303 lines
6.9 KiB
ArmAsm
303 lines
6.9 KiB
ArmAsm
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# Copyright: Public domain.
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# Filename: CM_BODY_ATTITUDE.s
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# Purpose: Part of the source code for Comanche, build 055. It
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# is part of the source code for the Command Module's
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# (CM) Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 883-889
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# Contact: Ron Burkey <info@sandroid.org>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
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# name and Comanche 055 page images.
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#
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# The contents of the "Comanche055" files, in general, are transcribed
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# from scanned documents.
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. April 1, 1969.
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#
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# This AGC program shall also be referred to as Colossus 2A
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#
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# Prepared by
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# Massachussets Institute of Technology
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# 75 Cambridge Parkway
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# Cambridge, Massachusetts
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#
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# under NASA contract NAS 9-4065.
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#
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# Refer directly to the online document mentioned above for further
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# information. Please report any errors to info@sandroid.org.
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# Page 883
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BANK 35
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SETLOC BODYATT
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BANK
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COUNT 37/CMBAT
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# PDL 12D - 15D SAFE.
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# VALUE OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS.
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EBANK= RTINIT # LET INTERPRETER SET EB
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CM/POSE TC INTPRET # COME HERE VIA AVEGEXIT.
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SETPD VLOAD
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0
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VN # KVSCALE = (12800/ .3048) /2VS
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VXSC PDVL
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-KVSCALE # KVSCALE = .81491944
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UNITW # FULL UNIT VECTOR
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VXV VXSC # VREL = V - WE*R
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UNITR
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KWE
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VAD STADR
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STORE -VREL # SAVE FOR ENTRY GUIDANCE. REF COORDS
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UNIT LXA,1
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36D # ABVAL( -VREL) TO X1
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STORE UXA/2 # -UVREL REF COORDS
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VXV VCOMP
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UNITR # .5 UNIT REF COORDS
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UNIT SSP # THE FOLLOWING IS TO PROVIDE A STABLE
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S1 # UN FOR THE END OF THE TERMINAL PHASE.
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SPVQUIT DEC .019405 # 1000/ 2 VS
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TIX,1 VLOAD # IF V-VQUIT POS, BRANCH.
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CM/POSE2 # SAME UYA IN OLDUYA
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OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA
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CM/POSE2 STORE UYA/2 # REF COORDS
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STORE OLDUYA # RESTORE, OR SAVE AS CASE MAY BE.
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VXV VCOMP
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UXA/2 # FINISH OBTAINING TRAJECTORY TRIAD.
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VSL1
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STORE UZA/2 # REF COORDS
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# Page 884
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TLOAD # PICK UP CDUX, CDUY, CDUZ CORRESPONDING
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AOG/PIP # TO PIPUP TIME IN 2'S C AND SAVE.
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CM/TRIO STODL 24D
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25D # AIG/PIP
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RTB PUSH # TO PDL0
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CDULOGIC
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COS
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STODL UBX/2 # CI /2
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# AIG/PIP FROM PDL 0
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SIN DCOMP
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STODL UBX/2 +4 # -SI /2
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26D # AMG/PIP
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RTB PUSH # TO PDL 0
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CDULOGIC
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SIN PDDL # XCH PDL 0. SAVE SM /2
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COS PDDL # CM /2 TO PDL 2
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0 # SM /2
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DCOMP VXSC
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UBX/2
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VSL1 # NOISE WON'T OVFL
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STODL UBY/2 # =(-SMCI, NOISE, SMSI)/2
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2 # CM /2 REPLACES NOISE
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STODL UBY/2 +2 # UBY/2=(-SMCI, CM, SMSI)/2
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24D # AOG/PIP
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RTB PUSH # TO PDL 4
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CDULOGIC
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SIN PDDL # XCH PDL 4. SAVE SO /2
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COS VXSC # CO /2
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UBY/2
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STODL UBY/2 # UBY/2=(-COSMCI, COCM, COSMSI)/4
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4D # SO /2
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DMP DCOMP
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UBX/2 +4 # -SI /2
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DAD
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UBY/2 # INCREMENT BY (SOSI /4)
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STODL UBY/2
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# SO /2 FROM PDL 4
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DMP DAD
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UBX/2 # CI /2
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UBY/2 +4
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STOVL UBY/2 +4 # YB/4 PLATFORM COORDS
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# YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI )
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UBY/2
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VXM VSL2
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REFSMMAT # .5 UNIT
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STODL UBY/2 # YB/2 DONE REF COORDS
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# Page 885
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# CM /2 FROM PDL 2
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VXSC VSL1
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UBX/2
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STODL UBX/2 # =( CMCI, NOISE, -CMSI)/2
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STADR # SM /2 FROM PDL 0
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STOVL UBX/2 +2 # SM /2 REPLACES NOISE
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UBX/2 # XB/2 PLATFORM COORDS
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# XB = ( CMCI , SM , -CMSI )
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VXM VSL1
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REFSMMAT # .5 UNIT
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STORE UBX/2 # XB/2 DONE REF COORDS
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VXV VSL1
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UBY/2
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STOVL UBZ/2 # ZB/2 DONE REF COORDS
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# EQUIVALENT TO
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# ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI )
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UXA/2 # -UVREL/2 = -UVA/2
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VXV UNIT # GET UNIT(-UVREL*UBY)/2 = UL/2
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UBY/2 # YB/2
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PUSH DOT # UL/2 TO PDL 0,5
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UZA/2 # UNA/2
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STOVL COSTH # COS(ROLL)/4
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0 # UL/2
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DOT
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UYA/2
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STCALL SINTH # -SIN(ROLL)/4
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ARCTRIG
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STOVL 6D # -(ROLL/180) /2
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UBY/2
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DOT SL1 # -UVA.UBY = -SIN(BETA)
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UXA/2 # -UVREL/2
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ARCSIN
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STOVL 7D # -(BETA/180) /2
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UBX/2 # XB/2
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DOT # UL.UBX = -SIN(ALFA)
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0 # UL/2
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STOVL SINTH # -SIN(ALFA)/4
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DOT # UL/2 FROM PDL 0
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UBZ/2
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STCALL COSTH # COS(ALFA)/2
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ARCTRIG
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STOVL 8D # -(ALFA/180) /2
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UNITR # UR/2 REF COORDS
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DOT SL1
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# Page 886
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UZA/2 # MORE ACCURATE AT LARGE ARG.
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ARCCOS
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STORE 10D # (-GAMA/180)/2
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TLOAD EXIT # ANGLES IN MPAC IN THE ORDER
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# -( (ROLL, BETA, ALFA) /180)/2
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6D # THESE VALUES CORRECT AT PIPUP TIME.
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# Page 887
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# BASIC SUBROUTINE TO UPDATE ATTITUDE ANGLES
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EBANK= AOG
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CM/ATUP CA EBAOG
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TS EBANK
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CMTR1 INDEX FIXLOC
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CS 10D # (GAMA/180)/2
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XCH GAMA
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TS L
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INHINT
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# MUST REMAIN INHINTED UNTIL UPDATE OF BODY
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# ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS
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# INDICATOR.
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CS CM/FLAGS
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MASK BIT11 # GAMDIFSW=94D BIT11 INITLY=0
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EXTEND # DON'T CALC GAMA DOT UNTIL HAVE FORMD
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# ONE DIFFERENCE.
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BZF DOGAMDOT # IS OK, GO ON.
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ADS CM/FLAGS # KNOW BIT IS 0
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TC NOGAMDOT # SET GAMDOT = 0
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DOGAMDOT CS L
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AD GAMA # DEL GAMA/360= T GAMDOT/360
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EXTEND
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MP TCDU # TCDU = .1 SEC, T = 2 SEC.
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TS GAMDOT # GAMA DOT TCDU / 180
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EXTEND # IGNORE GAMDOT IF LEQ .5 DEG/SEC
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BZMF +2
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COM
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AD FIVE
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EXTEND
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BZMF +3 # SET GAMDOT=+0 AS TAG IF TOO SMALL.
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NOGAMDOT CA ZERO # COME HERE INHINTED
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TS GAMDOT
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# FOR NOW LEAVE IN 2'S C
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# UPDATE ANGLES BY CORRECTING EULER ANG
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# FOR ACCRUED INCREMENT SINCE PIPUP
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# R = R EUIL + R(NOW) - R(PIPUP)
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CS MPAC # GET (R EUL/180) /2
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DOUBLE # POSSIBLE OVERFLOW
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TC CORANGOV # CORRECT FOR OVFL IF ANY
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EXTEND
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SU ROLL/PIP # GET INCR SINCE PIPUP
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AD ROLL/180 # ONLY SINGLE OVFL POSSIBLE.
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TC CORANGOV # CORRECT FOR OVFL IF ANY
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# Page 888
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TS TEMPROLL
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CS MPAC +2 # GET (ALFA EUL/180) /2
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DOUBLE # SAME AS FOR ROLL. NEEDED FOR EXT ATM DAP
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TC CORANGOV # CORRECT FOR OVFL IF ANY
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EXTEND
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SU ALFA/PIP
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AD ALFA/180
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TC CORANGOV # CORRECT FOR OVFL IF ANY
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TS TEMPALFA
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CS MPAC +1 # GET (BETA EUL/180) /2
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CMTR2 DOUBLE
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EXTEND
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SU BETA/PIP
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AD BETA/180
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XCH TEMPBETA # OVFL NOT EXPECTED.
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CA EBANK3
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TS EBANK
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EBANK= PHSNAME5
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EXTEND
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DCA REPOSADR # THIS ASSUMES THAT THE TC PHASCHNG
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DXCH PHSNAME5 # IS NOT CHANGED IN OCT 10035
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# SERVICER.
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CA EBAOG
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TS EBANK
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EBANK= AOG
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REDOPOSE EXTEND # RE-STARTS COME HERE
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DCA TEMPROLL
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DXCH ROLL/180
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CA TEMPBETA
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TS BETA/180
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RELINT
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TC INTPRET # CAN'T TC DANZIG AFTER PHASCHNG.
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CM/POSE3 VLOAD ABVAL # RETURN FROM CM/ATUP. (RESTART)
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VN # 2(-7) M/CS
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STORE VMAGI # FOR DISPLAY ON CALL.
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GOTO
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POSEXIT # ENDEXIT, STARTENT, OR SCALEPOP.
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CORANGOV TS L
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TC Q
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INDEX A
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# Page 889
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CA LIMITS
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ADS L
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TC Q # COSTS 2 MCT TO USE. SEE ANGOVCOR.
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-KVSCALE 2DEC -.81491944 # -12800/(2 VS .3048)
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TCDU DEC .1 # TCDU = .1 SEC.
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EBANK= AOG
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REPOSADR 2CADR REDOPOSE
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