Co-authored-by: James Harris <wopian@wopian.me>
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@ -35,22 +35,22 @@
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EBANK= XSM
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# THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING
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# THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO
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# THE CONIC R,V AND THE DEVIATIONSR,V. THE STATE VECTORS ARE CONVERTED TO
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# METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
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# R-OTHER,V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
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# R-OTHER , V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
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# OTHER VEHICLES COMPUTER.
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#
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# INPUT
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# STATE VECTOR IN TEMPORARY STORAGE AREA
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# IF STATE VECTOR IS SCALED POS B27 AND VEL B5
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# SET X2 TO +2
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# IF STATE VECTOR IS SCALED POS B29 AND VEL B7
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# SET X2 TO 0
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# STATE VECTOR IN TEMPORARY STORAGE AREA
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# IF STATE VECTOR IS SCALED POS B27 AND VEL B5
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# SET X2 TO +2
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# IF STATE VECTOR IS SCALED POS B29 AND VEL B7
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# SET X2 TO 0
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#
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# OUTPUT
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# R(T) IN RN, V(T) IN VN, T IN PIPTIME
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# R(T) IN RN, V(T) IN VN, T IN PIPTIME
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# OR
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# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
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# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
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COUNT* $$/GEOM
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SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
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@ -58,14 +58,14 @@ SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
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+1
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VLOAD VSL*
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TDELTAV
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0 -7,2
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0 -7,2
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VAD VSL*
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RCV
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0,2
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STOVL RN
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TNUV
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VSL* VAD
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0 -4,2
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0 -4,2
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VCV
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VSL*
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0,2
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@ -76,14 +76,14 @@ SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
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# Page 321
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SVDWN1 VLOAD VSL*
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TDELTAV
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0 -7,2
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0 -7,2
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VAD VSL*
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RCV
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0,2
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STOVL R-OTHER
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TNUV
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VSL* VAD
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0 -4,2
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0 -4,2
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VCV
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VSL*
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0,2
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@ -91,32 +91,32 @@ SVDWN1 VLOAD VSL*
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RVQ
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# Page 322
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# THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
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# GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
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# ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
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# ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
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# THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
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# GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
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# ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
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# ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
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# SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
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#
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# THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
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# THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
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#
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# S(2) = 180 + S(1)
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# T(2) = 180 - T(1)
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# S(2) = 180 + S(1)
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# T(2) = 180 - T(1)
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#
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# THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT.
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# THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNB OR *SMNB* WILL HAVE LEFT IT.
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RRANGLES STORE 32D
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DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
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34D # ANGLE LATER, WE CAN FIND THE MODE 1
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SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
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0 # THE Y COMPONENT, THE ASIN GIVIN AN
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PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG.
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PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
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LODPHALF
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STODL 4 # MODE 2 TRUNNION TO 4.
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LO6ZEROS
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STOVL 34D # UNIT THE PROJECTION OF THE VECTOR
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32D # IN THE X-Z PLANE
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UNIT BOVB # IF OVERFLOW, TARGET VECTOR IS ALONG Y
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32D # IN THE X-Z PLANE
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UNIT BOVB # IF OVERFLOW,TARGET VECTOR IS ALONG Y
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LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF
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STODL 32D # PROJECTION VECTOR.
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32D
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@ -154,7 +154,7 @@ RRANGLES STORE 32D
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GOTO
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S2
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# Page 324
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# GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1, FIND THE ASSOCIATED
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# GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1,FIND THE ASSOCIATED
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# LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
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# -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
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@ -190,7 +190,7 @@ RRNB1 PUSH COS # SHAFT ANGLE TO 2
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RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21.
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MPAC # SET MODE TO DP. (THE PRECEEDING STORE
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# MAY BE DP, TP OR VECTOR.)
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# MAY BE DP. TP OR VECTOR.)
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RTB SETPD
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CDULOGIC
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0
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@ -203,7 +203,4 @@ RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21.
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CDULOGIC
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GOTO
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RRNB1
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# Page 325
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# (This page has nothing on it.)
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# Page 325 (empty page)
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