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: FP8.S 0003: # PURPOSE: THIS IS THE APOLLO LUNAR MODULE'S FIRMWARE FOR THE 0004: # ABORT GUIDANCE SYSTEM (AGS). THIS IS FLIGHT PROGRAM 8. 0005: # ASSEMBLER: YALEMAP 0006: # CONTACT: RON BURKEY . 0007: # WEBSITE: WWW.IBIBLIO.ORG/APOLLO 0010: # REFERENCE: HTTP://WWW.IBIBLIO.ORG/APOLLO/PULTORAK_FILES/FP8LISTING.PDF. 0011: # MOD HISTORY: 2005-01-15 RSB BEGAN. 0012: # 2005-01-17 RSB DATA ENTRY COMPLETE, BUT NOT DEBUGGED. 0013: # 2005-01-18 RSB AS OF YESTERDAY, THIS ASSEMBLED WITH 0014: # 86 FATAL ERRORS. THESE HAVE ALL BEEN 0015: # REPAIRED. LOTS OF OTHER STUFF FIXED TOO. 0016: # I KNOW KNOW THAT THE ADDRESSES AND 0017: # OPCODES AT THE ENDS OF EACH PAGE ARE 0020: # CORRECT. HOWEVER, THE CHECKSUMS ARE 0021: # STILL WRONG, SO THE NEXT STEP IS TO 0022: # PROCEED WITH A BINARY COMPARISON. 0023: # 2005-01-18 RSB FULLY DEBUGGED AND READY TO GO. 0024: # IT HAS BEEN COMPLETELY PROOFED AGAINST 0025: # THE BINARY IN THE SCANNED ASSEMBLY 0026: # LISTING, AND THE CHECKSUMS ARE CORRECT. 0027: # (OF COURSE, IT COULD ALWAYS USE MORE 0030: # PROOFING IF SOMEBODY WANTED TO DO IT. 0031: # PARTICULARLY THE PROGRAM COMMENTS.) 0032: 0033: # THE CONTENTS HAVE BEEN TAKEN (BY MEANS OF MANUAL DATA ENTRY) FROM 0034: # AN ASSEMBLY LISTING OF FLIGHT PROGRAM 8 SCANNED BY JOHN PULTORAK FROM 0035: # A PHYSICAL COPY PRESERVED BY SUPPLIED BY DAVIS PETICOLAS. (THE WWW LINK 0036: # FOR THE SCAN IS REFERENCED ABOVE.) 0037: 0040: # THIS FILE CONTAINS THE ENTIRE SOURCE CODE FOR FP8. I HAVE NOT SPLIT THE 0041: # SOURCE CODE INTO MANY SMALLER CHUNKS AS HAS BEEN DONE FOR AGC SOURCE CODE. 0042: # THE PAGE REFERENCES ARE TO THE SCANNED PDF OF THE ASSEMBLY LISTING, BUT 0043: # THE PAGE MARKINGS ON THE PHYSICAL COPY MATCH THE PDF PAGES. IN ADDITION 0044: # TO THE COMMENTS CONTAINING THE PAGE REFERENCES, I'VE ALSO ADDED SOME 0045: # BLANK LINES FOR READABILITY. SO DON'T EXPECT THE LINE NUMBER IN THE 0046: # SCANNED VERSION TO MATCH THE LINE NUMBERS IN AN ASSEMBLY LISTING CREATED 0047: # BY PROCESSING THIS SOURCE FILE WITH THE YALEMAP CROSS-ASSEMBLER. 0050: 0051: # PAGE 1 0052: # FLIGHT PROGRAM 8 -- LM AGS FP8 S03 4039 -- 12/18/70 0053: # LM ABORT ELECTRONICS ASSEMBLY 0054: 0055: # SCRATCH PAD STORAGE 0056: 0000 ORG 0000 0057: 0000 000000 TS0 DEC 0 0060: 0001 000000 TS1 DEC 0 0061: 0002 000000 TS2 DEC 0 0062: 0003 000000 TS3 DEC 0 0063: 0004 000000 TS4 DEC 0 0064: 0005 000000 TS5 DEC 0 0065: 0006 000000 TS6 DEC 0 0066: 0007 000000 TS7 DEC 0 0067: 0010 000000 TS10 DEC 0 0070: 0011 000000 TS11 DEC 0 0071: 0012 000000 TS12 DEC 0 0072: 0013 000000 TS13 DEC 0 0073: 0014 000000 TS14 DEC 0 0074: 0015 000000 TS15 DEC 0 0075: 0016 000000 TS16 DEC 0 0076: 0017 000000 TS17 DEC 0 0077: 0020 000000 SREX3 DEC 0 0100: 0021 000000 SREX2 DEC 0 0101: 0022 000000 SREX1 DEC 0 0102: 0023 000000 SREX DEC 0 0103: 0024 000000 TVARBR DEC 0 # TEMP STORE FOR CK SUM. 0104: 0025 40 0 6246 TRA RETURN # SERV ROUT, STARTUP 0105: 0106: # TAPE LOAD STARTUP CHECKSUM 0107: 0110: 0026 66 0 6402 SF OUT 6402 # DEDA INPUT SCALE FACTOR 0111: 0027 64 0 2040 OCTF INP 2040 # DEDA OCTAL INPUT 0112: 0113: # THE NEXT 16 LOCATIONS ARE SHARED 0114: # WITH A RR FILTER TEMPORARY MATRIX 0115: 0116: 0030 56 0 0001 U2X ALS 1 # B1 UNIT RADIAL VECTOR TO 0117: 0031 46 0 0033 U2Y TMI *+2 # B1 TRIAL RENDEZ PT. 0120: 0032 40 0 0027 U2Z TRA *-3 # B1 0121: 0122: # PAGE 2 0123: 0030 D11 EQU U2X # RADAR TEMP. MATRIX (16 LOC) 0124: 0030 VFX EQU U2X # BRAKING VEL VECTOR AT 13. 0125: 0033 70 0 0034 C2 DLY *+1 # B1 RENDEZ ANGLE SINE 0126: 0034 66 0 7012 V1X OUT 7012 # B1 HORIZ UNIT VECTOR 0127: 0035 64 0 6200 V1Y INP 6200 0130: 0036 30 0 0137 V1Z CLZ SUM 0131: 0037 20 0 0066 DLSC CLA V2Z # DOWNLINK SHIFT COUNTER 0132: 0040 10 0 0024 W1X STO TVARBR # B1 U1 X V1 0133: 0040 D31 EQU W1X 0134: 0041 30 0 0153 W1Y CLZ WRDCNT 0135: 0042 72 0 0024 W1Z TSQ TVARBR 0136: 0043 32 0 0137 SI ADZ SUM # B0 E(SIN(E0)) 0137: 0044 10 0 0137 RD2DOT STO SUM # B7 DESIRED RADIAL ACCEL 0140: 0045 20 0 0024 YD2DOT CLA TVARBR # B7 DESIRED OUT-OF-PLANE ACCEL 0141: 0046 24 0 4046 TSEX SUB CLAFR # EXIT FROM NORTON 0142: 0047 46 0 0060 SIDELL TMI U1X # B1 SIN DELTA L 0143: 0050 30 0 0137 V6X CLZ SUM # B13 TEMP STORAGE FOR TPI QUANT 0144: 0051 46 0 0054 V6Y TMI *+3 0145: 0052 24 0 4006 V6Z SUB 1B17 0146: 0050 DQSX EQU V6X # ACCUM VEL IN XDV 0147: 0053 46 0 1101 CODELL TMI EXIT40 # B1 COS DELTA L 0150: 0054 20 0 7512 WCX CLA 10B4 # B1 UNIT VECTOR NORMAL 0151: 0055 10 0 0412 WCY STO S12 # TO CSM ORBIT 0152: 0056 66 0 6410 WCZ OUT 6410 0153: 0057 40 0 1052 TMPBR TRA SINITC # TEMP BRANCH STORE 0154: 0060 30 0 0153 U1X CLZ WRDCNT # B1 LEM UNIT RAD VECTGOR 0155: 0061 22 0 4006 U1Y ADD 1B17 0156: 0062 10 0 0153 U1Z STO WRDCNT 0157: 0063 24 0 4014 BRANCH SUB 1B11 # GUIDANCE BRANCH 0160: 0064 46 0 0042 V2X TMI W1Z # B1 HORZ UNIT VECTOR AT 0161: 0065 70 0 0041 V2Y DLY W1Y # RENDEZ POINT 0162: 0066 20 0 0206 V2Z CLA 0206 0163: 0064 VGX EQU V2X # VEL TO GAIN VECTOR AT L3 0164: 0165: # END OF TAPE LOAD CHECKSUM PROGRAM 0166: 0167: 0067 000000 AT DEC 0B7 0170: 0171: # PAGE 3 0172: 0070 000000 EX DEC 0B2 # ATTITUDE ERRORS. 0173: 0071 000000 EY DEC 0 0174: 0072 000000 EZ DEC 0 0175: 0073 000000 X3 DEC 0B0 # XFR ORB PARAM. 0176: 0073 TR3 EQU X3 # ADDRESS OF RESULT FOR MXM 0177: 0074 000000 DVXM1 DEC 0B1 # BODY DELTA VS 0200: 0075 000000 DVYM1 DEC 0 # PREVIOUS CYCLE. 0201: 0076 000000 DVZM1 DEC 0 0202: 0077 000000 NI DEC 0B-9 # PREDICTION ANGULAR FREQUENCY 0203: 0077 NE EQU NI # CSM PRED. ANGULAR FREQ. 0204: 0077 TR8 EQU NI # RADAR TEMP. 0205: 0100 000000 VD2X DEC 0B2 # DELTA V EXP LS 0206: 0101 000000 VD2Y DEC 0 0207: 0102 000000 VD2Z DEC 0 0210: 0103 000000 CI DEC 0B0 # E(COS(E0)) 0211: 0103 TR1 EQU CI # ADDR. OF 1ST MATRIX FOR MXM 0212: 0104 000000 DRX DEC 0B14 # LRM POS REMAINDERS 0213: 0105 000000 DRY DEC 0 0214: 0106 000000 DRZ DEC 0 0215: 0107 000000 THEP DEC 0 # PGNS THETA IN COUNTS. 0216: 0110 000000 DIGX DEC 0B7 # PREDICTED CHANGE IN 0217: 0111 000000 DIGY DEC 0 # INTEGRATED GRAVITY. 0220: 0112 000000 DIGZ DEC 0 0221: 0113 000000 PSIP DEC 0 # PGNS PSI IN COUNTS. 0222: 0114 000000 GXDT DEC 0B7 # GRAVITY TIMES MAJOR 0223: 0115 000000 GYDT DEC 0 0224: 0116 000000 GZDT DEC 0 0225: 0117 000000 PHIP DEC 0 # PGNS PHI IN COUNTS. 0226: 0120 000000 DVSX DEC 0 0227: 0121 000000 DVSY DEC 0 0230: 0122 000000 DVSZ DEC 0 0231: 0123 000000 SIGA DEC 0B1 # SIN FDAI GAMMA. 0232: 0124 000000 RRX DEC 0B23 # COMPUTED LM-CSM RANGE 0233: 0125 000000 RRY DEC 0 0234: 0126 000000 RRZ DEC 0 0235: 0127 000000 COGA DEC 0B1 # COS FDAI GAMMA. 0236: 0130 200000 A11 DEC 1.0B1 # XB DIRECTION COSINES. 0237: 0240: # PAGE 4 0241: 0131 000000 A12 DEC 0 0242: 0132 000000 A13 DEC 0 0243: 0133 000000 TS8 DEC 0 0244: 0134 000000 A31 DEC 0 # ZB DIRECTION COSINES 0245: 0135 000000 A32 DEC 0 0246: 0136 200000 A33 DEC 1.0B1 0247: 0137 000000 SUM DEC 0 # RUNNING MEMORY SUM 0250: 0140 000000 A21 DEC 0 # YB DIRECTION COSINES 0251: 0141 200000 A22 DEC 1.0B1 0252: 0142 000000 A23 DEC 0 0253: 0143 000000 X4 DEC 0B0 # XFR ORB PARAM. 0254: 0143 VHSQ EQU X4 # 0B26 VH SQUARED 0255: 0143 TR2 EQU X4 # ADDR. OF 2ND MATRIX FOR MXM 0256: 0144 000000 E1 DEC 0 # -6 OR -9 XB NORM ERROR 0257: 0145 000000 E3 DEC 0 # ZB NORMALITY ERROR. 0260: 0146 000000 E13 DEC 0 # XB,ZB ORTHOG ERROR. 0261: 0147 000000 DEL10 DEC 0 # TPI LOGIC FLAG 0262: 0150 000000 DA11 DEC 0B-5 # DIR COSINE REMAINDERS 0263: 0151 000000 DA12 DEC 0 0264: 0152 000000 DA13 DEC 0 0265: 0153 000000 WRDCNT DEC 0 # CKSUM WORD COUNT 0266: 0154 000000 DA31 DEC 0 0267: 0155 000000 DA32 DEC 0 0270: 0156 000000 DA33 DEC 0 0271: 0157 000000 DEL44 DEC 0 # RADAR CODE WORD RESET FLAG 0272: 0160 000000 A11D DEC 0B1 # XD DIRECTION COSINES. 0273: 0161 000000 A12D DEC 0 0274: 0162 000000 A13D DEC 0 0275: 0163 000000 DEC 0 # ** UNUSED -- INDEXED BY A11D ** 0276: 0164 000000 A31D DEC 0B1 # ZD DIRECTION COSINES. 0277: 0165 000000 A32D DEC 0 0300: 0166 000000 A33D DEC 0 0301: 0167 000000 MU17 DEC 0B3 # RADAR FILTER ENTRY COUNTER 0302: 0170 000000 P DEC 0B23 # TRIAL SEMI-PARAMETER 0303: 0171 000000 ALPHA DEC 0B23 # XFR ORBIT SEMI-MAJOR AXIS 0304: 0172 000000 Q1 DEC 0B23 # XFR ORBIT PERILUNE 0305: 0172 ESQ EQU Q1 0306: 0307: # PAGE 5 0310: 0173 000000 AI DEC 0B23 # PRED. SEMI-MAJOR AXIS 0311: 0173 AE EQU AI # CSM PRED. SEMI-MAJOR AXIS 0312: 0174 000000 R5X DEC 0B23 # LM PRED POS AHEAD TDEL 0313: 0175 000000 R5Y DEC 0 0314: 0176 000000 R5Z DEC 0 0315: 0177 000000 AL DEC 0B23 # LM PRED. SEMI-MAJOR AXIS 0316: 0200 000000 REX DEC 0B23 # CSM EPOCH POSITION 0317: 0201 000000 REY DEC 0 0320: 0202 000000 REZ DEC 0 0321: 0203 000000 RT DEC 0B23 # CSM PRED POS. MAG. 0322: 0204 000000 R0X DEC 0B23 # PRED EPOCH POS VECTOR 0323: 0205 000000 R0Y DEC 0 0324: # SEE REAR OF LISTING FOR CHECKSUM 0325: # NOTE THAT THE CHECKSUM PSEUDO-OP IS NOT DEFINED IN THE AGS 0326: # PROGRAMMER'S MANUAL. I HAVE DECIDED FOR THE PURPOSES OF 0327: # IMPLEMENTING YALEMAT THAT THE FOLLOWING SYNTAX WILL BE 0330: # USED. IT MEANS THAT THE CROSS-ASSEMBLER WILL COMPUTE A 0331: # CHECKSUM OF THE ADDRESS RANGE 0207-1004 (OCTAL), AND WILL 0332: # STORE IT RIGHT HERE. 0333: 0206 CHECKSUM RANGE 0207-1004 0334: 0206 R0Z DEFINE 0206 0335: 0207 000000 R0 DEC 0B23 # PRED EPOCH POS. MAG. 0336: 0170 C11 EQU P # RADAR TEMP. MATRIX 0337: 0171 C12 EQU ALPHA 0340: 0172 C13 EQU Q1 0341: 0173 C14 EQU AI 0342: 0174 C21 EQU R5X 0343: 0175 C22 EQU R5Y 0344: 0176 C23 EQU R5Z 0345: 0177 C24 EQU AL 0346: 0200 C31 EQU REX 0347: 0201 C32 EQU REY 0350: 0202 C33 EQU REZ 0351: 0203 C34 EQU RT 0352: 0204 C41 EQU R0X 0353: 0205 C42 EQU R0Y 0354: 0206 C43 EQU R0Z 0355: 0207 C44 EQU R0 0356: 0210 000000 R DEC 0B23 # LM POS MAGNITUDE 0357: 0211 000000 Y DEC 0B23 # OUT OF PLANE POSITION 0360: 0212 000000 PP DEC 0B23 # P PRIME/EXIT FOR MXM 0361: 0213 002261 POUTFS DEC 7.684096E4B23 # MAX P DISPLAYABLE 0362: 0214 000000 POUT DEC 0 # DISPLAY POSITION. 0363: 0364: # PAGE 6 0365: 0215 000000 DPOUT DEC 0 # DISPLAY POSITION INCREMENT. 0366: 0216 040000 2K3 DEC 1048576.B23 # QL SET ON O.F. 0367: 0217 001415 2K14 DEC 5.E4B23 # INITIAL P PERTURBATION 0370: 0220 000000 RIX DEC 0B23 # ELLIPSE PRED POS OUTPUT 0371: 0221 000000 RIY DEC 0 0372: 0222 000000 RIZ DEC 0 0373: 0220 DELR1 EQU RIX # MEASURED MINUS COMPUTED RANGE 0374: 0221 DELR3 EQU RIY # B23 0375: 0222 DELR2 EQU RIZ 0376: 0223 000000 25J DEC 0B23 # DEDA ALTITUDE UPDATE 0377: 0224 270322 7J DEC 6042736B23 # TERM IN AL(O.I.) 0400: 0225 131565 8J DEC 2940243B23 # TERM IN AL(O.I) LOWER LIMIT 0401: 0226 270423 10J DEC 6046910B23 # RETARGET VALUE FOR 7J 0402: 0227 257015 4K5 DEC 5735200B23 # NOMINAL BURNOUT ALTITUDE 0403: 0230 017205 2K19 DEC 5.E5B23 # DELTA P LIMITER 0404: 0231 255704 5J DEC 5.697785E6B23 # LANDING SITE RADIUS 0405: 0232 001652 16J DEC 60000B23 # ORBIT INSERTION ALTITUDE 0406: 0233 000607 21J DEC 25000B23 # PITCH STEERING ALT THRESHOLD 0407: 0234 000000 RRSX DEC 0B23 # CALCULATED RANGE AT TIME 0410: 0235 000000 RRSY DEC 0 # OF RADAR RANGE MEASUREMENT. 0411: 0236 000000 RRSZ DEC 0 0412: 0237 121372 6K11 DEC 0.318310B0 # 1/PI 0413: 0414: # INITIALIZE DATA FROM DOWNLINK ADDRESSES 0415: # LOCATIONS 0240-0257 USED 0416: 0240 000000 1J1 DEC 0B23 # LM EPHEMERIS POS 0417: 0241 000000 1J2 DEC 0 0420: 0242 000000 1J3 DEC 0 0421: 0243 000000 DEC 0 0422: 0244 000000 2J1 DEC 0 # CSM EPHEMERIS POS 0423: 0245 000000 2J2 DEC 0 0424: 0246 000000 2J3 DEC 0 0425: 0247 000000 DEC 0 0426: 0250 000000 DEC 0 0427: 0251 000000 DEC 0 0430: 0252 000000 DEC 0 0431: 0253 000000 DEC 0 0432: 0433: # PAGE 7 0434: 0254 000000 1J7 DEC 0B18 # LM EPOCH TIME 0435: 0255 000000 1J7LS DEC 0B1 0436: 0256 000000 DEC 0 0437: 0257 000000 DEC 0 0440: 0252 THETAR EQU 2J3+4 # RADAR ANTENNA TRUNNION ANGLE 0441: 0253 BETAR EQU 2J3+5 # RADAR ANTENNA SHAFT ANGLE 0442: 0254 RM EQU 1J7 # RADAR RAW RANGE INPUT 0443: 0255 RMDOT EQU 1J7+1 # RADAR RANGE RATE INPUT 0444: 0256 DEL46 EQU 1J7+2 # RADAR COMPOSITE WORD 0445: 0260 000000 1J4 DEC 0B13 # LM EPHEMERIS VEL 0446: 0261 000000 1J5 DEC 0 0447: 0262 000000 1J6 DEC 0 0450: 0263 000000 VPY DEC 0B13 # OUT-OF-PLANE VELOCITY 0451: 0264 000000 2J4 DEC 0 # CSM EPHEMERIS VEL 0452: 0265 000000 2J5 DEC 0 0453: 0266 000000 2J6 DEC 0 0454: 0267 631463 5K18 DEC -.1B-2 # RD3DOT LOWER LIMIT 0455: 0270 000000 VY0 DEC 0B13 # LM OUT-OF-PLANE VEL 0456: 0271 006200 VY0FS DEC 200B13 # MAX VY0 DISPLAYABLE 0457: 0272 000000 2J7 DEC 0 # CSM EPOCH TIME 0460: 0273 000000 2J7LS DEC 0 0461: 0274 000017 7K1 DEC 30B18 # TIG TIME BIAS 0462: 0275 000000 1J DEC 0B18 # NOMINAL TPI TIME (CSI) 0463: 0276 505075 6K5 DEC -.73B0 # Y-POSITION FILTER WEIGHT 0464: 0277 000000 XI DEC 0B3 # Z-AXIS/LOCAL HORIZ ANGLE 0465: 0300 000000 A31BD DEC 0B1 # UNIT VECTOR (LM-CSM) 0466: 0301 000000 A32BD DEC 0 0467: 0302 000000 A33BD DEC 0 0470: 0303 000000 TLOS DEC 0B3 # DXFR LOS COMPUTED 0471: 0303 THETAF EQU TLOS # LM-CSM CENTRAL ANG AT CSI/CDH 0472: 0304 026164 3K4 DEC .17365B1 # CENTRAL ANGLE LIMIT ON TPI 0473: 0305 766316 12J DEC -.299904B3 # PHASE ANGLE LIMIT FOR RETARGET 0474: 0306 000000 4J DEC 0B13 # TIME OF NODE PRIOR TO RENDEZ 0475: 0307 120500 6J DEC 2580.0B13 # DESIRED TRANSFER TIME 0476: 0310 000000 TDEL DEC 0B13 # TIME TIL NEXT MANEUVER 0477: 0311 000000 TR DEC 0B13 # TIME TIL RENDEZVOUS 0500: 0312 000000 3J DEC 0B13 # TARGET OFFSET TIME 0501: 0502: # PAGE 8 0503: 0313 226051 6K12 DEC 9.38B4 # RAW RADAR AT 18 TO FT. AT 22 0504: 0314 000000 DELRP DEC 0B23 # DIFF. ALT. AT TIG(CSI-CDH) 0505: 0315 000000 QA DEC 0B23 # LM APOFOCUS ALTITUDE 0506: 0316 000000 18J DEC 0B22 # MEASURED RADAR RANGE 0507: 0317 000000 RR DEC 0B22 # COMPUTED RANGE 0510: 0320 000000 READP DEC 0 0511: 0321 000000 ENTERP DEC 0 0512: 0322 000000 HOLDP DEC 0 0513: 0323 000000 CLEARP DEC 0 0514: 0324 000000 HMF DEC 0 0515: # START OF TELEMETRY LIST 0516: 0325 000000 RMF DEC 0 # READOUT MODE FLAG 0517: 0326 000000 DD DEC 0 # DEDA DATA 0520: 0327 000000 CMF DEC 0 # CLEAR MODE FLAG 0521: 0330 200000 A11T DEC 1.B1 # TM DIR COSINES 0522: 0331 000000 A12T DEC 0 0523: 0332 000000 A13T DEC 0 0524: 0333 000000 ADST DEC 0 # DEDA ADDRESS 0525: 0334 000000 A31T DEC 0 0526: 0335 000000 A32T DEC 0 0527: 0336 200000 A33T DEC 1.B1 0530: 0337 000000 H DEC 0B23 # ALTITUDE 0531: 0340 000000 RX DEC 0B23 # LM POSITION 0532: 0341 000000 RY DEC 0 0533: 0342 000000 RZ DEC 0 0534: 0343 000000 QL DEC 0B23 # PRESENT LM PERICYNTHION 0535: 0343 EONS10 EQU QL # ENG ON+S10 FOR TM 0536: 0344 000000 RCX DEC 0B23 # CSM PRESENT POSITION 0537: 0345 000000 RCY DEC 0 0540: 0346 000000 RCZ DEC 0 0541: 0347 000000 RF DEC 0B23 # PREDICTED BURNOUT ALT. 0542: 0350 000000 DVX DEC 0B1 # BODY DELTA VS 0543: 0351 000000 DVY DEC 0 # THIS CYCLE. 0544: 0352 000000 DVZ DEC 0 0545: 0353 000000 TA2 DEC 0B1 # ABS TIME LS. 0546: 0354 000000 DAX DEC 0B-6 # DELTA ALPHAS 0547: 0355 000000 DAY DEC 0 0550: 0551: # PAGE 9 0552: 0356 000000 DAZ DEC 0 0553: 0357 000000 TBO DEC 0B9 # TIME TO BURNOUT. 0554: 0360 000000 VX DEC 0B13 # LM VELOCITY 0555: 0361 000000 VY DEC 0 0556: 0362 000000 VZ DEC 0 0557: 0363 000000 MU8S12 DEC 0 # MU8/S12 0560: 0364 000000 VCX DEC 0B13 # CSM PRESENT VELOCITY 0561: 0365 000000 VCY DEC 0 0562: 0366 000000 VCZ DEC 0 0563: 0367 000000 HDOT DEC 0B13 # ALTITUDE RATE 0564: 0370 000000 VG DEC 0B13 # VELOCITY TO GAIN 0565: 0371 000000 VF DEC 0B13 # TRANSFER BRAKING VELOCITY 0566: 0372 000000 TA0 DEC 0B18 # TIME FROM CSI TO CDH 0567: 0373 000000 TIG DEC 0B18 # ABSOLUTE TIME OF MANEUVER 0570: 0374 000000 A11BD DEC 0B1 # CMD XB POINTING DIR 0571: 0375 000000 A12BD DEC 0 0572: 0376 000000 A13BD DEC 0 0573: 0377 000000 TA1 DEC 0B18 # ABS TIME MS. 0574: 0400 000000 S0 DEC 0 # AGS FUNCTION SELECTOR 0575: 0401 000000 DISC1C DEC 0 # DISCRETE WD 1-TRUE STATE 0576: 0402 377776 Q1DEDA DEC 8388500B23 # TRANS ORBIT PERICYN ALT 0577: 0402 DELH EQU Q1DEDA # DIFF. ALT. AFTER CDH(CSI-CDH) 0600: 0403 000000 QLTELE DEC 0B23 # QL FOR TELE AND DEDA 0601: 0404 000000 VD1X DEC 0B13 # 40MS VEL ACCUMULATION 0602: 0405 000000 VD1Y DEC 0 0603: 0406 000000 VD1Z DEC 0 0604: # END OF TELEMETRY LIST 0605: 0407 000000 DEL6 DEC 0 # CALIBRATE I.C. FLAG 0606: 0410 000000 S10 DEC 0 # GUIDANCE MODE SELECTOR 0607: 0411 000000 S11 DEC 0 # AUTO RADAR SWITCH 0610: 0412 000000 S12 DEC 0 # TEST STATUS 0611: 0413 000000 S13 DEC 0 # STORE LUNAR AZIMUTH 0612: 0414 000000 S14 DEC 0 # NAVIGATION INITIALIZE 0613: 0415 000000 S15 DEC 0 # RADAR GIMBAL NULL 0614: 0415 RDOTS EQU S15 # R. R. STORED AT RADAR INPUT 0615: 0416 000000 S16 DEC 0 # CDH APSIDAL SELECTION 0616: 0417 000000 S17 DEC 0 # RADAR FILTER INIT. SWITCH 0617: 0620: # PAGE 10 0621: 0420 000000 VEX DEC 0B13 # CSM EPOCH VEL 0622: 0421 000000 VEY DEC 0 0623: 0422 000000 VEZ DEC 0 0624: 0423 000000 RFDOT DEC 0B13 # DESIRED ALT RATE 0625: 0424 000000 V0X DEC 0B13 # PRED EPOCH VEL VECTOR 0626: 0425 000000 V0Y DEC 0 0627: 0426 000000 V0Z DEC 0 0630: 0424 I EQU V0X # MXM INDEX 0631: 0425 J EQU V0Y # MXM INDEX 0632: 0426 K EQU V0Z # MXM INDEX 0633: 0427 000000 VH DEC 0B13 # LM HORIZONTAL VEL 0634: # VIX,VIY,VIZ ARE SHARED WITH RR FILTER 0635: 0430 000000 VIX DEC 0B13 # ELLIPSE PRED VEL OUTPUT 0636: 0431 000000 VIY DEC 0 0637: 0432 000000 VIZ DEC 0 0640: 0433 000000 V DEC 0B13 # LM TOTAL VELOCITY 0641: 0434 000000 TP DEC 0B13 # TRIAL XFR ORB. TIME. 0642: 0435 000000 T DEC 0B13 # TIME TO RENDEZ. 0643: 0435 RB EQU T # RF SAVED FOR ORBIT INSERT. 0644: 0436 000000 TB DEC 0B13 # TA-TE. 0645: 0437 000000 PDOTM1 DEC 0B13 # DISPLAY POS RATE(-1) 0646: 0440 000000 RRDOT DEC 0B13 # RANGE RATE 0647: 0441 001750 1000D DEC 1000B17 # RANGE MARK COUNTER INCREMENT 0650: 0442 000000 TI DEC 0B13 # PREDICTION TIME/RR FILTER TEMP 0651: 0443 000000 DPDOUT DEC 0B13 # DISPLAY POS RATE INCREMENT 0652: 0444 000000 PDOUT DEC 0B13 # DSP POS RATE CONV TO FPS AT 13 0653: 0445 000000 TCSM DEC 0B13 # CSM PERIOD (SEC) 0654: 0446 000066 4K25 DEC 3.402B13 # ENG CUTOFF COMP 0655: 0447 000360 2K18 DEC 15.B13 # PARTIAL DERIV PROTECTOR. 0656: 0450 000000 28J1 DEC 0B13 # DELTA V DOWNRANGE 0657: 0451 000000 28J2 DEC 0B13 # DELTA V CROSSRANGE 0660: 0452 000000 28J3 DEC 0B13 # DELTA V RADIAL 0661: 0453 000040 2K20 DEC 2.B13 # CONVERGENCE CHECK. 0662: 0454 002140 4K26 DEC 70.0B13 # VG THRESHOLD 0663: 0455 000000 DDF DEC 0 # DEDA DATA RECEIVED FLAG 0664: 0456 031000 6K4 DEC .1E3B10 # INITIAL VALUE OF P33 AND P44 0665: 0457 027657 6K2 DEC .1E9B30 # INIT VALUE OF P11,P22 0666: 0667: # PAGE 11 0670: 0460 000000 V5X DEC 0B13 # TPI-PREDICTED V AT TPI TIME 0671: 0461 000000 V5Y DEC 0 0672: 0462 000000 V5Z DEC 0 0673: 0460 TR4 EQU V5X # NO. OF COL IN MATRIX A 0674: 0461 TR6 EQU V5Y # NO. OF ROWS IN MATRIX B 0675: 0462 TR5 EQU V5Z # NO. OF ROWS IN MATRIX A 0676: 0463 000000 VHA DEC 0B13 0677: 0464 001440 22J DEC 50B13 # PITCH STEERING ALT RATE THRESH 0700: 0465 000470 23J DEC 19.5B13 # 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 406000 4K27 DEC -8000.0B13 # 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: 0501 000000 DELVGY DEC 0 0715: 0502 000000 DELVGZ DEC 0 0716: 0503 000000 17J DEC 0B13 # RANGE RATE INPUT 0717: 0504 000000 RD3DOT DEC 0B-2 # DESIRED RADIAL JERK 0720: 0505 000000 YD3DOT DEC 0B-2 # DESIRED OUT-OF-PLANE JERK 0721: 0506 012000 4K12 DEC 5B7 # ACCEL THRESH IN O.I. STEER 0722: 0507 000000 S507 DEC 0B3 # ACQ STEER SEL OF PT DIR 0723: 0510 000000 DAXREM DEC 0B-13 # INCRE. GYRO INPUT REMAINDERS 0724: 0511 000000 DAYREM DEC 0 0725: 0512 000000 DAZREM DEC 0 0726: 0513 000000 C1 DEC 0B1 # RENDEZ ANGLE COSINE. 0727: 0514 000000 WBX DEC 0B1 # UNIT VECTOR FOR 0730: 0515 000000 WBY DEC 0 # GUIDANCE STEERING 0731: 0516 000000 WBZ DEC 0 0732: 0517 411500 6K14 DEC -15768B14 # RADAR RANGE RATE NULL 0733: 0520 000000 TE1 DEC 0B18 # CSM EPOCH TIME MS. 0734: 0521 000000 TL1 DEC 0B18 # LEM EPOCH TIME MS. 0735: 0736: # PAGE 12 0737: 0522 676356 6K6 DEC -.001B-8 # 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: 0546 000000 1K11 DEC 0 0764: 0547 000000 DDEL DEC 0B0 # LUNAR ALIGN CORRECTION 0765: 0550 000000 1K3 DEC 0B-7 # GYRO SCALE FACTOR 0766: 0551 000000 1K8 DEC 0 # COMPENSATIONS 0767: 0552 000000 1K13 DEC 0 0770: 0553 000000 HRF DEC 0 # HIGH RATE FLAG 0771: 0554 000000 A31S DEC 0B1 # RADAR NULL DIR COS 0772: 0555 000000 A32S DEC 0 0773: 0556 000000 A33S DEC 0 0774: 0557 203045 4K4 DEC .004B-7 # FACTOR IN RFDOT(OI) 0775: 0560 000000 5K14 DEC 0B-2 # RD3DOT UPPER LIMIT 0776: 0561 012173 5K16 DEC .01B-2 # YD3DOT UPPER LIMIT 0777: 0562 000000 DLWN DEC 0 # DOWNLINK WORD COUNTER 1000: 0563 000000 DEL32 DEC 0 # DOWNLINK INITIALIZE FLAG 1001: 0564 000034 6K8 DEC .22B10 # RANGE RATE ERROR VARIANCE 1002: # (ADDR OF 6K8 MUST END IN 4) 1003: 0565 000100 6K9 DEC .3029E-4B-4 # VARIANCE OF RADAR ANGULAR ERROR 1004: 1005: # PAGE 13 1006: 0566 005754 6K10 DEC .625E7B28 # RANGE ERROR VARIANCE 1007: 0567 000000 DSPF1 DEC 0 # DISPLAY FLAG1. 1010: 0570 000000 ID1F DEC 0 # DOWNLINK ID RECEIVED 1011: 0571 000000 DEL31 DEC 0 # DOWNLINK INPUT COMPLETE 1012: 0572 000000 FLAGT DEC 0 # MEMORY TEST 1013: 0573 000000 FLAG1 DEC 0 # 20MS BRANCH CONTROL 1014: 0574 000000 DEL2 OCT 0 # STAGED FLAG. 1015: 0575 000000 DEL5 OCT 0 # ATTHLD LOCK FLAG. 1016: 0576 144420 PI DEC 3.14159266B3 1017: 0577 464072 6K13 DEC -1.59286B1 # RADAR RANGE RATE TO FPS AT 13 1020: 0600 000000 DVGXX DEC 0B13 # VEL TO GAIN IN EXT DELTA V 1021: 0601 000000 DVGXY DEC 0 1022: 0602 000000 DVGXZ DEC 0 1023: 0603 000000 DEL20 DEC 0 # LOGIC FLAG FOR ENG CONTROL 1024: 0604 000000 DEL21 OCT 0 # LUNAR SURFACE FLAG. 1025: 0605 003775 2J DEC 1.9970B7 # COTAN OF DESIRED LOS AT TPI 1026: 0606 000000 DEL42 OCT 0 # LUNAR ALINE COMPLETE FLAG 1027: 0606 DEL45 EQU DEL42 # RR RANGE/RANGE RT. UPDATE FLAG 1030: 0607 377777 K55 OCT 377777 # S.F. FOR HDOT DISPLAY 1031: 0610 000000 MU3 DEC 0 # P-ITER COUNTER. 1032: 0610 RD3DTL EQU MU3 # RD3DOT LOWER LIMIT 1033: 0611 765605 5K17 DEC -.01B-2 # YD3DOT LOWER LIMIT 1034: 0612 000000 MU6 DEC 0 # STAGING COUNTER 1035: 0613 000017 1K37 DEC 15.B17 # ACCEL CAL DURATION 1036: 0614 000000 MU8 DEC 0 # ULLAGE COUNTER 1037: 0615 000000 MU10 DEC 0 # GYRO CALIBRATE DURATION 1040: 0616 000005 1K9 DEC 5.0B17 # ULLAGE COUNTER LIMIT 1041: 0617 000226 1K30 DEC 150.B17 # GYRO CALIBRATE DURATION 1042: 0620 000005 2K17 DEC 5.B17 # NO OF P-ITERATIONS-3 1043: 0621 000000 MU19 DEC 0 # MARK COUNTER 1044: 0622 000076 4K23 DEC 62.0B17 # STAGING TIME DELAY 1045: 0623 000000 S623 DEC 0B3 # EX SELECTION IN G. S 1046: 0624 031463 1K4 DEC .1B0 # DISPLAY INTERPOLATION 1047: 0625 000071 1K24 DEC .87E-3B1 # SINGULARITY THRESHOLD 1050: 0626 561111 1K26 DEC -.142857E3B8 # NEG INV OF ALIGN GAIN CONSTANT 1051: 0627 262132 1K27 DEC .435E-1B-4 # ALIGN CONSTANT 1052: 0630 327443 1K28 DEC 107.78396B7 # ALIGN CONSTANT 1053: 1054: # PAGE 14 1055: 0631 004061 1K29 DEC .001B-4 # LUN ALIGN STOP CRITERION 1056: 0632 243656 1K33 DEC .08B-3 # CALIBRATE GAIN 1057: 0633 247613 1K34 DEC .00002B-15 # CALIBRATE GAIN 1060: 0634 000400 1K35 DEC .25B7 # ACCEL BIAS THRESHOLD 1061: 0635 777651 1K36 DEC -.66667E-3B0 # ACCEL CAL GAIN 1062: 0636 235407 2K1 DEC .173189E15B48 # GRAVITY CONST (LUNAR) 1063: 0637 320020 2K2 DEC .57740387E-14B-47 # 1/2K1 1064: 0640 000007 6J1 DEC .3358E-8B-14 # LUNAR ROT RATE ABOUT X-REF 1065: 0641 777616 6J2 DEC -.53039E-7B-14 # LUNAR ROT RATE ABOUT Y-REF 1066: 0642 000007 6J3 DEC .3052E-8B-14 # LUNAR ROT RATE ABOUT Z-REF 1067: 0643 032525 B13SF DEC .10416666B0 # .01 MIN TO SEC AT 13 1070: 0644 000000 SDVX DEC 0B1 # DV SUM FOR ACCEL CAL 1071: 0645 000000 SDVY DEC 0 # (ADDR OF SDVX MUST END IN 4) 1072: 0646 000000 SDVZ DEC 0 1073: 0647 000000 MU7 DEC 0B17 # CALIBRATION COUNTER 1074: 0650 000002 7K2 DEC 2B17 # NOISEIN P-MATRIX DIAGONALS 1075: 0651 240000 B13VSF DEC .625B0 # .1 FPS TO FPS AT 13 1076: 0652 131415 B3SF DEC .34971155B0 # .01 DEG TO RAD AT 3 1077: 0653 032756 B23RSF DEC .10533045B0 # .1 NMI TO FT AT 23 1100: 0654 713267 4K2 DEC -.50204E-4B-12 # FACTOR IN TB COMP 1101: 0655 016336 4K3 DEC .16803E-8B-25 # FACTOR IN TB COMP 1102: 0656 206645 B22RSF DEC .5266522B0 # .01 NMI TO FT AT 22 1103: 0657 303240 BACCSF DEC 0.762939B0 # .001 FT/SEC2 TO FPS/20MS AT 1 1104: 0660 002000 4K34 DEC 1.B7 # AT LOWER LIMIT 1105: 0661 000146 4K35 DEC .1B7 # ULLAGE THRESHOLD 1106: 0662 662400 4K10 DEC -317438.91B20 # TERM IN AL(O.I.) 1107: 0663 000000 SUMLIM DEC 0 # LAST CELL FOR CHECKSUM 1110: 0664 000034 WORDS DEC 28 1111: 0665 125253 B18SF DEC .333333B0 # .1 MIN TO SEC AT 18 1112: 0666 020603 4K21 DEC .26179938B2 # SC FACTOR FOR ATT ERR OUTPUT 1113: 0667 777716 M25B16 DEC -25.B16 # CYCLE COUNT TO SECONDS 1114: 0670 240000 DTB DEC 1.25B1 # 1 SEC + DEDA TIME BIAS 1115: 0671 000000 ID DEC 0 # CURRENT DOWNLIST ID CODE 1116: 0672 10 0 0257 DLWNL STO 1J1+15 # END OF DOWNLINK BUFFER 1117: 0673 547405 11J DEC -624599.84B20 # RETARGET VALUE FOR 4K10 1120: 0674 542371 2K4 DEC -.173189E15B48 # (-2.)(2K1) B49 1121: 0675 200000 KDT DEC 1.B1 # DELTA T/2 AT 1 1122: 1123: # PAGE 15 1124: 0676 365706 BM13SF DEC .96049535B0 # .01 DEG/HR TO RAD/20MS AT -13 1125: 0677 243656 B23SF DEC .64B0 # 100 FT TO FT AT 23 1126: # THE FOLLOWING 16 PARAMETERS HAVE 1127: # VARIABLE SCALING. INITIAL SCALING IS INDICATED. 1130: 0700 027657 P11 DEC .1E9B30 # VARIANCE OF X-POS ERROR 1131: 0701 000000 P12 DEC 0B30 # COVARIANCE OF X AND Y POS ERROR 1132: 0702 000000 P13 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR 1133: 0703 000000 P14 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR 1134: 0704 000000 P21 DEC 0B30 # COVAR OF X AND Z POS ERROR 1135: 0705 027657 P22 DEC .1E9B30 # VARIANCE OF Z-POS ERROR 1136: 0706 000000 P23 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR 1137: 0707 000000 P24 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR 1140: 0710 000000 P31 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR 1141: 0711 000000 P32 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR 1142: 0712 031000 P33 DEC .1E3B10 # VARIANCE OF X-VEL ERROR 1143: 0713 000000 P34 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR 1144: 0714 000000 P41 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR 1145: 0715 000000 P42 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR 1146: 0716 000000 P43 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR 1147: 0717 031000 P44 DEC .1E3B10 # VARIANCE OF Z-VEL ERROR 1150: 0720 12 0 0021 VRSH STQ SREX2 1151: 0721 54 0 0000 LRS 0 1152: 0722 40 0 0021 TRA SREX2 1153: 0723 000000 TMID DEC 0 # TELEMETRY ID 1154: 0724 000026 SFLO OCT 000026 1155: 0725 377777 PMAXP OCT 377777 # COUNTS AT 17 1156: 0726 40 0 2606 ORBRET TRA DX10P # RETURN FROM NORTON IN O.I. 1157: 0727 000000 DEDASC DEC 0 # DEDA SHIFT COUNTER 1160: 1161: 1162: 0730 12 0 0147 EX36P STQ DEL10 1163: # SAVE QUANTITIES FOR LATER USE IN 1164: # T/B COMPUTATIONS 1165: 0731 10 0 0052 STO V6Z 1166: 0732 20 0 0012 CLA TS12 1167: 0733 10 0 0050 STO V6X 1170: 0734 20 0 0013 CLA TS13 1171: 1172: # PAGE 16 1173: 0735 10 0 0051 STO V6Y 1174: 0736 20 0 0442 CLA TI 1175: 0737 24 0 0306 SUB 4J 1176: 0740 40 0 2742 TRA DXFR14-2 1177: 0741 20 0 0000 RREX CLA TS0 # VARIABLE ADDRESS LOAD, MULTIPLY 1200: 0742 06 0 0000 RREX1 MPY TS0 # AND STORE FOR MATRIX MULTIPLY 1201: 0743 04 0 7701 DVP 1B3 # ROUTINE (MXM) -- PERFORMS 1202: 0744 32 0 0077 ADZ TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K) 1203: 0745 10 0 0000 RREX2 STO TS0 1204: 0746 10 0 0077 STO TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K) 1205: 0747 20 0 0741 CLA RREX 1206: 0750 22 0 0460 ADD TR4 # INCREMENT CLA 1207: 0751 10 0 0741 STO RREX 1210: 0752 20 0 0742 CLA RREX1 1211: 0753 22 0 4006 ADD 1B17 # INCREMENTY MPY 1212: 0754 10 0 0742 STO RREX1 1213: 0755 50 1 0002 AXT 2,1 # INCREMENT AND TEST INDEXES 1214: 0756 20 1 0424 CLA I,1 1215: 0757 22 0 4006 ADD 1B17 1216: 0760 10 1 0424 STO I,1 1217: 0761 24 1 0460 SUB TR4,1 1220: 0762 46 0 2434 TMI R1+1 1221: 0763 42 1 0756 TIX *-5,1 1222: 0764 20 0 0461 CLA TR6 # REARRANGE DIMENSIONS AND 1223: 0765 10 0 0460 STO TR4 # ADDRESSES ON EXIT TO SAVE 1224: 0766 20 0 0073 CLA TR3 # STEPS IN FILTER 1225: 0767 10 0 0103 STO TR1 1226: 0770 50 1 0007 AXT 7,1 1227: 0771 40 0 0212 TRA PP # EXIT MXM 1230: 0772 377363 DIAK1 OCT 377363 # TEST FOR DEDA ENTRY INTO 415 1231: 0773 377401 DIAK2 OCT 377401 # TEST FOR DEDA ENTRY INTO 377 1232: 0774 000034 6K8S DEC .22B10 # WORKING VALUE OF 6K8 1233: # (ADDR OF 6K8S MUST END IN 4) 1234: 0775 000100 6K9S DEC .3029E-4B-4 # WORKING VALUE OF 6K9 1235: 0776 005754 6K10S DEC .625E7B28 # WORKING VALUE OF 6K10 1236: 0777 000000 6K6S DEC 0 # WORKING VALUE OF 6K6 1237: 1240: 1241: # PAGE 17 1242: 1243: 1000 ORG 1000 1244: 1000 000000 CLADD DEC 0 # PICKUP DEDA DATA 1245: 1001 40 0 7215 TRA ROR 1246: 1002 12 0 0023 RND STQ SREX # DIRECTION COSINE ROUND 1247: 1003 22 0 4013 ADD 1B9 1250: 1004 54 0 0011 LRS 9 1251: 1005 40 0 0023 TRA SREX 1252: 1006 20 0 0324 TMCLA CLA 0324 # CLA FOR TELEM 1253: 1007 20 0 1005 TCLTH CLA 1005 1254: 1010 10 0 0237 DLSTO STO 1J1-1 1255: 1011 40 0 5070 IC1BR TRA IC1 # IC1 TRA. 1256: 1012 40 0 1742 BR1 TRA NAV1P 1257: 1013 40 0 1277 DEDABR TRA DEDAE # DEDA BRANCH TRA. 1260: 1014 40 0 3405 BR50 TRA EXEC2 # BRANCH 50 TRA. 1261: 1262: # HARDWIRE ESCAPE POINTS 1263: 1264: 1015 40 0 4073 EXIT1 TRA EX1+1 1265: 1016 40 0 1236 EXIT2 TRA UBCOMP 1266: 1017 40 0 1133 EXIT3 TRA ADDMS 1267: 1020 40 0 4222 EXIT4 TRA EX4+1 1270: 1021 40 0 7420 EXIT5 TRA PGNSDE 1271: 1022 40 0 7371 EXIT6 TRA TME 1272: 1023 40 0 7455 EXIT7 TRA PGNSD1+5 1273: 1024 40 0 4326 EXIT8 TRA EX8+1 1274: 1025 40 0 1426 EXIT9 TRA TVTG 1275: 1026 72 0 1456 EXIT10 TSQ SOFT1 1276: 1027 72 0 1456 EXIT11 TSQ SOFT1 # ASCENT ENG ON 1277: 1030 40 0 4450 EXIT12 TRA AHE1 1300: 1031 40 0 4476 EXIT13 TRA EROUT+1 1301: 1032 72 0 1623 EXIT14 TSQ SOFT2 1302: 1033 40 0 1733 EXIT15 TRA LUNAL1 # GAIN CHANGE 1303: 1034 40 0 4645 EXIT16 TRA EX16+1 1304: 1035 40 0 3560 EXIT17 TRA FDAI1 1305: 1036 40 0 4743 EXIT18 TRA NOC 1306: 1037 40 0 4047 EXIT19 TRA DELAY 1307: 1310: # PAGE 18 1311: 1040 40 0 1405 EXIT20 TRA DLDC 1312: 1041 40 0 6254 EXIT21 TRA TIMEA 1313: 1042 40 0 3341 EXIT22 TRA IDLE-1 1314: 1043 377747 O25C OCT 377747 # TEST FOR TM RESET 1315: 1044 30 0 0404 EXIT23 CLZ VD1X 1316: 1045 30 0 0405 CLZ VD1Y 1317: 1046 30 0 0406 CLZ VD1Z 1320: 1047 40 0 5217 TRA NAV3 1321: 1050 40 0 5205 EXIT24 TRA NAV2 1322: 1051 40 0 5217 EXIT25 TRA NAV3 1323: 1052 20 0 0473 SINITC CLA 4K27 1324: 1053 10 0 0404 STO VD1X 1325: 1054 10 0 0470 STO VDX 1326: 1055 40 0 6367 TRA EXEC1+7 1327: 1056 40 0 1750 EXIT26 TRA XDVS 1330: 1057 40 0 5413 EXIT27 TRA EX27+1 1331: 1060 40 0 5267 EXIT28 TRA EX28+1 1332: 1061 30 0 0612 STGCTR CLZ MU6 # STAGING DELAY COUNTER 1333: 1062 22 0 4006 ADD 1B17 1334: 1063 10 0 0612 STO MU6 1335: 1064 40 0 4437 TRA AHE 1336: 1065 40 0 5305 EXIT29 TRA EX29+1 1337: 1066 20 0 1176 CLATAB CLA SFTAB-1 # CLA FOR DEDA SF TABLE 1340: 1067 40 0 5332 EXIT30 TRA EX30+1 1341: 1070 40 0 1762 EXIT31 TRA ALTUP 1342: 1071 40 0 2456 EXIT32 TRA LMORB2 1343: 1072 40 0 3612 EXIT33 TRA EX33P 1344: 1073 40 0 1141 EXIT34 TRA EX34P 1345: 1074 40 0 3622 EXIT35 TRA EX35 1346: 1075 72 0 0730 EXIT36 TSQ EX36P 1347: 1076 40 0 3623 EXIT37 TRA EX35+1 1350: 1077 40 0 3063 EXIT38 TRA Q5 1351: 1100 40 0 3411 EXIT39 TRA EXECM 1352: 1101 30 0 0400 EXIT40 CLZ S0 # SOFT INITIALIZE 1353: 1102 30 0 0575 CLZ DEL5 1354: 1103 30 0 0572 CLZ FLAGT 1355: 1104 50 1 0007 AXT 7,1 # ZERO S SWITCHES 1356: 1357: # PAGE 19 1360: 1105 30 1 0410 CLZ S10,1 1361: 1106 42 1 1105 TIX *-1,1 1362: 1107 40 0 1052 TRA SINITC # CONTINUE INITIALIZE 1363: 1110 40 0 3356 EXIT41 TRA DSP1 1364: 1111 40 0 3367 EXIT42 TRA DSP2CP 1365: 1112 22 0 1043 EXIT43 ADD O25C # CHECK FOR TM RESET 1366: 1113 62 0 0000 ABS 1367: 1114 46 0 1167 TMI TMIE1 # -- RESET TM AT 25 CYCLE 1370: 1115 40 0 6364 TRA EXEC1+4 # NOT 25TH CYCLE 1371: 1116 077776 IDAI OCT 077776 # AGS INITIALIZE DOWNLIST ID 1372: 1117 077775 IDRP OCT 077775 # REND./PRETHRUST DOWNLIST ID 1373: 1120 40 0 6470 EXIT44 TRA EX44+1 1374: 1121 40 0 6505 EXIT45 TRA EX45+1 1375: 1122 40 0 7225 EXIT46 TRA EX46+1 1376: 1123 40 0 1307 EXIT47 TRA DEXIT 1377: 1124 40 0 1312 EXIT48 TRA CLEARM+1 1400: 1125 40 0 1336 EXIT49 TRA SFTEST 1401: 1126 40 0 7343 EXIT50 TRA EX50+1 1402: 1127 72 0 1362 EXIT51 TSQ DIAT 1403: 1130 40 0 6262 EXIT52 TRA EXEC+1 1404: 1131 40 0 6262 EXIT53 TRA EXEC+1 1405: 1132 10 0 0257 DLWNLC STO 1J1+15 # DLWNL PROTECTION 1406: 1133 50 1 0002 ADDMS AXT 2,1 1407: 1134 20 1 0010 CLA TS10,1 1410: 1135 62 0 0000 ABS 1411: 1136 22 0 4036 ADD MS 1412: 1137 42 1 1134 TIX *-3,1 1413: 1140 40 0 4143 TRA EX3+1 1414: 1141 30 0 0147 EX34P CLZ DEL10 1415: 1142 46 0 3631 TMI EX33PP+1 1416: 1143 40 0 5615 TRA EX34+1 1417: 1144 20 0 0347 THEF CLA RF 1420: 1145 54 0 0001 LRS 1 # B24 1421: 1146 32 0 0003 ADZ TS3 1422: 1147 14 0 0004 LDQ TS4 1423: 1150 10 0 0004 STO TS4 # =RF+RX B24 1424: 1151 12 0 0003 STQ TS3 # =RZ B24 1425: 1426: # PAGE 20 1427: 1152 72 0 7034 TSQ ARCTAE 1430: 1153 10 0 0000 STO TS0 # THETAF B8 1431: 1154 24 0 0576 SUB PI 1432: 1155 46 0 1157 TMI *+2 1433: 1156 24 0 4021 SUB 2PIB3 1434: 1157 22 0 0576 ADD PI 1435: 1160 10 0 0303 STO THETAF # THETAF B3 1436: 1161 20 0 0000 CLA TS0 # B3 1437: 1162 24 0 4021 SUB 2PIB3 1440: 1163 06 0 4126 MPY M1B1 # B4 1441: 1164 04 0 0077 DVP NI 1442: 1165 22 0 0442 ADD TI # B13 1443: 1166 40 0 2742 TRA DXFR14-2 1444: 1167 72 0 7410 TMIE1 TSQ TMIE2 # INITIALIZE TELEMETRY 1445: 1170 20 0 0412 CLA S12 1446: 1171 22 0 0614 ADD MU8 1447: 1172 10 0 0363 STO MU8S12 # SAVE MU8/S12 FOR TM 1450: 1173 24 0 7520 SUB 3B3 # TEST FOR SELF TEST FAILURE 1451: 1174 46 0 1176 TMI *+2 1452: 1175 66 0 6410 OUT 6410 # SET FAILURE INDICATOR 1453: 1176 40 0 4047 TRA DELAY # END MAJOR CYCLE 1454: 1455: # DEDA SCALE FACTOR LOCATOR TABLE 1456: # SCALE FACTORS MUST REMAIN AT LOCS IN COMMENTS 1457: # FORMAT OF TABLE IS, BIT 0=1 TABLE EXCEEDED, 1460: # BITS 1-9 LAST ADDRESS OF DEDA SCALE FACTOR REGION 1461: # BIT 10=1 FOR OCTAL REGION, BITS 11-17 ADDRESS OF 1462: # SCALE FACTOR RELATIVE TO LOCATION 636 1463: 1177 075200 SFTAB OCT 075200 # OCT LOC 026-172,OCT 1464: 1200 125441 OCT 125441 # OCT LOC 173-253,DEC,SF AT 677 1465: 1201 127427 OCT 127427 # OCT LOC 254-257,DEC,SF AT 665 1466: 1202 134413 OCT 134413 # OCT LOC 260-271,DEC,SF AT 651 1467: 1203 137027 OCT 137027 # OCT LOC 272-276,DEC,SF AT 665 1470: 1204 142414 OCT 142414 # OCT LOC 277-305,DEC,SF AT 652 1471: 1205 145405 OCT 145405 # OCT LOC 306-313,DEC,SF AT 643 1472: 1206 146415 OCT 146415 # OCT LOC 314-315,DEC,SF AT 653 1473: 1207 147420 OCT 147420 # OCT LOC 316-317,DEC,SF AT 656 1474: 1475: # PAGE 21 1476: 1210 157415 OCT 157415 # OCT LOC 320-337,DEC,SF AT 653 1477: 1211 164441 OCT 164441 # OCT LOC 340-351,DEC,SF AT 677 1500: 1212 174413 OCT 174413 # OCT LOC 352-371,DEC,SF AT 651 1501: 1213 177427 OCT 177427 # OCT LOC 372-377,DEC,SF AT 665 1502: 1214 200600 OCT 200600 # OCT LOC 400-401,OCT 1503: 1215 202415 OCT 202415 # OCT LOC 402-405,DEC,SF AT 653 1504: 1216 207600 OCT 207600 # OCT LOC 406-417,OCT 1505: 1217 241413 OCT 241413 # OCT LOC 420-503,DEC,SF AT 651 1506: 1220 257600 OCT 257600 # OCT LOC 504-537,OCT 1507: 1221 261421 OCT 261421 # OCT LOC 540-543,DEC,SF AT 657 1510: 1222 263040 OCT 263040 # OCT LOC 544-546,DEC,SF AT 676 1511: 1223 305600 OCT 305600 # OCT LOC 547-613,OCT 1512: 1224 311067 OCT 311067 # OCT LOC 614-622,DEC,SF AT 725 1513: 1225 342200 OCT 342200 # OCT LOC 623-704,OCT 1514: # THE ABOVE 23-PLACE TABLE MUST BE FOLLOWED 1515: # BY A WORD WITH BIT 0 SET 1516: 1517: # ORBIT ALIGN COMPUTATIONS 1520: 1521: 1226 50 1 0006 ORBLIN AXT 6,1 1522: 1227 30 1 0130 CLZ A11,1 1523: 1230 30 1 0150 CLZ DA11,1 # ZERO REMAINDERS 1524: 1231 42 1 1227 TIX *-2,1 1525: 1232 20 0 5033 CLA 1B1 1526: 1233 10 0 0130 STO A11 1527: 1234 10 0 0136 STO A33 1530: 1235 40 0 4273 TRA COA21-2 1531: 1532: # MASS UNBALANCE COMPENSATION 1533: 1534: 1236 26 0 0537 UBCOMP MPR 1K14 # (DVX)(1K14) 1+(-14)=-13 1535: 1237 32 0 0510 ADZ DAXREM 1536: 1240 10 0 0510 STO DAXREM 1537: 1540: # 20MS MODE CHECK. 1541: 1542: 1241 20 0 0400 MODCK CLA S0 # CHECK FOR ALIGNMENT 1543: 1544: # PAGE 22 1545: 1242 24 0 7520 SUB 3B3 # SUBMODES 1546: 1243 46 0 4107 TMI GYCOM-2 # -- IS INERT REF 1547: 1244 24 0 7701 SUB 1B3 1550: 1245 46 0 5056 TMI ZNOC # IMU ALIGN 1551: 1246 24 0 7701 SUB 1B3 1552: 1247 46 0 4107 TMI GYCOM-2 # -- IS LUNAR ALIGN 1553: 1250 24 0 7701 SUB 1B3 1554: 1251 46 0 1226 TMI ORBLIN # ORBIT ALIGN 1555: 1252 50 1 0002 AXT 2,1 # CALIBRATE MODE 1556: 1253 20 0 0604 CALIB1 CLA DEL21 1557: 1254 46 0 1261 TMI *+5 # -- LM IS ON LUNAR SURFACE 1560: 1255 30 1 0644 CLZ SDVX,1 # SUM BODY AXIS VEL 1561: 1256 22 1 0350 ADD DVX,1 # INCREMENTS SINCE START OF ACC. 1562: 1257 10 1 0644 STO SDVX,1 # BIAS CALCULATIONS 1563: 1260 40 0 1275 TRA CALIB2 1564: 1261 20 1 0130 CLA A11,1 # LUNAR CAL., COMPENSATE COMP. 1565: 1262 26 1 0640 MPR 6J1,1 # OF VEH ROT. FOR LUNAR ROTATION 1566: 1263 32 0 0510 ADZ DAXREM # 1+(-14)=-13 1567: 1264 10 0 0510 STO DAXREM # A11 DOT 6J1 1570: 1265 20 1 0140 CLA A21,1 1571: 1266 26 1 0640 MPR 6J1,1 1572: 1267 32 0 0511 ADZ DAYREM 1573: 1270 10 0 0511 STO DAYREM # A21 DOT 6J1 1574: 1271 20 1 0134 CLA A31,1 1575: 1272 26 1 0640 MPR 6J1,1 1576: 1273 32 0 0512 ADZ DAZREM 1577: 1274 10 0 0512 STO DAZREM # A31 DOT 6J1 1600: 1275 42 1 1253 CALIB2 TIX CALIB1,1 1601: 1276 40 0 4107 TRA GYCOM-2 1602: 1603: # DEDA MODE SELECTION 1604: 1605: 1277 30 0 0323 DEDAE CLZ CLEARP 1606: 1300 46 0 1311 TMI CLEARM # SET CLEAR 1607: 1301 20 0 0327 CLA CMF 1610: 1302 46 0 1323 TMI RPT # CLEAR MODE 1611: 1303 20 0 0325 CLA RMF 1612: 1613: # PAGE 23 1614: 1304 46 0 1330 TMI HET # READOUT IN PROGRESS 1615: 1305 20 0 0324 CLA HMF 1616: 1306 46 0 3606 TMI RRT # HOLD IN PROGRESS 1617: 1307 50 1 0003 DEXIT AXT 3,1 # NORMAL EXIT 1620: 1310 40 0 1314 TRA *+4 1621: 1311 10 0 0327 CLEARM STO CMF 1622: 1312 64 0 2200 INP DEDA 1623: 1313 50 1 0005 AXT 5,1 # CLEAR EXIT 1624: 1314 30 1 0320 CLZ READP,1 # RESET FLAGS 1625: 1315 42 1 1314 TIX *-1,1 1626: 1316 30 0 0057 CLZ TMPBR # SET BRANCH FOR NEXT 1627: 1317 10 0 0063 STO BRANCH # GUIDANCE CYCLE 1630: 1320 20 0 4014 CLA 1B11 # INITIALIZE COUNTER 1631: 1321 10 0 0727 STO DEDASC 1632: 1322 40 0 3356 TRA DSP1 # TO DISPLAY 1633: 1323 30 0 0320 RPT CLZ READP # TEST FOR 1634: 1324 46 0 7257 TMI RME # READOUT MODE 1635: 1325 30 0 0321 CLZ ENTERP # OR ENTER MODE 1636: 1326 46 0 7260 TMI RME+1 # ENTRY. 1637: 1327 40 0 1307 TRA DEXIT # EXIT 1640: 1330 30 0 0322 HET CLZ HOLDP # READOUT TEST FOR 1641: 1331 46 0 1333 TMI *+2 # HOLD COMMANDED 1642: 1332 40 0 7202 TRA ADOUT # TO OUTPUT ROUTINE 1643: 1333 10 0 0324 STO HMF # SET HOLD MODE 1644: 1334 30 0 0325 CLZ RMF 1645: 1335 40 0 1307 TRA DEXIT 1646: 1647: # DEDA SCALE FACTOR SELECTION 1650: 1651: 1336 24 0 0724 SFTEST SUB SFLO 1652: 1337 46 0 1312 TMI CLEARM+1 # -- IF OCT LOC BELOW 0026 1653: 1340 20 0 1066 CLA CLATAB # INITIALIZE FIRST TABLE VALUE 1654: 1341 10 0 0721 STO VRSH+1 # STORE CLA INSTRUCTION 1655: 1342 20 0 0721 CLA VRSH+1 # INCREMENT CLA INSTRUCTION 1656: 1343 22 0 4006 ADD 1B17 # ADDRESS 1657: 1344 10 0 0721 STO VRSH+1 1660: 1345 72 0 0720 TSQ VRSH 1661: 1662: # PAGE 24 1663: 1346 46 0 1312 TMI CLEARM+1 # -- IF OCT LOC ABOVE 704 1664: 1347 54 0 0010 LRS 8 # EXAMINE BITS 1-9 OF VALUE 1665: 1350 24 0 0333 SUB ADST # -- IF OCT LOC ABOVE VALUE, 1666: 1351 46 0 1342 TMI *-7 # CHECK NEXT VALUE IN TABLE 1667: 1352 52 0 0022 LLS 18 # RECOVER BITS 10-17 OF THIS VAL 1670: 1353 46 0 7310 TMI NOTDD # -- IF OCT REGION, NO SF REQ 1671: 1354 54 0 0012 LRS 10 # SCALE BITS 11-17 OF VAL 1672: 1355 22 0 6041 ADD TBRAKE # CONSTRUCT INSTRUCTION TO OBTAIN 1673: 1356 10 0 0721 STO VRSH+1 # SCALE FACTOR FOR THIS REGION 1674: 1357 72 0 0720 TSQ VRSH # OBTAIN SF FOR THIS REGION 1675: 1360 10 0 0026 STO SF # SET SCALE FACTOR 1676: 1361 40 0 7326 TRA DDIN # TO INPUT ROUTINE 1677: 1362 50 1 0001 DIAT AXT 1,1 # IMMEDIATE ACTION TEST 1700: 1363 20 0 0333 CLA ADST # IMMED. ACTION IF 1701: 1364 22 1 0772 ADD DIAK1,1 # ACCUMULATOR = 400000 1702: 1365 62 0 0000 ABS 1703: 1366 46 0 1372 TMI *+4 1704: 1367 42 1 1363 TIX DIAT+1,1 1705: 1370 12 0 0455 STQ DDF 1706: 1371 40 0 1307 TRA DEXIT 1707: 1372 42 1 7357 TIX ATI,1 1710: 1373 14 0 1371 LDQ *-2 # SET RETURN TO DEXIT 1711: 1374 50 1 0002 AXT 2,1 1712: 1375 20 1 0124 CLA RRX,1 # SAVE RANGE FOR FILTER 1713: 1376 10 1 0234 STO RRSX,1 1714: 1377 20 1 0134 CLA A31,1 # STORE DIRECTION COSINES 1715: 1400 10 1 0554 STO A31S,1 1716: 1401 42 1 1375 TIX *-4,1 1717: 1402 20 0 0440 CLA RRDOT 1720: 1403 10 0 0415 STO RDOTS 1721: 1404 40 0 6764 TRA EXIT 1722: 1723: # DOWNLINK FORMATTING 1724: 1725: 1405 50 1 0002 DLDC AXT 2,1 1726: 1406 30 1 0244 CLZ 0244,1 # LEM VEL 1727: 1407 10 1 0260 STO 1J4,1 1730: 1731: # PAGE 25 1732: 1410 30 1 0250 CLZ 0250,1 # CSM POS 1733: 1411 10 1 0244 STO 2J1,1 1734: 1412 30 1 0254 CLZ 0254,1 # CSM VEL 1735: 1413 10 1 0264 STO 2J4,1 1736: 1414 42 1 1406 TIX DLDC+1,1 1737: 1415 30 0 0247 CLZ 0247 1740: 1416 54 0 0016 LRS 14 1741: 1417 32 0 0243 ADZ 0243 1742: 1420 10 0 0254 STO 1J7 1743: 1421 12 0 0255 STQ 1J7LS 1744: 1422 10 0 0272 STO 2J7 1745: 1423 12 0 0273 STQ 2J7LS 1746: 1424 72 0 5145 TSQ CSMPV 1747: 1425 40 0 5073 TRA IC1+3 1750: 1751: # DELTA V ACCUMULATION AND THRUST VEL TO GAIN. 1752: 1753: 1426 50 1 0002 TVTG AXT 2,1 1754: 1427 20 1 0350 CLA DVX,1 # 1 1755: 1430 54 0 0001 LRS 1 # TO 2 1756: 1431 32 1 0100 ADZ VD2X,1 1757: 1432 10 1 0100 STO VD2X,1 1760: 1433 20 1 0074 CLA DVXM1,1 1761: 1434 54 0 0001 LRS 1 # TO 2 1762: 1435 32 1 0100 ADZ VD2X,1 1763: 1436 10 1 0100 STO VD2X,1 1764: 1437 54 0 0013 LRS 11 # TO 13 1765: 1440 10 0 0001 STO TS1 1766: 1441 56 0 0013 ALS 11 1767: 1442 60 0 0000 COM 1770: 1443 32 1 0100 ADZ VD2X,1 1771: 1444 10 1 0100 STO VD2X,1 # REMAINDER AT 2 1772: 1445 20 1 0404 CLA VD1X,1 # DV EXPENDED MS. 1773: 1446 32 0 0001 ADZ TS1 1774: 1447 10 1 0404 STO VD1X,1 # VD1 AT 13 1775: 1450 60 0 0000 COM 1776: 1451 22 1 0474 ADD VSMGX,1 # VSMG-VD1 1777: 2000: # PAGE 26 2001: 1452 10 1 0500 STO DELVGX,1 # THRUST VEL TO GAIN 2002: 1453 30 1 0070 CLZ EX,1 2003: 1454 42 1 1427 TIX TVTG+1,1 2004: 1455 40 0 4355 TRA EX9+1 2005: 2006: # SOFT 40MS COMPUTATIONS 2007: 2010: 1456 20 0 0400 SOFT1 CLA S0 # TEST MODE 2011: 1457 24 0 7520 SUB 3B3 2012: 1460 10 0 0001 STO TS1 # SAVE 2013: 1461 46 0 1513 TMI IR # -- IS INTERT. REF. 2014: 1462 20 0 4007 ZERR CLA ZERO 2015: 1463 66 0 6007 OUT 6007 # ZERO ATTITUDE ERRORS 2016: 1464 30 0 0575 CLZ DEL5 # RESET ATT HOLD INIT FLAG 2017: 1465 30 0 0001 CLZ TS1 2020: 1466 46 0 1501 TMI ENCOM1 # -- IS INERTIAL REF 2021: 1467 24 0 7701 SUB 1B3 2022: 1470 46 0 1473 TMI SOFT3 2023: 1471 24 0 7701 SUB 1B3 2024: 1472 46 0 4534 TMI LUNAL 2025: 1473 66 0 7040 SOFT3 OUT 7040 # RESET ENG ON 2026: 1474 66 0 6420 OUT 6420 # SET ENG OFF 2027: 1475 20 0 4007 CLA ZERO # SET ENG TM FLAG PLUS 2030: 1476 22 0 0410 ADD S10 2031: 1477 10 0 0343 STO EONS10 2032: 1500 40 0 4626 TRA FDAI # TO ATTITUDE DISPLAY 2033: 1501 20 0 0533 ENCOM1 CLA DISC1 # FOLLUP ENG. COMMANDS 2034: 1502 52 0 0005 LLS 5 2035: 1503 46 0 1507 TMI *+4 # -- DESCENT ENG ON 2036: 1504 52 0 0001 LLS 1 2037: 1505 46 0 1507 TMI *+2 # -- ASCENT ENG ON 2040: 1506 40 0 1473 TRA SOFT3 # ENG OFF 2041: 1507 66 0 7020 OUT 7020 # RESET ENG OFF 2042: 1510 66 0 6440 OUT 6440 # SET ENG ON 2043: 1511 20 0 4036 CLA MS # SET ENG TM FLAG NG 2044: 1512 40 0 1476 TRA SOFT3+3 2045: 1513 20 0 0411 IR CLA S11 # TEST FOR AUTO RADAR DATA 2046: 2047: # PAGE 27 2050: 1514 56 0 0003 ALS 3 2051: 1515 46 0 1644 TMI RADCK 2052: 1516 10 0 0157 STO DEL44 # SET/RESET CODE WORD FLAG 2053: 1517 20 0 0533 IR4 CLA DISC1 2054: 1520 56 0 0003 ALS 3 2055: 1521 46 0 1526 TMI IR1 # -- IS FOLLOWUP 2056: 1522 56 0 0001 ALS 1 2057: 1523 46 0 1550 TMI IR2 # -- IS AUTOMATIC 2060: 1524 12 0 0603 STQ DEL20 2061: 1525 40 0 4437 TRA AHE # TO ATT HOLD 2062: 1526 20 0 0401 IR1 CLA DISC1C 2063: 1527 56 0 0004 ALS 4 2064: 1530 46 0 1462 TMI ZERR # PLUS IS AUTOMATIC 2065: 1531 30 0 0575 CLZ DEL5 2066: 1532 12 0 0603 STQ DEL20 2067: 1533 40 0 1570 TRA MODE 2070: 1534 20 0 0623 RSTE CLA S623 2071: 1535 56 0 0003 ALS 3 2072: 1536 46 0 1541 TMI *+3 2073: 1537 20 1 0054 CLA WCX,1 2074: 1540 40 0 1542 TRA *+2 2075: 1541 20 1 0514 CLA WBX,1 2076: 1542 26 1 0134 MPR A31,1 2077: 1543 60 0 0000 COM 2100: 1544 32 0 0070 ADZ EX 2101: 1545 10 0 0070 STO EX 2102: 1546 42 1 1534 TIX RSTE,1 2103: 1547 40 0 4524 RST1 TRA RST 2104: 1550 56 0 0004 IR2 ALS 4 2105: 1551 46 0 1560 TMI IR3 # -- IS ABORT STAGE 2106: 1552 20 0 0604 CLA DEL21 # IF ON LUNAR SURFACE 2107: 1553 46 0 1462 TMI ZERR # OUTPUT ZERO ATT ERRORS 2110: 1554 20 0 0533 CLA DISC1 2111: 1555 56 0 0007 ALS 7 2112: 1556 46 0 1570 TMI MODE # -- IS ABORT 2113: 1557 72 0 1532 TSQ IR1+4 2114: 1560 20 0 0604 IR3 CLA DEL21 2115: 2116: # PAGE 28 2117: 1561 46 0 4437 TMI AHE 2120: 1562 20 0 0401 CLA DISC1C 2121: 1563 56 0 0006 ALS 6 2122: 1564 46 0 1570 TMI MODE 2123: 1565 20 0 0612 CLA MU6 2124: 1566 24 0 0622 SUB 4K23 2125: 1567 46 0 1061 TMI STGCTR # STAGING ATT HOLD 2126: 1570 20 0 0400 MODE CLA S0 # TEST STEERING MODE 2127: 1571 24 0 7701 SUB 1B3 2130: 1572 46 0 4437 TMI AHE # ATT HOLD 2131: 1573 50 1 0002 AXT 2,1 2132: 1574 24 0 7701 SUB 1B3 2133: 1575 46 0 1534 TMI RSTE # RENDEZVOUS STEERING 2134: 1576 30 0 0575 CLZ DEL5 # ACQUISITION STEERING 2135: 1577 20 1 0054 MODE1 CLA WCX,1 2136: 1600 26 1 0130 MPR A11,1 2137: 1601 32 0 0072 ADZ EZ 2140: 1602 10 0 0072 STO EZ 2141: 1603 20 0 0507 CLA S507 # ORIENT LM Z-BODY ASIX 2142: 1604 24 0 7701 SUB 1B3 # IN DESIRED THRUST DIR. 2143: 1605 46 0 1610 TMI *+3 # OR ESTIMATED CSM DIR. 2144: 1606 20 1 0374 CLA A11BD,1 2145: 1607 10 1 0300 STO A31BD,1 2146: 1610 20 1 0300 CLA A31BD,1 2147: 1611 26 1 0130 MPR A11,1 # XB 2150: 1612 32 0 0071 ADZ EY 2151: 1613 10 0 0071 STO EY 2152: 1614 20 1 0300 CLA A31BD,1 # ZBD 2153: 1615 26 1 0140 MPR A21,1 # YB 2154: 1616 60 0 0000 COM 2155: 1617 32 0 0070 ADZ EX 2156: 1620 10 0 0070 STO EX 2157: 1621 42 1 1577 TIX MODE1,1 2160: 1622 40 0 4475 TRA EROUT 2161: 1623 30 0 0603 SOFT2 CLZ DEL20 # FIRST TIME FOLLOW 2162: 1624 46 0 1501 TMI ENCOM1 # PREVIOUS ENGINE STATE 2163: 1625 20 0 0400 CLA S0 # IF NOT GUIDANCE STEERING 2164: 2165: # PAGE 29 2166: 1626 56 0 0003 ALS 3 # TURN ENGINE OFF 2167: 1627 46 0 1631 TMI *+2 2170: 1630 40 0 1473 TRA SOFT3 2171: 1631 20 0 0614 CLA MU8 # TEST FOR ULLAGE 2172: 1632 24 0 0616 SUB 1K9 2173: 1633 46 0 1473 TMI SOFT3 2174: 1634 20 0 0446 CLA 4K25 # TEST CEL TO BE 2175: 1635 24 0 0500 SUB DELVGX # GAINED GREATER THAN 2176: 1636 46 0 1507 TMI ENCOM1+6 # SHUTDOWN THRESHOLD 2177: 1637 20 0 0454 CLA 4K26 2200: 1640 24 0 0370 SUB VG 2201: 1641 46 0 1507 TMI ENCOM1+6 2202: 1642 30 0 0400 CLZ S0 # SET ATT HOLD 2203: 1643 40 0 1473 TRA SOFT3 2204: 1644 12 0 0563 RADCK STQ DEL32 # REINITIALIZE DOWNLINK 2205: 1645 20 0 1117 CLA IDRP # SET DOWNLIST ID TO REND/PRETHRJ 2206: 1646 10 0 0671 STO ID 2207: 1647 20 0 0256 CLA DEL46 # IS CODE WORD RESET 2210: 1650 56 0 0001 ALS 1 2211: 1651 62 0 0000 ABS 2212: 1652 46 0 1516 TMI IR+3 2213: 1653 22 0 4015 ADD 1B12 # IS CODE WORD SET 2214: 1654 62 0 0000 ABS 2215: 1655 46 0 1657 TMI *+2 # YES IF NEGATIVE 2216: 1656 40 0 1517 TRA IR4 2217: 1657 30 0 0157 CLZ DEL44 # HAS CODE WORD BEEN RESET 2220: 1660 46 0 1662 TMI *+2 # PRIOR TO BEING SET 2221: 1661 40 0 1517 TRA IR4 # NO 2222: 1662 44 0 1663 TOV *+1 2223: 1663 50 1 0001 AXT 1,1 # IF SHAFT OR TRUNNION 2224: 1664 20 1 0252 CLA THETAR,1 # ANGLE IS GREATER 2225: 1665 56 0 0004 ALS 4 # THAN 11.2 DEG, THEN 2226: 1666 44 0 1517 TOV IR4 # DO NOT PROCESS 2227: 1667 42 1 1664 TIX *-3,1 2230: 1670 30 0 0606 CLZ DEL45 # ALTERNATE RANGE, RATE 2231: 1671 46 0 1704 TMI IR6 2232: 1672 12 0 0606 STQ DEL45 2233: 2234: # PAGE 30 2235: 1673 30 0 0254 CLZ RM # RANGE ENTRY 2236: 1674 54 0 0022 LRS 18 2237: 1675 30 0 0256 CLZ DEL46 # TEST FOR HIGH SCALING 2240: 1676 46 0 1700 TMI *+2 2241: 1677 54 0 0003 LRS 3 # LOW SCALE 2242: 1700 52 0 0021 LLS 17 2243: 1701 26 0 0313 MPR 6K12 # COUNTS TO FEET AT 22 2244: 1702 10 0 0316 STO 18J 2245: 1703 40 0 1710 TRA *+5 2246: 1704 30 0 0255 IR6 CLZ RMDOT # RANGE RATE ENTRY 2247: 1705 24 0 0517 SUB 6K14 # NULL AT 17000 2250: 1706 04 0 0577 DVP 6K13 # COUNTS TO FT/SEC AT B13 2251: 1707 10 0 0503 STO 17J 2252: 1710 72 0 1374 TSQ DIAT+10 # SAVE REL RNG VECT, REL VEL 2253: 1711 50 1 0002 AXT 2,1 2254: 1712 20 1 0140 IR5 CLA A21,1 # B1, ADJUST Z BODY FOR SHAFT 2255: 1713 26 0 0252 MPR THETAR # B1+B0=B1, AND TRUNNION ANGLES 2256: 1714 04 0 0237 DVP 6K11 # B1-B0=B1 2257: 1715 10 1 0554 STO A31S,1 # B1 2260: 1716 20 1 0130 CLA A11,1 # B1 2261: 1717 26 0 0253 MPR BETAR # B1+B0=B1 2262: 1720 04 0 0237 DVP 6K11 # B1-B0=B1 2263: 1721 34 1 0554 SUZ A31S,1 # B1 2264: 1722 22 1 0134 ADD A31,1 2265: 1723 10 1 0014 STO TS14,1 # XB*BETAR/6K11-YB*THETAR/6K11+ZB 2266: 1724 42 1 1712 TIX IR5,1 2267: 1725 72 0 6422 TSQ NORMV 2270: 1726 50 1 0002 AXT 2,1 2271: 1727 30 1 0010 CLZ TS10,1 # MOVE NORMALIZED DIRECTION 2272: 1730 10 1 0554 STO A31S,1 # INTO ZB* 2273: 1731 42 1 1727 TIX *-2,1 2274: 1732 40 0 4711 TRA 4711 # EXIT TO DEDA DISCRETE SAMPLING 2275: 1733 30 0 0531 LUNAL1 CLZ DAYA # CHANGE GAIN 2276: 1734 54 0 0002 LRS 2 # 1/4 2277: 1735 10 0 0531 STO DAYA 2300: 1736 30 0 0532 CLZ DAZA 2301: 1737 54 0 0002 LRS 2 2302: 2303: # PAGE 31 2304: 1740 10 0 0532 STO DAZA 2305: 1741 40 0 1473 TRA SOFT3 2306: 2307: # START OF NAVIGATION 2310: 2311: 1742 20 0 0604 NAV1P CLA DEL21 2312: 1743 46 0 5175 TMI NAV1 # -- IS ON LUNAR SURFACE 2313: 1744 20 0 0404 CLA VD1X # COMPUTE THRUST ACCEL 2314: 1745 24 0 0470 SUB VDX # 13 2315: 1746 56 0 0005 ALS 5 # 1/2(VD1-VD) AT 7 2316: 1747 40 0 5166 TRA 5166 # TO HARD NAV 2317: 1750 50 1 0002 XDVS AXT 2,1 2320: 1751 20 1 0120 CLA DVSX,1 2321: 1752 22 0 4015 ADD 1B12 2322: 1753 54 0 0006 LRS 6 2323: 1754 32 1 0050 ADZ DQSX,1 2324: 1755 10 1 0050 STO DQSX,1 2325: 1756 20 1 0404 CLA VD1X,1 2326: 1757 10 1 0470 STO VDX,1 2327: 1760 42 1 1751 TIX XDVS+1,1 2330: 1761 40 0 5223 TRA NAV4 2331: 1762 72 0 6261 ALTUP TSQ EXEC 2332: 2333: 1763 50 1 0002 AXT 2,1 2334: 1764 20 1 0200 CLA REX,1 # SAVE REX FROM FILTER 2335: 1765 10 1 0430 STO VIX,1 # SCRATCH MATRIX C AREA 2336: 1766 20 0 0223 CLA 25J # ALTITUDE ENTRY TEST 2337: 1767 24 0 4006 SUB 1B17 2340: 1770 46 0 1777 TMI FLTR # IF NO 25J ENTRY 2341: 1771 20 0 0223 CLA 25J 2342: 1772 22 0 0231 ADD 5J 2343: 1773 10 0 0210 STO R # R=5J+25J 2344: 1774 06 1 0060 MPY U1X,1 2345: 1775 52 0 0001 LLS 1 2346: 1776 10 1 0340 STO RX,1 # NEW R COMPONENTS 2347: 2350: # RANGE AND RANGE RATE COMPUTATIONS 2351: 2352: # PAGE 32 2353: 2354: 1777 20 1 0344 FLTR CLA RCX,1 # RELATIVE RANGE 2355: 2000 24 1 0340 SUB RX,1 2356: 2001 10 1 0124 STO RRX,1 2357: 2002 10 1 0004 STO TS4,1 2360: 2003 42 1 1764 TIX ALTUP+2,1 2361: 2004 30 0 0223 CLZ 25J 2362: 2005 72 0 6737 TSQ DPVMAG # DP COMP OF RR MAG 2363: 2006 56 0 0001 ALS 1 2364: 2007 10 0 0317 STO RR # B22 RANGE VECTOR MAG 2365: 2010 20 0 0636 CLA 2K1 # 48 2366: 2011 54 0 0005 LRS 5 # 53 2367: 2012 04 0 0210 DVP R # 30 2370: 2013 04 0 0210 DVP R # 7 2371: 2014 04 0 0210 DVP R # -16 2372: 2015 10 0 0030 DAD STO D11 # 2K1/R**3 B-16 2373: 2016 50 1 0007 AXT 7,1 2374: 2017 30 1 0170 CLZ C11,1 # ZERO PHI,M 2375: 2020 30 1 0200 CLZ C31,1 2376: 2021 42 1 2017 TIX *-2,1 2377: 2022 30 0 0440 CLZ RRDOT # ZEROED FOR SUM 2400: 2023 50 1 0002 AXT 2,1 2401: 2024 20 1 0124 FLTRA CLA RRX,1 2402: 2025 04 0 0317 DVP RR 2403: 2026 10 1 0300 STO A31BD,1 # B1 UNIT POINTING VECTOR 2404: 2027 20 1 0364 CLA VCX,1 # B13 2405: 2030 24 1 0360 SUB VX,1 2406: 2031 10 1 0004 STO TS4,1 # B13 RANGE RATE CSM-LM 2407: 2032 26 1 0300 MPR A31BD,1 2410: 2033 56 0 0001 ALS 1 2411: 2034 32 0 0440 ADZ RRDOT 2412: 2035 10 0 0440 STO RRDOT 2413: 2036 20 1 0060 CLA U1X,1 2414: 2037 26 1 0060 MPR U1X,1 # B2 2415: 2040 26 0 7520 MPR 3B3 2416: 2041 24 0 4011 SUB 1B5 2417: 2042 26 0 0030 MPR D11 2420: 2421: # PAGE 33 2422: 2043 10 1 0200 STO C31,1 # ADT,JDT AT B-7 2423: 2044 20 0 4003 CLA 4B17 2424: 2045 10 1 0460 STO TR4,1 # SET UP DIMENSION FOR MXM 2425: 2046 42 1 2024 TIX FLTRA,1 2426: 2047 14 0 7701 LDQ 1B3 # COMMON SETUP OF PHI AND M 2427: 2050 12 0 0170 STQ C11 2430: 2051 12 0 0175 STQ C22 2431: 2052 12 0 0207 STQ C44 2432: 2053 20 0 2373 CLA PAD # COMMON ADDR SETUP FOR 2433: 2054 10 0 0103 STO TR1 # PHI*P*PHI(T) AND M*P*M(T) 2434: 2055 20 0 2220 CLA CAD 2435: 2056 10 0 0143 STO TR2 2436: 2057 20 0 0604 CLA DEL21 # BYPASS FILTER IF ON SURFACE TO 2437: 2060 46 0 2402 TMI FLTRX # AVOID CONFLICT WITH D44, SIDELL 2440: 2441: 2061 30 0 0167 PUPDAT CLZ MU17 # ZERO MU17 IF FILTER TIME 2442: 2062 22 0 7701 ADD 1B3 2443: 2063 46 0 2274 TMI FLTRTM 2444: 2064 10 0 0167 STO MU17 2445: 2065 20 0 0503 FLTRD CLA 17J 2446: 2066 62 0 0000 ABS 2447: 2067 24 0 4006 SUB 1B17 2450: 2070 46 0 2121 TMI FLTRH # NO RATE CHECK RANGE 2451: 2071 30 0 0503 RATE CLZ 17J 2452: 2072 24 0 0415 SUB RDOTS 2453: 2073 10 0 0220 STO DELR1 # B13 2454: 2074 50 1 0002 AXT 2,1 2455: 2075 20 0 0440 FLTRE CLA RRDOT # B13 2456: 2076 26 1 0300 MPR A31BD,1 # B14 2457: 2077 04 0 4126 DVP M1B1 2460: 2100 22 1 0004 ADD TS4,1 # B13 2461: 2101 06 0 4065 MPY 1B2 # SCALE AT B15 2462: 2102 04 0 0317 DVP RR # B22 2463: 2103 10 1 0170 STO C11,1 # M11 AT B-7 2464: 2104 20 1 0300 CLA A31BD,1 # B1 2465: 2105 54 0 0002 LRS 2 2466: 2106 10 1 0171 STO C12,1 # M14 AT B3 2467: 2470: # PAGE 34 2471: 2107 42 1 2075 TIX FLTRE,1 2472: 2110 14 0 0172 LDQ C13 2473: 2111 20 0 0171 CLA C12 2474: 2112 12 0 0171 STQ C12 # M12 AT B-7 2475: 2113 10 0 0172 STO C13 # M13 AT B3 2476: 2114 30 0 0175 CLZ C22 # M22 (M21,M23,M24 ALREADY ZERO) 2477: 2115 20 0 0774 CLA 6K8S # B10 2500: 2116 10 0 0316 STO 18J # N11,(N12=C42=0,N22=C44=1B3) 2501: 2117 20 0 4006 CLA 1B17 2502: 2120 40 0 2167 TRA FLTRJ 2503: 2504: 2505: 2121 22 0 0316 FLTRH ADD 18J # CHECK RANGE 2506: 2122 46 0 2402 TMI FLTRX 2507: 2123 50 1 0002 RANGE AXT 2,1 2510: 2124 20 1 0554 FLTRI CLA A31S,1 # ZB B1 2511: 2125 26 0 0316 MPR 18J # B22 2512: 2126 24 1 0234 SUB RRSX,1 2513: 2127 10 1 0220 STO DELR1,1 # B23 2514: 2130 20 1 0124 CLA RRX,1 2515: 2131 26 1 0124 MPR RRX,1 # B46 2516: 2132 06 0 0775 MPY 6K9S # B42 2517: 2133 52 0 0014 LLS 12 # B30 2520: 2134 10 1 0000 STO TS0,1 # B30 2521: 2135 20 1 0300 CLA A31BD,1 # B1 2522: 2136 26 1 0300 MPR A31BD,1 # B2 2523: 2137 26 0 0776 MPR 6K10S 2524: 2140 10 1 0004 STO TS4,1 2525: 2141 42 1 2124 TIX FLTRI,1 2526: 2142 32 0 0002 ADZ TS2 2527: 2143 10 0 0316 STO 18J # N11 AT B30 2530: 2144 20 0 0126 CLA RRZ 2531: 2145 06 0 0000 MPY TS0 2532: 2146 04 0 0124 DVP RRX # B30 2533: 2147 10 0 0205 STO C42 # -N12 2534: 2150 30 0 0000 CLZ TS0 2535: 2151 32 0 0006 ADZ TS6 2536: 2537: # PAGE 35 2540: 2152 10 0 0207 STO C44 # N22 2541: # M IS ALREADY SET UP IN C11-C24 2542: 2153 20 0 0276 CLA 6K5 # B0 2543: 2154 26 0 0221 MPR DELR3 # B 23 2544: 2155 22 0 0341 ADD RY # Y=Y+6K5*DELR3 B23 2545: 2156 10 0 0341 STO RY 2546: 2157 20 0 0777 CLA 6K6S # B-8 2547: 2160 06 0 0221 MPY DELR3 # B15 2550: 2161 52 0 0002 LLS 2 # B13 2551: 2162 22 0 0361 ADD VY 2552: 2163 10 0 0361 STO VY # VY=VY+6K6*DELR3 2553: 2164 20 0 0522 CLA 6K6 2554: 2165 10 0 0777 STO 6K6S # RESTORE GAIN AFTER 1ST PASS 2555: 2166 20 0 0441 CLA 1000D 2556: 2167 32 0 0621 FLTRJ ADZ MU19 # INCREMENT MARK COUNTER 2557: 2170 10 0 0621 STO MU19 2560: 2171 20 0 4005 CLA 2B17 # DIMENSION FOR MXM (OTHER DIM. 2561: 2172 10 0 0461 STO TR6 # AND ADDR. ALREADY SET UP) 2562: 2173 20 0 2015 CLA DAD 2563: 2174 72 0 2404 TSQ MXM # RETURN WITH D=P(T)*M(T) 2564: 2175 20 0 2213 CLA C31AD 2565: 2176 72 0 2404 TSQ MXM # RETURN WITH Q IN C32-C34 2566: 2177 30 0 0205 CLZ C42 2567: 2200 24 0 0201 SUB C32 2570: 2201 10 0 0201 STO C32 # QP12=QP21= -(Q12+N12) 2571: 2202 10 0 0202 STO C33 2572: 2203 06 0 0201 MPY C32 2573: 2204 52 0 0003 LLS 3 # (QP12)**2 AT B57(ZERO FOR RATE) 2574: 2205 10 0 0040 D31AD STO D31 2575: 2206 20 0 0200 CLA C31 2576: 2207 32 0 0316 ADZ 18J 2577: 2210 54 0 0021 LRS 17 2600: 2211 20 0 0203 CLA C34 2601: 2212 32 0 0207 ADZ C44 2602: 2213 10 0 0200 C31AD STO C31 # QP11=Q22+N22 2603: 2214 12 0 0203 STQ C34 # QP22=Q11+N11 2604: 2215 06 0 0203 MPY C34 2605: 2606: # PAGE 36 2607: 2216 52 0 0003 LLS 3 # QP11*QP22 AT B57(B10 FOR RATE) 2610: 2217 24 0 0040 SUB D31 2611: 2220 10 0 0170 CAD STO C11 # DETERMINANT OF (Q+N) MATRIX 2612: 2221 20 0 2015 CLA DAD 2613: 2222 10 0 0143 STO TR2 2614: 2223 20 0 4005 CLA 2B17 2615: 2224 10 0 0462 STO TR5 2616: 2225 20 0 4003 CLA 4B17 2617: 2226 10 0 0461 STO TR6 2620: 2227 20 0 2205 CLA D31AD 2621: 2230 72 0 2404 TSQ MXM # RETURN WITH B(T)*C11 IN D31-D44 2622: 2231 20 0 0220 CLA DELR1 # SETUP FOR TRICKY INDEXING 2623: 2232 10 0 0173 STO C14 2624: 2233 20 0 0222 CLA DELR2 2625: 2234 10 0 0177 STO C24 2626: # INDEX IS LOADED IN MXM 2627: 2235 20 1 0040 CLA D31,1 # AT B57,B47 (B20,B10 FOR RATE) 2630: 2236 06 0 7701 MPY 1B3 2631: 2237 04 0 0170 DVP C11 2632: 2240 10 1 0040 STO D31,1 # B(T) AT B3,B-7(B13,B3 FOR RATE) 2633: 2241 06 1 0173 MPY C14,1 # B(I,1)*DELR1 OR B(I,2)*DELR2 2634: 2242 52 0 0003 LLS 3 # TO B23 OR B13 2635: 2243 32 1 0204 ADZ C41,1 # LAST 4 TIMES THRU WILL ADD TO 2636: 2244 10 1 0204 STO C41,1 # VALUES COMPUTED 1ST 4 TIMES 2637: 2245 42 1 2235 TIX *-8,1 2640: 2246 20 0 0340 CLA RX 2641: 2247 34 0 0204 SUZ C41 # B(1,1)*DELR1+B(1,2)*DELR2 2642: 2250 10 0 0340 STO RX 2643: 2251 20 0 0342 CLA RZ 2644: 2252 34 0 0205 SUZ C42 # B(2,1)*DELR1+B(2,2)*DELR2 2645: 2253 10 0 0342 STO RZ 2646: 2254 20 0 0360 CLA VX 2647: 2255 34 0 0206 SUZ C43 # B(3,1)*DELR1+B(3,2)*DELR2 2650: 2256 10 0 0360 STO VX 2651: 2257 20 0 0362 CLA VZ 2652: 2260 34 0 0207 SUZ C44 # B(4,1)*DELR1+B(4,2)*DELR2 2653: 2261 10 0 0362 STO VZ 2654: 2655: # PAGE 37 2656: 2262 20 0 2220 CLA CAD 2657: 2263 72 0 2404 TSQ MXM # RETURN WITH B*M*P IN C11-C44 2660: # INDEX IS LOADED IN MXM 2661: 2264 20 1 0700 CLA P11,1 # P=P-B*M*P 2662: 2265 34 1 0170 SUZ C11,1 2663: 2266 10 1 0700 STO P11,1 2664: 2267 20 1 0710 CLA P31,1 2665: 2270 34 1 0200 SUZ C31,1 2666: 2271 10 1 0710 STO P31,1 2667: 2272 42 1 2264 TIX *-6,1 2670: 2273 40 0 2402 TRA FLTRX 2671: 2274 20 0 0202 FLTRTM CLA C33 # FINISH SETUP OF PHI 2672: 2275 10 0 0205 STO C42 # JDT 2673: 2276 12 0 0202 STQ C33 # 1B3 2674: 2277 20 0 0060 CLA U1X 2675: 2300 26 0 0062 MPR U1Z 2676: 2301 26 0 7520 MPR 3B3 # B5 2677: 2302 36 0 0030 MPZ D11 2700: 2303 10 0 0201 STO C32 # CDT AT B-7 2701: 2304 10 0 0204 STO C41 2702: 2305 20 0 4013 CLA 1B9 # DT AT B13 2703: 2306 10 0 0172 STO C13 2704: 2307 10 0 0177 STO C24 # NOW HAVE PHI IN C11-C44 2705: 2310 20 0 2015 CLA DAD 2706: 2311 72 0 2404 TSQ MXM # RETURN WITH D = P(T)*PHI(T) 2707: 2312 20 0 2373 CLA PAD 2710: 2313 72 0 2404 TSQ MXM # RETURN WITH P=D(T)*PHI(T), OR 2711: # P(NEW = PHI*P(OLD)*PHI(T) 2712: 2314 20 0 0700 CLA P11 # ADD STATE NOISE TO DIAGONALS 2713: 2315 22 0 0650 ADD 7K2 2714: 2316 10 0 0700 STO P11 2715: 2317 20 0 0705 CLA P22 2716: 2320 22 0 0650 ADD 7K2 2717: 2321 10 0 0705 STO P22 2720: 2322 20 0 0712 CLA P33 2721: 2323 22 0 0650 ADD 7K2 2722: 2324 10 0 0712 STO P33 2723: 2724: # PAGE 38 2725: 2325 20 0 0717 CLA P44 2726: 2326 22 0 0650 ADD 7K2 2727: 2327 10 0 0717 STO P44 2730: 2330 72 0 6261 TSQ EXEC 2731: 2331 44 0 2332 TOV *+1 # RESET OVERFLOW 2732: 2332 20 0 7003 CLA SICO2+1 # ALS 2 2733: 2333 72 0 2440 TSQ STEST # TEST FOR SCALING TOO LOW 2734: 2334 20 0 4150 CLA CDCC+2 # LRS 1 2735: 2335 44 0 2341 TOV RSHFT # NEED RIGHT SHIFT IF OVERFLOW 2736: 2336 20 0 4375 CLA LRI+2 # ALS 3 2737: 2337 72 0 2440 TSQ STEST # SEE IF SCALING DOWN IS POSSIBLE 2740: 2340 20 0 4113 CLA GYCOM+2 # ALS 1 2741: 2341 10 0 0721 RSHFT STO VRSH+1 2742: 2342 50 1 0002 AXT 2,1 2743: 2343 20 1 0774 CLA 6K8S,1 2744: 2344 72 0 0720 TSQ VRSH 2745: 2345 44 0 2360 TOV RVSAR # BYPASS RESCALING IF OVERFLOW IN 2746: # EITHER 2ND STEST OR ALS 1 6K10, 2747: 2346 10 1 0774 STO 6K8S,1 # OTHERWISE SHIFT LEFT OR RIGHT 1 2750: 2347 42 1 2343 TIX *-4,1 # 6K8,6K9,6K10 AND P MATRIX 2751: 2350 50 1 0007 AXT 7,1 2752: 2351 20 1 0700 CLA P11,1 2753: 2352 72 0 0720 TSQ VRSH 2754: 2353 10 1 0700 STO P11,1 2755: 2354 20 1 0710 CLA P31,1 2756: 2355 72 0 0720 TSQ VRSH 2757: 2356 10 1 0710 STO P31,1 2760: 2357 42 1 2351 TIX *-6,1 2761: 2360 30 0 0417 RVSAR CLZ S17 # IS FILTER INIT. REQUESTED 2762: 2361 56 0 0003 ALS 3 2763: 2362 46 0 2364 TMI PINIT 2764: 2363 40 0 2402 TRA FLTRX 2765: 2364 50 1 0007 PINIT AXT 7,1 # INITIALIZE P MATRIX AND FILTER 2766: 2365 30 1 0700 CLZ P11,1 # CONSTANTS 2767: 2366 30 1 0710 CLZ P31,1 2770: 2367 20 1 0564 CLA 6K8,1 2771: 2370 10 1 0774 STO 6K8S,1 # THIS ALSO ZEROES 6K6S 2772: 2773: # PAGE 39 2774: 2371 42 1 2365 TIX PINIT+1,1 2775: 2372 20 0 0457 CLA 6K2 2776: 2373 10 0 0700 PAD STO P11 2777: 2374 10 0 0705 STO P22 3000: 2375 20 0 0456 CLA 6K4 3001: 2376 10 0 0712 STO P33 3002: 2377 10 0 0717 STO P44 3003: 2400 30 0 0621 CLZ MU19 # CLEAR MARK COUNTER 3004: 2401 30 0 0606 CLZ DEL45 # MAKE RANGE THE FIRST UPDATE 3005: 2402 72 0 6261 FLTRX TSQ EXEC 3006: 2403 40 0 5444 TRA LMORB 3007: 3010: # MATRIX MULTIPLY SUBROUTINE 3011: # PERFORMS C = A(T)*B(T) WHERE (T) INDICATES THE 3012: # TRANSPOSE OPERATION, EITHER WITH TR1 = ST0 A11 3013: # WHERE A11=ADDRESS OF 1ST ELEMENT OF A, TR2 = STO 3014: # B11, A = STO C11, TR4 = NO. OF COLUMNS IN A, 3015: # TR5 = NO. OF ROWS IN A, TR6 = NO. OF ROWS IN B, 3016: # THE RESULT MATRIX C WILL HAVE TR4 ROWS AND TR6 3017: # COLUMNS, ALL MATRICES ARE ASSUMED TO BE STORED 3020: # BY ROWS IN SEQUENTIAL LOCATIONS BEGINNING WITH 3021: # A11, A12, ..., A21, A22, ..., ETC. 3022: 2404 12 0 0212 MXM STQ PP # SAVE RETURN ADDRESS 3023: 2405 10 0 0073 STO TR3 # STORE ST0 C11 IN TR3 3024: 2406 24 0 4006 SUB 1B17 3025: 2407 10 0 0745 STO RREX2 # VARIABLE MATRIX ELEMENT STORE 3026: 2410 30 0 0424 CLZ I 3027: 2411 20 0 0143 R3 CLA TR2 3030: 2412 24 0 4010 SUB 1B4 # FORM MPY FROM STO 3031: 2413 10 0 0742 STO RREX1 # VARIABLE MULTIPLY 3032: 2414 30 0 0425 CLZ J 3033: 2415 20 0 0037 CLA DLSC # (D24) 3034: 2416 10 0 0442 STO TI # TEMP. STORAGE TO SAVE D24 3035: 2417 72 0 6261 TSQ EXEC 3036: 2420 20 0 0442 CLA TI 3037: 2421 10 0 0037 STO DLSC # RESTORE D24 3040: 2422 20 0 0103 R2 CLA TR1 3041: 3042: # PAGE 40 3043: 2423 22 0 0424 ADD I 3044: 2424 22 0 4065 ADD STOCOM # FORM CLA FROM STO 3045: 2425 10 0 0741 STO RREX # VARIABLE CLA 3046: 2426 20 0 0745 CLA RREX2 3047: 2427 22 0 4006 ADD 1B17 # INCREMENT STO INSTRUCTION 3050: 2430 10 0 0745 STO RREX2 3051: 2431 30 0 0426 CLZ K 3052: 2432 30 0 0077 CLZ TR8 # TEMP. SUM 3053: 2433 40 0 0741 R1 TRA RREX 3054: 2434 42 1 2436 TIX *+2,1 3055: 2435 40 0 2411 TRA R3 3056: 2436 42 1 2433 TIX R1,1 3057: 2437 40 0 2422 TRA R2 3060: # TEST FOR VARIABLE SCALING OF FILTER 3061: 2440 10 0 0721 STEST STO VRSH+1 3062: 2441 12 0 0020 STQ SREX3 3063: 2442 20 0 0317 CLA RR # B22 3064: 2443 26 0 0317 MPR RR # 22+22=44 3065: 2444 06 0 0775 MPY 6K9S 3066: 2445 52 0 0012 LLS 10 3067: 2446 72 0 0720 TSQ VRSH 3070: 2447 50 1 0007 AXT 7,1 3071: 2450 20 1 0700 CLA P11,1 3072: 2451 72 0 0720 TSQ VRSH 3073: 2452 20 1 0710 CLA P31,1 3074: 2453 72 0 0720 TSQ VRSH 3075: 2454 42 1 2450 TIX *-4,1 3076: 2455 40 0 0020 TRA SREX3 3077: 2456 24 0 0231 LMORB2 SUB 5J # QL-5J AT B23 3100: 2457 10 0 0403 STO QLTELE # PERIC. ALT 3101: 2460 30 0 0007 CLZ TS7 # = VH SQ AT B26 3102: 2461 10 0 0143 STO VHSQ # SAVE FOR ORB INS 3103: 2462 72 0 6261 TSQ EXEC 3104: 3105: 2463 50 1 0002 ORBLM AXT 2,1 3106: 2464 20 1 0430 CLA VIX,1 # RESTORE REX INTO FILTER 3107: 2465 10 1 0200 STO REX,1 # SCRATCH MATRIX C AREA 3110: 3111: # PAGE 41 3112: 2466 20 1 0340 CLA RX,1 3113: 2467 10 1 0204 STO R0X,1 3114: 2470 20 1 0360 CLA VX,1 3115: 2471 10 1 0424 STO V0X,1 3116: 2472 42 1 2464 TIX ORBLM+1,1 3117: 2473 72 0 6444 TSQ ORBPM # COMPUTE LM ORBIT PARAMETERS 3120: 2474 20 0 0173 CLA AI 3121: 2475 24 0 0231 SUB 5J 3122: 2476 56 0 0001 ALS 1 # MPY BY 2 3123: 2477 24 0 0403 SUB QLTELE 3124: 2500 10 0 0315 STO QA # LM APOFOCUS ALT. AT B23 3125: 2501 72 0 6261 TSQ EXEC 3126: 3127: 3130: 2502 30 0 0211 CLZ Y 3131: 2503 30 0 0270 CLZ VY0 3132: 2504 50 1 0002 AXT 2,1 3133: 2505 20 1 0340 KINGK CLA RX,1 3134: 2506 10 1 0220 STO RIX,1 # SAVE R FOR ORBIT INS. 3135: 2507 26 1 0054 MPR WCX,1 3136: 2510 56 0 0001 ALS 1 3137: 2511 32 0 0211 ADZ Y 3140: 2512 10 0 0211 STO Y # Y=(WCX)DOT(RX) 3141: 2513 20 1 0360 CLA VX,1 3142: 2514 10 1 0430 STO VIX,1 # SAVE V FOR ORBIT INS. 3143: 2515 26 1 0054 MPR WCX,1 3144: 2516 56 0 0001 ALS 1 3145: 2517 32 0 0270 ADZ VY0 3146: 2520 10 0 0270 STO VY0 # VY0=(WCX)DOT(VX) 3147: 2521 20 1 0054 CLA WCX,1 # SET UP FOR CROSS 3150: 2522 60 0 0000 COM # PRODUCT SUBROUTINE 3151: 2523 10 1 0010 STO TS10,1 # WC X U1 = U1 X -WC 3152: 2524 20 1 0060 CLA U1X,1 3153: 2525 10 1 0004 STO TS4,1 3154: 2526 42 1 2505 TIX KINGK,1 3155: 2527 72 0 6373 TSQ CRSPRD 3156: 2530 72 0 6422 TSQ NORMV # V1 VECTOR TO TSB 3157: 3160: # PAGE 42 3161: 2531 72 0 6373 TSQ CRSPRD 3162: 2532 30 0 0003 CLZ TS3 3163: 2533 30 0 0004 CLZ TS4 3164: 2534 50 1 0002 AXT 2,1 3165: 2535 30 1 0010 CLZ TS10,1 3166: 2536 10 1 0034 STO V1X,1 # V1 AT 1 3167: 2537 26 1 0134 MPR A31,1 3170: 2540 22 0 0004 ADD TS4 # TS4 = V1 DOT ZB AT B2 3171: 2541 10 0 0004 STO TS4 3172: 2542 30 1 0014 CLZ TS14,1 3173: 2543 56 0 0001 ALS 1 3174: 2544 10 1 0040 STO W1X,1 3175: 2545 20 1 0134 CLA A31,1 3176: 2546 26 1 0060 MPR U1X,1 3177: 2547 22 0 0003 ADD TS3 3200: 2550 10 0 0003 STO TS3 # TS3 = U1 DOT ZB AT B2 3201: 2551 42 1 2535 TIX *-12,1 3202: 2552 72 0 7034 TSQ ARCTAE 3203: 2553 10 0 0277 STO XI 3204: 2554 72 0 6261 TSQ EXEC # END OF LEM ORB PAR BRANCH 3205: 3206: # GUIDANCE MODE CHECK 3207: 3210: 2555 20 0 0410 GM CLA S10 3211: 2556 22 0 7512 ADD 5B3 3212: 2557 62 0 0000 ABS 3213: 2560 46 0 2573 TMI DXFR1 # TPI SEARCH 3214: 2561 22 0 4065 ADD 1B2 3215: 2562 46 0 2567 TMI *+5 3216: 2563 30 0 0310 CLZ TDEL # TDEL=0 3217: 2564 20 0 0726 CLA ORBRET # =TRA DX10P 3220: 2565 10 0 0046 STO TSEX # SET UP RETURN FROM NORTON 3221: 2566 40 0 3576 TRA NORTON+5 3222: # CSI,CDH,TPI EXECUTE, OR EXT DV 3223: 2567 20 0 0373 CLA TIG # COMPUTE TDEL FOR 3224: 2570 24 0 0377 SUB TA1 # CSI, CDH, OR TPI(S10=4) 3225: 2571 56 0 0005 ALS 5 3226: 3227: # PAGE 43 3230: 2572 10 0 0310 STO TDEL 3231: 2573 20 0 0310 DXFR1 CLA TDEL 3232: 2574 54 0 0005 LRS 5 3233: 2575 22 0 0377 ADD TA1 3234: 2576 10 0 0373 STO TIG 3235: 2577 30 0 0310 CLZ TDEL # TDEL = OR GTR 0 AFTER TR CALC 3236: 2600 46 0 2602 TMI *+2 3237: 2601 10 0 0310 STO TDEL 3240: 2602 22 0 0307 ADD 6J 3241: 2603 10 0 0311 STO TR # TIME UNTIL RENDEZVOUS (TPI) 3242: 2604 20 0 0310 CLA TDEL 3243: 2605 72 0 3571 DXFR10 TSQ NORTON 3244: 2606 10 0 0347 DX10P STO RF # PRED. BURNOUT ALTITUDE 3245: 2607 22 0 0217 ADD 2K14 3246: 2610 10 0 0170 STO P 3247: 2611 30 0 0477 CLZ RADOT 3250: 2612 30 0 0263 CLZ VPY 3251: 2613 30 1 0220 DXFRR5 CLZ RIX,1 # R5 STORE 3252: 2614 10 1 0174 STO R5X,1 3253: 2615 30 1 0430 CLZ VIX,1 3254: 2616 10 1 0014 STO TS14,1 3255: 2617 10 1 0460 STO V5X,1 # V5 STORE 3256: 2620 26 1 0054 MPR WCX,1 3257: 2621 56 0 0001 ALS 1 # TO 13 3260: 2622 32 0 0263 ADZ VPY # VPY = V5 DOT WC 3261: 2623 10 0 0263 STO VPY 3262: 2624 30 1 0010 CLZ TS10,1 3263: 2625 10 1 0060 STO U1X,1 # U1 STORE 3264: 2626 26 1 0460 MPR V5X,1 # RADOT = R5 DOT U1 3265: 2627 56 0 0001 ALS 1 # TO 13 3266: 2630 32 0 0477 ADZ RADOT 3267: 2631 10 0 0477 STO RADOT 3270: 2632 20 1 0200 CLA REX,1 # CSM POS AND VEL FOR 3271: 2633 10 1 0204 STO R0X,1 # ELLIPSE PREDICTOR 3272: 2634 20 1 0420 CLA VEX,1 # AND ORBIT PARAMETERS 3273: 2635 10 1 0424 STO V0X,1 3274: 2636 42 1 2613 TIX DXFRR5,1 3275: 3276: # PAGE 44 3277: 2637 72 0 6422 TSQ NORMV 3300: 2640 20 0 0013 CLA TS13 3301: 2641 10 0 0463 STO VHA 3302: 2642 72 0 6261 TSQ EXEC 3303: 2643 72 0 6444 ORBIT3 TSQ ORBPM # CSM ORBIT PARAMETERS 3304: 2644 20 0 0436 CLA TB 3305: 2645 24 0 0445 SUB TCSM 3306: 2646 22 0 0310 ADD TDEL # +TIME INC. TO DXFR 3307: 2647 46 0 2651 TMI *+2 3310: 2650 24 0 0445 SUB TCSM 3311: 2651 72 0 3571 TSQ NORTON 3312: 2652 30 0 0003 DXFR13 CLZ TS3 3313: 2653 20 1 0220 CLA RIX,1 3314: 2654 24 1 0174 SUB R5X,1 3315: 2655 10 1 0430 STO VIX,1 # RC-R5 3316: 2656 20 1 0054 CLA WCX,1 3317: 2657 10 1 0004 STO TS4,1 3320: 2660 20 1 0060 CLA U1X,1 3321: 2661 10 1 0010 STO TS10,1 3322: 2662 26 1 0430 MPR VIX,1 # U1 DOT (RC-R5) 3323: 2663 32 0 0003 ADZ TS3 # SCALE BOTH RX AND RZ 3324: 2664 10 0 0003 STO TS3 # AT 24 FOR ARCTAE 3325: 2665 42 1 2653 TIX DXFR13+1,1 3326: 2666 72 0 6373 TSQ CRSPRD 3327: 2667 72 0 6422 TSQ NORMV 3330: 2670 30 0 0004 CLZ TS4 3331: 2671 50 1 0002 VRUP1 AXT 2,1 3332: 2672 20 1 0010 CLA TS10,1 3333: 2673 10 1 0034 STO V1X,1 # V1,NORM XPROD OF WC AND U1 3334: 2674 26 1 0430 MPR VIX,1 3335: 2675 32 0 0004 ADZ TS4 3336: 2676 10 0 0004 STO TS4 # RZ AT 24 3337: 2677 42 1 2672 TIX VRUP1+1,1 3340: 2700 20 0 5033 CLA 1B1 3341: 2701 24 0 0410 SUB S10 3342: 2702 46 0 3024 TMI XDV-1 # EXT DELTA V 3343: 2703 22 0 5000 ADD 6B3 3344: 3345: # PAGE 45 3346: 2704 46 0 1144 TMI THEF # O.I., CSI, CDH 3347: 2705 30 0 0450 CLZ 28J1 # COMPUE TPI VELOCITY 3350: 2706 30 0 0451 CLZ 28J2 # IN LOCAL VERTICAL COORD. 3351: 2707 30 0 0452 CLZ 28J3 3352: 2710 50 1 0002 AXT 2,1 3353: 2711 20 1 0034 DXFRA CLA V1X,1 # B1 3354: 2712 26 1 0064 MPR VGX,1 # B1+B13=B14 3355: 2713 56 0 0001 ALS 1 # B13 3356: 2714 32 0 0450 ADZ 28J1 3357: 2715 10 0 0450 STO 28J1 3360: 2716 20 1 0040 CLA W1X,1 # B1 3361: 2717 06 1 0064 MPY VGX,1 # B1+B13=B14 3362: 2720 04 0 4126 DVP M1B1 # B13 3363: 2721 32 0 0451 ADZ 28J2 3364: 2722 10 0 0451 STO 28J2 3365: 2723 20 1 0060 CLA U1X,1 # B1 3366: 2724 06 1 0064 MPY VGX,1 # B1+B13=B14 3367: 2725 04 0 4126 DVP M1B1 # B13 3370: 2726 32 0 0452 ADZ 28J3 3371: 2727 10 0 0452 STO 28J3 3372: 2730 42 1 2711 TIX DXFRA,1 3373: 2731 72 0 7034 TSQ ARCTAE # TLOS=ARCTAN(RX,RZ) 3374: 2732 10 0 0303 STO TLOS # LINE OF SIGHT (DEDA) 3375: 2733 20 0 0311 CLA TR 3376: 2734 24 0 0310 SUB TDEL 3377: 2735 10 0 0435 STO T 3400: 2736 20 0 0436 CLA TB 3401: 2737 24 0 0445 SUB TCSM 3402: 2740 22 0 0311 ADD TR # TIME INC. TPI TO REND. 3403: 2741 24 0 0312 SUB 3J # TARGET OFFSET 3404: 2742 10 0 0442 STO TI 3405: 2743 72 0 6261 TSQ EXEC 3406: 2744 20 0 0410 DXFR14 CLA S10 3407: 2745 60 0 0000 COM 3410: 2746 46 0 5520 TMI CSMT1 # TO ELLIPX 3411: 3412: # ORBIT INSERTION SECTION 3413: 3414: # PAGE 46 3415: 3416: 2747 24 0 0270 SUB VY0 # S10 EQUALS 0, ORBIT INSERTION 3417: 2750 26 0 0270 MPR VY0 3420: 2751 22 0 0143 ADD VHSQ # VH SQ 3421: 2752 72 0 7123 TSQ SQRTE 3422: 2753 10 0 0463 STO VHA # B13 3423: 2754 20 0 0227 CLA 4K5 # COMPUTE DESIRED BURNOUT 3424: 2755 24 0 0435 SUB RB # ALTITUDE RATE 3425: 2756 06 0 0557 MPY 4K4 3426: 2757 52 0 0003 LLS 3 3427: 2760 10 0 0423 STO RFDOT 3430: 2761 24 0 0527 SUB 4K6 # LIMIT RFDOT BETWEEN 3431: 2762 46 0 2765 TMI *+3 # 23J AND 4K6 3432: 2763 20 0 0527 CLA 4K6 3433: 2764 40 0 2771 TRA *+5 3434: 2765 20 0 0465 CLA 23J 3435: 2766 24 0 0423 SUB RFDOT 3436: 2767 46 0 2772 TMI *+3 3437: 2770 20 0 0465 CLA 23J 3440: 2771 10 0 0423 STO RFDOT 3441: 2772 20 0 0533 CLA DISC1 # IS ABORT OR ABORT STATE YES 3442: 2773 56 0 0007 ALS 7 3443: 2774 46 0 2777 TMI *+3 # -- ABORT YES 3444: 2775 22 0 4126 ADD M1B1 3445: 2776 46 0 3010 TMI ORBI2 # -- ABORT STATE NO 3446: 2777 20 0 0303 CLA THETAF 3447: 3000 24 0 0305 SUB 12J 3450: 3001 46 0 3006 TMI *+5 # -- CENTRAL ANGLE LESS THAN LIMIT 3451: 3002 20 0 0226 CLA 10J # SET NEW SLOPE AND OFFSET 3452: 3003 10 0 0224 STO 7J # VALUES FOR AL WHEN ABORT OR 3453: 3004 20 0 0673 CLA 11J # ABORT STAGE YES AND THE 3454: 3005 10 0 0662 STO 4K10 # CENTRAL ANGLE LARGE 3455: 3006 20 0 5033 CLA 1B1 # STOP PASSES OF NEW SLOPE/OFFSET 3456: 3007 10 0 0305 STO 12J # EQUALS 4 RAD AT B3 3457: 3010 20 0 0303 ORBI2 CLA THETAF # CALCULATE AL 3460: 3011 06 0 0662 MPY 4K10 3461: 3012 22 0 0224 ADD 7J 3462: 3463: # PAGE 47 3464: 3013 10 0 0177 STO AL 3465: 3014 20 0 0435 CLA RB 3466: 3015 10 0 0347 STO RF 3467: 3016 54 0 0001 LRS 1 # CHECK FOR LOW LIMIT OF AL 3470: 3017 22 0 0225 ADD 8J 3471: 3020 24 0 0177 SUB AL 3472: 3021 46 0 3741 TMI CDH3+1 3473: 3022 22 0 0177 ADD AL 3474: 3023 40 0 3740 TRA CDH3 # AL LOW LIMIT BJ+RB/2 3475: 3476: # TERMINAL FOR CSI, CDH, EXT DV 3477: 3024 72 0 6261 TSQ EXEC 3500: 3025 20 0 0373 XDV CLA TIG # TEST FOR ULLAGE TIME 3501: 3026 24 0 0274 SUB 7K1 3502: 3027 24 0 0377 SUB TA1 # IF TIME FOR ULLAGE, THEN 3503: 3030 46 0 3047 TMI XDV2 # FREEZE COORDINATE FRAME 3504: 3031 50 1 0002 XDV1 AXT 2,1 3505: 3032 20 0 0452 CLA 28J3 # RADIAL COMPONENT 3506: 3033 26 1 0060 MPR U1X,1 # 13+1=14 3507: 3034 10 1 0050 STO DQSX,1 3510: 3035 20 0 0451 CLA 28J2 # CROSSRANGE COMPONENT 3511: 3036 26 1 0040 MPR W1X,1 3512: 3037 32 1 0050 ADZ DQSX,1 3513: 3040 10 1 0050 STO DQSX,1 3514: 3041 20 0 0450 CLA 28J1 # DOWNRANGE COMPONENT 3515: 3042 26 1 0034 MPR V1X,1 3516: 3043 34 1 0050 SUZ DQSX,1 3517: 3044 56 0 0001 ALS 1 # TO 13 3520: 3045 10 1 0600 STO DVGXX,1 # VELOCITY TO GAIN 3521: 3046 42 1 3032 TIX XDV1+1,1 3522: 3047 50 1 0002 XDV2 AXT 2,1 # LOAD NDX FOR STEER/XDV 3523: 3050 20 0 0410 CLA S10 # O.I. EXIT TO STEERING 3524: 3051 24 0 7701 SUB 1B3 3525: 3052 46 0 3262 TMI STEER4+1 # GO TO STEERING 3526: 3053 20 1 0600 XDV3 CLA DVGXX,1 # INITIAL VG 3527: 3054 24 1 0050 SUB DQSX,1 # ACCUMULATED DELTA V 3530: 3055 10 1 0004 STO TS4,1 3531: 3532: # PAGE 48 3533: 3056 10 1 0064 STO VGX,1 # B13 3534: 3057 42 1 3053 TIX XDV3,1 3535: 3060 72 0 6737 TSQ DPVMAG 3536: 3061 10 0 0370 STO VG # VEL TO GAIN MAGNITUDE 3537: 3062 40 0 3302 TRA Q7 # GO TO STEERING 3540: 3541: 3063 20 0 0423 Q5 CLA RFDOT # GUIDANCE LAW 3542: 3064 10 0 0004 STO TS4 # SET FOR INDEXING 3543: 3065 30 0 0005 CLZ TS5 3544: 3066 20 0 0477 CLA RADOT 3545: 3067 10 0 0010 STO TS10 3546: 3070 20 0 0270 CLA VY0 3547: 3071 10 0 0011 STO TS11 3550: 3072 50 1 0001 AXT 1,1 3551: 3073 44 0 3074 TOV *+1 3552: 3074 20 1 0504 CLA RD3DOT,1 # -2 3553: 3075 26 0 0357 MPR TBO # 9-2=7 3554: 3076 54 0 0001 LRS 1 # TO 8 3555: 3077 10 0 0001 STO TS1 # 1/2 AT 7 3556: 3100 20 1 0004 CLA TS4,1 # RFDOT OR ZERO 3557: 3101 24 1 0010 SUB TS10,1 # RDOT OR VY0 3560: 3102 10 0 0002 STO TS2 3561: 3103 06 0 7701 MPY 1B3 # B16 3562: 3104 04 0 0357 DVP TBO # 16-9=7 3563: 3105 34 0 0001 SUZ TS1 # R OR YD2DOT 3564: 3106 10 0 0000 STO TS0 # TEST FOR OVERFLOW 3565: 3107 30 0 0002 CLZ TS2 # SIGN IF OVERFLOW 3566: 3110 72 0 3346 TSQ OVFLT 3567: 3111 10 1 0044 STO RD2DOT,1 3570: 3112 20 0 4020 CLA SIXTH # -2 3571: 3113 26 1 0504 MPR RD3DOT,1 # -4 3572: 3114 26 0 0357 MPR TBO # 5 3573: 3115 54 0 0001 LRS 1 # TO 6 3574: 3116 22 1 0044 ADD RD2DOT,1 # +1/2 2DOT AT 6 3575: 3117 26 0 0357 MPR TBO # 15 3576: 3120 56 0 0001 ALS 1 # TO 14 3577: 3121 10 0 0001 STO TS1 3600: 3601: # PAGE 49 3602: 3122 20 1 0010 CLA TS10,1 3603: 3123 54 0 0001 LRS 1 # TO 14 3604: 3124 32 0 0001 ADZ TS1 3605: 3125 26 0 0357 MPR TBO # 23 3606: 3126 22 1 0210 ADD R,1 3607: 3127 10 1 0014 STO TS14,1 # RF OR YF 3610: 3130 42 1 3073 TIX Q5+8,1 3611: 3131 10 0 0347 STO RF # 23 3612: 3132 10 0 0435 STO RB # SAVE RF FOR ORBIT INSERT. 3613: 3133 24 0 0231 SUB 5J # -LUNAR RADIUS 3614: 3134 24 0 0232 SUB 16J # BURNOUT ALT ERROR 3615: 3135 10 0 0014 STO TS14 3616: 3136 14 0 0523 LDQ 5K20 3617: 3137 20 0 0506 CLA 4K12 3620: 3140 24 0 0067 SUB AT 3621: 3141 46 0 3144 TMI *+3 # IF AT GT 4K12 3622: 3142 20 0 0574 CLA DEL2 3623: 3143 46 0 3145 TMI *+2 # IF AT LE 4K12 AND DEL2=1 3624: 3144 14 0 0267 LDQ 5K18 3625: 3145 12 0 0610 STQ RD3DTL # RD3DOT LOWER LIMIT 3626: 3146 20