Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

036512,000002:                                                                                                  ## Copyright:   Public domain.
036513,000003:                                                                                                  ## Filename:    SERVICER207.agc
036514,000004:                                                                                                  ## Purpose:     Part of the source code for Comanche, build 055. It
036515,000005:                                                                                                  ##              is part of the source code for the Command Module's
036516,000006:                                                                                                  ##              (CM) Apollo Guidance Computer (AGC), Apollo 11.
036517,000007:                                                                                                  ## Assembler:   yaYUL
036518,000008:                                                                                                  ## Reference:   pp. 819-836
036519,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>
036520,000010:                                                                                                  ## Website:     http://www.ibiblio.org/apollo.
036521,000011:                                                                                                  ## Mod history: 2009-05-12 RSB  Adapted from Colossus249 file of the same
036522,000012:                                                                                                  ##                              name and Comanche 055 page images.
036523,000013:                                                                                                  ##              2016-12-11 RSB  Proofed comments with octopus/ProoferComments
036524,000014:                                                                                                  ##                              and fixed the errors found.
036525,000015:                                                                                                  ##              2017-01-18 RSB  Fixed comment-text errors noted while diff'ing
036526,000016:                                                                                                  ##                              vs Colossus 249.
036527,000017:                                                                                                  ##
036528,000018:                                                                                                  ## The contents of the "Comanche055" files, in general, are transcribed 
036529,000019:                                                                                                  ## from scanned documents. 
036530,000020:                                                                                                  ##
036531,000021:                                                                                                  ##       Assemble revision 055 of AGC program Comanche by NASA
036532,000022:                                                                                                  ##       2021113-051.  April 1, 1969.  
036533,000023:                                                                                                  ##
036534,000024:                                                                                                  ##       This AGC program shall also be referred to as Colossus 2A
036535,000025:                                                                                                  ##
036536,000026:                                                                                                  ##       Prepared by
036537,000027:                                                                                                  ##                       Massachusetts Institute of Technology
036538,000028:                                                                                                  ##                       75 Cambridge Parkway
036539,000029:                                                                                                  ##                       Cambridge, Massachusetts
036540,000030:                                                                                                  ##
036541,000031:                                                                                                  ##       under NASA contract NAS 9-4065.
036542,000032:                                                                                                  ##
036543,000033:                                                                                                  ## Refer directly to the online document mentioned above for further
036544,000034:                                                                                                  ## information.  Please report any errors to info@sandroid.org.
036545,000035: 

Page 819

036547,000037:                                                                                                  #  PROGRAM NAME -        PREREAD, READACCS, SERVICER, AVERAGE G.
036548,000038:                                                                                                  #  MOD NO. 00 BY M. HAMILTON     DEC. 12, 1966
036549,000039: 
036550,000040:                                                                                                  #  FUNCTIONAL DESCRIPTION
036551,000041: 
036552,000042:                                                                                                  #  THE ROUTINES DESCRIBED BELOW ARE USED TO CALCULATE VALUES OF RN, VN, AND GDT/2 DURING ACCELERATED FLIGHT.
036553,000043:                                                                                                  #  THE SEVERAL ROUTINES COMPRISE A PACKAGE AND ARE NOT MEANT TO BE USED AS SEPARATE SUBROUTINES.
036554,000044: 
036555,000045:                                                                                                  #  GENERAL REFERENCES TO  SERVICER  OR  AVERAGE G  ARE UNDERSTOOD TO REFER TO THE ENTIRE SET OF ROUTINES INCLUDING
036556,000046:                                                                                                  #  READACCS, SERVICER, AVERAGE G, INTEREAD, SMOOTHER, AND ANY ADDITIONAL ROUTINES ATTACHED AT AVGEXIT (SEE BELOW).
036557,000047: 
036558,000048:                                                                                                  #  PROGRAMS INITIATING SERVICER ARE REQUIRED TO MAKE A WAITLIST CALL FOR PREREAD (OR, IF LIFTOFF, FOR BIBIBIAS)
036559,000049:                                                                                                  #  AT 2 SECONDS BEFORE THE FIRST AVERAGE G UPDATE IN ORDER TO INITIALIZE THE SEQUENCE, WHICH WILL RECUR EVERY
036560,000050:                                                                                                  #  2 SECONDS FROM THAT TIME ON AS LONG AS AVEGFLAG REMAINS SET.
036561,000051: 
036562,000052:                                                                                                  #  THE USE OF ERASABLE AVGEXIT ALLOWS VARIOUS ROUTINES TO BE PERFORMED AS PART OF THE NORMAL CYCLE (SEE
036563,000053:                                                                                                  #  EXPLANATION OF AVGEXIT BELOW).
036564,000054: 
036565,000055:                                                                                                  #  DESCRIPTIONS OF INDIVIDUAL ROUTINES FOLLOW.
036566,000056: 
036567,000057:                                                                                                  #        PREREAD
036568,000058: 
036569,000059:                                                                                                  #                PREVIOUSLY EXTRAPOLATED VALUES COPIED FROM RN1, VN1, AND PIPTIME1 INTO RN, VN, AND PIPTIME.
036570,000060:                                                                                                  #                LASTBIAS JOB SCHEDULED.
036571,000061:                                                                                                  #                PIPS READ AND CLEARED VIA PIPASR SUBROUTINE.
036572,000062:                                                                                                  #                AVERAGE G FLAG SET ON.
036573,000063:                                                                                                  #                DRIFT FLAG SET OFF.
036574,000064:                                                                                                  #                V37 FLAG SET ON.
036575,000065:                                                                                                  #                INITIALIZATION OF       1) THRUST MONITOR (DVMON) - DVCNTR SET TO ONE.
036576,000066:                                                                                                  #                                        2) TOTAL ACCUMULATED DELV VALUE (DVTOTAL) - SET TO ZERO.
036577,000067:                                                                                                  #                                        3) AXIS VECTOR (AXIS) - SET TO (.5,0,0).
036578,000068:                                                                                                  #                NORMLIZE JOB SCHEDULED.
036579,000069:                                                                                                  #                READACCS TASK CALLED IN 2 SECONDS.
036580,000070: 
036581,000071:                                                                                                  #        NORMLIZE
036582,000072: 
036583,000073:                                                                                                  #                GDT/2 INITIALIZED VIA CALCGRAV SUBROUTINE.
036584,000074: 
036585,000075:                                                                                                  #        READACCS
036586,000076: 
036587,000077:                                                                                                  #                IF ONMON FLAG SET QUIKREAD ROUTINE IS PERFORMED BEFORE PIPASR ZEROS THE PIPA REGISTERS, AND THE 1/2 SEC
036588,000078:                                                                                                  #                ONMONITOR LOOP IS INITIATED TO PROVIDE DOWNLINK INFORMATION DURING ENTRY.
036589,000079:                                                                                                  #                PIPS READ AND CLEARED BY PIPASR SUBROUTINE.
036590,000080:                                                                                                  #                IF CM/DSTBY IS ON, ENTRY VARIABLES INITIALIZED AND SETJTAG TASK CALLED.

Page 820

036592,000082: 
036593,000083:                                                                                                  #                IF AVERAGEG FLAG ON     READACCS CALLED TO RECYCLE IN 2 SECONDS.
036594,000084:                                                                                                  #                IF AVERAGEG FLAG OFF    AVERAGE G EXIT (AVGEXIT) SET TO 2CADR AVGEND FOR FINAL PASS.
036595,000085:                                                                                                  #                SERVICER JOB SCHEDULED.
036596,000086:                                                                                                  #                TEST CONNECTOR OUTBIT TURNED ON.
036597,000087: 
036598,000088:                                                                                                  #        ONMNITOR
036599,000089: 
036600,000090:                                                                                                  #                A SEQUENCE OF THREE PASSES THROUGH QUICKREAD FOLLOWING A CALL TO READACCS WITH ONMONFLG SET AT 1/2 
036601,000091:                                                                                                  #                SEC INTERVALS.  INTERVALS ARE COUNTED OUT BY PIPCTR, INITIALISED AT 3 BY READACCS
036602,000092: 
036603,000093:                                                                                                  #        QUIKREAD
036604,000094: 
036605,000095:                                                                                                  #                READS CURRENT PIPS INTO X,Y,ZPIPBUF.  READS OLD X,Y,ZPIPBUF INTO X,Y,ZOLDBUF.  VALUES ARE SENT TO
036606,000096:                                                                                                  #                DOWNLIST DURING ENTRY.
036607,000097: 
036608,000098:                                                                                                  #        SERVICER
036609,000099: 
036610,000100:                                                                                                  #                DELV VALUES CHECKED TO DETECT RUNAWAY PIP -
036611,000101:                                                                                                  #                        IF BAD PIP      1) ALARM SENT.
036612,000102:                                                                                                  #                                        2) COMPENSATION, DVTOTAL ACCUMULATION, AND DVMON BYPASSED.  CONTROL
036613,000103:                                                                                                  #                                           TRANSFERRED TO AVERAGE G.
036614,000104:                                                                                                  #                PIPS COMPENSATED VIA 1/PIPA SUBROUTINE.
036615,000105:                                                                                                  #                DVTOTAL INCREMENTED BY ABSOLUTE VALUE OF DELV.
036616,000106:                                                                                                  #                THRUST MONITOR (DVMON) PERFORMED UNLESS IDLE FLAG IS ON.
036617,000107:                                                                                                  #                CONTROL TRANSFERRED TO AVERAGE G.
036618,000108: 
036619,000109:                                                                                                  #        DVMON
036620,000110: 
036621,000111:                                                                                                  #                THRESHOLD VALUE (PLACED IN DVTHRUSH BY USER) CHECKED AGAINST ABSOLUTE VALUE OF DELV TO CHECK
036622,000112:                                                                                                  #                THRUST LEVEL.
036623,000113: 
036624,000114:                                                                                                  #                        IF THRUST       1) ULLAGE OFF ROUTINE PERFORMED.
036625,000115:                                                                                                  #                                        2) STEERING FLAG TURNED ON AT FIRST DETECTION OF THRUST.
036626,000116:                                                                                                  #                                        3) CONTROL TRANSFERRED TO AVERAGE G.
036627,000117:                                                                                                  #                        IF NO THRUST    1) ON FIRST PASS THROUGH MONITOR, CONTROL TRANSFERRED TO AVERAGE G.
036628,000118:                                                                                                  #                                        2) ON SUBSEQUENT PASSES, CONTROL TRANSFERRED TO ENGINE FAIL ROUTINE IF THRUST
036629,000119:                                                                                                  #                                           HAS FAILED FOR 3 CONSECUTIVE PASSES.
036630,000120: 
036631,000121:                                                                                                  #        ENGINE FAIL
036632,000122: 
036633,000123:                                                                                                  #                ENGFAIL1 TASK CALLED IN 2.5 SECONDS.  THIS WILL RETURN CONTROL TO TIG-5 SO THAT THE IGNITION
036634,000124:                                                                                                  #                        SEQUENCE MAY BE REPEATED.
036635,000125:                                                                                                  #                ENGINOF3 PERFORMED.
036636,000126:                                                                                                  #                DAP SET UP FOR RCS.
036637,000127:                                                                                                  #        
036638,000128:                                                                                                  #        AVERAGE G

Page 821

036640,000130:                                                                                                  #                RN1, VN1, GDT1/2 CALCULATED VIA CALCRVG ROUTINE BY UPDATING RN, VN WITH DELV AND AN AVERAGED VALUE
036641,000131:                                                                                                  #                        OF GDT/2.
036642,000132:                                                                                                  #                RN1, VN1, GDT1/2, PIPTIME1 COPIED INTO RN, VN, GDT/2, PIPTIME FOR RESTART PROTECTION.
036643,000133:                                                                                                  #                CONTROL TRANSFERRED TO ADDRESS SPECIFIED BY USER (OR BY READACCS FOR LAST PASS) IN AVGEXIT.
036644,000134:                                                                                                  #                LAST PASS (AVGEND)      1) FREE FALL GYRO COMPENSATION SET UP.
036645,000135:                                                                                                  #                                        2) DRIFT FLAG TURNED ON.
036646,000136:                                                                                                  #                                        3) STATE VECTOR TRANSFERRED VIA AVETOMID ROUTINE.
036647,000137:                                                                                                  #                                        4) ONMONITOR FLAG RESET.
036648,000138:                                                                                                  #                                        5) V37 FLAG RESET.
036649,000139:                                                                                                  #                                        6) TEST CONNECTOR OUTBIT RESET.
036650,000140:                                                                                                  #                                        7) CONTROL TRANSFERRED TO CANV37 TO CONTINUE MM CHANGE ROUTINE (R00).
036651,000141: 
036652,000142:                                                                                                  #  CALLING SEQUENCE
036653,000143: 
036654,000144:                                                                                                  #        PREREAD ENTERED DIRECTLY FROM TIG-30 VIA POSTJUMP.
036655,000145:                                                                                                  #        READACCS CALLED AS WAITLIST TASK.                                          .
036656,000146: 
036657,000147:                                                                                                  #  SUBROUTINES CALLED
036658,000148: 
036659,000149:                                                                                                  #        UTILITY ROUTINES - PHASCHNG FLAGUP FLAGDOWN NOVAC FINDVAC WAITLIST ALARM NEWPHASE 2PHSCHNG
036660,000150: 
036661,000151:                                                                                                  #        OTHER - PIPASR 1/PIPA CALCGRAV CALCRVG AVETOMID
036662,000152: 
036663,000153:                                                                                                  #  NORMAL EXIT MODES
036664,000154: 
036665,000155:                                                                                                  #        ENDOFJOB        TASKOVER        CANV37
036666,000156: 
036667,000157:                                                                                                  #        AVGEXIT -       THIS IS A DOUBLE PRECISION ERASABLE LOCATION BY WHICH CONTROL IS TRANSFERRED AT THE END
036668,000158:                                                                                                  #                                OF EACH CYCLE OF AVERAGE G.
036669,000159:                                                                                                  #                        THE 2CADR OF A ROUTINE TO BE PERFORMED AT THAT TIME (E.G., STEERING EQUATIONS TO BE PERFORMED
036670,000160:                                                                                                  #                                AT 2 SECOND INTERVALS) MAY BE SET BY THE USER INTO AVGEXIT.
036671,000161:                                                                                                  #                        ALL SUCH ROUTINES SHOULD RETURN TO SERVEXIT, WHICH IS THE NORMAL EXIT FROM AVERAGE G.
036672,000162: 
036673,000163:                                                                                                  #        SERVEXIT -      DOES A PHASE CHANGE FOR RESTART PROTECTION AND GOES TO ENDOFJOB.
036674,000164:                                                                                                  #                        THE 2CADR OF SERVEXIT IS SET INTO AVGEXIT BY THE USER IF NO OTHER ROUTINE (SEE ABOVE).
036675,000165: 
036676,000166:                                                                                                  #        AVGEND -        LAST PASS OF AVERAGE G EXITS HERE, BYPASSING SPECIAL ROUTINE (SEE ABOVE UNDER READACCS).
036677,000167:                                                                                                  #                        FINAL EXIT IS TO CANV37.                                F AVERAGE G).
036678,000168: 
036679,000169:                                                                                                  #  OUTPUT
036680,000170: 
036681,000171:                                                                                                  #        DVTOTAL(2)  PIPTIME(2)  XPIPBUF(2)  YPIPBUF(2)  ZPIPBUF(2)
036682,000172:                                                                                                  #        RN(6)           REFERENCE COORD.        SCALED AT 2(+29) M/CS
036683,000173:                                                                                                  #        VN(6)           REFERENCE COORD.        SCALED AT 2(+7) M/CS
036684,000174:                                                                                                  #        GDT/2(6)        REFERENCE COORD.        SCALED AT 2(+7) M/CS
036685,000175:                                                                                                  #        DELV(6)         STABLE MEMB. COORD.     SCALED AT 2(+14)*5.85*10(-4) M/CS (KPIP1 USED TO GET DV/2 AT 2(+7))

Page 822

036687,000177:                                                                                                  #        DELVREF(6)      REFERENCE COORD.        SCALED AT 2(+7) M/CS
036688,000178: 
036689,000179:                                                                                                  #  INITIALIZATION
036690,000180: 
036691,000181:                                                                                                  #        ONMONITOR FLAG SET BY ENTRY TO SHOW PIPBUF VALUES REQUIRED.
036692,000182:                                                                                                  #        IDLE FLAG ON IF DVMON TO BE BYPASSED.
036693,000183:                                                                                                  #        DVTHRUSH SET TO APPROPRIATE VALUE FOR DVMON.
036694,000184:                                                                                                  #        AVGEXIT SET TO 2CADR OF ROUTINE, IF ANY, TO BE PERFORMED AFTER EACH CYCLE OF AVERAGE G.  IF NO ROUTINE
036695,000185:                                                                                                  #                TO BE DONE, AVGEXIT SET TO SERVEXIT.
036696,000186:                                                                                                  #        VALUES NEEDED
036697,000187:                                                                                                  #                REFSMMAT
036698,000188:                                                                                                  #                UNITW -  FULL UNIT VECTOR, IN REFERENCE COORD., OF EARTH S ROTATIONAL VECTOR
036699,000189:                                                                                                  #                RN1, VN1, PIPTIME1 -  IN REFERENCE COORD., CONSISTENT WITH TIME OF EXECUTION OF PREREAD
036700,000190: 
036701,000191:                                                                                                  #  DEBRIS
036702,000192: 
036703,000193:                                                                                                  #        CENTRALS        A, L, Q
036704,000194:                                                                                                  #        OTHER           INTERNAL - DVCNTR(1)  PIPAGE(1)  PIPCTR(1)  AVGEXIT(2)
036705,000195:                                                                                                  #                        EXTERNAL - ITEMP1(1)  ITEMP2(1)  RUPTREG1(1)  TEMX(1)  TEMY(1)  TEMZ(1)
036706,000196:                                                                                                  #                        USEFUL DEBRIS
036707,000197:                                                                                                  #                                RN1(6)  VN1(6)  GDT1/2  PIPTIME1(2)
036708,000198:                                                                                                  #                                        THESE LOCATIONS USED AS BUFFER STORAGE FOR NEWLY CALCULATED VALUES OF RN, VN, GDT/2,
036709,000199:                                                                                                  #                                        AND PIPTIME DURING PERFORMANCE OF SERVICER ROUTINES.
036710,000200:                                                                                                  #                                UNITR - HALF UNIT VECTOR OF RN, REFERENCE COORD.
036711,000201:                                                                                                  #                                RMAG SCALED AT 2(+58) IN 36D.
036712,000202:                                                                                                  #                                RMAGSQ SCALED AT 2(+58) IN 34D.
036713,000203:                                                                                                  #                                (RE/RMAG)SQ IN 32D.
036714,000204: 
036715,000205: 27,2671                                           BANK     27                                    
036716,000206: 37,2000                                           SETLOC   SERVICES                              
036717,000207: 37,2000                                           BANK                                           
036718,000208: 
036719,000209: 37,2701  E7,1431                                  EBANK=   DVCNTR                                
036720,000210:                                                                                                  #  *************************************   PREREAD   **************************************************************
036721,000211: 
036722,000212: 37,2701                                           COUNT    37/SERV                               
036723,000213: 
036724,000214: 37,2701           35073        PREREAD            CAF      PRIO21                                #  CALLER MUST PROTECT PREREAD
036725,000215: 37,2702           05134                           TC       NOVAC                                 
036726,000216: 37,2703  E3,1460                                  EBANK=   NBDX                                  
036727,000217: 37,2703           03636 14063                     2CADR    LASTBIAS                              #  DO LAST GYRO COMPENSATION IN FREE FALL
036728,000218: 
036729,000219:                                                                                                  #  CALL-TO AND LASTBIAS ITSELF ARE NOT
036730,000220:                                                                                                  #        PROTECTED. REREADAC SETS 1/PIPADT
036731,000221:                                                                                                  #        TO 2.0 SECS IN CASE LASTBIAS LOST.
036732,000222:                                                                                                  #        (REDUNDANT IF LASTBIAS IS AOK)

Page 823

036734,000224: 37,2705           02722        REDO5.31           TC       PREREAD1                              
036735,000225: 
036736,000226: 37,2706           37667                           CAF      PRIO32                                
036737,000227: 37,2707           05147                           TC       FINDVAC                               #  SET UP NORMLIZE JOB REQUIRED PRIOR TO
036738,000228: 37,2710  E7,1431                                  EBANK=   DVCNTR                                #  FIRST AVERAGE G PASS
036739,000229: 37,2710           03236 76067                     2CADR    NORMLIZE                              
036740,000230: 
036741,000231: 37,2712           35042                           CAF      2SECS                                 
036742,000232: 37,2713           05245                           TC       WAITLIST                              
036743,000233: 37,2714  E6,1661                                  EBANK=   AOG                                   
036744,000234: 37,2714           02744 76066                     2CADR    READACCS                              
036745,000235: 
036746,000236: 37,2716           45016                           CS       TWO                                   
036747,000237: 37,2717           04114                           TC       NEWPHASE                              
036748,000238: 37,2720           00005                           OCT      5                                     
036749,000239: 
036750,000240: 37,2721           15324                           TCF      TASKOVER                              
036751,000241: 
036752,000242: 37,2722           00006        PREREAD1           EXTEND                                         
036753,000243: 37,2723           22070                           QXCH     RUPTREG1                              
036754,000244: 
036755,000245: 37,2724           03254                           TC       PIPASR                                #  CLEAR + READ PIPS LAST TIME IN FREE FALL
036756,000246: 
036757,000247: 37,2725           35017                           CAF      ONE                                   #  SET UP PIPAGE FOR REREADAC IN CASE A
036758,000248: 37,2726           55230                           TS       PIPAGE                                #        RESTART OCCURS BEFORE READACCS
036759,000249: 
036760,000250: 37,2727           40075                           CS       FLAGWRD1                              #  SET AVEG FLAG
036761,000251: 37,2730           75017                           MASK     BIT1                                  
036762,000252: 37,2731           26075                           ADS      FLAGWRD1                              
036763,000253: 
036764,000254: 37,2732           34777                           CA       POSMAX                                
036765,000255: 37,2733           70076                           MASK     FLAGWRD2                              
036766,000256: 37,2734           54076                           TS       FLAGWRD2                              #  KNOCK DOWN DRIFT FLAG
036767,000257: 
036768,000258: 37,2735           40103                           CS       FLAGWRD7                              #  SET V37 FLAG
036769,000259: 37,2736           75012                           MASK     BIT6                                  
036770,000260: 37,2737           26103                           ADS      FLAGWRD7                              
036771,000261: 
036772,000262: 37,2740           35021                           CAF      ZERO                                  
036773,000263: 37,2741           55425                           TS       DVTOTAL                               #  CLEAR DVTOTAL
036774,000264: 37,2742           55426                           TS       DVTOTAL    +1                         
036775,000265: 
036776,000266: 37,2743           00070                           TC       RUPTREG1                              
036777,000267: 

Page 824

036779,000269:                                                                                                  #  *************************************   READACCS   *************************************************************
036780,000270: 37,2744  E6,1661                                  EBANK=   AOG                                   
036781,000271: 37,2744           03254        READACCS           TC       PIPASR                                
036782,000272: 
036783,000273: 37,2745           35022        PIPSDONE           CAF      FIVE                                  
036784,000274: 37,2746           54001                           TS       L                                     
036785,000275: 37,2747           40000                           COM                                            
036786,000276: 37,2750           52763                           DXCH     -PHASE5                               
036787,000277: 
036788,000278: 37,2751           35017        REDO5.5            CAF      ONE                                   #  SHOW PIPS HAVE BEEN READ
036789,000279: 37,2752           55230                           TS       PIPAGE                                
036790,000280: 
036791,000281: 37,2753           35016                           CA       TWO                                   #  SET PIPCTR FOR ONMINTOR
036792,000282: 37,2754           55227                           TS       PIPCTR                                #  AFTER ABOVE PHASCHNG
036793,000283: 
036794,000284: 37,2755           40102                           CS       CM/FLAGS                              
036795,000285: 37,2756           75016                           MASK     BIT2                                  #  CM/DSTBY
036796,000286: 37,2757           10000                           CCS      A                                     
036797,000287: 37,2760           03033                           TC       CHEKAVEG                              
036798,000288: 
036799,000289: 37,2761           41246                           CS       PIPTIME1   +1                         
036800,000290: 37,2762           55065                           TS       TBASE6                                #  FOR RESTARTS
036801,000291: 37,2763           00006                           EXTEND                                         #  CONTINUE FOR ENTRY DAP
036802,000292: 37,2764           31662                           DCA      AOG                                   
036803,000293: 37,2765           53670                           DXCH     AOG/PIP                               
036804,000294: 37,2766           31663                           CA       AMG                                   
036805,000295: 37,2767           57671                           XCH      AMG/PIP                               
036806,000296: 37,2770           00006                           EXTEND                                         
036807,000297: 37,2771           31665                           DCA      ROLL/180                              
036808,000298: 37,2772           53673                           DXCH     ROLL/PIP                              
036809,000299: 37,2773           31666                           CA       BETA/180                              
036810,000300: 37,2774           57674                           XCH      BETA/PIP                              
036811,000301: 37,2775           30102                           CA       CM/FLAGS                              
036812,000302: 37,2776           75004                           MASK     BIT12                                 #  CM/DAPARM 93D BIT12
036813,000303: 37,2777           00006                           EXTEND                                         #  DURING ENTRY, WHEN RCS DAP IS INACTIVE,
036814,000304: 37,3000           13016                           BZF      NOSAVPIP                              #  SAVE PIPAS EACH 0.5 SEC FOR TM.
036815,000305: 
036816,000306: 37,3001           33066                           CA       0.5SEC                                
036817,000307: 37,3002           05245                           TC       WAITLIST                              
036818,000308: 37,3003  E6,1533                                  EBANK=   XPIPBUF                               
036819,000309: 37,3003           03067 76066                     2CADR    QUIKREAD                              
036820,000310: 
036821,000311:                                                                                                  #  NO NEED TO RESTART PROTECT THIS.
036822,000312: 37,3005           31162                           CA       DELVX                                 #  SAVE PIPAS AS READ (BUT NOT COMPENSATED)
036823,000313: 37,3006           57533                           XCH      XPIPBUF                               
036824,000314: 37,3007           55536                           TS       XOLDBUF                               
036825,000315: 
036826,000316: 37,3010           31164                           CA       DELVY                                 
036827,000317: 37,3011           57534                           XCH      YPIPBUF                               
036828,000318: 37,3012           55537                           TS       YOLDBUF                               

Page 825

036830,000320: 37,3013           31166                           CA       DELVZ                                 
036831,000321: 37,3014           57535                           XCH      ZPIPBUF                               
036832,000322: 37,3015           55540                           TS       ZOLDBUF                               
036833,000323: 
036834,000324: 37,3016           35022        NOSAVPIP           CA       FIVE                                  
036835,000325: 37,3017           55725                           TS       CM/GYMDT                              
036836,000326: 
036837,000327: 37,3020           33233                           CA       JTAGTIME                              #  ACTIVATE CM/RCS AFTER PIPUP TO GO
036838,000328:                                                                                                  #  IN JTAGTIME +5 CS.
036839,000329: 37,3021           05245                           TC       WAITLIST                              
036840,000330: 37,3022  E6,1661                                  EBANK=   AOG                                   
036841,000331: 37,3022           03207 32066                     2CADR    SETJTAG                               
036842,000332: 
036843,000333: 37,3024           46214                           CS       THREE                                 #  1.3SPOT FOR SETJTAG
036844,000334: 37,3025           04114                           TC       NEWPHASE                              
036845,000335: 37,3026           00001                           OCT      1                                     
036846,000336: 
036847,000337: 37,3027           34362                           CAF      OCT37                                 
036848,000338: 37,3030           54001                           TS       L                                     
036849,000339: 37,3031           40000                           COM                                            
036850,000340: 37,3032           52763                           DXCH     -PHASE5                               
036851,000341: 
036852,000342: 37,3033           40075        CHEKAVEG           CS       FLAGWRD1                              
036853,000343: 37,3034           75017                           MASK     BIT1                                  
036854,000344: 37,3035           10000                           CCS      A                                     #  IF AVEG FLAG DOWN SET FINAL EXIT AVEG
036855,000345: 37,3036           03056                           TC       AVEGOUT                               
036856,000346: 
036857,000347: 37,3037           35042                           CAF      2SECS                                 
036858,000348: 37,3040           05245                           TC       WAITLIST                              
036859,000349: 37,3041  E6,1661                                  EBANK=   AOG                                   
036860,000350: 37,3041           02744 76066                     2CADR    READACCS                              
036861,000351: 
036862,000352: 37,3043           35002        MAKESERV           CAF      PRIO20                                #  ESTABLISH SERVICER ROUTINE
036863,000353: 37,3044           05147                           TC       FINDVAC                               
036864,000354: 37,3045  E7,1431                                  EBANK=   DVCNTR                                
036865,000355: 37,3045           03104 76067                     2CADR    SERVICER                              
036866,000356: 
036867,000357: 37,3047           45015                           CS       FOUR                                  #  RESTART SERVICER AND READACCS
036868,000358: 37,3050           04114                           TC       NEWPHASE                              
036869,000359: 37,3051           00005                           OCT      5                                     
036870,000360: 
036871,000361: 37,3052           35007                           CAF      BIT9                                  
036872,000362: 37,3053           00006                           EXTEND                                         
036873,000363: 37,3054           05011                           WOR      DSALMOUT                              #  TURN TEST CONNECTOR OUTBIT ON
036874,000364: 
036875,000365: 37,3055           15324                           TCF      TASKOVER                              #  END PREVIOUS READACCS WAITLIST TASK
036876,000366: 

Page 826

036878,000368: 37,3056           00006        AVEGOUT            EXTEND                                         
036879,000369: 37,3057           33063                           DCA      AVOUTCAD                              
036880,000370: 37,3060           53223                           DXCH     AVGEXIT                               
036881,000371: 37,3061           13043                           TCF      MAKESERV                              
036882,000372: 
036883,000373: 37,3062  E7,1431                                  EBANK=   DVCNTR                                
036884,000374: 37,3062           03165 76067  AVOUTCAD           2CADR    AVGEND                                
036885,000375: 

Page 827

036887,000377:                                                                                                  #  ROUTINE NAME: ONMNITOR
036888,000378:                                                                                                  #  MOD 04 BY BAIRNSFATHER 30 APR 1968    REDO ONMNITOR TO SAVE PIPS EACH 0.5 SEC FOR TM,ENTRY.
036889,000379:                                                                                                  #  MOD 03 BY FISHER DECEMBER 1967
036890,000380:                                                                                                  #  MOD 02 BY RYE SEPT 1967
036891,000381:                                                                                                  #  MOD 01 BY KOSMALA 23 MAR 1967
036892,000382:                                                                                                  #  MOD 00 BY KOSMALA 27 FEB 1967
036893,000383: 
036894,000384:                                                                                                  #  FUNCTIONAL DESCRIPTION
036895,000385: 
036896,000386:                                                                                                  #        THE PURPOSE OF ONMONITOR IS TO PROVIDE 1/2 SEC. READING OF PIPAS FOR DOWNLIST DURING ENTRY.
036897,000387:                                                                                                  #        X,Y,ZPIPBUF CONTAIN PRESENT VALUES X,Y,ZOLDBUF CONTAIN VALUES FROM PREVIOUS READING.
036898,000388: 
036899,000389:                                                                                                  #  CALLING SEQUENCE
036900,000390: 
036901,000391:                                                                                                  #        CALL AS WAITLIST TASK. TERMINATES ITSELF IN TASKOVER
036902,000392: 
036903,000393:                                                                                                  #  INITIALISATION
036904,000394: 
036905,000395:                                                                                                  #        PIPCTR = 2 (FOR DT = 0.5 SEC)
036906,000396:                                                                                                  #        X,Y,ZPIPBUF SET TO PREVIOUS PIPAX,Y,Z
036907,000397: 
036908,000398:                                                                                                  #  OUTPUT
036909,000399: 
036910,000400:                                                                                                  #        X,Y,ZPIPBUF, X,Y,ZOLDBUF
036911,000401: 
036912,000402:                                                                                                  #  DEBRIS
036913,000403: 
036914,000404:                                                                                                  #        X,Y,ZPIPBUF CONTAIN LAST PIPAX,Y,Z VALUES
036915,000405:                                                                                                  #                X,Y,ZOLDBUF CONTAIN LAST-BUT-ONE PIPAX,Y,Z VALUES
036916,000406:                                                                                                  #        RUPTREG1
036917,000407:                                                                                                  #        PIPCTR
036918,000408: 
036919,000409: 37,3064           55227        ONMNITOR           TS       PIPCTR                                
036920,000410: 
036921,000411: 37,3065           05267                           TC       FIXDELAY                              #  WAIT
036922,000412: 37,3066           00062        0.5SEC             DEC      50         B-14                       
036923,000413: 
036924,000414: 37,3067           35016        QUIKREAD           CAF      TWO                                   
036925,000415: 37,3070           54070                           TS       RUPTREG1                              
036926,000416: 37,3071           50000                           INDEX    A                                     
036927,000417: 37,3072           30037                           CA       PIPAX                                 #  SAVE ACTUAL PIPAS FOR TM.
036928,000418: 37,3073           50070                           INDEX    RUPTREG1                              
036929,000419: 37,3074           57533                           XCH      XPIPBUF                               #  UPDATE X,Y,ZPIPBUF
036930,000420: 37,3075           50070                           INDEX    RUPTREG1                              
036931,000421: 37,3076           55536                           TS       XOLDBUF                               #  AND X,Y,ZOLDBUF
036932,000422: 37,3077           10070        CHKCTR             CCS      RUPTREG1                              
036933,000423: 37,3100           13070                           TCF      QUIKREAD   +1                         #  LOOP AGAIN
036934,000424: 37,3101           11227                           CCS      PIPCTR                                
036935,000425: 37,3102           13064                           TCF      ONMNITOR                              
036936,000426: 37,3103           05324                           TC       TASKOVER                              
036937,000427: 

Page 828

036939,000429:                                                                                                  #  *************************************   SERVICER   *************************************************************
036940,000430: 
036941,000431: 37,3104  E7,1431                                  EBANK=   DVCNTR                                
036942,000432: 
036943,000433: 37,3104           35016        SERVICER           CAF      TWO                                   
036944,000434: 37,3105           00004                           INHINT                                         
036945,000435: 37,3106           54070        PIPCHECK           TS       RUPTREG1                              
036946,000436: 
036947,000437: 37,3107           60000                           DOUBLE                                         
036948,000438: 37,3110           50000                           INDEX    A                                     
036949,000439: 37,3111           11162                           CCS      DELVX                                 
036950,000440: 37,3112           03114                           TC       +2                                    
036951,000441: 37,3113           03122                           TC       PIPLOOP                               
036952,000442: 
036953,000443: 37,3114           63232                           AD       -MAXDELV                              #  DO PIPA-SATURATION TEST BEFORE
036954,000444: 37,3115           00006                           EXTEND                                         
036955,000445: 37,3116           63122                           BZMF     PIPLOOP                               #  COMPENSATION.
036956,000446: 
036957,000447: 37,3117           05650                           TC       ALARM                                 
036958,000448: 37,3120           00205                           OCT      00205                                 #  SATURATED-PIPA ALARM   ***CHANGE LATER
036959,000449: 37,3121           03143                           TC       AVERAGEG                              
036960,000450: 
036961,000451: 37,3122           10070        PIPLOOP            CCS      RUPTREG1                              
036962,000452: 37,3123           13106                           TCF      PIPCHECK                              
036963,000453: 
036964,000454: 37,3124           05412                           TC       PHASCHNG                              #  RESTART REREADAC + SERVICER
036965,000455: 37,3125           16035                           OCT      16035                                 
036966,000456: 37,3126           20000                           OCT      20000                                 
036967,000457: 37,3127  E7,1431                                  EBANK=   DVCNTR                                
036968,000458: 37,3127           03133 76067                     2CADR    DVTOTUP                               
036969,000459: 
036970,000460: 37,3131           04662                           TC       BANKCALL                              #  PIPA COMPENSATION CALL
036971,000461: 37,3132           15262                           CADR     1/PIPA                                
036972,000462: 
036973,000463: 37,3133           06006        DVTOTUP            TC       INTPRET                               
036974,000464: 37,3134           51575                           VLOAD    ABVAL                                 #  GET ABS VALUE OF DELV
036975,000465: 37,3135           01163                                    DELV                                  
036976,000466: 37,3136           77405                           DMP      EXIT                                  
036977,000467: 37,3137           37451                                    KPIP1                                 #  SCALE AT 2(+7)
036978,000468: 
036979,000469: 37,3140           00006                           EXTEND                                         
036980,000470: 37,3141           30155                           DCA      MPAC                                  
036981,000471: 37,3142           21426                           DAS      DVTOTAL                               #  ACCUMULATE DVTOTAL
036982,000472: 37,3143           05412        AVERAGEG           TC       PHASCHNG                              
036983,000473: 37,3144           10035                           OCT      10035                                 
036984,000474: 
036985,000475: 37,3145           06006                           TC       INTPRET                               
036986,000476: 37,3146           77624                           CALL                                           

Page 829

036988,000478: 37,3147           77420                                    CALCRVG                               
036989,000479: 37,3150           77776                           EXIT                                           
036990,000480: 
036991,000481: 37,3151           05412                           TC       PHASCHNG                              
036992,000482: 37,3152           10035                           OCT      10035                                 
036993,000483: 
036994,000484: 37,3153           34113                           CAF      OCT31                                 #  COPY RN1,VN1,GOT102,GOBL1/2,PIPTIME1
036995,000485: 37,3154           05606                           TC       GENTRAN                               #  INTO RN, VN, GDT/12, GOBL/2,PIPTIME
036996,000486: 37,3155           01231                           ADRES    RN1                                   
036997,000487: 37,3156           01170                           ADRES    RN                                    
036998,000488: 37,3157           00003                           RELINT                                         #  GENTRAN DOES AN INHINT
036999,000489: 37,3160           05412                           TC       PHASCHNG                              
037000,000490: 37,3161           10035                           OCT      10035                                 
037001,000491: 
037002,000492: 37,3162           00006                           EXTEND                                         
037003,000493: 37,3163           31223                           DCA      AVGEXIT                               
037004,000494: 37,3164           52006                           DXCH     Z                                     #  AVERAGEG EXIT
037005,000495: 
037006,000496: 37,3165           31205        AVGEND             CA       PIPTIME    +1                         #  FINAL AVERAGE G EXIT
037007,000497: 37,3166           55074                           TS       OLDBT1                                #  SET UP FREE FALL GYRO COMPENSATION
037008,000498: 
037009,000499: 37,3167           05546                           TC       UPFLAG                                #  SET DRIFTFLG
037010,000500: 37,3170           00036                           ADRES    DRIFTFLG                              #  BIT 15 FLAG 2
037011,000501: 37,3171           05372                           TC       2PHSCHNG                              
037012,000502: 37,3172           00005                           OCT      5                                     #  GROUP 5 OFF
037013,000503: 37,3173           05022                           OCT      05022                                 #  GROUP 2 ON FOR AVETOMID
037014,000504: 37,3174           20000                           OCT      20000                                 
037015,000505: 
037016,000506: 37,3175           06006                           TC       INTPRET                               
037017,000507: 37,3176           77624                           CALL                                           
037018,000508: 37,3177           73675                                    AVETOMID                              #  CONVERT STATE VECTOR TO REFERENCE SCALE.
037019,000509: 37,3200           77776                           EXIT                                           
037020,000510: 
037021,000511: 37,3201           35021                           CAF      ZERO                                  #  ZERO MARK COUNTERS.
037022,000512: 37,3202           55125                           TS       VHFCNT                                
037023,000513: 37,3203           55126                           TS       TRKMKCNT                              
037024,000514: 
037025,000515: 37,3204           04662                           TC       BANKCALL                              
037026,000516: 37,3205           17173                           CADR     PIPFREE                               
037027,000517: 
037028,000518: 37,3206           45007                           CS       BIT9                                  
037029,000519: 37,3207           55734                           TS       MRKBUF2                               #  INVALIDATE MARK BUFFER
037030,000520: 37,3210           00006                           EXTEND                                         
037031,000521: 37,3211           03011                           WAND     DSALMOUT                              
037032,000522: 
037033,000523: 37,3212           05560                           TC       DOWNFLAG                              
037034,000524: 37,3213           00147                           ADRES    CM/DSTBY                              
037035,000525: 
037036,000526: 37,3214           05560                           TC       DOWNFLAG                              
037037,000527: 37,3215           00162                           ADRES    V37FLAG                               
037038,000528: 

Page 830

037040,000530: 37,3216           35011                           CAF      BIT7                                  #  RESTORE GROUP 1 + 2 IF P20 IS RUNNING.
037041,000531: 37,3217           70074                           MASK     FLAGWRD0                              
037042,000532: 37,3220           00006                           EXTEND                                         
037043,000533: 37,3221           13225                           BZF      +4                                    
037044,000534: 
037045,000535: 37,3222           05372                           TC       2PHSCHNG                              
037046,000536: 37,3223           00111                           OCT      111                                   #  1.11SPOT
037047,000537: 37,3224           00132                           OCT      132                                   #  2.13SPOT
037048,000538: 
037049,000539: 37,3225           04701                           TC       POSTJUMP                              
037050,000540: 37,3226           10124                           CADR     CANV37                                
037051,000541: 
037052,000542: 37,3227           05412        SERVEXIT           TC       PHASCHNG                              
037053,000543: 37,3230           00035                           OCT      00035                                 #  A, 5.3 = REREADAC     (ONLY)
037054,000544: 
037055,000545: 37,3231           15217                           TCF      ENDOFJOB                              
037056,000546: 
037057,000547: 37,3232     5024               DVTHRUSH           EQUALS   ELEVEN                                #  15 PERCENT OF 2SEC PIPA ACCUMULATION,
037058,000548:                                                                                                  #        FOR 503-FULL CSM/LEM....DELV SC.AT
037059,000549:                                                                                                  #        5.85 CM/SEC.
037060,000550: 
037061,000551: 37,3232           63401        -MAXDELV           DEC      -6398      B-14                       #  3200 PPS FOR 2 SEC CCS TAKES 1
037062,000552: 
037063,000553: 37,3233           00170        JTAGTIME           DEC      120        B-14                       #  = 1 SEC + T CDU, T CDU = .1 SEC
037064,000554: 
037065,000555: 37,3234           00372        2.5SEC             DEC      250        B-14                       
037066,000556: 37,3235           00044        MDOTFAIL           DEC      144.0      B-16                       #  5 SEC MASS LOSS AT 28.8 KG/SEC
037067,000557:                                                                                                  #  SHOULD BE 2-4 SECS FOR NO START
037068,000558:                                                                                                  #            6-8 SECS FOR FAILURE
037069,000559: 

Page 831

037071,000561:                                                                                                  #  NORMLIZE PERFORMS THE INITIALIZATION REQUIRED PRIOR TO THE FIRST ENTRY TO AVERAGEG, AND SCALES RN SO THAT IT
037072,000562:                                                                                                  #  HAS 1 LEADING BINARY ZERO.  IN MOST MISSIONS, RN WILL BE SCALED AT 2(+29), BUT IN THE 206 MISSION, RN WILL BE
037073,000563:                                                                                                  #  SCALED AT 2(+24) M.
037074,000564: 
037075,000565: 37,3236           35025        NORMLIZE           CAF      THIRTEEN                              #  SET UP TO COPY 14 REGS- RN1,VN1,PIPTIME1
037076,000566: 37,3237           05606                           TC       GENTRAN                               #  INTO RN,VN,PIPTIME
037077,000567: 37,3240           01231                           ADRES    RN1                                   #  FROM HERE
037078,000568: 37,3241           01170                           ADRES    RN                                    #  TO HERE
037079,000569: 
037080,000570: 37,3242           00003                           RELINT                                         
037081,000571: 37,3243           06006                           TC       INTPRET                               
037082,000572: 37,3244           45175                           VLOAD    CALL                                  #  LOAD RN FOR CALCGRAV
037083,000573: 37,3245           01171                                    RN                                    
037084,000574: 37,3246           77353                                    CALCGRAV                              #  INITIALISE UNITR RMAG GDT1
037085,000575: 
037086,000576: 37,3247           25207                           STOVL    GDT/2                                 
037087,000577: 37,3250           01256                                    GOBL1/2                               
037088,000578: 37,3251           01215                           STORE    GOBL/2                                
037089,000579: 37,3252           77776                           EXIT                                           
037090,000580: 37,3253           15217                           TCF      ENDOFJOB                              
037091,000581: 

Page 832

037093,000583:                                                                                                  #  *****  PIPA READER *****
037094,000584:                                                                                                  #  MOD NO. 00 BY D. LICKLY DEC. 9 1966
037095,000585: 
037096,000586:                                                                                                  #  FUNCTIONAL DESCRIPTION
037097,000587: 
037098,000588:                                                                                                  #  SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT IT WILL BE RESTARTABLE.
037099,000589:                                                                                                  #  PIPA READINGS ARE STORED IN THE VECTOR DELV.  THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING,
037100,000590:                                                                                                  #  RESTARTS BEGIN AT REREADAC.
037101,000591: 
037102,000592:                                                                                                  #  AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A
037103,000593:                                                                                                  #  VECTOR IN CDUTEMP.  THE HIGH ORDER PART OF EACH COMPONENT CONTAINS
037104,000594:                                                                                                  #  THE CDU READING IN 2S COMP IN THE ORDER CDUX,Y,Z.  THE THRUST
037105,000595:                                                                                                  #  VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME.
037106,000596: 
037107,000597:                                                                                                  #  CALLING SEQUENCE AND EXIT
037108,000598: 
037109,000599:                                                                                                  #        CALL VIA TC, ISWCALL, ETC.
037110,000600: 
037111,000601:                                                                                                  #        EXIT IS VIA Q.
037112,000602: 
037113,000603:                                                                                                  #  INPUT
037114,000604: 
037115,000605:                                                                                                  #        INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2.
037116,000606: 
037117,000607:                                                                                                  #  OUTPUT
037118,000608: 
037119,000609:                                                                                                  #        HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS.
037120,000610: 
037121,000611:                                                                                                  #        PIPTIME CONTAINS TIME OF PIPA READING.
037122,000612: 
037123,000613:                                                                                                  #  DEBRIS (ERASABLE LOCATIONS DESTROYED BY PROGRAM)
037124,000614: 
037125,000615:                                                                                                  #        LOW ORDER DELV'S ARE ZEROED FOR TM INDICATION.
037126,000616:                                                                                                  #        TEMX    TEMY    TEMZ    PIPAGE
037127,000617: 
037128,000618: 37,3254           00006        PIPASR             EXTEND                                         
037129,000619: 37,3255           30025                           DCA      TIME2                                 
037130,000620: 37,3256           53246                           DXCH     PIPTIME1                              #  CURRENT TIME  POSITIVE VALUE
037131,000621: 37,3257           45021                           CS       ZERO                                  #  INITIALIZE THESE AT NEG ZERO.
037132,000622: 37,3260           55224                           TS       TEMX                                  
037133,000623: 37,3261           55225                           TS       TEMY                                  
037134,000624: 37,3262           55226                           TS       TEMZ                                  

Page 833

037136,000626: 37,3263           35021                           CA       ZERO                                  
037137,000627: 37,3264           55166                           TS       DELVZ                                 #  OTHER DELVS OK INCLUDING LOW ORDER
037138,000628: 37,3265           55164                           TS       DELVY                                 
037139,000629: 
037140,000630: 37,3266           55163                           TS       DELVX      +1                         #  LOW ORDER DELV'S ARE ZEROED FOR TM:  THUS
037141,000631: 37,3267           55165                           TS       DELVY      +1                         #  IF DNLNK'D LOW ORDER DELVS ARE NZ, THEY
037142,000632: 37,3270           55167                           TS       DELVZ      +1                         #  CONTAIN PROPER COMPENSATION.  IF=0, THEN
037143,000633:                                                                                                  #  THE TM VALUES ARE BEFORE COMPENSATION.
037144,000634: 
037145,000635: 37,3271           55230                           TS       PIPAGE                                #  SHOW PIPA READING IN PROGRESS
037146,000636: 
037147,000637: 37,3272           00006        REPIP1             EXTEND                                         
037148,000638: 37,3273           40040                           DCS      PIPAX                                 #  X AND Y PIPS READ
037149,000639: 37,3274           53225                           DXCH     TEMX                                  
037150,000640: 37,3275           52040                           DXCH     PIPAX                                 #  PIPAS SET TO NEG ZERO AS READ.
037151,000641: 37,3276           55162                           TS       DELVX                                 
037152,000642: 37,3277           23164                           LXCH     DELVY                                 
037153,000643: 
037154,000644: 37,3300           40041        REPIP3             CS       PIPAZ                                 #  REPEAT PROCESS FOR Z PIP
037155,000645: 37,3301           57226                           XCH      TEMZ                                  
037156,000646: 37,3302           56041                           XCH      PIPAZ                                 
037157,000647: 37,3303           55166        DODELVZ            TS       DELVZ                                 
037158,000648: 
037159,000649: 37,3304           00002                           TC       Q                                     
037160,000650: 
037161,000651: 37,3305  E6,1661                                  EBANK=   AOG                                   
037162,000652: 
037163,000653: 37,3305           10763        REREADAC           CCS      PHASE5                                #  LAST PASS CHECK
037164,000654: 37,3306           13310                           TCF      +2                                    
037165,000655: 37,3307           15324                           TCF      TASKOVER                              
037166,000656: 
037167,000657: 37,3310           37665                           CAF      PRIO31                                #  RESTART MAY HAVE WIPED OUT LASTBIAS, AN
037168,000658: 37,3311           55074                           TS       1/PIPADT                              #        UNPROTECTED NOVAC FROM PREREAD,
037169,000659:                                                                                                  #        WHICH SET(S) UP 1/PIPADT (THUSLY)
037170,000660:                                                                                                  #        FOR NON-COASTING COMPENSATION....BE
037171,000661:                                                                                                  #        SURE 1/PIPADT IS AOK.  (PRIO31 IS
037172,000662:                                                                                                  #        2.0SEC SC.AT B+8CS)
037173,000663: 
037174,000664: 37,3312           11230                           CCS      PIPAGE                                
037175,000665: 37,3313           12744                           TCF      READACCS                              #  PIP READING NOT STARTED.  GO TO BEGINNING
037176,000666: 
037177,000667: 37,3314           33352                           CAF      DONEADR                               #  SET UP RETURN FROM PIPASR
037178,000668: 37,3315           54002                           TS       Q                                     
037179,000669: 
037180,000670: 37,3316           11166                           CCS      DELVZ                                 
037181,000671: 37,3317           00002                           TC       Q                                     #  Z DONE, GO DO CDUS
037182,000672: 37,3320           13323                           TCF      +3                                    #  Z NOT DONE, CHECK Y.
037183,000673: 37,3321           00002                           TC       Q                                     
037184,000674: 37,3322           00002                           TC       Q                                     

Page 834

037186,000676: 37,3323           22007                           ZL                                             
037187,000677: 37,3324           11164                           CCS      DELVY                                 
037188,000678: 37,3325           13330                           TCF      +3                                    
037189,000679: 37,3326           13337                           TCF      CHKTEMX                               #  Y NOT DONE, CHECK X.
037190,000680: 37,3327           13330                           TCF      +1                                    
037191,000681: 37,3330           22041                           LXCH     PIPAZ                                 #  Y DONE, ZERO Z PIP.
037192,000682: 
037193,000683: 37,3331           11226                           CCS      TEMZ                                  
037194,000684: 37,3332           41226                           CS       TEMZ                                  #  TEMZ NOT = -0, CONTAINS -PIPAZ VALUE.
037195,000685: 37,3333           13303                           TCF      DODELVZ                               
037196,000686: 37,3334           13332                           TCF      -2                                    
037197,000687: 37,3335           23166                           LXCH     DELVZ                                 #  TEMZ = -0, L HAS ZPIP VALUE.
037198,000688: 37,3336           00002                           TC       Q                                     
037199,000689: 
037200,000690: 37,3337           11224        CHKTEMX            CCS      TEMX                                  #  HAS THIS CHANGED
037201,000691: 37,3340           41224                           CS       TEMX                                  #  YES
037202,000692: 37,3341           13344                           TCF      +3                                    #  YES
037203,000693: 37,3342           13340                           TCF      -2                                    #  YES
037204,000694: 37,3343           13272                           TCF      REPIP1                                #  NO
037205,000695: 37,3344           55162                           TS       DELVX                                 
037206,000696: 
037207,000697: 37,3345           41225                           CS       TEMY                                  
037208,000698: 37,3346           55164                           TS       DELVY                                 
037209,000699: 
037210,000700: 37,3347           45021                           CS       ZERO                                  #  ZERO X AND Y PIPS
037211,000701: 37,3350           52040                           DXCH     PIPAX                                 #  L STILL ZERO FROM ABOVE
037212,000702: 
037213,000703: 37,3351           13300                           TCF      REPIP3                                
037214,000704: 
037215,000705: 37,3352           02745        DONEADR            GENADR   PIPSDONE                              
037216,000706: 

Page 835

037218,000708:                                                                                                  #  *************************************************************************************************************
037219,000709: 
037220,000710:                                                                                                  #           ROUTINE CALCRVG INTEGRATES THE EQUATIONS OF MOTION BY AVERAGING THE THRUST AND GRAVITATIONAL
037221,000711:                                                                                                  #  ACCELERATIONS OVER A TIME INTERVAL OF 2 SECONDS.
037222,000712: 
037223,000713:                                                                                                  #           FOR THE EARTH-CENTERED GRAVITATIONAL FIELD, THE PERTURBATION DUE TO OBLATENESS IS COMPUTED TO THE FIRST
037224,000714:                                                                                                  #  HARMONIC COEFFICIENT J.
037225,000715: 
037226,000716:                                                                                                  #  ROUTINE CALCRVG REQUIRES...
037227,000717:                                                                                                  #        1) THRUST ACCELERATION INCREMENTS IN DELV SCALED SAME AS PIPAX,Y,Z IN STABLE MEMBER COORDS.
037228,000718:                                                                                                  #        2) VN SCALED 2(+7) M/CS IN REFERENCE COORDS.
037229,000719:                                                                                                  #        3) RN SCALED AT 2(+29) METERS IN REFERENCE COORDS.
037230,000720:                                                                                                  #        4) UNITW THE EARTH S UNIT ROTATIONAL VECTOR (SCALED AS A FULL UNIT VECTOR) IN REFERENCE COORDS.
037231,000721: 
037232,000722:                                                                                                  #  IT LEAVES RN1 UPDATED (SCALED AT 2(+29)M, VN1 (SCALED AT 2(+7)M/CS), AND GDT1/2 (SCALED AT 2(+7)M/CS). ALSO HALF
037233,000723:                                                                                                  #  UNIT VECTOR UNITR, RMAG IN 36D SCALED AT 2(+29)M, R MAG SQ. IN 34D SCALED AT 2(+58) M SQ.
037234,000724: 
037235,000725: 37,3353           41456        CALCGRAV           UNIT     PUSH                                  #  ENTER WITH RN IN MPAC
037236,000726: 37,3354           01760                           STORE    UNITR                                 
037237,000727: 37,3355           67340                           LXC,1    SLOAD                                 
037238,000728: 37,3356           03746                                    RTX2                                  
037239,000729: 37,3357           00047                                    X1                                    
037240,000730: 37,3360           77240                           BMN      VLOAD                                 
037241,000731: 37,3361           77407                                    ITISMOON                              
037242,000732: 37,3362           41441                           DOT      PUSH                                  
037243,000733: 37,3363           01714                                    UNITW                                 
037244,000734: 37,3364           44316                           DSQ      BDSU                                  
037245,000735: 37,3365           37461                                    DP1/20                                
037246,000736: 37,3366           56325                           PDDL     DDV                                   
037247,000737: 37,3367           37463                                    RESQ                                  
037248,000738: 37,3370           00043                                    34D                                   #  (RN)SQ
037249,000739: 37,3371           00041                           STORE    32D                                   #  TEMP FOR (RE/RN)SQ
037250,000740: 37,3372           41205                           DMP      DMP                                   
037251,000741: 37,3373           37465                                    20J                                   
037252,000742: 37,3374           65361                           VXSC     PDDL                                  
037253,000743: 37,3375           01760                                    UNITR                                 
037254,000744: 37,3376           41205                           DMP      DMP                                   
037255,000745: 37,3377           37467                                    2J                                    
037256,000746: 37,3400           00041                                    32D                                   
037257,000747: 37,3401           53361                           VXSC     VAD                                   
037258,000748: 37,3402           01714                                    UNITW                                 
037259,000749: 37,3403           77626                           STADR                                          
037260,000750: 37,3404           76521                           STORE    GOBL1/2                               
037261,000751: 37,3405           41455                           VAD      PUSH                                  
037262,000752: 37,3406           01760                                    UNITR                                 
037263,000753: 37,3407           60345        ITISMOON           DLOAD    NORM                                  
037264,000754: 37,3410           00043                                    34D                                   
037265,000755: 37,3411           00050                                    X2                                    
037266,000756: 37,3412           53663                           BDDV*    SLR*                                  

Page 836

037268,000758: 37,3413           37453                                    -MUDT(E),1                            
037269,000759: 37,3414           56623                                    0          -21D,2                     
037270,000760: 37,3415           45561                           VXSC     STADR                                 
037271,000761: 37,3416           76527                           STORE    GDT1/2                                #  SCALED AT 2(+7) M/CS
037272,000762: 37,3417           77616                           RVQ                                            
037273,000763: 
037274,000764: 37,3420           74375        CALCRVG            VLOAD    VXSC                                  
037275,000765: 37,3421           01163                                    DELV                                  
037276,000766: 37,3422           37451                                    KPIP1                                 
037277,000767: 37,3423           76505                           VXM      VSL1                                  
037278,000768: 37,3424           01736                                    REFSMMAT                              
037279,000769: 37,3425           03433                           STORE    DELVREF                               #  DELV IN REF COORDS AT 2(+7)
037280,000770: 37,3426           41562                           VSR1     PUSH                                  
037281,000771: 37,3427           41455                           VAD      PUSH                                  #  (DV-OLDGDT)/2 TO PD SCALED AT 2(+7)M/CS
037282,000772: 37,3430           01207                                    GDT/2                                 
037283,000773: 37,3431           74255                           VAD      VXSC                                  
037284,000774: 37,3432           01177                                    VN                                    
037285,000775: 37,3433           37457                                    2SEC(22)                              
037286,000776: 37,3434           44055                           VAD      STQ                                   
037287,000777: 37,3435           01171                                    RN                                    
037288,000778: 37,3436           00037                                    31D                                   
037289,000779: 37,3437           35232                           STCALL   RN1                                   #  TEMP STORAGE OF RN SCALED 2(+29)M
037290,000780: 37,3440           77353                                    CALCGRAV                              
037291,000781: 
037292,000782: 37,3441           53255                           VAD      VAD                                   
037293,000783: 37,3442           77655                           VAD                                            
037294,000784: 37,3443           01177                                    VN                                    
037295,000785: 37,3444           35240                           STCALL   VN1                                   #  TEMP STORAGE OF VN SCALED 2(+7) M/CS
037296,000786: 37,3445           00037                                    31D                                   
037297,000787: 
037298,000788: 37,3446           03215 27057  KPIP               2DEC     .1024                                 #  SCALES DELV TO 2(+4)
037299,000789: 
037300,000790: 37,3450           02312 32537  KPIP1              2DEC     0.074880                              #  207 DELV SCALING.  1 PULSE = 5.85 CM/SEC.
037301,000791: 
037302,000792: 37,3452           61377 55754  -MUDT(E)           2DEC*    -7.9720645 E+12       B-44*           
037303,000793: 
037304,000794: 37,3454           77644 65556  -MUDT(M)           2DEC*    -9.805556  E+10       B-44*           
037305,000795: 
037306,000796: 37,3456           00000 31000  2SEC(22)           2DEC     200        B-22                       
037307,000797: 
037308,000798: 37,3460           01463 06315  DP1/20             2DEC     0.05                                  
037309,000799: 
037310,000800: 37,3462           00001 05000  RESQ               2DEC*    40.6809913 E12        B-59*           
037311,000801: 
037312,000802: 37,3464           02047 36332  20J                2DEC*    3.24692010 E-2        B1*             
037313,000803: 
037314,000804: 37,3466           00152 14511  2J                 2DEC*    3.24692010 E-3        B1*             
037315,000805: 

End of include-file SERVICER207.agc.  Parent file is MAIN.agc