アポロ11号で利用されたプログラムのソースコード、公開中
http://slashdot.jp/science/09/07/29/0221202.shtml
だ、そうで。
ぬあんと！！！
面白いものである。
http://googlecode.blogspot.com/2009/07/apollo-11-missions-40th-anniversary-one.html
から〜
# Copyright: Public domain. # Filename: CM_BODY_ATTITUDE.s # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 883-889 # Contact: Ron Burkey <info@sandroid.org> # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name and Comanche 055 page images. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachussets Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 883 BANK 35 SETLOC BODYATT BANK COUNT 37/CMBAT # PDL 12D - 15D SAFE. # VALUE OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS. EBANK= RTINIT # LET INTERPRETER SET EB CM/POSE TC INTPRET # COME HERE VIA AVEGEXIT. SETPD VLOAD 0 VN # KVSCALE = (12800/ .3048) /2VS VXSC PDVL -KVSCALE # KVSCALE = .81491944 UNITW # FULL UNIT VECTOR VXV VXSC # VREL = V - WE*R UNITR KWE VAD STADR STORE -VREL # SAVE FOR ENTRY GUIDANCE. REF COORDS UNIT LXA,1 36D # ABVAL( -VREL) TO X1 STORE UXA/2 # -UVREL REF COORDS VXV VCOMP UNITR # .5 UNIT REF COORDS UNIT SSP # THE FOLLOWING IS TO PROVIDE A STABLE S1 # UN FOR THE END OF THE TERMINAL PHASE. SPVQUIT DEC .019405 # 1000/ 2 VS TIX,1 VLOAD # IF V-VQUIT POS, BRANCH. CM/POSE2 # SAME UYA IN OLDUYA OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA CM/POSE2 STORE UYA/2 # REF COORDS STORE OLDUYA # RESTORE, OR SAVE AS CASE MAY BE. VXV VCOMP UXA/2 # FINISH OBTAINING TRAJECTORY TRIAD. VSL1 STORE UZA/2 # REF COORDS # Page 884 TLOAD # PICK UP CDUX, CDUY, CDUZ CORRESPONDING AOG/PIP # TO PIPUP TIME IN 2'S C AND SAVE. CM/TRIO STODL 24D 25D # AIG/PIP RTB PUSH # TO PDL0 CDULOGIC COS STODL UBX/2 # CI /2 # AIG/PIP FROM PDL 0 SIN DCOMP STODL UBX/2 +4 # -SI /2 26D # AMG/PIP RTB PUSH # TO PDL 0 CDULOGIC SIN PDDL # XCH PDL 0. SAVE SM /2 COS PDDL # CM /2 TO PDL 2 0 # SM /2 DCOMP VXSC UBX/2 VSL1 # NOISE WON'T OVFL STODL UBY/2 # =(-SMCI, NOISE, SMSI)/2 2 # CM /2 REPLACES NOISE STODL UBY/2 +2 # UBY/2=(-SMCI, CM, SMSI)/2 24D # AOG/PIP RTB PUSH # TO PDL 4 CDULOGIC SIN PDDL # XCH PDL 4. SAVE SO /2 COS VXSC # CO /2 UBY/2 STODL UBY/2 # UBY/2=(-COSMCI, COCM, COSMSI)/4 4D # SO /2 DMP DCOMP UBX/2 +4 # -SI /2 DAD UBY/2 # INCREMENT BY (SOSI /4) STODL UBY/2 # SO /2 FROM PDL 4 DMP DAD UBX/2 # CI /2 UBY/2 +4 STOVL UBY/2 +4 # YB/4 PLATFORM COORDS # YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI ) UBY/2 VXM VSL2 REFSMMAT # .5 UNIT STODL UBY/2 # YB/2 DONE REF COORDS # Page 885 # CM /2 FROM PDL 2 VXSC VSL1 UBX/2 STODL UBX/2 # =( CMCI, NOISE, -CMSI)/2 STADR # SM /2 FROM PDL 0 STOVL UBX/2 +2 # SM /2 REPLACES NOISE UBX/2 # XB/2 PLATFORM COORDS # XB = ( CMCI , SM , -CMSI ) VXM VSL1 REFSMMAT # .5 UNIT STORE UBX/2 # XB/2 DONE REF COORDS VXV VSL1 UBY/2 STOVL UBZ/2 # ZB/2 DONE REF COORDS # EQUIVALENT TO # ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI ) UXA/2 # -UVREL/2 = -UVA/2 VXV UNIT # GET UNIT(-UVREL*UBY)/2 = UL/2 UBY/2 # YB/2 PUSH DOT # UL/2 TO PDL 0,5 UZA/2 # UNA/2 STOVL COSTH # COS(ROLL)/4 0 # UL/2 DOT UYA/2 STCALL SINTH # -SIN(ROLL)/4 ARCTRIG STOVL 6D # -(ROLL/180) /2 UBY/2 DOT SL1 # -UVA.UBY = -SIN(BETA) UXA/2 # -UVREL/2 ARCSIN STOVL 7D # -(BETA/180) /2 UBX/2 # XB/2 DOT # UL.UBX = -SIN(ALFA) 0 # UL/2 STOVL SINTH # -SIN(ALFA)/4 DOT # UL/2 FROM PDL 0 UBZ/2 STCALL COSTH # COS(ALFA)/2 ARCTRIG STOVL 8D # -(ALFA/180) /2 UNITR # UR/2 REF COORDS DOT SL1 # Page 886 UZA/2 # MORE ACCURATE AT LARGE ARG. ARCCOS STORE 10D # (-GAMA/180)/2 TLOAD EXIT # ANGLES IN MPAC IN THE ORDER # -( (ROLL, BETA, ALFA) /180)/2 6D # THESE VALUES CORRECT AT PIPUP TIME. # Page 887 # BASIC SUBROUTINE TO UPDATE ATTITUDE ANGLES EBANK= AOG CM/ATUP CA EBAOG TS EBANK CMTR1 INDEX FIXLOC CS 10D # (GAMA/180)/2 XCH GAMA TS L INHINT # MUST REMAIN INHINTED UNTIL UPDATE OF BODY # ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS # INDICATOR. CS CM/FLAGS MASK BIT11 # GAMDIFSW=94D BIT11 INITLY=0 EXTEND # DON'T CALC GAMA DOT UNTIL HAVE FORMD # ONE DIFFERENCE. BZF DOGAMDOT # IS OK, GO ON. ADS CM/FLAGS # KNOW BIT IS 0 TC NOGAMDOT # SET GAMDOT = 0 DOGAMDOT CS L AD GAMA # DEL GAMA/360= T GAMDOT/360 EXTEND MP TCDU # TCDU = .1 SEC, T = 2 SEC. TS GAMDOT # GAMA DOT TCDU / 180 EXTEND # IGNORE GAMDOT IF LEQ .5 DEG/SEC BZMF +2 COM AD FIVE EXTEND BZMF +3 # SET GAMDOT=+0 AS TAG IF TOO SMALL. NOGAMDOT CA ZERO # COME HERE INHINTED TS GAMDOT # FOR NOW LEAVE IN 2'S C # UPDATE ANGLES BY CORRECTING EULER ANG # FOR ACCRUED INCREMENT SINCE PIPUP # R = R EUIL + R(NOW) - R(PIPUP) CS MPAC # GET (R EUL/180) /2 DOUBLE # POSSIBLE OVERFLOW TC CORANGOV # CORRECT FOR OVFL IF ANY EXTEND SU ROLL/PIP # GET INCR SINCE PIPUP AD ROLL/180 # ONLY SINGLE OVFL POSSIBLE. TC CORANGOV # CORRECT FOR OVFL IF ANY # Page 888 TS TEMPROLL CS MPAC +2 # GET (ALFA EUL/180) /2 DOUBLE # SAME AS FOR ROLL. NEEDED FOR EXT ATM DAP TC CORANGOV # CORRECT FOR OVFL IF ANY EXTEND SU ALFA/PIP AD ALFA/180 TC CORANGOV # CORRECT FOR OVFL IF ANY TS TEMPALFA CS MPAC +1 # GET (BETA EUL/180) /2 CMTR2 DOUBLE EXTEND SU BETA/PIP AD BETA/180 XCH TEMPBETA # OVFL NOT EXPECTED. CA EBANK3 TS EBANK EBANK= PHSNAME5 EXTEND DCA REPOSADR # THIS ASSUMES THAT THE TC PHASCHNG DXCH PHSNAME5 # IS NOT CHANGED IN OCT 10035 # SERVICER. CA EBAOG TS EBANK EBANK= AOG REDOPOSE EXTEND # RE-STARTS COME HERE DCA TEMPROLL DXCH ROLL/180 CA TEMPBETA TS BETA/180 RELINT TC INTPRET # CAN'T TC DANZIG AFTER PHASCHNG. CM/POSE3 VLOAD ABVAL # RETURN FROM CM/ATUP. (RESTART) VN # 2(-7) M/CS STORE VMAGI # FOR DISPLAY ON CALL. GOTO POSEXIT # ENDEXIT, STARTENT, OR SCALEPOP. CORANGOV TS L TC Q INDEX A # Page 889 CA LIMITS ADS L TC Q # COSTS 2 MCT TO USE. SEE ANGOVCOR. -KVSCALE 2DEC -.81491944 # -12800/(2 VS .3048) TCDU DEC .1 # TCDU = .1 SEC. EBANK= AOG REPOSADR 2CADR REDOPOSE
# Copyright: Public domain. # Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.s # 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: TCF TTFINCR # IGNALG NEWPHASE TCF TTFINCR # BRAKQUAD TCF STARTP64 # APPRQUAD TCF P65START # VERTICAL # PRE-GUIDANCE COMPUTATIONS: TCF CALCRGVG # IGNALG PREGUIDE TCF RGVGCALC # BRAKQUAD TCF REDESIG # APPRQUAD TCF RGVGCALC # VERTICAL # GUIDANCE EQUATIONS: TCF TTF/8CL # IGNALG WHATGUID TCF TTF/8CL # BRAKQUAD TCF TTF/8CL # APPRQUAD TCF VERTGUID # VERTICAL # POST GUIDANCE EQUATION COMPUTATIONS: TCF CGCALC # IGNALG AFTRGUID TCF CGCALC # BRAKQUAD TCF CGCALC # APPRQUAD TCF STEER? # VERTICAL # Page 799 # WINDOW VECTOR COMPUTATIONS: TCF EXGSUB # IGNALG WHATEXIT TCF EXBRAK # BRAKQUAD TCF EXNORM # APPRQUAD # DISPLAY ROUTINES: WHATDISP TCF P63DISPS # BRAKQUAD TCF P64DISPS # APPRQUAD TCF VERTDISP # VERTICAL # ALARM ROUTINE FOR TTF COMPUTATION: TCF 1406P00 # IGNALG WHATALM TCF 1406ALM # BRAKQUAD TCF 1406ALM # APPRQUAD # INDICES FOR REFERENCING TARGET PARAMETERS OCT 0 # IGNALG TARGTDEX OCT 0 # BRAKQUAD OCT 34 # APPRQUAD #************************************************************************ # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT #************************************************************************ # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC GUIDANCE ?GUIDSUB EXIT CAF TWO # N = 3 TS NGUIDSUB TCF GUILDRET +2 GUIDSUB TS NGUIDSUB # ON SUCCEEDING PASSES SKIP TTFINCR TCF CALCRGVG # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT LUNLAND TC PHASCHNG OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK TC PHASCHNG OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21 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 GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT? # STERN # RSB 2009: Not originally a comment. READ CHAN30 MASK BIT5 CCS A TCF STARTP67 # YES P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW? DEC 67 TCF STABL? # NO STARTP66 TC FASTCHNG # YES TC NEWMODEX DEC66 DEC 66 EXTEND DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT DXCH VDGVERT # ALTITUDE RATE. STRTP66A TC INTPRET SLOAD PUSH PBIASZ SLOAD PUSH PBIASY SLOAD VDEF PBIASX VXSC SET BIASFACT RODFLAG STOVL VBIAS TEMX VCOMP STOVL OLDPIPAX ZEROVECS STODL DELVROD RODSCALE STODL RODSCAL1 PIPTIME STORE LASTTPIP EXIT CAF ZERO TS FCOLD TS FWEIGHT TS FWEIGHT +1 VRTSTART TS WCHVERT # Page 801 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67 TS WCHPHOLD TS WCHPHASE TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE TC DOWNFLAG # PERMIT X-AXIS OVERRIDE ADRES XOVINFLG TC DOWNFLAG ADRES REDFLAG TCF VERTGUID STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER DEC 67 # SO NO NEED FOR A FASTCHNG AND NO NEED CAF ZERO # TO SEE IF ALREADY IN P67. TS RODCOUNT CAF TEN TCF VRTSTART STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT? EXTEND RAND CHAN31 CCS A TCF GUILDRET # YES ALL'S WELL P66NOW? CS MODREG AD DEC66 EXTEND BZF RESTART? CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"? EXTEND BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING TCF STARTP66 # YES. SWITCH INTO THE ROD MODE. RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART? MASK RODFLBIT EXTEND BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS # IS. TCF VERTGUID # NO: CONTINUE WITH R.O.D. # ******************************************************************************* # INITIALIZATION FOR THIS PASS # ******************************************************************************* COUNT* $$/F2DPS GUILDRET CAF ZERO TS RODCOUNT # Page 802 +2 EXTEND DCA TPIP DXCH TPIPOLD TC FASTCHNG EXTEND DCA PIPTIME1 DXCH TPIP EXTEND DCA TTF/8 DXCH TTF/8TMP CCS FLPASS0 TCF TTFINCR BRSPOT1 INDEX WCHPHASE TCF NEWPHASE # ****************************************************************** # ROUTINES TO START NEW PHASES # ****************************************************************** P65START TC NEWMODEX DEC 65 CS TWO TS WCHVERT TC DOWNFLAG # PERMIT X-AXIS OVERRIDE ADRES XOVINFLG TCF TTFINCR STARTP64 TC NEWMODEX DEC 64 CA DELTTFAP # AUGMENT TTF/8 ADS TTF/8TMP CA BIT12 # ENABLE RUPT10 EXTEND WOR CHAN13 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG 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) TTFINCR TC INTPRET DLOAD DSU TPIP TPIPOLD SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS 11D VXSC VXV LAND WM BVSU RTB LAND NORMUNIT VXSC VSL1 /LAND/ STODL LANDTEMP EXIT DXCH MPAC DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP TC FASTCHNG EXTEND DCA TTF/8TMP DXCH TTF/8 EXTEND DCA LANDTEMP DXCH LAND EXTEND DCA LANDTEMP +2 DXCH LAND +2 EXTEND DCA LANDTEMP +4 DXCH LAND +4 # Page 804 TC TDISPSET TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP BRSPOT2 INDEX WCHPHASE TCF PREGUIDE # ********************************************************************* # LANDING SITE PERTURBATION EQUATIONS # ********************************************************************* REDESIG CA FLAGWRD6 # IS REDFLAG SET? MASK REDFLBIT EXTEND BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC CA TREDES # YES: HAS TREDES REACHED ZERO? EXTEND BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC INHINT CA ELINCR1 TS ELINCR CA AZINCR1 TS AZINCR TC FASTCHNG CA ZERO TS ELINCR1 TS AZINCR1 TS ELINCR +1 TS AZINCR +1 CA FIXLOC # SET PD TO 0 TS PUSHLOC TC INTPRET VLOAD VSU LAND R # ____ _ RTB PUSH # PUSH DOWN UNIT (LAND - R) NORMUNIT VXV VSL1 YNBPIP # ___ ____ _ VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R)) ELINCR AZINCR VXSC VSU YNBPIP VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE # Page 805 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT 0 # TOO CLOSE TO THE HORIZON. DEPRCRIT BMN DLOAD REDES1 DEPRCRIT STORE 0 REDES1 DLOAD DSU LAND R DDV VXSC 0 VAD UNIT R VXSC VSL1 /LAND/ STORE LANDTEMP EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC TC FASTCHNG EXTEND DCA LANDTEMP DXCH LAND EXTEND DCA LANDTEMP +2 DXCH LAND +2 EXTEND DCA LANDTEMP +4 DXCH LAND +4 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) CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2 REFSMMAT VSR1 VAD UNFC/2 STORE V EXIT RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG VLOAD VXV R WM VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS V STORE ANGTERM MXV CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED STORE VGU PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS ZEROVECS # 2 1 ABVAL SL3 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65. R # _ ____ VSU PUSH # PUSH DOWN R - LAND LAND MXV VSL1 CG STORE RGU ABVAL STOVL RANGEDSP RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4 NORMUNIT XNBPIP EXIT CA FIXLOC # RESET PUSH DOWN POINTER TS PUSHLOC # Page 807 CA MPAC # COMPUTE LOOKANGLE ITSELF DOUBLE TC BANKCALL CADR SPARCSIN -1 AD 1/2DEG EXTEND MP 180DEGS TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64 BRSPOT3 INDEX WCHPHASE TCF WHATGUID # ************************************************************************** # TTF/8 COMPUTATION # ************************************************************************** TTF/8CL TC INTPRETX DLOAD* JDG2TTF,1 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF ADG2TTF,1 # 2 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF VGU +4 # 2 DMP DAD* 3/4DP VDG2TTF,1 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF RDG +4,1 # 2 2 DSU DMP RGU +4 3/8DP STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF EXIT # 2 2 CA BIT8 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE EXTEND DCA TTF/8 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC CAF TWO # DEGREE - ONE TS L CAF TABLTTFL TC ROOTPSRS # YIELDS TTF/8 IN MPAC INDEX WCHPHASE TCF WHATALM EXTEND # GOOD RETURN DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC DXCH TTF/8 # CORRECTED TTF/8 # Page 808 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 QUADGUID CS TTF/8 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW TS L # BY FORCING -TTF*LEADTIME > OR = ZERO CS L AD L ZL EXTEND DV TTF/8 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF EXTEND SQUARE TS BUF +1 AD BUF XCH BUF +1 # RATIO SQUARED - RATIO AD BUF +1 TS MPAC # COEFFICIENT FOR VGU TERM AD BUF +1 INDEX FIXLOC TS 26D # COEFFICIENT FOR RDG-RGU TERM AD BUF +1 INDEX FIXLOC TS 28D # COEFFICIENT FOR VDG TERM AD BUF AD POSMAX # Page 809 AD BUF +1 AD BUF +1 INDEX FIXLOC TS 30D # COEFFICIENT FOR ADG TERM CAF ZERO TS MODE TC INTPRETX VXSC PDDL VGU 28D VXSC* PDVL* VDG,1 RDG,1 VSU V/SC RGU TTF/8 VSR2 VXSC 26D VAD VAD V/SC VXSC TTF/8 3/4DP PDDL VXSC* 30D ADG,1 VAD AFCCALC1 VXM VSL1 # VERGUID COMES HERE CG PDVL V/SC GDT/2 GSCALE BVSU STADR STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED ABVAL AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE UNFC/2 # VERTICAL COMPONENT DSQ PDDL UNFC/2 +2 # OUT-OF-PLANE DSQ PDDL HIGHESTF DDV DSQ MASS # 2 2 2 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A ) BPL DLOAD # 1 0 AFCCALC3 ZEROVECS AFCCALC3 SQRT DAD UNFC/2 +4 # Page 810 BPL BDSU AFCCLEND UNFC/2 +4 STORE UNFC/2 +4 AFCCLEND EXIT TC FASTCHNG CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC TS WCHPHOLD INCR FLPASS0 # INCREMENT PASS COUNTER BRSPOT4 INDEX WCHPHASE TCF AFTRGUID # *********************************************************************** # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX # *********************************************************************** CGCALC CAF EBANK5 TS EBANK EBANK= TCGIBRAK EXTEND INDEX WCHPHASE INDEX TARGTDEX DCA TCGFBRAK INCR BBANK INCR BBANK EBANK= TTF/8 AD TTF/8 XCH L AD TTF/8 CCS A CCS L TCF EXTLOGIC TCF EXTLOGIC NOOP TC INTPRETX VLOAD UNIT LAND STODL CG TTF/8 DMP* VXSC GAINBRAK,1 # NUMERO MYSTERIOSO ANGTERM VAD LAND VSU RTB R NORMUNIT # Page 811 VXV RTB LAND NORMUNIT STOVL CG +6 # SECOND ROW CG VXV VSL1 CG +6 STORE CG +14 EXIT # (CONTINUE TO EXTLOGIC) # # *********************************************************************** # PREPARE TO EXIT # *********************************************************************** # # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES # EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD CA TENDBRAK # WCHPHASE = 0 BRAKQUAD AD TTF/8 EXSPOT1 EXTEND INDEX WCHPHASE BZMF WHATEXIT TC FASTCHNG CA WCHPHOLD AD ONE TS WCHPHASE CA ZERO TS FLPASS0 # RESET FLPASS0 INDEX WCHPHOLD 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.) EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM. # Page 812 VLOAD RTB UNFC/2 NORMUNIT VXSC VXSC ZOOMTIME TRIMACCL STORE UNFC/2 EXIT CCS NGUIDSUB TCF GUIDSUB CCS NIGNLOOP TCF +3 TC ALARM OCT 01412 +3 TC POSTJUMP CADR DDUMCALC EXBRAK TC INTPRET VLOAD UNIT/R/ STORE UNWC/2 EXIT TCF STEER? EXNORM TC INTPRET VLOAD VSU LAND R RTB NORMUNIT STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE VXV DOT XNBPIP CG +6 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE CS MPAC # GET COEFFICIENT FOR CG +14 AD PROJMAX AD POSMAX TS BUF CS BUF ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R) AD MPAC AD POSMAX TS BUF +1 CS BUF +1 # Page 813 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE CAF FOUR UNWCLOOP MASK SIX TS Q CA EBANK5 TS EBANK EBANK= CG CA BUF EXTEND INDEX Q MP CG +14 INCR BBANK EBANK= UNWC/2 INDEX Q DXCH UNWC/2 EXTEND MP BUF +1 INDEX Q DAS UNWC/2 CCS Q TCF UNWCLOOP INCR BBANK EBANK= PIF STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS MASK STEERBIT EXTEND BZF RATESTOP EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE EXTEND # DON'T CALL THROTTLE OR FINDCDUW BZF +13 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY OCT 01410 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD? EXTEND RAND CHAN31 EXTEND BZF DISPEXIT # YES TC BANKCALL # NO: DO A STOPRATE CADR STOPRATE TCF DISPEXIT GDUMP1 TC THROTTLE # Page 814 TC INTPRET CALL FINDCDUW -2 EXIT # (CONTINUE TO DISPEXIT) # *********************************************************************** # GUIDANCE LOOP DISPLAYS # *********************************************************************** DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE. DXCH -PHASE3 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS MASK FLUNDBIT EXTEND BZF ENDLLJOB # TO PICK UP THE TAG INDEX WCHPHOLD TCF WHATDISP -2 TC PHASCHNG # KILL GROUP 5 OCT 00035 P63DISPS CAF V06N63 DISPCOMN TC BANKCALL CADR REGODSPR ENDLLJOB TCF ENDOFJOB P64DISPS CA TREDES # HAS TREDES REACHED ZERO? EXTEND BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG CS FLAGWRD6 # NO: IS REDFLAG SET? MASK REDFLBIT EXTEND BZF REDES-OK # YES: DO STATIC DISPLAY CAF V06N64 # OTHERWISE USE FLASHING DISPLAY TC BANKCALL CADR REFLASHR TCF GOTOP00H # TERMINATE TCF P64CEED # PROCEED PERMIT REDESIGNATIONS TCF P64DISPS # RECYCLE # Page 815 TCF ENDLLJOB P64CEED CAF ZERO TS ELINCR1 TS AZINCR1 TC UPFLAG # ENABLE REDESIGNATION LOGIC ADRES REDFLAG TCF ENDOFJOB RED-OVER TC DOWNFLAG ADRES REDFLAG REDES-OK CAF V06N64 TCF DISPCOMN VERTDISP CAF V06N60 TCF DISPCOMN # ************************************************************************** # GUIDANCE FOR P65 # ************************************************************************** VERTGUID CCS WCHVERT TCF P67VERT # POSITIVE NON-ZERO ---> P67 TCF P66VERT # +0 # # THE P65 GUIDANCE EQUATION IS AS FOLLOWS -- # ____ ___ # V2FG - VGU # ACG = ---------- # TAUVERT P65VERT TC INTPRET VLOAD VSU V2FG VGU V/SC GOTO TAUVERT AFCCALC1 # Page 816 # ********************************************************** # GUIDANCE FOR P66 # ********************************************************** P66VERT TC POSTJUMP CADR P66VERTA P67VERT TC PHASCHNG # TERMINATE GROUP 3. OCT 00003 TC INTPRET VLOAD GOTO V VHORCOMP SETLOC P66LOC BANK COUNT* $$/F2DPS RODTASK CAF PRIO22 TC FINDVAC EBANK= DVCNTR 2CADR RODCOMP TCF TASKOVER P66VERTA TC PHASCHNG # TERMINATE GROUP 3. OCT 00003 CAF 1SEC TC TWIDDLE ADRES RODTASK RODCOMP INHINT CAF ZERO XCH RODCOUNT EXTEND MP RODSCAL1 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE. EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z DCA PIPAX DXCH OLDPIPAX DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z CA PIPAZ XCH OLDPIPAZ XCH RUPTREG3 EXTEND # SHAPSHOT TIME OF PIPA READING. DCA TIME2 # Page 817 DXCH THISTPIP CA OLDPIPAX AD PIPATMPX TS MPAC # MPAC(X) = PIPAX + PIPATMPX CA OLDPIPAY AD PIPATMPY TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY CA OLDPIPAZ AD PIPATMPZ TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ CS OLDPIPAX AD TEMX AD RUPTREG1 TS DELVROD CS OLDPIPAY AD TEMY AD RUPTREG2 TS DELVROD +2 CS OLDPIPAZ AD TEMZ AD RUPTREG3 TS DELVROD +4 CAF ZERO TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS TS MPAC +4 TS MPAC +6 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL TS TEMY # KNOW WHEN READACCS CHANGES THEM. TS TEMZ CS ONE TS MODE TC INTPRET ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6) KPIP1 THISTPIP DSU PIPTIME STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME DDV PDVL # (8) 4SEC(28) GDT/2 VSU VXSC # (6) VBIAS VSL2 VAD V VAD STADR # (0) STOVL 24D # STORE UPDATED VELOCITY IN 24-29D # Page 818 R UNIT STORE 14D DOT SL1 24D STODL HDOTDISP # UPDATE HDOTDISP RATE FOR NOUN 63. 30D SL DMP 11D HDOTDISP DAD DSU 36D /LAND/ STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63. HDOTDISP BDSU DDV VDGVERT TAUROD PDVL ABVAL # (2) GDT/2 DDV SR2 GSCALE STORE 20D DAD # (0) PDVL CALL # (2) UNITX CDU*NBSM DOT 14D STORE 22D BDDV STADR # (0) STOVL /AFC/ DELVROD VXSC VAD KPIP1 VBIAS ABVAL PDDL # (2) THISTPIP DSU PDDL # (4) LASTTPIP THISTPIP STODL LASTTPIP # (2) DDV BDDV # (0) SHFTFACT PDDL DMP # (2) FWEIGHT BIT1H DDV DDV MASS SCALEFAC # Page 819 DAD PDDL # (4) 0D 20D DDV DSU # (2) 22D DMP DAD LAG/TAU /AFC/ PDDL DDV # (4) MAXFORCE MASS PDDL DDV # (6) MINFORCE MASS PUSH BDSU # (8) 2D BMN DLOAD # (6) AFCSPOT DLOAD PUSH # (6) BDSU BPL 2D AFCSPOT DLOAD # (4) AFCSPOT DLOAD # (2), (4), OR (6) SETPD # (2) 2D STODL /AFC/ # (0) ITRPNT2 EXIT DXCH MPAC # MPAC = MEASURED ACCELARATION. TC BANKCALL CADR THROTTLE +3 TC INTPRET VLOAD # PICK UP UPDATED VELOCITY VECTOR. 24D VHORCOMP VSL2 VAD DELVS VSR2 PDVL R UNIT VXSC HDOTDISP VSL1 BVSU ABVAL STORE VHORIZ EXIT TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG CADR DISPEXIT +3 BIT1H OCT 00001 SHFTFACT 2DEC 1 B-17 # Page 820 BIASFACT 2DEC 655.36 B-28 # ********************************************************************************* # REDESIGNATOR TRAP # ********************************************************************************* BANK 11 SETLOC F2DPS*11 BANK COUNT* $$/F2DPS PITFALL XCH BANKRUPT EXTEND QXCH QRUPT TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE DEC 64 TCF RESUME EXTEND READ CHAN31 COM MASK ALL4BITS TS ELVIRA CAF TWO TS ZERLINA CAF FIVE TC TWIDDLE ADRES REDESMON TCF RESUME # REDESIGNATOR MONITOR (INITIATED BY PITFALL) PREMON1 TS ZERLINA PREMON2 CAF SEVEN TC VARDELAY REDESMON EXTEND READ 31 COM MASK ALL4BITS XCH ELVIRA TS L CCS ELVIRA # DO ANY BITS APPEAR THIS PASS? TCF PREMON2 # Y: CONTINUE MONITOR CCS L # N: ANY LAST PASS? TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE # Page 821 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET? TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE RESETRPT CAF BIT12 # Y: RESET RUPT. TERMINATE EXTEND WOR CHAN13 TCF TASKOVER COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD? EXTEND RAND CHAN31 EXTEND BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC. CA L # NO. MASK -AZBIT CCS A -AZ CS AZEACH ADS AZINCR1 CA L MASK +AZBIT CCS A +AZ CA AZEACH ADS AZINCR1 CA L MASK -ELBIT CCS A -EL CS ELEACH ADS ELINCR1 CA L MASK +ELBIT CCS A +EL CA ELEACH ADS ELINCR1 TCF RESETRPT # THESE EQUIVALENCES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM +ELBIT = BIT2 # -PITCH -ELBIT = BIT1 # +PITCH +AZBIT = BIT5 -AZBIT = BIT6 # Page 822 ALL4BITS OCT 00063 AZEACH DEC .03491 # 2 DEGREES ELEACH DEC .00873 # 1/2 DEGREE # **************************************************************** # R.O.D. TRAP # **************************************************************** BANK 20 SETLOC RODTRAP BANK COUNT* $$/F2DPS # ************************ DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT CCS A # 7 OR 6 OF CHANNEL 16 IN A; BIT 7 MEANS CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT. AD ONE ADS RODCOUNT 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) # # 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 ROOTPSRS EXTEND QXCH RETROOT # RETURN ADRES TS PWRPTR # PWR TABLE POINTER DXCH MPAC +3 # PWR TABLE ADRES, N-1 CA DERTABLL TS DERPTR # DER TABL POINTER TS MPAC +5 # DER TABL ADRES CCS MPAC +4 # NO POWER SERIES DEGREE 1 OR LESS TS MPAC +6 # N-2 CA ZERO # MODE USED AS ITERATION COUNTER. MODE TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC. # COMPUTE CRITERION TO STOP ITERATING EXTEND DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC DXCH ROOTPS # AND IN ROOTPS INDEX MPAC +3 # PWR TABLE ADRES CA 5 # PRECROOT TO A TC SHORTMP # YIELDS DP PRODUCT IN MPAC TC USPRCADR CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC DXCH MPAC DXCH DXCRIT # CRITERION # SET UP DER COF TABL # Page 824 EXTEND INDEX PWRPTR DCA 3 DXCH MPAC # A(N) TO MPAC CA MPAC +4 # N-1 TO A DERCLOOP TS PWRCNT # LOOP COUNTER AD ONE TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC EXTEND INDEX PWRPTR DCA 1 DXCH MPAC # (I-1) TO MPAC, FETCHING DERCOF INDEX DERPTR DXCH 3 # DERCOF TO DER TABLE CS TWO ADS PWRPTR # DECREMENT PWR POINTER CS TWO ADS DERPTR # DECREMENT DER POINTER CCS PWRCNT TCF DERCLOOP # CONVERGE ON ROOT ROOTLOOP EXTEND DCA ROOTPS # FETCH CURRENT ROOT DXCH MPAC # LEAVE IN MPAC EXTEND DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2 TC POWRSERS # YIELDS DERIVATIVE IN MPAC EXTEND DCA ROOTPS DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVATIVE DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR EXTEND DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1 TC POWRSERS # YIELDS RESIDUAL IN MPAC TC USPRCADR CADR DDV/BDDV # YIELDS -DX IN MPAC EXTEND DCS MPAC # FETCH DX, LEAVING -DX IN MPAC DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS TC USPRCADR CADR ABS # YIELDS ABS(DX) IN MPAC EXTEND # Page 825 DCS DXCRIT DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC CA MODE MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES CCS A BADROOT TC RETROOT INCR MODE # INCREMENT ITERATION COUNTER CCS MPAC # TEST HI ORDER DX TCF ROOTLOOP TCF TESTLODX TCF ROOTSTOR TESTLODX CCS MPAC +1 # TEST LO ORDER DX TCF ROOTLOOP TCF ROOTSTOR TCF ROOTSTOR ROOTSTOR DXCH ROOTPS DXCH MPAC CA MODE TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2 INDEX RETROOT TCF 2 DERTABLL ADRES DERCOFN -3 # **************************************************************************** # TRASHY LITTLE SUBROUTINES # **************************************************************************** INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER CS TARGTDEX INDEX FIXLOC TS X1 TCF INTPRET TDISPSET CA TTF/8 EXTEND MP TSCALINV DXCH TTFDISP CA EBANK5 # TREDES BECOMES ZERO TWO PASSES TS EBANK # BEFORE TCGFAPPR IS REACHED EBANK= TCGFAPPR CA TCGFAPPR INCR BBANK INCR BBANK EBANK= TTF/8 # Page 826 AD TTF/8 EXTEND MP TREDESCL AD -DEC103 AD NEGMAX TS L CS L AD L AD +DEC99 AD POSMAX TS TREDES CS TREDES ADS TREDES TC Q 1406P00 TC P00DOO OCT 01406 1406ALM TC ALARM OCT 01406 TCF RATESTOP # ********************************************************************* # SPECIALIZED "PHASCHNG" SUBROUTINE # ********************************************************************* EBANK= PHSNAME2 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE XCH EBANK DXCH L TS PHSNAME3 LXCH EBANK EBANK= E2DPS TC A # ************************************************************************************* # PARAMETER TABLE INDIRECT ADDRESSES # ************************************************************************************* RDG = RBRFG VDG = VBRFG ADG = ABRFG VDG2TTF = VBRFG* ADG2TTF = ABRFG* JDG2TTF = JBRFG* # ************************************************************************************* # LUNAR LANDING CONSTANTS # ************************************************************************************* # Page 827 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE TTFSCALE = BIT12 TSCALINV = BIT4 -DEC103 DEC -103 +DEC99 DEC +99 TREDESCL DEC -.08 180DEGS DEC +180 1/2DEG DEC +.00278 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ V06N63 VN 0663 # P63 V06N64 VN 0664 # P64 V06N60 VN 0660 # P65, P66, P67 BANK 22 SETLOC LANDCNST BANK COUNT* $$/F2DPS HIGHESTF 2DEC 4.34546769 B-12 GSCALE 2DEC 100 B-11 3/8DP 2DEC .375 3/4DP 2DEC .750 DEPRCRIT 2DEC -.02 B-1 # Page 828 # ************************************************************************** # **************************************************************************
# Copyright: Public domain. # Filename: FP8.s # Purpose: This is the Apollo lunar module's firmware for the # Abort Guidance System (AGS). This is Flight Program 8. # Assembler: yaLEMAP # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo/yaAGS.html # Reference: http://www.ibiblio.org/apollo/Pultorak_files/FP8Listing.pdf. # Mod history: 2005-01-15 RSB Began. # 2005-01-17 RSB Data entry complete, but not debugged. # 2005-01-18 RSB As of yesterday, this assembled with # 86 fatal errors. These have all been # repaired. Lots of other stuff fixed too. # I know know that the addresses and # opcodes at the ends of each page are # correct. However, the checksums are # still wrong, so the next step is to # proceed with a binary comparison. # 2005-01-18 RSB Fully debugged and ready to go. # It has been completely proofed against # the binary in the scanned assembly # listing, and the checksums are correct. # (Of course, it could always use more # proofing if somebody wanted to do it. # Particularly the program comments.) # 2005-05-14 RSB Corrected website reference above. # 2005-06-12 RSB Fixed comments on p. 117. # # The contents have been taken (by means of manual data entry) from # an assembly listing of Flight Program 8 scanned by John Pultorak from # a physical copy preserved by supplied by Davis Peticolas. (The WWW link # for the scan is referenced above.) # # This file contains the entire source code for FP8. I have not split the # source code into many smaller chunks as has been done for AGC source code. # The page references are to the scanned PDF of the assembly listing, but # the page markings on the physical copy match the PDF pages. In addition # to the comments containing the page references, I've also added some # blank lines for readability. So don't expect the line number in the # scanned version to match the line numbers in an assembly listing created # by processing this source file with the yaLEMAP cross-assembler. # Page 1 # FLIGHT PROGRAM 8 -- LM AGS FP8 S03 4039 -- 12/18/70 # LM ABORT ELECTRONICS ASSEMBLY # # SCRATCH PAD STORAGE ORG 0000 TS0 DEC 0 TS1 DEC 0 TS2 DEC 0 TS3 DEC 0 TS4 DEC 0 TS5 DEC 0 TS6 DEC 0 TS7 DEC 0 TS10 DEC 0 TS11 DEC 0 TS12 DEC 0 TS13 DEC 0 TS14 DEC 0 TS15 DEC 0 TS16 DEC 0 TS17 DEC 0 SREX3 DEC 0 SREX2 DEC 0 SREX1 DEC 0 SREX DEC 0 TVARBR DEC 0 # TEMP STORE FOR CK SUM. TRA RETURN # SERV ROUT, STARTUP # # TAPE LOAD STARTUP CHECKSUM # SF OUT 6402 # DEDA INPUT SCALE FACTOR OCTF INP 2040 # DEDA OCTAL INPUT # # THE NEXT 16 LOCATIONS ARE SHARED # WITH A RR FILTER TEMPORARY MATRIX # U2X ALS 1 # B1 UNIT RADIAL VECTOR TO U2Y TMI *+2 # B1 TRIAL RENDEZ PT. U2Z TRA *-3 # B1 # Page 2 D11 EQU U2X # RADAR TEMP. MATRIX (16 LOC) VFX EQU U2X # BRAKING VEL VECTOR AT 13. C2 DLY *+1 # B1 RENDEZ ANGLE SINE V1X OUT 7012 # B1 HORIZ UNIT VECTOR V1Y INP 6200 V1Z CLZ SUM DLSC CLA V2Z # DOWNLINK SHIFT COUNTER W1X STO TVARBR # B1 U1 X V1 D31 EQU W1X W1Y CLZ WRDCNT W1Z TSQ TVARBR SI ADZ SUM # B0 E(SIN(E0)) RD2DOT STO SUM # B7 DESIRED RADIAL ACCEL YD2DOT CLA TVARBR # B7 DESIRED OUT-OF-PLANE ACCEL TSEX SUB CLAFR # EXIT FROM NORTON SIDELL TMI U1X # B1 SIN DELTA L V6X CLZ SUM # B13 TEMP STORAGE FOR TPI QUANT V6Y TMI *+3 V6Z SUB 1B17 DQSX EQU V6X # ACCUM VEL IN XDV CODELL TMI EXIT40 # B1 COS DELTA L WCX CLA 10B4 # B1 UNIT VECTOR NORMAL WCY STO S12 # TO CSM ORBIT WCZ OUT 6410 TMPBR TRA SINITC # TEMP BRANCH STORE U1X CLZ WRDCNT # B1 LEM UNIT RAD VECTGOR U1Y ADD 1B17 U1Z STO WRDCNT BRANCH SUB 1B11 # GUIDANCE BRANCH V2X TMI W1Z # B1 HORZ UNIT VECTOR AT V2Y DLY W1Y # RENDEZ POINT V2Z CLA 0206 VGX EQU V2X # VEL TO GAIN VECTOR AT L3 # # END OF TAPE LOAD CHECKSUM PROGRAM # AT DEC 0B7 # Page 3 EX DEC 0B2 # ATTITUDE ERRORS. EY DEC 0 EZ DEC 0 X3 DEC 0B0 # XFR ORB PARAM. TR3 EQU X3 # ADDRESS OF RESULT FOR MXM DVXM1 DEC 0B1 # BODY DELTA VS DVYM1 DEC 0 # PREVIOUS CYCLE. DVZM1 DEC 0 NI DEC 0B-9 # PREDICTION ANGULAR FREQUENCY NE EQU NI # CSM PRED. ANGULAR FREQ. TR8 EQU NI # RADAR TEMP. VD2X DEC 0B2 # DELTA V EXP LS VD2Y DEC 0 VD2Z DEC 0 CI DEC 0B0 # E(COS(E0)) TR1 EQU CI # ADDR. OF 1ST MATRIX FOR MXM DRX DEC 0B14 # LRM POS REMAINDERS DRY DEC 0 DRZ DEC 0 THEP DEC 0 # PGNS THETA IN COUNTS. DIGX DEC 0B7 # PREDICTED CHANGE IN DIGY DEC 0 # INTEGRATED GRAVITY. DIGZ DEC 0 PSIP DEC 0 # PGNS PSI IN COUNTS. GXDT DEC 0B7 # GRAVITY TIMES MAJOR GYDT DEC 0 GZDT DEC 0 PHIP DEC 0 # PGNS PHI IN COUNTS. DVSX DEC 0 DVSY DEC 0 DVSZ DEC 0 SIGA DEC 0B1 # SIN FDAI GAMMA. RRX DEC 0B23 # COMPUTED LM-CSM RANGE RRY DEC 0 RRZ DEC 0 COGA DEC 0B1 # COS FDAI GAMMA. A11 DEC 1.0B1 # XB DIRECTION COSINES. # Page 4 A12 DEC 0 A13 DEC 0 TS8 DEC 0 A31 DEC 0 # ZB DIRECTION COSINES A32 DEC 0 A33 DEC 1.0B1 SUM DEC 0 # RUNNING MEMORY SUM A21 DEC 0 # YB DIRECTION COSINES A22 DEC 1.0B1 A23 DEC 0 X4 DEC 0B0 # XFR ORB PARAM. VHSQ EQU X4 # 0B26 VH SQUARED TR2 EQU X4 # ADDR. OF 2ND MATRIX FOR MXM E1 DEC 0 # -6 OR -9 XB NORM ERROR E3 DEC 0 # ZB NORMALITY ERROR. E13 DEC 0 # XB,ZB ORTHOG ERROR. DEL10 DEC 0 # TPI LOGIC FLAG DA11 DEC 0B-5 # DIR COSINE REMAINDERS DA12 DEC 0 DA13 DEC 0 WRDCNT DEC 0 # CKSUM WORD COUNT DA31 DEC 0 DA32 DEC 0 DA33 DEC 0 DEL44 DEC 0 # RADAR CODE WORD RESET FLAG A11D DEC 0B1 # XD DIRECTION COSINES. A12D DEC 0 A13D DEC 0 DEC 0 # ** UNUSED -- INDEXED BY A11D ** A31D DEC 0B1 # ZD DIRECTION COSINES. A32D DEC 0 A33D DEC 0 MU17 DEC 0B3 # RADAR FILTER ENTRY COUNTER P DEC 0B23 # TRIAL SEMI-PARAMETER ALPHA DEC 0B23 # XFR ORBIT SEMI-MAJOR AXIS Q1 DEC 0B23 # XFR ORBIT PERILUNE ESQ EQU Q1 # Page 5 AI DEC 0B23 # PRED. SEMI-MAJOR AXIS AE EQU AI # CSM PRED. SEMI-MAJOR AXIS R5X DEC 0B23 # LM PRED POS AHEAD TDEL R5Y DEC 0 R5Z DEC 0 AL DEC 0B23 # LM PRED. SEMI-MAJOR AXIS REX DEC 0B23 # CSM EPOCH POSITION REY DEC 0 REZ DEC 0 RT DEC 0B23 # CSM PRED POS. MAG. R0X DEC 0B23 # PRED EPOCH POS VECTOR R0Y DEC 0 # SEE REAR OF LISTING FOR CHECKSUM # Note that the CHECKSUM pseudo-op is not defined in the AGS # programmer's manual. I have decided for the purposes of # implementing yaLEMAT that the following syntax will be # used. It means that the cross-assembler will compute a # checksum of the address range 0207-1004 (octal), and will # store it right here. CHECKSUM RANGE 0207-1004 R0Z DEFINE 0206 R0 DEC 0B23 # PRED EPOCH POS. MAG. C11 EQU P # RADAR TEMP. MATRIX C12 EQU ALPHA C13 EQU Q1 C14 EQU AI C21 EQU R5X C22 EQU R5Y C23 EQU R5Z C24 EQU AL C31 EQU REX C32 EQU REY C33 EQU REZ C34 EQU RT C41 EQU R0X C42 EQU R0Y C43 EQU R0Z C44 EQU R0 R DEC 0B23 # LM POS MAGNITUDE Y DEC 0B23 # OUT OF PLANE POSITION PP DEC 0B23 # P PRIME/EXIT FOR MXM POUTFS DEC 7.684096E4B23 # MAX P DISPLAYABLE POUT DEC 0 # DISPLAY POSITION. # Page 6 DPOUT DEC 0 # DISPLAY POSITION INCREMENT. 2K3 DEC 1048576.B23 # QL SET ON O.F. 2K14 DEC 5.E4B23 # INITIAL P PERTURBATION RIX DEC 0B23 # ELLIPSE PRED POS OUTPUT RIY DEC 0 RIZ DEC 0 DELR1 EQU RIX # MEASURED MINUS COMPUTED RANGE DELR3 EQU RIY # B23 DELR2 EQU RIZ 25J DEC 0B23 # DEDA ALTITUDE UPDATE 7J DEC 6042736B23 # TERM IN AL(O.I.) 8J DEC 2940243B23 # TERM IN AL(O.I) LOWER LIMIT 10J DEC 6046910B23 # RETARGET VALUE FOR 7J 4K5 DEC 5735200B23 # NOMINAL BURNOUT ALTITUDE 2K19 DEC 5.E5B23 # DELTA P LIMITER 5J DEC 5.697785E6B23 # LANDING SITE RADIUS 16J DEC 60000B23 # ORBIT INSERTION ALTITUDE 21J DEC 25000B23 # PITCH STEERING ALT THRESHOLD RRSX DEC 0B23 # CALCULATED RANGE AT TIME RRSY DEC 0 # OF RADAR RANGE MEASUREMENT. RRSZ DEC 0 6K11 DEC 0.318310B0 # 1/PI # # INITIALIZE DATA FROM DOWNLINK ADDRESSES # LOCATIONS 0240-0257 USED 1J1 DEC 0B23 # LM EPHEMERIS POS 1J2 DEC 0 1J3 DEC 0 DEC 0 2J1 DEC 0 # CSM EPHEMERIS POS 2J2 DEC 0 2J3 DEC 0 DEC 0 DEC 0 DEC 0 DEC 0 DEC 0 # Page 7 1J7 DEC 0B18 # LM EPOCH TIME 1J7LS DEC 0B1 DEC 0 DEC 0 THETAR EQU 2J3+4 # RADAR ANTENNA TRUNNION ANGLE BETAR EQU 2J3+5 # RADAR ANTENNA SHAFT ANGLE RM EQU 1J7 # RADAR RAW RANGE INPUT RMDOT EQU 1J7+1 # RADAR RANGE RATE INPUT DEL46 EQU 1J7+2 # RADAR COMPOSITE WORD 1J4 DEC 0B13 # LM EPHEMERIS VEL 1J5 DEC 0 1J6 DEC 0 VPY DEC 0B13 # OUT-OF-PLANE VELOCITY 2J4 DEC 0 # CSM EPHEMERIS VEL 2J5 DEC 0 2J6 DEC 0 5K18 DEC -.1B-2 # RD3DOT LOWER LIMIT VY0 DEC 0B13 # LM OUT-OF-PLANE VEL VY0FS DEC 200B13 # MAX VY0 DISPLAYABLE 2J7 DEC 0 # CSM EPOCH TIME 2J7LS DEC 0 7K1 DEC 30B18 # TIG TIME BIAS 1J DEC 0B18 # NOMINAL TPI TIME (CSI) 6K5 DEC -.73B0 # Y-POSITION FILTER WEIGHT XI DEC 0B3 # Z-AXIS/LOCAL HORIZ ANGLE A31BD DEC 0B1 # UNIT VECTOR (LM-CSM) A32BD DEC 0 A33BD DEC 0 TLOS DEC 0B3 # DXFR LOS COMPUTED THETAF EQU TLOS # LM-CSM CENTRAL ANG AT CSI/CDH 3K4 DEC .17365B1 # CENTRAL ANGLE LIMIT ON TPI 12J DEC -.299904B3 # PHASE ANGLE LIMIT FOR RETARGET 4J DEC 0B13 # TIME OF NODE PRIOR TO RENDEZ 6J DEC 2580.0B13 # DESIRED TRANSFER TIME TDEL DEC 0B13 # TIME TIL NEXT MANEUVER TR DEC 0B13 # TIME TIL RENDEZVOUS 3J DEC 0B13 # TARGET OFFSET TIME # Page 8 6K12 DEC 9.38B4 # RAW RADAR AT 18 TO FT. AT 22 DELRP DEC 0B23 # DIFF. ALT. AT TIG(CSI-CDH) QA DEC 0B23 # LM APOFOCUS ALTITUDE 18J DEC 0B22 # MEASURED RADAR RANGE RR DEC 0B22 # COMPUTED RANGE READP DEC 0 ENTERP DEC 0 HOLDP DEC 0 CLEARP DEC 0 HMF DEC 0 # START OF TELEMETRY LIST RMF DEC 0 # READOUT MODE FLAG DD DEC 0 # DEDA DATA CMF DEC 0 # CLEAR MODE FLAG A11T DEC 1.B1 # TM DIR COSINES A12T DEC 0 A13T DEC 0 ADST DEC 0 # DEDA ADDRESS A31T DEC 0 A32T DEC 0 A33T DEC 1.B1 H DEC 0B23 # ALTITUDE RX DEC 0B23 # LM POSITION RY DEC 0 RZ DEC 0 QL DEC 0B23 # PRESENT LM PERICYNTHION EONS10 EQU QL # ENG ON+S10 FOR TM RCX DEC 0B23 # CSM PRESENT POSITION RCY DEC 0 RCZ DEC 0 RF DEC 0B23 # PREDICTED BURNOUT ALT. DVX DEC 0B1 # BODY DELTA VS DVY DEC 0 # THIS CYCLE. DVZ DEC 0 TA2 DEC 0B1 # ABS TIME LS. DAX DEC 0B-6 # DELTA ALPHAS DAY DEC 0 # Page 9 DAZ DEC 0 TBO DEC 0B9 # TIME TO BURNOUT. VX DEC 0B13 # LM VELOCITY VY DEC 0 VZ DEC 0 MU8S12 DEC 0 # MU8/S12 VCX DEC 0B13 # CSM PRESENT VELOCITY VCY DEC 0 VCZ DEC 0 HDOT DEC 0B13 # ALTITUDE RATE VG DEC 0B13 # VELOCITY TO GAIN VF DEC 0B13 # TRANSFER BRAKING VELOCITY TA0 DEC 0B18 # TIME FROM CSI TO CDH TIG DEC 0B18 # ABSOLUTE TIME OF MANEUVER A11BD DEC 0B1 # CMD XB POINTING DIR A12BD DEC 0 A13BD DEC 0 TA1 DEC 0B18 # ABS TIME MS. S0 DEC 0 # AGS FUNCTION SELECTOR DISC1C DEC 0 # DISCRETE WD 1-TRUE STATE Q1DEDA DEC 8388500B23 # TRANS ORBIT PERICYN ALT DELH EQU Q1DEDA # DIFF. ALT. AFTER CDH(CSI-CDH) QLTELE DEC 0B23 # QL FOR TELE AND DEDA VD1X DEC 0B13 # 40MS VEL ACCUMULATION VD1Y DEC 0 VD1Z DEC 0 # END OF TELEMETRY LIST DEL6 DEC 0 # CALIBRATE I.C. FLAG S10 DEC 0 # GUIDANCE MODE SELECTOR S11 DEC 0 # AUTO RADAR SWITCH S12 DEC 0 # TEST STATUS S13 DEC 0 # STORE LUNAR AZIMUTH S14 DEC 0 # NAVIGATION INITIALIZE S15 DEC 0 # RADAR GIMBAL NULL RDOTS EQU S15 # R. R. STORED AT RADAR INPUT S16 DEC 0 # CDH APSIDAL SELECTION S17 DEC 0 # RADAR FILTER INIT. SWITCH # Page 10 VEX DEC 0B13 # CSM EPOCH VEL VEY DEC 0 VEZ DEC 0 RFDOT DEC 0B13 # DESIRED ALT RATE V0X DEC 0B13 # PRED EPOCH VEL VECTOR V0Y DEC 0 V0Z DEC 0 I EQU V0X # MXM INDEX J EQU V0Y # MXM INDEX K EQU V0Z # MXM INDEX VH DEC 0B13 # LM HORIZONTAL VEL # VIX,VIY,VIZ ARE SHARED WITH RR FILTER VIX DEC 0B13 # ELLIPSE PRED VEL OUTPUT VIY DEC 0 VIZ DEC 0 V DEC 0B13 # LM TOTAL VELOCITY TP DEC 0B13 # TRIAL XFR ORB. TIME. T DEC 0B13 # TIME TO RENDEZ. RB EQU T # RF SAVED FOR ORBIT INSERT. TB DEC 0B13 # TA-TE. PDOTM1 DEC 0B13 # DISPLAY POS RATE(-1) RRDOT DEC 0B13 # RANGE RATE 1000D DEC 1000B17 # RANGE MARK COUNTER INCREMENT TI DEC 0B13 # PREDICTION TIME/RR FILTER TEMP DPDOUT DEC 0B13 # DISPLAY POS RATE INCREMENT PDOUT DEC 0B13 # DSP POS RATE CONV TO FPS AT 13 TCSM DEC 0B13 # CSM PERIOD (SEC) 4K25 DEC 3.402B13 # ENG CUTOFF COMP 2K18 DEC 15.B13 # PARTIAL DERIV PROTECTOR. 28J1 DEC 0B13 # DELTA V DOWNRANGE 28J2 DEC 0B13 # DELTA V CROSSRANGE 28J3 DEC 0B13 # DELTA V RADIAL 2K20 DEC 2.B13 # CONVERGENCE CHECK. 4K26 DEC 70.0B13 # VG THRESHOLD DDF DEC 0 # DEDA DATA RECEIVED FLAG 6K4 DEC .1E3B10 # INITIAL VALUE OF P33 AND P44 6K2 DEC .1E9B30 # INIT VALUE OF P11,P22 # Page 11 V5X DEC 0B13 # TPI-PREDICTED V AT TPI TIME V5Y DEC 0 V5Z DEC 0 TR4 EQU V5X # NO. OF COL IN MATRIX A TR6 EQU V5Y # NO. OF ROWS IN MATRIX B TR5 EQU V5Z # NO. OF ROWS IN MATRIX A VHA DEC 0B13 22J DEC 50B13 # PITCH STEERING ALT RATE THRESH 23J DEC 19.5B13 # RFDOT LOWER LIMIT 5K26 DEC 15B13 # PSEUDO ATT HOLD IN STEER PART DEC 0B14 # PARTIAL DERIVATIVE VDX DEC 0B13 # VD1 AT NAV UPDATE VDY DEC 0 VDZ DEC 0 4K27 DEC -8000.0B13 # OVERFLOW PROTECTION FOR VD1X VSMGX DEC 0B13 # VD1 CUTOFF VSMGY DEC 0 VSMGZ DEC 0 RADOT DEC 0B13 # PRED. RDOT AT TIG DELVGX DEC 0B13 # THRUST VEL TO GAIN DELVGY DEC 0 DELVGZ DEC 0 17J DEC 0B13 # RANGE RATE INPUT RD3DOT DEC 0B-2 # DESIRED RADIAL JERK YD3DOT DEC 0B-2 # DESIRED OUT-OF-PLANE JERK 4K12 DEC 5B7 # ACCEL THRESH IN O.I. STEER S507 DEC 0B3 # ACQ STEER SEL OF PT DIR DAXREM DEC 0B-13 # INCRE. GYRO INPUT REMAINDERS DAYREM DEC 0 DAZREM DEC 0 C1 DEC 0B1 # RENDEZ ANGLE COSINE. WBX DEC 0B1 # UNIT VECTOR FOR WBY DEC 0 # GUIDANCE STEERING WBZ DEC 0 6K14 DEC -15768B14 # RADAR RANGE RATE NULL TE1 DEC 0B18 # CSM EPOCH TIME MS. TL1 DEC 0B18 # LEM EPOCH TIME MS. # Page 12 6K6 DEC -.001B-8 # Y-VELOCITY FILTER WEIGHT 5K20 DEC 0B-2 # RD3DOT LOWER LIMIT TE2 DEC 0 # CSM EPOCH TIME LS. TL2 DEC 0 # LEM EPOCH TIME LS. 2K11 DEC 6000B13 # VF IF OVERFLOW 4K6 DEC 80.B13 # RFDOT UPPER LIMIT DAXA DEC 0B-6 # ALIGN INCREMENTS DAYA DEC 0 DAZA DEC 0 DISC1 DEC 0 # DISCRETE WORD 1K18 DEC .003125B-8 # ACCEL SCALE FACTOR 1K20 DEC .003125B-8 1K22 DEC .003125B-8 1K14 DEC 0B-14 # X-AXIS MASS UNBAL COMP 1K19 DEC 0B1 # ACCEL BIAS 1K21 DEC 0B1 # COMPENSATION 1K23 DEC 0B1 DSPSC DEC 0 # DISPLAY SHIFT COUNTER 1K1 DEC 0B-13 # GYRO BIAS 1K6 DEC 0 # COMPENSATIONS 1K11 DEC 0 DDEL DEC 0B0 # LUNAR ALIGN CORRECTION 1K3 DEC 0B-7 # GYRO SCALE FACTOR 1K8 DEC 0 # COMPENSATIONS 1K13 DEC 0 HRF DEC 0 # HIGH RATE FLAG A31S DEC 0B1 # RADAR NULL DIR COS A32S DEC 0 A33S DEC 0 4K4 DEC .004B-7 # FACTOR IN RFDOT(OI) 5K14 DEC 0B-2 # RD3DOT UPPER LIMIT 5K16 DEC .01B-2 # YD3DOT UPPER LIMIT DLWN DEC 0 # DOWNLINK WORD COUNTER DEL32 DEC 0 # DOWNLINK INITIALIZE FLAG 6K8 DEC .22B10 # RANGE RATE ERROR VARIANCE # (ADDR OF 6K8 MUST END IN 4) 6K9 DEC .3029E-4B-4 # VARIANCE OF RADAR ANGULAR ERROR # Page 13 6K10 DEC .625E7B28 # RANGE ERROR VARIANCE DSPF1 DEC 0 # DISPLAY FLAG1. ID1F DEC 0 # DOWNLINK ID RECEIVED DEL31 DEC 0 # DOWNLINK INPUT COMPLETE FLAGT DEC 0 # MEMORY TEST FLAG1 DEC 0 # 20MS BRANCH CONTROL DEL2 OCT 0 # STAGED FLAG. DEL5 OCT 0 # ATTHLD LOCK FLAG. PI DEC 3.14159266B3 6K13 DEC -1.59286B1 # RADAR RANGE RATE TO FPS AT 13 DVGXX DEC 0B13 # VEL TO GAIN IN EXT DELTA V DVGXY DEC 0 DVGXZ DEC 0 DEL20 DEC 0 # LOGIC FLAG FOR ENG CONTROL DEL21 OCT 0 # LUNAR SURFACE FLAG. 2J DEC 1.9970B7 # COTAN OF DESIRED LOS AT TPI DEL42 OCT 0 # LUNAR ALINE COMPLETE FLAG DEL45 EQU DEL42 # RR RANGE/RANGE RT. UPDATE FLAG K55 OCT 377777 # S.F. FOR HDOT DISPLAY MU3 DEC 0 # P-ITER COUNTER. RD3DTL EQU MU3 # RD3DOT LOWER LIMIT 5K17 DEC -.01B-2 # YD3DOT LOWER LIMIT MU6 DEC 0 # STAGING COUNTER 1K37 DEC 15.B17 # ACCEL CAL DURATION MU8 DEC 0 # ULLAGE COUNTER MU10 DEC 0 # GYRO CALIBRATE DURATION 1K9 DEC 5.0B17 # ULLAGE COUNTER LIMIT 1K30 DEC 150.B17 # GYRO CALIBRATE DURATION 2K17 DEC 5.B17 # NO OF P-ITERATIONS-3 MU19 DEC 0 # MARK COUNTER 4K23 DEC 62.0B17 # STAGING TIME DELAY S623 DEC 0B3 # EX SELECTION IN G. S 1K4 DEC .1B0 # DISPLAY INTERPOLATION 1K24 DEC .87E-3B1 # SINGULARITY THRESHOLD 1K26 DEC -.142857E3B8 # NEG INV OF ALIGN GAIN CONSTANT 1K27 DEC .435E-1B-4 # ALIGN CONSTANT 1K28 DEC 107.78396B7 # ALIGN CONSTANT # Page 14 1K29 DEC .001B-4 # LUN ALIGN STOP CRITERION 1K33 DEC .08B-3 # CALIBRATE GAIN 1K34 DEC .00002B-15 # CALIBRATE GAIN 1K35 DEC .25B7 # ACCEL BIAS THRESHOLD 1K36 DEC -.66667E-3B0 # ACCEL CAL GAIN 2K1 DEC .173189E15B48 # GRAVITY CONST (LUNAR) 2K2 DEC .57740387E-14B-47 # 1/2K1 6J1 DEC .3358E-8B-14 # LUNAR ROT RATE ABOUT X-REF 6J2 DEC -.53039E-7B-14 # LUNAR ROT RATE ABOUT Y-REF 6J3 DEC .3052E-8B-14 # LUNAR ROT RATE ABOUT Z-REF B13SF DEC .10416666B0 # .01 MIN TO SEC AT 13 SDVX DEC 0B1 # DV SUM FOR ACCEL CAL SDVY DEC 0 # (ADDR OF SDVX MUST END IN 4) SDVZ DEC 0 MU7 DEC 0B17 # CALIBRATION COUNTER 7K2 DEC 2B17 # NOISEIN P-MATRIX DIAGONALS B13VSF DEC .625B0 # .1 FPS TO FPS AT 13 B3SF DEC .34971155B0 # .01 DEG TO RAD AT 3 B23RSF DEC .10533045B0 # .1 NMI TO FT AT 23 4K2 DEC -.50204E-4B-12 # FACTOR IN TB COMP 4K3 DEC .16803E-8B-25 # FACTOR IN TB COMP B22RSF DEC .5266522B0 # .01 NMI TO FT AT 22 BACCSF DEC 0.762939B0 # .001 FT/SEC2 TO FPS/20MS AT 1 4K34 DEC 1.B7 # AT LOWER LIMIT 4K35 DEC .1B7 # ULLAGE THRESHOLD 4K10 DEC -317438.91B20 # TERM IN AL(O.I.) SUMLIM DEC 0 # LAST CELL FOR CHECKSUM WORDS DEC 28 B18SF DEC .333333B0 # .1 MIN TO SEC AT 18 4K21 DEC .26179938B2 # SC FACTOR FOR ATT ERR OUTPUT M25B16 DEC -25.B16 # CYCLE COUNT TO SECONDS DTB DEC 1.25B1 # 1 SEC + DEDA TIME BIAS ID DEC 0 # CURRENT DOWNLIST ID CODE DLWNL STO 1J1+15 # END OF DOWNLINK BUFFER 11J DEC -624599.84B20 # RETARGET VALUE FOR 4K10 2K4 DEC -.173189E15B48 # (-2.)(2K1) B49 KDT DEC 1.B1 # DELTA T/2 AT 1 # Page 15 BM13SF DEC .96049535B0 # .01 DEG/HR TO RAD/20MS AT -13 B23SF DEC .64B0 # 100 FT TO FT AT 23 # THE FOLLOWING 16 PARAMETERS HAVE # VARIABLE SCALING. INITIAL SCALING IS INDICATED. P11 DEC .1E9B30 # VARIANCE OF X-POS ERROR P12 DEC 0B30 # COVARIANCE OF X AND Y POS ERROR P13 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR P14 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR P21 DEC 0B30 # COVAR OF X AND Z POS ERROR P22 DEC .1E9B30 # VARIANCE OF Z-POS ERROR P23 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR P24 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR P31 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR P32 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR P33 DEC .1E3B10 # VARIANCE OF X-VEL ERROR P34 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR P41 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR P42 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR P43 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR P44 DEC .1E3B10 # VARIANCE OF Z-VEL ERROR VRSH STQ SREX2 LRS 0 TRA SREX2 TMID DEC 0 # TELEMETRY ID SFLO OCT 000026 PMAXP OCT 377777 # COUNTS AT 17 ORBRET TRA DX10P # RETURN FROM NORTON IN O.I. DEDASC DEC 0 # DEDA SHIFT COUNTER # # EX36P STQ DEL10 # SAVE QUANTITIES FOR LATER USE IN # T/B COMPUTATIONS STO V6Z CLA TS12 STO V6X CLA TS13 # Page 16 STO V6Y CLA TI SUB 4J TRA DXFR14-2 RREX CLA TS0 # VARIABLE ADDRESS LOAD, MULTIPLY RREX1 MPY TS0 # AND STORE FOR MATRIX MULTIPLY DVP 1B3 # ROUTINE (MXM) -- PERFORMS ADZ TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K) RREX2 STO TS0 STO TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K) CLA RREX ADD TR4 # INCREMENT CLA STO RREX CLA RREX1 ADD 1B17 # INCREMENTY MPY STO RREX1 AXT 2,1 # INCREMENT AND TEST INDEXES CLA I,1 ADD 1B17 STO I,1 SUB TR4,1 TMI R1+1 TIX *-5,1 CLA TR6 # REARRANGE DIMENSIONS AND STO TR4 # ADDRESSES ON EXIT TO SAVE CLA TR3 # STEPS IN FILTER STO TR1 AXT 7,1 TRA PP # EXIT MXM DIAK1 OCT 377363 # TEST FOR DEDA ENTRY INTO 415 DIAK2 OCT 377401 # TEST FOR DEDA ENTRY INTO 377 6K8S DEC .22B10 # WORKING VALUE OF 6K8 # (ADDR OF 6K8S MUST END IN 4) 6K9S DEC .3029E-4B-4 # WORKING VALUE OF 6K9 6K10S DEC .625E7B28 # WORKING VALUE OF 6K10 6K6S DEC 0 # WORKING VALUE OF 6K6 # # Page 17 # ORG 1000 CLADD DEC 0 # PICKUP DEDA DATA TRA ROR RND STQ SREX # DIRECTION COSINE ROUND ADD 1B9 LRS 9 TRA SREX TMCLA CLA 0324 # CLA FOR TELEM TCLTH CLA 1005 DLSTO STO 1J1-1 IC1BR TRA IC1 # IC1 TRA. BR1 TRA NAV1P DEDABR TRA DEDAE # DEDA BRANCH TRA. BR50 TRA EXEC2 # BRANCH 50 TRA. # # HARDWIRE ESCAPE POINTS # EXIT1 TRA EX1+1 EXIT2 TRA UBCOMP EXIT3 TRA ADDMS EXIT4 TRA EX4+1 EXIT5 TRA PGNSDE EXIT6 TRA TME EXIT7 TRA PGNSD1+5 EXIT8 TRA EX8+1 EXIT9 TRA TVTG EXIT10 TSQ SOFT1 EXIT11 TSQ SOFT1 # ASCENT ENG ON EXIT12 TRA AHE1 EXIT13 TRA EROUT+1 EXIT14 TSQ SOFT2 EXIT15 TRA LUNAL1 # GAIN CHANGE EXIT16 TRA EX16+1 EXIT17 TRA FDAI1 EXIT18 TRA NOC EXIT19 TRA DELAY # Page 18 EXIT20 TRA DLDC EXIT21 TRA TIMEA EXIT22 TRA IDLE-1 O25C OCT 377747 # TEST FOR TM RESET EXIT23 CLZ VD1X CLZ VD1Y CLZ VD1Z TRA NAV3 EXIT24 TRA NAV2 EXIT25 TRA NAV3 SINITC CLA 4K27 STO VD1X STO VDX TRA EXEC1+7 EXIT26 TRA XDVS EXIT27 TRA EX27+1 EXIT28 TRA EX28+1 STGCTR CLZ MU6 # STAGING DELAY COUNTER ADD 1B17 STO MU6 TRA AHE EXIT29 TRA EX29+1 CLATAB CLA SFTAB-1 # CLA FOR DEDA SF TABLE EXIT30 TRA EX30+1 EXIT31 TRA ALTUP EXIT32 TRA LMORB2 EXIT33 TRA EX33P EXIT34 TRA EX34P EXIT35 TRA EX35 EXIT36 TSQ EX36P EXIT37 TRA EX35+1 EXIT38 TRA Q5 EXIT39 TRA EXECM EXIT40 CLZ S0 # SOFT INITIALIZE CLZ DEL5 CLZ FLAGT AXT 7,1 # ZERO S SWITCHES # Page 19 CLZ S10,1 TIX *-1,1 TRA SINITC # CONTINUE INITIALIZE EXIT41 TRA DSP1 EXIT42 TRA DSP2CP EXIT43 ADD O25C # CHECK FOR TM RESET ABS TMI TMIE1 # -- RESET TM AT 25 CYCLE TRA EXEC1+4 # NOT 25TH CYCLE IDAI OCT 077776 # AGS INITIALIZE DOWNLIST ID IDRP OCT 077775 # REND./PRETHRUST DOWNLIST ID EXIT44 TRA EX44+1 EXIT45 TRA EX45+1 EXIT46 TRA EX46+1 EXIT47 TRA DEXIT EXIT48 TRA CLEARM+1 EXIT49 TRA SFTEST EXIT50 TRA EX50+1 EXIT51 TSQ DIAT EXIT52 TRA EXEC+1 EXIT53 TRA EXEC+1 DLWNLC STO 1J1+15 # DLWNL PROTECTION ADDMS AXT 2,1 CLA TS10,1 ABS ADD MS TIX *-3,1 TRA EX3+1 EX34P CLZ DEL10 TMI EX33PP+1 TRA EX34+1 THEF CLA RF LRS 1 # B24 ADZ TS3 LDQ TS4 STO TS4 # =RF+RX B24 STQ TS3 # =RZ B24 # Page 20 TSQ ARCTAE STO TS0 # THETAF B8 SUB PI TMI *+2 SUB 2PIB3 ADD PI STO THETAF # THETAF B3 CLA TS0 # B3 SUB 2PIB3 MPY M1B1 # B4 DVP NI ADD TI # B13 TRA DXFR14-2 TMIE1 TSQ TMIE2 # INITIALIZE TELEMETRY CLA S12 ADD MU8 STO MU8S12 # SAVE MU8/S12 FOR TM SUB 3B3 # TEST FOR SELF TEST FAILURE TMI *+2 OUT 6410 # SET FAILURE INDICATOR TRA DELAY # END MAJOR CYCLE # # DEDA SCALE FACTOR LOCATOR TABLE # SCALE FACTORS MUST REMAIN AT LOCS IN COMMENTS # FORMAT OF TABLE IS, BIT 0=1 TABLE EXCEEDED, # BITS 1-9 LAST ADDRESS OF DEDA SCALE FACTOR REGION # BIT 10=1 FOR OCTAL REGION, BITS 11-17 ADDRESS OF # SCALE FACTOR RELATIVE TO LOCATION 636 SFTAB OCT 075200 # OCT LOC 026-172,OCT OCT 125441 # OCT LOC 173-253,DEC,SF AT 677 OCT 127427 # OCT LOC 254-257,DEC,SF AT 665 OCT 134413 # OCT LOC 260-271,DEC,SF AT 651 OCT 137027 # OCT LOC 272-276,DEC,SF AT 665 OCT 142414 # OCT LOC 277-305,DEC,SF AT 652 OCT 145405 # OCT LOC 306-313,DEC,SF AT 643 OCT 146415 # OCT LOC 314-315,DEC,SF AT 653 OCT 147420 # OCT LOC 316-317,DEC,SF AT 656 # Page 21 OCT 157415 # OCT LOC 320-337,DEC,SF AT 653 OCT 164441 # OCT LOC 340-351,DEC,SF AT 677 OCT 174413 # OCT LOC 352-371,DEC,SF AT 651 OCT 177427 # OCT LOC 372-377,DEC,SF AT 665 OCT 200600 # OCT LOC 400-401,OCT OCT 202415 # OCT LOC 402-405,DEC,SF AT 653 OCT 207600 # OCT LOC 406-417,OCT OCT 241413 # OCT LOC 420-503,DEC,SF AT 651 OCT 257600 # OCT LOC 504-537,OCT OCT 261421 # OCT LOC 540-543,DEC,SF AT 657 OCT 263040 # OCT LOC 544-546,DEC,SF AT 676 OCT 305600 # OCT LOC 547-613,OCT OCT 311067 # OCT LOC 614-622,DEC,SF AT 725 OCT 342200 # OCT LOC 623-704,OCT # THE ABOVE 23-PLACE TABLE MUST BE FOLLOWED # BY A WORD WITH BIT 0 SET # # ORBIT ALIGN COMPUTATIONS # ORBLIN AXT 6,1 CLZ A11,1 CLZ DA11,1 # ZERO REMAINDERS TIX *-2,1 CLA 1B1 STO A11 STO A33 TRA COA21-2 # # MASS UNBALANCE COMPENSATION # UBCOMP MPR 1K14 # (DVX)(1K14) 1+(-14)=-13 ADZ DAXREM STO DAXREM # # 20MS MODE CHECK. # MODCK CLA S0 # CHECK FOR ALIGNMENT # Page 22 SUB 3B3 # SUBMODES TMI GYCOM-2 # -- IS INERT REF SUB 1B3 TMI ZNOC # IMU ALIGN SUB 1B3 TMI GYCOM-2 # -- IS LUNAR ALIGN SUB 1B3 TMI ORBLIN # ORBIT ALIGN AXT 2,1 # CALIBRATE MODE CALIB1 CLA DEL21 TMI *+5 # -- LM IS ON LUNAR SURFACE CLZ SDVX,1 # SUM BODY AXIS VEL ADD DVX,1 # INCREMENTS SINCE START OF ACC. STO SDVX,1 # BIAS CALCULATIONS TRA CALIB2 CLA A11,1 # LUNAR CAL., COMPENSATE COMP. MPR 6J1,1 # OF VEH ROT. FOR LUNAR ROTATION ADZ DAXREM # 1+(-14)=-13 STO DAXREM # A11 DOT 6J1 CLA A21,1 MPR 6J1,1 ADZ DAYREM STO DAYREM # A21 DOT 6J1 CLA A31,1 MPR 6J1,1 ADZ DAZREM STO DAZREM # A31 DOT 6J1 CALIB2 TIX CALIB1,1 TRA GYCOM-2 # # DEDA MODE SELECTION # DEDAE CLZ CLEARP TMI CLEARM # SET CLEAR CLA CMF TMI RPT # CLEAR MODE CLA RMF # Page 23 TMI HET # READOUT IN PROGRESS CLA HMF TMI RRT # HOLD IN PROGRESS DEXIT AXT 3,1 # NORMAL EXIT TRA *+4 CLEARM STO CMF INP DEDA AXT 5,1 # CLEAR EXIT CLZ READP,1 # RESET FLAGS TIX *-1,1 CLZ TMPBR # SET BRANCH FOR NEXT STO BRANCH # GUIDANCE CYCLE CLA 1B11 # INITIALIZE COUNTER STO DEDASC TRA DSP1 # TO DISPLAY RPT CLZ READP # TEST FOR TMI RME # READOUT MODE CLZ ENTERP # OR ENTER MODE TMI RME+1 # ENTRY. TRA DEXIT # EXIT HET CLZ HOLDP # READOUT TEST FOR TMI *+2 # HOLD COMMANDED TRA ADOUT # TO OUTPUT ROUTINE STO HMF # SET HOLD MODE CLZ RMF TRA DEXIT # # DEDA SCALE FACTOR SELECTION # SFTEST SUB SFLO TMI CLEARM+1 # -- IF OCT LOC BELOW 0026 CLA CLATAB # INITIALIZE FIRST TABLE VALUE STO VRSH+1 # STORE CLA INSTRUCTION CLA VRSH+1 # INCREMENT CLA INSTRUCTION ADD 1B17 # ADDRESS STO VRSH+1 TSQ VRSH # Page 24 TMI CLEARM+1 # -- IF OCT LOC ABOVE 704 LRS 8 # EXAMINE BITS 1-9 OF VALUE SUB ADST # -- IF OCT LOC ABOVE VALUE, TMI *-7 # CHECK NEXT VALUE IN TABLE LLS 18 # RECOVER BITS 10-17 OF THIS VAL TMI NOTDD # -- IF OCT REGION, NO SF REQ LRS 10 # SCALE BITS 11-17 OF VAL ADD TBRAKE # CONSTRUCT INSTRUCTION TO OBTAIN STO VRSH+1 # SCALE FACTOR FOR THIS REGION TSQ VRSH # OBTAIN SF FOR THIS REGION STO SF # SET SCALE FACTOR TRA DDIN # TO INPUT ROUTINE DIAT AXT 1,1 # IMMEDIATE ACTION TEST CLA ADST # IMMED. ACTION IF ADD DIAK1,1 # ACCUMULATOR = 400000 ABS TMI *+4 TIX DIAT+1,1 STQ DDF TRA DEXIT TIX ATI,1 LDQ *-2 # SET RETURN TO DEXIT AXT 2,1 CLA RRX,1 # SAVE RANGE FOR FILTER STO RRSX,1 CLA A31,1 # STORE DIRECTION COSINES STO A31S,1 TIX *-4,1 CLA RRDOT STO RDOTS TRA EXIT # # DOWNLINK FORMATTING # DLDC AXT 2,1 CLZ 0244,1 # LEM VEL STO 1J4,1 # Page 25 CLZ 0250,1 # CSM POS STO 2J1,1 CLZ 0254,1 # CSM VEL STO 2J4,1 TIX DLDC+1,1 CLZ 0247 LRS 14 ADZ 0243 STO 1J7 STQ 1J7LS STO 2J7 STQ 2J7LS TSQ CSMPV TRA IC1+3 # # DELTA V ACCUMULATION AND THRUST VEL TO GAIN. # TVTG AXT 2,1 CLA DVX,1 # 1 LRS 1 # TO 2 ADZ VD2X,1 STO VD2X,1 CLA DVXM1,1 LRS 1 # TO 2 ADZ VD2X,1 STO VD2X,1 LRS 11 # TO 13 STO TS1 ALS 11 COM ADZ VD2X,1 STO VD2X,1 # REMAINDER AT 2 CLA VD1X,1 # DV EXPENDED MS. ADZ TS1 STO VD1X,1 # VD1 AT 13 COM ADD VSMGX,1 # VSMG-VD1 # Page 26 STO DELVGX,1 # THRUST VEL TO GAIN CLZ EX,1 TIX TVTG+1,1 TRA EX9+1 # # SOFT 40MS COMPUTATIONS # SOFT1 CLA S0 # TEST MODE SUB 3B3 STO TS1 # SAVE TMI IR # -- IS INTERT. REF. ZERR CLA ZERO OUT 6007 # ZERO ATTITUDE ERRORS CLZ DEL5 # RESET ATT HOLD INIT FLAG CLZ TS1 TMI ENCOM1 # -- IS INERTIAL REF SUB 1B3 TMI SOFT3 SUB 1B3 TMI LUNAL SOFT3 OUT 7040 # RESET ENG ON OUT 6420 # SET ENG OFF CLA ZERO # SET ENG TM FLAG PLUS ADD S10 STO EONS10 TRA FDAI # TO ATTITUDE DISPLAY ENCOM1 CLA DISC1 # FOLLUP ENG. COMMANDS LLS 5 TMI *+4 # -- DESCENT ENG ON LLS 1 TMI *+2 # -- ASCENT ENG ON TRA SOFT3 # ENG OFF OUT 7020 # RESET ENG OFF OUT 6440 # SET ENG ON CLA MS # SET ENG TM FLAG NG TRA SOFT3+3 IR CLA S11 # TEST FOR AUTO RADAR DATA # Page 27 ALS 3 TMI RADCK STO DEL44 # SET/RESET CODE WORD FLAG IR4 CLA DISC1 ALS 3 TMI IR1 # -- IS FOLLOWUP ALS 1 TMI IR2 # -- IS AUTOMATIC STQ DEL20 TRA AHE # TO ATT HOLD IR1 CLA DISC1C ALS 4 TMI ZERR # PLUS IS AUTOMATIC CLZ DEL5 STQ DEL20 TRA MODE RSTE CLA S623 ALS 3 TMI *+3 CLA WCX,1 TRA *+2 CLA WBX,1 MPR A31,1 COM ADZ EX STO EX TIX RSTE,1 RST1 TRA RST IR2 ALS 4 TMI IR3 # -- IS ABORT STAGE CLA DEL21 # IF ON LUNAR SURFACE TMI ZERR # OUTPUT ZERO ATT ERRORS CLA DISC1 ALS 7 TMI MODE # -- IS ABORT TSQ IR1+4 IR3 CLA DEL21 # Page 28 TMI AHE CLA DISC1C ALS 6 TMI MODE CLA MU6 SUB 4K23 TMI STGCTR # STAGING ATT HOLD MODE CLA S0 # TEST STEERING MODE SUB 1B3 TMI AHE # ATT HOLD AXT 2,1 SUB 1B3 TMI RSTE # RENDEZVOUS STEERING CLZ DEL5 # ACQUISITION STEERING MODE1 CLA WCX,1 MPR A11,1 ADZ EZ STO EZ CLA S507 # ORIENT LM Z-BODY ASIX SUB 1B3 # IN DESIRED THRUST DIR. TMI *+3 # OR ESTIMATED CSM DIR. CLA A11BD,1 STO A31BD,1 CLA A31BD,1 MPR A11,1 # XB ADZ EY STO EY CLA A31BD,1 # ZBD MPR A21,1 # YB COM ADZ EX STO EX TIX MODE1,1 TRA EROUT SOFT2 CLZ DEL20 # FIRST TIME FOLLOW TMI ENCOM1 # PREVIOUS ENGINE STATE CLA S0 # IF NOT GUIDANCE STEERING # Page 29 ALS 3 # TURN ENGINE OFF TMI *+2 TRA SOFT3 CLA MU8 # TEST FOR ULLAGE SUB 1K9 TMI SOFT3 CLA 4K25 # TEST CEL TO BE SUB DELVGX # GAINED GREATER THAN TMI ENCOM1+6 # SHUTDOWN THRESHOLD CLA 4K26 SUB VG TMI ENCOM1+6 CLZ S0 # SET ATT HOLD TRA SOFT3 RADCK STQ DEL32 # REINITIALIZE DOWNLINK CLA IDRP # SET DOWNLIST ID TO REND/PRETHRJ STO ID CLA DEL46 # IS CODE WORD RESET ALS 1 ABS TMI IR+3 ADD 1B12 # IS CODE WORD SET ABS TMI *+2 # YES IF NEGATIVE TRA IR4 CLZ DEL44 # HAS CODE WORD BEEN RESET TMI *+2 # PRIOR TO BEING SET TRA IR4 # NO TOV *+1 AXT 1,1 # IF SHAFT OR TRUNNION CLA THETAR,1 # ANGLE IS GREATER ALS 4 # THAN 11.2 DEG, THEN TOV IR4 # DO NOT PROCESS TIX *-3,1 CLZ DEL45 # ALTERNATE RANGE, RATE TMI IR6 STQ DEL45 # Page 30 CLZ RM # RANGE ENTRY LRS 18 CLZ DEL46 # TEST FOR HIGH SCALING TMI *+2 LRS 3 # LOW SCALE LLS 17 MPR 6K12 # COUNTS TO FEET AT 22 STO 18J TRA *+5 IR6 CLZ RMDOT # RANGE RATE ENTRY SUB 6K14 # NULL AT 17000 DVP 6K13 # COUNTS TO FT/SEC AT B13 STO 17J TSQ DIAT+10 # SAVE REL RNG VECT, REL VEL AXT 2,1 IR5 CLA A21,1 # B1, ADJUST Z BODY FOR SHAFT MPR THETAR # B1+B0=B1, AND TRUNNION ANGLES DVP 6K11 # B1-B0=B1 STO A31S,1 # B1 CLA A11,1 # B1 MPR BETAR # B1+B0=B1 DVP 6K11 # B1-B0=B1 SUZ A31S,1 # B1 ADD A31,1 STO TS14,1 # XB*BETAR/6K11-YB*THETAR/6K11+ZB TIX IR5,1 TSQ NORMV AXT 2,1 CLZ TS10,1 # MOVE NORMALIZED DIRECTION STO A31S,1 # INTO ZB* TIX *-2,1 TRA 4711 # EXIT TO DEDA DISCRETE SAMPLING LUNAL1 CLZ DAYA # CHANGE GAIN LRS 2 # 1/4 STO DAYA CLZ DAZA LRS 2 # Page 31 STO DAZA TRA SOFT3 # # START OF NAVIGATION # NAV1P CLA DEL21 TMI NAV1 # -- IS ON LUNAR SURFACE CLA VD1X # COMPUTE THRUST ACCEL SUB VDX # 13 ALS 5 # 1/2(VD1-VD) AT 7 TRA 5166 # TO HARD NAV XDVS AXT 2,1 CLA DVSX,1 ADD 1B12 LRS 6 ADZ DQSX,1 STO DQSX,1 CLA VD1X,1 STO VDX,1 TIX XDVS+1,1 TRA NAV4 ALTUP TSQ EXEC # AXT 2,1 CLA REX,1 # SAVE REX FROM FILTER STO VIX,1 # SCRATCH MATRIX C AREA CLA 25J # ALTITUDE ENTRY TEST SUB 1B17 TMI FLTR # IF NO 25J ENTRY CLA 25J ADD 5J STO R # R=5J+25J MPY U1X,1 LLS 1 STO RX,1 # NEW R COMPONENTS # # RANGE AND RANGE RATE COMPUTATIONS # Page 32 # FLTR CLA RCX,1 # RELATIVE RANGE SUB RX,1 STO RRX,1 STO TS4,1 TIX ALTUP+2,1 CLZ 25J TSQ DPVMAG # DP COMP OF RR MAG ALS 1 STO RR # B22 RANGE VECTOR MAG CLA 2K1 # 48 LRS 5 # 53 DVP R # 30 DVP R # 7 DVP R # -16 DAD STO D11 # 2K1/R**3 B-16 AXT 7,1 CLZ C11,1 # ZERO PHI,M CLZ C31,1 TIX *-2,1 CLZ RRDOT # ZEROED FOR SUM AXT 2,1 FLTRA CLA RRX,1 DVP RR STO A31BD,1 # B1 UNIT POINTING VECTOR CLA VCX,1 # B13 SUB VX,1 STO TS4,1 # B13 RANGE RATE CSM-LM MPR A31BD,1 ALS 1 ADZ RRDOT STO RRDOT CLA U1X,1 MPR U1X,1 # B2 MPR 3B3 SUB 1B5 MPR D11 # Page 33 STO C31,1 # ADT,JDT AT B-7 CLA 4B17 STO TR4,1 # SET UP DIMENSION FOR MXM TIX FLTRA,1 LDQ 1B3 # COMMON SETUP OF PHI AND M STQ C11
