Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
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|
These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
034753,000002: ## Copyright: Public domain.
034754,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
034755,000004: ## Purpose: A log section of Zerlina 56, the final revision of
034756,000005: ## Don Eyles's offline development program for the variable
034757,000006: ## guidance period servicer. It also includes a new P66 with LPD
034758,000007: ## (Landing Point Designator) capability, based on an idea of John
034759,000008: ## Young's. Neither of these advanced features were actually flown,
034760,000009: ## but Zerlina was also the birthplace of other big improvements to
034761,000010: ## Luminary including the terrain model and new (Luminary 1E)
034762,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
034763,000012: ## and revision 56 includes all changes up to and including Luminary
034764,000013: ## 183. It is therefore quite close to the Apollo 14 program,
034765,000014: ## Luminary 178, where not modified with new features.
034766,000015: ## Reference: pp. 784-821
034767,000016: ## Assembler: yaYUL
034768,000017: ## Contact: Ron Burkey <info@sandroid.org>.
034769,000018: ## Website: www.ibiblio.org/apollo/index.html
034770,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
034771,000020: ## 2017-08-05 MAS Transcribed for Zerlina 56. This section was
034772,000021: ## largely rewritten to support P66 LPD and the
034773,000022: ## variable servicer.
034774,000023: ## 2017-08-06 MAS Fixed a comment transcription error (MODULE
034775,000024: ## where MODULO should have been).
034776,000025: ## 2017-08-19 MAS Corrected a few transcription errors.
034777,000026: ## 2017-08-24 MAS Fixed a branch target and a few incorrect
034778,000027: ## instructions.
034779,000028:
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Page 784 |
034781,000030: # ****************************************************************************************************************
034782,000031: # GUIDANCE FOR LANDING ON THE MOON BY EYLES EXCEPT P66HZ AND ROOTPSRS BY KLUMPP
034783,000032: # ****************************************************************************************************************
034784,000033:
034785,000034: 31,2361 E7,1621 EBANK= E2DPS
034786,000035:
034787,000036: 31,2361 COUNT* $$/F2DPS
034788,000037:
034789,000038: # ****************************************************************************************************************
034790,000039: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034791,000040: # ****************************************************************************************************************
034792,000041:
034793,000042: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034794,000043:
034795,000044: # WCHPHASE = -1 ---> IGNALG
034796,000045: # WCHPHASE = 0 ---> BRAKQUAD
034797,000046: # WCHPHASE = 1 ---> APPRQUAD
034798,000047: # WCHPHASE = 2 ---> VERTICAL
034799,000048:
034800,000049: # ****************************************************************************************************************
034801,000050:
034802,000051: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034803,000052:
034804,000053: 31,2361 12461 TCF TTFINCR # IGNALG
034805,000054: 31,2362 12461 NEWPHASE TCF TTFINCR # BRAKQUAD
034806,000055: 31,2363 12442 TCF STARTP64 # APPRQUAD
034807,000056: 31,2364 13361 TCF ENDLLJOB # VERTICAL (A BRANCH RARELY IF EVER USED)
034808,000057:
034809,000058:
034810,000059: # PRE-GUIDANCE COMPUTATIONS:
034811,000060:
034812,000061: 31,2365 12653 TCF CALCRGVG # IGNALG
034813,000062: 31,2366 12663 PREGUIDE TCF RGVGCALC # BRAKQUAD
034814,000063: 31,2367 12542 TCF REDESIG # APPRQUAD
034815,000064:
034816,000065:
034817,000066: # GUIDANCE EQUATIONS:
034818,000067:
034819,000068: 31,2370 12717 TCF TTF/8CL # IGNALG
034820,000069: 31,2371 12717 WHATGUID TCF TTF/8CL # BRAKQUAD
034821,000070: 31,2372 12717 TCF TTF/8CL # APPRQUAD
034822,000071:
034823,000072:
034824,000073: # POST GUIDANCE EQUATION COMPUTATIONS:
034825,000074:
034826,000075: 31,2373 13121 TCF CGCALC # IGNALG
034827,000076: 31,2374 13106 AFTRGUID TCF EXTLOGIC # BRAKQUAD
034828,000077: 31,2375 13106 TCF EXTLOGIC # APPRQUAD
034829,000078:
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Page 785 |
034831,000080: # WINDOW VECTOR COMPUTATIONS:
034832,000081:
034833,000082: 31,2376 13171 TCF EXGSUB # IGNALG
034834,000083: 31,2377 13212 WHATEXIT TCF EXBRAK # BRAKQUAD
034835,000084: 31,2400 13220 TCF EXNORM # APPRQUAD
034836,000085:
034837,000086:
034838,000087: # DISPLAY ROUTINES:
034839,000088:
034840,000089: 31,2401 13341 WHATDISP TCF P63DISPS # BRAKQUAD
034841,000090: 31,2402 13363 TCF P64DISPS # APPRQUAD
034842,000091:
034843,000092:
034844,000093: # ALARM ROUTINE FOR TTF COMPUTATION:
034845,000094:
034846,000095: 31,2403 13641 TCF 1406POO # IGNALG
034847,000096: 31,2404 13643 WHATALM TCF 1406ALM # BRAKQUAD
034848,000097: 31,2405 13643 TCF 1406ALM # APPRQUAD
034849,000098:
034850,000099:
034851,000100: # INDICES FOR REFERENCING TARGET PARAMETERS:
034852,000101:
034853,000102: 31,2406 00000 OCT 0 # IGNALG
034854,000103: 31,2407 00000 TARGTDEX OCT 0 # BRAKQUAD
034855,000104: 31,2410 00002 OCT 2 # APPRQUAD
034856,000105:
034857,000106: # ****************************************************************************************************************
034858,000107: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034859,000108: # ****************************************************************************************************************
034860,000109:
034861,000110: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034862,000111:
034863,000112: 31,2411 77776 ?GUIDSUB EXIT
034864,000113: 31,2412 34752 CAF TWO # N = 3
034865,000114: 31,2413 55647 TS NGUIDSUB
034866,000115: 31,2414 12424 TCF PASSINIT
034867,000116:
034868,000117: 31,2415 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034869,000118: 31,2416 12653 TCF CALCRGVG
034870,000119:
034871,000120: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034872,000121:
034873,000122: 31,2417 06042 LUNLAND TC SERVCHNG
034874,000123: 31,2420 30101 CA FLAGWRD5 # HAS THROTTLE-UP COME YET?
034875,000124: 31,2421 74744 MASK ZOOMBIT
034876,000125: 31,2422 00006 EXTEND
034877,000126: 31,2423 13331 BZF DISPEXIT # NO: DO P63 DISPLAYS BUT NO GUIDANCE
034878,000127:
034879,000128: # ****************************************************************************************************************
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Page 786 |
034881,000130: # INITIALIZATION FOR THIS PASS
034882,000131: # ****************************************************************************************************************
034883,000132:
034884,000133: 31,2424 00006 PASSINIT EXTEND
034885,000134: 31,2425 31625 DCA TPIP
034886,000135: 31,2426 53555 DXCH TPIPOLD
034887,000136:
034888,000137: 31,2427 06042 TC FASTCHNG
034889,000138:
034890,000139: 31,2430 00006 EXTEND
034891,000140: 31,2431 31557 DCA PIPTIME1
034892,000141: 31,2432 53625 DXCH TPIP
034893,000142:
034894,000143: 31,2433 00006 EXTEND
034895,000144: 31,2434 31643 DCA TTF/8
034896,000145: 31,2435 53551 DXCH TTF/8TMP
034897,000146:
034898,000147: 31,2436 11623 CCS FLPASS0
034899,000148: 31,2437 12461 TCF TTFINCR
034900,000149:
034901,000150: 31,2440 51346 BRSPOT1 INDEX WCHPHASE
034902,000151: 31,2441 12362 TCF NEWPHASE
034903,000152:
034904,000153: # ****************************************************************************************************************
034905,000154: # ROUTINES TO START NEW PHASES
034906,000155: # ****************************************************************************************************************
034907,000156:
034908,000157: 31,2442 05322 STARTP64 TC NEWMODEX
034909,000158: 31,2443 00100 DEC 64 B-14
034910,000159: 31,2444 31425 CA DELTTFAP # AUGMENT TTF/8
034911,000160: 31,2445 27550 ADS TTF/8TMP
034912,000161: 31,2446 00004 INHINT
034913,000162: 31,2447 06022 TC C13STALL
034914,000163: 31,2450 34740 CA BIT12 # ENABLE RUPT10
034915,000164: 31,2451 00006 EXTEND
034916,000165: 31,2452 05013 WOR CHAN13
034917,000166: 31,2453 33663 CAF P64DB
034918,000167: 31,2454 55343 TS DB
034919,000168: 31,2455 31315 CA LRWH1
034920,000169: 31,2456 55421 TS LRWH
034921,000170:
034922,000171: 31,2457 05527 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034923,000172: 31,2460 00143 ADRES REDFLAG
034924,000173:
034925,000174: # (CONTINUE TO TTFINCR)
034926,000175:
034927,000176: # ****************************************************************************************************************
034928,000177: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034929,000178: # ****************************************************************************************************************
034930,000179:
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Page 787 |
034932,000181: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
034933,000182:
034934,000183: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034935,000184:
034936,000185: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034937,000186:
034938,000187: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034939,000188:
034940,000189: # - - - -
034941,000190: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034942,000191:
034943,000192: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034944,000193:
034945,000194: # - -
034946,000195: # RANGEDSP = ABVAL(LAND - R)
034947,000196:
034948,000197: 31,2461 06051 TTFINCR TC INTPRET
034949,000198: 31,2462 45345 DLOAD DSU
034950,000199: 31,2463 03625 TPIP
034951,000200: 31,2464 03555 TPIPOLD
034952,000201: 31,2465 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034953,000202: 31,2466 21214 11D
034954,000203: 31,2467 47361 VXSC VXV
034955,000204: 31,2470 03635 LAND
034956,000205: 31,2471 02316 WM
034957,000206: 31,2472 47045 BVSU RTB
034958,000207: 31,2473 03635 LAND
034959,000208: 31,2474 21710 NORMUNIT
034960,000209: 31,2475 76561 VXSC VSL1
034961,000210: 31,2476 02324 /LAND/
034962,000211: 31,2477 17543 STODL LANDTEMP
034963,000212: 31,2500 77776 EXIT
034964,000213:
034965,000214: 31,2501 52155 DXCH MPAC
034966,000215: 31,2502 21551 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034967,000216:
034968,000217: 31,2503 06042 TC FASTCHNG
034969,000218:
034970,000219: 31,2504 00006 EXTEND
034971,000220: 31,2505 31551 DCA TTF/8TMP
034972,000221: 31,2506 53643 DXCH TTF/8
034973,000222:
034974,000223: 31,2507 03563 TC TDISPSET
034975,000224:
034976,000225: 31,2510 37730 CAF PRIO31 # TEMPORARILY OVER-PRIO CHARIN
034977,000226: 31,2511 05146 TC PRIOCHNG
034978,000227:
034979,000228: 31,2512 06051 TC INTPRET
034980,000229: 31,2513 53375 VLOAD VAD # ADD IN CORRECTION FROM NOUN 69
034981,000230: 31,2514 03543 LANDTEMP
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Page 788 |
034983,000232: 31,2515 02613 DLAND
034984,000233: 31,2516 03635 STORE LAND
034985,000234: 31,2517 77646 ABVAL # RECOMPUTE /LAND/
034986,000235: 31,2520 02324 STORE /LAND/
034987,000236: 31,2521 77776 EXIT
034988,000237:
034989,000238: 31,2522 06042 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
034990,000239:
034991,000240: 31,2523 35014 CAF EBANK5
034992,000241: 31,2524 E5,1612 EBANK= DLAND
034993,000242: 31,2524 54003 TS EBANK
034994,000243: 31,2525 34755 CAF ZERO # ZERO N 69 REGISTERS
034995,000244: 31,2526 55612 TS DLAND
034996,000245: 31,2527 55613 TS DLAND +1
034997,000246: 31,2530 55614 TS DLAND +2
034998,000247: 31,2531 55615 TS DLAND +3
034999,000248: 31,2532 55616 TS DLAND +4
035000,000249: 31,2533 55617 TS DLAND +5
035001,000250: 31,2534 35016 CAF EBANK7
035002,000251: 31,2535 E7,1666 EBANK= TREDES
035003,000252: 31,2535 54003 TS EBANK
035004,000253:
035005,000254: 31,2536 34736 CAF PRIO20
035006,000255: 31,2537 05146 TC PRIOCHNG
035007,000256:
035008,000257: 31,2540 51346 BRSPOT2 INDEX WCHPHASE
035009,000258: 31,2541 12366 TCF PREGUIDE
035010,000259:
035011,000260: # ****************************************************************************************************************
035012,000261: # LANDING SITE PERTURBATION EQUATIONS
035013,000262: # ****************************************************************************************************************
035014,000263:
035015,000264: 31,2542 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
035016,000265: 31,2543 74746 MASK REDFLBIT
035017,000266: 31,2544 00006 EXTEND
035018,000267: 31,2545 12663 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
035019,000268:
035020,000269: 31,2546 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
035021,000270: 31,2547 00006 EXTEND
035022,000271: 31,2550 12663 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
035023,000272:
035024,000273: 31,2551 00004 INHINT
035025,000274: 31,2552 31644 CA ELCOUNT1
035026,000275: 31,2553 55552 TS ELCOUNT
035027,000276: 31,2554 31645 CA AZCOUNT1
035028,000277: 31,2555 55553 TS AZCOUNT
035029,000278: 31,2556 06042 TC FASTCHNG
035030,000279:
035031,000280: 31,2557 34755 CA ZERO
035032,000281: 31,2560 55644 TS ELCOUNT1
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Page 789 |
035034,000283: 31,2561 55645 TS AZCOUNT1
035035,000284:
035036,000285: 31,2562 31552 CA ELCOUNT # COMPUTE ELEVATION INCREMENT IN RADIANS
035037,000286: 31,2563 00006 EXTEND
035038,000287: 31,2564 73666 MP ELEACH
035039,000288: 31,2565 56001 XCH L # SHIFT LEFT 14, A BEING ZERO AFTER THE MP
035040,000289: 31,2566 50120 INDEX FIXLOC
035041,000290: 31,2567 52015 DXCH 12D
035042,000291:
035043,000292: 31,2570 31553 CA AZCOUNT # COMPUTE AZIMUTH INCREMENT IN RADIANS
035044,000293: 31,2571 00006 EXTEND
035045,000294: 31,2572 73666 MP AZEACH
035046,000295: 31,2573 56001 XCH L # SHIFT LEFT 14, A BEING ZERO AFTER THE MP
035047,000296: 31,2574 50120 INDEX FIXLOC
035048,000297: 31,2575 52017 DXCH 14D
035049,000298:
035050,000299: 31,2576 30120 CA FIXLOC # SET PD TO 0
035051,000300: 31,2577 54166 TS PUSHLOC
035052,000301:
035053,000302: 31,2600 06051 TC INTPRET
035054,000303: 31,2601 52375 VLOAD VSU
035055,000304: 31,2602 03635 LAND
035056,000305: 31,2603 03517 R # - -
035057,000306: 31,2604 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
035058,000307: 31,2605 21710 NORMUNIT
035059,000308: 31,2606 76435 VXV VSL1
035060,000309: 31,2607 02145 YNBPIP # - - -
035061,000310: 31,2610 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
035062,000311: 31,2611 00015 12D
035063,000312: 31,2612 00017 14D
035064,000313: 31,2613 52361 VXSC VSU
035065,000314: 31,2614 02145 YNBPIP
035066,000315: 31,2615 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
035067,000316:
035068,000317: 31,2616 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
035069,000318: 31,2617 00001 0 # TOO CLOSE TO THE HORIZON
035070,000319: 31,2620 05662 DEPRCRIT
035071,000320: 31,2621 71240 BMN DLOAD
035072,000321: 31,2622 62625 REDES1
035073,000322: 31,2623 05662 DEPRCRIT
035074,000323: 31,2624 00001 STORE 0
035075,000324: 31,2625 45345 REDES1 DLOAD DSU
035076,000325: 31,2626 03635 LAND
035077,000326: 31,2627 03517 R
035078,000327: 31,2630 74271 DDV VXSC
035079,000328: 31,2631 00001 0
035080,000329: 31,2632 53455 VAD UNIT
035081,000330: 31,2633 03517 R
035082,000331: 31,2634 76561 VXSC VSL1
035083,000332: 31,2635 02324 /LAND/
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Page 790 |
035085,000334: 31,2636 03543 STORE LANDTEMP
035086,000335: 31,2637 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
035087,000336:
035088,000337: 31,2640 06042 TC FASTCHNG
035089,000338:
035090,000339: 31,2641 00006 EXTEND
035091,000340: 31,2642 31543 DCA LANDTEMP
035092,000341: 31,2643 53635 DXCH LAND
035093,000342: 31,2644 00006 EXTEND
035094,000343: 31,2645 31545 DCA LANDTEMP +2
035095,000344: 31,2646 53637 DXCH LAND +2
035096,000345: 31,2647 00006 EXTEND
035097,000346: 31,2650 31547 DCA LANDTEMP +4
035098,000347: 31,2651 53641 DXCH LAND +4
035099,000348:
035100,000349: 31,2652 12663 TCF RGVGCALC
035101,000350:
035102,000351: # ****************************************************************************************************************
035103,000352: # COMPUTE STATE IN GUIDANCE COORDINATES
035104,000353: # ****************************************************************************************************************
035105,000354:
035106,000355: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
035107,000356:
035108,000357: # VELOCITY RELATIVE TO THE SURFACE:
035109,000358:
035110,000359: # - - - -
035111,000360: # ANGTERM = V + R * WM
035112,000361:
035113,000362: # STATE IN GUIDANCE COORDINATES:
035114,000363:
035115,000364: # - * - -
035116,000365: # RGU = CG (R - LAND)
035117,000366:
035118,000367: # - * - - -
035119,000368: # VGU = CG (V - WM * R)
035120,000369:
035121,000370: # DEPRESSION ANGLE FOR DISPLAY:
035122,000371:
035123,000372: # - - -
035124,000373: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
035125,000374:
035126,000375: 31,2653 06051 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
035127,000376: 31,2654 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
035128,000377: 31,2655 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
035129,000378: 31,2656 01732 REFSMMAT
035130,000379: 31,2657 53362 VSR1 VAD
035131,000380: 31,2660 03253 UNFC/2
035132,000381: 31,2661 03525 STORE V
035133,000382: 31,2662 77776 EXIT
035134,000383:
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Page 791 |
035136,000385: 31,2663 06051 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
035137,000386: 31,2664 47375 VLOAD VXV
035138,000387: 31,2665 03517 R
035139,000388: 31,2666 02316 WM
035140,000389: 31,2667 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
035141,000390: 31,2670 03525 V
035142,000391: 31,2671 02254 STORE ANGTERM
035143,000392: 31,2672 77721 MXV
035144,000393: 31,2673 02561 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
035145,000394: 31,2674 27627 STOVL VGU
035146,000395: 31,2675 03517 R # - -
035147,000396: 31,2676 41451 VSU PUSH # PUSH DOWN R - LAND
035148,000397: 31,2677 03635 LAND
035149,000398: 31,2700 76521 MXV VSL1
035150,000399: 31,2701 02561 CG
035151,000400: 31,2702 16605 STODL RGU
035152,000401: 31,2703 00162 MPAC +5
035153,000402: 31,2704 26603 STOVL RANGEDSP # SM Z-AXIS RANGE FOR DISPLAY IN N68
035154,000403: 31,2705 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
035155,000404: 31,2706 21710 NORMUNIT
035156,000405: 31,2707 02137 XNBPIP
035157,000406: 31,2710 77776 EXIT
035158,000407:
035159,000408: 31,2711 30120 CA FIXLOC # RESET PUSH DOWN POINTER
035160,000409: 31,2712 54166 TS PUSHLOC
035161,000410:
035162,000411: 31,2713 04616 TC BANKCALL # CALL LPDFVSUB TO PREPARE R1 DISPLAY
035163,000412: 31,2714 63570 CADR LPDFVSUB
035164,000413:
035165,000414: 31,2715 51346 BRSPOT3 INDEX WCHPHASE
035166,000415: 31,2716 12371 TCF WHATGUID
035167,000416:
035168,000417: # ****************************************************************************************************************
035169,000418: # TTF/8 COMPUTATION
035170,000419: # ****************************************************************************************************************
035171,000420:
035172,000421: 31,2717 03556 TTF/8CL TC INTPRETX
035173,000422: 31,2720 77743 DLOAD*
035174,000423: 31,2721 02443 JDG2TTF,1
035175,000424: 31,2722 23567 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
035176,000425: 31,2723 02437 ADG2TTF,1 # 2
035177,000426: 31,2724 17565 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
035178,000427: 31,2725 03633 VGU +4 # 2
035179,000428: 31,2726 42605 DMP DAD*
035180,000429: 31,2727 05660 3/4DP
035181,000430: 31,2730 02433 VDG2TTF,1
035182,000431: 31,2731 23563 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
035183,000432: 31,2732 02407 RDG +4,1 # 2 2
035184,000433: 31,2733 41225 DSU DMP
035185,000434: 31,2734 02611 RGU +4
|
|
Page 792 |
035187,000436: 31,2735 05656 3/8DP
035188,000437: 31,2736 03561 STORE TABLTTF # A(0) = -24(RGU - RDG )/64 TO TABLTTF
035189,000438: 31,2737 77776 EXIT # 2 2
035190,000439:
035191,000440: 31,2740 34744 CA BIT8
035192,000441: 31,2741 55570 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
035193,000442:
035194,000443: 31,2742 00006 EXTEND
035195,000444: 31,2743 31643 DCA TTF/8
035196,000445: 31,2744 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
035197,000446: 31,2745 34752 CAF TWO # DEGREE - ONE
035198,000447: 31,2746 54001 TS L
035199,000448: 31,2747 33661 CAF TABLTTFL
035200,000449: 31,2750 03413 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
035201,000450: 31,2751 51346 INDEX WCHPHASE
035202,000451: 31,2752 12404 TCF WHATALM
035203,000452:
035204,000453: 31,2753 00006 EXTEND # GOOD RETURN
035205,000454: 31,2754 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
035206,000455: 31,2755 53643 DXCH TTF/8 # CORRECTED TTF/8
035207,000456:
035208,000457: 31,2756 03563 TC TDISPSET
035209,000458:
035210,000459: # (CONTINUE TO QUADGUID)
035211,000460:
035212,000461:
035213,000462: # ****************************************************************************************************************
035214,000463: # MAIN GUIDANCE EQUATION
035215,000464: # ****************************************************************************************************************
035216,000465:
035217,000466: # AS PUBLISHED:-
035218,000467:
035219,000468: # - - - -
035220,000469: # - - 6(VDG + VG) 12(RDG - RG)
035221,000470: # ACG = ADG + ----------- + ------------
035222,000471: # TTF (TTF)(TTF)
035223,000472:
035224,000473: # AS HERE PROGRAMMED:-
035225,000474:
035226,000475: # - -
035227,000476: # 3 (1/4(RDG - RG) - - )
035228,000477: # - (------------- + VDG + VG)
035229,000478: # - 4 ( TTF/8 ) -
035230,000479: # ACG = ---------------------------- + ADG
035231,000480: # TTF/8
035232,000481:
035233,000482: 31,2757 41642 QUADGUID CS TTF/8
035234,000483: 31,2760 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
035235,000484: 31,2761 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
035236,000485: 31,2762 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
|
|
Page 793 |
035238,000487: 31,2763 40001 CS L
035239,000488: 31,2764 60001 AD L
035240,000489: 31,2765 22007 ZL
035241,000490: 31,2766 00006 EXTEND
035242,000491: 31,2767 11642 DV TTF/8
035243,000492: 31,2770 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
035244,000493: 31,2771 00006 EXTEND
035245,000494: 31,2772 70000 SQUARE
035246,000495: 31,2773 54131 TS BUF +1
035247,000496: 31,2774 60130 AD BUF
035248,000497: 31,2775 56131 XCH BUF +1 # RATIO SQUARED - RATIO
035249,000498: 31,2776 60131 AD BUF +1
035250,000499: 31,2777 54154 TS MPAC # COEFFICIENT FOR VGU TERM
035251,000500: 31,3000 60131 AD BUF +1
035252,000501: 31,3001 50120 INDEX FIXLOC
035253,000502: 31,3002 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
035254,000503: 31,3003 60131 AD BUF +1
035255,000504: 31,3004 50120 INDEX FIXLOC
035256,000505: 31,3005 54034 TS 28D # COEFFICIENT FOR VDG TERM
035257,000506: 31,3006 60130 AD BUF
035258,000507: 31,3007 64733 AD POSMAX
035259,000508: 31,3010 60131 AD BUF +1
035260,000509: 31,3011 60131 AD BUF +1
035261,000510: 31,3012 50120 INDEX FIXLOC
035262,000511: 31,3013 54036 TS 30D # COEFFICIENT FOR ADG TERM
035263,000512:
035264,000513: 31,3014 34755 CAF ZERO
035265,000514: 31,3015 54163 TS MODE
035266,000515:
035267,000516: 31,3016 03556 TC INTPRETX
035268,000517: 31,3017 65361 VXSC PDDL
035269,000518: 31,3020 03627 VGU
035270,000519: 31,3021 00035 28D
035271,000520: 31,3022 47157 VXSC* RTB
035272,000521: 31,3023 02413 VDG,1
035273,000522: 31,3024 63543 ZEROMID
035274,000523: 31,3025 47113 PDVL* RTB
035275,000524: 31,3026 02403 RDG,1
035276,000525: 31,3027 63543 ZEROMID
035277,000526: 31,3030 70251 VSU V/SC
035278,000527: 31,3031 02605 RGU
035279,000528: 31,3032 03643 TTF/8
035280,000529: 31,3033 74342 VSR2 VXSC
035281,000530: 31,3034 00033 26D
035282,000531: 31,3035 53255 VAD VAD
035283,000532: 31,3036 74341 V/SC VXSC
035284,000533: 31,3037 03643 TTF/8
035285,000534: 31,3040 05660 3/4DP
035286,000535: 31,3041 73725 PDDL VXSC*
035287,000536: 31,3042 00037 30D
|
|
Page 794 |
035289,000538: 31,3043 02423 ADG,1
035290,000539: 31,3044 53234 RTB VAD
035291,000540: 31,3045 63543 ZEROMID
035292,000541: 31,3046 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
035293,000542: 31,3047 02561 CG
035294,000543: 31,3050 70515 PDVL VSR2 # RESCALE G TO UNITS OF 2(-4) M/CS/CS
035295,000544: 31,3051 01236 G
035296,000545: 31,3052 45445 BVSU STADR
035297,000546: 31,3053 74524 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
035298,000547: 31,3054 77646 ABVAL
035299,000548: 31,3055 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
035300,000549: 31,3056 03253 UNFC/2 # VERTICAL COMPONENT
035301,000550: 31,3057 65316 DSQ PDDL
035302,000551: 31,3060 03255 UNFC/2 +2 # OUT-OF-PLANE
035303,000552: 31,3061 65316 DSQ PDDL
035304,000553: 31,3062 05650 HIGHESTF
035305,000554: 31,3063 63471 DDV DSQ
035306,000555: 31,3064 01246 MASS # 2 2 2
035307,000556: 31,3065 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
035308,000557: 31,3066 71244 BPL DLOAD # 1 0
035309,000558: 31,3067 63071 AFCCALC3
035310,000559: 31,3070 06520 ZEROVECS
035311,000560: 31,3071 43366 AFCCALC3 SQRT DAD
035312,000561: 31,3072 03257 UNFC/2 +4
035313,000562: 31,3073 44244 BPL BDSU
035314,000563: 31,3074 63077 AFCCLEND
035315,000564: 31,3075 03257 UNFC/2 +4
035316,000565: 31,3076 03257 STORE UNFC/2 +4
035317,000566: 31,3077 77776 AFCCLEND EXIT
035318,000567: 31,3100 06042 TC FASTCHNG
035319,000568:
035320,000569: 31,3101 31346 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
035321,000570: 31,3102 55621 TS WCHPHOLD
035322,000571: 31,3103 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
035323,000572:
035324,000573: 31,3104 51346 BRSPOT4 INDEX WCHPHASE
035325,000574: 31,3105 12374 TCF AFTRGUID
035326,000575:
035327,000576: # ****************************************************************************************************************
035328,000577: # NEW PHASE NOW?
035329,000578: # ****************************************************************************************************************
035330,000579:
035331,000580: 31,3106 51346 EXTLOGIC INDEX WCHPHASE # IS TTF NEARER ZERO THAN CRITERION?
035332,000581: 31,3107 31423 CA TENDBRAK
035333,000582: 31,3110 61642 AD TTF/8
035334,000583: 31,3111 00006 EXTEND
035335,000584: 31,3112 63121 BZMF CGCALC # NO
035336,000585:
035337,000586: 31,3113 06042 TC FASTCHNG # YES: INCREMENT WCHPHASE, ZERO FLPASS0
035338,000587:
|
|
Page 795 |
035340,000589: 31,3114 31621 CA WCHPHOLD
035341,000590: 31,3115 64753 AD ONE
035342,000591: 31,3116 55346 TS WCHPHASE
035343,000592: 31,3117 34755 CAF ZERO
035344,000593: 31,3120 55623 TS FLPASS0
035345,000594:
035346,000595: # (CONTINUE TO CGCALC)
035347,000596:
035348,000597: # ***************************************************************************************************************
035349,000598: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
035350,000599: # ***************************************************************************************************************
035351,000600:
035352,000601: 31,3121 35014 CGCALC CAF EBANK5
035353,000602: 31,3122 54003 TS EBANK
035354,000603: 31,3123 E5,1453 EBANK= TCGIBRAK
035355,000604: 31,3123 00006 EXTEND
035356,000605: 31,3124 51346 INDEX WCHPHASE
035357,000606: 31,3125 52407 INDEX TARGTDEX
035358,000607: 31,3126 31453 DCA TCGFBRAK
035359,000608: 31,3127 24006 INCR BBANK
035360,000609: 31,3130 24006 INCR BBANK
035361,000610: 31,3131 E7,1642 EBANK= TTF/8
035362,000611: 31,3131 61642 AD TTF/8
035363,000612: 31,3132 56001 XCH L
035364,000613: 31,3133 61642 AD TTF/8
035365,000614: 31,3134 10000 CCS A
035366,000615: 31,3135 10001 CCS L
035367,000616: 31,3136 13167 TCF EXITSPOT
035368,000617: 31,3137 13167 TCF EXITSPOT
035369,000618: 31,3140 13141 NOOP
035370,000619:
035371,000620: 31,3141 03556 TC INTPRETX
035372,000621: 31,3142 53575 VLOAD UNIT
035373,000622: 31,3143 03635 LAND
035374,000623: 31,3144 16561 STODL CG
035375,000624: 31,3145 03643 TTF/8
035376,000625: 31,3146 74203 DMP* VXSC
035377,000626: 31,3147 02447 GAINBRAK,1 # NUMERO MYSTERIOSO
035378,000627: 31,3150 02254 ANGTERM
035379,000628: 31,3151 77655 VAD
035380,000629: 31,3152 03635 LAND
035381,000630: 31,3153 47051 VSU RTB
035382,000631: 31,3154 03517 R
035383,000632: 31,3155 21710 NORMUNIT
035384,000633: 31,3156 47035 VXV RTB
035385,000634: 31,3157 03635 LAND
035386,000635: 31,3160 21710 NORMUNIT
035387,000636: 31,3161 26567 STOVL CG +6 # SECOND ROW
035388,000637: 31,3162 02561 CG
035389,000638: 31,3163 76435 VXV VSL1
|
|
Page 796 |
035391,000640: 31,3164 02567 CG +6
035392,000641: 31,3165 02575 STORE CG +14
035393,000642: 31,3166 77776 EXIT
035394,000643:
035395,000644: 31,3167 51621 EXITSPOT INDEX WCHPHOLD
035396,000645: 31,3170 12377 TCF WHATEXIT
035397,000646:
035398,000647: # ****************************************************************************************************************
035399,000648: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
035400,000649: # ****************************************************************************************************************
035401,000650:
035402,000651: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
035403,000652:
035404,000653: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
035405,000654:
035406,000655: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
035407,000656:
035408,000657: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
035409,000658:
035410,000659: 31,3171 06051 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
035411,000660: 31,3172 47175 VLOAD RTB
035412,000661: 31,3173 03253 UNFC/2
035413,000662: 31,3174 21710 NORMUNIT
035414,000663: 31,3175 74361 VXSC VXSC
035415,000664: 31,3176 03423 ZOOMTIME
035416,000665: 31,3177 22001 TRIMACCL
035417,000666: 31,3200 03253 STORE UNFC/2
035418,000667: 31,3201 77776 EXIT
035419,000668:
035420,000669: 31,3202 11647 CCS NGUIDSUB
035421,000670: 31,3203 12415 TCF GUIDSUB
035422,000671: 31,3204 11646 CCS NIGNLOOP
035423,000672: 31,3205 13210 TCF +3
035424,000673: 31,3206 05600 TC ALARM
035425,000674: 31,3207 01412 OCT 01412
035426,000675:
035427,000676: 31,3210 04635 +3 TC POSTJUMP
035428,000677: 31,3211 64532 CADR DDUMCALC
035429,000678:
035430,000679: 31,3212 06051 EXBRAK TC INTPRET
035431,000680: 31,3213 77775 VLOAD
035432,000681: 31,3214 03535 UNIT/R/
035433,000682: 31,3215 03261 STORE UNWC/2
035434,000683: 31,3216 77776 EXIT
035435,000684: 31,3217 13274 TCF STEER?
035436,000685:
035437,000686: 31,3220 06051 EXNORM TC INTPRET
035438,000687: 31,3221 52375 VLOAD VSU
035439,000688: 31,3222 03635 LAND
035440,000689: 31,3223 03517 R
|
|
Page 797 |
035442,000691: 31,3224 77634 RTB
035443,000692: 31,3225 21710 NORMUNIT
035444,000693: 31,3226 03261 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
035445,000694: 31,3227 50235 VXV DOT
035446,000695: 31,3230 02137 XNBPIP
035447,000696: 31,3231 02567 CG +6
035448,000697: 31,3232 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
035449,000698:
035450,000699: 31,3233 40154 CS MPAC # GET COEFFICIENT FOR CG +14
035451,000700: 31,3234 63667 AD PROJMAX
035452,000701: 31,3235 64733 AD POSMAX
035453,000702: 31,3236 54130 TS BUF
035454,000703: 31,3237 40130 CS BUF
035455,000704: 31,3240 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
035456,000705:
035457,000706: 31,3241 43670 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
035458,000707: 31,3242 60154 AD MPAC
035459,000708: 31,3243 64733 AD POSMAX
035460,000709: 31,3244 54131 TS BUF +1
035461,000710: 31,3245 40131 CS BUF +1
035462,000711: 31,3246 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
035463,000712:
035464,000713: 31,3247 34751 CAF FOUR
035465,000714: 31,3250 76254 UNWCLOOP MASK SIX
035466,000715: 31,3251 54002 TS Q
035467,000716: 31,3252 35014 CA EBANK5
035468,000717: 31,3253 54003 TS EBANK
035469,000718: 31,3254 E5,1560 EBANK= CG
035470,000719: 31,3254 30130 CA BUF
035471,000720: 31,3255 00006 EXTEND
035472,000721: 31,3256 50002 INDEX Q
035473,000722: 31,3257 71574 MP CG +14
035474,000723: 31,3260 24006 INCR BBANK
035475,000724: 31,3261 E6,1660 EBANK= UNWC/2
035476,000725: 31,3261 50002 INDEX Q
035477,000726: 31,3262 53661 DXCH UNWC/2
035478,000727: 31,3263 00006 EXTEND
035479,000728: 31,3264 70131 MP BUF +1
035480,000729: 31,3265 50002 INDEX Q
035481,000730: 31,3266 21661 DAS UNWC/2
035482,000731: 31,3267 10002 CCS Q
035483,000732: 31,3270 13250 TCF UNWCLOOP
035484,000733:
035485,000734: 31,3271 31773 CA AZBIAS # SET OUTER GIMBAL
035486,000735: 31,3272 55677 TS OGABIAS # ANGLE BIAS FOR WINDOW BENDING
035487,000736:
035488,000737: 31,3273 24006 INCR BBANK
035489,000738: 31,3274 E7,1612 EBANK= PIF
035490,000739:
035491,000740: 31,3274 30121 STEER? CA OVFIND # OVERFLOW?
|
|
Page 798 |
035493,000742: 31,3275 00006 EXTEND
035494,000743: 31,3276 13301 BZF STEERSW? # NO: CHECK STEERSW
035495,000744:
035496,000745: 31,3277 03646 TC OVFDESC # YES: ISSUE ALARM AND SKIP COMMANDS
035497,000746: 31,3300 13331 TCF DISPEXIT
035498,000747:
035499,000748: 31,3301 40076 STEERSW? CS FLAGWRD2 # IS STEERSW UP?
035500,000749: 31,3302 74741 MASK STEERBIT
035501,000750: 31,3303 00006 EXTEND
035502,000751: 31,3304 13312 BZF THRTCALL # YES: ISSUE GUIDANCE COMMANDS
035503,000752:
035504,000753: 31,3305 00004 RATESTOP INHINT # NO
035505,000754: 31,3306 04674 TC IBNKCALL
035506,000755: 31,3307 40166 FCADR STOPRATE
035507,000756: 31,3310 00003 RELINT
035508,000757: 31,3311 13331 TCF DISPEXIT
035509,000758:
035510,000759: 31,3312 31,3312 GDUMP1 = THRTCALL
035511,000760:
035512,000761: 31,3312 05332 THRTCALL TC CHECKMM # HAS MODE CHANGED TO 66 SINCE CONTROL WAS
035513,000762: 31,3313 00102 DEC 66 B-14 # TRANSFERRED TO LUNLAND FROM SERVICER?
035514,000763: 31,3314 13316 TCF +2
035515,000764: 31,3315 13331 TCF DISPEXIT # YES: SKIP COMMANDS
035516,000765:
035517,000766: 31,3316 02150 TC THROTTLE # NO
035518,000767: 31,3317 06042 TC FASTCHNG
035519,000768:
035520,000769: 31,3320 31465 CA FCODD
035521,000770: 31,3321 55620 TS FCOLD
035522,000771:
035523,000772: 31,3322 00006 EXTEND
035524,000773: 31,3323 31617 DCA FWEIGHT1
035525,000774: 31,3324 53611 DXCH FWEIGHT
035526,000775:
035527,000776: 31,3325 06051 TC INTPRET
035528,000777: 31,3326 77624 CALL
035529,000778: 31,3327 61073 FINDCDUW -2
035530,000779: 31,3330 77776 EXIT
035531,000780:
035532,000781: # (CONTINUE TO DISPEXIT)
035533,000782:
035534,000783:
035535,000784: # ****************************************************************************************************************
035536,000785: # GUIDANCE LOOP DISPLAYS
035537,000786: # ****************************************************************************************************************
035538,000787:
035539,000788: 31,3331 40104 DISPEXIT CS FLAGWRD8 # NO DISPLAYS THIS PASS IF FLUNDISP IS SET
035540,000789: 31,3332 74742 MASK FLUNDBIT
035541,000790: 31,3333 00006 EXTEND
|
|
Page 799 |
035543,000792: 31,3334 13361 BZF ENDLLJOB
035544,000793:
035545,000794: 31,3335 37723 CAF PRIO23 # RAISE PRIORITY TEMPORARILY SO DISPLAY
035546,000795: 31,3336 05146 TC PRIOCHNG # RESPONSES WILL NOT WAIT FOR SERVICER
035547,000796:
035548,000797: 31,3337 51621 INDEX WCHPHOLD
035549,000798: 31,3340 12401 TCF WHATDISP
035550,000799:
035551,000800: 31,3341 40107 P63DISPS CS FLGWRD11 # HAVE LR UPDATES BEEN PERMITTED?
035552,000801: 31,3342 74744 MASK LRINHBIT
035553,000802: 31,3343 00006 EXTEND
035554,000803: 31,3344 13354 BZF N63STAT # YES: DO STATIC DISPLAY
035555,000804:
035556,000805: 31,3345 33671 CAF V06N63 # NO: FLASH NOUN 63, CORRECT RESPONSE IS
035557,000806: 31,3346 04616 TC BANKCALL # V57E WHICH STOPS THE FLASHING
035558,000807: 31,3347 20463 CADR REFLASHR
035559,000808: 31,3350 05155 TC ENDOFJOB # TERMINATE IGNORE AND KEEP FLASHING
035560,000809: 31,3351 05155 TC ENDOFJOB # PROCEED IGNORE AND KEEP FLASHING
035561,000810: 31,3352 05155 TC ENDOFJOB # ENTER IGNORE AND KEEP FLASHING
035562,000811:
035563,000812: 31,3353 13357 TCF LOWRPRIO
035564,000813:
035565,000814: 31,3354 33671 N63STAT CAF V06N63
035566,000815: 31,3355 04616 DISPCOMN TC BANKCALL
035567,000816: 31,3356 20471 CADR REGODSPR
035568,000817:
035569,000818: 31,3357 34736 LOWRPRIO CAF PRIO20
035570,000819: 31,3360 05146 TC PRIOCHNG
035571,000820: 31,3361 04635 ENDLLJOB TC POSTJUMP # RETURN CONTROL TO THE START OF SERVICER
035572,000821: 31,3362 66102 CADR PIPCYCLE
035573,000822:
035574,000823: 31,3363 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
035575,000824: 31,3364 00006 EXTEND
035576,000825: 31,3365 13407 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
035577,000826:
035578,000827: 31,3366 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
035579,000828: 31,3367 74746 MASK REDFLBIT
035580,000829: 31,3370 00006 EXTEND
035581,000830: 31,3371 13411 BZF REDES-OK # YES: DO STATIC DISPLAY
035582,000831:
035583,000832: 31,3372 33672 CAF V06N64 # NO: USE FLASHING DISPLAY
035584,000833: 31,3373 04616 TC BANKCALL
035585,000834: 31,3374 20463 CADR REFLASHR
035586,000835: 31,3375 05155 TC ENDOFJOB # TERMINATE IGNORE AND KEEP FLASHING
035587,000836: 31,3376 13401 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
035588,000837: 31,3377 05155 TC ENDOFJOB # ENTER IGNORE AND KEEP FLASHING
035589,000838:
035590,000839: 31,3400 13357 TCF LOWRPRIO
035591,000840:
035592,000841: 31,3401 34755 P64CEED CAF ZERO
|
|
Page 800 |
035594,000843: 31,3402 55644 TS ELCOUNT1
035595,000844: 31,3403 55645 TS AZCOUNT1
035596,000845:
035597,000846: 31,3404 05515 TC UPFLAG # ENABLE REDESIGNATION LOGIC
035598,000847: 31,3405 00143 ADRES REDFLAG
035599,000848:
035600,000849: 31,3406 15155 TCF ENDOFJOB
035601,000850:
035602,000851: 31,3407 05527 RED-OVER TC DOWNFLAG
035603,000852: 31,3410 00143 ADRES REDFLAG
035604,000853: 31,3411 33672 REDES-OK CAF V06N64
035605,000854: 31,3412 13355 TCF DISPCOMN
035606,000855:
035607,000856:
035608,000857: # ****************************************************************************************************************
035609,000858: # VERTICAL AND HORIZONTAL GUIDANCE FOR P66
035610,000859: # ****************************************************************************************************************
035611,000860:
035612,000861: 32,2000 SETLOC P66LOC
035613,000862: 32,2000 BANK
035614,000863: 32,2714 E5,1527 EBANK= TAURODL
035615,000864: 32,2714 COUNT* $$/F2DPS
035616,000865:
035617,000866: # ********************************
035618,000867: # DATA TRANSFER AND PIPA READING
035619,000868: # ********************************
035620,000869:
035621,000870: # FIRST, PAD-LOADS FROM THE W-MATRIX AREA ARE MOVED INTO TEMPORARIES FOR USE WHENE BANK IS SET TO 7.
035622,000871: # THESE TRANSFERS ARE AS FOLLOWS:
035623,000872:
035624,000873: # VERCRIT ---> VBUF +1
035625,000874: # TAURODL ---> VBUF +2
035626,000875: # TAURODB ---> VBUF +3
035627,000876: # MINFORCE ---> VBUF +4
035628,000877: # MAXFORCE ---> VBUF +5
035629,000878: # RODSCALE ---> MPAC +5
035630,000879: # ROHZSCAL ---> MPAC +6
035631,000880:
035632,000881: 32,2714 31531 P66JOB CA VERCRIT # VERCRIT
035633,000882: 32,2715 54123 TS VBUF +1
035634,000883: 32,2716 00006 EXTEND
035635,000884: 32,2717 31530 DCA TAURODL # TAURODL AND TAURODB
035636,000885: 32,2720 52125 DXCH VBUF +2
035637,000886: 32,2721 00006 EXTEND
035638,000887: 32,2722 31533 DCA MINFORCE # MINFORCE AND MAXFORCE
035639,000888: 32,2723 52127 DXCH VBUF +4
035640,000889: 32,2724 00006 EXTEND
035641,000890: 32,2725 31526 DCA RODSCALE # RODSCALE AND ROHZSCAL
035642,000891: 32,2726 52162 DXCH MPAC +5
035643,000892:
|
|
Page 801 |
035645,000894: # ONE OTHER CHORE CAN BE DONE NOW TO MINIMIZE THE TIME BETWEEN READING PIPAX AND PUTTING OUT A THROTTLE
035646,000895: # COMMAND: THE COMPUTATION OF THE PRODUCT OF COS(AIG) AND COS(AMG).
035647,000896:
035648,000897: 32,2727 00004 P66INH INHINT # INHINT LASTS TILL AFTER THROTTLE COMMAND
035649,000898:
035650,000899: 32,2730 30033 CA CDUY
035651,000900: 32,2731 05032 TC SPCOS
035652,000901: 32,2732 54122 TS VBUF
035653,000902: 32,2733 30034 CA CDUZ
035654,000903: 32,2734 05032 TC SPCOS
035655,000904: 32,2735 00006 EXTEND
035656,000905: 32,2736 70122 MP VBUF
035657,000906: 32,2737 54160 TS MPAC +4 # PRODUCT OF COSINES SCALED FULL-SIZE
035658,000907:
035659,000908: 32,2740 24006 INCR BBANK # START P66JOB IN E5, SWITCH NOW TO E6
035660,000909: 32,2741 E6,1774 EBANK= END-E6
035661,000910:
035662,000911: # THE FOLLOWING CODING REFERS THE X-PIPA READING TO THE CENTER OF MASS OF THE SPACECRAFT BY SUBTRACTING
035663,000912: # THOSE PIPA COUNTS PRODUCED BY VERTICAL IMU MOTION RELATIVE TO THE CENTER-OF-MASS. THE SPACECRAFT X-AXIS IS
035664,000913: # ASSUMED TO BE APPROXIMATELY VERTICAL (PARALLEL TO THE SM X-AXIS). THE EQUATION IS:
035665,000914:
035666,000915: # P66PIPX = PIPAX - OMEGAQ RIMUZ
035667,000916:
035668,000917: # WHERE OMEGAQ IS THE ATTITUDE-RATE ABOUT THE Q (Y) AXIS AND RIMUZ IS THE Z-COORDINATE OF THE IMU.
035669,000918:
035670,000919: 32,2741 41422 CS OMEGAQ
035671,000920:
035672,000921: 32,2742 24006 INCR BBANK # SWITCH FINALLY INTO E7
035673,000922: 32,2743 E7,1777 EBANK= END-E7
035674,000923:
035675,000924: 32,2743 00006 EXTEND
035676,000925: 32,2744 73520 MP RIMUZ
035677,000926: 32,2745 56001 XCH L # ROUND BEFORE ADDING TO PIPAX
035678,000927: 32,2746 60000 DOUBLE
035679,000928: 32,2747 54002 TS Q # SKIP ON OVERFLOW WITH C(A) = +1 OR -1
035680,000929: 32,2750 34755 CAF ZERO # DEPENDING ON THE SIGN OF THE OVERFLOW
035681,000930: 32,2751 60001 AD L
035682,000931:
035683,000932: 32,2752 60037 AD PIPAX
035684,000933: 32,2753 55755 TS P66PIPX
035685,000934:
035686,000935: 32,2754 00006 EXTEND # READ FINE-SCALED TIME FOR FP COMPUTATION
035687,000936: 32,2755 00004 READ LOSCALAR
035688,000937: 32,2756 55754 TS P66TPIP # TIME IN UNITS OF 2(9) M/CS
035689,000938:
035690,000939: 32,2757 00006 EXTEND # SET GTCTIME AS TIME-TAG FOR FC
035691,000940: 32,2760 30025 DCA TIME2
035692,000941: 32,2761 53671 DXCH GTCTIME # TIME IN UNITS OF 2(28) CS
035693,000942:
035694,000943: # ********************************
|
|
Page 802 |
035696,000945: # PROGRAM INITIALIZATION
035697,000946: # ********************************
035698,000947:
035699,000948: # THE FIRST TIME P66JOB IS EXECUTED P66 HAS NOT YET BEEN INITIALIZED. THIS IS INDICATED BY THE FACT THAT
035700,000949: # MODREG CONTAINS SOMETHING OTHER THAN 66. IN THIS CASE P66JOB BEGINS BY INITIALIZING ITSELF.
035701,000950:
035702,000951: 32,2762 41010 CS MODREG # HAS P66 BEEN INITIALIZED YET?
035703,000952: 32,2763 62770 AD MM66
035704,000953: 32,2764 00006 EXTEND
035705,000954: 32,2765 13001 BZF P66MAIN # YES
035706,000955:
035707,000956: 32,2766 03507 TC P66CHNG # NO: THEN INITIALIZE IT
035708,000957:
035709,000958: 32,2767 05322 TC NEWMODEX # SWITCH MODE LIGHTS TO 66
035710,000959: 32,2770 00102 MM66 DEC 66 B-14
035711,000960:
035712,000961: 32,2771 44755 CS ZERO # CANCEL LEFT OVER P64 THROTTLE COMMAND
035713,000962: 32,2772 54055 TS THRUST # (DON'T EVER LOAD THRUST WITH +0)
035714,000963:
035715,000964: 32,2773 36257 CAF THREE # SET HZCOUNT FOR P66DISPS IN 3/4
035716,000965: 32,2774 55753 TS HZCOUNT # SECOND AND P66HZ IN 1 1/4 SECOND
035717,000966:
035718,000967: 32,2775 03501 TC ZEROVHZC # SET VHZC TO ZERO, RETURN WITH C(A) = +0
035719,000968:
035720,000969: 32,2776 55610 TS FWEIGHT # ZERO FWEIGHT LEFT OVER FROM P64
035721,000970: 32,2777 55611 TS FWEIGHT +1
035722,000971:
035723,000972: 32,3000 13272 TCF ENDROD # WAIT BEFORE EXECUTING P66ROD
035724,000973:
035725,000974: # ********************************
035726,000975: # VERTICAL (ROD) CONTROL EQUATION
035727,000976: # ********************************
035728,000977:
035729,000978: # HERE VVECTX IS RECOMPUTED TO MINIMIZE THE GUIDANCE LAG BETWEEN THE SAMPLING OF PIPA DATA AND THE
035730,000979: # OUTPUT OF COMMANDS. THIS LEAVES THE VECTOR VVECT NON-HOMOGENEOUS, BUT THIS IS UNIMPORTANT SINCE THE VERTICAL
035731,000980: # AND HORIZONTAL CHANNELS ARE SEPARATE.
035732,000981:
035733,000982: 32,3001 00006 P66MAIN EXTEND
035734,000983: 32,3002 41710 DCS VSURFACE
035735,000984: 32,3003 53727 DXCH VVECTX
035736,000985: 32,3004 00006 EXTEND
035737,000986: 32,3005 31525 DCA V
035738,000987: 32,3006 20001 DDOUBL
035739,000988: 32,3007 20001 DDOUBL
035740,000989: 32,3010 21727 DAS VVECTX
035741,000990:
035742,000991: 32,3011 41234 CS PIPTIME +1
035743,000992: 32,3012 61671 AD GTCTIME +1
035744,000993: 32,3013 64736 AD HALF
035745,000994: 32,3014 64736 AD HALF
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|
Page 803 |
035747,000996: 32,3015 57725 XCH DT
035748,000997:
035749,000998: 32,3016 41254 CS PIPAXOLD
035750,000999: 32,3017 61755 AD P66PIPX
035751,001000: 32,3020 04616 TC BANKCALL
035752,001001: 32,3021 42761 CADR NORMPIP
035753,001002: 32,3022 00006 EXTEND
035754,001003: 32,3023 73516 MP P66KPIP
035755,001004: 32,3024 21727 DAS VVECTX
035756,001005:
035757,001006: 32,3025 41704 CS BIASACCX
035758,001007: 32,3026 61701 AD GRAVACCX
035759,001008: 32,3027 00006 EXTEND
035760,001009: 32,3030 71725 MP DT
035761,001010: 32,3031 21727 DAS VVECTX # VVECTX IN UNITS OF 2(5) M/CS
035762,001011:
035763,001012: # UPDATE VDGVERT ACCORDING TO ROD CLICKS.
035764,001013:
035765,001014: 32,3032 34755 CAF ZERO
035766,001015: 32,3033 57744 XCH RODCOUNT # RESTART BETWEEN NOW AND THE UPDATE OF
035767,001016: 32,3034 00006 EXTEND # VDGVERT COULD CAUSE LOSS OF ROD CLICKS
035768,001017: 32,3035 70161 MP MPAC +5
035769,001018: 32,3036 30001 CA L
035770,001019: 32,3037 00006 EXTEND
035771,001020: 32,3040 74745 MP BIT7
035772,001021: 32,3041 21746 DAS VDGVERT # VDGVERT IN UNITS OF 2(5) M/CS
035773,001022:
035774,001023: 32,3042 34747 MANTHRT? CAF BIT5 # ARE WE IN AUTO THROTTLE?
035775,001024: 32,3043 00006 EXTEND
035776,001025: 32,3044 02030 RAND CHAN30
035777,001026: 32,3045 00006 EXTEND
035778,001027: 32,3046 13053 BZF ERRCOMP # YES
035779,001028:
035780,001029: 32,3047 00006 EXTEND # NO: RESET VDGVERT TO CURRENT VVECTX
035781,001030: 32,3050 31727 DCA VVECTX
035782,001031: 32,3051 53746 DXCH VDGVERT
035783,001032: 32,3052 13272 TCF ENDROD
035784,001033:
035785,001034: # THE DECISION WHETHER TO EXECUTE THE P66ROD EQUATION IS MADE EVERY 1/4 SECOND ON THE FOLLOWING BASIS: IF
035786,001035: # VELOCITY ERROR ALONG THE SM X-AXIS EXCEEDS VERCRIT IN MAGNITUDE, DO P66ROD. OTHERWISE, DO P66ROD EVERY TAU
035787,001036: # (SPECIFICALLY TAUROD ROUNDED TO THE NEAREST 1/4 SECOND).
035788,001037:
035789,001038: 32,3053 00006 ERRCOMP EXTEND # COMPUTE VERTICAL (SM X-AXIS) VEL ERROR
035790,001039: 32,3054 41727 DCS VVECTX
035791,001040: 32,3055 52155 DXCH MPAC
035792,001041: 32,3056 00006 EXTEND
035793,001042: 32,3057 31746 DCA VDGVERT
035794,001043: 32,3060 20155 DAS MPAC # VDGVERT - VVECTX IN UNITS OF 2(5) M/CS
035795,001044:
035796,001045: 32,3061 07271 TC TPAGREE # SIGN-AGREE MPAC (ABSOLUTELY NECESSARY)
035797,001046:
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|
Page 804 |
035799,001048: 32,3062 41756 CS OP66TPIP # COMPUTE TIME SINCE LAST RODCOMP
035800,001049: 32,3063 61754 AD P66TPIP
035801,001050: 32,3064 64736 AD HALF
035802,001051: 32,3065 64736 AD HALF
035803,001052: 32,3066 56157 XCH MPAC +3 # TIME SINCE LAST P66ROD, UNITS OF 2(9) CS
035804,001053:
035805,001054: 32,3067 43522 CS P66PMIN # HAS IT BEEN LESS THAN P66PMIN?
035806,001055: 32,3070 60157 AD MPAC +3
035807,001056: 32,3071 00006 EXTEND
035808,001057: 32,3072 63276 BZMF MOREP66? # YES: NO P66ROD THIS PASS
035809,001058:
035810,001059: 32,3073 22154 LXCH MPAC # NO: LIMIT ERROR TO ABOUT 9.57 M/S
035811,001060: 32,3074 34773 CAF DEC48
035812,001061: 32,3075 04616 TC BANKCALL
035813,001062: 32,3076 61713 CADR LIMITSUB
035814,001063: 32,3077 54154 TS MPAC # PUT IT BACK IN MPAC
035815,001064:
035816,001065: 32,3100 00006 EXTEND # IS |VDGVERT - VVECTX| < VERCRIT?
035817,001066: 32,3101 30155 DCA MPAC
035818,001067: 32,3102 00006 EXTEND
035819,001068: 32,3103 10123 DV VBUF +1
035820,001069: 32,3104 00006 EXTEND
035821,001070: 32,3105 13110 BZF ERRFAIL
035822,001071:
035823,001072: 32,3106 30124 CA VBUF +2 # NO: DO ROD COMPUTATION USING TAURODL
035824,001073: 32,3107 13120 TCF P66ROD
035825,001074:
035826,001075: 32,3110 30157 ERRFAIL CA MPAC +3 # YES: HAS IT BEEN ABOUT OLDTAU
035827,001076: 32,3111 00006 EXTEND # SINCE THE LAST P66ROD?
035828,001077: 32,3112 74742 MP BIT10
035829,001078: 32,3113 65752 AD TWELVE
035830,001079: 32,3114 61761 AD -OLDTAU
035831,001080: 32,3115 00006 EXTEND
035832,001081: 32,3116 63276 BZMF MOREP66? # NO: NO P66ROD THIS PASS
035833,001082:
035834,001083: 32,3117 30125 CA VBUF +3 # YES: DO ROD COMPUTATION USING TAURODB
035835,001084:
035836,001085: 32,3120 55760 P66ROD TS TAU
035837,001086: 32,3121 52155 DXCH MPAC
035838,001087: 32,3122 00006 EXTEND
035839,001088: 32,3123 11760 DV TAU # TOTAL A DESIRED, UNITS OF 2(-9) M/CS/CS
035840,001089:
035841,001090: 32,3124 00006 EXTEND # SUBTRACT AWAY GRAVITY
035842,001091: 32,3125 61701 SU GRAVACCX
035843,001092: 32,3126 00006 EXTEND # RESCALE TO UNITS OF 2(-4) M/CS/CS
035844,001093: 32,3127 74742 MP BIT10
035845,001094: 32,3130 04616 TC BANKCALL
035846,001095: 32,3131 62337 CADR MASSMULT
035847,001096: 32,3132 00006 EXTEND # DIVIDE BY COS(AIG) COS(AMG)
035848,001097: 32,3133 10160 DV MPAC +4
035849,001098:
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|
Page 805 |
035851,001100: 32,3134 00006 EXTEND # APPLY LOWER LIMIT OF MINFORCE (VBUF +4)
035852,001101: 32,3135 60126 SU VBUF +4
035853,001102: 32,3136 64733 AD POSMAX
035854,001103: 32,3137 54001 TS L
035855,001104: 32,3140 40001 CS L
035856,001105: 32,3141 60001 AD L
035857,001106: 32,3142 60126 AD VBUF +4
035858,001107:
035859,001108: 32,3143 54001 TS L # APPLY UPPER LIMIT OF MAXFORCE (VBUF +5)
035860,001109: 32,3144 30127 CA VBUF +5
035861,001110: 32,3145 04616 TC BANKCALL
035862,001111: 32,3146 61713 CADR LIMITSUB
035863,001112: 32,3147 55615 TS FC # THRUST DESIRED
035864,001113:
035865,001114: 32,3150 41755 CS P66PIPX # COMPUTE MINUS PRESENT THRUST LEVEL
035866,001115: 32,3151 61757 AD OP66PIPX
035867,001116: 32,3152 04616 TC BANKCALL
035868,001117: 32,3153 42761 CADR NORMPIP
035869,001118: 32,3154 00006 EXTEND # RESCALE TO UNITS OF 1 M/CS
035870,001119: 32,3155 73517 MP P66KPIPB
035871,001120: 32,3156 20001 DDOUBL
035872,001121: 32,3157 00006 EXTEND # DIVIDE BY TIME IN UNITS OF 2(9) CS TO
035873,001122: 32,3160 10157 DV MPAC +3 # GET ACC IN UNITS OF 2(-9) M/CS/CS
035874,001123: 32,3161 61704 AD BIASACCX # ADD IN PIPA BIAS PSEUDO-ACCELERATION
035875,001124:
035876,001125: 32,3162 00006 EXTEND # RESCALE TO UNITS OF 2(-4) M/CS/CS
035877,001126: 32,3163 74742 MP BIT10
035878,001127: 32,3164 04616 TC BANKCALL
035879,001128: 32,3165 62337 CADR MASSMULT
035880,001129: 32,3166 55467 TS FP
035881,001130:
035882,001131: 32,3167 00006 EXTEND
035883,001132: 32,3170 41611 DCS FWEIGHT
035884,001133: 32,3171 00006 EXTEND
035885,001134: 32,3172 10157 DV MPAC +3
035886,001135: 32,3173 27467 ADS FP # MINUS THRUST ALONG THE SM X-AXIS
035887,001136:
035888,001137: 32,3174 22007 ZL
035889,001138: 32,3175 00006 EXTEND # DIVIDE BY COS(AIG) COS(AMG)
035890,001139: 32,3176 10160 DV MPAC +4
035891,001140:
035892,001141: 32,3177 55467 TS FP # MINUS PRESENT THRUST
035893,001142:
035894,001143: 32,3200 61615 AD FC
035895,001144: 32,3201 54001 TS L # LIMIT PIF TO WHAT CAN BE READ OUT
035896,001145: 32,3202 33522 CAF P66PMIN # (LOSCALAR AND THRUST BOTH 3200 PPS)
035897,001146: 32,3203 04616 TC BANKCALL
035898,001147: 32,3204 61713 CADR LIMITSUB
035899,001148:
035900,001149: 32,3205 04616 TC BANKCALL # GO TO THROTTLE WITH PIF IN A
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|
Page 806 |
035902,001151: 32,3206 62144 CADR P66THROT
035903,001152:
035904,001153: 32,3207 00003 P66REL RELINT
035905,001154:
035906,001155: 32,3210 53617 DXCH FWEIGHT1 # SCALE FWEIGHT FOR USE NEXT PASS
035907,001156: 32,3211 52155 DXCH MPAC
035908,001157: 32,3212 30160 CA MPAC +4 # FIRST TAKE OUT THE ATTITUDE EFFECT
035909,001158: 32,3213 07321 TC SHORTMP
035910,001159: 32,3214 33526 CAF 2SECS(9)
035911,001160: 32,3215 07321 TC SHORTMP
035912,001161: 32,3216 52155 DXCH MPAC
035913,001162: 32,3217 53617 DXCH FWEIGHT1 # TRANSFERRED TO FWEIGHT LATER
035914,001163:
035915,001164: # UPDATE VHZC (Y AND Z COMPONENTS) ACCORDING TO HAND CONTROLLER DEFLECTIONS. IT IS ASSUMED THAT THE PLANE OF
035916,001165: # THE SM Y AND Z AXES IS PARALLEL TO THE LOCAL SURFACE, AS IT WILL BE IN P66 FOR THE NORMAL "LANDING ALIGNMENT".
035917,001166:
035918,001167: 32,3220 34755 CAF ZERO
035919,001168: 32,3221 57645 XCH AZCOUNT1 # RESTART BETWEEN NOW AND THE UPDATE OF
035920,001169: 32,3222 00006 EXTEND # VHZC COULD CAUSE LOSS OF ROHZ CLICKS
035921,001170: 32,3223 70162 MP MPAC +6
035922,001171: 32,3224 22130 LXCH BUF # AZCOUNT1.ROHZCAL IN UNITS OF 2(-3) M/CS
035923,001172:
035924,001173: 32,3225 34755 CAF ZERO
035925,001174: 32,3226 57644 XCH ELCOUNT1 # RESTART BETWEEN NOW AND THE UPDATE OF
035926,001175: 32,3227 00006 EXTEND # VHZC COULD CAUSE LOSS OF ROHZ CLICKS
035927,001176: 32,3230 70162 MP MPAC +6
035928,001177: 32,3231 22131 LXCH BUF +1 # ELCOUNT1.ROHZSCAL IN UNITS OF 2(-3) M/CS
035929,001178:
035930,001179: 32,3232 35015 CAF EBANK6
035931,001180: 32,3233 54003 TS EBANK
035932,001181: 32,3234 E6,1774 EBANK= END-E6
035933,001182:
035934,001183: 32,3234 30130 CA BUF
035935,001184: 32,3235 00006 EXTEND
035936,001185: 32,3236 71420 MP M32 # COS(AOG)
035937,001186: 32,3237 54002 TS Q
035938,001187: 32,3240 40131 CS BUF +1
035939,001188: 32,3241 00006 EXTEND
035940,001189: 32,3242 71417 MP M22 # SIN(AOG)
035941,001190: 32,3243 60002 AD Q
035942,001191: 32,3244 00006 EXTEND
035943,001192: 32,3245 74745 MP BIT7
035944,001193: 32,3246 52155 DXCH MPAC # INCREMENT FOR VHZCY, UNITS OF 2(5) M/CS
035945,001194:
035946,001195: 32,3247 30130 CA BUF
035947,001196: 32,3250 00006 EXTEND
035948,001197: 32,3251 71417 MP M22 # SIN(AOG)
035949,001198: 32,3252 56131 XCH BUF +1
035950,001199: 32,3253 00006 EXTEND
035951,001200: 32,3254 71420 MP M32 # COS(AOG)
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|
Page 807 |
035953,001202: 32,3255 60131 AD BUF +1
035954,001203: 32,3256 00006 EXTEND
035955,001204: 32,3257 74745 MP BIT7 # INCREMENT FOR VHZCZ, UNITS OF 2(5) M/CS
035956,001205:
035957,001206: 32,3260 24006 INCR BBANK
035958,001207: 32,3261 E7,1777 EBANK= END-E7
035959,001208:
035960,001209: 32,3261 21752 DAS VHZC +4 # UPDATE VHZCZ
035961,001210: 32,3262 52155 DXCH MPAC
035962,001211: 32,3263 21750 DAS VHZC +2 # UPDATE VHZCY
035963,001212:
035964,001213: 32,3264 03507 TC P66CHNG
035965,001214:
035966,001215: 32,3265 00006 EXTEND # STORE FWEIGHT FOR USE NEXT PASS
035967,001216: 32,3266 31617 DCA FWEIGHT1
035968,001217: 32,3267 53611 DXCH FWEIGHT
035969,001218:
035970,001219: 32,3270 41760 CS TAU # STORE MINUS TAU FOR TEST NEXT PASS
035971,001220: 32,3271 55761 TS -OLDTAU
035972,001221:
035973,001222: 32,3272 03507 ENDROD TC P66CHNG
035974,001223:
035975,001224: 32,3273 00006 EXTEND # STORE TIME AND PIPX FOR NEXT PASS
035976,001225: 32,3274 31755 DCA P66TPIP
035977,001226: 32,3275 53757 DXCH OP66TPIP
035978,001227:
035979,001228: # ********************************
035980,001229: # ANY MORE WORK THIS PASS?
035981,001230: # ********************************
035982,001231:
035983,001232: 32,3276 00006 MOREP66? EXTEND # TERMINATE P66JOB RESTART PROTECTION
035984,001233: 32,3277 34755 DCA NEG0
035985,001234: 32,3300 52756 DXCH -PHASE3
035986,001235:
035987,001236: # NOTE: A RESTART BETWEEN NOW AND THE END OF THE JOB WILL CAUSE THE LOSS OF THE REMAINDER OF THE JOB. BUT
035988,001237: # THIS DOES NOT MATTER. SINCE HZCOUNT IS NOT INCREMENTED UNTIL THE END OF THE JOB, THE FIRST P66JOB AFTER THE
035989,001238: # RESTART WILL REPEAT AND COMPLETE THE COMPUTATIONS STARTED HERE.
035990,001239:
035991,001240: 32,3301 37722 CAF PRIO22
035992,001241: 32,3302 05146 TC PRIOCHNG
035993,001242:
035994,001243: 32,3303 37723 CAF PRIO23
035995,001244: 32,3304 05146 TC PRIOCHNG
035996,001245:
035997,001246: # THE DESISION WHETHER TO EXECUTE THE P66 HORIZONTAL CONTROL EQUATION IS MADE EVERY 1/4 SECOND ON THE
035998,001247: # FOLLOWING BASIS: IF MODE HAS BEEN SWITCHED FROM ATTITUDE-HOLD TO AUTO BETWEEN THE MOST RECENT FINDCDUW AND
035999,001248: # NOW, DO P66HZ IMMEDIATELY. OTHERWISE, DO P66HZ EVERY TWO SECONDS (WHICH COULD BE CHANGED TO ONE SECOND), AND
036000,001249: # DO P65DISPS EVERY ONE SECOND, STAGGERED FROM P66HZ.
036001,001250:
036002,001251: 32,3305 30120 CA FIXLOC # ZERO PUSHDOWN POINTER
|
|
Page 808 |
036004,001253: 32,3306 54166 TS PUSHLOC
036005,001254:
036006,001255: 32,3307 35015 CAF EBANK6 # SWITCH TO E6 FOR FLPAUTNO
036007,001256: 32,3310 54003 TS EBANK
036008,001257: 32,3311 E6,1774 EBANK= END-E6
036009,001258:
036010,001259: 32,3311 34736 CAF BIT14 # IS MODE IN AUTO?
036011,001260: 32,3312 00006 EXTEND
036012,001261: 32,3313 02031 RAND CHAN31
036013,001262: 32,3314 00006 EXTEND
036014,001263: 32,3315 13322 BZF CHKFPAUT # YES: GO CHECK FLPAUTNO
036015,001264:
036016,001265: 32,3316 55651 TS FLPAUTNO # NO: SET FLPAUTNO TO INDICATE ATT-HOLD,
036017,001266: 32,3317 24006 INCR BBANK # RETURN TO E7, AND ZERO VHZC
036018,001267: 32,3320 03501 TC ZEROVHZC
036019,001268: 32,3321 13330 TCF HZTIME?
036020,001269:
036021,001270: 32,3322 31651 CHKFPAUT CA FLPAUTNO # WAS MODE IN AUTO LAST FINDCDUW?
036022,001271: 32,3323 24006 INCR BBANK
036023,001272: 32,3324 E7,1777 EBANK= END-E7
036024,001273: 32,3324 00006 EXTEND
036025,001274: 32,3325 13330 BZF HZTIME? # YES
036026,001275:
036027,001276: 32,3326 03501 TC ZEROVHZC # NO: MODE JUST SWITCHED SO ZERO VHZC
036028,001277: 32,3327 55753 TS HZCOUNT # AND HZCOUNT FOR IMMEDIATE P66HZ
036029,001278:
036030,001279: 32,3330 31753 HZTIME? CA HZCOUNT # DOES HZCOUNT = 0 MODULO 8?
036031,001280: 32,3331 74757 MASK SEVEN
036032,001281: 32,3332 00006 EXTEND
036033,001282: 32,3333 13342 BZF P66HZ # YES: DO HORIZONTAL CONTROL EQUATION
036034,001283:
036035,001284: 32,3334 76257 MASK THREE # NO: DOES HZCOUNT = 2 MODULO 4?
036036,001285: 32,3335 67760 AD NEG2
036037,001286: 32,3336 00006 EXTEND
036038,001287: 32,3337 13417 BZF P66DISPS # YES: GO COMPUTE DISPLAYS
036039,001288:
036040,001289: 32,3340 25753 END66JOB INCR HZCOUNT # NO: INCREMENT HZCOUNT, TERMINATE JOB:
036041,001290: 32,3341 05155 TC ENDOFJOB # P66HZ COMES HERE TOO
036042,001291:
036043,001292: # ********************************
036044,001293: # HORIZONTAL CONTROL EQUATION
036045,001294: # ********************************
036046,001295:
036047,001296: 32,3342 06051 P66HZ TC INTPRET
036048,001297: 32,3343 63345 DLOAD PDVL
036049,001298: 32,3344 02477 AHZLIM
036050,001299: 32,3345 03253 UNFC/2
036051,001300: 32,3346 63361 VXSC PDVL
036052,001301: 32,3347 02476 QHZ
036053,001302: 32,3350 03727 VVECTX
|
|
Page 809 |
036055,001304: 32,3351 77645 BVSU
036056,001305: 32,3352 03746 VHZC
036057,001306: 32,3353 52341 V/SC VSU
036058,001307: 32,3354 02475 TAUHZ
036059,001308: 32,3355 47034 RTB RTB # ZERO X-COMPONENT AND UNITIZE
036060,001309: 32,3356 63537 ZEROMPAC
036061,001310: 32,3357 21706 NORMUNX1
036062,001311: 32,3360 53725 PDDL SL* # CORRECT MAGNITUDE FOR NORMUNX1 SHIFT
036063,001312: 32,3361 00045 36D
036064,001313: 32,3362 20201 0,1
036065,001314: 32,3363 74234 RTB VXSC # LIMIT MAGNITUDE TO AHZLIM
036066,001315: 32,3364 63547 MPACLIM
036067,001316: 32,3365 77776 EXIT
036068,001317:
036069,001318: 32,3366 33521 CA GHZ # X-COMPONENT = GRAVITY
036070,001319: 32,3367 54154 TS MPAC
036071,001320:
036072,001321: 32,3370 30121 CA OVFIND # ANY INTERPRETIVE OVERFLOW?
036073,001322: 32,3371 00006 EXTEND
036074,001323: 32,3372 13376 BZF ENGARM? # NO: CONTINUE CHECKING
036075,001324:
036076,001325: 32,3373 04616 TC BANKCALL # YES: ISSUE ALARM BUT NO COMMANDS
036077,001326: 32,3374 63646 FCADR OVFDESC
036078,001327: 32,3375 13340 TCF END66JOB
036079,001328:
036080,001329: 32,3376 34751 ENGARM? CAF BIT3 # IS ENGINE-ARM SWITCH ON?
036081,001330: 32,3377 00006 EXTEND
036082,001331: 32,3400 02030 RAND CHAN30
036083,001332: 32,3401 00006 EXTEND
036084,001333: 32,3402 13412 BZF CDUWHZ # YES: LIMIT AND ISSUE COMMANDS
036085,001334:
036086,001335: 32,3403 40074 CS FLAGWRD0 # NO: HAS ASTRONAUT RESPONDED TO P06N60?
036087,001336: 32,3404 74753 MASK P66PROBT
036088,001337: 32,3405 00006 EXTEND
036089,001338: 32,3406 13412 BZF CDUWHZ # NO: LIMIT AND ISSUE COMMANDS
036090,001339:
036091,001340: 32,3407 33515 CA IDLADR # YES: PREVENT RCS JET FIRINGS
036092,001341: 32,3410 55263 TS T5ADR
036093,001342: 32,3411 13340 TCF END66JOB
036094,001343:
036095,001344: 32,3412 06051 CDUWHZ TC INTPRET
036096,001345: 32,3413 37253 STCALL UNFC/2 # MUST STORE FOR SUCCEEDING PASS
036097,001346: 32,3414 61075 FINDCDUW
036098,001347: 32,3415 77776 EXIT
036099,001348:
036100,001349: 32,3416 13340 TCF END66JOB
036101,001350:
036102,001351: # ********************************
036103,001352: # P66 DISPLAY COMPUTATIONS
036104,001353: # ********************************
|
|
Page 810 |
036106,001355: 32,3417 06051 P66DISPS TC INTPRET
036107,001356: 32,3420 41345 DLOAD DMP # AHZLIM.TAUHZ TO PD 0 FOR MPACLIM BELOW
036108,001357: 32,3421 02477 AHZLIM
036109,001358: 32,3422 02475 TAUHZ
036110,001359: 32,3423 47115 PDVL RTB
036111,001360: 32,3424 03727 VVECTX
036112,001361: 32,3425 63537 ZEROMPAC
036113,001362: 32,3426 65234 RTB PDDL
036114,001363: 32,3427 21706 NORMUNX1
036115,001364: 32,3430 00045 36D
036116,001365: 32,3431 41457 SL* PUSH
036117,001366: 32,3432 20201 0,1
036118,001367: 32,3433 00045 STORE 36D
036119,001368: 32,3434 63434 RTB DSQ
036120,001369: 32,3435 63547 MPACLIM
036121,001370: 32,3436 65352 SL1 PDDL
036122,001371: 32,3437 43316 DSQ DAD
036123,001372: 32,3440 65271 DDV PDDL
036124,001373: 32,3441 02477 AHZLIM
|
|
TEXTRA in the following line is cicled |
036126,001375: 32,3442 02500 TEXTRA
036127,001376: 32,3443 43205 DMP DAD
036128,001377: 32,3444 00045 36D
036129,001378: 32,3445 74276 DCOMP VXSC
036130,001379: 32,3446 65345 DLOAD PDDL # PUSH DOWN Z AND Y COMPS FOR VDEF BELOW
036131,001380: 32,3447 00162 MPAC +5
036132,001381: 32,3450 00160 MPAC +3
036133,001382: 32,3451 43325 PDDL DAD # COMPUTE X-COMP AS ALTITUDE CORRECTED
036134,001383: 32,3452 03737 ALTITUDE
036135,001384: 32,3453 25524 DALTEYE
036136,001385: 32,3454 53466 VDEF UNIT # FORM UNIT VECTOR FROM SITE TO EYE IN SM
036137,001386: 32,3455 45034 RTB CALL # COORDINATES AND CONVERT TO NB
036138,001387: 32,3456 47613 QTPROLOG
036139,001388: 32,3457 47676 *SMNB*
036140,001389: 32,3460 77562 VSR1 EXIT # EXIT WITH SINE(LOOKANGL)/4 IN MPAC
036141,001390:
036142,001391: 32,3461 04616 TC BANKCALL # LPDFVSUB TAKES IT FROM THERE
036143,001392: 32,3462 63570 CADR LPDFVSUB
036144,001393:
036145,001394: 32,3463 25753 UNDISP? INCR HZCOUNT
036146,001395: 32,3464 40104 CS FLAGWRD8 # NO DISPLAYS THIS PASS IF FLUNDISP SET
036147,001396: 32,3465 74742 MASK FLUNDBIT
036148,001397: 32,3466 00006 EXTEND
|
|
The following line is circled, with "ENDOFJOB" written next to END66JOB in the circle. |
036150,001399: 32,3467 13340 BZF END66JOB
036151,001400:
036152,001401: 32,3470 05165 VERTDISP TC VACRLEAS
036153,001402: 32,3471 33525 CAF V06N60
036154,001403: 32,3472 04616 TC BANKCALL
036155,001404: 32,3473 20460 CADR REFLASH
036156,001405: 32,3474 05155 TC ENDOFJOB # TERMINATE IGNORE AND KEEP FLASHING
036157,001406: 32,3475 13476 TCF STOPFIRE # PROCEED GO TERMINATE P66HZ OUTPUTS
|
|
Page 811 |
036159,001408: 32,3476 05527 STOPFIRE TC DOWNFLAG # ENTER TERMINATE P66HZ OUTPUTS
036160,001409: 32,3477 00016 ADRES P66PROFL
036161,001410: 32,3500 15155 TCF ENDOFJOB
036162,001411:
036163,001412: # ********************************
036164,001413: # P66JOB SUBROUTINES
036165,001414: # ********************************
036166,001415:
036167,001416: 32,3501 34755 ZEROVHZC CAF ZERO # THE X-COMPONENT OF VHZC NEVER MATTERS,
036168,001417: 32,3502 55747 TS VHZC +2 # AND BESIDES IT OVERLAPS VDGVERT
036169,001418: 32,3503 55750 TS VHZC +3
036170,001419: 32,3504 55751 TS VHZC +4
036171,001420: 32,3505 55752 TS VHZC +5
036172,001421: 32,3506 00002 TC Q
036173,001422:
|
|
In the margine on the right, a note is written in:
make it a REFLASHR and -increment HZ- go to END66JOB on the R ----?"increment HZ" is scratched out. |
036183,001432:
036184,001433: 32,3507 E3,1442 EBANK= PHSNAME3
036185,001434: 32,3507 35007 P66CHNG CAF EBANK3
036186,001435: 32,3510 56003 XCH EBANK
036187,001436: 32,3511 52002 DXCH L
036188,001437: 32,3512 55442 TS PHSNAME3
036189,001438: 32,3513 22003 LXCH EBANK
036190,001439: 32,3514 00000 TC A
036191,001440:
036192,001441: 32,3515 E7,1647 EBANK= ELVIRA
036193,001442:
036194,001443: # ********************************
036195,001444: # P66JOB CONSTANTS
036196,001445: # ********************************
036197,001446:
036198,001447: 32,3515 02024 IDLADR GENADR DAPIDLER
036199,001448:
036200,001449: 32,3516 01507 P66KPIP DEC .0512 # SCALES PIPAS TO UNITS OF 2(5) M/CS
036201,001450:
036202,001451: 32,3517 32156 P66KPIPB DEC .8192
036203,001452:
036204,001453: 32,3520 00143 RIMUZ DEC 99.486 B-14 # 1.2667 M IN UNITS (180/PI 45) 2(14) CM
036205,001454:
036206,001455: 32,3521 00053 GHZ DEC +1.62292 E-4 B+4 # LUNAR GRAVITY
036207,001456:
036208,001457: 32,3522 02260 P66PMIN DEC 37.5 B-9
036209,001458:
036210,001459: 32,3523 00002 20000 DALTEYE 2DEC 5 B-15 # ROUGH DISTANCE FROM EYE TO LR ANTENNA
036211,001460:
|
|
Page 812 |
036213,001462: 32,3525 01474 V06N60 VN 0660
036214,001463:
036215,001464: 32,3526 4773 DEC48 = SUPER011
036216,001465:
036217,001466: 32,3526 14400 2SECS(9) DEC 200 B-9
036218,001467:
036219,001468: # ****************************************************************************************************************
036220,001469: # REDESIGNATOR TRAP
036221,001470: # ****************************************************************************************************************
036222,001471:
036223,001472: 23,2000 SETLOC RODTRAP
036224,001473: 23,2000 BANK
036225,001474:
036226,001475: 23,2453 COUNT* $$/F2DPS
036227,001476:
036228,001477: 23,2453 56016 PITFALL XCH BANKRUPT
036229,001478: 23,2454 00006 EXTEND
036230,001479: 23,2455 22012 QXCH QRUPT
036231,001480:
036232,001481: 23,2456 44745 CS BIT7 # ARE WE IN P64 OR P66?
036233,001482: 23,2457 61010 AD MODREG
036234,001483: 23,2460 10000 CCS A
036235,001484: 23,2461 77743 MASK OCT37776
036236,001485: 23,2462 10000 CCS A
036237,001486: 23,2463 05301 TC RESUME # NO: RESUME IMMEDIATELY
036238,001487:
036239,001488: 23,2464 00006 EXTEND # YES
036240,001489: 23,2465 00031 READ CHAN31
036241,001490: 23,2466 40000 COM
036242,001491: 23,2467 72500 MASK ALL4BITS
036243,001492: 23,2470 55647 TS ELVIRA
036244,001493: 23,2471 34752 CAF TWO
036245,001494: 23,2472 55646 TS ZERLINA
036246,001495: 23,2473 34756 CAF FIVE
036247,001496: 23,2474 05214 TC WAITLIST
036248,001497: 23,2475 E7,1646 EBANK= ZERLINA
036249,001498: 23,2475 02305 22067 2CADR REDESMON
036250,001499:
036251,001500: 23,2477 15301 TCF RESUME
036252,001501:
036253,001502:
036254,001503: 23,2500 00063 ALL4BITS OCT 00063
036255,001504:
036256,001505:
036257,001506: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
|
|
Page 813 |
036259,001508: 11,2000 SETLOC F2DPS*11
036260,001509: 11,2000 BANK
036261,001510: 11,2302 COUNT* $$/F2DPS
036262,001511:
036263,001512: 11,2302 55646 PREMON1 TS ZERLINA
036264,001513: 11,2303 34757 PREMON2 CAF SEVEN
036265,001514: 11,2304 05235 TC VARDELAY
036266,001515: 11,2305 00006 REDESMON EXTEND
036267,001516: 11,2306 00031 READ 31
036268,001517: 11,2307 40000 COM
036269,001518: 11,2310 72365 MASK OCT00063
036270,001519: 11,2311 57647 XCH ELVIRA
036271,001520: 11,2312 54001 TS L
036272,001521: 11,2313 11647 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
036273,001522: 11,2314 12303 TCF PREMON2 # Y: CONTINUE MONITOR
036274,001523:
036275,001524: 11,2315 10001 CCS L # N: ANY LAST PASS?
036276,001525: 11,2316 12326 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
036277,001526: 11,2317 11646 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
036278,001527: 11,2320 12302 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
036279,001528: 11,2321 06022 RESETRPT TC C13STALL # Y: RESET RUPT, TERMINATE
036280,001529: 11,2322 34740 CAF BIT12
036281,001530: 11,2323 00006 EXTEND
036282,001531: 11,2324 05013 WOR CHAN13
036283,001532: 11,2325 15272 TCF TASKOVER
036284,001533:
036285,001534: 11,2326 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
036286,001535: 11,2327 00006 EXTEND
036287,001536: 11,2330 02031 RAND CHAN31
036288,001537: 11,2331 00006 EXTEND
036289,001538: 11,2332 12321 BZF RESETRPT
036290,001539:
036291,001540: 11,2333 34742 CAF BIT10 # NO: DOES AGS HAVE CONTROL?
036292,001541: 11,2334 00006 EXTEND
036293,001542: 11,2335 02030 RAND CHAN30
036294,001543: 11,2336 10000 CCS A
036295,001544: 11,2337 12321 TCF RESETRPT
036296,001545:
036297,001546: 11,2340 30001 CA L # NO
036298,001547: 11,2341 74746 MASK -AZBIT
036299,001548: 11,2342 10000 CCS A
036300,001549: 11,2343 44753 -AZ CS ONE
036301,001550: 11,2344 27645 ADS AZCOUNT1
036302,001551: 11,2345 30001 CA L
036303,001552: 11,2346 74747 MASK +AZBIT
036304,001553: 11,2347 10000 CCS A
036305,001554: 11,2350 34753 +AZ CA ONE
036306,001555: 11,2351 27645 ADS AZCOUNT1
036307,001556: 11,2352 30001 CA L
036308,001557: 11,2353 74753 MASK -ELBIT
|
|
Page 814 |
036310,001559: 11,2354 10000 CCS A
036311,001560: 11,2355 44753 -EL CS ONE
036312,001561: 11,2356 27644 ADS ELCOUNT1
036313,001562: 11,2357 30001 CA L
036314,001563: 11,2360 74752 MASK +ELBIT
036315,001564: 11,2361 10000 CCS A
036316,001565: 11,2362 34753 +EL CA ONE
036317,001566: 11,2363 27644 ADS ELCOUNT1
036318,001567: 11,2364 12321 TCF RESETRPT
036319,001568:
036320,001569: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
036321,001570:
036322,001571:
036323,001572: 11,2365 4752 +ELBIT = BIT2 # -PITCH
036324,001573:
036325,001574:
036326,001575: 11,2365 4753 -ELBIT = BIT1 # +PITCH
036327,001576:
036328,001577:
036329,001578: 11,2365 4747 +AZBIT = BIT5
036330,001579:
036331,001580:
036332,001581: 11,2365 4746 -AZBIT = BIT6
036333,001582:
036334,001583:
036335,001584: 11,2365 00063 OCT00063 OCT 00063
036336,001585:
036337,001586:
036338,001587: # ****************************************************************************************************************
036339,001588: # R.O.D. TRAP
036340,001589: # ****************************************************************************************************************
036341,001590:
036342,001591: 23,2000 SETLOC RODTRAP
036343,001592: 23,2000 BANK
036344,001593: 23,2501 COUNT* $$/F2DPS
036345,001594:
036346,001595: 23,2501 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
036347,001596: 23,2502 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
036348,001597: 23,2503 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
036349,001598: 23,2504 64753 AD ONE
036350,001599: 23,2505 27744 ADS RODCOUNT
036351,001600: 23,2506 15301 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
036352,001601:
036353,001602:
036354,001603: 31,3413 BANK 31
036355,001604: 31,2000 SETLOC F2DPS*31
036356,001605: 31,2000 BANK
036357,001606:
036358,001607: 31,3413 COUNT* $$/F2DPS
036359,001608:
|
|
Page 815 |
036361,001610: # ****************************************************************************************************************
036362,001611: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
036363,001612: # ****************************************************************************************************************
036364,001613:
036365,001614: # N N-1
036366,001615: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
036367,001616: # N N-1 1 0
036368,001617:
036369,001618: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
036370,001619:
036371,001620: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
036372,001621: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
036373,001622: # MPAC DP X INITIAL GUESS FOR ROOT
036374,001623:
036375,001624: # LOC-2N DP A(0)
036376,001625: # ...
036377,001626: # LOC DP A(N)
036378,001627: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
036379,001628:
036380,001629: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
036381,001630: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
036382,001631: # OUTPUTS ARE NOT TO BE TRUSTED.
036383,001632:
036384,001633: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
036385,001634: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
036386,001635: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
036387,001636: # COEFFICIENT TABLE = 1 OR > 1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
036388,001637: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
036389,001638:
036390,001639: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
036391,001640:
036392,001641: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
036393,001642: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
036394,001643: # PRECLUDE EVENTUAL CONVERGENCE.
036395,001644:
036396,001645: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
036397,001646: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
036398,001647:
036399,001648: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
036400,001649:
036401,001650: # STORE ENTERING DATA, INITLIZE ERASABLES
036402,001651:
036403,001652: 31,3413 00006 ROOTPSRS EXTEND
036404,001653: 31,3414 22132 QXCH RETROOT # RETURN ADRES
036405,001654: 31,3415 54117 TS PWRPTR # PWR TABL POINTER
036406,001655: 31,3416 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
036407,001656: 31,3417 33536 CA DERTABLL
036408,001657: 31,3420 54141 TS DERPTR # DER TABL POINTER
036409,001658: 31,3421 54161 TS MPAC +5 # DER TABL ADRES
036410,001659: 31,3422 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
|
|
Page 816 |
036412,001661: 31,3423 54162 TS MPAC +6 # N-2
036413,001662: 31,3424 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
036414,001663: 31,3425 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
036415,001664:
036416,001665: # COMPUTE CRITERION TO STOP ITERATING
036417,001666:
036418,001667: 31,3426 00006 EXTEND
036419,001668: 31,3427 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
036420,001669: 31,3430 52127 DXCH ROOTPS # AND IN ROOTPS
036421,001670: 31,3431 50157 INDEX MPAC +3 # PWR TABL ADRES
036422,001671: 31,3432 30005 CA 5 # PRECROOT TO A
036423,001672: 31,3433 07321 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
036424,001673: 31,3434 04713 TC USPRCADR
036425,001674: 31,3435 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
036426,001675: 31,3436 52155 DXCH MPAC
036427,001676: 31,3437 52125 DXCH DXCRIT # CRITERION
036428,001677:
036429,001678: # SET UP DER COF TABL
036430,001679:
036431,001680: 31,3440 00006 EXTEND
036432,001681: 31,3441 50117 INDEX PWRPTR
036433,001682: 31,3442 30004 DCA 3
036434,001683: 31,3443 52155 DXCH MPAC # A(N) TO MPAC
036435,001684:
036436,001685: 31,3444 30160 CA MPAC +4 # N-1 TO A
036437,001686:
036438,001687: 31,3445 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
036439,001688: 31,3446 64753 AD ONE
036440,001689: 31,3447 07330 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
036441,001690: 31,3450 00006 EXTEND
036442,001691: 31,3451 50117 INDEX PWRPTR
036443,001692: 31,3452 30002 DCA 1
036444,001693: 31,3453 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
036445,001694: 31,3454 50141 INDEX DERPTR
036446,001695: 31,3455 52004 DXCH 3 # DERCOF TO DER TABL
036447,001696: 31,3456 44752 CS TWO
036448,001697: 31,3457 26117 ADS PWRPTR # DECREMENT PWR POINTER
036449,001698: 31,3460 44752 CS TWO
036450,001699: 31,3461 26141 ADS DERPTR # DECREMENT DER POINTER
036451,001700: 31,3462 10140 CCS PWRCNT
036452,001701: 31,3463 13445 TCF DERCLOOP
036453,001702:
036454,001703: # CONVERGE ON ROOT
036455,001704:
036456,001705: 31,3464 00006 ROOTLOOP EXTEND
036457,001706: 31,3465 30127 DCA ROOTPS # FETCH CURRENT ROOT
036458,001707: 31,3466 52155 DXCH MPAC # LEAVE IN MPAC
036459,001708: 31,3467 00006 EXTEND
036460,001709: 31,3470 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
036461,001710: 31,3471 07227 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
036462,001711:
|
|
Page 817 |
036464,001713: 31,3472 00006 EXTEND
036465,001714: 31,3473 30127 DCA ROOTPS
036466,001715: 31,3474 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
036467,001716: 31,3475 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
036468,001717: 31,3476 00006 EXTEND
036469,001718: 31,3477 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
036470,001719: 31,3500 07227 TC POWRSERS # YIELDS RESIDUAL IN MPAC
036471,001720:
036472,001721: 31,3501 04713 TC USPRCADR
036473,001722: 31,3502 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
036474,001723:
036475,001724: 31,3503 00006 EXTEND
036476,001725: 31,3504 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
036477,001726: 31,3505 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
036478,001727:
036479,001728: 31,3506 04713 TC USPRCADR
036480,001729: 31,3507 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
036481,001730: 31,3510 00006 EXTEND
036482,001731: 31,3511 40125 DCS DXCRIT
036483,001732: 31,3512 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
036484,001733:
036485,001734: 31,3513 30163 CA MODE
036486,001735: 31,3514 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
036487,001736: 31,3515 10000 CCS A
036488,001737: 31,3516 00132 BADROOT TC RETROOT
036489,001738:
036490,001739: 31,3517 24163 INCR MODE # INCREMENT ITERATION COUNTER
036491,001740: 31,3520 10154 CCS MPAC # TEST HI ORDER DX
036492,001741: 31,3521 13464 TCF ROOTLOOP
036493,001742: 31,3522 13524 TCF TESTLODX
036494,001743: 31,3523 13530 TCF ROOTSTOR
036495,001744: 31,3524 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
036496,001745: 31,3525 13464 TCF ROOTLOOP
036497,001746: 31,3526 13530 TCF ROOTSTOR
036498,001747: 31,3527 13530 TCF ROOTSTOR
036499,001748: 31,3530 52127 ROOTSTOR DXCH ROOTPS
036500,001749: 31,3531 52155 DXCH MPAC
036501,001750: 31,3532 30163 CA MODE
036502,001751: 31,3533 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
036503,001752: 31,3534 50132 INDEX RETROOT
036504,001753: 31,3535 10002 TCF 2
036505,001754:
036506,001755: 31,3536 00147 DERTABLL ADRES DERCOFN -3
036507,001756:
036508,001757:
036509,001758: # ****************************************************************************************************************
036510,001759: # TRASHY LITTLE SUBROUTINES
036511,001760: # ****************************************************************************************************************
036512,001761:
036513,001762: 31,3537 34755 ZEROMPAC CAF ZERO # ROUTINE TO ZERO THE FIRST COMPONENT
|
|
Page 818 |
036515,001764: 31,3540 54154 TS MPAC # OF A VECTOR IN MPAC. "TCF DANZIG"
036516,001765: 31,3541 54155 TS MPAC +1 # COULD BE A "TC Q" AT THE EXPENSE OF
036517,001766: 31,3542 16073 TCF DANZIG # A TINY AMOUNT OF TIME.
036518,001767:
036519,001768: 31,3543 34755 ZEROMID CAF ZERO # ROUTINE TO ZERO THE MIDDLE COMPONENT
036520,001769: 31,3544 54157 TS MPAC +3 # OF A VECTOR IN MPAC. "TCF DANZIG"
036521,001770: 31,3545 54160 TS MPAC +4 # COULD BE A "TC Q" AT THE EXPENSE OF
036522,001771: 31,3546 16073 TCF DANZIG # A TINY AMOUNT OF TIME.
036523,001772:
036524,001773:
036525,001774: 31,3547 22154 MPACLIM LXCH MPAC # THIS SUBROUTINE LIMITS THE CONTENTS OF
036526,001775: 31,3550 50120 INDEX FIXLOC # MPAC TO THE SP CONTENTS OF PD 0
036527,001776: 31,3551 30000 CA 0
036528,001777: 31,3552 04616 TC BANKCALL
036529,001778: 31,3553 61713 CADR LIMITSUB
036530,001779: 31,3554 54154 TS MPAC
036531,001780: 31,3555 16073 TCF DANZIG
036532,001781:
036533,001782: 31,3556 51346 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
036534,001783: 31,3557 42407 CS TARGTDEX
036535,001784: 31,3560 50120 INDEX FIXLOC
036536,001785: 31,3561 54046 TS X1
036537,001786: 31,3562 16051 TCF INTPRET
036538,001787:
036539,001788:
036540,001789: 31,3563 31642 TDISPSET CA TTF/8
036541,001790: 31,3564 00006 EXTEND
036542,001791: 31,3565 74750 MP TSCALINV
036543,001792: 31,3566 53476 DXCH TTFDISP
036544,001793:
036545,001794: 31,3567 00002 TC Q
036546,001795:
036547,001796: 31,3570 04645 LPDFVSUB TC MAKECADR
036548,001797: 31,3571 54161 TS MPAC +5
036549,001798:
036550,001799: 31,3572 52155 DXCH MPAC
036551,001800: 31,3573 20001 DDOUBL
036552,001801: 31,3574 04616 TC BANKCALL
036553,001802: 31,3575 61656 CADR SPARCSIN -1
036554,001803: 31,3576 63637 AD 1/2DEG
036555,001804: 31,3577 61353 AD ELBIAS
036556,001805: 31,3600 00006 EXTEND
036557,001806: 31,3601 73636 MP 180DEGS
036558,001807: 31,3602 55667 TS LOOKANGL
036559,001808:
036560,001809: 31,3603 00006 EXTEND # HERE IF LOOKANGL IS NOT BETWEEN ZERO AND
036561,001810: 31,3604 63611 BZMF +5 # 75 IT IS SET TO 99 FOR DISPLAY
036562,001811: 31,3605 43634 CS DEC75
036563,001812: 31,3606 61667 AD LOOKANGL
036564,001813: 31,3607 00006 EXTEND
|
|
Page 819 |
036566,001815: 31,3610 63613 BZMF +3
036567,001816: 31,3611 33635 +5 CAF DEC99
036568,001817: 31,3612 55667 TS LOOKANGL
036569,001818:
036570,001819: 31,3613 00006 +3 EXTEND # RESCALE FORVEL TO 1 F/S/BIT
036571,001820: 31,3614 31743 DCA FORVEL
036572,001821: 31,3615 52155 DXCH MPAC
036573,001822: 31,3616 33640 CAF FVSCALE
036574,001823: 31,3617 07321 TC SHORTMP
036575,001824: 31,3620 30155 CA MPAC +1 # ROUND TO NEAREST F/S
036576,001825: 31,3621 60000 DOUBLE
036577,001826: 31,3622 54002 TS Q
036578,001827: 31,3623 34755 CAF ZERO
036579,001828: 31,3624 26154 ADS MPAC
036580,001829:
036581,001830: 31,3625 22154 LXCH MPAC # TRUNCATE AT 99 F/S
036582,001831: 31,3626 33635 CAF DEC99
036583,001832: 31,3627 04616 TC BANKCALL
036584,001833: 31,3630 61713 CADR LIMITSUB
036585,001834: 31,3631 55666 TS FORVDSKY
036586,001835:
036587,001836: 31,3632 30161 CA MPAC +5
036588,001837: 31,3633 04640 TC BANKJUMP
036589,001838:
036590,001839: 31,3634 00113 DEC75 DEC 75 B-14
036591,001840:
036592,001841:
036593,001842: 31,3635 00143 DEC99 DEC 99 B-14
036594,001843:
036595,001844:
036596,001845: 31,3636 00264 180DEGS DEC 180 B-14
036597,001846:
036598,001847:
036599,001848: 31,3637 00056 1/2DEG DEC .00278
036600,001849:
036601,001850:
036602,001851: 31,3640 24403 FVSCALE DEC 328.084 B-9 # SCALES 2(5) M/CS TO 1 F/S/BIT
036603,001852:
036604,001853:
036605,001854: 31,3641 05653 1406POO TC POODOO
036606,001855: 31,3642 21406 OCT 21406
036607,001856: 31,3643 05600 1406ALM TC ALARM
036608,001857: 31,3644 01406 OCT 01406
036609,001858: 31,3645 13305 TCF RATESTOP
036610,001859:
036611,001860: 31,3646 00006 OVFDESC EXTEND
036612,001861: 31,3647 23456 QXCH OVFRET
036613,001862:
036614,001863: 31,3650 05600 TC ALARM
036615,001864: 31,3651 01410 OCT 01410
036616,001865:
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|
Page 820 |
036618,001867: 31,3652 00004 INHINT # MUST USE INHINT, IBNKCALL, RELINT
036619,001868: 31,3653 04674 TC IBNKCALL # BECAUSE DAP COULD INTERRUPT STOPRATE AND
036620,001869: 31,3654 40166 FCADR STOPRATE # BECAUSE WE COME FROM P66HZ VIA BANKCALL
036621,001870: 31,3655 00003 RELINT
036622,001871:
036623,001872: 31,3656 34755 CA ZERO
036624,001873: 31,3657 54121 TS OVFIND
036625,001874:
036626,001875: 31,3660 01456 TC OVFRET
036627,001876:
036628,001877: # ****************************************************************************************************************
036629,001878: # SPECIALIZED "PHASCHNG" SUBROUTINE
036630,001879: # ****************************************************************************************************************
036631,001880:
036632,001881: 31,3661 6042 FASTCHNG = SERVCHNG
036633,001882:
036634,001883: # ****************************************************************************************************************
036635,001884: # PARAMETER TABLE INDIRECT ADDRESSES
036636,001885: # ****************************************************************************************************************
036637,001886:
036638,001887: 31,3661 E5,1402 RDG = RBRFGX
036639,001888: 31,3661 E5,1412 VDG = VBRFGX
036640,001889: 31,3661 E5,1422 ADG = ABRFGX
036641,001890: 31,3661 E5,1432 VDG2TTF = VBRFG*
036642,001891: 31,3661 E5,1436 ADG2TTF = ABRFG*
036643,001892: 31,3661 E5,1442 JDG2TTF = JBRFG*
036644,001893:
036645,001894: # ****************************************************************************************************************
036646,001895: # LUNAR LANDING CONSTANTS
036647,001896: # ***************************************************************************************************************
036648,001897:
036649,001898: 31,3661 01563 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
036650,001899:
036651,001900:
036652,001901: 31,3662 4740 TTFSCALE = BIT12
036653,001902:
036654,001903:
036655,001904: 31,3662 4750 TSCALINV = BIT4
036656,001905:
036657,001906:
036658,001907: 31,3662 77630 -DEC103 DEC -103 B-14
036659,001908:
036660,001909:
036661,001910: 31,3663 00155 P64DB OCT 00155 # 0.3 DEGREES SCALED AT CDU SCALING
036662,001911:
036663,001912:
036664,001913: 31,3664 00143 +DEC99 DEC +99 B-14
036665,001914:
036666,001915:
036667,001916: 31,3665 75340 TREDESCL DEC -.08
036668,001917:
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|
Page 821 |
036670,001919: 31,3666 00436 ELEACH DEC .01746 # ONE DEGREE
036671,001920:
036672,001921:
036673,001922: 31,3667 31,3666 AZEACH = ELEACH # ONE DEGREE
036674,001923:
036675,001924: 31,3667 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
036676,001925:
036677,001926:
036678,001927: 31,3670 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
036679,001928:
036680,001929:
036681,001930: 31,3671 01477 V06N63 VN 0663 # P63
036682,001931:
036683,001932: 31,3672 01500 V06N64 VN 0664 # P64
036684,001933:
036685,001934: 22,3647 BANK 22
036686,001935: 22,2000 SETLOC LANDCNST
036687,001936: 22,2000 BANK
036688,001937: 22,3647 COUNT* $$/F2DPS
036689,001938:
036690,001939: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
036691,001940:
036692,001941: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
036693,001942:
036694,001943: 22,3653 12525 12525 2/3DP 2DEC .333333333
036695,001944:
036696,001945: 22,3655 14000 00000 3/8DP 2DEC .375
036697,001946:
036698,001947: 22,3657 30000 00000 3/4DP 2DEC .750
036699,001948:
036700,001949: 22,3661 77534 45074 DEPRCRIT 2DEC -.02 B-1
036701,001950:
036702,001951: # ****************************************************************************************************************
036703,001952: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc