1409 lines
25 KiB
ArmAsm
1409 lines
25 KiB
ArmAsm
# Copyright: Public domain.
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# Filename: P32-P33_P72-P73.agc
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# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
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# It is part of the source code for the Command Module's (CM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 649-683
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# Mod history: 2009-05-09 RSB Adapted from the Luminary131/ file
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# P32-P35_P72-P75.agc and Comanche055 page
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# images.
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# 2009-05-20 RSB Corrected CSI/COM3 -> CSI/CDH3,
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# CSI/CDHI -> CSI/CDH1, CDHTAB -> CDHTAG,
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# changed a SETLOC from CSI/CDH to CSI/CDH1,
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# a SETLOC CSI/CDH1 to CSIPROG.
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# 2009-05-21 RSB Changed a P32/P72D to P32/P72E in
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# P32/P72D. DP1/4TH changed to DP1/4 in
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# CDHMVR.
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#
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# This source code has been transcribed or otherwise adapted from digitized
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# images of a hardcopy from the MIT Museum. The digitization was performed
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# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
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# thanks to both. The images (with suitable reduction in storage size and
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# consequent reduction in image quality as well) are available online at
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# www.ibiblio.org/apollo. If for some reason you find that the images are
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# illegible, contact me at info@sandroid.org about getting access to the
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# (much) higher-quality images which Paul actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. 10:28 APR. 1, 1969
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#
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# This AGC program shall also be referred to as
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# Colossus 2A
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# Page 649
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# COELLIPTIC SEQUENCE INITIATION (CSI) PROGRAMS (P32 AND P72)
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#
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# MOD NO -1 LOG SECTION -- P32-P35, P72-P75
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# MOD BY WHITE, P. DATE 1 JUNE 67
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#
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# PURPOSE
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# (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE FOLLOWING
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# CONCENTRIC FLIGHT PLAN MANEUVERS -- THE CO-ELLIPTIC SEQUENCE
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# INITIATION (CSI) MANEUVER AND THE CONSTANT DELTA ALTITUDE
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# (CDH) MANEUVER.
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# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
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# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
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# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
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# ASSOCIATED WITH THE CONCENTRIC FLIGHT PLAN MANEUVERS FOR
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# APPROVAL BY THE ASTRRONAUT/GROUND.
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# (4) TO STORE THE CSI TARGET PARAMETERS FOR USE BY THE DESIRED
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# THRUSTING PROGRAM.
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#
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# ASSUMPTIONS
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# (1) AT A SELECTED TPI TIME THE LINE OF SIGNT BETWEEN THE ACTIVE
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# AND PASSIVE VEHICLES IS SELECTED TO BE A PRESCRIBED ANGLE (E)
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# FROM THE HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE
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# POSITION.
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# (2) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION MUST BE
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# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
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# COMPLETION OF THE PROGRAM.
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# (3) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION MUST BE
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# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
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# COMPLETION OF THE PROGRAM.
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# (4) CDH DELTA V IS SELECTED TO MINIMIZE THE VARIATION OF THE
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# ALTITUDE DIFFERENCE BETWEEN THE ORBITS.
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# (5) CSI BURN IS DEFINED SUCH THAT THE IMPULSIVE DELTA V IS IN THE
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# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION AT CSI
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# IGNITION.
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# (6) THE PERICENTER ALTITUDE OF THE ORBIT FOLLOWING CSI AND CDH
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# MUST BE GREATER THAN 35,000 FT (LUNAR ORBIT) OR 85 NM (EARTH
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# ORBIT) FOR SUCCESSFUL COMPLETION OF THIS PROGRAM.
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# (7) THE CSI AND CDH MANEUVERS ARE ORIGINALLY ASSUMED TO BE
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# PARALLEL TO THE PLANE OF THE CSM ORBIT. HOWEVER, CREW
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# Page 650
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# MODIFICATION OF DELTA V (LV) COMPONENTS MAY RESULT IN AN
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# OUT-OF-PLANE CSI MANEUVER
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# (8) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
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# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 10).
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# (9) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY
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# THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED
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# ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME
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# EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES.
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# (10) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM
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# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
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# DESIRED THE RADAR WAS TURNED ON AND LOCKED BY THE CSM BY
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# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
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# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
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# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
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# MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH
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# THRUSTING MANEUVER.
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# (11) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
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# (12) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
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#
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# ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS
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# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
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# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
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# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
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#
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# FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
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# COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY
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# CYCLE.
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#
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# EXTERNAL DELTA V STEERING FLAG -- DESIGNATES THE TYPE OF
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# STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE
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# THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS
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# PROGRAM.
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#
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# (13) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO
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# A THRUSTING MANEUVER.
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#
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# (14) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY
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#
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# P32 IF THIS VEHICLE IS ACTIVE VEHICLE.
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#
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# P72 IF THIS VEHICLE IS THE PASSIVE VEHICLE.
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#
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# INPUT
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# (1) TCSI TIME OF THE CSI MANEUVER
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# Page 651
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# (2) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
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# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
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# MANEUVER POINT.
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# (3) ELEV DESIRED LOS ANGLE AT TPI
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# (4) TTPI TIME OF THE TPI MANEUVER
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#
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# OUTPUT
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# (1) TRKMKCNT NUMBER OF MARKS
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# (2) TTOGO TIME TO GO
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# (3) +MGA MIDDLE GIMBAL ANGLE
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# (4) DIFFALT DELTA ALTITUDE AT CDH
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# (5) T1TOT2 DELTA TIME FROM CSI TO CDH
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# (6) T2TOT3 DELTA TIME FROM CDH TO TPI
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# (7) DELVLVC DELTA VELOCITY AT CSI -- LOCAL VERTICAL COORDINATES
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# (8) DELVLVC DELTA VELOCITY AT CDH -- LOCAL VERTICAL COORDINATES
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#
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# DOWNLINK
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# (1) TCSI TIME OF THE CSI MANEUVER
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# (2) TCDH TIME OF THE CDH MANEUVER
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# (3) TTPI TIME OF THE TPI MANEUVER
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# (4) TIG TIME OF THE CSI MANEUVER
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# (5) DELVEET1 DELTA VELOCITY AT CSI -- REFERENCE COORDINATES
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# (6) DELVEET2 DELTA VELOCITY AT CDH -- REFERENCE COORDINATES
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# (7) DIFFALT DELTA ALTITUDE AT CDH
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# (8) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
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# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
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# MANEUVER POINT
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# (9) ELEV DESIRED LOS ANGLE AT TPI
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#
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# COMMUNICATION TO THRUSTING PROGRAMS
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# (1) TIG TIME OF THE CSI MANEUVER
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# (2) RTIG POSITION OF ACTIVE VEHICLE AT CSI -- BEFORE ROTATION
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# INTO PLANE OF PASSIVE VEHICLE
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# (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CSE -- BEFORE ROTATION
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# INTO PLANE OF PASSIVE VEHICLE
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# (4) DELVSIN DELTA VELOCITY AT CSI -- REFERENCE COORDINATES
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# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CSI
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# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION
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#
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# SUBROUTINES USED
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# AVFLAGA
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# AVFLAGP
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# P20FLGON
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# VARALARM
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# BANKCALL
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# GOFLASH
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# GOTOP00H
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# Page 652
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# VNP00H
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# GOFLASHR
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# BLANKET
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# ENDOFJOB
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# SELECTMU
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# ADVANCE
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# INTINT
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# PASSIVE
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# CSI/A
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# S32/33.1
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# DISDVLVC
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# VN1645
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BANK 35
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SETLOC CSI/CDH1
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BANK
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EBANK= SUBEXIT
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COUNT 35/P3272
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P32 TC AVFLAGA
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TC P32STRT
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P72 TC AVFLAGP
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P32STRT TC INTPRET
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DLOAD
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ZEROVEC
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STORE CENTANG
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EXIT
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TC P32/P72A
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ALMXITA SXA,2
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CSIALRM
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ALMXIT LXC,1
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CSIALRM
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SLOAD* EXIT
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ALARM/TB -1,1
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CA MPAC
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TC VARALARM
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CAF V05N09
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TC BANKCALL
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CADR GOFLASH
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TC GOTOP00H
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TC -4
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P32/P72A TC P20FLGON
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TC INTPRET
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DLOAD
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ZEROVEC
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STORE NN
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EXIT
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CAF V06N11 # TCSI
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TC VNP00H
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CAF V06N55
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# Page 653
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TC BANKCALL
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CADR GOFLASH
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TC GOTOP00H
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TC +2
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TC -5
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CAF V06N37 # TTPI
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TC VNP00H
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TC INTPRET
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DLOAD
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TCSI
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STCALL TIG
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SELECTMU
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P32/P72B CALL
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ADVANCE
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SETPD VLOAD
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0D
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VPASS1
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PDVL PDDL
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RPASS1
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TCSI
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PDDL PDDL
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TTPI
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2PISC
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SL2 PUSH
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CALL
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INTINT
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CALL
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PASSIVE
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CALL
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CSI/A
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P32/P72C BON SET
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FINALFLG
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P32/P72D
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UPDATFLG
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P32/P72D DLOAD GOTO
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T1TOT2
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P32/P72E
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SETLOC CSI/CDH3
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BANK
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P32/P72E STORE T1TOT2
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DSU BPL
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60MIN
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P32/P72E
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DLOAD GOTO
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T2TOT3
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P32/P72F
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SETLOC CSI/CDH1
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BANK
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P32/P72F STORE T2TOT3
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DSU BPL
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# Page 654
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60MIN
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P32/P72F
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EXIT
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CAF V06N75
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TC VNP00H
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TC INTPRET
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VLOAD CALL
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DELVEET1
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S32/33.1
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STOVL DELVEET1
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RACT2
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STOVL RACT1
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DELVEET2
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AXT,1 CALL
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VN 0682
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DISDVLVC
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DLOAD
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TTPI
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STCALL TTPIO
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VN1645
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GOTO
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P32/P72B
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# Page 655
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# CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73)
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# MOD NO -1 LOC SECTION -- P32-P35, P72-P75
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# MOD BY WHITE, P. DATE: 1 JUNE 67
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#
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# PURPOSE
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#
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# (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE CONSTANT DELTA
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# ALTITUDE MANEUVER (CDH).
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#
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# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
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|
# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
|
|
#
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# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
|
|
# ASSOCIATED WITH THE CDH MANEUVER FOR APPROVAL BY THE
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# ASTRONAUT/GROUND.
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#
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# (4) TO STORE THE CDH TARGET PARAMETERS FOR USE BY THE DESIRED
|
|
# THRUSTING PROGRAM.
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#
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# ASSUMPTIONS
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#
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# (1) THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF THE
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# CO-ELLIPTIC SEQUENCE INITIATION (CSI) PROGRAM (P32/P72).
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|
# THEREFORE --
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#
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# (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT
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# BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE
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# A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE
|
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# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION.
|
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#
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# (B) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION WAS
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# COMPUTED TO BE GREATER THAN 10 MINUTES.
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#
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# (C) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS
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# COMPUTED TO BE GREATER THAN 10 MINUTES.
|
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#
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# (D) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE
|
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# ORBITS WAS MINIMIZED.
|
|
#
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# (E) CSI BURN WAS DEFINED SUCH THAT THE IMPULSIVE DELTA V WAS
|
|
# IN THE HORIZONTAL PLANE DEFINED BY ACTIVE VEHICLE
|
|
# POSITION AT CSI IGNITION.
|
|
#
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# (F) THE PERICENTER ALTITUDES OF THE ORBITS FOLLOWING CSI AND
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# 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.
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# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CDH.
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# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION.
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#
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# SUBROUTINES USED
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#
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# AVFLAGA
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# AVFLAGP
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# P20FLGON
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# VNP00H
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# SELECTMU
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# ADVANCE
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# CDHMVR
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# INTINT3P
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# ACTIVE
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# PASSIVE
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# S33/S34.1
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# ALARM
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# BANKCALL
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# GOFLASH
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# GOTOP00H
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# S32/33.1
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# Page 658
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# VN1645
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COUNT 35/P3373
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P33 TC AVFLAGA
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TC P33/P73A
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P73 TC AVFLAGP
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P33/P73A TC P20FLGON
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CAF V06N13 # TCDH
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TC VNP00H
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TC INTPRET
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DLOAD
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TTPIO
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STODL TTPI
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TCDH
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STCALL TIG
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SELECTMU
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P33/P73B CALL
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ADVANCE
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CALL
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CDHMVR
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SETPD VLOAD
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0D
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VACT3
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PDVL CALL
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RACT2
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INTINT3P
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CALL
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ACTIVE
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SETPD VLOAD
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0D
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VPASS2
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PDVL CALL
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RPASS2
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INTINT3P
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CALL
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PASSIVE
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DLOAD SET
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ZEROVEC
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ITSWICH
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STCALL NOMTPI
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S33/34.1
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BZE EXIT
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P33/P73C
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TC ALARM
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OCT 611
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CAF V05N09
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TC BANKCALL
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CADR GOFLASH
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TC GOTOP00H
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# Page 659
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TC +2
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TC P33/P73A
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TC INTPRET
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DLOAD
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ZEROVEC
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STCALL NOMTPI
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P33/P73C
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SETLOC CSI/CDH2
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BANK
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P33/P73C BON SET
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FINALFLG
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P33/P73D
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UPDATFLG
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P33/P73D DLOAD DAD
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NOMTPI
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TTPI
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STORE TTPI
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DSU GOTO
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TCDH
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P33/P73E
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SETLOC CSI/CDH1
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BANK
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P33/P73E DSU BPL
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60MIN
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P33/P73E
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DAD
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60MIN
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STODL T1TOT2
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TTPI
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DSU PUSH
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TTPIO
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P33/P73F ABS DSU
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60MIN
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BPL DAD
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P33/P73F
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60MIN
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SIGN STADR
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STORE T2TOT3
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EXIT
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CAF V06N75
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TC VNP00H
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TC INTPRET
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VLOAD CALL
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DELVEET2
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S32/33.1
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STCALL DELVEET2
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VN1645
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GOTO
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# Page 660
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P33/P73B
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# Page 661
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# ***** AVFLAGA/P *****
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# Page 662
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# ***** DISDVLVC *****
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#
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# SUBROUTINES USED
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#
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# S32/33.X
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# VNP00H
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SETLOC CDHTAG3
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BANK
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DISDVLVC STORE DELVLVC
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STQ CALL
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NORMEX
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S32/33.X
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VLOAD MXV
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DELVLVC
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0D
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VSL1 SXA,1
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VERBNOUN
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STORE DELVLVC
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EXIT
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CA VERBNOUN
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TC VNP00H
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TC INTPRET
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GOTO
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NORMEX
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SETLOC FFTAG12
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BANK
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V06N11 VN 0611
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V06N13 VN 0613
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V06N75 VN 0675
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V06N50 VN 0650
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# Page 663
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# ***** CSI/A *****
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#
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# SUBROUTINES USED
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#
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# VECSHIFT
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# TIMETHET
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# PERIAPO
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# SHIFTR1
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# INTINT2C
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# CDHMVR
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# PERIAPO1
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# INTINT
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# ACTIVE
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BANK 34
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SETLOC CSIPROG
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BANK
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EBANK= SUBEXIT
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COUNT 34/CSI
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60MIN 2DEC 360000
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ALARM/TB OCT 00600 # NO 1
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OCT 00601 # 2
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OCT 00602 # 3
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OCT 00603 # 4
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OCT 00604 # 5
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OCT 00605 # 6
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OCT 00606 # 7
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LOOPMX 2DEC 16
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INITST 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS
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DVMAX1 2DEC 3.0480 B-7 # MAXIMUM DV1 = 1000 FPS
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DVMAX2 2DEC 3.014472 B-7 # 989 FPS
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1DPB2 2DEC 1.0 B-2
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1DPB28 2DEC 1
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EPSILN1 2DEC .0003048 B-7 # .1 FPS
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FIFPSDP 2DEC -.152400 B-7 # 5 FPS
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DELMAX1 2DEC .6096000 B-7 # 200 FPS
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SETLOC CSI/CDH
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BANK
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PMINE 2DEC 157420 B-29 # 84 NM -- MUST BE 8 WORDS BEFORE PMINM
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# Page 664
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NICKELDP 2DEC .021336 B-7 # 7 FPS
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INITST1 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS
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ONETHTH 2DEC .0001 B-3
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PMINM 2DEC 10668 B-29 # 35000 FT -- MUST BE 8 WORDS AFTER PMINE
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SETLOC CSIPROG
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BANK
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CSI/A CLEAR SET # INITIALIZE INDICATORS
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S32.1F1 # DVT1 HAS EXCEEDED MAX INDICATOR
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S32.1F2 # FIRST PASS FOR NEWTON ITERATION INDICATOR
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CLEAR SET
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S32.1F3A # 00=1ST 2 PASSES 2ND CYCLE, 01=FIRST CYCLE
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S32.1F3B # 10=2ND CYCLE, 11=50 FPS STAGE 2ND CYCLE
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DLOAD
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ZEROVEC
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STORE LOOPCT
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STORE CSIALRM
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CSI/B SETPD VLOAD
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0D
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RACT1
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ABVAL PUSH # RA1 B29 PL02D
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NORM SR1
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X2 # B29-N2+ B1 PL04D
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PDVL ABVAL
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RPASS3
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NORM BDDV # RA1/RP3 B1 PL02D
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X1
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XSU,2 SR* # B2
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X1
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1,2
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DAD DMP # (1+(RA1/RP3))RA1 B29+B2=B31 PL00D
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1DPB2
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NORM PDDL # PL02D
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X1
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RTMU
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SR1 DDV # B38-B31= B7 PL00D
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SL* SQRT # B7
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0 -7,1
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PDVL UNIT # PL02D
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RACT1
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PDVL VXV
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UP1
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UNIT # UNIT(URP1 X UVP1 X URA1) = UH1
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DOT SL1 # VA1 . UH1 B7
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VACT1
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BDSU STADR # PL00D
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# Page 665
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STODL DELVCSI
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INITST # 10 FPS
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STORE DELDV
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CSI/B1 DLOAD DAD # IF LOOPCT = 16
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LOOPCT
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1DPB28
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STORE LOOPCT
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DSU AXT,2
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LOOPMX
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6
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BPL GOTO
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SCNDSOL
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CSI/B2
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SETLOC CSIPROG2
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BANK
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CSI/B2 SETPD
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0D
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DLOAD ABS
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DELVCSI
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DSU BMN
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DVMAX1
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CSI/B23
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AXT,2 BON
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7
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S32.1F1
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SCNDSOL
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BOFF BON
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S32.1F3A
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CSI/B22 # FLAG 3 NEQ 3
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S32.1F3B
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SCNDSOL
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CSI/B22 SET DLOAD
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S32.1F1
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DVMAX2
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SIGN
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DELVCSI
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STCALL DELVCSI
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CSI/B23
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SETLOC CSIPROG3
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BANK
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CSI/B23 VLOAD PUSH
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RACT1
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UNIT PDVL
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UP1
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VXV UNIT # UNIT (URP1 X UVP1 X URA1) = UH1
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VXSC VSL1
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# Page 666
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DELVCSI
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STORE DELVEET1
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VAD BOV
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VACT1
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CSI/B23D
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CSI/B23D STCALL VACT4
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VECSHIFT
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STOVL VVEC
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SET
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RVSW
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STOVL RVEC
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SN359+
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STCALL SNTH # ALSO CSTH
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TIMETHET
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SR1 LXA,1
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RTX1
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STCALL HAFPA1
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PERIAPO
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CALL
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SHIFTR1
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STODL POSTCSI
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CENTANG
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BZE GOTO
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+2
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CIRCL
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DLOAD
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ECC
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DSU BMN
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ONETHTH
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CIRCL
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DLOAD CALL
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R1
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SHIFTR1
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SETPD NORM
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2D
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X1
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PDVL DOT # PL04D
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RACT1
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VACT4
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ABS DDV
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02D # (/RDOTV/)/R1 B36-B29= B7
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SL* DSU
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0,1
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NICKELDP
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BMN DLOAD
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CIRCL
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P
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SL2 DSU
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1RTEB2 # 1.B.2
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STODL 14D
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# Page 667
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RTSR1/MU
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SR1 DDV # (1/ROOTMU)/R1 B-16-B29 = B-45 PL02D
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PDDL DMP
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P
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R1
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CALL
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SHIFTR1
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SL4 SL1
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SQRT DMP # ((P/MU)**.5)/R1 B14+B-14 = B-31 BL02D
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BOFF SL3
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CMOONFLG
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CSI/B3
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CSI/B3 PDVL DOT
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RACT1
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VACT4
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STORE RDOTV
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ABS
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NORM DMP # ((P/MU)**.5)RDOTV/R1 PL02D
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X2
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XSU,1 SL* # B-31+B36-B3 = B2
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X2
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3,1
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STODL 12D
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ZEROVECS
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STORE 16D
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VLOAD UNIT
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12D
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STOVL SNTH # ALSO STORES CSTH AND 0
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RACT1
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PDVL SIGN
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VACT4
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RDOTV
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VCOMP CALL
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VECSHIFT
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STOVL VVEC
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SETGO
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RVSW
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CSINEXT
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SN359+ 2DEC -.000086601
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CS359+ 2DEC +.499999992
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SETLOC CSIPROG4
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BANK
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CSINEXT STCALL RVEC
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TIMETHET
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PDDL BPL
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RDOTV
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# Page 668
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NTP/2
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DLOAD DSU
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HAFPA1
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PUSH GOTO
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NTP/2
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CIRCL SETPD DLOAD
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00D
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ZEROVECS
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PUSH
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NTP/2 DLOAD DMP
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NN
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HAFPA1
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SL DSU
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14D
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DAD
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TCSI
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STORE TCDH
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BDSU AXT,2
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TTPI
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5D
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BMN SETPD
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SCNDSOL
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0D
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VLOAD PDVL
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VACT4
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RACT1
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CALL
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INTINT2C
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STOVL RACT2
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VATT
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STOVL VACT2
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VPASS1
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SETPD PDVL
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0D
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RPASS1
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GOTO
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CSINEXT1
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SETLOC CSIPROG5
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BANK
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CSINEXT1 CALL
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INTINT2C
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STOVL RPASS2
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VATT
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STCALL VPASS2
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CDHMVR
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VLOAD SETPD
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RACT2
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0D
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# Page 669
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PDVL CALL
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VACT3
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PERIAPO1
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CALL
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SHIFTR1
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STOVL POSTCDH
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VACT3
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SETPD PDVL
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0D
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RACT2
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PDDL PDDL
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TCDH
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TTPI
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PDDL SL2
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2PISC
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PUSH CALL
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INTINT
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CALL
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ACTIVE
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DLOAD
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ELEV
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SETPD SINE
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6D
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PDVL UNIT
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RACT3
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STORE 00D # URA3 AT 00D
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PDVL VXV # PL14D, PL08D
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UP1
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UNIT
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PDDL COSINE # UNIT(URA3 X UVA3 X URA3) = UH3 B1 PL14D
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ELEV
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VXSC STADR # (COSLOS)(UH3) B2 PL08D
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STCALL 18D # PLUS
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CSINEXT2
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SETLOC CSIPROG6
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BANK
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CSINEXT2 DLOAD VXSC # (SINLOS)(URA3) = U B2 PL00D
|
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VAD VSL1
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18D # B1
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PUSH DOT # PL06D
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RACT3 # (U . RA3) = TEMP1 B1 + B29 = B30
|
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SL1 PUSH # B29 PL08D
|
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DSQ TLOAD # TEMP1**2 B58
|
|
MPAC
|
|
PDVL DOT # PL11D
|
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RACT3
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RACT3
|
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TLOAD DCOMP # RA3 . RA3
|
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# Page 670
|
|
MPAC
|
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PDVL DOT # RP3 . RP3 B58 PL14D
|
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RPASS3
|
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RPASS3 # PL11D
|
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TAD TAD # TEMP1**2 + RA3.RA3 + RP3.RP3 = TEMP2 PL08D
|
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BPL DLOAD
|
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K10RK2
|
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LOOPCT
|
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DSU AXT,2
|
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1DPB28
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1D
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BZE
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|
ALMXITA
|
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DLOAD SR1
|
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DELDV
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STORE DELDV
|
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BDSU
|
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DVPREV
|
|
STCALL DELVCSI
|
|
CSI/B1
|
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K10RK2 SQRT PUSH # TEMP3 = TEMP2**.5 B29 PL10D
|
|
DCOMP DSU
|
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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
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14D
|
|
BMN DLOAD
|
|
K2.
|
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12D
|
|
STCALL 10D # K EQUALS K1
|
|
K2.
|
|
|
|
SETLOC CSIPROG7
|
|
BANK
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|
|
|
K2. DLOAD
|
|
10D
|
|
VXSC VSL1
|
|
VAD UNIT # V = RA3 + KU UNIT B1
|
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RACT3
|
|
PDVL UNIT
|
|
RPASS3 # PL06D
|
|
PDVL UNIT
|
|
VPASS3 # PL12D
|
|
VXV PDVL # UVP3 X URP3 PL18D
|
|
# Page 671
|
|
06D
|
|
06D
|
|
VXV DOT
|
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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
|
|
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
|
|
|