P20-P25.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: P20-P25.agc
## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
## build 072. This is for the Command Module's (CM)
## Apollo Guidance Computer (AGC), for
## Apollo 15-17.
## Assembler: yaYUL
## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
## Website: www.ibiblio.org/apollo/index.html
## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
## Mod history: 2010-01-26 JL Started Artemis072 conversion based on Comanche055
## module.
## 2010-01-31 JL Finished Artemis072 conversion. Fixed build errors.
## 2010-02-01 JL Fixed build errors.
## 2010-02-02 JL Fixed page numbers. Removed duplicated code section
## on page 611.
## 2010-02-06 JL Added missing "DEC 18" instruction. Added missing
## code on page 618. Added missing line on page 601.
## Fixed line 5 on p580, which is overprinted in the
## scan. Fixed an EQUALS on p589. Removed spurious
## PUSH on p598.
## 2010-02-13 JL Fixed errors on pages 563, 589, 604, 619, 629.
## 2010-02-20 RSB Un-##'d this header.
## 2017-02-05 RSB Proofed comment text by diff'ing vs Comanche 55
## and corrected errors found, but only through about
## p. 571 so far. Note that while P20 is supposedly an
## identical rev in the the two AGC versions, in fact
## the comments are rather different, so that portion
## was proofed by traditional means, and the same is
## true of a lesser degree to the rest of it as well.
## 2017-02-06 RSB Completed comment-text proofing. In the end, half or
## more of the file was proofed "traditionally", which
## has proven to be a pretty hit-and-miss process, so
## I'd judge that it probably needs still more proofing.
## 2017-02-06 RSB Re-proofed comment text using octopus/ProoferComments.
## The print- and/or scan-quality is so poor that it's
## tough to feel much confidence in this method, but
## combined with the manual proofing already-done, I
## feel much more confident of the results now.
## 2017-03-17 RSB Comment-text fixes identified by 4-way diff'ing
## of Colossus 237 & 249, Comanche 55, and Artemis 72.
## 2021-05-30 ABS NOUTINPT -> NDUTINPT
## 2021-10-06 RSB RANGER0 -> RANGERD
## Page 552
# RENDEZVOUS NAVIGATION PROGRAM 20
# PROGRAM DESCRIPTION
# MOD NO -1
# MOD BY - N.BRODEUR
#
# FUNCTIONAL DESCRIPTION
#
# TO INITIALIZE THE RENDEZVOUS NAVIGATION SUBROUTINES R22, R61CSM, AND
# R52, WHICH IN TURN CONTROL THE CSM ATTITUDE AND OPTICS POSITIONING,
# PROCESS BOTH OPTICS AND VHF TRACKING DATA, AND UPDATE EITHER THE LM
# OR THE CSM STATE VECTORS.
#
# CALLING SEQUENCE
# V37E20E
#
# SUBROUTINES CALLED
# R22 (RENDEZVOUS TRACK DATA PROCESSING)
# R52 (AUTO OPTICS POSITIONING)
# R61CSM (PREFERRED TRACKING ATTITUDE)
# R02BOTH BANKCALL UPFLAG
# DOWNFLAG 2PHSCHNG LOADTIME
# PRIOCHNG UPSTATE INTPRET
# ENDOFJOB MKRLEES FINDVAC
#
# NORMAL EXIT MODES
# RENDEZVOUS NAVIGATION MAY BE TERMINATED BY THE SELECTION OF
# P00, P06, P22, P23, V34E FROM R60, AND V56E
#
# ALARM OR ABORT EXIT MODES
# NONE DIRECTLY FROM P20
#
# OUTPUT
# NONE DIRECTLY FROM P20
#
# FLAGS SET + RESET
# RNDVZFLG, VEHUPFLG, UPDATFLG, TRACKFLG, TARG1FLG
# PRFTRKAT, V50N18FL
#
SETLOC P20S7
BANK
EBANK= R61CNTR
COUNT* $$/P20
PROG20 TC BANKCALL
CADR R02BOTH # IMU STATUS CHECK
# BLOCKING OF UPLINK IS DONE BY UPLINK PRG
CA ADB
TS DBPTC
## Page 553
TC INTPRET
CLEAR SET
VEHUPFLG # UPDATE LM
V50N18FL
SET SSP
TRACKFLG
OPTION2
0
BON EXIT
AUTOSEQ
PRELOD78 # MINKEY (PRELOAD N78)
CAF OCT24
TC BANKCALL
CADR GOPERF4
TC GOTOPOOH
TCF +2
TCF -5
CA OPTION2
MASK THREE
CCS A
TC DOV6N78 # OPTIONS 1,2,5 (DO NOT PRELOAD N78)
TC INTPRET # OPTIONS 0,4 (PRELOAD N78)
PRELOD78 DLOAD
35DEGANG
STODL UTPIT
ZEROVECS
STORE UTYAW
STORE AZIMANGL
BON EXIT
AUTOSEQ
P20OPT # MINKEY, BYPASS V04N06 AND V06N78
DOV6N78 CAF V06N78UT
TC VNFLASH
CAF V06N79UT
TC VNFLASHR
TCF ENDV6N79
CA OPTION2
MASK BIT2
CCS A
TC ENDOFJOB # OPTION 2, BLANK ONLY R31
CAF FIVE # BLANK BOTH R1,R3
TC BLANKET
TC ENDOFJOB
ENDV6N79 CA OPTION2
MASK BIT3
EXTEND
BZF NOAZIM
## Page 554
TC UPFLAG
ADRES AZIMFLAG
TCF COMAZM
P20OPT EXIT
NOAZIM TC DOWNFLAG
ADRES AZIMFLAG
COMAZM CA OPTION2
MASK THREE
CCS A
TCF UTKINPUT
TC DOWNFLAG
ADRES UTFLAG
TC UPFLAG
ADRES UPDATFLG
NDUTINPT TC 2PHSCHNG
OCT 00004
OCT 05022
OCT 26000
CAF UTBIT
MASK FLAGWRD8
CCS A
TCF INTSETUP
TC INTPRET
RTB
LOADTIME
STCALL MARKTIME
UPSTATE
EXIT
TC UPFLAG
ADRES RNDVZFLG
CAF PRIO26
TC FINDVAC
EBANK= MRKBUF1
2CADR R22
TC 2PHSCHNG
OCT 00072
OCT 00111
1P11SPT3 = 1.11SPOT
2P7SPT1 = 2.7SPOT
TC AUTOCHK
## Page 555
TCF PIKUP20
INTSETUP CAF PRIO5
TC FINDVAC
EBANK= RRECTCSM
2CADR STATINT1
TC 2PHSCHNG
OCT 0052
OCT 00111
1P11SPT4 = 1.11SPOT
2P5SPT3 = 2.5SPOT
PIKUP20 CAF PRIO14 # ALLOW HIGHER PRIO THAN LAMBERT
TC PRIOCHNG
CAF TRACKBIT
MASK FLAGWRD1 # IS TRACK FLAG SET
EXTEND
BZF FIXDB
CAF REFSMBIT
MASK FLAGWRD3 # IS REFSMFLAG SET
EXTEND
BZF FIXDB
CAF ZERO
TS R61CNTR # INITIALIZE R61 COUNTER
CA FLAGWRD8
MASK UTBIT
CCS A
TC CALLR6X
TC UPFLAG
ADRES R21MARK
TC BANKCALL
CADR R61CSM
CS FLGWRD10 # CHECK IF PC MANEUVER TO TRACK
MASK PCMANBIT # ATTITUDE
EXTEND
BZF AUTOCHK1
P20TRACK TC UPFLAG # SET TARG FLAG TO LEM FOR R52
ADRES TARG1FLG # BIT 10 FLAG 1
P20R52JB TC INTPRET
CALL
R52 # SET UP AUTO OPTICS JOB
EXIT
TC BANKCALL
CADR MKRLEES
TCF FIXDB
UTKINPUT TS OPTNTYPE
## Page 556
TC UPFLAG
ADRES UTFLAG
TC DOWNFLAG
ADRES RNDVZFLG
CCS OPTNTYPE
TC TYPE2IN
V1N70DSP CAF V01N70UT
TC VNFLASH
CCS STARCODE
AD NEG47UT
CCS A
TCF NOGOOD
TCF +2
TCF +1
CA STARCODE
TS UTSTARNO
CCS A
TCF NDUTINPT
CAF V06N88UT
TC VNFLASH
TC INTPRET
VLOAD
STARSAV3
STORE PLANVCUT
EXIT
TC NDUTINPT
NOGOOD TC FALTON
TC V1N70DSP
TYPE2IN CAF V06N34UT
TC VNFLASH
EXTEND
DCA DSPTEM1
DXCH R67TIME
TCF NDUTINPT
CALLR6X TC DOWNFLAG
ADRES R21MARK
CCS OPTNTYPE
TCF TYPE2
TC POSTJUMP
## Page 557
CADR R66CSM
TYPE2 EXTEND
DCS TIME2
DXCH MPAC
EXTEND
DCA R67TIME
DAS MPAC
TC DPAGREE
CCS MPAC
TCF DODELAY
TCF +3
CAF ZERO
TS MPAC +1
CCS MPAC +1
TCF +1
AD ONE
TC WAITLIST
EBANK= R61CNTR
2CADR R67
TC ENDOFJOB
DODELAY CAF POSMAX
TC BANKCALL
CADR DELAYJOB
TCF TYPE2
R67 CAF PRIO26
TC FINDVAC
EBANK= R61CNTR
2CADR R67START
TC UPFLAG
ADRES R67FLAG
TC TASKOVER
R67START TC INTPRET
BON RTB
STIKFLAG
NOGOM3
READCDUK
STCALL BCDU
UTPRFAX
STORE COF
EXIT
INHINT
## Page 558
CAF MINDB
TS ADB
CCS DBPTC
AD ONE
TC +2
AD ONE
EXTEND
BZF +2
TS ADB
TC INTPRET
SLOAD DMP
RATEPTC
TUFITS # SCALING FACTOR(.4 DEC)
SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
SLOAD DMP # ABOUT COF
RATEPTC
TUFITS
VXSC MXV
COF
QUADROT
STOVL BRATE
ZEROVECS
STORE BIASTEMP
EXIT
TC PHASCHNG
OCT 00131
1P13SPT1 = 1.13SPOT
R67RSTRT CA FLAGWRD1
MASK TRACKBIT
EXTEND
BZF FIXDB
CAF BIT12
TS R61CNTR
CAF PRIO26
TC PRIOCHNG
TC INTPRET
AXC,2 TLOAD
MIS
BCDU
SET CALL
R67FLAG
CDUTODCM
SETGO
CALCMAN2 # SET CALCMAN2 TO START MANEUVER
## Page 559
NEWANGL +1
FIXDB CA FLAGWRD9 # RESTORE DAP DEADBAND
INHINT
MASK MAXDBBIT
CCS A
TCF +4
TC BANKCALL
CADR SETMINDB
TCF +3
TC BANKCALL
CADR SETMAXDB
TC DOWNFLAG
ADRES R67FLAG
TC PHASCHNG
OCT 00111
1P11SPT5 = 1.11SPOT
STOPVEH INHINT
TC STOPRATE
TCF ENDOFJOB
UTPRFAX DLOAD SIN # COMPUTE PREFERRED UNIT VECTOR
UTPIT # MPAC =COS(P)COS(Y)
DCOMP PDDL # PDX=-SIN(P) MPAC +2=COS(P)SIN(Y)
UTPIT # MPAC +4=-SIN(P)
COS PUSH # PDX+2=COS(P) USED WITH SECOND DMP BELOW
PDDL SIN # PDX+4=COS(P) USED WITH FIRST DMP BELOW
UTYAW
DMP SL1 # MPAC=COS(P)SIN(Y)
PDDL # REPLACE PDX+2 WITH COS"P)SIN(Y)
PDDL COS # REPLACE PDX+4 WITH COS(P) IN ORDER TO
UTYAW # POSITION PD COUNTER FOR DMP
DMP SL1
VDEF RVQ # PUSHUP FOR Y,Z COMPONENTS
R66CSM CS FLAGWRD1 # R66 CONTROL
MASK TRACKBIT
CCS A
TCF FIXDB
TC BANKCALL # TRACKFLG SET, CONTINUE R66
CADR R61CSM # CALL R61
CAF .5SEC
TC BANKCALL # WAIT .5 SEC AND REPEAT
CADR DELAYJOB
## Page 560
TC R66CSM
35DEGANG 2DEC -.097222222222
V06N78UT VN 0678
V01N70UT VN 0170
V06N88UT = V06N88
V06N79UT VN 0679
V06N34UT = V06N34
TUFITS 2DEC .4
NEG47UT OCT 77730
## Page 561
# ORBITAL NAVIGATION PROGRAM 22
SETLOC P20S1
BANK
EBANK= LANDMARK
COUNT* $$/P22
PROG22 TC BANKCALL
CADR R02BOTH
TC INTPRET
BOFF SET
UTFLAG
+2
TRACKFLG
CLEAR RTB
RNDVZFLG
LOADTIME
STCALL TDEC1
CSMCONIC # INTEGRATE TO PRESENT TIME
VLOAD VXV # CROSS PRODUCT BETWEEN V AND R
VATT
RATT
UNIT DOT
REFSMMAT +6
ABS
SL1 ARCCOS
STORE +MGA
EXIT
CAF V06N45B
TC VNFLASHR
TC PROG22A
CAF THREE
TC BLANKET # BLANK OUT R1 + R2
TC ENDOFJOB
PROG22A CS PRIO7 # RESULT=70777 SET OFFSET NO.=0
MASK LANDMARK
TS LANDMARK
TC 2PHSCHNG
OCT 00004
OCT 05022
OCT 13000
TC UPFLAG
ADRES TARG2FLG # SET =1 FOR SIGHTING LMK
TC UPFLAG
ADRES VEHUPFLG # VEH.=CSM
TC INTPRET
CLEAR CLEAR
LUNAFLAG
P22MKFLG
SET BOFF
## Page 562
ERADFLAG
CMOONFLG
PROG22B # EARTH
SET # MOON
LUNAFLAG
DLOAD CALL # MPAC=V05N70,MPAC+1=NONZERO FOR N70
V05N7022
S22N7071
GOTO
CALLR52
PROG22B CALL # GET LAT/LONG/ALT FROM ASTRO
P22SUBRB
CALLR52 CALL
R52
DOV5N71 SLOAD CALL # MPAC=V05N71,MPAC+1=0 FOR N71
V05N7122
S22N7071
PROG22C SET SSP
P22MKFLG # FOR DOWNLINK
8KK
DEC 1
SSP EXIT
S22LOC
ECADR SVMRKDAT
TC S22.1
V06N45B VN 0645
V05N7022 = V05N70
V05N7122 = V05N71
S22LSITE RTB # CONVERT RLS FROM MOON-FIXED TO BASIC REF
LOADTIME
STOVL 6D # 6-7D= TIME
RLS
STODL 0D # 0-5D= LANDING SITE VECTOR
HIDPHALF # MPAC= ANY NON-ZERO FOR MOON
CALL
RP-TO-R # RLS IN BASIC REF B-27 IN MPAC
VSR2 # LUNAFLAG AND ERADFLAG SET ABOVE
STORE ALPHAV # SCALE RLS B-29 FOR LAT-LONG
RTB
LOADTIME # SET PRESENT TIME IN MPAC FOR LAT-LONG
CALL
LAT-LONG
GOTO
S22TOFF # EXIT
OBTAINLL CALL # GET LAT/LONG/ALT FROM ASTRO
P22SUBRB
GOTO
S22TOFF # EXIT
P22SUBRB STQ EXIT # GET LAT/LONG/ALT FROM ASTRO
## Page 563
S22TOFF +1
+2 CAF V06N89B
TC VNFLASH
TC INTPRET
DLOAD ABS # TEST LAT/LONG GREATER THAN 90
LANDLAT
BDSU BMN # 1/4 REV - LAT
DP1/4TH
N89ERRX
DLOAD ABS
LANDLONG
BDSU BPL
DP1/4TH
N89ERRX +3
N89ERRX EXIT
TC FALTON
TC P22SUBRB +2 # LONG GR. THAN 90 REDISPLAY
+3 CALL
LLASRDA
GOTO
S22TOFF +1 # EXIT
S22N7071 STORE 8KK # 8KK=V05N71,V05N70 8KK+1=0 N71,NOT 0 N70
STQ EXIT
S22TOFF
S22DSPPA CA 8KK # V05N70 OR V05N71
TC VNFLASHR
TC +4
CAF FIVE # IMMEDIATE RETURN BLANK OUT R1,R3
TC BLANKET
TC ENDOFJOB
CA LANDMARK
MASK PRIO7 # 07000
EXTEND
MP BIT6
TS CXOFF # 08000 = OFFSET INDICATOR
CS FIVE
AD CXOFF
EXTEND
BZMF +2 # OFF=0 THRU 5 OK
TC S22DSPP # OFF=6,7 ILLEGAL REDISPLAY
TC DOWNFLAG
ADRES KNOWNFLG # CLEAR KNOWNFLG
CA LANDMARK # MASK A FROM ABCDE
MASK 13,14,15
EXTEND
BZMF S22DSPP # A=0,4,5,6,7 ILLEGAL REDISPLAY
TS 22SUBSCL # TEMP
CS BIT14
AD 22SUBSCL
CCS A
## Page 564
S22DSPP TC FALTON # + A=3 ILLEGAL REDISPLAY
TC S22DSPPA # COMMON ERROR EXIT BACK TO DISPLAY
TC +2 # - A=1 KNOWN LMK CHECK DE
TC S22ABDE # -0 A=2 UNKNOWN LMK,DE MEANINGLESS
TC UPFLAG
ADRES KNOWNFLG # SET KNOWNFLG
CS HIGH9 # RESULT= 00077
MASK LANDMARK
TS 22SUBSCL # 000DE
CS BIT1
AD 22SUBSCL
EXTEND
BZMF S22ABDE # DE=0,1 OK FOR BOTH N70,N71
CA 8KK +1 # =0 FOR N71, NOT =0 FOR N70
EXTEND
BZF S22DSPP # N71 REDISPLAY DE MUST= 0 OR 1
CA BIT5 # N70 TEST DE= 50-57 OCTAL FOR ADV. ORBIT
AD OCT50 # SUM=00070
MASK 22SUBSCL # 00D0
CS A
AD OCT50
EXTEND
BZF DE-GR-50 # D=5 OR DE=50-57,OK FOR N70
TC S22DSPP # DE NOT 50-57 ILLEGAL,REDISPLAY
S22ABDE TC INTPRET
BOFF SLOAD
KNOWNFLG # UNKNOWN LMK, DE MEANINGLESS
S22TOFF
22SUBSCL # =0 GET LLA FROM ASTRO,NOT=0 USE RLS
BHIZ GOTO
OBTAINLL # GET LAT/LONG/ALT FROM ASTRO N89
S22LSITE # GET LAT/LONG/ALT FROM RLS
DE-GR-50 TC INTPRET # ADVANCED ORBIT OPTION IN R52
SET CALL # ADVANCED ORBIT ENTRANCE TO R52
ADVTRK
R52VRB
GOTO
DOV5N71
SETLOC P24PROG
BANK
## Page 565
COUNT* $$/P24
PROG24 CA NO.PASS
TS PASSCNT
TC 2PHSCHNG
OCT 00004
OCT 05022
OCT 13000
TC BANKCALL
CADR R02BOTH # IMU STATUS CHECK
TC INTPRET
BOFF SET
UTFLAG
+2
TRACKFLG
CLEAR CLEAR
P24MKFLG
NEWLMFLG
CLEAR CLEAR
ORBWFLAG
RENDWFLG
SSP AXT,1 # ZERO P22 DOWNLIST MARK BUFFER
S1
DEC 6
DEC 36
SET VLOAD
P24FLAG
ZEROVEC
ZERODNLK STORE SVMRKDAT +36D,1
TIX,1 CLEAR
ZERODNLK
P22MKFLG
CLEAR RTB
RNDVZFLG
LOADTIME
STCALL MARKTIME
SETINTG
CALL
INTEGRV # UPDATE STATE VEC TO CURRENT TIME
SET CLEAR
ERADFLAG
LUNAFLAG
BOFF SET
CMOONFLG
+2
LUNAFLAG
CALL
P22SUBRB
EXIT
TC 2PHSCHNG
## Page 566
OCT 00004
OCT 05022
OCT 13000
TC INTPRET
SET CALL
TARG2FLG
R52
EXIT
TC GOTOPOOH
## Page 567
# PROGRAM NAME- OPTICS CALIBRATION ROUTINE
# MOD NO- 1
# MOD BY- TOM KNATT
#
# FUNCTIONAL DESCRIPTION- TO MEASURE THE EFFECT OF SOLAR RADIATION ON
# THE SXT TRUNNION ANGLE AND TO STORE THE MEASURED TRUNNION BIAS FOR P23
#
# CALLING SEQUENCE- CALL
# R57
#
# SUBROUTINES CALLED- DISPLAY ROUTINES
#
# NORMAL EXIT MODES-VIA EGRESS
#
# ALARMS- NONE
#
# ABORT MODES- P23ABORT IF MARKING SYSTEM OR EXTENDED VERB ACTIVE
# INPUT- NONE REQUIRED, NORMALLY CALLED BY P23
# OUTPUT- TRUNNION BIAS ANGLE- ANGLE DETERMINED WHEN SHAFT LINE OF SIGHT
# (SLOS) AND LANDMARK LINE OF SIGHT (LLOS) ARE SUPERIMPOSED. THIS ANGLE
# MAY NOT BE EXACTLY ZERO BECAUSE OF UNEVEN HEATING OF THE OPTICS,FOR
# EXAMPLE.
#
# ERASABLE INITIALIZATION REQUIRED- MRKBUF1, EXTVBACT
#
# DEBRIS- RUPTREGS USED BY MARKRUPT AND ERASABLES USED BY DISPLAYS
SETLOC P20S
BANK
COUNT* $$/R57
EBANK= MRKBUF1
R57 STQ EXIT
EGRESS
R57A CS FLAGWRD3 # IS THE IMU ALIGNED
MASK REFSMBIT
CCS A
TCF R57C # NO
CAF ALRM15 # YES SHOULD AUTO ACQUISITION OF STAR
TC BANKCALL # BE PERFORMED
CADR GOPERF1
TC GOTOPOOH # TERM
TC +2 # PRO YES
TC R57C # ENTER NO
TC INTPRET
CALL
R51DSPA
CALL
DOR60
EXIT
TC PHASCHNG
OCT 04022
## Page 568
R57C TC BANKCALL
CADR TESTMARK
TC UPFLAG # SET V59FLAG(BIT 12 FLAG 5) TO INDICATE
ADRES V59FLAG # CALIBRATION MARK
CAF V59NB
TC BANKCALL
CADR GOMARKFR
TC GOTOPOOH # TERMINATE
TC ENDR57
TC ENDR57
CAF SEVEN
TC BLANKET # BLANK OUT R1,R2,R3
TC ENDOFJOB
# STORE TRUNNION ANGLE (OCDU)
MARKDISP CAF V06N87NB
TC BANKCALL
CADR GOMARKFR
TC GOTOPOOH # TERMINATE
TC R57B # PROCEED
TC R57D # RECYCLE
CAF FIVE
TC BLANKET # BLANK OUT R1,R3
TC ENDOFJOB
R57B CA 19.77DEG # PUT FIXED INTO ERASABLE FOR MSU
TS L # INSTRUCTION COMING UP
CA MRKBUF1 +5 # CONTAINS TRUNNION
EXTEND
MSU L # CORRECTS TRUNBIAS FROM 2'S TO 1'S
TS TRUNBIAS
ENDR57 TC DOWNFLAG # RESET V59FLAG
ADRES V59FLAG # BIT 12 FLAG 5
TC CLEARMRK # ALLOW R53 IN
TC INTPRET
GOTO
EGRESS
R57D TC CLEARMRK
TCF R57A
V06N87NB VN 0687
V59NB VN 5900
V51N45 VN 5145
19.77DEG OCT 61740
## Page 569
# RENDEZVOUS TRACKING SIGHTING MARK ROUTINE (R21)
# AND BACKUP SIGHTING MARK ROUTINE (R23)
#
# PROGRAM DESCRIPTION
# MOD NO - 1
# MOD BY - N.BRODEUR
# FUNCTIONAL DESCRIPTION
#
# TO PERFORM SIGHTING MARKS IN CONJUNCTION WITH THE RENDEZVOUS NAVIG-
# ATION PROGRAM. CALLED BY ASTRONAUT VIA EXTENDED VERB
# CALLING SEQUENCE -
# R21 VIA V 57
# R23 VIA V 54
# SUBROUTINES CALLED -
# FLAGUP FLAGDOWN BANKCALL
# ENDOFJOB GOMARK2 GOMARKF
# INTPRET GENTRAN KLEENEX
# ENDMARK
# NORMAL EXIT MODES-
# MARKRUPT USED BY SXTMARK HAS BEEN MODIFIED TO STORE MARK IN MRKBUF2
# FOR USE BY R22. WHEN ASTRONAUT IS FINISHED TAKING MARKS, HE HITS AN
# PROCEED , R21 IS TERMINATED THUS CAUSING THE FINAL MARK TO BE TRANSFRD
# TO MRKBUF2 FOR PROCESSING BY R22
# ALARM OR ABORT EXIT MODES -
# NONE
# OUTPUT -
# 7 REGISTER MRKBUF2 CONTAINING TIME2,TIME1,CDUY,OPTICS X,CDUZ, OPTICS Y,
# CDUX.
# ERASABLE INITIALIZATION REQUIRED
# FLAGS SET AND RESET
# R21MARK (COMMUNICATION TO MARKRUPT TO STORE MARKS IN MRKBUF1 + 2)
# R23FLG INDICATES COAS MARKING
# DEBRIS
EBANK= MRKBUF1
SETLOC RENDEZ
BANK
COUNT* $$/R23
R23CSM TC DOWNFLAG
ADRES R21MARK
CAF NEGONE
TS MRKBUF1
CAF PRIO27
TC PRIOCHNG # HIGHER THAN R22
CAF V0694 # R23 BACKUP MARKING
TC BANKCALL # DISPLAY SHAFT + TRUNNION
CADR GOMARKF
TC R21END # TERM
TC +2 # PROC
## Page 570
TC -5 # ENTER
R23CSM1 CAF V53N45 # PERFORM ALT LOS SIGHT MARK
TC BANKCALL
CADR MARKMONR
TC R21END # V34-TERMINATE R23
TCF R21END # PRO END BACK-UP MARKING (R23)
INHINT
EXTEND
DCA TIME2
DXCH MRKBUF1 # READ TIME
CA CDUY # READ CDU ANGLES
TS MRKBUF1 +2
CA CDUZ
TS MRKBUF1 +4
CA CDUX
TS MRKBUF1 +6
RELINT
TC R23CSM1
R21END TC BANKCALL
CADR KLEENEX
CA NEGONE
TS MRKBUF1 # CLEAR BUFFERS FOR REGULAR MARKING
CAF PRIO16
TC PRIOCHNG # LOWER THAN R22
TC UPFLAG # SET R21MARK TO ALLOW REG OPTICS MARKING
ADRES R21MARK # BIT 14 FLAG 2
TC ENDMARK # END MARKING AND ENDJOB
V53N45 VN 5345
V0694 VN 0694
## Page 571
# PREFERRED TRACKING ATTITUDE ROUTINE R61CSM
# PROGRAM DESCRIPTION
# MOD NO - 2
# MOD BY - N.BRODEUR
# FUNCTIONAL DESCRIPTION-
# TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE CSM TO ENABLE OPTICS
# TRACKING OF THE LM AND TO PERFORM THE MANEUVER TO THE PREFERRED
# OR X-AXIS TRACKING ATTITUDE.
# CALLING SEQUENCE-
# TC BANKCALL
# CADR R61CSM
# SUBROUTINES CALLED
# MAKECADR BANKCALL
# INTPRET FLAGUP FLAGDOWN
# BANKJUMP CRS61.1 R60CSM
# PHASCHNG
# NORMAL EXIT MODES-
# NORMAL RETURN IS TO CALLER + 1
# OUTPUT -
# SEE OUTPUT FOR CRS61.1 & ATTITUDE MANEUVER ROUTINE (R60CSM)
# ERASABLE INITIALIZATION REQUIRED
# GENRET USED TO SAVE Q FOR RETURN
# R61CNTR MUST BE PRESET TO ZERO
# FLAGS SET + RESET
# 3-AXIS FLAG
# DEBRIS
# SEE SUBROUTINES
EBANK= GENRET
COUNT* $$/R61 # ROUTINES - NAVIGATION - PREF. TR. 9TT=
R61CSM TC E6SETTER # SWITCH TO E6 - RETURNS WITH OLD SETTING
TS SAVBNK # SAVE EBANK
TC MAKECADR
TS GENRET
CCS R61CNTR # TEST R61CNTR
TC DECRM61 # NOT READY TO DO R61.
TC +2 # DO R61
TC DECRM61 +1
INHINT
CAF MINDB
TS ADB
CCS DBPTC
AD ONE
TCF +2
AD ONE
EXTEND
BZF +2 # IGNOR ZERO DEADBAND
TS ADB
TC INTPRET
## Page 572
CALL
CRS61.1 # LOS DETERMINATION + VEH ATTITUDE
R61DMPTG EXIT # DEFINE TAG FOR P20 EDIT DUMP
TC DOWNFLAG # RESET FLAG TO INHIBIT FURTHER R60
ADRES V50N18FL # ATTITUDE MANEUVERS
INDEX MPAC
TC +1
TC R61END # SUBROUTINE DRIVING DAP (EXIT R61)
# OR AUTO MODE NOT SET (EXIT R61)
# OR STIKFLAG SET (EXIT R61)
R61C1 TC DOWNFLAG # RESET 3-AXIS FLAG
ADRES 3AXISFLG # BIT 6 FLAG 5
CS FLGWRD11
MASK AZIMBIT
CCS A
TC +3 # AZIMFLAG NOT SET,CLEAR 3AXISFLA7
TC UPFLAG # AZIMFLAG SET ,SET 3AXISFLAG
ADRES 3AXISFLG
CS ONE # SET R61CNTR NEG. TO INDICATE KALCMANU
TS R61CNTR
TC UPFLAG # SET FLAG FOR PROIRITY DISPLAYS FOR R60
ADRES PDSPFLAG # BIT 12 FLAG 4
TC BANKCALL
CADR R60CSM
TC DOWNFLAG # RESET FLAG FOR PRIORITY DISPLAYS IN R60
ADRES PDSPFLAG # BIT 12 FLAG 4
CAF ZERO
TC BANKCALL
CADR PRIODSP # RELEASE DISPLAY
TC PHASCHNG
OCT 00111
1P11SPT6 = 1.11SPOT
CAF ZERO
TC DECRM61
R61END CAF THREE
DECRM61 TS R61CNTR
+1 CAE GENRET
LXCH A # RETURN IS IN L
CA SAVBNK # RESTORE EBANK
XCH EBANK
LXCH A # RETURN IS NOW BACK IN A
TC BANKJUMP # EXIT R61
SETLOC P20S2
BANK
## Page 573
EBANK= MRKBUF1
## Page 574
# BVECTOR PERFORMS COMPUTATIONS FOR
# DELTAQ,THE MEASURED DEVIATION BASED ON THE DIFFERENCE BETWEEN THE CSM-LE
# M STATE VECTOR ESTIMATES AND THE ACTUAL TRACKING MEASUREMENT.
# US,THE MODIFIED FICTITIOUS STAR DIRECTION VECTOR
# GEOMETRY VECTOR B ASSOCIATED WITH EACH TRACKING MEASUREMENT.
# INPUT
# UM,1/2 UNIT VECTOR ALONG THE CSM-LM LINE OF SIGHT (BASIC REF.SYSTEM)
# USTAR,FICTITIOUS STAR DIRECTION (1/2 UNIT VECTOR)
# RCLP,RELATIVE CSM TO LM POSITION VECTOR
# OUTPUT
# USTAR,MODIFIED FICTITOUS STAR DIRECTION (1/2 UNIT VECTOR)
# BVECTOR = 9 DIMENSIONAL BVECTOR (1/2 UNIT VEC.)
# DELTAQ = MEASURED DEVIATION
# CALLING SEQUENCE
# L CALL BVECTORS
# NORMAL EXIT
# L+1 OF CALLING SEQUENCE
COUNT* $$/INCOR
BVECTORS STQ
EGRESS
VLOAD UNIT
RCLP # RELATIVE POSITION VECTOR
STODL 26D # RCLP UNIT VEC
36D # RCLP ABS VALUE
STOVL TEMPOR1 # MOVE TO SAFE LOCATION
USTAR
VXV UNIT
26D # USTAR = UNIT(US X UCL)
STCALL BVECTOR
GRP2PC # PHASE CHANGE
VLOAD
BVECTOR
STORE USTAR
DOT SL1
UM # USTAR DOT UM
ACOS DSU
DP1/4TH
NORM DMP
X1
PI/4.0
DMP SRR*
TEMPOR1 # RCLP ABS VALUE
0 -3,1 # ADJUST SCALING
STOVL DELTAQ
ZEROVECS
STORE BVECTOR +6
STORE BVECTOR +12D
GOTO
EGRESS
## Page 575
PI/4.0 2DEC .785398164
## Page 576
# GETUM-DETERMINES THE LINE OF SIGHT UNIT VECTOR UM IN THE BASIC REFERENC
# E COORDINATE SYSTEM FROM THE OPTICS SHAFT AND TRUNNION ANGLES AND THE IM
# U GIMBAL ANGLES.
# INPUT
# MARKDATA,BASE ADDRESS OF MARK DATA
# REFSMMAT,ROTATION MATRIX FROM STABLE MEMBER TO BASIC REF.COORD.SYSTEM
#
# SUBROUTINES CALLED-
# SXTNB - SEXT. ANGULAR READINGS TO NAV. BASE COOR.
# NBSM - TRANSFORM FROM NAV. BASE TO STABLE MEMBER
# OUTPUT
# MPAC = LINE OF SIGHT 1/2 UNIT VECTOR IN BASIC REFERENCE SYSTEM
# CALLING SEQUENCE
# L CALL GETUM
#
# NORMAL EXIT
# L+1 OF CALLING SEQUENCE
GETUM STQ SETPD
EGRESS
0
CALL
SXTSM1
VXM VSL1
REFSMMAT
GOTO # MPAC = (UM)LINE OF SIGHT VECTOR
EGRESS # EXIT
## Page 577
# RENDEZVOUS TRACKING DATA PROCESSING ROUTINE (R22)
#
# FUNCTIONAL DESCRIPTION
#
# TO PROCESS RENDEZVOUS SIGHTING MARK AND VHF RANGING DATA TO UPDATE
# THE STATE VECTOR OF EITHER THE CSM OR LM AS DEFINED BY VEHUPFLG.
# (VEHUPFLG IS SET TO LM BY P20, CSM BY V81E, AND LM BY V80E.)
#
# CALLING SEQUENCE
# AUTOMATICALLY SELECTED BY P20
#
# SUBROUTINES CALLED
# PRIOCHNG INTPRET GRP2PC
# GETUM BVECTORS INCORP1
# INCORP2 INTEGRV PHASCHNG
# NOVAC BANKCALL GOTOV56
# ENDOFJOB INSTALL DOWNFLAG
# TRFAILOF TRFAILON TASKOVER
# POSTJUMP
#
# NORMAL EXIT MODES
# RENDEZVOUS NAVIGATION MAY BE TERMINATED BY THE SELECTION OF
# P00, P06, P22, P23, V34E FROM R60, AND V56E
#
# ALARMS OR ABORT EXIT MODES
# NONE
#
# INPUT
# MARK DATA, SEE R21 AND R23
# VHF RANGING DATA
#
# OUTPUT
# TRKMKCNT, NO OF RENDEZVOUS TRACKING MARKS INCORPORATED (COUNTER)
# VHFCNT, NO OF VHF RANGING MARKS INCORPORATED (COUNTER)
# V06N49, EXCESSIVE UPDATE PARAMETERS-DELTA R AND DELTA V
#
# FLAGS SET + RESET
# SOURCFLG, VINTFLAG, DIM0FLAG, INCORFLG, ORBWFLAG, RENDWFLG
# STATEFLG, D6OR9FLG, SKIPVHF, DMENFLG AT THE INTERRUPTED DISPLAY.
SETLOC P20S3
BANK
COUNT* $$/R22
R22 CAF PRIO26
TS PHSPRDT2
TC PRIOCHNG
CA NEG3
TS MRKBUF1
TC INTPRET
## Page 578
RTB
LOADTIME
STORE VHFTIME # PRESENT TIME
REND1 CALL
GRP2PC
CALL
WAITONE
REND1A EXIT
CA MRKBUF1
EXTEND
BZF REND2
EXTEND
BZMF REND3A
REND2 CAF SIX
TC GENTRAN
ADRES MRKBUF1
ADRES MARKTIME # MARKTIME MUST BE CONTIGUOUS WITH VTEMP
CAF NEG3 # NEG VALUE TO INDICATE VALUES USED
TS MRKBUF1
TC UPFLAG # SET FLAG TO INDICATE THAT OPTICS MARK IS
ADRES R22CAFLG # BEING PROCESSED (TESTED IN MARK REJCT)
TC INTPRET
CLEAR CALL
SOURCFLG # 0 = OPTICS DATA
GRP2PC # PHASE CHANGE
GOTO
REND4
REND3A TC INTPRET
REND3 CALL
GRP2PC
CALL
WAITONE
BOFF BOFF
VHFRFLAG
REND1A
RANGFLAG # RANGE > 200 N.M. DONT READ
REND1A
RTB
LOADTIME # PRESENT TIME
DSU DSU
60SECDP # 1 MIN
VHFTIME # LAST READING OF RADAR
BMN EXIT
REND1A
RANGERD INHINT # READ RADAR RANGE
CS OCT17
EXTEND
WAND CHAN13 # ZERO OUT BITS 1-4 OF CHANNEL 13
RADSTART EXTEND
READ LOSCALAR # READ PRESENT TIME
## Page 579
TS L
MASK LOW5 # ONLY THE 5 BITS MATTER
COM
AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
MASK LOW5
TS RADDEL
AD NEG2 # IF A TICK OF T5 IS NEAR, WAIT TILL IT
EXTEND # HAS TICKED. MAX DELAY HERE IS
BZMF RADSTART # 937.5 MICROSEC.
CA OCT11 # SET RADAD BITS NOW
EXTEND
WOR CHAN13
CS L
TS RADTIME # SAVE NEG TIME OF READ
RELINT
EXTEND
DCA TIME2
DXCH MARKTIME # READ PRESENT TIME
TC DOWNFLAG
ADRES SKIPVHF # CLEAR VHF RESTART FLAG
TC ENDOFJOB # WAIT FOR RADAR READ
RANGERD1 TC TRFAILOF # TURN TRACKER LIGHT OFF
CCS RM # 15 BIT UNSIGNED RANGE
TC RANGERD4 # GR + 0
TC LIGHTON +4 # = + 0
TC RANGERD3 # L - 0
TC RANGERD3 # = - 0
RANGERD4 TC INTPRET
SLOAD DMP
RM
CONVRNGE # CONVERT RANGE TO METERS B-27
RANGERD2 STORE VHFRANGE
SET DLOAD
SOURCFLG # SOURCE OF DATA TO VHF RADAR
MARKTIME
STORE VHFTIME # FOR DOWNLINK
REND4 CALL
UPSTATE # INTEGRATE CSM,LM,W MATRIX
CALL
SHIFTNDX # SET EARTH MOON SCALING INDEX
CLEAR CALL
ORBWFLAG # CLEAR FOR P22 AND P23
CMPOS # SET CSM POSITION
SET CALL
INCORFLG # SET FOR FIRST PASS
LMPOS # SET LM POSITION
## Page 580
BON
AUTOSEQ
AUTOW # AUTOMATIC W MATRIX REINITIALIZATION
REND5B BON
RENDWFLG
REND6
REND5C DLOAD
ZEROVECS
STODL VHFCNT # ZERO OUT VHFCNT AND TRKMKCNT
WRENDPOS
STCALL 0 # 0=WRENDPOS 1=WRENDVEL
INITIALW # INITIALIZE W MATRIX
CLEAR DLOAD
P35FLAG
MARKTIME
STORE AGEOFW
CLEAR SSP
PTV93FLG
COUNT3MK
1
REND6 SET
RENDWFLG
REND7 VLOAD VSU
LEMPOS
CSMPOS
STORE RCLP # LM - CSM
UNIT BON
SOURCFLG
REND14 # BRANCH IF DATA IS RADAR
STORE UCL
BOFF AXC,1
INCORFLG
REND9
MARKTIME
CALL
GETUM # CALCULATE UM LINE OF SIGHT
STOVL UM
UCL
VXV BOV
UM # UCL X UM
REND8
REND8 UNIT BOV
RENDISP3 # IGNORE MARK RESET FLAGS FOR REJECT
STORE USTAR
REND9 CALL
BVECTORS
BON VLOAD
VEHUPFLG
REND9A
BVECTOR
## Page 581
VCOMP
STORE BVECTOR
REND9A CALL
GRP2PC
BOFF
R21MARK
REND15 # BRANCH IF BACKUP OPTICS (R23 WORKING)
DLOAD DAD
SXTVAR
IMUVAR
REND10 STOVL VARIANCE # TEMP STORAGE FOR VARIANCE CALC.
RCLP
ABVAL NORM
X1
DSQ DMP
VARIANCE
XAD,1 CALL
X1
SHIFTNDX # GET EARTH MOON SCALING INDEX
XAD,1 XAD,1
X2
X2
SR* TLOAD
0 -2,1 # ADJUST SCALING TO B-40
MPAC
STORE VARIANCE
SLOAD SR
INTVAR # INTEGRATION VARIANCE SCALED B-15
25D # SCALE IT B-40
TAD RTB
VARIANCE
TPMODE
STORE VARIANCE
BOFF TAD
SOURCFLG # BRANCH IF NOT VHF RADAR
REND10A
RVARMIN # VHF RADAR MIN. VARIANCE
BPL TLOAD
REND10A
RVARMIN
ABS # MIN. VALUE WAS STORED AS NEG.
STORE VARIANCE # STORE MIN. VALUE
REND10A CLEAR CALL
DMENFLG # CLEAR FOR 6 X 6 W MATRIX
INCORP1 # CALCULATE UPDATE
CALL
GRP2PC
BOFF CALL
INCORFLG
REND12
## Page 582
SHIFTNDX # GET EARTH MOON SCALING INDEX
VLOAD ABVAL
DELTAX +6
SR*
0,2
STOVL N49DISP +2
DELTAX
ABVAL SR*
0,2
STORE N49DISP
SSP BON
N49DISP +4
OCT 2
SOURCFLG
REND10B # VHF MARK CODE
BON SSP
REJCTFLG
RENDISP3
N49DISP +4 # OPTICS MARK CODE
OCT 1
REND10B SLOAD
RMAX
SR DSU
10D
N49DISP
BMN SLOAD
RENDISP # BRANCH IF POS UP.GREATER THAN MAX.
VMAX
DSU BMN
N49DISP +2
RENDISP # BRANCH IF VEL.UPDATE GREATER THAN MAX.
REND12 CALL
INCORP2 # INCORPORATE UPDATE VALUES INTO STATE VEC
BOFF DLOAD
INCORFLG
REND12A # BRANCH IF 1ST PASS OPTICS
MARKTIME
STORE OLDMKTME # SAVE OLD MARK TIME
CLEAR SLOAD
MANEUFLG # CLEAR MANEUVER FLAG
COUNT3MK
BZE DSU
REND12A
HIGH3 # CHECK IF 3 MARKS TAKEN
BMN SSP
REND13A # BRANCH IF NOT 3 YET
COUNT3MK # SET COUNT EQUAL TO 0
DEC 0
REND12A BON BOFF
SOURCFLG
## Page 583
REND16 # BRANCH IF DATA IS RADAR
INCORFLG
REND17
CALL
SHIFTNDX # GET EARTH MOON SCALING INDEX
BON CALL
VEHUPFLG
REND18 # BRANCH IF CSM UPDATE
LMPOS # GET LM POSITION
REND13 CALL
GRP2PC # PHASE CHANGE
CLRGO
INCORFLG
REND7 # BRANCH FOR 2ND PASS THIS OPTICS MARK
REND13A SLOAD
COUNT3MK
STCALL CNT3TEMP
GRP2PC
LXA,1 INCR,1
CNT3TEMP
DEC 1 # ADD ONE TO MARK COUNT
SXA,1 GOTO
COUNT3MK
REND12A
SETLOC P20S1
BANK
COUNT* $$/R22
UPSTATE STQ CALL # INTEGRATE NON-UPDATED VEHICLE STATE
POINTEX # VECTOR
SETINTG # SET INTEGRV FLAGS VINTFLAG=1 FOR CSM
BOFF CLEAR
VEHUPFLG # 0=LM 1=CSM FOR UPDATE VEHICLE
REND4A # INTEGRATE CSM
VINTFLAG # INTEGRATE LM
REND4A CALL
INTEGRV
CALL
GRP2PC # PHASE CHANGE
CALL # INTEGRATE UPDATED VEHICLE
SETINTG # SET INTEGRV FLAGS VINTFLAG=1 FOR CSM
BOFF SET
RENDWFLG
REND5 # IF FLAG=0 DO NOT INTEGRATE W MATRIX
DIM0FLAG # INTEGRATE VALID W MATRIX
REND5 BON CLEAR
VEHUPFLG
REND5A # INTEGRATE CSM
VINTFLAG # INTEGRATE LM
REND5A CALL
## Page 584
INTEGRV
GOTO
POINTEX
SETLOC P20S3
BANK
COUNT* $$/R22
REND14 STOVL BVECTOR # VHF RADAR BVECTOR
ZEROVECS
STORE BVECTOR +6
STOVL BVECTOR +12D
RCLP
UNIT DLOAD
VHFRANGE # VHFRANGE SCALED B-27
BON SR2
MOONTHIS
+1
DSU SET
36D # ABVAL (RCLP)
INCORFLG
STORE DELTAQ
BOFF VLOAD
VEHUPFLG
REND14A
BVECTOR
VCOMP
STORE BVECTOR
REND14A CALL
GRP2PC
DLOAD GOTO
RVAR
REND10
REND15 SLOAD DAD # GET ALT LOS VARIANCE
ALTVAR # BACKUP OPTICS
IMUVAR # IMU VARIANCE
GOTO
REND10
REND16 LXA,1 INCR,1
VHFCNT # VHF RADAR UPDATE COUNT
DEC 1
SXA,1 GOTO
VHFCNT # UPDATE COUNT
RENDISP3
REND17 LXA,1 INCR,1
TRKMKCNT # OPTICS MARK COUNT
DEC 1
SXA,1 GOTO
TRKMKCNT # UPDATE COUNT
RENDISP3
REND18 CALL
## Page 585
CMPOS # GET CSM POSITION
GOTO
REND13
SETLOC P20S3
BANK
COUNT* $$/R22
CMPOS VLOAD VSR*
DELTACSM
7,2
VAD
RCVCSM
STORE CSMPOS # CSM POSITION SCALED B-27 OR B-29
RVQ
LMPOS VLOAD VSR*
DELTALEM
7,2
VAD
RCVLEM
STORE LEMPOS # LM POSITION SCALED B-27 OR B-29
RVQ
SETLOC P20S3
BANK
COUNT* $$/R22
RENDISP EXIT
CAF ZERO # SET TEMPOR1 > ZERO TO INDICATE
TS TEMPOR1 # V06 N49 DISPLAY HASNT BEEN ANSWERED
TC PHASCHNG
OCT 04022
CAF PRIO27 # SET UP DISPLAY JOB WITH HIGHER PRIORITY
TC NOVAC
EBANK= MRKBUF1 # THAN PRESENT JOB
2CADR RENDISP2
RENDISP7 TC INTPRET
STORE MPAC
SLOAD BZE
TEMPOR1
RENDISP7 +1 # DISPLAY HAS NOT BEEN ANSWERED YET
BMN GOTO
REND12 # NEG INDICATES PROCEED
RENDISP3 # POS INDICATES RECYCLE
RENDISP2 CAF V06N49
TC BANKCALL
CADR PRIODSP
TC GOTOV56 # TERM EXIT P20 VIA V56
CS ONE # NEG INDICATES PROCEED RENDISP7 JOB
TS TEMPOR1 # POS INDICATES RECYCLE RENDISP7 JOB
TC ENDOFJOB # GO COMPLETE ABOVE JOB
## Page 586
RENDISP3 CALL
GRP2PC
CLEAR CLEAR # RESET FLAGS
R22CAFLG
REJCTFLG
BON GOTO
SOURCFLG
REND1 # DATA WAS RADAR GO LOOK FOR OPTICS NEXT
REND3
SETLOC P20S2
BANK
COUNT* $$/R22
AUTOW BON SLOAD
MANEUFLG # MANEUVER DONE IF SET
AUTOW3
COUNT3MK # COUNT OF MARKS SINCE W REINITIALIZED
BZE GOTO
AUTOW1A
AUTOW2
AUTOW1A BOFF
TPIMNFLG # NOT AFTER TPI
AUTOW1 # NOT AFTER TPI
BOFF GOTO
P35FLAG
AUTOW2
REND5C
AUTOW1 SETPD DLOAD # PUT TIG
0 # OR
TIG # TCDH IF P. C.
BOFF DLOAD
PCFLAG # PUSH LIST 0
AUTOW11
TCDH
AUTOW11 PUSH SLOAD # PD 0,1 = TIG OR TCDH IF P C
WRDTIME
PUSH SLOAD # PD 2,3 = WRDTIME
MINBLKTM
PUSH SLOAD # PD 4,5 = MINBLKTM
TBEFCOMP
PUSH SLOAD # PD 6,7 = TBEFCOMP
BRNBLKTM
PUSH SLOAD # PD 8,9 = BRNBLKTM
MAXWTIME
PUSH SLOAD # PD 10,11 == MAXWTIME
FINCMPTM
PUSH DLOAD # PD 12,13 = FINCMPTM
MARKTIME
DSU DSU
2 # WRDTIME
## Page 587
AGEOFW
BMN DLOAD
AUTOW2 # AGEOFW GR WRDTIME
OLDMKTME
DSU DAD
MARKTIME # MARK TIME
4 # MINBLKTM
BMN DLOAD
AUTOW4 # (TIME - OLDMKTME) GR MIN
MARKTIME
DSU BPL
0D # TIG
AUTOW5 # REINITIALIZE - TIG IS IN THE PAST
DAD
12D # FINCMPTM
DAD BMN
6D # TBEFCOMP
AUTOW5 # (FINCMPTM - TIME) GR TBEFCOMP
DLOAD DAD
0
3MINCON # 3 MIN CONSTANT (APPROX)
DSU DAD
12D # FINCMPTM
8D # BRNBLKTM
DSU DSU
AGEOFW
10D # MAXWTIME
BMN SET
AUTOW2 # FINCOM + BRNBLK+3MIN+AGE GR MAXWTIME
PTV93FLG # POST BURN V93 REQUEST FLAG
AUTOW2 CLEAR GOTO
ORBWFLAG # P22 W MATRIX FLAG
REND5B
3MINCON DEC 1.0 B-14 # 2.74 MIN
HIGH2 2DEC 2.0 B-14
HIGH3 2DEC 3.0 B-14
SETLOC P20S5
BANK
COUNT* $$/R22
AUTOW3 BON BOFF
PTV93FLG
REND5C
TPIMNFLG
AUTOW4
BOFF
FULTKFLG
REND5C # BRANCH IF VHF AND OPTICS MARKING
## Page 588
AUTOW4 SSP GOTO
COUNT3MK # SET 3 MARK COUNTER EQ 1
DEC 1
AUTOW2 # BYPASS REINITIALIZING W MATRIX
AUTOW5 CLEAR GOTO
PTV93FLG
REND5C
SETLOC R22S1
BANK
COUNT* $$/R22
SXTVAR 2DEC 0.04 E-6 B+16 # SXT ERROR VARIANCE = .04 (MR)SQ
IMUVAR 2DEC 0.04 E-6 B+16 # IMU ERROR VARIANCE = .04 (MR)SQ
SETINTG STQ CALL
EGRESS
INTSTALL # RESERVE INTEGRATION
DLOAD SET
MARKTIME
STATEFLG
STORE TDEC1 # MARKTIME
CLEAR CLEAR
INTYPFLG # PRECISION INTEGRATION
DIM0FLAG
SET CLRGO
VINTFLAG # SET VEHICLE EQ. CSM
D6OR9FLG # SET W MATRIX DIM. EQ 6
EGRESS # EXIT
CONTCHK BOFF BOFF
RNDVZFLG
ENDPLAC
REFSMFLG # BRANCH TO END OF JOB IF REFSMMAT NO GOOD
ENDPLAC
SLOAD BMN
R61CNTR
WAITONE1
BON BOFF # IS TRACK FLAG SET
UPDATFLG
POINTEX
TRACKFLG
ENDPLAC
EXIT
REDOR22 TC PHASCHNG
OCT 00132
2P13SPT1 = 2.13SPOT
CAF PRIO26
TC PRIOCHNG
## Page 589
TCF WAITONE1 +1
WAITONE STQ
POINTEX
WAITONE1 EXIT
+1 CAF 4SECS # WAIT 4 SECS.
TC BANKCALL
CADR DELAYJOB
TC INTPRET
GOTO
CONTCHK # CHECK AGAIN NOW
SETLOC P20S3
BANK
COUNT* $$/R22
RANGERD3 CA RM
MASK POSMAX
TS MPAC # MASK OUT NEG. SIGN BIT
TC INTPRET
SLOAD DMP
MPAC # CLEAR MPAC +1
CONVRNGE # CONVERT FROM NM TO METERS AND SCALE B-27
DAD GOTO
CONVRNGE # VALUE IN METERS OF SIGN BIT SCALED B-27
RANGERD2
LIGHTON CA VHFRANGE
EXTEND
BZF +2
TC TRFAILON
+4 TC INTPRET
DLOAD
MARKTIME
STORE VHFTIME
GOTO
REND1
OCT17 EQUALS LOW4
SETLOC R22S1
BANK
COUNT* $$/R22
CONVRNGE 2DEC 18.52 B-13 # VHF INPUT RANGE CONV.FROM.01 NM TO M
# AND 16384 X 18.52 = METERS FOR SIGN BIT
VHFREAD EXTEND
ROR SUPERBNK # MUST SAVE SBANK BECAUSE OF RUPT
TS BANKRUPT # EXITS VIA RESUME, LIGHTON, RANGERD1
EXTEND
QXCH QRUPT
CS FLAGWRD2
MASK SKIPVBIT # SKIPVHF FLAG
## Page 590
EXTEND
BZF RESUME # BRANCH IF VHF RESTART BIT SET
CAF UPDATBIT
MASK FLAGWRD1 # UPDATFLG
EXTEND
BZF BYPASS1
CS FLAGWRD4
MASK PDSPFBIT # PDSPFLAG
EXTEND
BZF BYPASS1
CA RNRAD
TS RM # SAVE RANGE
CAF BIT2
EXTEND
RAND CHAN33 # READ DATA GOOD BIT
EXTEND
BZF VHFGOOD # BRANCH IF DATA GOOD BIT EQUALS GOOD
BYPASS TS VHFRANGE # STORE NON ZERO VALUE
CAF PRIO26
TC FINDVAC
EBANK= MRKBUF1
2CADR LIGHTON
TC RESUME
BYPASS1 CAF ZERO
TC BYPASS
VHFGOOD CAF PRIO26
TC FINDVAC
EBANK= MRKBUF1
2CADR RANGERD1
TC RESUME
SHIFTNDX AXT,2
0
BON RVQ
CMOONFLG # MOON ORB.
+1
INCR,2 RVQ
DEC -2
INITIALW AXT,1 SSP
36D
S1
6
VLOAD
ZEROVECS
INITA STORE W +36D,1 # CLEAR 0 - 35
STORE W +90D,1 # CLEAR 54-89
TIX,1 SLOAD
## Page 591
INITA
0 # POSITION VALUE
STORE W # INITIALIZE DIAGONAL W POSITION
STORE W +8D
STORE W +16D
SLOAD
1 # VELOCITY VALUE
STORE W +72D # INITIALIZE DIAGONAL W VELOCITY
STORE W +80D
STORE W +88D
RVQ
## Page 592
# STALL ROUTINE FOR USERS OF CHANNEL 13.
SETLOC FFTAG12
BANK
COUNT* $$/CHN13
C13STALL CAF PRIO10 # = BANK 04
XCH FBANK
TS RUPTREG2
TCF C13STAL1
SETLOC C13BANK
BANK
COUNT* $$/CHN13
C13STAL1 CAF BIT4
EXTEND
RAND CHAN13
EXTEND
BZF TCQSTAL # NO RADAR ACTIVITY. OK TO WRITE.
C13SLOOP NOOP # TO PREVENT TC TRAP
EXTEND
READ LOSCALAR
AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
AD HALF
AD HALF # FOR OVERFLOW
XCH L
CA 90MSCALR
AD RADDEL
EXTEND
SU L
EXTEND
BZMF TCQSTAL # GR THAN 90 MS. OK
AD -DTSCALR
EXTEND
BZMF C13SLOOP # IN FORBIDDEN PERIOD. LOOP UNTIL OK
TCQSTAL CA RUPTREG2
LXCH Q
DTCF
90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
-DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
# CRS61.1 4/10/68
# TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE CSM WHICH ENABLES
## Page 593
# OPTICS TRACKING OF THE LM AND LM TRACKING OF THE CSM RADAR TRANSPONDER
# AND TO COMPUTE THE &X-AXIS TRACKING ATTITUDE OF THE CSM WHICH ENABLES
# COAS TRACKING OF THE LM.
# TO PERFORM THE MANEUVER TO THE SELECTED TRACKING ATTITUDE IF THE
# MANEUVER IS LESS THAN 10 DEGREES BUT TO CALL R60 IF THE MANEUVER IS
# GREATER THAN 10 DEGREES OR IF THE R60FLAG IS SET.
# (1) EXTRAPOLATE LM AND CSM STATE VECTORS TO PRESENT TIME USING
# CONIC EQUATIONS.
#
# (2) CALCULATE LOS FROM CSM TO LM = RL - RC.
#
# (3) THE PREFERRED TRACKING ATTITUDE IS DEFINED AS FOLLOWS:
# THE TRACK AXIS (I) IS ALIGNED ALONG THE LOS TO THE LM. THE
# TRACK AXIS (I) IS DEFINED AS:
#
# UNIT(I)=UNIT(Z )COS55 &UNIT(X )SIN55
# - -SC -SC
# (4) COMPUTE DESIRED CDU ANGLES, USING VECPOINT.
# (7) FORM DIFFERENCE BETWEEN DESIRED AND ACTUAL CDUS.
# IF ANY OF THE THREE ANGLE DIFFERENCES EXCEEDS 10 DEGREES,
# GROSS MANEUVER IS REQUIRED. SIGNAL R61 (SET MPAC=1) TO
# OPERATE KALCMANU AND EXIT CRS61.1.
# IF ALL DIFFERENCES ARE LESS THAN 10 DEGREES, CONTINUE.
#
# (8) CALCULATE ORTHOGONAL LOS RATE IN REF COORDS AS
#
# OMEGATH = (UNITLOS(B1) X UNITDV(B1))(ABSDV(B7)/ABSLOS(B29))
# CONVERSION FACTOR OF 100/2PI (B4) REV CSEC PER RAD SEC IS
# APPLIED TO YIELD UNITS OF REVS/SEC. SCALE IS CARRIED AS
# B+1+1+7-29+4+1 PLUS RESULTS OF NORMALIZING ABSDV, ABSLOS.
# THE EXTRA B+1 RESULTS FROM RESCALING ABSDV B8 AFTER NORM
# TO AVOID OVFLOW ON DIVIDE.
#
# UNITLOS = UNIT( RL - RC) B1.
# UNITDY = UNIT( VL - VC) B1.
# ABSLOS = LENGTH OF LOS, METERS B29.
# ABSDV = LENGTH OF DV , METERS/CSEC B7.
#
# (9) OBTAIN RATE IN SM COORDS.
#
# OMEGATHSM = (REFSMMAT)(OMEGATH).
#
# (10)OBTAIN GIMBAL ANGLE INCREMENTS FOR 0.1 SECOND.
#
# DTHETASM = (0.1)(OMEGATHSM)
#
# (11)OBTAIN DELCDUX,Y,Z USING SUBR SMCDURES.
# INPUT CONSISTS OF
#
# (A) VECTOR OF ANGULAR INCREMENTS, DTHETASM, STORED
## Page 594
# IN V(DTHETASM).
#
# (B) SIN,COS CDUX,Y,Z FROM SUBR CDUTRIG.
#
# TRANSFER OUTPUT OF SMCDURES FROM V(DCDU) TO VAC14D.
#
# (12)CALCULATE ANG LOS RATE IN BODY(NB) COORDS USING SUBR SMNB.
#
# OMEGANB = (SMNB)(OMEGATHSM)
#
# SUBR SMNB REQUIRES OMEGATHSM IN V(VAC32D) AND ACTUAL CDUS
# (Y,X,Z ORDER) IN V(VAC20D) WITH S1 OF VAC = BASE ADDRESS
# OF CDUS (FIXLOC + 20D).
#
# (13)CALCULATE ANG LOS RATE IN CONTROL COORDS AS FOLLOWS
#
# WBODY = (MBDYTCTL)(OMEGANB) UNITS=REVS/SEC(B0).
#
# ( 0.5 0 0 ) BODY TO
# MBDYTCTL(B1) = ( 0 COS(7.25)B1 -SIN(7.25)B1 )=CONTROL
# ( 0 SIN(7.25)B1 COS(7.25)B1 ) AXES
# CONVERSION
# MATRIX
#
# (14)RESCALE WBODY TO UNITS OF 450 DEG/SEC BY APPLYING FACTOR
# OF 0.8 TO REVS/SEC.
#
# (15)ADDRESS LIVE AUTOPILOT REGISTERS IN BASIC (UNDER INHINT).
#
# TRANSFER DESIRED CDUS, SCALED 180 DEGREES, FROM T(SAVEDCDU)
# TO V(CDUXD).
# TRANSFER DELCDUS, SCALED 180 DEG, FROM V(VAC14D)
# TO V(DELCDUX).
# TRANSFER OMEGA CONTROL, SCALED 450 DEG/SEC, FROM V(MPAC)
# TO V(WBODY).
# RELINT, SET MPAC=0, EXIT CRS61.1
#
# CALL L CALL CRS61.1
#
# RETURNS ALL TO L+1.
#
# (1) S(MPAC)=0. NORMAL EXIT. 3 SETS OF INPUTS FED TO DAP.
# (2) S(MPAC)=1. CALCULATED DESIRED CDUS,SP, SET IN T(CPHI)
# FOR KALCMANU. ABS(ACDU - DCDU) EXCEEDS 10 DEGREES.
# (3) S(MPAC)=2. GNCS AUTO MODE NOT SELECTED (BIT10=1).
# (4) S(MPAC)=3. DAP HOLD FLAG (HOLDFLAG) NOT EQUAL -1.
#
# INPUT (1) TIME2,TIME1. COMPUTER CLOCK TIME,DP, CENTISEC B28.
# (2) CDUX,Y,Z. PRESENT CDU ANGLES,SP,2S COMPL HALF-REVS B0.
# (3) M(REFSMMAT),STABLE MEMBER COORDS B1.
## Page 595
#
# OUTPUT NORMAL. EXIT WITH S(MPAC) = 0.
#
# (1) CDUXD,CDUYD,CDUZD, DESIRED OUTER, INNER, MIDDLE CDU ANGLES,
# DP, 1S COMPL, SCALED 180 DEGREES (HALF-REVS B0).
# (2) DELCDUX,DELCDUY,DELCDUZ. 0.1 SEC DCU ANGULAR INCREMENTS,
# DP, 1S COMPL, SCALED 180 DEG.
# (3) WBODY,WBODY1,WBODY2. LOS ANGULAR RATE IN CONTROL COORDS,
# DP, 1S COMPL, SCALED 450 DEG/SEC.
#
# SPECIAL. EXIT WITH S(MPAC) = 1.
#
# (1) CPHI,CTHETA,CPSI. DESIRED OUTER, INNER, MIDDLE CDU ANGLES,
# SP, 2S COMPL, SCALED 180 DEGREES.
#
# EXTERNAL SUBROUTINES USED (B)=BASIC
#
# (1) CALCGA (5) LOADTIME(B) (9) SMNB
# (2) CDUTRIG (6) MATMOVE
# (3) CSMCONIC (7) RDCDUS(B)
# (4) LEMCONIC (8) SMCDURES
#
# ERASABLE (1) S(Q611),EBANK7 CRS61.1 EXIT .
# (2) S(Q6111)EBANK7 CALCDCDU EXIT.
# (3) T(SAVEDCDU) E6 SP VECTOR OF CDUDS.
# (4) V(SAVEPOS) E7 CSM POS VEC AND D(SAVEPOS)= LENGTH OF LOS.
# (5) V(SAVEVEL) E7 CSM VEL VEC.
#
# FLAGWDS HOLDFLAG. USED, NOT SET.
#
# MISC (1) ERASABLE ITEMP1 USED TO TEMP STORE EBANK UNDER INHINT.
# (2) ERASABLE P21TIME USED AS TEMP STORE DURING CRS61.1
# (3) ERAS DTHETASM USED AS TEMP STORE DURING EARLY CRS61.1
#
# DEBRIS - CURRENT VAC AREA, CRS61.1 ERASABLES, ITEMP1, P21TIME
SETLOC P20S4
BANK
EBANK= CDUXD
COUNT* $$/CRS61
CRS61.1 STQ SETPD
Q611
0
RTB
LOADTIME # LOAD CLOCK TIME2,1 INTO MPAC.
STORT STCALL R63TIME # STORE CLOCK TIME FOR SUBR R63
R63 # SUBR TO CALC DCDU(T=PRESENT,PASS1)
CLEAR DLOAD
## Page 596
RANGFLAG
R63TIME
DSU BPL
328NM
+3
SET
RANGFLAG
+3 EXIT
STEP2CK TC CHECKMM # CHECK MAJOR MODE = 27 (UPDATE PROG)
MM 27
TC UPACTOFF # NO TURN OFF UPLINK LITE
# YES LEAVE UPLINK AS IS
CCS HOLDFLAG
TC ASET # EXIT IF HOLDFLAG IS + NONZERO
TC +2
TC +1
CS FLGWRD11
MASK AZIMBIT
CCS A
TC NOAZFLG1 # AZIMFLAG NOT SET
CAF TWO # AZIMFLAG SET
CDULOOP TS DTHETASM
INDEX DTHETASM
CA CDUX
EXTEND
INDEX DTHETASM
MSU THETAD
TS MPAC
TC INTPRET
ABS DSU
DEGREE10
BPL EXIT
STKTEST
CCS DTHETASM
TC CDULOOP
TC AUTOCK
NOAZFLG1 CA THETADX
TS CDUSPOT +4
CA THETADY
TS CDUSPOT
CA THETADZ
TS CDUSPOT +2 # STORE IN CDUSPOT FOR TRG*NBSM
TC INTPRET
VLOAD CALL
SCAXIS
## Page 597
TRG*NBSM
PUSH DOT # PD 0-5
POINTVSM
DSU BMN # BRANCH IF GR. 10 DEG.
COSTEN
STKTEST
VLOAD VXV
0 # SCAXIS IN S.M.
POINTVSM
VXSC PUSH # PD 6-11 B2
DELTYME # 1/(DELTA TIME) B-2
ABVAL DSU
MAXRATE # .1 DEG. / SEC. B0
BMN VLOAD # PUSH UP 6-11
STEP2CKB # BRANCH IF LESS .1 DEG./SEC.
UNIT VXSC
MAXRATE
VSL1 PUSH # PD 6-11 .1 DEG./SEC DISTRIBUTED
STEP2CKB VLOAD VXSC
6
RADTOREV # RAD. TO REV. B0
STORE DTHETASM # B0
EXIT
AUTOCK CAF FURST3 # BITS 15,14,13 OF CHAN31 = 011
TC C31BTCHK # FOR AUTO AND G&N CONTROL
TCF +1
AD NEG30000
EXTEND # AUTO MODE SELECTED (BITS 15-13=011)
BZF DAPCK # YES-CONTINUE.
TC ASET
DAPCK CS FLAGWRD1 # IS STIKFLAG SET (I.E. IS SOMEONE ON RHC)
MASK STIKBIT
CCS A
TC STEP3CK
ASET TC INTPRET
CLEAR
CYC61FLG
SLOAD GOTO
ZEROVECS
Q611
STKTEST BOFINV
CYC61FLG
KALCMAN3 +1
BON EXIT
V50N18FL
MANUEXIT
CAF BIT3
EXTEND # STIKFLG IS SET
WOR DSALMOUT # TURN ON UPACTY LIGHT
## Page 598
TC ASET # EXIT AND SET R61CNTR
STEP3CK TC INTPRET
SETPD BOFF
0D
UTFLAG
CRS61.2 # NORMAL P-20 (OPTION 0) IF UTFLAG NOT SET
DLOAD BZE # OPTION 1,TEST FOR STAR OR PLANET
R63TIME # =0 IF STAR
UTSTAR1
# USE NORMAL P20 PATH FOR PLANET
# WITH VL AND RL = 0
# NOW HAVE DCDUS STORED IN T(SAVEDCDU).
# GO CALC OTHER DAP INPUTS (DELCDU,WBODY)
CRS61.2 VLOAD VSU
DCDU
SAVEVEL # DV = VL - VC
UNIT VCOMP # V(MPAC)=-UNITDV.VAC36D=ABSDV.
VXV VXSC # (-UNITDV)CROSS(UNITLOS).
SAVEPOS
RVCS/RDS # (UNITLOS B1)(UNITDV B1)(CONST B4)=CROSS.
PDDL NORM
R63TIME # R63TIME IS TEMP STORE FOR ABS(LOS)
X1
PDDL NORM
36D # NORM ABS VALUE OF DV(NUM).
S1
XSU,1 SR1 # X1 = X1(N DENOM)-S1(N NUM).
S1 # SR1 TO AVOID OFLOW ON DDV.
DDV VXSC # ABSDV(MPAC)/ABSLOS(PUSH1) = QUOT.
MXV VSL*
REFSMMAT
0 -14D,1 # UNNORMALIZE,ADJUST FOR REF. AND SCALE B0
BON VAD
AZIMFLAG
+2
DTHETASM # SCALED B0
STORE 20D
VXSC
TENTH
STCALL DTHETASM # STORE SM INCREM. ANGLES FOR SMCDURES
CDUTRIG # OBTAIN SIN,COSCDUS FOR SMCDURES.
SETPD CALL # SMCDURES USES PUSH
0
SMCDURES # OBTAIN DELCDU IN V(DCDU).
VLOAD VSR2
DCDU
STCALL 14D
CDUTRIG
## Page 599
VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
20D # VECTOR FOR TRG*SMNB INTO MPAC
*SMNB* # OBTAIN ANG. RATE REFERRED TO NB (BODY)
MXV
MBDYTCTL # CONVERT RATE(OMEGA) TO CONTROL COORDS.
VXSC VSL1 # MULT. BY 0.8 TO RESCALE REVS TO 450 DEG.
POINT8
CRS61.2A EXIT
INHINT
CS FLGWRD11
MASK AZIMBIT
CCS A
TC THTDXYZ # AZIMFLAG NOT SET,USE THETADX,Y,Z
CAF TWO # AZIMFLAG SET, MODIFY DELCDUS
DCDULOOP TS DTHETASM
DOUBLE
AD FIXLOC
TS DTHETASM +1
INDEX DTHETASM
CA THETAD
EXTEND
INDEX DTHETASM
MSU THETADX
EXTEND
MP 1/200
INDEX DTHETASM +1
DAS 14D
CCS DTHETASM
TCF DCDULOOP
THTDXYZ CA THETADX
TS CDUXD
CA THETADY
TS CDUYD
CA THETADZ
TS CDUZD
THTD123 EXTEND # TRANSFER OMEGA CONTROL (ANG LOS RATE)
DCA MPAC # FROM V(MPAC) TO V(WBODY ).
DXCH WBODY
EXTEND
DCA MPAC +3
DXCH WBODY1
EXTEND
DCA MPAC +5
DXCH WBODY2
EXTEND # TRANSFER CDU INCREMENTS
INDEX FIXLOC # FROM V(VAC14D) TO V(DELCDUX).
## Page 600
DCA 14D
DXCH DELCDUX
EXTEND
INDEX FIXLOC
DCA 16D
DXCH DELCDUY
EXTEND
INDEX FIXLOC
DCA 18D
DXCH DELCDUZ
CS ONE # NOW DAP VARIABLES LOADED. SET HOLDFLAG.
TS HOLDFLAG # TO -1.
RELINT
TC ASET
RCYCLR61 RTB DAD
LOADTIME
20.48SEC
DAD GOTO
TM
STORT
20.48SEC EQUALS 1RTEB17
1/200 DEC .005
SETLOC P20S8
BANK
COUNT* $$/CRS61
328NM 2DEC 606844.84 B-29 # 327.67 N.M.
UTSTAR1 VLOAD # STAR, N88 PATH SET WCA, DELTA GA = 0
ZEROVECS
STCALL 14D # DELTA GA AT PD1J (INCR GIMB CHANGES)
CRS61.2A # WCA IS IN MPAC (LOS RATE). SET RCS DAP
MANUEXIT SLOAD GOTO
LOONE # OCTAL 00001
Q611
R63 STQ DLOAD # SUBR TO CALL DESIRED CDUS(T)
Q6111
R63TIME
STCALL TDEC1
CSMCONIC
VLOAD # SAVE CSM POSITION AND VEL
RATT # RC B-29
STOVL SAVEPOS
VATT # VC B-7
STORE SAVEVEL
VXV
SAVEPOS
## Page 601
STORE POINTVSM # SAVE VXR
BON DLOAD
UTFLAG
UTAREA1 # UT OPTION 1 PROCESSING
R63TIME # NORMAL P-20 PATH
STCALL TDEC1
LEMCONIC
VLOAD # SAVE LM VEL
VATT # VL B-7
STOVL DCDU
RATT # RL B-29
VSU UNIT
SAVEPOS
STODL SAVEPOS # SAVE UNITLOS FOR CRS61.2 RATE CALC.
36D
STOVL R63TIME # SAVE ABS VAL OF LOS FOR CRS61.2
SAVEPOS
R63COM1 BON
AZIMFLAG
UTOPT45 # OPTIONS 4,5
MXV VSL1 # COMMON PATH NORMAL P20,OPTION 1
REFSMMAT
STCALL POINTVSM # ULOS IN STABLE MEM
UTPRFAX # COMPUTE UNIT PREFERRED VECTOR
STCALL SCAXIS
VECPOINT
STORE THETAD # DESIRED GIMBALS
GOTO
Q6111
SETLOC P20S
BANK
COUNT* $$/CRS61
UTAREA1 DLOAD CALL # UT OPTION 1 PATH
R63TIME
LSPOS
STORE 14D # RM B-29
BON VSU
CMOONFLG
UTMNCNTR
SAVEPOS # RC B-29
UNIT
STOVL SCAXIS # VMOON = UNIT(RM-RC)
SAVEPOS
UNIT VCOMP
STOVL 8D # VEARTH=-UNIT(RC)
2D # RS B-38
UNIT GOTO
SAVEVSUN # VSUN = UNIT(RS)
## Page 602
UTMNCNTR VAD UNIT # MOON PATH
SAVEPOS
VCOMP
STOVL 8D # VEARTH = -UNIT(RM+RC)
SAVEPOS
UNIT VCOMP
STOVL SCAXIS # VMOON = -UNIT(RC)
14D # RM B-29
VSR8 VSR1 # SCALE RM B-38
BVSU UNIT # VSUN = UNIT(RS-RM)
2D
SAVEVSUN STCALL 2D
SAVESTAR
SETLOC STARTAB
BANK
COUNT* $$/CRS61
SAVESTAR SETPD VXV
0D
ECLIPOL
STOVL VEL/C
SAVEVEL
VXSC VAD
1/C
VEL/C
STOVL VEL/C
ZEROVEC
STOVL DCDU # VL=0 FOR STAR AND PLANET
SAVEPOS
VCOMP UNIT
STODL SAVEPOS # UNIT(0-RC) FOR PLANET
36D
STORE R63TIME # ABS(O-RC) FOR PLANET
SLOAD PUSH # PD0= STARCODE
UTSTARNO # STARCODE
BZE SLOAD
UTVIAN88 # UNITLOS WAS VIA N88
UTSP46
BDSU # STARCODE-46(OCTAL)
BPL VLOAD # BRANCH IF STARCODE=46,47,50 OCTAL
UTST4650
ZEROVEC
STODL SAVEVEL # VC=0 FOR STAR
ZEROVEC
STORE R63TIME # STAR INDICATOR USED LATER IN CRS61.2
SLOAD DMP
UTSP6
0D # 0D STILL = STARCODE
LXA,1 VLOAD*
## Page 603
MPAC +1 # STARCODE*6
CATLOG,1 # MPAC= UNIT STAR VECTOR
UTABERR VAD UNIT # CORRECT FOR ABERRATION
VEL/C
GOTO # GOTO COMMON AREA
R63COM1
UTSP6 OCT 6 # SINGLE PRE 6 FOR MULT STARCODE
UTSP46 OCT 46 # SINGLE PRE 46 FOR DETERMINING PLANET
SETLOC P20S8
BANK
COUNT* $$/CRS61
UTST4650 BZE SR1 # SUN,EARTH,MOON OR PLANET PATH
UTSUN # STARCODE=46 OCTAL (SUN)
BHIZ VLOAD
UTEARTH # STARCODE=47 OCTAL (EARTH)
SCAXIS # VMOON STARCODE= 50 OCTAL
GOTO
UTABERR
UTSUN VLOAD GOTO
2D # VSUN
UTABERR
UTEARTH VLOAD GOTO
8D # VEARTH
UTABERR
UTVIAN88 VLOAD # UNITLOS IN STARSAV3 VIA N88
ZEROVECS
STODL SAVEVEL # VC = 0 FOR N88 VECTOR
ZEROVECS
STOVL R63TIME # STAR INDICATOR USED LATER IN CRS61.2
PLANVCUT # N88 UNIT VECTOR BAS REF
VXSC UNIT
1/SQRT3
GOTO
UTABERR
1/SQRT3 2DEC .57735021 # 1/SQUARE ROOT 3 B-0
SETLOC P20S
BANK
COUNT* $$/CRS61
UT166 EQUALS .166...
## Page 604
UTSAP = 0D # SA PRIME
UTSBP = 6D # SB PRIME
UTSA = 18D # SA
UTSB = 24D # SB
UTUXP = 0D # UX PRIME
UTUYP = 6D # UY PRIME
UTUZP = 12D # UZ PRIME
UTUX = 18D # UX
UTUY = 24D # UY
UTUZ = 30D # UZ
#UTX = SCAXIS X
#UTY = POINTVSM Y
UTZ = 0D # Z AFTER UNIT
UTZINIT = 36D # Z BEFORE UNIT
UTAMG = 6D # AMG
UTOGA = 24D # OGA REVS B-0
UTIGA = UTOGA +2 # IGA REVS B-0
UTMGA = UTOGA +4 # MGA REVS B-0
UTOPT45 STCALL UTSB # SB= ULOS BASIC REF. IN MPAC B-1
UTPRFAX
STORE UTSBP # SB PRIME NAV BASE B-1
VXV UNIT
UNITY
STOVL UTSAP # SA PRIME=(SB PRIME)X(0,1,0) B-1 NAV B
UTSB
VXV UNIT
POINTVSM # VXR SAVED ABOVE
STODL POINTVSM # ULOS X (VXR) B-1
AZIMANGL
COS VXSC
POINTVSM
STOVL SCAXIS # B-2
UTSB
VXV UNIT
POINTVSM
STODL POINTVSM # ULOS X (ULOS X (VXR)) B-1
AZIMANGL
SIN VXSC # B-2
POINTVSM
VAD VSL1
SCAXIS
STOVL UTSA # SA B-1
UTSAP # START AXISGEN
VXV UNIT # UX PRIME ALREADY IN UTUXP B-1
UTSBP # UY ALREADY IN UTUX B-1
STOVL UTUYP # UZ PRIME B-1
UTUXP
VXV VSL1
## Page 605
UTUYP
STOVL UTUZP # UZ PRIME B-1
UTSA
VXV UNIT
UTSB
STOVL UTUY # UY B-1
UTUX
VXV VSL1
UTUY
STOVL UTUZ # UZ B-1
UTUX
VXSC
UTUXP
STCALL UTX
UTOPT45A
SETLOC P20S8
BANK
COUNT* $$/CRS61
UTOPT45A VLOAD
UTUY
VXSC VAD
UTUYP
UTX
STOVL UTX
UTUZ
VXSC VAD
UTUZP
UTX
STOVL UTX # UX NOT UNIT YET
UTUX
VXSC
UTUXP +2
STOVL UTY
UTUY
VXSC VAD
UTUYP +2
UTY
STOVL UTY
UTUZ
VXSC VAD
UTUZP +2
UTY
STOVL UTY # UY NOT UNIT YET
UTUX
VXSC
UTUXP +4
STOVL UTZINIT
UTUY
## Page 606
VXSC VAD
UTUYP +4
UTZINIT
STOVL UTZINIT
UTUZ
VXSC VAD
UTUZP +4
UTZINIT
UNIT # UTUZ AND UTZINIT ARE CLOBBERED BY UNIT
STOVL UTZ # UZ B-1
UTY
UNIT
STOVL UTY # UY B-1
UTX
UNIT
STORE UTX # UX B-1 END AXISGEN
VXV UNIT # STATR CALCGA
REFSMMAT +6 # YSM
STORE UTAMG # AMG B-1
DOT
UTZ
STOVL COSTH # COS(OGA)= AMG.ZNB B-2
UTAMG
DOT
UTY
STCALL SINTH # SIN(OGA)= AMG.YNB B-2
ARCTRIG
STOVL UTOGA # OGA REVS B-0
UTAMG
VXV DOT
UTX
REFSMMAT +6
SL1
STOVL COSTH # COS(MGA)= YSM.(AMG X XNB) B-2
REFSMMAT +6
DOT
UTX
STCALL SINTH # SIN(MGS)= YSM.XNB B-2
ARCTRIG
STORE UTMGA # MGA REVS B-0
ABS DSU
UT166
BPL
UTGMLOCK
UTCGA1 VLOAD DOT
REFSMMAT +12D
UTAMG
STOVL COSTH # COS(IGA)= AMG.ZSM B-2
REFSMMAT
DOT
## Page 607
UTAMG
STCALL SINTH # SIN(IGA)= ANG.XSM B-2
ARCTRIG
STORE UTIGA # IGA REVS B-0
VLOAD RTB
UTOGA # CONVERT TO 2S COMP
V1STO2S # ORDER IS OGA,IGA,MGA
STORE THETAD # TRIPLE PREC
GOTO
Q6111 # EXIT R63
UTGMLOCK EXIT # GIMBAL LOCK HAS OCCURED
TC ALARM
OCT 00401
TC INTPRET
GOTO
UTCGA1
SETLOC R22S1
BANK
COUNT* $$/CRS61
RADTOREV 2DEC 0.15915494 # RADIANS TO REV
COSTEN DEC 0.98481 B-2 # COSINE OF 10 DEG.
MAXRATE 2DEC 0.00174 # .1 DEG./SEC. RATE
DELTYME DEC 0.05 B2 # 1/DELTA TIME = 1/20 SEC
DEGREE10 DEC .05556 # 10 DEG IN REV
RVCS/RDS 2DEC 15.915494 B-4 # 100/2PI REV-CSEC/RAD-SEC.
TENTH 2DEC .1 B+3 # .1 B-3 (TO SCALE ANG.RATE TO .1 INREMS)
MBDYTCTL 2DEC .5 # 7.25 DEG NEGATIVE
2DEC 0 # X-AXIS ROTATION MATRIX
2DEC 0 # CONVERTS BODY TO CTL
2DEC 0 # AXES. SAME AS QUADROT
2DEC .99200495 B-1 # COS7.25 B1 BUT SCALED B1
2DEC -.12619897 B-1 # -SIN7.25 B1
2DEC 0
2DEC .12619897 B-1 # SIN7.25 B1
## Page 608
2DEC .99200495 B-1 # COS7.25 B1
LOONE OCT 00001 # TO SET MPAC = 00001 FOR SPECIAL EXIT.
FURST3 EQUALS 13,14,15 # CONSTANT FOR AUTOCK (OCT 70000).
## Page 609
# ..... S22.1 ORBITAL NAVIGATION ROUTINE
# MOD 1
#
# FUNCTIONAL DESCRIPTION
# 1. UPDATE CSM STATE VECTOR
# 2. UPDATE LANDMARK POSITION
# 3. CONVERT W MATRIX FROM 9 TO 6 DIMENSIONS
#
# SUBROUTINES CALLED
# INTSTALL,INTEGRV,GETUM,SETRE,R-TO-TP,RP-TO-R,BVECTORS,INCORP1,INCORP2
# LALOTORV,S22F2410,LAT-LONG,ROWDOT
#
# ERASABLE INITIALIZATION
# W=9X9 MATRIX
# ORBWFLAG=0 FOR INVALID W MATRIX,=1 FOR VALID W MATRIX
# ASTRONAUT ENTRY OF KNOWN,L,OFF
# 8NN= NUMBER OF MARKS DECIMAL INTEGER B-14
# REFSMMAT= TRANSFORMATION MATRIX
# MARKSTAT= ADDRESS OF START OF MARK DATA (MARK DATA OF EACH MARK IS
# STORED AS FOLLOWS, TIME,AIG,SA,AMG,PA,AOG) TIME IS IN DOUBLE
# PRECISION,ALL OTHERS ARE IN SINGLE PRECISION
# CSM STATE VECTOR
#
# OUTPUT
# UPDATED CSM STATE VECTOR
# UPDATED LANDMARK POSITION
# NEW 6 DIMENSIONAL W MATRIX
#
# DEBRIS
# PUSH LIST,CSMPOS,ALPHAV,ERADM,UM,RCLP,USTAR,VARIANCE,X789,BVECTOR,8KK,
# S22LOC,SVMRKDAT TABLE,22SUBSCL,LANDMARK,CXOFF,S22C,LAT,LONG,ALT,
# TEMPOR1,S22TOFF,S221OFF,DSPTEM1,S22EORM,S22TPRIM
SETLOC P20S6
BANK
EBANK= LANDMARK
COUNT* $$/P22
S22.1 TC 2PHSCHNG
OCT 00004
OCT 05022
OCT 13000
TC INTPRET
SETPD CALL
0D
SHIFTNDX
FIG2EXIT SXA,2 CALL
S22EORM # SET =0 EARTH,=2 MOON FOR SHIFTING
SETINTG
# FLOWCHART D=0 THEN DIM0FLAG=0 D6OR9FLG NOT TESTED
## Page 610
# FLOWCHART D=6 THEN DIM0FLAG=1 D6OR9FLG=0
# FLOWCHART D=9 THEN DIM0FLAG=1 D6OR9FLG=1
BOFF SETGO
ORBWFLAG
SETWW5D # BRANCH TO SET W0-W5,ORBWFLAG,D
DIM0FLAG # FLOWCHART D=6 PATH
SETVANDI
SETWW5D CLEAR DLOAD
RENDWFLG # FLOWCHART D=0 PATH
WORBPOS
STCALL 0
INITIALW
SETVANDI AXT,1 VLOAD
DEC 18
ZEROVECS
SSP
S1
DEC 6
NEXTW2W8 STORE W +54D,1 # CLEAR W2
STORE W +108D,1 # W5
STORE W +126D,1 # W6
STORE W +144D,1 # W7
STORE W +162D,1 # W8
TIX,1 CLEAR
NEXTW2W8
DMENFLG # 0=6X6W, 1=9X9W
S22NXTIN CALL
GETTF
STCALL TDEC1
INTEGRV
LXA,2 CALL
S22EORM
CMPOS
LXC,1 CALL
S22LOC # SETUP ADDR. OF MARK DATA FOR GETUM SUBR.
S2GETUM GETUM
STORE UM
DMPINTEG SLOAD PUSH # TEST OFF=I
8KK
SLOAD DSU
CXOFF # BEFORE SUBT.
BHIZ BON
S22OFF=I # BRANCH HERE IF OFF=I
DMENFLG # 0=6X6W, 1=9X9W
S22D=9
CALL
GRP2PC
SET
ORBWFLAG
## Page 611
SET SET
DMENFLG # =0 ON FIRST PASS THRU HERE FOR D=0,OR6
22DSPFLG # =1 TO DISPLAY DR,DV ON FIRST PASS
BON
KNOWNFLG
S22BOX22
VLOAD UNIT # UNIT ALSO PUTS ABVAL(RC) IN 36D
CSMPOS
STCALL ALPHAV # ALPHAV +4=SINL FOR SETRE
SETRE # ERADM= R0 METERS B-29 BOTH EARTH/MOON
CALL # COMPUTE RL FROM EQUATION 2.4.10
S22F2410 # STORED IN X789,MPAC B-27,B-29
BOFF VSR2 # SCALE RL B-29 FOR BOTH EARTH/MOON
CMOONFLG
+1
STORE S22RL
DOT SL1
UM
STOVL S22D # D= UM.RL B-29
ZEROVECS
SETPD PUSH
0D
PUSH PDDL # SET 0-18D = I BACKWARDS
HIDPHALF # PD 18
SR2 # B-3
STORE 4D
STORE 8D
STOVL 12D
UM # B-1
STOVL S223X1
S22RL # B-29
CALL # (UM)(RL T) B-30 STORED IN S22UMRL THRU
S2231X13 # S22UMRL +17D
AXT,1 SSP
DEC 18
S1
DEC 6
S22NXTU VLOAD* VSR2 # (UM)(RL T) B-32
S22UMRL +18D,1
V/SC
S22D # D B-29
BVSU STADR # SUBTRACT FROM I B-3
STORE S22UMRL +18D,1 # U MATRIX B-3
TIX,1 AXT,1 # PD 0 AFTER TIX
S22NXTU
DEC 36 # S1 STILL 6 FROM ABOVE
S22NXTWI VLOAD* MXV
W +36D,1 # B-19
S22UMRL # B-3
VSL3
## Page 612
STORE W +144D,1 # W(I+18)= UW(I) B-19
TIX,1 DLOAD
S22NXTWI
S22RHO # B-28,B-30
BOFF SR2 # MAKE RHO B-30
CMOONFLG
+1
NORM XAD,2
X2
X2
DSQ DMP
SCTVAR # B+18
SR1 AXT,1 # ACCOUNTS FOR 1/2 IN NEXT FORMULA
DEC 18
STORE S22RHO # 1/2(RHO SQ)(VARSCT)
S22NXXA VLOAD* MXV
S22UMRL +18D,1 # B-3
S22UMRL # B-3
VXSC VSR*
S22RHO
0 -12D,2 # WITH VARRP SCALED B-28
STORE S22UUT +18D,1 # 1/2(RHO SQ)(VARSCT)(U)(U T)
TIX,1 VLOAD
S22NXXA
UM
STCALL S223X1 # UM ALSO IN MPAC FOR S2231X13 SUBR.
S2231X13 # (UM)(UM T) B-2 IN S22UMRL,P17D
DLOAD SR3
ERADM # R0 B-29
DDV DSQ
S22D # B-29
DMP AXT,1
RPVAR # ***** METERS SQ
DEC 18
STORE S22RHO # TEMP (VARRP)(R0/D)
S22NXXB VLOAD* VXSC
S22UMRL +18D,1 # (UM)(UM T) B-2
S22RHO
VAD*
S22UUT +18D,1
STORE S22UUT +18D,1 # SMALL E MATRIX
TIX,1 BOV
S22NXXB
+1
DLOAD BMN
S22UUT +16D # E5
S22W76X
SQRT BZE
S22W76X
SR1 # B-19
## Page 613
STODL W +148D # W74= SQ ROOT E5
S22UUT +14D # E4
DDV BOV
W +148D
S22W72X
SR2 # B-19
STORE W +146D # W73= E4/W74
S22W72X DLOAD DDV
S22UUT +12D # E3
W +148D
SR2 BOV # B-19
S22W76X
STORE W +144D # W72= E3/W74
S22W76X DLOAD DSQ
W +146D
SL2 BDSU
S22UUT +8D # E2
BMN SQRT
S22W78X
BZE SR1 # B-19
S22W78X
STODL W +152D # W76= SQ ROOT (E2-W73 SQ)
W +144D # W72
DMP SL2
W +146D # W73
BDSU DDV
S22UUT +6D # E1
W +152D # W76
BOV SR2 # B-19
S22W78X
STORE W +150D # W75= (E1-W72W73)/W76
S22W78X DLOAD DSQ
W +150D
PDDL DSQ
W +144D # W72
DAD SL2
BDSU BMN
S22UUT # E0
S22SAVET
SQRT SR1 # B-19
STORE W +156D # W78= SQ RT(E0-W72 SQ-W75 SQ)
S22SAVET CALL
GETTF
STORE S22TPRIM # SAVE PRESENT TIME FOR PIOS
S22I=N EXIT # TEST I=N
TC PHASCHNG
OCT 04022
CS 8KK
AD 8NN
EXTEND
## Page 614
BZMF S22F244X # EXIT TO FIGURE 2.4-4
CA 8KK # I=I+1
AD ONE
TS TEMPOR1
CA S22LOC # ADD 7 TO LOC TO GET ADDR. OF NEXT MARK
AD SEVEN
TS TEMPOR1 +1
TC PHASCHNG
OCT 04022
CA TEMPOR1
TS 8KK
CA TEMPOR1 +1
TS S22LOC
TC INTPRET
CALL # FOR ALL INTEGRATIONS OTHER THAN FIRST
S2INTS1 SETINTG
BOFF SET
DMENFLG # =0 D=0 OR 6, =1 D=9
S22D6Z
DIM0FLAG
SETGO # D=9 PATH
D6OR9FLG
S22NXTIN # RETURN ALWAYS EXCEPT OFFSET POINT MARK 1
S22D6Z BOFF SETGO
ORBWFLAG
S22NXTIN # D=0,OFFSET MARK 1,NO W INTEGRATION
DIM0FLAG
S22NXTIN # D=6,OFFSET MARK 1, INTEGRATE W 6X6
S22OFF=I CALL
GETTF
STOVL S22TOFF # TIME SUB OFF
UM
STCALL S22UOFF # U SUB OFF
S22I=N # TEST I=N
S22D=9 VLOAD # D=9 PATH
X789
STODL 0D # CALL PIOS TWICE TO TRANSFORM RL TO TIME
S22TPRIM # T(SUB F) FROM TIME T PRIME
STORE 6D
SLOAD CALL
S22EORM # 0=EARTH, NON-ZERO=MOON
S2RTRP R-TO-RP
PUSH CALL # R-TO-RP LEAVES PUSHLOC AT 0
GETTF
STORE 6D
SLOAD CALL
S22EORM
S2RPTR RP-TO-R
S22BOX32 STORE X789
SET BOV
## Page 615
INCORFLG # FLAG=1
+1 # CLEAR OVERFLOW
VSU
CSMPOS
STORE RCLP # RCL=RL-RC
UNIT VXV # USTAR=UNIT(UNIT(RCL)XUM)
UM
UNIT BOV
S22SAVET # COMPUTATION OVERFLOW,SAVE TF
STORE USTAR
S22BOX12 DLOAD DAD
SCTVAR # B+18
IMUVARR # B+18
STOVL VARIANCE
RCLP # B-29 OR B-27
ABVAL NORM
X1
DSQ DMP
VARIANCE
XAD,1 XAD,1
X1 # DOUBLE NORM SHIFT SINCE RCLP WAS SQUARED
S22EORM # DOUBLE EARTH OR MOON SHIFT,SAME REASON
XAD,1 SR*
S22EORM
0,1 # SCALE VARIANCE B-40 FOR BOTH EARTH,MOON
TLOAD # CHANGE MODE TO TRIPLE
MPAC
STCALL VARIANCE # CALC B0,B1,DELTAQ, NEW USTAR
S2BVTRS BVECTORS
VLOAD VCOMP
BVECTOR
STCALL BVECTOR +12D # B2=-B0
S2INCP1 INCORP1
CALL
GRP2PC
BOFCLR CALL
22DSPFLG # =1 DISPLAY DELTA R,V =0 DO NOT
S22BOX42
GRP2PC
VLOAD ABVAL
DELTAX # DELTA R
LXA,1 SR*
S22EORM # SCALE DELTA R ALWAYS METERS B-29
0,1
STOVL N49DISP
DELTAX +6 # DELTA V
ABVAL SR* # DELTA V=METERS/CSEC B-7 ALWAYS
0,1
STORE N49DISP +2
EXIT
## Page 616
CAF V06N49EE
TC BANKCALL
CADR GOFLASHR
TC GOTOPOOH # V34E TERMINATE
TC +5 # INCORPORATE CHANGES
TC P22OVER +1 # V32E RECYCLE WITHOUT CONVERTING W
CAF BIT3
TC BLANKET
TC ENDOFJOB
TC INTPRET
S22BOX42 CALL
INCORP2
LXA,2 CALL
S22EORM
CMPOS
DMPINCP2 BOFF CALL
INCORFLG
S22SAVET # SAVE TF AND TEST I=N
GRP2PC
CLEAR VLOAD
INCORFLG # FLAG=0
X789
VSU
CSMPOS
STCALL RCLP # RCL=RL-RC
S22BOX12
S22BOX22 SLOAD
S22WSUBL
STORE W +144D
STORE W +152D
STCALL W +160D
GETTF
CALL # COMPUTE RL
LALOTORV
VLOAD BOFF
ALPHAV # RL B-29
CMOONFLG
S22BOX32
VSL2 GOTO # SCALE RL B-27 FOR MOON
S22BOX32
S22F244X TC INTPRET
S22F244 SLOAD BHIZ # FIG 2.4-4 TEST OFF=0
CXOFF
S22BOX44
PUSH SLOAD
8NN
DSU
BMN CALL # OFFSET GR. NO. MARKS, FORGET IT
S22BOX44
GRP2PC # GROUP 2 PHASE CHANGE
## Page 617
DLOAD
S22TOFF
STCALL TDEC1 # CALC RC AT OFFSET TIME
CSMPREC
VLOAD
RATT1 # RC METERS B-29 OR B-27
STOVL CSMPOS
S22UOFF
STOVL UM # U=UOFF
X789
ABVAL BOFF
CMOONFLG
+2
SR2 # SCALE MOON R0 B-29 FOR S22F2410 SUBR
STCALL ERADM
S22F2410
GOTO
S22BX44A
S22BOX44 CALL
GETTF
STORE S22TOFF # PRESENT TIME FOR LAT-LONG SETUP
S22BX44A VLOAD BOFF
X789
CMOONFLG
S22BX44B
VSR2 # SCALE RL MOON B-29 FOR LAT-LONG
S22BX44B STODL ALPHAV # RL SCALED B-29 FOR LAT-LONG
S22TOFF # EITHER PRESENT OR OFFSET TIME
CALL
LAT-LONG # **** ALT OUTPUT ALWAYS B-29
CALL # DISPLAY LAT/LONG/ALT
LLASRD
EXIT
CAF V06N89B
TC BANKCALL
CADR GOFLASH
TC S22GTP # V34E TERMINATE
TC S22.981X # PROCEED POINT A IN IN GSOP
TC INTPRET # RECYCLE SAVE LANDING SITE COORD
DLOAD
S22TOFF # EITHER PRESENT OR OFFSET TIME
STOVL 6D # 6-7D= LANDING SITE TIME FOR R-TO-RP
X789
STORE 0D # 0-5D= LANDING SITE VEC FOR R-TO-RP
SLOAD CALL
HIDPHALF # ANY NON-ZERO FOR MOON
R-TO-RP # CONVERT RLS TO MOON-FIXED COORD
STORE RLS # LANDING SITE VECTOR
EXIT
S22.981X TC INTPRET
## Page 618
CALL
9DWTO6DW
P22OVER EXIT
TC PHASCHNG
OCT 04022
TC PROG22A
S22GTP TC INTPRET # CONVERT W BEFORE TC GOTOPOOH
CALL
9DWTO6DW
EXIT
TC GOTOPOOH
S22F2410 SETPD VLOAD # COMPUTE FORMULA 2.4.10
0D
CSMPOS # RC B-29 EARTH,B-27 MOON
UNIT DOT # UNIT ALSO SETS 36D=ABVAL(RC) USED BELOW
UM
SL1 DCOMP # GSOP CHANGE 8/18/67
PUSH DSQ # PD 2D 0D=COSA=-(UM.RC)/ABVAL(RC) B-1
BDSU PDDL # PD 4D 2D=1-COSA SQ=SINA SQ B-2
DEC1B2
ERADM # R0 ALWAYS B-29 FROM SETRE
BOFF SL2 # SCALE R0 B-27 FOR MOON
CMOONFLG
+1
SR1R DDV # (R0/RC) B-1
36D
DSQ DSU # PD 2D (R0/RC) SQ - SINA SQ B-2
SQRT BDSU # PD 0D COSA-SQRT((R0/RC)SQ-SINA SQ) B-1
DMP # DMP RESULT B-28 MOON,B-30 EARTH
36D # VXSC RESULT B-29 MOON, B-31 EARTH
STORE S22RHO # RHO FOR W INIT. OF UNKNOWN LMK B-28,B-30
VXSC
UM
VSL2 VAD # SCALE B-27 MOON,B-29 EARTH AND ADD RC
CSMPOS
STORE X789
RVQ # B-27 FOR EARTH OR B-29 FOR MOON
SETLOC P22S
BANK
COUNT* $$/P22
S2231X13 STORE S221X3 # MULT 3X1 BY 1X3,STORE RESULTING 3X3 IN
SSP AXT,2 # S22UMRL- S22UMRL +17D
S2
DEC 2
DEC 6
AXT,1
DEC 18
S2231NXT VLOAD VXSC*
S221X3
## Page 619
S223X1 +6,2
STORE S22UMRL +18D,1
INCR,1 TIX,2
DEC -6
S2231NXT
RVQ
GETTF LXC,1 DLOAD* # SET MPAC= TF
S22LOC
0,1
RVQ
# SUBROUTINE TO MODIFY ALT AND STORE LAT TO LAT+5 IN LANDLAT TO LANDLAT+5
# PRIOR TO DISPLAY.
LLASRD DLOAD SR1
LONG
STODL LANDLONG
ALT
STORE LANDALT
RVQ
# SUBROUTINE TO MODIFY LANDALT AND STORE LANDALT TO LANDALT+5 IN LAT TO
# LAT+5 AFTER LMK DATA LOADED BY ASTRONAUT.
LLASRDA DLOAD SL1
LANDLONG
STODL LONG
LANDALT
STORE ALT
RVQ
SETLOC P20S6
BANK
COUNT* $$/P22
9DWTO6DW STQ SETPD
9DWXX
0D
VLOAD PUSH # CLEAR WORKING AREA OF PUSHLIST
HI6ZEROS # INCLUDING P
PUSH PUSH # PD 18D
SSP
9DWJ # J=29 USE 2*29 FOR DP WORDS
DEC 58
9DWI=J LXA,1 SXA,1 # SET I=J
9DWJ
9DWI
9DWEPCAL CALL
ROWDOT
LXA,1 # P VARIES 0-20 INSTEAD OF 20-0
9DWP
STORE EMATRIX +40D,1
## Page 620
INCR,1 SXA,1
DEC 2
9DWP
SLOAD BHIZ # TEST I=0
9DWI
9DWTESTJ
DSU # I=I-1
9DWID
STORE 9DWI
DSU BHIZ # TEST I=26
9DW26D
9DWSETI2
GOTO # NEXT E SUB P
9DWEPCAL
9DWSETI2 SSP GOTO # I=2
9DWI
DEC 4
9DWEPCAL
9DWTESTJ SLOAD BHIZ # TEST J=0
9DWJ
9DWFIG6
DSU
9DWID
STORE 9DWJ # J=J-1
DSU BHIZ # TEST J=26
9DW26D
9DWSETJ2
GOTO
9DWI=J
9DWSETJ2 SSP GOTO # SET J=2
9DWJ
DEC 4
9DWI=J
9DWFIG6 CALL
GRP2PC
SSP VLOAD # START OF FIGURE 2.4-6
9DWJ # J=29
DEC 58
HI6ZEROS
STORE 9DWP # P,N,I=0
AXT,1 SSP
DEC 108 # CLEAR WO TO W54
S1
6
CLEARW54 STORE W +108D,1
TIX,1
CLEARW54
9DWI=JA LXA,1 SXA,1 # I=J
9DWJ
9DWI
## Page 621
CALL
ROWDOT
LXA,1 BDSU*
9DWP
EMATRIX +40D,1
INCR,1 SXA,1 # -(P+1)
2
9DWP
LXC,1 XSU,1 # -(I+N)
9DWI
9DWN
BPL DLOAD # TEST WSQ LTE 0
9DWAAA
HI6ZEROS # W=0
9DWAAA SQRT # W= SQRT(WSQ)
9DWAAB STORE W,1
STODL WORKW
9DWJ # TEST J=0
BHIZ
9DWEXITX # EXIT
TST2I=0 SLOAD BHIZ # TEST I=0
9DWI
9DWN=N+3
DSU
9DWID
STORE 9DWI # I=I-1
DSU BHIZ # TEST I=26
9DW26D
9DWAAC
GOTO
9DWNEXEP
9DWAAC SSP # I=2
9DWI
4
9DWNEXEP CALL
ROWDOT
LXA,1 BDSU* # (EP-ROWI*ROWJ)/W
9DWP
EMATRIX +40D,1
DDV INCR,1 # P=P+1
WORKW
2
SXA,1 LXC,1
9DWP
9DWI
XSU,1 BOV # -(I+N)
9DWN
SETWIN=0
GOTO
9DWSETWX
## Page 622
SETWIN=0 DLOAD # W(I+N)=0
HI6ZEROS
9DWSETWX STORE W,1
GOTO
TST2I=0
9DWN=N+3 LXA,1 INCR,1 # N=N+3
9DWN
6
SXA,1 SLOAD # J=J-1
9DWN
9DWJ
DSU
9DWID
STORE 9DWJ
DSU BHIZ # TEST J=26
9DW26D
SETJ=2A
GOTO
9DWI=JA
SETJ=2A SSP GOTO # J=2
9DWJ
4
9DWI=JA
9DWEXITX CALL
GRP2PC
AXT,1 SSP # CLEAR W6,W7,W8 USED TEMP FOR EMATRIX
DEC 54
S1
6
VLOAD
HI6ZEROS
9DWEXXXA STORE W +162D,1
TIX,1 GOTO
9DWEXXXA
9DWXX
ROWDOT SSP BOV
XTMP1
OCT 377
+1
LXC,1 LXC,2
9DWI
9DWJ
DLOAD PUSH
HI6ZEROS
ROWDOT1 DLOAD* DMPR*
W,1
W,2
DAD PUSH
BOV INCR,1
ROWDOT3
## Page 623
DEC -6
INCR,2 SLOAD
DEC -6
XTMP1
BHIZ SR1
ROWDOT2
STORE XTMP1
GOTO
ROWDOT1
ROWDOT2 DLOAD
RVQ
ROWDOT3 CLRGO
ORBWFLAG
ROWDOT2
WORKW = 0D
XTMP1 = 6D
9DWP = 8D # P
9DWI = 10D # I
9DWN = 12D # N
9DWJ = 14D # J
S223X1 = 18D # 6
S221X3 = 24D # 6
S22D = 30D # 2
S22RHO = 32D # 2
SETLOC P20S9
BANK
COUNT* $$/P22
9DW26D 2DEC 52 B-14
9DWID 2DEC 2 B-14
SCTVAR 2DEC 1.0 E-6 B+18
IMUVARR 2DEC 0.04 E-6 B+18
DEC1B2 = DP1/4TH # 1 B-2
V06N49EE = V06N49
V06N89B = V06N89
SETLOC P20S2
BANK
COUNT* $$/R63
## Page 624
## Empty page.
## Page 625
# SUBROUTINE NAME: V89CALL
# MOD NO: 0 DATE: 8 FEB 1968
# MOD BY: DIGITAL DEVEL GROUP LOG SECTION: P20-P25
#
# FUNCTIONAL DESCRIPTION:
#
# CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
# DISPLAYS FINAL GIMBAL ANGLES TO POINT CSM +X AXIS OR PREFERRED AXIS
# (UNIT(Z)COS55 DEG + UNIT(X)SIN55 DEG) AT LM.
#
# 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
# EXIT R63, OTHERWISE CONTINUE.
#
# 2. IF IN P00, DO IMU STATUS CHECK (R02BOTH). IF IMU ON AND ITS
# ORIENTATION KNOWN TO CGC, CONTINUE.
#
# 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
# BE POINTED AT LM. INITIAL CHOICE IS PREFERRED AXIS. (R2=1).
# ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT= 1) BY V22 E 2 E. CONTINUE
# AFTER KEYING IN PROCEED.
#
# 4. SET PREFERRED ATTITUDE FLAG ACCORDING TO OPTION DESIRED. SET FLAG
# FOR PREFERRED AXIS. RESET FLAG FOR X AXIS.
#
# 5. CURRENT TIME IS STORED AND R63COMP IS CALLED
#
# R63COMP JOB:
#
# UPDATES CSM AND LM STATE VECTORS USING CONIC EQUATIONS
#
# CALCULATES BOTH PREFERRED AND X AXIS TRACKING ATT FROM 3SM TO LM.
#
# DESIRED GIMBAL ANGLES AS INDICATED BY PREFERRED ATTITUDE FLAG
# ARE STORED FOR LATER R60CSM CALL.
#
# 6. FLASH DISPLAY V 06 N18 AND AWAIT RESPONSE.
#
# 7. RECYCLE- RETURN TO STEP 5.
# TERMINATE- EXIT R63 ROUTINE
# PROCEED- RESET 3AXISFLG AND CALL R60CSM FOR ATTITUDE MANEUVER.
#
#
# CALLING SEQUENCE: V 89 E
#
# SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, R63COMP, R60CSM
#
# ALARMS 1. OPERATOR ERROR IF NOT IN P00
# 2. PROGRAM ALARM IF IMU IS OFF
# 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN
## Page 626
#
# ERASABLE INITIALIZATION REQUIRED: NONE
#
# DEBRIS: OPTION1, OPTION1+1, PRFTRKAT(PREF ATT FLAG),P21TIME, 3AXISFLG
DP1MIN 2DEC 6000
EBANK= R63TIME
SETLOC V89TAG
BANK
COUNT* $$/R63
V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
CADR R02BOTH # KNOWN. ALARMS IF NOT.
TC INTPRET
CLEAR DLOAD
AZIMFLAG
ZEROVECS
STORE UTPIT
STORE UTYAW
EXIT
CAF VB06N78
TC BANKCALL
CADR GOFLASHR
TC ENDEXT
TCF V89RECL
TC -5
CAF BIT3
TC BLANKET
TC ENDOFJOB
V89RECL TC INTPRET
RTB DAD
LOADTIME # READ PRESENT TIME
DP1MIN # INTEGRATE TO 1 MIN FROM NOW
STCALL R63TIME # STORE TIME FOR CALL TO R63COMP. R63COMP
R63COMP # LEAVES DESIRED GIM ANGS IN THETAD,LOS IN
EXIT # POINTVSM, AND SELECTED AXIS IN SCAXIS.
CAF VB06N18 # V 06 N 18
TC BANKCALL # NOUN 18 REFERS TO THE DESIRED GIMBAL
CADR GOFLASH
TC ENDEXT # TERMINATE
TC +2 # PROCEED
TC V89RECL # RECYCLE
TC DOWNFLAG # RESET 3 AXIS FLAG
## Page 627
ADRES 3AXISFLG # RESET BIT 6 FLAG 5
TC BANKCALL # PERFORMS CSM MANEUVER TO ALIGN SELECTED
CADR R60CSM # SPACECRAFT AXIS TO LOS.
TCF ENDEXT
VB06N78 VN 0678
VB06N18 = V06N18
R63COMP EQUALS R63
## Page 628
# PROGRAM NAME- P23 CISLUNAR MIDCOURSE NAVIGATION
# MOD NO
# MOD BY- TOM KNATT
# FUNCTIONAL DESCRIPTION- DO MIDCOURSE NAVIGATION BY INCORPORATION OF STAR
# /EARTH AND STAR/MOON OPTICAL MEASUREMENTS.
# CALLING SEQUENCE- ASTRONAUT OPERATED
# SUBROUTINES CALLED-R52,R53,R57,R60,ORBITAL INTEGRATION (INTEGRV)
# INCORP1,INCORP2,LALOTORV,LUNPOS ,AND DISPLAY INTERFACE ROUTINES.
# NORMAL EXIT MODES- VIA ROO
# ALARMS- NONE
# ABORT MODES- NONE
# ERASABLE INITIALIZATION REQUIRED- PAD-LOADED ERASABLES,ORBWFLAG RESET,
# REFSMFLG=0 IF IMU OFF AND REFSMFLG=1 IF IMU ON
# INPUTS BY USER REQUIRED- STAR NUMBER,LANDMARK LAT,LONG/2,ALT
# IF LANDMARK IS USED, NEAR OR FAR HORIZON IF HORIZON IS USED, AND
# BODY TO BE MARKED ON (EARTH OR MOON). SEE GSOP CHAPT 4.
# OUTPUT-UPDATED CMC STATE VECTOR. VECTOR FROM S/C TO HORIZON OR LANDMARK
# IN POINTAXS. POINTAXS CAN BE USED TO GENERATE THIS VECTOR APART FROM
# P23 IF DESIRED.
# DEBRIS-NO USABLE DEBRIS IS GENERATED. RENDWFLG IS RESET FOR P20 UPON
# ENTRY INTO P23. RUPTREGS AND ERASABLES USED BY DISPLAYS ARE DEBRIS
SETLOC RT23
BANK
COUNT* $$/P23
EBANK= MRKBUF1
P23 TC DOWNFLAG
ADRES RNDVZFLG
TC 2PHSCHNG
OCT 00004 # LEAVE GROUP 4
OCT 00012 # ENTER GROUP 2
CAF PRIO13
TS PHSPRDT2
TC DOWNFLAG
ADRES RENDWFLG
P23.00 TC INTPRET
BON CALL
REFSMFLG # SET NOW AS INPUT, NORMALLY EXTERNAL CONT
P23.05 # WHEN ALIGNED,PERFORM MEASUREMENT
R57 # DO OPTICS CALIBRATION IF IMU NOT ALIGNED
CALL
R53
GOTO
P23.60
P23.05 CLEAR CALL
SAVECFLG
R57 # PERFORM MARK CALIBRATION
P23.06 SLOAD CALL
V05N70
P23N7071
## Page 629
V94ENTER RTB
LOADTIME # READ CLOCK
STCALL MARKTIME
POINTAXS # RETURN LOS IN MPAC
STORE UCLSTAR # TEMP
EXIT
CAF V50N25P
TC BANKCALL
CADR GOPERF1 # GOPERF1 BLANKS OUT R2 AND R3.
TC GOTOPOOH
TC +2 # PRO DO 3AXIS MANEUVER
TC DOVECPT # ENTER DO VECPOINT MANEUVER
TC INTPRET
VLOAD UNIT
UCLSTAR
STCALL ZSM # UCL
R23.55 # COMPUTE STAR VECTOR AND LEAVE IN MPAC
OCCLCOMP VXV UNIT # COMPUTE CONSTRAINED BRSB MATRIX(SHAFT
ZSM # =180)
STORE YSM # UNIT(US* X UCL)
VXV UNIT
ZSM
STORE XSM # UNIT(UNIT(US* X UCL) X UCL)
SSP AXT,1
S1
6
18D
NEXTVEC1 VLOAD* VXM # COMPUTE BRNB = (SBNB)(BRSB)
NB1NB2 +18D,1
XSM
UNIT
STORE XNB +18D,1 # STORE IN XNB FOR CALCGA
TIX,1 AXT,1
NEXTVEC1
18D
NEXTVEC2 VLOAD* # LOAD REFSMMAT INTO XSM FOR CALCGA
REFSMMAT +18D,1
STORE XSM +18D,1
TIX,1 CALL
NEXTVEC2
CALCGA # COMPUTE DESIRED CDUS
SET CALL
3AXISFLG
DOR60B
GOTO
P23.57A
DOVECPT TC INTPRET
VLOAD CALL
UCLSTAR
## Page 630
DOR60
P23.57A CALL
GRP2PC
P23.57 CLEAR SET
TARG2FLG
V94FLAG
CALL
R52
CLEAR
V94FLAG
P23.60 EXIT
INHINT
EXTEND
DCA MRKBUF1
DXCH MARKTIME
CA MRKBUF1 +5
XCH TRUNION
RELINT
CAF SIX
TC GENTRAN
ADRES MRKBUF1
ADRES MARKDOWN
TC INTPRET
SET CALL
SAVECFLG
GRP2PC
SLOAD CALL
V05N71
P23N7071
P23.85 CALL
POINTAXS
R23.55 UNIT PDVL # RCLL IS IN MPAC
34D # RCLL * RCLL
STOVL 30D # PUSH 30-31 =RCLL*RCLL 32-33=ABVAL RCLL
VZC
VXSC VSR
ONE/C
15D
VAD # PUSH UP RCLL(UNIT)
UNIT
STOVL UCLSTAR
VZC
VSR2 VSU
VESO
VXSC VSR
ONE/C
13D
VAD UNIT
US
BOFF
## Page 631
SAVECFLG
OCCLCOMP
STORE USSTAR
DOT SL1
UCLSTAR
PDVL VXSC # PD 0,1 = USSTAR(DOT)UCLSTAR
UCLSTAR
VSL1 BVSU
USSTAR
UNIT
STOVL BVECTOR # USSTAR - COSQ(UCLSTAR
ZEROVECS
STORE BVECTOR +6
STODL BVECTOR +12D
0
ACOS DCOMP
PDDL EXIT
ZEROVECS
CA VARSUBL # PUT FIXED INTO ERASABLE FOR MSU
TS L # INSTRUCTION COMING UP
CA TRUNION # REQUIRED TO CHANGE 2:S COMPLEMENT
EXTEND # TRUNION TO 1:S COMPLEMENT
MSU L # TRUNION (2'S)-00000 CONVERTS TRUNION TO
TS MPAC # 1:S. VARSUBL=00000
TC INTPRET
PUSH SLOAD # PUSH IS DP. WHEN BDSU IS EXECUTED, 2ND
TRUNBIAS # HALF OF PUSHLIST IS GUARANTEED ZERO FROM
BDSU # DLOAD ZEROVECS ABOVE
SR3 DAD
DAD DMP
TRUN19
32D
DMP SL3
PI/4.0
BOFF SL2
CMOONFLG
R23.51
R23.51 STODL DELTAQ
30D # RCLL * RCLL
DMP RTB
TRUNVAR
TPMODE
TAD CLEAR
VARSUBL
DMENFLG
STCALL VARIANCE
INCORP1
CALL
GRP2PC
VLOAD ABVAL
## Page 632
DELTAX +6
BOF SR2 # DISPLAY IS 2-27 IF IN LUNAR SPHERE
CMOONFLG
R23.52
R23.52 STOVL N49DISP +2
DELTAX
ABVAL
BOF SR2
CMOONFLG
R23.53
R23.53 STORE N49DISP
EXIT
R23.6 CAF V06N49
TC BANKCALL
CADR GOFLASHR
TC GOTOPOOH
TC R23.7 # INCORPORATE DATA
TC GOTOPOOH
CAF BIT3 # BLANK OUT R3
TC BLANKET
TC PHASCHNG
OCT 00012
TC ENDOFJOB
R23.7 TC INTPRET
R23.8 SET CALL
VEHUPFLG
INCORP2
EXIT
R23.END TC GOTOPOOH
DOR60 MXV UNIT
REFSMMAT
STOVL POINTVSM
JCAXIS
STORE SCAXIS
CLEAR
3AXISFLG # SET UP FOR VECPOINT IN R60
DOR60B STQ EXIT
SRTEMP
CAF R60ADRS
TS TEMPFLSH
TC PHASCHNG
OCT 00012
R60CALL TC E6SETTER
TC BANKCALL
CADR R60CSM
+3 TC E7SETTER
TC INTPRET
GOTO
SRTEMP
## Page 633
# POINTAXIS SUBROUTINE
POINTAXS STQ
POINTEX
R23.05 BON DLOAD
ORBWFLAG
R23.1
WMIDPOS
STCALL 0
INITIALW # INITIALIZE W-MATRIX FIRST PASS IN P23
R23.1 CALL
SETINTG # SETUP FOR CSM INTEGRATION
BOFSET SET
ORBWFLAG
R23.2
DIM0FLAG
R23.2 CALL
INTEGRV # INTEGRATE CSM STATE VEC. TO MARKTIME
EXIT
TC PHASCHNG
OCT 04022
TC INTPRET
RECT.1 BOFF AXT,2 # SR TO SET ZMEASURE = 0 IF MEASUREMENT
CMOONFLG # PLANET AND PRIMARY PLANET ARE THE SAME
RECT.3 # OTHERWISE = 1
DEC -2
BOFF # VEC. AND SCALE B29 AND B7
LUNAFLAG
RECT.4
RECT.2 CLEAR GOTO
ZMEASURE
RECT.5
RECT.3 AXT,2 BOFF
0
LUNAFLAG
RECT.2
RECT.4 SET
ZMEASURE
RECT.5 VLOAD VSR7
DELTACSM # SCALED B22 OR B18
VSR* VAD
0,2
RCVCSM # SCALED B29 OR B27
VSR*
0,2
STOVL RZC # NOW SCALED B29
NUVCSM # SCALED B3 OR B-1
VSR4 VSR*
0,2
VAD VSR*
## Page 634
VCVCSM # SCALED B7 OR B5
0,2
STORE VZC # NOW SCALED B7
BOFF
ZMEASURE # IN SPHERE OF INFLUENCE OF PRIMARY BODY
R23.3
DLOAD CALL
MARKTIME
LUNPOS
BON VCOMP
CMOONFLG
+1
VAD
RZC
STORE RZC
R23.3 SETPD SLOAD
0
LANDMARK # IF LANDMARK = 0, USE HORIZ SUBR
BHIZ SET
R23.4
ERADFLAG
DLOAD CALL
MARKTIME
LALOTORV
GOTO
R23.5
R23.4 DLOAD PDDL # PUSH 0-1 = -AYO SCALED B0
-AYO
AXO
PDDL PDVL # PUSH 2-3 = +AX SCALED B0
DPPOSMAX
US
VXV UNIT
RZC
STOVL UBAR2
VXV UNIT # PUSH UP
UBAR2
STOVL UBAR0
UBAR2
VXV UNIT
UBAR0
STORE UBAR1
BON DOT
LUNAFLAG
HORIZ.6
0 # UBAR1 DOT UZ
STOVL ALPHAV +4
RZC
ABVAL DMP
HORISLP
## Page 635
DCOMP DAD
HORIZALT
STCALL RATETEMP
GETERAD
DAD PDDL # MPAC HAS RADIUS OF FISHER SLLIPSOID
RATETEMP # PUSH 0-1 = BH SCALED B29
AEARTH
DAD PUSH # PUSH 2-3 = AH B29
RATETEMP
HORIZ.1 VLOAD MXV
RZC # B29
UBAR0 # B1
VSL1 PDVL # PUSH 4-9 = RH(XH,YH,ZH) B29
US
MXV VSL1
UBAR0
PDDL # PUSH 10-15 = USH B1
2 # AH
STODL 34D
4 # XH
CALL
DIVIDE
SR* DSQ
8D,1 # NOW SCALED B9
STODL 30D
0
STODL 34D
6 # YH
CALL
DIVIDE
SR* DSQ
8D,1 # B9
DAD PUSH # PUSH 16-17 =A SCALED B18
30D
DSU SQRT
1.0B18
PDDL # PUSH 18-19 SQRT(A-1) B9
16D
STODL 34D
4 # XH
CALL
DIVIDE
SR* PDDL
17D,1 # PUSH 20-21 = XH/A B29
6 # YH
CALL
DIVIDE
SR* PDDL
17D,1 # PUSH 22-23 = YH/A B29
18D # SQRT(A-1)
## Page 636
CALL
DIVIDE
SR*
8D,1
STODL 28D
0 # BH
STODL 34D
2 # AH
CALL
DIVIDE
SR* DMP # AH/BH SCALED B1
0,1
28D # SQRT(A-1)/A
DMP SL1
6 # YH
PDDL
2 # AH
STODL 34D
0
CALL
DIVIDE
SR* DMP # BH/AH SCALED B1
0,1
28D # SQRT (A-1)/A
DMP SL1
4 # XH
PDDL DAD
20D # XH/A
24D # ALPHA
PDDL DSU
22D # YH/A
26D # BETA
PUSH SETPD
16D
DLOAD DSU
20D # XH/A
24D # ALPHA
PDDL DAD
22D # YH/A
26D # BETA
PDDL PUSH
ZEROVECS
STOVL 32D # ZERO THIRD COMP. OF T-0 VECTOR
28D
VSU UNIT
4 # RH VECTOR
DOT PDVL # PUSH 22-23 A-SUB-ZERO
10D # USH VECTOR
16D # T1 VECTOR
VSU UNIT
## Page 637
4 # RH VECTOR
DOT PUSH # PUSH 24-25 A-SUB-ONE
10D
BDSU BMN
22D # A-SUB-ZERO
HORIZ.3
BON
NORFHOR
HORIZ.4
HORIZ.2 VLOAD GOTO
28D # T-0 VECTOR
HORIZ.5
HORIZ.6 DLOAD PUSH
RADMOON
PUSH GOTO
HORIZ.1
HORIZ.3 BON
NORFHOR
HORIZ.2
HORIZ.4 VLOAD
16D # T1 VECTOR
HORIZ.5 VXM VSL1
UBAR0
R23.5 VSU SETPD
RZC
0
GOTO
POINTEX
DIVIDE NORM SR1
X1
STODL 36D
34D
NORM BDDV
S1
36D
XSU,1 RVQ
S1
P23N7071 STORE 22SUBSCL
STQ EXIT
POINTEX
DISP7071 CA 22SUBSCL
TC VNFLASH
P23.15 TC UPFLAG
ADRES LUNAFLAG
CA LANDMARK # IF C=2,LUNAFLAG=1. IF C=1,LUNAFLAG=0
EXTEND
BZF P23.151
CA HORIZON
EXTEND
BZF +2
## Page 638
TC R23.10 # OPERATOR DSKY ERROR
CA LANDMARK
TC P23.152
P23.151 CA HORIZON
EXTEND
BZF R23.10
P23.152 MASK BITS7-9 # IS C EQUAL TO 1 OR 2
AD NEG100
EXTEND
BZF P23.16
AD NEG100
EXTEND
BZF P23.176
TC R23.10
P23.16 TC DOWNFLAG
ADRES LUNAFLAG
P23.176 TC UPFLAG
ADRES NORFHOR
CA HORIZON
EXTEND
BZF P23.20
MASK BITS4-6
AD -OCT10
EXTEND
BZF P23.18
AD -OCT10
EXTEND
BZF P23.30
TC R23.10
P23.20 TC INTPRET
CALL
P22SUBRB
EXIT
P23.18 TC DOWNFLAG
ADRES NORFHOR
P23.30 CA STARCODE # IS STARCODE GREATER THAN OR
EXTEND # EQUAL TO 0 AND LESS THAN 37
BZF LDPLANET
EXTEND
BZMF R23.10
AD NEG37
EXTEND
BZMF P23.170
R23.10 TC FALTON
TC DISP7071
P23.170 TC INTPRET
P23.17 SLOAD PUSH
STARCODE
SLOAD DMP
SPSIX
## Page 639
LXA,1 SXA,1
MPAC +1
BESTI # BESTI = 6XSTAR NUMBER
CALL
LOWMEMRY # NEEDED TO RETRIEVE STAR VECTOR FROM LOW
P23.31 STORE STARSAV2 # STORE FOR R53,P23. US(IN P23)=STARSAV2
GOTO
POINTEX
LDPLANET CAF V06N88
TC VNFLASH
TC INTPRET
VLOAD VXSC
STARSAV3
1DSQR3
UNIT GOTO
P23.31
ONE/C 2DEC* .333564049 E-6 B+21*
AEARTH 2DEC 6378166 B-29 # A AXIS OF EARTH(METERS B-29)
RADMOON 2DEC 1738090 B-29 # RADIUS OF MOON IN METERS
1.0B18 2DEC 1.0 B-18
TRUN19 OCT 01604
VARSUBL DEC 0
VARSUBL3 2DEC* 3.4299040 E+6 B-26*
TRUNVAR 2DEC 2.5 E-9 B+18
V05N70 VN 0570
V05N71 VN 0571
V50N25P OCT 00202
SPSIX OCT 00006
JCAXIS 2DEC .2688190620 # 1/2(SIN 32.523 DEG) TRACK AXIS
2DEC 0
2DEC .4215878460 # 1/2(COS 32.523 DEG)
R60ADRS CADR R60CALL +3
NEG37 DEC -37
BITS7-9 OCT 700
BITS4-6 OCT 70
1DSQR3 2DEC 0.57735021
V94NTR TC INTPRET
GOTO
V94ENTER
SETLOC RT53
## Page 640
BANK
COUNT* $$/STARS
LOWMEMRY VLOAD* RVQ
CATLOG,1
SETLOC FFTAG2
BANK
COUNT* $$/R22
GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
DCA VB56CADR # GOTOPOOH
TCF SUPDXCHZ
EBANK= WHOCARES
VB56CADR 2CADR TRACKTRM
SETLOC PINBALL1
BANK
COUNT* $$/EXTVB
V67CALL TC INTPRET
CALL
V67WW
EXIT
V06N99DS CAF V06N99A
TC BANKCALL
CADR GOXDSPF
TCF ENDEXT
TC V06N9933
TC V06N99DS
V06N9933 TC INTPRET
SLOAD BHIZ # IF R3 OF V67 = 0 EXIT
WWOPT
V67COMEX
V6N99INP LXA,1 LXA,2
WWPOS
WWVEL
SLOAD DSU
WWOPT
V67DEC2
BHIZ BPL
V67WORB
V67WMID
SXA,1 SXA,2
WRENDPOS
WRENDVEL
GOTO
V67EXITX
V67WORB SXA,1 SXA,2
WORBPOS
WORBVEL
GOTO
V67EXITX
## Page 641
V67WMID SXA,1 SXA,2
WMIDPOS
WMIDVEL
V67EXITX CLEAR
ORBWFLAG
V67COMEX EXIT
TCF ENDEXT
V67WW STQ BOV
S2
+1
CALL
INTSTALL
SSP DLOAD
S1
DEC 6
ZEROVECS
STORE WWPOS
STORE WWVEL
STORE WWOPT
AXT,1
DEC 36
NXPOSVEL VLOAD* VSQ
W +36D,1
DAD
WWPOS
STORE WWPOS
VLOAD* VSQ
W +90D,1
DAD
WWVEL
STORE WWVEL
TIX,1 SQRT
NXPOSVEL
STODL WWVEL
WWPOS
SQRT
STORE WWPOS
BOV GOTO
+2
V67XXX
DLOAD
DPPOSMAX
STORE WWPOS
STORE WWVEL
V67XXX DLOAD DSU
WWPOS
FT99999
BMN DLOAD
+3
FT99999
## Page 642
STORE WWPOS
LXA,1 SXA,1
S2
QPRET
EXIT
TC POSTJUMP
CADR INTWAKE
V06N99A VN 0699
FT99999 2DEC 30479 B-19
V67DEC2 2DEC 2 B-14
SBANK= LOWSUPER
