Source Code

033320,000001: 033321,000002: 033322,000003: 033323,000004: 033324,000005: 033325,000006: 033326,000007: 033327,000008: 033328,000009: 033329,000010: 033330,000011: 033331,000012: 033332,000013: 033333,000014: 033334,000015: 033335,000016: 033336,000017: 31,2361 E7,1621 033337,000018: 31,2361 033338,000019: 033339,000020: 033340,000021: 033341,000022: 033342,000023: 033343,000024: 033344,000025: 033345,000026: 033346,000027: 033347,000028: 033348,000029: 033349,000030: 033350,000031: 033351,000032: 033352,000033: 033353,000034: 31,2361 < 033463,000144: 31,2453 033464,000145: 31,2454 033465,000146: 31,2455 < 034469,001150: 034470,001151: 11,2360 034471,001152: 11,2361 034472,001153: 11,2362 034473,001154: 11,2363 034474,001155: 034475,001156: 11,2365 034476,001157: 11,2366 034477,001158: 11,2367 034478,001159: 11,2370 034479,001160: 034480,001161: 11,2372 034481,001162: 11,2373 034482,001163: 11,2374 034483,001164: 11,2375 034484,001165: 034485,001166: 11,2377 034486,001167: 11,2400 034487,001168: 034488,001169: 034489,001170: 034719,001400: 034720,001401: 034721,001402: < 034735,001416: < < # Copyright: Public domain. # Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc # Purpose: A section of Luminary 1C, revision 131. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. # This file is intended to be a faithful transcription, except # that the code format has been changed to conform to the # requirements of the yaYUL assembler rather than the # original YUL assembler. # Reference: pp. 798-827 of 1729.pdf. # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo/index.html # Mod history: 05/24/03 RSB. Began transcribing. # 05/14/05 RSB Corrected website reference above. # Page 798 EBANK= E2DPS COUNT* $$/F2DPS # ******************************************************** # LUNAR LANDING FLIGHT SEQUENCE TABLES # ******************************************************** # FLIGHT SEQUENCE TABLES ARE ARRANGED IN 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: 12573 TCF TTFINCR # IGNALG 345">033354,000035: 31,2362 12573 NEWPHASE TCF TTFINCR # BRAKQUAD 12556 TCF STARTP64 # APPRQUAD 12547 TCF P65START # VERTICAL # PRE-GUIDANCE COMPUTATIONS: 12753 TCF CALCRGVG # IGNALG 445">033361,000042: 31,2366 12763 PREGUIDE TCF RGVGCALC # BRAKQUAD 12654 TCF REDESIG # APPRQUAD 12763 TCF RGVGCALC # VERTICAL # GUIDANCE EQUATIONS: 13026 TCF TTF/8CL # IGNALG 944">033368,000049: 31,2372 13026 WHATGUID TCF TTF/8CL # BRAKQUAD 13026 TCF TTF/8CL # APPRQUAD 13503 TCF VERTGUID # VERTICAL # POST GUIDANCE EQUATION COMPUTATIONS: 13225 TCF CGCALC # IGNALG 944">033375,000056: 31,2376 13212 AFTRGUID TCF EXTLOGIC # BRAKQUAD 13212 TCF EXTLOGIC # APPRQUAD 13400 TCF STEER? # VERTICAL # Page 799 # WINDOW VECTOR COMPUTATIONS: 13275 TCF EXGSUB # IGNALG 954">033383,000064: 31,2402 13316 WHATEXIT TCF EXBRAK # BRAKQUAD 13324 TCF EXNORM # APPRQUAD # DISPLAY ROUTINES: 350">033388,000069: 31,2404 13437 WHATDISP TCF P63DISPS # BRAKQUAD 13442 TCF P64DISPS # APPRQUAD 13471 TCF VERTDISP # VERTICAL # ALARM ROUTINE FOR TTF COMPUTATION: 13672 TCF 1406P00 # IGNALG D">033395,000076: 31,2410 13674 WHATALM TCF 1406ALM # BRAKQUAD 13674 TCF 1406ALM # APPRQUAD # INDICES FOR REFERENCING TARGET PARAMETERS 00000 OCT 0 # IGNALG 558">033401,000082: 31,2413 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">033410,000091: 31,2415 77776 ?GUIDSUB EXIT 34752 CAF TWO # N = 3 55647 TS NGUIDSUB 12531 TCF GUILDRET +2 2">033415,000096: 31,2421 55647 GUIDSUB TS NGUIDSUB # ON SUCCEEDING PASSES SKIP TTFINCR 12753 TCF CALCRGVG # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT 4">033420,000101: 31,2423 05353 LUNLAND TC PHASCHNG 00035 OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK 30101 CA FLAGWRD5 # HAS THROTTLE-UP COME YET? 74744 MASK ZOOMBIT 00006 EXTEND 13431 BZF DISPEXIT +3 # NO: DO DISPLAYS ONLY # Page 800 05353 TC PHASCHNG # YES: DO GUIDANCE 05023 OCT 05023 20000 OCT 20000 # ******************************************************************* # GUILDENSTERN: AUTO-MODES MONITOR (R13) # ******************************************************************* COUNT* $$/R13 # THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE CHECK TO SEE IF THE ROD SWITCH # HAS BEEN CLICKED. IF SO, SELECT P66. IF THE DAP IS IN AUTO AND THE # 9PROGRAM IS IN PROGRESS IS P66, CHECK FOR A # RESTART. IF ONE HAS OCCURRED RE-INITIALIZE P66 AND CONTINUE OTHERWISE. YOU CONTINUE WITH PRESENT DATA IN P66. TO # SELECT P66 THE ATTITUDE-HOLD DISCRETE MUST BE PRESENT AND THE ROD SWITCH MUST BE HAVE CLICKED. OTHERWISE THE # AUTOMATIC LANDING WILL CONTINUE. E">033444,000125: 31,2434 41010 GUILDEN CS MODREG # ARE WE IN P66? (EVEN THOUGH WE ARE IN AUTO # STERN 62452 AD DEC66 # DAP) 00006 EXTEND 12522 BZF RESTART? # YES: GO SEE IF THERE HAS BEEN A RESTART 34737 CAF BIT13 # NO: IS UN-ATTITUDE-HOLD DISCRETE HERE? 00006 EXTEND 02031 RAND CHAN31 10000 CCS A 12527 TCF GUILDRET # YES: ALL'S WELL, OR AT LEAST AUTOMATIC 31746 CA RODCOUNT # NO: HAS ROD SWITCH BEEN CLICKED 00006 EXTEND 12527 BZF GUILDRET # NO: CONTINUE WITH THE AUTOMATIC LANDING 636">033460,000141: 31,2450 03677 STARTP66 TC FASTCHNG # YES 05311 TC NEWMODEX /a>033462,000143: 31,2452 00102 DEC66 DEC 66 B-14 00006 EXTEND 31474 DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT 53645 DXCH VDGVERT # ALTITUDE RATE. 641">033466,000147: 31,2456 06042 STRTP66A TC INTPRET 41535 SLOAD PUSH 01457 PBIASZ 41535 SLOAD PUSH 01455 PBIASY 55535 SLOAD VDEF 01453 PBIASX 43161 VXSC SET 25532 BIASFACT 00463 RODFLAG 26621 STOVL VBIAS 01254 TEMX 77676 VCOMP # Page 801 27764 STOVL OLDPIPAX 06524 ZEROVECS 17767 STODL DELVROD 02540 RODSCALE 17757 STODL RODSCAL1 01234 PIPTIME 03760 STORE LASTTPIP 77776 EXIT 34755 CAF ZERO 55620 TS FCOLD 55610 TS FWEIGHT 55611 TS FWEIGHT +1 34752 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67 55647 TS WCHVERT 55621 TS WCHPHOLD 55346 TS WCHPHASE 04616 TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE 40166 CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE 00311 ADRES XOVINFLG 05516 TC DOWNFLAG 00143 ADRES REDFLAG 13503 TCF VERTGUID 43F">033504,000185: 31,2522 30075 RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART? 74740 MASK RODFLBIT 00006 EXTEND 12456 BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS # IS. 13503 TCF VERTGUID # NO: CONTINUE WITH R.O.D. # ******************************************************************************* # INITIALIZATION FOR THIS PASS # ******************************************************************************* COUNT* $$/F2DPS 554">033518,000199: 31,2527 34755 GUILDRET CAF ZERO 55746 TS RODCOUNT 00006 +2 EXTEND 31625 DCA TPIP 53574 DXCH TPIPOLD 03677 TC FASTCHNG 00006 EXTEND 31561 DCA PIPTIME1 53625 DXCH TPIP # Page 802 00006 EXTEND 31643 DCA TTF/8 53553 DXCH TTF/8TMP 11623 CCS FLPASS0 12573 TCF TTFINCR 1">033538,000219: 31,2545 51346 BRSPOT1 INDEX WCHPHASE 12362 TCF NEWPHASE # ****************************************************************** # ROUTINES TO START NEW PHASES # ****************************************************************** 254">033545,000226: 31,2547 05311 P65START TC NEWMODEX 00101 DEC 65 B-14 34755 CAF ZERO 55647 TS WCHVERT 05516 TC DOWNFLAG # PERMIT X-AXIS OVERRIDE 00311 ADRES XOVINFLG 12573 TCF TTFINCR 634">033553,000234: 31,2556 05311 STARTP64 TC NEWMODEX 00100 DEC 64 B-14 31425 CA DELTTFAP # AUGMENT TTF/8 27552 ADS TTF/8TMP 00004 INHINT 06022 TC C13STALL 34740 CA BIT12 # ENABLE RUPT10 00006 EXTEND 05013 WOR CHAN13 33707 CAF P64DB 55343 TS DB 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 -- # TTF/8 UPDATED FOR TIME SINCE LAST PASS: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8 # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION: # Page 803 # ____ ____ ____ __ # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM) # SLANT RANGE TO LANDING SITE, FOR DISPLAY: # ____ _ # RANGEDSP = ABVAL(LAND - R) 2">033584,000265: 31,2573 06042 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 21727 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 03677 TC FASTCHNG 00006 EXTEND 31553 DCA TTF/8TMP 53643 DXCH TTF/8 03643 TC TDISPSET 37721 CAF PRIO31 # TEMPORARILY OVER-PRIO CHARIN 05146 TC PRIOCHNG 06042 TC INTPRET 53375 VLOAD VAD # ADD IN CORRECTION FROM NOUN 69 03545 LANDTEMP 02635 DLAND 03635 STORE LAND 77646 ABVAL # RECOMPUTE /LAND/ 02333 STORE /LAND/ 77776 EXIT 03677 TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP # Page 804 35014 CAF EBANK5 EBANK= DLAND 54003 TS EBANK 34755 CAF ZERO # ZERO N 69 REGISTERS 55634 TS DLAND 55635 TS DLAND +1 55636 TS DLAND +2 55637 TS DLAND +3 55640 TS DLAND +4 55641 TS DLAND +5 35016 CAF EBANK7 EBANK= TREDES 54003 TS EBANK 34736 CAF PRIO20 05146 TC PRIOCHNG 2">033643,000324: 31,2652 51346 BRSPOT2 INDEX WCHPHASE 12366 TCF PREGUIDE # ********************************************************************* # LANDING SITE PERTURBATION EQUATIONS # ********************************************************************* 7">033650,000331: 31,2654 30102 REDESIG CA FLAGWRD6 # IS REDFLAG SET? 74746 MASK REDFLBIT 00006 EXTEND 12763 BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC 31666 CA TREDES # YES: HAS TREDES READED ZERO? 00006 EXTEND 12763 BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC 00004 INHINT 31446 CA ELINCR1 55554 TS ELINCR 31445 CA AZINCR1 55556 TS AZINCR 03677 TC FASTCHNG 34755 CA ZERO 55446 TS ELINCR1 55445 TS AZINCR1 55555 TS ELINCR +1 55557 TS AZINCR +1 30120 CA FIXLOC # SET PD TO 0 54166 TS PUSHLOC 06042 TC INTPRET # Page 805 52375 VLOAD VSU 03635 LAND 03521 R # ____ _ 41434 RTB PUSH # PUSH DOWN UNIT (LAND - R) 21727 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 45345 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT 00001 0 # TOO CLOSE TO THE HORIZON. 05660 DEPRCRIT 71240 BMN DLOAD 62725 REDES1 05660 DEPRCRIT 00001 STORE 0 >033698,000379: 31,2725 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 03677 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 12763 TCF RGVGCALC # ********************************************************************* # COMPUTE STATE IN GUIDANCE COORDINATES # ********************************************************************* # Page 806 # RGVGCALC COMPUTATIONS ARE AS FOLLOWS: # _______ _ _ __ # ANGTERM = V + R * WM # STATE IN GUIDANCE COORDINTES: # ___ * _ ____ # RGU = CG (R - LAND) # ___ * _ __ _ # VGU = CG (V - WM * R) # DEPRESSION ANGLE FOR DISPLAY: # _ ____ ______ # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP) 647">033741,000422: 31,2753 06042 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 03253 UNFC/2 03527 STORE V 77776 EXIT C43">033750,000431: 31,2763 06042 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 02575 CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED 27627 STOVL VGU 03521 R # _ ____ 41451 VSU PUSH # PUSH DOWN R - LAND 03635 LAND 76521 MXV VSL1 02575 CG 02627 STORE RGU 77646 ABVAL 26617 STOVL RANGEDSP 50234 RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4 21727 NORMUNIT 02146 XNBPIP # Page 807 77776 EXIT 30120 CA FIXLOC # RESET PUSH DOWN POINTER 54166 TS PUSHLOC 30154 CA MPAC # COMPUTE LOOKANGLE ITSELF 60000 DOUBLE 04616 TC BANKCALL 61663 CADR SPARCSIN -1 63713 AD 1/2DEG 61356 AD ELBIAS # BIAS LPD ANGLE FOR WINDOW BENDING 00006 EXTEND 73712 MP 180DEGS 55667 TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64 3">033787,000468: 31,3024 51346 BRSPOT3 INDEX WCHPHASE 12372 TCF WHATGUID # ************************************************************************** # TTF/8 COMPUTATION # ************************************************************************** C">033794,000475: 31,3026 03636 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 02633 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 33705 CAF TABLTTFL 03512 TC ROOTPSRS # YIELDS TTF/8 IN MPAC # Page 808 51346 INDEX WCHPHASE 12410 TCF WHATALM 00006 EXTEND # GOOD RETURN 30155 DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC 53643 DXCH TTF/8 # CORRECTED TTF/8 03643 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">033851,000532: 31,3066 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 (garbled) 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 # Page 809 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 60131 AD BUF +1 60131 AD BUF +1 50120 INDEX FIXLOC 54036 TS 30D # COEFFICIENT FOR ADG TERM 34755 CAF ZERO 54163 TS MODE 03636 TC INTPRETX 65361 VXSC PDDL 03627 VGU 00035 28D 62757 VXSC* PDVL* 02411 VDG,1 02403 RDG,1 70251 VSU V/SC 02627 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">033905,000586: 31,3151 76505 AFCCALC1 VXM VSL1 # VERGUID COMES HERE 02575 CG 70315 PDVL V/SC 01236 GDT/2 05652 GSCALE 45445 BVSU STADR 74524 STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED 77646 ABVAL 332">033913,000594: 31,3161 17464 AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE 03253 UNFC/2 # VERTICAL COMPONENT 65316 DSQ PDDL 03255 UNFC/2 +2 # OUT-OF-PLANE 65316 DSQ PDDL 05650 HIGHESTF 63471 DDV DSQ # Page 810 01244 MASS # 2 2 2 45225 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A A ) 71244 BPL DLOAD # 1 0 63175 AFCCALC3 06524 ZEROVECS 333">033926,000607: 31,3175 43366 AFCCALC3 SQRT DAD 03257 UNFC/2 +4 44244 BPL BDSU 63203 AFCCLEND 03257 UNFC/2 +4 03257 STORE UNFC/2 +4 E44">033932,000613: 31,3203 77776 AFCCLEND EXIT 03677 TC FASTCHNG 31346 CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC 55621 TS WCHPHOLD 25623 INCR FLPASS0 # INCREMENT PASS COUNTER 4">033939,000620: 31,3210 51346 BRSPOT4 INDEX WCHPHASE 12376 TCF AFTRGUID # ***************************************************************************** # NEW PHASE NOW? # ***************************************************************************** 943">033946,000627: 31,3212 51346 EXTLOGIC INDEX WCHPHASE # IS TTF NEARER ZERO THAN CRITERION? 31423 CA TENDBRAK 61642 AD TTF/8 00006 EXTEND 63225 BZMF CGCALC # NO 03677 TC FASTCHNG # YES: INCREMENT WCHPHASE, ZERO FLPASS0 31621 CA WCHPHOLD 64753 AD ONE 55346 TS WCHPHASE 34755 CAF ZERO 55623 TS FLPASS0 # (CONTINUE TO CGCALC) # *********************************************************************** # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX # *********************************************************************** >033966,000647: 31,3225 35014 CGCALC CAF EBANK5 54003 TS EBANK EBANK= TCGIBRAK 00006 EXTEND 51346 INDEX WCHPHASE # Page 811 52413 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 13273 TCF EXITSPOT 13273 TCF EXITSPOT 13245 NOOP 03636 TC INTPRETX 53575 VLOAD UNIT 03635 LAND 16575 STODL CG 03643 TTF/8 74203 DMP* VXSC 02433 GAINBRAK,1 # NUMERO MYSTERIOSO 02265 ANGTERM 77655 VAD 03635 LAND 47051 VSU RTB 03521 R 21727 NORMUNIT 47035 VXV RTB 03635 LAND 21727 NORMUNIT 26603 STOVL CG +6 # SECOND ROW 02575 CG 76435 VXV VSL1 02603 CG +6 02611 STORE CG +14 77776 EXIT F54">034009,000690: 31,3273 51621 EXITSPOT INDEX WCHPHOLD 12402 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. # Page 812 # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.) >034022,000703: 31,3275 06042 EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM. 47175 VLOAD RTB 03253 UNFC/2 21727 NORMUNIT 74361 VXSC VXSC 03423 ZOOMTIME 22001 TRIMACCL 03253 STORE UNFC/2 77776 EXIT 11647 CCS NGUIDSUB 12421 TCF GUIDSUB 11646 CCS NIGNLOOP 13314 TCF +3 05567 TC ALARM 01412 OCT 01412 04635 +3 TC POSTJUMP 65104 CADR DDUMCALC >034042,000723: 31,3316 06042 EXBRAK TC INTPRET 77775 VLOAD 03537 UNIT/R/ 03261 STORE UNWC/2 77776 EXIT 13400 TCF STEER? >034049,000730: 31,3324 06042 EXNORM TC INTPRET 52375 VLOAD VSU 03635 LAND 03521 R 77634 RTB 21727 NORMUNIT 03261 STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE 50235 VXV DOT 02146 XNBPIP 02603 CG +6 77776 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE 40154 CS MPAC # GET COEFFICIENT FOR CG +14 63714 AD PROJMAX 64733 AD POSMAX 54130 TS BUF 40130 CS BUF 26130 ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE 43715 CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R) 60154 AD MPAC # Page 813 64733 AD POSMAX 54131 TS BUF +1 40131 CS BUF +1 26131 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE 34751 CAF FOUR F50">034077,000758: 31,3354 76245 UNWCLOOP MASK SIX 54002 TS Q 35014 CA EBANK5 54003 TS EBANK EBANK= CG 30130 CA BUF 00006 EXTEND 50002 INDEX Q 71610 MP CG +14 24006 INCR BBANK EBANK= UNWC/2 50002 INDEX Q 53661 DXCH UNWC/2 00006 EXTEND 70131 MP BUF +1 50002 INDEX Q 21661 DAS UNWC/2 10002 CCS Q 13354 TCF UNWCLOOP 31773 CA AZBIAS # SET OUTER GIMBAL 55677 TS OGABIAS # ANGLE BIAS FOR WINDOW BENDING 24006 INCR BBANK EBANK= PIF >034103,000784: 31,3400 30076 STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS 74741 MASK STEERBIT 00006 EXTEND 13411 BZF RATESTOP >034108,000789: 31,3404 30121 EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE 00006 EXTEND # DON'T CALL THROTTLE OR FINDCDUW 13421 BZF +13 F57">034112,000793: 31,3407 05567 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY 01410 OCT 01410 F50">034115,000796: 31,3411 34737 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD? 00006 EXTEND 02031 RAND CHAN31 00006 EXTEND 13426 BZF DISPEXIT # YES # Page 814 04616 TC BANKCALL # NO: DO A STOPRATE 40166 CADR STOPRATE 13426 TCF DISPEXIT >034126,000807: 31,3421 02144 GDLMP1 TC THROTTLE 06042 TC INTPRET 77624 CALL 61100 FINDCDUW -2 77776 EXIT # (CONTINUE TO DISPEXIT) # *********************************************************************** # GUIDANCE LOOP DISPLAYS # *********************************************************************** 954">034138,000819: 31,3426 00006 DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE 34755 DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE. 52756 DXCH -PHASE3 F42">034142,000823: 31,3431 31,3431 ENDLLJOB = DISPEXIT +3 40104 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS 74742 MASK FLUNDBIT 00006 EXTEND 15155 BZF ENDOFJOB 51621 INDEX WCHPHOLD 12404 TCF WHATDISP 053">034152,000833: 31,3437 33716 P63DISPS CAF V06N63 D4E">034153,000834: 31,3440 04616 DISPCOMN TC BANKCALL 20466 CADR REGODSP 053">034156,000837: 31,3442 31666 P64DISPS CA TREDES # HAS TREDES REACHED ZERO? 00006 EXTEND 13465 BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG 40102 CS FLAGWRD6 # NO: IS REDFLAG SET? 74746 MASK REDFLBIT 00006 EXTEND 13467 BZF REDES-OK # YES: DO STATIC DISPLAY 33717 CAF V06N64 # OTHERWISE USE FLASHING DISPLAY 04616 TC BANKCALL 20460 CADR REFLASH 16001 TCF GOTOP00H # TERMINATE # Page 815 13457 TCF P64CEED # PROCEED PERMIT REDESIGNATIONS 13442 TCF P64DISPS # RECYCLE 4">034173,000854: 31,3457 34755 P64CEED CAF ZERO 55446 TS ELINCR1 55445 TS AZINCR1 05504 TC UPFLAG # ENABLE REDESIGNATION LOGIC 00143 ADRES REDFLAG 15155 TCF ENDOFJOB 552">034182,000863: 31,3465 05516 RED-OVER TC DOWNFLAG 00143 ADRES REDFLAG F4B">034184,000865: 31,3467 33717 REDES-OK CAF V06N64 13440 TCF DISPCOMN 350">034187,000868: 31,3471 33720 VERTDISP CAF V06N60 04616 TC BANKCALL 20460 CADR REFLASH 16001 TCF GOTOP00H # TERMINATE 13477 TCF STOPFIRE # PROCEED 13477 TCF STOPFIRE # V32E 245">034194,000875: 31,3477 00004 STOPFIRE INHINT 04616 TC BANKCALL 40154 CADR ZATTEROR 15155 TCF ENDOFJOB # ************************************************************************** # GUIDANCE FOR P65 # ************************************************************************** 944">034203,000884: 31,3503 11647 VERTGUID CCS WCHVERT 13510 TCF P66VERT # +0 # THE P65 GUIDANCE EQUATION IS AS FOLLOWS -- # ____ ___ # V2FG - VGU # ACG = ---------- # TAUVERT 4">034213,000894: 31,3505 06042 P65VERT TC INTPRET 77650 GOTO 65272 P65VERTA # Page 816 # ********************************************************** # GUIDANCE FOR P66 # ********************************************************** 4">034222,000903: 31,3510 04635 P66VERT TC POSTJUMP 65300 CADR P66VERTA SETLOC P66LOC BANK COUNT* $$/F2DPS B">034229,000910: 32,3265 37713 RODTASK CAF PRIO22 05105 TC FINDVAC EBANK= DVCNTR 03305 64067 2CADR RODCOMP 15261 TCF TASKOVER 441">034236,000917: 32,3272 52375 P65VERTA VLOAD VSU 02511 V2FG 03627 VGU 52141 V/SC GOTO 02517 TAUVERT 63151 AFCCALC1 441">034243,000924: 32,3300 05353 P66VERTA TC PHASCHNG # TERMINATE GROUP 3. 00003 OCT 00003 34777 CAF 1SEC 05173 TC TWIDDLE 03265 ADRES RODTASK 0">034250,000931: 32,3305 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 53762 DXCH THISTPIP # Page 817 31763 CA OLDPIPAX 61157 AD PIPATMPX 54154 TS MPAC # MPAC(X) = PIPAX + PIPATMPX 31764 CA OLDPIPAY 61160 AD PIPATMPY 54157 TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY 31765 CA OLDPIPAZ 61161 AD PIPATMPZ 54161 TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ 41763 CS OLDPIPAX 61253 AD TEMX 60070 AD RUPTREG1 55766 TS DELVROD 41764 CS OLDPIPAY 61254 AD TEMY 60071 AD RUPTREG2 55770 TS DELVROD +2 41765 CS OLDPIPAZ 61255 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 55253 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL 55254 TS TEMY # KNOW WHEN READACCS CHANGES THEM. 55255 TS TEMZ 44753 CS ONE 54163 TS MODE 06042 TC INTPRET 1">034302,000983: 32,3364 65361 ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6) 26022 KPIP1 03762 THISTPIP 77625 DSU 01234 PIPTIME 00037 STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME 63271 DDV PDVL # (8) 27110 4SEC(28) 01236 GDT/2 74251 VSU VXSC # (6) 02621 VBIAS 53352 VSL2 VAD 03527 V 45455 VAD STADR # (0) 53746 STOVL 24D # STORE UPDATED VELOCITY IN 24-29D 03521 R 77656 UNIT # Page 818 00017 STORE 14D 72441 DOT SL1 00031 24D 17474 STODL HDOTDISP # UPDATE ALTITUDE RATE FOR NOUN 60 00037 30D 41261 SL DMP 20214 11D 03474 HDOTDISP 45215 DAD DSU 00045 36D 02333 /LAND/ 17775 STODL HCALC1 # UPDATE ALTITUDE FOR NOUN 60 03474 HDOTDISP 56221 BDSU DDV 03645 VDGVERT 02541 TAUROD 51515 PDVL ABVAL # (2) 01236 GDT/2 60471 DDV SR2 05652 GSCALE 00025 STORE 20D 77615 DAD # (0) 45115 PDVL CALL # (2) 06522 UNITX 47663 CDU*NBSM 77641 DOT 00017 14D 00027 STORE 22D 45465 BDDV STADR # (0) 50313 STOVL /AFC/ 03767 DELVROD 53361 VXSC VAD 26022 KPIP1 02621 VBIAS 65246 ABVAL PDDL # (2) 03762 THISTPIP 65225 DSU PDDL # (4) 03760 LASTTPIP 03762 THISTPIP 17760 STODL LASTTPIP # (2) 55271 DDV BDDV # (0) 25530 SHFTFACT 41325 PDDL DMP # (2) 03611 FWEIGHT 25527 BIT1H 56271 DDV DDV 01244 MASS 22006 SCALEFAC 65215 DAD PDDL # (4) 00001 0D # Page 819 00025 20D 45271 DDV DSU # (2) 00027 22D 43205 DMP DAD 02543 LAG/TAU 03464 /AFC/ 56325 PDDL DDV # (4) 02547 MAXFORCE 01244 MASS 56325 PDDL DDV # (6) 02545 MINFORCE 01244 MASS 44206 PUSH BDSU # (8) 00003 2D 71240 BMN DLOAD # (6) 65514 AFCSPOT 41545 DLOAD PUSH # (6) 51021 BDSU BPL 00003 2D 65514 AFCSPOT 77745 DLOAD # (4) 4">034392,001073: 32,3514 77745 AFCSPOT DLOAD # (2), (4), OR (6) 77601 SETPD # (2) 00003 2D 17464 STODL /AFC/ # (0) 2">034396,001077: 32,3520 77776 ITRPNT2 EXIT 52155 DXCH MPAC # MPAC = MEASURED COORDINATES 04616 TC BANKCALL 62147 CADR THROTTLE +3 04616 TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG 63431 CADR DISPEXIT +3 /a>034403,001084: 32,3526 00001 BIT1H OCT 00001 354">034404,001085: 32,3527 00000 04000 SHFTFACT 2DEC 1 B-17 354">034405,001086: 32,3531 00000 05075 BIASFACT 2DEC 655.36 B-26 # ********************************************************************************* # REDESIGNATOR TRAP # ********************************************************************************* BANK 11 SETLOC F2DPS*11 BANK COUNT* $$/F2DPS C">034417,001098: 11,2302 56016 PITFALL XCH BANKRUPT 00006 EXTEND 22012 QXCH QRUPT # Page 820 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 72401 MASK ALL4BITS 55444 TS ELVIRA 34752 CAF TWO 55443 TS ZERLINA 34756 CAF FIVE 05173 TC TWIDDLE 02326 ADRES REDESMON 15270 TCF RESUME # REDESIGNATOR MONITOR (INITIATED BY PITFALL) 1">034439,001120: 11,2323 55443 PREMON1 TS ZERLINA 2">034440,001121: 11,2324 34757 PREMON2 CAF SEVEN 05224 TC VARDELAY F4E">034442,001123: 11,2326 00006 REDESMON EXTEND 00031 READ 31 40000 COM 72401 MASK ALL4BITS 57444 XCH ELVIRA 54001 TS L 11444 CCS ELVIRA # DO ANY BITS APPEAR THIS PASS? 12324 TCF PREMON2 # Y: CONTINUE MONITOR 10001 CCS L # N: ANY LAST PASS? 12347 TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE 11443 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET? 12323 TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE 054">034454,001135: 11,2342 06022 RESETRPT TC C13STALL # Y: RESET RUPT, TERMINATE 34740 CAF BIT12 00006 EXTEND 05013 WOR CHAN13 15261 TCF TASKOVER 54D">034460,001141: 11,2347 34737 COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD? 00006 EXTEND 02031 RAND CHAN31 00006 EXTEND 12342 BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC. 30001 CA L # NO. 74746 MASK -AZBIT # Page 821 10000 CCS A 11,2357 42402 -AZ CS AZEACH 27445 ADS AZINCR1 30001 CA L 74747 MASK +AZBIT 10000 CCS A 11,2364 32402 +AZ CA AZEACH 27445 ADS AZINCR1 30001 CA L 74753 MASK -ELBIT 10000 CCS A 11,2371 42403 -EL CS ELEACH 27446 ADS ELINCR1 30001 CA L 74752 MASK +ELBIT 10000 CCS A 11,2376 32403 +EL CA ELEACH 27446 ADS ELINCR1 12342 TCF RESETRPT # THESE EQUIVALENCES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM >034490,001171: 11,2401 4752 +ELBIT = BIT2 # -PITCH >034491,001172: 11,2401 4753 -ELBIT = BIT1 # +PITCH >034492,001173: 11,2401 4747 +AZBIT = BIT5 >034493,001174: 11,2401 4746 -AZBIT = BIT6 453">034495,001176: 11,2401 00063 ALL4BITS OCT 00063 >034496,001177: 11,2402 01074 AZEACH DEC .03491 # 2 DEGREES >034497,001178: 11,2403 00217 ELEACH DEC .00873 # 1/2 DEGREE # **************************************************************** # R.O.D. TRAP # **************************************************************** SETLOC RODTRAP # Page 822 BANK COUNT* $$/F2DPS # ************************ 453">034508,001189: 23,2455 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 NETON'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) # 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 # Page 823 # 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">034556,001237: 31,3512 00006 ROOTPSRS EXTEND 22132 QXCH RETROOT # RETURN ADRES 54117 TS PWRPTR # PWR TABLE POINTER 52160 DXCH MPAC +3 # PWR TABLE ADRES, N-1 33635 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 07312 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 00006 EXTEND 50117 INDEX PWRPTR 30004 DCA 3 52155 DXCH MPAC # A(N) TO MPAC 30160 CA MPAC +4 # N-1 TO A F50">034588,001269: 31,3544 54140 DERCLOOP TS PWRCNT # LOOP COUNTER 64753 AD ONE 07321 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 # Page 824 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 13544 TCF DERCLOOP # CONVERGE ON ROOT F50">034606,001287: 31,3563 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 07220 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 07220 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 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">034637,001318: 31,3615 00132 BADROOT TC RETROOT 24163 INCR MODE # INCREMENT ITERATION COUNTER 10154 CCS MPAC # TEST HI ORDER DX 13563 TCF ROOTLOOP 13623 TCF TESTLODX 13627 TCF ROOTSTOR 458">034644,001325: 31,3623 10155 TESTLODX CCS MPAC +1 # TEST LO ORDER DX # Page 825 13563 TCF ROOTLOOP 13627 TCF ROOTSTOR 13627 TCF ROOTSTOR F52">034649,001330: 31,3627 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">034656,001337: 31,3635 00147 DERTABLL ADRES DERCOFN -3 # **************************************************************************** # TRASHY LITTLE SUBROUTINES # **************************************************************************** 458">034662,001343: 31,3636 51346 INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER 42413 CS TARGTDEX 50120 INDEX FIXLOC 54046 TS X1 16042 TCF INTPRET 554">034668,001349: 31,3643 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 61642 AD TTF/8 00006 EXTEND 73711 MP TREDESCL 63706 AD -DEC103 64735 AD NEGMAX 54001 TS L 40001 CS L 60001 AD L 63710 AD +DEC99 64733 AD POSMAX 55666 TS TREDES 41666 CS TREDES 27666 ADS TREDES 00002 TC Q # Page 826 0">034696,001377: 31,3672 05642 1406P00 TC P00DOO 21406 OCT 21406 D">034698,001379: 31,3674 05567 1406ALM TC ALARM 01406 OCT 01406 13411 TCF RATESTOP # ********************************************************************* # SPECIALIZED "PHASCHNG" SUBROUTINE # ********************************************************************* EBANK= PHSNAME2 E47">034707,001388: 31,3677 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 # ************************************************************************************* 31,3705 E5,1402 RDG = RBRFG 31,3705 E5,1410 VDG = VBRFG 31,3705 E5,1416 ADG = ABRFG 6">034722,001403: 31,3705 E5,1424 VDG2TTF = VBRFG* 6">034723,001404: 31,3705 E5,1426 ADG2TTF = ABRFG* 6">034724,001405: 31,3705 E5,1430 JDG2TTF = JBRFG* # ************************************************************************************* # LUNAR LANDING CONSTANTS # ************************************************************************************* 64C">034730,001411: 31,3705 01565 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE C45">034731,001412: 31,3706 4740 TTFSCALE = BIT12 E56">034732,001413: 31,3706 4750 TSCALINV = BIT4 3">034733,001414: 31,3706 77630 -DEC103 DEC -103 B-14 /a>034734,001415: 31,3707 00155 P64DB OCT 00155 # 0.3 DEGREES SCALED AT CDU SCALING. # Page 827 >034736,001417: 31,3710 00143 +DEC99 DEC +99 B-14 34C">034737,001418: 31,3711 75340 TREDESCL DEC -.08 3">034738,001419: 31,3712 00264 180DEGS DEC +180 B-14 >034739,001420: 31,3713 00056 1/2DEG DEC +.00278 8">034740,001421: 31,3714 01542 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ E">034741,001422: 31,3715 01022 PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ >034742,001423: 31,3716 01477 V06N63 VN 0663 # P63 >034743,001424: 31,3717 01500 V06N64 VN 0664 # P64 >034744,001425: 31,3720 01474 V06N60 VN 0660 # P65, P66, P67 BANK 22 SETLOC LANDCNST BANK COUNT* $$/F2DPS 446">034751,001432: 22,3647 00021 14161 HIGHESTF 2DEC 4.34546769 B-12 >034752,001433: 22,3651 01440 00000 GSCALE 2DEC 100 B-11 /a>034753,001434: 22,3653 14000 00000 3/8DP 2DEC .375 /a>034754,001435: 22,3655 30000 00000 3/4DP 2DEC .750 954">034755,001436: 22,3657 77534 45074 DEPRCRIT 2DEC -.02 B-1 # ************************************************************************** # ************************************************************************** LUNAR_LANDING_GUIDANCE_EQUATIONS.agc. Parent file is MAIN.agc