Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, 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 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
033845,000002: ## Copyright: Public domain.
033846,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
033847,000004: ## Purpose: A section of Luminary revision 116.
033848,000005: ## It is part of the source code for the Lunar Module's (LM)
033849,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
033850,000007: ## This file is intended to be a faithful transcription, except
033851,000008: ## that the code format has been changed to conform to the
033852,000009: ## requirements of the yaYUL assembler rather than the
033853,000010: ## original YUL assembler.
033854,000011: ## Reference: pp. 791-822
033855,000012: ## Assembler: yaYUL
033856,000013: ## Contact: Ron Burkey <info@sandroid.org>.
033857,000014: ## Website: www.ibiblio.org/apollo/index.html
033858,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
033859,000016: ## 2017-03-10 RSB Transcribed, and then proofed comment-text using
033860,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
033861,000018: ## (Admittedly, the former is more for detecting errors
033862,000019: ## in Luminary 99 than the other way around.)
033863,000020: ## The label 1406P00 was replaced with 1406POO.
033864,000021: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
033865,000022: ## side-by-side diff of Luminary 69/99/116/131/210.
033866,000023: ## 2017-03-19 HG Add missing statement TC C13STALL (and shift label RESETRPT to it)
033867,000024: ## Fix value for BIASFACT B-28 --> B-26
033868,000025: ## Fix operand CGCALC --> EXTLOGIC
033869,000026: ## ENDLLJOB --> ENDOFJOB
033870,000027: ## REGODSPR --> REGDOSP
033871,000028: ## REFLASHR --> REFLASH
033872,000029:
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Page 791 |
033874,000031: 31,2346 E7,1621 EBANK= E2DPS
033875,000032: 31,2346 COUNT* $$/F2DPS
033876,000033:
033877,000034: # ****************************************************************************************************************
033878,000035: # LUNAR LANDING FLIGHT SEQUENCE TABLES
033879,000036: # ****************************************************************************************************************
033880,000037:
033881,000038: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
033882,000039: # WCHPHASE = -1 ---> IGNALG
033883,000040: # WCHPHASE = 0 ---> BRAKQUAD
033884,000041: # WCHPHASE = 1 ---> APPRQUAD
033885,000042: # WCHPHASE = 2 ---> VERTICAL
033886,000043:
033887,000044: # ***************************************************************************************************************
033888,000045:
033889,000046: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
033890,000047:
033891,000048: 31,2346 12603 TCF TTFINCR # IGNALG
033892,000049: 31,2347 12603 NEWPHASE TCF TTFINCR # BRAKQUAD
033893,000050: 31,2350 12566 TCF STARTP64 # APPRQUAD
033894,000051: 31,2351 12557 TCF P65START # VERTICAL
033895,000052:
033896,000053: # PRE-GUIDANCE COMPUTATIONS:
033897,000054:
033898,000055: 31,2352 12763 TCF CALCRGVG # IGNALG
033899,000056: 31,2353 12773 PREGUIDE TCF RGVGCALC # BRAKQUAD
033900,000057: 31,2354 12664 TCF REDESIG # APPRQUAD
033901,000058: 31,2355 12773 TCF RGVGCALC # VERTICAL
033902,000059:
033903,000060: # GUIDANCE EQUATIONS:
033904,000061:
033905,000062: 31,2356 13041 TCF TTF/8CL # IGNALG
033906,000063: 31,2357 13041 WHATGUID TCF TTF/8CL # BRAKQUAD
033907,000064: 31,2360 13041 TCF TTF/8CL # APPRQUAD
033908,000065: 31,2361 13514 TCF VERTGUID # VERTICAL
033909,000066:
033910,000067: # POST GUIDANCE EQUATION COMPUTATIONS:
033911,000068:
033912,000069: 31,2362 13240 TCF CGCALC # IGNALG
033913,000070: 31,2363 13225 AFTRGUID TCF EXTLOGIC # BRAKQUAD
033914,000071: 31,2364 13225 TCF EXTLOGIC # APPRQUAD
033915,000072: 31,2365 13411 TCF STEER? # VERTICAL
033916,000073:
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Page 792 |
033918,000075: # WINDOW VECTOR COMPUTATIONS:
033919,000076:
033920,000077: 31,2366 13310 TCF EXGSUB # IGNALG
033921,000078: 31,2367 13331 WHATEXIT TCF EXBRAK # BRAKQUAD
033922,000079: 31,2370 13337 TCF EXNORM # APPRQUAD
033923,000080:
033924,000081: # DISPLAY ROUTINES:
033925,000082:
033926,000083: 31,2371 13450 WHATDISP TCF P63DISPS # BRAKQUAD
033927,000084: 31,2372 13453 TCF P64DISPS # APPRQUAD
033928,000085: 31,2373 13502 TCF VERTDISP # VERTICAL
033929,000086:
033930,000087: # ALARM ROUTINE FOR TTF COMPUTATION:
033931,000088:
033932,000089: 31,2374 13712 TCF 1406POO # IGNALG
033933,000090: 31,2375 13714 WHATALM TCF 1406ALM # BRAKQUAD
033934,000091: 31,2376 13714 TCF 1406ALM # APPRQUAD
033935,000092:
033936,000093: # INDICES FOR REFERENCING TARGET PARAMETERS:
033937,000094:
033938,000095: 31,2377 00000 OCT 0 # IGNALG
033939,000096: 31,2400 00000 TARGTDEX OCT 0 # BRAKQUAD
033940,000097: 31,2401 00034 OCT 34 # APPRQUAD
033941,000098:
033942,000099: # ****************************************************************************************************************
033943,000100: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
033944,000101: # ****************************************************************************************************************
033945,000102:
033946,000103: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
033947,000104:
033948,000105: 31,2402 77776 ?GUIDSUB EXIT
033949,000106: 31,2403 34752 CAF TWO # N = 3
033950,000107: 31,2404 55647 TS NGUIDSUB
033951,000108: 31,2405 12541 TCF GUILDRET +2
033952,000109:
033953,000110: 31,2406 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
033954,000111: 31,2407 12763 TCF CALCRGVG
033955,000112:
033956,000113: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
033957,000114:
033958,000115: 31,2410 05353 LUNLAND TC PHASCHNG
033959,000116: 31,2411 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
033960,000117: 31,2412 30101 CA FLAGWRD5 # HAS THROTTLE-UP COME YET?
033961,000118: 31,2413 74744 MASK ZOOMBIT
033962,000119: 31,2414 00006 EXTEND
033963,000120: 31,2415 13442 BZF DISPEXIT +3 # NO: DO DISPLAYS ONLY
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Page 793 |
033965,000122: 31,2416 05353 TC PHASCHNG # YES: DO GUIDANCE
033966,000123: 31,2417 05023 OCT 05023
033967,000124: 31,2420 20000 OCT 20000
033968,000125:
033969,000126: # ****************************************************************************************************************
033970,000127: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
033971,000128: # ****************************************************************************************************************
033972,000129:
033973,000130: 31,2421 COUNT* $$/R13
033974,000131:
033975,000132: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
033976,000133: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
033977,000134: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
033978,000135:
033979,000136: 31,2421 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
033980,000137: 31,2422 00030 READ CHAN30
033981,000138: 31,2423 74747 MASK BIT5
033982,000139: 31,2424 10000 CCS A
033983,000140: 31,2425 12503 TCF STARTP67 # YES
033984,000141: 31,2426 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
033985,000142: 31,2427 00103 DEC 67 B-14
033986,000143: 31,2430 12511 TCF STABL? # NO
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In the printout, a hand-drawn horizontal rule appears here: |
033989,000146: 31,2431 03717 STARTP66 TC FASTCHNG # YES
033990,000147: 31,2432 05311 TC NEWMODEX
033991,000148: 31,2433 00102 DEC66 DEC 66 B-14
033992,000149: 31,2434 00006 EXTEND
033993,000150: 31,2435 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
033994,000151: 31,2436 53645 DXCH VDGVERT # ALTITUDE RATE.
033995,000152: 31,2437 06042 STRTP66A TC INTPRET
033996,000153: 31,2440 41535 SLOAD PUSH
033997,000154: 31,2441 01457 PBIASZ
033998,000155: 31,2442 41535 SLOAD PUSH
033999,000156: 31,2443 01455 PBIASY
034000,000157: 31,2444 55535 SLOAD VDEF
034001,000158: 31,2445 01453 PBIASX
034002,000159: 31,2446 43161 VXSC SET
034003,000160: 31,2447 25546 BIASFACT
034004,000161: 31,2450 00463 RODFLAG
034005,000162: 31,2451 26621 STOVL VBIAS
034006,000163: 31,2452 01254 TEMX
034007,000164: 31,2453 77676 VCOMP
034008,000165: 31,2454 27764 STOVL OLDPIPAX
034009,000166: 31,2455 06524 ZEROVECS
034010,000167: 31,2456 17767 STODL DELVROD
034011,000168: 31,2457 02540 RODSCALE
034012,000169: 31,2460 17757 STODL RODSCAL1
034013,000170: 31,2461 01234 PIPTIME
034014,000171: 31,2462 03760 STORE LASTTPIP
034015,000172: 31,2463 77776 EXIT
034016,000173: 31,2464 34755 CAF ZERO
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Page 794 |
034018,000175: 31,2465 55620 TS FCOLD
034019,000176: 31,2466 55610 TS FWEIGHT
034020,000177: 31,2467 55611 TS FWEIGHT +1
034021,000178: 31,2470 55647 VRTSTART TS WCHVERT
034022,000179: 31,2471 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034023,000180: 31,2472 55621 TS WCHPHOLD
034024,000181: 31,2473 55346 TS WCHPHASE
034025,000182: 31,2474 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034026,000183: 31,2475 40166 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034027,000184: 31,2476 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034028,000185: 31,2477 00311 ADRES XOVINFLG
034029,000186: 31,2500 05516 TC DOWNFLAG
034030,000187: 31,2501 00143 ADRES REDFLAG
034031,000188: 31,2502 13514 TCF VERTGUID
034032,000189:
034033,000190: 31,2503 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
034034,000191: 31,2504 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
034035,000192: 31,2505 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
034036,000193: 31,2506 55746 TS RODCOUNT
034037,000194: 31,2507 34363 CAF TEN
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In the printout, the following line is crossed out. |
034039,000196: 31,2510 12470 TCF VRTSTART
034040,000197:
034041,000198: 31,2511 41010 STABL? CS MODREG # ARE WE IN P66 EVEN THO WE MAY BE IN
034042,000199: 31,2512 62433 AD DEC66 # AUTO DAP?
034043,000200: 31,2513 00006 EXTEND
034044,000201: 31,2514 12532 BZF RESTART? # YES. GO AND CHECK FOR A RESTART.
034045,000202: 31,2515 34737 CAF BIT13 # NO. UN-ATTITUDE-HOLD DISCRETE PRESENT?
034046,000203: 31,2516 00006 EXTEND
034047,000204: 31,2517 02031 RAND CHAN31
034048,000205: 31,2520 10000 CCS A
034049,000206: 31,2521 12537 TCF GUILDRET # YES: ALL'S WELL
034050,000207:
034051,000208: 31,2522 41010 P66NOW? CS MODREG
034052,000209: 31,2523 62433 AD DEC66
034053,000210: 31,2524 00006 EXTEND
034054,000211: 31,2525 12532 BZF RESTART?
034055,000212:
034056,000213: 31,2526 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
034057,000214: 31,2527 00006 EXTEND
034058,000215: 31,2530 12537 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
034059,000216: 31,2531 12431 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
034060,000217:
034061,000218: 31,2532 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034062,000219: 31,2533 74740 MASK RODFLBIT
034063,000220: 31,2534 00006 EXTEND
034064,000221: 31,2535 12437 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034065,000222: # IS.
034066,000223:
034067,000224: 31,2536 13514 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
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Page 795 |
034069,000226:
034070,000227: # ****************************************************************************************************************
034071,000228: # INITIALIZATION FOR THIS PASS
034072,000229: # ****************************************************************************************************************
034073,000230:
034074,000231: 31,2537 COUNT* $$/F2DPS
034075,000232:
034076,000233: 31,2537 34755 GUILDRET CAF ZERO
034077,000234: 31,2540 55746 TS RODCOUNT
034078,000235:
034079,000236: 31,2541 00006 +2 EXTEND
034080,000237: 31,2542 31625 DCA TPIP
034081,000238: 31,2543 53574 DXCH TPIPOLD
034082,000239:
034083,000240: 31,2544 03717 TC FASTCHNG
034084,000241:
034085,000242: 31,2545 00006 EXTEND
034086,000243: 31,2546 31561 DCA PIPTIME1
034087,000244: 31,2547 53625 DXCH TPIP
034088,000245:
034089,000246: 31,2550 00006 EXTEND
034090,000247: 31,2551 31643 DCA TTF/8
034091,000248: 31,2552 53553 DXCH TTF/8TMP
034092,000249:
034093,000250: 31,2553 11623 CCS FLPASS0
034094,000251: 31,2554 12603 TCF TTFINCR
034095,000252:
034096,000253: 31,2555 51346 BRSPOT1 INDEX WCHPHASE
034097,000254: 31,2556 12347 TCF NEWPHASE
034098,000255:
034099,000256: # ****************************************************************************************************************
034100,000257: # ROUTINES TO START NEW PHASES
034101,000258: # ****************************************************************************************************************
034102,000259:
034103,000260: 31,2557 05311 P65START TC NEWMODEX
034104,000261: 31,2560 00101 DEC 65 B-14
034105,000262: 31,2561 44752 CS TWO
034106,000263: 31,2562 55647 TS WCHVERT
034107,000264: 31,2563 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034108,000265: 31,2564 00311 ADRES XOVINFLG
034109,000266: 31,2565 12603 TCF TTFINCR
034110,000267:
034111,000268: 31,2566 05311 STARTP64 TC NEWMODEX
034112,000269: 31,2567 00100 DEC 64 B-14
034113,000270: 31,2570 31425 CA DELTTFAP # AUGMENT TTF/8
034114,000271: 31,2571 27552 ADS TTF/8TMP
034115,000272: 31,2572 00004 INHINT
034116,000273: 31,2573 06022 TC C13STALL
034117,000274: 31,2574 34740 CA BIT12 # ENABLE RUPT10
034118,000275: 31,2575 00006 EXTEND
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Page 796 |
034120,000277: 31,2576 05013 WOR CHAN13
034121,000278: 31,2577 33727 CAF P64DB
034122,000279: 31,2600 55343 TS DB
034123,000280: 31,2601 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034124,000281: 31,2602 00143 ADRES REDFLAG
034125,000282:
034126,000283:
034127,000284: # (CONTINUE TO TTFINCR)
034128,000285:
034129,000286: # ****************************************************************************************************************
034130,000287: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034131,000288: # ****************************************************************************************************************
034132,000289:
034133,000290: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
034134,000291: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034135,000292:
034136,000293: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034137,000294:
034138,000295: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034139,000296:
034140,000297: # - - - -
034141,000298: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034142,000299:
034143,000300: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034144,000301:
034145,000302: # - -
034146,000303: # RANGEDSP = ABVAL(LAND - R)
034147,000304:
034148,000305: 31,2603 06042 TTFINCR TC INTPRET
034149,000306: 31,2604 45345 DLOAD DSU
034150,000307: 31,2605 03625 TPIP
034151,000308: 31,2606 03574 TPIPOLD
034152,000309: 31,2607 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034153,000310: 31,2610 21214 11D
034154,000311: 31,2611 47361 VXSC VXV
034155,000312: 31,2612 03635 LAND
034156,000313: 31,2613 02325 WM
034157,000314: 31,2614 47045 BVSU RTB
034158,000315: 31,2615 03635 LAND
034159,000316: 31,2616 21727 NORMUNIT
034160,000317: 31,2617 76561 VXSC VSL1
034161,000318: 31,2620 02333 /LAND/
034162,000319: 31,2621 17545 STODL LANDTEMP
034163,000320: 31,2622 77776 EXIT
034164,000321:
034165,000322: 31,2623 52155 DXCH MPAC
034166,000323: 31,2624 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034167,000324:
034168,000325: 31,2625 03717 TC FASTCHNG
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Page 804 |
034170,000327:
034171,000328: 31,2626 00006 EXTEND
034172,000329: 31,2627 31553 DCA TTF/8TMP
034173,000330: 31,2630 53643 DXCH TTF/8
034174,000331:
034175,000332: 31,2631 03663 TC TDISPSET
034176,000333:
034177,000334: 31,2632 37721 CAF PRIO31 # TEMPORARILY OVER-PRIO CHARIN
034178,000335: 31,2633 05146 TC PRIOCHNG
034179,000336:
034180,000337: 31,2634 06042 TC INTPRET
034181,000338: 31,2635 53375 VLOAD VAD # ADD IN CORRECTION FROM NOUN 69
034182,000339: 31,2636 03545 LANDTEMP
034183,000340: 31,2637 02635 DLAND
034184,000341: 31,2640 03635 STORE LAND
034185,000342: 31,2641 77646 ABVAL # RECOMPUTE /LAND/
034186,000343: 31,2642 02333 STORE /LAND/
034187,000344: 31,2643 77776 EXIT
034188,000345:
034189,000346: 31,2644 03717 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
034190,000347:
034191,000348: 31,2645 35014 CAF EBANK5
034192,000349: 31,2646 E5,1634 EBANK= DLAND
034193,000350: 31,2646 54003 TS EBANK
034194,000351: 31,2647 34755 CAF ZERO # ZERO N 69 REGISTERS
034195,000352: 31,2650 55634 TS DLAND
034196,000353: 31,2651 55635 TS DLAND +1
034197,000354: 31,2652 55636 TS DLAND +2
034198,000355: 31,2653 55637 TS DLAND +3
034199,000356: 31,2654 55640 TS DLAND +4
034200,000357: 31,2655 55641 TS DLAND +5
034201,000358: 31,2656 35016 CAF EBANK7
034202,000359: 31,2657 E7,1666 EBANK= TREDES
034203,000360: 31,2657 54003 TS EBANK
034204,000361:
034205,000362: 31,2660 34736 CAF PRIO20
034206,000363: 31,2661 05146 TC PRIOCHNG
034207,000364:
034208,000365: 31,2662 51346 BRSPOT2 INDEX WCHPHASE
034209,000366: 31,2663 12353 TCF PREGUIDE
034210,000367:
034211,000368: # ****************************************************************************************************************
034212,000369: # LANDING SITE PERTURBATION EQUATIONS
034213,000370: # ****************************************************************************************************************
034214,000371:
034215,000372: 31,2664 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
034216,000373: 31,2665 74746 MASK REDFLBIT
034217,000374: 31,2666 00006 EXTEND
034218,000375: 31,2667 12773 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
034219,000376:
034220,000377: 31,2670 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
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Page 798 |
034222,000379: 31,2671 00006 EXTEND
034223,000380: 31,2672 12773 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
034224,000381:
034225,000382: 31,2673 00004 INHINT
034226,000383: 31,2674 31446 CA ELINCR1
034227,000384: 31,2675 55554 TS ELINCR
034228,000385: 31,2676 31445 CA AZINCR1
034229,000386: 31,2677 55556 TS AZINCR
034230,000387: 31,2700 03717 TC FASTCHNG
034231,000388:
034232,000389: 31,2701 34755 CA ZERO
034233,000390: 31,2702 55446 TS ELINCR1
034234,000391: 31,2703 55445 TS AZINCR1
034235,000392: 31,2704 55555 TS ELINCR +1
034236,000393: 31,2705 55557 TS AZINCR +1
034237,000394:
034238,000395: 31,2706 30120 CA FIXLOC # SET PD TO 0
034239,000396: 31,2707 54166 TS PUSHLOC
034240,000397:
034241,000398: 31,2710 06042 TC INTPRET
034242,000399: 31,2711 52375 VLOAD VSU
034243,000400: 31,2712 03635 LAND
034244,000401: 31,2713 03521 R # - -
034245,000402: 31,2714 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
034246,000403: 31,2715 21727 NORMUNIT
034247,000404: 31,2716 76435 VXV VSL1
034248,000405: 31,2717 02154 YNBPIP # - - -
034249,000406: 31,2720 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
034250,000407: 31,2721 03555 ELINCR
034251,000408: 31,2722 03557 AZINCR
034252,000409: 31,2723 52361 VXSC VSU
034253,000410: 31,2724 02154 YNBPIP
034254,000411: 31,2725 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
034255,000412:
034256,000413:
034257,000414: 31,2726 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
034258,000415: 31,2727 00001 0 # TOO CLOSE TO THE HORIZON
034259,000416: 31,2730 05660 DEPRCRIT
034260,000417: 31,2731 71240 BMN DLOAD
034261,000418: 31,2732 62735 REDES1
034262,000419: 31,2733 05660 DEPRCRIT
034263,000420: 31,2734 00001 STORE 0
034264,000421: 31,2735 45345 REDES1 DLOAD DSU
034265,000422: 31,2736 03635 LAND
034266,000423: 31,2737 03521 R
034267,000424: 31,2740 74271 DDV VXSC
034268,000425: 31,2741 00001 0
034269,000426: 31,2742 53455 VAD UNIT
034270,000427: 31,2743 03521 R
034271,000428: 31,2744 76561 VXSC VSL1
034272,000429: 31,2745 02333 /LAND/
![]() |
Page 799 |
034274,000431: 31,2746 03545 STORE LANDTEMP
034275,000432: 31,2747 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
034276,000433:
034277,000434: 31,2750 03717 TC FASTCHNG
034278,000435:
034279,000436: 31,2751 00006 EXTEND
034280,000437: 31,2752 31545 DCA LANDTEMP
034281,000438: 31,2753 53635 DXCH LAND
034282,000439: 31,2754 00006 EXTEND
034283,000440: 31,2755 31547 DCA LANDTEMP +2
034284,000441: 31,2756 53637 DXCH LAND +2
034285,000442: 31,2757 00006 EXTEND
034286,000443: 31,2760 31551 DCA LANDTEMP +4
034287,000444: 31,2761 53641 DXCH LAND +4
034288,000445:
034289,000446: 31,2762 12773 TCF RGVGCALC
034290,000447:
034291,000448: # ****************************************************************************************************************
034292,000449: # COMPUTE STATE IN GUIDANCE COORDINATES
034293,000450: # ****************************************************************************************************************
034294,000451:
034295,000452: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
034296,000453: # VELOCITY RELATIVE TO THE SURFACE:
034297,000454:
034298,000455: # - - - -
034299,000456: # ANGTERM = V + R * WM
034300,000457:
034301,000458: # STATE IN GUIDANCE COORDINATES:
034302,000459:
034303,000460: # - * - -
034304,000461: # RGU = CG (R - LAND)
034305,000462:
034306,000463: # - * - - -
034307,000464: # VGU = CG (V - WM * R)
034308,000465:
034309,000466: # HORIZONTAL VELOCITY FOR DISPLAY:
034310,000467:
034311,000468: # VHORIZ = 8 ABVAL (0, VG , VG )
034312,000469: # 2 1
034313,000470:
034314,000471: # DEPRESSION ANGLE FOR DISPLAY:
034315,000472:
034316,000473: # - - -
034317,000474: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
034318,000475:
034319,000476: 31,2763 06042 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
034320,000477: 31,2764 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
034321,000478: 31,2765 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
034322,000479: 31,2766 01734 REFSMMAT
![]() |
Page 800 |
034324,000481: 31,2767 53362 VSR1 VAD
034325,000482: 31,2770 03254 UNFC/2
034326,000483: 31,2771 03527 STORE V
034327,000484: 31,2772 77776 EXIT
034328,000485:
034329,000486: 31,2773 06042 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
034330,000487: 31,2774 47375 VLOAD VXV
034331,000488: 31,2775 03521 R
034332,000489: 31,2776 02325 WM
034333,000490: 31,2777 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
034334,000491: 31,3000 03527 V
034335,000492: 31,3001 02265 STORE ANGTERM
034336,000493: 31,3002 77721 MXV
034337,000494: 31,3003 02575 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
034338,000495: 31,3004 03627 STORE VGU
034339,000496: 31,3005 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
034340,000497: 31,3006 06524 ZEROVECS # 2 1
034341,000498: 31,3007 52446 ABVAL SL3
034342,000499: 31,3010 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
034343,000500: 31,3011 03521 R # - -
034344,000501: 31,3012 41451 VSU PUSH # PUSH DOWN R - LAND
034345,000502: 31,3013 03635 LAND
034346,000503: 31,3014 76521 MXV VSL1
034347,000504: 31,3015 02575 CG
034348,000505: 31,3016 02627 STORE RGU
034349,000506: 31,3017 77646 ABVAL
034350,000507: 31,3020 26617 STOVL RANGEDSP
034351,000508: 31,3021 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
034352,000509: 31,3022 21727 NORMUNIT
034353,000510: 31,3023 02146 XNBPIP
034354,000511: 31,3024 77776 EXIT
034355,000512:
034356,000513: 31,3025 30120 CA FIXLOC # RESET PUSH DOWN POINTER
034357,000514: 31,3026 54166 TS PUSHLOC
034358,000515:
034359,000516: 31,3027 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
034360,000517: 31,3030 60000 DOUBLE
034361,000518: 31,3031 04616 TC BANKCALL
034362,000519: 31,3032 61657 CADR SPARCSIN -1
034363,000520: 31,3033 63733 AD 1/2DEG
034364,000521: 31,3034 00006 EXTEND
034365,000522: 31,3035 73732 MP 180DEGS
034366,000523: 31,3036 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
034367,000524:
034368,000525: 31,3037 51346 BRSPOT3 INDEX WCHPHASE
034369,000526: 31,3040 12357 TCF WHATGUID
034370,000527:
034371,000528: # ****************************************************************************************************************
034372,000529: # TTF/8 COMPUTATION
034373,000530: # ****************************************************************************************************************
034374,000531:
![]() |
Page 801 |
034376,000533: 31,3041 03656 TTF/8CL TC INTPRETX
034377,000534: 31,3042 77743 DLOAD*
034378,000535: 31,3043 02431 JDG2TTF,1
034379,000536: 31,3044 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
034380,000537: 31,3045 02427 ADG2TTF,1 # 2
034381,000538: 31,3046 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
034382,000539: 31,3047 03633 VGU +4 # 2
034383,000540: 31,3050 42605 DMP DAD*
034384,000541: 31,3051 05656 3/4DP
034385,000542: 31,3052 02425 VDG2TTF,1
034386,000543: 31,3053 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
034387,000544: 31,3054 02407 RDG +4,1 # 2 2
034388,000545: 31,3055 41225 DSU DMP
034389,000546: 31,3056 02633 RGU +4
034390,000547: 31,3057 05654 3/8DP
034391,000548: 31,3060 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
034392,000549: 31,3061 77776 EXIT # 2 2
034393,000550:
034394,000551: 31,3062 34744 CA BIT8
034395,000552: 31,3063 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
034396,000553:
034397,000554: 31,3064 00006 EXTEND
034398,000555: 31,3065 31643 DCA TTF/8
034399,000556: 31,3066 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
034400,000557: 31,3067 34752 CAF TWO # DEGREE - ONE
034401,000558: 31,3070 54001 TS L
034402,000559: 31,3071 33725 CAF TABLTTFL
034403,000560: 31,3072 03532 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
034404,000561: 31,3073 51346 INDEX WCHPHASE
034405,000562: 31,3074 12375 TCF WHATALM
034406,000563:
034407,000564: 31,3075 00006 EXTEND # GOOD RETURN
034408,000565: 31,3076 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
034409,000566: 31,3077 53643 DXCH TTF/8 # CORRECTED TTF/8
034410,000567:
034411,000568: 31,3100 03663 TC TDISPSET
034412,000569:
034413,000570: # (CONTINUE TO QUADGUID)
034414,000571:
034415,000572: # ****************************************************************************************************************
034416,000573: # MAIN GUIDANCE EQUATION
034417,000574: # ****************************************************************************************************************
034418,000575:
034419,000576: # AS PUBLISHED:-
034420,000577:
034421,000578: # - - - -
034422,000579: # - - 6(VDG + VG) 12(RDG - RG)
034423,000580: # ACG = ADG + ----------- + ------------
034424,000581: # TTF (TTF)(TTF)
034425,000582:
![]() |
Page 802 |
034427,000584: # AS HERE PROGRAMMED:-
034428,000585: # - -
034429,000586: # 3 (1/4(RDG - RG) - - )
034430,000587: # - (------------- + VDG + VG)
034431,000588: # - 4 ( TTF/8 ) -
034432,000589: # ACG = ---------------------------- + ADG
034433,000590: # TTF/8
034434,000591:
034435,000592: 31,3101 41642 QUADGUID CS TTF/8
034436,000593: 31,3102 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
034437,000594: 31,3103 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
034438,000595: 31,3104 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
034439,000596: 31,3105 40001 CS L
034440,000597: 31,3106 60001 AD L
034441,000598: 31,3107 22007 ZL
034442,000599: 31,3110 00006 EXTEND
034443,000600: 31,3111 11642 DV TTF/8
034444,000601: 31,3112 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
034445,000602: 31,3113 00006 EXTEND
034446,000603: 31,3114 70000 SQUARE
034447,000604: 31,3115 54131 TS BUF +1
034448,000605: 31,3116 60130 AD BUF
034449,000606: 31,3117 56131 XCH BUF +1 # RATIO SQUARED - RATIO
034450,000607: 31,3120 60131 AD BUF +1
034451,000608: 31,3121 54154 TS MPAC # COEFFICIENT FOR VGU TERM
034452,000609: 31,3122 60131 AD BUF +1
034453,000610: 31,3123 50120 INDEX FIXLOC
034454,000611: 31,3124 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
034455,000612: 31,3125 60131 AD BUF +1
034456,000613: 31,3126 50120 INDEX FIXLOC
034457,000614: 31,3127 54034 TS 28D # COEFFICIENT FOR VDG TERM
034458,000615: 31,3130 60130 AD BUF
034459,000616: 31,3131 64733 AD POSMAX
034460,000617: 31,3132 60131 AD BUF +1
034461,000618: 31,3133 60131 AD BUF +1
034462,000619: 31,3134 50120 INDEX FIXLOC
034463,000620: 31,3135 54036 TS 30D # COEFFICIENT FOR ADG TERM
034464,000621:
034465,000622: 31,3136 34755 CAF ZERO
034466,000623: 31,3137 54163 TS MODE
034467,000624:
034468,000625: 31,3140 03656 TC INTPRETX
034469,000626: 31,3141 65361 VXSC PDDL
034470,000627: 31,3142 03627 VGU
034471,000628: 31,3143 00035 28D
034472,000629: 31,3144 62757 VXSC* PDVL*
034473,000630: 31,3145 02411 VDG,1
034474,000631: 31,3146 02403 RDG,1
034475,000632: 31,3147 70251 VSU V/SC
![]() |
Page 803 |
034477,000634: 31,3150 02627 RGU
034478,000635: 31,3151 03643 TTF/8
034479,000636: 31,3152 74342 VSR2 VXSC
034480,000637: 31,3153 00033 26D
034481,000638: 31,3154 53255 VAD VAD
034482,000639: 31,3155 74341 V/SC VXSC
034483,000640: 31,3156 03643 TTF/8
034484,000641: 31,3157 05656 3/4DP
034485,000642: 31,3160 73725 PDDL VXSC*
034486,000643: 31,3161 00037 30D
034487,000644: 31,3162 02417 ADG,1
034488,000645: 31,3163 77655 VAD
034489,000646: 31,3164 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
034490,000647: 31,3165 02575 CG
034491,000648: 31,3166 70315 PDVL V/SC
034492,000649: 31,3167 01236 GDT/2
034493,000650: 31,3170 05652 GSCALE
034494,000651: 31,3171 45445 BVSU STADR
034495,000652: 31,3172 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
034496,000653: 31,3173 77646 ABVAL
034497,000654: 31,3174 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
034498,000655: 31,3175 03254 UNFC/2 # VERTICAL COMPONENT
034499,000656: 31,3176 65316 DSQ PDDL
034500,000657: 31,3177 03256 UNFC/2 +2 # OUT-OF-PLANE
034501,000658: 31,3200 65316 DSQ PDDL
034502,000659: 31,3201 05650 HIGHESTF
034503,000660: 31,3202 63471 DDV DSQ
034504,000661: 31,3203 01244 MASS # 2 2 2
034505,000662: 31,3204 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
034506,000663: 31,3205 71244 BPL DLOAD # 1 0
034507,000664: 31,3206 63210 AFCCALC3
034508,000665: 31,3207 06524 ZEROVECS
034509,000666: 31,3210 43366 AFCCALC3 SQRT DAD
034510,000667: 31,3211 03260 UNFC/2 +4
034511,000668: 31,3212 44244 BPL BDSU
034512,000669: 31,3213 63216 AFCCLEND
034513,000670: 31,3214 03260 UNFC/2 +4
034514,000671: 31,3215 03260 STORE UNFC/2 +4
034515,000672: 31,3216 77776 AFCCLEND EXIT
034516,000673: 31,3217 03717 TC FASTCHNG
034517,000674:
034518,000675: 31,3220 31346 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
034519,000676: 31,3221 55621 TS WCHPHOLD
034520,000677: 31,3222 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
034521,000678:
034522,000679: 31,3223 51346 BRSPOT4 INDEX WCHPHASE
034523,000680: 31,3224 12363 TCF AFTRGUID
034524,000681:
034525,000682: # ****************************************************************************************************************
034526,000683: # NEW PHASE NOW?
![]() |
Page 804 |
034528,000685: # ****************************************************************************************************************
034529,000686:
034530,000687: 31,3225 51346 EXTLOGIC INDEX WCHPHASE # IS TTF NEARER ZERO THAN CRITERION?
034531,000688: 31,3226 31423 CA TENDBRAK
034532,000689: 31,3227 61642 AD TTF/8
034533,000690: 31,3230 00006 EXTEND
034534,000691: 31,3231 63240 BZMF CGCALC # NO
034535,000692:
034536,000693: 31,3232 03717 TC FASTCHNG # YES: INCREMENT WCHPHASE, ZERO FLPASS0
034537,000694:
034538,000695: 31,3233 31621 CA WCHPHOLD
034539,000696: 31,3234 64753 AD ONE
034540,000697: 31,3235 55346 TS WCHPHASE
034541,000698: 31,3236 34755 CAF ZERO
034542,000699: 31,3237 55623 TS FLPASS0
034543,000700:
034544,000701: # (CONTINUE TO CGCALC)
034545,000702:
034546,000703: # ***************************************************************************************************************
034547,000704: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
034548,000705: # ***************************************************************************************************************
034549,000706:
034550,000707: 31,3240 35014 CGCALC CAF EBANK5
034551,000708: 31,3241 54003 TS EBANK
034552,000709: 31,3242 E5,1435 EBANK= TCGIBRAK
034553,000710: 31,3242 00006 EXTEND
034554,000711: 31,3243 51346 INDEX WCHPHASE
034555,000712: 31,3244 52400 INDEX TARGTDEX
034556,000713: 31,3245 31435 DCA TCGFBRAK
034557,000714: 31,3246 24006 INCR BBANK
034558,000715: 31,3247 24006 INCR BBANK
034559,000716: 31,3250 E7,1642 EBANK= TTF/8
034560,000717: 31,3250 61642 AD TTF/8
034561,000718: 31,3251 56001 XCH L
034562,000719: 31,3252 61642 AD TTF/8
034563,000720: 31,3253 10000 CCS A
034564,000721: 31,3254 10001 CCS L
034565,000722: 31,3255 13306 TCF EXITSPOT
034566,000723: 31,3256 13306 TCF EXITSPOT
034567,000724: 31,3257 13260 NOOP
034568,000725:
034569,000726: 31,3260 03656 TC INTPRETX
034570,000727: 31,3261 53575 VLOAD UNIT
034571,000728: 31,3262 03635 LAND
034572,000729: 31,3263 16575 STODL CG
034573,000730: 31,3264 03643 TTF/8
034574,000731: 31,3265 74203 DMP* VXSC
034575,000732: 31,3266 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
034576,000733: 31,3267 02265 ANGTERM
034577,000734: 31,3270 77655 VAD
![]() |
Page 805 |
034579,000736: 31,3271 03635 LAND
034580,000737: 31,3272 47051 VSU RTB
034581,000738: 31,3273 03521 R
034582,000739: 31,3274 21727 NORMUNIT
034583,000740: 31,3275 47035 VXV RTB
034584,000741: 31,3276 03635 LAND
034585,000742: 31,3277 21727 NORMUNIT
034586,000743: 31,3300 26603 STOVL CG +6 # SECOND ROW
034587,000744: 31,3301 02575 CG
034588,000745: 31,3302 76435 VXV VSL1
034589,000746: 31,3303 02603 CG +6
034590,000747: 31,3304 02611 STORE CG +14
034591,000748: 31,3305 77776 EXIT
034592,000749:
![]() |
In the printout, the following two lines (and possibly the EXIT above) are circled in red. |
034595,000752: 31,3306 51621 EXITSPOT INDEX WCHPHOLD
034596,000753: 31,3307 12367 TCF WHATEXIT
034597,000754:
034598,000755: # ****************************************************************************************************************
034599,000756: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
034600,000757: # ****************************************************************************************************************
034601,000758:
034602,000759: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
034603,000760:
034604,000761: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
034605,000762:
034606,000763: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
034607,000764:
034608,000765: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
034609,000766:
034610,000767: 31,3310 06042 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
034611,000768: 31,3311 47175 VLOAD RTB
034612,000769: 31,3312 03254 UNFC/2
034613,000770: 31,3313 21727 NORMUNIT
034614,000771: 31,3314 74361 VXSC VXSC
034615,000772: 31,3315 03423 ZOOMTIME
034616,000773: 31,3316 22001 TRIMACCL
034617,000774: 31,3317 03254 STORE UNFC/2
034618,000775: 31,3320 77776 EXIT
034619,000776:
034620,000777: 31,3321 11647 CCS NGUIDSUB
034621,000778: 31,3322 12406 TCF GUIDSUB
034622,000779: 31,3323 11646 CCS NIGNLOOP
034623,000780: 31,3324 13327 TCF +3
034624,000781: 31,3325 05567 TC ALARM
034625,000782: 31,3326 01412 OCT 01412
034626,000783:
034627,000784: 31,3327 04635 +3 TC POSTJUMP
034628,000785: 31,3330 65103 CADR DDUMCALC
034629,000786:
034630,000787: 31,3331 06042 EXBRAK TC INTPRET
![]() |
Page 806 |
034632,000789: 31,3332 77775 VLOAD
034633,000790: 31,3333 03537 UNIT/R/
034634,000791: 31,3334 03262 STORE UNWC/2
034635,000792: 31,3335 77776 EXIT
034636,000793: 31,3336 13411 TCF STEER?
034637,000794:
![]() |
In the printout, there is a hand-drawn, downward-facing bracket, spanning the entire line below, hand-drawn in red. |
034640,000797: 31,3337 06042 EXNORM TC INTPRET
034641,000798: 31,3340 52375 VLOAD VSU
034642,000799: 31,3341 03635 LAND
034643,000800: 31,3342 03521 R
034644,000801: 31,3343 77634 RTB
034645,000802: 31,3344 21727 NORMUNIT
034646,000803: 31,3345 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
034647,000804: 31,3346 50235 VXV DOT
034648,000805: 31,3347 02146 XNBPIP
034649,000806: 31,3350 02603 CG +6
034650,000807: 31,3351 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
034651,000808:
034652,000809: 31,3352 40154 CS MPAC # GET COEFFICIENT FOR CG +14
034653,000810: 31,3353 63734 AD PROJMAX
034654,000811: 31,3354 64733 AD POSMAX
034655,000812: 31,3355 54130 TS BUF
034656,000813: 31,3356 40130 CS BUF
034657,000814: 31,3357 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
034658,000815:
034659,000816: 31,3360 43735 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
034660,000817: 31,3361 60154 AD MPAC
034661,000818: 31,3362 64733 AD POSMAX
034662,000819: 31,3363 54131 TS BUF +1
034663,000820: 31,3364 40131 CS BUF +1
034664,000821: 31,3365 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
034665,000822:
034666,000823: 31,3366 34751 CAF FOUR
034667,000824: 31,3367 76245 UNWCLOOP MASK SIX
034668,000825: 31,3370 54002 TS Q
034669,000826: 31,3371 35014 CA EBANK5
034670,000827: 31,3372 54003 TS EBANK
034671,000828: 31,3373 E5,1574 EBANK= CG
034672,000829: 31,3373 30130 CA BUF
034673,000830: 31,3374 00006 EXTEND
034674,000831: 31,3375 50002 INDEX Q
034675,000832: 31,3376 71610 MP CG +14
034676,000833: 31,3377 24006 INCR BBANK
034677,000834: 31,3400 E6,1661 EBANK= UNWC/2
034678,000835: 31,3400 50002 INDEX Q
034679,000836: 31,3401 53662 DXCH UNWC/2
034680,000837: 31,3402 00006 EXTEND
034681,000838: 31,3403 70131 MP BUF +1
034682,000839: 31,3404 50002 INDEX Q
034683,000840: 31,3405 21662 DAS UNWC/2
![]() |
Page 807 |
034685,000842: 31,3406 10002 CCS Q
034686,000843: 31,3407 13367 TCF UNWCLOOP
034687,000844:
034688,000845: 31,3410 24006 INCR BBANK
034689,000846: 31,3411 E7,1612 EBANK= PIF
034690,000847:
034691,000848: 31,3411 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
034692,000849: 31,3412 74741 MASK STEERBIT
034693,000850: 31,3413 00006 EXTEND
034694,000851: 31,3414 13422 BZF RATESTOP
034695,000852:
034696,000853: 31,3415 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
034697,000854: 31,3416 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
034698,000855: 31,3417 13432 BZF +13
034699,000856:
034700,000857: 31,3420 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
034701,000858: 31,3421 01410 OCT 01410
034702,000859:
034703,000860: 31,3422 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
034704,000861: 31,3423 00006 EXTEND
034705,000862: 31,3424 02031 RAND CHAN31
034706,000863: 31,3425 00006 EXTEND
034707,000864: 31,3426 13437 BZF DISPEXIT # YES
034708,000865:
034709,000866: 31,3427 04616 TC BANKCALL # NO: DO A STOPRATE
034710,000867: 31,3430 40166 CADR STOPRATE
034711,000868:
034712,000869: 31,3431 13437 TCF DISPEXIT
034713,000870:
034714,000871: 31,3432 02144 GDUMP1 TC THROTTLE
034715,000872: 31,3433 06042 TC INTPRET
034716,000873: 31,3434 77624 CALL
034717,000874: 31,3435 61076 FINDCDUW -2
034718,000875: 31,3436 77776 EXIT
034719,000876:
034720,000877: # (CONTINUE TO DISPEXIT)
034721,000878:
034722,000879: # ****************************************************************************************************************
034723,000880: # GUIDANCE LOOP DISPLAYS
034724,000881: # ****************************************************************************************************************
034725,000882:
034726,000883: 31,3437 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
034727,000884: 31,3440 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
034728,000885: 31,3441 52756 DXCH -PHASE3
034729,000886:
034730,000887: 31,3442 31,3442 ENDLLJOB = DISPEXIT +3
034731,000888:
034732,000889: 31,3442 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
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Page 808 |
034734,000891: 31,3443 74742 MASK FLUNDBIT
034735,000892: 31,3444 00006 EXTEND
034736,000893: 31,3445 15155 BZF ENDOFJOB
034737,000894:
034738,000895: 31,3446 51621 INDEX WCHPHOLD
034739,000896: 31,3447 12371 TCF WHATDISP
034740,000897:
034741,000898: 31,3450 33736 P63DISPS CAF V06N63
034742,000899: 31,3451 04616 DISPCOMN TC BANKCALL
034743,000900: 31,3452 20466 CADR REGODSP
034744,000901:
034745,000902: 31,3453 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
034746,000903: 31,3454 00006 EXTEND
034747,000904: 31,3455 13476 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
034748,000905:
034749,000906: 31,3456 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
034750,000907: 31,3457 74746 MASK REDFLBIT
034751,000908: 31,3460 00006 EXTEND
034752,000909: 31,3461 13500 BZF REDES-OK # YES: DO STATIC DISPLAY
034753,000910:
034754,000911: 31,3462 33737 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
034755,000912: 31,3463 04616 TC BANKCALL
034756,000913: 31,3464 20460 CADR REFLASH
034757,000914: 31,3465 16001 TCF GOTOPOOH # TERMINATE
034758,000915: 31,3466 13470 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
034759,000916: 31,3467 13453 TCF P64DISPS # RECYCLE
034760,000917:
![]() |
In the printout, the following three lines are grouped together by hand-drawn lines, in blue, to the left and the right. |
034763,000920: 31,3470 34755 P64CEED CAF ZERO
034764,000921: 31,3471 55446 TS ELINCR1
034765,000922: 31,3472 55445 TS AZINCR1
034766,000923:
034767,000924: 31,3473 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
034768,000925: 31,3474 00143 ADRES REDFLAG
034769,000926:
034770,000927: 31,3475 15155 TCF ENDOFJOB
034771,000928:
034772,000929: 31,3476 05516 RED-OVER TC DOWNFLAG
034773,000930: 31,3477 00143 ADRES REDFLAG
034774,000931: 31,3500 33737 REDES-OK CAF V06N64
034775,000932: 31,3501 13451 TCF DISPCOMN
034776,000933:
034777,000934:
034778,000935: 31,3502 33740 VERTDISP CAF V06N60
034779,000936: 31,3503 04616 TC BANKCALL
034780,000937: 31,3504 20460 CADR REFLASH
034781,000938: 31,3505 16001 TCF GOTOPOOH # TERMINATE
034782,000939: 31,3506 13510 TCF STOPFIRE # PROCEED
034783,000940: 31,3507 13510 TCF STOPFIRE # V32E
034784,000941:
034785,000942: 31,3510 00004 STOPFIRE INHINT
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Page 809 |
034787,000944: 31,3511 04616 TC BANKCALL
034788,000945: 31,3512 40154 CADR ZATTEROR
034789,000946: 31,3513 15155 TCF ENDOFJOB
034790,000947:
034791,000948: # ****************************************************************************************************************
034792,000949: # GUIDANCE FOR P65
034793,000950: # ****************************************************************************************************************
034794,000951:
034795,000952: 31,3514 11647 VERTGUID CCS WCHVERT
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In the printout, in the line below, "TCF P67VERT" has been manually crossed out. |
034798,000955: 31,3515 13524 TCF P67VERT # POSITIVE NON-ZERO ---> P67
034799,000956: 31,3516 13522 TCF P66VERT # +0
034800,000957:
034801,000958: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
034802,000959:
034803,000960: # - -
034804,000961: # V2FG - VGU
034805,000962: # ACG = ----------
034806,000963: # TAUVERT
034807,000964:
034808,000965: 31,3517 06042 P65VERT TC INTPRET
034809,000966: 31,3520 77650 GOTO
034810,000967: 31,3521 65271 P65VERTA
034811,000968:
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Page 810 |
034813,000970: # ****************************************************************************************************************
034814,000971: # GUIDANCE FOR P66
034815,000972: # ****************************************************************************************************************
034816,000973:
034817,000974: 31,3522 04635 P66VERT TC POSTJUMP
034818,000975: 31,3523 65277 CADR P66VERTA
034819,000976:
034820,000977: 31,3524 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
034821,000978: 31,3525 00003 OCT 00003
034822,000979:
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In the printout, the following group of 4 lines has been manually scratched out. |
034825,000982: 31,3526 06042 TC INTPRET
034826,000983: 31,3527 52175 VLOAD GOTO
034827,000984: 31,3530 03527 V
034828,000985: 31,3531 65526 VHORCOMP
034829,000986:
034830,000987: 32,2000 SETLOC P66LOC
034831,000988: 32,2000 BANK
034832,000989: 32,3264 COUNT* $$/F2DPS
034833,000990:
034834,000991: 32,3264 37713 RODTASK CAF PRIO22
034835,000992: 32,3265 05105 TC FINDVAC
034836,000993: 32,3266 E7,1515 EBANK= DVCNTR
034837,000994: 32,3266 03304 64067 2CADR RODCOMP
034838,000995:
034839,000996: 32,3270 15261 TCF TASKOVER
034840,000997:
034841,000998: 32,3271 52375 P65VERTA VLOAD VSU
034842,000999: 32,3272 02511 V2FG
034843,001000: 32,3273 03627 VGU
034844,001001: 32,3274 52141 V/SC GOTO
034845,001002: 32,3275 02517 TAUVERT
034846,001003: 32,3276 63164 AFCCALC1
034847,001004:
034848,001005: 32,3277 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
034849,001006: 32,3300 00003 OCT 00003
034850,001007:
034851,001008: 32,3301 34777 CAF 1SEC
034852,001009: 32,3302 05173 TC TWIDDLE
034853,001010: 32,3303 03264 ADRES RODTASK
034854,001011:
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In the printout, the INHINT below has a hand-drawn check-mark next to it. |
034856,001013: 32,3304 00004 RODCOMP INHINT
034857,001014: 32,3305 34755 CAF ZERO
034858,001015: 32,3306 57746 XCH RODCOUNT
034859,001016: 32,3307 00006 EXTEND
034860,001017: 32,3310 71756 MP RODSCAL1
034861,001018: 32,3311 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
034862,001019:
034863,001020: 32,3312 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
034864,001021: 32,3313 30040 DCA PIPAX
034865,001022: 32,3314 53764 DXCH OLDPIPAX
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Page 811 |
034867,001024: 32,3315 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
034868,001025: 32,3316 30041 CA PIPAZ
034869,001026: 32,3317 57765 XCH OLDPIPAZ
034870,001027: 32,3320 56072 XCH RUPTREG3
034871,001028:
034872,001029: 32,3321 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
034873,001030: 32,3322 30025 DCA TIME2
034874,001031: 32,3323 53762 DXCH THISTPIP
034875,001032:
034876,001033: 32,3324 31763 CA OLDPIPAX
034877,001034: 32,3325 61157 AD PIPATMPX
034878,001035: 32,3326 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
034879,001036: 32,3327 31764 CA OLDPIPAY
034880,001037: 32,3330 61160 AD PIPATMPY
034881,001038: 32,3331 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
034882,001039: 32,3332 31765 CA OLDPIPAZ
034883,001040: 32,3333 61161 AD PIPATMPZ
034884,001041: 32,3334 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
034885,001042:
034886,001043: 32,3335 41763 CS OLDPIPAX
034887,001044: 32,3336 61253 AD TEMX
034888,001045: 32,3337 60070 AD RUPTREG1
034889,001046: 32,3340 55766 TS DELVROD
034890,001047: 32,3341 41764 CS OLDPIPAY
034891,001048: 32,3342 61254 AD TEMY
034892,001049: 32,3343 60071 AD RUPTREG2
034893,001050: 32,3344 55770 TS DELVROD +2
034894,001051: 32,3345 41765 CS OLDPIPAZ
034895,001052: 32,3346 61255 AD TEMZ
034896,001053: 32,3347 60072 AD RUPTREG3
034897,001054: 32,3350 55772 TS DELVROD +4
034898,001055:
034899,001056: 32,3351 34755 CAF ZERO
034900,001057: 32,3352 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
034901,001058: 32,3353 54160 TS MPAC +4
034902,001059: 32,3354 54162 TS MPAC +6
034903,001060: 32,3355 55253 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
034904,001061: 32,3356 55254 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
034905,001062: 32,3357 55255 TS TEMZ
034906,001063: 32,3360 44753 CS ONE
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In the printout, to the right of the following two lines, there is a hand-written note. Don Eyles says he believes it reads "pipa accel", which makes sense given that the comment that follows refers to rescaling the PIPA reading in the MPAC. |
034911,001068: 32,3361 54163 TS MODE
034912,001069: 32,3362 06042 TC INTPRET
034913,001070: 32,3363 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
034914,001071: 32,3364 26022 KPIP1
034915,001072: 32,3365 03762 THISTPIP
034916,001073: 32,3366 77625 DSU
034917,001074: 32,3367 01234 PIPTIME
034918,001075: 32,3370 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
034919,001076: 32,3371 63271 DDV PDVL # (8)
034920,001077: 32,3372 27112 4SEC(28)
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Page 812 |
034922,001079: 32,3373 01236 GDT/2
034923,001080: 32,3374 74251 VSU VXSC # (6)
034924,001081: 32,3375 02621 VBIAS
034925,001082: 32,3376 53352 VSL2 VAD
034926,001083: 32,3377 03527 V
034927,001084: 32,3400 45455 VAD STADR # (0)
034928,001085: 32,3401 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
034929,001086: 32,3402 03521 R
034930,001087: 32,3403 77656 UNIT
034931,001088: 32,3404 00017 STORE 14D
034932,001089: 32,3405 72441 DOT SL1
034933,001090: 32,3406 00031 24D
034934,001091: 32,3407 17474 STODL HDOTDISP # UPDATE ALTITUDE RATE FOR NOUN 60
034935,001092: 32,3410 00037 30D
034936,001093: 32,3411 41261 SL DMP
034937,001094: 32,3412 20214 11D
034938,001095: 32,3413 03474 HDOTDISP
034939,001096: 32,3414 45215 DAD DSU
034940,001097: 32,3415 00045 36D
034941,001098: 32,3416 02333 /LAND/
034942,001099: 32,3417 17775 STODL HCALC1 # UPDATE ALTITUDE FOR NOUN 60
034943,001100: 32,3420 03474 HDOTDISP
034944,001101: 32,3421 56221 BDSU DDV
034945,001102: 32,3422 03645 VDGVERT
034946,001103: 32,3423 02541 TAUROD
034947,001104: 32,3424 51515 PDVL ABVAL # (2)
034948,001105: 32,3425 01236 GDT/2
034949,001106: 32,3426 60471 DDV SR2
034950,001107: 32,3427 05652 GSCALE
034951,001108: 32,3430 00025 STORE 20D
034952,001109: 32,3431 77615 DAD # (0)
034953,001110: 32,3432 45115 PDVL CALL # (2)
034954,001111: 32,3433 06522 UNITX
034955,001112: 32,3434 47663 CDU*NBSM
034956,001113: 32,3435 77641 DOT
034957,001114: 32,3436 00017 14D
034958,001115: 32,3437 00027 STORE 22D
034959,001116: 32,3440 45465 BDDV STADR # (0)
034960,001117: 32,3441 50313 STOVL /AFC/
034961,001118: 32,3442 03767 DELVROD
034962,001119: 32,3443 53361 VXSC VAD
034963,001120: 32,3444 26022 KPIP1
034964,001121: 32,3445 02621 VBIAS
034965,001122: 32,3446 65246 ABVAL PDDL # (2)
034966,001123: 32,3447 03762 THISTPIP
034967,001124: 32,3450 65225 DSU PDDL # (4)
034968,001125: 32,3451 03760 LASTTPIP
034969,001126: 32,3452 03762 THISTPIP
034970,001127: 32,3453 17760 STODL LASTTPIP # (2)
034971,001128: 32,3454 55271 DDV BDDV # (0)
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Page 813 |
034973,001130: 32,3455 25544 SHFTFACT
034974,001131: 32,3456 41325 PDDL DMP # (2)
034975,001132: 32,3457 03611 FWEIGHT
034976,001133: 32,3460 25543 BIT1H
034977,001134: 32,3461 56271 DDV DDV
034978,001135: 32,3462 01244 MASS
034979,001136: 32,3463 22006 SCALEFAC
034980,001137: 32,3464 65215 DAD PDDL # (4)
034981,001138: 32,3465 00001 0D
034982,001139: 32,3466 00025 20D
034983,001140: 32,3467 45271 DDV DSU # (2)
034984,001141: 32,3470 00027 22D
034985,001142: 32,3471 43205 DMP DAD
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In the printout, there is a hand-written arrow pointing at "LAG/TAU" in the line below. |
034987,001144: 32,3472 02543 LAG/TAU
034988,001145: 32,3473 03464 /AFC/
034989,001146: 32,3474 56325 PDDL DDV # (4)
034990,001147: 32,3475 02547 MAXFORCE
034991,001148: 32,3476 01244 MASS
034992,001149: 32,3477 56325 PDDL DDV # (6)
034993,001150: 32,3500 02545 MINFORCE
034994,001151: 32,3501 01244 MASS
034995,001152: 32,3502 44206 PUSH BDSU # (8)
034996,001153: 32,3503 00003 2D
034997,001154: 32,3504 71240 BMN DLOAD # (6)
034998,001155: 32,3505 65513 AFCSPOT
034999,001156: 32,3506 41545 DLOAD PUSH # (6)
035000,001157: 32,3507 51021 BDSU BPL
035001,001158: 32,3510 00003 2D
035002,001159: 32,3511 65513 AFCSPOT
035003,001160: 32,3512 77745 DLOAD # (4)
035004,001161: 32,3513 77745 AFCSPOT DLOAD # (2),(4),OR (6)
035005,001162: 32,3514 77601 SETPD # (2)
035006,001163: 32,3515 00003 2D
035007,001164: 32,3516 17464 STODL /AFC/ # (0)
035008,001165: 32,3517 77776 ITRPNT2 EXIT
035009,001166: 32,3520 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035010,001167: 32,3521 04616 TC BANKCALL
035011,001168: 32,3522 62147 CADR THROTTLE +3
035012,001169: 32,3523 06042 TC INTPRET
035013,001170: 32,3524 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
035014,001171: 32,3525 00031 24D
035015,001172: 32,3526 53352 VHORCOMP VSL2 VAD
035016,001173: 32,3527 03734 DELVS
035017,001174: 32,3530 63342 VSR2 PDVL # (6)
035018,001175: 32,3531 03521 R
035019,001176: 32,3532 74256 UNIT VXSC
035020,001177: 32,3533 03474 HDOTDISP
035021,001178: 32,3534 51372 VSL1 BVSU # (0)
035022,001179: 32,3535 77646 ABVAL
035023,001180: 32,3536 02263 STORE VHORIZ # UPDATE HORIZONTAL VELOCITY FOR NOUN 60
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Page 814 |
035025,001182: 32,3537 77776 EXIT
035026,001183: 32,3540 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035027,001184: 32,3541 63442 CADR DISPEXIT +3
035028,001185:
035029,001186: 32,3542 00001 BIT1H OCT 00001
035030,001187: 32,3543 00000 04000 SHFTFACT 2DEC 1 B-17
035031,001188: 32,3545 00000 05075 BIASFACT 2DEC 655.36 B-26
035032,001189:
035033,001190: # ****************************************************************************************************************
035034,001191: # REDESIGNATOR TRAP
035035,001192: # ****************************************************************************************************************
035036,001193:
035037,001194: 11,2302 BANK 11
035038,001195: 11,2000 SETLOC F2DPS*11
035039,001196: 11,2000 BANK
035040,001197:
035041,001198: 11,2302 COUNT* $$/F2DPS
035042,001199:
035043,001200: 11,2302 56016 PITFALL XCH BANKRUPT
035044,001201: 11,2303 00006 EXTEND
035045,001202: 11,2304 22012 QXCH QRUPT
035046,001203:
035047,001204: 11,2305 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035048,001205: 11,2306 00100 DEC 64 B-14
035049,001206: 11,2307 15270 TCF RESUME
035050,001207:
035051,001208: 11,2310 00006 EXTEND
035052,001209: 11,2311 00031 READ CHAN31
035053,001210: 11,2312 40000 COM
035054,001211: 11,2313 72401 MASK ALL4BITS
035055,001212: 11,2314 55444 TS ELVIRA
035056,001213: 11,2315 34752 CAF TWO
035057,001214: 11,2316 55443 TS ZERLINA
035058,001215: 11,2317 34756 CAF FIVE
035059,001216: 11,2320 05173 TC TWIDDLE
035060,001217: 11,2321 02326 ADRES REDESMON
035061,001218: 11,2322 15270 TCF RESUME
035062,001219:
035063,001220: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035064,001221:
035065,001222: 11,2323 55443 PREMON1 TS ZERLINA
035066,001223: 11,2324 34757 PREMON2 CAF SEVEN
035067,001224: 11,2325 05224 TC VARDELAY
035068,001225: 11,2326 00006 REDESMON EXTEND
035069,001226: 11,2327 00031 READ 31
035070,001227: 11,2330 40000 COM
035071,001228: 11,2331 72401 MASK ALL4BITS
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Page 815 |
035073,001230: 11,2332 57444 XCH ELVIRA
035074,001231: 11,2333 54001 TS L
035075,001232: 11,2334 11444 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035076,001233: 11,2335 12324 TCF PREMON2 # Y: CONTINUE MONITOR
035077,001234:
035078,001235: 11,2336 10001 CCS L # N: ANY LAST PASS?
035079,001236: 11,2337 12347 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
035080,001237: 11,2340 11443 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035081,001238: 11,2341 12323 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035082,001239: 11,2342 06022 RESETRPT TC C13STALL # Y: RESET RUPT, TERMINATE
035083,001240: 11,2343 34740 CAF BIT12
035084,001241: 11,2344 00006 EXTEND
035085,001242: 11,2345 05013 WOR CHAN13
035086,001243: 11,2346 15261 TCF TASKOVER
035087,001244:
035088,001245: 11,2347 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035089,001246: 11,2350 00006 EXTEND
035090,001247: 11,2351 02031 RAND CHAN31
035091,001248: 11,2352 00006 EXTEND
035092,001249: 11,2353 12342 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035093,001250:
035094,001251: 11,2354 30001 CA L # NO
035095,001252: 11,2355 74746 MASK -AZBIT
035096,001253: 11,2356 10000 CCS A
035097,001254: 11,2357 42402 -AZ CS AZEACH
035098,001255: 11,2360 27445 ADS AZINCR1
035099,001256: 11,2361 30001 CA L
035100,001257: 11,2362 74747 MASK +AZBIT
035101,001258: 11,2363 10000 CCS A
035102,001259: 11,2364 32402 +AZ CA AZEACH
035103,001260: 11,2365 27445 ADS AZINCR1
035104,001261: 11,2366 30001 CA L
035105,001262: 11,2367 74753 MASK -ELBIT
035106,001263: 11,2370 10000 CCS A
035107,001264: 11,2371 42403 -EL CS ELEACH
035108,001265: 11,2372 27446 ADS ELINCR1
035109,001266: 11,2373 30001 CA L
035110,001267: 11,2374 74752 MASK +ELBIT
035111,001268: 11,2375 10000 CCS A
035112,001269: 11,2376 32403 +EL CA ELEACH
035113,001270: 11,2377 27446 ADS ELINCR1
035114,001271: 11,2400 12342 TCF RESETRPT
035115,001272:
035116,001273: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035117,001274:
035118,001275: 11,2401 4752 +ELBIT = BIT2 # -PITCH
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Page 816 |
035120,001277: 11,2401 4753 -ELBIT = BIT1 # +PITCH
035121,001278: 11,2401 4747 +AZBIT = BIT5
035122,001279: 11,2401 4746 -AZBIT = BIT6
035123,001280:
035124,001281: 11,2401 00063 ALL4BITS OCT 00063
035125,001282: 11,2402 01074 AZEACH DEC .03491 # 2 DEGREES
035126,001283: 11,2403 00217 ELEACH DEC .00873 # 1/2 DEGREE
035127,001284:
035128,001285: # ****************************************************************************************************************
035129,001286: # R.O.D. TRAP
035130,001287: # ************************************************************************
035131,001288:
035132,001289: 23,2000 SETLOC RODTRAP
035133,001290: 23,2000 BANK
035134,001291: 23,2455 COUNT* $$/F2DPS # ****************************************
035135,001292:
035136,001293: 23,2455 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035137,001294: 23,2456 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035138,001295: 23,2457 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035139,001296: 23,2460 64753 AD ONE
035140,001297: 23,2461 27746 ADS RODCOUNT
035141,001298: 23,2462 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035142,001299:
035143,001300: 31,3532 BANK 31
035144,001301: 31,2000 SETLOC F2DPS*31
035145,001302: 31,2000 BANK
035146,001303:
035147,001304: 31,3532 COUNT* $$/F2DPS
035148,001305:
035149,001306: # ****************************************************************************************************************
035150,001307: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035151,001308: # ****************************************************************************************************************
035152,001309:
035153,001310: # N N-1
035154,001311: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035155,001312: # N N-1 1 0
035156,001313:
035157,001314: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
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Page 817 |
035159,001316: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035160,001317: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035161,001318: # MPAC DP X INITIAL GUESS FOR ROOT
035162,001319:
035163,001320: # LOC-2N DP A(0)
035164,001321: # ...
035165,001322: # LOC DP A(N)
035166,001323: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035167,001324:
035168,001325: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035169,001326: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035170,001327: # OUTPUTS ARE NOT TO BE TRUSTED.
035171,001328:
035172,001329: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035173,001330: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035174,001331: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035175,001332: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035176,001333: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035177,001334: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035178,001335: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035179,001336: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
035180,001337: # PRECLUDE EVENTUAL CONVERGENCE.
035181,001338: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035182,001339: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035183,001340: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035184,001341:
035185,001342: # STORE ENTERING DATA, INITLIZE ERASABLES
035186,001343: 31,3532 00006 ROOTPSRS EXTEND
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In the printout, the following two instructions are manually encircled. |
035188,001345: 31,3533 22132 QXCH RETROOT # RETURN ADRES
035189,001346: 31,3534 54117 TS PWRPTR # PWR TABL POINTER
035190,001347: 31,3535 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035191,001348: 31,3536 33655 CA DERTABLL
035192,001349: 31,3537 54141 TS DERPTR # DER TABL POINTER
035193,001350: 31,3540 54161 TS MPAC +5 # DER TABL ADRES
035194,001351: 31,3541 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035195,001352: 31,3542 54162 TS MPAC +6 # N-2
035196,001353: 31,3543 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035197,001354: 31,3544 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035198,001355:
035199,001356: # COMPUTE CRITERION TO STOP ITERATING
035200,001357: 31,3545 00006 EXTEND
035201,001358: 31,3546 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035202,001359: 31,3547 52127 DXCH ROOTPS # AND IN ROOTPS
035203,001360: 31,3550 50157 INDEX MPAC +3 # PWR TABL ADRES
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Page 818 |
035205,001362: 31,3551 30005 CA 5 # PRECROOT TO A
035206,001363: 31,3552 07312 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035207,001364: 31,3553 04713 TC USPRCADR
035208,001365: 31,3554 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035209,001366: 31,3555 52155 DXCH MPAC
035210,001367: 31,3556 52125 DXCH DXCRIT # CRITERION
035211,001368:
035212,001369: # SET UP DER COF TABL
035213,001370: 31,3557 00006 EXTEND
035214,001371: 31,3560 50117 INDEX PWRPTR
035215,001372: 31,3561 30004 DCA 3
035216,001373: 31,3562 52155 DXCH MPAC # A(N) TO MPAC
035217,001374:
035218,001375: 31,3563 30160 CA MPAC +4 # N-1 TO A
035219,001376:
035220,001377: 31,3564 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035221,001378: 31,3565 64753 AD ONE
035222,001379: 31,3566 07321 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035223,001380: 31,3567 00006 EXTEND
035224,001381: 31,3570 50117 INDEX PWRPTR
035225,001382: 31,3571 30002 DCA 1
035226,001383: 31,3572 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
035227,001384: 31,3573 50141 INDEX DERPTR
035228,001385: 31,3574 52004 DXCH 3 # DERCOF TO DER TABL
035229,001386: 31,3575 44752 CS TWO
035230,001387: 31,3576 26117 ADS PWRPTR # DECREMENT PWR POINTER
035231,001388: 31,3577 44752 CS TWO
035232,001389: 31,3600 26141 ADS DERPTR # DECREMENT DER POINTER
035233,001390: 31,3601 10140 CCS PWRCNT
035234,001391: 31,3602 13564 TCF DERCLOOP
035235,001392:
035236,001393: # CONVERGE ON ROOT
035237,001394: 31,3603 00006 ROOTLOOP EXTEND
035238,001395: 31,3604 30127 DCA ROOTPS # FETCH CURRENT ROOT
035239,001396: 31,3605 52155 DXCH MPAC # LEAVE IN MPAC
035240,001397: 31,3606 00006 EXTEND
035241,001398: 31,3607 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
035242,001399: 31,3610 07220 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
035243,001400:
035244,001401: 31,3611 00006 EXTEND
035245,001402: 31,3612 30127 DCA ROOTPS
035246,001403: 31,3613 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
035247,001404: 31,3614 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
035248,001405: 31,3615 00006 EXTEND
035249,001406: 31,3616 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
035250,001407: 31,3617 07220 TC POWRSERS # YIELDS RESIDUAL IN MPAC
035251,001408:
035252,001409: 31,3620 04713 TC USPRCADR
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Page 819 |
035254,001411: 31,3621 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
035255,001412:
035256,001413: 31,3622 00006 EXTEND
035257,001414: 31,3623 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
035258,001415: 31,3624 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
035259,001416:
035260,001417: 31,3625 04713 TC USPRCADR
035261,001418: 31,3626 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
035262,001419: 31,3627 00006 EXTEND
035263,001420: 31,3630 40125 DCS DXCRIT
035264,001421: 31,3631 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
035265,001422:
035266,001423: 31,3632 30163 CA MODE
035267,001424: 31,3633 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
035268,001425: 31,3634 10000 CCS A
035269,001426: 31,3635 00132 BADROOT TC RETROOT
035270,001427:
035271,001428: 31,3636 24163 INCR MODE # INCREMENT ITERATION COUNTER
035272,001429: 31,3637 10154 CCS MPAC # TEST HI ORDER DX
035273,001430: 31,3640 13603 TCF ROOTLOOP
035274,001431: 31,3641 13643 TCF TESTLODX
035275,001432: 31,3642 13647 TCF ROOTSTOR
035276,001433: 31,3643 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
035277,001434: 31,3644 13603 TCF ROOTLOOP
035278,001435: 31,3645 13647 TCF ROOTSTOR
035279,001436: 31,3646 13647 TCF ROOTSTOR
035280,001437: 31,3647 52127 ROOTSTOR DXCH ROOTPS
035281,001438: 31,3650 52155 DXCH MPAC
035282,001439: 31,3651 30163 CA MODE
035283,001440: 31,3652 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
035284,001441: 31,3653 50132 INDEX RETROOT
035285,001442: 31,3654 10002 TCF 2
035286,001443:
035287,001444: 31,3655 00147 DERTABLL ADRES DERCOFN -3
035288,001445:
035289,001446: # ****************************************************************************************************************
035290,001447: # TRASHY LITTLE SUBROUTINES
035291,001448: # ****************************************************************************************************************
035292,001449:
035293,001450: 31,3656 51346 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
035294,001451: 31,3657 42400 CS TARGTDEX
035295,001452: 31,3660 50120 INDEX FIXLOC
035296,001453: 31,3661 54046 TS X1
035297,001454: 31,3662 16042 TCF INTPRET
035298,001455:
035299,001456: 31,3663 31642 TDISPSET CA TTF/8
035300,001457: 31,3664 00006 EXTEND
035301,001458: 31,3665 74750 MP TSCALINV
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Page 820 |
035303,001460: 31,3666 53476 DXCH TTFDISP
035304,001461:
035305,001462: 31,3667 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
035306,001463: 31,3670 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
035307,001464: 31,3671 E5,1470 EBANK= TCGFAPPR
035308,001465: 31,3671 31470 CA TCGFAPPR
035309,001466: 31,3672 24006 INCR BBANK
035310,001467: 31,3673 24006 INCR BBANK
035311,001468: 31,3674 E7,1642 EBANK= TTF/8
035312,001469: 31,3674 61642 AD TTF/8
035313,001470: 31,3675 00006 EXTEND
035314,001471: 31,3676 73731 MP TREDESCL
035315,001472: 31,3677 63726 AD -DEC103
035316,001473: 31,3700 64735 AD NEGMAX
035317,001474: 31,3701 54001 TS L
035318,001475: 31,3702 40001 CS L
035319,001476: 31,3703 60001 AD L
035320,001477: 31,3704 63730 AD +DEC99
035321,001478: 31,3705 64733 AD POSMAX
035322,001479: 31,3706 55666 TS TREDES
035323,001480: 31,3707 41666 CS TREDES
035324,001481: 31,3710 27666 ADS TREDES
035325,001482: 31,3711 00002 TC Q
035326,001483:
035327,001484: 31,3712 05642 1406POO TC POODOO
035328,001485: 31,3713 21406 OCT 21406
035329,001486: 31,3714 05567 1406ALM TC ALARM
035330,001487: 31,3715 01406 OCT 01406
035331,001488: 31,3716 13422 TCF RATESTOP
035332,001489:
035333,001490: # ****************************************************************************************************************
035334,001491: # SPECIALIZED "PHASCHNG" SUBROUTINE
035335,001492: # ****************************************************************************************************************
035336,001493:
035337,001494: 31,3717 E3,1440 EBANK= PHSNAME2
035338,001495: 31,3717 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
035339,001496: 31,3720 56003 XCH EBANK
035340,001497: 31,3721 52002 DXCH L
035341,001498: 31,3722 55442 TS PHSNAME3
035342,001499: 31,3723 22003 LXCH EBANK
035343,001500: 31,3724 E7,1621 EBANK= E2DPS
035344,001501: 31,3724 00000 TC A
035345,001502:
035346,001503: # ****************************************************************************************************************
035347,001504: # PARAMETER TABLE INDIRECT ADDRESSES
035348,001505: # ****************************************************************************************************************
035349,001506:
035350,001507: 31,3725 E5,1402 RDG = RBRFG
035351,001508: 31,3725 E5,1410 VDG = VBRFG
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Page 821 |
035353,001510: 31,3725 E5,1416 ADG = ABRFG
035354,001511: 31,3725 E5,1424 VDG2TTF = VBRFG*
035355,001512: 31,3725 E5,1426 ADG2TTF = ABRFG*
035356,001513: 31,3725 E5,1430 JDG2TTF = JBRFG*
035357,001514:
035358,001515: # ****************************************************************************************************************
035359,001516: # LUNAR LANDING CONSTANTS
035360,001517: # ***************************************************************************************************************
035361,001518:
035362,001519: 31,3725 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
035363,001520: 31,3726 4740 TTFSCALE = BIT12
035364,001521: 31,3726 4750 TSCALINV = BIT4
035365,001522: 31,3726 77630 -DEC103 DEC -103 B-14
035366,001523: 31,3727 00155 P64DB OCT 00155 # 0.3 DEGREES SCALED AT CDU SCALING
035367,001524: 31,3730 00143 +DEC99 DEC +99 B-14
035368,001525: 31,3731 75340 TREDESCL DEC -.08
035369,001526: 31,3732 00264 180DEGS DEC +180 B-14
035370,001527: 31,3733 00056 1/2DEG DEC +.00278
035371,001528: 31,3734 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
035372,001529: 31,3735 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
035373,001530: 31,3736 01477 V06N63 VN 0663 # P63
035374,001531: 31,3737 01500 V06N64 VN 0664 # P64
035375,001532: 31,3740 01474 V06N60 VN 0660 # P65, P66, P67
035376,001533:
035377,001534: 22,3647 BANK 22
035378,001535: 22,2000 SETLOC LANDCNST
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Page 822 |
035380,001537: 22,2000 BANK
035381,001538: 22,3647 COUNT* $$/F2DPS
035382,001539:
035383,001540: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
035384,001541: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
035385,001542: 22,3653 14000 00000 3/8DP 2DEC .375
035386,001543: 22,3655 30000 00000 3/4DP 2DEC .750
035387,001544: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
035388,001545:
035389,001546: # ****************************************************************************************************************
035390,001547: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc