Update Fork
atknssl
commit
07a8892632
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@ -37,7 +37,7 @@
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NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
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CADR ISITAUTO # ONLY
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CCS A
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TCF NOGO -2
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TCF NOGO -2
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NEWANGL TC INTPRET
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AXC,1 AXC,2
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MIS # COMPUTE THE NEW MATRIX FROM S/C TO
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@ -45,9 +45,9 @@ NEWANGL TC INTPRET
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CALL
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MXM3
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VLOAD STADR
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STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
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STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
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STADR
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STOVL MIS +6D
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STOVL MIS +6D
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STADR
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STORE MIS
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AXC,1 CALL
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@ -59,7 +59,7 @@ NEWANGL TC INTPRET
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BONCLR EXIT
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CALCMAN2
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MANUSTAT # TO START MANEUVER
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CAF TWO # +0 OTHERWISE
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CAF TWO # +0 OTHERWISE
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INCRDCDU TS SPNDX
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INDEX SPNDX
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CA BCDU # INITIAL CDU ANGLES
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@ -67,16 +67,10 @@ INCRDCDU TS SPNDX
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INDEX SPNDX
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MSU NCDU
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EXTEND
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# The following 2 lines seem to have no purpose at all.
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# I am removing them because they only serve to confuse
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# the assembler by getting in between EXTEND and MP.
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# --- RSB 2009.
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#SETLOC KALCMON1
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#BANK
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SETLOC KALCMON1
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BANK
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MP DT/TAU
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CCS A # CONVERT TO 2'S COMPLEMENT
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CCS A # CONVERT TO 2S COMPLEMENT
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AD ONE
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TCF +2
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COM
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@ -94,7 +88,7 @@ INCRDCDU TS SPNDX
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RELINT
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# COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
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# COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
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TMANUCHK TC TIMECHK
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TCF CONTMANU
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@ -117,11 +111,11 @@ TIMECHK EXTEND
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TC Q
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TCF +2
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TCF 2NDRETRN
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CCS TTEMP +1
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CCS TTEMP +1
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TC Q
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TCF MANUOFF
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COM
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MANUOFF AD ONESEK +1
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MANUOFF AD ONESEK +1
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EXTEND
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BZMF 2NDRETRN
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INCR Q
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@ -134,7 +128,7 @@ MANUSTAT EXIT # INITIALIZATION ROUTINE
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EXTEND # FOR AUTOMATIC MANEUVERS
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DCA TIME2
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# Page 367
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DAS TM # TM+TO MANEUVER COMPLETION TIME
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DAS TM # TM+TO MANEUVER COMPLETION TIME
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EXTEND
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DCS ONESEK
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DAS TM # (TM+TO)-1
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@ -157,14 +151,14 @@ RATEBIAS TS KSPNDX
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MP BRATE
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EXTEND
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INDEX KSPNDX
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DV 1JACC # = AJX $ 90 DEG/SEC-SEC
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DV 1JACC # =AJX $ 90 DEG/SEC-SEC
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INDEX KSPNDX
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TS DELPEROR # $ 180 DEG
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TS DELPEROR # $ 180 DEG
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CCS KSPNDX
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TCF RATEBIAS
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CA TIME1
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AD ONESEK +1
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AD ONESEK +1
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XCH NEXTIME
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TCF INCRDCDU -1
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@ -185,7 +179,7 @@ MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
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EBANK= TTEMP
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2CADR UPDTCALL
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# Page 368
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CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
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CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
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ADS NEXTIME
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TCF ENDOFJOB
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@ -213,7 +207,7 @@ MANUSTOP CAF ZERO # ZERO MANEUVER RATES
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ENDROLL CA CPHI # NO FINAL YAW
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TS CDUXD
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CAF ZERO
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TS OMEGAPD # I.E., MANEUVER DID NOT GO THRU
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TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
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TS DELDCDU # GIMBAL LOCK ORIGINALLY
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TS DELPEROR
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GOODMANU CA ATTPRIO # RESTORE USERS PRIO
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@ -225,5 +219,3 @@ GOODMANU CA ATTPRIO # RESTORE USERS PRIO
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TC SPVAC # RETURN TO USER
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TC TASKOVER
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@ -51,7 +51,7 @@ ACCEPTUP CAF CHRPRIO # (NOTE: RUPTREG4 = KEYTEMP1)
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CA RUPTREG4
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INDEX LOCCTR
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TS MPAC # LEAVE 5 BIT KEY CODE IN MPAC FOR CHARIN
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TS MPAC # LEAVE 5 BIT KEY CDE IN MPAC FOR CHARIN
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TC RESUME
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# Page 1339
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@ -83,9 +83,9 @@ UPRPT1 CAF LOW5 # TEST FOR TRIPLE CHAR REDUNDANCY
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COM
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TC UPTEST
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UPCK CS ELRCODE # CODE IS GOOD. IF CODE = `ERROR RESET',
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AD KEYTEMP1 # CLEAR UPLOCKFL (SET BIT4 OF FLAGWRD7 = 0)
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EXTEND # IF CODE DOES NOT = `ERROR RESET', ACCEPT
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UPCK CS ELRCODE # CODE IS GOOD. IF CODE = 'ERROR RESET',
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AD KEYTEMP1 # CLEAR UPLOCKFL(SET BIT4 OF FLAGWRD7 = 0)
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EXTEND # IF CODE DOES NOT = 'ERROR RESET', ACCEPT
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BZF CLUPLOCK # CODE ONLY IF UPLOCKFL IS CLEAR (=0).
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CAF UPLOCBIT # TEST UPLOCKFL FOR 0 OR 1
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@ -94,7 +94,7 @@ UPCK CS ELRCODE # CODE IS GOOD. IF CODE = `ERROR RESET',
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TC RESUME # UPLOCKFL = 1
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TC ACCEPTUP # UPLOCKFL = 0
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CLUPLOCK CS UPLOCBIT # CLEAR UPLOCKFL (I.E., SET BIT 4 OF
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CLUPLOCK CS UPLOCBIT # CLEAR UPLOCKFL (I.E.,SET BIT 4 OF )
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MASK FLAGWRD7 # FLAGWRD7 = 0)
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TS FLAGWRD7
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TC ACCEPTUP
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@ -102,7 +102,7 @@ CLUPLOCK CS UPLOCBIT # CLEAR UPLOCKFL (I.E., SET BIT 4 OF
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# CODE IS BAD
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TMFAIL2 CS FLAGWRD7 # LOCK OUT FURTHER UPLINK ACTIVITY
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MASK UPLOCBIT # (BY SETTING UPLOCKFL = 1) UNTIL
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ADS FLAGWRD7 # `ERROR RESET' IS SENT VIA UPLINK.
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ADS FLAGWRD7 # 'ERROR RESET' IS SENT VIA UPLINK.
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TC RESUME
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UPTEST AD KEYTEMP1
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# Page 1340
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@ -114,19 +114,17 @@ HI10 OCT 77740
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ELRCODE OCT 22
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# `UPLINK ACTIVITY LIGHT' IS TURNED OFF BY .....
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# 1. VBRELDSP
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# 2. ERROR RESET
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# 3. UPDATE PROGRAM (P27) ENTERED BY V70,V71,V72, AND V73.
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# _
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# THE RECEPTION OF A BAD CODE (I.E., CCC FAILURE) LOCKS OUT FURTHER UPLINK ACTIVITY BY SETTING BIT4 OF FLAGWRD7 = 1.
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# THIS INDICATION WILL BE TRANSFERRED TO THE GROUND BY THE DOWNLINK WHICH DOWNLINKS ALL FLAGWORDS.
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# WHEN UPLINK ACTIVITY IS LOCKED OUT, IT CAN BE ALLOWED WHEN THE GROUND UPLINKS AND `ERROR RESET' CODE.
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# (IT IS RECOMMENDED THAT THE `ERROR LIGHT RESET' CODE IS PRECEEDED BY 16 BITS THE FIRST OF WHICH IS 1 FOLLOWED
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# BY 15 ZEROS. THIS WILL ELIMINATE EXTRANEOUS BITS FROM INLINK WHICH MAY HAVE BEEN LEFT OVER FROM THE ORIGINAL
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# FAILURE).
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# 'UPLINK ACTIVITY LIGHT' IS TURNED OFF BY .....
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# 1. VBRELDSP
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# 2. ERROR RESET
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# 3. UPDATE PROGRAM(P27) ENTERED BY V70,V71,V72,AND V73.
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#
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# UPLINK ACTIVITY IS ALSO ALLOWED (UNLOCKED) DURING FRESH START WHEN FRESH START SETS BIT4 OF FLAGWRD7 = 0.
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# _
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# THE RECEPTION OF A BAD CODE(I.E CCC FAILURE) LOCKS OUT FURTHER UPLINK ACTIVITY BY SETTING BIT4 OF FLAGWRD7 = 1.
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# THIS INDICATION WILL BE TRANSFERRED TO THE GROUND BY THE DOWNLINK WHICH DOWNLINKS ALL FLAGWORDS.
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# WHEN UPLINK ACTIVITY IS LOCKED OUT ,IT CAN BE ALLOWED WHEN THE GROUND UPLINKS AND 'ERROR RESET' CODE.
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# (IT IS RECOMMENDED THAT THE 'ERROR LIGHT RESET' CODE IS PRECEEDED BY 16 BITS THE FIRST OF WHICH IS 1 FOLLOWED
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# BY 15 ZEROES. THIS WILL ELIMINATE EXTRANEOUS BITS FROM INLINK WHICH MAY HAVE BEEN LEFT OVER FROM THE ORIGINAL
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# FAILURE)
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# UPLINK ACTIVITY IS ALSO ALLOWED(UNLOCKED) DURING FRESH START WHEN FRESH START SETS BIT4 OF FLAGWRD7 = 0.
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CS XDSPBIT
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@ -29,24 +29,24 @@
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# SUBROUTINE TO CONVERT RAD VECTOR AT GIVEN TIME TO LAT,LONG AND ALT
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#
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# CALLING SEQUENCE
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# L-1 CALL
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# L LAT-LONG
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#
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# L-1 CALL
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# L LAT-LONG
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# SUBROUTINES USED
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# R-TO-RP, ARCTAN, SFTGAMMA, SETRE
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#
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# R-TO-RP,ARCTAN,SETGAMMA,SETRE
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# ERASABLE INIT. REQ.
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# AXO, -AYO, AZO, TEPHEM (SET AT LAUNCH TIME)
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# ALPHAV = POSITION VECTOR METERS B-29
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# MPAC -- TIME (CSECS B-28)
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# ERADFLAG =1, TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS
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# LUNAFLAG=0 FOR EARTH, 1 FOR MOON
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#
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# AXO,-AYO,AZO,TEPHEM (SET AT LAUNCH TIME)
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# ALPHAV = POSITION VECTOR METERS B-29
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# MPAC-- TIME (CSECS B-28)
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# ERADFLAG =1, TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS
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# LUNAFLAG=0 FOR EARTH,1 FOR MOON
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# OUTPUT
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# LATITUDE IN LAT (REVS. B-0)
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# LONGITUDE IN LONG (REVS. B-0)
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# ALTITUDE IN ALT METERS B-29
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#
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# LATITUDE IN LAT (REVS. B-0)
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# LONGITUDE IN LONG (REVS. B-0)
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# ALTITUDE IN ALT METERS B-29
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BANK 30
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SETLOC LATLONG
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BANK
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@ -60,16 +60,16 @@ LAT-LONG STQ SETPD
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ALPHAV
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PUSH ABVAL # 0-5D= R FOR R-TO-RP
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STODL ALPHAM # ABS. VALUE OF R FOR ALT FORMULA BELOW
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ZEROVEC # SET MPAC=0 FOR EARTH, NON-ZERO FOR MOON
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ZEROVEC # SET MPAC=0 FOR EARTH,NON-ZERO FOR MOON
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BOFF COS # USE COS(0) TO GET NON-ZERO IN MPAC
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LUNAFLAG # 0=EARTH, 1=MOON
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LUNAFLAG # 0=EARTH,1=MOON
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CALLRTRP
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CALLRTRP CALL
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R-TO-RP # RP VECTOR CONVERTED FROM R B-29
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UNIT # UNIT RP B-1
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STCALL ALPHAV # U2= 1/2 SINL FOR SETRE SUBR BELOW
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SETGAMMA # SET GAMMA=B2/A2 FOR EARTH, =1 FOR MOON
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CALL # SCALED B-1
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SETGAMMA # SET GAMMA=B2/A2 FOR EARTH,=1 FOR MOON
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CALL # SCALED B-1
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SETRE # CALC RE METERS B-29
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DLOAD DSQ
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ALPHAV
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@ -96,49 +96,48 @@ CALLRTRP CALL
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STCALL ALT # EXIT WITH ALT METERS B-29
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INCORPEX
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# Page 1135
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# SUBROUTINE TO CONVERT LAT,LONG.ALT AT GIVEN TIME TO RADIUS VECTOR
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#
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# SUBROUTINE TO CONVERT LAT,LONG,ALT AT GIVEN TIME TO RADIUS VECTOR
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# CALLING SEQUENCE
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# L-1 CALL
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# L LALOTORV
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#
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# L-1 CALL
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# L LALOTORV
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# SUBROUTINES USED
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# SETGAMMA, SETRE, RP-TO-R
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#
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# SETGAMMA,SETRE,RP-TO-R
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# ERASABLE INIT. REQ.
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# AXO, AYO, AZO, TEPHEM SET AT LAUNCH TIME
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# LAT -- LATITUDE (REVS B0)
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# LONG -- LONGITUDE (REVS B0)
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# ALT -- ALTITUDE (METERS) B-29
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# MPAC -- TIME (CSECS B-28)
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# ERADFLAG =1 TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS
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# LUNAFLAG=0 FOR EARTH, 1 FOR MOON
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#
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# AXO,AYO,AZO,TEPHEM SET AT LAUNCH TIME
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# LAT-- LATITUDE (REVS B0)
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# LONG-- LONGITUDE (REVS B0)
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# ALT--ALTITUDE (METERS) B-29
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# MPAC-- TIME (CSECS B-28)
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# ERADFLAG =1 TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS
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# LUNAFLAG=0 FOR EARTH,1 FOR MOON
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# OUTPUT
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# R-VECTOR IN ALPHAV (METERS B-29)
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#
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# R-VECTOR IN ALPHAV (METERS B-29)
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LALOTORV STQ SETPD # LAT,LONG,ALT TO R VECTOR
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INCORPEX
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0D
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STCALL 6D # 6-7D= TIME FOR RP-TO-R
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SETGAMMA # GAMMA=B2/A2 FOR EARTH, 1 FOR MOON B-1
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SETGAMMA # GAMMA=B2/A2 FOR EARTH,1 FOR MOON B-1
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DLOAD SIN # COS(LONG)COS(LAT) IN MPAC
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LAT # UNIT RP = SIN(LONG)COS(LAT) 2-3D
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LAT # UNIT RP= SIN(LONG)COS(LAT) 2-3D
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DMPR PDDL # PD 2 GAMMA*SIN(LAT) 0-1D
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GAMRP
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LAT # 0-1D = GAMMA*SIN(LAT) B-2
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COS PDDL # PD4 2-3D = COS(LAT) B-1 TEMPORARILY
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LAT # 0-1D= GAMMA*SIN(LAT) B-2
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COS PDDL # PD4 2-3D=COS(LAT) B-1 TEMPORARILY
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LONG
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SIN DMPR # PD 2
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PDDL COS # PD 4 2-3D = SIN(LONG)COS(LAT) B-2
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PDDL COS # PD 4 2-3D=SIN(LONG)COS(LAT) B-2
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LAT
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PDDL COS # PD 6 4-5D = COS(LAT) B-1 TEMPORARILY
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PDDL COS # PD 6 4-5D=COS(LAT) B-1 TEMPORARILY
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LONG
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DMPR VDEF # PD 4 MPAC = COS(LONG)COS(LAT) B-2
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DMPR VDEF # PD 4 MPAC= COS(LONG)COS(LAT) B-2
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UNIT PUSH # 0-5D= UNIT RP FOR RP-TO-R SUBR.
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STCALL ALPHAV # ALPHAV +4= SINL FOR SETRE SUBR.
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SETRE # RE METERS B-29
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DLOAD BOFF # SET MPAC=0 FOR EARTH, NON-ZERO FOR MOON
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DLOAD BOFF # SET MPAC=0 FOR EARTH,NON-ZERO FOR MOON
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ZEROVEC
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LUNAFLAG
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CALLRPRT
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@ -154,14 +153,15 @@ CALLRPRT CALL
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VSL1 # R METERS B-29
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STCALL ALPHAV # EXIT WITH R IN METERS B-29
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INCORPEX
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# SUBROUTINE TO COMPUTE EARTH RADIUS
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#
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# INPUT
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# 1/2 SIN LAT IN ALPHAV +4
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#
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# 1/2 SIN LAT IN ALPHAV +4
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#
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# OUTPUT
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# EARTH RADIUS IN ERADM AND MPAC (METERS B-29)
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#
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# EARTH RADIUS IN ERADM AND MPAC (METERS B-29)
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GETERAD DLOAD DSQ
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ALPHAV +4 # SIN**2(L)
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@ -176,11 +176,10 @@ GETERAD DLOAD DSQ
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STORE ERADM
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RVQ
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# THE FOLLOWING CONSTANTS WERE COMPUTED WITH A=6378166, B=6356784 METERS
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# B2XSC = B**2 SCALED B-51
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# B2/A2 = B**2/A**2 SCALED B-1
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# EE = (1-B**2/A**2) SCALED B-0
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# THE FOLLOWING CONSTANTS WERE COMPUTED WITH A=6378166,B=6356784 METERS
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# B2XSC= B**2 SCALED B-51
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# B2/A2= B**2/A**2 SCALED B-1
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# EE=(1-B**2/A**2) SCALED B-0
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B2XSC 2DEC .0179450689 # B**2 SCALED B-51
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DP1/2 = XUNIT
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B2/A2 2DEC .9933064884 B-1 # GAMMA= B**2/A**2 B-1
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@ -190,12 +189,13 @@ EE 2DEC 6.6935116 E-3 # (1-B**2/A**2) B-0
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# ARCTAN SUBROUTINE
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#
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# CALLING SEQUENCE
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# SIN THETA IN SINTH B-1
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# COS THETA IN COSTH B-1
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# CALL ARCTAN
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#
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# SIN THETA IN SINTH B-1
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# COS THETA IN COSTH B-1
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# CALL ARCTAN
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#
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# OUTPUT
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# ARCTAN THETA IN MPAC AND THETA B-0 IN RANGE -1/2 TO +1/2
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# ARCTAN THETA IN MPAC AND THETA B-0 IN RANGE -1/2 TO +1/2
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ARCTAN BOV
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CLROVFLW
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@ -234,21 +234,21 @@ ATAN=90 DLOAD SIGN
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2DZERO = DPZERO
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# Page 1138
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# ***** SETGAMMA SUBROUTINE *****
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# ..... SETGAMMA SUBROUTINE .....
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# SUBROUTINE TO SET GAMMA FOR THE LAT-LONG AND LALOTORV SUBROUTINES
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#
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# GAMMA = B**2/A**2 FOR EARTH (B-1)
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# GAMMA = 1 FOR MOON (B-1)
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#
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# CALLING SEQUENCE
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# L CALL
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# L+1 SETGAMMA
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# L CALL
|
||||
# L+1 SETGAMMA
|
||||
#
|
||||
# INPUT
|
||||
# LUNAFLAG=0 FOR EARTH, =1 FOR MOON
|
||||
# LUNAFLAG=0 FOR EARTH,=1 FOR MOON
|
||||
#
|
||||
# OUTPUT
|
||||
# GAMMA IN GAMRP (B-1)
|
||||
# GAMMA IN GAMRP (B-1)
|
||||
|
||||
SETGAMMA DLOAD BOFF # BRANCH FOR EARTH
|
||||
B2/A2 # EARTH GAMMA
|
||||
|
|
@ -261,27 +261,27 @@ SETGMEX STORE GAMRP
|
|||
GAMRP = 8D
|
||||
|
||||
# Page 1139
|
||||
# ***** SETRE SUBROUTINE *****
|
||||
# .....SETRE SUBROUTINE .....
|
||||
# SUBROUTINE TO SET RE (EARTH OR MOON RADIUS)
|
||||
#
|
||||
# RE = RM FOR MOON
|
||||
# RE = RREF FOR FIXED EARTH RADIUS OR COMPUTED RF FOR FISCHER ELLIPSOID
|
||||
# RE= RM FOR MOON
|
||||
# RE= RREF FOR FIXED EARTH RADIUS OR COMPUTED RF FOR FISCHER ELLIPSOID
|
||||
#
|
||||
# CALLING SEQUENCE
|
||||
# L CALL
|
||||
# L+1 SETRE
|
||||
# L CALL
|
||||
# L+1 SETRE
|
||||
#
|
||||
# SUBROUTINES USED
|
||||
# GETERAD
|
||||
# GETERAD
|
||||
#
|
||||
# INPUT
|
||||
# ERADFLAG = 0 FOR FIXED RE, 1 FOR COMPUTED RE
|
||||
# ALPHAV +4 = 1/2 SINL IF GETERAD IS CALLED
|
||||
# LUNAFLAG = 0 FOR EARTH, =1 FOR MOON
|
||||
# ERADFLAG=0 FOR FIXED RE, 1 FOR COMPUTED RE
|
||||
# ALPHAV +4= 1/2 SINL IF GETERAD IS CALLED
|
||||
# LUNAFLAG=0 FOR EARTH,=1 FOR MOON
|
||||
#
|
||||
# OUTPUT
|
||||
# ERADM = 504RM FOR MOON (METERS B-29)
|
||||
# ERADM = ERAD OR COMPUTED RE FOR EARTH (METERS B-29)
|
||||
# ERADM= 504RM FOR MOON (METERS B-29)
|
||||
# ERADM= ERAD OR COMPUTED RE FOR EARTH (METERS B-29)
|
||||
|
||||
SETRE STQ DLOAD
|
||||
SETREX
|
||||
|
|
@ -290,19 +290,17 @@ SETRE STQ DLOAD
|
|||
LUNAFLAG
|
||||
TSTRLSRM
|
||||
ERAD
|
||||
BOFF CALL # ERADFLAG=0 FOR FIXED RE, 1 FOR COMPUTED
|
||||
BOFF CALL # ERADFLAG=0 FOR FIXED RE,1 FOR COMPUTED
|
||||
ERADFLAG
|
||||
SETRXX
|
||||
GETERAD
|
||||
SETRXX STCALL ERADM # EXIT WITH RE OR RM METERS B-29
|
||||
SETREX
|
||||
TSTRLSRM BON VLOAD # ERADFLAG=0, SET R0=RLS
|
||||
ERADFLAG # =1 R0=RM
|
||||
TSTRLSRM BON VLOAD # ERADFLAG=0,SET R0=RLS
|
||||
ERADFLAG # =1 R0=RM
|
||||
SETRXX
|
||||
RLS
|
||||
ABVAL SR2R # SCALE FROM B-27 TO B-29
|
||||
GOTO
|
||||
SETRXX
|
||||
SETREX = S2
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue