Source Code

034409,000001: 034410,000002: 034411,000003: 034412,000004: 034413,000005: 034414,000006: 034415,000007: 034416,000008: 034417,000009: 034418,000010: 034419,000011: 034420,000012: 034421,000013: 034422,000014: 034423,000015: 034424,000016: 034425,000017: 034426,000018: 034427,000019: 034428,000020: 034429,000021: 034430,000022: 034431,000023: 034432,000024: 034433,000025: 034434,000026: 034435,000027: 034436,000028: 034437,000029: 034438,000030: 034439,000031: 034440,000032: 034441,000033: 31,2420 E7,1621 034442,000034: 31,2420 034443,000035: 034444,000036: 034445,000037: 034446,000038: 034447,000039: 034448,000040: 034449,000041: 034450,000042: 034451,000043: 034452,000044: 034453,000045: 034454,000046: 034455,000047: 034456,000048: 034457,000049: 034458,000050: 31,2420 < 034554,000146: 31,2502 034555,000147: 31,2503 034556,000148: 31,2504 035255,000847: 035256,000848: 31,3472 035257,000849: < 035591,001183: 035592,001184: 11,2352 035593,001185: 11,2353 035594,001186: 11,2354 035595,001187: 11,2355 035596,001188: 035597,001189: 11,2357 035598,001190: 11,2360 035599,001191: 11,2361 035600,001192: 11,2362 035601,001193: 035602,001194: 11,2364 035603,001195: 11,2365 035604,001196: 11,2366 035605,001197: 11,2367 035606,001198: 035607,001199: 11,2371 035608,001200: 11,2372 035609,001201: 035610,001202: 035611,001203: 035843,001435: 035844,001436: 035845,001437: < < # Copyright: Public domain. # Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: HARTMUTH GUTSCHE <hgutsche@xplornet.com>. # Website: www.ibiblio.org/apollo. # Pages: 798-828 # Mod history: 2009-05-23 HG Transcribed from page images. # 2009-06-05 RSB Fixed a goofy thing that was apparently # legal in GAP but not in yaYUL. Eliminated # a couple of lines of code that shouldn't # have survived from Luminary 131 to here. # 2009-06-07 RSB Fixed a typo. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # Notations on the hardcopy document read, in part: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 # 16:27 JULY 14, 1969 # Page 798 EBANK= E2DPS COUNT* $$/F2DPS # ******************************************************** # LUNAR LANDING FLIGHT SEQUENCE TABLES # ******************************************************** # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE: # WCHPHASE = -1 ---> IGNALG # WCHPHASE = 0 ---> BRAKQUAD # WCHPHASE = 1 ---> APPRQUAD # WCHPHASE = 2 ---> VERTICAL # ********************************************************* # ROUTINES FOR STARTING NEW GUIDANCE PHASES: 12641 TCF TTFINCR # IGNALG 345">034459,000051: 31,2421 12641 NEWPHASE TCF TTFINCR # BRAKQUAD 12630 TCF STARTP64 # APPRQUAD 12621 TCF P65START # VERTICAL # PRE-GUIDANCE COMPUTATIONS: 13003 TCF CALCRGVG # IGNALG 445">034466,000058: 31,2425 13013 PREGUIDE TCF RGVGCALC # BRAKQUAD 12704 TCF REDESIG # APPRQUAD 13013 TCF RGVGCALC # VERTICAL # GUIDANCE EQUATIONS: 13061 TCF TTF/8CL # IGNALG 944">034473,000065: 31,2431 13061 WHATGUID TCF TTF/8CL # BRAKQUAD 13061 TCF TTF/8CL # APPRQUAD 13531 TCF VERTGUID # VERTICAL # POST GUIDANCE EQUATION COMPUTATIONS: 13245 TCF CGCALC # IGNALG 944">034480,000072: 31,2435 13245 AFTRGUID TCF CGCALC # BRAKQUAD 13245 TCF CGCALC # APPRQUAD 13432 TCF STEER? # VERTICAL # Page 799 # WINDOW VECTOR COMPUTATIONS: 13331 TCF EXGSUB # IGNALG 954">034488,000080: 31,2441 13352 WHATEXIT TCF EXBRAK # BRAKQUAD 13360 TCF EXNORM # APPRQUAD # DISPLAY ROUTINES: 350">034493,000085: 31,2443 13473 WHATDISP TCF P63DISPS # BRAKQUAD 13477 TCF P64DISPS # APPRQUAD 13527 TCF VERTDISP # VERTICAL # ALARM ROUTINE FOR TTF COMPUTATION: 13733 TCF 1406P00 # IGNALG D">034500,000092: 31,2447 13735 WHATALM TCF 1406ALM # BRAKQUAD 13735 TCF 1406ALM # APPRQUAD # INDICES FOR REFERENCING TARGET PARAMETERS 00000 OCT 0 # IGNALG 558">034506,000098: 31,2452 00000 TARGTDEX OCT 0 # BRAKQUAD 00034 OCT 34 # APPRQUAD # ************************************************************************ # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT # ************************************************************************ # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC GUIDANCE 542">034515,000107: 31,2454 77776 ?GUIDSUB EXIT 34752 CAF TWO # N = 3 55647 TS NGUIDSUB 12603 TCF GUILDRET +2 2">034520,000112: 31,2460 55647 GUIDSUB TS NGUIDSUB # ON SUCCEEDING PASSES SKIP TTFINCR 13003 TCF CALCRGVG # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT 4">034525,000117: 31,2462 05353 LUNLAND TC PHASCHNG 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK 05353 TC PHASCHNG 05023 OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21 21000 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY # Page 800 # ******************************************************************* # GUILDENSTERN: AUTO-MODES MONITOR (R13) # ******************************************************************* COUNT* $$/R13 # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY: ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66 # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE E">034542,000134: 31,2467 00006 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT? # STERN # RSB 2009: Not originally a comment. 00030 READ CHAN30 74747 MASK BIT5 10000 CCS A 12551 TCF STARTP67 # YES F">034548,000140: 31,2474 05321 P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW? 00103 DEC 67 B-14 12557 TCF STABL? # NO 636">034551,000143: 31,2477 03740 STARTP66 TC FASTCHNG # YES 05311 TC NEWMODEX /a>034553,000145: 31,2501 00102 DEC66 DEC 66 B-14 00006 EXTEND 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT 53645 DXCH VDGVERT # ALTITUDE RATE. 641">034557,000149: 31,2505 06037 STRTP66A TC INTPRET 41535 SLOAD PUSH 01457 PBIASZ 41535 SLOAD PUSH 01455 PBIASY 55535 SLOAD VDEF 01453 PBIASX 43161 VXSC SET 25537 BIASFACT 00463 RODFLAG 26631 STOVL VBIAS 01255 TEMX 77676 VCOMP 27764 STOVL OLDPIPAX 06522 ZEROVECS 17767 STODL DELVROD 02540 RODSCALE 17757 STODL RODSCAL1 01235 PIPTIME 03760 STORE LASTTPIP 77776 EXIT 34755 CAF ZERO 55620 TS FCOLD 55610 TS FWEIGHT 55611 TS FWEIGHT +1 254">034582,000174: 31,2536 55647 VRTSTART TS WCHVERT # Page 801 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67 55621 TS WCHPHOLD 55351 TS WCHPHASE 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE 40165 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE 00311 ADRES XOVINFLG 05516 TC DOWNFLAG 00143 ADRES REDFLAG 13531 TCF VERTGUID 637">034595,000187: 31,2551 05311 STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER 00103 DEC 67 B-14 # SO NO NEED FOR A FASTCHNG AND NO NEED 34755 CAF ZERO # TO SEE IF ALREADY IN P67. 55746 TS RODCOUNT 34363 CAF TEN 12536 TCF VRTSTART >034602,000194: 31,2557 34737 STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT? 00006 EXTEND 02031 RAND CHAN31 10000 CCS A 12601 TCF GUILDRET # YES ALL'S WELL F">034608,000200: 31,2564 41011 P66NOW? CS MODREG 62501 AD DEC66 00006 EXTEND 12574 BZF RESTART? 31746 CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"? 00006 EXTEND 12601 BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING 12477 TCF STARTP66 # YES. SWITCH INTO THE ROD MODE. 43F">034618,000210: 31,2574 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART? 74740 MASK RODFLBIT 00006 EXTEND 12505 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS # IS. 13531 TCF VERTGUID # NO: CONTINUE WITH R.O.D. # ******************************************************************************* # INITIALIZATION FOR THIS PASS # ******************************************************************************* COUNT* $$/F2DPS 554">034632,000224: 31,2601 34755 GUILDRET CAF ZERO 55746 TS RODCOUNT # Page 802 00006 +2 EXTEND 31625 DCA TPIP 53574 DXCH TPIPOLD 03740 TC FASTCHNG 00006 EXTEND 31561 DCA PIPTIME1 53625 DXCH TPIP 00006 EXTEND 31643 DCA TTF/8 53553 DXCH TTF/8TMP 11623 CCS FLPASS0 12641 TCF TTFINCR 1">034653,000245: 31,2617 51351 BRSPOT1 INDEX WCHPHASE 12421 TCF NEWPHASE # ****************************************************************** # ROUTINES TO START NEW PHASES # ****************************************************************** 254">034660,000252: 31,2621 05311 P65START TC NEWMODEX 00101 DEC 65 B-14 44752 CS TWO 55647 TS WCHVERT 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE 00311 ADRES XOVINFLG 12641 TCF TTFINCR 634">034668,000260: 31,2630 05311 STARTP64 TC NEWMODEX 00100 DEC 64 B-14 31425 CA DELTTFAP # AUGMENT TTF/8 27552 ADS TTF/8TMP 34740 CA BIT12 # ENABLE RUPT10 00006 EXTEND 05013 WOR CHAN13 05516 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG 00143 ADRES REDFLAG # (CONTINUE TO TTFINCR) # ********************************************************************************* # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS # ********************************************************************************* # TTFINCR COMPUTATIONS ARE AS FOLLOWS -- # Page 803 # TTF/8 UPDATED FOR TIME SINCE LAST PASS: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8 # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION: # ____ ____ ____ __ # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM) # SLANT RANGE TO LANDING SITE, FOR DISPLAY: # ____ _ # RANGEDSP = ABVAL(LAND - R) 2">034696,000288: 31,2641 06037 TTFINCR TC INTPRET 45345 DLOAD DSU 03625 TPIP 03574 TPIPOLD 41461 SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS 21214 11D 47361 VXSC VXV 03635 LAND 02325 WM 47045 BVSU RTB 03635 LAND 21726 NORMUNIT 76561 VXSC VSL1 02333 /LAND/ 17545 STODL LANDTEMP 77776 EXIT 52155 DXCH MPAC 21553 DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP 03740 TC FASTCHNG 00006 EXTEND 31553 DCA TTF/8TMP 53643 DXCH TTF/8 00006 EXTEND 31545 DCA LANDTEMP 53635 DXCH LAND 00006 EXTEND 31547 DCA LANDTEMP +2 53637 DXCH LAND +2 00006 EXTEND 31551 DCA LANDTEMP +4 53641 DXCH LAND +4 # Page 804 03704 TC TDISPSET 03740 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP 2">034736,000328: 31,2702 51351 BRSPOT2 INDEX WCHPHASE 12425 TCF PREGUIDE # ********************************************************************* # LANDING SITE PERTURBATION EQUATIONS # ********************************************************************* 7">034743,000335: 31,2704 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET? 74746 MASK REDFLBIT 00006 EXTEND 13013 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC 31666 CA TREDES # YES: HAS TREDES REACHED ZERO? 00006 EXTEND 13013 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC 00004 INHINT 31267 CA ELINCR1 55554 TS ELINCR 31266 CA AZINCR1 55556 TS AZINCR 03740 TC FASTCHNG 34755 CA ZERO 55267 TS ELINCR1 55266 TS AZINCR1 55555 TS ELINCR +1 55557 TS AZINCR +1 30120 CA FIXLOC # SET PD TO 0 54166 TS PUSHLOC 06037 TC INTPRET 52375 VLOAD VSU 03635 LAND 03521 R # ____ _ 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R) 21726 NORMUNIT 76435 VXV VSL1 02154 YNBPIP # ___ ____ _ 65361 VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R)) 03555 ELINCR 03557 AZINCR 52361 VXSC VSU 02154 YNBPIP 41455 VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE # Page 805 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT 00001 0 # TOO CLOSE TO THE HORIZON. 05660 DEPRCRIT 71240 BMN DLOAD 62755 REDES1 05660 DEPRCRIT 00001 STORE 0 >034792,000384: 31,2755 45345 REDES1 DLOAD DSU 03635 LAND 03521 R 74271 DDV VXSC 00001 0 53455 VAD UNIT 03521 R 76561 VXSC VSL1 02333 /LAND/ 03545 STORE LANDTEMP 77776 EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC 03740 TC FASTCHNG 00006 EXTEND 31545 DCA LANDTEMP 53635 DXCH LAND 00006 EXTEND 31547 DCA LANDTEMP +2 53637 DXCH LAND +2 00006 EXTEND 31551 DCA LANDTEMP +4 53641 DXCH LAND +4 13013 TCF RGVGCALC # ********************************************************************* # COMPUTE STATE IN GUIDANCE COORDINATES # ********************************************************************* # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-- # VELOCITY RELATIVE TO THE SURFACE # _______ _ _ __ # ANGTERM = V + R * WM # STATE IN GUIDANCE COORDINTES: # ___ * _ ____ # RGU = CG (R - LAND) # ___ * _ __ _ # VGU = CG (V - WM * R) # Page 806 actually starts one line earlier but that would separate the markers from their variables # HORIZONTAL VELOCITY FOR DISPLAY # VHORIZ = 8 ABVAL (0, VG , VG ) # 2 1 # DEPRESSION ANGLE FOR DISPLAY: # _ ____ ______ # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP) 647">034841,000433: 31,3003 06037 CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION 64375 VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM 00025 VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2 01734 REFSMMAT 53362 VSR1 VAD 03254 UNFC/2 03527 STORE V 77776 EXIT C43">034850,000442: 31,3013 06037 RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG 47375 VLOAD VXV 03521 R 02325 WM 70455 VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS 03527 V 02265 STORE ANGTERM 77721 MXV 02603 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED 03627 STORE VGU 55525 PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS 06522 ZEROVECS # 2 1 52446 ABVAL SL3 26263 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65. 03521 R # _ ____ 41451 VSU PUSH # PUSH DOWN R - LAND 03635 LAND 76521 MXV VSL1 02603 CG 02637 STORE RGU 77646 ABVAL 26625 STOVL RANGEDSP 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4 21726 NORMUNIT 02146 XNBPIP 77776 EXIT 30120 CA FIXLOC # RESET PUSH DOWN POINTER 54166 TS PUSHLOC # Page 807 30154 CA MPAC # COMPUTE LOOKANGLE ITSELF 60000 DOUBLE 04616 TC BANKCALL 61672 CADR SPARCSIN -1 63753 AD 1/2DEG 00006 EXTEND 73752 MP 180DEGS 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64 3">034890,000482: 31,3057 51351 BRSPOT3 INDEX WCHPHASE 12431 TCF WHATGUID # ************************************************************************** # TTF/8 COMPUTATION # ************************************************************************** C">034897,000489: 31,3061 03677 TTF/8CL TC INTPRETX 77743 DLOAD* 02431 JDG2TTF,1 23571 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF 02427 ADG2TTF,1 # 2 17567 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF 03633 VGU +4 # 2 42605 DMP DAD* 05656 3/4DP 02425 VDG2TTF,1 23565 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF 02407 RDG +4,1 # 2 2 41225 DSU DMP 02643 RGU +4 05654 3/8DP 03563 STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF 77776 EXIT # 2 2 34744 CA BIT8 55572 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE 00006 EXTEND 31643 DCA TTF/8 52155 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC 34752 CAF TWO # DEGREE - ONE 54001 TS L 33746 CAF TABLTTFL 03553 TC ROOTPSRS # YIELDS TTF/8 IN MPAC 51351 INDEX WCHPHASE 12447 TCF WHATALM 00006 EXTEND # GOOD RETURN 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC 53643 DXCH TTF/8 # CORRECTED TTF/8 # Page 808 03704 TC TDISPSET # (CONTINUE TO QUADGUID) # ********************************************************************************* # MAIN GUIDANCE EQUATION # ********************************************************************************* # AS PUBLISHED -- # ___ __ ___ __ # ___ ___ 6(VDG + VG) 12(RDG - RG) # ACG = ADG + ----------- + ------------ # TTF (TTF)(TTF) # AS HERE PROGRAMMED -- # ___ __ # 3 (1/4(RDG - RG) ___ __) # - (------------- + VDG + VG) # ___ 4 ( TTF/8 ) ___ # ACG = ---------------------------- + ADG # TTF/8 944">034954,000546: 31,3121 41642 QUADGUID CS TTF/8 61426 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER 64733 AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW 54001 TS L # BY FORCING -TTF*LEADTIME > OR = ZERO 40001 CS L 60001 AD L 22007 ZL 00006 EXTEND 11642 DV TTF/8 54130 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF 00006 EXTEND 70000 SQUARE 54131 TS BUF +1 60130 AD BUF 56131 XCH BUF +1 # RATIO SQUARED - RATIO 60131 AD BUF +1 54154 TS MPAC # COEFFICIENT FOR VGU TERM 60131 AD BUF +1 50120 INDEX FIXLOC 54032 TS 26D # COEFFICIENT FOR RDG-RGU TERM 60131 AD BUF +1 50120 INDEX FIXLOC 54034 TS 28D # COEFFICIENT FOR VDG TERM 60130 AD BUF 64733 AD POSMAX # Page 809 60131 AD BUF +1 60131 AD BUF +1 50120 INDEX FIXLOC 54036 TS 30D # COEFFICIENT FOR ADG TERM 34755 CAF ZERO 54163 TS MODE 03677 TC INTPRETX 65361 VXSC PDDL 03627 VGU 00035 28D 62757 VXSC* PDVL* 02411 VDG,1 02403 RDG,1 70251 VSU V/SC 02637 RGU 03643 TTF/8 74342 VSR2 VXSC 00033 26D 53255 VAD VAD 74341 V/SC VXSC 03643 TTF/8 05656 3/4DP 73725 PDDL VXSC* 00037 30D 02417 ADG,1 77655 VAD 331">035008,000600: 31,3204 76505 AFCCALC1 VXM VSL1 # VERGUID COMES HERE 02603 CG 70315 PDVL V/SC 01237 GDT/2 05652 GSCALE 45445 BVSU STADR 74523 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED 77646 ABVAL 332">035016,000608: 31,3214 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE 03254 UNFC/2 # VERTICAL COMPONENT 65316 DSQ PDDL 03256 UNFC/2 +2 # OUT-OF-PLANE 65316 DSQ PDDL 05650 HIGHESTF 63471 DDV DSQ 01245 MASS # 2 2 2 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A ) 71244 BPL DLOAD # 1 0 63230 AFCCALC3 06522 ZEROVECS 333">035028,000620: 31,3230 43366 AFCCALC3 SQRT DAD 03260 UNFC/2 +4 # Page 810 44244 BPL BDSU 63236 AFCCLEND 03260 UNFC/2 +4 03260 STORE UNFC/2 +4 E44">035035,000627: 31,3236 77776 AFCCLEND EXIT 03740 TC FASTCHNG 31351 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC 55621 TS WCHPHOLD 25623 INCR FLPASS0 # INCREMENT PASS COUNTER 4">035042,000634: 31,3243 51351 BRSPOT4 INDEX WCHPHASE 12435 TCF AFTRGUID # *********************************************************************** # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX # *********************************************************************** >035049,000641: 31,3245 35014 CGCALC CAF EBANK5 54003 TS EBANK EBANK= TCGIBRAK 00006 EXTEND 51351 INDEX WCHPHASE 52452 INDEX TARGTDEX 31435 DCA TCGFBRAK 24006 INCR BBANK 24006 INCR BBANK EBANK= TTF/8 61642 AD TTF/8 56001 XCH L 61642 AD TTF/8 10000 CCS A 10001 CCS L 13313 TCF EXTLOGIC 13313 TCF EXTLOGIC 13265 NOOP 03677 TC INTPRETX 53575 VLOAD UNIT 03635 LAND 16603 STODL CG 03643 TTF/8 74203 DMP* VXSC 02433 GAINBRAK,1 # NUMERO MYSTERIOSO 02265 ANGTERM 77655 VAD 03635 LAND 47051 VSU RTB 03521 R 21726 NORMUNIT # Page 811 47035 VXV RTB 03635 LAND 21726 NORMUNIT 26611 STOVL CG +6 # SECOND ROW 02603 CG 76435 VXV VSL1 02611 CG +6 02617 STORE CG +14 77776 EXIT # (CONTINUE TO EXTLOGIC) # *********************************************************************** # PREPARE TO EXIT # *********************************************************************** # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES 943">035100,000692: 31,3313 51351 EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD 31423 CA TENDBRAK # WCHPHASE = 0 BRAKQUAD 61642 AD TTF/8 1">035104,000696: 31,3316 00006 EXSPOT1 EXTEND 51351 INDEX WCHPHASE 62441 BZMF WHATEXIT 03740 TC FASTCHNG 31621 CA WCHPHOLD 64753 AD ONE 55351 TS WCHPHASE 34755 CA ZERO 55623 TS FLPASS0 # RESET FLPASS0 51621 INDEX WCHPHOLD 12441 TCF WHATEXIT # *********************************************************************** # ROUTINES FOR EXITING FROM LANDING GUIDANCE # *********************************************************************** # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM. # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR. # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN. # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.) >035128,000720: 31,3331 06037 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM. # Page 812 47175 VLOAD RTB 03254 UNFC/2 21726 NORMUNIT 74361 VXSC VXSC 03423 ZOOMTIME 22001 TRIMACCL 03254 STORE UNFC/2 77776 EXIT 11647 CCS NGUIDSUB 12460 TCF GUIDSUB 11646 CCS NIGNLOOP 13350 TCF +3 05567 TC ALARM 01412 OCT 01412 04635 +3 TC POSTJUMP 65102 CADR DDUMCALC >035149,000741: 31,3352 06037 EXBRAK TC INTPRET 77775 VLOAD 03537 UNIT/R/ 03262 STORE UNWC/2 77776 EXIT 13432 TCF STEER? >035156,000748: 31,3360 06037 EXNORM TC INTPRET 52375 VLOAD VSU 03635 LAND 03521 R 77634 RTB 21726 NORMUNIT 03262 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE 50235 VXV DOT 02146 XNBPIP 02611 CG +6 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE 40154 CS MPAC # GET COEFFICIENT FOR CG +14 63754 AD PROJMAX 64733 AD POSMAX 54130 TS BUF 40130 CS BUF 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE 43755 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R) 60154 AD MPAC 64733 AD POSMAX 54131 TS BUF +1 40131 CS BUF +1 # Page 813 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE 34751 CAF FOUR F50">035184,000776: 31,3410 76242 UNWCLOOP MASK SIX 54002 TS Q 35014 CA EBANK5 54003 TS EBANK EBANK= CG 30130 CA BUF 00006 EXTEND 50002 INDEX Q 71616 MP CG +14 24006 INCR BBANK EBANK= UNWC/2 50002 INDEX Q 53662 DXCH UNWC/2 00006 EXTEND 70131 MP BUF +1 50002 INDEX Q 21662 DAS UNWC/2 10002 CCS Q 13410 TCF UNWCLOOP 24006 INCR BBANK EBANK= PIF >035207,000799: 31,3432 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS 74741 MASK STEERBIT 00006 EXTEND 13443 BZF RATESTOP >035212,000804: 31,3436 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW 13453 BZF +13 F57">035216,000808: 31,3441 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY 01410 OCT 01410 F50">035219,000811: 31,3443 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD? 00006 EXTEND 02031 RAND CHAN31 00006 EXTEND 13460 BZF DISPEXIT # YES 04616 TC BANKCALL # NO: DO A STOPRATE 40165 CADR STOPRATE 13460 TCF DISPEXIT >035230,000822: 31,3453 02216 GDUMP1 TC THROTTLE # Page 814 06037 TC INTPRET 77624 CALL 61111 FINDCDUW -2 77776 EXIT # (CONTINUE TO DISPEXIT) # *********************************************************************** # GUIDANCE LOOP DISPLAYS # *********************************************************************** 954">035243,000835: 31,3460 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE. 52757 DXCH -PHASE3 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS 74742 MASK FLUNDBIT 00006 EXTEND 13476 BZF ENDLLJOB # TO PICK UP THE TAG 51621 INDEX WCHPHOLD 12443 TCF WHATDISP 31,3471 05353 -2 TC PHASCHNG # KILL GROUP 5 00035 OCT 00035 053">035258,000850: 31,3473 33756 P63DISPS CAF V06N63 D4E">035259,000851: 31,3474 04616 DISPCOMN TC BANKCALL 20470 CADR REGODSPR F42">035262,000854: 31,3476 15155 ENDLLJOB TCF ENDOFJOB 053">035264,000856: 31,3477 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO? 00006 EXTEND 13523 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG 40102 CS FLAGWRD6 # NO: IS REDFLAG SET? 74746 MASK REDFLBIT 00006 EXTEND 13525 BZF REDES-OK # YES: DO STATIC DISPLAY 33757 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY 04616 TC BANKCALL 20462 CADR REFLASHR 16001 TCF GOTOP00H # TERMINATE 13515 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS 13477 TCF P64DISPS # RECYCLE # Page 815 13476 TCF ENDLLJOB 4">035282,000874: 31,3515 34755 P64CEED CAF ZERO 55267 TS ELINCR1 55266 TS AZINCR1 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC 00143 ADRES REDFLAG 15155 TCF ENDOFJOB 552">035291,000883: 31,3523 05516 RED-OVER TC DOWNFLAG 00143 ADRES REDFLAG F4B">035293,000885: 31,3525 33757 REDES-OK CAF V06N64 13474 TCF DISPCOMN 350">035297,000889: 31,3527 33760 VERTDISP CAF V06N60 13474 TCF DISPCOMN # ************************************************************************** # GUIDANCE FOR P65 # ************************************************************************** 944">035305,000897: 31,3531 11647 VERTGUID CCS WCHVERT 13545 TCF P67VERT # POSITIVE NON-ZERO ---> P67 13543 TCF P66VERT # +0 # THE P65 GUIDANCE EQUATION IS AS FOLLOWS -- # ____ ___ # V2FG - VGU # ACG = ---------- # TAUVERT 4">035315,000907: 31,3534 06037 P65VERT TC INTPRET 52375 VLOAD VSU 02511 V2FG 03627 VGU 52141 V/SC GOTO 02517 TAUVERT 63204 AFCCALC1 # Page 816 # ********************************************************** # GUIDANCE FOR P66 # ********************************************************** 4">035327,000919: 31,3543 04635 P66VERT TC POSTJUMP 65270 CADR P66VERTA 4">035330,000922: 31,3545 05353 P67VERT TC PHASCHNG # TERMINATE GROUP 3. 00003 OCT 00003 06037 TC INTPRET 52175 VLOAD GOTO 03527 V 65517 VHORCOMP SETLOC P66LOC BANK COUNT* $$/F2DPS B">035342,000934: 32,3263 37710 RODTASK CAF PRIO22 05105 TC FINDVAC EBANK= DVCNTR 03275 64067 2CADR RODCOMP 15261 TCF TASKOVER 441">035349,000941: 32,3270 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3. 00003 OCT 00003 34777 CAF 1SEC 05173 TC TWIDDLE 03263 ADRES RODTASK 0">035356,000948: 32,3275 00004 RODCOMP INHINT 34755 CAF ZERO 57746 XCH RODCOUNT 00006 EXTEND 71756 MP RODSCAL1 21645 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE. 00006 EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z 30040 DCA PIPAX 53764 DXCH OLDPIPAX 52071 DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z 30041 CA PIPAZ 57765 XCH OLDPIPAZ 56072 XCH RUPTREG3 00006 EXTEND # SHAPSHOT TIME OF PIPA READING. 30025 DCA TIME2 # Page 817 53762 DXCH THISTPIP 31763 CA OLDPIPAX 61160 AD PIPATMPX 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX 31764 CA OLDPIPAY 61161 AD PIPATMPY 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY 31765 CA OLDPIPAZ 61162 AD PIPATMPZ 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ 41763 CS OLDPIPAX 61254 AD TEMX 60070 AD RUPTREG1 55766 TS DELVROD 41764 CS OLDPIPAY 61255 AD TEMY 60071 AD RUPTREG2 55770 TS DELVROD +2 41765 CS OLDPIPAZ 61256 AD TEMZ 60072 AD RUPTREG3 55772 TS DELVROD +4 34755 CAF ZERO 54155 TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS 54160 TS MPAC +4 54162 TS MPAC +6 55254 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL 55255 TS TEMY # KNOW WHEN READACCS CHANGES THEM. 55256 TS TEMZ 44753 CS ONE 54163 TS MODE 06037 TC INTPRET 1">035409,001001: 32,3354 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6) 26022 KPIP1 03762 THISTPIP 77625 DSU 01235 PIPTIME 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME 63271 DDV PDVL # (8) 27153 4SEC(28) 01237 GDT/2 74251 VSU VXSC # (6) 02631 VBIAS 53352 VSL2 VAD 03527 V 45455 VAD STADR # (0) 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D # Page 818 03521 R 77656 UNIT 00017 STORE 14D 72441 DOT SL1 00031 24D 17474 STODL HDOTDISP # UPDATE HDOTDISP RATE FOR NOUN 63. 00037 30D 41261 SL DMP 20214 11D 03474 HDOTDISP 45215 DAD DSU 00045 36D 02333 /LAND/ 17775 STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63. 03474 HDOTDISP 56221 BDSU DDV 03645 VDGVERT 02541 TAUROD 51515 PDVL ABVAL # (2) 01237 GDT/2 60471 DDV SR2 05652 GSCALE 00025 STORE 20D 77615 DAD # (0) 45115 PDVL CALL # (2) 06520 UNITX 47661 CDU*NBSM 77641 DOT 00017 14D 00027 STORE 22D 45465 BDDV STADR # (0) 50313 STOVL /AFC/ 03767 DELVROD 53361 VXSC VAD 26022 KPIP1 02631 VBIAS 65246 ABVAL PDDL # (2) 03762 THISTPIP 65225 DSU PDDL # (4) 03760 LASTTPIP 03762 THISTPIP 17760 STODL LASTTPIP # (2) 55271 DDV BDDV # (0) 25535 SHFTFACT 41325 PDDL DMP # (2) 03611 FWEIGHT 25534 BIT1H 56271 DDV DDV 01245 MASS 22006 SCALEFAC # Page 819 65215 DAD PDDL # (4) 00001 0D 00025 20D 45271 DDV DSU # (2) 00027 22D 43205 DMP DAD 02543 LAG/TAU 03464 /AFC/ 56325 PDDL DDV # (4) 02547 MAXFORCE 01245 MASS 56325 PDDL DDV # (6) 02545 MINFORCE 01245 MASS 44206 PUSH BDSU # (8) 00003 2D 71240 BMN DLOAD # (6) 65504 AFCSPOT 41545 DLOAD PUSH # (6) 51021 BDSU BPL 00003 2D 65504 AFCSPOT 77745 DLOAD # (4) 4">035499,001091: 32,3504 77745 AFCSPOT DLOAD # (2), (4), OR (6) 77601 SETPD # (2) 00003 2D 17464 STODL /AFC/ # (0) 2">035503,001095: 32,3510 77776 ITRPNT2 EXIT 52155 DXCH MPAC # MPAC = MEASURED ACCELARATION. 04616 TC BANKCALL 62221 CADR THROTTLE +3 06037 TC INTPRET 77775 VLOAD # PICK UP UPDATED VELOCITY VECTOR. 00031 24D D50">035510,001102: 32,3517 53352 VHORCOMP VSL2 VAD 03734 DELVS 63342 VSR2 PDVL 03521 R 74256 UNIT VXSC 03474 HDOTDISP 51372 VSL1 BVSU 77646 ABVAL 02263 STORE VHORIZ 77776 EXIT 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG 63463 CADR DISPEXIT +3 /a>035523,001115: 32,3533 00001 BIT1H OCT 00001 354">035524,001116: 32,3534 00000 04000 SHFTFACT 2DEC 1 B-17 # Page 820 354">035526,001118: 32,3536 00000 01217 BIASFACT 2DEC 655.36 B-28 # ********************************************************************************* # REDESIGNATOR TRAP # ********************************************************************************* BANK 11 SETLOC F2DPS*11 BANK COUNT* $$/F2DPS C">035538,001130: 11,2275 56016 PITFALL XCH BANKRUPT 00006 EXTEND 22012 QXCH QRUPT 05321 TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE 00100 DEC 64 B-14 15270 TCF RESUME 00006 EXTEND 00031 READ CHAN31 40000 COM 72373 MASK ALL4BITS 55265 TS ELVIRA 34752 CAF TWO 55264 TS ZERLINA 34756 CAF FIVE 05173 TC TWIDDLE 02321 ADRES REDESMON 15270 TCF RESUME # REDESIGNATOR MONITOR (INITIATED BY PITFALL) 1">035560,001152: 11,2316 55264 PREMON1 TS ZERLINA 2">035561,001153: 11,2317 34757 PREMON2 CAF SEVEN 05224 TC VARDELAY F4E">035563,001155: 11,2321 00006 REDESMON EXTEND 00031 READ 31 40000 COM 72373 MASK ALL4BITS 57265 XCH ELVIRA 54001 TS L 11265 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS? 12317 TCF PREMON2 # Y: CONTINUE MONITOR 10001 CCS L # N: ANY LAST PASS? 12341 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE # Page 821 11264 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET? 12316 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE 054">035577,001169: 11,2335 34740 RESETRPT CAF BIT12 # Y: RESET RUPT. TERMINATE 00006 EXTEND 05013 WOR CHAN13 15261 TCF TASKOVER 54D">035582,001174: 11,2341 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD? 00006 EXTEND 02031 RAND CHAN31 00006 EXTEND 12335 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC. 30001 CA L # NO. 74746 MASK -AZBIT 10000 CCS A 11,2351 42374 -AZ CS AZEACH 27266 ADS AZINCR1 30001 CA L 74747 MASK +AZBIT 10000 CCS A 11,2356 32374 +AZ CA AZEACH 27266 ADS AZINCR1 30001 CA L 74753 MASK -ELBIT 10000 CCS A 11,2363 42375 -EL CS ELEACH 27267 ADS ELINCR1 30001 CA L 74752 MASK +ELBIT 10000 CCS A 11,2370 32375 +EL CA ELEACH 27267 ADS ELINCR1 12335 TCF RESETRPT # THESE EQUIVALENCES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM >035612,001204: 11,2373 4752 +ELBIT = BIT2 # -PITCH >035613,001205: 11,2373 4753 -ELBIT = BIT1 # +PITCH >035614,001206: 11,2373 4747 +AZBIT = BIT5 >035615,001207: 11,2373 4746 -AZBIT = BIT6 # Page 822 453">035618,001210: 11,2373 00063 ALL4BITS OCT 00063 >035619,001211: 11,2374 01074 AZEACH DEC .03491 # 2 DEGREES >035620,001212: 11,2375 00217 ELEACH DEC .00873 # 1/2 DEGREE # **************************************************************** # R.O.D. TRAP # **************************************************************** BANK 20 SETLOC RODTRAP BANK COUNT* $$/F2DPS # ************************ 453">035631,001223: 20,2115 74745 DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT 10000 CCS A # 7 OR 6 OF CHANNEL 16 IN A; BIT 7 MEANS 44752 CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT. 64753 AD ONE 27746 ADS RODCOUNT 15270 TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED BANK 31 SETLOC F2DPS*31 BANK COUNT* $$/F2DPS # *********************************************************************************** # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP) # *********************************************************************************** # N N-1 # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A # N N-1 1 0 # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL # L SP N-1 N IS THE DEGREE OF THE POWER SERIES # MPAC DP X INITIAL GUESS FOR ROOT # LOC-2N DP A(0) # ... # LOC DP A(N) # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS) # Page 823 # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2. # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE TO IN 8 PASSES, RETURN IS TO LOC+1 AND # OUTPUTS ARE NOT TO BE TRUSTED. # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE # COEFFICIENT TABLE BY MULTIPLYINE EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE COREECT # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE: # 1. USER'S RESPONSIBILITY TO ASSUR THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I. # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUTATING EITHER THE RESIDUAL OR THE DERIVATIVE # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT # PRECLUDE EVENTUAL CONVERGENCE. # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS. # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7. # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE. # STORE ENTERING DATA, INITIALIZE ERASABLES 253">035680,001272: 31,3553 00006 ROOTPSRS EXTEND 22132 QXCH RETROOT # RETURN ADRES 54117 TS PWRPTR # PWR TABLE POINTER 52160 DXCH MPAC +3 # PWR TABLE ADRES, N-1 33676 CA DERTABLL 54141 TS DERPTR # DER TABL POINTER 54161 TS MPAC +5 # DER TABL ADRES 10160 CCS MPAC +4 # NO POWER SERIES DEGREE 1 OR LESS 54162 TS MPAC +6 # N-2 34755 CA ZERO # MODE USED AS ITERATION COUNTER. MODE 54163 TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC. # COMPUTE CRITERION TO STOP ITERATING 00006 EXTEND 30155 DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC 52127 DXCH ROOTPS # AND IN ROOTPS 50157 INDEX MPAC +3 # PWR TABLE ADRES 30005 CA 5 # PRECROOT TO A 07307 TC SHORTMP # YIELDS DP PRODUCT IN MPAC 04713 TC USPRCADR 01226 CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC 52155 DXCH MPAC 52125 DXCH DXCRIT # CRITERION # SET UP DER COF TABL # Page 824 00006 EXTEND 50117 INDEX PWRPTR 30004 DCA 3 52155 DXCH MPAC # A(N) TO MPAC 30160 CA MPAC +4 # N-1 TO A F50">035713,001305: 31,3605 54140 DERCLOOP TS PWRCNT # LOOP COUNTER 64753 AD ONE 07316 TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC 00006 EXTEND 50117 INDEX PWRPTR 30002 DCA 1 52155 DXCH MPAC # (I-1) TO MPAC, FETCHING DERCOF 50141 INDEX DERPTR 52004 DXCH 3 # DERCOF TO DER TABLE 44752 CS TWO 26117 ADS PWRPTR # DECREMENT PWR POINTER 44752 CS TWO 26141 ADS DERPTR # DECREMENT DER POINTER 10140 CCS PWRCNT 13605 TCF DERCLOOP # CONVERGE ON ROOT F50">035730,001322: 31,3624 00006 ROOTLOOP EXTEND 30127 DCA ROOTPS # FETCH CURRENT ROOT 52155 DXCH MPAC # LEAVE IN MPAC 00006 EXTEND 30162 DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2 07215 TC POWRSERS # YIELDS DERIVATIVE IN MPAC 00006 EXTEND 30127 DCA ROOTPS 52155 DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVATIVE 52131 DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR 00006 EXTEND 30160 DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1 07215 TC POWRSERS # YIELDS RESIDUAL IN MPAC 04713 TC USPRCADR 00353 CADR DDV/BDDV # YIELDS -DX IN MPAC 00006 EXTEND 40155 DCS MPAC # FETCH DX, LEAVING -DX IN MPAC 20127 DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS 04713 TC USPRCADR 01226 CADR ABS # YIELDS ABS(DX) IN MPAC 00006 EXTEND # Page 825 40125 DCS DXCRIT 20155 DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC 30163 CA MODE 74750 MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES 10000 CCS A 4">035762,001354: 31,3656 00132 BADROOT TC RETROOT 24163 INCR MODE # INCREMENT ITERATION COUNTER 10154 CCS MPAC # TEST HI ORDER DX 13624 TCF ROOTLOOP 13664 TCF TESTLODX 13670 TCF ROOTSTOR 458">035769,001361: 31,3664 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX 13624 TCF ROOTLOOP 13670 TCF ROOTSTOR 13670 TCF ROOTSTOR F52">035773,001365: 31,3670 52127 ROOTSTOR DXCH ROOTPS 52155 DXCH MPAC 30163 CA MODE 54156 TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2 50132 INDEX RETROOT 10002 TCF 2 C4C">035780,001372: 31,3676 00147 DERTABLL ADRES DERCOFN -3 # **************************************************************************** # TRASHY LITTLE SUBROUTINES # **************************************************************************** 458">035786,001378: 31,3677 51351 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER 42452 CS TARGTDEX 50120 INDEX FIXLOC 54046 TS X1 16037 TCF INTPRET 554">035792,001384: 31,3704 31642 TDISPSET CA TTF/8 00006 EXTEND 74750 MP TSCALINV 53476 DXCH TTFDISP 35014 CA EBANK5 # TREDES BECOMES ZERO TWO PASSES 54003 TS EBANK # BEFORE TCGFAPPR IS REACHED EBANK= TCGFAPPR 31470 CA TCGFAPPR 24006 INCR BBANK 24006 INCR BBANK EBANK= TTF/8 # Page 826 61642 AD TTF/8 00006 EXTEND 73751 MP TREDESCL 63747 AD -DEC103 64735 AD NEGMAX 54001 TS L 40001 CS L 60001 AD L 63750 AD +DEC99 64733 AD POSMAX 55666 TS TREDES 41666 CS TREDES 27666 ADS TREDES 00002 TC Q 0">035820,001412: 31,3733 05652 1406P00 TC P00DOO 01406 OCT 01406 D">035822,001414: 31,3735 05567 1406ALM TC ALARM 01406 OCT 01406 13443 TCF RATESTOP # ********************************************************************* # SPECIALIZED "PHASCHNG" SUBROUTINE # ********************************************************************* EBANK= PHSNAME2 E47">035831,001423: 31,3740 35007 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE 56003 XCH EBANK 52002 DXCH L 55442 TS PHSNAME3 22003 LXCH EBANK EBANK= E2DPS 00000 TC A # ************************************************************************************* # PARAMETER TABLE INDIRECT ADDRESSES # ************************************************************************************* 31,3746 E5,1402 RDG = RBRFG 31,3746 E5,1410 VDG = VBRFG 31,3746 E5,1416 ADG = ABRFG 6">035846,001438: 31,3746 E5,1424 VDG2TTF = VBRFG* 6">035847,001439: 31,3746 E5,1426 ADG2TTF = ABRFG* 6">035848,001440: 31,3746 E5,1430 JDG2TTF = JBRFG* # ************************************************************************************* # LUNAR LANDING CONSTANTS # ************************************************************************************* # Page 827 64C">035855,001447: 31,3746 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE C45">035856,001448: 31,3747 4740 TTFSCALE = BIT12 E56">035857,001449: 31,3747 4750 TSCALINV = BIT4 3">035858,001450: 31,3747 77630 -DEC103 DEC -103 B-14 >035859,001451: 31,3750 00143 +DEC99 DEC +99 B-14 34C">035860,001452: 31,3751 75340 TREDESCL DEC -.08 3">035861,001453: 31,3752 00264 180DEGS DEC +180 B-14 >035862,001454: 31,3753 00056 1/2DEG DEC +.00278 8">035863,001455: 31,3754 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ E">035864,001456: 31,3755 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ >035865,001457: 31,3756 01477 V06N63 VN 0663 # P63 >035866,001458: 31,3757 01500 V06N64 VN 0664 # P64 >035867,001459: 31,3760 01474 V06N60 VN 0660 # P65, P66, P67 BANK 22 SETLOC LANDCNST BANK COUNT* $$/F2DPS 446">035874,001466: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12 >035875,001467: 22,3651 01440 00000 GSCALE 2DEC 100 B-11 /a>035876,001468: 22,3653 14000 00000 3/8DP 2DEC .375 /a>035877,001469: 22,3655 30000 00000 3/4DP 2DEC .750 954">035878,001470: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1 # Page 828 # ************************************************************************** # ************************************************************************** LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc