Apollo-11/Luminary099/P32-P35_P72-P75.agc

# Copyright:	Public domain.
# Filename:	P32-P35_P72-P75.agc
# Purpose: 	Part of the source code for Luminary 1A build 099.
#		It is part of the source code for the Lunar Module's (LM)
#		Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler:	yaYUL
# Contact:	Ron Burkey <info@sandroid.org>.
# Website:	www.ibiblio.org/apollo.
# Pages:	618-650
# Mod history:	2009-05-18 RSB	Adapted from the Luminary 131 file of the
#				same name, as corrected from Luminary 099
#				page images.
#
# This source code has been transcribed or otherwise adapted from
# digitized images of a hardcopy from the MIT Museum.  The digitization
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
# the Museum.  Many thanks to both.  The images (with suitable reduction
# in storage size and consequent reduction in image quality as well) are
# available online at www.ibiblio.org/apollo.  If for some reason you
# find that the images are illegible, contact me at info@sandroid.org
# about getting access to the (much) higher-quality images which Paul
# actually created.
#
# Notations on the hardcopy document read, in part:
#
#	Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
#	16:27 JULY 14, 1969 

# Page 618
# 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 TIME 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 619
#		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 THE PASSIVE VEHICLE.
#
# INPUT

#	(1)	TCSI		TIME OF THE CSI MANEUVER

# Page 620
#	(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 PROGRAM

#	(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 621
#	VNP00H
#	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	GOTOP00H
		TC	-4
P32/P72A	TC	P20FLGON
		CAF	P30ZERO
		TS	NN 	+1
		TS	TCSI
		TS	TCSI 	+1
VN0611		CAF	V06N11		# TCSI
		TC	VNP00H
		TC	INTPRET
		DLOAD	DCOMP
			TCSI
		BMN	DLOAD
			VN0655
# Page 622
			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	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
			TWOPI
		PUSH	CALL
			INTINT
		CALL
			PASSIVE
		CALL
# Page 623
			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	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 624
# CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73)
# MOD NO -1			LOC SECTION -- P32-P35, P72-P75
# MOD BY WHITE, P.		DATE: 1 JUNE 67
#
# 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).
#		THEREFORE --
#
#		(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 625
#			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 626
#	(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 627
#	VN1645

		COUNT*	$$/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
			P30ZERO
			ITSWICH
		STCALL	NOMTPI
			S33/34.1
		BZE	EXIT
			P33/P73C
		TC	ALARM
		OCT	611
		CAF	V05N09
		TC	BANKCALL
		CADR	GOFLASH
		TC	GOTOP00H
		TC	+2
# Page 628
		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	VNP00H
		TC	INTPRET
		VLOAD	CALL
			DELVEET2
			S32/33.1
		STCALL	DELVEET2
			VN1645
		GOTO
			P33/P73B

# Page 629
# ***** ADFLAG/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 630
# ***** DISDVLVC *****
#
# SUBROUTINES USED
#
#	S32/33.X
#	VNP00H

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

# Page 631
# ***** 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 632
# ***** 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 INDICATOR
# Page 633
		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
			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 634
		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 635
			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		   B38-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-14 = 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 636
		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 637
			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 638
		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 639
		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 640
		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 641
			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 642
# ***** 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 643
# ***** ROTATE *****

ROTATE		PUSH	PUSH
		DOT	VXSC
			UP1
			UP1
		VSL2	BVSU
		UNIT	PDVL
		ABVAL	VXSC
		VSL1	RVQ

# Page 644
# ***** INTINTNA *****

INTINT2C	PDDL	PDDL
			TCSI
			TCDH
		PDDL	PUSH
			TWOPI
		GOTO
			INTINT
INTINT3P	PDDL	PDDL
			TCDH
			TTPI
		PDDL	PUSH
			P30ZERO
		GOTO
			INTINT

# Page 645
# ***** 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 646
# ***** S32/33.X *****

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

# Page 647
# ***** 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 648
			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 649
		STCALL	DELVEET2	# DELTA VCDH -- REFERENCE COORDINATES
			SUBEXIT

# Page 650
# ***** 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