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P20-P25.s
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P20-P25.s
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# Copyright: Public domain.
# Filename: P20-P25.agc
# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 562-534
# Mod history: 2009-05-10 RSB Adapted from the Colossus249/ file
# of the same name, using Comanche055 page
# images.
# 2009-05-20 RSB Corrections: P2OS -> P20S, STO -> STQ,
# GOTOPOOH -> GOTOP00H, a duplicated EXTEND
# was fixed, P23.10 -> R23.10,
# S22B0X44 -> S22BOX44, S22SUBSCL -> 22SUBSCL,
# S22DPP -> S22DSPP, changed some instructions in
# P23.152.
#
# 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 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
# Page 562
# RENDEZVOUS NAVIGATION PROGRAM 20
#
# PROGRAM DESCRIPTION
#
# MOD NO -- 1
# MOD BY -- N. BRODEUR
#
# FUNCTIONAL DESCRIPTION
#
# TO CONTROL THE CSM ATTITUDE AND OPTICS TO ACQUIRE THE LEM IN THE S+T
# FIELD AND TO POINT THE CSM TRANSPONDER AT THE LEM. TO UPDATE EITHER THE
# LEM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY THE DSKY
# ENTRY) ON THE BASIS OF OPTICAL TRACKING DATA (REQUESTED BY DSKY)
#
# CALLING SEQUENCE --
#
# ASTRONAUT REQUEST THROUGH DSKY V37E20E
#
# SUBROUTINES CALLED
#
# R02BOTH (IMU STATUS CHECK) BANKCALL
# FLAGUP 2PHCHNG LOADTIME
# R61CSM (PREFERRED TRACKING ATTITUDE) FLAGDOWN
# R52 (AUTO OPTICS POSITIONING ROUT) SETINTG
# R22 (REND TRACK DATA PROC ROUT) PRIOCHNG
# ENDOFJOB INTEGRV GRP2PC
# INTPRET MKRLEES FINDVAC
#
# NORMAL EXIT MODES --
#
# P20 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING
# PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
#
# ALARM OR ABORT EXIT MODES --
#
# NONE DIRECTLY FROM P20
#
# OUTPUT
#
# TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
# VHFCNT = NO OF VHF RANGING MARKS INCORPORATED (COUNTER)
#
# FLAGS SET + RESET
#
# RNDVZFLG,VEHUPFLG,UPDATFLG,TRACKFLG,TARG1FLG
# HOLDFLAG,WBODY,WBODY1,WBODY2,DELCDUX,DELCDUY,DELCDUZ
# STIKFLAG,PRFTRKAT,VINTFLAG,DIM0FLAG,R60FLAG,R61CNTR
BANK 33
SETLOC P20S
BANK
EBANK= ESTROKER
COUNT* $$/P20
PROG20 TC BANKCALL
CADR R02BOTH # IMU STATUS CHECK
# BLOCKING OF UPLINK IS DONE BY UPLINK PRG
CAF ZERO
TS TRKMKCNT # ZERO REND TRACKING MARK COUNTER
TS VHFCNT # ZERO REND VHF RNG MRK COUNTER
TC UPFLAG # SET PREF TRACK ATT FLAG
ADRES PRFTRKAT # BIT 10 FLAG 5
TC DOWNFLAG # LEM TO BE UPDATED. VEHUPFLG RESET.
ADRES VEHUPFLG # BIT 8 FLAG 1
# Page 563
TC UPFLAG # SET TRACKFLAG
ADRES TRACKFLG # BIT 5 FLAG 1
TC UPFLAG # SET UPDATFLG
ADRES UPDATFLG # BIT 7 FLAG 1
TC UPFLAG # SET RNDVZFLG
ADRES RNDVZFLG # BIT 7 FLAG 0
TC 2PHSCHNG
OCT 4
OCT 05022
OCT 26000
TC INTPRET
RTB
LOADTIME
STCALL MARKTIME
SETINTG # SET INTEGRATION FLAGS
BOFF SET
RENDWFLG
P20.1
DIM0FLAG # SET TO INTEGRATE THE W MATRIX
P20.1 BON CLEAR
VEHUPFLG
P20.2
VINTFLAG # SET FOR LM INTEGRATION
P20.2 CALL
INTEGRV
CALL
GRP2PC # GROUP 2 PHASE CHANGE
CALL
SETINTG # SET INTEGRATION FLAGS
BOFF CLEAR
VEHUPFLG
P20.3
VINTFLAG # SET FOR LM INTEGRATION
P20.3 CALL
INTEGRV
EXIT
CAF PRIO26
TC FINDVAC
EBANK= MRKBUF2
2CADR R22
TC 2PHSCHNG
OCT 00072
OCT 00111
PIKUP20 CAF PRIO14 # ALLOW HIGHER PRIO THAN LAMBERT
TC PRIOCHNG
CAF BIT5 # IS TRACK FLAG SET
MASK STATE +1
EXTEND
BZF ENDOFJOB # NO
# Page 564
CAF BIT13
MASK STATE +3 # IS REFSMFLG SET
EXTEND
BZF ENDOFJOB
CAF ZERO
TS R61CNTR # INITIALIZE R61 COUNTER
TC BANKCALL
CADR R61CSM
EBANK= QMIN
CAF EBANK5
TS EBANK
TC UPFLAG # SET TARGET FLAG TO LEM
ADRES TARG1FLG # BIT 10 FLAG 1
P20R52JB TC INTPRET
CALL
R52 # SET UP AUTO OPTICS JOB
EXIT
TC BANKCALL
CADR MKRLEES
CAF ONE # HOLD PRESENT ATTITUDE
TS HOLDFLAG
TC ENDOFJOB
OCT203 OCT 00203
FIRST3 EQUALS FURST3
# Page 565
# ORBITAL NAVIGATION PROGRAM 22
BANK 31
SETLOC P20S1
BANK
EBANK= LANDMARK
COUNT* $$/P22
PROG22 TC DOWNFLAG # RESET RNDVZFLG BIT 7 FLAG 0
ADRES RNDVZFLG
TC BANKCALL
CADR R02BOTH # IMU STATUS CHECK
TC INTPRET # COMPUTE ANGLE BETWEEN Y AND VXR SM
RTB
LOADTIME
STCALL TDEC1
CSMCONIC # INTEGRATE TO PRESENT TIME
VLOAD VXV # CROSS PRODUCT BETWEEN V AND R
VATT
RATT
UNIT DOT
REFSMMAT +6
ABS
SL1 ARCCOS
STORE +MGA
CLEAR EXIT
RENDWFLG
CAF V06N45B
TC BANKCALL
CADR GOFLASHR
TC GOTOP00H # TERM P22
TC PROG22A # PROC
TC -5 # ENTER
CAF THREE
TC BLANKET # BLANK OUT R1 + R2
TC ENDOFJOB
PROG22A CS PRIO7 # RESULT=70777 SET OFFSET NO.=0
MASK LANDMARK
TS LANDMARK
TC INTPRET
CLEAR
P22MKFLG
SET BOFF
ERADFLAG
CMOONFLG
PROG22B # EARTH
SET # MOON
LUNAFLAG
DLOAD CALL # MPAC=V05N70,MPAC+1=NONZERO FOR N70
V05N7022
# Page 566
S22N7071
GOTO
CALLR52
PROG22B CLEAR SET # EARTH ORBIT
LUNAFLAG
KNOWNFLG
CALL # GET LAT/LONG/ALT FROM ASTRO
P22SUBRB
CALLR52 EXIT
TC 2PHSCHNG
OCT 00004
OCT 05022
OCT 13000
CAF FIVE
TS MARKINDX # SET MARK INDEX=5 FOR R52
TC UPFLAG
ADRES TARG2FLG # SET FOR SIGHTING LMK
TC DOWNFLAG
ADRES TARG1FLG # CLEAR FOR NON-LEM
TC INTPRET
CALL
R52
DOV5N71 SLOAD CALL # MPAC=V05N71,MPAC+1=0 FOR N71
V05N7122
S22N7071
PROG22C LXC,2 SLOAD*
MARKSTAT
QPRET,2
STCALL 8NN
S22.1 # ESTABLISH LANDMARK -- COMPUTE ORBITAL
P22OVER EXIT
TC PHASCHNG
OCT 04022
TC PROG22A # POINT A ON GSOP
V06N45B VN 0645
V05N7022 VN 00570
V05N7122 VN 00571
SETLOC P20S
BANK
SETLOC P20S1
BANK
S22LSITE RTB # CONVERT RLS FROM MOON-FIXED TO BASIC REF
LOADTIME
STOVL 6D # 6-7D= TIME
RLS
STODL 0D # 0-5D= LANDING SITE VECTOR
HIDPHALF # MPAC= ANY NON-ZERO FOR MOON
CALL
# Page 567
RP-TO-R # RLS IN BASIC REF B-27 IN MPAC
VSR2 # LUNAFLAG AND ERADFLAG SET ABOVE
STORE ALPHAV # SCALE RLS B-29 FOR LAT-LONG
RTB
LOADTIME # SET PRESENT TIME IN MPAC FOR LAT-LONG
CALL
LAT-LONG
GOTO
S22TOFF # EXIT
OBTAINLL CALL # GET LAT/LONG/ALT FROM ASTRO
P22SUBRB
GOTO
S22TOFF # EXIT
P22SUBRB STQ EXIT # GET LAT/LONG/ALT FROM ASTRO
S22TOFF +1
CAF V06N89B
TC BANKCALL
CADR GOFLASH
TC GOTOP00H # TERMINATE
TC +2 # PROCEED
TC -5 # ENTER OR RECYCLE
TC INTPRET
DLOAD ABS # TEST LAT/LONG GREATER THAN 90
LANDLAT
BDSU BMN # 1/4 REV - LAT
DP1/4TH
N89ERRX
DLOAD ABS
LANDLONG
BDSU BPL
DP1/4TH
+4
N89ERRX EXIT
TC FALTON
TC P22SUBRB +2 # LONG GR. THAN 90 REDISPLAY
CALL
LLASRDA
GOTO
S22TOFF +1 # EXIT
S22N7071 STORE 8KK # 8KK=V05N71,V05N70 8KK+1=0 N71, NOT 0 N70
STQ EXIT
S22TOFF
S22DSPPA CA 8KK # V05N70 OR V05N71
TC BANKCALL
CADR GOFLASHR
TC GOTOP00H # V34E TERMINATE
TC +5 # V33E PROCEED
TC -5 # V32E RECYCLE
CAF FIVE # IMMEDIATE RETURN BLANK OUT R1,R3
TC BLANKET
# Page 568
TC ENDOFJOB
CA LANDMARK
MASK PRIO7 # 07000
TS CXOFF # 08000 = OFFSET INDICATOR
CS PRIO5 # 5 8-5
AD CXOFF
EXTEND
BZMF +2 # OFF=0 THRU 5 OK
TC S22DSPP # OFF=6.7 ILLEGAL REDISPLAY
TC DOWNFLAG
ADRES KNOWNFLG # CLEAR KNOWNFLG
CA LANDMARK # MASK A FROM ABCDE
MASK 13,14,15
EXTEND
BZMF S22DSPP # A=0,4,5,6,7 ILLEGAL REDISPLAY
TS 22SUBSCL # TEMP
CS BIT14
AD 22SUBSCL
CCS A
S22DSPP TC FALTON # + A=3 ILLEGAL REDISPLAY
TC S22DSPPA # COMMON ERROR EXIT BACK TO DISPLAY
TC +2 # - A=1 KNOWN LMK CHECK DE
TC S22ABDE # -0 A=2 UNKNOWN LMK, DE MEANINGLESS
TC UPFLAG
ADRES KNOWNFLG # SET KNOWNFLG
CS HIGH9 # RESULT= 00077
MASK LANDMARK
TS 22SUBSCL # 000DE
CS BIT1
AD 22SUBSCL
EXTEND
BZMF S22ABDE # DE=0,1 OK FOR BOTH N70,N71
CA 8KK +1 # =0 FOR N71, NOT =0 FOR N70
EXTEND
BZF S22DSPP # N71 REDISPLAY DE MUST= 0 OR 1
CA BIT5 # N70 TEST DE= 50-57 OCTAL FOR ADV. ORBIT
AD OCT50 # SUM=00070
MASK 22SUBSCL # 00D0
CS A
AD OCT50
EXTEND
BZF DE-GR-50 # D=5 OR DE=50-57, OK FOR N70
TC S22DSPP # DE NOT 50-57 ILLEGAL, REDISPLAY
S22ABDE TC INTPRET
BOFF SLOAD
KNOWNFLG # UNKNOWN LMK, DE MEANINGLESS
S22TOFF
22SUBSCL # =0 GET LLA FROM ASTRO, NOT=0 USE RLS
BHIZ GOTO
OBTAINLL # GET LAT/LONG/ALT FROM ASTRO N89
# Page 569
S22LSITE # GET LAT/LONG/ALT FROM RLS
DE-GR-50 TC 2PHSCHNG
OCT 00004
OCT 05022
OCT 13000
CA FIVE
TS MARKINDX
TC UPFLAG
ADRES TARG2FLG
TC DOWNFLAG
ADRES TARG1FLG
TC INTPRET
CALL
ADVORB
GOTO
DOV5N71
# Page 570
# PROGRAM NAME: OPTICS CALIBRATION ROUTINE
# MOD NO: 1
# MOD BY: TOM KNATT
#
# FUNCTIONAL DESCRIPTION: TO MEASURE THE EFFECT OF SOLAR RADIATION ON
# THE SXT TRUNNON ANGLE AND STORE THE MEASURED TRUNNION BIAS FOR P23
#
# CALLING SEQUENCE: CALL
# R57
#
# SUBROUTINES CALLED: DISPLAY ROUTINES
#
# NORMAL EXIT MODES: VIA EGRESS
#
# ALARMS: NONE
#
# ABORT MODES: P23 ABORT IF MARKING SYSTEM OR EXTENDED VERB ACTIVE
#
# INPUT: NONE REQURIES, NORMALLY CALLED BY P23
#
# OUTPUT: TRUNNION BIAS ANGLE: ANGLE DETERMINED WHEN SHAFT LINE OF SIGHT
# (SLOS) AND LANDMARK LINE OF SIGHT (LLOS) ARE SUPERIMPOSED. THIS ANGLE
# MAY NOT BE EXACTLY ZERO BECAUSE OF UNEVEN HEATING OF THE OPTICS, FOR
# EXAMPLE.
#
# ERASABLE INITIALIZATION REQUIRED: MRKBUF1, EXTVBACT
#
# DEBRIS: RUPTREGS USED BY MARKRUPT AND ERASABLES USED BY DISPLAYS.
BANK 33
SETLOC P20S
BANK
COUNT* $$/R57
EBANK= MRKBUF1
R57 STQ EXIT
EGRESS
CAF EBANK7
TS EBANK
CAF SIX # BIT2 = MARKING SYSTEM IN USE
MASK EXTVBACT # BIT3 = EXTENDED VERB IN PROGRESS
CCS A
TC P23ABRT # SET, THEREFORE ABORT
CAF BIT2 # NOT SET
ADS EXTVBACT # SET IT
R57A TC UPFLAG # SET V59FLAG (BIT 12 FLAG 5 TO INDICATE
ADRES V59FLAG # CALIBRATION MARK
CAF V59NB
TC BANKCALL
CADR GOMARKFR
TC GOTOP00H # TERMINATE
TC ENDR57
TC ENDR57
CAF SEVEN
# Page 571
TC BLANKET # BLANK OUT R1,R2,R3
TC ENDOFJOB
# STORE TRUNNION ANGLE (OCDU)
MARKDISP CAF V06N87NB
TC BANKCALL
CADR GOMARKFR
TC GOTOP00H # TERMINATE
TC R57B # PROCEED
TC R57A # ENTER (RECYCLE)
CAF FIVE
TC BLANKET # BLANK OUT R1,R3
TC ENDOFJOB
R57B CA 19.77DEG # PUT FIXED INTO ERASABLE FOR MSU
TS L # INSTRUCTION COMING UP
CA MRKBUF1 +5 # CONTAINS TRUNNION
EXTEND
MSU L # CONNECTS TRUNBIAS FROM 2'S TO 1'S
TS TRUNBIAS
ENDR57 TC DOWNFLAG # RESET V59FLAG
ADRES V59FLAG # BIT 12 FLAG 5
CAF EBANK5
TS EBANK
CAF PRIO14
TC NOVAC # THIS JOB CLEARS BIT IN
EBANK= MARKSTAT
2CADR ENDMARK # MARKING IN R57 SO R53 CAN TAKE OVER
TC INTPRET
GOTO
EGRESS
P23ABRT TC BAILOUT
OCT 01211
V06N87NB VN 0687
V59NB VN 5900
V51NB VN 5100
19.77DEG OCT 61740
# Page 572
# PROGRAM DESCRIPTION
# MOD NO: 1
# MOD BY: N. BRODEUR
#
# FUNCTIONAL DESCRIPTION
#
# TO PERFORM SIGHTING MARKS IN CONJUNCTION WITH THE RENDEZVOUS NAVIG-
# ATION PROGRAM. CALLED BY ASTRONAUT VIA EXTENDED VERB.
#
# CALLING SEQUENCE:
#
# R21 VIA V57
# R23 VIA V 54
#
# SUBROUTINES CALLED:
#
# FLAGUP FLAGDOWN BANKCALL
# ENDOFJOB GOMARK2 GOMARKF
# INTPRET GENTRAN KLEENEX
# ENDMARK
#
# NORMAL EXIT MODES:
#
# MARKRUPT USED BY SXTMARK HAS BEEN MODIFIED TO STORE MARK IN MRKBUF2
# FOR USE BY R22. WHEN ASTRONAUT IS FINISHED TAKING MARKS, HE HITS AN
# PROCEED, R21 IS TERMINATED THUS CAUSING THE FINAL MARK TO BE TRANSFRD
# TO MRKBUF2 FOR PROCESSING BY R22
#
# ALARM OR ABORT EXIT MODES:
#
# NONE
#
# OUTPUT:
#
# 7 REGISTER MRKBUF2 CONTAINING TIME2,TIME1,CDUY,OPTICS X,CDUZ, OPTICS Y,
# CDUX.
#
# ERASABLE INTIALIZATION REQUIRED
#
# FLAGS SET AND RESET
# R21MARK (COMMUNICATION TO MARKRUPT TO STORE MARKS IN MRKBUF1 +2)
# R23FLG INDICATES COAS MARKING
#
# DEBRIS
EBANK= MRKBUF1
SETLOC RENDEZ
BANK
COUNT* $$/R21
R21CSM TC UPFLAG # SET R21MARK
ADRES R21MARK # BIT 14 FLAG 2
R23CSM CA NEGONE
TS MRKBUF1
TS MRKBUF2
CA FLAGWRD1
MASK R23BIT # TEST R23FLG
EXTEND
BZF R21C1 # NOT SET REGULAR R21 MARKING
CAF V0694 # R23 BACKUP MARKING
TC BANKCALL # DISPLAY SHAFT + TRUNNION
CADR GOMARKF
TC R21END # TERM
TC +2 # PROC
# Page 573
TC -5 # ENTER
R23CSM1 CAF V53 # PERFORM ALT LOST SIGHT MARK
TC BANKCALL
CADR GOMARK2
TC R21END # V34: TERMINATE R23
TCF R21CSMA # PROCEED: END BACK UP MARKING (R23)
CAF SIX # TRANSFER MRKBUF1 TO MRKBUF2
TC GENTRAN
ADRES MRKBUF1
ADRES MRKBUF2
EXTEND
DCA TIME2
DXCH MRKBUF1 # READ TIME
CA CDUY # READ CDU ANGLES
TS MRKBUF1 +2
CA CDUZ
TS MRKBUF1 +4
CA CDUX
TS MRKBUF1 +6
RELINT
TC R23CSM1
R21C1 CAF V51NB
TC BANKCALL
CADR GOMARK2
TC R21END # V34: TERMINATE R21
TCF R21CSMA # PROCEED: END R21
TCF R21C1 # RECYCLE
R21CSMA CA MRKBUF1 # IF -1 NO MARK
AD ONE
EXTEND
BZF R21END # ZERO = NO MARK
CAF SIX # MARK THEREFORE TRANSFER IT TO MRKBUF2
R21CSM1 TC GENTRAN # TRANSFER MRKBUF1 TO MRKBUF2
ADRES MRKBUF1
ADRES MRKBUF2
RELINT
R21END TC BANKCALL
CADR KLEENEX
TC DOWNFLAG # RESET R21MARK
ADRES R21MARK # BIT 14 FLAG 2
TC ENDMARK # END MARKING AND ENDJOB
V53 VN 5300
V0694 VN 0694
# Page 574
# PREFERRED TRACKING ATTITUDE ROUTINE R61CSM
#
# PROGRAM DESCRIPTION
# MOD NO: 2
# MOD BY: N. BRODEUR
#
# FUNCTIONAL DESCRIPTION:
#
# TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE CSM TO ENABLE OPTICS
# TRACKING OF THE LM AND TO PERFORM THE MANEUVER TO THE PREFERRED
# OR X-AXIS TRACKING ATTITUDE.
#
# CALLING SEQUENCE:
#
# TC BANKCALL
# CADR R61CSM
#
# SUBROUTINE CALLED
#
# MAKECADR BANKCALL
# INTPRET FLAGUP FLAGDOWN
# BANKJUMP CRS61.1 R60CSM
# PHASCHNG
#
# NORMAL EXIT MODES:
#
# NORMAL RETURN TO CALLER + 1
#
# OUTPUT:
#
# SEE OUTPUT FOR CRS61.1 & ATTITUDE MANEUVER ROUTINE (R60CSM)
#
# ERASABLE INITIALIZATION REQUIRED
#
# GENRET USED TO SAVE Q FOR RETURN
# R61CNTR MUST BE PRESET TO ZERO
#
# FLAGS SET + RESET
#
# 3-AXIS FLAG
#
# DEBRIS
#
# SEE SUBROUTINES
EBANK= GENRET
COUNT* $$/R61 # ROUTINES -- NAVIGATION -- PREF. TR. 9TT=
R61CSM CAF EBANK6 # SWITCH TO EBANK 6
XCH EBANK
TS SAVBNK # SAVE EBANK
TC MAKECADR
TS GENRET
CCS R61CNTR # TEST R61DNTR
TC DECRM61 # NOT READY TO DO R61
TC +2 # DO R61
TC DECRM61 +1
TC INTPRET
CALL
CRS61.1 # LOS DETERMINATION + VEH ATTITUDE
EXIT
INDEX MPAC
TC +1
TC R61END # SUBROUTINE DRIVING DAP (EXIT R61)
# OR AUTO MODE NOT SET (EXIT R61)
# OR SKIKFLAG SET (EXIT R61)
R61C1 TC DOWNFLAG # RESET 3-AXIS FLAG
ADRES 3AXISFLG # BIT 6 FLAG 5
# Page 575
CS ONE # SET R61CNTR NEG. TO INDICATE KALCMANU
TS R61CNTR
TC UPFLAG # SET FLAG FOR PRIORITY DISPLAYS FOR R60
ADRES PDSPFLAG # BIT 12 FLAG 4
TC BANKCALL
CADR R60CSM
TC DOWNFLAG # RESET FLAG FOR PRIORITY DISPLAYS IN R60
ADRES PDSPFLAG # BIT 12 FLAG 4
TC PHASCHNG
OCT 00111
CAF ZERO
TC DECRM61
R61END CAF THREE
DECRM61 TS R61CNTR
CAE GENRET
LXCH A # RETURN IS IN L
CA SAVBNK # RESTORE EBANK
XCH EBANK
LXCH A # RETURN IS NOW BACK IN A
TC BANKJUMP # EXIT R61
BANK 13
SETLOC P20S2
BANK
EBANK= MRKBUF1
# Page 576
# BVECTOR PERFORMS COMPUTATIONS FOR
#
# DELTAQ, THE MEASURED DEVIATION BASED ON THE DIFFERENCE BETWEEN THE CSM-LEM
# STATE VECTOR ESTIMATES AND THE ACTUAL TRACKING MEASUREMENT.
#
# US, THE MODIFIED FICTITIOUS STAR DIRECTION VECTOR
# GEOMETRY VECTORY B ASSOCIATED WITH EACH TRACKING MEASUREMENT.
#
# INPUT
#
# UM, 1/2 UNIT VECTOR ALONG THE CSM-LM LINE-OF-SIGHT (BASIC REF. SYSTEM)
#
# USTAR, FICTITIOUS STAR DIRECTION (1/2 UNIT VECTOR)
#
# RCLP, RELATIVE CSM TO LM POSITION VECTOR
#
# OUTPUT
#
# USTAR, MODIFIED FICTITIOUS STAR DIRECTION (1/2 UNIT VECTOR)
#
# BVECTOR = 9 DIMENTIONAL BVECTOR (1/2 UNIT VEC.)
#
# DELTAQ = MEASURED DEVIATION
#
# CALLING SEQUENCE
#
# L CALL BVECTORS
#
# NORMAL EXIT
#
# L+1 OF CALLING SEQUENCE
COUNT 23/20SUB
BVECTORS STQ
EGRESS
VLOAD UNIT
RCLP # RELATIVE POSITION VECTOR
STODL 26D # RCLP UNIT VEC
36D # RCLP ABS VALUE
STOVL TEMPOR1 # MOVE TO SAFE LOCATION
USTAR
VXV UNIT
26D # USTAR = UNIT(US X UCL)
STCALL BVECTOR
GRP2PC # PHASE CHANGE
VLOAD
BVECTOR
STORE USTAR
DOT SL1
UM # USTAR DOT UM
ACOS DSU
DP1/4TH
NORM DMP
X1
PI/4.0
DMP SRR*
TEMPOR1 # RCLP ABS VALUE
0 -3,1 # ADJUST SCALING
STOVL DELTAQ
ZEROVECS
STORE BVECTOR +6
STORE BVECTOR +12D
GOTO
# Page 577
EGRESS
PI/4.0 2DEC .785398164
# Page 578
# GETUM: DETERMINES THE LINE OF SIGHT UNIT VECTOR UM IN THE BASIC REFERENCE
# COORDINATE SYSTEM FROM THE OPTICS SHAFT AND TRUNNION ANGLES AND THE IMU
# GIMBAL ANGLES.
#
# INPUT
#
# MARKDATA, BASE ADDRESS OF MARK DATA
# REFSMMAT, ROTATION MATRIX FROM STABLE MEMBER TO BASIC REF. COORD. SYSTEM
#
# SUROUTINES CALLED:
#
# SXTNB -- SEXT. ANGULAR READINGS TO NAV. BASE COOR.
# NBSM -- TRANSFORM FROM NAV. BASE TO STABLE MEMBER
#
# OUTPUT
#
# MPAC = LINE OF SIGHT 1/2 UNIT VECTOR IN BASIC REFERENCE SYSTEM
#
# CALLING SEQUENCE
#
# L CALL GETUM
#
# NORMAL EXIT
#
# L+1 OF CALLING SEQUENCE
GETUM STQ SETPD
EGRESS
0
LXC,1 VLOAD*
MARKDATA # CONTAINS ADDRESS OF MARK DATA
1,1
STODL* MARKDOWN +1 # TRANSFER DATA FROM WORKING STORAGE
0,1 # TO MARKDOWN ARRAY FOR DOWNLINK
STORE MARKDOWN
AXT,2
2
XSU,2 SXA,2
X1 # X1 = MARKDATA
S1 # S1 = MARKDATA(ADR) +2
CALL
SXTNB # SEXT. ANGULAR READINGS TO NAV. BASE COOR.
CALL
NBSM # TRANSFORM FROM NAV. BASE TO STABLE MEM.
VXM VSL1
REFSMMAT
GOTO # MPAC = (UM) LINE OF SIGHT VECTOR
EGRESS # EXIT
# Page 579
# RENDEZVOUS TRACKING DATA PROCESSING ROUTINE (R22)
#
# PURPOSE (1) TO PROCESS RENDEZVOUS SIGHTING MARK DATA TO UPDATE THE STATE VECTOR OF EITHER THE CSM OR LM AS
# DEFINED BY THE RENDEZVOUS NAVIGATION PROGRAM (P20).
#
# ASSUMPTIONS (1) THIS ROUTINE IS MANUALLY SELECTED BY THE ASTRONAUT BY V55E WHENEVER RENDEZVOUS SIGHTING MARKS
# ARE DESIRED. ITS SELECTION, HOWEVER, IS LIMITED TO PERIODS WHEN THE CMC IS HOLDING FOR A V/N FLASHING
# DATA DISPLAY. THIS ROUTINE RETURNS TO THE ORIGINAL PROGRAM AT THE INTERRUPTED DISPLAY.
BANK 34
SETLOC P20S3
BANK
COUNT 34/R22
R22 CAF PRIO26
TS PHSPRDT2
TC PRIOCHNG
CA NEG3
TS MRKBUF2
TC INTPRET
RTB
LOADTIME
STORE VHFTIME # PRESENT TIME
REND1 CALL
GRP2PC
CALL
WAITONE
REND1A EXIT
CA MRKBUF2
EXTEND
BZF REND2
EXTEND
BZMF REND3A
REND2 CAF SIX
TC GENTRAN
ADRES MRKBUF2
ADRES MARKTIME # MARKTIME MUST BE CONTIGUOUS WITH VTEMP
CAF NEG3 # NEG VALUE TO INDICATE VALUES USED
TS MRKBUF2
RELINT
TC INTPRET
CLEAR CALL
SOURCFLG # 0 = OPTICS DATA
GRP2PC
SSP GOTO
MARKDATA
ECADR VTEMP -2
REND4
REND3A TC INTPRET
REND3 CALL
# Page 580
GRP2PC
CALL
WAITONE
BOFF
VHFRFLAG
REND1A
RTB
LOADTIME # PRESENT TIME
DSU DSU
60SECDP # 1 MIN
VHFTIME # LAST READING OF RADAR
BMN CALL
REND1A
RANGERD # READ RADAR RANGE
DLOAD
MARKTIME
STORE VHFTIME # FOR DOWNLINK
REND4 CALL
SETINTG # SET INTEGRV FLAGS
BON CALL
VEHUPFLG
CSMUPP # BRANCH IF CSM UPDATE
INTEGRV
CALL
GRP2PC # PHASE CHANGE
CALL
SETINTG # SET INTEGRV FLAGS
CLEAR
VINTFLAG # SET INTEGRATION VEHICLE TO LM
REND5 BOFF SET
RENDWFLG
REND5A # DO NOT INTEGRATE W IF FLAG = 0
DIM0FLAG
REND5A CALL
INTEGRV
CALL
SHIFTNDX # SET EARTH MOON SCALING INDEX
CALL
CMPOS # SET CSM POSITION
SET CALL
INCORFLG # SET FOR 1ST PASS
LMPOS # SET LM POSITION
CLEAR BON
ORBWFLAG # CLEAR FOR ORBITAL AND CISLUNAR
RENDWFLG
REND6
DLOAD
WRENDPOS
STCALL 0 # 0 = WRENDPOS 1 = WRENDVEL
INITIALW # INTIIALIZE W MATRIX
# Page 581
DLOAD
ZEROVECS
STORE VHFCNT # ZERO OUT VHFCNT AND TRKMKCNT
REND6 SET
RENDWFLG
VLOAD VSU
LEMPOS
CSMPOS
STORE RCLP # LM - CSM
REND7 UNIT BON
SOURCFLG
REND14 # BRANCH IF DATA IS RADAR
STORE UCL
BOFF CALL
INCORFLG
REND9
GETUM # CALCULATE UM LINE OF SIGHT
STOVL UM
UCL
VXV BOV
UM # UCL X UM
REND8
REND8 UNIT BOV
REND3 # BRANCH IF OVERFLOW IGNORE MARK
STORE USTAR
REND9 CALL
BVECTORS
BON VLOAD
VEHUPFLG
REND9A
BVECTOR
VCOMP
STORE BVECTOR
REND9A CALL
GRP2PC
BON
R23FLG
REND15 # BRANCH IF BACKUP OPTICS (R23 WORKING)
DLOAD DAD
SXTVAR
IMUVAR
REND10 STOVL VARIANCE # TEMP STORAGE FOR VARIANCE CALC.
RCLP
ABVAL NORM
X1
DSQ DMP
VARIANCE
XAD,1 CALL
X1
SHIFTNDX # GET EARTH MOON SCALING INDEX
# Page 582
XAD,1 XAD,1
X2
X2
SR* TLOAD
0 -2,1 # ADJUST SCALING TO B-40
MPAC
STORE VARIANCE
SLOAD SR
INTVAR # INTEGRATION VARIANCE SCALED B-15
25D # SCALE IT B-40
TAD RTB
VARIANCE
TPMODE
STORE VARIANCE
BOFF TAD
SOURCFLG # BRANCH IF NOT VHF RADAR
REND10A
RVARMIN # VHF RADAR MIN. VARIANCE
BPL TLOAD
REND10A
RVARMIN