https://github.com/virtualagc/virtualagc
Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
P32-P35,_P72-P75.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: P32-P35,_P72-P75.agc
## Purpose: A section of Luminary revision 116.
## It is part of the source code for the Lunar Module's (LM)
## Apollo Guidance Computer (AGC) for Apollo 12.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 621-653
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-01-22 MAS Created from Luminary 99.
## 2017-02-07 RSB Comment-text corrections identified while
## proofing Artemis 72.
## 2017-03-09 RSB Transcribed, and then proofed comment-text using
## 3-way diff vs Luminary 99 and Luminary 131.
## (Admittedly, the former is more for detecting errors
## in Luminary 99 than the other way around.)
## 2017-03-14 RSB Proofed comment text via 3-way diff vs
## Luminary 99 and 131 ... no problems found.
## Page 621
# COELLIPTIC SEQUENCE INITIATION (CSI) PROGRAMS (P32 AND P72)
# MOD NO -1 LOG SECTION - P32-P35, P72-P75
# MOD BY WHITE.P DATE 1 JUNE 67
# PURPOSE
# (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE FOLLOWING
# CONCENTRIC FLIGHT PLAN MANEUVERS - THE CO-ELLIPTIC SEQUENCE
# INITIATION (CSI) MANEUVER AND THE CONSTANT DELTA ALTITUDE
# (CDH) MANEUVER.
# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
# ASSOCIATED WITH THE CONCENTRIC FLIGNT PLAN MANEUVERS FOR
# APPROVAL BY THE ASTRONAUT/GROUND.
# (4) TO STORE THE CSI TARGET PARAMETERS FOR USE BY THE DESIRED
# THRUSTING PROGRAM.
# ASSUMPTIONS
# (1) AT A SELECTED TPI TIME THE LINE OF SIGHT BETWEEN THE ACTIVE
# AND PASSIVE VEHICLES IS SELECTED TO BE A PRESCRIBED ANGLE (E)
# FROM THE HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE
# POSITION.
# (2) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION MUST BE
# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
# COMPLETION OF THE PROGRAM.
# (3) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION MUST BE
# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
# COMPLETION OF THE PROGRAM.
# (4) CDH DELTA V IS SELECTED TO MINIMIZE THE VARIATION OF THE
# ALTITUDE DIFFERENCE BETWEEN THE ORBITS.
# (5) CSI BURN IS DEFINED SUCH THAT THE IMPULSIVE DELTA V IS IN THE
# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION AT CSI
# IGNITION.
# (6) THE PERICENTER ALTITUDE OF THE ORBIT FOLLOWING CSI AND CDH
# MUST BE GREATER THAN 35,000 FT (LUNAR ORBIT) OR 85 NM (EARTH
# ORBIT) FOR SUCCESSFUL COMPLETION OF THIS PROGRAM.
# (7) THE CSI AND CDH MANEUVERS ARE ORIGINALLY ASSUMED TO BE
# PARALLEL TO THE PLANE OF THE CSM ORBIT. HOWEVER CREW
## Page 622
# MODIFICATION OF DELTA V (LV) COMPONENTS MAY RESULT IN AN
# OUT-OF-PLANE CSI MANEUVER.
# (8) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 10).
# (9) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY
# THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED
# ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME
# EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES.
# (10) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM
# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
# DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY
# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
# MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH
# THRUSTING MANEUVER.
# (11) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
# (12) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -
# ACTIVE VEHICLE FLAG - DESIGNATES THE VEHICLE WHICH IS
# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
# FINAL FLAG - SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
# COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY
# CYCLE.
# EXTERNAL DELTA V STEERING FLAG - DESIGNATES THE TYPE OF
# STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE
# THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS
# PROGRAM.
# (13) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO
# A THRUSTING MANEUVER.
# (14) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -
# P32 IF THIS VEHICLE IS ACTIVE VEHICLE.
# P72 IF THIS VEHICLE IS PASSIVE VEHICLE.
# INPUT
# (1) TCSI TIME OF THE CSI MANEUVER
## Page 623
# (2) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
# MANEUVER POINT
# (3) ELEV DESIRED LOS ANGLE AT TPI
# (4) TTPI TIME OF THE TPI MANEUVER
# OUTPUT
# (1) TRKMKCNT NUMBER OF MARKS
# (2) TTOGO TIME TO GO
# (3) +MGA MIDDLE GIMBAL ANGLE
# (4) DIFFALT DELTA ALTITUDE AT CDH
# (5) T1TOT2 DELTA TIME FROM CSI TO CDH
# (6) T2TOT3 DELTA TIME FROM CDH TO TPI
# (7) DELVLVC DELTA VELOCITY AT CSI - LOCAL VERTICAL COORDINATES
# (8) DELVLVC DELTA VELOCITY AT CDH - LOCAL VERTICAL COORDINATES
# DOWNLINK
# (1) TCSI TIME OF THE CSI MANEUVER
# (2) TCDH TIME OF THE CDH MANEUVER
# (3) TTPI TIME OF THE TPI MANEUVER
# (4) TIG TIME OF THE CSI MANEUVER
# (5) DELVEET1 DELTA VELOCITY AT CSI - REFERENCE COORDINATES
# (6) DELVEET2 DELTA VELOCITY AT CDH - REFERENCE COORDINATES
# (7) DIFFALT DELTA ALTITUDE AT CDH
# (8) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
# MANEUVER POINT
# (9) ELEV DESIRED LOS ANGLE AT TPI
# COMMUNICATION TO THRUSTING PROGRAMS
# (1) TIG TIME OF THE CSI MANEUVER
# (2) RTIG POSITION OF ACTIVE VEHICLE AT CSI - BEFORE ROTATION
# INTO PLANE OF PASSIVE VEHICLE
# (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CSE - BEFORE ROTATION
# INTO PLANE OF PASSIVE VEHICLE
# (4) DELVSIN DELTA VELOCITY AT CSI - REFERENCE COORDINATES
# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CSI
# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION
# SUBROUTINES USED
# AVFLAGA
# AVFLAGP
# P20FLGON
# VARALARM
# BANKCALL
# GOFLASH
# GOTOPOOH
## Page 624
# VNPOOH
# GOFLASHR
# BLANKET
# ENDOFJOB
# SELECTMU
# ADVANCE
# INTINT
# PASSIVE
# CSI/A
# S32/33.1
# DISDVLVC
# VN1645
BANK 35
SETLOC CSI/CDH
BANK
EBANK= SUBEXIT
COUNT* $$/P3272
P32 TC AVFLAGA
TC P32STRT
P72 TC AVFLAGP
P32STRT EXTEND
DCA P30ZERO
DXCH CENTANG
TC P32/P72A
ALMXITA SXA,2
CSIALRM
ALMXIT LXC,1
CSIALRM
SLOAD* EXIT
ALARM/TB -1,1
CA MPAC
TC VARALARM
CAF V05N09
TC BANKCALL
CADR GOFLASH
TC GOTOPOOH
TC -4
P32/P72A TC P20FLGON
CAF P30ZERO
TS NN +1
TS TCSI
TS TCSI +1
VN0611 CAF V06N11 # TCSI
TC VNPOOH
TC INTPRET
DLOAD DCOMP
TCSI
BMN DLOAD
VN0655
## Page 625
TETLEM
STCALL TDEC1
PRECSET
VLOAD VSR*
RACT3
0,2
STOVL RVEC
VACT3
VSR* SET
0,2
RVSW
STODL VVEC
DPPOSMAX
STCALL RDESIRED
TIMERAD
DAD
TDEC2
STORE TCSI
EXIT
TC VN0611
VN0655 EXIT
CAF V06N55 # NN, ELEV(RGLOS)
TC BANKCALL
CADR GOFLASH
TC GOTOPOOH
TC +2
TC -5
CAF V06N37 # TTPI
TC VNPOOH
TC INTPRET
DLOAD
TCSI
STCALL TIG
SELECTMU
P32/P72B CALL
ADVANCE
SETPD VLOAD
0D
VPASS1
PDVL PDDL
RPASS1
TCSI
PDDL PDDL
TTPI
TWOPI
PUSH CALL
INTINT
CALL
PASSIVE
CALL
## Page 626
CSI/A
P32/P72C BON SET
FINALFLG
P32/P72D
UPDATFLG
P32/P72D DLOAD
T1TOT2
P32/P72E STORE T1TOT2
DSU BPL
60MIN
P32/P72E
DLOAD
T2TOT3
P32/P72F STORE T2TOT3
DSU BPL
60MIN
P32/P72F
EXIT
CAF V06N75
TC VNPOOH
TC INTPRET
VLOAD CALL
DELVEET1
S32/33.1
STOVL DELVEET1
RACT2
STOVL RACT1
DELVEET2
AXT,1 CALL
VN 0682
DISDVLVC
DLOAD
TTPI
STCALL TTPIO
VN1645
GOTO
P32/P72B
## Page 627
# CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73)
# MOD NO -1 LOG SECTION - P32-P35, P72-P75
# MOD BY WHITE.P DATE 1JUNE67
# PURPOSE
# (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE CONSTANT DELTA
# ALTITUDE MANEUVER (CDH).
# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
# ASSOCIATED WITH THE CDH MANEUVER FOR APPROVAL BY THE
# ASTRONAUT/GROUND.
# (4) TO STORE THE CDH TARGET PARAMETERS FOR USE BY THE DESIRED
# THRUSTING PROGRAM.
# ASSUMPTIONS
# (1) THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF THE
# CO-ELLIPTIC SEQUENCE INITIATION (CSI) PROGRAM (P32/P72).
# THERFORE -
# (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT
# BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE
# A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE
# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION.
# (B) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION WAS
# COMPUTED TO BE GREATER THAN 10 MINUTES.
# (C) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS
# COMPUTED TO BE GREATER THAN 10 MINUTES.
# (D) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE
# ORBITS WAS MINMIZED.
# (E) CSI BURN WAS DEFINED SUCH THAT THE IMPULSIVE DELTA V WAS
# IN THE HORIZONTAL PLANE DEFINED BY ACTIVE VEHICLE
# POSITION AT CSI IGNITION.
# (F) THE PERICENTER ALTITUDES OF THE ORBITS FOLLOWING CSI AND
# CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR
# ORBIT OR 85 NM FOR EARTH ORBIT.
# (G) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO
# THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW
## Page 628
# MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED
# IN AN OUT-OF-PLANE MANEUVER.
# (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 4).
# (3) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY
# THE GROUND. THESE STORAGE CAPABILITES ARE NORMALLY LIMITED
# ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME
# EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES.
# (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM
# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
# DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY
# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
# MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH
# THRUSTING MANEUVER.
# (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
# (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -
# ACTIVE VEGICLE FLAG - DESIGNATES THE VEHICLE WHICH IS
# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
# FINAL FLAG - SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
# COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY
# CYCLE.
# EXTERNAL DELTA V STEERING FLAG - DESIGNATES THE TYPE OF
# STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE
# THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS
# PROGRAM.
# (7) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO
# A THRUSTING MANEUVER.
# (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -
# P33 IF THIS VEHICLE IS ACTIVE VEHICLE.
# P73 IF THIS VEHICLE IS PASSIVE VEHICLE.
# INPUT
# (1) TTPI0 TIME OF THE TPI MANEUVER - SAVED FROM P32/P72
## Page 629
# (2) ELEV DESIRED LOS ANGLE AT TPI - SAVED FROM P32/P72
# (3) TCDH TIME OF THE CDH MANEUVER
# OUTPUT
# (1) TRKMKCNT NUMBER OF MARKS
# (2) TTOGO TIME TO GO
# (3) +MGA MIDDLE GIMBAL ANGLE
# (4) DIFFALT DELTA ALTITUDE AT CDH
# (5) T2TOT3 DELTA TIME FROM CDH TO COMPUTED TPI
# (6) NOMTPI DELTA TIME FROM NOMINAL TPI TO COMPUTED TPI
# (7) DELVLVC DELTA VELOCITY AT CDH - LOCAL VERTICAL COORDINATES
# DOWNLINK
# (1) TCDH TIME OF THE CDH MANEUVER
# (2) TTPI TIME OF THE TPI MANEUVER
# (3) TIG TIME OF THE CDH MANEUVER
# (4) DELVEET2 DELTA VELOCITY AT CDH - REFERENCE COORDINATES
# (5) DIFFALT DELTA ALTITUDE AT CDH
# (6) ELEV DESIRED LOS ANGLE AT TPI
# COMMUNICATION TO THRUSTING PROGRAMS
# (1) TIG TIME OF THE CDH MANEUVER
# (2) RTIG POSITION OF ACTIVE VEHICLE AT CDH - BEFORE ROTATION
# INTO PLANE OF PASSIVE VEHICLE
# (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CDH - BEFORE ROTATION
# INTO PLANE OF PASSIVE VEHICLE
# (4) DELVSIN DELTA VELOCITY AT CDH - REFERENCE COORDINATES
# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CDH
# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION
# SUBROUTINES USED
# AVFLAGA
# AVFLAGP
# P20FLGON
# VNPOOH
# SELECTMU
# ADVANCE
# CDHMVR
# INTINT3P
# ACTIVE
# PASSIVE
# S33/34.1
# ALARM
# BANKCALL
# GOFLASH
# GOTOPOOH
# S32/33.1
## Page 630
# VN1645
COUNT* $$/P3373
P33 TC AVFLAGA
TC P33/P73A
P73 TC AVFLAGP
P33/P73A TC P20FLGON
CAF V06N13 # TCDH
TC VNPOOH
TC INTPRET
DLOAD
TTPIO
STODL TTPI
TCDH
STCALL TIG
SELECTMU
P33/P73B CALL
ADVANCE
CALL
CDHMVR
SETPD VLOAD
0D
VACT3
PDVL CALL
RACT2
INTINT3P
CALL
ACTIVE
SETPD VLOAD
0D
VPASS2
PDVL CALL
RPASS2
INTINT3P
CALL
PASSIVE
DLOAD SET
P30ZERO
ITSWICH
STCALL NOMTPI
S33/34.1
BZE EXIT
P33/P73C
TC ALARM
OCT 611
CAF V05N09
TC BANKCALL
CADR GOFLASH
TC GOTOPOOH
TC +2
## Page 631
TC P33/P73A
TC INTPRET
DLOAD
P30ZERO
STORE NOMTPI
P33/P73C BON SET
FINALFLG
P33/P73D
UPDATFLG
P33/P73D DLOAD DAD
NOMTPI
TTPI
STORE TTPI
DSU
TCDH
P33/P73E DSU BPL
60MIN
P33/P73E
DAD
60MIN
STODL T1TOT2
TTPI
DSU PUSH
TTPIO
P33/P73F ABS DSU
60MIN
BPL DAD
P33/P73F
60MIN
SIGN STADR
STORE T2TOT3
EXIT
CAF V06N75
TC VNPOOH
TC INTPRET
VLOAD CALL
DELVEET2
S32/33.1
STCALL DELVEET2
VN1645
GOTO
P33/P73B
## Page 632
# ..... AVFLAGA/P .....
# SUBROUTINES USED
# UPFLAG
# DOWNFLAG
AVFLAGA EXTEND # AVFLAG = LEM
QXCH SUBEXIT
TC UPFLAG
ADRES AVFLAG
TC SUBEXIT
AVFLAGP EXTEND # AVFLAG = CSM
QXCH SUBEXIT
TC DOWNFLAG
ADRES AVFLAG
TC SUBEXIT
P20FLGON EXTEND
QXCH SUBEXIT
TC UPFLAG
ADRES UPDATFLG # SET UPDATFLG
TC UPFLAG
ADRES TRACKFLG # SET TRACKFLG
TC SUBEXIT
## Page 633
# ..... DISDVLVC .....
# SUBROUTINES USED
# S32/33.X
# VNPOOH
DISDVLVC STORE DELVLVC
STQ CALL
NORMEX
S32/33.X
VLOAD MXV
DELVLVC
0D
VSL1 SXA,1
VERBNOUN
STORE DELVLVC
EXIT
CA VERBNOUN
TC VNPOOH
TC INTPRET
GOTO
NORMEX
## Page 634
# ..... CONSTANTS .....
V06N11 VN 0611
V06N13 VN 0613
V06N75 VN 0675
SN359+ 2DEC -.000086601
CS359+ 2DEC +.499999992
P30ZERO 2DEC 0
60MIN 2DEC 360000
ALARM/TB OCT 00600 # NO 1
OCT 00601 # 2
OCT 00602 # 3
OCT 00603 # 4
OCT 00604 # 5
OCT 00605 # 6
OCT 00606 # 7
## Page 635
# ..... CSI/A .....
# SUBROUTINES USED
# VECSHIFT
# TIMETHET
# PERIAPO
# SHIFTR1
# INTINT2C
# CDHMVR
# PERIAPO1
# INTINT
# ACTIVE
BANK 34
SETLOC CSI/CDH1
BANK
EBANK= SUBEXIT
COUNT* $$/CSI
LOOPMX 2DEC 16
INITST 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS
DVMAX1 2DEC 3.0480 B-7 # MAXIMUM DV1 = 1000 FPS
DVMAX2 2DEC 3.014472 B-7 # 989 FPS
1DPB2 2DEC 1.0 B-2
1DPB28 2DEC 1
PMINE 2DEC 157420 B-29 # 85 NM - MUST BE 8 WORDS BEFORE PMINM
EPSILN1 2DEC .0003048 B-7 # .1 FPS
NICKELDP 2DEC .021336 B-7 # 7 FPS (CHANGED FROM .05 FPS)
FIFPSDP 2DEC -.152400 B-7 # 50 FPS
PMINM 2DEC 10668 B-29 # 35000 FT - MUST BE 8 WORDS AFTER PMINE
DELMAX1 2DEC .6096000 B-7 # 200 FPS
ONETHTH 2DEC .0001 B-3
TMIN 2DEC 60000 # 10 MIN
CSI/A CLEAR SET # INITIALIZE INDICATORS
S32.1F1 # DVT1 HAS EXCEEDED MAX INDICATOR
S32.1F2 # FIRST PASS FOR NEWTON ITERATION INDICATR
## Page 636
CLEAR SET
S32.1F3A # 00=1ST 2 PASSES 2ND CYCLE 01=FIRST CYCLE
S32.1F3B # 10=2ND CYCLE 11=50FPS STAGE 2ND CYCLE
DLOAD
P30ZERO
STORE LOOPCT
STORE CSIALRM
CSI/B SETPD VLOAD
0D
RACT1
ABVAL PUSH # RA1 B29 PL02D
NORM SR1
X2 # B29-N2+ B1 PL04D
PDVL ABVAL
RPASS3
NORM BDDV # RA1/RP3 B1 PL02D
X1
XSU,2 SR* # B2
X1
1,2
DAD DMP # (1+(RA1/RP3))RA1 B29+B2=B31 PL00D
1DPB2
NORM PDDL # PL02D
X1
RTMU
SR1 DDV # B38-B31= B7 PL00D
SL* SQRT # B7
0 -7,1
PDVL UNIT # PL02D
RACT1
PDVL VXV
UP1
UNIT # UNIT(URP1 X UVP1 X URA1) = UH1
DOT SL1 # VA1 . UH1 B7
VACT1
BDSU STADR # PL00D
STODL DELVCSI
INITST # 10 FPS
STORE DELDV
CSI/B1 DLOAD DAD # IF LOOPCT = 16
LOOPCT
1DPB28
STORE LOOPCT
DSU AXT,2
LOOPMX
6
BPL
SCNDSOL
CSI/B2 SETPD
0D
## Page 637
DLOAD ABS
DELVCSI
DSU BMN
DVMAX1
CSI/B23
AXT,2 BON
7
S32.1F1
SCNDSOL
BOFF BON
S32.1F3A
CSI/B22 # FLAG 3 NEQ 3
S32.1F3B
SCNDSOL
CSI/B22 SET DLOAD
S32.1F1
DVMAX2
SIGN
DELVCSI
STORE DELVCSI
CSI/B23 VLOAD PUSH
RACT1
UNIT PDVL
UP1
VXV UNIT # UNIT (URP1 X UVP1 X URA1) = UH1
VXSC VSL1
DELVCSI
STORE DELVEET1
VAD BOV
VACT1
CSI/B23D
CSI/B23D STCALL VACT4
VECSHIFT
STOVL VVEC
SET
RVSW
STOVL RVEC
SN359+
STCALL SNTH # ALSO CSTH
TIMETHET
SR1 LXA,1
RTX1
STCALL HAFPA1
PERIAPO
CALL
SHIFTR1
STODL POSTCSI
CENTANG
BZE GOTO
+2
## Page 638
CIRCL
DLOAD
ECC
DSU BMN
ONETHTH
CIRCL
DLOAD CALL
R1
SHIFTR1
SETPD NORM
2D
X1
PDVL DOT # PL04D
RACT1
VACT4
ABS DDV
02D # (/RDOTV/)/R1 B36-B29= B7
SL* DSU
0,1
NICKELDP
BMN DLOAD
CIRCL
P
SL2 DSU
1DPB2
STODL 14D
RTSR1/MU
SR1 DDV # (1/ROOTMU)/R1 B-16-B29 = B-45 PL02D
PDDL DMP
P
R1
CALL
SHIFTR1
SL4 SL1
SQRT DMP # ((P/MU)**.5)/R1 B14+B-45 = B-31 PL02D
BOFF SL3
CMOONFLG
CSI/B3
CSI/B3 PDVL DOT
RACT1
VACT4
STORE RDOTV
ABS
NORM DMP # ((P/MU)**.5)RDOTV/R1 PL02D
X2
XSU,1 SL* # B-31+B36-B3 = B2
X2
3,1
STODL 12D
P30ZERO
## Page 639
STORE 16D
VLOAD UNIT
12D
STOVL SNTH # ALSO STORES CSTH AND 0
RACT1
PDVL SIGN
VACT4
RDOTV
VCOMP CALL
VECSHIFT
STOVL VVEC
SET
RVSW
STCALL RVEC
TIMETHET
PDDL BPL
RDOTV
NTP/2
DLOAD DSU
HAFPA1
PUSH GOTO
NTP/2
CIRCL SETPD DLOAD
00D
P30ZERO
PUSH
NTP/2 DLOAD DMP
NN
HAFPA1
SL DSU
14D
DAD
TCSI
STORE TCDH
BDSU AXT,2
TTPI
5D
BMN SETPD
SCNDSOL
0D
VLOAD PDVL
VACT4
RACT1
CALL
INTINT2C
STOVL RACT2
VATT
STOVL VACT2
VPASS1
SETPD PDVL
## Page 640
0D
RPASS1
CALL
INTINT2C
STOVL RPASS2
VATT
STCALL VPASS2
CDHMVR
VLOAD SETPD
RACT2
0D
PDVL CALL
VACT3
PERIAPO1
CALL
SHIFTR1
STOVL POSTCDH
VACT3
SETPD PDVL
0D
RACT2
PDDL PDDL
TCDH
TTPI
PDDL PUSH
TWOPI
CALL
INTINT
CALL
ACTIVE
DLOAD
ELEV
SETPD SINE
6D
PDVL UNIT
RACT3
STORE 00D # URA3 AT 00D
PDVL VXV # PL14D, PL08D
UP1
UNIT
PDDL COSINE # UNIT(URA3 X UVA3 X URA3) = UH3 B1 PL14D
ELEV
VXSC STADR # (COSLOS)(UH3) B2 PL08D
STORE 18D # PLUS
DLOAD VXSC # (SINLOS)(URA3) = U B2 PL00D
VAD VSL1
18D # B1
PUSH DOT # PL06D
RACT3 # (U . RA3) = TEMP1 B1 +B29 = B30
SL1 PUSH # B29 PL08D
## Page 641
DSQ TLOAD # TEMP1**2 B58
MPAC
PDVL DOT # PL11D
RACT3
RACT3
TLOAD DCOMP # RA3 . RA3
MPAC
PDVL DOT # RP3 . RP3 B58 PL14D
RPASS3
RPASS3 # PL11D
TAD TAD # TEMP1**2 + RA3.RA3 + RP3.RP3 = TEMP2 PL08D
BPL DLOAD
K10RK2
LOOPCT
DSU AXT,2
1DPB28
1D
BZE
ALMXITA
DLOAD SR1
DELDV
STORE DELDV
BDSU
DVPREV
STCALL DELVCSI
CSI/B1
K10RK2 SQRT PUSH # TEMP3 = TEMP2**.5 B29 PL10D
DCOMP DSU
06D # -TEMP1-TEMP3 = K2 AT 10D
STODL 10D # PL08D
DSU STADR # PL06D
STORE 12D # -TEMP1+TEMP3 = K1 AT 12D
ABS
STODL 14D
10D
ABS DSU
14D
BMN DLOAD
K2.
12D
STORE 10D # K = K1
K2. DLOAD
10D
VXSC VSL1
VAD UNIT # V = RA3 + KU UNIT B1
RACT3
PDVL UNIT
RPASS3 # PL06D
PDVL UNIT
VPASS3 # PL12D
## Page 642
VXV PDVL # UVP3 X URP3 PL18D
06D
06D
VXV DOT
00D
STADR # PL12D
STOVL 12D # (URP3 X V).(UVP3 X URP3)=TEMP PL06D
DOT SL1 # PL00D
ARCCOS SIGN
12D # B0
SR1 PUSH # GAMMA = SIGN(TEMP)ARCOS(UNITV.URP3) PL02D
BON DLOAD
S32.1F2
FRSTPAS
00D # NOT THE FIRST PASS OF A CYCLE
DSU PDDL # GAMMA-GAMPREV B1 PL04D
GAMPREV
DELVCSI
DSU NORM # B7
DVPREV
X1
BDDV PDDL # (GAM-GAMPREV)/(DV-DVPREV) B-6+N1 PL06D
02D # = SLOPE
DELVCSI
STORE DVPREV
BOFF BOFF
S32.1F3A
THRDCHK
S32.1F3B
THRDCHK
DLOAD DMP
02D
GAMPREV
BPL DLOAD
FIFTYFPS
INITST
SIGN
DELDV
STORE DELDV
SET CLEAR
S32.1F3A
S32.1F3B
FRSTPAS DLOAD
00D
STODL GAMPREV
DELVCSI
STORE DVPREV
DSU CLEAR
DELDV
S32.1F2
## Page 643
STCALL DELVCSI
CSI/B1
THRDCHK BON BON
S32.1F3A
NEWTN
S32.1F3B
NEWTN
FIFTYFPS DLOAD SIGN
FIFPSDP
04D
SIGN
GAMPREV
STORE DELDV
DCOMP DAD
DELVCSI
STODL DELVCSI
00D
SET SET
S32.1F3B
S32.1F3A
STCALL GAMPREV
CSI/B2
NEWTN DLOAD NORM
04D
X2
BDDV XSU,1
00D
X2
SR*
0,1
STODL DELDV
00D
STORE GAMPREV
DLOAD ABS
DELDV # PL08D
PUSH DSU
EPSILN1
BMN DLOAD
CSI/SOL
DSU BMN
DELMAX1
CSISTEP
DLOAD SIGN
DELMAX1
DELDV
STORE DELDV
CSISTEP DLOAD DSU
DELVCSI
DELDV
STCALL DELVCSI
## Page 644
CSI/B1
CSI/SOL DLOAD AXT,2
POSTCSI
2
LXA,1
RTX1
DSU* BMN
PMINE -2,1
SCNDSOL
AXT,2 DLOAD
3
POSTCDH
DSU* BMN
PMINE -2,1
SCNDSOL
DLOAD DSU
TCDH
TCSI
STORE T1TOT2
AXT,2 DSU
4
TMIN
BMN AXT,2
SCNDSOL
5
DLOAD DSU
TTPI
TCDH
STORE T2TOT3
DSU BPL
TMIN
P32/P72C
SCNDSOL BON BOFF
S32.1F3A
ALMXIT
S32.1F3B
ALMXIT
SXA,2 DLOAD
CSIALRM
P30ZERO
CLEAR SET
S32.1F1
S32.1F2
CLEAR CLEAR
S32.1F3A
S32.1F3B
STCALL LOOPCT
CSI/B
## Page 645
# ..... ADVANCE .....
# SUBROUTINES USED
# PRECSET
# ROTATE
ADVANCE STQ DLOAD
SUBEXIT
TIG
STCALL TDEC1
PRECSET
SET VLOAD
XDELVFLG
VPASS3
STORE VPASS2
STOVL VPASS1
RPASS3
STORE RPASS2
STORE RPASS1
UNIT VXV
VPASS1
UNIT
STOVL UP1
RACT3
STCALL RTIG
ROTATE
STORE RACT2
STOVL RACT1
VACT3
STCALL VTIG
ROTATE
STORE VACT2
STCALL VACT1
SUBEXIT
## Page 646
# ..... ROTATE .....
ROTATE PUSH PUSH
DOT VXSC
UP1
UP1
VSL2 BVSU
UNIT PDVL
ABVAL VXSC
VSL1 RVQ
## Page 647
# ..... INTINTNA .....
INTINT2C PDDL PDDL
TCSI
TCDH
PDDL PUSH
TWOPI
GOTO
INTINT
INTINT3P PDDL PDDL
TCDH
TTPI
PDDL PUSH
P30ZERO
GOTO
INTINT
## Page 648
# ..... S32/33.1 .....
# SUBROUTINES USED
# S32/33.X
S32/33.1 STQ AXT,1
SUBEXIT
VN 0681
CALL
DISDVLVC
CALL
S32/33.X
VLOAD VXM
DELVLVC
0D
VSL1
STORE DELVSIN
PUSH ABVAL
STOVL DELVSAB
GOTO
SUBEXIT
## Page 649
# ..... S32/33.X .....
S32/33.X SETPD VLOAD
6D
UP1
VCOMP PDVL
RACT1
UNIT VCOMP
PUSH VXV
UP1
VSL1
STORE 0D
RVQ
## Page 650
# ..... CDHMVR .....
# SUBROUTINES USED
# VECSHIFT
# TIMETHET
# SHIFTR1
CDHMVR STQ VLOAD
SUBEXIT
RACT2
PUSH UNIT
STOVL UNVEC # UR SUB A
RPASS2
UNIT DOT
UNVEC
PUSH SL1
STODL CSTH
DSQ PDDL
DP1/4TH
SR2 DSU
SQRT SL1
PDVL VCOMP
VXV
RPASS2
DOT PDDL
UP1
SIGN STADR
STOVL SNTH
RPASS2
PDVL CALL
VPASS2
VECSHIFT
STOVL VVEC
CLEAR
RVSW
STCALL RVEC
TIMETHET
LXA,2 VSL*
RTX2
0,2
STORE 18D
DOT SL1R
UNVEC
PDVL ABVAL # 0D = V SUB PV
SL* PDVL
0,2
RACT2
ABVAL PDDL # 2D = LENGTH OF R SUB A
DSU
## Page 651
02D
STODL DIFFALT # DELTA H IN METERS B+29
R1A
NORM PDDL # 2 - R V**/MU 04D
X1
R1
CALL
SHIFTR1
SR1R DDV
SL* PUSH
0 -5,1
DSU PDDL # A SUB A B+29 04D
DIFFALT
SR2 DDV # A SUB P B+31
04D # B+2
PUSH SQRT # A SUB P/A SUB A 06D
DMPR DMP
06D
00D
SL3R PDDL # V SUB AV METERS/CS B+7 08D
02D # R SUB A MAGNITUDE B+29
NORM PDDL
X1
RTMU
SR1 DDV # 2MU B+38
SL* PDDL # 2 MU/R SUBAA B+14 10D
0 -5,1
04D # ASUBA B+29
NORM PDDL
X2
RTMU
SR1 DDV
SL* BDSU
0 -6,2 # 2U/R - U/A B+14 (METERS/CS)SQ
PDDL DSQ # 10D
08D
BDSU SQRT
PDVL VXV # SQRT(MU(2/R SUB A-1/A SUB A)-VSUBA2) 10D
UP1
UNVEC
UNIT VXSC
10D
PDVL VXSC
UNVEC
08D
VAD VSL1
STADR
STORE VACT3
VSU
VACT2
## Page 652
STCALL DELVEET2 # DELTA VCDH - REFERENCE COORDINATES
SUBEXIT
## Page 653
# ..... COMPTGO .....
# SUBROUTINES USED
# CLOKTASK
# 2PHSCHNG
BANK 35
SETLOC CSI/CDH
BANK
EBANK= RTRN
COUNT* $$/P3575
COMPTGO EXTEND
QXCH RTRN
CAF ZERO
TS DISPDEX
CAF BIT2
INHINT
TC WAITLIST
EBANK= WHICH
2CADR CLOKTASK
TC 2PHSCHNG
OCT 40036
OCT 05024
OCT 13000
TC RTRN
