Source Code

The source code was transcribed manually by Ron Burkey from an assembly listing of Flight Program 8 scanned by John Pultorak, from a physical copy preserved by supplied by Davis Peticolas. The original scan is presented online at the VirtualAGC project website. Notations on the program listing read, in part:

        FLIGHT PROGRAM 8--LM AGS FP8 S03 4039     12/18/70
                 LM ABORT ELECTRONICS ASSEMBLY     

0002:                                     # Copyright:      Public domain.
0003:                                     # Filename:       FP8.aea
0004:                                     # Purpose:        This is the Apollo lunar module's firmware for the 
0005:                                     #                 Abort Guidance System (AGS).  This is Flight Program 8.
0006:                                     # Assembler:      yaLEMAP
0007:                                     # Contact:        Ron Burkey <info@sandroid.org>.
0010:                                     # Website:        www.ibiblio.org/apollo/yaAGS.html
0011:                                     # Reference:      http://www.ibiblio.org/apollo/Pultorak_files/FP8Listing.pdf.
0012:                                     # Mod history:    2005-01-15 RSB  Began.
0013:                                     #                 2005-01-17 RSB  Data entry complete, but not debugged.
0014:                                     #                 2005-01-18 RSB  As of yesterday, this assembled with
0015:                                     #                                 86 fatal errors.  These have all been
0016:                                     #                                 repaired.  Lots of other stuff fixed too.
0017:                                     #                                 I know know that the addresses and 
0020:                                     #                                 opcodes at the ends of each page are 
0021:                                     #                                 correct.  However, the checksums are
0022:                                     #                                 still wrong, so the next step is to
0023:                                     #                                 proceed with a binary comparison.
0024:                                     #                 2005-01-18 RSB  Fully debugged and ready to go.
0025:                                     #                                 It has been completely proofed against
0026:                                     #                                 the binary in the scanned assembly
0027:                                     #                                 listing, and the checksums are correct.
0030:                                     #                                 (Of course, it could always use more 
0031:                                     #                                 proofing if somebody wanted to do it.
0032:                                     #                                 Particularly the program comments.)
0033:                                     #                 2005-05-14 RSB  Corrected website reference above.
0034:                                     #                 2005-06-12 RSB  Fixed comments on p. 117.
0035:
0036:                                     # The contents have been taken (by means of manual data entry) from 
0037:                                     # an assembly listing of Flight Program 8 scanned by John Pultorak from
0040:                                     # a physical copy preserved by supplied by Davis Peticolas.  (The WWW link
0041:                                     # for the scan is referenced above.)
0042:
0043:                                     # This file contains the entire source code for FP8.  I have not split the
0044:                                     # source code into many smaller chunks as has been done for AGC source code.
0045:                                     # The page references are to the scanned PDF of the assembly listing, but 
0046:                                     # the page markings on the physical copy match the PDF pages.  In addition 
0047:                                     # to the comments containing the page references, I've also added some 
0050:                                     # blank lines for readability.  So don't expect the line number in the 
0051:                                     # scanned version to match the line numbers in an assembly listing created
0052:                                     # by processing this source file with the yaLEMAP cross-assembler.
0053:
0054:                                     # Page 1
0055:                                     # FLIGHT PROGRAM 8 -- LM AGS FP8 S03 4039 -- 12/18/70
0056:                                     #     LM ABORT ELECTRONICS ASSEMBLY
0057:
0060:                                     #                 SCRATCH PAD STORAGE
0061: 0000                                        ORG     0000
0062: 0000           000000               TS0     DEC     0
0063: 0001           000000               TS1     DEC     0
0064: 0002           000000               TS2     DEC     0
0065: 0003           000000               TS3     DEC     0
0066: 0004           000000               TS4     DEC     0
0067: 0005           000000               TS5     DEC     0
0070: 0006           000000               TS6     DEC     0
0071: 0007           000000               TS7     DEC     0
0072: 0010           000000               TS10    DEC     0
0073: 0011           000000               TS11    DEC     0
0074: 0012           000000               TS12    DEC     0
0075: 0013           000000               TS13    DEC     0
0076: 0014           000000               TS14    DEC     0
0077: 0015           000000               TS15    DEC     0
0100: 0016           000000               TS16    DEC     0
0101: 0017           000000               TS17    DEC     0
0102: 0020           000000               SREX3   DEC     0
0103: 0021           000000               SREX2   DEC     0
0104: 0022           000000               SREX1   DEC     0
0105: 0023           000000               SREX    DEC     0
0106: 0024           000000               TVARBR  DEC     0                 # TEMP STORE FOR CK SUM.
0107: 0025 40 0 6246                              TRA     RETURN            # SERV ROUT, STARTUP
0110:
0111:                                     #                 TAPE LOAD STARTUP CHECKSUM
0112:
0113: 0026 66 0 6402                      SF      OUT     6402              # DEDA INPUT SCALE FACTOR
0114: 0027 64 0 2040                      OCTF    INP     2040              # DEDA OCTAL INPUT
0115:
0116:                                     #                 THE NEXT 16 LOCATIONS ARE SHARED
0117:                                     #                 WITH A RR FILTER TEMPORARY MATRIX
0120:
0121: 0030 56 0 0001                      U2X     ALS     1                 # B1      UNIT RADIAL VECTOR TO
0122: 0031 46 0 0033                      U2Y     TMI     *+2               # B1      TRIAL RENDEZ PT.
0123: 0032 40 0 0027                      U2Z     TRA     *-3               # B1
0124:
0125:                                     # Page 2
0126:                         0030        D11     EQU     U2X               #         RADAR TEMP. MATRIX (16 LOC)
0127:                         0030        VFX     EQU     U2X               #         BRAKING VEL VECTOR AT 13.
0130: 0033 70 0 0034                      C2      DLY     *+1               # B1      RENDEZ ANGLE SINE
0131: 0034 66 0 7012                      V1X     OUT     7012              # B1      HORIZ UNIT VECTOR
0132: 0035 64 0 6200                      V1Y     INP     6200
0133: 0036 30 0 0137                      V1Z     CLZ     SUM
0134: 0037 20 0 0066                      DLSC    CLA     V2Z               #         DOWNLINK SHIFT COUNTER
0135: 0040 10 0 0024                      W1X     STO     TVARBR            # B1      U1 X V1
0136:                         0040        D31     EQU     W1X
0137: 0041 30 0 0153                      W1Y     CLZ     WRDCNT
0140: 0042 72 0 0024                      W1Z     TSQ     TVARBR
0141: 0043 32 0 0137                      SI      ADZ     SUM               # B0      E(SIN(E0))
0142: 0044 10 0 0137                      RD2DOT  STO     SUM               # B7      DESIRED RADIAL ACCEL
0143: 0045 20 0 0024                      YD2DOT  CLA     TVARBR            # B7      DESIRED OUT-OF-PLANE ACCEL
0144: 0046 24 0 4046                      TSEX    SUB     CLAFR             #         EXIT FROM NORTON
0145: 0047 46 0 0060                      SIDELL  TMI     U1X               # B1      SIN DELTA L
0146: 0050 30 0 0137                      V6X     CLZ     SUM               # B13     TEMP STORAGE FOR TPI QUANT
0147: 0051 46 0 0054                      V6Y     TMI     *+3
0150: 0052 24 0 4006                      V6Z     SUB     1B17
0151:                         0050        DQSX    EQU     V6X               #         ACCUM VEL IN XDV
0152: 0053 46 0 1101                      CODELL  TMI     EXIT40            # B1      COS DELTA L
0153: 0054 20 0 7512                      WCX     CLA     10B4              # B1      UNIT VECTOR NORMAL
0154: 0055 10 0 0412                      WCY     STO     S12               #         TO CSM ORBIT
0155: 0056 66 0 6410                      WCZ     OUT     6410
0156: 0057 40 0 1052                      TMPBR   TRA     SINITC            #         TEMP BRANCH STORE
0157: 0060 30 0 0153                      U1X     CLZ     WRDCNT            # B1      LEM UNIT RAD VECTGOR
0160: 0061 22 0 4006                      U1Y     ADD     1B17
0161: 0062 10 0 0153                      U1Z     STO     WRDCNT
0162: 0063 24 0 4014                      BRANCH  SUB     1B11              #         GUIDANCE BRANCH
0163: 0064 46 0 0042                      V2X     TMI     W1Z               # B1      HORZ UNIT VECTOR AT
0164: 0065 70 0 0041                      V2Y     DLY     W1Y               #         RENDEZ POINT
0165: 0066 20 0 0206                      V2Z     CLA     0206
0166:                         0064        VGX     EQU     V2X               #         VEL TO GAIN VECTOR AT L3
0167:
0170:                                     #         END OF TAPE LOAD CHECKSUM PROGRAM
0171:
0172: 0067           000000               AT      DEC     0B7
0173:
0174:                                     # Page 3
0175: 0070           000000               EX      DEC     0B2               #         ATTITUDE ERRORS.
0176: 0071           000000               EY      DEC     0
0177: 0072           000000               EZ      DEC     0
0200: 0073           000000               X3      DEC     0B0               #         XFR ORB PARAM.
0201:                         0073        TR3     EQU     X3                #         ADDRESS OF RESULT FOR MXM
0202: 0074           000000               DVXM1   DEC     0B1               #         BODY DELTA VS
0203: 0075           000000               DVYM1   DEC     0                 #         PREVIOUS CYCLE.
0204: 0076           000000               DVZM1   DEC     0
0205: 0077           000000               NI      DEC     0B-9              #         PREDICTION ANGULAR FREQUENCY
0206:                         0077        NE      EQU     NI                #         CSM PRED. ANGULAR FREQ.
0207:                         0077        TR8     EQU     NI                #         RADAR TEMP.
0210: 0100           000000               VD2X    DEC     0B2               #         DELTA V EXP LS
0211: 0101           000000               VD2Y    DEC     0
0212: 0102           000000               VD2Z    DEC     0
0213: 0103           000000               CI      DEC     0B0               #         E(COS(E0))
0214:                         0103        TR1     EQU     CI                #         ADDR. OF 1ST MATRIX FOR MXM
0215: 0104           000000               DRX     DEC     0B14              #         LRM POS REMAINDERS
0216: 0105           000000               DRY     DEC     0
0217: 0106           000000               DRZ     DEC     0
0220: 0107           000000               THEP    DEC     0                 #         PGNS THETA IN COUNTS.
0221: 0110           000000               DIGX    DEC     0B7               #         PREDICTED CHANGE IN
0222: 0111           000000               DIGY    DEC     0                 #         INTEGRATED GRAVITY.
0223: 0112           000000               DIGZ    DEC     0
0224: 0113           000000               PSIP    DEC     0                 #         PGNS PSI IN COUNTS.
0225: 0114           000000               GXDT    DEC     0B7               #         GRAVITY TIMES MAJOR
0226: 0115           000000               GYDT    DEC     0
0227: 0116           000000               GZDT    DEC     0
0230: 0117           000000               PHIP    DEC     0                 #         PGNS PHI IN COUNTS.
0231: 0120           000000               DVSX    DEC     0
0232: 0121           000000               DVSY    DEC     0
0233: 0122           000000               DVSZ    DEC     0
0234: 0123           000000               SIGA    DEC     0B1               #         SIN FDAI GAMMA.
0235: 0124           000000               RRX     DEC     0B23              #         COMPUTED LM-CSM RANGE
0236: 0125           000000               RRY     DEC     0
0237: 0126           000000               RRZ     DEC     0
0240: 0127           000000               COGA    DEC     0B1               #         COS FDAI GAMMA.
0241: 0130           200000               A11     DEC     1.0B1             #         XB DIRECTION COSINES.
0242:
0243:                                     # Page 4
0244: 0131           000000               A12     DEC     0
0245: 0132           000000               A13     DEC     0
0246: 0133           000000               TS8     DEC     0
0247: 0134           000000               A31     DEC     0                 #         ZB DIRECTION COSINES
0250: 0135           000000               A32     DEC     0
0251: 0136           200000               A33     DEC     1.0B1
0252: 0137           000000               SUM     DEC     0                 #         RUNNING MEMORY SUM
0253: 0140           000000               A21     DEC     0                 #         YB DIRECTION COSINES
0254: 0141           200000               A22     DEC     1.0B1
0255: 0142           000000               A23     DEC     0
0256: 0143           000000               X4      DEC     0B0               #         XFR ORB PARAM.
0257:                         0143        VHSQ    EQU     X4                # 0B26    VH SQUARED
0260:                         0143        TR2     EQU     X4                #         ADDR. OF 2ND MATRIX FOR MXM
0261: 0144           000000               E1      DEC     0                 #         -6 OR -9 XB NORM ERROR
0262: 0145           000000               E3      DEC     0                 #         ZB NORMALITY ERROR.
0263: 0146           000000               E13     DEC     0                 #         XB,ZB ORTHOG ERROR.
0264: 0147           000000               DEL10   DEC     0                 #         TPI LOGIC FLAG
0265: 0150           000000               DA11    DEC     0B-5              #         DIR COSINE REMAINDERS
0266: 0151           000000               DA12    DEC     0
0267: 0152           000000               DA13    DEC     0
0270: 0153           000000               WRDCNT  DEC     0                 #         CKSUM WORD COUNT
0271: 0154           000000               DA31    DEC     0
0272: 0155           000000               DA32    DEC     0
0273: 0156           000000               DA33    DEC     0
0274: 0157           000000               DEL44   DEC     0                 #         RADAR CODE WORD RESET FLAG
0275: 0160           000000               A11D    DEC     0B1               #         XD DIRECTION COSINES.
0276: 0161           000000               A12D    DEC     0
0277: 0162           000000               A13D    DEC     0
0300: 0163           000000                       DEC     0                 #         ** UNUSED -- INDEXED BY A11D **
0301: 0164           000000               A31D    DEC     0B1               #         ZD DIRECTION COSINES.
0302: 0165           000000               A32D    DEC     0
0303: 0166           000000               A33D    DEC     0
0304: 0167           000000               MU17    DEC     0B3               #         RADAR FILTER ENTRY COUNTER
0305: 0170           000000               P       DEC     0B23              #         TRIAL SEMI-PARAMETER
0306: 0171           000000               ALPHA   DEC     0B23              #         XFR ORBIT SEMI-MAJOR AXIS
0307: 0172           000000               Q1      DEC     0B23              #         XFR ORBIT PERILUNE
0310:                         0172        ESQ     EQU     Q1
0311:
0312:                                     # Page 5
0313: 0173           000000               AI      DEC     0B23              #         PRED. SEMI-MAJOR AXIS
0314:                         0173        AE      EQU     AI                #         CSM PRED. SEMI-MAJOR AXIS
0315: 0174           000000               R5X     DEC     0B23              #         LM PRED POS AHEAD TDEL
0316: 0175           000000               R5Y     DEC     0
0317: 0176           000000               R5Z     DEC     0
0320: 0177           000000               AL      DEC     0B23              #         LM PRED. SEMI-MAJOR AXIS
0321: 0200           000000               REX     DEC     0B23              #         CSM EPOCH POSITION
0322: 0201           000000               REY     DEC     0
0323: 0202           000000               REZ     DEC     0
0324: 0203           000000               RT      DEC     0B23              #         CSM PRED POS. MAG.
0325: 0204           000000               R0X     DEC     0B23              #         PRED EPOCH POS VECTOR
0326: 0205           000000               R0Y     DEC     0
0327:                                     #         SEE REAR OF LISTING FOR CHECKSUM
0330:                                     #         Note that the CHECKSUM pseudo-op is not defined in the AGS
0331:                                     #         programmer's manual.  I have decided for the purposes of 
0332:                                     #         implementing yaLEMAT that the following syntax will be
0333:                                     #         used.  It means that the cross-assembler will compute a
0334:                                     #         checksum of the address range 0207-1004 (octal), and will
0335:                                     #         store it right here.
0336: 0206                                        CHECKSUM RANGE 0207-1004
0337:                         0206        R0Z     DEFINE  0206
0340: 0207           000000               R0      DEC     0B23              #         PRED EPOCH POS. MAG.
0341:                         0170        C11     EQU     P                 #         RADAR TEMP. MATRIX
0342:                         0171        C12     EQU     ALPHA
0343:                         0172        C13     EQU     Q1
0344:                         0173        C14     EQU     AI
0345:                         0174        C21     EQU     R5X
0346:                         0175        C22     EQU     R5Y
0347:                         0176        C23     EQU     R5Z
0350:                         0177        C24     EQU     AL
0351:                         0200        C31     EQU     REX
0352:                         0201        C32     EQU     REY
0353:                         0202        C33     EQU     REZ
0354:                         0203        C34     EQU     RT
0355:                         0204        C41     EQU     R0X
0356:                         0205        C42     EQU     R0Y
0357:                         0206        C43     EQU     R0Z
0360:                         0207        C44     EQU     R0
0361: 0210           000000               R       DEC     0B23              #         LM POS MAGNITUDE
0362: 0211           000000               Y       DEC     0B23              #         OUT OF PLANE POSITION
0363: 0212           000000               PP      DEC     0B23              #         P PRIME/EXIT FOR MXM
0364: 0213           002261               POUTFS  DEC     7.684096E4B23     #         MAX P DISPLAYABLE
0365: 0214           000000               POUT    DEC     0                 #         DISPLAY POSITION.
0366:
0367:                                     # Page 6
0370: 0215           000000               DPOUT   DEC     0                 #         DISPLAY POSITION INCREMENT.
0371: 0216           040000               2K3     DEC     1048576.B23       #         QL SET ON O.F.
0372: 0217           001415               2K14    DEC     5.E4B23           #         INITIAL P PERTURBATION
0373: 0220           000000               RIX     DEC     0B23              #         ELLIPSE PRED POS OUTPUT
0374: 0221           000000               RIY     DEC     0
0375: 0222           000000               RIZ     DEC     0
0376:                         0220        DELR1   EQU     RIX               #         MEASURED MINUS COMPUTED RANGE
0377:                         0221        DELR3   EQU     RIY               # B23
0400:                         0222        DELR2   EQU     RIZ
0401: 0223           000000               25J     DEC     0B23              #         DEDA ALTITUDE UPDATE
0402: 0224           270322               7J      DEC     6042736B23        #         TERM IN AL(O.I.)
0403: 0225           131565               8J      DEC     2940243B23        #         TERM IN AL(O.I) LOWER LIMIT
0404: 0226           270423               10J     DEC     6046910B23        #         RETARGET VALUE FOR 7J
0405: 0227           257015               4K5     DEC     5735200B23        #         NOMINAL BURNOUT ALTITUDE
0406: 0230           017205               2K19    DEC     5.E5B23           #         DELTA P LIMITER
0407: 0231           255704               5J      DEC     5.697785E6B23     #         LANDING SITE RADIUS
0410: 0232           001652               16J     DEC     60000B23          #         ORBIT INSERTION ALTITUDE
0411: 0233           000607               21J     DEC     25000B23          #         PITCH STEERING ALT THRESHOLD
0412: 0234           000000               RRSX    DEC     0B23              #         CALCULATED RANGE AT TIME
0413: 0235           000000               RRSY    DEC     0                 #         OF RADAR RANGE MEASUREMENT.
0414: 0236           000000               RRSZ    DEC     0
0415: 0237           121372               6K11    DEC     0.318310B0        #         1/PI
0416:
0417:                                     #         INITIALIZE DATA FROM DOWNLINK ADDRESSES
0420:                                     #                 LOCATIONS 0240-0257 USED
0421: 0240           000000               1J1     DEC     0B23              #         LM EPHEMERIS POS
0422: 0241           000000               1J2     DEC     0
0423: 0242           000000               1J3     DEC     0
0424: 0243           000000                       DEC     0
0425: 0244           000000               2J1     DEC     0                 #         CSM EPHEMERIS POS
0426: 0245           000000               2J2     DEC     0
0427: 0246           000000               2J3     DEC     0
0430: 0247           000000                       DEC     0
0431: 0250           000000                       DEC     0
0432: 0251           000000                       DEC     0
0433: 0252           000000                       DEC     0
0434: 0253           000000                       DEC     0
0435:
0436:                                     # Page 7
0437: 0254           000000               1J7     DEC     0B18              #         LM EPOCH TIME
0440: 0255           000000               1J7LS   DEC     0B1
0441: 0256           000000                       DEC     0
0442: 0257           000000                       DEC     0
0443:                         0252        THETAR  EQU     2J3+4             #         RADAR ANTENNA TRUNNION ANGLE
0444:                         0253        BETAR   EQU     2J3+5             #         RADAR ANTENNA SHAFT ANGLE
0445:                         0254        RM      EQU     1J7               #         RADAR RAW RANGE INPUT
0446:                         0255        RMDOT   EQU     1J7+1             #         RADAR RANGE RATE INPUT
0447:                         0256        DEL46   EQU     1J7+2             #         RADAR COMPOSITE WORD
0450: 0260           000000               1J4     DEC     0B13              #         LM EPHEMERIS VEL
0451: 0261           000000               1J5     DEC     0
0452: 0262           000000               1J6     DEC     0
0453: 0263           000000               VPY     DEC     0B13              #         OUT-OF-PLANE VELOCITY
0454: 0264           000000               2J4     DEC     0                 #         CSM EPHEMERIS VEL
0455: 0265           000000               2J5     DEC     0
0456: 0266           000000               2J6     DEC     0
0457: 0267           631463               5K18    DEC     -.1B-2            #         RD3DOT LOWER LIMIT
0460: 0270           000000               VY0     DEC     0B13              #         LM OUT-OF-PLANE VEL
0461: 0271           006200               VY0FS   DEC     200B13            #         MAX VY0 DISPLAYABLE
0462: 0272           000000               2J7     DEC     0                 #         CSM EPOCH TIME
0463: 0273           000000               2J7LS   DEC     0
0464: 0274           000017               7K1     DEC     30B18             #         TIG TIME BIAS
0465: 0275           000000               1J      DEC     0B18              #         NOMINAL TPI TIME (CSI)
0466: 0276           505075               6K5     DEC     -.73B0            #         Y-POSITION FILTER WEIGHT
0467: 0277           000000               XI      DEC     0B3               #         Z-AXIS/LOCAL HORIZ ANGLE
0470: 0300           000000               A31BD   DEC     0B1               #         UNIT VECTOR (LM-CSM)
0471: 0301           000000               A32BD   DEC     0
0472: 0302           000000               A33BD   DEC     0
0473: 0303           000000               TLOS    DEC     0B3               #         DXFR LOS COMPUTED
0474:                         0303        THETAF  EQU     TLOS              #         LM-CSM CENTRAL ANG AT CSI/CDH
0475: 0304           026164               3K4     DEC     .17365B1          #         CENTRAL ANGLE LIMIT ON TPI
0476: 0305           766316               12J     DEC     -.299904B3        #         PHASE ANGLE LIMIT FOR RETARGET
0477: 0306           000000               4J      DEC     0B13              #         TIME OF NODE PRIOR TO RENDEZ
0500: 0307           120500               6J      DEC     2580.0B13         #         DESIRED TRANSFER TIME
0501: 0310           000000               TDEL    DEC     0B13              #         TIME TIL NEXT MANEUVER
0502: 0311           000000               TR      DEC     0B13              #         TIME TIL RENDEZVOUS
0503: 0312           000000               3J      DEC     0B13              #         TARGET OFFSET TIME
0504:
0505:                                     # Page 8
0506: 0313           226051               6K12    DEC     9.38B4            #         RAW RADAR AT 18 TO FT. AT 22
0507: 0314           000000               DELRP   DEC     0B23              #         DIFF. ALT. AT TIG(CSI-CDH)
0510: 0315           000000               QA      DEC     0B23              #         LM APOFOCUS ALTITUDE
0511: 0316           000000               18J     DEC     0B22              #         MEASURED RADAR RANGE
0512: 0317           000000               RR      DEC     0B22              #         COMPUTED RANGE
0513: 0320           000000               READP   DEC     0
0514: 0321           000000               ENTERP  DEC     0
0515: 0322           000000               HOLDP   DEC     0
0516: 0323           000000               CLEARP  DEC     0
0517: 0324           000000               HMF     DEC     0
0520:                                     #                 START OF TELEMETRY LIST
0521: 0325           000000               RMF     DEC     0                 #         READOUT MODE FLAG
0522: 0326           000000               DD      DEC     0                 #         DEDA DATA
0523: 0327           000000               CMF     DEC     0                 #         CLEAR MODE FLAG
0524: 0330           200000               A11T    DEC     1.B1              #         TM DIR COSINES
0525: 0331           000000               A12T    DEC     0
0526: 0332           000000               A13T    DEC     0
0527: 0333           000000               ADST    DEC     0                 #         DEDA ADDRESS
0530: 0334           000000               A31T    DEC     0
0531: 0335           000000               A32T    DEC     0
0532: 0336           200000               A33T    DEC     1.B1
0533: 0337           000000               H       DEC     0B23              #         ALTITUDE
0534: 0340           000000               RX      DEC     0B23              #         LM POSITION
0535: 0341           000000               RY      DEC     0
0536: 0342           000000               RZ      DEC     0
0537: 0343           000000               QL      DEC     0B23              #         PRESENT LM PERICYNTHION
0540:                         0343        EONS10  EQU     QL                #         ENG ON+S10 FOR TM
0541: 0344           000000               RCX     DEC     0B23              #         CSM PRESENT POSITION
0542: 0345           000000               RCY     DEC     0
0543: 0346           000000               RCZ     DEC     0
0544: 0347           000000               RF      DEC     0B23              #         PREDICTED BURNOUT ALT.
0545: 0350           000000               DVX     DEC     0B1               #         BODY DELTA VS
0546: 0351           000000               DVY     DEC     0                 #         THIS CYCLE.
0547: 0352           000000               DVZ     DEC     0
0550: 0353           000000               TA2     DEC     0B1               #         ABS TIME LS.
0551: 0354           000000               DAX     DEC     0B-6              #         DELTA ALPHAS
0552: 0355           000000               DAY     DEC     0
0553:
0554:                                     # Page 9
0555: 0356           000000               DAZ     DEC     0
0556: 0357           000000               TBO     DEC     0B9               #         TIME TO BURNOUT.
0557: 0360           000000               VX      DEC     0B13              #         LM VELOCITY
0560: 0361           000000               VY      DEC     0
0561: 0362           000000               VZ      DEC     0
0562: 0363           000000               MU8S12  DEC     0                 #         MU8/S12
0563: 0364           000000               VCX     DEC     0B13              #         CSM PRESENT VELOCITY
0564: 0365           000000               VCY     DEC     0
0565: 0366           000000               VCZ     DEC     0
0566: 0367           000000               HDOT    DEC     0B13              #         ALTITUDE RATE
0567: 0370           000000               VG      DEC     0B13              #         VELOCITY TO GAIN
0570: 0371           000000               VF      DEC     0B13              #         TRANSFER BRAKING VELOCITY
0571: 0372           000000               TA0     DEC     0B18              #         TIME FROM CSI TO CDH
0572: 0373           000000               TIG     DEC     0B18              #         ABSOLUTE TIME OF MANEUVER
0573: 0374           000000               A11BD   DEC     0B1               #         CMD XB POINTING DIR
0574: 0375           000000               A12BD   DEC     0
0575: 0376           000000               A13BD   DEC     0
0576: 0377           000000               TA1     DEC     0B18              #         ABS TIME MS.
0577: 0400           000000               S0      DEC     0                 #         AGS FUNCTION SELECTOR
0600: 0401           000000               DISC1C  DEC     0                 #         DISCRETE WD 1-TRUE STATE
0601: 0402           377776               Q1DEDA  DEC     8388500B23        #         TRANS ORBIT PERICYN ALT
0602:                         0402        DELH    EQU     Q1DEDA            #         DIFF. ALT. AFTER CDH(CSI-CDH)
0603: 0403           000000               QLTELE  DEC     0B23              #         QL FOR TELE AND DEDA
0604: 0404           000000               VD1X    DEC     0B13              #         40MS VEL ACCUMULATION
0605: 0405           000000               VD1Y    DEC     0
0606: 0406           000000               VD1Z    DEC     0
0607:                                     #                 END OF TELEMETRY LIST
0610: 0407           000000               DEL6    DEC     0                 #         CALIBRATE I.C. FLAG
0611: 0410           000000               S10     DEC     0                 #         GUIDANCE MODE SELECTOR
0612: 0411           000000               S11     DEC     0                 #         AUTO RADAR SWITCH
0613: 0412           000000               S12     DEC     0                 #         TEST STATUS
0614: 0413           000000               S13     DEC     0                 #         STORE LUNAR AZIMUTH
0615: 0414           000000               S14     DEC     0                 #         NAVIGATION INITIALIZE
0616: 0415           000000               S15     DEC     0                 #         RADAR GIMBAL NULL
0617:                         0415        RDOTS   EQU     S15               #         R. R. STORED AT RADAR INPUT
0620: 0416           000000               S16     DEC     0                 #         CDH APSIDAL SELECTION
0621: 0417           000000               S17     DEC     0                 #         RADAR FILTER INIT. SWITCH
0622:
0623:                                     # Page 10
0624: 0420           000000               VEX     DEC     0B13              #         CSM EPOCH VEL
0625: 0421           000000               VEY     DEC     0
0626: 0422           000000               VEZ     DEC     0
0627: 0423           000000               RFDOT   DEC     0B13              #         DESIRED ALT RATE
0630: 0424           000000               V0X     DEC     0B13              #         PRED EPOCH VEL VECTOR
0631: 0425           000000               V0Y     DEC     0
0632: 0426           000000               V0Z     DEC     0
0633:                         0424        I       EQU     V0X               #         MXM INDEX
0634:                         0425        J       EQU     V0Y               #         MXM INDEX
0635:                         0426        K       EQU     V0Z               #         MXM INDEX
0636: 0427           000000               VH      DEC     0B13              #         LM HORIZONTAL VEL
0637:                                     #                 VIX,VIY,VIZ ARE SHARED WITH RR FILTER
0640: 0430           000000               VIX     DEC     0B13              #         ELLIPSE PRED VEL OUTPUT
0641: 0431           000000               VIY     DEC     0
0642: 0432           000000               VIZ     DEC     0
0643: 0433           000000               V       DEC     0B13              #         LM TOTAL VELOCITY
0644: 0434           000000               TP      DEC     0B13              #         TRIAL XFR ORB. TIME.
0645: 0435           000000               T       DEC     0B13              #         TIME TO RENDEZ.
0646:                         0435        RB      EQU     T                 #         RF SAVED FOR ORBIT INSERT.
0647: 0436           000000               TB      DEC     0B13              #         TA-TE.
0650: 0437           000000               PDOTM1  DEC     0B13              #         DISPLAY POS RATE(-1)
0651: 0440           000000               RRDOT   DEC     0B13              #         RANGE RATE
0652: 0441           001750               1000D   DEC     1000B17           #         RANGE MARK COUNTER INCREMENT
0653: 0442           000000               TI      DEC     0B13              #         PREDICTION TIME/RR FILTER TEMP
0654: 0443           000000               DPDOUT  DEC     0B13              #         DISPLAY POS RATE INCREMENT
0655: 0444           000000               PDOUT   DEC     0B13              #         DSP POS RATE CONV TO FPS AT 13
0656: 0445           000000               TCSM    DEC     0B13              #         CSM PERIOD (SEC)
0657: 0446           000066               4K25    DEC     3.402B13          #         ENG CUTOFF COMP
0660: 0447           000360               2K18    DEC     15.B13            #         PARTIAL DERIV PROTECTOR.
0661: 0450           000000               28J1    DEC     0B13              #         DELTA V DOWNRANGE
0662: 0451           000000               28J2    DEC     0B13              #         DELTA V CROSSRANGE
0663: 0452           000000               28J3    DEC     0B13              #         DELTA V RADIAL
0664: 0453           000040               2K20    DEC     2.B13             #         CONVERGENCE CHECK.
0665: 0454           002140               4K26    DEC     70.0B13           #         VG THRESHOLD
0666: 0455           000000               DDF     DEC     0                 #         DEDA DATA RECEIVED FLAG
0667: 0456           031000               6K4     DEC     .1E3B10           #         INITIAL VALUE OF P33 AND P44
0670: 0457           027657               6K2     DEC     .1E9B30           #         INIT VALUE OF P11,P22
0671:
0672:                                     # Page 11
0673: 0460           000000               V5X     DEC     0B13              #         TPI-PREDICTED V AT TPI TIME
0674: 0461           000000               V5Y     DEC     0
0675: 0462           000000               V5Z     DEC     0
0676:                         0460        TR4     EQU     V5X               #         NO. OF COL IN MATRIX A
0677:                         0461        TR6     EQU     V5Y               #         NO. OF ROWS IN MATRIX B
0700:                         0462        TR5     EQU     V5Z               #         NO. OF ROWS IN MATRIX A
0701: 0463           000000               VHA     DEC     0B13
0702: 0464           001440               22J     DEC     50B13             #         PITCH STEERING ALT RATE THRESH
0703: 0465           000470               23J     DEC     19.5B13           #         RFDOT LOWER LIMIT
0704: 0466           000360               5K26    DEC     15B13             #         PSEUDO ATT HOLD IN STEER
0705: 0467           000000               PART    DEC     0B14              #         PARTIAL DERIVATIVE
0706: 0470           000000               VDX     DEC     0B13              #         VD1 AT NAV UPDATE
0707: 0471           000000               VDY     DEC     0
0710: 0472           000000               VDZ     DEC     0
0711: 0473           406000               4K27    DEC     -8000.0B13        #         OVERFLOW PROTECTION FOR VD1X
0712: 0474           000000               VSMGX   DEC     0B13              #         VD1 CUTOFF
0713: 0475           000000               VSMGY   DEC     0
0714: 0476           000000               VSMGZ   DEC     0
0715: 0477           000000               RADOT   DEC     0B13              #         PRED. RDOT AT TIG
0716: 0500           000000               DELVGX  DEC     0B13              #         THRUST VEL TO GAIN
0717: 0501           000000               DELVGY  DEC     0
0720: 0502           000000               DELVGZ  DEC     0
0721: 0503           000000               17J     DEC     0B13              #         RANGE RATE INPUT
0722: 0504           000000               RD3DOT  DEC     0B-2              #         DESIRED RADIAL JERK
0723: 0505           000000               YD3DOT  DEC     0B-2              #         DESIRED OUT-OF-PLANE JERK
0724: 0506           012000               4K12    DEC     5B7               #         ACCEL THRESH IN O.I. STEER
0725: 0507           000000               S507    DEC     0B3               #         ACQ STEER SEL OF PT DIR
0726: 0510           000000               DAXREM  DEC     0B-13             #         INCRE. GYRO INPUT REMAINDERS
0727: 0511           000000               DAYREM  DEC     0
0730: 0512           000000               DAZREM  DEC     0
0731: 0513           000000               C1      DEC     0B1               #         RENDEZ ANGLE COSINE.
0732: 0514           000000               WBX     DEC     0B1               #         UNIT VECTOR FOR
0733: 0515           000000               WBY     DEC     0                 #         GUIDANCE STEERING
0734: 0516           000000               WBZ     DEC     0
0735: 0517           411500               6K14    DEC     -15768B14         #         RADAR RANGE RATE NULL
0736: 0520           000000               TE1     DEC     0B18              #         CSM EPOCH TIME MS.
0737: 0521           000000               TL1     DEC     0B18              #         LEM EPOCH TIME MS.
0740:
0741:                                     # Page 12
0742: 0522           676356               6K6     DEC     -.001B-8          #         Y-VELOCITY FILTER WEIGHT
0743: 0523           000000               5K20    DEC     0B-2              #         RD3DOT LOWER LIMIT
0744: 0524           000000               TE2     DEC     0                 #         CSM EPOCH TIME LS.
0745: 0525           000000               TL2     DEC     0                 #         LEM EPOCH TIME LS.
0746: 0526           273400               2K11    DEC     6000B13           #         VF IF OVERFLOW
0747: 0527           002400               4K6     DEC     80.B13            #         RFDOT UPPER LIMIT
0750: 0530           000000               DAXA    DEC     0B-6              #         ALIGN INCREMENTS
0751: 0531           000000               DAYA    DEC     0
0752: 0532           000000               DAZA    DEC     0
0753: 0533           000000               DISC1   DEC     0                 #         DISCRETE WORD
0754: 0534           314632               1K18    DEC     .003125B-8        #         ACCEL SCALE FACTOR
0755: 0535           314632               1K20    DEC     .003125B-8
0756: 0536           314632               1K22    DEC     .003125B-8
0757: 0537           000000               1K14    DEC     0B-14             #         X-AXIS MASS UNBAL COMP
0760: 0540           000000               1K19    DEC     0B1               #         ACCEL BIAS
0761: 0541           000000               1K21    DEC     0B1               #         COMPENSATION
0762: 0542           000000               1K23    DEC     0B1
0763: 0543           000000               DSPSC   DEC     0                 #         DISPLAY SHIFT COUNTER
0764: 0544           000000               1K1     DEC     0B-13             #         GYRO BIAS
0765: 0545           000000               1K6     DEC     0                 #         COMPENSATIONS
0766: 0546           000000               1K11    DEC     0
0767: 0547           000000               DDEL    DEC     0B0               #         LUNAR ALIGN CORRECTION
0770: 0550           000000               1K3     DEC     0B-7              #         GYRO SCALE FACTOR
0771: 0551           000000               1K8     DEC     0                 #         COMPENSATIONS
0772: 0552           000000               1K13    DEC     0
0773: 0553           000000               HRF     DEC     0                 #         HIGH RATE FLAG
0774: 0554           000000               A31S    DEC     0B1               #         RADAR NULL DIR COS
0775: 0555           000000               A32S    DEC     0
0776: 0556           000000               A33S    DEC     0
0777: 0557           203045               4K4     DEC     .004B-7           #         FACTOR IN RFDOT(OI)
1000: 0560           000000               5K14    DEC     0B-2              #         RD3DOT UPPER LIMIT
1001: 0561           012173               5K16    DEC     .01B-2            #         YD3DOT UPPER LIMIT
1002: 0562           000000               DLWN    DEC     0                 #         DOWNLINK WORD COUNTER
1003: 0563           000000               DEL32   DEC     0                 #         DOWNLINK INITIALIZE FLAG
1004: 0564           000034               6K8     DEC     .22B10            #         RANGE RATE ERROR VARIANCE
1005:                                     #                                         (ADDR OF 6K8 MUST END IN 4)
1006: 0565           000100               6K9     DEC     .3029E-4B-4       #         VARIANCE OF RADAR ANGULAR ERROR
1007:
1010:                                     # Page 13
1011: 0566           005754               6K10    DEC     .625E7B28         #         RANGE ERROR VARIANCE
1012: 0567           000000               DSPF1   DEC     0                 #         DISPLAY FLAG1.
1013: 0570           000000               ID1F    DEC     0                 #         DOWNLINK ID RECEIVED
1014: 0571           000000               DEL31   DEC     0                 #         DOWNLINK INPUT COMPLETE
1015: 0572           000000               FLAGT   DEC     0                 #         MEMORY TEST
1016: 0573           000000               FLAG1   DEC     0                 #         20MS BRANCH CONTROL
1017: 0574           000000               DEL2    OCT     0                 #         STAGED FLAG.
1020: 0575           000000               DEL5    OCT     0                 #         ATTHLD LOCK FLAG.
1021: 0576           144420               PI      DEC     3.14159266B3
1022: 0577           464072               6K13    DEC     -1.59286B1        #         RADAR RANGE RATE TO FPS AT 13
1023: 0600           000000               DVGXX   DEC     0B13              #         VEL TO GAIN IN EXT DELTA V
1024: 0601           000000               DVGXY   DEC     0
1025: 0602           000000               DVGXZ   DEC     0
1026: 0603           000000               DEL20   DEC     0                 #         LOGIC FLAG FOR ENG CONTROL
1027: 0604           000000               DEL21   OCT     0                 #         LUNAR SURFACE FLAG.
1030: 0605           003775               2J      DEC     1.9970B7          #         COTAN OF DESIRED LOS AT TPI
1031: 0606           000000               DEL42   OCT     0                 #         LUNAR ALINE COMPLETE FLAG
1032:                         0606        DEL45   EQU     DEL42             #         RR RANGE/RANGE RT. UPDATE FLAG
1033: 0607           377777               K55     OCT     377777            #         S.F. FOR HDOT DISPLAY
1034: 0610           000000               MU3     DEC     0                 #         P-ITER COUNTER.
1035:                         0610        RD3DTL  EQU     MU3               #         RD3DOT LOWER LIMIT
1036: 0611           765605               5K17    DEC     -.01B-2           #         YD3DOT LOWER LIMIT
1037: 0612           000000               MU6     DEC     0                 #         STAGING COUNTER
1040: 0613           000017               1K37    DEC     15.B17            #         ACCEL CAL DURATION
1041: 0614           000000               MU8     DEC     0                 #         ULLAGE COUNTER
1042: 0615           000000               MU10    DEC     0                 #         GYRO CALIBRATE DURATION
1043: 0616           000005               1K9     DEC     5.0B17            #         ULLAGE COUNTER LIMIT
1044: 0617           000226               1K30    DEC     150.B17           #         GYRO CALIBRATE DURATION
1045: 0620           000005               2K17    DEC     5.B17             #         NO OF P-ITERATIONS-3
1046: 0621           000000               MU19    DEC     0                 #         MARK COUNTER
1047: 0622           000076               4K23    DEC     62.0B17           #         STAGING TIME DELAY
1050: 0623           000000               S623    DEC     0B3               #         EX SELECTION IN G. S
1051: 0624           031463               1K4     DEC     .1B0              #         DISPLAY INTERPOLATION
1052: 0625           000071               1K24    DEC     .87E-3B1          #         SINGULARITY THRESHOLD
1053: 0626           561111               1K26    DEC     -.142857E3B8      #         NEG INV OF ALIGN GAIN CONSTANT
1054: 0627           262132               1K27    DEC     .435E-1B-4        #         ALIGN CONSTANT
1055: 0630           327443               1K28    DEC     107.78396B7       #         ALIGN CONSTANT
1056:
1057:                                     # Page 14
1060: 0631           004061               1K29    DEC     .001B-4           #         LUN ALIGN STOP CRITERION
1061: 0632           243656               1K33    DEC     .08B-3            #         CALIBRATE GAIN
1062: 0633           247613               1K34    DEC     .00002B-15        #         CALIBRATE GAIN
1063: 0634           000400               1K35    DEC     .25B7             #         ACCEL BIAS THRESHOLD
1064: 0635           777651               1K36    DEC     -.66667E-3B0      #         ACCEL CAL GAIN
1065: 0636           235407               2K1     DEC     .173189E15B48     #         GRAVITY CONST (LUNAR)
1066: 0637           320020               2K2     DEC     .57740387E-14B-47   #         1/2K1
1067: 0640           000007               6J1     DEC     .3358E-8B-14      #         LUNAR ROT RATE ABOUT X-REF
1070: 0641           777616               6J2     DEC     -.53039E-7B-14    #         LUNAR ROT RATE ABOUT Y-REF
1071: 0642           000007               6J3     DEC     .3052E-8B-14      #         LUNAR ROT RATE ABOUT Z-REF
1072: 0643           032525               B13SF   DEC     .10416666B0       #         .01 MIN TO SEC AT 13
1073: 0644           000000               SDVX    DEC     0B1               #         DV SUM FOR ACCEL CAL
1074: 0645           000000               SDVY    DEC     0                 #         (ADDR OF SDVX MUST END IN 4)
1075: 0646           000000               SDVZ    DEC     0
1076: 0647           000000               MU7     DEC     0B17              #         CALIBRATION COUNTER
1077: 0650           000002               7K2     DEC     2B17              #         NOISEIN P-MATRIX DIAGONALS
1100: 0651           240000               B13VSF  DEC     .625B0            #         .1 FPS TO FPS AT 13
1101: 0652           131415               B3SF    DEC     .34971155B0       #         .01 DEG TO RAD AT 3
1102: 0653           032756               B23RSF  DEC     .10533045B0       #         .1 NMI TO FT AT 23
1103: 0654           713267               4K2     DEC     -.50204E-4B-12    #         FACTOR IN TB COMP
1104: 0655           016336               4K3     DEC     .16803E-8B-25     #         FACTOR IN TB COMP
1105: 0656           206645               B22RSF  DEC     .5266522B0        #         .01 NMI TO FT AT 22
1106: 0657           303240               BACCSF  DEC     0.762939B0        #         .001 FT/SEC2 TO FPS/20MS AT 1
1107: 0660           002000               4K34    DEC     1.B7              #         AT LOWER LIMIT
1110: 0661           000146               4K35    DEC     .1B7              #         ULLAGE THRESHOLD
1111: 0662           662400               4K10    DEC     -317438.91B20     #         TERM IN AL(O.I.)
1112: 0663           000000               SUMLIM  DEC     0                 #         LAST CELL FOR CHECKSUM
1113: 0664           000034               WORDS   DEC     28
1114: 0665           125253               B18SF   DEC     .333333B0         #         .1 MIN TO SEC AT 18
1115: 0666           020603               4K21    DEC     .26179938B2       #         SC FACTOR FOR ATT ERR OUTPUT
1116: 0667           777716               M25B16  DEC     -25.B16           #         CYCLE COUNT TO SECONDS
1117: 0670           240000               DTB     DEC     1.25B1            #         1 SEC + DEDA TIME BIAS
1120: 0671           000000               ID      DEC     0                 #         CURRENT DOWNLIST ID CODE
1121: 0672 10 0 0257                      DLWNL   STO     1J1+15            #         END OF DOWNLINK BUFFER
1122: 0673           547405               11J     DEC     -624599.84B20     #         RETARGET VALUE FOR 4K10
1123: 0674           542371               2K4     DEC     -.173189E15B48    #         (-2.)(2K1) B49
1124: 0675           200000               KDT     DEC     1.B1              #         DELTA T/2 AT 1
1125:
1126:                                     # Page 15
1127: 0676           365706               BM13SF  DEC     .96049535B0       #         .01 DEG/HR TO RAD/20MS AT -13
1130: 0677           243656               B23SF   DEC     .64B0             #         100 FT TO FT AT 23
1131:                                     #                 THE FOLLOWING 16 PARAMETERS HAVE
1132:                                     #                 VARIABLE SCALING.  INITIAL SCALING IS INDICATED.
1133: 0700           027657               P11     DEC     .1E9B30           #         VARIANCE OF X-POS ERROR
1134: 0701           000000               P12     DEC     0B30              #         COVARIANCE OF X AND Y POS ERROR
1135: 0702           000000               P13     DEC     0B20              #         COVAR OF X-POS AND X-VEL ERROR
1136: 0703           000000               P14     DEC     0B20              #         COVAR OF X-POS AND Z-VEL ERROR
1137: 0704           000000               P21     DEC     0B30              #         COVAR OF X AND Z POS ERROR
1140: 0705           027657               P22     DEC     .1E9B30           #         VARIANCE OF Z-POS ERROR
1141: 0706           000000               P23     DEC     0B20              #         COVAR OF Z-POS AND X-VEL ERROR
1142: 0707           000000               P24     DEC     0B20              #         COVAR OF Z-POS AND Z-VEL ERROR
1143: 0710           000000               P31     DEC     0B20              #         COVAR OF X-POS AND X-VEL ERROR
1144: 0711           000000               P32     DEC     0B20              #         COVAR OF Z-POS AND X-VEL ERROR
1145: 0712           031000               P33     DEC     .1E3B10           #         VARIANCE OF X-VEL ERROR
1146: 0713           000000               P34     DEC     0B10              #         COVAR OF X-VEL AND Z-VEL ERROR
1147: 0714           000000               P41     DEC     0B20              #         COVAR OF X-POS AND Z-VEL ERROR
1150: 0715           000000               P42     DEC     0B20              #         COVAR OF Z-POS AND Z-VEL ERROR
1151: 0716           000000               P43     DEC     0B10              #         COVAR OF X-VEL AND Z-VEL ERROR
1152: 0717           031000               P44     DEC     .1E3B10           #         VARIANCE OF Z-VEL ERROR
1153: 0720 12 0 0021                      VRSH    STQ     SREX2
1154: 0721 54 0 0000                              LRS     0
1155: 0722 40 0 0021                              TRA     SREX2
1156: 0723           000000               TMID    DEC     0                 #         TELEMETRY ID
1157: 0724           000026               SFLO    OCT     000026
1160: 0725           377777               PMAXP   OCT     377777            #         COUNTS AT 17
1161: 0726 40 0 2606                      ORBRET  TRA     DX10P             #         RETURN FROM NORTON IN O.I.
1162: 0727           000000               DEDASC  DEC     0                 #         DEDA SHIFT COUNTER
1163:
1164:
1165: 0730 12 0 0147                      EX36P   STQ     DEL10
1166:                                     #                 SAVE QUANTITIES FOR LATER USE IN
1167:                                     #                 T/B COMPUTATIONS
1170: 0731 10 0 0052                              STO     V6Z
1171: 0732 20 0 0012                              CLA     TS12
1172: 0733 10 0 0050                              STO     V6X
1173: 0734 20 0 0013                              CLA     TS13
1174:
1175:                                     # Page 16
1176: 0735 10 0 0051                              STO     V6Y
1177: 0736 20 0 0442                              CLA     TI
1200: 0737 24 0 0306                              SUB     4J
1201: 0740 40 0 2742                              TRA     DXFR14-2
1202: 0741 20 0 0000                      RREX    CLA     TS0               # VARIABLE ADDRESS LOAD, MULTIPLY
1203: 0742 06 0 0000                      RREX1   MPY     TS0               # AND STORE FOR MATRIX MULTIPLY
1204: 0743 04 0 7701                              DVP     1B3               # ROUTINE (MXM) -- PERFORMS
1205: 0744 32 0 0077                              ADZ     TR8               # C(I,J)=C(I,J)+A(K,I)*B(J,K)
1206: 0745 10 0 0000                      RREX2   STO     TS0
1207: 0746 10 0 0077                              STO     TR8               # C(I,J)=C(I,J)+A(K,I)*B(J,K)
1210: 0747 20 0 0741                              CLA     RREX
1211: 0750 22 0 0460                              ADD     TR4               # INCREMENT CLA
1212: 0751 10 0 0741                              STO     RREX
1213: 0752 20 0 0742                              CLA     RREX1
1214: 0753 22 0 4006                              ADD     1B17              # INCREMENTY MPY
1215: 0754 10 0 0742                              STO     RREX1
1216: 0755 50 1 0002                              AXT     2,1               # INCREMENT AND TEST INDEXES
1217: 0756 20 1 0424                              CLA     I,1
1220: 0757 22 0 4006                              ADD     1B17
1221: 0760 10 1 0424                              STO     I,1
1222: 0761 24 1 0460                              SUB     TR4,1
1223: 0762 46 0 2434                              TMI     R1+1
1224: 0763 42 1 0756                              TIX     *-5,1
1225: 0764 20 0 0461                              CLA     TR6               # REARRANGE DIMENSIONS AND
1226: 0765 10 0 0460                              STO     TR4               # ADDRESSES ON EXIT TO SAVE
1227: 0766 20 0 0073                              CLA     TR3               # STEPS IN FILTER
1230: 0767 10 0 0103                              STO     TR1
1231: 0770 50 1 0007                              AXT     7,1
1232: 0771 40 0 0212                              TRA     PP                # EXIT MXM
1233: 0772           377363               DIAK1   OCT     377363            # TEST FOR DEDA ENTRY INTO 415
1234: 0773           377401               DIAK2   OCT     377401            # TEST FOR DEDA ENTRY INTO 377
1235: 0774           000034               6K8S    DEC     .22B10            # WORKING VALUE OF 6K8
1236:                                     #                                   (ADDR OF 6K8S MUST END IN 4)
1237: 0775           000100               6K9S    DEC     .3029E-4B-4       # WORKING VALUE OF 6K9
1240: 0776           005754               6K10S   DEC     .625E7B28         # WORKING VALUE OF 6K10
1241: 0777           000000               6K6S    DEC     0                 # WORKING VALUE OF 6K6
1242:
1243:
1244:                                     # Page 17
1245:
1246: 1000                                        ORG     1000
1247: 1000           000000               CLADD   DEC     0                 # PICKUP DEDA DATA
1250: 1001 40 0 7215                              TRA     ROR
1251: 1002 12 0 0023                      RND     STQ     SREX              # DIRECTION COSINE ROUND
1252: 1003 22 0 4013                              ADD     1B9
1253: 1004 54 0 0011                              LRS     9
1254: 1005 40 0 0023                              TRA     SREX
1255: 1006 20 0 0324                      TMCLA   CLA     0324              # CLA FOR TELEM
1256: 1007 20 0 1005                      TCLTH   CLA     1005
1257: 1010 10 0 0237                      DLSTO   STO     1J1-1
1260: 1011 40 0 5070                      IC1BR   TRA     IC1               # IC1 TRA.
1261: 1012 40 0 1742                      BR1     TRA     NAV1P
1262: 1013 40 0 1277                      DEDABR  TRA     DEDAE             # DEDA BRANCH TRA.
1263: 1014 40 0 3405                      BR50    TRA     EXEC2             # BRANCH 50 TRA.
1264:
1265:                                     #                 HARDWIRE ESCAPE POINTS
1266:
1267: 1015 40 0 4073                      EXIT1   TRA     EX1+1
1270: 1016 40 0 1236                      EXIT2   TRA     UBCOMP
1271: 1017 40 0 1133                      EXIT3   TRA     ADDMS
1272: 1020 40 0 4222                      EXIT4   TRA     EX4+1
1273: 1021 40 0 7420                      EXIT5   TRA     PGNSDE
1274: 1022 40 0 7371                      EXIT6   TRA     TME
1275: 1023 40 0 7455                      EXIT7   TRA     PGNSD1+5
1276: 1024 40 0 4326                      EXIT8   TRA     EX8+1
1277: 1025 40 0 1426                      EXIT9   TRA     TVTG
1300: 1026 72 0 1456                      EXIT10  TSQ     SOFT1
1301: 1027 72 0 1456                      EXIT11  TSQ     SOFT1             # ASCENT ENG ON
1302: 1030 40 0 4450                      EXIT12  TRA     AHE1
1303: 1031 40 0 4476                      EXIT13  TRA     EROUT+1
1304: 1032 72 0 1623                      EXIT14  TSQ     SOFT2
1305: 1033 40 0 1733                      EXIT15  TRA     LUNAL1            # GAIN CHANGE
1306: 1034 40 0 4645                      EXIT16  TRA     EX16+1
1307: 1035 40 0 3560                      EXIT17  TRA     FDAI1
1310: 1036 40 0 4743                      EXIT18  TRA     NOC
1311: 1037 40 0 4047                      EXIT19  TRA     DELAY
1312:
1313:                                     # Page 18
1314: 1040 40 0 1405                      EXIT20  TRA     DLDC
1315: 1041 40 0 6254                      EXIT21  TRA     TIMEA
1316: 1042 40 0 3341                      EXIT22  TRA     IDLE-1
1317: 1043           377747               O25C    OCT     377747            # TEST FOR TM RESET
1320: 1044 30 0 0404                      EXIT23  CLZ     VD1X
1321: 1045 30 0 0405                              CLZ     VD1Y
1322: 1046 30 0 0406                              CLZ     VD1Z
1323: 1047 40 0 5217                              TRA     NAV3
1324: 1050 40 0 5205                      EXIT24  TRA     NAV2
1325: 1051 40 0 5217                      EXIT25  TRA     NAV3
1326: 1052 20 0 0473                      SINITC  CLA     4K27
1327: 1053 10 0 0404                              STO     VD1X
1330: 1054 10 0 0470                              STO     VDX
1331: 1055 40 0 6367                              TRA     EXEC1+7
1332: 1056 40 0 1750                      EXIT26  TRA     XDVS
1333: 1057 40 0 5413                      EXIT27  TRA     EX27+1
1334: 1060 40 0 5267                      EXIT28  TRA     EX28+1
1335: 1061 30 0 0612                      STGCTR  CLZ     MU6               # STAGING DELAY COUNTER
1336: 1062 22 0 4006                              ADD     1B17
1337: 1063 10 0 0612                              STO     MU6
1340: 1064 40 0 4437                              TRA     AHE
1341: 1065 40 0 5305                      EXIT29  TRA     EX29+1
1342: 1066 20 0 1176                      CLATAB  CLA     SFTAB-1           # CLA FOR DEDA SF TABLE
1343: 1067 40 0 5332                      EXIT30  TRA     EX30+1
1344: 1070 40 0 1762                      EXIT31  TRA     ALTUP
1345: 1071 40 0 2456                      EXIT32  TRA     LMORB2
1346: 1072 40 0 3612                      EXIT33  TRA     EX33P
1347: 1073 40 0 1141                      EXIT34  TRA     EX34P
1350: 1074 40 0 3622                      EXIT35  TRA     EX35
1351: 1075 72 0 0730                      EXIT36  TSQ     EX36P
1352: 1076 40 0 3623                      EXIT37  TRA     EX35+1
1353: 1077 40 0 3063                      EXIT38  TRA     Q5
1354: 1100 40 0 3411                      EXIT39  TRA     EXECM
1355: 1101 30 0 0400                      EXIT40  CLZ     S0                # SOFT INITIALIZE
1356: 1102 30 0 0575                              CLZ     DEL5
1357: 1103 30 0 0572                              CLZ     FLAGT
1360: 1104 50 1 0007                              AXT     7,1               # ZERO S SWITCHES
1361:
1362:                                     # Page 19
1363: 1105 30 1 0410                              CLZ     S10,1
1364: 1106 42 1 1105                              TIX     *-1,1
1365: 1107 40 0 1052                              TRA     SINITC            # CONTINUE INITIALIZE
1366: 1110 40 0 3356                      EXIT41  TRA     DSP1
1367: 1111 40 0 3367                      EXIT42  TRA     DSP2CP
1370: 1112 22 0 1043                      EXIT43  ADD     O25C              # CHECK FOR TM RESET
1371: 1113 62 0 0000                              ABS     
1372: 1114 46 0 1167                              TMI     TMIE1             # -- RESET TM AT 25 CYCLE
1373: 1115 40 0 6364                              TRA     EXEC1+4           # NOT 25TH CYCLE
1374: 1116           077776               IDAI    OCT     077776            # AGS INITIALIZE DOWNLIST ID
1375: 1117           077775               IDRP    OCT     077775            # REND./PRETHRUST DOWNLIST ID
1376: 1120 40 0 6470                      EXIT44  TRA     EX44+1
1377: 1121 40 0 6505                      EXIT45  TRA     EX45+1
1400: 1122 40 0 7225                      EXIT46  TRA     EX46+1
1401: 1123 40 0 1307                      EXIT47  TRA     DEXIT
1402: 1124 40 0 1312                      EXIT48  TRA     CLEARM+1
1403: 1125 40 0 1336                      EXIT49  TRA     SFTEST
1404: 1126 40 0 7343                      EXIT50  TRA     EX50+1
1405: 1127 72 0 1362                      EXIT51  TSQ     DIAT
1406: 1130 40 0 6262                      EXIT52  TRA     EXEC+1
1407: 1131 40 0 6262                      EXIT53  TRA     EXEC+1
1410: 1132 10 0 0257                      DLWNLC  STO     1J1+15            # DLWNL PROTECTION
1411: 1133 50 1 0002                      ADDMS   AXT     2,1
1412: 1134 20 1 0010                              CLA     TS10,1
1413: 1135 62 0 0000                              ABS     
1414: 1136 22 0 4036                              ADD     MS
1415: 1137 42 1 1134                              TIX     *-3,1
1416: 1140 40 0 4143                              TRA     EX3+1
1417: 1141 30 0 0147                      EX34P   CLZ     DEL10
1420: 1142 46 0 3631                              TMI     EX33PP+1
1421: 1143 40 0 5615                              TRA     EX34+1
1422: 1144 20 0 0347                      THEF    CLA     RF
1423: 1145 54 0 0001                              LRS     1                 # B24
1424: 1146 32 0 0003                              ADZ     TS3
1425: 1147 14 0 0004                              LDQ     TS4
1426: 1150 10 0 0004                              STO     TS4               # =RF+RX B24
1427: 1151 12 0 0003                              STQ     TS3               # =RZ B24
1430:
1431:                                     # Page 20
1432: 1152 72 0 7034                              TSQ     ARCTAE
1433: 1153 10 0 0000                              STO     TS0               # THETAF B8
1434: 1154 24 0 0576                              SUB     PI
1435: 1155 46 0 1157                              TMI     *+2
1436: 1156 24 0 4021                              SUB     2PIB3
1437: 1157 22 0 0576                              ADD     PI
1440: 1160 10 0 0303                              STO     THETAF            # THETAF B3
1441: 1161 20 0 0000                              CLA     TS0               # B3
1442: 1162 24 0 4021                              SUB     2PIB3
1443: 1163 06 0 4126                              MPY     M1B1              # B4
1444: 1164 04 0 0077                              DVP     NI
1445: 1165 22 0 0442                              ADD     TI                # B13
1446: 1166 40 0 2742                              TRA     DXFR14-2
1447: 1167 72 0 7410                      TMIE1   TSQ     TMIE2             # INITIALIZE TELEMETRY
1450: 1170 20 0 0412                              CLA     S12
1451: 1171 22 0 0614                              ADD     MU8
1452: 1172 10 0 0363                              STO     MU8S12            # SAVE MU8/S12 FOR TM
1453: 1173 24 0 7520                              SUB     3B3               # TEST FOR SELF TEST FAILURE
1454: 1174 46 0 1176                              TMI     *+2
1455: 1175 66 0 6410                              OUT     6410              # SET FAILURE INDICATOR
1456: 1176 40 0 4047                              TRA     DELAY             # END MAJOR CYCLE
1457:
1460:                                     #         DEDA SCALE FACTOR LOCATOR TABLE
1461:                                     #         SCALE FACTORS MUST REMAIN AT LOCS IN COMMENTS
1462:                                     #         FORMAT OF TABLE IS, BIT 0=1 TABLE EXCEEDED,
1463:                                     #         BITS 1-9 LAST ADDRESS OF DEDA SCALE FACTOR REGION
1464:                                     #         BIT 10=1 FOR OCTAL REGION, BITS 11-17 ADDRESS OF
1465:                                     #         SCALE FACTOR RELATIVE TO LOCATION 636
1466: 1177           075200               SFTAB   OCT     075200            # OCT LOC 026-172,OCT
1467: 1200           125441                       OCT     125441            # OCT LOC 173-253,DEC,SF AT 677
1470: 1201           127427                       OCT     127427            # OCT LOC 254-257,DEC,SF AT 665
1471: 1202           134413                       OCT     134413            # OCT LOC 260-271,DEC,SF AT 651
1472: 1203           137027                       OCT     137027            # OCT LOC 272-276,DEC,SF AT 665
1473: 1204           142414                       OCT     142414            # OCT LOC 277-305,DEC,SF AT 652
1474: 1205           145405                       OCT     145405            # OCT LOC 306-313,DEC,SF AT 643
1475: 1206           146415                       OCT     146415            # OCT LOC 314-315,DEC,SF AT 653
1476: 1207           147420                       OCT     147420            # OCT LOC 316-317,DEC,SF AT 656
1477:
1500:                                     # Page 21
1501: 1210           157415                       OCT     157415            # OCT LOC 320-337,DEC,SF AT 653
1502: 1211           164441                       OCT     164441            # OCT LOC 340-351,DEC,SF AT 677
1503: 1212           174413                       OCT     174413            # OCT LOC 352-371,DEC,SF AT 651
1504: 1213           177427                       OCT     177427            # OCT LOC 372-377,DEC,SF AT 665
1505: 1214           200600                       OCT     200600            # OCT LOC 400-401,OCT
1506: 1215           202415                       OCT     202415            # OCT LOC 402-405,DEC,SF AT 653
1507: 1216           207600                       OCT     207600            # OCT LOC 406-417,OCT
1510: 1217           241413                       OCT     241413            # OCT LOC 420-503,DEC,SF AT 651
1511: 1220           257600                       OCT     257600            # OCT LOC 504-537,OCT
1512: 1221           261421                       OCT     261421            # OCT LOC 540-543,DEC,SF AT 657
1513: 1222           263040                       OCT     263040            # OCT LOC 544-546,DEC,SF AT 676
1514: 1223           305600                       OCT     305600            # OCT LOC 547-613,OCT
1515: 1224           311067                       OCT     311067            # OCT LOC 614-622,DEC,SF AT 725
1516: 1225           342200                       OCT     342200            # OCT LOC 623-704,OCT
1517:                                     #         THE ABOVE 23-PLACE TABLE MUST BE FOLLOWED 
1520:                                     #         BY A WORD WITH BIT 0 SET
1521:
1522:                                     #         ORBIT ALIGN COMPUTATIONS
1523:
1524: 1226 50 1 0006                      ORBLIN  AXT     6,1
1525: 1227 30 1 0130                              CLZ     A11,1
1526: 1230 30 1 0150                              CLZ     DA11,1            # ZERO REMAINDERS
1527: 1231 42 1 1227                              TIX     *-2,1
1530: 1232 20 0 5033                              CLA     1B1
1531: 1233 10 0 0130                              STO     A11
1532: 1234 10 0 0136                              STO     A33
1533: 1235 40 0 4273                              TRA     COA21-2
1534:
1535:                                     #         MASS UNBALANCE COMPENSATION
1536:
1537: 1236 26 0 0537                      UBCOMP  MPR     1K14              # (DVX)(1K14)     1+(-14)=-13
1540: 1237 32 0 0510                              ADZ     DAXREM
1541: 1240 10 0 0510                              STO     DAXREM
1542:
1543:                                     #                 20MS MODE CHECK.
1544:
1545: 1241 20 0 0400                      MODCK   CLA     S0                # CHECK FOR ALIGNMENT
1546:
1547:                                     # Page 22
1550: 1242 24 0 7520                              SUB     3B3               # SUBMODES
1551: 1243 46 0 4107                              TMI     GYCOM-2           # -- IS INERT REF
1552: 1244 24 0 7701                              SUB     1B3
1553: 1245 46 0 5056                              TMI     ZNOC              # IMU ALIGN
1554: 1246 24 0 7701                              SUB     1B3
1555: 1247 46 0 4107                              TMI     GYCOM-2           # -- IS LUNAR ALIGN
1556: 1250 24 0 7701                              SUB     1B3
1557: 1251 46 0 1226                              TMI     ORBLIN            # ORBIT ALIGN
1560: 1252 50 1 0002                              AXT     2,1               # CALIBRATE MODE
1561: 1253 20 0 0604                      CALIB1  CLA     DEL21
1562: 1254 46 0 1261                              TMI     *+5               # -- LM IS ON LUNAR SURFACE
1563: 1255 30 1 0644                              CLZ     SDVX,1            # SUM BODY AXIS VEL
1564: 1256 22 1 0350                              ADD     DVX,1             # INCREMENTS SINCE START OF ACC.
1565: 1257 10 1 0644                              STO     SDVX,1            # BIAS CALCULATIONS
1566: 1260 40 0 1275                              TRA     CALIB2
1567: 1261 20 1 0130                              CLA     A11,1             # LUNAR CAL., COMPENSATE COMP.
1570: 1262 26 1 0640                              MPR     6J1,1             # OF VEH ROT. FOR LUNAR ROTATION
1571: 1263 32 0 0510                              ADZ     DAXREM            # 1+(-14)=-13
1572: 1264 10 0 0510                              STO     DAXREM            # A11 DOT 6J1
1573: 1265 20 1 0140                              CLA     A21,1
1574: 1266 26 1 0640                              MPR     6J1,1
1575: 1267 32 0 0511                              ADZ     DAYREM
1576: 1270 10 0 0511                              STO     DAYREM            # A21 DOT 6J1
1577: 1271 20 1 0134                              CLA     A31,1
1600: 1272 26 1 0640                              MPR     6J1,1
1601: 1273 32 0 0512                              ADZ     DAZREM
1602: 1274 10 0 0512                              STO     DAZREM            # A31 DOT 6J1
1603: 1275 42 1 1253                      CALIB2  TIX     CALIB1,1
1604: 1276 40 0 4107                              TRA     GYCOM-2
1605:
1606:                                     #                 DEDA MODE SELECTION
1607:
1610: 1277 30 0 0323                      DEDAE   CLZ     CLEARP
1611: 1300 46 0 1311                              TMI     CLEARM            # SET CLEAR
1612: 1301 20 0 0327                              CLA     CMF
1613: 1302 46 0 1323                              TMI     RPT               # CLEAR MODE
1614: 1303 20 0 0325                              CLA     RMF
1615:
1616:                                     # Page 23
1617: 1304 46 0 1330                              TMI     HET               # READOUT IN PROGRESS
1620: 1305 20 0 0324                              CLA     HMF
1621: 1306 46 0 3606                              TMI     RRT               # HOLD IN PROGRESS
1622: 1307 50 1 0003                      DEXIT   AXT     3,1               # NORMAL EXIT
1623: 1310 40 0 1314                              TRA     *+4
1624: 1311 10 0 0327                      CLEARM  STO     CMF
1625: 1312 64 0 2200                              INP     DEDA
1626: 1313 50 1 0005                              AXT     5,1               # CLEAR EXIT
1627: 1314 30 1 0320                              CLZ     READP,1           # RESET FLAGS
1630: 1315 42 1 1314                              TIX     *-1,1
1631: 1316 30 0 0057                              CLZ     TMPBR             # SET BRANCH FOR NEXT
1632: 1317 10 0 0063                              STO     BRANCH            # GUIDANCE CYCLE
1633: 1320 20 0 4014                              CLA     1B11              # INITIALIZE COUNTER
1634: 1321 10 0 0727                              STO     DEDASC
1635: 1322 40 0 3356                              TRA     DSP1              # TO DISPLAY
1636: 1323 30 0 0320                      RPT     CLZ     READP             # TEST FOR
1637: 1324 46 0 7257                              TMI     RME               # READOUT MODE
1640: 1325 30 0 0321                              CLZ     ENTERP            # OR ENTER MODE
1641: 1326 46 0 7260                              TMI     RME+1             # ENTRY.
1642: 1327 40 0 1307                              TRA     DEXIT             # EXIT
1643: 1330 30 0 0322                      HET     CLZ     HOLDP             # READOUT TEST FOR
1644: 1331 46 0 1333                              TMI     *+2               # HOLD COMMANDED
1645: 1332 40 0 7202                              TRA     ADOUT             # TO OUTPUT ROUTINE
1646: 1333 10 0 0324                              STO     HMF               # SET HOLD MODE
1647: 1334 30 0 0325                              CLZ     RMF
1650: 1335 40 0 1307                              TRA     DEXIT
1651:
1652:                                     #         DEDA SCALE FACTOR SELECTION
1653:
1654: 1336 24 0 0724                      SFTEST  SUB     SFLO
1655: 1337 46 0 1312                              TMI     CLEARM+1          # -- IF OCT LOC BELOW 0026
1656: 1340 20 0 1066                              CLA     CLATAB            # INITIALIZE FIRST TABLE VALUE
1657: 1341 10 0 0721                              STO     VRSH+1            # STORE CLA INSTRUCTION
1660: 1342 20 0 0721                              CLA     VRSH+1            # INCREMENT CLA INSTRUCTION
1661: 1343 22 0 4006                              ADD     1B17              # ADDRESS
1662: 1344 10 0 0721                              STO     VRSH+1
1663: 1345 72 0 0720                              TSQ     VRSH
1664:
1665:                                     # Page 24
1666: 1346 46 0 1312                              TMI     CLEARM+1          # -- IF OCT LOC ABOVE 704
1667: 1347 54 0 0010                              LRS     8                 # EXAMINE BITS 1-9 OF VALUE
1670: 1350 24 0 0333                              SUB     ADST              # -- IF OCT LOC ABOVE VALUE,
1671: 1351 46 0 1342                              TMI     *-7               # CHECK NEXT VALUE IN TABLE
1672: 1352 52 0 0022                              LLS     18                # RECOVER BITS 10-17 OF THIS VAL
1673: 1353 46 0 7310                              TMI     NOTDD             # -- IF OCT REGION, NO SF REQ
1674: 1354 54 0 0012                              LRS     10                # SCALE BITS 11-17 OF VAL
1675: 1355 22 0 6041                              ADD     TBRAKE            # CONSTRUCT INSTRUCTION TO OBTAIN
1676: 1356 10 0 0721                              STO     VRSH+1            # SCALE FACTOR FOR THIS REGION
1677: 1357 72 0 0720                              TSQ     VRSH              # OBTAIN SF FOR THIS REGION
1700: 1360 10 0 0026                              STO     SF                # SET SCALE FACTOR
1701: 1361 40 0 7326                              TRA     DDIN              # TO INPUT ROUTINE
1702: 1362 50 1 0001                      DIAT    AXT     1,1               # IMMEDIATE ACTION TEST
1703: 1363 20 0 0333                              CLA     ADST              # IMMED. ACTION IF
1704: 1364 22 1 0772                              ADD     DIAK1,1           # ACCUMULATOR = 400000
1705: 1365 62 0 0000                              ABS     
1706: 1366 46 0 1372                              TMI     *+4
1707: 1367 42 1 1363                              TIX     DIAT+1,1
1710: 1370 12 0 0455                              STQ     DDF
1711: 1371 40 0 1307                              TRA     DEXIT
1712: 1372 42 1 7357                              TIX     ATI,1
1713: 1373 14 0 1371                              LDQ     *-2               # SET RETURN TO DEXIT
1714: 1374 50 1 0002                              AXT     2,1
1715: 1375 20 1 0124                              CLA     RRX,1             # SAVE RANGE FOR FILTER
1716: 1376 10 1 0234                              STO     RRSX,1
1717: 1377 20 1 0134                              CLA     A31,1             # STORE DIRECTION COSINES
1720: 1400 10 1 0554                              STO     A31S,1
1721: 1401 42 1 1375                              TIX     *-4,1
1722: 1402 20 0 0440                              CLA     RRDOT
1723: 1403 10 0 0415                              STO     RDOTS
1724: 1404 40 0 6764                              TRA     EXIT
1725:
1726:                                     #                 DOWNLINK FORMATTING
1727:
1730: 1405 50 1 0002                      DLDC    AXT     2,1
1731: 1406 30 1 0244                              CLZ     0244,1            # LEM VEL
1732: 1407 10 1 0260                              STO     1J4,1
1733:
1734:                                     # Page 25
1735: 1410 30 1 0250                              CLZ     0250,1            # CSM POS
1736: 1411 10 1 0244                              STO     2J1,1
1737: 1412 30 1 0254                              CLZ     0254,1            # CSM VEL
1740: 1413 10 1 0264                              STO     2J4,1
1741: 1414 42 1 1406                              TIX     DLDC+1,1
1742: 1415 30 0 0247                              CLZ     0247
1743: 1416 54 0 0016                              LRS     14
1744: 1417 32 0 0243                              ADZ     0243
1745: 1420 10 0 0254                              STO     1J7
1746: 1421 12 0 0255                              STQ     1J7LS
1747: 1422 10 0 0272                              STO     2J7
1750: 1423 12 0 0273                              STQ     2J7LS
1751: 1424 72 0 5145                              TSQ     CSMPV
1752: 1425 40 0 5073                              TRA     IC1+3
1753:
1754:                                     #                 DELTA V ACCUMULATION AND THRUST VEL TO GAIN.
1755:
1756: 1426 50 1 0002                      TVTG    AXT     2,1
1757: 1427 20 1 0350                              CLA     DVX,1             # 1
1760: 1430 54 0 0001                              LRS     1                 # TO 2
1761: 1431 32 1 0100                              ADZ     VD2X,1
1762: 1432 10 1 0100                              STO     VD2X,1
1763: 1433 20 1 0074                              CLA     DVXM1,1
1764: 1434 54 0 0001                              LRS     1                 # TO 2
1765: 1435 32 1 0100                              ADZ     VD2X,1
1766: 1436 10 1 0100                              STO     VD2X,1
1767: 1437 54 0 0013                              LRS     11                # TO 13
1770: 1440 10 0 0001                              STO     TS1
1771: 1441 56 0 0013                              ALS     11
1772: 1442 60 0 0000                              COM     
1773: 1443 32 1 0100                              ADZ     VD2X,1
1774: 1444 10 1 0100                              STO     VD2X,1            # REMAINDER AT 2
1775: 1445 20 1 0404                              CLA     VD1X,1            # DV EXPENDED MS.
1776: 1446 32 0 0001                              ADZ     TS1
1777: 1447 10 1 0404                              STO     VD1X,1            # VD1 AT 13
2000: 1450 60 0 0000                              COM     
2001: 1451 22 1 0474                              ADD     VSMGX,1           # VSMG-VD1
2002:
2003:                                     # Page 26
2004: 1452 10 1 0500                              STO     DELVGX,1          # THRUST VEL TO GAIN
2005: 1453 30 1 0070                              CLZ     EX,1
2006: 1454 42 1 1427                              TIX     TVTG+1,1
2007: 1455 40 0 4355                              TRA     EX9+1
2010:
2011:                                     #         SOFT 40MS COMPUTATIONS
2012:
2013: 1456 20 0 0400                      SOFT1   CLA     S0                # TEST MODE
2014: 1457 24 0 7520                              SUB     3B3
2015: 1460 10 0 0001                              STO     TS1               # SAVE
2016: 1461 46 0 1513                              TMI     IR                # -- IS INTERT. REF.
2017: 1462 20 0 4007                      ZERR    CLA     ZERO
2020: 1463 66 0 6007                              OUT     6007              # ZERO ATTITUDE ERRORS
2021: 1464 30 0 0575                              CLZ     DEL5              # RESET ATT HOLD INIT FLAG
2022: 1465 30 0 0001                              CLZ     TS1
2023: 1466 46 0 1501                              TMI     ENCOM1            # -- IS INERTIAL REF
2024: 1467 24 0 7701                              SUB     1B3
2025: 1470 46 0 1473                              TMI     SOFT3
2026: 1471 24 0 7701                              SUB     1B3
2027: 1472 46 0 4534                              TMI     LUNAL
2030: 1473 66 0 7040                      SOFT3   OUT     7040              # RESET ENG ON
2031: 1474 66 0 6420                              OUT     6420              # SET ENG OFF
2032: 1475 20 0 4007                              CLA     ZERO              # SET ENG TM FLAG PLUS
2033: 1476 22 0 0410                              ADD     S10
2034: 1477 10 0 0343                              STO     EONS10
2035: 1500 40 0 4626                              TRA     FDAI              # TO ATTITUDE DISPLAY
2036: 1501 20 0 0533                      ENCOM1  CLA     DISC1             # FOLLUP ENG. COMMANDS
2037: 1502 52 0 0005                              LLS     5
2040: 1503 46 0 1507                              TMI     *+4               # -- DESCENT ENG ON
2041: 1504 52 0 0001                              LLS     1
2042: 1505 46 0 1507                              TMI     *+2               # -- ASCENT ENG ON
2043: 1506 40 0 1473                              TRA     SOFT3             # ENG OFF
2044: 1507 66 0 7020                              OUT     7020              # RESET ENG OFF
2045: 1510 66 0 6440                              OUT     6440              # SET ENG ON
2046: 1511 20 0 4036                              CLA     MS                # SET ENG TM FLAG NG
2047: 1512 40 0 1476                              TRA     SOFT3+3
2050: 1513 20 0 0411                      IR      CLA     S11               # TEST FOR AUTO RADAR DATA
2051:
2052:                                     # Page 27
2053: 1514 56 0 0003                              ALS     3
2054: 1515 46 0 1644                              TMI     RADCK
2055: 1516 10 0 0157                              STO     DEL44             # SET/RESET CODE WORD FLAG
2056: 1517 20 0 0533                      IR4     CLA     DISC1
2057: 1520 56 0 0003                              ALS     3
2060: 1521 46 0 1526                              TMI     IR1               # -- IS FOLLOWUP
2061: 1522 56 0 0001                              ALS     1
2062: 1523 46 0 1550                              TMI     IR2               # -- IS AUTOMATIC
2063: 1524 12 0 0603                              STQ     DEL20
2064: 1525 40 0 4437                              TRA     AHE               # TO ATT HOLD
2065: 1526 20 0 0401                      IR1     CLA     DISC1C
2066: 1527 56 0 0004                              ALS     4
2067: 1530 46 0 1462                              TMI     ZERR              # PLUS IS AUTOMATIC
2070: 1531 30 0 0575                              CLZ     DEL5
2071: 1532 12 0 0603                              STQ     DEL20
2072: 1533 40 0 1570                              TRA     MODE
2073: 1534 20 0 0623                      RSTE    CLA     S623
2074: 1535 56 0 0003                              ALS     3
2075: 1536 46 0 1541                              TMI     *+3
2076: 1537 20 1 0054                              CLA     WCX,1
2077: 1540 40 0 1542                              TRA     *+2
2100: 1541 20 1 0514                              CLA     WBX,1
2101: 1542 26 1 0134                              MPR     A31,1
2102: 1543 60 0 0000                              COM     
2103: 1544 32 0 0070                              ADZ     EX
2104: 1545 10 0 0070                              STO     EX
2105: 1546 42 1 1534                              TIX     RSTE,1
2106: 1547 40 0 4524                      RST1    TRA     RST
2107: 1550 56 0 0004                      IR2     ALS     4
2110: 1551 46 0 1560                              TMI     IR3               # -- IS ABORT STAGE
2111: 1552 20 0 0604                              CLA     DEL21             # IF ON LUNAR SURFACE
2112: 1553 46 0 1462                              TMI     ZERR              # OUTPUT ZERO ATT ERRORS
2113: 1554 20 0 0533                              CLA     DISC1
2114: 1555 56 0 0007                              ALS     7
2115: 1556 46 0 1570                              TMI     MODE              # -- IS ABORT
2116: 1557 72 0 1532                              TSQ     IR1+4
2117: 1560 20 0 0604                      IR3     CLA     DEL21
2120:
2121:                                     # Page 28
2122: 1561 46 0 4437                              TMI     AHE
2123: 1562 20 0 0401                              CLA     DISC1C
2124: 1563 56 0 0006                              ALS     6
2125: 1564 46 0 1570                              TMI     MODE
2126: 1565 20 0 0612                              CLA     MU6
2127: 1566 24 0 0622                              SUB     4K23
2130: 1567 46 0 1061                              TMI     STGCTR            # STAGING ATT HOLD
2131: 1570 20 0 0400                      MODE    CLA     S0                # TEST STEERING MODE
2132: 1571 24 0 7701                              SUB     1B3
2133: 1572 46 0 4437                              TMI     AHE               # ATT HOLD
2134: 1573 50 1 0002                              AXT     2,1
2135: 1574 24 0 7701                              SUB     1B3
2136: 1575 46 0 1534                              TMI     RSTE              # RENDEZVOUS STEERING
2137: 1576 30 0 0575                              CLZ     DEL5              # ACQUISITION STEERING
2140: 1577 20 1 0054                      MODE1   CLA     WCX,1
2141: 1600 26 1 0130                              MPR     A11,1
2142: 1601 32 0 0072                              ADZ     EZ
2143: 1602 10 0 0072                              STO     EZ
2144: 1603 20 0 0507                              CLA     S507              # ORIENT LM Z-BODY ASIX
2145: 1604 24 0 7701                              SUB     1B3               # IN DESIRED THRUST DIR.
2146: 1605 46 0 1610                              TMI     *+3               # OR ESTIMATED CSM DIR.
2147: 1606 20 1 0374                              CLA     A11BD,1
2150: 1607 10 1 0300                              STO     A31BD,1
2151: 1610 20 1 0300                              CLA     A31BD,1
2152: 1611 26 1 0130                              MPR     A11,1             # XB
2153: 1612 32 0 0071                              ADZ     EY
2154: 1613 10 0 0071                              STO     EY
2155: 1614 20 1 0300                              CLA     A31BD,1           # ZBD
2156: 1615 26 1 0140                              MPR     A21,1             # YB
2157: 1616 60 0 0000                              COM     
2160: 1617 32 0 0070                              ADZ     EX
2161: 1620 10 0 0070                              STO     EX
2162: 1621 42 1 1577                              TIX     MODE1,1
2163: 1622 40 0 4475                              TRA     EROUT
2164: 1623 30 0 0603                      SOFT2   CLZ     DEL20             # FIRST TIME FOLLOW
2165: 1624 46 0 1501                              TMI     ENCOM1            # PREVIOUS ENGINE STATE
2166: 1625 20 0 0400                              CLA     S0                # IF NOT GUIDANCE STEERING
2167:
2170:                                     # Page 29
2171: 1626 56 0 0003                              ALS     3                 # TURN ENGINE OFF
2172: 1627 46 0 1631                              TMI     *+2
2173: 1630 40 0 1473                              TRA     SOFT3
2174: 1631 20 0 0614                              CLA     MU8               # TEST FOR ULLAGE
2175: 1632 24 0 0616                              SUB     1K9
2176: 1633 46 0 1473                              TMI     SOFT3
2177: 1634 20 0 0446                              CLA     4K25              # TEST CEL TO BE
2200: 1635 24 0 0500                              SUB     DELVGX            # GAINED GREATER THAN
2201: 1636 46 0 1507                              TMI     ENCOM1+6          # SHUTDOWN THRESHOLD
2202: 1637 20 0 0454                              CLA     4K26
2203: 1640 24 0 0370                              SUB     VG
2204: 1641 46 0 1507                              TMI     ENCOM1+6
2205: 1642 30 0 0400                              CLZ     S0                # SET ATT HOLD
2206: 1643 40 0 1473                              TRA     SOFT3
2207: 1644 12 0 0563                      RADCK   STQ     DEL32             # REINITIALIZE DOWNLINK
2210: 1645 20 0 1117                              CLA     IDRP              # SET DOWNLIST ID TO REND/PRETHRJ
2211: 1646 10 0 0671                              STO     ID
2212: 1647 20 0 0256                              CLA     DEL46             # IS CODE WORD RESET
2213: 1650 56 0 0001                              ALS     1
2214: 1651 62 0 0000                              ABS     
2215: 1652 46 0 1516                              TMI     IR+3
2216: 1653 22 0 4015                              ADD     1B12              # IS CODE WORD SET
2217: 1654 62 0 0000                              ABS     
2220: 1655 46 0 1657                              TMI     *+2               # YES IF NEGATIVE
2221: 1656 40 0 1517                              TRA     IR4
2222: 1657 30 0 0157                              CLZ     DEL44             # HAS CODE WORD BEEN RESET
2223: 1660 46 0 1662                              TMI     *+2               # PRIOR TO BEING SET
2224: 1661 40 0 1517                              TRA     IR4               # NO
2225: 1662 44 0 1663                              TOV     *+1
2226: 1663 50 1 0001                              AXT     1,1               # IF SHAFT OR TRUNNION
2227: 1664 20 1 0252                              CLA     THETAR,1          # ANGLE IS GREATER
2230: 1665 56 0 0004                              ALS     4                 # THAN 11.2 DEG, THEN 
2231: 1666 44 0 1517                              TOV     IR4               # DO NOT PROCESS
2232: 1667 42 1 1664                              TIX     *-3,1
2233: 1670 30 0 0606                              CLZ     DEL45             # ALTERNATE RANGE, RATE
2234: 1671 46 0 1704                              TMI     IR6
2235: 1672 12 0 0606                              STQ     DEL45
2236:
2237:                                     # Page 30
2240: 1673 30 0 0254                              CLZ     RM                # RANGE ENTRY
2241: 1674 54 0 0022                              LRS     18
2242: 1675 30 0 0256                              CLZ     DEL46             # TEST FOR HIGH SCALING
2243: 1676 46 0 1700                              TMI     *+2
2244: 1677 54 0 0003                              LRS     3                 # LOW SCALE
2245: 1700 52 0 0021                              LLS     17
2246: 1701 26 0 0313                              MPR     6K12              # COUNTS TO FEET AT 22
2247: 1702 10 0 0316                              STO     18J
2250: 1703 40 0 1710                              TRA     *+5
2251: 1704 30 0 0255                      IR6     CLZ     RMDOT             # RANGE RATE ENTRY
2252: 1705 24 0 0517                              SUB     6K14              # NULL AT 17000
2253: 1706 04 0 0577                              DVP     6K13              # COUNTS TO FT/SEC AT B13
2254: 1707 10 0 0503                              STO     17J
2255: 1710 72 0 1374                              TSQ     DIAT+10           # SAVE REL RNG VECT, REL VEL
2256: 1711 50 1 0002                              AXT     2,1
2257: 1712 20 1 0140                      IR5     CLA     A21,1             # B1, ADJUST Z BODY FOR SHAFT
2260: 1713 26 0 0252                              MPR     THETAR            # B1+B0=B1, AND TRUNNION ANGLES
2261: 1714 04 0 0237                              DVP     6K11              # B1-B0=B1
2262: 1715 10 1 0554                              STO     A31S,1            # B1
2263: 1716 20 1 0130                              CLA     A11,1             # B1
2264: 1717 26 0 0253                              MPR     BETAR             # B1+B0=B1
2265: 1720 04 0 0237                              DVP     6K11              # B1-B0=B1
2266: 1721 34 1 0554                              SUZ     A31S,1            # B1
2267: 1722 22 1 0134                              ADD     A31,1
2270: 1723 10 1 0014                              STO     TS14,1            # XB*BETAR/6K11-YB*THETAR/6K11+ZB
2271: 1724 42 1 1712                              TIX     IR5,1
2272: 1725 72 0 6422                              TSQ     NORMV
2273: 1726 50 1 0002                              AXT     2,1
2274: 1727 30 1 0010                              CLZ     TS10,1            # MOVE NORMALIZED DIRECTION
2275: 1730 10 1 0554                              STO     A31S,1            # INTO ZB*
2276: 1731 42 1 1727                              TIX     *-2,1
2277: 1732 40 0 4711                              TRA     4711              # EXIT TO DEDA DISCRETE SAMPLING
2300: 1733 30 0 0531                      LUNAL1  CLZ     DAYA              # CHANGE GAIN
2301: 1734 54 0 0002                              LRS     2                 # 1/4
2302: 1735 10 0 0531                              STO     DAYA
2303: 1736 30 0 0532                              CLZ     DAZA
2304: 1737 54 0 0002                              LRS     2
2305:
2306:                                     # Page 31
2307: 1740 10 0 0532                              STO     DAZA
2310: 1741 40 0 1473                              TRA     SOFT3
2311:
2312:                                     #                 START OF NAVIGATION
2313:
2314: 1742 20 0 0604                      NAV1P   CLA     DEL21
2315: 1743 46 0 5175                              TMI     NAV1              # -- IS ON LUNAR SURFACE
2316: 1744 20 0 0404                              CLA     VD1X              # COMPUTE THRUST ACCEL
2317: 1745 24 0 0470                              SUB     VDX               # 13
2320: 1746 56 0 0005                              ALS     5                 # 1/2(VD1-VD) AT 7
2321: 1747 40 0 5166                              TRA     5166              # TO HARD NAV
2322: 1750 50 1 0002                      XDVS    AXT     2,1
2323: 1751 20 1 0120                              CLA     DVSX,1
2324: 1752 22 0 4015                              ADD     1B12
2325: 1753 54 0 0006                              LRS     6
2326: 1754 32 1 0050                              ADZ     DQSX,1
2327: 1755 10 1 0050                              STO     DQSX,1
2330: 1756 20 1 0404                              CLA     VD1X,1
2331: 1757 10 1 0470                              STO     VDX,1
2332: 1760 42 1 1751                              TIX     XDVS+1,1
2333: 1761 40 0 5223                              TRA     NAV4
2334: 1762 72 0 6261                      ALTUP   TSQ     EXEC
2335:
2336: 1763 50 1 0002                              AXT     2,1
2337: 1764 20 1 0200                              CLA     REX,1             # SAVE REX FROM FILTER
2340: 1765 10 1 0430                              STO     VIX,1             # SCRATCH MATRIX C AREA
2341: 1766 20 0 0223                              CLA     25J               # ALTITUDE ENTRY TEST
2342: 1767 24 0 4006                              SUB     1B17
2343: 1770 46 0 1777                              TMI     FLTR              # IF NO 25J ENTRY
2344: 1771 20 0 0223                              CLA     25J
2345: 1772 22 0 0231                              ADD     5J
2346: 1773 10 0 0210                              STO     R                 # R=5J+25J
2347: 1774 06 1 0060                              MPY     U1X,1
2350: 1775 52 0 0001                              LLS     1
2351: 1776 10 1 0340                              STO     RX,1              # NEW R COMPONENTS
2352:
2353:                                     #         RANGE AND RANGE RATE COMPUTATIONS
2354:
2355:                                     # Page 32
2356:
2357: 1777 20 1 0344                      FLTR    CLA     RCX,1             # RELATIVE RANGE
2360: 2000 24 1 0340                              SUB     RX,1
2361: 2001 10 1 0124                              STO     RRX,1
2362: 2002 10 1 0004                              STO     TS4,1
2363: 2003 42 1 1764                              TIX     ALTUP+2,1
2364: 2004 30 0 0223                              CLZ     25J
2365: 2005 72 0 6737                              TSQ     DPVMAG            # DP COMP OF RR MAG
2366: 2006 56 0 0001                              ALS     1
2367: 2007 10 0 0317                              STO     RR                # B22 RANGE VECTOR MAG
2370: 2010 20 0 0636                              CLA     2K1               # 48
2371: 2011 54 0 0005                              LRS     5                 # 53
2372: 2012 04 0 0210                              DVP     R                 # 30
2373: 2013 04 0 0210                              DVP     R                 # 7
2374: 2014 04 0 0210                              DVP     R                 # -16
2375: 2015 10 0 0030                      DAD     STO     D11               # 2K1/R**3 B-16
2376: 2016 50 1 0007                              AXT     7,1
2377: 2017 30 1 0170                              CLZ     C11,1             # ZERO PHI,M
2400: 2020 30 1 0200                              CLZ     C31,1
2401: 2021 42 1 2017                              TIX     *-2,1
2402: 2022 30 0 0440                              CLZ     RRDOT             # ZEROED FOR SUM
2403: 2023 50 1 0002                              AXT     2,1
2404: 2024 20 1 0124                      FLTRA   CLA     RRX,1
2405: 2025 04 0 0317                              DVP     RR
2406: 2026 10 1 0300                              STO     A31BD,1           # B1 UNIT POINTING VECTOR
2407: 2027 20 1 0364                              CLA     VCX,1             # B13
2410: 2030 24 1 0360                              SUB     VX,1
2411: 2031 10 1 0004                              STO     TS4,1             # B13 RANGE RATE CSM-LM
2412: 2032 26 1 0300                              MPR     A31BD,1
2413: 2033 56 0 0001                              ALS     1
2414: 2034 32 0 0440                              ADZ     RRDOT
2415: 2035 10 0 0440                              STO     RRDOT
2416: 2036 20 1 0060                              CLA     U1X,1
2417: 2037 26 1 0060                              MPR     U1X,1             # B2
2420: 2040 26 0 7520                              MPR     3B3
2421: 2041 24 0 4011                              SUB     1B5
2422: 2042 26 0 0030                              MPR     D11
2423:
2424:                                     # Page 33
2425: 2043 10 1 0200                              STO     C31,1             # ADT,JDT AT B-7
2426: 2044 20 0 4003                              CLA     4B17
2427: 2045 10 1 0460                              STO     TR4,1             # SET UP DIMENSION FOR MXM
2430: 2046 42 1 2024                              TIX     FLTRA,1
2431: 2047 14 0 7701                              LDQ     1B3               # COMMON SETUP OF PHI AND M
2432: 2050 12 0 0170                              STQ     C11
2433: 2051 12 0 0175                              STQ     C22
2434: 2052 12 0 0207                              STQ     C44
2435: 2053 20 0 2373                              CLA     PAD               # COMMON ADDR SETUP FOR
2436: 2054 10 0 0103                              STO     TR1               # PHI*P*PHI(T) AND M*P*M(T)
2437: 2055 20 0 2220                              CLA     CAD
2440: 2056 10 0 0143                              STO     TR2
2441: 2057 20 0 0604                              CLA     DEL21             # BYPASS FILTER IF ON SURFACE TO
2442: 2060 46 0 2402                              TMI     FLTRX             # AVOID CONFLICT WITH D44, SIDELL
2443:
2444: 2061 30 0 0167                      PUPDAT  CLZ     MU17              # ZERO MU17 IF FILTER TIME
2445: 2062 22 0 7701                              ADD     1B3
2446: 2063 46 0 2274                              TMI     FLTRTM
2447: 2064 10 0 0167                              STO     MU17
2450: 2065 20 0 0503                      FLTRD   CLA     17J
2451: 2066 62 0 0000                              ABS     
2452: 2067 24 0 4006                              SUB     1B17
2453: 2070 46 0 2121                              TMI     FLTRH             # NO RATE CHECK RANGE
2454: 2071 30 0 0503                      RATE    CLZ     17J
2455: 2072 24 0 0415                              SUB     RDOTS
2456: 2073 10 0 0220                              STO     DELR1             # B13
2457: 2074 50 1 0002                              AXT     2,1
2460: 2075 20 0 0440                      FLTRE   CLA     RRDOT             # B13
2461: 2076 26 1 0300                              MPR     A31BD,1           # B14
2462: 2077 04 0 4126                              DVP     M1B1
2463: 2100 22 1 0004                              ADD     TS4,1             # B13
2464: 2101 06 0 4065                              MPY     1B2               # SCALE AT B15
2465: 2102 04 0 0317                              DVP     RR                # B22
2466: 2103 10 1 0170                              STO     C11,1             # M11 AT B-7
2467: 2104 20 1 0300                              CLA     A31BD,1           # B1
2470: 2105 54 0 0002                              LRS     2
2471: 2106 10 1 0171                              STO     C12,1             # M14 AT B3
2472:
2473:                                     # Page 34
2474: 2107 42 1 2075                              TIX     FLTRE,1
2475: 2110 14 0 0172                              LDQ     C13
2476: 2111 20 0 0171                              CLA     C12
2477: 2112 12 0 0171                              STQ     C12               # M12 AT B-7
2500: 2113 10 0 0172                              STO     C13               # M13 AT B3
2501: 2114 30 0 0175                              CLZ     C22               # M22 (M21,M23,M24 ALREADY ZERO)
2502: 2115 20 0 0774                              CLA     6K8S              # B10
2503: 2116 10 0 0316                              STO     18J               # N11,(N12=C42=0,N22=C44=1B3)
2504: 2117 20 0 4006                              CLA     1B17
2505: 2120 40 0 2167                              TRA     FLTRJ
2506:
2507:
2510: 2121 22 0 0316                      FLTRH   ADD     18J               # CHECK RANGE
2511: 2122 46 0 2402                              TMI     FLTRX
2512: 2123 50 1 0002                      RANGE   AXT     2,1
2513: 2124 20 1 0554                      FLTRI   CLA     A31S,1            # ZB B1
2514: 2125 26 0 0316                              MPR     18J               # B22
2515: 2126 24 1 0234                              SUB     RRSX,1
2516: 2127 10 1 0220                              STO     DELR1,1           # B23
2517: 2130 20 1 0124                              CLA     RRX,1
2520: 2131 26 1 0124                              MPR     RRX,1             # B46
2521: 2132 06 0 0775                              MPY     6K9S              # B42
2522: 2133 52 0 0014                              LLS     12                # B30
2523: 2134 10 1 0000                              STO     TS0,1             # B30
2524: 2135 20 1 0300                              CLA     A31BD,1           # B1
2525: 2136 26 1 0300                              MPR     A31BD,1           # B2
2526: 2137 26 0 0776                              MPR     6K10S
2527: 2140 10 1 0004                              STO     TS4,1
2530: 2141 42 1 2124                              TIX     FLTRI,1
2531: 2142 32 0 0002                              ADZ     TS2
2532: 2143 10 0 0316                              STO     18J               # N11 AT B30
2533: 2144 20 0 0126                              CLA     RRZ
2534: 2145 06 0 0000                              MPY     TS0
2535: 2146 04 0 0124                              DVP     RRX               # B30
2536: 2147 10 0 0205                              STO     C42               # -N12
2537: 2150 30 0 0000                              CLZ     TS0
2540: 2151 32 0 0006                              ADZ     TS6
2541:
2542:                                     # Page 35
2543: 2152 10 0 0207                              STO     C44               # N22
2544:                                     #                                   M IS ALREADY SET UP IN C11-C24
2545: 2153 20 0 0276                              CLA     6K5               # B0
2546: 2154 26 0 0221                              MPR     DELR3             # B 23
2547: 2155 22 0 0341                              ADD     RY                # Y=Y+6K5*DELR3 B23
2550: 2156 10 0 0341                              STO     RY
2551: 2157 20 0 0777                              CLA     6K6S              # B-8
2552: 2160 06 0 0221                              MPY     DELR3             # B15
2553: 2161 52 0 0002                              LLS     2                 # B13
2554: 2162 22 0 0361                              ADD     VY
2555: 2163 10 0 0361                              STO     VY                # VY=VY+6K6*DELR3
2556: 2164 20 0 0522                              CLA     6K6
2557: 2165 10 0 0777                              STO     6K6S              # RESTORE GAIN AFTER 1ST PASS
2560: 2166 20 0 0441                              CLA     1000D
2561: 2167 32 0 0621                      FLTRJ   ADZ     MU19              # INCREMENT MARK COUNTER
2562: 2170 10 0 0621                              STO     MU19
2563: 2171 20 0 4005                              CLA     2B17              # DIMENSION FOR MXM (OTHER DIM.
2564: 2172 10 0 0461                              STO     TR6               # AND ADDR. ALREADY SET UP)
2565: 2173 20 0 2015                              CLA     DAD
2566: 2174 72 0 2404                              TSQ     MXM               # RETURN WITH D=P(T)*M(T)
2567: 2175 20 0 2213                              CLA     C31AD
2570: 2176 72 0 2404                              TSQ     MXM               # RETURN WITH Q IN C32-C34
2571: 2177 30 0 0205                              CLZ     C42
2572: 2200 24 0 0201                              SUB     C32
2573: 2201 10 0 0201                              STO     C32               # QP12=QP21= -(Q12+N12)
2574: 2202 10 0 0202                              STO     C33
2575: 2203 06 0 0201                              MPY     C32
2576: 2204 52 0 0003                              LLS     3                 # (QP12)**2 AT B57(ZERO FOR RATE)
2577: 2205 10 0 0040                      D31AD   STO     D31
2600: 2206 20 0 0200                              CLA     C31
2601: 2207 32 0 0316                              ADZ     18J
2602: 2210 54 0 0021                              LRS     17
2603: 2211 20 0 0203                              CLA     C34
2604: 2212 32 0 0207                              ADZ     C44
2605: 2213 10 0 0200                      C31AD   STO     C31               # QP11=Q22+N22
2606: 2214 12 0 0203                              STQ     C34               # QP22=Q11+N11
2607: 2215 06 0 0203                              MPY     C34
2610:
2611:                                     # Page 36
2612: 2216 52 0 0003                              LLS     3                 # QP11*QP22 AT B57(B10 FOR RATE)
2613: 2217 24 0 0040                              SUB     D31
2614: 2220 10 0 0170                      CAD     STO     C11               # DETERMINANT OF (Q+N) MATRIX
2615: 2221 20 0 2015                              CLA     DAD
2616: 2222 10 0 0143                              STO     TR2
2617: 2223 20 0 4005                              CLA     2B17
2620: 2224 10 0 0462                              STO     TR5
2621: 2225 20 0 4003                              CLA     4B17
2622: 2226 10 0 0461                              STO     TR6
2623: 2227 20 0 2205                              CLA     D31AD
2624: 2230 72 0 2404                              TSQ     MXM               # RETURN WITH B(T)*C11 IN D31-D44
2625: 2231 20 0 0220                              CLA     DELR1             # SETUP FOR TRICKY INDEXING
2626: 2232 10 0 0173                              STO     C14
2627: 2233 20 0 0222                              CLA     DELR2
2630: 2234 10 0 0177                              STO     C24
2631:                                     #                 INDEX IS LOADED IN MXM
2632: 2235 20 1 0040                              CLA     D31,1             # AT B57,B47 (B20,B10 FOR RATE)
2633: 2236 06 0 7701                              MPY     1B3
2634: 2237 04 0 0170                              DVP     C11
2635: 2240 10 1 0040                              STO     D31,1             # B(T) AT B3,B-7(B13,B3 FOR RATE)
2636: 2241 06 1 0173                              MPY     C14,1             # B(I,1)*DELR1 OR B(I,2)*DELR2
2637: 2242 52 0 0003                              LLS     3                 # TO B23 OR B13
2640: 2243 32 1 0204                              ADZ     C41,1             # LAST 4 TIMES THRU WILL ADD TO
2641: 2244 10 1 0204                              STO     C41,1             # VALUES COMPUTED 1ST 4 TIMES
2642: 2245 42 1 2235                              TIX     *-8,1
2643: 2246 20 0 0340                              CLA     RX
2644: 2247 34 0 0204                              SUZ     C41               # B(1,1)*DELR1+B(1,2)*DELR2
2645: 2250 10 0 0340                              STO     RX
2646: 2251 20 0 0342                              CLA     RZ
2647: 2252 34 0 0205                              SUZ     C42               # B(2,1)*DELR1+B(2,2)*DELR2
2650: 2253 10 0 0342                              STO     RZ
2651: 2254 20 0 0360                              CLA     VX
2652: 2255 34 0 0206                              SUZ     C43               # B(3,1)*DELR1+B(3,2)*DELR2
2653: 2256 10 0 0360                              STO     VX
2654: 2257 20 0 0362                              CLA     VZ
2655: 2260 34 0 0207                              SUZ     C44               # B(4,1)*DELR1+B(4,2)*DELR2
2656: 2261 10 0 0362                              STO     VZ
2657:
2660:                                     # Page 37
2661: 2262 20 0 2220                              CLA     CAD
2662: 2263 72 0 2404                              TSQ     MXM               # RETURN WITH B*M*P IN C11-C44
2663:                                     #                 INDEX IS LOADED IN MXM
2664: 2264 20 1 0700                              CLA     P11,1             # P=P-B*M*P
2665: 2265 34 1 0170                              SUZ     C11,1
2666: 2266 10 1 0700                              STO     P11,1
2667: 2267 20 1 0710                              CLA     P31,1
2670: 2270 34 1 0200                              SUZ     C31,1
2671: 2271 10 1 0710                              STO     P31,1
2672: 2272 42 1 2264                              TIX     *-6,1
2673: 2273 40 0 2402                              TRA     FLTRX
2674: 2274 20 0 0202                      FLTRTM  CLA     C33               # FINISH SETUP OF PHI
2675: 2275 10 0 0205                              STO     C42               # JDT
2676: 2276 12 0 0202                              STQ     C33               # 1B3
2677: 2277 20 0 0060                              CLA     U1X
2700: 2300 26 0 0062                              MPR     U1Z
2701: 2301 26 0 7520                              MPR     3B3               # B5
2702: 2302 36 0 0030                              MPZ     D11
2703: 2303 10 0 0201                              STO     C32               # CDT AT B-7
2704: 2304 10 0 0204                              STO     C41
2705: 2305 20 0 4013                              CLA     1B9               # DT AT B13
2706: 2306 10 0 0172                              STO     C13
2707: 2307 10 0 0177                              STO     C24               # NOW HAVE PHI IN C11-C44
2710: 2310 20 0 2015                              CLA     DAD
2711: 2311 72 0 2404                              TSQ     MXM               # RETURN WITH D = P(T)*PHI(T)
2712: 2312 20 0 2373                              CLA     PAD
2713: 2313 72 0 2404                              TSQ     MXM               # RETURN WITH P=D(T)*PHI(T), OR
2714:                                     #                                   P(NEW = PHI*P(OLD)*PHI(T)
2715: 2314 20 0 0700                              CLA     P11               # ADD STATE NOISE TO DIAGONALS
2716: 2315 22 0 0650                              ADD     7K2
2717: 2316 10 0 0700                              STO     P11
2720: 2317 20 0 0705                              CLA     P22
2721: 2320 22 0 0650                              ADD     7K2
2722: 2321 10 0 0705                              STO     P22
2723: 2322 20 0 0712                              CLA     P33
2724: 2323 22 0 0650                              ADD     7K2
2725: 2324 10 0 0712                              STO     P33
2726:
2727:                                     # Page 38
2730: 2325 20 0 0717                              CLA     P44
2731: 2326 22 0 0650                              ADD     7K2
2732: 2327 10 0 0717                              STO     P44
2733: 2330 72 0 6261                              TSQ     EXEC
2734: 2331 44 0 2332                              TOV     *+1               # RESET OVERFLOW
2735: 2332 20 0 7003                              CLA     SICO2+1           # ALS 2
2736: 2333 72 0 2440                              TSQ     STEST             # TEST FOR SCALING TOO LOW
2737: 2334 20 0 4150                              CLA     CDCC+2            # LRS 1
2740: 2335 44 0 2341                              TOV     RSHFT             # NEED RIGHT SHIFT IF OVERFLOW
2741: 2336 20 0 4375                              CLA     LRI+2             # ALS 3
2742: 2337 72 0 2440                              TSQ     STEST             # SEE IF SCALING DOWN IS POSSIBLE
2743: 2340 20 0 4113                              CLA     GYCOM+2           # ALS 1
2744: 2341 10 0 0721                      RSHFT   STO     VRSH+1
2745: 2342 50 1 0002                              AXT     2,1
2746: 2343 20 1 0774                              CLA     6K8S,1
2747: 2344 72 0 0720                              TSQ     VRSH
2750: 2345 44 0 2360                              TOV     RVSAR             # BYPASS RESCALING IF OVERFLOW IN
2751:                                     #                                   EITHER 2ND STEST OR ALS 1 6K10,
2752: 2346 10 1 0774                              STO     6K8S,1            # OTHERWISE SHIFT LEFT OR RIGHT 1
2753: 2347 42 1 2343                              TIX     *-4,1             # 6K8,6K9,6K10 AND P MATRIX
2754: 2350 50 1 0007                              AXT     7,1
2755: 2351 20 1 0700                              CLA     P11,1
2756: 2352 72 0 0720                              TSQ     VRSH
2757: 2353 10 1 0700                              STO     P11,1
2760: 2354 20 1 0710                              CLA     P31,1
2761: 2355 72 0 0720                              TSQ     VRSH
2762: 2356 10 1 0710                              STO     P31,1
2763: 2357 42 1 2351                              TIX     *-6,1
2764: 2360 30 0 0417                      RVSAR   CLZ     S17               # IS FILTER INIT. REQUESTED
2765: 2361 56 0 0003                              ALS     3
2766: 2362 46 0 2364                              TMI     PINIT
2767: 2363 40 0 2402                              TRA     FLTRX
2770: 2364 50 1 0007                      PINIT   AXT     7,1               # INITIALIZE P MATRIX AND FILTER
2771: 2365 30 1 0700                              CLZ     P11,1             # CONSTANTS
2772: 2366 30 1 0710                              CLZ     P31,1
2773: 2367 20 1 0564                              CLA     6K8,1
2774: 2370 10 1 0774                              STO     6K8S,1            # THIS ALSO ZEROES 6K6S
2775:
2776:                                     # Page 39
2777: 2371 42 1 2365                              TIX     PINIT+1,1
3000: 2372 20 0 0457                              CLA     6K2
3001: 2373 10 0 0700                      PAD     STO     P11
3002: 2374 10 0 0705                              STO     P22
3003: 2375 20 0 0456                              CLA     6K4
3004: 2376 10 0 0712                              STO     P33
3005: 2377 10 0 0717                              STO     P44
3006: 2400 30 0 0621                              CLZ     MU19              # CLEAR MARK COUNTER
3007: 2401 30 0 0606                              CLZ     DEL45             # MAKE RANGE THE FIRST UPDATE
3010: 2402 72 0 6261                      FLTRX   TSQ     EXEC
3011: 2403 40 0 5444                              TRA     LMORB
3012:
3013:                                     #                 MATRIX MULTIPLY SUBROUTINE
3014:                                     #                 PERFORMS C = A(T)*B(T) WHERE (T) INDICATES THE
3015:                                     #                 TRANSPOSE OPERATION, EITHER WITH TR1 = ST0 A11
3016:                                     #                 WHERE A11=ADDRESS OF 1ST ELEMENT OF A, TR2 = STO
3017:                                     #                 B11, A = STO C11, TR4 = NO. OF COLUMNS IN A,
3020:                                     #                 TR5 = NO. OF ROWS IN A, TR6 = NO. OF ROWS IN B,
3021:                                     #                 THE RESULT MATRIX C WILL HAVE TR4 ROWS AND TR6
3022:                                     #                 COLUMNS, ALL MATRICES ARE ASSUMED TO BE STORED
3023:                                     #                 BY ROWS IN SEQUENTIAL LOCATIONS BEGINNING WITH
3024:                                     #                 A11, A12, ..., A21, A22, ..., ETC.
3025: 2404 12 0 0212                      MXM     STQ     PP                # SAVE RETURN ADDRESS
3026: 2405 10 0 0073                              STO     TR3               # STORE ST0 C11 IN TR3
3027: 2406 24 0 4006                              SUB     1B17
3030: 2407 10 0 0745                              STO     RREX2             # VARIABLE MATRIX ELEMENT STORE
3031: 2410 30 0 0424                              CLZ     I
3032: 2411 20 0 0143                      R3      CLA     TR2
3033: 2412 24 0 4010                              SUB     1B4               # FORM MPY FROM STO
3034: 2413 10 0 0742                              STO     RREX1             # VARIABLE MULTIPLY
3035: 2414 30 0 0425                              CLZ     J
3036: 2415 20 0 0037                              CLA     DLSC              # (D24)
3037: 2416 10 0 0442                              STO     TI                # TEMP. STORAGE TO SAVE D24
3040: 2417 72 0 6261                              TSQ     EXEC
3041: 2420 20 0 0442                              CLA     TI
3042: 2421 10 0 0037                              STO     DLSC              # RESTORE D24
3043: 2422 20 0 0103                      R2      CLA     TR1
3044:
3045:                                     # Page 40
3046: 2423 22 0 0424                              ADD     I
3047: 2424 22 0 4065                              ADD     STOCOM            # FORM CLA FROM STO
3050: 2425 10 0 0741                              STO     RREX              # VARIABLE CLA
3051: 2426 20 0 0745                              CLA     RREX2
3052: 2427 22 0 4006                              ADD     1B17              # INCREMENT STO INSTRUCTION
3053: 2430 10 0 0745                              STO     RREX2
3054: 2431 30 0 0426                              CLZ     K
3055: 2432 30 0 0077                              CLZ     TR8               # TEMP. SUM
3056: 2433 40 0 0741                      R1      TRA     RREX
3057: 2434 42 1 2436                              TIX     *+2,1
3060: 2435 40 0 2411                              TRA     R3
3061: 2436 42 1 2433                              TIX     R1,1
3062: 2437 40 0 2422                              TRA     R2
3063:                                     #                 TEST FOR VARIABLE SCALING OF FILTER
3064: 2440 10 0 0721                      STEST   STO     VRSH+1
3065: 2441 12 0 0020                              STQ     SREX3
3066: 2442 20 0 0317                              CLA     RR                # B22
3067: 2443 26 0 0317                              MPR     RR                # 22+22=44
3070: 2444 06 0 0775                              MPY     6K9S
3071: 2445 52 0 0012                              LLS     10
3072: 2446 72 0 0720                              TSQ     VRSH
3073: 2447 50 1 0007                              AXT     7,1
3074: 2450 20 1 0700                              CLA     P11,1
3075: 2451 72 0 0720                              TSQ     VRSH
3076: 2452 20 1 0710                              CLA     P31,1
3077: 2453 72 0 0720                              TSQ     VRSH
3100: 2454 42 1 2450                              TIX     *-4,1
3101: 2455 40 0 0020                              TRA     SREX3
3102: 2456 24 0 0231                      LMORB2  SUB     5J                # QL-5J AT B23
3103: 2457 10 0 0403                              STO     QLTELE            # PERIC. ALT
3104: 2460 30 0 0007                              CLZ     TS7               # = VH SQ AT B26
3105: 2461 10 0 0143                              STO     VHSQ              # SAVE FOR ORB INS
3106: 2462 72 0 6261                              TSQ     EXEC
3107:
3110: 2463 50 1 0002                      ORBLM   AXT     2,1
3111: 2464 20 1 0430                              CLA     VIX,1             # RESTORE REX INTO FILTER
3112: 2465 10 1 0200                              STO     REX,1             # SCRATCH MATRIX C AREA
3113:
3114:                                     # Page 41
3115: 2466 20 1 0340                              CLA     RX,1
3116: 2467 10 1 0204                              STO     R0X,1
3117: 2470 20 1 0360                              CLA     VX,1
3120: 2471 10 1 0424                              STO     V0X,1
3121: 2472 42 1 2464                              TIX     ORBLM+1,1
3122: 2473 72 0 6444                              TSQ     ORBPM             # COMPUTE LM ORBIT PARAMETERS
3123: 2474 20 0 0173                              CLA     AI
3124: 2475 24 0 0231                              SUB     5J
3125: 2476 56 0 0001                              ALS     1                 # MPY BY 2
3126: 2477 24 0 0403                              SUB     QLTELE
3127: 2500 10 0 0315                              STO     QA                # LM APOFOCUS ALT. AT B23
3130: 2501 72 0 6261                              TSQ     EXEC
3131:
3132:
3133: 2502 30 0 0211                              CLZ     Y
3134: 2503 30 0 0270                              CLZ     VY0
3135: 2504 50 1 0002                              AXT     2,1
3136: 2505 20 1 0340                      KINGK   CLA     RX,1
3137: 2506 10 1 0220                              STO     RIX,1             # SAVE R FOR ORBIT INS.
3140: 2507 26 1 0054                              MPR     WCX,1
3141: 2510 56 0 0001                              ALS     1
3142: 2511 32 0 0211                              ADZ     Y
3143: 2512 10 0 0211                              STO     Y                 # Y=(WCX)DOT(RX)
3144: 2513 20 1 0360                              CLA     VX,1
3145: 2514 10 1 0430                              STO     VIX,1             # SAVE V FOR ORBIT INS.
3146: 2515 26 1 0054                              MPR     WCX,1
3147: 2516 56 0 0001                              ALS     1
3150: 2517 32 0 0270                              ADZ     VY0
3151: 2520 10 0 0270                              STO     VY0               # VY0=(WCX)DOT(VX)
3152: 2521 20 1 0054                              CLA     WCX,1             # SET UP FOR CROSS
3153: 2522 60 0 0000                              COM                       # PRODUCT SUBROUTINE
3154: 2523 10 1 0010                              STO     TS10,1            # WC X U1 = U1 X -WC
3155: 2524 20 1 0060                              CLA     U1X,1
3156: 2525 10 1 0004                              STO     TS4,1
3157: 2526 42 1 2505                              TIX     KINGK,1
3160: 2527 72 0 6373                              TSQ     CRSPRD
3161: 2530 72 0 6422                              TSQ     NORMV             # V1 VECTOR TO TSB
3162:
3163:                                     # Page 42
3164: 2531 72 0 6373                              TSQ     CRSPRD
3165: 2532 30 0 0003                              CLZ     TS3
3166: 2533 30 0 0004                              CLZ     TS4
3167: 2534 50 1 0002                              AXT     2,1
3170: 2535 30 1 0010                              CLZ     TS10,1
3171: 2536 10 1 0034                              STO     V1X,1             # V1 AT 1
3172: 2537 26 1 0134                              MPR     A31,1
3173: 2540 22 0 0004                              ADD     TS4               # TS4 = V1 DOT ZB AT B2
3174: 2541 10 0 0004                              STO     TS4
3175: 2542 30 1 0014                              CLZ     TS14,1
3176: 2543 56 0 0001                              ALS     1
3177: 2544 10 1 0040                              STO     W1X,1
3200: 2545 20 1 0134                              CLA     A31,1
3201: 2546 26 1 0060                              MPR     U1X,1
3202: 2547 22 0 0003                              ADD     TS3
3203: 2550 10 0 0003                              STO     TS3               # TS3 = U1 DOT ZB AT B2
3204: 2551 42 1 2535                              TIX     *-12,1
3205: 2552 72 0 7034                              TSQ     ARCTAE
3206: 2553 10 0 0277                              STO     XI
3207: 2554 72 0 6261                              TSQ     EXEC              # END OF LEM ORB PAR BRANCH
3210:
3211:                                     #         GUIDANCE MODE CHECK
3212:
3213: 2555 20 0 0410                      GM      CLA     S10
3214: 2556 22 0 7512                              ADD     5B3
3215: 2557 62 0 0000                              ABS     
3216: 2560 46 0 2573                              TMI     DXFR1             # TPI SEARCH
3217: 2561 22 0 4065                              ADD     1B2
3220: 2562 46 0 2567                              TMI     *+5
3221: 2563 30 0 0310                              CLZ     TDEL              # TDEL=0
3222: 2564 20 0 0726                              CLA     ORBRET            # =TRA DX10P
3223: 2565 10 0 0046                              STO     TSEX              # SET UP RETURN FROM NORTON
3224: 2566 40 0 3576                              TRA     NORTON+5
3225:                                     #                 CSI,CDH,TPI EXECUTE, OR EXT DV
3226: 2567 20 0 0373                              CLA     TIG               # COMPUTE TDEL FOR
3227: 2570 24 0 0377                              SUB     TA1               # CSI, CDH, OR TPI(S10=4)
3230: 2571 56 0 0005                              ALS     5
3231:
3232:                                     # Page 43
3233: 2572 10 0 0310                              STO     TDEL
3234: 2573 20 0 0310                      DXFR1   CLA     TDEL
3235: 2574 54 0 0005                              LRS     5
3236: 2575 22 0 0377                              ADD     TA1
3237: 2576 10 0 0373                              STO     TIG
3240: 2577 30 0 0310                              CLZ     TDEL              # TDEL = OR GTR 0 AFTER TR CALC
3241: 2600 46 0 2602                              TMI     *+2
3242: 2601 10 0 0310                              STO     TDEL
3243: 2602 22 0 0307                              ADD     6J
3244: 2603 10 0 0311                              STO     TR                # TIME UNTIL RENDEZVOUS (TPI)
3245: 2604 20 0 0310                              CLA     TDEL
3246: 2605 72 0 3571                      DXFR10  TSQ     NORTON
3247: 2606 10 0 0347                      DX10P   STO     RF                # PRED. BURNOUT ALTITUDE
3250: 2607 22 0 0217                              ADD     2K14
3251: 2610 10 0 0170                              STO     P
3252: 2611 30 0 0477                              CLZ     RADOT
3253: 2612 30 0 0263                              CLZ     VPY
3254: 2613 30 1 0220                      DXFRR5  CLZ     RIX,1             # R5 STORE
3255: 2614 10 1 0174                              STO     R5X,1
3256: 2615 30 1 0430                              CLZ     VIX,1
3257: 2616 10 1 0014                              STO     TS14,1
3260: 2617 10 1 0460                              STO     V5X,1             # V5 STORE
3261: 2620 26 1 0054                              MPR     WCX,1
3262: 2621 56 0 0001                              ALS     1                 # TO 13
3263: 2622 32 0 0263                              ADZ     VPY               # VPY = V5 DOT WC
3264: 2623 10 0 0263                              STO     VPY
3265: 2624 30 1 0010                              CLZ     TS10,1
3266: 2625 10 1 0060                              STO     U1X,1             # U1 STORE
3267: 2626 26 1 0460                              MPR     V5X,1             # RADOT = R5 DOT U1
3270: 2627 56 0 0001                              ALS     1                 # TO 13
3271: 2630 32 0 0477                              ADZ     RADOT
3272: 2631 10 0 0477                              STO     RADOT
3273: 2632 20 1 0200                              CLA     REX,1             # CSM POS AND VEL FOR
3274: 2633 10 1 0204                              STO     R0X,1             # ELLIPSE PREDICTOR
3275: 2634 20 1 0420                              CLA     VEX,1             # AND ORBIT PARAMETERS
3276: 2635 10 1 0424                              STO     V0X,1
3277: 2636 42 1 2613                              TIX     DXFRR5,1
3300:
3301:                                     # Page 44
3302: 2637 72 0 6422                              TSQ     NORMV
3303: 2640 20 0 0013                              CLA     TS13
3304: 2641 10 0 0463                              STO     VHA
3305: 2642 72 0 6261                              TSQ     EXEC
3306: 2643 72 0 6444                      ORBIT3  TSQ     ORBPM             # CSM ORBIT PARAMETERS
3307: 2644 20 0 0436                              CLA     TB
3310: 2645 24 0 0445                              SUB     TCSM
3311: 2646 22 0 0310                              ADD     TDEL              # +TIME INC. TO DXFR
3312: 2647 46 0 2651                              TMI     *+2
3313: 2650 24 0 0445                              SUB     TCSM
3314: 2651 72 0 3571                              TSQ     NORTON
3315: 2652 30 0 0003                      DXFR13  CLZ     TS3
3316: 2653 20 1 0220                              CLA     RIX,1
3317: 2654 24 1 0174                              SUB     R5X,1
3320: 2655 10 1 0430                              STO     VIX,1             # RC-R5
3321: 2656 20 1 0054                              CLA     WCX,1
3322: 2657 10 1 0004                              STO     TS4,1
3323: 2660 20 1 0060                              CLA     U1X,1
3324: 2661 10 1 0010                              STO     TS10,1
3325: 2662 26 1 0430                              MPR     VIX,1             # U1 DOT (RC-R5)
3326: 2663 32 0 0003                              ADZ     TS3               # SCALE BOTH RX AND RZ
3327: 2664 10 0 0003                              STO     TS3               # AT 24 FOR ARCTAE
3330: 2665 42 1 2653                              TIX     DXFR13+1,1
3331: 2666 72 0 6373                              TSQ     CRSPRD
3332: 2667 72 0 6422                              TSQ     NORMV
3333: 2670 30 0 0004                              CLZ     TS4
3334: 2671 50 1 0002                      VRUP1   AXT     2,1
3335: 2672 20 1 0010                              CLA     TS10,1
3336: 2673 10 1 0034                              STO     V1X,1             # V1,NORM XPROD OF WC AND U1
3337: 2674 26 1 0430                              MPR     VIX,1
3340: 2675 32 0 0004                              ADZ     TS4
3341: 2676 10 0 0004                              STO     TS4               # RZ AT 24
3342: 2677 42 1 2672                              TIX     VRUP1+1,1
3343: 2700 20 0 5033                              CLA     1B1
3344: 2701 24 0 0410                              SUB     S10
3345: 2702 46 0 3024                              TMI     XDV-1             # EXT DELTA V
3346: 2703 22 0 5000                              ADD     6B3
3347:
3350:                                     # Page 45
3351: 2704 46 0 1144                              TMI     THEF              # O.I., CSI, CDH
3352: 2705 30 0 0450                              CLZ     28J1              # COMPUE TPI VELOCITY
3353: 2706 30 0 0451                              CLZ     28J2              # IN LOCAL VERTICAL COORD.
3354: 2707 30 0 0452                              CLZ     28J3
3355: 2710 50 1 0002                              AXT     2,1
3356: 2711 20 1 0034                      DXFRA   CLA     V1X,1             # B1
3357: 2712 26 1 0064                              MPR     VGX,1             # B1+B13=B14
3360: 2713 56 0 0001                              ALS     1                 # B13
3361: 2714 32 0 0450                              ADZ     28J1
3362: 2715 10 0 0450                              STO     28J1
3363: 2716 20 1 0040                              CLA     W1X,1             # B1
3364: 2717 06 1 0064                              MPY     VGX,1             # B1+B13=B14
3365: 2720 04 0 4126                              DVP     M1B1              # B13
3366: 2721 32 0 0451                              ADZ     28J2
3367: 2722 10 0 0451                              STO     28J2
3370: 2723 20 1 0060                              CLA     U1X,1             # B1
3371: 2724 06 1 0064                              MPY     VGX,1             # B1+B13=B14
3372: 2725 04 0 4126                              DVP     M1B1              # B13
3373: 2726 32 0 0452                              ADZ     28J3
3374: 2727 10 0 0452                              STO     28J3
3375: 2730 42 1 2711                              TIX     DXFRA,1
3376: 2731 72 0 7034                              TSQ     ARCTAE            # TLOS=ARCTAN(RX,RZ)
3377: 2732 10 0 0303                              STO     TLOS              # LINE OF SIGHT (DEDA)
3400: 2733 20 0 0311                              CLA     TR
3401: 2734 24 0 0310                              SUB     TDEL
3402: 2735 10 0 0435                              STO     T
3403: 2736 20 0 0436                              CLA     TB
3404: 2737 24 0 0445                              SUB     TCSM
3405: 2740 22 0 0311                              ADD     TR                # TIME INC. TPI TO REND.
3406: 2741 24 0 0312                              SUB     3J                # TARGET OFFSET
3407: 2742 10 0 0442                              STO     TI
3410: 2743 72 0 6261                              TSQ     EXEC
3411: 2744 20 0 0410                      DXFR14  CLA     S10
3412: 2745 60 0 0000                              COM     
3413: 2746 46 0 5520                              TMI     CSMT1             # TO ELLIPX
3414:
3415:                                     #                 ORBIT INSERTION SECTION
3416:
3417:                                     # Page 46
3420:
3421: 2747 24 0 0270                              SUB     VY0               # S10 EQUALS 0, ORBIT INSERTION
3422: 2750 26 0 0270                              MPR     VY0
3423: 2751 22 0 0143                              ADD     VHSQ              # VH SQ
3424: 2752 72 0 7123                              TSQ     SQRTE
3425: 2753 10 0 0463                              STO     VHA               # B13
3426: 2754 20 0 0227                              CLA     4K5               # COMPUTE DESIRED BURNOUT
3427: 2755 24 0 0435                              SUB     RB                # ALTITUDE RATE
3430: 2756 06 0 0557                              MPY     4K4
3431: 2757 52 0 0003                              LLS     3
3432: 2760 10 0 0423                              STO     RFDOT
3433: 2761 24 0 0527                              SUB     4K6               # LIMIT RFDOT BETWEEN
3434: 2762 46 0 2765                              TMI     *+3               # 23J AND 4K6
3435: 2763 20 0 0527                              CLA     4K6
3436: 2764 40 0 2771                              TRA     *+5
3437: 2765 20 0 0465                              CLA     23J
3440: 2766 24 0 0423                              SUB     RFDOT
3441: 2767 46 0 2772                              TMI     *+3
3442: 2770 20 0 0465                              CLA     23J
3443: 2771 10 0 0423                              STO     RFDOT
3444: 2772 20 0 0533                              CLA     DISC1             # IS ABORT OR ABORT STATE YES
3445: 2773 56 0 0007                              ALS     7
3446: 2774 46 0 2777                              TMI     *+3               # -- ABORT YES
3447: 2775 22 0 4126                              ADD     M1B1
3450: 2776 46 0 3010                              TMI     ORBI2             # -- ABORT STATE NO
3451: 2777 20 0 0303                              CLA     THETAF
3452: 3000 24 0 0305                              SUB     12J
3453: 3001 46 0 3006                              TMI     *+5               # -- CENTRAL ANGLE LESS THAN LIMIT
3454: 3002 20 0 0226                              CLA     10J               # SET NEW SLOPE AND OFFSET
3455: 3003 10 0 0224                              STO     7J                # VALUES FOR AL WHEN ABORT OR
3456: 3004 20 0 0673                              CLA     11J               # ABORT STAGE YES AND THE
3457: 3005 10 0 0662                              STO     4K10              # CENTRAL ANGLE LARGE
3460: 3006 20 0 5033                              CLA     1B1               # STOP PASSES OF NEW SLOPE/OFFSET
3461: 3007 10 0 0305                              STO     12J               # EQUALS 4 RAD AT B3
3462: 3010 20 0 0303                      ORBI2   CLA     THETAF            # CALCULATE AL
3463: 3011 06 0 0662                              MPY     4K10
3464: 3012 22 0 0224                              ADD     7J
3465:
3466:                                     # Page 47
3467: 3013 10 0 0177                              STO     AL
3470: 3014 20 0 0435                              CLA     RB
3471: 3015 10 0 0347                              STO     RF
3472: 3016 54 0 0001                              LRS     1                 # CHECK FOR LOW LIMIT OF AL
3473: 3017 22 0 0225                              ADD     8J
3474: 3020 24 0 0177                              SUB     AL
3475: 3021 46 0 3741                              TMI     CDH3+1
3476: 3022 22 0 0177                              ADD     AL
3477: 3023 40 0 3740                              TRA     CDH3              # AL LOW LIMIT BJ+RB/2
3500:
3501:                                     #                 TERMINAL FOR CSI, CDH, EXT DV
3502: 3024 72 0 6261                              TSQ     EXEC
3503: 3025 20 0 0373                      XDV     CLA     TIG               # TEST FOR ULLAGE TIME
3504: 3026 24 0 0274                              SUB     7K1
3505: 3027 24 0 0377                              SUB     TA1               # IF TIME FOR ULLAGE, THEN
3506: 3030 46 0 3047                              TMI     XDV2              # FREEZE COORDINATE FRAME
3507: 3031 50 1 0002                      XDV1    AXT     2,1
3510: 3032 20 0 0452                              CLA     28J3              # RADIAL COMPONENT
3511: 3033 26 1 0060                              MPR     U1X,1             # 13+1=14
3512: 3034 10 1 0050                              STO     DQSX,1
3513: 3035 20 0 0451                              CLA     28J2              # CROSSRANGE COMPONENT
3514: 3036 26 1 0040                              MPR     W1X,1
3515: 3037 32 1 0050                              ADZ     DQSX,1
3516: 3040 10 1 0050                              STO     DQSX,1
3517: 3041 20 0 0450                              CLA     28J1              # DOWNRANGE COMPONENT
3520: 3042 26 1 0034                              MPR     V1X,1
3521: 3043 34 1 0050                              SUZ     DQSX,1
3522: 3044 56 0 0001                              ALS     1                 # TO 13
3523: 3045 10 1 0600                              STO     DVGXX,1           # VELOCITY TO GAIN
3524: 3046 42 1 3032                              TIX     XDV1+1,1
3525: 3047 50 1 0002                      XDV2    AXT     2,1               # LOAD NDX FOR STEER/XDV
3526: 3050 20 0 0410                              CLA     S10               # O.I. EXIT TO STEERING
3527: 3051 24 0 7701                              SUB     1B3
3530: 3052 46 0 3262                              TMI     STEER4+1          # GO TO STEERING
3531: 3053 20 1 0600                      XDV3    CLA     DVGXX,1           # INITIAL VG
3532: 3054 24 1 0050                              SUB     DQSX,1            # ACCUMULATED DELTA V
3533: 3055 10 1 0004                              STO     TS4,1
3534:
3535:                                     # Page 48
3536: 3056 10 1 0064                              STO     VGX,1             # B13
3537: 3057 42 1 3053                              TIX     XDV3,1
3540: 3060 72 0 6737                              TSQ     DPVMAG
3541: 3061 10 0 0370                              STO     VG                # VEL TO GAIN MAGNITUDE
3542: 3062 40 0 3302                              TRA     Q7                # GO TO STEERING
3543:
3544: 3063 20 0 0423                      Q5      CLA     RFDOT             # GUIDANCE LAW
3545: 3064 10 0 0004                              STO     TS4               # SET FOR INDEXING
3546: 3065 30 0 0005                              CLZ     TS5
3547: 3066 20 0 0477                              CLA     RADOT
3550: 3067 10 0 0010                              STO     TS10
3551: 3070 20 0 0270                              CLA     VY0
3552: 3071 10 0 0011                              STO     TS11
3553: 3072 50 1 0001                              AXT     1,1
3554: 3073 44 0 3074                              TOV     *+1
3555: 3074 20 1 0504                              CLA     RD3DOT,1          # -2
3556: 3075 26 0 0357                              MPR     TBO               # 9-2=7
3557: 3076 54 0 0001                              LRS     1                 # TO 8
3560: 3077 10 0 0001                              STO     TS1               # 1/2 AT 7
3561: 3100 20 1 0004                              CLA     TS4,1             # RFDOT OR ZERO
3562: 3101 24 1 0010                              SUB     TS10,1            # RDOT OR VY0
3563: 3102 10 0 0002                              STO     TS2
3564: 3103 06 0 7701                              MPY     1B3               # B16
3565: 3104 04 0 0357                              DVP     TBO               # 16-9=7
3566: 3105 34 0 0001                              SUZ     TS1               # R OR YD2DOT
3567: 3106 10 0 0000                              STO     TS0               # TEST FOR OVERFLOW
3570: 3107 30 0 0002                              CLZ     TS2               # SIGN IF OVERFLOW
3571: 3110 72 0 3346                              TSQ     OVFLT
3572: 3111 10 1 0044                              STO     RD2DOT,1
3573: 3112 20 0 4020                              CLA     SIXTH             # -2
3574: 3113 26 1 0504                              MPR     RD3DOT,1          # -4
3575: 3114 26 0 0357                              MPR     TBO               # 5
3576: 3115 54 0 0001                              LRS     1                 # TO 6
3577: 3116 22 1 0044                              ADD     RD2DOT,1          # +1/2 2DOT AT 6
3600: 3117 26 0 0357                              MPR     TBO               # 15
3601: 3120 56 0 0001                              ALS     1                 # TO 14
3602: 3121 10 0 0001                              STO     TS1
3603:
3604:                                     # Page 49
3605: 3122 20 1 0010                              CLA     TS10,1
3606: 3123 54 0 0001                              LRS     1                 # TO 14
3607: 3124 32 0 0001                              ADZ     TS1
3610: 3125 26 0 0357                              MPR     TBO               # 23
3611: 3126 22 1 0210                              ADD     R,1
3612: 3127 10 1 0014                              STO     TS14,1            # RF OR YF
3613: 3130 42 1 3073                              TIX     Q5+8,1
3614: 3131 10 0 0347                              STO     RF                # 23
3615: 3132 10 0 0435                              STO     RB                # SAVE RF FOR ORBIT INSERT.
3616: 3133 24 0 0231                              SUB     5J                # -LUNAR RADIUS
3617: 3134 24 0 0232                              SUB     16J               # BURNOUT ALT ERROR
3620: 3135 10 0 0014                              STO     TS14
3621: 3136 14 0 0523                              LDQ     5K20
3622: 3137 20 0 0506                              CLA     4K12
3623: 3140 24 0 0067                              SUB     AT
3624: 3141 46 0 3144                              TMI     *+3               # IF AT GT 4K12
3625: 3142 20 0 0574                              CLA     DEL2
3626: 3143 46 0 3145                              TMI     *+2               # IF AT LE 4K12 AND DEL2=1
3627: 3144 14 0 0267                              LDQ     5K18
3630: 3145 12 0 0610                              STQ     RD3DTL            # RD3DOT LOWER LIMIT
3631: 3146 20 0 0357                              CLA     TBO
3632: 3147 26 0 0357                              MPR     TBO
3633: 3150 26 0 0357                              MPR     TBO               # TB CUBED
3634: 3151 10 0 0001                              STO     TS1               # 27
3635: 3152 50 1 0001                              AXT     1,1
3636: 3153 44 0 3154                      GDLAW3  TOV     *+1
3637: 3154 20 1 0014                              CLA     TS14,1            # BURNOUT ERROR
3640: 3155 06 0 5000                              MPY     12B4              # 27
3641: 3156 52 0 0002                              LLS     2                 # TO 25
3642: 3157 04 0 0001                              DVP     TS1               # -2
3643: 3160 32 1 0504                              ADZ     RD3DOT,1          # DESIRED ACCEL RATE
3644: 3161 10 0 0000                              STO     TS0               # TEST FOR OVERFLOW
3645: 3162 20 1 0014                              CLA     TS14,1
3646: 3163 72 0 3346                              TSQ     OVFLT
3647: 3164 10 1 0504                              STO     RD3DOT,1
3650: 3165 46 0 3172                              TMI     *+5
3651: 3166 24 1 0560                              SUB     5K14,1            # UPPER LIMIT TEST
3652:
3653:                                     # Page 50
3654: 3167 46 0 3174                              TMI     *+5
3655: 3170 20 1 0560                              CLA     5K14,1            # SET AT UPPER LIMIT
3656: 3171 40 0 3567                              TRA     LL3DOT+1
3657: 3172 24 1 0610                              SUB     RD3DTL,1          # LOWER LIMIT TEST
3660: 3173 46 0 3566                              TMI     LL3DOT
3661: 3174 42 1 3153                      GDLAW4  TIX     GDLAW3,1
3662: 3175 20 0 0636                              CLA     2K1               # 48
3663: 3176 06 0 5033                              MPY     1B1               # B49
3664: 3177 04 0 0210                              DVP     R                 # 49-23-26
3665: 3200 34 0 0143                              SUZ     VHSQ              # VH SQ
3666: 3201 06 0 4010                              MPY     1B4               # B30
3667: 3202 04 0 0210                              DVP     R                 # -ORBITAL RAD ACCEL AT 7
3670: 3203 32 0 0044                              ADZ     RD2DOT
3671: 3204 10 0 0044                              STO     RD2DOT            # CMD RAD ACCEL AT 7
3672: 3205 72 0 6261                              TSQ     EXEC
3673:
3674:                                     #                 STEERING EQUATIONS.
3675:
3676: 3206 20 0 0233                      STEER   CLA     21J
3677: 3207 24 0 0337                              SUB     H
3700: 3210 46 0 3220                              TMI     STEER1
3701: 3211 20 0 0464                              CLA     22J
3702: 3212 24 0 0367                              SUB     HDOT
3703: 3213 46 0 3220                              TMI     STEER1
3704: 3214 20 0 7701                              CLA     1B3               # =1024B13        COMMAND X-AXIS VERT
3705: 3215 10 0 0370                              STO     VG
3706: 3216 20 0 4030                              CLA     PMAX              # PSIP=1
3707: 3217 40 0 3230                              TRA     *+9
3710: 3220 50 1 0001                      STEER1  AXT     1,1
3711: 3221 44 0 3222                              TOV     *+1
3712: 3222 20 1 0044                              CLA     RD2DOT,1          # PSIP AND PSIY COMPS
3713: 3223 14 0 4007                              LDQ     ZERO
3714: 3224 04 0 0067                              DVP     AT                # PSIP OR Y AT ZERO
3715: 3225 10 0 0000                              STO     TS0               # TEST FOR OVERFLOW
3716: 3226 20 1 0044                              CLA     RD2DOT,1          # SIGN IF OVERFLOW
3717: 3227 72 0 3346                              TSQ     OVFLT
3720: 3230 10 1 0010                              STO     TS10,1            # PSIP OR PSIY AT 0
3721:
3722:                                     # Page 51
3723: 3231 42 1 3221                              TIX     STEER1+1,1
3724: 3232 26 0 0010                              MPR     TS10
3725: 3233 60 0 0000                              COM     
3726: 3234 22 0 4030                              ADD     PMAX
3727: 3235 10 0 0014                              STO     TS14              # 1-(PSIP)SQ
3730: 3236 72 0 7123                              TSQ     SQRTE
3731: 3237 10 0 0015                              STO     TS15
3732: 3240 20 0 0011                              CLA     TS11
3733: 3241 62 0 0000                              ABS     
3734: 3242 24 0 0015                              SUB     TS15
3735: 3243 46 0 3253                              TMI     STEER3
3736: 3244 20 0 0011                              CLA     TS11
3737: 3245 46 0 3250                              TMI     *+3
3740: 3246 20 0 0015                              CLA     TS15
3741: 3247 40 0 3252                              TRA     *+3
3742: 3250 20 0 0015                              CLA     TS15
3743: 3251 60 0 0000                              COM     
3744: 3252 10 0 0011                              STO     TS11
3745: 3253 20 0 0011                      STEER3  CLA     TS11
3746: 3254 26 0 0011                              MPR     TS11
3747: 3255 60 0 0000                              COM     
3750: 3256 32 0 0014                              ADZ     TS14
3751: 3257 72 0 7123                              TSQ     SQRTE
3752: 3260 10 0 0012                              STO     TS12
3753: 3261 40 0 3031                      STEER4  TRA     XDV1              # COMPUTE DELTA V IN LOCAL VERT.
3754: 3262 20 0 0010                              CLA     TS10
3755: 3263 26 1 0060                              MPR     U1X,1
3756: 3264 10 0 0001                              STO     TS1
3757: 3265 20 0 0450                              CLA     28J1
3760: 3266 46 0 3343                      OUT1    TMI     OUT               # IF 28J1 NEGATIVE
3761: 3267 20 0 0012                              CLA     TS12
3762: 3270 26 1 0034                              MPR     V1X,1
3763: 3271 32 0 0001                              ADZ     TS1
3764: 3272 10 0 0001                              STO     TS1
3765: 3273 20 0 0011                              CLA     TS11
3766: 3274 26 1 0040                              MPR     W1X,1
3767: 3275 32 0 0001                              ADZ     TS1
3770:
3771:                                     # Page 52
3772: 3276 06 0 0370                              MPY     VG
3773: 3277 52 0 0001                              LLS     1                 # TO 13
3774: 3300 10 1 0064                              STO     VGX,1             # VELOCITY YET TO BE GAINED
3775: 3301 42 1 3262                              TIX     STEER4+1,1
3776: 3302 50 1 0002                      Q7      AXT     2,1               # COMPUTE VELOCITY TO BE
3777: 3303 20 1 0470                              CLA     VDX,1             # GAINED COMPONENTS
4000: 3304 10 1 0474                              STO     VSMGX,1
4001: 3305 42 1 3303                              TIX     *-2,1
4002: 3306 50 1 0002                              AXT     2,1
4003: 3307 20 1 0064                              CLA     VGX,1
4004: 3310 06 1 0130                              MPY     A11,1
4005: 3311 52 0 0001                              LLS     1                 # TO 13
4006: 3312 32 0 0474                              ADZ     VSMGX             # X-COMP OF TOTAL V TO BE GAINED
4007: 3313 10 0 0474                              STO     VSMGX
4010: 3314 20 1 0064                              CLA     VGX,1
4011: 3315 06 1 0140                              MPY     A21,1
4012: 3316 52 0 0001                              LLS     1                 # TO 13
4013: 3317 32 0 0475                              ADZ     VSMGY
4014: 3320 10 0 0475                              STO     VSMGY             # Y-COMP OF TOTAL V TO BE GAINED
4015: 3321 20 1 0064                              CLA     VGX,1
4016: 3322 06 1 0134                              MPY     A31,1
4017: 3323 52 0 0001                              LLS     1                 # TO 13
4020: 3324 32 0 0476                              ADZ     VSMGZ
4021: 3325 10 0 0476                              STO     VSMGZ             # Z-COMP OF TOTAL V TO BE GAINED
4022: 3326 20 0 0614                              CLA     MU8               # TEST IF ENG ON
4023: 3327 24 0 4006                              SUB     1B17
4024: 3330 46 0 3334                              TMI     *+4               # -- ENG OFF
4025: 3331 20 0 0370                              CLA     VG
4026: 3332 24 0 0466                              SUB     5K26
4027: 3333 46 0 3340                              TMI     *+5
4030: 3334 20 1 0064                              CLA     VGX,1
4031: 3335 06 0 5033                              MPY     1B1               # B14
4032: 3336 04 0 0370                              DVP     VG                # RESULT AT B1
4033: 3337 10 1 0374                              STO     A11BD,1
4034: 3340 42 1 3307                              TIX     Q7+5,1
4035: 3341 72 0 6261                              TSQ     EXEC
4036: 3342 40 0 7472                      IDLE    TRA     TEST
4037:
4040:                                     # Page 53
4041: 3343 20 0 0012                      OUT     CLA     TS12
4042: 3344 60 0 0000                              COM     
4043: 3345 40 0 3270                              TRA     OUT1+2
4044: 3346 44 0 3351                      OVFLT   TOV     *+3
4045: 3347 20 0 0000                              CLA     TS0
4046: 3350 40 0 6764                              TRA     EXIT              # EXIT WITH COMPUTED VALUE
4047: 3351 46 0 3354                              TMI     *+3
4050: 3352 20 0 4030                              CLA     PMAX              # POSITIVE LIMIT
4051: 3353 40 0 3355                              TRA     *+2
4052: 3354 20 0 4037                              CLA     NMAX
4053: 3355 40 0 6764                              TRA     EXIT
4054:
4055:                                     #                 DISPLAY ROUTINE SOFT PORTION.
4056:
4057: 3356 44 0 3357                      DSP1    TOV     *+1               # CL. O.F.
4060: 3357 30 0 0567                              CLZ     DSPF1             # H,HDOT MODE.
4061: 3360 46 0 3362                              TMI     *+2               # -- IS INITIALIZE
4062: 3361 40 0 6274                              TRA     DSPLY             # TO COUNTER CHECK. (HARD)
4063: 3362 20 0 0337                              CLA     H
4064: 3363 10 0 0214                              STO     POUT
4065: 3364 20 0 0367                              CLA     HDOT
4066:                                     #                 Q REGISTER DOES NOT NEED TO BE ZERO
4067:                                     #                 SINCE DVP K55 IS AT WORST A LEFT
4070:                                     #                 SHIFT OF 2 AND THE ALT RATE REGISTER
4071:                                     #                 IS ONLY 15 BITS LONG
4072: 3365 04 0 0607                              DVP     K55
4073: 3366 40 0 6306                              TRA     DSPLY1
4074: 3367 20 0 0270                      DSP2CP  CLA     VY0               # OUT-OF-CSM PLANE VEL.
4075: 3370 54 0 0021                              LRS     17                # SET SIGN OF Q AND USE
4076: 3371 52 0 0021                              LLS     17                #         UP TIME
4077: 3372 12 0 0010                              STQ     TS10              # SAVE SIGN
4100: 3373 62 0 0000                              ABS     
4101: 3374 04 0 0271                              DVP     VY0FS             # =FULL-SCALE VALUE(200 FPS)
4102: 3375 44 0 3377                              TOV     *+2
4103: 3376 40 0 3400                              TRA     *+2
4104: 3377 20 0 4030                              CLA     PMAX
4105: 3400 32 0 0010                              ADZ     TS10              # VY0 IN SIGN-MAGNITUDE
4106:
4107:                                     # Page 54
4110: 3401 40 0 6345                              TRA     DSPLY3-1          # TO OUTPUT,(HARD)
4111:
4112:                                     #                 EXECUTIVE PART 2. (BRANCH 50)
4113:                                     #                 START EXEC2
4114:
4115: 3402 20 0 1117                      EXEC7   CLA     IDRP
4116: 3403 24 0 0671                              SUB     ID                # TEST FOR AGS INITIALIZE ID
4117: 3404 46 0 3525                              TMI     EXECM2
4120: 3405 20 0 1012                      EXEC2   CLA     BR1               # SET NAV BRANCH
4121: 3406 10 0 0063                              STO     BRANCH
4122: 3407 30 0 0455                              CLZ     DDF               # DEDA DATA FLAG.
4123: 3410 46 0 3472                              TMI     NEWDD
4124: 3411 30 0 0571                      EXECM   CLZ     DEL31             # TEST FOR DOWNLINK DATA
4125: 3412 46 0 3402                              TMI     EXEC7
4126: 3413 20 0 0400                      EXECM1  CLA     S0
4127: 3414 24 0 7520                              SUB     3B3
4130: 3415 46 0 3466                              TMI     EXECA             # S0-3(--IS INER. REF)
4131: 3416 24 0 7701                              SUB     1B3
4132: 3417 46 0 3552                              TMI     EXEC6             # S0-4(--IS IMU ALIGN)
4133: 3420 24 0 7701                              SUB     1B3
4134: 3421 46 0 1167                              TMI     TMIE1             # RESET TM
4135: 3422 24 0 7701                              SUB     1B3
4136: 3423 46 0 3466                              TMI     EXECA             # S0-6(--IS ORB ALIGN)
4137: 3424 22 0 5427                              ADD     7B3               # S0+1
4140: 3425 46 0 3445                              TMI     INCMU7            # S0=7
4141: 3426 20 0 0604                      CAL     CLA     DEL21             # CALIBRATE MODE
4142: 3427 46 0 3431                              TMI     *+2
4143: 3430 72 0 4772                              TSQ     EADICS            # IMU DIR COSINES
4144: 3431 72 0 4451                              TSQ     ATTERR            # COMPUTE ATTITUDE ERRORS
4145: 3432 50 1 0002                              AXT     2,1
4146: 3433 20 0 0632                              CLA     1K33              # -3
4147: 3434 06 1 0070                              MPY     EX,1              # 2
4150: 3435 52 0 0014                              LLS     12                # -3+2-12=-13
4151: 3436 32 1 0510                              ADZ     DAXREM,1
4152: 3437 10 1 0510                              STO     DAXREM,1          # -13
4153: 3440 20 0 0633                              CLA     1K34              # -15
4154: 3441 26 1 0070                              MPR     EX,1              # 2
4155:
4156:                                     # Page 55
4157: 3442 32 1 0544                              ADZ     1K1,1
4160: 3443 10 1 0544                              STO     1K1,1             # GYRO BIAS AT -13
4161: 3444 42 1 3433                              TIX     *-9,1
4162: 3445 30 0 0647                      INCMU7  CLZ     MU7               # INCR. COUNTER
4163: 3446 22 0 4006                              ADD     1B17
4164: 3447 10 0 0647                              STO     MU7
4165: 3450 24 0 0613                              SUB     1K37              # ACCEL. CAL. DURATION
4166: 3451 62 0 0000                              ABS     
4167: 3452 60 0 0000                              COM     
4170: 3453 46 0 3462                              TMI     *+7               # + IS TIME FOR ACCEL CAL
4171: 3454 50 1 0002                              AXT     2,1
4172: 3455 30 1 0644                              CLZ     SDVX,1
4173: 3456 26 0 0635                              MPR     1K36
4174: 3457 32 1 0540                              ADZ     1K19,1
4175: 3460 10 1 0540                              STO     1K19,1            # NEW BIAS CORRECTION
4176: 3461 42 1 3455                              TIX     *-4,1
4177: 3462 20 0 0647                              CLA     MU7
4200: 3463 24 0 0617                              SUB     1K30
4201: 3464 46 0 3466                              TMI     EXECA
4202: 3465 30 0 0400                              CLZ     S0                # CAL COMPLETE, SET ATT HOLD
4203: 3466 30 0 0530                      EXECA   CLZ     DAXA              # ZERO ALIGNMENT INCREMENTS
4204: 3467 30 0 0531                              CLZ     DAYA
4205: 3470 30 0 0532                              CLZ     DAZA
4206: 3471 40 0 1167                              TRA     TMIE1             # RESET TM
4207: 3472 20 0 4065                      NEWDD   CLA     STOCOM            # EQU TO STORE
4210: 3473 22 0 0333                              ADD     ADST              # DEDA ADDRESS
4211: 3474 10 0 0721                              STO     VRSH+1            # SET UP STORE INSTRUCTION
4212: 3475 20 0 0326                              CLA     DD                # DEDA DATA
4213: 3476 72 0 0720                              TSQ     VRSH              # STORE DATA
4214: 3477 20 0 1012                              CLA     BR1               # PROTECT BRANCH FROM DEDA
4215: 3500 10 0 0063                              STO     BRANCH
4216: 3501 20 0 1132                              CLA     DLWNLC            # PROTECT DLWNL
4217: 3502 10 0 0672                              STO     DLWNL             # FROM DEDA ENTRY
4220: 3503 20 0 0333                              CLA     ADST
4221: 3504 24 0 4013                              SUB     1B9               # S0 ADDRESS
4222: 3505 46 0 3411                              TMI     EXECM
4223: 3506 24 0 4006                              SUB     1B17
4224:
4225:                                     # Page 56
4226: 3507 46 0 3532                              TMI     EXEC3             # NEW WD IS S0
4227: 3510 24 0 4041                              SUB     10B17
4230: 3511 46 0 3411                              TMI     EXECM             # NEW WD BTWN S0PS13
4231: 3512 24 0 4006                              SUB     1B17
4232: 3513 46 0 6154                              TMI     LUNAZ             # NEW WD IS S13
4233: 3514 24 0 4006                              SUB     1B17
4234: 3515 46 0 3517                              TMI     *+2               # NEW WD IS S14
4235: 3516 40 0 3411                              TRA     EXECM
4236: 3517 20 0 0414                              CLA     S14               # NEW WD IS S14
4237: 3520 24 0 4065                              SUB     2B3
4240: 3521 10 0 0563                              STO     DEL32             # ENABLE DL IF S14=1
4241: 3522 46 0 3527                              TMI     EXECM2+2
4242: 3523 60 0 0000                              COM     
4243: 3524 46 0 3413                              TMI     EXECM1            # -- S14=3
4244: 3525 20 0 1011                      EXECM2  CLA     IC1BR             # SET IC1 BRANCH
4245: 3526 10 0 0063                              STO     BRANCH
4246: 3527 20 0 1116                              CLA     IDAI              # AGS INITIALIZE ID
4247: 3530 10 0 0671                              STO     ID
4250: 3531 40 0 3413                              TRA     EXECM1
4251: 3532 20 0 0400                      EXEC3   CLA     S0
4252: 3533 22 0 7701                              ADD     1B3               # NEG IF S0=7
4253: 3534 46 0 3544                              TMI     MABEE
4254: 3535 24 0 5427                              SUB     7B3
4255: 3536 46 0 3466                              TMI     EXECA
4256: 3537 20 0 0604                              CLA     DEL21             # CALIBRATE I.C.
4257: 3540 46 0 3544                              TMI     MABEE
4260: 3541 20 0 7520                              CLA     3B3               # IMU ALINE FOR 2SECS.
4261: 3542 10 0 0400                              STO     S0
4262: 3543 12 0 0407                              STQ     DEL6
4263: 3544 50 1 0006                      MABEE   AXT     6,1
4264: 3545 30 1 0644                              CLZ     SDVX,1            # ZERO MU7 AND DV SJMS
4265: 3546 20 1 0130                              CLA     A11,1
4266: 3547 10 1 0160                              STO     A11D,1
4267: 3550 42 1 3545                              TIX     *-3,1
4270: 3551 40 0 3466                              TRA     EXECA
4271: 3552 30 0 0407                      EXEC6   CLZ     DEL6              # IMU ALINE.
4272: 3553 46 0 3555                              TMI     *+2               # -- IS CALIBRATE
4273:
4274:                                     # Page 57
4275: 3554 40 0 3556                              TRA     *+2
4276: 3555 20 0 5000                              CLA     6B3
4277: 3556 10 0 0400                              STO     S0
4300: 3557 40 0 1167                              TRA     TMIE1             # RESET TM
4301: 3560 20 0 0140                      FDAI1   CLA     A21
4302: 3561 26 0 0127                              MPR     COGA
4303: 3562 10 0 0001                              STO     TS1
4304: 3563 20 0 0142                              CLA     A23
4305: 3564 26 0 0123                              MPR     SIGA
4306: 3565 40 0 4674                              TRA     EX17+6
4307: 3566 20 1 0610                      LL3DOT  CLA     RD3DTL,1
4310: 3567 10 1 0504                              STO     RD3DOT,1
4311: 3570 40 0 3174                              TRA     GDLAW4
4312: 3571 10 0 0442                      NORTON  STO     TI
4313: 3572 12 0 0046                              STQ     TSEX              # SUBR TO GO TO EXEC.
4314: 3573 72 0 6261                              TSQ     EXEC
4315: 3574 72 0 6535                              TSQ     ELPRD             # ELPR AND COMPT
4316: 3575 72 0 6261                              TSQ     EXEC              # LENGTH OF VECTOR
4317: 3576 50 1 0002                              AXT     2,1               # RIX
4320: 3577 20 1 0220                              CLA     RIX,1
4321: 3600 10 1 0014                              STO     TS14,1
4322: 3601 42 1 3577                              TIX     *-2,1
4323: 3602 72 0 6422                              TSQ     NORMV
4324: 3603 50 1 0002                              AXT     2,1
4325: 3604 20 0 0013                              CLA     TS13              # LENGTH OF RI
4326: 3605 40 0 0046                              TRA     TSEX
4327: 3606 30 0 0320                      RRT     CLZ     READP             # TEST FOR EXIT
4330: 3607 10 0 0325                              STO     RMF               # FROM HOLD
4331: 3610 46 0 7202                              TMI     ADOUT             # TO READ OUT
4332: 3611 40 0 1307                              TRA     DEXIT             # EXIT
4333: 3612 20 0 0410                      EX33P   CLA     S10
4334: 3613 24 0 7520                              SUB     3B3
4335: 3614 46 0 3640                              TMI     CSICDH
4336: 3615 20 0 0304                              CLA     3K4
4337: 3616 24 0 0033                              SUB     C2
4340: 3617 46 0 5552                              TMI     EX33+1
4341: 3620 30 0 0147                              CLZ     DEL10
4342:
4343:                                     # Page 58
4344: 3621 46 0 3630                              TMI     EX33PP
4345: 3622 20 0 0526                      EX35    CLA     2K11
4346: 3623 10 0 0371                              STO     VF
4347: 3624 30 0 0172                              CLZ     Q1
4350: 3625 24 0 0231                              SUB     5J
4351: 3626 10 0 0402                              STO     Q1DEDA
4352: 3627 40 0 3302                              TRA     Q7                # GO TO STEERING
4353: 3630 30 0 0306                      EX33PP  CLZ     4J
4354:                                     #                 RESTORE SAVED QUANTITIES FO T/B COMPUTATIONS
4355:                                     #                 IN HARD MEMORY.
4356: 3631 30 0 0050                              CLZ     V6X
4357: 3632 10 0 0012                              STO     TS12
4360: 3633 30 0 0051                              CLZ     V6Y
4361: 3634 10 0 0013                              STO     TS13
4362: 3635 30 0 0052                              CLZ     V6Z
4363: 3636 10 0 0014                              STO     TS14
4364: 3637 40 0 6067                              TRA     EX36+1
4365: 3640 72 0 6261                      CSICDH  TSQ     EXEC
4366: 3641 20 0 0203                              CLA     RT
4367: 3642 24 0 0347                              SUB     RF
4370: 3643 10 0 0402                              STO     DELH
4371: 3644 10 0 0314                              STO     DELRP             # LITTLE DELTA R AT 23
4372: 3645 30 0 0423                              CLZ     RFDOT
4373: 3646 50 1 0002                              AXT     2,1
4374: 3647 20 1 0430                              CLA     VIX,1
4375: 3650 26 1 0030                              MPR     U2X,1
4376: 3651 56 0 0001                              ALS     1
4377: 3652 32 0 0423                              ADZ     RFDOT
4400: 3653 10 0 0423                              STO     RFDOT             # RFDOT = U2 DOT VT B13
4401: 3654 42 1 3647                              TIX     *-5,1
4402: 3655 20 0 0410                              CLA     S10
4403: 3656 22 0 5000                              ADD     6B3
4404: 3657 46 0 3773                              TMI     CDH               # S10 = 2
4405: 3660 20 0 0416                      CSI     CLA     S16
4406: 3661 06 0 4022                              MPY     3PID4             # A=3/4(PI)(S16) AT B6
4407: 3662 10 0 0001                              STO     TS1
4410: 3663 04 0 0173                              DVP     AE
4411:
4412:                                     # Page 59
4413: 3664 26 0 0402                              MPR     DELH
4414: 3665 10 0 0002                              STO     TS2               # A(DELH/AE) B6
4415: 3666 20 0 0001                              CLA     TS1
4416: 3667 26 0 5033                              MPR     1B1
4417: 3670 10 0 0005                              STO     TS5               # A AT B7
4420: 3671 20 0 0275                              CLA     1J
4421: 3672 24 0 0373                              SUB     TIG
4422: 3673 56 0 0003                              ALS     3
4423: 3674 26 0 0077                              MPR     NE                # NE(1J-TIG) AT B6
4424: 3675 22 0 0002                              ADD     TS2
4425: 3676 26 0 5000                              MPR     6B3               # =1.5B1  3/2(NE)(1J-TIG)+
4426:                                     #                                           3/2(A)(DELH/AE)
4427: 3677 24 0 0005                              SUB     TS5
4430: 3700 22 0 0605                              ADD     2J
4431: 3701 10 0 0007                              STO     TS7               # B AT AB7
4432: 3702 20 0 0477                              CLA     RADOT
4433: 3703 24 0 0423                              SUB     RFDOT
4434: 3704 06 0 4010                              MPY     1B4
4435: 3705 04 0 0463                              DVP     VHA               # 4(RADOT-REDOT)/VHA  B6
4436: 3706 24 0 0002                              SUB     TS2
4437: 3707 10 0 0010                              STO     TS10
4440: 3710 20 0 0303                              CLA     THETAF
4441: 3711 54 0 0003                              LRS     3
4442: 3712 22 0 0010                              ADD     TS10
4443: 3713 06 0 5033                              MPY     1B1               # ACC = C  AT B7
4444: 3714 04 0 0007                              DVP     TS7               # C/B B0
4445: 3715 10 0 0011                              STO     TS11
4446: 3716 26 0 0173                              MPR     AE
4447: 3717 10 0 0402                              STO     DELH              # DELH  B23
4450: 3720 20 0 0011                              CLA     TS11              # C/B = DELH/AE  B0
4451: 3721 26 0 0001                              MPR     TS1               # A(DELH/AE)  B6
4452: 3722 22 0 0002                              ADD     TS2
4453: 3723 10 0 0001                              STO     TS1
4454: 3724 20 0 0576                              CLA     PI
4455: 3725 26 0 0416                              MPR     S16
4456: 3726 24 0 0001                              SUB     TS1
4457: 3727 06 0 7701                              MPY     1B3               # TO B9
4460:
4461:                                     # Page 60
4462: 3730 04 0 0077                              DVP     NE
4463: 3731 10 0 0372                              STO     TA0
4464: 3732 20 0 0477                              CLA     RADOT
4465: 3733 10 0 0423                              STO     RFDOT
4466: 3734 20 0 0314                      CDH2    CLA     DELRP             # LITTLE DELTA R
4467: 3735 22 0 0402                              ADD     DELH
4470: 3736 26 0 4126                              MPR     M1B1              # -.5B0 = -1B1
4471: 3737 22 0 0173                              ADD     AE
4472: 3740 10 0 0177                      CDH3    STO     AL
4473: 3741 20 0 0177                              CLA     AL                # CALCULATE 28J1
4474: 3742 24 0 0347                              SUB     RF
4475: 3743 22 0 0177                              ADD     AL
4476: 3744 06 0 0636                              MPY     2K1
4477: 3745 54 0 0001                              LRS     1
4500: 3746 04 0 0347                              DVP     RF
4501: 3747 14 0 4007                              LDQ     ZERO
4502: 3750 04 0 0177                              DVP     AL
4503: 3751 72 0 7123                              TSQ     SQRTE
4504: 3752 24 0 0463                              SUB     VHA
4505: 3753 10 0 0450                              STO     28J1              # 28J1 = VHF - VHA
4506: 3754 72 0 6261                              TSQ     EXEC
4507: 3755 20 0 0477                              CLA     RADOT
4510: 3756 24 0 0423                              SUB     RFDOT
4511: 3757 10 0 0452                              STO     28J3
4512: 3760 10 0 0005                              STO     TS4+1
4513: 3761 20 0 0410                              CLA     S10
4514: 3762 60 0 0000                              COM     
4515: 3763 46 0 3025                              TMI     XDV
4516: 3764 20 0 0450                              CLA     28J1
4517: 3765 10 0 0004                              STO     TS4
4520: 3766 20 0 0270                              CLA     VY0
4521: 3767 10 0 0006                              STO     TS4+2
4522: 3770 72 0 6737                              TSQ     DPVMAG
4523: 3771 10 0 0370                              STO     VG
4524: 3772 40 0 6136                              TRA     GDLAW
4525: 3773 30 0 0372                      CDH     CLZ     TA0
4526: 3774 22 0 0373                              ADD     TIG
4527:
4530:                                     # Page 61
4531: 3775 10 0 0373                              STO     TIG               # TIG = TIG + TAO
4532: 3776 40 0 3734                              TRA     CDH2
4533:                                     #         SEE REAR OF LISTING FOR CHECKSUM
4534:                                     #         START OF HARDWIRED MEMORY 
4535:                                     #                 CONSTANTS
4536:
4537: 3777                                        CHECKSUM RANGE 1005-3776
4540: 4000                                        ORG     4000
4541: 4000           000007               7B17    DEC     7.B17             # CONSTANTS FOR NORMALIZE
4542: 4001           000006               6B17    DEC     6.B17
4543: 4002           000005               5B17    DEC     5.B17
4544: 4003           000004               4B17    DEC     4.B17
4545: 4004           000003               3B17    DEC     3.B17
4546: 4005           000002               2B17    DEC     2.B17
4547: 4006           000001               1B17    DEC     1.B17
4550: 4007           000000               ZERO    DEC     0
4551:                         4065        2B3     EQU     1B2
4552:                         7512        5B3     EQU     10B4
4553:                         5000        6B3     EQU     12B4
4554: 4010           020000               1B4     DEC     1.B4
4555: 4011           010000               1B5     DEC     1.B5
4556: 4012           004000               1B6     DEC     1.B6
4557: 4013           000400               1B9     DEC     1.B9
4560: 4014           000100               1B11    DEC     1.B11
4561: 4015           000040               1B12    DEC     1.B12
4562: 4016           000020               1B13    DEC     1.B13
4563: 4017           000010               1B14    DEC     1.B14
4564:                         4017        8B17    EQU     1B14
4565: 4020           252525               SIXTH   OCT     252525
4566: 4021           311040               2PIB3   DEC     6.2831853B3
4567:                         4021        1K25    EQU     2PIB3
4570: 4022           113314               3PID4   DEC     2.3561945B3
4571: 4023           062210               PID2    DEC     1.57079633B3
4572: 4024           031104               PID4    DEC     .78539816B3
4573: 4025           774761               K173    DEC     -.18488E-3B-6
4574: 4026           042027               K172    DEC     .83119E-2B-4
4575: 4027           525261               K171    DEC     -.16665554B-2
4576:
4577:                                     # Page 62
4600: 4030           377777               K170    OCT     377777            # 1B0
4601:                         4030        PMAX    EQU     K170
4602: 4031           660111               K183    DEC     -.0389929B-3
4603: 4032           112712               K182    DEC     .1462766B-1
4604: 4033           726707               K181    DEC     -.3211819B1
4605: 4034           077746               K180    DEC     .999215B2
4606: 4035 54 0 0000                      SHDUM   LRS     0
4607: 4036           400000               MS      OCT     400000
4610: 4037           400001               NMAX    OCT     400001
4611: 4040           000061               49B17   DEC     49.B17
4612: 4041           000012               10B17   DEC     10.B17
4613: 4042           303240               BCDL    DEC     100000.B17
4614: 4043 40 0 4475                      TRNSFR  TRA     EROUT             # EXIT FROM ATT ERROR COMPS
4615: 4044 40 0 6246                      BACK    TRA     RETURN
4616: 4045 66 0 6100                      TMOUT   OUT     6100
4617: 4046 20 0 4000                      CLAFR   CLA     4000
4620:                         7002        CLATEN  EQU     SICO2             # CLA 0,1
4621:                         4036        TRACOM  EQU     MS                # LOOKS LIKE TRA 0
4622:                         4065        STOCOM  EQU     1B2               # LOOKS LIKE STO 0
4623:                         5033        DUMCLA  EQU     1B1               # LOOKS LIKE CLA 0
4624:
4625:                                     # **      20 MILLISECOND COMPUTATIONS
4626:
4627: 4047 70 0 4050                      DELAY   DLY     *+1
4630: 4050 64 0 2001                              INP     2001              # INPUT PGNS ANGLES
4631: 4051 10 0 0107                              STO     THEP
4632: 4052 64 0 2002                              INP     2002
4633: 4053 10 0 0117                              STO     PHIP
4634: 4054 64 0 2004                              INP     2004
4635: 4055 10 0 0113                              STO     PSIP
4636: 4056 64 0 6010                              INP     6010              # INPUT GYRO DATA
4637: 4057 10 0 0354                              STO     DAX
4640: 4060 64 0 6002                              INP     6002
4641: 4061 10 0 0355                              STO     DAY
4642: 4062 64 0 6004                              INP     6004
4643: 4063 10 0 0356                              STO     DAZ
4644: 4064 64 0 6020                              INP     6020              # INPUT ACCELEROMETER DATA
4645:
4646:                                     # Page 63
4647: 4065 10 0 0000                      1B2     STO     TS0               # VALUE USED AS CONSTANT
4650: 4066 64 0 6040                              INP     6040
4651: 4067 10 0 0001                              STO     TS1
4652: 4070 64 0 6100                              INP     6100
4653: 4071 10 0 0002                              STO     TS2
4654: 4072 40 0 1015                      EX1     TRA     EXIT1
4655:                                     #         PROCESS ACCELEROMETER INPUTS
4656: 4073 50 1 0002                              AXT     2,1
4657: 4074 30 1 0350                      DVS     CLZ     DVX,1             # SAVE PREVIOUS VALUE
4660: 4075 10 1 0074                              STO     DVXM1,1
4661: 4076 30 1 0000                              CLZ     TS0,1
4662: 4077 24 0 7507                              SUB     1K7               # 11
4663: 4100 56 0 0001                              ALS     1
4664: 4101 26 1 0534                              MPR     1K18,1            # SCALE FACTOR
4665: 4102 56 0 0001                              ALS     1                 # SCALE AT 1
4666: 4103 22 1 0540                              ADD     1K19,1            # BIAS COMPENSATION
4667: 4104 10 1 0350                              STO     DVX,1             # AT 1
4670: 4105 42 1 4074                              TIX     DVS,1
4671: 4106 40 0 1016                              TRA     EXIT2             # TO MODE CHECK.
4672:                                     #         PROCESS GYRO INPUTS
4673: 4107 50 1 0002                              AXT     2,1
4674: 4110 44 0 4111                              TOV     *+1               # RESET
4675: 4111 30 1 0354                      GYCOM   CLZ     DAX,1
4676: 4112 24 0 7507                              SUB     1K7
4677: 4113 56 0 0001                              ALS     1                 # RADIANS AT -6
4700: 4114 10 1 0354                              STO     DAX,1
4701: 4115 26 1 0550                              MPR     1K3,1             # SCALE FACTOR COMP
4702: 4116 22 1 0544                              ADD     1K1,1             # AT -13
4703: 4117 32 1 0510                              ADZ     DAXREM,1
4704: 4120 10 1 0510                              STO     DAXREM,1
4705: 4121 22 0 4010                              ADD     1B4               # ROUND
4706: 4122 54 0 0016                              LRS     14                # TO +1
4707: 4123 56 0 0007                              ALS     7                 # TO -6, QUANTIZED AT -16
4710: 4124 10 0 0006                              STO     TS6
4711: 4125 56 0 0007                              ALS     7
4712: 4126 60 0 0000                      M1B1    COM                       # INSTRUCTION LOOKS LIKE -1B1
4713: 4127 32 1 0510                              ADZ     DAXREM,1
4714:
4715:                                     # Page 64
4716: 4130 10 1 0510                              STO     DAXREM,1
4717: 4131 30 0 0006                              CLZ     TS6
4720: 4132 32 1 0354                              ADZ     DAX,1
4721: 4133 22 1 0530                              ADD     DAXA,1
4722: 4134 10 1 0354                              STO     DAX,1             # -6
4723: 4135 56 0 0003                              ALS     3                 # TO -9
4724: 4136 10 1 0010                              STO     TS10,1
4725: 4137 62 0 0000                              ABS     
4726: 4140 22 0 4012                              ADD     1B6               # TEST FOR POSSIBLE OVERFL
4727: 4141 42 1 4111                              TIX     GYCOM,1
4730: 4142 40 0 1017                      EX3     TRA     EXIT3
4731: 4143 44 0 4405                              TOV     HRC
4732: 4144 30 0 0553                              CLZ     HRF
4733: 4145 46 0 4373                              TMI     LRI
4734:                                     #         COMPUTE DIRECTION COSINE CHANGE
4735: 4146 20 0 0010                      CDCC    CLA     TS10              # DAX AT -6 OR -9
4736: 4147 06 0 0011                              MPY     TS11              # DAY
4737: 4150 54 0 0001                              LRS     1                 # 1/2DAX(DAY) AT -12 OR -18
4740: 4151 72 0 1002                              TSQ     RND
4741: 4152 22 0 0012                              ADD     TS12              # DAZ
4742: 4153 10 0 0001                              STO     TS1
4743: 4154 20 0 0010                              CLA     TS10
4744: 4155 06 0 0012                              MPY     TS12
4745: 4156 54 0 0001                              LRS     1                 # 1/2DAX(DAZ) AT -12 OR -18
4746: 4157 72 0 1002                              TSQ     RND
4747: 4160 34 0 0146                              SUZ     E13
4750: 4161 10 0 0007                              STO     TS7
4751: 4162 24 0 0011                              SUB     TS11
4752: 4163 10 0 0002                              STO     TS2
4753: 4164 20 0 0011                              CLA     TS11
4754: 4165 26 0 0011                              MPR     TS11
4755: 4166 54 0 0001                              LRS     1
4756: 4167 10 0 0133                              STO     TS8
4757: 4170 20 0 0012                              CLA     TS12
4760: 4171 26 0 0012                              MPR     TS12
4761: 4172 54 0 0001                              LRS     1                 # 1/2DAZ(DAZ) AT -12 OR -18
4762: 4173 22 0 0133                              ADD     TS8
4763:
4764:                                     # Page 65
4765: 4174 72 0 1002                              TSQ     RND
4766: 4175 60 0 0000                              COM     
4767: 4176 32 0 0144                              ADZ     E1                # NORMALITY CONSTRAINT
4770: 4177 10 0 0003                              STO     TS3
4771: 4200 30 0 0007                              CLZ     TS7
4772: 4201 22 0 0011                              ADD     TS11
4773: 4202 10 0 0004                              STO     TS4
4774: 4203 20 0 0011                              CLA     TS11
4775: 4204 06 0 0012                              MPY     TS12
4776: 4205 54 0 0001                              LRS     1                 # 1/2DAY(DAZ) AT -12 OR -18
4777: 4206 72 0 1002                              TSQ     RND
5000: 4207 24 0 0010                              SUB     TS10
5001: 4210 10 0 0005                              STO     TS5
5002: 4211 20 0 0010                              CLA     TS10
5003: 4212 26 0 0010                              MPR     TS10
5004: 4213 54 0 0001                              LRS     1                 # 1/2DAX(DAX) AT -12 OR -18
5005: 4214 32 0 0133                              ADZ     TS8
5006: 4215 72 0 1002                              TSQ     RND
5007: 4216 60 0 0000                              COM     
5010: 4217 32 0 0145                              ADZ     E3
5011: 4220 10 0 0006                              STO     TS6
5012: 4221 40 0 1020                      EX4     TRA     EXIT4
5013: 4222 50 1 0002                              AXT     2,1               # COMPUTE EQUATIONS
5014: 4223 20 0 0001                      DICOS   CLA     TS1
5015: 4224 26 1 0140                              MPR     A21,1             # 1
5016: 4225 32 1 0150                              ADZ     DA11,1
5017: 4226 10 1 0150                              STO     DA11,1            # -5 OR -8
5020: 4227 20 0 0002                              CLA     TS2
5021: 4230 26 1 0134                              MPR     A31,1
5022: 4231 32 1 0150                              ADZ     DA11,1
5023: 4232 10 1 0150                              STO     DA11,1            # -5 OR -8
5024: 4233 20 0 0003                              CLA     TS3
5025: 4234 26 1 0130                              MPR     A11,1
5026: 4235 32 1 0150                              ADZ     DA11,1
5027: 4236 10 1 0150                              STO     DA11,1            # -5 OR -8
5030: 4237 20 0 0004                              CLA     TS4               # ROW 3
5031: 4240 26 1 0130                              MPR     A11,1
5032:
5033:                                     # Page 66
5034: 4241 32 1 0154                              ADZ     DA31,1
5035: 4242 10 1 0154                              STO     DA31,1
5036: 4243 20 0 0005                              CLA     TS5
5037: 4244 26 1 0140                              MPR     A21,1
5040: 4245 32 1 0154                              ADZ     DA31,1
5041: 4246 10 1 0154                              STO     DA31,1
5042: 4247 20 0 0006                              CLA     TS6
5043: 4250 26 1 0134                              MPR     A31,1
5044: 4251 32 1 0154                              ADZ     DA31,1
5045: 4252 10 1 0154                              STO     DA31,1
5046: 4253 42 1 4223                              TIX     DICOS,1
5047:                                     #         INTEGRATE DIRECTION COSINES
5050: 4254 50 1 0006                              AXT     6,1
5051: 4255 20 0 0553                      INTAS   CLA     HRF
5052: 4256 46 0 4431                              TMI     HRINT             # -5 OR -8 TEST
5053: 4257 20 1 0150                              CLA     DA11,1
5054: 4260 22 0 4013                      RND1    ADD     1B9               # ROUND
5055: 4261 54 0 0011                      SHFT1   LRS     9                 # TO 1
5056: 4262 10 0 0001                              STO     TS1
5057: 4263 56 0 0011                              ALS     9
5060: 4264 60 0 0000                              COM     
5061: 4265 32 1 0150                              ADZ     DA11,1
5062: 4266 10 1 0150                              STO     DA11,1            # SAVE REMAINDER
5063: 4267 30 1 0130                              CLZ     A11,1
5064: 4270 32 0 0001                              ADZ     TS1
5065: 4271 10 1 0130                              STO     A11,1
5066: 4272 42 1 4255                              TIX     INTAS,1
5067: 4273 72 0 1021                              TSQ     EXIT5             # DOWNLINK INPUT
5070: 4274 72 0 1022                              TSQ     EXIT6             # TELEMETRY OUTPUT
5071:                                     #         COMPUTE ROW 2
5072: 4275 20 0 0131                      COA21   CLA     A12
5073: 4276 26 0 0136                              MPR     A33               # 2
5074: 4277 10 0 0001                              STO     TS1
5075: 4300 20 0 0132                              CLA     A13
5076: 4301 26 0 0135                              MPR     A32
5077: 4302 34 0 0001                              SUZ     TS1
5100: 4303 56 0 0001                              ALS     1                 # TO 1
5101:
5102:                                     # Page 67
5103: 4304 10 0 0140                              STO     A21               # A21
5104: 4305 20 0 0132                              CLA     A13
5105: 4306 26 0 0134                              MPR     A31
5106: 4307 10 0 0001                              STO     TS1
5107: 4310 20 0 0130                              CLA     A11
5110: 4311 26 0 0136                              MPR     A33
5111: 4312 34 0 0001                              SUZ     TS1
5112: 4313 56 0 0001                              ALS     1
5113: 4314 10 0 0141                              STO     A22               # A22
5114: 4315 20 0 0130                              CLA     A11
5115: 4316 26 0 0135                              MPR     A32
5116: 4317 10 0 0001                              STO     TS1
5117: 4320 20 0 0131                              CLA     A12
5120: 4321 26 0 0134                              MPR     A31
5121: 4322 34 0 0001                              SUZ     TS1
5122: 4323 56 0 0001                              ALS     1
5123: 4324 10 0 0142                              STO     A23               # A23,DIR COS UPDATE COMPLETE
5124: 4325 40 0 1024                      EX8     TRA     EXIT8
5125:                                     #         VELOCITY RESOLUTION
5126: 4326 50 1 0002                      DVINT   AXT     2,1               # RESOLVE BODY DVS TO
5127: 4327 20 1 0130                              CLA     A11,1             # INERTIAL FRAME AND
5130: 4330 26 0 0350                              MPR     DVX               # ACCUMULATE.
5131: 4331 10 0 0001                              STO     TS1               # 2
5132: 4332 20 1 0140                              CLA     A21,1
5133: 4333 26 0 0351                              MPR     DVY
5134: 4334 32 0 0001                              ADZ     TS1
5135: 4335 10 0 0001                              STO     TS1
5136: 4336 20 1 0134                              CLA     A31,1
5137: 4337 26 0 0352                              MPR     DVZ
5140: 4340 32 0 0001                              ADZ     TS1               # 2
5141: 4341 22 0 4016                              ADD     1B13              # ROUND
5142: 4342 54 0 0005                              LRS     5
5143: 4343 32 1 0120                              ADZ     DVSX,1
5144: 4344 10 1 0120                              STO     DVSX,1            # 7
5145: 4345 42 1 4327                              TIX     DVINT+1,1
5146: 4346 72 0 1021                              TSQ     EXIT5             # DOWNLINK INPUT
5147: 4347 72 0 1022                              TSQ     EXIT6             # TELEMETRY OUTPUT
5150:
5151:                                     # Page 68
5152:
5153: 4350 30 0 0573                              CLZ     FLAG1
5154: 4351 46 0 0063                              TMI     BRANCH            # -- IS GUID/NAV CYCLE.
5155: 4352 20 0 4036                              CLA     MS
5156: 4353 10 0 0573                              STO     FLAG1
5157: 4354 40 0 1025                      EX9     TRA     EXIT9
5160:
5161:                                     #         HARDWIRED 40 MS COMPUTATIONS
5162:                                     #         DISCRETE INPUT AND STAGING RECOGNITION COMPS.
5163:
5164: 4355 64 0 2020                              INP     DISC1I            # INPUT DISCRETE WD 1
5165: 4356 10 0 0401                              STO     DISC1C
5166: 4357 22 0 4006                              ADD     1B17              # OBTAIN TWO'S COMP OF INPUT WD
5167: 4360 60 0 0000                              COM     
5170: 4361 10 0 0533                              STO     DISC1
5171: 4362 20 0 0574                              CLA     DEL2              # TEST FOR STAGING
5172: 4363 46 0 1026                              TMI     EXIT10            # -- IS STAGED
5173: 4364 20 0 0401                              CLA     DISC1C            # TEST FOR ASCENT ENG ON
5174: 4365 56 0 0006                              ALS     6
5175: 4366 46 0 1026                              TMI     EXIT10            # -- IS OFF.
5176: 4367 30 0 0604                              CLZ     DEL21             # RESET LUNAR SURFACE FLAG
5177: 4370 20 0 4036                              CLA     MS
5200: 4371 10 0 0574                              STO     DEL2              # SET STAGED FLAG
5201: 4372 40 0 1027                              TRA     EXIT11
5202:
5203:                                     #         DIRECTION COSINE LOGIC
5204: 4373 50 1 0006                      LRI     AXT     6,1
5205: 4374 30 1 0150                              CLZ     DA11,1            # REMAINDERS
5206: 4375 56 0 0003                              ALS     3                 # TO -8
5207: 4376 10 1 0150                              STO     DA11,1
5210: 4377 42 1 4374                              TIX     *-3,1
5211: 4400 20 0 4260                              CLA     RND1
5212: 4401 10 0 1003                              STO     RND+1
5213: 4402 20 0 4261                              CLA     SHFT1
5214: 4403 10 0 1004                              STO     RND+2
5215: 4404 40 0 4146                              TRA     CDCC
5216:
5217:
5220:                                     # Page 69
5221: 4405 20 0 0553                      HRC     CLA     HRF
5222: 4406 46 0 4421                              TMI     HRC1
5223: 4407 20 0 4432                              CLA     RND2              # SET UP FOR HIGH RATE
5224: 4410 10 0 1003                              STO     RND+1
5225: 4411 20 0 4433                              CLA     SHFT2
5226: 4412 10 0 1004                              STO     RND+2
5227: 4413 10 0 0553                              STO     HRF
5230: 4414 50 1 0006                              AXT     6,1
5231: 4415 30 1 0150                              CLZ     DA11,1
5232: 4416 54 0 0003                              LRS     3                 # TO -5
5233: 4417 10 1 0150                              STO     DA11,1
5234: 4420 42 1 4415                              TIX     *-3,1
5235: 4421 50 1 0002                      HRC1    AXT     2,1
5236: 4422 20 1 0354                              CLA     DAX,1
5237: 4423 10 1 0010                              STO     TS10,1            # AT -6
5240: 4424 30 1 0144                              CLZ     E1,1
5241: 4425 54 0 0003                              LRS     3                 # TO -6
5242: 4426 10 1 0144                              STO     E1,1
5243: 4427 42 1 4422                              TIX     *-5,1
5244: 4430 40 0 4146                              TRA     CDCC
5245:
5246: 4431 20 1 0150                      HRINT   CLA     DA11,1
5247: 4432 22 0 4015                      RND2    ADD     1B12              # ROUND
5250: 4433 54 0 0006                      SHFT2   LRS     6                 # TO 1
5251: 4434 10 0 0001                              STO     TS1
5252: 4435 56 0 0006                              ALS     6
5253: 4436 40 0 4264                              TRA     INTAS+7
5254:
5255:                                     #                 ATTITUDE HOLD. (40 MS)
5256: 4437 20 0 0575                      AHE     CLA     DEL5              # ATTITUDE HOLD ENTRY
5257: 4440 46 0 4450                              TMI     AHE1              # IF MINUS -- DRIVE TO REF COSINES
5260: 4441 20 0 4036                              CLA     MS                # FIRST CYCLE IN
5261: 4442 10 0 0575                              STO     DEL5              # ATTITUDE HOLD
5262: 4443 50 1 0006                              AXT     6,1               # SET DESIRED ATTITUDE
5263: 4444 20 1 0130                              CLA     A11,1
5264: 4445 10 1 0160                              STO     A11D,1
5265: 4446 42 1 4444                              TIX     *-2,1
5266:
5267:
5270:                                     # Page 70
5271: 4447 72 0 1030                              TSQ     EXIT12            # TO ACQUISITION RESET.
5272: 4450 14 0 4043                      AHE1    LDQ     TRNSFR            # TRA EROUT INTO Q
5273: 4451 12 0 0023                      ATTERR  STQ     SREX              # ENTER HERE FROM CALIBRATE
5274: 4452 50 1 0002                              AXT     2,1               # COMPUTE EX
5275: 4453 20 1 0164                              CLA     A31D,1
5276: 4454 26 1 0140                              MPR     A21,1             # 1+1=+2
5277: 4455 60 0 0000                              COM     
5300: 4456 32 0 0070                              ADZ     EX
5301: 4457 10 0 0070                              STO     EX                # +2
5302: 4460 42 1 4453                              TIX     *-5,1
5303: 4461 50 1 0002                      EYEZ    AXT     2,1               # COMPUTE EY AND EZ
5304: 4462 20 1 0160                              CLA     A11D,1
5305: 4463 26 1 0140                              MPR     A21,1             # 1+1=+2
5306: 4464 32 0 0072                              ADZ     EZ
5307: 4465 10 0 0072                              STO     EZ
5310: 4466 20 1 0160                              CLA     A11D,1
5311: 4467 26 1 0134                              MPR     A31,1             # 1+1=+2
5312: 4470 60 0 0000                              COM     
5313: 4471 32 0 0071                              ADZ     EY
5314: 4472 10 0 0071                              STO     EY
5315: 4473 42 1 4462                              TIX     *-9,1
5316: 4474 40 0 0023                              TRA     SREX
5317:
5320:                                     #         LIMIT AND OUTPUT ATTITUDE ERRORS
5321: 4475 40 0 1031                      EROUT   TRA     EXIT13
5322: 4476 50 1 0002                              AXT     2,1
5323: 4477 30 1 0070                              CLZ     EX,1
5324: 4500 14 0 4036                              LDQ     MS
5325: 4501 46 0 4503                              TMI     *+2
5326: 4502 40 0 4504                              TRA     *+2
5327: 4503 12 1 0070                              STQ     EX,1
5330: 4504 62 0 0000                              ABS     
5331: 4505 24 0 0666                              SUB     4K21              # +2
5332: 4506 46 0 4511                              TMI     *+3               # LESS THAN MAX
5333: 4507 20 0 4030                              CLA     PMAX              # SET MAX OUTPUT
5334: 4510 40 0 4513                              TRA     *+3
5335: 4511 22 0 0666                              ADD     4K21
5336:
5337:                                     # Page 71
5340: 4512 04 0 0666                              DVP     4K21              # SCALE FACTOR
5341: 4513 32 1 0070                              ADZ     EX,1
5342: 4514 10 1 0070                              STO     EX,1
5343: 4515 42 1 4477                              TIX     EROUT+2,1
5344: 4516 66 0 6001                              OUT     EXO               # AT 0
5345: 4517 20 0 0071                              CLA     EY
5346: 4520 66 0 6002                              OUT     EYO               # AT 0
5347: 4521 20 0 0072                              CLA     EZ
5350: 4522 66 0 6004                              OUT     EZO               # AT 0
5351: 4523 40 0 1032                              TRA     EXIT14
5352:
5353:                                     #         RENDEZVOUS STEERING
5354: 4524 30 0 0575                      RST     CLZ     DEL5              # CLEAR ATT HLD 1ST CYCLE FLAG
5355: 4525 50 1 0002                              AXT     2,1
5356: 4526 20 1 0374                              CLA     A11BD,1
5357: 4527 10 1 0160                              STO     A11D,1
5360: 4530 42 1 4526                              TIX     *-2,1
5361: 4531 20 0 4043                              CLA     TRNSFR            # TRA EROUT INTO SREX
5362: 4532 10 0 0023                              STO     SREX
5363: 4533 40 0 4461                              TRA     EYEZ
5364:
5365:                                     #         LUNAR ALIGN COMPS
5366: 4534 20 0 0134                      LUNAL   CLA     A31
5367: 4535 26 0 0134                              MPR     A31
5370: 4536 60 0 0000                              COM     
5371: 4537 22 0 4065                              ADD     1B2
5372: 4540 72 0 7123                              TSQ     SQRTE
5373: 4541 10 0 0001                              STO     TS1
5374: 4542 20 0 0047                              CLA     SIDELL            # COMPUTE COS DEL A
5375: 4543 26 0 0547                              MPR     DDEL
5376: 4544 22 0 0053                              ADD     CODELL
5377: 4545 06 0 0001                              MPY     TS1               # A32D AT 2
5400: 4546 52 0 0001                              LLS     1
5401: 4547 26 0 0141                              MPR     A22
5402: 4550 10 0 0002                              STO     TS2
5403: 4551 20 0 0053                              CLA     CODELL            # COMPUTE SIN DEL A
5404: 4552 26 0 0547                              MPR     DDEL
5405:
5406:                                     # Page 72
5407: 4553 60 0 0000                              COM     
5410: 4554 22 0 0047                              ADD     SIDELL
5411: 4555 06 0 0001                              MPY     TS1               # A33D AT 2
5412: 4556 52 0 0001                              LLS     1
5413: 4557 26 0 0142                              MPR     A23
5414: 4560 32 0 0002                              ADZ     TS2
5415: 4561 10 0 0002                              STO     TS2
5416: 4562 20 0 0134                              CLA     A31
5417: 4563 26 0 0140                              MPR     A21
5420: 4564 32 0 0002                              ADZ     TS2
5421: 4565 14 0 4007                              LDQ     ZERO
5422: 4566 04 0 0626                              DVP     1K26
5423: 4567 10 0 0530                              STO     DAXA              # -6
5424: 4570 20 0 0134                              CLA     A31
5425: 4571 14 0 4007                              LDQ     ZERO
5426: 4572 04 0 0630                              DVP     1K28              # 1-7=-6
5427: 4573 10 0 0001                              STO     TS1
5430: 4574 20 0 0352                              CLA     DVZ
5431: 4575 22 0 0076                              ADD     DVZM1
5432: 4576 06 0 0627                              MPY     1K27              # 1-4=-3
5433: 4577 52 0 0003                              LLS     3                 # TO -6
5434: 4600 34 0 0001                              SUZ     TS1
5435: 4601 10 0 0531                              STO     DAYA
5436: 4602 20 0 0351                              CLA     DVY
5437: 4603 22 0 0075                              ADD     DVYM1
5440: 4604 06 0 0627                              MPY     1K27              # 1-4=-3
5441: 4605 52 0 0003                              LLS     3                 # TO -6
5442: 4606 10 0 0001                              STO     TS1
5443: 4607 20 0 0140                              CLA     A21
5444: 4610 14 0 4007                              LDQ     ZERO
5445: 4611 04 0 0630                              DVP     1K28
5446: 4612 34 0 0001                              SUZ     TS1
5447: 4613 10 0 0532                              STO     DAZA
5450: 4614 50 1 0002                              AXT     2,1
5451: 4615 20 1 0530                              CLA     DAXA,1
5452: 4616 62 0 0000                              ABS     
5453: 4617 54 0 0002                              LRS     2                 # TO -4
5454:
5455:                                     # Page 73
5456: 4620 32 0 0002                              ADZ     TS2
5457: 4621 10 0 0002                              STO     TS2
5460: 4622 42 1 4615                              TIX     *-5,1
5461: 4623 24 0 0631                              SUB     1K29              # TEST FOR LUNAR ALIGN COMPLETE
5462: 4624 10 0 0606                              STO     DEL42             # DEL42 NEG IS LUNAL COMPLETE
5463: 4625 40 0 1033                              TRA     EXIT15
5464:
5465:                                     #         FDAI COMPUTATIONS
5466: 4626 20 0 0135                      FDAI    CLA     A32               # TOTAL ATTITUDE
5467: 4627 60 0 0000                              COM                       # -A32
5470: 4630 72 0 4724                              TSQ     FDAIL             # LIMIT ROUTINE
5471: 4631 66 0 2004                              OUT     SIBEO             # SIN BETA AT 0
5472: 4632 20 0 0136                              CLA     A33
5473: 4633 26 0 0136                              MPR     A33
5474: 4634 10 0 0001                              STO     TS1
5475: 4635 20 0 0134                              CLA     A31
5476: 4636 26 0 0134                              MPR     A31
5477: 4637 32 0 0001                              ADZ     TS1
5500: 4640 72 0 7123                              TSQ     SQRTE
5501: 4641 10 0 0002                              STO     TS2               # COS BETA
5502: 4642 72 0 4724                              TSQ     FDAIL
5503: 4643 66 0 2010                              OUT     COBEO
5504: 4644 40 0 1034                      EX16    TRA     EXIT16
5505: 4645 20 0 0002                              CLA     TS2
5506: 4646 24 0 0625                              SUB     1K24
5507: 4647 46 0 1035                              TMI     EXIT17            # USE OLD VALUE OF SIGA AND COGA
5510: 4650 14 0 4007                              LDQ     ZERO
5511: 4651 20 0 0134                              CLA     A31
5512: 4652 54 0 0001                              LRS     1
5513: 4653 04 0 0002                              DVP     TS2
5514: 4654 10 0 0123                              STO     SIGA
5515: 4655 72 0 4724                              TSQ     FDAIL
5516: 4656 66 0 2020                              OUT     SIGAO
5517: 4657 14 0 4007                              LDQ     ZERO
5520: 4660 20 0 0136                              CLA     A33
5521: 4661 54 0 0001                              LRS     1
5522: 4662 04 0 0002                              DVP     TS2
5523:
5524:                                     # Page 74
5525: 4663 10 0 0127                              STO     COGA
5526: 4664 72 0 4724                              TSQ     FDAIL
5527: 4665 66 0 2040                              OUT     COGAO
5530: 4666 40 0 1035                      EX17    TRA     EXIT17
5531:                                     #                 THE NEXT 5 CELLS ARE BYPASSED AND
5532:                                     #                 RE-WRITTEN IN SOFT MEMORY
5533: 4667 20 0 0142                              CLA     A23               # GAMMA OUTPUT
5534: 4670 26 0 0123                              MPR     SIGA
5535: 4671 10 0 0001                              STO     TS1
5536: 4672 20 0 0140                              CLA     A21
5537: 4673 26 0 0127                              MPR     COGA
5540: 4674 34 0 0001                              SUZ     TS1
5541: 4675 56 0 0001                              ALS     1
5542: 4676 72 0 4724                              TSQ     FDAIL
5543: 4677 66 0 2001                              OUT     SIALO
5544: 4700 20 0 0132                              CLA     A13
5545: 4701 26 0 0123                              MPR     SIGA
5546: 4702 10 0 0001                              STO     TS1
5547: 4703 20 0 0130                              CLA     A11
5550: 4704 26 0 0127                              MPR     COGA
5551: 4705 34 0 0001                              SUZ     TS1
5552: 4706 56 0 0001                              ALS     1
5553: 4707 72 0 4724                              TSQ     FDAIL
5554: 4710 66 0 2002                              OUT     COALO
5555:
5556:                                     #         DEDA DISCRETE SAMPLING
5557:
5560: 4711 64 0 2040                              INP     DISC2I
5561: 4712 22 0 4006                              ADD     1B17
5562: 4713 60 0 0000                              COM     
5563: 4714 56 0 0001                              ALS     1                 # IS TAPE LOAD REQUESTED
5564: 4715 46 0 6214                              TMI     GSESR             # IF MINUS -- TRANSFER TO GSE SERV
5565: 4716 56 0 0003                              ALS     3
5566: 4717 50 1 0003                              AXT     3,1
5567: 4720 46 0 4741                              TMI     SPULSE
5570: 4721 56 0 0001                              ALS     1
5571: 4722 42 1 4720                              TIX     *-2,1
5572:
5573:                                     # Page 75
5574: 4723 40 0 4742                              TRA     SPULSE+1
5575:
5576:                                     #                 FDAI LIMITING SUBROUTINE
5577: 4724 12 0 0023                      FDAIL   STQ     SREX
5600: 4725 14 0 4036                              LDQ     MS
5601: 4726 46 0 4730                              TMI     *+2
5602: 4727 14 0 4007                              LDQ     ZERO
5603: 4730 12 0 0001                              STQ     TS1               # SET SIGN
5604: 4731 62 0 0000                              ABS     
5605: 4732 22 0 4014                              ADD     1B11              # ROUND
5606: 4733 56 0 0001                              ALS     1
5607: 4734 46 0 4736                              TMI     *+2               # -- SET MAX VALUE
5610: 4735 40 0 4737                              TRA     *+2
5611: 4736 20 0 4030                              CLA     PMAX
5612: 4737 32 0 0001                              ADZ     TS1
5613: 4740 40 0 0023                              TRA     SREX
5614:
5615: 4741 10 1 0320                      SPULSE  STO     READP,1           # SET DEDA FLAG
5616: 4742 40 0 1036                              TRA     EXIT18
5617:
5620:                                     #         COMPUTE NORMALITY AND ORTHOGONALITY CONSTRAINTS
5621: 4743 50 1 0002                      NOC     AXT     2,1
5622: 4744 20 1 0130                              CLA     A11,1
5623: 4745 26 1 0130                              MPR     A11,1
5624: 4746 32 0 0144                              ADZ     E1
5625: 4747 10 0 0144                              STO     E1                # AT 2
5626: 4750 20 1 0134                              CLA     A31,1
5627: 4751 26 1 0134                              MPR     A31,1
5630: 4752 32 0 0145                              ADZ     E3                # AT 2
5631: 4753 10 0 0145                              STO     E3
5632: 4754 20 1 0130                              CLA     A11,1
5633: 4755 26 1 0134                              MPR     A31,1
5634: 4756 32 0 0146                              ADZ     E13
5635: 4757 10 0 0146                              STO     E13               # AT 2
5636: 4760 42 1 4744                              TIX     NOC+1,1
5637: 4761 56 0 0012                              ALS     10                # DIV BY 2, SCALE AT -9
5640: 4762 10 0 0146                              STO     E13
5641:
5642:                                     # Page 76
5643: 4763 50 1 0001                              AXT     1,1
5644: 4764 20 0 4065                              CLA     1B2
5645: 4765 34 1 0144                              SUZ     E1,1              # 1-E
5646: 4766 56 0 0012                              ALS     10                # TO -9
5647: 4767 10 1 0144                              STO     E1,1
5650: 4770 42 1 4764                              TIX     *-4,1
5651: 4771 40 0 1037                              TRA     EXIT19
5652:
5653:                                     #         EULER ANGLE DIRECTION COSINES SUBROUTINE
5654: 4772 12 0 0022                      EADICS  STQ     SREX1
5655: 4773 20 0 0107                              CLA     THEP
5656: 4774 26 0 4021                              MPR     2PIB3             # RADIANS AT 3
5657: 4775 72 0 6767                              TSQ     SICOE
5660: 4776 30 0 0001                              CLZ     TS1
5661: 4777 10 0 0005                              STO     TS5
5662: 5000 30 0 0000                      12B4    CLZ     TS0               # VALUE USED AS CONSTANT
5663: 5001 10 0 0006                              STO     TS6
5664: 5002 20 0 0113                              CLA     PSIP
5665: 5003 26 0 4021                              MPR     2PIB3
5666: 5004 72 0 6767                              TSQ     SICOE
5667: 5005 30 0 0001                              CLZ     TS1
5670: 5006 10 0 0161                              STO     A12D              # 1
5671: 5007 30 0 0000                              CLZ     TS0
5672: 5010 10 0 0007                              STO     TS7
5673: 5011 20 0 0117                              CLA     PHIP
5674: 5012 26 0 4021                              MPR     2PIB3
5675: 5013 72 0 6767                              TSQ     SICOE             # INPUTS COMPLETE
5676: 5014 20 0 0007                              CLA     TS7
5677: 5015 26 0 0006                              MPR     TS6
5700: 5016 56 0 0001                              ALS     1
5701: 5017 10 0 0160                              STO     A11D              # 1
5702: 5020 20 0 0007                              CLA     TS7
5703: 5021 26 0 0005                              MPR     TS5
5704: 5022 56 0 0001                              ALS     1
5705: 5023 60 0 0000                              COM     
5706: 5024 10 0 0162                              STO     A13D              # 1
5707: 5025 20 0 0001                              CLA     TS1
5710:
5711:                                     # Page 77
5712: 5026 26 0 0161                              MPR     A12D
5713: 5027 56 0 0001                              ALS     1
5714: 5030 10 0 0003                              STO     TS3
5715: 5031 26 0 0006                              MPR     TS6
5716: 5032 10 0 0004                              STO     TS4
5717: 5033 20 0 0000                      1B1     CLA     TS0               # COSINE PHI
5720: 5034 26 0 0005                              MPR     TS5
5721: 5035 32 0 0004                              ADZ     TS4
5722: 5036 56 0 0001                              ALS     1
5723: 5037 10 0 0164                              STO     A31D              # 1
5724: 5040 30 0 0001                              CLZ     TS1
5725: 5041 36 0 0007                              MPZ     TS7
5726: 5042 56 0 0001                              ALS     1
5727: 5043 60 0 0000                              COM     
5730: 5044 10 0 0165                              STO     A32D              # 1
5731: 5045 30 0 0003                              CLZ     TS3
5732: 5046 36 0 0005                              MPZ     TS5
5733: 5047 10 0 0004                              STO     TS4
5734: 5050 30 0 0000                              CLZ     TS0
5735: 5051 36 0 0006                              MPZ     TS6
5736: 5052 34 0 0004                              SUZ     TS4
5737: 5053 56 0 0001                              ALS     1
5740: 5054 10 0 0166                              STO     A33D              # DI-COS COMPLETE
5741: 5055 40 0 0022                              TRA     SREX1             # EXIT
5742:
5743:                                     #         IMU ALIGN COMPUTATIONS
5744: 5056 30 0 0144                      ZNOC    CLZ     E1
5745: 5057 30 0 0145                              CLZ     E3
5746: 5060 30 0 0146                              CLZ     E13
5747: 5061 72 0 4772                      IMUDC   TSQ     EADICS
5750: 5062 50 1 0006                              AXT     6,1
5751: 5063 20 1 0160                              CLA     A11D,1            # REPLACE DIR COSINES
5752: 5064 10 1 0130                              STO     A11,1             # WITH IMU DIR COSINES.
5753: 5065 30 1 0150                              CLZ     DA11,1            # ZERO REMAINDERS
5754: 5066 42 1 5063                              TIX     *-3,1
5755: 5067 40 0 4273                              TRA     COA21-2
5756:
5757:
5760:                                     # Page 78
5761:                                     #                 INITIALIZE BRANCHES.
5762:
5763: 5070 30 0 0414                      IC1     CLZ     S14
5764: 5071 24 0 4065                              SUB     2B3
5765: 5072 46 0 1040                              TMI     EXIT20            # TO DL FORMATTIG
5766: 5073 50 1 0002                              AXT     2,1               # LEM POS AND VEL DATA
5767: 5074 30 1 0240                              CLZ     1J1,1             # LEM POS
5770: 5075 10 1 0204                              STO     R0X,1
5771: 5076 30 1 0260                              CLZ     1J4,1             # LEM VEL
5772: 5077 10 1 0424                              STO     V0X,1
5773: 5100 42 1 5074                              TIX     *-4,1
5774: 5101 30 0 0254                              CLZ     1J7               # EPOCH TIME MS
5775: 5102 10 0 0521                              STO     TL1
5776: 5103 30 0 0255                              CLZ     1J7LS             # EPOCH TIME LS
5777: 5104 10 0 0525                              STO     TL2
6000: 5105 72 0 6444                              TSQ     ORBPM
6001: 5106 30 0 0543                              CLZ     DSPSC             # CLEAR DISPLAY COUNTER
6002: 5107 72 0 1041                              TSQ     EXIT21
6003:
6004: 5110 50 1 0001                      IC2     AXT     1,1
6005: 5111 72 0 6746                              TSQ     DPTSB             # COMPUTE DBL PREC TA - TL
6006: 5112 20 0 0604                              CLA     DEL21
6007: 5113 46 0 5124                              TMI     RVCOMP
6010: 5114 72 0 6535                              TSQ     ELPRD             # TRNSFR TO ELLIPSE PRED
6011: 5115 50 1 0002                              AXT     2,1
6012: 5116 30 1 0220                              CLZ     RIX,1
6013: 5117 10 1 0340                              STO     RX,1
6014: 5120 30 1 0430                              CLZ     VIX,1
6015: 5121 10 1 0360                              STO     VX,1
6016: 5122 42 1 5116                              TIX     *-4,1
6017: 5123 40 0 5134                              TRA     *+9
6020: 5124 50 1 0002                      RVCOMP  AXT     2,1
6021: 5125 30 1 0424                              CLZ     V0X,1
6022: 5126 10 1 0360                              STO     VX,1
6023: 5127 06 0 0442                              MPY     TI                # 13+13=26
6024: 5130 52 0 0003                              LLS     3
6025: 5131 32 1 0204                              ADZ     R0X,1
6026:
6027:                                     # Page 79
6030: 5132 10 1 0340                              STO     RX,1              # AT 23
6031: 5133 42 1 5125                              TIX     *-6,1
6032: 5134 72 0 6261                              TSQ     EXEC              # IC3 NEXT
6033:
6034: 5135 72 0 5400                      IC3     TSQ     GRAV              # TO GRAVITY
6035: 5136 50 1 0002                              AXT     2,1
6036: 5137 30 1 0120                              CLZ     DVSX,1
6037: 5140 30 1 0104                              CLZ     DRX,1
6040: 5141 20 1 0114                              CLA     GXDT,1
6041: 5142 10 1 0110                              STO     DIGX,1
6042: 5143 42 1 5137                              TIX     *-4,1
6043: 5144 40 0 1042                              TRA     EXIT22
6044:
6045:                                     #                 CSM DL OR DEDA INPUTS TO EPOCH CELLS.
6046: 5145 50 1 0002                      CSMPV   AXT     2,1
6047: 5146 30 1 0244                              CLZ     2J1,1             # CSM POS
6050: 5147 10 1 0200                              STO     REX,1
6051: 5150 30 1 0264                              CLZ     2J4,1             # CSM VEL
6052: 5151 10 1 0420                              STO     VEX,1
6053: 5152 42 1 5146                              TIX     *-4,1
6054: 5153 30 0 0272                              CLZ     2J7               # CSM EPOCH MS
6055: 5154 10 0 0520                              STO     TE1
6056: 5155 30 0 0273                              CLZ     2J7LS             # CSM EPOCH LS
6057: 5156 10 0 0524                              STO     TE2
6060: 5157 30 0 0436                              CLZ     TB
6061: 5160 40 0 6764                              TRA     EXIT
6062:
6063:                                     #                 NEXT 5 INSTRUCTIONS BYPASSED
6064:
6065: 5161 20 0 0604                      NAV     CLA     DEL21
6066: 5162 46 0 5175                              TMI     NAV1              # -- IS ON LUNAR SURFACE
6067: 5163 20 0 0464                              CLA     0464
6070: 5164 24 0 0470                              SUB     VDX
6071: 5165 56 0 0006                              ALS     6
6072:
6073:                                     #                 HARDWIRED NAVIGATION
6074:
6075:
6076:                                     # Page 80
6077: 5166 10 0 0067                              STO     AT                # 1/2(VD1-VD) AT 7
6100: 5167 24 0 0661                              SUB     4K35              # ULLAGE THRESHOLD
6101: 5170 46 0 5203                              TMI     NAV2-2            # AT-4K35
6102: 5171 30 0 0614                              CLZ     MU8               # INCR ULLAGE COUNTER.
6103: 5172 22 0 4006                              ADD     1B17
6104: 5173 10 0 0614                              STO     MU8
6105: 5174 40 0 1050                              TRA     EXIT24
6106: 5175 30 0 0110                      NAV1    CLZ     DIGX              # LUNAR SURFACE NAV.
6107: 5176 30 0 0111                              CLZ     DIGY
6110: 5177 30 0 0112                              CLZ     DIGZ
6111: 5200 20 0 0616                              CLA     1K9               # ULLAGE COUNT LIMIT
6112: 5201 10 0 0614                              STO     MU8
6113: 5202 40 0 1044                              TRA     EXIT23
6114: 5203 30 0 0614                              CLZ     MU8               # RESET ULLAGE COUNTER.
6115: 5204 40 0 1050                              TRA     EXIT24
6116: 5205 30 0 0001                      NAV2    CLZ     TS1               # ACCEL DRIFT TEST.
6117: 5206 50 1 0002                              AXT     2,1
6120: 5207 20 1 0120                              CLA     DVSX,1
6121: 5210 62 0 0000                              ABS     
6122: 5211 32 0 0001                              ADZ     TS1
6123: 5212 10 0 0001                              STO     TS1
6124: 5213 42 1 5207                              TIX     *-4,1
6125: 5214 24 0 0634                              SUB     1K35
6126: 5215 46 0 1051                              TMI     EXIT25            # COAST PHASE
6127: 5216 40 0 1056                              TRA     EXIT26
6130: 5217 30 0 0120                      NAV3    CLZ     DVSX
6131: 5220 30 0 0121                              CLZ     DVSY
6132: 5221 30 0 0122                              CLZ     DVSZ
6133: 5222 40 0 1056                              TRA     EXIT26
6134: 5223 50 1 0002                      NAV4    AXT     2,1               # VEL AND POS UPDATE.
6135: 5224 30 1 0120                              CLZ     DVSX,1            # SENSED VEL AT 7
6136: 5225 32 1 0110                              ADZ     DIGX,1            # PREDICTED INTG GRAVITY.
6137: 5226 10 1 0110                              STO     DIGX,1            # 7
6140: 5227 22 0 4015                              ADD     1B12              # ROUND
6141: 5230 54 0 0006                              LRS     6
6142: 5231 10 0 0002                              STO     TS2               # DV AT 13
6143: 5232 22 1 0360                              ADD     VX,1
6144:
6145:                                     # Page 81
6146: 5233 10 0 0001                              STO     TS1               # NEW V AT 13
6147: 5234 26 0 0675                              MPR     KDT               # DT/2 AT 1.
6150: 5235 10 0 0004                              STO     TS4
6151: 5236 30 1 0360                              CLZ     VX,1              # V(N-1)
6152: 5237 26 0 0675                              MPR     KDT
6153: 5240 32 0 0004                              ADZ     TS4
6154: 5241 32 1 0104                              ADZ     DRX,1
6155: 5242 10 1 0104                              STO     DRX,1             # 14
6156: 5243 22 0 4013                              ADD     1B9               # ROUND
6157: 5244 54 0 0011                              LRS     9
6160: 5245 10 0 0003                              STO     TS3               # DR AT 23
6161: 5246 32 1 0340                              ADZ     RX,1
6162: 5247 10 1 0340                              STO     RX,1              # NEW R AT 23
6163: 5250 30 0 0002                              CLZ     TS2               # DV AT 13
6164: 5251 56 0 0006                              ALS     6
6165: 5252 60 0 0000                              COM     
6166: 5253 32 1 0110                              ADZ     DIGX,1
6167: 5254 10 1 0110                              STO     DIGX,1            # VEL REMAINDER AT 7
6170: 5255 30 0 0003                              CLZ     TS3               # DR AT 23
6171: 5256 56 0 0011                              ALS     9
6172: 5257 60 0 0000                              COM     
6173: 5260 32 1 0104                              ADZ     DRX,1
6174: 5261 10 1 0104                              STO     DRX,1             # POS REMAINDER AT 14
6175: 5262 30 0 0001                              CLZ     TS1
6176: 5263 10 1 0360                              STO     VX,1              # NEW V AT 13
6177: 5264 42 1 5224                              TIX     NAV4+1,1
6200: 5265 72 0 5400                              TSQ     GRAV              # TO GRAVITY COMP.
6201: 5266 40 0 1060                      EX28    TRA     EXIT28
6202: 5267 20 0 0660                              CLA     4K34              # LIMIT AT.
6203: 5270 24 0 0067                              SUB     AT
6204: 5271 46 0 5274                              TMI     *+3
6205: 5272 20 0 0660                              CLA     4K34
6206: 5273 10 0 0067                              STO     AT
6207: 5274 20 0 4036                              CLA     MS                # SET IC DISPLAY.
6210: 5275 10 0 0567                              STO     DSPF1
6211: 5276 72 0 6254                              TSQ     TIMEA             # TO TA UPDATE
6212:
6213:
6214:                                     # Page 82
6215:                                     #                 CSM ORBIT PARAMETERS
6216:
6217: 5277 20 0 0414                      ORBPAR  CLA     S14
6220: 5300 24 0 7520                              SUB     3B3
6221: 5301 46 0 5305                              TMI     *+4
6222: 5302 30 0 0414                              CLZ     S14
6223: 5303 72 0 5145                              TSQ     CSMPV
6224: 5304 40 0 1065                      EX29    TRA     EXIT29
6225: 5305 50 1 0002                              AXT     2,1
6226: 5306 20 1 0200                              CLA     REX,1
6227: 5307 10 1 0004                              STO     TS4,1
6230: 5310 10 1 0204                              STO     R0X,1
6231: 5311 20 1 0420                              CLA     VEX,1
6232: 5312 10 1 0010                              STO     TS10,1
6233: 5313 10 1 0424                              STO     V0X,1
6234: 5314 42 1 5306                              TIX     *-6,1
6235: 5315 72 0 6373                              TSQ     CRSPRD
6236: 5316 72 0 6422                              TSQ     NORMV
6237: 5317 50 1 0002                              AXT     2,1
6240: 5320 30 1 0010                              CLZ     TS10,1
6241: 5321 10 1 0054                              STO     WCX,1
6242: 5322 42 1 5320                              TIX     *-2,1
6243: 5323 72 0 6444                              TSQ     ORBPM             # COMPUTE CSM ORB PARAMS FROM EPD
6244: 5324 20 0 4021                              CLA     2PIB3
6245: 5325 14 0 4007                              LDQ     ZERO
6246: 5326 54 0 0001                              LRS     1
6247: 5327 04 0 0077                              DVP     NI                # 4-(-9)=13
6250: 5330 10 0 0445                              STO     TCSM
6251: 5331 40 0 1067                      EX30    TRA     EXIT30
6252: 5332 20 0 0436                              CLA     TB
6253: 5333 24 0 0445                              SUB     TCSM
6254: 5334 46 0 5355                              TMI     BR2EX
6255: 5335 20 0 0445                              CLA     TCSM
6256: 5336 14 0 4007                              LDQ     ZERO
6257: 5337 54 0 0005                              LRS     5                 # TO +18
6260: 5340 12 0 0001                              STQ     TS1
6261: 5341 32 0 0520                              ADZ     TE1
6262:
6263:                                     # Page 83
6264: 5342 10 0 0520                              STO     TE1
6265: 5343 30 0 0001                              CLZ     TS1
6266: 5344 32 0 0524                              ADZ     TE2
6267: 5345 10 0 0524                              STO     TE2
6270: 5346 46 0 5350                              TMI     *+2               # OVERFLOW
6271: 5347 40 0 5355                              TRA     BR2EX
6272: 5350 24 0 4036                              SUB     MS
6273: 5351 10 0 0524                              STO     TE2
6274: 5352 30 0 0520                              CLZ     TE1
6275: 5353 22 0 4006                              ADD     1B17
6276: 5354 10 0 0520                              STO     TE1
6277: 5355 72 0 6261                      BR2EX   TSQ     EXEC
6300:
6301:                                     #                 CSM PRESENT POS AND VEL.
6302:
6303: 5356 50 1 0000                              AXT     0,1
6304: 5357 72 0 6746                              TSQ     DPTSB             # COMPUTE DBL PREC TA-TE
6305: 5360 10 0 0436                              STO     TB                # +13
6306: 5361 72 0 6535                              TSQ     ELPRD             # TRANSFER TO ELLIPSE PRED
6307: 5362 50 1 0002                              AXT     2,1
6310: 5363 30 1 0220                              CLZ     RIX,1
6311: 5364 10 1 0344                              STO     RCX,1             # 23
6312: 5365 30 1 0430                              CLZ     VIX,1
6313: 5366 10 1 0364                              STO     VCX,1             # 13
6314: 5367 42 1 5363                              TIX     *-4,1
6315: 5370 72 0 6261                              TSQ     EXEC
6316:
6317: 5371 50 1 0002                              AXT     2,1
6320: 5372 20 1 0360                              CLA     VX,1              # COMPUTE MAGNITUDE OF VEL VECTOR
6321: 5373 10 1 0004                              STO     TS4,1
6322: 5374 42 1 5372                              TIX     *-2,1
6323: 5375 72 0 6737                              TSQ     DPVMAG
6324: 5376 10 0 0433                              STO     V                 # 13
6325: 5377 40 0 1070                              TRA     EXIT31
6326:
6327:                                     #                 GRAVITY AND H, HDOT COMPUTATIONS.
6330:
6331:
6332:                                     # Page 84
6333: 5400 12 0 0020                      GRAV    STQ     SREX3
6334: 5401 50 1 0002                              AXT     2,1
6335: 5402 20 1 0340                              CLA     RX,1
6336: 5403 10 1 0014                              STO     TS14,1
6337: 5404 42 1 5402                              TIX     *-2,1
6340: 5405 72 0 6422                              TSQ     NORMV             # COMPUTE U1 AND R.
6341: 5406 30 0 0013                              CLZ     TS13
6342: 5407 10 0 0210                              STO     R                 # 23
6343: 5410 24 0 0231                              SUB     5J                # MEAN LUNAR RADIUS
6344: 5411 10 0 0337                              STO     H                 # ALTITUDE AT 23
6345: 5412 40 0 1057                      EX27    TRA     EXIT27
6346: 5413 20 0 0674                              CLA     2K4
6347: 5414 14 0 4007                              LDQ     ZERO
6350: 5415 54 0 0003                              LRS     3                 # 52
6351: 5416 04 0 0017                              DVP     TS17              # R SQ AT 46
6352: 5417 10 0 0007                              STO     TS7               # -GRAV VECT MAG AT 6
6353: 5420 50 1 0002                              AXT     2,1
6354: 5421 30 1 0114                      GRAV1   CLZ     GXDT,1
6355: 5422 10 0 0000                              STO     TS0               # G(N-1)DT
6356: 5423 30 1 0010                              CLZ     TS10,1            # UNIT VECTOR FR NORMV
6357: 5424 10 1 0060                              STO     U1X,1             # 1
6360: 5425 26 0 0007                              MPR     TS7               # -MUDT/(R SQ) AT 6
6361: 5426 10 1 0114                              STO     GXDT,1            # 7
6362: 5427 34 0 0000                      7B3     SUZ     TS0               # G(N-1)DT
6363: 5430 54 0 0001                              LRS     1
6364: 5431 22 1 0114                              ADD     GXDT,1            # PREDICTED INTG GRAV IN A
6365: 5432 32 1 0110                              ADZ     DIGX,1            # VEL REMAINDER
6366: 5433 10 1 0110                              STO     DIGX,1            # INTG GRAV+VEL REM AT
6367: 5434 20 1 0360                              CLA     VX,1              # 13
6370: 5435 26 1 0060                              MPR     U1X,1             # FORM V DOT U1.
6371: 5436 32 0 0013                              ADZ     TS13
6372: 5437 10 0 0013                              STO     TS13
6373: 5440 42 1 5421                              TIX     GRAV1,1
6374: 5441 56 0 0001                              ALS     1
6375: 5442 10 0 0367                              STO     HDOT              # ALT RATE AT 13.
6376: 5443 40 0 0020                              TRA     SREX3
6377:
6400:
6401:                                     # Page 85
6402:                                     #                 LEM ORBIT PARAMETERS.
6403:
6404: 5444 20 0 0367                      LMORB   CLA     HDOT              # B13
6405: 5445 06 0 0367                              MPY     HDOT
6406: 5446 10 0 0014                              STO     TS14
6407: 5447 12 0 0015                              STQ     TS15
6410: 5450 20 0 0433                              CLA     V                 # 13
6411: 5451 26 0 0433                              MPR     V
6412: 5452 24 0 0014                              SUB     TS14
6413: 5453 10 0 0007                              STO     TS7               # VH SQ AT 26
6414: 5454 72 0 7123                              TSQ     SQRTE
6415: 5455 10 0 0427                              STO     VH                # 13
6416: 5456 44 0 5457                              TOV     *+1               # CL. O.F.
6417: 5457 20 0 0210                              CLA     R                 # 23
6420: 5460 26 0 0210                              MPR     R
6421: 5461 26 0 0637                              MPR     2K2
6422: 5462 06 0 0007                              MPY     TS7               # 46-47+26=25
6423: 5463 52 0 0002                              LLS     2
6424: 5464 10 0 0010                              STO     TS10              # PL AT 23
6425: 5465 54 0 0001                              LRS     1
6426: 5466 10 0 0011                              STO     TS11              # SAVE PL AT 24
6427: 5467 12 0 0012                              STQ     TS12
6430: 5470 04 0 0210                              DVP     R
6431: 5471 24 0 5033                              SUB     1B1
6432: 5472 56 0 0004                              ALS     4                 # -3
6433: 5473 10 0 0000                              STO     TS0
6434: 5474 36 0 0000                              MPZ     TS0
6435: 5475 10 0 0013                              STO     TS13              # (PL/R-1) SQ AT -6.
6436: 5476 30 0 0014                              CLZ     TS14              # HDOT SQ AT 26
6437: 5477 14 0 0015                              LDQ     TS15
6440: 5500 52 0 0010                              LLS     8                 # 1B
6441: 5501 26 0 0637                              MPR     2K2
6442: 5502 26 0 0010                              MPR     TS10              # PL
6443: 5503 32 0 0013                              ADZ     TS13              # EL SQ IN A AT -6.
6444: 5504 44 0 5516                              TOV     LMORB1+2
6445: 5505 72 0 7123                              TSQ     SQRTE
6446: 5506 54 0 0004                              LRS     4                 # EL AT 1
6447:
6450:                                     # Page 86
6451: 5507 22 0 5033                              ADD     1B1
6452: 5510 10 0 0001                              STO     TS1               # 1+EL AT 1.
6453: 5511 30 0 0011                              CLZ     TS11              # OL AT 24
6454: 5512 14 0 0012                              LDQ     TS12
6455: 5513 04 0 0001                              DVP     TS1
6456: 5514 10 0 0343                      LMORB1  STO     QL                # LM PERICYNTHION AT 23
6457: 5515 40 0 1071                              TRA     EXIT32
6460: 5516 20 0 0216                              CLA     2K3               # SET QL=CONST
6461: 5517 40 0 5514                              TRA     LMORB1
6462:
6463:                                     #                 CSM PREDICTION.
6464:
6465: 5520 72 0 6535                      CSMT1   TSQ     ELPRD             # TO ELLIPSE PREDICTOR.
6466: 5521 72 0 6261                              TSQ     EXEC
6467:
6470:                                     #                 TRANSFER ORBIT VECTORS.
6471:
6472: 5522 50 1 0002                              AXT     2,1
6473: 5523 20 1 0220                              CLA     RIX,1             # CSM PRED POS
6474: 5524 10 1 0014                              STO     TS14,1
6475: 5525 42 1 5523                              TIX     *-2,1
6476: 5526 72 0 6422                              TSQ     NORMV             # NORMALIZE RT
6477: 5527 30 0 0013                              CLZ     TS13
6500: 5530 10 0 0203                              STO     RT                # 23
6501: 5531 50 1 0002                              AXT     2,1
6502: 5532 20 1 0010                      XORBV1  CLA     TS10,1            # C1X=BX
6503: 5533 10 1 0030                              STO     U2X,1
6504: 5534 20 1 0060                              CLA     U1X,1
6505: 5535 10 1 0004                              STO     TS4,1
6506: 5536 26 1 0030                              MPR     U2X,1
6507: 5537 32 0 0013                              ADZ     TS13
6510: 5540 10 0 0013                              STO     TS13
6511: 5541 42 1 5532                              TIX     XORBV1,1
6512: 5542 56 0 0001                              ALS     1
6513: 5543 10 0 0513                              STO     C1                # U1 DOT U2 AT 1.
6514: 5544 26 0 0513                              MPR     C1
6515: 5545 60 0 0000                              COM     
6516:
6517:                                     # Page 87
6520: 5546 22 0 4065                              ADD     1B2
6521: 5547 72 0 7123                              TSQ     SQRTE
6522: 5550 10 0 0033                              STO     C2                # 1
6523: 5551 40 0 1072                      EX33    TRA     EXIT33
6524: 5552 72 0 6373                              TSQ     CRSPRD            # U1XU2 AT 2.
6525: 5553 20 0 0015                              CLA     TS14+1
6526: 5554 06 0 0055                              MPY     WCY
6527: 5555 46 0 5557                              TMI     *+2               # -- IS REND ANG GREAT 180.
6530: 5556 40 0 5562                              TRA     *+4
6531: 5557 30 0 0033                              CLZ     C2
6532: 5560 60 0 0000                              COM     
6533: 5561 10 0 0033                              STO     C2
6534: 5562 50 1 0002                              AXT     2,1               # NORMALIZE W1 AND
6535: 5563 30 1 0014                      XORBV2  CLZ     TS14,1
6536: 5564 14 0 4007                              LDQ     ZERO
6537: 5565 04 0 0033                              DVP     C2
6540: 5566 10 1 0040                              STO     W1X,1             # 1
6541: 5567 20 1 0060                              CLA     U1X,1
6542: 5570 26 0 0513                              MPR     C1
6543: 5571 10 0 0001                              STO     TS1
6544: 5572 20 1 0030                              CLA     U2X,1             # 1
6545: 5573 54 0 0001                              LRS     1
6546: 5574 34 0 0001                              SUZ     TS1
6547: 5575 14 0 4007                              LDQ     ZERO
6550: 5576 04 0 0033                              DVP     C2
6551: 5577 10 1 0034                              STO     V1X,1             # 1
6552: 5600 20 1 0060                              CLA     U1X,1             # 1
6553: 5601 54 0 0001                              LRS     1
6554: 5602 10 0 0001                              STO     TS1               # 2
6555: 5603 20 1 0030                              CLA     U2X,1
6556: 5604 26 0 0513                              MPR     C1
6557: 5605 34 0 0001                              SUZ     TS1
6560: 5606 14 0 4007                              LDQ     ZERO
6561: 5607 04 0 0033                              DVP     C2
6562: 5610 10 1 0064                              STO     V2X,1             # 1
6563: 5611 42 1 5563                              TIX     XORBV2,1
6564: 5612 30 0 0610                              CLZ     MU3               # P-ITERATION INDEX.
6565:
6566:                                     # Page 88
6567: 5613 72 0 6261                              TSQ     EXEC
6570:
6571:                                     #                 P-ITERATOR
6572:
6573: 5614 40 0 1073                      EX34    TRA     EXIT34
6574: 5615 44 0 5616                              TOV     *+1               # CL. O.F.
6575: 5616 20 0 0170                              CLA     P                 # ITERATION P AT 23
6576: 5617 24 0 0347                              SUB     RF
6577: 5620 14 0 4007                              LDQ     ZERO
6600: 5621 04 0 0347                              DVP     RF
6601: 5622 10 0 0011                              STO     TS11              # X1 AT 0.
6602: 5623 06 0 0011                              MPY     TS11
6603: 5624 52 0 0002                              LLS     2
6604: 5625 10 0 0001                              STO     TS1               # X1 SQ. AT -2
6605: 5626 20 0 0170                              CLA     P
6606: 5627 24 0 0203                              SUB     RT
6607: 5630 14 0 4007                              LDQ     ZERO
6610: 5631 04 0 0203                              DVP     RT
6611: 5632 10 0 0012                              STO     TS12              # X2 AT .0
6612: 5633 26 0 0513                              MPR     C1
6613: 5634 10 0 0002                              STO     TS2               # 1
6614: 5635 20 0 0011                              CLA     TS11              # X1
6615: 5636 54 0 0001                              LRS     1
6616: 5637 34 0 0002                              SUZ     TS2
6617: 5640 14 0 4007                              LDQ     ZERO
6620: 5641 04 0 0033                              DVP     C2
6621: 5642 10 0 0143                              STO     X4                # AT 0.
6622: 5643 20 0 0012                              CLA     TS12              # X2
6623: 5644 54 0 0001                              LRS     1
6624: 5645 10 0 0002                              STO     TS2               # 1
6625: 5646 20 0 0011                              CLA     TS11              # X1
6626: 5647 26 0 0513                              MPR     C1
6627: 5650 34 0 0002                              SUZ     TS2
6630: 5651 14 0 4007                              LDQ     ZERO
6631: 5652 04 0 0033                              DVP     C2                # 1
6632: 5653 10 0 0073                              STO     X3                # AT 0.
6633: 5654 06 0 0073                              MPY     X3
6634:
6635:                                     # Page 89
6636: 5655 52 0 0002                              LLS     2
6637: 5656 32 0 0001                              ADZ     TS1               # -2
6640: 5657 44 0 1074                              TOV     EXIT35            # O.F. IF E TOO LARGE.
6641: 5660 10 0 0172                              STO     ESQ               # E SQ AT -2.
6642: 5661 54 0 0002                              LRS     2
6643: 5662 10 0 0013                              STO     TS13              # E SQ AT 0.
6644: 5663 60 0 0000                              COM     
6645: 5664 22 0 4030                              ADD     PMAX
6646: 5665 10 0 0014                              STO     TS14              # (1-E SQ) AT 0.
6647: 5666 72 0 7123                              TSQ     SQRTE
6650: 5667 10 0 0015                              STO     TS15              # ROOT(1-E SQ) AT 0.
6651: 5670 20 0 0143                              CLA     X4
6652: 5671 24 0 0073                              SUB     X3
6653: 5672 54 0 0001                              LRS     1                 # 1
6654: 5673 22 0 0033                              ADD     C2
6655: 5674 26 0 0015                              MPR     TS15
6656: 5675 10 0 0003                              STO     TS3               # SIN(DELTA E) AT 1.
6657: 5676 20 0 0073                              CLA     X3
6660: 5677 26 0 0143                              MPR     X4
6661: 5700 60 0 0000                              COM     
6662: 5701 32 0 0013                              ADZ     TS13
6663: 5702 54 0 0001                              LRS     1                 # 1
6664: 5703 10 0 0013                              STO     TS13              # E SQ-X3(X4) AT 1.
6665: 5704 30 0 0011                              CLZ     TS11
6666: 5705 32 0 0012                              ADZ     TS12              # X1+X2
6667: 5706 54 0 0001                              LRS     1                 # 1
6670: 5707 32 0 0013                              ADZ     TS13
6671: 5710 22 0 0513                              ADD     C1
6672: 5711 10 0 0004                              STO     TS4               # COS(DELTA E) AT 1.
6673: 5712 72 0 7034                              TSQ     ARCTAE
6674: 5713 10 0 0016                              STO     TS16              # DELTA E AT 3.
6675: 5714 20 0 0203                              CLA     RT
6676: 5715 26 0 0143                              MPR     X4
6677: 5716 10 0 0001                              STO     TS1               # 23
6700: 5717 20 0 0347                              CLA     RF
6701: 5720 26 0 0073                              MPR     X3
6702: 5721 34 0 0001                              SUZ     TS1
6703:
6704:                                     # Page 90
6705: 5722 06 0 0015                              MPY     TS15
6706: 5723 54 0 0003                              LRS     3                 # 26
6707: 5724 04 0 0170                              DVP     P
6710: 5725 32 0 0016                              ADZ     TS16
6711: 5726 10 0 0016                              STO     TS16              # DELTAE + X7-X8 AT 3.
6712: 5727 20 0 0170                              CLA     P
6713: 5730 14 0 4007                              LDQ     ZERO
6714: 5731 04 0 0014                              DVP     TS14              # 1-E SQ
6715: 5732 10 0 0171                              STO     ALPHA             # 23
6716: 5733 26 0 0637                              MPR     2K2               # 1/2K1 AT -47
6717: 5734 72 0 7123                              TSQ     SQRTE             # (-47+23)/2=-12
6720: 5735 26 0 0171                              MPR     ALPHA             # 1/N AT 11 IN A.
6721: 5736 36 0 0016                              MPZ     TS16              # 11+3=14
6722: 5737 56 0 0001                              ALS     1                 # NEW TP AT 13.
6723: 5740 24 0 0434                              SUB     TP
6724: 5741 10 0 0002                              STO     TS2               # DELTA TP
6725: 5742 32 0 0434                              ADZ     TP
6726: 5743 10 0 0434                              STO     TP                # 13
6727: 5744 20 0 0435                              CLA     T
6730: 5745 24 0 0434                              SUB     TP
6731: 5746 10 0 0000                              STO     TS0               # T-TP
6732: 5747 30 0 0610                              CLZ     MU3               # INCREMENT ITER COUNTER.
6733: 5750 22 0 4006                              ADD     1B17
6734: 5751 10 0 0610                              STO     MU3
6735: 5752 24 0 4005                              SUB     2B17              # ITERATION SCHEME.
6736: 5753 46 0 6026                              TMI     PITER2            # -- IS MU3=1.
6737: 5754 24 0 4006                              SUB     1B17
6740: 5755 46 0 5771                              TMI     PITER1            # -- IS MU3=2.
6741: 5756 24 0 0620                              SUB     2K17              # MU3-NO. ITERATIONS IN A.
6742: 5757 46 0 5765                              TMI     *+6               # -- IS NOT DONE.
6743: 5760 30 0 0000                              CLZ     TS0               # DONE. T-TP
6744: 5761 62 0 0000                              ABS     
6745: 5762 24 0 0453                              SUB     2K20
6746: 5763 46 0 6040                              TMI     PITER3+5          # -- IS CONVERGED.
6747: 5764 40 0 1074                              TRA     EXIT35
6750: 5765 20 0 0002                              CLA     TS2               # DELTA TP.
6751: 5766 62 0 0000                              ABS     
6752:
6753:                                     # Page 91
6754: 5767 24 0 0447                              SUB     2K18
6755: 5770 46 0 6013                              TMI     DELP              # -- IS SKIP PARTIAL
6756: 5771 20 0 0170                      PITER1  CLA     P                 # COMPUTE PARTIAL T.
6757: 5772 34 0 0212                              SUZ     PP
6760: 5773 10 0 0001                              STO     TS1               # 23
6761: 5774 14 0 4007                              LDQ     ZERO
6762: 5775 54 0 0004                              LRS     4                 # 27
6763: 5776 44 0 5777                              TOV     *+1               # CL. O.F.
6764: 5777 40 0 6001                              TRA     *+2
6765: 6000 70 0 6177                              DLY     INIT              # TO TURN ON SEQUENCE
6766: 6001 04 0 0002                              DVP     TS2               # 27-13=14
6767: 6002 44 0 6004                              TOV     *+2
6770: 6003 40 0 6012                              TRA     *+7
6771: 6004 30 0 0001                              CLZ     TS1               # DET SIGN OF PART
6772: 6005 06 0 0002                              MPY     TS2               # NUM X DENOM
6773: 6006 46 0 6011                              TMI     *+3
6774: 6007 20 0 4030                              CLA     PMAX
6775: 6010 40 0 6012                              TRA     *+2
6776: 6011 20 0 4037                              CLA     NMAX
6777: 6012 10 0 0467                              STO     PART              # PARTIAL T AT 14
7000: 6013 30 0 0000                      DELP    CLZ     TS0               # T-TP
7001: 6014 06 0 0467                              MPY     PART
7002: 6015 52 0 0004                              LLS     4                 # 13+14-4=23
7003: 6016 10 0 0003                              STO     TS3               # DELTA P
7004: 6017 62 0 0000                              ABS     
7005: 6020 24 0 0230                              SUB     2K19
7006: 6021 46 0 6033                              TMI     PITER3
7007: 6022 30 0 0003                              CLZ     TS3
7010: 6023 46 0 6030                              TMI     *+5
7011: 6024 20 0 0230                              CLA     2K19
7012: 6025 40 0 6032                              TRA     *+5
7013: 6026 20 0 0217                      PITER2  CLA     2K14
7014: 6027 40 0 6031                              TRA     *+2
7015: 6030 20 0 0230                              CLA     2K19
7016: 6031 60 0 0000                              COM     
7017: 6032 10 0 0003                              STO     TS3               # DELTA P
7020: 6033 30 0 0170                      PITER3  CLZ     P
7021:
7022:                                     # Page 92
7023: 6034 10 0 0212                              STO     PP
7024: 6035 32 0 0003                              ADZ     TS3
7025: 6036 10 0 0170                              STO     P                 # NEW P
7026: 6037 40 0 6262                              TRA     EXEC+1
7027: 6040 72 0 6261                              TSQ     EXEC
7030:
7031:                                     #                 IMPULSE AND BRAKING VELOCITIES
7032:
7033: 6041 20 0 0636                      TBRAKE  CLA     2K1               # 48
7034: 6042 14 0 4007                              LDQ     ZERO
7035: 6043 54 0 0001                              LRS     1
7036: 6044 04 0 0170                              DVP     P                 # 49-23=26
7037: 6045 72 0 7123                              TSQ     SQRTE
7040: 6046 10 0 0001                              STO     TS1               # ROOT(MU/P) AT 13
7041: 6047 36 0 0073                              MPZ     X3
7042: 6050 10 0 0423                              STO     RFDOT             # 13
7043: 6051 20 0 0001                              CLA     TS1
7044: 6052 36 0 0143                              MPZ     X4
7045: 6053 10 0 0013                              STO     TS13              # 13
7046: 6054 30 0 0001                              CLZ     TS1
7047: 6055 06 0 0170                              MPY     P
7050: 6056 10 0 0001                              STO     TS1               # ROOT(PXMU) AT 36
7051: 6057 12 0 0002                              STQ     TS2
7052: 6060 04 0 0347                              DVP     RF
7053: 6061 10 0 0012                              STO     TS12              # 13
7054: 6062 30 0 0001                              CLZ     TS1
7055: 6063 14 0 0002                              LDQ     TS2
7056: 6064 04 0 0203                              DVP     RT
7057: 6065 10 0 0014                              STO     TS14              # 13
7060: 6066 40 0 1075                      EX36    TRA     EXIT36
7061: 6067 44 0 6070                              TOV     *+1               # CL. O.F.
7062: 6070 50 1 0002                              AXT     2,1
7063: 6071 20 0 0013                      IMPBK1  CLA     TS13              # ROOT(MU/P)X(X4) AT 13
7064: 6072 36 1 0030                              MPZ     U2X,1             # 1
7065: 6073 10 0 0007                              STO     TS7
7066: 6074 20 0 0014                              CLA     TS14              # ROOT(PXMU)/RT AT 13
7067: 6075 36 1 0064                              MPZ     V2X,1             # 1
7070:
7071:                                     # Page 93
7072: 6076 32 0 0007                              ADZ     TS7
7073: 6077 56 0 0001                              ALS     1                 # 13
7074: 6100 24 1 0430                              SUB     VIX,1
7075: 6101 10 1 0030                              STO     VFX,1             # -BRAKING VEL AT 13
7076: 6102 20 0 0423                              CLA     RFDOT             # 13
7077: 6103 26 1 0060                              MPR     U1X,1             # 1
7100: 6104 10 0 0007                              STO     TS7
7101: 6105 20 0 0012                              CLA     TS12              # ROOT(PXMU)/RF AT 13
7102: 6106 26 1 0034                              MPR     V1X,1             # 1
7103: 6107 32 0 0007                              ADZ     TS7
7104: 6110 56 0 0001                              ALS     1                 # 13
7105: 6111 24 1 0460                              SUB     V5X,1
7106: 6112 10 1 0064                              STO     VGX,1             # VEL TO GAIN AT 13
7107: 6113 10 1 0004                              STO     TS4,1
7110: 6114 42 1 6071                              TIX     IMPBK1,1
7111: 6115 44 0 1074                              TOV     EXIT35            # CHECK VG OR VF D.F.
7112: 6116 72 0 6737                              TSQ     DPVMAG
7113: 6117 10 0 0370                              STO     VG                # 13
7114: 6120 30 0 0172                              CLZ     ESQ               # E SQ ER P ITER AT -2.
7115: 6121 72 0 7123                              TSQ     SQRTE
7116: 6122 54 0 0001                              LRS     1                 # E AT 0.
7117: 6123 60 0 0000                              COM     
7120: 6124 22 0 4030                              ADD     PMAX              # 1-E AT 0.
7121: 6125 26 0 0171                              MPR     ALPHA
7122: 6126 10 0 0172                              STO     Q1                # Q OF TRANS ORB AT 23
7123: 6127 72 0 6261                              TSQ     EXEC
7124:                                     #                 COMPLETE VF ON FOLLOWING CYCLE.
7125: 6130 50 1 0002                              AXT     2,1
7126: 6131 20 1 0030                              CLA     VFX,1             # 13
7127: 6132 10 1 0004                              STO     TS4,1
7130: 6133 42 1 6131                              TIX     *-2,1
7131: 6134 72 0 6737                              TSQ     DPVMAG
7132: 6135 40 0 1076                              TRA     EXIT37            # VF IN A AT 8.
7133:
7134:                                     #                 GUIDANCE LAW COMPUTATIONS.
7135:
7136: 6136 44 0 6137                      GDLAW   TOV     *+1               # TIME TO BURN COMP.
7137:
7140:                                     # Page 94
7141: 6137 20 0 0370                              CLA     VG                # 13
7142: 6140 26 0 0655                              MPR     4K3               # AT -25
7143: 6141 22 0 0654                              ADD     4K2               # AT -12
7144: 6142 26 0 0370                              MPR     VG
7145: 6143 22 0 5033                              ADD     1B1
7146: 6144 06 0 0370                              MPY     VG
7147: 6145 54 0 0002                              LRS     2                 # 16
7150: 6146 04 0 0067                              DVP     AT                # 16-7=9
7151: 6147 44 0 6151                              TOV     *+2
7152: 6150 40 0 6152                              TRA     *+2
7153: 6151 20 0 4030                              CLA     PMAX
7154: 6152 10 0 0357                              STO     TBO               # TIME TO BURN AT 9.
7155: 6153 40 0 1077                              TRA     EXIT38
7156:
7157:                                     #         COMPUTE LUNAR AZIMUTH
7160:
7161: 6154 20 0 0134                      LUNAZ   CLA     A31
7162: 6155 26 0 0134                              MPR     A31               # +2
7163: 6156 60 0 0000                              COM     
7164: 6157 22 0 4065                              ADD     1B2
7165: 6160 72 0 7123                              TSQ     SQRTE
7166: 6161 10 0 0001                              STO     TS1               # +1
7167: 6162 14 0 4007                              LDQ     ZERO
7170: 6163 20 0 0135                              CLA     A32
7171: 6164 54 0 0001                              LRS     1                 # TO 2
7172: 6165 04 0 0001                              DVP     TS1
7173: 6166 10 0 0053                              STO     CODELL
7174: 6167 14 0 4007                              LDQ     ZERO
7175: 6170 20 0 0136                              CLA     A33
7176: 6171 54 0 0001                              LRS     1                 # TO 2
7177: 6172 04 0 0001                              DVP     TS1
7200: 6173 10 0 0047                              STO     SIDELL            # AT 1
7201: 6174 20 0 4036                              CLA     MS
7202: 6175 10 0 0604                              STO     DEL21
7203: 6176 40 0 1100                              TRA     EXIT39
7204:
7205:                                     #         POWER ON INITIALIZATION
7206:
7207:                                     # Page 95
7210:
7211: 6177 66 0 3050                      INIT    OUT     3050              # RESET CARRY INHIBIT
7212: 6200 64 0 6200                              INP     6200
7213: 6201 64 0 2200                              INP     DEDA
7214: 6202 66 0 7057                              OUT     7057              # RESET DISCRETES
7215: 6203 20 0 4044                              CLA     BACK
7216: 6204 10 0 0025                              STO     TVARBR+1
7217: 6205 20 0 4046                              CLA     CLAFR             # PRIME HARDWIRED CORES
7220: 6206 10 0 0024                              STO     TVARBR
7221: 6207 72 0 0024                              TSQ     TVARBR
7222: 6210 20 0 0024                              CLA     TVARBR
7223: 6211 24 0 7002                              SUB     CLATEN
7224: 6212 46 0 6207                              TMI     *-3
7225: 6213 66 0 7010                              OUT     7010              # RESET FAILURE INDICATOR
7226:                                     #         GSF SERVICE ROUTINE
7227: 6214 64 0 2040                      GSESR   INP     2040
7230: 6215 56 0 0001                              ALS     1
7231: 6216 46 0 1101                              TMI     EXIT40            # INITIALIZE
7232: 6217 64 0 6200                              INP     6200
7233: 6220 22 0 4011                              ADD     1B5
7234: 6221 10 0 0007                              STO     TS7
7235: 6222 22 0 4065                              ADD     STOCOM            # SET UP VARIABLE STORE
7236: 6223 10 0 0024                              STO     TVARBR
7237: 6224 66 0 6402                      WRDLP   OUT     6402              # SET GSE 5
7240: 6225 64 0 2040                              INP     2040
7241: 6226 56 0 0001                              ALS     1
7242: 6227 46 0 6231                              TMI     *+2
7243: 6230 40 0 6225                              TRA     *-3
7244: 6231 66 0 7012                              OUT     7012              # RESET GSE 5 AND FAIL INDIC.
7245: 6232 64 0 2040                              INP     2040
7246: 6233 56 0 0001                              ALS     1
7247: 6234 46 0 6231                              TMI     *-3               # WAIT FOR NEXT WORD
7250: 6235 56 0 0001                              ALS     1
7251: 6236 46 0 6243                              TMI     *+5
7252: 6237 30 0 0007                              CLZ     TS7               # END OF BLOCK
7253: 6240 22 0 4036                              ADD     TRACOM
7254: 6241 10 0 0024                              STO     TVARBR
7255:
7256:                                     # Page 96
7257: 6242 40 0 0024                              TRA     TVARBR
7260: 6243 64 0 6200                              INP     6200              # INPUT WORD AND STORE
7261: 6244 72 0 0024                              TSQ     TVARBR
7262: 6245 40 0 6224                              TRA     WRDLP
7263: 6246 10 0 0000                      RETURN  STO     TS0               # INCREMENT OF VARIABLE
7264: 6247 30 0 0024                              CLZ     TVARBR
7265: 6250 22 0 4006                              ADD     1B17
7266: 6251 10 0 0024                              STO     TVARBR
7267: 6252 30 0 0000                              CLZ     TS0
7270: 6253 40 0 6764                              TRA     EXIT
7271:
7272:                                     #                 TIME UPDATE AND EXECUTIVE PART 1.
7273:
7274: 6254 30 0 0377                      TIMEA   CLZ     TA1               # UPDATE ABS TIME.
7275: 6255 22 0 4006                              ADD     1B17              # EQU TO 2 SECS.
7276: 6256 10 0 0377                              STO     TA1
7277: 6257 20 0 4014                              CLA     1B11              # I.C. DEDA COUNTER
7300: 6260 10 0 0727                              STO     DEDASC
7301: 6261 12 0 0063                      EXEC    STQ     BRANCH            # SET NEXT BRANCH.
7302: 6262 30 0 0727                              CLZ     DEDASC
7303: 6263 56 0 0001                              ALS     1
7304: 6264 46 0 6267                              TMI     *+3               # -- IS TIME TO DEDA.
7305: 6265 10 0 0727                              STO     DEDASC
7306: 6266 40 0 1110                              TRA     EXIT41
7307: 6267 30 0 0063                              CLZ     BRANCH            # SAVE BRANCH IN
7310: 6270 10 0 0057                              STO     TMPBR             # TEMPORARY BRANCH
7311: 6271 20 0 1013                              CLA     DEDABR            # DEDA START
7312: 6272 10 0 0063                              STO     BRANCH
7313: 6273 40 0 1110                              TRA     EXIT41            # TO SOFT DISPLAY
7314:
7315:                                     #                 DISPLAY SUBROUTINE
7316:
7317: 6274 30 0 0543                      DSPLY   CLZ     DSPSC
7320: 6275 56 0 0001                              ALS     1
7321: 6276 44 0 6300                              TOV     *+2               # O.F. IS TIME TO DISPLAY
7322: 6277 40 0 6357                              TRA     DSPLY4
7323: 6300 30 0 0444                              CLZ     PDOUT             # INCREMENT DISPLAY VARIABLES.
7324:
7325:                                     # Page 97
7326: 6301 22 0 0443                              ADD     DPDOUT
7327: 6302 10 0 0444                              STO     PDOUT             # 13
7330: 6303 30 0 0214                              CLZ     POUT
7331: 6304 22 0 0215                              ADD     DPOUT
7332: 6305 40 0 6323                              TRA     DSPLY2-5
7333: 6306 10 0 0444                      DSPLY1  STO     PDOUT             # I.C. DISPLAY COMPS.
7334: 6307 34 0 0437                              SUZ     PDOTM1
7335: 6310 26 0 0624                              MPR     1K4               # .1
7336: 6311 10 0 0443                              STO     DPDOUT            # DELTA PDOT AT 13.
7337: 6312 20 0 0444                              CLA     PDOUT             # 13
7340: 6313 10 0 0437                              STO     PDOTM1
7341: 6314 06 0 0624                              MPY     1K4               # .1
7342: 6315 54 0 0011                              LRS     9                 # 0.2 PDOT AT 23.
7343: 6316 04 0 0213                              DVP     POUTFS            # =76840 FT B28
7344: 6317 10 0 0215                              STO     DPOUT             # DELTA P AT DISPLAY SCALE.
7345: 6320 20 0 0214                              CLA     POUT              # 23
7346: 6321 14 0 4007                              LDQ     ZERO
7347: 6322 04 0 0213                              DVP     POUTFS            # =76840 FT B23
7350: 6323 44 0 6325                              TOV     *+2
7351: 6324 40 0 6327                              TRA     *+3
7352: 6325 30 0 0215                              CLZ     DPOUT
7353: 6326 20 0 4030                              CLA     PMAX
7354: 6327 10 0 0214                              STO     POUT              # OUTPUT P AT DISPLAY SCALE.
7355: 6330 20 0 0444                      DSPLY2  CLA     PDOUT             # DISPLAY POSITION RATE.
7356: 6331 62 0 0000                              ABS     
7357: 6332 10 0 0010                              STO     TS10
7360: 6333 20 0 0444                              CLA     PDOUT
7361: 6334 46 0 6337                              TMI     *+3
7362: 6335 20 0 4036                              CLA     MS                # 1 IS +
7363: 6336 40 0 6340                              TRA     *+2
7364: 6337 20 0 4007                              CLA     ZERO              # 0 IS -
7365: 6340 32 0 0010                              ADZ     TS10              # SIGN MAGNITUDE.
7366: 6341 66 0 3040                              OUT     3040              # RESET
7367: 6342 66 0 2440                              OUT     2440              # SELECT ALT RATE.
7370: 6343 66 0 6010                              OUT     6010              # OUTPUT ALT RATE.
7371: 6344 40 0 1111                              TRA     EXIT42            # COMPUTE VY0 FOR OUTPUT
7372: 6345 66 0 6020                              OUT     6020              # OUTPUT SAME.
7373:
7374:                                     # Page 98
7375: 6346 20 0 0214                      DSPLY3  CLA     POUT              # DISPLAY POSITION
7376: 6347 46 0 6351                              TMI     *+2
7377: 6350 40 0 6352                              TRA     *+2
7400: 6351 20 0 4007                              CLA     ZERO              # ALT NEG.
7401: 6352 56 0 0001                              ALS     1                 # SIGN BIT USED
7402: 6353 66 0 3040                              OUT     3040              # RESET
7403: 6354 66 0 2420                              OUT     2420              # SELECT ALT.
7404: 6355 66 0 6010                              OUT     6010              # OUTPUT ALT.
7405: 6356 20 0 4011                              CLA     1B5
7406: 6357 10 0 0543                      DSPLY4  STO     DSPSC             # RESET COUNTER.
7407:
7410:                                     #         CYCLE COUNTING
7411:
7412: 6360 30 0 0615                      EXEC1   CLZ     MU10              # UPDATE MINOR CYCLE COUNT.
7413: 6361 22 0 4006                              ADD     1B17
7414: 6362 10 0 0615                              STO     MU10
7415: 6363 40 0 1112                              TRA     EXIT43
7416: 6364 20 0 0615                              CLA     MU10              # CHECK FOR END.
7417: 6365 24 0 4040                              SUB     49B17
7420: 6366 46 0 4047                              TMI     DELAY             # -- IS NOT END.
7421: 6367 30 0 0615                              CLZ     MU10
7422: 6370 20 0 1014                              CLA     BR50              # BR50 START.
7423: 6371 10 0 0063                              STO     BRANCH
7424: 6372 40 0 4047                              TRA     DELAY
7425:
7426:                                     #                 CROSS PRODUCT SUBROUTINE.  AXB=C.
7427:
7430: 6373 12 0 0023                      CRSPRD  STQ     SREX
7431: 6374 20 0 0006                              CLA     TS4+2             # AZ
7432: 6375 26 0 0011                              MPR     TS10+1            # BY
7433: 6376 10 0 0007                              STO     TS7
7434: 6377 20 0 0005                              CLA     TS4+1             # AY
7435: 6400 26 0 0012                              MPR     TS10+2            # BZ
7436: 6401 34 0 0007                              SUZ     TS7
7437: 6402 10 0 0014                              STO     TS14              # CX
7440: 6403 20 0 0004                              CLA     TS4               # AX
7441: 6404 26 0 0012                              MPR     TS10+2            # BZ
7442:
7443:                                     # Page 99
7444: 6405 10 0 0007                              STO     TS7
7445: 6406 20 0 0006                              CLA     TS4+2             # AZ
7446: 6407 26 0 0010                              MPR     TS10
7447: 6410 34 0 0007                              SUZ     TS7
7450: 6411 10 0 0015                              STO     TS14+1            # CY
7451: 6412 20 0 0005                              CLA     TS4+1             # AY
7452: 6413 26 0 0010                              MPR     TS10              # BX
7453: 6414 10 0 0007                              STO     TS7
7454: 6415 20 0 0004                              CLA     TS4               # AX
7455: 6416 26 0 0011                              MPR     TS10+1            # BY
7456: 6417 34 0 0007                              SUZ     TS7
7457: 6420 10 0 0016                              STO     TS14+2            # CZ
7460: 6421 40 0 0023                              TRA     SREX
7461:
7462:                                     #                 NORMALIZE VECTOR SUBROUTINE.
7463:
7464: 6422 12 0 0021                      NORMV   STQ     SREX2
7465: 6423 30 0 0017                              CLZ     TS17
7466: 6424 50 1 0002                              AXT     2,1
7467: 6425 20 1 0014                              CLA     TS14,1            # INPUT VECTOR
7470: 6426 26 1 0014                              MPR     TS14,1
7471: 6427 32 0 0017                              ADZ     TS17
7472: 6430 10 0 0017                              STO     TS17
7473: 6431 42 1 6425                              TIX     *-4,1
7474: 6432 72 0 7123                              TSQ     SQRTE
7475: 6433 10 0 0013                              STO     TS13
7476: 6434 50 1 0002                              AXT     2,1
7477: 6435 20 1 0014                              CLA     TS14,1
7500: 6436 14 0 4007                              LDQ     ZERO
7501: 6437 54 0 0001                              LRS     1
7502: 6440 04 0 0013                              DVP     TS13
7503: 6441 10 1 0010                              STO     TS10,1            # UNIT VECTOR AT 1.
7504: 6442 42 1 6435                              TIX     *-5,1
7505: 6443 40 0 0021                              TRA     SREX2
7506:
7507:                                     #                 ORBIT PARAMETERS FROM EPOCH SUBROUTINE
7510:
7511:
7512:                                     # Page 100
7513: 6444 12 0 0021                      ORBPM   STQ     SREX2
7514: 6445 30 0 0011                              CLZ     TS11
7515: 6446 30 0 0012                              CLZ     TS12
7516: 6447 30 0 0013                              CLZ     TS13
7517: 6450 44 0 6451                              TOV     *+1
7520: 6451 50 1 0002                              AXT     2,1
7521: 6452 20 1 0204                      ORBPM1  CLA     R0X,1             # 23
7522: 6453 26 1 0424                              MPR     V0X,1             # 13
7523: 6454 32 0 0013                              ADZ     TS13
7524: 6455 10 0 0013                              STO     TS13              # R0 DOT V0 AT 36
7525: 6456 20 1 0424                              CLA     V0X,1
7526: 6457 26 1 0424                              MPR     V0X,1
7527: 6460 32 0 0012                              ADZ     TS12
7530: 6461 10 0 0012                              STO     TS12              # V0 DOT V0 AT 26
7531: 6462 20 1 0204                              CLA     R0X,1
7532: 6463 26 1 0204                              MPR     R0X,1
7533: 6464 32 0 0011                              ADZ     TS11
7534: 6465 10 0 0011                              STO     TS11              # R0 DOT R0 AT 46
7535: 6466 42 1 6452                              TIX     ORBPM1,1
7536: 6467 40 0 1120                      EX44    TRA     EXIT44
7537: 6470 72 0 7123                              TSQ     SQRTE
7540: 6471 10 0 0207                              STO     R0                # 23
7541: 6472 06 0 0012                              MPY     TS12              # 23+26=49
7542: 6473 44 0 6474                              TOV     *+1
7543: 6474 04 0 0636                              DVP     2K1               # 48
7544: 6475 60 0 0000                              COM     
7545: 6476 22 0 4030                              ADD     PMAX              # 2B1
7546: 6477 10 0 0001                              STO     TS1
7547: 6500 20 0 0207                              CLA     R0
7550: 6501 14 0 4007                              LDQ     ZERO
7551: 6502 54 0 0001                              LRS     1
7552: 6503 04 0 0001                              DVP     TS1
7553: 6504 40 0 1121                      EX45    TRA     EXIT45
7554: 6505 10 0 0173                              STO     AI                # ALPHA I AT 23
7555: 6506 20 0 0636                              CLA     2K1
7556: 6507 14 0 4007                              LDQ     ZERO
7557: 6510 54 0 0001                              LRS     1                 # 49
7560:
7561:                                     # Page 101
7562: 6511 04 0 0173                              DVP     AI                # 49-23=26
7563: 6512 72 0 7123                              TSQ     SQRTE
7564: 6513 10 0 0001                              STO     TS1               # ROOT(MU/ALPHA) AT 15
7565: 6514 14 0 4007                              LDQ     ZERO
7566: 6515 54 0 0001                              LRS     1
7567: 6516 04 0 0173                              DVP     AI
7570: 6517 10 0 0077                              STO     NI                # ANG FREQ AT -9.
7571: 6520 20 0 0173                              CLA     AI
7572: 6521 24 0 0207                              SUB     R0
7573: 6522 14 0 4007                              LDQ     ZERO
7574: 6523 04 0 0173                              DVP     AI
7575: 6524 10 0 0103                              STO     CI                # 0
7576: 6525 20 0 0173                              CLA     AI
7577: 6526 36 0 0001                              MPZ     TS1
7600: 6527 10 0 0001                              STO     TS1               # ROOT(ALPHA X MU) AT 36
7601: 6530 30 0 0013                              CLZ     TS13
7602: 6531 14 0 4007                              LDQ     ZERO
7603: 6532 04 0 0001                              DVP     TS1
7604: 6533 10 0 0043                              STO     SI                # 0
7605: 6534 40 0 0021                              TRA     SREX2
7606:
7607:                                     #                 ELLIPSE PREDICTOR SUBROUTINE.
7610:
7611: 6535 12 0 0021                      ELPRD   STQ     SREX2
7612: 6536 30 0 0007                              CLZ     TS7               # ITERATION COUNTER.
7613: 6537 20 0 0442                              CLA     TI                # 13
7614: 6540 26 0 0077                              MPR     NI                # AT -9.
7615: 6541 56 0 0001                              ALS     1
7616: 6542 10 0 0010                              STO     TS10              # DEL M AT 3.
7617: 6543 10 0 0011                      ELPRD1  STO     TS11              # DEL E AT 3.
7620: 6544 72 0 6767                              TSQ     SICOE
7621: 6545 20 0 0000                              CLA     TS0
7622: 6546 26 0 0103                              MPR     CI                # AT 0.
7623: 6547 10 0 0013                              STO     TS13              # 1
7624: 6550 20 0 0001                              CLA     TS1               # 1
7625: 6551 26 0 0043                              MPR     SI                # 0+1=1
7626: 6552 34 0 0013                              SUZ     TS13
7627:
7630:                                     # Page 102
7631: 6553 22 0 5033                              ADD     1B1
7632: 6554 10 0 0012                              STO     TS12              # X12 AT 1.
7633: 6555 30 0 0007                              CLZ     TS7
7634: 6556 24 0 4005                              SUB     2B17              # 2 ITERATIONS.
7635: 6557 46 0 6642                              TMI     ELPRD3            # -- IS NOT DONE.
7636: 6560 20 0 0103                              CLA     CI                # 0
7637: 6561 54 0 0001                              LRS     1                 # 1
7640: 6562 60 0 0000                              COM     
7641: 6563 22 0 0000                              ADD     TS0
7642: 6564 06 0 0173                              MPY     AI                # 23+1=24
7643: 6565 04 0 0207                              DVP     R0                # 23
7644: 6566 10 0 0003                              STO     TS3               # F AT 1.
7645: 6567 30 0 0010                              CLZ     TS10              # 3
7646: 6570 34 0 0011                              SUZ     TS11
7647: 6571 56 0 0002                              ALS     2                 # 1
7650: 6572 22 0 0001                              ADD     TS1
7651: 6573 14 0 4007                              LDQ     ZERO
7652: 6574 54 0 0001                              LRS     1
7653: 6575 04 0 0077                              DVP     NI                # AT -9.
7654: 6576 10 0 0007                              STO     TS7               # G AT 11.
7655: 6577 20 0 0207                              CLA     R0
7656: 6600 26 0 0012                              MPR     TS12
7657: 6601 10 0 0014                              STO     TS14              # 24
7660: 6602 20 0 0173                              CLA     AI
7661: 6603 26 0 0077                              MPR     NI
7662: 6604 06 0 0001                              MPY     TS1               # 23-9+1=15
7663: 6605 04 0 0014                              DVP     TS14
7664: 6606 60 0 0000                              COM     
7665: 6607 10 0 0013                              STO     TS13              # F DOT AT -9.
7666: 6610 20 0 0012                              CLA     TS12              # X12
7667: 6611 24 0 5033                              SUB     1B1
7670: 6612 32 0 0000                              ADZ     TS0
7671: 6613 14 0 4007                              LDQ     ZERO
7672: 6614 54 0 0001                              LRS     1                 # 2
7673: 6615 04 0 0012                              DVP     TS12
7674: 6616 10 0 0017                              STO     TS17              # G DOT AT 1.
7675: 6617 50 1 0002                              AXT     2,1
7676:
7677:                                     # Page 103
7700: 6620 20 1 0204                      ELPRD2  CLA     R0X,1             # 23
7701: 6621 26 0 0003                              MPR     TS3               # 1
7702: 6622 10 0 0002                              STO     TS2               # 24
7703: 6623 20 1 0424                              CLA     V0X,1             # 13
7704: 6624 26 0 0007                              MPR     TS7               # 11+13=24
7705: 6625 32 0 0002                              ADZ     TS2
7706: 6626 56 0 0001                              ALS     1                 # 23
7707: 6627 10 1 0220                              STO     RIX,1             # PRED POS AT 23
7710: 6630 20 1 0204                              CLA     R0X,1             # 23
7711: 6631 26 0 0013                              MPR     TS13              # -9
7712: 6632 10 0 0002                              STO     TS2               # 14
7713: 6633 20 1 0424                              CLA     V0X,1             # 13
7714: 6634 26 0 0017                              MPR     TS17              # 1
7715: 6635 32 0 0002                              ADZ     TS2
7716: 6636 56 0 0001                              ALS     1
7717: 6637 10 1 0430                              STO     VIX,1             # PRED VEL AT 13
7720: 6640 42 1 6620                              TIX     ELPRD2,1
7721: 6641 40 0 0021                              TRA     SREX2
7722: 6642 22 0 4004                      ELPRD3  ADD     3B17
7723: 6643 10 0 0007                              STO     TS7
7724: 6644 20 0 0010                              CLA     TS10              # 3
7725: 6645 24 0 0011                              SUB     TS11
7726: 6646 56 0 0002                              ALS     2
7727: 6647 10 0 0013                              STO     TS13              # DEL(M)-DEL(E) AT 1.
7730: 6650 20 0 0000                              CLA     TS0               # 1
7731: 6651 54 0 0001                              LRS     1                 # 2
7732: 6652 24 0 4065                              SUB     1B2
7733: 6653 26 0 0043                              MPR     SI                # 0+2=2
7734: 6654 56 0 0001                              ALS     1
7735: 6655 10 0 0014                              STO     TS14              # 1
7736: 6656 20 0 0001                              CLA     TS1
7737: 6657 26 0 0103                              MPR     CI                # 0+1=1
7740: 6660 32 0 0014                              ADZ     TS14
7741: 6661 32 0 0013                              ADZ     TS13              # X11 IN A AT 1.
7742: 6662 14 0 4007                              LDQ     ZERO
7743: 6663 54 0 0003                              LRS     3                 # 4
7744: 6664 04 0 0012                              DVP     TS12              # DEL E CORRECTION AT 3.
7745:
7746:                                     # Page 104
7747: 6665 32 0 0011                              ADZ     TS11              # DEL 3
7750: 6666 40 0 6543                              TRA     ELPRD1
7751:
7752:                                     #                 DOUBLE PRECISION SQUARE SUBROUTINE
7753:
7754: 6667 12 0 0023                      DPSQ    STQ     SREX
7755: 6670 30 0 0001                              CLZ     TS1               # A SQ MS
7756: 6671 30 0 0002                              CLZ     TS2               # A SQ LS
7757: 6672 50 1 0002                              AXT     2,1
7760: 6673 20 1 0004                      DPSQ1   CLA     TS4,1
7761: 6674 06 1 0004                              MPY     TS4,1
7762: 6675 32 0 0001                              ADZ     TS1
7763: 6676 46 0 6716                              TMI     DPSQ3             # CHECK FOR O.F.
7764: 6677 10 0 0001                              STO     TS1
7765: 6700 12 0 0003                              STQ     TS3
7766: 6701 30 0 0002                              CLZ     TS2
7767: 6702 32 0 0003                              ADZ     TS3
7770: 6703 10 0 0002                              STO     TS2
7771: 6704 46 0 6706                              TMI     *+2               # CHECK FOR O.F.
7772: 6705 40 0 6714                              TRA     DPSQ2
7773: 6706 24 0 4036                              SUB     MS
7774: 6707 10 0 0002                              STO     TS2
7775: 6710 30 0 0001                              CLZ     TS1
7776: 6711 22 0 4006                              ADD     1B17
7777: 6712 46 0 6716                              TMI     DPSQ3             # CHECK FOR O.F.
10000: 6713 10 0 0001                              STO     TS1
10001: 6714 42 1 6673                      DPSQ2   TIX     DPSQ1,1
10002: 6715 40 0 0023                              TRA     SREX
10003: 6716 20 0 4030                      DPSQ3   CLA     PMAX              # O.F. DETECTED.
10004: 6717 10 0 0001                              STO     TS1
10005: 6720 40 0 0023                              TRA     SREX
10006:
10007:                                     #                 NORMALIZE SUBROUTINE.
10010:
10011: 6721 12 0 0022                      NORM    STQ     SREX1
10012: 6722 44 0 6723                              TOV     *+1               # CLEAR O.F.
10013: 6723 14 0 0002                              LDQ     TS2               # A SQ LS
10014:
10015:                                     # Page 105
10016: 6724 50 1 0007                              AXT     7,1               # 8 SHIFTS(16 PLACES) POSSIBLE
10017: 6725 20 0 0001                              CLA     TS1               # A SQ MS
10020: 6726 52 0 0002                              LLS     2
10021: 6727 44 0 6735                              TOV     NORM1
10022: 6730 10 0 0001                              STO     TS1               # NORMALIZED A.
10023: 6731 42 1 6725                              TIX     *-4,1
10024: 6732 20 0 4017                              CLA     8B17
10025: 6733 22 0 4035                              ADD     SHDUM             # LRS 0
10026: 6734 40 0 0022                              TRA     SREX1
10027: 6735 20 1 4000                      NORM1   CLA     7B17,1
10030: 6736 40 0 6733                              TRA     *-3
10031:
10032:                                     #                 DOUBLE PRECISION VECTOR MAGNITUDE
10033:
10034: 6737 12 0 0021                      DPVMAG  STQ     SREX2             # SAVE RET ADDRS.
10035: 6740 72 0 6667                              TSQ     DPSQ              # TO DOUB PREC SQ.
10036: 6741 72 0 6721                              TSQ     NORM              # TO NORMALIZE.
10037: 6742 10 0 0020                              STO     SREX3             # LRS(I/2)
10040: 6743 30 0 0001                              CLZ     TS1               # NORMALIZED SQ.
10041: 6744 72 0 7123                              TSQ     SQRTE
10042: 6745 40 0 0020                              TRA     SREX3             # RE-NORMALIZE A-REG.
10043:
10044:                                     #                 DOUBLE PRECISION TIME SUBTRACT
10045:
10046: 6746 12 0 0023                      DPTSB   STQ     SREX
10047: 6747 20 0 0377                              CLA     TA1               # ABS TIME MS AT 18.
10050: 6750 24 1 0520                              SUB     TE1,1             # EPOCH TIME MS AT 18.
10051: 6751 56 0 0005                              ALS     5                 # 13
10052: 6752 10 0 0001                              STO     TS1
10053: 6753 20 1 0524                              CLA     TE2,1             # EPOCH TIME LS AT 1.
10054: 6754 54 0 0014                              LRS     12                # 13
10055: 6755 10 0 0002                              STO     TS2
10056: 6756 20 0 0353                              CLA     TA2               # ABS TIME LS AT 1.
10057: 6757 54 0 0014                              LRS     12                # 13
10060: 6760 34 0 0002                              SUZ     TS2
10061: 6761 32 0 0001                              ADZ     TS1
10062: 6762 10 0 0442                              STO     TI                # TIME DIFF AT 13.
10063:
10064:                                     # Page 106
10065: 6763 40 0 0023                              TRA     SREX
10066:
10067: 6764 12 0 0021                      EXIT    STQ     SREX2
10070: 6765 40 0 0021                              TRA     SREX2
10071:
10072:                                     #                 SINE-COSINE SUBROUTINE ENTER WITH ANGLE IN
10073:                                     #                 RADIANS AT B3 IN ACC AND RETURN IN Q
10074:
10075: 6766 22 0 4021                              ADD     2PIB3
10076: 6767 46 0 6766                      SICOE   TMI     *-1               # SET PLUS
10077: 6770 12 0 0023                              STQ     SREX
10100: 6771 10 0 0001                              STO     TS1
10101: 6772 24 0 4021                              SUB     2PIB3             # SET BETWEEN 0-2PI
10102: 6773 46 0 6775                              TMI     *+2
10103: 6774 10 0 0001                              STO     TS1
10104: 6775 20 0 4023                              CLA     PID2              # PI/2
10105: 6776 24 0 0001                              SUB     TS1
10106: 6777 10 0 0000                              STO     TS0               # PI/2-ALPHA
10107: 7000 46 0 7021                              TMI     SICO1             # -- IS GREATER THAN 90
10110: 7001 50 1 0001                              AXT     1,1
10111: 7002 20 1 0000                      SICO2   CLA     TS0,1
10112: 7003 56 0 0002                              ALS     2                 # TO 1
10113: 7004 10 1 0000                              STO     TS0,1
10114: 7005 26 1 0000                              MPR     TS0,1
10115: 7006 10 0 0002                              STO     TS2               # ALPHA SQUARED AT 2
10116: 7007 26 0 4025                              MPR     K173              # 2-6=-4
10117: 7010 22 0 4026                              ADD     K172
10120: 7011 26 0 0002                              MPR     TS2               # -2
10121: 7012 22 0 4027                              ADD     K171
10122: 7013 26 0 0002                              MPR     TS2               # 0
10123: 7014 22 0 4030                              ADD     K170
10124: 7015 26 1 0000                              MPR     TS0,1             # 1
10125: 7016 10 1 0000                              STO     TS0,1
10126: 7017 42 1 7002                              TIX     SICO2,1
10127: 7020 40 0 0023                              TRA     SREX              # EXIT
10130: 7021 22 0 4023                      SICO1   ADD     PID2
10131: 7022 10 0 0001                              STO     TS1               # PI-ALPHA
10132:
10133:                                     # Page 107
10134: 7023 46 0 7025                              TMI     *+2               # -- IS GREATER THAN 180
10135: 7024 40 0 7001                              TRA     SICO2-1
10136: 7025 22 0 4023                              ADD     PID2
10137: 7026 60 0 0000                              COM     
10140: 7027 10 0 0000                              STO     TS0               # ALPHA-3PI/2
10141: 7030 46 0 7001                              TMI     SICO2-1           # -- IS BETWEEN 180 AND 270
10142: 7031 24 0 4023                              SUB     PID2
10143: 7032 10 0 0001                              STO     TS1               # ALPHA-2PI
10144: 7033 40 0 7001                              TRA     SICO2-1
10145:
10146:                                     #                 ARCTANGENT SUBROUTINE ENTER WITH SINE AND 
10147:                                     #                 COSINE AT 1 IN TS3 AND TS4
10150:
10151: 7034 12 0 0023                      ARCTAE  STQ     SREX              # SET EXIT
10152: 7035 20 0 0003                              CLA     TS3
10153: 7036 62 0 0000                              ABS     
10154: 7037 10 0 0001                              STO     TS1
10155: 7040 20 0 0004                              CLA     TS4
10156: 7041 44 0 7042                              TOV     *+1
10157: 7042 62 0 0000                              ABS     
10160: 7043 22 0 0001                              ADD     TS1               # KCOS+KSIN
10161: 7044 44 0 7047                              TOV     *+3               # O.F. CHECK.
10162: 7045 20 0 0004                              CLA     TS4
10163: 7046 40 0 7055                              TRA     *+7
10164: 7047 30 0 0001                              CLZ     TS1               # O.F. RE-SCALE.
10165: 7050 54 0 0001                              LRS     1
10166: 7051 10 0 0001                              STO     TS1               # ABS SIN.
10167: 7052 30 0 0004                              CLZ     TS4
10170: 7053 54 0 0001                              LRS     1
10171: 7054 10 0 0004                              STO     TS4               # COS
10172: 7055 46 0 7113                              TMI     ARCTA2            # -- IS 2ND OR 3RD QUAD
10173: 7056 22 0 0001                              ADD     TS1
10174: 7057 10 0 0002                              STO     TS2
10175: 7060 20 0 4024                              CLA     PID4
10176: 7061 10 0 0005                              STO     TS5               # 1/4 PI
10177: 7062 20 0 0001                              CLA     TS1
10200: 7063 24 0 0004                              SUB     TS4               # SIN-COS
10201:
10202:                                     # Page 108
10203: 7064 14 0 4007                      ARCTA1  LDQ     ZERO
10204: 7065 54 0 0001                              LRS     1
10205: 7066 04 0 0002                              DVP     TS2
10206: 7067 10 0 0006                              STO     TS6               # =X AT 1
10207: 7070 06 0 0006                              MPY     TS6
10210: 7071 10 0 0007                              STO     TS7               # X SQUARED AT 2
10211: 7072 26 0 4031                              MPR     K183              # -1
10212: 7073 22 0 4032                              ADD     K182
10213: 7074 06 0 0007                              MPY     TS7               # 1
10214: 7075 22 0 4033                              ADD     K181
10215: 7076 06 0 0007                              MPY     TS7               # 3
10216: 7077 52 0 0001                              LLS     1                 # 2
10217: 7100 22 0 4034                              ADD     K180
10220: 7101 26 0 0006                              MPR     TS6               # 3
10221: 7102 22 0 0005                              ADD     TS5
10222: 7103 10 0 0001                              STO     TS1
10223: 7104 20 0 0003                              CLA     TS3
10224: 7105 46 0 7110                              TMI     *+3
10225: 7106 20 0 0001                              CLA     TS1
10226: 7107 40 0 0023                              TRA     SREX              # EXIT
10227: 7110 20 0 4021                              CLA     2PIB3             # PHI GREATER THAN 180
10230: 7111 24 0 0001                              SUB     TS1
10231: 7112 40 0 0023                              TRA     SREX
10232: 7113 20 0 4022                      ARCTA2  CLA     3PID4
10233: 7114 10 0 0005                              STO     TS5               # 3/4 PI
10234: 7115 20 0 0004                              CLA     TS4
10235: 7116 24 0 0001                              SUB     TS1
10236: 7117 10 0 0002                              STO     TS2
10237: 7120 20 0 0001                              CLA     TS1
10240: 7121 22 0 0004                              ADD     TS4
10241: 7122 40 0 7064                              TRA     ARCTA1
10242:
10243:                                     #                 SQUARE ROOT SUBROUTINE ENTER WITH
10244:                                     #                 SQUARE IN ACC AND RETURN IN Q
10245:
10246: 7123 12 0 0023                      SQRTE   STQ     SREX
10247: 7124 10 0 0001                              STO     TS1
10250:
10251:                                     # Page 109
10252: 7125 60 0 0000                              COM                       # TEST FOR ZERO OR NEG
10253: 7126 46 0 7131                              TMI     *+3
10254: 7127 20 0 4007                              CLA     ZERO              # SET ROOT EQUAL ZERO
10255: 7130 40 0 0023                              TRA     SREX
10256: 7131 30 0 0002                              CLZ     TS2               # SET TS2=0
10257: 7132 72 0 6721                              TSQ     NORM              # TO NORMALIZE
10260: 7133 10 0 0022                              STO     SREX1             # SAVE SHIFT
10261: 7134 20 0 0001                              CLA     TS1
10262: 7135 54 0 0001                              LRS     1                 # .5SQ
10263: 7136 10 0 0133                              STO     TS8
10264: 7137 12 0 0001                              STQ     TS1
10265: 7140 54 0 0002                              LRS     2                 # .125SQ
10266: 7141 22 0 0133                              ADD     TS8               # .625SQ
10267: 7142 22 0 7147                              ADD     KSR               # .375+.625SQ=RN-1
10270: 7143 50 1 0001                              AXT     1,1               # 2 ITERATIONS
10271: 7144 10 0 0002                      SQRT1   STO     TS2
10272: 7145 54 0 0001                              LRS     1                 # .5 RN-1
10273: 7146 10 0 0000                              STO     TS0
10274: 7147 14 0 0001                      KSR     LDQ     TS1               # KSR=.375+DELTA
10275: 7150 20 0 0133                              CLA     TS8
10276: 7151 04 0 0002                              DVP     TS2
10277: 7152 32 0 0000                              ADZ     TS0               # .5SQ/RN-1+.5RN-1=RN
10300: 7153 42 1 7144                              TIX     SQRT1,1
10301: 7154 40 0 0022                              TRA     SREX1             # TO SHIFT
10302:
10303:                                     #                 ANGLE BETWEEN VECTORS SUBROUTINE.
10304:
10305: 7155 12 0 0022                      ABVEC   STQ     SREX1
10306: 7156 20 0 0010                              CLA     TS10              # BX
10307: 7157 26 0 0006                              MPR     TS4+2             # AZ
10310: 7160 54 0 0001                              LRS     1
10311: 7161 10 0 0002                              STO     TS2
10312: 7162 20 0 0004                              CLA     TS4               # AX
10313: 7163 26 0 0012                              MPR     TS10+2            # BZ
10314: 7164 54 0 0001                              LRS     1
10315: 7165 34 0 0002                              SUZ     TS2
10316: 7166 10 0 0003                              STO     TS3               # SIN THETA
10317:
10320:                                     # Page 110
10321: 7167 20 0 0004                              CLA     TS4               # AX
10322: 7170 26 0 0010                              MPR     TS10              # BX
10323: 7171 54 0 0001                              LRS     1
10324: 7172 10 0 0002                              STO     TS2
10325: 7173 20 0 0006                              CLA     TS4+2             # AZ
10326: 7174 26 0 0012                              MPR     TS10+2            # BZ
10327: 7175 54 0 0001                              LRS     1
10330: 7176 32 0 0002                              ADZ     TS2
10331: 7177 10 0 0004                              STO     TS4               # COS THETA
10332: 7200 72 0 7034                              TSQ     ARCTAE
10333: 7201 40 0 0022                              TRA     SREX1             # THETA IN A AT 3.
10334:
10335:                                     #         DEDA PROCESSING ENTRY
10336:
10337: 7202 20 0 0333                      ADOUT   CLA     ADST              # OUTPUT ADDRESS
10340: 7203 22 0 5033                              ADD     DUMCLA
10341: 7204 10 0 1000                              STO     CLADD             # SET CLA OF DATA
10342: 7205 54 0 0011                              LRS     9
10343: 7206 50 1 0002                              AXT     2,1
10344: 7207 52 0 0003                              LLS     3                 # 3 BITS PER PASS
10345: 7210 66 0 2200                              OUT     DEDA
10346: 7211 66 0 2600                              OUT     SHOUT             # SET SHIFT OUT
10347: 7212 56 0 0022                              ALS     18                # TIME DELAY
10350: 7213 42 1 7207                              TIX     *-4,1
10351: 7214 40 0 1000                              TRA     CLADD             # GET DATA
10352: 7215 10 0 0326                      ROR     STO     DD
10353: 7216 46 0 7353                              TMI     SNS               # TEST SIGN
10354: 7217 20 0 4007                              CLA     ZERO              # POSITIVE
10355:
10356: 7220 66 0 2200                      SOUT    OUT     DEDA              # OUTPUT SIGN
10357: 7221 66 0 2600                              OUT     SHOUT
10360: 7222 20 0 0027                              CLA     OCTF              # OCTAL OR DECIMAL OUTPUT
10361: 7223 46 0 7247                              TMI     OCTO
10362: 7224 40 0 1122                      EX46    TRA     EXIT46
10363: 7225 20 0 0326                              CLA     DD                # DECIMAL OUTPUT
10364: 7226 26 0 0026                              MPR     SF                # SCALE FACTOR
10365: 7227 62 0 0000                              ABS                       # MAGNITUDE
10366: 7230 50 1 0004                              AXT     4,1               # OUTPUT 5 DIGITS
10367:
10370:                                     # Page 111
10371: 7231 44 0 7232                              TOV     *+1
10372: 7232 14 0 4007                              LDQ     ZERO
10373: 7233 04 0 4042                              DVP     BCDL              # DIVIDE BY 100K
10374: 7234 12 0 0001                              STQ     TS1
10375: 7235 30 0 0001                              CLZ     TS1               # UNROUNDED QUOTIENT
10376: 7236 22 0 4006                              ADD     1B17              # ROUND UP
10377: 7237 44 0 7355                              TOV     MAX               # TEST FOR TOO LARGE
10400: 7240 06 0 4041                      DOUT    MPY     10B17             # EXTRACT DIGIT
10401: 7241 66 0 2200                              OUT     DEDA              # OUTPUT
10402: 7242 66 0 2600                              OUT     SHOUT
10403: 7243 12 0 0001                              STQ     TS1               # REMAINDER
10404: 7244 30 0 0001                              CLZ     TS1
10405: 7245 42 1 7240                              TIX     *-5,1
10406: 7246 40 0 1123                              TRA     EXIT47
10407: 7247 14 0 0326                      OCTO    LDQ     DD                # OCTAL OUTPUT
10410: 7250 50 1 0004                              AXT     4,1               # OUTPUT 5 OCTAL DIGITS
10411: 7251 52 0 0003                              LLS     3                 # EXTRACT DIGIT
10412: 7252 66 0 2200                              OUT     DEDA              # OUTPUT
10413: 7253 66 0 2600                              OUT     SHOUT
10414: 7254 56 0 0022                              ALS     18                # TIME DELAY
10415: 7255 42 1 7251                              TIX     *-4,1
10416: 7256 40 0 1123                              TRA     EXIT47
10417: 7257 10 0 0325                      RME     STO     RMF               # READOUT ENTRY
10420: 7260 66 0 2500                              OUT     SHIN              # ENTER ENTRY     SET SHIFT IN
10421: 7261 30 0 0327                              CLZ     CMF               # RESET CLEAR MODE
10422: 7262 30 0 0027                              CLZ     OCTF              # OCTAL FLAG
10423: 7263 30 0 0326                              CLZ     DD                # CLEAR DEDA DATA
10424: 7264 20 0 4007                              CLA     ZERO
10425: 7265 50 1 0002                              AXT     2,1               # INPUT 3 DIGIT ADDRESS
10426: 7266 56 0 0003                              ALS     3
10427: 7267 10 0 0333                              STO     ADST
10430: 7270 64 0 2200                              INP     DEDA              # INPUT DIGIT
10431: 7271 66 0 2500                              OUT     SHIN              # SET SHIFT IN
10432: 7272 54 0 0015                              LRS     13
10433: 7273 24 0 4017                              SUB     8B17              # TEST FOR ERROR
10434: 7274 46 0 7276                              TMI     *+2
10435: 7275 40 0 1124                              TRA     EXIT48            # ERROR EXIT
10436:
10437:                                     # Page 112
10440: 7276 22 0 4017                              ADD     8B17
10441: 7277 32 0 0333                              ADZ     ADST              # ASSEMBLE ADDRESS
10442: 7300 42 1 7266                              TIX     *-10,1
10443: 7301 10 0 0333                              STO     ADST
10444: 7302 64 0 2200                              INP     DEDA
10445: 7303 66 0 2500                              OUT     SHIN
10446: 7304 56 0 0004                              ALS     4
10447: 7305 10 0 0002                              STO     TS2               # SIGN
10450: 7306 20 0 0333                              CLA     ADST
10451: 7307 40 0 1125                              TRA     EXIT49            # SCALE FACTOR SELECT
10452: 7310 20 0 4036                      NOTDD   CLA     MS                # SET OCTAL FLAG
10453: 7311 10 0 0027                              STO     OCTF
10454: 7312 20 0 0325                              CLA     RMF               # EXIT IF READOUT
10455: 7313 46 0 1123                              TMI     EXIT47
10456: 7314 50 1 0004                              AXT     4,1               # INPUT 5 OCTAL DIGITS
10457: 7315 64 0 2200                              INP     DEDA
10460: 7316 66 0 2500                              OUT     SHIN
10461: 7317 54 0 0016                              LRS     14
10462: 7320 32 0 0326                              ADZ     DD                # ASSEMBLE WORD
10463: 7321 52 0 0003                              LLS     3
10464: 7322 10 0 0326                              STO     DD
10465: 7323 42 1 7315                              TIX     *-6,1
10466: 7324 32 0 0002                              ADZ     TS2               # ADD SIGN
10467: 7325 40 0 7344                              TRA     STDD
10470: 7326 20 0 0325                      DDIN    CLA     RMF               # DECIMAL DATA
10471: 7327 46 0 1123                              TMI     EXIT47            # EXIT IF READOUT
10472: 7330 50 1 0004                              AXT     4,1               # READ 5 DIGITS
10473: 7331 40 0 7336                              TRA     *+5
10474: 7332 66 0 2500                              OUT     SHIN
10475: 7333 06 0 7512                              MPY     10B4              # MULTIPLY BY 10
10476: 7334 52 0 0004                              LLS     4                 # SCALE
10477: 7335 10 0 0326                              STO     DD
10500: 7336 64 0 2200                              INP     DEDA
10501: 7337 54 0 0015                              LRS     13
10502: 7340 32 0 0326                              ADZ     DD                # ASSEMBLE WORD
10503: 7341 42 1 7332                              TIX     *-7,1
10504: 7342 40 0 1126                      EX50    TRA     EXIT50
10505:
10506:                                     # Page 113
10507: 7343 04 0 0026                              DVP     SF                # SCALE FACTOR
10510: 7344 10 0 0326                      STDD    STO     DD
10511: 7345 30 0 0002                              CLZ     TS2
10512: 7346 46 0 7350                              TMI     *+2               # COMPLEMENT IF MINUS
10513: 7347 40 0 1127                              TRA     EXIT51            # IMMEDIATE ACTION TEST
10514: 7350 30 0 0326                              CLZ     DD                # COMPLEMENT
10515: 7351 60 0 0000                              COM     
10516: 7352 40 0 7344                              TRA     STDD
10517: 7353 20 0 4006                      SNS     CLA     1B17              # PICK UP NEGATIVE SIGN
10520: 7354 40 0 7220                              TRA     SOUT
10521: 7355 20 0 4030                      MAX     CLA     PMAX              # GET MAXIMUM NUMBER
10522: 7356 40 0 7240                              TRA     DOUT
10523:
10524:                                     #         ABSOLUTE TIME INITIALIZE
10525:
10526: 7357 20 0 0615                      ATI     CLA     MU10              # CYCLE COUNT
10527: 7360 14 0 4007                              LDQ     ZERO
10530: 7361 04 0 0667                              DVP     M25B16            # MINUS SEC AT 1
10531: 7362 22 0 0670                              ADD     DTB               # 1+TIME BIAS
10532: 7363 22 0 5033                              ADD     1B1               # +1 SEC
10533: 7364 10 0 0353                              STO     TA2               # 2+BIAS-CYCLE COUNT
10534: 7365 20 0 0326                              CLA     DD                # INPUT TIME
10535: 7366 24 0 4006                              SUB     1B17              # T-2 SEC
10536: 7367 10 0 0377                              STO     TA1               # MOST SIG ABS TIME
10537: 7370 40 0 1123                              TRA     EXIT47
10540:
10541:                                     #         AGS TELEMETRY OUTPUT
10542:
10543: 7371 12 0 0023                      TME     STQ     SREX
10544: 7372 64 0 2020                              INP     DISC1I
10545: 7373 56 0 0002                              ALS     2                 # TEST FOR STOP
10546: 7374 46 0 0023                              TMI     SREX              # EXIT IF NOT
10547: 7375 30 0 0723                              CLZ     TMID
10550: 7376 22 0 4006                              ADD     1B17              # INCREMENT IDENT NUMBER
10551: 7377 10 0 0723                              STO     TMID
10552: 7400 22 0 1006                              ADD     TMCLA             # SET UP TO GET WORD
10553: 7401 10 0 0021                              STO     SREX-2
10554:
10555:                                     # Page 114
10556: 7402 24 0 1006                              SUB     TMCLA             # GET ID
10557: 7403 56 0 0014                              ALS     12
10560: 7404 66 0 6200                              OUT     TMIDO             # OUTPUT IDENTIFICATION
10561: 7405 20 0 4045                              CLA     TMOUT             # OUTPUT INSTRUCTION
10562: 7406 10 0 0022                              STO     SREX-1
10563: 7407 40 0 0021                              TRA     SREX-2
10564:
10565:                                     #         TELEMETRY INITIALIZE
10566:
10567: 7410 30 0 0723                      TMIE2   CLZ     TMID              # RESET TO FIRST WORD
10570: 7411 50 1 0002                              AXT     2,1
10571: 7412 20 1 0130                              CLA     A11,1             # SAVE DIRECTION COSINES
10572: 7413 10 1 0330                              STO     A11T,1            # FOR TELEMETRY
10573: 7414 20 1 0134                              CLA     A31,1
10574: 7415 10 1 0334                              STO     A31T,1
10575: 7416 42 1 7412                              TIX     *-4,1
10576: 7417 40 0 6764                              TRA     EXIT
10577:
10600:                                     #         PGNS DOWNLINK INPUT
10601:
10602: 7420 12 0 0023                      PGNSDE  STQ     SREX
10603: 7421 20 0 0563                              CLA     DEL32             # DOWNLINK INITIALIZE FLAG
10604: 7422 46 0 7424                              TMI     *+2
10605: 7423 40 0 0023                              TRA     SREX              # EXIT
10606: 7424 64 0 2020                              INP     DISC1I
10607: 7425 56 0 0001                              ALS     1                 # TEST FOR STOP
10610: 7426 46 0 0023                              TMI     SREX              # PULSE RECEIVED
10611: 7427 64 0 6200                              INP     DLREG             # INPUT WORD
10612: 7430 54 0 0002                              LRS     2                 # DISCARD UNWANTED BITS
10613: 7431 10 0 0012                              STO     TS12              # SAVE INPUT
10614: 7432 20 0 0570                              CLA     ID1F              # TEST FOR PRIOR ID
10615: 7433 46 0 7450                              TMI     PGNSD1            # NUMBER 1 FOUND
10616: 7434 30 0 0012                              CLZ     TS12              # TEST IF CURRENT
10617: 7435 46 0 0023                              TMI     SREX              # WORD IS AN ID
10620: 7436 24 0 0671                              SUB     ID                # TEST FOR PROPER ID
10621: 7437 62 0 0000                              ABS     
10622: 7440 60 0 0000                              COM     
10623:
10624:                                     # Page 115
10625: 7441 46 0 0023                              TMI     SREX
10626: 7442 20 0 4025                              CLA     K173              # IS IDAI OR IDRP
10627: 7443 10 0 0570                              STO     ID1F              # SET FLAG
10630: 7444 30 0 0562                              CLZ     DLWN              # ZERO WORD NUMBER
10631: 7445 20 0 4011                      PBNSD2  CLA     1B5
10632: 7446 10 0 0037                              STO     DLSC              # SET SHIFT COUNT
10633: 7447 40 0 0023                              TRA     SREX              # EXIT
10634: 7450 40 0 1023                      PGNSD1  TRA     EXIT7
10635: 7451 30 0 0037                              CLZ     DLSC
10636: 7452 56 0 0001                              ALS     1                 # TEST FOR ID
10637: 7453 46 0 7445                              TMI     PBNSD2            # WORD EXPECTED
10640: 7454 10 0 0037                              STO     DLSC
10641: 7455 30 0 0562                              CLZ     DLWN
10642: 7456 22 0 4006                              ADD     1B17              # INCREMENT WORD NUMBER
10643: 7457 10 0 0562                              STO     DLWN
10644: 7460 22 0 1010                              ADD     DLSTO             # FORM STORE COMMAND
10645: 7461 10 0 0022                              STO     SREX-1
10646: 7462 24 0 0672                              SUB     DLWNL             # TEST FOR LAST WORD
10647: 7463 46 0 7467                              TMI     *+4
10650: 7464 30 0 0570                              CLZ     ID1F              # RESET ID1 FLAG
10651: 7465 30 0 0563                              CLZ     DEL32             # RESET INITIALIZE FLAG
10652: 7466 10 0 0571                              STO     DEL31             # SET DATA RECEIVED FLAG
10653: 7467 30 0 0012                              CLZ     TS12
10654: 7470 56 0 0003                              ALS     3
10655: 7471 40 0 0022                              TRA     SREX-1
10656:
10657:                                     #         SELF-TEST ROUTINE
10660: 7472 20 0 0572                      TEST    CLA     FLAGT
10661: 7473 46 0 7722                              TMI     CKSUM
10662: 7474 20 0 0412                              CLA     S12
10663: 7475 24 0 7701                              SUB     1B3
10664: 7476 46 0 7502                              TMI     *+4
10665: 7477 24 0 4065                              SUB     1B2
10666: 7500 46 0 7503                              TMI     *+3               # -- IS LESS THAN 3
10667: 7501 40 0 1130                              TRA     EXIT52
10670: 7502 66 0 7010                              OUT     7010
10671:                                     #         LOGIC TEST
10672:
10673:                                     # Page 116
10674: 7503 44 0 7504                              TOV     *+1               # ACCUM.   Q REG.   OPER.
10675: 7504 14 0 4030                              LDQ     K170              #          377777   377777
10676: 7505 20 0 4020                              CLA     SIXTH             # 252525   377777   252525
10677: 7506 56 0 0001                              ALS     1                 # 525252
10700: 7507 12 0 0000                      1K7     STQ     TS0
10701: 7510 72 0 7775                              TSQ     OVFLW             # TEST FOR OVERFLOW
10702: 7511 54 0 0021                              LRS     17                # 777777   525252
10703: 7512 24 0 0000                      10B4    SUB     TS0               # 400000   525252   377777
10704: 7513 12 0 0000                              STQ     TS0
10705: 7514 44 0 7772                              TOV     ERROR             # TEST RESET OF OVERFLOW
10706: 7515 60 0 0000                              COM                       # 400000
10707: 7516 46 0 7520                              TMI     *+2
10710: 7517 40 0 7772                              TRA     ERROR
10711: 7520 14 0 0000                      3B3     LDQ     TS0               # 400000   525252   525252
10712: 7521 52 0 0021                              LLS     17                # 125252   000000
10713: 7522 12 0 0001                              STQ     TS1
10714: 7523 72 0 7775                              TSQ     OVFLW
10715: 7524 24 0 0001                              SUB     TS1               # 125252            000000
10716: 7525 24 0 0000                              SUB     TS0               # 400000            525252
10717: 7526 56 0 0001                              ALS     1                 # 000000
10720: 7527 72 0 7775                              TSQ     OVFLW
10721: 7530 14 0 4003                              LDQ     4B17              # 000000   000004   000004
10722: 7531 52 0 0037                              LLS     31                # 200000   000000
10723: 7532 44 0 7772                              TOV     ERROR             # NO OVERFLOW
10724: 7533 14 0 4036                              LDQ     MS                # 200000   400000   400000
10725: 7534 12 0 0001                              STQ     TS1
10726: 7535 54 0 0020                              LRS     16                # 000001   000000
10727: 7536 22 0 0001                              ADD     TS1               # 400001   000000   400000
10730: 7537 12 0 0002                              STQ     TS2
10731: 7540 22 0 0002                              ADD     TS2
10732: 7541 46 0 7543                              TMI     *+2
10733: 7542 40 0 7772                              TRA     ERROR
10734: 7543 22 0 4030                              ADD     K170              # 000000   000000   377777
10735: 7544 46 0 7772                              TMI     ERROR
10736: 7545 44 0 7772                              TOV     ERROR
10737: 7546 60 0 0000                              COM                       # 000000
10740: 7547 72 0 7767                              TSQ     ACCUM             # 777777
10741:
10742:                                     # Page 117
10743: 7550 60 0 0000                              COM                       # 000001
10744: 7551 62 0 0000                              ABS                       # 000001
10745: 7552 50 1 0007                              AXT     7,1
10746: 7553 10 1 0000                              STO     TS0,1             # STORE 8 NUMBERS IN
10747: 7554 24 0 4006                              SUB     1B17              # SEQUENCE
10750: 7555 42 1 7553                              TIX     *-2,1
10751: 7556 20 0 4006                              CLA     1B17              # 000001            000001
10752:                                     # 2005-06-12 RSB.  In the comment field, the OPER
10753:                                     # entry was incorrectly shown as 777776.  Since 
10754:                                     # CLZ clears the operand, this is impossible.
10755: 7557 30 0 0004                              CLZ     TS4               # 777776            000000
10756: 7560 56 0 0017                              ALS     15                # 600000
10757: 7561 44 0 7772                              TOV     ERROR
10760:                                     # 2005-06-12 RSB.  Same, but was 777777.
10761: 7562 36 0 0005                              MPZ     TS5               # 000001   200000   000000
10762:                                     # 2005-06-12 RSB.  Same, but was 000001.
10763: 7563 34 0 0007                              SUZ     TS7               # 000000   200000   000000
10764: 7564 52 0 0003                              LLS     3                 # 000004   000000
10765:                                     # 2005-06-12 RSB.  Same, but was 777774.
10766: 7565 32 0 0002                              ADZ     TS2               # 000000   000000   000000
10767: 7566 50 1 0003                              AXT     3,1
10770: 7567 22 1 0004                              ADD     TS4,1
10771: 7570 42 1 7567                              TIX     *-1,1
10772: 7571 50 1 0007                              AXT     7,1
10773: 7572 50 1 0000                              AXT     0,1
10774:                                     # 2005-06-12 RSB.  Same, but was 777775.
10775: 7573 34 1 0003                              SUZ     TS3,1             # 000003   000000   000000
10776: 7574 42 1 7772                              TIX     ERROR,1
10777: 7575 50 1 0002                              AXT     2,1
11000:                                     # 2005-06-12 RSB.  Same, but was 777773.
11001: 7576 32 0 0001                              ADZ     TS1               # 777776   000000   000000
11002: 7577 42 1 7600                              TIX     *+1,1
11003: 7600 42 1 7601                              TIX     *+1,1
11004:                                     # 2005-06-12 RSB.  Same, but was 777772.
11005: 7601 34 1 0000                              SUZ     TS0,1             # 000004   000000   000000
11006: 7602 50 1 0003                              AXT     3,1
11007: 7603 32 1 0000                              ADZ     TS0,1
11010: 7604 42 1 7603                              TIX     *-1,1
11011: 7605 22 0 4036                              ADD     MS                # 400004            400000
11012: 7606 62 0 0000                              ABS                       # 377774
11013: 7607 22 0 4030                              ADD     K170              # 777773            377777
11014: 7610 72 0 7775                              TSQ     OVFLW
11015: 7611 62 0 0000                              ABS                       # 000005
11016: 7612 52 0 0000                              LLS     0
11017: 7613 24 0 4002                              SUB     5B17              # 000000            000005
11020: 7614 72 0 7767                              TSQ     ACCUM             # 777777
11021:
11022:                                     # Page 118
11023: 7615 20 0 0000                              CLA     TS0               # 000000            000000
11024: 7616 40 0 7621                              TRA     *+3
11025: 7617 72 0 7767                              TSQ     ACCUM             # 777777
11026: 7620 40 0 7622                              TRA     *+2
11027: 7621 40 0 7617                              TRA     *-2
11030: 7622 10 0 0000                              STO     TS0
11031: 7623 22 0 4006                              ADD     1B17              # 000000            000001
11032: 7624 20 0 0000                              CLA     TS0               # 777777            777777
11033: 7625 24 0 0000                              SUB     TS0               # 000000            777777
11034: 7626 72 0 7767                              TSQ     ACCUM             # 777777
11035: 7627 56 0 0020                              ALS     16                # 600000
11036: 7630 06 0 0000                              MPY     TS0               # 000000   200000   777777
11037: 7631 12 0 0001                              STQ     TS1
11040: 7632 22 0 0001                              ADD     TS1               # 200000   200000   200000
11041: 7633 24 0 5033                              SUB     1B1               # 000000   200000   200000
11042: 7634 22 0 4020                              ADD     SIXTH             # 252525   200000   252525
11043: 7635 26 0 4004                              MPR     3B17              # 000002   377777   000003
11044: 7636 22 0 0000                              ADD     TS0               # 000001   377777   777777
11045: 7637 04 0 4005                              DVP     2B17              # 377777   377777   000002
11046: 7640 44 0 7772                              TOV     ERROR
11047: 7641 12 0 0002                              STQ     TS2
11050: 7642 24 0 4030                              SUB     K170              # 000000   377777   377777
11051: 7643 24 0 4030                              SUB     K170              # 400001   377777   377777
11052: 7644 22 0 0002                              ADD     TS2               # 000000   377777   377777
11053: 7645 22 0 4020                              ADD     SIXTH             # 252525   377777   252525
11054: 7646 24 0 4002                              SUB     5B17              # 252520   377777   000005
11055: 7647 26 0 4020                              MPR     SIXTH             # 161612   161620   252525
11056: 7650 12 0 0002                              STQ     TS2
11057: 7651 24 0 0002                              SUB     TS2               # 777772   161620   161620
11060: 7652 54 0 0021                              LRS     17                # 777777   777772
11061: 7653 04 0 4003                              DVP     4B17              # 777777   777776   000004
11062: 7654 12 0 0002                              STQ     TS2
11063: 7655 22 0 0002                              ADD     TS2               # 777775   777776   777776
11064: 7656 22 0 4004                              ADD     3B17              # 000000   777776   000003
11065: 7657 24 0 4020                              SUB     SIXTH             # 525253   777776   252525
11066: 7660 10 0 0003                              STO     TS3
11067: 7661 26 0 0003                              MPR     TS3               # 161616   307071   525253
11070:
11071:                                     # Page 119
11072: 7662 04 0 0003                              DVP     TS3               # 525251   525251   525253
11073: 7663 06 0 4020                              MPY     SIXTH             # 616160   743435   252525
11074: 7664 04 0 4020                              DVP     SIXTH             # 525251   525251   252525
11075: 7665 22 0 4005                              ADD     2B17              # 525253   525251   000002
11076: 7666 22 0 0003                              ADD     TS3               # 252526            525253
11077: 7667 72 0 7775                              TSQ     OVFLW
11100: 7670 24 0 0003                              SUB     TS3               # 525253            525253
11101: 7671 72 0 7775                              TSQ     OVFLW
11102: 7672 24 0 4020                              SUB     SIXTH             # 252526            252525
11103: 7673 72 0 7775                              TSQ     OVFLW
11104: 7674 60 0 0000                              COM     
11105: 7675 22 0 4020                              ADD     SIXTH             # 777777            252525
11106: 7676 14 0 0006                              LDQ     TS6               # 777777   000000   000000
11107: 7677 22 0 0000                              ADD     TS0               # 777776   000000   777777
11110: 7700 54 0 0002                              LRS     2                 # 777777   600000
11111: 7701 04 0 0000                      1B3     DVP     TS0               # 200000   177777   777777
11112: 7702 12 0 0000                              STQ     TS0
11113: 7703 72 0 7775                              TSQ     OVFLW
11114: 7704 24 0 0000                              SUB     TS0               # 000001            177777
11115: 7705 24 0 4006                              SUB     1B17              # 000000            000001
11116: 7706 72 0 7767                              TSQ     ACCUM             # 777777
11117: 7707 20 0 4004                              CLA     3B17
11120: 7710 04 0 4005                              DVP     2B17
11121: 7711 72 0 7775                              TSQ     OVFLW             # END OF LOGIC TEST
11122: 7712 20 0 4036                      SETFG   CLA     MS
11123: 7713 10 0 0572                              STO     FLAGT             # SET TEST FLAG
11124: 7714 30 0 0137                              CLZ     SUM
11125: 7715 20 0 1007                              CLA     TCLTH             # INITIALIZE MEMORY
11126: 7716 10 0 0024                              STO     TVARBR            # TEST
11127: 7717 20 0 7002                              CLA     CLATEN
11130: 7720 10 0 0663                              STO     SUMLIM
11131: 7721 40 0 1130                              TRA     EXIT52
11132:                                     #         MEMORY CHECKSUM ROUTINE
11133: 7722 72 0 7750                      CKSUM   TSQ     MEMSUM            # PERFORM SUMMATION
11134: 7723 30 0 0137                              CLZ     SUM               # TEST SUM
11135: 7724 46 0 7727                              TMI     *+3
11136: 7725 24 0 4006                              SUB     1B17
11137:
11140:                                     # Page 120
11141: 7726 46 0 7742                              TMI     COREX
11142: 7727 20 0 0412                              CLA     S12               # INCORRECT SUM
11143: 7730 24 0 7520                              SUB     3B3               # SET TEST WORD BITS
11144: 7731 46 0 7735                              TMI     *+4               # AND TEST MODE FAILURE
11145: 7732 20 0 5427                              CLA     7B3               # INDICATOR
11146: 7733 10 0 0412                              STO     S12
11147: 7734 40 0 7737                              TRA     *+3
11150: 7735 20 0 5033                              CLA     1B1
11151: 7736 66 0 6410                              OUT     6410
11152: 7737 10 0 0412                              STO     S12
11153: 7740 30 0 0572                              CLZ     FLAGT             # RESET FLAG
11154: 7741 40 0 1130                              TRA     EXIT52
11155: 7742 20 0 0412                      COREX   CLA     S12               # CORRECT SUM
11156: 7743 24 0 4006                              SUB     1B17
11157: 7744 46 0 7746                              TMI     *+2
11160: 7745 40 0 7740                              TRA     *-5
11161: 7746 20 0 7701                              CLA     1B3
11162: 7747 40 0 7737                              TRA     COREX-3
11163: 7750 12 0 0023                      MEMSUM  STQ     SREX              # MEMORY SUMMATION SUBRT.
11164: 7751 30 0 0153                              CLZ     WRDCNT
11165: 7752 72 0 0024                              TSQ     TVARBR
11166: 7753 32 0 0137                              ADZ     SUM               # FORM SUM
11167: 7754 10 0 0137                              STO     SUM
11170: 7755 20 0 0024                              CLA     TVARBR
11171: 7756 24 0 0663                              SUB     SUMLIM            # TEST FOR LIMIT 
11172: 7757 46 0 7761                              TMI     *+2
11173: 7760 40 0 0023                              TRA     SREX
11174: 7761 30 0 0153                              CLZ     WRDCNT
11175: 7762 22 0 4006                              ADD     1B17
11176: 7763 10 0 0153                              STO     WRDCNT            # INCREMENT WORD COUNTER
11177: 7764 24 0 0664                              SUB     WORDS
11200: 7765 46 0 7752                              TMI     MEMSUM+2
11201: 7766 40 0 1131                              TRA     EXIT53
11202: 7767 46 0 7772                      ACCUM   TMI     ERROR             # SUBROUTINE TO TEST FOR
11203: 7770 24 0 4006                              SUB     1B17
11204: 7771 46 0 6764                              TMI     EXIT
11205: 7772 20 0 7520                      ERROR   CLA     3B3
11206:
11207:                                     # Page 121
11210: 7773 10 0 0412                              STO     S12
11211: 7774 40 0 7712                              TRA     SETFG
11212: 7775 44 0 6764                      OVFLW   TOV     EXIT              # OVERFLOW TEST
11213: 7776 40 0 7772                              TRA     ERROR
11214:
11215:                                     #                 INPUT-OUTPUT ADDRESSES
11216:
11217: 7777                                        CHECKSUM RANGE 4000-7776
11220:                         6200        DLREG   DEFINE  6200
11221:                         2020        DISC1I  DEFINE  2020              # DISCRETE INPUT WORD 1
11222:                         2040        DISC2I  DEFINE  2040              # DISCRETE INPUT WORD 2
11223:                         2200        DEDA    DEFINE  2200
11224:                         2001        SIALO   DEFINE  2001              # DEFINE OUTPUT REGISTERS
11225:                         2002        COALO   DEFINE  2002              # FOR FDAI ANGLES
11226:                         2004        SIBEO   DEFINE  2004
11227:                         2010        COBEO   DEFINE  2010
11230:                         2020        SIGAO   DEFINE  2020
11231:                         2040        COGAO   DEFINE  2040
11232:                         6001        EXO     DEFINE  6001              # DEFINE THE ATT ERROR
11233:                         6002        EYO     DEFINE  6002              # OUTPUT REGISTERS
11234:                         6004        EZO     DEFINE  6004
11235:                         6200        TMIDO   DEFINE  6200
11236:                         2600        SHOUT   DEFINE  2600
11237:                         2500        SHIN    DEFINE  2500
11240: 10000                                       END     

Checksums

CHECKSUM at 0206 (0207-1004) = 505072
CHECKSUM at 3777 (1005-3776) = 023521
CHECKSUM at 7777 (4000-7776) = 225333

Symbol Table

     1: 1000D      0441                 2: 10B17      4041                 3: 10B4       7512                 4: 10J        0226    
     5: 11J        0673                 6: 12B4       5000                 7: 12J        0305                 8: 16J        0232    
     9: 17J        0503                10: 18J        0316                11: 1B1        5033                12: 1B11       4014    
    13: 1B12       4015                14: 1B13       4016                15: 1B14       4017                16: 1B17       4006    
    17: 1B2        4065                18: 1B3        7701                19: 1B4        4010                20: 1B5        4011    
    21: 1B6        4012                22: 1B9        4013                23: 1J         0275                24: 1J1        0240    
    25: 1J2        0241                26: 1J3        0242                27: 1J4        0260                28: 1J5        0261    
    29: 1J6        0262                30: 1J7        0254                31: 1J7LS      0255                32: 1K1        0544    
    33: 1K11       0546                34: 1K13       0552                35: 1K14       0537                36: 1K18       0534    
    37: 1K19       0540                38: 1K20       0535                39: 1K21       0541                40: 1K22       0536    
    41: 1K23       0542                42: 1K24       0625                43: 1K25       4021                44: 1K26       0626    
    45: 1K27       0627                46: 1K28       0630                47: 1K29       0631                48: 1K3        0550    
    49: 1K30       0617                50: 1K33       0632                51: 1K34       0633                52: 1K35       0634    
    53: 1K36       0635                54: 1K37       0613                55: 1K4        0624                56: 1K6        0545    
    57: 1K7        7507                58: 1K8        0551                59: 1K9        0616                60: 21J        0233    
    61: 22J        0464                62: 23J        0465                63: 25J        0223                64: 28J1       0450    
    65: 28J2       0451                66: 28J3       0452                67: 2B17       4005                68: 2B3        4065    
    69: 2J         0605                70: 2J1        0244                71: 2J2        0245                72: 2J3        0246    
    73: 2J4        0264                74: 2J5        0265                75: 2J6        0266                76: 2J7        0272    
    77: 2J7LS      0273                78: 2K1        0636                79: 2K11       0526                80: 2K14       0217    
    81: 2K17       0620                82: 2K18       0447                83: 2K19       0230                84: 2K2        0637    
    85: 2K20       0453                86: 2K3        0216                87: 2K4        0674                88: 2PIB3      4021    
    89: 3B17       4004                90: 3B3        7520                91: 3J         0312                92: 3K4        0304    
    93: 3PID4      4022                94: 49B17      4040                95: 4B17       4003                96: 4J         0306    
    97: 4K10       0662                98: 4K12       0506                99: 4K2        0654               100: 4K21       0666    
   101: 4K23       0622               102: 4K25       0446               103: 4K26       0454               104: 4K27       0473    
   105: 4K3        0655               106: 4K34       0660               107: 4K35       0661               108: 4K4        0557    
   109: 4K5        0227               110: 4K6        0527               111: 5B17       4002               112: 5B3        7512    
   113: 5J         0231               114: 5K14       0560               115: 5K16       0561               116: 5K17       0611    
   117: 5K18       0267               118: 5K20       0523               119: 5K26       0466               120: 6B17       4001    
   121: 6B3        5000               122: 6J         0307               123: 6J1        0640               124: 6J2        0641    
   125: 6J3        0642               126: 6K10       0566               127: 6K10S      0776               128: 6K11       0237    
   129: 6K12       0313               130: 6K13       0577               131: 6K14       0517               132: 6K2        0457    
   133: 6K4        0456               134: 6K5        0276               135: 6K6        0522               136: 6K6S       0777    
   137: 6K8        0564               138: 6K8S       0774               139: 6K9        0565               140: 6K9S       0775    
   141: 7B17       4000               142: 7B3        5427               143: 7J         0224               144: 7K1        0274    
   145: 7K2        0650               146: 8B17       4017               147: 8J         0225               148: A11        0130    
   149: A11BD      0374               150: A11D       0160               151: A11T       0330               152: A12        0131    
   153: A12BD      0375               154: A12D       0161               155: A12T       0331               156: A13        0132    
   157: A13BD      0376               158: A13D       0162               159: A13T       0332               160: A21        0140    
   161: A22        0141               162: A23        0142               163: A31        0134               164: A31BD      0300    
   165: A31D       0164               166: A31S       0554               167: A31T       0334               168: A32        0135    
   169: A32BD      0301               170: A32D       0165               171: A32S       0555               172: A32T       0335    
   173: A33        0136               174: A33BD      0302               175: A33D       0166               176: A33S       0556    
   177: A33T       0336               178: ABVEC      7155               179: ACCUM      7767               180: ADDMS      1133    
   181: ADOUT      7202               182: ADST       0333               183: AE         0173               184: AHE        4437    
   185: AHE1       4450               186: AI         0173               187: AL         0177               188: ALPHA      0171    
   189: ALTUP      1762               190: ARCTA1     7064               191: ARCTA2     7113               192: ARCTAE     7034    
   193: AT         0067               194: ATI        7357               195: ATTERR     4451               196: B13SF      0643    
   197: B13VSF     0651               198: B18SF      0665               199: B22RSF     0656               200: B23RSF     0653    
   201: B23SF      0677               202: B3SF       0652               203: BACCSF     0657               204: BACK       4044    
   205: BCDL       4042               206: BETAR      0253               207: BM13SF     0676               208: BR1        1012    
   209: BR2EX      5355               210: BR50       1014               211: BRANCH     0063               212: C1         0513    
   213: C11        0170               214: C12        0171               215: C13        0172               216: C14        0173    
   217: C2         0033               218: C21        0174               219: C22        0175               220: C23        0176    
   221: C24        0177               222: C31        0200               223: C31AD      2213               224: C32        0201    
   225: C33        0202               226: C34        0203               227: C41        0204               228: C42        0205    
   229: C43        0206               230: C44        0207               231: CAD        2220               232: CAL        3426    
   233: CALIB1     1253               234: CALIB2     1275               235: CDCC       4146               236: CDH        3773    
   237: CDH2       3734               238: CDH3       3740               239: CI         0103               240: CKSUM      7722    
   241: CLADD      1000               242: CLAFR      4046               243: CLATAB     1066               244: CLATEN     7002    
   245: CLEARM     1311               246: CLEARP     0323               247: CMF        0327               248: COA21      4275    
   249: COALO      2002               250: COBEO      2010               251: CODELL     0053               252: COGA       0127    
   253: COGAO      2040               254: COREX      7742               255: CRSPRD     6373               256: CSI        3660    
   257: CSICDH     3640               258: CSMPV      5145               259: CSMT1      5520               260: D11        0030    
   261: D31        0040               262: D31AD      2205               263: DA11       0150               264: DA12       0151    
   265: DA13       0152               266: DA31       0154               267: DA32       0155               268: DA33       0156    
   269: DAD        2015               270: DAX        0354               271: DAXA       0530               272: DAXREM     0510    
   273: DAY        0355               274: DAYA       0531               275: DAYREM     0511               276: DAZ        0356    
   277: DAZA       0532               278: DAZREM     0512               279: DD         0326               280: DDEL       0547    
   281: DDF        0455               282: DDIN       7326               283: DEDA       2200               284: DEDABR     1013    
   285: DEDAE      1277               286: DEDASC     0727               287: DEL10      0147               288: DEL2       0574    
   289: DEL20      0603               290: DEL21      0604               291: DEL31      0571               292: DEL32      0563    
   293: DEL42      0606               294: DEL44      0157               295: DEL45      0606               296: DEL46      0256    
   297: DEL5       0575               298: DEL6       0407               299: DELAY      4047               300: DELH       0402    
   301: DELP       6013               302: DELR1      0220               303: DELR2      0222               304: DELR3      0221    
   305: DELRP      0314               306: DELVGX     0500               307: DELVGY     0501               308: DELVGZ     0502    
   309: DEXIT      1307               310: DIAK1      0772               311: DIAK2      0773               312: DIAT       1362    
   313: DICOS      4223               314: DIGX       0110               315: DIGY       0111               316: DIGZ       0112    
   317: DISC1      0533               318: DISC1C     0401               319: DISC1I     2020               320: DISC2I     2040    
   321: DLDC       1405               322: DLREG      6200               323: DLSC       0037               324: DLSTO      1010    
   325: DLWN       0562               326: DLWNL      0672               327: DLWNLC     1132               328: DOUT       7240    
   329: DPDOUT     0443               330: DPOUT      0215               331: DPSQ       6667               332: DPSQ1      6673    
   333: DPSQ2      6714               334: DPSQ3      6716               335: DPTSB      6746               336: DPVMAG     6737    
   337: DQSX       0050               338: DRX        0104               339: DRY        0105               340: DRZ        0106    
   341: DSP1       3356               342: DSP2CP     3367               343: DSPF1      0567               344: DSPLY      6274    
   345: DSPLY1     6306               346: DSPLY2     6330               347: DSPLY3     6346               348: DSPLY4     6357    
   349: DSPSC      0543               350: DTB        0670               351: DUMCLA     5033               352: DVGXX      0600    
   353: DVGXY      0601               354: DVGXZ      0602               355: DVINT      4326               356: DVS        4074    
   357: DVSX       0120               358: DVSY       0121               359: DVSZ       0122               360: DVX        0350    
   361: DVXM1      0074               362: DVY        0351               363: DVYM1      0075               364: DVZ        0352    
   365: DVZM1      0076               366: DX10P      2606               367: DXFR1      2573               368: DXFR10     2605    
   369: DXFR13     2652               370: DXFR14     2744               371: DXFRA      2711               372: DXFRR5     2613    
   373: E1         0144               374: E13        0146               375: E3         0145               376: EADICS     4772    
   377: ELPRD      6535               378: ELPRD1     6543               379: ELPRD2     6620               380: ELPRD3     6642    
   381: ENCOM1     1501               382: ENTERP     0321               383: EONS10     0343               384: EROUT      4475    
   385: ERROR      7772               386: ESQ        0172               387: EX         0070               388: EX1        4072    
   389: EX16       4644               390: EX17       4666               391: EX27       5412               392: EX28       5266    
   393: EX29       5304               394: EX3        4142               395: EX30       5331               396: EX33       5551    
   397: EX33P      3612               398: EX33PP     3630               399: EX34       5614               400: EX34P      1141    
   401: EX35       3622               402: EX36       6066               403: EX36P      0730               404: EX4        4221    
   405: EX44       6467               406: EX45       6504               407: EX46       7224               408: EX50       7342    
   409: EX8        4325               410: EX9        4354               411: EXEC       6261               412: EXEC1      6360    
   413: EXEC2      3405               414: EXEC3      3532               415: EXEC6      3552               416: EXEC7      3402    
   417: EXECA      3466               418: EXECM      3411               419: EXECM1     3413               420: EXECM2     3525    
   421: EXIT       6764               422: EXIT1      1015               423: EXIT10     1026               424: EXIT11     1027    
   425: EXIT12     1030               426: EXIT13     1031               427: EXIT14     1032               428: EXIT15     1033    
   429: EXIT16     1034               430: EXIT17     1035               431: EXIT18     1036               432: EXIT19     1037    
   433: EXIT2      1016               434: EXIT20     1040               435: EXIT21     1041               436: EXIT22     1042    
   437: EXIT23     1044               438: EXIT24     1050               439: EXIT25     1051               440: EXIT26     1056    
   441: EXIT27     1057               442: EXIT28     1060               443: EXIT29     1065               444: EXIT3      1017    
   445: EXIT30     1067               446: EXIT31     1070               447: EXIT32     1071               448: EXIT33     1072    
   449: EXIT34     1073               450: EXIT35     1074               451: EXIT36     1075               452: EXIT37     1076    
   453: EXIT38     1077               454: EXIT39     1100               455: EXIT4      1020               456: EXIT40     1101    
   457: EXIT41     1110               458: EXIT42     1111               459: EXIT43     1112               460: EXIT44     1120    
   461: EXIT45     1121               462: EXIT46     1122               463: EXIT47     1123               464: EXIT48     1124    
   465: EXIT49     1125               466: EXIT5      1021               467: EXIT50     1126               468: EXIT51     1127    
   469: EXIT52     1130               470: EXIT53     1131               471: EXIT6      1022               472: EXIT7      1023    
   473: EXIT8      1024               474: EXIT9      1025               475: EXO        6001               476: EY         0071    
   477: EYEZ       4461               478: EYO        6002               479: EZ         0072               480: EZO        6004    
   481: FDAI       4626               482: FDAI1      3560               483: FDAIL      4724               484: FLAG1      0573    
   485: FLAGT      0572               486: FLTR       1777               487: FLTRA      2024               488: FLTRD      2065    
   489: FLTRE      2075               490: FLTRH      2121               491: FLTRI      2124               492: FLTRJ      2167    
   493: FLTRTM     2274               494: FLTRX      2402               495: GDLAW      6136               496: GDLAW3     3153    
   497: GDLAW4     3174               498: GM         2555               499: GRAV       5400               500: GRAV1      5421    
   501: GSESR      6214               502: GXDT       0114               503: GYCOM      4111               504: GYDT       0115    
   505: GZDT       0116               506: H          0337               507: HDOT       0367               508: HET        1330    
   509: HMF        0324               510: HOLDP      0322               511: HRC        4405               512: HRC1       4421    
   513: HRF        0553               514: HRINT      4431               515: I          0424               516: IC1        5070    
   517: IC1BR      1011               518: IC2        5110               519: IC3        5135               520: ID         0671    
   521: ID1F       0570               522: IDAI       1116               523: IDLE       3342               524: IDRP       1117    
   525: IMPBK1     6071               526: IMUDC      5061               527: INCMU7     3445               528: INIT       6177    
   529: INTAS      4255               530: IR         1513               531: IR1        1526               532: IR2        1550    
   533: IR3        1560               534: IR4        1517               535: IR5        1712               536: IR6        1704    
   537: J          0425               538: K          0426               539: K170       4030               540: K171       4027    
   541: K172       4026               542: K173       4025               543: K180       4034               544: K181       4033    
   545: K182       4032               546: K183       4031               547: K55        0607               548: KDT        0675    
   549: KINGK      2505               550: KSR        7147               551: LL3DOT     3566               552: LMORB      5444    
   553: LMORB1     5514               554: LMORB2     2456               555: LRI        4373               556: LUNAL      4534    
   557: LUNAL1     1733               558: LUNAZ      6154               559: M1B1       4126               560: M25B16     0667    
   561: MABEE      3544               562: MAX        7355               563: MEMSUM     7750               564: MODCK      1241    
   565: MODE       1570               566: MODE1      1577               567: MS         4036               568: MU10       0615    
   569: MU17       0167               570: MU19       0621               571: MU3        0610               572: MU6        0612    
   573: MU7        0647               574: MU8        0614               575: MU8S12     0363               576: MXM        2404    
   577: NAV        5161               578: NAV1       5175               579: NAV1P      1742               580: NAV2       5205    
   581: NAV3       5217               582: NAV4       5223               583: NE         0077               584: NEWDD      3472    
   585: NI         0077               586: NMAX       4037               587: NOC        4743               588: NORM       6721    
   589: NORM1      6735               590: NORMV      6422               591: NORTON     3571               592: NOTDD      7310    
   593: O25C       1043               594: OCTF       0027               595: OCTO       7247               596: ORBI2      3010    
   597: ORBIT3     2643               598: ORBLIN     1226               599: ORBLM      2463               600: ORBPAR     5277    
   601: ORBPM      6444               602: ORBPM1     6452               603: ORBRET     0726               604: OUT        3343    
   605: OUT1       3266               606: OVFLT      3346               607: OVFLW      7775               608: P          0170    
   609: P11        0700               610: P12        0701               611: P13        0702               612: P14        0703    
   613: P21        0704               614: P22        0705               615: P23        0706               616: P24        0707    
   617: P31        0710               618: P32        0711               619: P33        0712               620: P34        0713    
   621: P41        0714               622: P42        0715               623: P43        0716               624: P44        0717    
   625: PAD        2373               626: PART       0467               627: PBNSD2     7445               628: PDOTM1     0437    
   629: PDOUT      0444               630: PGNSD1     7450               631: PGNSDE     7420               632: PHIP       0117    
   633: PI         0576               634: PID2       4023               635: PID4       4024               636: PINIT      2364    
   637: PITER1     5771               638: PITER2     6026               639: PITER3     6033               640: PMAX       4030    
   641: PMAXP      0725               642: POUT       0214               643: POUTFS     0213               644: PP         0212    
   645: PSIP       0113               646: PUPDAT     2061               647: Q1         0172               648: Q1DEDA     0402    
   649: Q5         3063               650: Q7         3302               651: QA         0315               652: QL         0343    
   653: QLTELE     0403               654: R          0210               655: R0         0207               656: R0X        0204    
   657: R0Y        0205               658: R0Z        0206               659: R1         2433               660: R2         2422    
   661: R3         2411               662: R5X        0174               663: R5Y        0175               664: R5Z        0176    
   665: RADCK      1644               666: RADOT      0477               667: RANGE      2123               668: RATE       2071    
   669: RB         0435               670: RCX        0344               671: RCY        0345               672: RCZ        0346    
   673: RD2DOT     0044               674: RD3DOT     0504               675: RD3DTL     0610               676: RDOTS      0415    
   677: READP      0320               678: RETURN     6246               679: REX        0200               680: REY        0201    
   681: REZ        0202               682: RF         0347               683: RFDOT      0423               684: RIX        0220    
   685: RIY        0221               686: RIZ        0222               687: RM         0254               688: RMDOT      0255    
   689: RME        7257               690: RMF        0325               691: RND        1002               692: RND1       4260    
   693: RND2       4432               694: ROR        7215               695: RPT        1323               696: RR         0317    
   697: RRDOT      0440               698: RREX       0741               699: RREX1      0742               700: RREX2      0745    
   701: RRSX       0234               702: RRSY       0235               703: RRSZ       0236               704: RRT        3606    
   705: RRX        0124               706: RRY        0125               707: RRZ        0126               708: RSHFT      2341    
   709: RST        4524               710: RST1       1547               711: RSTE       1534               712: RT         0203    
   713: RVCOMP     5124               714: RVSAR      2360               715: RX         0340               716: RY         0341    
   717: RZ         0342               718: S0         0400               719: S10        0410               720: S11        0411    
   721: S12        0412               722: S13        0413               723: S14        0414               724: S15        0415    
   725: S16        0416               726: S17        0417               727: S507       0507               728: S623       0623    
   729: SDVX       0644               730: SDVY       0645               731: SDVZ       0646               732: SETFG      7712    
   733: SF         0026               734: SFLO       0724               735: SFTAB      1177               736: SFTEST     1336    
   737: SHDUM      4035               738: SHFT1      4261               739: SHFT2      4433               740: SHIN       2500    
   741: SHOUT      2600               742: SI         0043               743: SIALO      2001               744: SIBEO      2004    
   745: SICO1      7021               746: SICO2      7002               747: SICOE      6767               748: SIDELL     0047    
   749: SIGA       0123               750: SIGAO      2020               751: SINITC     1052               752: SIXTH      4020    
   753: SNS        7353               754: SOFT1      1456               755: SOFT2      1623               756: SOFT3      1473    
   757: SOUT       7220               758: SPULSE     4741               759: SQRT1      7144               760: SQRTE      7123    
   761: SREX       0023               762: SREX1      0022               763: SREX2      0021               764: SREX3      0020    
   765: STDD       7344               766: STEER      3206               767: STEER1     3220               768: STEER3     3253    
   769: STEER4     3261               770: STEST      2440               771: STGCTR     1061               772: STOCOM     4065    
   773: SUM        0137               774: SUMLIM     0663               775: T          0435               776: TA0        0372    
   777: TA1        0377               778: TA2        0353               779: TB         0436               780: TBO        0357    
   781: TBRAKE     6041               782: TCLTH      1007               783: TCSM       0445               784: TDEL       0310    
   785: TE1        0520               786: TE2        0524               787: TEST       7472               788: THEF       1144    
   789: THEP       0107               790: THETAF     0303               791: THETAR     0252               792: TI         0442    
   793: TIG        0373               794: TIMEA      6254               795: TL1        0521               796: TL2        0525    
   797: TLOS       0303               798: TMCLA      1006               799: TME        7371               800: TMID       0723    
   801: TMIDO      6200               802: TMIE1      1167               803: TMIE2      7410               804: TMOUT      4045    
   805: TMPBR      0057               806: TP         0434               807: TR         0311               808: TR1        0103    
   809: TR2        0143               810: TR3        0073               811: TR4        0460               812: TR5        0462    
   813: TR6        0461               814: TR8        0077               815: TRACOM     4036               816: TRNSFR     4043    
   817: TS0        0000               818: TS1        0001               819: TS10       0010               820: TS11       0011    
   821: TS12       0012               822: TS13       0013               823: TS14       0014               824: TS15       0015    
   825: TS16       0016               826: TS17       0017               827: TS2        0002               828: TS3        0003    
   829: TS4        0004               830: TS5        0005               831: TS6        0006               832: TS7        0007    
   833: TS8        0133               834: TSEX       0046               835: TVARBR     0024               836: TVTG       1426    
   837: U1X        0060               838: U1Y        0061               839: U1Z        0062               840: U2X        0030    
   841: U2Y        0031               842: U2Z        0032               843: UBCOMP     1236               844: V          0433    
   845: V0X        0424               846: V0Y        0425               847: V0Z        0426               848: V1X        0034    
   849: V1Y        0035               850: V1Z        0036               851: V2X        0064               852: V2Y        0065    
   853: V2Z        0066               854: V5X        0460               855: V5Y        0461               856: V5Z        0462    
   857: V6X        0050               858: V6Y        0051               859: V6Z        0052               860: VCX        0364    
   861: VCY        0365               862: VCZ        0366               863: VD1X       0404               864: VD1Y       0405    
   865: VD1Z       0406               866: VD2X       0100               867: VD2Y       0101               868: VD2Z       0102    
   869: VDX        0470               870: VDY        0471               871: VDZ        0472               872: VEX        0420    
   873: VEY        0421               874: VEZ        0422               875: VF         0371               876: VFX        0030    
   877: VG         0370               878: VGX        0064               879: VH         0427               880: VHA        0463    
   881: VHSQ       0143               882: VIX        0430               883: VIY        0431               884: VIZ        0432    
   885: VPY        0263               886: VRSH       0720               887: VRUP1      2671               888: VSMGX      0474    
   889: VSMGY      0475               890: VSMGZ      0476               891: VX         0360               892: VY         0361    
   893: VY0        0270               894: VY0FS      0271               895: VZ         0362               896: W1X        0040    
   897: W1Y        0041               898: W1Z        0042               899: WBX        0514               900: WBY        0515    
   901: WBZ        0516               902: WCX        0054               903: WCY        0055               904: WCZ        0056    
   905: WORDS      0664               906: WRDCNT     0153               907: WRDLP      6224               908: X3         0073    
   909: X4         0143               910: XDV        3025               911: XDV1       3031               912: XDV2       3047    
   913: XDV3       3053               914: XDVS       1750               915: XI         0277               916: XORBV1     5532    
   917: XORBV2     5563               918: Y          0211               919: YD2DOT     0045               920: YD3DOT     0505    
   921: ZERO       4007               922: ZERR       1462               923: ZNOC       5056            

No duplicate symbols.

Assembly Status

Successful!