Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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033994,000002: ## Copyright: Public domain.
033995,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
033996,000004: ## Purpose: A section of Luminary revision 97.
033997,000005: ## It is part of the reconstructed source code for the
033998,000006: ## original release of the flight software for the Lunar
033999,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
034000,000008: ## The code has been recreated from a copy of Luminary 99
034001,000009: ## revision 001, using asterisks indicating changed lines in
034002,000010: ## the listing and Luminary Memos #83 and #85, which list
034003,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
034004,000012: ## code has been adapted such that the resulting bugger words
034005,000013: ## exactly match those specified for Luminary 97 in NASA drawing
034006,000014: ## 2021152D, which gives relatively high confidence that the
034007,000015: ## reconstruction is correct.
034008,000016: ## Reference: pp. 798-828
034009,000017: ## Assembler: yaYUL
034010,000018: ## Contact: Ron Burkey <info@sandroid.org>.
034011,000019: ## Website: www.ibiblio.org/apollo/index.html
034012,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
034013,000021:
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Page 798
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034015,000023: 31,2420 E7,1621 EBANK= E2DPS
034016,000024: 31,2420 COUNT* $$/F2DPS
034017,000025:
034018,000026: # ****************************************************************************************************************
034019,000027: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034020,000028: # ****************************************************************************************************************
034021,000029:
034022,000030: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034023,000031: # WCHPHASE = -1 ---> IGNALG
034024,000032: # WCHPHASE = 0 ---> BRAKQUAD
034025,000033: # WCHPHASE = 1 ---> APPRQUAD
034026,000034: # WCHPHASE = 2 ---> VERTICAL
034027,000035:
034028,000036: # ***************************************************************************************************************
034029,000037:
034030,000038: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034031,000039:
034032,000040: 31,2420 12641 TCF TTFINCR # IGNALG
034033,000041: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD
034034,000042: 31,2422 12630 TCF STARTP64 # APPRQUAD
034035,000043: 31,2423 12621 TCF P65START # VERTICAL
034036,000044:
034037,000045: # PRE-GUIDANCE COMPUTATIONS:
034038,000046:
034039,000047: 31,2424 13003 TCF CALCRGVG # IGNALG
034040,000048: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD
034041,000049: 31,2426 12704 TCF REDESIG # APPRQUAD
034042,000050: 31,2427 13013 TCF RGVGCALC # VERTICAL
034043,000051:
034044,000052: # GUIDANCE EQUATIONS:
034045,000053:
034046,000054: 31,2430 13061 TCF TTF/8CL # IGNALG
034047,000055: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD
034048,000056: 31,2432 13061 TCF TTF/8CL # APPRQUAD
034049,000057: 31,2433 13531 TCF VERTGUID # VERTICAL
034050,000058:
034051,000059: # POST GUIDANCE EQUATION COMPUTATIONS:
034052,000060:
034053,000061: 31,2434 13245 TCF CGCALC # IGNALG
034054,000062: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD
034055,000063: 31,2436 13245 TCF CGCALC # APPRQUAD
034056,000064: 31,2437 13432 TCF STEER? # VERTICAL
034057,000065:
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Page 799
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034059,000067: # WINDOW VECTOR COMPUTATIONS:
034060,000068:
034061,000069: 31,2440 13331 TCF EXGSUB # IGNALG
034062,000070: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD
034063,000071: 31,2442 13360 TCF EXNORM # APPRQUAD
034064,000072:
034065,000073: # DISPLAY ROUTINES:
034066,000074:
034067,000075: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD
034068,000076: 31,2444 13477 TCF P64DISPS # APPRQUAD
034069,000077: 31,2445 13527 TCF VERTDISP # VERTICAL
034070,000078:
034071,000079: # ALARM ROUTINE FOR TTF COMPUTATION:
034072,000080:
034073,000081: 31,2446 13733 TCF 1406POO # IGNALG
034074,000082: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD
034075,000083: 31,2450 13735 TCF 1406ALM # APPRQUAD
034076,000084:
034077,000085: # INDICES FOR REFERENCING TARGET PARAMETERS:
034078,000086:
034079,000087: 31,2451 00000 OCT 0 # IGNALG
034080,000088: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD
034081,000089: 31,2453 00034 OCT 34 # APPRQUAD
034082,000090:
034083,000091: # ****************************************************************************************************************
034084,000092: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034085,000093: # ****************************************************************************************************************
034086,000094:
034087,000095: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034088,000096:
034089,000097: 31,2454 77776 ?GUIDSUB EXIT
034090,000098: 31,2455 34752 CAF TWO # N = 3
034091,000099: 31,2456 55647 TS NGUIDSUB
034092,000100: 31,2457 12603 TCF GUILDRET +2
034093,000101:
034094,000102: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034095,000103: 31,2461 13003 TCF CALCRGVG
034096,000104:
034097,000105: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034098,000106:
034099,000107: 31,2462 05353 LUNLAND TC PHASCHNG
034100,000108: 31,2463 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034101,000109: 31,2464 05353 TC PHASCHNG
034102,000110: 31,2465 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21
034103,000111: 31,2466 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY
034104,000112:
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Page 800
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034106,000114: # ****************************************************************************************************************
034107,000115: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034108,000116: # ****************************************************************************************************************
034109,000117:
034110,000118: 31,2467 COUNT* $$/R13
034111,000119:
034112,000120: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
034113,000121: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
034114,000122: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
034115,000123:
034116,000124: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
034117,000125: 31,2470 00030 READ CHAN30
034118,000126: 31,2471 74747 MASK BIT5
034119,000127: 31,2472 10000 CCS A
034120,000128: 31,2473 12551 TCF STARTP67 # YES
034121,000129: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
034122,000130: 31,2475 00103 DEC 67 B-14
034123,000131: 31,2476 12557 TCF STABL? # NO
034124,000132: 31,2477 03740 STARTP66 TC FASTCHNG # YES
034125,000133: 31,2500 05311 TC NEWMODEX
034126,000134: 31,2501 00102 DEC66 DEC 66 B-14
034127,000135: 31,2502 00006 EXTEND
034128,000136: 31,2503 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034129,000137: 31,2504 53645 DXCH VDGVERT # ALTITUDE RATE.
034130,000138: 31,2505 06037 STRTP66A TC INTPRET
034131,000139: 31,2506 41535 SLOAD PUSH
034132,000140: 31,2507 01457 PBIASZ
034133,000141: 31,2510 41535 SLOAD PUSH
034134,000142: 31,2511 01455 PBIASY
034135,000143: 31,2512 55535 SLOAD VDEF
034136,000144: 31,2513 01453 PBIASX
034137,000145: 31,2514 43161 VXSC SET
034138,000146: 31,2515 25537 BIASFACT
034139,000147: 31,2516 00463 RODFLAG
034140,000148: 31,2517 26631 STOVL VBIAS
034141,000149: 31,2520 01255 TEMX
034142,000150: 31,2521 77676 VCOMP
034143,000151: 31,2522 27764 STOVL OLDPIPAX
034144,000152: 31,2523 06522 ZEROVECS
034145,000153: 31,2524 17767 STODL DELVROD
034146,000154: 31,2525 02540 RODSCALE
034147,000155: 31,2526 17757 STODL RODSCAL1
034148,000156: 31,2527 01235 PIPTIME
034149,000157: 31,2530 03760 STORE LASTTPIP
034150,000158: 31,2531 77776 EXIT
034151,000159: 31,2532 34755 CAF ZERO
034152,000160: 31,2533 55620 TS FCOLD
034153,000161: 31,2534 55610 TS FWEIGHT
034154,000162: 31,2535 55611 TS FWEIGHT +1
034155,000163: 31,2536 55647 VRTSTART TS WCHVERT
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Page 801
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034157,000165: 31,2537 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034158,000166: 31,2540 55621 TS WCHPHOLD
034159,000167: 31,2541 55351 TS WCHPHASE
034160,000168: 31,2542 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034161,000169: 31,2543 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034162,000170: 31,2544 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034163,000171: 31,2545 00311 ADRES XOVINFLG
034164,000172: 31,2546 05516 TC DOWNFLAG
034165,000173: 31,2547 00143 ADRES REDFLAG
034166,000174: 31,2550 13531 TCF VERTGUID
034167,000175:
034168,000176: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
034169,000177: 31,2552 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
034170,000178: 31,2553 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
034171,000179: 31,2554 55746 TS RODCOUNT
034172,000180: 31,2555 34363 CAF TEN
034173,000181: 31,2556 12536 TCF VRTSTART
034174,000182:
034175,000183: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT?
034176,000184: 31,2560 00006 EXTEND
034177,000185: 31,2561 02031 RAND CHAN31
034178,000186: 31,2562 10000 CCS A
034179,000187: 31,2563 12601 TCF GUILDRET # YES: ALL'S WELL
034180,000188:
034181,000189: 31,2564 41011 P66NOW? CS MODREG
034182,000190: 31,2565 62501 AD DEC66
034183,000191: 31,2566 00006 EXTEND
034184,000192: 31,2567 12574 BZF RESTART?
034185,000193:
034186,000194: 31,2570 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
034187,000195: 31,2571 00006 EXTEND
034188,000196: 31,2572 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
034189,000197: 31,2573 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
034190,000198:
034191,000199: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034192,000200: 31,2575 74740 MASK RODFLBIT
034193,000201: 31,2576 00006 EXTEND
034194,000202: 31,2577 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034195,000203: # IS.
034196,000204:
034197,000205: 31,2600 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034198,000206:
034199,000207: # ****************************************************************************************************************
034200,000208: # INITIALIZATION FOR THIS PASS
034201,000209: # ****************************************************************************************************************
034202,000210:
034203,000211: 31,2601 COUNT* $$/F2DPS
034204,000212:
034205,000213: 31,2601 34755 GUILDRET CAF ZERO
034206,000214: 31,2602 55746 TS RODCOUNT
034207,000215:
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Page 802
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034209,000217: 31,2603 00006 +2 EXTEND
034210,000218: 31,2604 31625 DCA TPIP
034211,000219: 31,2605 53574 DXCH TPIPOLD
034212,000220:
034213,000221: 31,2606 03740 TC FASTCHNG
034214,000222:
034215,000223: 31,2607 00006 EXTEND
034216,000224: 31,2610 31561 DCA PIPTIME1
034217,000225: 31,2611 53625 DXCH TPIP
034218,000226:
034219,000227: 31,2612 00006 EXTEND
034220,000228: 31,2613 31643 DCA TTF/8
034221,000229: 31,2614 53553 DXCH TTF/8TMP
034222,000230:
034223,000231: 31,2615 11623 CCS FLPASS0
034224,000232: 31,2616 12641 TCF TTFINCR
034225,000233:
034226,000234: 31,2617 51351 BRSPOT1 INDEX WCHPHASE
034227,000235: 31,2620 12421 TCF NEWPHASE
034228,000236:
034229,000237: # ****************************************************************************************************************
034230,000238: # ROUTINES TO START NEW PHASES
034231,000239: # ****************************************************************************************************************
034232,000240:
034233,000241: 31,2621 05311 P65START TC NEWMODEX
034234,000242: 31,2622 00101 DEC 65 B-14
034235,000243: 31,2623 44752 CS TWO
034236,000244: 31,2624 55647 TS WCHVERT
034237,000245: 31,2625 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034238,000246: 31,2626 00311 ADRES XOVINFLG
034239,000247: 31,2627 12641 TCF TTFINCR
034240,000248:
034241,000249: 31,2630 05311 STARTP64 TC NEWMODEX
034242,000250: 31,2631 00100 DEC 64 B-14
034243,000251: 31,2632 31425 CA DELTTFAP # AUGMENT TTF/8
034244,000252: 31,2633 27552 ADS TTF/8TMP
034245,000253: 31,2634 34740 CA BIT12 # ENABLE RUPT10
034246,000254: 31,2635 00006 EXTEND
034247,000255: 31,2636 05013 WOR CHAN13
034248,000256: 31,2637 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034249,000257: 31,2640 00143 ADRES REDFLAG
034250,000258:
034251,000259:
034252,000260: # (CONTINUE TO TTFINCR)
034253,000261:
034254,000262: # ****************************************************************************************************************
034255,000263: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034256,000264: # ****************************************************************************************************************
034257,000265:
034258,000266: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
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Page 803
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034260,000268: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034261,000269: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034262,000270: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034263,000271: # - - - -
034264,000272: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034265,000273: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034266,000274: # - -
034267,000275: # RANGEDSP = ABVAL(LAND - R)
034268,000276:
034269,000277: 31,2641 06037 TTFINCR TC INTPRET
034270,000278: 31,2642 45345 DLOAD DSU
034271,000279: 31,2643 03625 TPIP
034272,000280: 31,2644 03574 TPIPOLD
034273,000281: 31,2645 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034274,000282: 31,2646 21214 11D
034275,000283: 31,2647 47361 VXSC VXV
034276,000284: 31,2650 03635 LAND
034277,000285: 31,2651 02325 WM
034278,000286: 31,2652 47045 BVSU RTB
034279,000287: 31,2653 03635 LAND
034280,000288: 31,2654 21726 NORMUNIT
034281,000289: 31,2655 76561 VXSC VSL1
034282,000290: 31,2656 02333 /LAND/
034283,000291: 31,2657 17545 STODL LANDTEMP
034284,000292: 31,2660 77776 EXIT
034285,000293:
034286,000294: 31,2661 52155 DXCH MPAC
034287,000295: 31,2662 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034288,000296:
034289,000297: 31,2663 03740 TC FASTCHNG
034290,000298:
034291,000299: 31,2664 00006 EXTEND
034292,000300: 31,2665 31553 DCA TTF/8TMP
034293,000301: 31,2666 53643 DXCH TTF/8
034294,000302:
034295,000303: 31,2667 00006 EXTEND
034296,000304: 31,2670 31545 DCA LANDTEMP
034297,000305: 31,2671 53635 DXCH LAND
034298,000306: 31,2672 00006 EXTEND
034299,000307: 31,2673 31547 DCA LANDTEMP +2
034300,000308: 31,2674 53637 DXCH LAND +2
034301,000309: 31,2675 00006 EXTEND
034302,000310: 31,2676 31551 DCA LANDTEMP +4
034303,000311: 31,2677 53641 DXCH LAND +4
034304,000312:
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Page 804
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034306,000314: 31,2700 03704 TC TDISPSET
034307,000315: 31,2701 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
034308,000316:
034309,000317: 31,2702 51351 BRSPOT2 INDEX WCHPHASE
034310,000318: 31,2703 12425 TCF PREGUIDE
034311,000319:
034312,000320: # ****************************************************************************************************************
034313,000321: # LANDING SITE PERTURBATION EQUATIONS
034314,000322: # ****************************************************************************************************************
034315,000323:
034316,000324: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
034317,000325: 31,2705 74746 MASK REDFLBIT
034318,000326: 31,2706 00006 EXTEND
034319,000327: 31,2707 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
034320,000328:
034321,000329: 31,2710 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
034322,000330: 31,2711 00006 EXTEND
034323,000331: 31,2712 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
034324,000332:
034325,000333: 31,2713 00004 INHINT
034326,000334: 31,2714 31644 CA ELINCR1
034327,000335: 31,2715 55554 TS ELINCR
034328,000336: 31,2716 31645 CA AZINCR1
034329,000337: 31,2717 55556 TS AZINCR
034330,000338: 31,2720 03740 TC FASTCHNG
034331,000339:
034332,000340: 31,2721 34755 CA ZERO
034333,000341: 31,2722 55644 TS ELINCR1
034334,000342: 31,2723 55645 TS AZINCR1
034335,000343: 31,2724 55555 TS ELINCR +1
034336,000344: 31,2725 55557 TS AZINCR +1
034337,000345:
034338,000346: 31,2726 30120 CA FIXLOC # SET PD TO 0
034339,000347: 31,2727 54166 TS PUSHLOC
034340,000348:
034341,000349: 31,2730 06037 TC INTPRET
034342,000350: 31,2731 52375 VLOAD VSU
034343,000351: 31,2732 03635 LAND
034344,000352: 31,2733 03521 R # - -
034345,000353: 31,2734 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
034346,000354: 31,2735 21726 NORMUNIT
034347,000355: 31,2736 76435 VXV VSL1
034348,000356: 31,2737 02154 YNBPIP # - - -
034349,000357: 31,2740 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
034350,000358: 31,2741 03555 ELINCR
034351,000359: 31,2742 03557 AZINCR
034352,000360: 31,2743 52361 VXSC VSU
034353,000361: 31,2744 02154 YNBPIP
034354,000362: 31,2745 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
034355,000363:
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|
Page 805
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034357,000365:
034358,000366: 31,2746 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
034359,000367: 31,2747 00001 0 # TOO CLOSE TO THE HORIZON
034360,000368: 31,2750 05660 DEPRCRIT
034361,000369: 31,2751 71240 BMN DLOAD
034362,000370: 31,2752 62755 REDES1
034363,000371: 31,2753 05660 DEPRCRIT
034364,000372: 31,2754 00001 STORE 0
034365,000373: 31,2755 45345 REDES1 DLOAD DSU
034366,000374: 31,2756 03635 LAND
034367,000375: 31,2757 03521 R
034368,000376: 31,2760 74271 DDV VXSC
034369,000377: 31,2761 00001 0
034370,000378: 31,2762 53455 VAD UNIT
034371,000379: 31,2763 03521 R
034372,000380: 31,2764 76561 VXSC VSL1
034373,000381: 31,2765 02333 /LAND/
034374,000382: 31,2766 03545 STORE LANDTEMP
034375,000383: 31,2767 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
034376,000384:
034377,000385: 31,2770 03740 TC FASTCHNG
034378,000386:
034379,000387: 31,2771 00006 EXTEND
034380,000388: 31,2772 31545 DCA LANDTEMP
034381,000389: 31,2773 53635 DXCH LAND
034382,000390: 31,2774 00006 EXTEND
034383,000391: 31,2775 31547 DCA LANDTEMP +2
034384,000392: 31,2776 53637 DXCH LAND +2
034385,000393: 31,2777 00006 EXTEND
034386,000394: 31,3000 31551 DCA LANDTEMP +4
034387,000395: 31,3001 53641 DXCH LAND +4
034388,000396:
034389,000397: 31,3002 13013 TCF RGVGCALC
034390,000398:
034391,000399: # ****************************************************************************************************************
034392,000400: # COMPUTE STATE IN GUIDANCE COORDINATES
034393,000401: # ****************************************************************************************************************
034394,000402:
034395,000403: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
034396,000404: # VELOCITY RELATIVE TO THE SURFACE:
034397,000405: # - - - -
034398,000406: # ANGTERM = V + R * WM
034399,000407:
034400,000408: # STATE IN GUIDANCE COORDINATES:
034401,000409: # - * - -
034402,000410: # RGU = CG (R - LAND)
034403,000411: # - * - - -
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Page 806
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034405,000413: # VGU = CG (V - WM * R)
034406,000414:
034407,000415: # HORIZONTAL VELOCITY FOR DISPLAY:
034408,000416:
034409,000417: # VHORIZ = 8 ABVAL (0, VG , VG )
034410,000418: # 2 1
034411,000419: # DEPRESSION ANGLE FOR DISPLAY:
034412,000420: # - - -
034413,000421: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
034414,000422:
034415,000423: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
034416,000424: 31,3004 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
034417,000425: 31,3005 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
034418,000426: 31,3006 01734 REFSMMAT
034419,000427: 31,3007 53362 VSR1 VAD
034420,000428: 31,3010 03254 UNFC/2
034421,000429: 31,3011 03527 STORE V
034422,000430: 31,3012 77776 EXIT
034423,000431:
034424,000432: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
034425,000433: 31,3014 47375 VLOAD VXV
034426,000434: 31,3015 03521 R
034427,000435: 31,3016 02325 WM
034428,000436: 31,3017 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
034429,000437: 31,3020 03527 V
034430,000438: 31,3021 02265 STORE ANGTERM
034431,000439: 31,3022 77721 MXV
034432,000440: 31,3023 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
034433,000441: 31,3024 03627 STORE VGU
034434,000442: 31,3025 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
034435,000443: 31,3026 06522 ZEROVECS # 2 1
034436,000444: 31,3027 52446 ABVAL SL3
034437,000445: 31,3030 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
034438,000446: 31,3031 03521 R # - -
034439,000447: 31,3032 41451 VSU PUSH # PUSH DOWN R - LAND
034440,000448: 31,3033 03635 LAND
034441,000449: 31,3034 76521 MXV VSL1
034442,000450: 31,3035 02603 CG
034443,000451: 31,3036 02637 STORE RGU
034444,000452: 31,3037 77646 ABVAL
034445,000453: 31,3040 26625 STOVL RANGEDSP
034446,000454: 31,3041 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
034447,000455: 31,3042 21726 NORMUNIT
034448,000456: 31,3043 02146 XNBPIP
034449,000457: 31,3044 77776 EXIT
034450,000458:
034451,000459: 31,3045 30120 CA FIXLOC # RESET PUSH DOWN POINTER
034452,000460: 31,3046 54166 TS PUSHLOC
034453,000461:
|
|
Page 807
|
034455,000463: 31,3047 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
034456,000464: 31,3050 60000 DOUBLE
034457,000465: 31,3051 04616 TC BANKCALL
034458,000466: 31,3052 61672 CADR SPARCSIN -1
034459,000467: 31,3053 63753 AD 1/2DEG
034460,000468: 31,3054 00006 EXTEND
034461,000469: 31,3055 73752 MP 180DEGS
034462,000470: 31,3056 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
034463,000471:
034464,000472: 31,3057 51351 BRSPOT3 INDEX WCHPHASE
034465,000473: 31,3060 12431 TCF WHATGUID
034466,000474:
034467,000475: # ****************************************************************************************************************
034468,000476: # TTF/8 COMPUTATION
034469,000477: # ****************************************************************************************************************
034470,000478:
034471,000479: 31,3061 03677 TTF/8CL TC INTPRETX
034472,000480: 31,3062 77743 DLOAD*
034473,000481: 31,3063 02431 JDG2TTF,1
034474,000482: 31,3064 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
034475,000483: 31,3065 02427 ADG2TTF,1 # 2
034476,000484: 31,3066 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
034477,000485: 31,3067 03633 VGU +4 # 2
034478,000486: 31,3070 42605 DMP DAD*
034479,000487: 31,3071 05656 3/4DP
034480,000488: 31,3072 02425 VDG2TTF,1
034481,000489: 31,3073 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
034482,000490: 31,3074 02407 RDG +4,1 # 2 2
034483,000491: 31,3075 41225 DSU DMP
034484,000492: 31,3076 02643 RGU +4
034485,000493: 31,3077 05654 3/8DP
034486,000494: 31,3100 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
034487,000495: 31,3101 77776 EXIT # 2 2
034488,000496:
034489,000497: 31,3102 34744 CA BIT8
034490,000498: 31,3103 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
034491,000499:
034492,000500: 31,3104 00006 EXTEND
034493,000501: 31,3105 31643 DCA TTF/8
034494,000502: 31,3106 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
034495,000503: 31,3107 34752 CAF TWO # DEGREE - ONE
034496,000504: 31,3110 54001 TS L
034497,000505: 31,3111 33746 CAF TABLTTFL
034498,000506: 31,3112 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
034499,000507: 31,3113 51351 INDEX WCHPHASE
034500,000508: 31,3114 12447 TCF WHATALM
034501,000509:
034502,000510: 31,3115 00006 EXTEND # GOOD RETURN
034503,000511: 31,3116 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
034504,000512: 31,3117 53643 DXCH TTF/8 # CORRECTED TTF/8
034505,000513:
|
|
Page 808
|
034507,000515: 31,3120 03704 TC TDISPSET
034508,000516:
034509,000517: # (CONTINUE TO QUADGUID)
034510,000518:
034511,000519: # ****************************************************************************************************************
034512,000520: # MAIN GUIDANCE EQUATION
034513,000521: # ****************************************************************************************************************
034514,000522:
034515,000523: # AS PUBLISHED:-
034516,000524: # - - - -
034517,000525: # - - 6(VDG + VG) 12(RDG - RG)
034518,000526: # ACG = ADG + ----------- + ------------
034519,000527: # TTF (TTF)(TTF)
034520,000528: # AS HERE PROGRAMMED:-
034521,000529: # - -
034522,000530: # 3 (1/4(RDG - RG) - - )
034523,000531: # - (------------- + VDG + VG)
034524,000532: # - 4 ( TTF/8 ) -
034525,000533: # ACG = ---------------------------- + ADG
034526,000534: # TTF/8
034527,000535:
034528,000536: 31,3121 41642 QUADGUID CS TTF/8
034529,000537: 31,3122 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
034530,000538: 31,3123 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
034531,000539: 31,3124 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
034532,000540: 31,3125 40001 CS L
034533,000541: 31,3126 60001 AD L
034534,000542: 31,3127 22007 ZL
034535,000543: 31,3130 00006 EXTEND
034536,000544: 31,3131 11642 DV TTF/8
034537,000545: 31,3132 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
034538,000546: 31,3133 00006 EXTEND
034539,000547: 31,3134 70000 SQUARE
034540,000548: 31,3135 54131 TS BUF +1
034541,000549: 31,3136 60130 AD BUF
034542,000550: 31,3137 56131 XCH BUF +1 # RATIO SQUARED - RATIO
034543,000551: 31,3140 60131 AD BUF +1
034544,000552: 31,3141 54154 TS MPAC # COEFFICIENT FOR VGU TERM
034545,000553: 31,3142 60131 AD BUF +1
034546,000554: 31,3143 50120 INDEX FIXLOC
034547,000555: 31,3144 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
034548,000556: 31,3145 60131 AD BUF +1
034549,000557: 31,3146 50120 INDEX FIXLOC
034550,000558: 31,3147 54034 TS 28D # COEFFICIENT FOR VDG TERM
034551,000559: 31,3150 60130 AD BUF
034552,000560: 31,3151 64733 AD POSMAX
|
|
Page 809
|
034554,000562: 31,3152 60131 AD BUF +1
034555,000563: 31,3153 60131 AD BUF +1
034556,000564: 31,3154 50120 INDEX FIXLOC
034557,000565: 31,3155 54036 TS 30D # COEFFICIENT FOR ADG TERM
034558,000566:
034559,000567: 31,3156 34755 CAF ZERO
034560,000568: 31,3157 54163 TS MODE
034561,000569:
034562,000570: 31,3160 03677 TC INTPRETX
034563,000571: 31,3161 65361 VXSC PDDL
034564,000572: 31,3162 03627 VGU
034565,000573: 31,3163 00035 28D
034566,000574: 31,3164 62757 VXSC* PDVL*
034567,000575: 31,3165 02411 VDG,1
034568,000576: 31,3166 02403 RDG,1
034569,000577: 31,3167 70251 VSU V/SC
034570,000578: 31,3170 02637 RGU
034571,000579: 31,3171 03643 TTF/8
034572,000580: 31,3172 74342 VSR2 VXSC
034573,000581: 31,3173 00033 26D
034574,000582: 31,3174 53255 VAD VAD
034575,000583: 31,3175 74341 V/SC VXSC
034576,000584: 31,3176 03643 TTF/8
034577,000585: 31,3177 05656 3/4DP
034578,000586: 31,3200 73725 PDDL VXSC*
034579,000587: 31,3201 00037 30D
034580,000588: 31,3202 02417 ADG,1
034581,000589: 31,3203 77655 VAD
034582,000590: 31,3204 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
034583,000591: 31,3205 02603 CG
034584,000592: 31,3206 70315 PDVL V/SC
034585,000593: 31,3207 01237 GDT/2
034586,000594: 31,3210 05652 GSCALE
034587,000595: 31,3211 45445 BVSU STADR
034588,000596: 31,3212 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
034589,000597: 31,3213 77646 ABVAL
034590,000598: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
034591,000599: 31,3215 03254 UNFC/2 # VERTICAL COMPONENT
034592,000600: 31,3216 65316 DSQ PDDL
034593,000601: 31,3217 03256 UNFC/2 +2 # OUT-OF-PLANE
034594,000602: 31,3220 65316 DSQ PDDL
034595,000603: 31,3221 05650 HIGHESTF
034596,000604: 31,3222 63471 DDV DSQ
034597,000605: 31,3223 01245 MASS # 2 2 2
034598,000606: 31,3224 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
034599,000607: 31,3225 71244 BPL DLOAD # 1 0
034600,000608: 31,3226 63230 AFCCALC3
034601,000609: 31,3227 06522 ZEROVECS
034602,000610: 31,3230 43366 AFCCALC3 SQRT DAD
034603,000611: 31,3231 03260 UNFC/2 +4
|
|
Page 810
|
034605,000613: 31,3232 44244 BPL BDSU
034606,000614: 31,3233 63236 AFCCLEND
034607,000615: 31,3234 03260 UNFC/2 +4
034608,000616: 31,3235 03260 STORE UNFC/2 +4
034609,000617: 31,3236 77776 AFCCLEND EXIT
034610,000618: 31,3237 03740 TC FASTCHNG
034611,000619:
034612,000620: 31,3240 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
034613,000621: 31,3241 55621 TS WCHPHOLD
034614,000622: 31,3242 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
034615,000623:
034616,000624: 31,3243 51351 BRSPOT4 INDEX WCHPHASE
034617,000625: 31,3244 12435 TCF AFTRGUID
034618,000626:
034619,000627: # ***************************************************************************************************************
034620,000628: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
034621,000629: # ***************************************************************************************************************
034622,000630:
034623,000631: 31,3245 35014 CGCALC CAF EBANK5
034624,000632: 31,3246 54003 TS EBANK
034625,000633: 31,3247 E5,1435 EBANK= TCGIBRAK
034626,000634: 31,3247 00006 EXTEND
034627,000635: 31,3250 51351 INDEX WCHPHASE
034628,000636: 31,3251 52452 INDEX TARGTDEX
034629,000637: 31,3252 31435 DCA TCGFBRAK
034630,000638: 31,3253 24006 INCR BBANK
034631,000639: 31,3254 24006 INCR BBANK
034632,000640: 31,3255 E7,1642 EBANK= TTF/8
034633,000641: 31,3255 61642 AD TTF/8
034634,000642: 31,3256 56001 XCH L
034635,000643: 31,3257 61642 AD TTF/8
034636,000644: 31,3260 10000 CCS A
034637,000645: 31,3261 10001 CCS L
034638,000646: 31,3262 13313 TCF EXTLOGIC
034639,000647: 31,3263 13313 TCF EXTLOGIC
034640,000648: 31,3264 13265 NOOP
034641,000649:
034642,000650: 31,3265 03677 TC INTPRETX
034643,000651: 31,3266 53575 VLOAD UNIT
034644,000652: 31,3267 03635 LAND
034645,000653: 31,3270 16603 STODL CG
034646,000654: 31,3271 03643 TTF/8
034647,000655: 31,3272 74203 DMP* VXSC
034648,000656: 31,3273 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
034649,000657: 31,3274 02265 ANGTERM
034650,000658: 31,3275 77655 VAD
034651,000659: 31,3276 03635 LAND
034652,000660: 31,3277 47051 VSU RTB
034653,000661: 31,3300 03521 R
034654,000662: 31,3301 21726 NORMUNIT
|
|
Page 811
|
034656,000664: 31,3302 47035 VXV RTB
034657,000665: 31,3303 03635 LAND
034658,000666: 31,3304 21726 NORMUNIT
034659,000667: 31,3305 26611 STOVL CG +6 # SECOND ROW
034660,000668: 31,3306 02603 CG
034661,000669: 31,3307 76435 VXV VSL1
034662,000670: 31,3310 02611 CG +6
034663,000671: 31,3311 02617 STORE CG +14
034664,000672: 31,3312 77776 EXIT
034665,000673:
034666,000674: # (CONTINUE TO EXTLOGIC)
034667,000675:
034668,000676: # ****************************************************************************************************************
034669,000677: # PREPARE TO EXIT
034670,000678: # ****************************************************************************************************************
034671,000679:
034672,000680: # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES
034673,000681:
034674,000682: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD
034675,000683: 31,3314 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD
034676,000684: 31,3315 61642 AD TTF/8
034677,000685:
034678,000686: 31,3316 00006 EXSPOT1 EXTEND
034679,000687: 31,3317 51351 INDEX WCHPHASE
034680,000688: 31,3320 62441 BZMF WHATEXIT
034681,000689:
034682,000690: 31,3321 03740 TC FASTCHNG
034683,000691:
034684,000692: 31,3322 31621 CA WCHPHOLD
034685,000693: 31,3323 64753 AD ONE
034686,000694: 31,3324 55351 TS WCHPHASE
034687,000695: 31,3325 34755 CA ZERO
034688,000696: 31,3326 55623 TS FLPASS0 # RESET FLPASS0
034689,000697:
034690,000698: 31,3327 51621 INDEX WCHPHOLD
034691,000699: 31,3330 12441 TCF WHATEXIT
034692,000700:
034693,000701: # ****************************************************************************************************************
034694,000702: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
034695,000703: # ****************************************************************************************************************
034696,000704:
034697,000705: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
034698,000706: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
034699,000707: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
034700,000708: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
034701,000709:
034702,000710: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
|
|
Page 812
|
034704,000712: 31,3332 47175 VLOAD RTB
034705,000713: 31,3333 03254 UNFC/2
034706,000714: 31,3334 21726 NORMUNIT
034707,000715: 31,3335 74361 VXSC VXSC
034708,000716: 31,3336 03423 ZOOMTIME
034709,000717: 31,3337 22001 TRIMACCL
034710,000718: 31,3340 03254 STORE UNFC/2
034711,000719: 31,3341 77776 EXIT
034712,000720:
034713,000721: 31,3342 11647 CCS NGUIDSUB
034714,000722: 31,3343 12460 TCF GUIDSUB
034715,000723: 31,3344 11646 CCS NIGNLOOP
034716,000724: 31,3345 13350 TCF +3
034717,000725: 31,3346 05567 TC ALARM
034718,000726: 31,3347 01412 OCT 01412
034719,000727:
034720,000728: 31,3350 04635 +3 TC POSTJUMP
034721,000729: 31,3351 65102 CADR DDUMCALC
034722,000730:
034723,000731: 31,3352 06037 EXBRAK TC INTPRET
034724,000732: 31,3353 77775 VLOAD
034725,000733: 31,3354 03537 UNIT/R/
034726,000734: 31,3355 03262 STORE UNWC/2
034727,000735: 31,3356 77776 EXIT
034728,000736: 31,3357 13432 TCF STEER?
034729,000737:
034730,000738: 31,3360 06037 EXNORM TC INTPRET
034731,000739: 31,3361 52375 VLOAD VSU
034732,000740: 31,3362 03635 LAND
034733,000741: 31,3363 03521 R
034734,000742: 31,3364 77634 RTB
034735,000743: 31,3365 21726 NORMUNIT
034736,000744: 31,3366 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
034737,000745: 31,3367 50235 VXV DOT
034738,000746: 31,3370 02146 XNBPIP
034739,000747: 31,3371 02611 CG +6
034740,000748: 31,3372 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
034741,000749:
034742,000750: 31,3373 40154 CS MPAC # GET COEFFICIENT FOR CG +14
034743,000751: 31,3374 63754 AD PROJMAX
034744,000752: 31,3375 64733 AD POSMAX
034745,000753: 31,3376 54130 TS BUF
034746,000754: 31,3377 40130 CS BUF
034747,000755: 31,3400 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
034748,000756:
034749,000757: 31,3401 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
034750,000758: 31,3402 60154 AD MPAC
034751,000759: 31,3403 64733 AD POSMAX
034752,000760: 31,3404 54131 TS BUF +1
034753,000761: 31,3405 40131 CS BUF +1
|
|
Page 813
|
034755,000763: 31,3406 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
034756,000764:
034757,000765: 31,3407 34751 CAF FOUR
034758,000766: 31,3410 76242 UNWCLOOP MASK SIX
034759,000767: 31,3411 54002 TS Q
034760,000768: 31,3412 35014 CA EBANK5
034761,000769: 31,3413 54003 TS EBANK
034762,000770: 31,3414 E5,1602 EBANK= CG
034763,000771: 31,3414 30130 CA BUF
034764,000772: 31,3415 00006 EXTEND
034765,000773: 31,3416 50002 INDEX Q
034766,000774: 31,3417 71616 MP CG +14
034767,000775: 31,3420 24006 INCR BBANK
034768,000776: 31,3421 E6,1661 EBANK= UNWC/2
034769,000777: 31,3421 50002 INDEX Q
034770,000778: 31,3422 53662 DXCH UNWC/2
034771,000779: 31,3423 00006 EXTEND
034772,000780: 31,3424 70131 MP BUF +1
034773,000781: 31,3425 50002 INDEX Q
034774,000782: 31,3426 21662 DAS UNWC/2
034775,000783: 31,3427 10002 CCS Q
034776,000784: 31,3430 13410 TCF UNWCLOOP
034777,000785:
034778,000786: 31,3431 24006 INCR BBANK
034779,000787: 31,3432 E7,1612 EBANK= PIF
034780,000788:
034781,000789: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
034782,000790: 31,3433 74741 MASK STEERBIT
034783,000791: 31,3434 00006 EXTEND
034784,000792: 31,3435 13443 BZF RATESTOP
034785,000793:
034786,000794: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
034787,000795: 31,3437 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
034788,000796: 31,3440 13453 BZF +13
034789,000797:
034790,000798: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
034791,000799: 31,3442 01410 OCT 01410
034792,000800:
034793,000801: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
034794,000802: 31,3444 00006 EXTEND
034795,000803: 31,3445 02031 RAND CHAN31
034796,000804: 31,3446 00006 EXTEND
034797,000805: 31,3447 13460 BZF DISPEXIT # YES
034798,000806:
034799,000807: 31,3450 04616 TC BANKCALL # NO: DO A STOPRATE
034800,000808: 31,3451 40165 CADR STOPRATE
034801,000809:
034802,000810: 31,3452 13460 TCF DISPEXIT
034803,000811:
034804,000812: 31,3453 02216 GDUMP1 TC THROTTLE
|
|
Page 814
|
034806,000814: 31,3454 06037 TC INTPRET
034807,000815: 31,3455 77624 CALL
034808,000816: 31,3456 61111 FINDCDUW -2
034809,000817: 31,3457 77776 EXIT
034810,000818:
034811,000819: # (CONTINUE TO DISPEXIT)
034812,000820:
034813,000821: # ****************************************************************************************************************
034814,000822: # GUIDANCE LOOP DISPLAYS
034815,000823: # ****************************************************************************************************************
034816,000824:
034817,000825: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
034818,000826: 31,3461 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
034819,000827: 31,3462 52757 DXCH -PHASE3
034820,000828:
034821,000829: 31,3463 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
034822,000830: 31,3464 74742 MASK FLUNDBIT
034823,000831: 31,3465 00006 EXTEND
034824,000832: 31,3466 13476 BZF ENDLLJOB # TO PICK UP THE TAG
034825,000833:
034826,000834: 31,3467 51621 INDEX WCHPHOLD
034827,000835: 31,3470 12443 TCF WHATDISP
034828,000836:
034829,000837: 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5
034830,000838: 31,3472 00035 OCT 00035
034831,000839:
034832,000840: 31,3473 33756 P63DISPS CAF V06N63
034833,000841: 31,3474 04616 DISPCOMN TC BANKCALL
034834,000842: 31,3475 20470 CADR REGODSPR
034835,000843:
034836,000844: 31,3476 15155 ENDLLJOB TCF ENDOFJOB
034837,000845:
034838,000846: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
034839,000847: 31,3500 00006 EXTEND
034840,000848: 31,3501 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
034841,000849:
034842,000850: 31,3502 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
034843,000851: 31,3503 74746 MASK REDFLBIT
034844,000852: 31,3504 00006 EXTEND
034845,000853: 31,3505 13525 BZF REDES-OK # YES: DO STATIC DISPLAY
034846,000854:
034847,000855: 31,3506 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
034848,000856: 31,3507 04616 TC BANKCALL
034849,000857: 31,3510 20462 CADR REFLASHR
034850,000858: 31,3511 16001 TCF GOTOPOOH # TERMINATE
034851,000859: 31,3512 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
034852,000860: 31,3513 13477 TCF P64DISPS # RECYCLE
|
|
Page 815
|
034854,000862: 31,3514 13476 TCF ENDLLJOB # TO PICK UP THE TAG
034855,000863:
034856,000864: 31,3515 34755 P64CEED CAF ZERO
034857,000865: 31,3516 55644 TS ELINCR1
034858,000866: 31,3517 55645 TS AZINCR1
034859,000867:
034860,000868: 31,3520 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
034861,000869: 31,3521 00143 ADRES REDFLAG
034862,000870:
034863,000871: 31,3522 15155 TCF ENDOFJOB
034864,000872:
034865,000873: 31,3523 05516 RED-OVER TC DOWNFLAG
034866,000874: 31,3524 00143 ADRES REDFLAG
034867,000875: 31,3525 33757 REDES-OK CAF V06N64
034868,000876: 31,3526 13474 TCF DISPCOMN
034869,000877:
034870,000878:
034871,000879: 31,3527 33760 VERTDISP CAF V06N60
034872,000880: 31,3530 13474 TCF DISPCOMN
034873,000881:
034874,000882:
034875,000883: # ****************************************************************************************************************
034876,000884: # GUIDANCE FOR P65
034877,000885: # ****************************************************************************************************************
034878,000886:
034879,000887: 31,3531 11647 VERTGUID CCS WCHVERT
034880,000888: 31,3532 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67
034881,000889: 31,3533 13543 TCF P66VERT # +0
034882,000890:
034883,000891: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
034884,000892: # - -
034885,000893: # V2FG - VGU
034886,000894: # ACG = ----------
034887,000895: # TAUVERT
034888,000896:
034889,000897: 31,3534 06037 P65VERT TC INTPRET
034890,000898: 31,3535 52375 VLOAD VSU
034891,000899: 31,3536 02511 V2FG
034892,000900: 31,3537 03627 VGU
034893,000901: 31,3540 52141 V/SC GOTO
034894,000902: 31,3541 02517 TAUVERT
034895,000903: 31,3542 63204 AFCCALC1
|
|
Page 816
|
034897,000905: # ****************************************************************************************************************
034898,000906: # GUIDANCE FOR P66
034899,000907: # ****************************************************************************************************************
034900,000908:
034901,000909: 31,3543 04635 P66VERT TC POSTJUMP
034902,000910: 31,3544 65270 CADR P66VERTA
034903,000911:
034904,000912: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
034905,000913: 31,3546 00003 OCT 00003
034906,000914:
034907,000915: 31,3547 06037 TC INTPRET
034908,000916: 31,3550 52175 VLOAD GOTO
034909,000917: 31,3551 03527 V
034910,000918: 31,3552 65517 VHORCOMP
034911,000919:
034912,000920: 32,2000 SETLOC P66LOC
034913,000921: 32,2000 BANK
034914,000922: 32,3263 COUNT* $$/F2DPS
034915,000923:
034916,000924: 32,3263 37710 RODTASK CAF PRIO22
034917,000925: 32,3264 05105 TC FINDVAC
034918,000926: 32,3265 E7,1515 EBANK= DVCNTR
034919,000927: 32,3265 03275 64067 2CADR RODCOMP
034920,000928:
034921,000929: 32,3267 15261 TCF TASKOVER
034922,000930:
034923,000931: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
034924,000932: 32,3271 00003 OCT 00003
034925,000933:
034926,000934: 32,3272 34777 CAF 1SEC
034927,000935: 32,3273 05173 TC TWIDDLE
034928,000936: 32,3274 03263 ADRES RODTASK
034929,000937:
034930,000938: 32,3275 00004 RODCOMP INHINT
034931,000939: 32,3276 34755 CAF ZERO
034932,000940: 32,3277 57746 XCH RODCOUNT
034933,000941: 32,3300 00006 EXTEND
034934,000942: 32,3301 71756 MP RODSCAL1
034935,000943: 32,3302 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
034936,000944:
034937,000945: 32,3303 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
034938,000946: 32,3304 30040 DCA PIPAX
034939,000947: 32,3305 53764 DXCH OLDPIPAX
034940,000948: 32,3306 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
034941,000949: 32,3307 30041 CA PIPAZ
034942,000950: 32,3310 57765 XCH OLDPIPAZ
034943,000951: 32,3311 56072 XCH RUPTREG3
034944,000952:
034945,000953: 32,3312 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
034946,000954: 32,3313 30025 DCA TIME2
|
|
Page 817
|
034948,000956: 32,3314 53762 DXCH THISTPIP
034949,000957:
034950,000958: 32,3315 31763 CA OLDPIPAX
034951,000959: 32,3316 61160 AD PIPATMPX
034952,000960: 32,3317 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
034953,000961: 32,3320 31764 CA OLDPIPAY
034954,000962: 32,3321 61161 AD PIPATMPY
034955,000963: 32,3322 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
034956,000964: 32,3323 31765 CA OLDPIPAZ
034957,000965: 32,3324 61162 AD PIPATMPZ
034958,000966: 32,3325 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
034959,000967:
034960,000968: 32,3326 41763 CS OLDPIPAX
034961,000969: 32,3327 61254 AD TEMX
034962,000970: 32,3330 60070 AD RUPTREG1
034963,000971: 32,3331 55766 TS DELVROD
034964,000972: 32,3332 41764 CS OLDPIPAY
034965,000973: 32,3333 61255 AD TEMY
034966,000974: 32,3334 60071 AD RUPTREG2
034967,000975: 32,3335 55770 TS DELVROD +2
034968,000976: 32,3336 41765 CS OLDPIPAZ
034969,000977: 32,3337 61256 AD TEMZ
034970,000978: 32,3340 60072 AD RUPTREG3
034971,000979: 32,3341 55772 TS DELVROD +4
034972,000980:
034973,000981: 32,3342 34755 CAF ZERO
034974,000982: 32,3343 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
034975,000983: 32,3344 54160 TS MPAC +4
034976,000984: 32,3345 54162 TS MPAC +6
034977,000985: 32,3346 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
034978,000986: 32,3347 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
034979,000987: 32,3350 55256 TS TEMZ
034980,000988: 32,3351 44753 CS ONE
034981,000989: 32,3352 54163 TS MODE
034982,000990: 32,3353 06037 TC INTPRET
034983,000991: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
034984,000992: 32,3355 26022 KPIP1
034985,000993: 32,3356 03762 THISTPIP
034986,000994: 32,3357 77625 DSU
034987,000995: 32,3360 01235 PIPTIME
034988,000996: 32,3361 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
034989,000997: 32,3362 63271 DDV PDVL # (8)
034990,000998: 32,3363 27153 4SEC(28)
034991,000999: 32,3364 01237 GDT/2
034992,001000: 32,3365 74251 VSU VXSC # (6)
034993,001001: 32,3366 02631 VBIAS
034994,001002: 32,3367 53352 VSL2 VAD
034995,001003: 32,3370 03527 V
034996,001004: 32,3371 45455 VAD STADR # (0)
034997,001005: 32,3372 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
|
|
Page 818
|
034999,001007: 32,3373 03521 R
035000,001008: 32,3374 77656 UNIT
035001,001009: 32,3375 00017 STORE 14D
035002,001010: 32,3376 72441 DOT SL1
035003,001011: 32,3377 00031 24D
035004,001012: 32,3400 17474 STODL HDOTDISP # UPDATE HDOTDISP FOR NOUN 63.
035005,001013: 32,3401 00037 30D
035006,001014: 32,3402 41261 SL DMP
035007,001015: 32,3403 20214 11D
035008,001016: 32,3404 03474 HDOTDISP
035009,001017: 32,3405 45215 DAD DSU
035010,001018: 32,3406 00045 36D
035011,001019: 32,3407 02333 /LAND/
035012,001020: 32,3410 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63.
035013,001021: 32,3411 03474 HDOTDISP
035014,001022: 32,3412 56221 BDSU DDV
035015,001023: 32,3413 03645 VDGVERT
035016,001024: 32,3414 02541 TAUROD
035017,001025: 32,3415 51515 PDVL ABVAL # (2)
035018,001026: 32,3416 01237 GDT/2
035019,001027: 32,3417 60471 DDV SR2
035020,001028: 32,3420 05652 GSCALE
035021,001029: 32,3421 00025 STORE 20D
035022,001030: 32,3422 77615 DAD # (0)
035023,001031: 32,3423 45115 PDVL CALL # (2)
035024,001032: 32,3424 06520 UNITX
035025,001033: 32,3425 47661 CDU*NBSM
035026,001034: 32,3426 77641 DOT
035027,001035: 32,3427 00017 14D
035028,001036: 32,3430 00027 STORE 22D
035029,001037: 32,3431 45465 BDDV STADR # (0)
035030,001038: 32,3432 50313 STOVL /AFC/
035031,001039: 32,3433 03767 DELVROD
035032,001040: 32,3434 53361 VXSC VAD
035033,001041: 32,3435 26022 KPIP1
035034,001042: 32,3436 02631 VBIAS
035035,001043: 32,3437 65246 ABVAL PDDL # (2)
035036,001044: 32,3440 03762 THISTPIP
035037,001045: 32,3441 65225 DSU PDDL # (4)
035038,001046: 32,3442 03760 LASTTPIP
035039,001047: 32,3443 03762 THISTPIP
035040,001048: 32,3444 17760 STODL LASTTPIP # (2)
035041,001049: 32,3445 55271 DDV BDDV # (0)
035042,001050: 32,3446 25535 SHFTFACT
035043,001051: 32,3447 41325 PDDL DMP # (2)
035044,001052: 32,3450 03611 FWEIGHT
035045,001053: 32,3451 25534 BIT1H
035046,001054: 32,3452 56271 DDV DDV
035047,001055: 32,3453 01245 MASS
035048,001056: 32,3454 22006 SCALEFAC
|
|
Page 819
|
035050,001058: 32,3455 65215 DAD PDDL # (4)
035051,001059: 32,3456 00001 0D
035052,001060: 32,3457 00025 20D
035053,001061: 32,3460 45271 DDV DSU # (2)
035054,001062: 32,3461 00027 22D
035055,001063: 32,3462 43205 DMP DAD
035056,001064: 32,3463 02543 LAG/TAU
035057,001065: 32,3464 03464 /AFC/
035058,001066: 32,3465 56325 PDDL DDV # (4)
035059,001067: 32,3466 02547 MAXFORCE
035060,001068: 32,3467 01245 MASS
035061,001069: 32,3470 56325 PDDL DDV # (6)
035062,001070: 32,3471 02545 MINFORCE
035063,001071: 32,3472 01245 MASS
035064,001072: 32,3473 44206 PUSH BDSU # (8)
035065,001073: 32,3474 00003 2D
035066,001074: 32,3475 71240 BMN DLOAD # (6)
035067,001075: 32,3476 65504 AFCSPOT
035068,001076: 32,3477 41545 DLOAD PUSH # (6)
035069,001077: 32,3500 51021 BDSU BPL
035070,001078: 32,3501 00003 2D
035071,001079: 32,3502 65504 AFCSPOT
035072,001080: 32,3503 77745 DLOAD # (4)
035073,001081: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6)
035074,001082: 32,3505 77601 SETPD # (2)
035075,001083: 32,3506 00003 2D
035076,001084: 32,3507 17464 STODL /AFC/ # (0)
035077,001085: 32,3510 77776 ITRPNT2 EXIT
035078,001086: 32,3511 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035079,001087: 32,3512 04616 TC BANKCALL
035080,001088: 32,3513 62221 CADR THROTTLE +3
035081,001089: 32,3514 06037 TC INTPRET
035082,001090: 32,3515 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
035083,001091: 32,3516 00031 24D
035084,001092: 32,3517 53352 VHORCOMP VSL2 VAD
035085,001093: 32,3520 03734 DELVS
035086,001094: 32,3521 63342 VSR2 PDVL # (6)
035087,001095: 32,3522 03521 R
035088,001096: 32,3523 74256 UNIT VXSC
035089,001097: 32,3524 03474 HDOTDISP
035090,001098: 32,3525 51372 VSL1 BVSU # (0)
035091,001099: 32,3526 77646 ABVAL
035092,001100: 32,3527 02263 STORE VHORIZ
035093,001101: 32,3530 77776 EXIT
035094,001102: 32,3531 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035095,001103: 32,3532 63463 CADR DISPEXIT +3
035096,001104:
035097,001105: 32,3533 00001 BIT1H OCT 00001
035098,001106: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17
|
|
Page 820
|
035100,001108: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28
035101,001109:
035102,001110: # ****************************************************************************************************************
035103,001111: # REDESIGNATOR TRAP
035104,001112: # ****************************************************************************************************************
035105,001113:
035106,001114: 11,2275 BANK 11
035107,001115: 11,2000 SETLOC F2DPS*11
035108,001116: 11,2000 BANK
035109,001117:
035110,001118: 11,2275 COUNT* $$/F2DPS
035111,001119:
035112,001120: 11,2275 56016 PITFALL XCH BANKRUPT
035113,001121: 11,2276 00006 EXTEND
035114,001122: 11,2277 22012 QXCH QRUPT
035115,001123:
035116,001124: 11,2300 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035117,001125: 11,2301 00100 DEC 64 B-14
035118,001126: 11,2302 15270 TCF RESUME
035119,001127:
035120,001128: 11,2303 00006 EXTEND
035121,001129: 11,2304 00031 READ CHAN31
035122,001130: 11,2305 40000 COM
035123,001131: 11,2306 72373 MASK ALL4BITS
035124,001132: 11,2307 55647 TS ELVIRA
035125,001133: 11,2310 34752 CAF TWO
035126,001134: 11,2311 55646 TS ZERLINA
035127,001135: 11,2312 34756 CAF FIVE
035128,001136: 11,2313 05173 TC TWIDDLE
035129,001137: 11,2314 02321 ADRES REDESMON
035130,001138: 11,2315 15270 TCF RESUME
035131,001139:
035132,001140: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035133,001141:
035134,001142: 11,2316 55646 PREMON1 TS ZERLINA
035135,001143: 11,2317 34757 PREMON2 CAF SEVEN
035136,001144: 11,2320 05224 TC VARDELAY
035137,001145: 11,2321 00006 REDESMON EXTEND
035138,001146: 11,2322 00031 READ 31
035139,001147: 11,2323 40000 COM
035140,001148: 11,2324 72373 MASK ALL4BITS
035141,001149: 11,2325 57647 XCH ELVIRA
035142,001150: 11,2326 54001 TS L
035143,001151: 11,2327 11647 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035144,001152: 11,2330 12317 TCF PREMON2 # Y: CONTINUE MONITOR
035145,001153:
035146,001154: 11,2331 10001 CCS L # N: ANY LAST PASS?
035147,001155: 11,2332 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
|
|
Page 821
|
035149,001157: 11,2333 11646 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035150,001158: 11,2334 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035151,001159: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE
035152,001160: 11,2336 00006 EXTEND
035153,001161: 11,2337 05013 WOR CHAN13
035154,001162: 11,2340 15261 TCF TASKOVER
035155,001163:
035156,001164: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035157,001165: 11,2342 00006 EXTEND
035158,001166: 11,2343 02031 RAND CHAN31
035159,001167: 11,2344 00006 EXTEND
035160,001168: 11,2345 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035161,001169:
035162,001170: 11,2346 30001 CA L # NO
035163,001171: 11,2347 74746 MASK -AZBIT
035164,001172: 11,2350 10000 CCS A
035165,001173: 11,2351 42374 -AZ CS AZEACH
035166,001174: 11,2352 27645 ADS AZINCR1
035167,001175: 11,2353 30001 CA L
035168,001176: 11,2354 74747 MASK +AZBIT
035169,001177: 11,2355 10000 CCS A
035170,001178: 11,2356 32374 +AZ CA AZEACH
035171,001179: 11,2357 27645 ADS AZINCR1
035172,001180: 11,2360 30001 CA L
035173,001181: 11,2361 74753 MASK -ELBIT
035174,001182: 11,2362 10000 CCS A
035175,001183: 11,2363 42375 -EL CS ELEACH
035176,001184: 11,2364 27644 ADS ELINCR1
035177,001185: 11,2365 30001 CA L
035178,001186: 11,2366 74752 MASK +ELBIT
035179,001187: 11,2367 10000 CCS A
035180,001188: 11,2370 32375 +EL CA ELEACH
035181,001189: 11,2371 27644 ADS ELINCR1
035182,001190: 11,2372 12335 TCF RESETRPT
035183,001191:
035184,001192: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035185,001193:
035186,001194: 11,2373 4752 +ELBIT = BIT2 # -PITCH
035187,001195: 11,2373 4753 -ELBIT = BIT1 # +PITCH
035188,001196: 11,2373 4747 +AZBIT = BIT5
035189,001197: 11,2373 4746 -AZBIT = BIT6
035190,001198:
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|
Page 822
|
035192,001200: 11,2373 00063 ALL4BITS OCT 00063
035193,001201: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES
035194,001202: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE
035195,001203:
035196,001204: # ****************************************************************************************************************
035197,001205: # R.O.D. TRAP
035198,001206: # ************************************************************************
035199,001207:
035200,001208: 20,2115 BANK 20
035201,001209: 20,2000 SETLOC RODTRAP
035202,001210: 20,2000 BANK
035203,001211: 20,2115 COUNT* $$/F2DPS # ****************************************
035204,001212:
035205,001213: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035206,001214: 20,2116 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035207,001215: 20,2117 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035208,001216: 20,2120 64753 AD ONE
035209,001217: 20,2121 27746 ADS RODCOUNT
035210,001218: 20,2122 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035211,001219:
035212,001220: 31,3553 BANK 31
035213,001221: 31,2000 SETLOC F2DPS*31
035214,001222: 31,2000 BANK
035215,001223:
035216,001224: 31,3553 COUNT* $$/F2DPS
035217,001225:
035218,001226: # ****************************************************************************************************************
035219,001227: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035220,001228: # ****************************************************************************************************************
035221,001229:
035222,001230: # N N-1
035223,001231: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035224,001232: # N N-1 1 0
035225,001233: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035226,001234: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035227,001235: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035228,001236: # MPAC DP X INITIAL GUESS FOR ROOT
035229,001237:
035230,001238: # LOC-2N DP A(0)
035231,001239: # ...
035232,001240: # LOC DP A(N)
035233,001241: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035234,001242:
|
|
Page 823
|
035236,001244: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035237,001245: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035238,001246: # OUTPUTS ARE NOT TO BE TRUSTED.
035239,001247:
035240,001248: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035241,001249: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035242,001250: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035243,001251: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035244,001252: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035245,001253: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035246,001254: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035247,001255: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
035248,001256: # PRECLUDE EVENTUAL CONVERGENCE.
035249,001257: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035250,001258: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035251,001259: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035252,001260:
035253,001261: # STORE ENTERING DATA, INITLIZE ERASABLES
035254,001262: 31,3553 00006 ROOTPSRS EXTEND
035255,001263: 31,3554 22132 QXCH RETROOT # RETURN ADRES
035256,001264: 31,3555 54117 TS PWRPTR # PWR TABL POINTER
035257,001265: 31,3556 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035258,001266: 31,3557 33676 CA DERTABLL
035259,001267: 31,3560 54141 TS DERPTR # DER TABL POINTER
035260,001268: 31,3561 54161 TS MPAC +5 # DER TABL ADRES
035261,001269: 31,3562 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035262,001270: 31,3563 54162 TS MPAC +6 # N-2
035263,001271: 31,3564 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035264,001272: 31,3565 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035265,001273:
035266,001274: # COMPUTE CRITERION TO STOP ITERATING
035267,001275: 31,3566 00006 EXTEND
035268,001276: 31,3567 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035269,001277: 31,3570 52127 DXCH ROOTPS # AND IN ROOTPS
035270,001278: 31,3571 50157 INDEX MPAC +3 # PWR TABL ADRES
035271,001279: 31,3572 30005 CA 5 # PRECROOT TO A
035272,001280: 31,3573 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035273,001281: 31,3574 04713 TC USPRCADR
035274,001282: 31,3575 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035275,001283: 31,3576 52155 DXCH MPAC
035276,001284: 31,3577 52125 DXCH DXCRIT # CRITERION
035277,001285:
035278,001286: # SET UP DER COF TABL
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Page 824
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035280,001288: 31,3600 00006 EXTEND
035281,001289: 31,3601 50117 INDEX PWRPTR
035282,001290: 31,3602 30004 DCA 3
035283,001291: 31,3603 52155 DXCH MPAC # A(N) TO MPAC
035284,001292:
035285,001293: 31,3604 30160 CA MPAC +4 # N-1 TO A
035286,001294:
035287,001295: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035288,001296: 31,3606 64753 AD ONE
035289,001297: 31,3607 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035290,001298: 31,3610 00006 EXTEND
035291,001299: 31,3611 50117 INDEX PWRPTR
035292,001300: 31,3612 30002 DCA 1
035293,001301: 31,3613 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
035294,001302: 31,3614 50141 INDEX DERPTR
035295,001303: 31,3615 52004 DXCH 3 # DERCOF TO DER TABL
035296,001304: 31,3616 44752 CS TWO
035297,001305: 31,3617 26117 ADS PWRPTR # DECREMENT PWR POINTER
035298,001306: 31,3620 44752 CS TWO
035299,001307: 31,3621 26141 ADS DERPTR # DECREMENT DER POINTER
035300,001308: 31,3622 10140 CCS PWRCNT
035301,001309: 31,3623 13605 TCF DERCLOOP
035302,001310:
035303,001311: # CONVERGE ON ROOT
035304,001312: 31,3624 00006 ROOTLOOP EXTEND
035305,001313: 31,3625 30127 DCA ROOTPS # FETCH CURRENT ROOT
035306,001314: 31,3626 52155 DXCH MPAC # LEAVE IN MPAC
035307,001315: 31,3627 00006 EXTEND
035308,001316: 31,3630 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
035309,001317: 31,3631 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
035310,001318:
035311,001319: 31,3632 00006 EXTEND
035312,001320: 31,3633 30127 DCA ROOTPS
035313,001321: 31,3634 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
035314,001322: 31,3635 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
035315,001323: 31,3636 00006 EXTEND
035316,001324: 31,3637 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
035317,001325: 31,3640 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC
035318,001326:
035319,001327: 31,3641 04713 TC USPRCADR
035320,001328: 31,3642 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
035321,001329:
035322,001330: 31,3643 00006 EXTEND
035323,001331: 31,3644 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
035324,001332: 31,3645 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
035325,001333:
035326,001334: 31,3646 04713 TC USPRCADR
035327,001335: 31,3647 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
035328,001336: 31,3650 00006 EXTEND
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Page 825
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035330,001338: 31,3651 40125 DCS DXCRIT
035331,001339: 31,3652 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
035332,001340:
035333,001341: 31,3653 30163 CA MODE
035334,001342: 31,3654 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
035335,001343: 31,3655 10000 CCS A
035336,001344: 31,3656 00132 BADROOT TC RETROOT
035337,001345:
035338,001346: 31,3657 24163 INCR MODE # INCREMENT ITERATION COUNTER
035339,001347: 31,3660 10154 CCS MPAC # TEST HI ORDER DX
035340,001348: 31,3661 13624 TCF ROOTLOOP
035341,001349: 31,3662 13664 TCF TESTLODX
035342,001350: 31,3663 13670 TCF ROOTSTOR
035343,001351: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
035344,001352: 31,3665 13624 TCF ROOTLOOP
035345,001353: 31,3666 13670 TCF ROOTSTOR
035346,001354: 31,3667 13670 TCF ROOTSTOR
035347,001355: 31,3670 52127 ROOTSTOR DXCH ROOTPS
035348,001356: 31,3671 52155 DXCH MPAC
035349,001357: 31,3672 30163 CA MODE
035350,001358: 31,3673 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
035351,001359: 31,3674 50132 INDEX RETROOT
035352,001360: 31,3675 10002 TCF 2
035353,001361:
035354,001362: 31,3676 00147 DERTABLL ADRES DERCOFN -3
035355,001363:
035356,001364: # ****************************************************************************************************************
035357,001365: # TRASHY LITTLE SUBROUTINES
035358,001366: # ****************************************************************************************************************
035359,001367:
035360,001368: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
035361,001369: 31,3700 42452 CS TARGTDEX
035362,001370: 31,3701 50120 INDEX FIXLOC
035363,001371: 31,3702 54046 TS X1
035364,001372: 31,3703 16037 TCF INTPRET
035365,001373:
035366,001374: 31,3704 31642 TDISPSET CA TTF/8
035367,001375: 31,3705 00006 EXTEND
035368,001376: 31,3706 74750 MP TSCALINV
035369,001377: 31,3707 53476 DXCH TTFDISP
035370,001378:
035371,001379: 31,3710 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
035372,001380: 31,3711 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
035373,001381: 31,3712 E5,1470 EBANK= TCGFAPPR
035374,001382: 31,3712 31470 CA TCGFAPPR
035375,001383: 31,3713 24006 INCR BBANK
035376,001384: 31,3714 24006 INCR BBANK
035377,001385: 31,3715 E7,1642 EBANK= TTF/8
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Page 826
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035379,001387: 31,3715 61642 AD TTF/8
035380,001388: 31,3716 00006 EXTEND
035381,001389: 31,3717 73751 MP TREDESCL
035382,001390: 31,3720 63747 AD -DEC103
035383,001391: 31,3721 64735 AD NEGMAX
035384,001392: 31,3722 54001 TS L
035385,001393: 31,3723 40001 CS L
035386,001394: 31,3724 60001 AD L
035387,001395: 31,3725 63750 AD +DEC99
035388,001396: 31,3726 64733 AD POSMAX
035389,001397: 31,3727 55666 TS TREDES
035390,001398: 31,3730 41666 CS TREDES
035391,001399: 31,3731 27666 ADS TREDES
035392,001400: 31,3732 00002 TC Q
035393,001401:
035394,001402: 31,3733 05652 1406POO TC POODOO
035395,001403: 31,3734 01406 OCT 01406
035396,001404: 31,3735 05567 1406ALM TC ALARM
035397,001405: 31,3736 01406 OCT 01406
035398,001406: 31,3737 13443 TCF RATESTOP
035399,001407:
035400,001408: # ****************************************************************************************************************
035401,001409: # SPECIALIZED "PHASCHNG" SUBROUTINE
035402,001410: # ****************************************************************************************************************
035403,001411:
035404,001412: 31,3740 E3,1440 EBANK= PHSNAME2
035405,001413: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
035406,001414: 31,3741 56003 XCH EBANK
035407,001415: 31,3742 52002 DXCH L
035408,001416: 31,3743 55442 TS PHSNAME3
035409,001417: 31,3744 22003 LXCH EBANK
035410,001418: 31,3745 E7,1621 EBANK= E2DPS
035411,001419: 31,3745 00000 TC A
035412,001420:
035413,001421: # ****************************************************************************************************************
035414,001422: # PARAMETER TABLE INDIRECT ADDRESSES
035415,001423: # ****************************************************************************************************************
035416,001424:
035417,001425: 31,3746 E5,1402 RDG = RBRFG
035418,001426: 31,3746 E5,1410 VDG = VBRFG
035419,001427: 31,3746 E5,1416 ADG = ABRFG
035420,001428: 31,3746 E5,1424 VDG2TTF = VBRFG*
035421,001429: 31,3746 E5,1426 ADG2TTF = ABRFG*
035422,001430: 31,3746 E5,1430 JDG2TTF = JBRFG*
035423,001431:
035424,001432: # ****************************************************************************************************************
035425,001433: # LUNAR LANDING CONSTANTS
035426,001434: # ***************************************************************************************************************
035427,001435:
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|
Page 827
|
035429,001437: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
035430,001438: 31,3747 4740 TTFSCALE = BIT12
035431,001439: 31,3747 4750 TSCALINV = BIT4
035432,001440: 31,3747 77630 -DEC103 DEC -103 B-14
035433,001441: 31,3750 00143 +DEC99 DEC +99 B-14
035434,001442: 31,3751 75340 TREDESCL DEC -.08
035435,001443: 31,3752 00264 180DEGS DEC +180 B-14
035436,001444: 31,3753 00056 1/2DEG DEC +.00278
035437,001445: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
035438,001446: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
035439,001447: 31,3756 01477 V06N63 VN 0663 # P63
035440,001448: 31,3757 01500 V06N64 VN 0664 # P64
035441,001449: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67
035442,001450:
035443,001451: 22,3647 BANK 22
035444,001452: 22,2000 SETLOC LANDCNST
035445,001453: 22,2000 BANK
035446,001454: 22,3647 COUNT* $$/F2DPS
035447,001455:
035448,001456: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
035449,001457: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
035450,001458: 22,3653 14000 00000 3/8DP 2DEC .375
035451,001459: 22,3655 30000 00000 3/4DP 2DEC .750
035452,001460: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
035453,001461:
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Page 828
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035455,001463: # ****************************************************************************************************************
035456,001464: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc