Source Code

036092,000001: 036093,000002: 036094,000003: 036095,000004: 036096,000005: 036097,000006: 036098,000007: 036099,000008: 036100,000009: 036101,000010: 036102,000011: 036103,000012: 036104,000013: 036105,000014: 036106,000015: 036107,000016: 036108,000017: 37,3410 036109,000018: 37,2000 036110,000019: 37,2000 036111,000020: 036112,000021: 37,3410 E7,1515 036113,000022: 036114,000023: 036115,000024: 036116,000025: 37,3410 036117,000026: < 036333,000242: 33,2315 036334,000243: 33,2316 036335,000244: 33,2317 036336,000245: 036337,000246: 33,2320 036338,000247: 33,2321 036339,000248: 33,2322 036340,000249: 036809,000718: 036810,000719: 33,2507 036811,000720: 33,2510 036812,000721: 33,2511 036813,000722: 036814,000723: 33,2512 036815,000724: 33,2513 036816,000725: 33,2514 036817,000726: 33,2515 036818,000727: < 037349,001258: 33,3427 037350,001259: 33,3430 037351,001260: 037352,001261: 33,3431 < 037354,001263: 33,3433 037355,001264: 33,3434 037356,001265: 33,3435 037357,001266: 037358,001267: 33,3436 037359,001268: 037360,001269: 33,3437 037361,001270: 33,3440 037362,001271: 037363,001272: 33,3441 037364,001273: 33,3442 037365,001274: 037366,001275: 33,3443 E7,1471 037367,001276: 33,3443 037368,001277: 33,3444 037369,001278: 33,3445 037370,001279: 33,3446 037371,001280: 33,3447 037372,001281: 33,3450 037373,001282: 037374,001283: 33,3451 037375,001284: 037376,001285: 33,3452 < 037395,001304: 33,3470 037396,001305: 33,3471 E7,1654 037397,001306: 33,3471 037398,001307: 037399,001308: 33,3473 037400,001309: < 037427,001336: 33,3521 037428,001337: 33,3522 037429,001338: 33,3523 037430,001339: 33,3524 037431,001340: 33,3525 037432,001341: 33,3526 037433,001342: 33,3527 037434,001343: 037435,001344: 33,3530 037436,001345: 33,3531 037437,001346: < 037444,001353: 33,3536 037445,001354: 33,3537 037446,001355: 33,3540 037447,001356: 33,3541 037448,001357: 33,3542 037449,001358: 33,3543 037450,001359: 33,3544 037451,001360: 037452,001361: 33,3545 037453,001362: 33,3546 037454,001363: 037455,001364: < 037475,001384: < 037660,001569: 33,3663 037661,001570: 33,3664 037662,001571: 33,3665 037663,001572: 33,3666 037664,001573: 33,3667 037665,001574: < 037667,001576: 037668,001577: 33,3671 037669,001578: 33,3672 037670,001579: 33,3673 # Copyright: Public domain. # Filename: SERVICER.agc # Purpose: A section of Luminary 1C, revision 131. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. # This file is intended to be a faithful transcription, except # that the code format has been changed to conform to the # requirements of the yaYUL assembler rather than the # original YUL assembler. # Reference: pp. 857-895 of 1729.pdf. # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo/index.html # Mod history: 05/27/03 RSB. Began transcribing. # 05/14/05 RSB Corrected website references above. # Page 857 BANK 37 SETLOC SERV1 BANK EBANK= DVCNTR # ************* PREREAD ******************* COUNT* $$/SERV 4">036118,000027: 37,3410 34757 PREREAD CAF SEVEN # 5.7 SPOT TO SKIP LASTBIAS AFTER 03527 TC GNUFAZE5 # RESTART. 35031 CAF PRIO21 05072 TC NOVAC EBANK= NBDX 03671 14063 2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL 153">036125,000034: 37,3416 03541 BIBIBIAS TC PIPASR +3 # CLEAR + READ PIPS LAST TIME IN FRE5+F133 # DO NOT DESTROY VALUE OF PIPTIME1 40103 CS FLAGWRD7 74773 MASK SUPER011 # SET V37FLAG AND AVEGFLAG (BITS 5 AND 6 26103 ADS FLAGWRD7 # OF FLAGWRD7) 44735 CS DRFTBIT 70076 MASK FLAGWRD2 # RESET DRIFTFLAG 54076 TS FLAGWRD2 34751 CAF FOUR # INITIALIZE DV MONITOR 55256 TS PIPAGE 37713 CAF PRIO22 05105 TC FINDVAC # TO FIRST ENTRY TO AVERAGE G EBANK= DVCNTR 02463 46067 2CADR NORMLIZE 34752 CA TWO # 5.2SPOT FOR REREADAC AND NORMLIZE 158">036145,000054: 37,3434 03523 GOREADAX TC GNUTFAZ5 35000 CA 2SECS # WAIT TWO SECONDS FOR READACCS 05224 TC VARDELAY # Page 858 # ************* READACCS **************** 353">036152,000061: 37,3437 43535 READACCS CS OCT37771 # THIS PIECE OF CODING ATTEMPTS TO 60030 AD TIME5 # SYNCHRONIZE READACCS WITH THE DIGITAL 10000 CCS A # AUTOPILOT SO THAT A PAXIS RUPT WILL 44753 CS ONE # OCCUR APPROXIMATELY 70 MILLISECONDS 13445 TCF +2 # FOLLOWING THE READACCS RUPT. THE 70 MS 34753 CA ONE # OFFSET WAS CHOSEN SO THAT THE PAXIS 26030 +2 ADS TIME5 # RUPT WOULD NOT OCCUR SIMULTANEOUSLY # WITH ANY OF THE 8 SUBSEQUENT R10,R11 # INTERRUPTS -- THUS MINIMIZING THE POSS- # IBILITY OF LOSING DOWNRUPTS. 03536 TC PIPASR # READ THE PIPAS. E45">036165,000074: 37,3447 34756 PIPSDONE CA FIVE 03527 TC GNUFAZE5 5">036167,000076: 37,3451 34753 REDO5.5 CAF ONE 55256 TS PIPAGE 34736 CA PRIO20 05105 TC FINDVAC EBANK= DVCNTR 02206 66067 2CADR SERVICER # SET UP SERVISER JOB 34743 CA BIT9 00006 EXTEND 05011 WOR DSALMOUT # TURN ON TEST CONNECTOR OUTBIT 30103 CA FLAGWRD7 74747 MASK AVEGFBIT 00006 EXTEND 13515 BZF AVEGOUT # AVEGFLAG DOWN -- SET UP FINAL EXIT 30102 CA FLAGWRD6 74744 MASK MUNFLBIT 00006 EXTEND 13513 BZF MAKEACCS # MUNFLAG CLEAR -- BYPASS LR AND DISP. 10754 CCS PHASE2 13513 TCF MAKEACCS # PHASE 2 ACTIVATED -- AVOID MULTIPLE R10. 34757 CAF SEVEN # SET PIPCTR FOR 4X/SEC RATE. 55055 TS PIPCTR 40025 CS TIME1 # SET TBASE2 .05 SECONDS IN THE PAST. 64756 AD FIVE 64734 AD NEG1/2 64734 AD NEG1/2 57054 XCH TBASE2 # Page 859 34361 CAF DEC17 # 2.21SPOT FOR R10,R11 54001 TS L 40000 COM 52754 DXCH -PHASE2 36007 CAF OCT24 # FIRST R10,R11 IN .200 SECONDS 05203 TC WAITLIST EBANK= UNIT/R/ 02006 42067 2CADR R10,R11 353">036211,000120: 37,3513 34751 MAKEACCS CA FOUR 13434 TCF GOREADAX # DO PHASE CHANGE AND RECALL READACCS 4">036214,000123: 37,3515 00006 AVEGOUT EXTEND 33534 DCA AVOUTCAD # SET UP FINAL SERVICER EXIT 53252 DXCH AVGEXIT 34751 CA FOUR # SET 5.4 SPOT FOR REREADAC AND SERVICER 03523 TC GNUTFAZ5 # IF REREADAC IS CALLED, IT WILL EXIT 05261 TC TASKOVER # END TASK WITHOUT CALLING READACCS A35">036222,000131: 37,3523 54001 GNUTFAZ5 TS L # SAVE INPUT IN L 40025 CS TIME1 55062 TS TBASE5 # SET TBASE5 13530 TCF +2 535">036227,000136: 37,3527 54001 GNUFAZE5 TS L # SAVE INPUT IN L 40001 CS L # -PHASE IN A, PHASE IN L. 52762 DXCH -PHASE5 # SET -PHASE5,PHASE5 00002 TC Q EBANK= DVCNTR 144">036233,000142: 37,3533 03661 44067 AVOUTCAD 2CADR AVGEND 731">036235,000144: 37,3535 37771 OCT37771 OCT 37771 BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV # Page 860 # ************* SERVICER **************** 552">036246,000155: 33,2206 05353 SERVICER TC PHASCHNG # RESTART REREADAC + SERVICER 16035 OCT 16035 20000 OCT 20000 EBANK= DVCNTR 02217 66067 2CADR GETABVAL 37721 CAF PRIO31 # INITIALIZE 1/PIPADT IN CASE RESTART HAS 55074 TS 1/PIPADT # CAUSED LASTBIAS TO BE SKIPPED. 04616 TC BANKCALL # PIPA COMPENSATION CALL 15271 CADR 1/PIPA 14C">036258,000167: 33,2217 06042 GETABVAL TC INTPRET 51575 VLOAD ABVAL 00325 DELV 77776 EXIT 30154 CA MPAC 55245 TS ABDELV # ABDELV = CM/SEC*2(-14). 00006 EXTEND 72020 MP KPIP 53514 DXCH ABDVCONV # ABDVCONV = M/CS * 2(-5). 00006 EXTEND 31244 DCA MASS 53571 DXCH MASS1 # INITIALIZE MASS1 IN CASE WE SKIP MASSMON E">036270,000179: 33,2233 40104 MASSMON CS FLAGWRD8 # ARE WE ON THE SURFACE? 74744 MASK SURFFBIT 00006 EXTEND 12254 BZF MOONSPOT # YES: BYPASS MASS MESS 30106 CA FLGWRD10 # NO: WHICH VEX SHOULD BE USED? 74737 MASK APSFLBIT 10000 CCS A 00006 EXTEND # IF EXTEND IS EXECUTED, APSVEX --> A, 32001 DCA APSVEX # OTHERWISE DPSVEX --> A 54002 TS Q 00006 EXTEND 31514 DCA ABDVCONV 00006 EXTEND 032">036284,000193: 33,2250 10002 OCT10002 DV Q # WHERE APPROPRIATE VEX RESIDES 00006 EXTEND 71243 MP MASS 21571 DAS MASS1 F54">036289,000198: 33,2254 32021 MOONSPOT CA KPIP1 # TP MPAC = ABDELV AT 2(14) CM/SEC 07312 TC SHORTMP # MULTIPLY BY KPIP1 TO GET # Page 861 52155 DXCH MPAC # ABDELV AT 2(7) M/CS 21510 DAS DVTOTAL # UPDATE DVTOTAL FOR DISPLAY 02440 TC TMPTOSPT 04616 TC BANKCALL 47617 CADR QUICTRIG 32414 CAF XNBPIPAD 04616 TC BANKCALL 20037 CADR FLESHPOT 06042 TC INTPRET 547">036304,000213: 33,2267 45014 AVERAGEG BON CALL 03307 MUNFLAG 66771 RVBOTH 66735 CALCRVG 77776 EXIT >036309,000218: 33,2274 03512 GOSERV TC QUIKFAZ5 34C">036311,000220: 33,2275 02423 COPYCYCL TC COPYCYC # CA ZERO # A IS ZERO ON RETURN FROM COPYCYC 55157 TS PIPATMPX 55160 TS PIPATMPY 55161 TS PIPATMPZ 44741 CS STEERBIT # CLEAR STEERSW PRIOR TO DVMON. 70076 MASK FLAGWRD2 54076 TS FLAGWRD2 34745 CAF IDLEFBIT # IS THE IDLE FLAG SET? 70103 MASK FLAGWRD7 10000 CCS A 12342 TCF NODVMON1 # IDLEFLAG = 1, HENCE SET AUXFLAG TO 0. 40102 CS FLAGWRD6 74752 MASK AUXFLBIT 10000 CCS A 12346 TCF NODVMON2 # AUXFLAG = 0, HENCE SET AUXFLAG TO 1. /a>036332,000241: 33,2314 41250 DVMON CS DVTHRUSH 61245 AD ABDELV 00006 EXTEND 62352 BZMF LOTHRUST 40076 CS FLAGWRD2 # SET STEERSW. 74741 MASK STEERBIT 26076 ADS FLAGWRD2 554">036341,000250: 33,2323 34753 DVCNTSET CAF ONE # ALLOW TWO PASSES MAXIMUM NOW THAT # Page 862 55515 TS DVCNTR # THRUST HAS BEEN DETECTED. 30106 CA FLGWRD10 # BRANCH IF APSFLAG IS SET. 74737 MASK APSFLBIT 10000 CCS A 12375 TCF USEJETS 34743 CA BIT9 # CHECK GIMBAL FAIL BIT 00006 EXTEND 02032 RAND CHAN32 00006 EXTEND 12375 BZF USEJETS >036356,000265: 33,2336 44736 USEGTS CS USEQRJTS 70111 MASK DAPBOOLS 54111 TS DAPBOOLS 12400 TCF SERVOUT E31">036361,000270: 33,2342 44752 NODVMON1 CS AUXFLBIT # SET AUXFLAG TO 0. 70102 MASK FLAGWRD6 54102 TS FLAGWRD6 12375 TCF USEJETS E32">036365,000274: 33,2346 40102 NODVMON2 CS FLAGWRD6 # SET AUXFLAG TO 1. 74752 MASK AUXFLBIT 26102 ADS FLAGWRD6 12375 TCF USEJETS 354">036370,000279: 33,2352 03512 LOTHRUST TC QUIKFAZ5 11515 CCS DVCNTR 12366 TCF DECCNTR 10760 CCS PHASE4 # COMFAIL JOB ACTIVE? 12400 TCF SERVOUT # YES: WON'T NEED ANOTHER. 05353 TC PHASCHNG # 4.37SPOT FOR COMFAIL. 00374 OCT 00374 37716 CAF PRIO25 05072 TC NOVAC EBANK= WHICH 02575 74067 2CADR COMFAIL 12400 TCF SERVOUT 2">036387,000296: 33,2366 55570 DECCNTR TS DVCNTR1 03512 TC QUIKFAZ5 31570 CA DVCNTR1 55515 TS DVCNTR 00004 INHINT 04674 TC IBNKCALL # IF THRUST IS LOW, NO STEERING IS DONE # Page 863 40166 CADR STOPRATE # AND THE DESIRED RATES ARE SET TO ZERO. 3">036395,000304: 33,2375 40111 USEJETS CS DAPBOOLS 74736 MASK USEQRJTS 26111 ADS DAPBOOLS 4">036398,000307: 33,2400 00003 SERVOUT RELINT 04616 TC BANKCALL 40463 CADR 1/ACCS 30167 CA PRIORITY 75004 MASK LOW9 54166 TS PUSHLOC 22007 ZL 52121 DXCH FIXLOC # FIXLOC AND DVFIND 03512 TC QUIKFAZ5 00006 EXTEND # EXIT TO SELECTED ROUTINE WHETHER THERE 31252 DCA AVGEXIT # IS THRUST OR NOT. THE STATE OF STEERSW 52006 DXCH Z # WILL CONVEY THIS INFORMATION. 144">036413,000322: 33,2414 02145 XNBPIPAD ECADR XNBPIP BANK 32 SETLOC SERV2 BANK COUNT* $$/SERV >036420,000329: 22,3661 31234 AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT 55074 TS 1/PIPADT # SET UP FREE FALL GYRO COMPENSATION. 05504 TC UPFLAG # SET DRIFT FLAG. 00036 ADRES DRIFTFLG 04616 TC BANKCALL 17301 CADR PIPFREE 44743 CS BIT9 00006 EXTEND 03011 WAND DSALMOUT 05327 TC 2PHSCHNG 00005 OCT 5 # GROUP 5 OFF 05022 OCT 05022 # GROUP 2 ON 20000 OCT 20000 06042 TC INTPRET 43014 SET CLEAR 01464 NOR29FLG # SHUT OFF R29 WHEN SERVICER ENDS. 03664 SWANDISP # SHUT OFF R10 WHEN SERVICER ENDS. 45014 CLEAR CALL # RESET MUNFLAG. 03267 MUNFLAG # Page 864 27463 AVETOMID 77414 CLEAR EXIT 03671 V37FLAG E">036448,000357: 22,3707 04635 AVERTRN TC POSTJUMP 10116 CADR V37RET 645">036451,000360: 22,3711 22,3707 OUTGOAVE = AVERTRN 1">036452,000361: 22,3711 E7,1570 DVCNTR1 = MASS1 # Page 865 SETLOC SERV3 BANK COUNT* $$/SERV C45">036459,000368: 27,3322 00006 SERVIDLE EXTEND # DISCONNECT SERVICER FROM ALL GUIDANCE 33360 DCA SVEXTADR 53252 DXCH AVGEXIT 40103 CS FLAGWRD7 # DISCONNECT THE DELTA-V MONITOR 74745 MASK IDLEFBIT 26103 ADS FLAGWRD7 34735 CAF LRBYBIT # TERMINATE R12 IS RUNNING. 54107 TS FLGWRD11 00006 EXTEND 34755 DCA NEG0 52752 DXCH -PHASE1 30102 CA FLAGWRD6 # DO NOT TURN OFF PHASE 2 IF MUNFLAG SET. 74744 MASK MUNFLBIT 10000 CCS A 13344 TCF +4 00006 EXTEND 34755 DCA NEG0 52754 DXCH -PHASE2 00006 +4 EXTEND 34755 DCA NEG0 52756 DXCH -PHASE3 00006 EXTEND 34755 DCA NEG0 52764 DXCH -PHASE6 34764 CAF OCT33 # 4.33SPOT FOR GOP00FIX 54001 TS L 40000 COM 52760 DXCH -PHASE4 15634 TCF WHIMPER # PERFORM A SOFTWARE RESTART AND PROCEED # TO GOTOP00H WHILE SERVICER CONTINUES TO # RUN, ALBEIT IN A GROUND STATE WHERE # ONLY STATE-VECTOR DEPENDENT FUNCTIONS # ARE MAINTAINED. EBANK= DVCNTR # Page 866 452">036504,000413: 27,3357 03746 64067 SVEXTADR 2CADR SERVEXIT BANK 32 SETLOC SERV BANK COUNT* $$/SERV 954">036511,000420: 32,3746 05353 SERVEXIT TC PHASCHNG 00035 OCT 00035 15155 TCF ENDOFJOB BANK 23 SETLOC NORMLIZ BANK COUNT* $$/SERV # Page 867 A45">036523,000432: 23,2463 06042 NORMLIZE TC INTPRET 43175 VLOAD BOFF 03545 RN1 03347 MUNFLAG 66415 NORMLIZ1 64252 VSL6 MXV 01734 REFSMMAT 37521 STCALL R 67067 MUNGRAV 76575 VLOAD VSL1 03553 VN1 77721 MXV 01734 REFSMMAT 27527 STOVL V 01726 V(CSM) 53435 VXV UNIT 01720 R(CSM) 03720 STORE UHYP 4">036541,000450: 23,2505 77776 ASCSPOT EXIT 00006 EXTEND # MAKE SURE GROUP 2 IS OFF 34755 DCA NEG0 52754 DXCH -PHASE2 04635 TC POSTJUMP 66420 CADR NORMLIZ2 BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV A31">036554,000463: 33,2415 77624 NORMLIZ1 CALL 66667 CALCGRAV 77776 EXIT A32">036558,000467: 33,2420 32437 NORMLIZ2 CA EIGHTEEN 02424 TC COPYCYC +1 # DO NOT COPY MASS IN NORMLIZE 05155 TC ENDOFJOB 3">036562,000471: 33,2423 36007 COPYCYC CA OCT24 # DEC 20 00004 +1 INHINT 77752 +2 MASK NEG1 # REDUCE BY 1 IF ODD 54061 TS ITEMP1 00006 EXTEND 50061 INDEX ITEMP1 31545 DCA RN1 50061 INDEX ITEMP1 # Page 868 53220 DXCH RN 10061 CCS ITEMP1 12425 TCF COPYCYC +2 00002 TC Q # RETURN UNDER INHINT 54E">036576,000485: 33,2437 00022 EIGHTEEN DEC 18 B-14 # Page 869 # ************* PIPA READER ***************** # MOD NO. 00 BY D. LICKLY, DEC. 9 1966 # FUNCTIONAL DESCRIPTION # SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT WILL BE RESTARTABLE. # PIPA READINGS ARE STORED IN THE VECTOR DELV. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING, # RESTARTS BEGIN AT REREADAC. # AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A # VECTOR IN CDUTEMP. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS # THE CDU READING IN 25 COMP IN THE ORDER CDUX,Y,Z. THE THRUST # VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME. # CALLINE SEQUENCE AND EXIT # CALL VIA TC, ISWCALL, ETC. # EXIT IS VIA Q. # INPUT # INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2. # OUTPUT # HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS. # PIPTIME CONTAINS TIME OF PIPA READING. # DEBRIS (ERASABLE LOCATIONS DESTROYED BY PROGRAM) # TEMX, TEMY, TEMZ, PIPAGE BANK 37 SETLOC SERV1 BANK COUNT* $$/SERV >036612,000521: 37,3536 00006 PIPASR EXTEND # Page 870 30025 DCA TIME2 53561 DXCH PIPTIME1 # CURRENT TIME POSITIVE VALUE 44755 +3 CS ZERO # INITIALIZE THESE AT NEG. ZERO. 55253 TS TEMX 55254 TS TEMY 55255 TS TEMZ 34755 CA ZERO 54330 TS DELVZ 54331 TS DELVZ +1 54326 TS DELVY 54327 TS DELVY +1 54325 TS DELVX +1 55256 TS PIPAGE # SHOW PIPA READING IN PROGRESS >036629,000538: 37,3554 00006 REPIP1 EXTEND 40040 DCS PIPAX # X AND Y PIPS READ 53254 DXCH TEMX 52040 DXCH PIPAX # PIPAS SET TO NEG ZERO AS READ. 54324 TS DELVX 22326 LXCH DELVY >036636,000545: 37,3562 40041 REPIP3 CS PIPAZ # REPEAT PROCESS FOR Z PIP 57255 XCH TEMZ 56041 XCH PIPAZ A">036639,000548: 37,3565 54330 DODELVZ TS DELVZ >036641,000550: 37,3566 00006 REPIP4 EXTEND # COMPUTE GUIDANCE PERIOD 31561 DCA PIPTIME1 53247 DXCH PGUIDE 00006 EXTEND 41234 DCS PIPTIME 21247 DAS PGUIDE 30032 CA CDUX # READ CDUS INTO HIGH ORDER CDUTEMPS 55154 TS CDUTEMPX 30033 CA CDUY 55155 TS CDUTEMPY 30034 CA CDUZ 55156 TS CDUTEMPZ 30324 CA DELVX 55157 TS PIPATMPX 30326 CA DELVY 55160 TS PIPATMPY 30330 CA DELVZ 55161 TS PIPATMPZ 00002 TC Q # Page 871 143">036664,000573: 37,3611 11256 REREADAC CCS PIPAGE 13437 TCF READACCS # PIP READING NOT STARTED. GO TO BEGINNING 33651 CAF DONEADR # SET UP RETURN FROM PIPASR 54002 TS Q 10330 CCS DELVZ 13566 TCF REPIP4 # Z DONE, GO DO CDUS 13622 TCF +3 # Z NOT DONE, CHECK Y. 13566 TCF REPIP4 13566 TCF REPIP4 22007 ZL 10326 CCS DELVY 13627 TCF +3 13636 TCF CHKTEMX # Y NOT DONE, CHECK X. 13627 TCF +1 22041 LXCH PIPAZ # Y DONE, ZERO Z PIP. 11255 CCS TEMZ 41255 CS TEMZ # TEMZ NOT = -0, CONTAINS -PIPAZ VALUE. 13565 TCF DODELVZ 13631 TCF -2 22330 LXCH DELVZ # TEMZ = -0, L HAS ZPIP VALUE. 13566 TCF REPIP4 8">036690,000599: 37,3636 11253 CHKTEMX CCS TEMX # HAS THIS CHANGED 41253 CS TEMX # YES 13643 TCF +3 # YES 13637 TCF -2 # YES 13554 TCF REPIP1 # NO 54324 TS DELVX 41254 CS TEMY 54326 TS DELVY 44755 CS ZERO # ZERO X AND Y PIPS 52040 DXCH PIPAX # L STILL ZERO FROM ABOVE 13562 TCF REPIP3 2">036705,000614: 37,3651 03447 DONEADR GENADR PIPSDONE # Page 872 BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV 054">036714,000623: 33,2440 31155 TMPTOSPT CA CDUTEMPY # THIS SUBROUTINE, ALLED BY AN RTB FROM 54765 TS CDUSPOTY # INTERPRETIVE, LOADS THE CDUS CORRESPON- 31156 CA CDUTEMPZ # DING TO PIPTIME INTO THE CDUSPOT VECTOR. 54767 TS CDUSPOTZ 31154 CA CDUTEMPX 54771 TS CDUSPOTX 00002 TC Q # LRHTASK IS A WAITLIST TASK SET BY READACCS DURING THE DESCENT BRAKING # PHASE WHEN THE ALT TO THE LUNAR SURFACE IS LESS THAN 25,000 FT. THIS # TASK CLEARS THE ALTITUDE MEASUREMENT MADE DISCRETE AND INITIATES THE # LANDING RADAR MEASUREMENT JOB (LRHJOB) TO TAKE A ALTITUDE MEASUREMENT # 50 MS PRIOR TO THE NEXT READACCS TASK. BANK 21 SETLOC R10 BANK COUNT* $$/SERV B">036734,000643: 21,2125 40107 LRHTASK CS FLGWRD11 74735 MASK LRBYBIT 00006 EXTEND 12141 BZF GRP2OFF # LR BYPASS SET -- BYPASS ALL LR READING. 40107 CS FLGWRD11 74742 MASK NOLRRBIT # IS LR READ INHIBITED? 00006 EXTEND 12141 BZF GRP2OFF # YES. BYPASS LR READ. 37723 CA PRIO32 # LR READ OK. SET JOB TO DO IT 05072 TC NOVAC # ABOUT 50 MS. PRIOR TO PIPA READ. EBANK= HMEAS 03571 70067 2CADR LRHJOB 6">036749,000658: 21,2141 00006 GRP2OFF EXTEND 34755 DCA NEG0 52754 DXCH -PHASE2 12021 TCF R10,R11A BANK 33 SETLOC SERVICES BANK # Page 873 COUNT* $$/SERV # HIGATASK IS ENTERED APPROXIMATELY 6 SECS PRIOR TO HIGATE DURING THE # DESCENT PHASE. HIGATASK SETS THE HIGATE FLAG (BIT11) AND THE LR INHIBIT # FLAG (BIT10) IN LRSTAT. THE HIGATJOB IS SET UP TO REPOSITION THE LR # ANTENNA FROM POSITION 1 TO POSITION 2. IF THE REPOSITIONING IS # SUCCESSFUL THE ALT BEAM AND VELOCITY BEAMS ARE TRANSFORMED TO THE NEW # ORIENTATION IN NB COORDINATES AND STORED IN ERASABLE. 34B">036767,000676: 33,2447 05353 HIGATASK TC PHASCHNG 00051 OCT 51 37723 CA PRIO32 05105 TC FINDVAC EBANK= HMEAS 03634 66067 2CADR HIGATJOB 40107 CS FLGWRD11 75015 MASK PRIO3 26107 ADS FLGWRD11 12546 TCF CONTSERV +1 # Page 874 # MUNRETRN IS THE RETURN LOC FROM SPECIAL AVE G ROUTINE (MUNRVG) 24E">036783,000692: 33,2461 77776 MUNRETRN EXIT 40107 CS FLGWRD11 74735 MASK LRBYBIT 00006 EXTEND 12551 BZF COPYCYC1 # BYPASS LR LOGIC IF BIT15 IS SET. 40107 CS FLGWRD11 # CHECK IF AT 30000 FT 74743 MASK XORFLBIT 00006 EXTEND 12506 BZF R12 >036795,000704: 33,2472 00006 30KCHK EXTEND 33113 DCA 1-30KFT 52155 DXCH MPAC 00006 EXTEND 31535 DCA HCALC 20155 DAS MPAC 10000 CCS A 12506 TCF R12 # ALTITUDE > 30KFT 05504 TC UPFLAG # ALTITUDE < 30KFT SET X-AXIS OVERRIDE 00311 ADRES XOVINFLG 05504 TC UPFLAG 00253 ADRES XORFLG 33,2506 40107 R12 CS FLGWRD11 74742 MASK NOLRRBIT 00006 EXTEND 12545 BZF CONTSERV 40107 CS FLGWRD11 74751 MASK NO511BIT 00006 EXTEND 13115 BZF UPDATCHK # IF NO511BIT SET, DO NOT CHECK OR POSITION >036819,000728: 33,2516 40107 HITEST CS FLGWRD11 74741 MASK PSTHIBIT 00006 EXTEND 12540 BZF POS2CHK 84B">036823,000732: 33,2522 31642 HIGATCHK CA TTF/8 # IS TTF > CRITERION? (TTF IS NEGATIVE) 61427 AD RPCRTIME 00006 EXTEND 62536 BZMF POS1CHK # NO 34741 CA EBANK4 # MUST SWITCH EBANKS 56003 XCH EBANK 54001 TS L # SAVE IN L # Page 875 EBANK= XNBPIP 41545 CS XNBPIP # UXBXP IN GSOP CH5 EBANK= DVCNTR 22003 LXCH EBANK # RESTORE EBANK 61430 AD RPCRTQSW # QSW - UXBXP 00006 EXTEND 62447 BZMF HIGATASK # IF UXBXP > QSW, THEN REPOSITION B">036840,000749: 33,2536 34746 POS1CHK CAF BIT6 12541 TCF +2 B">036843,000752: 33,2540 34745 POS2CHK CAF BIT7 03674 TC POSTST 13115 TCF UPDATCHK # LR IN RIGHT POSITION -- CONTINUE C4D">036847,000756: 33,2543 05567 LRPOSALM TC ALARM # LR NOT IN PROPER POS-ALARM-BYPASS UPDATE 00511 OCT 511 # AND CONTINUE SERVICER. 256">036849,000758: 33,2545 00004 CONTSERV INHINT 43111 CS BITS4-7 70107 MASK FLGWRD11 # CLEAR LR MEASUREMENT MADE DISCRETES. 54107 TS FLGWRD11 # Page 876 331">036855,000764: 33,2551 03512 COPYCYC1 TC QUIKFAZ5 >036857,000766: 33,2552 30077 R297 CA FLAGWRD3 75014 MASK NR29&RDR 10000 CCS A # IS NOR29FLG OR READRFLG SET? 12567 TCF R29NODES # YES, SO DON'T DESIGNATE. 30110 CA RADMODES # NO, SO R29 IS CALLED FOR. 72250 MASK OCT10002 # IS THE RR NOT ZEROING ITS CDUS, AND 10000 CCS A # IS THE RENDEZVOUS RADAR IN AUTO MODE? 12567 TCF R29NODES # NO, SO DON'T DESIGNATE. 30110 CA RADMODES 77713 MASK PRIO22 10000 CCS A # IS RR REPOSITIONING OR REMODING? 12573 TCF NOR29NOW # YES: COME BACK IN 2 SECONDS & TRY AGAIN. 12045 TCF R29 553">036874,000783: 33,2567 00004 R29NODES INHINT # R29 NOT ALLOWED THIS CYCLE. 44742 CS DESIGBIT # SHOW THAT DESIGNATION IS OFF. 70110 MASK RADMODES 54110 TS RADMODES F57">036879,000788: 33,2573 06042 NOR29NOW TC INTPRET # INTPRET DOES A RELINT. 51575 VLOAD ABVAL # MPAC = ABVAL( NEW SM. POSITION VECTOR ) 03573 R1S 45206 PUSH DSU # (2) 02333 /LAND/ 03535 STORE HCALC # NEW HCALC*2(24)M. 03775 STORE HCALC1 47075 DMPR RTB 26026 ALTCONV 21613 SGNAGREE 27742 STOVL ALTBITS # ALTITUDE FOR R10 IN BIT UNITS. 03537 UNIT/R/ 53435 VXV UNIT 03720 UHYP 27726 STOVL UHZP # DOWNRANGE HALF-UNIT VECTOR FOR R10. 03573 R1S 60505 VXM VSR4 01734 REFSMMAT 27545 STOVL RN1 # TEMP. REF. POSITION VECTOR*2(29)M. 03601 V1S 76505 VXM VSL1 01734 REFSMMAT 27553 STOVL VN1 # TEMP. REF. VELOCITY VECTOR 2(7) M/CS. 03537 UNIT/R/ 51435 VXV ABVAL # Page 877 03601 V1S 63552 SL1 DSQ 77671 DDV 47075 DMPR RTB 26030 ARCONV1 21613 SGNAGREE 332">036911,000820: 33,2632 77776 COPYCYC2 EXIT # LEAVE ALTITUDE RATE COMPENSATION IN MPAC 00004 INHINT 31536 CA UNIT/R/ # UPDATE RUNIT FOR R10. 55743 TS RUNIT 31540 CA UNIT/R/ +2 55744 TS RUNIT +1 31542 CA UNIT/R/ +4 55745 TS RUNIT +2 30154 CA MPAC # LOAD NEW DALTRATE FOR R10. 55716 TS DALTRATE 00006 EXTEND 31573 DCA R1S 53521 DXCH R 00006 EXTEND 31575 DCA R1S +2 53523 DXCH R +2 00006 EXTEND 31577 DCA R1S +4 53525 DXCH R +4 00006 EXTEND 31601 DCA V1S 53527 DXCH V 00006 EXTEND 31603 DCA V1S +2 53531 DXCH V +2 00006 EXTEND 31605 DCA V1S +4 53533 DXCH V +4 12275 TCF COPYCYCL # COMPLETE THE COPYCYCL. # Page 878 # *************************************************************** 156">036946,000855: 33,2667 41456 CALCGRAV UNIT PUSH # SAVE UNIT/R/ IN PUSHLIST (18) 03537 STORE UNIT/R/ 67340 LXC,1 SLOAD # RTX2 = 0 IF EARTH ORBIT, =2 IF LUNAR. 02777 RTX2 03000 RTX2 50076 DCOMP BMN 66724 CALCGRV1 50375 VLOAD DOT # (12) 06516 UNITZ 03537 UNIT/R/ 41552 SL1 PUSH # (14) 44316 DSQ BDSU 26766 DP1/20 56325 PDDL DDV 26040 RESQ 00043 34D # (RN)SQ 00041 STORE 32D # TEMP FOR (RE/RN)SQ 41205 DMP DMP 26042 20J 65361 VXSC PDDL 03537 UNIT/R/ 41205 DMP DMP 26044 2J 00041 32D 76561 VXSC VSL1 06516 UNITZ 45455 VAD STADR 74256 STORE UNITGOBL 41455 VAD PUSH # MPAC = UNIT GRAVITY VECTOR. (18) 631">036975,000884: 33,2724 60345 CALCGRV1 DLOAD NORM # PERFORM A NORMALIZATION ON RMAGSQ IN 00043 34D # ORDER TO BE ABLE TO SCALE THE MU FOR 00050 X2 # MAXIMUM PRECISION. 53663 BDDV* SLR* 26032 -MUDT,1 56623 0 -21D,2 45561 VXSC STADR 74214 STORE GDT1/2 # SCALED AT 2(+7) M/CS 77616 RVQ 7">036985,000894: 33,2735 61375 CALCRVG VLOAD VXM 00325 DELV 01734 REFSMMAT 76561 VXSC VSL1 26022 KPIP1 03527 STORE DELVREF 41562 VSR1 PUSH 41455 VAD PUSH # (DV-OLDGDT)/2 TO PD SCALED AT 2(+7) M/CS. # Page 879 01236 GDT/2 65255 VAD PDDL 01226 VN 01247 PGUIDE 74261 SL VXSC 20207 6D 44055 VAD STQ 01220 RN 00037 31D 37545 STCALL RN1 # TEMP STORAGE OF RN SCALED 2(+29) M 66667 CALCGRAV 53255 VAD VAD 77655 VAD 01226 VN 37553 STCALL VN1 # TEMP STORAGE OF VN SCALED 2(+7) M/CS 00037 31D >037012,000921: 33,2765 01463 06315 DP1/20 2DEC 0.05 1">037013,000922: 33,2767 00010 00000 SHIFT11 2DEC 1 B-11 # Page 880 # ***************************************************************************** # MUNRVG IS A SPECIAL AVERAGE G INTEGRATION ROUTINE USED BY THRUSTING # PROGRAMS WHICH FUNCTION IN THE VICINITY OF AN ASSUMED SPHERICAL MOON. # THE INPUT AND OUTPUT QUANTITIES ARE REFERENCED TO THE STABLE MEMBER # COORDINATE SYSTEM. >037022,000931: 33,2771 41575 RVBOTH VLOAD PUSH 02317 G(CSM) 65255 VAD PDDL 01726 V(CSM) 01247 PGUIDE 74271 DDV VXSC 26770 SHIFT11 77655 VAD 01720 R(CSM) 37573 STCALL R1S 67067 MUNGRAV 53255 VAD VAD 01726 V(CSM) 77626 STADR 74176 STORE V1S 77776 EXIT 03512 TC QUIKFAZ5 06042 TC INTPRET 77775 VLOAD 03563 GDT1/2 26317 STOVL G(CSM) 03573 R1S 25720 STOVL R(CSM) 03601 V1S 01726 STORE V(CSM) 77776 EXIT 03512 TC QUIKFAZ5 06042 TC INTPRET >037050,000959: 33,3025 74375 MUNRVG VLOAD VXSC 00325 DELV 26024 KPIP2 53206 PUSH VAD # 1ST PUSH: DELV IN UNITS OF 2(8) M/CS 01236 GDT/2 53206 PUSH VAD # 2ND PUSH: (DELV + GDT)/2, UNITS OF 2(7) 03527 V # (12) 56325 PDDL DDV 01247 PGUIDE 26770 SHIFT11 77761 VXSC 77655 VAD 03521 R 37573 STCALL R1S # STORE R SCALED AT 2(+24) M 67067 MUNGRAV # Page 881 53255 VAD VAD 77655 VAD 03527 V 03601 STORE V1S # STORE V SCALED AT 2(+7) M/CS. 77646 ABVAL 27472 STOVL ABVEL # STORE SPEED FOR LR AND DISPLAYS. 03537 UNIT/R/ 72441 DOT SL1 03601 V1S 27474 STOVL HDOTDISP # HDOT = V. UNIT(R)*2(7) M/CS. 03573 R1S 72435 VXV VSL2 02325 WM 17734 STODL DELVS # LUNAR ROTATION CORRECTON TERM*2(5) M/CS. 00045 36D 77625 DSU 02333 /LAND/ 37535 STCALL HCALC # FOR NOW, DISPLAY WHETHER POS OR NEG 66461 MUNRETRN 6">037085,000994: 33,3067 77656 MUNGRAV UNIT # AT 36D HAVE ABVAL(R), AT 34D R.R 17537 STODL UNIT/R/ 00043 34D 55261 SL BDDV 20207 6D 26036 -MUDTMUN 74205 DMP VXSC 26770 SHIFT11 03537 UNIT/R/ 03563 STORE GDT1/2 # 1/2GDT SCALED AT 2(7) M/CS. 77616 RVQ 353">037097,001006: 33,3102 00303 1.95SECS DEC 195 B-14 829">037098,001007: 33,3103 00014 20000 2SEC(18) 2DEC 200 B-18 829">037099,001008: 33,3105 00000 00310 2SEC(28) 2OCT 0000000310 # 2SEC AT 2(28) 829">037100,001009: 33,3107 00000 00620 4SEC(28) 2DEC 400 B-28 7">037101,001010: 33,3111 00110 BITS4-7 OCT 110 4">037102,001011: 33,3112 37767 02200 1-30KFT 2DEC 16768072 B-24 # DPPOSMAX-30KFT 543">037103,001012: 33,3114 04445 6KFT/SEC DEC 18.288 B-7 # 6000 FT/SEC AT 2(7) M/CS # Page 882. 84B">037106,001015: 33,3115 34742 UPDATCHK CAF NOLRRBIT # SEE IF LR UPDATE INHIBITED. 70107 MASK FLGWRD11 10000 CCS A 12545 TCF CONTSERV # IT IS -- NO LR UPDATE 34750 CAF RNGEDBIT # NO INHIBIT -- SEE ALT MEA. THIS CYCLE. 70107 MASK FLGWRD11 00006 EXTEND 13250 BZF VMEASCHK # NO ALT MEAS THIS CYCLE -- CHECK FOR VEL 154">037115,001024: 33,3125 30120 POSUPDAT CA FIXLOC # SET PUSHLIST TO ZERO 54166 TS PUSHLOC 06042 TC INTPRET 61375 VLOAD VXM 02273 HBEAMNB 02146 XNBPIP # HBEAM SM AT 2(2) 72515 PDVL VSL2 # STORE HBEAM IN PD 0-5 03601 V1S # SCALE V AT 2(5) M/CS 50255 VAD DOT 03734 DELVS # V RELATIVE TO SURFACE AT 2(5) M/CS 00001 0D # V ALONG HBEAM AT 2(7) M/CS. 77405 DMP EXIT 01352 RADSKAL # SCALE TO RADAR COUNTS X 5 40110 CS FLGWRD12 # TEST LR ALTITUDE SCALE FACTOR 74743 MASK ALTSCBIT 00006 EXTEND 13150 BZF +3 # BRANCH IF HIGH SCALE 31353 CA SKALSKAL # RESCALE IF LOW SCALE 07312 TC SHORTMP 06042 +3 TC INTPRET 54215 DAD SL # CORRECT HMEAS FOR DOPPLER EFFECT 03655 HMEAS 20210 7D 74205 DMP VXSC # SLANT RANGE AT 2(21), PUSH UP FOR HBEAM 26011 HSCAL # SLANT RANGE VECTOR AT 2(23) M 45241 DOT DSU 03537 UNIT/R/ # ALTITUDE AT 2(24) M 03535 HCALC # DELTA H AT 2(24) M 03665 STORE DELTAH 77776 EXIT 30107 CA FLGWRD11 74741 MASK PSTHIBIT 00006 EXTEND # DO NOT PERFORM DATA REASONABLENESS TEST 13203 BZF NOREASON # UNTIL AFTER HIGATE. # Page 883 06042 TC INTPRET 45246 ABS DSU 02521 DELQFIX # ABS(DELTAH) - DQFIX 50 FT NOM 45252 SL3 DSU # SCALE TO 2(21) 03535 HCALC # ABS(DELTAH) - (50 + HCALC/8) AT 2(21) 77776 EXIT 25670 INCR LRLCTR 06726 TC BRANCH 13520 TCF HFAIL # DELTA H TOO LARGE 13520 TCF HFAIL # DELTA H TOO LARGE 05516 TC DOWNFLAG # TURN OFF ALT FAIL LAMP 00263 ADRES HFLSHFLG F4E">037169,001078: 33,3203 40107 NOREASON CS FLGWRD11 74744 MASK LRINHBIT 10000 CCS A 13250 TCF VMEASCHK # UPDATE INHIBITED -- TEST VELOCITY ANYWAY 06042 TC INTPRET # DO POSITION UPDATE 40545 DLOAD SR4 03535 HCALC # RESCALE H TO 2(28)M 77776 EXIT 00006 EXTEND 31665 DCA DELTAH # STORE DELTAH IN MPAC AND 52155 DXCH MPAC # BRING HCALC INTO A,L 07547 TC ALSIGNAG 00006 EXTEND # IF HIGH PART OF HCALC IS NON-ZERO, THEN 13222 BZF +2 # HCALC > HMAX, 13250 TCF VMEASCHK # SO UPDATE IS BYPASSED 54156 TS MPAC +2 # FOR LATER SHORTMP 40001 CS L # -H AT 2(14) M 61420 AD LRHMAX # HMAX - H 00006 EXTEND 63250 BZMF VMEASCHK # IF H >HMAX, BYPASS UPDATE 00006 EXTEND 71421 MP LRWH # WH(HMAX - H) 00006 EXTEND 11420 DV LRHMAX # WH(1 - H/HMAX) 54135 TS MPTEMP 07316 TC SHORTMP2 # DELTAH (WH)(1 - H/HMAX) IN MPAC 06042 TC INTPRET # MODE IS DP FROM ABOVE 77752 SL1 53361 VXSC VAD 03537 UNIT/R/ # DELTAR = DH(WH)(1 - H/HMAX) UNIT/R/ 03573 R1S 37657 STCALL GNUR 67067 MUNGRAV 77776 EXIT # Page 884 03512 TC QUIKFAZ5 34755 CA ZERO 544">037209,001118: 33,3247 03474 RUPDATED TC GNURVST 84B">037211,001120: 33,3250 03512 VMEASCHK TC QUIKFAZ5 # RESTART AT NEXT LOCATION 40107 CS FLGWRD11 74745 MASK VELDABIT # IS V READING AVAILABLE? 10000 CCS A 13454 TCF VALTCHK # NO: SEE IF V READING TO BE TAKEN 154">037217,001126: 33,3255 41651 VELUPDAT CS VSELECT # PROCESS VELOCITY DATA 54001 TS L 26001 ADS L # -2 VSELECT IN L 60001 AD L 60001 AD L # -6 VSELECT IN A 50120 INDEX FIXLOC 52047 DXCH X1 # X1 = -6 VSELECT, X2 = -2 VSELECT 34741 CA EBANK4 54003 TS EBANK EBANK= LRXCDU 31655 CA LRYCDU # STORE LRCDUS IN CDUSPOTS 54765 TS CDUSPOT 31656 CA LRZCDU 54767 TS CDUSPOT +2 31654 CA LRXCDU 54771 TS CDUSPOT +4 04616 TC BANKCALL 47617 CADR QUICTRIG # GET SINES AND COSINES FOR NBSM 30120 CA FIXLOC 54166 TS PUSHLOC # SET PD TO ZERO 06042 TC INTPRET 45173 VLOAD* CALL 02231 VZBEAMNB,1 # CONVERT VBEAM FROM NB TO SM 47675 *NBSM* 54325 PDDL SL # STORE IN PD 0-5 03653 VMEAS # LOAD VELOCITY MEASUREMENT 20215 12D 41403 DMP* PUSH # SCALE TO M/CS AT 2(6) 51764 VZSCAL,2 # AND STORE IN PD 6-7 77776 EXIT 44753 CS ONE 54163 TS MODE # CHANGE STORE MODE TO VECTOR 31657 CA PIPTEM # STORE DELV IN MPAC # Page 885 22007 ZL 52155 DXCH MPAC 31660 CA PIPTEM +1 22007 ZL 52160 DXCH MPAC +3 31661 CA PIPTEM +2 22007 ZL 52162 DXCH MPAC +5 35016 CA EBANK7 54003 TS EBANK # RESTORE EBANK 7 EBANK= DVCNTR 06042 TC INTPRET 65361 VXSC PDDL 26022 KPIP1 # SCALE DELV TO 2(7) M/CS AND PUSH 02253 LRVTIME # TIME OF DELV AT 2(28) CS 56225 DSU DDV 01234 PIPTIME # TU -- T(N-1) 27106 2SEC(28) 76561 VXSC VSL1 # G(N-1)(TU - T(N-1)) 01236 GDT/2 # SCALED AT 2(7) M/CS 53255 VAD VAD # PUSH UP FOR DELV 03527 V # VU = V(N-1) + DELVU + G(N-1) DTO 53352 VSL2 VAD # SCALE TO 2(5) M/CS AND SUBTRACT 03734 DELVS # MOON ROTATION. 51406 PUSH ABVAL # STORE IN PD 43202 SR4 DAD # ABS(VM)/8 + VELBIAS AT 2(6) 03372 VELBIAS 24025 STOVL 20D # STORE IN 20D AND PICK UP VM 44241 DOT BDSU # V(EST) AT 2(6) 00001 0 # DELTAV = VMEAS - V(EST) 51406 PUSH ABS 77425 DSU EXIT # ABS(DV) - (7.5 + ABS(VM)/8)) 00025 20D 25672 INCR LRMCTR 06726 TC BRANCH 13535 TCF VFAIL # DELTA V TOO LARGE. ALARM 13535 TCF VFAIL # DELTA V TOO LARGE. ALARM 05516 TC DOWNFLAG # TURN OFF VEL FAIL LAMP 00262 ADRES VFLSHFLG 30107 CA FLGWRD11 74740 MASK VXINHBIT 00006 EXTEND 13375 BZF VUPDAT # IF VX INHIBIT RESET, INCORPORATE DATA. # Page 886 05516 TC DOWNFLAG 00250 ADRES VXINH # RESET VX INHIBIT 31651 CA VSELECT 67751 AD NEG2 # IF VSELECT = 2 (X AXIS). 00006 EXTEND # BYPASS UPDATE 13454 BZF ENDVDAT >037315,001224: 33,3375 40107 VUPDAT CS FLGWRD11 74744 MASK LRINHBIT 10000 CCS A 13454 TCF VALTCHK # UPDATE INHIBITED 54155 TS MPAC +1 31471 CA ABVEL # STORE E7 ERASABLES NEEDED IN TEMPS 54130 TS ABVEL* 31651 CA VSELECT 54131 TS VSELECT* 35014 CA EBANK5 54003 TS EBANK # CHANGE EBANKS EBANK= LRVF 41527 CS LRVF 60130 AD ABVEL* # IF V < VF, USE WVF 00006 EXTEND 63426 BZMF USEVF 40130 CS ABVEL* 61526 AD LRVMAX # VMAX - V 00006 EXTEND 63431 BZMF WSTOR -1 # IF V > VMAX, W = 0 00006 EXTEND 50131 INDEX VSELECT* 71530 MP LRWVZ # WV(VMAX - V) 00006 EXTEND 11526 DV LRVMAX # WV( 1 - V/VMAX ) 13432 TCF WSTOR /a>037348,001257: 33,3426 50131 USEVF INDEX VSELECT* 31533 CA LRWVFZ # USE APPROPRIATE CONSTANT WEIGHT 13432 TCF WSTOR 34755 -1 CA ZERO /a>037353,001262: 33,3432 54154 WSTOR TS MPAC 44745 CS BIT7 # (=64D) 61010 AD MODREG 00006 EXTEND # Page 887 63441 BZMF +3 # IF IN P65,P66,P67, USE ANOTHER CONSTANT 31536 CA LRWVFF 54154 TS MPAC 35016 +3 CA EBANK7 54003 TS EBANK # CHANGE EBANKS EBANK= ABVEL 06042 TC INTPRET 74205 DMP VXSC # W(DELTA V)(VBEAMSM) UP 6-7, 0-5 77655 VAD 03601 V1S # ADD WEIGHTED DELTA V TO VELOCITY 03657 STORE GNUV 77776 EXIT 03512 TC QUIKFAZ5 # DO NOT RE-UPDATE 36245 CA SIX 544">037377,001286: 33,3453 03474 VUPDATED TC GNURVST # STORE NEW VELOCITY VECTOR 4">037378,001287: 33,3454 33,3454 ENDVDAT = VALTCHK B">037380,001289: 33,3454 03512 VALTCHK TC QUIKFAZ5 # DO NOT REPEAT ABOVE 34747 CAF READVBIT # TEST READVEL TO SEE IF VELOCITY READING 70107 MASK FLGWRD11 # IS DESIRED. 10000 CCS A 13467 TCF READV # YES -- READ VELOCITY 41471 CS ABVEL # NO -- SEE IF VELOCITY < 6000 FT/SEC 63114 AD 6KFT/SEC 00006 EXTEND 62545 BZMF CONTSERV # V > 6000 FT/SEC. DO NOT READ VELOCITY 05504 TC UPFLAG # V < 6000 FT/SEC. SET READVEL AND READ. 00257 ADRES READVEL /a>037394,001303: 33,3467 37723 READV CAF PRIO32 # SET UP JOB TO READ VELOCITY BEAMS. 05072 TC NOVAC EBANK= HMEAS 03556 66067 2CADR LRVJOB 12545 TCF CONTSERV # CONTINUE WITH SERVICER 4">037401,001310: 33,3474 54130 GNURVST TS BUF # STORE GNUR (=GNUV) IN R1S OR V1S 00006 EXTEND # A = 0 FOR R, A = 6 FOR V 31657 DCA GNUR 50130 INDEX BUF 53573 DXCH R1S 00006 EXTEND # Page 888 31661 DCA GNUR +2 50130 INDEX BUF 53575 DXCH R1S +2 00006 EXTEND 31663 DCA GNUR +4 50130 INDEX BUF 53577 DXCH R1S +4 00002 TC Q A35">037417,001326: 33,3512 35007 QUIKFAZ5 CA EBANK3 56003 XCH EBANK # SET EBANK 3 52002 DXCH L # Q TO A, A TO L EBANK= PHSNAME5 55446 TS PHSNAME5 22003 LXCH EBANK EBANK= DVCNTR 00000 TC A /a>037426,001335: 33,3520 41671 HFAIL CS LRRCTR 00006 EXTEND 13532 BZF NORLITE # IF R = 0, DO NOT TURN ON TRK FAIL 61670 AD LRLCTR 77750 MASK NEG3 00006 EXTEND # IF L-R LT 4, DO NOT TURN ON TRK FAIL 13530 BZF +2 13532 TCF NORLITE 05504 TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE 00263 ADRES HFLSHFLG 5">037438,001347: 33,3532 31670 NORLITE CA LRLCTR 55671 TS LRRCTR # SET R = L 13250 TCF VMEASCHK /a>037443,001352: 33,3535 41673 VFAIL CS LRSCTR # DELTA Q LARGE 00006 EXTEND # IF S = 0, DO NOT TURN ON TRACKER FAIL 13547 BZF NOLITE 61672 AD LRMCTR # M-S 77750 MASK NEG3 # TEST FOR M-S > 3 00006 EXTEND # IF M-S > 3, THEN TWO OR MORE OF THE 13545 BZF +2 # LAST FOUR V READINGS WERE BAD, 13547 TCF NOLITE # SO TURN ON VELOCITY FAIL LIGHT 05504 TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE 00262 ADRES VFLSHFLG # Page 889 >037456,001365: 33,3547 31672 NOLITE CA LRMCTR # SET S = M 55673 TS LRSCTR 11651 CCS VSELECT # TEST FOR Z COMPONENT 13454 TCF ENDVDAT # NOT Z, DO NOT SET VX INHIBIT 05504 TC UPFLAG # Z COMPONENT - SET FLAG TO SKIP X 00250 ADRES VXINH # COMPONENT, AS ERROR MAY BE DUE TO CROSS 13454 TCF ENDVDAT # LOBE LOCK UP NOT DETECTED ON X AXIS. # Page 891 # ******************************************************************************** # LRVJOB IS SET WHEN THE LEM IS BELOW 15000 FT DURING THE LANDING PHASE # THIS JOB INITIALIZES THE LANDING RADAR READ ROUTINE FOR 5 VELOCITY # SAMPLES AND GOES TO SLEEP WHILE THE SAMPLING IS DONE -- ABOUT 500 MS. # WITH A GOODEND RETURN THE DATA IS STORED IN VMEAS AND BIT7 OF LRSTAT # IS SET. THE GIMBAL ANGLES ARE READ ABOUT MIDWAY IN THE SAMPLINGS. /a>037474,001383: 33,3556 4361 170MS EQUALS ND1 >037476,001385: 33,3556 34361 LRVJOB CA 170MS # SET TASK TO READ CDUS + PIPAS 05203 TC WAITLIST EBANK= LRVTIME 03632 70064 2CADR RDGIMS 11651 CCS VSELECT # SEQUENCE LR VEL BEAM SELECTOR 13565 TCF +2 34752 CAF TWO # IF ZERO, RESET TO TWO 60000 DOUBLE # 2XVSELECT USED FOR VBEAM INDEX IN LRVEL 04616 TC BANKCALL # GO INITIALIZE LR VEL READ ROUTINE 53116 CADR LRVEL 04616 TC BANKCALL # PUT LRVJOB TO SLEEP ABOUT 500 MS 17705 CADR RADSTALL 13625 TCF VBAD 11675 CCS STILBADV # IS DATA GOOD JUST PRESENT? 13626 TCF VSTILBAD # JUST GOOD -- MUST WAIT 4 SECONDS. 00004 INHINT 00006 EXTEND # GOOD RETURN -- STOW WAY VMEAS 31101 DCA SAMPLSUM 53653 DXCH VMEAS 34741 CA EBANK4 # FOR DOWNLINK 54003 TS EBANK EBANK= LRVTIME 00006 EXTEND 31653 DCA LRVTIME 53740 DXCH LRVTIMDL 00006 EXTEND 31655 DCA LRXCDU 53735 DXCH LRXCDUDL 31656 CA LRZCDU 55736 TS LRZCDUDL 35016 CA EBANK7 54003 TS EBANK EBANK= VSELECT 40107 CS FLGWRD11 # SET BIT TO INDICATE VELOCITY 74745 MASK VELDABIT # MEASUREMENT MADE # Page 891 26107 ADS FLGWRD11 >037517,001426: 33,3620 11651 ENDLRV CCS VSELECT # UPDATE VSELECT 13623 TCF +2 34752 CA TWO 55651 TS VSELECT 15155 TCF ENDOFJOB >037523,001432: 33,3625 34752 VBAD CAF TWO # SET STILBAD TO WAIT 4 SECONDS 144">037524,001433: 33,3626 55675 VSTILBAD TS STILBADV 13620 TCF ENDLRV # LRHJOB IS SET BY LRHTASK WHEN LEM IS BELOW 25000 FT. THIS JOB # INITIALIZES THE LR READ ROUTINE FOR AN ALT MEASUREMENT AND GOES TO # SLEEP WHILE THE SAMPLING IS DONE -- ABOUT 95 MS. WITH A GOODEND RETURN # THE ALT DATA IS STORED IN HMEAS AND BIT7 OF LRSTAT IS SET. BANK 34 SETLOC R12STUFF BANK COUNT* $$/SERV >037538,001447: 34,3571 04616 LRHJOB TC BANKCALL # INITIATE LR ALT MEASUREMENT 53102 CADR LRALT 04616 TC BANKCALL # LRHJOB TO SLEEP ABOUT 95MS 17705 CADR RADSTALL 13620 TCF HBAD 11674 CCS STILBADH # IS DATA GOOD JUST PRESENT? 13630 TCF HSTILBAD # JUST GOOD -- MUST WAIT 4 SECONDS. 00004 INHINT 00006 EXTEND 31101 DCA SAMPLSUM # GOOD RETURN -- STORE AWAY LRH DATA 53655 DXCH HMEAS # LRH DATA 1.079 FT/BIT 00006 EXTEND # FOR DOWNLINK 31561 DCA PIPTIME1 53755 DXCH MKTIME 00006 EXTEND 31156 DCA CDUTEMPY # CDUY,Z = AIG,AMG 53460 DXCH AIG 31154 CA CDUTEMPX # CDUX = AOG 55461 TS AOG 40107 CS FLGWRD11 # SET BIT TO INDICATE RANGE 74750 MASK RNGEDBIT # MEASUREMENT MADE. 26107 ADS FLGWRD11 >037564,001473: 34,3617 05155 ENDLRH TC ENDOFJOB # TERMATE LRHJOB # Page 892 >037567,001476: 34,3620 30101 HBAD CA FLAGWRD5 74742 MASK RNGSCBIT # IS BAD RETURN DUE TO SCALE CHANGE? 00006 EXTEND 13627 BZF HSTILBAD -1 # NO: RESET HSTILBAD 05516 TC DOWNFLAG # YES: RESET SCALE CHANGE BIT AND IGNORE 00120 ADRES RNGSCFLG 05155 TC ENDOFJOB 34752 CAF TWO # SET STILBAD TO WAIT 4 SECONDS 144">037576,001485: 34,3630 55674 HSTILBAD TS STILBADH 05155 TC ENDOFJOB BANK 34 SETLOC SERV4 BANK COUNT* $$/SERV # RDGIMS IS A TASK SET UP BY LRVJOB TO PICK UP THE IMU CDUS AND TIME # AT ABOUT THE MIDPOINT OF THE LR VEL READ ROUTINE WHEN 5 VEL SAMPLES # ARE SPECIFIED. EBANK= LRVTIME >037590,001499: 34,3632 00006 RDGIMS EXTEND 30025 DCA TIME2 # PICK UP TIME2, TIME1 53653 DXCH LRVTIME # AND SAVE IN LRVTIME 00006 EXTEND 30033 DCA CDUX # PICK UP CDUX AND CDUY 53655 DXCH LRXCDU # AND SAVE IN LRXCDU AND LRYCDU 30034 CA CDUZ 55656 TS LRZCDU # SAVE CDUZ IN LRXCDU 30037 CA PIPAX 55657 TS PIPTEM # SAVE PIPAX IN PIPTEM 00006 EXTEND 30041 DCA PIPAY # PICK UP PIPAY AND PIPAZ 53661 DXCH PIPTEM +1 # AND SAVE IN PIPTEM +1 AND PIPTEM +2 05261 TC TASKOVER BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV EBANK= DVCNTR # Page 893 # HIGATJOB IS SET APPROXIMATELY 6 SECONDS PRIOR TO HIGH GATE DURING # THE DESCENT BURN PHASE OF LUNAR LANDING. THIS JOB INITIATES THE # LANDING RADAR REPOSITIONING ROUTINE AND GOES TO SLEEP UNTIL THE # LR ANTENNA MOVES FROM POSITION 1 TO POSITION 2. IF THE LR ANTENNA # ACHIEVES POSITION 2 WITHIN 22 SECONDS THE ALTITUDE AND VELOCITY # BEAM VECTORS ARE RECOMPUTED TO REFLECT THE NEW ORIENTATION WITH # RESPECT TO THE NB. BIT10 OF LRSTAT IS CLEARED TO ALLOW LR # MEASUREMENTS AND THE JOB TERMINATES. 3">037626,001535: 33,3630 00004 REREPOS INHINT 40107 CS FLGWRD11 75015 MASK PRIO3 26107 ADS FLGWRD11 F42">037631,001540: 33,3634 04616 HIGATJOB TC BANKCALL # START LRPOS2 JOB 53454 CADR LRPOS2 04616 TC BANKCALL # PUT HIGATJOB TO SLEEP UNTIL JOB IS DONE 17705 CADR RADSTALL 13653 TCF POSALARM # BAD END ALARM 4">037637,001546: 33,3641 37714 POSGOOD CA PRIO23 # REDUCE PRIORITY FOR INTERPRETIVE COMPS. 05146 TC PRIOCHNG 03717 TC SETPOS2 # LR IN POS2 -- SET UP TRANSFORMATIONS 05504 TC UPFLAG 00256 ADRES LPOS2FLG >037644,001553: 33,3646 05516 ENDPOS TC DOWNFLAG 00252 ADRES NOLRREAD # RESET NOLRREAD FLAG TO ENABLE LR READING 254">037646,001555: 33,3650 05353 LRRESTRT TC PHASCHNG 00001 OCT 1 05155 TC ENDOFJOB 24D">037651,001560: 33,3653 33757 POSALARM CA OCT523 04616 TC BANKCALL 21563 CADR PRIOLARM # FLASH ALARM CODE 13650 TCF LRRESTRT # V34 -- TERMINATE R12 (NOLRRBIT SET) 13662 TCF P1CHK # PROCEED 13670 TCF P2CHK # V32E 05155 TC ENDOFJOB /a>037659,001568: 33,3662 05504 P1CHK TC UPFLAG 00261 ADRES NO511FLG 34746 CA BIT6 03674 TC POSTST 03646 TC ENDPOS 13641 TCF POSGOOD # NOT POS1 -- CHANGE TO POS2 /a>037666,001575: 33,3670 34745 P2CHK CA BIT7 # Page 894 03674 TC POSTST 13641 TCF POSGOOD 13653 TCF POSALARM >037671,001580: 33,3674 00006 POSTST EXTEND 02033 RAND CHAN33 00006 EXTEND 16745 BZF TCQ 16742 TCF Q+1 1">037676,001585: 33,3701 04645 SETPOS1 TC MAKECADR # MUST BE CALLED BY BANKCALL 55656 TS LRADRET1 # SAVE RETURN CADR. SINCE BUP2 CLOBBERED 34752 CAF TWO 55674 TS STILBADH # INITIALIZE STILBAD 55675 TS STILBADV # INITIALIZE STILBAD 34755 CA ZERO # INDEX FOR LRALPHA, LRBETA IN POS 1. 55670 TS LRLCTR # SET L,M,R, ANS S TO ZERO 55672 TS LRMCTR 55671 TS LRRCTR 55673 TS LRSCTR 55651 TS VSELECT # INITIALIZE VSELECT 03720 TC SETPOS # CONTINUE WITH COMPUTATIONS. 31656 CA LRADRET1 04640 TC BANKJUMP # RETURN TO CALLER 2">037695,001604: 33,3717 34752 SETPOS2 CA TWO # INDEX FOR POS2 >037696,001605: 33,3720 56002 SETPOS XCH Q # SAVE INDEX IN Q 55650 TS LRADRET # SAVE RETURN 35014 CA EBANK5 54003 TS EBANK EBANK= LRALPHA 00006 EXTEND 50002 INDEX Q 31523 DCA LRALPHA # LRALPHA IN A, LRBETA IN L 54771 TS CDUSPOT +4 # ROTATION ABOUT X 22765 LXCH CDUSPOT # ROTATION ABOUT Y 34755 CA ZERO 54767 TS CDUSPOT +2 # ZERO ROTATION ABOUT Z. 35016 CA EBANK7 54003 TS EBANK EBANK= LRADRET 06042 TC INTPRET 45175 VLOAD CALL # Page 895 06520 UNITY # CONVERT UNITY(ANTENNA) TO NB 47653 TRG*SMNB 26237 STOVL VYBEAMNB 06522 UNITX # CONVERT UNITX(ANTENNA) TO NB 77624 CALL 47673 *SMNB* 02245 STORE VXBEAMNB 76435 VXV VSL1 02237 VYBEAMNB 26231 STOVL VZBEAMNB # Z = X * Y 26003 HBEAMANT 77624 CALL 47673 *SMNB* # CONVERT TO NB 02273 STORE HBEAMNB 77776 EXIT 01650 TC LRADRET >037736,001645: 33,3757 00523 OCT523 OCT 00523 Parent file is MAIN.agc