Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
035318,000002: ## Copyright: Public domain.
035319,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
035320,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
035321,000005: ## otherwise known as Luminary Rev 99, the third release
035322,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
035323,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
035324,000008: ## placement of a single label. The corrections shown here have
035325,000009: ## been verified to have the same bank checksums as AGC developer
035326,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
035327,000011: ## to be accurate. This file is intended to be a faithful
035328,000012: ## recreation, except that the code format has been changed to
035329,000013: ## conform to the requirements of the yaYUL assembler rather than
035330,000014: ## the original YUL assembler.
035331,000015: ##
035332,000016: ## Assembler: yaYUL
035333,000017: ## Contact: HARTMUTH GUTSCHE <hgutsche@xplornet.com>.
035334,000018: ## Website: www.ibiblio.org/apollo.
035335,000019: ## Pages: 798-828
035336,000020: ## Mod history: 2009-05-23 HG Transcribed from page images.
035337,000021: ## 2009-06-05 RSB Fixed a goofy thing that was apparently
035338,000022: ## legal in GAP but not in yaYUL. Eliminated
035339,000023: ## a couple of lines of code that shouldn't
035340,000024: ## have survived from Luminary 131 to here.
035341,000025: ## 2009-06-07 RSB Fixed a typo.
035342,000026: ## 2011-01-06 JL Fixed pseudo-labels which were incorrectly real labels.
035343,000027: ## 2011-05-07 JL Removed workaround.
035344,000028: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
035345,000029: ## 2016-12-16 RSB Proofed text comments with octopus/ProoferComments
035346,000030: ## and corrected the errors found.
035347,000031: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
035348,000032: ## The label 1406P00 was replaced with 1406POO.
035349,000033: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
035350,000034: ## side-by-side diff of Luminary 69/99/116/131/210.
035351,000035: ## 2017-08-01 MAS Created from LMY99 Rev 1.
035352,000036:
035353,000037: ## This source code has been transcribed or otherwise adapted from
035354,000038: ## digitized images of a hardcopy from the MIT Museum. The digitization
035355,000039: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
035356,000040: ## the Museum. Many thanks to both. The images (with suitable reduction
035357,000041: ## in storage size and consequent reduction in image quality as well) are
035358,000042: ## available online at www.ibiblio.org/apollo. If for some reason you
035359,000043: ## find that the images are illegible, contact me at info@sandroid.org
035360,000044: ## about getting access to the (much) higher-quality images which Paul
035361,000045: ## actually created.
035362,000046: ##
035363,000047: ## The code has been modified to match LMY99 Revision 0, otherwise
035364,000048: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
035365,000049: ## the listing from which it was transcribed. It has been verified to
035366,000050: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
035367,000051: ## of Luminary Revision 99 (for which we do not have scans).
035368,000052: ##
035369,000053: ## Notations on Allan Klumpp's listing read, in part:
035370,000054: ##
035371,000055: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
035372,000056:
|
|
Page 798 |
035374,000058: 31,2420 E7,1621 EBANK= E2DPS
035375,000059: 31,2420 COUNT* $$/F2DPS
035376,000060:
035377,000061: # ****************************************************************************************************************
035378,000062: # LUNAR LANDING FLIGHT SEQUENCE TABLES
035379,000063: # ****************************************************************************************************************
035380,000064:
035381,000065: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
035382,000066: # WCHPHASE = -1 ---> IGNALG
035383,000067: # WCHPHASE = 0 ---> BRAKQUAD
035384,000068: # WCHPHASE = 1 ---> APPRQUAD
035385,000069: # WCHPHASE = 2 ---> VERTICAL
035386,000070:
035387,000071: # ***************************************************************************************************************
035388,000072:
035389,000073: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
035390,000074:
035391,000075: 31,2420 12641 TCF TTFINCR # IGNALG
035392,000076: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD
035393,000077: 31,2422 12630 TCF STARTP64 # APPRQUAD
035394,000078: 31,2423 12621 TCF P65START # VERTICAL
035395,000079:
035396,000080: # PRE-GUIDANCE COMPUTATIONS:
035397,000081:
035398,000082: 31,2424 13003 TCF CALCRGVG # IGNALG
035399,000083: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD
035400,000084: 31,2426 12704 TCF REDESIG # APPRQUAD
035401,000085: 31,2427 13013 TCF RGVGCALC # VERTICAL
035402,000086:
035403,000087: # GUIDANCE EQUATIONS:
035404,000088:
035405,000089: 31,2430 13061 TCF TTF/8CL # IGNALG
035406,000090: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD
035407,000091: 31,2432 13061 TCF TTF/8CL # APPRQUAD
035408,000092: 31,2433 13531 TCF VERTGUID # VERTICAL
035409,000093:
035410,000094: # POST GUIDANCE EQUATION COMPUTATIONS:
035411,000095:
035412,000096: 31,2434 13245 TCF CGCALC # IGNALG
035413,000097: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD
035414,000098: 31,2436 13245 TCF CGCALC # APPRQUAD
035415,000099: 31,2437 13432 TCF STEER? # VERTICAL
035416,000100:
|
|
Page 799 |
035418,000102: # WINDOW VECTOR COMPUTATIONS:
035419,000103:
035420,000104: 31,2440 13331 TCF EXGSUB # IGNALG
035421,000105: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD
035422,000106: 31,2442 13360 TCF EXNORM # APPRQUAD
035423,000107:
035424,000108: # DISPLAY ROUTINES:
035425,000109:
035426,000110: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD
035427,000111: 31,2444 13477 TCF P64DISPS # APPRQUAD
035428,000112: 31,2445 13527 TCF VERTDISP # VERTICAL
035429,000113:
035430,000114: # ALARM ROUTINE FOR TTF COMPUTATION:
035431,000115:
035432,000116: 31,2446 13733 TCF 1406POO # IGNALG
035433,000117: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD
035434,000118: 31,2450 13735 TCF 1406ALM # APPRQUAD
035435,000119:
035436,000120: # INDICES FOR REFERENCING TARGET PARAMETERS:
035437,000121:
035438,000122: 31,2451 00000 OCT 0 # IGNALG
035439,000123: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD
035440,000124: 31,2453 00034 OCT 34 # APPRQUAD
035441,000125:
035442,000126: # ****************************************************************************************************************
035443,000127: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
035444,000128: # ****************************************************************************************************************
035445,000129:
035446,000130: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
035447,000131:
035448,000132: 31,2454 77776 ?GUIDSUB EXIT
035449,000133: 31,2455 34752 CAF TWO # N = 3
035450,000134: 31,2456 55647 TS NGUIDSUB
035451,000135: 31,2457 12603 TCF GUILDRET +2
035452,000136:
035453,000137: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
035454,000138: 31,2461 13003 TCF CALCRGVG
035455,000139:
035456,000140: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
035457,000141:
035458,000142: 31,2462 05353 LUNLAND TC PHASCHNG
035459,000143: 31,2463 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
035460,000144: 31,2464 05353 TC PHASCHNG
035461,000145: 31,2465 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21
035462,000146: 31,2466 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY
035463,000147:
|
|
Page 800 |
035465,000149: # ****************************************************************************************************************
035466,000150: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
035467,000151: # ****************************************************************************************************************
035468,000152:
035469,000153: 31,2467 COUNT* $$/R13
035470,000154:
035471,000155: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
035472,000156: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
035473,000157: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
035474,000158:
035475,000159: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
035476,000160: 31,2470 00030 READ CHAN30
035477,000161: 31,2471 74747 MASK BIT5
035478,000162: 31,2472 10000 CCS A
035479,000163: 31,2473 12551 TCF STARTP67 # YES
035480,000164: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
035481,000165: 31,2475 00103 DEC 67 B-14
035482,000166: 31,2476 12557 TCF STABL? # NO
035483,000167: 31,2477 03740 STARTP66 TC FASTCHNG # YES
035484,000168: 31,2500 05311 TC NEWMODEX
035485,000169: 31,2501 00102 DEC66 DEC 66 B-14
035486,000170: 31,2502 00006 EXTEND
035487,000171: 31,2503 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
035488,000172: 31,2504 53645 DXCH VDGVERT # ALTITUDE RATE.
035489,000173: 31,2505 06037 STRTP66A TC INTPRET
035490,000174: 31,2506 41535 SLOAD PUSH
035491,000175: 31,2507 01457 PBIASZ
035492,000176: 31,2510 41535 SLOAD PUSH
035493,000177: 31,2511 01455 PBIASY
035494,000178: 31,2512 55535 SLOAD VDEF
035495,000179: 31,2513 01453 PBIASX
035496,000180: 31,2514 43161 VXSC SET
035497,000181: 31,2515 25537 BIASFACT
035498,000182: 31,2516 00463 RODFLAG
035499,000183: 31,2517 26631 STOVL VBIAS
035500,000184: 31,2520 01255 TEMX
035501,000185: 31,2521 77676 VCOMP
035502,000186: 31,2522 27764 STOVL OLDPIPAX
035503,000187: 31,2523 06522 ZEROVECS
035504,000188: 31,2524 17767 STODL DELVROD
035505,000189: 31,2525 02540 RODSCALE
035506,000190: 31,2526 17757 STODL RODSCAL1
035507,000191: 31,2527 01235 PIPTIME
035508,000192: 31,2530 03760 STORE LASTTPIP
035509,000193: 31,2531 77776 EXIT
035510,000194: 31,2532 34755 CAF ZERO
035511,000195: 31,2533 55620 TS FCOLD
035512,000196: 31,2534 55610 TS FWEIGHT
035513,000197: 31,2535 55611 TS FWEIGHT +1
035514,000198: 31,2536 55647 VRTSTART TS WCHVERT
|
|
Page 801 |
035516,000200: 31,2537 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
035517,000201: 31,2540 55621 TS WCHPHOLD
035518,000202: 31,2541 55351 TS WCHPHASE
035519,000203: 31,2542 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
035520,000204: 31,2543 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
035521,000205: 31,2544 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
035522,000206: 31,2545 00311 ADRES XOVINFLG
035523,000207: 31,2546 05516 TC DOWNFLAG
035524,000208: 31,2547 00143 ADRES REDFLAG
035525,000209: 31,2550 13531 TCF VERTGUID
035526,000210:
035527,000211: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
035528,000212: 31,2552 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
035529,000213: 31,2553 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
035530,000214: 31,2554 55746 TS RODCOUNT
035531,000215: 31,2555 34363 CAF TEN
035532,000216: 31,2556 12536 TCF VRTSTART
035533,000217:
035534,000218: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT?
035535,000219: 31,2560 00006 EXTEND
035536,000220: 31,2561 02031 RAND CHAN31
035537,000221: 31,2562 10000 CCS A
035538,000222: 31,2563 12601 TCF GUILDRET # YES: ALL'S WELL
035539,000223:
035540,000224: 31,2564 41011 P66NOW? CS MODREG
035541,000225: 31,2565 62501 AD DEC66
035542,000226: 31,2566 00006 EXTEND
035543,000227: 31,2567 12574 BZF RESTART?
035544,000228:
035545,000229: 31,2570 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
035546,000230: 31,2571 00006 EXTEND
035547,000231: 31,2572 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
035548,000232: 31,2573 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
035549,000233:
035550,000234: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
035551,000235: 31,2575 74740 MASK RODFLBIT
035552,000236: 31,2576 00006 EXTEND
035553,000237: 31,2577 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
035554,000238: # IS.
035555,000239:
035556,000240: 31,2600 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
035557,000241:
035558,000242: # ****************************************************************************************************************
035559,000243: # INITIALIZATION FOR THIS PASS
035560,000244: # ****************************************************************************************************************
035561,000245:
035562,000246: 31,2601 COUNT* $$/F2DPS
035563,000247:
035564,000248: 31,2601 34755 GUILDRET CAF ZERO
035565,000249: 31,2602 55746 TS RODCOUNT
035566,000250:
|
|
Page 802 |
035568,000252: 31,2603 00006 +2 EXTEND
035569,000253: 31,2604 31625 DCA TPIP
035570,000254: 31,2605 53574 DXCH TPIPOLD
035571,000255:
035572,000256: 31,2606 03740 TC FASTCHNG
035573,000257:
035574,000258: 31,2607 00006 EXTEND
035575,000259: 31,2610 31561 DCA PIPTIME1
035576,000260: 31,2611 53625 DXCH TPIP
035577,000261:
035578,000262: 31,2612 00006 EXTEND
035579,000263: 31,2613 31643 DCA TTF/8
035580,000264: 31,2614 53553 DXCH TTF/8TMP
035581,000265:
035582,000266: 31,2615 11623 CCS FLPASS0
035583,000267: 31,2616 12641 TCF TTFINCR
035584,000268:
035585,000269: 31,2617 51351 BRSPOT1 INDEX WCHPHASE
035586,000270: 31,2620 12421 TCF NEWPHASE
035587,000271:
035588,000272: # ****************************************************************************************************************
035589,000273: # ROUTINES TO START NEW PHASES
035590,000274: # ****************************************************************************************************************
035591,000275:
035592,000276: 31,2621 05311 P65START TC NEWMODEX
035593,000277: 31,2622 00101 DEC 65 B-14
035594,000278: 31,2623 44752 CS TWO
035595,000279: 31,2624 55647 TS WCHVERT
035596,000280: 31,2625 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
035597,000281: 31,2626 00311 ADRES XOVINFLG
035598,000282: 31,2627 12641 TCF TTFINCR
035599,000283:
035600,000284: 31,2630 05311 STARTP64 TC NEWMODEX
035601,000285: 31,2631 00100 DEC 64 B-14
035602,000286: 31,2632 31425 CA DELTTFAP # AUGMENT TTF/8
035603,000287: 31,2633 27552 ADS TTF/8TMP
035604,000288: 31,2634 34740 CA BIT12 # ENABLE RUPT10
035605,000289: 31,2635 00006 EXTEND
035606,000290: 31,2636 05013 WOR CHAN13
035607,000291: 31,2637 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
035608,000292: 31,2640 00143 ADRES REDFLAG
035609,000293:
035610,000294:
035611,000295: # (CONTINUE TO TTFINCR)
035612,000296:
035613,000297: # ****************************************************************************************************************
035614,000298: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
035615,000299: # ****************************************************************************************************************
035616,000300:
035617,000301: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
|
|
Page 803 |
035619,000303: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
035620,000304: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
035621,000305: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
035622,000306: # - - - -
035623,000307: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
035624,000308: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
035625,000309: # - -
035626,000310: # RANGEDSP = ABVAL(LAND - R)
035627,000311:
035628,000312: 31,2641 06037 TTFINCR TC INTPRET
035629,000313: 31,2642 45345 DLOAD DSU
035630,000314: 31,2643 03625 TPIP
035631,000315: 31,2644 03574 TPIPOLD
035632,000316: 31,2645 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
035633,000317: 31,2646 21214 11D
035634,000318: 31,2647 47361 VXSC VXV
035635,000319: 31,2650 03635 LAND
035636,000320: 31,2651 02325 WM
035637,000321: 31,2652 47045 BVSU RTB
035638,000322: 31,2653 03635 LAND
035639,000323: 31,2654 21726 NORMUNIT
035640,000324: 31,2655 76561 VXSC VSL1
035641,000325: 31,2656 02333 /LAND/
035642,000326: 31,2657 17545 STODL LANDTEMP
035643,000327: 31,2660 77776 EXIT
035644,000328:
035645,000329: 31,2661 52155 DXCH MPAC
035646,000330: 31,2662 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
035647,000331:
035648,000332: 31,2663 03740 TC FASTCHNG
035649,000333:
035650,000334: 31,2664 00006 EXTEND
035651,000335: 31,2665 31553 DCA TTF/8TMP
035652,000336: 31,2666 53643 DXCH TTF/8
035653,000337:
035654,000338: 31,2667 00006 EXTEND
035655,000339: 31,2670 31545 DCA LANDTEMP
035656,000340: 31,2671 53635 DXCH LAND
035657,000341: 31,2672 00006 EXTEND
035658,000342: 31,2673 31547 DCA LANDTEMP +2
035659,000343: 31,2674 53637 DXCH LAND +2
035660,000344: 31,2675 00006 EXTEND
035661,000345: 31,2676 31551 DCA LANDTEMP +4
035662,000346: 31,2677 53641 DXCH LAND +4
035663,000347:
|
|
Page 804 |
035665,000349: 31,2700 03704 TC TDISPSET
035666,000350: 31,2701 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
035667,000351:
035668,000352: 31,2702 51351 BRSPOT2 INDEX WCHPHASE
035669,000353: 31,2703 12425 TCF PREGUIDE
035670,000354:
035671,000355: # ****************************************************************************************************************
035672,000356: # LANDING SITE PERTURBATION EQUATIONS
035673,000357: # ****************************************************************************************************************
035674,000358:
035675,000359: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
035676,000360: 31,2705 74746 MASK REDFLBIT
035677,000361: 31,2706 00006 EXTEND
035678,000362: 31,2707 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
035679,000363:
035680,000364: 31,2710 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
035681,000365: 31,2711 00006 EXTEND
035682,000366: 31,2712 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
035683,000367:
035684,000368: 31,2713 00004 INHINT
035685,000369: 31,2714 31267 CA ELINCR1
035686,000370: 31,2715 55554 TS ELINCR
035687,000371: 31,2716 31266 CA AZINCR1
035688,000372: 31,2717 55556 TS AZINCR
035689,000373: 31,2720 03740 TC FASTCHNG
035690,000374:
035691,000375: 31,2721 34755 CA ZERO
035692,000376: 31,2722 55267 TS ELINCR1
035693,000377: 31,2723 55266 TS AZINCR1
035694,000378: 31,2724 55555 TS ELINCR +1
035695,000379: 31,2725 55557 TS AZINCR +1
035696,000380:
035697,000381: 31,2726 30120 CA FIXLOC # SET PD TO 0
035698,000382: 31,2727 54166 TS PUSHLOC
035699,000383:
035700,000384: 31,2730 06037 TC INTPRET
035701,000385: 31,2731 52375 VLOAD VSU
035702,000386: 31,2732 03635 LAND
035703,000387: 31,2733 03521 R # - -
035704,000388: 31,2734 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
035705,000389: 31,2735 21726 NORMUNIT
035706,000390: 31,2736 76435 VXV VSL1
035707,000391: 31,2737 02154 YNBPIP # - - -
035708,000392: 31,2740 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
035709,000393: 31,2741 03555 ELINCR
035710,000394: 31,2742 03557 AZINCR
035711,000395: 31,2743 52361 VXSC VSU
035712,000396: 31,2744 02154 YNBPIP
035713,000397: 31,2745 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
035714,000398:
|
|
Page 805 |
035716,000400:
035717,000401: 31,2746 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
035718,000402: 31,2747 00001 0 # TOO CLOSE TO THE HORIZON
035719,000403: 31,2750 05660 DEPRCRIT
035720,000404: 31,2751 71240 BMN DLOAD
035721,000405: 31,2752 62755 REDES1
035722,000406: 31,2753 05660 DEPRCRIT
035723,000407: 31,2754 00001 STORE 0
035724,000408: 31,2755 45345 REDES1 DLOAD DSU
035725,000409: 31,2756 03635 LAND
035726,000410: 31,2757 03521 R
035727,000411: 31,2760 74271 DDV VXSC
035728,000412: 31,2761 00001 0
035729,000413: 31,2762 53455 VAD UNIT
035730,000414: 31,2763 03521 R
035731,000415: 31,2764 76561 VXSC VSL1
035732,000416: 31,2765 02333 /LAND/
035733,000417: 31,2766 03545 STORE LANDTEMP
035734,000418: 31,2767 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
035735,000419:
035736,000420: 31,2770 03740 TC FASTCHNG
035737,000421:
035738,000422: 31,2771 00006 EXTEND
035739,000423: 31,2772 31545 DCA LANDTEMP
035740,000424: 31,2773 53635 DXCH LAND
035741,000425: 31,2774 00006 EXTEND
035742,000426: 31,2775 31547 DCA LANDTEMP +2
035743,000427: 31,2776 53637 DXCH LAND +2
035744,000428: 31,2777 00006 EXTEND
035745,000429: 31,3000 31551 DCA LANDTEMP +4
035746,000430: 31,3001 53641 DXCH LAND +4
035747,000431:
035748,000432: 31,3002 13013 TCF RGVGCALC
035749,000433:
035750,000434: # ****************************************************************************************************************
035751,000435: # COMPUTE STATE IN GUIDANCE COORDINATES
035752,000436: # ****************************************************************************************************************
035753,000437:
035754,000438: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
035755,000439: # VELOCITY RELATIVE TO THE SURFACE:
035756,000440: # - - - -
035757,000441: # ANGTERM = V + R * WM
035758,000442:
035759,000443: # STATE IN GUIDANCE COORDINATES:
035760,000444: # - * - -
035761,000445: # RGU = CG (R - LAND)
035762,000446: # - * - - -
|
|
Page 806 |
035764,000448: # VGU = CG (V - WM * R)
035765,000449:
035766,000450: # HORIZONTAL VELOCITY FOR DISPLAY:
035767,000451:
035768,000452: # VHORIZ = 8 ABVAL (0, VG , VG )
035769,000453: # 2 1
035770,000454: # DEPRESSION ANGLE FOR DISPLAY:
035771,000455: # - - -
035772,000456: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
035773,000457:
035774,000458: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
035775,000459: 31,3004 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
035776,000460: 31,3005 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
035777,000461: 31,3006 01734 REFSMMAT
035778,000462: 31,3007 53362 VSR1 VAD
035779,000463: 31,3010 03254 UNFC/2
035780,000464: 31,3011 03527 STORE V
035781,000465: 31,3012 77776 EXIT
035782,000466:
035783,000467: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
035784,000468: 31,3014 47375 VLOAD VXV
035785,000469: 31,3015 03521 R
035786,000470: 31,3016 02325 WM
035787,000471: 31,3017 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
035788,000472: 31,3020 03527 V
035789,000473: 31,3021 02265 STORE ANGTERM
035790,000474: 31,3022 77721 MXV
035791,000475: 31,3023 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
035792,000476: 31,3024 03627 STORE VGU
035793,000477: 31,3025 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
035794,000478: 31,3026 06522 ZEROVECS # 2 1
035795,000479: 31,3027 52446 ABVAL SL3
035796,000480: 31,3030 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
035797,000481: 31,3031 03521 R # - -
035798,000482: 31,3032 41451 VSU PUSH # PUSH DOWN R - LAND
035799,000483: 31,3033 03635 LAND
035800,000484: 31,3034 76521 MXV VSL1
035801,000485: 31,3035 02603 CG
035802,000486: 31,3036 02637 STORE RGU
035803,000487: 31,3037 77646 ABVAL
035804,000488: 31,3040 26625 STOVL RANGEDSP
035805,000489: 31,3041 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
035806,000490: 31,3042 21726 NORMUNIT
035807,000491: 31,3043 02146 XNBPIP
035808,000492: 31,3044 77776 EXIT
035809,000493:
035810,000494: 31,3045 30120 CA FIXLOC # RESET PUSH DOWN POINTER
035811,000495: 31,3046 54166 TS PUSHLOC
035812,000496:
|
|
Page 807 |
035814,000498: 31,3047 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
035815,000499: 31,3050 60000 DOUBLE
035816,000500: 31,3051 04616 TC BANKCALL
035817,000501: 31,3052 61672 CADR SPARCSIN -1
035818,000502: 31,3053 63753 AD 1/2DEG
035819,000503: 31,3054 00006 EXTEND
035820,000504: 31,3055 73752 MP 180DEGS
035821,000505: 31,3056 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
035822,000506:
035823,000507: 31,3057 51351 BRSPOT3 INDEX WCHPHASE
035824,000508: 31,3060 12431 TCF WHATGUID
035825,000509:
035826,000510: # ****************************************************************************************************************
035827,000511: # TTF/8 COMPUTATION
035828,000512: # ****************************************************************************************************************
035829,000513:
035830,000514: 31,3061 03677 TTF/8CL TC INTPRETX
035831,000515: 31,3062 77743 DLOAD*
035832,000516: 31,3063 02431 JDG2TTF,1
035833,000517: 31,3064 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
035834,000518: 31,3065 02427 ADG2TTF,1 # 2
035835,000519: 31,3066 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
035836,000520: 31,3067 03633 VGU +4 # 2
035837,000521: 31,3070 42605 DMP DAD*
035838,000522: 31,3071 05656 3/4DP
035839,000523: 31,3072 02425 VDG2TTF,1
035840,000524: 31,3073 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
035841,000525: 31,3074 02407 RDG +4,1 # 2 2
035842,000526: 31,3075 41225 DSU DMP
035843,000527: 31,3076 02643 RGU +4
035844,000528: 31,3077 05654 3/8DP
035845,000529: 31,3100 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
035846,000530: 31,3101 77776 EXIT # 2 2
035847,000531:
035848,000532: 31,3102 34744 CA BIT8
035849,000533: 31,3103 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
035850,000534:
035851,000535: 31,3104 00006 EXTEND
035852,000536: 31,3105 31643 DCA TTF/8
035853,000537: 31,3106 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
035854,000538: 31,3107 34752 CAF TWO # DEGREE - ONE
035855,000539: 31,3110 54001 TS L
035856,000540: 31,3111 33746 CAF TABLTTFL
035857,000541: 31,3112 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
035858,000542: 31,3113 51351 INDEX WCHPHASE
035859,000543: 31,3114 12447 TCF WHATALM
035860,000544:
035861,000545: 31,3115 00006 EXTEND # GOOD RETURN
035862,000546: 31,3116 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
035863,000547: 31,3117 53643 DXCH TTF/8 # CORRECTED TTF/8
035864,000548:
|
|
Page 808 |
035866,000550: 31,3120 03704 TC TDISPSET
035867,000551:
035868,000552: # (CONTINUE TO QUADGUID)
035869,000553:
035870,000554: # ****************************************************************************************************************
035871,000555: # MAIN GUIDANCE EQUATION
035872,000556: # ****************************************************************************************************************
035873,000557:
035874,000558: # AS PUBLISHED:-
035875,000559: # - - - -
035876,000560: # - - 6(VDG + VG) 12(RDG - RG)
035877,000561: # ACG = ADG + ----------- + ------------
035878,000562: # TTF (TTF)(TTF)
035879,000563: # AS HERE PROGRAMMED:-
035880,000564: # - -
035881,000565: # 3 (1/4(RDG - RG) - - )
035882,000566: # - (------------- + VDG + VG)
035883,000567: # - 4 ( TTF/8 ) -
035884,000568: # ACG = ---------------------------- + ADG
035885,000569: # TTF/8
035886,000570:
035887,000571: 31,3121 41642 QUADGUID CS TTF/8
035888,000572: 31,3122 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
035889,000573: 31,3123 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
035890,000574: 31,3124 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
035891,000575: 31,3125 40001 CS L
035892,000576: 31,3126 60001 AD L
035893,000577: 31,3127 22007 ZL
035894,000578: 31,3130 00006 EXTEND
035895,000579: 31,3131 11642 DV TTF/8
035896,000580: 31,3132 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
035897,000581: 31,3133 00006 EXTEND
035898,000582: 31,3134 70000 SQUARE
035899,000583: 31,3135 54131 TS BUF +1
035900,000584: 31,3136 60130 AD BUF
035901,000585: 31,3137 56131 XCH BUF +1 # RATIO SQUARED - RATIO
035902,000586: 31,3140 60131 AD BUF +1
035903,000587: 31,3141 54154 TS MPAC # COEFFICIENT FOR VGU TERM
035904,000588: 31,3142 60131 AD BUF +1
035905,000589: 31,3143 50120 INDEX FIXLOC
035906,000590: 31,3144 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
035907,000591: 31,3145 60131 AD BUF +1
035908,000592: 31,3146 50120 INDEX FIXLOC
035909,000593: 31,3147 54034 TS 28D # COEFFICIENT FOR VDG TERM
035910,000594: 31,3150 60130 AD BUF
035911,000595: 31,3151 64733 AD POSMAX
|
|
Page 809 |
035913,000597: 31,3152 60131 AD BUF +1
035914,000598: 31,3153 60131 AD BUF +1
035915,000599: 31,3154 50120 INDEX FIXLOC
035916,000600: 31,3155 54036 TS 30D # COEFFICIENT FOR ADG TERM
035917,000601:
035918,000602: 31,3156 34755 CAF ZERO
035919,000603: 31,3157 54163 TS MODE
035920,000604:
035921,000605: 31,3160 03677 TC INTPRETX
035922,000606: 31,3161 65361 VXSC PDDL
035923,000607: 31,3162 03627 VGU
035924,000608: 31,3163 00035 28D
035925,000609: 31,3164 62757 VXSC* PDVL*
035926,000610: 31,3165 02411 VDG,1
035927,000611: 31,3166 02403 RDG,1
035928,000612: 31,3167 70251 VSU V/SC
035929,000613: 31,3170 02637 RGU
035930,000614: 31,3171 03643 TTF/8
035931,000615: 31,3172 74342 VSR2 VXSC
035932,000616: 31,3173 00033 26D
035933,000617: 31,3174 53255 VAD VAD
035934,000618: 31,3175 74341 V/SC VXSC
035935,000619: 31,3176 03643 TTF/8
035936,000620: 31,3177 05656 3/4DP
035937,000621: 31,3200 73725 PDDL VXSC*
035938,000622: 31,3201 00037 30D
035939,000623: 31,3202 02417 ADG,1
035940,000624: 31,3203 77655 VAD
035941,000625: 31,3204 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
035942,000626: 31,3205 02603 CG
035943,000627: 31,3206 70315 PDVL V/SC
035944,000628: 31,3207 01237 GDT/2
035945,000629: 31,3210 05652 GSCALE
035946,000630: 31,3211 45445 BVSU STADR
035947,000631: 31,3212 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
035948,000632: 31,3213 77646 ABVAL
035949,000633: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
035950,000634: 31,3215 03254 UNFC/2 # VERTICAL COMPONENT
035951,000635: 31,3216 65316 DSQ PDDL
035952,000636: 31,3217 03256 UNFC/2 +2 # OUT-OF-PLANE
035953,000637: 31,3220 65316 DSQ PDDL
035954,000638: 31,3221 05650 HIGHESTF
035955,000639: 31,3222 63471 DDV DSQ
035956,000640: 31,3223 01245 MASS # 2 2 2
035957,000641: 31,3224 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
035958,000642: 31,3225 71244 BPL DLOAD # 1 0
035959,000643: 31,3226 63230 AFCCALC3
035960,000644: 31,3227 06522 ZEROVECS
035961,000645: 31,3230 43366 AFCCALC3 SQRT DAD
035962,000646: 31,3231 03260 UNFC/2 +4
|
|
Page 810 |
035964,000648: 31,3232 44244 BPL BDSU
035965,000649: 31,3233 63236 AFCCLEND
035966,000650: 31,3234 03260 UNFC/2 +4
035967,000651: 31,3235 03260 STORE UNFC/2 +4
035968,000652: 31,3236 77776 AFCCLEND EXIT
035969,000653: 31,3237 03740 TC FASTCHNG
035970,000654:
035971,000655: 31,3240 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
035972,000656: 31,3241 55621 TS WCHPHOLD
035973,000657: 31,3242 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
035974,000658:
035975,000659: 31,3243 51351 BRSPOT4 INDEX WCHPHASE
035976,000660: 31,3244 12435 TCF AFTRGUID
035977,000661:
035978,000662: # ***************************************************************************************************************
035979,000663: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
035980,000664: # ***************************************************************************************************************
035981,000665:
035982,000666: 31,3245 35014 CGCALC CAF EBANK5
035983,000667: 31,3246 54003 TS EBANK
035984,000668: 31,3247 E5,1435 EBANK= TCGIBRAK
035985,000669: 31,3247 00006 EXTEND
035986,000670: 31,3250 51351 INDEX WCHPHASE
035987,000671: 31,3251 52452 INDEX TARGTDEX
035988,000672: 31,3252 31435 DCA TCGFBRAK
035989,000673: 31,3253 24006 INCR BBANK
035990,000674: 31,3254 24006 INCR BBANK
035991,000675: 31,3255 E7,1642 EBANK= TTF/8
035992,000676: 31,3255 61642 AD TTF/8
035993,000677: 31,3256 56001 XCH L
035994,000678: 31,3257 61642 AD TTF/8
035995,000679: 31,3260 10000 CCS A
035996,000680: 31,3261 10001 CCS L
035997,000681: 31,3262 13313 TCF EXTLOGIC
035998,000682: 31,3263 13313 TCF EXTLOGIC
035999,000683: 31,3264 13265 NOOP
036000,000684:
036001,000685: 31,3265 03677 TC INTPRETX
036002,000686: 31,3266 53575 VLOAD UNIT
036003,000687: 31,3267 03635 LAND
036004,000688: 31,3270 16603 STODL CG
036005,000689: 31,3271 03643 TTF/8
036006,000690: 31,3272 74203 DMP* VXSC
036007,000691: 31,3273 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
036008,000692: 31,3274 02265 ANGTERM
036009,000693: 31,3275 77655 VAD
036010,000694: 31,3276 03635 LAND
036011,000695: 31,3277 47051 VSU RTB
036012,000696: 31,3300 03521 R
036013,000697: 31,3301 21726 NORMUNIT
|
|
Page 811 |
036015,000699: 31,3302 47035 VXV RTB
036016,000700: 31,3303 03635 LAND
036017,000701: 31,3304 21726 NORMUNIT
036018,000702: 31,3305 26611 STOVL CG +6 # SECOND ROW
036019,000703: 31,3306 02603 CG
036020,000704: 31,3307 76435 VXV VSL1
036021,000705: 31,3310 02611 CG +6
036022,000706: 31,3311 02617 STORE CG +14
036023,000707: 31,3312 77776 EXIT
036024,000708:
036025,000709: # (CONTINUE TO EXTLOGIC)
036026,000710:
036027,000711: # ****************************************************************************************************************
036028,000712: # PREPARE TO EXIT
036029,000713: # ****************************************************************************************************************
036030,000714:
036031,000715: # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES
036032,000716:
036033,000717: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD
036034,000718: 31,3314 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD
036035,000719: 31,3315 61642 AD TTF/8
036036,000720:
036037,000721: 31,3316 00006 EXSPOT1 EXTEND
036038,000722: 31,3317 51351 INDEX WCHPHASE
036039,000723: 31,3320 62441 BZMF WHATEXIT
036040,000724:
036041,000725: 31,3321 03740 TC FASTCHNG
036042,000726:
036043,000727: 31,3322 31621 CA WCHPHOLD
036044,000728: 31,3323 64753 AD ONE
036045,000729: 31,3324 55351 TS WCHPHASE
036046,000730: 31,3325 34755 CA ZERO
036047,000731: 31,3326 55623 TS FLPASS0 # RESET FLPASS0
036048,000732:
036049,000733: 31,3327 51621 INDEX WCHPHOLD
036050,000734: 31,3330 12441 TCF WHATEXIT
036051,000735:
036052,000736: # ****************************************************************************************************************
036053,000737: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
036054,000738: # ****************************************************************************************************************
036055,000739:
036056,000740: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
036057,000741: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
036058,000742: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
036059,000743: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
036060,000744:
036061,000745: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
|
|
Page 812 |
036063,000747: 31,3332 47175 VLOAD RTB
036064,000748: 31,3333 03254 UNFC/2
036065,000749: 31,3334 21726 NORMUNIT
036066,000750: 31,3335 74361 VXSC VXSC
036067,000751: 31,3336 03423 ZOOMTIME
036068,000752: 31,3337 22001 TRIMACCL
036069,000753: 31,3340 03254 STORE UNFC/2
036070,000754: 31,3341 77776 EXIT
036071,000755:
036072,000756: 31,3342 11647 CCS NGUIDSUB
036073,000757: 31,3343 12460 TCF GUIDSUB
036074,000758: 31,3344 11646 CCS NIGNLOOP
036075,000759: 31,3345 13350 TCF +3
036076,000760: 31,3346 05567 TC ALARM
036077,000761: 31,3347 01412 OCT 01412
036078,000762:
036079,000763: 31,3350 04635 +3 TC POSTJUMP
036080,000764: 31,3351 65102 CADR DDUMCALC
036081,000765:
036082,000766: 31,3352 06037 EXBRAK TC INTPRET
036083,000767: 31,3353 77775 VLOAD
036084,000768: 31,3354 03537 UNIT/R/
036085,000769: 31,3355 03262 STORE UNWC/2
036086,000770: 31,3356 77776 EXIT
036087,000771: 31,3357 13432 TCF STEER?
036088,000772:
036089,000773: 31,3360 06037 EXNORM TC INTPRET
036090,000774: 31,3361 52375 VLOAD VSU
036091,000775: 31,3362 03635 LAND
036092,000776: 31,3363 03521 R
036093,000777: 31,3364 77634 RTB
036094,000778: 31,3365 21726 NORMUNIT
036095,000779: 31,3366 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
036096,000780: 31,3367 50235 VXV DOT
036097,000781: 31,3370 02146 XNBPIP
036098,000782: 31,3371 02611 CG +6
036099,000783: 31,3372 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
036100,000784:
036101,000785: 31,3373 40154 CS MPAC # GET COEFFICIENT FOR CG +14
036102,000786: 31,3374 63754 AD PROJMAX
036103,000787: 31,3375 64733 AD POSMAX
036104,000788: 31,3376 54130 TS BUF
036105,000789: 31,3377 40130 CS BUF
036106,000790: 31,3400 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
036107,000791:
036108,000792: 31,3401 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
036109,000793: 31,3402 60154 AD MPAC
036110,000794: 31,3403 64733 AD POSMAX
036111,000795: 31,3404 54131 TS BUF +1
036112,000796: 31,3405 40131 CS BUF +1
|
|
Page 813 |
036114,000798: 31,3406 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
036115,000799:
036116,000800: 31,3407 34751 CAF FOUR
036117,000801: 31,3410 76242 UNWCLOOP MASK SIX
036118,000802: 31,3411 54002 TS Q
036119,000803: 31,3412 35014 CA EBANK5
036120,000804: 31,3413 54003 TS EBANK
036121,000805: 31,3414 E5,1602 EBANK= CG
036122,000806: 31,3414 30130 CA BUF
036123,000807: 31,3415 00006 EXTEND
036124,000808: 31,3416 50002 INDEX Q
036125,000809: 31,3417 71616 MP CG +14
036126,000810: 31,3420 24006 INCR BBANK
036127,000811: 31,3421 E6,1661 EBANK= UNWC/2
036128,000812: 31,3421 50002 INDEX Q
036129,000813: 31,3422 53662 DXCH UNWC/2
036130,000814: 31,3423 00006 EXTEND
036131,000815: 31,3424 70131 MP BUF +1
036132,000816: 31,3425 50002 INDEX Q
036133,000817: 31,3426 21662 DAS UNWC/2
036134,000818: 31,3427 10002 CCS Q
036135,000819: 31,3430 13410 TCF UNWCLOOP
036136,000820:
036137,000821: 31,3431 24006 INCR BBANK
036138,000822: 31,3432 E7,1612 EBANK= PIF
036139,000823:
036140,000824: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
036141,000825: 31,3433 74741 MASK STEERBIT
036142,000826: 31,3434 00006 EXTEND
036143,000827: 31,3435 13443 BZF RATESTOP
036144,000828:
036145,000829: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
036146,000830: 31,3437 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
036147,000831: 31,3440 13453 BZF +13
036148,000832:
036149,000833: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
036150,000834: 31,3442 01410 OCT 01410
036151,000835:
036152,000836: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
036153,000837: 31,3444 00006 EXTEND
036154,000838: 31,3445 02031 RAND CHAN31
036155,000839: 31,3446 00006 EXTEND
036156,000840: 31,3447 13460 BZF DISPEXIT # YES
036157,000841:
036158,000842: 31,3450 04616 TC BANKCALL # NO: DO A STOPRATE
036159,000843: 31,3451 40165 CADR STOPRATE
036160,000844:
036161,000845: 31,3452 13460 TCF DISPEXIT
036162,000846:
036163,000847: 31,3453 02216 GDUMP1 TC THROTTLE
|
|
Page 814 |
036165,000849: 31,3454 06037 TC INTPRET
036166,000850: 31,3455 77624 CALL
036167,000851: 31,3456 61111 FINDCDUW -2
036168,000852: 31,3457 77776 EXIT
036169,000853:
036170,000854: # (CONTINUE TO DISPEXIT)
036171,000855:
036172,000856: # ****************************************************************************************************************
036173,000857: # GUIDANCE LOOP DISPLAYS
036174,000858: # ****************************************************************************************************************
036175,000859:
036176,000860: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
036177,000861: 31,3461 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
036178,000862: 31,3462 52757 DXCH -PHASE3
036179,000863:
036180,000864: 31,3463 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
036181,000865: 31,3464 74742 MASK FLUNDBIT
036182,000866: 31,3465 00006 EXTEND
036183,000867: 31,3466 13476 BZF ENDLLJOB # TO PICK UP THE TAG
036184,000868:
036185,000869: 31,3467 51621 INDEX WCHPHOLD
036186,000870: 31,3470 12443 TCF WHATDISP
036187,000871:
036188,000872: 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5
036189,000873: 31,3472 00035 OCT 00035
036190,000874:
036191,000875: 31,3473 33756 P63DISPS CAF V06N63
036192,000876: 31,3474 04616 DISPCOMN TC BANKCALL
036193,000877: 31,3475 20470 CADR REGODSPR
036194,000878:
036195,000879: 31,3476 15155 ENDLLJOB TCF ENDOFJOB
036196,000880:
036197,000881: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
036198,000882: 31,3500 00006 EXTEND
036199,000883: 31,3501 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
036200,000884:
036201,000885: 31,3502 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
036202,000886: 31,3503 74746 MASK REDFLBIT
036203,000887: 31,3504 00006 EXTEND
036204,000888: 31,3505 13525 BZF REDES-OK # YES: DO STATIC DISPLAY
036205,000889:
036206,000890: 31,3506 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
036207,000891: 31,3507 04616 TC BANKCALL
036208,000892: 31,3510 20462 CADR REFLASHR
036209,000893: 31,3511 16001 TCF GOTOPOOH # TERMINATE
036210,000894: 31,3512 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
036211,000895: 31,3513 13477 TCF P64DISPS # RECYCLE
|
|
Page 815 |
036213,000897: 31,3514 13476 TCF ENDLLJOB # TO PICK UP THE TAG
036214,000898:
036215,000899: 31,3515 34755 P64CEED CAF ZERO
036216,000900: 31,3516 55267 TS ELINCR1
036217,000901: 31,3517 55266 TS AZINCR1
036218,000902:
036219,000903: 31,3520 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
036220,000904: 31,3521 00143 ADRES REDFLAG
036221,000905:
036222,000906: 31,3522 15155 TCF ENDOFJOB
036223,000907:
036224,000908: 31,3523 05516 RED-OVER TC DOWNFLAG
036225,000909: 31,3524 00143 ADRES REDFLAG
036226,000910: 31,3525 33757 REDES-OK CAF V06N64
036227,000911: 31,3526 13474 TCF DISPCOMN
036228,000912:
036229,000913:
036230,000914: 31,3527 33760 VERTDISP CAF V06N60
036231,000915: 31,3530 13474 TCF DISPCOMN
036232,000916:
036233,000917:
036234,000918: # ****************************************************************************************************************
036235,000919: # GUIDANCE FOR P65
036236,000920: # ****************************************************************************************************************
036237,000921:
036238,000922: 31,3531 11647 VERTGUID CCS WCHVERT
036239,000923: 31,3532 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67
036240,000924: 31,3533 13543 TCF P66VERT # +0
036241,000925:
036242,000926: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
036243,000927: # - -
036244,000928: # V2FG - VGU
036245,000929: # ACG = ----------
036246,000930: # TAUVERT
036247,000931:
036248,000932: 31,3534 06037 P65VERT TC INTPRET
036249,000933: 31,3535 52375 VLOAD VSU
036250,000934: 31,3536 02511 V2FG
036251,000935: 31,3537 03627 VGU
036252,000936: 31,3540 52141 V/SC GOTO
036253,000937: 31,3541 02517 TAUVERT
036254,000938: 31,3542 63204 AFCCALC1
|
|
Page 816 |
036256,000940: # ****************************************************************************************************************
036257,000941: # GUIDANCE FOR P66
036258,000942: # ****************************************************************************************************************
036259,000943:
036260,000944: 31,3543 04635 P66VERT TC POSTJUMP
036261,000945: 31,3544 65270 CADR P66VERTA
036262,000946:
036263,000947: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
036264,000948: 31,3546 00003 OCT 00003
036265,000949:
036266,000950: 31,3547 06037 TC INTPRET
036267,000951: 31,3550 52175 VLOAD GOTO
036268,000952: 31,3551 03527 V
036269,000953: 31,3552 65517 VHORCOMP
036270,000954:
036271,000955: 32,2000 SETLOC P66LOC
036272,000956: 32,2000 BANK
036273,000957: 32,3263 COUNT* $$/F2DPS
036274,000958:
036275,000959: 32,3263 37710 RODTASK CAF PRIO22
036276,000960: 32,3264 05105 TC FINDVAC
036277,000961: 32,3265 E7,1515 EBANK= DVCNTR
036278,000962: 32,3265 03275 64067 2CADR RODCOMP
036279,000963:
036280,000964: 32,3267 15261 TCF TASKOVER
036281,000965:
036282,000966: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
036283,000967: 32,3271 00003 OCT 00003
036284,000968:
036285,000969: 32,3272 34777 CAF 1SEC
036286,000970: 32,3273 05173 TC TWIDDLE
036287,000971: 32,3274 03263 ADRES RODTASK
036288,000972:
036289,000973: 32,3275 00004 RODCOMP INHINT
036290,000974: 32,3276 34755 CAF ZERO
036291,000975: 32,3277 57746 XCH RODCOUNT
036292,000976: 32,3300 00006 EXTEND
036293,000977: 32,3301 71756 MP RODSCAL1
036294,000978: 32,3302 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
036295,000979:
036296,000980: 32,3303 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
036297,000981: 32,3304 30040 DCA PIPAX
036298,000982: 32,3305 53764 DXCH OLDPIPAX
036299,000983: 32,3306 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
036300,000984: 32,3307 30041 CA PIPAZ
036301,000985: 32,3310 57765 XCH OLDPIPAZ
036302,000986: 32,3311 56072 XCH RUPTREG3
036303,000987:
036304,000988: 32,3312 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
036305,000989: 32,3313 30025 DCA TIME2
|
|
Page 817 |
036307,000991: 32,3314 53762 DXCH THISTPIP
036308,000992:
036309,000993: 32,3315 31763 CA OLDPIPAX
036310,000994: 32,3316 61160 AD PIPATMPX
036311,000995: 32,3317 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
036312,000996: 32,3320 31764 CA OLDPIPAY
036313,000997: 32,3321 61161 AD PIPATMPY
036314,000998: 32,3322 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
036315,000999: 32,3323 31765 CA OLDPIPAZ
036316,001000: 32,3324 61162 AD PIPATMPZ
036317,001001: 32,3325 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
036318,001002:
036319,001003: 32,3326 41763 CS OLDPIPAX
036320,001004: 32,3327 61254 AD TEMX
036321,001005: 32,3330 60070 AD RUPTREG1
036322,001006: 32,3331 55766 TS DELVROD
036323,001007: 32,3332 41764 CS OLDPIPAY
036324,001008: 32,3333 61255 AD TEMY
036325,001009: 32,3334 60071 AD RUPTREG2
036326,001010: 32,3335 55770 TS DELVROD +2
036327,001011: 32,3336 41765 CS OLDPIPAZ
036328,001012: 32,3337 61256 AD TEMZ
036329,001013: 32,3340 60072 AD RUPTREG3
036330,001014: 32,3341 55772 TS DELVROD +4
036331,001015:
036332,001016: 32,3342 34755 CAF ZERO
036333,001017: 32,3343 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
036334,001018: 32,3344 54160 TS MPAC +4
036335,001019: 32,3345 54162 TS MPAC +6
036336,001020: 32,3346 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
036337,001021: 32,3347 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
036338,001022: 32,3350 55256 TS TEMZ
036339,001023: 32,3351 44753 CS ONE
036340,001024: 32,3352 54163 TS MODE
036341,001025: 32,3353 06037 TC INTPRET
036342,001026: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
036343,001027: 32,3355 26022 KPIP1
036344,001028: 32,3356 03762 THISTPIP
036345,001029: 32,3357 77625 DSU
036346,001030: 32,3360 01235 PIPTIME
036347,001031: 32,3361 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
036348,001032: 32,3362 63271 DDV PDVL # (8)
036349,001033: 32,3363 27153 4SEC(28)
036350,001034: 32,3364 01237 GDT/2
036351,001035: 32,3365 74251 VSU VXSC # (6)
036352,001036: 32,3366 02631 VBIAS
036353,001037: 32,3367 53352 VSL2 VAD
036354,001038: 32,3370 03527 V
036355,001039: 32,3371 45455 VAD STADR # (0)
036356,001040: 32,3372 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
|
|
Page 818 |
036358,001042: 32,3373 03521 R
036359,001043: 32,3374 77656 UNIT
036360,001044: 32,3375 00017 STORE 14D
036361,001045: 32,3376 72441 DOT SL1
036362,001046: 32,3377 00031 24D
036363,001047: 32,3400 17474 STODL HDOTDISP # UPDATE HDOTDISP FOR NOUN 63.
036364,001048: 32,3401 00037 30D
036365,001049: 32,3402 41261 SL DMP
036366,001050: 32,3403 20214 11D
036367,001051: 32,3404 03474 HDOTDISP
036368,001052: 32,3405 45215 DAD DSU
036369,001053: 32,3406 00045 36D
036370,001054: 32,3407 02333 /LAND/
036371,001055: 32,3410 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63.
036372,001056: 32,3411 03474 HDOTDISP
036373,001057: 32,3412 56221 BDSU DDV
036374,001058: 32,3413 03645 VDGVERT
036375,001059: 32,3414 02541 TAUROD
036376,001060: 32,3415 51515 PDVL ABVAL # (2)
036377,001061: 32,3416 01237 GDT/2
036378,001062: 32,3417 60471 DDV SR2
036379,001063: 32,3420 05652 GSCALE
036380,001064: 32,3421 00025 STORE 20D
036381,001065: 32,3422 77615 DAD # (0)
036382,001066: 32,3423 45115 PDVL CALL # (2)
036383,001067: 32,3424 06520 UNITX
036384,001068: 32,3425 47661 CDU*NBSM
036385,001069: 32,3426 77641 DOT
036386,001070: 32,3427 00017 14D
036387,001071: 32,3430 00027 STORE 22D
036388,001072: 32,3431 45465 BDDV STADR # (0)
036389,001073: 32,3432 50313 STOVL /AFC/
036390,001074: 32,3433 03767 DELVROD
036391,001075: 32,3434 53361 VXSC VAD
036392,001076: 32,3435 26022 KPIP1
036393,001077: 32,3436 02631 VBIAS
036394,001078: 32,3437 65246 ABVAL PDDL # (2)
036395,001079: 32,3440 03762 THISTPIP
036396,001080: 32,3441 65225 DSU PDDL # (4)
036397,001081: 32,3442 03760 LASTTPIP
036398,001082: 32,3443 03762 THISTPIP
036399,001083: 32,3444 17760 STODL LASTTPIP # (2)
036400,001084: 32,3445 55271 DDV BDDV # (0)
036401,001085: 32,3446 25535 SHFTFACT
036402,001086: 32,3447 41325 PDDL DMP # (2)
036403,001087: 32,3450 03611 FWEIGHT
036404,001088: 32,3451 25534 BIT1H
036405,001089: 32,3452 56271 DDV DDV
036406,001090: 32,3453 01245 MASS
036407,001091: 32,3454 22006 SCALEFAC
|
|
Page 819 |
036409,001093: 32,3455 65215 DAD PDDL # (4)
036410,001094: 32,3456 00001 0D
036411,001095: 32,3457 00025 20D
036412,001096: 32,3460 45271 DDV DSU # (2)
036413,001097: 32,3461 00027 22D
036414,001098: 32,3462 43205 DMP DAD
036415,001099: 32,3463 02543 LAG/TAU
036416,001100: 32,3464 03464 /AFC/
036417,001101: 32,3465 56325 PDDL DDV # (4)
036418,001102: 32,3466 02547 MAXFORCE
036419,001103: 32,3467 01245 MASS
036420,001104: 32,3470 56325 PDDL DDV # (6)
036421,001105: 32,3471 02545 MINFORCE
036422,001106: 32,3472 01245 MASS
036423,001107: 32,3473 44206 PUSH BDSU # (8)
036424,001108: 32,3474 00003 2D
036425,001109: 32,3475 71240 BMN DLOAD # (6)
036426,001110: 32,3476 65504 AFCSPOT
036427,001111: 32,3477 41545 DLOAD PUSH # (6)
036428,001112: 32,3500 51021 BDSU BPL
036429,001113: 32,3501 00003 2D
036430,001114: 32,3502 65504 AFCSPOT
036431,001115: 32,3503 77745 DLOAD # (4)
036432,001116: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6)
036433,001117: 32,3505 77601 SETPD # (2)
036434,001118: 32,3506 00003 2D
036435,001119: 32,3507 17464 STODL /AFC/ # (0)
036436,001120: 32,3510 77776 ITRPNT2 EXIT
036437,001121: 32,3511 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
036438,001122: 32,3512 04616 TC BANKCALL
036439,001123: 32,3513 62221 CADR THROTTLE +3
036440,001124: 32,3514 06037 TC INTPRET
036441,001125: 32,3515 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
036442,001126: 32,3516 00031 24D
036443,001127: 32,3517 53352 VHORCOMP VSL2 VAD
036444,001128: 32,3520 03734 DELVS
036445,001129: 32,3521 63342 VSR2 PDVL # (6)
036446,001130: 32,3522 03521 R
036447,001131: 32,3523 74256 UNIT VXSC
036448,001132: 32,3524 03474 HDOTDISP
036449,001133: 32,3525 51372 VSL1 BVSU # (0)
036450,001134: 32,3526 77646 ABVAL
036451,001135: 32,3527 02263 STORE VHORIZ
036452,001136: 32,3530 77776 EXIT
036453,001137: 32,3531 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
036454,001138: 32,3532 63463 CADR DISPEXIT +3
036455,001139:
036456,001140: 32,3533 00001 BIT1H OCT 00001
036457,001141: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17
|
|
Page 820 |
036459,001143: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28
036460,001144:
036461,001145: # ****************************************************************************************************************
036462,001146: # REDESIGNATOR TRAP
036463,001147: # ****************************************************************************************************************
036464,001148:
036465,001149: 11,2275 BANK 11
036466,001150: 11,2000 SETLOC F2DPS*11
036467,001151: 11,2000 BANK
036468,001152:
036469,001153: 11,2275 COUNT* $$/F2DPS
036470,001154:
036471,001155: 11,2275 56016 PITFALL XCH BANKRUPT
036472,001156: 11,2276 00006 EXTEND
036473,001157: 11,2277 22012 QXCH QRUPT
036474,001158:
036475,001159: 11,2300 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
036476,001160: 11,2301 00100 DEC 64 B-14
036477,001161: 11,2302 15270 TCF RESUME
036478,001162:
036479,001163: 11,2303 00006 EXTEND
036480,001164: 11,2304 00031 READ CHAN31
036481,001165: 11,2305 40000 COM
036482,001166: 11,2306 72373 MASK ALL4BITS
036483,001167: 11,2307 55265 TS ELVIRA
036484,001168: 11,2310 34752 CAF TWO
036485,001169: 11,2311 55264 TS ZERLINA
036486,001170: 11,2312 34756 CAF FIVE
036487,001171: 11,2313 05173 TC TWIDDLE
036488,001172: 11,2314 02321 ADRES REDESMON
036489,001173: 11,2315 15270 TCF RESUME
036490,001174:
036491,001175: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
036492,001176:
036493,001177: 11,2316 55264 PREMON1 TS ZERLINA
036494,001178: 11,2317 34757 PREMON2 CAF SEVEN
036495,001179: 11,2320 05224 TC VARDELAY
036496,001180: 11,2321 00006 REDESMON EXTEND
036497,001181: 11,2322 00031 READ 31
036498,001182: 11,2323 40000 COM
036499,001183: 11,2324 72373 MASK ALL4BITS
036500,001184: 11,2325 57265 XCH ELVIRA
036501,001185: 11,2326 54001 TS L
036502,001186: 11,2327 11265 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
036503,001187: 11,2330 12317 TCF PREMON2 # Y: CONTINUE MONITOR
036504,001188:
036505,001189: 11,2331 10001 CCS L # N: ANY LAST PASS?
036506,001190: 11,2332 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
|
|
Page 821 |
036508,001192: 11,2333 11264 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
036509,001193: 11,2334 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
036510,001194: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE
036511,001195: 11,2336 00006 EXTEND
036512,001196: 11,2337 05013 WOR CHAN13
036513,001197: 11,2340 15261 TCF TASKOVER
036514,001198:
036515,001199: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
036516,001200: 11,2342 00006 EXTEND
036517,001201: 11,2343 02031 RAND CHAN31
036518,001202: 11,2344 00006 EXTEND
036519,001203: 11,2345 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
036520,001204:
036521,001205: 11,2346 30001 CA L # NO
036522,001206: 11,2347 74746 MASK -AZBIT
036523,001207: 11,2350 10000 CCS A
036524,001208: 11,2351 42374 -AZ CS AZEACH
036525,001209: 11,2352 27266 ADS AZINCR1
036526,001210: 11,2353 30001 CA L
036527,001211: 11,2354 74747 MASK +AZBIT
036528,001212: 11,2355 10000 CCS A
036529,001213: 11,2356 32374 +AZ CA AZEACH
036530,001214: 11,2357 27266 ADS AZINCR1
036531,001215: 11,2360 30001 CA L
036532,001216: 11,2361 74753 MASK -ELBIT
036533,001217: 11,2362 10000 CCS A
036534,001218: 11,2363 42375 -EL CS ELEACH
036535,001219: 11,2364 27267 ADS ELINCR1
036536,001220: 11,2365 30001 CA L
036537,001221: 11,2366 74752 MASK +ELBIT
036538,001222: 11,2367 10000 CCS A
036539,001223: 11,2370 32375 +EL CA ELEACH
036540,001224: 11,2371 27267 ADS ELINCR1
036541,001225: 11,2372 12335 TCF RESETRPT
036542,001226:
036543,001227: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
036544,001228:
036545,001229: 11,2373 4752 +ELBIT = BIT2 # -PITCH
036546,001230: 11,2373 4753 -ELBIT = BIT1 # +PITCH
036547,001231: 11,2373 4747 +AZBIT = BIT5
036548,001232: 11,2373 4746 -AZBIT = BIT6
036549,001233:
|
|
Page 822 |
036551,001235: 11,2373 00063 ALL4BITS OCT 00063
036552,001236: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES
036553,001237: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE
036554,001238:
036555,001239: # ****************************************************************************************************************
036556,001240: # R.O.D. TRAP
036557,001241: # ************************************************************************
036558,001242:
036559,001243: 20,2115 BANK 20
036560,001244: 20,2000 SETLOC RODTRAP
036561,001245: 20,2000 BANK
036562,001246: 20,2115 COUNT* $$/F2DPS # ****************************************
036563,001247:
036564,001248: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
036565,001249: 20,2116 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
036566,001250: 20,2117 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
036567,001251: 20,2120 64753 AD ONE
036568,001252: 20,2121 27746 ADS RODCOUNT
036569,001253: 20,2122 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
036570,001254:
036571,001255: 31,3553 BANK 31
036572,001256: 31,2000 SETLOC F2DPS*31
036573,001257: 31,2000 BANK
036574,001258:
036575,001259: 31,3553 COUNT* $$/F2DPS
036576,001260:
036577,001261: # ****************************************************************************************************************
036578,001262: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
036579,001263: # ****************************************************************************************************************
036580,001264:
036581,001265: # N N-1
036582,001266: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
036583,001267: # N N-1 1 0
036584,001268: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
036585,001269: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
036586,001270: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
036587,001271: # MPAC DP X INITIAL GUESS FOR ROOT
036588,001272:
036589,001273: # LOC-2N DP A(0)
036590,001274: # ...
036591,001275: # LOC DP A(N)
036592,001276: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
036593,001277:
|
|
Page 823 |
036595,001279: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
036596,001280: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
036597,001281: # OUTPUTS ARE NOT TO BE TRUSTED.
036598,001282:
036599,001283: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
036600,001284: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
036601,001285: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
036602,001286: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
036603,001287: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
036604,001288: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
036605,001289: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
036606,001290: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
036607,001291: # PRECLUDE EVENTUAL CONVERGENCE.
036608,001292: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
036609,001293: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
036610,001294: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
036611,001295:
036612,001296: # STORE ENTERING DATA, INITLIZE ERASABLES
036613,001297: 31,3553 00006 ROOTPSRS EXTEND
036614,001298: 31,3554 22132 QXCH RETROOT # RETURN ADRES
036615,001299: 31,3555 54117 TS PWRPTR # PWR TABL POINTER
036616,001300: 31,3556 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
036617,001301: 31,3557 33676 CA DERTABLL
036618,001302: 31,3560 54141 TS DERPTR # DER TABL POINTER
036619,001303: 31,3561 54161 TS MPAC +5 # DER TABL ADRES
036620,001304: 31,3562 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
036621,001305: 31,3563 54162 TS MPAC +6 # N-2
036622,001306: 31,3564 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
036623,001307: 31,3565 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
036624,001308:
036625,001309: # COMPUTE CRITERION TO STOP ITERATING
036626,001310: 31,3566 00006 EXTEND
036627,001311: 31,3567 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
036628,001312: 31,3570 52127 DXCH ROOTPS # AND IN ROOTPS
036629,001313: 31,3571 50157 INDEX MPAC +3 # PWR TABL ADRES
036630,001314: 31,3572 30005 CA 5 # PRECROOT TO A
036631,001315: 31,3573 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
036632,001316: 31,3574 04713 TC USPRCADR
036633,001317: 31,3575 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
036634,001318: 31,3576 52155 DXCH MPAC
036635,001319: 31,3577 52125 DXCH DXCRIT # CRITERION
036636,001320:
036637,001321: # SET UP DER COF TABL
|
|
Page 824 |
036639,001323: 31,3600 00006 EXTEND
036640,001324: 31,3601 50117 INDEX PWRPTR
036641,001325: 31,3602 30004 DCA 3
036642,001326: 31,3603 52155 DXCH MPAC # A(N) TO MPAC
036643,001327:
036644,001328: 31,3604 30160 CA MPAC +4 # N-1 TO A
036645,001329:
036646,001330: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
036647,001331: 31,3606 64753 AD ONE
036648,001332: 31,3607 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
036649,001333: 31,3610 00006 EXTEND
036650,001334: 31,3611 50117 INDEX PWRPTR
036651,001335: 31,3612 30002 DCA 1
036652,001336: 31,3613 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
036653,001337: 31,3614 50141 INDEX DERPTR
036654,001338: 31,3615 52004 DXCH 3 # DERCOF TO DER TABL
036655,001339: 31,3616 44752 CS TWO
036656,001340: 31,3617 26117 ADS PWRPTR # DECREMENT PWR POINTER
036657,001341: 31,3620 44752 CS TWO
036658,001342: 31,3621 26141 ADS DERPTR # DECREMENT DER POINTER
036659,001343: 31,3622 10140 CCS PWRCNT
036660,001344: 31,3623 13605 TCF DERCLOOP
036661,001345:
036662,001346: # CONVERGE ON ROOT
036663,001347: 31,3624 00006 ROOTLOOP EXTEND
036664,001348: 31,3625 30127 DCA ROOTPS # FETCH CURRENT ROOT
036665,001349: 31,3626 52155 DXCH MPAC # LEAVE IN MPAC
036666,001350: 31,3627 00006 EXTEND
036667,001351: 31,3630 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
036668,001352: 31,3631 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
036669,001353:
036670,001354: 31,3632 00006 EXTEND
036671,001355: 31,3633 30127 DCA ROOTPS
036672,001356: 31,3634 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
036673,001357: 31,3635 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
036674,001358: 31,3636 00006 EXTEND
036675,001359: 31,3637 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
036676,001360: 31,3640 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC
036677,001361:
036678,001362: 31,3641 04713 TC USPRCADR
036679,001363: 31,3642 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
036680,001364:
036681,001365: 31,3643 00006 EXTEND
036682,001366: 31,3644 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
036683,001367: 31,3645 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
036684,001368:
036685,001369: 31,3646 04713 TC USPRCADR
036686,001370: 31,3647 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
036687,001371: 31,3650 00006 EXTEND
|
|
Page 825 |
036689,001373: 31,3651 40125 DCS DXCRIT
036690,001374: 31,3652 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
036691,001375:
036692,001376: 31,3653 30163 CA MODE
036693,001377: 31,3654 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
036694,001378: 31,3655 10000 CCS A
036695,001379: 31,3656 00132 BADROOT TC RETROOT
036696,001380:
036697,001381: 31,3657 24163 INCR MODE # INCREMENT ITERATION COUNTER
036698,001382: 31,3660 10154 CCS MPAC # TEST HI ORDER DX
036699,001383: 31,3661 13624 TCF ROOTLOOP
036700,001384: 31,3662 13664 TCF TESTLODX
036701,001385: 31,3663 13670 TCF ROOTSTOR
036702,001386: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
036703,001387: 31,3665 13624 TCF ROOTLOOP
036704,001388: 31,3666 13670 TCF ROOTSTOR
036705,001389: 31,3667 13670 TCF ROOTSTOR
036706,001390: 31,3670 52127 ROOTSTOR DXCH ROOTPS
036707,001391: 31,3671 52155 DXCH MPAC
036708,001392: 31,3672 30163 CA MODE
036709,001393: 31,3673 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
036710,001394: 31,3674 50132 INDEX RETROOT
036711,001395: 31,3675 10002 TCF 2
036712,001396:
036713,001397: 31,3676 00147 DERTABLL ADRES DERCOFN -3
036714,001398:
036715,001399: # ****************************************************************************************************************
036716,001400: # TRASHY LITTLE SUBROUTINES
036717,001401: # ****************************************************************************************************************
036718,001402:
036719,001403: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
036720,001404: 31,3700 42452 CS TARGTDEX
036721,001405: 31,3701 50120 INDEX FIXLOC
036722,001406: 31,3702 54046 TS X1
036723,001407: 31,3703 16037 TCF INTPRET
036724,001408:
036725,001409: 31,3704 31642 TDISPSET CA TTF/8
036726,001410: 31,3705 00006 EXTEND
036727,001411: 31,3706 74750 MP TSCALINV
036728,001412: 31,3707 53476 DXCH TTFDISP
036729,001413:
036730,001414: 31,3710 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
036731,001415: 31,3711 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
036732,001416: 31,3712 E5,1470 EBANK= TCGFAPPR
036733,001417: 31,3712 31470 CA TCGFAPPR
036734,001418: 31,3713 24006 INCR BBANK
036735,001419: 31,3714 24006 INCR BBANK
036736,001420: 31,3715 E7,1642 EBANK= TTF/8
|
|
Page 826 |
036738,001422: 31,3715 61642 AD TTF/8
036739,001423: 31,3716 00006 EXTEND
036740,001424: 31,3717 73751 MP TREDESCL
036741,001425: 31,3720 63747 AD -DEC103
036742,001426: 31,3721 64735 AD NEGMAX
036743,001427: 31,3722 54001 TS L
036744,001428: 31,3723 40001 CS L
036745,001429: 31,3724 60001 AD L
036746,001430: 31,3725 63750 AD +DEC99
036747,001431: 31,3726 64733 AD POSMAX
036748,001432: 31,3727 55666 TS TREDES
036749,001433: 31,3730 41666 CS TREDES
036750,001434: 31,3731 27666 ADS TREDES
036751,001435: 31,3732 00002 TC Q
036752,001436:
036753,001437: 31,3733 05652 1406POO TC POODOO
036754,001438: 31,3734 01406 OCT 01406
036755,001439: 31,3735 05567 1406ALM TC ALARM
036756,001440: 31,3736 01406 OCT 01406
036757,001441: 31,3737 13443 TCF RATESTOP
036758,001442:
036759,001443: # ****************************************************************************************************************
036760,001444: # SPECIALIZED "PHASCHNG" SUBROUTINE
036761,001445: # ****************************************************************************************************************
036762,001446:
036763,001447: 31,3740 E3,1440 EBANK= PHSNAME2
036764,001448: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
036765,001449: 31,3741 56003 XCH EBANK
036766,001450: 31,3742 52002 DXCH L
036767,001451: 31,3743 55442 TS PHSNAME3
036768,001452: 31,3744 22003 LXCH EBANK
036769,001453: 31,3745 E7,1621 EBANK= E2DPS
036770,001454: 31,3745 00000 TC A
036771,001455:
036772,001456: # ****************************************************************************************************************
036773,001457: # PARAMETER TABLE INDIRECT ADDRESSES
036774,001458: # ****************************************************************************************************************
036775,001459:
036776,001460: 31,3746 E5,1402 RDG = RBRFG
036777,001461: 31,3746 E5,1410 VDG = VBRFG
036778,001462: 31,3746 E5,1416 ADG = ABRFG
036779,001463: 31,3746 E5,1424 VDG2TTF = VBRFG*
036780,001464: 31,3746 E5,1426 ADG2TTF = ABRFG*
036781,001465: 31,3746 E5,1430 JDG2TTF = JBRFG*
036782,001466:
036783,001467: # ****************************************************************************************************************
036784,001468: # LUNAR LANDING CONSTANTS
036785,001469: # ***************************************************************************************************************
036786,001470:
|
|
Page 827 |
036788,001472: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
036789,001473: 31,3747 4740 TTFSCALE = BIT12
036790,001474: 31,3747 4750 TSCALINV = BIT4
036791,001475: 31,3747 77630 -DEC103 DEC -103 B-14
036792,001476: 31,3750 00143 +DEC99 DEC +99 B-14
036793,001477: 31,3751 75340 TREDESCL DEC -.08
036794,001478: 31,3752 00264 180DEGS DEC +180 B-14
036795,001479: 31,3753 00056 1/2DEG DEC +.00278
036796,001480: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
036797,001481: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
036798,001482: 31,3756 01477 V06N63 VN 0663 # P63
036799,001483: 31,3757 01500 V06N64 VN 0664 # P64
036800,001484: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67
036801,001485:
036802,001486: 22,3647 BANK 22
036803,001487: 22,2000 SETLOC LANDCNST
036804,001488: 22,2000 BANK
036805,001489: 22,3647 COUNT* $$/F2DPS
036806,001490:
036807,001491: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
036808,001492: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
036809,001493: 22,3653 14000 00000 3/8DP 2DEC .375
036810,001494: 22,3655 30000 00000 3/4DP 2DEC .750
036811,001495: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
036812,001496:
|
|
Page 828 |
036814,001498: # ****************************************************************************************************************
036815,001499: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc