AGS cross-assembler yaLEMAP, Jan 24 2005, 20:41:25 Copyright 2005 Ronald S. Burkey. Licensed under the General Public License (GPL). 0001: # COPYRIGHT: PUBLIC DOMAIN. 0002: # FILENAME: FP6.S 0003: # PURPOSE: THIS IS THE APOLLO LUNAR MODULE'S FIRMWARE FOR THE 0004: # ABORT GUIDANCE SYSTEM (AGS). THIS IS FLIGHT PROGRAM 6. 0005: # ASSEMBLER: YALEMAP 0006: # CONTACT: RON BURKEY . 0007: # WEBSITE: WWW.IBIBLIO.ORG/APOLLO 0010: # REFERENCE: HTTP://WWW.IBIBLIO.ORG/APOLLO/PULTORAK_FILES/FP6_AGS_ASSEMBLYLISTING.PDF. 0011: # MOD HISTORY: 2005-01-22 RSB BEGAN ADAPTING FROM FP8.S. 0012: # 2005-01-23 RSB DATA ENTRY COMPLETE. IT ASSEMBLES WITHOUT 0013: # ERRORS OR WARNINGS, BUT ONLY THE CHECKSUM 0014: # FOR 4000-7777 IS CORRECT SO FAR. NOT YET 0015: # PROOFED. 0016: # 2005-01-24 RSB PROOFED 0000-3777. THE CHECKSUMS ALL MATCH 0017: # NOW. 4000-7777 ISN'T PROOFED, EVEN THOUGH 0020: # ITS CHECKSUM IS CORRECT. 0021: 0022: # THE CONTENTS HAVE BEEN TAKEN (BY MEANS OF MANUAL DATA ENTRY) FROM 0023: # AN ASSEMBLY LISTING OF FLIGHT PROGRAM 6 SCANNED BY JOHN PULTORAK FROM 0024: # A PHYSICAL COPY PRESERVED BY SUPPLIED BY DAVIS PETICOLAS. (THE WWW LINK 0025: # FOR THE SCAN IS REFERENCED ABOVE.) HOWEVER, I HAVE NOT SIMPLY SLAVISHLY 0026: # ENTERED THE CODE DIRECTLY FROM VIEWING THE SCAN. RATHER, I HAVE STARTED 0027: # WITH FP8 SOURCE CODE, AND ONLY CHANGED IT AS NEEDED. THERE ARE SEVERAL 0030: # REASONS FOR THIS: 0031: 0032: # 1. FP8 AND FP6 ARE EXTREMELY SIMILAR. IN FACT, THE CHECKSUM 0033: # OF THE ENTIRE UPPER HALF OF MEMORY (4000-7777 OCTAL) IS 0034: # IDENTICAL, LEADING US TO BELIEVE THAT HUGE HUNKS OF THE 0035: # CODE ARE UNCHANGED. 0036: # 2. FP8 SOURCE CODE, AS MENTIONED, HAS PREVIOUSLY BEEN ENTERED 0037: # AND THEREFORE IS AVAILABLE. 0040: # 3. PAGES 90 AND 96 ARE MISSING FROM THE PHYSICAL COPY OF THE 0041: # FP6 SOURCE CODE WHICH WAS SCANNED, AND THEREFORE WE HAVE 0042: # LITTLE CHOICE BUT TO TAKE THEM FROM THE ONLY AVAILABLE OTHER 0043: # VERSION OF THE PROGRAM (NAMELY, FROM FP8). FORTUNATELY, 0044: # PAGES 90 AND 96 ARE IN THE 4000-7777 ADDRESS RANGE, WHICH 0045: # WE BELIVE HAS NOT CHANGED. 0046: # 4. THE PHYSICAL COPY OF FP6 FROM WHICH THE SCAN HAS BEEN TAKEN 0047: # IS MUCH LIGHTER AND HARDER TO READ THAN FP8. 0050: # 5. AND FINALLY, IT'S JUST EASIER FOR ME TO DO IT THIS WAY AND 0051: # SAVE MYSELF SOME TIME. 0052: 0053: # THE DANGER OF THIS APPROACH IS MAINLY NOT CATCHING CHANGES TO THE PROGRAM 0054: # COMMENTS (WHICH, OF COURSE, WERE RATHER UNCERTAIN TO BEGIN WITH, SINCE THE 0055: # METHOD OF PROOFING THE FP8 SOURCE CODE DID NOT PROOF THE COMMENTS). SO, 0056: # ANYBODY WHO WANTS TO VOLUNTEER TO PROOF THE COMMENTS HAS MAY BACKING! 0057: 0060: # THIS FILE CONTAINS THE ENTIRE SOURCE CODE FOR FP6. I HAVE NOT SPLIT THE 0061: # SOURCE CODE INTO MANY SMALLER CHUNKS AS HAS BEEN DONE FOR AGC SOURCE CODE. 0062: # THE PAGE REFERENCES ARE TO THE SCANNED PDF OF THE ASSEMBLY LISTING, BUT 0063: # THE PAGE MARKINGS ON THE PHYSICAL COPY MATCH THE PDF PAGES, BECAUSE I HAVE 0064: # SPECIFICALLY MANIPULATED THEM TO DO SO. IN ADDITION 0065: # TO THE COMMENTS CONTAINING THE PAGE REFERENCES, I'VE ALSO ADDED SOME 0066: # BLANK LINES FOR READABILITY. SO DON'T EXPECT THE LINE NUMBERS IN THE 0067: # SCANNED VERSION TO MATCH THE LINE NUMBERS IN AN ASSEMBLY LISTING CREATED 0070: # BY PROCESSING THIS SOURCE FILE WITH THE YALEMAP CROSS-ASSEMBLER. 0071: 0072: # PAGE 1 0073: # FLIGHT PROGRAM X -- LMAGS FPX S03 0151 -- 02/14/69 0074: # LM ABORT ELECTRONICS ASSEMBLY 0075: 0076: # SCRATCH PAD STORAGE 0077: 0000 ORG 0000 0100: 0000 000000 TS0 DEC 0 0101: 0001 000000 TS1 DEC 0 0102: 0002 000000 TS2 DEC 0 0103: 0003 000000 TS3 DEC 0 0104: 0004 000000 TS4 DEC 0 0105: 0005 000000 TS5 DEC 0 0106: 0006 000000 TS6 DEC 0 0107: 0007 000000 TS7 DEC 0 0110: 0010 000000 TS10 DEC 0 0111: 0011 000000 TS11 DEC 0 0112: 0012 000000 TS12 DEC 0 0113: 0013 000000 TS13 DEC 0 0114: 0014 000000 TS14 DEC 0 0115: 0015 000000 TS15 DEC 0 0116: 0016 000000 TS16 DEC 0 0117: 0017 000000 TS17 DEC 0 0120: 0010 B11 EQU TS10 # B3 B13 FOR RATE 0121: 0011 B21 EQU TS11 # B3 B13 FOR RATE 0122: 0012 B31 EQU TS12 # B-7 B3 FOR RATE 0123: 0013 B41 EQU TS13 # B-7 B3 FOR RATE 0124: 0014 B12 EQU TS14 # B3 ZERO FOR RATE 0125: 0015 B22 EQU TS15 # B3 ZERO FOR RATE 0126: 0016 B32 EQU TS16 # B-7 ZERO FOR RATE 0127: 0017 B42 EQU TS17 # B-7 ZERO FOR RATE 0130: 0020 000000 SREX3 DEC 0 0131: 0021 000000 SREX2 DEC 0 0132: 0022 000000 SREX1 DEC 0 0133: 0023 000000 SREX DEC 0 0134: 0024 000000 TVARBR DEC 0 # TEMP STORE FOR CK SUM. 0135: 0025 40 0 6246 TRA RETURN # SERV ROUT, STARTUP 0136: 0137: # TAPE LOAD STARTUP CHECKSUM 0140: 0141: 0026 66 0 6402 SF OUT 6402 # DEDA INPUT SCALE FACTOR 0142: 0143: # PAGE 2 0144: 0027 64 0 2040 OCTF INP 2040 # DEDA OCTAL INPUT 0145: 0146: # THE NEXT 16 LOCATIONS ARE SHARED 0147: # WITH A RR FILTER TEMPORARY MATRIX 0150: 0151: 0030 56 0 0001 U2X ALS 1 # B1 UNIT RADIAL VECTOR TO 0152: 0031 46 0 0033 U2Y TMI *+2 # B1 TRIAL RENDEZ PT. 0153: 0032 40 0 0027 U2Z TRA *-3 # B1 0154: 0030 VFX EQU U2X # BRAKING VEL VECTOR AT 13. 0155: 0030 RDOTX EQU U2X # 0B13 RANGE RATE CSM-LSM 0156: 0031 RDOTY EQU U2Y 0157: 0032 RDOTZ EQU U2Z 0160: 0033 70 0 0034 C2 DLY *+1 # B1 RENDEZ ANGLE SINE 0161: 0034 66 0 7012 V1X OUT 7012 # B1 HORIZ UNIT VECTOR 0162: 0035 64 0 6200 V1Y INP 6200 0163: 0036 30 0 0137 V1Z CLZ SUM 0164: 0037 20 0 0066 DLSC CLA V2Z # DOWNLINK SHIFT COUNTER 0165: 0040 10 0 0024 W1X STO TVARBR # B1 U1 X V1 0166: 0040 D31 EQU W1X 0167: 0041 30 0 0153 W1Y CLZ WRDCNT 0170: 0042 72 0 0024 W1Z TSQ TVARBR 0171: 0043 32 0 0137 SI ADZ SUM # B0 E(SIN(E0)) 0172: 0044 10 0 0137 A31S STO SUM # B1 RADAR NULL DIR COS 0173: 0045 20 0 0024 A32S CLA TVARBR 0174: 0046 24 0 4046 A33S SUB CLAFR 0175: 0047 46 0 0060 SIDELL TMI U1X # B1 SIN DELTA L 0176: 0050 30 0 0137 V6X CLZ SUM # B13 TEMP STORAGE FOR TPI QUANT 0177: 0051 46 0 0054 V6Y TMI *+3 0200: 0052 24 0 4006 V6Z SUB 1B17 0201: 0050 DQSX EQU V6X # ACCUM VEL IN XDV 0202: 0053 46 0 1101 CODELL TMI EXIT40 # B1 COS DELTA L 0203: 0054 20 0 7512 WCX CLA 10B4 # B1 UNIT VECTOR NORMAL 0204: 0055 10 0 0412 WCY STO S12 # TO CSM ORBIT 0205: 0056 66 0 6410 WCZ OUT 6410 0206: 0057 40 0 1052 TMPBR TRA SINITC # TEMP BRANCH STORE 0207: 0060 30 0 0153 U1X CLZ WRDCNT # B1 LEM UNIT RAD VECTGOR 0210: 0061 22 0 4006 U1Y ADD 1B17 0211: 0062 10 0 0153 U1Z STO WRDCNT 0212: 0063 24 0 4014 BRANCH SUB 1B11 # GUIDANCE BRANCH 0213: 0064 46 0 0042 V2X TMI W1Z # B1 HORZ UNIT VECTOR AT 0214: 0065 70 0 0041 V2Y DLY W1Y # RENDEZ POINT 0215: 0066 20 0 0206 V2Z CLA 0206 0216: 0217: # PAGE 3 0220: 0221: # END OF TAPE LOAD CHECKSUM PROGRAM 0222: 0223: 0064 VGX EQU V2X # VEL TO GAIN VECTOR AT L3 0224: 0067 000000 AT DEC 0B7 0225: 0070 000000 EX DEC 0B2 # ATTITUDE ERRORS. 0226: 0071 000000 EY DEC 0 0227: 0072 000000 EZ DEC 0 0230: 0073 000000 X3 DEC 0B0 # XFR ORB PARAM. 0231: 0073 Q11 EQU X3 # B30 B10 FOR RATE 0232: 0074 000000 DVXM1 DEC 0B1 # BODY DELTA VS 0233: 0075 000000 DVYM1 DEC 0 # PREVIOUS CYCLE. 0234: 0076 000000 DVZM1 DEC 0 0235: 0077 000000 NI DEC 0B-9 # PREDICTION ANGULAR FREQUENCY 0236: 0077 NE EQU NI # CSM PRED. ANGULAR FREQ. 0237: 0100 000000 VD2X DEC 0B2 # DELTA V EXP LS 0240: 0101 000000 VD2Y DEC 0 0241: 0102 000000 VD2Z DEC 0 0242: 0103 000000 CI DEC 0B0 # E(COS(E0)) 0243: 0104 000000 DRX DEC 0B14 # LRM POS REMAINDERS 0244: 0105 000000 DRY DEC 0 0245: 0106 000000 DRZ DEC 0 0246: 0107 000000 THEP DEC 0 # PGNS THETA IN COUNTS. 0247: 0110 000000 DIGX DEC 0B7 # PREDICTED CHANGE IN 0250: 0111 000000 DIGY DEC 0 # INTEGRATED GRAVITY. 0251: 0112 000000 DIGZ DEC 0 0252: 0113 000000 PSIP DEC 0 # PGNS PSI IN COUNTS. 0253: 0114 000000 GXDT DEC 0B7 # GRAVITY TIMES MAJOR 0254: 0115 000000 GYDT DEC 0 0255: 0116 000000 GZDT DEC 0 0256: 0117 000000 PHIP DEC 0 # PGNS PHI IN COUNTS. 0257: 0120 000000 DVSX DEC 0B7 0260: 0121 000000 DVSY DEC 0 0261: 0122 000000 DVSZ DEC 0 0262: 0123 000000 SIGA DEC 0B1 # SIN FDAI GAMMA. 0263: 0124 000000 RRX DEC 0B23 # COMPUTED LM-CSM RANGE 0264: 0125 000000 RRY DEC 0 0265: 0266: # PAGE 4 0267: 0126 000000 RRZ DEC 0 0270: 0127 000000 COGA DEC 0B1 # COS FDAI GAMMA. 0271: 0130 200000 A11 DEC 1.0B1 # XB DIRECTION COSINES. 0272: 0131 000000 A12 DEC 0 0273: 0132 000000 A13 DEC 0 0274: 0133 000000 TS8 DEC 0 0275: 0134 000000 A31 DEC 0 # ZB DIRECTION COSINES 0276: 0135 000000 A32 DEC 0 0277: 0136 200000 A33 DEC 1.0B1 0300: 0137 000000 SUM DEC 0 # RUNNING MEMORY SUM 0301: 0140 000000 A21 DEC 0 # YB DIRECTION COSINES 0302: 0141 200000 A22 DEC 1.0B1 0303: 0142 000000 A23 DEC 0 0304: 0143 000000 X4 DEC 0B0 # XFR ORB PARAM. 0305: 0143 VHSQ EQU X4 # 0B26 VH SQUARED 0306: 0143 Q12 EQU X4 # B30 0307: 0144 000000 E1 DEC 0 # -6 OR -9 XB NORM ERROR 0310: 0145 000000 E3 DEC 0 # ZB NORMALITY ERROR. 0311: 0146 000000 E13 DEC 0 # XB,ZB ORTHOG ERROR. 0312: 0147 000000 T1 DEC 0B18 # TA1 AT RADAR NULL 0313: 0150 000000 DA11 DEC 0B-5 # DIR COSINE REMAINDERS 0314: 0151 000000 DA12 DEC 0 0315: 0152 000000 DA13 DEC 0 0316: 0153 000000 WRDCNT DEC 0 # CKSUM WORD COUNT 0317: 0154 000000 DA31 DEC 0 0320: 0155 000000 DA32 DEC 0 0321: 0156 000000 DA33 DEC 0 0322: 0157 000000 TSEX DEC 0 # EXIT FROM NORTON 0323: 0160 000000 A11D DEC 0B1 # XD DIRECTION COSINES. 0324: 0161 000000 A12D DEC 0 0325: 0162 000000 A13D DEC 0 0326: 0163 000000 DEC 0 # ** UNUSED -- INDEXED BY A11D ** 0327: 0164 000000 A31D DEC 0B1 # ZD DIRECTION COSINES. 0330: 0165 000000 A32D DEC 0 0331: 0166 000000 A33D DEC 0 0332: 0167 000000 MU17 DEC 0B3 # RADAR FILTER ENTRY COUNTER 0333: 0170 000000 P DEC 0B23 # TRIAL SEMI-PARAMETER 0334: 0335: # PAGE 5 0336: 0170 Q22 EQU P # B30 0337: 0171 000000 ALPHA DEC 0B23 # XFR ORBIT SEMI-MAJOR AXIS 0340: 0172 000000 Q1 DEC 0B23 # XFR ORBIT PERILUNE 0341: 0172 ESQ EQU Q1 0342: 0173 000000 AI DEC 0B23 # PRED. SEMI-MAJOR AXIS 0343: 0173 AE EQU AI # CSM PRED. SEMI-MAJOR AXIS 0344: 0174 000000 R5X DEC 0B23 # LM PRED POS AHEAD TDEL 0345: 0175 000000 R5Y DEC 0 0346: 0176 000000 R5Z DEC 0 0347: 0177 000000 AL DEC 0B23 # LM PRED. SEMI-MAJOR AXIS 0350: 0200 000000 REX DEC 0B23 # CSM EPOCH POSITION 0351: 0201 000000 REY DEC 0 0352: 0202 000000 REZ DEC 0 0353: 0203 000000 RT DEC 0B23 # CSM PRED POS. MAG. 0354: 0204 000000 R0X DEC 0B23 # PRED EPOCH POS VECTOR 0355: 0205 000000 R0Y DEC 0 0356: # SEE REAR OF LISTING FOR CHECKSUM 0357: # NOTE THAT THE CHECKSUM PSEUDO-OP IS NOT DEFINED IN THE AGS 0360: # PROGRAMMER'S MANUAL. I HAVE DECIDED FOR THE PURPOSES OF 0361: # IMPLEMENTING YALEMAT THAT THE FOLLOWING SYNTAX WILL BE 0362: # USED. IT MEANS THAT THE CROSS-ASSEMBLER WILL COMPUTE A 0363: # CHECKSUM OF THE ADDRESS RANGE 0207-1004 (OCTAL), AND WILL 0364: # STORE IT RIGHT HERE. 0365: 0206 CHECKSUM RANGE 0207-1004 0366: 0206 R0Z DEFINE 0206 0367: 0207 000000 R0 DEC 0B23 # PRED EPOCH POS. MAG. 0370: 0210 000000 R DEC 0B23 # LM POS MAGNITUDE 0371: 0211 000000 Y DEC 0B23 # OUT OF PLANE POSITION 0372: 0212 000000 PP DEC 0B23 # P PRIME/EXIT FOR MXM 0373: 0212 DELTA EQU PP # B60 B10 FOR RATE 0374: 0213 002261 POUTFS DEC 7.684096E4B23 # MAX P DISPLAYABLE 0375: 0214 000000 POUT DEC 0 # DISPLAY POSITION. 0376: 0215 000000 DPOUT DEC 0 # DISPLAY POSITION INCREMENT. 0377: 0216 040000 2K3 DEC 1048576.B23 # QL SET ON O.F. 0400: 0217 001415 2K14 DEC 5.E4B23 # INITIAL P PERTURBATION 0401: 0220 000000 RIX DEC 0B23 # ELLIPSE PRED POS OUTPUT 0402: 0221 000000 RIY DEC 0 0403: 0222 000000 RIZ DEC 0 0404: 0220 DELR1 EQU RIX # MEASURED MINUS COMPUTED RANGE 0405: 0221 DELR3 EQU RIY # B23 0406: 0222 DELR2 EQU RIZ 0407: 0223 000000 25J DEC 0B23 # DEDA ALTITUDE UPDATE 0410: 0224 270633 7J DEC 6055605B23 # TERM IN AL(O.I.) 0411: 0412: # PAGE 6 0413: 0225 261561 8J DEC 5823542B23 # AL LOWER LIMIT (O.I.) 0414: 0226 326447 9J DEC 7031200B23 # AL UPPER LIMIT (O.I.) 0415: 0227 540764 4K10 DEC -651361.1B20 # TERM IN AL (O.I.) 0416: 0230 017205 2K19 DEC 5.E5B23 # DELTA P LIMITER 0417: 0231 256014 5J DEC 5.7024E6B23 # LANDING SITE RADIUS 0420: 0232 001652 16J DEC 60000B23 # ORBIT INSERTION ALTITUDE 0421: 0233 000607 21J DEC 25000B23 # PITCH STEERING ALT THRESHOLD 0422: 0234 000000 RRSX DEC 0B23 # CALCULATED RANGE AT TIME 0423: 0235 000000 RRSY DEC 0 # OF RADAR RANGE MEASUREMENT. 0424: 0236 000000 RRSZ DEC 0 0425: 0234 L12 EQU RRSX # B30 ZERO FOR RATE 0426: 0235 L22 EQU RRSY # B30 ZERO FOR RATE 0427: 0236 L32 EQU RRSZ # B30 ZERO FOR RATE 0430: 0237 000000 L42 DEC 0 # B20 ZERO FOR RATE 0431: 0432: # INITIALIZE DATA FROM DOWNLINK ADDRESSES 0433: # LOCATIONS 0240-0257 USED 0434: 0240 000000 1J1 DEC 0B23 # LM EPHEMERIS POS 0435: 0241 000000 1J2 DEC 0 0436: 0242 000000 1J3 DEC 0 0437: 0243 000000 DEC 0 0440: 0244 000000 2J1 DEC 0 # CSM EPHEMERIS POS 0441: 0245 000000 2J2 DEC 0 0442: 0246 000000 2J3 DEC 0 0443: 0247 000000 DEC 0 0444: 0250 000000 DEC 0 0445: 0251 000000 DEC 0 0446: 0252 000000 DEC 0 0447: 0253 000000 DEC 0 0450: 0254 000000 1J7 DEC 0B18 # LM EPOCH TIME 0451: 0255 000000 1J7LS DEC 0B1 0452: 0256 000000 DEC 0 0453: 0257 000000 DEC 0 0454: 0260 000000 1J4 DEC 0B13 # LM EPHEMERIS VEL 0455: 0261 000000 1J5 DEC 0 0456: 0262 000000 1J6 DEC 0 0457: 0263 000000 VPY DEC 0B13 # OUT-OF-PLANE VELOCITY 0460: 0461: # PAGE 7 0462: 0264 000000 2J4 DEC 0 # CSM EPHEMERIS VEL 0463: 0265 000000 2J5 DEC 0 0464: 0266 000000 2J6 DEC 0 0465: 0267 000000 DELVG DEC 0B13 # VEL-TO-BE-GAINED FOR 40 MS 0466: 0270 000000 VY0 DEC 0B13 # LM OUT-OF-PLANE VEL 0467: 0271 000000 RB DEC 0B23 # RF SAVED FOR ORBIT INSERT 0470: 0272 000000 2J7 DEC 0 # CSM EPOCH TIME 0471: 0273 000000 2J7LS DEC 0 0472: 0274 776030 29J DEC -2000.B18 # INITIAL FILTER TIME FOR T1 0473: 0275 000000 1J DEC 0B18 # NOMINAL TPI TIME (CSI) 0474: 0276 000000 DELTAT DEC 0B18 # TIME OF LAST RADAR UPDATE 0475: 0277 000000 XI DEC 0B3 # Z-AXIS/LOCAL HORIZ ANGLE 0476: 0300 000000 A31BD DEC 0B1 # UNIT VECTOR (LM-CSM) 0477: 0301 000000 A32BD DEC 0 0500: 0302 000000 A33BD DEC 0 0501: 0303 000000 TLOS DEC 0B3 # DXFR LOS COMPUTED 0502: 0303 THETAF EQU TLOS # LM-CSM CENTRAL ANG AT CSI/CDH 0503: 0304 000034 6K8 DEC .22B10 # RANGE RATE ERROR VARIANCE 0504: 0305 000000 DEC 0 # **UNUSED** 0505: 0306 000000 4J DEC 0B13 # TIME OF NODE PRIOR TO RENDEZ 0506: 0307 120400 6J DEC 2576.0B13 # DESIRED TRANSFER TIME 0507: 0310 000000 TDEL DEC 0B13 # TIME TIL NEXT MANEUVER 0510: 0311 000000 TR DEC 0B13 # TIME TIL RENDEZVOUS 0511: 0312 000000 3J DEC 0B13 # TARGET OFFSET TIME 0512: 0313 000000 TPERG DEC 0B13 # LM TIME TO PERIGEE 0513: 0314 000000 DELRP DEC 0B23 # DIFF. ALT. AT TIG(CSI-CDH) 0514: 0315 000000 QA DEC 0B23 # LM APOFOCUS ALTITUDE 0515: 0316 000000 18J DEC 0B23 # MEASURED RADAR RANGE 0516: 0317 000000 RR DEC 0B23 # COMPUTED RANGE 0517: 0320 000000 READP DEC 0 0520: 0321 000000 ENTERP DEC 0 0521: 0322 000000 HOLDP DEC 0 0522: 0323 000000 CLEARP DEC 0 0523: 0324 000000 HMF DEC 0 0524: # START OF TELEMETRY LIST 0525: 0325 000000 RMF DEC 0 # READOUT MODE FLAG 0526: 0326 000000 DD DEC 0 # DEDA DATA 0527: 0530: # PAGE 8 0531: 0327 000000 CMF DEC 0 # CLEAR MODE FLAG 0532: 0330 200000 A11T DEC 1.B1 # TM DIR COSINES 0533: 0331 000000 A12T DEC 0 0534: 0332 000000 A13T DEC 0 0535: 0333 000000 ADST DEC 0 # DEDA ADDRESS 0536: 0334 000000 A31T DEC 0 0537: 0335 000000 A32T DEC 0 0540: 0336 200000 A33T DEC 1.B1 0541: 0337 000000 H DEC 0B23 # ALTITUDE 0542: 0340 000000 RX DEC 0B23 # LM POSITION 0543: 0341 000000 RY DEC 0 0544: 0342 000000 RZ DEC 0 0545: 0343 000000 QL DEC 0B23 # PRESENT LM PERICYNTHION 0546: 0343 EONS10 EQU QL # ENG ON+S10 FOR TM 0547: 0344 000000 RCX DEC 0B23 # CSM PRESENT POSITION 0550: 0345 000000 RCY DEC 0 0551: 0346 000000 RCZ DEC 0 0552: 0347 000000 RF DEC 0B23 # PREDICTED BURNOUT ALT. 0553: 0350 000000 DVX DEC 0B1 # BODY DELTA VS 0554: 0351 000000 DVY DEC 0 # THIS CYCLE. 0555: 0352 000000 DVZ DEC 0 0556: 0353 000000 TA2 DEC 0B1 # ABS TIME LS. 0557: 0354 000000 DAX DEC 0B-6 # DELTA ALPHAS 0560: 0355 000000 DAY DEC 0 0561: 0356 000000 DAZ DEC 0 0562: 0357 000000 TBO DEC 0B9 # TIME TO BURNOUT. 0563: 0360 000000 VX DEC 0B13 # LM VELOCITY 0564: 0361 000000 VY DEC 0 0565: 0362 000000 VZ DEC 0 0566: 0363 000000 MU8S12 DEC 0 # MU8/S12 0567: 0364 000000 VCX DEC 0B13 # CSM PRESENT VELOCITY 0570: 0365 000000 VCY DEC 0 0571: 0366 000000 VCZ DEC 0 0572: 0367 000000 HDOT DEC 0B13 # ALTITUDE RATE 0573: 0370 000000 VG DEC 0B13 # VELOCITY TO GAIN 0574: 0371 000000 VT DEC 0B13 # TOTAL VEL REQ FOR DXFER 0575: 0371 VP0 EQU VT # VEL. TO-BE-GAINED AT CDH 0576: 0577: # PAGE 9 0600: 0372 000000 TA0 DEC 0B18 # TIME FROM CSI TO CDH 0601: 0373 000000 TIG DEC 0B18 # ABSOLUTE TIME OF MANEUVER 0602: 0374 000000 A11BD DEC 0B1 # CMD XB POINTING DIR 0603: 0375 000000 A12BD DEC 0 0604: 0376 000000 A13BD DEC 0 0605: 0377 000000 TA1 DEC 0B18 # ABS TIME MS. 0606: 0400 000000 S0 DEC 0 # AGS FUNCTION SELECTOR 0607: 0401 000000 DISC1C DEC 0 # DISCRETE WD 1-TRUE STATE 0610: 0402 000000 Q1DEDA DEC 0B23 # TRANS ORBIT PERICYN ALT 0611: 0402 DELH EQU Q1DEDA # DIFF. ALT. AFTER CDH(CSI-CDH) 0612: 0403 000000 QLTELE DEC 0B23 # QL FOR TELE AND DEDA 0613: 0404 000000 VD1X DEC 0B13 # 40MS VEL ACCUMULATION 0614: 0405 000000 VD1Y DEC 0 0615: 0406 000000 VD1Z DEC 0 0616: # END OF TELEMETRY LIST 0617: 0407 000000 S7 DEC 0 # ENGINE ON FOR EXT DELTA V 0620: 0410 000000 S10 DEC 0 # GUIDANCE MODE SELECTOR 0621: 0411 000000 S11 DEC 0 # AUTO RADAR SWITCH 0622: 0412 000000 S12 DEC 0 # TEST STATUS 0623: 0413 000000 S13 DEC 0 # STORE LUNAR AZIMUTH 0624: 0414 000000 S14 DEC 0 # NAVIGATION INITIALIZE 0625: 0415 000000 S15 DEC 0 # RADAR GIMBAL NULL 0626: 0416 000000 S16 DEC 0 # CDH APSIDAL SELECTION 0627: 0417 000000 S17 DEC 0 # RADAR FILTER INIT. SWITCH 0630: 0420 000000 VEX DEC 0B13 # CSM EPOCH VEL 0631: 0421 000000 VEY DEC 0 0632: 0422 000000 VEZ DEC 0 0633: 0423 000000 RFDOT DEC 0B13 # DESIRED ALT RATE 0634: 0424 000000 V0X DEC 0B13 # PRED EPOCH VEL VECTOR 0635: 0425 000000 V0Y DEC 0 0636: 0426 000000 V0Z DEC 0 0637: 0427 000000 VH DEC 0B13 # LM HORIZONTAL VEL 0640: 0430 000000 VIX DEC 0B13 # ELLIPSE PRED VEL OUTPUT 0641: 0431 000000 VIY DEC 0 0642: 0432 000000 VIZ DEC 0 0643: 0433 000000 V DEC 0B13 # LM TOTAL VELOCITY 0644: 0434 000000 TP DEC 0B13 # TRIAL XFR ORB. TIME. 0645: 0646: # PAGE 10 0647: 0435 000000 T DEC 0B13 # TIME TO RENDEZ. 0650: 0436 000000 TB DEC 0B13 # TA-TE. 0651: 0437 000000 PDOTM1 DEC 0B13 # DISPLAY POS RATE(-1) 0652: 0440 000000 RRDOT DEC 0B13 # RANGE RATE 0653: 0441 000000 RDOTS DEC 0B13 # R. R. STORED AT RADAR INPUT 0654: 0442 000000 TI DEC 0B13 # PREDICTION TIME/RR FILTER TEMP 0655: 0443 000000 DPDOUT DEC 0B13 # DISPLAY POS RATE INCREMENT 0656: 0444 000000 PDOUT DEC 0B13 # DSP POS RATE CONV TO FPS AT 13 0657: 0445 000000 TCSM DEC 0B13 # CSM PERIOD (SEC) 0660: 0446 303240 BACCSF DEC 0.762939B0 # .001 FT/SEC2 TO FPS/20MS AT 1 0661: 0447 000360 2K18 DEC 15.B13 # PARTIAL DERIV PROTECTOR. 0662: 0450 000000 28J1 DEC 0B13 # DELTA V DOWNRANGE 0663: 0451 000000 28J2 DEC 0B13 # DELTA V CROSSRANGE 0664: 0452 000000 28J3 DEC 0B13 # DELTA V RADIAL 0665: 0453 000040 2K20 DEC 2.B13 # CONVERGENCE CHECK. 0666: 0454 003100 4K26 DEC 100.0B13 # VG THRESHOLD 0667: 0455 000000 DDF DEC 0 # DEDA DATA RECEIVED FLAG 0670: 0456 031000 6K4 DEC .1E3B10 # INITIAL VALUE OF P33 AND P44 0671: 0457 027657 6K2 DEC .1E9B30 # INIT VALUE OF P11,P22 0672: 0460 000000 V5X DEC 0B13 # TPI-PREDICTED V AT TPI TIME 0673: 0461 000000 V5Y DEC 0 0674: 0462 000000 V5Z DEC 0 0675: 0460 DVGXX EQU V5X # VEL TO GAIN IN EXT DELTA V 0676: 0463 000000 VHA DEC 0B13 0677: 0464 001440 22J DEC 50B13 # PITCH STEERING ALT RATE THRESH 0700: 0465 000000 23J DEC 0B13 # RFDOT LOWER LIMIT 0701: 0466 000360 5K26 DEC 15B13 # PSEUDO ATT HOLD IN STEER 0702: 0467 000000 PART DEC 0B14 # PARTIAL DERIVATIVE 0703: 0470 000000 VDX DEC 0B13 # VD1 AT NAV UPDATE 0704: 0471 000000 VDY DEC 0 0705: 0472 000000 VDZ DEC 0 0706: 0473 432700 4K27 DEC -7332.B13 # OVERFLOW PROTECTION FOR VD1X 0707: 0474 000000 VSMGX DEC 0B13 # VD1 CUTOFF 0710: 0475 000000 VSMGY DEC 0 0711: 0476 000000 VSMGZ DEC 0 0712: 0477 000000 RADOT DEC 0B13 # PRED. RDOT AT TIG 0713: 0500 000000 DELVGX DEC 0B13 # THRUST VEL TO GAIN 0714: 0715: # PAGE 11 0716: 0501 000000 DELVGY DEC 0 0717: 0502 000000 DELVGZ DEC 0 0720: 0503 000000 17J DEC 0B13 # RANGE RATE INPUT 0721: 0504 000000 RD3DOT DEC 0B-2 # DESIRED RADIAL JERK 0722: 0505 000000 YD3DOT DEC 0B-2 # DESIRED OUT-OF-PLANE JERK 0723: 0506 012000 4K12 DEC 5B7 # ACCEL THRESH IN O.I. STEER 0724: 0507 000000 S507 DEC 0B3 # ACQ STEER SEL OF PT DIR 0725: 0510 000000 DAXREM DEC 0B-13 # INCRE. GYRO INPUT REMAINDERS 0726: 0511 000000 DAYREM DEC 0 0727: 0512 000000 DAZREM DEC 0 0730: 0513 000000 C1 DEC 0B1 # RENDEZ ANGLE COSINE. 0731: 0514 000000 WBX DEC 0B1 # UNIT VECTOR FOR 0732: 0515 000000 WBY DEC 0 # GUIDANCE STEERING 0733: 0516 000000 WBZ DEC 0 0734: 0517 005754 6K10 DEC .625E7B28 # VARIANCE OF RADAR RANGE ERROR 0735: 0520 000000 TE1 DEC 0B18 # CSM EPOCH TIME MS. 0736: 0521 000000 TL1 DEC 0B18 # LEM EPOCH TIME MS. 0737: 0522 777605 6K6 DEC -.24B8 # Y-VELOCITY FILTER WEIGHT 0740: 0523 000000 5K20 DEC 0B-2 # RD3DOT LOWER LIMIT 0741: 0524 000000 TE2 DEC 0 # CSM EPOCH TIME LS. 0742: 0525 000000 TL2 DEC 0 # LEM EPOCH TIME LS. 0743: 0526 273400 2K11 DEC 6000B13 # VF IF OVERFLOW 0744: 0527 002400 4K6 DEC 80.B13 # RFDOT UPPER LIMIT 0745: 0530 000000 DAXA DEC 0B-6 # ALIGN INCREMENTS 0746: 0531 000000 DAYA DEC 0 0747: 0532 000000 DAZA DEC 0 0750: 0533 000000 DISC1 DEC 0 # DISCRETE WORD 0751: 0534 314632 1K18 DEC .003125B-8 # ACCEL SCALE FACTOR 0752: 0535 314632 1K20 DEC .003125B-8 0753: 0536 314632 1K22 DEC .003125B-8 0754: 0537 000000 1K14 DEC 0B-14 # X-AXIS MASS UNBAL COMP 0755: 0540 000000 1K19 DEC 0B1 # ACCEL BIAS 0756: 0541 000000 1K21 DEC 0B1 # COMPENSATION 0757: 0542 000000 1K23 DEC 0B1 0760: 0543 000000 DSPSC DEC 0 # DISPLAY SHIFT COUNTER 0761: 0544 000000 1K1 DEC 0B-13 # GYRO BIAS 0762: 0545 000000 1K6 DEC 0 # COMPENSATIONS 0763: 0764: # PAGE 12 0765: 0546 000000 1K11 DEC 0 0766: 0547 000000 DDEL DEC 0B0 # LUNAR ALIGN CORRECTION 0767: 0550 000000 1K3 DEC 0B-7 # GYRO SCALE FACTOR 0770: 0551 000000 1K8 DEC 0 # COMPENSATIONS 0771: 0552 000000 1K13 DEC 0 0772: 0553 000000 HRF DEC 0 # HIGH RATE FLAG 0773: 0554 000000 RD2DOT DEC 0B7 # DESIRED RADIAL ACCEL 0774: 0555 000000 YD2DOT DEC 0B7 # DESIRED OUT-OF-PLANE ACCEL 0775: 0554 L11 EQU RD2DOT # B30 B20 INTERMEDIATE RESULTS 0776: 0555 L21 EQU YD2DOT # B30 B20 USED TO COMPUTE 0777: 0556 000000 L31 DEC 0 # B20 B10 RADAR FILTER 1000: 0557 000000 L41 DEC 0 # B20 B10 WEIGHTS 1001: 0554 LILA EQU RD2DOT # INTERMEDIATE RESULTS FOR 1002: 0555 LILE EQU YD2DOT # COVARIANCE MATRIX COMPUTATION 1003: 0556 LILJ EQU L31 # B-15 1004: 0557 LILC EQU L41 1005: 0560 000000 5K14 DEC 0B-2 # RD3DOT UPPER LIMIT 1006: 0561 010142 5K16 DEC .008B-2 # YD3DOT UPPER LIMIT 1007: 0562 000000 DLWN DEC 0 # DOWNLINK WORD COUNTER 1010: 0563 000000 DLIF DEC 0 # DOWNLINK INITIALIZE FLAG 1011: 0564 631463 5K18 DEC -.1B-2 # RD3DOT LOWER LIMIT 1012: 0565 203045 4K4 DEC .004B-7 # FACTOR IN RFDOT(OI) 1013: 0566 026263 4K7 DEC .0873B0 # PITCH CANT ANGLE 1014: 0567 000000 DSPF1 DEC 0 # DISPLAY FLAG1. 1015: 0570 000000 ID1F DEC 0 # DOWNLINK ID RECEIVED 1016: 0571 000000 IDRF DEC 0 # DOWNLINK INPUT COMPLETE 1017: 0572 000000 FLAGT DEC 0 # MEMORY TEST 1020: 0573 000000 FLAG1 DEC 0 # 20MS BRANCH CONTROL 1021: 0574 000000 DEL2 OCT 0 # STAGED FLAG. 1022: 0575 000000 DEL5 OCT 0 # ATTHLD LOCK FLAG. 1023: 0576 000000 DEL6 DEC 0 # CALIBRATE I.C. FLAG 1024: 0577 000000 DEL10 DEC 0 # TPI LOGIC FLAG 1025: 0600 000000 RD3DTL DEC 0B-2 # RD3DOT LOWER LIMIT 1026: 0601 767636 5K17 DEC -.008B-2 # YD3DOT LOWER LIMIT 1027: 0602 010550 4K8 DEC .034B0 # POLL CANT ANGLE 1030: 0603 000000 DEL20 DEC 0 # LOGIC FLAG FOR ENG CONTROL 1031: 0604 000000 DEL21 OCT 0 # LUNAR SURFACE FLAG. 1032: 1033: # PAGE 13 1034: 0605 003775 2J DEC 1.9970B7 # COTAN OF DESIRED LOS AT TPI 1035: 0606 000000 DEL42 OCT 0 # LUNAR ALINE COMPLETE FLAG 1036: 0607 377777 K55 OCT 377777 # S.F. FOR HDOT DISPLAY 1037: 0610 000000 MU3 DEC 0 # P-ITER COUNTER. 1040: 0611 376057 6K9 DEC .3029E-4B-15 # VARIANCE OF RADAR ANGULAR ERROR 1041: 0612 000000 MU6 DEC 0 # STAGING COUNTER 1042: 0613 026164 3K4 DEC .17365B1 # CENTRAL ANGLE LIMIT ON TPI 1043: 0614 000000 MU8 DEC 0 # ULLAGE COUNTER 1044: 0615 000000 MU10 DEC 0 # GYRO CALIBRATE DURATION 1045: 0616 000003 1K9 DEC 3.0B17 # ULLAGE COUNTER LIMIT 1046: 0617 000226 1K30 DEC 150.B17 # GYRO CALIBRATE DURATION 1047: 0620 000005 2K17 DEC 5.B17 # NO OF P-ITERATIONS-3 1050: 0621 000017 1K37 DEC 15.B17 # ACCEL CAL DURATION 1051: 0622 000031 4K23 DEC 25.0B17 # STAGING TIME DELAY 1052: 0623 000000 S623 DEC 0B3 # EX SELECTION IN G. S 1053: 0624 031463 1K4 DEC .1B0 # DISPLAY INTERPOLATION 1054: 0625 000071 1K24 DEC .87E-3B1 # SINGULARITY THRESHOLD 1055: 0626 561111 1K26 DEC -.142857E3B8 # NEG INV OF ALIGN GAIN CONSTANT 1056: 0627 262132 1K27 DEC .435E-1B-4 # ALIGN CONSTANT 1057: 0630 327700 1K28 DEC 107.9378B7 # ALIGN CONSTANT 1060: 0631 004061 1K29 DEC .001B-4 # LUN ALIGN STOP CRITERION 1061: 0632 243656 1K33 DEC .08B-3 # CALIBRATE GAIN 1062: 0633 247613 1K34 DEC .00002B-15 # CALIBRATE GAIN 1063: 0634 000400 1K35 DEC .25B7 # ACCEL BIAS THRESHOLD 1064: 0635 777651 1K36 DEC -.66667E-3B0 # ACCEL CAL GAIN 1065: 0636 235407 2K1 DEC .173189E15B48 # GRAVITY CONST (LUNAR) 1066: 0637 320020 2K2 DEC .57740387E-14B-47 # 1/2K1 1067: # 1070: # ELEMENTS OF LM STATE ERROR COVARIANCE MATRIX 1071: 1072: 0640 000000 P11 DEC 0B30 # VARIANCE OF X-POS ERROR 1073: 0641 000000 P12 DEC 0B30 # COVARIANCE OF X AND Y POS ERROR 1074: 0642 000000 P13 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR 1075: 0643 000000 P14 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR 1076: 0644 000000 P21 DEC 0B30 # COVAR OF X AND Z POS ERROR 1077: 0645 000000 P22 DEC 0B30 # VARIANCE OF Z-POS ERROR 1100: 0646 000000 P23 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR 1101: 1102: # PAGE 14 1103: 0647 000000 P24 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR 1104: 0650 000000 P33 DEC 0B10 # VARIANCE OF X-VEL ERROR 1105: 0651 000000 P34 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR 1106: 0652 000000 P43 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR 1107: 0653 000000 P44 DEC 0B10 # VARIANCE OF Z-VEL ERROR 1110: 0654 713513 4K2 DEC -.499286E-4B-12 # FACTOR IN TB COMP 1111: 0655 012552 4K3 DEC .12464325E-8B-25 # FACTOR IN TB COMP 1112: 0656 505075 6K5 DEC -.73B0 # Y-POSITION FILTER WEIGHT 1113: 0657 000042 4K25 DEC 2.1B13 # ENG CUTOFF COMP 1114: 0660 002000 4K34 DEC 1.B7 # AT LOWER LIMIT 1115: 0661 000146 4K35 DEC .1B7 # ULLAGE THRESHOLD 1116: 0662 257175 4K5 DEC 5.742395E6B23 # NOMINAL BURNOUT ALTITUDE 1117: 0663 000000 SUMLIM DEC 0 # LAST CELL FOR CHECKSUM 1120: 0664 000034 WORDS DEC 28 1121: 0665 006200 VY0FS DEC 200B13 # MAX VY0 DISPLAYABLE 1122: 0666 020603 4K21 DEC .26179938B2 # SC FACTOR FOR ATT ERR OUTPUT 1123: 0667 777716 M25B16 DEC -25.B16 # CYCLE COUNT TO SECONDS 1124: 0670 240000 DTB DEC 1.25B1 # 1 SEC + DEDA TIME BIAS 1125: 0671 077776 ID1 OCT 077776 # DOWNLINK ID1 CODE 1126: 0672 10 0 0257 DLWNL STO 1J1+15 # END OF DOWNLINK BUFFER 1127: 0673 777616 1K56 DEC -.532333E-7B-14 # NEG LUNAR RATE-RAD/20MS 1130: 0674 542371 2K4 DEC -.173189E15B48 # (-2.)(2K1) B49 1131: 0675 200000 KDT DEC 1.B1 # DELTA T/2 AT 1 1132: 1133: # DEDA CONVERSION SCALE FACTORS 1134: 1135: 0676 365706 BM13SF DEC .96049535B0 # .01 DEG/HR TO RAD/20MS AT -13 1136: 0677 243656 B23SF DEC .64B0 # 100 FT TO FT AT 23 1137: 0700 125253 B18SF DEC .333333B0 # .1 MIN TO SEC AT 18 1140: 0701 240000 B13VSF DEC .625B0 # .1 FPS TO FPS AT 13 1141: 0702 131415 B3SF DEC .34971155B0 # .01 DEG TO RAD AT 3 1142: 0703 032756 B23RSF DEC .10533045B0 # .1 NMI TO FT AT 23 1143: 0704 032525 B13SF DEC .10416666B0 # .01 MIN TO SEC AT 13 1144: 0705 50 1 0002 ADDMS AXT 2,1 1145: 0706 20 1 0010 CLA TS10,1 1146: 0707 62 0 0000 ABS 1147: 0710 22 0 4036 ADD MS 1150: 1151: # PAGE 15 1152: 0711 42 1 0706 TIX *-3,1 1153: 0712 40 0 4143 TRA EX3+1 1154: 0713 000026 SFLO OCT 000026 1155: 0714 000000 SDVX DEC 0B3 # DV SUM FOR ACCEL CAL 1156: 0715 000000 SDVY DEC 0 # (ADDR OF SDVX MUST END IN 4) 1157: 0716 000000 SDVZ DEC 0 1160: 0717 000000 MU7 DEC 0B17 # CALIBRATION COUNTER 1161: 0720 000145 SFL1 OCT 145 1162: 0721 000024 SFL2 OCT 24 1163: 0722 000020 SFL3 OCT 20 1164: 0723 000000 TMID DEC 0 # TELEMETRY ID 1165: 0724 000034 SFL8 OCT 34 1166: 0725 000062 SFL7 OCT 62 1167: 0726 000064 SFL4 OCT 64 1170: 0727 000000 DEDASC DEC 0 # DEDA SHIFT COUNTER 1171: 0730 377363 DIAK1 OCT 377363 1172: 0731 377401 DIAK2 OCT 377401 1173: 0732 40 0 2614 ORBRET TRA DX10P # RETURN FROM NORTON IN O.I. 1174: 0733 000045 SFL6 OCT 45 1175: 1176: 1177: 0734 12 0 0577 EX36P STQ DEL10 1200: # SAVE QUANTITIES FOR LATER USE IN 1201: # T/B COMPUTATIONS 1202: 0735 10 0 0052 STO V6Z 1203: 0736 20 0 0012 CLA TS12 1204: 0737 10 0 0050 STO V6X 1205: 0740 20 0 0013 CLA TS13 1206: 0741 10 0 0051 STO V6Y 1207: 0742 20 0 0442 CLA TI 1210: 0743 24 0 0306 SUB 4J 1211: 0744 40 0 2721 TRA DXFR14-2 1212: 0745 30 0 0577 EX34P CLZ DEL10 1213: 0746 46 0 3621 TMI EX33PP+1 1214: 0747 40 0 5615 TRA EX34+1 1215: 0750 22 0 0370 EX37 ADD VG 1216: 0751 46 0 3611 TMI EX35 1217: 1220: # PAGE 16 1221: 0752 40 0 3612 TRA EX35+1 1222: 0753 20 0 0347 THEF CLA RF 1223: 0754 54 0 0001 LRS 1 # B24 1224: 0755 32 0 0003 ADZ TS3 1225: 0756 14 0 0004 LDQ TS4 1226: 0757 10 0 0004 STO TS4 # =RF+RX B24 1227: 0760 12 0 0003 STQ TS3 # =RZ B24 1230: 0761 72 0 7034 TSQ ARCTAE 1231: 0762 10 0 0000 STO TS0 # THETAF B8 1232: 0763 24 0 1066 SUB PI 1233: 0764 46 0 0766 TMI *+2 1234: 0765 24 0 4021 SUB 2PIB3 1235: 0766 22 0 1066 ADD PI 1236: 0767 10 0 0303 STO THETAF # THETAF B3 1237: 0770 20 0 0000 CLA TS0 # B3 1240: 0771 24 0 4021 SUB 2PIB3 1241: 0772 06 0 4126 MPY M1B1 # B4 1242: 0773 04 0 0077 DVP NI 1243: 0774 22 0 0442 ADD TI # B13 1244: 0775 40 0 2721 TRA DXFR14-2 1245: 1246: 1247: 1000 ORG 1000 1250: 1000 000000 CLADD DEC 0 # PICKUP DEDA DATA 1251: 1001 40 0 7215 TRA ROR 1252: 1002 12 0 0023 RND STQ SREX # DIRECTION COSINE ROUND 1253: 1003 22 0 4013 ADD 1B9 1254: 1004 54 0 0011 LRS 9 1255: 1005 40 0 0023 TRA SREX 1256: 1006 20 0 0324 TMCLA CLA 0324 # CLA FOR TELEM 1257: 1007 20 0 1005 TCLTH CLA 1005 1260: 1010 10 0 0237 DLSTO STO 1J1-1 1261: 1011 40 0 5070 IC1BR TRA IC1 # IC1 TRA. 1262: 1012 40 0 1670 BR1 TRA NAV1P 1263: 1013 40 0 1212 DEDABR TRA DEDAE # DEDA BRANCH TRA. 1264: 1014 40 0 3371 BR50 TRA EXEC2 # BRANCH 50 TRA. 1265: 1266: 1267: # PAGE 17 1270: # HARDWIRE ESCAPE POINTS 1271: 1272: 1015 40 0 4073 EXIT1 TRA EX1+1 1273: 1016 40 0 1153 EXIT2 TRA UBCOMP 1274: 1017 40 0 0705 EXIT3 TRA ADDMS 1275: 1020 40 0 4222 EXIT4 TRA EX4+1 1276: 1021 40 0 7420 EXIT5 TRA PGNSDE 1277: 1022 40 0 7371 EXIT6 TRA TME 1300: 1023 40 0 7455 EXIT7 TRA PGNSD1+5 1301: 1024 40 0 4326 EXIT8 TRA EX8+1 1302: 1025 40 0 1422 EXIT9 TRA TVTG 1303: 1026 72 0 1452 EXIT10 TSQ SOFT1 1304: 1027 72 0 1452 EXIT11 TSQ SOFT1 # ASCENT ENG ON 1305: 1030 40 0 4450 EXIT12 TRA AHE1 1306: 1031 40 0 4476 EXIT13 TRA EROUT+1 1307: 1032 72 0 1635 EXIT14 TSQ SOFT2 1310: 1033 40 0 1661 EXIT15 TRA LUNAL1 # GAIN CHANGE 1311: 1034 40 0 4645 EXIT16 TRA EX16+1 1312: 1035 40 0 3544 EXIT17 TRA FDAI1 1313: 1036 40 0 4743 EXIT18 TRA NOC 1314: 1037 40 0 4047 EXIT19 TRA DELAY 1315: 1040 40 0 1376 EXIT20 TRA DLDC 1316: 1041 40 0 6254 EXIT21 TRA TIMEA 1317: 1042 40 0 3262 EXIT22 TRA IDLE-1 1320: 1043 000031 25B17 DEC 25B17 1321: 1044 30 0 0404 EXIT23 CLZ VD1X 1322: 1045 30 0 0405 CLZ VD1Y 1323: 1046 30 0 0406 CLZ VD1Z 1324: 1047 40 0 5217 TRA NAV3 1325: 1050 40 0 5205 EXIT24 TRA NAV2 1326: 1051 40 0 5217 EXIT25 TRA NAV3 1327: 1052 20 0 0473 SINITC CLA 4K27 1330: 1053 10 0 0404 STO VD1X 1331: 1054 10 0 0470 STO VDX 1332: 1055 40 0 6367 TRA EXEC1+7 1333: 1056 40 0 1676 EXIT26 TRA XDVS 1334: 1057 40 0 5413 EXIT27 TRA EX27+1 1335: 1336: # PAGE 18 1337: 1060 40 0 5267 EXIT28 TRA EX28+1 1340: 1061 30 0 0612 STGCTR CLZ MU6 # STAGING DELAY COUNTER 1341: 1062 22 0 4006 ADD 1B17 1342: 1063 10 0 0612 STO MU6 1343: 1064 40 0 4437 TRA AHE 1344: 1065 40 0 5305 EXIT29 TRA EX29+1 1345: 1066 144420 PI DEC 3.14159266B3 1346: 1067 40 0 5332 EXIT30 TRA EX30+1 1347: 1070 40 0 1710 EXIT31 TRA ALTUP 1350: 1071 40 0 2446 EXIT32 TRA LMORB2 1351: 1072 40 0 3577 EXIT33 TRA EX33P 1352: 1073 40 0 0745 EXIT34 TRA EX34P 1353: 1074 40 0 3611 EXIT35 TRA EX35 1354: 1075 72 0 0734 EXIT36 TSQ EX36P 1355: 1076 40 0 0750 EXIT37 TRA EX37 1356: 1077 40 0 3041 EXIT38 TRA Q5 1357: 1100 40 0 3376 EXIT39 TRA EXECM 1360: 1101 30 0 0400 EXIT40 CLZ S0 # SOFT INITIALIZE 1361: 1102 30 0 0575 CLZ DEL5 1362: 1103 30 0 0572 CLZ FLAGT 1363: 1104 50 1 0007 AXT 7,1 # ZERO S SWITCHES 1364: 1105 30 1 0410 CLZ S10,1 1365: 1106 42 1 1105 TIX *-1,1 1366: 1107 40 0 1052 TRA SINITC # CONTINUE INITIALIZE 1367: 1110 40 0 3345 EXIT41 TRA DSP1 1370: 1111 40 0 3356 EXIT42 TRA DSP2CP 1371: 1112 24 0 1043 EXIT43 SUB 25B17 # CHECK FOR TM RESET 1372: 1113 62 0 0000 ABS 1373: 1114 60 0 0000 COM 1374: 1115 46 0 6364 TMI EXEC1+4 # NOT 25TH CYCLE 1375: 1116 72 0 1132 TSQ TMIE1 # RESET TM AT 25TH CYCLE 1376: 1117 40 0 4047 TRA DELAY 1377: 1120 40 0 6470 EXIT44 TRA EX44+1 1400: 1121 40 0 6505 EXIT45 TRA EX45+1 1401: 1122 40 0 7225 EXIT46 TRA EX46+1 1402: 1123 40 0 1222 EXIT47 TRA DEXIT 1403: 1124 40 0 1225 EXIT48 TRA CLEARM+1 1404: 1405: # PAGE 19 1406: 1125 40 0 1251 EXIT49 TRA SFTEST 1407: 1126 40 0 7343 EXIT50 TRA EX50+1 1410: 1127 72 0 1351 EXIT51 TSQ DIAT 1411: 1130 40 0 6262 EXIT52 TRA EXEC+1 1412: 1131 40 0 6262 EXIT53 TRA EXEC+1 1413: 1132 12 0 0023 TMIE1 STQ SREX # INITIALIZE TELEMETRY 1414: 1133 72 0 7410 TSQ TMIE2 1415: 1134 20 0 0412 CLA S12 1416: 1135 22 0 0614 ADD MU8 1417: 1136 10 0 0363 STO MU8S12 # SAVE MU8/S12 FOR TM 1420: 1137 24 0 7520 SUB 3B3 # TEST FOR SELF TEST FAILURE 1421: 1140 46 0 1142 TMI *+2 1422: 1141 66 0 6410 OUT 6410 # SET FAILURE INDICATOR 1423: 1142 40 0 0023 TRA SREX 1424: 1425: # ORBIT ALIGN COMPUTATIONS 1426: 1427: 1143 50 1 0006 ORBLIN AXT 6,1 1430: 1144 30 1 0130 CLZ A11,1 1431: 1145 30 1 0150 CLZ DA11,1 # ZERO REMAINDERS 1432: 1146 42 1 1144 TIX *-2,1 1433: 1147 20 0 5033 CLA 1B1 1434: 1150 10 0 0130 STO A11 1435: 1151 10 0 0136 STO A33 1436: 1152 40 0 4273 TRA COA21-2 1437: 1440: # MASS UNBALANCE COMPENSATION 1441: 1442: 1153 26 0 0537 UBCOMP MPR 1K14 # 1K14(DVX) 3-16=-13 1443: 1154 32 0 0510 ADZ DAXREM 1444: 1155 10 0 0510 STO DAXREM 1445: 1446: # 20MS MODE CHECK. 1447: 1450: 1156 20 0 0400 MODCK CLA S0 # CHECK FOR ALIGNMENT 1451: 1157 24 0 7520 SUB 3B3 # SUBMODES 1452: 1160 46 0 4107 TMI GYCOM-2 # -- IS INERT REF 1453: 1454: # PAGE 20 1455: 1161 24 0 7701 SUB 1B3 1456: 1162 46 0 5056 TMI ZNOC # IMU ALIGN 1457: 1163 24 0 7701 SUB 1B3 1460: 1164 46 0 4107 TMI GYCOM-2 # -- IS LUNAR ALIGN 1461: 1165 24 0 7701 SUB 1B3 1462: 1166 46 0 1143 TMI ORBLIN # ORBIT ALIGN 1463: 1167 20 0 0604 CLA DEL21 # CALIBRATE MODE. 1464: 1170 50 1 0002 AXT 2,1 1465: 1171 46 0 1177 TMI *+6 # -- IS LUNAR SURF 1466: 1172 30 1 0714 CLZ SDVX,1 1467: 1173 22 1 0350 ADD DVX,1 1470: 1174 10 1 0714 STO SDVX,1 # DV SUM AT 1. 1471: 1175 42 1 1172 TIX *-3,1 1472: 1176 40 0 4107 TRA GYCOM-2 1473: 1177 20 0 0135 CLA A32 1474: 1200 72 0 1204 TSQ HUGH 1475: 1201 20 0 0141 CLA A22 1476: 1202 72 0 1204 TSQ HUGH 1477: 1203 20 0 0131 CLA A12 1500: 1204 12 0 0023 HUGH STQ SREX 1501: 1205 26 0 0673 MPR 1K56 1502: 1206 32 1 0510 ADZ DAXREM,1 1503: 1207 10 1 0510 STO DAXREM,1 1504: 1210 42 1 0023 TIX SREX,1 1505: 1211 40 0 4107 TRA GYCOM-2 1506: 1507: # DEDA MODE SELECTION 1510: 1511: 1212 30 0 0323 DEDAE CLZ CLEARP 1512: 1213 46 0 1224 TMI CLEARM # SET CLEAR 1513: 1214 20 0 0327 CLA CMF 1514: 1215 46 0 1236 TMI RPT # CLEAR MODE 1515: 1216 20 0 0325 CLA RMF 1516: 1217 46 0 1243 TMI HET # READOUT IN PROGRESS 1517: 1220 20 0 0324 CLA HMF 1520: 1221 46 0 3572 TMI RRT # HOLD IN PROGRESS 1521: 1222 50 1 0003 DEXIT AXT 3,1 # NORMAL EXIT 1522: 1523: # PAGE 21 1524: 1223 40 0 1227 TRA *+4 1525: 1224 10 0 0327 CLEARM STO CMF 1526: 1225 64 0 2200 INP DEDA 1527: 1226 50 1 0005 AXT 5,1 # CLEAR EXIT 1530: 1227 30 1 0320 CLZ READP,1 # RESET FLAGS 1531: 1230 42 1 1227 TIX *-1,1 1532: 1231 30 0 0057 CLZ TMPBR # SET BRANCH FOR NEXT 1533: 1232 10 0 0063 STO BRANCH # GUIDANCE CYCLE 1534: 1233 20 0 4014 CLA 1B11 # INITIALIZE COUNTER 1535: 1234 10 0 0727 STO DEDASC 1536: 1235 40 0 3345 TRA DSP1 # TO DISPLAY 1537: 1236 30 0 0320 RPT CLZ READP # TEST FOR 1540: 1237 46 0 7257 TMI RME # READOUT MODE 1541: 1240 30 0 0321 CLZ ENTERP # OR ENTER MODE 1542: 1241 46 0 7260 TMI RME+1 # ENTRY. 1543: 1242 40 0 1222 TRA DEXIT # EXIT 1544: 1243 30 0 0322 HET CLZ HOLDP # READOUT TEST FOR 1545: 1244 46 0 1246 TMI *+2 # HOLD COMMANDED 1546: 1245 40 0 7202 TRA ADOUT # TO OUTPUT ROUTINE 1547: 1246 10 0 0324 STO HMF # SET HOLD MODE 1550: 1247 30 0 0325 CLZ RMF 1551: 1250 40 0 1222 TRA DEXIT 1552: 1553: # DEDA SCALE FACTOR SELECTION 1554: 1555: 1251 24 0 0713 SFTEST SUB SFLO 1556: 1252 46 0 1225 TMI CLEARM+1 # -- IF OCT LOC BELOW 0026 1557: 1253 24 0 0720 SUB SFL1 # LESS THAN 173 IS OCTAL 1560: 1254 46 0 7310 TMI NOTDD 1561: 1255 24 0 4040 SUB 49B17 # 173-253 IS 100 FEET 1562: 1256 46 0 1326 TMI SFP 1563: 1257 24 0 4003 SUB 4B17 # 254(255-257) IS .1 MIN 1564: 1260 46 0 1330 TMI SFT 1565: 1261 24 0 4041 SUB 10B17 # 260-266(267-271) IS .1 FPS 1566: 1262 46 0 1332 TMI SFV 1567: 1263 24 0 4002 SUB 5B17 # 272-276 IS .1 MIN 1570: 1264 46 0 1330 TMI SFT 1571: 1572: # PAGE 22 1573: 1265 24 0 4000 SUB 7B17 # 277(300-302),303(304-305) 1574: # IS .01 DEG 1575: 1266 46 0 1334 TMI SFA 1576: 1267 24 0 4001 SUB 6B17 # 306-313 IS .01 MIN 1577: 1270 46 0 1336 TMI SFT1 1600: 1271 24 0 0721 SUB SFL2 # 314-317,337(320-336) IS .1 NMI 1601: 1272 46 0 1340 TMI SFR 1602: 1273 24 0 4041 SUB 10B17 # 340-347(350-351) IS 100 FEET 1603: 1274 46 0 1326 TMI SFP 1604: 1275 24 0 0722 SUB SFL3 # (352-357)360-371 IS .1 FPS 1605: 1276 46 0 1332 TMI SFV 1606: 1277 24 0 4001 SUB 6B17 # (372)373(374-376)377 IS .1 MIN 1607: 1300 46 0 1330 TMI SFT 1610: 1301 24 0 4005 SUB 2B17 # 400-401 IS OCTAL 1611: 1302 46 0 7310 TMI NOTDD 1612: 1303 24 0 4003 SUB 4B17 # 402-403(404-405) IS .1 NMI 1613: 1304 46 0 1340 TMI SFR 1614: 1305 24 0 4041 SUB 10B17 # 406-417 IS OCTAL 1615: 1306 46 0 7310 TMI NOTDD 1616: 1307 24 0 0726 SUB SFL4 # 420-454,46-463,467-503 1617: # (455,464-466) IS .1 FPS 1620: 1310 46 0 1332 TMI SFV 1621: 1311 24 0 0724 SUB SFL8 # 504-537 IS OCTAL 1622: 1312 46 0 7310 TMI NOTDD 1623: 1313 24 0 4003 SUB 4B17 # 540-542(543) IS .001 FT/SEC2 1624: 1314 46 0 1344 TMI SFACC 1625: 1315 24 0 4004 SUB 3B17 # 544-546 IS .01 DEG/HR 1626: 1316 46 0 1346 TMI SFG 1627: 1317 24 0 0733 SUB SFL6 # 547-613 IS OCTAL 1630: 1320 46 0 7310 TMI NOTDD 1631: 1321 24 0 4000 SUB 7B17 # 614-622 IS 1 COUNT 1632: 1322 46 0 1342 TMI SF1 1633: 1323 24 0 0725 SUB SFL7 # 623-704 IS OCTAL 1634: 1324 46 0 7310 TMI NOTDD 1635: 1325 40 0 1225 TRA CLEARM+1 # ILLEGAL ADDRESS 1636: 1326 20 0 0677 SFP CLA B23SF # PICK UP SCALE FACTOR 1637: 1327 40 0 1347 TRA SFG+1 # TO DECIMAL SET UP 1640: 1641: # PAGE 23 1642: 1330 20 0 0700 SFT CLA B18SF 1643: 1331 40 0 1347 TRA SFG+1 1644: 1332 20 0 0701 SFV CLA B13VSF 1645: 1333 40 0 1347 TRA SFG+1 1646: 1334 20 0 0702 SFA CLA B3SF 1647: 1335 40 0 1347 TRA SFG+1 1650: 1336 20 0 0704 SFT1 CLA B13SF 1651: 1337 40 0 1347 TRA SFG+1 1652: 1340 20 0 0703 SFR CLA B23RSF 1653: 1341 40 0 1347 TRA SFG+1 1654: 1342 20 0 4030 SF1 CLA PMAX 1655: 1343 40 0 1347 TRA SFG+1 1656: 1344 20 0 0446 SFACC CLA BACCSF 1657: 1345 40 0 1347 TRA SFG+1 1660: 1346 20 0 0676 SFG CLA BM13SF 1661: 1347 10 0 0026 STO SF # SET SCALE FACTOR 1662: 1350 40 0 7326 TRA DDIN # TO INPUT ROUTINE 1663: 1351 50 1 0001 DIAT AXT 1,1 # IMMEDIATE ACTION TEST 1664: 1352 20 0 0333 CLA ADST # IMMED. ACTION IF 1665: 1353 22 1 0730 ADD DIAK1,1 # ACCUMULATOR = 400000 1666: 1354 62 0 0000 ABS 1667: 1355 46 0 1361 TMI *+4 1670: 1356 42 1 1352 TIX DIAT+1,1 1671: 1357 12 0 0455 STQ DDF 1672: 1360 40 0 1222 TRA DEXIT 1673: 1361 42 1 7357 TIX ATI,1 1674: 1362 50 1 0002 AXT 2,1 1675: 1363 20 1 0134 CLA A31,1 # STORE DIRECTION COSINES 1676: 1364 10 1 0044 STO A31S,1 1677: 1365 20 1 0124 CLA RRX,1 # SAVE RANGE FOR FILTER 1700: 1366 10 1 0234 STO RRSX,1 1701: 1367 42 1 1363 TIX *-4,1 1702: 1370 20 0 0377 CLA TA1 1703: 1371 24 0 0147 SUB T1 1704: 1372 10 0 0276 STO DELTAT # DELTA T = TA1 - T1 B18 1705: 1373 20 0 0440 CLA RRDOT 1706: 1374 10 0 0441 STO RDOTS 1707: 1710: # PAGE 24 1711: 1375 40 0 1222 TRA DEXIT 1712: 1713: # DOWNLINK FORMATTING 1714: 1715: 1376 50 1 0002 DLDC AXT 2,1 1716: 1377 30 1 0244 CLZ 0244,1 # LEM VEL 1717: 1400 10 1 0260 STO 1J4,1 1720: 1401 30 1 0250 CLZ 0250,1 # CSM POS 1721: 1402 10 1 0244 STO 2J1,1 1722: 1403 30 1 0254 CLZ 0254,1 # CSM VEL 1723: 1404 10 1 0264 STO 2J4,1 1724: 1405 42 1 1377 TIX DLDC+1,1 1725: 1406 30 0 0247 CLZ 0247 1726: 1407 54 0 0016 LRS 14 1727: 1410 32 0 0243 ADZ 0243 1730: 1411 10 0 0254 STO 1J7 1731: 1412 12 0 0255 STQ 1J7LS 1732: 1413 30 0 0257 CLZ 0257 1733: 1414 54 0 0016 LRS 14 1734: 1415 32 0 0253 ADZ 0253 1735: 1416 10 0 0272 STO 2J7 1736: 1417 12 0 0273 STQ 2J7LS 1737: 1420 72 0 5145 TSQ CSMPV 1740: 1421 40 0 5073 TRA IC1+3 1741: 1742: # DELTA V ACCUMULATION AND THRUST VEL TO GAIN. 1743: 1744: 1422 50 1 0002 TVTG AXT 2,1 1745: 1423 20 1 0350 CLA DVX,1 # 1 1746: 1424 54 0 0001 LRS 1 # TO 2 1747: 1425 32 1 0100 ADZ VD2X,1 1750: 1426 10 1 0100 STO VD2X,1 1751: 1427 20 1 0074 CLA DVXM1,1 1752: 1430 54 0 0001 LRS 1 # TO 2 1753: 1431 32 1 0100 ADZ VD2X,1 1754: 1432 10 1 0100 STO VD2X,1 1755: 1433 54 0 0013 LRS 11 # TO 13 1756: 1757: # PAGE 25 1760: 1434 10 0 0001 STO TS1 1761: 1435 56 0 0013 ALS 11 1762: 1436 60 0 0000 COM 1763: 1437 32 1 0100 ADZ VD2X,1 1764: 1440 10 1 0100 STO VD2X,1 # REMAINDER AT 2 1765: 1441 20 1 0404 CLA VD1X,1 # DV EXPENDED MS. 1766: 1442 32 0 0001 ADZ TS1 1767: 1443 10 1 0404 STO VD1X,1 # VD1 AT 13 1770: 1444 60 0 0000 COM 1771: 1445 22 1 0474 ADD VSMGX,1 # VSMG-VD1 1772: 1446 10 1 0500 STO DELVGX,1 # THRUST VEL TO GAIN 1773: 1447 30 1 0070 CLZ EX,1 1774: 1450 42 1 1423 TIX TVTG+1,1 1775: 1451 40 0 4355 TRA EX9+1 1776: 1777: # SOFT 40MS COMPUTATIONS 2000: 2001: 1452 20 0 0400 SOFT1 CLA S0 # TEST MODE 2002: 1453 24 0 7520 SUB 3B3 2003: 1454 10 0 0001 STO TS1 # SAVE 2004: 1455 46 0 1507 TMI IR # -- IS INTERT. REF. 2005: 1456 20 0 4007 ZERR CLA ZERO 2006: 1457 66 0 6007 OUT 6007 # ZERO ATTITUDE ERRORS 2007: 1460 30 0 0575 CLZ DEL5 # RESET ATT HOLD INIT FLAG 2010: 1461 30 0 0001 CLZ TS1 2011: 1462 46 0 1475 TMI ENCOM1 # -- IS INERTIAL REF 2012: 1463 24 0 7701 SUB 1B3 2013: 1464 46 0 1467 TMI SOFT3 2014: 1465 24 0 7701 SUB 1B3 2015: 1466 46 0 4534 TMI LUNAL 2016: 1467 66 0 7040 SOFT3 OUT 7040 # RESET ENG ON 2017: 1470 66 0 6420 OUT 6420 # SET ENG OFF 2020: 1471 20 0 4007 CLA ZERO # SET ENG TM FLAG PLUS 2021: 1472 22 0 0410 ADD S10 2022: 1473 10 0 0343 STO EONS10 2023: 1474 40 0 4626 TRA FDAI # TO ATTITUDE DISPLAY 2024: 1475 20 0 0533 ENCOM1 CLA DISC1 # FOLLUP ENG. COMMANDS 2025: 2026: # PAGE 26 2027: 1476 52 0 0005 LLS 5 2030: 1477 46 0 1503 TMI *+4 # -- DESCENT ENG ON 2031: 1500 52 0 0001 LLS 1 2032: 1501 46 0 1503 TMI *+2 # -- ASCENT ENG ON 2033: 1502 40 0 1467 TRA SOFT3 # ENG OFF 2034: 1503 66 0 7020 OUT 7020 # RESET ENG OFF 2035: 1504 66 0 6440 OUT 6440 # SET ENG ON 2036: 1505 20 0 4036 CLA MS # SET ENG TM FLAG NG 2037: 1506 40 0 1472 TRA SOFT3+3 2040: 1507 20 0 0533 IR CLA DISC1 # TEST FOR AUTO RADAR DATA 2041: 1510 56 0 0003 ALS 3 2042: 1511 46 0 1516 TMI IR1 # -- IS FOLLOWUP 2043: 1512 56 0 0001 ALS 1 2044: 1513 46 0 1562 TMI IR2 # -- IS AUTOMATIC 2045: 1514 12 0 0603 STQ DEL20 2046: 1515 40 0 4437 TRA AHE # TO ATT HOLD 2047: 1516 20 0 0401 IR1 CLA DISC1C 2050: 1517 56 0 0004 ALS 4 2051: 1520 46 0 1456 TMI ZERR # PLUS IS AUTOMATIC 2052: 1521 30 0 0575 CLZ DEL5 2053: 1522 12 0 0603 STQ DEL20 2054: 1523 40 0 1602 TRA MODE 2055: 1524 50 1 0002 RSTE AXT 2,1 2056: 1525 20 0 0623 CLA S623 2057: 1526 56 0 0003 ALS 3 2060: 1527 46 0 1532 TMI *+3 2061: 1530 20 1 0054 CLA WCX,1 2062: 1531 40 0 1533 TRA *+2 2063: 1532 20 1 0514 CLA WBX,1 2064: 1533 26 1 0134 MPR A31,1 2065: 1534 60 0 0000 COM 2066: 1535 32 0 0070 ADZ EX 2067: 1536 10 0 0070 STO EX 2070: 1537 20 0 0411 CLA S11 2071: 1540 56 0 0003 ALS 3 2072: 1541 46 0 1545 TMI *+4 2073: 1542 20 0 0401 CLA DISC1C 2074: 2075: # PAGE 27 2076: 1543 56 0 0006 ALS 6 2077: 1544 46 0 1551 TMI *+5 2100: 1545 20 1 0130 CLA A11,1 2101: 1546 26 1 0374 MPR A11BD,1 2102: 1547 32 0 0071 ADZ EY 2103: 1550 10 0 0071 STO EY 2104: 1551 42 1 1525 TIX RSTE+1,1 2105: 1552 20 0 0071 CLA EY 2106: 1553 26 0 0602 MPR 4K8 2107: 1554 60 0 0000 COM 2110: 1555 10 0 0072 STO EZ 2111: 1556 30 0 0071 CLZ EY 2112: 1557 26 0 0566 MPR 4K7 2113: 1560 10 0 0071 STO EY 2114: 1561 40 0 4524 RST1 TRA RST 2115: 1562 56 0 0004 IR2 ALS 4 2116: 1563 46 0 1572 TMI IR3 # -- IS ABORT STAGE 2117: 1564 20 0 0604 CLA DEL21 # IF ON LUNAR SURFACE 2120: 1565 46 0 1456 TMI ZERR # OUTPUT ZERO ATT ERRORS 2121: 1566 20 0 0533 CLA DISC1 2122: 1567 56 0 0007 ALS 7 2123: 1570 46 0 1602 TMI MODE # -- IS ABORT 2124: 1571 72 0 1522 TSQ IR1+4 2125: 1572 20 0 0604 IR3 CLA DEL21 2126: 1573 46 0 4437 TMI AHE 2127: 1574 20 0 0401 CLA DISC1C 2130: 1575 56 0 0006 ALS 6 2131: 1576 46 0 1602 TMI MODE 2132: 1577 20 0 0612 CLA MU6 2133: 1600 24 0 0622 SUB 4K23 2134: 1601 46 0 1061 TMI STGCTR # STAGING ATT HOLD 2135: 1602 20 0 0400 MODE CLA S0 # TEST STEERING MODE 2136: 1603 24 0 7701 SUB 1B3 2137: 1604 46 0 4437 TMI AHE # ATT HOLD 2140: 1605 24 0 7701 SUB 1B3 2141: 1606 46 0 1524 TMI RSTE # RENDEZVOUS STEERING 2142: 1607 30 0 0575 CLZ DEL5 # ACQUISITION STEERING 2143: 2144: # PAGE 28 2145: 1610 50 1 0002 AXT 2,1 2146: 1611 20 1 0054 MODE1 CLA WCX,1 2147: 1612 26 1 0130 MPR A11,1 2150: 1613 32 0 0072 ADZ EZ 2151: 1614 10 0 0072 STO EZ 2152: 1615 20 0 0507 CLA S507 # ORIENT LM Z-BODY ASIX 2153: 1616 24 0 7701 SUB 1B3 # IN DESIRED THRUST DIR. 2154: 1617 46 0 1622 TMI *+3 # OR ESTIMATED CSM DIR. 2155: 1620 20 1 0374 CLA A11BD,1 2156: 1621 10 1 0300 STO A31BD,1 2157: 1622 20 1 0300 CLA A31BD,1 2160: 1623 26 1 0130 MPR A11,1 # XB 2161: 1624 32 0 0071 ADZ EY 2162: 1625 10 0 0071 STO EY 2163: 1626 20 1 0300 CLA A31BD,1 # ZBD 2164: 1627 26 1 0140 MPR A21,1 # YB 2165: 1630 60 0 0000 COM 2166: 1631 32 0 0070 ADZ EX 2167: 1632 10 0 0070 STO EX 2170: 1633 42 1 1611 TIX MODE1,1 2171: 1634 40 0 4475 TRA EROUT 2172: 1635 30 0 0603 SOFT2 CLZ DEL20 # FIRST TIME FOLLOW 2173: 1636 46 0 1475 TMI ENCOM1 # PREVIOUS ENGINE STATE 2174: 1637 20 0 0400 CLA S0 # IF NOT GUIDANCE STEERING 2175: 1640 24 0 7701 SUB 1B3 # TURN ENGINE OFF 2176: 1641 46 0 1467 TMI SOFT3 2177: 1642 24 0 7701 SUB 1B3 2200: 1643 46 0 1645 TMI *+2 2201: 1644 40 0 1467 TRA SOFT3 2202: 1645 20 0 0614 CLA MU8 # TEST FOR ULLAGE 2203: 1646 24 0 0616 SUB 1K9 2204: 1647 46 0 1467 TMI SOFT3 2205: 1650 20 0 0657 CLA 4K25 # TEST CEL TO BE 2206: 1651 24 0 0500 SUB DELVGX # GAINED GREATER THAN 2207: 1652 46 0 1503 TMI ENCOM1+6 # SHUTDOWN THRESHOLD 2210: 1653 20 0 0454 CLA 4K26 2211: 1654 24 0 0267 SUB DELVG 2212: 2213: # PAGE 29 2214: 1655 46 0 1503 TMI ENCOM1+6 2215: 1656 30 0 0400 CLZ S0 # SET ATT HOLD 2216: 1657 30 0 0411 CLZ S11 # DPS-RCS/APS 2217: 1660 40 0 1467 TRA SOFT3 2220: 1661 30 0 0531 LUNAL1 CLZ DAYA # CHANGE GAIN 2221: 1662 54 0 0002 LRS 2 # 1/4 2222: 1663 10 0 0531 STO DAYA 2223: 1664 30 0 0532 CLZ DAZA 2224: 1665 54 0 0002 LRS 2 2225: 1666 10 0 0532 STO DAZA 2226: 1667 40 0 1467 TRA SOFT3 2227: 2230: # START OF NAVIGATION 2231: 2232: 1670 20 0 0604 NAV1P CLA DEL21 2233: 1671 46 0 5175 TMI NAV1 # -- IS ON LUNAR SURFACE 2234: 1672 20 0 0404 CLA VD1X # COMPUTE THRUST ACCEL 2235: 1673 24 0 0470 SUB VDX # 13 2236: 1674 56 0 0005 ALS 5 # 1/2(VD1-VD) AT 7 2237: 1675 40 0 5166 TRA 5166 # TO HARD NAV 2240: 1676 50 1 0002 XDVS AXT 2,1 2241: 1677 20 1 0120 CLA DVSX,1 2242: 1700 22 0 4015 ADD 1B12 2243: 1701 54 0 0006 LRS 6 2244: 1702 32 1 0050 ADZ DQSX,1 2245: 1703 10 1 0050 STO DQSX,1 2246: 1704 20 1 0404 CLA VD1X,1 2247: 1705 10 1 0470 STO VDX,1 2250: 1706 42 1 1677 TIX XDVS+1,1 2251: 1707 40 0 5223 TRA NAV4 2252: 1710 72 0 6261 ALTUP TSQ EXEC 2253: 2254: 1711 50 1 0002 AXT 2,1 2255: 1712 20 0 0223 CLA 25J # ALTITUDE ENTRY TEST 2256: 1713 24 0 4006 SUB 1B17 2257: 1714 46 0 1723 TMI FLTR # IF NO 25J ENTRY 2260: 1715 20 0 0223 CLA 25J 2261: 2262: # PAGE 30 2263: 1716 22 0 0231 ADD 5J 2264: 1717 10 0 0210 STO R # R=5J+25J 2265: 1720 06 1 0060 MPY U1X,1 2266: 1721 52 0 0001 LLS 1 2267: 1722 10 1 0340 STO RX,1 # NEW R COMPONENTS 2270: 2271: # RANGE AND RANGE RATE COMPUTATIONS 2272: 2273: 1723 20 1 0344 FLTR CLA RCX,1 # RELATIVE RANGE 2274: 1724 24 1 0340 SUB RX,1 2275: 1725 10 1 0124 STO RRX,1 2276: 1726 10 1 0004 STO TS4,1 2277: 1727 42 1 1712 TIX ALTUP+2,1 2300: 1730 72 0 6737 TSQ DPVMAG # DP COMP OF RR MAG 2301: 1731 10 0 0317 STO RR # B23 RANGE VECTOR MAG 2302: 1732 20 0 0636 CLA 2K1 # 48 2303: 1733 54 0 0001 LRS 1 # 49 2304: 1734 04 0 0210 DVP R # 26 2305: 1735 04 0 0210 DVP R # 3 2306: 1736 04 0 0210 DVP R # -20 2307: 1737 10 0 0223 STO 25J # 2K1/R**3 B-20 2310: 1740 30 0 0440 CLZ RRDOT # ZEROED FOR SUM 2311: 1741 50 1 0002 AXT 2,1 2312: 1742 20 1 0124 FLTRA CLA RRX,1 2313: 1743 06 0 5033 MPY 1B1 # B24 2314: 1744 04 0 0317 DVP RR 2315: 1745 10 1 0300 STO A31BD,1 # B1 UNIT POINTING VECTOR 2316: 1746 20 1 0364 CLA VCX,1 # B13 2317: 1747 24 1 0360 SUB VX,1 2320: 1750 10 1 0030 STO RDOTX,1 2321: 1751 26 1 0300 MPR A31BD,1 2322: 1752 56 0 0001 ALS 1 2323: 1753 32 0 0440 ADZ RRDOT 2324: 1754 10 0 0440 STO RRDOT 2325: 1755 20 1 0060 CLA U1X,1 2326: 1756 26 1 0060 MPR U1X,1 # B2 2327: 1757 26 0 7520 MPR 3B3 2330: 2331: # PAGE 31 2332: 1760 24 0 4011 SUB 1B5 2333: 1761 26 0 0223 MPR 25J 2334: 1762 10 1 0554 STO LILA,1 # B-15 2335: 1763 42 1 1742 TIX FLTRA,1 2336: 1764 20 0 0060 CLA U1X 2337: 1765 26 0 0062 MPR U1Z 2340: 1766 26 0 7520 MPR 3B3 # B5 2341: 1767 36 0 0223 MPZ 25J 2342: 1770 10 0 0557 STO LILC # B-15 2343: 1771 72 0 6261 TSQ EXEC # END OF FIRST BR. OF FILTER 2344: 2345: 1772 30 0 0167 PUPDAT CLZ MU17 # ZERO MU17 IF FILTER TIME 2346: 1773 22 0 7701 ADD 1B3 2347: 1774 46 0 2001 TMI FLTRTM 2350: 1775 10 0 0167 STO MU17 2351: 1776 72 0 6261 TSQ EXEC 2352: 1777 72 0 6261 FLTRX TSQ EXEC 2353: 2000 40 0 5444 TRA 5444 2354: # COVARIANCE UPDATE 2355: 2001 44 0 2002 FLTRTM TOV *+1 # RESET OVERFLOW DISCRETE 2356: 2002 50 1 0003 AXT 3,1 2357: 2003 20 1 0640 FLTRB CLA P11,1 # 30, 30, 20, 20 2360: 2004 26 0 0554 MPR LILA 2361: 2005 10 0 0004 STO TS4 # 15, 15, 5, 5 2362: 2006 20 1 0644 CLA P21,1 # 30, 30, 20, 2 2363: 2007 26 0 0557 MPR LILC # B-15 2364: 2010 32 0 0004 ADZ TS4 2365: 2011 10 1 0010 STO TS10,1 # TS10 A*P11+C*P21 B15 2366: 2012 20 1 0640 CLA P11,1 # TS11 A*P12+C*P22 B15 2367: 2013 26 0 0557 MPR LILC # TS12 A*P13+C*P23 B5 2370: 2014 10 0 0004 STO TS4 # TS13 A*P14+C*P24 B5 2371: 2015 20 1 0644 CLA P21,1 # TS14 C*P11+J*P21 B15 2372: 2016 26 0 0556 MPR LILJ # TS15 C*P12+J*P22 B15 2373: 2017 32 0 0004 ADZ TS4 # TS16 C*P13+J*P23 B5 2374: 2020 10 1 0014 STO TS14,1 # TS17 C*P14+J*P24 B5 2375: 2021 42 1 2003 TIX FLTRB,1 2376: 2022 20 0 0642 CLA P13 # B20 32XB25 2377: 2400: # PAGE 32 2401: 2023 54 0 0005 LRS 5 # MPY BY 32,SCALE AT B30 2402: 2024 22 0 4006 ADD 1B17 # ADD 2**13 2403: 2025 22 0 0640 ADD P11 2404: 2026 10 0 0640 STO P11 # B30 2405: 2027 20 0 0643 CLA P14 2406: 2030 22 0 0646 ADD P23 # B20 16XB24 2407: 2031 54 0 0006 LRS 6 # MPY BY 16,SCALE AT B30 2410: 2032 22 0 0641 ADD P12 2411: 2033 10 0 0641 STO P12 # B30 2412: 2034 10 0 0644 STO P21 2413: 2035 20 0 0647 CLA P24 # B20 32XB25 2414: 2036 54 0 0005 LRS 5 # MPY BY 32,SCALE AT B30 2415: 2037 22 0 4006 ADD 1B17 # ADD 2**13 2416: 2040 22 0 0645 ADD P22 2417: 2041 10 0 0645 STO P22 # B30 2420: 2042 20 0 0011 CLA TS11 # EXCHANGE TS11,TS14 2421: 2043 14 0 0014 LDQ TS14 2422: 2044 12 0 0011 STQ TS11 2423: 2045 10 0 0014 STO TS14 2424: 2046 50 1 0001 AXT 1,1 2425: 2047 20 1 0650 FLTRC CLA P33,1 # P34 B10 2426: 2050 54 0 0005 LRS 5 # MPY BY 16, SCALE AT B19 2427: 2051 22 1 0010 ADD TS10,1 # B15 16XB19 2430: 2052 54 0 0001 LRS 1 # SCALE AT B10 2431: 2053 22 1 0642 ADD P13,1 2432: 2054 10 1 0642 STO P13,1 # B20 2433: 2055 20 1 0652 CLA P43,1 # P44 B10 2434: 2056 54 0 0005 LRS 5 # MPY BY 16, SCALE AT B19 2435: 2057 22 1 0014 ADD TS14,1 # B15 16XB19 2436: 2060 54 0 0001 LRS 1 # SCALE AT B20 2437: 2061 22 1 0646 ADD P23,1 2440: 2062 10 1 0646 STO P23,1 # B20 2441: 2063 42 1 2047 TIX FLTRC,1 2442: 2064 20 0 0012 CLA TS12 # B5 32XB10 2443: 2065 22 0 4006 ADD 1B17 # ADD 2**(-7) 2444: 2066 22 0 0650 ADD P33 2445: 2067 10 0 0650 STO P33 # B10 2446: 2447: # PAGE 33 2450: 2070 20 0 0013 CLA TS13 2451: 2071 22 0 0016 ADD TS16 # B5 16XB9 2452: 2072 54 0 0001 LRS 1 # SCALE AT B10 2453: 2073 22 0 0651 ADD P34 2454: 2074 10 0 0651 STO P34 # B10 2455: 2075 10 0 0652 STO P43 2456: 2076 20 0 0017 CLA TS17 # B5 32XB10 2457: 2077 22 0 4006 ADD 1B17 # ADD 2**(-7) 2460: 2100 22 0 0653 ADD P44 2461: 2101 10 0 0653 STO P44 # B10 2462: 2102 30 0 0417 CLZ S17 # IS FILTER INIT. REQUIRED 2463: 2103 56 0 0003 ALS 3 # FORCE OVERFLOW IF =1B3 2464: 2104 44 0 2106 TOV PINIT 2465: 2105 40 0 2123 TRA FLTRD 2466: 2106 50 1 0003 PINIT AXT 3,1 # INITIALIZE P MATRIX 2467: 2107 30 1 0640 CLZ P11,1 2470: 2110 30 1 0644 CLZ P21,1 2471: 2111 30 1 0650 CLZ P33,1 2472: 2112 42 1 2107 TIX *-3,1 2473: 2113 20 0 0457 CLA 6K2 2474: 2114 10 0 0640 STO P11 2475: 2115 10 0 0645 STO P22 2476: 2116 20 0 0456 CLA 6K4 2477: 2117 10 0 0650 STO P33 2500: 2120 10 0 0653 STO P44 2501: 2121 20 0 0274 CLA 29J 2502: 2122 10 0 0147 STO T1 2503: 2123 20 0 0503 FLTRD CLA 17J 2504: 2124 62 0 0000 ABS 2505: 2125 24 0 4006 SUB 1B17 2506: 2126 46 0 2226 TMI FLTRH # NO RATE CHECK RANGE 2507: 2127 30 0 0503 RATE CLZ 17J 2510: 2130 24 0 0441 SUB RDOTS 2511: 2131 10 0 0220 STO DELR1 # B13 2512: # NOT, DELR2 IS ALREADY 2513: # ZERO SINCE IT IS TIME 2514: # SHARED WITH RIZ 2515: 2516: # PAGE 34 2517: 2132 30 0 0143 CLZ Q12 2520: 2133 20 0 4030 CLA PMAX # =1B0 2521: 2134 10 0 0170 STO Q22 2522: 2135 50 1 0003 AXT 3,1 2523: 2136 20 0 0440 FLTRE CLA RRDOT # B13 2524: 2137 26 1 0300 MPR A31BD,1 # B14 2525: 2140 56 0 0001 ALS 1 2526: 2141 24 1 0030 SUB RDOTX,1 # B13 2527: 2142 06 0 5033 MPY 1B1 # SCALE AT B14 2530: 2143 04 0 0317 DVP RR # B22 2531: 2144 10 1 0000 STO TS0,1 # B-1 2532: 2145 30 1 0554 CLZ L11,1 2533: 2146 30 1 0234 CLZ L12,1 2534: 2147 42 1 2136 TIX FLTRE,1 2535: 2150 30 0 0002 CLZ TS2 2536: 2151 10 0 0001 STO TS1 2537: 2152 20 0 0300 CLA A31BD 2540: 2153 60 0 0000 COM # TS0 = M11 B-9 2541: 2154 10 0 0002 STO TS2 # TS1 = M12 B-9 2542: 2155 20 0 0302 CLA A33BD # TS2 = M13 B1 2543: 2156 60 0 0000 COM # TS3 = M14 B1 2544: 2157 10 0 0003 STO TS3 2545: 2160 50 1 0001 AXT 1,1 2546: 2161 20 1 0642 FLTRF CLA P13,1 # B20 2547: 2162 26 1 0002 MPR TS2,1 # B1 2550: 2163 32 0 0554 ADZ L11 2551: 2164 10 0 0554 STO L11 # L11=P13(M13)+P14(M14) B21 2552: 2165 20 1 0646 CLA P23,1 # B20 2553: 2166 26 1 0002 MPR TS2,1 # B1 2554: 2167 32 0 0555 ADZ L21 2555: 2170 10 0 0555 STO L21 # L21 = P23(M13)+P24(M14) B21 2556: 2171 20 1 0650 CLA P33,1 # B10 2557: 2172 26 1 0002 MPR TS2,1 2560: 2173 32 0 0556 ADZ L31 2561: 2174 10 0 0556 STO L31 # L31 = P33(M13)+P24(M14) B11 2562: 2175 20 1 0652 CLA P43,1 # B10 2563: 2176 26 1 0002 MPR TS2,1 2564: 2565: # PAGE 35 2566: 2177 32 0 0557 ADZ L41 2567: 2200 10 0 0557 STO L41 # L41 = P43(M13)+P44(M11) B11 2570: 2201 42 1 2161 TIX FLTRF,1 2571: 2202 30 0 0212 CLZ DELTA 2572: 2203 50 1 0003 AXT 3,1 2573: 2204 20 1 0640 FLTRG CLA P11,1 # B30,30,20,20 2574: 2205 26 0 0000 MPR TS0 # M11 B=9 2575: 2206 10 0 0010 STO TS10 # B21 2576: 2207 20 1 0644 CLA P21,1 2577: 2210 26 0 0001 MPR TS1 # M12 B-9 2600: 2211 32 0 0010 ADZ TS10 # B21,21,11,11 2601: 2212 32 1 0554 ADZ L11,1 2602: 2213 56 0 0001 ALS 1 # B20,20,10,10 2603: 2214 10 1 0554 STO L11,1 # L11=P11M11+P21M12+P13M13+P14M14 2604: 2215 26 1 0000 MPR TS0,1 2605: 2216 56 0 0001 ALS 1 2606: 2217 32 0 0212 ADZ DELTA # DELTA=M1J DOT PJ1 B10 2607: 2220 10 0 0212 STO DELTA 2610: 2221 42 1 2204 TIX FLTRG,1 2611: 2222 22 0 0304 ADD 6K8 2612: 2223 10 0 0212 STO DELTA 2613: 2224 10 0 0073 STO Q11 2614: 2225 40 0 2315 TRA FLTRJ-1 2615: 2616: 2617: 2226 20 0 0316 FLTRH CLA 18J # CHECK RANGE 2620: 2227 24 0 4006 SUB 1B17 2621: 2230 46 0 1776 TMI FLTRX-1 2622: 2231 50 1 0002 RANGE AXT 2,1 2623: 2232 20 1 0044 FLTRI CLA A31S,1 # ZB B1 2624: 2233 26 0 0316 MPR 18J 2625: 2234 56 0 0001 ALS 1 2626: 2235 24 1 0234 SUB RRSX,1 2627: 2236 10 1 0220 STO DELR1,1 # B23 2630: 2237 20 1 0124 CLA RRX,1 2631: 2240 26 0 0611 MPR 6K9 # B8 2632: 2241 56 0 0001 ALS 1 # B7 2633: 2634: # PAGE 36 2635: 2242 10 0 0001 STO TS1 # TRICKY, YES 2636: 2243 26 1 0124 MPR RRX,1 # B30 2637: 2244 10 1 0000 STO TS0,1 # B30 2640: 2245 20 1 0300 CLA A31BD,1 # B1 2641: 2246 26 1 0300 MPR A31BD,1 # B2 2642: 2247 26 0 0517 MPR 6K10 # 2+28 B30 2643: 2250 10 1 0004 STO TS4,1 2644: 2251 42 1 2232 TIX FLTRI,1 2645: 2252 32 0 0002 ADZ TS2 2646: 2253 22 0 0640 ADD P11 2647: 2254 10 0 0073 STO Q11 # B30(?) 2650: 2255 20 0 0377 CLA TA1 2651: 2256 10 0 0147 STO T1 # T1 = TA1 2652: 2257 20 0 0001 CLA TS1 # (RRX)(6K9) B7 2653: 2260 26 0 0126 MPR RRZ # B30 2654: 2261 60 0 0000 COM 2655: 2262 22 0 0641 ADD P12 2656: 2263 10 0 0143 STO Q12 # B30 Q12=P12-6K9(RRX)(RRZ) 2657: 2264 26 0 0143 MPR Q12 2660: 2265 10 0 0001 STO TS1 # B60 2661: 2266 30 0 0000 CLZ TS0 2662: 2267 32 0 0006 ADZ TS6 2663: 2270 22 0 0645 ADD P22 2664: 2271 10 0 0170 STO Q22 # B30 2665: 2272 26 0 0073 MPR Q11 # B60 2666: 2273 24 0 0001 SUB TS1 2667: 2274 10 0 0212 STO DELTA # B60 2670: 2275 50 1 0003 AXT 3,1 2671: 2276 20 1 0640 CLA P11,1 2672: 2277 60 0 0000 COM 2673: 2300 10 1 0554 STO L11,1 2674: 2301 20 1 0644 CLA P21,1 2675: 2302 10 1 0234 STO L12,1 2676: 2303 42 1 2276 TIX *-5,1 2677: 2304 20 0 0656 CLA 6K5 # B0 2700: 2305 26 0 0221 MPR DELR3 # B23 2701: 2306 22 0 0341 ADD RY # Y=Y+6K5*DELR3 B23 2702: 2703: # PAGE 37 2704: 2307 10 0 0341 STO RY 2705: 2310 20 0 0522 CLA 6K6 # B8 2706: 2311 06 0 0221 MPY DELR3 2707: 2312 04 0 0276 DVP DELTAT # TO B13 2710: 2313 22 0 0361 ADD VY # VY=VY+6K6*DELR3/DELTAT 2711: 2314 10 0 0361 STO VY # UPDATED VY AT B13 2712: 2315 72 0 6261 TSQ EXEC # END OF 2ND BR.OF FILTER 2713: # POINT B 2714: # SCALING COMMENTS 2715: # RANGE, RATE 2716: 2316 50 1 0003 FLTRJ AXT 3,1 2717: 2317 20 1 0234 CLA L12,1 # B30,30,20,20 2720: 2320 06 0 0143 MPY Q12 # AT B30 2721: 2321 54 0 0003 LRS 3 2722: 2322 04 0 0212 DVP DELTA # AT B60 2723: 2323 10 0 0001 STO TS1 # B3,3,-7,-7 2724: 2324 20 1 0554 CLA L11,1 # B30,30,20,20 20,20,10,10 2725: 2325 06 0 0170 MPY Q22 # AT B30 B0 FOR RATE 2726: 2326 54 0 0003 LRS 3 2727: 2327 04 0 0212 DVP DELTA # AT B60 B10 FOR RATE 2730: 2330 22 0 0001 ADD TS1 2731: 2331 10 1 0010 STO B11,1 # B3,3,-7,-7 13,13,3,3 2732: 2332 26 0 0220 MPR DELR1 # B23 B13 FOR RATE 2733: 2333 10 1 0004 STO TS4,1 # B26,26,16,16 26,26,16,16 2734: 2334 20 1 0554 CLA L11,1 # B30,30,20,20 B20,20,10,10 2735: 2335 06 0 0143 MPY Q12 # B30 ZERO 2736: 2336 54 0 0003 LRS 3 2737: 2337 04 0 0212 DVP DELTA # B60 2740: 2340 10 0 0001 STO TS1 # B3,3,-7,-7 2741: 2341 20 1 0234 CLA L12,1 # B30,30,20,20 ZERO 2742: 2342 60 0 0000 COM 2743: 2343 06 0 0073 MPY Q11 # B30 2744: 2344 54 0 0003 LRS 3 2745: 2345 04 0 0212 DVP DELTA 2746: 2346 24 0 0001 SUB TS1 2747: 2347 10 1 0014 STO B12,1 # B3,3,-7,-7 ZERO FOR RATE 2750: 2350 06 0 0222 MPY DELR2 2751: 2752: # PAGE 38 2753: 2351 22 1 0004 ADD TS4,1 # DRX,DRZ,DVX,DVZ 2754: 2352 56 0 0003 ALS 3 2755: 2353 10 1 0004 STO TS4,1 # B23,23,13,13 2756: 2354 42 1 2317 TIX FLTRJ+1,1 2757: 2355 22 0 0340 ADD RX 2760: 2356 10 0 0340 STO RX 2761: 2357 20 0 0005 CLA TS5 2762: 2360 22 0 0342 ADD RZ 2763: 2361 10 0 0342 STO RZ 2764: 2362 20 0 0006 CLA TS6 2765: 2363 22 0 0360 ADD VX 2766: 2364 10 0 0360 STO VX 2767: 2365 20 0 0007 CLA TS7 2770: 2366 22 0 0362 ADD VZ 2771: 2367 10 0 0362 STO VZ 2772: 2370 50 1 0003 AXT 3,1 2773: 2371 20 0 0010 FLTRK CLA B11 # B3 B13 2774: 2372 26 1 0554 MPR L11,1 # B30,30,10,10 B20,20,10,20 2775: 2373 10 0 0000 STO TS0 2776: 2374 20 0 0014 CLA B12 # B3 ZERO FOR RATE 2777: 2375 26 1 0234 MPR L12,1 3000: 2376 34 0 0000 SUZ TS0 3001: 2377 56 0 0003 ALS 3 3002: 2400 22 1 0640 ADD P11,1 3003: 2401 10 1 0640 STO P11,1 # B30,30,20,20 FOR BOTH 3004: 2402 20 0 0011 CLA B21 # B3 B13 FOR RATE 3005: 2403 26 1 0554 MPR L11,1 # B30,30,20,20 20,20,10,10 3006: 2404 10 0 0000 STO TS0 3007: 2405 20 0 0015 CLA B22 # B3 ZERO FOR RATE 3010: 2406 26 1 0234 MPR L12,1 # B30,30,20,20 ZERO 3011: 2407 34 0 0000 SUZ TS0 3012: 2410 56 0 0003 ALS 3 3013: 2411 22 1 0644 ADD P21,1 3014: 2412 10 1 0644 STO P21,1 # B30,30,20,20 FOR BOTH 3015: 2413 42 1 2371 TIX FLTRK,1 3016: 2414 50 1 0001 AXT 1,1 3017: 2415 20 0 0012 FLTRL CLA B31 # B-7 3 3020: 3021: # PAGE 39 3022: 2416 26 1 0556 MPR L31,1 # B20,20 10,10 3023: 2417 10 0 0000 STO TS0 3024: 2420 20 0 0016 CLA B32 # B-7 ZERO FOR RATE 3025: 2421 26 1 0236 MPR L32,1 # B20,B20 ZERO FOR RATE 3026: 2422 34 0 0000 SUZ TS0 3027: 2423 56 0 0003 ALS 3 3030: 2424 22 1 0650 ADD P33,1 # B10,10 FOR BOTH 3031: 2425 10 1 0650 STO P33,1 3032: 2426 42 1 2415 TIX FLTRL,1 3033: 2427 20 0 0013 CLA B41 # B-7 B3 3034: 2430 26 0 0557 MPR L41 3035: 2431 10 0 0000 STO TS0 3036: 2432 20 0 0017 CLA B42 # B-7 ZERO 3037: 2433 26 0 0237 MPR L42 3040: 2434 34 0 0000 SUZ TS0 3041: 2435 56 0 0003 ALS 3 3042: 2436 22 0 0653 ADD P44 # B10 FOR BOTH 3043: 2437 10 0 0653 STO P44 3044: 2440 20 0 0651 CLA P34 3045: 2441 10 0 0652 STO P43 3046: 2442 20 0 0641 CLA P12 3047: 2443 10 0 0644 STO P21 3050: 2444 30 0 0316 CLZ 18J 3051: 2445 40 0 1777 TRA FLTRX 3052: 2446 24 0 0231 LMORB2 SUB 5J # QL-5J AT B23 3053: 2447 10 0 0403 STO QLTELE # PERIC. ALT 3054: 2450 30 0 0007 CLZ TS7 # = VH SQ AT B26 3055: 2451 10 0 0143 STO VHSQ # SAVE FOR ORB INS 3056: 2452 72 0 6261 TSQ EXEC 3057: 3060: 2453 50 1 0002 ORBLM AXT 2,1 3061: 2454 20 1 0340 CLA RX,1 3062: 2455 10 1 0204 STO R0X,1 3063: 2456 20 1 0360 CLA VX,1 3064: 2457 10 1 0424 STO V0X,1 3065: 2460 42 1 2454 TIX ORBLM+1,1 3066: 2461 72 0 6444 TSQ ORBPM # COMPUTE LM ORBIT PARAMETERS 3067: 3070: # PAGE 40 3071: # RETURN FROM ORBPM W/ ACC=SI 3072: 2462 10 0 0003 STO TS3 # B0 3073: 2463 54 0 0003 LRS 3 # TO B3 3074: 2464 10 0 0211 STO Y # SAVE FOR TPERG 3075: 2465 20 0 0103 CLA CI 3076: 2466 10 0 0004 STO TS4 3077: 2467 72 0 7034 TSQ ARCTAE # RTN W/ ACCU=E 3100: 2470 60 0 0000 COM 3101: 2471 22 0 4021 ADD 2PIB3 3102: 2472 32 0 0211 ADZ Y # 2*PI-E+SI AT B3, ZERO Y 3103: 2473 06 0 5033 MPY 1B1 # TO B4 3104: 2474 04 0 0077 DVP NI # AT B-9 3105: 2475 10 0 0313 STO TPERG # B13 3106: 2476 20 0 0173 CLA AI 3107: 2477 24 0 0231 SUB 5J 3110: 2500 56 0 0001 ALS 1 # MPY BY 2 3111: 2501 24 0 0403 SUB QLTELE 3112: 2502 10 0 0315 STO QA # LM APOFOCUS ALT. AT B23 3113: 2503 72 0 6261 TSQ EXEC 3114: 3115: # Y ZEROED IN PREVIOUS BR 3116: 2504 30 0 0270 CLZ VY0 3117: 2505 50 1 0002 AXT 2,1 3120: 2506 20 1 0340 KINGK CLA RX,1 3121: 2507 10 1 0220 STO RIX,1 # SAVE R FOR ORBIT INS. 3122: 2510 26 1 0054 MPR WCX,1 3123: 2511 56 0 0001 ALS 1 3124: 2512 32 0 0211 ADZ Y 3125: 2513 10 0 0211 STO Y # Y=(WCX)DOT(RX) 3126: 2514 20 1 0360 CLA VX,1 3127: 2515 10 1 0430 STO VIX,1 # SAVE V FOR ORBIT INS. 3130: 2516 26 1 0054 MPR WCX,1 3131: 2517 56 0 0001 ALS 1 3132: 2520 32 0 0270 ADZ VY0 3133: 2521 10 0 0270 STO VY0 # VY0=(WCX)DOT(VX) 3134: 2522 20 1 0054 CLA WCX,1 # SET UP FOR CROSS 3135: 2523 60 0 0000 COM # PRODUCT SUBROUTINE 3136: 3137: # PAGE 41 3140: 2524 10 1 0010 STO TS10,1 # WC X U1 = U1 X -WC 3141: 2525 20 1 0060 CLA U1X,1 3142: 2526 10 1 0004 STO TS4,1 3143: 2527 42 1 2506 TIX KINGK,1 3144: 2530 72 0 6373 TSQ CRSPRD 3145: 2531 72 0 6422 TSQ NORMV # V1 VECTOR TO TSB 3146: 2532 72 0 6373 TSQ CRSPRD 3147: 2533 30 0 0003 CLZ TS3 3150: 2534 30 0 0004 CLZ TS4 3151: 2535 50 1 0002 AXT 2,1 3152: 2536 30 1 0010 CLZ TS10,1 3153: 2537 10 1 0034 STO V1X,1 # V1 AT 1 3154: 2540 26 1 0134 MPR A31,1 3155: 2541 22 0 0004 ADD TS4 # TS4 = V1 DOT ZB AT B2 3156: 2542 10 0 0004 STO TS4 3157: 2543 30 1 0014 CLZ TS14,1 3160: 2544 56 0 0001 ALS 1 3161: 2545 10 1 0040 STO W1X,1 3162: 2546 20 1 0134 CLA A31,1 3163: 2547 26 1 0060 MPR U1X,1 3164: 2550 22 0 0003 ADD TS3 3165: 2551 10 0 0003 STO TS3 # TS3 = U1 DOT ZB AT B2 3166: 2552 42 1 2536 TIX *-12,1 3167: 2553 72 0 7034 TSQ ARCTAE 3170: 2554 10 0 0277 STO XI 3171: 2555 72 0 6261 TSQ EXEC # END OF LEM ORB PAR BRANCH 3172: 3173: # GUIDANCE MODE CHECK 3174: 3175: 2556 20 0 0410 GM CLA S10 3176: 2557 22 0 7520 ADD 3B3 3177: 2560 46 0 2773 TMI XDV # EXTERNAL DELTA V 3200: 2561 22 0 4065 ADD 2B3 3201: 2562 62 0 0000 ABS 3202: 2563 46 0 2577 TMI DXFR1 # TPI SEARCH 3203: 2564 20 0 0410 CLA S10 3204: 2565 60 0 0000 COM 3205: 3206: # PAGE 42 3207: 2566 46 0 2573 TMI *+5 3210: 2567 30 0 0310 CLZ TDEL # TDEL=0 3211: 2570 20 0 0732 CLA ORBRET # =TRA DX10P 3212: 2571 10 0 0157 STO TSEX # SET UP RETURN FROM NORTON 3213: 2572 40 0 3562 TRA NORTON+5 3214: # CSI,CDH,TPI EXECUTE, OR EXT DV 3215: 2573 20 0 0373 CLA TIG # COMPUTE TDEL FOR 3216: 2574 24 0 0377 SUB TA1 # CSI, CDH, OR TPI(S10=4) 3217: 2575 56 0 0005 ALS 5 3220: 2576 10 0 0310 STO TDEL 3221: 2577 20 0 0310 DXFR1 CLA TDEL 3222: 2600 54 0 0005 LRS 5 3223: 2601 22 0 0377 ADD TA1 3224: 2602 10 0 0373 STO TIG 3225: 2603 20 0 0310 CLA TDEL # TDEL = OR GTR 0 AFTER TR CALC 3226: 2604 22 0 0307 ADD 6J 3227: 2605 10 0 0311 STO TR # TIME UNTIL RENDEZVOUS (TPI) 3230: 2606 30 0 0310 CLZ TDEL # LIMIT TDEL POSITIVE 3231: 2607 46 0 2611 TMI *+2 3232: 2610 10 0 0310 STO TDEL 3233: 2611 30 0 0407 CLZ S7 # ZERO S7 WHEN NOT IN XDV 3234: 2612 20 0 0310 CLA TDEL 3235: 2613 72 0 3555 DXFR10 TSQ NORTON 3236: 2614 10 0 0347 DX10P STO RF # PRED. BURNOUT ALTITUDE 3237: 2615 22 0 0217 ADD 2K14 3240: 2616 10 0 0170 STO P 3241: 2617 30 0 0477 CLZ RADOT 3242: 2620 30 0 0263 CLZ VPY 3243: 2621 30 1 0220 DXFRR5 CLZ RIX,1 # R5 STORE 3244: 2622 10 1 0174 STO R5X,1 3245: 2623 30 1 0430 CLZ VIX,1 3246: 2624 10 1 0014 STO TS14,1 3247: 2625 10 1 0460 STO V5X,1 # V5 STORE 3250: 2626 26 1 0054 MPR WCX,1 3251: 2627 56 0 0001 ALS 1 # TO 13 3252: 2630 32 0 0263 ADZ VPY # VPY = V5 DOT WC 3253: 2631 10 0 0263 STO VPY 3254: 3255: # PAGE 43 3256: 2632 30 1 0010 CLZ TS10,1 3257: 2633 10 1 0060 STO U1X,1 # U1 STORE 3260: 2634 26 1 0460 MPR V5X,1 # RADOT = R5 DOT U1 3261: 2635 56 0 0001 ALS 1 # TO 13 3262: 2636 32 0 0477 ADZ RADOT 3263: 2637 10 0 0477 STO RADOT 3264: 2640 20 1 0200 CLA REX,1 # CSM POS AND VEL FOR 3265: 2641 10 1 0204 STO R0X,1 # ELLIPSE PREDICTOR 3266: 2642 20 1 0420 CLA VEX,1 # AND ORBIT PARAMETERS 3267: 2643 10 1 0424 STO V0X,1 3270: 2644 42 1 2621 TIX DXFRR5,1 3271: 2645 72 0 6422 TSQ NORMV 3272: 2646 20 0 0013 CLA TS13 3273: 2647 10 0 0463 STO VHA 3274: 2650 72 0 6261 TSQ EXEC 3275: 2651 72 0 6444 ORBIT3 TSQ ORBPM # CSM ORBIT PARAMETERS 3276: 2652 20 0 0436 CLA TB 3277: 2653 24 0 0445 SUB TCSM 3300: 2654 22 0 0310 ADD TDEL # +TIME INC. TO DXFR 3301: 2655 46 0 2657 TMI *+2 3302: 2656 24 0 0445 SUB TCSM 3303: 2657 72 0 3555 TSQ NORTON 3304: 2660 30 0 0003 DXFR13 CLZ TS3 3305: 2661 20 1 0220 CLA RIX,1 3306: 2662 24 1 0174 SUB R5X,1 3307: 2663 10 1 0430 STO VIX,1 # RC-R5 3310: 2664 20 1 0054 CLA WCX,1 3311: 2665 10 1 0004 STO TS4,1 3312: 2666 20 1 0060 CLA U1X,1 3313: 2667 10 1 0010 STO TS10,1 3314: 2670 26 1 0430 MPR VIX,1 # U1 DOT (RC-R5) 3315: 2671 32 0 0003 ADZ TS3 # SCALE BOTH RX AND RZ 3316: 2672 10 0 0003 STO TS3 # AT 24 FOR ARCTAE 3317: 2673 42 1 2661 TIX DXFR13+1,1 3320: 2674 72 0 6373 TSQ CRSPRD 3321: 2675 72 0 6422 TSQ NORMV 3322: 2676 30 0 0004 CLZ TS4 3323: 3324: # PAGE 44 3325: 2677 50 1 0002 VRUP1 AXT 2,1 3326: 2700 20 1 0010 CLA TS10,1 3327: 2701 26 1 0430 MPR VIX,1 3330: 2702 32 0 0004 ADZ TS4 3331: 2703 10 0 0004 STO TS4 # RZ AT 24 3332: 2704 42 1 2700 TIX VRUP1+1,1 3333: 2705 20 0 0410 CLA S10 3334: 2706 24 0 7520 SUB 3B3 3335: 2707 46 0 0753 TMI THEF # S10 = 1 OR 2 3336: 2710 72 0 7034 TSQ ARCTAE # TLOS=ARCTAN(RX/RZ) 3337: 2711 10 0 0303 STO TLOS # LINE OF SIGHT (DEDA) 3340: 2712 20 0 0311 CLA TR 3341: 2713 24 0 0310 SUB TDEL 3342: 2714 10 0 0435 STO T 3343: 2715 20 0 0436 CLA TB 3344: 2716 24 0 0445 SUB TCSM 3345: 2717 22 0 0311 ADD TR # TIME INC. TPI TO REND. 3346: 2720 24 0 0312 SUB 3J # TARGET OFFSET 3347: 2721 10 0 0442 STO TI 3350: 2722 72 0 6261 TSQ EXEC 3351: 2723 20 0 0410 DXFR14 CLA S10 3352: 2724 60 0 0000 COM 3353: 2725 46 0 5520 TMI CSMT1 # TO ELLIPX 3354: 3355: # ORBIT INSERTION SECTION 3356: 3357: 2726 20 0 0270 CLA VY0 3360: 2727 60 0 0000 COM 3361: 2730 26 0 0270 MPR VY0 3362: 2731 22 0 0143 ADD VHSQ # VH SQ 3363: 2732 72 0 7123 TSQ SQRTE 3364: 2733 10 0 0463 STO VHA # B13 3365: 2734 20 0 0662 CLA 4K5 # COMPUTE DESIRED BURNOUT 3366: 2735 24 0 0271 SUB RB # ALTITUDE RATE 3367: 2736 06 0 0565 MPY 4K4 3370: 2737 52 0 0003 LLS 3 3371: 2740 10 0 0423 STO RFDOT 3372: 3373: # PAGE 45 3374: 2741 24 0 0527 SUB 4K6 # LIMIT RFDOT BETWEEN 3375: 2742 46 0 2745 TMI *+3 # 23J AND 4K6 3376: 2743 20 0 0527 CLA 4K6 3377: 2744 40 0 2751 TRA *+5 3400: 2745 20 0 0465 CLA 23J 3401: 2746 24 0 0423 SUB RFDOT 3402: 2747 46 0 2752 TMI *+3 3403: 2750 20 0 0465 CLA 23J 3404: 2751 10 0 0423 STO RFDOT 3405: 2752 20 0 0271 CLA RB 3406: 2753 10 0 0347 STO RF 3407: 2754 20 0 0227 CLA 4K10 3410: 2755 26 0 0303 MPR THETAF 3411: 2756 22 0 0224 ADD 7J 3412: 2757 10 0 0177 STO AL 3413: 2760 24 0 0226 SUB 9J # LIMIT AL BETWEEN 3414: 2761 46 0 2764 TMI *+3 # 8J AND 9J 3415: 2762 20 0 0226 CLA 9J 3416: 2763 40 0 2770 TRA *+5 3417: 2764 20 0 0225 CLA 8J 3420: 2765 24 0 0177 SUB AL 3421: 2766 46 0 2771 TMI *+3 3422: 2767 20 0 0225 CLA 8J 3423: 2770 40 0 3740 TRA CDH3 # AL IN ACCUM 3424: 2771 20 0 0177 CLA AL 3425: 2772 40 0 3741 TRA CDH3+1 3426: # EXTERNAL DELTA V 3427: 2773 20 0 0407 XDV CLA S7 3430: 2774 56 0 0003 ALS 3 3431: 2775 46 0 3003 TMI XDV1 3432: 2776 20 0 0614 CLA MU8 3433: 2777 24 0 4006 SUB 1B17 3434: 3000 46 0 3014 TMI XDV2 3435: 3001 20 0 7701 CLA 1B3 # ULLAGE DETECTED SET S7 3436: 3002 10 0 0407 STO S7 3437: 3003 50 1 0002 XDV1 AXT 2,1 3440: 3004 20 1 0460 CLA DVGXX,1 # INPUT VEL TO GAIN 3441: 3442: # PAGE 46 3443: 3005 24 1 0050 SUB DQSX,1 # ACCUM DELTA V 3444: 3006 10 1 0004 STO TS4,1 3445: 3007 10 1 0064 STO VGX,1 3446: 3010 42 1 3004 TIX XDV1+1,1 3447: 3011 72 0 6737 TSQ DPVMAG 3450: 3012 10 0 0370 STO VG # VEL TO GAIN MAG 3451: 3013 40 0 3212 TRA Q7 # TO STEERING 3452: 3014 50 1 0002 XDV2 AXT 2,1 # LOAD NDX FOR STEER/XDV 3453: 3015 20 0 0450 CLA 28J1 # IF IN TPI, DELV = VG 3454: 3016 24 0 0526 SUB 2K11 # IF IN EXT DELTA V EQUAL 3455: 3017 46 0 3023 TMI *+4 # FUNCTIONOF 28J 3456: 3020 30 1 0050 CLZ DQSX,1 # ZERO DQS VECTOR 3457: 3021 20 1 0064 CLA VGX,1 3460: 3022 40 0 3036 TRA XDV2P 3461: 3023 20 0 0452 CLA 28J3 # RADIAL COMPONENT 3462: 3024 26 1 0060 MPR U1X,1 # 13+1=14 3463: 3025 10 1 0050 STO DQSX,1 3464: 3026 20 0 0451 CLA 28J2 # CROSSRANGE COMPONENT 3465: 3027 26 1 0040 MPR W1X,1 3466: 3030 32 1 0050 ADZ DQSX,1 3467: 3031 10 1 0050 STO DQSX,1 3470: 3032 20 0 0450 CLA 28J1 # DOWNRANGE COMPONENT 3471: 3033 26 1 0034 MPR V1X,1 3472: 3034 34 1 0050 SUZ DQSX,1 3473: 3035 56 0 0001 ALS 1 # TO 13 3474: 3036 10 1 0460 XDV2P STO DVGXX,1 # VELOCITY TO GAIN 3475: 3037 42 1 3015 TIX XDV2+1,1 3476: 3040 40 0 3003 TRA XDV1 3477: 3500: 3041 20 0 0423 Q5 CLA RFDOT # GUIDANCE LAW 3501: 3042 10 0 0004 STO TS4 # SET FOR INDEXING 3502: 3043 30 0 0005 CLZ TS5 3503: 3044 20 0 0477 CLA RADOT 3504: 3045 10 0 0010 STO TS10 3505: 3046 20 0 0270 CLA VY0 3506: 3047 10 0 0011 STO TS11 3507: 3050 50 1 0001 AXT 1,1 3510: 3511: # PAGE 47 3512: 3051 44 0 3052 TOV *+1 3513: 3052 20 1 0504 CLA RD3DOT,1 # -2 3514: 3053 26 0 0357 MPR TBO # 9-2=7 3515: 3054 54 0 0001 LRS 1 # TO 8 3516: 3055 10 0 0001 STO TS1 # 1/2 AT 7 3517: 3056 20 1 0004 CLA TS4,1 # RFDOT OR ZERO 3520: 3057 24 1 0010 SUB TS10,1 # RDOT OR VY0 3521: 3060 10 0 0002 STO TS2 3522: 3061 06 0 7701 MPY 1B3 # B16 3523: 3062 04 0 0357 DVP TBO # 16-9=7 3524: 3063 34 0 0001 SUZ TS1 # R OR YD2DOT 3525: 3064 10 0 0000 STO TS0 # TEST FOR OVERFLOW 3526: 3065 30 0 0002 CLZ TS2 # SIGN IF OVERFLOW 3527: 3066 72 0 3335 TSQ OVFLT 3530: 3067 10 1 0554 STO RD2DOT,1 3531: 3070 20 0 4020 CLA SIXTH # -2 3532: 3071 26 1 0504 MPR RD3DOT,1 # -4 3533: 3072 26 0 0357 MPR TBO # 5 3534: 3073 54 0 0001 LRS 1 # TO 6 3535: 3074 22 1 0554 ADD RD2DOT,1 # +1/2 2DOT AT 6 3536: 3075 26 0 0357 MPR TBO # 15 3537: 3076 56 0 0001 ALS 1 # TO 14 3540: 3077 10 0 0001 STO TS1 3541: 3100 20 1 0010 CLA TS10,1 3542: 3101 54 0 0001 LRS 1 # TO 14 3543: 3102 32 0 0001 ADZ TS1 3544: 3103 26 0 0357 MPR TBO # 23 3545: 3104 22 1 0210 ADD R,1 3546: 3105 10 1 0014 STO TS14,1 # RF OR YF 3547: 3106 42 1 3051 TIX Q5+8,1 3550: 3107 10 0 0347 STO RF # 23 3551: 3110 10 0 0271 STO RB # SAVE RF FOR ORBIT INSERT. 3552: 3111 24 0 0231 SUB 5J # -LUNAR RADIUS 3553: 3112 24 0 0232 SUB 16J # BURNOUT ALT ERROR 3554: 3113 10 0 0014 STO TS14 3555: 3114 14 0 0523 LDQ 5K20 3556: 3115 20 0 0506 CLA 4K12 3557: 3560: # PAGE 48 3561: 3116 24 0 0067 SUB AT 3562: 3117 46 0 3122 TMI *+3 # IF AT GT 4K12 3563: 3120 20 0 0574 CLA DEL2 3564: 3121 46 0 3123 TMI *+2 # IF AT LE 4K12 AND DEL2=1 3565: 3122 14 0 0564 LDQ 5K18 3566: 3123 12 0 0600 STQ RD3DTL # RD3DOT LOWER LIMIT 3567: 3124 20 0 0357 CLA TBO 3570: 3125 26 0 0357 MPR TBO 3571: 3126 26 0 0357 MPR TBO # TB CUBED 3572: 3127 10 0 0001 STO TS1 # 27 3573: 3130 50 1 0001 AXT 1,1 3574: 3131 44 0 3132 GDLAW3 TOV *+1 3575: 3132 20 1 0014 CLA TS14,1 # BURNOUT ERROR 3576: 3133 06 0 5000 MPY 12B4 # 27 3577: 3134 52 0 0002 LLS 2 # TO 25 3600: 3135 04 0 0001 DVP TS1 # -2 3601: 3136 32 1 0504 ADZ RD3DOT,1 # DESIRED ACCEL RATE 3602: 3137 10 0 0000 STO TS0 # TEST FOR OVERFLOW 3603: 3140 20 1 0014 CLA TS14,1 3604: 3141 72 0 3335 TSQ OVFLT 3605: 3142 10 1 0504 STO RD3DOT,1 3606: 3143 46 0 3150 TMI *+5 3607: 3144 24 1 0560 SUB 5K14,1 # UPPER LIMIT TEST 3610: 3145 46 0 3152 TMI *+5 3611: 3146 20 1 0560 CLA 5K14,1 # SET AT UPPER LIMIT 3612: 3147 40 0 3553 TRA LL3DOT+1 3613: 3150 24 1 0600 SUB RD3DTL,1 # LOWER LIMIT TEST 3614: 3151 46 0 3552 TMI LL3DOT 3615: 3152 42 1 3131 GDLAW4 TIX GDLAW3,1 3616: 3153 20 0 0636 CLA 2K1 # 48 3617: 3154 06 0 5033 MPY 1B1 # B49 3620: 3155 04 0 0210 DVP R # 49-23-26 3621: 3156 34 0 0143 SUZ VHSQ # VH SQ 3622: 3157 06 0 4010 MPY 1B4 # B30 3623: 3160 04 0 0210 DVP R # -ORBITAL RAD ACCEL AT 7 3624: 3161 32 0 0554 ADZ RD2DOT 3625: 3162 10 0 0554 STO RD2DOT # CMD RAD ACCEL AT 7 3626: 3627: # PAGE 49 3630: 3163 72 0 6261 TSQ EXEC 3631: 3632: # STEERING EQUATIONS. 3633: 3634: 3164 20 0 0233 STEER CLA 21J 3635: 3165 24 0 0337 SUB H 3636: 3166 46 0 3176 TMI STEER1 3637: 3167 20 0 0464 CLA 22J 3640: 3170 24 0 0367 SUB HDOT 3641: 3171 46 0 3176 TMI STEER1 3642: 3172 20 0 7701 CLA 1B3 # =1024B13 COMMAND X-AXIS VERT 3643: 3173 10 0 0370 STO VG 3644: 3174 20 0 4030 CLA PMAX # PSIP=1 3645: 3175 40 0 3206 TRA *+9 3646: 3176 50 1 0001 STEER1 AXT 1,1 3647: 3177 44 0 3200 TOV *+1 3650: 3200 20 1 0554 CLA RD2DOT,1 # PSIP AND PSIY COMPS 3651: 3201 14 0 4007 LDQ ZERO 3652: 3202 04 0 0067 DVP AT # PSIP OR Y AT ZERO 3653: 3203 10 0 0000 STO TS0 # TEST FOR OVERFLOW 3654: 3204 20 1 0554 CLA RD2DOT,1 # SIGN IF OVERFLOW 3655: 3205 72 0 3335 TSQ OVFLT 3656: 3206 10 1 0010 STO TS10,1 # PSIP OR PSIY AT 0 3657: 3207 42 1 3177 TIX STEER1+1,1 3660: 3210 26 0 0010 MPR TS10 3661: 3211 10 0 0014 STO TS14 # (PSIP)SQ AT 0 3662: 3212 20 0 0614 Q7 CLA MU8 # TEST IF ENG ON 3663: 3213 24 0 4006 SUB 1B17 3664: 3214 46 0 3220 TMI *+4 3665: 3215 20 0 0370 CLA VG 3666: 3216 24 0 0466 SUB 5K26 # CONSTANT STEERING IF 3667: 3217 46 0 3231 TMI STEER5 3670: 3220 20 0 0410 CLA S10 3671: 3221 24 0 4006 SUB 1B17 3672: 3222 46 0 3264 TMI STEER2 3673: 3223 50 1 0002 AXT 2,1 # XBD FOR EXT DELTA V 3674: 3224 20 1 0064 CLA VGX,1 3675: 3676: # PAGE 50 3677: 3225 06 0 5033 MPY 1B1 # B14 3700: 3226 04 0 0370 DVP VG # RESULT AT B1 3701: 3227 10 1 0374 STO A11BD,1 3702: 3230 42 1 3224 TIX *-4,1 3703: 3231 30 0 0000