P34-35_P74-75.agc - virtualagc - Virtual AGC and AGS emulation

Source path: svn/ trunk/ Luminary099/ P34-35_P74-75.agc

‹r694

r864

# Copyright:	Public domain.
# Filename:	P34-35_P74-75.agc
# Purpose: 	Part of the source code for Luminary 1A build 099.
#		It is part of the source code for the Lunar Module's (LM)
#		Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler:	yaYUL
# Contact:	Ron Burkey <info@sandroid.org>.
# Website:	www.ibiblio.org/apollo.
# Pages:	658-702
# Mod history:	2009-05-19 RSB	Adapted from the corresponding 
#				Luminary131 file, using page 
#				images from Luminary 1A.
#		2009-06-05 RSB	Corrected a typo.
#		2011-01-06 JL	Fixed pseudo-label indentation.
#		2011-01-06 JL	Added missing comment characters.
#		2011-05-07 JL	Removed workaround.

# This source code has been transcribed or otherwise adapted from
# digitized images of a hardcopy from the MIT Museum.  The digitization
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
# the Museum.  Many thanks to both.  The images (with suitable reduction
# in storage size and consequent reduction in image quality as well) are
# available online at www.ibiblio.org/apollo.  If for some reason you
# find that the images are illegible, contact me at info@sandroid.org
# about getting access to the (much) higher-quality images which Paul
# actually created.
#
# Notations on the hardcopy document read, in part:
#
#	Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
#	16:27 JULY 14, 1969 

# Page 658
# TRANSFER PHASE INITITIATION (TPI) PROGRAMS (P34 AND P74)

# MOD NO -1			LOG SECTION -- P32-P35, P72-P75
# MOD BY WHITE, P.		DATE: 1 JUNE 67
#
# PURPOSE
#
#	(1)	TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS
#		REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE TRANSFER
#		PHASE INITITATION (TPI) MANEUVER, GIVEN --

#		(A)	TIME OF IGNITION TIG (TPI) OR THE ELEVATION ANGLE (E) OF
#			THE ACTIVE/PASSIVE VEHICLE LOS AT TIG (TPI).

#		(B)	CENTRAL ANGLE OF TRANSFER (CENTANG) FROM TIG (TPI) TO
#			INTERCEPT TIME (TIG (TPF)).

#	(2)	TO CALCULATE TIG (TPI) GIVEN E OR E GIVEN TIG (TPI).

#	(3)	TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
#		APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.

#	(4)	TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT
#		VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE
#		ASTRONAUT/GROUND.

#	(5)	TO STORE THE TPI TARGET PARAMETERS FOR USE BY THE DESIRED
#		THRUSTING PROGRAM.
#
# ASSUMPTIONS

#	(1)	LM ONLY -- THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF
#		THE CONSTANT DELTA ALTITUDE (CDH) PROGRAM (P33/P73).
#		THEREFORE --

#		(A)	AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT
#			BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE
#			A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE
#			HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION.

#		(B)	THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS
#			COMPUTED TO BE GREATER THAN 10 MINUTES.

#		(C)	THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE
#			ORBITS WAS MINIMIZED.

#		(D)	THE PERICENTER ALTITUDES OF ORBITS FOLLOWING CSI AND
#			CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR
# Page 659
#			ORBIT OR 85 NM FOR EARTH ORBIT.

#		(E)	THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO
#			THE PLANE OF THE PASSIVE VEHICLE ORBIT.  HOWEVER, CREW
#			MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED
#			IN AN OUT-OF-PLANE MANEUVER.

#	(2)	STATE VECTOR UPDATED BY P27 ARE DISALLOWED DURING AUTOMATIC
#		STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (4)).

#	(3)	THIS PROGRAM MUST BE DONE OVER A TRACKING STATION FOR REAL
#		TIME GROUND PARTICIPATION IN DATA INPUT AND OUTPUT.  COMPUTED
#		VARIABLES MAY BE STORED FOR LATER VERIFICATION BY THE GROUND.
#		THESE STORAGE CAPABILITIES ARE 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
#			SELECTED THE FINAL MANEUVER COMPUTATION CYCLE.
#
#			EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING
#			REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING
#			PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM.
#
#	(7)	ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER
#		HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE
#		VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STURED.
#		THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT
#		THROUGH THE USE OF V06N52.
#
#		THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE
#		CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN
# Page 660
#		170 TO 190 DEGREES.  IF THE ANGLE IS WITHIN THIS ZONE THE
#		ASTRONAUT SHOULD REASSES THE INPUT TARGETING PARAMETERS BASED
#		UPON DELTA V AND EXPECTED MANEUVER TIME.
#
#	(8)	THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY --
#
#			P34 IF THIS VEHICLE IS ACTIVE VEHICLE.
#
#			P74 IF THIS VEHICLE IS PASSIVE VEHICLE.
#
# INPUT
#
#	(1)	TTPI	TIME OF THE TPI MANEUVER.
#	(2)	ELEV	DESIRED LOS ANGLE AT TPI
#	(3)	CENTANG	ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING
#			TRANSFER FROM TPI TO TIME OF INTERCEPT
#
# OUTPUT
#
#	(1)	TRKMKCNT	NUMBER OF MARKS
#	(2)	TTOGO		TIME TO GO
#	(3)	+MGA		MIDDLE GIMBAL ANGLE
#	(4)	TTPI		COMPUTED TIME OF TPI MANEUVER
#		 OR
#		ELEV		COMPUTED LOS ANGLE AT TPI
#	(5)	POSTTPI		PERIGEE ALTITUDE AFTER THE TPI MANEUVER
#	(6)	DELVTPI		MAGNITUDE OF DELTA V AT TPI
#	(7)	DELVTPF		MAGNITUDE OF DELTA V AT INTERCEPT
#	(8)	DVLOS		DELTA VELOCITY AT TPI -- LINE OF SIGHT
#	(9)	DELVLVC		DELTA VELOCITY AT TPI -- LOCAL VERTICAL COORDINATES
#
# DOWNLINK
#
#	(1)	TTPI		TIME OF TPI MANEUVER
#	(2)	TIG		TIME OF TPI MANEUVER
#	(3)	ELEV		DESIRED LOS ANGLE AT TPI
#	(4)	CENTANG		ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING
#				TRANSFER FROM TPI TO TIME OF INTERCEPT
#	(5)	DELVEET3	DELTA VELOCITY AT TPI -- REFERENCE COORDINATES
#	(6)	TPASS4		TIME OF INTERCEPT
#
# COMMUNICATION TO THRUSTING PROGRAMS
#
#	(1)	TIG		TIME OF THE TPI MANEUVER
#	(2)	RTARG		OFFSET TARGET POSITION
#	(3)	TPASS4		TIME OF INTERCEPT
#	(4)	XDELVFLG	RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION
#
# SUBROUTINES USED
#
#	AVFLAGA
# Page 661
#	AVFLAGP
#	VNP00H
#	DISPLAYE
#	SELECTMU
#	PRECSET
#	S33/34.1
#	ALARM
#	BANKCALL
#	GOFLASH
#	GOTOP00H
#	TIMETHET
#	S34/35.2
#	PERIAPO1
#	SHIFTR1
#	S34/35.5
#	VN1645

		SETLOC	CSI/CDH
		BANK
		EBANK=	SUBEXIT
		COUNT*	$$/P3474
P34		TC	AVFLAGA
		TC	P34/P74A
P74		TC	AVFLAGP
P34/P74A	TC	P20FLGON	# SET UPDATFLG, TRACKFLG
		CAF	V06N37		# TTPI
		TC	VNP00H
		EXTEND
		DCA	130DEG
		DXCH	CENTANG
		CAF	P30ZERO
		TS	NN
		TC	DISPLAYE	# ELEV AND CENTANG
		TC	INTPRET
		CLEAR	DLOAD
			ETPIFLAG
			TTPI
		STODL	TIG
			ELEV
		BZE	SET
			P34/P74B
			ETPIFLAG
P34/P74B	CALL
			SELECTMU
DELELO		EQUALS	26D
P34/P74C	DLOAD	SET
			ZEROVECS
			ITSWICH
		BON	CLEAR
			ETPIFLAG
# Page 662
			SWCHSET
			ITSWICH
SWCHSET		STORE	NOMTPI
INTLOOP		DLOAD	DAD
			TTPI
			NOMTPI
		STCALL	TDEC1
			PRECSET
		CALL
			S33/34.1
		BZE	EXIT
			SWCHCLR
		TC	ALARM
		OCT	611
		CAF	V05N09
		TC	BANKCALL
		CADR	GOFLASH
		TC	GOTOP00H
		TC	P34/P74A	# PROCEED
		TC	-7		# V32

SWCHCLR		BONCLR	BON
			ITSWICH
			INTLOOP
			ETPIFLAG
			P34/P74D	# DISPLAY TTPI
		EXIT
		TC	DISPLAYE	# DISPLAY ELEV AND CENTANG
		TC	P34/P74E
P34/P74D	EXIT
		CAF	V06N37		# TTPI
		TC	VNP00H
P34/P74E	TC	INTPRET
		SETPD	DLOAD
			0D
			RTX1
		STODL	X1
			CENTANG
		PUSH	COS
		STODL	CSTH
		SIN
		STOVL	SNTH
			RPASS3
		VSR*
			0,2
		STOVL	RVEC
			VPASS3
		VSR*	SET
			0,2
			RVSW
# Page 663
		STCALL	VVEC
			TIMETHET
		DLOAD
			TTPI
		STORE	INTIME		# FOR INITVEL
		DAD
			T		# RENDEZVOUS TIME
		STCALL	TPASS4		# FOR INITVEL
			S34/35.2
		VLOAD	ABVAL
			DELVEET3
		STOVL	DELVTPI
			VPASS4
		VSU	ABVAL
			VTPRIME
		STOVL	DELVTPF
			RACT3
		PDVL	CALL
			VIPRIME
			PERIAPO1
		CALL
			SHIFTR1
		STODL	POSTTPI
			TTPI
		STORE	TIG
		EXIT
		CAF	V06N58
		TC	VNP00H
		TC	INTPRET
		CALL
			S34/35.5
		CALL
			VN1645
		GOTO
			P34/P74C
# Page 664
# RENDEZVOUS MID-COURSE MANEUVER PROGRAMS (P35 AND P75)

# MOD NO -1			LOG SECTION -- P32-P35, P72-P75
# MOD BY WHITE, P.		DATE:  1 JUNE 67
#
# PURPOSE
#
#	(1) 	TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS
#		REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE NEXT
#		MID-COURSE CORRECTION OF THE TRANSFER PHASE OF AN ACTIVE
#		VEHICLE RENDEZVOUS.
#
#	(2)	TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT
#		VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE
#		ASTRONAUT/GROUND.
#
#	(3)	TO STORE THE TPM TARGET PARAMETERS FOR USE BY THE DESIRED
#		THRUSTING PROGRAM.
#
# ASSUMPTIONS
#
#	(1)	THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
#
#	(2)	STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
#		STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (3)).
#
#	(3)	THE RENDEZVOUS RADAR IS ON AND IS LOCKED ON THE CSM.  THIS WAS
#		DONE DURING 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.
#
#	(4)	THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
#
#			THE 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
#			SELECTED THE FINAL MANEUVER COMPUTATION CYCLE.
#
#			EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING
#			REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING
#			PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM.
#
#	(5)	THE TIME OF INTERCEPT (T(INT)) WAS DEFINED BY PREVIOUS
#		COMPLETION OF THE TRANSFER PHASE INITIATION (TPI) PROGRAM
#		(P34/P74) AND IS PRESENTLY AVAILABLE IN STORAGE.
#
# Page 665
#	(6)	ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER
#		HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE
#		VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STORED.
#		THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT
#		THROUGH THE USE OF V06N52
#
#		THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE
#		CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN
#		170 TO 190 DEGREES.  IF THE ANGLE IS WITHIN THIS ZONE THE
#		ASTRONAUT SHOULD REASSESS THE INPUT TARGETING PARAMETERS BASED
#		UPON DELTA V AND EXPECTED MANEUVER TIME.
#
#	(7)	THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY --
#
#			P35 IF THIS VEHICLE IS ACTIVE VEHICLE.
#
#			P75 IF THIS VEHICLE IS PASSIVE VEHICLE.
#
# INPUT
#
#	(1)	TPASS4		TIME OF INTERCEPT -- SAVED FROM P34/P74
#
# OUTPUT
#
#	(1)	TRKMKCNT	NUMBER OF MARKS
#	(2)	TTOGO		TIME TO GO
#	(3)	+MGA		MIDOLF GIMBAL ANGLE
#	(4)	DVLOS		DELTA VELOCITY AT MID -- LINE OF SIGHT
#	(5)	DELVLVC		DELTA VELOCITY AT MID -- LOCAL VERTICAL COORDINATES
#
# DOWNLINK
#
#	(1)	TIG		TIME OF THE TPM MANEUVER
#	(2)	DELVEET3	DELTA VELOCITY AT TPM -- REFERENCE COORDINATES
#	(3)	TPASS4		TIME OF INTERCEPT
#
# COMMUNICATION TO THRUSTING PROGRAMS
#
#	(1)	TIG		TIME OF THE TPM MANEUVER
#	(2)	RTARG		OFFSET TARGET POSITION
#	(3)	TPASS4		TIME OF INTERCEPT
#	(4)	XDELVFLG	RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION.
#
# SUBROUTINES USED
#
#	AVFLAGA
#	AVFLAGP
#	LOADTIME
#	SELECTMU
#	PRECSET
#	S34/35.1
#	S34/35.2
# Page 666
#	S34/35.5
#	VN1645

		COUNT*	$$/P3575
		EBANK=	KT

P35		TC	AVFLAGA
		EXTEND
		DCA	ATIGINC
		TC	P35/P75A
P75		TC	AVFLAGP
		EXTEND
		DCA	PTIGINC
P35/P75A	DXCH	KT
		TC	P20FLGON	# SET UPDATFLG, TRACKFLG
		TC	INTPRET
		CALL
			SELECTMU
P35/P75B	RTB
			LOADTIME
		STORE	TSTRT
		DAD
			KT
		STORE	TIG
		STORE	INTIME		# FOR INITVEL
		STCALL	TDEC1
			PRECSET		# ADVANCE BOTH VEHICLES
		CALL
			S34/35.1	# GET NORM AND LOS FOR TRANSFORM
		CALL
			S34/35.2	# GET DELTA V(LV)
		CALL
			S34/35.5
		CALL
			VN1645
		GOTO
			P35/P75B
# Page 667
# ***** S33/34.1 *****

S33/34.1	STQ	SSP
			NORMEX
			TITER
		OCT	40000
		DLOAD	SETPD
			MAX250
			0D
		STOVL	SECMAX
			RACT3
		STOVL	RAPREC
			VACT3
		STOVL	VAPREC
			RPASS3
		STOVL	RPPREC
			VPASS3
		STORE	VPPREC
ELCALC		CALL
			S34/35.1	# NORMAL AND LOS
		VXV	PDVL
			RACT3		# (RA*VA)*RA 0D
		PDVL	UNIT		# ULOS AT 6D
			RACT3
		PDVL	VPROJ		# XCHNJ AND UP
		VSL2	BVSU
			ULOS
		UNIT	PDVL		# UP AT 0D
		DOT	PDVL		# UP.UN*RA AT 0D
			0D		# UP IN MPAC
		DOT	SIGN
			ULOS
		SL1	ACOS
		PDVL	DOT		# EA AT 0D
			ULOS
			RACT3
		BPL	DLOAD
			TESTY
			DPPOSMAX
		DSU	PUSH
TESTY		BOFF	DLOAD
			ITSWICH
			ELEX
			DELEL
		STODL	DELELO
		DSU
			ELEV
		STORE	DELEL
		ABS	DSU
			ELEPS
# Page 668
		BMN
			TIMEX		# COMMERCIALS EVERYWHERE
FIGTIME		SLOAD	SR1
			TITER
		BHIZ	LXA,1
			NORMEX		# TOO MANY ITERATIONS
			MPAC
		SXA,1	VLOAD
			TITER
			RPASS3
		UNIT	PDDL
			36D
		PDVL	UNIT
			RACT3
		PDDL
		PDDL	PUSH
			36D
		BDSU
			12D
		STODL	30D		# RP - RA MAGNITUDES
			DPHALF
		DSU	PUSH
			ELEV
		SIGN	BMN
			30D
			NORMEX
		DLOAD	COS
		DMP	DDV
			14D
			12D
		DCOMP			# SINCE COS(180-A)=-COS A
		STORE	28D
		ABS	BDSU
			DPHALF
		BMN	VLOAD
			NORMEX
			UNRM
		VXV	UNIT
			6D		# UN*RA
		DOT	DMP
			VACT3
			12D
		PDVL	VXV
			0D
			VPASS3
		VXV	UNIT
			0D		# (RP*VP)*RP
		DOT	DMP
			VPASS3
			14D
# Page 669
		BDSU
		NORM	PDVL		# NORMALIZED WA - WP 12D
			X1
			6D
		VXV	DOT
			0D
			UNRM		# RA*RP.UN 14D
		PDVL	DOT
			0D
			6D
		SL1	ACOS
		SIGN
		DSU	DAD		# ALPHA PI
			DPHALF
			ELEV
		PDDL	ACOS
			28D
		BDSU	SIGN
			DPHALF
			30D		# CONTAINS RP-RA
		DAD
		DMP	DDV
			TWOPI
		DMP
		SL*	DMP
			0 	-3,1
		PUSH	ABS
		DSU	BMN
			SECMAX
			OKMAX
		DLOAD	SIGN		# REPLACE TIME WITH MAX TIME SIGNED
			SECMAX
		PUSH
OKMAX		SLOAD	BPL		# TEST FIRST ITERATION
			TITER
			REPETE
		SSP	DLOAD
			TITER
		OCT	37777
		GOTO
			STORDELT
REPETE		DLOAD	DMP
			DELEL
			DELELO
		BPL	DLOAD
			NEXTES
			SECMAX
		DMP
			THIRD
		STODL	SECMAX
# Page 670
		ABS	SR1		# CROSSED OVER SOLUTION
		DCOMP	GOTO		# DT=(-SIGN(DTO)//DT//)/2
			RESIGN
NEXTES		DLOAD	ABS
			DELEL
		PDDL	ABS
			DELELO
		DSU
		BMN	DLOAD
			REVERS		# WRONG DIRECTION
		ABS
RESIGN		SIGN 	GOTO
			DELTEEO
			STORDELT
REVERS		DLOAD	DCOMP
			DELTEEO
		PUSH	SR1
		STORE	DELTEEO
		DAD
		GOTO
			ADTIME
STORDELT	STORE	DELTEEO
ADTIME		DAD
			NOMTPI		# SUM OF DELTA T'S
		STORE	NOMTPI
		VLOAD	PDVL
			VAPREC
			RAPREC
		CALL
			GOINT
		CALL
			ACTIVE		# STORE NEW RACT3 VACT3
		VLOAD	PDVL
			VPPREC
			RPPREC
		CALL
			GOINT
		CALL
			PASSIVE		# STORE NEW RPASS3 VPASS3
		GOTO
			ELCALC
ELEX		DLOAD	DAD
			TTPI
			NOMTPI
		STODL	TTPI
		BON
			ETPIFLAG
			TIMEX
		STORE	ELEV
TIMEX		DLOAD	GOTO
# Page 671
			ZEROVECS
			NORMEX

# Page 672
# ***** S34/35.1 *****

# COMPUTE UNIT NORMAL AND LINE OF SIGHT VECTORS GIVEN THE ACTIVE AND
# PASSIVE POS AND VEL AT TIME T3

S34/35.1	VLOAD	VSU
			RPASS3
			RACT3
		UNIT	PUSH
		STOVL	ULOS
			RACT3
		VXV	UNIT
			VACT3
		STORE	UNRM
		RVQ

# Page 673
# ***** S34/35.2 *****

# ADVANCE PASSIVE VEH TO RENDEZVOUS TIME AND GET REQ VEL FROM LAMBERT

S34/35.2 	STQ	VLOAD
			SUBEXIT
			VPASS3
		PDVL	PDDL
			RPASS3
			INTIME
		PDDL	PDDL
			TPASS4
			TWOPI		# CONIC
		PDDL	BHIZ
			NN
			S3435.23
		DLOAD
		DLOAD	PUSH
			ZEROVECS	# PRECISION
S3435.23	CALL
			INTINT		# GET TARGET VECTOR
S3435.25	STOVL	RTARG
			VATT
		STOVL	VPASS4
			RTARG
# COMPUTE PHI = PI + (ACOS(UNIT RA.UNIT RP) - PI)SIGN(RA*RP.U)
		UNIT	PDVL		# UNIT RP
			RACT3
		UNIT	PUSH		# UNIT RA
		VXV	DOT
			0D
			UNRM		# RA*RP.U
		PDVL
		DOT	SL1		# UNIT RA.UNIT RP
			0D
		ACOS	SIGN
		BPL	DAD
			NOPIE
			DPPOSMAX	# REASONABLE TWO PI
NOPIE		STODL	ACTCENT
			TPASS4
		DSU
			INTIME
		STORE	DELLT4
		SLOAD	SETPD
			NN		# NUMBER OF OFFSETS
			0D
		PDDL	PDVL
			EPSFOUR
			RACT3
		STOVL	RINIT
# Page 674
			VACT3
		STCALL	VINIT
			INITVEL
		CALL
			LOMAT
		VLOAD	MXV
			DELVEET3
			0D
		VSL1
		STCALL	DELVLVC
			SUBEXIT

# Page 675
# ***** S34/35.3 *****

S34/35.3	STQ	CALL
			NORMEX
			LOMAT		# GET MATRIX IN PUSH LIST
		VLOAD	VXM
			DELVLVC		# NEW DEL V TPI
			0D
		VSL1
		STORE	DELVEET3	# SAVE FOR TRANSFORM
		VAD	PDVL
			VACT3		# NEW V REQ
			RACT3
		PDDL	PDDL
			TIG
			TPASS4
		PDDL	PUSH
			DPPOSMAX
		CALL			# INTEG. FOR NEW TARGET VEC
			INTINT
		VLOAD
			RATT
		STORE	RTARG
NOVRWRT		VLOAD	PUSH
			ULOS
		VXV	VCOMP
			UNRM
		UNIT	PUSH
		VXV	VSL1
			ULOS
		PDVL
		PDVL	MXV
			DELVEET3
			0D
		VSL1
		STCALL	DVLOS
			NORMEX

# Page 676
# ***** S34/35.4 *****

S34/35.4	STQ	SETPD		# NO ASTRONAUT OVERWRITE
			NORMEX
			0D
		GOTO
			NOVRWRT

# Page 677
# ***** LOMAT *****

LOMAT		VLOAD	VCOMP
			UNRM
		STOVL	6D		# Y
			RACT3
		UNIT	VCOMP
		STORE	12D
		VXV	VSL1
			UNRM		# Z*-Y
		STORE	0D
		SETPD	RVQ
			18D
GOINT		PDDL	PDDL		# DO
			ZEROVECS	#	NOT
			NOMTPI		#
		PUSH	PUSH		#		ORDER OR INSERT BEFORE INTINT
INTINT		STQ	CALL
			RTRN
			INTSTALL
		CLEAR	DLOAD
			INTYPFLG
		BZE	SET
			+2
			INTYPFLG
		DLOAD	STADR
		STODL	TDEC1
		SET	LXA,2
			MOONFLAG
			RTX2
		BON	CLEAR
			CMOONFLG
			ALLSET
			MOONFLAG
ALLSET		STOVL	TET
		VSR*
			0,2
		STOVL	RCV
		VSR*
			0,2
		STCALL	VCV
			INTEGRVS
		VLOAD	GOTO
			RATT
			RTRN

# Page 678
# ***** S34/35.5 *****
# SUBROUTINES USED
#	BANKCALL
#	GOFLASH
#	GOTOP00H
#	S34/35.3
#	S34.35.4
#	VNP00H

S34/35.5	STQ	BON
			SUBEXIT
			FINALFLG
			FLAGON
		SET	GOTO
			UPDATFLG
			FLAGOFF
FLAGON		CLEAR	VLOAD
			NTARGFLG
			DELVLVC
		STORE	GDT/2
		EXIT
 +5		CAF	V06N81
		TC	BANKCALL
		CADR	GOFLASH
		TC	GOTOP00H
		TC	+2		# PRO
		TC	FLAGON 	+5	# LOAD
 +2		CA	EBANK7
		TS	EBANK		# TO BE SURE

		ZL
		CA	FIVE
NTARGCHK	TS	Q
		INDEX	Q
		CS	DELVLVC
		INDEX	Q
		AD	GDT/2
		ADS	L
		CCS	Q
		TCF	NTARGCHK
		LXCH	A
		EXTEND
		BZF	+3
		TC	UPFLAG
		ADRES	NTARGFLG

		TC	INTPRET
		BOFF	CALL
			NTARGFLG
# Page 679
			NOCHG
			S34/35.3
NOCHG		CLEAR	VLOAD
			XDELVFLG
			DELVEET3
		STORE	DELVSIN
FLAGOFF		CALL
			S34/35.4
		EXIT
		CAF	V06N59
		TC	VNP00H
		TC	INTPRET
		GOTO
			SUBEXIT

# Page 680
# ***** VN1645 *****
#
# SUBROUTINES USED
#	P3XORP7X
#	GET+MGA
#	BANKCALL
#	DELAYJOB
#	COMPTGO
#	GOFLASHR
#	GOTOP00H
#	FLAGUP

VN1645		STQ	DLOAD
			SUBEXIT
			DP-.01
		STORE	+MGA		# MGA = -.01
		BOFF	DLOAD
			FINALFLG
			GET45
			DP-.01
		DAD
			DP-.01
		STORE	+MGA		# MGA = -.02
		BOFF	EXIT
			REFSMFLG
			GET45
		TC	P3XORP7X
		TC	+2		# P3X
		TC	GET45 	+1	# P7X
		TC	INTPRET
		VLOAD	PUSH
			DELVSIN
		CALL			# COMPUTE MGA
			GET+MGA
GET45		EXIT
		TC	COMPTGO		# INITIATE TASK TO UPDATE TTOGO
		CA	SUBEXIT
		TS	QSAVED
		CAF	1SEC
		TC	BANKCALL
		CADR	DELAYJOB
		CAF	V16N45		# TRKMKCNT, TTOGO, +MGA
		TC	BANKCALL
		CADR	GOFLASH
		TC	KILCLOCK	# TERMINATE
		TC	N45PROC		# PROCEED
		TC	CLUPDATE	# RECYCLE -- RETURN FOR INITIAL COMPUTATION
KILCLOCK	CA	Z
		TS	DISPDEX
# Page 681
		TC	GOTOP00H
N45PROC		CS	FLAGWRD2
		MASK	BIT6
		EXTEND
		BZF	KILCLOCK	# FINALFLG IS SET -- FLASH V37 -- AWAIT NEW PGM
		TC	PHASCHNG
		OCT	04024
		TC	UPFLAG		# SET
		ADRES	FINALFLG	# FINALFLG
CLUPDATE	CA	Z
		TS	DISPDEX
		TC	PHASCHNG
		OCT	04024
		TC	INTPRET
		CLEAR	GOTO
			UPDATFLG
			QSAVED

# Page 682
# ***** DISPLAYE *****
#
# SUBROUTINES USED
#	BANKCALL
#	GOFLASHR
#	GOTOP00H
#	BLANKET
#	ENDOFJOB

DISPLAYE	EXTEND
		QXCH	NORMEX
		CAF	V06N55
		TCR	BANKCALL
		CADR	GOFLASH
		TCF	GOTOP00H
		TC	NORMEX
		TCF	-5

# Page 683
# ***** P3XORP7X *****

P3XORP7X	CAF	HIGH9
		MASK	MODREG
		EXTEND
		BZF	+2
		INCR	Q
		RETURN

# ***** VNP00H *****
#
# SUBROUTINES USED
#	BANKCALL
#	GOFLASH
#	GOTOP00H

VNP00H		EXTEND
		QXCH	RTRN
		TS	VERBNOUN
		CA	VERBNOUN
		TCR	BANKCALL
		CADR	GOFLASH
		TCF	GOTOP00H
		TC	RTRN
		TCF	-5

# Page 684
# ***** CONSTANTS *****

V06N37		VN	0637
V06N55		VN	0655
V06N58		VN	0658
V06N59		VN	0659
V06N81		VN	0681
V16N45		VN	1645
TWOPI		2DEC	6.283185307 B-4

MAX250		2DEC	25 E3

THIRD		2DEC	.333333333

ELEPS		2DEC	.27777777 E-3

DP-.01		OCT	77777		# CONSTANTS
		OCT	61337		# ADJACENT	-.01 FOR MGA DSP
EPSFOUR		2DEC	.0416666666

130DEG		2DEC	.3611111111

# Page 685
# ***** INITVEL *****

# MOD NO -1			LOG SECTION -- P34-P35, P74-P75
# MOD BY WHITE, P.		DATE:  21 NOV 67
#
# FUNCTIONAL
#
#	THIS SUBROUTINE COMPUTES THE REQUIRED INITIAL VELOCITY VECTOR FOR
#	A TRAJECTORY OF SPECIFIC TRANSFER TIME BETWEEN SPECIFIED INITIAL
#	AND TARGET POSITIONS.  THE TRAJECTORY MAY BE EITHER CONIC OR
#	PRECISION DEPENDING ON AN INPUT PARAMETER (NAMELY, NUMBER OF
#	OFFSETS).  IN ADDITION, IN THE PRECISION TRAJECTORY CASE, THE
#	SUBROUTINE ALSO COMPUTES AN OFFSET TARGET VECTOR, TO BE USED
#	DURING PURE-CONIC CROSS-PRODUCT STEERING.  THE OFFSET TARGET
#	VECTOR IS THE TERMINAL POSITION VECTOR OF A CONIC TRAJECTORY WHICH
#	HAS THE SAME INITIAL STATE AS A PRECISION TRAJECTORY WHOSE
#	TERMINAL POSITION VECTOR IS THE SPECIFIED TARGET VECTOR.
#
#	IN ORDER TO AVOID THE INHERENT SINGULARITIES IN THE 180 DEGREE
#	TRANSFER CASE WHEN THE (TRUE OR OFFSET) TARGET VECTOR MAY BE
#	SLIGHTLY OUT OF THE ORBITAL PLANE, THIS SUBROUTINE ROTATES THIS
#	VECTOR INTO A PLANE DEFINED BY THE INPUT INITIAL POSITION VECTOR
#	AND ANOTHER INPUT VECTOR (USUALLY THE INITIAL VELOCITY VECTOR),
#	WHENEVER THE INPUT TARGET VECTOR LIES INSIDE A CONE WHOSE VERTEX
#	IS THE ORIGIN OF COORDINATES, WHOSE AXIS IS THE 180 DEGREE
#	TRANSFER DIRECTION, AND WHOSE CONE ANGLE IS SPECIFIED BY THE USER.
#
#	THE LAMBERT SUBROUTINE IS UTILIZED FOR THE CONIC COMPUTATIONS AND
#	THE COASTING INTEGRATION SUBROUTINE IS UTILIZED FOR THE PRECISION
#	TRAJECTORY COMPUTATIONS.
#
# CALLING SEQUENCE
#
#	L	CALL
#	L+1		INITVEL
#	L+2	(RETURN -- ALWAYS)
#
# INPUT
#
#	(1)	RINIT		INITIAL POSITION RADIUS VECTOR
#	(2)	VINIT		INITIAL POSITION VELOCITY VECTOR
#	(3)	RTARG		TARGET POSITION RADIUS VECTOR
#	(4)	DELLT4		DESIRED TIME OF FLIGHT FROM RINIT TO RTARG
#	(5)	INTIME		TIME OF RINIT
#	(6)	0D		NUMBER OF ITERATIONS OF LAMBERT/INTEGRVS
#	(7)	2D		ANGLE TO 180 DEGREES WHEN ROTATION STARTS
#	(8)	RTX1		-2 FOR EARTH, -10D FOR LUNAR
#	(9)	RTX2		COORDINATE SYSTEM ORIGIN -- 0 FOR EARTH, 2 FOR LUNAR
#	PUSHLOC SET AT 4D
#
# Page 686
# OUTPUT
#
#	(1)	RTARG		OFFSET TARGET POSITION VECTOR
#	(2)	VIPRIME		MANEUVER VELOCITY REQUIRED
#	(3)	VTPRIME		VELOCITY AT TARGET AFTER MANEUVER
#	(4)	DELVEET3	DELTA VELOCITY REQUIRED FOR MANEUVER
#
# SUBROUTINES USED
#
#	LAMBERT
#	INTSTALL
#	INTEGRVS

		SETLOC	INTVEL
		BANK

		COUNT*	$$/INITV
INITVEL		SET			# COGA GUESS NOT AVAILABLE
			GUESSW
HAVEGUES	VLOAD	STQ
			RTARG
			NORMEX
		STORE	RTARG1
		ABVAL
		STORE	RTMAG
		SLOAD	BHIZ
			RTX2
			INITVEL1
		VLOAD	VSL2
			RINIT		# B29
		STOVL	RINIT		# B27
			VINIT		# B7
		VSL2
		STOVL	VINIT		# B5
			RTARG1
		VSL2
		STORE	RTARG1
		ABVAL
		STORE	RTMAG

# INITIALIZATION

INITVEL1	SSP	DLOAD		# SET ITCTR TO -1,LOAD MPAC WITH E4 (PL 2D)
			ITCTR
			0 	-1
		COSINE	SR1		# CALCULATE COSINE (E4) (+2)
		STODL	COZY4		# SET COZY4 TO COSINE (E4) 	    (PL 0D)
		LXA,2	SXA,2
			MPAC
			VTARGTAG	# SET VTARGTAG TO 0D (SP)
		VLOAD
# Page 687
			RINIT
		STOVL	R1VEC		# R1VEC EQ RINIT
			RTARG1
		STODL	R2VEC		# R2VEC EQ RTARG
			DELLT4
		STORE	TDESIRED	# TDESIRED EQ DELLT4
		SETPD	VLOAD
			0D		# INITIALIZE PL TO 0D
			RINIT		# MPAC EQ RINIT (+29)
		UNIT	PUSH		# UNIT(RI) (+1)		            (PL 6D)
		VXV	UNIT
			VINIT		# MPAC EQ UNIT(RI) X VI (+8)
		STOVL	UN
			RTARG1
		UNIT	DOT		# TEMP*RT.URI (+2)		    (PL 0D)
		DAD	CLEAR
			COZY4
			NORMSW
		STORE	COZY4
INITVEL2	BPL	SET
			INITVEL3	# UN CALCULATED IN LAMBERT
			NORMSW

# ROTATE RC INTO YC PLANE -- SET UNIT NORMAL TO YC

		VLOAD	PUSH		#				    (PL 6D)
			R2VEC		# RC TO 6D (+29)
		ABVAL	PDVL		# RC TO MPAC, ABVAL(RC) (+29) TO OD (PL 2D)
		PUSH	VPROJ		#				    (PL 8D)
			UN
		VSL2	BVSU
		UNIT	VXSC		#				    (PL 0D)
		VSL1
		STORE	R2VEC
		TLOAD	SLOAD
			ZEROVEC
			ITCTR
		BPL	VLOAD
			INITVEL3
			R2VEC
		STORE	RTARG1
INITVEL3	DLOAD	PDVL		#				    (PL 2D)
			MUEARTH		# POSITIVE VALUE
			R2VEC
		UNIT	PDVL		# 2D = UNIT(R2VEC)		    (PL 8D)
			R1VEC
		UNIT	PUSH		# 8D = UNIT(R1VEC)		   (PL 14D)
		VXV	VCOMP		# -N = UNIT(R2VEC) X UNIT(R1VEC)
			2D
		PUSH			#				   (PL 20D)
		LXA,1	DLOAD
# Page 688
			RTX1
			18D
		BMN	INCR,1
			+2
		DEC	-8
		INCR,1	SLOAD
			10D
			X1
		BHIZ	VLOAD		#				   (PL 14D)
			+2
		VCOMP	PUSH		#				   (PL 20D)
		VLOAD			#				   (PL 14D)
		VXV	DOT		#				    (PL 2D)
		BPL	DLOAD		#				    (PL 0D)
			INITVEL4
		DCOMP	PUSH		#				    (PL 2D)
INITVEL4	LXA,2	SXA,2
			0D
			GEOMSGN

# SET INPUTS UP FOR LAMBERT

		LXA,1	CALL
			RTX1

#  OPERATE THE LAMBERT CONIC ROUTINE (COASTFLT SUBROUTINE)

			SETITCTR	# GO TO END OF BANK TO SET ITERCTR BEFORE
					# CALLING LAMBER (FOR REMANUFACTURE ONLY)

# ARRIVED AT SOLUTION IS GOOD ENOUGH ACCORDING TO SLIGHTLY WIDER BOUNDS.

		CLEAR	VLOAD
			GUESSW
			VVEC

# STORE CALCULATED INITIAL VELOCITY REQUIRED IN VIPRIME

		STODL	VIPRIME		# INITIAL VELOCITY REQUIRED (+7)

# IF NUMIT IS ZERO, CONTINUE AT INITVELB, OTHERWISE
# SET UP INPUTS FOR ENCKE INTEGRATION (INTEGRVS).

			VTARGTAG
		BHIZ	CALL
			INITVEL7
			INTSTALL
		SLOAD	CLEAR
			RTX2
			MOONFLAG
		BHIZ	SET
			INITVEL5
# Page 689
			MOONFLAG
INITVEL5	VLOAD
			RINIT
		STORE	R1VEC
		STOVL	RCV
			VIPRIME
		STODL	VCV
			INTIME
		STORE	TET
		DAD	CLEAR
			DELLT4
			INTYPFLG
		STCALL	TDEC1
			INTEGRVS
		VLOAD
			VATT1
		STORE	VTARGET

# IF ITERATION COUNTER (ITCTR) EQ NO. ITERATIONS (NUMIT), CONTINUE AT
# INITVELC, OTHERWISE REITERATE LAMBERT AND ENCKE

		LXA,2	INCR,2
			ITCTR
			1D		# INCREMENT ITCTR
		SXA,2	XSU,2
			ITCTR
			VTARGTAG
		SLOAD	BHIZ		# IF SP(MPAC) EQ 0, CONTINUE AT INITVELC
			X2
			INITVEL6

# OFFSET CONIC TARGET VECTOR

		VLOAD	VSU
			RTARG1
			RATT1
		VAD
			R2VEC
		STODL	R2VEC
			COZY4
		GOTO
			INITVEL2	# CONTINUE ITERATING AT INITVEL2

# COMPUTE THE DELTA VELOCITY

INITVEL6	VLOAD
			R2VEC
		STORE	RTARG1
INITVEL7	VLOAD	VSU
			VIPRIME
			VINIT
		STOVL	DELVEET3	# DELVEET3 = VIPRIME-VINIT (+7)
# Page 690
			VTARGET
		STORE	VTPRIME
		SLOAD	BHIZ
			RTX2
			INITVELX
		VLOAD	VSR2
			VTPRIME
		STOVL	VTPRIME
			VIPRIME
		VSR2
		STOVL	VIPRIME
			RTARG1
		VSR2
		STOVL	RTARG1
			DELVEET3
		VSR2
		STORE	DELVEET3
INITVELX	LXA,1	DLOAD*
			RTX1
			MUTABLE -2,1
		PUSH	DMP
			R1A
		SR1	DDV
			R1
		STODL	MU/A
		SR
			6
		STORE	MUASTEER
		SETPD	VLOAD
			0D
			RTARG1
		STCALL	RTARG
			NORMEX

# ***** END OF INITVEL ROUTINE *****

# Page 691
# ***** MIDGIM *****

# MOD NO. 0, BY WILLMAN, SUBROUTINE RENDGUID, LOG P34-P35, P74-P75
# REVISION 03, 17 FEB 67
#
# IF THE ACTIVE VEHICLE IS DOING THE COMPUTATION, MIDGIM COMPUTES
# THE POSITIVE MIDDLE GIMBAL ANGLE OF THE ACTIVE VEHICLE TO THE INPUT
# DELTA VELOCITY VECTOR (0D IN PUSH LIST), OTHERWISE
# MIDGIM CONVERTS THE INPUT DELTA VELOCITY VECTOR FROM INERTIAL COORDIN-
# ATES TO LOCAL VERTICAL COORDINATES OF THE ACTIVE VEHICLE.
#
# ** INPUTS **
#
#	NAME	MEANING						UNITS/SCALING/MODE
#
#	AVFLAG	INT FLAG -- 0 IS CSM ACTIVE, 1 IS LEM ACTIVE			BIT
#	RINIT	ACTIVE VEHICLE RADIUS VECTOR			METERS/CSEC (+7) VT
#	VINIT	ACTIVE VEHICLE VELOCITY VECTOR			METERS/CSEC (+7) VT
#	0D(PL)	ACTIVE VEHICLE DELTA VELOCITY VECTOR		METERS/CSEC (+7) VT
#
# ** OUTPUTS **
#
#    NAME	MEANING						UNITS/SCALING/MODE
#
#    +MGA	+ MIDDLE GIMBAL ANGLE				REVOLUTIONS (+0) DP
#    DELVLVC	DELTA VELOCITY VECTOR IN LV COORD.		METERS/CSEC (+7) VT
#    MGLVFLAG	INT FLAG: 0 IS +MGA COMPUTED, 1 IS DELVLVC COMP.		BIT
#
# ** CALLING SEQUENCE **
#
#	L 	CALL
#	L+1		MIDGIM
#	L+2	(RETURN -- ALWAYS)
#
# ** NO SUBROUTINES CALLED **
#
# ** DEBRIS -- ERASABLE TEMPORARY USAGE **
#
#	A,Q,L, PUSH LIST, MPAC.
#
# ** ALARMS -- NONE **

# Page 692
# MIDDLE GIMBAL ANGLE COMPUTATION.

		SETLOC	MIDDGIM
		BANK

		COUNT*	$$/MIDG

HALFREV		2DEC	1 B-1

GET+MGA		VLOAD	UNIT		# (PL 0D) V (+7) TO MPAC UNITIZE UV (+1)
		UNIT
		DOT	SL1		# DOT UV WITH Y(STABLE MEMBER) AND RESCALE
			REFSMMAT +6	# FROM +2 TO +1 FOR ASIN ROUTINE
		ARCSIN	BPL
			SETMGA
		DAD	DAD		# CONVERT -MGA TO +MGA BY
			HALFREV		# ADDING ONE REVOLUTION
			HALFREV
SETMGA		STORE	+MGA
		CLR	RVQ		# CLEAR MGLVFLAG TO INDICATE +MGA CALC
			MGLVFLAG	# AND EXIT
GET.LVC		VLOAD	UNIT		# (PL 6D) R (+29) IN MPAC UNITIZE UR
			RINIT
		VCOMP			# U(-R)
		STORE	18D		# U(-R) TO 18D
		VXV	UNIT		# U(-R)*V EQ V*U(R), U(V*R)
			VINIT
		STORE	12D		# U(V*R) TO 12D
		VXV	UNIT		# U(V*R)*U(-R), U((V*R)*(-R))
			18D
		STOVL	6D		# TRANSFORMATION MATRIX IS IN 6D (+1)
			0D		# DELTA V (+7) IN 0D
		MXV	VSL1		# CONVERT FROM INER COOR TO LV COOR (+8)
			6D		# AND SCALE +7 IN MPAC
		STORE	DELVLVC		# STORE IN DELVLVC (+7)
		SET	RVQ		# SET MGLVFLAG TO INDICATE LVC CALC
			MGLVFLAG	# AND EXIT

# ***** END OF MIDGIM ROUTINE *****

# Page 693
		BANK	10
		SETLOC	SLCTMU
		BANK
		COUNT*	$$/MIDG

SELECTMU	AXC,1	AXT,2
			2D
			0D
		BOFF
			CMOONFLG
			SETMUER
		AXC,1	AXT,2
			10D
			2D
SETMUER		DLOAD*	SXA,1
			MUTABLE +4,1
			RTX1
		STODL*	RTSR1/MU
			MUTABLE -2,1
		BOFF	SR
			CMOONFLG
			RTRNMU
			6D
RTRNMU		STORE	RTMU
		SXA,2	CLEAR
			RTX2
			FINALFLG
		GOTO
			VN1645

# Page 694
# ***** PERIAPO *****
#
# MOD NO -1			LOG SECTION -- P34-P35, P74-P75
# MOD BY WHITE, P.		DATE 18 JAN 68
#
# FUNCTIONAL DESCRIPTION
#
#	THIS SUBROUTINE COMPUTES THE TWO BODY APOCENTER AND PERICENTER
#	ALTITUDES GIVEN THE POSITION AND VELOCITY VECTORS FOR A POINT ON
#	TRAJECTORY AND THE PRIMARY BODY.
#
#	SETRAD IS CALLED TO DETERMINE THE RADIUS OF THE PRIMARY BODY.
#
#	APSIDES IS CALLED TO SOVE FOR THE TWO BODY RADII OF APOCENTER AND
#	PERICENTER AND THE ECCENTRICITY OF THE TRAJECTORY.
#
# CALLING SEQUENCE
#
#	L	CALL
#	L+1		PERIAPO
#	L+2	(RETURN -- ALWAYS)
#
# INPUT
#
#	(1)	RVEC	POSITION VECTOR IN METERS
#			SCALE FACTOR -- EARTH +29, MOON +27
#	(2)	VVEC	VELOCITY VECTOR IN METERS/CENTISECOND
#			SCALE FACTOR -- EARTH +7, MOON +5
#	(3)	X1	PRIMARY BODY INDICATOR
#			EARTH -1, MOON -10
#
# OUTPUT
#
#	(1)	2D	APOCENTER RADIUS IN METERS
#			SCALE FACTOR -- EARTH +29, MOON +27
#	(2)	4D	APOCENTER ALTITUDE IN METERS
#			SCALE FACTOR -- EARTH +29, MOON +27
#	(3)	6D	PERICENTER RADIUS IN METERS
#			SCALE FACTOR -- EARTH +29, MOON +27
#	(4)	8D	PERICENTER ALTITUDE IN METERS
#			SCALE FACTOR -- EARTH +29, MOON +27
#	(5)	ECC	ECCENTRICITY OF CONIC TRAJECTORY
#			SCALE FACTOR -- +3
#	(6)	XXXALT	RADIUS OF THE PRIMARY BODY IN METERS
#			SCALE FACTOR -- EARTH +29, MOON +27
#	(7)	PUSHLOC	EQUALS 10D
#
# SUBROUTINES USED
#
#	SETRAD
# Page 695
#	APSIDES

		SETLOC	APOPERI
		BANK

		COUNT*	$$/PERAP

RPAD		2DEC	6373338 B-29	# STANDARD RADIUS OF PAD 37-B.
					# = 20 909 901.57 FT

PERIAPO1	LXA,2	VSR*
			RTX2
			0,2
		STOVL	VVEC
		LXA,1	VSR*
			RTX1
			0,2
		STORE	RVEC
PERIAPO		STQ	CALL
			NORMEX
			SETRAD
		STCALL	XXXALT
			APSIDES
		SETPD	PUSH		# 2D = APOCENTER RADIUS		B29 OR B27
			2D
		DSU	PDDL		# 4D = APOGEE ALTITUDE 		B29 OR B27
			XXXALT
			0D
		PUSH	DSU		# 6D = PERICENTER RADIUS	B29 OR B27
			XXXALT
		PUSH	GOTO		# 8D = PERIGEE ALTITUDE 	B29 OR B27
			NORMEX

# Page 696
SETRAD		DLOAD	PUSH
			RPAD
		SXA,1	INCR,2
			X2
			2D
		SLOAD	BHIZ
			X2
			SETRADX
		VLOAD	ABVAL
			RLS
		PDDL
SETRADX		DLOAD	RVQ

# Page 697
PRECSET		STQ
			NORMEX
		STCALL	TDEC2
			LEMPREC
		CALL
			LEMSTORE
		DLOAD
			TDEC2
		STCALL	TDEC1
			CSMPREC
		CALL
			CSMSTORE
		GOTO
			NORMEX
LEMSTORE	VLOAD	BOFF
			RATT
			AVFLAG
			PASSIVE
ACTIVE		STOVL	RACT3
			VATT
		STORE	VACT3
		RVQ
CSMSTORE	VLOAD	BOFF
			RATT
			AVFLAG
			ACTIVE
PASSIVE		STOVL	RPASS3
			VATT
		STORE	VPASS3
		RVQ

# Page 698
VECSHIFT	LXA,2	VSR*
			RTX2
			0,2
		LXA,1	PDVL
			RTX1
		VSR*	PDVL
			0,2
		RVQ

# Page 699
SHIFTR1		LXA,2	SL*
			RTX2
			0,2
		RVQ

# Page 700
# PROGRAM DESCRIPTION
# SUBROUTINE NAME	R36	OUT-OF-PLANE RENDEZVOUS ROUTINE
# MOD NO. 0		DATE 	22 DECEMBER 67
# MOD BY N.M.NEVILLE	LOG SECTION EXTENDED VERBS
# FUNCTIONAL DESCRIPTION
#
# TO DISPLAY AT ASTRONAUT REQUEST LGC CALCULATED RENDEZVOUS
# OUT-OF-PLANE PARAMETERS (Y, YDOT, PSI).  (REQUESTED BY DSKY).
#
# CALLING SEQUENCE
#
#	ASTRONAUT REQUEST THROUGH DSKY V 90 E
#
# SUBROUTINES CALLED
#
#	EXDSPRET
#	GOMARKF
#	CSMPREC
#	LEMPREC
#	SGNAGREE
#	LOADTIME
#
# NORMAL EXIT MODES
#
#	ASTRONAUT REQUEST THROUGH DSKY TO TERMINATE PROGRAM V 34 E
#
# ALARM OR ABORT EXIT MODES
#
#	NONE
#
# OUTPUT
#
#	DECIMAL DISPLAY OF TIME, Y, YDOT AND PSI
#
#	DISPLAYED VALUES Y, YDOT, AND PSI, ARE STORED IN ERASABLE
#	REGISTERS RANGE, RRATE, AND RTHETA RESPECTIVELY.
#
# ERASABLE INITIALIZATION REQUIRED
#
#	CSM AND LEM STATE VECTORS
#
# DEBRIS
#
#	CENTRALS A,Q,L
#	OTHER:  THOSE USED BY THE ABOVE LISTED SUBROUTINES

		BANK	20
		SETLOC	R36LM
		BANK
# Page 701
		EBANK=	RPASS36
		
		COUNT*	$$/R36

R36		ZL
		CAF	ZERO		# SET TIME OF EVENT TO ZERO FOR FIRST
		DXCH	DSPTEMX		# DISPLAY
		CAF	V06N16N
		TC	BANKCALL
		CADR	GOMARKF
		TCF	ENDEXT		# TERMINATE
		TCF	+2		# PROCEED
		TCF	-5		# RECYCLE FOR ASTRONAUT INPUT TIME
		DXCH	DSPTEMX
		EXTEND
		BZF	LREGCHK		# A-REG ZERO GOTO CHECK L-REG FOR ZERO
ASTROTIM	DXCH	MPAC		# A-REG NON-ZERO, TIME = ASTRO INPUT TIME
		TC	INTPRET
		RTB
			DPMODE
R36INT		STCALL	TDEC1
			OTHPREC
		VLOAD	PDVL
			VATT
			RATT		# _
		STORE	RPASS36		# R
		UNIT	PDVL		#  P
		VXV	UNIT
		STADR			# _
		STODL	UNP36		# U
			TAT
		STCALL	TDEC1
			THISPREC
		VLOAD	PDVL		#		  -
			VATT		# VELOCITY VECTOR V		00D
			RATT		# 		   A
		PDDL
			TAT		# SAVE TIME IN LOCATION 30D FOR REDISPLAY
		STOVL	30D		#		  _
		PUSH	PUSH		# POSITION VECTOR R  IN 06D AND 12D
		BVSU	PDVL		#		   A   _   _
			RPASS36		# LINE OF SIGHT VECTOR R - R  	12D
		DOT	SL1		#			P   A
			UNP36		#     _   _
		STOVL	RANGE		# Y = U . R
			00D		#          A
		DOT	SL1
			UNP36		# .   _   _
		STOVL	RRATE		# Y = U . V
			06D		#          A
# Page 702
					# _           _
		UNIT	PUSH		# U  = UNIT ( R  )		18D
		VXV	VXV		#  RA          A
			00D		#  _    _     _     _
			18D		# (U  X V ) X U   = U
		VSL2	UNIT		#   RA   A     RA    A
		UNIT
		STOVL	00D		# UNIT HORIZONTAL IN FORWARD DIR. 00D
			18D
		DOT	VXSC		# _
			12D		# U
		VSL2			#  L
		BVSU	UNIT
		UNIT
		PUSH	DOT		# LOS PROJECTED INTO HORIZONTAL  12D
			00D		# PLANE
		SL1	ARCCOS		#              _   _
		STOVL	RTHETA		# PSI = ARCCOS(U . U )
		VXV	DOT		#               A   L
			00D
		BPL	DLOAD
			R36TAG2
			LODPMAX
		DSU
			RTHETA
		STORE	RTHETA
R36TAG2		DLOAD	RTB
			30D
			SGNAGREE
		STORE	DSPTEMX
		EXIT
		CAF	V06N90N		# DISPLAY Y, YDOT, AND PSI.
		TC	BANKCALL
		CADR	GOMARKF
		TCF	ENDEXT		# TERMINATE
		TCF	ENDEXT		# PROCEED, END OF PROGRAM
		TCF	R36	+3	# REDISPLAY OUTPUT
LREGCHK		XCH	L
		EXTEND
		BZF	ENTTIM2		# L-REG ZERO, SET TIME = PRESENT TIME
		XCH	L		# L-REG NON ZERO, TIME = ASTRO INPUT TIME
		TCF	ASTROTIM
ENTTIM2		TC	INTPRET				
		RTB	GOTO	
			LOADTIME
			R36INT
V06N16N		VN	00616
V06N90N		VN	00690

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Change log

r808 by jim.lawton on May 7, 2011 Diff

Removed workarounds, flagged SBANK= hacks.

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r694 by jim.lawton on Jan 6, 2011 Diff

Fixed a bunch of indentation errors,
comment chars missing. Fixed a few
pseudo-labels not indented at all,
resulting in spurious symbols.

r390 by jim.lawton on Sep 3, 2009 Diff

Set eol-style on AGC sources to
native.

r259 by i...@sandroid.org on Jul 21, 2009 Diff

AGC source code renamed from *.s to
*.agc and AEA source code
renamed from *.s to *.aea to take
advantage of the fact that
Google has implemented syntax
...

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