D31,1 # B(T) AT B3,B-7(B13,B3 FOR RATE)
2642: 2241 06 1 0173 MPY C14,1 # B(I,1)*DELR1 OR B(I,2)*DELR2
2643: 2242 52 0 0003 LLS 3 # TO B23 OR B13
2644: 2243 32 1 0204 ADZ C41,1 # LAST 4 TIMES THRU WILL ADD TO
2645: 2244 10 1 0204 STO C41,1 # VALUES COMPUTED 1ST 4 TIMES
2646: 2245 42 1 2235 TIX *-8,1
2647: 2246 20 0 0340 CLA RX
2650: 2247 34 0 0204 SUZ C41 # B(1,1)*DELR1+B(1,2)*DELR2
2651: 2250 10 0 0340 STO RX
2652: 2251 20 0 0342 CLA RZ
2653: 2252 34 0 0205 SUZ C42 # B(2,1)*DELR1+B(2,2)*DELR2
2654: 2253 10 0 0342 STO RZ
2655: 2254 20 0 0360 CLA VX
2656: 2255 34 0 0206 SUZ C43 # B(3,1)*DELR1+B(3,2)*DELR2
2657: 2256 10 0 0360 STO VX
2660: 2257 20 0 0362 CLA VZ
2661: 2260 34 0 0207 SUZ C44 # B(4,1)*DELR1+B(4,2)*DELR2
2662: 2261 10 0 0362 STO VZ
2663:
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Page 37 |
2665: 2262 20 0 2220 CLA CAD
2666: 2263 72 0 2404 TSQ MXM # RETURN WITH B*M*P IN C11-C44
2667: # INDEX IS LOADED IN MXM
2670: 2264 20 1 0700 CLA P11,1 # P=P-B*M*P
2671: 2265 34 1 0170 SUZ C11,1
2672: 2266 10 1 0700 STO P11,1
2673: 2267 20 1 0710 CLA P31,1
2674: 2270 34 1 0200 SUZ C31,1
2675: 2271 10 1 0710 STO P31,1
2676: 2272 42 1 2264 TIX *-6,1
2677: 2273 40 0 2402 TRA FLTRX
2700: 2274 20 0 0202 FLTRTM CLA C33 # FINISH SETUP OF PHI
2701: 2275 10 0 0205 STO C42 # JDT
2702: 2276 12 0 0202 STQ C33 # 1B3
2703: 2277 20 0 0060 CLA U1X
2704: 2300 26 0 0062 MPR U1Z
2705: 2301 26 0 7520 MPR 3B3 # B5
2706: 2302 36 0 0030 MPZ D11
2707: 2303 10 0 0201 STO C32 # CDT AT B-7
2710: 2304 10 0 0204 STO C41
2711: 2305 20 0 4013 CLA 1B9 # DT AT B13
2712: 2306 10 0 0172 STO C13
2713: 2307 10 0 0177 STO C24 # NOW HAVE PHI IN C11-C44
2714: 2310 20 0 2015 CLA DAD
2715: 2311 72 0 2404 TSQ MXM # RETURN WITH D = P(T)*PHI(T)
2716: 2312 20 0 2373 CLA PAD
2717: 2313 72 0 2404 TSQ MXM # RETURN WITH P=D(T)*PHI(T), OR
2720: # P(NEW) = PHI*P(OLD)*PHI(T)
2721: 2314 20 0 0700 CLA P11 # ADD STATE NOISE TO DIAGONALS
2722: 2315 22 0 0650 ADD 7K2
2723: 2316 10 0 0700 STO P11
2724: 2317 20 0 0705 CLA P22
2725: 2320 22 0 0650 ADD 7K2
2726: 2321 10 0 0705 STO P22
2727: 2322 20 0 0712 CLA P33
2730: 2323 22 0 0650 ADD 7K2
2731: 2324 10 0 0712 STO P33
2732:
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|
Page 38 |
2734: 2325 20 0 0717 CLA P44
2735: 2326 22 0 0650 ADD 7K2
2736: 2327 10 0 0717 STO P44
2737: 2330 72 0 6261 TSQ EXEC
|
|
"FILTRC" is written to the left of TOV below. |
2741: 2331 44 0 2332 TOV *+1 # RESET OVERFLOW
2742: 2332 20 0 7003 CLA SICO2+1 # ALS 2
2743: 2333 72 0 2440 TSQ STEST # TEST FOR SCALING TOO LOW
|
|
An asterisk is drawn in front of the CLA on the following line. |
2745: 2334 20 0 4150 CLA CDCC+2 # LRS 1
2746: 2335 44 0 2341 TOV RSHFT # NEED RIGHT SHIFT IF OVERFLOW
2747: 2336 20 0 4375 CLA LRI+2 # ALS 3
2750: 2337 72 0 2440 TSQ STEST # SEE IF SCALING DOWN IS POSSIBLE
2751: 2340 20 0 4113 CLA GYCOM+2 # ALS 1
2752: 2341 10 0 0721 RSHFT STO VRSH+1
2753: 2342 50 1 0002 AXT 2,1
2754: 2343 20 1 0774 CLA 6K8S,1
2755: 2344 72 0 0720 TSQ VRSH
|
|
The following TOV is underlined. |
2757: 2345 44 0 2360 TOV RVSAR # BYPASS RESCALING IF OVERFLOW IN
2760: # EITHER 2ND STEST OR ALS 1 6K10,
2761: 2346 10 1 0774 STO 6K8S,1 # OTHERWISE SHIFT LEFT OR RIGHT 1
2762: 2347 42 1 2343 TIX *-4,1 # 6K8,6K9,6K10 AND P MATRIX
2763: 2350 50 1 0007 AXT 7,1
2764: 2351 20 1 0700 CLA P11,1
2765: 2352 72 0 0720 TSQ VRSH
2766: 2353 10 1 0700 STO P11,1
2767: 2354 20 1 0710 CLA P31,1
2770: 2355 72 0 0720 TSQ VRSH
2771: 2356 10 1 0710 STO P31,1
2772: 2357 42 1 2351 TIX *-6,1
2773: 2360 30 0 0417 RVSAR CLZ S17 # IS FILTER INIT. REQUESTED
2774: 2361 56 0 0003 *ALS 3
2775: 2362 46 0 2364 TMI PINIT
2776: 2363 40 0 2402 TRA FLTRX
2777: 2364 50 1 0007 PINIT AXT 7,1 # INITIALIZE P MATRIX AND FILTER
3000: 2365 30 1 0700 CLZ P11,1 # CONSTANTS
3001: 2366 30 1 0710 CLZ P31,1
3002: 2367 20 1 0564 CLA 6K8,1
3003: 2370 10 1 0774 STO 6K8S,1 # THIS ALSO ZEROES 6K6S
3004:
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Page 39 |
3006: 2371 42 1 2365 TIX PINIT+1,1
3007: 2372 20 0 0457 CLA 6K2
3010: 2373 10 0 0700 PAD STO P11
3011: 2374 10 0 0705 STO P22
3012: 2375 20 0 0456 CLA 6K4
3013: 2376 10 0 0712 STO P33
3014: 2377 10 0 0717 STO P44
3015: 2400 30 0 0621 CLZ MU19 # CLEAR MARK COUNTER
3016: 2401 30 0 0606 CLZ DEL45 # MAKE RANGE THE FIRST UPDATE
3017: 2402 72 0 6261 FLTRX TSQ EXEC
3020: 2403 40 0 5444 TRA LMORB
3021:
3022: # MATRIX MULTIPLY SUBROUTINE
3023: # PERFORMS C = A(T)*B(T) WHERE (T) INDICATES THE
3024: # TRANSPOSE OPERATION , ENTER WITH TR1 = ST0 A11
3025: # WHERE A11=ADDRESS OF 1ST ELEMENT OF A, TR2 = STO
3026: # B11, A = STO C11 , TR4 = NO. OF COLUMNS IN A,
3027: # TR5 = NO. OF ROWS IN A, TR6 = NO. OF ROWS IN B,
3030: # THE RESULT MATRIX C WILL HAVE TR4 ROWS AND TR6
3031: # COLUMNS, ALL MATRICES ARE ASSUMED TO BE STORED
3032: # BY ROWS IN SEQUENTIAL LOCATIONS BEGINNING WITH
3033: # A11, A12, . . ., A21, A22, . . ., ETC.
3034: 2404 12 0 0212 MXM STQ PP # SAVE RETURN ADDRESS
3035: 2405 10 0 0073 STO TR3 # STORE ST0 C11 IN TR3
3036: 2406 24 0 4006 SUB 1B17
3037: 2407 10 0 0745 STO RREX2 # VARIABLE MATRIX ELEMENT STORE
3040: 2410 30 0 0424 CLZ I
3041: 2411 20 0 0143 R3 CLA TR2
3042: 2412 24 0 4010 SUB 1B4 # FORM MPY FROM STO
3043: 2413 10 0 0742 STO RREX1 # VARIABLE MULTIPLY
3044: 2414 30 0 0425 CLZ J
3045: 2415 20 0 0037 CLA DLSC # (D24)
3046: 2416 10 0 0442 STO TI # TEMP. STORAGE TO SAVE D24
3047: 2417 72 0 6261 TSQ EXEC
3050: 2420 20 0 0442 CLA TI
3051: 2421 10 0 0037 STO DLSC # RESTORE D24
3052: 2422 20 0 0103 R2 CLA TR1
3053:
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|
Page 40 |
3055: 2423 22 0 0424 ADD I
3056: 2424 22 0 4065 ADD STOCOM # FORM CLA FROM STO
3057: 2425 10 0 0741 STO RREX # VARIABLE CLA
3060: 2426 20 0 0745 CLA RREX2
3061: 2427 22 0 4006 ADD 1B17 # INCREMENT STO INSTRUCTION
3062: 2430 10 0 0745 STO RREX2
3063: 2431 30 0 0426 CLZ K
3064: 2432 30 0 0077 CLZ TR8 # TEMP. SUM
3065: 2433 40 0 0741 R1 TRA RREX
3066: 2434 42 1 2436 TIX *+2,1
3067: 2435 40 0 2411 TRA R3
3070: 2436 42 1 2433 TIX R1,1
3071: 2437 40 0 2422 TRA R2
3072: # TEST FOR VARIABLE SCALING OF FILTER
3073: 2440 10 0 0721 STEST STO VRSH+1
3074: 2441 12 0 0020 STQ SREX3
3075: 2442 20 0 0317 CLA RR # B22
3076: 2443 26 0 0317 MPR RR # 22+22=44
3077: 2444 06 0 0775 MPY 6K9S
3100: 2445 52 0 0012 LLS 10
3101: 2446 72 0 0720 TSQ VRSH
3102: 2447 50 1 0007 AXT 7,1
3103: 2450 20 1 0700 CLA P11,1
3104: 2451 72 0 0720 TSQ VRSH
3105: 2452 20 1 0710 CLA P31,1
3106: 2453 72 0 0720 TSQ VRSH
3107: 2454 42 1 2450 TIX *-4,1
3110: 2455 40 0 0020 TRA SREX3
3111: 2456 24 0 0231 LMORB2 SUB 5J # QL-5J AT B23
3112: 2457 10 0 0403 STO QLTELE # PERIC. ALT
3113: 2460 30 0 0007 CLZ TS7 # = VH SQ AT B26
3114: 2461 10 0 0143 STO VHSQ # SAVE FOR ORB INS
3115: 2462 72 0 6261 TSQ EXEC
3116:
3117: 2463 50 1 0002 ORBLM AXT 2,1
3120: 2464 20 1 0430 CLA VIX,1 # RESTORE REX INTO FILTER
3121: 2465 10 1 0200 STO REX,1 # SCRATCH MATRIX C AREA
3122:
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|
Page 41 |
3124: 2466 20 1 0340 CLA RX,1
3125: 2467 10 1 0204 STO R0X,1
3126: 2470 20 1 0360 CLA VX,1
3127: 2471 10 1 0424 STO V0X,1
3130: 2472 42 1 2464 TIX ORBLM+1,1
3131: 2473 72 0 6444 TSQ ORBPM # COMPUTE LM ORBIT PARAMETERS
3132: 2474 20 0 0173 CLA AI
3133: 2475 24 0 0231 SUB 5J
3134: 2476 56 0 0001 ALS 1 # MPY BY 2
3135: 2477 24 0 0403 SUB QLTELE
3136: 2500 10 0 0315 STO QA # LM APOFOCUS ALT. AT B23
3137: 2501 72 0 6261 TSQ EXEC
3140:
3141:
3142: 2502 30 0 0211 CLZ Y
3143: 2503 30 0 0270 CLZ VY0
3144: 2504 50 1 0002 AXT 2,1
3145: 2505 20 1 0340 KINGK CLA RX,1
3146: 2506 10 1 0220 STO RIX,1 # SAVE R FOR ORBIT INS.
3147: 2507 26 1 0054 MPR WCX,1
3150: 2510 56 0 0001 ALS 1
3151: 2511 32 0 0211 ADZ Y
3152: 2512 10 0 0211 STO Y # Y=(WCX)DOT(RX)
3153: 2513 20 1 0360 CLA VX,1
3154: 2514 10 1 0430 STO VIX,1 # SAVE V FOR ORBIT INS.
3155: 2515 26 1 0054 MPR WCX,1
3156: 2516 56 0 0001 ALS 1
3157: 2517 32 0 0270 ADZ VY0
3160: 2520 10 0 0270 STO VY0 # VY0=(WCX)DOT(VX)
3161: 2521 20 1 0054 CLA WCX,1 # SET UP FOR CROSS
3162: 2522 60 0 0000 COM # PRODUCT SUBROUTINE
3163: 2523 10 1 0010 STO TS10,1 # WC X U1 = U1 X -WC
3164: 2524 20 1 0060 CLA U1X,1
3165: 2525 10 1 0004 STO TS4,1
3166: 2526 42 1 2505 TIX KINGK,1
3167: 2527 72 0 6373 TSQ CRSPRD
3170: 2530 72 0 6422 TSQ NORMV # V1 VECTOR TO TSB
3171:
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|
Page 42 |
3173: 2531 72 0 6373 TSQ CRSPRD
3174: 2532 30 0 0003 CLZ TS3
3175: 2533 30 0 0004 CLZ TS4
3176: 2534 50 1 0002 AXT 2,1
3177: 2535 30 1 0010 CLZ TS10,1
3200: 2536 10 1 0034 STO V1X,1 # V1 AT 1
3201: 2537 26 1 0134 MPR A31,1
3202: 2540 22 0 0004 ADD TS4 # TS4 = V1 DOT ZB AT B2
3203: 2541 10 0 0004 STO TS4
3204: 2542 30 1 0014 CLZ TS14,1
3205: 2543 56 0 0001 ALS 1
3206: 2544 10 1 0040 STO W1X,1
3207: 2545 20 1 0134 CLA A31,1
3210: 2546 26 1 0060 MPR U1X,1
3211: 2547 22 0 0003 ADD TS3
3212: 2550 10 0 0003 STO TS3 # TS3 = U1 DOT ZB AT B2
3213: 2551 42 1 2535 TIX *-12,1
3214: 2552 72 0 7034 TSQ ARCTAE
3215: 2553 10 0 0277 STO XI
3216: 2554 72 0 6261 TSQ EXEC # END OF LEM ORB PAR BRANCH
3217:
3220: # GUIDANCE MODE CHECK
3221:
3222: 2555 20 0 0410 GM CLA S10
3223: 2556 22 0 7512 *ADD 5B3
3224: 2557 62 0 0000 *ABS
3225: 2560 46 0 2573 TMI DXFR1 # TPI SEARCH
3226: 2561 22 0 4065 *ADD 1B2
3227: 2562 46 0 2567 TMI *+5
3230: 2563 30 0 0310 CLZ TDEL # TDEL=0
3231: 2564 20 0 0726 CLA ORBRET # =TRA DX10P
3232: 2565 10 0 0046 STO TSEX # SET UP RETURN FROM NORTON
3233: 2566 40 0 3576 TRA NORTON+5
3234: # CSI,CDH,TPI EXECUTE, OR EXT DV
3235: 2567 20 0 0373 CLA TIG # COMPUTE TDEL FOR
3236: 2570 24 0 0377 SUB TA1 # CSI, CDH, OR TPI(S10=4)
3237: 2571 56 0 0005 ALS 5
3240:
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|
Page 43 |
3242: 2572 10 0 0310 STO TDEL
3243: 2573 20 0 0310 DXFR1 CLA TDEL
3244: 2574 54 0 0005 LRS 5
3245: 2575 22 0 0377 ADD TA1
3246: 2576 10 0 0373 STO TIG
3247: 2577 30 0 0310 CLZ TDEL # TDEL=OR GTR 0 AFTER TR CALC
3250: 2600 46 0 2602 TMI *+2
3251: 2601 10 0 0310 STO TDEL
3252: 2602 22 0 0307 ADD 6J
3253: 2603 10 0 0311 STO TR # TIME UNTIL RENDEZVOUS (TPI)
3254: 2604 20 0 0310 CLA TDEL
3255: 2605 72 0 3571 DXFR10 TSQ NORTON
3256: 2606 10 0 0347 DX10P STO RF # PRED. BURNOUT ALTITUDE
3257: 2607 22 0 0217 ADD 2K14
3260: 2610 10 0 0170 STO P
3261: 2611 30 0 0477 CLZ RADOT
3262: 2612 30 0 0263 CLZ VPY
3263: 2613 30 1 0220 DXFRR5 CLZ RIX,1 # R5 STORE
3264: 2614 10 1 0174 STO R5X,1
3265: 2615 30 1 0430 CLZ VIX,1
3266: 2616 10 1 0014 STO TS14,1
3267: 2617 10 1 0460 STO V5X,1 # V5 STORE
3270: 2620 26 1 0054 MPR WCX,1
3271: 2621 56 0 0001 ALS 1 # TO 13
3272: 2622 32 0 0263 ADZ VPY # VPY = V5 DOT WC
3273: 2623 10 0 0263 STO VPY
3274: 2624 30 1 0010 CLZ TS10,1
3275: 2625 10 1 0060 STO U1X,1 # U1 STORE
3276: 2626 26 1 0460 MPR V5X,1 # RADOT = R5 DOT U1
3277: 2627 56 0 0001 ALS 1 # TO 13
3300: 2630 32 0 0477 ADZ RADOT
3301: 2631 10 0 0477 STO RADOT
3302: 2632 20 1 0200 CLA REX,1 # CSM POS AND VEL FOR
3303: 2633 10 1 0204 STO R0X,1 # ELLIPSE PREDICTOR
3304: 2634 20 1 0420 CLA VEX,1 # AND ORBIT PARAMETERS
3305: 2635 10 1 0424 STO V0X,1
3306: 2636 42 1 2613 TIX DXFRR5,1
3307:
|
|
Page 44 |
3311: 2637 72 0 6422 TSQ NORMV
3312: 2640 20 0 0013 CLA TS13
3313: 2641 10 0 0463 STO VHA
3314: 2642 72 0 6261 TSQ EXEC
3315: 2643 72 0 6444 ORBIT3 TSQ ORBPM # CSM ORBIT PARAMETERS
3316: 2644 20 0 0436 CLA TB
3317: 2645 24 0 0445 SUB TCSM
3320: 2646 22 0 0310 ADD TDEL # +TIME INC. TO DXFR
3321: 2647 46 0 2651 TMI *+2
3322: 2650 24 0 0445 SUB TCSM
3323: 2651 72 0 3571 TSQ NORTON
3324: 2652 30 0 0003 DXFR13 CLZ TS3
3325: 2653 20 1 0220 CLA RIX,1
3326: 2654 24 1 0174 SUB R5X,1
3327: 2655 10 1 0430 STO VIX,1 # RC-R5
3330: 2656 20 1 0054 CLA WCX,1
3331: 2657 10 1 0004 STO TS4,1
3332: 2660 20 1 0060 CLA U1X,1
3333: 2661 10 1 0010 STO TS10,1
3334: 2662 26 1 0430 MPR VIX,1 # U1 DOT (RC-R5)
3335: 2663 32 0 0003 ADZ TS3 # SCALE BOTH RX AND RZ
3336: 2664 10 0 0003 STO TS3 # AT 24 FOR ARCTAE
3337: 2665 42 1 2653 TIX DXFR13+1,1
3340: 2666 72 0 6373 TSQ CRSPRD
3341: 2667 72 0 6422 TSQ NORMV
3342: 2670 30 0 0004 CLZ TS4
3343: 2671 50 1 0002 VRUP1 AXT 2,1
3344: 2672 20 1 0010 CLA TS10,1
3345: 2673 10 1 0034 STO V1X,1 # V1,NORM XPROD OF WC AND U1
3346: 2674 26 1 0430 MPR VIX,1
3347: 2675 32 0 0004 ADZ TS4
3350: 2676 10 0 0004 STO TS4 # RZ AT 24
3351: 2677 42 1 2672 TIX VRUP1+1,1
3352: 2700 20 0 5033 CLA 1B1
3353: 2701 24 0 0410 SUB S10
3354: 2702 46 0 3024 TMI XDV-1 # EXT DELTA V
3355: 2703 22 0 5000 *ADD 6B3
3356:
|
|
Page 45 |
3360: 2704 46 0 1144 TMI THEF # O.I., CSI, CDH
3361: 2705 30 0 0450 CLZ 28J1 # COMPUTE TPI VELOCITY
3362: 2706 30 0 0451 CLZ 28J2 # IN LOCAL VERTICAL COORD.
3363: 2707 30 0 0452 CLZ 28J3
3364: 2710 50 1 0002 AXT 2,1
3365: 2711 20 1 0034 DXFRA CLA V1X,1 # B1
3366: 2712 26 1 0064 MPR VGX,1 # B1+B13=B14
3367: 2713 56 0 0001 ALS 1 # B13
3370: 2714 32 0 0450 ADZ 28J1
3371: 2715 10 0 0450 STO 28J1
3372: 2716 20 1 0040 CLA W1X,1 # B1
3373: 2717 06 1 0064 MPY VGX,1 # B1+B13=B14
3374: 2720 04 0 4126 DVP M1B1 # B13
3375: 2721 32 0 0451 ADZ 28J2
3376: 2722 10 0 0451 STO 28J2
3377: 2723 20 1 0060 CLA U1X,1 # B1
3400: 2724 06 1 0064 MPY VGX,1 # B1+B13=B14
3401: 2725 04 0 4126 DVP M1B1 # B13
3402: 2726 32 0 0452 ADZ 28J3
3403: 2727 10 0 0452 STO 28J3
3404: 2730 42 1 2711 TIX DXFRA,1
3405: 2731 72 0 7034 TSQ ARCTAE # TLOS=ARCTAN(RX/RZ)
3406: 2732 10 0 0303 STO TLOS # LINE OF SIGHT (DEDA)
3407: 2733 20 0 0311 CLA TR
3410: 2734 24 0 0310 SUB TDEL
3411: 2735 10 0 0435 STO T
3412: 2736 20 0 0436 CLA TB
3413: 2737 24 0 0445 SUB TCSM
3414: 2740 22 0 0311 ADD TR # TIME INC. TPI TO REND.
3415: 2741 24 0 0312 SUB 3J # TARGET OFFSET
3416: 2742 10 0 0442 STO TI
3417: 2743 72 0 6261 TSQ EXEC
3420: 2744 20 0 0410 DXFR14 CLA S10
3421: 2745 60 0 0000 COM
3422: 2746 46 0 5520 TMI CSMT1 # TO ELLIPX
3423:
3424: # ORBIT INSERTION SECTION
3425:
|
|
Page 46 |
3427:
3430: 2747 24 0 0270 SUB VY0 # S10 EQUALS 0, ORBIT INSERTION
3431: 2750 26 0 0270 MPR VY0
3432: 2751 22 0 0143 ADD VHSQ # VH SQ
3433: 2752 72 0 7123 TSQ SQRTE
3434: 2753 10 0 0463 STO VHA # B13
3435: 2754 20 0 0227 CLA 4K5 # COMPUTE DESIRED BURNOUT
3436: 2755 24 0 0435 SUB RB # ALTITUDE RATE
3437: 2756 06 0 0557 MPY 4K4
3440: 2757 52 0 0003 LLS 3
3441: 2760 10 0 0423 STO RFDOT
3442: 2761 24 0 0527 SUB 4K6 # LIMIT RFDOT BETWEEN
3443: 2762 46 0 2765 TMI *+3 # 23J AND 4K6
3444: 2763 20 0 0527 CLA 4K6
3445: 2764 40 0 2771 TRA *+5
3446: 2765 20 0 0465 CLA 23J
3447: 2766 24 0 0423 SUB RFDOT
3450: 2767 46 0 2772 TMI *+3
3451: 2770 20 0 0465 CLA 23J
3452: 2771 10 0 0423 STO RFDOT
3453: 2772 20 0 0533 CLA DISC1 # IS ABORT OR ABORT STATE YES
3454: 2773 56 0 0007 *ALS 7
3455: 2774 46 0 2777 TMI *+3 # - ABORT YES
3456: 2775 22 0 4126 *ADD M1B1
3457: 2776 46 0 3010 TMI ORBI2 # - ABORT STAGE NO
3460: 2777 20 0 0303 CLA THETAF
3461: 3000 24 0 0305 SUB 12J
3462: 3001 46 0 3006 TMI *+5 # - CENTRAL ANGLE LESS THAN LIMIT
3463: 3002 20 0 0226 CLA 10J # SET NEW SLOPE AND OFFSET
3464: 3003 10 0 0224 STO 7J # VALUES FOR AL WHEN ABORT OR
3465: 3004 20 0 0673 CLA 11J # ABORT STAGE YES AND THE
3466: 3005 10 0 0662 STO 4K10 # CENTRAL ANGLE LARGE
3467: 3006 20 0 5033 CLA 1B1 # STOP PASSES OF NEW SLOPE/OFFSET
3470: 3007 10 0 0305 STO 12J # EQUALS 4 RAD AT B3
3471: 3010 20 0 0303 ORBI2 CLA THETAF # CALCULATE AL
3472: 3011 06 0 0662 MPY 4K10
3473: 3012 22 0 0224 ADD 7J
3474:
|
|
Page 47 |
3476: 3013 10 0 0177 STO AL
3477: 3014 20 0 0435 CLA RB
3500: 3015 10 0 0347 STO RF
3501: 3016 54 0 0001 LRS 1 # CHECK FOR LOW LIMIT OF AL
3502: 3017 22 0 0225 ADD 8J
3503: 3020 24 0 0177 SUB AL
3504: 3021 46 0 3741 TMI CDH3+1
3505: 3022 22 0 0177 ADD AL
3506: 3023 40 0 3740 TRA CDH3 # AL LOW LIMIT 8J+RB/2
3507:
3510: # TERMINAL FOR CSI, CDH, EXT DV
3511: 3024 72 0 6261 TSQ EXEC
3512: 3025 20 0 0373 XDV CLA TIG # TEST FOR ULLAGE TIME
3513: 3026 24 0 0274 SUB 7K1
3514: 3027 24 0 0377 SUB TA1 # IF TIME FOR ULLAGE,THEN
3515: 3030 46 0 3047 TMI XDV2 # FREEZE COORDINATE FRAME
3516: 3031 50 1 0002 XDV1 AXT 2,1
3517: 3032 20 0 0452 CLA 28J3 # RADIAL COMPONENT
3520: 3033 26 1 0060 MPR U1X,1 # 13+1=14
3521: 3034 10 1 0050 STO DQSX,1
3522: 3035 20 0 0451 CLA 28J2 # CROSSRANGE COMPONENT
3523: 3036 26 1 0040 MPR W1X,1
3524: 3037 32 1 0050 ADZ DQSX,1
3525: 3040 10 1 0050 STO DQSX,1
3526: 3041 20 0 0450 CLA 28J1 # DOWNRANGE COMPONENT
3527: 3042 26 1 0034 MPR V1X,1
3530: 3043 34 1 0050 SUZ DQSX,1
3531: 3044 56 0 0001 ALS 1 # TO 13
3532: 3045 10 1 0600 STO DVGXX,1 # VELOCITY TO GAIN
3533: 3046 42 1 3032 TIX XDV1+1,1
3534: 3047 50 1 0002 XDV2 AXT 2,1 # LOAD NDX FOR STEER/XDV
3535: 3050 20 0 0410 CLA S10 # O.I. EXIT TO STEERING
3536: 3051 24 0 7701 SUB 1B3
3537: 3052 46 0 3262 TMI STEER4+1 # GO TO STEERING
3540: 3053 20 1 0600 XDV3 CLA DVGXX,1 # INITIAL VG
3541: 3054 24 1 0050 SUB DQSX,1 # ACCUMULATED DELTA V
3542: 3055 10 1 0004 STO TS4,1
3543:
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|
Page 48 |
3545: 3056 10 1 0064 STO VGX,1 # B13
3546: 3057 42 1 3053 TIX XDV3,1
3547: 3060 72 0 6737 TSQ DPVMAG
3550: 3061 10 0 0370 STO VG # VEL TO GAIN MAGNITUDE
3551: 3062 40 0 3302 TRA Q7 # GO TO STEERING
3552:
3553: 3063 20 0 0423 Q5 CLA RFDOT # GUIDANCE LAW
3554: 3064 10 0 0004 STO TS4 # SET FOR INDEXING
3555: 3065 30 0 0005 CLZ TS5
3556: 3066 20 0 0477 CLA RADOT
3557: 3067 10 0 0010 STO TS10
3560: 3070 20 0 0270 CLA VY0
3561: 3071 10 0 0011 STO TS11
3562: 3072 50 1 0001 AXT 1,1
3563: 3073 44 0 3074 TOV *+1
3564: 3074 20 1 0504 CLA RD3DOT,1 # -2
3565: 3075 26 0 0357 MPR TBO # 9-2=7
3566: 3076 54 0 0001 LRS 1 # TO 8
3567: 3077 10 0 0001 STO TS1 # 1/2 AT 7
3570: 3100 20 1 0004 CLA TS4,1 # RFDOT OR ZERO
3571: 3101 24 1 0010 SUB TS10,1 # RDOT OR VY0
3572: 3102 10 0 0002 STO TS2
3573: 3103 06 0 7701 MPY 1B3 # B16
3574: 3104 04 0 0357 *DVP TBO # 16-9=7
3575: 3105 34 0 0001 SUZ TS1 # R OR YD2DOT
3576: 3106 10 0 0000 STO TS0 # TEST FOR OVERFLOW
3577: 3107 30 0 0002 CLZ TS2 # SIGN IF OVERFLOW
3600: 3110 72 0 3346 TSQ OVFLT
3601: 3111 10 1 0044 STO RD2DOT,1
3602: 3112 20 0 4020 CLA SIXTH # -2
3603: 3113 26 1 0504 MPR RD3DOT,1 # -4
3604: 3114 26 0 0357 MPR TBO # 5
3605: 3115 54 0 0001 LRS 1 # TO 6
3606: 3116 22 1 0044 ADD RD2DOT,1 # +1/2 2DOT AT 6
3607: 3117 26 0 0357 MPR TBO # 15
3610: 3120 56 0 0001 ALS 1 # TO 14
3611: 3121 10 0 0001 STO TS1
3612:
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|
Page 49 |
3614: 3122 20 1 0010 CLA TS10,1
3615: 3123 54 0 0001 LRS 1 # TO 14
3616: 3124 32 0 0001 ADZ TS1
3617: 3125 26 0 0357 MPR TBO # 23
3620: 3126 22 1 0210 ADD R,1
3621: 3127 10 1 0014 STO TS14,1 # RF OR YF
3622: 3130 42 1 3073 TIX Q5+8,1
3623: 3131 10 0 0347 STO RF # 23
3624: 3132 10 0 0435 STO RB # SAVE RF FOR ORBIT INSERT.
3625: 3133 24 0 0231 SUB 5J # -LUNAR RADIUS
3626: 3134 24 0 0232 SUB 16J # BURNOUT ALT ERROR
3627: 3135 10 0 0014 STO TS14
3630: 3136 14 0 0523 LDQ 5K20
3631: 3137 20 0 0506 CLA 4K12
3632: 3140 24 0 0067 SUB AT
3633: 3141 46 0 3144 TMI *+3 # IF AT GT 4K12
3634: 3142 20 0 0574 CLA DEL2
3635: 3143 46 0 3145 TMI *+2 # IF AT LE 4K12 AND DEL2=1
3636: 3144 14 0 0267 LDQ 5K18
3637: 3145 12 0 0610 STQ RD3DTL # RD3DOT LOWER LIMIT
3640: 3146 20 0 0357 CLA TBO
3641: 3147 26 0 0357 MPR TBO
3642: 3150 26 0 0357 MPR TBO # TB CUBED
3643: 3151 10 0 0001 STO TS1 # 27
3644: 3152 50 1 0001 AXT 1,1
3645: 3153 44 0 3154 GDLAW3 TOV *+1
3646: 3154 20 1 0014 CLA TS14,1 # BURNOUT ERROR
3647: 3155 06 0 5000 MPY 12B4 # 27
3650: 3156 52 0 0002 LLS 2 # TO 25
3651: 3157 04 0 0001 *DVP TS1 # -2
3652: 3160 32 1 0504 *ADZ RD3DOT,1 # DESIRED ACCEL RATE
3653: 3161 10 0 0000 STO TS0 # TEST FOR OVERFLOW
3654: 3162 20 1 0014 CLA TS14,1
3655: 3163 72 0 3346 TSQ OVFLT
3656: 3164 10 1 0504 STO RD3DOT,1
3657: 3165 46 0 3172 TMI *+5
3660: 3166 24 1 0560 SUB 5K14,1 # UPPER LIMIT TEST
3661:
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|
Page 50 |
3663: 3167 46 0 3174 TMI *+5
3664: 3170 20 1 0560 CLA 5K14,1 # SET AT UPPER LIMIT
3665: 3171 40 0 3567 TRA LL3DOT+1
3666: 3172 24 1 0610 SUB RD3DTL,1 # LOWER LIMIT TEST
3667: 3173 46 0 3566 TMI LL3DOT
3670: 3174 42 1 3153 GDLAW4 TIX GDLAW3,1
3671: 3175 20 0 0636 CLA 2K1 # 48
3672: 3176 06 0 5033 MPY 1B1 # B49
3673: 3177 04 0 0210 DVP R # 49-23=26
3674: 3200 34 0 0143 SUZ VHSQ # VH SQ
3675: 3201 06 0 4010 MPY 1B4 # B30
3676: 3202 04 0 0210 DVP R # -ORBITAL RAD ACCEL AT 7
3677: 3203 32 0 0044 ADZ RD2DOT
3700: 3204 10 0 0044 STO RD2DOT # CMD RAD ACCEL AT 7
3701: 3205 72 0 6261 TSQ EXEC
3702:
3703: # STEERING EQUATIONS.
3704:
3705: 3206 20 0 0233 STEER CLA 21J
3706: 3207 24 0 0337 SUB H
3707: 3210 46 0 3220 TMI STEER1
3710: 3211 20 0 0464 CLA 22J
3711: 3212 24 0 0367 SUB HDOT
3712: 3213 46 0 3220 TMI STEER1
3713: 3214 20 0 7701 CLA 1B3 =1024B13 # COMMAND X-AXIS VERT
3714: 3215 10 0 0370 STO VG
3715: 3216 20 0 4030 CLA PMAX # PSIP=1
3716: 3217 40 0 3230 TRA *+9
3717: 3220 50 1 0001 STEER1 AXT 1,1
3720: 3221 44 0 3222 TOV *+1
3721: 3222 20 1 0044 CLA RD2DOT,1 # PSIP AND PSIY COMPS
3722: 3223 14 0 4007 LDQ ZERO
3723: 3224 04 0 0067 *DVP AT # PSIP OR Y AT ZERO
3724: 3225 10 0 0000 STO TS0 # TEST FOR OVERFLOW
3725: 3226 20 1 0044 CLA RD2DOT,1 # SIGN IF OVERFLOW
3726: 3227 72 0 3346 TSQ OVFLT
3727: 3230 10 1 0010 STO TS10,1 # PSIP OR PSIY AT 0
3730:
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|
Page 51 |
3732: 3231 42 1 3221 TIX STEER1+1,1
3733: 3232 26 0 0010 MPR TS10
3734: 3233 60 0 0000 COM
3735: 3234 22 0 4030 ADD PMAX
3736: 3235 10 0 0014 STO TS14 # 1-(PSIP)SQ
3737: 3236 72 0 7123 TSQ SQRTE
3740: 3237 10 0 0015 STO TS15
3741: 3240 20 0 0011 CLA TS11
3742: 3241 62 0 0000 ABS
3743: 3242 24 0 0015 SUB TS15
3744: 3243 46 0 3253 TMI STEER3
3745: 3244 20 0 0011 CLA TS11
3746: 3245 46 0 3250 TMI *+3
3747: 3246 20 0 0015 CLA TS15
3750: 3247 40 0 3252 TRA *+3
3751: 3250 20 0 0015 CLA TS15
3752: 3251 60 0 0000 COM
3753: 3252 10 0 0011 STO TS11
3754: 3253 20 0 0011 STEER3 CLA TS11
3755: 3254 26 0 0011 MPR TS11
3756: 3255 60 0 0000 COM
3757: 3256 32 0 0014 ADZ TS14
3760: 3257 72 0 7123 TSQ SQRTE
3761: 3260 10 0 0012 STO TS12
3762: 3261 40 0 3031 STEER4 TRA XDV1 # COMPUTE DELTA V IN LOCAL VERT.
3763: 3262 20 0 0010 CLA TS10
3764: 3263 26 1 0060 MPR U1X,1
3765: 3264 10 0 0001 STO TS1
3766: 3265 20 0 0450 CLA 28J1
3767: 3266 46 0 3343 OUT1 TMI OUT # IF 28J1 NEGATIVE
3770: 3267 20 0 0012 CLA TS12
3771: 3270 26 1 0034 MPR V1X,1
3772: 3271 32 0 0001 ADZ TS1
3773: 3272 10 0 0001 STO TS1
3774: 3273 20 0 0011 CLA TS11
3775: 3274 26 1 0040 MPR W1X,1
3776: 3275 32 0 0001 ADZ TS1
3777:
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|
Page 52 |
4001: 3276 06 0 0370 MPY VG
4002: 3277 52 0 0001 LLS 1 # TO 13
4003: 3300 10 1 0064 STO VGX,1 # VELOCITY YET TO BE GAINED
4004: 3301 42 1 3262 TIX STEER4+1,1
4005: 3302 50 1 0002 Q7 AXT 2,1 # COMPUTE VELOCITY TO BE
4006: 3303 20 1 0470 CLA VDX,1 # GAINED COMPONENTS
4007: 3304 10 1 0474 STO VSMGX,1
4010: 3305 42 1 3303 TIX *-2,1
4011: 3306 50 1 0002 AXT 2,1
4012: 3307 20 1 0064 CLA VGX,1
4013: 3310 06 1 0130 MPY A11,1
4014: 3311 52 0 0001 LLS 1 # TO 13
4015: 3312 32 0 0474 ADZ VSMGX # X-COMP OF TOTAL V TO BE GAINED
4016: 3313 10 0 0474 STO VSMGX
4017: 3314 20 1 0064 CLA VGX,1
4020: 3315 06 1 0140 MPY A21,1
4021: 3316 52 0 0001 LLS 1 # TO 13
4022: 3317 32 0 0475 ADZ VSMGY
4023: 3320 10 0 0475 STO VSMGY # Y-COMP OF TOTAL V TO BE GAINED
4024: 3321 20 1 0064 CLA VGX,1
4025: 3322 06 1 0134 MPY A31,1
4026: 3323 52 0 0001 LLS 1 # TO 13
4027: 3324 32 0 0476 ADZ VSMGZ
4030: 3325 10 0 0476 STO VSMGZ # Z-COMP OF TOTAL V TO BE GAINED
4031: 3326 20 0 0614 CLA MU8 # TEST IF ENG ON
4032: 3327 24 0 4006 SUB 1B17
4033: 3330 46 0 3334 TMI *+4 # - ENG OFF
4034: 3331 20 0 0370 CLA VG
4035: 3332 24 0 0466 SUB 5K26
4036: 3333 46 0 3340 TMI *+5
4037: 3334 20 1 0064 CLA VGX,1
4040: 3335 06 0 5033 MPY 1B1 # B14
4041: 3336 04 0 0370 DVP VG # RESULT AT B1
4042: 3337 10 1 0374 STO A11BD,1
4043: 3340 42 1 3307 TIX Q7+5,1
4044: 3341 72 0 6261 TSQ EXEC
4045: 3342 40 0 7472 IDLE TRA TEST
4046:
|
|
Page 53 |
4050: 3343 20 0 0012 OUT CLA TS12
4051: 3344 60 0 0000 COM
4052: 3345 40 0 3270 TRA OUT1+2
4053: 3346 44 0 3351 OVFLT TOV *+3
4054: 3347 20 0 0000 CLA TS0
4055: 3350 40 0 6764 TRA EXIT # EXIT WITH COMPUTED VALUE
4056: 3351 46 0 3354 TMI *+3
4057: 3352 20 0 4030 CLA PMAX # POSITIVE LIMIT
4060: 3353 40 0 3355 TRA *+2
4061: 3354 20 0 4037 CLA NMAX
4062: 3355 40 0 6764 TRA EXIT
4063:
4064: # DISPLAY ROUTINE SOFT PORTION.
4065:
4066: 3356 44 0 3357 DSP1 TOV *+1 # CL. O.F.
4067: 3357 30 0 0567 CLZ DSPF1 # H,HDOT MODE.
4070: 3360 46 0 3362 TMI *+2 # -IS INITIALIZE.
4071: 3361 40 0 6274 TRA DSPLY # TO COUNTER CHECK.(HARD)
4072: 3362 20 0 0337 CLA H
4073: 3363 10 0 0214 STO POUT
4074: 3364 20 0 0367 CLA HDOT
4075: # Q REGISTER DOES NOT NEED TO BE ZERO
4076: # SINCE DVP K55 IS AT WORST A LEFT
4077: # SHIFT OF 2 AND THE ALT RATE REGISTER
4100: # IS ONLY 15 BITS LONG
4101: 3365 04 0 0607 DVP K55
4102: 3366 40 0 6306 TRA DSPLY1
4103: 3367 20 0 0270 DSP2CP CLA VY0 # OUT-OF-CSM PLANE VEL.
4104: 3370 54 0 0021 LRS 17 # SET SIGN OF Q AND USE
4105: 3371 52 0 0021 LLS 17 # UP TIME
4106: 3372 12 0 0010 STQ TS10 # SAVE SIGN
4107: 3373 62 0 0000 ABS
4110: 3374 04 0 0271 *DVP VY0FS # =FULL-SCALE VALUE(200 FPS)
4111: 3375 44 0 3377 TOV *+2
4112: 3376 40 0 3400 TRA *+2
4113: 3377 20 0 4030 CLA PMAX
4114: 3400 32 0 0010 ADZ TS10 # VY0 IN SIGN-MAGNITUDE
4115:
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|
Page 54 |
4117: 3401 40 0 6345 TRA DSPLY3-1 # TO OUTPUT.(HARD)
4120:
4121: # EXECUTIVE PART 2. (BRANCH 50)
4122: # START AT EXEC2
4123:
4124: 3402 20 0 1117 EXEC7 CLA IDRP
4125: 3403 24 0 0671 SUB ID # TEST FOR AGS INITIALIZE ID
4126: 3404 46 0 3525 TMI EXECM2
4127: 3405 20 0 1012 EXEC2 CLA BR1 # SET NAV BRANCH
4130: 3406 10 0 0063 STO BRANCH
4131: 3407 30 0 0455 CLZ DDF # DEDA DATA FLAG.
4132: 3410 46 0 3472 TMI NEWDD
4133: 3411 30 0 0571 EXECM CLZ DEL31 # TEST FOR DOWNLINK DATA
4134: 3412 46 0 3402 TMI EXEC7
4135: 3413 20 0 0400 EXECM1 CLA S0
4136: 3414 24 0 7520 SUB 3B3
4137: 3415 46 0 3466 TMI EXECA # S0-3(-IS INER. REF)
4140: 3416 24 0 7701 SUB 1B3
4141: 3417 46 0 3552 TMI EXEC6 # S0-4(-IS IMU ALIGN)
4142: 3420 24 0 7701 SUB 1B3
4143: 3421 46 0 1167 TMI TMIE1 # RESET TM
4144: 3422 24 0 7701 SUB 1B3
4145: 3423 46 0 3466 TMI EXECA # S0-6(-IS ORB ALIGN)
4146: 3424 22 0 5427 *ADD 7B3 # S0+1
4147: 3425 46 0 3445 TMI INCMU7 # S0=7
4150: 3426 20 0 0604 CAL CLA DEL21 # CALIBRATE MODE
4151: 3427 46 0 3431 TMI *+2
4152: 3430 72 0 4772 TSQ EADICS # IMU DIR COSINES
4153: 3431 72 0 4451 TSQ ATTERR # COMPUTE ATTITUDE ERRORS
4154: 3432 50 1 0002 AXT 2,1
4155: 3433 20 0 0632 CLA 1K33 # -3
4156: 3434 06 1 0070 MPY EX,1 # 2
4157: 3435 52 0 0014 LLS 12 # -3+2-12=-13
4160: 3436 32 1 0510 ADZ DAXREM,1
4161: 3437 10 1 0510 STO DAXREM,1 # -13
4162: 3440 20 0 0633 CLA 1K34 # -15
4163: 3441 26 1 0070 MPR EX,1 # 2
4164:
|
|
Page 55 |
4166: 3442 32 1 0544 ADZ 1K1,1
4167: 3443 10 1 0544 STO 1K1,1 # GYRO BIAS AT -13
4170: 3444 42 1 3433 TIX *-9,1
4171: 3445 30 0 0647 INCMU7 CLZ MU7 # INCR. COUNTER
4172: 3446 22 0 4006 ADD 1B17
4173: 3447 10 0 0647 STO MU7
4174: 3450 24 0 0613 SUB 1K37 # ACCEL. CAL. DURATION
4175: 3451 62 0 0000 ABS
4176: 3452 60 0 0000 COM
4177: 3453 46 0 3462 TMI *+7 # + IS TIME FOR ACCEL CAL
4200: 3454 50 1 0002 AXT 2,1
4201: 3455 30 1 0644 CLZ SDVX,1
4202: 3456 26 0 0635 MPR 1K36
4203: 3457 32 1 0540 ADZ 1K19,1
4204: 3460 10 1 0540 STO 1K19,1 # NEW BIAS CORRECTION
4205: 3461 42 1 3455 TIX *-4,1
4206: 3462 20 0 0647 CLA MU7
4207: 3463 24 0 0617 SUB 1K30
4210: 3464 46 0 3466 TMI EXECA
4211: 3465 30 0 0400 CLZ S0 # CAL COMPLETE, SET ATT HOLD
4212: 3466 30 0 0530 EXECA CLZ DAXA # ZERO ALIGNMENT INCREMENTS
4213: 3467 30 0 0531 CLZ DAYA
4214: 3470 30 0 0532 CLZ DAZA
4215: 3471 40 0 1167 TRA TMIE1 # RESET TM
4216: 3472 20 0 4065 NEWDD CLA STOCOM # EQU TO STORE
4217: 3473 22 0 0333 ADD ADST # DEDA ADDRESS.
4220: 3474 10 0 0721 STO VRSH+1 # SET UP STORE INSTRUCTION
4221: 3475 20 0 0326 CLA DD # DEDA DATA.
4222: 3476 72 0 0720 TSQ VRSH # STORE DATA
4223: 3477 20 0 1012 CLA BR1 # PROTECT BRANCH FROM DEDA
4224: 3500 10 0 0063 STO BRANCH
4225: 3501 20 0 1132 CLA DLWNLC # PROTECT DLWNL
4226: 3502 10 0 0672 STO DLWNL # FROM DEDA ENTRY
4227: 3503 20 0 0333 CLA ADST
4230: 3504 24 0 4013 SUB 1B9 # S0 ADDRESS
4231: 3505 46 0 3411 TMI EXECM
4232: 3506 24 0 4006 SUB 1B17
4233:
|
|
Page 56 |
4235: 3507 46 0 3532 TMI EXEC3 # NEW WD IS S0
4236: 3510 24 0 4041 SUB 10B17
4237: 3511 46 0 3411 TMI EXECM # NEW WD BTWN S0PS13
4240: 3512 24 0 4006 SUB 1B17
4241: 3513 46 0 6154 TMI LUNAZ # NEW WD IS S13
4242: 3514 24 0 4006 SUB 1B17
4243: 3515 46 0 3517 TMI *+2 # NEW WD IS S14
4244: 3516 40 0 3411 TRA EXECM
4245: 3517 20 0 0414 CLA S14 # NEW WD IS S14.
4246: 3520 24 0 4065 SUB 2B3
4247: 3521 10 0 0563 STO DEL32 # ENABLE DL IF S14=1
4250: 3522 46 0 3527 TMI EXECM2+2
4251: 3523 60 0 0000 COM
4252: 3524 46 0 3413 TMI EXECM1 # - S14=3
4253: 3525 20 0 1011 EXECM2 CLA IC1BR # SET IC1 BRANCH
4254: 3526 10 0 0063 STO BRANCH
4255: 3527 20 0 1116 CLA IDAI # AGS INITIALIZE ID
4256: 3530 10 0 0671 STO ID
4257: 3531 40 0 3413 TRA EXECM1
4260: 3532 20 0 0400 EXEC3 CLA S0
4261: 3533 22 0 7701 *ADD 1B3 # NEG IF S0=7
4262: 3534 46 0 3544 TMI MABEE
4263: 3535 24 0 5427 SUB 7B3
4264: 3536 46 0 3466 TMI EXECA
4265: 3537 20 0 0604 CLA DEL21 # CALIBRATE I.C.
4266: 3540 46 0 3544 TMI MABEE
4267: 3541 20 0 7520 CLA 3B3 # IMU ALINE FOR 2SECS.
4270: 3542 10 0 0400 STO S0
4271: 3543 12 0 0407 STQ DEL6
4272: 3544 50 1 0006 MABEE AXT 6,1
4273: 3545 30 1 0644 CLZ SDVX,1 # ZERO MU7 AND DV SUMS
4274: 3546 20 1 0130 CLA A11,1
4275: 3547 10 1 0160 STO A11D,1
4276: 3550 42 1 3545 TIX *-3,1
4277: 3551 40 0 3466 TRA EXECA
4300: 3552 30 0 0407 EXEC6 CLZ DEL6 # IMU ALINE.
4301: 3553 46 0 3555 TMI *+2 # -IS CALIBRATE.
4302:
|
|
Page 57 |
4304: 3554 40 0 3556 TRA *+2
4305: 3555 20 0 5000 CLA 6B3
4306: 3556 10 0 0400 STO S0
4307: 3557 40 0 1167 TRA TMIE1 # RESET TM
4310: 3560 20 0 0140 FDAI1 CLA A21
4311: 3561 26 0 0127 MPR COGA
4312: 3562 10 0 0001 STO TS1
4313: 3563 20 0 0142 CLA A23
4314: 3564 26 0 0123 MPR SIGA
4315: 3565 40 0 4674 TRA EX17+6
4316: 3566 20 1 0610 LL3DOT CLA RD3DTL,1
4317: 3567 10 1 0504 STO RD3DOT,1
4320: 3570 40 0 3174 TRA GDLAW4
4321: 3571 10 0 0442 NORTON STO TI
4322: 3572 12 0 0046 STQ TSEX # SUBR TO GO TO EXEC,
4323: 3573 72 0 6261 TSQ EXEC
4324: 3574 72 0 6535 TSQ ELPRD # ELPR AND COMPT
4325: 3575 72 0 6261 TSQ EXEC # LENGTH OF VECTOR
4326: 3576 50 1 0002 AXT 2,1 # RIX
4327: 3577 20 1 0220 CLA RIX,1
4330: 3600 10 1 0014 STO TS14,1
4331: 3601 42 1 3577 TIX *-2,1
4332: 3602 72 0 6422 TSQ NORMV
4333: 3603 50 1 0002 AXT 2,1
4334: 3604 20 0 0013 CLA TS13 # LENGTH OF RI
4335: 3605 40 0 0046 TRA TSEX
4336: 3606 30 0 0320 RRT CLZ READP # TEST FOR EXIT
4337: 3607 10 0 0325 STO RMF # FROM HOLD
4340: 3610 46 0 7202 TMI ADOUT # TO READ OUT
4341: 3611 40 0 1307 TRA DEXIT # EXIT
4342: 3612 20 0 0410 EX33P CLA S10
4343: 3613 24 0 7520 SUB 3B3
4344: 3614 46 0 3640 TMI CSICDH
4345: 3615 20 0 0304 CLA 3K4
4346: 3616 24 0 0033 SUB C2
4347: 3617 46 0 5552 TMI EX33+1
4350: 3620 30 0 0147 CLZ DEL10
4351:
|
|
Page 58 |
4353: 3621 46 0 3630 TMI EX33PP
4354: 3622 20 0 0526 EX35 CLA 2K11
4355: 3623 10 0 0371 STO VF
4356: 3624 30 0 0172 CLZ Q1
4357: 3625 24 0 0231 SUB 5J
4360: 3626 10 0 0402 STO Q1DEDA
4361: 3627 40 0 3302 TRA Q7 # GO TO STEERING
4362: 3630 30 0 0306 EX33PP CLZ 4J
4363: # RESTORE SAVED QUANTITIES FOR T/B COMPUTATIONS
4364: # IN HARD MEMORY
4365: 3631 30 0 0050 CLZ V6X
4366: 3632 10 0 0012 STO TS12
4367: 3633 30 0 0051 CLZ V6Y
4370: 3634 10 0 0013 STO TS13
4371: 3635 30 0 0052 CLZ V6Z
4372: 3636 10 0 0014 STO TS14
4373: 3637 40 0 6067 TRA EX36+1
4374: 3640 72 0 6261 CSICDH TSQ EXEC
4375: 3641 20 0 0203 CLA RT
4376: 3642 24 0 0347 SUB RF
4377: 3643 10 0 0402 STO DELH
4400: 3644 10 0 0314 STO DELRP # LITTLE DELTA R AT 23
4401: 3645 30 0 0423 CLZ RFDOT
4402: 3646 50 1 0002 AXT 2,1
4403: 3647 20 1 0430 CLA VIX,1
4404: 3650 26 1 0030 MPR U2X,1
4405: 3651 56 0 0001 ALS 1
4406: 3652 32 0 0423 ADZ RFDOT
4407: 3653 10 0 0423 STO RFDOT # RFDOT = U2 DOT VT B13
4410: 3654 42 1 3647 TIX *-5,1
4411: 3655 20 0 0410 CLA S10
4412: 3656 22 0 5000 *ADD 6B3
4413: 3657 46 0 3773 TMI CDH # S10 = 2
4414: 3660 20 0 0416 CSI CLA S16
4415: 3661 06 0 4022 MPY 3PID4 # A=3/4(PI)(S16) AT B6
4416: 3662 10 0 0001 STO TS1
4417: 3663 04 0 0173 DVP AE
4420:
|
|
Page 59 |
4422: 3664 26 0 0402 MPR DELH
4423: 3665 10 0 0002 STO TS2 # A(DELH/AE) B6
4424: 3666 20 0 0001 CLA TS1
4425: 3667 26 0 5033 MPR 1B1
4426: 3670 10 0 0005 STO TS5 # A AT B7
4427: 3671 20 0 0275 CLA 1J
4430: 3672 24 0 0373 SUB TIG
4431: 3673 56 0 0003 ALS 3
4432: 3674 26 0 0077 MPR NE # NE(1J-TIG) AT B6
4433: 3675 22 0 0002 ADD TS2
4434: 3676 26 0 5000 MPR 6B3 =1.5B1 # 3/2(NE)(1J-TIG)+
4435: # 3/2(A)(DELH/AE)
4436: 3677 24 0 0005 SUB TS5
4437: 3700 22 0 0605 ADD 2J
4440: 3701 10 0 0007 STO TS7 # B AT B7
4441: 3702 20 0 0477 CLA RADOT
4442: 3703 24 0 0423 SUB RFDOT
4443: 3704 06 0 4010 MPY 1B4
4444: 3705 04 0 0463 DVP VHA # 4(RADOT-REDOT)/VHA B6
4445: 3706 24 0 0002 SUB TS2
4446: 3707 10 0 0010 STO TS10
4447: 3710 20 0 0303 CLA THETAF
4450: 3711 54 0 0003 LRS 3
4451: 3712 22 0 0010 ADD TS10
4452: 3713 06 0 5033 MPY 1B1 # ACC = C AT B7
4453: 3714 04 0 0007 DVP TS7 # C/B B0
4454: 3715 10 0 0011 STO TS11
4455: 3716 26 0 0173 MPR AE
4456: 3717 10 0 0402 STO DELH # DELH B23
4457: 3720 20 0 0011 CLA TS11 # C/B = DELH/AE B0
4460: 3721 26 0 0001 MPR TS1 # A(DELH/AE) B6
4461: 3722 22 0 0002 ADD TS2
4462: 3723 10 0 0001 STO TS1
4463: 3724 20 0 0576 CLA PI
4464: 3725 26 0 0416 MPR S16
4465: 3726 24 0 0001 SUB TS1
4466: 3727 06 0 7701 MPY 1B3 # TO B9
4467:
|
|
Page 60 |
4471: 3730 04 0 0077 DVP NE
4472: 3731 10 0 0372 STO TA0
4473: 3732 20 0 0477 CLA RADOT
4474: 3733 10 0 0423 STO RFDOT
4475: 3734 20 0 0314 CDH2 CLA DELRP # LITTLE DELTA R
4476: 3735 22 0 0402 ADD DELH
4477: 3736 26 0 4126 MPR M1B1 # -.5B0 = -1B1
4500: 3737 22 0 0173 ADD AE
4501: 3740 10 0 0177 CDH3 STO AL
4502: 3741 20 0 0177 CLA AL # CALCULATE 28J1
4503: 3742 24 0 0347 SUB RF
4504: 3743 22 0 0177 ADD AL
4505: 3744 06 0 0636 MPY 2K1
4506: 3745 54 0 0001 LRS 1
4507: 3746 04 0 0347 DVP RF
4510: 3747 14 0 4007 LDQ ZERO
4511: 3750 04 0 0177 DVP AL
4512: 3751 72 0 7123 TSQ SQRTE
4513: 3752 24 0 0463 SUB VHA
4514: 3753 10 0 0450 STO 28J1 # 28J1 = VHF - VHA
4515: 3754 72 0 6261 TSQ EXEC
4516: 3755 20 0 0477 CLA RADOT
4517: 3756 24 0 0423 SUB RFDOT
4520: 3757 10 0 0452 STO 28J3
4521: 3760 10 0 0005 STO TS4+1
4522: 3761 20 0 0410 CLA S10
4523: 3762 60 0 0000 COM
4524: 3763 46 0 3025 TMI XDV
4525: 3764 20 0 0450 CLA 28J1
4526: 3765 10 0 0004 STO TS4
4527: 3766 20 0 0270 CLA VY0
4530: 3767 10 0 0006 STO TS4+2
4531: 3770 72 0 6737 TSQ DPVMAG
4532: 3771 10 0 0370 STO VG
4533: 3772 40 0 6136 TRA GDLAW
4534: 3773 30 0 0372 CDH CLZ TA0
4535: 3774 22 0 0373 ADD TIG
4536:
|
|
Page 61 |
4540: 3775 10 0 0373 STO TIG # TIG = TIG + TAO
4541: 3776 40 0 3734 TRA CDH2
4542: # SEE REAR OF LISTING FOR CHECKSUM
4543: # START OF HARDWIRED MEMORY
4544: # CONSTANTS
4545:
4546: 3777 CHECKSUM RANGE 1005-3776
4547: 4000 ORG 4000
4550: 4000 000007 7B17 DEC 7.B17 # CONSTANTS FOR NORMALIZE
4551: 4001 000006 6B17 DEC 6.B17
4552: 4002 000005 5B17 DEC 5.B17
4553: 4003 000004 4B17 DEC 4.B17
4554: 4004 000003 3B17 DEC 3.B17
4555: 4005 000002 2B17 DEC 2.B17
4556: 4006 000001 1B17 DEC 1.B17
4557: 4007 000000 ZERO DEC 0
4560: 4065 2B3 EQU 1B2
4561: 7512 5B3 EQU 10B4
4562: 5000 6B3 EQU 12B4
4563: 4010 020000 1B4 DEC 1.B4
4564: 4011 010000 1B5 DEC 1.B5
4565: 4012 004000 1B6 DEC 1.B6
4566: 4013 000400 1B9 DEC 1.B9
4567: 4014 000100 1B11 DEC 1.B11
4570: 4015 000040 1B12 DEC 1.B12
4571: 4016 000020 1B13 DEC 1.B13
4572: 4017 000010 1B14 DEC 1.B14
4573: 4017 8B17 EQU 1B14
4574: 4020 252525 SIXTH OCT 252525
4575: 4021 311040 2PIB3 DEC 6.2831853B3
4576: 4021 1K25 EQU 2PIB3
4577: 4022 113314 3PID4 DEC 2.3561945B3
4600: 4023 062210 PID2 DEC 1.57079633B3
4601: 4024 031104 PID4 DEC .78539816B3
4602: 4025 774761 K173 DEC -.18488E-3B-6
4603: 4026 042027 K172 DEC .83119E-2B-4
4604: 4027 525261 K171 DEC -.16665554B-2
4605:
|
|
Page 62 |
4607: 4030 377777 K170 OCT 377777 # 1B0
4610: 4030 PMAX EQU K170
4611: 4031 660111 K183 DEC -.0389929B-3
4612: 4032 112712 K182 DEC .1462766B-1
4613: 4033 726707 K181 DEC -.3211819B1
4614: 4034 077746 K180 DEC .999215B2
4615: 4035 54 0 0000 SHDUM LRS 0
4616: 4036 400000 MS OCT 400000
4617: 4037 400001 NMAX OCT 400001
4620: 4040 000061 49B17 DEC 49.B17
4621: 4041 000012 10B17 DEC 10.B17
4622: 4042 303240 BCDL DEC 100000.B17
4623: 4043 40 0 4475 TRNSFR TRA EROUT # EXIT FROM ATT ERROR COMPS
4624: 4044 40 0 6246 BACK TRA RETURN
4625: 4045 66 0 6100 TMOUT OUT 6100
4626: 4046 20 0 4000 CLAFR CLA 4000
4627: 7002 CLATEN EQU SICO2 # CLA 0,1
4630: 4036 TRACOM EQU MS # LOOKS LIKE TRA 0
4631: 4065 STOCOM EQU 1B2 # LOOKS LIKE STO 0
4632: 5033 DUMCLA EQU 1B1 # LOOKS LIKE CLA 0
4633:
4634: # ** 20 MILLISECOND COMPUTATIONS
4635:
4636: 4047 70 0 4050 DELAY DLY *+1
4637: 4050 64 0 2001 INP 2001 # INPUT PGNS ANGLES
4640: 4051 10 0 0107 STO THEP
4641: 4052 64 0 2002 INP 2002
4642: 4053 10 0 0117 STO PHIP
4643: 4054 64 0 2004 INP 2004
4644: 4055 10 0 0113 STO PSIP
4645: 4056 64 0 6010 INP 6010 # INPUT GYRO DATA
4646: 4057 10 0 0354 STO DAX
4647: 4060 64 0 6002 INP 6002
4650: 4061 10 0 0355 STO DAY
4651: 4062 64 0 6004 INP 6004
4652: 4063 10 0 0356 STO DAZ
4653: 4064 64 0 6020 INP 6020 # INPUT ACCELEROMETER DATA
4654:
|
|
Page 63 |
4656: 4065 10 0 0000 1B2 STO TS0 # VALUE USED AS CONSTANT
4657: 4066 64 0 6040 INP 6040
4660: 4067 10 0 0001 STO TS1
4661: 4070 64 0 6100 INP 6100
4662: 4071 10 0 0002 STO TS2
4663: 4072 40 0 1015 EX1 TRA EXIT1
4664: # PROCESS ACCELEROMETER INPUTS
4665: 4073 50 1 0002 AXT 2,1
4666: 4074 30 1 0350 DVS CLZ DVX,1 # SAVE PREVIOUS VALUE
4667: 4075 10 1 0074 STO DVXM1,1
4670: 4076 30 1 0000 CLZ TS0,1
4671: 4077 24 0 7507 SUB 1K7 # 11
4672: 4100 56 0 0001 ALS 1
4673: 4101 26 1 0534 MPR 1K18,1 # SCALE FACTOR
4674: 4102 56 0 0001 ALS 1 # SCALE AT 1
4675: 4103 22 1 0540 ADD 1K19,1 # BIAS COMPENSATION
4676: 4104 10 1 0350 STO DVX,1 # AT 1
4677: 4105 42 1 4074 TIX DVS,1
4700: 4106 40 0 1016 TRA EXIT2 # TO MODE CHECK.
4701: # PROCESS GYRO INPUTS
4702: 4107 50 1 0002 AXT 2,1
4703: 4110 44 0 4111 TOV *+1 # RESET
4704: 4111 30 1 0354 GYCOM CLZ DAX,1
4705: 4112 24 0 7507 SUB 1K7
4706: 4113 56 0 0001 ALS 1 # RADIANS AT -6
4707: 4114 10 1 0354 STO DAX,1
4710: 4115 26 1 0550 MPR 1K3,1 # SCALE FACTOR COMP
4711: 4116 22 1 0544 ADD 1K1,1 # AT -13
4712: 4117 32 1 0510 ADZ DAXREM,1
4713: 4120 10 1 0510 STO DAXREM,1
4714: 4121 22 0 4010 ADD 1B4 # ROUND
4715: 4122 54 0 0016 LRS 14 # TO +1
4716: 4123 56 0 0007 ALS 7 # TO -6, QUANTIZED AT -16
4717: 4124 10 0 0006 STO TS6
4720: 4125 56 0 0007 ALS 7 # SAVE REMAINDER
4721: 4126 60 0 0000 M1B1 COM # INSTRUCTION LOOKS LIKE -1B1
4722: 4127 32 1 0510 ADZ DAXREM,1
4723:
|
|
Page 64 |
4725: 4130 10 1 0510 STO DAXREM,1
4726: 4131 30 0 0006 CLZ TS6
4727: 4132 32 1 0354 ADZ DAX,1
4730: 4133 22 1 0530 ADD DAXA,1
4731: 4134 10 1 0354 STO DAX,1 # -6
4732: 4135 56 0 0003 *ALS 3 # TO -9
4733: 4136 10 1 0010 STO TS10,1
4734: 4137 62 0 0000 *ABS
4735: 4140 22 0 4012 *ADD 1B6 # TEST FOR POSSIBLE OVERFL
4736: 4141 42 1 4111 TIX GYCOM,1
4737: 4142 40 0 1017 EX3 TRA EXIT3
4740: 4143 44 0 4405 TOV HRC
4741: 4144 30 0 0553 CLZ HRF
4742: 4145 46 0 4373 TMI LRI
4743: # COMPUTE DIRECTION COSINE CHANGE
4744: 4146 20 0 0010 CDCC CLA TS10 # DAX AT -6 OR -9
4745: 4147 06 0 0011 MPY TS11 # DAY
4746: 4150 54 0 0001 LRS 1 # 1/2DAX(DAY) AT -12 OR -18
4747: 4151 72 0 1002 TSQ RND
4750: 4152 22 0 0012 ADD TS12 # DAZ
4751: 4153 10 0 0001 STO TS1
4752: 4154 20 0 0010 CLA TS10
4753: 4155 06 0 0012 MPY TS12
4754: 4156 54 0 0001 LRS 1 # 1/2DAX(DAZ) AT -12 OR -18
4755: 4157 72 0 1002 TSQ RND
4756: 4160 34 0 0146 SUZ E13
4757: 4161 10 0 0007 STO TS7
4760: 4162 24 0 0011 SUB TS11
4761: 4163 10 0 0002 STO TS2
4762: 4164 20 0 0011 CLA TS11
4763: 4165 26 0 0011 MPR TS11
4764: 4166 54 0 0001 LRS 1
4765: 4167 10 0 0133 STO TS8
4766: 4170 20 0 0012 CLA TS12
4767: 4171 26 0 0012 MPR TS12
4770: 4172 54 0 0001 LRS 1 # 1/2DAZ(DAZ) AT -12 OR -18
4771: 4173 22 0 0133 ADD TS8
4772:
|
|
Page 65 |
4774: 4174 72 0 1002 TSQ RND
4775: 4175 60 0 0000 COM
4776: 4176 32 0 0144 ADZ E1 # NORMALITY CONSTRAINT
4777: 4177 10 0 0003 STO TS3
5000: 4200 30 0 0007 CLZ TS7
5001: 4201 22 0 0011 ADD TS11
5002: 4202 10 0 0004 STO TS4
5003: 4203 20 0 0011 CLA TS11
5004: 4204 06 0 0012 MPY TS12
5005: 4205 54 0 0001 LRS 1 # 1/2DAY(DAZ) AT -12 OR -18
5006: 4206 72 0 1002 TSQ RND
5007: 4207 24 0 0010 SUB TS10
5010: 4210 10 0 0005 STO TS5
5011: 4211 20 0 0010 CLA TS10
5012: 4212 26 0 0010 MPR TS10
5013: 4213 54 0 0001 LRS 1 # 1/2DAX(DAX) AT -12 OR -18
5014: 4214 32 0 0133 ADZ TS8
5015: 4215 72 0 1002 TSQ RND
5016: 4216 60 0 0000 COM
5017: 4217 32 0 0145 ADZ E3
5020: 4220 10 0 0006 STO TS6
5021: 4221 40 0 1020 EX4 TRA EXIT4
5022: 4222 50 1 0002 AXT 2,1 # COMPUTE EQUATIONS
5023: 4223 20 0 0001 DICOS CLA TS1
5024: 4224 26 1 0140 MPR A21,1 # 1
5025: 4225 32 1 0150 ADZ DA11,1
5026: 4226 10 1 0150 STO DA11,1 # -5 OR -8
5027: 4227 20 0 0002 CLA TS2
5030: 4230 26 1 0134 MPR A31,1
5031: 4231 32 1 0150 ADZ DA11,1
5032: 4232 10 1 0150 STO DA11,1 # -5 OR -8
5033: 4233 20 0 0003 CLA TS3
5034: 4234 26 1 0130 MPR A11,1
5035: 4235 32 1 0150 ADZ DA11,1
5036: 4236 10 1 0150 STO DA11,1 # -5 OR -8
5037: 4237 20 0 0004 CLA TS4 # ROW 3
5040: 4240 26 1 0130 MPR A11,1
5041:
|
|
Page 66 |
5043: 4241 32 1 0154 ADZ DA31,1
5044: 4242 10 1 0154 STO DA31,1
5045: 4243 20 0 0005 CLA TS5
5046: 4244 26 1 0140 MPR A21,1
5047: 4245 32 1 0154 ADZ DA31,1
5050: 4246 10 1 0154 STO DA31,1
5051: 4247 20 0 0006 CLA TS6
5052: 4250 26 1 0134 MPR A31,1
5053: 4251 32 1 0154 ADZ DA31,1
5054: 4252 10 1 0154 STO DA31,1
5055: 4253 42 1 4223 TIX DICOS,1
5056: # INTEGRATE DIRECTION COSINES
5057: 4254 50 1 0006 AXT 6,1
5060: 4255 20 0 0553 INTAS CLA HRF
5061: 4256 46 0 4431 TMI HRINT # -5 OR -8 TEST
5062: 4257 20 1 0150 CLA DA11,1
5063: 4260 22 0 4013 RND1 ADD 1B9 # ROUND
5064: 4261 54 0 0011 SHFT1 LRS 9 # TO 1
5065: 4262 10 0 0001 STO TS1
5066: 4263 56 0 0011 ALS 9
5067: 4264 60 0 0000 COM
5070: 4265 32 1 0150 ADZ DA11,1
5071: 4266 10 1 0150 STO DA11,1 # SAVE REMAINDER.
5072: 4267 30 1 0130 CLZ A11,1
5073: 4270 32 0 0001 ADZ TS1
5074: 4271 10 1 0130 STO A11,1
5075: 4272 42 1 4255 TIX INTAS,1
5076: 4273 72 0 1021 TSQ EXIT5 # DOWNLINK INPUT
5077: 4274 72 0 1022 TSQ EXIT6 # TELEMETRY OUTPUT
5100: # COMPUTE ROW 2
5101: 4275 20 0 0131 COA21 CLA A12
5102: 4276 26 0 0136 MPR A33 # 2
5103: 4277 10 0 0001 STO TS1
5104: 4300 20 0 0132 CLA A13
5105: 4301 26 0 0135 MPR A32
5106: 4302 34 0 0001 SUZ TS1
5107: 4303 56 0 0001 ALS 1 # TO 1
5110:
|
|
Page 67 |
5112: 4304 10 0 0140 STO A21 # A21
5113: 4305 20 0 0132 CLA A13
5114: 4306 26 0 0134 MPR A31
5115: 4307 10 0 0001 STO TS1
5116: 4310 20 0 0130 CLA A11
5117: 4311 26 0 0136 MPR A33
5120: 4312 34 0 0001 SUZ TS1
5121: 4313 56 0 0001 ALS 1
5122: 4314 10 0 0141 STO A22 # A22
5123: 4315 20 0 0130 CLA A11
5124: 4316 26 0 0135 MPR A32
5125: 4317 10 0 0001 STO TS1
5126: 4320 20 0 0131 CLA A12
5127: 4321 26 0 0134 MPR A31
5130: 4322 34 0 0001 SUZ TS1
5131: 4323 56 0 0001 ALS 1
5132: 4324 10 0 0142 STO A23 # A23,DIR COS UPDATE COMPLETE
5133: 4325 40 0 1024 EX8 TRA EXIT8
5134: # VELOCITY RESOLUTION
5135: 4326 50 1 0002 DVINT AXT 2,1 # RESOLVE BODY DVS TO
5136: 4327 20 1 0130 CLA A11,1 # INERTIAL FRAME AND
5137: 4330 26 0 0350 MPR DVX # ACCUMULATE.
5140: 4331 10 0 0001 STO TS1 # 2
5141: 4332 20 1 0140 CLA A21,1
5142: 4333 26 0 0351 MPR DVY
5143: 4334 32 0 0001 ADZ TS1
5144: 4335 10 0 0001 STO TS1
5145: 4336 20 1 0134 CLA A31,1
5146: 4337 26 0 0352 MPR DVZ
5147: 4340 32 0 0001 ADZ TS1 # 2
5150: 4341 22 0 4016 ADD 1B13 # ROUND
5151: 4342 54 0 0005 LRS 5
5152: 4343 32 1 0120 ADZ DVSX,1
5153: 4344 10 1 0120 STO DVSX,1 # 7
5154: 4345 42 1 4327 TIX DVINT+1,1
5155: 4346 72 0 1021 TSQ EXIT5 # DOWNLINK INPUT
5156: 4347 72 0 1022 TSQ EXIT6 # TELEMETRY OUTPUT
5157:
|
|
Page 68 |
5161:
5162: 4350 30 0 0573 CLZ FLAG1
5163: 4351 46 0 0063 TMI BRANCH # - IS GUID/NAV CYCLE.
5164: 4352 20 0 4036 CLA MS
5165: 4353 10 0 0573 STO FLAG1
5166: 4354 40 0 1025 EX9 TRA EXIT9
5167:
5170: # HARDWIRED 40 MS COMPUTATIONS
5171: # DISCRETE INPUT AND STAGING RECOGNITION COMPS.
5172:
5173: 4355 64 0 2020 INP DISC1I # INPUT DISCRETE WD 1
5174: 4356 10 0 0401 STO DISC1C
5175: 4357 22 0 4006 ADD 1B17 # OBTAIN TWOS COMP OF INPUT WD
5176: 4360 60 0 0000 COM
5177: 4361 10 0 0533 STO DISC1
5200: 4362 20 0 0574 CLA DEL2 # TEST FOR STAGING
5201: 4363 46 0 1026 TMI EXIT10 # - IS STAGED.
5202: 4364 20 0 0401 CLA DISC1C # TEST FOR ASCENT ENG ON
5203: 4365 56 0 0006 *ALS 6
5204: 4366 46 0 1026 TMI EXIT10 # - IS OFF.
5205: 4367 30 0 0604 CLZ DEL21 # RESET LUNAR SURFACE FLAG
5206: 4370 20 0 4036 CLA MS
5207: 4371 10 0 0574 STO DEL2 # SET STAGED FLAG
5210: 4372 40 0 1027 TRA EXIT11
5211:
5212: # DIRECTION COSINE LOGIC
5213: 4373 50 1 0006 LRI AXT 6,1
5214: 4374 30 1 0150 CLZ DA11,1 # REMAINDERS
5215: 4375 56 0 0003 ALS 3 # TO -8
5216: 4376 10 1 0150 STO DA11,1
5217: 4377 42 1 4374 TIX *-3,1
5220: 4400 20 0 4260 CLA RND1
5221: 4401 10 0 1003 STO RND+1
5222: 4402 20 0 4261 CLA SHFT1
5223: 4403 10 0 1004 STO RND+2
5224: 4404 40 0 4146 TRA CDCC
5225:
5226:
|
|
Page 69 |
5230: 4405 20 0 0553 HRC CLA HRF
5231: 4406 46 0 4421 TMI HRC1
5232: 4407 20 0 4432 CLA RND2 # SET UP FOR HIGH RATE
5233: 4410 10 0 1003 STO RND+1
5234: 4411 20 0 4433 CLA SHFT2
5235: 4412 10 0 1004 STO RND+2
5236: 4413 10 0 0553 STO HRF
5237: 4414 50 1 0006 AXT 6,1
5240: 4415 30 1 0150 CLZ DA11,1
5241: 4416 54 0 0003 LRS 3 # TO -5
5242: 4417 10 1 0150 STO DA11,1
5243: 4420 42 1 4415 TIX *-3,1
5244: 4421 50 1 0002 HRC1 AXT 2,1
5245: 4422 20 1 0354 CLA DAX,1
5246: 4423 10 1 0010 STO TS10,1 # AT -6
5247: 4424 30 1 0144 CLZ E1,1
5250: 4425 54 0 0003 LRS 3 # TO -6
5251: 4426 10 1 0144 STO E1,1
5252: 4427 42 1 4422 TIX *-5,1
5253: 4430 40 0 4146 TRA CDCC
5254:
5255: 4431 20 1 0150 HRINT CLA DA11,1
5256: 4432 22 0 4015 RND2 ADD 1B12 # ROUND
5257: 4433 54 0 0006 SHFT2 LRS 6 # TO 1
5260: 4434 10 0 0001 STO TS1
5261: 4435 56 0 0006 ALS 6
5262: 4436 40 0 4264 TRA INTAS+7
5263:
5264: # ATTITUDE HOLD.(40 MS)
5265: 4437 20 0 0575 AHE CLA DEL5 # ATTITUDE HOLD ENTRY
5266: 4440 46 0 4450 TMI AHE1 # IF MINUS - DRIVE TO REF COSINES
5267: 4441 20 0 4036 CLA MS # FIRST CYCLE IN
5270: 4442 10 0 0575 STO DEL5 # ATTITUDE HOLD
5271: 4443 50 1 0006 AXT 6,1 # SET DESIRED ATTITUDE
5272: 4444 20 1 0130 CLA A11,1
5273: 4445 10 1 0160 STO A11D,1
5274: 4446 42 1 4444 TIX *-2,1
5275:
|
|
Page 70 |
5277: 4447 72 0 1030 TSQ EXIT12 # TO ACQUISITION RESET.
5300: 4450 14 0 4043 AHE1 LDQ TRNSFR # TRA EROUT INTO Q
5301: 4451 12 0 0023 ATTERR STQ SREX # ENTER HERE FROM CALIBRATE
5302: 4452 50 1 0002 AXT 2,1 # COMPUTE EX
5303: 4453 20 1 0164 CLA A31D,1
5304: 4454 26 1 0140 MPR A21,1 # 1+1=+2
5305: 4455 60 0 0000 COM
5306: 4456 32 0 0070 ADZ EX
5307: 4457 10 0 0070 STO EX # +2
5310: 4460 42 1 4453 TIX *-5,1
5311: 4461 50 1 0002 EYEZ AXT 2,1 # COMPUTE EY AND EZ
5312: 4462 20 1 0160 CLA A11D,1
5313: 4463 26 1 0140 MPR A21,1 # 1+1=+2
5314: 4464 32 0 0072 ADZ EZ
5315: 4465 10 0 0072 STO EZ
5316: 4466 20 1 0160 CLA A11D,1
5317: 4467 26 1 0134 MPR A31,1 # 1+1=+2
5320: 4470 60 0 0000 COM
5321: 4471 32 0 0071 ADZ EY
5322: 4472 10 0 0071 STO EY
5323: 4473 42 1 4462 TIX *-9,1
5324: 4474 40 0 0023 TRA SREX
5325:
5326: # LIMIT AND OUTPUT ATTITUDE ERRORS
5327: 4475 40 0 1031 EROUT TRA EXIT13
5330: 4476 50 1 0002 AXT 2,1
5331: 4477 30 1 0070 CLZ EX,1
5332: 4500 14 0 4036 LDQ MS
5333: 4501 46 0 4503 TMI *+2
5334: 4502 40 0 4504 TRA *+2
5335: 4503 12 1 0070 STQ EX,1
5336: 4504 62 0 0000 ABS
5337: 4505 24 0 0666 SUB 4K21 # +2
5340: 4506 46 0 4511 TMI *+3 # LESS THAN MAX
5341: 4507 20 0 4030 CLA PMAX # SET MAX OUTPUT
5342: 4510 40 0 4513 TRA *+3
5343: 4511 22 0 0666 ADD 4K21
5344:
|
|
Page 71 |
5346: 4512 04 0 0666 DVP 4K21 # SCALE FACTOR
5347: 4513 32 1 0070 ADZ EX,1
5350: 4514 10 1 0070 STO EX,1
5351: 4515 42 1 4477 TIX EROUT+2,1
5352: 4516 66 0 6001 OUT EXO # AT 0
5353: 4517 20 0 0071 CLA EY
5354: 4520 66 0 6002 OUT EYO # AT 0
5355: 4521 20 0 0072 CLA EZ
5356: 4522 66 0 6004 OUT EZO # AT 0
5357: 4523 40 0 1032 TRA EXIT14
5360:
5361: # RENDEZVOUS STEERING
5362: 4524 30 0 0575 RST CLZ DEL5 # CLEAR ATT HLD 1ST CYCLE FLAG
5363: 4525 50 1 0002 AXT 2,1
5364: 4526 20 1 0374 CLA A11BD,1
5365: 4527 10 1 0160 STO A11D,1
5366: 4530 42 1 4526 TIX *-2,1
5367: 4531 20 0 4043 CLA TRNSFR # TRA EROUT INTO SREX
5370: 4532 10 0 0023 STO SREX
5371: 4533 40 0 4461 TRA EYEZ
5372:
5373: # LUNAR ALIGN COMPS
5374: 4534 20 0 0134 LUNAL CLA A31
5375: 4535 26 0 0134 MPR A31
5376: 4536 60 0 0000 COM
5377: 4537 22 0 4065 ADD 1B2
5400: 4540 72 0 7123 TSQ SQRTE
5401: 4541 10 0 0001 STO TS1
5402: 4542 20 0 0047 CLA SIDELL # COMPUTE COS DEL A
5403: 4543 26 0 0547 MPR DDEL
5404: 4544 22 0 0053 ADD CODELL
5405: 4545 06 0 0001 MPY TS1 # A32D AT 2
5406: 4546 52 0 0001 LLS 1
5407: 4547 26 0 0141 MPR A22
5410: 4550 10 0 0002 STO TS2
5411: 4551 20 0 0053 CLA CODELL # COMPUTE SIN DEL A
5412: 4552 26 0 0547 MPR DDEL
5413:
|
|
Page 72 |
5415: 4553 60 0 0000 COM
5416: 4554 22 0 0047 ADD SIDELL
5417: 4555 06 0 0001 MPY TS1 # A33D AT 2
5420: 4556 52 0 0001 LLS 1
5421: 4557 26 0 0142 MPR A23
5422: 4560 32 0 0002 ADZ TS2
5423: 4561 10 0 0002 STO TS2
5424: 4562 20 0 0134 CLA A31
5425: 4563 26 0 0140 MPR A21
5426: 4564 32 0 0002 ADZ TS2
5427: 4565 14 0 4007 LDQ ZERO
5430: 4566 04 0 0626 DVP 1K26
5431: 4567 10 0 0530 STO DAXA # -6
5432: 4570 20 0 0134 CLA A31
5433: 4571 14 0 4007 LDQ ZERO
5434: 4572 04 0 0630 DVP 1K28 # 1-7=-6
5435: 4573 10 0 0001 STO TS1
5436: 4574 20 0 0352 CLA DVZ
5437: 4575 22 0 0076 ADD DVZM1
5440: 4576 06 0 0627 MPY 1K27 # 1-4=-3
5441: 4577 52 0 0003 LLS 3 # TO -6
5442: 4600 34 0 0001 SUZ TS1
5443: 4601 10 0 0531 STO DAYA
5444: 4602 20 0 0351 CLA DVY
5445: 4603 22 0 0075 ADD DVYM1
5446: 4604 06 0 0627 MPY 1K27 # 1-4=-3
5447: 4605 52 0 0003 LLS 3 # TO -6
5450: 4606 10 0 0001 STO TS1
5451: 4607 20 0 0140 CLA A21
5452: 4610 14 0 4007 LDQ ZERO
5453: 4611 04 0 0630 DVP 1K28
5454: 4612 34 0 0001 SUZ TS1
5455: 4613 10 0 0532 STO DAZA
5456: 4614 50 1 0002 AXT 2,1
5457: 4615 20 1 0530 CLA DAXA,1
5460: 4616 62 0 0000 ABS
5461: 4617 54 0 0002 LRS 2 # TO -4
5462:
|
|
Page 73 |
5464: 4620 32 0 0002 ADZ TS2
5465: 4621 10 0 0002 STO TS2
5466: 4622 42 1 4615 TIX *-5,1
5467: 4623 24 0 0631 SUB 1K29 # TEST FOR LUNAR ALIGN COMPLETE
5470: 4624 10 0 0606 STO DEL42 # DEL42 NEG IS LUNAL COMPLETE
5471: 4625 40 0 1033 TRA EXIT15
5472:
5473: # FDAI COMPUTATIONS
5474: 4626 20 0 0135 FDAI CLA A32 # TOTAL ATTITUDE
5475: 4627 60 0 0000 COM # -A32
5476: 4630 72 0 4724 TSQ FDAIL # LIMIT ROUTINE
5477: 4631 66 0 2004 OUT SIBEO # SIN BETA AT 0
5500: 4632 20 0 0136 CLA A33
5501: 4633 26 0 0136 MPR A33
5502: 4634 10 0 0001 STO TS1
5503: 4635 20 0 0134 CLA A31
5504: 4636 26 0 0134 MPR A31
5505: 4637 32 0 0001 ADZ TS1
5506: 4640 72 0 7123 TSQ SQRTE
5507: 4641 10 0 0002 STO TS2 # COS BETA
5510: 4642 72 0 4724 TSQ FDAIL
5511: 4643 66 0 2010 OUT COBEO
5512: 4644 40 0 1034 EX16 TRA EXIT16
5513: 4645 20 0 0002 CLA TS2
5514: 4646 24 0 0625 SUB 1K24
5515: 4647 46 0 1035 TMI EXIT17 # USE OLD VALUE OF SIGA AND COGA
5516: 4650 14 0 4007 LDQ ZERO
5517: 4651 20 0 0134 CLA A31
5520: 4652 54 0 0001 LRS 1
5521: 4653 04 0 0002 DVP TS2
5522: 4654 10 0 0123 STO SIGA
5523: 4655 72 0 4724 TSQ FDAIL
5524: 4656 66 0 2020 OUT SIGAO
5525: 4657 14 0 4007 LDQ ZERO
5526: 4660 20 0 0136 CLA A33
5527: 4661 54 0 0001 LRS 1
5530: 4662 04 0 0002 DVP TS2
5531:
|
|
Page 74 |
5533: 4663 10 0 0127 STO COGA
5534: 4664 72 0 4724 TSQ FDAIL
5535: 4665 66 0 2040 OUT COGAO
5536: 4666 40 0 1035 EX17 TRA EXIT17
5537: # THE NEXT 5 CELLS ARE BYPASSED AND
5540: # RE-WRITTEN IN SOFT MEMORY
5541: 4667 20 0 0142 CLA A23 # GAMMA OUTPUT
5542: 4670 26 0 0123 MPR SIGA
5543: 4671 10 0 0001 STO TS1
5544: 4672 20 0 0140 CLA A21
5545: 4673 26 0 0127 MPR COGA
5546: 4674 34 0 0001 SUZ TS1
5547: 4675 56 0 0001 ALS 1
5550: 4676 72 0 4724 TSQ FDAIL
5551: 4677 66 0 2001 OUT SIALO
5552: 4700 20 0 0132 CLA A13
5553: 4701 26 0 0123 MPR SIGA
5554: 4702 10 0 0001 STO TS1
5555: 4703 20 0 0130 CLA A11
5556: 4704 26 0 0127 MPR COGA
5557: 4705 34 0 0001 SUZ TS1
5560: 4706 56 0 0001 ALS 1
5561: 4707 72 0 4724 TSQ FDAIL
5562: 4710 66 0 2002 OUT COALO
5563:
5564: # DEDA DISCRETE SAMPLING
5565:
5566: 4711 64 0 2040 INP DISC2I
5567: 4712 22 0 4006 ADD 1B17
5570: 4713 60 0 0000 COM
5571: 4714 56 0 0001 *ALS 1 # IS TAPE LOAD REQUESTED
5572: 4715 46 0 6214 TMI GSESR # IF MINUS - TRANSFER TO GSE SERV
5573: 4716 56 0 0003 *ALS 3
5574: 4717 50 1 0003 AXT 3,1
5575: 4720 46 0 4741 TMI SPULSE
5576: 4721 56 0 0001 *ALS 1
5577: 4722 42 1 4720 TIX *-2,1
5600:
|
|
Page 75 |
5602: 4723 40 0 4742 TRA SPULSE+1
5603:
5604: # FDAI LIMITING SUBROUTINE.
5605: 4724 12 0 0023 FDAIL STQ SREX
5606: 4725 14 0 4036 LDQ MS
5607: 4726 46 0 4730 TMI *+2
5610: 4727 14 0 4007 LDQ ZERO
5611: 4730 12 0 0001 STQ TS1 # SET SIGN
5612: 4731 62 0 0000 ABS
5613: 4732 22 0 4014 ADD 1B11 # ROUND
5614: 4733 56 0 0001 *ALS 1
5615: 4734 46 0 4736 TMI *+2 # - SET MAX VALUE
5616: 4735 40 0 4737 TRA *+2
5617: 4736 20 0 4030 CLA PMAX
5620: 4737 32 0 0001 ADZ TS1
5621: 4740 40 0 0023 TRA SREX
5622:
5623: 4741 10 1 0320 SPULSE STO READP,1 # SET DEDA FLAG
5624: 4742 40 0 1036 TRA EXIT18
5625:
5626: # COMPUTE NORMALITY AND ORTHOGONALITY CONSTRAINTS
5627: 4743 50 1 0002 NOC AXT 2,1
5630: 4744 20 1 0130 CLA A11,1
5631: 4745 26 1 0130 MPR A11,1
5632: 4746 32 0 0144 ADZ E1
5633: 4747 10 0 0144 STO E1 # AT 2
5634: 4750 20 1 0134 CLA A31,1
5635: 4751 26 1 0134 MPR A31,1
5636: 4752 32 0 0145 ADZ E3 # AT 2
5637: 4753 10 0 0145 STO E3
5640: 4754 20 1 0130 CLA A11,1
5641: 4755 26 1 0134 MPR A31,1
5642: 4756 32 0 0146 ADZ E13
5643: 4757 10 0 0146 STO E13 # AT 2
5644: 4760 42 1 4744 TIX NOC+1,1
5645: 4761 56 0 0012 ALS 10 # DIV BY 2, SCALE AT -9
5646: 4762 10 0 0146 STO E13
5647:
|
|
Page 76 |
5651: 4763 50 1 0001 AXT 1,1
5652: 4764 20 0 4065 CLA 1B2
5653: 4765 34 1 0144 SUZ E1,1 # 1-E
5654: 4766 56 0 0012 ALS 10 # TO -9
5655: 4767 10 1 0144 STO E1,1
5656: 4770 42 1 4764 TIX *-4,1
5657: 4771 40 0 1037 TRA EXIT19
5660:
5661: # EULER ANGLE DIRECTION COSINES SUBROUTINE
5662: 4772 12 0 0022 EADICS STQ SREX1
5663: 4773 20 0 0107 CLA THEP
5664: 4774 26 0 4021 MPR 2PIB3 # RADIANS AT 3
5665: 4775 72 0 6767 TSQ SICOE
5666: 4776 30 0 0001 CLZ TS1
5667: 4777 10 0 0005 STO TS5
5670: 5000 30 0 0000 12B4 CLZ TS0 # VALUE USED AS CONSTANT
5671: 5001 10 0 0006 STO TS6
5672: 5002 20 0 0113 CLA PSIP
5673: 5003 26 0 4021 MPR 2PIB3
5674: 5004 72 0 6767 TSQ SICOE
5675: 5005 30 0 0001 CLZ TS1
5676: 5006 10 0 0161 STO A12D # 1
5677: 5007 30 0 0000 CLZ TS0
5700: 5010 10 0 0007 STO TS7
5701: 5011 20 0 0117 CLA PHIP
5702: 5012 26 0 4021 MPR 2PIB3
5703: 5013 72 0 6767 TSQ SICOE # INPUTS COMPLETE
5704: 5014 20 0 0007 CLA TS7
5705: 5015 26 0 0006 MPR TS6
5706: 5016 56 0 0001 ALS 1
5707: 5017 10 0 0160 STO A11D # 1
5710: 5020 20 0 0007 CLA TS7
5711: 5021 26 0 0005 MPR TS5
5712: 5022 56 0 0001 ALS 1
5713: 5023 60 0 0000 COM
5714: 5024 10 0 0162 STO A13D # 1
5715: 5025 20 0 0001 CLA TS1
5716:
|
|
Page 77 |
5720: 5026 26 0 0161 MPR A12D
5721: 5027 56 0 0001 ALS 1
5722: 5030 10 0 0003 STO TS3
5723: 5031 26 0 0006 MPR TS6
5724: 5032 10 0 0004 STO TS4
5725: 5033 20 0 0000 1B1 CLA TS0 # COSINE PHI
5726: 5034 26 0 0005 MPR TS5
5727: 5035 32 0 0004 ADZ TS4
5730: 5036 56 0 0001 ALS 1
5731: 5037 10 0 0164 STO A31D # 1
5732: 5040 30 0 0001 CLZ TS1
5733: 5041 36 0 0007 MPZ TS7
5734: 5042 56 0 0001 ALS 1
5735: 5043 60 0 0000 COM
5736: 5044 10 0 0165 STO A32D # 1
5737: 5045 30 0 0003 CLZ TS3
5740: 5046 36 0 0005 MPZ TS5
5741: 5047 10 0 0004 STO TS4
5742: 5050 30 0 0000 CLZ TS0
5743: 5051 36 0 0006 MPZ TS6
5744: 5052 34 0 0004 SUZ TS4
5745: 5053 56 0 0001 ALS 1
5746: 5054 10 0 0166 STO A33D # DI-COS COMPLETE
5747: 5055 40 0 0022 TRA SREX1 # EXIT
5750:
5751: # IMU ALIGN COMPUTATIONS
5752: 5056 30 0 0144 ZNOC CLZ E1
5753: 5057 30 0 0145 CLZ E3
5754: 5060 30 0 0146 CLZ E13
5755: 5061 72 0 4772 IMUDC TSQ EADICS
5756: 5062 50 1 0006 AXT 6,1
5757: 5063 20 1 0160 CLA A11D,1 # REPLACE DIR COSINES
5760: 5064 10 1 0130 STO A11,1 # WITH IMU DIR COSINES.
5761: 5065 30 1 0150 CLZ DA11,1 # ZERO REMAINDERS
5762: 5066 42 1 5063 TIX *-3,1
5763: 5067 40 0 4273 TRA COA21-2
5764:
5765:
|
|
Page 78 |
5767: # INITIALIZE BRANCHES.
5770:
5771: 5070 30 0 0414 IC1 CLZ S14
5772: 5071 24 0 4065 SUB 2B3
5773: 5072 46 0 1040 TMI EXIT20 # TO DL FORMATTING
5774: 5073 50 1 0002 AXT 2,1 # LEM POS AND VEL DATA
5775: 5074 30 1 0240 CLZ 1J1,1 # LEM POS
5776: 5075 10 1 0204 STO R0X,1
5777: 5076 30 1 0260 CLZ 1J4,1 # LEM VEL
6000: 5077 10 1 0424 STO V0X,1
6001: 5100 42 1 5074 TIX *-4,1
6002: 5101 30 0 0254 CLZ 1J7 # EPOCH TIME MS
6003: 5102 10 0 0521 STO TL1
6004: 5103 30 0 0255 CLZ 1J7LS # EPOCH TIME LS
6005: 5104 10 0 0525 STO TL2
6006: 5105 72 0 6444 TSQ ORBPM
6007: 5106 30 0 0543 CLZ DSPSC # CLEAR DISPLAY COUNTER
6010: 5107 72 0 1041 TSQ EXIT21
6011:
6012: 5110 50 1 0001 IC2 AXT 1,1
6013: 5111 72 0 6746 TSQ DPTSB # COMPUTE DBL PREC TA - TL
6014: 5112 20 0 0604 CLA DEL21
6015: 5113 46 0 5124 TMI RVCOMP
6016: 5114 72 0 6535 TSQ ELPRD # TRNSFR TO ELLIPSE PRED
6017: 5115 50 1 0002 AXT 2,1
6020: 5116 30 1 0220 CLZ RIX,1
6021: 5117 10 1 0340 STO RX,1
6022: 5120 30 1 0430 CLZ VIX,1
6023: 5121 10 1 0360 STO VX,1
6024: 5122 42 1 5116 TIX *-4,1
6025: 5123 40 0 5134 TRA *+9
6026: 5124 50 1 0002 RVCOMP AXT 2,1
6027: 5125 30 1 0424 CLZ V0X,1
6030: 5126 10 1 0360 STO VX,1
6031: 5127 06 0 0442 MPY TI # 13+13=26
6032: 5130 52 0 0003 LLS 3
6033: 5131 32 1 0204 ADZ R0X,1
6034:
|
|
Page 79 |
6036: 5132 10 1 0340 STO RX,1 # AT 23
6037: 5133 42 1 5125 TIX *-6,1
6040: 5134 72 0 6261 TSQ EXEC # IC3 NEXT
6041:
6042: 5135 72 0 5400 IC3 TSQ GRAV # TO GRAVITY
6043: 5136 50 1 0002 AXT 2,1
6044: 5137 30 1 0120 CLZ DVSX,1
6045: 5140 30 1 0104 CLZ DRX,1
6046: 5141 20 1 0114 CLA GXDT,1
6047: 5142 10 1 0110 STO DIGX,1
6050: 5143 42 1 5137 TIX *-4,1
6051: 5144 40 0 1042 TRA EXIT22
6052:
6053: # CSM DL OR DEDA INPUTS TO EPOCH CELLS.
6054: 5145 50 1 0002 CSMPV AXT 2,1
6055: 5146 30 1 0244 CLZ 2J1,1 # CSM POS
6056: 5147 10 1 0200 STO REX,1
6057: 5150 30 1 0264 CLZ 2J4,1 # CSM VEL
6060: 5151 10 1 0420 STO VEX,1
6061: 5152 42 1 5146 TIX *-4,1
6062: 5153 30 0 0272 CLZ 2J7 # CSM EPOCH MS
6063: 5154 10 0 0520 STO TE1
6064: 5155 30 0 0273 CLZ 2J7LS # CSM EPOCH LS
6065: 5156 10 0 0524 STO TE2
6066: 5157 30 0 0436 CLZ TB
6067: 5160 40 0 6764 TRA EXIT
6070:
6071: # NEXT 5 INSTRUCTIONS BYPASSED
6072:
6073: 5161 20 0 0604 NAV CLA DEL21
6074: 5162 46 0 5175 TMI NAV1 # -IS ON LUNAR SURFACE.
6075: 5163 20 0 0464 CLA 0464
6076: 5164 24 0 0470 SUB VDX
6077: 5165 56 0 0006 ALS 6
6100:
6101: # HARDWIRED NAVIGATION
6102:
6103:
|
|
Page 80 |
6105: 5166 10 0 0067 STO AT # 1/2(VD1-VD) AT 7
6106: 5167 24 0 0661 SUB 4K35 # ULLAGE THRESHOLD.
6107: 5170 46 0 5203 TMI NAV2-2 # AT-4K35
6110: 5171 30 0 0614 CLZ MU8 # INCR ULLAGE COUNTER.
6111: 5172 22 0 4006 ADD 1B17
6112: 5173 10 0 0614 STO MU8
6113: 5174 40 0 1050 TRA EXIT24
6114: 5175 30 0 0110 NAV1 CLZ DIGX # LUNAR SURFACE NAV.
6115: 5176 30 0 0111 CLZ DIGY
6116: 5177 30 0 0112 CLZ DIGZ
6117: 5200 20 0 0616 CLA 1K9 # ULLAGE COUNT LIMIT
6120: 5201 10 0 0614 STO MU8
6121: 5202 40 0 1044 TRA EXIT23
6122: 5203 30 0 0614 CLZ MU8 # RESET ULLAGE COUNTER.
6123: 5204 40 0 1050 TRA EXIT24
6124: 5205 30 0 0001 NAV2 CLZ TS1 # ACCEL DRIFT TEST.
6125: 5206 50 1 0002 AXT 2,1
6126: 5207 20 1 0120 CLA DVSX,1
6127: 5210 62 0 0000 ABS
6130: 5211 32 0 0001 ADZ TS1
6131: 5212 10 0 0001 STO TS1
6132: 5213 42 1 5207 TIX *-4,1
6133: 5214 24 0 0634 SUB 1K35
6134: 5215 46 0 1051 TMI EXIT25 # COAST PHASE
6135: 5216 40 0 1056 TRA EXIT26
6136: 5217 30 0 0120 NAV3 CLZ DVSX
6137: 5220 30 0 0121 CLZ DVSY
6140: 5221 30 0 0122 CLZ DVSZ
6141: 5222 40 0 1056 TRA EXIT26
6142: 5223 50 1 0002 NAV4 AXT 2,1 # VEL AND POS UPDATE.
6143: 5224 30 1 0120 CLZ DVSX,1 # SENSED VEL AT 7
6144: 5225 32 1 0110 ADZ DIGX,1 # PREDICTED INTG GRAVITY.
6145: 5226 10 1 0110 STO DIGX,1 # 7
6146: 5227 22 0 4015 ADD 1B12 # ROUND
6147: 5230 54 0 0006 LRS 6
6150: 5231 10 0 0002 STO TS2 # DV AT 13
6151: 5232 22 1 0360 ADD VX,1
6152:
|
|
Page 81 |
6154: 5233 10 0 0001 STO TS1 # NEW V AT 13
6155: 5234 26 0 0675 MPR KDT # DT/2 AT 1.
6156: 5235 10 0 0004 STO TS4
6157: 5236 30 1 0360 CLZ VX,1 # V(N-1)
6160: 5237 26 0 0675 MPR KDT
6161: 5240 32 0 0004 ADZ TS4
6162: 5241 32 1 0104 ADZ DRX,1
6163: 5242 10 1 0104 STO DRX,1 # 14
6164: 5243 22 0 4013 ADD 1B9 # ROUND
6165: 5244 54 0 0011 LRS 9
6166: 5245 10 0 0003 STO TS3 # DR AT 23
6167: 5246 32 1 0340 ADZ RX,1
6170: 5247 10 1 0340 STO RX,1 # NEW R AT 23
6171: 5250 30 0 0002 CLZ TS2 # DV AT 13
6172: 5251 56 0 0006 ALS 6
6173: 5252 60 0 0000 COM
6174: 5253 32 1 0110 ADZ DIGX,1
6175: 5254 10 1 0110 STO DIGX,1 # VEL REMAINDER AT 7
6176: 5255 30 0 0003 CLZ TS3 # DR AT 23
6177: 5256 56 0 0011 ALS 9
6200: 5257 60 0 0000 COM
6201: 5260 32 1 0104 ADZ DRX,1
6202: 5261 10 1 0104 STO DRX,1 # POS REMAINDER AT 14
6203: 5262 30 0 0001 CLZ TS1
6204: 5263 10 1 0360 STO VX,1 # NEW V AT 13
6205: 5264 42 1 5224 TIX NAV4+1,1
6206: 5265 72 0 5400 TSQ GRAV # TO GRAVITY COMP.
6207: 5266 40 0 1060 EX28 TRA EXIT28
6210: 5267 20 0 0660 CLA 4K34 # LIMIT AT.
6211: 5270 24 0 0067 SUB AT
6212: 5271 46 0 5274 TMI *+3
6213: 5272 20 0 0660 CLA 4K34
6214: 5273 10 0 0067 STO AT
6215: 5274 20 0 4036 CLA MS # SET IC DISPLAY.
6216: 5275 10 0 0567 STO DSPF1
6217: 5276 72 0 6254 TSQ TIMEA # TO TA UPDATE
6220:
6221:
|
|
Page 82 |
6223: # CSM ORBIT PARAMETERS
6224:
6225: 5277 20 0 0414 ORBPAR CLA S14
6226: 5300 24 0 7520 SUB 3B3
6227: 5301 46 0 5305 TMI *+4
6230: 5302 30 0 0414 CLZ S14
6231: 5303 72 0 5145 TSQ CSMPV
6232: 5304 40 0 1065 EX29 TRA EXIT29
6233: 5305 50 1 0002 AXT 2,1
6234: 5306 20 1 0200 CLA REX,1
6235: 5307 10 1 0004 STO TS4,1
6236: 5310 10 1 0204 STO R0X,1
6237: 5311 20 1 0420 CLA VEX,1
6240: 5312 10 1 0010 STO TS10,1
6241: 5313 10 1 0424 STO V0X,1
6242: 5314 42 1 5306 TIX *-6,1
6243: 5315 72 0 6373 TSQ CRSPRD
6244: 5316 72 0 6422 TSQ NORMV
6245: 5317 50 1 0002 AXT 2,1
6246: 5320 30 1 0010 CLZ TS10,1
6247: 5321 10 1 0054 STO WCX,1
6250: 5322 42 1 5320 TIX *-2,1
6251: 5323 72 0 6444 TSQ ORBPM # COMPUTE CSM ORB PARAMS FROM EPD
6252: 5324 20 0 4021 CLA 2PIB3
6253: 5325 14 0 4007 LDQ ZERO
6254: 5326 54 0 0001 LRS 1
6255: 5327 04 0 0077 DVP NI # 4-(-9)=13
6256: 5330 10 0 0445 STO TCSM
6257: 5331 40 0 1067 EX30 TRA EXIT30
6260: 5332 20 0 0436 CLA TB
6261: 5333 24 0 0445 SUB TCSM
6262: 5334 46 0 5355 TMI BR2EX
6263: 5335 20 0 0445 CLA TCSM
6264: 5336 14 0 4007 LDQ ZERO
6265: 5337 54 0 0005 LRS 5 # TO +18
6266: 5340 12 0 0001 STQ TS1
6267: 5341 32 0 0520 ADZ TE1
6270:
|
|
Page 83 |
6272: 5342 10 0 0520 STO TE1
6273: 5343 30 0 0001 CLZ TS1
6274: 5344 32 0 0524 ADZ TE2
6275: 5345 10 0 0524 STO TE2
6276: 5346 46 0 5350 TMI *+2 # OVERFLOW
6277: 5347 40 0 5355 TRA BR2EX
6300: 5350 24 0 4036 SUB MS
6301: 5351 10 0 0524 STO TE2
6302: 5352 30 0 0520 CLZ TE1
6303: 5353 22 0 4006 ADD 1B17
6304: 5354 10 0 0520 STO TE1
6305: 5355 72 0 6261 BR2EX TSQ EXEC
6306:
6307: # CSM PRESENT POS AND VEL.
6310:
6311: 5356 50 1 0000 AXT 0,1
6312: 5357 72 0 6746 TSQ DPTSB # COMPUTE DBL PREC TA-TE
6313: 5360 10 0 0436 STO TB # +13
6314: 5361 72 0 6535 TSQ ELPRD # TRANSFER TO ELLIPSE PRED
6315: 5362 50 1 0002 AXT 2,1
6316: 5363 30 1 0220 CLZ RIX,1
6317: 5364 10 1 0344 STO RCX,1 # 23
6320: 5365 30 1 0430 CLZ VIX,1
6321: 5366 10 1 0364 STO VCX,1 # 13
6322: 5367 42 1 5363 TIX *-4,1
6323: 5370 72 0 6261 TSQ EXEC
6324:
6325: 5371 50 1 0002 AXT 2,1
6326: 5372 20 1 0360 CLA VX,1 # COMPUTE MAGNITUDE OF VEL VECTOR
6327: 5373 10 1 0004 STO TS4,1
6330: 5374 42 1 5372 TIX *-2,1
6331: 5375 72 0 6737 TSQ DPVMAG
6332: 5376 10 0 0433 STO V # 13
6333: 5377 40 0 1070 TRA EXIT31
6334:
6335: # GRAVITY AND H, HDOT COMPUTATIONS.
6336:
6337:
|
|
Page 84 |
6341: 5400 12 0 0020 GRAV STQ SREX3
6342: 5401 50 1 0002 AXT 2,1
6343: 5402 20 1 0340 CLA RX,1
6344: 5403 10 1 0014 STO TS14,1
6345: 5404 42 1 5402 TIX *-2,1
6346: 5405 72 0 6422 TSQ NORMV # COMPUTE U1 AND R.
6347: 5406 30 0 0013 CLZ TS13
6350: 5407 10 0 0210 STO R # 23
6351: 5410 24 0 0231 SUB 5J # MEAN LUNAR RADIUS
6352: 5411 10 0 0337 STO H # ALTITUDE AT 23
6353: 5412 40 0 1057 EX27 TRA EXIT27
6354: 5413 20 0 0674 CLA 2K4
6355: 5414 14 0 4007 LDQ ZERO
6356: 5415 54 0 0003 LRS 3 # 52
6357: 5416 04 0 0017 DVP TS17 # R SQ AT 46
6360: 5417 10 0 0007 STO TS7 # -GRAV VECT MAG AT 6
6361: 5420 50 1 0002 AXT 2,1
6362: 5421 30 1 0114 GRAV1 CLZ GXDT,1
6363: 5422 10 0 0000 STO TS0 # G(N-1)DT
6364: 5423 30 1 0010 CLZ TS10,1 # UNIT VECTOR FR NORMV
6365: 5424 10 1 0060 STO U1X,1 # 1
6366: 5425 26 0 0007 MPR TS7 # -MUDT/(R SQ) AT 6
6367: 5426 10 1 0114 STO GXDT,1 # 7
6370: 5427 34 0 0000 7B3 SUZ TS0 # G(N-1)DT
6371: 5430 54 0 0001 LRS 1
6372: 5431 22 1 0114 ADD GXDT,1 # PREDICTED INTG GRAV IN A
6373: 5432 32 1 0110 ADZ DIGX,1 # VEL REMAINDER
6374: 5433 10 1 0110 STO DIGX,1 # INTG GRAV+VEL REM AT
6375: 5434 20 1 0360 CLA VX,1 # 13
6376: 5435 26 1 0060 MPR U1X,1 # FORM V DOT U1.
6377: 5436 32 0 0013 ADZ TS13
6400: 5437 10 0 0013 STO TS13
6401: 5440 42 1 5421 TIX GRAV1,1
6402: 5441 56 0 0001 ALS 1
6403: 5442 10 0 0367 STO HDOT # ALT RATE AT 13.
6404: 5443 40 0 0020 TRA SREX3
6405:
6406:
|
|
Page 85 |
6410: # LEM ORBIT PARAMETERS.
6411:
6412: 5444 20 0 0367 LMORB CLA HDOT # B13
6413: 5445 06 0 0367 MPY HDOT
6414: 5446 10 0 0014 STO TS14
6415: 5447 12 0 0015 STQ TS15
6416: 5450 20 0 0433 CLA V # 13
6417: 5451 26 0 0433 MPR V
6420: 5452 24 0 0014 SUB TS14
6421: 5453 10 0 0007 STO TS7 # VH SQ AT 26
6422: 5454 72 0 7123 TSQ SQRTE
6423: 5455 10 0 0427 STO VH # 13
6424: 5456 44 0 5457 TOV *+1 # CL. O.F.
6425: 5457 20 0 0210 CLA R # 23
6426: 5460 26 0 0210 MPR R
6427: 5461 26 0 0637 MPR 2K2
6430: 5462 06 0 0007 MPY TS7 # 46-47+26=25
6431: 5463 52 0 0002 LLS 2
6432: 5464 10 0 0010 STO TS10 # PL AT 23
6433: 5465 54 0 0001 LRS 1
6434: 5466 10 0 0011 STO TS11 # SAVE PL AT 24
6435: 5467 12 0 0012 STQ TS12
6436: 5470 04 0 0210 DVP R
6437: 5471 24 0 5033 SUB 1B1
6440: 5472 56 0 0004 ALS 4 # -3
6441: 5473 10 0 0000 STO TS0
6442: 5474 36 0 0000 MPZ TS0
6443: 5475 10 0 0013 STO TS13 # (PL/R-1) SQ AT -6.
6444: 5476 30 0 0014 CLZ TS14 # HDOT SQ AT 26
6445: 5477 14 0 0015 LDQ TS15
6446: 5500 52 0 0010 LLS 8 # 18
6447: 5501 26 0 0637 MPR 2K2
6450: 5502 26 0 0010 MPR TS10 # PL
6451: 5503 32 0 0013 ADZ TS13 # EL SQ IN A AT -6.
6452: 5504 44 0 5516 TOV LMORB1+2
6453: 5505 72 0 7123 TSQ SQRTE
6454: 5506 54 0 0004 LRS 4 # EL AT 1
6455:
|
|
Page 86 |
6457: 5507 22 0 5033 ADD 1B1
6460: 5510 10 0 0001 STO TS1 # 1+EL AT 1.
6461: 5511 30 0 0011 CLZ TS11 # OL AT 24
6462: 5512 14 0 0012 LDQ TS12
6463: 5513 04 0 0001 DVP TS1
6464: 5514 10 0 0343 LMORB1 STO QL # LM PERICYNTHION AT 23
6465: 5515 40 0 1071 TRA EXIT32
6466: 5516 20 0 0216 CLA 2K3 # SET QL=CONST
6467: 5517 40 0 5514 TRA LMORB1
6470:
6471: # CSM PREDICTION.
6472:
6473: 5520 72 0 6535 CSMT1 TSQ ELPRD # TO ELLIPSE PREDICTOR.
6474: 5521 72 0 6261 TSQ EXEC
6475:
6476: # TRANSFER ORBIT VECTORS.
6477:
6500: 5522 50 1 0002 AXT 2,1
6501: 5523 20 1 0220 CLA RIX,1 # CSM PRED POS
6502: 5524 10 1 0014 STO TS14,1
6503: 5525 42 1 5523 TIX *-2,1
6504: 5526 72 0 6422 TSQ NORMV # NORMALIZE RT
6505: 5527 30 0 0013 CLZ TS13
6506: 5530 10 0 0203 STO RT # 23
6507: 5531 50 1 0002 AXT 2,1
6510: 5532 20 1 0010 XORBV1 CLA TS10,1 # C1X=BX
6511: 5533 10 1 0030 STO U2X,1
6512: 5534 20 1 0060 CLA U1X,1
6513: 5535 10 1 0004 STO TS4,1
6514: 5536 26 1 0030 MPR U2X,1
6515: 5537 32 0 0013 ADZ TS13
6516: 5540 10 0 0013 STO TS13
6517: 5541 42 1 5532 TIX XORBV1,1
6520: 5542 56 0 0001 ALS 1
6521: 5543 10 0 0513 STO C1 # U1 DOT U2 AT 1,
6522: 5544 26 0 0513 MPR C1
6523: 5545 60 0 0000 COM
6524:
|
|
Page 87 |
6526: 5546 22 0 4065 ADD 1B2
6527: 5547 72 0 7123 TSQ SQRTE
6530: 5550 10 0 0033 STO C2 # 1
6531: 5551 40 0 1072 EX33 TRA EXIT33
6532: 5552 72 0 6373 TSQ CRSPRD # U1XU2 AT 2.
6533: 5553 20 0 0015 CLA TS14+1
6534: 5554 06 0 0055 MPY WCY
6535: 5555 46 0 5557 TMI *+2 # -IS REND ANG GREAT 180.
6536: 5556 40 0 5562 TRA *+4
6537: 5557 30 0 0033 CLZ C2
6540: 5560 60 0 0000 COM
6541: 5561 10 0 0033 STO C2
6542: 5562 50 1 0002 AXT 2,1 # NORMALIZE W1 AND
6543: 5563 30 1 0014 XORBV2 CLZ TS14,1
6544: 5564 14 0 4007 LDQ ZERO
6545: 5565 04 0 0033 DVP C2
6546: 5566 10 1 0040 STO W1X,1 # 1
6547: 5567 20 1 0060 CLA U1X,1
6550: 5570 26 0 0513 MPR C1
6551: 5571 10 0 0001 STO TS1
6552: 5572 20 1 0030 CLA U2X,1 # 1
6553: 5573 54 0 0001 LRS 1
6554: 5574 34 0 0001 SUZ TS1
6555: 5575 14 0 4007 LDQ ZERO
6556: 5576 04 0 0033 DVP C2
6557: 5577 10 1 0034 STO V1X,1 # 1
6560: 5600 20 1 0060 CLA U1X,1 # 1
6561: 5601 54 0 0001 LRS 1
6562: 5602 10 0 0001 STO TS1 # 2
6563: 5603 20 1 0030 CLA U2X,1
6564: 5604 26 0 0513 MPR C1
6565: 5605 34 0 0001 SUZ TS1
6566: 5606 14 0 4007 LDQ ZERO
6567: 5607 04 0 0033 DVP C2
6570: 5610 10 1 0064 STO V2X,1 # 1
6571: 5611 42 1 5563 TIX XORBV2,1
6572: 5612 30 0 0610 CLZ MU3 # P-ITERATION INDEX.
6573:
|
|
Page 88 |
6575: 5613 72 0 6261 TSQ EXEC
6576:
6577: # P-ITERATOR
6600:
6601: 5614 40 0 1073 EX34 TRA EXIT34
6602: 5615 44 0 5616 TOV *+1 # CL. O.F.
6603: 5616 20 0 0170 CLA P # ITERATION P AT 23
6604: 5617 24 0 0347 SUB RF
6605: 5620 14 0 4007 LDQ ZERO
6606: 5621 04 0 0347 DVP RF
6607: 5622 10 0 0011 STO TS11 # X1 AT 0.
6610: 5623 06 0 0011 MPY TS11
6611: 5624 52 0 0002 LLS 2
6612: 5625 10 0 0001 STO TS1 # X1 SQ. AT -2
6613: 5626 20 0 0170 CLA P
6614: 5627 24 0 0203 SUB RT
6615: 5630 14 0 4007 LDQ ZERO
6616: 5631 04 0 0203 DVP RT
6617: 5632 10 0 0012 STO TS12 # X2 AT .0
6620: 5633 26 0 0513 MPR C1
6621: 5634 10 0 0002 STO TS2 # 1
6622: 5635 20 0 0011 CLA TS11 # X1
6623: 5636 54 0 0001 LRS 1
6624: 5637 34 0 0002 SUZ TS2
6625: 5640 14 0 4007 LDQ ZERO
6626: 5641 04 0 0033 DVP C2
6627: 5642 10 0 0143 STO X4 # AT 0.
6630: 5643 20 0 0012 CLA TS12 # X2
6631: 5644 54 0 0001 LRS 1
6632: 5645 10 0 0002 STO TS2 # 1
6633: 5646 20 0 0011 CLA TS11 # X1
6634: 5647 26 0 0513 MPR C1
6635: 5650 34 0 0002 SUZ TS2
6636: 5651 14 0 4007 LDQ ZERO
6637: 5652 04 0 0033 DVP C2 # 1
6640: 5653 10 0 0073 STO X3 # AT 0.
6641: 5654 06 0 0073 MPY X3
6642:
|
|
Page 89 |
6644: 5655 52 0 0002 LLS 2
6645: 5656 32 0 0001 ADZ TS1 # -2
6646: 5657 44 0 1074 TOV EXIT35 # O.F. IF E TOO LARGE.
6647: 5660 10 0 0172 STO ESQ # E SQ AT -2.
6650: 5661 54 0 0002 LRS 2
6651: 5662 10 0 0013 STO TS13 # E SQ AT 0.
6652: 5663 60 0 0000 COM
6653: 5664 22 0 4030 ADD PMAX
6654: 5665 10 0 0014 STO TS14 # (1-E SQ) AT 0.
6655: 5666 72 0 7123 TSQ SQRTE
6656: 5667 10 0 0015 STO TS15 # ROOT(1-E SQ) AT 0.
6657: 5670 20 0 0143 CLA X4
6660: 5671 24 0 0073 SUB X3
6661: 5672 54 0 0001 LRS 1 # 1
6662: 5673 22 0 0033 ADD C2
6663: 5674 26 0 0015 MPR TS15
6664: 5675 10 0 0003 STO TS3 # SIN(DELTA E) AT 1.
6665: 5676 20 0 0073 CLA X3
6666: 5677 26 0 0143 MPR X4
6667: 5700 60 0 0000 COM
6670: 5701 32 0 0013 ADZ TS13
6671: 5702 54 0 0001 LRS 1 # 1
6672: 5703 10 0 0013 STO TS13 # E SQ-X3(X4)AT 1.
6673: 5704 30 0 0011 CLZ TS11
6674: 5705 32 0 0012 ADZ TS12 # X1+X2
6675: 5706 54 0 0001 LRS 1 # 1
6676: 5707 32 0 0013 ADZ TS13
6677: 5710 22 0 0513 ADD C1
6700: 5711 10 0 0004 STO TS4 # COS(DELTA E) AT 1.
6701: 5712 72 0 7034 TSQ ARCTAE
6702: 5713 10 0 0016 STO TS16 # DELTA E AT 3.
6703: 5714 20 0 0203 CLA RT
6704: 5715 26 0 0143 MPR X4
6705: 5716 10 0 0001 STO TS1 # 23
6706: 5717 20 0 0347 CLA RF
6707: 5720 26 0 0073 MPR X3
6710: 5721 34 0 0001 SUZ TS1
6711:
|
|
Page 90 |
6713: 5722 06 0 0015 MPY TS15
6714: 5723 54 0 0003 LRS 3 # 26
6715: 5724 04 0 0170 DVP P
6716: 5725 32 0 0016 ADZ TS16
6717: 5726 10 0 0016 STO TS16 # DELTAE + X7-X8 AT 3.
6720: 5727 20 0 0170 CLA P
6721: 5730 14 0 4007 LDQ ZERO
6722: 5731 04 0 0014 DVP TS14 # 1-E SQ
6723: 5732 10 0 0171 STO ALPHA # 23
6724: 5733 26 0 0637 MPR 2K2 # 1/2K1 AT -47
6725: 5734 72 0 7123 TSQ SQRTE # (-47+23)/2=-12
6726: 5735 26 0 0171 MPR ALPHA # 1/N AT 11 IN A.
6727: 5736 36 0 0016 MPZ TS16 # 11+3=14
6730: 5737 56 0 0001 ALS 1 # NEW TP AT 13.
6731: 5740 24 0 0434 SUB TP
6732: 5741 10 0 0002 STO TS2 # DELTA TP
6733: 5742 32 0 0434 ADZ TP
6734: 5743 10 0 0434 STO TP # 13
6735: 5744 20 0 0435 CLA T
6736: 5745 24 0 0434 SUB TP
6737: 5746 10 0 0000 STO TS0 # T-TP
6740: 5747 30 0 0610 CLZ MU3 # INCREMENT ITER COUNTER.
6741: 5750 22 0 4006 ADD 1B17
6742: 5751 10 0 0610 STO MU3
6743: 5752 24 0 4005 SUB 2B17 # ITERATION SCHEME.
6744: 5753 46 0 6026 TMI PITER2 # -IS MU3=1.
6745: 5754 24 0 4006 SUB 1B17
6746: 5755 46 0 5771 TMI PITER1 # -IS MU3=2.
6747: 5756 24 0 0620 SUB 2K17 # MU3-NO. ITERATIONS IN A.
6750: 5757 46 0 5765 TMI *+6 # -IS NOT DONE.
6751: 5760 30 0 0000 CLZ TS0 # DONE. T-TP
6752: 5761 62 0 0000 ABS
6753: 5762 24 0 0453 SUB 2K20
6754: 5763 46 0 6040 TMI PITER3+5 # -IS CONVERGED.
6755: 5764 40 0 1074 TRA EXIT35
6756: 5765 20 0 0002 CLA TS2 # DELTA TP.
6757: 5766 62 0 0000 ABS
6760:
|
|
Page 91 |
6762: 5767 24 0 0447 SUB 2K18
6763: 5770 46 0 6013 TMI DELP # -IS SKIP PARTIAL
6764: 5771 20 0 0170 PITER1 CLA P # COMPUTE PARITAL T.
6765: 5772 34 0 0212 SUZ PP
6766: 5773 10 0 0001 STO TS1 # 23
6767: 5774 14 0 4007 LDQ ZERO
6770: 5775 54 0 0004 LRS 4 # 27
6771: 5776 44 0 5777 TOV *+1 # CL. O.F.
6772: 5777 40 0 6001 TRA *+2
6773: 6000 70 0 6177 DLY INIT # TO TURN ON SEQUENCE
6774: 6001 04 0 0002 DVP TS2 # 27-13=14
6775: 6002 44 0 6004 TOV *+2
6776: 6003 40 0 6012 TRA *+7
6777: 6004 30 0 0001 CLZ TS1 # DET SIGN OF PART
7000: 6005 06 0 0002 MPY TS2 # NUM X DENOM
7001: 6006 46 0 6011 TMI *+3
7002: 6007 20 0 4030 CLA PMAX
7003: 6010 40 0 6012 TRA *+2
7004: 6011 20 0 4037 CLA NMAX
7005: 6012 10 0 0467 STO PART # PARTIAL T AT 14
7006: 6013 30 0 0000 DELP CLZ TS0 # T-TP
7007: 6014 06 0 0467 MPY PART
7010: 6015 52 0 0004 LLS 4 # 13+14-4=23
7011: 6016 10 0 0003 STO TS3 # DELTA P
7012: 6017 62 0 0000 ABS
7013: 6020 24 0 0230 SUB 2K19
7014: 6021 46 0 6033 TMI PITER3
7015: 6022 30 0 0003 CLZ TS3
7016: 6023 46 0 6030 TMI *+5
7017: 6024 20 0 0230 CLA 2K19
7020: 6025 40 0 6032 TRA *+5
7021: 6026 20 0 0217 PITER2 CLA 2K14
7022: 6027 40 0 6031 TRA *+2
7023: 6030 20 0 0230 CLA 2K19
7024: 6031 60 0 0000 COM
7025: 6032 10 0 0003 STO TS3 # DELTA P
7026: 6033 30 0 0170 PITER3 CLZ P
7027:
|
|
Page 92 |
7031: 6034 10 0 0212 STO PP
7032: 6035 32 0 0003 ADZ TS3
7033: 6036 10 0 0170 STO P # NEW P
7034: 6037 40 0 6262 TRA EXEC+1
7035: 6040 72 0 6261 TSQ EXEC
7036:
7037: # IMPULSE AND BRAKING VELOCITIES.
7040:
7041: 6041 20 0 0636 TBRAKE CLA 2K1 # 48
7042: 6042 14 0 4007 LDQ ZERO
7043: 6043 54 0 0001 LRS 1
7044: 6044 04 0 0170 DVP P # 49-23=26
7045: 6045 72 0 7123 TSQ SQRTE
7046: 6046 10 0 0001 STO TS1 # ROOT(MU/P) AT 13
7047: 6047 36 0 0073 MPZ X3
7050: 6050 10 0 0423 STO RFDOT # 13
7051: 6051 20 0 0001 CLA TS1
7052: 6052 36 0 0143 MPZ X4
7053: 6053 10 0 0013 STO TS13 # 13
7054: 6054 30 0 0001 CLZ TS1
7055: 6055 06 0 0170 MPY P
7056: 6056 10 0 0001 STO TS1 # ROOT(PXMU) AT 36
7057: 6057 12 0 0002 STQ TS2
7060: 6060 04 0 0347 DVP RF
7061: 6061 10 0 0012 STO TS12 # 13
7062: 6062 30 0 0001 CLZ TS1
7063: 6063 14 0 0002 LDQ TS2
7064: 6064 04 0 0203 DVP RT
7065: 6065 10 0 0014 STO TS14 # 13
7066: 6066 40 0 1075 EX36 TRA EXIT36
7067: 6067 44 0 6070 TOV *+1 # CL. O.F.
7070: 6070 50 1 0002 AXT 2,1
7071: 6071 20 0 0013 IMPBK1 CLA TS13 # ROOT(MU/P)X(X4) AT 13
7072: 6072 36 1 0030 MPZ U2X,1 # 1
7073: 6073 10 0 0007 STO TS7
7074: 6074 20 0 0014 CLA TS14 # ROOT(PXMU)/RT AT 13
7075: 6075 36 1 0064 MPZ V2X,1 # 1
7076:
|
|
Page 93 |
7100: 6076 32 0 0007 ADZ TS7
7101: 6077 56 0 0001 ALS 1 # 13
7102: 6100 24 1 0430 SUB VIX,1
7103: 6101 10 1 0030 STO VFX,1 # -BRAKING VEL AT 13
7104: 6102 20 0 0423 CLA RFDOT # 13
7105: 6103 26 1 0060 MPR U1X,1 # 1
7106: 6104 10 0 0007 STO TS7
7107: 6105 20 0 0012 CLA TS12 # ROOT(PXMU)/RF AT 13
7110: 6106 26 1 0034 MPR V1X,1 # 1
7111: 6107 32 0 0007 ADZ TS7
7112: 6110 56 0 0001 ALS 1 # 13
7113: 6111 24 1 0460 SUB V5X,1
7114: 6112 10 1 0064 STO VGX,1 # VEL TO GAIN AT 13
7115: 6113 10 1 0004 STO TS4,1
7116: 6114 42 1 6071 TIX IMPBK1,1
7117: 6115 44 0 1074 TOV EXIT35 # CHECK VG OR VF O.F.
7120: 6116 72 0 6737 TSQ DPVMAG
7121: 6117 10 0 0370 STO VG # 13
7122: 6120 30 0 0172 CLZ ESQ # E SQ FR P ITER AT-2.
7123: 6121 72 0 7123 TSQ SQRTE
7124: 6122 54 0 0001 LRS 1 # E AT 0.
7125: 6123 60 0 0000 COM
7126: 6124 22 0 4030 ADD PMAX # 1-E AT 0.
7127: 6125 26 0 0171 MPR ALPHA
7130: 6126 10 0 0172 STO Q1 # Q OF TRANS ORB AT 23
7131: 6127 72 0 6261 TSQ EXEC
7132: # COMPLETE VF ON FOLLOWING CYCLE.
7133: 6130 50 1 0002 AXT 2,1
7134: 6131 20 1 0030 CLA VFX,1 # 13
7135: 6132 10 1 0004 STO TS4,1
7136: 6133 42 1 6131 TIX *-2,1
7137: 6134 72 0 6737 TSQ DPVMAG
7140: 6135 40 0 1076 TRA EXIT37 # VF IN A AT 8.
7141:
7142: # GUIDANCE LAW COMPUTATIONS.
7143:
7144: 6136 44 0 6137 GDLAW TOV *+1 # TIME TO BURN COMP.
7145:
|
|
Page 94 |
7147: 6137 20 0 0370 CLA VG # 13
7150: 6140 26 0 0655 MPR 4K3 # AT -25
7151: 6141 22 0 0654 ADD 4K2 # AT -12
7152: 6142 26 0 0370 MPR VG
7153: 6143 22 0 5033 ADD 1B1
7154: 6144 06 0 0370 MPY VG
7155: 6145 54 0 0002 LRS 2 # 16
|
|
An asterisk is drawn in front of DVP below. |
7157: 6146 04 0 0067 DVP AT # 16-7=9
7160: 6147 44 0 6151 TOV *+2
7161: 6150 40 0 6152 TRA *+2
7162: 6151 20 0 4030 CLA PMAX
7163: 6152 10 0 0357 STO TBO # TIME TO BURN AT 9.
7164: 6153 40 0 1077 TRA EXIT38
7165:
7166: # COMPUTE LUNAR AZIMUTH
7167:
7170: 6154 20 0 0134 LUNAZ CLA A31
7171: 6155 26 0 0134 MPR A31 # +2
7172: 6156 60 0 0000 COM
7173: 6157 22 0 4065 ADD 1B2
7174: 6160 72 0 7123 TSQ SQRTE
7175: 6161 10 0 0001 STO TS1 # +1
7176: 6162 14 0 4007 LDQ ZERO
7177: 6163 20 0 0135 CLA A32
7200: 6164 54 0 0001 LRS 1 # TO 2
7201: 6165 04 0 0001 DVP TS1
7202: 6166 10 0 0053 STO CODELL
7203: 6167 14 0 4007 LDQ ZERO
7204: 6170 20 0 0136 CLA A33
7205: 6171 54 0 0001 LRS 1 # TO 2
7206: 6172 04 0 0001 DVP TS1
7207: 6173 10 0 0047 STO SIDELL # AT 1
7210: 6174 20 0 4036 CLA MS
7211: 6175 10 0 0604 STO DEL21
7212: 6176 40 0 1100 TRA EXIT39
7213:
7214: # POWER ON INITIALIZATION
7215:
|
|
Page 95 |
7217:
7220: 6177 66 0 3050 INIT OUT 3050 # RESET CARRY INHIBIT
7221: 6200 64 0 6200 INP 6200
7222: 6201 64 0 2200 INP DEDA
7223: 6202 66 0 7057 OUT 7057 # RESET DISCRETES
7224: 6203 20 0 4044 CLA BACK
7225: 6204 10 0 0025 STO TVARBR+1
7226: 6205 20 0 4046 CLA CLAFR # PRIME HARDWIRED CORES
7227: 6206 10 0 0024 STO TVARBR
7230: 6207 72 0 0024 TSQ TVARBR
7231: 6210 20 0 0024 CLA TVARBR
7232: 6211 24 0 7002 SUB CLATEN
7233: 6212 46 0 6207 TMI *-3
7234: 6213 66 0 7010 OUT 7010 # RESET FAILURE INDICATOR
7235: # GSE SERVICE ROUTINE
7236: 6214 64 0 2040 GSESR INP 2040
7237: 6215 56 0 0001 ALS 1
7240: 6216 46 0 1101 TMI EXIT40 # INITIALIZE
7241: 6217 64 0 6200 INP 6200
7242: 6220 22 0 4011 ADD 1B5
7243: 6221 10 0 0007 STO TS7
7244: 6222 22 0 4065 ADD STOCOM # SET UP VARIABLE STORE
7245: 6223 10 0 0024 STO TVARBR
7246: 6224 66 0 6402 WRDLP OUT 6402 # SET GSE 5
7247: 6225 64 0 2040 INP 2040
7250: 6226 56 0 0001 ALS 1
7251: 6227 46 0 6231 TMI *+2
7252: 6230 40 0 6225 TRA *-3
7253: 6231 66 0 7012 OUT 7012 # RESET GSE 5 AND FAIL INDIC.
7254: 6232 64 0 2040 INP 2040
7255: 6233 56 0 0001 ALS 1
7256: 6234 46 0 6231 TMI *-3 # WAIT FOR NEXT WORD
7257: 6235 56 0 0001 ALS 1
7260: 6236 46 0 6243 TMI *+5
7261: 6237 30 0 0007 CLZ TS7 # END OF BLOCK
7262: 6240 22 0 4036 ADD TRACOM
7263: 6241 10 0 0024 STO TVARBR
7264:
|
|
Page 96 |
7266: 6242 40 0 0024 TRA TVARBR
7267: 6243 64 0 6200 INP 6200 # INPUT WORD AND STORE
7270: 6244 72 0 0024 TSQ TVARBR
7271: 6245 40 0 6224 TRA WRDLP
7272: 6246 10 0 0000 RETURN STO TS0 # INCREMENT OF VARIABLE
7273: 6247 30 0 0024 CLZ TVARBR # STORE OR BRING
7274: 6250 22 0 4006 ADD 1B17
7275: 6251 10 0 0024 STO TVARBR
7276: 6252 30 0 0000 CLZ TS0
7277: 6253 40 0 6764 TRA EXIT
7300:
7301: # TIME UPDATE AND EXECUTIVE PART 1.
7302:
7303: 6254 30 0 0377 TIMEA CLZ TA1 # UPDATE ABS TIME.
7304: 6255 22 0 4006 ADD 1B17 # EQU TO 2SECS.
7305: 6256 10 0 0377 STO TA1
7306: 6257 20 0 4014 CLA 1B11 # I.C. DEDA COUNTER
7307: 6260 10 0 0727 STO DEDASC
7310: 6261 12 0 0063 EXEC STQ BRANCH # SET NEXT BRANCH.
7311: 6262 30 0 0727 CLZ DEDASC
7312: 6263 56 0 0001 *ALS 1
7313: 6264 46 0 6267 TMI *+3 # - IS TIME TO DEDA.
7314: 6265 10 0 0727 STO DEDASC
7315: 6266 40 0 1110 TRA EXIT41
7316: 6267 30 0 0063 CLZ BRANCH # SAVE BRANCH IN
7317: 6270 10 0 0057 STO TMPBR # TEMPORARY BRANCH
7320: 6271 20 0 1013 CLA DEDABR # DEDA START
7321: 6272 10 0 0063 STO BRANCH
7322: 6273 40 0 1110 TRA EXIT41 # TO SOFT DISPLAY
7323:
7324: # DISPLAY SUBROUTINE.
7325:
7326: 6274 30 0 0543 DSPLY CLZ DSPSC
7327: 6275 56 0 0001 *ALS 1
7330: 6276 44 0 6300 TOV *+2 # O.F. IS TIME TO DISPLAY
7331: 6277 40 0 6357 TRA DSPLY4
7332: 6300 30 0 0444 CLZ PDOUT # INCREMENT DISPLAY VARIABLES.
7333:
|
|
Page 97 |
7335: 6301 22 0 0443 ADD DPDOUT
7336: 6302 10 0 0444 STO PDOUT # 13
7337: 6303 30 0 0214 CLZ POUT
7340: 6304 22 0 0215 ADD DPOUT
7341: 6305 40 0 6323 TRA DSPLY2-5
7342: 6306 10 0 0444 DSPLY1 STO PDOUT # I.C. DISPLAY COMPS.
7343: 6307 34 0 0437 SUZ PDOTM1
7344: 6310 26 0 0624 MPR 1K4 # .1
7345: 6311 10 0 0443 STO DPDOUT # DELTA PDOT AT 13.
7346: 6312 20 0 0444 CLA PDOUT # 13
7347: 6313 10 0 0437 STO PDOTM1
7350: 6314 06 0 0624 MPY 1K4 # .1
7351: 6315 54 0 0011 LRS 9 # 0.2 PDOT AT 23.
7352: 6316 04 0 0213 DVP POUTFS # =76840 FT B23
7353: 6317 10 0 0215 STO DPOUT # DELTA P AT DISPLAY SCALE.
7354: 6320 20 0 0214 CLA POUT # 23
7355: 6321 14 0 4007 LDQ ZERO
7356: 6322 04 0 0213 *DVP POUTFS # =76840 FT B23
7357: 6323 44 0 6325 TOV *+2
7360: 6324 40 0 6327 TRA *+3
7361: 6325 30 0 0215 CLZ DPOUT
7362: 6326 20 0 4030 CLA PMAX
7363: 6327 10 0 0214 STO POUT # OUTPUT P AT DISPLAY SCALE.
7364: 6330 20 0 0444 DSPLY2 CLA PDOUT # DISPLAY POSITION RATE.
7365: 6331 62 0 0000 ABS
7366: 6332 10 0 0010 STO TS10
7367: 6333 20 0 0444 CLA PDOUT
7370: 6334 46 0 6337 TMI *+3
7371: 6335 20 0 4036 CLA MS # 1 IS +
7372: 6336 40 0 6340 TRA *+2
7373: 6337 20 0 4007 CLA ZERO # 0 IS -
7374: 6340 32 0 0010 ADZ TS10 # SIGN MAGNITUDE.
7375: 6341 66 0 3040 OUT 3040 # RESET
7376: 6342 66 0 2440 OUT 2440 # SELECT ALT RATE.
7377: 6343 66 0 6010 OUT 6010 # OUTPUT ALT RATE.
7400: 6344 40 0 1111 TRA EXIT42 # COMPUTE VY0 FOR OUTPUT
7401: 6345 66 0 6020 OUT 6020 # OUTPUT SAME.
7402:
|
|
Page 98 |
7404: 6346 20 0 0214 DSPLY3 CLA POUT # DISPLAY POSITION.
7405: 6347 46 0 6351 TMI *+2
7406: 6350 40 0 6352 TRA *+2
7407: 6351 20 0 4007 CLA ZERO # ALT NEG.
7410: 6352 56 0 0001 *ALS 1 # SIGN BIT USED
7411: 6353 66 0 3040 OUT 3040 # RESET
7412: 6354 66 0 2420 OUT 2420 # SELECT ALT.
7413: 6355 66 0 6010 OUT 6010 # OUTPUT ALT.
7414: 6356 20 0 4011 CLA 1B5
7415: 6357 10 0 0543 DSPLY4 STO DSPSC # RESET COUNTER.
7416:
7417: # CYCLE COUNTING
7420:
7421: 6360 30 0 0615 EXEC1 CLZ MU10 # UPDATE MINOR CYCLE COUNT.
7422: 6361 22 0 4006 ADD 1B17
7423: 6362 10 0 0615 STO MU10
7424: 6363 40 0 1112 TRA EXIT43
7425: 6364 20 0 0615 CLA MU10 # CHECK FOR END.
7426: 6365 24 0 4040 SUB 49B17
7427: 6366 46 0 4047 TMI DELAY # -IS NOT END.
7430: 6367 30 0 0615 CLZ MU10
7431: 6370 20 0 1014 CLA BR50 # BR50 START.
7432: 6371 10 0 0063 STO BRANCH
7433: 6372 40 0 4047 TRA DELAY
7434:
7435: # CROSS PRODUCT SUBROUTINE. AXB=C.
7436:
7437: 6373 12 0 0023 CRSPRD STQ SREX
7440: 6374 20 0 0006 CLA TS4+2 # AZ
7441: 6375 26 0 0011 MPR TS10+1 # BY
7442: 6376 10 0 0007 STO TS7
7443: 6377 20 0 0005 CLA TS4+1 # AY
7444: 6400 26 0 0012 MPR TS10+2 # BZ
7445: 6401 34 0 0007 SUZ TS7
7446: 6402 10 0 0014 STO TS14 # CX
7447: 6403 20 0 0004 CLA TS4 # AX
7450: 6404 26 0 0012 MPR TS10+2 # BZ
7451:
|
|
Page 99 |
7453: 6405 10 0 0007 STO TS7
7454: 6406 20 0 0006 CLA TS4+2 # AZ
7455: 6407 26 0 0010 MPR TS10
7456: 6410 34 0 0007 SUZ TS7
7457: 6411 10 0 0015 STO TS14+1 # CY
7460: 6412 20 0 0005 CLA TS4+1 # AY
7461: 6413 26 0 0010 MPR TS10 # BX
7462: 6414 10 0 0007 STO TS7
7463: 6415 20 0 0004 CLA TS4 # AX
7464: 6416 26 0 0011 MPR TS10+1 # BY
7465: 6417 34 0 0007 SUZ TS7
7466: 6420 10 0 0016 STO TS14+2 # CZ
7467: 6421 40 0 0023 TRA SREX
7470:
7471: # NORMALIZE VECTOR SUBROUTINE.
7472:
7473: 6422 12 0 0021 NORMV STQ SREX2
7474: 6423 30 0 0017 CLZ TS17
7475: 6424 50 1 0002 AXT 2,1
7476: 6425 20 1 0014 CLA TS14,1 # INPUT VECTOR
7477: 6426 26 1 0014 MPR TS14,1
7500: 6427 32 0 0017 ADZ TS17
7501: 6430 10 0 0017 STO TS17
7502: 6431 42 1 6425 TIX *-4,1
7503: 6432 72 0 7123 TSQ SQRTE
7504: 6433 10 0 0013 STO TS13
7505: 6434 50 1 0002 AXT 2,1
7506: 6435 20 1 0014 CLA TS14,1
7507: 6436 14 0 4007 LDQ ZERO
7510: 6437 54 0 0001 LRS 1
7511: 6440 04 0 0013 DVP TS13
7512: 6441 10 1 0010 STO TS10,1 # UNIT VECTOR AT 1.
7513: 6442 42 1 6435 TIX *-5,1
7514: 6443 40 0 0021 TRA SREX2
7515:
7516: # ORBIT PARAMETERS FROM EPOCH SUBROUTINE.
7517:
7520:
|
|
Page 100 |
7522: 6444 12 0 0021 ORBPM STQ SREX2
7523: 6445 30 0 0011 CLZ TS11
7524: 6446 30 0 0012 CLZ TS12
7525: 6447 30 0 0013 CLZ TS13
7526: 6450 44 0 6451 TOV *+1
7527: 6451 50 1 0002 AXT 2,1
7530: 6452 20 1 0204 ORBPM1 CLA R0X,1 # 23
7531: 6453 26 1 0424 MPR V0X,1 # 13
7532: 6454 32 0 0013 ADZ TS13
7533: 6455 10 0 0013 STO TS13 # R0 DOT V0 AT 36
7534: 6456 20 1 0424 CLA V0X,1
7535: 6457 26 1 0424 MPR V0X,1
7536: 6460 32 0 0012 ADZ TS12
7537: 6461 10 0 0012 STO TS12 # V0 DOT V0 AT 26
7540: 6462 20 1 0204 CLA R0X,1
7541: 6463 26 1 0204 MPR R0X,1
7542: 6464 32 0 0011 ADZ TS11
7543: 6465 10 0 0011 STO TS11 # R0 DOT R0 AT 46
7544: 6466 42 1 6452 TIX ORBPM1,1
7545: 6467 40 0 1120 EX44 TRA EXIT44
7546: 6470 72 0 7123 TSQ SQRTE
7547: 6471 10 0 0207 STO R0 # 23
7550: 6472 06 0 0012 MPY TS12 # 23+26=49
7551: 6473 44 0 6474 TOV *+1
7552: 6474 04 0 0636 DVP 2K1 # 48
7553: 6475 60 0 0000 COM
7554: 6476 22 0 4030 ADD PMAX # 2B1
7555: 6477 10 0 0001 STO TS1
7556: 6500 20 0 0207 CLA R0
7557: 6501 14 0 4007 LDQ ZERO
7560: 6502 54 0 0001 LRS 1
7561: 6503 04 0 0001 DVP TS1
7562: 6504 40 0 1121 EX45 TRA EXIT45
7563: 6505 10 0 0173 STO AI # ALPHA I AT 23
7564: 6506 20 0 0636 CLA 2K1
7565: 6507 14 0 4007 LDQ ZERO
7566: 6510 54 0 0001 LRS 1 # 49
7567:
|
|
Page 101 |
7571: 6511 04 0 0173 DVP AI # 49-23=26
7572: 6512 72 0 7123 TSQ SQRTE
7573: 6513 10 0 0001 STO TS1 # ROOT(MU/ALPHA) AT 13
7574: 6514 14 0 4007 LDQ ZERO
7575: 6515 54 0 0001 LRS 1
7576: 6516 04 0 0173 DVP AI
7577: 6517 10 0 0077 STO NI # ANG FREQ AT -9.
7600: 6520 20 0 0173 CLA AI
7601: 6521 24 0 0207 SUB R0
7602: 6522 14 0 4007 LDQ ZERO
7603: 6523 04 0 0173 DVP AI
7604: 6524 10 0 0103 STO CI # 0
7605: 6525 20 0 0173 CLA AI
7606: 6526 36 0 0001 MPZ TS1
7607: 6527 10 0 0001 STO TS1 # ROOT(ALPHAXMU) AT 36
7610: 6530 30 0 0013 CLZ TS13 # 36
7611: 6531 14 0 4007 LDQ ZERO
7612: 6532 04 0 0001 DVP TS1
7613: 6533 10 0 0043 STO SI # 0
7614: 6534 40 0 0021 TRA SREX2
7615:
7616: # ELLIPSE PREDICTOR SUBROUTINE.
7617:
7620: 6535 12 0 0021 ELPRD STQ SREX2
7621: 6536 30 0 0007 CLZ TS7 # ITERATION COUNTER.
7622: 6537 20 0 0442 CLA TI # 13
7623: 6540 26 0 0077 MPR NI # AT -9.
7624: 6541 56 0 0001 ALS 1
7625: 6542 10 0 0010 STO TS10 # DEL M AT 3.
7626: 6543 10 0 0011 ELPRD1 STO TS11 # DEL E AT 3.
7627: 6544 72 0 6767 TSQ SICOE
7630: 6545 20 0 0000 CLA TS0
7631: 6546 26 0 0103 MPR CI # AT 0.
7632: 6547 10 0 0013 STO TS13 # 1
7633: 6550 20 0 0001 CLA TS1 # 1
7634: 6551 26 0 0043 MPR SI # 0+1=1
7635: 6552 34 0 0013 SUZ TS13
7636:
|
|
Page 102 |
7640: 6553 22 0 5033 ADD 1B1
7641: 6554 10 0 0012 STO TS12 # X12 AT 1.
7642: 6555 30 0 0007 CLZ TS7
7643: 6556 24 0 4005 SUB 2B17 # 2ITERATIONS.
7644: 6557 46 0 6642 TMI ELPRD3 # -IS NOT DONE.
7645: 6560 20 0 0103 CLA CI # 0
7646: 6561 54 0 0001 LRS 1 # 1
7647: 6562 60 0 0000 COM
7650: 6563 22 0 0000 ADD TS0
7651: 6564 06 0 0173 MPY AI # 23+1=24
7652: 6565 04 0 0207 DVP R0 # 23
7653: 6566 10 0 0003 STO TS3 # F AT 1.
7654: 6567 30 0 0010 CLZ TS10 # 3
7655: 6570 34 0 0011 SUZ TS11
7656: 6571 56 0 0002 ALS 2 # 1
7657: 6572 22 0 0001 ADD TS1
7660: 6573 14 0 4007 LDQ ZERO
7661: 6574 54 0 0001 LRS 1
7662: 6575 04 0 0077 DVP NI # AT -9.
7663: 6576 10 0 0007 STO TS7 # G AT 11.
7664: 6577 20 0 0207 CLA R0
7665: 6600 26 0 0012 MPR TS12
7666: 6601 10 0 0014 STO TS14 # 24
7667: 6602 20 0 0173 CLA AI
7670: 6603 26 0 0077 MPR NI
7671: 6604 06 0 0001 MPY TS1 # 23-9+1=15
7672: 6605 04 0 0014 DVP TS14
7673: 6606 60 0 0000 COM
7674: 6607 10 0 0013 STO TS13 # F DOT AT -9.
7675: 6610 20 0 0012 CLA TS12 # X12
7676: 6611 24 0 5033 SUB 1B1
7677: 6612 32 0 0000 ADZ TS0
7700: 6613 14 0 4007 LDQ ZERO
7701: 6614 54 0 0001 LRS 1 # 2
7702: 6615 04 0 0012 DVP TS12
7703: 6616 10 0 0017 STO TS17 # G DOT AT 1.
7704: 6617 50 1 0002 AXT 2,1
7705:
|
|
Page 103 |
7707: 6620 20 1 0204 ELPRD2 CLA R0X,1 # 23
7710: 6621 26 0 0003 MPR TS3 # 1
7711: 6622 10 0 0002 STO TS2 # 24
7712: 6623 20 1 0424 CLA V0X,1 # 13
7713: 6624 26 0 0007 MPR TS7 # 11+13=24
7714: 6625 32 0 0002 ADZ TS2
7715: 6626 56 0 0001 ALS 1 # 23
7716: 6627 10 1 0220 STO RIX,1 # PRED POS AT 23
7717: 6630 20 1 0204 CLA R0X,1 # 23
7720: 6631 26 0 0013 MPR TS13 # -9
7721: 6632 10 0 0002 STO TS2 # 14
7722: 6633 20 1 0424 CLA V0X,1 # 13
7723: 6634 26 0 0017 MPR TS17 # 1
7724: 6635 32 0 0002 ADZ TS2
7725: 6636 56 0 0001 ALS 1
7726: 6637 10 1 0430 STO VIX,1 # PRED VEL AT 13
7727: 6640 42 1 6620 TIX ELPRD2,1
7730: 6641 40 0 0021 TRA SREX2
7731: 6642 22 0 4004 ELPRD3 ADD 3B17
7732: 6643 10 0 0007 STO TS7
7733: 6644 20 0 0010 CLA TS10 # 3
7734: 6645 24 0 0011 SUB TS11
7735: 6646 56 0 0002 ALS 2
7736: 6647 10 0 0013 STO TS13 # DEL(M)-DEL(E) AT 1.
7737: 6650 20 0 0000 CLA TS0 # 1
7740: 6651 54 0 0001 LRS 1 # 2
7741: 6652 24 0 4065 SUB 1B2
7742: 6653 26 0 0043 MPR SI # 0+2=2
7743: 6654 56 0 0001 ALS 1
7744: 6655 10 0 0014 STO TS14 # 1
7745: 6656 20 0 0001 CLA TS1
7746: 6657 26 0 0103 MPR CI # 0+1=1
7747: 6660 32 0 0014 ADZ TS14
7750: 6661 32 0 0013 ADZ TS13 # X11 IN A AT 1.
7751: 6662 14 0 4007 LDQ ZERO
7752: 6663 54 0 0003 LRS 3 # 4
7753: 6664 04 0 0012 DVP TS12 # DEL E CORRECTION AT 3.
7754:
|
|
Page 104 |
7756: 6665 32 0 0011 ADZ TS11 # DEL E
7757: 6666 40 0 6543 TRA ELPRD1
7760:
7761: # DOUBLE PRECISION SQUARE SUBROUTINE.
7762:
7763: 6667 12 0 0023 DPSQ STQ SREX
7764: 6670 30 0 0001 CLZ TS1 # A SQ MS
7765: 6671 30 0 0002 CLZ TS2 # A SQ LS
7766: 6672 50 1 0002 AXT 2,1
7767: 6673 20 1 0004 DPSQ1 CLA TS4,1
7770: 6674 06 1 0004 MPY TS4,1
7771: 6675 32 0 0001 *ADZ TS1
7772: 6676 46 0 6716 TMI DPSQ3 # CHECK FOR O.F.
7773: 6677 10 0 0001 STO TS1
7774: 6700 12 0 0003 STQ TS3
7775: 6701 30 0 0002 CLZ TS2
7776: 6702 32 0 0003 *ADZ TS3
7777: 6703 10 0 0002 STO TS2
10000: 6704 46 0 6706 TMI *+2 # CHECK FOR O.F.
10001: 6705 40 0 6714 TRA DPSQ2
10002: 6706 24 0 4036 *SUB MS
10003: 6707 10 0 0002 STO TS2
10004: 6710 30 0 0001 CLZ TS1
10005: 6711 22 0 4006 *ADD 1B17
10006: 6712 46 0 6716 TMI DPSQ3 # CHECK FOR O.F.
10007: 6713 10 0 0001 STO TS1
10010: 6714 42 1 6673 DPSQ2 TIX DPSQ1,1
10011: 6715 40 0 0023 TRA SREX
10012: 6716 20 0 4030 DPSQ3 CLA PMAX # O.F. DETECTED.
10013: 6717 10 0 0001 STO TS1
10014: 6720 40 0 0023 TRA SREX
10015:
10016: # NORMALIZE SUBROUTINE.
10017:
10020: 6721 12 0 0022 NORM STQ SREX1
10021: 6722 44 0 6723 TOV *+1 # CLEAR O.F.
10022: 6723 14 0 0002 LDQ TS2 # A SQ LS
10023:
|
|
Page 105 |
10025: 6724 50 1 0007 AXT 7,1 # 8 SHIFTS(16 PLACES) POSSIBLE
10026: 6725 20 0 0001 CLA TS1 # A SQ MS
10027: 6726 52 0 0002 *LLS 2
10030: 6727 44 0 6735 TOV NORM1
10031: 6730 10 0 0001 STO TS1 # NORMALIZED A.
10032: 6731 42 1 6725 TIX *-4,1
10033: 6732 20 0 4017 CLA 8B17
10034: 6733 22 0 4035 ADD SHDUM # LRS 0
10035: 6734 40 0 0022 TRA SREX1
10036: 6735 20 1 4000 NORM1 CLA 7B17,1
10037: 6736 40 0 6733 TRA *-3
10040:
10041: # DOUBLE PRECISION VECTOR MAGNITUDE.
10042:
10043: 6737 12 0 0021 DPVMAG STQ SREX2 # SAVE RET ADDRS.
10044: 6740 72 0 6667 TSQ DPSQ # TO DOUB PREC SQ.
10045: 6741 72 0 6721 TSQ NORM # TO NORMALIZE.
10046: 6742 10 0 0020 STO SREX3 # LRS(I/2)
10047: 6743 30 0 0001 CLZ TS1 # NORMALIZED SQ.
10050: 6744 72 0 7123 TSQ SQRTE
10051: 6745 40 0 0020 TRA SREX3 # RE-NORMALIZE A-REG.
10052:
10053: # DOUBLE PRECISION TIME SUBTRACT.
10054:
10055: 6746 12 0 0023 DPTSB STQ SREX
10056: 6747 20 0 0377 CLA TA1 # ABS TIME MS AT 18.
10057: 6750 24 1 0520 SUB TE1,1 # EPOCH TIME MS AT 18.
10060: 6751 56 0 0005 ALS 5 # 13
10061: 6752 10 0 0001 STO TS1
10062: 6753 20 1 0524 CLA TE2,1 # EPOCH TIME LS AT 1.
10063: 6754 54 0 0014 LRS 12 # 13
10064: 6755 10 0 0002 STO TS2
10065: 6756 20 0 0353 CLA TA2 # ABS TIME LS AT 1.
10066: 6757 54 0 0014 LRS 12 # 13
10067: 6760 34 0 0002 SUZ TS2
10070: 6761 32 0 0001 ADZ TS1
10071: 6762 10 0 0442 STO TI # TIME DIFF AT 13.
10072:
|
|
Page 106 |
10074: 6763 40 0 0023 TRA SREX
10075:
10076: 6764 12 0 0021 EXIT STQ SREX2
10077: 6765 40 0 0021 TRA SREX2
10100:
10101: # SINE-COSINE SUBROUTINE ENTER WITH ANGLE IN
10102: # RADIANS AT B3 IN ACC AND RETURN IN Q
10103:
10104: 6766 22 0 4021 ADD 2PIB3
10105: 6767 46 0 6766 SICOE TMI *-1 # SET PLUS
10106: 6770 12 0 0023 STQ SREX
10107: 6771 10 0 0001 STO TS1
10110: 6772 24 0 4021 SUB 2PIB3 # SET BETWEEN 0-2PI
10111: 6773 46 0 6775 TMI *+2
10112: 6774 10 0 0001 STO TS1
10113: 6775 20 0 4023 CLA PID2 # PI/2
10114: 6776 24 0 0001 SUB TS1
10115: 6777 10 0 0000 STO TS0 # PI/2-ALPHA
10116: 7000 46 0 7021 TMI SICO1 # - IS GREATER THAN 90
10117: 7001 50 1 0001 AXT 1,1
10120: 7002 20 1 0000 SICO2 CLA TS0,1
10121: 7003 56 0 0002 ALS 2 # TO 1
10122: 7004 10 1 0000 STO TS0,1
10123: 7005 26 1 0000 MPR TS0,1
10124: 7006 10 0 0002 STO TS2 # ALPHA SQUARED AT 2
10125: 7007 26 0 4025 MPR K173 # 2-6=-4
10126: 7010 22 0 4026 ADD K172
10127: 7011 26 0 0002 MPR TS2 # -2
10130: 7012 22 0 4027 ADD K171
10131: 7013 26 0 0002 MPR TS2 # 0
10132: 7014 22 0 4030 ADD K170
10133: 7015 26 1 0000 MPR TS0,1 # 1
10134: 7016 10 1 0000 STO TS0,1
10135: 7017 42 1 7002 TIX SICO2,1
10136: 7020 40 0 0023 TRA SREX # EXIT
10137: 7021 22 0 4023 SICO1 ADD PID2
10140: 7022 10 0 0001 STO TS1 # PI-ALPHA
10141:
|
|
Page 107 |
10143: 7023 46 0 7025 TMI *+2 # - IS GREATER THAN 180
10144: 7024 40 0 7001 TRA SICO2-1
10145: 7025 22 0 4023 ADD PID2
10146: 7026 60 0 0000 COM
10147: 7027 10 0 0000 STO TS0 # ALPHA-3PI/2
10150: 7030 46 0 7001 TMI SICO2-1 # - IS BETWEEN 180 AND 270
10151: 7031 24 0 4023 SUB PID2
10152: 7032 10 0 0001 STO TS1 # ALPHA-2PI
10153: 7033 40 0 7001 TRA SICO2-1
10154:
10155: # ARCTANGENT SUBROUTINE ENTER WITH SINE AND
10156: # COSINE AT 1 IN TS3 AND TS4
10157:
10160: 7034 12 0 0023 ARCTAE STQ SREX # SET EXIT
10161: 7035 20 0 0003 CLA TS3
10162: 7036 62 0 0000 ABS
10163: 7037 10 0 0001 STO TS1
10164: 7040 20 0 0004 CLA TS4
10165: 7041 44 0 7042 TOV *+1
10166: 7042 62 0 0000 ABS
10167: 7043 22 0 0001 *ADD TS1 # KCOS+KSIN
10170: 7044 44 0 7047 TOV *+3 # O.F. CHECK.
10171: 7045 20 0 0004 CLA TS4
10172: 7046 40 0 7055 TRA *+7
10173: 7047 30 0 0001 CLZ TS1 # O.F. RE-SCALE.
10174: 7050 54 0 0001 LRS 1
10175: 7051 10 0 0001 STO TS1 # ABS SIN.
10176: 7052 30 0 0004 CLZ TS4
10177: 7053 54 0 0001 LRS 1
10200: 7054 10 0 0004 STO TS4 # COS
10201: 7055 46 0 7113 TMI ARCTA2 # - IS 2ND OR 3RD QUAD
10202: 7056 22 0 0001 ADD TS1
10203: 7057 10 0 0002 STO TS2
10204: 7060 20 0 4024 CLA PID4
10205: 7061 10 0 0005 STO TS5 # 1/4 PI
10206: 7062 20 0 0001 CLA TS1
10207: 7063 24 0 0004 SUB TS4 # SIN-COS
10210:
|
|
Page 108 |
10212: 7064 14 0 4007 ARCTA1 LDQ ZERO
10213: 7065 54 0 0001 LRS 1
10214: 7066 04 0 0002 DVP TS2
10215: 7067 10 0 0006 STO TS6 # =X AT 1
10216: 7070 06 0 0006 MPY TS6
10217: 7071 10 0 0007 STO TS7 # X SQUARED AT 2
10220: 7072 26 0 4031 MPR K183 # -1
10221: 7073 22 0 4032 ADD K182
10222: 7074 06 0 0007 MPY TS7 # 1
10223: 7075 22 0 4033 ADD K181
10224: 7076 06 0 0007 MPY TS7 # 3
10225: 7077 52 0 0001 LLS 1 # 2
10226: 7100 22 0 4034 ADD K180
10227: 7101 26 0 0006 MPR TS6 # 3
10230: 7102 22 0 0005 ADD TS5
10231: 7103 10 0 0001 STO TS1
10232: 7104 20 0 0003 CLA TS3
10233: 7105 46 0 7110 TMI *+3
10234: 7106 20 0 0001 CLA TS1
10235: 7107 40 0 0023 TRA SREX # EXIT
10236: 7110 20 0 4021 CLA 2PIB3 # PHI GREATER THAN 180
10237: 7111 24 0 0001 SUB TS1
10240: 7112 40 0 0023 TRA SREX
10241: 7113 20 0 4022 ARCTA2 CLA 3PID4
10242: 7114 10 0 0005 STO TS5 # 3/4 PI
10243: 7115 20 0 0004 CLA TS4
10244: 7116 24 0 0001 SUB TS1
10245: 7117 10 0 0002 STO TS2
10246: 7120 20 0 0001 CLA TS1
10247: 7121 22 0 0004 ADD TS4
10250: 7122 40 0 7064 TRA ARCTA1
10251:
10252: # SQUARE ROOT SUBROUTINE ENTER WITH
10253: # SQUARE IN ACC AND RETURN IN Q
10254:
10255: 7123 12 0 0023 SQRTE STQ SREX
10256: 7124 10 0 0001 STO TS1
10257:
|
|
Page 109 |
10261: 7125 60 0 0000 COM # TEST FOR ZERO OR NEG
10262: 7126 46 0 7131 TMI *+3
10263: 7127 20 0 4007 CLA ZERO # SET ROOT EQUAL ZERO
10264: 7130 40 0 0023 TRA SREX
10265: 7131 30 0 0002 CLZ TS2 # SET TS2=0
10266: 7132 72 0 6721 TSQ NORM # TO NORMALIZE
10267: 7133 10 0 0022 STO SREX1 # SAVE SHIFT
10270: 7134 20 0 0001 CLA TS1
10271: 7135 54 0 0001 LRS 1 # .5SQ
10272: 7136 10 0 0133 STO TS8
10273: 7137 12 0 0001 STQ TS1
10274: 7140 54 0 0002 LRS 2 # .125SQ
10275: 7141 22 0 0133 ADD TS8 # .625SQ
10276: 7142 22 0 7147 ADD KSR # .375+.625SQ=RN-1
10277: 7143 50 1 0001 AXT 1,1 # 2 ITERATIONS
10300: 7144 10 0 0002 SQRT1 STO TS2
10301: 7145 54 0 0001 LRS 1 # .5 RN-1
10302: 7146 10 0 0000 STO TS0
10303: 7147 14 0 0001 KSR LDQ TS1 # KSR=.375+DELTA
10304: 7150 20 0 0133 CLA TS8
10305: 7151 04 0 0002 DVP TS2
10306: 7152 32 0 0000 ADZ TS0 # .5SQ/RN-1+.5RN-1=RN
10307: 7153 42 1 7144 TIX SQRT1,1
10310: 7154 40 0 0022 TRA SREX1 # TO SHIFT
10311:
10312: # ANGLE BETWEEN VECTORS SUBROUTINE.
10313:
10314: 7155 12 0 0022 ABVEC STQ SREX1
10315: 7156 20 0 0010 CLA TS10 # BX
10316: 7157 26 0 0006 MPR TS4+2 # AZ
10317: 7160 54 0 0001 LRS 1
10320: 7161 10 0 0002 STO TS2
10321: 7162 20 0 0004 CLA TS4 # AX
10322: 7163 26 0 0012 MPR TS10+2 # BZ
10323: 7164 54 0 0001 LRS 1
10324: 7165 34 0 0002 SUZ TS2
10325: 7166 10 0 0003 STO TS3 # SIN THETA
10326:
|
|
Page 110 |
10330: 7167 20 0 0004 CLA TS4 # AX
10331: 7170 26 0 0010 MPR TS10 # BX
10332: 7171 54 0 0001 LRS 1
10333: 7172 10 0 0002 STO TS2
10334: 7173 20 0 0006 CLA TS4+2 # AZ
10335: 7174 26 0 0012 MPR TS10+2 # BZ
10336: 7175 54 0 0001 LRS 1
10337: 7176 32 0 0002 ADZ TS2
10340: 7177 10 0 0004 STO TS4 # COS THETA
10341: 7200 72 0 7034 TSQ ARCTAE
10342: 7201 40 0 0022 TRA SREX1 # THETA IN A AT 3.
10343:
10344: # DEDA PROCESSING ENTRY
10345:
10346: 7202 20 0 0333 ADOUT CLA ADST # OUTPUT ADDRESS
10347: 7203 22 0 5033 ADD DUMCLA
10350: 7204 10 0 1000 STO CLADD # SET CLA OF DATA
10351: 7205 54 0 0011 LRS 9
10352: 7206 50 1 0002 AXT 2,1
10353: 7207 52 0 0003 LLS 3 # 3 BITS PER PASS
10354: 7210 66 0 2200 OUT DEDA
10355: 7211 66 0 2600 OUT SHOUT # SET SHIFT OUT
10356: 7212 56 0 0022 *ALS 18 # TIME DELAY
10357: 7213 42 1 7207 TIX *-4,1
10360: 7214 40 0 1000 TRA CLADD # GET DATA
10361: 7215 10 0 0326 ROR STO DD
10362: 7216 46 0 7353 TMI SNS # TEST SIGN
10363: 7217 20 0 4007 CLA ZERO # POSITIVE
10364: 7220 66 0 2200 SOUT OUT DEDA # OUTPUT SIGN
10365: 7221 66 0 2600 OUT SHOUT
10366: 7222 20 0 0027 CLA OCTF # OCTAL OR DECIMAL OUTPUT
10367: 7223 46 0 7247 TMI OCTO
10370: 7224 40 0 1122 EX46 TRA EXIT46
10371: 7225 20 0 0326 CLA DD # DECIMAL OUTPUT
10372: 7226 26 0 0026 MPR SF # SCALE FACTOR
10373: 7227 62 0 0000 ABS # MAGNITUDE
|
|
An asterisk is drawn in front of AXT below. |
10375: 7230 50 1 0004 AXT 4,1 # OUTPUT 5 DIGITS
10376:
|
|
Page 111 |
10400: 7231 44 0 7232 TOV *+1
10401: 7232 14 0 4007 LDQ ZERO
10402: 7233 04 0 4042 *DVP BCDL # DIVIDE BY 100K
10403: 7234 12 0 0001 STQ TS1
10404: 7235 30 0 0001 CLZ TS1 # UNROUNDED QUOTIENT
10405: 7236 22 0 4006 ADD 1B17 # ROUND UP
10406: 7237 44 0 7355 TOV MAX # TEST FOR TOO LARGE
10407: 7240 06 0 4041 DOUT MPY 10B17 # EXTRACT DIGIT
10410: 7241 66 0 2200 OUT DEDA # OUTPUT
10411: 7242 66 0 2600 OUT SHOUT
10412: 7243 12 0 0001 STQ TS1 # REMAINDER
10413: 7244 30 0 0001 CLZ TS1
10414: 7245 42 1 7240 TIX *-5,1
10415: 7246 40 0 1123 TRA EXIT47
10416: 7247 14 0 0326 OCTO LDQ DD # OCTAL OUTPUT
10417: 7250 50 1 0004 AXT 4,1 # OUTPUT 5 OCTAL DIGITS
10420: 7251 52 0 0003 *LLS 3 # EXTRACT DIGIT
10421: 7252 66 0 2200 OUT DEDA # OUTPUT
10422: 7253 66 0 2600 OUT SHOUT
10423: 7254 56 0 0022 *ALS 18 # TIME DELAY
10424: 7255 42 1 7251 TIX *-4,1
10425: 7256 40 0 1123 TRA EXIT47
10426: 7257 10 0 0325 RME STO RMF # READOUT ENTRY
10427: 7260 66 0 2500 OUT SHIN # ENTER ENTRY SET SHIFT IN
10430: 7261 30 0 0327 CLZ CMF # RESET CLEAR MODE
10431: 7262 30 0 0027 CLZ OCTF # OCTAL FLAG
10432: 7263 30 0 0326 CLZ DD # CLEAR DEDA DATA
10433: 7264 20 0 4007 CLA ZERO
10434: 7265 50 1 0002 AXT 2,1 # INPUT 3 DIGIT ADDRESS
10435: 7266 56 0 0003 ALS 3
10436: 7267 10 0 0333 STO ADST
10437: 7270 64 0 2200 INP DEDA # INPUT DIGIT
10440: 7271 66 0 2500 OUT SHIN # SET SHIFT IN
10441: 7272 54 0 0015 LRS 13
10442: 7273 24 0 4017 SUB 8B17 # TEST FOR ERROR
10443: 7274 46 0 7276 TMI *+2
10444: 7275 40 0 1124 TRA EXIT48 # ERROR EXIT
10445:
|
|
Page 112 |
10447: 7276 22 0 4017 ADD 8B17
10450: 7277 32 0 0333 ADZ ADST # ASSEMBLE ADDRESS
10451: 7300 42 1 7266 TIX *-10,1
10452: 7301 10 0 0333 STO ADST
10453: 7302 64 0 2200 INP DEDA
10454: 7303 66 0 2500 OUT SHIN
10455: 7304 56 0 0004 *ALS 4
10456: 7305 10 0 0002 STO TS2 # SIGN
10457: 7306 20 0 0333 CLA ADST
10460: 7307 40 0 1125 TRA EXIT49 # SCALE FACTOR SELECT
10461: 7310 20 0 4036 NOTDD CLA MS # SET OCTAL FLAG
10462: 7311 10 0 0027 STO OCTF
10463: 7312 20 0 0325 CLA RMF # EXIT IF READOUT
10464: 7313 46 0 1123 TMI EXIT47
10465: 7314 50 1 0004 AXT 4,1 # INPUT 5 OCTAL DIGITS
10466: 7315 64 0 2200 INP DEDA
10467: 7316 66 0 2500 OUT SHIN
10470: 7317 54 0 0016 LRS 14
10471: 7320 32 0 0326 ADZ DD # ASSEMBLE WORD
10472: 7321 52 0 0003 LLS 3
10473: 7322 10 0 0326 STO DD
10474: 7323 42 1 7315 TIX *-6,1
10475: 7324 32 0 0002 ADZ TS2 # ADD SIGN
10476: 7325 40 0 7344 TRA STDD
10477: 7326 20 0 0325 DDIN CLA RMF # DECIMAL DATA
10500: 7327 46 0 1123 TMI EXIT47 # EXIT IF READOUT
10501: 7330 50 1 0004 AXT 4,1 # READ 5 DIGITS
10502: 7331 40 0 7336 TRA *+5
10503: 7332 66 0 2500 OUT SHIN
10504: 7333 06 0 7512 MPY 10B4 # MULTIPLY BY 10
10505: 7334 52 0 0004 LLS 4 # SCALE
10506: 7335 10 0 0326 STO DD
10507: 7336 64 0 2200 INP DEDA
10510: 7337 54 0 0015 LRS 13
10511: 7340 32 0 0326 ADZ DD # ASSEMBLE WORD
10512: 7341 42 1 7332 TIX *-7,1
10513: 7342 40 0 1126 EX50 TRA EXIT50
10514:
|
|
Page 113 |
10516: 7343 04 0 0026 DVP SF # SCALE FACTOR
10517: 7344 10 0 0326 STDD STO DD
10520: 7345 30 0 0002 CLZ TS2
10521: 7346 46 0 7350 TMI *+2 # COMPLEMENT IF MINUS
10522: 7347 40 0 1127 TRA EXIT51 # IMMEDIATE ACTION TEST
10523: 7350 30 0 0326 CLZ DD # COMPLEMENT
10524: 7351 60 0 0000 COM
10525: 7352 40 0 7344 TRA STDD
10526: 7353 20 0 4006 SNS CLA 1B17 # PICK UP NEGATIVE SIGN
10527: 7354 40 0 7220 TRA SOUT
10530: 7355 20 0 4030 MAX CLA PMAX # GET MAXIMUM NUMBER
10531: 7356 40 0 7240 TRA DOUT
10532:
10533: # ABSOLUTE TIME INITIALIZE
10534:
10535: 7357 20 0 0615 ATI CLA MU10 # CYCLE COUNT
10536: 7360 14 0 4007 LDQ ZERO
10537: 7361 04 0 0667 DVP M25B16 # MINUS SEC AT 1
10540: 7362 22 0 0670 ADD DTB # 1+TIME BIAS
10541: 7363 22 0 5033 ADD 1B1 # +1 SEC
10542: 7364 10 0 0353 STO TA2 # 2+BIAS-CYCLE COUNT
10543: 7365 20 0 0326 CLA DD # INPUT TIME
10544: 7366 24 0 4006 SUB 1B17 # T-2 SEC
10545: 7367 10 0 0377 STO TA1 # MOST SIG ABS TIME
10546: 7370 40 0 1123 TRA EXIT47
10547:
10550: # AGS TELEMETRY OUTPUT
10551:
10552: 7371 12 0 0023 TME STQ SREX
10553: 7372 64 0 2020 INP DISC1I
10554: 7373 56 0 0002 *ALS 2 # TEST FOR STOP
10555: 7374 46 0 0023 TMI SREX # EXIT IF NOT
10556: 7375 30 0 0723 CLZ TMID
10557: 7376 22 0 4006 ADD 1B17 # INCREMENT IDENT NUMBER
10560: 7377 10 0 0723 STO TMID
10561: 7400 22 0 1006 ADD TMCLA # SET UP TO GET WORD
10562: 7401 10 0 0021 STO SREX-2
10563:
|
|
Page 114 |
10565: 7402 24 0 1006 SUB TMCLA # GET ID
10566: 7403 56 0 0014 *ALS 12
10567: 7404 66 0 6200 OUT TMIDO # OUTPUT IDENTIFICATION
10570: 7405 20 0 4045 CLA TMOUT # OUTPUT INSTRUCTION
10571: 7406 10 0 0022 STO SREX-1
10572: 7407 40 0 0021 TRA SREX-2
10573:
10574: # TELEMETRY INITIALIZE
10575:
10576: 7410 30 0 0723 TMIE2 CLZ TMID # RESET TO FIRST WORD
10577: 7411 50 1 0002 AXT 2,1
10600: 7412 20 1 0130 CLA A11,1 # SAVE DIRECTION COSINES
10601: 7413 10 1 0330 STO A11T,1 # FOR TELEMETRY
10602: 7414 20 1 0134 CLA A31,1
10603: 7415 10 1 0334 STO A31T,1
10604: 7416 42 1 7412 TIX *-4,1
10605: 7417 40 0 6764 TRA EXIT
10606:
10607: # PGNS DOWNLINK INPUT
10610:
10611: 7420 12 0 0023 PGNSDE STQ SREX
10612: 7421 20 0 0563 CLA DEL32 # DOWNLINK INITIALIZE FLAG
10613: 7422 46 0 7424 TMI *+2
10614: 7423 40 0 0023 TRA SREX # EXIT
10615: 7424 64 0 2020 INP DISC1I
10616: 7425 56 0 0001 *ALS 1 # TEST FOR STOP
10617: 7426 46 0 0023 TMI SREX # PULSE RECEIVED
10620: 7427 64 0 6200 INP DLREG # INPUT WORD
10621: 7430 54 0 0002 LRS 2 # DISCARD UNWANTED BITS
10622: 7431 10 0 0012 STO TS12 # SAVE INPUT
10623: 7432 20 0 0570 CLA ID1F # TEST FOR PRIOR ID
10624: 7433 46 0 7450 TMI PGNSD1 # NUMBER 1 FOUND
10625: 7434 30 0 0012 CLZ TS12 # TEST IF CURRENT
10626: 7435 46 0 0023 TMI SREX # WORD IS AN ID
10627: 7436 24 0 0671 SUB ID # TEST FOR PROPER ID
10630: 7437 62 0 0000 ABS
10631: 7440 60 0 0000 COM
10632:
|
|
Page 115 |
10634: 7441 46 0 0023 TMI SREX
10635: 7442 20 0 4025 CLA K173 # IS IDAI OR IDRP
10636: 7443 10 0 0570 STO ID1F # SET FLAG
10637: 7444 30 0 0562 CLZ DLWN # ZERO WORD NUMBER
10640: 7445 20 0 4011 PBNSD2 CLA 1B5
10641: 7446 10 0 0037 STO DLSC # SET SHIFT COUNT
10642: 7447 40 0 0023 TRA SREX # EXIT
10643: 7450 40 0 1023 PGNSD1 TRA EXIT7
10644: 7451 30 0 0037 CLZ DLSC
10645: 7452 56 0 0001 *ALS 1 # TEST FOR ID
10646: 7453 46 0 7445 TMI PBNSD2 # WORD EXPECTED
10647: 7454 10 0 0037 STO DLSC
10650: 7455 30 0 0562 CLZ DLWN
10651: 7456 22 0 4006 ADD 1B17 # INCREMENT WORD NUMBER
10652: 7457 10 0 0562 STO DLWN
10653: 7460 22 0 1010 ADD DLSTO # FORM STORE COMMAND
10654: 7461 10 0 0022 STO SREX-1
10655: 7462 24 0 0672 SUB DLWNL # TEST FOR LAST WORD
10656: 7463 46 0 7467 TMI *+4
10657: 7464 30 0 0570 CLZ ID1F # RESET ID1 FLAG
10660: 7465 30 0 0563 CLZ DEL32 # RESET INITIALIZE FLAG
10661: 7466 10 0 0571 STO DEL31 # SET DATA RECEIVED FLAG
10662: 7467 30 0 0012 CLZ TS12
10663: 7470 56 0 0003 *ALS 3
10664: 7471 40 0 0022 TRA SREX-1
10665:
10666: # SELF-TEST ROUTINE
10667: 7472 20 0 0572 TEST CLA FLAGT
10670: 7473 46 0 7722 TMI CKSUM
10671: 7474 20 0 0412 CLA S12
10672: 7475 24 0 7701 SUB 1B3
10673: 7476 46 0 7502 TMI *+4
10674: 7477 24 0 4065 SUB 1B2
10675: 7500 46 0 7503 TMI *+3 # -IS LESS THAN 3
10676: 7501 40 0 1130 TRA EXIT52
10677: 7502 66 0 7010 OUT 7010
10700: # LOGIC TEST
10701:
|
|
Page 116 |
10703: 7503 44 0 7504 TOV *+1 # ACCUM. Q REG. OPER.
10704: 7504 14 0 4030 LDQ K170 # 377777 377777
10705: 7505 20 0 4020 CLA SIXTH # 252525 377777 252525
10706: 7506 56 0 0001 *ALS 1 # 525252
10707: 7507 12 0 0000 1K7 STQ TS0
10710: 7510 72 0 7775 TSQ OVFLW # TEST FOR OVERFLOW
10711: 7511 54 0 0021 LRS 17 # 777777 525252
10712: 7512 24 0 0000 10B4 SUB TS0 # 400000 525252 377777
10713: 7513 12 0 0000 STQ TS0
10714: 7514 44 0 7772 TOV ERROR # TEST RESET OF OVERFLOW
10715: 7515 60 0 0000 *COM # 400000
10716: 7516 46 0 7520 TMI *+2
10717: 7517 40 0 7772 TRA ERROR
10720: 7520 14 0 0000 3B3 LDQ TS0 # 400000 525252 525252
10721: 7521 52 0 0021 *LLS 17 # 125252 000000
10722: 7522 12 0 0001 STQ TS1
10723: 7523 72 0 7775 TSQ OVFLW
10724: 7524 24 0 0001 SUB TS1 # 125252 000000
10725: 7525 24 0 0000 *SUB TS0 # 400000 525252
10726: 7526 56 0 0001 *ALS 1 # 000000
10727: 7527 72 0 7775 TSQ OVFLW
10730: 7530 14 0 4003 LDQ 4B17 # 000000 000004 00004
10731: 7531 52 0 0037 LLS 31 # 200000 000000
10732: 7532 44 0 7772 TOV ERROR # NO OVERFLOW
10733: 7533 14 0 4036 LDQ MS # 200000 400000 400000
10734: 7534 12 0 0001 STQ TS1
10735: 7535 54 0 0020 LRS 16 # 000001 000000
10736: 7536 22 0 0001 ADD TS1 # 400001 000000 400000
10737: 7537 12 0 0002 STQ TS2
10740: 7540 22 0 0002 ADD TS2
10741: 7541 46 0 7543 TMI *+2
10742: 7542 40 0 7772 TRA ERROR
10743: 7543 22 0 4030 ADD K170 # 000000 000000 377777
10744: 7544 46 0 7772 TMI ERROR
10745: 7545 44 0 7772 TOV ERROR
10746: 7546 60 0 0000 COM # 000000
10747: 7547 72 0 7767 TSQ ACCUM # 777777
10750:
|
|
Page 117 |
10752: 7550 60 0 0000 COM # 000001
10753: 7551 62 0 0000 ABS # 000001
10754: 7552 50 1 0007 AXT 7,1
10755: 7553 10 1 0000 STO TS0,1 # STORE 8 NUMBERS IN
10756: 7554 24 0 4006 SUB 1B17 # SEQUENCE
10757: 7555 42 1 7553 TIX *-2,1
10760: 7556 20 0 4006 CLA 1B17 # 000001 000001
10761: 7557 30 0 0004 CLZ TS4 # 777776 777776
10762: 7560 56 0 0017 ALS 15 # 600000
10763: 7561 44 0 7772 TOV ERROR
10764: 7562 36 0 0005 MPZ TS5 # 000001 200000 777777
10765: 7563 34 0 0007 SUZ TS7 # 000000 200000 000001
10766: 7564 52 0 0003 LLS 3 # 000004 000000
10767: 7565 32 0 0002 ADZ TS2 # 000000 000000 777774
10770: 7566 50 1 0003 AXT 3,1
10771: 7567 22 1 0004 ADD TS4,1
10772: 7570 42 1 7567 TIX *-1,1
10773: 7571 50 1 0007 AXT 7,1
10774: 7572 50 1 0000 AXT 0,1
10775: 7573 34 1 0003 SUZ TS3,1 # 000003 000000 777775
10776: 7574 42 1 7772 TIX ERROR,1
10777: 7575 50 1 0002 AXT 2,1
11000: 7576 32 0 0001 ADZ TS1 # 777776 000000 777773
11001: 7577 42 1 7600 TIX *+1,1
11002: 7600 42 1 7601 TIX *+1,1
11003: 7601 34 1 0000 SUZ TS0,1 # 000004 000000 777772
11004: 7602 50 1 0003 AXT 3,1
11005: 7603 32 1 0000 ADZ TS0,1
11006: 7604 42 1 7603 TIX *-1,1
11007: 7605 22 0 4036 ADD MS # 400004 400000
11010: 7606 62 0 0000 ABS # 377774
11011: 7607 22 0 4030 *ADD K170 # 777773 377777
11012: 7610 72 0 7775 TSQ OVFLW
11013: 7611 62 0 0000 ABS # 000005
11014: 7612 52 0 0000 LLS 0
11015: 7613 24 0 4002 SUB 5B17 # 000000 000005
11016: 7614 72 0 7767 TSQ ACCUM # 777777
11017:
|
|
Page 118 |
11021: 7615 20 0 0000 CLA TS0 # 000000 000000
11022: 7616 40 0 7621 TRA *+3
11023: 7617 72 0 7767 TSQ ACCUM # 777777
11024: 7620 40 0 7622 TRA *+2
11025: 7621 40 0 7617 TRA *-2
11026: 7622 10 0 0000 STO TS0
11027: 7623 22 0 4006 ADD 1B17 # 000000 000001
11030: 7624 20 0 0000 CLA TS0 # 777777 777777
11031: 7625 24 0 0000 SUB TS0 # 000000 777777
11032: 7626 72 0 7767 TSQ ACCUM # 777777
11033: 7627 56 0 0020 ALS 16 # 600000
11034: 7630 06 0 0000 MPY TS0 # 000000 200000 777777
11035: 7631 12 0 0001 STQ TS1
11036: 7632 22 0 0001 ADD TS1 # 200000 200000 200000
11037: 7633 24 0 5033 SUB 1B1 # 000000 200000 200000
11040: 7634 22 0 4020 ADD SIXTH # 252525 200000 252525
11041: 7635 26 0 4004 MPR 3B17 # 000002 377777 000003
11042: 7636 22 0 0000 ADD TS0 # 000001 377777 777777
11043: 7637 04 0 4005 DVP 2B17 # 377777 377777 000002
11044: 7640 44 0 7772 TOV ERROR
11045: 7641 12 0 0002 STQ TS2
11046: 7642 24 0 4030 SUB K170 # 000000 377777 377777
11047: 7643 24 0 4030 SUB K170 # 400001 377777 377777
11050: 7644 22 0 0002 ADD TS2 # 000000 377777 377777
11051: 7645 22 0 4020 ADD SIXTH # 252525 377777 252525
11052: 7646 24 0 4002 SUB 5B17 # 252520 377777 000005
11053: 7647 26 0 4020 MPR SIXTH # 161612 161620 252525
11054: 7650 12 0 0002 STQ TS2
11055: 7651 24 0 0002 SUB TS2 # 777772 161620 161620
11056: 7652 54 0 0021 LRS 17 # 777777 777772
11057: 7653 04 0 4003 DVP 4B17 # 777777 777776 000004
11060: 7654 12 0 0002 STQ TS2
11061: 7655 22 0 0002 ADD TS2 # 777775 777776 777776
11062: 7656 22 0 4004 ADD 3B17 # 000000 777776 000003
11063: 7657 24 0 4020 SUB SIXTH # 525253 777776 252525
11064: 7660 10 0 0003 STO TS3
11065: 7661 26 0 0003 MPR TS3 # 161616 307071 525253
11066:
|
|
Page 119 |
11070: 7662 04 0 0003 DVP TS3 # 525251 525251 525253
11071: 7663 06 0 4020 MPY SIXTH # 616160 743435 252525
11072: 7664 04 0 4020 DVP SIXTH # 525251 525251 252525
11073: 7665 22 0 4005 ADD 2B17 # 525253 525251 000002
11074: 7666 22 0 0003 *ADD TS3 # 252526 525253
11075: 7667 72 0 7775 TSQ OVFLW
11076: 7670 24 0 0003 *SUB TS3 # 525253 525253
11077: 7671 72 0 7775 TSQ OVFLW
11100: 7672 24 0 4020 *SUB SIXTH # 252526 252525
11101: 7673 72 0 7775 TSQ OVFLW
11102: 7674 60 0 0000 COM
11103: 7675 22 0 4020 ADD SIXTH # 777777 252525
11104: 7676 14 0 0006 LDQ TS6 # 777777 000000 000000
11105: 7677 22 0 0000 ADD TS0 # 777776 000000 777777
11106: 7700 54 0 0002 LRS 2 # 777777 600000
11107: 7701 04 0 0000 1B3 *DVP TS0 # 200000 177777 777777
11110: 7702 12 0 0000 STQ TS0
11111: 7703 72 0 7775 TSQ OVFLW
11112: 7704 24 0 0000 SUB TS0 # 000001 177777
11113: 7705 24 0 4006 SUB 1B17 # 000000 000001
11114: 7706 72 0 7767 TSQ ACCUM # 777777
11115: 7707 20 0 4004 CLA 3B17
11116: 7710 04 0 4005 *DVP 2B17
11117: 7711 72 0 7775 TSQ OVFLW # END OF LOGIC TEST
11120: 7712 20 0 4036 SETFG CLA MS
11121: 7713 10 0 0572 STO FLAGT # SET TEST FLAG
11122: 7714 30 0 0137 CLZ SUM
11123: 7715 20 0 1007 CLA TCLTH # INITIALIZE MEMORY
11124: 7716 10 0 0024 STO TVARBR # TEST
11125: 7717 20 0 7002 CLA CLATEN
11126: 7720 10 0 0663 STO SUMLIM
11127: 7721 40 0 1130 TRA EXIT52
11130: # MEMORY CHECKSUM ROUTINE
11131: 7722 72 0 7750 CKSUM TSQ MEMSUM # PERFORM SUMMATION
11132: 7723 30 0 0137 CLZ SUM # TEST SUM
11133: 7724 46 0 7727 TMI *+3
11134: 7725 24 0 4006 SUB 1B17
11135:
|
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Page 120 |
11137: 7726 46 0 7742 TMI COREX
11140: 7727 20 0 0412 CLA S12 # INCORRECT SUM
11141: 7730 24 0 7520 SUB 3B3 # SET TEST WORD BITS
11142: 7731 46 0 7735 TMI *+4 # AND TEST MODE FAILURE
11143: 7732 20 0 5427 CLA 7B3 # INDICATOR
11144: 7733 10 0 0412 STO S12
11145: 7734 40 0 7737 TRA *+3
11146: 7735 20 0 5033 CLA 1B1
11147: 7736 66 0 6410 OUT 6410
11150: 7737 10 0 0412 STO S12
11151: 7740 30 0 0572 CLZ FLAGT # RESET FLAG
11152: 7741 40 0 1130 TRA EXIT52
11153: 7742 20 0 0412 COREX CLA S12 # CORRECT SUM
11154: 7743 24 0 4006 SUB 1B17
11155: 7744 46 0 7746 TMI *+2
11156: 7745 40 0 7740 TRA *-5
11157: 7746 20 0 7701 CLA 1B3
11160: 7747 40 0 7737 TRA COREX-3
11161: 7750 12 0 0023 MEMSUM STQ SREX # MEMORY SUMMATION SUBRT.
11162: 7751 30 0 0153 CLZ WRDCNT
11163: 7752 72 0 0024 TSQ TVARBR
11164: 7753 32 0 0137 *ADZ SUM # FORM SUM
11165: 7754 10 0 0137 STO SUM
11166: 7755 20 0 0024 CLA TVARBR
11167: 7756 24 0 0663 SUB SUMLIM # TEST FOR LIMIT
11170: 7757 46 0 7761 TMI *+2
11171: 7760 40 0 0023 TRA SREX
11172: 7761 30 0 0153 CLZ WRDCNT
11173: 7762 22 0 4006 ADD 1B17
11174: 7763 10 0 0153 STO WRDCNT # INCREMENT WORD COUNTER
11175: 7764 24 0 0664 SUB WORDS
11176: 7765 46 0 7752 TMI MEMSUM+2
11177: 7766 40 0 1131 TRA EXIT53
11200: 7767 46 0 7772 ACCUM TMI ERROR # SUBROUTINE TO TEST FOR
11201: 7770 24 0 4006 SUB 1B17 # ZERO ACCUMULATOR
11202: 7771 46 0 6764 TMI EXIT
11203: 7772 20 0 7520 ERROR CLA 3B3
11204:
|
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Page 121 |
11206: 7773 10 0 0412 STO S12
11207: 7774 40 0 7712 TRA SETFG
11210: 7775 44 0 6764 OVFLW TOV EXIT # OVERFLOW TEST
11211: 7776 40 0 7772 TRA ERROR
11212:
11213: # INPUT-OUTPUT ADDRESSES
11214:
11215: 7777 CHECKSUM RANGE 4000-7776
11216: 6200 DLREG DEFINE 6200
11217: 2020 DISC1I DEFINE 2020 # DISCRETE INPUT WORD 1
11220: 2040 DISC2I DEFINE 2040 # DISCRETE INPUT WORD 2
11221: 2200 DEDA DEFINE 2200
11222: 2001 SIALO DEFINE 2001 # DEFINE OUTPUT REGISTERS
11223: 2002 COALO DEFINE 2002 # FOR FDAI ANGLES
11224: 2004 SIBEO DEFINE 2004
11225: 2010 COBEO DEFINE 2010
11226: 2020 SIGAO DEFINE 2020
11227: 2040 COGAO DEFINE 2040
11230: 6001 EXO DEFINE 6001 # DEFINE THE ATT ERROR
11231: 6002 EYO DEFINE 6002 # OUTPUT REGISTERS
11232: 6004 EZO DEFINE 6004
11233: 6200 TMIDO DEFINE 6200
11234: 2600 SHOUT DEFINE 2600
11235: 2500 SHIN DEFINE 2500
11236: 10000 END
Checksums
CHECKSUM at 0206 (0207-1004) = 505072
CHECKSUM at 3777 (1005-3776) = 023521
CHECKSUM at 7777 (4000-7776) = 225333
Symbol Table
1: 1000D 0441 2: 10B17 4041 3: 10B4 7512 4: 10J 0226
5: 11J 0673 6: 12B4 5000 7: 12J 0305 8: 16J 0232
9: 17J 0503 10: 18J 0316 11: 1B1 5033 12: 1B11 4014
13: 1B12 4015 14: 1B13 4016 15: 1B14 4017 16: 1B17 4006
17: 1B2 4065 18: 1B3 7701 19: 1B4 4010 20: 1B5 4011
21: 1B6 4012 22: 1B9 4013 23: 1J 0275 24: 1J1 0240
25: 1J2 0241 26: 1J3 0242 27: 1J4 0260 28: 1J5 0261
29: 1J6 0262 30: 1J7 0254 31: 1J7LS 0255 32: 1K1 0544
33: 1K11 0546 34: 1K13 0552 35: 1K14 0537 36: 1K18 0534
37: 1K19 0540 38: 1K20 0535 39: 1K21 0541 40: 1K22 0536
41: 1K23 0542 42: 1K24 0625 43: 1K25 4021 44: 1K26 0626
45: 1K27 0627 46: 1K28 0630 47: 1K29 0631 48: 1K3 0550
49: 1K30 0617 50: 1K33 0632 51: 1K34 0633 52: 1K35 0634
53: 1K36 0635 54: 1K37 0613 55: 1K4 0624 56: 1K6 0545
57: 1K7 7507 58: 1K8 0551 59: 1K9 0616 60: 21J 0233
61: 22J 0464 62: 23J 0465 63: 25J 0223 64: 28J1 0450
65: 28J2 0451 66: 28J3 0452 67: 2B17 4005 68: 2B3 4065
69: 2J 0605 70: 2J1 0244 71: 2J2 0245 72: 2J3 0246
73: 2J4 0264 74: 2J5 0265 75: 2J6 0266 76: 2J7 0272
77: 2J7LS 0273 78: 2K1 0636 79: 2K11 0526 80: 2K14 0217
81: 2K17 0620 82: 2K18 0447 83: 2K19 0230 84: 2K2 0637
85: 2K20 0453 86: 2K3 0216 87: 2K4 0674 88: 2PIB3 4021
89: 3B17 4004 90: 3B3 7520 91: 3J 0312 92: 3K4 0304
93: 3PID4 4022 94: 49B17 4040 95: 4B17 4003 96: 4J 0306
97: 4K10 0662 98: 4K12 0506 99: 4K2 0654 100: 4K21 0666
101: 4K23 0622 102: 4K25 0446 103: 4K26 0454 104: 4K27 0473
105: 4K3 0655 106: 4K34 0660 107: 4K35 0661 108: 4K4 0557
109: 4K5 0227 110: 4K6 0527 111: 5B17 4002 112: 5B3 7512
113: 5J 0231 114: 5K14 0560 115: 5K16 0561 116: 5K17 0611
117: 5K18 0267 118: 5K20 0523 119: 5K26 0466 120: 6B17 4001
121: 6B3 5000 122: 6J 0307 123: 6J1 0640 124: 6J2 0641
125: 6J3 0642 126: 6K10 0566 127: 6K10S 0776 128: 6K11 0237
129: 6K12 0313 130: 6K13 0577 131: 6K14 0517 132: 6K2 0457
133: 6K4 0456 134: 6K5 0276 135: 6K6 0522 136: 6K6S 0777
137: 6K8 0564 138: 6K8S 0774 139: 6K9 0565 140: 6K9S 0775
141: 7B17 4000 142: 7B3 5427 143: 7J 0224 144: 7K1 0274
145: 7K2 0650 146: 8B17 4017 147: 8J 0225 148: A11 0130
149: A11BD 0374 150: A11D 0160 151: A11T 0330 152: A12 0131
153: A12BD 0375 154: A12D 0161 155: A12T 0331 156: A13 0132
157: A13BD 0376 158: A13D 0162 159: A13T 0332 160: A21 0140
161: A22 0141 162: A23 0142 163: A31 0134 164: A31BD 0300
165: A31D 0164 166: A31S 0554 167: A31T 0334 168: A32 0135
169: A32BD 0301 170: A32D 0165 171: A32S 0555 172: A32T 0335
173: A33 0136 174: A33BD 0302 175: A33D 0166 176: A33S 0556
177: A33T 0336 178: ABVEC 7155 179: ACCUM 7767 180: ADDMS 1133
181: ADOUT 7202 182: ADST 0333 183: AE 0173 184: AHE 4437
185: AHE1 4450 186: AI 0173 187: AL 0177 188: ALPHA 0171
189: ALTUP 1762 190: ARCTA1 7064 191: ARCTA2 7113 192: ARCTAE 7034
193: AT 0067 194: ATI 7357 195: ATTERR 4451 196: B13SF 0643
197: B13VSF 0651 198: B18SF 0665 199: B22RSF 0656 200: B23RSF 0653
201: B23SF 0677 202: B3SF 0652 203: BACCSF 0657 204: BACK 4044
205: BCDL 4042 206: BETAR 0253 207: BM13SF 0676 208: BR1 1012
209: BR2EX 5355 210: BR50 1014 211: BRANCH 0063 212: C1 0513
213: C11 0170 214: C12 0171 215: C13 0172 216: C14 0173
217: C2 0033 218: C21 0174 219: C22 0175 220: C23 0176
221: C24 0177 222: C31 0200 223: C31AD 2213 224: C32 0201
225: C33 0202 226: C34 0203 227: C41 0204 228: C42 0205
229: C43 0206 230: C44 0207 231: CAD 2220 232: CAL 3426
233: CALIB1 1253 234: CALIB2 1275 235: CDCC 4146 236: CDH 3773
237: CDH2 3734 238: CDH3 3740 239: CI 0103 240: CKSUM 7722
241: CLADD 1000 242: CLAFR 4046 243: CLATAB 1066 244: CLATEN 7002
245: CLEARM 1311 246: CLEARP 0323 247: CMF 0327 248: COA21 4275
249: COALO 2002 250: COBEO 2010 251: CODELL 0053 252: COGA 0127
253: COGAO 2040 254: COREX 7742 255: CRSPRD 6373 256: CSI 3660
257: CSICDH 3640 258: CSMPV 5145 259: CSMT1 5520 260: D11 0030
261: D31 0040 262: D31AD 2205 263: DA11 0150 264: DA12 0151
265: DA13 0152 266: DA31 0154 267: DA32 0155 268: DA33 0156
269: DAD 2015 270: DAX 0354 271: DAXA 0530 272: DAXREM 0510
273: DAY 0355 274: DAYA 0531 275: DAYREM 0511 276: DAZ 0356
277: DAZA 0532 278: DAZREM 0512 279: DD 0326 280: DDEL 0547
281: DDF 0455 282: DDIN 7326 283: DEDA 2200 284: DEDABR 1013
285: DEDAE 1277 286: DEDASC 0727 287: DEL10 0147 288: DEL2 0574
289: DEL20 0603 290: DEL21 0604 291: DEL31 0571 292: DEL32 0563
293: DEL42 0606 294: DEL44 0157 295: DEL45 0606 296: DEL46 0256
297: DEL5 0575 298: DEL6 0407 299: DELAY 4047 300: DELH 0402
301: DELP 6013 302: DELR1 0220 303: DELR2 0222 304: DELR3 0221
305: DELRP 0314 306: DELVGX 0500 307: DELVGY 0501 308: DELVGZ 0502
309: DEXIT 1307 310: DIAK1 0772 311: DIAK2 0773 312: DIAT 1362
313: DICOS 4223 314: DIGX 0110 315: DIGY 0111 316: DIGZ 0112
317: DISC1 0533 318: DISC1C 0401 319: DISC1I 2020 320: DISC2I 2040
321: DLDC 1405 322: DLREG 6200 323: DLSC 0037 324: DLSTO 1010
325: DLWN 0562 326: DLWNL 0672 327: DLWNLC 1132 328: DOUT 7240
329: DPDOUT 0443 330: DPOUT 0215 331: DPSQ 6667 332: DPSQ1 6673
333: DPSQ2 6714 334: DPSQ3 6716 335: DPTSB 6746 336: DPVMAG 6737
337: DQSX 0050 338: DRX 0104 339: DRY 0105 340: DRZ 0106
341: DSP1 3356 342: DSP2CP 3367 343: DSPF1 0567 344: DSPLY 6274
345: DSPLY1 6306 346: DSPLY2 6330 347: DSPLY3 6346 348: DSPLY4 6357
349: DSPSC 0543 350: DTB 0670 351: DUMCLA 5033 352: DVGXX 0600
353: DVGXY 0601 354: DVGXZ 0602 355: DVINT 4326 356: DVS 4074
357: DVSX 0120 358: DVSY 0121 359: DVSZ 0122 360: DVX 0350
361: DVXM1 0074 362: DVY 0351 363: DVYM1 0075 364: DVZ 0352
365: DVZM1 0076 366: DX10P 2606 367: DXFR1 2573 368: DXFR10 2605
369: DXFR13 2652 370: DXFR14 2744 371: DXFRA 2711 372: DXFRR5 2613
373: E1 0144 374: E13 0146 375: E3 0145 376: EADICS 4772
377: ELPRD 6535 378: ELPRD1 6543 379: ELPRD2 6620 380: ELPRD3 6642
381: ENCOM1 1501 382: ENTERP 0321 383: EONS10 0343 384: EROUT 4475
385: ERROR 7772 386: ESQ 0172 387: EX 0070 388: EX1 4072
389: EX16 4644 390: EX17 4666 391: EX27 5412 392: EX28 5266
393: EX29 5304 394: EX3 4142 395: EX30 5331 396: EX33 5551
397: EX33P 3612 398: EX33PP 3630 399: EX34 5614 400: EX34P 1141
401: EX35 3622 402: EX36 6066 403: EX36P 0730 404: EX4 4221
405: EX44 6467 406: EX45 6504 407: EX46 7224 408: EX50 7342
409: EX8 4325 410: EX9 4354 411: EXEC 6261 412: EXEC1 6360
413: EXEC2 3405 414: EXEC3 3532 415: EXEC6 3552 416: EXEC7 3402
417: EXECA 3466 418: EXECM 3411 419: EXECM1 3413 420: EXECM2 3525
421: EXIT 6764 422: EXIT1 1015 423: EXIT10 1026 424: EXIT11 1027
425: EXIT12 1030 426: EXIT13 1031 427: EXIT14 1032 428: EXIT15 1033
429: EXIT16 1034 430: EXIT17 1035 431: EXIT18 1036 432: EXIT19 1037
433: EXIT2 1016 434: EXIT20 1040 435: EXIT21 1041 436: EXIT22 1042
437: EXIT23 1044 438: EXIT24 1050 439: EXIT25 1051 440: EXIT26 1056
441: EXIT27 1057 442: EXIT28 1060 443: EXIT29 1065 444: EXIT3 1017
445: EXIT30 1067 446: EXIT31 1070 447: EXIT32 1071 448: EXIT33 1072
449: EXIT34 1073 450: EXIT35 1074 451: EXIT36 1075 452: EXIT37 1076
453: EXIT38 1077 454: EXIT39 1100 455: EXIT4 1020 456: EXIT40 1101
457: EXIT41 1110 458: EXIT42 1111 459: EXIT43 1112 460: EXIT44 1120
461: EXIT45 1121 462: EXIT46 1122 463: EXIT47 1123 464: EXIT48 1124
465: EXIT49 1125 466: EXIT5 1021 467: EXIT50 1126 468: EXIT51 1127
469: EXIT52 1130 470: EXIT53 1131 471: EXIT6 1022 472: EXIT7 1023
473: EXIT8 1024 474: EXIT9 1025 475: EXO 6001 476: EY 0071
477: EYEZ 4461 478: EYO 6002 479: EZ 0072 480: EZO 6004
481: FDAI 4626 482: FDAI1 3560 483: FDAIL 4724 484: FLAG1 0573
485: FLAGT 0572 486: FLTR 1777 487: FLTRA 2024 488: FLTRD 2065
489: FLTRE 2075 490: FLTRH 2121 491: FLTRI 2124 492: FLTRJ 2167
493: FLTRTM 2274 494: FLTRX 2402 495: GDLAW 6136 496: GDLAW3 3153
497: GDLAW4 3174 498: GM 2555 499: GRAV 5400 500: GRAV1 5421
501: GSESR 6214 502: GXDT 0114 503: GYCOM 4111 504: GYDT 0115
505: GZDT 0116 506: H 0337 507: HDOT 0367 508: HET 1330
509: HMF 0324 510: HOLDP 0322 511: HRC 4405 512: HRC1 4421
513: HRF 0553 514: HRINT 4431 515: I 0424 516: IC1 5070
517: IC1BR 1011 518: IC2 5110 519: IC3 5135 520: ID 0671
521: ID1F 0570 522: IDAI 1116 523: IDLE 3342 524: IDRP 1117
525: IMPBK1 6071 526: IMUDC 5061 527: INCMU7 3445 528: INIT 6177
529: INTAS 4255 530: IR 1513 531: IR1 1526 532: IR2 1550
533: IR3 1560 534: IR4 1517 535: IR5 1712 536: IR6 1704
537: J 0425 538: K 0426 539: K170 4030 540: K171 4027
541: K172 4026 542: K173 4025 543: K180 4034 544: K181 4033
545: K182 4032 546: K183 4031 547: K55 0607 548: KDT 0675
549: KINGK 2505 550: KSR 7147 551: LL3DOT 3566 552: LMORB 5444
553: LMORB1 5514 554: LMORB2 2456 555: LRI 4373 556: LUNAL 4534
557: LUNAL1 1733 558: LUNAZ 6154 559: M1B1 4126 560: M25B16 0667
561: MABEE 3544 562: MAX 7355 563: MEMSUM 7750 564: MODCK 1241
565: MODE 1570 566: MODE1 1577 567: MS 4036 568: MU10 0615
569: MU17 0167 570: MU19 0621 571: MU3 0610 572: MU6 0612
573: MU7 0647 574: MU8 0614 575: MU8S12 0363 576: MXM 2404
577: NAV 5161 578: NAV1 5175 579: NAV1P 1742 580: NAV2 5205
581: NAV3 5217 582: NAV4 5223 583: NE 0077 584: NEWDD 3472
585: NI 0077 586: NMAX 4037 587: NOC 4743 588: NORM 6721
589: NORM1 6735 590: NORMV 6422 591: NORTON 3571 592: NOTDD 7310
593: O25C 1043 594: OCTF 0027 595: OCTO 7247 596: ORBI2 3010
597: ORBIT3 2643 598: ORBLIN 1226 599: ORBLM 2463 600: ORBPAR 5277
601: ORBPM 6444 602: ORBPM1 6452 603: ORBRET 0726 604: OUT 3343
605: OUT1 3266 606: OVFLT 3346 607: OVFLW 7775 608: P 0170
609: P11 0700 610: P12 0701 611: P13 0702 612: P14 0703
613: P21 0704 614: P22 0705 615: P23 0706 616: P24 0707
617: P31 0710 618: P32 0711 619: P33 0712 620: P34 0713
621: P41 0714 622: P42 0715 623: P43 0716 624: P44 0717
625: PAD 2373 626: PART 0467 627: PBNSD2 7445 628: PDOTM1 0437
629: PDOUT 0444 630: PGNSD1 7450 631: PGNSDE 7420 632: PHIP 0117
633: PI 0576 634: PID2 4023 635: PID4 4024 636: PINIT 2364
637: PITER1 5771 638: PITER2 6026 639: PITER3 6033 640: PMAX 4030
641: PMAXP 0725 642: POUT 0214 643: POUTFS 0213 644: PP 0212
645: PSIP 0113 646: PUPDAT 2061 647: Q1 0172 648: Q1DEDA 0402
649: Q5 3063 650: Q7 3302 651: QA 0315 652: QL 0343
653: QLTELE 0403 654: R 0210 655: R0 0207 656: R0X 0204
657: R0Y 0205 658: R0Z 0206 659: R1 2433 660: R2 2422
661: R3 2411 662: R5X 0174 663: R5Y 0175 664: R5Z 0176
665: RADCK 1644 666: RADOT 0477 667: RANGE 2123 668: RATE 2071
669: RB 0435 670: RCX 0344 671: RCY 0345 672: RCZ 0346
673: RD2DOT 0044 674: RD3DOT 0504 675: RD3DTL 0610 676: RDOTS 0415
677: READP 0320 678: RETURN 6246 679: REX 0200 680: REY 0201
681: REZ 0202 682: RF 0347 683: RFDOT 0423 684: RIX 0220
685: RIY 0221 686: RIZ 0222 687: RM 0254 688: RMDOT 0255
689: RME 7257 690: RMF 0325 691: RND 1002 692: RND1 4260
693: RND2 4432 694: ROR 7215 695: RPT 1323 696: RR 0317
697: RRDOT 0440 698: RREX 0741 699: RREX1 0742 700: RREX2 0745
701: RRSX 0234 702: RRSY 0235 703: RRSZ 0236 704: RRT 3606
705: RRX 0124 706: RRY 0125 707: RRZ 0126 708: RSHFT 2341
709: RST 4524 710: RST1 1547 711: RSTE 1534 712: RT 0203
713: RVCOMP 5124 714: RVSAR 2360 715: RX 0340 716: RY 0341
717: RZ 0342 718: S0 0400 719: S10 0410 720: S11 0411
721: S12 0412 722: S13 0413 723: S14 0414 724: S15 0415
725: S16 0416 726: S17 0417 727: S507 0507 728: S623 0623
729: SDVX 0644 730: SDVY 0645 731: SDVZ 0646 732: SETFG 7712
733: SF 0026 734: SFLO 0724 735: SFTAB 1177 736: SFTEST 1336
737: SHDUM 4035 738: SHFT1 4261 739: SHFT2 4433 740: SHIN 2500
741: SHOUT 2600 742: SI 0043 743: SIALO 2001 744: SIBEO 2004
745: SICO1 7021 746: SICO2 7002 747: SICOE 6767 748: SIDELL 0047
749: SIGA 0123 750: SIGAO 2020 751: SINITC 1052 752: SIXTH 4020
753: SNS 7353 754: SOFT1 1456 755: SOFT2 1623 756: SOFT3 1473
757: SOUT 7220 758: SPULSE 4741 759: SQRT1 7144 760: SQRTE 7123
761: SREX 0023 762: SREX1 0022 763: SREX2 0021 764: SREX3 0020
765: STDD 7344 766: STEER 3206 767: STEER1 3220 768: STEER3 3253
769: STEER4 3261 770: STEST 2440 771: STGCTR 1061 772: STOCOM 4065
773: SUM 0137 774: SUMLIM 0663 775: T 0435 776: TA0 0372
777: TA1 0377 778: TA2 0353 779: TB 0436 780: TBO 0357
781: TBRAKE 6041 782: TCLTH 1007 783: TCSM 0445 784: TDEL 0310
785: TE1 0520 786: TE2 0524 787: TEST 7472 788: THEF 1144
789: THEP 0107 790: THETAF 0303 791: THETAR 0252 792: TI 0442
793: TIG 0373 794: TIMEA 6254 795: TL1 0521 796: TL2 0525
797: TLOS 0303 798: TMCLA 1006 799: TME 7371 800: TMID 0723
801: TMIDO 6200 802: TMIE1 1167 803: TMIE2 7410 804: TMOUT 4045
805: TMPBR 0057 806: TP 0434 807: TR 0311 808: TR1 0103
809: TR2 0143 810: TR3 0073 811: TR4 0460 812: TR5 0462
813: TR6 0461 814: TR8 0077 815: TRACOM 4036 816: TRNSFR 4043
817: TS0 0000 818: TS1 0001 819: TS10 0010 820: TS11 0011
821: TS12 0012 822: TS13 0013 823: TS14 0014 824: TS15 0015
825: TS16 0016 826: TS17 0017 827: TS2 0002 828: TS3 0003
829: TS4 0004 830: TS5 0005 831: TS6 0006 832: TS7 0007
833: TS8 0133 834: TSEX 0046 835: TVARBR 0024 836: TVTG 1426
837: U1X 0060 838: U1Y 0061 839: U1Z 0062 840: U2X 0030
841: U2Y 0031 842: U2Z 0032 843: UBCOMP 1236 844: V 0433
845: V0X 0424 846: V0Y 0425 847: V0Z 0426 848: V1X 0034
849: V1Y 0035 850: V1Z 0036 851: V2X 0064 852: V2Y 0065
853: V2Z 0066 854: V5X 0460 855: V5Y 0461 856: V5Z 0462
857: V6X 0050 858: V6Y 0051 859: V6Z 0052 860: VCX 0364
861: VCY 0365 862: VCZ 0366 863: VD1X 0404 864: VD1Y 0405
865: VD1Z 0406 866: VD2X 0100 867: VD2Y 0101 868: VD2Z 0102
869: VDX 0470 870: VDY 0471 871: VDZ 0472 872: VEX 0420
873: VEY 0421 874: VEZ 0422 875: VF 0371 876: VFX 0030
877: VG 0370 878: VGX 0064 879: VH 0427 880: VHA 0463
881: VHSQ 0143 882: VIX 0430 883: VIY 0431 884: VIZ 0432
885: VPY 0263 886: VRSH 0720 887: VRUP1 2671 888: VSMGX 0474
889: VSMGY 0475 890: VSMGZ 0476 891: VX 0360 892: VY 0361
893: VY0 0270 894: VY0FS 0271 895: VZ 0362 896: W1X 0040
897: W1Y 0041 898: W1Z 0042 899: WBX 0514 900: WBY 0515
901: WBZ 0516 902: WCX 0054 903: WCY 0055 904: WCZ 0056
905: WORDS 0664 906: WRDCNT 0153 907: WRDLP 6224 908: X3 0073
909: X4 0143 910: XDV 3025 911: XDV1 3031 912: XDV2 3047
913: XDV3 3053 914: XDVS 1750 915: XI 0277 916: XORBV1 5532
917: XORBV2 5563 918: Y 0211 919: YD2DOT 0045 920: YD3DOT 0505
921: ZERO 4007 922: ZERR 1462 923: ZNOC 5056
No duplicate symbols.
Assembly Status
Successful!