GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
034671,000002: ## Copyright: Public domain.
034672,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
034673,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
034674,000005: ## It is part of the source code for the Lunar Module's (LM)
034675,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
034676,000007: ## Assembler: yaYUL
034677,000008: ## Contact: HARTMUTH GUTSCHE <hgutsche@xplornet.com>.
034678,000009: ## Website: www.ibiblio.org/apollo.
034679,000010: ## Pages: 798-828
034680,000011: ## Mod history: 2009-05-23 HG Transcribed from page images.
034681,000012: ## 2009-06-05 RSB Fixed a goofy thing that was apparently
034682,000013: ## legal in GAP but not in yaYUL. Eliminated
034683,000014: ## a couple of lines of code that shouldn't
034684,000015: ## have survived from Luminary 131 to here.
034685,000016: ## 2009-06-07 RSB Fixed a typo.
034686,000017: ## 2011-01-06 JL Fixed pseudo-labels which were incorrectly real labels.
034687,000018: ## 2011-05-07 JL Removed workaround.
034688,000019: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
034689,000020: ## 2016-12-16 RSB Proofed text comments with octopus/ProoferComments
034690,000021: ## and corrected the errors found.
034691,000022: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
034692,000023: ## The label 1406P00 was replaced with 1406POO.
034693,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
034694,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
034695,000026:
034696,000027: ## This source code has been transcribed or otherwise adapted from
034697,000028: ## digitized images of a hardcopy from the MIT Museum. The digitization
034698,000029: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
034699,000030: ## the Museum. Many thanks to both. The images (with suitable reduction
034700,000031: ## in storage size and consequent reduction in image quality as well) are
034701,000032: ## available online at www.ibiblio.org/apollo. If for some reason you
034702,000033: ## find that the images are illegible, contact me at info@sandroid.org
034703,000034: ## about getting access to the (much) higher-quality images which Paul
034704,000035: ## actually created.
034705,000036: ##
034706,000037: ## Notations on the hardcopy document read, in part:
034707,000038: ##
034708,000039: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
034709,000040: ## 16:27 JULY 14, 1969
034710,000041:
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Page 798 |
034712,000043: 31,2420 E7,1621 EBANK= E2DPS
034713,000044: 31,2420 COUNT* $$/F2DPS
034714,000045:
034715,000046: # ****************************************************************************************************************
034716,000047: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034717,000048: # ****************************************************************************************************************
034718,000049:
034719,000050: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034720,000051: # WCHPHASE = -1 ---> IGNALG
034721,000052: # WCHPHASE = 0 ---> BRAKQUAD
034722,000053: # WCHPHASE = 1 ---> APPRQUAD
034723,000054: # WCHPHASE = 2 ---> VERTICAL
034724,000055:
034725,000056: # ***************************************************************************************************************
034726,000057:
034727,000058: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034728,000059:
034729,000060: 31,2420 12641 TCF TTFINCR # IGNALG
034730,000061: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD
034731,000062: 31,2422 12630 TCF STARTP64 # APPRQUAD
034732,000063: 31,2423 12621 TCF P65START # VERTICAL
034733,000064:
034734,000065: # PRE-GUIDANCE COMPUTATIONS:
034735,000066:
034736,000067: 31,2424 13003 TCF CALCRGVG # IGNALG
034737,000068: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD
034738,000069: 31,2426 12704 TCF REDESIG # APPRQUAD
034739,000070: 31,2427 13013 TCF RGVGCALC # VERTICAL
034740,000071:
034741,000072: # GUIDANCE EQUATIONS:
034742,000073:
034743,000074: 31,2430 13061 TCF TTF/8CL # IGNALG
034744,000075: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD
034745,000076: 31,2432 13061 TCF TTF/8CL # APPRQUAD
034746,000077: 31,2433 13531 TCF VERTGUID # VERTICAL
034747,000078:
034748,000079: # POST GUIDANCE EQUATION COMPUTATIONS:
034749,000080:
034750,000081: 31,2434 13245 TCF CGCALC # IGNALG
034751,000082: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD
034752,000083: 31,2436 13245 TCF CGCALC # APPRQUAD
034753,000084: 31,2437 13432 TCF STEER? # VERTICAL
034754,000085:
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Page 799 |
034756,000087: # WINDOW VECTOR COMPUTATIONS:
034757,000088:
034758,000089: 31,2440 13331 TCF EXGSUB # IGNALG
034759,000090: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD
034760,000091: 31,2442 13360 TCF EXNORM # APPRQUAD
034761,000092:
034762,000093: # DISPLAY ROUTINES:
034763,000094:
034764,000095: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD
034765,000096: 31,2444 13477 TCF P64DISPS # APPRQUAD
034766,000097: 31,2445 13527 TCF VERTDISP # VERTICAL
034767,000098:
034768,000099: # ALARM ROUTINE FOR TTF COMPUTATION:
034769,000100:
034770,000101: 31,2446 13733 TCF 1406POO # IGNALG
034771,000102: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD
034772,000103: 31,2450 13735 TCF 1406ALM # APPRQUAD
034773,000104:
034774,000105: # INDICES FOR REFERENCING TARGET PARAMETERS:
034775,000106:
034776,000107: 31,2451 00000 OCT 0 # IGNALG
034777,000108: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD
034778,000109: 31,2453 00034 OCT 34 # APPRQUAD
034779,000110:
034780,000111: # ****************************************************************************************************************
034781,000112: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034782,000113: # ****************************************************************************************************************
034783,000114:
034784,000115: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034785,000116:
034786,000117: 31,2454 77776 ?GUIDSUB EXIT
034787,000118: 31,2455 34752 CAF TWO # N = 3
034788,000119: 31,2456 55647 TS NGUIDSUB
034789,000120: 31,2457 12603 TCF GUILDRET +2
034790,000121:
034791,000122: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034792,000123: 31,2461 13003 TCF CALCRGVG
034793,000124:
034794,000125: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034795,000126:
034796,000127: 31,2462 05353 LUNLAND TC PHASCHNG
034797,000128: 31,2463 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034798,000129: 31,2464 05353 TC PHASCHNG
034799,000130: 31,2465 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21
034800,000131: 31,2466 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY
034801,000132:
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Page 800 |
034803,000134: # ****************************************************************************************************************
034804,000135: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034805,000136: # ****************************************************************************************************************
034806,000137:
034807,000138: 31,2467 COUNT* $$/R13
034808,000139:
034809,000140: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
034810,000141: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
034811,000142: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
034812,000143:
034813,000144: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
034814,000145: 31,2470 00030 READ CHAN30
034815,000146: 31,2471 74747 MASK BIT5
034816,000147: 31,2472 10000 CCS A
034817,000148: 31,2473 12551 TCF STARTP67 # YES
034818,000149: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
034819,000150: 31,2475 00103 DEC 67 B-14
034820,000151: 31,2476 12557 TCF STABL? # NO
034821,000152: 31,2477 03740 STARTP66 TC FASTCHNG # YES
034822,000153: 31,2500 05311 TC NEWMODEX
034823,000154: 31,2501 00102 DEC66 DEC 66 B-14
034824,000155: 31,2502 00006 EXTEND
034825,000156: 31,2503 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034826,000157: 31,2504 53645 DXCH VDGVERT # ALTITUDE RATE.
034827,000158: 31,2505 06037 STRTP66A TC INTPRET
034828,000159: 31,2506 41535 SLOAD PUSH
034829,000160: 31,2507 01457 PBIASZ
034830,000161: 31,2510 41535 SLOAD PUSH
034831,000162: 31,2511 01455 PBIASY
034832,000163: 31,2512 55535 SLOAD VDEF
034833,000164: 31,2513 01453 PBIASX
034834,000165: 31,2514 43161 VXSC SET
034835,000166: 31,2515 25537 BIASFACT
034836,000167: 31,2516 00463 RODFLAG
034837,000168: 31,2517 26631 STOVL VBIAS
034838,000169: 31,2520 01255 TEMX
034839,000170: 31,2521 77676 VCOMP
034840,000171: 31,2522 27764 STOVL OLDPIPAX
034841,000172: 31,2523 06522 ZEROVECS
034842,000173: 31,2524 17767 STODL DELVROD
034843,000174: 31,2525 02540 RODSCALE
034844,000175: 31,2526 17757 STODL RODSCAL1
034845,000176: 31,2527 01235 PIPTIME
034846,000177: 31,2530 03760 STORE LASTTPIP
034847,000178: 31,2531 77776 EXIT
034848,000179: 31,2532 34755 CAF ZERO
034849,000180: 31,2533 55620 TS FCOLD
034850,000181: 31,2534 55610 TS FWEIGHT
034851,000182: 31,2535 55611 TS FWEIGHT +1
034852,000183: 31,2536 55647 VRTSTART TS WCHVERT
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Page 801 |
034854,000185: 31,2537 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034855,000186: 31,2540 55621 TS WCHPHOLD
034856,000187: 31,2541 55351 TS WCHPHASE
034857,000188: 31,2542 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034858,000189: 31,2543 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034859,000190: 31,2544 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034860,000191: 31,2545 00311 ADRES XOVINFLG
034861,000192: 31,2546 05516 TC DOWNFLAG
034862,000193: 31,2547 00143 ADRES REDFLAG
034863,000194: 31,2550 13531 TCF VERTGUID
034864,000195:
034865,000196: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
034866,000197: 31,2552 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
034867,000198: 31,2553 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
034868,000199: 31,2554 55746 TS RODCOUNT
034869,000200: 31,2555 34363 CAF TEN
034870,000201: 31,2556 12536 TCF VRTSTART
034871,000202:
034872,000203: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT?
034873,000204: 31,2560 00006 EXTEND
034874,000205: 31,2561 02031 RAND CHAN31
034875,000206: 31,2562 10000 CCS A
034876,000207: 31,2563 12601 TCF GUILDRET # YES: ALL'S WELL
034877,000208:
034878,000209: 31,2564 41011 P66NOW? CS MODREG
034879,000210: 31,2565 62501 AD DEC66
034880,000211: 31,2566 00006 EXTEND
034881,000212: 31,2567 12574 BZF RESTART?
034882,000213:
034883,000214: 31,2570 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
034884,000215: 31,2571 00006 EXTEND
034885,000216: 31,2572 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
034886,000217: 31,2573 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
034887,000218:
034888,000219: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034889,000220: 31,2575 74740 MASK RODFLBIT
034890,000221: 31,2576 00006 EXTEND
034891,000222: 31,2577 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034892,000223: # IS.
034893,000224:
034894,000225: 31,2600 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034895,000226:
034896,000227: # ****************************************************************************************************************
034897,000228: # INITIALIZATION FOR THIS PASS
034898,000229: # ****************************************************************************************************************
034899,000230:
034900,000231: 31,2601 COUNT* $$/F2DPS
034901,000232:
034902,000233: 31,2601 34755 GUILDRET CAF ZERO
034903,000234: 31,2602 55746 TS RODCOUNT
034904,000235:
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Page 802 |
034906,000237: 31,2603 00006 +2 EXTEND
034907,000238: 31,2604 31625 DCA TPIP
034908,000239: 31,2605 53574 DXCH TPIPOLD
034909,000240:
034910,000241: 31,2606 03740 TC FASTCHNG
034911,000242:
034912,000243: 31,2607 00006 EXTEND
034913,000244: 31,2610 31561 DCA PIPTIME1
034914,000245: 31,2611 53625 DXCH TPIP
034915,000246:
034916,000247: 31,2612 00006 EXTEND
034917,000248: 31,2613 31643 DCA TTF/8
034918,000249: 31,2614 53553 DXCH TTF/8TMP
034919,000250:
034920,000251: 31,2615 11623 CCS FLPASS0
034921,000252: 31,2616 12641 TCF TTFINCR
034922,000253:
034923,000254: 31,2617 51351 BRSPOT1 INDEX WCHPHASE
034924,000255: 31,2620 12421 TCF NEWPHASE
034925,000256:
034926,000257: # ****************************************************************************************************************
034927,000258: # ROUTINES TO START NEW PHASES
034928,000259: # ****************************************************************************************************************
034929,000260:
034930,000261: 31,2621 05311 P65START TC NEWMODEX
034931,000262: 31,2622 00101 DEC 65 B-14
034932,000263: 31,2623 44752 CS TWO
034933,000264: 31,2624 55647 TS WCHVERT
034934,000265: 31,2625 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034935,000266: 31,2626 00311 ADRES XOVINFLG
034936,000267: 31,2627 12641 TCF TTFINCR
034937,000268:
034938,000269: 31,2630 05311 STARTP64 TC NEWMODEX
034939,000270: 31,2631 00100 DEC 64 B-14
034940,000271: 31,2632 31425 CA DELTTFAP # AUGMENT TTF/8
034941,000272: 31,2633 27552 ADS TTF/8TMP
034942,000273: 31,2634 34740 CA BIT12 # ENABLE RUPT10
034943,000274: 31,2635 00006 EXTEND
034944,000275: 31,2636 05013 WOR CHAN13
034945,000276: 31,2637 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034946,000277: 31,2640 00143 ADRES REDFLAG
034947,000278:
034948,000279:
034949,000280: # (CONTINUE TO TTFINCR)
034950,000281:
034951,000282: # ****************************************************************************************************************
034952,000283: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034953,000284: # ****************************************************************************************************************
034954,000285:
034955,000286: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
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Page 803 |
034957,000288: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034958,000289: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034959,000290: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034960,000291: # - - - -
034961,000292: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034962,000293: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034963,000294: # - -
034964,000295: # RANGEDSP = ABVAL(LAND - R)
034965,000296:
034966,000297: 31,2641 06037 TTFINCR TC INTPRET
034967,000298: 31,2642 45345 DLOAD DSU
034968,000299: 31,2643 03625 TPIP
034969,000300: 31,2644 03574 TPIPOLD
034970,000301: 31,2645 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034971,000302: 31,2646 21214 11D
034972,000303: 31,2647 47361 VXSC VXV
034973,000304: 31,2650 03635 LAND
034974,000305: 31,2651 02325 WM
034975,000306: 31,2652 47045 BVSU RTB
034976,000307: 31,2653 03635 LAND
034977,000308: 31,2654 21726 NORMUNIT
034978,000309: 31,2655 76561 VXSC VSL1
034979,000310: 31,2656 02333 /LAND/
034980,000311: 31,2657 17545 STODL LANDTEMP
034981,000312: 31,2660 77776 EXIT
034982,000313:
034983,000314: 31,2661 52155 DXCH MPAC
034984,000315: 31,2662 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034985,000316:
034986,000317: 31,2663 03740 TC FASTCHNG
034987,000318:
034988,000319: 31,2664 00006 EXTEND
034989,000320: 31,2665 31553 DCA TTF/8TMP
034990,000321: 31,2666 53643 DXCH TTF/8
034991,000322:
034992,000323: 31,2667 00006 EXTEND
034993,000324: 31,2670 31545 DCA LANDTEMP
034994,000325: 31,2671 53635 DXCH LAND
034995,000326: 31,2672 00006 EXTEND
034996,000327: 31,2673 31547 DCA LANDTEMP +2
034997,000328: 31,2674 53637 DXCH LAND +2
034998,000329: 31,2675 00006 EXTEND
034999,000330: 31,2676 31551 DCA LANDTEMP +4
035000,000331: 31,2677 53641 DXCH LAND +4
035001,000332:
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Page 804 |
035003,000334: 31,2700 03704 TC TDISPSET
035004,000335: 31,2701 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
035005,000336:
035006,000337: 31,2702 51351 BRSPOT2 INDEX WCHPHASE
035007,000338: 31,2703 12425 TCF PREGUIDE
035008,000339:
035009,000340: # ****************************************************************************************************************
035010,000341: # LANDING SITE PERTURBATION EQUATIONS
035011,000342: # ****************************************************************************************************************
035012,000343:
035013,000344: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
035014,000345: 31,2705 74746 MASK REDFLBIT
035015,000346: 31,2706 00006 EXTEND
035016,000347: 31,2707 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
035017,000348:
035018,000349: 31,2710 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
035019,000350: 31,2711 00006 EXTEND
035020,000351: 31,2712 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
035021,000352:
035022,000353: 31,2713 00004 INHINT
035023,000354: 31,2714 31267 CA ELINCR1
035024,000355: 31,2715 55554 TS ELINCR
035025,000356: 31,2716 31266 CA AZINCR1
035026,000357: 31,2717 55556 TS AZINCR
035027,000358: 31,2720 03740 TC FASTCHNG
035028,000359:
035029,000360: 31,2721 34755 CA ZERO
035030,000361: 31,2722 55267 TS ELINCR1
035031,000362: 31,2723 55266 TS AZINCR1
035032,000363: 31,2724 55555 TS ELINCR +1
035033,000364: 31,2725 55557 TS AZINCR +1
035034,000365:
035035,000366: 31,2726 30120 CA FIXLOC # SET PD TO 0
035036,000367: 31,2727 54166 TS PUSHLOC
035037,000368:
035038,000369: 31,2730 06037 TC INTPRET
035039,000370: 31,2731 52375 VLOAD VSU
035040,000371: 31,2732 03635 LAND
035041,000372: 31,2733 03521 R # - -
035042,000373: 31,2734 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
035043,000374: 31,2735 21726 NORMUNIT
035044,000375: 31,2736 76435 VXV VSL1
035045,000376: 31,2737 02154 YNBPIP # - - -
035046,000377: 31,2740 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
035047,000378: 31,2741 03555 ELINCR
035048,000379: 31,2742 03557 AZINCR
035049,000380: 31,2743 52361 VXSC VSU
035050,000381: 31,2744 02154 YNBPIP
035051,000382: 31,2745 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
035052,000383:
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Page 805 |
035054,000385:
035055,000386: 31,2746 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
035056,000387: 31,2747 00001 0 # TOO CLOSE TO THE HORIZON
035057,000388: 31,2750 05660 DEPRCRIT
035058,000389: 31,2751 71240 BMN DLOAD
035059,000390: 31,2752 62755 REDES1
035060,000391: 31,2753 05660 DEPRCRIT
035061,000392: 31,2754 00001 STORE 0
035062,000393: 31,2755 45345 REDES1 DLOAD DSU
035063,000394: 31,2756 03635 LAND
035064,000395: 31,2757 03521 R
035065,000396: 31,2760 74271 DDV VXSC
035066,000397: 31,2761 00001 0
035067,000398: 31,2762 53455 VAD UNIT
035068,000399: 31,2763 03521 R
035069,000400: 31,2764 76561 VXSC VSL1
035070,000401: 31,2765 02333 /LAND/
035071,000402: 31,2766 03545 STORE LANDTEMP
035072,000403: 31,2767 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
035073,000404:
035074,000405: 31,2770 03740 TC FASTCHNG
035075,000406:
035076,000407: 31,2771 00006 EXTEND
035077,000408: 31,2772 31545 DCA LANDTEMP
035078,000409: 31,2773 53635 DXCH LAND
035079,000410: 31,2774 00006 EXTEND
035080,000411: 31,2775 31547 DCA LANDTEMP +2
035081,000412: 31,2776 53637 DXCH LAND +2
035082,000413: 31,2777 00006 EXTEND
035083,000414: 31,3000 31551 DCA LANDTEMP +4
035084,000415: 31,3001 53641 DXCH LAND +4
035085,000416:
035086,000417: 31,3002 13013 TCF RGVGCALC
035087,000418:
035088,000419: # ****************************************************************************************************************
035089,000420: # COMPUTE STATE IN GUIDANCE COORDINATES
035090,000421: # ****************************************************************************************************************
035091,000422:
035092,000423: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
035093,000424: # VELOCITY RELATIVE TO THE SURFACE:
035094,000425: # - - - -
035095,000426: # ANGTERM = V + R * WM
035096,000427:
035097,000428: # STATE IN GUIDANCE COORDINATES:
035098,000429: # - * - -
035099,000430: # RGU = CG (R - LAND)
035100,000431: # - * - - -
|
|
Page 806 |
035102,000433: # VGU = CG (V - WM * R)
035103,000434:
035104,000435: # HORIZONTAL VELOCITY FOR DISPLAY:
035105,000436:
035106,000437: # VHORIZ = 8 ABVAL (0, VG , VG )
035107,000438: # 2 1
035108,000439: # DEPRESSION ANGLE FOR DISPLAY:
035109,000440: # - - -
035110,000441: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
035111,000442:
035112,000443: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
035113,000444: 31,3004 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
035114,000445: 31,3005 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
035115,000446: 31,3006 01734 REFSMMAT
035116,000447: 31,3007 53362 VSR1 VAD
035117,000448: 31,3010 03254 UNFC/2
035118,000449: 31,3011 03527 STORE V
035119,000450: 31,3012 77776 EXIT
035120,000451:
035121,000452: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
035122,000453: 31,3014 47375 VLOAD VXV
035123,000454: 31,3015 03521 R
035124,000455: 31,3016 02325 WM
035125,000456: 31,3017 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
035126,000457: 31,3020 03527 V
035127,000458: 31,3021 02265 STORE ANGTERM
035128,000459: 31,3022 77721 MXV
035129,000460: 31,3023 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
035130,000461: 31,3024 03627 STORE VGU
035131,000462: 31,3025 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
035132,000463: 31,3026 06522 ZEROVECS # 2 1
035133,000464: 31,3027 52446 ABVAL SL3
035134,000465: 31,3030 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
035135,000466: 31,3031 03521 R # - -
035136,000467: 31,3032 41451 VSU PUSH # PUSH DOWN R - LAND
035137,000468: 31,3033 03635 LAND
035138,000469: 31,3034 76521 MXV VSL1
035139,000470: 31,3035 02603 CG
035140,000471: 31,3036 02637 STORE RGU
035141,000472: 31,3037 77646 ABVAL
035142,000473: 31,3040 26625 STOVL RANGEDSP
035143,000474: 31,3041 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
035144,000475: 31,3042 21726 NORMUNIT
035145,000476: 31,3043 02146 XNBPIP
035146,000477: 31,3044 77776 EXIT
035147,000478:
035148,000479: 31,3045 30120 CA FIXLOC # RESET PUSH DOWN POINTER
035149,000480: 31,3046 54166 TS PUSHLOC
035150,000481:
|
|
Page 807 |
035152,000483: 31,3047 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
035153,000484: 31,3050 60000 DOUBLE
035154,000485: 31,3051 04616 TC BANKCALL
035155,000486: 31,3052 61672 CADR SPARCSIN -1
035156,000487: 31,3053 63753 AD 1/2DEG
035157,000488: 31,3054 00006 EXTEND
035158,000489: 31,3055 73752 MP 180DEGS
035159,000490: 31,3056 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
035160,000491:
035161,000492: 31,3057 51351 BRSPOT3 INDEX WCHPHASE
035162,000493: 31,3060 12431 TCF WHATGUID
035163,000494:
035164,000495: # ****************************************************************************************************************
035165,000496: # TTF/8 COMPUTATION
035166,000497: # ****************************************************************************************************************
035167,000498:
035168,000499: 31,3061 03677 TTF/8CL TC INTPRETX
035169,000500: 31,3062 77743 DLOAD*
035170,000501: 31,3063 02431 JDG2TTF,1
035171,000502: 31,3064 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
035172,000503: 31,3065 02427 ADG2TTF,1 # 2
035173,000504: 31,3066 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
035174,000505: 31,3067 03633 VGU +4 # 2
035175,000506: 31,3070 42605 DMP DAD*
035176,000507: 31,3071 05656 3/4DP
035177,000508: 31,3072 02425 VDG2TTF,1
035178,000509: 31,3073 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
035179,000510: 31,3074 02407 RDG +4,1 # 2 2
035180,000511: 31,3075 41225 DSU DMP
035181,000512: 31,3076 02643 RGU +4
035182,000513: 31,3077 05654 3/8DP
035183,000514: 31,3100 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
035184,000515: 31,3101 77776 EXIT # 2 2
035185,000516:
035186,000517: 31,3102 34744 CA BIT8
035187,000518: 31,3103 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
035188,000519:
035189,000520: 31,3104 00006 EXTEND
035190,000521: 31,3105 31643 DCA TTF/8
035191,000522: 31,3106 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
035192,000523: 31,3107 34752 CAF TWO # DEGREE - ONE
035193,000524: 31,3110 54001 TS L
035194,000525: 31,3111 33746 CAF TABLTTFL
035195,000526: 31,3112 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
035196,000527: 31,3113 51351 INDEX WCHPHASE
035197,000528: 31,3114 12447 TCF WHATALM
035198,000529:
035199,000530: 31,3115 00006 EXTEND # GOOD RETURN
035200,000531: 31,3116 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
035201,000532: 31,3117 53643 DXCH TTF/8 # CORRECTED TTF/8
035202,000533:
|
|
Page 808 |
035204,000535: 31,3120 03704 TC TDISPSET
035205,000536:
035206,000537: # (CONTINUE TO QUADGUID)
035207,000538:
035208,000539: # ****************************************************************************************************************
035209,000540: # MAIN GUIDANCE EQUATION
035210,000541: # ****************************************************************************************************************
035211,000542:
035212,000543: # AS PUBLISHED:-
035213,000544: # - - - -
035214,000545: # - - 6(VDG + VG) 12(RDG - RG)
035215,000546: # ACG = ADG + ----------- + ------------
035216,000547: # TTF (TTF)(TTF)
035217,000548: # AS HERE PROGRAMMED:-
035218,000549: # - -
035219,000550: # 3 (1/4(RDG - RG) - - )
035220,000551: # - (------------- + VDG + VG)
035221,000552: # - 4 ( TTF/8 ) -
035222,000553: # ACG = ---------------------------- + ADG
035223,000554: # TTF/8
035224,000555:
035225,000556: 31,3121 41642 QUADGUID CS TTF/8
035226,000557: 31,3122 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
035227,000558: 31,3123 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
035228,000559: 31,3124 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
035229,000560: 31,3125 40001 CS L
035230,000561: 31,3126 60001 AD L
035231,000562: 31,3127 22007 ZL
035232,000563: 31,3130 00006 EXTEND
035233,000564: 31,3131 11642 DV TTF/8
035234,000565: 31,3132 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
035235,000566: 31,3133 00006 EXTEND
035236,000567: 31,3134 70000 SQUARE
035237,000568: 31,3135 54131 TS BUF +1
035238,000569: 31,3136 60130 AD BUF
035239,000570: 31,3137 56131 XCH BUF +1 # RATIO SQUARED - RATIO
035240,000571: 31,3140 60131 AD BUF +1
035241,000572: 31,3141 54154 TS MPAC # COEFFICIENT FOR VGU TERM
035242,000573: 31,3142 60131 AD BUF +1
035243,000574: 31,3143 50120 INDEX FIXLOC
035244,000575: 31,3144 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
035245,000576: 31,3145 60131 AD BUF +1
035246,000577: 31,3146 50120 INDEX FIXLOC
035247,000578: 31,3147 54034 TS 28D # COEFFICIENT FOR VDG TERM
035248,000579: 31,3150 60130 AD BUF
035249,000580: 31,3151 64733 AD POSMAX
|
|
Page 809 |
035251,000582: 31,3152 60131 AD BUF +1
035252,000583: 31,3153 60131 AD BUF +1
035253,000584: 31,3154 50120 INDEX FIXLOC
035254,000585: 31,3155 54036 TS 30D # COEFFICIENT FOR ADG TERM
035255,000586:
035256,000587: 31,3156 34755 CAF ZERO
035257,000588: 31,3157 54163 TS MODE
035258,000589:
035259,000590: 31,3160 03677 TC INTPRETX
035260,000591: 31,3161 65361 VXSC PDDL
035261,000592: 31,3162 03627 VGU
035262,000593: 31,3163 00035 28D
035263,000594: 31,3164 62757 VXSC* PDVL*
035264,000595: 31,3165 02411 VDG,1
035265,000596: 31,3166 02403 RDG,1
035266,000597: 31,3167 70251 VSU V/SC
035267,000598: 31,3170 02637 RGU
035268,000599: 31,3171 03643 TTF/8
035269,000600: 31,3172 74342 VSR2 VXSC
035270,000601: 31,3173 00033 26D
035271,000602: 31,3174 53255 VAD VAD
035272,000603: 31,3175 74341 V/SC VXSC
035273,000604: 31,3176 03643 TTF/8
035274,000605: 31,3177 05656 3/4DP
035275,000606: 31,3200 73725 PDDL VXSC*
035276,000607: 31,3201 00037 30D
035277,000608: 31,3202 02417 ADG,1
035278,000609: 31,3203 77655 VAD
035279,000610: 31,3204 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
035280,000611: 31,3205 02603 CG
035281,000612: 31,3206 70315 PDVL V/SC
035282,000613: 31,3207 01237 GDT/2
035283,000614: 31,3210 05652 GSCALE
035284,000615: 31,3211 45445 BVSU STADR
035285,000616: 31,3212 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
035286,000617: 31,3213 77646 ABVAL
035287,000618: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
035288,000619: 31,3215 03254 UNFC/2 # VERTICAL COMPONENT
035289,000620: 31,3216 65316 DSQ PDDL
035290,000621: 31,3217 03256 UNFC/2 +2 # OUT-OF-PLANE
035291,000622: 31,3220 65316 DSQ PDDL
035292,000623: 31,3221 05650 HIGHESTF
035293,000624: 31,3222 63471 DDV DSQ
035294,000625: 31,3223 01245 MASS # 2 2 2
035295,000626: 31,3224 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
035296,000627: 31,3225 71244 BPL DLOAD # 1 0
035297,000628: 31,3226 63230 AFCCALC3
035298,000629: 31,3227 06522 ZEROVECS
035299,000630: 31,3230 43366 AFCCALC3 SQRT DAD
035300,000631: 31,3231 03260 UNFC/2 +4
|
|
Page 810 |
035302,000633: 31,3232 44244 BPL BDSU
035303,000634: 31,3233 63236 AFCCLEND
035304,000635: 31,3234 03260 UNFC/2 +4
035305,000636: 31,3235 03260 STORE UNFC/2 +4
035306,000637: 31,3236 77776 AFCCLEND EXIT
035307,000638: 31,3237 03740 TC FASTCHNG
035308,000639:
035309,000640: 31,3240 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
035310,000641: 31,3241 55621 TS WCHPHOLD
035311,000642: 31,3242 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
035312,000643:
035313,000644: 31,3243 51351 BRSPOT4 INDEX WCHPHASE
035314,000645: 31,3244 12435 TCF AFTRGUID
035315,000646:
035316,000647: # ***************************************************************************************************************
035317,000648: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
035318,000649: # ***************************************************************************************************************
035319,000650:
035320,000651: 31,3245 35014 CGCALC CAF EBANK5
035321,000652: 31,3246 54003 TS EBANK
035322,000653: 31,3247 E5,1435 EBANK= TCGIBRAK
035323,000654: 31,3247 00006 EXTEND
035324,000655: 31,3250 51351 INDEX WCHPHASE
035325,000656: 31,3251 52452 INDEX TARGTDEX
035326,000657: 31,3252 31435 DCA TCGFBRAK
035327,000658: 31,3253 24006 INCR BBANK
035328,000659: 31,3254 24006 INCR BBANK
035329,000660: 31,3255 E7,1642 EBANK= TTF/8
035330,000661: 31,3255 61642 AD TTF/8
035331,000662: 31,3256 56001 XCH L
035332,000663: 31,3257 61642 AD TTF/8
035333,000664: 31,3260 10000 CCS A
035334,000665: 31,3261 10001 CCS L
035335,000666: 31,3262 13313 TCF EXTLOGIC
035336,000667: 31,3263 13313 TCF EXTLOGIC
035337,000668: 31,3264 13265 NOOP
035338,000669:
035339,000670: 31,3265 03677 TC INTPRETX
035340,000671: 31,3266 53575 VLOAD UNIT
035341,000672: 31,3267 03635 LAND
035342,000673: 31,3270 16603 STODL CG
035343,000674: 31,3271 03643 TTF/8
035344,000675: 31,3272 74203 DMP* VXSC
035345,000676: 31,3273 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
035346,000677: 31,3274 02265 ANGTERM
035347,000678: 31,3275 77655 VAD
035348,000679: 31,3276 03635 LAND
035349,000680: 31,3277 47051 VSU RTB
035350,000681: 31,3300 03521 R
035351,000682: 31,3301 21726 NORMUNIT
|
|
Page 811 |
035353,000684: 31,3302 47035 VXV RTB
035354,000685: 31,3303 03635 LAND
035355,000686: 31,3304 21726 NORMUNIT
035356,000687: 31,3305 26611 STOVL CG +6 # SECOND ROW
035357,000688: 31,3306 02603 CG
035358,000689: 31,3307 76435 VXV VSL1
035359,000690: 31,3310 02611 CG +6
035360,000691: 31,3311 02617 STORE CG +14
035361,000692: 31,3312 77776 EXIT
035362,000693:
035363,000694: # (CONTINUE TO EXTLOGIC)
035364,000695:
035365,000696: # ****************************************************************************************************************
035366,000697: # PREPARE TO EXIT
035367,000698: # ****************************************************************************************************************
035368,000699:
035369,000700: # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES
035370,000701:
035371,000702: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD
035372,000703: 31,3314 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD
035373,000704: 31,3315 61642 AD TTF/8
035374,000705:
035375,000706: 31,3316 00006 EXSPOT1 EXTEND
035376,000707: 31,3317 51351 INDEX WCHPHASE
035377,000708: 31,3320 62441 BZMF WHATEXIT
035378,000709:
035379,000710: 31,3321 03740 TC FASTCHNG
035380,000711:
035381,000712: 31,3322 31621 CA WCHPHOLD
035382,000713: 31,3323 64753 AD ONE
035383,000714: 31,3324 55351 TS WCHPHASE
035384,000715: 31,3325 34755 CA ZERO
035385,000716: 31,3326 55623 TS FLPASS0 # RESET FLPASS0
035386,000717:
035387,000718: 31,3327 51621 INDEX WCHPHOLD
035388,000719: 31,3330 12441 TCF WHATEXIT
035389,000720:
035390,000721: # ****************************************************************************************************************
035391,000722: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
035392,000723: # ****************************************************************************************************************
035393,000724:
035394,000725: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
035395,000726: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
035396,000727: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
035397,000728: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
035398,000729:
035399,000730: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
|
|
Page 812 |
035401,000732: 31,3332 47175 VLOAD RTB
035402,000733: 31,3333 03254 UNFC/2
035403,000734: 31,3334 21726 NORMUNIT
035404,000735: 31,3335 74361 VXSC VXSC
035405,000736: 31,3336 03423 ZOOMTIME
035406,000737: 31,3337 22001 TRIMACCL
035407,000738: 31,3340 03254 STORE UNFC/2
035408,000739: 31,3341 77776 EXIT
035409,000740:
035410,000741: 31,3342 11647 CCS NGUIDSUB
035411,000742: 31,3343 12460 TCF GUIDSUB
035412,000743: 31,3344 11646 CCS NIGNLOOP
035413,000744: 31,3345 13350 TCF +3
035414,000745: 31,3346 05567 TC ALARM
035415,000746: 31,3347 01412 OCT 01412
035416,000747:
035417,000748: 31,3350 04635 +3 TC POSTJUMP
035418,000749: 31,3351 65102 CADR DDUMCALC
035419,000750:
035420,000751: 31,3352 06037 EXBRAK TC INTPRET
035421,000752: 31,3353 77775 VLOAD
035422,000753: 31,3354 03537 UNIT/R/
035423,000754: 31,3355 03262 STORE UNWC/2
035424,000755: 31,3356 77776 EXIT
035425,000756: 31,3357 13432 TCF STEER?
035426,000757:
035427,000758: 31,3360 06037 EXNORM TC INTPRET
035428,000759: 31,3361 52375 VLOAD VSU
035429,000760: 31,3362 03635 LAND
035430,000761: 31,3363 03521 R
035431,000762: 31,3364 77634 RTB
035432,000763: 31,3365 21726 NORMUNIT
035433,000764: 31,3366 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
035434,000765: 31,3367 50235 VXV DOT
035435,000766: 31,3370 02146 XNBPIP
035436,000767: 31,3371 02611 CG +6
035437,000768: 31,3372 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
035438,000769:
035439,000770: 31,3373 40154 CS MPAC # GET COEFFICIENT FOR CG +14
035440,000771: 31,3374 63754 AD PROJMAX
035441,000772: 31,3375 64733 AD POSMAX
035442,000773: 31,3376 54130 TS BUF
035443,000774: 31,3377 40130 CS BUF
035444,000775: 31,3400 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
035445,000776:
035446,000777: 31,3401 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
035447,000778: 31,3402 60154 AD MPAC
035448,000779: 31,3403 64733 AD POSMAX
035449,000780: 31,3404 54131 TS BUF +1
035450,000781: 31,3405 40131 CS BUF +1
|
|
Page 813 |
035452,000783: 31,3406 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
035453,000784:
035454,000785: 31,3407 34751 CAF FOUR
035455,000786: 31,3410 76242 UNWCLOOP MASK SIX
035456,000787: 31,3411 54002 TS Q
035457,000788: 31,3412 35014 CA EBANK5
035458,000789: 31,3413 54003 TS EBANK
035459,000790: 31,3414 E5,1602 EBANK= CG
035460,000791: 31,3414 30130 CA BUF
035461,000792: 31,3415 00006 EXTEND
035462,000793: 31,3416 50002 INDEX Q
035463,000794: 31,3417 71616 MP CG +14
035464,000795: 31,3420 24006 INCR BBANK
035465,000796: 31,3421 E6,1661 EBANK= UNWC/2
035466,000797: 31,3421 50002 INDEX Q
035467,000798: 31,3422 53662 DXCH UNWC/2
035468,000799: 31,3423 00006 EXTEND
035469,000800: 31,3424 70131 MP BUF +1
035470,000801: 31,3425 50002 INDEX Q
035471,000802: 31,3426 21662 DAS UNWC/2
035472,000803: 31,3427 10002 CCS Q
035473,000804: 31,3430 13410 TCF UNWCLOOP
035474,000805:
035475,000806: 31,3431 24006 INCR BBANK
035476,000807: 31,3432 E7,1612 EBANK= PIF
035477,000808:
035478,000809: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
035479,000810: 31,3433 74741 MASK STEERBIT
035480,000811: 31,3434 00006 EXTEND
035481,000812: 31,3435 13443 BZF RATESTOP
035482,000813:
035483,000814: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
035484,000815: 31,3437 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
035485,000816: 31,3440 13453 BZF +13
035486,000817:
035487,000818: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
035488,000819: 31,3442 01410 OCT 01410
035489,000820:
035490,000821: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035491,000822: 31,3444 00006 EXTEND
035492,000823: 31,3445 02031 RAND CHAN31
035493,000824: 31,3446 00006 EXTEND
035494,000825: 31,3447 13460 BZF DISPEXIT # YES
035495,000826:
035496,000827: 31,3450 04616 TC BANKCALL # NO: DO A STOPRATE
035497,000828: 31,3451 40165 CADR STOPRATE
035498,000829:
035499,000830: 31,3452 13460 TCF DISPEXIT
035500,000831:
035501,000832: 31,3453 02216 GDUMP1 TC THROTTLE
|
|
Page 814 |
035503,000834: 31,3454 06037 TC INTPRET
035504,000835: 31,3455 77624 CALL
035505,000836: 31,3456 61111 FINDCDUW -2
035506,000837: 31,3457 77776 EXIT
035507,000838:
035508,000839: # (CONTINUE TO DISPEXIT)
035509,000840:
035510,000841: # ****************************************************************************************************************
035511,000842: # GUIDANCE LOOP DISPLAYS
035512,000843: # ****************************************************************************************************************
035513,000844:
035514,000845: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
035515,000846: 31,3461 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
035516,000847: 31,3462 52757 DXCH -PHASE3
035517,000848:
035518,000849: 31,3463 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
035519,000850: 31,3464 74742 MASK FLUNDBIT
035520,000851: 31,3465 00006 EXTEND
035521,000852: 31,3466 13476 BZF ENDLLJOB # TO PICK UP THE TAG
035522,000853:
035523,000854: 31,3467 51621 INDEX WCHPHOLD
035524,000855: 31,3470 12443 TCF WHATDISP
035525,000856:
035526,000857: 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5
035527,000858: 31,3472 00035 OCT 00035
035528,000859:
035529,000860: 31,3473 33756 P63DISPS CAF V06N63
035530,000861: 31,3474 04616 DISPCOMN TC BANKCALL
035531,000862: 31,3475 20470 CADR REGODSPR
035532,000863:
035533,000864: 31,3476 15155 ENDLLJOB TCF ENDOFJOB
035534,000865:
035535,000866: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
035536,000867: 31,3500 00006 EXTEND
035537,000868: 31,3501 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
035538,000869:
035539,000870: 31,3502 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
035540,000871: 31,3503 74746 MASK REDFLBIT
035541,000872: 31,3504 00006 EXTEND
035542,000873: 31,3505 13525 BZF REDES-OK # YES: DO STATIC DISPLAY
035543,000874:
035544,000875: 31,3506 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
035545,000876: 31,3507 04616 TC BANKCALL
035546,000877: 31,3510 20462 CADR REFLASHR
035547,000878: 31,3511 16001 TCF GOTOPOOH # TERMINATE
035548,000879: 31,3512 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
035549,000880: 31,3513 13477 TCF P64DISPS # RECYCLE
|
|
Page 815 |
035551,000882: 31,3514 13476 TCF ENDLLJOB # TO PICK UP THE TAG
035552,000883:
035553,000884: 31,3515 34755 P64CEED CAF ZERO
035554,000885: 31,3516 55267 TS ELINCR1
035555,000886: 31,3517 55266 TS AZINCR1
035556,000887:
035557,000888: 31,3520 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
035558,000889: 31,3521 00143 ADRES REDFLAG
035559,000890:
035560,000891: 31,3522 15155 TCF ENDOFJOB
035561,000892:
035562,000893: 31,3523 05516 RED-OVER TC DOWNFLAG
035563,000894: 31,3524 00143 ADRES REDFLAG
035564,000895: 31,3525 33757 REDES-OK CAF V06N64
035565,000896: 31,3526 13474 TCF DISPCOMN
035566,000897:
035567,000898:
035568,000899: 31,3527 33760 VERTDISP CAF V06N60
035569,000900: 31,3530 13474 TCF DISPCOMN
035570,000901:
035571,000902:
035572,000903: # ****************************************************************************************************************
035573,000904: # GUIDANCE FOR P65
035574,000905: # ****************************************************************************************************************
035575,000906:
035576,000907: 31,3531 11647 VERTGUID CCS WCHVERT
035577,000908: 31,3532 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67
035578,000909: 31,3533 13543 TCF P66VERT # +0
035579,000910:
035580,000911: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
035581,000912: # - -
035582,000913: # V2FG - VGU
035583,000914: # ACG = ----------
035584,000915: # TAUVERT
035585,000916:
035586,000917: 31,3534 06037 P65VERT TC INTPRET
035587,000918: 31,3535 52375 VLOAD VSU
035588,000919: 31,3536 02511 V2FG
035589,000920: 31,3537 03627 VGU
035590,000921: 31,3540 52141 V/SC GOTO
035591,000922: 31,3541 02517 TAUVERT
035592,000923: 31,3542 63204 AFCCALC1
|
|
Page 816 |
035594,000925: # ****************************************************************************************************************
035595,000926: # GUIDANCE FOR P66
035596,000927: # ****************************************************************************************************************
035597,000928:
035598,000929: 31,3543 04635 P66VERT TC POSTJUMP
035599,000930: 31,3544 65270 CADR P66VERTA
035600,000931:
035601,000932: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
035602,000933: 31,3546 00003 OCT 00003
035603,000934:
035604,000935: 31,3547 06037 TC INTPRET
035605,000936: 31,3550 52175 VLOAD GOTO
035606,000937: 31,3551 03527 V
035607,000938: 31,3552 65517 VHORCOMP
035608,000939:
035609,000940: 32,2000 SETLOC P66LOC
035610,000941: 32,2000 BANK
035611,000942: 32,3263 COUNT* $$/F2DPS
035612,000943:
035613,000944: 32,3263 37710 RODTASK CAF PRIO22
035614,000945: 32,3264 05105 TC FINDVAC
035615,000946: 32,3265 E7,1515 EBANK= DVCNTR
035616,000947: 32,3265 03275 64067 2CADR RODCOMP
035617,000948:
035618,000949: 32,3267 15261 TCF TASKOVER
035619,000950:
035620,000951: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
035621,000952: 32,3271 00003 OCT 00003
035622,000953:
035623,000954: 32,3272 34777 CAF 1SEC
035624,000955: 32,3273 05173 TC TWIDDLE
035625,000956: 32,3274 03263 ADRES RODTASK
035626,000957:
035627,000958: 32,3275 00004 RODCOMP INHINT
035628,000959: 32,3276 34755 CAF ZERO
035629,000960: 32,3277 57746 XCH RODCOUNT
035630,000961: 32,3300 00006 EXTEND
035631,000962: 32,3301 71756 MP RODSCAL1
035632,000963: 32,3302 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
035633,000964:
035634,000965: 32,3303 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
035635,000966: 32,3304 30040 DCA PIPAX
035636,000967: 32,3305 53764 DXCH OLDPIPAX
035637,000968: 32,3306 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
035638,000969: 32,3307 30041 CA PIPAZ
035639,000970: 32,3310 57765 XCH OLDPIPAZ
035640,000971: 32,3311 56072 XCH RUPTREG3
035641,000972:
035642,000973: 32,3312 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
035643,000974: 32,3313 30025 DCA TIME2
|
|
Page 817 |
035645,000976: 32,3314 53762 DXCH THISTPIP
035646,000977:
035647,000978: 32,3315 31763 CA OLDPIPAX
035648,000979: 32,3316 61160 AD PIPATMPX
035649,000980: 32,3317 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
035650,000981: 32,3320 31764 CA OLDPIPAY
035651,000982: 32,3321 61161 AD PIPATMPY
035652,000983: 32,3322 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
035653,000984: 32,3323 31765 CA OLDPIPAZ
035654,000985: 32,3324 61162 AD PIPATMPZ
035655,000986: 32,3325 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
035656,000987:
035657,000988: 32,3326 41763 CS OLDPIPAX
035658,000989: 32,3327 61254 AD TEMX
035659,000990: 32,3330 60070 AD RUPTREG1
035660,000991: 32,3331 55766 TS DELVROD
035661,000992: 32,3332 41764 CS OLDPIPAY
035662,000993: 32,3333 61255 AD TEMY
035663,000994: 32,3334 60071 AD RUPTREG2
035664,000995: 32,3335 55770 TS DELVROD +2
035665,000996: 32,3336 41765 CS OLDPIPAZ
035666,000997: 32,3337 61256 AD TEMZ
035667,000998: 32,3340 60072 AD RUPTREG3
035668,000999: 32,3341 55772 TS DELVROD +4
035669,001000:
035670,001001: 32,3342 34755 CAF ZERO
035671,001002: 32,3343 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
035672,001003: 32,3344 54160 TS MPAC +4
035673,001004: 32,3345 54162 TS MPAC +6
035674,001005: 32,3346 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
035675,001006: 32,3347 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
035676,001007: 32,3350 55256 TS TEMZ
035677,001008: 32,3351 44753 CS ONE
035678,001009: 32,3352 54163 TS MODE
035679,001010: 32,3353 06037 TC INTPRET
035680,001011: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
035681,001012: 32,3355 26022 KPIP1
035682,001013: 32,3356 03762 THISTPIP
035683,001014: 32,3357 77625 DSU
035684,001015: 32,3360 01235 PIPTIME
035685,001016: 32,3361 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
035686,001017: 32,3362 63271 DDV PDVL # (8)
035687,001018: 32,3363 27153 4SEC(28)
035688,001019: 32,3364 01237 GDT/2
035689,001020: 32,3365 74251 VSU VXSC # (6)
035690,001021: 32,3366 02631 VBIAS
035691,001022: 32,3367 53352 VSL2 VAD
035692,001023: 32,3370 03527 V
035693,001024: 32,3371 45455 VAD STADR # (0)
035694,001025: 32,3372 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
|
|
Page 818 |
035696,001027: 32,3373 03521 R
035697,001028: 32,3374 77656 UNIT
035698,001029: 32,3375 00017 STORE 14D
035699,001030: 32,3376 72441 DOT SL1
035700,001031: 32,3377 00031 24D
035701,001032: 32,3400 17474 STODL HDOTDISP # UPDATE HDOTDISP FOR NOUN 63.
035702,001033: 32,3401 00037 30D
035703,001034: 32,3402 41261 SL DMP
035704,001035: 32,3403 20214 11D
035705,001036: 32,3404 03474 HDOTDISP
035706,001037: 32,3405 45215 DAD DSU
035707,001038: 32,3406 00045 36D
035708,001039: 32,3407 02333 /LAND/
035709,001040: 32,3410 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63.
035710,001041: 32,3411 03474 HDOTDISP
035711,001042: 32,3412 56221 BDSU DDV
035712,001043: 32,3413 03645 VDGVERT
035713,001044: 32,3414 02541 TAUROD
035714,001045: 32,3415 51515 PDVL ABVAL # (2)
035715,001046: 32,3416 01237 GDT/2
035716,001047: 32,3417 60471 DDV SR2
035717,001048: 32,3420 05652 GSCALE
035718,001049: 32,3421 00025 STORE 20D
035719,001050: 32,3422 77615 DAD # (0)
035720,001051: 32,3423 45115 PDVL CALL # (2)
035721,001052: 32,3424 06520 UNITX
035722,001053: 32,3425 47661 CDU*NBSM
035723,001054: 32,3426 77641 DOT
035724,001055: 32,3427 00017 14D
035725,001056: 32,3430 00027 STORE 22D
035726,001057: 32,3431 45465 BDDV STADR # (0)
035727,001058: 32,3432 50313 STOVL /AFC/
035728,001059: 32,3433 03767 DELVROD
035729,001060: 32,3434 53361 VXSC VAD
035730,001061: 32,3435 26022 KPIP1
035731,001062: 32,3436 02631 VBIAS
035732,001063: 32,3437 65246 ABVAL PDDL # (2)
035733,001064: 32,3440 03762 THISTPIP
035734,001065: 32,3441 65225 DSU PDDL # (4)
035735,001066: 32,3442 03760 LASTTPIP
035736,001067: 32,3443 03762 THISTPIP
035737,001068: 32,3444 17760 STODL LASTTPIP # (2)
035738,001069: 32,3445 55271 DDV BDDV # (0)
035739,001070: 32,3446 25535 SHFTFACT
035740,001071: 32,3447 41325 PDDL DMP # (2)
035741,001072: 32,3450 03611 FWEIGHT
035742,001073: 32,3451 25534 BIT1H
035743,001074: 32,3452 56271 DDV DDV
035744,001075: 32,3453 01245 MASS
035745,001076: 32,3454 22006 SCALEFAC
|
|
Page 819 |
035747,001078: 32,3455 65215 DAD PDDL # (4)
035748,001079: 32,3456 00001 0D
035749,001080: 32,3457 00025 20D
035750,001081: 32,3460 45271 DDV DSU # (2)
035751,001082: 32,3461 00027 22D
035752,001083: 32,3462 43205 DMP DAD
035753,001084: 32,3463 02543 LAG/TAU
035754,001085: 32,3464 03464 /AFC/
035755,001086: 32,3465 56325 PDDL DDV # (4)
035756,001087: 32,3466 02547 MAXFORCE
035757,001088: 32,3467 01245 MASS
035758,001089: 32,3470 56325 PDDL DDV # (6)
035759,001090: 32,3471 02545 MINFORCE
035760,001091: 32,3472 01245 MASS
035761,001092: 32,3473 44206 PUSH BDSU # (8)
035762,001093: 32,3474 00003 2D
035763,001094: 32,3475 71240 BMN DLOAD # (6)
035764,001095: 32,3476 65504 AFCSPOT
035765,001096: 32,3477 41545 DLOAD PUSH # (6)
035766,001097: 32,3500 51021 BDSU BPL
035767,001098: 32,3501 00003 2D
035768,001099: 32,3502 65504 AFCSPOT
035769,001100: 32,3503 77745 DLOAD # (4)
035770,001101: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6)
035771,001102: 32,3505 77601 SETPD # (2)
035772,001103: 32,3506 00003 2D
035773,001104: 32,3507 17464 STODL /AFC/ # (0)
035774,001105: 32,3510 77776 ITRPNT2 EXIT
035775,001106: 32,3511 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035776,001107: 32,3512 04616 TC BANKCALL
035777,001108: 32,3513 62221 CADR THROTTLE +3
035778,001109: 32,3514 06037 TC INTPRET
035779,001110: 32,3515 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
035780,001111: 32,3516 00031 24D
035781,001112: 32,3517 53352 VHORCOMP VSL2 VAD
035782,001113: 32,3520 03734 DELVS
035783,001114: 32,3521 63342 VSR2 PDVL # (6)
035784,001115: 32,3522 03521 R
035785,001116: 32,3523 74256 UNIT VXSC
035786,001117: 32,3524 03474 HDOTDISP
035787,001118: 32,3525 51372 VSL1 BVSU # (0)
035788,001119: 32,3526 77646 ABVAL
035789,001120: 32,3527 02263 STORE VHORIZ
035790,001121: 32,3530 77776 EXIT
035791,001122: 32,3531 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035792,001123: 32,3532 63463 CADR DISPEXIT +3
035793,001124:
035794,001125: 32,3533 00001 BIT1H OCT 00001
035795,001126: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17
|
|
Page 820 |
035797,001128: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28
035798,001129:
035799,001130: # ****************************************************************************************************************
035800,001131: # REDESIGNATOR TRAP
035801,001132: # ****************************************************************************************************************
035802,001133:
035803,001134: 11,2275 BANK 11
035804,001135: 11,2000 SETLOC F2DPS*11
035805,001136: 11,2000 BANK
035806,001137:
035807,001138: 11,2275 COUNT* $$/F2DPS
035808,001139:
035809,001140: 11,2275 56016 PITFALL XCH BANKRUPT
035810,001141: 11,2276 00006 EXTEND
035811,001142: 11,2277 22012 QXCH QRUPT
035812,001143:
035813,001144: 11,2300 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035814,001145: 11,2301 00100 DEC 64 B-14
035815,001146: 11,2302 15270 TCF RESUME
035816,001147:
035817,001148: 11,2303 00006 EXTEND
035818,001149: 11,2304 00031 READ CHAN31
035819,001150: 11,2305 40000 COM
035820,001151: 11,2306 72373 MASK ALL4BITS
035821,001152: 11,2307 55265 TS ELVIRA
035822,001153: 11,2310 34752 CAF TWO
035823,001154: 11,2311 55264 TS ZERLINA
035824,001155: 11,2312 34756 CAF FIVE
035825,001156: 11,2313 05173 TC TWIDDLE
035826,001157: 11,2314 02321 ADRES REDESMON
035827,001158: 11,2315 15270 TCF RESUME
035828,001159:
035829,001160: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035830,001161:
035831,001162: 11,2316 55264 PREMON1 TS ZERLINA
035832,001163: 11,2317 34757 PREMON2 CAF SEVEN
035833,001164: 11,2320 05224 TC VARDELAY
035834,001165: 11,2321 00006 REDESMON EXTEND
035835,001166: 11,2322 00031 READ 31
035836,001167: 11,2323 40000 COM
035837,001168: 11,2324 72373 MASK ALL4BITS
035838,001169: 11,2325 57265 XCH ELVIRA
035839,001170: 11,2326 54001 TS L
035840,001171: 11,2327 11265 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035841,001172: 11,2330 12317 TCF PREMON2 # Y: CONTINUE MONITOR
035842,001173:
035843,001174: 11,2331 10001 CCS L # N: ANY LAST PASS?
035844,001175: 11,2332 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
|
|
Page 821 |
035846,001177: 11,2333 11264 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035847,001178: 11,2334 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035848,001179: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE
035849,001180: 11,2336 00006 EXTEND
035850,001181: 11,2337 05013 WOR CHAN13
035851,001182: 11,2340 15261 TCF TASKOVER
035852,001183:
035853,001184: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035854,001185: 11,2342 00006 EXTEND
035855,001186: 11,2343 02031 RAND CHAN31
035856,001187: 11,2344 00006 EXTEND
035857,001188: 11,2345 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035858,001189:
035859,001190: 11,2346 30001 CA L # NO
035860,001191: 11,2347 74746 MASK -AZBIT
035861,001192: 11,2350 10000 CCS A
035862,001193: 11,2351 42374 -AZ CS AZEACH
035863,001194: 11,2352 27266 ADS AZINCR1
035864,001195: 11,2353 30001 CA L
035865,001196: 11,2354 74747 MASK +AZBIT
035866,001197: 11,2355 10000 CCS A
035867,001198: 11,2356 32374 +AZ CA AZEACH
035868,001199: 11,2357 27266 ADS AZINCR1
035869,001200: 11,2360 30001 CA L
035870,001201: 11,2361 74753 MASK -ELBIT
035871,001202: 11,2362 10000 CCS A
035872,001203: 11,2363 42375 -EL CS ELEACH
035873,001204: 11,2364 27267 ADS ELINCR1
035874,001205: 11,2365 30001 CA L
035875,001206: 11,2366 74752 MASK +ELBIT
035876,001207: 11,2367 10000 CCS A
035877,001208: 11,2370 32375 +EL CA ELEACH
035878,001209: 11,2371 27267 ADS ELINCR1
035879,001210: 11,2372 12335 TCF RESETRPT
035880,001211:
035881,001212: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035882,001213:
035883,001214: 11,2373 4752 +ELBIT = BIT2 # -PITCH
035884,001215: 11,2373 4753 -ELBIT = BIT1 # +PITCH
035885,001216: 11,2373 4747 +AZBIT = BIT5
035886,001217: 11,2373 4746 -AZBIT = BIT6
035887,001218:
|
|
Page 822 |
035889,001220: 11,2373 00063 ALL4BITS OCT 00063
035890,001221: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES
035891,001222: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE
035892,001223:
035893,001224: # ****************************************************************************************************************
035894,001225: # R.O.D. TRAP
035895,001226: # ************************************************************************
035896,001227:
035897,001228: 20,2115 BANK 20
035898,001229: 20,2000 SETLOC RODTRAP
035899,001230: 20,2000 BANK
035900,001231: 20,2115 COUNT* $$/F2DPS # ****************************************
035901,001232:
035902,001233: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035903,001234: 20,2116 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035904,001235: 20,2117 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035905,001236: 20,2120 64753 AD ONE
035906,001237: 20,2121 27746 ADS RODCOUNT
035907,001238: 20,2122 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035908,001239:
035909,001240: 31,3553 BANK 31
035910,001241: 31,2000 SETLOC F2DPS*31
035911,001242: 31,2000 BANK
035912,001243:
035913,001244: 31,3553 COUNT* $$/F2DPS
035914,001245:
035915,001246: # ****************************************************************************************************************
035916,001247: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035917,001248: # ****************************************************************************************************************
035918,001249:
035919,001250: # N N-1
035920,001251: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035921,001252: # N N-1 1 0
035922,001253: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035923,001254: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035924,001255: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035925,001256: # MPAC DP X INITIAL GUESS FOR ROOT
035926,001257:
035927,001258: # LOC-2N DP A(0)
035928,001259: # ...
035929,001260: # LOC DP A(N)
035930,001261: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035931,001262:
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|
Page 823 |
035933,001264: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035934,001265: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035935,001266: # OUTPUTS ARE NOT TO BE TRUSTED.
035936,001267:
035937,001268: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035938,001269: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035939,001270: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035940,001271: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035941,001272: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035942,001273: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035943,001274: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035944,001275: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
035945,001276: # PRECLUDE EVENTUAL CONVERGENCE.
035946,001277: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035947,001278: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035948,001279: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035949,001280:
035950,001281: # STORE ENTERING DATA, INITLIZE ERASABLES
035951,001282: 31,3553 00006 ROOTPSRS EXTEND
035952,001283: 31,3554 22132 QXCH RETROOT # RETURN ADRES
035953,001284: 31,3555 54117 TS PWRPTR # PWR TABL POINTER
035954,001285: 31,3556 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035955,001286: 31,3557 33676 CA DERTABLL
035956,001287: 31,3560 54141 TS DERPTR # DER TABL POINTER
035957,001288: 31,3561 54161 TS MPAC +5 # DER TABL ADRES
035958,001289: 31,3562 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035959,001290: 31,3563 54162 TS MPAC +6 # N-2
035960,001291: 31,3564 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035961,001292: 31,3565 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035962,001293:
035963,001294: # COMPUTE CRITERION TO STOP ITERATING
035964,001295: 31,3566 00006 EXTEND
035965,001296: 31,3567 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035966,001297: 31,3570 52127 DXCH ROOTPS # AND IN ROOTPS
035967,001298: 31,3571 50157 INDEX MPAC +3 # PWR TABL ADRES
035968,001299: 31,3572 30005 CA 5 # PRECROOT TO A
035969,001300: 31,3573 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035970,001301: 31,3574 04713 TC USPRCADR
035971,001302: 31,3575 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035972,001303: 31,3576 52155 DXCH MPAC
035973,001304: 31,3577 52125 DXCH DXCRIT # CRITERION
035974,001305:
035975,001306: # SET UP DER COF TABL
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|
Page 824 |
035977,001308: 31,3600 00006 EXTEND
035978,001309: 31,3601 50117 INDEX PWRPTR
035979,001310: 31,3602 30004 DCA 3
035980,001311: 31,3603 52155 DXCH MPAC # A(N) TO MPAC
035981,001312:
035982,001313: 31,3604 30160 CA MPAC +4 # N-1 TO A
035983,001314:
035984,001315: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035985,001316: 31,3606 64753 AD ONE
035986,001317: 31,3607 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035987,001318: 31,3610 00006 EXTEND
035988,001319: 31,3611 50117 INDEX PWRPTR
035989,001320: 31,3612 30002 DCA 1
035990,001321: 31,3613 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
035991,001322: 31,3614 50141 INDEX DERPTR
035992,001323: 31,3615 52004 DXCH 3 # DERCOF TO DER TABL
035993,001324: 31,3616 44752 CS TWO
035994,001325: 31,3617 26117 ADS PWRPTR # DECREMENT PWR POINTER
035995,001326: 31,3620 44752 CS TWO
035996,001327: 31,3621 26141 ADS DERPTR # DECREMENT DER POINTER
035997,001328: 31,3622 10140 CCS PWRCNT
035998,001329: 31,3623 13605 TCF DERCLOOP
035999,001330:
036000,001331: # CONVERGE ON ROOT
036001,001332: 31,3624 00006 ROOTLOOP EXTEND
036002,001333: 31,3625 30127 DCA ROOTPS # FETCH CURRENT ROOT
036003,001334: 31,3626 52155 DXCH MPAC # LEAVE IN MPAC
036004,001335: 31,3627 00006 EXTEND
036005,001336: 31,3630 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
036006,001337: 31,3631 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
036007,001338:
036008,001339: 31,3632 00006 EXTEND
036009,001340: 31,3633 30127 DCA ROOTPS
036010,001341: 31,3634 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
036011,001342: 31,3635 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
036012,001343: 31,3636 00006 EXTEND
036013,001344: 31,3637 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
036014,001345: 31,3640 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC
036015,001346:
036016,001347: 31,3641 04713 TC USPRCADR
036017,001348: 31,3642 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
036018,001349:
036019,001350: 31,3643 00006 EXTEND
036020,001351: 31,3644 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
036021,001352: 31,3645 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
036022,001353:
036023,001354: 31,3646 04713 TC USPRCADR
036024,001355: 31,3647 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
036025,001356: 31,3650 00006 EXTEND
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|
Page 825 |
036027,001358: 31,3651 40125 DCS DXCRIT
036028,001359: 31,3652 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
036029,001360:
036030,001361: 31,3653 30163 CA MODE
036031,001362: 31,3654 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
036032,001363: 31,3655 10000 CCS A
036033,001364: 31,3656 00132 BADROOT TC RETROOT
036034,001365:
036035,001366: 31,3657 24163 INCR MODE # INCREMENT ITERATION COUNTER
036036,001367: 31,3660 10154 CCS MPAC # TEST HI ORDER DX
036037,001368: 31,3661 13624 TCF ROOTLOOP
036038,001369: 31,3662 13664 TCF TESTLODX
036039,001370: 31,3663 13670 TCF ROOTSTOR
036040,001371: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
036041,001372: 31,3665 13624 TCF ROOTLOOP
036042,001373: 31,3666 13670 TCF ROOTSTOR
036043,001374: 31,3667 13670 TCF ROOTSTOR
036044,001375: 31,3670 52127 ROOTSTOR DXCH ROOTPS
036045,001376: 31,3671 52155 DXCH MPAC
036046,001377: 31,3672 30163 CA MODE
036047,001378: 31,3673 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
036048,001379: 31,3674 50132 INDEX RETROOT
036049,001380: 31,3675 10002 TCF 2
036050,001381:
036051,001382: 31,3676 00147 DERTABLL ADRES DERCOFN -3
036052,001383:
036053,001384: # ****************************************************************************************************************
036054,001385: # TRASHY LITTLE SUBROUTINES
036055,001386: # ****************************************************************************************************************
036056,001387:
036057,001388: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
036058,001389: 31,3700 42452 CS TARGTDEX
036059,001390: 31,3701 50120 INDEX FIXLOC
036060,001391: 31,3702 54046 TS X1
036061,001392: 31,3703 16037 TCF INTPRET
036062,001393:
036063,001394: 31,3704 31642 TDISPSET CA TTF/8
036064,001395: 31,3705 00006 EXTEND
036065,001396: 31,3706 74750 MP TSCALINV
036066,001397: 31,3707 53476 DXCH TTFDISP
036067,001398:
036068,001399: 31,3710 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
036069,001400: 31,3711 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
036070,001401: 31,3712 E5,1470 EBANK= TCGFAPPR
036071,001402: 31,3712 31470 CA TCGFAPPR
036072,001403: 31,3713 24006 INCR BBANK
036073,001404: 31,3714 24006 INCR BBANK
036074,001405: 31,3715 E7,1642 EBANK= TTF/8
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Page 826 |
036076,001407: 31,3715 61642 AD TTF/8
036077,001408: 31,3716 00006 EXTEND
036078,001409: 31,3717 73751 MP TREDESCL
036079,001410: 31,3720 63747 AD -DEC103
036080,001411: 31,3721 64735 AD NEGMAX
036081,001412: 31,3722 54001 TS L
036082,001413: 31,3723 40001 CS L
036083,001414: 31,3724 60001 AD L
036084,001415: 31,3725 63750 AD +DEC99
036085,001416: 31,3726 64733 AD POSMAX
036086,001417: 31,3727 55666 TS TREDES
036087,001418: 31,3730 41666 CS TREDES
036088,001419: 31,3731 27666 ADS TREDES
036089,001420: 31,3732 00002 TC Q
036090,001421:
036091,001422: 31,3733 05652 1406POO TC POODOO
036092,001423: 31,3734 01406 OCT 01406
036093,001424: 31,3735 05567 1406ALM TC ALARM
036094,001425: 31,3736 01406 OCT 01406
036095,001426: 31,3737 13443 TCF RATESTOP
036096,001427:
036097,001428: # ****************************************************************************************************************
036098,001429: # SPECIALIZED "PHASCHNG" SUBROUTINE
036099,001430: # ****************************************************************************************************************
036100,001431:
036101,001432: 31,3740 E3,1440 EBANK= PHSNAME2
036102,001433: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
036103,001434: 31,3741 56003 XCH EBANK
036104,001435: 31,3742 52002 DXCH L
036105,001436: 31,3743 55442 TS PHSNAME3
036106,001437: 31,3744 22003 LXCH EBANK
036107,001438: 31,3745 E7,1621 EBANK= E2DPS
036108,001439: 31,3745 00000 TC A
036109,001440:
036110,001441: # ****************************************************************************************************************
036111,001442: # PARAMETER TABLE INDIRECT ADDRESSES
036112,001443: # ****************************************************************************************************************
036113,001444:
036114,001445: 31,3746 E5,1402 RDG = RBRFG
036115,001446: 31,3746 E5,1410 VDG = VBRFG
036116,001447: 31,3746 E5,1416 ADG = ABRFG
036117,001448: 31,3746 E5,1424 VDG2TTF = VBRFG*
036118,001449: 31,3746 E5,1426 ADG2TTF = ABRFG*
036119,001450: 31,3746 E5,1430 JDG2TTF = JBRFG*
036120,001451:
036121,001452: # ****************************************************************************************************************
036122,001453: # LUNAR LANDING CONSTANTS
036123,001454: # ***************************************************************************************************************
036124,001455:
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Page 827 |
036126,001457: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
036127,001458: 31,3747 4740 TTFSCALE = BIT12
036128,001459: 31,3747 4750 TSCALINV = BIT4
036129,001460: 31,3747 77630 -DEC103 DEC -103 B-14
036130,001461: 31,3750 00143 +DEC99 DEC +99 B-14
036131,001462: 31,3751 75340 TREDESCL DEC -.08
036132,001463: 31,3752 00264 180DEGS DEC +180 B-14
036133,001464: 31,3753 00056 1/2DEG DEC +.00278
036134,001465: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
036135,001466: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
036136,001467: 31,3756 01477 V06N63 VN 0663 # P63
036137,001468: 31,3757 01500 V06N64 VN 0664 # P64
036138,001469: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67
036139,001470:
036140,001471: 22,3647 BANK 22
036141,001472: 22,2000 SETLOC LANDCNST
036142,001473: 22,2000 BANK
036143,001474: 22,3647 COUNT* $$/F2DPS
036144,001475:
036145,001476: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
036146,001477: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
036147,001478: 22,3653 14000 00000 3/8DP 2DEC .375
036148,001479: 22,3655 30000 00000 3/4DP 2DEC .750
036149,001480: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
036150,001481:
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|
Page 828 |
036152,001483: # ****************************************************************************************************************
036153,001484: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc