Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note 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 derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
034900,000002: ## Copyright: Public domain.
034901,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
034902,000004: ## Purpose: A section of Luminary revision 210.
034903,000005: ## It is part of the source code for the Lunar Module's (LM)
034904,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
034905,000007: ## This file is intended to be a faithful transcription, except
034906,000008: ## that the code format has been changed to conform to the
034907,000009: ## requirements of the yaYUL assembler rather than the
034908,000010: ## original YUL assembler.
034909,000011: ## Reference: pp. 794-830
034910,000012: ## Assembler: yaYUL
034911,000013: ## Contact: Ron Burkey <info@sandroid.org>.
034912,000014: ## Website: www.ibiblio.org/apollo/index.html
034913,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
034914,000016: ## 2016-12-02 HG Transcribed
034915,000017: ## 2016-12-07 HG Fix P00 -> POO
034916,000018: ## 2016-12-10 HG add missing CCS MPAC
034917,000019: ## EXTEND
034918,000020: ## fix opcode CAF -> TC
034919,000021: ## 2016-12-25 RSB Comment-text proofed using ProoferComments
034920,000022: ## and corrected errors found.
034921,000023: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
034922,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
034923,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
034924,000026:
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Page 794 |
034926,000028: 31,2366 E7,1621 EBANK= E2DPS
034927,000029:
034928,000030: 31,2366 COUNT* $$/F2DPS
034929,000031:
034930,000032: # ===================================================================================================================
034931,000033: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034932,000034: # ===================================================================================================================
034933,000035:
034934,000036: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034935,000037:
034936,000038: # WCHPHASE = -1 ---> IGNALG
034937,000039: # WCHPHASE = 0 ---> BRAKQUAD
034938,000040: # WCHPHASE = 1 ---> APPRQUAD
034939,000041: # WCHPHASE = 2 ---> VERTICAL
034940,000042:
034941,000043: # ====================================================================================================================
034942,000044:
034943,000045: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034944,000046:
034945,000047: 31,2366 12562 TCF TTFINCR # IGNALG
034946,000048: 31,2367 12562 NEWPHASE TCF TTFINCR # BRAKQUAD
034947,000049: 31,2370 12550 TCF STARTP64 # APPRQUAD
034948,000050: 31,2371 12452 TCF STARTP66 # VERTICAL
034949,000051:
034950,000052:
034951,000053: # PRE-GUIDANCE COMPUTATIONS:
034952,000054:
034953,000055: 31,2372 12742 TCF CALCRGVG # IGNALG
034954,000056: 31,2373 12752 PREGUIDE TCF RGVGCALC # BRAKQUAD
034955,000057: 31,2374 12643 TCF REDESIG # APPRQUAD
034956,000058:
034957,000059:
034958,000060: # GUIDANCE EQUATIONS:
034959,000061:
034960,000062: 31,2375 13015 TCF TTF/8CL # IGNALG
034961,000063: 31,2376 13015 WHATGUID TCF TTF/8CL # BRAKQUAD **** HOBSON'S CHOICE? ****
034962,000064: 31,2377 13015 TCF TTF/8CL # APPRQUAD
034963,000065:
034964,000066:
034965,000067: # POST GUIDANCE EQUATION COMPUTATIONS:
034966,000068:
034967,000069: 31,2400 13222 TCF CGCALC # IGNALG
034968,000070: 31,2401 13207 AFTRGUID TCF EXTLOGIC # BRAKQUAD
034969,000071: 31,2402 13207 TCF EXTLOGIC # APPRQUAD
034970,000072:
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Page 795 |
034972,000074: # WINDOW VECTOR COMPUTATIONS:
034973,000075:
034974,000076: 31,2403 13266 TCF EXGSUB # IGNALG
034975,000077: 31,2404 13307 WHATEXIT TCF EXBRAK # BRAKQUAD
034976,000078: 31,2405 13315 TCF EXNORM # APPRQUAD
034977,000079:
034978,000080:
034979,000081: # DISPLAY ROUTINES:
034980,000082:
034981,000083: 31,2406 13426 WHATDISP TCF P63DISPS # BRAKQUAD
034982,000084: 31,2407 13444 TCF P64DISPS # APPRQUAD
034983,000085: 31,2410 13502 TCF VERTDISP # VERTICAL
034984,000086:
034985,000087:
034986,000088: # ALARM ROUTINE FOR TTF COMPUTATION:
034987,000089:
034988,000090: 31,2411 13731 TCF 1406POO # IGNALG
034989,000091: 31,2412 13733 WHATALM TCF 1406ALM # BRAKQUAD
034990,000092: 31,2413 13733 TCF 1406ALM # APPRQUAD
034991,000093:
034992,000094:
034993,000095: # INDICES FOR REFERENCING TARGET PARAMETERS:
034994,000096:
034995,000097: 31,2414 00000 OCT 0 # IGNALG
034996,000098: 31,2415 00000 TARGTDEX OCT 0 # BRAKQUAD
034997,000099: 31,2416 00002 OCT 2 # APPRQUAD
034998,000100:
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Page 796 |
035000,000102:
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The suffixed ':' at the end of the third line below is '=' in the original printout. It is a workaround for our proof-reading system. |
035003,000105: # ================================================================================================================
035004,000106: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
035005,000107: # ===============================================================================================================:
035006,000108:
035007,000109: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
035008,000110:
035009,000111: 31,2417 77776 ?GUIDSUB EXIT
035010,000112: 31,2420 34743 CAF TWO # N = 3
035011,000113: 31,2421 55647 TS NGUIDSUB
035012,000114: 31,2422 12530 TCF GUILDRET
035013,000115:
035014,000116: 31,2423 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
035015,000117: 31,2424 12742 TCF CALCRGVG
035016,000118:
035017,000119: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
035018,000120:
035019,000121: 31,2425 05355 LUNLAND TC PHASCHNG
035020,000122: 31,2426 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
035021,000123: 31,2427 30101 CA FLAGWRD5 # HAS THROTTLE-UP COME YET?
035022,000124: 31,2430 74735 MASK ZOOMBIT
035023,000125: 31,2431 00006 EXTEND
035024,000126: 31,2432 13420 BZF DISPEXIT +3 # NO: DO DISPLAYS ONLY
035025,000127:
035026,000128: 31,2433 05355 TC PHASCHNG # YES: DO GUIDANCE
035027,000129: 31,2434 05023 OCT 05023
035028,000130: 31,2435 20000 OCT 20000
035029,000131:
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Page 797 |
035031,000133: # ================================================================================================================
035032,000134: # GUILDENSTERN (AUTO-MODES MONITOR - R13)
035033,000135: # SELECT P66 WHEN THE ROD SWITCH HAS BEEN MANIPULATED IN THE ATTITUDE HOLD MODE
035034,000136: # ================================================================================================================
035035,000137:
035036,000138: 31,2436 COUNT* $$/R13
035037,000139:
035038,000140: 31,2436 41010 GUILDEN CS MODREG # ARE WE ALREADY IN P66?
035039,000141: 31,2437 62454 AD DEC66
035040,000142: 31,2440 00006 EXTEND
035041,000143: 31,2441 12523 BZF RE-IN66? # Y: GO SEE IF WE SHOULD RE-INITIALIZE P66
035042,000144:
035043,000145: 31,2442 34730 CAF BIT13 # N: ATTITUDE HOLD?
035044,000146: 31,2443 00006 EXTEND
035045,000147: 31,2444 02031 RAND CHAN31
035046,000148: 31,2445 10000 CCS A
035047,000149: 31,2446 12530 TCF GUILDRET # N: CONTINUE P63 OR P64
035048,000150:
035049,000151: 31,2447 31746 CA RODCOUNT # Y: ANY ROD COMMANDS?
035050,000152: 31,2450 00006 EXTEND
035051,000153: 31,2451 12530 BZF GUILDRET # N: CONTINUE P63 OR P64
035052,000154:
035053,000155: # INITIALIZE P66
035054,000156:
035055,000157: 31,2452 03751 STARTP66 TC FASTCHNG # Y: START P66
035056,000158: 31,2453 05313 TC NEWMODEX
035057,000159: 31,2454 00102 DEC66 DEC 66 B-14
035058,000160:
035059,000161: 31,2455 00006 EXTEND
035060,000162: 31,2456 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE TO THE
035061,000163: 31,2457 53645 DXCH VDGVERT # CURRENTLY DISPLAYED ALTITUDE RATE
035062,000164:
035063,000165: 31,2460 05506 TC UPFLAG # SET FLAG TO CONTINUE P66 HORIZONTAL
035064,000166: 31,2461 00016 ADRES P66PROFL # UNTIL 'PROCEED' AFTER TOUCHDOWN
035065,000167:
035066,000168: 31,2462 41354 CS TOOFEW # INITIALIZE CNTTHROT TO -TOOFEW
035067,000169: 31,2463 55623 TS CNTTHROT
035068,000170:
035069,000171: # P66 RE-INITIALIZATION WHEN RODFLAG RESET - P66 INITIALIZATION CONTINUED
035070,000172:
035071,000173: 31,2464 06060 RE-IN66 TC INTPRET
035072,000174: 31,2465 47375 VLOAD VXV # COMPUTE HORIZONTAL VELOCITY COMMAND
035073,000175: 31,2466 02316 WM # MOON'S ANGULAR RATE IN 2(-17)RAD/CS
035074,000176: 31,2467 03521 R # LM POSITION IN 2(24)M
035075,000177: 31,2470 03434 STORE VHZC
035076,000178: 31,2471 57551 TLOAD DCOMP
035077,000179: 31,2472 01254 TEMX
035078,000180: 31,2473 27764 STOVL OLDPIPAX # NOTE: VECTOR INIT OF SP OLDPIPA'S OVER-
035079,000181: 31,2474 06505 ZEROVECS # LAPS ADJACENT DELVROD. THUS INIT
035080,000182: 31,2475 17767 STODL DELVROD # DELVROD AFTER OLDPIPA'S
035081,000183:
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Page 798 |
035083,000185: 31,2476 02535 RODSCALE
035084,000186: 31,2477 17757 STODL RODSCAL1
035085,000187:
035086,000188: 31,2500 01234 PIPTIME # SHOW THAT LAST P66 WAS, IN EFFECT,
035087,000189: 31,2501 03760 STORE LASTTPIP # PERFORMED AT PIPTIME
035088,000190:
035089,000191: 31,2502 77776 EXIT
035090,000192:
035091,000193: 31,2503 04607 TC BANKCALL # REFER CURRENT PIPAX READING TO THE CM:
035092,000194: 31,2504 65425 FCADR DEIMUBOB # ALAS, OMEGAQ AT PIPTIME NOT AVAILABLE
035093,000195:
035094,000196: 31,2505 34746 CAF ZERO
035095,000197: 31,2506 55620 TS FCOLD
035096,000198: 31,2507 55610 TS FWEIGHT
035097,000199: 31,2510 55611 TS FWEIGHT +1
035098,000200:
035099,000201: 31,2511 34743 CAF TWO # WCHPHOLD=2 --> VERTICAL PHASE
035100,000202: 31,2512 55621 TS WCHPHOLD
035101,000203:
035102,000204: 31,2513 55346 TS WCHPHASE # ***DOES ANYONE SEE ANY NEED FOR THIS?***
035103,000205:
035104,000206: 31,2514 05520 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
035105,000207: 31,2515 00311 ADRES XOVINFLG # SHOULD DO INTERPRETIVELY TO SAVE A WORD
035106,000208:
035107,000209: 31,2516 05506 TC UPFLAG # TERMINATE TERRAIN MODEL
035108,000210: 31,2517 00023 ADRES NOTERFLG # SHOULD DO INTERPRETIVELY TO SAVE A WORD
035109,000211:
035110,000212: 31,2520 05506 TC UPFLAG # P66 INITIALIZATION COMPLETE
035111,000213: 31,2521 00022 ADRES RODFLAG
035112,000214:
035113,000215: 31,2522 13517 TCF P66
035114,000216:
035115,000217: 31,2523 30075 RE-IN66? CA FLAGWRD1 # RE-INITIALIZE P66?
035116,000218: 31,2524 74731 MASK RODFLBIT
035117,000219: 31,2525 00006 EXTEND
035118,000220: 31,2526 12464 BZF RE-IN66 # Y
035119,000221: # N
035120,000222: 31,2527 13517 TCF P66
035121,000223:
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Page 799 |
035123,000225: # ===============================================================================================================
035124,000226: # INITIALIZATION FOR THIS PASS
035125,000227: # ===============================================================================================================
035126,000228:
035127,000229: 31,2530 COUNT* $$/F2DPS
035128,000230:
035129,000231: 31,2530 34746 GUILDRET CAF ZERO
035130,000232: 31,2531 55746 TS RODCOUNT
035131,000233:
035132,000234: 31,2532 00006 EXTEND
035133,000235: 31,2533 31625 DCA TPIP
035134,000236: 31,2534 53574 DXCH TPIPOLD
035135,000237:
035136,000238: 31,2535 03751 TC FASTCHNG
035137,000239:
035138,000240: 31,2536 00006 EXTEND
035139,000241: 31,2537 31561 DCA PIPTIME1
035140,000242: 31,2540 53625 DXCH TPIP
035141,000243:
035142,000244: 31,2541 00006 EXTEND
035143,000245: 31,2542 31643 DCA TTF/8
035144,000246: 31,2543 53553 DXCH TTF/8TMP
035145,000247:
035146,000248: 31,2544 11623 CCS FLPASS0
035147,000249: 31,2545 12562 TCF TTFINCR
035148,000250:
035149,000251: 31,2546 51346 BRSPOT1 INDEX WCHPHASE
035150,000252: 31,2547 12367 TCF NEWPHASE
035151,000253:
035152,000254: # ****************************************************************************************************************
035153,000255: # ROUTINES TO START NEW PHASES
035154,000256: # ****************************************************************************************************************
035155,000257:
035156,000258: 31,2550 05313 STARTP64 TC NEWMODEX
035157,000259: 31,2551 00100 DEC 64 B-14
035158,000260: 31,2552 31425 CA DELTTFAP # AUGMENT TTF/8
035159,000261: 31,2553 27552 ADS TTF/8TMP
035160,000262: 31,2554 33761 CAF P64DB
035161,000263: 31,2555 55343 TS DB
035162,000264: 31,2556 05520 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
035163,000265: 31,2557 00143 ADRES REDFLAG
035164,000266:
035165,000267: 31,2560 31315 CA LRWH1 # PUT P64 LR WEIGHTING FUNCTION INTO
035166,000268: 31,2561 55421 TS LRWH # LRWH SO LR UPDATES ARE DONE PROPERLY
035167,000269: # (CONTINUE TO TTFINCR)
035168,000270:
035169,000271: # ****************************************************************************************************************
035170,000272: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
035171,000273: # ****************************************************************************************************************
035172,000274:
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Page 800 |
035174,000276:
035175,000277: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
035176,000278:
035177,000279: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
035178,000280:
035179,000281: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
035180,000282:
035181,000283: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
035182,000284:
035183,000285: # - - - -
035184,000286: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
035185,000287:
035186,000288: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
035187,000289:
035188,000290: # - -
035189,000291: # RANGEDSP = ABVAL(LAND - R)
035190,000292:
035191,000293: 31,2562 06060 TTFINCR TC INTPRET
035192,000294: 31,2563 45345 DLOAD DSU
035193,000295: 31,2564 03625 TPIP
035194,000296: 31,2565 03574 TPIPOLD
035195,000297: 31,2566 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
035196,000298: 31,2567 21214 11D
035197,000299: 31,2570 47361 VXSC VXV
035198,000300: 31,2571 03635 LAND
035199,000301: 31,2572 02316 WM
035200,000302: 31,2573 47045 BVSU RTB
035201,000303: 31,2574 03635 LAND
035202,000304: 31,2575 21724 NORMUNIT
035203,000305: 31,2576 76561 VXSC VSL1
035204,000306: 31,2577 02324 /LAND/
035205,000307: 31,2600 17545 STODL LANDTEMP
035206,000308: 31,2601 77776 EXIT
035207,000309:
035208,000310: 31,2602 52155 DXCH MPAC
035209,000311: 31,2603 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
035210,000312:
035211,000313: 31,2604 03751 TC FASTCHNG
035212,000314:
035213,000315: 31,2605 00006 EXTEND
035214,000316: 31,2606 31553 DCA TTF/8TMP
035215,000317: 31,2607 53643 DXCH TTF/8
035216,000318:
035217,000319: 31,2610 03702 TC TDISPSET
035218,000320:
035219,000321: 31,2611 37737 CAF PRIO31 # TEMPORARILY OVER-PRIO CHARIN
035220,000322: 31,2612 05137 TC PRIOCHNG
035221,000323:
035222,000324: 31,2613 06060 TC INTPRET
035223,000325: 31,2614 53375 VLOAD VAD # ADD IN CORRECTION FROM NOUN 69
035224,000326: 31,2615 03545 LANDTEMP
035225,000327:
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Page 801 |
035227,000329: 31,2616 02632 DLAND
035228,000330: 31,2617 03635 STORE LAND
035229,000331: 31,2620 77646 ABVAL # RECOMPUTE /LAND/
035230,000332: 31,2621 02324 STORE /LAND/
035231,000333: 31,2622 77776 EXIT
035232,000334:
035233,000335: 31,2623 03751 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
035234,000336:
035235,000337: 31,2624 35005 CAF EBANK5
035236,000338: 31,2625 E5,1631 EBANK= DLAND
035237,000339: 31,2625 54003 TS EBANK
035238,000340: 31,2626 34746 CAF ZERO # ZERO N 69 REGISTERS
035239,000341: 31,2627 55631 TS DLAND
035240,000342: 31,2630 55632 TS DLAND +1
035241,000343: 31,2631 55633 TS DLAND +2
035242,000344: 31,2632 55634 TS DLAND +3
035243,000345: 31,2633 55635 TS DLAND +4
035244,000346: 31,2634 55636 TS DLAND +5
035245,000347: 31,2635 35007 CAF EBANK7
035246,000348: 31,2636 E7,1666 EBANK= TREDES
035247,000349: 31,2636 54003 TS EBANK
035248,000350:
035249,000351: 31,2637 34727 CAF PRIO20
035250,000352: 31,2640 05137 TC PRIOCHNG
035251,000353:
035252,000354: 31,2641 51346 BRSPOT2 INDEX WCHPHASE
035253,000355: 31,2642 12373 TCF PREGUIDE
035254,000356:
035255,000357: # ****************************************************************************************************************
035256,000358: # LANDING SITE PERTURBATION EQUATIONS
035257,000359: # ****************************************************************************************************************
035258,000360:
035259,000361: 31,2643 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
035260,000362: 31,2644 74737 MASK REDFLBIT
035261,000363: 31,2645 00006 EXTEND
035262,000364: 31,2646 12752 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
035263,000365:
035264,000366: 31,2647 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
035265,000367: 31,2650 00006 EXTEND
035266,000368: 31,2651 12752 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
035267,000369:
035268,000370: 31,2652 00004 INHINT
035269,000371: 31,2653 31645 CA ELINCR1
035270,000372: 31,2654 55554 TS ELINCR
035271,000373: 31,2655 31644 CA AZINCR1
035272,000374: 31,2656 55556 TS AZINCR
035273,000375: 31,2657 03751 TC FASTCHNG
035274,000376:
035275,000377: 31,2660 34746 CA ZERO
035276,000378: 31,2661 55645 TS ELINCR1
035277,000379:
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Page 802 |
035279,000381: 31,2662 55644 TS AZINCR1
035280,000382: 31,2663 55555 TS ELINCR +1
035281,000383: 31,2664 55557 TS AZINCR +1
035282,000384:
035283,000385: 31,2665 30120 CA FIXLOC # SET PD TO 0
035284,000386: 31,2666 54166 TS PUSHLOC
035285,000387:
035286,000388: 31,2667 06060 TC INTPRET
035287,000389: 31,2670 52375 VLOAD VSU
035288,000390: 31,2671 03635 LAND
035289,000391: 31,2672 03521 R # - -
035290,000392: 31,2673 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
035291,000393: 31,2674 21724 NORMUNIT
035292,000394: 31,2675 76435 VXV VSL1
035293,000395: 31,2676 02145 YNBPIP # - - -
035294,000396: 31,2677 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
035295,000397: 31,2700 03555 ELINCR
035296,000398: 31,2701 03557 AZINCR
035297,000399: 31,2702 52361 VXSC VSU
035298,000400: 31,2703 02145 YNBPIP
035299,000401: 31,2704 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
035300,000402:
035301,000403: 31,2705 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
035302,000404: 31,2706 00001 0 # TOO CLOSE TO THE HORIZON
035303,000405: 31,2707 05662 DEPRCRIT
035304,000406: 31,2710 71240 BMN DLOAD
035305,000407: 31,2711 62714 REDES1
035306,000408: 31,2712 05662 DEPRCRIT
035307,000409: 31,2713 00001 STORE 0
035308,000410: 31,2714 45345 REDES1 DLOAD DSU
035309,000411: 31,2715 03635 LAND
035310,000412: 31,2716 03521 R
035311,000413: 31,2717 74271 DDV VXSC
035312,000414: 31,2720 00001 0
035313,000415: 31,2721 53455 VAD UNIT
035314,000416: 31,2722 03521 R
035315,000417: 31,2723 76561 VXSC VSL1
035316,000418: 31,2724 02324 /LAND/
035317,000419: 31,2725 03545 STORE LANDTEMP
035318,000420: 31,2726 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
035319,000421:
035320,000422: 31,2727 03751 TC FASTCHNG
035321,000423:
035322,000424: 31,2730 00006 EXTEND
035323,000425: 31,2731 31545 DCA LANDTEMP
035324,000426: 31,2732 53635 DXCH LAND
035325,000427: 31,2733 00006 EXTEND
035326,000428: 31,2734 31547 DCA LANDTEMP +2
035327,000429: 31,2735 53637 DXCH LAND +2
035328,000430: 31,2736 00006 EXTEND
035329,000431:
|
|
Page 803 |
035331,000433: 31,2737 31551 DCA LANDTEMP +4
035332,000434: 31,2740 53641 DXCH LAND +4
035333,000435:
035334,000436: 31,2741 12752 TCF RGVGCALC
035335,000437:
035336,000438: # ****************************************************************************************************************
035337,000439: # COMPUTE STATE IN GUIDANCE COORDINATES
035338,000440: # ****************************************************************************************************************
035339,000441:
035340,000442: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
035341,000443:
035342,000444: # VELOCITY RELATIVE TO THE SURFACE:
035343,000445:
035344,000446: # - - - -
035345,000447: # ANGTERM = V + R * WM
035346,000448:
035347,000449: # STATE IN GUIDANCE COORDINATES:
035348,000450:
035349,000451: # - * - -
035350,000452: # RGU = CG (R - LAND)
035351,000453:
035352,000454: # - * - - -
035353,000455: # VGU = CG (V - WM * R)
035354,000456:
035355,000457: # DEPRESSION ANGLE FOR DISPLAY:
035356,000458:
035357,000459: # - - -
035358,000460: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
035359,000461:
035360,000462: 31,2742 06060 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
035361,000463: 31,2743 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
035362,000464: 31,2744 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
035363,000465: 31,2745 01732 REFSMMAT
035364,000466: 31,2746 53362 VSR1 VAD
035365,000467: 31,2747 03252 UNFC/2
035366,000468: 31,2750 03527 STORE V
035367,000469: 31,2751 77776 EXIT
035368,000470:
035369,000471: 31,2752 06060 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
035370,000472: 31,2753 47375 VLOAD VXV
035371,000473: 31,2754 03521 R
035372,000474: 31,2755 02316 WM
035373,000475: 31,2756 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
035374,000476: 31,2757 03527 V
035375,000477: 31,2760 02222 STORE ANGTERM
035376,000478: 31,2761 77721 MXV
035377,000479: 31,2762 02572 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
035378,000480: 31,2763 27627 STOVL VGU
035379,000481: 31,2764 03521 R # - -
035380,000482: 31,2765 41451 VSU PUSH # PUSH DOWN R - LAND
035381,000483:
|
|
Page 804 |
035383,000485: 31,2766 03635 LAND
035384,000486: 31,2767 76521 MXV VSL1
035385,000487: 31,2770 02572 CG
035386,000488: 31,2771 16624 STODL RGU
035387,000489: 31,2772 00162 MPAC +5
035388,000490: 31,2773 26614 STOVL RANGEDSP # SM Z-AXIS RANGE FOR DISPLAY IN N68
035389,000491: 31,2774 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
035390,000492: 31,2775 21724 NORMUNIT
035391,000493: 31,2776 02137 XNBPIP
035392,000494: 31,2777 77776 EXIT
035393,000495:
035394,000496: 31,3000 30120 CA FIXLOC # RESET PUSH DOWN POINTER
035395,000497: 31,3001 54166 TS PUSHLOC
035396,000498:
035397,000499: 31,3002 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
035398,000500: 31,3003 60000 DOUBLE
035399,000501: 31,3004 04607 TC BANKCALL
035400,000502: 31,3005 61656 CADR SPARCSIN -1
035401,000503: 31,3006 63765 AD 1/2DEG
035402,000504: 31,3007 61353 AD ELBIAS # BIAS LPD ANGLE FOR WINDOW BENDING
035403,000505: 31,3010 00006 EXTEND
035404,000506: 31,3011 73764 MP 180DEGS
035405,000507: 31,3012 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
035406,000508:
035407,000509: 31,3013 51346 BRSPOT3 INDEX WCHPHASE
035408,000510: 31,3014 12376 TCF WHATGUID
035409,000511:
035410,000512: # ****************************************************************************************************************
035411,000513: # TTF/8 COMPUTATION
035412,000514: # ****************************************************************************************************************
035413,000515:
035414,000516: 31,3015 31346 TTF/8CL CA WCHPHASE
035415,000517: 31,3016 03675 TC INTPRETX
035416,000518: 31,3017 77743 DLOAD*
035417,000519: 31,3020 02443 JDG2TTF,1
035418,000520: 31,3021 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
035419,000521: 31,3022 02437 ADG2TTF,1 # 2
035420,000522: 31,3023 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
035421,000523: 31,3024 03633 VGU +4 # 2
035422,000524: 31,3025 42605 DMP DAD*
035423,000525: 31,3026 05660 3/4DP
035424,000526: 31,3027 02433 VDG2TTF,1
035425,000527: 31,3030 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
035426,000528: 31,3031 02407 RDG +4,1 # 2 2
035427,000529: 31,3032 41225 DSU DMP
035428,000530: 31,3033 02630 RGU +4
035429,000531: 31,3034 05656 3/8DP
035430,000532: 31,3035 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
035431,000533: 31,3036 77776 EXIT # 2 2
035432,000534:
|
|
Page 805 |
035434,000536:
035435,000537: 31,3037 34735 CA BIT8
035436,000538: 31,3040 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
035437,000539:
035438,000540: 31,3041 00006 EXTEND
035439,000541: 31,3042 31643 DCA TTF/8
035440,000542: 31,3043 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
035441,000543: 31,3044 34743 CAF TWO # DEGREE - ONE
035442,000544: 31,3045 54001 TS L
035443,000545: 31,3046 33757 CAF TABLTTFL
035444,000546: 31,3047 03545 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
035445,000547: 31,3050 51346 INDEX WCHPHASE
035446,000548: 31,3051 12412 TCF WHATALM
035447,000549:
035448,000550: 31,3052 00006 EXTEND # GOOD RETURN
035449,000551: 31,3053 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
035450,000552: 31,3054 53643 DXCH TTF/8 # CORRECTED TTF/8
035451,000553:
035452,000554: 31,3055 03702 TC TDISPSET
035453,000555:
035454,000556: # (CONTINUE TO QUADGUID)
035455,000557:
035456,000558: # ****************************************************************************************************************
035457,000559: # MAIN GUIDANCE EQUATION
035458,000560: # ****************************************************************************************************************
035459,000561:
035460,000562: # AS PUBLISHED:-
035461,000563:
035462,000564: # - - - -
035463,000565: # - - 6(VDG + VG) 12(RDG - RG)
035464,000566: # ACG = ADG + ----------- + ------------
035465,000567: # TTF (TTF)(TTF)
035466,000568:
035467,000569: # AS HERE PROGRAMMED:-
035468,000570:
035469,000571: # - -
035470,000572: # 3 (1/4(RDG - RG) - - )
035471,000573: # - (------------- + VDG + VG)
035472,000574: # - 4 ( TTF/8 ) -
035473,000575: # ACG = ---------------------------- + ADG
035474,000576: # TTF/8
035475,000577:
035476,000578: 31,3056 41642 QUADGUID CS TTF/8
035477,000579: 31,3057 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
035478,000580: 31,3060 64724 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
035479,000581: 31,3061 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
035480,000582: 31,3062 40001 CS L
035481,000583: 31,3063 60001 AD L
035482,000584: 31,3064 22007 ZL
035483,000585: 31,3065 00006 EXTEND
035484,000586:
|
|
Page 806 |
035486,000588: 31,3066 11642 DV TTF/8
035487,000589: 31,3067 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
035488,000590: 31,3070 00006 EXTEND
035489,000591: 31,3071 70000 SQUARE
035490,000592: 31,3072 54131 TS BUF +1
035491,000593: 31,3073 60130 AD BUF
035492,000594: 31,3074 56131 XCH BUF +1 # RATIO SQUARED - RATIO
035493,000595: 31,3075 60131 AD BUF +1
035494,000596: 31,3076 54154 TS MPAC # COEFFICIENT FOR VGU TERM
035495,000597: 31,3077 60131 AD BUF +1
035496,000598: 31,3100 50120 INDEX FIXLOC
035497,000599: 31,3101 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
035498,000600: 31,3102 60131 AD BUF +1
035499,000601: 31,3103 50120 INDEX FIXLOC
035500,000602: 31,3104 54034 TS 28D # COEFFICIENT FOR VDG TERM
035501,000603: 31,3105 60130 AD BUF
035502,000604: 31,3106 64724 AD POSMAX
035503,000605: 31,3107 60131 AD BUF +1
035504,000606: 31,3110 60131 AD BUF +1
035505,000607: 31,3111 50120 INDEX FIXLOC
035506,000608: 31,3112 54036 TS 30D # COEFFICIENT FOR ADG TERM
035507,000609:
035508,000610: 31,3113 34746 CAF ZERO
035509,000611: 31,3114 54163 TS MODE
035510,000612:
035511,000613: 31,3115 31346 CA WCHPHASE
035512,000614: 31,3116 03675 TC INTPRETX
035513,000615: 31,3117 65361 VXSC PDDL
035514,000616: 31,3120 03627 VGU
035515,000617: 31,3121 00035 28D
035516,000618: 31,3122 47157 VXSC* RTB
035517,000619: 31,3123 02413 VDG,1
035518,000620: 31,3124 63671 ZEROMID
035519,000621: 31,3125 47113 PDVL* RTB
035520,000622: 31,3126 02403 RDG,1
035521,000623: 31,3127 63671 ZEROMID
035522,000624: 31,3130 70251 VSU V/SC
035523,000625: 31,3131 02624 RGU
035524,000626: 31,3132 03643 TTF/8
035525,000627: 31,3133 74342 VSR2 VXSC
035526,000628: 31,3134 00033 26D
035527,000629: 31,3135 53255 VAD VAD
035528,000630: 31,3136 74341 V/SC VXSC
035529,000631: 31,3137 03643 TTF/8
035530,000632: 31,3140 05660 3/4DP
035531,000633: 31,3141 73725 PDDL VXSC*
035532,000634: 31,3142 00037 30D
035533,000635: 31,3143 02423 ADG,1
035534,000636: 31,3144 53234 RTB VAD
035535,000637: 31,3145 63671 ZEROMID
035536,000638:
|
|
Page 807 |
035538,000640: 31,3146 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
035539,000641: 31,3147 02572 CG
035540,000642: 31,3150 70315 PDVL V/SC
035541,000643: 31,3151 01236 GDT/2
035542,000644: 31,3152 05654 GSCALE
035543,000645: 31,3153 45445 BVSU STADR
035544,000646: 31,3154 74525 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
035545,000647: 31,3155 77646 ABVAL
035546,000648: 31,3156 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
035547,000649: 31,3157 03252 UNFC/2 # VERTICAL COMPONENT
035548,000650: 31,3160 65316 DSQ PDDL
035549,000651: 31,3161 03254 UNFC/2 +2 # OUT-OF-PLANE
035550,000652: 31,3162 65316 DSQ PDDL
035551,000653: 31,3163 05652 HIGHESTF
035552,000654: 31,3164 63471 DDV DSQ
035553,000655: 31,3165 01244 MASS # 2 2 2
035554,000656: 31,3166 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
035555,000657: 31,3167 71244 BPL DLOAD # 1 0
035556,000658: 31,3170 63172 AFCCALC3
035557,000659: 31,3171 06505 ZEROVECS
035558,000660: 31,3172 43366 AFCCALC3 SQRT DAD
035559,000661: 31,3173 03256 UNFC/2 +4
035560,000662: 31,3174 44244 BPL BDSU
035561,000663: 31,3175 63200 AFCCLEND
035562,000664: 31,3176 03256 UNFC/2 +4
035563,000665: 31,3177 03256 STORE UNFC/2 +4
035564,000666: 31,3200 77776 AFCCLEND EXIT
035565,000667: 31,3201 03751 TC FASTCHNG
035566,000668:
035567,000669: 31,3202 31346 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
035568,000670: 31,3203 55621 TS WCHPHOLD
035569,000671: 31,3204 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
035570,000672:
035571,000673: 31,3205 51346 BRSPOT4 INDEX WCHPHASE
035572,000674: 31,3206 12401 TCF AFTRGUID
035573,000675:
035574,000676: # ****************************************************************************************************************
035575,000677: # NEW PHASE NOW?
035576,000678: # ****************************************************************************************************************
035577,000679:
035578,000680: 31,3207 51346 EXTLOGIC INDEX WCHPHASE # IS TTF NEARER ZERO THAN CRITERION?
035579,000681: 31,3210 31423 CA TENDBRAK
035580,000682: 31,3211 61642 AD TTF/8
035581,000683: 31,3212 00006 EXTEND
035582,000684: 31,3213 63222 BZMF CGCALC # NO
035583,000685:
035584,000686: 31,3214 03751 TC FASTCHNG # YES: INCREMENT WCHPHASE, ZERO FLPASS0
035585,000687:
035586,000688: 31,3215 31621 CA WCHPHOLD
035587,000689: 31,3216 64744 AD ONE
035588,000690:
|
|
Page 808 |
035590,000692: 31,3217 55346 TS WCHPHASE
035591,000693: 31,3220 34746 CAF ZERO
035592,000694: 31,3221 55623 TS FLPASS0
035593,000695:
035594,000696: # (CONTINUE TO CGCALC)
035595,000697:
035596,000698: # ***************************************************************************************************************
035597,000699: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
035598,000700: # ***************************************************************************************************************
035599,000701:
035600,000702: 31,3222 31621 CGCALC CA WCHPHOLD
035601,000703: 31,3223 03675 TC INTPRETX
035602,000704: 31,3224 77543 DLOAD* EXIT
035603,000705: 31,3225 02453 TCGFBRAK,1
035604,000706: 31,3226 31642 CA TTF/8
035605,000707: 31,3227 54001 TS L
035606,000708: 31,3230 20155 DAS MPAC
035607,000709: 31,3231 10155 CCS MPAC +1
035608,000710: 31,3232 10154 CCS MPAC
035609,000711: 31,3233 13264 TCF EXITSPOT
035610,000712: 31,3234 13264 TCF EXITSPOT
035611,000713: 31,3235 13236 NOOP
035612,000714:
035613,000715: 31,3236 06060 TC INTPRET
035614,000716: 31,3237 53575 VLOAD UNIT
035615,000717: 31,3240 03635 LAND
035616,000718: 31,3241 16572 STODL CG
035617,000719: 31,3242 03643 TTF/8
035618,000720: 31,3243 74203 DMP* VXSC
035619,000721: 31,3244 02447 GAINBRAK,1 # NUMERO MYSTERIOSO
035620,000722: 31,3245 02222 ANGTERM
035621,000723: 31,3246 77655 VAD
035622,000724: 31,3247 03635 LAND
035623,000725: 31,3250 47051 VSU RTB
035624,000726: 31,3251 03521 R
035625,000727: 31,3252 21724 NORMUNIT
035626,000728: 31,3253 47035 VXV RTB
035627,000729: 31,3254 03635 LAND
035628,000730: 31,3255 21724 NORMUNIT
035629,000731: 31,3256 26600 STOVL CG +6 # SECOND ROW
035630,000732: 31,3257 02572 CG
035631,000733: 31,3260 76435 VXV VSL1
035632,000734: 31,3261 02600 CG +6
035633,000735: 31,3262 02606 STORE CG +14
035634,000736: 31,3263 77776 EXIT
035635,000737:
035636,000738: 31,3264 51621 EXITSPOT INDEX WCHPHOLD
035637,000739: 31,3265 12404 TCF WHATEXIT
035638,000740:
035639,000741: # ****************************************************************************************************************
035640,000742:
|
|
Page 809 |
035642,000744: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
035643,000745: # ****************************************************************************************************************
035644,000746:
035645,000747: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
035646,000748:
035647,000749: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
035648,000750:
035649,000751: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
035650,000752:
035651,000753: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
035652,000754:
035653,000755: 31,3266 06060 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
035654,000756: 31,3267 47175 VLOAD RTB
035655,000757: 31,3270 03252 UNFC/2
035656,000758: 31,3271 21724 NORMUNIT
035657,000759: 31,3272 74361 VXSC VXSC
035658,000760: 31,3273 03423 ZOOMTIME
035659,000761: 31,3274 22001 TRIMACCL
035660,000762: 31,3275 03252 STORE UNFC/2
035661,000763: 31,3276 77776 EXIT
035662,000764:
035663,000765: 31,3277 11647 CCS NGUIDSUB
035664,000766: 31,3300 12423 TCF GUIDSUB
035665,000767: 31,3301 11646 CCS NIGNLOOP
035666,000768: 31,3302 13305 TCF +3
035667,000769: 31,3303 05571 TC ALARM
035668,000770: 31,3304 01412 OCT 01412
035669,000771:
035670,000772: 31,3305 04626 +3 TC POSTJUMP
035671,000773: 31,3306 64712 CADR DDUMCALC
035672,000774:
035673,000775: 31,3307 06060 EXBRAK TC INTPRET
035674,000776: 31,3310 77775 VLOAD
035675,000777: 31,3311 03537 UNIT/R/
035676,000778: 31,3312 03260 STORE UNWC/2
035677,000779: 31,3313 77776 EXIT
035678,000780: 31,3314 13371 TCF STEER?
035679,000781:
035680,000782: 31,3315 06060 EXNORM TC INTPRET
035681,000783: 31,3316 52375 VLOAD VSU
035682,000784: 31,3317 03635 LAND
035683,000785: 31,3320 03521 R
035684,000786: 31,3321 77634 RTB
035685,000787: 31,3322 21724 NORMUNIT
035686,000788: 31,3323 03260 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
035687,000789: 31,3324 50235 VXV DOT
035688,000790: 31,3325 02137 XNBPIP
035689,000791: 31,3326 02600 CG +6
035690,000792: 31,3327 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
035691,000793:
|
|
Page 810 |
035693,000795:
035694,000796: 31,3330 40154 CS MPAC # GET COEFFICIENT FOR CG +14
035695,000797: 31,3331 63766 AD PROJMAX
035696,000798: 31,3332 64724 AD POSMAX
035697,000799: 31,3333 54130 TS BUF
035698,000800: 31,3334 40130 CS BUF
035699,000801: 31,3335 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
035700,000802:
035701,000803: 31,3336 43767 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
035702,000804: 31,3337 60154 AD MPAC
035703,000805: 31,3340 64724 AD POSMAX
035704,000806: 31,3341 54131 TS BUF +1
035705,000807: 31,3342 40131 CS BUF +1
035706,000808: 31,3343 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
035707,000809:
035708,000810: 31,3344 34742 CAF FOUR
035709,000811: 31,3345 76263 UNWCLOOP MASK SIX
035710,000812: 31,3346 54002 TS Q
035711,000813: 31,3347 35005 CA EBANK5
035712,000814: 31,3350 54003 TS EBANK
035713,000815: 31,3351 E5,1571 EBANK= CG
035714,000816: 31,3351 30130 CA BUF
035715,000817: 31,3352 00006 EXTEND
035716,000818: 31,3353 50002 INDEX Q
035717,000819: 31,3354 71605 MP CG +14
035718,000820: 31,3355 24006 INCR BBANK
035719,000821: 31,3356 E6,1657 EBANK= UNWC/2
035720,000822: 31,3356 50002 INDEX Q
035721,000823: 31,3357 53660 DXCH UNWC/2
035722,000824: 31,3360 00006 EXTEND
035723,000825: 31,3361 70131 MP BUF +1
035724,000826: 31,3362 50002 INDEX Q
035725,000827: 31,3363 21660 DAS UNWC/2
035726,000828: 31,3364 10002 CCS Q
035727,000829: 31,3365 13345 TCF UNWCLOOP
035728,000830:
035729,000831: 31,3366 31773 CA AZBIAS # SET OUTER GIMBAL
035730,000832: 31,3367 55676 TS OGABIAS # ANGLE BIAS FOR WINDOW BENDING
035731,000833:
035732,000834: 31,3370 24006 INCR BBANK
035733,000835: 31,3371 E7,1612 EBANK= PIF
035734,000836:
035735,000837: 31,3371 30121 STEER? CA OVFIND # OVERFLOW?
035736,000838: 31,3372 00006 EXTEND
035737,000839: 31,3373 13376 BZF STEERSW? # N: CHECK STEERSW
035738,000840:
035739,000841: 31,3374 03736 TC OVFDESC # Y: REMEDIAL ACTION AND
035740,000842: 31,3375 13415 TCF DISPEXIT # SKIP ISSUANCE OF CMDS. NO STEERSW CHK
035741,000843:
035742,000844: 31,3376 40076 STEERSW? CS FLAGWRD2 # IS STEERSW UP?
035743,000845: 31,3377 74732 MASK STEERBIT
035744,000846:
|
|
Page 811 |
035746,000848: 31,3400 00006 EXTEND
035747,000849: 31,3401 13407 BZF THRTCALL # Y: ISSUE GUIDANCE CMDS
035748,000850:
035749,000851: 31,3402 00004 RATESTOP INHINT # N: REMEDIAL ACTION
035750,000852: 31,3403 04665 TC IBNKCALL # AND
035751,000853: 31,3404 40166 FCADR STOPRATE # SKIP ISSUANCE OF CMDS
035752,000854: 31,3405 00003 RELINT
035753,000855: 31,3406 13415 TCF DISPEXIT
035754,000856:
035755,000857: 31,3407 31,3407 GDUMP1 = THRTCALL
035756,000858: 31,3407 02144 THRTCALL TC THROTTLE
035757,000859: 31,3410 03751 TC FASTCHNG
035758,000860: 31,3411 06060 TC INTPRET
035759,000861: 31,3412 77624 CALL
035760,000862: 31,3413 61072 FINDCDUW -2
035761,000863: 31,3414 77776 EXIT
035762,000864:
035763,000865: # (CONTINUE TO DISPEXIT)
035764,000866:
035765,000867: # ****************************************************************************************************************
035766,000868: # GUIDANCE LOOP DISPLAYS
035767,000869: # ****************************************************************************************************************
035768,000870:
035769,000871: 31,3415 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
035770,000872: 31,3416 34746 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
035771,000873: 31,3417 52756 DXCH -PHASE3
035772,000874:
035773,000875: 31,3420 31,3420 ENDLLJOB = DISPEXIT +3
035774,000876:
035775,000877: 31,3420 31,3420 DISPEX66 = DISPEXIT +3
035776,000878: 31,3420 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
035777,000879: 31,3421 74733 MASK FLUNDBIT
035778,000880: 31,3422 00006 EXTEND
035779,000881: 31,3423 15146 BZF ENDOFJOB
035780,000882:
035781,000883: 31,3424 51621 INDEX WCHPHOLD
035782,000884: 31,3425 12406 TCF WHATDISP
035783,000885:
035784,000886: 31,3426 05156 P63DISPS TC VACRLEAS
035785,000887: 31,3427 40107 CS FLGWRD11 # HAVE LR UPDATES BEEN PERMITTED?
035786,000888: 31,3430 74735 MASK LRINHBIT
035787,000889: 31,3431 00006 EXTEND
035788,000890: 31,3432 13441 BZF N63STAT # YES: DO STATIC DISPLAY
035789,000891:
035790,000892: 31,3433 33770 CAF V06N63 # NO: FLASH NOUN 63, CORRECT RESPONSE IS
035791,000893: 31,3434 04607 TC BANKCALL # V57E WHICH STOPS THE FLASHING
035792,000894: 31,3435 20452 CADR REFLASH
035793,000895: 31,3436 05146 TC ENDOFJOB # TERMINATE IGNORE AND KEEP FLASHING
035794,000896:
|
|
Page 812 |
035796,000898: 31,3437 05146 TC ENDOFJOB # PROCEED IGNORE AND KEEP FLASHING
035797,000899: 31,3440 05146 TC ENDOFJOB # ENTER IGNORE AND KEEP FLASHING
035798,000900:
035799,000901: 31,3441 33770 N63STAT CAF V06N63
035800,000902: 31,3442 04607 DISPCOMN TC BANKCALL
035801,000903: 31,3443 20460 CADR REGODSP
035802,000904:
035803,000905: 31,3444 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
035804,000906: 31,3445 00006 EXTEND
035805,000907: 31,3446 13475 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
035806,000908:
035807,000909: 31,3447 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
035808,000910: 31,3450 74737 MASK REDFLBIT
035809,000911: 31,3451 00006 EXTEND
035810,000912: 31,3452 13477 BZF REDES-OK # YES: DO STATIC DISPLAY
035811,000913:
035812,000914: 31,3453 05156 TC VACRLEAS
035813,000915: 31,3454 33771 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
035814,000916: 31,3455 04607 TC BANKCALL
035815,000917: 31,3456 20452 CADR REFLASH
035816,000918: 31,3457 16001 TCF GOTOPOOH # TERMINATE
035817,000919: 31,3460 13462 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
035818,000920: 31,3461 13444 TCF P64DISPS # RECYCLE
035819,000921:
035820,000922: 31,3462 34746 P64CEED CAF ZERO
035821,000923: 31,3463 55645 TS ELINCR1
035822,000924: 31,3464 55644 TS AZINCR1
035823,000925:
035824,000926: 31,3465 00004 INHINT # ENABLE RUPT 10 FOR REDESIGNATIONS
035825,000927: 31,3466 06040 TC C13STALL
035826,000928: 31,3467 34731 CAF BIT12
035827,000929: 31,3470 00006 EXTEND
035828,000930: 31,3471 05013 WOR CHAN13
035829,000931:
035830,000932: 31,3472 05506 TC UPFLAG # ENABLE REDESIGNATION LOGIC
035831,000933: 31,3473 00143 ADRES REDFLAG
035832,000934:
035833,000935: 31,3474 15146 TCF ENDOFJOB
035834,000936:
035835,000937: 31,3475 05520 RED-OVER TC DOWNFLAG
035836,000938: 31,3476 00143 ADRES REDFLAG
035837,000939: 31,3477 05156 REDES-OK TC VACRLEAS
035838,000940: 31,3500 33771 CAF V06N64
035839,000941: 31,3501 13442 TCF DISPCOMN
035840,000942:
035841,000943:
035842,000944: 31,3502 05156 VERTDISP TC VACRLEAS
035843,000945: 31,3503 33772 CAF V06N60
035844,000946: 31,3504 04607 TC BANKCALL
035845,000947: 31,3505 20452 CADR REFLASH
035846,000948:
|
|
Page 813 |
035848,000950: 31,3506 16001 TCF GOTOPOOH # TERMINATE
035849,000951: 31,3507 13511 TCF STOPFIRE # PROCEED
035850,000952: 31,3510 13511 TCF STOPFIRE # V32E
035851,000953:
035852,000954: 31,3511 05520 STOPFIRE TC DOWNFLAG
035853,000955: 31,3512 00016 ADRES P66PROFL # FLAG TO STOP P66 HORIZONTAL
035854,000956: 31,3513 15146 TCF ENDOFJOB
035855,000957:
035856,000958: 31,3514 02147 THROT66 TC THROTTLE +3
035857,000959: 31,3515 25623 INCR CNTTHROT # COUNT ONE THROTTLE COMPLETION
035858,000960:
035859,000961: 31,3516 13420 TCF DISPEX66
035860,000962:
|
|
Page 814 The ':' suffixed in the 2nd dividing line below is an '=' in the original printout. The change is a workaround for our proof-reading system. |
035864,000966: # ================================================================================================================
035865,000967: # GUIDANCE FOR P66
035866,000968: # ===============================================================================================================:
035867,000969:
035868,000970: # THE P66 HORIZONTAL (HZ) EQUATION IS:
035869,000971:
035870,000972: # UNFC/2X = GHZ
035871,000973:
035872,000974: # UNFC/2Y = (LIMIT AHZLIM)(-QHZ UNFC/2Y -(VY-VHZCY)/TAUHZ)
035873,000975: # I-1
035874,000976:
035875,000977: # UNFC/2Z = (LIMIT AHZLIM)(-QHZ UNFC/2Z -(VZ-VHZCZ)/TAUHZ)
035876,000978: # I-1
035877,000979:
035878,000980: # WHERE GHZ IS LUNAR GRAVITY
035879,000981: # QHZ AND 1/TAUHZ ARE GAIN CONSTANTS
035880,000982: # VHZCY AND VHZCZ ARE THE Y AND Z COMPONENTS OF COMMANDED
035881,000983: # VELOCITY, PLATFORM COORDINATES. THESE ARE INITIALIZED
035882,000984: # TO MOONRATE
035883,000985: # (LIMIT AHZLIM) INDICATES THE CONTENT OF THE SUBSEQUENT
035884,000986: # PARENTHESES IS MAGNITUDE LIMITED TO AHZLIM
035885,000987:
035886,000988: 31,3517 05355 P66 TC PHASCHNG # TERMINATE GROUP 3
035887,000989: 31,3520 00003 OCT 00003
035888,000990:
035889,000991: 31,3521 06060 TC INTPRET
035890,000992: 31,3522 45234 RTB DSU # IS THERE TIME FOR P66?
035891,000993: 31,3523 21603 LOADTIME
035892,000994: 31,3524 01234 PIPTIME
035893,000995: 31,3525 51021 BDSU BPL
035894,000996: 31,3526 02500 2LATE466
035895,000997: 31,3527 65074 P66HZ # Y: DOIT
035896,000998: 31,3530 77414 CLEAR EXIT # N: OMIT
035897,000999: 31,3531 00663 RODFLAG
035898,001000:
035899,001001: 31,3532 41354 CS TOOFEW # INITIALIZE CNTTHROT TO TOOFEW AND LOAD
035900,001002: 31,3533 57623 XCH CNTTHROT # ACCUMULATOR WITH ITS PREVIOUS CONTENTS
035901,001003: 31,3534 00006 EXTEND # TOO FEW THROTTLINGS SINCE LAST OMISSION?
035902,001004: 31,3535 63537 BZMF OMITWALM
035903,001005:
035904,001006: 31,3536 13420 TCF DISPEX66 # N: PERMIT OMISSION SANS ALARM
035905,001007:
035906,001008: 31,3537 00004 OMITWALM INHINT
035907,001009: 31,3540 04607 TC BANKCALL
035908,001010: 31,3541 40166 CADR STOPRATE
035909,001011: 31,3542 05571 TC ALARM # Y: PERMIT OMISSION WITH ALARM
035910,001012: 31,3543 01466 OCT 01466
035911,001013:
035912,001014: 31,3544 13420 TCF DISPEX66
035913,001015:
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|
Page 815 |
035915,001017: # ======================================================================================================
035916,001018: # P66 HORIZONTAL CHANNELS
035917,001019: # ======================================================================================================
035918,001020:
035919,001021: 32,2000 SETLOC P66LOC
035920,001022: 32,2000 BANK
035921,001023: 32,3074 COUNT* $$/F2DPS
035922,001024:
035923,001025: 32,3074 74375 P66HZ VLOAD VXSC
035924,001026: 32,3075 03252 UNFC/2 # P63, P64, & P66 UNITS 2(-4)M/CS/CS
035925,001027: 32,3076 02476 QHZ
035926,001028: 32,3077 52315 PDVL VSU
035927,001029: 32,3100 03434 VHZC # IN 2(7)M/CS
035928,001030: 32,3101 03527 V # IN 2(7)M/CS
035929,001031: 32,3102 52341 V/SC VSU # YIELDS UNLIM HZ ACCEL CMD, 2(-4)M/CS/CS
035930,001032: 32,3103 02475 TAUHZ # IN 2(1))CS
035931,001033: 32,3104 77776 EXIT
035932,001034:
035933,001035: 32,3105 35022 CA PRIO21 # ASSURE THIS SERVICER JOB ENDS
035934,001036: 32,3106 05137 TC PRIOCHNG # BEFORE NEXT SERVICER JOB BEGINS
035935,001037:
035936,001038: 32,3107 33436 CA GHZ
035937,001039: 32,3110 54154 TS MPAC # X COMPONENT = G
035938,001040:
035939,001041: 32,3111 35005 CA EBANK5
035940,001042: 32,3112 54003 TS EBANK
035941,001043: 32,3113 E5,1777 EBANK= END-E5
035942,001044:
035943,001045: 32,3113 22157 LXCH MPAC +3
035944,001046: 32,3114 31476 CA AHZLIM
035945,001047: 32,3115 04607 TC BANKCALL
035946,001048: 32,3116 61713 FCADR LIMITSUB
035947,001049: 32,3117 54157 TS MPAC +3 # Y COMPONENT LIMITED TO AHZLIM
035948,001050:
035949,001051: 32,3120 22161 LXCH MPAC +5
035950,001052: 32,3121 31476 CA AHZLIM
035951,001053: 32,3122 04607 TC BANKCALL
035952,001054: 32,3123 61713 FCADR LIMITSUB
035953,001055: 32,3124 54161 TS MPAC +5 # Z COMPONENT LIMITED TO AHZLIM
035954,001056:
035955,001057: 32,3125 35007 CA EBANK7
035956,001058: 32,3126 54003 TS EBANK
035957,001059: 32,3127 E7,1777 EBANK= END-E7
035958,001060:
035959,001061: 32,3127 30121 CA OVFIND # OVERFLOW?
035960,001062: 32,3130 00006 EXTEND
035961,001063: 32,3131 13135 BZF ENGARM? # N: KEEP CHECKING
035962,001064: 32,3132 04607 TC BANKCALL # Y: TAKE REMEDIAL ACTION
035963,001065: 32,3133 63736 FCADR OVFDESC # AND
035964,001066: 32,3134 13164 TCF P66VERT # SKIP ISSUANCE OF HZ CMDS
035965,001067:
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|
Page 816 |
035967,001069: 32,3135 34742 ENGARM? CA BIT3 # IS ENGINE ARM SWITCH STILL ON?
035968,001070: 32,3136 00006 EXTEND
035969,001071: 32,3137 02030 RAND CHAN30
035970,001072: 32,3140 00006 EXTEND
035971,001073: 32,3141 13146 BZF CDUWHZ # Y: ISSUE HZ CMDS
035972,001074:
035973,001075: 32,3142 30074 CA FLAGWRD0 # N: HAVE WE PROCEEDED AFTER TOUCHDOWN?
035974,001076: 32,3143 74744 MASK P66PROBT
035975,001077: 32,3144 00006 EXTEND
035976,001078: 32,3145 13154 BZF ASTROPRO # Y: PREVENT RCS FIRINGS
035977,001079: 32,3146 06060 CDUWHZ TC INTPRET # N: ISSUE HZ CMDS
035978,001080: 32,3147 03252 STORE UNFC/2 # MUST STORE FOR SUCCEEDING PASS
035979,001081: 32,3150 77624 CALL
035980,001082: 32,3151 61074 FINDCDUW
035981,001083: 32,3152 77776 EXIT
035982,001084:
035983,001085: 32,3153 13164 TCF P66VERT
035984,001086:
035985,001087: 32,3154 33435 ASTROPRO CA IDLADR # Y: PREVENT RCS JET FIRINGS
035986,001088: 32,3155 55262 TS T5ADR # AND
035987,001089: 32,3156 13164 TCF P66VERT # SKIP HZ CMDS, BUT CONTINUE DISPLAYS
035988,001090:
035989,001091: # ================================================================================================================
035990,001092: # P66 VERTICAL CHANNEL
035991,001093: # ================================================================================================================
035992,001094:
035993,001095: 32,3157 37731 RODTASK CA PRIO22 # BUMPS ALL OF SERVICER JOB EXCEPT RODCOMP
035994,001096: 32,3160 05076 TC FINDVAC
035995,001097: 32,3161 E7,1515 EBANK= DVCNTR
035996,001098: 32,3161 03167 64067 2CADR RODCOMP
035997,001099: 32,3163 15263 TCF TASKOVER
035998,001100:
035999,001101: 32,3164 34770 P66VERT CA 1SEC
036000,001102: 32,3165 05175 TC TWIDDLE
036001,001103: 32,3166 03157 ADRES RODTASK
036002,001104:
036003,001105: 32,3167 37732 RODCOMP CA PRIO23 # LET ONLY ONE JOB THRU RODCOMP AT A TIME
036004,001106: 32,3170 05137 TC PRIOCHNG
036005,001107:
036006,001108: 32,3171 00004 INHINT
036007,001109:
036008,001110: 32,3172 34746 CAF ZERO
036009,001111: 32,3173 57746 XCH RODCOUNT
036010,001112: 32,3174 00006 EXTEND
036011,001113: 32,3175 71756 MP RODSCAL1
036012,001114: 32,3176 21645 DAS VDGVERT # UPDATE DESTRED ALTITUDE RATE.
036013,001115:
036014,001116: 32,3177 34741 MANTHRT? CAF BIT4
036015,001117: 32,3200 70374 MASK CHANBKUP
036016,001118:
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|
Page 817 |
036018,001120: 32,3201 10000 CCS A
036019,001121: 32,3202 13213 TCF RODCOMPA # IGNORE CHAN 30 BIT 5. ASSUME AUTO THROT
036020,001122:
036021,001123: 32,3203 34740 CAF BIT5 # ARE WE IN AUTO THROTTLE?
036022,001124: 32,3204 00006 EXTEND
036023,001125: 32,3205 02030 RAND CHAN30
036024,001126: 32,3206 00006 EXTEND
036025,001127: 32,3207 13213 BZF RODCOMPA # Y: CONTINUE ROD
036026,001128:
036027,001129: 32,3210 00006 EXTEND # N: RESET VDGVERT TO CURRENT HDOT
036028,001130: 32,3211 31474 DCA HDOTDISP
036029,001131: 32,3212 53645 DXCH VDGVERT
036030,001132:
036031,001133: # READ THE PIPAS FOR P66
036032,001134:
036033,001135: 32,3213 00006 RODCOMPA EXTEND
036034,001136: 32,3214 30040 DCA PIPAX
036035,001137: 32,3215 53764 DXCH OLDPIPAX # CURRENT PIPA READINGS INTO OLDPIPAX,Y,Z
036036,001138: 32,3216 52071 DXCH RUPTREG1 # SAVE PRIOR READINGS IN RUPTREG1,2,3
036037,001139: 32,3217 30041 CA PIPAZ
036038,001140: 32,3220 57765 XCH OLDPIPAZ
036039,001141: 32,3221 56072 XCH RUPTREG3
036040,001142:
036041,001143: 32,3222 00006 EXTEND # SNAPSHOT TIME OF PIPA READING.
036042,001144: 32,3223 30025 DCA TIME2
036043,001145: 32,3224 53762 DXCH THISTPIP
036044,001146:
036045,001147: 32,3225 03425 TC DEIMUBOB # REFER CURRENT PIPAX READING TO THE CM
036046,001148:
036047,001149: # COMPUTE DELV SINCE PIPTIME. RETURN FROM DEIMUBOB WITH CORRECTED OLDPIPAX IN A
036048,001150: # CURRENT P66 PIPA
036049,001151: 32,3226 61157 AD PIPATMPX # + PIPA BY PIPASR IF B4 COPYCYCL, 0 AFTER
036050,001152: 32,3227 54154 TS MPAC # = DELV SINCE VALIDITY OF V, 2(14)CM/SEC
036051,001153: 32,3230 31764 CA OLDPIPAY
036052,001154: 32,3231 61160 AD PIPATMPY
036053,001155: 32,3232 54157 TS MPAC +3
036054,001156: 32,3233 31765 CA OLDPIPAZ
036055,001157: 32,3234 61161 AD PIPATMPZ
036056,001158: 32,3235 54161 TS MPAC +5
036057,001159:
036058,001160: # COMPUTE DELV SINCE THE LAST P66 PASS
036059,001161:
036060,001162: 32,3236 41763 CS OLDPIPAX # - CURRENT P66 PIPA
036061,001163: 32,3237 61253 AD TEMX # - PIPA BY PIPASR IF INTERVENING, ELSE 0
036062,001164: 32,3240 60070 AD RUPTREG1 # + PIPA BY P66 ON THE LAST P66 PASS
036063,001165: 32,3241 55766 TS DELVROD # = -DELV SINCE LAST P66 PASS, 2(14)CM/SEC
036064,001166: 32,3242 41764 CS OLDPIPAY
036065,001167: 32,3243 61254 AD TEMY
036066,001168: 32,3244 60071 AD RUPTREG2
036067,001169:
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|
Page 818 |
036069,001171: 32,3245 55770 TS DELVROD +2
036070,001172: 32,3246 41765 CS OLDPIPAZ
036071,001173: 32,3247 61255 AD TEMZ
036072,001174: 32,3250 60072 AD RUPTREG3
036073,001175: 32,3251 55772 TS DELVROD +4
036074,001176:
036075,001177: # PRE-INTERPRETIVE HOUSEKEEPING AND RESETTING PIPASR'S TEMS FOR NEXT P66
036076,001178:
036077,001179: 32,3252 34746 CAF ZERO
036078,001180: 32,3253 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
036079,001181: 32,3254 54160 TS MPAC +4
036080,001182: 32,3255 54162 TS MPAC +6
036081,001183: 32,3256 55253 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
036082,001184: 32,3257 55254 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
036083,001185: 32,3260 55255 TS TEMZ
036084,001186: 32,3261 44744 CS ONE
036085,001187: 32,3262 54163 TS MODE # INDICATE VECTOR IN MPAC
036086,001188:
036087,001189: # COMPUTE THE CURRENT P66 VELOCITY AND CERTAIN DISPLAYS
036088,001190:
036089,001191: 32,3263 06060 TC INTPRET
036090,001192: 32,3264 65361 ITRPNT1 VXSC PDDL # PUSH DELV SINCE LAST P66 IN 2(7)M/CS (6)
036091,001193: 32,3265 26074 KPIP1 # 1/10,000 IN 2(-7)
036092,001194: 32,3266 03762 THISTPIP
036093,001195: 32,3267 77625 DSU
036094,001196: 32,3270 01234 PIPTIME
036095,001197: 32,3271 00037 STORE 30D # TTPIP = T-TPIP IN 2(28)CS
036096,001198: 32,3272 63271 DDV PDVL # QUOTIENT = TTPIP/(1SEC) IN 2(2) (8)
036097,001199: 32,3273 27057 4SEC(28)
036098,001200: 32,3274 01236 GDT/2 # GDT/2 = VEL IN 100 CS IN 2(7)M/CS
036099,001201: 32,3275 74251 VSU VXSC # (TTPIP/1SEC)(GDT/2-VBIAS),2(9)M/CS (6)
036100,001202: 32,3276 02616 VBIAS # IN 2(7)M/CS
036101,001203: 32,3277 53352 VSL2 VAD # SHIFT YIELDS 2(7)M/CS
036102,001204: 32,3300 03527 V # IN 2(7)M/CS
036103,001205: 32,3301 45455 VAD STADR # (0)
036104,001206: 32,3302 53746 STOVL 24D # STORE P66 VELOCITY IN 2(7)M/CS
036105,001207: 32,3303 03521 R
036106,001208: 32,3304 77656 UNIT
036107,001209: 32,3305 00017 STORE 14D # UNIT(R)
036108,001210: 32,3306 72441 DOT SL1
036109,001211: 32,3307 00031 24D # P66 VELOCITY IN 2(7)M/CS
036110,001212: 32,3310 17474 STODL HDOTDISP # HDOT FOR NOUN 60 IN 2(7)M/CS
036111,001213: 32,3311 00037 30D # TTPIP IN 2(28)CS
036112,001214: 32,3312 41261 SL DMP # DELTAH IN 2(24)M =
036113,001215: 32,3313 20214 11D # 2(11) TTPIP IN 2(28)CS HDOT IN 2(7)M/CS
036114,001216: 32,3314 03474 HDOTDISP
036115,001217: 32,3315 45215 DAD DSU # DELTAH + |R| - |LAND|
036116,001218: 32,3316 00045 36D # |R| FROM PRECEDING UNIT OPERATION
036117,001219: 32,3317 02324 /LAND/
036118,001220: 32,3320 17775 STODL HCALC1 # ALTITUDE FOR N 60 IN 2(24)M
036119,001221:
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|
Page 819 |
036121,001223: # COMPUTE UNCORRECTED COMMANDED THRUST ACCELERATION
036122,001224:
036123,001225: 32,3321 03474 HDOTDISP # IN 2(7)M/CS
036124,001226: 32,3322 56221 BDSU DDV
036125,001227: 32,3323 03645 VDGVERT # IN 2(7)M/CS
036126,001228: 32,3324 02536 TAUROD # TAU IN 2(9)CS
036127,001229: 32,3325 51515 PDVL ABVAL # PUSH (VDG-HDOT)/TAU IN 2(-2)M/CS/CS (2)
036128,001230: 32,3326 01236 GDT/2 # GDT/2 = VEL IN 100CS IN 2(7)M/CS
036129,001231: 32,3327 60471 DDV SR2 # DDV YIELDS G IN 2(-4)M/CS/CS
036130,001232: 32,3330 05654 GSCALE # 100 CS IN 2(11)M/CS
036131,001233: 32,3331 00025 STORE 20D # |G| IN 2(-2)M/CS/CS
036132,001234: 32,3332 43234 RTB DAD # UP (VDG-HDOT)/TAU (0)
036133,001235: 32,3333 47600 QTPROLOG # QUICTRIG PRESERVES MPAC
036134,001236: 32,3334 45115 PDVL CALL # (VDG-HDOT)/TAU+|G| IN 2(-2)M/CS/CS (2)
036135,001237: 32,3335 06503 UNITX # X AXIS IN NB COORDS
036136,001238: 32,3336 47665 *NBSM* # TRANSFORMS TO SM COORDS
036137,001239: 32,3337 77641 DOT # YIELDS COS/4 OF ANGLE OF X WRT VERT
036138,001240: 32,3340 00017 14D # UNIT(R)
036139,001241: 32,3341 00027 STORE 22D # COS/4
036140,001242: 32,3342 45465 BDDV STADR # YIELDS ((VDG-HDOT)/TAU+|G|)/COS = (0)
036141,001243: 32,3343 50313 STOVL /AFC/ # |AFC| RAW IN 2(-4)M/CS/CS
036142,001244:
036143,001245: # COMPUTE MEASURED THRUST ACCELERATION
036144,001246:
036145,001247: 32,3344 03767 DELVROD # -DELV SINCE LAST P66 IN 2(14)CM/SEC
036146,001248: 32,3345 53361 VXSC VAD # ADD SINCE DELV IS REVERSE SIGN
036147,001249: 32,3346 26074 KPIP1 # 1/10,000 IN 2(-7)
036148,001250: 32,3347 02616 VBIAS # IN 2(7)M/CS
036149,001251: 32,3350 65246 ABVAL PDDL # PUSH DE-BIASED |DELV| IN 2(7)M/CS (2)
036150,001252: 32,3351 03762 THISTPIP
036151,001253: 32,3352 65225 DSU PDDL # PUSH PERP66 IN 2(28)CS (4)
036152,001254: 32,3353 03760 LASTTPIP
036153,001255: 32,3354 03762 THISTPIP
036154,001256: 32,3355 17760 STODL LASTTPIP # REPLACE LASTTPIP LOADING PERP66 (2)
036155,001257: 32,3356 55271 DDV BDDV # (0)
036156,001258: 32,3357 25441 SHFTFACT # SCALES PERP66 TO 2(11)CS
036157,001259: 32,3360 41325 PDDL DMP # PUSH |AF| IN 2(-4)M/CS/CS (2)
036158,001260:
036159,001261: # ADD VELOCITY EXTRAPOLATION CORRECTION TO YIELD UNLIMITED COMMANDED THRUST ACCELERATION
036160,001262:
036161,001263: 32,3361 03611 FWEIGHT # FW IN 2(14)BITS
036162,001264: 32,3362 25440 BIT1H # SCALES FW TO 2(28)BITS
036163,001265: 32,3363 56271 DDV DDV # THINK OF DIVIDES BEING REVERSED IN ORDER
036164,001266: 32,3364 01244 MASS # IN 2(16)KG
036165,001267: 32,3365 22006 SCALEFAC # SF RESCALES FW TO 10,000 2(12)NEWTON
036166,001268: 32,3366 65215 DAD PDDL # PUSH FW/SF/MASS+|AF| IN 2(-4)M/CS/CS (4)
036167,001269: 32,3367 00001 0D # |AF|
036168,001270: 32,3370 00025 20D # |G|
036169,001271: 32,3371 45271 DDV DSU # |G|/COS-FW/SF/MASS-|AF|,2(-4)M/CS/CS (2)
036170,001272: 32,3372 00027 22D # COS/4
036171,001273:
|
|
Page 820 |
036173,001275: 32,3373 43205 DMP DAD # (L/T)(|G|/COS-FW/SF/MASS-|AF|)+|AFC|
036174,001276: 32,3374 02540 LAG/TAU # (L/T) DIMENSIONLESS
036175,001277: 32,3375 03464 /AFC/
036176,001278: 32,3376 56325 PDDL DDV # PUSH |AFC| UNLIMITED IN 2(-4)M/CS/CS (4)
036177,001279:
036178,001280: # LIMIT MINFORCE/MASS <= |AFC| <= MAXFORCE/MASS
036179,001281:
036180,001282: 32,3377 02544 MAXFORCE
036181,001283: 32,3400 01244 MASS
036182,001284: 32,3401 56325 PDDL DDV # (6)
036183,001285: 32,3402 02542 MINFORCE
036184,001286: 32,3403 01244 MASS
036185,001287: 32,3404 44206 PUSH BDSU # (8)
036186,001288: 32,3405 00003 2D
036187,001289: 32,3406 71240 BMN DLOAD # (6)
036188,001290: 32,3407 65415 AFCSPOT
036189,001291: 32,3410 41545 DLOAD PUSH # (6)
036190,001292: 32,3411 51021 BDSU BPL
036191,001293: 32,3412 00003 2D
036192,001294: 32,3413 65415 AFCSPOT
036193,001295: 32,3414 77745 DLOAD # (4)
036194,001296: 32,3415 77745 AFCSPOT DLOAD # (2),(4),OR (6)
036195,001297: 32,3416 77601 SETPD # (2)
036196,001298: 32,3417 00003 2D
036197,001299: 32,3420 17464 STODL /AFC/ # CORRECTED AND LIMITED |AFC| (0)
036198,001300: 32,3421 77776 ITRPNT2 EXIT
036199,001301: 32,3422 52155 DXCH MPAC # FETCH MEASURED THRUST ACCEL FOR THROTTLE
036200,001302: 32,3423 04626 TC POSTJUMP
036201,001303: 32,3424 63514 FCADR THROT66
036202,001304:
036203,001305: # THE FOLLOWING SUBROUTINE REFERS THE X PIPA READING TO THE CENTER OF MASS
036204,001306: # BY SUBTRACTING THOSE PIPA COUNTS PRODUCED BY VERTICAL IMU MOTION
036205,001307: # RELATIVE TO THE CENTER OF MASS. THE SPACECRAFT X AXIS IS ASSUMED
036206,001308: # APPROXIMATELY VERTICAL. THE EQUATION IS:
036207,001309:
036208,001310: # OLDPIPAX = OLDPIPAX - OMEGAQ RIMUZ
036209,001311:
036210,001312: # WHERE OLDPIPAX IS THE CURRENT P66 PIPA READING, OMEGAQ IS THE ATTITUDE
036211,001313: # RATE ABOUT THE Q (Y) AXIS, AND RIMUZ IS THE Z COORDINATE OF THE IMU.
036212,001314:
036213,001315: 32,3425 35006 DEIMUBOB CA EBANK6
036214,001316: 32,3426 54003 TS EBANK
036215,001317: 32,3427 E6,1774 EBANK= END-E6
036216,001318: 32,3427 41422 CS OMEGAQ # PITCH RATE IN UNITS 45 DEG/SEC
036217,001319: 32,3430 24006 INCR BBANK
036218,001320: 32,3431 E7,1777 EBANK= END-E7
036219,001321: 32,3431 00006 EXTEND
036220,001322: 32,3432 73442 MP RIMUZ # IMU Z IN UNITS (180/PI 45) 2(14) CM
036221,001323: 32,3433 27763 ADS OLDPIPAX # CURRENT P66 PIPA X IN UNITS 2(14) CM/SEC
036222,001324: 32,3434 00002 TC Q
036223,001325:
|
|
Page 821 |
036225,001327: # CONSTANTS FOR P66
036226,001328:
036227,001329: 32,3435 02037 IDLADR GENADR DAPIDLER
036228,001330: 32,3436 00053 GHZ DEC 1.62292 E-4 B+4 # GRAVITY IN 2(-4)M/CS/CS
036229,001331:
036230,001332: 32,3437 00001 BIT1H OCT 00001 # MUST PRECEDE A ZERO
036231,001333: 32,3440 00000 04000 SHFTFACT 2DEC 1 B-17 # SCALES P66 PERIOD TO 2(1))CS
036232,001334: 32,3442 00143 RIMUZ DEC 99.486 B-14 # 1.2667 M IN UNITS (180/PI 45) 2(14) CM
036233,001335:
|
|
Page 822 The suffixed ':' in the second divider below was '=' in the original printout. The change is a workaround for our proof-reading system. |
036237,001339: # ================================================================================================================
036238,001340: # REDESIGNATOR TRAP
036239,001341: # ===============================================================================================================:
036240,001342:
036241,001343: # END INSERT
036242,001344: 11,2302 BANK 11
036243,001345: 11,2000 SETLOC F2DPS*11
036244,001346: 11,2000 BANK
036245,001347:
036246,001348: 11,2302 COUNT* $$/F2DPS
036247,001349:
036248,001350: 11,2302 56016 PITFALL XCH BANKRUPT
036249,001351: 11,2303 00006 EXTEND
036250,001352: 11,2304 22012 QXCH QRUPT
036251,001353:
036252,001354: 11,2305 05323 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
036253,001355: 11,2306 00100 DEC 64 B-14
036254,001356: 11,2307 15272 TCF RESUME
036255,001357:
036256,001358: 11,2310 00006 EXTEND
036257,001359: 11,2311 00031 READ CHAN31
036258,001360: 11,2312 40000 COM
036259,001361: 11,2313 72401 MASK ALL4BITS
036260,001362: 11,2314 55647 TS ELVIRA
036261,001363: 11,2315 34743 CAF TWO
036262,001364: 11,2316 55646 TS ZERLINA
036263,001365: 11,2317 34747 CAF FIVE
036264,001366: 11,2320 05175 TC TWIDDLE
036265,001367: 11,2321 02326 ADRES REDESMON
036266,001368: 11,2322 15272 TCF RESUME
036267,001369:
036268,001370:
036269,001371: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
036270,001372:
036271,001373:
036272,001374: 11,2323 55646 PREMON1 TS ZERLINA
036273,001375: 11,2324 34750 PREMON2 CAF SEVEN
036274,001376: 11,2325 05226 TC VARDELAY
036275,001377: 11,2326 00006 REDESMON EXTEND
036276,001378: 11,2327 00031 READ CHAN31
036277,001379: 11,2330 40000 COM
036278,001380: 11,2331 72401 MASK ALL4BITS
036279,001381: 11,2332 57647 XCH ELVIRA
036280,001382: 11,2333 54001 TS L
036281,001383: 11,2334 11647 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
036282,001384: 11,2335 12324 TCF PREMON2 # Y: CONTINUE MONITOR
036283,001385:
036284,001386: 11,2336 10001 CCS L # N: ANY LAST PASS?
036285,001387: 11,2337 12347 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
036286,001388: 11,2340 11646 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
036287,001389:
|
|
Page 823 |
036289,001391: 11,2341 12323 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
036290,001392: 11,2342 06040 RESETRPT TC C13STALL # Y: RESET RUPT, TERMINATE
036291,001393: 11,2343 34731 CAF BIT12
036292,001394: 11,2344 00006 EXTEND
036293,001395: 11,2345 05013 WOR CHAN13
036294,001396: 11,2346 15263 TCF TASKOVER
036295,001397:
036296,001398: 11,2347 34730 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
036297,001399: 11,2350 00006 EXTEND
036298,001400: 11,2351 02031 RAND CHAN31
036299,001401: 11,2352 00006 EXTEND
036300,001402: 11,2353 12342 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
036301,001403:
036302,001404: 11,2354 30001 CA L # NO
036303,001405: 11,2355 74737 MASK -AZBIT
036304,001406: 11,2356 10000 CCS A
036305,001407: 11,2357 42402 -AZ CS AZEACH
036306,001408: 11,2360 27644 ADS AZINCR1
036307,001409: 11,2361 30001 CA L
036308,001410: 11,2362 74740 MASK +AZBIT
036309,001411: 11,2363 10000 CCS A
036310,001412: 11,2364 32402 +AZ CA AZEACH
036311,001413: 11,2365 27644 ADS AZINCR1
036312,001414: 11,2366 30001 CA L
036313,001415: 11,2367 74744 MASK -ELBIT
036314,001416: 11,2370 10000 CCS A
036315,001417: 11,2371 42402 -EL CS ELEACH
036316,001418: 11,2372 27645 ADS ELINCR1
036317,001419: 11,2373 30001 CA L
036318,001420: 11,2374 74743 MASK +ELBIT
036319,001421: 11,2375 10000 CCS A
036320,001422: 11,2376 32402 +EL CA ELEACH
036321,001423: 11,2377 27645 ADS ELINCR1
036322,001424: 11,2400 12342 TCF RESETRPT
036323,001425:
036324,001426: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
036325,001427:
036326,001428: 11,2401 4743 +ELBIT = BIT2 # -PITCH
036327,001429:
036328,001430:
036329,001431: 11,2401 4744 -ELBIT = BIT1 # +PITCH
036330,001432:
036331,001433:
036332,001434: 11,2401 4740 +AZBIT = BIT5
036333,001435:
036334,001436:
036335,001437: 11,2401 4737 -AZBIT = BIT6
036336,001438:
|
|
Page 824 |
036338,001440:
036339,001441: 11,2401 00063 ALL4BITS OCT 00063
036340,001442:
036341,001443:
036342,001444: 11,2402 00436 AZEACH DEC .01746 # ONE DEGREE
036343,001445:
036344,001446:
036345,001447: 11,2403 11,2402 ELEACH = AZEACH # ONE DEGREE
036346,001448:
036347,001449:
036348,001450: 31,3545 BANK 31
036349,001451: 31,2000 SETLOC F2DPS*31
036350,001452: 31,2000 BANK
036351,001453:
036352,001454: 31,3545 COUNT* $$/F2DPS
036353,001455:
036354,001456: # ****************************************************************************************************************
036355,001457: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
036356,001458: # ****************************************************************************************************************
036357,001459:
036358,001460: # N N-1
036359,001461: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
036360,001462: # N N-1 1 0
036361,001463:
036362,001464: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
036363,001465:
036364,001466: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
036365,001467: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
036366,001468: # MPAC DP X INITIAL GUESS FOR ROOT
036367,001469:
036368,001470: # LOC-2N DP A(0)
036369,001471: # ...
036370,001472: # LOC DP A(N)
036371,001473: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
036372,001474:
036373,001475: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
036374,001476: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
036375,001477: # OUTPUTS ARE NOT TO BE TRUSTED.
036376,001478:
036377,001479: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
036378,001480: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
036379,001481: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
036380,001482: # COEFFICIENT TABLE = 1 OR > 1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
036381,001483: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
036382,001484:
036383,001485: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
036384,001486:
036385,001487: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
036386,001488: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
036387,001489: # PRECLUDE EVENTUAL CONVERGENCE.
036388,001490:
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|
Page 825 |
036390,001492: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
036391,001493: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
036392,001494:
036393,001495: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
036394,001496:
036395,001497: # STORE ENTERING DATA, INITLIZE ERASABLES
036396,001498:
036397,001499: 31,3545 00006 ROOTPSRS EXTEND
036398,001500: 31,3546 22132 QXCH RETROOT # RETURN ADRES
036399,001501: 31,3547 54117 TS PWRPTR # PWR TABL POINTER
036400,001502: 31,3550 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
036401,001503: 31,3551 33670 CA DERTABLL
036402,001504: 31,3552 54141 TS DERPTR # DER TABL POINTER
036403,001505: 31,3553 54161 TS MPAC +5 # DER TABL ADRES
036404,001506: 31,3554 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
036405,001507: 31,3555 54162 TS MPAC +6 # N-2
036406,001508: 31,3556 34746 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
036407,001509: 31,3557 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
036408,001510:
036409,001511: # COMPUTE CRITERION TO STOP ITERATING
036410,001512:
036411,001513: 31,3560 00006 EXTEND
036412,001514: 31,3561 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
036413,001515: 31,3562 52127 DXCH ROOTPS # AND IN ROOTPS
036414,001516: 31,3563 50157 INDEX MPAC +3 # PWR TABL ADRES
036415,001517: 31,3564 30005 CA 5 # PRECROOT TO A
036416,001518: 31,3565 07330 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
036417,001519: 31,3566 04704 TC USPRCADR
036418,001520: 31,3567 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
036419,001521: 31,3570 52155 DXCH MPAC
036420,001522: 31,3571 52125 DXCH DXCRIT # CRITERION
036421,001523:
036422,001524: # SET UP DER COF TABL
036423,001525:
036424,001526: 31,3572 00006 EXTEND
036425,001527: 31,3573 50117 INDEX PWRPTR
036426,001528: 31,3574 30004 DCA 3
036427,001529: 31,3575 52155 DXCH MPAC # A(N) TO MPAC
036428,001530:
036429,001531: 31,3576 30160 CA MPAC +4 # N-1 TO A
036430,001532:
036431,001533: 31,3577 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
036432,001534: 31,3600 64744 AD ONE
036433,001535: 31,3601 07337 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
036434,001536: 31,3602 00006 EXTEND
036435,001537: 31,3603 50117 INDEX PWRPTR
036436,001538: 31,3604 30002 DCA 1
036437,001539: 31,3605 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
036438,001540: 31,3606 50141 INDEX DERPTR
036439,001541: 31,3607 52004 DXCH 3 # DERCOF TO DER TABL
036440,001542:
|
|
Page 826 |
036442,001544: 31,3610 44743 CS TWO
036443,001545: 31,3611 26117 ADS PWRPTR # DECREMENT PWR POINTER
036444,001546: 31,3612 44743 CS TWO
036445,001547: 31,3613 26141 ADS DERPTR # DECREMENT DER POINTER
036446,001548: 31,3614 10140 CCS PWRCNT
036447,001549: 31,3615 13577 TCF DERCLOOP
036448,001550:
036449,001551: # CONVERGE ON ROOT
036450,001552:
036451,001553: 31,3616 00006 ROOTLOOP EXTEND
036452,001554: 31,3617 30127 DCA ROOTPS # FETCH CURRENT ROOT
036453,001555: 31,3620 52155 DXCH MPAC # LEAVE IN MPAC
036454,001556: 31,3621 00006 EXTEND
036455,001557: 31,3622 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
036456,001558: 31,3623 07236 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
036457,001559:
036458,001560: 31,3624 00006 EXTEND
036459,001561: 31,3625 30127 DCA ROOTPS
036460,001562: 31,3626 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
036461,001563: 31,3627 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
036462,001564: 31,3630 00006 EXTEND
036463,001565: 31,3631 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
036464,001566: 31,3632 07236 TC POWRSERS # YIELDS RESIDUAL IN MPAC
036465,001567:
036466,001568: 31,3633 04704 TC USPRCADR
036467,001569: 31,3634 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
036468,001570:
036469,001571: 31,3635 00006 EXTEND
036470,001572: 31,3636 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
036471,001573: 31,3637 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
036472,001574:
036473,001575: 31,3640 04704 TC USPRCADR
036474,001576: 31,3641 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
036475,001577: 31,3642 00006 EXTEND
036476,001578: 31,3643 40125 DCS DXCRIT
036477,001579: 31,3644 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
036478,001580:
036479,001581: 31,3645 30163 CA MODE
036480,001582: 31,3646 74741 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
036481,001583: 31,3647 10000 CCS A
036482,001584: 31,3650 00132 BADROOT TC RETROOT
036483,001585:
036484,001586: 31,3651 24163 INCR MODE # INCREMENT ITERATION COUNTER
036485,001587: 31,3652 10154 CCS MPAC # TEST HI ORDER DX
036486,001588: 31,3653 13616 TCF ROOTLOOP
036487,001589: 31,3654 13656 TCF TESTLODX
036488,001590: 31,3655 13662 TCF ROOTSTOR
036489,001591: 31,3656 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
036490,001592: 31,3657 13616 TCF ROOTLOOP
036491,001593: 31,3660 13662 TCF ROOTSTOR
036492,001594:
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|
Page 827 |
036494,001596: 31,3661 13662 TCF ROOTSTOR
036495,001597: 31,3662 52127 ROOTSTOR DXCH ROOTPS
036496,001598: 31,3663 52155 DXCH MPAC
036497,001599: 31,3664 30163 CA MODE
036498,001600: 31,3665 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
036499,001601: 31,3666 50132 INDEX RETROOT
036500,001602: 31,3667 10002 TCF 2
036501,001603:
036502,001604: 31,3670 00147 DERTABLL ADRES DERCOFN -3
036503,001605:
036504,001606:
036505,001607: # ****************************************************************************************************************
036506,001608: # TRASHY LITTLE SUBROUTINES
036507,001609: # ****************************************************************************************************************
036508,001610:
036509,001611: 31,3671 34746 ZEROMID CAF ZERO # ROUTINE TO ZERO THE MIDDLE COMPONENT
036510,001612: 31,3672 54157 TS MPAC +3 # OF A VECTOR IN MPAC. "TCF DANZIG"
036511,001613: 31,3673 54160 TS MPAC +4 # COULD BE A "TC Q" AT THE EXPENSE OF
036512,001614: 31,3674 16102 TCF DANZIG # A TINY AMOUNT OF TIME.
036513,001615:
036514,001616:
036515,001617: 31,3675 50000 INTPRETX INDEX A # SET X1 ON THE WAY TO THE INTERPRETER
036516,001618: 31,3676 42415 CS TARGTDEX
036517,001619: 31,3677 50120 INDEX FIXLOC
036518,001620: 31,3700 54046 TS X1
036519,001621: 31,3701 16060 TCF INTPRET
036520,001622:
036521,001623: 31,3702 31642 TDISPSET CA TTF/8
036522,001624: 31,3703 00006 EXTEND
036523,001625: 31,3704 74741 MP TSCALINV
036524,001626: 31,3705 53476 DXCH TTFDISP
036525,001627:
036526,001628: 31,3706 35005 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
036527,001629: 31,3707 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
036528,001630: 31,3710 E5,1454 EBANK= TCGFAPPR
036529,001631: 31,3710 31454 CA TCGFAPPR
036530,001632: 31,3711 24006 INCR BBANK
036531,001633: 31,3712 24006 INCR BBANK
036532,001634: 31,3713 E7,1642 EBANK= TTF/8
036533,001635: 31,3713 61642 AD TTF/8
036534,001636: 31,3714 00006 EXTEND
036535,001637: 31,3715 73763 MP TREDESCL
036536,001638: 31,3716 63760 AD -DEC103
036537,001639: 31,3717 64726 AD NEGMAX
036538,001640: 31,3720 54001 TS L
036539,001641: 31,3721 40001 CS L
036540,001642: 31,3722 60001 AD L
036541,001643: 31,3723 63762 AD +DEC99
036542,001644: 31,3724 64724 AD POSMAX
036543,001645:
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|
Page 828 |
036545,001647: 31,3725 55666 TS TREDES
036546,001648: 31,3726 41666 CS TREDES
036547,001649: 31,3727 27666 ADS TREDES
036548,001650: 31,3730 00002 TC Q
036549,001651:
036550,001652:
036551,001653: 31,3731 05644 1406POO TC POODOO
036552,001654: 31,3732 21406 OCT 21406
036553,001655: 31,3733 05571 1406ALM TC ALARM
036554,001656: 31,3734 01406 OCT 01406
036555,001657: 31,3735 13402 TCF RATESTOP
036556,001658:
036557,001659: # DESCENT OVERFLOW SUBROUTINE
036558,001660: 31,3736 00006 OVFDESC EXTEND
036559,001661: 31,3737 23456 QXCH OVFRET
036560,001662:
036561,001663: 31,3740 05571 TC ALARM
036562,001664: 31,3741 01410 OCT 01410
036563,001665:
036564,001666: 31,3742 00004 INHINT # MUST USE INHINT, IBNKCALL, RELINT
036565,001667: 31,3743 04665 TC IBNKCALL # BECAUSE DAP COULD INTERRUPT STOPRATE AND
036566,001668: 31,3744 40166 FCADR STOPRATE # BECAUSE WE COME FROM P66HZ VIA BANKCALL
036567,001669: 31,3745 00003 RELINT
036568,001670:
036569,001671: 31,3746 34746 CA ZERO
036570,001672: 31,3747 54121 TS OVFIND
036571,001673:
036572,001674: 31,3750 01456 TC OVFRET
036573,001675:
|
|
Page 829 |
036575,001677:
036576,001678: # ****************************************************************************************************************
036577,001679: # SPECIALIZED "PHASCHNG" SUBROUTINE
036578,001680: # ****************************************************************************************************************
036579,001681:
036580,001682: 31,3751 E3,1440 EBANK= PHSNAME2
036581,001683: 31,3751 35000 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
036582,001684: 31,3752 56003 XCH EBANK
036583,001685: 31,3753 52002 DXCH L
036584,001686: 31,3754 55442 TS PHSNAME3
036585,001687: 31,3755 22003 LXCH EBANK
036586,001688: 31,3756 E7,1621 EBANK= E2DPS
036587,001689: 31,3756 00000 TC A
036588,001690:
036589,001691: # ****************************************************************************************************************
036590,001692: # PARAMETER TABLE INDIRECT ADDRESSES
036591,001693: # ****************************************************************************************************************
036592,001694:
036593,001695: 31,3757 E5,1402 RDG = RBRFGX
036594,001696: 31,3757 E5,1412 VDG = VBRFGX
036595,001697: 31,3757 E5,1422 ADG = ABRFGX
036596,001698: 31,3757 E5,1432 VDG2TTF = VBRFG*
036597,001699: 31,3757 E5,1436 ADG2TTF = ABRFG*
036598,001700: 31,3757 E5,1442 JDG2TTF = JBRFG*
036599,001701:
036600,001702: # ****************************************************************************************************************
036601,001703: # LUNAR LANDING CONSTANTS
036602,001704: # ***************************************************************************************************************
036603,001705:
036604,001706: 31,3757 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
036605,001707:
036606,001708:
036607,001709: 31,3760 4731 TTFSCALE = BIT12
036608,001710:
036609,001711:
036610,001712: 31,3760 4741 TSCALINV = BIT4
036611,001713:
036612,001714:
036613,001715: 31,3760 77630 -DEC103 DEC -103 B-14
036614,001716:
036615,001717:
036616,001718: 31,3761 00155 P64DB OCT 00155 # 0.3 DEGREES SCALED AT CDU SCALING
036617,001719:
036618,001720:
036619,001721: 31,3762 00143 +DEC99 DEC +99 B-14
036620,001722:
036621,001723:
036622,001724: 31,3763 75340 TREDESCL DEC -.08
036623,001725:
|
|
Page 830 |
036625,001727: 31,3764 00264 180DEGS DEC +180 B-14
036626,001728:
036627,001729:
036628,001730: 31,3765 00056 1/2DEG DEC +.00278
036629,001731:
036630,001732:
036631,001733: 31,3766 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
036632,001734:
036633,001735:
036634,001736: 31,3767 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
036635,001737:
036636,001738:
036637,001739: 31,3770 01477 V06N63 VN 0663 # P63
036638,001740:
036639,001741: 31,3771 01500 V06N64 VN 0664 # P64
036640,001742:
036641,001743: 31,3772 01474 V06N60 VN 0660 # P65, P66, P67
036642,001744:
036643,001745:
036644,001746: 22,3651 BANK 22
036645,001747: 22,2000 SETLOC LANDCNST
036646,001748: 22,2000 BANK
036647,001749: 22,3651 COUNT* $$/F2DPS
036648,001750:
036649,001751: 22,3651 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
036650,001752: 22,3653 01440 00000 GSCALE 2DEC 100 B-11
036651,001753: 22,3655 14000 00000 3/8DP 2DEC .375
036652,001754: 22,3657 30000 00000 3/4DP 2DEC .750
036653,001755: 22,3661 77534 45074 DEPRCRIT 2DEC -.02 B-1
036654,001756: # ****************************************************************************************************************
036655,001757: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc