Assembly listing generated by yaYUL

Source Code

These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9 LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of original core rope program modules, as follows:

B1 — Revision 292
B2 — Revision 302
B3 — Revision 302
B4 — Revision 302
B5 — Revision 292
B6 — Revision 306

These dumps were then modified using memos, checklists, observed address changes, and the Sundance GSOPs to get the entire program to match Sundance revision 306 as closely as possible. Without more information, it is not possible to say how close it actually is; however, this code should be quite close. It is capable of flying the whole Apollo 9 mission using the original checklists and padload. Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

031679,000002: 031680,000003: 031681,000004: 031682,000005: 031683,000006: 031684,000007: 031685,000008: 031686,000009: 031687,000010: 031688,000011: 031689,000012: 031690,000013: 031691,000014: 031692,000015: 031693,000016: 031694,000017: 031695,000018: 031696,000019: 031697,000020: 31,2417 E7,1606 031698,000021: 031699,000022: 31,2417 031700,000023: 031701,000024: 031702,000025: 031703,000026: 031704,000027: 031705,000028: 031706,000029: 031707,000030: 031708,000031: 031709,000032: 031710,000033: 031711,000034: 031712,000035: 031713,000036: 031714,000037: 031715,000038: 031716,000039: 031717,000040: 031718,000041: 032539,000862: 032540,000863: 21,2050 032541,000864: 21,2051 032542,000865: 21,2052 032543,000866: 21,2053 032544,000867: 032545,000868: 21,2055 032546,000869: 21,2056 032547,000870: 032548,000871: 21,2057 032549,000872: 21,2060 032550,000873: 032551,000874: 21,2062 032552,000875: 21,2063 032553,000876: 21,2064 032554,000877: 21,2065 032555,000878: 032556,000879: 21,2067 032557,000880: 21,2070 032558,000881: 032559,000882: 032560,000883: 032561,000884: 032798,001121: 032799,001122: 032800,001123: < 032812,001135: 31,3572 032813,001136: 31,3574 032814,001137: < 032816,001139: 31,3600 032817,001140: 31,3602 032818,001141: < 032820,001143: 31,3606 032821,001144: 31,3610 032822,001145: < 032828,001151: 31,3622 032829,001152: 31,3624 032830,001153: < 032832,001155: 31,3630 032833,001156: 31,3632 032834,001157: < 032836,001159: 31,3636 032837,001160: 31,3640 032838,001161: < 032854,001177: 032855,001178: 032871,001194: 032872,001195: 032873,001196: < 032875,001198: 032876,001199: < 032878,001201: 032879,001202: < 032881,001204: 31,3673 032882,001205: 31,3675 032883,001206: 032884,001207: < 032886,001209: 032887,001210: < 032889,001212: 032890,001213: < 032892,001215: 032893,001216: < 032895,001218: 032896,001219: ## Copyright: Public domain. ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc ## Purpose: A section of an attempt to reconstruct Sundance revision 306 ## as closely as possible with available information. Sundance ## 306 is the source code for the Lunar Module's (LM) Apollo ## Guidance Computer (AGC) for Apollo 9. This program was created ## using the mixed-revision SundanceXXX as a starting point, and ## pulling back features from Luminary 69 believed to have been ## added based on memos, checklists, observed address changes, ## or the Sundance GSOPs. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2020-07-24 MAS Created from SundanceXXX. ## 2021-05-30 ABS DEC -> DEC* for extended address fields. EBANK= E2DPS COUNT* $$/F2DPS # **************************************************************************************************************** # LUNAR LANDING FLIGHT SEQUENCE TABLES # **************************************************************************************************************** # FLIGHT SEQUENCE TABLES ARE ARRANGED BY PHASE. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE: # WCHPHASE -1 ---> DISPLAY ROUTINES # WCHPHASE +0 ---> ROUTINE FOR STARTING NEW GUIDANCE PHASES # WCHPHASE +1 ---> GUIDANCE EQUATIONS # WCHPHASE +2 ---> WINDOW VECTOR COMPUTATIONS # WCHPHASE +3 ---> EXIT CRITERION # WCHPHASE +4 ---> POST GUIDANCE EQUATION COMPUTATIONS # WCHPHASE +5 ---> INDICES FOR REFERENCING TARGET PARAMETERS # WCHPHASE +6 ---> AUGMENT FOR TTF/8 # *************************************************************************************************************** # IGNITION ALGORITHM: # -1 NO DISPLAYS >031719,000042: 31,2417 12563 IGNALG TCF TTFINCR # +0 13045 TCF TTF/8CL # +1 13171 TCF EXGSUB # +2 00000 DEC 0 B-14 # +3 12770 TCF CGCALC # +4 00000 OCT 0 # +5 02506 DEC 108 E2 B-17 # +6 # BRAKING QUADRATIC: 13306 TCF P63DISPS # -1 144">031730,000053: 31,2427 12563 BRAKQUAD TCF TTFINCR # +0 13045 TCF TTF/8CL # +1 13205 TCF EXBRAK # +2 77405 DEC -20 E2 B-17 # +3 12770 TCF CGCALC # +4 00000 OCT 0 # +5 00000 DEC 0 B-14 # +6 # BRAKING LINEAR: 13306 TCF P63DISPS # -1 E47">031740,000063: 31,2437 12553 BRAKLING TCF LINSET # +0 13036 TCF LINGUID # +1 13205 TCF EXBRAK # +2 77746 DEC -2 E2 B-17 # +3 13014 TCF RGVGCALC # +4 00000 OCT 0 # +5 00000 DEC 0 B-14 # +6 # APPROACH QUADRATIC: 13312 TCF P64DISPS # -1 144">031750,000073: 31,2447 12543 APPRQUAD TCF STARTP64 # +0 13045 TCF TTF/8CL # +1 13211 TCF EXNORM # +2 77602 DEC -10 E2 B-17 # +3 12636 TCF REDESIG # +4 00030 OCT 30 # +5 74110 DEC -158 E2 B-17 # +6 # APPROACH LINEAR: 13312 TCF P64DISPS # -1 E47">031760,000083: 31,2457 12553 APPRLING TCF LINSET # +0 13036 TCF LINGUID # +1 13211 TCF EXNORM # +2 77746 DEC -2 E2 B-17 # +3 13014 TCF RGVGCALC # +4 00030 OCT 30 # +5 00000 DEC 0 B-14 # +6 # VERTICAL: 13335 TCF VERTDISP # -1 14C">031770,000093: 31,2467 12534 VERTICAL TCF P65START # +0 13352 TCF VERTGUID # +1 13262 TCF EXVERT # +2 37777 OCT 37777 # +3 13014 TCF RGVGCALC # +4 # **************************************************************************************************************** # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT # **************************************************************************************************************** # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE 542">031782,000105: 31,2474 77776 ?GUIDSUB EXIT 35026 CAF ONE # N = 2 2">031784,000107: 31,2476 55656 GUIDSUB TS NGUIDSUB 12505 TCF GUILDRET # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT 4">031790,000113: 31,2500 05403 LUNLAND TC 2PHSCHNG 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK 05022 OCT 05022 # GROUP 2: PROTECT GUIDANCE WITH PRIO 21 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY 02171 TC GUILDEN # **************************************************************************************************************** # INITIALIZATION FOR THIS PASS # **************************************************************************************************************** COUNT* $$/F2DPS 554">031803,000126: 31,2505 51606 GUILDRET INDEX WCHPHASE 30005 CA 5 55610 TS TARGTDEX 40000 COM 50120 INDEX FIXLOC 54046 TS X1 00006 EXTEND 31612 DCA TPIP 53562 DXCH TPIPOLD 03562 TC FASTCHNG 00006 EXTEND 31234 DCA PIPTIME 53612 DXCH TPIP 00006 EXTEND 31636 DCA TTF/8 53547 DXCH TTF/8TMP 11607 CCS FLPASS0 12563 TCF TTFINCR 1">031827,000150: 31,2527 51606 BRSPOT1 INDEX WCHPHASE 30006 CA 6 27546 ADS TTF/8TMP 51606 INDEX WCHPHASE 10000 TCF 0 # **************************************************************************************************************** # ROUTINES TO START NEW PHASES # **************************************************************************************************************** 254">031837,000160: 31,2534 05361 P65START TC NEWMODEX 00101 DEC 65 B-14 45025 CS TWO 55656 TS WCHVERT 05600 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE 17140 CADR XOVINFLG 12563 TCF TTFINCR 634">031847,000170: 31,2543 05361 STARTP64 TC NEWMODEX 00100 DEC 64 B-14 35013 CA BIT12 # ENABLE RUPT10 00006 EXTEND 05013 WOR CHAN13 05600 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG 00143 ADRES REDFLAG 12563 TCF TTFINCR # **************************************************************************************************************** # SET LINEAR GUIDANCE COEFFICIENTS # **************************************************************************************************************** >031860,000183: 31,2553 06014 LINSET TC INTPRET 51775 VLOAD VSU* # - - - 03640 ACG # JLING = (ACG - ADG)/TTF 23571 ADG,1 77741 V/SC 03547 TTF/8TMP # TTF/8 NOT YET UPDATED 03646 STORE JLING # JLING IS IN UMITS OF 2(-18) M/CS/CS/CS 77776 EXIT # (CONTINUE TO TTFINCR) # **************************************************************************************************************** # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS # **************************************************************************************************************** # TTFINCR COMPUTATIONS ARE AS FOLLOWS:- # TTF/8 UPDATED FOR TIME SINCE LAST PASS: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8 # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION: # - - - - # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM) # SLANT RANGE TO LANDING SITE, FOR DISPLAY: # - - # RANGEDSP = ABVAL(LAND - R) 2">031891,000214: 31,2563 06014 TTFINCR TC INTPRET 45345 DLOAD DSU 03612 TPIP 03562 TPIPOLD 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS 21214 11D 47361 VXSC VXV 03630 LAND 03622 WM 47045 BVSU RTB 03630 LAND 21672 NORMUNIT 76561 VXSC VSL1 02023 /LAND/ 03541 STORE LANDTEMP 51451 VSU ABVAL 03476 R 02423 STORE RANGEDSP 47375 VLOAD VXV 03476 R 03622 WM 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS 03504 V 17572 STODL ANGTERM 77776 EXIT 52155 DXCH MPAC 21547 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP 03562 TC FASTCHNG 00006 EXTEND 31547 DCA TTF/8TMP 53636 DXCH TTF/8 00006 EXTEND 31541 DCA LANDTEMP 53630 DXCH LAND 00006 EXTEND 31543 DCA LANDTEMP +2 53632 DXCH LAND +2 00006 EXTEND 31545 DCA LANDTEMP +4 53634 DXCH LAND +4 03535 TC TDISPSET 2">031938,000261: 31,2634 51606 BRSPOT2 INDEX WCHPHASE 10004 TCF 4 # **************************************************************************************************************** # LANDING SITE PERTURBATION EQUATIONS # **************************************************************************************************************** 7">031945,000268: 31,2636 03562 REDESIG TC FASTCHNG 30102 CA FLAGWRD6 # IS REDFLAG SET? 75021 MASK REDFLBIT 10000 CCS A 12645 TCF +3 55653 TS ELINCR1 55654 TS AZINCR1 31702 CA TREDES # YES: HAS TREDES REACHED ZERO? 00006 EXTEND 12770 BZF CGCALC # YES: SKIP REDESIGNATION LOGIC 00004 INHINT 31653 CA ELINCR1 55565 TS ELINCR 31654 CA AZINCR1 55563 TS AZINCR 03562 TC FASTCHNG 35030 CA ZERO 55653 TS ELINCR1 55654 TS AZINCR1 00003 RELINT 55566 TS ELINCR +1 55564 TS AZINCR +1 06014 TC INTPRET 77201 SETPD VLOAD 00001 0 03630 LAND 47051 VSU RTB # - - 03476 R # PUSH DOWN UNIT (LAND - R) 21672 NORMUNIT 76521 MXV VSL1 02150 XNBPIP 14025 STODL 20D 00025 20D 44205 DMP BDSU 03566 ELINCR 00031 24D 74525 PDDL VSR1 03564 AZINCR 65215 DAD PDDL 00027 22D 00031 24D 43205 DMP DAD 03566 ELINCR 00025 20D 61266 VDEF VXM 02150 XNBPIP 71206 PUSH DLOAD 00001 0 77625 DSU 23707 DEPRCRIT 71240 BMN DLOAD 62724 REDES1 23707 DEPRCRIT 00001 STORE 0 >032003,000326: 31,2724 45345 REDES1 DLOAD DSU 03630 LAND 03476 R 74271 DDV VXSC 00001 0 53455 VAD UNIT 03476 R 76561 VXSC VSL1 02023 /LAND/ 03541 STORE LANDTEMP 47051 VSU RTB 03476 R 21672 NORMUNIT 72441 DOT SL1 02150 XNBPIP 67476 VCOMP ASIN 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC 33655 CAF 360DEGS 07261 TC SHORTMP 35011 CAF BIT14 54001 TS L 35030 CAF ZERO 20155 DAS MPAC 52155 DXCH MPAC 07516 TC ALSIGNAG 55703 TS GEFF 03562 TC FASTCHNG 00006 EXTEND 31541 DCA LANDTEMP 53630 DXCH LAND 00006 EXTEND 31543 DCA LANDTEMP +2 53632 DXCH LAND +2 00006 EXTEND 31545 DCA LANDTEMP +4 53634 DXCH LAND +4 # *************************************************************************************************************** # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX # *************************************************************************************************************** >032048,000371: 31,2770 06014 CGCALC TC INTPRET 53575 VLOAD UNIT 03630 LAND 26401 STOVL CG # FIRST ROW 03572 ANGTERM 53361 VXSC VAD # REMEMBER THAT ANGTERM IS DOUBLE-SIZED 03636 TTF/8 03630 LAND 47051 VSU RTB 03476 R 21672 NORMUNIT 47035 VXV RTB 03630 LAND 21672 NORMUNIT 26407 STOVL CG +6 # SECOND ROW 02401 CG 76435 VXV VSL1 02407 CG +6 02415 STORE CG +14 77776 EXIT # **************************************************************************************************************** # COMPUTE STATE IN GUIDANCE COORDINATES # **************************************************************************************************************** # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:- # VELOCITY RELATIVE TO THE SURFACE: # - - - - # ANGTERM = V + R * WM # STATE IN GUIDANCE COORDINATES: # - * - - # RGU = CG (R - LAND) # - * - - - # VGU = CG (V - WM * R) # HORIZONTAL VELOCITY FOR DISPLAY: # VHORIZ = 8 ABVAL (0, VG , VG ) # 2 1 # DEPRESSION ANGLE FOR DISPLAY: # - - - # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP) C43">032100,000423: 31,3014 06014 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG 52375 VLOAD VSU 03476 R # - - 03630 LAND # PUSH DOWN R - LAND 76521 MXV VSL1 02401 CG 27532 STOVL RGU 03572 ANGTERM 77721 MXV 02401 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED 03614 STORE VGU 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS 06233 ZEROVECS # 2 1 52446 ABVAL SL3 17705 STODL VHORIZ # VHORIZ FOR DISPLAY DURING P65, P66, P67 77776 EXIT 3">032117,000440: 31,3034 51606 BRSPOT3 INDEX WCHPHASE 10001 TCF 1 # **************************************************************************************************************** # LINEAR GUIDANCE EQUATION # **************************************************************************************************************** 4">032124,000447: 31,3036 06014 LINGUID TC INTPRET 74375 VLOAD VXSC # - - - 03646 JLING # ACG = ADG + JLING TTF 03636 TTF/8 52053 VAD* GOTO 23571 ADG,1 63135 AFCCALC +2 # **************************************************************************************************************** # TTF/4 COMPUTATION # **************************************************************************************************************** C">032136,000459: 31,3045 00006 TTF/8CL EXTEND 51610 INDEX TARGTDEX 33617 DCA JDG2TTF # A(3) = 8 JDG TO TABLTTF 53557 DXCH TABLTTF +6 # 2 00006 EXTEND 51610 INDEX TARGTDEX 33615 DCA ADG2TTF # A(2) = 6 ADG TO TABLTTF 53555 DXCH TABLTTF +4 # 2 00006 EXTEND 31620 DCA VGU +4 52155 DXCH MPAC 33667 CAF 3/4DP 07261 TC SHORTMP 00006 EXTEND 51610 INDEX TARGTDEX 33613 DCA VDG2TTF 20155 DAS MPAC 52155 DXCH MPAC # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF 53553 DXCH TABLTTF +2 # 2 2 00006 EXTEND 41536 DCS RGU +4 52155 DXCH MPAC 00006 EXTEND 51610 INDEX TARGTDEX 33603 DCA RDG +4 20155 DAS MPAC 33664 CAF 3/8 07261 TC SHORTMP 52155 DXCH MPAC # A(0) = -24 (RGU - RDG )/64 TO TABLTTF 53551 DXCH TABLTTF # 2 2 35017 CA BIT8 55560 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE 00006 EXTEND 31636 DCA TTF/8 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC 00006 EXTEND 33651 DCA TABLTTFL 03416 TC ROOTPSRS # YIELDS TTF/8 IN MPAC 00006 EXTEND 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC 53636 DXCH TTF/8 # CORRECTED TTF/8 03535 TC TDISPSET # (CONTINUE TO QUADGUID) # **************************************************************************************************************** # MAIN GUIDANCE EQUATION # **************************************************************************************************************** # AS PUBLISHED:- # - - - - # - - 6(VDG + VG) 12(RDG - RG) # ACG = ADG + ----------- + ------------ # TTF (TTF)(TTF) # AS HERE PROGRAMMED:- # - - # 3 (1/4(RDG - RG) - - ) # - (------------- + VDG + VG) # - 4 ( TTF/8 ) - # ACG = ---------------------------- + ADG # TTF/8 944">032205,000528: 31,3117 06014 QUADGUID TC INTPRET 52373 VLOAD* VSU 23577 RDG,1 03532 RGU 70541 V/SC VSR2 03636 TTF/8 53253 VAD* VAD 23605 VDG,1 03614 VGU 74341 V/SC VXSC 03636 TTF/8 23670 3/4DP 3">032217,000540: 31,3133 77653 AFCCALC VAD* 23571 ADG,1 # CURRENT TARGET ACCELERATION 03640 STORE ACG 331">032220,000543: 31,3136 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE 02401 CG 70315 PDVL V/SC 01236 GDT/2 23663 GSCALE 45445 BVSU STADR 74527 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED 77646 ABVAL 332">032228,000551: 31,3146 03570 AFCCALC2 STORE /AFC/ # MAGNITUDE OF AFC FOR THROTTLE 77776 EXIT 03562 TC FASTCHNG 25607 INCR FLPASS0 # INCREMENT PASS COUNTER # (CONTINUE TO EXTLOGIC) # **************************************************************************************************************** # PREPARE TO EXIT # **************************************************************************************************************** # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES 943">032242,000565: 31,3152 51606 EXTLOGIC INDEX WCHPHASE 40003 CS 3 61635 AD TTF/8 00006 EXTEND 51606 INDEX WCHPHASE 60002 BZMF 2 31606 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC 55537 TS WCHPHOLD 03562 TC FASTCHNG 31537 CA WCHPHOLD 65023 AD BIT4 22007 ZL # +0 53607 DXCH WCHPHASE # ADVANCING WCHPHASE AND RESETTING FLPASS0 51537 INDEX WCHPHOLD 10002 TCF 2 # **************************************************************************************************************** # ROUTINES FOR EXITING FROM LANDING GUIDANCE # **************************************************************************************************************** # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM. # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR. # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN. # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.) >032274,000597: 31,3171 11656 EXGSUB CCS NGUIDSUB 12476 TCF GUIDSUB 25655 INCR NIGNLOOP 45022 CS BIT5 61655 AD NIGNLOOP 00006 EXTEND 63202 BZMF +3 05651 TC ALARM 01412 OCT 01412 06014 +3 TC INTPRET 77650 GOTO 65002 DDUMCALC >032288,000611: 31,3205 06014 EXBRAK TC INTPRET 52175 VLOAD GOTO 03524 UNIT/R/ 63256 STEER? >032293,000616: 31,3211 06014 EXNORM TC INTPRET 52375 VLOAD VSU 03630 LAND 03476 R 77634 RTB 21672 NORMUNIT 00025 STORE 20D # UNIT(LAND - R) IS TENTATIVE CHOICE 50235 VXV DOT 02150 XNBPIP 02407 CG +6 00023 STORE 18D # PROJ 1/8 REAL SIZE 50025 DSU BMN 23711 PROJMAX 63232 +4 52175 VLOAD GOTO 00025 20D 63256 STEER? 77745 DLOAD 00023 18D 51025 DSU BPL 23713 PROJMIN 63242 +4 52175 VLOAD GOTO 02415 CG +12D 63256 STEER? 45345 DLOAD DSU 00023 18D 23711 PROJMAX 65361 VXSC PDDL 02415 CG +12D 00023 18D 74225 DSU VXSC 23713 PROJMIN 00025 20D 77651 VSU 77741 V/SC 23715 PROJDIV >032331,000654: 31,3256 03256 STEER? STORE UNWC/2 77414 BOFF EXIT # IF STEERSW DOWN NO OUTPUTS 01344 STEERSW 63274 DISPEXIT -1 >032336,000659: 31,3262 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW 13270 BZF +4 F57">032340,000663: 31,3265 05651 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY. 01410 OCT 01410 13275 TCF DISPEXIT >032345,000668: 31,3270 02235 GDUMP1 TC THROTTLE 06014 TC INTPRET 77624 CALL 61220 FINDCDUW -2 77776 EXIT # (CONTINUE TO DISPEXIT) # **************************************************************************************************************** # GUIDANCE LOOP DISPLAYS # **************************************************************************************************************** 954">032358,000681: 31,3275 00006 DISPEXIT EXTEND # KILL GROUP 2: DISPLAYS WILL BE 35030 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE 52755 DXCH -PHASE2 40104 CS FLAGWRD8 # IF FLUNDISP SET, NO DISPLAY THIS PASS 75015 MASK FLUNDBIT 00006 EXTEND 13311 BZF ENDLLJOB # TO PICK UP THE TAG 51606 INDEX WCHPHASE 07777 TCF 0 -1 053">032370,000693: 31,3306 33716 P63DISPS CAF V06N63 D4E">032371,000694: 31,3307 04655 DISPCOMN TC BANKCALL 20364 CADR GODSPR F42">032374,000697: 31,3311 15225 ENDLLJOB TCF ENDOFJOB 053">032376,000699: 31,3312 40102 P64DISPS CS FLAGWRD6 # NO: IS REDFLAG SET? 75021 MASK REDFLBIT 00006 EXTEND 13333 BZF REDES-OK # YES: DO STATIC DISPLAY 33717 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY 04655 TC BANKCALL 20375 CADR REFLASHR 14106 TCF GOTOPOOH # TERMINATE 13325 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS 13312 TCF P64DISPS # RECYCLE 13311 TCF ENDLLJOB # TO PICK UP THE TAG 4">032391,000714: 31,3325 35030 P64CEED CAF ZERO 55653 TS ELINCR1 55654 TS AZINCR1 05566 TC UPFLAG # ENABLE REDESIGNATION LOGIC 00143 ADRES REDFLAG 15225 TCF ENDOFJOB F4B">032400,000723: 31,3333 33717 REDES-OK CAF V06N64 13307 TCF DISPCOMN 350">032404,000727: 31,3335 35024 VERTDISP CAF FOUR 04655 TC BANKCALL 66741 CADR ALTCHK 13350 TCF VERTDSP2 33720 CAF V06N60 04655 TC BANKCALL 20375 CADR REFLASHR 14106 TCF GOTOPOOH 12000 TCF LANDJUNK 13335 TCF VERTDISP 13311 TCF ENDLLJOB 032">032418,000741: 31,3350 33720 VERTDSP2 CAF V06N60 13307 TCF DISPCOMN # **************************************************************************************************************** # GUIDANCE FOR VERTICAL DESCENT # **************************************************************************************************************** 944">032425,000748: 31,3352 11656 VERTGUID CCS WCHVERT 13275 TCF DISPEXIT # POSITIVE P67, WHICH SKIPS ALL GUIDANCE 13371 TCF P66VERT # +0 # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:- # - - # - VDGVERT - VGU - # ACG = ------------- , WHERE VDGVERT = (-3FPS,0,0) # TAUVERT 4">032436,000759: 31,3355 00006 P65VERT EXTEND # NEGATIVE 43703 DCS +3FPS 53654 DXCH VDGVERT 06014 TC INTPRET 65375 VLOAD PDDL 06233 ZEROVECS 03654 VDGVERT 52266 VDEF VSU # FORM (VDGVERT,0,0), LEAVING DP 0 IN PDL 03614 VGU 52141 V/SC GOTO 23657 TAUVERT 63136 AFCCALC1 # THE R.O.D. EQUATION IS AS FOLLOWS:- # (VDGVERTX - VGUX)/TAUVERT - GMOON # /AFC/ = --------------------------------- # UNIT/R/ . XNB 4">032457,000780: 31,3371 57655 P66VERT XCH RODCOUNT # RESTART COULD CAUSE RODCOUNTS TO BE LOST 00006 EXTEND 73701 MP +1FPS 21654 DAS VDGVERT 03562 TC FASTCHNG 06014 TC INTPRET 45345 DLOAD DSU 03654 VDGVERT 03614 VGU 45271 DDV DSU 23661 TAUROD 23700 MOONG 50315 PDVL DOT # HAVE ACC IN UNITS OF 2(-2) M/CS/CS 02150 XNBPIP 03524 UNIT/R/ 45465 BDDV STADR 74207 STORE /AFC/ 77404 BOVB EXIT 63265 EXOVFLOW 02235 TC THROTTLE 13275 TCF DISPEXIT # **************************************************************************************************************** # REDESIGNATOR TRAP # **************************************************************************************************************** BANK 21 SETLOC F2DPS*21 BANK COUNT* $$/F2DPS C">032490,000813: 21,2000 56016 PITFALL XCH BANKRUPT 00006 EXTEND 22012 QXCH QRUPT 05375 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE 00100 DEC 64 B-14 15340 TCF RESUME 00006 EXTEND 00031 READ CHAN31 40000 COM 72071 MASK ALL4BITS 55656 TS ELVIRA 35025 CAF TWO 55655 TS ZERLINA 35031 CAF FIVE 05243 TC TWIDDLE 02024 ADRES REDESMON 15340 TCF RESUME # REDESIGNATION MONITOR (INITIATED BY PITFALL) 1">032515,000838: 21,2021 55655 PREMON1 TS ZERLINA 2">032516,000839: 21,2022 35032 PREMON2 CAF SEVEN 05274 TC VARDELAY F4E">032518,000841: 21,2024 00006 REDESMON EXTEND 00031 READ 31 40000 COM 72071 MASK ALL4BITS 57656 XCH ELVIRA 54001 TS L 11656 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS? 12022 TCF PREMON2 # Y: CONTINUE MONITOR 10001 CCS L # N: ANY LAST PASS? 12044 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE 11655 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET? 12021 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE 054">032531,000854: 21,2040 35013 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE 00006 EXTEND 05013 WOR CHAN13 15331 TCF TASKOVER 54D">032536,000859: 21,2044 30001 COUNT'EM CA L 75021 MASK -AZBIT 10000 CCS A 21,2047 42072 -AZ CS AZEACH 27654 ADS AZINCR1 30001 CA L 75022 MASK +AZBIT 10000 CCS A 21,2054 32072 +AZ CA AZEACH 27654 ADS AZINCR1 30001 CA L 75026 MASK -ELBIT 10000 CCS A 21,2061 42073 -EL CS ELEACH 27653 ADS ELINCR1 30001 CA L 75025 MASK +ELBIT 10000 CCS A 21,2066 32073 +EL CA ELEACH 27653 ADS ELINCR1 12040 TCF RESETRPT # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM >032562,000885: 21,2071 5025 +ELBIT = BIT2 # -PITCH >032565,000888: 21,2071 5026 -ELBIT = BIT1 # +PITCH >032568,000891: 21,2071 5022 +AZBIT = BIT5 >032571,000894: 21,2071 5021 -AZBIT = BIT6 453">032573,000896: 21,2071 00063 ALL4BITS OCT 00063 >032576,000899: 21,2072 01074 AZEACH DEC .03491 # 2 DEGREES >032579,000902: 21,2073 00217 ELEACH DEC .00873 # 1/2 DEGREE # **************************************************************************************************************** # R.O.D. TRAP # ************************************************************************ BANK 21 SETLOC RODTRAP BANK COUNT* $$/F2DPS # **************************************** 453">032591,000914: 21,2074 75020 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS 45025 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT 65026 AD ONE 27655 ADS RODCOUNT 15340 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED BANK 31 SETLOC F2DPS*31 BANK COUNT* $$/F2DPS # **************************************************************************************************************** # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP) # **************************************************************************************************************** # N N-1 # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A # N N-1 1 0 # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL # L SP N-1 N IS THE DEGREE OF THE POWER SERIES # MPAC DP X INITIAL GUESS FOR ROOT # LOC-2N DP A(0) # ... # LOC DP A(N) # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS) # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2. # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 32 PASSES, RETURN IS TO LOC+1 AND # OUTPUTS ARE NOT TO BE TRUSTED. # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE # COEFFICIENT TABLE = 1 OR > 1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I. # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT # PRECLUDE EVENTUAL CONVERGENCE. # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS. # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7. # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE. # STORE ENTERING DATA, INITLIZE ERASABLES 253">032649,000972: 31,3416 00006 ROOTPSRS EXTEND 22132 QXCH RETROOT # RETURN ADRES 54117 TS PWRPTR # PWR TABL POINTER 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1 33534 CA DERTABLL 54141 TS DERPTR # DER TABL POINTER 54161 TS MPAC +5 # DER TABL ADRES 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS 54162 TS MPAC +6 # N-2 35030 CA ZERO # MODE USED AS ITERATION COUNTER. MODE 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC # COMPUTE CRITERION TO STOP ITERATING 00006 EXTEND 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC 52127 DXCH ROOTPS # AND IN ROOTPS 50157 INDEX MPAC +3 # PWR TABL ADRES 30005 CA 5 # PRECROOT TO A 07261 TC SHORTMP # YIELDS DP PRODUCT IN MPAC 04766 TC USPRCADR 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC 52155 DXCH MPAC 52125 DXCH DXCRIT # CRITERION # SET UP DER COF TABL 00006 EXTEND 50117 INDEX PWRPTR 30004 DCA 3 52155 DXCH MPAC # A(N) TO MPAC 30160 CA MPAC +4 # N-1 TO A F50">032683,001006: 31,3450 54140 DERCLOOP TS PWRCNT # LOOP COUNTER 65026 AD ONE 07270 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC 00006 EXTEND 50117 INDEX PWRPTR 30002 DCA 1 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF 50141 INDEX DERPTR 52004 DXCH 3 # DERCOF TO DER TABL 45025 CS TWO 26117 ADS PWRPTR # DECREMENT PWR POINTER 45025 CS TWO 26141 ADS DERPTR # DECREMENT DER POINTER 10140 CCS PWRCNT 13450 TCF DERCLOOP # CONVERGE ON ROOT F50">032702,001025: 31,3467 00006 ROOTLOOP EXTEND 30127 DCA ROOTPS # FETCH CURRENT ROOT 52155 DXCH MPAC # LEAVE IN MPAC 00006 EXTEND 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2 07171 TC POWRSERS # YIELDS DERIVATIVE IN MPAC 00006 EXTEND 30127 DCA ROOTPS 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR 00006 EXTEND 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1 07171 TC POWRSERS # YIELDS RESIDUAL IN MPAC 04766 TC USPRCADR 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC 00006 EXTEND 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS 04766 TC USPRCADR 01226 CADR ABS # YIELDS ABS(DX) IN MPAC 00006 EXTEND 40125 DCS DXCRIT 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC 24163 INCR MODE # INCREMENT ITERATION COUNTER 10154 CCS MPAC # TEST HI ORDER DX 13467 TCF ROOTLOOP 13523 TCF TESTLODX 13527 TCF ROOTSTOR 458">032736,001059: 31,3523 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX 13467 TCF ROOTLOOP 13527 TCF ROOTSTOR 13527 TCF ROOTSTOR F52">032740,001063: 31,3527 52127 ROOTSTOR DXCH ROOTPS 52155 DXCH MPAC 30163 CA MODE 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2 00132 TC RETROOT C4C">032747,001070: 31,3534 00147 DERTABLL ADRES DERCOFN -3 # **************************************************************************************************************** # TRASHY LITTLE SUBROUTINES # **************************************************************************************************************** 554">032753,001076: 31,3535 31635 TDISPSET CA TTF/8 00006 EXTEND 75023 MP TSCALINV 53522 DXCH TTFDISP 31635 CA TTF/8 00006 EXTEND 73654 MP SCTTFDSP 54001 TS L 63652 AD 99+LINT 00006 EXTEND 63560 BZMF +11 40001 CS L 63653 AD -LINT 00006 EXTEND 63556 BZMF +3 55702 TS TREDES 00002 TC Q 35030 CA ZERO 13554 TCF -3 33652 CA 99+LINT 13551 TCF -10 # **************************************************************************************************************** # SPECIALIZED "PHASCHNG" SUBROUTINE # **************************************************************************************************************** EBANK= PHSNAME2 E47">032784,001107: 31,3562 35057 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE 56003 XCH EBANK 52002 DXCH L 55440 TS PHSNAME2 22003 LXCH EBANK EBANK= E2DPS 00000 TC A # **************************************************************************************************************** # PARAMETER TABLE INDIRECT ADDRESSES # **************************************************************************************************************** 31,3570 31,3576 RDG = RBRFG 31,3570 31,3604 VDG = VBRFG 31,3570 31,3570 ADG = ABRFG 6">032801,001124: 31,3570 31,3612 VDG2TTF = VBRFG* 6">032802,001125: 31,3570 31,3614 ADG2TTF = ABRFG* 6">032803,001126: 31,3570 31,3616 JDG2TTF = JBRFG* # **************************************************************************************************************** # LUNAR LANDING CONSTANTS # *************************************************************************************************************** # LUNAR LANDING TARGET PARAMETERS /a>032811,001134: 31,3570 77767 40017 ABRFG 2DEC* -3.43285501 E-5 B+4* 00000 00000 2DEC* +0.00000000 E+0 B+4* 77670 42003 2DEC* -2.74418853 E-4 B+4* /a>032815,001138: 31,3576 00003 01474 RBRFG 2DEC* +3.12375000 E+3 B-24* 00000 00000 2DEC* +0.00000000 E+0 B-24* 77765 57010 2DEC* -1.07834375 E+4 B-24* /a>032819,001142: 31,3604 77770 43727 VBRFG 2DEC* -4.92340088 E-1 B-10* 00000 00000 2DEC* +0.00000000 E+0 B-10* 00034 35205 2DEC* +1.80714798 E+0 B-10* >032823,001146: 31,3612 00101 01653 VBRFG* 2DEC* +4.06608200 E+0 B-10* >032824,001147: 31,3614 77120 54025 ABRFG* 2DEC* -1.64651359 E-3 B+4* >032825,001148: 31,3616 77614 54061 JBRFG* 2DEC* -2.69203326 E-8 B+18* /a>032827,001150: 31,3620 00000 14622 AAPFG 2DEC* +1.52399999 E-6 B+4* 00000 00000 2DEC* +0.00000000 E+0 B+4* 77772 71633 2DEC* -1.98119999 E-5 B+4* /a>032831,001154: 31,3626 00000 00570 RAPFG 2DEC* +2.35092239 E+1 B-24* 00000 00000 2DEC* +0.00000000 E+0 B-24* 77777 77767 2DEC* -5.28319999 E-1 B-24* /a>032835,001158: 31,3634 77777 73122 VAPFG 2DEC* -9.44879999 E-3 B-10* 00000 00000 2DEC* +0.00000000 E+0 B-10* 00000 02017 2DEC* +3.96239999 E-3 B-10* >032839,001162: 31,3642 00000 04441 VAPFG* 2DEC* +8.91539999 E-3 B-10* >032840,001163: 31,3644 77740 72650 AAPFG* 2DEC* -1.18871999 E-4 B+04* >032841,001164: 31,3646 00547 23052 JAPFG* 2DEC* +8.37250411 E-8 B+18* 64C">032843,001166: 31,3650 01553 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE 00002 DEC 2 B-14 # DEGREE - ONE E56">032847,001170: 31,3652 5023 TSCALINV = BIT4 4">032850,001173: 31,3652 00167 99+LINT DEC +119 B-14 /a>032853,001176: 31,3653 77753 -LINT DEC -20 B-14 350">032856,001179: 31,3654 02437 SCTTFDSP DEC .08 # RESCALES FROM 2(-17) CS TO WHOLE SECONDS 3">032859,001182: 31,3655 00550 360DEGS DEC +360 B-14 4">032862,001185: 31,3656 01130 00000 TAUVERT 2DEC 600 B-14 >032865,001188: 31,3660 02260 00000 TAUROD 2DEC 300 B-12 >032868,001191: 31,3662 01440 00000 GSCALE 2DEC 100 B-11 31,3664 14000 3/8 DEC .375000000 /a>032874,001197: 31,3665 25252 25253 2/3DP 2DEC .666666667 /a>032877,001200: 31,3667 30000 00000 3/4DP 2DEC .750000000 /a>032880,001203: 31,3671 00000 00000 WMREF 2DEC 0.0 00162 12155 2DEC* .26616994890062991 E-7 B+18* # RAD/CS. 00000 00000 2DEC 0.0 /a>032885,001208: 31,3677 77765 53556 MOONG 2DEC -1.6226 E-4 B2 /a>032888,001211: 31,3701 01437 +1FPS DEC .3048 E-2 B+4 /a>032891,001214: 31,3702 00000 04535 +3FPS 2DEC +0.9144 E-2 B-10 /a>032894,001217: 31,3704 00000 07633 +5FPS 2DEC +1.524 E-2 B-10 954">032897,001220: 31,3706 77656 42436 DEPRCRIT 2DEC -.02 B-2 # DEPRESSION ANGLE CRITERION 8">032900,001223: 31,3710 01541 20646 PROJMAX 2DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ E">032903,001226: 31,3712 01022 02016 PROJMIN 2DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ 6">032906,001229: 31,3714 00517 16630 PROJDIV 2DEC .1638 B-3 >032909,001232: 31,3716 01477 V06N63 VN 0663 # P63 >032911,001234: 31,3717 01500 V06N64 VN 0664 # P64 >032913,001236: 31,3720 01474 V06N60 VN 0660 # P65, P66, P67 # **************************************************************************************************************** # **************************************************************************************************************** LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc