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. |
034673,000002: ## Copyright: Public domain.
034674,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
034675,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
034676,000005: ## It is part of the source code for the Lunar Module's (LM)
034677,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
034678,000007: ## Assembler: yaYUL
034679,000008: ## Contact: HARTMUTH GUTSCHE <hgutsche@xplornet.com>.
034680,000009: ## Website: www.ibiblio.org/apollo.
034681,000010: ## Pages: 798-828
034682,000011: ## Mod history: 2009-05-23 HG Transcribed from page images.
034683,000012: ## 2009-06-05 RSB Fixed a goofy thing that was apparently
034684,000013: ## legal in GAP but not in yaYUL. Eliminated
034685,000014: ## a couple of lines of code that shouldn't
034686,000015: ## have survived from Luminary 131 to here.
034687,000016: ## 2009-06-07 RSB Fixed a typo.
034688,000017: ## 2011-01-06 JL Fixed pseudo-labels which were incorrectly real labels.
034689,000018: ## 2011-05-07 JL Removed workaround.
034690,000019: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
034691,000020: ## 2016-12-16 RSB Proofed text comments with octopus/ProoferComments
034692,000021: ## and corrected the errors found.
034693,000022: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
034694,000023: ## The label 1406P00 was replaced with 1406POO.
034695,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
034696,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
034697,000026:
034698,000027: ## This source code has been transcribed or otherwise adapted from
034699,000028: ## digitized images of a hardcopy from the MIT Museum. The digitization
034700,000029: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
034701,000030: ## the Museum. Many thanks to both. The images (with suitable reduction
034702,000031: ## in storage size and consequent reduction in image quality as well) are
034703,000032: ## available online at www.ibiblio.org/apollo. If for some reason you
034704,000033: ## find that the images are illegible, contact me at info@sandroid.org
034705,000034: ## about getting access to the (much) higher-quality images which Paul
034706,000035: ## actually created.
034707,000036: ##
034708,000037: ## Notations on the hardcopy document read, in part:
034709,000038: ##
034710,000039: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
034711,000040: ## 16:27 JULY 14, 1969
034712,000041:
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Page 798 |
034714,000043: 31,2420 E7,1621 EBANK= E2DPS
034715,000044: 31,2420 COUNT* $$/F2DPS
034716,000045:
034717,000046: # ****************************************************************************************************************
034718,000047: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034719,000048: # ****************************************************************************************************************
034720,000049:
034721,000050: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034722,000051: # WCHPHASE = -1 ---> IGNALG
034723,000052: # WCHPHASE = 0 ---> BRAKQUAD
034724,000053: # WCHPHASE = 1 ---> APPRQUAD
034725,000054: # WCHPHASE = 2 ---> VERTICAL
034726,000055:
034727,000056: # ***************************************************************************************************************
034728,000057:
034729,000058: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034730,000059:
034731,000060: 31,2420 12641 TCF TTFINCR # IGNALG
034732,000061: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD
034733,000062: 31,2422 12630 TCF STARTP64 # APPRQUAD
034734,000063: 31,2423 12621 TCF P65START # VERTICAL
034735,000064:
034736,000065: # PRE-GUIDANCE COMPUTATIONS:
034737,000066:
034738,000067: 31,2424 13003 TCF CALCRGVG # IGNALG
034739,000068: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD
034740,000069: 31,2426 12704 TCF REDESIG # APPRQUAD
034741,000070: 31,2427 13013 TCF RGVGCALC # VERTICAL
034742,000071:
034743,000072: # GUIDANCE EQUATIONS:
034744,000073:
034745,000074: 31,2430 13061 TCF TTF/8CL # IGNALG
034746,000075: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD
034747,000076: 31,2432 13061 TCF TTF/8CL # APPRQUAD
034748,000077: 31,2433 13531 TCF VERTGUID # VERTICAL
034749,000078:
034750,000079: # POST GUIDANCE EQUATION COMPUTATIONS:
034751,000080:
034752,000081: 31,2434 13245 TCF CGCALC # IGNALG
034753,000082: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD
034754,000083: 31,2436 13245 TCF CGCALC # APPRQUAD
034755,000084: 31,2437 13432 TCF STEER? # VERTICAL
034756,000085:
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Page 799 |
034758,000087: # WINDOW VECTOR COMPUTATIONS:
034759,000088:
034760,000089: 31,2440 13331 TCF EXGSUB # IGNALG
034761,000090: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD
034762,000091: 31,2442 13360 TCF EXNORM # APPRQUAD
034763,000092:
034764,000093: # DISPLAY ROUTINES:
034765,000094:
034766,000095: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD
034767,000096: 31,2444 13477 TCF P64DISPS # APPRQUAD
034768,000097: 31,2445 13527 TCF VERTDISP # VERTICAL
034769,000098:
034770,000099: # ALARM ROUTINE FOR TTF COMPUTATION:
034771,000100:
034772,000101: 31,2446 13733 TCF 1406POO # IGNALG
034773,000102: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD
034774,000103: 31,2450 13735 TCF 1406ALM # APPRQUAD
034775,000104:
034776,000105: # INDICES FOR REFERENCING TARGET PARAMETERS:
034777,000106:
034778,000107: 31,2451 00000 OCT 0 # IGNALG
034779,000108: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD
034780,000109: 31,2453 00034 OCT 34 # APPRQUAD
034781,000110:
034782,000111: # ****************************************************************************************************************
034783,000112: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034784,000113: # ****************************************************************************************************************
034785,000114:
034786,000115: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034787,000116:
034788,000117: 31,2454 77776 ?GUIDSUB EXIT
034789,000118: 31,2455 34752 CAF TWO # N = 3
034790,000119: 31,2456 55647 TS NGUIDSUB
034791,000120: 31,2457 12603 TCF GUILDRET +2
034792,000121:
034793,000122: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034794,000123: 31,2461 13003 TCF CALCRGVG
034795,000124:
034796,000125: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034797,000126:
034798,000127: 31,2462 05353 LUNLAND TC PHASCHNG
034799,000128: 31,2463 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034800,000129: 31,2464 05353 TC PHASCHNG
034801,000130: 31,2465 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21
034802,000131: 31,2466 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY
034803,000132:
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Page 800 |
034805,000134: # ****************************************************************************************************************
034806,000135: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034807,000136: # ****************************************************************************************************************
034808,000137:
034809,000138: 31,2467 COUNT* $$/R13
034810,000139:
034811,000140: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
034812,000141: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
034813,000142: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
034814,000143:
034815,000144: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
034816,000145: 31,2470 00030 READ CHAN30
034817,000146: 31,2471 74747 MASK BIT5
034818,000147: 31,2472 10000 CCS A
034819,000148: 31,2473 12551 TCF STARTP67 # YES
034820,000149: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
034821,000150: 31,2475 00103 DEC 67 B-14
034822,000151: 31,2476 12557 TCF STABL? # NO
034823,000152: 31,2477 03740 STARTP66 TC FASTCHNG # YES
034824,000153: 31,2500 05311 TC NEWMODEX
034825,000154: 31,2501 00102 DEC66 DEC 66 B-14
034826,000155: 31,2502 00006 EXTEND
034827,000156: 31,2503 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034828,000157: 31,2504 53645 DXCH VDGVERT # ALTITUDE RATE.
034829,000158: 31,2505 06037 STRTP66A TC INTPRET
034830,000159: 31,2506 41535 SLOAD PUSH
034831,000160: 31,2507 01457 PBIASZ
034832,000161: 31,2510 41535 SLOAD PUSH
034833,000162: 31,2511 01455 PBIASY
034834,000163: 31,2512 55535 SLOAD VDEF
034835,000164: 31,2513 01453 PBIASX
034836,000165: 31,2514 43161 VXSC SET
034837,000166: 31,2515 25537 BIASFACT
034838,000167: 31,2516 00463 RODFLAG
034839,000168: 31,2517 26631 STOVL VBIAS
034840,000169: 31,2520 01255 TEMX
034841,000170: 31,2521 77676 VCOMP
034842,000171: 31,2522 27764 STOVL OLDPIPAX
034843,000172: 31,2523 06522 ZEROVECS
034844,000173: 31,2524 17767 STODL DELVROD
034845,000174: 31,2525 02540 RODSCALE
034846,000175: 31,2526 17757 STODL RODSCAL1
034847,000176: 31,2527 01235 PIPTIME
034848,000177: 31,2530 03760 STORE LASTTPIP
034849,000178: 31,2531 77776 EXIT
034850,000179: 31,2532 34755 CAF ZERO
034851,000180: 31,2533 55620 TS FCOLD
034852,000181: 31,2534 55610 TS FWEIGHT
034853,000182: 31,2535 55611 TS FWEIGHT +1
034854,000183: 31,2536 55647 VRTSTART TS WCHVERT
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Page 801 |
034856,000185: 31,2537 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034857,000186: 31,2540 55621 TS WCHPHOLD
034858,000187: 31,2541 55351 TS WCHPHASE
034859,000188: 31,2542 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034860,000189: 31,2543 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034861,000190: 31,2544 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034862,000191: 31,2545 00311 ADRES XOVINFLG
034863,000192: 31,2546 05516 TC DOWNFLAG
034864,000193: 31,2547 00143 ADRES REDFLAG
034865,000194: 31,2550 13531 TCF VERTGUID
034866,000195:
034867,000196: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
034868,000197: 31,2552 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
034869,000198: 31,2553 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
034870,000199: 31,2554 55746 TS RODCOUNT
034871,000200: 31,2555 34363 CAF TEN
034872,000201: 31,2556 12536 TCF VRTSTART
034873,000202:
034874,000203: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT?
034875,000204: 31,2560 00006 EXTEND
034876,000205: 31,2561 02031 RAND CHAN31
034877,000206: 31,2562 10000 CCS A
034878,000207: 31,2563 12601 TCF GUILDRET # YES: ALL'S WELL
034879,000208:
034880,000209: 31,2564 41011 P66NOW? CS MODREG
034881,000210: 31,2565 62501 AD DEC66
034882,000211: 31,2566 00006 EXTEND
034883,000212: 31,2567 12574 BZF RESTART?
034884,000213:
034885,000214: 31,2570 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
034886,000215: 31,2571 00006 EXTEND
034887,000216: 31,2572 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
034888,000217: 31,2573 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
034889,000218:
034890,000219: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034891,000220: 31,2575 74740 MASK RODFLBIT
034892,000221: 31,2576 00006 EXTEND
034893,000222: 31,2577 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034894,000223: # IS.
034895,000224:
034896,000225: 31,2600 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034897,000226:
034898,000227: # ****************************************************************************************************************
034899,000228: # INITIALIZATION FOR THIS PASS
034900,000229: # ****************************************************************************************************************
034901,000230:
034902,000231: 31,2601 COUNT* $$/F2DPS
034903,000232:
034904,000233: 31,2601 34755 GUILDRET CAF ZERO
034905,000234: 31,2602 55746 TS RODCOUNT
034906,000235:
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Page 802 |
034908,000237: 31,2603 00006 +2 EXTEND
034909,000238: 31,2604 31625 DCA TPIP
034910,000239: 31,2605 53574 DXCH TPIPOLD
034911,000240:
034912,000241: 31,2606 03740 TC FASTCHNG
034913,000242:
034914,000243: 31,2607 00006 EXTEND
034915,000244: 31,2610 31561 DCA PIPTIME1
034916,000245: 31,2611 53625 DXCH TPIP
034917,000246:
034918,000247: 31,2612 00006 EXTEND
034919,000248: 31,2613 31643 DCA TTF/8
034920,000249: 31,2614 53553 DXCH TTF/8TMP
034921,000250:
034922,000251: 31,2615 11623 CCS FLPASS0
034923,000252: 31,2616 12641 TCF TTFINCR
034924,000253:
034925,000254: 31,2617 51351 BRSPOT1 INDEX WCHPHASE
034926,000255: 31,2620 12421 TCF NEWPHASE
034927,000256:
034928,000257: # ****************************************************************************************************************
034929,000258: # ROUTINES TO START NEW PHASES
034930,000259: # ****************************************************************************************************************
034931,000260:
034932,000261: 31,2621 05311 P65START TC NEWMODEX
034933,000262: 31,2622 00101 DEC 65 B-14
034934,000263: 31,2623 44752 CS TWO
034935,000264: 31,2624 55647 TS WCHVERT
034936,000265: 31,2625 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034937,000266: 31,2626 00311 ADRES XOVINFLG
034938,000267: 31,2627 12641 TCF TTFINCR
034939,000268:
034940,000269: 31,2630 05311 STARTP64 TC NEWMODEX
034941,000270: 31,2631 00100 DEC 64 B-14
034942,000271: 31,2632 31425 CA DELTTFAP # AUGMENT TTF/8
034943,000272: 31,2633 27552 ADS TTF/8TMP
034944,000273: 31,2634 34740 CA BIT12 # ENABLE RUPT10
034945,000274: 31,2635 00006 EXTEND
034946,000275: 31,2636 05013 WOR CHAN13
034947,000276: 31,2637 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034948,000277: 31,2640 00143 ADRES REDFLAG
034949,000278:
034950,000279:
034951,000280: # (CONTINUE TO TTFINCR)
034952,000281:
034953,000282: # ****************************************************************************************************************
034954,000283: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034955,000284: # ****************************************************************************************************************
034956,000285:
034957,000286: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
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Page 803 |
034959,000288: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034960,000289: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034961,000290: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034962,000291: # - - - -
034963,000292: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034964,000293: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034965,000294: # - -
034966,000295: # RANGEDSP = ABVAL(LAND - R)
034967,000296:
034968,000297: 31,2641 06037 TTFINCR TC INTPRET
034969,000298: 31,2642 45345 DLOAD DSU
034970,000299: 31,2643 03625 TPIP
034971,000300: 31,2644 03574 TPIPOLD
034972,000301: 31,2645 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034973,000302: 31,2646 21214 11D
034974,000303: 31,2647 47361 VXSC VXV
034975,000304: 31,2650 03635 LAND
034976,000305: 31,2651 02325 WM
034977,000306: 31,2652 47045 BVSU RTB
034978,000307: 31,2653 03635 LAND
034979,000308: 31,2654 21726 NORMUNIT
034980,000309: 31,2655 76561 VXSC VSL1
034981,000310: 31,2656 02333 /LAND/
034982,000311: 31,2657 17545 STODL LANDTEMP
034983,000312: 31,2660 77776 EXIT
034984,000313:
034985,000314: 31,2661 52155 DXCH MPAC
034986,000315: 31,2662 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034987,000316:
034988,000317: 31,2663 03740 TC FASTCHNG
034989,000318:
034990,000319: 31,2664 00006 EXTEND
034991,000320: 31,2665 31553 DCA TTF/8TMP
034992,000321: 31,2666 53643 DXCH TTF/8
034993,000322:
034994,000323: 31,2667 00006 EXTEND
034995,000324: 31,2670 31545 DCA LANDTEMP
034996,000325: 31,2671 53635 DXCH LAND
034997,000326: 31,2672 00006 EXTEND
034998,000327: 31,2673 31547 DCA LANDTEMP +2
034999,000328: 31,2674 53637 DXCH LAND +2
035000,000329: 31,2675 00006 EXTEND
035001,000330: 31,2676 31551 DCA LANDTEMP +4
035002,000331: 31,2677 53641 DXCH LAND +4
035003,000332:
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Page 804 |
035005,000334: 31,2700 03704 TC TDISPSET
035006,000335: 31,2701 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
035007,000336:
035008,000337: 31,2702 51351 BRSPOT2 INDEX WCHPHASE
035009,000338: 31,2703 12425 TCF PREGUIDE
035010,000339:
035011,000340: # ****************************************************************************************************************
035012,000341: # LANDING SITE PERTURBATION EQUATIONS
035013,000342: # ****************************************************************************************************************
035014,000343:
035015,000344: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
035016,000345: 31,2705 74746 MASK REDFLBIT
035017,000346: 31,2706 00006 EXTEND
035018,000347: 31,2707 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
035019,000348:
035020,000349: 31,2710 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
035021,000350: 31,2711 00006 EXTEND
035022,000351: 31,2712 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
035023,000352:
035024,000353: 31,2713 00004 INHINT
035025,000354: 31,2714 31267 CA ELINCR1
035026,000355: 31,2715 55554 TS ELINCR
035027,000356: 31,2716 31266 CA AZINCR1
035028,000357: 31,2717 55556 TS AZINCR
035029,000358: 31,2720 03740 TC FASTCHNG
035030,000359:
035031,000360: 31,2721 34755 CA ZERO
035032,000361: 31,2722 55267 TS ELINCR1
035033,000362: 31,2723 55266 TS AZINCR1
035034,000363: 31,2724 55555 TS ELINCR +1
035035,000364: 31,2725 55557 TS AZINCR +1
035036,000365:
035037,000366: 31,2726 30120 CA FIXLOC # SET PD TO 0
035038,000367: 31,2727 54166 TS PUSHLOC
035039,000368:
035040,000369: 31,2730 06037 TC INTPRET
035041,000370: 31,2731 52375 VLOAD VSU
035042,000371: 31,2732 03635 LAND
035043,000372: 31,2733 03521 R # - -
035044,000373: 31,2734 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
035045,000374: 31,2735 21726 NORMUNIT
035046,000375: 31,2736 76435 VXV VSL1
035047,000376: 31,2737 02154 YNBPIP # - - -
035048,000377: 31,2740 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
035049,000378: 31,2741 03555 ELINCR
035050,000379: 31,2742 03557 AZINCR
035051,000380: 31,2743 52361 VXSC VSU
035052,000381: 31,2744 02154 YNBPIP
035053,000382: 31,2745 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
035054,000383:
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Page 805 |
035056,000385:
035057,000386: 31,2746 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
035058,000387: 31,2747 00001 0 # TOO CLOSE TO THE HORIZON
035059,000388: 31,2750 05660 DEPRCRIT
035060,000389: 31,2751 71240 BMN DLOAD
035061,000390: 31,2752 62755 REDES1
035062,000391: 31,2753 05660 DEPRCRIT
035063,000392: 31,2754 00001 STORE 0
035064,000393: 31,2755 45345 REDES1 DLOAD DSU
035065,000394: 31,2756 03635 LAND
035066,000395: 31,2757 03521 R
035067,000396: 31,2760 74271 DDV VXSC
035068,000397: 31,2761 00001 0
035069,000398: 31,2762 53455 VAD UNIT
035070,000399: 31,2763 03521 R
035071,000400: 31,2764 76561 VXSC VSL1
035072,000401: 31,2765 02333 /LAND/
035073,000402: 31,2766 03545 STORE LANDTEMP
035074,000403: 31,2767 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
035075,000404:
035076,000405: 31,2770 03740 TC FASTCHNG
035077,000406:
035078,000407: 31,2771 00006 EXTEND
035079,000408: 31,2772 31545 DCA LANDTEMP
035080,000409: 31,2773 53635 DXCH LAND
035081,000410: 31,2774 00006 EXTEND
035082,000411: 31,2775 31547 DCA LANDTEMP +2
035083,000412: 31,2776 53637 DXCH LAND +2
035084,000413: 31,2777 00006 EXTEND
035085,000414: 31,3000 31551 DCA LANDTEMP +4
035086,000415: 31,3001 53641 DXCH LAND +4
035087,000416:
035088,000417: 31,3002 13013 TCF RGVGCALC
035089,000418:
035090,000419: # ****************************************************************************************************************
035091,000420: # COMPUTE STATE IN GUIDANCE COORDINATES
035092,000421: # ****************************************************************************************************************
035093,000422:
035094,000423: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
035095,000424: # VELOCITY RELATIVE TO THE SURFACE:
035096,000425: # - - - -
035097,000426: # ANGTERM = V + R * WM
035098,000427:
035099,000428: # STATE IN GUIDANCE COORDINATES:
035100,000429: # - * - -
035101,000430: # RGU = CG (R - LAND)
035102,000431: # - * - - -
|
|
Page 806 |
035104,000433: # VGU = CG (V - WM * R)
035105,000434:
035106,000435: # HORIZONTAL VELOCITY FOR DISPLAY:
035107,000436:
035108,000437: # VHORIZ = 8 ABVAL (0, VG , VG )
035109,000438: # 2 1
035110,000439: # DEPRESSION ANGLE FOR DISPLAY:
035111,000440: # - - -
035112,000441: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
035113,000442:
035114,000443: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
035115,000444: 31,3004 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
035116,000445: 31,3005 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
035117,000446: 31,3006 01734 REFSMMAT
035118,000447: 31,3007 53362 VSR1 VAD
035119,000448: 31,3010 03254 UNFC/2
035120,000449: 31,3011 03527 STORE V
035121,000450: 31,3012 77776 EXIT
035122,000451:
035123,000452: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
035124,000453: 31,3014 47375 VLOAD VXV
035125,000454: 31,3015 03521 R
035126,000455: 31,3016 02325 WM
035127,000456: 31,3017 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
035128,000457: 31,3020 03527 V
035129,000458: 31,3021 02265 STORE ANGTERM
035130,000459: 31,3022 77721 MXV
035131,000460: 31,3023 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
035132,000461: 31,3024 03627 STORE VGU
035133,000462: 31,3025 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
035134,000463: 31,3026 06522 ZEROVECS # 2 1
035135,000464: 31,3027 52446 ABVAL SL3
035136,000465: 31,3030 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
035137,000466: 31,3031 03521 R # - -
035138,000467: 31,3032 41451 VSU PUSH # PUSH DOWN R - LAND
035139,000468: 31,3033 03635 LAND
035140,000469: 31,3034 76521 MXV VSL1
035141,000470: 31,3035 02603 CG
035142,000471: 31,3036 02637 STORE RGU
035143,000472: 31,3037 77646 ABVAL
035144,000473: 31,3040 26625 STOVL RANGEDSP
035145,000474: 31,3041 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
035146,000475: 31,3042 21726 NORMUNIT
035147,000476: 31,3043 02146 XNBPIP
035148,000477: 31,3044 77776 EXIT
035149,000478:
035150,000479: 31,3045 30120 CA FIXLOC # RESET PUSH DOWN POINTER
035151,000480: 31,3046 54166 TS PUSHLOC
035152,000481:
|
|
Page 807 |
035154,000483: 31,3047 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
035155,000484: 31,3050 60000 DOUBLE
035156,000485: 31,3051 04616 TC BANKCALL
035157,000486: 31,3052 61672 CADR SPARCSIN -1
035158,000487: 31,3053 63753 AD 1/2DEG
035159,000488: 31,3054 00006 EXTEND
035160,000489: 31,3055 73752 MP 180DEGS
035161,000490: 31,3056 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
035162,000491:
035163,000492: 31,3057 51351 BRSPOT3 INDEX WCHPHASE
035164,000493: 31,3060 12431 TCF WHATGUID
035165,000494:
035166,000495: # ****************************************************************************************************************
035167,000496: # TTF/8 COMPUTATION
035168,000497: # ****************************************************************************************************************
035169,000498:
035170,000499: 31,3061 03677 TTF/8CL TC INTPRETX
035171,000500: 31,3062 77743 DLOAD*
035172,000501: 31,3063 02431 JDG2TTF,1
035173,000502: 31,3064 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
035174,000503: 31,3065 02427 ADG2TTF,1 # 2
035175,000504: 31,3066 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
035176,000505: 31,3067 03633 VGU +4 # 2
035177,000506: 31,3070 42605 DMP DAD*
035178,000507: 31,3071 05656 3/4DP
035179,000508: 31,3072 02425 VDG2TTF,1
035180,000509: 31,3073 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
035181,000510: 31,3074 02407 RDG +4,1 # 2 2
035182,000511: 31,3075 41225 DSU DMP
035183,000512: 31,3076 02643 RGU +4
035184,000513: 31,3077 05654 3/8DP
035185,000514: 31,3100 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
035186,000515: 31,3101 77776 EXIT # 2 2
035187,000516:
035188,000517: 31,3102 34744 CA BIT8
035189,000518: 31,3103 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
035190,000519:
035191,000520: 31,3104 00006 EXTEND
035192,000521: 31,3105 31643 DCA TTF/8
035193,000522: 31,3106 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
035194,000523: 31,3107 34752 CAF TWO # DEGREE - ONE
035195,000524: 31,3110 54001 TS L
035196,000525: 31,3111 33746 CAF TABLTTFL
035197,000526: 31,3112 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
035198,000527: 31,3113 51351 INDEX WCHPHASE
035199,000528: 31,3114 12447 TCF WHATALM
035200,000529:
035201,000530: 31,3115 00006 EXTEND # GOOD RETURN
035202,000531: 31,3116 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
035203,000532: 31,3117 53643 DXCH TTF/8 # CORRECTED TTF/8
035204,000533:
|
|
Page 808 |
035206,000535: 31,3120 03704 TC TDISPSET
035207,000536:
035208,000537: # (CONTINUE TO QUADGUID)
035209,000538:
035210,000539: # ****************************************************************************************************************
035211,000540: # MAIN GUIDANCE EQUATION
035212,000541: # ****************************************************************************************************************
035213,000542:
035214,000543: # AS PUBLISHED:-
035215,000544: # - - - -
035216,000545: # - - 6(VDG + VG) 12(RDG - RG)
035217,000546: # ACG = ADG + ----------- + ------------
035218,000547: # TTF (TTF)(TTF)
035219,000548: # AS HERE PROGRAMMED:-
035220,000549: # - -
035221,000550: # 3 (1/4(RDG - RG) - - )
035222,000551: # - (------------- + VDG + VG)
035223,000552: # - 4 ( TTF/8 ) -
035224,000553: # ACG = ---------------------------- + ADG
035225,000554: # TTF/8
035226,000555:
035227,000556: 31,3121 41642 QUADGUID CS TTF/8
035228,000557: 31,3122 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
035229,000558: 31,3123 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
035230,000559: 31,3124 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
035231,000560: 31,3125 40001 CS L
035232,000561: 31,3126 60001 AD L
035233,000562: 31,3127 22007 ZL
035234,000563: 31,3130 00006 EXTEND
035235,000564: 31,3131 11642 DV TTF/8
035236,000565: 31,3132 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
035237,000566: 31,3133 00006 EXTEND
035238,000567: 31,3134 70000 SQUARE
035239,000568: 31,3135 54131 TS BUF +1
035240,000569: 31,3136 60130 AD BUF
035241,000570: 31,3137 56131 XCH BUF +1 # RATIO SQUARED - RATIO
035242,000571: 31,3140 60131 AD BUF +1
035243,000572: 31,3141 54154 TS MPAC # COEFFICIENT FOR VGU TERM
035244,000573: 31,3142 60131 AD BUF +1
035245,000574: 31,3143 50120 INDEX FIXLOC
035246,000575: 31,3144 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
035247,000576: 31,3145 60131 AD BUF +1
035248,000577: 31,3146 50120 INDEX FIXLOC
035249,000578: 31,3147 54034 TS 28D # COEFFICIENT FOR VDG TERM
035250,000579: 31,3150 60130 AD BUF
035251,000580: 31,3151 64733 AD POSMAX
|
|
Page 809 |
035253,000582: 31,3152 60131 AD BUF +1
035254,000583: 31,3153 60131 AD BUF +1
035255,000584: 31,3154 50120 INDEX FIXLOC
035256,000585: 31,3155 54036 TS 30D # COEFFICIENT FOR ADG TERM
035257,000586:
035258,000587: 31,3156 34755 CAF ZERO
035259,000588: 31,3157 54163 TS MODE
035260,000589:
035261,000590: 31,3160 03677 TC INTPRETX
035262,000591: 31,3161 65361 VXSC PDDL
035263,000592: 31,3162 03627 VGU
035264,000593: 31,3163 00035 28D
035265,000594: 31,3164 62757 VXSC* PDVL*
035266,000595: 31,3165 02411 VDG,1
035267,000596: 31,3166 02403 RDG,1
035268,000597: 31,3167 70251 VSU V/SC
035269,000598: 31,3170 02637 RGU
035270,000599: 31,3171 03643 TTF/8
035271,000600: 31,3172 74342 VSR2 VXSC
035272,000601: 31,3173 00033 26D
035273,000602: 31,3174 53255 VAD VAD
035274,000603: 31,3175 74341 V/SC VXSC
035275,000604: 31,3176 03643 TTF/8
035276,000605: 31,3177 05656 3/4DP
035277,000606: 31,3200 73725 PDDL VXSC*
035278,000607: 31,3201 00037 30D
035279,000608: 31,3202 02417 ADG,1
035280,000609: 31,3203 77655 VAD
035281,000610: 31,3204 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
035282,000611: 31,3205 02603 CG
035283,000612: 31,3206 70315 PDVL V/SC
035284,000613: 31,3207 01237 GDT/2
035285,000614: 31,3210 05652 GSCALE
035286,000615: 31,3211 45445 BVSU STADR
035287,000616: 31,3212 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
035288,000617: 31,3213 77646 ABVAL
035289,000618: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
035290,000619: 31,3215 03254 UNFC/2 # VERTICAL COMPONENT
035291,000620: 31,3216 65316 DSQ PDDL
035292,000621: 31,3217 03256 UNFC/2 +2 # OUT-OF-PLANE
035293,000622: 31,3220 65316 DSQ PDDL
035294,000623: 31,3221 05650 HIGHESTF
035295,000624: 31,3222 63471 DDV DSQ
035296,000625: 31,3223 01245 MASS # 2 2 2
035297,000626: 31,3224 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
035298,000627: 31,3225 71244 BPL DLOAD # 1 0
035299,000628: 31,3226 63230 AFCCALC3
035300,000629: 31,3227 06522 ZEROVECS
035301,000630: 31,3230 43366 AFCCALC3 SQRT DAD
035302,000631: 31,3231 03260 UNFC/2 +4
|
|
Page 810 |
035304,000633: 31,3232 44244 BPL BDSU
035305,000634: 31,3233 63236 AFCCLEND
035306,000635: 31,3234 03260 UNFC/2 +4
035307,000636: 31,3235 03260 STORE UNFC/2 +4
035308,000637: 31,3236 77776 AFCCLEND EXIT
035309,000638: 31,3237 03740 TC FASTCHNG
035310,000639:
035311,000640: 31,3240 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
035312,000641: 31,3241 55621 TS WCHPHOLD
035313,000642: 31,3242 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
035314,000643:
035315,000644: 31,3243 51351 BRSPOT4 INDEX WCHPHASE
035316,000645: 31,3244 12435 TCF AFTRGUID
035317,000646:
035318,000647: # ***************************************************************************************************************
035319,000648: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
035320,000649: # ***************************************************************************************************************
035321,000650:
035322,000651: 31,3245 35014 CGCALC CAF EBANK5
035323,000652: 31,3246 54003 TS EBANK
035324,000653: 31,3247 E5,1435 EBANK= TCGIBRAK
035325,000654: 31,3247 00006 EXTEND
035326,000655: 31,3250 51351 INDEX WCHPHASE
035327,000656: 31,3251 52452 INDEX TARGTDEX
035328,000657: 31,3252 31435 DCA TCGFBRAK
035329,000658: 31,3253 24006 INCR BBANK
035330,000659: 31,3254 24006 INCR BBANK
035331,000660: 31,3255 E7,1642 EBANK= TTF/8
035332,000661: 31,3255 61642 AD TTF/8
035333,000662: 31,3256 56001 XCH L
035334,000663: 31,3257 61642 AD TTF/8
035335,000664: 31,3260 10000 CCS A
035336,000665: 31,3261 10001 CCS L
035337,000666: 31,3262 13313 TCF EXTLOGIC
035338,000667: 31,3263 13313 TCF EXTLOGIC
035339,000668: 31,3264 13265 NOOP
035340,000669:
035341,000670: 31,3265 03677 TC INTPRETX
035342,000671: 31,3266 53575 VLOAD UNIT
035343,000672: 31,3267 03635 LAND
035344,000673: 31,3270 16603 STODL CG
035345,000674: 31,3271 03643 TTF/8
035346,000675: 31,3272 74203 DMP* VXSC
035347,000676: 31,3273 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
035348,000677: 31,3274 02265 ANGTERM
035349,000678: 31,3275 77655 VAD
035350,000679: 31,3276 03635 LAND
035351,000680: 31,3277 47051 VSU RTB
035352,000681: 31,3300 03521 R
035353,000682: 31,3301 21726 NORMUNIT
|
|
Page 811 |
035355,000684: 31,3302 47035 VXV RTB
035356,000685: 31,3303 03635 LAND
035357,000686: 31,3304 21726 NORMUNIT
035358,000687: 31,3305 26611 STOVL CG +6 # SECOND ROW
035359,000688: 31,3306 02603 CG
035360,000689: 31,3307 76435 VXV VSL1
035361,000690: 31,3310 02611 CG +6
035362,000691: 31,3311 02617 STORE CG +14
035363,000692: 31,3312 77776 EXIT
035364,000693:
035365,000694: # (CONTINUE TO EXTLOGIC)
035366,000695:
035367,000696: # ****************************************************************************************************************
035368,000697: # PREPARE TO EXIT
035369,000698: # ****************************************************************************************************************
035370,000699:
035371,000700: # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES
035372,000701:
035373,000702: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD
035374,000703: 31,3314 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD
035375,000704: 31,3315 61642 AD TTF/8
035376,000705:
035377,000706: 31,3316 00006 EXSPOT1 EXTEND
035378,000707: 31,3317 51351 INDEX WCHPHASE
035379,000708: 31,3320 62441 BZMF WHATEXIT
035380,000709:
035381,000710: 31,3321 03740 TC FASTCHNG
035382,000711:
035383,000712: 31,3322 31621 CA WCHPHOLD
035384,000713: 31,3323 64753 AD ONE
035385,000714: 31,3324 55351 TS WCHPHASE
035386,000715: 31,3325 34755 CA ZERO
035387,000716: 31,3326 55623 TS FLPASS0 # RESET FLPASS0
035388,000717:
035389,000718: 31,3327 51621 INDEX WCHPHOLD
035390,000719: 31,3330 12441 TCF WHATEXIT
035391,000720:
035392,000721: # ****************************************************************************************************************
035393,000722: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
035394,000723: # ****************************************************************************************************************
035395,000724:
035396,000725: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
035397,000726: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
035398,000727: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
035399,000728: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
035400,000729:
035401,000730: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
|
|
Page 812 |
035403,000732: 31,3332 47175 VLOAD RTB
035404,000733: 31,3333 03254 UNFC/2
035405,000734: 31,3334 21726 NORMUNIT
035406,000735: 31,3335 74361 VXSC VXSC
035407,000736: 31,3336 03423 ZOOMTIME
035408,000737: 31,3337 22001 TRIMACCL
035409,000738: 31,3340 03254 STORE UNFC/2
035410,000739: 31,3341 77776 EXIT
035411,000740:
035412,000741: 31,3342 11647 CCS NGUIDSUB
035413,000742: 31,3343 12460 TCF GUIDSUB
035414,000743: 31,3344 11646 CCS NIGNLOOP
035415,000744: 31,3345 13350 TCF +3
035416,000745: 31,3346 05567 TC ALARM
035417,000746: 31,3347 01412 OCT 01412
035418,000747:
035419,000748: 31,3350 04635 +3 TC POSTJUMP
035420,000749: 31,3351 65102 CADR DDUMCALC
035421,000750:
035422,000751: 31,3352 06037 EXBRAK TC INTPRET
035423,000752: 31,3353 77775 VLOAD
035424,000753: 31,3354 03537 UNIT/R/
035425,000754: 31,3355 03262 STORE UNWC/2
035426,000755: 31,3356 77776 EXIT
035427,000756: 31,3357 13432 TCF STEER?
035428,000757:
035429,000758: 31,3360 06037 EXNORM TC INTPRET
035430,000759: 31,3361 52375 VLOAD VSU
035431,000760: 31,3362 03635 LAND
035432,000761: 31,3363 03521 R
035433,000762: 31,3364 77634 RTB
035434,000763: 31,3365 21726 NORMUNIT
035435,000764: 31,3366 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
035436,000765: 31,3367 50235 VXV DOT
035437,000766: 31,3370 02146 XNBPIP
035438,000767: 31,3371 02611 CG +6
035439,000768: 31,3372 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
035440,000769:
035441,000770: 31,3373 40154 CS MPAC # GET COEFFICIENT FOR CG +14
035442,000771: 31,3374 63754 AD PROJMAX
035443,000772: 31,3375 64733 AD POSMAX
035444,000773: 31,3376 54130 TS BUF
035445,000774: 31,3377 40130 CS BUF
035446,000775: 31,3400 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
035447,000776:
035448,000777: 31,3401 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
035449,000778: 31,3402 60154 AD MPAC
035450,000779: 31,3403 64733 AD POSMAX
035451,000780: 31,3404 54131 TS BUF +1
035452,000781: 31,3405 40131 CS BUF +1
|
|
Page 813 |
035454,000783: 31,3406 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
035455,000784:
035456,000785: 31,3407 34751 CAF FOUR
035457,000786: 31,3410 76242 UNWCLOOP MASK SIX
035458,000787: 31,3411 54002 TS Q
035459,000788: 31,3412 35014 CA EBANK5
035460,000789: 31,3413 54003 TS EBANK
035461,000790: 31,3414 E5,1602 EBANK= CG
035462,000791: 31,3414 30130 CA BUF
035463,000792: 31,3415 00006 EXTEND
035464,000793: 31,3416 50002 INDEX Q
035465,000794: 31,3417 71616 MP CG +14
035466,000795: 31,3420 24006 INCR BBANK
035467,000796: 31,3421 E6,1661 EBANK= UNWC/2
035468,000797: 31,3421 50002 INDEX Q
035469,000798: 31,3422 53662 DXCH UNWC/2
035470,000799: 31,3423 00006 EXTEND
035471,000800: 31,3424 70131 MP BUF +1
035472,000801: 31,3425 50002 INDEX Q
035473,000802: 31,3426 21662 DAS UNWC/2
035474,000803: 31,3427 10002 CCS Q
035475,000804: 31,3430 13410 TCF UNWCLOOP
035476,000805:
035477,000806: 31,3431 24006 INCR BBANK
035478,000807: 31,3432 E7,1612 EBANK= PIF
035479,000808:
035480,000809: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
035481,000810: 31,3433 74741 MASK STEERBIT
035482,000811: 31,3434 00006 EXTEND
035483,000812: 31,3435 13443 BZF RATESTOP
035484,000813:
035485,000814: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
035486,000815: 31,3437 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
035487,000816: 31,3440 13453 BZF +13
035488,000817:
035489,000818: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
035490,000819: 31,3442 01410 OCT 01410
035491,000820:
035492,000821: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035493,000822: 31,3444 00006 EXTEND
035494,000823: 31,3445 02031 RAND CHAN31
035495,000824: 31,3446 00006 EXTEND
035496,000825: 31,3447 13460 BZF DISPEXIT # YES
035497,000826:
035498,000827: 31,3450 04616 TC BANKCALL # NO: DO A STOPRATE
035499,000828: 31,3451 40165 CADR STOPRATE
035500,000829:
035501,000830: 31,3452 13460 TCF DISPEXIT
035502,000831:
035503,000832: 31,3453 02216 GDUMP1 TC THROTTLE
|
|
Page 814 |
035505,000834: 31,3454 06037 TC INTPRET
035506,000835: 31,3455 77624 CALL
035507,000836: 31,3456 61111 FINDCDUW -2
035508,000837: 31,3457 77776 EXIT
035509,000838:
035510,000839: # (CONTINUE TO DISPEXIT)
035511,000840:
035512,000841: # ****************************************************************************************************************
035513,000842: # GUIDANCE LOOP DISPLAYS
035514,000843: # ****************************************************************************************************************
035515,000844:
035516,000845: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
035517,000846: 31,3461 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
035518,000847: 31,3462 52757 DXCH -PHASE3
035519,000848:
035520,000849: 31,3463 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
035521,000850: 31,3464 74742 MASK FLUNDBIT
035522,000851: 31,3465 00006 EXTEND
035523,000852: 31,3466 13476 BZF ENDLLJOB # TO PICK UP THE TAG
035524,000853:
035525,000854: 31,3467 51621 INDEX WCHPHOLD
035526,000855: 31,3470 12443 TCF WHATDISP
035527,000856:
035528,000857: 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5
035529,000858: 31,3472 00035 OCT 00035
035530,000859:
035531,000860: 31,3473 33756 P63DISPS CAF V06N63
035532,000861: 31,3474 04616 DISPCOMN TC BANKCALL
035533,000862: 31,3475 20470 CADR REGODSPR
035534,000863:
035535,000864: 31,3476 15155 ENDLLJOB TCF ENDOFJOB
035536,000865:
035537,000866: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
035538,000867: 31,3500 00006 EXTEND
035539,000868: 31,3501 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
035540,000869:
035541,000870: 31,3502 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
035542,000871: 31,3503 74746 MASK REDFLBIT
035543,000872: 31,3504 00006 EXTEND
035544,000873: 31,3505 13525 BZF REDES-OK # YES: DO STATIC DISPLAY
035545,000874:
035546,000875: 31,3506 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
035547,000876: 31,3507 04616 TC BANKCALL
035548,000877: 31,3510 20462 CADR REFLASHR
035549,000878: 31,3511 16001 TCF GOTOPOOH # TERMINATE
035550,000879: 31,3512 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
035551,000880: 31,3513 13477 TCF P64DISPS # RECYCLE
|
|
Page 815 |
035553,000882: 31,3514 13476 TCF ENDLLJOB # TO PICK UP THE TAG
035554,000883:
035555,000884: 31,3515 34755 P64CEED CAF ZERO
035556,000885: 31,3516 55267 TS ELINCR1
035557,000886: 31,3517 55266 TS AZINCR1
035558,000887:
035559,000888: 31,3520 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
035560,000889: 31,3521 00143 ADRES REDFLAG
035561,000890:
035562,000891: 31,3522 15155 TCF ENDOFJOB
035563,000892:
035564,000893: 31,3523 05516 RED-OVER TC DOWNFLAG
035565,000894: 31,3524 00143 ADRES REDFLAG
035566,000895: 31,3525 33757 REDES-OK CAF V06N64
035567,000896: 31,3526 13474 TCF DISPCOMN
035568,000897:
035569,000898:
035570,000899: 31,3527 33760 VERTDISP CAF V06N60
035571,000900: 31,3530 13474 TCF DISPCOMN
035572,000901:
035573,000902:
035574,000903: # ****************************************************************************************************************
035575,000904: # GUIDANCE FOR P65
035576,000905: # ****************************************************************************************************************
035577,000906:
035578,000907: 31,3531 11647 VERTGUID CCS WCHVERT
035579,000908: 31,3532 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67
035580,000909: 31,3533 13543 TCF P66VERT # +0
035581,000910:
035582,000911: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
035583,000912: # - -
035584,000913: # V2FG - VGU
035585,000914: # ACG = ----------
035586,000915: # TAUVERT
035587,000916:
035588,000917: 31,3534 06037 P65VERT TC INTPRET
035589,000918: 31,3535 52375 VLOAD VSU
035590,000919: 31,3536 02511 V2FG
035591,000920: 31,3537 03627 VGU
035592,000921: 31,3540 52141 V/SC GOTO
035593,000922: 31,3541 02517 TAUVERT
035594,000923: 31,3542 63204 AFCCALC1
|
|
Page 816 |
035596,000925: # ****************************************************************************************************************
035597,000926: # GUIDANCE FOR P66
035598,000927: # ****************************************************************************************************************
035599,000928:
035600,000929: 31,3543 04635 P66VERT TC POSTJUMP
035601,000930: 31,3544 65270 CADR P66VERTA
035602,000931:
035603,000932: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
035604,000933: 31,3546 00003 OCT 00003
035605,000934:
035606,000935: 31,3547 06037 TC INTPRET
035607,000936: 31,3550 52175 VLOAD GOTO
035608,000937: 31,3551 03527 V
035609,000938: 31,3552 65517 VHORCOMP
035610,000939:
035611,000940: 32,2000 SETLOC P66LOC
035612,000941: 32,2000 BANK
035613,000942: 32,3263 COUNT* $$/F2DPS
035614,000943:
035615,000944: 32,3263 37710 RODTASK CAF PRIO22
035616,000945: 32,3264 05105 TC FINDVAC
035617,000946: 32,3265 E7,1515 EBANK= DVCNTR
035618,000947: 32,3265 03275 64067 2CADR RODCOMP
035619,000948:
035620,000949: 32,3267 15261 TCF TASKOVER
035621,000950:
035622,000951: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
035623,000952: 32,3271 00003 OCT 00003
035624,000953:
035625,000954: 32,3272 34777 CAF 1SEC
035626,000955: 32,3273 05173 TC TWIDDLE
035627,000956: 32,3274 03263 ADRES RODTASK
035628,000957:
035629,000958: 32,3275 00004 RODCOMP INHINT
035630,000959: 32,3276 34755 CAF ZERO
035631,000960: 32,3277 57746 XCH RODCOUNT
035632,000961: 32,3300 00006 EXTEND
035633,000962: 32,3301 71756 MP RODSCAL1
035634,000963: 32,3302 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
035635,000964:
035636,000965: 32,3303 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
035637,000966: 32,3304 30040 DCA PIPAX
035638,000967: 32,3305 53764 DXCH OLDPIPAX
035639,000968: 32,3306 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
035640,000969: 32,3307 30041 CA PIPAZ
035641,000970: 32,3310 57765 XCH OLDPIPAZ
035642,000971: 32,3311 56072 XCH RUPTREG3
035643,000972:
035644,000973: 32,3312 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
035645,000974: 32,3313 30025 DCA TIME2
|
|
Page 817 |
035647,000976: 32,3314 53762 DXCH THISTPIP
035648,000977:
035649,000978: 32,3315 31763 CA OLDPIPAX
035650,000979: 32,3316 61160 AD PIPATMPX
035651,000980: 32,3317 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
035652,000981: 32,3320 31764 CA OLDPIPAY
035653,000982: 32,3321 61161 AD PIPATMPY
035654,000983: 32,3322 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
035655,000984: 32,3323 31765 CA OLDPIPAZ
035656,000985: 32,3324 61162 AD PIPATMPZ
035657,000986: 32,3325 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
035658,000987:
035659,000988: 32,3326 41763 CS OLDPIPAX
035660,000989: 32,3327 61254 AD TEMX
035661,000990: 32,3330 60070 AD RUPTREG1
035662,000991: 32,3331 55766 TS DELVROD
035663,000992: 32,3332 41764 CS OLDPIPAY
035664,000993: 32,3333 61255 AD TEMY
035665,000994: 32,3334 60071 AD RUPTREG2
035666,000995: 32,3335 55770 TS DELVROD +2
035667,000996: 32,3336 41765 CS OLDPIPAZ
035668,000997: 32,3337 61256 AD TEMZ
035669,000998: 32,3340 60072 AD RUPTREG3
035670,000999: 32,3341 55772 TS DELVROD +4
035671,001000:
035672,001001: 32,3342 34755 CAF ZERO
035673,001002: 32,3343 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
035674,001003: 32,3344 54160 TS MPAC +4
035675,001004: 32,3345 54162 TS MPAC +6
035676,001005: 32,3346 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
035677,001006: 32,3347 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
035678,001007: 32,3350 55256 TS TEMZ
035679,001008: 32,3351 44753 CS ONE
035680,001009: 32,3352 54163 TS MODE
035681,001010: 32,3353 06037 TC INTPRET
035682,001011: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
035683,001012: 32,3355 26022 KPIP1
035684,001013: 32,3356 03762 THISTPIP
035685,001014: 32,3357 77625 DSU
035686,001015: 32,3360 01235 PIPTIME
035687,001016: 32,3361 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
035688,001017: 32,3362 63271 DDV PDVL # (8)
035689,001018: 32,3363 27153 4SEC(28)
035690,001019: 32,3364 01237 GDT/2
035691,001020: 32,3365 74251 VSU VXSC # (6)
035692,001021: 32,3366 02631 VBIAS
035693,001022: 32,3367 53352 VSL2 VAD
035694,001023: 32,3370 03527 V
035695,001024: 32,3371 45455 VAD STADR # (0)
035696,001025: 32,3372 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
|
|
Page 818 |
035698,001027: 32,3373 03521 R
035699,001028: 32,3374 77656 UNIT
035700,001029: 32,3375 00017 STORE 14D
035701,001030: 32,3376 72441 DOT SL1
035702,001031: 32,3377 00031 24D
035703,001032: 32,3400 17474 STODL HDOTDISP # UPDATE HDOTDISP FOR NOUN 63.
035704,001033: 32,3401 00037 30D
035705,001034: 32,3402 41261 SL DMP
035706,001035: 32,3403 20214 11D
035707,001036: 32,3404 03474 HDOTDISP
035708,001037: 32,3405 45215 DAD DSU
035709,001038: 32,3406 00045 36D
035710,001039: 32,3407 02333 /LAND/
035711,001040: 32,3410 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63.
035712,001041: 32,3411 03474 HDOTDISP
035713,001042: 32,3412 56221 BDSU DDV
035714,001043: 32,3413 03645 VDGVERT
035715,001044: 32,3414 02541 TAUROD
035716,001045: 32,3415 51515 PDVL ABVAL # (2)
035717,001046: 32,3416 01237 GDT/2
035718,001047: 32,3417 60471 DDV SR2
035719,001048: 32,3420 05652 GSCALE
035720,001049: 32,3421 00025 STORE 20D
035721,001050: 32,3422 77615 DAD # (0)
035722,001051: 32,3423 45115 PDVL CALL # (2)
035723,001052: 32,3424 06520 UNITX
035724,001053: 32,3425 47661 CDU*NBSM
035725,001054: 32,3426 77641 DOT
035726,001055: 32,3427 00017 14D
035727,001056: 32,3430 00027 STORE 22D
035728,001057: 32,3431 45465 BDDV STADR # (0)
035729,001058: 32,3432 50313 STOVL /AFC/
035730,001059: 32,3433 03767 DELVROD
035731,001060: 32,3434 53361 VXSC VAD
035732,001061: 32,3435 26022 KPIP1
035733,001062: 32,3436 02631 VBIAS
035734,001063: 32,3437 65246 ABVAL PDDL # (2)
035735,001064: 32,3440 03762 THISTPIP
035736,001065: 32,3441 65225 DSU PDDL # (4)
035737,001066: 32,3442 03760 LASTTPIP
035738,001067: 32,3443 03762 THISTPIP
035739,001068: 32,3444 17760 STODL LASTTPIP # (2)
035740,001069: 32,3445 55271 DDV BDDV # (0)
035741,001070: 32,3446 25535 SHFTFACT
035742,001071: 32,3447 41325 PDDL DMP # (2)
035743,001072: 32,3450 03611 FWEIGHT
035744,001073: 32,3451 25534 BIT1H
035745,001074: 32,3452 56271 DDV DDV
035746,001075: 32,3453 01245 MASS
035747,001076: 32,3454 22006 SCALEFAC
|
|
Page 819 |
035749,001078: 32,3455 65215 DAD PDDL # (4)
035750,001079: 32,3456 00001 0D
035751,001080: 32,3457 00025 20D
035752,001081: 32,3460 45271 DDV DSU # (2)
035753,001082: 32,3461 00027 22D
035754,001083: 32,3462 43205 DMP DAD
035755,001084: 32,3463 02543 LAG/TAU
035756,001085: 32,3464 03464 /AFC/
035757,001086: 32,3465 56325 PDDL DDV # (4)
035758,001087: 32,3466 02547 MAXFORCE
035759,001088: 32,3467 01245 MASS
035760,001089: 32,3470 56325 PDDL DDV # (6)
035761,001090: 32,3471 02545 MINFORCE
035762,001091: 32,3472 01245 MASS
035763,001092: 32,3473 44206 PUSH BDSU # (8)
035764,001093: 32,3474 00003 2D
035765,001094: 32,3475 71240 BMN DLOAD # (6)
035766,001095: 32,3476 65504 AFCSPOT
035767,001096: 32,3477 41545 DLOAD PUSH # (6)
035768,001097: 32,3500 51021 BDSU BPL
035769,001098: 32,3501 00003 2D
035770,001099: 32,3502 65504 AFCSPOT
035771,001100: 32,3503 77745 DLOAD # (4)
035772,001101: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6)
035773,001102: 32,3505 77601 SETPD # (2)
035774,001103: 32,3506 00003 2D
035775,001104: 32,3507 17464 STODL /AFC/ # (0)
035776,001105: 32,3510 77776 ITRPNT2 EXIT
035777,001106: 32,3511 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035778,001107: 32,3512 04616 TC BANKCALL
035779,001108: 32,3513 62221 CADR THROTTLE +3
035780,001109: 32,3514 06037 TC INTPRET
035781,001110: 32,3515 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
035782,001111: 32,3516 00031 24D
035783,001112: 32,3517 53352 VHORCOMP VSL2 VAD
035784,001113: 32,3520 03734 DELVS
035785,001114: 32,3521 63342 VSR2 PDVL # (6)
035786,001115: 32,3522 03521 R
035787,001116: 32,3523 74256 UNIT VXSC
035788,001117: 32,3524 03474 HDOTDISP
035789,001118: 32,3525 51372 VSL1 BVSU # (0)
035790,001119: 32,3526 77646 ABVAL
035791,001120: 32,3527 02263 STORE VHORIZ
035792,001121: 32,3530 77776 EXIT
035793,001122: 32,3531 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035794,001123: 32,3532 63463 CADR DISPEXIT +3
035795,001124:
035796,001125: 32,3533 00001 BIT1H OCT 00001
035797,001126: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17
|
|
Page 820 |
035799,001128: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28
035800,001129:
035801,001130: # ****************************************************************************************************************
035802,001131: # REDESIGNATOR TRAP
035803,001132: # ****************************************************************************************************************
035804,001133:
035805,001134: 11,2275 BANK 11
035806,001135: 11,2000 SETLOC F2DPS*11
035807,001136: 11,2000 BANK
035808,001137:
035809,001138: 11,2275 COUNT* $$/F2DPS
035810,001139:
035811,001140: 11,2275 56016 PITFALL XCH BANKRUPT
035812,001141: 11,2276 00006 EXTEND
035813,001142: 11,2277 22012 QXCH QRUPT
035814,001143:
035815,001144: 11,2300 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035816,001145: 11,2301 00100 DEC 64 B-14
035817,001146: 11,2302 15270 TCF RESUME
035818,001147:
035819,001148: 11,2303 00006 EXTEND
035820,001149: 11,2304 00031 READ CHAN31
035821,001150: 11,2305 40000 COM
035822,001151: 11,2306 72373 MASK ALL4BITS
035823,001152: 11,2307 55265 TS ELVIRA
035824,001153: 11,2310 34752 CAF TWO
035825,001154: 11,2311 55264 TS ZERLINA
035826,001155: 11,2312 34756 CAF FIVE
035827,001156: 11,2313 05173 TC TWIDDLE
035828,001157: 11,2314 02321 ADRES REDESMON
035829,001158: 11,2315 15270 TCF RESUME
035830,001159:
035831,001160: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035832,001161:
035833,001162: 11,2316 55264 PREMON1 TS ZERLINA
035834,001163: 11,2317 34757 PREMON2 CAF SEVEN
035835,001164: 11,2320 05224 TC VARDELAY
035836,001165: 11,2321 00006 REDESMON EXTEND
035837,001166: 11,2322 00031 READ 31
035838,001167: 11,2323 40000 COM
035839,001168: 11,2324 72373 MASK ALL4BITS
035840,001169: 11,2325 57265 XCH ELVIRA
035841,001170: 11,2326 54001 TS L
035842,001171: 11,2327 11265 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035843,001172: 11,2330 12317 TCF PREMON2 # Y: CONTINUE MONITOR
035844,001173:
035845,001174: 11,2331 10001 CCS L # N: ANY LAST PASS?
035846,001175: 11,2332 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
|
|
Page 821 |
035848,001177: 11,2333 11264 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035849,001178: 11,2334 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035850,001179: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE
035851,001180: 11,2336 00006 EXTEND
035852,001181: 11,2337 05013 WOR CHAN13
035853,001182: 11,2340 15261 TCF TASKOVER
035854,001183:
035855,001184: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035856,001185: 11,2342 00006 EXTEND
035857,001186: 11,2343 02031 RAND CHAN31
035858,001187: 11,2344 00006 EXTEND
035859,001188: 11,2345 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035860,001189:
035861,001190: 11,2346 30001 CA L # NO
035862,001191: 11,2347 74746 MASK -AZBIT
035863,001192: 11,2350 10000 CCS A
035864,001193: 11,2351 42374 -AZ CS AZEACH
035865,001194: 11,2352 27266 ADS AZINCR1
035866,001195: 11,2353 30001 CA L
035867,001196: 11,2354 74747 MASK +AZBIT
035868,001197: 11,2355 10000 CCS A
035869,001198: 11,2356 32374 +AZ CA AZEACH
035870,001199: 11,2357 27266 ADS AZINCR1
035871,001200: 11,2360 30001 CA L
035872,001201: 11,2361 74753 MASK -ELBIT
035873,001202: 11,2362 10000 CCS A
035874,001203: 11,2363 42375 -EL CS ELEACH
035875,001204: 11,2364 27267 ADS ELINCR1
035876,001205: 11,2365 30001 CA L
035877,001206: 11,2366 74752 MASK +ELBIT
035878,001207: 11,2367 10000 CCS A
035879,001208: 11,2370 32375 +EL CA ELEACH
035880,001209: 11,2371 27267 ADS ELINCR1
035881,001210: 11,2372 12335 TCF RESETRPT
035882,001211:
035883,001212: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035884,001213:
035885,001214: 11,2373 4752 +ELBIT = BIT2 # -PITCH
035886,001215: 11,2373 4753 -ELBIT = BIT1 # +PITCH
035887,001216: 11,2373 4747 +AZBIT = BIT5
035888,001217: 11,2373 4746 -AZBIT = BIT6
035889,001218:
|
|
Page 822 |
035891,001220: 11,2373 00063 ALL4BITS OCT 00063
035892,001221: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES
035893,001222: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE
035894,001223:
035895,001224: # ****************************************************************************************************************
035896,001225: # R.O.D. TRAP
035897,001226: # ************************************************************************
035898,001227:
035899,001228: 20,2115 BANK 20
035900,001229: 20,2000 SETLOC RODTRAP
035901,001230: 20,2000 BANK
035902,001231: 20,2115 COUNT* $$/F2DPS # ****************************************
035903,001232:
035904,001233: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035905,001234: 20,2116 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035906,001235: 20,2117 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035907,001236: 20,2120 64753 AD ONE
035908,001237: 20,2121 27746 ADS RODCOUNT
035909,001238: 20,2122 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035910,001239:
035911,001240: 31,3553 BANK 31
035912,001241: 31,2000 SETLOC F2DPS*31
035913,001242: 31,2000 BANK
035914,001243:
035915,001244: 31,3553 COUNT* $$/F2DPS
035916,001245:
035917,001246: # ****************************************************************************************************************
035918,001247: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035919,001248: # ****************************************************************************************************************
035920,001249:
035921,001250: # N N-1
035922,001251: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035923,001252: # N N-1 1 0
035924,001253: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035925,001254: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035926,001255: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035927,001256: # MPAC DP X INITIAL GUESS FOR ROOT
035928,001257:
035929,001258: # LOC-2N DP A(0)
035930,001259: # ...
035931,001260: # LOC DP A(N)
035932,001261: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035933,001262:
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|
Page 823 |
035935,001264: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035936,001265: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035937,001266: # OUTPUTS ARE NOT TO BE TRUSTED.
035938,001267:
035939,001268: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035940,001269: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035941,001270: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035942,001271: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035943,001272: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035944,001273: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035945,001274: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035946,001275: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
035947,001276: # PRECLUDE EVENTUAL CONVERGENCE.
035948,001277: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035949,001278: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035950,001279: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035951,001280:
035952,001281: # STORE ENTERING DATA, INITLIZE ERASABLES
035953,001282: 31,3553 00006 ROOTPSRS EXTEND
035954,001283: 31,3554 22132 QXCH RETROOT # RETURN ADRES
035955,001284: 31,3555 54117 TS PWRPTR # PWR TABL POINTER
035956,001285: 31,3556 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035957,001286: 31,3557 33676 CA DERTABLL
035958,001287: 31,3560 54141 TS DERPTR # DER TABL POINTER
035959,001288: 31,3561 54161 TS MPAC +5 # DER TABL ADRES
035960,001289: 31,3562 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035961,001290: 31,3563 54162 TS MPAC +6 # N-2
035962,001291: 31,3564 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035963,001292: 31,3565 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035964,001293:
035965,001294: # COMPUTE CRITERION TO STOP ITERATING
035966,001295: 31,3566 00006 EXTEND
035967,001296: 31,3567 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035968,001297: 31,3570 52127 DXCH ROOTPS # AND IN ROOTPS
035969,001298: 31,3571 50157 INDEX MPAC +3 # PWR TABL ADRES
035970,001299: 31,3572 30005 CA 5 # PRECROOT TO A
035971,001300: 31,3573 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035972,001301: 31,3574 04713 TC USPRCADR
035973,001302: 31,3575 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035974,001303: 31,3576 52155 DXCH MPAC
035975,001304: 31,3577 52125 DXCH DXCRIT # CRITERION
035976,001305:
035977,001306: # SET UP DER COF TABL
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|
Page 824 |
035979,001308: 31,3600 00006 EXTEND
035980,001309: 31,3601 50117 INDEX PWRPTR
035981,001310: 31,3602 30004 DCA 3
035982,001311: 31,3603 52155 DXCH MPAC # A(N) TO MPAC
035983,001312:
035984,001313: 31,3604 30160 CA MPAC +4 # N-1 TO A
035985,001314:
035986,001315: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035987,001316: 31,3606 64753 AD ONE
035988,001317: 31,3607 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035989,001318: 31,3610 00006 EXTEND
035990,001319: 31,3611 50117 INDEX PWRPTR
035991,001320: 31,3612 30002 DCA 1
035992,001321: 31,3613 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
035993,001322: 31,3614 50141 INDEX DERPTR
035994,001323: 31,3615 52004 DXCH 3 # DERCOF TO DER TABL
035995,001324: 31,3616 44752 CS TWO
035996,001325: 31,3617 26117 ADS PWRPTR # DECREMENT PWR POINTER
035997,001326: 31,3620 44752 CS TWO
035998,001327: 31,3621 26141 ADS DERPTR # DECREMENT DER POINTER
035999,001328: 31,3622 10140 CCS PWRCNT
036000,001329: 31,3623 13605 TCF DERCLOOP
036001,001330:
036002,001331: # CONVERGE ON ROOT
036003,001332: 31,3624 00006 ROOTLOOP EXTEND
036004,001333: 31,3625 30127 DCA ROOTPS # FETCH CURRENT ROOT
036005,001334: 31,3626 52155 DXCH MPAC # LEAVE IN MPAC
036006,001335: 31,3627 00006 EXTEND
036007,001336: 31,3630 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
036008,001337: 31,3631 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
036009,001338:
036010,001339: 31,3632 00006 EXTEND
036011,001340: 31,3633 30127 DCA ROOTPS
036012,001341: 31,3634 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
036013,001342: 31,3635 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
036014,001343: 31,3636 00006 EXTEND
036015,001344: 31,3637 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
036016,001345: 31,3640 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC
036017,001346:
036018,001347: 31,3641 04713 TC USPRCADR
036019,001348: 31,3642 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
036020,001349:
036021,001350: 31,3643 00006 EXTEND
036022,001351: 31,3644 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
036023,001352: 31,3645 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
036024,001353:
036025,001354: 31,3646 04713 TC USPRCADR
036026,001355: 31,3647 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
036027,001356: 31,3650 00006 EXTEND
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|
Page 825 |
036029,001358: 31,3651 40125 DCS DXCRIT
036030,001359: 31,3652 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
036031,001360:
036032,001361: 31,3653 30163 CA MODE
036033,001362: 31,3654 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
036034,001363: 31,3655 10000 CCS A
036035,001364: 31,3656 00132 BADROOT TC RETROOT
036036,001365:
036037,001366: 31,3657 24163 INCR MODE # INCREMENT ITERATION COUNTER
036038,001367: 31,3660 10154 CCS MPAC # TEST HI ORDER DX
036039,001368: 31,3661 13624 TCF ROOTLOOP
036040,001369: 31,3662 13664 TCF TESTLODX
036041,001370: 31,3663 13670 TCF ROOTSTOR
036042,001371: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
036043,001372: 31,3665 13624 TCF ROOTLOOP
036044,001373: 31,3666 13670 TCF ROOTSTOR
036045,001374: 31,3667 13670 TCF ROOTSTOR
036046,001375: 31,3670 52127 ROOTSTOR DXCH ROOTPS
036047,001376: 31,3671 52155 DXCH MPAC
036048,001377: 31,3672 30163 CA MODE
036049,001378: 31,3673 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
036050,001379: 31,3674 50132 INDEX RETROOT
036051,001380: 31,3675 10002 TCF 2
036052,001381:
036053,001382: 31,3676 00147 DERTABLL ADRES DERCOFN -3
036054,001383:
036055,001384: # ****************************************************************************************************************
036056,001385: # TRASHY LITTLE SUBROUTINES
036057,001386: # ****************************************************************************************************************
036058,001387:
036059,001388: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
036060,001389: 31,3700 42452 CS TARGTDEX
036061,001390: 31,3701 50120 INDEX FIXLOC
036062,001391: 31,3702 54046 TS X1
036063,001392: 31,3703 16037 TCF INTPRET
036064,001393:
036065,001394: 31,3704 31642 TDISPSET CA TTF/8
036066,001395: 31,3705 00006 EXTEND
036067,001396: 31,3706 74750 MP TSCALINV
036068,001397: 31,3707 53476 DXCH TTFDISP
036069,001398:
036070,001399: 31,3710 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
036071,001400: 31,3711 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
036072,001401: 31,3712 E5,1470 EBANK= TCGFAPPR
036073,001402: 31,3712 31470 CA TCGFAPPR
036074,001403: 31,3713 24006 INCR BBANK
036075,001404: 31,3714 24006 INCR BBANK
036076,001405: 31,3715 E7,1642 EBANK= TTF/8
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Page 826 |
036078,001407: 31,3715 61642 AD TTF/8
036079,001408: 31,3716 00006 EXTEND
036080,001409: 31,3717 73751 MP TREDESCL
036081,001410: 31,3720 63747 AD -DEC103
036082,001411: 31,3721 64735 AD NEGMAX
036083,001412: 31,3722 54001 TS L
036084,001413: 31,3723 40001 CS L
036085,001414: 31,3724 60001 AD L
036086,001415: 31,3725 63750 AD +DEC99
036087,001416: 31,3726 64733 AD POSMAX
036088,001417: 31,3727 55666 TS TREDES
036089,001418: 31,3730 41666 CS TREDES
036090,001419: 31,3731 27666 ADS TREDES
036091,001420: 31,3732 00002 TC Q
036092,001421:
036093,001422: 31,3733 05652 1406POO TC POODOO
036094,001423: 31,3734 01406 OCT 01406
036095,001424: 31,3735 05567 1406ALM TC ALARM
036096,001425: 31,3736 01406 OCT 01406
036097,001426: 31,3737 13443 TCF RATESTOP
036098,001427:
036099,001428: # ****************************************************************************************************************
036100,001429: # SPECIALIZED "PHASCHNG" SUBROUTINE
036101,001430: # ****************************************************************************************************************
036102,001431:
036103,001432: 31,3740 E3,1440 EBANK= PHSNAME2
036104,001433: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
036105,001434: 31,3741 56003 XCH EBANK
036106,001435: 31,3742 52002 DXCH L
036107,001436: 31,3743 55442 TS PHSNAME3
036108,001437: 31,3744 22003 LXCH EBANK
036109,001438: 31,3745 E7,1621 EBANK= E2DPS
036110,001439: 31,3745 00000 TC A
036111,001440:
036112,001441: # ****************************************************************************************************************
036113,001442: # PARAMETER TABLE INDIRECT ADDRESSES
036114,001443: # ****************************************************************************************************************
036115,001444:
036116,001445: 31,3746 E5,1402 RDG = RBRFG
036117,001446: 31,3746 E5,1410 VDG = VBRFG
036118,001447: 31,3746 E5,1416 ADG = ABRFG
036119,001448: 31,3746 E5,1424 VDG2TTF = VBRFG*
036120,001449: 31,3746 E5,1426 ADG2TTF = ABRFG*
036121,001450: 31,3746 E5,1430 JDG2TTF = JBRFG*
036122,001451:
036123,001452: # ****************************************************************************************************************
036124,001453: # LUNAR LANDING CONSTANTS
036125,001454: # ***************************************************************************************************************
036126,001455:
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Page 827 |
036128,001457: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
036129,001458: 31,3747 4740 TTFSCALE = BIT12
036130,001459: 31,3747 4750 TSCALINV = BIT4
036131,001460: 31,3747 77630 -DEC103 DEC -103 B-14
036132,001461: 31,3750 00143 +DEC99 DEC +99 B-14
036133,001462: 31,3751 75340 TREDESCL DEC -.08
036134,001463: 31,3752 00264 180DEGS DEC +180 B-14
036135,001464: 31,3753 00056 1/2DEG DEC +.00278
036136,001465: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
036137,001466: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
036138,001467: 31,3756 01477 V06N63 VN 0663 # P63
036139,001468: 31,3757 01500 V06N64 VN 0664 # P64
036140,001469: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67
036141,001470:
036142,001471: 22,3647 BANK 22
036143,001472: 22,2000 SETLOC LANDCNST
036144,001473: 22,2000 BANK
036145,001474: 22,3647 COUNT* $$/F2DPS
036146,001475:
036147,001476: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
036148,001477: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
036149,001478: 22,3653 14000 00000 3/8DP 2DEC .375
036150,001479: 22,3655 30000 00000 3/4DP 2DEC .750
036151,001480: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
036152,001481:
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Page 828 |
036154,001483: # ****************************************************************************************************************
036155,001484: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc