Glenn Dwiyatcita
James Harris
parent
eaec0f796b
commit
4e0940e275
@ -32,19 +32,20 @@
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SETLOC COMGEOM1
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BANK
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# THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT
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# THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT
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# VECTOR REFERENCED TO THE NAVIGATION BASE COORDINATE SYSTEM AND COINCIDENT WITH THE SEXTANT LINE OF SIGHT.
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#
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# THE INPUTS ARE: 1) THE SEXTANT SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE
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# THE INPUTS ARE 1) THE SEXTANT SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE
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# MARK VAC AREA. 2) THE COMPLEMENT OF THE BASE ADDRESS OF THE MARK VAC AREA IS STORED SP AT LOCATION X1 OF YOUR
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# JOB VAC AREA.
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#
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# THE OUTPUT IS A HALF-UNIT VECTOR IN NAVIGATION BASE COORDINATES AND STORED AT LOCATION 32D OF THE VAC AREA. THE
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# OUTPUT IS ALSO AVAILABLE AT MPAC.
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COUNT 23/GEOM
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SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D
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SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D
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5,1 # TRUNNION = TA
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CDULOGIC
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RTB PUSH
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@ -71,26 +72,27 @@ SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D
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STORE 32D
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RVQ
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SXTLOGIC CAF 10DEGS- # CORRECT FOR 19.775 DEGREE OFFSET
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ADS MPAC
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CAF QUARTER
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TC SHORTMP
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TC DANZIG
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# Page 286
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# CALCSXA COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-
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# OF-SIGHT LIES ALONG THE STAR VECTOR. THE ROUTINE TAKES THE GIVEN STAR VECTOR AND EXPRESSES IT AS A VECTOR REF-
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# ERENECED TO THE OPTICS COORDINATE SYSTEM. IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X, Y, AND Z AXES
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# ERENCED TO THE OPTICS COORDINATE SYSTEM. IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X,Y, AND Z AXES
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# REFERENCED TO THE OPTICS COORDINATE SYSTEM.
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#
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# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO THE PRESENT STABLE MEMBER COORDINATES STORED AT STAR. 2) SAME ANGLE
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# INPUT AS *SMNB*, I.E., SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU. A CALL
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# THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT STAR. 2) SAME ANGLE
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# INPUT AS *SMNB*, I.E. SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU. A CALL
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# TO CDUTRIG WILL PROVIDE THIS INPUT.
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#
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# THE OUTPUT ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
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# THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
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# EQUAL TO ZERO).
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CALCSXA ITA VLOAD # PUSHDOWN 00-26D, 28D, 30D, 32D-36D
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CALCSXA ITA VLOAD # PUSHDOWN 00-26D,28D,30D,32D-36D
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28D
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STAR
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CALL
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@ -105,19 +107,19 @@ CALCSXA ITA VLOAD # PUSHDOWN 00-26D, 28D, 30D, 32D-36D
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HIUNITZ
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STCALL ZNB1
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SXTANG1
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# Page 287
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# SXTANG COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-OF-
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# SIGHT LIES ALONG THE STAR VECTOR.
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#
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# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR. 2) THE NAVIGATION BASE
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# THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR. 2) THE NAVIGATION BASE
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# COORDINATES REFERRED TO THE SAME COORDINATE SYSTEM. THESE THREE HALF-UNIT VECTORS ARE STORED AT XNB, YNB, AND
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# ZNB.
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#
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# THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
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# EQUAL TO ZERO).
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SXTANG ITA RTB # PUSHDOWN 16D,18D,22D-26D,28D
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SXTANG ITA RTB # PUSHDOWN 16D,18D,22D-26D,28D
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28D
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TRANSP1 # EREF WRT NB2
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VLOAD MXV
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@ -179,7 +181,7 @@ SXTANG1 VLOAD VXV
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28D
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SXTALARM SETGO # ALARM HAS BEEN REMOVED FROM THIS
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CULTFLAG
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28D # SUBROUTINE, ALARM WILL BE SET BY MPI
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28D # SUBROUTINE,ALARM WILL BE SET BY MPI
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ZNB=S1 DLOAD
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270DEG
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STODL SAC
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@ -188,12 +190,11 @@ ZNB=S1 DLOAD
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CLRGO
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CULTFLAG
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28D
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# Page 289
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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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@ -208,6 +209,7 @@ ZNB=S1 DLOAD
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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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BANK 23
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SETLOC COMGEOM2
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BANK
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@ -249,7 +251,6 @@ SVDWN2 VLOAD VSL*
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0,2
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STORE V-OTHER
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RVQ
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# Page 291
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# SUBROUTINE TO COMPUTE THE NATURAL LOG OF C(MPAC, MPAC +1).
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#
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@ -258,7 +259,7 @@ SVDWN2 VLOAD VSL*
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#
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# SUBROUTINE RETURNS WITH -LOG IN DP MPAC.
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#
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# EBANK IS ARBITRARY.
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# EBANK IS ARBITRARY..
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BANK 14
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SETLOC POWFLIT2
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@ -269,7 +270,9 @@ LOG NORM BDSU # GENERATES LOG BY SHIFTING ARG
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MPAC +3 # UNTIL IT LIES BETWEEN .5 AND 1.
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NEARLY1 # THE LOG OF THIS PART IS FOUND AND THE
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EXIT # LOG OF THE SHIFTED PART IS COMPUTED
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TC POLY # AND ADDED IN. SHIFT COUNT STORED
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DEC 2 # (N-1, SUPPLIED BY SMERZH)
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2DEC 0 # IN MPAC +3.
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2DEC .031335467
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@ -299,29 +302,25 @@ NEARLY1 2DEC .999999999
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CLOG2/32 2DEC .0216608494
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# Page 293
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# SUBROUTINE NAME: EARTH ROTATOR (EARROT1 OR EARROT2) DATE: 15 FEB 67
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# MOD NO: N +1 LOG SECTION: POWERED FLIGHT SUBROS
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# SUBROUTINE NAME: EARTH ROTATOR (EARROT1 OR EARROT2) DATE: 15 FEB 67
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# MOD NO: N +1 LOG SECTION: POWERED FLIGHT SUBROS
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# MOD BY: ENTRY GROUP (BAIRNSFATHER)
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#
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# FUNCTIONAL DESCRIPTION: THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH
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# FUNCTIONAL DESCRIPTION: THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH
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# THE ESTIMATED TIME OF FLIGHT. INITIAL CALL RESOLVES THE INITIAL TARGET VECTOR RTINIT INTO EASTERLY
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# AND NORMAL COMPONENTS RTEAST AND RTNORM. INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR
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# ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE WIE DTEAROT TO OBTAIN THE ROTATED
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# TARGET VECTOR RT. ALL VECTORS EXCEPT UNITW ARE HALF UNIT.
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# THE EQUATIONS ARE:
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# _ _ _ _
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# AND NORMAL COMPONENTS RTEAST AND RTNORM . INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR
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# ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE WIE DTEAROT TO OBTAIN THE ROTATED
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# TARGET VECTOR RT . ALL VECTORS EXCEPT UNITW ARE HALF UNIT.
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# THE EQUATIONS ARE
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# - - - -
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# RT = RTINIT + RTNORM (COS(WT) - 1) + RTEAST SIN(WT)
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#
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# WHERE WT = WIE DTEAROT
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#
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# RTINIT = INITIAL TARGET VECTOR
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# _ _ _
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# RTEAST = UNITW * RTINIT
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# _ _ _
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# RTNORM = RTEAST * UNITW
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# - - -
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# RTEAST = UNITW*RTINIT
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# - - -
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# RTNORM = RTEAST*UNITW
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#
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# FOR CONTINUOUS UPDATING, ONLY ONE ENTRY TO EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2.
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#
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# CALLING SEQUENCE: FIRST CALL SUBSEQUENT CALL
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# STCALL DTEAROT STCALL DTEAROT
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# EARROT1 EARROT2
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@ -329,21 +328,16 @@ CLOG2/32 2DEC .0216608494
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# PUSHLOC = PDL+0, ARBITRARY. 6 LOCATIONS USED.
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#
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# SUBROUTINES USED: NONE
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#
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# NORMAL EXIT MODES: RVQ
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#
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# ALARMS: NONE
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#
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# OUTPUT: RTEAST (-1) .5 UNIT VECTOR EAST, COMPNT OF RTINIT LEFT BY FIRST CALL
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# RTNORM (-1) .5 UNIT VECTOR NORML, COMPNT OF RTINIT LEFT BY FIRST CALL
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# RT (-1) .5 UNIT TARGET VECTOR, ROTATED LEFT BY ALL CALLS
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# DTEAROT (-28) CS MAY BE CHANGED BY EARROT2, IF OVER 1 DAY
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#
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# OUTPUT: RTEAST (-1) .5 UNIT VECTOR EAST, COMPNT OF RTINIT LEFT BY FIRST CALL
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# RTNORM (-1) .5 UNIT VECTOR NORML, COMPNT OF RTINIT LEFT BY FIRST CALL
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# RT (-1) .5 UNIT TARGET VECTOR, ROTATED LEFT BY ALL CALLS
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# DTEAROT (-28) CS MAY BE CHANGED BY EARROT2, IF OVER 1 DAY
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# ERASABLE INITIALIZATION REQUIRED:
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# UNITW (0) UNIT POLAR VECTOR PAD LOADED
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# RTINIT (-1) .5 UNIT INITIAL TARGET VECTOR LEFT BY ENTRY
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# DTEAROT (-28) CS TIME OF FLIGHT LEFT BY CALLER
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#
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# UNITW (0) UNIT POLAR VECTOR PAD LOADED
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# RTINIT (-1) .5 UNIT INITIAL TARGET VECTOR LEFT BY ENTRY
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# DTEAROT (-28) CS TIME OF FLIGHT LEFT BY CALLER
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# DEBRIS: QPRET, PDL+0 ... PDL+5
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# Page 294
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EBANK= RTINIT
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@ -370,7 +364,7 @@ EARROT2 BOVB DDV
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SIN VXSC
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RTEAST # .5 UNIT
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VAD VSL1
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VAD UNIT # INSURE THAT RT IS "UNIT".
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VAD UNIT # INSURE THAT RT IS 'UNIT'.
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RTINIT # .5 UNIT
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STORE RT # .5 UNIT TARGET VECTOR
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@ -407,12 +401,15 @@ NB1NB2 2DEC +.8431756920 B-1
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2DEC -.5376381241 B-1
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2DEC 0
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2DEC +.8431756920 B-1
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# Page 296
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10DEGS- DEC 3600
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270DEG OCT 60000 # SHAFT 270 DEGREES 25 COMP.
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270DEG OCT 60000 # SHAFT 270 DEGREES 2S COMP.
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OCT 00000
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20DEGS- DEC -07199
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DEC -00000
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20DEG- DEC 03600
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DEC 00000
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