Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. 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 97 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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034092,000002: ## Copyright: Public domain.
034093,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
034094,000004: ## Purpose: A section of Luminary revision 97.
034095,000005: ## It is part of the reconstructed source code for the
034096,000006: ## second release of the flight software for the Lunar
034097,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
034098,000008: ## It was created to fix two incorrect ephemeris constants in
034099,000009: ## Luminary 96, as described by anomaly report LNY-59.
034100,000010: ## The code has been recreated from a copy of Luminary 99
034101,000011: ## revision 001, using asterisks indicating changed lines in
034102,000012: ## the listing and Luminary Memos #83 and #85, which list
034103,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
034104,000014: ## code has been adapted such that the resulting bugger words
034105,000015: ## exactly match those specified for Luminary 97 in NASA drawing
034106,000016: ## 2021152D, which gives relatively high confidence that the
034107,000017: ## reconstruction is correct.
034108,000018: ## Reference: pp. 798-828
034109,000019: ## Assembler: yaYUL
034110,000020: ## Contact: Ron Burkey <info@sandroid.org>.
034111,000021: ## Website: www.ibiblio.org/apollo/index.html
034112,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
034113,000023:
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Page 798
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034115,000025: 31,2420 E7,1621 EBANK= E2DPS
034116,000026: 31,2420 COUNT* $$/F2DPS
034117,000027:
034118,000028: # ****************************************************************************************************************
034119,000029: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034120,000030: # ****************************************************************************************************************
034121,000031:
034122,000032: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034123,000033: # WCHPHASE = -1 ---> IGNALG
034124,000034: # WCHPHASE = 0 ---> BRAKQUAD
034125,000035: # WCHPHASE = 1 ---> APPRQUAD
034126,000036: # WCHPHASE = 2 ---> VERTICAL
034127,000037:
034128,000038: # ***************************************************************************************************************
034129,000039:
034130,000040: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034131,000041:
034132,000042: 31,2420 12641 TCF TTFINCR # IGNALG
034133,000043: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD
034134,000044: 31,2422 12630 TCF STARTP64 # APPRQUAD
034135,000045: 31,2423 12621 TCF P65START # VERTICAL
034136,000046:
034137,000047: # PRE-GUIDANCE COMPUTATIONS:
034138,000048:
034139,000049: 31,2424 13003 TCF CALCRGVG # IGNALG
034140,000050: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD
034141,000051: 31,2426 12704 TCF REDESIG # APPRQUAD
034142,000052: 31,2427 13013 TCF RGVGCALC # VERTICAL
034143,000053:
034144,000054: # GUIDANCE EQUATIONS:
034145,000055:
034146,000056: 31,2430 13061 TCF TTF/8CL # IGNALG
034147,000057: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD
034148,000058: 31,2432 13061 TCF TTF/8CL # APPRQUAD
034149,000059: 31,2433 13531 TCF VERTGUID # VERTICAL
034150,000060:
034151,000061: # POST GUIDANCE EQUATION COMPUTATIONS:
034152,000062:
034153,000063: 31,2434 13245 TCF CGCALC # IGNALG
034154,000064: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD
034155,000065: 31,2436 13245 TCF CGCALC # APPRQUAD
034156,000066: 31,2437 13432 TCF STEER? # VERTICAL
034157,000067:
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Page 799
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034159,000069: # WINDOW VECTOR COMPUTATIONS:
034160,000070:
034161,000071: 31,2440 13331 TCF EXGSUB # IGNALG
034162,000072: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD
034163,000073: 31,2442 13360 TCF EXNORM # APPRQUAD
034164,000074:
034165,000075: # DISPLAY ROUTINES:
034166,000076:
034167,000077: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD
034168,000078: 31,2444 13477 TCF P64DISPS # APPRQUAD
034169,000079: 31,2445 13527 TCF VERTDISP # VERTICAL
034170,000080:
034171,000081: # ALARM ROUTINE FOR TTF COMPUTATION:
034172,000082:
034173,000083: 31,2446 13733 TCF 1406POO # IGNALG
034174,000084: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD
034175,000085: 31,2450 13735 TCF 1406ALM # APPRQUAD
034176,000086:
034177,000087: # INDICES FOR REFERENCING TARGET PARAMETERS:
034178,000088:
034179,000089: 31,2451 00000 OCT 0 # IGNALG
034180,000090: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD
034181,000091: 31,2453 00034 OCT 34 # APPRQUAD
034182,000092:
034183,000093: # ****************************************************************************************************************
034184,000094: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034185,000095: # ****************************************************************************************************************
034186,000096:
034187,000097: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034188,000098:
034189,000099: 31,2454 77776 ?GUIDSUB EXIT
034190,000100: 31,2455 34752 CAF TWO # N = 3
034191,000101: 31,2456 55647 TS NGUIDSUB
034192,000102: 31,2457 12603 TCF GUILDRET +2
034193,000103:
034194,000104: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034195,000105: 31,2461 13003 TCF CALCRGVG
034196,000106:
034197,000107: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034198,000108:
034199,000109: 31,2462 05353 LUNLAND TC PHASCHNG
034200,000110: 31,2463 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034201,000111: 31,2464 05353 TC PHASCHNG
034202,000112: 31,2465 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21
034203,000113: 31,2466 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY
034204,000114:
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Page 800
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034206,000116: # ****************************************************************************************************************
034207,000117: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034208,000118: # ****************************************************************************************************************
034209,000119:
034210,000120: 31,2467 COUNT* $$/R13
034211,000121:
034212,000122: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
034213,000123: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
034214,000124: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
034215,000125:
034216,000126: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
034217,000127: 31,2470 00030 READ CHAN30
034218,000128: 31,2471 74747 MASK BIT5
034219,000129: 31,2472 10000 CCS A
034220,000130: 31,2473 12551 TCF STARTP67 # YES
034221,000131: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
034222,000132: 31,2475 00103 DEC 67 B-14
034223,000133: 31,2476 12557 TCF STABL? # NO
034224,000134: 31,2477 03740 STARTP66 TC FASTCHNG # YES
034225,000135: 31,2500 05311 TC NEWMODEX
034226,000136: 31,2501 00102 DEC66 DEC 66 B-14
034227,000137: 31,2502 00006 EXTEND
034228,000138: 31,2503 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034229,000139: 31,2504 53645 DXCH VDGVERT # ALTITUDE RATE.
034230,000140: 31,2505 06037 STRTP66A TC INTPRET
034231,000141: 31,2506 41535 SLOAD PUSH
034232,000142: 31,2507 01457 PBIASZ
034233,000143: 31,2510 41535 SLOAD PUSH
034234,000144: 31,2511 01455 PBIASY
034235,000145: 31,2512 55535 SLOAD VDEF
034236,000146: 31,2513 01453 PBIASX
034237,000147: 31,2514 43161 VXSC SET
034238,000148: 31,2515 25537 BIASFACT
034239,000149: 31,2516 00463 RODFLAG
034240,000150: 31,2517 26631 STOVL VBIAS
034241,000151: 31,2520 01255 TEMX
034242,000152: 31,2521 77676 VCOMP
034243,000153: 31,2522 27764 STOVL OLDPIPAX
034244,000154: 31,2523 06522 ZEROVECS
034245,000155: 31,2524 17767 STODL DELVROD
034246,000156: 31,2525 02540 RODSCALE
034247,000157: 31,2526 17757 STODL RODSCAL1
034248,000158: 31,2527 01235 PIPTIME
034249,000159: 31,2530 03760 STORE LASTTPIP
034250,000160: 31,2531 77776 EXIT
034251,000161: 31,2532 34755 CAF ZERO
034252,000162: 31,2533 55620 TS FCOLD
034253,000163: 31,2534 55610 TS FWEIGHT
034254,000164: 31,2535 55611 TS FWEIGHT +1
034255,000165: 31,2536 55647 VRTSTART TS WCHVERT
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Page 801
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034257,000167: 31,2537 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034258,000168: 31,2540 55621 TS WCHPHOLD
034259,000169: 31,2541 55351 TS WCHPHASE
034260,000170: 31,2542 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034261,000171: 31,2543 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034262,000172: 31,2544 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034263,000173: 31,2545 00311 ADRES XOVINFLG
034264,000174: 31,2546 05516 TC DOWNFLAG
034265,000175: 31,2547 00143 ADRES REDFLAG
034266,000176: 31,2550 13531 TCF VERTGUID
034267,000177:
034268,000178: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
034269,000179: 31,2552 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
034270,000180: 31,2553 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
034271,000181: 31,2554 55746 TS RODCOUNT
034272,000182: 31,2555 34363 CAF TEN
034273,000183: 31,2556 12536 TCF VRTSTART
034274,000184:
034275,000185: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT?
034276,000186: 31,2560 00006 EXTEND
034277,000187: 31,2561 02031 RAND CHAN31
034278,000188: 31,2562 10000 CCS A
034279,000189: 31,2563 12601 TCF GUILDRET # YES: ALL'S WELL
034280,000190:
034281,000191: 31,2564 41011 P66NOW? CS MODREG
034282,000192: 31,2565 62501 AD DEC66
034283,000193: 31,2566 00006 EXTEND
034284,000194: 31,2567 12574 BZF RESTART?
034285,000195:
034286,000196: 31,2570 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
034287,000197: 31,2571 00006 EXTEND
034288,000198: 31,2572 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
034289,000199: 31,2573 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
034290,000200:
034291,000201: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034292,000202: 31,2575 74740 MASK RODFLBIT
034293,000203: 31,2576 00006 EXTEND
034294,000204: 31,2577 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034295,000205: # IS.
034296,000206:
034297,000207: 31,2600 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034298,000208:
034299,000209: # ****************************************************************************************************************
034300,000210: # INITIALIZATION FOR THIS PASS
034301,000211: # ****************************************************************************************************************
034302,000212:
034303,000213: 31,2601 COUNT* $$/F2DPS
034304,000214:
034305,000215: 31,2601 34755 GUILDRET CAF ZERO
034306,000216: 31,2602 55746 TS RODCOUNT
034307,000217:
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Page 802
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034309,000219: 31,2603 00006 +2 EXTEND
034310,000220: 31,2604 31625 DCA TPIP
034311,000221: 31,2605 53574 DXCH TPIPOLD
034312,000222:
034313,000223: 31,2606 03740 TC FASTCHNG
034314,000224:
034315,000225: 31,2607 00006 EXTEND
034316,000226: 31,2610 31561 DCA PIPTIME1
034317,000227: 31,2611 53625 DXCH TPIP
034318,000228:
034319,000229: 31,2612 00006 EXTEND
034320,000230: 31,2613 31643 DCA TTF/8
034321,000231: 31,2614 53553 DXCH TTF/8TMP
034322,000232:
034323,000233: 31,2615 11623 CCS FLPASS0
034324,000234: 31,2616 12641 TCF TTFINCR
034325,000235:
034326,000236: 31,2617 51351 BRSPOT1 INDEX WCHPHASE
034327,000237: 31,2620 12421 TCF NEWPHASE
034328,000238:
034329,000239: # ****************************************************************************************************************
034330,000240: # ROUTINES TO START NEW PHASES
034331,000241: # ****************************************************************************************************************
034332,000242:
034333,000243: 31,2621 05311 P65START TC NEWMODEX
034334,000244: 31,2622 00101 DEC 65 B-14
034335,000245: 31,2623 44752 CS TWO
034336,000246: 31,2624 55647 TS WCHVERT
034337,000247: 31,2625 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034338,000248: 31,2626 00311 ADRES XOVINFLG
034339,000249: 31,2627 12641 TCF TTFINCR
034340,000250:
034341,000251: 31,2630 05311 STARTP64 TC NEWMODEX
034342,000252: 31,2631 00100 DEC 64 B-14
034343,000253: 31,2632 31425 CA DELTTFAP # AUGMENT TTF/8
034344,000254: 31,2633 27552 ADS TTF/8TMP
034345,000255: 31,2634 34740 CA BIT12 # ENABLE RUPT10
034346,000256: 31,2635 00006 EXTEND
034347,000257: 31,2636 05013 WOR CHAN13
034348,000258: 31,2637 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034349,000259: 31,2640 00143 ADRES REDFLAG
034350,000260:
034351,000261:
034352,000262: # (CONTINUE TO TTFINCR)
034353,000263:
034354,000264: # ****************************************************************************************************************
034355,000265: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034356,000266: # ****************************************************************************************************************
034357,000267:
034358,000268: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
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Page 803
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034360,000270: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034361,000271: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034362,000272: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034363,000273: # - - - -
034364,000274: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034365,000275: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034366,000276: # - -
034367,000277: # RANGEDSP = ABVAL(LAND - R)
034368,000278:
034369,000279: 31,2641 06037 TTFINCR TC INTPRET
034370,000280: 31,2642 45345 DLOAD DSU
034371,000281: 31,2643 03625 TPIP
034372,000282: 31,2644 03574 TPIPOLD
034373,000283: 31,2645 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034374,000284: 31,2646 21214 11D
034375,000285: 31,2647 47361 VXSC VXV
034376,000286: 31,2650 03635 LAND
034377,000287: 31,2651 02325 WM
034378,000288: 31,2652 47045 BVSU RTB
034379,000289: 31,2653 03635 LAND
034380,000290: 31,2654 21726 NORMUNIT
034381,000291: 31,2655 76561 VXSC VSL1
034382,000292: 31,2656 02333 /LAND/
034383,000293: 31,2657 17545 STODL LANDTEMP
034384,000294: 31,2660 77776 EXIT
034385,000295:
034386,000296: 31,2661 52155 DXCH MPAC
034387,000297: 31,2662 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034388,000298:
034389,000299: 31,2663 03740 TC FASTCHNG
034390,000300:
034391,000301: 31,2664 00006 EXTEND
034392,000302: 31,2665 31553 DCA TTF/8TMP
034393,000303: 31,2666 53643 DXCH TTF/8
034394,000304:
034395,000305: 31,2667 00006 EXTEND
034396,000306: 31,2670 31545 DCA LANDTEMP
034397,000307: 31,2671 53635 DXCH LAND
034398,000308: 31,2672 00006 EXTEND
034399,000309: 31,2673 31547 DCA LANDTEMP +2
034400,000310: 31,2674 53637 DXCH LAND +2
034401,000311: 31,2675 00006 EXTEND
034402,000312: 31,2676 31551 DCA LANDTEMP +4
034403,000313: 31,2677 53641 DXCH LAND +4
034404,000314:
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Page 804
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034406,000316: 31,2700 03704 TC TDISPSET
034407,000317: 31,2701 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
034408,000318:
034409,000319: 31,2702 51351 BRSPOT2 INDEX WCHPHASE
034410,000320: 31,2703 12425 TCF PREGUIDE
034411,000321:
034412,000322: # ****************************************************************************************************************
034413,000323: # LANDING SITE PERTURBATION EQUATIONS
034414,000324: # ****************************************************************************************************************
034415,000325:
034416,000326: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
034417,000327: 31,2705 74746 MASK REDFLBIT
034418,000328: 31,2706 00006 EXTEND
034419,000329: 31,2707 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
034420,000330:
034421,000331: 31,2710 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
034422,000332: 31,2711 00006 EXTEND
034423,000333: 31,2712 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
034424,000334:
034425,000335: 31,2713 00004 INHINT
034426,000336: 31,2714 31644 CA ELINCR1
034427,000337: 31,2715 55554 TS ELINCR
034428,000338: 31,2716 31645 CA AZINCR1
034429,000339: 31,2717 55556 TS AZINCR
034430,000340: 31,2720 03740 TC FASTCHNG
034431,000341:
034432,000342: 31,2721 34755 CA ZERO
034433,000343: 31,2722 55644 TS ELINCR1
034434,000344: 31,2723 55645 TS AZINCR1
034435,000345: 31,2724 55555 TS ELINCR +1
034436,000346: 31,2725 55557 TS AZINCR +1
034437,000347:
034438,000348: 31,2726 30120 CA FIXLOC # SET PD TO 0
034439,000349: 31,2727 54166 TS PUSHLOC
034440,000350:
034441,000351: 31,2730 06037 TC INTPRET
034442,000352: 31,2731 52375 VLOAD VSU
034443,000353: 31,2732 03635 LAND
034444,000354: 31,2733 03521 R # - -
034445,000355: 31,2734 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
034446,000356: 31,2735 21726 NORMUNIT
034447,000357: 31,2736 76435 VXV VSL1
034448,000358: 31,2737 02154 YNBPIP # - - -
034449,000359: 31,2740 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
034450,000360: 31,2741 03555 ELINCR
034451,000361: 31,2742 03557 AZINCR
034452,000362: 31,2743 52361 VXSC VSU
034453,000363: 31,2744 02154 YNBPIP
034454,000364: 31,2745 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
034455,000365:
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Page 805
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034457,000367:
034458,000368: 31,2746 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
034459,000369: 31,2747 00001 0 # TOO CLOSE TO THE HORIZON
034460,000370: 31,2750 05660 DEPRCRIT
034461,000371: 31,2751 71240 BMN DLOAD
034462,000372: 31,2752 62755 REDES1
034463,000373: 31,2753 05660 DEPRCRIT
034464,000374: 31,2754 00001 STORE 0
034465,000375: 31,2755 45345 REDES1 DLOAD DSU
034466,000376: 31,2756 03635 LAND
034467,000377: 31,2757 03521 R
034468,000378: 31,2760 74271 DDV VXSC
034469,000379: 31,2761 00001 0
034470,000380: 31,2762 53455 VAD UNIT
034471,000381: 31,2763 03521 R
034472,000382: 31,2764 76561 VXSC VSL1
034473,000383: 31,2765 02333 /LAND/
034474,000384: 31,2766 03545 STORE LANDTEMP
034475,000385: 31,2767 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
034476,000386:
034477,000387: 31,2770 03740 TC FASTCHNG
034478,000388:
034479,000389: 31,2771 00006 EXTEND
034480,000390: 31,2772 31545 DCA LANDTEMP
034481,000391: 31,2773 53635 DXCH LAND
034482,000392: 31,2774 00006 EXTEND
034483,000393: 31,2775 31547 DCA LANDTEMP +2
034484,000394: 31,2776 53637 DXCH LAND +2
034485,000395: 31,2777 00006 EXTEND
034486,000396: 31,3000 31551 DCA LANDTEMP +4
034487,000397: 31,3001 53641 DXCH LAND +4
034488,000398:
034489,000399: 31,3002 13013 TCF RGVGCALC
034490,000400:
034491,000401: # ****************************************************************************************************************
034492,000402: # COMPUTE STATE IN GUIDANCE COORDINATES
034493,000403: # ****************************************************************************************************************
034494,000404:
034495,000405: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
034496,000406: # VELOCITY RELATIVE TO THE SURFACE:
034497,000407: # - - - -
034498,000408: # ANGTERM = V + R * WM
034499,000409:
034500,000410: # STATE IN GUIDANCE COORDINATES:
034501,000411: # - * - -
034502,000412: # RGU = CG (R - LAND)
034503,000413: # - * - - -
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Page 806
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034505,000415: # VGU = CG (V - WM * R)
034506,000416:
034507,000417: # HORIZONTAL VELOCITY FOR DISPLAY:
034508,000418:
034509,000419: # VHORIZ = 8 ABVAL (0, VG , VG )
034510,000420: # 2 1
034511,000421: # DEPRESSION ANGLE FOR DISPLAY:
034512,000422: # - - -
034513,000423: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
034514,000424:
034515,000425: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
034516,000426: 31,3004 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
034517,000427: 31,3005 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
034518,000428: 31,3006 01734 REFSMMAT
034519,000429: 31,3007 53362 VSR1 VAD
034520,000430: 31,3010 03254 UNFC/2
034521,000431: 31,3011 03527 STORE V
034522,000432: 31,3012 77776 EXIT
034523,000433:
034524,000434: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
034525,000435: 31,3014 47375 VLOAD VXV
034526,000436: 31,3015 03521 R
034527,000437: 31,3016 02325 WM
034528,000438: 31,3017 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
034529,000439: 31,3020 03527 V
034530,000440: 31,3021 02265 STORE ANGTERM
034531,000441: 31,3022 77721 MXV
034532,000442: 31,3023 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
034533,000443: 31,3024 03627 STORE VGU
034534,000444: 31,3025 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
034535,000445: 31,3026 06522 ZEROVECS # 2 1
034536,000446: 31,3027 52446 ABVAL SL3
034537,000447: 31,3030 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
034538,000448: 31,3031 03521 R # - -
034539,000449: 31,3032 41451 VSU PUSH # PUSH DOWN R - LAND
034540,000450: 31,3033 03635 LAND
034541,000451: 31,3034 76521 MXV VSL1
034542,000452: 31,3035 02603 CG
034543,000453: 31,3036 02637 STORE RGU
034544,000454: 31,3037 77646 ABVAL
034545,000455: 31,3040 26625 STOVL RANGEDSP
034546,000456: 31,3041 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
034547,000457: 31,3042 21726 NORMUNIT
034548,000458: 31,3043 02146 XNBPIP
034549,000459: 31,3044 77776 EXIT
034550,000460:
034551,000461: 31,3045 30120 CA FIXLOC # RESET PUSH DOWN POINTER
034552,000462: 31,3046 54166 TS PUSHLOC
034553,000463:
|
|
Page 807
|
034555,000465: 31,3047 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
034556,000466: 31,3050 60000 DOUBLE
034557,000467: 31,3051 04616 TC BANKCALL
034558,000468: 31,3052 61672 CADR SPARCSIN -1
034559,000469: 31,3053 63753 AD 1/2DEG
034560,000470: 31,3054 00006 EXTEND
034561,000471: 31,3055 73752 MP 180DEGS
034562,000472: 31,3056 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
034563,000473:
034564,000474: 31,3057 51351 BRSPOT3 INDEX WCHPHASE
034565,000475: 31,3060 12431 TCF WHATGUID
034566,000476:
034567,000477: # ****************************************************************************************************************
034568,000478: # TTF/8 COMPUTATION
034569,000479: # ****************************************************************************************************************
034570,000480:
034571,000481: 31,3061 03677 TTF/8CL TC INTPRETX
034572,000482: 31,3062 77743 DLOAD*
034573,000483: 31,3063 02431 JDG2TTF,1
034574,000484: 31,3064 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
034575,000485: 31,3065 02427 ADG2TTF,1 # 2
034576,000486: 31,3066 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
034577,000487: 31,3067 03633 VGU +4 # 2
034578,000488: 31,3070 42605 DMP DAD*
034579,000489: 31,3071 05656 3/4DP
034580,000490: 31,3072 02425 VDG2TTF,1
034581,000491: 31,3073 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
034582,000492: 31,3074 02407 RDG +4,1 # 2 2
034583,000493: 31,3075 41225 DSU DMP
034584,000494: 31,3076 02643 RGU +4
034585,000495: 31,3077 05654 3/8DP
034586,000496: 31,3100 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
034587,000497: 31,3101 77776 EXIT # 2 2
034588,000498:
034589,000499: 31,3102 34744 CA BIT8
034590,000500: 31,3103 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
034591,000501:
034592,000502: 31,3104 00006 EXTEND
034593,000503: 31,3105 31643 DCA TTF/8
034594,000504: 31,3106 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
034595,000505: 31,3107 34752 CAF TWO # DEGREE - ONE
034596,000506: 31,3110 54001 TS L
034597,000507: 31,3111 33746 CAF TABLTTFL
034598,000508: 31,3112 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
034599,000509: 31,3113 51351 INDEX WCHPHASE
034600,000510: 31,3114 12447 TCF WHATALM
034601,000511:
034602,000512: 31,3115 00006 EXTEND # GOOD RETURN
034603,000513: 31,3116 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
034604,000514: 31,3117 53643 DXCH TTF/8 # CORRECTED TTF/8
034605,000515:
|
|
Page 808
|
034607,000517: 31,3120 03704 TC TDISPSET
034608,000518:
034609,000519: # (CONTINUE TO QUADGUID)
034610,000520:
034611,000521: # ****************************************************************************************************************
034612,000522: # MAIN GUIDANCE EQUATION
034613,000523: # ****************************************************************************************************************
034614,000524:
034615,000525: # AS PUBLISHED:-
034616,000526: # - - - -
034617,000527: # - - 6(VDG + VG) 12(RDG - RG)
034618,000528: # ACG = ADG + ----------- + ------------
034619,000529: # TTF (TTF)(TTF)
034620,000530: # AS HERE PROGRAMMED:-
034621,000531: # - -
034622,000532: # 3 (1/4(RDG - RG) - - )
034623,000533: # - (------------- + VDG + VG)
034624,000534: # - 4 ( TTF/8 ) -
034625,000535: # ACG = ---------------------------- + ADG
034626,000536: # TTF/8
034627,000537:
034628,000538: 31,3121 41642 QUADGUID CS TTF/8
034629,000539: 31,3122 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
034630,000540: 31,3123 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
034631,000541: 31,3124 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
034632,000542: 31,3125 40001 CS L
034633,000543: 31,3126 60001 AD L
034634,000544: 31,3127 22007 ZL
034635,000545: 31,3130 00006 EXTEND
034636,000546: 31,3131 11642 DV TTF/8
034637,000547: 31,3132 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
034638,000548: 31,3133 00006 EXTEND
034639,000549: 31,3134 70000 SQUARE
034640,000550: 31,3135 54131 TS BUF +1
034641,000551: 31,3136 60130 AD BUF
034642,000552: 31,3137 56131 XCH BUF +1 # RATIO SQUARED - RATIO
034643,000553: 31,3140 60131 AD BUF +1
034644,000554: 31,3141 54154 TS MPAC # COEFFICIENT FOR VGU TERM
034645,000555: 31,3142 60131 AD BUF +1
034646,000556: 31,3143 50120 INDEX FIXLOC
034647,000557: 31,3144 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
034648,000558: 31,3145 60131 AD BUF +1
034649,000559: 31,3146 50120 INDEX FIXLOC
034650,000560: 31,3147 54034 TS 28D # COEFFICIENT FOR VDG TERM
034651,000561: 31,3150 60130 AD BUF
034652,000562: 31,3151 64733 AD POSMAX
|
|
Page 809
|
034654,000564: 31,3152 60131 AD BUF +1
034655,000565: 31,3153 60131 AD BUF +1
034656,000566: 31,3154 50120 INDEX FIXLOC
034657,000567: 31,3155 54036 TS 30D # COEFFICIENT FOR ADG TERM
034658,000568:
034659,000569: 31,3156 34755 CAF ZERO
034660,000570: 31,3157 54163 TS MODE
034661,000571:
034662,000572: 31,3160 03677 TC INTPRETX
034663,000573: 31,3161 65361 VXSC PDDL
034664,000574: 31,3162 03627 VGU
034665,000575: 31,3163 00035 28D
034666,000576: 31,3164 62757 VXSC* PDVL*
034667,000577: 31,3165 02411 VDG,1
034668,000578: 31,3166 02403 RDG,1
034669,000579: 31,3167 70251 VSU V/SC
034670,000580: 31,3170 02637 RGU
034671,000581: 31,3171 03643 TTF/8
034672,000582: 31,3172 74342 VSR2 VXSC
034673,000583: 31,3173 00033 26D
034674,000584: 31,3174 53255 VAD VAD
034675,000585: 31,3175 74341 V/SC VXSC
034676,000586: 31,3176 03643 TTF/8
034677,000587: 31,3177 05656 3/4DP
034678,000588: 31,3200 73725 PDDL VXSC*
034679,000589: 31,3201 00037 30D
034680,000590: 31,3202 02417 ADG,1
034681,000591: 31,3203 77655 VAD
034682,000592: 31,3204 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
034683,000593: 31,3205 02603 CG
034684,000594: 31,3206 70315 PDVL V/SC
034685,000595: 31,3207 01237 GDT/2
034686,000596: 31,3210 05652 GSCALE
034687,000597: 31,3211 45445 BVSU STADR
034688,000598: 31,3212 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
034689,000599: 31,3213 77646 ABVAL
034690,000600: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
034691,000601: 31,3215 03254 UNFC/2 # VERTICAL COMPONENT
034692,000602: 31,3216 65316 DSQ PDDL
034693,000603: 31,3217 03256 UNFC/2 +2 # OUT-OF-PLANE
034694,000604: 31,3220 65316 DSQ PDDL
034695,000605: 31,3221 05650 HIGHESTF
034696,000606: 31,3222 63471 DDV DSQ
034697,000607: 31,3223 01245 MASS # 2 2 2
034698,000608: 31,3224 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
034699,000609: 31,3225 71244 BPL DLOAD # 1 0
034700,000610: 31,3226 63230 AFCCALC3
034701,000611: 31,3227 06522 ZEROVECS
034702,000612: 31,3230 43366 AFCCALC3 SQRT DAD
034703,000613: 31,3231 03260 UNFC/2 +4
|
|
Page 810
|
034705,000615: 31,3232 44244 BPL BDSU
034706,000616: 31,3233 63236 AFCCLEND
034707,000617: 31,3234 03260 UNFC/2 +4
034708,000618: 31,3235 03260 STORE UNFC/2 +4
034709,000619: 31,3236 77776 AFCCLEND EXIT
034710,000620: 31,3237 03740 TC FASTCHNG
034711,000621:
034712,000622: 31,3240 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
034713,000623: 31,3241 55621 TS WCHPHOLD
034714,000624: 31,3242 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
034715,000625:
034716,000626: 31,3243 51351 BRSPOT4 INDEX WCHPHASE
034717,000627: 31,3244 12435 TCF AFTRGUID
034718,000628:
034719,000629: # ***************************************************************************************************************
034720,000630: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
034721,000631: # ***************************************************************************************************************
034722,000632:
034723,000633: 31,3245 35014 CGCALC CAF EBANK5
034724,000634: 31,3246 54003 TS EBANK
034725,000635: 31,3247 E5,1435 EBANK= TCGIBRAK
034726,000636: 31,3247 00006 EXTEND
034727,000637: 31,3250 51351 INDEX WCHPHASE
034728,000638: 31,3251 52452 INDEX TARGTDEX
034729,000639: 31,3252 31435 DCA TCGFBRAK
034730,000640: 31,3253 24006 INCR BBANK
034731,000641: 31,3254 24006 INCR BBANK
034732,000642: 31,3255 E7,1642 EBANK= TTF/8
034733,000643: 31,3255 61642 AD TTF/8
034734,000644: 31,3256 56001 XCH L
034735,000645: 31,3257 61642 AD TTF/8
034736,000646: 31,3260 10000 CCS A
034737,000647: 31,3261 10001 CCS L
034738,000648: 31,3262 13313 TCF EXTLOGIC
034739,000649: 31,3263 13313 TCF EXTLOGIC
034740,000650: 31,3264 13265 NOOP
034741,000651:
034742,000652: 31,3265 03677 TC INTPRETX
034743,000653: 31,3266 53575 VLOAD UNIT
034744,000654: 31,3267 03635 LAND
034745,000655: 31,3270 16603 STODL CG
034746,000656: 31,3271 03643 TTF/8
034747,000657: 31,3272 74203 DMP* VXSC
034748,000658: 31,3273 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
034749,000659: 31,3274 02265 ANGTERM
034750,000660: 31,3275 77655 VAD
034751,000661: 31,3276 03635 LAND
034752,000662: 31,3277 47051 VSU RTB
034753,000663: 31,3300 03521 R
034754,000664: 31,3301 21726 NORMUNIT
|
|
Page 811
|
034756,000666: 31,3302 47035 VXV RTB
034757,000667: 31,3303 03635 LAND
034758,000668: 31,3304 21726 NORMUNIT
034759,000669: 31,3305 26611 STOVL CG +6 # SECOND ROW
034760,000670: 31,3306 02603 CG
034761,000671: 31,3307 76435 VXV VSL1
034762,000672: 31,3310 02611 CG +6
034763,000673: 31,3311 02617 STORE CG +14
034764,000674: 31,3312 77776 EXIT
034765,000675:
034766,000676: # (CONTINUE TO EXTLOGIC)
034767,000677:
034768,000678: # ****************************************************************************************************************
034769,000679: # PREPARE TO EXIT
034770,000680: # ****************************************************************************************************************
034771,000681:
034772,000682: # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES
034773,000683:
034774,000684: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD
034775,000685: 31,3314 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD
034776,000686: 31,3315 61642 AD TTF/8
034777,000687:
034778,000688: 31,3316 00006 EXSPOT1 EXTEND
034779,000689: 31,3317 51351 INDEX WCHPHASE
034780,000690: 31,3320 62441 BZMF WHATEXIT
034781,000691:
034782,000692: 31,3321 03740 TC FASTCHNG
034783,000693:
034784,000694: 31,3322 31621 CA WCHPHOLD
034785,000695: 31,3323 64753 AD ONE
034786,000696: 31,3324 55351 TS WCHPHASE
034787,000697: 31,3325 34755 CA ZERO
034788,000698: 31,3326 55623 TS FLPASS0 # RESET FLPASS0
034789,000699:
034790,000700: 31,3327 51621 INDEX WCHPHOLD
034791,000701: 31,3330 12441 TCF WHATEXIT
034792,000702:
034793,000703: # ****************************************************************************************************************
034794,000704: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
034795,000705: # ****************************************************************************************************************
034796,000706:
034797,000707: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
034798,000708: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
034799,000709: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
034800,000710: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
034801,000711:
034802,000712: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
|
|
Page 812
|
034804,000714: 31,3332 47175 VLOAD RTB
034805,000715: 31,3333 03254 UNFC/2
034806,000716: 31,3334 21726 NORMUNIT
034807,000717: 31,3335 74361 VXSC VXSC
034808,000718: 31,3336 03423 ZOOMTIME
034809,000719: 31,3337 22001 TRIMACCL
034810,000720: 31,3340 03254 STORE UNFC/2
034811,000721: 31,3341 77776 EXIT
034812,000722:
034813,000723: 31,3342 11647 CCS NGUIDSUB
034814,000724: 31,3343 12460 TCF GUIDSUB
034815,000725: 31,3344 11646 CCS NIGNLOOP
034816,000726: 31,3345 13350 TCF +3
034817,000727: 31,3346 05567 TC ALARM
034818,000728: 31,3347 01412 OCT 01412
034819,000729:
034820,000730: 31,3350 04635 +3 TC POSTJUMP
034821,000731: 31,3351 65102 CADR DDUMCALC
034822,000732:
034823,000733: 31,3352 06037 EXBRAK TC INTPRET
034824,000734: 31,3353 77775 VLOAD
034825,000735: 31,3354 03537 UNIT/R/
034826,000736: 31,3355 03262 STORE UNWC/2
034827,000737: 31,3356 77776 EXIT
034828,000738: 31,3357 13432 TCF STEER?
034829,000739:
034830,000740: 31,3360 06037 EXNORM TC INTPRET
034831,000741: 31,3361 52375 VLOAD VSU
034832,000742: 31,3362 03635 LAND
034833,000743: 31,3363 03521 R
034834,000744: 31,3364 77634 RTB
034835,000745: 31,3365 21726 NORMUNIT
034836,000746: 31,3366 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
034837,000747: 31,3367 50235 VXV DOT
034838,000748: 31,3370 02146 XNBPIP
034839,000749: 31,3371 02611 CG +6
034840,000750: 31,3372 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
034841,000751:
034842,000752: 31,3373 40154 CS MPAC # GET COEFFICIENT FOR CG +14
034843,000753: 31,3374 63754 AD PROJMAX
034844,000754: 31,3375 64733 AD POSMAX
034845,000755: 31,3376 54130 TS BUF
034846,000756: 31,3377 40130 CS BUF
034847,000757: 31,3400 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
034848,000758:
034849,000759: 31,3401 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
034850,000760: 31,3402 60154 AD MPAC
034851,000761: 31,3403 64733 AD POSMAX
034852,000762: 31,3404 54131 TS BUF +1
034853,000763: 31,3405 40131 CS BUF +1
|
|
Page 813
|
034855,000765: 31,3406 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
034856,000766:
034857,000767: 31,3407 34751 CAF FOUR
034858,000768: 31,3410 76242 UNWCLOOP MASK SIX
034859,000769: 31,3411 54002 TS Q
034860,000770: 31,3412 35014 CA EBANK5
034861,000771: 31,3413 54003 TS EBANK
034862,000772: 31,3414 E5,1602 EBANK= CG
034863,000773: 31,3414 30130 CA BUF
034864,000774: 31,3415 00006 EXTEND
034865,000775: 31,3416 50002 INDEX Q
034866,000776: 31,3417 71616 MP CG +14
034867,000777: 31,3420 24006 INCR BBANK
034868,000778: 31,3421 E6,1661 EBANK= UNWC/2
034869,000779: 31,3421 50002 INDEX Q
034870,000780: 31,3422 53662 DXCH UNWC/2
034871,000781: 31,3423 00006 EXTEND
034872,000782: 31,3424 70131 MP BUF +1
034873,000783: 31,3425 50002 INDEX Q
034874,000784: 31,3426 21662 DAS UNWC/2
034875,000785: 31,3427 10002 CCS Q
034876,000786: 31,3430 13410 TCF UNWCLOOP
034877,000787:
034878,000788: 31,3431 24006 INCR BBANK
034879,000789: 31,3432 E7,1612 EBANK= PIF
034880,000790:
034881,000791: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
034882,000792: 31,3433 74741 MASK STEERBIT
034883,000793: 31,3434 00006 EXTEND
034884,000794: 31,3435 13443 BZF RATESTOP
034885,000795:
034886,000796: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
034887,000797: 31,3437 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
034888,000798: 31,3440 13453 BZF +13
034889,000799:
034890,000800: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
034891,000801: 31,3442 01410 OCT 01410
034892,000802:
034893,000803: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
034894,000804: 31,3444 00006 EXTEND
034895,000805: 31,3445 02031 RAND CHAN31
034896,000806: 31,3446 00006 EXTEND
034897,000807: 31,3447 13460 BZF DISPEXIT # YES
034898,000808:
034899,000809: 31,3450 04616 TC BANKCALL # NO: DO A STOPRATE
034900,000810: 31,3451 40165 CADR STOPRATE
034901,000811:
034902,000812: 31,3452 13460 TCF DISPEXIT
034903,000813:
034904,000814: 31,3453 02216 GDUMP1 TC THROTTLE
|
|
Page 814
|
034906,000816: 31,3454 06037 TC INTPRET
034907,000817: 31,3455 77624 CALL
034908,000818: 31,3456 61111 FINDCDUW -2
034909,000819: 31,3457 77776 EXIT
034910,000820:
034911,000821: # (CONTINUE TO DISPEXIT)
034912,000822:
034913,000823: # ****************************************************************************************************************
034914,000824: # GUIDANCE LOOP DISPLAYS
034915,000825: # ****************************************************************************************************************
034916,000826:
034917,000827: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
034918,000828: 31,3461 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
034919,000829: 31,3462 52757 DXCH -PHASE3
034920,000830:
034921,000831: 31,3463 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
034922,000832: 31,3464 74742 MASK FLUNDBIT
034923,000833: 31,3465 00006 EXTEND
034924,000834: 31,3466 13476 BZF ENDLLJOB # TO PICK UP THE TAG
034925,000835:
034926,000836: 31,3467 51621 INDEX WCHPHOLD
034927,000837: 31,3470 12443 TCF WHATDISP
034928,000838:
034929,000839: 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5
034930,000840: 31,3472 00035 OCT 00035
034931,000841:
034932,000842: 31,3473 33756 P63DISPS CAF V06N63
034933,000843: 31,3474 04616 DISPCOMN TC BANKCALL
034934,000844: 31,3475 20470 CADR REGODSPR
034935,000845:
034936,000846: 31,3476 15155 ENDLLJOB TCF ENDOFJOB
034937,000847:
034938,000848: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
034939,000849: 31,3500 00006 EXTEND
034940,000850: 31,3501 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
034941,000851:
034942,000852: 31,3502 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
034943,000853: 31,3503 74746 MASK REDFLBIT
034944,000854: 31,3504 00006 EXTEND
034945,000855: 31,3505 13525 BZF REDES-OK # YES: DO STATIC DISPLAY
034946,000856:
034947,000857: 31,3506 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
034948,000858: 31,3507 04616 TC BANKCALL
034949,000859: 31,3510 20462 CADR REFLASHR
034950,000860: 31,3511 16001 TCF GOTOPOOH # TERMINATE
034951,000861: 31,3512 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
034952,000862: 31,3513 13477 TCF P64DISPS # RECYCLE
|
|
Page 815
|
034954,000864: 31,3514 13476 TCF ENDLLJOB # TO PICK UP THE TAG
034955,000865:
034956,000866: 31,3515 34755 P64CEED CAF ZERO
034957,000867: 31,3516 55644 TS ELINCR1
034958,000868: 31,3517 55645 TS AZINCR1
034959,000869:
034960,000870: 31,3520 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
034961,000871: 31,3521 00143 ADRES REDFLAG
034962,000872:
034963,000873: 31,3522 15155 TCF ENDOFJOB
034964,000874:
034965,000875: 31,3523 05516 RED-OVER TC DOWNFLAG
034966,000876: 31,3524 00143 ADRES REDFLAG
034967,000877: 31,3525 33757 REDES-OK CAF V06N64
034968,000878: 31,3526 13474 TCF DISPCOMN
034969,000879:
034970,000880:
034971,000881: 31,3527 33760 VERTDISP CAF V06N60
034972,000882: 31,3530 13474 TCF DISPCOMN
034973,000883:
034974,000884:
034975,000885: # ****************************************************************************************************************
034976,000886: # GUIDANCE FOR P65
034977,000887: # ****************************************************************************************************************
034978,000888:
034979,000889: 31,3531 11647 VERTGUID CCS WCHVERT
034980,000890: 31,3532 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67
034981,000891: 31,3533 13543 TCF P66VERT # +0
034982,000892:
034983,000893: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
034984,000894: # - -
034985,000895: # V2FG - VGU
034986,000896: # ACG = ----------
034987,000897: # TAUVERT
034988,000898:
034989,000899: 31,3534 06037 P65VERT TC INTPRET
034990,000900: 31,3535 52375 VLOAD VSU
034991,000901: 31,3536 02511 V2FG
034992,000902: 31,3537 03627 VGU
034993,000903: 31,3540 52141 V/SC GOTO
034994,000904: 31,3541 02517 TAUVERT
034995,000905: 31,3542 63204 AFCCALC1
|
|
Page 816
|
034997,000907: # ****************************************************************************************************************
034998,000908: # GUIDANCE FOR P66
034999,000909: # ****************************************************************************************************************
035000,000910:
035001,000911: 31,3543 04635 P66VERT TC POSTJUMP
035002,000912: 31,3544 65270 CADR P66VERTA
035003,000913:
035004,000914: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
035005,000915: 31,3546 00003 OCT 00003
035006,000916:
035007,000917: 31,3547 06037 TC INTPRET
035008,000918: 31,3550 52175 VLOAD GOTO
035009,000919: 31,3551 03527 V
035010,000920: 31,3552 65517 VHORCOMP
035011,000921:
035012,000922: 32,2000 SETLOC P66LOC
035013,000923: 32,2000 BANK
035014,000924: 32,3263 COUNT* $$/F2DPS
035015,000925:
035016,000926: 32,3263 37710 RODTASK CAF PRIO22
035017,000927: 32,3264 05105 TC FINDVAC
035018,000928: 32,3265 E7,1515 EBANK= DVCNTR
035019,000929: 32,3265 03275 64067 2CADR RODCOMP
035020,000930:
035021,000931: 32,3267 15261 TCF TASKOVER
035022,000932:
035023,000933: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
035024,000934: 32,3271 00003 OCT 00003
035025,000935:
035026,000936: 32,3272 34777 CAF 1SEC
035027,000937: 32,3273 05173 TC TWIDDLE
035028,000938: 32,3274 03263 ADRES RODTASK
035029,000939:
035030,000940: 32,3275 00004 RODCOMP INHINT
035031,000941: 32,3276 34755 CAF ZERO
035032,000942: 32,3277 57746 XCH RODCOUNT
035033,000943: 32,3300 00006 EXTEND
035034,000944: 32,3301 71756 MP RODSCAL1
035035,000945: 32,3302 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
035036,000946:
035037,000947: 32,3303 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
035038,000948: 32,3304 30040 DCA PIPAX
035039,000949: 32,3305 53764 DXCH OLDPIPAX
035040,000950: 32,3306 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
035041,000951: 32,3307 30041 CA PIPAZ
035042,000952: 32,3310 57765 XCH OLDPIPAZ
035043,000953: 32,3311 56072 XCH RUPTREG3
035044,000954:
035045,000955: 32,3312 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
035046,000956: 32,3313 30025 DCA TIME2
|
|
Page 817
|
035048,000958: 32,3314 53762 DXCH THISTPIP
035049,000959:
035050,000960: 32,3315 31763 CA OLDPIPAX
035051,000961: 32,3316 61160 AD PIPATMPX
035052,000962: 32,3317 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
035053,000963: 32,3320 31764 CA OLDPIPAY
035054,000964: 32,3321 61161 AD PIPATMPY
035055,000965: 32,3322 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
035056,000966: 32,3323 31765 CA OLDPIPAZ
035057,000967: 32,3324 61162 AD PIPATMPZ
035058,000968: 32,3325 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
035059,000969:
035060,000970: 32,3326 41763 CS OLDPIPAX
035061,000971: 32,3327 61254 AD TEMX
035062,000972: 32,3330 60070 AD RUPTREG1
035063,000973: 32,3331 55766 TS DELVROD
035064,000974: 32,3332 41764 CS OLDPIPAY
035065,000975: 32,3333 61255 AD TEMY
035066,000976: 32,3334 60071 AD RUPTREG2
035067,000977: 32,3335 55770 TS DELVROD +2
035068,000978: 32,3336 41765 CS OLDPIPAZ
035069,000979: 32,3337 61256 AD TEMZ
035070,000980: 32,3340 60072 AD RUPTREG3
035071,000981: 32,3341 55772 TS DELVROD +4
035072,000982:
035073,000983: 32,3342 34755 CAF ZERO
035074,000984: 32,3343 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
035075,000985: 32,3344 54160 TS MPAC +4
035076,000986: 32,3345 54162 TS MPAC +6
035077,000987: 32,3346 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
035078,000988: 32,3347 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
035079,000989: 32,3350 55256 TS TEMZ
035080,000990: 32,3351 44753 CS ONE
035081,000991: 32,3352 54163 TS MODE
035082,000992: 32,3353 06037 TC INTPRET
035083,000993: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
035084,000994: 32,3355 26022 KPIP1
035085,000995: 32,3356 03762 THISTPIP
035086,000996: 32,3357 77625 DSU
035087,000997: 32,3360 01235 PIPTIME
035088,000998: 32,3361 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
035089,000999: 32,3362 63271 DDV PDVL # (8)
035090,001000: 32,3363 27153 4SEC(28)
035091,001001: 32,3364 01237 GDT/2
035092,001002: 32,3365 74251 VSU VXSC # (6)
035093,001003: 32,3366 02631 VBIAS
035094,001004: 32,3367 53352 VSL2 VAD
035095,001005: 32,3370 03527 V
035096,001006: 32,3371 45455 VAD STADR # (0)
035097,001007: 32,3372 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
|
|
Page 818
|
035099,001009: 32,3373 03521 R
035100,001010: 32,3374 77656 UNIT
035101,001011: 32,3375 00017 STORE 14D
035102,001012: 32,3376 72441 DOT SL1
035103,001013: 32,3377 00031 24D
035104,001014: 32,3400 17474 STODL HDOTDISP # UPDATE HDOTDISP FOR NOUN 63.
035105,001015: 32,3401 00037 30D
035106,001016: 32,3402 41261 SL DMP
035107,001017: 32,3403 20214 11D
035108,001018: 32,3404 03474 HDOTDISP
035109,001019: 32,3405 45215 DAD DSU
035110,001020: 32,3406 00045 36D
035111,001021: 32,3407 02333 /LAND/
035112,001022: 32,3410 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63.
035113,001023: 32,3411 03474 HDOTDISP
035114,001024: 32,3412 56221 BDSU DDV
035115,001025: 32,3413 03645 VDGVERT
035116,001026: 32,3414 02541 TAUROD
035117,001027: 32,3415 51515 PDVL ABVAL # (2)
035118,001028: 32,3416 01237 GDT/2
035119,001029: 32,3417 60471 DDV SR2
035120,001030: 32,3420 05652 GSCALE
035121,001031: 32,3421 00025 STORE 20D
035122,001032: 32,3422 77615 DAD # (0)
035123,001033: 32,3423 45115 PDVL CALL # (2)
035124,001034: 32,3424 06520 UNITX
035125,001035: 32,3425 47661 CDU*NBSM
035126,001036: 32,3426 77641 DOT
035127,001037: 32,3427 00017 14D
035128,001038: 32,3430 00027 STORE 22D
035129,001039: 32,3431 45465 BDDV STADR # (0)
035130,001040: 32,3432 50313 STOVL /AFC/
035131,001041: 32,3433 03767 DELVROD
035132,001042: 32,3434 53361 VXSC VAD
035133,001043: 32,3435 26022 KPIP1
035134,001044: 32,3436 02631 VBIAS
035135,001045: 32,3437 65246 ABVAL PDDL # (2)
035136,001046: 32,3440 03762 THISTPIP
035137,001047: 32,3441 65225 DSU PDDL # (4)
035138,001048: 32,3442 03760 LASTTPIP
035139,001049: 32,3443 03762 THISTPIP
035140,001050: 32,3444 17760 STODL LASTTPIP # (2)
035141,001051: 32,3445 55271 DDV BDDV # (0)
035142,001052: 32,3446 25535 SHFTFACT
035143,001053: 32,3447 41325 PDDL DMP # (2)
035144,001054: 32,3450 03611 FWEIGHT
035145,001055: 32,3451 25534 BIT1H
035146,001056: 32,3452 56271 DDV DDV
035147,001057: 32,3453 01245 MASS
035148,001058: 32,3454 22006 SCALEFAC
|
|
Page 819
|
035150,001060: 32,3455 65215 DAD PDDL # (4)
035151,001061: 32,3456 00001 0D
035152,001062: 32,3457 00025 20D
035153,001063: 32,3460 45271 DDV DSU # (2)
035154,001064: 32,3461 00027 22D
035155,001065: 32,3462 43205 DMP DAD
035156,001066: 32,3463 02543 LAG/TAU
035157,001067: 32,3464 03464 /AFC/
035158,001068: 32,3465 56325 PDDL DDV # (4)
035159,001069: 32,3466 02547 MAXFORCE
035160,001070: 32,3467 01245 MASS
035161,001071: 32,3470 56325 PDDL DDV # (6)
035162,001072: 32,3471 02545 MINFORCE
035163,001073: 32,3472 01245 MASS
035164,001074: 32,3473 44206 PUSH BDSU # (8)
035165,001075: 32,3474 00003 2D
035166,001076: 32,3475 71240 BMN DLOAD # (6)
035167,001077: 32,3476 65504 AFCSPOT
035168,001078: 32,3477 41545 DLOAD PUSH # (6)
035169,001079: 32,3500 51021 BDSU BPL
035170,001080: 32,3501 00003 2D
035171,001081: 32,3502 65504 AFCSPOT
035172,001082: 32,3503 77745 DLOAD # (4)
035173,001083: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6)
035174,001084: 32,3505 77601 SETPD # (2)
035175,001085: 32,3506 00003 2D
035176,001086: 32,3507 17464 STODL /AFC/ # (0)
035177,001087: 32,3510 77776 ITRPNT2 EXIT
035178,001088: 32,3511 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035179,001089: 32,3512 04616 TC BANKCALL
035180,001090: 32,3513 62221 CADR THROTTLE +3
035181,001091: 32,3514 06037 TC INTPRET
035182,001092: 32,3515 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
035183,001093: 32,3516 00031 24D
035184,001094: 32,3517 53352 VHORCOMP VSL2 VAD
035185,001095: 32,3520 03734 DELVS
035186,001096: 32,3521 63342 VSR2 PDVL # (6)
035187,001097: 32,3522 03521 R
035188,001098: 32,3523 74256 UNIT VXSC
035189,001099: 32,3524 03474 HDOTDISP
035190,001100: 32,3525 51372 VSL1 BVSU # (0)
035191,001101: 32,3526 77646 ABVAL
035192,001102: 32,3527 02263 STORE VHORIZ
035193,001103: 32,3530 77776 EXIT
035194,001104: 32,3531 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035195,001105: 32,3532 63463 CADR DISPEXIT +3
035196,001106:
035197,001107: 32,3533 00001 BIT1H OCT 00001
035198,001108: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17
|
|
Page 820
|
035200,001110: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28
035201,001111:
035202,001112: # ****************************************************************************************************************
035203,001113: # REDESIGNATOR TRAP
035204,001114: # ****************************************************************************************************************
035205,001115:
035206,001116: 11,2275 BANK 11
035207,001117: 11,2000 SETLOC F2DPS*11
035208,001118: 11,2000 BANK
035209,001119:
035210,001120: 11,2275 COUNT* $$/F2DPS
035211,001121:
035212,001122: 11,2275 56016 PITFALL XCH BANKRUPT
035213,001123: 11,2276 00006 EXTEND
035214,001124: 11,2277 22012 QXCH QRUPT
035215,001125:
035216,001126: 11,2300 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035217,001127: 11,2301 00100 DEC 64 B-14
035218,001128: 11,2302 15270 TCF RESUME
035219,001129:
035220,001130: 11,2303 00006 EXTEND
035221,001131: 11,2304 00031 READ CHAN31
035222,001132: 11,2305 40000 COM
035223,001133: 11,2306 72373 MASK ALL4BITS
035224,001134: 11,2307 55647 TS ELVIRA
035225,001135: 11,2310 34752 CAF TWO
035226,001136: 11,2311 55646 TS ZERLINA
035227,001137: 11,2312 34756 CAF FIVE
035228,001138: 11,2313 05173 TC TWIDDLE
035229,001139: 11,2314 02321 ADRES REDESMON
035230,001140: 11,2315 15270 TCF RESUME
035231,001141:
035232,001142: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035233,001143:
035234,001144: 11,2316 55646 PREMON1 TS ZERLINA
035235,001145: 11,2317 34757 PREMON2 CAF SEVEN
035236,001146: 11,2320 05224 TC VARDELAY
035237,001147: 11,2321 00006 REDESMON EXTEND
035238,001148: 11,2322 00031 READ 31
035239,001149: 11,2323 40000 COM
035240,001150: 11,2324 72373 MASK ALL4BITS
035241,001151: 11,2325 57647 XCH ELVIRA
035242,001152: 11,2326 54001 TS L
035243,001153: 11,2327 11647 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035244,001154: 11,2330 12317 TCF PREMON2 # Y: CONTINUE MONITOR
035245,001155:
035246,001156: 11,2331 10001 CCS L # N: ANY LAST PASS?
035247,001157: 11,2332 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
|
|
Page 821
|
035249,001159: 11,2333 11646 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035250,001160: 11,2334 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035251,001161: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE
035252,001162: 11,2336 00006 EXTEND
035253,001163: 11,2337 05013 WOR CHAN13
035254,001164: 11,2340 15261 TCF TASKOVER
035255,001165:
035256,001166: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035257,001167: 11,2342 00006 EXTEND
035258,001168: 11,2343 02031 RAND CHAN31
035259,001169: 11,2344 00006 EXTEND
035260,001170: 11,2345 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035261,001171:
035262,001172: 11,2346 30001 CA L # NO
035263,001173: 11,2347 74746 MASK -AZBIT
035264,001174: 11,2350 10000 CCS A
035265,001175: 11,2351 42374 -AZ CS AZEACH
035266,001176: 11,2352 27645 ADS AZINCR1
035267,001177: 11,2353 30001 CA L
035268,001178: 11,2354 74747 MASK +AZBIT
035269,001179: 11,2355 10000 CCS A
035270,001180: 11,2356 32374 +AZ CA AZEACH
035271,001181: 11,2357 27645 ADS AZINCR1
035272,001182: 11,2360 30001 CA L
035273,001183: 11,2361 74753 MASK -ELBIT
035274,001184: 11,2362 10000 CCS A
035275,001185: 11,2363 42375 -EL CS ELEACH
035276,001186: 11,2364 27644 ADS ELINCR1
035277,001187: 11,2365 30001 CA L
035278,001188: 11,2366 74752 MASK +ELBIT
035279,001189: 11,2367 10000 CCS A
035280,001190: 11,2370 32375 +EL CA ELEACH
035281,001191: 11,2371 27644 ADS ELINCR1
035282,001192: 11,2372 12335 TCF RESETRPT
035283,001193:
035284,001194: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035285,001195:
035286,001196: 11,2373 4752 +ELBIT = BIT2 # -PITCH
035287,001197: 11,2373 4753 -ELBIT = BIT1 # +PITCH
035288,001198: 11,2373 4747 +AZBIT = BIT5
035289,001199: 11,2373 4746 -AZBIT = BIT6
035290,001200:
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|
Page 822
|
035292,001202: 11,2373 00063 ALL4BITS OCT 00063
035293,001203: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES
035294,001204: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE
035295,001205:
035296,001206: # ****************************************************************************************************************
035297,001207: # R.O.D. TRAP
035298,001208: # ************************************************************************
035299,001209:
035300,001210: 20,2115 BANK 20
035301,001211: 20,2000 SETLOC RODTRAP
035302,001212: 20,2000 BANK
035303,001213: 20,2115 COUNT* $$/F2DPS # ****************************************
035304,001214:
035305,001215: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035306,001216: 20,2116 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035307,001217: 20,2117 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035308,001218: 20,2120 64753 AD ONE
035309,001219: 20,2121 27746 ADS RODCOUNT
035310,001220: 20,2122 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035311,001221:
035312,001222: 31,3553 BANK 31
035313,001223: 31,2000 SETLOC F2DPS*31
035314,001224: 31,2000 BANK
035315,001225:
035316,001226: 31,3553 COUNT* $$/F2DPS
035317,001227:
035318,001228: # ****************************************************************************************************************
035319,001229: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035320,001230: # ****************************************************************************************************************
035321,001231:
035322,001232: # N N-1
035323,001233: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035324,001234: # N N-1 1 0
035325,001235: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035326,001236: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035327,001237: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035328,001238: # MPAC DP X INITIAL GUESS FOR ROOT
035329,001239:
035330,001240: # LOC-2N DP A(0)
035331,001241: # ...
035332,001242: # LOC DP A(N)
035333,001243: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035334,001244:
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|
Page 823
|
035336,001246: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035337,001247: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035338,001248: # OUTPUTS ARE NOT TO BE TRUSTED.
035339,001249:
035340,001250: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035341,001251: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035342,001252: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035343,001253: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035344,001254: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035345,001255: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035346,001256: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035347,001257: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
035348,001258: # PRECLUDE EVENTUAL CONVERGENCE.
035349,001259: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035350,001260: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035351,001261: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035352,001262:
035353,001263: # STORE ENTERING DATA, INITLIZE ERASABLES
035354,001264: 31,3553 00006 ROOTPSRS EXTEND
035355,001265: 31,3554 22132 QXCH RETROOT # RETURN ADRES
035356,001266: 31,3555 54117 TS PWRPTR # PWR TABL POINTER
035357,001267: 31,3556 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035358,001268: 31,3557 33676 CA DERTABLL
035359,001269: 31,3560 54141 TS DERPTR # DER TABL POINTER
035360,001270: 31,3561 54161 TS MPAC +5 # DER TABL ADRES
035361,001271: 31,3562 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035362,001272: 31,3563 54162 TS MPAC +6 # N-2
035363,001273: 31,3564 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035364,001274: 31,3565 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035365,001275:
035366,001276: # COMPUTE CRITERION TO STOP ITERATING
035367,001277: 31,3566 00006 EXTEND
035368,001278: 31,3567 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035369,001279: 31,3570 52127 DXCH ROOTPS # AND IN ROOTPS
035370,001280: 31,3571 50157 INDEX MPAC +3 # PWR TABL ADRES
035371,001281: 31,3572 30005 CA 5 # PRECROOT TO A
035372,001282: 31,3573 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035373,001283: 31,3574 04713 TC USPRCADR
035374,001284: 31,3575 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035375,001285: 31,3576 52155 DXCH MPAC
035376,001286: 31,3577 52125 DXCH DXCRIT # CRITERION
035377,001287:
035378,001288: # SET UP DER COF TABL
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Page 824
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035380,001290: 31,3600 00006 EXTEND
035381,001291: 31,3601 50117 INDEX PWRPTR
035382,001292: 31,3602 30004 DCA 3
035383,001293: 31,3603 52155 DXCH MPAC # A(N) TO MPAC
035384,001294:
035385,001295: 31,3604 30160 CA MPAC +4 # N-1 TO A
035386,001296:
035387,001297: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035388,001298: 31,3606 64753 AD ONE
035389,001299: 31,3607 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035390,001300: 31,3610 00006 EXTEND
035391,001301: 31,3611 50117 INDEX PWRPTR
035392,001302: 31,3612 30002 DCA 1
035393,001303: 31,3613 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
035394,001304: 31,3614 50141 INDEX DERPTR
035395,001305: 31,3615 52004 DXCH 3 # DERCOF TO DER TABL
035396,001306: 31,3616 44752 CS TWO
035397,001307: 31,3617 26117 ADS PWRPTR # DECREMENT PWR POINTER
035398,001308: 31,3620 44752 CS TWO
035399,001309: 31,3621 26141 ADS DERPTR # DECREMENT DER POINTER
035400,001310: 31,3622 10140 CCS PWRCNT
035401,001311: 31,3623 13605 TCF DERCLOOP
035402,001312:
035403,001313: # CONVERGE ON ROOT
035404,001314: 31,3624 00006 ROOTLOOP EXTEND
035405,001315: 31,3625 30127 DCA ROOTPS # FETCH CURRENT ROOT
035406,001316: 31,3626 52155 DXCH MPAC # LEAVE IN MPAC
035407,001317: 31,3627 00006 EXTEND
035408,001318: 31,3630 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
035409,001319: 31,3631 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
035410,001320:
035411,001321: 31,3632 00006 EXTEND
035412,001322: 31,3633 30127 DCA ROOTPS
035413,001323: 31,3634 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
035414,001324: 31,3635 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
035415,001325: 31,3636 00006 EXTEND
035416,001326: 31,3637 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
035417,001327: 31,3640 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC
035418,001328:
035419,001329: 31,3641 04713 TC USPRCADR
035420,001330: 31,3642 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
035421,001331:
035422,001332: 31,3643 00006 EXTEND
035423,001333: 31,3644 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
035424,001334: 31,3645 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
035425,001335:
035426,001336: 31,3646 04713 TC USPRCADR
035427,001337: 31,3647 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
035428,001338: 31,3650 00006 EXTEND
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Page 825
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035430,001340: 31,3651 40125 DCS DXCRIT
035431,001341: 31,3652 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
035432,001342:
035433,001343: 31,3653 30163 CA MODE
035434,001344: 31,3654 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
035435,001345: 31,3655 10000 CCS A
035436,001346: 31,3656 00132 BADROOT TC RETROOT
035437,001347:
035438,001348: 31,3657 24163 INCR MODE # INCREMENT ITERATION COUNTER
035439,001349: 31,3660 10154 CCS MPAC # TEST HI ORDER DX
035440,001350: 31,3661 13624 TCF ROOTLOOP
035441,001351: 31,3662 13664 TCF TESTLODX
035442,001352: 31,3663 13670 TCF ROOTSTOR
035443,001353: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
035444,001354: 31,3665 13624 TCF ROOTLOOP
035445,001355: 31,3666 13670 TCF ROOTSTOR
035446,001356: 31,3667 13670 TCF ROOTSTOR
035447,001357: 31,3670 52127 ROOTSTOR DXCH ROOTPS
035448,001358: 31,3671 52155 DXCH MPAC
035449,001359: 31,3672 30163 CA MODE
035450,001360: 31,3673 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
035451,001361: 31,3674 50132 INDEX RETROOT
035452,001362: 31,3675 10002 TCF 2
035453,001363:
035454,001364: 31,3676 00147 DERTABLL ADRES DERCOFN -3
035455,001365:
035456,001366: # ****************************************************************************************************************
035457,001367: # TRASHY LITTLE SUBROUTINES
035458,001368: # ****************************************************************************************************************
035459,001369:
035460,001370: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
035461,001371: 31,3700 42452 CS TARGTDEX
035462,001372: 31,3701 50120 INDEX FIXLOC
035463,001373: 31,3702 54046 TS X1
035464,001374: 31,3703 16037 TCF INTPRET
035465,001375:
035466,001376: 31,3704 31642 TDISPSET CA TTF/8
035467,001377: 31,3705 00006 EXTEND
035468,001378: 31,3706 74750 MP TSCALINV
035469,001379: 31,3707 53476 DXCH TTFDISP
035470,001380:
035471,001381: 31,3710 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
035472,001382: 31,3711 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
035473,001383: 31,3712 E5,1470 EBANK= TCGFAPPR
035474,001384: 31,3712 31470 CA TCGFAPPR
035475,001385: 31,3713 24006 INCR BBANK
035476,001386: 31,3714 24006 INCR BBANK
035477,001387: 31,3715 E7,1642 EBANK= TTF/8
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Page 826
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035479,001389: 31,3715 61642 AD TTF/8
035480,001390: 31,3716 00006 EXTEND
035481,001391: 31,3717 73751 MP TREDESCL
035482,001392: 31,3720 63747 AD -DEC103
035483,001393: 31,3721 64735 AD NEGMAX
035484,001394: 31,3722 54001 TS L
035485,001395: 31,3723 40001 CS L
035486,001396: 31,3724 60001 AD L
035487,001397: 31,3725 63750 AD +DEC99
035488,001398: 31,3726 64733 AD POSMAX
035489,001399: 31,3727 55666 TS TREDES
035490,001400: 31,3730 41666 CS TREDES
035491,001401: 31,3731 27666 ADS TREDES
035492,001402: 31,3732 00002 TC Q
035493,001403:
035494,001404: 31,3733 05652 1406POO TC POODOO
035495,001405: 31,3734 01406 OCT 01406
035496,001406: 31,3735 05567 1406ALM TC ALARM
035497,001407: 31,3736 01406 OCT 01406
035498,001408: 31,3737 13443 TCF RATESTOP
035499,001409:
035500,001410: # ****************************************************************************************************************
035501,001411: # SPECIALIZED "PHASCHNG" SUBROUTINE
035502,001412: # ****************************************************************************************************************
035503,001413:
035504,001414: 31,3740 E3,1440 EBANK= PHSNAME2
035505,001415: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
035506,001416: 31,3741 56003 XCH EBANK
035507,001417: 31,3742 52002 DXCH L
035508,001418: 31,3743 55442 TS PHSNAME3
035509,001419: 31,3744 22003 LXCH EBANK
035510,001420: 31,3745 E7,1621 EBANK= E2DPS
035511,001421: 31,3745 00000 TC A
035512,001422:
035513,001423: # ****************************************************************************************************************
035514,001424: # PARAMETER TABLE INDIRECT ADDRESSES
035515,001425: # ****************************************************************************************************************
035516,001426:
035517,001427: 31,3746 E5,1402 RDG = RBRFG
035518,001428: 31,3746 E5,1410 VDG = VBRFG
035519,001429: 31,3746 E5,1416 ADG = ABRFG
035520,001430: 31,3746 E5,1424 VDG2TTF = VBRFG*
035521,001431: 31,3746 E5,1426 ADG2TTF = ABRFG*
035522,001432: 31,3746 E5,1430 JDG2TTF = JBRFG*
035523,001433:
035524,001434: # ****************************************************************************************************************
035525,001435: # LUNAR LANDING CONSTANTS
035526,001436: # ***************************************************************************************************************
035527,001437:
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|
Page 827
|
035529,001439: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
035530,001440: 31,3747 4740 TTFSCALE = BIT12
035531,001441: 31,3747 4750 TSCALINV = BIT4
035532,001442: 31,3747 77630 -DEC103 DEC -103 B-14
035533,001443: 31,3750 00143 +DEC99 DEC +99 B-14
035534,001444: 31,3751 75340 TREDESCL DEC -.08
035535,001445: 31,3752 00264 180DEGS DEC +180 B-14
035536,001446: 31,3753 00056 1/2DEG DEC +.00278
035537,001447: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
035538,001448: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
035539,001449: 31,3756 01477 V06N63 VN 0663 # P63
035540,001450: 31,3757 01500 V06N64 VN 0664 # P64
035541,001451: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67
035542,001452:
035543,001453: 22,3647 BANK 22
035544,001454: 22,2000 SETLOC LANDCNST
035545,001455: 22,2000 BANK
035546,001456: 22,3647 COUNT* $$/F2DPS
035547,001457:
035548,001458: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
035549,001459: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
035550,001460: 22,3653 14000 00000 3/8DP 2DEC .375
035551,001461: 22,3655 30000 00000 3/4DP 2DEC .750
035552,001462: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
035553,001463:
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Page 828
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035555,001465: # ****************************************************************************************************************
035556,001466: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc