Apollo-11/Comanche055/P32-P33_P72-P73.agc

# Copyright:	Public domain.
# Filename:	P32-P33_P72-P73.agc
# Purpose:	Part of the source code for Colossus 2A, AKA Comanche 055.
#		It is part of the source code for the Command Module's (CM)
#		Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler:	yaYUL
# Contact:	Ron Burkey <info@sandroid.org>.
# Website:	www.ibiblio.org/apollo.
# Pages:	649-683
# Mod history:	2009-05-09 RSB	Adapted from the Luminary131/ file
#				P32-P35_P72-P75.agc and Comanche055 page
#				images.
#		2009-05-20 RSB	Corrected CSI/COM3 -> CSI/CDH3,
#				CSI/CDHI -> CSI/CDH1, CDHTAB -> CDHTAG,
#				changed a SETLOC from CSI/CDH to CSI/CDH1,
#				a SETLOC CSI/CDH1 to CSIPROG.
#		2009-05-21 RSB	Changed a P32/P72D to P32/P72E in
#				P32/P72D.  DP1/4TH changed to DP1/4 in
#				CDHMVR.
#
# This source code has been transcribed or otherwise adapted from digitized
# images of a hardcopy from the MIT Museum.  The digitization was performed
# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
# thanks to both.  The images (with suitable reduction in storage size and
# consequent reduction in image quality as well) are available online at
# www.ibiblio.org/apollo.  If for some reason you find that the images are
# illegible, contact me at info@sandroid.org about getting access to the
# (much) higher-quality images which Paul actually created.
#
# Notations on the hardcopy document read, in part:
#
#	Assemble revision 055 of AGC program Comanche by NASA
#	2021113-051.  10:28 APR. 1, 1969
#
#	This AGC program shall also be referred to as
#			Colossus 2A

# Page 649
# COELLIPTIC SEQUENCE INITIATION (CSI) PROGRAMS (P32 AND P72)

# MOD NO -1		LOG SECTION - P32-P35, P72-P75
# MOD BY WHITE.P	DATE 1JUNE67

# 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 FLIGHT 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 650
#	     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 BY 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 651
#	 (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
#	 GOTOP00H
# Page 652
#	 VNP00H
#	 GOFLASHR
#	 BLANKET
#	 ENDOFJOB
#	 SELECTMU
#	 ADVANCE
#	 INTINT
#	 PASSIVE
#	 CSI/A
#	 S32/33.1
#	 DISDVLVC
#	 VN1645

		BANK	35
		SETLOC	CSI/CDH1
		BANK
		EBANK=	SUBEXIT
		COUNT	35/P3272

P32		TC	AVFLAGA
		TC	P32STRT
P72		TC	AVFLAGP
P32STRT		TC	INTPRET
		DLOAD
			ZEROVEC
		STORE	CENTANG
		EXIT
		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	GOTOP00H
		TC	-4
P32/P72A	TC	P20FLGON
		TC	INTPRET
		DLOAD
			ZEROVEC
		STORE	NN
		EXIT
		CAF	V06N11		# TCSI
		TC	VNP00H
		CAF	V06N55		# NN. ELEV(RGL05)
# Page 653
		TC	BANKCALL
		CADR	GOFLASH
		TC	GOTOP00H
		TC	+2
		TC	-5
		CAF	V06N37		# TTPI
		TC	VNP00H
		TC	INTPRET
		DLOAD
			TCSI
		STCALL	TIG
			SELECTMU
P32/P72B	CALL
			ADVANCE
		SETPD	VLOAD
			0D
			VPASS1
		PDVL	PDDL
			RPASS1
			TCSI
		PDDL	PDDL
			TTPI
			2PISC
		SL2	PUSH
		CALL
			INTINT
		CALL
			PASSIVE
		CALL
			CSI/A
P32/P72C	BON	SET
			FINALFLG
			P32/P72D
			UPDATFLG
P32/P72D	DLOAD	GOTO
			T1TOT2
			P32/P72E
		SETLOC	CSI/CDH3
		BANK
P32/P72E	STORE	T1TOT2
		DSU	BPL
			60MIN
			P32/P72E
		DLOAD	GOTO
			T2TOT3
			P32/P72F
		SETLOC	CSI/CDH1
		BANK
P32/P72F	STORE	T2TOT3
		DSU	BPL
# Page 654
			60MIN
			P32/P72F
		EXIT
		CAF	V06N75
		TC	VNP00H
		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 655
# CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73)

# MOD NO -1		LOC 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 MINIMIZED.

#	     (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 656
#		 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 CAPABILITIES 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 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.

#	 (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) TTPIO	TIME OF THE TPI MANEUVER - SAVED FROM P32/P72
# Page 657
#	 (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) DELLVEET2	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
#	 VNP00H
#	 SELECTMU
#	 ADVANCE
#	 CDHMVR
#	 INTINT3P
#	 ACTIVE
#	 PASSIVE
#	 S33/S34.1
#	 ALARM
#	 BANKCALL
#	 GOFLASH
#	 GOTOP00H
#	 S32/33.1
# Page 658
#	 VN1645

		COUNT	35/P3373

P33		TC	AVFLAGA
		TC	P33/P73A
P73		TC	AVFLAGP
P33/P73A	TC	P20FLGON
		CAF	V06N13		# TCDH
		TC	VNP00H
		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
			ZEROVEC
			ITSWICH
		STCALL	NOMTPI
			S33/34.1
		BZE	EXIT
			P33/P73C
		TC	ALARM
		OCT	611
		CAF	V05N09
		TC	BANKCALL
		CADR	GOFLASH
		TC	GOTOP00H
# Page 659
		TC	+2
		TC	P33/P73A
		TC	INTPRET
		DLOAD
			ZEROVEC
		STCALL	NOMTPI
			P33/P73C
		SETLOC	CSI/CDH2
		BANK

P33/P73C	BON	SET
			FINALFLG
			P33/P73D
			UPDATFLG
P33/P73D	DLOAD	DAD
			NOMTPI
			TTPI
		STORE	TTPI
		DSU	GOTO
			TCDH
			P33/P73E
		SETLOC	CSI/CDH1
		BANK

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	VNP00H
		TC	INTPRET
		VLOAD	CALL
			DELVEET2
			S32/33.1
		STCALL	DELVEET2
			VN1645
		GOTO
# Page 660
			P33/P73B
# Page 661
# ..... AVFLAGA/P .....
# Page 662
# ..... DISDVLVC .....

# SUBROUTINES USED

#	 S32/33.X
#	 VNP00H

		SETLOC	CDHTAG3
		BANK

DISDVLVC	STORE	DELVLVC
		STQ	CALL
			NORMEX
			S32/33.X
		VLOAD	MXV
			DELVLVC
			0D
		VSL1	SXA,1
			VERBNOUN
		STORE	DELVLVC
		EXIT
		CA	VERBNOUN
		TC	VNP00H
		TC	INTPRET
		GOTO
			NORMEX
		SETLOC	FFTAG12
		BANK

V06N11		VN	0611
V06N13		VN	0613
V06N75		VN	0675

V06N50		VN	0650
# Page 663
# ..... CSI/A .....

# SUBROUTINES USED

#	 VECSHIFT
#	 TIMETHET
#	 PERIAPO
#	 SHIFTR1
#	 INTINT2C
#	 CDHMVR
#	 PERIAPO1
#	 INTINT
#	 ACTIVE

		BANK	34
		SETLOC	CSIPROG
		BANK
		EBANK=	SUBEXIT
		COUNT	34/CSI

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
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	1.08-2

1DPB28		2DEC	1

EPSILN1		2DEC	.0003048 B-7	# .1 FPS

FIFPSDP		2DEC	-.152400 B-7	# 50  FPS

DELMAX1		2DEC	.6096000 B-7	# 200 FPS

		SETLOC	CSI/CDH
		BANK
PMINE		2DEC	157420 B-29	# 84 NM. - MUST BE 8 WORDS BEFORE PMINM
# Page 664
NICKELDP	2DEC	.021336 B-7	# 7 FPS

INITST1		2DEC	.03048 B-7	# INITIAL DELDV = 10 FPS

ONETHTH		2DEC	.0001 B-3

PMINM		2DEC	10668 B-29	# 35000 FT - MUST BE 8 WORDS AFTER PMINE.

		SETLOC	CSIPROG
		BANK

CSI/A		CLEAR	SET		# INITIALIZE INDICATORS
			S32.1F1		# DVT1 HAS EXCEEDED MAX INDICATOR
			S32.1F2		# FIRST PASS FOR NEWTON ITERATION INDICATR
		CLEAR	SET
			S32.1F3A	# 00=1ST 2 PASSES 2ND CYCLE 01=FIRST CYCLE
			S32.1F3B	# 10=2ND CYCLE, 11=50 FPS STAGE 2ND CYCLE
		DLOAD
			ZEROVEC
		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
# Page 665
		STODL	DELVCSI
			INITST		# 10 FPS
		STORE	DELDV
CSI/B1		DLOAD	DAD		# IF LOOPCT = 16
			LOOPCT
			1DPB28
		STORE	LOOPCT
		DSU	AXT,2
			LOOPMX
			6
		BPL	GOTO
			SCNDSOL
			CSI/B2

		SETLOC	CSIPROG2
		BANK

CSI/B2		SETPD
			0D
		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
		STCALL	DELVCSI
			CSI/B23

		SETLOC	CSIPROG3
		BANK

CSI/B23		VLOAD	PUSH
			RACT1
		UNIT	PDVL
			UP1
		VXV	UNIT		# UNIT(URP1 X UVP1 X URA1) = UH1
		VXSC	VSL1
# Page 666
			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
			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
			1RTEB2		# 1.B.2
		STODL	14D
# Page 667
			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
			ZEROVECS
		STORE	16D
		VLOAD	UNIT
			12D
		STOVL	SNTH		# ALSO STORES CSTH AND 0
			RACT1
		PDVL	SIGN
			VACT4
			RDOTV
		VCOMP	CALL
			VECSHIFT
		STOVL	VVEC
		SETGO
			RVSW
			CSINEXT

SN359+		2DEC	-.000086601

CS359+		2DEC	+.499999992

		SETLOC	CSIPROG4
		BANK

CSINEXT		STCALL	RVEC
			TIMETHET
		PDDL	BPL
			RDOTV
# Page 668
			NTP/2
		DLOAD	DSU
			HAFPA1
		PUSH	GOTO
			NTP/2
CIRCL		SETPD	DLOAD
			00D
			ZEROVECS
		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
			0D
			RPASS1
		GOTO
			CSINEXT1

		SETLOC	CSIPROG5
		BANK

CSINEXT1	CALL
			INTINT2C
		STOVL	RPASS2
			VATT
		STCALL	VPASS2
			CDHMVR
		VLOAD	SETPD
			RACT2
			0D
# Page 669
		PDVL	CALL
			VACT3
			PERIAPO1
		CALL
			SHIFTR1
		STOVL	POSTCDH
			VACT3
		SETPD	PDVL
			0D
			RACT2
		PDDL	PDDL
			TCDH
			TTPI
		PDDL	SL2
			2PISC
		PUSH	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(URA3XUVA3XURA3) = UH3      B1 PL14D
			ELEV
		VXSC	STADR		# (COSLOS)(UH3)                   B2 PL08D
		STCALL	18D		#		PLUS
			CSINEXT2

		SETLOC	CSIPROG6
		BANK

CSINEXT2	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
		DSQ	TLOAD		# TEMP1**2                       B58
			MPAC
		PDVL	DOT		#                                    PL11D
			RACT3
			RACT3
		TLOAD	DCOMP		# RA3.RA3
# Page 670
			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
		STCALL	10D		# K EQUALS K1
			K2.

		SETLOC	CSIPROG7
		BANK

K2.		DLOAD
			10D
		VXSC	VSL1
		VAD	UNIT		# V=RA3+KU  UNIT                  B1
			RACT3
		PDVL	UNIT		#                                    PL06D
			RPASS3
		PDVL	UNIT		#                                    PL12D
			VPASS3
		VXV	PDVL		# UVP3 X URP3                        PL18D
# Page 671
			06D
			06D
		VXV	DOT
			00D
		STADR			#                                    PL12D
		STOVL	12D		# (URP3XV).(UVP3XURP3)=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
			INITST1
		SIGN
			DELDV
		STORE	DELDV
		SET	CLEAR
			S32.1F3A
			S32.1F3B
FRSTPAS		DLOAD
			00D
		STODL	GAMPREV
			DELVCSI
		STCALL	DVPREV
			CSINEXT3

		SETLOC	CSIPROG8
		BANK
# Page 672
CSINEXT3	DSU	CLEAR
			DELDV
			S32.1F2
		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
		PUSH	DSU		#                                    PL08D
			EPSILN1
		BMN	DLOAD
			CSI/SOL
		DSU	BMN
			DELMAX1
			CSISTEP
		DLOAD	SIGN
			DELMAX1
			DELDV
		STORE	DELDV
CSISTEP		DLOAD	DSU
# Page 673
			DELVCSI
			DELDV
		STCALL	DELVCSI
			CSI/B1
CSI/SOL		DLOAD	AXT,2
			POSTCSI
			2
		LXA,1	GOTO
			RTX1
			CSINEXT4

		SETLOC	CSIPROG9
		BANK

CSINEXT4	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
			600SEC
		BMN	AXT,2
			SCNDSOL
			5
		DLOAD	DSU
			TTPI
			TCDH
		STORE	T2TOT3
		DSU	BPL
			600SEC
			P32/P72C
SCNDSOL		BON	BOFF
			S32.1F3A
			ALMXIT
			S32.1F3B
			ALMXIT
		SXA,2	DLOAD
			CSIALRM
			ZEROVECS
		CLEAR	SET
			S32.1F1
# Page 674
			S32.1F2
		CLEAR	CLEAR
			S32.1F3A
			S32.1F3B
		STCALL	LOOPCT
			CSI/B
# Page 675
# ..... ADVANCE .....

# SUBROUTINES USED

#	 PRECSET
#	 ROTATE

		SETLOC	CDHTAG3
		BANK

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 676
# ..... ROTATE .....

		SETLOC	CDHTAG
		BANK

ROTATE		PUSH	PUSH
		DOT	VXSC
			UP1
			UP1
		VSL2	BVSU
		UNIT	PDVL
		ABVAL	VXSC
		VSL1	RVQ
# Page 677
# ..... INTINTNA .....

		SETLOC	CDHTAG2
		BANK

INTINT2C	PDDL	PDDL
			TCSI
			TCDH
		PDDL	PUSH
			TWOPI
		GOTO
			INTINT
INTINT3P	PDDL	PDDL
			TCDH
			TTPI
		PDDL	PUSH
			ZEROVECS
		GOTO
			INTINT
# Page 678
# ..... S32/33.1 .....

# SUBROUTINES USED
#	 S32/33.X

		SETLOC	CSI/CDH
		BANK

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 679
# ..... S32/33.X .....

		SETLOC	CDHTAGS
		BANK

S32/33.X	SETPD	VLOAD
			6D
			UP1
		VCOMP	PDVL
			RACT1
		UNIT	VCOMP
		PUSH	VXV
			UP1
		VSL1
		STORE	0D
		RVQ
# Page 680
# ..... CDHMVR .....

# SUBROUTINES USED

#	 VECSHIFT
#	 TIMETHET
#	 SHIFTR1

		SETLOC	CDHTAG
		BANK

CDHMVR		STQ	VLOAD
			SUBEXIT
			RACT2
		PUSH	UNIT
		STOVL	UNVEC		# UR SUB A
			RPASS2
		UNIT	DOT
			UNVEC
		PUSH	SL1
		STODL	CSTH
		DSQ	PDDL
			DP1/4
		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
# Page 681
			RACT2
		ABVAL	PDDL		# 2D = LENGTH OF R SUB A
		DSU
			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 A V 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
# Page 682
		STORE	VACT3
		VSU
			VACT2
		STCALL	DELVEET2	# DELTA VCDH - REFERENCE COORDINATES
			SUBEXIT
# Page 683
# ..... COMPTGO .....

# SUBROUTINES USED

#	 CLOKTASK
#	 2PHSCHNG

		BANK	35
		SETLOC	CSI/CDH
		BANK

		EBANK=	RTRN

		COUNT*	$$/P3575