Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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033943,000002: ## Copyright: Public domain.
033944,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
033945,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
033946,000005: ## This was the original program released for the Apollo 13 LM,
033947,000006: ## although several more revisions would follow. It has been
033948,000007: ## reconstructed from a listing of Luminary 131, from which it
033949,000008: ## differs on only two lines in P70-P71. The difference is
033950,000009: ## described in detail in Luminary memo #129, which was used
033951,000010: ## to perform the reconstruction. This file is intended to be a
033952,000011: ## faithful reconstruction, except that the code format has been
033953,000012: ## changed to conform to the requirements of the yaYUL assembler
033954,000013: ## rather than the original YUL assembler.
033955,000014: ## Reference: pp. 793-822
033956,000015: ## Contact: Ron Burkey <info@sandroid.org>.
033957,000016: ## Website: www.ibiblio.org/apollo/index.html
033958,000017: ## Mod history: 05/24/03 RSB. Began transcribing.
033959,000018: ## 05/14/05 RSB Corrected website reference above.
033960,000019: ## 2011-05-07 JL Remove workaround.
033961,000020: ## 2017-01-06 RSB Page numbers now agree with those on the
033962,000021: ## original hardcopy, as opposed to the PDF page
033963,000022: ## numbers in 1701.pdf.
033964,000023: ## 2017-02-25 RSB Proofed comment text using octopus/ProoferComments.
033965,000024: ## 2017-03-01 RSB Fixed lingering typos.
033966,000025: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
033967,000026: ## The label 1406P00 was replaced with 1406POO.
033968,000027: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
033969,000028: ## side-by-side diff of Luminary 69/99/116/131/210.
033970,000029: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
033971,000030:
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Page 793
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033973,000032: 31,2361 E7,1621 EBANK= E2DPS
033974,000033: 31,2361 COUNT* $$/F2DPS
033975,000034:
033976,000035: # ****************************************************************************************************************
033977,000036: # LUNAR LANDING FLIGHT SEQUENCE TABLES
033978,000037: # ****************************************************************************************************************
033979,000038:
033980,000039: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
033981,000040: # WCHPHASE = -1 ---> IGNALG
033982,000041: # WCHPHASE = 0 ---> BRAKQUAD
033983,000042: # WCHPHASE = 1 ---> APPRQUAD
033984,000043: # WCHPHASE = 2 ---> VERTICAL
033985,000044:
033986,000045: # ***************************************************************************************************************
033987,000046:
033988,000047: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
033989,000048:
033990,000049: 31,2361 12573 TCF TTFINCR # IGNALG
033991,000050: 31,2362 12573 NEWPHASE TCF TTFINCR # BRAKQUAD
033992,000051: 31,2363 12556 TCF STARTP64 # APPRQUAD
033993,000052: 31,2364 12547 TCF P65START # VERTICAL
033994,000053:
033995,000054: # PRE-GUIDANCE COMPUTATIONS:
033996,000055:
033997,000056: 31,2365 12753 TCF CALCRGVG # IGNALG
033998,000057: 31,2366 12763 PREGUIDE TCF RGVGCALC # BRAKQUAD
033999,000058: 31,2367 12654 TCF REDESIG # APPRQUAD
034000,000059: 31,2370 12763 TCF RGVGCALC # VERTICAL
034001,000060:
034002,000061: # GUIDANCE EQUATIONS:
034003,000062:
034004,000063: 31,2371 13026 TCF TTF/8CL # IGNALG
034005,000064: 31,2372 13026 WHATGUID TCF TTF/8CL # BRAKQUAD
034006,000065: 31,2373 13026 TCF TTF/8CL # APPRQUAD
034007,000066: 31,2374 13503 TCF VERTGUID # VERTICAL
034008,000067:
034009,000068: # POST GUIDANCE EQUATION COMPUTATIONS:
034010,000069:
034011,000070: 31,2375 13225 TCF CGCALC # IGNALG
034012,000071: 31,2376 13212 AFTRGUID TCF EXTLOGIC # BRAKQUAD
034013,000072: 31,2377 13212 TCF EXTLOGIC # APPRQUAD
034014,000073: 31,2400 13400 TCF STEER? # VERTICAL
034015,000074:
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Page 794
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034017,000076: # WINDOW VECTOR COMPUTATIONS:
034018,000077:
034019,000078: 31,2401 13275 TCF EXGSUB # IGNALG
034020,000079: 31,2402 13316 WHATEXIT TCF EXBRAK # BRAKQUAD
034021,000080: 31,2403 13324 TCF EXNORM # APPRQUAD
034022,000081:
034023,000082: # DISPLAY ROUTINES:
034024,000083:
034025,000084: 31,2404 13437 WHATDISP TCF P63DISPS # BRAKQUAD
034026,000085: 31,2405 13442 TCF P64DISPS # APPRQUAD
034027,000086: 31,2406 13471 TCF VERTDISP # VERTICAL
034028,000087:
034029,000088: # ALARM ROUTINE FOR TTF COMPUTATION:
034030,000089:
034031,000090: 31,2407 13672 TCF 1406POO # IGNALG
034032,000091: 31,2410 13674 WHATALM TCF 1406ALM # BRAKQUAD
034033,000092: 31,2411 13674 TCF 1406ALM # APPRQUAD
034034,000093:
034035,000094: # INDICES FOR REFERENCING TARGET PARAMETERS:
034036,000095:
034037,000096: 31,2412 00000 OCT 0 # IGNALG
034038,000097: 31,2413 00000 TARGTDEX OCT 0 # BRAKQUAD
034039,000098: 31,2414 00034 OCT 34 # APPRQUAD
034040,000099:
034041,000100: # ****************************************************************************************************************
034042,000101: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034043,000102: # ****************************************************************************************************************
034044,000103:
034045,000104: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034046,000105:
034047,000106: 31,2415 77776 ?GUIDSUB EXIT
034048,000107: 31,2416 34752 CAF TWO # N = 3
034049,000108: 31,2417 55647 TS NGUIDSUB
034050,000109: 31,2420 12531 TCF GUILDRET +2
034051,000110:
034052,000111: 31,2421 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034053,000112: 31,2422 12753 TCF CALCRGVG
034054,000113:
034055,000114: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034056,000115:
034057,000116: 31,2423 05353 LUNLAND TC PHASCHNG
034058,000117: 31,2424 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034059,000118: 31,2425 30101 CA FLAGWRD5 # HAS THROTTLE-UP COME YET?
034060,000119: 31,2426 74744 MASK ZOOMBIT
034061,000120: 31,2427 00006 EXTEND
034062,000121: 31,2430 13431 BZF DISPEXIT +3 # NO: DO DISPLAYS ONLY
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Page 795
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034064,000123: 31,2431 05353 TC PHASCHNG # YES: DO GUIDANCE
034065,000124: 31,2432 05023 OCT 05023
034066,000125: 31,2433 20000 OCT 20000
034067,000126:
034068,000127: # ****************************************************************************************************************
034069,000128: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034070,000129: # ****************************************************************************************************************
034071,000130:
034072,000131: 31,2434 COUNT* $$/R13
034073,000132:
034074,000133: # THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE CHECK TO SEE IF THE ROD SWITCH
034075,000134: # HAS BEEN CLICKED. IF SO, SELECT P66. IF THE DAP IS IN AUTO AND THE PRESENT
034076,000135: # 9PROGRAM IN PROGRESS IS P66, CHECK FOR A
034077,000136: # RESTART. IF ONE HAS OCCURED RE-INITIALIZE P66 AND CONTINUE OTHERWISE YOUCONTINUE WITH PRESENT DATA IN P66.TO
034078,000137: # SELECT P66 THE ATTITUDE-HOLD DISCRETE MUST BE PRESENT AND THE ROD SWITCH MUST HAVE BEEN CLICKED. OTHERWISE THE
034079,000138: # AUTOMATIC LANDING WILL CONTINUE.
034080,000139:
034081,000140: 31,2434 41010 GUILDEN CS MODREG # ARE WE IN P66? (EVEN THO WE ARE IN AUTO
034082,000141: 31,2435 62452 AD DEC66 # DAP)
034083,000142: 31,2436 00006 EXTEND
034084,000143: 31,2437 12522 BZF RESTART? # YES: GO SE IF THERE HAS BEEN A RESTART
034085,000144:
034086,000145: 31,2440 34737 CAF BIT13 # NO: IS UN-ATTITUDE-HOLD DISCRETE HERE?
034087,000146: 31,2441 00006 EXTEND
034088,000147: 31,2442 02031 RAND CHAN31
034089,000148: 31,2443 10000 CCS A
034090,000149: 31,2444 12527 TCF GUILDRET # YES: ALL'S WELL, OR AT LEAST AUTOMATIC
034091,000150:
034092,000151: 31,2445 31746 CA RODCOUNT # NO: HAS ROD SWITCH BEEN CLICKED
034093,000152: 31,2446 00006 EXTEND
034094,000153: 31,2447 12527 BZF GUILDRET # NO: CONTINUE WITH THE AUTOMATIC LANDING
034095,000154:
034096,000155: 31,2450 03677 STARTP66 TC FASTCHNG # YES
034097,000156: 31,2451 05311 TC NEWMODEX
034098,000157: 31,2452 00102 DEC66 DEC 66 B-14
034099,000158: 31,2453 00006 EXTEND
034100,000159: 31,2454 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034101,000160: 31,2455 53645 DXCH VDGVERT # ALTITUDE RATE.
034102,000161: 31,2456 06042 STRTP66A TC INTPRET
034103,000162: 31,2457 41535 SLOAD PUSH
034104,000163: 31,2460 01457 PBIASZ
034105,000164: 31,2461 41535 SLOAD PUSH
034106,000165: 31,2462 01455 PBIASY
034107,000166: 31,2463 55535 SLOAD VDEF
034108,000167: 31,2464 01453 PBIASX
034109,000168: 31,2465 43161 VXSC SET
034110,000169: 31,2466 25532 BIASFACT
034111,000170: 31,2467 00463 RODFLAG
034112,000171: 31,2470 26621 STOVL VBIAS
034113,000172: 31,2471 01254 TEMX
034114,000173: 31,2472 77676 VCOMP
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Page 796
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034116,000175: 31,2473 27764 STOVL OLDPIPAX
034117,000176: 31,2474 06524 ZEROVECS
034118,000177: 31,2475 17767 STODL DELVROD
034119,000178: 31,2476 02540 RODSCALE
034120,000179: 31,2477 17757 STODL RODSCAL1
034121,000180: 31,2500 01234 PIPTIME
034122,000181: 31,2501 03760 STORE LASTTPIP
034123,000182: 31,2502 77776 EXIT
034124,000183: 31,2503 34755 CAF ZERO
034125,000184: 31,2504 55620 TS FCOLD
034126,000185: 31,2505 55610 TS FWEIGHT
034127,000186: 31,2506 55611 TS FWEIGHT +1
034128,000187: 31,2507 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034129,000188: 31,2510 55647 TS WCHVERT
034130,000189: 31,2511 55621 TS WCHPHOLD
034131,000190: 31,2512 55346 TS WCHPHASE
034132,000191: 31,2513 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034133,000192: 31,2514 40166 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034134,000193: 31,2515 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034135,000194: 31,2516 00311 ADRES XOVINFLG
034136,000195: 31,2517 05516 TC DOWNFLAG
034137,000196: 31,2520 00143 ADRES REDFLAG
034138,000197: 31,2521 13503 TCF VERTGUID
034139,000198:
034140,000199: 31,2522 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034141,000200: 31,2523 74740 MASK RODFLBIT
034142,000201: 31,2524 00006 EXTEND
034143,000202: 31,2525 12456 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034144,000203: # IS.
034145,000204:
034146,000205: 31,2526 13503 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034147,000206:
034148,000207: # ****************************************************************************************************************
034149,000208: # INITIALIZATION FOR THIS PASS
034150,000209: # ****************************************************************************************************************
034151,000210:
034152,000211: 31,2527 COUNT* $$/F2DPS
034153,000212:
034154,000213: 31,2527 34755 GUILDRET CAF ZERO
034155,000214: 31,2530 55746 TS RODCOUNT
034156,000215:
034157,000216: 31,2531 00006 +2 EXTEND
034158,000217: 31,2532 31625 DCA TPIP
034159,000218: 31,2533 53574 DXCH TPIPOLD
034160,000219:
034161,000220: 31,2534 03677 TC FASTCHNG
034162,000221:
034163,000222: 31,2535 00006 EXTEND
034164,000223: 31,2536 31561 DCA PIPTIME1
034165,000224: 31,2537 53625 DXCH TPIP
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Page 797
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034167,000226: 31,2540 00006 EXTEND
034168,000227: 31,2541 31643 DCA TTF/8
034169,000228: 31,2542 53553 DXCH TTF/8TMP
034170,000229:
034171,000230: 31,2543 11623 CCS FLPASS0
034172,000231: 31,2544 12573 TCF TTFINCR
034173,000232:
034174,000233: 31,2545 51346 BRSPOT1 INDEX WCHPHASE
034175,000234: 31,2546 12362 TCF NEWPHASE
034176,000235:
034177,000236: # ****************************************************************************************************************
034178,000237: # ROUTINES TO START NEW PHASES
034179,000238: # ****************************************************************************************************************
034180,000239:
034181,000240: 31,2547 05311 P65START TC NEWMODEX
034182,000241: 31,2550 00101 DEC 65 B-14
034183,000242: 31,2551 34755 CAF ZERO
034184,000243: 31,2552 55647 TS WCHVERT
034185,000244: 31,2553 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034186,000245: 31,2554 00311 ADRES XOVINFLG
034187,000246: 31,2555 12573 TCF TTFINCR
034188,000247:
034189,000248: 31,2556 05311 STARTP64 TC NEWMODEX
034190,000249: 31,2557 00100 DEC 64 B-14
034191,000250: 31,2560 31425 CA DELTTFAP # AUGMENT TTF/8
034192,000251: 31,2561 27552 ADS TTF/8TMP
034193,000252: 31,2562 00004 INHINT
034194,000253: 31,2563 06022 TC C13STALL
034195,000254: 31,2564 34740 CA BIT12 # ENABLE RUPT10
034196,000255: 31,2565 00006 EXTEND
034197,000256: 31,2566 05013 WOR CHAN13
034198,000257: 31,2567 33707 CAF P64DB
034199,000258: 31,2570 55343 TS DB
034200,000259: 31,2571 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034201,000260: 31,2572 00143 ADRES REDFLAG
034202,000261:
034203,000262: # (CONTINUE TO TTFINCR)
034204,000263:
034205,000264: # ****************************************************************************************************************
034206,000265: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034207,000266: # ****************************************************************************************************************
034208,000267:
034209,000268: # TTFINCR COMPUTATIONS ARE AS FOLLOWS :-
034210,000269: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034211,000270: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034212,000271: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
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Page 798
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034214,000273: # - - - -
034215,000274: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034216,000275: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034217,000276: # - -
034218,000277: # RANGEDSP = ABVAL(LAND - R)
034219,000278:
034220,000279: 31,2573 06042 TTFINCR TC INTPRET
034221,000280: 31,2574 45345 DLOAD DSU
034222,000281: 31,2575 03625 TPIP
034223,000282: 31,2576 03574 TPIPOLD
034224,000283: 31,2577 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034225,000284: 31,2600 21214 11D
034226,000285: 31,2601 47361 VXSC VXV
034227,000286: 31,2602 03635 LAND
034228,000287: 31,2603 02325 WM
034229,000288: 31,2604 47045 BVSU RTB
034230,000289: 31,2605 03635 LAND
034231,000290: 31,2606 21727 NORMUNIT
034232,000291: 31,2607 76561 VXSC VSL1
034233,000292: 31,2610 02333 /LAND/
034234,000293: 31,2611 17545 STODL LANDTEMP
034235,000294: 31,2612 77776 EXIT
034236,000295:
034237,000296: 31,2613 52155 DXCH MPAC
034238,000297: 31,2614 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034239,000298:
034240,000299: 31,2615 03677 TC FASTCHNG
034241,000300:
034242,000301: 31,2616 00006 EXTEND
034243,000302: 31,2617 31553 DCA TTF/8TMP
034244,000303: 31,2620 53643 DXCH TTF/8
034245,000304:
034246,000305: 31,2621 03643 TC TDISPSET
034247,000306:
034248,000307: 31,2622 37721 CAF PRIO31 # TEMPORARILY OVER-PRIO CHARIN
034249,000308: 31,2623 05146 TC PRIOCHNG
034250,000309:
034251,000310: 31,2624 06042 TC INTPRET
034252,000311: 31,2625 53375 VLOAD VAD # ADD IN CORRECTION FROM NOUN 69
034253,000312: 31,2626 03545 LANDTEMP
034254,000313: 31,2627 02635 DLAND
034255,000314: 31,2630 03635 STORE LAND
034256,000315: 31,2631 77646 ABVAL # RECOMPUTE /LAND/
034257,000316: 31,2632 02333 STORE /LAND/
034258,000317: 31,2633 77776 EXIT
034259,000318:
034260,000319: 31,2634 03677 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
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Page 799
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034262,000321: 31,2635 35014 CAF EBANK5
034263,000322: 31,2636 E5,1634 EBANK= DLAND
034264,000323: 31,2636 54003 TS EBANK
034265,000324: 31,2637 34755 CAF ZERO # ZERO N 69 REGISTERS
034266,000325: 31,2640 55634 TS DLAND
034267,000326: 31,2641 55635 TS DLAND +1
034268,000327: 31,2642 55636 TS DLAND +2
034269,000328: 31,2643 55637 TS DLAND +3
034270,000329: 31,2644 55640 TS DLAND +4
034271,000330: 31,2645 55641 TS DLAND +5
034272,000331: 31,2646 35016 CAF EBANK7
034273,000332: 31,2647 E7,1666 EBANK= TREDES
034274,000333: 31,2647 54003 TS EBANK
034275,000334:
034276,000335: 31,2650 34736 CAF PRIO20
034277,000336: 31,2651 05146 TC PRIOCHNG
034278,000337:
034279,000338: 31,2652 51346 BRSPOT2 INDEX WCHPHASE
034280,000339: 31,2653 12366 TCF PREGUIDE
034281,000340:
034282,000341: # ****************************************************************************************************************
034283,000342: # LANDING SITE PERTURBATION EQUATIONS
034284,000343: # ****************************************************************************************************************
034285,000344:
034286,000345: 31,2654 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
034287,000346: 31,2655 74746 MASK REDFLBIT
034288,000347: 31,2656 00006 EXTEND
034289,000348: 31,2657 12763 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
034290,000349:
034291,000350: 31,2660 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
034292,000351: 31,2661 00006 EXTEND
034293,000352: 31,2662 12763 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
034294,000353:
034295,000354: 31,2663 00004 INHINT
034296,000355: 31,2664 31446 CA ELINCR1
034297,000356: 31,2665 55554 TS ELINCR
034298,000357: 31,2666 31445 CA AZINCR1
034299,000358: 31,2667 55556 TS AZINCR
034300,000359: 31,2670 03677 TC FASTCHNG
034301,000360:
034302,000361: 31,2671 34755 CA ZERO
034303,000362: 31,2672 55446 TS ELINCR1
034304,000363: 31,2673 55445 TS AZINCR1
034305,000364: 31,2674 55555 TS ELINCR +1
034306,000365: 31,2675 55557 TS AZINCR +1
034307,000366:
034308,000367: 31,2676 30120 CA FIXLOC # SET PD TO 0
034309,000368: 31,2677 54166 TS PUSHLOC
034310,000369:
034311,000370: 31,2700 06042 TC INTPRET
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Page 800
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034313,000372: 31,2701 52375 VLOAD VSU
034314,000373: 31,2702 03635 LAND
034315,000374: 31,2703 03521 R # - -
034316,000375: 31,2704 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
034317,000376: 31,2705 21727 NORMUNIT
034318,000377: 31,2706 76435 VXV VSL1
034319,000378: 31,2707 02154 YNBPIP # - - -
034320,000379: 31,2710 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
034321,000380: 31,2711 03555 ELINCR
034322,000381: 31,2712 03557 AZINCR
034323,000382: 31,2713 52361 VXSC VSU
034324,000383: 31,2714 02154 YNBPIP
034325,000384: 31,2715 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
034326,000385:
034327,000386: 31,2716 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
034328,000387: 31,2717 00001 0 # TOO CLOSE TO THE HORIZON
034329,000388: 31,2720 05660 DEPRCRIT
034330,000389: 31,2721 71240 BMN DLOAD
034331,000390: 31,2722 62725 REDES1
034332,000391: 31,2723 05660 DEPRCRIT
034333,000392: 31,2724 00001 STORE 0
034334,000393: 31,2725 45345 REDES1 DLOAD DSU
034335,000394: 31,2726 03635 LAND
034336,000395: 31,2727 03521 R
034337,000396: 31,2730 74271 DDV VXSC
034338,000397: 31,2731 00001 0
034339,000398: 31,2732 53455 VAD UNIT
034340,000399: 31,2733 03521 R
034341,000400: 31,2734 76561 VXSC VSL1
034342,000401: 31,2735 02333 /LAND/
034343,000402: 31,2736 03545 STORE LANDTEMP
034344,000403: 31,2737 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
034345,000404:
034346,000405: 31,2740 03677 TC FASTCHNG
034347,000406:
034348,000407: 31,2741 00006 EXTEND
034349,000408: 31,2742 31545 DCA LANDTEMP
034350,000409: 31,2743 53635 DXCH LAND
034351,000410: 31,2744 00006 EXTEND
034352,000411: 31,2745 31547 DCA LANDTEMP +2
034353,000412: 31,2746 53637 DXCH LAND +2
034354,000413: 31,2747 00006 EXTEND
034355,000414: 31,2750 31551 DCA LANDTEMP +4
034356,000415: 31,2751 53641 DXCH LAND +4
034357,000416:
034358,000417: 31,2752 12763 TCF RGVGCALC
034359,000418:
034360,000419: # ****************************************************************************************************************
034361,000420: # COMPUTE STATE IN GUIDANCE COORDINATES
034362,000421: # ****************************************************************************************************************
|
|
Page 801
|
034364,000423:
034365,000424: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
034366,000425:
034367,000426: # VELOCITY RELATIVE TO THE SURFACE:
034368,000427:
034369,000428: # - - - -
034370,000429: # ANGTERM = V + R * WM
034371,000430:
034372,000431: # STATE IN GUIDANCE COORDINATES:
034373,000432:
034374,000433: # - * - -
034375,000434: # RGU = CG (R - LAND)
034376,000435:
034377,000436: # - * - - -
034378,000437: # VGU = CG (V - WM * R)
034379,000438:
034380,000439: # DEPRESSION ANGLE FOR DISPLAY:
034381,000440:
034382,000441: # - - -
034383,000442: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
034384,000443:
034385,000444: 31,2753 06042 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
034386,000445: 31,2754 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
034387,000446: 31,2755 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
034388,000447: 31,2756 01734 REFSMMAT
034389,000448: 31,2757 53362 VSR1 VAD
034390,000449: 31,2760 03253 UNFC/2
034391,000450: 31,2761 03527 STORE V
034392,000451: 31,2762 77776 EXIT
034393,000452:
034394,000453: 31,2763 06042 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
034395,000454: 31,2764 47375 VLOAD VXV
034396,000455: 31,2765 03521 R
034397,000456: 31,2766 02325 WM
034398,000457: 31,2767 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
034399,000458: 31,2770 03527 V
034400,000459: 31,2771 02265 STORE ANGTERM
034401,000460: 31,2772 77721 MXV
034402,000461: 31,2773 02575 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
034403,000462: 31,2774 27627 STOVL VGU
034404,000463: 31,2775 03521 R # - -
034405,000464: 31,2776 41451 VSU PUSH # PUSH DOWN R - LAND
034406,000465: 31,2777 03635 LAND
034407,000466: 31,3000 76521 MXV VSL1
034408,000467: 31,3001 02575 CG
034409,000468: 31,3002 02627 STORE RGU
034410,000469: 31,3003 77646 ABVAL
034411,000470: 31,3004 26617 STOVL RANGEDSP
034412,000471: 31,3005 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
034413,000472: 31,3006 21727 NORMUNIT
034414,000473: 31,3007 02146 XNBPIP
|
|
Page 802
|
034416,000475: 31,3010 77776 EXIT
034417,000476:
034418,000477: 31,3011 30120 CA FIXLOC # RESET PUSH DOWN POINTER
034419,000478: 31,3012 54166 TS PUSHLOC
034420,000479:
034421,000480: 31,3013 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
034422,000481: 31,3014 60000 DOUBLE
034423,000482: 31,3015 04616 TC BANKCALL
034424,000483: 31,3016 61663 CADR SPARCSIN -1
034425,000484: 31,3017 63713 AD 1/2DEG
034426,000485: 31,3020 61356 AD ELBIAS # BIAS LPD ANGLE FOR WINDOW BENDING
034427,000486: 31,3021 00006 EXTEND
034428,000487: 31,3022 73712 MP 180DEGS
034429,000488: 31,3023 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
034430,000489:
034431,000490: 31,3024 51346 BRSPOT3 INDEX WCHPHASE
034432,000491: 31,3025 12372 TCF WHATGUID
034433,000492:
034434,000493: # ****************************************************************************************************************
034435,000494: # TTF/8 COMPUTATION
034436,000495: # ****************************************************************************************************************
034437,000496:
034438,000497: 31,3026 03636 TTF/8CL TC INTPRETX
034439,000498: 31,3027 77743 DLOAD*
034440,000499: 31,3030 02431 JDG2TTF,1
034441,000500: 31,3031 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
034442,000501: 31,3032 02427 ADG2TTF,1 # 2
034443,000502: 31,3033 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
034444,000503: 31,3034 03633 VGU +4 # 2
034445,000504: 31,3035 42605 DMP DAD*
034446,000505: 31,3036 05656 3/4DP
034447,000506: 31,3037 02425 VDG2TTF,1
034448,000507: 31,3040 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
034449,000508: 31,3041 02407 RDG +4,1 # 2 2
034450,000509: 31,3042 41225 DSU DMP
034451,000510: 31,3043 02633 RGU +4
034452,000511: 31,3044 05654 3/8DP
034453,000512: 31,3045 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
034454,000513: 31,3046 77776 EXIT # 2 2
034455,000514:
034456,000515: 31,3047 34744 CA BIT8
034457,000516: 31,3050 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
034458,000517:
034459,000518: 31,3051 00006 EXTEND
034460,000519: 31,3052 31643 DCA TTF/8
034461,000520: 31,3053 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
034462,000521: 31,3054 34752 CAF TWO # DEGREE - ONE
034463,000522: 31,3055 54001 TS L
034464,000523: 31,3056 33705 CAF TABLTTFL
034465,000524: 31,3057 03512 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
|
|
Page 803
|
034467,000526: 31,3060 51346 INDEX WCHPHASE
034468,000527: 31,3061 12410 TCF WHATALM
034469,000528:
034470,000529: 31,3062 00006 EXTEND # GOOD RETURN
034471,000530: 31,3063 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
034472,000531: 31,3064 53643 DXCH TTF/8 # CORRECTED TTF/8
034473,000532:
034474,000533: 31,3065 03643 TC TDISPSET
034475,000534:
034476,000535: # (CONTINUE TO QUADGUID)
034477,000536:
034478,000537: # ****************************************************************************************************************
034479,000538: # MAIN GUIDANCE EQUATION
034480,000539: # ****************************************************************************************************************
034481,000540:
034482,000541: # AS PUBLISHED:-
034483,000542: # - - - -
034484,000543: # - - 6(VDG + VG) 12(RDG - RG)
034485,000544: # ACG = ADG + ----------- + ------------
034486,000545: # TTF (TTF)(TTF)
034487,000546: # AS HERE PROGRAMMED:-
034488,000547: # - -
034489,000548: # 3 (1/4(RDG - RG) - - )
034490,000549: # - (------------- + VDG + VG)
034491,000550: # - 4 ( TTF/8 ) -
034492,000551: # ACG = ---------------------------- + ADG
034493,000552: # TTF/8
034494,000553:
034495,000554: 31,3066 41642 QUADGUID CS TTF/8
034496,000555: 31,3067 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
034497,000556: 31,3070 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
034498,000557: 31,3071 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
034499,000558: 31,3072 40001 CS L
034500,000559: 31,3073 60001 AD L
034501,000560: 31,3074 22007 ZL
034502,000561: 31,3075 00006 EXTEND
034503,000562: 31,3076 11642 DV TTF/8
034504,000563: 31,3077 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
034505,000564: 31,3100 00006 EXTEND
034506,000565: 31,3101 70000 SQUARE
034507,000566: 31,3102 54131 TS BUF +1
034508,000567: 31,3103 60130 AD BUF
034509,000568: 31,3104 56131 XCH BUF +1 # RATIO SQUARED - RATIO
034510,000569: 31,3105 60131 AD BUF +1
034511,000570: 31,3106 54154 TS MPAC # COEFFICIENT FOR VGU TERM
034512,000571: 31,3107 60131 AD BUF +1
|
|
Page 804
|
034514,000573: 31,3110 50120 INDEX FIXLOC
034515,000574: 31,3111 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
034516,000575: 31,3112 60131 AD BUF +1
034517,000576: 31,3113 50120 INDEX FIXLOC
034518,000577: 31,3114 54034 TS 28D # COEFFICIENT FOR VDG TERM
034519,000578: 31,3115 60130 AD BUF
034520,000579: 31,3116 64733 AD POSMAX
034521,000580: 31,3117 60131 AD BUF +1
034522,000581: 31,3120 60131 AD BUF +1
034523,000582: 31,3121 50120 INDEX FIXLOC
034524,000583: 31,3122 54036 TS 30D # COEFFICIENT FOR ADG TERM
034525,000584:
034526,000585: 31,3123 34755 CAF ZERO
034527,000586: 31,3124 54163 TS MODE
034528,000587:
034529,000588: 31,3125 03636 TC INTPRETX
034530,000589: 31,3126 65361 VXSC PDDL
034531,000590: 31,3127 03627 VGU
034532,000591: 31,3130 00035 28D
034533,000592: 31,3131 62757 VXSC* PDVL*
034534,000593: 31,3132 02411 VDG,1
034535,000594: 31,3133 02403 RDG,1
034536,000595: 31,3134 70251 VSU V/SC
034537,000596: 31,3135 02627 RGU
034538,000597: 31,3136 03643 TTF/8
034539,000598: 31,3137 74342 VSR2 VXSC
034540,000599: 31,3140 00033 26D
034541,000600: 31,3141 53255 VAD VAD
034542,000601: 31,3142 74341 V/SC VXSC
034543,000602: 31,3143 03643 TTF/8
034544,000603: 31,3144 05656 3/4DP
034545,000604: 31,3145 73725 PDDL VXSC*
034546,000605: 31,3146 00037 30D
034547,000606: 31,3147 02417 ADG,1
034548,000607: 31,3150 77655 VAD
034549,000608: 31,3151 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
034550,000609: 31,3152 02575 CG
034551,000610: 31,3153 70315 PDVL V/SC
034552,000611: 31,3154 01236 GDT/2
034553,000612: 31,3155 05652 GSCALE
034554,000613: 31,3156 45445 BVSU STADR
034555,000614: 31,3157 74524 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
034556,000615: 31,3160 77646 ABVAL
034557,000616: 31,3161 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
034558,000617: 31,3162 03253 UNFC/2 # VERTICAL COMPONENT
034559,000618: 31,3163 65316 DSQ PDDL
034560,000619: 31,3164 03255 UNFC/2 +2 # OUT-OF-PLANE
034561,000620: 31,3165 65316 DSQ PDDL
034562,000621: 31,3166 05650 HIGHESTF
034563,000622: 31,3167 63471 DDV DSQ
|
|
Page 805
|
034565,000624: 31,3170 01244 MASS # 2 2 2
034566,000625: 31,3171 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
034567,000626: 31,3172 71244 BPL DLOAD # 1 0
034568,000627: 31,3173 63175 AFCCALC3
034569,000628: 31,3174 06524 ZEROVECS
034570,000629: 31,3175 43366 AFCCALC3 SQRT DAD
034571,000630: 31,3176 03257 UNFC/2 +4
034572,000631: 31,3177 44244 BPL BDSU
034573,000632: 31,3200 63203 AFCCLEND
034574,000633: 31,3201 03257 UNFC/2 +4
034575,000634: 31,3202 03257 STORE UNFC/2 +4
034576,000635: 31,3203 77776 AFCCLEND EXIT
034577,000636: 31,3204 03677 TC FASTCHNG
034578,000637:
034579,000638: 31,3205 31346 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
034580,000639: 31,3206 55621 TS WCHPHOLD
034581,000640: 31,3207 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
034582,000641:
034583,000642: 31,3210 51346 BRSPOT4 INDEX WCHPHASE
034584,000643: 31,3211 12376 TCF AFTRGUID
034585,000644:
034586,000645: # ****************************************************************************************************************
034587,000646: # NEW PHASE NOW?
034588,000647: # ****************************************************************************************************************
034589,000648:
034590,000649: 31,3212 51346 EXTLOGIC INDEX WCHPHASE # IS TTF NEARER ZERO THAN CRITERION?
034591,000650: 31,3213 31423 CA TENDBRAK
034592,000651: 31,3214 61642 AD TTF/8
034593,000652: 31,3215 00006 EXTEND
034594,000653: 31,3216 63225 BZMF CGCALC # NO
034595,000654:
034596,000655: 31,3217 03677 TC FASTCHNG # YES: INCREMENT WCHPHASE, ZERO FLPASS0
034597,000656:
034598,000657: 31,3220 31621 CA WCHPHOLD
034599,000658: 31,3221 64753 AD ONE
034600,000659: 31,3222 55346 TS WCHPHASE
034601,000660: 31,3223 34755 CAF ZERO
034602,000661: 31,3224 55623 TS FLPASS0
034603,000662:
034604,000663: # (CONTINUE TO CGCALC)
034605,000664:
034606,000665: # ***************************************************************************************************************
034607,000666: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
034608,000667: # ***************************************************************************************************************
034609,000668:
034610,000669: 31,3225 35014 CGCALC CAF EBANK5
034611,000670: 31,3226 54003 TS EBANK
034612,000671: 31,3227 E5,1435 EBANK= TCGIBRAK
034613,000672: 31,3227 00006 EXTEND
034614,000673: 31,3230 51346 INDEX WCHPHASE
|
|
Page 806
|
034616,000675: 31,3231 52413 INDEX TARGTDEX
034617,000676: 31,3232 31435 DCA TCGFBRAK
034618,000677: 31,3233 24006 INCR BBANK
034619,000678: 31,3234 24006 INCR BBANK
034620,000679: 31,3235 E7,1642 EBANK= TTF/8
034621,000680: 31,3235 61642 AD TTF/8
034622,000681: 31,3236 56001 XCH L
034623,000682: 31,3237 61642 AD TTF/8
034624,000683: 31,3240 10000 CCS A
034625,000684: 31,3241 10001 CCS L
034626,000685: 31,3242 13273 TCF EXITSPOT
034627,000686: 31,3243 13273 TCF EXITSPOT
034628,000687: 31,3244 13245 NOOP
034629,000688:
034630,000689: 31,3245 03636 TC INTPRETX
034631,000690: 31,3246 53575 VLOAD UNIT
034632,000691: 31,3247 03635 LAND
034633,000692: 31,3250 16575 STODL CG
034634,000693: 31,3251 03643 TTF/8
034635,000694: 31,3252 74203 DMP* VXSC
034636,000695: 31,3253 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
034637,000696: 31,3254 02265 ANGTERM
034638,000697: 31,3255 77655 VAD
034639,000698: 31,3256 03635 LAND
034640,000699: 31,3257 47051 VSU RTB
034641,000700: 31,3260 03521 R
034642,000701: 31,3261 21727 NORMUNIT
034643,000702: 31,3262 47035 VXV RTB
034644,000703: 31,3263 03635 LAND
034645,000704: 31,3264 21727 NORMUNIT
034646,000705: 31,3265 26603 STOVL CG +6 # SECOND ROW
034647,000706: 31,3266 02575 CG
034648,000707: 31,3267 76435 VXV VSL1
034649,000708: 31,3270 02603 CG +6
034650,000709: 31,3271 02611 STORE CG +14
034651,000710: 31,3272 77776 EXIT
034652,000711:
034653,000712: 31,3273 51621 EXITSPOT INDEX WCHPHOLD
034654,000713: 31,3274 12402 TCF WHATEXIT
034655,000714:
034656,000715: # ****************************************************************************************************************
034657,000716: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
034658,000717: # ****************************************************************************************************************
034659,000718:
034660,000719: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
034661,000720: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
034662,000721: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
|
|
Page 807
|
034664,000723: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
034665,000724:
034666,000725: 31,3275 06042 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
034667,000726: 31,3276 47175 VLOAD RTB
034668,000727: 31,3277 03253 UNFC/2
034669,000728: 31,3300 21727 NORMUNIT
034670,000729: 31,3301 74361 VXSC VXSC
034671,000730: 31,3302 03423 ZOOMTIME
034672,000731: 31,3303 22001 TRIMACCL
034673,000732: 31,3304 03253 STORE UNFC/2
034674,000733: 31,3305 77776 EXIT
034675,000734:
034676,000735: 31,3306 11647 CCS NGUIDSUB
034677,000736: 31,3307 12421 TCF GUIDSUB
034678,000737: 31,3310 11646 CCS NIGNLOOP
034679,000738: 31,3311 13314 TCF +3
034680,000739: 31,3312 05567 TC ALARM
034681,000740: 31,3313 01412 OCT 01412
034682,000741:
034683,000742: 31,3314 04635 +3 TC POSTJUMP
034684,000743: 31,3315 65104 CADR DDUMCALC
034685,000744:
034686,000745: 31,3316 06042 EXBRAK TC INTPRET
034687,000746: 31,3317 77775 VLOAD
034688,000747: 31,3320 03537 UNIT/R/
034689,000748: 31,3321 03261 STORE UNWC/2
034690,000749: 31,3322 77776 EXIT
034691,000750: 31,3323 13400 TCF STEER?
034692,000751:
034693,000752: 31,3324 06042 EXNORM TC INTPRET
034694,000753: 31,3325 52375 VLOAD VSU
034695,000754: 31,3326 03635 LAND
034696,000755: 31,3327 03521 R
034697,000756: 31,3330 77634 RTB
034698,000757: 31,3331 21727 NORMUNIT
034699,000758: 31,3332 03261 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
034700,000759: 31,3333 50235 VXV DOT
034701,000760: 31,3334 02146 XNBPIP
034702,000761: 31,3335 02603 CG +6
034703,000762: 31,3336 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
034704,000763:
034705,000764: 31,3337 40154 CS MPAC # GET COEFFICIENT FOR CG +14
034706,000765: 31,3340 63714 AD PROJMAX
034707,000766: 31,3341 64733 AD POSMAX
034708,000767: 31,3342 54130 TS BUF
034709,000768: 31,3343 40130 CS BUF
034710,000769: 31,3344 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
034711,000770:
034712,000771: 31,3345 43715 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
034713,000772: 31,3346 60154 AD MPAC
|
|
Page 808
|
034715,000774: 31,3347 64733 AD POSMAX
034716,000775: 31,3350 54131 TS BUF +1
034717,000776: 31,3351 40131 CS BUF +1
034718,000777: 31,3352 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
034719,000778:
034720,000779: 31,3353 34751 CAF FOUR
034721,000780: 31,3354 76245 UNWCLOOP MASK SIX
034722,000781: 31,3355 54002 TS Q
034723,000782: 31,3356 35014 CA EBANK5
034724,000783: 31,3357 54003 TS EBANK
034725,000784: 31,3360 E5,1574 EBANK= CG
034726,000785: 31,3360 30130 CA BUF
034727,000786: 31,3361 00006 EXTEND
034728,000787: 31,3362 50002 INDEX Q
034729,000788: 31,3363 71610 MP CG +14
034730,000789: 31,3364 24006 INCR BBANK
034731,000790: 31,3365 E6,1660 EBANK= UNWC/2
034732,000791: 31,3365 50002 INDEX Q
034733,000792: 31,3366 53661 DXCH UNWC/2
034734,000793: 31,3367 00006 EXTEND
034735,000794: 31,3370 70131 MP BUF +1
034736,000795: 31,3371 50002 INDEX Q
034737,000796: 31,3372 21661 DAS UNWC/2
034738,000797: 31,3373 10002 CCS Q
034739,000798: 31,3374 13354 TCF UNWCLOOP
034740,000799:
034741,000800: 31,3375 31773 CA AZBIAS # SET OUTER GIMBAL
034742,000801: 31,3376 55677 TS OGABIAS # ANGLE BIAS FOR WINDOW BENDING
034743,000802:
034744,000803: 31,3377 24006 INCR BBANK
034745,000804: 31,3400 E7,1612 EBANK= PIF
034746,000805:
034747,000806: 31,3400 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
034748,000807: 31,3401 74741 MASK STEERBIT
034749,000808: 31,3402 00006 EXTEND
034750,000809: 31,3403 13411 BZF RATESTOP
034751,000810:
034752,000811: 31,3404 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
034753,000812: 31,3405 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
034754,000813: 31,3406 13421 BZF +13
034755,000814:
034756,000815: 31,3407 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
034757,000816: 31,3410 01410 OCT 01410
034758,000817:
034759,000818: 31,3411 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
034760,000819: 31,3412 00006 EXTEND
034761,000820: 31,3413 02031 RAND CHAN31
034762,000821: 31,3414 00006 EXTEND
034763,000822: 31,3415 13426 BZF DISPEXIT # YES
|
|
Page 809
|
034765,000824: 31,3416 04616 TC BANKCALL # NO: DO A STOPRATE
034766,000825: 31,3417 40166 CADR STOPRATE
034767,000826:
034768,000827: 31,3420 13426 TCF DISPEXIT
034769,000828:
034770,000829: 31,3421 02144 GDLMP1 TC THROTTLE
034771,000830: 31,3422 06042 TC INTPRET
034772,000831: 31,3423 77624 CALL
034773,000832: 31,3424 61100 FINDCDUW -2
034774,000833: 31,3425 77776 EXIT
034775,000834:
034776,000835: # (CONTINUE TO DISPEXIT)
034777,000836:
034778,000837: # ****************************************************************************************************************
034779,000838: # GUIDANCE LOOP DISPLAYS
034780,000839: # ****************************************************************************************************************
034781,000840:
034782,000841: 31,3426 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
034783,000842: 31,3427 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
034784,000843: 31,3430 52756 DXCH -PHASE3
034785,000844:
034786,000845: 31,3431 31,3431 ENDLLJOB = DISPEXIT +3
034787,000846:
034788,000847: 31,3431 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
034789,000848: 31,3432 74742 MASK FLUNDBIT
034790,000849: 31,3433 00006 EXTEND
034791,000850: 31,3434 15155 BZF ENDOFJOB
034792,000851:
034793,000852: 31,3435 51621 INDEX WCHPHOLD
034794,000853: 31,3436 12404 TCF WHATDISP
034795,000854:
034796,000855: 31,3437 33716 P63DISPS CAF V06N63
034797,000856: 31,3440 04616 DISPCOMN TC BANKCALL
034798,000857: 31,3441 20466 CADR REGODSP
034799,000858:
034800,000859: 31,3442 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
034801,000860: 31,3443 00006 EXTEND
034802,000861: 31,3444 13465 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
034803,000862:
034804,000863: 31,3445 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
034805,000864: 31,3446 74746 MASK REDFLBIT
034806,000865: 31,3447 00006 EXTEND
034807,000866: 31,3450 13467 BZF REDES-OK # YES: DO STATIC DISPLAY
034808,000867:
034809,000868: 31,3451 33717 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
034810,000869: 31,3452 04616 TC BANKCALL
034811,000870: 31,3453 20460 CADR REFLASH
034812,000871: 31,3454 16001 TCF GOTOPOOH # TERMINATE
|
|
Page 810
|
034814,000873: 31,3455 13457 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
034815,000874: 31,3456 13442 TCF P64DISPS # RECYCLE
034816,000875:
034817,000876: 31,3457 34755 P64CEED CAF ZERO
034818,000877: 31,3460 55446 TS ELINCR1
034819,000878: 31,3461 55445 TS AZINCR1
034820,000879:
034821,000880: 31,3462 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
034822,000881: 31,3463 00143 ADRES REDFLAG
034823,000882:
034824,000883: 31,3464 15155 TCF ENDOFJOB
034825,000884:
034826,000885: 31,3465 05516 RED-OVER TC DOWNFLAG
034827,000886: 31,3466 00143 ADRES REDFLAG
034828,000887: 31,3467 33717 REDES-OK CAF V06N64
034829,000888: 31,3470 13440 TCF DISPCOMN
034830,000889:
034831,000890: 31,3471 33720 VERTDISP CAF V06N60
034832,000891: 31,3472 04616 TC BANKCALL
034833,000892: 31,3473 20460 CADR REFLASH
034834,000893: 31,3474 16001 TCF GOTOPOOH # TERMINATE
034835,000894: 31,3475 13477 TCF STOPFIRE # PROCEED
034836,000895: 31,3476 13477 TCF STOPFIRE # V32E
034837,000896:
034838,000897: 31,3477 00004 STOPFIRE INHINT
034839,000898: 31,3500 04616 TC BANKCALL
034840,000899: 31,3501 40154 CADR ZATTEROR
034841,000900: 31,3502 15155 TCF ENDOFJOB
034842,000901:
034843,000902: # ****************************************************************************************************************
034844,000903: # GUIDANCE FOR P65
034845,000904: # ****************************************************************************************************************
034846,000905:
034847,000906: 31,3503 11647 VERTGUID CCS WCHVERT
034848,000907: 31,3504 13510 TCF P66VERT # +0
034849,000908:
034850,000909:
034851,000910: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
034852,000911: # - -
034853,000912: # V2FG - VGU
034854,000913: # ACG = ----------
034855,000914: # TAUVERT
034856,000915:
034857,000916: 31,3505 06042 P65VERT TC INTPRET
034858,000917: 31,3506 77650 GOTO
034859,000918: 31,3507 65272 P65VERTA
|
|
Page 811
|
034861,000920:
034862,000921: # ****************************************************************************************************************
034863,000922: # GUIDANCE FOR P66
034864,000923: # ****************************************************************************************************************
034865,000924:
034866,000925: 31,3510 04635 P66VERT TC POSTJUMP
034867,000926: 31,3511 65300 CADR P66VERTA
034868,000927:
034869,000928: 32,2000 SETLOC P66LOC
034870,000929: 32,2000 BANK
034871,000930: 32,3265 COUNT* $$/F2DPS
034872,000931:
034873,000932: 32,3265 37713 RODTASK CAF PRIO22
034874,000933: 32,3266 05105 TC FINDVAC
034875,000934: 32,3267 E7,1515 EBANK= DVCNTR
034876,000935: 32,3267 03305 64067 2CADR RODCOMP
034877,000936:
034878,000937: 32,3271 15261 TCF TASKOVER
034879,000938:
034880,000939: 32,3272 52375 P65VERTA VLOAD VSU
034881,000940: 32,3273 02511 V2FG
034882,000941: 32,3274 03627 VGU
034883,000942: 32,3275 52141 V/SC GOTO
034884,000943: 32,3276 02517 TAUVERT
034885,000944: 32,3277 63151 AFCCALC1
034886,000945:
034887,000946: 32,3300 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
034888,000947: 32,3301 00003 OCT 00003
034889,000948:
034890,000949: 32,3302 34777 CAF 1SEC
034891,000950: 32,3303 05173 TC TWIDDLE
034892,000951: 32,3304 03265 ADRES RODTASK
034893,000952:
034894,000953: 32,3305 00004 RODCOMP INHINT
034895,000954: 32,3306 34755 CAF ZERO
034896,000955: 32,3307 57746 XCH RODCOUNT
034897,000956: 32,3310 00006 EXTEND
034898,000957: 32,3311 71756 MP RODSCAL1
034899,000958: 32,3312 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
034900,000959:
034901,000960: 32,3313 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
034902,000961: 32,3314 30040 DCA PIPAX
034903,000962: 32,3315 53764 DXCH OLDPIPAX
034904,000963: 32,3316 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
034905,000964: 32,3317 30041 CA PIPAZ
034906,000965: 32,3320 57765 XCH OLDPIPAZ
034907,000966: 32,3321 56072 XCH RUPTREG3
034908,000967:
034909,000968: 32,3322 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
034910,000969: 32,3323 30025 DCA TIME2
034911,000970: 32,3324 53762 DXCH THISTPIP
|
|
Page 812
|
034913,000972: 32,3325 31763 CA OLDPIPAX
034914,000973: 32,3326 61157 AD PIPATMPX
034915,000974: 32,3327 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
034916,000975: 32,3330 31764 CA OLDPIPAY
034917,000976: 32,3331 61160 AD PIPATMPY
034918,000977: 32,3332 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
034919,000978: 32,3333 31765 CA OLDPIPAZ
034920,000979: 32,3334 61161 AD PIPATMPZ
034921,000980: 32,3335 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
034922,000981:
034923,000982: 32,3336 41763 CS OLDPIPAX
034924,000983: 32,3337 61253 AD TEMX
034925,000984: 32,3340 60070 AD RUPTREG1
034926,000985: 32,3341 55766 TS DELVROD
034927,000986: 32,3342 41764 CS OLDPIPAY
034928,000987: 32,3343 61254 AD TEMY
034929,000988: 32,3344 60071 AD RUPTREG2
034930,000989: 32,3345 55770 TS DELVROD +2
034931,000990: 32,3346 41765 CS OLDPIPAZ
034932,000991: 32,3347 61255 AD TEMZ
034933,000992: 32,3350 60072 AD RUPTREG3
034934,000993: 32,3351 55772 TS DELVROD +4
034935,000994:
034936,000995: 32,3352 34755 CAF ZERO
034937,000996: 32,3353 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
034938,000997: 32,3354 54160 TS MPAC +4
034939,000998: 32,3355 54162 TS MPAC +6
034940,000999: 32,3356 55253 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
034941,001000: 32,3357 55254 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
034942,001001: 32,3360 55255 TS TEMZ
034943,001002: 32,3361 44753 CS ONE
034944,001003: 32,3362 54163 TS MODE
034945,001004: 32,3363 06042 TC INTPRET
034946,001005: 32,3364 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
034947,001006: 32,3365 26022 KPIP1
034948,001007: 32,3366 03762 THISTPIP
034949,001008: 32,3367 77625 DSU
034950,001009: 32,3370 01234 PIPTIME
034951,001010: 32,3371 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
034952,001011: 32,3372 63271 DDV PDVL # (8)
034953,001012: 32,3373 27110 4SEC(28)
034954,001013: 32,3374 01236 GDT/2
034955,001014: 32,3375 74251 VSU VXSC # (6)
034956,001015: 32,3376 02621 VBIAS
034957,001016: 32,3377 53352 VSL2 VAD
034958,001017: 32,3400 03527 V
034959,001018: 32,3401 45455 VAD STADR # (0)
034960,001019: 32,3402 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
034961,001020: 32,3403 03521 R
034962,001021: 32,3404 77656 UNIT
|
|
Page 813
|
034964,001023: 32,3405 00017 STORE 14D
034965,001024: 32,3406 72441 DOT SL1
034966,001025: 32,3407 00031 24D
034967,001026: 32,3410 17474 STODL HDOTDISP # UPDATE ALTITUDE RATE FOR NOUN 60
034968,001027: 32,3411 00037 30D
034969,001028: 32,3412 41261 SL DMP
034970,001029: 32,3413 20214 11D
034971,001030: 32,3414 03474 HDOTDISP
034972,001031: 32,3415 45215 DAD DSU
034973,001032: 32,3416 00045 36D
034974,001033: 32,3417 02333 /LAND/
034975,001034: 32,3420 17775 STODL HCALC1 # UPDATE ALTITUDE FOR NOUN 60
034976,001035: 32,3421 03474 HDOTDISP
034977,001036: 32,3422 56221 BDSU DDV
034978,001037: 32,3423 03645 VDGVERT
034979,001038: 32,3424 02541 TAUROD
034980,001039: 32,3425 51515 PDVL ABVAL # (2)
034981,001040: 32,3426 01236 GDT/2
034982,001041: 32,3427 60471 DDV SR2
034983,001042: 32,3430 05652 GSCALE
034984,001043: 32,3431 00025 STORE 20D
034985,001044: 32,3432 77615 DAD # (0)
034986,001045: 32,3433 45115 PDVL CALL # (2)
034987,001046: 32,3434 06522 UNITX
034988,001047: 32,3435 47663 CDU*NBSM
034989,001048: 32,3436 77641 DOT
034990,001049: 32,3437 00017 14D
034991,001050: 32,3440 00027 STORE 22D
034992,001051: 32,3441 45465 BDDV STADR # (0)
034993,001052: 32,3442 50313 STOVL /AFC/
034994,001053: 32,3443 03767 DELVROD
034995,001054: 32,3444 53361 VXSC VAD
034996,001055: 32,3445 26022 KPIP1
034997,001056: 32,3446 02621 VBIAS
034998,001057: 32,3447 65246 ABVAL PDDL # (2)
034999,001058: 32,3450 03762 THISTPIP
035000,001059: 32,3451 65225 DSU PDDL # (4)
035001,001060: 32,3452 03760 LASTTPIP
035002,001061: 32,3453 03762 THISTPIP
035003,001062: 32,3454 17760 STODL LASTTPIP # (2)
035004,001063: 32,3455 55271 DDV BDDV # (0)
035005,001064: 32,3456 25530 SHFTFACT
035006,001065: 32,3457 41325 PDDL DMP # (2)
035007,001066: 32,3460 03611 FWEIGHT
035008,001067: 32,3461 25527 BIT1H
035009,001068: 32,3462 56271 DDV DDV
035010,001069: 32,3463 01244 MASS
035011,001070: 32,3464 22006 SCALEFAC
035012,001071: 32,3465 65215 DAD PDDL # (4)
035013,001072: 32,3466 00001 0D
|
|
Page 814
|
035015,001074: 32,3467 00025 20D
035016,001075: 32,3470 45271 DDV DSU # (2)
035017,001076: 32,3471 00027 22D
035018,001077: 32,3472 43205 DMP DAD
035019,001078: 32,3473 02543 LAG/TAU
035020,001079: 32,3474 03464 /AFC/
035021,001080: 32,3475 56325 PDDL DDV # (4)
035022,001081: 32,3476 02547 MAXFORCE
035023,001082: 32,3477 01244 MASS
035024,001083: 32,3500 56325 PDDL DDV # (6)
035025,001084: 32,3501 02545 MINFORCE
035026,001085: 32,3502 01244 MASS
035027,001086: 32,3503 44206 PUSH BDSU # (8)
035028,001087: 32,3504 00003 2D
035029,001088: 32,3505 71240 BMN DLOAD # (6)
035030,001089: 32,3506 65514 AFCSPOT
035031,001090: 32,3507 41545 DLOAD PUSH # (6)
035032,001091: 32,3510 51021 BDSU BPL
035033,001092: 32,3511 00003 2D
035034,001093: 32,3512 65514 AFCSPOT
035035,001094: 32,3513 77745 DLOAD # (4)
035036,001095: 32,3514 77745 AFCSPOT DLOAD # (2), (4), OR (6)
035037,001096: 32,3515 77601 SETPD # (2)
035038,001097: 32,3516 00003 2D
035039,001098: 32,3517 17464 STODL /AFC/ # (0)
035040,001099: 32,3520 77776 ITRPNT2 EXIT
035041,001100: 32,3521 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035042,001101: 32,3522 04616 TC BANKCALL
035043,001102: 32,3523 62147 CADR THROTTLE +3
035044,001103: 32,3524 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035045,001104: 32,3525 63431 CADR DISPEXIT +3
035046,001105:
035047,001106: 32,3526 00001 BIT1H OCT 00001
035048,001107: 32,3527 00000 04000 SHFTFACT 2DEC 1 B-17
035049,001108: 32,3531 00000 05075 BIASFACT 2DEC 655.36 B-26
035050,001109:
035051,001110: # ****************************************************************************************************************
035052,001111: # REDESIGNATOR TRAP
035053,001112: # ****************************************************************************************************************
035054,001113:
035055,001114: 11,2302 BANK 11
035056,001115: 11,2000 SETLOC F2DPS*11
035057,001116: 11,2000 BANK
035058,001117:
035059,001118: 11,2302 COUNT* $$/F2DPS
035060,001119:
035061,001120: 11,2302 56016 PITFALL XCH BANKRUPT
035062,001121: 11,2303 00006 EXTEND
035063,001122: 11,2304 22012 QXCH QRUPT
|
|
Page 815
|
035065,001124: 11,2305 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035066,001125: 11,2306 00100 DEC 64 B-14
035067,001126: 11,2307 15270 TCF RESUME
035068,001127:
035069,001128: 11,2310 00006 EXTEND
035070,001129: 11,2311 00031 READ CHAN31
035071,001130: 11,2312 40000 COM
035072,001131: 11,2313 72401 MASK ALL4BITS
035073,001132: 11,2314 55444 TS ELVIRA
035074,001133: 11,2315 34752 CAF TWO
035075,001134: 11,2316 55443 TS ZERLINA
035076,001135: 11,2317 34756 CAF FIVE
035077,001136: 11,2320 05173 TC TWIDDLE
035078,001137: 11,2321 02326 ADRES REDESMON
035079,001138: 11,2322 15270 TCF RESUME
035080,001139:
035081,001140: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035082,001141:
035083,001142: 11,2323 55443 PREMON1 TS ZERLINA
035084,001143: 11,2324 34757 PREMON2 CAF SEVEN
035085,001144: 11,2325 05224 TC VARDELAY
035086,001145: 11,2326 00006 REDESMON EXTEND
035087,001146: 11,2327 00031 READ 31
035088,001147: 11,2330 40000 COM
035089,001148: 11,2331 72401 MASK ALL4BITS
035090,001149: 11,2332 57444 XCH ELVIRA
035091,001150: 11,2333 54001 TS L
035092,001151: 11,2334 11444 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035093,001152: 11,2335 12324 TCF PREMON2 # Y: CONTINUE MONITOR
035094,001153: 11,2336 10001 CCS L # N: ANY LAST PASS?
035095,001154: 11,2337 12347 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
035096,001155: 11,2340 11443 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035097,001156: 11,2341 12323 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035098,001157: 11,2342 06022 RESETRPT TC C13STALL # Y: RESET RUPT, TERMINATE
035099,001158: 11,2343 34740 CAF BIT12
035100,001159: 11,2344 00006 EXTEND
035101,001160: 11,2345 05013 WOR CHAN13
035102,001161: 11,2346 15261 TCF TASKOVER
035103,001162:
035104,001163: 11,2347 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035105,001164: 11,2350 00006 EXTEND
035106,001165: 11,2351 02031 RAND CHAN31
035107,001166: 11,2352 00006 EXTEND
035108,001167: 11,2353 12342 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035109,001168: 11,2354 30001 CA L # NO
035110,001169: 11,2355 74746 MASK -AZBIT
|
|
Page 816
|
035112,001171: 11,2356 10000 CCS A
035113,001172: 11,2357 42402 -AZ CS AZEACH
035114,001173: 11,2360 27445 ADS AZINCR1
035115,001174: 11,2361 30001 CA L
035116,001175: 11,2362 74747 MASK +AZBIT
035117,001176: 11,2363 10000 CCS A
035118,001177: 11,2364 32402 +AZ CA AZEACH
035119,001178: 11,2365 27445 ADS AZINCR1
035120,001179: 11,2366 30001 CA L
035121,001180: 11,2367 74753 MASK -ELBIT
035122,001181: 11,2370 10000 CCS A
035123,001182: 11,2371 42403 -EL CS ELEACH
035124,001183: 11,2372 27446 ADS ELINCR1
035125,001184: 11,2373 30001 CA L
035126,001185: 11,2374 74752 MASK +ELBIT
035127,001186: 11,2375 10000 CCS A
035128,001187: 11,2376 32403 +EL CA ELEACH
035129,001188: 11,2377 27446 ADS ELINCR1
035130,001189: 11,2400 12342 TCF RESETRPT
035131,001190:
035132,001191: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035133,001192:
035134,001193: 11,2401 4752 +ELBIT = BIT2 # -PITCH
035135,001194: 11,2401 4753 -ELBIT = BIT1 # +PITCH
035136,001195: 11,2401 4747 +AZBIT = BIT5
035137,001196: 11,2401 4746 -AZBIT = BIT6
035138,001197:
035139,001198: 11,2401 00063 ALL4BITS OCT 00063
035140,001199: 11,2402 01074 AZEACH DEC .03491 # 2 DEGREES
035141,001200: 11,2403 00217 ELEACH DEC .00873 # 1/2 DEGREE
035142,001201:
035143,001202: # ****************************************************************************************************************
035144,001203: # R.O.D. TRAP
035145,001204: # ************************************************************************
035146,001205:
035147,001206: 23,2000 SETLOC RODTRAP
|
|
Page 817
|
035149,001208: 23,2000 BANK
035150,001209: 23,2455 COUNT* $$/F2DPS # ****************************************
035151,001210:
035152,001211: 23,2455 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035153,001212: 23,2456 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035154,001213: 23,2457 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035155,001214: 23,2460 64753 AD ONE
035156,001215: 23,2461 27746 ADS RODCOUNT
035157,001216: 23,2462 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035158,001217:
035159,001218: 31,3512 BANK 31
035160,001219: 31,2000 SETLOC F2DPS*31
035161,001220: 31,2000 BANK
035162,001221:
035163,001222: 31,3512 COUNT* $$/F2DPS
035164,001223:
035165,001224: # ****************************************************************************************************************
035166,001225: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035167,001226: # ****************************************************************************************************************
035168,001227:
035169,001228: # N N-1
035170,001229: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035171,001230: # N N-1 1 0
035172,001231: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035173,001232: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035174,001233: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035175,001234: # MPAC DP X INITIAL GUESS FOR ROOT
035176,001235: # LOC-2N DP A(0)
035177,001236: # ...
035178,001237: # LOC DP A(N)
035179,001238: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035180,001239:
035181,001240: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035182,001241: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035183,001242: # OUTPUTS ARE NOT TO BE TRUSTED.
035184,001243:
035185,001244: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035186,001245: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035187,001246: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035188,001247: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035189,001248: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035190,001249: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035191,001250: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035192,001251: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
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Page 818
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035194,001253: # PRECLUDE EVENTUAL CONVERGENCE.
035195,001254: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035196,001255: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035197,001256: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035198,001257:
035199,001258: # STORE ENTERING DATA, INITLIZE ERASABLES
035200,001259: 31,3512 00006 ROOTPSRS EXTEND
035201,001260: 31,3513 22132 QXCH RETROOT # RETURN ADRES
035202,001261: 31,3514 54117 TS PWRPTR # PWR TABL POINTER
035203,001262: 31,3515 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035204,001263: 31,3516 33635 CA DERTABLL
035205,001264: 31,3517 54141 TS DERPTR # DER TABL POINTER
035206,001265: 31,3520 54161 TS MPAC +5 # DER TABL ADRES
035207,001266: 31,3521 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035208,001267: 31,3522 54162 TS MPAC +6 # N-2
035209,001268: 31,3523 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035210,001269: 31,3524 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035211,001270:
035212,001271: # COMPUTE CRITERION TO STOP ITERATING
035213,001272: 31,3525 00006 EXTEND
035214,001273: 31,3526 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035215,001274: 31,3527 52127 DXCH ROOTPS # AND IN ROOTPS
035216,001275: 31,3530 50157 INDEX MPAC +3 # PWR TABL ADRES
035217,001276: 31,3531 30005 CA 5 # PRECROOT TO A
035218,001277: 31,3532 07312 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035219,001278: 31,3533 04713 TC USPRCADR
035220,001279: 31,3534 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035221,001280: 31,3535 52155 DXCH MPAC
035222,001281: 31,3536 52125 DXCH DXCRIT # CRITERION
035223,001282:
035224,001283: # SET UP DER COF TABL
035225,001284: 31,3537 00006 EXTEND
035226,001285: 31,3540 50117 INDEX PWRPTR
035227,001286: 31,3541 30004 DCA 3
035228,001287: 31,3542 52155 DXCH MPAC # A(N) TO MPAC
035229,001288:
035230,001289: 31,3543 30160 CA MPAC +4 # N-1 TO A
035231,001290:
035232,001291: 31,3544 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035233,001292: 31,3545 64753 AD ONE
035234,001293: 31,3546 07321 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035235,001294: 31,3547 00006 EXTEND
035236,001295: 31,3550 50117 INDEX PWRPTR
035237,001296: 31,3551 30002 DCA 1
035238,001297: 31,3552 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
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Page 819
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035240,001299: 31,3553 50141 INDEX DERPTR
035241,001300: 31,3554 52004 DXCH 3 # DERCOF TO DER TABL
035242,001301: 31,3555 44752 CS TWO
035243,001302: 31,3556 26117 ADS PWRPTR # DECREMENT PWR POINTER
035244,001303: 31,3557 44752 CS TWO
035245,001304: 31,3560 26141 ADS DERPTR # DECREMENT DER POINTER
035246,001305: 31,3561 10140 CCS PWRCNT
035247,001306: 31,3562 13544 TCF DERCLOOP
035248,001307:
035249,001308: # CONVERGE ON ROOT
035250,001309: 31,3563 00006 ROOTLOOP EXTEND
035251,001310: 31,3564 30127 DCA ROOTPS # FETCH CURRENT ROOT
035252,001311: 31,3565 52155 DXCH MPAC # LEAVE IN MPAC
035253,001312: 31,3566 00006 EXTEND
035254,001313: 31,3567 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
035255,001314: 31,3570 07220 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
035256,001315:
035257,001316: 31,3571 00006 EXTEND
035258,001317: 31,3572 30127 DCA ROOTPS
035259,001318: 31,3573 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
035260,001319: 31,3574 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
035261,001320: 31,3575 00006 EXTEND
035262,001321: 31,3576 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
035263,001322: 31,3577 07220 TC POWRSERS # YIELDS RESIDUAL IN MPAC
035264,001323:
035265,001324: 31,3600 04713 TC USPRCADR
035266,001325: 31,3601 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
035267,001326:
035268,001327: 31,3602 00006 EXTEND
035269,001328: 31,3603 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
035270,001329: 31,3604 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
035271,001330:
035272,001331: 31,3605 04713 TC USPRCADR
035273,001332: 31,3606 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
035274,001333: 31,3607 00006 EXTEND
035275,001334: 31,3610 40125 DCS DXCRIT
035276,001335: 31,3611 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
035277,001336:
035278,001337: 31,3612 30163 CA MODE
035279,001338: 31,3613 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
035280,001339: 31,3614 10000 CCS A
035281,001340: 31,3615 00132 BADROOT TC RETROOT
035282,001341:
035283,001342: 31,3616 24163 INCR MODE # INCREMENT ITERATION COUNTER
035284,001343: 31,3617 10154 CCS MPAC # TEST HI ORDER DX
035285,001344: 31,3620 13563 TCF ROOTLOOP
035286,001345: 31,3621 13623 TCF TESTLODX
035287,001346: 31,3622 13627 TCF ROOTSTOR
035288,001347: 31,3623 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
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Page 820
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035290,001349: 31,3624 13563 TCF ROOTLOOP
035291,001350: 31,3625 13627 TCF ROOTSTOR
035292,001351: 31,3626 13627 TCF ROOTSTOR
035293,001352: 31,3627 52127 ROOTSTOR DXCH ROOTPS
035294,001353: 31,3630 52155 DXCH MPAC
035295,001354: 31,3631 30163 CA MODE
035296,001355: 31,3632 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
035297,001356: 31,3633 50132 INDEX RETROOT
035298,001357: 31,3634 10002 TCF 2
035299,001358:
035300,001359: 31,3635 00147 DERTABLL ADRES DERCOFN -3
035301,001360:
035302,001361: # ****************************************************************************************************************
035303,001362: # TRASHY LITTLE SUBROUTINES
035304,001363: # ****************************************************************************************************************
035305,001364:
035306,001365: 31,3636 51346 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
035307,001366: 31,3637 42413 CS TARGTDEX
035308,001367: 31,3640 50120 INDEX FIXLOC
035309,001368: 31,3641 54046 TS X1
035310,001369: 31,3642 16042 TCF INTPRET
035311,001370:
035312,001371: 31,3643 31642 TDISPSET CA TTF/8
035313,001372: 31,3644 00006 EXTEND
035314,001373: 31,3645 74750 MP TSCALINV
035315,001374: 31,3646 53476 DXCH TTFDISP
035316,001375:
035317,001376: 31,3647 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
035318,001377: 31,3650 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
035319,001378: 31,3651 E5,1470 EBANK= TCGFAPPR
035320,001379: 31,3651 31470 CA TCGFAPPR
035321,001380: 31,3652 24006 INCR BBANK
035322,001381: 31,3653 24006 INCR BBANK
035323,001382: 31,3654 E7,1642 EBANK= TTF/8
035324,001383: 31,3654 61642 AD TTF/8
035325,001384: 31,3655 00006 EXTEND
035326,001385: 31,3656 73711 MP TREDESCL
035327,001386: 31,3657 63706 AD -DEC103
035328,001387: 31,3660 64735 AD NEGMAX
035329,001388: 31,3661 54001 TS L
035330,001389: 31,3662 40001 CS L
035331,001390: 31,3663 60001 AD L
035332,001391: 31,3664 63710 AD +DEC99
035333,001392: 31,3665 64733 AD POSMAX
035334,001393: 31,3666 55666 TS TREDES
035335,001394: 31,3667 41666 CS TREDES
035336,001395: 31,3670 27666 ADS TREDES
035337,001396: 31,3671 00002 TC Q
035338,001397:
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|
Page 821
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035340,001399: 31,3672 05642 1406POO TC POODOO
035341,001400: 31,3673 21406 OCT 21406
035342,001401: 31,3674 05567 1406ALM TC ALARM
035343,001402: 31,3675 01406 OCT 01406
035344,001403: 31,3676 13411 TCF RATESTOP
035345,001404:
035346,001405: # ****************************************************************************************************************
035347,001406: # SPECIALIZED "PHASCHNG" SUBROUTINE
035348,001407: # ****************************************************************************************************************
035349,001408:
035350,001409: 31,3677 E3,1440 EBANK= PHSNAME2
035351,001410: 31,3677 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
035352,001411: 31,3700 56003 XCH EBANK
035353,001412: 31,3701 52002 DXCH L
035354,001413: 31,3702 55442 TS PHSNAME3
035355,001414: 31,3703 22003 LXCH EBANK
035356,001415: 31,3704 E7,1621 EBANK= E2DPS
035357,001416: 31,3704 00000 TC A
035358,001417:
035359,001418: # ****************************************************************************************************************
035360,001419: # PARAMETER TABLE INDIRECT ADDRESSES
035361,001420: # ****************************************************************************************************************
035362,001421:
035363,001422: 31,3705 E5,1402 RDG = RBRFG
035364,001423: 31,3705 E5,1410 VDG = VBRFG
035365,001424: 31,3705 E5,1416 ADG = ABRFG
035366,001425: 31,3705 E5,1424 VDG2TTF = VBRFG*
035367,001426: 31,3705 E5,1426 ADG2TTF = ABRFG*
035368,001427: 31,3705 E5,1430 JDG2TTF = JBRFG*
035369,001428:
035370,001429: # ****************************************************************************************************************
035371,001430: # LUNAR LANDING CONSTANTS
035372,001431: # ***************************************************************************************************************
035373,001432:
035374,001433: 31,3705 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
035375,001434: 31,3706 4740 TTFSCALE = BIT12
035376,001435: 31,3706 4750 TSCALINV = BIT4
035377,001436: 31,3706 77630 -DEC103 DEC -103 B-14
035378,001437: 31,3707 00155 P64DB OCT 00155 # 0.3 DEGREES SCALED AT CDU SCALING
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|
Page 822
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035380,001439: 31,3710 00143 +DEC99 DEC +99 B-14
035381,001440: 31,3711 75340 TREDESCL DEC -.08
035382,001441: 31,3712 00264 180DEGS DEC +180 B-14
035383,001442: 31,3713 00056 1/2DEG DEC +.00278
035384,001443: 31,3714 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
035385,001444: 31,3715 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
035386,001445: 31,3716 01477 V06N63 VN 0663 # P63
035387,001446: 31,3717 01500 V06N64 VN 0664 # P64
035388,001447: 31,3720 01474 V06N60 VN 0660 # P65, P66, P67
035389,001448:
035390,001449: 22,3647 BANK 22
035391,001450: 22,2000 SETLOC LANDCNST
035392,001451: 22,2000 BANK
035393,001452: 22,3647 COUNT* $$/F2DPS
035394,001453:
035395,001454: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
035396,001455: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
035397,001456: 22,3653 14000 00000 3/8DP 2DEC .375
035398,001457: 22,3655 30000 00000 3/4DP 2DEC .750
035399,001458: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
035400,001459:
035401,001460: # ****************************************************************************************************************
035402,001461: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc