Source Code
![]() |
These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
034644,000002: ## Copyright: Public domain.
034645,000003: ## Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
034646,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
034647,000005: ## It is part of the source code for the Lunar Module's (LM)
034648,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
034649,000007: ## Assembler: yaYUL
034650,000008: ## Contact: HARTMUTH GUTSCHE <hgutsche@xplornet.com>.
034651,000009: ## Website: www.ibiblio.org/apollo.
034652,000010: ## Pages: 798-828
034653,000011: ## Mod history: 2009-05-23 HG Transcribed from page images.
034654,000012: ## 2009-06-05 RSB Fixed a goofy thing that was apparently
034655,000013: ## legal in GAP but not in yaYUL. Eliminated
034656,000014: ## a couple of lines of code that shouldn't
034657,000015: ## have survived from Luminary 131 to here.
034658,000016: ## 2009-06-07 RSB Fixed a typo.
034659,000017: ## 2011-01-06 JL Fixed pseudo-labels which were incorrectly real labels.
034660,000018: ## 2011-05-07 JL Removed workaround.
034661,000019: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
034662,000020: ## 2016-12-16 RSB Proofed text comments with octopus/ProoferComments
034663,000021: ## and corrected the errors found.
034664,000022: ## 2017-03-10 RSB Comment-text fixes noted while transcribing Luminary 116.
034665,000023: ## The label 1406P00 was replaced with 1406POO.
034666,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
034667,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
034668,000026:
034669,000027: ## This source code has been transcribed or otherwise adapted from
034670,000028: ## digitized images of a hardcopy from the MIT Museum. The digitization
034671,000029: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
034672,000030: ## the Museum. Many thanks to both. The images (with suitable reduction
034673,000031: ## in storage size and consequent reduction in image quality as well) are
034674,000032: ## available online at www.ibiblio.org/apollo. If for some reason you
034675,000033: ## find that the images are illegible, contact me at info@sandroid.org
034676,000034: ## about getting access to the (much) higher-quality images which Paul
034677,000035: ## actually created.
034678,000036: ##
034679,000037: ## Notations on the hardcopy document read, in part:
034680,000038: ##
034681,000039: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
034682,000040: ## 16:27 JULY 14, 1969
034683,000041:
![]() |
Page 798 |
034685,000043: 31,2420 E7,1621 EBANK= E2DPS
034686,000044: 31,2420 COUNT* $$/F2DPS
034687,000045:
034688,000046: # ****************************************************************************************************************
034689,000047: # LUNAR LANDING FLIGHT SEQUENCE TABLES
034690,000048: # ****************************************************************************************************************
034691,000049:
034692,000050: # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE:
034693,000051: # WCHPHASE = -1 ---> IGNALG
034694,000052: # WCHPHASE = 0 ---> BRAKQUAD
034695,000053: # WCHPHASE = 1 ---> APPRQUAD
034696,000054: # WCHPHASE = 2 ---> VERTICAL
034697,000055:
034698,000056: # ***************************************************************************************************************
034699,000057:
034700,000058: # ROUTINES FOR STARTING NEW GUIDANCE PHASES:
034701,000059:
034702,000060: 31,2420 12641 TCF TTFINCR # IGNALG
034703,000061: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD
034704,000062: 31,2422 12630 TCF STARTP64 # APPRQUAD
034705,000063: 31,2423 12621 TCF P65START # VERTICAL
034706,000064:
034707,000065: # PRE-GUIDANCE COMPUTATIONS:
034708,000066:
034709,000067: 31,2424 13003 TCF CALCRGVG # IGNALG
034710,000068: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD
034711,000069: 31,2426 12704 TCF REDESIG # APPRQUAD
034712,000070: 31,2427 13013 TCF RGVGCALC # VERTICAL
034713,000071:
034714,000072: # GUIDANCE EQUATIONS:
034715,000073:
034716,000074: 31,2430 13061 TCF TTF/8CL # IGNALG
034717,000075: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD
034718,000076: 31,2432 13061 TCF TTF/8CL # APPRQUAD
034719,000077: 31,2433 13531 TCF VERTGUID # VERTICAL
034720,000078:
034721,000079: # POST GUIDANCE EQUATION COMPUTATIONS:
034722,000080:
034723,000081: 31,2434 13245 TCF CGCALC # IGNALG
034724,000082: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD
034725,000083: 31,2436 13245 TCF CGCALC # APPRQUAD
034726,000084: 31,2437 13432 TCF STEER? # VERTICAL
034727,000085:
![]() |
Page 799 |
034729,000087: # WINDOW VECTOR COMPUTATIONS:
034730,000088:
034731,000089: 31,2440 13331 TCF EXGSUB # IGNALG
034732,000090: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD
034733,000091: 31,2442 13360 TCF EXNORM # APPRQUAD
034734,000092:
034735,000093: # DISPLAY ROUTINES:
034736,000094:
034737,000095: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD
034738,000096: 31,2444 13477 TCF P64DISPS # APPRQUAD
034739,000097: 31,2445 13527 TCF VERTDISP # VERTICAL
034740,000098:
034741,000099: # ALARM ROUTINE FOR TTF COMPUTATION:
034742,000100:
034743,000101: 31,2446 13733 TCF 1406POO # IGNALG
034744,000102: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD
034745,000103: 31,2450 13735 TCF 1406ALM # APPRQUAD
034746,000104:
034747,000105: # INDICES FOR REFERENCING TARGET PARAMETERS:
034748,000106:
034749,000107: 31,2451 00000 OCT 0 # IGNALG
034750,000108: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD
034751,000109: 31,2453 00034 OCT 34 # APPRQUAD
034752,000110:
034753,000111: # ****************************************************************************************************************
034754,000112: # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT
034755,000113: # ****************************************************************************************************************
034756,000114:
034757,000115: # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC QUIDANCE
034758,000116:
034759,000117: 31,2454 77776 ?GUIDSUB EXIT
034760,000118: 31,2455 34752 CAF TWO # N = 3
034761,000119: 31,2456 55647 TS NGUIDSUB
034762,000120: 31,2457 12603 TCF GUILDRET +2
034763,000121:
034764,000122: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCEEDING PASSES SKIP TTFINCR
034765,000123: 31,2461 13003 TCF CALCRGVG
034766,000124:
034767,000125: # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT
034768,000126:
034769,000127: 31,2462 05353 LUNLAND TC PHASCHNG
034770,000128: 31,2463 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK
034771,000129: 31,2464 05353 TC PHASCHNG
034772,000130: 31,2465 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21
034773,000131: 31,2466 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY
034774,000132:
![]() |
Page 800 |
034776,000134: # ****************************************************************************************************************
034777,000135: # GUILDENSTERN: AUTO-MODES MONITOR (R13)
034778,000136: # ****************************************************************************************************************
034779,000137:
034780,000138: 31,2467 COUNT* $$/R13
034781,000139:
034782,000140: # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE
034783,000141: # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY; ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66
034784,000142: # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE.
034785,000143:
034786,000144: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT?
034787,000145: 31,2470 00030 READ CHAN30
034788,000146: 31,2471 74747 MASK BIT5
034789,000147: 31,2472 10000 CCS A
034790,000148: 31,2473 12551 TCF STARTP67 # YES
034791,000149: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW?
034792,000150: 31,2475 00103 DEC 67 B-14
034793,000151: 31,2476 12557 TCF STABL? # NO
034794,000152: 31,2477 03740 STARTP66 TC FASTCHNG # YES
034795,000153: 31,2500 05311 TC NEWMODEX
034796,000154: 31,2501 00102 DEC66 DEC 66 B-14
034797,000155: 31,2502 00006 EXTEND
034798,000156: 31,2503 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT
034799,000157: 31,2504 53645 DXCH VDGVERT # ALTITUDE RATE.
034800,000158: 31,2505 06037 STRTP66A TC INTPRET
034801,000159: 31,2506 41535 SLOAD PUSH
034802,000160: 31,2507 01457 PBIASZ
034803,000161: 31,2510 41535 SLOAD PUSH
034804,000162: 31,2511 01455 PBIASY
034805,000163: 31,2512 55535 SLOAD VDEF
034806,000164: 31,2513 01453 PBIASX
034807,000165: 31,2514 43161 VXSC SET
034808,000166: 31,2515 25537 BIASFACT
034809,000167: 31,2516 00463 RODFLAG
034810,000168: 31,2517 26631 STOVL VBIAS
034811,000169: 31,2520 01255 TEMX
034812,000170: 31,2521 77676 VCOMP
034813,000171: 31,2522 27764 STOVL OLDPIPAX
034814,000172: 31,2523 06522 ZEROVECS
034815,000173: 31,2524 17767 STODL DELVROD
034816,000174: 31,2525 02540 RODSCALE
034817,000175: 31,2526 17757 STODL RODSCAL1
034818,000176: 31,2527 01235 PIPTIME
034819,000177: 31,2530 03760 STORE LASTTPIP
034820,000178: 31,2531 77776 EXIT
034821,000179: 31,2532 34755 CAF ZERO
034822,000180: 31,2533 55620 TS FCOLD
034823,000181: 31,2534 55610 TS FWEIGHT
034824,000182: 31,2535 55611 TS FWEIGHT +1
034825,000183: 31,2536 55647 VRTSTART TS WCHVERT
![]() |
Page 801 |
034827,000185: 31,2537 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67
034828,000186: 31,2540 55621 TS WCHPHOLD
034829,000187: 31,2541 55351 TS WCHPHASE
034830,000188: 31,2542 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE
034831,000189: 31,2543 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE
034832,000190: 31,2544 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034833,000191: 31,2545 00311 ADRES XOVINFLG
034834,000192: 31,2546 05516 TC DOWNFLAG
034835,000193: 31,2547 00143 ADRES REDFLAG
034836,000194: 31,2550 13531 TCF VERTGUID
034837,000195:
034838,000196: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER
034839,000197: 31,2552 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED
034840,000198: 31,2553 34755 CAF ZERO # TO SEE IF ALREADY IN P67.
034841,000199: 31,2554 55746 TS RODCOUNT
034842,000200: 31,2555 34363 CAF TEN
034843,000201: 31,2556 12536 TCF VRTSTART
034844,000202:
034845,000203: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT?
034846,000204: 31,2560 00006 EXTEND
034847,000205: 31,2561 02031 RAND CHAN31
034848,000206: 31,2562 10000 CCS A
034849,000207: 31,2563 12601 TCF GUILDRET # YES: ALL'S WELL
034850,000208:
034851,000209: 31,2564 41011 P66NOW? CS MODREG
034852,000210: 31,2565 62501 AD DEC66
034853,000211: 31,2566 00006 EXTEND
034854,000212: 31,2567 12574 BZF RESTART?
034855,000213:
034856,000214: 31,2570 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"?
034857,000215: 31,2571 00006 EXTEND
034858,000216: 31,2572 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING.
034859,000217: 31,2573 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE.
034860,000218:
034861,000219: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART?
034862,000220: 31,2575 74740 MASK RODFLBIT
034863,000221: 31,2576 00006 EXTEND
034864,000222: 31,2577 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS
034865,000223: # IS.
034866,000224:
034867,000225: 31,2600 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D.
034868,000226:
034869,000227: # ****************************************************************************************************************
034870,000228: # INITIALIZATION FOR THIS PASS
034871,000229: # ****************************************************************************************************************
034872,000230:
034873,000231: 31,2601 COUNT* $$/F2DPS
034874,000232:
034875,000233: 31,2601 34755 GUILDRET CAF ZERO
034876,000234: 31,2602 55746 TS RODCOUNT
034877,000235:
![]() |
Page 802 |
034879,000237: 31,2603 00006 +2 EXTEND
034880,000238: 31,2604 31625 DCA TPIP
034881,000239: 31,2605 53574 DXCH TPIPOLD
034882,000240:
034883,000241: 31,2606 03740 TC FASTCHNG
034884,000242:
034885,000243: 31,2607 00006 EXTEND
034886,000244: 31,2610 31561 DCA PIPTIME1
034887,000245: 31,2611 53625 DXCH TPIP
034888,000246:
034889,000247: 31,2612 00006 EXTEND
034890,000248: 31,2613 31643 DCA TTF/8
034891,000249: 31,2614 53553 DXCH TTF/8TMP
034892,000250:
034893,000251: 31,2615 11623 CCS FLPASS0
034894,000252: 31,2616 12641 TCF TTFINCR
034895,000253:
034896,000254: 31,2617 51351 BRSPOT1 INDEX WCHPHASE
034897,000255: 31,2620 12421 TCF NEWPHASE
034898,000256:
034899,000257: # ****************************************************************************************************************
034900,000258: # ROUTINES TO START NEW PHASES
034901,000259: # ****************************************************************************************************************
034902,000260:
034903,000261: 31,2621 05311 P65START TC NEWMODEX
034904,000262: 31,2622 00101 DEC 65 B-14
034905,000263: 31,2623 44752 CS TWO
034906,000264: 31,2624 55647 TS WCHVERT
034907,000265: 31,2625 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE
034908,000266: 31,2626 00311 ADRES XOVINFLG
034909,000267: 31,2627 12641 TCF TTFINCR
034910,000268:
034911,000269: 31,2630 05311 STARTP64 TC NEWMODEX
034912,000270: 31,2631 00100 DEC 64 B-14
034913,000271: 31,2632 31425 CA DELTTFAP # AUGMENT TTF/8
034914,000272: 31,2633 27552 ADS TTF/8TMP
034915,000273: 31,2634 34740 CA BIT12 # ENABLE RUPT10
034916,000274: 31,2635 00006 EXTEND
034917,000275: 31,2636 05013 WOR CHAN13
034918,000276: 31,2637 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG
034919,000277: 31,2640 00143 ADRES REDFLAG
034920,000278:
034921,000279:
034922,000280: # (CONTINUE TO TTFINCR)
034923,000281:
034924,000282: # ****************************************************************************************************************
034925,000283: # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS
034926,000284: # ****************************************************************************************************************
034927,000285:
034928,000286: # TTFINCR COMPUTATIONS ARE AS FOLLOWS:-
![]() |
Page 803 |
034930,000288: # TTF/8 UPDATED FOR TIME SINCE LAST PASS:
034931,000289: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8
034932,000290: # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION:
034933,000291: # - - - -
034934,000292: # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM)
034935,000293: # SLANT RANGE TO LANDING SITE, FOR DISPLAY:
034936,000294: # - -
034937,000295: # RANGEDSP = ABVAL(LAND - R)
034938,000296:
034939,000297: 31,2641 06037 TTFINCR TC INTPRET
034940,000298: 31,2642 45345 DLOAD DSU
034941,000299: 31,2643 03625 TPIP
034942,000300: 31,2644 03574 TPIPOLD
034943,000301: 31,2645 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS
034944,000302: 31,2646 21214 11D
034945,000303: 31,2647 47361 VXSC VXV
034946,000304: 31,2650 03635 LAND
034947,000305: 31,2651 02325 WM
034948,000306: 31,2652 47045 BVSU RTB
034949,000307: 31,2653 03635 LAND
034950,000308: 31,2654 21726 NORMUNIT
034951,000309: 31,2655 76561 VXSC VSL1
034952,000310: 31,2656 02333 /LAND/
034953,000311: 31,2657 17545 STODL LANDTEMP
034954,000312: 31,2660 77776 EXIT
034955,000313:
034956,000314: 31,2661 52155 DXCH MPAC
034957,000315: 31,2662 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP
034958,000316:
034959,000317: 31,2663 03740 TC FASTCHNG
034960,000318:
034961,000319: 31,2664 00006 EXTEND
034962,000320: 31,2665 31553 DCA TTF/8TMP
034963,000321: 31,2666 53643 DXCH TTF/8
034964,000322:
034965,000323: 31,2667 00006 EXTEND
034966,000324: 31,2670 31545 DCA LANDTEMP
034967,000325: 31,2671 53635 DXCH LAND
034968,000326: 31,2672 00006 EXTEND
034969,000327: 31,2673 31547 DCA LANDTEMP +2
034970,000328: 31,2674 53637 DXCH LAND +2
034971,000329: 31,2675 00006 EXTEND
034972,000330: 31,2676 31551 DCA LANDTEMP +4
034973,000331: 31,2677 53641 DXCH LAND +4
034974,000332:
![]() |
Page 804 |
034976,000334: 31,2700 03704 TC TDISPSET
034977,000335: 31,2701 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP
034978,000336:
034979,000337: 31,2702 51351 BRSPOT2 INDEX WCHPHASE
034980,000338: 31,2703 12425 TCF PREGUIDE
034981,000339:
034982,000340: # ****************************************************************************************************************
034983,000341: # LANDING SITE PERTURBATION EQUATIONS
034984,000342: # ****************************************************************************************************************
034985,000343:
034986,000344: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET?
034987,000345: 31,2705 74746 MASK REDFLBIT
034988,000346: 31,2706 00006 EXTEND
034989,000347: 31,2707 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC
034990,000348:
034991,000349: 31,2710 31666 CA TREDES # YES: HAS TREDES REACHED ZERO?
034992,000350: 31,2711 00006 EXTEND
034993,000351: 31,2712 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC
034994,000352:
034995,000353: 31,2713 00004 INHINT
034996,000354: 31,2714 31267 CA ELINCR1
034997,000355: 31,2715 55554 TS ELINCR
034998,000356: 31,2716 31266 CA AZINCR1
034999,000357: 31,2717 55556 TS AZINCR
035000,000358: 31,2720 03740 TC FASTCHNG
035001,000359:
035002,000360: 31,2721 34755 CA ZERO
035003,000361: 31,2722 55267 TS ELINCR1
035004,000362: 31,2723 55266 TS AZINCR1
035005,000363: 31,2724 55555 TS ELINCR +1
035006,000364: 31,2725 55557 TS AZINCR +1
035007,000365:
035008,000366: 31,2726 30120 CA FIXLOC # SET PD TO 0
035009,000367: 31,2727 54166 TS PUSHLOC
035010,000368:
035011,000369: 31,2730 06037 TC INTPRET
035012,000370: 31,2731 52375 VLOAD VSU
035013,000371: 31,2732 03635 LAND
035014,000372: 31,2733 03521 R # - -
035015,000373: 31,2734 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R)
035016,000374: 31,2735 21726 NORMUNIT
035017,000375: 31,2736 76435 VXV VSL1
035018,000376: 31,2737 02154 YNBPIP # - - -
035019,000377: 31,2740 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R))
035020,000378: 31,2741 03555 ELINCR
035021,000379: 31,2742 03557 AZINCR
035022,000380: 31,2743 52361 VXSC VSU
035023,000381: 31,2744 02154 YNBPIP
035024,000382: 31,2745 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE
035025,000383:
![]() |
Page 805 |
035027,000385:
035028,000386: 31,2746 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT
035029,000387: 31,2747 00001 0 # TOO CLOSE TO THE HORIZON
035030,000388: 31,2750 05660 DEPRCRIT
035031,000389: 31,2751 71240 BMN DLOAD
035032,000390: 31,2752 62755 REDES1
035033,000391: 31,2753 05660 DEPRCRIT
035034,000392: 31,2754 00001 STORE 0
035035,000393: 31,2755 45345 REDES1 DLOAD DSU
035036,000394: 31,2756 03635 LAND
035037,000395: 31,2757 03521 R
035038,000396: 31,2760 74271 DDV VXSC
035039,000397: 31,2761 00001 0
035040,000398: 31,2762 53455 VAD UNIT
035041,000399: 31,2763 03521 R
035042,000400: 31,2764 76561 VXSC VSL1
035043,000401: 31,2765 02333 /LAND/
035044,000402: 31,2766 03545 STORE LANDTEMP
035045,000403: 31,2767 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC
035046,000404:
035047,000405: 31,2770 03740 TC FASTCHNG
035048,000406:
035049,000407: 31,2771 00006 EXTEND
035050,000408: 31,2772 31545 DCA LANDTEMP
035051,000409: 31,2773 53635 DXCH LAND
035052,000410: 31,2774 00006 EXTEND
035053,000411: 31,2775 31547 DCA LANDTEMP +2
035054,000412: 31,2776 53637 DXCH LAND +2
035055,000413: 31,2777 00006 EXTEND
035056,000414: 31,3000 31551 DCA LANDTEMP +4
035057,000415: 31,3001 53641 DXCH LAND +4
035058,000416:
035059,000417: 31,3002 13013 TCF RGVGCALC
035060,000418:
035061,000419: # ****************************************************************************************************************
035062,000420: # COMPUTE STATE IN GUIDANCE COORDINATES
035063,000421: # ****************************************************************************************************************
035064,000422:
035065,000423: # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-
035066,000424: # VELOCITY RELATIVE TO THE SURFACE:
035067,000425: # - - - -
035068,000426: # ANGTERM = V + R * WM
035069,000427:
035070,000428: # STATE IN GUIDANCE COORDINATES:
035071,000429: # - * - -
035072,000430: # RGU = CG (R - LAND)
035073,000431: # - * - - -
![]() |
Page 806 |
035075,000433: # VGU = CG (V - WM * R)
035076,000434:
035077,000435: # HORIZONTAL VELOCITY FOR DISPLAY:
035078,000436:
035079,000437: # VHORIZ = 8 ABVAL (0, VG , VG )
035080,000438: # 2 1
035081,000439: # DEPRESSION ANGLE FOR DISPLAY:
035082,000440: # - - -
035083,000441: # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP)
035084,000442:
035085,000443: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION
035086,000444: 31,3004 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM
035087,000445: 31,3005 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2
035088,000446: 31,3006 01734 REFSMMAT
035089,000447: 31,3007 53362 VSR1 VAD
035090,000448: 31,3010 03254 UNFC/2
035091,000449: 31,3011 03527 STORE V
035092,000450: 31,3012 77776 EXIT
035093,000451:
035094,000452: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG
035095,000453: 31,3014 47375 VLOAD VXV
035096,000454: 31,3015 03521 R
035097,000455: 31,3016 02325 WM
035098,000456: 31,3017 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS
035099,000457: 31,3020 03527 V
035100,000458: 31,3021 02265 STORE ANGTERM
035101,000459: 31,3022 77721 MXV
035102,000460: 31,3023 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED
035103,000461: 31,3024 03627 STORE VGU
035104,000462: 31,3025 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS
035105,000463: 31,3026 06522 ZEROVECS # 2 1
035106,000464: 31,3027 52446 ABVAL SL3
035107,000465: 31,3030 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65.
035108,000466: 31,3031 03521 R # - -
035109,000467: 31,3032 41451 VSU PUSH # PUSH DOWN R - LAND
035110,000468: 31,3033 03635 LAND
035111,000469: 31,3034 76521 MXV VSL1
035112,000470: 31,3035 02603 CG
035113,000471: 31,3036 02637 STORE RGU
035114,000472: 31,3037 77646 ABVAL
035115,000473: 31,3040 26625 STOVL RANGEDSP
035116,000474: 31,3041 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4
035117,000475: 31,3042 21726 NORMUNIT
035118,000476: 31,3043 02146 XNBPIP
035119,000477: 31,3044 77776 EXIT
035120,000478:
035121,000479: 31,3045 30120 CA FIXLOC # RESET PUSH DOWN POINTER
035122,000480: 31,3046 54166 TS PUSHLOC
035123,000481:
![]() |
Page 807 |
035125,000483: 31,3047 30154 CA MPAC # COMPUTE LOOKANGL ITSELF
035126,000484: 31,3050 60000 DOUBLE
035127,000485: 31,3051 04616 TC BANKCALL
035128,000486: 31,3052 61672 CADR SPARCSIN -1
035129,000487: 31,3053 63753 AD 1/2DEG
035130,000488: 31,3054 00006 EXTEND
035131,000489: 31,3055 73752 MP 180DEGS
035132,000490: 31,3056 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64
035133,000491:
035134,000492: 31,3057 51351 BRSPOT3 INDEX WCHPHASE
035135,000493: 31,3060 12431 TCF WHATGUID
035136,000494:
035137,000495: # ****************************************************************************************************************
035138,000496: # TTF/8 COMPUTATION
035139,000497: # ****************************************************************************************************************
035140,000498:
035141,000499: 31,3061 03677 TTF/8CL TC INTPRETX
035142,000500: 31,3062 77743 DLOAD*
035143,000501: 31,3063 02431 JDG2TTF,1
035144,000502: 31,3064 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF
035145,000503: 31,3065 02427 ADG2TTF,1 # 2
035146,000504: 31,3066 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF
035147,000505: 31,3067 03633 VGU +4 # 2
035148,000506: 31,3070 42605 DMP DAD*
035149,000507: 31,3071 05656 3/4DP
035150,000508: 31,3072 02425 VDG2TTF,1
035151,000509: 31,3073 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF
035152,000510: 31,3074 02407 RDG +4,1 # 2 2
035153,000511: 31,3075 41225 DSU DMP
035154,000512: 31,3076 02643 RGU +4
035155,000513: 31,3077 05654 3/8DP
035156,000514: 31,3100 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF
035157,000515: 31,3101 77776 EXIT # 2 2
035158,000516:
035159,000517: 31,3102 34744 CA BIT8
035160,000518: 31,3103 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE
035161,000519:
035162,000520: 31,3104 00006 EXTEND
035163,000521: 31,3105 31643 DCA TTF/8
035164,000522: 31,3106 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC
035165,000523: 31,3107 34752 CAF TWO # DEGREE - ONE
035166,000524: 31,3110 54001 TS L
035167,000525: 31,3111 33746 CAF TABLTTFL
035168,000526: 31,3112 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC
035169,000527: 31,3113 51351 INDEX WCHPHASE
035170,000528: 31,3114 12447 TCF WHATALM
035171,000529:
035172,000530: 31,3115 00006 EXTEND # GOOD RETURN
035173,000531: 31,3116 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC
035174,000532: 31,3117 53643 DXCH TTF/8 # CORRECTED TTF/8
035175,000533:
![]() |
Page 808 |
035177,000535: 31,3120 03704 TC TDISPSET
035178,000536:
035179,000537: # (CONTINUE TO QUADGUID)
035180,000538:
035181,000539: # ****************************************************************************************************************
035182,000540: # MAIN GUIDANCE EQUATION
035183,000541: # ****************************************************************************************************************
035184,000542:
035185,000543: # AS PUBLISHED:-
035186,000544: # - - - -
035187,000545: # - - 6(VDG + VG) 12(RDG - RG)
035188,000546: # ACG = ADG + ----------- + ------------
035189,000547: # TTF (TTF)(TTF)
035190,000548: # AS HERE PROGRAMMED:-
035191,000549: # - -
035192,000550: # 3 (1/4(RDG - RG) - - )
035193,000551: # - (------------- + VDG + VG)
035194,000552: # - 4 ( TTF/8 ) -
035195,000553: # ACG = ---------------------------- + ADG
035196,000554: # TTF/8
035197,000555:
035198,000556: 31,3121 41642 QUADGUID CS TTF/8
035199,000557: 31,3122 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER
035200,000558: 31,3123 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW
035201,000559: 31,3124 54001 TS L # BY FORCING -TTF+LEADTIME > OR = ZERO
035202,000560: 31,3125 40001 CS L
035203,000561: 31,3126 60001 AD L
035204,000562: 31,3127 22007 ZL
035205,000563: 31,3130 00006 EXTEND
035206,000564: 31,3131 11642 DV TTF/8
035207,000565: 31,3132 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF
035208,000566: 31,3133 00006 EXTEND
035209,000567: 31,3134 70000 SQUARE
035210,000568: 31,3135 54131 TS BUF +1
035211,000569: 31,3136 60130 AD BUF
035212,000570: 31,3137 56131 XCH BUF +1 # RATIO SQUARED - RATIO
035213,000571: 31,3140 60131 AD BUF +1
035214,000572: 31,3141 54154 TS MPAC # COEFFICIENT FOR VGU TERM
035215,000573: 31,3142 60131 AD BUF +1
035216,000574: 31,3143 50120 INDEX FIXLOC
035217,000575: 31,3144 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM
035218,000576: 31,3145 60131 AD BUF +1
035219,000577: 31,3146 50120 INDEX FIXLOC
035220,000578: 31,3147 54034 TS 28D # COEFFICIENT FOR VDG TERM
035221,000579: 31,3150 60130 AD BUF
035222,000580: 31,3151 64733 AD POSMAX
![]() |
Page 809 |
035224,000582: 31,3152 60131 AD BUF +1
035225,000583: 31,3153 60131 AD BUF +1
035226,000584: 31,3154 50120 INDEX FIXLOC
035227,000585: 31,3155 54036 TS 30D # COEFFICIENT FOR ADG TERM
035228,000586:
035229,000587: 31,3156 34755 CAF ZERO
035230,000588: 31,3157 54163 TS MODE
035231,000589:
035232,000590: 31,3160 03677 TC INTPRETX
035233,000591: 31,3161 65361 VXSC PDDL
035234,000592: 31,3162 03627 VGU
035235,000593: 31,3163 00035 28D
035236,000594: 31,3164 62757 VXSC* PDVL*
035237,000595: 31,3165 02411 VDG,1
035238,000596: 31,3166 02403 RDG,1
035239,000597: 31,3167 70251 VSU V/SC
035240,000598: 31,3170 02637 RGU
035241,000599: 31,3171 03643 TTF/8
035242,000600: 31,3172 74342 VSR2 VXSC
035243,000601: 31,3173 00033 26D
035244,000602: 31,3174 53255 VAD VAD
035245,000603: 31,3175 74341 V/SC VXSC
035246,000604: 31,3176 03643 TTF/8
035247,000605: 31,3177 05656 3/4DP
035248,000606: 31,3200 73725 PDDL VXSC*
035249,000607: 31,3201 00037 30D
035250,000608: 31,3202 02417 ADG,1
035251,000609: 31,3203 77655 VAD
035252,000610: 31,3204 76505 AFCCALC1 VXM VSL1 # VERTGUID COMES HERE
035253,000611: 31,3205 02603 CG
035254,000612: 31,3206 70315 PDVL V/SC
035255,000613: 31,3207 01237 GDT/2
035256,000614: 31,3210 05652 GSCALE
035257,000615: 31,3211 45445 BVSU STADR
035258,000616: 31,3212 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED
035259,000617: 31,3213 77646 ABVAL
035260,000618: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE
035261,000619: 31,3215 03254 UNFC/2 # VERTICAL COMPONENT
035262,000620: 31,3216 65316 DSQ PDDL
035263,000621: 31,3217 03256 UNFC/2 +2 # OUT-OF-PLANE
035264,000622: 31,3220 65316 DSQ PDDL
035265,000623: 31,3221 05650 HIGHESTF
035266,000624: 31,3222 63471 DDV DSQ
035267,000625: 31,3223 01245 MASS # 2 2 2
035268,000626: 31,3224 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A )
035269,000627: 31,3225 71244 BPL DLOAD # 1 0
035270,000628: 31,3226 63230 AFCCALC3
035271,000629: 31,3227 06522 ZEROVECS
035272,000630: 31,3230 43366 AFCCALC3 SQRT DAD
035273,000631: 31,3231 03260 UNFC/2 +4
![]() |
Page 810 |
035275,000633: 31,3232 44244 BPL BDSU
035276,000634: 31,3233 63236 AFCCLEND
035277,000635: 31,3234 03260 UNFC/2 +4
035278,000636: 31,3235 03260 STORE UNFC/2 +4
035279,000637: 31,3236 77776 AFCCLEND EXIT
035280,000638: 31,3237 03740 TC FASTCHNG
035281,000639:
035282,000640: 31,3240 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC
035283,000641: 31,3241 55621 TS WCHPHOLD
035284,000642: 31,3242 25623 INCR FLPASS0 # INCREMENT PASS COUNTER
035285,000643:
035286,000644: 31,3243 51351 BRSPOT4 INDEX WCHPHASE
035287,000645: 31,3244 12435 TCF AFTRGUID
035288,000646:
035289,000647: # ***************************************************************************************************************
035290,000648: # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX
035291,000649: # ***************************************************************************************************************
035292,000650:
035293,000651: 31,3245 35014 CGCALC CAF EBANK5
035294,000652: 31,3246 54003 TS EBANK
035295,000653: 31,3247 E5,1435 EBANK= TCGIBRAK
035296,000654: 31,3247 00006 EXTEND
035297,000655: 31,3250 51351 INDEX WCHPHASE
035298,000656: 31,3251 52452 INDEX TARGTDEX
035299,000657: 31,3252 31435 DCA TCGFBRAK
035300,000658: 31,3253 24006 INCR BBANK
035301,000659: 31,3254 24006 INCR BBANK
035302,000660: 31,3255 E7,1642 EBANK= TTF/8
035303,000661: 31,3255 61642 AD TTF/8
035304,000662: 31,3256 56001 XCH L
035305,000663: 31,3257 61642 AD TTF/8
035306,000664: 31,3260 10000 CCS A
035307,000665: 31,3261 10001 CCS L
035308,000666: 31,3262 13313 TCF EXTLOGIC
035309,000667: 31,3263 13313 TCF EXTLOGIC
035310,000668: 31,3264 13265 NOOP
035311,000669:
035312,000670: 31,3265 03677 TC INTPRETX
035313,000671: 31,3266 53575 VLOAD UNIT
035314,000672: 31,3267 03635 LAND
035315,000673: 31,3270 16603 STODL CG
035316,000674: 31,3271 03643 TTF/8
035317,000675: 31,3272 74203 DMP* VXSC
035318,000676: 31,3273 02433 GAINBRAK,1 # NUMERO MYSTERIOSO
035319,000677: 31,3274 02265 ANGTERM
035320,000678: 31,3275 77655 VAD
035321,000679: 31,3276 03635 LAND
035322,000680: 31,3277 47051 VSU RTB
035323,000681: 31,3300 03521 R
035324,000682: 31,3301 21726 NORMUNIT
![]() |
Page 811 |
035326,000684: 31,3302 47035 VXV RTB
035327,000685: 31,3303 03635 LAND
035328,000686: 31,3304 21726 NORMUNIT
035329,000687: 31,3305 26611 STOVL CG +6 # SECOND ROW
035330,000688: 31,3306 02603 CG
035331,000689: 31,3307 76435 VXV VSL1
035332,000690: 31,3310 02611 CG +6
035333,000691: 31,3311 02617 STORE CG +14
035334,000692: 31,3312 77776 EXIT
035335,000693:
035336,000694: # (CONTINUE TO EXTLOGIC)
035337,000695:
035338,000696: # ****************************************************************************************************************
035339,000697: # PREPARE TO EXIT
035340,000698: # ****************************************************************************************************************
035341,000699:
035342,000700: # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES
035343,000701:
035344,000702: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD
035345,000703: 31,3314 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD
035346,000704: 31,3315 61642 AD TTF/8
035347,000705:
035348,000706: 31,3316 00006 EXSPOT1 EXTEND
035349,000707: 31,3317 51351 INDEX WCHPHASE
035350,000708: 31,3320 62441 BZMF WHATEXIT
035351,000709:
035352,000710: 31,3321 03740 TC FASTCHNG
035353,000711:
035354,000712: 31,3322 31621 CA WCHPHOLD
035355,000713: 31,3323 64753 AD ONE
035356,000714: 31,3324 55351 TS WCHPHASE
035357,000715: 31,3325 34755 CA ZERO
035358,000716: 31,3326 55623 TS FLPASS0 # RESET FLPASS0
035359,000717:
035360,000718: 31,3327 51621 INDEX WCHPHOLD
035361,000719: 31,3330 12441 TCF WHATEXIT
035362,000720:
035363,000721: # ****************************************************************************************************************
035364,000722: # ROUTINES FOR EXITING FROM LANDING GUIDANCE
035365,000723: # ****************************************************************************************************************
035366,000724:
035367,000725: # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM.
035368,000726: # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR.
035369,000727: # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN.
035370,000728: # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.)
035371,000729:
035372,000730: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM
![]() |
Page 812 |
035374,000732: 31,3332 47175 VLOAD RTB
035375,000733: 31,3333 03254 UNFC/2
035376,000734: 31,3334 21726 NORMUNIT
035377,000735: 31,3335 74361 VXSC VXSC
035378,000736: 31,3336 03423 ZOOMTIME
035379,000737: 31,3337 22001 TRIMACCL
035380,000738: 31,3340 03254 STORE UNFC/2
035381,000739: 31,3341 77776 EXIT
035382,000740:
035383,000741: 31,3342 11647 CCS NGUIDSUB
035384,000742: 31,3343 12460 TCF GUIDSUB
035385,000743: 31,3344 11646 CCS NIGNLOOP
035386,000744: 31,3345 13350 TCF +3
035387,000745: 31,3346 05567 TC ALARM
035388,000746: 31,3347 01412 OCT 01412
035389,000747:
035390,000748: 31,3350 04635 +3 TC POSTJUMP
035391,000749: 31,3351 65102 CADR DDUMCALC
035392,000750:
035393,000751: 31,3352 06037 EXBRAK TC INTPRET
035394,000752: 31,3353 77775 VLOAD
035395,000753: 31,3354 03537 UNIT/R/
035396,000754: 31,3355 03262 STORE UNWC/2
035397,000755: 31,3356 77776 EXIT
035398,000756: 31,3357 13432 TCF STEER?
035399,000757:
035400,000758: 31,3360 06037 EXNORM TC INTPRET
035401,000759: 31,3361 52375 VLOAD VSU
035402,000760: 31,3362 03635 LAND
035403,000761: 31,3363 03521 R
035404,000762: 31,3364 77634 RTB
035405,000763: 31,3365 21726 NORMUNIT
035406,000764: 31,3366 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE
035407,000765: 31,3367 50235 VXV DOT
035408,000766: 31,3370 02146 XNBPIP
035409,000767: 31,3371 02611 CG +6
035410,000768: 31,3372 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE
035411,000769:
035412,000770: 31,3373 40154 CS MPAC # GET COEFFICIENT FOR CG +14
035413,000771: 31,3374 63754 AD PROJMAX
035414,000772: 31,3375 64733 AD POSMAX
035415,000773: 31,3376 54130 TS BUF
035416,000774: 31,3377 40130 CS BUF
035417,000775: 31,3400 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE
035418,000776:
035419,000777: 31,3401 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R)
035420,000778: 31,3402 60154 AD MPAC
035421,000779: 31,3403 64733 AD POSMAX
035422,000780: 31,3404 54131 TS BUF +1
035423,000781: 31,3405 40131 CS BUF +1
![]() |
Page 813 |
035425,000783: 31,3406 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE
035426,000784:
035427,000785: 31,3407 34751 CAF FOUR
035428,000786: 31,3410 76242 UNWCLOOP MASK SIX
035429,000787: 31,3411 54002 TS Q
035430,000788: 31,3412 35014 CA EBANK5
035431,000789: 31,3413 54003 TS EBANK
035432,000790: 31,3414 E5,1602 EBANK= CG
035433,000791: 31,3414 30130 CA BUF
035434,000792: 31,3415 00006 EXTEND
035435,000793: 31,3416 50002 INDEX Q
035436,000794: 31,3417 71616 MP CG +14
035437,000795: 31,3420 24006 INCR BBANK
035438,000796: 31,3421 E6,1661 EBANK= UNWC/2
035439,000797: 31,3421 50002 INDEX Q
035440,000798: 31,3422 53662 DXCH UNWC/2
035441,000799: 31,3423 00006 EXTEND
035442,000800: 31,3424 70131 MP BUF +1
035443,000801: 31,3425 50002 INDEX Q
035444,000802: 31,3426 21662 DAS UNWC/2
035445,000803: 31,3427 10002 CCS Q
035446,000804: 31,3430 13410 TCF UNWCLOOP
035447,000805:
035448,000806: 31,3431 24006 INCR BBANK
035449,000807: 31,3432 E7,1612 EBANK= PIF
035450,000808:
035451,000809: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS
035452,000810: 31,3433 74741 MASK STEERBIT
035453,000811: 31,3434 00006 EXTEND
035454,000812: 31,3435 13443 BZF RATESTOP
035455,000813:
035456,000814: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE
035457,000815: 31,3437 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW
035458,000816: 31,3440 13453 BZF +13
035459,000817:
035460,000818: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY.
035461,000819: 31,3442 01410 OCT 01410
035462,000820:
035463,000821: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035464,000822: 31,3444 00006 EXTEND
035465,000823: 31,3445 02031 RAND CHAN31
035466,000824: 31,3446 00006 EXTEND
035467,000825: 31,3447 13460 BZF DISPEXIT # YES
035468,000826:
035469,000827: 31,3450 04616 TC BANKCALL # NO: DO A STOPRATE
035470,000828: 31,3451 40165 CADR STOPRATE
035471,000829:
035472,000830: 31,3452 13460 TCF DISPEXIT
035473,000831:
035474,000832: 31,3453 02216 GDUMP1 TC THROTTLE
![]() |
Page 814 |
035476,000834: 31,3454 06037 TC INTPRET
035477,000835: 31,3455 77624 CALL
035478,000836: 31,3456 61111 FINDCDUW -2
035479,000837: 31,3457 77776 EXIT
035480,000838:
035481,000839: # (CONTINUE TO DISPEXIT)
035482,000840:
035483,000841: # ****************************************************************************************************************
035484,000842: # GUIDANCE LOOP DISPLAYS
035485,000843: # ****************************************************************************************************************
035486,000844:
035487,000845: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE
035488,000846: 31,3461 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE
035489,000847: 31,3462 52757 DXCH -PHASE3
035490,000848:
035491,000849: 31,3463 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS
035492,000850: 31,3464 74742 MASK FLUNDBIT
035493,000851: 31,3465 00006 EXTEND
035494,000852: 31,3466 13476 BZF ENDLLJOB # TO PICK UP THE TAG
035495,000853:
035496,000854: 31,3467 51621 INDEX WCHPHOLD
035497,000855: 31,3470 12443 TCF WHATDISP
035498,000856:
035499,000857: 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5
035500,000858: 31,3472 00035 OCT 00035
035501,000859:
035502,000860: 31,3473 33756 P63DISPS CAF V06N63
035503,000861: 31,3474 04616 DISPCOMN TC BANKCALL
035504,000862: 31,3475 20470 CADR REGODSPR
035505,000863:
035506,000864: 31,3476 15155 ENDLLJOB TCF ENDOFJOB
035507,000865:
035508,000866: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO?
035509,000867: 31,3500 00006 EXTEND
035510,000868: 31,3501 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG
035511,000869:
035512,000870: 31,3502 40102 CS FLAGWRD6 # NO: IS REDFLAG SET?
035513,000871: 31,3503 74746 MASK REDFLBIT
035514,000872: 31,3504 00006 EXTEND
035515,000873: 31,3505 13525 BZF REDES-OK # YES: DO STATIC DISPLAY
035516,000874:
035517,000875: 31,3506 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY
035518,000876: 31,3507 04616 TC BANKCALL
035519,000877: 31,3510 20462 CADR REFLASHR
035520,000878: 31,3511 16001 TCF GOTOPOOH # TERMINATE
035521,000879: 31,3512 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS
035522,000880: 31,3513 13477 TCF P64DISPS # RECYCLE
![]() |
Page 815 |
035524,000882: 31,3514 13476 TCF ENDLLJOB # TO PICK UP THE TAG
035525,000883:
035526,000884: 31,3515 34755 P64CEED CAF ZERO
035527,000885: 31,3516 55267 TS ELINCR1
035528,000886: 31,3517 55266 TS AZINCR1
035529,000887:
035530,000888: 31,3520 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC
035531,000889: 31,3521 00143 ADRES REDFLAG
035532,000890:
035533,000891: 31,3522 15155 TCF ENDOFJOB
035534,000892:
035535,000893: 31,3523 05516 RED-OVER TC DOWNFLAG
035536,000894: 31,3524 00143 ADRES REDFLAG
035537,000895: 31,3525 33757 REDES-OK CAF V06N64
035538,000896: 31,3526 13474 TCF DISPCOMN
035539,000897:
035540,000898:
035541,000899: 31,3527 33760 VERTDISP CAF V06N60
035542,000900: 31,3530 13474 TCF DISPCOMN
035543,000901:
035544,000902:
035545,000903: # ****************************************************************************************************************
035546,000904: # GUIDANCE FOR P65
035547,000905: # ****************************************************************************************************************
035548,000906:
035549,000907: 31,3531 11647 VERTGUID CCS WCHVERT
035550,000908: 31,3532 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67
035551,000909: 31,3533 13543 TCF P66VERT # +0
035552,000910:
035553,000911: # THE P65 GUIDANCE EQUATION IS AS FOLLOWS:-
035554,000912: # - -
035555,000913: # V2FG - VGU
035556,000914: # ACG = ----------
035557,000915: # TAUVERT
035558,000916:
035559,000917: 31,3534 06037 P65VERT TC INTPRET
035560,000918: 31,3535 52375 VLOAD VSU
035561,000919: 31,3536 02511 V2FG
035562,000920: 31,3537 03627 VGU
035563,000921: 31,3540 52141 V/SC GOTO
035564,000922: 31,3541 02517 TAUVERT
035565,000923: 31,3542 63204 AFCCALC1
![]() |
Page 816 |
035567,000925: # ****************************************************************************************************************
035568,000926: # GUIDANCE FOR P66
035569,000927: # ****************************************************************************************************************
035570,000928:
035571,000929: 31,3543 04635 P66VERT TC POSTJUMP
035572,000930: 31,3544 65270 CADR P66VERTA
035573,000931:
035574,000932: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3
035575,000933: 31,3546 00003 OCT 00003
035576,000934:
035577,000935: 31,3547 06037 TC INTPRET
035578,000936: 31,3550 52175 VLOAD GOTO
035579,000937: 31,3551 03527 V
035580,000938: 31,3552 65517 VHORCOMP
035581,000939:
035582,000940: 32,2000 SETLOC P66LOC
035583,000941: 32,2000 BANK
035584,000942: 32,3263 COUNT* $$/F2DPS
035585,000943:
035586,000944: 32,3263 37710 RODTASK CAF PRIO22
035587,000945: 32,3264 05105 TC FINDVAC
035588,000946: 32,3265 E7,1515 EBANK= DVCNTR
035589,000947: 32,3265 03275 64067 2CADR RODCOMP
035590,000948:
035591,000949: 32,3267 15261 TCF TASKOVER
035592,000950:
035593,000951: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3.
035594,000952: 32,3271 00003 OCT 00003
035595,000953:
035596,000954: 32,3272 34777 CAF 1SEC
035597,000955: 32,3273 05173 TC TWIDDLE
035598,000956: 32,3274 03263 ADRES RODTASK
035599,000957:
035600,000958: 32,3275 00004 RODCOMP INHINT
035601,000959: 32,3276 34755 CAF ZERO
035602,000960: 32,3277 57746 XCH RODCOUNT
035603,000961: 32,3300 00006 EXTEND
035604,000962: 32,3301 71756 MP RODSCAL1
035605,000963: 32,3302 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE.
035606,000964:
035607,000965: 32,3303 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z
035608,000966: 32,3304 30040 DCA PIPAX
035609,000967: 32,3305 53764 DXCH OLDPIPAX
035610,000968: 32,3306 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z
035611,000969: 32,3307 30041 CA PIPAZ
035612,000970: 32,3310 57765 XCH OLDPIPAZ
035613,000971: 32,3311 56072 XCH RUPTREG3
035614,000972:
035615,000973: 32,3312 00006 EXTEND # SHAPSHOT TIME OF PIPA READING.
035616,000974: 32,3313 30025 DCA TIME2
![]() |
Page 817 |
035618,000976: 32,3314 53762 DXCH THISTPIP
035619,000977:
035620,000978: 32,3315 31763 CA OLDPIPAX
035621,000979: 32,3316 61160 AD PIPATMPX
035622,000980: 32,3317 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX
035623,000981: 32,3320 31764 CA OLDPIPAY
035624,000982: 32,3321 61161 AD PIPATMPY
035625,000983: 32,3322 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY
035626,000984: 32,3323 31765 CA OLDPIPAZ
035627,000985: 32,3324 61162 AD PIPATMPZ
035628,000986: 32,3325 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ
035629,000987:
035630,000988: 32,3326 41763 CS OLDPIPAX
035631,000989: 32,3327 61254 AD TEMX
035632,000990: 32,3330 60070 AD RUPTREG1
035633,000991: 32,3331 55766 TS DELVROD
035634,000992: 32,3332 41764 CS OLDPIPAY
035635,000993: 32,3333 61255 AD TEMY
035636,000994: 32,3334 60071 AD RUPTREG2
035637,000995: 32,3335 55770 TS DELVROD +2
035638,000996: 32,3336 41765 CS OLDPIPAZ
035639,000997: 32,3337 61256 AD TEMZ
035640,000998: 32,3340 60072 AD RUPTREG3
035641,000999: 32,3341 55772 TS DELVROD +4
035642,001000:
035643,001001: 32,3342 34755 CAF ZERO
035644,001002: 32,3343 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS
035645,001003: 32,3344 54160 TS MPAC +4
035646,001004: 32,3345 54162 TS MPAC +6
035647,001005: 32,3346 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL
035648,001006: 32,3347 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM.
035649,001007: 32,3350 55256 TS TEMZ
035650,001008: 32,3351 44753 CS ONE
035651,001009: 32,3352 54163 TS MODE
035652,001010: 32,3353 06037 TC INTPRET
035653,001011: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6)
035654,001012: 32,3355 26022 KPIP1
035655,001013: 32,3356 03762 THISTPIP
035656,001014: 32,3357 77625 DSU
035657,001015: 32,3360 01235 PIPTIME
035658,001016: 32,3361 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME
035659,001017: 32,3362 63271 DDV PDVL # (8)
035660,001018: 32,3363 27153 4SEC(28)
035661,001019: 32,3364 01237 GDT/2
035662,001020: 32,3365 74251 VSU VXSC # (6)
035663,001021: 32,3366 02631 VBIAS
035664,001022: 32,3367 53352 VSL2 VAD
035665,001023: 32,3370 03527 V
035666,001024: 32,3371 45455 VAD STADR # (0)
035667,001025: 32,3372 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D
![]() |
Page 818 |
035669,001027: 32,3373 03521 R
035670,001028: 32,3374 77656 UNIT
035671,001029: 32,3375 00017 STORE 14D
035672,001030: 32,3376 72441 DOT SL1
035673,001031: 32,3377 00031 24D
035674,001032: 32,3400 17474 STODL HDOTDISP # UPDATE HDOTDISP FOR NOUN 63.
035675,001033: 32,3401 00037 30D
035676,001034: 32,3402 41261 SL DMP
035677,001035: 32,3403 20214 11D
035678,001036: 32,3404 03474 HDOTDISP
035679,001037: 32,3405 45215 DAD DSU
035680,001038: 32,3406 00045 36D
035681,001039: 32,3407 02333 /LAND/
035682,001040: 32,3410 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63.
035683,001041: 32,3411 03474 HDOTDISP
035684,001042: 32,3412 56221 BDSU DDV
035685,001043: 32,3413 03645 VDGVERT
035686,001044: 32,3414 02541 TAUROD
035687,001045: 32,3415 51515 PDVL ABVAL # (2)
035688,001046: 32,3416 01237 GDT/2
035689,001047: 32,3417 60471 DDV SR2
035690,001048: 32,3420 05652 GSCALE
035691,001049: 32,3421 00025 STORE 20D
035692,001050: 32,3422 77615 DAD # (0)
035693,001051: 32,3423 45115 PDVL CALL # (2)
035694,001052: 32,3424 06520 UNITX
035695,001053: 32,3425 47661 CDU*NBSM
035696,001054: 32,3426 77641 DOT
035697,001055: 32,3427 00017 14D
035698,001056: 32,3430 00027 STORE 22D
035699,001057: 32,3431 45465 BDDV STADR # (0)
035700,001058: 32,3432 50313 STOVL /AFC/
035701,001059: 32,3433 03767 DELVROD
035702,001060: 32,3434 53361 VXSC VAD
035703,001061: 32,3435 26022 KPIP1
035704,001062: 32,3436 02631 VBIAS
035705,001063: 32,3437 65246 ABVAL PDDL # (2)
035706,001064: 32,3440 03762 THISTPIP
035707,001065: 32,3441 65225 DSU PDDL # (4)
035708,001066: 32,3442 03760 LASTTPIP
035709,001067: 32,3443 03762 THISTPIP
035710,001068: 32,3444 17760 STODL LASTTPIP # (2)
035711,001069: 32,3445 55271 DDV BDDV # (0)
035712,001070: 32,3446 25535 SHFTFACT
035713,001071: 32,3447 41325 PDDL DMP # (2)
035714,001072: 32,3450 03611 FWEIGHT
035715,001073: 32,3451 25534 BIT1H
035716,001074: 32,3452 56271 DDV DDV
035717,001075: 32,3453 01245 MASS
035718,001076: 32,3454 22006 SCALEFAC
![]() |
Page 819 |
035720,001078: 32,3455 65215 DAD PDDL # (4)
035721,001079: 32,3456 00001 0D
035722,001080: 32,3457 00025 20D
035723,001081: 32,3460 45271 DDV DSU # (2)
035724,001082: 32,3461 00027 22D
035725,001083: 32,3462 43205 DMP DAD
035726,001084: 32,3463 02543 LAG/TAU
035727,001085: 32,3464 03464 /AFC/
035728,001086: 32,3465 56325 PDDL DDV # (4)
035729,001087: 32,3466 02547 MAXFORCE
035730,001088: 32,3467 01245 MASS
035731,001089: 32,3470 56325 PDDL DDV # (6)
035732,001090: 32,3471 02545 MINFORCE
035733,001091: 32,3472 01245 MASS
035734,001092: 32,3473 44206 PUSH BDSU # (8)
035735,001093: 32,3474 00003 2D
035736,001094: 32,3475 71240 BMN DLOAD # (6)
035737,001095: 32,3476 65504 AFCSPOT
035738,001096: 32,3477 41545 DLOAD PUSH # (6)
035739,001097: 32,3500 51021 BDSU BPL
035740,001098: 32,3501 00003 2D
035741,001099: 32,3502 65504 AFCSPOT
035742,001100: 32,3503 77745 DLOAD # (4)
035743,001101: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6)
035744,001102: 32,3505 77601 SETPD # (2)
035745,001103: 32,3506 00003 2D
035746,001104: 32,3507 17464 STODL /AFC/ # (0)
035747,001105: 32,3510 77776 ITRPNT2 EXIT
035748,001106: 32,3511 52155 DXCH MPAC # MPAC = MEASURED ACCELERATION.
035749,001107: 32,3512 04616 TC BANKCALL
035750,001108: 32,3513 62221 CADR THROTTLE +3
035751,001109: 32,3514 06037 TC INTPRET
035752,001110: 32,3515 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR.
035753,001111: 32,3516 00031 24D
035754,001112: 32,3517 53352 VHORCOMP VSL2 VAD
035755,001113: 32,3520 03734 DELVS
035756,001114: 32,3521 63342 VSR2 PDVL # (6)
035757,001115: 32,3522 03521 R
035758,001116: 32,3523 74256 UNIT VXSC
035759,001117: 32,3524 03474 HDOTDISP
035760,001118: 32,3525 51372 VSL1 BVSU # (0)
035761,001119: 32,3526 77646 ABVAL
035762,001120: 32,3527 02263 STORE VHORIZ
035763,001121: 32,3530 77776 EXIT
035764,001122: 32,3531 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG
035765,001123: 32,3532 63463 CADR DISPEXIT +3
035766,001124:
035767,001125: 32,3533 00001 BIT1H OCT 00001
035768,001126: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17
![]() |
Page 820 |
035770,001128: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28
035771,001129:
035772,001130: # ****************************************************************************************************************
035773,001131: # REDESIGNATOR TRAP
035774,001132: # ****************************************************************************************************************
035775,001133:
035776,001134: 11,2275 BANK 11
035777,001135: 11,2000 SETLOC F2DPS*11
035778,001136: 11,2000 BANK
035779,001137:
035780,001138: 11,2275 COUNT* $$/F2DPS
035781,001139:
035782,001140: 11,2275 56016 PITFALL XCH BANKRUPT
035783,001141: 11,2276 00006 EXTEND
035784,001142: 11,2277 22012 QXCH QRUPT
035785,001143:
035786,001144: 11,2300 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE
035787,001145: 11,2301 00100 DEC 64 B-14
035788,001146: 11,2302 15270 TCF RESUME
035789,001147:
035790,001148: 11,2303 00006 EXTEND
035791,001149: 11,2304 00031 READ CHAN31
035792,001150: 11,2305 40000 COM
035793,001151: 11,2306 72373 MASK ALL4BITS
035794,001152: 11,2307 55265 TS ELVIRA
035795,001153: 11,2310 34752 CAF TWO
035796,001154: 11,2311 55264 TS ZERLINA
035797,001155: 11,2312 34756 CAF FIVE
035798,001156: 11,2313 05173 TC TWIDDLE
035799,001157: 11,2314 02321 ADRES REDESMON
035800,001158: 11,2315 15270 TCF RESUME
035801,001159:
035802,001160: # REDESIGNATION MONITOR (INITIATED BY PITFALL)
035803,001161:
035804,001162: 11,2316 55264 PREMON1 TS ZERLINA
035805,001163: 11,2317 34757 PREMON2 CAF SEVEN
035806,001164: 11,2320 05224 TC VARDELAY
035807,001165: 11,2321 00006 REDESMON EXTEND
035808,001166: 11,2322 00031 READ 31
035809,001167: 11,2323 40000 COM
035810,001168: 11,2324 72373 MASK ALL4BITS
035811,001169: 11,2325 57265 XCH ELVIRA
035812,001170: 11,2326 54001 TS L
035813,001171: 11,2327 11265 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS?
035814,001172: 11,2330 12317 TCF PREMON2 # Y: CONTINUE MONITOR
035815,001173:
035816,001174: 11,2331 10001 CCS L # N: ANY LAST PASS?
035817,001175: 11,2332 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE
![]() |
Page 821 |
035819,001177: 11,2333 11264 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET?
035820,001178: 11,2334 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE
035821,001179: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT, TERMINATE
035822,001180: 11,2336 00006 EXTEND
035823,001181: 11,2337 05013 WOR CHAN13
035824,001182: 11,2340 15261 TCF TASKOVER
035825,001183:
035826,001184: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD?
035827,001185: 11,2342 00006 EXTEND
035828,001186: 11,2343 02031 RAND CHAN31
035829,001187: 11,2344 00006 EXTEND
035830,001188: 11,2345 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC.
035831,001189:
035832,001190: 11,2346 30001 CA L # NO
035833,001191: 11,2347 74746 MASK -AZBIT
035834,001192: 11,2350 10000 CCS A
035835,001193: 11,2351 42374 -AZ CS AZEACH
035836,001194: 11,2352 27266 ADS AZINCR1
035837,001195: 11,2353 30001 CA L
035838,001196: 11,2354 74747 MASK +AZBIT
035839,001197: 11,2355 10000 CCS A
035840,001198: 11,2356 32374 +AZ CA AZEACH
035841,001199: 11,2357 27266 ADS AZINCR1
035842,001200: 11,2360 30001 CA L
035843,001201: 11,2361 74753 MASK -ELBIT
035844,001202: 11,2362 10000 CCS A
035845,001203: 11,2363 42375 -EL CS ELEACH
035846,001204: 11,2364 27267 ADS ELINCR1
035847,001205: 11,2365 30001 CA L
035848,001206: 11,2366 74752 MASK +ELBIT
035849,001207: 11,2367 10000 CCS A
035850,001208: 11,2370 32375 +EL CA ELEACH
035851,001209: 11,2371 27267 ADS ELINCR1
035852,001210: 11,2372 12335 TCF RESETRPT
035853,001211:
035854,001212: # THESE EQUIVALENCIES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM
035855,001213:
035856,001214: 11,2373 4752 +ELBIT = BIT2 # -PITCH
035857,001215: 11,2373 4753 -ELBIT = BIT1 # +PITCH
035858,001216: 11,2373 4747 +AZBIT = BIT5
035859,001217: 11,2373 4746 -AZBIT = BIT6
035860,001218:
![]() |
Page 822 |
035862,001220: 11,2373 00063 ALL4BITS OCT 00063
035863,001221: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES
035864,001222: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE
035865,001223:
035866,001224: # ****************************************************************************************************************
035867,001225: # R.O.D. TRAP
035868,001226: # ************************************************************************
035869,001227:
035870,001228: 20,2115 BANK 20
035871,001229: 20,2000 SETLOC RODTRAP
035872,001230: 20,2000 BANK
035873,001231: 20,2115 COUNT* $$/F2DPS # ****************************************
035874,001232:
035875,001233: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
035876,001234: 20,2116 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A: BIT 7 MEANS
035877,001235: 20,2117 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT
035878,001236: 20,2120 64753 AD ONE
035879,001237: 20,2121 27746 ADS RODCOUNT
035880,001238: 20,2122 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED
035881,001239:
035882,001240: 31,3553 BANK 31
035883,001241: 31,2000 SETLOC F2DPS*31
035884,001242: 31,2000 BANK
035885,001243:
035886,001244: 31,3553 COUNT* $$/F2DPS
035887,001245:
035888,001246: # ****************************************************************************************************************
035889,001247: # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP)
035890,001248: # ****************************************************************************************************************
035891,001249:
035892,001250: # N N-1
035893,001251: # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
035894,001252: # N N-1 1 0
035895,001253: # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
035896,001254: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
035897,001255: # L SP N-1 N IS THE DEGREE OF THE POWER SERIES
035898,001256: # MPAC DP X INITIAL GUESS FOR ROOT
035899,001257:
035900,001258: # LOC-2N DP A(0)
035901,001259: # ...
035902,001260: # LOC DP A(N)
035903,001261: # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS)
035904,001262:
![]() |
Page 823 |
035906,001264: # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2.
035907,001265: # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE IN 8 PASSES, RETURN IS TO LOC+1 AND
035908,001266: # OUTPUTS ARE NOT TO BE TRUSTED.
035909,001267:
035910,001268: # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD
035911,001269: # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE
035912,001270: # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE
035913,001271: # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT
035914,001272: # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE:
035915,001273: # 1. USER'S RESPONSIBILITY TO ASSURE THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I.
035916,001274: # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE
035917,001275: # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT
035918,001276: # PRECLUDE EVENTUAL CONVERGENCE.
035919,001277: # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS.
035920,001278: # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7.
035921,001279: # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE.
035922,001280:
035923,001281: # STORE ENTERING DATA, INITLIZE ERASABLES
035924,001282: 31,3553 00006 ROOTPSRS EXTEND
035925,001283: 31,3554 22132 QXCH RETROOT # RETURN ADRES
035926,001284: 31,3555 54117 TS PWRPTR # PWR TABL POINTER
035927,001285: 31,3556 52160 DXCH MPAC +3 # PWR TABL ADRES, N-1
035928,001286: 31,3557 33676 CA DERTABLL
035929,001287: 31,3560 54141 TS DERPTR # DER TABL POINTER
035930,001288: 31,3561 54161 TS MPAC +5 # DER TABL ADRES
035931,001289: 31,3562 10160 CCS MPAC +4 # NO POWER SERIES OF DEGREE 1 OR LESS
035932,001290: 31,3563 54162 TS MPAC +6 # N-2
035933,001291: 31,3564 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE
035934,001292: 31,3565 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC
035935,001293:
035936,001294: # COMPUTE CRITERION TO STOP ITERATING
035937,001295: 31,3566 00006 EXTEND
035938,001296: 31,3567 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC
035939,001297: 31,3570 52127 DXCH ROOTPS # AND IN ROOTPS
035940,001298: 31,3571 50157 INDEX MPAC +3 # PWR TABL ADRES
035941,001299: 31,3572 30005 CA 5 # PRECROOT TO A
035942,001300: 31,3573 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC
035943,001301: 31,3574 04713 TC USPRCADR
035944,001302: 31,3575 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC
035945,001303: 31,3576 52155 DXCH MPAC
035946,001304: 31,3577 52125 DXCH DXCRIT # CRITERION
035947,001305:
035948,001306: # SET UP DER COF TABL
![]() |
Page 824 |
035950,001308: 31,3600 00006 EXTEND
035951,001309: 31,3601 50117 INDEX PWRPTR
035952,001310: 31,3602 30004 DCA 3
035953,001311: 31,3603 52155 DXCH MPAC # A(N) TO MPAC
035954,001312:
035955,001313: 31,3604 30160 CA MPAC +4 # N-1 TO A
035956,001314:
035957,001315: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER
035958,001316: 31,3606 64753 AD ONE
035959,001317: 31,3607 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC
035960,001318: 31,3610 00006 EXTEND
035961,001319: 31,3611 50117 INDEX PWRPTR
035962,001320: 31,3612 30002 DCA 1
035963,001321: 31,3613 52155 DXCH MPAC # A(I-1) TO MPAC, FETCHING DERCOF
035964,001322: 31,3614 50141 INDEX DERPTR
035965,001323: 31,3615 52004 DXCH 3 # DERCOF TO DER TABL
035966,001324: 31,3616 44752 CS TWO
035967,001325: 31,3617 26117 ADS PWRPTR # DECREMENT PWR POINTER
035968,001326: 31,3620 44752 CS TWO
035969,001327: 31,3621 26141 ADS DERPTR # DECREMENT DER POINTER
035970,001328: 31,3622 10140 CCS PWRCNT
035971,001329: 31,3623 13605 TCF DERCLOOP
035972,001330:
035973,001331: # CONVERGE ON ROOT
035974,001332: 31,3624 00006 ROOTLOOP EXTEND
035975,001333: 31,3625 30127 DCA ROOTPS # FETCH CURRENT ROOT
035976,001334: 31,3626 52155 DXCH MPAC # LEAVE IN MPAC
035977,001335: 31,3627 00006 EXTEND
035978,001336: 31,3630 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2
035979,001337: 31,3631 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC
035980,001338:
035981,001339: 31,3632 00006 EXTEND
035982,001340: 31,3633 30127 DCA ROOTPS
035983,001341: 31,3634 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVTIVE
035984,001342: 31,3635 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR
035985,001343: 31,3636 00006 EXTEND
035986,001344: 31,3637 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1
035987,001345: 31,3640 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC
035988,001346:
035989,001347: 31,3641 04713 TC USPRCADR
035990,001348: 31,3642 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC
035991,001349:
035992,001350: 31,3643 00006 EXTEND
035993,001351: 31,3644 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC
035994,001352: 31,3645 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS
035995,001353:
035996,001354: 31,3646 04713 TC USPRCADR
035997,001355: 31,3647 01226 CADR ABS # YIELDS ABS(DX) IN MPAC
035998,001356: 31,3650 00006 EXTEND
![]() |
Page 825 |
036000,001358: 31,3651 40125 DCS DXCRIT
036001,001359: 31,3652 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC
036002,001360:
036003,001361: 31,3653 30163 CA MODE
036004,001362: 31,3654 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES
036005,001363: 31,3655 10000 CCS A
036006,001364: 31,3656 00132 BADROOT TC RETROOT
036007,001365:
036008,001366: 31,3657 24163 INCR MODE # INCREMENT ITERATION COUNTER
036009,001367: 31,3660 10154 CCS MPAC # TEST HI ORDER DX
036010,001368: 31,3661 13624 TCF ROOTLOOP
036011,001369: 31,3662 13664 TCF TESTLODX
036012,001370: 31,3663 13670 TCF ROOTSTOR
036013,001371: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX
036014,001372: 31,3665 13624 TCF ROOTLOOP
036015,001373: 31,3666 13670 TCF ROOTSTOR
036016,001374: 31,3667 13670 TCF ROOTSTOR
036017,001375: 31,3670 52127 ROOTSTOR DXCH ROOTPS
036018,001376: 31,3671 52155 DXCH MPAC
036019,001377: 31,3672 30163 CA MODE
036020,001378: 31,3673 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2
036021,001379: 31,3674 50132 INDEX RETROOT
036022,001380: 31,3675 10002 TCF 2
036023,001381:
036024,001382: 31,3676 00147 DERTABLL ADRES DERCOFN -3
036025,001383:
036026,001384: # ****************************************************************************************************************
036027,001385: # TRASHY LITTLE SUBROUTINES
036028,001386: # ****************************************************************************************************************
036029,001387:
036030,001388: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER
036031,001389: 31,3700 42452 CS TARGTDEX
036032,001390: 31,3701 50120 INDEX FIXLOC
036033,001391: 31,3702 54046 TS X1
036034,001392: 31,3703 16037 TCF INTPRET
036035,001393:
036036,001394: 31,3704 31642 TDISPSET CA TTF/8
036037,001395: 31,3705 00006 EXTEND
036038,001396: 31,3706 74750 MP TSCALINV
036039,001397: 31,3707 53476 DXCH TTFDISP
036040,001398:
036041,001399: 31,3710 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES
036042,001400: 31,3711 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED
036043,001401: 31,3712 E5,1470 EBANK= TCGFAPPR
036044,001402: 31,3712 31470 CA TCGFAPPR
036045,001403: 31,3713 24006 INCR BBANK
036046,001404: 31,3714 24006 INCR BBANK
036047,001405: 31,3715 E7,1642 EBANK= TTF/8
![]() |
Page 826 |
036049,001407: 31,3715 61642 AD TTF/8
036050,001408: 31,3716 00006 EXTEND
036051,001409: 31,3717 73751 MP TREDESCL
036052,001410: 31,3720 63747 AD -DEC103
036053,001411: 31,3721 64735 AD NEGMAX
036054,001412: 31,3722 54001 TS L
036055,001413: 31,3723 40001 CS L
036056,001414: 31,3724 60001 AD L
036057,001415: 31,3725 63750 AD +DEC99
036058,001416: 31,3726 64733 AD POSMAX
036059,001417: 31,3727 55666 TS TREDES
036060,001418: 31,3730 41666 CS TREDES
036061,001419: 31,3731 27666 ADS TREDES
036062,001420: 31,3732 00002 TC Q
036063,001421:
036064,001422: 31,3733 05652 1406POO TC POODOO
036065,001423: 31,3734 01406 OCT 01406
036066,001424: 31,3735 05567 1406ALM TC ALARM
036067,001425: 31,3736 01406 OCT 01406
036068,001426: 31,3737 13443 TCF RATESTOP
036069,001427:
036070,001428: # ****************************************************************************************************************
036071,001429: # SPECIALIZED "PHASCHNG" SUBROUTINE
036072,001430: # ****************************************************************************************************************
036073,001431:
036074,001432: 31,3740 E3,1440 EBANK= PHSNAME2
036075,001433: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE
036076,001434: 31,3741 56003 XCH EBANK
036077,001435: 31,3742 52002 DXCH L
036078,001436: 31,3743 55442 TS PHSNAME3
036079,001437: 31,3744 22003 LXCH EBANK
036080,001438: 31,3745 E7,1621 EBANK= E2DPS
036081,001439: 31,3745 00000 TC A
036082,001440:
036083,001441: # ****************************************************************************************************************
036084,001442: # PARAMETER TABLE INDIRECT ADDRESSES
036085,001443: # ****************************************************************************************************************
036086,001444:
036087,001445: 31,3746 E5,1402 RDG = RBRFG
036088,001446: 31,3746 E5,1410 VDG = VBRFG
036089,001447: 31,3746 E5,1416 ADG = ABRFG
036090,001448: 31,3746 E5,1424 VDG2TTF = VBRFG*
036091,001449: 31,3746 E5,1426 ADG2TTF = ABRFG*
036092,001450: 31,3746 E5,1430 JDG2TTF = JBRFG*
036093,001451:
036094,001452: # ****************************************************************************************************************
036095,001453: # LUNAR LANDING CONSTANTS
036096,001454: # ***************************************************************************************************************
036097,001455:
![]() |
Page 827 |
036099,001457: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE
036100,001458: 31,3747 4740 TTFSCALE = BIT12
036101,001459: 31,3747 4750 TSCALINV = BIT4
036102,001460: 31,3747 77630 -DEC103 DEC -103 B-14
036103,001461: 31,3750 00143 +DEC99 DEC +99 B-14
036104,001462: 31,3751 75340 TREDESCL DEC -.08
036105,001463: 31,3752 00264 180DEGS DEC +180 B-14
036106,001464: 31,3753 00056 1/2DEG DEC +.00278
036107,001465: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ
036108,001466: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ
036109,001467: 31,3756 01477 V06N63 VN 0663 # P63
036110,001468: 31,3757 01500 V06N64 VN 0664 # P64
036111,001469: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67
036112,001470:
036113,001471: 22,3647 BANK 22
036114,001472: 22,2000 SETLOC LANDCNST
036115,001473: 22,2000 BANK
036116,001474: 22,3647 COUNT* $$/F2DPS
036117,001475:
036118,001476: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12
036119,001477: 22,3651 01440 00000 GSCALE 2DEC 100 B-11
036120,001478: 22,3653 14000 00000 3/8DP 2DEC .375
036121,001479: 22,3655 30000 00000 3/4DP 2DEC .750
036122,001480: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1
036123,001481:
![]() |
Page 828 |
036125,001483: # ****************************************************************************************************************
036126,001484: # ****************************************************************************************************************
End of include-file LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc