Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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033964,000002: ## Copyright: Public domain.
033965,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
033966,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
033967,000005: ## This was the original program released for the Apollo 13 LM,
033968,000006: ## although several more revisions would follow. It has been
033969,000007: ## reconstructed from a listing of Luminary 131, from which it
033970,000008: ## differs on only two lines in P70-P71. The difference is
033971,000009: ## described in detail in Luminary memo #129, which was used
033972,000010: ## to perform the reconstruction. This file is intended to be a
033973,000011: ## faithful reconstruction, except that the code format has been
033974,000012: ## changed to conform to the requirements of the yaYUL assembler
033975,000013: ## rather than the original YUL assembler.
033976,000014: ## Reference: pp. 793-822
033977,000015: ## Contact: Ron Burkey <info@sandroid.org>.
033978,000016: ## Website: www.ibiblio.org/apollo/index.html
033979,000017: ## Mod history: 05/24/03 RSB. Began transcribing.
033980,000018: ## 05/14/05 RSB Corrected website reference above.
033981,000019: ## 2011-05-07 JL Remove workaround.
033982,000020: ## 2017-01-06 RSB Page numbers now agree with those on the
033983,000021: ## original hardcopy, as opposed to the PDF page
033984,000022: ## numbers in 1701.pdf.
033985,000023: ## 2017-02-25 RSB Proofed comment text using octopus/ProoferComments.
033986,000024: ## 2017-03-01 RSB Fixed lingering typos.
033987,000025: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
033988,000026: ## The label 1406P00 was replaced with 1406POO.
033989,000027: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
033990,000028: ## side-by-side diff of Luminary 69/99/116/131/210.
033991,000029: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
033992,000030:
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Page 793
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033994,000032: 31,2361 E7,1621 EBANK= E2DPS
033995,000033: 31,2361 COUNT* $$/F2DPS
033996,000034:
033997,000035: # ****************************************************************************************************************
033998,000036: # LUNAR LANDING FLIGHT SEQUENCE TABLES
033999,000037: # ****************************************************************************************************************
034000,000038:
034001,000039: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034002,000040: # WCHPHASE = -1 ---> IGNALG
034003,000041: # WCHPHASE = 0 ---> BRAKQUAD
034004,000042: # WCHPHASE = 1 ---> APPRQUAD
034005,000043: # WCHPHASE = 2 ---> VERTICAL
034006,000044:
034007,000045: # ***************************************************************************************************************
034008,000046:
034009,000047: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034010,000048:
034011,000049: 31,2361 12573 TCF TTFINCR # IGNALG
034012,000050: 31,2362 12573 NEWPHASE TCF TTFINCR # BRAKQUAD
034013,000051: 31,2363 12556 TCF STARTP64 # APPRQUAD
034014,000052: 31,2364 12547 TCF P65START # VERTICAL
034015,000053:
034016,000054: # PRE-GUIDANCE COMPUTATIONS:
034017,000055:
034018,000056: 31,2365 12753 TCF CALCRGVG # IGNALG
034019,000057: 31,2366 12763 PREGUIDE TCF RGVGCALC # BRAKQUAD
034020,000058: 31,2367 12654 TCF REDESIG # APPRQUAD
034021,000059: 31,2370 12763 TCF RGVGCALC # VERTICAL
034022,000060:
034023,000061: # GUIDANCE EQUATIONS:
034024,000062:
034025,000063: 31,2371 13026 TCF TTF/8CL # IGNALG
034026,000064: 31,2372 13026 WHATGUID TCF TTF/8CL # BRAKQUAD
034027,000065: 31,2373 13026 TCF TTF/8CL # APPRQUAD
034028,000066: 31,2374 13503 TCF VERTGUID # VERTICAL
034029,000067:
034030,000068: # POST GUIDANCE EQUATION COMPUTATIONS:
034031,000069:
034032,000070: 31,2375 13225 TCF CGCALC # IGNALG
034033,000071: 31,2376 13212 AFTRGUID TCF EXTLOGIC # BRAKQUAD
034034,000072: 31,2377 13212 TCF EXTLOGIC # APPRQUAD
034035,000073: 31,2400 13400 TCF STEER? # VERTICAL
034036,000074:
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Page 794
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034038,000076: # WINDOW VECTOR COMPUTATIONS:
034039,000077:
034040,000078: 31,2401 13275 TCF EXGSUB # IGNALG
034041,000079: 31,2402 13316 WHATEXIT TCF EXBRAK # BRAKQUAD
034042,000080: 31,2403 13324 TCF EXNORM # APPRQUAD
034043,000081:
034044,000082: # DISPLAY ROUTINES:
034045,000083:
034046,000084: 31,2404 13437 WHATDISP TCF P63DISPS # BRAKQUAD
034047,000085: 31,2405 13442 TCF P64DISPS # APPRQUAD
034048,000086: 31,2406 13471 TCF VERTDISP # VERTICAL
034049,000087:
034050,000088: # ALARM ROUTINE FOR TTF COMPUTATION:
034051,000089:
034052,000090: 31,2407 13672 TCF 1406POO # IGNALG
034053,000091: 31,2410 13674 WHATALM TCF 1406ALM # BRAKQUAD
034054,000092: 31,2411 13674 TCF 1406ALM # APPRQUAD
034055,000093:
034056,000094: # INDICES FOR REFERENCING TARGET PARAMETERS:
034057,000095:
034058,000096: 31,2412 00000 OCT 0 # IGNALG
034059,000097: 31,2413 00000 TARGTDEX OCT 0 # BRAKQUAD
034060,000098: 31,2414 00034 OCT 34 # APPRQUAD
034061,000099:
034062,000100: # ****************************************************************************************************************
034063,000101: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034064,000102: # ****************************************************************************************************************
034065,000103:
034066,000104: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034067,000105:
034068,000106: 31,2415 77776 ?GUIDSUB EXIT
034069,000107: 31,2416 34752 CAF TWO # N = 3
034070,000108: 31,2417 55647 TS NGUIDSUB
034071,000109: 31,2420 12531 TCF GUILDRET +2
034072,000110:
034073,000111: 31,2421 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034074,000112: 31,2422 12753 TCF CALCRGVG
034075,000113:
034076,000114: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034077,000115:
034078,000116: 31,2423 05353 LUNLAND TC PHASCHNG
034079,000117: 31,2424 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034080,000118: 31,2425 30101 CA FLAGWRD5 # HAS THROTTLE-UP COME YET?
034081,000119: 31,2426 74744 MASK ZOOMBIT
034082,000120: 31,2427 00006 EXTEND
034083,000121: 31,2430 13431 BZF DISPEXIT +3 # NO: DO DISPLAYS ONLY
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Page 795
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034085,000123: 31,2431 05353 TC PHASCHNG # YES: DO GUIDANCE
034086,000124: 31,2432 05023 OCT 05023
034087,000125: 31,2433 20000 OCT 20000
034088,000126:
034089,000127: # ****************************************************************************************************************
034090,000128: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034091,000129: # ****************************************************************************************************************
034092,000130:
034093,000131: 31,2434 COUNT* $$/R13
034094,000132:
034095,000133: # THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE CHECK TO SEE IF THE ROD SWITCH
034096,000134: # HAS BEEN CLICKED. IF SO, SELECT P66. IF THE DAP IS IN AUTO AND THE PRESENT
034097,000135: # 9PROGRAM IN PROGRESS IS P66, CHECK FOR A
034098,000136: # RESTART. IF ONE HAS OCCURED RE-INITIALIZE P66 AND CONTINUE OTHERWISE YOUCONTINUE WITH PRESENT DATA IN P66.TO
034099,000137: # SELECT P66 THE ATTITUDE-HOLD DISCRETE MUST BE PRESENT AND THE ROD SWITCH MUST HAVE BEEN CLICKED. OTHERWISE THE
034100,000138: # AUTOMATIC LANDING WILL CONTINUE.
034101,000139:
034102,000140: 31,2434 41010 GUILDEN CS MODREG # ARE WE IN P66? (EVEN THO WE ARE IN AUTO
034103,000141: 31,2435 62452 AD DEC66 # DAP)
034104,000142: 31,2436 00006 EXTEND
034105,000143: 31,2437 12522 BZF RESTART? # YES: GO SE IF THERE HAS BEEN A RESTART
034106,000144:
034107,000145: 31,2440 34737 CAF BIT13 # NO: IS UN-ATTITUDE-HOLD DISCRETE HERE?
034108,000146: 31,2441 00006 EXTEND
034109,000147: 31,2442 02031 RAND CHAN31
034110,000148: 31,2443 10000 CCS A
034111,000149: 31,2444 12527 TCF GUILDRET # YES: ALL'S WELL, OR AT LEAST AUTOMATIC
034112,000150:
034113,000151: 31,2445 31746 CA RODCOUNT # NO: HAS ROD SWITCH BEEN CLICKED
034114,000152: 31,2446 00006 EXTEND
034115,000153: 31,2447 12527 BZF GUILDRET # NO: CONTINUE WITH THE AUTOMATIC LANDING
034116,000154:
034117,000155: 31,2450 03677 STARTP66 TC FASTCHNG # YES
034118,000156: 31,2451 05311 TC NEWMODEX
034119,000157: 31,2452 00102 DEC66 DEC 66 B-14
034120,000158: 31,2453 00006 EXTEND
034121,000159: 31,2454 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034122,000160: 31,2455 53645 DXCH VDGVERT # ALTITUDE RATE.
034123,000161: 31,2456 06042 STRTP66A TC INTPRET
034124,000162: 31,2457 41535 SLOAD PUSH
034125,000163: 31,2460 01457 PBIASZ
034126,000164: 31,2461 41535 SLOAD PUSH
034127,000165: 31,2462 01455 PBIASY
034128,000166: 31,2463 55535 SLOAD VDEF
034129,000167: 31,2464 01453 PBIASX
034130,000168: 31,2465 43161 VXSC SET
034131,000169: 31,2466 25532 BIASFACT
034132,000170: 31,2467 00463 RODFLAG
034133,000171: 31,2470 26621 STOVL VBIAS
034134,000172: 31,2471 01254 TEMX
034135,000173: 31,2472 77676 VCOMP
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Page 796
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034137,000175: 31,2473 27764 STOVL OLDPIPAX
034138,000176: 31,2474 06524 ZEROVECS
034139,000177: 31,2475 17767 STODL DELVROD
034140,000178: 31,2476 02540 RODSCALE
034141,000179: 31,2477 17757 STODL RODSCAL1
034142,000180: 31,2500 01234 PIPTIME
034143,000181: 31,2501 03760 STORE LASTTPIP
034144,000182: 31,2502 77776 EXIT
034145,000183: 31,2503 34755 CAF ZERO
034146,000184: 31,2504 55620 TS FCOLD
034147,000185: 31,2505 55610 TS FWEIGHT
034148,000186: 31,2506 55611 TS FWEIGHT +1
034149,000187: 31,2507 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034150,000188: 31,2510 55647 TS WCHVERT
034151,000189: 31,2511 55621 TS WCHPHOLD
034152,000190: 31,2512 55346 TS WCHPHASE
034153,000191: 31,2513 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034154,000192: 31,2514 40166 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034155,000193: 31,2515 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034156,000194: 31,2516 00311 ADRES XOVINFLG
034157,000195: 31,2517 05516 TC DOWNFLAG
034158,000196: 31,2520 00143 ADRES REDFLAG
034159,000197: 31,2521 13503 TCF VERTGUID
034160,000198:
034161,000199: 31,2522 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034162,000200: 31,2523 74740 MASK RODFLBIT
034163,000201: 31,2524 00006 EXTEND
034164,000202: 31,2525 12456 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034165,000203: # IS.
034166,000204:
034167,000205: 31,2526 13503 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034168,000206:
034169,000207: # ****************************************************************************************************************
034170,000208: # INITIALIZATION FOR THIS PASS
034171,000209: # ****************************************************************************************************************
034172,000210:
034173,000211: 31,2527 COUNT* $$/F2DPS
034174,000212:
034175,000213: 31,2527 34755 GUILDRET CAF ZERO
034176,000214: 31,2530 55746 TS RODCOUNT
034177,000215:
034178,000216: 31,2531 00006 +2 EXTEND
034179,000217: 31,2532 31625 DCA TPIP
034180,000218: 31,2533 53574 DXCH TPIPOLD
034181,000219:
034182,000220: 31,2534 03677 TC FASTCHNG
034183,000221:
034184,000222: 31,2535 00006 EXTEND
034185,000223: 31,2536 31561 DCA PIPTIME1
034186,000224: 31,2537 53625 DXCH TPIP
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Page 797
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034188,000226: 31,2540 00006 EXTEND
034189,000227: 31,2541 31643 DCA TTF/8
034190,000228: 31,2542 53553 DXCH TTF/8TMP
034191,000229:
034192,000230: 31,2543 11623 CCS FLPASS0
034193,000231: 31,2544 12573 TCF TTFINCR
034194,000232:
034195,000233: 31,2545 51346 BRSPOT1 INDEX WCHPHASE
034196,000234: 31,2546 12362 TCF NEWPHASE
034197,000235:
034198,000236: # ****************************************************************************************************************
034199,000237: # ROUTINES TO START NEW PHASES
034200,000238: # ****************************************************************************************************************
034201,000239:
034202,000240: 31,2547 05311 P65START TC NEWMODEX
034203,000241: 31,2550 00101 DEC 65 B-14
034204,000242: 31,2551 34755 CAF ZERO
034205,000243: 31,2552 55647 TS WCHVERT
034206,000244: 31,2553 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034207,000245: 31,2554 00311 ADRES XOVINFLG
034208,000246: 31,2555 12573 TCF TTFINCR
034209,000247:
034210,000248: 31,2556 05311 STARTP64 TC NEWMODEX
034211,000249: 31,2557 00100 DEC 64 B-14
034212,000250: 31,2560 31425 CA DELTTFAP # AUGMENT TTF/8
034213,000251: 31,2561 27552 ADS TTF/8TMP
034214,000252: 31,2562 00004 INHINT
034215,000253: 31,2563 06022 TC C13STALL
034216,000254: 31,2564 34740 CA BIT12 # ENABLE RUPT10
034217,000255: 31,2565 00006 EXTEND
034218,000256: 31,2566 05013 WOR CHAN13
034219,000257: 31,2567 33707 CAF P64DB
034220,000258: 31,2570 55343 TS DB
034221,000259: 31,2571 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034222,000260: 31,2572 00143 ADRES REDFLAG
034223,000261:
034224,000262: # (CONTINUE TO TTFINCR)
034225,000263:
034226,000264: # ****************************************************************************************************************
034227,000265: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034228,000266: # ****************************************************************************************************************
034229,000267:
034230,000268: # TTFINCR COMPUTATIONS ARE AS FOLLOWS :-
034231,000269: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034232,000270: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034233,000271: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
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Page 798
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034235,000273: # - - - -
034236,000274: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034237,000275: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034238,000276: # - -
034239,000277: # RANGEDSP = ABVAL(LAND - R)
034240,000278:
034241,000279: 31,2573 06042 TTFINCR TC INTPRET
034242,000280: 31,2574 45345 DLOAD DSU
034243,000281: 31,2575 03625 TPIP
034244,000282: 31,2576 03574 TPIPOLD
034245,000283: 31,2577 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034246,000284: 31,2600 21214 11D
034247,000285: 31,2601 47361 VXSC VXV
034248,000286: 31,2602 03635 LAND
034249,000287: 31,2603 02325 WM
034250,000288: 31,2604 47045 BVSU RTB
034251,000289: 31,2605 03635 LAND
034252,000290: 31,2606 21727 NORMUNIT
034253,000291: 31,2607 76561 VXSC VSL1
034254,000292: 31,2610 02333 /LAND/
034255,000293: 31,2611 17545 STODL LANDTEMP
034256,000294: 31,2612 77776 EXIT
034257,000295:
034258,000296: 31,2613 52155 DXCH MPAC
034259,000297: 31,2614 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034260,000298:
034261,000299: 31,2615 03677 TC FASTCHNG
034262,000300:
034263,000301: 31,2616 00006 EXTEND
034264,000302: 31,2617 31553 DCA TTF/8TMP
034265,000303: 31,2620 53643 DXCH TTF/8
034266,000304:
034267,000305: 31,2621 03643 TC TDISPSET
034268,000306:
034269,000307: 31,2622 37721 CAF PRIO31 # TEMPORARILY OVER-PRIO CHARIN
034270,000308: 31,2623 05146 TC PRIOCHNG
034271,000309:
034272,000310: 31,2624 06042 TC INTPRET
034273,000311: 31,2625 53375 VLOAD VAD # ADD IN CORRECTION FROM NOUN 69
034274,000312: 31,2626 03545 LANDTEMP
034275,000313: 31,2627 02635 DLAND
034276,000314: 31,2630 03635 STORE LAND
034277,000315: 31,2631 77646 ABVAL # RECOMPUTE /LAND/
034278,000316: 31,2632 02333 STORE /LAND/
034279,000317: 31,2633 77776 EXIT
034280,000318:
034281,000319: 31,2634 03677 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
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Page 799
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034283,000321: 31,2635 35014 CAF EBANK5
034284,000322: 31,2636 E5,1634 EBANK= DLAND
034285,000323: 31,2636 54003 TS EBANK
034286,000324: 31,2637 34755 CAF ZERO # ZERO N 69 REGISTERS
034287,000325: 31,2640 55634 TS DLAND
034288,000326: 31,2641 55635 TS DLAND +1
034289,000327: 31,2642 55636 TS DLAND +2
034290,000328: 31,2643 55637 TS DLAND +3
034291,000329: 31,2644 55640 TS DLAND +4
034292,000330: 31,2645 55641 TS DLAND +5
034293,000331: 31,2646 35016 CAF EBANK7
034294,000332: 31,2647 E7,1666 EBANK= TREDES
034295,000333: 31,2647 54003 TS EBANK
034296,000334:
034297,000335: 31,2650 34736 CAF PRIO20
034298,000336: 31,2651 05146 TC PRIOCHNG
034299,000337:
034300,000338: 31,2652 51346 BRSPOT2 INDEX WCHPHASE
034301,000339: 31,2653 12366 TCF PREGUIDE
034302,000340:
034303,000341: # ****************************************************************************************************************
034304,000342: # LANDING SITE PERTURBATION EQUATIONS
034305,000343: # ****************************************************************************************************************
034306,000344:
034307,000345: 31,2654 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
034308,000346: 31,2655 74746 MASK REDFLBIT
034309,000347: 31,2656 00006 EXTEND
034310,000348: 31,2657 12763 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
034311,000349:
034312,000350: 31,2660 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
034313,000351: 31,2661 00006 EXTEND
034314,000352: 31,2662 12763 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
034315,000353:
034316,000354: 31,2663 00004 INHINT
034317,000355: 31,2664 31446 CA ELINCR1
034318,000356: 31,2665 55554 TS ELINCR
034319,000357: 31,2666 31445 CA AZINCR1
034320,000358: 31,2667 55556 TS AZINCR
034321,000359: 31,2670 03677 TC FASTCHNG
034322,000360:
034323,000361: 31,2671 34755 CA ZERO
034324,000362: 31,2672 55446 TS ELINCR1
034325,000363: 31,2673 55445 TS AZINCR1
034326,000364: 31,2674 55555 TS ELINCR +1
034327,000365: 31,2675 55557 TS AZINCR +1
034328,000366:
034329,000367: 31,2676 30120 CA FIXLOC # SET PD TO 0
034330,000368: 31,2677 54166 TS PUSHLOC
034331,000369:
034332,000370: 31,2700 06042 TC INTPRET
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Page 800
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034334,000372: 31,2701 52375 VLOAD VSU
034335,000373: 31,2702 03635 LAND
034336,000374: 31,2703 03521 R # - -
034337,000375: 31,2704 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
034338,000376: 31,2705 21727 NORMUNIT
034339,000377: 31,2706 76435 VXV VSL1
034340,000378: 31,2707 02154 YNBPIP # - - -
034341,000379: 31,2710 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
034342,000380: 31,2711 03555 ELINCR
034343,000381: 31,2712 03557 AZINCR
034344,000382: 31,2713 52361 VXSC VSU
034345,000383: 31,2714 02154 YNBPIP
034346,000384: 31,2715 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
034347,000385:
034348,000386: 31,2716 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
034349,000387: 31,2717 00001 0 # TOO CLOSE TO THE HORIZON
034350,000388: 31,2720 05660 DEPRCRIT
034351,000389: 31,2721 71240 BMN DLOAD
034352,000390: 31,2722 62725 REDES1
034353,000391: 31,2723 05660 DEPRCRIT
034354,000392: 31,2724 00001 STORE 0
034355,000393: 31,2725 45345 REDES1 DLOAD DSU
034356,000394: 31,2726 03635 LAND
034357,000395: 31,2727 03521 R
034358,000396: 31,2730 74271 DDV VXSC
034359,000397: 31,2731 00001 0
034360,000398: 31,2732 53455 VAD UNIT
034361,000399: 31,2733 03521 R
034362,000400: 31,2734 76561 VXSC VSL1
034363,000401: 31,2735 02333 /LAND/
034364,000402: 31,2736 03545 STORE LANDTEMP
034365,000403: 31,2737 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
034366,000404:
034367,000405: 31,2740 03677 TC FASTCHNG
034368,000406:
034369,000407: 31,2741 00006 EXTEND
034370,000408: 31,2742 31545 DCA LANDTEMP
034371,000409: 31,2743 53635 DXCH LAND
034372,000410: 31,2744 00006 EXTEND
034373,000411: 31,2745 31547 DCA LANDTEMP +2
034374,000412: 31,2746 53637 DXCH LAND +2
034375,000413: 31,2747 00006 EXTEND
034376,000414: 31,2750 31551 DCA LANDTEMP +4
034377,000415: 31,2751 53641 DXCH LAND +4
034378,000416:
034379,000417: 31,2752 12763 TCF RGVGCALC
034380,000418:
034381,000419: # ****************************************************************************************************************
034382,000420: # COMPUTE STATE IN GUIDANCE COORDINATES
034383,000421: # ****************************************************************************************************************
|
|
Page 801
|
034385,000423:
034386,000424: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
034387,000425:
034388,000426: # VELOCITY RELATIVE TO THE SURFACE:
034389,000427:
034390,000428: # - - - -
034391,000429: # ANGTERM = V + R * WM
034392,000430:
034393,000431: # STATE IN GUIDANCE COORDINATES:
034394,000432:
034395,000433: # - * - -
034396,000434: # RGU = CG (R - LAND)
034397,000435:
034398,000436: # - * - - -
034399,000437: # VGU = CG (V - WM * R)
034400,000438:
034401,000439: # DEPRESSION ANGLE FOR DISPLAY:
034402,000440:
034403,000441: # - - -
034404,000442: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
034405,000443:
034406,000444: 31,2753 06042 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
034407,000445: 31,2754 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
034408,000446: 31,2755 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
034409,000447: 31,2756 01734 REFSMMAT
034410,000448: 31,2757 53362 VSR1 VAD
034411,000449: 31,2760 03253 UNFC/2
034412,000450: 31,2761 03527 STORE V
034413,000451: 31,2762 77776 EXIT
034414,000452:
034415,000453: 31,2763 06042 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
034416,000454: 31,2764 47375 VLOAD VXV
034417,000455: 31,2765 03521 R
034418,000456: 31,2766 02325 WM
034419,000457: 31,2767 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
034420,000458: 31,2770 03527 V
034421,000459: 31,2771 02265 STORE ANGTERM
034422,000460: 31,2772 77721 MXV
034423,000461: 31,2773 02575 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
034424,000462: 31,2774 27627 STOVL VGU
034425,000463: 31,2775 03521 R # - -
034426,000464: 31,2776 41451 VSU PUSH # PUSH DOWN R - LAND
034427,000465: 31,2777 03635 LAND
034428,000466: 31,3000 76521 MXV VSL1
034429,000467: 31,3001 02575 CG
034430,000468: 31,3002 02627 STORE RGU
034431,000469: 31,3003 77646 ABVAL
034432,000470: 31,3004 26617 STOVL RANGEDSP
034433,000471: 31,3005 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
034434,000472: 31,3006 21727 NORMUNIT
034435,000473: 31,3007 02146 XNBPIP
|
|
Page 802
|
034437,000475: 31,3010 77776 EXIT
034438,000476:
034439,000477: 31,3011 30120 CA FIXLOC # RESET PUSH DOWN POINTER
034440,000478: 31,3012 54166 TS PUSHLOC
034441,000479:
034442,000480: 31,3013 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
034443,000481: 31,3014 60000 DOUBLE
034444,000482: 31,3015 04616 TC BANKCALL
034445,000483: 31,3016 61663 CADR SPARCSIN -1
034446,000484: 31,3017 63713 AD 1/2DEG
034447,000485: 31,3020 61356 AD ELBIAS # BIAS LPD ANGLE FOR WINDOW BENDING
034448,000486: 31,3021 00006 EXTEND
034449,000487: 31,3022 73712 MP 180DEGS
034450,000488: 31,3023 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
034451,000489:
034452,000490: 31,3024 51346 BRSPOT3 INDEX WCHPHASE
034453,000491: 31,3025 12372 TCF WHATGUID
034454,000492:
034455,000493: # ****************************************************************************************************************
034456,000494: # TTF/8 COMPUTATION
034457,000495: # ****************************************************************************************************************
034458,000496:
034459,000497: 31,3026 03636 TTF/8CL TC INTPRETX
034460,000498: 31,3027 77743 DLOAD*
034461,000499: 31,3030 02431 JDG2TTF,1
034462,000500: 31,3031 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
034463,000501: 31,3032 02427 ADG2TTF,1 # 2
034464,000502: 31,3033 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
034465,000503: 31,3034 03633 VGU +4 # 2
034466,000504: 31,3035 42605 DMP DAD*
034467,000505: 31,3036 05656 3/4DP
034468,000506: 31,3037 02425 VDG2TTF,1
034469,000507: 31,3040 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
034470,000508: 31,3041 02407 RDG +4,1 # 2 2
034471,000509: 31,3042 41225 DSU DMP
034472,000510: 31,3043 02633 RGU +4
034473,000511: 31,3044 05654 3/8DP
034474,000512: 31,3045 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
034475,000513: 31,3046 77776 EXIT # 2 2
034476,000514:
034477,000515: 31,3047 34744 CA BIT8
034478,000516: 31,3050 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
034479,000517:
034480,000518: 31,3051 00006 EXTEND
034481,000519: 31,3052 31643 DCA TTF/8
034482,000520: 31,3053 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
034483,000521: 31,3054 34752 CAF TWO # DEGREE - ONE
034484,000522: 31,3055 54001 TS L
034485,000523: 31,3056 33705 CAF TABLTTFL
034486,000524: 31,3057 03512 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
|
|
Page 803
|
034488,000526: 31,3060 51346 INDEX WCHPHASE
034489,000527: 31,3061 12410 TCF WHATALM
034490,000528:
034491,000529: 31,3062 00006 EXTEND # GOOD RETURN
034492,000530: 31,3063 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
034493,000531: 31,3064 53643 DXCH TTF/8 # CORRECTED TTF/8
034494,000532:
034495,000533: 31,3065 03643 TC TDISPSET
034496,000534:
034497,000535: # (CONTINUE TO QUADGUID)
034498,000536:
034499,000537: # ****************************************************************************************************************
034500,000538: # MAIN GUIDANCE EQUATION
034501,000539: # ****************************************************************************************************************
034502,000540:
034503,000541: # AS PUBLISHED:-
034504,000542: # - - - -
034505,000543: # - - 6(VDG + VG) 12(RDG - RG)
034506,000544: # ACG = ADG + ----------- + ------------
034507,000545: # TTF (TTF)(TTF)
034508,000546: # AS HERE PROGRAMMED:-
034509,000547: # - -
034510,000548: # 3 (1/4(RDG - RG) - - )
034511,000549: # - (------------- + VDG + VG)
034512,000550: # - 4 ( TTF/8 ) -
034513,000551: # ACG = ---------------------------- + ADG
034514,000552: # TTF/8
034515,000553:
034516,000554: 31,3066 41642 QUADGUID CS TTF/8
034517,000555: 31,3067 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
034518,000556: 31,3070 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
034519,000557: 31,3071 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
034520,000558: 31,3072 40001 CS L
034521,000559: 31,3073 60001 AD L
034522,000560: 31,3074 22007 ZL
034523,000561: 31,3075 00006 EXTEND
034524,000562: 31,3076 11642 DV TTF/8
034525,000563: 31,3077 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
034526,000564: 31,3100 00006 EXTEND
034527,000565: 31,3101 70000 SQUARE
034528,000566: 31,3102 54131 TS BUF +1
034529,000567: 31,3103 60130 AD BUF
034530,000568: 31,3104 56131 XCH BUF +1 # RATIO SQUARED - RATIO
034531,000569: 31,3105 60131 AD BUF +1
034532,000570: 31,3106 54154 TS MPAC # COEFFICIENT FOR VGU TERM
034533,000571: 31,3107 60131 AD BUF +1
|
|
Page 804
|
034535,000573: 31,3110 50120 INDEX FIXLOC
034536,000574: 31,3111 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
034537,000575: 31,3112 60131 AD BUF +1
034538,000576: 31,3113 50120 INDEX FIXLOC
034539,000577: 31,3114 54034 TS 28D # COEFFICIENT FOR VDG TERM
034540,000578: 31,3115 60130 AD BUF
034541,000579: 31,3116 64733 AD POSMAX
034542,000580: 31,3117 60131 AD BUF +1
034543,000581: 31,3120 60131 AD BUF +1
034544,000582: 31,3121 50120 INDEX FIXLOC
034545,000583: 31,3122 54036 TS 30D # COEFFICIENT FOR ADG TERM
034546,000584:
034547,000585: 31,3123 34755 CAF ZERO
034548,000586: 31,3124 54163 TS MODE
034549,000587:
034550,000588: 31,3125 03636 TC INTPRETX
034551,000589: 31,3126 65361 VXSC PDDL
034552,000590: 31,3127 03627 VGU
034553,000591: 31,3130 00035 28D
034554,000592: 31,3131 62757 VXSC* PDVL*
034555,000593: 31,3132 02411 VDG,1
034556,000594: 31,3133 02403 RDG,1
034557,000595: 31,3134 70251 VSU V/SC
034558,000596: 31,3135 02627 RGU
034559,000597: 31,3136 03643 TTF/8
034560,000598: 31,3137 74342 VSR2 VXSC
034561,000599: 31,3140 00033 26D
034562,000600: 31,3141 53255 VAD VAD
034563,000601: 31,3142 74341 V/SC VXSC
034564,000602: 31,3143 03643 TTF/8
034565,000603: 31,3144 05656 3/4DP
034566,000604: 31,3145 73725 PDDL VXSC*
034567,000605: 31,3146 00037 30D
034568,000606: 31,3147 02417 ADG,1
034569,000607: 31,3150 77655 VAD
034570,000608: 31,3151 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
034571,000609: 31,3152 02575 CG
034572,000610: 31,3153 70315 PDVL V/SC
034573,000611: 31,3154 01236 GDT/2
034574,000612: 31,3155 05652 GSCALE
034575,000613: 31,3156 45445 BVSU STADR
034576,000614: 31,3157 74524 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
034577,000615: 31,3160 77646 ABVAL
034578,000616: 31,3161 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
034579,000617: 31,3162 03253 UNFC/2 # VERTICAL COMPONENT
034580,000618: 31,3163 65316 DSQ PDDL
034581,000619: 31,3164 03255 UNFC/2 +2 # OUT-OF-PLANE
034582,000620: 31,3165 65316 DSQ PDDL
034583,000621: 31,3166 05650 HIGHESTF
034584,000622: 31,3167 63471 DDV DSQ
|
|
Page 805
|
034586,000624: 31,3170 01244 MASS # 2 2 2
034587,000625: 31,3171 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
034588,000626: 31,3172 71244 BPL DLOAD # 1 0
034589,000627: 31,3173 63175 AFCCALC3
034590,000628: 31,3174 06524 ZEROVECS
034591,000629: 31,3175 43366 AFCCALC3 SQRT DAD
034592,000630: 31,3176 03257 UNFC/2 +4
034593,000631: 31,3177 44244 BPL BDSU
034594,000632: 31,3200 63203 AFCCLEND
034595,000633: 31,3201 03257 UNFC/2 +4
034596,000634: 31,3202 03257 STORE UNFC/2 +4
034597,000635: 31,3203 77776 AFCCLEND EXIT
034598,000636: 31,3204 03677 TC FASTCHNG
034599,000637:
034600,000638: 31,3205 31346 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
034601,000639: 31,3206 55621 TS WCHPHOLD
034602,000640: 31,3207 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
034603,000641:
034604,000642: 31,3210 51346 BRSPOT4 INDEX WCHPHASE
034605,000643: 31,3211 12376 TCF AFTRGUID
034606,000644:
034607,000645: # ****************************************************************************************************************
034608,000646: # NEW PHASE NOW?
034609,000647: # ****************************************************************************************************************
034610,000648:
034611,000649: 31,3212 51346 EXTLOGIC INDEX WCHPHASE # IS TTF NEARER ZERO THAN CRITERION?
034612,000650: 31,3213 31423 CA TENDBRAK
034613,000651: 31,3214 61642 AD TTF/8
034614,000652: 31,3215 00006 EXTEND
034615,000653: 31,3216 63225 BZMF CGCALC # NO
034616,000654:
034617,000655: 31,3217 03677 TC FASTCHNG # YES: INCREMENT WCHPHASE, ZERO FLPASS0
034618,000656:
034619,000657: 31,3220 31621 CA WCHPHOLD
034620,000658: 31,3221 64753 AD ONE
034621,000659: 31,3222 55346 TS WCHPHASE
034622,000660: 31,3223 34755 CAF ZERO
034623,000661: 31,3224 55623 TS FLPASS0
034624,000662:
034625,000663: # (CONTINUE TO CGCALC)
034626,000664:
034627,000665: # ***************************************************************************************************************
034628,000666: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
034629,000667: # ***************************************************************************************************************
034630,000668:
034631,000669: 31,3225 35014 CGCALC CAF EBANK5
034632,000670: 31,3226 54003 TS EBANK
034633,000671: 31,3227 E5,1435 EBANK= TCGIBRAK
034634,000672: 31,3227 00006 EXTEND
034635,000673: 31,3230 51346 INDEX WCHPHASE
|
|
Page 806
|
034637,000675: 31,3231 52413 INDEX TARGTDEX
034638,000676: 31,3232 31435 DCA TCGFBRAK
034639,000677: 31,3233 24006 INCR BBANK
034640,000678: 31,3234 24006 INCR BBANK
034641,000679: 31,3235 E7,1642 EBANK= TTF/8
034642,000680: 31,3235 61642 AD TTF/8
034643,000681: 31,3236 56001 XCH L
034644,000682: 31,3237 61642 AD TTF/8
034645,000683: 31,3240 10000 CCS A
034646,000684: 31,3241 10001 CCS L
034647,000685: 31,3242 13273 TCF EXITSPOT
034648,000686: 31,3243 13273 TCF EXITSPOT
034649,000687: 31,3244 13245 NOOP
034650,000688:
034651,000689: 31,3245 03636 TC INTPRETX
034652,000690: 31,3246 53575 VLOAD UNIT
034653,000691: 31,3247 03635 LAND
034654,000692: 31,3250 16575 STODL CG
034655,000693: 31,3251 03643 TTF/8
034656,000694: 31,3252 74203 DMP* VXSC
034657,000695: 31,3253 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
034658,000696: 31,3254 02265 ANGTERM
034659,000697: 31,3255 77655 VAD
034660,000698: 31,3256 03635 LAND
034661,000699: 31,3257 47051 VSU RTB
034662,000700: 31,3260 03521 R
034663,000701: 31,3261 21727 NORMUNIT
034664,000702: 31,3262 47035 VXV RTB
034665,000703: 31,3263 03635 LAND
034666,000704: 31,3264 21727 NORMUNIT
034667,000705: 31,3265 26603 STOVL CG +6 # SECOND ROW
034668,000706: 31,3266 02575 CG
034669,000707: 31,3267 76435 VXV VSL1
034670,000708: 31,3270 02603 CG +6
034671,000709: 31,3271 02611 STORE CG +14
034672,000710: 31,3272 77776 EXIT
034673,000711:
034674,000712: 31,3273 51621 EXITSPOT INDEX WCHPHOLD
034675,000713: 31,3274 12402 TCF WHATEXIT
034676,000714:
034677,000715: # ****************************************************************************************************************
034678,000716: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
034679,000717: # ****************************************************************************************************************
034680,000718:
034681,000719: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
034682,000720: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
034683,000721: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
|
|
Page 807
|
034685,000723: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
034686,000724:
034687,000725: 31,3275 06042 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
034688,000726: 31,3276 47175 VLOAD RTB
034689,000727: 31,3277 03253 UNFC/2
034690,000728: 31,3300 21727 NORMUNIT
034691,000729: 31,3301 74361 VXSC VXSC
034692,000730: 31,3302 03423 ZOOMTIME
034693,000731: 31,3303 22001 TRIMACCL
034694,000732: 31,3304 03253 STORE UNFC/2
034695,000733: 31,3305 77776 EXIT
034696,000734:
034697,000735: 31,3306 11647 CCS NGUIDSUB
034698,000736: 31,3307 12421 TCF GUIDSUB
034699,000737: 31,3310 11646 CCS NIGNLOOP
034700,000738: 31,3311 13314 TCF +3
034701,000739: 31,3312 05567 TC ALARM
034702,000740: 31,3313 01412 OCT 01412
034703,000741:
034704,000742: 31,3314 04635 +3 TC POSTJUMP
034705,000743: 31,3315 65104 CADR DDUMCALC
034706,000744:
034707,000745: 31,3316 06042 EXBRAK TC INTPRET
034708,000746: 31,3317 77775 VLOAD
034709,000747: 31,3320 03537 UNIT/R/
034710,000748: 31,3321 03261 STORE UNWC/2
034711,000749: 31,3322 77776 EXIT
034712,000750: 31,3323 13400 TCF STEER?
034713,000751:
034714,000752: 31,3324 06042 EXNORM TC INTPRET
034715,000753: 31,3325 52375 VLOAD VSU
034716,000754: 31,3326 03635 LAND
034717,000755: 31,3327 03521 R
034718,000756: 31,3330 77634 RTB
034719,000757: 31,3331 21727 NORMUNIT
034720,000758: 31,3332 03261 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
034721,000759: 31,3333 50235 VXV DOT
034722,000760: 31,3334 02146 XNBPIP
034723,000761: 31,3335 02603 CG +6
034724,000762: 31,3336 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
034725,000763:
034726,000764: 31,3337 40154 CS MPAC # GET COEFFICIENT FOR CG +14
034727,000765: 31,3340 63714 AD PROJMAX
034728,000766: 31,3341 64733 AD POSMAX
034729,000767: 31,3342 54130 TS BUF
034730,000768: 31,3343 40130 CS BUF
034731,000769: 31,3344 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
034732,000770:
034733,000771: 31,3345 43715 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
034734,000772: 31,3346 60154 AD MPAC
|
|
Page 808
|
034736,000774: 31,3347 64733 AD POSMAX
034737,000775: 31,3350 54131 TS BUF +1
034738,000776: 31,3351 40131 CS BUF +1
034739,000777: 31,3352 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
034740,000778:
034741,000779: 31,3353 34751 CAF FOUR
034742,000780: 31,3354 76245 UNWCLOOP MASK SIX
034743,000781: 31,3355 54002 TS Q
034744,000782: 31,3356 35014 CA EBANK5
034745,000783: 31,3357 54003 TS EBANK
034746,000784: 31,3360 E5,1574 EBANK= CG
034747,000785: 31,3360 30130 CA BUF
034748,000786: 31,3361 00006 EXTEND
034749,000787: 31,3362 50002 INDEX Q
034750,000788: 31,3363 71610 MP CG +14
034751,000789: 31,3364 24006 INCR BBANK
034752,000790: 31,3365 E6,1660 EBANK= UNWC/2
034753,000791: 31,3365 50002 INDEX Q
034754,000792: 31,3366 53661 DXCH UNWC/2
034755,000793: 31,3367 00006 EXTEND
034756,000794: 31,3370 70131 MP BUF +1
034757,000795: 31,3371 50002 INDEX Q
034758,000796: 31,3372 21661 DAS UNWC/2
034759,000797: 31,3373 10002 CCS Q
034760,000798: 31,3374 13354 TCF UNWCLOOP
034761,000799:
034762,000800: 31,3375 31773 CA AZBIAS # SET OUTER GIMBAL
034763,000801: 31,3376 55677 TS OGABIAS # ANGLE BIAS FOR WINDOW BENDING
034764,000802:
034765,000803: 31,3377 24006 INCR BBANK
034766,000804: 31,3400 E7,1612 EBANK= PIF
034767,000805:
034768,000806: 31,3400 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
034769,000807: 31,3401 74741 MASK STEERBIT
034770,000808: 31,3402 00006 EXTEND
034771,000809: 31,3403 13411 BZF RATESTOP
034772,000810:
034773,000811: 31,3404 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
034774,000812: 31,3405 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
034775,000813: 31,3406 13421 BZF +13
034776,000814:
034777,000815: 31,3407 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
034778,000816: 31,3410 01410 OCT 01410
034779,000817:
034780,000818: 31,3411 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
034781,000819: 31,3412 00006 EXTEND
034782,000820: 31,3413 02031 RAND CHAN31
034783,000821: 31,3414 00006 EXTEND
034784,000822: 31,3415 13426 BZF DISPEXIT # YES
|
|
Page 809
|
034786,000824: 31,3416 04616 TC BANKCALL # NO: DO A STOPRATE
034787,000825: 31,3417 40166 CADR STOPRATE
034788,000826:
034789,000827: 31,3420 13426 TCF DISPEXIT
034790,000828:
034791,000829: 31,3421 02144 GDLMP1 TC THROTTLE
034792,000830: 31,3422 06042 TC INTPRET
034793,000831: 31,3423 77624 CALL
034794,000832: 31,3424 61100 FINDCDUW -2
034795,000833: 31,3425 77776 EXIT
034796,000834:
034797,000835: # (CONTINUE TO DISPEXIT)
034798,000836:
034799,000837: # ****************************************************************************************************************
034800,000838: # GUIDANCE LOOP DISPLAYS
034801,000839: # ****************************************************************************************************************
034802,000840:
034803,000841: 31,3426 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
034804,000842: 31,3427 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
034805,000843: 31,3430 52756 DXCH -PHASE3
034806,000844:
034807,000845: 31,3431 31,3431 ENDLLJOB = DISPEXIT +3
034808,000846:
034809,000847: 31,3431 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
034810,000848: 31,3432 74742 MASK FLUNDBIT
034811,000849: 31,3433 00006 EXTEND
034812,000850: 31,3434 15155 BZF ENDOFJOB
034813,000851:
034814,000852: 31,3435 51621 INDEX WCHPHOLD
034815,000853: 31,3436 12404 TCF WHATDISP
034816,000854:
034817,000855: 31,3437 33716 P63DISPS CAF V06N63
034818,000856: 31,3440 04616 DISPCOMN TC BANKCALL
034819,000857: 31,3441 20466 CADR REGODSP
034820,000858:
034821,000859: 31,3442 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
034822,000860: 31,3443 00006 EXTEND
034823,000861: 31,3444 13465 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
034824,000862:
034825,000863: 31,3445 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
034826,000864: 31,3446 74746 MASK REDFLBIT
034827,000865: 31,3447 00006 EXTEND
034828,000866: 31,3450 13467 BZF REDES-OK # YES: DO STATIC DISPLAY
034829,000867:
034830,000868: 31,3451 33717 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
034831,000869: 31,3452 04616 TC BANKCALL
034832,000870: 31,3453 20460 CADR REFLASH
034833,000871: 31,3454 16001 TCF GOTOPOOH # TERMINATE
|
|
Page 810
|
034835,000873: 31,3455 13457 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
034836,000874: 31,3456 13442 TCF P64DISPS # RECYCLE
034837,000875:
034838,000876: 31,3457 34755 P64CEED CAF ZERO
034839,000877: 31,3460 55446 TS ELINCR1
034840,000878: 31,3461 55445 TS AZINCR1
034841,000879:
034842,000880: 31,3462 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
034843,000881: 31,3463 00143 ADRES REDFLAG
034844,000882:
034845,000883: 31,3464 15155 TCF ENDOFJOB
034846,000884:
034847,000885: 31,3465 05516 RED-OVER TC DOWNFLAG
034848,000886: 31,3466 00143 ADRES REDFLAG
034849,000887: 31,3467 33717 REDES-OK CAF V06N64
034850,000888: 31,3470 13440 TCF DISPCOMN
034851,000889:
034852,000890: 31,3471 33720 VERTDISP CAF V06N60
034853,000891: 31,3472 04616 TC BANKCALL
034854,000892: 31,3473 20460 CADR REFLASH
034855,000893: 31,3474 16001 TCF GOTOPOOH # TERMINATE
034856,000894: 31,3475 13477 TCF STOPFIRE # PROCEED
034857,000895: 31,3476 13477 TCF STOPFIRE # V32E
034858,000896:
034859,000897: 31,3477 00004 STOPFIRE INHINT
034860,000898: 31,3500 04616 TC BANKCALL
034861,000899: 31,3501 40154 CADR ZATTEROR
034862,000900: 31,3502 15155 TCF ENDOFJOB
034863,000901:
034864,000902: # ****************************************************************************************************************
034865,000903: # GUIDANCE FOR P65
034866,000904: # ****************************************************************************************************************
034867,000905:
034868,000906: 31,3503 11647 VERTGUID CCS WCHVERT
034869,000907: 31,3504 13510 TCF P66VERT # +0
034870,000908:
034871,000909:
034872,000910: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
034873,000911: # - -
034874,000912: # V2FG - VGU
034875,000913: # ACG = ----------
034876,000914: # TAUVERT
034877,000915:
034878,000916: 31,3505 06042 P65VERT TC INTPRET
034879,000917: 31,3506 77650 GOTO
034880,000918: 31,3507 65272 P65VERTA
|
|
Page 811
|
034882,000920:
034883,000921: # ****************************************************************************************************************
034884,000922: # GUIDANCE FOR P66
034885,000923: # ****************************************************************************************************************
034886,000924:
034887,000925: 31,3510 04635 P66VERT TC POSTJUMP
034888,000926: 31,3511 65300 CADR P66VERTA
034889,000927:
034890,000928: 32,2000 SETLOC P66LOC
034891,000929: 32,2000 BANK
034892,000930: 32,3265 COUNT* $$/F2DPS
034893,000931:
034894,000932: 32,3265 37713 RODTASK CAF PRIO22
034895,000933: 32,3266 05105 TC FINDVAC
034896,000934: 32,3267 E7,1515 EBANK= DVCNTR
034897,000935: 32,3267 03305 64067 2CADR RODCOMP
034898,000936:
034899,000937: 32,3271 15261 TCF TASKOVER
034900,000938:
034901,000939: 32,3272 52375 P65VERTA VLOAD VSU
034902,000940: 32,3273 02511 V2FG
034903,000941: 32,3274 03627 VGU
034904,000942: 32,3275 52141 V/SC GOTO
034905,000943: 32,3276 02517 TAUVERT
034906,000944: 32,3277 63151 AFCCALC1
034907,000945:
034908,000946: 32,3300 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
034909,000947: 32,3301 00003 OCT 00003
034910,000948:
034911,000949: 32,3302 34777 CAF 1SEC
034912,000950: 32,3303 05173 TC TWIDDLE
034913,000951: 32,3304 03265 ADRES RODTASK
034914,000952:
034915,000953: 32,3305 00004 RODCOMP INHINT
034916,000954: 32,3306 34755 CAF ZERO
034917,000955: 32,3307 57746 XCH RODCOUNT
034918,000956: 32,3310 00006 EXTEND
034919,000957: 32,3311 71756 MP RODSCAL1
034920,000958: 32,3312 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
034921,000959:
034922,000960: 32,3313 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
034923,000961: 32,3314 30040 DCA PIPAX
034924,000962: 32,3315 53764 DXCH OLDPIPAX
034925,000963: 32,3316 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
034926,000964: 32,3317 30041 CA PIPAZ
034927,000965: 32,3320 57765 XCH OLDPIPAZ
034928,000966: 32,3321 56072 XCH RUPTREG3
034929,000967:
034930,000968: 32,3322 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
034931,000969: 32,3323 30025 DCA TIME2
034932,000970: 32,3324 53762 DXCH THISTPIP
|
|
Page 812
|
034934,000972: 32,3325 31763 CA OLDPIPAX
034935,000973: 32,3326 61157 AD PIPATMPX
034936,000974: 32,3327 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
034937,000975: 32,3330 31764 CA OLDPIPAY
034938,000976: 32,3331 61160 AD PIPATMPY
034939,000977: 32,3332 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
034940,000978: 32,3333 31765 CA OLDPIPAZ
034941,000979: 32,3334 61161 AD PIPATMPZ
034942,000980: 32,3335 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
034943,000981:
034944,000982: 32,3336 41763 CS OLDPIPAX
034945,000983: 32,3337 61253 AD TEMX
034946,000984: 32,3340 60070 AD RUPTREG1
034947,000985: 32,3341 55766 TS DELVROD
034948,000986: 32,3342 41764 CS OLDPIPAY
034949,000987: 32,3343 61254 AD TEMY
034950,000988: 32,3344 60071 AD RUPTREG2
034951,000989: 32,3345 55770 TS DELVROD +2
034952,000990: 32,3346 41765 CS OLDPIPAZ
034953,000991: 32,3347 61255 AD TEMZ
034954,000992: 32,3350 60072 AD RUPTREG3
034955,000993: 32,3351 55772 TS DELVROD +4
034956,000994:
034957,000995: 32,3352 34755 CAF ZERO
034958,000996: 32,3353 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
034959,000997: 32,3354 54160 TS MPAC +4
034960,000998: 32,3355 54162 TS MPAC +6
034961,000999: 32,3356 55253 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
034962,001000: 32,3357 55254 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
034963,001001: 32,3360 55255 TS TEMZ
034964,001002: 32,3361 44753 CS ONE
034965,001003: 32,3362 54163 TS MODE
034966,001004: 32,3363 06042 TC INTPRET
034967,001005: 32,3364 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
034968,001006: 32,3365 26022 KPIP1
034969,001007: 32,3366 03762 THISTPIP
034970,001008: 32,3367 77625 DSU
034971,001009: 32,3370 01234 PIPTIME
034972,001010: 32,3371 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
034973,001011: 32,3372 63271 DDV PDVL # (8)
034974,001012: 32,3373 27110 4SEC(28)
034975,001013: 32,3374 01236 GDT/2
034976,001014: 32,3375 74251 VSU VXSC # (6)
034977,001015: 32,3376 02621 VBIAS
034978,001016: 32,3377 53352 VSL2 VAD
034979,001017: 32,3400 03527 V
034980,001018: 32,3401 45455 VAD STADR # (0)
034981,001019: 32,3402 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
034982,001020: 32,3403 03521 R
034983,001021: 32,3404 77656 UNIT
|
|
Page 813
|
034985,001023: 32,3405 00017 STORE 14D
034986,001024: 32,3406 72441 DOT SL1
034987,001025: 32,3407 00031 24D
034988,001026: 32,3410 17474 STODL HDOTDISP # UPDATE ALTITUDE RATE FOR NOUN 60
034989,001027: 32,3411 00037 30D
034990,001028: 32,3412 41261 SL DMP
034991,001029: 32,3413 20214 11D
034992,001030: 32,3414 03474 HDOTDISP
034993,001031: 32,3415 45215 DAD DSU
034994,001032: 32,3416 00045 36D
034995,001033: 32,3417 02333 /LAND/
034996,001034: 32,3420 17775 STODL HCALC1 # UPDATE ALTITUDE FOR NOUN 60
034997,001035: 32,3421 03474 HDOTDISP
034998,001036: 32,3422 56221 BDSU DDV
034999,001037: 32,3423 03645 VDGVERT
035000,001038: 32,3424 02541 TAUROD
035001,001039: 32,3425 51515 PDVL ABVAL # (2)
035002,001040: 32,3426 01236 GDT/2
035003,001041: 32,3427 60471 DDV SR2
035004,001042: 32,3430 05652 GSCALE
035005,001043: 32,3431 00025 STORE 20D
035006,001044: 32,3432 77615 DAD # (0)
035007,001045: 32,3433 45115 PDVL CALL # (2)
035008,001046: 32,3434 06522 UNITX
035009,001047: 32,3435 47663 CDU*NBSM
035010,001048: 32,3436 77641 DOT
035011,001049: 32,3437 00017 14D
035012,001050: 32,3440 00027 STORE 22D
035013,001051: 32,3441 45465 BDDV STADR # (0)
035014,001052: 32,3442 50313 STOVL /AFC/
035015,001053: 32,3443 03767 DELVROD
035016,001054: 32,3444 53361 VXSC VAD
035017,001055: 32,3445 26022 KPIP1
035018,001056: 32,3446 02621 VBIAS
035019,001057: 32,3447 65246 ABVAL PDDL # (2)
035020,001058: 32,3450 03762 THISTPIP
035021,001059: 32,3451 65225 DSU PDDL # (4)
035022,001060: 32,3452 03760 LASTTPIP
035023,001061: 32,3453 03762 THISTPIP
035024,001062: 32,3454 17760 STODL LASTTPIP # (2)
035025,001063: 32,3455 55271 DDV BDDV # (0)
035026,001064: 32,3456 25530 SHFTFACT
035027,001065: 32,3457 41325 PDDL DMP # (2)
035028,001066: 32,3460 03611 FWEIGHT
035029,001067: 32,3461 25527 BIT1H
035030,001068: 32,3462 56271 DDV DDV
035031,001069: 32,3463 01244 MASS
035032,001070: 32,3464 22006 SCALEFAC
035033,001071: 32,3465 65215 DAD PDDL # (4)
035034,001072: 32,3466 00001 0D
|
|
Page 814
|
035036,001074: 32,3467 00025 20D
035037,001075: 32,3470 45271 DDV DSU # (2)
035038,001076: 32,3471 00027 22D
035039,001077: 32,3472 43205 DMP DAD
035040,001078: 32,3473 02543 LAG/TAU
035041,001079: 32,3474 03464 /AFC/
035042,001080: 32,3475 56325 PDDL DDV # (4)
035043,001081: 32,3476 02547 MAXFORCE
035044,001082: 32,3477 01244 MASS
035045,001083: 32,3500 56325 PDDL DDV # (6)
035046,001084: 32,3501 02545 MINFORCE
035047,001085: 32,3502 01244 MASS
035048,001086: 32,3503 44206 PUSH BDSU # (8)
035049,001087: 32,3504 00003 2D
035050,001088: 32,3505 71240 BMN DLOAD # (6)
035051,001089: 32,3506 65514 AFCSPOT
035052,001090: 32,3507 41545 DLOAD PUSH # (6)
035053,001091: 32,3510 51021 BDSU BPL
035054,001092: 32,3511 00003 2D
035055,001093: 32,3512 65514 AFCSPOT
035056,001094: 32,3513 77745 DLOAD # (4)
035057,001095: 32,3514 77745 AFCSPOT DLOAD # (2), (4), OR (6)
035058,001096: 32,3515 77601 SETPD # (2)
035059,001097: 32,3516 00003 2D
035060,001098: 32,3517 17464 STODL /AFC/ # (0)
035061,001099: 32,3520 77776 ITRPNT2 EXIT
035062,001100: 32,3521 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035063,001101: 32,3522 04616 TC BANKCALL
035064,001102: 32,3523 62147 CADR THROTTLE +3
035065,001103: 32,3524 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035066,001104: 32,3525 63431 CADR DISPEXIT +3
035067,001105:
035068,001106: 32,3526 00001 BIT1H OCT 00001
035069,001107: 32,3527 00000 04000 SHFTFACT 2DEC 1 B-17
035070,001108: 32,3531 00000 05075 BIASFACT 2DEC 655.36 B-26
035071,001109:
035072,001110: # ****************************************************************************************************************
035073,001111: # REDESIGNATOR TRAP
035074,001112: # ****************************************************************************************************************
035075,001113:
035076,001114: 11,2302 BANK 11
035077,001115: 11,2000 SETLOC F2DPS*11
035078,001116: 11,2000 BANK
035079,001117:
035080,001118: 11,2302 COUNT* $$/F2DPS
035081,001119:
035082,001120: 11,2302 56016 PITFALL XCH BANKRUPT
035083,001121: 11,2303 00006 EXTEND
035084,001122: 11,2304 22012 QXCH QRUPT
|
|
Page 815
|
035086,001124: 11,2305 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035087,001125: 11,2306 00100 DEC 64 B-14
035088,001126: 11,2307 15270 TCF RESUME
035089,001127:
035090,001128: 11,2310 00006 EXTEND
035091,001129: 11,2311 00031 READ CHAN31
035092,001130: 11,2312 40000 COM
035093,001131: 11,2313 72401 MASK ALL4BITS
035094,001132: 11,2314 55444 TS ELVIRA
035095,001133: 11,2315 34752 CAF TWO
035096,001134: 11,2316 55443 TS ZERLINA
035097,001135: 11,2317 34756 CAF FIVE
035098,001136: 11,2320 05173 TC TWIDDLE
035099,001137: 11,2321 02326 ADRES REDESMON
035100,001138: 11,2322 15270 TCF RESUME
035101,001139:
035102,001140: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035103,001141:
035104,001142: 11,2323 55443 PREMON1 TS ZERLINA
035105,001143: 11,2324 34757 PREMON2 CAF SEVEN
035106,001144: 11,2325 05224 TC VARDELAY
035107,001145: 11,2326 00006 REDESMON EXTEND
035108,001146: 11,2327 00031 READ 31
035109,001147: 11,2330 40000 COM
035110,001148: 11,2331 72401 MASK ALL4BITS
035111,001149: 11,2332 57444 XCH ELVIRA
035112,001150: 11,2333 54001 TS L
035113,001151: 11,2334 11444 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035114,001152: 11,2335 12324 TCF PREMON2 # Y: CONTINUE MONITOR
035115,001153: 11,2336 10001 CCS L # N: ANY LAST PASS?
035116,001154: 11,2337 12347 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
035117,001155: 11,2340 11443 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035118,001156: 11,2341 12323 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035119,001157: 11,2342 06022 RESETRPT TC C13STALL # Y: RESET RUPT, TERMINATE
035120,001158: 11,2343 34740 CAF BIT12
035121,001159: 11,2344 00006 EXTEND
035122,001160: 11,2345 05013 WOR CHAN13
035123,001161: 11,2346 15261 TCF TASKOVER
035124,001162:
035125,001163: 11,2347 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035126,001164: 11,2350 00006 EXTEND
035127,001165: 11,2351 02031 RAND CHAN31
035128,001166: 11,2352 00006 EXTEND
035129,001167: 11,2353 12342 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035130,001168: 11,2354 30001 CA L # NO
035131,001169: 11,2355 74746 MASK -AZBIT
|
|
Page 816
|
035133,001171: 11,2356 10000 CCS A
035134,001172: 11,2357 42402 -AZ CS AZEACH
035135,001173: 11,2360 27445 ADS AZINCR1
035136,001174: 11,2361 30001 CA L
035137,001175: 11,2362 74747 MASK +AZBIT
035138,001176: 11,2363 10000 CCS A
035139,001177: 11,2364 32402 +AZ CA AZEACH
035140,001178: 11,2365 27445 ADS AZINCR1
035141,001179: 11,2366 30001 CA L
035142,001180: 11,2367 74753 MASK -ELBIT
035143,001181: 11,2370 10000 CCS A
035144,001182: 11,2371 42403 -EL CS ELEACH
035145,001183: 11,2372 27446 ADS ELINCR1
035146,001184: 11,2373 30001 CA L
035147,001185: 11,2374 74752 MASK +ELBIT
035148,001186: 11,2375 10000 CCS A
035149,001187: 11,2376 32403 +EL CA ELEACH
035150,001188: 11,2377 27446 ADS ELINCR1
035151,001189: 11,2400 12342 TCF RESETRPT
035152,001190:
035153,001191: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035154,001192:
035155,001193: 11,2401 4752 +ELBIT = BIT2 # -PITCH
035156,001194: 11,2401 4753 -ELBIT = BIT1 # +PITCH
035157,001195: 11,2401 4747 +AZBIT = BIT5
035158,001196: 11,2401 4746 -AZBIT = BIT6
035159,001197:
035160,001198: 11,2401 00063 ALL4BITS OCT 00063
035161,001199: 11,2402 01074 AZEACH DEC .03491 # 2 DEGREES
035162,001200: 11,2403 00217 ELEACH DEC .00873 # 1/2 DEGREE
035163,001201:
035164,001202: # ****************************************************************************************************************
035165,001203: # R.O.D. TRAP
035166,001204: # ************************************************************************
035167,001205:
035168,001206: 23,2000 SETLOC RODTRAP
|
|
Page 817
|
035170,001208: 23,2000 BANK
035171,001209: 23,2455 COUNT* $$/F2DPS # ****************************************
035172,001210:
035173,001211: 23,2455 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035174,001212: 23,2456 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035175,001213: 23,2457 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035176,001214: 23,2460 64753 AD ONE
035177,001215: 23,2461 27746 ADS RODCOUNT
035178,001216: 23,2462 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035179,001217:
035180,001218: 31,3512 BANK 31
035181,001219: 31,2000 SETLOC F2DPS*31
035182,001220: 31,2000 BANK
035183,001221:
035184,001222: 31,3512 COUNT* $$/F2DPS
035185,001223:
035186,001224: # ****************************************************************************************************************
035187,001225: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035188,001226: # ****************************************************************************************************************
035189,001227:
035190,001228: # N N-1
035191,001229: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035192,001230: # N N-1 1 0
035193,001231: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035194,001232: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035195,001233: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035196,001234: # MPAC DP X INITIAL GUESS FOR ROOT
035197,001235: # LOC-2N DP A(0)
035198,001236: # ...
035199,001237: # LOC DP A(N)
035200,001238: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035201,001239:
035202,001240: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035203,001241: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035204,001242: # OUTPUTS ARE NOT TO BE TRUSTED.
035205,001243:
035206,001244: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035207,001245: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035208,001246: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035209,001247: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035210,001248: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035211,001249: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035212,001250: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035213,001251: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
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Page 818
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035215,001253: # PRECLUDE EVENTUAL CONVERGENCE.
035216,001254: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035217,001255: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035218,001256: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035219,001257:
035220,001258: # STORE ENTERING DATA, INITLIZE ERASABLES
035221,001259: 31,3512 00006 ROOTPSRS EXTEND
035222,001260: 31,3513 22132 QXCH RETROOT # RETURN ADRES
035223,001261: 31,3514 54117 TS PWRPTR # PWR TABL POINTER
035224,001262: 31,3515 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035225,001263: 31,3516 33635 CA DERTABLL
035226,001264: 31,3517 54141 TS DERPTR # DER TABL POINTER
035227,001265: 31,3520 54161 TS MPAC +5 # DER TABL ADRES
035228,001266: 31,3521 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035229,001267: 31,3522 54162 TS MPAC +6 # N-2
035230,001268: 31,3523 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035231,001269: 31,3524 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035232,001270:
035233,001271: # COMPUTE CRITERION TO STOP ITERATING
035234,001272: 31,3525 00006 EXTEND
035235,001273: 31,3526 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035236,001274: 31,3527 52127 DXCH ROOTPS # AND IN ROOTPS
035237,001275: 31,3530 50157 INDEX MPAC +3 # PWR TABL ADRES
035238,001276: 31,3531 30005 CA 5 # PRECROOT TO A
035239,001277: 31,3532 07312 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035240,001278: 31,3533 04713 TC USPRCADR
035241,001279: 31,3534 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035242,001280: 31,3535 52155 DXCH MPAC
035243,001281: 31,3536 52125 DXCH DXCRIT # CRITERION
035244,001282:
035245,001283: # SET UP DER COF TABL
035246,001284: 31,3537 00006 EXTEND
035247,001285: 31,3540 50117 INDEX PWRPTR
035248,001286: 31,3541 30004 DCA 3
035249,001287: 31,3542 52155 DXCH MPAC # A(N) TO MPAC
035250,001288:
035251,001289: 31,3543 30160 CA MPAC +4 # N-1 TO A
035252,001290:
035253,001291: 31,3544 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035254,001292: 31,3545 64753 AD ONE
035255,001293: 31,3546 07321 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035256,001294: 31,3547 00006 EXTEND
035257,001295: 31,3550 50117 INDEX PWRPTR
035258,001296: 31,3551 30002 DCA 1
035259,001297: 31,3552 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
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Page 819
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035261,001299: 31,3553 50141 INDEX DERPTR
035262,001300: 31,3554 52004 DXCH 3 # DERCOF TO DER TABL
035263,001301: 31,3555 44752 CS TWO
035264,001302: 31,3556 26117 ADS PWRPTR # DECREMENT PWR POINTER
035265,001303: 31,3557 44752 CS TWO
035266,001304: 31,3560 26141 ADS DERPTR # DECREMENT DER POINTER
035267,001305: 31,3561 10140 CCS PWRCNT
035268,001306: 31,3562 13544 TCF DERCLOOP
035269,001307:
035270,001308: # CONVERGE ON ROOT
035271,001309: 31,3563 00006 ROOTLOOP EXTEND
035272,001310: 31,3564 30127 DCA ROOTPS # FETCH CURRENT ROOT
035273,001311: 31,3565 52155 DXCH MPAC # LEAVE IN MPAC
035274,001312: 31,3566 00006 EXTEND
035275,001313: 31,3567 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
035276,001314: 31,3570 07220 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
035277,001315:
035278,001316: 31,3571 00006 EXTEND
035279,001317: 31,3572 30127 DCA ROOTPS
035280,001318: 31,3573 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
035281,001319: 31,3574 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
035282,001320: 31,3575 00006 EXTEND
035283,001321: 31,3576 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
035284,001322: 31,3577 07220 TC POWRSERS # YIELDS RESIDUAL IN MPAC
035285,001323:
035286,001324: 31,3600 04713 TC USPRCADR
035287,001325: 31,3601 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
035288,001326:
035289,001327: 31,3602 00006 EXTEND
035290,001328: 31,3603 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
035291,001329: 31,3604 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
035292,001330:
035293,001331: 31,3605 04713 TC USPRCADR
035294,001332: 31,3606 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
035295,001333: 31,3607 00006 EXTEND
035296,001334: 31,3610 40125 DCS DXCRIT
035297,001335: 31,3611 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
035298,001336:
035299,001337: 31,3612 30163 CA MODE
035300,001338: 31,3613 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
035301,001339: 31,3614 10000 CCS A
035302,001340: 31,3615 00132 BADROOT TC RETROOT
035303,001341:
035304,001342: 31,3616 24163 INCR MODE # INCREMENT ITERATION COUNTER
035305,001343: 31,3617 10154 CCS MPAC # TEST HI ORDER DX
035306,001344: 31,3620 13563 TCF ROOTLOOP
035307,001345: 31,3621 13623 TCF TESTLODX
035308,001346: 31,3622 13627 TCF ROOTSTOR
035309,001347: 31,3623 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
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Page 820
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035311,001349: 31,3624 13563 TCF ROOTLOOP
035312,001350: 31,3625 13627 TCF ROOTSTOR
035313,001351: 31,3626 13627 TCF ROOTSTOR
035314,001352: 31,3627 52127 ROOTSTOR DXCH ROOTPS
035315,001353: 31,3630 52155 DXCH MPAC
035316,001354: 31,3631 30163 CA MODE
035317,001355: 31,3632 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
035318,001356: 31,3633 50132 INDEX RETROOT
035319,001357: 31,3634 10002 TCF 2
035320,001358:
035321,001359: 31,3635 00147 DERTABLL ADRES DERCOFN -3
035322,001360:
035323,001361: # ****************************************************************************************************************
035324,001362: # TRASHY LITTLE SUBROUTINES
035325,001363: # ****************************************************************************************************************
035326,001364:
035327,001365: 31,3636 51346 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
035328,001366: 31,3637 42413 CS TARGTDEX
035329,001367: 31,3640 50120 INDEX FIXLOC
035330,001368: 31,3641 54046 TS X1
035331,001369: 31,3642 16042 TCF INTPRET
035332,001370:
035333,001371: 31,3643 31642 TDISPSET CA TTF/8
035334,001372: 31,3644 00006 EXTEND
035335,001373: 31,3645 74750 MP TSCALINV
035336,001374: 31,3646 53476 DXCH TTFDISP
035337,001375:
035338,001376: 31,3647 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
035339,001377: 31,3650 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
035340,001378: 31,3651 E5,1470 EBANK= TCGFAPPR
035341,001379: 31,3651 31470 CA TCGFAPPR
035342,001380: 31,3652 24006 INCR BBANK
035343,001381: 31,3653 24006 INCR BBANK
035344,001382: 31,3654 E7,1642 EBANK= TTF/8
035345,001383: 31,3654 61642 AD TTF/8
035346,001384: 31,3655 00006 EXTEND
035347,001385: 31,3656 73711 MP TREDESCL
035348,001386: 31,3657 63706 AD -DEC103
035349,001387: 31,3660 64735 AD NEGMAX
035350,001388: 31,3661 54001 TS L
035351,001389: 31,3662 40001 CS L
035352,001390: 31,3663 60001 AD L
035353,001391: 31,3664 63710 AD +DEC99
035354,001392: 31,3665 64733 AD POSMAX
035355,001393: 31,3666 55666 TS TREDES
035356,001394: 31,3667 41666 CS TREDES
035357,001395: 31,3670 27666 ADS TREDES
035358,001396: 31,3671 00002 TC Q
035359,001397:
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Page 821
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035361,001399: 31,3672 05642 1406POO TC POODOO
035362,001400: 31,3673 21406 OCT 21406
035363,001401: 31,3674 05567 1406ALM TC ALARM
035364,001402: 31,3675 01406 OCT 01406
035365,001403: 31,3676 13411 TCF RATESTOP
035366,001404:
035367,001405: # ****************************************************************************************************************
035368,001406: # SPECIALIZED "PHASCHNG" SUBROUTINE
035369,001407: # ****************************************************************************************************************
035370,001408:
035371,001409: 31,3677 E3,1440 EBANK= PHSNAME2
035372,001410: 31,3677 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
035373,001411: 31,3700 56003 XCH EBANK
035374,001412: 31,3701 52002 DXCH L
035375,001413: 31,3702 55442 TS PHSNAME3
035376,001414: 31,3703 22003 LXCH EBANK
035377,001415: 31,3704 E7,1621 EBANK= E2DPS
035378,001416: 31,3704 00000 TC A
035379,001417:
035380,001418: # ****************************************************************************************************************
035381,001419: # PARAMETER TABLE INDIRECT ADDRESSES
035382,001420: # ****************************************************************************************************************
035383,001421:
035384,001422: 31,3705 E5,1402 RDG = RBRFG
035385,001423: 31,3705 E5,1410 VDG = VBRFG
035386,001424: 31,3705 E5,1416 ADG = ABRFG
035387,001425: 31,3705 E5,1424 VDG2TTF = VBRFG*
035388,001426: 31,3705 E5,1426 ADG2TTF = ABRFG*
035389,001427: 31,3705 E5,1430 JDG2TTF = JBRFG*
035390,001428:
035391,001429: # ****************************************************************************************************************
035392,001430: # LUNAR LANDING CONSTANTS
035393,001431: # ***************************************************************************************************************
035394,001432:
035395,001433: 31,3705 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
035396,001434: 31,3706 4740 TTFSCALE = BIT12
035397,001435: 31,3706 4750 TSCALINV = BIT4
035398,001436: 31,3706 77630 -DEC103 DEC -103 B-14
035399,001437: 31,3707 00155 P64DB OCT 00155 # 0.3 DEGREES SCALED AT CDU SCALING
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|
Page 822
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035401,001439: 31,3710 00143 +DEC99 DEC +99 B-14
035402,001440: 31,3711 75340 TREDESCL DEC -.08
035403,001441: 31,3712 00264 180DEGS DEC +180 B-14
035404,001442: 31,3713 00056 1/2DEG DEC +.00278
035405,001443: 31,3714 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
035406,001444: 31,3715 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
035407,001445: 31,3716 01477 V06N63 VN 0663 # P63
035408,001446: 31,3717 01500 V06N64 VN 0664 # P64
035409,001447: 31,3720 01474 V06N60 VN 0660 # P65, P66, P67
035410,001448:
035411,001449: 22,3647 BANK 22
035412,001450: 22,2000 SETLOC LANDCNST
035413,001451: 22,2000 BANK
035414,001452: 22,3647 COUNT* $$/F2DPS
035415,001453:
035416,001454: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
035417,001455: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
035418,001456: 22,3653 14000 00000 3/8DP 2DEC .375
035419,001457: 22,3655 30000 00000 3/4DP 2DEC .750
035420,001458: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
035421,001459:
035422,001460: # ****************************************************************************************************************
035423,001461: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc