Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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033917,000002: ## Copyright: Public domain.
033918,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
033919,000004: ## Purpose: A section of Luminary revision 96.
033920,000005: ## It is part of the reconstructed source code for the
033921,000006: ## original release of the flight software for the Lunar
033922,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
033923,000008: ## The code has been recreated from a previously reconstructed
033924,000009: ## copy of Luminary 97 by undoing changes described in anomaly
033925,000010: ## report LNY-59. The code has been adapted such that the
033926,000011: ## resulting bugger words exactly match those specified for
033927,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
033928,000013: ## high confidence that the reconstruction is correct.
033929,000014: ## Reference: pp. 798-828
033930,000015: ## Assembler: yaYUL
033931,000016: ## Contact: Ron Burkey <info@sandroid.org>.
033932,000017: ## Website: www.ibiblio.org/apollo/index.html
033933,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
033934,000019:
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Page 798
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033936,000021: 31,2420 E7,1621 EBANK= E2DPS
033937,000022: 31,2420 COUNT* $$/F2DPS
033938,000023:
033939,000024: # ****************************************************************************************************************
033940,000025: # LUNAR LANDING FLIGHT SEQUENCE TABLES
033941,000026: # ****************************************************************************************************************
033942,000027:
033943,000028: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
033944,000029: # WCHPHASE = -1 ---> IGNALG
033945,000030: # WCHPHASE = 0 ---> BRAKQUAD
033946,000031: # WCHPHASE = 1 ---> APPRQUAD
033947,000032: # WCHPHASE = 2 ---> VERTICAL
033948,000033:
033949,000034: # ***************************************************************************************************************
033950,000035:
033951,000036: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
033952,000037:
033953,000038: 31,2420 12641 TCF TTFINCR # IGNALG
033954,000039: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD
033955,000040: 31,2422 12630 TCF STARTP64 # APPRQUAD
033956,000041: 31,2423 12621 TCF P65START # VERTICAL
033957,000042:
033958,000043: # PRE-GUIDANCE COMPUTATIONS:
033959,000044:
033960,000045: 31,2424 13003 TCF CALCRGVG # IGNALG
033961,000046: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD
033962,000047: 31,2426 12704 TCF REDESIG # APPRQUAD
033963,000048: 31,2427 13013 TCF RGVGCALC # VERTICAL
033964,000049:
033965,000050: # GUIDANCE EQUATIONS:
033966,000051:
033967,000052: 31,2430 13061 TCF TTF/8CL # IGNALG
033968,000053: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD
033969,000054: 31,2432 13061 TCF TTF/8CL # APPRQUAD
033970,000055: 31,2433 13531 TCF VERTGUID # VERTICAL
033971,000056:
033972,000057: # POST GUIDANCE EQUATION COMPUTATIONS:
033973,000058:
033974,000059: 31,2434 13245 TCF CGCALC # IGNALG
033975,000060: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD
033976,000061: 31,2436 13245 TCF CGCALC # APPRQUAD
033977,000062: 31,2437 13432 TCF STEER? # VERTICAL
033978,000063:
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Page 799
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033980,000065: # WINDOW VECTOR COMPUTATIONS:
033981,000066:
033982,000067: 31,2440 13331 TCF EXGSUB # IGNALG
033983,000068: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD
033984,000069: 31,2442 13360 TCF EXNORM # APPRQUAD
033985,000070:
033986,000071: # DISPLAY ROUTINES:
033987,000072:
033988,000073: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD
033989,000074: 31,2444 13477 TCF P64DISPS # APPRQUAD
033990,000075: 31,2445 13527 TCF VERTDISP # VERTICAL
033991,000076:
033992,000077: # ALARM ROUTINE FOR TTF COMPUTATION:
033993,000078:
033994,000079: 31,2446 13733 TCF 1406POO # IGNALG
033995,000080: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD
033996,000081: 31,2450 13735 TCF 1406ALM # APPRQUAD
033997,000082:
033998,000083: # INDICES FOR REFERENCING TARGET PARAMETERS:
033999,000084:
034000,000085: 31,2451 00000 OCT 0 # IGNALG
034001,000086: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD
034002,000087: 31,2453 00034 OCT 34 # APPRQUAD
034003,000088:
034004,000089: # ****************************************************************************************************************
034005,000090: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034006,000091: # ****************************************************************************************************************
034007,000092:
034008,000093: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034009,000094:
034010,000095: 31,2454 77776 ?GUIDSUB EXIT
034011,000096: 31,2455 34752 CAF TWO # N = 3
034012,000097: 31,2456 55647 TS NGUIDSUB
034013,000098: 31,2457 12603 TCF GUILDRET +2
034014,000099:
034015,000100: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034016,000101: 31,2461 13003 TCF CALCRGVG
034017,000102:
034018,000103: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034019,000104:
034020,000105: 31,2462 05353 LUNLAND TC PHASCHNG
034021,000106: 31,2463 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034022,000107: 31,2464 05353 TC PHASCHNG
034023,000108: 31,2465 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21
034024,000109: 31,2466 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY
034025,000110:
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Page 800
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034027,000112: # ****************************************************************************************************************
034028,000113: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034029,000114: # ****************************************************************************************************************
034030,000115:
034031,000116: 31,2467 COUNT* $$/R13
034032,000117:
034033,000118: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
034034,000119: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
034035,000120: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
034036,000121:
034037,000122: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
034038,000123: 31,2470 00030 READ CHAN30
034039,000124: 31,2471 74747 MASK BIT5
034040,000125: 31,2472 10000 CCS A
034041,000126: 31,2473 12551 TCF STARTP67 # YES
034042,000127: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
034043,000128: 31,2475 00103 DEC 67 B-14
034044,000129: 31,2476 12557 TCF STABL? # NO
034045,000130: 31,2477 03740 STARTP66 TC FASTCHNG # YES
034046,000131: 31,2500 05311 TC NEWMODEX
034047,000132: 31,2501 00102 DEC66 DEC 66 B-14
034048,000133: 31,2502 00006 EXTEND
034049,000134: 31,2503 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034050,000135: 31,2504 53645 DXCH VDGVERT # ALTITUDE RATE.
034051,000136: 31,2505 06037 STRTP66A TC INTPRET
034052,000137: 31,2506 41535 SLOAD PUSH
034053,000138: 31,2507 01457 PBIASZ
034054,000139: 31,2510 41535 SLOAD PUSH
034055,000140: 31,2511 01455 PBIASY
034056,000141: 31,2512 55535 SLOAD VDEF
034057,000142: 31,2513 01453 PBIASX
034058,000143: 31,2514 43161 VXSC SET
034059,000144: 31,2515 25537 BIASFACT
034060,000145: 31,2516 00463 RODFLAG
034061,000146: 31,2517 26631 STOVL VBIAS
034062,000147: 31,2520 01255 TEMX
034063,000148: 31,2521 77676 VCOMP
034064,000149: 31,2522 27764 STOVL OLDPIPAX
034065,000150: 31,2523 06522 ZEROVECS
034066,000151: 31,2524 17767 STODL DELVROD
034067,000152: 31,2525 02540 RODSCALE
034068,000153: 31,2526 17757 STODL RODSCAL1
034069,000154: 31,2527 01235 PIPTIME
034070,000155: 31,2530 03760 STORE LASTTPIP
034071,000156: 31,2531 77776 EXIT
034072,000157: 31,2532 34755 CAF ZERO
034073,000158: 31,2533 55620 TS FCOLD
034074,000159: 31,2534 55610 TS FWEIGHT
034075,000160: 31,2535 55611 TS FWEIGHT +1
034076,000161: 31,2536 55647 VRTSTART TS WCHVERT
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Page 801
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034078,000163: 31,2537 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034079,000164: 31,2540 55621 TS WCHPHOLD
034080,000165: 31,2541 55351 TS WCHPHASE
034081,000166: 31,2542 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034082,000167: 31,2543 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034083,000168: 31,2544 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034084,000169: 31,2545 00311 ADRES XOVINFLG
034085,000170: 31,2546 05516 TC DOWNFLAG
034086,000171: 31,2547 00143 ADRES REDFLAG
034087,000172: 31,2550 13531 TCF VERTGUID
034088,000173:
034089,000174: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
034090,000175: 31,2552 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
034091,000176: 31,2553 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
034092,000177: 31,2554 55746 TS RODCOUNT
034093,000178: 31,2555 34363 CAF TEN
034094,000179: 31,2556 12536 TCF VRTSTART
034095,000180:
034096,000181: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT?
034097,000182: 31,2560 00006 EXTEND
034098,000183: 31,2561 02031 RAND CHAN31
034099,000184: 31,2562 10000 CCS A
034100,000185: 31,2563 12601 TCF GUILDRET # YES: ALL'S WELL
034101,000186:
034102,000187: 31,2564 41011 P66NOW? CS MODREG
034103,000188: 31,2565 62501 AD DEC66
034104,000189: 31,2566 00006 EXTEND
034105,000190: 31,2567 12574 BZF RESTART?
034106,000191:
034107,000192: 31,2570 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
034108,000193: 31,2571 00006 EXTEND
034109,000194: 31,2572 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
034110,000195: 31,2573 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
034111,000196:
034112,000197: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034113,000198: 31,2575 74740 MASK RODFLBIT
034114,000199: 31,2576 00006 EXTEND
034115,000200: 31,2577 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034116,000201: # IS.
034117,000202:
034118,000203: 31,2600 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034119,000204:
034120,000205: # ****************************************************************************************************************
034121,000206: # INITIALIZATION FOR THIS PASS
034122,000207: # ****************************************************************************************************************
034123,000208:
034124,000209: 31,2601 COUNT* $$/F2DPS
034125,000210:
034126,000211: 31,2601 34755 GUILDRET CAF ZERO
034127,000212: 31,2602 55746 TS RODCOUNT
034128,000213:
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Page 802
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034130,000215: 31,2603 00006 +2 EXTEND
034131,000216: 31,2604 31625 DCA TPIP
034132,000217: 31,2605 53574 DXCH TPIPOLD
034133,000218:
034134,000219: 31,2606 03740 TC FASTCHNG
034135,000220:
034136,000221: 31,2607 00006 EXTEND
034137,000222: 31,2610 31561 DCA PIPTIME1
034138,000223: 31,2611 53625 DXCH TPIP
034139,000224:
034140,000225: 31,2612 00006 EXTEND
034141,000226: 31,2613 31643 DCA TTF/8
034142,000227: 31,2614 53553 DXCH TTF/8TMP
034143,000228:
034144,000229: 31,2615 11623 CCS FLPASS0
034145,000230: 31,2616 12641 TCF TTFINCR
034146,000231:
034147,000232: 31,2617 51351 BRSPOT1 INDEX WCHPHASE
034148,000233: 31,2620 12421 TCF NEWPHASE
034149,000234:
034150,000235: # ****************************************************************************************************************
034151,000236: # ROUTINES TO START NEW PHASES
034152,000237: # ****************************************************************************************************************
034153,000238:
034154,000239: 31,2621 05311 P65START TC NEWMODEX
034155,000240: 31,2622 00101 DEC 65 B-14
034156,000241: 31,2623 44752 CS TWO
034157,000242: 31,2624 55647 TS WCHVERT
034158,000243: 31,2625 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034159,000244: 31,2626 00311 ADRES XOVINFLG
034160,000245: 31,2627 12641 TCF TTFINCR
034161,000246:
034162,000247: 31,2630 05311 STARTP64 TC NEWMODEX
034163,000248: 31,2631 00100 DEC 64 B-14
034164,000249: 31,2632 31425 CA DELTTFAP # AUGMENT TTF/8
034165,000250: 31,2633 27552 ADS TTF/8TMP
034166,000251: 31,2634 34740 CA BIT12 # ENABLE RUPT10
034167,000252: 31,2635 00006 EXTEND
034168,000253: 31,2636 05013 WOR CHAN13
034169,000254: 31,2637 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034170,000255: 31,2640 00143 ADRES REDFLAG
034171,000256:
034172,000257:
034173,000258: # (CONTINUE TO TTFINCR)
034174,000259:
034175,000260: # ****************************************************************************************************************
034176,000261: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034177,000262: # ****************************************************************************************************************
034178,000263:
034179,000264: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
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Page 803
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034181,000266: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034182,000267: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034183,000268: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034184,000269: # - - - -
034185,000270: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034186,000271: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034187,000272: # - -
034188,000273: # RANGEDSP = ABVAL(LAND - R)
034189,000274:
034190,000275: 31,2641 06037 TTFINCR TC INTPRET
034191,000276: 31,2642 45345 DLOAD DSU
034192,000277: 31,2643 03625 TPIP
034193,000278: 31,2644 03574 TPIPOLD
034194,000279: 31,2645 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034195,000280: 31,2646 21214 11D
034196,000281: 31,2647 47361 VXSC VXV
034197,000282: 31,2650 03635 LAND
034198,000283: 31,2651 02325 WM
034199,000284: 31,2652 47045 BVSU RTB
034200,000285: 31,2653 03635 LAND
034201,000286: 31,2654 21726 NORMUNIT
034202,000287: 31,2655 76561 VXSC VSL1
034203,000288: 31,2656 02333 /LAND/
034204,000289: 31,2657 17545 STODL LANDTEMP
034205,000290: 31,2660 77776 EXIT
034206,000291:
034207,000292: 31,2661 52155 DXCH MPAC
034208,000293: 31,2662 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034209,000294:
034210,000295: 31,2663 03740 TC FASTCHNG
034211,000296:
034212,000297: 31,2664 00006 EXTEND
034213,000298: 31,2665 31553 DCA TTF/8TMP
034214,000299: 31,2666 53643 DXCH TTF/8
034215,000300:
034216,000301: 31,2667 00006 EXTEND
034217,000302: 31,2670 31545 DCA LANDTEMP
034218,000303: 31,2671 53635 DXCH LAND
034219,000304: 31,2672 00006 EXTEND
034220,000305: 31,2673 31547 DCA LANDTEMP +2
034221,000306: 31,2674 53637 DXCH LAND +2
034222,000307: 31,2675 00006 EXTEND
034223,000308: 31,2676 31551 DCA LANDTEMP +4
034224,000309: 31,2677 53641 DXCH LAND +4
034225,000310:
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Page 804
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034227,000312: 31,2700 03704 TC TDISPSET
034228,000313: 31,2701 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
034229,000314:
034230,000315: 31,2702 51351 BRSPOT2 INDEX WCHPHASE
034231,000316: 31,2703 12425 TCF PREGUIDE
034232,000317:
034233,000318: # ****************************************************************************************************************
034234,000319: # LANDING SITE PERTURBATION EQUATIONS
034235,000320: # ****************************************************************************************************************
034236,000321:
034237,000322: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
034238,000323: 31,2705 74746 MASK REDFLBIT
034239,000324: 31,2706 00006 EXTEND
034240,000325: 31,2707 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
034241,000326:
034242,000327: 31,2710 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
034243,000328: 31,2711 00006 EXTEND
034244,000329: 31,2712 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
034245,000330:
034246,000331: 31,2713 00004 INHINT
034247,000332: 31,2714 31644 CA ELINCR1
034248,000333: 31,2715 55554 TS ELINCR
034249,000334: 31,2716 31645 CA AZINCR1
034250,000335: 31,2717 55556 TS AZINCR
034251,000336: 31,2720 03740 TC FASTCHNG
034252,000337:
034253,000338: 31,2721 34755 CA ZERO
034254,000339: 31,2722 55644 TS ELINCR1
034255,000340: 31,2723 55645 TS AZINCR1
034256,000341: 31,2724 55555 TS ELINCR +1
034257,000342: 31,2725 55557 TS AZINCR +1
034258,000343:
034259,000344: 31,2726 30120 CA FIXLOC # SET PD TO 0
034260,000345: 31,2727 54166 TS PUSHLOC
034261,000346:
034262,000347: 31,2730 06037 TC INTPRET
034263,000348: 31,2731 52375 VLOAD VSU
034264,000349: 31,2732 03635 LAND
034265,000350: 31,2733 03521 R # - -
034266,000351: 31,2734 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
034267,000352: 31,2735 21726 NORMUNIT
034268,000353: 31,2736 76435 VXV VSL1
034269,000354: 31,2737 02154 YNBPIP # - - -
034270,000355: 31,2740 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
034271,000356: 31,2741 03555 ELINCR
034272,000357: 31,2742 03557 AZINCR
034273,000358: 31,2743 52361 VXSC VSU
034274,000359: 31,2744 02154 YNBPIP
034275,000360: 31,2745 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
034276,000361:
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Page 805
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034278,000363:
034279,000364: 31,2746 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
034280,000365: 31,2747 00001 0 # TOO CLOSE TO THE HORIZON
034281,000366: 31,2750 05660 DEPRCRIT
034282,000367: 31,2751 71240 BMN DLOAD
034283,000368: 31,2752 62755 REDES1
034284,000369: 31,2753 05660 DEPRCRIT
034285,000370: 31,2754 00001 STORE 0
034286,000371: 31,2755 45345 REDES1 DLOAD DSU
034287,000372: 31,2756 03635 LAND
034288,000373: 31,2757 03521 R
034289,000374: 31,2760 74271 DDV VXSC
034290,000375: 31,2761 00001 0
034291,000376: 31,2762 53455 VAD UNIT
034292,000377: 31,2763 03521 R
034293,000378: 31,2764 76561 VXSC VSL1
034294,000379: 31,2765 02333 /LAND/
034295,000380: 31,2766 03545 STORE LANDTEMP
034296,000381: 31,2767 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
034297,000382:
034298,000383: 31,2770 03740 TC FASTCHNG
034299,000384:
034300,000385: 31,2771 00006 EXTEND
034301,000386: 31,2772 31545 DCA LANDTEMP
034302,000387: 31,2773 53635 DXCH LAND
034303,000388: 31,2774 00006 EXTEND
034304,000389: 31,2775 31547 DCA LANDTEMP +2
034305,000390: 31,2776 53637 DXCH LAND +2
034306,000391: 31,2777 00006 EXTEND
034307,000392: 31,3000 31551 DCA LANDTEMP +4
034308,000393: 31,3001 53641 DXCH LAND +4
034309,000394:
034310,000395: 31,3002 13013 TCF RGVGCALC
034311,000396:
034312,000397: # ****************************************************************************************************************
034313,000398: # COMPUTE STATE IN GUIDANCE COORDINATES
034314,000399: # ****************************************************************************************************************
034315,000400:
034316,000401: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
034317,000402: # VELOCITY RELATIVE TO THE SURFACE:
034318,000403: # - - - -
034319,000404: # ANGTERM = V + R * WM
034320,000405:
034321,000406: # STATE IN GUIDANCE COORDINATES:
034322,000407: # - * - -
034323,000408: # RGU = CG (R - LAND)
034324,000409: # - * - - -
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Page 806
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034326,000411: # VGU = CG (V - WM * R)
034327,000412:
034328,000413: # HORIZONTAL VELOCITY FOR DISPLAY:
034329,000414:
034330,000415: # VHORIZ = 8 ABVAL (0, VG , VG )
034331,000416: # 2 1
034332,000417: # DEPRESSION ANGLE FOR DISPLAY:
034333,000418: # - - -
034334,000419: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
034335,000420:
034336,000421: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
034337,000422: 31,3004 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
034338,000423: 31,3005 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
034339,000424: 31,3006 01734 REFSMMAT
034340,000425: 31,3007 53362 VSR1 VAD
034341,000426: 31,3010 03254 UNFC/2
034342,000427: 31,3011 03527 STORE V
034343,000428: 31,3012 77776 EXIT
034344,000429:
034345,000430: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
034346,000431: 31,3014 47375 VLOAD VXV
034347,000432: 31,3015 03521 R
034348,000433: 31,3016 02325 WM
034349,000434: 31,3017 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
034350,000435: 31,3020 03527 V
034351,000436: 31,3021 02265 STORE ANGTERM
034352,000437: 31,3022 77721 MXV
034353,000438: 31,3023 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
034354,000439: 31,3024 03627 STORE VGU
034355,000440: 31,3025 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
034356,000441: 31,3026 06522 ZEROVECS # 2 1
034357,000442: 31,3027 52446 ABVAL SL3
034358,000443: 31,3030 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
034359,000444: 31,3031 03521 R # - -
034360,000445: 31,3032 41451 VSU PUSH # PUSH DOWN R - LAND
034361,000446: 31,3033 03635 LAND
034362,000447: 31,3034 76521 MXV VSL1
034363,000448: 31,3035 02603 CG
034364,000449: 31,3036 02637 STORE RGU
034365,000450: 31,3037 77646 ABVAL
034366,000451: 31,3040 26625 STOVL RANGEDSP
034367,000452: 31,3041 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
034368,000453: 31,3042 21726 NORMUNIT
034369,000454: 31,3043 02146 XNBPIP
034370,000455: 31,3044 77776 EXIT
034371,000456:
034372,000457: 31,3045 30120 CA FIXLOC # RESET PUSH DOWN POINTER
034373,000458: 31,3046 54166 TS PUSHLOC
034374,000459:
|
|
Page 807
|
034376,000461: 31,3047 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
034377,000462: 31,3050 60000 DOUBLE
034378,000463: 31,3051 04616 TC BANKCALL
034379,000464: 31,3052 61672 CADR SPARCSIN -1
034380,000465: 31,3053 63753 AD 1/2DEG
034381,000466: 31,3054 00006 EXTEND
034382,000467: 31,3055 73752 MP 180DEGS
034383,000468: 31,3056 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
034384,000469:
034385,000470: 31,3057 51351 BRSPOT3 INDEX WCHPHASE
034386,000471: 31,3060 12431 TCF WHATGUID
034387,000472:
034388,000473: # ****************************************************************************************************************
034389,000474: # TTF/8 COMPUTATION
034390,000475: # ****************************************************************************************************************
034391,000476:
034392,000477: 31,3061 03677 TTF/8CL TC INTPRETX
034393,000478: 31,3062 77743 DLOAD*
034394,000479: 31,3063 02431 JDG2TTF,1
034395,000480: 31,3064 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
034396,000481: 31,3065 02427 ADG2TTF,1 # 2
034397,000482: 31,3066 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
034398,000483: 31,3067 03633 VGU +4 # 2
034399,000484: 31,3070 42605 DMP DAD*
034400,000485: 31,3071 05656 3/4DP
034401,000486: 31,3072 02425 VDG2TTF,1
034402,000487: 31,3073 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
034403,000488: 31,3074 02407 RDG +4,1 # 2 2
034404,000489: 31,3075 41225 DSU DMP
034405,000490: 31,3076 02643 RGU +4
034406,000491: 31,3077 05654 3/8DP
034407,000492: 31,3100 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
034408,000493: 31,3101 77776 EXIT # 2 2
034409,000494:
034410,000495: 31,3102 34744 CA BIT8
034411,000496: 31,3103 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
034412,000497:
034413,000498: 31,3104 00006 EXTEND
034414,000499: 31,3105 31643 DCA TTF/8
034415,000500: 31,3106 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
034416,000501: 31,3107 34752 CAF TWO # DEGREE - ONE
034417,000502: 31,3110 54001 TS L
034418,000503: 31,3111 33746 CAF TABLTTFL
034419,000504: 31,3112 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
034420,000505: 31,3113 51351 INDEX WCHPHASE
034421,000506: 31,3114 12447 TCF WHATALM
034422,000507:
034423,000508: 31,3115 00006 EXTEND # GOOD RETURN
034424,000509: 31,3116 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
034425,000510: 31,3117 53643 DXCH TTF/8 # CORRECTED TTF/8
034426,000511:
|
|
Page 808
|
034428,000513: 31,3120 03704 TC TDISPSET
034429,000514:
034430,000515: # (CONTINUE TO QUADGUID)
034431,000516:
034432,000517: # ****************************************************************************************************************
034433,000518: # MAIN GUIDANCE EQUATION
034434,000519: # ****************************************************************************************************************
034435,000520:
034436,000521: # AS PUBLISHED:-
034437,000522: # - - - -
034438,000523: # - - 6(VDG + VG) 12(RDG - RG)
034439,000524: # ACG = ADG + ----------- + ------------
034440,000525: # TTF (TTF)(TTF)
034441,000526: # AS HERE PROGRAMMED:-
034442,000527: # - -
034443,000528: # 3 (1/4(RDG - RG) - - )
034444,000529: # - (------------- + VDG + VG)
034445,000530: # - 4 ( TTF/8 ) -
034446,000531: # ACG = ---------------------------- + ADG
034447,000532: # TTF/8
034448,000533:
034449,000534: 31,3121 41642 QUADGUID CS TTF/8
034450,000535: 31,3122 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
034451,000536: 31,3123 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
034452,000537: 31,3124 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
034453,000538: 31,3125 40001 CS L
034454,000539: 31,3126 60001 AD L
034455,000540: 31,3127 22007 ZL
034456,000541: 31,3130 00006 EXTEND
034457,000542: 31,3131 11642 DV TTF/8
034458,000543: 31,3132 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
034459,000544: 31,3133 00006 EXTEND
034460,000545: 31,3134 70000 SQUARE
034461,000546: 31,3135 54131 TS BUF +1
034462,000547: 31,3136 60130 AD BUF
034463,000548: 31,3137 56131 XCH BUF +1 # RATIO SQUARED - RATIO
034464,000549: 31,3140 60131 AD BUF +1
034465,000550: 31,3141 54154 TS MPAC # COEFFICIENT FOR VGU TERM
034466,000551: 31,3142 60131 AD BUF +1
034467,000552: 31,3143 50120 INDEX FIXLOC
034468,000553: 31,3144 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
034469,000554: 31,3145 60131 AD BUF +1
034470,000555: 31,3146 50120 INDEX FIXLOC
034471,000556: 31,3147 54034 TS 28D # COEFFICIENT FOR VDG TERM
034472,000557: 31,3150 60130 AD BUF
034473,000558: 31,3151 64733 AD POSMAX
|
|
Page 809
|
034475,000560: 31,3152 60131 AD BUF +1
034476,000561: 31,3153 60131 AD BUF +1
034477,000562: 31,3154 50120 INDEX FIXLOC
034478,000563: 31,3155 54036 TS 30D # COEFFICIENT FOR ADG TERM
034479,000564:
034480,000565: 31,3156 34755 CAF ZERO
034481,000566: 31,3157 54163 TS MODE
034482,000567:
034483,000568: 31,3160 03677 TC INTPRETX
034484,000569: 31,3161 65361 VXSC PDDL
034485,000570: 31,3162 03627 VGU
034486,000571: 31,3163 00035 28D
034487,000572: 31,3164 62757 VXSC* PDVL*
034488,000573: 31,3165 02411 VDG,1
034489,000574: 31,3166 02403 RDG,1
034490,000575: 31,3167 70251 VSU V/SC
034491,000576: 31,3170 02637 RGU
034492,000577: 31,3171 03643 TTF/8
034493,000578: 31,3172 74342 VSR2 VXSC
034494,000579: 31,3173 00033 26D
034495,000580: 31,3174 53255 VAD VAD
034496,000581: 31,3175 74341 V/SC VXSC
034497,000582: 31,3176 03643 TTF/8
034498,000583: 31,3177 05656 3/4DP
034499,000584: 31,3200 73725 PDDL VXSC*
034500,000585: 31,3201 00037 30D
034501,000586: 31,3202 02417 ADG,1
034502,000587: 31,3203 77655 VAD
034503,000588: 31,3204 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
034504,000589: 31,3205 02603 CG
034505,000590: 31,3206 70315 PDVL V/SC
034506,000591: 31,3207 01237 GDT/2
034507,000592: 31,3210 05652 GSCALE
034508,000593: 31,3211 45445 BVSU STADR
034509,000594: 31,3212 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
034510,000595: 31,3213 77646 ABVAL
034511,000596: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
034512,000597: 31,3215 03254 UNFC/2 # VERTICAL COMPONENT
034513,000598: 31,3216 65316 DSQ PDDL
034514,000599: 31,3217 03256 UNFC/2 +2 # OUT-OF-PLANE
034515,000600: 31,3220 65316 DSQ PDDL
034516,000601: 31,3221 05650 HIGHESTF
034517,000602: 31,3222 63471 DDV DSQ
034518,000603: 31,3223 01245 MASS # 2 2 2
034519,000604: 31,3224 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
034520,000605: 31,3225 71244 BPL DLOAD # 1 0
034521,000606: 31,3226 63230 AFCCALC3
034522,000607: 31,3227 06522 ZEROVECS
034523,000608: 31,3230 43366 AFCCALC3 SQRT DAD
034524,000609: 31,3231 03260 UNFC/2 +4
|
|
Page 810
|
034526,000611: 31,3232 44244 BPL BDSU
034527,000612: 31,3233 63236 AFCCLEND
034528,000613: 31,3234 03260 UNFC/2 +4
034529,000614: 31,3235 03260 STORE UNFC/2 +4
034530,000615: 31,3236 77776 AFCCLEND EXIT
034531,000616: 31,3237 03740 TC FASTCHNG
034532,000617:
034533,000618: 31,3240 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
034534,000619: 31,3241 55621 TS WCHPHOLD
034535,000620: 31,3242 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
034536,000621:
034537,000622: 31,3243 51351 BRSPOT4 INDEX WCHPHASE
034538,000623: 31,3244 12435 TCF AFTRGUID
034539,000624:
034540,000625: # ***************************************************************************************************************
034541,000626: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
034542,000627: # ***************************************************************************************************************
034543,000628:
034544,000629: 31,3245 35014 CGCALC CAF EBANK5
034545,000630: 31,3246 54003 TS EBANK
034546,000631: 31,3247 E5,1435 EBANK= TCGIBRAK
034547,000632: 31,3247 00006 EXTEND
034548,000633: 31,3250 51351 INDEX WCHPHASE
034549,000634: 31,3251 52452 INDEX TARGTDEX
034550,000635: 31,3252 31435 DCA TCGFBRAK
034551,000636: 31,3253 24006 INCR BBANK
034552,000637: 31,3254 24006 INCR BBANK
034553,000638: 31,3255 E7,1642 EBANK= TTF/8
034554,000639: 31,3255 61642 AD TTF/8
034555,000640: 31,3256 56001 XCH L
034556,000641: 31,3257 61642 AD TTF/8
034557,000642: 31,3260 10000 CCS A
034558,000643: 31,3261 10001 CCS L
034559,000644: 31,3262 13313 TCF EXTLOGIC
034560,000645: 31,3263 13313 TCF EXTLOGIC
034561,000646: 31,3264 13265 NOOP
034562,000647:
034563,000648: 31,3265 03677 TC INTPRETX
034564,000649: 31,3266 53575 VLOAD UNIT
034565,000650: 31,3267 03635 LAND
034566,000651: 31,3270 16603 STODL CG
034567,000652: 31,3271 03643 TTF/8
034568,000653: 31,3272 74203 DMP* VXSC
034569,000654: 31,3273 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
034570,000655: 31,3274 02265 ANGTERM
034571,000656: 31,3275 77655 VAD
034572,000657: 31,3276 03635 LAND
034573,000658: 31,3277 47051 VSU RTB
034574,000659: 31,3300 03521 R
034575,000660: 31,3301 21726 NORMUNIT
|
|
Page 811
|
034577,000662: 31,3302 47035 VXV RTB
034578,000663: 31,3303 03635 LAND
034579,000664: 31,3304 21726 NORMUNIT
034580,000665: 31,3305 26611 STOVL CG +6 # SECOND ROW
034581,000666: 31,3306 02603 CG
034582,000667: 31,3307 76435 VXV VSL1
034583,000668: 31,3310 02611 CG +6
034584,000669: 31,3311 02617 STORE CG +14
034585,000670: 31,3312 77776 EXIT
034586,000671:
034587,000672: # (CONTINUE TO EXTLOGIC)
034588,000673:
034589,000674: # ****************************************************************************************************************
034590,000675: # PREPARE TO EXIT
034591,000676: # ****************************************************************************************************************
034592,000677:
034593,000678: # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES
034594,000679:
034595,000680: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD
034596,000681: 31,3314 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD
034597,000682: 31,3315 61642 AD TTF/8
034598,000683:
034599,000684: 31,3316 00006 EXSPOT1 EXTEND
034600,000685: 31,3317 51351 INDEX WCHPHASE
034601,000686: 31,3320 62441 BZMF WHATEXIT
034602,000687:
034603,000688: 31,3321 03740 TC FASTCHNG
034604,000689:
034605,000690: 31,3322 31621 CA WCHPHOLD
034606,000691: 31,3323 64753 AD ONE
034607,000692: 31,3324 55351 TS WCHPHASE
034608,000693: 31,3325 34755 CA ZERO
034609,000694: 31,3326 55623 TS FLPASS0 # RESET FLPASS0
034610,000695:
034611,000696: 31,3327 51621 INDEX WCHPHOLD
034612,000697: 31,3330 12441 TCF WHATEXIT
034613,000698:
034614,000699: # ****************************************************************************************************************
034615,000700: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
034616,000701: # ****************************************************************************************************************
034617,000702:
034618,000703: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
034619,000704: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
034620,000705: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
034621,000706: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
034622,000707:
034623,000708: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
|
|
Page 812
|
034625,000710: 31,3332 47175 VLOAD RTB
034626,000711: 31,3333 03254 UNFC/2
034627,000712: 31,3334 21726 NORMUNIT
034628,000713: 31,3335 74361 VXSC VXSC
034629,000714: 31,3336 03423 ZOOMTIME
034630,000715: 31,3337 22001 TRIMACCL
034631,000716: 31,3340 03254 STORE UNFC/2
034632,000717: 31,3341 77776 EXIT
034633,000718:
034634,000719: 31,3342 11647 CCS NGUIDSUB
034635,000720: 31,3343 12460 TCF GUIDSUB
034636,000721: 31,3344 11646 CCS NIGNLOOP
034637,000722: 31,3345 13350 TCF +3
034638,000723: 31,3346 05567 TC ALARM
034639,000724: 31,3347 01412 OCT 01412
034640,000725:
034641,000726: 31,3350 04635 +3 TC POSTJUMP
034642,000727: 31,3351 65102 CADR DDUMCALC
034643,000728:
034644,000729: 31,3352 06037 EXBRAK TC INTPRET
034645,000730: 31,3353 77775 VLOAD
034646,000731: 31,3354 03537 UNIT/R/
034647,000732: 31,3355 03262 STORE UNWC/2
034648,000733: 31,3356 77776 EXIT
034649,000734: 31,3357 13432 TCF STEER?
034650,000735:
034651,000736: 31,3360 06037 EXNORM TC INTPRET
034652,000737: 31,3361 52375 VLOAD VSU
034653,000738: 31,3362 03635 LAND
034654,000739: 31,3363 03521 R
034655,000740: 31,3364 77634 RTB
034656,000741: 31,3365 21726 NORMUNIT
034657,000742: 31,3366 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
034658,000743: 31,3367 50235 VXV DOT
034659,000744: 31,3370 02146 XNBPIP
034660,000745: 31,3371 02611 CG +6
034661,000746: 31,3372 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
034662,000747:
034663,000748: 31,3373 40154 CS MPAC # GET COEFFICIENT FOR CG +14
034664,000749: 31,3374 63754 AD PROJMAX
034665,000750: 31,3375 64733 AD POSMAX
034666,000751: 31,3376 54130 TS BUF
034667,000752: 31,3377 40130 CS BUF
034668,000753: 31,3400 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
034669,000754:
034670,000755: 31,3401 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
034671,000756: 31,3402 60154 AD MPAC
034672,000757: 31,3403 64733 AD POSMAX
034673,000758: 31,3404 54131 TS BUF +1
034674,000759: 31,3405 40131 CS BUF +1
|
|
Page 813
|
034676,000761: 31,3406 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
034677,000762:
034678,000763: 31,3407 34751 CAF FOUR
034679,000764: 31,3410 76242 UNWCLOOP MASK SIX
034680,000765: 31,3411 54002 TS Q
034681,000766: 31,3412 35014 CA EBANK5
034682,000767: 31,3413 54003 TS EBANK
034683,000768: 31,3414 E5,1602 EBANK= CG
034684,000769: 31,3414 30130 CA BUF
034685,000770: 31,3415 00006 EXTEND
034686,000771: 31,3416 50002 INDEX Q
034687,000772: 31,3417 71616 MP CG +14
034688,000773: 31,3420 24006 INCR BBANK
034689,000774: 31,3421 E6,1661 EBANK= UNWC/2
034690,000775: 31,3421 50002 INDEX Q
034691,000776: 31,3422 53662 DXCH UNWC/2
034692,000777: 31,3423 00006 EXTEND
034693,000778: 31,3424 70131 MP BUF +1
034694,000779: 31,3425 50002 INDEX Q
034695,000780: 31,3426 21662 DAS UNWC/2
034696,000781: 31,3427 10002 CCS Q
034697,000782: 31,3430 13410 TCF UNWCLOOP
034698,000783:
034699,000784: 31,3431 24006 INCR BBANK
034700,000785: 31,3432 E7,1612 EBANK= PIF
034701,000786:
034702,000787: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
034703,000788: 31,3433 74741 MASK STEERBIT
034704,000789: 31,3434 00006 EXTEND
034705,000790: 31,3435 13443 BZF RATESTOP
034706,000791:
034707,000792: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
034708,000793: 31,3437 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
034709,000794: 31,3440 13453 BZF +13
034710,000795:
034711,000796: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
034712,000797: 31,3442 01410 OCT 01410
034713,000798:
034714,000799: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
034715,000800: 31,3444 00006 EXTEND
034716,000801: 31,3445 02031 RAND CHAN31
034717,000802: 31,3446 00006 EXTEND
034718,000803: 31,3447 13460 BZF DISPEXIT # YES
034719,000804:
034720,000805: 31,3450 04616 TC BANKCALL # NO: DO A STOPRATE
034721,000806: 31,3451 40165 CADR STOPRATE
034722,000807:
034723,000808: 31,3452 13460 TCF DISPEXIT
034724,000809:
034725,000810: 31,3453 02216 GDUMP1 TC THROTTLE
|
|
Page 814
|
034727,000812: 31,3454 06037 TC INTPRET
034728,000813: 31,3455 77624 CALL
034729,000814: 31,3456 61111 FINDCDUW -2
034730,000815: 31,3457 77776 EXIT
034731,000816:
034732,000817: # (CONTINUE TO DISPEXIT)
034733,000818:
034734,000819: # ****************************************************************************************************************
034735,000820: # GUIDANCE LOOP DISPLAYS
034736,000821: # ****************************************************************************************************************
034737,000822:
034738,000823: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
034739,000824: 31,3461 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
034740,000825: 31,3462 52757 DXCH -PHASE3
034741,000826:
034742,000827: 31,3463 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
034743,000828: 31,3464 74742 MASK FLUNDBIT
034744,000829: 31,3465 00006 EXTEND
034745,000830: 31,3466 13476 BZF ENDLLJOB # TO PICK UP THE TAG
034746,000831:
034747,000832: 31,3467 51621 INDEX WCHPHOLD
034748,000833: 31,3470 12443 TCF WHATDISP
034749,000834:
034750,000835: 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5
034751,000836: 31,3472 00035 OCT 00035
034752,000837:
034753,000838: 31,3473 33756 P63DISPS CAF V06N63
034754,000839: 31,3474 04616 DISPCOMN TC BANKCALL
034755,000840: 31,3475 20470 CADR REGODSPR
034756,000841:
034757,000842: 31,3476 15155 ENDLLJOB TCF ENDOFJOB
034758,000843:
034759,000844: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
034760,000845: 31,3500 00006 EXTEND
034761,000846: 31,3501 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
034762,000847:
034763,000848: 31,3502 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
034764,000849: 31,3503 74746 MASK REDFLBIT
034765,000850: 31,3504 00006 EXTEND
034766,000851: 31,3505 13525 BZF REDES-OK # YES: DO STATIC DISPLAY
034767,000852:
034768,000853: 31,3506 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
034769,000854: 31,3507 04616 TC BANKCALL
034770,000855: 31,3510 20462 CADR REFLASHR
034771,000856: 31,3511 16001 TCF GOTOPOOH # TERMINATE
034772,000857: 31,3512 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
034773,000858: 31,3513 13477 TCF P64DISPS # RECYCLE
|
|
Page 815
|
034775,000860: 31,3514 13476 TCF ENDLLJOB # TO PICK UP THE TAG
034776,000861:
034777,000862: 31,3515 34755 P64CEED CAF ZERO
034778,000863: 31,3516 55644 TS ELINCR1
034779,000864: 31,3517 55645 TS AZINCR1
034780,000865:
034781,000866: 31,3520 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
034782,000867: 31,3521 00143 ADRES REDFLAG
034783,000868:
034784,000869: 31,3522 15155 TCF ENDOFJOB
034785,000870:
034786,000871: 31,3523 05516 RED-OVER TC DOWNFLAG
034787,000872: 31,3524 00143 ADRES REDFLAG
034788,000873: 31,3525 33757 REDES-OK CAF V06N64
034789,000874: 31,3526 13474 TCF DISPCOMN
034790,000875:
034791,000876:
034792,000877: 31,3527 33760 VERTDISP CAF V06N60
034793,000878: 31,3530 13474 TCF DISPCOMN
034794,000879:
034795,000880:
034796,000881: # ****************************************************************************************************************
034797,000882: # GUIDANCE FOR P65
034798,000883: # ****************************************************************************************************************
034799,000884:
034800,000885: 31,3531 11647 VERTGUID CCS WCHVERT
034801,000886: 31,3532 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67
034802,000887: 31,3533 13543 TCF P66VERT # +0
034803,000888:
034804,000889: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
034805,000890: # - -
034806,000891: # V2FG - VGU
034807,000892: # ACG = ----------
034808,000893: # TAUVERT
034809,000894:
034810,000895: 31,3534 06037 P65VERT TC INTPRET
034811,000896: 31,3535 52375 VLOAD VSU
034812,000897: 31,3536 02511 V2FG
034813,000898: 31,3537 03627 VGU
034814,000899: 31,3540 52141 V/SC GOTO
034815,000900: 31,3541 02517 TAUVERT
034816,000901: 31,3542 63204 AFCCALC1
|
|
Page 816
|
034818,000903: # ****************************************************************************************************************
034819,000904: # GUIDANCE FOR P66
034820,000905: # ****************************************************************************************************************
034821,000906:
034822,000907: 31,3543 04635 P66VERT TC POSTJUMP
034823,000908: 31,3544 65270 CADR P66VERTA
034824,000909:
034825,000910: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
034826,000911: 31,3546 00003 OCT 00003
034827,000912:
034828,000913: 31,3547 06037 TC INTPRET
034829,000914: 31,3550 52175 VLOAD GOTO
034830,000915: 31,3551 03527 V
034831,000916: 31,3552 65517 VHORCOMP
034832,000917:
034833,000918: 32,2000 SETLOC P66LOC
034834,000919: 32,2000 BANK
034835,000920: 32,3263 COUNT* $$/F2DPS
034836,000921:
034837,000922: 32,3263 37710 RODTASK CAF PRIO22
034838,000923: 32,3264 05105 TC FINDVAC
034839,000924: 32,3265 E7,1515 EBANK= DVCNTR
034840,000925: 32,3265 03275 64067 2CADR RODCOMP
034841,000926:
034842,000927: 32,3267 15261 TCF TASKOVER
034843,000928:
034844,000929: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
034845,000930: 32,3271 00003 OCT 00003
034846,000931:
034847,000932: 32,3272 34777 CAF 1SEC
034848,000933: 32,3273 05173 TC TWIDDLE
034849,000934: 32,3274 03263 ADRES RODTASK
034850,000935:
034851,000936: 32,3275 00004 RODCOMP INHINT
034852,000937: 32,3276 34755 CAF ZERO
034853,000938: 32,3277 57746 XCH RODCOUNT
034854,000939: 32,3300 00006 EXTEND
034855,000940: 32,3301 71756 MP RODSCAL1
034856,000941: 32,3302 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
034857,000942:
034858,000943: 32,3303 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
034859,000944: 32,3304 30040 DCA PIPAX
034860,000945: 32,3305 53764 DXCH OLDPIPAX
034861,000946: 32,3306 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
034862,000947: 32,3307 30041 CA PIPAZ
034863,000948: 32,3310 57765 XCH OLDPIPAZ
034864,000949: 32,3311 56072 XCH RUPTREG3
034865,000950:
034866,000951: 32,3312 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
034867,000952: 32,3313 30025 DCA TIME2
|
|
Page 817
|
034869,000954: 32,3314 53762 DXCH THISTPIP
034870,000955:
034871,000956: 32,3315 31763 CA OLDPIPAX
034872,000957: 32,3316 61160 AD PIPATMPX
034873,000958: 32,3317 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
034874,000959: 32,3320 31764 CA OLDPIPAY
034875,000960: 32,3321 61161 AD PIPATMPY
034876,000961: 32,3322 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
034877,000962: 32,3323 31765 CA OLDPIPAZ
034878,000963: 32,3324 61162 AD PIPATMPZ
034879,000964: 32,3325 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
034880,000965:
034881,000966: 32,3326 41763 CS OLDPIPAX
034882,000967: 32,3327 61254 AD TEMX
034883,000968: 32,3330 60070 AD RUPTREG1
034884,000969: 32,3331 55766 TS DELVROD
034885,000970: 32,3332 41764 CS OLDPIPAY
034886,000971: 32,3333 61255 AD TEMY
034887,000972: 32,3334 60071 AD RUPTREG2
034888,000973: 32,3335 55770 TS DELVROD +2
034889,000974: 32,3336 41765 CS OLDPIPAZ
034890,000975: 32,3337 61256 AD TEMZ
034891,000976: 32,3340 60072 AD RUPTREG3
034892,000977: 32,3341 55772 TS DELVROD +4
034893,000978:
034894,000979: 32,3342 34755 CAF ZERO
034895,000980: 32,3343 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
034896,000981: 32,3344 54160 TS MPAC +4
034897,000982: 32,3345 54162 TS MPAC +6
034898,000983: 32,3346 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
034899,000984: 32,3347 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
034900,000985: 32,3350 55256 TS TEMZ
034901,000986: 32,3351 44753 CS ONE
034902,000987: 32,3352 54163 TS MODE
034903,000988: 32,3353 06037 TC INTPRET
034904,000989: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
034905,000990: 32,3355 26022 KPIP1
034906,000991: 32,3356 03762 THISTPIP
034907,000992: 32,3357 77625 DSU
034908,000993: 32,3360 01235 PIPTIME
034909,000994: 32,3361 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
034910,000995: 32,3362 63271 DDV PDVL # (8)
034911,000996: 32,3363 27153 4SEC(28)
034912,000997: 32,3364 01237 GDT/2
034913,000998: 32,3365 74251 VSU VXSC # (6)
034914,000999: 32,3366 02631 VBIAS
034915,001000: 32,3367 53352 VSL2 VAD
034916,001001: 32,3370 03527 V
034917,001002: 32,3371 45455 VAD STADR # (0)
034918,001003: 32,3372 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
|
|
Page 818
|
034920,001005: 32,3373 03521 R
034921,001006: 32,3374 77656 UNIT
034922,001007: 32,3375 00017 STORE 14D
034923,001008: 32,3376 72441 DOT SL1
034924,001009: 32,3377 00031 24D
034925,001010: 32,3400 17474 STODL HDOTDISP # UPDATE HDOTDISP FOR NOUN 63.
034926,001011: 32,3401 00037 30D
034927,001012: 32,3402 41261 SL DMP
034928,001013: 32,3403 20214 11D
034929,001014: 32,3404 03474 HDOTDISP
034930,001015: 32,3405 45215 DAD DSU
034931,001016: 32,3406 00045 36D
034932,001017: 32,3407 02333 /LAND/
034933,001018: 32,3410 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63.
034934,001019: 32,3411 03474 HDOTDISP
034935,001020: 32,3412 56221 BDSU DDV
034936,001021: 32,3413 03645 VDGVERT
034937,001022: 32,3414 02541 TAUROD
034938,001023: 32,3415 51515 PDVL ABVAL # (2)
034939,001024: 32,3416 01237 GDT/2
034940,001025: 32,3417 60471 DDV SR2
034941,001026: 32,3420 05652 GSCALE
034942,001027: 32,3421 00025 STORE 20D
034943,001028: 32,3422 77615 DAD # (0)
034944,001029: 32,3423 45115 PDVL CALL # (2)
034945,001030: 32,3424 06520 UNITX
034946,001031: 32,3425 47661 CDU*NBSM
034947,001032: 32,3426 77641 DOT
034948,001033: 32,3427 00017 14D
034949,001034: 32,3430 00027 STORE 22D
034950,001035: 32,3431 45465 BDDV STADR # (0)
034951,001036: 32,3432 50313 STOVL /AFC/
034952,001037: 32,3433 03767 DELVROD
034953,001038: 32,3434 53361 VXSC VAD
034954,001039: 32,3435 26022 KPIP1
034955,001040: 32,3436 02631 VBIAS
034956,001041: 32,3437 65246 ABVAL PDDL # (2)
034957,001042: 32,3440 03762 THISTPIP
034958,001043: 32,3441 65225 DSU PDDL # (4)
034959,001044: 32,3442 03760 LASTTPIP
034960,001045: 32,3443 03762 THISTPIP
034961,001046: 32,3444 17760 STODL LASTTPIP # (2)
034962,001047: 32,3445 55271 DDV BDDV # (0)
034963,001048: 32,3446 25535 SHFTFACT
034964,001049: 32,3447 41325 PDDL DMP # (2)
034965,001050: 32,3450 03611 FWEIGHT
034966,001051: 32,3451 25534 BIT1H
034967,001052: 32,3452 56271 DDV DDV
034968,001053: 32,3453 01245 MASS
034969,001054: 32,3454 22006 SCALEFAC
|
|
Page 819
|
034971,001056: 32,3455 65215 DAD PDDL # (4)
034972,001057: 32,3456 00001 0D
034973,001058: 32,3457 00025 20D
034974,001059: 32,3460 45271 DDV DSU # (2)
034975,001060: 32,3461 00027 22D
034976,001061: 32,3462 43205 DMP DAD
034977,001062: 32,3463 02543 LAG/TAU
034978,001063: 32,3464 03464 /AFC/
034979,001064: 32,3465 56325 PDDL DDV # (4)
034980,001065: 32,3466 02547 MAXFORCE
034981,001066: 32,3467 01245 MASS
034982,001067: 32,3470 56325 PDDL DDV # (6)
034983,001068: 32,3471 02545 MINFORCE
034984,001069: 32,3472 01245 MASS
034985,001070: 32,3473 44206 PUSH BDSU # (8)
034986,001071: 32,3474 00003 2D
034987,001072: 32,3475 71240 BMN DLOAD # (6)
034988,001073: 32,3476 65504 AFCSPOT
034989,001074: 32,3477 41545 DLOAD PUSH # (6)
034990,001075: 32,3500 51021 BDSU BPL
034991,001076: 32,3501 00003 2D
034992,001077: 32,3502 65504 AFCSPOT
034993,001078: 32,3503 77745 DLOAD # (4)
034994,001079: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6)
034995,001080: 32,3505 77601 SETPD # (2)
034996,001081: 32,3506 00003 2D
034997,001082: 32,3507 17464 STODL /AFC/ # (0)
034998,001083: 32,3510 77776 ITRPNT2 EXIT
034999,001084: 32,3511 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035000,001085: 32,3512 04616 TC BANKCALL
035001,001086: 32,3513 62221 CADR THROTTLE +3
035002,001087: 32,3514 06037 TC INTPRET
035003,001088: 32,3515 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
035004,001089: 32,3516 00031 24D
035005,001090: 32,3517 53352 VHORCOMP VSL2 VAD
035006,001091: 32,3520 03734 DELVS
035007,001092: 32,3521 63342 VSR2 PDVL # (6)
035008,001093: 32,3522 03521 R
035009,001094: 32,3523 74256 UNIT VXSC
035010,001095: 32,3524 03474 HDOTDISP
035011,001096: 32,3525 51372 VSL1 BVSU # (0)
035012,001097: 32,3526 77646 ABVAL
035013,001098: 32,3527 02263 STORE VHORIZ
035014,001099: 32,3530 77776 EXIT
035015,001100: 32,3531 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035016,001101: 32,3532 63463 CADR DISPEXIT +3
035017,001102:
035018,001103: 32,3533 00001 BIT1H OCT 00001
035019,001104: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17
|
|
Page 820
|
035021,001106: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28
035022,001107:
035023,001108: # ****************************************************************************************************************
035024,001109: # REDESIGNATOR TRAP
035025,001110: # ****************************************************************************************************************
035026,001111:
035027,001112: 11,2275 BANK 11
035028,001113: 11,2000 SETLOC F2DPS*11
035029,001114: 11,2000 BANK
035030,001115:
035031,001116: 11,2275 COUNT* $$/F2DPS
035032,001117:
035033,001118: 11,2275 56016 PITFALL XCH BANKRUPT
035034,001119: 11,2276 00006 EXTEND
035035,001120: 11,2277 22012 QXCH QRUPT
035036,001121:
035037,001122: 11,2300 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035038,001123: 11,2301 00100 DEC 64 B-14
035039,001124: 11,2302 15270 TCF RESUME
035040,001125:
035041,001126: 11,2303 00006 EXTEND
035042,001127: 11,2304 00031 READ CHAN31
035043,001128: 11,2305 40000 COM
035044,001129: 11,2306 72373 MASK ALL4BITS
035045,001130: 11,2307 55647 TS ELVIRA
035046,001131: 11,2310 34752 CAF TWO
035047,001132: 11,2311 55646 TS ZERLINA
035048,001133: 11,2312 34756 CAF FIVE
035049,001134: 11,2313 05173 TC TWIDDLE
035050,001135: 11,2314 02321 ADRES REDESMON
035051,001136: 11,2315 15270 TCF RESUME
035052,001137:
035053,001138: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035054,001139:
035055,001140: 11,2316 55646 PREMON1 TS ZERLINA
035056,001141: 11,2317 34757 PREMON2 CAF SEVEN
035057,001142: 11,2320 05224 TC VARDELAY
035058,001143: 11,2321 00006 REDESMON EXTEND
035059,001144: 11,2322 00031 READ 31
035060,001145: 11,2323 40000 COM
035061,001146: 11,2324 72373 MASK ALL4BITS
035062,001147: 11,2325 57647 XCH ELVIRA
035063,001148: 11,2326 54001 TS L
035064,001149: 11,2327 11647 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035065,001150: 11,2330 12317 TCF PREMON2 # Y: CONTINUE MONITOR
035066,001151:
035067,001152: 11,2331 10001 CCS L # N: ANY LAST PASS?
035068,001153: 11,2332 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
|
|
Page 821
|
035070,001155: 11,2333 11646 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035071,001156: 11,2334 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035072,001157: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE
035073,001158: 11,2336 00006 EXTEND
035074,001159: 11,2337 05013 WOR CHAN13
035075,001160: 11,2340 15261 TCF TASKOVER
035076,001161:
035077,001162: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035078,001163: 11,2342 00006 EXTEND
035079,001164: 11,2343 02031 RAND CHAN31
035080,001165: 11,2344 00006 EXTEND
035081,001166: 11,2345 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035082,001167:
035083,001168: 11,2346 30001 CA L # NO
035084,001169: 11,2347 74746 MASK -AZBIT
035085,001170: 11,2350 10000 CCS A
035086,001171: 11,2351 42374 -AZ CS AZEACH
035087,001172: 11,2352 27645 ADS AZINCR1
035088,001173: 11,2353 30001 CA L
035089,001174: 11,2354 74747 MASK +AZBIT
035090,001175: 11,2355 10000 CCS A
035091,001176: 11,2356 32374 +AZ CA AZEACH
035092,001177: 11,2357 27645 ADS AZINCR1
035093,001178: 11,2360 30001 CA L
035094,001179: 11,2361 74753 MASK -ELBIT
035095,001180: 11,2362 10000 CCS A
035096,001181: 11,2363 42375 -EL CS ELEACH
035097,001182: 11,2364 27644 ADS ELINCR1
035098,001183: 11,2365 30001 CA L
035099,001184: 11,2366 74752 MASK +ELBIT
035100,001185: 11,2367 10000 CCS A
035101,001186: 11,2370 32375 +EL CA ELEACH
035102,001187: 11,2371 27644 ADS ELINCR1
035103,001188: 11,2372 12335 TCF RESETRPT
035104,001189:
035105,001190: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035106,001191:
035107,001192: 11,2373 4752 +ELBIT = BIT2 # -PITCH
035108,001193: 11,2373 4753 -ELBIT = BIT1 # +PITCH
035109,001194: 11,2373 4747 +AZBIT = BIT5
035110,001195: 11,2373 4746 -AZBIT = BIT6
035111,001196:
|
|
Page 822
|
035113,001198: 11,2373 00063 ALL4BITS OCT 00063
035114,001199: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES
035115,001200: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE
035116,001201:
035117,001202: # ****************************************************************************************************************
035118,001203: # R.O.D. TRAP
035119,001204: # ************************************************************************
035120,001205:
035121,001206: 20,2115 BANK 20
035122,001207: 20,2000 SETLOC RODTRAP
035123,001208: 20,2000 BANK
035124,001209: 20,2115 COUNT* $$/F2DPS # ****************************************
035125,001210:
035126,001211: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035127,001212: 20,2116 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035128,001213: 20,2117 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035129,001214: 20,2120 64753 AD ONE
035130,001215: 20,2121 27746 ADS RODCOUNT
035131,001216: 20,2122 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035132,001217:
035133,001218: 31,3553 BANK 31
035134,001219: 31,2000 SETLOC F2DPS*31
035135,001220: 31,2000 BANK
035136,001221:
035137,001222: 31,3553 COUNT* $$/F2DPS
035138,001223:
035139,001224: # ****************************************************************************************************************
035140,001225: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035141,001226: # ****************************************************************************************************************
035142,001227:
035143,001228: # N N-1
035144,001229: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035145,001230: # N N-1 1 0
035146,001231: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035147,001232: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035148,001233: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035149,001234: # MPAC DP X INITIAL GUESS FOR ROOT
035150,001235:
035151,001236: # LOC-2N DP A(0)
035152,001237: # ...
035153,001238: # LOC DP A(N)
035154,001239: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035155,001240:
|
|
Page 823
|
035157,001242: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035158,001243: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035159,001244: # OUTPUTS ARE NOT TO BE TRUSTED.
035160,001245:
035161,001246: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035162,001247: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035163,001248: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035164,001249: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035165,001250: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035166,001251: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035167,001252: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035168,001253: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
035169,001254: # PRECLUDE EVENTUAL CONVERGENCE.
035170,001255: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035171,001256: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035172,001257: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035173,001258:
035174,001259: # STORE ENTERING DATA, INITLIZE ERASABLES
035175,001260: 31,3553 00006 ROOTPSRS EXTEND
035176,001261: 31,3554 22132 QXCH RETROOT # RETURN ADRES
035177,001262: 31,3555 54117 TS PWRPTR # PWR TABL POINTER
035178,001263: 31,3556 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035179,001264: 31,3557 33676 CA DERTABLL
035180,001265: 31,3560 54141 TS DERPTR # DER TABL POINTER
035181,001266: 31,3561 54161 TS MPAC +5 # DER TABL ADRES
035182,001267: 31,3562 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035183,001268: 31,3563 54162 TS MPAC +6 # N-2
035184,001269: 31,3564 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035185,001270: 31,3565 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035186,001271:
035187,001272: # COMPUTE CRITERION TO STOP ITERATING
035188,001273: 31,3566 00006 EXTEND
035189,001274: 31,3567 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035190,001275: 31,3570 52127 DXCH ROOTPS # AND IN ROOTPS
035191,001276: 31,3571 50157 INDEX MPAC +3 # PWR TABL ADRES
035192,001277: 31,3572 30005 CA 5 # PRECROOT TO A
035193,001278: 31,3573 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035194,001279: 31,3574 04713 TC USPRCADR
035195,001280: 31,3575 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035196,001281: 31,3576 52155 DXCH MPAC
035197,001282: 31,3577 52125 DXCH DXCRIT # CRITERION
035198,001283:
035199,001284: # SET UP DER COF TABL
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Page 824
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035201,001286: 31,3600 00006 EXTEND
035202,001287: 31,3601 50117 INDEX PWRPTR
035203,001288: 31,3602 30004 DCA 3
035204,001289: 31,3603 52155 DXCH MPAC # A(N) TO MPAC
035205,001290:
035206,001291: 31,3604 30160 CA MPAC +4 # N-1 TO A
035207,001292:
035208,001293: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035209,001294: 31,3606 64753 AD ONE
035210,001295: 31,3607 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035211,001296: 31,3610 00006 EXTEND
035212,001297: 31,3611 50117 INDEX PWRPTR
035213,001298: 31,3612 30002 DCA 1
035214,001299: 31,3613 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
035215,001300: 31,3614 50141 INDEX DERPTR
035216,001301: 31,3615 52004 DXCH 3 # DERCOF TO DER TABL
035217,001302: 31,3616 44752 CS TWO
035218,001303: 31,3617 26117 ADS PWRPTR # DECREMENT PWR POINTER
035219,001304: 31,3620 44752 CS TWO
035220,001305: 31,3621 26141 ADS DERPTR # DECREMENT DER POINTER
035221,001306: 31,3622 10140 CCS PWRCNT
035222,001307: 31,3623 13605 TCF DERCLOOP
035223,001308:
035224,001309: # CONVERGE ON ROOT
035225,001310: 31,3624 00006 ROOTLOOP EXTEND
035226,001311: 31,3625 30127 DCA ROOTPS # FETCH CURRENT ROOT
035227,001312: 31,3626 52155 DXCH MPAC # LEAVE IN MPAC
035228,001313: 31,3627 00006 EXTEND
035229,001314: 31,3630 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
035230,001315: 31,3631 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
035231,001316:
035232,001317: 31,3632 00006 EXTEND
035233,001318: 31,3633 30127 DCA ROOTPS
035234,001319: 31,3634 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
035235,001320: 31,3635 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
035236,001321: 31,3636 00006 EXTEND
035237,001322: 31,3637 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
035238,001323: 31,3640 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC
035239,001324:
035240,001325: 31,3641 04713 TC USPRCADR
035241,001326: 31,3642 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
035242,001327:
035243,001328: 31,3643 00006 EXTEND
035244,001329: 31,3644 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
035245,001330: 31,3645 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
035246,001331:
035247,001332: 31,3646 04713 TC USPRCADR
035248,001333: 31,3647 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
035249,001334: 31,3650 00006 EXTEND
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Page 825
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035251,001336: 31,3651 40125 DCS DXCRIT
035252,001337: 31,3652 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
035253,001338:
035254,001339: 31,3653 30163 CA MODE
035255,001340: 31,3654 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
035256,001341: 31,3655 10000 CCS A
035257,001342: 31,3656 00132 BADROOT TC RETROOT
035258,001343:
035259,001344: 31,3657 24163 INCR MODE # INCREMENT ITERATION COUNTER
035260,001345: 31,3660 10154 CCS MPAC # TEST HI ORDER DX
035261,001346: 31,3661 13624 TCF ROOTLOOP
035262,001347: 31,3662 13664 TCF TESTLODX
035263,001348: 31,3663 13670 TCF ROOTSTOR
035264,001349: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
035265,001350: 31,3665 13624 TCF ROOTLOOP
035266,001351: 31,3666 13670 TCF ROOTSTOR
035267,001352: 31,3667 13670 TCF ROOTSTOR
035268,001353: 31,3670 52127 ROOTSTOR DXCH ROOTPS
035269,001354: 31,3671 52155 DXCH MPAC
035270,001355: 31,3672 30163 CA MODE
035271,001356: 31,3673 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
035272,001357: 31,3674 50132 INDEX RETROOT
035273,001358: 31,3675 10002 TCF 2
035274,001359:
035275,001360: 31,3676 00147 DERTABLL ADRES DERCOFN -3
035276,001361:
035277,001362: # ****************************************************************************************************************
035278,001363: # TRASHY LITTLE SUBROUTINES
035279,001364: # ****************************************************************************************************************
035280,001365:
035281,001366: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
035282,001367: 31,3700 42452 CS TARGTDEX
035283,001368: 31,3701 50120 INDEX FIXLOC
035284,001369: 31,3702 54046 TS X1
035285,001370: 31,3703 16037 TCF INTPRET
035286,001371:
035287,001372: 31,3704 31642 TDISPSET CA TTF/8
035288,001373: 31,3705 00006 EXTEND
035289,001374: 31,3706 74750 MP TSCALINV
035290,001375: 31,3707 53476 DXCH TTFDISP
035291,001376:
035292,001377: 31,3710 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
035293,001378: 31,3711 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
035294,001379: 31,3712 E5,1470 EBANK= TCGFAPPR
035295,001380: 31,3712 31470 CA TCGFAPPR
035296,001381: 31,3713 24006 INCR BBANK
035297,001382: 31,3714 24006 INCR BBANK
035298,001383: 31,3715 E7,1642 EBANK= TTF/8
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Page 826
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035300,001385: 31,3715 61642 AD TTF/8
035301,001386: 31,3716 00006 EXTEND
035302,001387: 31,3717 73751 MP TREDESCL
035303,001388: 31,3720 63747 AD -DEC103
035304,001389: 31,3721 64735 AD NEGMAX
035305,001390: 31,3722 54001 TS L
035306,001391: 31,3723 40001 CS L
035307,001392: 31,3724 60001 AD L
035308,001393: 31,3725 63750 AD +DEC99
035309,001394: 31,3726 64733 AD POSMAX
035310,001395: 31,3727 55666 TS TREDES
035311,001396: 31,3730 41666 CS TREDES
035312,001397: 31,3731 27666 ADS TREDES
035313,001398: 31,3732 00002 TC Q
035314,001399:
035315,001400: 31,3733 05652 1406POO TC POODOO
035316,001401: 31,3734 01406 OCT 01406
035317,001402: 31,3735 05567 1406ALM TC ALARM
035318,001403: 31,3736 01406 OCT 01406
035319,001404: 31,3737 13443 TCF RATESTOP
035320,001405:
035321,001406: # ****************************************************************************************************************
035322,001407: # SPECIALIZED "PHASCHNG" SUBROUTINE
035323,001408: # ****************************************************************************************************************
035324,001409:
035325,001410: 31,3740 E3,1440 EBANK= PHSNAME2
035326,001411: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
035327,001412: 31,3741 56003 XCH EBANK
035328,001413: 31,3742 52002 DXCH L
035329,001414: 31,3743 55442 TS PHSNAME3
035330,001415: 31,3744 22003 LXCH EBANK
035331,001416: 31,3745 E7,1621 EBANK= E2DPS
035332,001417: 31,3745 00000 TC A
035333,001418:
035334,001419: # ****************************************************************************************************************
035335,001420: # PARAMETER TABLE INDIRECT ADDRESSES
035336,001421: # ****************************************************************************************************************
035337,001422:
035338,001423: 31,3746 E5,1402 RDG = RBRFG
035339,001424: 31,3746 E5,1410 VDG = VBRFG
035340,001425: 31,3746 E5,1416 ADG = ABRFG
035341,001426: 31,3746 E5,1424 VDG2TTF = VBRFG*
035342,001427: 31,3746 E5,1426 ADG2TTF = ABRFG*
035343,001428: 31,3746 E5,1430 JDG2TTF = JBRFG*
035344,001429:
035345,001430: # ****************************************************************************************************************
035346,001431: # LUNAR LANDING CONSTANTS
035347,001432: # ***************************************************************************************************************
035348,001433:
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|
Page 827
|
035350,001435: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
035351,001436: 31,3747 4740 TTFSCALE = BIT12
035352,001437: 31,3747 4750 TSCALINV = BIT4
035353,001438: 31,3747 77630 -DEC103 DEC -103 B-14
035354,001439: 31,3750 00143 +DEC99 DEC +99 B-14
035355,001440: 31,3751 75340 TREDESCL DEC -.08
035356,001441: 31,3752 00264 180DEGS DEC +180 B-14
035357,001442: 31,3753 00056 1/2DEG DEC +.00278
035358,001443: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
035359,001444: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
035360,001445: 31,3756 01477 V06N63 VN 0663 # P63
035361,001446: 31,3757 01500 V06N64 VN 0664 # P64
035362,001447: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67
035363,001448:
035364,001449: 22,3647 BANK 22
035365,001450: 22,2000 SETLOC LANDCNST
035366,001451: 22,2000 BANK
035367,001452: 22,3647 COUNT* $$/F2DPS
035368,001453:
035369,001454: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
035370,001455: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
035371,001456: 22,3653 14000 00000 3/8DP 2DEC .375
035372,001457: 22,3655 30000 00000 3/4DP 2DEC .750
035373,001458: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
035374,001459:
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Page 828
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035376,001461: # ****************************************************************************************************************
035377,001462: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc