Assembly listing generated by yaYUL

Source Code

These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of original core rope program modules, as follows:

B1 — Revision 292
B2 — Revision 302
B3 — Revision 302
B4 — Revision 302
B5 — Revision 292
B6 — Revision 306

This means that source code does not represent a specific historical revision of Sundance, but rather a mixture of the three released versions. Nonetheless, it is capable of flying the whole Apollo 9 mission. This source code matches the binary dumps, as closely as feasible, but 100% match is not possible, due mostly to changes in memory addresses at which code and variables were allocated in different revisions of Sundance. Refer to this list of explanations for each binary mismatch.

Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

033998,000002: 033999,000003: 034000,000004: 034001,000005: 034002,000006: 034003,000007: 034004,000008: 034005,000009: 034006,000010: 034007,000011: 034008,000012: 034009,000013: 034010,000014: 034011,000015: 034012,000016: 034013,000017: 034014,000018: 33,2000 034015,000019: 33,2000 034016,000020: 33,2000 034017,000021: 034018,000022: 33,2000 E7,1472 034019,000023: 034020,000024: 034021,000025: 034022,000026: 33,2000 034023,000027: < 034218,000222: 33,2223 034219,000223: 33,2224 034220,000224: 33,2225 034221,000225: 33,2226 034222,000226: 034223,000227: 33,2227 034224,000228: 33,2230 034225,000229: 034226,000230: 33,2231 034227,000231: 33,2232 034228,000232: 33,2233 034229,000233: < < < 034720,000724: 034721,000725: < < 034835,000839: 034836,000840: < < < < 034904,000908: 034905,000909: < < < 034913,000917: < 035096,001100: 33,3473 035097,001101: 33,3474 035098,001102: 33,3475 035099,001103: 33,3476 035100,001104: 33,3477 035101,001105: 33,3500 035102,001106: 035103,001107: 035104,001108: 035105,001109: 035106,001110: < 035161,001165: 33,3553 035162,001166: 33,3554 035163,001167: 33,3555 E7,1672 035164,001168: 33,3555 035165,001169: 035166,001170: 33,3557 035167,001171: < 035169,001173: 33,3561 035170,001174: 33,3562 035171,001175: 33,3563 035172,001176: 33,3564 035173,001177: 33,3565 035174,001178: 33,3566 035175,001179: 035176,001180: 035177,001181: 035178,001182: 035179,001183: ## Copyright: Public domain. ## Filename: SERVICER.agc ## Purpose: A section of a reconstructed, mixed version of Sundance ## It is part of the reconstructed source code for the Lunar ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9. ## No original listings of this program are available; ## instead, this file was created via disassembly of dumps ## of various revisions of Sundance core rope modules. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2020-06-17 MAS Created from Luminary 69. ## 2021-05-30 ABS Aligned IAW to field boundary. ## Sundance 292 BANK 33 SETLOC SERVICES BANK EBANK= DVCNTR # ************************************* PREREAD ************************************************************** COUNT* $$/SERV 4">034024,000028: 33,2000 35032 PREREAD CAF SEVEN # 5.7 SPOT TO SKIP LASTBIAS AFTER 05501 TC NEWPHASE # RESTART. 00005 OCT 5 35101 CAF PRIO21 05142 TC NOVAC EBANK= NBDX 03661 14063 2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL 153">034032,000036: 33,2007 02430 BIBIBIAS TC PIPASR +3 # CLEAR + READ PIPS LAST TIME IN FRE5+F133 # DO NOT DESTROY VALUE OF PIPTIME1 05563 TC UPFLAG 00162 ADRES V37FLAG # SET V37FLAG AND AVEGFLAG (BITS 5 AND 6 05563 TC UPFLAG # OF FLAGWRD7) 00163 ADRES AVEGFLAG 05575 TC DOWNFLAG # RESET DRIFTFLAG 00036 ADRES DRIFTFLG 35024 CAF FOUR # INITIALIZE DV MONITOR 55472 TS DVCNTR 55261 TS PIPAGE 55260 TS STOPDVC 35010 CAF LRBYBIT 55263 TS LRSTAT 32354 CAF ENDJBCAD # POINT OUTROUTE TO END-OF-JOB. 55262 TS OUTROUTE 37662 CAF PRIO22 05155 TC FINDVAC # TO FIRST ENTRY TO AVERAGE G. EBANK= DVCNTR 02355 66067 2CADR NORMLIZE 35050 CAF 2SECS # WAIT TWO SECONDS FOR READACCS 05252 TC WAITLIST EBANK= DVCNTR 02042 66067 2CADR READACCS 45025 CS TWO # 5.2SPOT FOR REREADAC AND NORMLIZE 05501 TC NEWPHASE 00005 OCT 5 15321 TCF TASKOVER # ************************************* READACCS ************************************************************* 353">034071,000075: 33,2042 40102 READACCS CS FLAGWRD6 75017 MASK MUNFLBIT 10000 CCS A 12061 TCF PIPSDONE -1 40103 CS FLAGWRD7 75014 MASK SWANDBIT 10000 CCS A 12057 TCF SWANDOFF 35743 CAF TWELVE 05252 TC WAITLIST EBANK= UNIT/R/ 02102 42067 2CADR LANDISP 12061 TCF PIPSDONE -1 646">034088,000092: 33,2057 04737 SWANDOFF TC IBNKCALL 43027 CADR DISPRSET 02425 TC PIPASR # READ THE PIPAS. E45">034093,000097: 33,2062 35031 PIPSDONE CA FIVE 05501 TC NEWPHASE 00005 OCT 5 5">034096,000100: 33,2065 35026 REDO5.5 CAF ONE 55261 TS PIPAGE 35032 CAF SEVEN # SET PIPCTR FOR 4X/SEC RATE. 55257 TS PIPCTR 40103 CS FLAGWRD7 75022 MASK AVEGFBIT 10000 CCS A 02121 TC AVEGOUT # AVEGFLAG DOWN - SET UP FINAL EXIT 353">034107,000111: 33,2075 35050 MAKEACCS CAF 2SECS 05243 TC TWIDDLE 02042 ADRES READACCS 41263 CS LRSTAT 75010 MASK LRBYBIT 00006 EXTEND 12107 BZF STRTSERV 33215 CAF 1.95SECS 05243 TC TWIDDLE 02542 ADRES LRHTASK 256">034120,000124: 33,2107 35011 STRTSERV CA PRIO20 05155 TC FINDVAC EBANK= DVCNTR 02127 66067 2CADR SERVICER # SET UP SERVICER JOB 05413 TC PHASCHNG 40045 OCT 40045 35016 CA BIT9 00006 EXTEND 05011 WOR DSALMOUT # TURN ON TEST CONNECTOR OUTBIT 15321 TCF TASKOVER 4">034134,000138: 33,2121 00006 AVEGOUT EXTEND 32126 DCA AVOUTCAD # SET UP FINAL SERVICER EXIT 53253 DXCH AVGEXIT 12107 TCF STRTSERV # END TASK WITHOUT CALLING READACCS EBANK= DVCNTR 144">034142,000146: 33,2125 02307 66067 AVOUTCAD 2CADR AVGEND # ************************************* SERVICER ************************************************************* 552">034146,000150: 33,2127 05413 SERVICER TC PHASCHNG # RESTART REREADAC + SERVICER 16035 OCT 16035 20000 OCT 20000 EBANK= DVCNTR 02140 66067 2CADR GETABVAL 37670 CAF PRIO31 # INITIALIZE 1/PIPADT IN CASE RESTART HAS 55075 TS 1/PIPADT # CAUSED LASTBIAS TO BE SKIPPED. 04655 TC BANKCALL # PIPA COMPENSATION CALL 15277 CADR 1/PIPA 14C">034159,000163: 33,2140 06014 GETABVAL TC INTPRET 51575 VLOAD ABVAL 01212 DELV 01246 STORE ABDELV # ABDELV = CM/SEC*2(-14). 77605 DMP 27114 KPIP 03471 STORE ABDVCONV # ABDVCONV = M/CS * 2(-5). E">034166,000170: 33,2147 76014 MASSMON BON AXT,1 # ARE WE ON THE SURFACE? 04307 SURFFLAG 66171 MOONSPOT # YES: BYPASS MASS MESS 00000 0 43071 DDV BON # NO: WHICH VEX SHOULD BE USED? 27140 1SEC(7) 00703 APSFLAG 66161 +3 77770 AXT,1 00002 2 15250 STODL /AF/ # /AF/ = MAGNITUDE DV/DT 03471 ABDVCONV 55702 VSR4 DDV* 27144 APSVEX1,1 43205 DMP DAD 01244 MASS 01244 MASS 03556 STORE MASS1 F54">034185,000189: 33,2171 50545 MOONSPOT DLOAD VSR6 03471 ABDVCONV 77615 DAD 03467 DVTOTAL 03467 STORE DVTOTAL # UPDATE DVTOTAL FOR DISPLAY 45034 RTB CALL 66533 TMPTOSPT 47255 CD*TR*G 45160 AXC,1 CALL 02147 XNBPIP 30671 XNBNDX 547">034198,000202: 33,2204 45014 AVERAGEG BON CALL 03307 MUNFLAG 67145 MUNRVG 67057 CALCRVG 77776 EXIT >034204,000208: 33,2211 05413 GOSERV TC PHASCHNG 10035 OCT 10035 34C">034207,000211: 33,2213 02416 COPYCYCL TC COPYCYC 05575 TC DOWNFLAG # CLEAR STEERSW PRIOR TO DVMON. 00042 ADRES STEERSW 35020 CAF IDLEFBIT # IS THE IDLE FLAG SET? 70103 MASK FLAGWRD7 10000 CCS A 12266 TCF USEJETS # IDLEFLAG = 1, HENCE SET AUXFLAG TO 0. /a>034217,000221: 33,2222 00004 DVMON INHINT 41201 CS DVTHRUSH 61245 AD ABDELV 00006 EXTEND 62257 BZMF LOTHRUST 04737 TC IBNKCALL 74643 CADR NOULLAGE 40076 CS FLAGWRD2 # SET STEERSW. 75014 MASK STEERBIT 26076 ADS FLAGWRD2 554">034230,000234: 33,2234 31260 DVCNTSET CA STOPDVC # UPDATE MAXIMUM NOW THAT 55472 TS DVCNTR # THRUXT HAS BEEN DETECTED. 30075 CA FLAGWRD1 75023 MASK GIMBFBIT 00006 EXTEND 12266 BZF USEJETS 30075 CA FLAGWRD1 # BRANCH IF APSFLAG IS SET. 75013 MASK APSFLBIT 10000 CCS A 12266 TCF USEJETS 35016 CA BIT9 # CHECK GIMBAL FAIL BIT 00006 EXTEND 02032 RAND CHAN32 00006 EXTEND 12266 BZF USEJETS >034249,000253: 33,2253 45011 USEGTS CS USEQRJTS 71102 MASK DAPBOOLS 55102 TS DAPBOOLS 12272 TCF SERVOUT 354">034254,000258: 33,2257 11472 LOTHRUST CCS DVCNTR 12265 TCF DECCNTR 05413 TC PHASCHNG 10035 OCT 10035 04674 TC POSTJUMP 74606 CADR COMFAIL 2">034263,000267: 33,2265 55472 DECCNTR TS DVCNTR 3">034265,000269: 33,2266 00004 USEJETS INHINT 41102 CS DAPBOOLS 75011 MASK USEQRJTS 27102 ADS DAPBOOLS 4">034269,000273: 33,2272 00003 SERVOUT RELINT 04655 TC BANKCALL 40315 CADR 1/ACCS 30167 CA PRIORITY 75054 MASK LOW9 54166 TS PUSHLOC 22007 ZL 52121 DXCH FIXLOC # FIXLOC AND OVFIND 05413 TC PHASCHNG 10035 OCT 10035 00006 EXTEND # EXIT TO SELECTED ROUTINE WHETHER THERE 31253 DCA AVGEXIT # IS THRUST OR NOT. THE STATE OF STEERSW 52006 DXCH Z # WILL CONVEY THIS INFORMATION. >034285,000289: 33,2307 31234 AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT 55075 TS 1/PIPADT # SET UP FREE FALL GYRO COMPENSATION. 05563 TC UPFLAG # SET DRIFT FLAG. 00036 ADRES DRIFTFLG 04655 TC BANKCALL 17221 CADR PIPFREE 45016 CS BIT9 00006 EXTEND 03011 WAND DSALMOUT 05373 TC 2PHSCHNG 00005 OCT 5 # GROUP 5 OFF 05022 OCT 05022 # GROUP 2 ON 20000 OCT 20000 06014 TC INTPRET 77624 CALL 27466 AVETOMID 43014 BON BOFF 00310 RNDVZFLG 66345 AVG2.7 00346 P25FLAG 66341 GRP2OFF 77776 EXIT 05413 TC PHASCHNG 40112 OCT 40112 E">034317,000321: 33,2337 31262 AVERTRN CA OUTROUTE # RETURN TO DESIRED POINT. 04677 TC BANKJUMP 6">034320,000324: 33,2341 77776 GRP2OFF EXIT 05413 TC PHASCHNG 00002 OCT 00002 12337 TCF AVERTRN >034325,000329: 33,2345 77776 AVG2.7 EXIT 05413 TC PHASCHNG 40072 OCT 40072 12337 TCF AVERTRN 645">034330,000334: 33,2351 33,2337 OUTGOAVE = AVERTRN 1">034332,000336: 33,2351 E7,1555 DVCNTR1 = MASS1 954">034334,000338: 33,2351 05413 SERVEXIT TC PHASCHNG 00035 OCT 00035 15225 +2 TCF ENDOFJOB 144">034339,000343: 33,2354 66353 ENDJBCAD CADR SERVEXIT +2 # NORMLIZE AND COPYCYCL A45">034343,000347: 33,2355 06014 NORMLIZE TC INTPRET 77745 DLOAD 01244 MASS 27556 STOVL MASS1 06231 UNITX 03461 STORE UASTEER 77214 BOFF VLOAD 03347 MUNFLAG 66410 NORMLIZ1 03540 VN1 76521 MXV VSL1 01736 REFSMMAT 27504 STOVL V 03532 RN1 52521 MXV VSL6 01736 REFSMMAT 37476 STCALL R 67200 MUNGRAV 77214 BON VLOAD 04702 FLP70 66406 ASCSPOT 03504 V 53435 VXV UNIT 03476 R 03707 STORE UHYP 4">034368,000372: 33,2406 77776 ASCSPOT EXIT 12414 TCF NORMLIZ2 A31">034371,000375: 33,2410 45175 NORMLIZ1 VLOAD CALL 03532 RN1 67010 CALCGRAV 77776 EXIT A32">034376,000380: 33,2414 02416 NORMLIZ2 TC COPYCYC 05225 TC ENDOFJOB 3">034380,000384: 33,2416 00006 COPYCYC EXTEND 22157 QXCH COPEXIT 34374 CAF OCT25 05623 TC GENTRAN 01531 ADRES RN1 01217 ADRES RN 00157 TC COPEXIT 4">034388,000392: 33,2425 0157 COPEXIT = MPAC +3 # ******************* PIPA READER ******************** # MOD NO. 00 BY D. LICKLY DEC.9 1966 # FUNCTIONAL DESCRIPTION # SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT IT WILL BE RESTARTABLE. # PIPA READINGS ARE STORED IN THE VECTOR DELV. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING, # RESTARTS BEGIN AT REREADAC. # AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A # VECTOR IN CDUTEMP. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS # THE CDU READING IN 2S COMP IN THE ORDER CDUX,Y,Z. THE THRUST # VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME. # CALLING SEQUENCE AND EXIT # CALL VIA TC, ISWCALL, ETC. # EXIT IS VIA Q. # INPUT # INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2. # OUTPUT # HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS. # PIPTIME CONTAINS TIME OF PIPA READING. # DEBRIS (ERASABLE LOCATIONS DESTROYED BY PROGRAM) # TEMX TEMY TEMZ PIPAGE >034431,000435: 33,2425 00006 PIPASR EXTEND 30025 DCA TIME2 53546 DXCH PIPTIME1 # CURRENT TIME POSITIVE VALUE 45030 +3 CS ZERO # INITIALIZE THESE AT NEG. ZERO. 55254 TS TEMX 55255 TS TEMY 55256 TS TEMZ 35030 CA ZERO 55215 TS DELVZ # OTHER DELVS OK INCLUDING LOW ORDER 55213 TS DELVY 55261 TS PIPAGE # SHOW PIPA READING IN PROGRESS >034445,000449: 33,2440 00006 REPIP1 EXTEND 40040 DCS PIPAX # X AND Y PIPS READ 53255 DXCH TEMX 52040 DXCH PIPAX # PIPAS SET TO NEG ZERO AS READ. 55211 TS DELVX 23213 LXCH DELVY >034452,000456: 33,2446 40041 REPIP3 CS PIPAZ # REPEAT PROCESS FOR Z PIP 57256 XCH TEMZ 56041 XCH PIPAZ A">034455,000459: 33,2451 55215 DODELVZ TS DELVZ >034457,000461: 33,2452 30032 REPIP4 CA CDUX # READ CDUS INTO HIGH ORDER CDUTEMPS 55167 TS CDUTEMPX 30033 CA CDUY 55170 TS CDUTEMPY 30034 CA CDUZ 55171 TS CDUTEMPZ 31211 CA DELVX 55172 TS PIPATMPX 31213 CA DELVY 55173 TS PIPATMPY 31215 CA DELVZ 55174 TS PIPATMPZ 00002 TC Q 143">034473,000477: 33,2467 10763 REREADAC CCS PHASE5 12472 TCF +2 15321 TCF TASKOVER 11261 CCS PIPAGE 12042 TCF READACCS # PIP READING NOT STARTED. GO TO BEGINNING 32532 CAF DONEADR # SET UP RETURN FROM PIPASR 54002 TS Q 11215 CCS DELVZ 12452 TCF REPIP4 # Z DONE, GO DO CDUS 12503 TCF +3 # Z NOT DONE, CHECK Y. 12452 TCF REPIP4 12452 TCF REPIP4 22007 ZL 11213 CCS DELVY 12510 TCF +3 12517 TCF CHKTEMX # Y NOT DONE, CHECK X. 12510 TCF +1 22041 LXCH PIPAZ # Y DONE, ZERO Z PIP. 11256 CCS TEMZ 41256 CS TEMZ # TEMZ NOT = -0, CONTAINS -PIPAZ VALUE. 12451 TCF DODELVZ 12512 TCF -2 23215 LXCH DELVZ # TEMZ = -0, L HAS ZPIP VALUE. 12452 TCF REPIP4 8">034504,000508: 33,2517 11254 CHKTEMX CCS TEMX # HAS THIS CHANGED 41254 CS TEMX # YES 12524 TCF +3 # YES 12520 TCF -2 # YES 12440 TCF REPIP1 # NO 55211 TS DELVX 41255 CS TEMY 55213 TS DELVY 45030 CS ZERO # ZERO X AND Y PIPS 52040 DXCH PIPAX # L STILL ZERO FROM ABOVE 12446 TCF REPIP3 2">034519,000523: 33,2532 02062 DONEADR GENADR PIPSDONE 054">034521,000525: 33,2533 31170 TMPTOSPT CA CDUTEMPY # THIS SUBROUTINE, CALLED BY AN RTB FROM 54766 TS CDUSPOTY # INTERPRETIVE, LOADS THE CDUS CORRESPON- 31171 CA CDUTEMPZ # DING TO PIPTIME INTO THE CDUSPOT VECTOR. 54770 TS CDUSPOTZ 31167 CA CDUTEMPX 54772 TS CDUSPOTX 16035 TCF DANZIG # LRHTASK IS A WAITLIST TASK SET BY READACCS DURING THE DESCENT BRAKING # PHASE WHEN THE ALT TO THE LUNAR SURFACE IS LESS THAN 25,000 FT. THIS # TASK CLEARS THE ALTITUDE MEASUREMENT MADE DISCRETE AND INITIATES THE # LANDING RADAR MEASUREMENT JOB (LRHJOB) TO TAKE A ALTITUDE MEASUREMENT # 50 MS PRIOR TO THE NEXT READACCS TASK. B">034535,000539: 33,2542 35021 LRHTASK CA READLBIT 71263 MASK LRSTAT # IS READLR FLAG SET? 00006 EXTEND 15321 BZF TASKOVER # NO. BYPASS LR READ. 41263 CS LRSTAT 75015 MASK NOLRRBIT # IS LR READ INHIBITED? 00006 EXTEND 15321 BZF TASKOVER # YES. BYPASS LR READ. 37672 CA PRIO32 # LR READ OK SET JOB TO DO IT 05142 TC NOVAC # ABOUT 50 MS PRIOR TO PIPA READ EBANK= HMEAS 03621 66067 2CADR LRHJOB 05321 TC TASKOVER # HIGATASK IS ENTERED APPROXIMATELY 6 SECS PRIOR TO HIGATE DURING THE # DESCENT PHASE. HIGATASK SETS THE HIGATE FLAG (BIT11) AND THE LR INHIBIT # FLAG (BIT10) IN LRSTAT. THE HIGATJOB IS SET UP TO REPOSITION THE LR # ANTENNA FROM POSITION 1 TO POSITION 2. IF THE REPOSITIONING IS # SUCCESSFUL THE ALT BEAM AND VELOCITY BEAMS ARE TRANSFORMED TO THE NEW # ORIENTATION IN NB COORDINATES AND STORED IN ERASABLE. 34B">034560,000564: 33,2557 00004 HIGATASK INHINT 45065 CS PRIO3 # SET HIGATE AND LR INHIBIT FLAGS 71263 MASK LRSTAT 65065 AD PRIO3 55263 TS LRSTAT 37672 CAF PRIO32 05155 TC FINDVAC # SET LR POSITIONING JOB (POS2) EBANK= HMEAS 03653 66067 2CADR HIGATJOB 00003 RELINT 12641 TCF CONTSERV # CONTINUE SERVICER # MUNRETRN IS THE RETURN LOC FROM SPECIAL AVE G ROUTINE (MUNRVG) 24E">034574,000578: 33,2572 77776 MUNRETRN EXIT 35016 CAF XORFLBIT # WERE WE BELOW 30000 FT LAST PASS? 71263 MASK LRSTAT 00006 EXTEND 12761 BZF XORCHK # NO - TEST THIS PASS 41263 CS LRSTAT 75010 MASK LRBYBIT 00006 EXTEND 12645 BZF COPYCYC1 # BYPASS LR LOGIC IF BIT15 IS SET. 35021 CA READLBIT # SEE IF ALT < 35000 FT LAST CYCLE 71263 MASK LRSTAT 00006 EXTEND 12772 BZF 25KCHK # ALT WAS > 35000 FT LAST CYCLE CHK NOW >034591,000595: 33,2607 35014 HITEST CAF PSTHIBIT # CHECK FOR HIGATE 71263 MASK LRSTAT 00006 EXTEND 12626 BZF HIGATCHK # NOT AT HIGATE LAST CYCLE-CHK THIS CYCLE B">034596,000600: 33,2613 35020 POS2CHK CAF BIT7 # VERIFY LR IN POS2 00006 EXTEND 02033 RAND CHAN33 00006 EXTEND 13256 BZF UPDATCHK # IT IS-CHECK FOR LR UPDATE 35012 CAF BIT13 # NOT IN POS2-MAYBE REPOSITIONING 00006 EXTEND 02012 RAND CHAN12 00006 EXTEND 12637 BZF LRPOSALM # LR NOT IN POS2 OR REPOSITIONING-BAD 12641 TCF CONTSERV # LR BEING REPOSITIONED-CONTINUE SERV 84B">034608,000612: 33,2626 41635 HIGATCHK CS TTF/8 # IS TTF > CRITERION? 63216 AD RPCRTIME 00006 EXTEND 62557 BZMF HIGATASK # IF UXBXP > QSW, THEN REPOSITION B">034614,000618: 33,2632 35021 POS1CHK CAF BIT6 # HIGATE NOT IN SIGHT-DO POS1 CHK 00006 EXTEND 02033 RAND 33 00006 EXTEND 13256 BZF UPDATCHK # LR IN POS1-CHECK FOR LR UPDATE C4D">034620,000624: 33,2637 05646 LRPOSALM TC ALARM # LR NOT IN PROPER POS-ALARM-BYPASS UPDATE 00511 OCT 511 # AND CONTINUE SERVICER 256">034622,000626: 33,2641 00004 CONTSERV INHINT 43255 CS BITS4-7 71263 MASK LRSTAT # CLEAR LR MEASUREMENT MADE DISCRETES. 55263 TS LRSTAT 331">034627,000631: 33,2645 05413 COPYCYC1 TC PHASCHNG 10035 OCT 10035 06014 TC INTPRET # INTPRET DOES A RELINT. 61375 VLOAD VXM 03566 V1S 01736 REFSMMAT 77772 VSL1 03540 STORE VN1 # TEMP. REF. VELOCITY VECTOR*2(7)M/CS. 77646 ABVAL 27516 STOVL ABVEL 03560 R1S 60505 VXM VSR4 01736 REFSMMAT 03532 STORE RN1 # TEMP. REF. POSITION VECTOR*2(29)M. 77656 UNIT 01760 STORE UNITR 47014 BOFF RTB 04742 FLP70 66671 +2 66726 COPYCYC3 53575 VLOAD UNIT 03560 R1S 76435 VXV VSL1 03707 UHYP 27715 STOVL UHZP # DOWNRANGE HALF-UNIT VECTOR FOR R10. 03622 WM 72435 VXV VSL2 03560 R1S 17725 STODL DELVS 00045 36D 77625 DSU 02023 /LAND/ 03512 STORE HCALC # NEW HCALC*2(24)M. 77605 DMP 27134 ALTCONV 27736 STOVL ALTBITS # ALTITUDE FOR R10 IN BIT UNITS. 03566 V1S 56236 VSQ DDV 00045 36D 75205 DMP SIGN 27136 ARCONV1 03520 HDOTDISP 332">034670,000674: 33,2717 77776 COPYCYC2 EXIT # LEAVE ALTITUDE RATE COMPENSATION IN MPAC 35031 CAF FIVE 05623 TC GENTRAN 01523 ADRES UNIT/R/ 01737 ADRES RUNIT 30154 CA MPAC 55757 TS DALTRATE 333">034679,000683: 33,2726 35033 COPYCYC3 CAF ELEVEN 05623 TC GENTRAN 01557 ADRES R1S 01475 ADRES R 55172 TS PIPATMPX 55173 TS PIPATMPY 55174 TS PIPATMPZ 12213 TCF COPYCYCL # COMPLETE THE COYPCYCL. # ALTCHK COMPARES CURRENT ALTITUDE (IN HCALC) WITH A SPECIFIED ALTITUDE FROM A TABLE BEGINNING AT ALTCRIT. # ITS CALLING SEQUENCE IS AS FOLLOWS:- # L CAF N # L+1 TC BANKCALL # L+2 CADR ALTCHK # L+3 RETURN HERE IF HCALC STILL > SPECIFIED CRITERION. C(L) = +0. # L+4 RETURN HERE IF HCALC < OR = SPECIFIED CRITERION. C(A) = C(L) = +0 # ALTCHK MUST BE BANKCALLED EVEN FROM ITS OWN BANK. N IS THE LOCATION, RELATIVE TO THE TAG ALTCRIT, # OF THE BEGINNING OF THE DP CONSTANT TO BE USED AS A CRITERION. >034702,000706: 33,2736 00006 ALTCHK EXTEND 50000 INDEX A 32752 DCA ALTCRIT 52156 DXCH MPAC +1 00006 EXTEND 41512 DCS HCALC 20156 DAS MPAC +1 06703 TC BRANCH +4 35030 CAF ZERO # BETTER THAN A NOOP, PERHAPS 24133 INCR BUF2 14670 TCF SWRETURN 4">034714,000718: 33,2751 33,2751 ALTCRIT = 25KFT /a>034716,000720: 33,2751 00007 16100 25KFT 2DEC 7620 B-24 # (0) /a>034717,000721: 33,2753 00004 16700 15KFT 2DEC 4572 B-24 # (2) >034718,000722: 33,2755 00000 00364 50FT 2DEC 15.24 B-24 # (4) /a>034719,000723: 33,2757 00010 35600 30KFT 2DEC 9144 B-24 # (6) >034722,000726: 33,2761 36216 XORCHK CAF SIX # ARE WE BELOW 30000 FT? 04655 TC BANKCALL 66736 CADR ALTCHK 12641 TCF CONTSERV # CONTINUE LR UPDATE 05563 TC UPFLAG # YES: INHIBIT X-AXIS OVERRIDE 17140 CADR XOVINFLG 05563 TC UPFLAG 22377 CADR XORFLG 12641 TCF CONTSERV # CONTINUE LR UPDATE >034733,000737: 33,2772 35030 25KCHK CAF ZERO # ARE WE BELOW 25000 FT? 04655 TC BANKCALL 66736 CADR ALTCHK 12641 TCF CONTSERV 35021 CAF READLBIT # SET READLR FLAG TO ENABLE LR READING. 454">034739,000743: 33,2777 27263 SETLRSTT ADS LRSTAT 12641 TCF CONTSERV >034742,000746: 33,3001 35025 15KCHK CAF TWO # ARE WE BELOW 15000 FT? 04655 TC BANKCALL 66736 CADR ALTCHK 12641 TCF CONTSERV 23661 LXCH VSELECT 35022 CAF READVBIT 12777 TCF SETLRSTT # ********************************************************************************************************* 156">034754,000758: 33,3010 63256 CALCGRAV UNIT PDVL # SAVE UNIT/R/ IN PUSHLIST (18) 06233 ZEROVECS 27476 STOVL UNITGOBL 41560 AXC,1 PUSH 00002 2 01760 STORE UNITR 74014 BON AXC,1 04304 LMOONFLG 67046 CALCGRV1 00000 0 41441 DOT PUSH 01714 UNITW 44316 DSQ BDSU 27124 DP1/20 56325 PDDL DDV 27126 RESQ 00043 34D # (RN)SQ 00041 STORE 32D # TEMP FOR (RE/RN)SQ 41205 DMP DMP 27130 20J 65361 VXSC PDDL 01760 UNITR 41205 DMP DMP 27132 2J 00041 32D 53361 VXSC VAD 01714 UNITW 77626 STADR 74301 STORE UNITGOBL 41455 VAD PUSH # MPAC = UNIT GRAVITY VECTOR. (18) 631">034784,000788: 33,3046 60345 CALCGRV1 DLOAD NORM # PERFORM A NORMALIZATION ON RMAGSQ IN 00043 34D # ORDER TO BE ABLE TO SCALE THE MU FOR 00050 X2 # MAXIMUM PRECISION. 53663 BDDV* SLR* 27116 -MUDT,1 56623 0 -21D,2 45561 VXSC STADR 74227 STORE GDT1/2 # SCALED AT 2(+7) M/CS 77616 RVQ 7">034794,000798: 33,3057 61375 CALCRVG VLOAD VXM 01212 DELV 01736 REFSMMAT 76561 VXSC VSL1 27112 KPIP1 03504 STORE DELVREF 41562 VSR1 PUSH 41455 VAD PUSH # (DV-OLDGDT)/2 TO PD SCALED AT 2(+7)M/CS 01236 GDT/2 65255 VAD PDDL # (18) 01226 VN 03546 PIPTIME1 54225 DSU SL 01234 PIPTIME 20207 6D 77761 VXSC 44055 VAD STQ 01220 RN 00037 31D 37532 STCALL RN1 # TEMP STORAGE OF RN SCALED 2(+29)M 67010 CALCGRAV 53255 VAD VAD 77655 VAD 01226 VN 37540 STCALL VN1 # TEMP STORAGE OF VN SCALED 2(+7)M/CS 00037 31D /a>034823,000827: 33,3111 00321 26706 KPIP1 2DEC .0128 # SCALES DELV TO UNITS OF 2(7) M/CS. >034824,000828: 33,3113 03215 27057 KPIP 2DEC .1024 # SCALES DELV TO UNITS OF 2(4) M/CS. # *** THE ORDER OF THE FOLLOWING TWO CONSTANTS MUST BE PRESERVED ********* /a>034828,000832: 33,3115 61377 55754 -MUDT 2DEC* -7.9720645 E+12 B-44* >034829,000833: 33,3117 77644 65556 -MUDT1 2DEC* -9.8055560 E+10 B-44* 633">034831,000835: 33,3121 00000 31000 UNUSEDF3 2DEC 12800 B-28 >034833,000837: 33,3123 01463 06315 DP1/20 2DEC 0.05 >034834,000838: 33,3125 00002 11777 RESQ 2DEC* 40.6809913 E12 B-58* 33,3127 01023 37155 20J 2DEC 3.24692010 E-2 33,3131 00065 06244 2J 2DEC 3.24692010 E-3 6">034837,000841: 33,3133 02633 26756 ALTCONV 2DEC 1.40206802 B-4 # CONVERTS M*2(-24) TO BIT UNITS *2(-28). 1">034838,000842: 33,3135 24402 26003 ARCONV1 2DEC 656.167979 B-10 # CONV. ALTRATE COMP. TO BIT UNITS< 9">034839,000843: 33,3137 31000 00000 1SEC(7) 2DEC 100 B-7 1">034840,000844: 33,3141 60763 72204 DPSVEX1 2DEC -3004.75757 E-2 B-6 1">034841,000845: 33,3143 60663 44215 APSVEX1 2DEC -3030.0259 E-2 B-6 >034842,000846: 33,3145 30,3161 200B17 = 2SEC(17) # **************************************************************************************************************** # MUNRVG IS A SPECIAL AVERAGE G INTEGRATION ROUTINE USED BY THRUSTING # PROGRAMS WHICH FUNCTION IN THE VICINITY OF AN ASSUMED SPHERICAL MOON. # THE INPUT AND OUTPUT QUANTITIES ARE REFERENCED TO THE STABLE MEMBER # COORDINATE SYSTEM. >034851,000855: 33,3145 74375 MUNRVG VLOAD VXSC 01212 DELV 27214 KPIP2 53206 PUSH VAD # 1ST PUSH: DELV IN UNITS OF 2(8) M/CS 01236 GDT/2 53206 PUSH VAD # 2ND PUSH: (DELV + GDT)/2, UNITS OF 2(7) 03504 V # (12) 53361 VXSC VAD 21162 200B17 03476 R 37560 STCALL R1S # STORE R SCALED AT 2(+24)M. 67200 MUNGRAV 53255 VAD VAD 77655 VAD # (0) 03504 V 03566 STORE V1S # STORE V SCALED AT 2(+7)M/CS. 77646 ABVAL 27514 STOVL ABVELINT # STORE SPEED FOR LR AND DISPLAYS. 03524 UNIT/R/ 72441 DOT SL1 03566 V1S 17520 STODL HDOTDISP # HDOT = V. UNIT(R)*2(7)M/CS. 00045 36D 77625 DSU 02023 /LAND/ 37512 STCALL HCALC # FOR NOW, DISPLAY WHETHER POS OR NEG 66572 MUNRETRN 6">034879,000883: 33,3200 77656 MUNGRAV UNIT # AT 36D HAVE ABVAL(R), AT 34D R.R 17524 STODL UNIT/R/ 00043 34D 55301 NORM BDDV 00050 X2 27120 -MUDT1 74257 SLR* VXSC 56611 0 -11D,2 03524 UNIT/R/ 03550 STORE GDT1/2 # 1/2GDT SCALED AT 2(7) M/CS. 77616 RVQ /a>034891,000895: 33,3213 00150 33343 KPIP2 2DEC .0064 # SCALES DELV TO UNITS OF 2(8) M/CS. 353">034892,000896: 33,3215 00303 1.95SECS DEC 195 B-14 D45">034893,000897: 33,3216 77664 RPCRTIME DEC -6 E2 B-17 /a>034894,000898: 33,3217 05463 06315 0.175 2DEC 0.175 /a>034895,000899: 33,3221 04753 20510 0.155 2DEC 0.155 >034896,000900: 33,3223 35056 21351 LRWH 2DEC 0.4545454545 B1 >034897,000901: 33,3225 76643 50641 VSCAL3 2DEC -4.72441006 B-7 # 15.5 FT/SEC AT 2(7) M/CS >034898,000902: 33,3227 00004 34035 6.25 2DEC .01905 B-6 # 6.25 FT/SEC AT 2(6) M/CS >034899,000903: 33,3231 00012 15300 LRHMAX 2DEC 170688 B-28 829">034900,000904: 33,3233 00014 20000 2SEC(18) 2DEC 200 B-18 829">034901,000905: 33,3235 00000 00310 2SEC(28) 2OCT 00000 00310 # 2SEC AT 2(28) /a>034903,000907: 33,3237 65363 64451 HSCAL 2DEC -.3288792 # SCALES 1.079 FT/BIT TO 2(22)M. # ***** THE SEQUENCE OF THE FOLLOWING CONSTANTS MUST BE PRESERVED ******** >034906,000910: 33,3241 21241 03216 VZSCAL 2DEC +.5410829105 # SCALES .8668 FT/SEC/BIT TO 2(18) M/CS. >034907,000911: 33,3243 30153 23101 VYSCAL 2DEC +.7565672446 # SCALES 1.212 FT/SEC/BIT TO 2(18) M/CS. >034908,000912: 33,3245 63105 61733 VXSCAL 2DEC -.4020043770 # SCALES -.644 FT/SEC/BIT TO 2(18) M/CS. /a>034910,000914: 33,3247 26314 31463 LRWVZ 2DEC 0.7 /a>034911,000915: 33,3251 26314 31463 LRWVY 2DEC 0.7 /a>034912,000916: 33,3253 14631 23146 LRWVX 2DEC 0.4 7">034914,000918: 33,3255 00110 BITS4-7 OCT 110 # LRSTAT BIT DEFINITIONS 4">034917,000921: 33,3256 5010 LRBYBIT = BIT15 # LR UPDATE BYPASS FLAG 954">034918,000922: 33,3256 5014 PSTHIBIT = BIT11 # PAST HIGATE FLAG 954">034919,000923: 33,3256 5015 NOLRRBIT = BIT10 # LANDING RADAR REPOSITIONING FLAG 954">034920,000924: 33,3256 5016 XORFLBIT = BIT9 # X-AXIS OVERRIDE LIMIT FLAG 954">034921,000925: 33,3256 5020 VELDABIT = BIT7 # LR VELOCITY MEASUREMENT MADE FLAG 954">034922,000926: 33,3256 5021 READLBIT = BIT6 # OK TO READ LR RANGE DATA FLAG 954">034923,000927: 33,3256 5022 READVBIT = BIT5 # OK TO READ LR VELOCITY DATA FLAG 954">034924,000928: 33,3256 5023 RNGEDBIT = BIT4 # LR ALTITUDE MEASUREMENT MADE FLAG # THE FOLLOWING DEFINITIONS ALLOW LRSTAT AND C47">034927,000931: 33,3256 XOVINFLG = 11872D # X-AXIS OVERRIDE FLAG 353">034928,000932: 33,3256 LRBYPASS = 13561D # LANDING RADAR BYPASS FLAG >034929,000933: 33,3256 XORFLG = 13567D # X-AXIS OVERRIDE LIMIT FLAG 84B">034931,000935: 33,3256 35015 UPDATCHK CAF NOLRRBIT # SEE IF LR UPDATE INHIBITED. 71263 MASK LRSTAT 10000 CCS A 12641 TCF CONTSERV # IT IS-NO LR UPDATE 35023 CAF RNGEDBIT # NO INHIBIT - SEE ALT MEAS. THIS CYCLE. 71263 MASK LRSTAT 00006 EXTEND 13360 BZF VMEASCHK # NO ALT MEAS THIS CYCLE-CHECK FOR VEL 154">034940,000944: 33,3266 06014 POSUPDAT TC INTPRET 61375 VLOAD VXM 03663 HBEAMNB # RANGE VECTOR IN NB COORDINATES AT 2(22)M 02150 XNBPIP # CONVERT TO SM COORDINATES AT 2(23)M 40372 VSL1 SETPD 00001 0 41241 DOT DMP 03524 UNIT/R/ # ALTITUDE AT 2(24)M 03673 HMEAS 41261 SL DMP 20207 6D 27240 HSCAL 41425 DSU PUSH 03512 HCALC 16425 STODL DELTAH 03512 HCALC 43205 DMP DAD 27220 0.175 26756 50FT 51525 PDDL ABS 02425 DELTAH 56204 BOVB DDV 57702 TCDANZIG 77776 EXIT 24156 INCR LRLCTR 10121 CCS OVFIND 13560 TCF HFAIL # DELTA H TOO LARGE 30075 CA FLAGWRD1 75026 MASK HINHFBIT 10000 CCS A 13360 TCF VMEASCHK # UPDATE INHIBITED - TEST VELOCITY ANYWAY 06014 TC INTPRET # DO POSITION UPDATE 56345 DLOAD DDV 03512 HCALC # RESCALE H TO 2(28)M 27232 LRHMAX 44204 BOVB BDSU 67360 VMEASCHK 17722 NEARONE 56205 DMP DDV 02425 DELTAH 27224 LRWH 53361 VXSC VAD 03524 UNIT/R/ 03560 R1S 03675 STORE GNUR 77776 EXIT 05413 TC PHASCHNG 10035 OCT 10035 35031 CA FIVE 05623 TC GENTRAN 01674 ADRES GNUR 01557 ADRES R1S 00003 RELINT 06014 TC INTPRET 45175 VLOAD CALL 03560 R1S 67200 MUNGRAV 77776 EXIT 84B">035006,001010: 33,3360 05413 VMEASCHK TC PHASCHNG # RESTART AT NEXT LOCATION 10035 OCT 10035 35020 CAF VELDABIT # IS V READING AVAILABLE? 71263 MASK LRSTAT 00006 EXTEND 13544 BZF VALTCHK # NO SEE IF V READING TO BE TAKEN 154">035013,001017: 33,3366 41661 VELUPDAT CS VSELECT # PROCESS VELOCITY DATA 60000 DOUBLE 54001 TS L # -2 VSELECT IN L 60001 AD L 60001 AD L # -6 VSELECT IN A 50120 INDEX FIXLOC 52047 DXCH X1 # X1 = -6 VSELECT, X2 = -2 VSELECT 35014 CA EBANK4 54003 TS EBANK EBANK= LRXCDU 31665 CA PIPTEM # STORE DELV IN MPAC 22007 ZL 52155 DXCH MPAC 31666 CA PIPTEM +1 22007 ZL 52160 DXCH MPAC +3 31667 CA PIPTEM +2 22007 ZL 52162 DXCH MPAC +5 31663 CA LRYCDU # STORE LRCDUS IN CDUSPOTS 54766 TS CDUSPOT 31664 CA LRZCDU 54770 TS CDUSPOT +2 31662 CA LRXCDU 54772 TS CDUSPOT +4 45026 CS ONE 54163 TS MODE # CHANGE STORE MODE TO VECTOR 35066 CA EBANK7 54003 TS EBANK # RESTORE EBANK 7 EBANK= DVCNTR 30120 CA FIXLOC 54166 TS PUSHLOC # SET PD TO ZERO 06014 TC INTPRET 45113 PDVL* CALL 02237 VZBEAMNB,1 # CONVERT VBEAM FROM NB TO SM 47406 TRG*NBSM 77715 PDVL 65361 VXSC PDDL 27112 KPIP1 # SCALE DELV TO 2(7) M/CS AND PUSH 02261 LRVTIME # TIME OF DELV AT 2(28)CS 56225 DSU DDV 01234 PIPTIME # TU - T(N-1) 27236 2SEC(28) 76561 VXSC VSL1 # G(N-1)(TU - T(N-1)) 01236 GDT/2 # SCALED AT 2(7) M/CS 53255 VAD VAD # PUSH UP FOR DELV 03504 DELVREF 47315 PDVL VXV 03476 R 03622 WM 77655 VAD 65241 DOT PDDL 00001 0 03671 VMEAS 40661 SL DMP* 20213 10D 50535 VZSCAL,2 65225 DSU PDDL 00007 6 41246 ABS DMP 27222 0.155 65215 DAD PDDL 27230 6.25 00007 6 44246 ABS BDSU 77776 EXIT 24156 INCR LRMCTR 06677 TC BRANCH 13514 TCF VUPDAT 13472 TCF VFAIL # DELTA V TOO LARGE ALARM /a>035095,001099: 33,3472 40156 VFAIL CS LRSCTR # DELTA Q LARGE 00006 EXTEND # IF S = 0, DO NOT TURN ON TRACKER FAIL 13501 BZF NOLITE 60156 AD LRMCTR # M-S 77717 MASK NEG3 # TEST FOR M-S > 3 00006 EXTEND # IF M-S > 3, THEN TWO OR MORE OF THE 13501 BZF +1 # LAST FOUR V READINGS WERE BAD, # TCF NOLITE # SO TURN ON VELOCITY FAIL LIGHT # TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE # ADRES VFLSHFLG >035107,001111: 33,3501 30156 NOLITE CA LRMCTR # SET S = M 54156 TS LRSCTR 40074 CS FLAGWRD0 75015 MASK VORIDBIT 00006 EXTEND 13520 BZF VUPDAT1 11661 CCS VSELECT # TEST FOR Z COMPONENT 13544 TCF VALTCHK # NOT Z, DO NOT SET VX INHIBIT 35025 CAF TWO 55661 TS VSELECT 13544 TCF VALTCHK >035122,001126: 33,3514 30074 VUPDAT CA FLAGWRD0 75014 MASK VINHFBIT 10000 CCS A 13544 TCF VALTCHK # UPDATE INHIBITED 1">035127,001131: 33,3520 06014 VUPDAT1 TC INTPRET 56345 DLOAD DDV 03514 ABVELINT 27226 VSCAL3 43204 BOVB DAD 67544 VALTCHK 17722 NEARONE 41203 DMP* DMP 50527 LRWVZ,2 77761 VXSC 77655 VAD 03566 V1S # ADD WEIGHTED DELTA V TO VELOCITY 03675 STORE GNUV 77776 EXIT 05413 TC PHASCHNG # DO NOT RE-UPDATE 10035 OCT 10035 35031 CA FIVE 05623 TC GENTRAN # STORE NEW VELOCITY VECTOR 01674 ADRES GNUV 01565 ADRES V1S 4">035150,001154: 33,3544 33,3544 ENDVDAT = VALTCHK B">035152,001156: 33,3544 05413 VALTCHK TC PHASCHNG # DO NOT REPEAT ABOVE 10035 OCT 10035 35022 CAF READVBIT # TEST READVEL TO SEE IF VELOCITY READING 71263 MASK LRSTAT # IS DESIRED. 00006 EXTEND 13001 BZF 15KCHK # TES - READ VELOCITY /a>035160,001164: 33,3552 00004 READV INHINT 37672 CAF PRIO32 # SET UP JOB TO READ VELOCITY BEAMS. 05142 TC NOVAC EBANK= HMEAS 03573 66067 2CADR LRVJOB 12641 TCF CONTSERV # CONTINUE WITH SERVICER /a>035168,001172: 33,3560 40156 HFAIL CS LRRCTR 00006 EXTEND 13567 BZF NORLITE # IF R = 0, DO NOT TURN ON TRK FAIL 60156 AD LRLCTR 77717 MASK NEG3 00006 EXTEND # IF L-R LT 4, DO NOT TURN ON TRK FAIL 13567 BZF +1 # TCF NORLITE # TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE # ADRES HFLSHFLG 5">035180,001184: 33,3567 30156 NORLITE CA LRLCTR 54156 TS LRRCTR # SET R = L 54156 TS LRMCTR 13360 TCF VMEASCHK # ******************************************************************************************************** # LRVJOB IS SET WHEN THE LEM IS BELOW 15000 FT DURING THE LANDING PHASE # THIS JOB INITIALIZES THE LANDING RADAR READ ROUTINE FOR 5 VELOCITY # SAMPLES AND GOES TO SLEEP WHILE THE SAMPLING IS DONE-ABOUT 500 MS. # WITH A GOODEND RETURN THE DATA IS STORED IN VMEAS AND BIT7 OF LRSTAT # IS SET. THE GIMBAL ANGLES ARE READ ABOUT MIDWAY IN THE SAMPLING . >035195,001199: 33,3573 00004 LRVJOB INHINT 33735 CA 24MS # SET TASK TO READ CDUS + PIPAS 05252 TC WAITLIST EBANK= LRVTIME 03635 66064 2CADR RDGIMS 11661 CCS VSELECT # SEQUENCE LR VEL BEAM SELECTOR 13603 TCF +2 35025 CAF TWO # IF ZERO-RESET TO TWO 55661 TS VSELECT 60000 DOUBLE # 2XVSELECT USED FOR VBEAM INDEX IN LRVEL 04655 TC BANKCALL # GO INITIALIZE LR VEL READ ROUTINE 53061 CADR LRVEL 04655 TC BANKCALL # PUT LRVJOB TO SLEEP ABOUT 500 MS 17623 CADR RADSTALL 05225 TC ENDOFJOB 00006 EXTEND # GOOD RETURN-STOW AWAY VMEAS 31105 DCA SAMPLSUM 53671 DXCH VMEAS 41263 CS LRSTAT # SET BIT TO INDICATE VELOCITY 75020 MASK VELDABIT # MEASUREMENT MADE. 27263 ADS LRSTAT 05225 TC ENDOFJOB # LRHJOB IS SET BY LRHTASK WHEN LEM IS BELOW 25000 FT. THIS JOB # INITIALIZES THE LR READ ROUTINE FOR AN ALT MEASUREMENT AND GOES TO # SLEEP WHILE THE SAMPLING IS DONE-ABOUT 95 MS. WITH A GOODEND RETURN # THE ALT DATA IS STORED IN HMEAS AND BIT7 OF LRSTAT IS SET. >035227,001231: 33,3621 04655 LRHJOB TC BANKCALL # INITIATE LR ALT MEASUREMENT 53045 CADR LRALT 04655 TC BANKCALL # LRHJOB TO SLEEP ABOUT 95MS 17623 CADR RADSTALL 05225 TC ENDOFJOB 00006 EXTEND 31105 DCA SAMPLSUM # GOOD RETURN-STORE AWAY LRH DATA 53673 DXCH HMEAS # LRH DATA 1.079 FT/BIT 41263 CS LRSTAT # SET BIT TO INDICATE RANGE 75023 MASK RNGEDBIT # MEASUREMENT MADE. 27263 ADS LRSTAT 05225 TC ENDOFJOB # TERMINATE LRHJOB # RDGIMS IS A TASK SET UP BY LRVJOB TO PICK UP THE IMU CDUS AND TIME # AT ABOUT THE MIDPOINT OF THE LR VEL READ ROUTINE WHEN 5 VEL SAMPLES # ARE SPECIFIED. EBANK= LRVTIME >035247,001251: 33,3635 00006 RDGIMS EXTEND 30025 DCA TIME2 # PICK UP TIME2,TIME1 53661 DXCH LRVTIME # AND SAVE IN LRVTIME 00006 EXTEND 30033 DCA CDUX # PICK UP CDUX AND CDUY 53663 DXCH LRXCDU # AND SAVE IN LRXCDU AND LRYCDU 30034 CA CDUZ 55664 TS LRZCDU # SAVE CDUZ IN LRZCDU 30037 CA PIPAX 55665 TS PIPTEM # SAVE PIPAX IN PIPTEM 00006 EXTEND 30041 DCA PIPAY # PICK UP PIPAY AND PIPAZ 53667 DXCH PIPTEM +1 # AND SAVE IN PIPTEM +1 AND PIPTEM +2 05321 TC TASKOVER # HIGATJOB IS SET APPROXIMATELY 6 SECONDS PRIOR TO HIGH GATE DURING # THE DESCENT BURN PHASE OF LUNAR LANDING. THIS JOB INITIATES THE # LANDING RADAR REPOSITIONING ROUTINE AND GOES TO SLEEP UNTIL THE # LR ANTENNA MOVES FROM POSITION 1 TO POSITION 2. IF THE LR ANTENNA # ACHIEVES POSITION 2 WITHIN 22 SECONDS THE ALTITUDE AND VELOCITY # BEAM VECTORS ARE RECOMPUTED TO REFLECT THE NEW ORIENTATION WITH # RESPECT TO THE NB. BIT10 OF LRSTAT IS CLEARED TO ALLOW LR # MEASUREMENTS AND THE JOB TERMINATES. F42">035275,001279: 33,3653 04655 HIGATJOB TC BANKCALL # START LRPOS2 JOB 53422 CADR LRPOS2 04655 TC BANKCALL # PUT HIGATJOB TO SLEEP UNTIL JOB IS DONE 17623 CADR RADSTALL 05225 TC ENDOFJOB # BAD END 03673 TC SETPOS2 # LR IN POS2 - SET UP TRANSFORMATIONS 45015 CS NOLRRBIT # RESET NOLRREAD FLAG TO ENABLE LR READING 71263 MASK LRSTAT 55263 TS LRSTAT 05225 TC ENDOFJOB 1">035288,001292: 33,3665 04704 SETPOS1 TC MAKECADR # MUST BE CALLED BY BANKCALL 55674 TS LRADRET1 # SAVE RETURN CADR, SINCE BUF2 CLOBBERED 35030 CA ZERO # INDEX FOR LRALPHA,LRBETA IN POS 1. # TS LRLCTR # SET L,M,R, ANS S TO ZERO # TS LRMCTR # TS LRRCTR # TS LRSCTR 03674 TC SETPOS # CONTINUE WITH COMPUTATIONS 31674 CA LRADRET1 04677 TC BANKJUMP # RETURN TO CALLER 2">035303,001307: 33,3673 35025 SETPOS2 CA TWO # INDEX FOR POS2 >035304,001308: 33,3674 00006 SETPOS EXTEND 50000 INDEX A 31413 DCA LRALPHA # LRALPHA IN A, LRBETA IN L 54772 TS CDUSPOT +4 # ROTATION ABOUT X 22766 LXCH CDUSPOT # ROTATION ABOUT Y 35030 CA ZERO 54770 TS CDUSPOT +2 # ZERO ROTATION ABOUT Z. 00006 EXTEND 23660 QXCH LRADRET # SAVE RETURN 06014 TC INTPRET 45175 VLOAD CALL 06227 UNITY # CONVERT UNITY(ANTENNA) TO NB 47373 TRG*SMNB 26245 STOVL VYBEAMNB 06231 UNITX # CONVERT UNITX(ANTENNA) TO NB 77624 CALL 47413 *SMNB* 02253 STORE VXBEAMNB 76435 VXV VSL1 02245 VYBEAMNB 16237 STODL VZBEAMNB # Z = X * Y 03417 HANGLE 41434 RTB PUSH 21457 CDULOGIC 65356 SIN PDDL 65346 COS PDDL 06233 ZEROVECS 55525 PDDL VDEF 45076 VCOMP CALL 47413 *SMNB* # CONVERT TO NB 03663 STORE HBEAMNB 77776 EXIT 01660 TC LRADRET >035340,001344: 33,3735 00030 24MS DEC 24 B-14 Parent file is MAIN.agc