Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
034881,000002: ## Copyright: Public domain.
034882,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
034883,000004: ## Purpose: A section of Luminary revision 210.
034884,000005: ## It is part of the source code for the Lunar Module's (LM)
034885,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
034886,000007: ## This file is intended to be a faithful transcription, except
034887,000008: ## that the code format has been changed to conform to the
034888,000009: ## requirements of the yaYUL assembler rather than the
034889,000010: ## original YUL assembler.
034890,000011: ## Reference: pp. 794-830
034891,000012: ## Assembler: yaYUL
034892,000013: ## Contact: Ron Burkey <info@sandroid.org>.
034893,000014: ## Website: www.ibiblio.org/apollo/index.html
034894,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
034895,000016: ## 2016-12-02 HG Transcribed
034896,000017: ## 2016-12-07 HG Fix P00 -> POO
034897,000018: ## 2016-12-10 HG add missing CCS MPAC
034898,000019: ## EXTEND
034899,000020: ## fix opcode CAF -> TC
034900,000021: ## 2016-12-25 RSB Comment-text proofed using ProoferComments
034901,000022: ## and corrected errors found.
034902,000023: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
034903,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
034904,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
034905,000026:
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Page 794 |
034907,000028: 31,2366 E7,1621 EBANK= E2DPS
034908,000029:
034909,000030: 31,2366 COUNT* $$/F2DPS
034910,000031:
034911,000032: # ===================================================================================================================
034912,000033: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034913,000034: # ===================================================================================================================
034914,000035:
034915,000036: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034916,000037:
034917,000038: # WCHPHASE = -1 ---> IGNALG
034918,000039: # WCHPHASE = 0 ---> BRAKQUAD
034919,000040: # WCHPHASE = 1 ---> APPRQUAD
034920,000041: # WCHPHASE = 2 ---> VERTICAL
034921,000042:
034922,000043: # ====================================================================================================================
034923,000044:
034924,000045: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034925,000046:
034926,000047: 31,2366 12562 TCF TTFINCR # IGNALG
034927,000048: 31,2367 12562 NEWPHASE TCF TTFINCR # BRAKQUAD
034928,000049: 31,2370 12550 TCF STARTP64 # APPRQUAD
034929,000050: 31,2371 12452 TCF STARTP66 # VERTICAL
034930,000051:
034931,000052:
034932,000053: # PRE-GUIDANCE COMPUTATIONS:
034933,000054:
034934,000055: 31,2372 12742 TCF CALCRGVG # IGNALG
034935,000056: 31,2373 12752 PREGUIDE TCF RGVGCALC # BRAKQUAD
034936,000057: 31,2374 12643 TCF REDESIG # APPRQUAD
034937,000058:
034938,000059:
034939,000060: # GUIDANCE EQUATIONS:
034940,000061:
034941,000062: 31,2375 13015 TCF TTF/8CL # IGNALG
034942,000063: 31,2376 13015 WHATGUID TCF TTF/8CL # BRAKQUAD **** HOBSON'S CHOICE? ****
034943,000064: 31,2377 13015 TCF TTF/8CL # APPRQUAD
034944,000065:
034945,000066:
034946,000067: # POST GUIDANCE EQUATION COMPUTATIONS:
034947,000068:
034948,000069: 31,2400 13222 TCF CGCALC # IGNALG
034949,000070: 31,2401 13207 AFTRGUID TCF EXTLOGIC # BRAKQUAD
034950,000071: 31,2402 13207 TCF EXTLOGIC # APPRQUAD
034951,000072:
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Page 795 |
034953,000074: # WINDOW VECTOR COMPUTATIONS:
034954,000075:
034955,000076: 31,2403 13266 TCF EXGSUB # IGNALG
034956,000077: 31,2404 13307 WHATEXIT TCF EXBRAK # BRAKQUAD
034957,000078: 31,2405 13315 TCF EXNORM # APPRQUAD
034958,000079:
034959,000080:
034960,000081: # DISPLAY ROUTINES:
034961,000082:
034962,000083: 31,2406 13426 WHATDISP TCF P63DISPS # BRAKQUAD
034963,000084: 31,2407 13444 TCF P64DISPS # APPRQUAD
034964,000085: 31,2410 13502 TCF VERTDISP # VERTICAL
034965,000086:
034966,000087:
034967,000088: # ALARM ROUTINE FOR TTF COMPUTATION:
034968,000089:
034969,000090: 31,2411 13731 TCF 1406POO # IGNALG
034970,000091: 31,2412 13733 WHATALM TCF 1406ALM # BRAKQUAD
034971,000092: 31,2413 13733 TCF 1406ALM # APPRQUAD
034972,000093:
034973,000094:
034974,000095: # INDICES FOR REFERENCING TARGET PARAMETERS:
034975,000096:
034976,000097: 31,2414 00000 OCT 0 # IGNALG
034977,000098: 31,2415 00000 TARGTDEX OCT 0 # BRAKQUAD
034978,000099: 31,2416 00002 OCT 2 # APPRQUAD
034979,000100:
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Page 796 |
034981,000102:
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The suffixed ':' at the end of the third line below is '=' in the original printout. It is a workaround for our proof-reading system. |
034984,000105: # ================================================================================================================
034985,000106: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034986,000107: # ===============================================================================================================:
034987,000108:
034988,000109: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034989,000110:
034990,000111: 31,2417 77776 ?GUIDSUB EXIT
034991,000112: 31,2420 34743 CAF TWO # N = 3
034992,000113: 31,2421 55647 TS NGUIDSUB
034993,000114: 31,2422 12530 TCF GUILDRET
034994,000115:
034995,000116: 31,2423 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034996,000117: 31,2424 12742 TCF CALCRGVG
034997,000118:
034998,000119: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034999,000120:
035000,000121: 31,2425 05355 LUNLAND TC PHASCHNG
035001,000122: 31,2426 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
035002,000123: 31,2427 30101 CA FLAGWRD5 # HAS THROTTLE-UP COME YET?
035003,000124: 31,2430 74735 MASK ZOOMBIT
035004,000125: 31,2431 00006 EXTEND
035005,000126: 31,2432 13420 BZF DISPEXIT +3 # NO: DO DISPLAYS ONLY
035006,000127:
035007,000128: 31,2433 05355 TC PHASCHNG # YES: DO GUIDANCE
035008,000129: 31,2434 05023 OCT 05023
035009,000130: 31,2435 20000 OCT 20000
035010,000131:
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Page 797 |
035012,000133: # ================================================================================================================
035013,000134: # GUILDENSTERN (AUTO-MODES MONITOR - R13)
035014,000135: # SELECT P66 WHEN THE ROD SWITCH HAS BEEN MANIPULATED IN THE ATTITUDE HOLD MODE
035015,000136: # ================================================================================================================
035016,000137:
035017,000138: 31,2436 COUNT* $$/R13
035018,000139:
035019,000140: 31,2436 41010 GUILDEN CS MODREG # ARE WE ALREADY IN P66?
035020,000141: 31,2437 62454 AD DEC66
035021,000142: 31,2440 00006 EXTEND
035022,000143: 31,2441 12523 BZF RE-IN66? # Y: GO SEE IF WE SHOULD RE-INITIALIZE P66
035023,000144:
035024,000145: 31,2442 34730 CAF BIT13 # N: ATTITUDE HOLD?
035025,000146: 31,2443 00006 EXTEND
035026,000147: 31,2444 02031 RAND CHAN31
035027,000148: 31,2445 10000 CCS A
035028,000149: 31,2446 12530 TCF GUILDRET # N: CONTINUE P63 OR P64
035029,000150:
035030,000151: 31,2447 31746 CA RODCOUNT # Y: ANY ROD COMMANDS?
035031,000152: 31,2450 00006 EXTEND
035032,000153: 31,2451 12530 BZF GUILDRET # N: CONTINUE P63 OR P64
035033,000154:
035034,000155: # INITIALIZE P66
035035,000156:
035036,000157: 31,2452 03751 STARTP66 TC FASTCHNG # Y: START P66
035037,000158: 31,2453 05313 TC NEWMODEX
035038,000159: 31,2454 00102 DEC66 DEC 66 B-14
035039,000160:
035040,000161: 31,2455 00006 EXTEND
035041,000162: 31,2456 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE TO THE
035042,000163: 31,2457 53645 DXCH VDGVERT # CURRENTLY DISPLAYED ALTITUDE RATE
035043,000164:
035044,000165: 31,2460 05506 TC UPFLAG # SET FLAG TO CONTINUE P66 HORIZONTAL
035045,000166: 31,2461 00016 ADRES P66PROFL # UNTIL 'PROCEED' AFTER TOUCHDOWN
035046,000167:
035047,000168: 31,2462 41354 CS TOOFEW # INITIALIZE CNTTHROT TO -TOOFEW
035048,000169: 31,2463 55623 TS CNTTHROT
035049,000170:
035050,000171: # P66 RE-INITIALIZATION WHEN RODFLAG RESET - P66 INITIALIZATION CONTINUED
035051,000172:
035052,000173: 31,2464 06060 RE-IN66 TC INTPRET
035053,000174: 31,2465 47375 VLOAD VXV # COMPUTE HORIZONTAL VELOCITY COMMAND
035054,000175: 31,2466 02316 WM # MOON'S ANGULAR RATE IN 2(-17)RAD/CS
035055,000176: 31,2467 03521 R # LM POSITION IN 2(24)M
035056,000177: 31,2470 03434 STORE VHZC
035057,000178: 31,2471 57551 TLOAD DCOMP
035058,000179: 31,2472 01254 TEMX
035059,000180: 31,2473 27764 STOVL OLDPIPAX # NOTE: VECTOR INIT OF SP OLDPIPA'S OVER-
035060,000181: 31,2474 06505 ZEROVECS # LAPS ADJACENT DELVROD. THUS INIT
035061,000182: 31,2475 17767 STODL DELVROD # DELVROD AFTER OLDPIPA'S
035062,000183:
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Page 798 |
035064,000185: 31,2476 02535 RODSCALE
035065,000186: 31,2477 17757 STODL RODSCAL1
035066,000187:
035067,000188: 31,2500 01234 PIPTIME # SHOW THAT LAST P66 WAS, IN EFFECT,
035068,000189: 31,2501 03760 STORE LASTTPIP # PERFORMED AT PIPTIME
035069,000190:
035070,000191: 31,2502 77776 EXIT
035071,000192:
035072,000193: 31,2503 04607 TC BANKCALL # REFER CURRENT PIPAX READING TO THE CM:
035073,000194: 31,2504 65425 FCADR DEIMUBOB # ALAS, OMEGAQ AT PIPTIME NOT AVAILABLE
035074,000195:
035075,000196: 31,2505 34746 CAF ZERO
035076,000197: 31,2506 55620 TS FCOLD
035077,000198: 31,2507 55610 TS FWEIGHT
035078,000199: 31,2510 55611 TS FWEIGHT +1
035079,000200:
035080,000201: 31,2511 34743 CAF TWO # WCHPHOLD=2 --> VERTICAL PHASE
035081,000202: 31,2512 55621 TS WCHPHOLD
035082,000203:
035083,000204: 31,2513 55346 TS WCHPHASE # ***DOES ANYONE SEE ANY NEED FOR THIS?***
035084,000205:
035085,000206: 31,2514 05520 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
035086,000207: 31,2515 00311 ADRES XOVINFLG # SHOULD DO INTERPRETIVELY TO SAVE A WORD
035087,000208:
035088,000209: 31,2516 05506 TC UPFLAG # TERMINATE TERRAIN MODEL
035089,000210: 31,2517 00023 ADRES NOTERFLG # SHOULD DO INTERPRETIVELY TO SAVE A WORD
035090,000211:
035091,000212: 31,2520 05506 TC UPFLAG # P66 INITIALIZATION COMPLETE
035092,000213: 31,2521 00022 ADRES RODFLAG
035093,000214:
035094,000215: 31,2522 13517 TCF P66
035095,000216:
035096,000217: 31,2523 30075 RE-IN66? CA FLAGWRD1 # RE-INITIALIZE P66?
035097,000218: 31,2524 74731 MASK RODFLBIT
035098,000219: 31,2525 00006 EXTEND
035099,000220: 31,2526 12464 BZF RE-IN66 # Y
035100,000221: # N
035101,000222: 31,2527 13517 TCF P66
035102,000223:
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Page 799 |
035104,000225: # ===============================================================================================================
035105,000226: # INITIALIZATION FOR THIS PASS
035106,000227: # ===============================================================================================================
035107,000228:
035108,000229: 31,2530 COUNT* $$/F2DPS
035109,000230:
035110,000231: 31,2530 34746 GUILDRET CAF ZERO
035111,000232: 31,2531 55746 TS RODCOUNT
035112,000233:
035113,000234: 31,2532 00006 EXTEND
035114,000235: 31,2533 31625 DCA TPIP
035115,000236: 31,2534 53574 DXCH TPIPOLD
035116,000237:
035117,000238: 31,2535 03751 TC FASTCHNG
035118,000239:
035119,000240: 31,2536 00006 EXTEND
035120,000241: 31,2537 31561 DCA PIPTIME1
035121,000242: 31,2540 53625 DXCH TPIP
035122,000243:
035123,000244: 31,2541 00006 EXTEND
035124,000245: 31,2542 31643 DCA TTF/8
035125,000246: 31,2543 53553 DXCH TTF/8TMP
035126,000247:
035127,000248: 31,2544 11623 CCS FLPASS0
035128,000249: 31,2545 12562 TCF TTFINCR
035129,000250:
035130,000251: 31,2546 51346 BRSPOT1 INDEX WCHPHASE
035131,000252: 31,2547 12367 TCF NEWPHASE
035132,000253:
035133,000254: # ****************************************************************************************************************
035134,000255: # ROUTINES TO START NEW PHASES
035135,000256: # ****************************************************************************************************************
035136,000257:
035137,000258: 31,2550 05313 STARTP64 TC NEWMODEX
035138,000259: 31,2551 00100 DEC 64 B-14
035139,000260: 31,2552 31425 CA DELTTFAP # AUGMENT TTF/8
035140,000261: 31,2553 27552 ADS TTF/8TMP
035141,000262: 31,2554 33761 CAF P64DB
035142,000263: 31,2555 55343 TS DB
035143,000264: 31,2556 05520 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
035144,000265: 31,2557 00143 ADRES REDFLAG
035145,000266:
035146,000267: 31,2560 31315 CA LRWH1 # PUT P64 LR WEIGHTING FUNCTION INTO
035147,000268: 31,2561 55421 TS LRWH # LRWH SO LR UPDATES ARE DONE PROPERLY
035148,000269: # (CONTINUE TO TTFINCR)
035149,000270:
035150,000271: # ****************************************************************************************************************
035151,000272: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
035152,000273: # ****************************************************************************************************************
035153,000274:
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Page 800 |
035155,000276:
035156,000277: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
035157,000278:
035158,000279: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
035159,000280:
035160,000281: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
035161,000282:
035162,000283: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
035163,000284:
035164,000285: # - - - -
035165,000286: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
035166,000287:
035167,000288: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
035168,000289:
035169,000290: # - -
035170,000291: # RANGEDSP = ABVAL(LAND - R)
035171,000292:
035172,000293: 31,2562 06060 TTFINCR TC INTPRET
035173,000294: 31,2563 45345 DLOAD DSU
035174,000295: 31,2564 03625 TPIP
035175,000296: 31,2565 03574 TPIPOLD
035176,000297: 31,2566 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
035177,000298: 31,2567 21214 11D
035178,000299: 31,2570 47361 VXSC VXV
035179,000300: 31,2571 03635 LAND
035180,000301: 31,2572 02316 WM
035181,000302: 31,2573 47045 BVSU RTB
035182,000303: 31,2574 03635 LAND
035183,000304: 31,2575 21724 NORMUNIT
035184,000305: 31,2576 76561 VXSC VSL1
035185,000306: 31,2577 02324 /LAND/
035186,000307: 31,2600 17545 STODL LANDTEMP
035187,000308: 31,2601 77776 EXIT
035188,000309:
035189,000310: 31,2602 52155 DXCH MPAC
035190,000311: 31,2603 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
035191,000312:
035192,000313: 31,2604 03751 TC FASTCHNG
035193,000314:
035194,000315: 31,2605 00006 EXTEND
035195,000316: 31,2606 31553 DCA TTF/8TMP
035196,000317: 31,2607 53643 DXCH TTF/8
035197,000318:
035198,000319: 31,2610 03702 TC TDISPSET
035199,000320:
035200,000321: 31,2611 37737 CAF PRIO31 # TEMPORARILY OVER-PRIO CHARIN
035201,000322: 31,2612 05137 TC PRIOCHNG
035202,000323:
035203,000324: 31,2613 06060 TC INTPRET
035204,000325: 31,2614 53375 VLOAD VAD # ADD IN CORRECTION FROM NOUN 69
035205,000326: 31,2615 03545 LANDTEMP
035206,000327:
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Page 801 |
035208,000329: 31,2616 02632 DLAND
035209,000330: 31,2617 03635 STORE LAND
035210,000331: 31,2620 77646 ABVAL # RECOMPUTE /LAND/
035211,000332: 31,2621 02324 STORE /LAND/
035212,000333: 31,2622 77776 EXIT
035213,000334:
035214,000335: 31,2623 03751 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
035215,000336:
035216,000337: 31,2624 35005 CAF EBANK5
035217,000338: 31,2625 E5,1631 EBANK= DLAND
035218,000339: 31,2625 54003 TS EBANK
035219,000340: 31,2626 34746 CAF ZERO # ZERO N 69 REGISTERS
035220,000341: 31,2627 55631 TS DLAND
035221,000342: 31,2630 55632 TS DLAND +1
035222,000343: 31,2631 55633 TS DLAND +2
035223,000344: 31,2632 55634 TS DLAND +3
035224,000345: 31,2633 55635 TS DLAND +4
035225,000346: 31,2634 55636 TS DLAND +5
035226,000347: 31,2635 35007 CAF EBANK7
035227,000348: 31,2636 E7,1666 EBANK= TREDES
035228,000349: 31,2636 54003 TS EBANK
035229,000350:
035230,000351: 31,2637 34727 CAF PRIO20
035231,000352: 31,2640 05137 TC PRIOCHNG
035232,000353:
035233,000354: 31,2641 51346 BRSPOT2 INDEX WCHPHASE
035234,000355: 31,2642 12373 TCF PREGUIDE
035235,000356:
035236,000357: # ****************************************************************************************************************
035237,000358: # LANDING SITE PERTURBATION EQUATIONS
035238,000359: # ****************************************************************************************************************
035239,000360:
035240,000361: 31,2643 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
035241,000362: 31,2644 74737 MASK REDFLBIT
035242,000363: 31,2645 00006 EXTEND
035243,000364: 31,2646 12752 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
035244,000365:
035245,000366: 31,2647 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
035246,000367: 31,2650 00006 EXTEND
035247,000368: 31,2651 12752 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
035248,000369:
035249,000370: 31,2652 00004 INHINT
035250,000371: 31,2653 31645 CA ELINCR1
035251,000372: 31,2654 55554 TS ELINCR
035252,000373: 31,2655 31644 CA AZINCR1
035253,000374: 31,2656 55556 TS AZINCR
035254,000375: 31,2657 03751 TC FASTCHNG
035255,000376:
035256,000377: 31,2660 34746 CA ZERO
035257,000378: 31,2661 55645 TS ELINCR1
035258,000379:
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Page 802 |
035260,000381: 31,2662 55644 TS AZINCR1
035261,000382: 31,2663 55555 TS ELINCR +1
035262,000383: 31,2664 55557 TS AZINCR +1
035263,000384:
035264,000385: 31,2665 30120 CA FIXLOC # SET PD TO 0
035265,000386: 31,2666 54166 TS PUSHLOC
035266,000387:
035267,000388: 31,2667 06060 TC INTPRET
035268,000389: 31,2670 52375 VLOAD VSU
035269,000390: 31,2671 03635 LAND
035270,000391: 31,2672 03521 R # - -
035271,000392: 31,2673 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
035272,000393: 31,2674 21724 NORMUNIT
035273,000394: 31,2675 76435 VXV VSL1
035274,000395: 31,2676 02145 YNBPIP # - - -
035275,000396: 31,2677 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
035276,000397: 31,2700 03555 ELINCR
035277,000398: 31,2701 03557 AZINCR
035278,000399: 31,2702 52361 VXSC VSU
035279,000400: 31,2703 02145 YNBPIP
035280,000401: 31,2704 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
035281,000402:
035282,000403: 31,2705 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
035283,000404: 31,2706 00001 0 # TOO CLOSE TO THE HORIZON
035284,000405: 31,2707 05662 DEPRCRIT
035285,000406: 31,2710 71240 BMN DLOAD
035286,000407: 31,2711 62714 REDES1
035287,000408: 31,2712 05662 DEPRCRIT
035288,000409: 31,2713 00001 STORE 0
035289,000410: 31,2714 45345 REDES1 DLOAD DSU
035290,000411: 31,2715 03635 LAND
035291,000412: 31,2716 03521 R
035292,000413: 31,2717 74271 DDV VXSC
035293,000414: 31,2720 00001 0
035294,000415: 31,2721 53455 VAD UNIT
035295,000416: 31,2722 03521 R
035296,000417: 31,2723 76561 VXSC VSL1
035297,000418: 31,2724 02324 /LAND/
035298,000419: 31,2725 03545 STORE LANDTEMP
035299,000420: 31,2726 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
035300,000421:
035301,000422: 31,2727 03751 TC FASTCHNG
035302,000423:
035303,000424: 31,2730 00006 EXTEND
035304,000425: 31,2731 31545 DCA LANDTEMP
035305,000426: 31,2732 53635 DXCH LAND
035306,000427: 31,2733 00006 EXTEND
035307,000428: 31,2734 31547 DCA LANDTEMP +2
035308,000429: 31,2735 53637 DXCH LAND +2
035309,000430: 31,2736 00006 EXTEND
035310,000431:
![]() |
Page 803 |
035312,000433: 31,2737 31551 DCA LANDTEMP +4
035313,000434: 31,2740 53641 DXCH LAND +4
035314,000435:
035315,000436: 31,2741 12752 TCF RGVGCALC
035316,000437:
035317,000438: # ****************************************************************************************************************
035318,000439: # COMPUTE STATE IN GUIDANCE COORDINATES
035319,000440: # ****************************************************************************************************************
035320,000441:
035321,000442: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
035322,000443:
035323,000444: # VELOCITY RELATIVE TO THE SURFACE:
035324,000445:
035325,000446: # - - - -
035326,000447: # ANGTERM = V + R * WM
035327,000448:
035328,000449: # STATE IN GUIDANCE COORDINATES:
035329,000450:
035330,000451: # - * - -
035331,000452: # RGU = CG (R - LAND)
035332,000453:
035333,000454: # - * - - -
035334,000455: # VGU = CG (V - WM * R)
035335,000456:
035336,000457: # DEPRESSION ANGLE FOR DISPLAY:
035337,000458:
035338,000459: # - - -
035339,000460: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
035340,000461:
035341,000462: 31,2742 06060 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
035342,000463: 31,2743 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
035343,000464: 31,2744 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
035344,000465: 31,2745 01732 REFSMMAT
035345,000466: 31,2746 53362 VSR1 VAD
035346,000467: 31,2747 03252 UNFC/2
035347,000468: 31,2750 03527 STORE V
035348,000469: 31,2751 77776 EXIT
035349,000470:
035350,000471: 31,2752 06060 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
035351,000472: 31,2753 47375 VLOAD VXV
035352,000473: 31,2754 03521 R
035353,000474: 31,2755 02316 WM
035354,000475: 31,2756 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
035355,000476: 31,2757 03527 V
035356,000477: 31,2760 02222 STORE ANGTERM
035357,000478: 31,2761 77721 MXV
035358,000479: 31,2762 02572 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
035359,000480: 31,2763 27627 STOVL VGU
035360,000481: 31,2764 03521 R # - -
035361,000482: 31,2765 41451 VSU PUSH # PUSH DOWN R - LAND
035362,000483:
![]() |
Page 804 |
035364,000485: 31,2766 03635 LAND
035365,000486: 31,2767 76521 MXV VSL1
035366,000487: 31,2770 02572 CG
035367,000488: 31,2771 16624 STODL RGU
035368,000489: 31,2772 00162 MPAC +5
035369,000490: 31,2773 26614 STOVL RANGEDSP # SM Z-AXIS RANGE FOR DISPLAY IN N68
035370,000491: 31,2774 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
035371,000492: 31,2775 21724 NORMUNIT
035372,000493: 31,2776 02137 XNBPIP
035373,000494: 31,2777 77776 EXIT
035374,000495:
035375,000496: 31,3000 30120 CA FIXLOC # RESET PUSH DOWN POINTER
035376,000497: 31,3001 54166 TS PUSHLOC
035377,000498:
035378,000499: 31,3002 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
035379,000500: 31,3003 60000 DOUBLE
035380,000501: 31,3004 04607 TC BANKCALL
035381,000502: 31,3005 61656 CADR SPARCSIN -1
035382,000503: 31,3006 63765 AD 1/2DEG
035383,000504: 31,3007 61353 AD ELBIAS # BIAS LPD ANGLE FOR WINDOW BENDING
035384,000505: 31,3010 00006 EXTEND
035385,000506: 31,3011 73764 MP 180DEGS
035386,000507: 31,3012 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
035387,000508:
035388,000509: 31,3013 51346 BRSPOT3 INDEX WCHPHASE
035389,000510: 31,3014 12376 TCF WHATGUID
035390,000511:
035391,000512: # ****************************************************************************************************************
035392,000513: # TTF/8 COMPUTATION
035393,000514: # ****************************************************************************************************************
035394,000515:
035395,000516: 31,3015 31346 TTF/8CL CA WCHPHASE
035396,000517: 31,3016 03675 TC INTPRETX
035397,000518: 31,3017 77743 DLOAD*
035398,000519: 31,3020 02443 JDG2TTF,1
035399,000520: 31,3021 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
035400,000521: 31,3022 02437 ADG2TTF,1 # 2
035401,000522: 31,3023 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
035402,000523: 31,3024 03633 VGU +4 # 2
035403,000524: 31,3025 42605 DMP DAD*
035404,000525: 31,3026 05660 3/4DP
035405,000526: 31,3027 02433 VDG2TTF,1
035406,000527: 31,3030 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
035407,000528: 31,3031 02407 RDG +4,1 # 2 2
035408,000529: 31,3032 41225 DSU DMP
035409,000530: 31,3033 02630 RGU +4
035410,000531: 31,3034 05656 3/8DP
035411,000532: 31,3035 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
035412,000533: 31,3036 77776 EXIT # 2 2
035413,000534:
![]() |
Page 805 |
035415,000536:
035416,000537: 31,3037 34735 CA BIT8
035417,000538: 31,3040 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
035418,000539:
035419,000540: 31,3041 00006 EXTEND
035420,000541: 31,3042 31643 DCA TTF/8
035421,000542: 31,3043 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
035422,000543: 31,3044 34743 CAF TWO # DEGREE - ONE
035423,000544: 31,3045 54001 TS L
035424,000545: 31,3046 33757 CAF TABLTTFL
035425,000546: 31,3047 03545 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
035426,000547: 31,3050 51346 INDEX WCHPHASE
035427,000548: 31,3051 12412 TCF WHATALM
035428,000549:
035429,000550: 31,3052 00006 EXTEND # GOOD RETURN
035430,000551: 31,3053 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
035431,000552: 31,3054 53643 DXCH TTF/8 # CORRECTED TTF/8
035432,000553:
035433,000554: 31,3055 03702 TC TDISPSET
035434,000555:
035435,000556: # (CONTINUE TO QUADGUID)
035436,000557:
035437,000558: # ****************************************************************************************************************
035438,000559: # MAIN GUIDANCE EQUATION
035439,000560: # ****************************************************************************************************************
035440,000561:
035441,000562: # AS PUBLISHED:-
035442,000563:
035443,000564: # - - - -
035444,000565: # - - 6(VDG + VG) 12(RDG - RG)
035445,000566: # ACG = ADG + ----------- + ------------
035446,000567: # TTF (TTF)(TTF)
035447,000568:
035448,000569: # AS HERE PROGRAMMED:-
035449,000570:
035450,000571: # - -
035451,000572: # 3 (1/4(RDG - RG) - - )
035452,000573: # - (------------- + VDG + VG)
035453,000574: # - 4 ( TTF/8 ) -
035454,000575: # ACG = ---------------------------- + ADG
035455,000576: # TTF/8
035456,000577:
035457,000578: 31,3056 41642 QUADGUID CS TTF/8
035458,000579: 31,3057 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
035459,000580: 31,3060 64724 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
035460,000581: 31,3061 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
035461,000582: 31,3062 40001 CS L
035462,000583: 31,3063 60001 AD L
035463,000584: 31,3064 22007 ZL
035464,000585: 31,3065 00006 EXTEND
035465,000586:
![]() |
Page 806 |
035467,000588: 31,3066 11642 DV TTF/8
035468,000589: 31,3067 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
035469,000590: 31,3070 00006 EXTEND
035470,000591: 31,3071 70000 SQUARE
035471,000592: 31,3072 54131 TS BUF +1
035472,000593: 31,3073 60130 AD BUF
035473,000594: 31,3074 56131 XCH BUF +1 # RATIO SQUARED - RATIO
035474,000595: 31,3075 60131 AD BUF +1
035475,000596: 31,3076 54154 TS MPAC # COEFFICIENT FOR VGU TERM
035476,000597: 31,3077 60131 AD BUF +1
035477,000598: 31,3100 50120 INDEX FIXLOC
035478,000599: 31,3101 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
035479,000600: 31,3102 60131 AD BUF +1
035480,000601: 31,3103 50120 INDEX FIXLOC
035481,000602: 31,3104 54034 TS 28D # COEFFICIENT FOR VDG TERM
035482,000603: 31,3105 60130 AD BUF
035483,000604: 31,3106 64724 AD POSMAX
035484,000605: 31,3107 60131 AD BUF +1
035485,000606: 31,3110 60131 AD BUF +1
035486,000607: 31,3111 50120 INDEX FIXLOC
035487,000608: 31,3112 54036 TS 30D # COEFFICIENT FOR ADG TERM
035488,000609:
035489,000610: 31,3113 34746 CAF ZERO
035490,000611: 31,3114 54163 TS MODE
035491,000612:
035492,000613: 31,3115 31346 CA WCHPHASE
035493,000614: 31,3116 03675 TC INTPRETX
035494,000615: 31,3117 65361 VXSC PDDL
035495,000616: 31,3120 03627 VGU
035496,000617: 31,3121 00035 28D
035497,000618: 31,3122 47157 VXSC* RTB
035498,000619: 31,3123 02413 VDG,1
035499,000620: 31,3124 63671 ZEROMID
035500,000621: 31,3125 47113 PDVL* RTB
035501,000622: 31,3126 02403 RDG,1
035502,000623: 31,3127 63671 ZEROMID
035503,000624: 31,3130 70251 VSU V/SC
035504,000625: 31,3131 02624 RGU
035505,000626: 31,3132 03643 TTF/8
035506,000627: 31,3133 74342 VSR2 VXSC
035507,000628: 31,3134 00033 26D
035508,000629: 31,3135 53255 VAD VAD
035509,000630: 31,3136 74341 V/SC VXSC
035510,000631: 31,3137 03643 TTF/8
035511,000632: 31,3140 05660 3/4DP
035512,000633: 31,3141 73725 PDDL VXSC*
035513,000634: 31,3142 00037 30D
035514,000635: 31,3143 02423 ADG,1
035515,000636: 31,3144 53234 RTB VAD
035516,000637: 31,3145 63671 ZEROMID
035517,000638:
![]() |
Page 807 |
035519,000640: 31,3146 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
035520,000641: 31,3147 02572 CG
035521,000642: 31,3150 70315 PDVL V/SC
035522,000643: 31,3151 01236 GDT/2
035523,000644: 31,3152 05654 GSCALE
035524,000645: 31,3153 45445 BVSU STADR
035525,000646: 31,3154 74525 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
035526,000647: 31,3155 77646 ABVAL
035527,000648: 31,3156 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
035528,000649: 31,3157 03252 UNFC/2 # VERTICAL COMPONENT
035529,000650: 31,3160 65316 DSQ PDDL
035530,000651: 31,3161 03254 UNFC/2 +2 # OUT-OF-PLANE
035531,000652: 31,3162 65316 DSQ PDDL
035532,000653: 31,3163 05652 HIGHESTF
035533,000654: 31,3164 63471 DDV DSQ
035534,000655: 31,3165 01244 MASS # 2 2 2
035535,000656: 31,3166 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
035536,000657: 31,3167 71244 BPL DLOAD # 1 0
035537,000658: 31,3170 63172 AFCCALC3
035538,000659: 31,3171 06505 ZEROVECS
035539,000660: 31,3172 43366 AFCCALC3 SQRT DAD
035540,000661: 31,3173 03256 UNFC/2 +4
035541,000662: 31,3174 44244 BPL BDSU
035542,000663: 31,3175 63200 AFCCLEND
035543,000664: 31,3176 03256 UNFC/2 +4
035544,000665: 31,3177 03256 STORE UNFC/2 +4
035545,000666: 31,3200 77776 AFCCLEND EXIT
035546,000667: 31,3201 03751 TC FASTCHNG
035547,000668:
035548,000669: 31,3202 31346 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
035549,000670: 31,3203 55621 TS WCHPHOLD
035550,000671: 31,3204 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
035551,000672:
035552,000673: 31,3205 51346 BRSPOT4 INDEX WCHPHASE
035553,000674: 31,3206 12401 TCF AFTRGUID
035554,000675:
035555,000676: # ****************************************************************************************************************
035556,000677: # NEW PHASE NOW?
035557,000678: # ****************************************************************************************************************
035558,000679:
035559,000680: 31,3207 51346 EXTLOGIC INDEX WCHPHASE # IS TTF NEARER ZERO THAN CRITERION?
035560,000681: 31,3210 31423 CA TENDBRAK
035561,000682: 31,3211 61642 AD TTF/8
035562,000683: 31,3212 00006 EXTEND
035563,000684: 31,3213 63222 BZMF CGCALC # NO
035564,000685:
035565,000686: 31,3214 03751 TC FASTCHNG # YES: INCREMENT WCHPHASE, ZERO FLPASS0
035566,000687:
035567,000688: 31,3215 31621 CA WCHPHOLD
035568,000689: 31,3216 64744 AD ONE
035569,000690:
![]() |
Page 808 |
035571,000692: 31,3217 55346 TS WCHPHASE
035572,000693: 31,3220 34746 CAF ZERO
035573,000694: 31,3221 55623 TS FLPASS0
035574,000695:
035575,000696: # (CONTINUE TO CGCALC)
035576,000697:
035577,000698: # ***************************************************************************************************************
035578,000699: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
035579,000700: # ***************************************************************************************************************
035580,000701:
035581,000702: 31,3222 31621 CGCALC CA WCHPHOLD
035582,000703: 31,3223 03675 TC INTPRETX
035583,000704: 31,3224 77543 DLOAD* EXIT
035584,000705: 31,3225 02453 TCGFBRAK,1
035585,000706: 31,3226 31642 CA TTF/8
035586,000707: 31,3227 54001 TS L
035587,000708: 31,3230 20155 DAS MPAC
035588,000709: 31,3231 10155 CCS MPAC +1
035589,000710: 31,3232 10154 CCS MPAC
035590,000711: 31,3233 13264 TCF EXITSPOT
035591,000712: 31,3234 13264 TCF EXITSPOT
035592,000713: 31,3235 13236 NOOP
035593,000714:
035594,000715: 31,3236 06060 TC INTPRET
035595,000716: 31,3237 53575 VLOAD UNIT
035596,000717: 31,3240 03635 LAND
035597,000718: 31,3241 16572 STODL CG
035598,000719: 31,3242 03643 TTF/8
035599,000720: 31,3243 74203 DMP* VXSC
035600,000721: 31,3244 02447 GAINBRAK,1 # NUMERO MYSTERIOSO
035601,000722: 31,3245 02222 ANGTERM
035602,000723: 31,3246 77655 VAD
035603,000724: 31,3247 03635 LAND
035604,000725: 31,3250 47051 VSU RTB
035605,000726: 31,3251 03521 R
035606,000727: 31,3252 21724 NORMUNIT
035607,000728: 31,3253 47035 VXV RTB
035608,000729: 31,3254 03635 LAND
035609,000730: 31,3255 21724 NORMUNIT
035610,000731: 31,3256 26600 STOVL CG +6 # SECOND ROW
035611,000732: 31,3257 02572 CG
035612,000733: 31,3260 76435 VXV VSL1
035613,000734: 31,3261 02600 CG +6
035614,000735: 31,3262 02606 STORE CG +14
035615,000736: 31,3263 77776 EXIT
035616,000737:
035617,000738: 31,3264 51621 EXITSPOT INDEX WCHPHOLD
035618,000739: 31,3265 12404 TCF WHATEXIT
035619,000740:
035620,000741: # ****************************************************************************************************************
035621,000742:
![]() |
Page 809 |
035623,000744: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
035624,000745: # ****************************************************************************************************************
035625,000746:
035626,000747: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
035627,000748:
035628,000749: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
035629,000750:
035630,000751: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
035631,000752:
035632,000753: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
035633,000754:
035634,000755: 31,3266 06060 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
035635,000756: 31,3267 47175 VLOAD RTB
035636,000757: 31,3270 03252 UNFC/2
035637,000758: 31,3271 21724 NORMUNIT
035638,000759: 31,3272 74361 VXSC VXSC
035639,000760: 31,3273 03423 ZOOMTIME
035640,000761: 31,3274 22001 TRIMACCL
035641,000762: 31,3275 03252 STORE UNFC/2
035642,000763: 31,3276 77776 EXIT
035643,000764:
035644,000765: 31,3277 11647 CCS NGUIDSUB
035645,000766: 31,3300 12423 TCF GUIDSUB
035646,000767: 31,3301 11646 CCS NIGNLOOP
035647,000768: 31,3302 13305 TCF +3
035648,000769: 31,3303 05571 TC ALARM
035649,000770: 31,3304 01412 OCT 01412
035650,000771:
035651,000772: 31,3305 04626 +3 TC POSTJUMP
035652,000773: 31,3306 64712 CADR DDUMCALC
035653,000774:
035654,000775: 31,3307 06060 EXBRAK TC INTPRET
035655,000776: 31,3310 77775 VLOAD
035656,000777: 31,3311 03537 UNIT/R/
035657,000778: 31,3312 03260 STORE UNWC/2
035658,000779: 31,3313 77776 EXIT
035659,000780: 31,3314 13371 TCF STEER?
035660,000781:
035661,000782: 31,3315 06060 EXNORM TC INTPRET
035662,000783: 31,3316 52375 VLOAD VSU
035663,000784: 31,3317 03635 LAND
035664,000785: 31,3320 03521 R
035665,000786: 31,3321 77634 RTB
035666,000787: 31,3322 21724 NORMUNIT
035667,000788: 31,3323 03260 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
035668,000789: 31,3324 50235 VXV DOT
035669,000790: 31,3325 02137 XNBPIP
035670,000791: 31,3326 02600 CG +6
035671,000792: 31,3327 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
035672,000793:
![]() |
Page 810 |
035674,000795:
035675,000796: 31,3330 40154 CS MPAC # GET COEFFICIENT FOR CG +14
035676,000797: 31,3331 63766 AD PROJMAX
035677,000798: 31,3332 64724 AD POSMAX
035678,000799: 31,3333 54130 TS BUF
035679,000800: 31,3334 40130 CS BUF
035680,000801: 31,3335 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
035681,000802:
035682,000803: 31,3336 43767 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
035683,000804: 31,3337 60154 AD MPAC
035684,000805: 31,3340 64724 AD POSMAX
035685,000806: 31,3341 54131 TS BUF +1
035686,000807: 31,3342 40131 CS BUF +1
035687,000808: 31,3343 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
035688,000809:
035689,000810: 31,3344 34742 CAF FOUR
035690,000811: 31,3345 76263 UNWCLOOP MASK SIX
035691,000812: 31,3346 54002 TS Q
035692,000813: 31,3347 35005 CA EBANK5
035693,000814: 31,3350 54003 TS EBANK
035694,000815: 31,3351 E5,1571 EBANK= CG
035695,000816: 31,3351 30130 CA BUF
035696,000817: 31,3352 00006 EXTEND
035697,000818: 31,3353 50002 INDEX Q
035698,000819: 31,3354 71605 MP CG +14
035699,000820: 31,3355 24006 INCR BBANK
035700,000821: 31,3356 E6,1657 EBANK= UNWC/2
035701,000822: 31,3356 50002 INDEX Q
035702,000823: 31,3357 53660 DXCH UNWC/2
035703,000824: 31,3360 00006 EXTEND
035704,000825: 31,3361 70131 MP BUF +1
035705,000826: 31,3362 50002 INDEX Q
035706,000827: 31,3363 21660 DAS UNWC/2
035707,000828: 31,3364 10002 CCS Q
035708,000829: 31,3365 13345 TCF UNWCLOOP
035709,000830:
035710,000831: 31,3366 31773 CA AZBIAS # SET OUTER GIMBAL
035711,000832: 31,3367 55676 TS OGABIAS # ANGLE BIAS FOR WINDOW BENDING
035712,000833:
035713,000834: 31,3370 24006 INCR BBANK
035714,000835: 31,3371 E7,1612 EBANK= PIF
035715,000836:
035716,000837: 31,3371 30121 STEER? CA OVFIND # OVERFLOW?
035717,000838: 31,3372 00006 EXTEND
035718,000839: 31,3373 13376 BZF STEERSW? # N: CHECK STEERSW
035719,000840:
035720,000841: 31,3374 03736 TC OVFDESC # Y: REMEDIAL ACTION AND
035721,000842: 31,3375 13415 TCF DISPEXIT # SKIP ISSUANCE OF CMDS. NO STEERSW CHK
035722,000843:
035723,000844: 31,3376 40076 STEERSW? CS FLAGWRD2 # IS STEERSW UP?
035724,000845: 31,3377 74732 MASK STEERBIT
035725,000846:
![]() |
Page 811 |
035727,000848: 31,3400 00006 EXTEND
035728,000849: 31,3401 13407 BZF THRTCALL # Y: ISSUE GUIDANCE CMDS
035729,000850:
035730,000851: 31,3402 00004 RATESTOP INHINT # N: REMEDIAL ACTION
035731,000852: 31,3403 04665 TC IBNKCALL # AND
035732,000853: 31,3404 40166 FCADR STOPRATE # SKIP ISSUANCE OF CMDS
035733,000854: 31,3405 00003 RELINT
035734,000855: 31,3406 13415 TCF DISPEXIT
035735,000856:
035736,000857: 31,3407 31,3407 GDUMP1 = THRTCALL
035737,000858: 31,3407 02144 THRTCALL TC THROTTLE
035738,000859: 31,3410 03751 TC FASTCHNG
035739,000860: 31,3411 06060 TC INTPRET
035740,000861: 31,3412 77624 CALL
035741,000862: 31,3413 61072 FINDCDUW -2
035742,000863: 31,3414 77776 EXIT
035743,000864:
035744,000865: # (CONTINUE TO DISPEXIT)
035745,000866:
035746,000867: # ****************************************************************************************************************
035747,000868: # GUIDANCE LOOP DISPLAYS
035748,000869: # ****************************************************************************************************************
035749,000870:
035750,000871: 31,3415 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
035751,000872: 31,3416 34746 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
035752,000873: 31,3417 52756 DXCH -PHASE3
035753,000874:
035754,000875: 31,3420 31,3420 ENDLLJOB = DISPEXIT +3
035755,000876:
035756,000877: 31,3420 31,3420 DISPEX66 = DISPEXIT +3
035757,000878: 31,3420 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
035758,000879: 31,3421 74733 MASK FLUNDBIT
035759,000880: 31,3422 00006 EXTEND
035760,000881: 31,3423 15146 BZF ENDOFJOB
035761,000882:
035762,000883: 31,3424 51621 INDEX WCHPHOLD
035763,000884: 31,3425 12406 TCF WHATDISP
035764,000885:
035765,000886: 31,3426 05156 P63DISPS TC VACRLEAS
035766,000887: 31,3427 40107 CS FLGWRD11 # HAVE LR UPDATES BEEN PERMITTED?
035767,000888: 31,3430 74735 MASK LRINHBIT
035768,000889: 31,3431 00006 EXTEND
035769,000890: 31,3432 13441 BZF N63STAT # YES: DO STATIC DISPLAY
035770,000891:
035771,000892: 31,3433 33770 CAF V06N63 # NO: FLASH NOUN 63, CORRECT RESPONSE IS
035772,000893: 31,3434 04607 TC BANKCALL # V57E WHICH STOPS THE FLASHING
035773,000894: 31,3435 20452 CADR REFLASH
035774,000895: 31,3436 05146 TC ENDOFJOB # TERMINATE IGNORE AND KEEP FLASHING
035775,000896:
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Page 812 |
035777,000898: 31,3437 05146 TC ENDOFJOB # PROCEED IGNORE AND KEEP FLASHING
035778,000899: 31,3440 05146 TC ENDOFJOB # ENTER IGNORE AND KEEP FLASHING
035779,000900:
035780,000901: 31,3441 33770 N63STAT CAF V06N63
035781,000902: 31,3442 04607 DISPCOMN TC BANKCALL
035782,000903: 31,3443 20460 CADR REGODSP
035783,000904:
035784,000905: 31,3444 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
035785,000906: 31,3445 00006 EXTEND
035786,000907: 31,3446 13475 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
035787,000908:
035788,000909: 31,3447 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
035789,000910: 31,3450 74737 MASK REDFLBIT
035790,000911: 31,3451 00006 EXTEND
035791,000912: 31,3452 13477 BZF REDES-OK # YES: DO STATIC DISPLAY
035792,000913:
035793,000914: 31,3453 05156 TC VACRLEAS
035794,000915: 31,3454 33771 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
035795,000916: 31,3455 04607 TC BANKCALL
035796,000917: 31,3456 20452 CADR REFLASH
035797,000918: 31,3457 16001 TCF GOTOPOOH # TERMINATE
035798,000919: 31,3460 13462 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
035799,000920: 31,3461 13444 TCF P64DISPS # RECYCLE
035800,000921:
035801,000922: 31,3462 34746 P64CEED CAF ZERO
035802,000923: 31,3463 55645 TS ELINCR1
035803,000924: 31,3464 55644 TS AZINCR1
035804,000925:
035805,000926: 31,3465 00004 INHINT # ENABLE RUPT 10 FOR REDESIGNATIONS
035806,000927: 31,3466 06040 TC C13STALL
035807,000928: 31,3467 34731 CAF BIT12
035808,000929: 31,3470 00006 EXTEND
035809,000930: 31,3471 05013 WOR CHAN13
035810,000931:
035811,000932: 31,3472 05506 TC UPFLAG # ENABLE REDESIGNATION LOGIC
035812,000933: 31,3473 00143 ADRES REDFLAG
035813,000934:
035814,000935: 31,3474 15146 TCF ENDOFJOB
035815,000936:
035816,000937: 31,3475 05520 RED-OVER TC DOWNFLAG
035817,000938: 31,3476 00143 ADRES REDFLAG
035818,000939: 31,3477 05156 REDES-OK TC VACRLEAS
035819,000940: 31,3500 33771 CAF V06N64
035820,000941: 31,3501 13442 TCF DISPCOMN
035821,000942:
035822,000943:
035823,000944: 31,3502 05156 VERTDISP TC VACRLEAS
035824,000945: 31,3503 33772 CAF V06N60
035825,000946: 31,3504 04607 TC BANKCALL
035826,000947: 31,3505 20452 CADR REFLASH
035827,000948:
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Page 813 |
035829,000950: 31,3506 16001 TCF GOTOPOOH # TERMINATE
035830,000951: 31,3507 13511 TCF STOPFIRE # PROCEED
035831,000952: 31,3510 13511 TCF STOPFIRE # V32E
035832,000953:
035833,000954: 31,3511 05520 STOPFIRE TC DOWNFLAG
035834,000955: 31,3512 00016 ADRES P66PROFL # FLAG TO STOP P66 HORIZONTAL
035835,000956: 31,3513 15146 TCF ENDOFJOB
035836,000957:
035837,000958: 31,3514 02147 THROT66 TC THROTTLE +3
035838,000959: 31,3515 25623 INCR CNTTHROT # COUNT ONE THROTTLE COMPLETION
035839,000960:
035840,000961: 31,3516 13420 TCF DISPEX66
035841,000962:
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Page 814 The ':' suffixed in the 2nd dividing line below is an '=' in the original printout. The change is a workaround for our proof-reading system. |
035845,000966: # ================================================================================================================
035846,000967: # GUIDANCE FOR P66
035847,000968: # ===============================================================================================================:
035848,000969:
035849,000970: # THE P66 HORIZONTAL (HZ) EQUATION IS:
035850,000971:
035851,000972: # UNFC/2X = GHZ
035852,000973:
035853,000974: # UNFC/2Y = (LIMIT AHZLIM)(-QHZ UNFC/2Y -(VY-VHZCY)/TAUHZ)
035854,000975: # I-1
035855,000976:
035856,000977: # UNFC/2Z = (LIMIT AHZLIM)(-QHZ UNFC/2Z -(VZ-VHZCZ)/TAUHZ)
035857,000978: # I-1
035858,000979:
035859,000980: # WHERE GHZ IS LUNAR GRAVITY
035860,000981: # QHZ AND 1/TAUHZ ARE GAIN CONSTANTS
035861,000982: # VHZCY AND VHZCZ ARE THE Y AND Z COMPONENTS OF COMMANDED
035862,000983: # VELOCITY, PLATFORM COORDINATES. THESE ARE INITIALIZED
035863,000984: # TO MOONRATE
035864,000985: # (LIMIT AHZLIM) INDICATES THE CONTENT OF THE SUBSEQUENT
035865,000986: # PARENTHESES IS MAGNITUDE LIMITED TO AHZLIM
035866,000987:
035867,000988: 31,3517 05355 P66 TC PHASCHNG # TERMINATE GROUP 3
035868,000989: 31,3520 00003 OCT 00003
035869,000990:
035870,000991: 31,3521 06060 TC INTPRET
035871,000992: 31,3522 45234 RTB DSU # IS THERE TIME FOR P66?
035872,000993: 31,3523 21603 LOADTIME
035873,000994: 31,3524 01234 PIPTIME
035874,000995: 31,3525 51021 BDSU BPL
035875,000996: 31,3526 02500 2LATE466
035876,000997: 31,3527 65074 P66HZ # Y: DOIT
035877,000998: 31,3530 77414 CLEAR EXIT # N: OMIT
035878,000999: 31,3531 00663 RODFLAG
035879,001000:
035880,001001: 31,3532 41354 CS TOOFEW # INITIALIZE CNTTHROT TO TOOFEW AND LOAD
035881,001002: 31,3533 57623 XCH CNTTHROT # ACCUMULATOR WITH ITS PREVIOUS CONTENTS
035882,001003: 31,3534 00006 EXTEND # TOO FEW THROTTLINGS SINCE LAST OMISSION?
035883,001004: 31,3535 63537 BZMF OMITWALM
035884,001005:
035885,001006: 31,3536 13420 TCF DISPEX66 # N: PERMIT OMISSION SANS ALARM
035886,001007:
035887,001008: 31,3537 00004 OMITWALM INHINT
035888,001009: 31,3540 04607 TC BANKCALL
035889,001010: 31,3541 40166 CADR STOPRATE
035890,001011: 31,3542 05571 TC ALARM # Y: PERMIT OMISSION WITH ALARM
035891,001012: 31,3543 01466 OCT 01466
035892,001013:
035893,001014: 31,3544 13420 TCF DISPEX66
035894,001015:
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Page 815 |
035896,001017: # ======================================================================================================
035897,001018: # P66 HORIZONTAL CHANNELS
035898,001019: # ======================================================================================================
035899,001020:
035900,001021: 32,2000 SETLOC P66LOC
035901,001022: 32,2000 BANK
035902,001023: 32,3074 COUNT* $$/F2DPS
035903,001024:
035904,001025: 32,3074 74375 P66HZ VLOAD VXSC
035905,001026: 32,3075 03252 UNFC/2 # P63, P64, & P66 UNITS 2(-4)M/CS/CS
035906,001027: 32,3076 02476 QHZ
035907,001028: 32,3077 52315 PDVL VSU
035908,001029: 32,3100 03434 VHZC # IN 2(7)M/CS
035909,001030: 32,3101 03527 V # IN 2(7)M/CS
035910,001031: 32,3102 52341 V/SC VSU # YIELDS UNLIM HZ ACCEL CMD, 2(-4)M/CS/CS
035911,001032: 32,3103 02475 TAUHZ # IN 2(1))CS
035912,001033: 32,3104 77776 EXIT
035913,001034:
035914,001035: 32,3105 35022 CA PRIO21 # ASSURE THIS SERVICER JOB ENDS
035915,001036: 32,3106 05137 TC PRIOCHNG # BEFORE NEXT SERVICER JOB BEGINS
035916,001037:
035917,001038: 32,3107 33436 CA GHZ
035918,001039: 32,3110 54154 TS MPAC # X COMPONENT = G
035919,001040:
035920,001041: 32,3111 35005 CA EBANK5
035921,001042: 32,3112 54003 TS EBANK
035922,001043: 32,3113 E5,1777 EBANK= END-E5
035923,001044:
035924,001045: 32,3113 22157 LXCH MPAC +3
035925,001046: 32,3114 31476 CA AHZLIM
035926,001047: 32,3115 04607 TC BANKCALL
035927,001048: 32,3116 61713 FCADR LIMITSUB
035928,001049: 32,3117 54157 TS MPAC +3 # Y COMPONENT LIMITED TO AHZLIM
035929,001050:
035930,001051: 32,3120 22161 LXCH MPAC +5
035931,001052: 32,3121 31476 CA AHZLIM
035932,001053: 32,3122 04607 TC BANKCALL
035933,001054: 32,3123 61713 FCADR LIMITSUB
035934,001055: 32,3124 54161 TS MPAC +5 # Z COMPONENT LIMITED TO AHZLIM
035935,001056:
035936,001057: 32,3125 35007 CA EBANK7
035937,001058: 32,3126 54003 TS EBANK
035938,001059: 32,3127 E7,1777 EBANK= END-E7
035939,001060:
035940,001061: 32,3127 30121 CA OVFIND # OVERFLOW?
035941,001062: 32,3130 00006 EXTEND
035942,001063: 32,3131 13135 BZF ENGARM? # N: KEEP CHECKING
035943,001064: 32,3132 04607 TC BANKCALL # Y: TAKE REMEDIAL ACTION
035944,001065: 32,3133 63736 FCADR OVFDESC # AND
035945,001066: 32,3134 13164 TCF P66VERT # SKIP ISSUANCE OF HZ CMDS
035946,001067:
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Page 816 |
035948,001069: 32,3135 34742 ENGARM? CA BIT3 # IS ENGINE ARM SWITCH STILL ON?
035949,001070: 32,3136 00006 EXTEND
035950,001071: 32,3137 02030 RAND CHAN30
035951,001072: 32,3140 00006 EXTEND
035952,001073: 32,3141 13146 BZF CDUWHZ # Y: ISSUE HZ CMDS
035953,001074:
035954,001075: 32,3142 30074 CA FLAGWRD0 # N: HAVE WE PROCEEDED AFTER TOUCHDOWN?
035955,001076: 32,3143 74744 MASK P66PROBT
035956,001077: 32,3144 00006 EXTEND
035957,001078: 32,3145 13154 BZF ASTROPRO # Y: PREVENT RCS FIRINGS
035958,001079: 32,3146 06060 CDUWHZ TC INTPRET # N: ISSUE HZ CMDS
035959,001080: 32,3147 03252 STORE UNFC/2 # MUST STORE FOR SUCCEEDING PASS
035960,001081: 32,3150 77624 CALL
035961,001082: 32,3151 61074 FINDCDUW
035962,001083: 32,3152 77776 EXIT
035963,001084:
035964,001085: 32,3153 13164 TCF P66VERT
035965,001086:
035966,001087: 32,3154 33435 ASTROPRO CA IDLADR # Y: PREVENT RCS JET FIRINGS
035967,001088: 32,3155 55262 TS T5ADR # AND
035968,001089: 32,3156 13164 TCF P66VERT # SKIP HZ CMDS, BUT CONTINUE DISPLAYS
035969,001090:
035970,001091: # ================================================================================================================
035971,001092: # P66 VERTICAL CHANNEL
035972,001093: # ================================================================================================================
035973,001094:
035974,001095: 32,3157 37731 RODTASK CA PRIO22 # BUMPS ALL OF SERVICER JOB EXCEPT RODCOMP
035975,001096: 32,3160 05076 TC FINDVAC
035976,001097: 32,3161 E7,1515 EBANK= DVCNTR
035977,001098: 32,3161 03167 64067 2CADR RODCOMP
035978,001099: 32,3163 15263 TCF TASKOVER
035979,001100:
035980,001101: 32,3164 34770 P66VERT CA 1SEC
035981,001102: 32,3165 05175 TC TWIDDLE
035982,001103: 32,3166 03157 ADRES RODTASK
035983,001104:
035984,001105: 32,3167 37732 RODCOMP CA PRIO23 # LET ONLY ONE JOB THRU RODCOMP AT A TIME
035985,001106: 32,3170 05137 TC PRIOCHNG
035986,001107:
035987,001108: 32,3171 00004 INHINT
035988,001109:
035989,001110: 32,3172 34746 CAF ZERO
035990,001111: 32,3173 57746 XCH RODCOUNT
035991,001112: 32,3174 00006 EXTEND
035992,001113: 32,3175 71756 MP RODSCAL1
035993,001114: 32,3176 21645 DAS VDGVERT # UPDATE DESTRED ALTITUDE RATE.
035994,001115:
035995,001116: 32,3177 34741 MANTHRT? CAF BIT4
035996,001117: 32,3200 70374 MASK CHANBKUP
035997,001118:
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Page 817 |
035999,001120: 32,3201 10000 CCS A
036000,001121: 32,3202 13213 TCF RODCOMPA # IGNORE CHAN 30 BIT 5. ASSUME AUTO THROT
036001,001122:
036002,001123: 32,3203 34740 CAF BIT5 # ARE WE IN AUTO THROTTLE?
036003,001124: 32,3204 00006 EXTEND
036004,001125: 32,3205 02030 RAND CHAN30
036005,001126: 32,3206 00006 EXTEND
036006,001127: 32,3207 13213 BZF RODCOMPA # Y: CONTINUE ROD
036007,001128:
036008,001129: 32,3210 00006 EXTEND # N: RESET VDGVERT TO CURRENT HDOT
036009,001130: 32,3211 31474 DCA HDOTDISP
036010,001131: 32,3212 53645 DXCH VDGVERT
036011,001132:
036012,001133: # READ THE PIPAS FOR P66
036013,001134:
036014,001135: 32,3213 00006 RODCOMPA EXTEND
036015,001136: 32,3214 30040 DCA PIPAX
036016,001137: 32,3215 53764 DXCH OLDPIPAX # CURRENT PIPA READINGS INTO OLDPIPAX,Y,Z
036017,001138: 32,3216 52071 DXCH RUPTREG1 # SAVE PRIOR READINGS IN RUPTREG1,2,3
036018,001139: 32,3217 30041 CA PIPAZ
036019,001140: 32,3220 57765 XCH OLDPIPAZ
036020,001141: 32,3221 56072 XCH RUPTREG3
036021,001142:
036022,001143: 32,3222 00006 EXTEND # SNAPSHOT TIME OF PIPA READING.
036023,001144: 32,3223 30025 DCA TIME2
036024,001145: 32,3224 53762 DXCH THISTPIP
036025,001146:
036026,001147: 32,3225 03425 TC DEIMUBOB # REFER CURRENT PIPAX READING TO THE CM
036027,001148:
036028,001149: # COMPUTE DELV SINCE PIPTIME. RETURN FROM DEIMUBOB WITH CORRECTED OLDPIPAX IN A
036029,001150: # CURRENT P66 PIPA
036030,001151: 32,3226 61157 AD PIPATMPX # + PIPA BY PIPASR IF B4 COPYCYCL, 0 AFTER
036031,001152: 32,3227 54154 TS MPAC # = DELV SINCE VALIDITY OF V, 2(14)CM/SEC
036032,001153: 32,3230 31764 CA OLDPIPAY
036033,001154: 32,3231 61160 AD PIPATMPY
036034,001155: 32,3232 54157 TS MPAC +3
036035,001156: 32,3233 31765 CA OLDPIPAZ
036036,001157: 32,3234 61161 AD PIPATMPZ
036037,001158: 32,3235 54161 TS MPAC +5
036038,001159:
036039,001160: # COMPUTE DELV SINCE THE LAST P66 PASS
036040,001161:
036041,001162: 32,3236 41763 CS OLDPIPAX # - CURRENT P66 PIPA
036042,001163: 32,3237 61253 AD TEMX # - PIPA BY PIPASR IF INTERVENING, ELSE 0
036043,001164: 32,3240 60070 AD RUPTREG1 # + PIPA BY P66 ON THE LAST P66 PASS
036044,001165: 32,3241 55766 TS DELVROD # = -DELV SINCE LAST P66 PASS, 2(14)CM/SEC
036045,001166: 32,3242 41764 CS OLDPIPAY
036046,001167: 32,3243 61254 AD TEMY
036047,001168: 32,3244 60071 AD RUPTREG2
036048,001169:
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Page 818 |
036050,001171: 32,3245 55770 TS DELVROD +2
036051,001172: 32,3246 41765 CS OLDPIPAZ
036052,001173: 32,3247 61255 AD TEMZ
036053,001174: 32,3250 60072 AD RUPTREG3
036054,001175: 32,3251 55772 TS DELVROD +4
036055,001176:
036056,001177: # PRE-INTERPRETIVE HOUSEKEEPING AND RESETTING PIPASR'S TEMS FOR NEXT P66
036057,001178:
036058,001179: 32,3252 34746 CAF ZERO
036059,001180: 32,3253 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
036060,001181: 32,3254 54160 TS MPAC +4
036061,001182: 32,3255 54162 TS MPAC +6
036062,001183: 32,3256 55253 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
036063,001184: 32,3257 55254 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
036064,001185: 32,3260 55255 TS TEMZ
036065,001186: 32,3261 44744 CS ONE
036066,001187: 32,3262 54163 TS MODE # INDICATE VECTOR IN MPAC
036067,001188:
036068,001189: # COMPUTE THE CURRENT P66 VELOCITY AND CERTAIN DISPLAYS
036069,001190:
036070,001191: 32,3263 06060 TC INTPRET
036071,001192: 32,3264 65361 ITRPNT1 VXSC PDDL # PUSH DELV SINCE LAST P66 IN 2(7)M/CS (6)
036072,001193: 32,3265 26074 KPIP1 # 1/10,000 IN 2(-7)
036073,001194: 32,3266 03762 THISTPIP
036074,001195: 32,3267 77625 DSU
036075,001196: 32,3270 01234 PIPTIME
036076,001197: 32,3271 00037 STORE 30D # TTPIP = T-TPIP IN 2(28)CS
036077,001198: 32,3272 63271 DDV PDVL # QUOTIENT = TTPIP/(1SEC) IN 2(2) (8)
036078,001199: 32,3273 27057 4SEC(28)
036079,001200: 32,3274 01236 GDT/2 # GDT/2 = VEL IN 100 CS IN 2(7)M/CS
036080,001201: 32,3275 74251 VSU VXSC # (TTPIP/1SEC)(GDT/2-VBIAS),2(9)M/CS (6)
036081,001202: 32,3276 02616 VBIAS # IN 2(7)M/CS
036082,001203: 32,3277 53352 VSL2 VAD # SHIFT YIELDS 2(7)M/CS
036083,001204: 32,3300 03527 V # IN 2(7)M/CS
036084,001205: 32,3301 45455 VAD STADR # (0)
036085,001206: 32,3302 53746 STOVL 24D # STORE P66 VELOCITY IN 2(7)M/CS
036086,001207: 32,3303 03521 R
036087,001208: 32,3304 77656 UNIT
036088,001209: 32,3305 00017 STORE 14D # UNIT(R)
036089,001210: 32,3306 72441 DOT SL1
036090,001211: 32,3307 00031 24D # P66 VELOCITY IN 2(7)M/CS
036091,001212: 32,3310 17474 STODL HDOTDISP # HDOT FOR NOUN 60 IN 2(7)M/CS
036092,001213: 32,3311 00037 30D # TTPIP IN 2(28)CS
036093,001214: 32,3312 41261 SL DMP # DELTAH IN 2(24)M =
036094,001215: 32,3313 20214 11D # 2(11) TTPIP IN 2(28)CS HDOT IN 2(7)M/CS
036095,001216: 32,3314 03474 HDOTDISP
036096,001217: 32,3315 45215 DAD DSU # DELTAH + |R| - |LAND|
036097,001218: 32,3316 00045 36D # |R| FROM PRECEDING UNIT OPERATION
036098,001219: 32,3317 02324 /LAND/
036099,001220: 32,3320 17775 STODL HCALC1 # ALTITUDE FOR N 60 IN 2(24)M
036100,001221:
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Page 819 |
036102,001223: # COMPUTE UNCORRECTED COMMANDED THRUST ACCELERATION
036103,001224:
036104,001225: 32,3321 03474 HDOTDISP # IN 2(7)M/CS
036105,001226: 32,3322 56221 BDSU DDV
036106,001227: 32,3323 03645 VDGVERT # IN 2(7)M/CS
036107,001228: 32,3324 02536 TAUROD # TAU IN 2(9)CS
036108,001229: 32,3325 51515 PDVL ABVAL # PUSH (VDG-HDOT)/TAU IN 2(-2)M/CS/CS (2)
036109,001230: 32,3326 01236 GDT/2 # GDT/2 = VEL IN 100CS IN 2(7)M/CS
036110,001231: 32,3327 60471 DDV SR2 # DDV YIELDS G IN 2(-4)M/CS/CS
036111,001232: 32,3330 05654 GSCALE # 100 CS IN 2(11)M/CS
036112,001233: 32,3331 00025 STORE 20D # |G| IN 2(-2)M/CS/CS
036113,001234: 32,3332 43234 RTB DAD # UP (VDG-HDOT)/TAU (0)
036114,001235: 32,3333 47600 QTPROLOG # QUICTRIG PRESERVES MPAC
036115,001236: 32,3334 45115 PDVL CALL # (VDG-HDOT)/TAU+|G| IN 2(-2)M/CS/CS (2)
036116,001237: 32,3335 06503 UNITX # X AXIS IN NB COORDS
036117,001238: 32,3336 47665 *NBSM* # TRANSFORMS TO SM COORDS
036118,001239: 32,3337 77641 DOT # YIELDS COS/4 OF ANGLE OF X WRT VERT
036119,001240: 32,3340 00017 14D # UNIT(R)
036120,001241: 32,3341 00027 STORE 22D # COS/4
036121,001242: 32,3342 45465 BDDV STADR # YIELDS ((VDG-HDOT)/TAU+|G|)/COS = (0)
036122,001243: 32,3343 50313 STOVL /AFC/ # |AFC| RAW IN 2(-4)M/CS/CS
036123,001244:
036124,001245: # COMPUTE MEASURED THRUST ACCELERATION
036125,001246:
036126,001247: 32,3344 03767 DELVROD # -DELV SINCE LAST P66 IN 2(14)CM/SEC
036127,001248: 32,3345 53361 VXSC VAD # ADD SINCE DELV IS REVERSE SIGN
036128,001249: 32,3346 26074 KPIP1 # 1/10,000 IN 2(-7)
036129,001250: 32,3347 02616 VBIAS # IN 2(7)M/CS
036130,001251: 32,3350 65246 ABVAL PDDL # PUSH DE-BIASED |DELV| IN 2(7)M/CS (2)
036131,001252: 32,3351 03762 THISTPIP
036132,001253: 32,3352 65225 DSU PDDL # PUSH PERP66 IN 2(28)CS (4)
036133,001254: 32,3353 03760 LASTTPIP
036134,001255: 32,3354 03762 THISTPIP
036135,001256: 32,3355 17760 STODL LASTTPIP # REPLACE LASTTPIP LOADING PERP66 (2)
036136,001257: 32,3356 55271 DDV BDDV # (0)
036137,001258: 32,3357 25441 SHFTFACT # SCALES PERP66 TO 2(11)CS
036138,001259: 32,3360 41325 PDDL DMP # PUSH |AF| IN 2(-4)M/CS/CS (2)
036139,001260:
036140,001261: # ADD VELOCITY EXTRAPOLATION CORRECTION TO YIELD UNLIMITED COMMANDED THRUST ACCELERATION
036141,001262:
036142,001263: 32,3361 03611 FWEIGHT # FW IN 2(14)BITS
036143,001264: 32,3362 25440 BIT1H # SCALES FW TO 2(28)BITS
036144,001265: 32,3363 56271 DDV DDV # THINK OF DIVIDES BEING REVERSED IN ORDER
036145,001266: 32,3364 01244 MASS # IN 2(16)KG
036146,001267: 32,3365 22006 SCALEFAC # SF RESCALES FW TO 10,000 2(12)NEWTON
036147,001268: 32,3366 65215 DAD PDDL # PUSH FW/SF/MASS+|AF| IN 2(-4)M/CS/CS (4)
036148,001269: 32,3367 00001 0D # |AF|
036149,001270: 32,3370 00025 20D # |G|
036150,001271: 32,3371 45271 DDV DSU # |G|/COS-FW/SF/MASS-|AF|,2(-4)M/CS/CS (2)
036151,001272: 32,3372 00027 22D # COS/4
036152,001273:
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Page 820 |
036154,001275: 32,3373 43205 DMP DAD # (L/T)(|G|/COS-FW/SF/MASS-|AF|)+|AFC|
036155,001276: 32,3374 02540 LAG/TAU # (L/T) DIMENSIONLESS
036156,001277: 32,3375 03464 /AFC/
036157,001278: 32,3376 56325 PDDL DDV # PUSH |AFC| UNLIMITED IN 2(-4)M/CS/CS (4)
036158,001279:
036159,001280: # LIMIT MINFORCE/MASS <= |AFC| <= MAXFORCE/MASS
036160,001281:
036161,001282: 32,3377 02544 MAXFORCE
036162,001283: 32,3400 01244 MASS
036163,001284: 32,3401 56325 PDDL DDV # (6)
036164,001285: 32,3402 02542 MINFORCE
036165,001286: 32,3403 01244 MASS
036166,001287: 32,3404 44206 PUSH BDSU # (8)
036167,001288: 32,3405 00003 2D
036168,001289: 32,3406 71240 BMN DLOAD # (6)
036169,001290: 32,3407 65415 AFCSPOT
036170,001291: 32,3410 41545 DLOAD PUSH # (6)
036171,001292: 32,3411 51021 BDSU BPL
036172,001293: 32,3412 00003 2D
036173,001294: 32,3413 65415 AFCSPOT
036174,001295: 32,3414 77745 DLOAD # (4)
036175,001296: 32,3415 77745 AFCSPOT DLOAD # (2),(4),OR (6)
036176,001297: 32,3416 77601 SETPD # (2)
036177,001298: 32,3417 00003 2D
036178,001299: 32,3420 17464 STODL /AFC/ # CORRECTED AND LIMITED |AFC| (0)
036179,001300: 32,3421 77776 ITRPNT2 EXIT
036180,001301: 32,3422 52155 DXCH MPAC # FETCH MEASURED THRUST ACCEL FOR THROTTLE
036181,001302: 32,3423 04626 TC POSTJUMP
036182,001303: 32,3424 63514 FCADR THROT66
036183,001304:
036184,001305: # THE FOLLOWING SUBROUTINE REFERS THE X PIPA READING TO THE CENTER OF MASS
036185,001306: # BY SUBTRACTING THOSE PIPA COUNTS PRODUCED BY VERTICAL IMU MOTION
036186,001307: # RELATIVE TO THE CENTER OF MASS. THE SPACECRAFT X AXIS IS ASSUMED
036187,001308: # APPROXIMATELY VERTICAL. THE EQUATION IS:
036188,001309:
036189,001310: # OLDPIPAX = OLDPIPAX - OMEGAQ RIMUZ
036190,001311:
036191,001312: # WHERE OLDPIPAX IS THE CURRENT P66 PIPA READING, OMEGAQ IS THE ATTITUDE
036192,001313: # RATE ABOUT THE Q (Y) AXIS, AND RIMUZ IS THE Z COORDINATE OF THE IMU.
036193,001314:
036194,001315: 32,3425 35006 DEIMUBOB CA EBANK6
036195,001316: 32,3426 54003 TS EBANK
036196,001317: 32,3427 E6,1774 EBANK= END-E6
036197,001318: 32,3427 41422 CS OMEGAQ # PITCH RATE IN UNITS 45 DEG/SEC
036198,001319: 32,3430 24006 INCR BBANK
036199,001320: 32,3431 E7,1777 EBANK= END-E7
036200,001321: 32,3431 00006 EXTEND
036201,001322: 32,3432 73442 MP RIMUZ # IMU Z IN UNITS (180/PI 45) 2(14) CM
036202,001323: 32,3433 27763 ADS OLDPIPAX # CURRENT P66 PIPA X IN UNITS 2(14) CM/SEC
036203,001324: 32,3434 00002 TC Q
036204,001325:
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Page 821 |
036206,001327: # CONSTANTS FOR P66
036207,001328:
036208,001329: 32,3435 02037 IDLADR GENADR DAPIDLER
036209,001330: 32,3436 00053 GHZ DEC 1.62292 E-4 B+4 # GRAVITY IN 2(-4)M/CS/CS
036210,001331:
036211,001332: 32,3437 00001 BIT1H OCT 00001 # MUST PRECEDE A ZERO
036212,001333: 32,3440 00000 04000 SHFTFACT 2DEC 1 B-17 # SCALES P66 PERIOD TO 2(1))CS
036213,001334: 32,3442 00143 RIMUZ DEC 99.486 B-14 # 1.2667 M IN UNITS (180/PI 45) 2(14) CM
036214,001335:
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Page 822 The suffixed ':' in the second divider below was '=' in the original printout. The change is a workaround for our proof-reading system. |
036218,001339: # ================================================================================================================
036219,001340: # REDESIGNATOR TRAP
036220,001341: # ===============================================================================================================:
036221,001342:
036222,001343: # END INSERT
036223,001344: 11,2302 BANK 11
036224,001345: 11,2000 SETLOC F2DPS*11
036225,001346: 11,2000 BANK
036226,001347:
036227,001348: 11,2302 COUNT* $$/F2DPS
036228,001349:
036229,001350: 11,2302 56016 PITFALL XCH BANKRUPT
036230,001351: 11,2303 00006 EXTEND
036231,001352: 11,2304 22012 QXCH QRUPT
036232,001353:
036233,001354: 11,2305 05323 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
036234,001355: 11,2306 00100 DEC 64 B-14
036235,001356: 11,2307 15272 TCF RESUME
036236,001357:
036237,001358: 11,2310 00006 EXTEND
036238,001359: 11,2311 00031 READ CHAN31
036239,001360: 11,2312 40000 COM
036240,001361: 11,2313 72401 MASK ALL4BITS
036241,001362: 11,2314 55647 TS ELVIRA
036242,001363: 11,2315 34743 CAF TWO
036243,001364: 11,2316 55646 TS ZERLINA
036244,001365: 11,2317 34747 CAF FIVE
036245,001366: 11,2320 05175 TC TWIDDLE
036246,001367: 11,2321 02326 ADRES REDESMON
036247,001368: 11,2322 15272 TCF RESUME
036248,001369:
036249,001370:
036250,001371: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
036251,001372:
036252,001373:
036253,001374: 11,2323 55646 PREMON1 TS ZERLINA
036254,001375: 11,2324 34750 PREMON2 CAF SEVEN
036255,001376: 11,2325 05226 TC VARDELAY
036256,001377: 11,2326 00006 REDESMON EXTEND
036257,001378: 11,2327 00031 READ CHAN31
036258,001379: 11,2330 40000 COM
036259,001380: 11,2331 72401 MASK ALL4BITS
036260,001381: 11,2332 57647 XCH ELVIRA
036261,001382: 11,2333 54001 TS L
036262,001383: 11,2334 11647 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
036263,001384: 11,2335 12324 TCF PREMON2 # Y: CONTINUE MONITOR
036264,001385:
036265,001386: 11,2336 10001 CCS L # N: ANY LAST PASS?
036266,001387: 11,2337 12347 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
036267,001388: 11,2340 11646 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
036268,001389:
![]() |
Page 823 |
036270,001391: 11,2341 12323 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
036271,001392: 11,2342 06040 RESETRPT TC C13STALL # Y: RESET RUPT, TERMINATE
036272,001393: 11,2343 34731 CAF BIT12
036273,001394: 11,2344 00006 EXTEND
036274,001395: 11,2345 05013 WOR CHAN13
036275,001396: 11,2346 15263 TCF TASKOVER
036276,001397:
036277,001398: 11,2347 34730 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
036278,001399: 11,2350 00006 EXTEND
036279,001400: 11,2351 02031 RAND CHAN31
036280,001401: 11,2352 00006 EXTEND
036281,001402: 11,2353 12342 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
036282,001403:
036283,001404: 11,2354 30001 CA L # NO
036284,001405: 11,2355 74737 MASK -AZBIT
036285,001406: 11,2356 10000 CCS A
036286,001407: 11,2357 42402 -AZ CS AZEACH
036287,001408: 11,2360 27644 ADS AZINCR1
036288,001409: 11,2361 30001 CA L
036289,001410: 11,2362 74740 MASK +AZBIT
036290,001411: 11,2363 10000 CCS A
036291,001412: 11,2364 32402 +AZ CA AZEACH
036292,001413: 11,2365 27644 ADS AZINCR1
036293,001414: 11,2366 30001 CA L
036294,001415: 11,2367 74744 MASK -ELBIT
036295,001416: 11,2370 10000 CCS A
036296,001417: 11,2371 42402 -EL CS ELEACH
036297,001418: 11,2372 27645 ADS ELINCR1
036298,001419: 11,2373 30001 CA L
036299,001420: 11,2374 74743 MASK +ELBIT
036300,001421: 11,2375 10000 CCS A
036301,001422: 11,2376 32402 +EL CA ELEACH
036302,001423: 11,2377 27645 ADS ELINCR1
036303,001424: 11,2400 12342 TCF RESETRPT
036304,001425:
036305,001426: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
036306,001427:
036307,001428: 11,2401 4743 +ELBIT = BIT2 # -PITCH
036308,001429:
036309,001430:
036310,001431: 11,2401 4744 -ELBIT = BIT1 # +PITCH
036311,001432:
036312,001433:
036313,001434: 11,2401 4740 +AZBIT = BIT5
036314,001435:
036315,001436:
036316,001437: 11,2401 4737 -AZBIT = BIT6
036317,001438:
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Page 824 |
036319,001440:
036320,001441: 11,2401 00063 ALL4BITS OCT 00063
036321,001442:
036322,001443:
036323,001444: 11,2402 00436 AZEACH DEC .01746 # ONE DEGREE
036324,001445:
036325,001446:
036326,001447: 11,2403 11,2402 ELEACH = AZEACH # ONE DEGREE
036327,001448:
036328,001449:
036329,001450: 31,3545 BANK 31
036330,001451: 31,2000 SETLOC F2DPS*31
036331,001452: 31,2000 BANK
036332,001453:
036333,001454: 31,3545 COUNT* $$/F2DPS
036334,001455:
036335,001456: # ****************************************************************************************************************
036336,001457: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
036337,001458: # ****************************************************************************************************************
036338,001459:
036339,001460: # N N-1
036340,001461: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
036341,001462: # N N-1 1 0
036342,001463:
036343,001464: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
036344,001465:
036345,001466: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
036346,001467: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
036347,001468: # MPAC DP X INITIAL GUESS FOR ROOT
036348,001469:
036349,001470: # LOC-2N DP A(0)
036350,001471: # ...
036351,001472: # LOC DP A(N)
036352,001473: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
036353,001474:
036354,001475: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
036355,001476: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
036356,001477: # OUTPUTS ARE NOT TO BE TRUSTED.
036357,001478:
036358,001479: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
036359,001480: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
036360,001481: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
036361,001482: # COEFFICIENT TABLE = 1 OR > 1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
036362,001483: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
036363,001484:
036364,001485: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
036365,001486:
036366,001487: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
036367,001488: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
036368,001489: # PRECLUDE EVENTUAL CONVERGENCE.
036369,001490:
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Page 825 |
036371,001492: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
036372,001493: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
036373,001494:
036374,001495: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
036375,001496:
036376,001497: # STORE ENTERING DATA, INITLIZE ERASABLES
036377,001498:
036378,001499: 31,3545 00006 ROOTPSRS EXTEND
036379,001500: 31,3546 22132 QXCH RETROOT # RETURN ADRES
036380,001501: 31,3547 54117 TS PWRPTR # PWR TABL POINTER
036381,001502: 31,3550 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
036382,001503: 31,3551 33670 CA DERTABLL
036383,001504: 31,3552 54141 TS DERPTR # DER TABL POINTER
036384,001505: 31,3553 54161 TS MPAC +5 # DER TABL ADRES
036385,001506: 31,3554 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
036386,001507: 31,3555 54162 TS MPAC +6 # N-2
036387,001508: 31,3556 34746 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
036388,001509: 31,3557 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
036389,001510:
036390,001511: # COMPUTE CRITERION TO STOP ITERATING
036391,001512:
036392,001513: 31,3560 00006 EXTEND
036393,001514: 31,3561 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
036394,001515: 31,3562 52127 DXCH ROOTPS # AND IN ROOTPS
036395,001516: 31,3563 50157 INDEX MPAC +3 # PWR TABL ADRES
036396,001517: 31,3564 30005 CA 5 # PRECROOT TO A
036397,001518: 31,3565 07330 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
036398,001519: 31,3566 04704 TC USPRCADR
036399,001520: 31,3567 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
036400,001521: 31,3570 52155 DXCH MPAC
036401,001522: 31,3571 52125 DXCH DXCRIT # CRITERION
036402,001523:
036403,001524: # SET UP DER COF TABL
036404,001525:
036405,001526: 31,3572 00006 EXTEND
036406,001527: 31,3573 50117 INDEX PWRPTR
036407,001528: 31,3574 30004 DCA 3
036408,001529: 31,3575 52155 DXCH MPAC # A(N) TO MPAC
036409,001530:
036410,001531: 31,3576 30160 CA MPAC +4 # N-1 TO A
036411,001532:
036412,001533: 31,3577 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
036413,001534: 31,3600 64744 AD ONE
036414,001535: 31,3601 07337 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
036415,001536: 31,3602 00006 EXTEND
036416,001537: 31,3603 50117 INDEX PWRPTR
036417,001538: 31,3604 30002 DCA 1
036418,001539: 31,3605 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
036419,001540: 31,3606 50141 INDEX DERPTR
036420,001541: 31,3607 52004 DXCH 3 # DERCOF TO DER TABL
036421,001542:
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Page 826 |
036423,001544: 31,3610 44743 CS TWO
036424,001545: 31,3611 26117 ADS PWRPTR # DECREMENT PWR POINTER
036425,001546: 31,3612 44743 CS TWO
036426,001547: 31,3613 26141 ADS DERPTR # DECREMENT DER POINTER
036427,001548: 31,3614 10140 CCS PWRCNT
036428,001549: 31,3615 13577 TCF DERCLOOP
036429,001550:
036430,001551: # CONVERGE ON ROOT
036431,001552:
036432,001553: 31,3616 00006 ROOTLOOP EXTEND
036433,001554: 31,3617 30127 DCA ROOTPS # FETCH CURRENT ROOT
036434,001555: 31,3620 52155 DXCH MPAC # LEAVE IN MPAC
036435,001556: 31,3621 00006 EXTEND
036436,001557: 31,3622 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
036437,001558: 31,3623 07236 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
036438,001559:
036439,001560: 31,3624 00006 EXTEND
036440,001561: 31,3625 30127 DCA ROOTPS
036441,001562: 31,3626 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
036442,001563: 31,3627 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
036443,001564: 31,3630 00006 EXTEND
036444,001565: 31,3631 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
036445,001566: 31,3632 07236 TC POWRSERS # YIELDS RESIDUAL IN MPAC
036446,001567:
036447,001568: 31,3633 04704 TC USPRCADR
036448,001569: 31,3634 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
036449,001570:
036450,001571: 31,3635 00006 EXTEND
036451,001572: 31,3636 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
036452,001573: 31,3637 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
036453,001574:
036454,001575: 31,3640 04704 TC USPRCADR
036455,001576: 31,3641 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
036456,001577: 31,3642 00006 EXTEND
036457,001578: 31,3643 40125 DCS DXCRIT
036458,001579: 31,3644 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
036459,001580:
036460,001581: 31,3645 30163 CA MODE
036461,001582: 31,3646 74741 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
036462,001583: 31,3647 10000 CCS A
036463,001584: 31,3650 00132 BADROOT TC RETROOT
036464,001585:
036465,001586: 31,3651 24163 INCR MODE # INCREMENT ITERATION COUNTER
036466,001587: 31,3652 10154 CCS MPAC # TEST HI ORDER DX
036467,001588: 31,3653 13616 TCF ROOTLOOP
036468,001589: 31,3654 13656 TCF TESTLODX
036469,001590: 31,3655 13662 TCF ROOTSTOR
036470,001591: 31,3656 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
036471,001592: 31,3657 13616 TCF ROOTLOOP
036472,001593: 31,3660 13662 TCF ROOTSTOR
036473,001594:
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Page 827 |
036475,001596: 31,3661 13662 TCF ROOTSTOR
036476,001597: 31,3662 52127 ROOTSTOR DXCH ROOTPS
036477,001598: 31,3663 52155 DXCH MPAC
036478,001599: 31,3664 30163 CA MODE
036479,001600: 31,3665 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
036480,001601: 31,3666 50132 INDEX RETROOT
036481,001602: 31,3667 10002 TCF 2
036482,001603:
036483,001604: 31,3670 00147 DERTABLL ADRES DERCOFN -3
036484,001605:
036485,001606:
036486,001607: # ****************************************************************************************************************
036487,001608: # TRASHY LITTLE SUBROUTINES
036488,001609: # ****************************************************************************************************************
036489,001610:
036490,001611: 31,3671 34746 ZEROMID CAF ZERO # ROUTINE TO ZERO THE MIDDLE COMPONENT
036491,001612: 31,3672 54157 TS MPAC +3 # OF A VECTOR IN MPAC. "TCF DANZIG"
036492,001613: 31,3673 54160 TS MPAC +4 # COULD BE A "TC Q" AT THE EXPENSE OF
036493,001614: 31,3674 16102 TCF DANZIG # A TINY AMOUNT OF TIME.
036494,001615:
036495,001616:
036496,001617: 31,3675 50000 INTPRETX INDEX A # SET X1 ON THE WAY TO THE INTERPRETER
036497,001618: 31,3676 42415 CS TARGTDEX
036498,001619: 31,3677 50120 INDEX FIXLOC
036499,001620: 31,3700 54046 TS X1
036500,001621: 31,3701 16060 TCF INTPRET
036501,001622:
036502,001623: 31,3702 31642 TDISPSET CA TTF/8
036503,001624: 31,3703 00006 EXTEND
036504,001625: 31,3704 74741 MP TSCALINV
036505,001626: 31,3705 53476 DXCH TTFDISP
036506,001627:
036507,001628: 31,3706 35005 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
036508,001629: 31,3707 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
036509,001630: 31,3710 E5,1454 EBANK= TCGFAPPR
036510,001631: 31,3710 31454 CA TCGFAPPR
036511,001632: 31,3711 24006 INCR BBANK
036512,001633: 31,3712 24006 INCR BBANK
036513,001634: 31,3713 E7,1642 EBANK= TTF/8
036514,001635: 31,3713 61642 AD TTF/8
036515,001636: 31,3714 00006 EXTEND
036516,001637: 31,3715 73763 MP TREDESCL
036517,001638: 31,3716 63760 AD -DEC103
036518,001639: 31,3717 64726 AD NEGMAX
036519,001640: 31,3720 54001 TS L
036520,001641: 31,3721 40001 CS L
036521,001642: 31,3722 60001 AD L
036522,001643: 31,3723 63762 AD +DEC99
036523,001644: 31,3724 64724 AD POSMAX
036524,001645:
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Page 828 |
036526,001647: 31,3725 55666 TS TREDES
036527,001648: 31,3726 41666 CS TREDES
036528,001649: 31,3727 27666 ADS TREDES
036529,001650: 31,3730 00002 TC Q
036530,001651:
036531,001652:
036532,001653: 31,3731 05644 1406POO TC POODOO
036533,001654: 31,3732 21406 OCT 21406
036534,001655: 31,3733 05571 1406ALM TC ALARM
036535,001656: 31,3734 01406 OCT 01406
036536,001657: 31,3735 13402 TCF RATESTOP
036537,001658:
036538,001659: # DESCENT OVERFLOW SUBROUTINE
036539,001660: 31,3736 00006 OVFDESC EXTEND
036540,001661: 31,3737 23456 QXCH OVFRET
036541,001662:
036542,001663: 31,3740 05571 TC ALARM
036543,001664: 31,3741 01410 OCT 01410
036544,001665:
036545,001666: 31,3742 00004 INHINT # MUST USE INHINT, IBNKCALL, RELINT
036546,001667: 31,3743 04665 TC IBNKCALL # BECAUSE DAP COULD INTERRUPT STOPRATE AND
036547,001668: 31,3744 40166 FCADR STOPRATE # BECAUSE WE COME FROM P66HZ VIA BANKCALL
036548,001669: 31,3745 00003 RELINT
036549,001670:
036550,001671: 31,3746 34746 CA ZERO
036551,001672: 31,3747 54121 TS OVFIND
036552,001673:
036553,001674: 31,3750 01456 TC OVFRET
036554,001675:
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Page 829 |
036556,001677:
036557,001678: # ****************************************************************************************************************
036558,001679: # SPECIALIZED "PHASCHNG" SUBROUTINE
036559,001680: # ****************************************************************************************************************
036560,001681:
036561,001682: 31,3751 E3,1440 EBANK= PHSNAME2
036562,001683: 31,3751 35000 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
036563,001684: 31,3752 56003 XCH EBANK
036564,001685: 31,3753 52002 DXCH L
036565,001686: 31,3754 55442 TS PHSNAME3
036566,001687: 31,3755 22003 LXCH EBANK
036567,001688: 31,3756 E7,1621 EBANK= E2DPS
036568,001689: 31,3756 00000 TC A
036569,001690:
036570,001691: # ****************************************************************************************************************
036571,001692: # PARAMETER TABLE INDIRECT ADDRESSES
036572,001693: # ****************************************************************************************************************
036573,001694:
036574,001695: 31,3757 E5,1402 RDG = RBRFGX
036575,001696: 31,3757 E5,1412 VDG = VBRFGX
036576,001697: 31,3757 E5,1422 ADG = ABRFGX
036577,001698: 31,3757 E5,1432 VDG2TTF = VBRFG*
036578,001699: 31,3757 E5,1436 ADG2TTF = ABRFG*
036579,001700: 31,3757 E5,1442 JDG2TTF = JBRFG*
036580,001701:
036581,001702: # ****************************************************************************************************************
036582,001703: # LUNAR LANDING CONSTANTS
036583,001704: # ***************************************************************************************************************
036584,001705:
036585,001706: 31,3757 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
036586,001707:
036587,001708:
036588,001709: 31,3760 4731 TTFSCALE = BIT12
036589,001710:
036590,001711:
036591,001712: 31,3760 4741 TSCALINV = BIT4
036592,001713:
036593,001714:
036594,001715: 31,3760 77630 -DEC103 DEC -103 B-14
036595,001716:
036596,001717:
036597,001718: 31,3761 00155 P64DB OCT 00155 # 0.3 DEGREES SCALED AT CDU SCALING
036598,001719:
036599,001720:
036600,001721: 31,3762 00143 +DEC99 DEC +99 B-14
036601,001722:
036602,001723:
036603,001724: 31,3763 75340 TREDESCL DEC -.08
036604,001725:
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Page 830 |
036606,001727: 31,3764 00264 180DEGS DEC +180 B-14
036607,001728:
036608,001729:
036609,001730: 31,3765 00056 1/2DEG DEC +.00278
036610,001731:
036611,001732:
036612,001733: 31,3766 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
036613,001734:
036614,001735:
036615,001736: 31,3767 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
036616,001737:
036617,001738:
036618,001739: 31,3770 01477 V06N63 VN 0663 # P63
036619,001740:
036620,001741: 31,3771 01500 V06N64 VN 0664 # P64
036621,001742:
036622,001743: 31,3772 01474 V06N60 VN 0660 # P65, P66, P67
036623,001744:
036624,001745:
036625,001746: 22,3651 BANK 22
036626,001747: 22,2000 SETLOC LANDCNST
036627,001748: 22,2000 BANK
036628,001749: 22,3651 COUNT* $$/F2DPS
036629,001750:
036630,001751: 22,3651 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
036631,001752: 22,3653 01440 00000 GSCALE 2DEC 100 B-11
036632,001753: 22,3655 14000 00000 3/8DP 2DEC .375
036633,001754: 22,3657 30000 00000 3/4DP 2DEC .750
036634,001755: 22,3661 77534 45074 DEPRCRIT 2DEC -.02 B-1
036635,001756: # ****************************************************************************************************************
036636,001757: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc