From dc4ea6735c464608d704fa183f3e3d08b013c42f Mon Sep 17 00:00:00 2001
From: chrislgarry <chrislgarry@gmail.com>
Date: Thu, 7 Jul 2016 04:47:26 -0400
Subject: [PATCH] Add remaining Apollo 11 source
---
.DS_Store | Bin 0 -> 16388 bytes
AGC_BLOCK_TWO_SELF-CHECK.s | 518 +++
AGC_BLOCK_TWO_SELF_CHECK.s | 511 +++
AGS_INITIALIZATION.s | 229 +
ALARM_AND_ABORT.s | 231 +
ANGLFIND.s | 634 +++
AOSTASK_AND_AOSJOB.s | 1069 +++++
AOTMARK.s | 695 +++
ASCENT_GUIDANCE.s | 647 +++
ASSEMBLY_AND_OPERATION_INFORMATION.s | 1041 +++++
ATTITUDE_MANEUVER_ROUTINE.s | 1027 +++++
AUTOMATIC_MANEUVERS.s | 499 +++
BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.s | 1059 +++++
CM_BODY_ATTITUDE.s | 2 +-
CM_ENTRY_DIGITAL_AUTOPILOT.s | 1275 ++++++
CONIC_SUBROUTINES.s | 1922 +++++++++
CONTRACT_AND_APPROVALS.s | 73 +
CONTROLLED_CONSTANTS.s | 558 +++
CSM_GEOMETRY.s | 418 ++
DAPIDLER_PROGRAM.s | 481 +++
DAP_INTERFACE_SUBROUTINES.s | 176 +
DISPLAY_INTERFACE_ROUTINES.s | 1485 +++++++
DOWN-TELEMETRY_PROGRAM.s | 457 ++
DOWNLINK_LISTS.s | 410 ++
DOWN_TELEMETRY_PROGRAM.s | 455 ++
ENTRY_LEXICON.s | 373 ++
ERASABLE_ASSIGNMENTS.s | 3785 ++++++++++++++++
EXECUTIVE.s | 497 +++
EXTENDED_VERBS.s | 1336 ++++++
FINDCDUW--GUIDAP_INTERFACE.s | 743 ++++
FIXED_FIXED_CONSTANT_POOL.s | 262 ++
FLAGWORD_ASSIGNMENTS.s | 1269 ++++++
FP8.s | 4768 ---------------------
FRESH_START_AND_RESTART.s | 1474 +++++++
GIMBAL_LOCK_AVOIDANCE.s | 99 +
GROUND_TRACKING_DETERMINATION_PROGRAM.s | 204 +
HeaderTemplate.s | 28 +
IMU_CALIBRATION_AND_ALIGNMENT.s | 1399 ++++++
IMU_COMPENSATION_PACKAGE.s | 370 ++
IMU_MODE_SWITCHING_ROUTINES.s | 1068 +++++
IMU_PERFORMANCE_TESTS_4.s | 362 ++
IMU_PERFORMANCE_TEST_2.s | 421 ++
INFLIGHT_ALIGNMENT_ROUTINES.s | 304 ++
INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.s | 224 +
INTEGRATION_INITIALIZATION.s | 1182 +++++
INTER-BANK_COMMUNICATION.s | 183 +
INTERPRETER.s | 3059 +++++++++++++
INTERPRETIVE_CONSTANT.s | 81 +
INTERPRETIVE_CONSTANTS.s | 86 +
INTERRUPT_LEAD_INS.s | 128 +
JET_SELECTION_LOGIC.s | 932 ++++
KALCMANU_STEERING.s | 265 ++
KALMAN_FILTER.s | 101 +
KEYRUPT_UPRUPT.s | 136 +
LAMBERT_AIMPOINT_GUIDANCE.s | 169 +
LANDING_ANALOG_DISPLAYS.s | 536 +++
LATITUDE_LONGITUDE_SUBROUTINES.s | 318 ++
LEM_GEOMETRY.s | 209 +
LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.s | 211 +
LUNAR_LANDING_GUIDANCE_EQUATIONS.s | 4 +-
LUNAR_LANDMARK_SELECTION_FOR_CM.s | 34 +
MAIN.s | 168 +
MEASUREMENT_INCORPORATION.s | 503 +++
MYSUBS.s | 92 +
ORBITAL_INTEGRATION.s | 949 ++++
P-AXIS_RCS_AUTOPILOT.s | 1056 +++++
P11.s | 922 ++++
P12.s | 245 ++
P20-P25.s | 3529 +++++++++++++++
P30-P37.s | 630 +++
P30_P37.s | 193 +
P32-P33_P72-P73.s | 1408 ++++++
P32-P35_P72-P75.s | 1394 ++++++
P34-35_P74-75.s | 1739 ++++++++
P37_P70.s | 1950 +++++++++
P40-P47.s | 2429 +++++++++++
P51-P53.s | 2213 ++++++++++
P61-P67.s | 1226 ++++++
P70-P71.s | 434 ++
P76.s | 162 +
PHASE_TABLE_MAINTENANCE.s | 406 ++
PINBALL_GAME_BUTTONS_AND_LIGHTS.s | 3781 ++++++++++++++++
PINBALL_NOUN_TABLES.s | 867 ++++
PLANETARY_INERTIAL_ORIENTATION.s | 390 ++
POWERED_FLIGHT_SUBROUTINES.s | 364 ++
Q_R-AXIS_RCS_AUTOPILOT.s | 860 ++++
R30.s | 490 +++
R31.s | 290 ++
R60_62.s | 387 ++
R63.s | 156 +
RADAR_LEADIN_ROUTINES.s | 103 +
RCS-CSM_DAP_EXECUTIVE_PROGRAMS.s | 85 +
RCS-CSM_DIGITAL_AUTOPILOT.s | 976 +++++
RCS_FAILURE_MONITOR.s | 173 +
REENTRY_CONTROL.s | 1609 +++++++
RESTARTS_ROUTINE.s | 335 ++
RESTART_TABLES.s | 558 +++
RT8_OP_CODES.s | 355 ++
RTB_OP_CODES.s | 236 +
S-BAND_ANTENNA_FOR_CM.s | 129 +
S-BAND_ANTENNA_FOR_LM.s | 201 +
SERVICER.s | 1715 ++++++++
SERVICER207.s | 804 ++++
SERVICE_ROUTINES.s | 271 ++
SINGLE_PRECISION_SUBROUTINES.s | 74 +
SPS_BACK-UP_RCS_CONTROL.s | 196 +
STABLE_ORBIT.s | 428 ++
STAR_TABLES.s | 193 +
SXTMARK.s | 702 +++
SYSTEM_TEST_STANDARD_LEAD_INS.s | 147 +
T4RUPT_PROGRAM.s | 1467 +++++++
T6-RUPT_PROGRAMS.s | 163 +
TAGS_FOR_RELATIVE_SETLOC.s | 436 ++
THE_LUNAR_LANDING.s | 335 ++
THROTTLE_CONTROL_ROUTINES.s | 224 +
TIME_OF_FREE_FALL.s | 710 +++
TJET_LAW.s | 519 +++
TPI_SEARCH.s | 557 +++
TRIM_GIMBAL_CNTROL_SYSTEM.s | 622 +++
TVCDAPS.s | 781 ++++
TVCEXECUTIVE.s | 273 ++
TVCINITIALIZE.s | 414 ++
TVCMASSPROP.s | 239 ++
TVCRESTARTS.s | 272 ++
TVCROLLDAP.s | 617 +++
TVCSTROKETEST.s | 261 ++
UPDATE_PROGRAM.s | 554 +++
WAITLIST.s | 550 +++
128 files changed, 85238 insertions(+), 4771 deletions(-)
create mode 100644 .DS_Store
create mode 100644 AGC_BLOCK_TWO_SELF-CHECK.s
create mode 100644 AGC_BLOCK_TWO_SELF_CHECK.s
create mode 100644 AGS_INITIALIZATION.s
create mode 100644 ALARM_AND_ABORT.s
create mode 100644 ANGLFIND.s
create mode 100644 AOSTASK_AND_AOSJOB.s
create mode 100644 AOTMARK.s
create mode 100644 ASCENT_GUIDANCE.s
create mode 100644 ASSEMBLY_AND_OPERATION_INFORMATION.s
create mode 100644 ATTITUDE_MANEUVER_ROUTINE.s
create mode 100644 AUTOMATIC_MANEUVERS.s
create mode 100644 BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.s
create mode 100644 CM_ENTRY_DIGITAL_AUTOPILOT.s
create mode 100644 CONIC_SUBROUTINES.s
create mode 100644 CONTRACT_AND_APPROVALS.s
create mode 100644 CONTROLLED_CONSTANTS.s
create mode 100644 CSM_GEOMETRY.s
create mode 100644 DAPIDLER_PROGRAM.s
create mode 100644 DAP_INTERFACE_SUBROUTINES.s
create mode 100644 DISPLAY_INTERFACE_ROUTINES.s
create mode 100644 DOWN-TELEMETRY_PROGRAM.s
create mode 100644 DOWNLINK_LISTS.s
create mode 100644 DOWN_TELEMETRY_PROGRAM.s
create mode 100644 ENTRY_LEXICON.s
create mode 100644 ERASABLE_ASSIGNMENTS.s
create mode 100644 EXECUTIVE.s
create mode 100644 EXTENDED_VERBS.s
create mode 100644 FINDCDUW--GUIDAP_INTERFACE.s
create mode 100644 FIXED_FIXED_CONSTANT_POOL.s
create mode 100644 FLAGWORD_ASSIGNMENTS.s
delete mode 100644 FP8.s
create mode 100644 FRESH_START_AND_RESTART.s
create mode 100644 GIMBAL_LOCK_AVOIDANCE.s
create mode 100644 GROUND_TRACKING_DETERMINATION_PROGRAM.s
create mode 100644 HeaderTemplate.s
create mode 100644 IMU_CALIBRATION_AND_ALIGNMENT.s
create mode 100644 IMU_COMPENSATION_PACKAGE.s
create mode 100644 IMU_MODE_SWITCHING_ROUTINES.s
create mode 100644 IMU_PERFORMANCE_TESTS_4.s
create mode 100644 IMU_PERFORMANCE_TEST_2.s
create mode 100644 INFLIGHT_ALIGNMENT_ROUTINES.s
create mode 100644 INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.s
create mode 100644 INTEGRATION_INITIALIZATION.s
create mode 100644 INTER-BANK_COMMUNICATION.s
create mode 100644 INTERPRETER.s
create mode 100644 INTERPRETIVE_CONSTANT.s
create mode 100644 INTERPRETIVE_CONSTANTS.s
create mode 100644 INTERRUPT_LEAD_INS.s
create mode 100644 JET_SELECTION_LOGIC.s
create mode 100644 KALCMANU_STEERING.s
create mode 100644 KALMAN_FILTER.s
create mode 100644 KEYRUPT_UPRUPT.s
create mode 100644 LAMBERT_AIMPOINT_GUIDANCE.s
create mode 100644 LANDING_ANALOG_DISPLAYS.s
create mode 100644 LATITUDE_LONGITUDE_SUBROUTINES.s
create mode 100644 LEM_GEOMETRY.s
create mode 100644 LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.s
create mode 100644 LUNAR_LANDMARK_SELECTION_FOR_CM.s
create mode 100644 MAIN.s
create mode 100644 MEASUREMENT_INCORPORATION.s
create mode 100644 MYSUBS.s
create mode 100644 ORBITAL_INTEGRATION.s
create mode 100644 P-AXIS_RCS_AUTOPILOT.s
create mode 100644 P11.s
create mode 100644 P12.s
create mode 100644 P20-P25.s
create mode 100644 P30-P37.s
create mode 100644 P30_P37.s
create mode 100644 P32-P33_P72-P73.s
create mode 100644 P32-P35_P72-P75.s
create mode 100644 P34-35_P74-75.s
create mode 100644 P37_P70.s
create mode 100644 P40-P47.s
create mode 100644 P51-P53.s
create mode 100644 P61-P67.s
create mode 100644 P70-P71.s
create mode 100644 P76.s
create mode 100644 PHASE_TABLE_MAINTENANCE.s
create mode 100644 PINBALL_GAME_BUTTONS_AND_LIGHTS.s
create mode 100644 PINBALL_NOUN_TABLES.s
create mode 100644 PLANETARY_INERTIAL_ORIENTATION.s
create mode 100644 POWERED_FLIGHT_SUBROUTINES.s
create mode 100644 Q_R-AXIS_RCS_AUTOPILOT.s
create mode 100644 R30.s
create mode 100644 R31.s
create mode 100644 R60_62.s
create mode 100644 R63.s
create mode 100644 RADAR_LEADIN_ROUTINES.s
create mode 100644 RCS-CSM_DAP_EXECUTIVE_PROGRAMS.s
create mode 100644 RCS-CSM_DIGITAL_AUTOPILOT.s
create mode 100644 RCS_FAILURE_MONITOR.s
create mode 100644 REENTRY_CONTROL.s
create mode 100644 RESTARTS_ROUTINE.s
create mode 100644 RESTART_TABLES.s
create mode 100644 RT8_OP_CODES.s
create mode 100644 RTB_OP_CODES.s
create mode 100644 S-BAND_ANTENNA_FOR_CM.s
create mode 100644 S-BAND_ANTENNA_FOR_LM.s
create mode 100644 SERVICER.s
create mode 100644 SERVICER207.s
create mode 100644 SERVICE_ROUTINES.s
create mode 100644 SINGLE_PRECISION_SUBROUTINES.s
create mode 100644 SPS_BACK-UP_RCS_CONTROL.s
create mode 100644 STABLE_ORBIT.s
create mode 100644 STAR_TABLES.s
create mode 100644 SXTMARK.s
create mode 100644 SYSTEM_TEST_STANDARD_LEAD_INS.s
create mode 100644 T4RUPT_PROGRAM.s
create mode 100644 T6-RUPT_PROGRAMS.s
create mode 100644 TAGS_FOR_RELATIVE_SETLOC.s
create mode 100644 THE_LUNAR_LANDING.s
create mode 100644 THROTTLE_CONTROL_ROUTINES.s
create mode 100644 TIME_OF_FREE_FALL.s
create mode 100644 TJET_LAW.s
create mode 100644 TPI_SEARCH.s
create mode 100644 TRIM_GIMBAL_CNTROL_SYSTEM.s
create mode 100644 TVCDAPS.s
create mode 100644 TVCEXECUTIVE.s
create mode 100644 TVCINITIALIZE.s
create mode 100644 TVCMASSPROP.s
create mode 100644 TVCRESTARTS.s
create mode 100644 TVCROLLDAP.s
create mode 100644 TVCSTROKETEST.s
create mode 100644 UPDATE_PROGRAM.s
create mode 100644 WAITLIST.s
diff --git a/.DS_Store b/.DS_Store
new file mode 100644
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diff --git a/AGC_BLOCK_TWO_SELF-CHECK.s b/AGC_BLOCK_TWO_SELF-CHECK.s
new file mode 100644
index 0000000..283661b
--- /dev/null
+++ b/AGC_BLOCK_TWO_SELF-CHECK.s
@@ -0,0 +1,518 @@
+# Copyright: Public domain.
+# Filename: AGC_BLOCK_TWO_SELF-CHECK.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1394-1403
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Colossus249/ file of the same
+# name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1394
+# PROGRAM DESCRIPTION DATE: 20 DECEMBER 1967
+# PROGRAM NAME -- SELF-CHECK LOG SECTION: AGC BLOCK TWO SELF-CHECK
+# MOD NO -- 1 ASSEMBLY SUBROUTINE UTILITYM REV 25
+# MOD BY -- GAUNTT
+#
+# FUNCTIONAL DESCRIPTION
+# PROGRAM HAS TWO MAIN PARTS. THE FIRST IS SELF-CHECK WHICH RUNS AS A ZERO PRIORITY JOB WITH NO CORE SET, AS
+# PART OF THE BACK-UP IDLE LOOP. THE SECOND IS SHOW-BANKSUM WHICH RUNS AS A REGULAR EXECUTIVE JOB WITH ITS OWN
+# STARTING VERB.
+#
+# THE PURPOSE OF SELF-CHECK IS TO CHECK OUT VARIOUS PARTS OF THE COMPUTER AS OUTLINED BELOW IN THE OPTIONS.
+#
+# THE PURPOSE OF SHOW-BANKSUM IS TO DISPLAY THE SUM OF EACH BANK, ONE AT A TIME.
+#
+# IN ALL THERE ARE 7 POSSIBLE OPTIONS IN THIS BLOCK II VERSION OF SELF-CHECK. MORE DETAIL DESCRIPTION MAY BE
+# FOUND IN E-2065 BLOCK II AGC SELF-CHECK AND SHOW BANKSUM BY EDWIN D. SMALLY DECEMBER 1966, AND ADDENDA 2 AND 3.
+#
+# THE DIFFERENT OPTIONS ARE CONTROLLED BY PUTTING DIFFERENT NUMBERS IN THE SMODE REGISTER (NOUN 27). BELOW IS
+# A DESCRIPTION OF WHAT PARTS OF THE COMPUTER THAT ARE CHECKED BY THE OPTIONS, AND THE CORRESPONDING NUMBER, IN
+# OCTAL, TO LOAD INTO SMODE.
+# +-4 ERASABLE MEMORY
+# +-5 FIXED MEMORY
+# +-1,2,3,6,7,10 EVERYTHING IN OPTIONS 4 AND 5.
+# -0 SAME AS +-10 UNTIL AN ERROR IS DETECTED.
+# +0 NO CHECK, PUTS COMPUTER INTO THE BACKUP IDLE LOOP.
+#
+# WARNINGS
+# USE OF E MEMORY RESERVED FOR SELF-CHECK (EVEN IN IDLE LOOP) AS TEMP STORAGE BY OTHER PROGRAMS IS DANGEROUS.
+# SMODE SET GREATER THAN OCT 10 PUTS COMPUTER INTO BACKUP IDLE LOOP.
+#
+# CALLING SEQUENCE
+# TO CALL SELF-CHECK KEY IN
+# V 21 N 27 E OPTION NUMBER E
+# TO CALL SHOW-BANKSUM KEY IN
+# V 91 E DISPLAYS FIRST BANK
+# V 33 E PROCEED, DISPLAYS NEXT BANK
+#
+# EXIT MODES, NORMAL AND ALARM
+# SELF-CHECK NORMALLY CONTINUES INDEFINITELY UNLESS THERE IS AN ERROR DETECTED. IF SO + OPTION NUMBERS PUT
+# COMPUTER INTO BACKUP IDLE LOOP, - OPTION NUMBERS RESTART THE OPTION.
+#
+# THE -0 OPTION PROCEEDS FROM THE LINE FOLLOWING THE LINE WHERE THE ERROR WAS DETECTED.
+#
+# SHOW-BANKSUM PROCEEDS UNTIL A TERMINATE IS KEYED IN (V 34 E). THE COMPUTER IS PUT INTO THE BACKUP IDLE LOOP.
+#
+# OUTPUT
+# Page 1395
+# SELF-CHECK UPON DETECTING AN ERROR LOADS THE SELF-CHECK ALARM CONSTANT (01102) INTO THE FAILREG SET AND
+# TURNS ON THE ALARM LIGHT. THE OPERATOR MAY THEN DISPLAY THE THREE FAILREGS BY KEYING IN V 05 N 09 E. FOR FURTHER
+# INFORMATION HE MAY KEY IN V 05 N 08 E, THE DSKY DISPLAY IN R1 WILL BE ADDRESS+1 OF WHERE THE ERROR WAS DETECTED,
+# IN R2 THE BBCON OF SELF-CHECK, AND IN R3 THE TOTAL NUMBER OF ERRORS DETECTED BY SELF-CHECK SINCE THE LAST MAN
+# INITIATED FRESH START (SLAP1).
+#
+# SHOW-BANKSUM STARTING WTIH BANK 0 DISPLAYS IN R1 THE BANK SUM (A +-NUMBER EQUAL TO THE BANK NUMBER), IN R2
+# THE BANK NUMBER, AND IN R3 THE BUGGER WORD.
+#
+# ERASABLE INITIALIZATION REQUIRED
+# ACCOMPLISHED BY FRESH START
+# SMODE SET TO +0
+#
+# DEBRIS
+# ALL EXITS FROM THE CHECK OF ERASABLE (ERASCHK) RESTORE ORIGINAL CONTENTS TO REGISTERS UNDER CHECK.
+# EXCEPTION IS A RESTART. RESTART THAT OCCURS DURING ERASCHK RESTORES ERASABLE, UNLESS THERE IS EVIDENCE TO DOUBT
+# E MEMORY, IN WHICH CASE PROGRAM THEN DOES A FRESH START (DOFSTART).
+
+ BANK 25
+ SETLOC SELFCHEC
+ BANK
+
+ COUNT 43/SELF
+
+SBIT1 EQUALS BIT1
+SBIT2 EQUALS BIT2
+SBIT3 EQUALS BIT3
+SBIT4 EQUALS BIT4
+SBIT5 EQUALS BIT5
+SBIT6 EQUALS BIT6
+SBIT7 EQUALS BIT7
+SBIT8 EQUALS BIT8
+SBIT9 EQUALS BIT9
+SBIT10 EQUALS BIT10
+SBIT11 EQUALS BIT11
+SBIT12 EQUALS BIT12
+SBIT13 EQUALS BIT13
+SBIT14 EQUALS BIT14
+SBIT15 EQUALS BIT15
+
+S+ZERO EQUALS ZERO
+S+1 EQUALS BIT1
+S+2 EQUALS BIT2
+S+3 EQUALS THREE
+S+4 EQUALS FOUR
+S+5 EQUALS FIVE
+# Page 1396
+S+6 EQUALS SIX
+S+7 EQUALS SEVEN
+S8BITS EQUALS LOW8 # 00377
+CNTRCON = OCT50 # USED IN CNTRCHK
+ERASCON1 OCTAL 00061 # USED IN ERASCHK
+ERASCON2 OCTAL 01373 # USED IN ERASCHK
+ERASCON6 = OCT1400 # USED IN ERASCHK
+ERASCON3 OCTAL 01461 # USED IN ERASCHK
+ERASCON4 OCTAL 01773 # USED IN ERASCHK
+S10BITS EQUALS LOW10 # 01777, USED IN ERASCHK
+SBNK03 EQUALS PRIO6 # 06000, USED IN ROPECHK
+-MAXADRS = HI5 # FOR ROPECHK
+SIXTY OCTAL 00060
+SUPRCON OCTAL 60017 # USED IN ROPECHK
+S13BITS OCTAL 17777
+CONC+S1 OCTAL 25252 # USED IN CYCLSHFT
+CONC+S2 OCTAL 52400 # USED IN CYCLSHFT
+ERASCON5 OCTAL 76777
+S-7 = OCT77770
+S-4 EQUALS NEG4
+S-3 EQUALS NEG3
+S-2 EQUALS NEG2
+S-1 EQUALS NEGONE
+S-ZERO EQUALS NEG0
+
+ EBANK= LST1
+ADRS1 ADRES SKEEP1
+SELFADRS ADRES SELFCHK # SELFCHK RETURN ADDRESS. SHOULD BE PUT
+ # IN SELFRET WHEN GOING FROM SELFCHK TO
+ # SHOWSUM AND PUT IN SKEEP1 WHEN GOING
+ # FROM SHOWSUM TO SELF-CHECK.
+
+PRERRORS CA ERESTORE # IS IT NECESSARY TO RESTORE ERASABLE
+ EXTEND
+ BZF ERRORS # NO
+ EXTEND
+ DCA SKEEP5
+ INDEX SKEEP7
+ DXCH 0000 # RESTORE THE TWO ERASABLE REGISTERS
+ CA S+ZERO
+ TS ERESTORE
+ERRORS INHINT
+ CA Q
+ TS SFAIL # SAVE Q FOR FAILURE LOCATION
+ TS ALMCADR # FOR DISPLAY WITH BBANK AND ERCOUNT
+ INCR ERCOUNT # KEEP TRACK OF NUMBER OF MALFUNCTIONS.
+TCALARM2 TC ALARM2
+ OCT 01102 # SELF-CHECK MALFUNCTION INDICATOR
+ CCS SMODE
+SIDLOOP CA S+ZERO
+# Page 1397
+ TS SMODE
+ TC SELFCHK # GO TO IDLE LOOP
+ TC SFAIL # CONTINUE WITH SELF-CHECK
+
+-1CHK CCS A
+ TCF PRERRORS
+ TCF PRERRORS
+ CCS A
+ TCF PRERRORS
+ TC Q
+
+SMODECHK EXTEND
+ QXCH SKEEP1
+ TC CHECKNJ # CHECK FOR NEW JOB
+ CCS SMODE
+ TC SOPTIONS
+ TC SMODECHK +2 # TO BACKUP IDLE LOOP
+ TC SOPTIONS
+ INCR SCOUNT
+ TC SKEEP1 # CONTINUE WITH SELF-CHECK
+
+SOPTIONS AD S-7
+ EXTEND
+ BZMF +2 # FOR OPTIONS BELOW NINE.
+BNKOPTN TC SIDLOOP # ILLEGAL OPTION. GO TO IDLE LOOP.
+ INCR SCOUNT # FOR OPTIONS BELOW NINE.
+ AD S+7
+
+ INDEX A
+ TC SOPTION1
+SOPTION1 TC SKEEP1 # WAS TC+TCF
+SOPTION2 TC SKEEP1 # WAS IN:OUT1
+SOPTION3 TC SKEEP1 # WAS COUNTCHK
+SOPTION4 TC ERASCHK
+SOPTION5 TC ROPECHK
+SOPTION6 TC SKEEP1
+SOPTION7 TC SKEEP1
+SOPTON10 TC SKEEP1 # CONTINUE WITH SELF-CHECK
+
+CHECKNJ EXTEND
+ QXCH SELFRET # SAVE RETURN ADDRESS WHILE TESTING NEWJOB
+ TC POSTJUMP # TO SEE IF ANY JOBS HAVE BECOME ACTIVE.
+ CADR ADVAN
+
+SELFCHK TC SMODECHK # ** CHARLEY, COME IN HERE
+
+# SKEEP7 HOLDS LOWEST OF TWO ADDRESSES BEING CHECKED.
+# SKEEP6 HOLDS B(X+1).
+# SKEEP5 HOLDS B(X).
+# SKEEP4 HOLDS C(EBANK) DURING ERASLOOP AND CHECKNJ
+# Page 1398
+# SKEEP3 HOLDS LAST ADDRESS BEING CHECKED (HIGHEST ADDRESS).
+# SKEEP2 CONTROLS CHECKING OF NON-SWITCHABLE ERASABLE MEMORY WITH BANK NUMBERS IN EB.
+#
+# ERASCHK TAKES APPROXIMATELY 7 SECONDS.
+
+ERASCHK CA S+1
+ TS SKEEP2
+0EBANK CA S+ZERO
+ TS EBANK
+ CA ERASCON3 # 01461
+ TS SKEEP7 # STARTING ADDRESS
+ CA S10BITS # 01777
+ TS SKEEP3 # LAST ADDRESS CHECKED
+ TC ERASLOOP
+
+E134567B CA ERASCON6 # 01400
+ TS SKEEP7 # STARTING ADDRESS
+ CA S10BITS # 01777
+ TS SKEEP3 # LAST ADDRESS CHECKED
+ TC ERASLOOP
+
+2EBANK CA ERASCON6 # 01400
+ TS SKEEP7 # STARTING ADDRESS
+ CA ERASCON4 # 01773
+ TS SKEEP3 # LAST ADDRESS CHECKED
+ TC ERASLOOP
+
+NOEBANK TS SKEEP2 # +0
+ CA ERASCON1 # 00061
+ TS SKEEP7 # STARTING ADDRESS
+ CA ERASCON2 # 01373
+ TS SKEEP3 # LAST ADDRESS CHECKED
+
+ERASLOOP INHINT
+ CA EBANK # STORES C(EBANK)
+ TS SKEEP4
+ EXTEND
+ NDX SKEEP7
+ DCA 0000
+ DXCH SKEEP5 # STORES C(X) AND C(X+1) IN SKEEP6 AND 5.
+ CA SKEEP7
+ TS ERESTORE # IF RESTART, RESTORE C(X) AND C(X+1)
+ TS L
+ INCR L
+ NDX A
+ DXCH 0000 # PUTS OWN ADDRESS IN X AND X +1
+ NDX SKEEP7
+ CS 0001 # CS X+1
+ NDX SKEEP7
+ AD 0000 # AD X
+ TC -1CHK
+ CA ERESTORE # HAS ERASABLE BEEN RESTORED
+# Page 1399
+ EXTEND
+ BZF ELOOPFIN # YES, EXIT ERASLOOP.
+ EXTEND
+ NDX SKEEP7
+ DCS 0000 # COMPLEMENT OF ADDRESS OF X AND X+1
+ NDX SKEEP7
+ DXCH 0000 # PUT COMPLEMENT OF ADDRESS OF X AND X+1
+ NDX SKEEP7
+ CS 0000 # CS X
+ NDX SKEEP7
+ AD 0001 # AD X+1
+ TC -1CHK
+ CA ERESTORE # HAS ERASABLE BEEN RESTORED
+ EXTEND
+ BZF ELOOPFIN # YES, EXIT ERASLOOP.
+ EXTEND
+ DCA SKEEP5
+ NDX SKEEP7
+ DXCH 0000 # PUT B(X) AND B(X+1) BACK INTO X AND X+1
+ CA S+ZERO
+ TS ERESTORE # IF RESTART, DO NOT RESTORE C(X), C(X+1)
+ELOOPFIN RELINT
+ TC CHECKNJ # CHECK FOR NEW JOB
+ CA SKEEP4 # REPLACES B(EBANK)
+ TS EBANK
+ INCR SKEEP7
+ CS SKEEP7
+ AD SKEEP3
+ EXTEND
+ BZF +2
+ TC ERASLOOP # GO TO NEXT ADDRESS IN SAME BANK
+ CCS SKEEP2
+ TC NOEBANK
+ INCR SKEEP2 # PUT +1 IN SKEEP2.
+ CA EBANK
+ AD SBIT9
+ TS EBANK
+ AD ERASCON5 # 76777, CHECK FOR BANK E2
+ EXTEND
+ BZF 2EBANK
+ CCS EBANK
+ TC E134567B # GO TO EBANKS 1,3,4,5,6, AND 7
+ CA ERASCON6 # END OF ERASCHK
+ TS EBANK
+
+# CNTRCHK PERFORMS A CS OF ALL REGISTERS FROM OCT. 60 THROUGH OCT. 10.
+# INCLUDED ARE ALL COUNTERS, T6-1, CYCLE AND SHIFT, AND ALL RUPT REGISTERS
+
+CNTRCHK CA CNTRCON # 00050
+CNTRLOOP TS SKEEP2
+ AD SBIT4 # +10 OCTAL
+ INDEX A
+# Page 1400
+ CS 0000
+ CCS SKEEP2
+ TC CNTRLOOP
+
+# CYCLSHFT CHECKS THE CYCLE AND SHIFT REGISTERS
+
+CYCLSHFT CA CONC+S1 # 25252
+ TS CYR # C(CYR) = 12525
+ TS CYL # C(CYL) = 52524
+ TS SR # C(SR) = 12525
+ TS EDOP # C(EDOP) = 00125
+ AD CYR # 37777 C(CYR) = 45252
+ AD CYL # 00-12524 C(CYL) = 25251
+ AD SR # 00-25251 C(SR) = 05252
+ AD EDOP # 00-25376 C(EDOP) = +0
+ AD CONC+S2 # C(CONC+S2) = 52400
+ TC -1CHK
+ AD CYR # 45252
+ AD CYL # 72523
+ AD SR # 77775
+ AD EDOP # 77775
+ AD S+1 # 77776
+ TC -1CHK
+
+ INCR SCOUNT +1
+ TC SMODECHK
+
+# SKEEP1 HOLDS SUM
+# SKEEP2 HOLDS PRESENT CONTENTS OF ADDRESS IN ROPECHK AND SHOWSUM ROUTINES
+# SKEEP2 HOLDS BANK NUMBER IN LOW ORDER BITS DURING SHOWSUM DISPLAY
+# SKEEP3 HOLDS PRESENT ADDRESS (00000 TO 01777 IN COMMON FIXED BANKS)
+# (04000 TO 07777 IN FXFX BANKS)
+# SKEEP3 HOLDS BUGGER WORD DURING SHOWSUM DISPLAY
+# SKEEP4 HOLDS BANK NUMBER AND SUPER BANK NUMBER
+# SKEEP5 COUNTS 2 SUCCESSIVE TC SELF WORDS
+# SKEEP6 CONTROLS ROPECHK OR SHOWSUM OPTION
+# SKEEP7 CONTROLS WHEN ROUTINE IS IN COMMON FIXED OR FIXED FIXED BANKS
+
+ROPECHK CA S-ZERO # *
+ TS SKEEP6 # * -0 FOR ROPECHK
+STSHOSUM CA S+ZERO # * SHOULD BE ROPECHK
+
+ TS SKEEP4 # BANK NUMBER
+ CA S+1
+COMMFX TS SKEEP7
+ CA S+ZERO
+ TS SKEEP1
+ TS SKEEP3
+ CA S+1
+ TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS
+COMADRS CA SKEEP4
+ TS L # TO SET SUPER BANK
+# Page 1401
+ MASK HI5
+ AD SKEEP3
+ TC SUPDACAL # SUPER DATA CALL
+ TC ADSUM
+ AD SBIT11 # 02000
+ TC ADRSCHK
+
+FXFX CS A
+ TS SKEEP7
+ EXTEND
+ BZF +3
+ CA SBIT12 # 04000, STARTING ADDRESS OF BANK 02
+ TC +2
+ CA SBNK03 # 06000, STARTING ADDRESS OF BANK 03
+ TS SKEEP3
+ CA S+ZERO
+ TS SKEEP1
+ CA S+1
+ TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS
+FXADRS INDEX SKEEP3
+ CA 0000
+ TC ADSUM
+ TC ADRSCHK
+
+ADSUM TS SKEEP2
+ AD SKEEP1
+ TS SKEEP1
+ CAF S+ZERO
+ AD SKEEP1
+ TS SKEEP1
+ CS SKEEP2
+ AD SKEEP3
+ TC Q
+
+ADRSCHK LXCH A
+ CA SKEEP3
+ MASK LOW10 # RELATIVE ADDRESS
+ AD -MAXADRS # SUBTRACT MAX RELATIVE ADDRESS = 1777.
+ EXTEND
+ BZF SOPTION # CHECKSUM FINISHED IF LAST ADDRESS.
+ CCS SKEEP5 # IS CHECKSUM FINISHED
+ TC +3 # NO
+ TC +2 # NO
+ TC SOPTION # GO TO ROPECHK SHOWSUM OPTION
+ CCS L # -0 MEANS A TC SELF WORD.
+ TC CONTINU
+ TC CONTINU
+ TC CONTINU
+ CCS SKEEP5
+ TC CONTINU +1
+# Page 1402
+ CA S-1
+ TC CONTINU +1 # AD IN THE BUGGER WORD
+CONTINU CA S+1 # MAKE SURE TWO CONSECUTIVE TC SELF WORDS
+ TS SKEEP5
+ CCS SKEEP6 # *
+ CCS NEWJOB # * +1, SHOWSUM
+ TC CHANG1 # *
+ TC +2 # *
+ TC CHECKNJ # -0 IN SKEEP6 FOR ROPECHK
+
+ADRS+1 INCR SKEEP3
+ CCS SKEEP7
+ TC COMADRS
+ TC COMADRS
+ TC FXADRS
+ TC FXADRS
+
+NXTBNK CS SKEEP4
+ AD LSTBNKCH # LAST BANK TO BE CHECKED
+ EXTEND
+ BZF ENDSUMS # END OF SUMMING OF BANKS.
+ CA SKEEP4
+ AD SBIT11
+ TS SKEEP4 # 37 TO 40 INCRMTS SKEEP4 BY END RND CARRY
+ TC CHKSUPR
+17TO20 CA SBIT15
+ ADS SKEEP4 # SET FOR BANK 20
+ TC GONXTBNK
+CHKSUPR MASK HI5
+ EXTEND
+ BZF NXTSUPR # INCREMENT SUPER BANK
+27TO30 AD S13BITS
+ EXTEND
+ BZF +2 # BANK SET FOR 30
+ TC GONXTBNK
+ CA SIXTY # FIRST SUPER BANK
+ ADS SKEEP4
+ TC GONXTBNK
+NXTSUPR AD SUPRCON # SET BNK 30 + INCR SUPR BNK AND CANCEL
+ ADS SKEEP4 # ERC BIT OF THE 37 TO 40 ADVANCE.
+GONXTBNK CCS SKEEP7
+ TC COMMFX
+ CA S+1
+ TC FXFX
+ CA SBIT7 # HAS TO BE LARGER THAN NO OF FXSW BANKS.
+ TC COMMFX
+
+SOPTION CA SKEEP4
+ MASK HI5 # = BANK BITS
+ TC LEFT5
+# Page 1403
+ TS L # BANK NUMBER BEFORE SUPER BANK
+ CA SKEEP4
+ MASK S8BITS # = SUPER BANK BITS
+ EXTEND
+ BZF SOPT # BEFORE SUPER BANK
+ TS SR # SUPER BANK NECESSARY
+ CA L
+ MASK SEVEN
+ AD SR
+ TS L # BANK NUMBER WITH SUPER BANK
+SOPT CA SKEEP6 # *
+ EXTEND # *
+ BZF +2 # * ON -0 CONTINUE WITH ROPE CHECK.
+ TC SDISPLAY # * ON +1 GO TO DISPLAY OF SUM.
+ CCS SKEEP1 # FORCE SUM TO ABSOLUTE VALUE.
+ TC +2
+ TC +2
+ AD S+1
+ TS SKEEP1
+BNKCHK CS L # = - BANK NUMBER
+ AD SKEEP1
+ AD S-1
+ TC -1CHK # CHECK SUM
+ TC NXTBNK
+
+ EBANK= NEWJOB
+LSTBNKCH BBCON* # * CONSTANT, LAST BANK.
+ SBANK= LOWSUPER
+
+
diff --git a/AGC_BLOCK_TWO_SELF_CHECK.s b/AGC_BLOCK_TWO_SELF_CHECK.s
new file mode 100644
index 0000000..8ddcf42
--- /dev/null
+++ b/AGC_BLOCK_TWO_SELF_CHECK.s
@@ -0,0 +1,511 @@
+# Copyright: Public domain.
+# Filename: AGC_BLOCK_TWO_SELF_CHECK.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Onno Hommes <ohommes@cmu.edu>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1284-1293
+# Mod history: 2009-05-27 OH Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1284
+# PROGRAM DESCRIPTION DATE: 20 DECEMBER 1967
+# PROGRAM NAME -- SELF-CHECK LOG SECTION: AGC BLOCK TWO SELF-CHECK
+# MOD NO -- 1 ASSEMBLY SUBROUTINE UTILITYM REV 25
+# MOD BY -- GAUNTT
+#
+# FUNCTIONAL DESCRIPTION
+# PROGRAM HAS TWO MAIN PARTS. THE FIRST IS SELF-CHECK WHICH RUNS AS A ZERO PRIORITY JOB WITH NO CORE SET, AS
+# PART OF THE BACK-UP IDLE LOOP. THE SECOND IS SHOW-BANKSUM WHICH RUNS AS A REGULAR EXECUTIVE JOB WITH ITS OWN
+# STARTING VERB.
+#
+# THE PURPOSE OF SELF-CHECK IS TO CHECK OUT VARIOUS PARTS OF THE COMPUTER AS OUTLINED BELOW IN THE OPTIONS.
+#
+# THE PURPOSE OF SHOW-BANKSUM IS TO DISPLAY THE SUM OF EACH BANK, ONE AT A TIME.
+#
+# IN ALL THERE ARE 7 POSSIBLE OPTIONS IN THIS BLOCK II VERSION OF SELF-CHECK. MORE DETAIL DESCRIPTION MAY BE
+# FOUND IN E-2065 BLOCK II AGC SELF-CHECK AND SHOW BANKSUM BY EDWIN D. SMALLY DECEMBER 1966, AND ADDENDA 2 AND 3.
+#
+# THE DIFFERENT OPTIONS ARE CONTROLLED BY PUTTING DIFFERENT NUMBERS IN THE SMODE REGISTER (NOUN 27). BELOW IS
+# A DESCRIPTION OF WHAT PARTS OF THE COMPUTER THAT ARE CHECKED BY THE OPTIONS, AND THE CORRESPONDING NUMBER, IN
+# OCTAL, TO LOAD INTO SMODE.
+# +-4 ERASABLE MEMORY
+# +-5 FIXED MEMORY
+# +-1,2,3,6,7,10 EVERYTHING IN OPTIONS 4 AND 5.
+# -0 SAME AS +-10 UNTIL AN ERROR IS DETECTED.
+# +0 NO CHECK, PUTS COMPUTER INTO THE BACKUP IDLE LOOP.
+#
+# WARNINGS
+# USE OF E MEMORY RESERVED FOR SELF-CHECK (EVEN IN IDLE LOOP) AS TEMP STORAGE BY OTHER PROGRAMS IS DANGEROUS.
+# SMODE SET GREATER THAN OCT 10 PUTS COMPUTER INTO BACKUP IDLE LOOP.
+#
+# CALLING SEQUENCE
+# TO CALL SELF-CHECK KEY IN
+# V 21 N 27 E OPTION NUMBER E
+# TO CALL SHOW-BANKSUM KEY IN
+# V 91 E DISPLAYS FIRST BANK
+# V 33 E PROCEED, DISPLAYS NEXT BANK
+#
+# EXIT MODES, NORMAL AND ALARM
+# SELF-CHECK NORMALLY CONTINUES INDEFINITELY UNLESS THERE IS AN ERROR DETECTED. IF SO + OPTION NUMBERS PUT
+# COMPUTER INTO BACKUP IDLE LOOP, - OPTIONS NUMBERS RESTART THE OPTION.
+#
+# THE -0 OPTION PROCEEDS FROM THE LINE FOLLOWING THE LINE WHERE THE ERROR WAS DETECTED.
+#
+# SHOW-BANKSUM PROCEEDS UNTIL A TERMINATE IS KEYED IN (V 34 E). THE COMPUTER IS PUT INTO THE BACKUP IDLE LOOP.
+#
+# OUTPUT
+# Page 1285
+# SELF-CHECK UPON DETECTING AN ERROR LOADS THE SELF-CHECK ALARM CONSTANT (01102) INTO THE FAILREG SET AND
+# TURNS ON THE ALARM LIGHT. THE OPERATOR MAY THEN DISPLAY THE THREE FAILREGS BY KEYING IN V 05 N 09 E. FOR FURTHER
+# INFORMATION HE MAY KEY IN V 05 N 08 E, THE DSKY DISPLAY IN R1 WILL BE ADDRESS+1 OF WHERE THE ERROR WAS DETECTED,
+# IN R2 THE BBCON OF SELF-CHECK, AND IN R3 THE TOTAL NUMBER OF ERRORS DETECTED BY SELF-CHECK SINCE THE LAST MAN
+# INITIATED FRESH START (SLAP1).
+#
+# SHOW-BANKSUM STARTING WTIH BANK 0 DISPLAYS IN R1 THE BANK SUM (A +-NUMBER EQUAL TO THE BANK NUMBER), IN R2
+# THE BANK NUMBER, AND IN R3 THE BUGGER WORD.
+#
+# ERASABLE INITIALIZATION REQUIRED
+# ACCOMPLISHED BY FRESH START
+# SMODE SET TO +0
+#
+# DEBRIS
+# ALL EXITS FROM THE CHECK OF ERASABLE (ERASCHK) RESTORE ORIGINAL CONTENTS TO REGISTERS UNDER CHECK.
+# EXCEPTION IS A RESTART. RESTART THAT OCCURS DURING ERASCHK RESTORES ERASABLE, UNLESS THERE IS EVIDENCE TO DOUBT
+# E MEMORY, IN WHICH CASE PROGRAM THEN DOES A FRESH START (DOFSTART).
+
+ BANK 25
+ SETLOC SELFCHEC
+ BANK
+
+ COUNT* $$/SELF
+SBIT1 EQUALS BIT1
+SBIT2 EQUALS BIT2
+SBIT3 EQUALS BIT3
+SBIT4 EQUALS BIT4
+SBIT5 EQUALS BIT5
+SBIT6 EQUALS BIT6
+SBIT7 EQUALS BIT7
+SBIT8 EQUALS BIT8
+SBIT9 EQUALS BIT9
+SBIT10 EQUALS BIT10
+SBIT11 EQUALS BIT11
+SBIT12 EQUALS BIT12
+SBIT13 EQUALS BIT13
+SBIT14 EQUALS BIT14
+SBIT15 EQUALS BIT15
+
+S+ZERO EQUALS ZERO
+S+1 EQUALS BIT1
+S+2 EQUALS BIT2
+S+3 EQUALS THREE
+S+4 EQUALS FOUR
+S+5 EQUALS FIVE
+S+6 EQUALS SIX
+# Page 1286
+S+7 EQUALS SEVEN
+S8BITS EQUALS LOW8 # 00377
+CNTRCON = OCT50 # USED IN CNTRCHK
+ERASCON1 OCTAL 00061 # USED IN ERASCHK
+ERASCON2 OCTAL 01373 # USED IN ERASCHK
+ERASCON6 = OCT1400 # USED IN ERASCHK
+ERASCON3 OCTAL 01461 # USED IN ERASCHK
+ERASCON4 OCTAL 01773 # USED IN ERASCHK
+S10BITS EQUALS LOW10 # 01777, USED IN ERASCHK
+SBNK03 EQUALS PRIO6 # 06000, USED IN ROPECHK
+-MAXADRS = HI5 # FOR ROPECHK
+SIXTY OCTAL 00060
+SUPRCON OCTAL 60017 # USED IN ROPECHK
+S13BITS OCTAL 17777
+CONC+S1 OCTAL 25252 # USED IN CYCLSHFT
+CONC+S2 OCTAL 52400 # USED IN CYCLSHFT
+ERASCON5 OCTAL 76777
+S-7 = OCT77770
+S-4 EQUALS NEG4
+S-3 EQUALS NEG3
+S-2 EQUALS NEG2
+S-1 EQUALS NEGONE
+S-ZERO EQUALS NEG0
+
+ EBANK= LST1
+ADRS1 ADRES SKEEP1
+SELFADRS ADRES SELFCHK # SELFCHK RETURN ADDRESS. SHOULD BE PUT
+ # IN SELFRET WHEN GOING FROM SELFCHK TO
+ # SHOWSUM AND PUT IN SKEEP1 WHEN GOING
+ # FROM SHOWSUM TO SELF-CHECK.
+
+PRERRORS CA ERESTORE # IS IT NECESSARY TO RESTORE ERASABLE
+ EXTEND
+ BZF ERRORS # NO
+ EXTEND
+ DCA SKEEP5
+ INDEX SKEEP7
+ DXCH 0000 # RESTORE THE TWO ERASABLE REGISTERS
+ CA S+ZERO
+ TS ERESTORE
+ERRORS INHINT
+ CA Q
+ TS SFAIL # SAVE Q FOR FAILURE LOCATION
+ TS ALMCADR # FOR DISPLAY WITH BBANK AND ERCOUNT
+ INCR ERCOUNT # KEEP TRACK OF NUMBER OF MALFUNCTIONS.
+TCALARM2 TC ALARM2
+ OCT 01102 # SELF-CHECK MALFUNCTION INDICATOR
+ CCS SMODE
+SIDLOOP CA S+ZERO
+ TS SMODE
+# Page 1287
+ TC SELFCHK # GO TO IDLE LOOP
+ TC SFAIL # CONTINUE WITH SELF-CHECK
+
+-1CHK CCS A
+ TCF PRERRORS
+ TCF PRERRORS
+ CCS A
+ TCF PRERRORS
+ TC Q
+
+SMODECHK EXTEND
+ QXCH SKEEP1
+ TC CHECKNJ # CHECK FOR NEW JOB
+ CCS SMODE
+ TC SOPTIONS
+ TC SMODECHK +2 # TO BACKUP IDLE LOOP
+ TC SOPTIONS
+ INCR SCOUNT
+ TC SKEEP1 # CONTINUE WITH SELF-CHECK
+
+SOPTIONS AD S-7
+ EXTEND
+ BZMF +2 # FOR OPTIONS BELOW NINE.
+BNKOPTN TC SIDLOOP # ILLEGAL OPTION. GO TO IDLE LOOP.
+ INCR SCOUNT # FOR OPTIONS BELOW NINE.
+ AD S+7
+
+ INDEX A
+ TC SOPTION1
+SOPTION1 TC SKEEP1 # WAS TC+TCF
+SOPTION2 TC SKEEP1 # WAS IN:OUT1
+SOPTION3 TC SKEEP1
+SOPTION4 TC ERASCHK
+SOPTION5 TC ROPECHK
+SOPTION6 TC SKEEP1
+SOPTION7 TC SKEEP1
+SOPTON10 TC SKEEP1 # CONTINUE WITH SELF-CHECK
+
+CHECKNJ EXTEND
+ QXCH SELFRET # SAVE RETURN ADDRESS WHILE TESTING NEWJOB
+ TC POSTJUMP # TO SEE IF ANY JOBS HAVE BECOME ACTIVE.
+ CADR ADVAN
+
+SELFCHK TC SMODECHK # ** CHARLEY, COME IN HERE
+
+# SKEEP7 HOLDS LOWEST OF TWO ADDRESSES BEING CHECKED.
+# SKEEP6 HOLDS B(X+1).
+# SKEEP5 HOLDS B(X).
+# SKEEP4 HOLDS C(EBANK) DURING ERASLOOP AND CHECKNJ
+# SKEEP3 HOLDS LAST ADDRESS BEING CHECKED (HIGHEST ADDRESS).
+# Page 1288
+# SKEEP2 CONTROLS CHECKING OF NON-SWITCHABLE ERASABLE MEMORY WITH BANK NUMBERS IN EB.
+#
+# ERASCHK TAKES APPROXIMATELY 7 SECONDS.
+
+ERASCHK CA S+1
+ TS SKEEP2
+0EBANK CA S+ZERO
+ TS EBANK
+ CA ERASCON3 # 01461
+ TS SKEEP7 # STARTING ADDRESS
+ CA S10BITS # 01777
+ TS SKEEP3 # LAST ADDRESS CHECKED
+ TC ERASLOOP
+
+E134567B CA ERASCON6 # 01400
+ TS SKEEP7 # STARTING ADDRESS
+ CA S10BITS # 01777
+ TS SKEEP3 # LAST ADDRESS CHECKED
+ TC ERASLOOP
+
+2EBANK CA ERASCON6 # 01400
+ TS SKEEP7 # STARTING ADDRESS
+ CA ERASCON4 # 01773
+ TS SKEEP3 # LAST ADDRESS CHECKED
+ TC ERASLOOP
+
+NOEBANK TS SKEEP2 # +0
+ CA ERASCON1 # 00061
+ TS SKEEP7 # STARTING ADDRESS
+ CA ERASCON2 # 01373
+ TS SKEEP3 # LAST ADDRESS CHECKED
+
+ERASLOOP INHINT
+ CA EBANK # STORES C(EBANK)
+ TS SKEEP4
+ EXTEND
+ NDX SKEEP7
+ DCA 0000
+ DXCH SKEEP5 # STORES C(X) AND C(X+1) IN SKEEP6 AND 5.
+ CA SKEEP7
+ TS ERESTORE # IF RESTART, RESTORE C(X) AND C(X+1)
+ TS L
+ INCR L
+ NDX A
+ DXCH 0000 # PUTS OWN ADDRESS IN X AND X +1
+ NDX SKEEP7
+ CS 0001 # CS X+1
+ NDX SKEEP7
+ AD 0000 # AD X
+ TC -1CHK
+ CA ERESTORE # HAS ERASABLE BEEN RESTORED
+ EXTEND
+# Page 1289
+ BZF ELOOPFIN # YES, EXIT ERASLOOP.
+ EXTEND
+ NDX SKEEP7
+ DCS 0000 # COMPLEMENT OF ADDRESS OF X AND X+1
+ NDX SKEEP7
+ DXCH 0000 # PUT COMPLEMENT OF ADDRESS OF X AND X+1
+ NDX SKEEP7
+ CS 0000 # CS X
+ NDX SKEEP7
+ AD 0001 # AD X+1
+ TC -1CHK
+ CA ERESTORE # HAS ERASABLE BEEN RESTORED
+ EXTEND
+ BZF ELOOPFIN # YES, EXIT ERASLOOP.
+ EXTEND
+ DCA SKEEP5
+ NDX SKEEP7
+ DXCH 0000 # PUT B(X) AND B(X+1) BACK INTO X AND X+1
+ CA S+ZERO
+ TS ERESTORE # IF RESTART, DO NOT RESTORE C(X), C(X+1)
+ELOOPFIN RELINT
+ TC CHECKNJ # CHECK FOR NEW JOB
+ CA SKEEP4 # REPLACES B(EBANK)
+ TS EBANK
+ INCR SKEEP7
+ CS SKEEP7
+ AD SKEEP3
+ EXTEND
+ BZF +2
+ TC ERASLOOP # GO TO NEXT ADDRESS IN SAME BANK
+ CCS SKEEP2
+ TC NOEBANK
+ INCR SKEEP2 # PUT +1 IN SKEEP2.
+ CA EBANK
+ AD SBIT9
+ TS EBANK
+ AD ERASCON5 # 76777, CHECK FOR BANK E2
+ EXTEND
+ BZF 2EBANK
+ CCS EBANK
+ TC E134567B # GO TO EBANKS 1,3,4,5,6, AND 7
+ CA ERASCON6 # END OF ERASCHK
+ TS EBANK
+
+# CNTRCHK PERFORMS A CS OF ALL REGISTERS FROM OCT. 60 THROUGH OCT. 10.
+# INCLUDED ARE ALL COUNTERS, T6-1, CYCLE AND SHIFT, AND ALL RUPT REGISTERS
+
+CNTRCHK CA CNTRCON # 00050
+CNTRLOOP TS SKEEP2
+ AD SBIT4 # +10 OCTAL
+ INDEX A
+ CS 0000
+# Page 1290
+ CCS SKEEP2
+ TC CNTRLOOP
+
+# CYCLSHFT CHECKS THE CYCLE AND SHIFT REGISTERS
+
+CYCLSHFT CA CONC+S1 # 25252
+ TS CYR # C(CYR) = 12525
+ TS CYL # C(CYL) = 52524
+ TS SR # C(SR) = 12525
+ TS EDOP # C(EDOP) = 00125
+ AD CYR # 37777 C(CYR) = 45252
+ AD CYL # 00-12524 C(CYL) = 25251
+ AD SR # 00-25251 C(SR) = 05252
+ AD EDOP # 00-25376 C(EDOP) = +0
+ AD CONC+S2 # C(CONC+S2) = 52400
+ TC -1CHK
+ AD CYR # 45252
+ AD CYL # 72523
+ AD SR # 77775
+ AD EDOP # 77775
+ AD S+1 # 77776
+ TC -1CHK
+
+ INCR SCOUNT +1
+ TC SMODECHK
+
+# SKEEP1 HOLDS SUM
+# SKEEP2 HOLDS PRESENT CONTENTS OF ADDRESS IN ROPECHK AND SHOWSUM ROUTINES
+# SKEEP2 HOLDS BANK NUMBER IN LOW ORDER BITS DURING SHOWSUM DISPLAY
+# SKEEP3 HOLDS PRESENT ADDRESS (00000 TO 01777 IN COMMON FIXED BANKS)
+# (04000 TO 07777 IN FXFX BANKS)
+# SKEEP3 HOLDS BUGGER WORD DURING SHOWSUM DISPLAY
+# SKEEP4 HOLDS BANK NUMBER AND SUPER BANK NUMBER
+# SKEEP5 COUNTS 2 SUCCESSIVE TC SELF WORDS
+# SKEEP6 CONTROLS ROPECHK OR SHOWSUM OPTION
+# SKEEP7 CONTROLS WHEN ROUTINE IS IN COMMON FIXED OR FIXED FIXED BANKS
+
+ROPECHK CA S-ZERO # *
+ TS SKEEP6 # * -0 FOR ROPECHK
+STSHOSUM CA S+ZERO # * SHOULD BE ROPECHK
+
+ TS SKEEP4 # BANK NUMBER
+ CA S+1
+COMMFX TS SKEEP7
+ CA S+ZERO
+ TS SKEEP1
+ TS SKEEP3
+ CA S+1
+ TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS
+COMADRS CA SKEEP4
+ TS L # TO SET SUPER BANK
+ MASK HI5
+# Page 1291
+ AD SKEEP3
+ TC SUPDACAL # SUPER DATA CALL
+ TC ADSUM
+ AD SBIT11 # 02000
+ TC ADRSCHK
+
+FXFX CS A
+ TS SKEEP7
+ EXTEND
+ BZF +3
+ CA SBIT12 # 04000, STARTING ADDRESS OF BANK 02
+ TC +2
+ CA SBNK03 # 06000, STARTING ADDRESS OF BANK 03
+ TS SKEEP3
+ CA S+ZERO
+ TS SKEEP1
+ CA S+1
+ TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS
+FXADRS INDEX SKEEP3
+ CA 0000
+ TC ADSUM
+ TC ADRSCHK
+
+ADSUM TS SKEEP2
+ AD SKEEP1
+ TS SKEEP1
+ CAF S+ZERO
+ AD SKEEP1
+ TS SKEEP1
+ CS SKEEP2
+ AD SKEEP3
+ TC Q
+
+ADRSCHK LXCH A
+ CA SKEEP3
+ MASK LOW10 # RELATIVE ADDRESS
+ AD -MAXADRS # SUBTRACT MAX RELATIVE ADDRESS = 1777.
+ EXTEND
+ BZF SOPTION # CHECKSUM FINISHED IF LAST ADDRESS.
+ CCS SKEEP5 # IS CHECKSUM FINISHED
+ TC +3 # NO
+ TC +2 # NO
+ TC SOPTION # GO TO ROPECHK SHOWSUM OPTION
+ CCS L # -0 MEANS A TC SELF WORD.
+ TC CONTINU
+ TC CONTINU
+ TC CONTINU
+ CCS SKEEP5
+ TC CONTINU +1
+ CA S-1
+# Page 1292
+ TC CONTINU +1 # AD IN THE BUGGER WORD
+CONTINU CA S+1 # MAKE SURE TWO CONSECUTIVE TC SELF WORDS
+ TS SKEEP5
+ CCS SKEEP6 # *
+ CCS NEWJOB # * +1, SHOWSUM
+ TC CHANG1 # *
+ TC +2 # *
+ TC CHECKNJ # -0 IN SKEEP6 FOR ROPECHK
+
+ADRS+1 INCR SKEEP3
+ CCS SKEEP7
+ TC COMADRS
+ TC COMADRS
+ TC FXADRS
+ TC FXADRS
+
+NXTBNK CS SKEEP4
+ AD LSTBNKCH # LAST BANK TO BE CHECKED
+ EXTEND
+ BZF ENDSUMS # END OF SUMMING OF BANKS.
+ CA SKEEP4
+ AD SBIT11
+ TS SKEEP4 # 37 TO 40 INCRMTS SKEEP4 BY END RND CARRY
+ TC CHKSUPR
+17TO20 CA SBIT15
+ ADS SKEEP4 # SET FOR BANK 20
+ TC GONXTBNK
+CHKSUPR MASK HI5
+ EXTEND
+ BZF NXTSUPR # INCREMENT SUPER BANK
+27TO30 AD S13BITS
+ EXTEND
+ BZF +2 # BANK SET FOR 30
+ TC GONXTBNK
+ CA SIXTY # FIRST SUPER BANK
+ ADS SKEEP4
+ TC GONXTBNK
+NXTSUPR AD SUPRCON # SET BNK 30 + INCR SUPR BNK AND CANCEL
+ ADS SKEEP4 # ERC BIT OF TEH 37 TO 40 ADVANCE.
+GONXTBNK CCS SKEEP7
+ TC COMMFX
+ CA S+1
+ TC FXFX
+ CA SBIT7 # HAS TO BE LARGER THAN NO OF FXSW BANKS.
+ TC COMMFX
+
+SOPTION CA SKEEP4
+ MASK HI5 # = BANK BITS
+ TC LEFT5
+ TS L # BANK NUMBER BEFORE SUPER BANK
+# Page 1293
+ CA SKEEP4
+ MASK S8BITS # = SUPER BANK BITS
+ EXTEND
+ BZF SOPT # BEFORE SUPER BANK
+ TS SR # SUPER BANK NECESSARY
+ CA L
+ MASK SEVEN
+ AD SR
+ TS L # BANK NUMBER WITH SUPER BANK
+SOPT CA SKEEP6 # *
+ EXTEND # *
+ BZF +2 # * ON -0 CONTINUE WITH ROPE CHECK.
+ TC SDISPLAY # * ON +1 GO TO DISPLAY OF SUM.
+ CCS SKEEP1 # FORCE SUM TO ABSOLUTE VALUE.
+ TC +2
+ TC +2
+ AD S+1
+ TS SKEEP1
+BNKCHK CS L # = - BANK NUMBER
+ AD SKEEP1
+ AD S-1
+ TC -1CHK # CHECK SUM
+ TC NXTBNK
+
+ EBANK= NEWJOB
+LSTBNKCH BBCON* # * CONSTANT, LAST BANK.
+
diff --git a/AGS_INITIALIZATION.s b/AGS_INITIALIZATION.s
new file mode 100644
index 0000000..8a507df
--- /dev/null
+++ b/AGS_INITIALIZATION.s
@@ -0,0 +1,229 @@
+# Copyright: Public domain.
+# Filename: AGS_INITIALIZATION.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 206-210
+# Mod history: 2009-05-19 HG Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 206
+
+# PROGRAM NAME: AGS INITIALIZIZATION (R47)
+#
+# WRITTEN BY: RHODE/KILROY/FOLLETT
+#
+# MOD NO.: 0
+# DATE: 23 MARCH 1967
+# MOD BY: KILROY
+#
+# MOD NO.: 1
+# DATE: 28 OCTOBER 1967
+# MOD BY: FOLLETT
+#
+# FUNCT. DESC.: (1) TO PROVIDE THE AGS ABORT ELECTRONICS ASSEMBLY (AEA) WITH THE LEM AND CSM STATE VECTORS
+# (POSITION,VELOCITY,TIME) IN LEM IMU COORDINATES BY MEANS OF THE LGC DIGITAL DOWNLINK.
+#
+# (2) TO ZERO THE ICDU, LGC, AND AEA GIMBAL ANGLE COUNTER SIMULTANEOUSLY IN ORDER TO ESTABLISH A
+# COMMON ZERO REFERENCE FOR THE MEASUREMENT OF GIMBAL (EULER) ANGLES WHICH DEFINE LEM ATTITUDE
+#
+# (3) TO ESTABLISH THE GROUND ELAPSED TIME OF AEA CLOCK ZERO. (IF AN AEA CLOCK ZERO IS
+# REQUESTED DURING THIS PROGRAM
+#
+# LOG SECTION: AGS INITIALIZATION
+#
+# CALLING SEQ: PROGRAM IS ENTERED WHEN ASTRONAUT KEYS V47E ON DSKY.
+# R47 MAY BE CALLED AT ANY TIME EXCEPT WHEN ANOTHER EXTENDED VERB IS IN PROGRESS
+#
+# SUBROUTINES
+# CALLED:
+#
+# NORMAL EXIT: ENDEXT
+#
+# ALARM/ABORT: ALARM -- BAD REFSMMAT -- CODE:220
+# OPERATOR ERROR IF V47 SELECTED DURING ANOTHER EXTENDED VERB.
+#
+# ERASABLES
+# USED: SAMPTIME (2) TIME OF :ENTER: KEYSTROKE
+# AGSK (2) GROUND ELAPSED TIME OF THE AEA CLOCK :ZERO:
+# AGSBUFF (140) CONTAINS AGS INITIALIZATION DATA (SEE :OUTPUT: BELOW)
+# AGSWORD (1) PREVIOUS DOWNLIST SAVED HERE
+
+ EBANK= AGSBUFF
+
+ BANK 40
+ SETLOC R47
+ BANK
+
+ COUNT* $$/R47
+
+AGSINIT CAF REFSMBIT
+ MASK FLAGWRD3 # CHECK REFSMFLG.
+ CCS A
+# Page 207
+ TC REDSPTEM # REFSMMAT IS OK
+ TC ALARM # REFSMMAT IS BAD
+ OCT 220
+ TC ENDEXT
+
+NEWAGS EXTEND
+ DCA SAMPTIME # TIME OF THE :ENTER: KEYSTROKE
+ DXCH AGSK # BECOMES NEW AEA CLOCK :ZERO:
+
+REDSPTEM EXTEND
+ DCA AGSK
+ DXCH DSPTEMX
+AGSDISPK CAF V06N16
+ TC BANKCALL # R1 = 00XXX. HRS., R2 = 000XX MIN.,
+ CADR GOMARKF # R3 = 0XX.XX SEC.
+ TC ENDEXT # TERMINATE RETURN
+ TC AGSVCALC # PROCEED RETURN
+ CS BIT6 # IS ENTER VIA A V32
+ AD MPAC
+ EXTEND
+ BZF NEWAGS # YES, USE KEYSTROKE TIME FOR NEW AGSK
+
+ EXTEND # NO, NEW AGSK LOADED VIA V25
+ DCA DSPTEMX # LOADED INTO DSPTEMX BY KEYING
+ TC REDSPTEM -1 # V25E FOLLOWED BY HRS.,MINS.,SECS.
+ # DISPLAY THE NEW K.
+
+AGSVCALC TC INTPRET
+ SET
+ NODOFLAG # DON'T ALLOW V37
+ SET EXIT
+ XDSPFLAG
+
+ CAF V06N16
+ TC BANKCALL
+ CADR EXDSPRET
+
+ TC INTPRET # EXTRAPOLATE LEM AND CSM STATE VECTORS
+ RTB # TO THE PRESENT TIME
+ LOADTIME # LOAD MPAC WITH TIME2,TIME1
+ STCALL TDEC1 # CALCULATE LEM STATE VECTOR
+ LEMPREC
+ CALL # CALL ROUTINE TO CONVERT TO SM COORDS AND
+ SCALEVEC # PROVIDE PROPER SCALING
+ STODL AGSBUFF # (LEMPREC AND CSMPREC LEAVE TDEC1 IN TAT)
+ TAT # TAT = TIME TO WHICH RATT1 AND VATT1 ARE
+ STCALL TDEC1 # COMPUTED (CSEC SINCE CLOCK START B-28).
+ CSMPREC # CALCULATE CSM STATE VECTOR FOR SAME TIME
+ CALL
+ SCALEVEC
+# Page 208
+ STODL AGSBUFF +6
+ TAT
+ DSU DDV # CALCULATE AND STORE THE TIME
+ AGSK
+ TSCALE
+ STORE AGSBUFF +12D
+ EXIT
+
+ CAF LAGSLIST
+ TS DNLSTCOD
+
+ CAF 20SEC # DELAY FOR 20 SEC WHILE THE AGS
+ TC BANKCALL # DOWNLIST IS TRANSMITTED
+ CADR DELAYJOB
+
+ CA AGSWORD
+ TS DNLSTCOD # RETURN TO THE OLD DOWNLIST
+ CAF IMUSEBIT
+ MASK FLAGWRD0 # CHECK IMUSE FLAG.
+ CCS A
+ TC AGSEND # IMU IS BEING USED -- DO NOT ZERO
+CKSTALL CCS IMUCADR # CHECK FOR IMU USAGE WHICH AVOIDS THE
+ TCF +3 # IMUSE BIT: I.E., IMU COMPENSATION.
+ TCF +6 # FREE. GO AHEAD WITH THE IMU ZERO.
+ TCF +1
+ +3 CAF TEN # WAIT .1 SEC AND TRY AGAIN.
+ TC BANKCALL
+ CADR DELAYJOB
+ TCF CKSTALL
+
+ +6 TC BANKCALL # IMU IS NOT IN USE
+ CADR IMUZERO # SET IMU ZERO DISCRETE FOR 320 MSECS.
+ TC BANKCALL # WAIT 3 SEC FOR COUNTERS TO INCREMENT
+ CADR IMUSTALL
+ TC AGSEND
+AGSEND TC DOWNFLAG # ALLOW V37
+ ADRES NODOFLAG
+
+ CAF V50N16
+ TC BANKCALL
+ CADR GOMARK3
+ TCF ENDEXT
+ TCF ENDEXT
+ TC ENDEXT
+
+SCALEVEC VLOAD MXV
+ VATT1
+ REFSMMAT
+ VXSC VSL2
+ VSCALE
+# Page 209
+ VAD VAD # THIS SECTION ROUNDS THE VECTOR, AND
+ AGSRND1 # CORRECTS FOR THE FACT THAT THE AGS
+ AGSRND2 # IS A 2'S COMPLEMENT MACHINE WHILE THE
+ RTB # LGC IS A 1'S COMPLEMENT MACHINE.
+ VECSGNAG
+ STOVL VATT1
+ RATT1
+ MXV VXSC
+ REFSMMAT
+ RSCALE
+ VSL8 VAD # AGAIN THIS SECTION ROUNDS. TWO VECTORS
+ AGSRND1 # ARE ADDED TO DEFEAT ALSIGNAG IN THE
+ VAD RTB # CASE OF A HIGH-ORDER ZERO COUPLED WITH
+ AGSRND2 # A LOW ORDER NEGATIVE PART.
+ VECSGNAG
+ LXA,1
+ VATT1
+ SXA,1 LXA,1
+ MPAC +1
+ VATT1 +2
+ SXA,1 LXA,1
+ MPAC +4
+ VATT1 +4
+ SXA,1 RVQ
+ MPAC +6
+
+LAGSLIST = ONE
+V01N14 VN 0114
+V50N00A VN 5000
+V00N25 EQUALS OCT31
+V06N16 VN 0616
+V00N34 EQUALS 34DEC
+V50N16 VN 5016
+TSCALE 2DEC 100 B-10 # CSEC TO SEC SCALE FACTOR
+20SEC DEC 2000
+RSCALE 2DEC 3.280839 B-3 # METERS TO FEET SCALE FACTOR
+VSCALE 2DEC 3.280839 E2 B-9 # METERS/CS TO FEET/SEC SCALE FACTOR
+AGSRND1 2OCT 0000060000
+ 2OCT 0000060000
+ 2OCT 0000060000
+AGSRND2 2OCT 0000037777
+ 2OCT 0000037777
+S# Page 210
+ 2OCT 0000037777
+
+ SBANK= LOWSUPER # FOR SUBSEQUENT LOW 2CADRS.
+
diff --git a/ALARM_AND_ABORT.s b/ALARM_AND_ABORT.s
new file mode 100644
index 0000000..bd483b2
--- /dev/null
+++ b/ALARM_AND_ABORT.s
@@ -0,0 +1,231 @@
+# Copyright: Public domain.
+# Filename: ALARM_AND_ABORT.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1493-1496
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same
+# name, and page images. Corrected various
+# typos in the transcription of program
+# comments, and these should be back-ported
+# to Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1483
+# THE FOLLOWING SUBROUTINE MAY BE CALLED TO DISPLAY A NON-ABORTIVE ALARM CONDITION. IT MAY BE CALLED
+# EITHER IN INTERRUPT OR UNDER EXECUTIVE CONTROL.
+#
+# THE CALLING SEQUENCE IS AS FOLLOWS:
+# TC ALARM
+# OCT NNNNN
+# # (RETURNS HERE)
+
+ BLOCK 02
+ SETLOC FFTAG7
+ BANK
+
+ EBANK= FAILREG
+
+ COUNT 02/ALARM
+
+# ALARM TURNS ON THE PROGRAM ALARM LIGHT, BUT DOES NOT DISPLAY.
+
+ALARM INHINT
+
+ CA Q
+ALARM2 TS ALMCADR
+ INDEX Q
+ CA 0
+BORTENT TS L
+
+PRIOENT CA BBANK
+ +1 EXTEND
+ ROR SUPERBNK # ADD SUPER BITS.
+ TS ALMCADR +1
+
+LARMENT CA Q # STORE RETURN FOR ALARM
+ TS ITEMP1
+
+ CA LOC
+ TS LOCALARM
+ CA BANKSET
+ TS BANKALRM
+
+CHKFAIL1 CCS FAILREG # IS ANYTHING IN FAILREG
+ TCF CHKFAIL2 # YES TRY NEXT REG
+ LXCH FAILREG
+ TCF PROGLARM # TURN ALARM LIGHT ON FOR FIRST ALARM
+
+CHKFAIL2 CCS FAILREG +1
+ TCF FAIL3
+ LXCH FAILREG +1
+ TCF MULTEXIT
+
+FAIL3 CA FAILREG +2
+# Page 1494
+ MASK POSMAX
+ CCS A
+ TCF MULTFAIL
+ LXCH FAILREG +2
+ TCF MULTEXIT
+
+PROGLARM CS DSPTAB +11D
+ MASK OCT40400
+ ADS DSPTAB +11D
+
+MULTEXIT XCH ITEMP1 # OBTAIN RETURN ADDRESS IN A
+ RELINT
+ INDEX A
+ TC 1
+
+MULTFAIL CA L
+ AD BIT15
+ TS FAILREG +2
+
+ TCF MULTEXIT
+
+# PRIOLARM DISPLAYS V05N09 VIA PRIODSPR WITH 3 RETURNS TO THE USER FROM THE ASTRONAUT AT CALL LOC +1,+2,+3 AND
+# AN IMMEDIATE RETURN TO THE USER AT CALL LOC +4. EXAMPLE FOLLOWS,
+# CAF OCTXX # ALARM CODE
+# TC BANKCALL
+# CADR PRIOLARM
+# ... ...
+# ... ...
+# ... ... # ASTRONAUT RETURN
+# TC PHASCHNG # IMMEDIATE RETURN TO USER. RESTART
+# OCT X.1 # PHASE CHANGE FOR PRIO DISPLAY
+
+ BANK 10
+ SETLOC DISPLAYS
+ BANK
+
+ COUNT 10/DSPLA
+PRIOLARM INHINT # * * * KEEP IN DISPLAY ROUTINE'S BANK
+ TS L # SAVE ALARM CODE
+
+ CA BUF2 # 2 CADR OF PRIOLARM USER
+ TS ALMCADR
+ CA BUF2 +1
+ TC PRIOENT +1 # * LEAVE L ALONE
+-2SEC DEC -200 # *** DON'T MOVE
+ CAF V05N09
+ TCF PRIODSPR
+
+# Page 1495
+
+ BLOCK 02
+ SETLOC FFTAG13
+ BANK
+
+ COUNT 02/ALARM
+
+BAILOUT INHINT
+ CA Q
+ TS ALMCADR
+
+ TC BANKCALL
+ CADR VAC5STOR
+
+ INDEX ALMCADR
+ CAF 0
+ TC BORTENT
+OCT40400 OCT 40400
+
+ INHINT
+WHIMPER CA TWO
+ AD Z
+ TS BRUPT
+ RESUME
+ TC POSTJUMP # RESUME SENDS CONTROL HERE
+ CADR ENEMA
+
+ SETLOC FFTAG7
+ BANK
+
+P00DOO INHINT
+ CA Q
+ TS ALMCADR
+
+ TC BANKCALL
+ CADR VAC5STOR # STORE ERASABLES FOR DEBUGGING PURPOSES.
+
+ INDEX ALMCADR
+ CAF 0
+ABORT2 TC BORTENT
+OCT77770 OCT 77770 # DON'T MOVE
+ CA V37FLBIT # IS AVERAGE G ON
+ MASK FLAGWRD7
+ CCS A
+ TC WHIMPER -1 # YES. DON'T DO POODOO. DO BAILOUT.
+
+ TC DOWNFLAG
+ ADRES STATEFLG
+
+ TC DOWNFLAG
+
+# Page 1496
+ ADRES REINTFLG
+
+ TC DOWNFLAG
+ ADRES NODOFLAG
+
+ TC BANKCALL
+ CADR MR.KLEAN
+ TC WHIMPER
+
+CCSHOLE INHINT
+ CA Q
+ TS ALMCADR
+ TC BANKCALL
+ CADR VAC5STOR
+ CA OCT1103
+ TC ABORT2
+OCT1103 OCT 1103
+CURTAINS INHINT
+ CA Q
+ TC ALARM2
+OCT217 OCT 00217
+ TC ALMCADR # RETURN TO USER
+
+DOALARM EQUALS ENDOFJOB
+
+# CALLING SEQUENCE FOR VARALARM
+# CAF (ALARM)
+# TC VARALARM
+# Page 1486
+
+# VARALARM TURNS ON PROGRAM ALARM LIGHT BUT DOES NOT DISPLAY
+
+VARALARM INHINT
+
+ TS L # SAVE USER'S ALARM CODE
+
+ CA Q # SAVE USER'S Q
+ TS ALMCADR
+
+ TC PRIOENT
+OCT14 OCT 14 # DON'T MOVE
+
+ TC ALMCADR # RETURN TO USER
+
+ABORT EQUALS BAILOUT # *** TEMPORARY UNTIL ABORT CALLS OUT
diff --git a/ANGLFIND.s b/ANGLFIND.s
new file mode 100644
index 0000000..0fe2281
--- /dev/null
+++ b/ANGLFIND.s
@@ -0,0 +1,634 @@
+# Copyright: Public domain.
+# Filename: ANGLFIND.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 399-411
+# Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+# 2009-05-22 RSB In NOGOM2, TC ZEROEROR corrected to
+# CADR ZEROEROR.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 399
+ BANK 15
+ SETLOC KALCMON1
+ BANK
+
+ EBANK= BCDU
+
+ COUNT 22/KALC
+
+KALCMAN3 TC INTPRET
+ RTB
+ READCDUK # PICK UP CURRENT CDU ANGLES
+ STORE BCDU # STORE THE INITIAL S/C ANGLES
+ AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
+ MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
+ BCDU # (MIS)
+ CALL
+ CDUTODCM
+ AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
+ MFS # FINAL S/C AXES TO STABLE MEMBER AXES
+ CPHI # (MFS)
+ CALL
+ CDUTODCM
+SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
+ MIS
+ TRANSPOS
+ VLOAD
+ STADR
+ STOVL TMIS +12D
+ STADR
+ STOVL TMIS +6
+ STADR
+ STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
+ AXC,1 AXC,2
+ TMIS
+ MFS
+ CALL
+ MXM3
+ VLOAD STADR
+ STOVL MFI +12D
+ STADR
+ STOVL MFI +6
+ STADR
+ STORE MFI # MFI = TMIS MFS (SCALED BY 4)
+ SETPD CALL # TRANSPOSE MFI IN PD LIST
+ 18D
+ TRNSPSPD
+ VLOAD STADR
+ STOVL TMFI +12D
+ STADR
+ STOVL TMFI +6
+# Page 400
+ STADR
+ STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
+
+# CALCULATE COFSKEW AND MFISYM
+
+ DLOAD DSU
+ TMFI +2
+ MFI +2
+ PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
+ MFI +4
+ TMFI +4
+ PDDL DSU
+ TMFI +10D
+ MFI +10D
+ VDEF
+ STORE COFSKEW # EQUALS MFISKEW
+
+# CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
+
+ DLOAD DAD
+ MFI
+ MFI +16D
+ DSU DAD
+ DP1/4TH
+ MFI +8D
+ STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF-SCALE
+ ARCCOS
+ STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
+ DSU BPL
+ MINANG
+ CHECKMAX
+ EXIT # MANEUVER LESS THAN 0.25 DEG
+ INHINT # GO DIRECTLY INTO ATTITUDE HOLD
+ CS ONE # ABOUT COMMANDED ANGLES
+ TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
+ TC LOADCDUD # GOOD RETURN
+ TCF NOGO
+
+CHECKMAX DLOAD DSU
+ AM
+ MAXANG
+ BPL VLOAD
+ ALTCALC # UNIT
+ COFSKEW # COFSKEW
+ UNIT
+ STORE COF # COF IS THE MANEUVER AXIS
+ GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
+ LOCSKIRT
+ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
+ MFI
+# Page 401
+ TMFI
+ VSR1
+ STOVL MFISYM
+ MFI +6
+ VAD VSR1
+ TMFI +6
+ STOVL MFISYM +6
+ MFI +12D
+ VAD VSR1
+ TMFI +12D
+ STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
+
+# CALCULATE COF
+
+ DLOAD SR1
+ CAM
+ PDDL DSU # PD0 CAM $4
+ DPHALF
+ CAM
+ BOVB PDDL # PD2 1 - CAM $2
+ SIGNMPAC
+ MFISYM +16D
+ DSU DDV
+ 0
+ 2
+ SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
+ MFISYM +8D # $ ROOT 2
+ DSU DDV
+ 0
+ 2
+ SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
+ MFISYM
+ DSU DDV
+ 0
+ 2
+ SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
+ UNIT
+ STORE COF
+
+# DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
+
+COFMAXGO DLOAD DSU
+ COF
+ COF +2
+ BMN DLOAD # COFY G COFX
+ COMP12
+ COF
+ DSU BMN
+ COF +4
+# Page 402
+ METHOD3 # COFZ G COFX OR COFY
+ GOTO
+ METHOD1 # COFX G COFY OR COFZ
+COMP12 DLOAD DSU
+ COF +2
+ COF +4
+ BMN
+ METHOD3 # COFZ G COFY OR COFX
+
+METHOD2 DLOAD BPL # COFY MAX
+ COFSKEW +2 # UY
+ U2POS
+ VLOAD VCOMP
+ COF
+ STORE COF
+U2POS DLOAD BPL
+ MFISYM +2 # UX UY
+ OKU21
+ DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
+ COF
+ STORE COF
+OKU21 DLOAD BPL
+ MFISYM +10D # UY UZ
+ LOCSKIRT
+ DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
+ COF +4
+ STORE COF +4
+ GOTO
+ LOCSKIRT
+METHOD1 DLOAD BPL # COFX MAX
+ COFSKEW # UX
+ U1POS
+ VLOAD VCOMP
+ COF
+ STORE COF
+U1POS DLOAD BPL
+ MFISYM +2 # UX UY
+ OKU12
+ DLOAD DCOMP
+ COF +2 # SIGN OF UY OPPOSITE TO UX
+ STORE COF +2
+OKU12 DLOAD BPL
+ MFISYM +4 # UX UZ
+ LOCSKIRT
+ DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
+ COF +4
+ STORE COF +4
+ GOTO
+ LOCSKIRT
+METHOD3 DLOAD BPL # COFZ MAX
+# Page 403
+ COFSKEW +4 # UZ
+ U3POS
+ VLOAD VCOMP
+ COF
+ STORE COF
+U3POS DLOAD BPL
+ MFISYM +4 # UX UZ
+ OKU31
+ DLOAD DCOMP
+ COF # SIGN OF UX OPPOSITE TO UZ
+ STORE COF
+OKU31 DLOAD BPL
+ MFISYM +10D # UY UZ
+ LOCSKIRT
+ DLOAD DCOMP
+ COF +2 # SIGN OF UY OPPOSITE TO UZ
+ STORE COF +2
+ GOTO
+ LOCSKIRT
+
+# Page 404
+# MATRIX OPERATIONS
+
+MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
+ 0 # AND LEAVES RESULT IN PD LIST
+ DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
+ 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
+ 6,2
+ PDDL* VDEF # DEFINE VECTOR M2(COL 1)
+ 0,2
+ MXV* PDDL* # M1XM2(COL 1) IN PD
+ 0,1
+ 14D,2
+ PDDL* PDDL*
+ 8D,2
+ 2,2
+ VDEF MXV* # DEFINE VECTOR M2(COL 2)
+ 0,1
+ PDDL* PDDL* # M1XM2(COL2) IN PD
+ 16D,2
+ 10D,2
+ PDDL* VDEF # DEFINE VECTOR M2(COL 3)
+ 4,2
+ MXV* PUSH # M1XM2(COL 3) IN PD
+ 0,1
+ GOTO
+ TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
+
+# RETURN WITH M1XM2 IN PD LIST
+TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
+ 0 # AND LEAVES RESULT IN PD LIST
+ 0,1 # MATRIX ADDRESS IN XR1
+ PDVL* PDVL*
+ 6,1
+ 12D,1
+ PUSH # MATRIX IN PD
+TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
+ 2
+ 6
+ STODL 2
+ STADR
+ STODL 6
+ 4
+ PDDL
+ 12D
+ STODL 4
+ STADR
+ STODL 12D
+ 10D
+ PDDL
+# Page 405
+ 14D
+ STODL 10D
+ STADR
+ STORE 14D
+ RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
+MINANG DEC .00069375
+MAXANG DEC .472222
+
+# GIMBAL LOCK CONSTANTS
+
+# D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
+# NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
+
+SD DEC .433015 # = SIN(D) $2
+K3S1 DEC .86603 # = SIN(D) $2
+K4 DEC -.25 # = -COS(D) $2
+K4SQ DEC .125 # = COS(D)COS(D) $2
+SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
+CNGL DEC .499695 # = COS(NGL) $2
+READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
+ CA CDUZ
+ TS MPAC +2
+ EXTEND
+ DCA CDUX
+ RELINT
+ TCF TLOAD +6
+ BANK 16
+ SETLOC KALCMON2
+ BANK
+
+ COUNT* $$/KALC
+
+CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
+ OCT 3 # MATRIX RELATING S/C AXES TO STARLE
+ S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
+ OCT 1 # SET XR1, S1, AND PD FOR LOOP
+ STORE 7
+ SETPD
+ 0
+LOOPSIN SLOAD* RTB
+ 10D,1
+ CDULOGIC
+ STORE 10D # LOAD PD WITH 0 SIN(PHI)
+ SIN PDDL # 2 COS(PHI)
+ 10D # 4 SIN(THETA)
+ COS PUSH # 6 COS(THETA)
+ TIX,1 DLOAD # 8 SIN(PSI)
+ LOOPSIN # 10 COS(PSI)
+ 6
+ DMP SL1
+ 10D
+# Page 406
+ STORE 0,2
+ DLOAD
+ 4
+ DMP PDDL
+ 0 # (PD6 SIN(THETA)SIN(PHI))
+ 6
+ DMP DMP
+ 8D
+ 2
+ SL1 BDSU
+ 12D
+ SL1
+ STORE 2,2
+ DLOAD
+ 2
+ DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
+ 4
+ 6
+ DMP DMP
+ 8D
+ 0
+ SL1
+ DAD SL1
+ 14D
+ STORE 4,2
+ DLOAD
+ 8D
+ STORE 6,2
+ DLOAD
+ 10D
+ DMP SL1
+ 2
+ STORE 8D,2
+ DLOAD
+ 10D
+ DMP DCOMP
+ 0
+ SL1
+ STORE 10D,2
+ DLOAD
+ 4
+ DMP DCOMP
+ 10D
+ SL1
+ STORE 12D,2
+ DLOAD
+ DMP SL1 # (PUSH UP 7)
+ 8D
+ PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
+ 6
+# Page 407
+ 0
+ DAD SL1 # (PUSH UP 7)
+ STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
+ STORE 14D,2
+ DLOAD
+ DMP SL1 # (PUSH UP 6)
+ 8D
+ PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
+ 6
+ 2
+ DSU SL1 # (PUSH UP 6)
+ STADR
+ STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
+ RVQ # +COS(THETA)COS(PHI)
+ENDOCM EQUALS
+
+ BANK 15
+ SETLOC KALCMON1
+ BANK
+
+# CALCULATION OF THE MATRIX DEL.......
+#
+# * * __T *
+# DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
+#
+# _
+# WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
+# A IS THE ANGLE OF ROTATION (DP SCALED 2).
+# _
+# UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC.
+
+ COUNT 22/KALC
+
+DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
+ 0
+ SIN PDDL # PD0 = SIN(A)
+ COS PUSH # PD2 = COS(A)
+ SR2 PDDL # PD2 = COS(A) $8
+ BDSU BOVB # PD4 = 1-COS(A) $2
+ DPHALF
+ SIGNMPAC
+
+# COMPUTE THE DIAGONAL COMPONENTS OF DEL
+
+ PDDL
+ COF
+ DSQ DMP
+ 4
+ DAD SL3
+# Page 408
+ 2
+ BOVB
+ SIGNMPAC
+ STODL DEL # UX UX(U-COS(A)) +COS(A) $1
+ COF +2
+ DSQ DMP
+ 4
+ DAD SL3
+ 2
+ BOVB
+ SIGNMPAC
+ STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
+ COF +4
+ DSQ DMP
+ 4
+ DAD SL3
+ 2
+ BOVB
+ SIGNMPAC
+ STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
+
+# COMPUTE THE OFF-DIAGONAL TERMS OF DEL
+
+ DLOAD DMP
+ COF
+ COF +2
+ DMP SL1
+ 4
+ PDDL DMP # D6 UX UY (1-COS A) $ 4
+ COF +4
+ 0
+ PUSH DAD # D8 UZ SIN A $ 4
+ 6
+ SL2 BOVB
+ SIGNMPAC
+ STODL DEL +6
+ BDSU SL2
+ BOVB
+ SIGNMPAC
+ STODL DEL +2
+ COF
+ DMP DMP
+ COF +4
+ 4
+ SL1 PDDL # D6 UX UZ (1-COS A) $ 4
+ COF +2
+ DMP PUSH # D8 UY SIN(A)
+ 0
+ DAD SL2
+ 6
+# Page 409
+ BOVB
+ SIGNMPAC
+ STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
+ BDSU SL2
+ BOVB
+ SIGNMPAC
+ STODL DEL +12D # UX UZ (U-COS(A))-UY SIGN(A)
+ COF +2
+ DMP DMP
+ COF +4
+ 4
+ SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
+ COF
+ DMP PUSH # D6 UX SIN(A)
+ 0
+ DAD SL2
+ 6
+ BOVB
+ SIGNMPAC
+ STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
+ BDSU SL2
+ BOVB
+ SIGNMPAC
+ STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
+ RVQ
+
+# DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
+# X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
+# LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
+# COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
+#
+# THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
+#
+# C =COS(THETA)COS(PSI)
+# 0
+#
+# C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI)
+# 1
+#
+# C =COS(THETA)SIN(PSI)SIN(PHI)+SIN(THETA)COS(PHI)
+# 2
+#
+# C =SIN(PSI)
+# 3
+#
+# C =COS(PSI)COS(PHI)
+# 4
+#
+# C =-COS(PSI)SIN(PHI)
+# 5
+#
+# C =-SIN(THETA)COS(PSI)
+# 6
+#
+# C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI)
+# 7
+# Page 410
+# C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI)
+# 8
+#
+# WHERE PHI = OGA
+# THETA = IGA
+# PSI = MGA
+
+DCMTOCDU DLOAD* ARCSIN
+ 6,1
+ PUSH COS # PD +0 PSI
+ SL1 BOVB
+ SIGNMPAC
+ STORE S1
+ DLOAD* DCOMP
+ 12D,1
+ DDV ARCSIN
+ S1
+ PDDL* BPL # PD +2 THETA
+ 0,1 # MUST CHECK THE SIGN OF COS(THETA)
+ OKTHETA # TO DETERMINE THE PROPER QUADRANT
+ DLOAD DCOMP
+ BPL DAD
+ SUHALFA
+ DPHALF
+ GOTO
+ CALCPHI
+SUHALFA DSU
+ DPHALF
+CALCPHI PUSH
+OKTHETA DLOAD* DCOMP
+ 10D,1
+ DDV ARCSIN
+ S1
+ PDDL* BPL # PUSH DOWN PHI
+ 8D,1
+ OKPHI
+ DLOAD DCOMP # PUSH UP PHI
+ BPL DAD
+ SUHALFAP
+ DPHALF
+ GOTO
+ VECOFANG
+SUHALFAP DSU GOTO
+ DPHALF
+ VECOFANG
+OKPHI DLOAD # PUSH UP PHI
+VECOFANG VDEF RVQ
+
+# Page 411
+# ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
+
+NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
+ TC BANKCALL
+ CADR ZEROERROR
+
+NOGO INHINT
+ TC STOPRATE
+
+ # TERMINATE MANEUVER
+ CAF TWO # NOTE: ALL RETURNS ARE NOW MADE VIA
+ TC WAITLIST # GOODEND
+ EBANK= BCDU
+ 2CADR ENDMANU
+
+ TCF ENDOFJOB
+
diff --git a/AOSTASK_AND_AOSJOB.s b/AOSTASK_AND_AOSJOB.s
new file mode 100644
index 0000000..59dcc97
--- /dev/null
+++ b/AOSTASK_AND_AOSJOB.s
@@ -0,0 +1,1069 @@
+# Copyright: Public domain.
+# Filename: AOSTASK_AND_AOSJOB.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1485-1506
+# Mod history: 2009-05-27 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+# 2009-06-05 RSB Corrected a memory-bank error type.
+# 2009-06-07 RSB Corrected a typo.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1485
+# PROGRAM NAME: 1/ACCS
+# PROGRAM WRITTEN BY: BOB COVELLI AND MIKE HOUSTON
+# LAST MODIFICATION: FEB. 14, 1969 BY G. KALAN
+#
+# PROGRAM DESCRIPTION:
+# 1/ACCS PROVIDES THE INTERFACE BETWEEN THE GUIDANCE PROGRAMS AND THE DIGITAL AUTOPILOT. WHENEVER THERE IS A
+# CHANGE IN THE MASS OF THE VEHICLE, IN THE DEADBAND SELECTED, IN THE VEHICLE CONFIGURATION (ASCENT-DESCENT-
+# DOCKED), AND DURING A FRESH START OR A RESTART, 1/ACCS IS CALLED TO COMMUNICATE THE DATA CHANGES TO THE DAP.
+#
+# THE INPUTS TO 1/ACCS ARE MASS, ACCELERATION (ABDELV), DEADBAND (DB), OFFSET ACCELERATIONS (AOSQ AND AOSR),
+# STAGE VERIFY BIT (CHAN30, BIT2), DOCKED BIT (DAPBOOLS, BIT13), DRIFT BIT (DAPBOOLS, BIT8), USEQRJTS (DAPBOOLS,
+# BIT14), AND SURFACE FLAG (FLAGWRDB, BIT8), AND CH5MASK.
+#
+# 1/ACCS COMPUTES THE JET ACCELERATIONS (1JACC, 1JACCQ, 1JACCR) AS FUNCTIONS OF MASS. 1JACCU AND 1JACCV ARE
+# FORMED BY RESOLVING 1JACCQ AND 1JACCR. IN THE DESCENT CASE, THE DESCENT ENGINE MOMENT ARM (L, PVT-CG) IS ALSO
+# COMPUTED AS A FUNCTION OF MASS. THE RATE OF CHANGE OF ACCELERATION DUE TO ROTATION OF THE GIMBAL (ACCDOTQ,
+# ACCDOTR) IS ALSO COMPUTED IN THE DESCENT CASE.
+#
+# AFTER THE ABOVE COMPUTATIONS, THE PROGRAM 1/ACCONT COMPUTES THE RECIPROCAL NET ACCELERATIONS ABOUT THE P, U,
+# AND V AXES (2 JETS FOR P-AXIS, BOTH 1 AND 2 JETS FOR U AND V AXES), AND THE RECIPROCAL COAST ACCELERATIONS ABOUT
+# THE P, U, AND V AXES. THE ACCELERATION FUNCTIONS (ACCFCTZ1 AND ACCFCTZ5) ARE ALSO COMPUTED FOR THESE AXES. THE
+# FIRE AND COAST DEADBANDS AND AXISDIST ARE COMPUTED FOR EACH AXIS. FLAT AND ZONE3LIM, THE WIDTH AND HEIGHT OF THE
+# MINIMUM IMPULSE ZONE, ARE COMPUTED. 1/ACCONT ALSO SETS ACCSWU AND ACCSWV, WHICH INDICATE WHEN 1 JET ACCELERATION
+# IS NOT SUFFICIENT TO PRODUCE MINIMUM ACCELERATION. AT THE COMPLETION OF 1/ACCS, THE ACCSOKAY BIT IS SET.
+#
+# SUBROUTINES CALLED:
+# TIMEGMBL
+# MAKECADR
+# ROT45DEG
+#
+# CALLING SEQUENCE:
+# TC BANKCALL # (1/ACCS MUST BE CALLED BY BANKCALL)
+# CADR 1/ACCS
+#
+# NORMAL EXIT: VIA BANKJUMP
+#
+# ALARM AND EXIT MODES: NONE
+#
+# INPUT/OUTPUT: SEE PROGRAM DESCRIPTION.
+#
+# DEBRIS:
+# ALL OF THE EXECUTIVE TEMPORARY REGISTERS, EXCEPT FIXLOC AND OVFIND, AND THE CORE SET AREA FROM MPAC TO BANKSET.
+#
+# RESTRICTIONS:
+# 1/ACCS MUST BE CALLED BY BANKCALL
+# EBANK IS SET TO 6, BUT NOT RESTORED.
+# Page 1486
+
+ BANK 20
+ SETLOC DAPS3
+ BANK
+
+ COUNT* $$/DAPAO
+
+ EBANK= AOSQ
+
+# ENTRY IS THROUGH 1/ACCJOB OR 1/ACCSIT WHEN 1/ACCS IS TO BE DONE AS A SEPARATE NOVAC JOB.
+# IT IS POSSIBLE FOR MORE THAN ONE OF THESE JOBS TO BE SET UP CONCURRENTLY. HOWEVER, SINCE THERE IS NO CHECK OF
+# NEWJOB, A SECOND MANIFESTATION CANNOT BE STARTED UNTIL THE FIRST IS COMPLETED.
+
+1/ACCSET CAF ZERO # ENTRY FROM FRESH START/RESTART CODING.
+ TS AOSQ # NULL THE OFFSET ESTIMATES FOR 1/ACCS.
+ TS AOSR
+ TS ALPHAQ # NULL THE OFFSET ESTIMATES FOR DOWNLIST
+ TS ALPHAR
+
+1/ACCJOB TC BANKCALL # 1/ACCS ASSUMES ENTRY VIA BANKCALL.
+ CADR 1/ACCS +2 # SKIP EBANK SETTING.
+
+ TC ENDOFJOB
+
+1/ACCS CA EBANK6 # ***** EBANK SET BUT NOT RESTORED *****
+ TS EBANK
+
+ TC MAKECADR # SAVE RETURN SO THAT BUF2 MAY BE USED
+ TS ACCRETRN
+
+# DETERMINE MASS OF THE LEM.
+
+ CA DAPBOOLS # IS THE CSM DOCKED
+ MASK CSMDOCKD
+ TS DOCKTEMP # STORE RECORD OF STATE IN TEMP (MPAC +3).
+ CCS A
+ CS CSMMASS # DOCKED: LEMMAS = MASS - CSMMASS
+ AD MASS # LEM ALONE: LEMMASS = MASS
+ TS LEMMASS
+
+# ON THE BASIS OF APSFLAG:
+# SET THE P-AXIS RATE COMMAND LIMIT FOR 2-JET/2-JET CONTROL
+# SET MPAC, WHICH INDICATES THE PROPER SET OF COEFFICIENTS FOR THE LEM-ALONE F(MASS) CALCULATIONS
+# ENSURE THAT THE LEM MASS VALUE IS WITHIN THE ACCEPTABLE RANGE
+
+ INHINT
+ CAE FLGWRD10 # DETERMINE WHETHER STAGED.
+ MASK APSFLBIT
+ EXTEND
+ BZF DPSFLITE
+# Page 1487
+ CS POSMAX # ASCENT (OR ON LUNAR SURFACE)
+ TS -2JETLIM # ALWAYS 2 JETS FOR P-AXIS RATE COMMAND
+ CAF OCT14 # INITIALIZE INDEX AT 12.
+ TS MPAC
+ CS LEMMASS # CHECK IF MASS TOO HIGH. CATCH STAGING.
+ AD HIASCENT
+ EXTEND
+ BZMF MASSFIX
+ CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE
+ AD LOASCENT # DECREMENTING BY MASSMON.
+ EXTEND
+ BZMF F(MASS)
+
+MASSFIX ADS LEMMASS # STORE THE VIOLATED LIMIT AS LEMMASS.
+ ZL # ALSO CORRECT TOTAL MASS, ZEROING THE
+ CCS DOCKTEMP # LOW-ORDER WORD.
+ CAE CSMMASS # DOCKED: MASS = LEMMASS + CSMMASS
+ AD LEMMASS # LEM ALONE: MASS = LEMMASS
+ DXCH MASS
+ TCF F(MASS)
+
+DPSFLITE CS BIT10 # FOUR JETS FOR P-AXIS RATE COMMAND ERRORS
+ TS -2JETLIM # EXCEEDING 1.4 DEG/SEC (SCALED AT 45)
+ CAF SIX # INITIALIZE INDEX AT 6.
+ TS MPAC
+ CS LEMMASS # CHECK IF MASS TOO HIGH. SHOULD NEVER
+ AD HIDESCNT # OCCUR EXCEPT PERHAPS BEFORE THE PAD
+ EXTEND # LOAD IS DONE.
+ BZMF MASSFIX
+ CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE
+ AD LODESCNT # DECREMENTING BY MASSMON.
+ AD HIASCENT
+ EXTEND
+ BZMF F(MASS)
+ TCF MASSFIX
+
+# COMPUTATION OF FUNCTIONS OF MASS
+
+F(MASS) RELINT
+ CCS DOCKTEMP
+ TCF DOCKED # DOCKED: USE SEPARATE COMPUTATION.
+ CA TWO
+STCTR TS MPAC +1 # J=2,1,0 FOR 1JACCR,1JACCQ,1JACC
+
+ CS TWO
+ ADS MPAC # JX=10,8,6 OR 4,2,0 TO INDEX COEFS.
+
+STCTR1 CAE LEMMASS
+ INDEX MPAC
+ AD INERCONC
+ TS MPAC +2 # MASS + C
+# Page 1488
+ EXTEND
+ INDEX MPAC
+ DCA INERCONA
+ EXTEND
+ DV MPAC +2
+ INDEX MPAC
+ AD INERCONB
+ INDEX MPAC +1 # 1JACC(J)=A(JX)/(MASS+C(JX) + B(JX)
+ TS 1JACC # 1JACC(-1)=L,PVT-CG SCALED AT 8 FEET
+
+ CCS MPAC +1
+ TCF STCTR
+ TCF COMMEQS
+ TCF LRESC
+
+# COEFFQ AND COEFFR ARE COMPUTED IN THIS SECTION. THEY ARE USED TO RESOLVE Q-R COMPONENTS INTO NON-ORTHOGONAL
+# U AND V COMPONENTS (SEE ROT-TOUV SECTION).
+
+COMMEQS CS 1JACCR
+ AD 1JACCQ
+ EXTEND
+ BZMF BIGIQ
+ EXTEND # EPSILON IS A MEASURE OF COUPLING AND IS
+ DV 1JACCQ # DEFINED=1-IQ/IR FOR IR GREATER THAN IQ.
+ TS EPSILON # THE COMPUTED EXPRESSION IS EQUIVALENT
+ AD -EPSMAX
+ EXTEND
+ BZMF GOODEPS1
+ CS -EPSMAX
+ TS EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265
+GOODEPS1 CA EPSILON
+ EXTEND
+ MP 0.35356
+ AD .7071
+ TS COEFFR # IN THIS CASE WHERE IR IS GREATER THAN
+ CS POSMAX # IQ, COEFFQ=-.707(1+.5EPSILON)(1-EPSILON)
+ AD EPSILON # AND COEFFR=.707(1+.5EPSILON)
+ EXTEND
+ MP COEFFR
+ TS COEFFQ
+ TCF JACCUV
+BIGIQ EXTEND # EPSILON IS DEFINED AS 1-IR/IQ FOR IQ
+ DV 1JACCR # GREATER THAN IR. -EPSILON IS COMPUTED
+ TS -EPSILON # RATHER THAN EPSILON FOR CONVENIENCE
+ CS -EPSILON
+ AD -EPSMAX
+ EXTEND
+ BZMF GOODEPS2
+ CA -EPSMAX
+ TS -EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265
+# Page 1489
+GOODEPS2 CA -EPSILON
+ EXTEND
+ MP 0.35356
+ AD -.7071
+ TS COEFFQ # IN THIS CASE WHERE IQ IS GREATER THAN
+ CS -EPSILON # IR, COEFFQ=-.707(1+.5EPSILON) AND
+ AD NEGMAX # COEFFR=.707(1+.5EPSILON)(1-EPSILON)
+ EXTEND
+ MP COEFFQ
+ TS COEFFR
+JACCUV CS COEFFQ
+ EXTEND
+ MP 1JACCQ # 1JACCQ IS SCALED AT PI/4
+ TS 1JACCU # 1JACCU USED AS TEMPORARY STORAGE
+ CA COEFFR
+ EXTEND
+ MP 1JACCR
+ AD 1JACCU
+ EXTEND
+ MP BIT14 # SCALING CHANGED FROM PI/4 TO PI/2
+ TS 1JACCU
+ TS 1JACCV # SCALED AT PI/2 RADIANS/SEC(2)
+ CCS MPAC # COMPUTE L,PVT-CG IF IN DESCENT
+ CAF ZERO # ZERO SWITCHES AND GO TO 1/ACCONT IN
+ TS ALLOWGTS # ASCENT
+ TCF 1/ACCONT -1
+
+ CS TWO
+ TS MPAC
+ CS ONE
+ TS MPAC +1
+ TCF STCTR1
+
+# THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE ROTATION OF THE GIMBALS. THE EQUATION
+# IMPLEMENTED IN BOTH THE Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = TL/I*D(DELTA)/DT, WEHRE
+# T = ENGINE THRUST FORCE
+# L = PIVIT TO CG DISTANCE OF ENGINE
+# I = MOMENT OF INERTIA
+
+LRESC CAE ABDELV # SCALED AT 2(13) CM/SEC(2)
+ EXTEND
+ MP MASS # SCALED AT B+16 KGS
+ TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
+ ADRES GFACTM
+
+# MASS IS DIVIDED BY ACCELERATION OF GRAVITY IN ORDER TO MATCH THE UNITS OF IXX,IYY,IZZ, WHICH ARE SLUG-FT(2).
+# THE RATIO OF ACCELERATION FROM PIPAS TO ACCELERATION OF GRAVITY IS THE SAME IN METRIC OR ENGINEERING UNITS, SO
+# THAT IS UNCONVERTED. 2.20462 CONVERTS KG. TO LB. NOW T IN IN A SCALED AT 2(14).
+
+ EXTEND
+ MP L,PVT-CG # SCALED AT 8 FEET.
+# Page 1490
+ INHINT
+ TS MPAC
+ EXTEND
+ MP 1JACCR
+ TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
+ ADRES TORKJET1
+
+ TS ACCDOTR # SCALED AT PI/2(7)
+ CA MPAC
+ EXTEND
+ MP 1JACCQ
+ TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
+ ADRES TORKJET1
+
+SPSCONT TS ACCDOTQ # SCALED AT PI/2(7)
+ EXTEND
+ MP DGBF # .3ACCDOTQ SCALED AT PI/2(8)
+ TS KQ
+ CAE ACCDOTR # .3ACCDOTR AT PI/2(8)
+ EXTEND
+ MP DGBF
+ TS KRDAP
+ EXTEND # NOW COMPUTE QACCDOT, RACCDOT, THE SIGNED
+ READ CHAN12 # JERK TERMS. STORE CHANNEL 12. WITH GIMBAL
+ TS MPAC +1 # DRIVE BITS 9 THROUGH 12 SET LOOP
+ CAF BIT2 # INDEX TO COMPUTE RACCDOT, THEN QACCDOT.
+ TCF LOOP3
+ CAF ZERO # ACCDOTQ AND ACCDOTR ARE NOT NEGATIVE,
+LOOP3 TS MPAC # BECAUSE THEY ARE MAGNITUDES
+ CA MPAC +1
+ INDEX MPAC # MASK CHANNEL IMAGE FOR ANY GIMBAL MOTION
+ MASK GIMBLBTS
+ EXTEND
+ BZF ZACCDOT # IF NONE, Q(R)ACCDOT IS ZERO.
+ CA MPAC +1
+ INDEX MPAC # GIMBAL IS MOVING. IS ROTATION POSITIVE.
+ MASK GIMBLBTS +1
+ EXTEND
+ BZF FRSTZERO # IF NOT POSITIVE, BRANCH
+ INDEX MPAC # POSITIVE ROTATION, NEGATIVE Q(R)ACCDOT.
+ CS ACCDOTQ
+ TCF STACCDOT
+FRSTZERO INDEX MPAC # NEGATIVE ROTATION, POSITIVE Q(R)ACCDOT.
+ CA ACCDOTQ
+ TCF STACCDOT
+ZACCDOT CAF ZERO
+STACCDOT INDEX MPAC
+ TS QACCDOT # STORE Q(R)ACCDOT.
+ CCS MPAC
+ TCF LOOP3 -1 # NOW DO QACCDOT.
+# Page 1491
+ CS DAPBOOLS # IS GIMBAL USABLE?
+ MASK USEQRJTS
+ EXTEND
+ BZF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
+ CS T5ADR # YES. IS THE DAP RUNNINT?
+ AD PAXISADR
+ EXTEND
+ BZF +2
+ TCF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
+ CCS INGTS # YES. IS GTS IN CONTROL?
+ TCF DOCKTEST # YES. PROCEED WITH 1/ACCS.
+ TC IBNKCALL # NO. NULL OFFSET AND FIND ALLOWGTS
+ CADR TIMEGMBL
+
+DOCKTEST CCS DOCKTEMP # BYPASS 1/ACCONT WHEN DOCKED.
+ TCF 1/ACCRET
+ TCF 1/ACCONT
+
+# Page 1492
+# SUBROUTINE: DVOVSUB
+# AUTHOR: C. WORK, MOD 0, 12 JUNE 68
+# PURPOSE: THIS SUBROUTINE PROVIDES A SINGLE-PRECISION MACHINE LANGUAGE DIVISION OPERATION WHICH RETURNS
+# (1) THE QUOTIENT, IF THE DIVISION WAS NORMAL.
+# (2) NEGMAX, IF THE QUOTIENT WAS IMPROPER AND NEGATIVE.
+# (3) POSMAX, IF THE QUOTIENT WAS IMPROPER AND POSITIVE OR IF THERE WAS A ZERO DIVISOR.
+# THE CALLING PROGRAM IS PRESUMED TO BE A JOB IN THE F BANK WHICH CONTAINS DVOVSUB. E BANK MUST BE 6.
+# THE DIVISOR FOR THIS ROUTINE MAY BE IN EITHER FIXED OR ERASABLE STORAGE. SIGN AGREEMENT IS
+# ASSUMED BETWEEN THE TWO HALVES OF THE DIVIDEND. (THIS IS CERTAIN IF THE A AND L REGISTERS ARE THE
+# RESULT OF A MULTIPLICATION OPERATION.)
+# CALL SEQUENCE: L TC DVOVSUB
+# L +1 ADRES (DIVISOR)
+# L +2 RETURN HERE, WITH RESULT IN A,L
+# INPUT: DIVIDEND IN A,L (SIGN AGREEMENT ASSUMED), DIVISOR IN LOCATION DESIGNATED BY "ADRES".
+# DIVISOR MAY BE IN THE DVOVSUB FBANK,FIXED-FIXED FBANK,EBANK 6, OR UNSWITCHED ERASABLE.
+# OUTPUT: QUOTIENT AND REMAINDER, OR POSMAX (NEGMAX), WHICHEVER IS APPROPRIATE.
+# DEBRIS: SCRATCHX,SCRATCHY,SCRATCHZ,A,L (NOTE: SCRATCHX,Y,Z ARE EQUATED TO MPAC +4,+5, AND +6.)
+# ABORTS OR ALARMS: NONE
+# EXITS: TO THE CALL POINT +2.
+# SUBROUTINES CALLED: NONE.
+
+DVOVSUB TS SCRATCHY # SAVE UPPER HALF OF DIVIDEND
+ TS SCRATCHX
+ INDEX Q # OBTAIN ADDRESS OF DIVISOR.
+ CA 0
+ INCR Q # STEP Q FOR PROPER RETURN SEQUENCE.
+ INDEX A
+ CA 0 # PICK UP THE DIVISOR.
+ EXTEND # RETURN POSMAX FOR A ZERO DIVISOR.
+ BZF MAXPLUS
+
+ TS SCRATCHZ # STORE DIVISOR.
+
+ CCS A # GET ABS(DIVISOR) IN THE A REGISTER.
+ AD BIT1
+ TCF ZEROPLUS
+ AD BIT1
+
+ZEROPLUS XCH SCRATCHY # STORE ABS(DIVISOR). PICK UP TOP HALF OF
+ EXTEND # DIVIDENT.
+ BZMF GOODNEG # GET -ABS(DIVIDEND)
+# Page 1493
+ CS A
+
+GOODNEG AD SCRATCHY # ABS(DIVISOR) - ABS(DIVIDEND)
+ EXTEND
+ BZMF MAKEMAX # BRANCH IF DIVISION IS NOT PROPER.
+
+ CA SCRATCHX # RE-ESTABLISH THE DIVIDEND
+ EXTEND
+ DV SCRATCHZ # QUOTIENT IN THE A, REMAINDER IN L.
+ TC Q # RETURN TO CALLER.
+
+MAKEMAX CCS SCRATCHX # DETERMINE THE SIGN OF THE QUOTIENT.
+ CCS SCRATCHZ # SCRATCHX AND SCRATCHZ ARE NON-ZERO.
+ TCF MAXPLUS
+ CCS SCRATCHZ
+ CAF NEGMAX # +,- OR -,+
+ TC Q
+MAXPLUS CAF POSMAX # -,- OR +,+
+ TC Q
+
+# COEFFICIENTS FOR THE JET ACCELERATION CURVE FITS
+# THE CURVE FITS ARE OF THE FORM --
+#
+# 1JACC = A/(MASS + C) + B
+#
+# A IS SCALED AT PI/4 RAD/SEC**2 B+16KG, B IS SCALED AT PI/4 RAD/SEC**2, AND C IS SCALED AT B +16 KG.
+#
+# THE CURVE FIT FOR L,PVT-CG IS OF THE SAME FORM, EXCEPT THAT A IS SCALED AT 8 FT B+16 KG, B IS SCALED AT 8 FT,
+# AND C IS SCALED AT B+16 KG.
+
+ 2DEC +.0410511917 # L A DESCENT
+
+INERCONA 2DEC +.0059347674 # 1JACCP A DESCENT
+
+ 2DEC +.0014979264 # 1JACCQ A DESCENT
+
+ 2DEC +.0010451889 # 1JACCR A DESCENT
+
+ 2DEC +.0065443852 # 1JACCP A ASCENT
+
+ 2DEC +.0035784354 # 1JACCQ A ASCENT
+
+ 2DEC +.0056946631 # 1JACCR A ASCENT
+
+ DEC +.155044 # L B DESCENT
+ DEC -.025233 # L C DESCENT
+# Page 1494
+INERCONB DEC +.002989 # 1JACCP B DESCENT
+INERCONC DEC +.008721 # 1JACCP C DESCENT
+ DEC +.018791 # 1JACCQ B DESCENT
+ DEC -.068163 # 1JACCQ C DESCENT
+ DEC +.021345 # 1JACCR B DESCENT
+ DEC -.066027 # 1JACCR C DESCENT
+
+ DEC +.000032 # 1JACCP B ASCENT
+ DEC -.006923 # 1JACCP C ASCENT
+ DEC +.162862 # 1JACCQ B ASCENT
+ DEC +.002588 # 1JACCQ C ASCENT
+ DEC +.009312 # 1JACCR B ASCENT
+ DEC -.023608 # 1JACCR C ASCENT
+
+GIMBLBTS OCTAL 01400
+ OCTAL 01000
+ OCTAL 06000
+ OCTAL 04000
+DGBF DEC 0.6 # .3 SCALED AT 1/2
+0.35356 DEC 0.35356 # .70711 SCALED AT 2
+GFACTM OCT 337 # 979.24/2.20462 AT B+15
+.7071 DEC .70711
+-.7071 DEC -.70711
+-EPSMAX DEC -.42265
+
+# CSM-DOCKED INERTIA COMPUTATIONS
+
+DOCKED CA ONE # COEFTR = 1 FOR INERTIA COEFFICIENTS
+SPSLOOP1 TS COEFCTR # = 7 FOR CG COEFFICIENTS
+ CA ONE # MASSCTR = 1 FOR CSM
+ TS MASSCTR # = 0 FOR LEM
+
+ INDEX COEFCTR
+ CA COEFF -1 # COEFF -1 = C
+ EXTEND
+ MP LEMMASS
+ EXTEND
+ MP CSMMASS # LET X = CSMMASS AND Y = LEMMASS
+
+ INDEX COEFCTR
+ AD COEFF # COEFF = F
+ TS MPAC # MPAC = C X Y + F
+ TCF +4
+
+SPSLOOP2 TS MASSCTR # LOOP TWICE THROUGH HERE TO OBTAIN
+ EXTEND # MPAC = MPAC + (A X +D)X + (B Y +E)Y
+ DIM COEFCTR # LOOP #1 LOOP #2
+ INDEX COEFCTR
+ CA COEFF +2 # COEFF +2 = A OR B
+ EXTEND
+# Page 1495
+ INDEX MASSCTR
+ MP LEMMASS
+ INDEX COEFCTR
+ AD COEFF +4 # COEFF +4 = E OR D
+ EXTEND
+ INDEX MASSCTR
+ MP LEMMASS
+ ADS MPAC
+
+ CCS MASSCTR
+ TCF SPSLOOP2
+ CCS COEFCTR # IF COEFCTR IS POS, EXIT FROM LOOP WITH
+ TCF +7 # CG X DELDOT = MPAC X 4 PI RAD-CM/SEC
+TORQCONS 2DEC 0.51443 B-14 # CORRESPONDS TO 500 LB-FT
+
+ CA MPAC
+ TS MPAC +1 # INERTIA = (MPAC +1) X 2(38) KG-CM(2)
+ CA SEVEN
+ TCF SPSLOOP1
+
+ CA 1JACCCON # 1JACC=1JACCCON/MASS
+ ZL
+ TC DVOVSUB
+ ADRES MASS
+ TS 1JACC # SCALED AT PI/4
+
+ CA POSMAX # SET INVERSE JET ACCELERATIONS TO POSMAX,
+ TS 1/ANETP # WHICH CORRESPONDS TO ACCEL. OF 1.4 D/SS.
+ TS 1/ANET2 +1
+ TS 1/ANET2 +2
+ TS 1/ANET2 +17D
+ TS 1/ANET2 +18D
+ EXTEND
+ DCA TORQCONS
+ EXTEND
+ DV MPAC +1
+ INHINT
+ TS 1JACCQ # SCALED AT PI/4
+ TS 1JACCR
+
+ CA -.7071
+ TS COEFFQ # COEFFQ AND COEFFR ARE CHOSEN TO MAKE U-
+ CA .7071 # AND V-AXES ORTHOGONAL FOR DOCKED CASE
+ TS COEFFR
+ CA MASS # SCALED AT 2(16) KG
+ EXTEND
+ MP MPAC # SCALED AT 4 PI RAD-CM/SEC
+ EXTEND
+ MP ABDELV # SCALED AT 2(13) CM/SEC(2)
+ TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
+# Page 1496
+ ADRES MPAC +1
+
+ TS ACCDOTR
+ TCF SPSCONT # CONTINUE K, KSQ CALCULATIONS
+
+1JACCCON OCT 00167 # SCALED AT PI/4X2(16) RAD/SEC(2)-KG
+
+# 2 2
+# COEFFICIENTS FOR CURVE FIT OF THE FORM Z = A X +B Y +C X Y +D X +E Y +F
+
+COEFF DEC .19518 # C COEFFICIENT OF INERTIA
+ DEC -.00529 # F "
+ DEC -.17670 # B "
+ DEC -.03709 # A "
+ DEC .06974 # E "
+ DEC .02569 # D "
+
+ DEC .20096 # C COEFFICIENT OF CG
+ DEC .13564 # F "
+ DEC .75704 # B "
+ DEC -.37142 # A "
+ DEC -.63117 # E "
+ DEC .41179 # D "
+
+# ASSIGNMENT OF TEMPORARIES FOR 1/ACCS (EXCLUDING 1/ACCONT)
+# MPAC, MPAC +1, MPAC +2 USED EXPLICITLY
+COEFCTR EQUALS MPAC +4
+MASSCTR EQUALS MPAC +5
+SCRATCHX EQUALS MPAC +4 # SCRATCH AREA FOR DVOVSUB ROUTINE.
+SCRATCHY EQUALS SCRATCHX +1
+SCRATCHZ EQUALS SCRATCHX +2
+
+DOCKTEMP EQUALS MPAC +3 # RECORD OF CSMDOCKED BIT OF DAPBOOLS
+EPSILON EQUALS MPAC +1
+-EPSILON EQUALS EPSILON
+-.1875 DEC -.18750
+
+# Page 1497
+ BANK 20
+ SETLOC DAPS3
+ BANK
+
+ EBANK= AOSQ
+
+ COUNT* $$/DAPAO
+
+ -1 TS INGTS # ZERO INGTS IN ASCENT
+1/ACCONT CA DB # INITIALIZE DBVAL1,2,3
+ EXTEND
+ MP BIT13
+ TS L # 0.25 DB
+ AD A
+ TS DBVAL3 # 0.50 DB
+ CS DBVAL1
+ AD L
+ TS DBVAL2 # -.75 DB
+
+GETAOSUV INHINT
+ CAE AOSR # COMPUTE ASOU AND AOSV BY ROTATING
+ TS L # AOSQ AND AOSR.
+ CAE AOSQ
+ TC IBNKCALL
+ CADR ROT-TOUV
+ DXCH AOSU
+
+ RELINT
+ CA DAPBOOLS
+ MASK DRIFTBIT # ZERO DURING ULLAGE AND POWERED FLIGHT.
+ CCS A # IF DRIFTING LIGHT,
+ CA ONE # SET DRIFTER TO 1
+ TS DRIFTER # SAVE TO TEST FOR DRIFTING FLIGHT LATER
+ AD ALLOWGTS # NON-ZERO IF DRIFT OR GTS NEAR
+ CCS A
+ CA FLATVAL # DRIFTING FLIGHT, STORE .8 IN FLAT
+ TS FLATEMP # IN POWERED FLIGHT, STORE ZERO IN FLAT
+ EXTEND
+ BZF DOPAXIS # IF POWERED AND NO GTS, START P AXIS,
+ CCS DRIFTER # OTHERWISE SET ZONE3LIM
+ CA ZONE3MAX # 17.5 MS, SCALED AT 4 SECONDS.
+ TS Z3TEM
+
+DOPAXIS CA 1JACC # 1JACC AT PI/4 = 2JACC AT PI/2 =
+ # ANET AT PI/2 = ANET/ACOAST AT 2(6).
+ AD BIT9 # 1 + ANET/ACOAST AT 2(6)
+ TS FUNTEM
+
+ CA 1JACC
+# Page 1498
+ TC INVERT
+ INHINT # P AXIS DATA MUST BE CONSISTENT
+ TS 1/ANETP # SCALED AT 2(7)/PI.
+ TS 1/ANETP +1
+
+ CS BIT9 # -1 AT 2(6)
+ EXTEND
+ MP 1/ANETP # -1/ANET AT 2(13)/PI
+ EXTEND
+ DV FUNTEM # -1/(ANET + ANET**2/ACOAST) AT 2(7)/PI
+ TS PACCFUN
+ TS PACCFUN +1
+
+ CA 1/.03 # NO AOS FOR P AXIS, ACOAST = AMIN
+ TS 1/ACOSTP
+ TS 1/ACOSTP +1
+ RELINT
+
+ ZL
+ CCS DRIFTER
+ DXCH AOSU # ZERO AOSU,V IF IN DRIFT, JUST TO BE SURE
+
+UAXIS CA ZERO # DO U AXIS COMPUTATIONS
+ TS UV # ZERO FOR U AXIS, ONE FOR V AXIS.
+
+BOTHAXES TS SIGNAOS # CODING COMMON TO U,V AXES
+ INDEX UV
+ CCS AOSU # PICK UP ABS(AOSU OR AOSV)
+ AD ONE # RESTORE TO PROPER VALUE
+ TCF +3 # AND LEAVE SIGNAOS AT ZERO
+ AD ONE # NEGATIVE, RESTORE TO PROPER VALUE
+ INCR SIGNAOS # AND SET SIGNAOS TO ONE TO SHOW AOS NEG
+ TS ABSAOS # SAVE ABS(AOS)
+ CS SIGNAOS
+ TS -SIGNAOS # USED AS AN INDEX
+
+ CA DBVAL1 # SET DB1, DB2 TO DBVAL1 (= DB)
+ TS DBB1
+ TS DBB2
+
+ CA ABSAOS # TEST MAGNITUDE OF ABS(AOS)
+ AD -.03R/S2
+ EXTEND
+ BZMF NOTMUCH # ABS(AOS) LESS THAN AMIN
+BIGAOS CCS FLATEMP # AGS(AOS) GREATER THAN AMIN
+ TCF SKIPDB1 # I DRIFT OR GTS, DO NOT COMPUTE DB
+
+ CA DBVAL1
+ INDEX -SIGNAOS
+# Page 1499
+ ADS DBB2 # DB2(1) = 2 DB
+ INDEX SIGNAOS
+ TS DBB4 # DB4(3) = 1 DB
+ CA -.1875 # -.1875 PI/2 RAD/SEC(2) SCALED AT PI/2
+ AD ABSAOS # ABSAOS IS SCALED AT PI/2
+ EXTEND
+ BZMF +3
+ CS DBVAL3 # -.5 DB
+ TCF DBONE
+ CS ABSAOS
+ DOUBLE
+ DOUBLE
+ AD BIT14
+ DOUBLE # 1-8 ABSAOS. (8 IS 16/PI SCALED AT 2/PI)
+ EXTEND
+ MP DB
+DBONE INDEX SIGNAOS # DB1(2)=(1-8 ABSAOS) DB. IF ABSAOS IS
+ TS DBB1 # GREATER THAN .1875 THEN DB1(2) = -.5 DB
+ CA DBVAL2
+ INDEX -SIGNAOS
+ TS DBB3 # DB3(4) = -.75 DB
+
+SKIPDB1 CA ABSAOS # ABS(AOS) GREATER THAN AMIN, SO IT IS
+ EXTEND
+ MP BIT12
+ AD ABSAOS # (9/8) ABSAOS.
+ TC INVERT # ALL RIGHT TO DIVIDE
+ INDEX -SIGNAOS
+ TS 1/ACOSTT +1 # 1/ACOASTPOS(NET) = 1/ABS(AOS)
+ CA 1/.03
+ INDEX SIGNAOS
+ TS 1/ACOSTT # 1/ACOASTNEG(POS) = 1/AIN
+
+ CA ABSAOS
+ AD 1JACCU
+ AD 1JACCU # 2 JACC + ABS(AOS)
+ AD BIT9 # MAXIMUM VALUE IN COMPUTATIONS
+ TS A # TEST FOR OVERFLOW
+ TCF SKIPDB2 # NO OVERFLOW, DO NORMAL COMPUTATION
+
+ CA ABSAOS # RESCALE TO PI TO PREVENT OVERFLOW
+ EXTEND
+ MP BIT14
+ AD 1JACCU # 1 JACC AT PI/2 = 2JACC AT PI
+ TS ANET # ANETPOS(NEG) MAX SCALED AT PI =
+ # ANETPOS(NEG) MAX/ACOASTNEG(POS) AT 2(7)
+ AD BIT8 # 1 + ANETPOS/ACOASTNEG AT 2(7)
+ XCH ANET # SAVE IN ANET, WHILE PICKING UP ANET
+ TC INVERT
+ EXTEND
+# Page 1500
+ MP BIT14 # SCALE 1/ANET AT 2(7)/PI
+ TS 1/ANET
+
+ CA ACCHERE # SET UP RETURN FROM COMPUTATION ROUTINE
+ TS ARET
+ CS BIT8 # -1 AT 2(7)
+ TCF DOACCFUN # FINISH ACCFUN COMPUTATION
+
+ACCHERE TCF ACCTHERE
+
+NOTMUCH TS L # ABS(AOS) LESS THAN AMIN, SAVE IN L
+ CA 1/.03 # ACOASTPOS,NEG = AMIN
+ TS 1/ACOSTT
+ TS 1/ACOSTT +1
+
+ CCS FLATEMP
+ TCF SKIPDB2 # DO NOT COMPUTE DB IF DRIFT OR GTS
+
+ CA .0125RS # AMIN/2
+ AD L # L HAS ABS(AOS) - AMIN
+ EXTEND # RESULT IS ABS(AOS)- AMIN/2
+ BZMF NOAOS # ABS(AOS) LESS THAN AMIN/2
+
+SOMEAOS CA DBVAL3 # AMIN/2 LT ABS(AOS) LT AMIN
+ INDEX -SIGNAOS
+ TS DBB3 # DB3(4) = DB/2
+ AD A
+ INDEX SIGNAOS
+ TS DBB4 # DB4(3) = DB
+ TCF SKIPDB2
+
+NOAOS CA DBVAL1
+ TS DBB3 # DB3,4 = DB
+ TS DBB4
+
+SKIPDB2 CA ABSAOS # ANETPOS(NEG) MAX = 2 JACC + ABS(AOS)
+ AD 1JACCU
+ AD 1JACCU
+ TS ANET # CANNOT OVERFLOW HERE
+CL1/NET+ TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN
+
+ACCTHERE INDEX -SIGNAOS
+ TS Z5TEM +2 # STORE ACCFUN IN TEMPORARY BUFFER
+ CA 1/ANET
+ INDEX -SIGNAOS
+ TS 1/ATEM2 +2 # STORE 1/ANET IN TEMPORARY BUFFER
+
+ CA ABSAOS # SEE IF OVERFLOW IN MIN CASE
+ AD 1JACCU
+# Page 1501
+ AD BIT9 # MAXIMUM POSSIBLE VALUE
+ TS A # OVERFLOW POSSIBLE BUT REMOTE
+ TCF +2
+ CA POSMAX # IF OVERFLOW, TRUNCATE TO PI/2
+ AD -.03R/S2 # RESTORE TO CORRECT VALUE
+ TS ANET
+ TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN
+
+ INDEX -SIGNAOS # STORE MIN VALUES JUST AS MAX VALUES
+ TS Z5TEM
+ CA 1/ANET
+ INDEX -SIGNAOS
+ TS 1/ATEM2
+
+ CS ABSAOS # NOW DO NEG(POS) CASES
+ AD 1JACCU
+ AD 1JACCU # ANETNEG(POS) MAX
+ TC 1/ANET- # COMPUTE 1/ANET, ACCFUN, AND ACCSW
+ INDEX SIGNAOS # STORE NEG(POS) VALUES JUST AS POS(NEG)
+ TS Z1TEM +2
+ TS L # SAVE IN L FOR POSSIBLE FUTURE USE
+ CA 1/ANET
+ INDEX SIGNAOS
+ TS 1/ATEM1 +2
+ CS ABSAOS
+ AD 1JACCU # 1/ANETNEG(POS) MIN
+ TS ANET
+ AD -.03R/S2 # TEST FOR AMIN
+ EXTEND # IF ANET LESS THAN AMIN, STORE MAX JET
+ BZMF FIXMIN # VALUES FOR MIN JETS AND SET ACCSW
+
+ TC 1/NETMIN # OTHERWISE DO MIN JET COMPUTATIONS
+STMIN- INDEX SIGNAOS # STORE VALUES
+ TS Z1TEM
+ CA 1/ANET
+ INDEX SIGNAOS
+ TS 1/ATEM1
+
+ INDEX UV
+ CA +UMASK
+ MASK CH5MASK # TEST FOR +U (+V) JET FAILURES
+ EXTEND
+ BZF FAIL-
+ CA 1/ATEM2 # REPLACE FUNCTION VALUES DEPENDING ON THE
+ TS 1/ATEM2 +2 # FAILED JET PAIR WITH CORRESPONDING ONE-
+ CA Z5TEM # JET (OR AMIN) FUNCTION VALUES
+ TS Z5TEM +2
+FAIL- INDEX UV
+# Page 1502
+ CA -UMASK
+ MASK CH5MASK # TEST FOR -U (-V) JET FAILURES
+ EXTEND
+ BZF DBFUN
+ CA 1/ATEM1 # REPLACE FUNCTION VALUES DEPENDING ON THE
+ TS 1/ATEM1 +2 # FAILED JET PAIR WITH CORRESPONDING ONE-
+ CA Z1TEM # JET (OR AMIN) FUNCTION VALUES
+ TS Z1TEM +2
+
+DBFUN CS DBB3 # COMPUTE AXISDIST
+ AD DBB1
+ AD FLATEMP
+ TS AXDSTEM
+ CS DBB4
+ AD DBB2
+ AD FLATEMP
+ TS AXDSTEM +1
+
+ INHINT
+ CCS UV # TEST FOR U OR V AXIS
+ TCF STORV # V AXIS STORE V VALUES
+
+ CA ACCSW # U AXIS STORE U VALUES
+ TS ACCSWU
+
+ CA NINE # TRANSFER 10 WORDS VIA GENTRAN
+ TC GENTRAN +1
+ ADRES 1/ATEM1 # TEMPORARY BUFFER
+ ADRES 1/ANET1 # THE REAL PLACE
+
+ RELINT
+ DXCH DBB1 # SAVE U DBS FOR LATER STORING
+ DXCH UDB1
+ DXCH DBB4
+ DXCH UDB4
+
+ DXCH AXDSTEM
+ DXCH UAXDIST
+
+ CA ONE # NOW DO V AXIS
+ TS UV
+ CA ZERO
+ TCF BOTHAXES # AND DO IT AGAIN
+
+STORV CA ACCSW # STORE V AXIS VALUES
+ TS ACCSWV
+ CA NINE
+ TC GENTRAN +1
+# Page 1503
+ ADRES 1/ATEM1 # TEMPORARY BUFFER
+ ADRES 1/ANET1 +16D # THE REAL PLACE
+
+ # NOW STORE DEADBANDS FOR ALL AXES
+ DXCH FLATEMP # FLAT AND ZONE3LIM
+ DXCH FLAT
+
+ CA DBVAL1 # COMPUTE P AXIS DEADBANDS
+ TS PDB1
+ TS PDB2
+ AD FLAT
+ TS PDB3
+ TS PDB4
+ CA ZERO
+ TS PAXDIST
+ TS PAXDIST +1
+
+ CCS FLAT
+ TCF DRFDB # DRIFT OR GTS -- COMPUTE DBS
+
+ DXCH UDB1 # STORE U DEADBANDS
+ DXCH FIREDB # CANNOT USE GENTRAN BECAUSE OF RELINT
+ DXCH UDB4
+ DXCH COASTDB
+ DXCH UAXDIST
+ DXCH AXISDIST
+ DXCH DBB1 # STORE V AXIS DEADBANDS
+ DXCH FIREDB +16D # COULD USE GENTRAN IF DESIRED
+ DXCH DBB4
+ DXCH COASTDB +16D
+ DXCH AXDSTEM
+ DXCH AXISDIST +16D
+
+ TCF 1/ACCRET +1 # ALL DONE
+DRFDB CA DBVAL1 # DRIFT DEADBANDS
+ TS FIREDB
+ TS FIREDB +1
+ TS FIREDB +16D
+ TS FIREDB +17D
+ AD FLAT
+ TS COASTDB
+ TS COASTDB +1
+ TS COASTDB +16D
+ TS COASTDB +17D
+ CA ZERO
+ TS AXISDIST
+ TS AXISDIST +1
+ TS AXISDIST +16D
+ TS AXISDIST +17D
+
+# Page 1504
+1/ACCRET INHINT
+ CS DAPBOOLS # SET BIT TO INDICATE DATA GOOD.
+ MASK ACCSOKAY
+ ADS DAPBOOLS
+ RELINT
+ CA ACCRETRN
+ TC BANKJUMP # RETURN TO CALLER
+
+INVERT TS HOLD # ROUTINE TO INVERT -INPUT AT PI/2
+ CA BIT9 # 1 AT 2(6)
+ ZL # ZERO L FOR ACCURACY AND TO PREVENT OVFLO
+ EXTEND
+ DV HOLD
+ TC Q # RESULT AT 2(7)/PI
+
+DOWNGTS CAF ZERO # ZERO SWITCHES WHEN USEQRJTS BIT IS UP
+ TS ALLOWGTS # OR DAP IS OFF
+ TS INGTS
+ TCF DOCKTEST
+
+1/ANET- ZL
+ LXCH ACCSW # ZERO ACCSW
+ TS ANET # SAVE ANET
+ AD -.03R/S2 # TEST FOR MIN VALUE
+ EXTEND
+ BZMF NETNEG # ANET LESS THAN AMIN, SO FAKE IT
+1/NETMIN CA ANET
+ EXTEND
+ INDEX -SIGNAOS
+ MP 1/ACOSTT +1 # ANETNEG(POS)/ACOASTPOS(NEG) AT 2(6)
+
+# THE FOLLOWING CODING IS VALID FOR BOTH POS OR NEG
+# VALUES OF AOS
+
+DO1/NET+ AD BIT9 # 1 + ANET/ACOAST AT 2(6)
+ XCH ANET # SAVE AND PICK UP ANET
+ EXTEND
+ QXCH ARET # SAVE RETURN
+ TC INVERT
+ TS 1/ANET # 1/ANET AT 2(7)/PI
+ CS BIT9 # -1 AT 2(6)
+DOACCFUN EXTEND
+ MP 1/ANET # -1/ANET AT 2(13)/PI
+ EXTEND
+ DV ANET # ACCFUN AT 2(7)/PI
+ TC ARET # RETURN
+
+NETNEG CS -.03R/S2 # ANET LESS THAN AMIN -- SET EQUAL TO AMIN
+ TS ANET
+# Page 1505
+ TCF 1/NETMIN +1 # CONTINUE AS IF NOTHING HAPPENED.
+
+FIXMIN CCS SIGNAOS
+ CA TWO # IF AOS NEG, ACCSW = +1
+ AD NEGONE # IF AOS POS, ACCSW = -1
+ TS ACCSW
+ AD UV # IF ACCSW = +1, TEST FOR +U (+V) JET FAIL
+ INDEX A # IF ACCSW = -1, TEST FOR -U (-V) JET FAIL
+ CA -UMASK +1
+ MASK CH5MASK
+ EXTEND
+ BZF +4
+ CS -.03R/S2 # JET FAILURE -- CANNOT USE 2-JET VALUES
+ TS ANET # ANET = AMIN
+ TCF STMIN- -1 # CALCULATE FUNCTIONS USING AMIN
+ CA L # L HAS ACCFUN
+ TCF STMIN- # STORE MAX VALUES FOR MIN JETS
+
+# ERASABLE ASSIGNMENTS FOR 1/ACCONT
+
+1/ANETP EQUALS BLOCKTOP +2
+1/ACOSTP EQUALS BLOCKTOP +4
+PACCFUN EQUALS BLOCKTOP +8D
+PDB1 EQUALS BLOCKTOP +10D
+PDB2 EQUALS BLOCKTOP +11D
+PDB4 EQUALS BLOCKTOP +12D
+PDB3 EQUALS BLOCKTOP +13D
+PAXDIST EQUALS BLOCKTOP +14D
+
+ACCSW EQUALS VBUF # EXECUTIVE TEMPORARIES
+ # CANNOT DO CCS NEWJOB DURING 1/ACCS
+1/ATEM1 EQUALS ACCSW +1 # TEMP BUFFER FOR U AND V AXES
+1/ATEM2 EQUALS 1/ATEM1 +1
+1/ACOSTT EQUALS 1/ATEM1 +4
+Z1TEM EQUALS 1/ATEM1 +6
+Z5TEM EQUALS 1/ATEM1 +7
+
+UDB1 EQUALS 1/ATEM1 +10D # UAXIS DEADBAND BUFFER
+UDB2 EQUALS 1/ATEM1 +11D
+UDB4 EQUALS 1/ATEM1 +12D
+UDB3 EQUALS 1/ATEM1 +13D
+UAXDIST EQUALS 1/ATEM1 +14D
+
+DBB1 EQUALS 1/ATEM1 +16D # TEMP DEADBAND BUFFER, ALSO V AXIS
+DBB2 EQUALS 1/ATEM1 +17D
+DBB4 EQUALS 1/ATEM1 +18D
+DBB3 EQUALS 1/ATEM1 +19D
+AXDSTEM EQUALS 1/ATEM1 +20D
+
+# Page 1506
+FLATEMP EQUALS 1/ATEM1 +22D
+Z3TEM EQUALS 1/ATEM1 +23D # MUST FOLLOW FLATEMP
+
+DBVAL1 EQUALS DB
+DBVAL2 EQUALS INTB15+
+DBVAL3 EQUALS INTB15+ +1
+
+DRIFTER EQUALS INTB15+ +2
+
+UV EQUALS MPAC
+ANET EQUALS MPAC +3
+FUNTEM EQUALS MPAC +3
+1/ANET EQUALS MPAC +4
+ARET EQUALS MPAC +5
+ABSAOS EQUALS MPAC +6
+SIGNAOS EQUALS MPAC +7
+-SIGNAOS EQUALS MPAC +8D
+HOLD EQUALS MPAC +9D
+ACCRETRN EQUALS FIXLOC -1
+
+ZONE3MAX DEC .004375 # 17.5 MS (35 MS FOR 1 JET) AT 4 SECONDS
+FLATVAL DEC .01778 # .8 AT PI/4 RAD
+-.03R/S2 OCT 77377 # -PI/2(7) AT PI/2
+
+.0125RS EQUALS BIT8 # PI/2(+8) AT PI/2
+1/.03 EQUALS POSMAX # 2(7)/PI AT 2(7)/PI
+
+PAXISADR GENADR PAXIS
+
+ # THE FOLLOWING 4 CONSTANTS ARE JET
+ # FAILURE MASKS AND ARE INDEXED
+-UMASK OCT 00110 # -U
+ OCT 00022 # -V
++UMASK OCT 00204 # +U
+ OCT 00041 # +V
+
diff --git a/AOTMARK.s b/AOTMARK.s
new file mode 100644
index 0000000..141f069
--- /dev/null
+++ b/AOTMARK.s
@@ -0,0 +1,695 @@
+# Copyright: Public domain.
+# Filename: AOTMARK.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 244-261
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Luminary131/ file of the same
+# name, using Luminary099 page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 244
+ BANK 12
+ SETLOC AOTMARK1
+ BANK
+
+ EBANK= XYMARK
+ COUNT* $$/MARK
+
+AOTMARK INHINT
+ CCS MARKSTAT # SEE IF AOTMARK BUSY
+ TC +2 # MARK SYSTEM BUSY -- DO ALARM
+ TC EXTVBCHK
+ TC P00DOO
+ OCT 00105
+
+EXTVBCHK CAF SIX # SEE IF EXT. VERB WORKING
+ MASK EXTVBACT
+ CCS A
+ TCF MKABORT # YES -- ABORT
+
+ CAF BIT2 # NO -- DISALLOW SOME EXTENDED VERB ACTION
+ ADS EXTVBACT # BIT2 RESET IN ENDMARK
+MKVAC CCS VAC1USE # LOOK FOR A VAC AREAD -- DO ABORT IF
+ TCF MKVACFND # NONE AVAILABLE
+ CCS VAC2USE
+ TCF MKVACFND
+ CCS VAC3USE
+ TCF MKVACFND
+ CCS VAC4USE
+ TCF MKVACFND
+ CCS VAC5USE
+ TCF MKVACFND
+ DXCH BUF2
+ TC BAILOUT1 # ALL VAC AREAS OCCUPIED -- ABORT.
+ OCT 01207
+
+MKVACFND AD TWO
+ TS MARKSTAT # STORE VAC ADR IN LOW 9 OF MARKSTAT
+
+ CAF ZERO
+ INDEX MARKSTAT
+ TS 0 -1 # ZERO IN VACUSE REG TO SHOW VAC OCCUPIED
+
+ CAF PRIO15
+ TC FINDVAC # SET UP JOB FOR GETDAT
+ EBANK= XYMARK
+ 2CADR GETDAT
+
+ RELINT
+ TCF SWRETURN
+# Page 245
+MKABORT DXCH BUF2
+ TC BAILOUT1 # CONFLICT WITH EXTENDED VERB
+ OCT 01211
+
+MKRELEAS CAF ZERO
+ XCH MARKSTAT # SET MARKSTAT TO ZERO
+ MASK LOW9 # PICK UP VAC AREA AOR
+ CCS A
+ INDEX A
+ TS 0 # SHOW MKVAC AREA AVAILABLE
+ CAF ONE
+ TC IBNKCALL
+ CADR GOODEND # GO WAKE UP CALLING JOB
+
+# Page 246
+KILLAOT CAF ZERO
+ TS EXTVBACT # TERMINATE AOTMARK -- ALLOW EXT VERB
+ TC GOTOP00H
+GETDAT CS MARKSTAT # SET BIT12 TO DISCOURAGE MARKRUPT
+ MASK BIT12 # BIT12 RESET AT GETMARK
+ ADS MARKSTAT
+
+ CAF V01N71 # DISPLAY DETENT AND STAR CODE
+ TC BANKCALL
+ CADR GOMARKF
+
+ TCF KILLAOT # V34 -- DOES GOTOP00H
+ TCF DODAT # V33 -- PROCEED -- USE THIS STAR FOR MARKS
+ENTERDAT TCF GETDAT # ENTER -- REDISPLAY STAR CODE
+
+DODAT CAF HIGH9 # PICK DETENT CODE FROM BITS7-9 OF AOTCODE
+ MASK AOTCODE # AND SEE IF CODE 1 TO 6
+ EXTEND
+ MP BIT9
+ TS XYMARK # STORE DETENT
+
+ EXTEND
+ BZMF GETDAT # COAS CALIBRATION CODE - NO GOOD HERE
+
+ AD NEG7 # SEE IF DETENT 7 FOR COAS
+ EXTEND
+ BZF CODE7
+
+ TCF CODE1TO6
+
+CODE7 CAF V06N87* # CODE 7, COAS SIGHTING, GET OPTIC AXIS
+ TC BANKCALL # AZ AND EL OF SIGHTING DEVICE FROM ASTRO
+ CADR GOMARKF
+
+ TCF KILLAOT # V34 -- DOES GOTOP00H
+ TCF +2 # PROCEED
+ TCF CODE7 # ON ENTER, RECYCLE
+ EXTEND
+ DCA AZ # PICK UP AZ AND EL IN SP 25 COMP
+ INDEX FIXLOC
+ DXCH 8D # STORE IN 8D AND 9D OF LOCAL VAC
+ CAF ZERO # BACKUP SYSTEM TO BE USED
+ TCF COASCODE # ZERO APPARENT ROTATION
+
+CODE1TO6 INDEX XYMARK # INDEX AOT POSITION BY DET CODE
+ CA AOTEL -1
+ INDEX FIXLOC
+ TS 9D # STORE ELEVATION IN VAC+9D
+
+ INDEX XYMARK # INDEX DET CODE 1,2 OR 3
+# Page 247
+ CA AOTAZ -1
+ INDEX FIXLOC
+ TS 8D # STORE AZIMUTH IN VAC +8D
+
+ CA AOTAZ +1 # COMPENSATION FOR APPARENT ROTATION OF
+ EXTEND # AOT FIELD OF VIEW IN LEFT AND RIGHT
+ INDEX FIXLOC # DETENTS IS STORED IN VAC +10D IN SP
+ MSU 8D # PRECISION ONE'S COMPLEMENT
+COASCODE INDEX FIXLOC
+ TS 10D # ROT ANGLE
+
+ TC INTPRET # COMPUTE X AND Y PLANE VECTORS
+
+# Page 248
+# THE OPTAXIS SOBROUTINE COMPUTES THE X AND Y MARK PLANE VECS AND
+# ROTATES THEM THRU THE APPARENT FIELD OF VIEW ROTATION UNIQUE TO AOT
+# OPTAXIS USES OANB TO COMPUTE THE OPTIC AXIS
+#
+# INPUT -- AZIMUTH ANGLE IN SINGLE PREC AT CDU SCALE IN 8D OF JOB VAC
+# ELEVATION ANGLE IN SINGLE PREC AT CDU SCALE IN 9D OF JOB VAC
+# ROTATION ANGLE IN SINGLE PREC IS COMP SCALED BY PI IN 10D OF VAC
+#
+# OUTPUT -- OPTIC AXIS VEC IN NG COORDS IN SCAXIS
+# X-MARK PLANE 1/4VEC IN NB COORDS AT 18D OF JOB VAC
+# Y-MARK PLANE 1/4VEC IN NB COORDS AT 12D OF JOB VAC
+
+OPTAXIS CALL # GO COMPUTE OA AN X AND Y PLANE VECS
+ OANB
+ SLOAD SR1 # LOAD APP ROTATION IN ONES COMP
+ 10D # RESCALE BY 2PI
+ PUSH SIN # 1/2SIN(ROT) 0-1
+ PDDL COS
+ PUSH VXSC # 1/2COS(ROT) 2-3
+ 18D
+ PDDL VXSC # 1/4COS(ROT)UYP 4-9
+ 0
+ 24D # 1/4SIN(ROT)UXP
+ BVSU STADR # UP 4-9
+ STODL 12D # YPNB=1/4(COS(ROT)UYP-SIN(ROT)UXP)
+ VXSC PDDL # UP 2-3 UP 0-1 FOR EXCHANGE
+ 24D # 1/4COS(ROT)UXP PUSH 0-5
+ VXSC VAD # 1/4SIN(ROT)UYP
+ 18D # UP 0-5
+ STADR
+ STOVL 18D # XPNB=1/4(COS(ROT)UXP+SIN(ROT)UYP)
+ LO6ZEROS # INITIALIZE AVE STAR VEC ACCUMULATOR
+ STORE STARAD +6
+ EXIT
+ TCF GETMKS
+
+# Page 249
+# THE OANB SUBROUTINE COMPUTES THE OPTIC AXIS OF THE SIGHTING INSTRUMENT
+# FROM AZIMUTH AND ELEVATION INPUT FROM THE ASTRONAUT.
+#
+# INPUT -- AZIMUTH ANGLE IN SINGLE PREC 2'S COMP IN 8D OF JOB VAC
+# ELEVATION ANGLE IN SINGLE PREC 2'S COMP IN 9D OF VAC
+#
+# OUTPUT -- OPTIC AXIS IN NB COORDS. IN SCAXIS
+# X-PLANE 1/2VEC IN NB COORDS AT 24D OF VAC
+# Y-PLANE 1/2VEC IN NB COORDS AT 18D OF VAC
+
+ BANK 05
+ SETLOC AOTMARK2
+ BANK
+
+ COUNT* $$/MARK
+
+OANB SETPD STQ
+ 0
+ GCTR # STORE RETURN
+ SLOAD RTB
+ 9D # PICK UP SP ELV
+ CDULOGIC
+ PUSH COS
+ PDDL SIN # 1/2COS(ELV) PD 0-1
+ STADR
+ STODL SCAXIS # OAX=1/2SIN(ELV)
+ 8D
+ RTB
+ CDULOGIC
+ PUSH COS
+ STORE 20D # STORE UYP(Y) 20-21
+ PDDL SIN # 1/2COS(AZ) PD 2-3
+ PUSH DCOMP # PUSH 1/2S IN (AZ) 4-5
+ STODL 22D # STORE UYP(Z) 22-23
+ LO6ZEROS
+ STODL 18D # STORE UYP(X) 18-19
+ DMP SL1
+ 0
+ STODL SCAXIS +2 # OAY=1/2COS(ELV)SIN(AZ)
+ DMP SL1 # UP 2-3
+ STADR # UP 0-1
+ STOVL SCAXIS +4 # OAZ=1/2COS(ELV)COS(AZ)
+ 18D # LOAD UYP VEC
+ VXV UNIT
+ SCAXIS # UXP VEC=UYP X OA
+ STORE 24D # STORE UXP
+ GOTO
+ GCTR
+# Page 250
+# SURFSTAR COMPUTES A STAR VECTOR IN SM COORDINAGES FOR LUNAR
+# SURFACE ALIGNMENT AND EXITS TO AVEIT TO AVERAGE STAR VECTORS.
+#
+# GIVEN X-MARK PLANE 1/4 VEC IN NB AT 18D OF LOCAL VAC
+# Y-MARK PLANE 1/4 VEC IN NB AT 12D OF LOCAL VAC
+# CURSOR SP 2COMP AT POSITION 1 OF INDEXED MARKVAC
+# SPIRAL SP 2COMP AT POSITION 3 OF INDEXED MARKVAC
+# CDUY,Z,X AT POSITIONS 0,2,4 OF INDEXED MARKVAC
+
+ BANK 15
+ SETLOC P50S
+ BANK
+ COUNT* $$/R59
+
+SURFSTAR VLOAD*
+ 0,1 # PUT X-MARK CDUS IN CDUSPOT FOR TRG*NBSM
+ STORE CDUSPOT
+ SLOAD* RTB
+ 1,1 # PICK UP YROT
+ CDULOGIC
+ STORE 24D # STORE CURSOR FOR SPIRAL COMP (REVS)
+ BZE
+ YZCHK # IF YROT ZERO -- SEE IF SROT ZERO
+JUSTZY PUSH COS
+ PDDL SIN # 1/2COS(YROT) 0-1
+ VXSC PDDL # UP 0-1 1/8SIN(YROT)UXP 0-5
+ 18D
+ VXSC VSU # UP 0-5
+ 12D # UYP
+ UNIT VXV
+ SCAXIS
+ UNIT PUSH
+ SLOAD* RTB
+ 3,1 # PICK UP SPIRAL
+ CDULOGIC
+ STORE 26D # STORE SPIRAL (REVS)
+ DSU DAD
+ 24D
+ ABOUTONE
+ DMP
+ DP1/12
+ STORE 26D # SEP=(360 + SPIRAL -CURSOR)/12
+ SIN VXSC # UP 0-5
+ VSL1 PDDL # 1/2SIN(SEP)(UPP X OA) 0-5
+ 26D
+ COS VXSC
+ SCAXIS
+ VSL1 VAD # UP 0-5
+JUSTOA UNIT CALL
+ TRG*NBSM
+ STCALL 24D # STAR VEC IN SM
+ AVEIT # GO AVERAGE
+# Page 251
+ABOUTONE 2DEC .99999999
+
+DP1/12 EQUALS DEG30 # .08333333
+ BANK 7
+ SETLOC AOTMARK1
+ BANK
+ COUNT* $$/MARK
+YZCHK SLOAD* BZE # YROT ZERO AND IF SROT ZERO FORCE STAR
+ 3,1 # ALONG OPTIC AXIS
+ YSZERO
+ DLOAD GOTO
+ 24D
+ JUSTZY # SROT NOT ZERO -- CONTINUE NORMALLY
+YSZERO VLOAD GOTO
+ SCAXIS
+ JUSTOA
+
+# Page 252
+# THE GETMKS ROUTINE INITIALIZES THE SIGHTING MARK PROCEDURE
+
+GETMKS CAF ZERO # INITIALIZE MARK ID REGISTER AND MARK CNT
+ TS XYMARK
+ TS MARKCNTR
+ CAF LOW9 # ZERO BITS10 TO 15 RETAINING MKVAC ADR
+ MASK MARKSTAT
+ TS MARKSTAT
+ CAF MKVB54* # DISPLAY VB54 INITIALLY
+PASTIT TC BANKCALL
+ CADR GOMARK4
+
+ TCF KILLAOT # V34 -- DOES GOTOP00H
+ TCF MARKCHEX # VB33 -- PROCEED, GOT MARKS, COMPUTE LOS
+ TCF GETDAT # ENTER -- RECYCLE TO V01N71
+
+MARKCHEX CS MARKSTAT # SET BIT12 TO DISCOURAGE MARKRUPT
+ MASK BIT12
+ ADS MARKSTAT
+ MASK LOW9
+ TS XYMARK # JAM MARK VAC ADR IN XYMARK FOR AVESTAR
+ CAF ZERO
+ TS MKDEX # SET MKDEX ZERO FOR LOS VEC CNTR
+ CA MARKSTAT
+ MASK PRIO3 # SEE IF LAST MK PART COMPLETE
+ TS L
+ CAF PRIO3 # BITS10 AND 11
+ EXTEND
+ RXOR LCHAN
+ EXTEND
+ BZF AVESTAR # LAST PAIR COMPLETE -- TO COMPUTE LOS
+CNTCHK CCS MARKCNTR # NO PAIR SHOWING -- SEE IF PAIR IN HOLD
+ TCF +2 # PAIR BURIED -- DECREMENT COUNTER
+ TCF MKALARM # NO PAIR -- ALARM
+ TS MARKCNTR # STORE DECREMENTED COUNTER
+
+AVESTAR CAF BIT12 # INITIALIZE MKDEX FOR STAR LOS COUNTER
+ ADS MKDEX # MKDEX WAS INITIALIZED ZERO IN MARKCHEX
+ CS MARKCNTR
+ EXTEND
+ MP SIX # GET C(L) = -6 MARKCNTR
+ CS XYMARK
+ AD L # ADD -- MARK VAC ADR SET IN MARKCHEX
+ INDEX FIXLOC
+ TS X1 # JAM -- CDU ADR OF X-MARK IN X1
+
+ CA FIXLOC # SET PD POINTER TO ZERO
+ TS PUSHLOC
+
+ TC INTPRET
+# Page 253
+ BON VLOAD*
+ SURFFLAG # IF ON SURFACE COMPUTE VEC AT SURFSTAR
+ SURFSTAR
+ 1,1 # PUT Y-MARK CDUS IN CDUSPOT FOR TRG*NBSM
+ STOVL CDUSPOT
+ 12D # LOAD Y-PLANE VECTOR IN NG
+ CALL
+ TRG*NBSM # CONVERT IT TO STABLE MEMBER
+ PUSH VLOAD*
+ 0,1 # PUT X-MARK CDUS IN CDUSPOT FOR TRG*NBSM
+ STOVL CDUSPOT
+ 18D # LOAD X-PLANE VECTOR IN NB
+ CALL
+ TRG*NBSM # CONVERT IT TO STABLE-MEMBER
+ VXV UNIT # UNIT(XPSM * YPSM)
+ STADR
+ STORE 24D
+
+AVEIT SLOAD PDVL # N(NUMBER OF VECS) IN 0-1
+ MKDEX
+ 24D # LOAD CURRENT VECTOR
+ VSR3 V/SC
+ 0
+ STODL 24D # VEC/N
+ 0
+ DSU DDV
+ DP1/8 # (N-1)/N
+ VXSC VAD
+ STARAD +6 # ADD VEC TO PREVIOUSLY AVERAGED VECTOR
+ 24D # (N-1)/N AVESTVEC + VEC/N
+ STORE STARAD +6 # AVERAGE STAR VECTOR
+ STORE STARSAV2
+ EXIT
+ CCS MARKCNTR # SEE IF ANOTHER MARK PAIR IN MKVAC
+ TCF AVESTAR -1 # THERE IS -- GO GET IT -- DECREMENT COUNTER
+ENDMARKS CAF FIVE # NO MORE MARKS -- TERMINATE AOTMARK
+ INHINT
+ TC WAITLIST
+ EBANK= XYMARK
+ 2CADR MKRELEAS
+
+ TC ENDMARK
+
+MKALARM TC ALARM # NOT A PAIR TO PROCESS -- DO GETMKS
+ OCT 111
+ TCF GETMKS
+
+V01N71 VN 171
+V06N87* VN 687
+
+# Page 254
+# MARKRUPT IS ENTERED FROM INTERRUPT LEAD-INS AND PROCESSES CHANNEL 16
+# CAUSED BY X,Y MARK OR MARK REJECT OR BY THE RATE OF DESCENT SWITCH
+
+MARKRUPT TS BANKRUPT
+ CA CDUY # STORE CDUS AND TIME NOW -- THEN SEE IF
+ TS ITEMP3 # WE NEED THEM
+ CA CDUZ
+ TS ITEMP4
+ CA CDUX
+ TS ITEMP5
+ EXTEND
+ DCA TIME2
+ DXCH ITEMP1
+ XCH Q
+ TS QRUPT
+
+ CAF OCT34 # SEE IF X OR Y MARK OR MKREJECT
+ EXTEND
+ RAND NAVKEYIN
+ CCS A
+ TCF +2 # ITS A LIVE ONE -- SEE IF ITS WANTED
+ TCF SOMEKEY # ITS SOME OTHER KEY
+
+ CAF BIT12 # ARE WE ASKING FOR A MARK
+ MASK MARKSTAT
+ CCS A
+ TC RESUME # DON'T WANT MARK OR MKREJECT -- DO NOTHING
+
+ CCS MARKSTAT # ARE MARKS BEING ACCEPTED
+ TCF FINDKEY # THEY ARE -- WHICH ONE IS IT
+ TC ALARM # MARKS NOT BEING ACCEPTED -- DO ALARM
+ OCT 112
+ TC RESUME
+
+FINDKEY CAF BIT5 # SEE IF MARK REJECT.
+ EXTEND
+ RAND NAVKEYIN
+ CCS A
+ TCF MKREJ # IT'S A MARK REJECT
+
+ CAF BIT4 # SEE IF Y MARK
+ EXTEND
+ RAND NAVKEYIN
+ CCS A
+
+ TCF YMKRUPT # IT'S A Y MARK
+
+ CAF BIT3 # SEE IF X MARK
+ EXTEND
+ RAND NAVKEYIN
+
+# Page 255
+ CCS A
+ TCF XMKRUPT # IT'S A X MARK
+
+SOMEKEY CAF OCT140 # NOT MARK OR MKREJECT -- SEE IF DESCENT BITS
+ EXTEND
+ RAND NAVKEYIN
+ EXTEND
+ BZF +3 # IF NO BITS
+
+ TC POSTJUMP # IF DESCENT BITS
+ CADR DESCBITS
+
+ TC ALARM # NO INBITS IN CHANNEL 16.
+ OCT 113
+
+ TC RESUME
+
+XMKRUPT CAF ZERO
+ TS RUPTREG1 # SET X MARK STORE INDEX TO ZERO
+ CAF BIT10
+ TCF +4
+YMKRUPT CAF ONE
+ TS RUPTREG1 # SET Y MARK STORE INDEX TO ONE
+ CAF BIT11
+ TS XYMARK # SET MARK IDENTIFICATION
+
+ TC MARKTYPE # SEE IF SURFACE MARK
+ TCF SURFSTOR # SURFACE MARK -- JUST STORE CDUS
+
+ CAF BIT14 # GOT A MARK -- SEE IF MARK PARI MADE
+ MASK MARKSTAT
+ EXTEND
+ BZF VERIFYMK # NOT A PAIR, NORMAL PROCEDURE
+ CS MARKCNTR # GO A PAIR, SEE IF ANOTHER CAN BE MADE
+ AD FOUR # IF SO, INCREMENT POINTER, CLEAR BITS 10,11
+ EXTEND
+ BZMF 5MKALARM # HAVE FIVE MARK PAIRS -- DON'T ALLOW MARK
+ INCR MARKCNTR # OK FOR ANOTHER PAIR, INCR POINTER
+ CS PRIO23 # CLEAR BITS 10,11,14 FOR NEXT PAIR
+ MASK MARKSTAT
+ TS MARKSTAT
+
+VERIFYMK CA XYMARK
+ MASK MARKSTAT
+ CCS A
+ TCF +2 # THIS MARK NOT DESIRED
+ TCF VACSTOR # MARK DESIRED -- STORE CDUS
+ TC ALARM
+ OCT 114
+ TC RESUME # RESUME -- DISPLAY UNCHANGED -- WAIT FOR ACTION
+
+# Page 256
+5MKALARM TC ALARM # ATTEMPTING TO MAKE MORE THAN 5 MK PAIRS
+ OCT 107
+ TC MARKTYPE # SEE IF SURFACE MARK
+ TCF DSPV6N79 # IT IS
+ TC RESUME # DON'T CHANGE DISPLAY -- DO NOTHING
+
+# Page 257
+MKREJ TC MARKTYPE # SEE IF SURFACE
+ TCF SURFREJ # SURFACE -- JUST CHECK MARK COUNTER
+
+ CAF PRIO3 # INFLIGHT -- SEE IF MARKS MADE
+ MASK MARKSTAT
+ CCS A
+ TCF REJECT # MARKS MADE -- REJECT ONE
+REJALM TC ALARM # NO MARK TO REJECT -- BAD PROCEDURE -- ALARM
+ OCT 115
+ TC RESUME # DESIRED ACTION DISPLAYED
+
+REJECT CS PRIO30 # ZERO BIT14, SHOW REJ., SEE IF MARK SINCE
+ MASK MARKSTAT # LAST REJECT
+ AD BIT13
+ XCH MARKSTAT
+ MASK BIT13
+ CCS A
+ TCF REJECT2 # ANOTHER REJECT SET BIT 10+11 TO ZERO
+
+ CS XYMARK # MARK MADE SINCE REJECT -- REJECT MARK IN 1D
+RENEWMK MASK MARKSTAT
+ TS MARKSTAT
+ TCF REMARK # GO REQUEST NEW MARK ACTION
+
+REJECT2 CS PRIO3 # ON SECOND REJECT -- DISPLAY VB53 AGAIN
+ TCF RENEWMK
+
+SURFREJ CCS MARKCNTR # IF MARK DECREMENT COUNTER
+ TCF +2
+ TCF REJALM # NO MARKS TO REJECT -- ALARM
+ TS MARKCNTR
+ TC RESUME
+
+# Page 258
+# MARKTYPE TESTS TO SEE IF LEM ON LUNAR SURFACE. IF IT IS RETURN TO LOC+1
+
+MARKTYPE CS FLAGWRD8 # SURFFLAG ******** TEMPORARY ******
+ MASK BIT8
+ CCS A
+ INCR Q # IF SURFACE MARK RETURN TO LOC +1
+ TC Q # IF INFLIGHT MARK RETURN TO LOC +2
+
+SURFSTOR CAF ZERO # FOR SURFACE MARK ZERO MARK KIND INDEX
+ TS RUPTREG1
+
+ CS MARKSTAT # SET BITS10,11 TO SHOW SURFACE MARK
+ MASK PRIO3 # FOR MARKCHEX
+ ADS MARKSTAT
+
+VACSTOR CAF LOW9
+ MASK MARKSTAT # STORE MARK VAC ADR IN RUPTREG2
+ TS RUPTREG2
+ EXTEND
+ DCA ITEMP1 # PICK UP MARKTIME
+ DXCH TSIGHT # STORE LAST MARK TIME
+ CA MARKCNTR # 6 X MARKCNTR FOR STORE INDEX
+ EXTEND
+ MP SIX
+ XCH L # GET INDEX FROM LOW ORDER PART
+ AD RUPTREG2 # SET CDU STORE INDEX TO MARKVAC
+ ADS RUPTREG1 # INCREMENT VAC PICKUP BY MARK FOR FLIGHT
+ TS MKDEX # STORE HERE IN CASE OF SURFACE MARK
+ CA ITEMP3
+ INDEX RUPTREG1
+ TS 0 # STORE CDUY
+ CA ITEMP4
+ INDEX RUPTREG1
+ TS 2 # STORE CDUZ
+ CA ITEMP5
+ INDEX RUPTREG1
+ TS 4 # STORE CDUX
+ TC MARKTYPE # IF SURFACE MARK -- JUST DO SURFJOB
+ TCF SURFJOB
+
+ CAF BIT13 # CLEAR BIT13 TO SHOW MARK MADE
+ AD XYMARK # SET MARK ID IN MARKSTAT
+ COM
+ MASK MARKSTAT
+ AD XYMARK
+ TS MARKSTAT
+ MASK PRIO3 # SEE IF X, Y MARK MADE
+ TS L
+
+# Page 259
+ CA PRIO3
+ EXTEND
+ RXOR LCHAN
+ CCS A
+ TCF REMARK # NOT PAIR YET, DISPLAY MARK ACTION
+ CS MARKSTAT # MARK PAIR COMPLETE -- SET BIT14
+ MASK BIT14
+ ADS MARKSTAT
+ TCF REMARK # GO DISPLAY V54
+
+# Page 260
+REMARK CAF PRIO3 # BITS 10 AND 11
+ MASK MARKSTAT
+ EXTEND
+ MP BIT6 # SHIFT MARK IDS TO BE 0 TO 3 FOR INDEX
+ TS MKDEX # STORE VERB INDEX
+SURFJOB CAF PRIO15
+ TC NOVAC # ENTER JOB TO CHANGE DISPLAY TO
+ EBANK= XYMARK # REQUEST NEXT ACTION
+ 2CADR CHANGEVB
+
+ TC RESUME
+
+CHANGEVB TC MARKTYPE
+ TCF DSPV6N79 # SURFACE -- DISPLAY V 06 N 79
+ INDEX MKDEX # INFLIGHT -- PICK UP MARK VB INDEX
+ CAF MKVB54
+ TC PASTIT # PASTE UP NEXT MK VERB DISPLAY
+
+# THE FOUR MKVBS ARE INDEXED -- THEIR ORDER CANNOT BE CHANGED
+
+MKVB54 VN 5471 # MAKE X OR Y MARK
+MKVB53 VN 5371 # MAKE Y MARK
+MKVB52 VN 5271 # MAKE X MARK
+MKVB54* VN 5471 # MAKE X OR Y MARK
+DP1/8 2DEC .125
+
+OCT34 OCT 34
+V06N71 VN 671
+V06N79* VN 679
+
+# Page 261
+# ROUTINE TO REQUEST CURSOR AND SPIRAL MEASUREMENTS
+ COUNT* $$/R59
+
+DSPV6N79 CAF V06N79* # CURSOR -- SPIRAL DISPLAY
+ TC BANKCALL
+ CADR GOMARKF
+
+ TCF KILLAOT # V34 -- DOES GOTOP00H
+ TCF SURFEND # V33 -- PROCEED, END MARKING
+ CAF BIT6 # IF V32(OCT40) IN MPAC DO RECYCLE
+ MASK MPAC # OTHERWISE IT IS LOAD VB ENTER SO
+ CCS A # RE-DISPLAY V06N79
+ TCF SURFAGAN # VB32 -- RECYCLE
+ TCF DSPV6N79 # ENTER
+
+SURFEND CS BIT14 # SET BIT14 TO SHOW MARK END
+ MASK MARKSTAT
+ AD BIT14
+ TS MARKSTAT
+
+SURFAGAN CA CURSOR
+ INDEX MKDEX # HOLDS VAC AREA POINTER FOR SURF MARKING
+ TS 1 # STORE CURSOR SP 2COMP
+ CA SPIRAL
+ INDEX MKDEX
+ TS 3 # STORE SPIRAL
+
+ CS MARKSTAT # IF BIT 14 SET -- END MARKING
+ MASK BIT14
+ EXTEND
+ BZF MARKCHEX
+ CA MARKCNTR # THIS IS RECYCLE -- SEE IF 5 MARKS ALREADY
+ AD ONE
+ COM
+ AD FIVE
+ EXTEND
+ BZMF 5MKALARM # CAN'T RECYCLE -- TOO MANY MARKS -- ALARM
+ INCR MARKCNTR # OF FOR RECYCLE -- INCR COUNTER
+ TCF GETMKS +3 # GO DISPLAY MARK VB
+
diff --git a/ASCENT_GUIDANCE.s b/ASCENT_GUIDANCE.s
new file mode 100644
index 0000000..d59444b
--- /dev/null
+++ b/ASCENT_GUIDANCE.s
@@ -0,0 +1,647 @@
+# Copyright: Public domain.
+# Filename: ASCENT_GUIDNCE.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 843-856
+# Mod history: 2009-05-23 HG Transcribed from page images.
+# 2009-06-05 RSB Fixed a couple of typos.
+# 2009-06-07 RSB Corrected a typo.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 843
+ BANK 34
+ SETLOC ASCFILT
+ BANK
+
+ EBANK= DVCNTR
+
+ COUNT* $$/ASENT
+
+ATMAG TC PHASCHNG
+ OCT 00035
+ TC INTPRET
+ BON
+ FLRCS
+ ASCENT
+ DLOAD DSU
+ ABDVCONV
+ MINABDV
+ BMN CLEAR
+ ASCTERM4
+ SURFFLAG
+ CLEAR SLOAD
+ RENDWFLG
+ BIT3H
+ DDV EXIT
+ ABDVCONV
+ DXCH MPAC
+ DXCH 1/DV3
+ DXCH 1/DV2
+ DXCH 1/DV1
+ DXCH 1/DV0
+ TC INTPRET
+ DLOAD DAD
+ 1/DV0
+ 1/DV1
+ DAD DAD
+ 1/DV2
+ 1/DV3
+ DMP DMP
+ VE
+ 2SEC(9)
+ SL3 PDDL
+ TBUP
+ SR1 DAD
+ DSU
+ 6SEC(18)
+ STODL TBUP
+ VE
+ SR1 DDV
+ TBUP
+ STCALL AT
+# Page 844
+ ASCENT
+BIT3H OCT 4
+
+# Page 845
+ BANK 30
+ SETLOC ASENT
+ BANK
+ COUNT* $$/ASENT
+
+ASCENT VLOAD ABVAL
+ R
+ STOVL /R/MAG
+ ZAXIS1
+ DOT SL1
+ V # Z.V = ZDOT*2(-8).
+ STOVL ZDOT # ZDOT*2(-7)
+ ZAXIS1
+ VXV VSL1
+ UNIT/R/ # Z X UR = LAXIS*2(-2)
+ STORE LAXIS # LAXIS*2(-1)
+ DOT SL1
+ V # L.V = YDOT*2(-8).
+ STCALL YDOT # YDOT * 2(-7)
+ YCOMP
+ VLOAD
+ GDT1/2 # LOAD GDT1/2*2(-7) M/CS.
+ V/SC DOT
+ 2SEC(18)
+ UNIT/R/ # G.UR*2(9) = GR*2(9).
+ PDVL VXV # STORE IN PDL(0)
+ UNIT/R/ # LOAD UNIT/R/ *2(-1)
+ V # UR*2(-1) X V*2(-7) = H/R*2(-8).
+ VSQ DDV # H(2)/R(2)*2(-16).
+ /R/MAG # H(2)/R(3)*2(9).
+ SL1 DAD
+ STADR
+ STODL GEFF # GEFF*2(10)m/CS/CS.
+ ZDOTD
+ DSU
+ ZDOT
+ STORE DZDOT # DZDOT = (ZDOTD - ZDOT) * 2(7) M/CS.
+ VXSC PDDL
+ ZAXIS1
+ YDOTD
+ DSU
+ YDOT
+ STORE DYDOT # DYDOT = (YDOTD - YDOT) *2(7) M/CS.
+ VXSC PDDL
+ LAXIS
+ RDOTD
+# Page 846
+ DSU
+ RDOT
+ STORE DRDOT # DRDOT = (RDOTD - RDOT) * 2(7) M/CS.
+ VXSC VAD
+ UNIT/R/
+ VAD VSL1
+ STADR
+ STORE VGVECT # VG = (DRDOT)R + (DVDOT)L + (DZDOT)Z.
+ DLOAD DMP # LOAD TGO
+ TGO # TGO GEFF
+ GEFF
+ VXSC VSL1
+ UNIT/R/ # TGO GEFF UR
+ BVSU
+ VGVECT # COMPENSATED FOR GEFF
+ STORE VGVECT # STORE FOR DOWNLINK
+ MXV VSL1 # GET VGBODY FOR N85 DISPLAY
+ XNBPIP
+ STOVL VGBODY
+ VGVECT
+ ABVAL BOFF # MAGNITUDE OF VGVECT
+ FLRCS # IF FLRCS=0,D0 NORMAL GUIDANCE
+ MAINENG
+ DDV # USE TGO=VG/AT WITH RCS
+ AT/RCS
+ STCALL TGO # THIS WILL BE USED ON NEXT CYCLE
+ ASCTERM2
+MAINENG DDV PUSH # VG/VE IN PDL(0) (2)
+ VE
+ DMP BDSU # 1 - KT VG/VE
+ KT1
+ NEARONE
+ DMP DMP # TBUP VG(1-KT VG/VE)/VE (0)
+ TBUP # = TGO
+ DSU # COMPENSATE FOR TAILOFF
+ TTO
+ STORE TGO
+ SR DCOMP
+ 11D
+ STODL TTOGO # TGO *2(-28) CS
+ TGO
+ BON DSU
+ IDLEFLAG
+ T2TEST
+ 4SEC(17) # ( TGO - 4 )*2(-17) CS.
+ BMN
+ ENGOFF
+T2TEST DLOAD
+ TGO
+ DSU BMN # IF TGO - T2 NEG., GO TO CMPONENT
+# Page 847
+ T2A
+ CMPONENT
+ DLOAD DSU
+ TBUP
+ TGO
+ DDV CALL # 1- TGO/TBUP
+ TBUP
+ LOGSUB
+ SL PUSH # -L IN PDL(0) (2)
+ 5
+ BDDV BDSU # -TGO/L*2(-17)
+ TGO
+ TBUP # TBUP + TGO/L = D12*2(-17)
+ PUSH BON # STORE IN PDL(2) (4)
+ FLPC # IF FLPC = 1, GO TO CONST
+ NORATES
+ DLOAD DSU
+ TGO
+ T3
+ BPL SET # FLPC=1
+ RATES
+ FLPC
+NORATES DLOAD
+ HI6ZEROS
+ STORE PRATE # B = 0
+ STORE YRATE # D = 0
+ GOTO
+ CONST # GO TO CONST
+RATES DLOAD DSU
+ TGO
+ 02D # TGO - D12 = D21*2(-17)
+ PUSH SL1 # IN PDL(4) (6)
+ BDSU SL3 # (1/2TGO - D21)*2(-13) = E * 2(-13)
+ TGO # (8)
+ PDDL DMP # IN PDL(6)
+ TGO
+ RDOT # RDOT TGO * 2(-24)
+ DAD DSU # R + RDOT TGO
+ /R/MAG # R + RDOT TGO - RCO
+ RCO # MPAC = -DR *2(-24).
+ PDDL DMP # -DR IN PDL(8) (10)
+ DRDOT
+ 04D # D21 DRDOT*2(-24)
+ DAD SL2 # (D21 DRDOT-DR)*2(-22) (8)
+ DDV DDV
+ 06D # (D21 DRDOT-DR)/E*2(-9)
+ TGO
+ STORE PRATE # B * 2(8)
+ BMN DLOAD # B>0 NOT PERMITTED
+ CHKBMAG
+#Page 848
+ HI6ZEROS
+ STCALL PRATE
+ PROK
+CHKBMAG SR4 DDV # B*2(4)
+ TBUP # (B / TAU) * 2(21)
+ DSU BPL
+ PRLIMIT # ( B / TAU ) = 2(21) MAX.
+ PROK
+ DLOAD DMP
+ PRLIMIT
+ TBUP # B MAX. * 2(4)
+ SL4 # BMAX*2(8)
+ STORE PRATE
+PROK DLOAD
+ TGO
+ DMP DAD # YDOT TGO
+ YDOT
+ Y # Y + YDOT TGO
+ DSU PDDL # Y + YDOT TGO - YCO
+ YCO # MPAC = - DY*(-24.) IN PDL(8) (10)
+ DYDOT
+ DMP DAD # D21 DYDOT - DY (8)
+ 04D
+ SL2 DDV # (D21 DYDOT - DY)/E*2(-9)
+ DDV SETPD # (D21 DYDOT - DY)/E TGO*2(8)
+ TGO # = D*2(8)
+ 04
+ STORE YRATE
+CONST DLOAD DMP # LOAD B*2(8)
+ PRATE # B D12*2(-9)
+ 02D
+ PDDL DDV # D12 B IN PDL(4) (6)
+ DRDOT # LOAD DRDOT*2(-7)
+ 00D # -DRDOT/L*2(-7)
+ SR2 DSU # (-DRDOT/L-D12 B)=A*2(-9) (4)
+ STADR
+ STODL PCONS
+ YRATE # D*2(8)
+ DMP PDDL # D12 D,EXCH WITH -L IN PDL(0) (2,2)
+ BDDV SR2 # -DYDOT/L*2(-9)
+ DYDOT
+ DSU # (-DYDOT/L-D12 D)=C*2(-9)
+ 00D
+ STORE YCONS
+CMPONENT SETPD DLOAD
+ 00D
+ 100CS
+ DMP
+ PRATE # B(T-T0)*2(-9)
+ DAD DDV # (A+B(T-T0))*2(-9)
+# Page 849
+ PCONS # (A+B(T-T0))/TBUP*2(8)
+ TBUP
+ SL1 DSU
+ GEFF # ATR*2(9)
+ STODL ATR
+ 100CS
+ DMP DAD
+ YRATE
+ YCONS # (C+D(T-T0))*2(-9)
+ DDV SL1
+ TBUP
+ STORE ATY # ATY*2(9)
+ VXSC PDDL # ATY UY*2(8) (6)
+ LAXIS
+ ATR
+ VXSC VAD
+ UNIT/R/
+ VSL1 PUSH # AH*2(9) IN PDL(0) (6)
+ ABVAL PDDL # AH(2) IN PDL(34)
+ AT # AHMAG IN PDL(6) (8)
+ DSQ DSU # (AT(2)-AH(2))*2(18)
+ 34D # =ATP2*2(18)
+ PDDL PUSH # (12)
+ AT
+ DSQ DSU # (AT(2)KR(2)-AH(2))*2(18) (10)
+ 34D # =ATP3*2(18)
+ BMN DLOAD # IF ATP3 NEG,GO TO NO-ATP
+ NO-ATP # LOAD ATP2, IF ATP3 POS
+ 8D
+ SQRT GOTO # ATP*2(9)
+ AIMER
+NO-ATP DLOAD BDDV # KR AT/AH = KH (8)
+ 6D
+ VXSC # KH AG*2(9)
+ 00D
+ STODL 00D # STORE NEW AH IN PDL(0)
+ HI6ZEROS
+AIMER SIGN
+ DZDOT
+ STORE ATP
+ VXSC
+ ZAXIS1 # ATP ZAXIS *2(8).
+ VSL1 VAD # AT*2(0)
+ 00D
+ STORE UNFC/2 # WILL BE OVERWRITTEN IF IN VERT. RISE.
+ SETPD BON
+ 00D
+ FLPI
+ P12RET
+ BON
+# Page 850
+ FLVR
+ CHECKALT
+MAINLINE VLOAD VCOMP
+ UNIT/R/
+ STODL UNWC/2
+ TXO
+ DSU BPL
+ PIPTIME
+ ASCTERM
+ BON
+ ROTFLAG
+ ANG1CHEK
+CLRXFLAG CLEAR CLEAR
+ NOR29FLG # START r29 IN ASCENT PHASE.
+ XOVINFLG # ALLOW X-AXIS OVERRIDE
+ASCTERM EXIT
+ CA FLAGWRD9
+ MASK FLRCSBIT
+ CCS A
+ TCF ASCTERM3
+ TC INTPRET
+ CALL
+ FINDCDUW -2
+ASCTERM1 EXIT
+ +1 CA FLAGWRD9 # INSURE THAT THE NOUN 63 DISPLAY IS
+ MASK FLRCSBIT # BYPASSED IF WE ARE IN THE RCS TRIMMING
+ CCS A # MODE OF OPERATION
+ TCF ASCTERM3
+ CA FLAGWRD8 # BYPASS DISPLAYS IF ENGINE FAILURE IS
+ MASK FLUNDBIT # INDICATED.
+ CCS A
+ TCF ASCTERM3
+ CAF V06N63*
+ TC BANKCALL
+ CADR GODSPR
+ TCF ASCTERM3
+ASCTERM2 EXIT
+ASCTERM3 TCF ENDOFJOB
+ASCTERM4 EXIT
+ INHINT
+ TC IBNKCALL # NO GUIDANCE THIS CYCLE -- HENCE ZERO
+ CADR ZATTEROR # THE DAP COMMANDED ERRORSss.
+ TCF ASCTERM1 +1
+
+CHECKALT DLOAD DSU
+ /R/MAG
+ /LAND/
+ DSU BMN # IF H LT 25K CHECK Z AXIS ORIENTATION
+ 25KFT
+ CHECKYAW
+# Page 851
+EXITVR CLEAR BON
+ FLVR
+ ROTFLAG
+ MAINLINE
+ DLOAD DAD
+ PIPTIME
+ 10SECS
+ STCALL TXO
+ MAINLINE
+EXITVR1 CLRGO
+ ROTFLAG
+ EXITVR
+
+ SETLOC ASENT1
+ BANK
+ COUNT* $$/ASENT
+
+ANG1CHEK VLOAD DOT
+ UNFC/2
+ XNBPIP
+ DSU BPL
+ COSTHET1
+ OFFROT
+ VLOAD DOT
+ XNBPIP
+ UNIT/R/
+ DSU BMN
+ COSTHET2
+ KEEPVR1
+OFFROT CLRGO
+ ROTFLAG
+ CLRXFLAG
+
+ BANK 7
+ SETLOC ASENT2
+ BANK
+ COUNT* $$/ASENT
+
+SETXFLAG = CHECKYAW
+
+CHECKYAW SET
+ XOVINFLG # PROHIBIT X-AXIS OVERRRIDE
+ DLOAD VXSC
+ ATY
+ LAXIS
+ PDDL VXSC
+ ATP
+ ZAXIS1
+ VAD UNIT
+ PUSH DOT
+# Page 852
+ YNBPIP
+ ABS DSU
+ SIN5DEG
+ BPL DLOAD
+ KEEPVR
+ RDOT
+ DSU BPL
+ 40FPS
+ EXITVR1
+ GOTO
+ KEEPVR
+
+ BANK 5
+ SETLOC ASENT3
+ BANK
+ COUNT* $$/ASENT
+
+SIN5DEG 2DEC 0.08716 B-2
+40FPS 2DEC 0.12192 B-7
+
+ BANK 14
+ SETLOC ASENT4
+ BANK
+ COUNT* $$/ASENT
+
+KEEPVR VLOAD STADR # RECALL LOSVEC FROM PUSHLIST
+ STORE UNWC/2
+KEEPVR1 VLOAD
+ UNIT/R/
+ STCALL UNFC/2
+ ASCTERM
+
+ENGOFF RTB
+ LOADTIME
+ DSU DAD
+ PIPTIME
+ TTOGO
+ DCOMP EXIT
+ TC TPAGREE # FORCH SIGN AGREEMENT ON MPAC, MPAC +1.
+ CAF EBANK7
+ TS EBANK
+ EBANK= TGO
+ INHINT
+ CCS MPAC +1
+ TCF +3 # C(A) = DT - 1 BIT
+ TCF +2 # C(A) = 0
+ CAF ZERO # C(A) = 0
+ AD BIT1 # C(A) = 1 BIT OR DT.
+# Page 853
+ TS ENGOFFDT
+ TC TWIDDLE
+ ADRES ENGOFF1
+ TC PHASCHNG
+ OCT 47014
+ -GENADR ENGOFFDT
+ EBANK= TGO
+ 2CADR ENGOFF1
+
+ TC INTPRET
+ SET GOTO
+ IDLEFLAG # DISABLE DELTA-V MONITOR
+ T2TEST
+
+ENGOFF1 TC IBNKCALL # SHUT OFF THE ENGINE.
+ CADR ENGINOF2
+
+ CAF PRIO17 # SET UP A JOB FOR THE ASCENT GUIDANCE
+ TC FINDVAC # POSTBURN LOGIC.
+ EBANK= WHICH
+ 2CADR CUTOFF
+
+ TC PHASCHNG
+ OCT 07024
+ OCT 17000
+ EBANK= TGO
+ 2CADR CUTOFF
+
+ TCF TASKOVER
+
+CUTOFF TC UPFLAG # SET FLRCS FLAG.
+ ADRES FLRCS
+
+ -5 CAF V16N63
+ TC BANKCALL
+ CADR GOFLASH
+ TCF +3
+ TCF CUTOFF1
+ TCF -5
+
+ +3 TC POSTJUMP
+ CADR TERMASC
+
+CUTOFF1 INHINT
+ TC IBNKCALL # ZERO ATTITUDE ERRORS BEFORE REDUCINT DB.
+ CADR ZATTEROR
+ TC IBNKCALL
+ CADR SETMINDB
+ TC POSTJUMP
+ CADR CUTOFF2
+# Page 854
+
+V16N63 VN 1663
+ BANK 30
+ SETLOC ASENT5
+ BANK
+ COUNT* $$/ASENT
+
+CUTOFF2 TC PHASCHNG
+ OCT 04024
+
+ CAF V16N85C
+ TC BANKCALL
+ CADR GOFLASH
+ TCF TERMASC
+ TCF +2 # PROCEED
+ TCF CUTOFF2
+
+TERMASC TC PHASCHNG
+ OCT 04024
+
+ INHINT # RESTORE DEADBAND DESIRED BY ASTRONAUT.
+ TC IBNKCALL
+ CADR RESTORDB
+ TC DOWNFLAG # DISALLOW ABORTS AT THIS TIME.
+ ADRES LETABORT
+ TCF GOTOP00H
+
+V16N85C VN 1685
+
+ BANK 27
+ SETLOC ASENT1
+ BANK
+ COUNT* $$/ASENT
+
+YCOMP VLOAD DOT
+ UNIT/R/
+ QAXIS
+ SL2 DMP
+ RCO
+ STORE Y
+ RVQ
+
+ BANK 30
+ SETLOC ASENT
+ BANK
+# Page 855
+100CS EQUALS 2SEC(18)
+T2A EQUALS 2SEC(17)
+4SEC(17) 2DEC 400 B-17
+2SEC(17) 2DEC 200 B-17
+T3 2DEC 1000 B-17
+6SEC(18) 2DEC 600 B-18
+BIT4H OCT 10
+2SEC(9) 2DEC 200 B-9
+V06N63* VN 0663
+V06N76 VN 0676
+V06N33A VN 0633
+
+ BANK 33
+ SETLOC ASENT6
+ BANK
+ COUNT* $$/ASENT
+
+KT1 2DEC 0.5000
+PRLIMIT 2DEC -.0639 # (B/TBUP)MIN=-.1FT.SEC(-3)
+MINABDV 2DEC .0356 B-5 # 10 PERCENT BIGGER THAN GRAVITY
+1/DV0 = MASS1
+
+# Page 856
+# THE LOGARITHM SUBROUTINE
+
+ BANK 24
+ SETLOC FLOGSUB
+ BANK
+
+# INPUT ..... X IN MPAC
+# OUTPUT ..... -LOG(X) IN MPAC
+
+LOGSUB NORM BDSU
+ MPAC +6
+ NEARONE
+ EXIT
+ TC POLY
+ DEC 6
+ 2DEC .0000000060
+ 2DEC -.0312514377
+ 2DEC -.0155686771
+ 2DEC -.0112502068
+ 2DEC -.0018545108
+ 2DEC -.0286607906
+ 2DEC .0385598563
+ 2DEC -.0419361902
+
+ CAF ZERO
+ TS MPAC +2
+ EXTEND
+ DCA CLOG2/32
+ DXCH MPAC
+ DXCH BUF +1
+ CA MPAC +6
+ TC SHORTMP
+ DXCH MPAC +1
+ DXCH MPAC
+ DXCH BUF +1
+ DAS MPAC
+ TC INTPRET
+ DCOMP RVQ
+
+CLOG2/32 2DEC .0216608494
+
diff --git a/ASSEMBLY_AND_OPERATION_INFORMATION.s b/ASSEMBLY_AND_OPERATION_INFORMATION.s
new file mode 100644
index 0000000..410935d
--- /dev/null
+++ b/ASSEMBLY_AND_OPERATION_INFORMATION.s
@@ -0,0 +1,1041 @@
+# Copyright: Public domain.
+# Filename: ASSEMBLY_AND_OPERATION_INFORMATION.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 2009-05-05 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 2
+
+# ASSEMBLY AND OPERATIONS INFORMATION
+# TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS
+# SUBROUTINE CALLS
+# COMERASE
+# ERASABLE ASSIGNMENTS
+# COMAID
+# INTERRUPT LEAD INS
+# T4RUPT PROGRAM
+# DOWNLINK LISTS
+# FRESH START AND RESTART
+# RESTART TABLES
+# SXTMARK
+# EXTENDED VERBS
+# PINBALL NOUN TABLES
+# CSM GEOMETRY
+# IMU COMPENSATION PACKAGE
+# PINBALL GAME BUTTONS AND LIGHTS
+# R60,R62
+# ANGLFIND
+# GIMBAL LOCK AVOIDANCE
+# KALCMANU STEERING
+# SYSTEM TEST STANDARD LEAD INS
+# IMU CALIBRATION AND ALIGNMENT
+# COMEKISS
+# GROUND TRACKING DETERMINATION PROGRAM -- P21
+# P34-P35, P74-P75
+# R31
+# P76
+# R30
+# STABLE ORBIT -- P38-P39
+# TROUBLE
+# P11
+# TP1 SEARCH
+# P20-P25
+# P30,P37
+# P40-P47
+# P51-P53
+# LUNAR AND SOLAR EPHEMERIDES SUBROUTINES
+# P61-P67
+# SERVICER207
+# ENTRY LEXICON
+# REENTRY CONTROL
+# CM BODY ATTITUDE
+# P37,P70
+# S-BAND ANTENNA FOR CM
+# LUNAR LANDMARK SELECTION FOR CM
+# TVCDAPS
+# TVC INITIALIZE
+
+# Page 3
+
+# TVC EXECUTIVE
+# TVC MASSPROP
+# TVC RESTARTS
+# TVC DAPS
+# TVC STROKE TEST
+# TVC ROLLDAP
+# MYSUBS
+# RCS-CSM DIGITAL AUTOPILOT
+# AUTOMATIC MANEUVERS
+# RCS-CSM DAP EXECUTIVE PROGRAMS
+# JET SELECTION LOGIC
+# CM ENTRY DIGITAL AUTOPILOT
+# CHIEFTAN
+# DOWN-TELEMETRY PROGRAM
+# INTER-BANK COMMUNICATION
+# INTERPRETER
+# FIXED-FIXED CONSTANT POOL
+# INTERPRETIVE CONSTANTS
+# SINGLE PRECISION SUBROUTINES
+# EXECUTIVE
+# WAITLIST
+# LATITUDE LONGITUDE SUBROUTINES
+# PLANETARY INERTIAL ORIENTATION
+# MEASUREMENT INCORPORATION
+# CONIC SUBROUTINES
+# INTEGRATION INITIALIZATION
+# ORBITAL INTEGRATION
+# INFLIGHT ALIGNMENT ROUTINES
+# POWERED FLIGHT SUBROUTINES
+# TIME OF FREE FALL
+# STAR TABLES
+# AGC BLOCK TWO SELF-CHECK
+# PHASE TABLE MAINTENANCE
+# RESTARTS ROUTINE
+# IMU MODE SWITCHING ROUTINES
+# KEYRUPT, UPRUPT
+# DISPLAY INTERFACE ROUTINES
+# SERVICE ROUTINES
+# ALARM AND ABORT
+# UPDATE PROGRAM
+# RTB OP CODES
+# SYMBOL TABLE LISTING
+# UNREFERANCES SYMBOL LISTING
+# ERASABLE & EQUALS CROSS-REFERENCE TABLE
+# SUMMARY OF SYMBOL TABLE LISTINGS
+# MEMORY TYPE & AVAILABILITY DISPLAY
+# COUNT TABLE
+# PARAGRAPHS GENERATED FOR THIS DISPLAY
+
+# Page 4
+
+# OCTAL LISTING
+# OCCUPIED LOCATIONS TABLE
+# SUBROS CALLED & PROGRAM STATUS
+
+# Page 5
+# VERB LIST FOR CSM
+
+# REGULAR VERBS
+
+# 00 NOT IN USE
+# 01 DISPLAY OCTAL COMP 1 IN R1
+# 02 DISPLAY OCTAL COMP 2 IN R1
+# 03 DISPLAY OCTAL COMP 3 IN R1
+# 04 DISPLAY OCTAL COMP 1,2 IN R1,R2
+# 05 DISPLAY OCTAL COMP 1,2,3 IN R1,R2,R3
+# 06 DISPLAY DECIMAL IN R1 OR R1,R2 OR R1,R2,R3
+# 07 DISPLAY DP DECIMAL IN R1,R2 (TEST ONLY)
+# 08
+# 09
+# 10
+# 11 MONITOR OCTAL COMP 1 IN R1
+# 12 MONITOR OCTAL COMP 2 IN R1
+# 13 MONITOR OCTAL COMP 3 IN R1
+# 14 MONITOR OCTAL COMP 1,2, IN R1,R2
+# 15 MONITOR OCTAL COMP 1,2,3 IN R1,R2,R3
+# 16 MONITOR DECIMAL IN R1 OR R1,R2 OR R1,R2,R3
+# 17 MONITOR DP DECIMAL IN R1,R2 (TEST ONLY)
+# 18
+# 19
+# 20
+# 21 LOAD COMPONENT 1 INTO R1
+# 22 LOAD COMPONENT 2 INTO R2
+# 23 LOAD COMPONENT 3 INTO R3
+# 24 LOAD COMPONENT 1,2 INTO R1,R2
+# 25 LOAD COMPONENT 1,2,3 INTO R1,R2,R3
+# 26
+# 27 DISPLAY FIXED MEMORY
+# 28
+# 29
+# 30 REQUEST EXECUTIVE
+# 31 REQUEST WAITLIST
+# 32 RECYCLE PROGRAM
+# 33 PROCEED WITHOUT DSKY INPUTS
+# 34 TERMINATE FUNCTION
+# 35 TEST LIGHTS
+# 36 REQUEST FRESH START
+# 37 CHANGE PROGRAM (MAJOR MODE)
+# 38
+# 39
+
+# Page 6
+
+# EXTENDED VERBS
+
+# 40 ZERO CDU'S
+# 41 COARSE ALIGN CDU'S
+# 42 FINE ALIGN IMU'S
+# 43 LOAD IMU ATT ERROR METERS
+# 44 SET SURFACE FLAG
+# 45 RESET SURFACE FLAG
+# 46 ESTABLISH G&C CONTROL
+# 47 MOVE LM STATE VECTOR INTO CM STATE VECTOR
+# 48 REQUEST DAP DATA LOAD ROUTINE (R03)
+# 49 REQUES CREW DEFINED MANEUVER ROUTINE (R62)
+# 50 PLEASE PERFORM
+# 51 PLEASE MARK
+# 52 MARK ON OFFSET LANDING SITE
+# 53 PLEASE PERFORM ALTERNATE LOS MARK
+# 54 REQUEST RENDEZVOUS BACKUP SIGHTING MARK ROUTIEN (R23)
+# 55 INCREMENT AGC TIME (DECIMAL)
+# 56 TERMINATE TRACKING (P20 & P25)
+# 57 REQUEST RENDEZVOUS SIGHTING MARK ROUTINE (R21)
+# 58 RESET STICK FLAG
+# 59 PLEASE CALIBRATE
+# 60 SET ASTRONAUT TOTAL ATTITUDE (N17) TO PRESENT ATTITUDE
+# 61 DISPLAY DAP ATTITUDE ERROR
+# 62 DISPLAY TOTAL ATTITUDE ERROR (W.R.T. N22 (THETAD))
+# 63 DISPLAY TOTAL ASTRONAUT ATTITUDE ERROR (W.R.T. N17 (CPHIX))
+# 64 REQUEST S-BAND ANTENNA ROUTINE
+# 65 OPTICAL VERIFICATION OF PRELAUNCH ALIGNMENT
+# 66 VEHICLES ARE ATTACHED. MOVE THIS VEHICLE STATE TO OTHER VEHICLE.
+# 67
+# 68 CSM STROKE TEST ON
+# 69 CAUSE RESTART
+# 70 UPDATE LIFTOFF TIME
+# 71 UNIVERSAL UPDATE - BLOCK ADR
+# 72 UNIVERSAL UPDATE - SINGLE ADR
+# 73 UPDATE AGC TIME (OCTAL)
+# 74 INITIALIZE ERASABLE DUMP VIA DOWNLINK
+# 75 BACKUP LIFTOFF
+# 76 SET PREFERRED ATTITUDE FLAG
+# 77 RESET PREFERRED ATTITUDE FLAG
+# 78 UPDATE PRELAUNCH AZIMUTH
+# 79 REQUEST LUNAR LANDMARK SELECTION ROUTINE (R35)
+# 80 UPDATE LEM STATE VECTOR
+# 81 UPDATE CSM STATE VECTOR
+# 82 REQUEST ORBIT PARAM DISPLAY (R30)
+# 83 REQUEST REND PARAM DISPLAY (R31)
+# 84 START TARGET DELTA V (R32)
+# 85 REQUEST RENDEZVOUS PARAMETER DISPLAY NO. 2 (R34)
+# 86 REJECT RENDEZVOUS BACKUP SIGHTING MARK
+# 87 SET VHF RANGE FLAG
+
+# Page 7
+
+# 88 RESET VHF RANGE FLAG
+# 89 REQUEST RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)
+# 90 REQUEST RENDEZVOUS OUT OF PLANE DISPLAY ROUTINE (R36)
+# 91 DISPLAY BANK SUM
+# 92 OPERATE IMU PERFORMANCE TEST (P07)
+# 93 ENABLE W MATRIX INITIALIZATION
+# 94 PERFORM SYSLUNAR ATTITUDE MANEUVER (P23)
+# 95 NO UPDATE OF EITHER STATE VECTOR (P20 OR P22)
+# 96 TERMINATE INTEGRATION AND GO TO P00
+# 97 PERFORM ENGINE FAIL PROCEDURE
+# 98 ENABLE TRANSLUNAR INJECT
+# 99 PLEASE ENABLE ENGINE
+
+# Page 8
+# IN THE FOLLOWING NOUN LIST THE 'NO LOAD' RESTRICTION MEANS THE NOUN
+# CONTAINS AT LEAST ONE COMONENT WHICH CANNOT BE LOADED, I.E. OF
+# SCALE TYPE L (MIN/SEC) OR PP (2 INTEGERS).
+
+# IN THIS CASE VERBS 24 AND 25 ARE NOT ALLOWED, BUT VERBS 21, 22, OR 23
+# MAY BE USED TO LOAD ANY O FTHE NOUN'S COMPONENTS WHICH ARE NOT OF THE
+# ABOVE SCALE TYPES.
+
+# THE 'DEC ONLY' RESTRICTION MEANS ONLY DECIMAL OPERATION IS ALLOWED ON
+# EVERY COMPONENT IN THENOUN. (NOT THAT 'NO LOAD' IMLIES 'DEC ONLY'.)
+
+# NORMAL NOUNS COMPONENTS SCALE & DECIMAL POINT RESTRICTION
+#
+# 00 NOT IN USE
+# 01 SPECIFY MACHINE ADDRESS (FRACTIONAL) 3COMP .XXXXX FOR EACH
+# 02 SPECIFY MACHINE ADDRESS (WHOLE) 3COMP XXXXX. FOR EACH
+# 03 SPECIFY MACHINE ADDRESS (DEGREES) 3COMP XXX.XX DEG FOR EACH
+# 04 SPARE
+# 05 ANGULAR ERROR/DIFFERENCE 1COMP XXX.XX DEG
+# 06 OPTION CODE 2COMP OCTAL ONLY FOR EACH
+# LOADING NOUN 07 WILL SET OR RESET SELECTED BITS IN ANY ERASABLE REGISTER.
+# 07 ECADR OF WORD TO BE MODIFIED 3COMP OCTAL ONLY FOR EACH
+# ONES FOR BITS TO BE MODIFIED
+# 1 TO SET OR 0 TO RESET SELECTED BITS
+# 08 ALARM DATA 3COMP OCTAL ONLY FOR EACH
+# 09 ALARM CODES 3COMP OCTAL ONLY FOR EACH
+# 10 CHANNEL TO BE SPECIFIED 1COMP OCTAL ONLY
+# 11 TIG OF CSI 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 12 OPTION CODE 2COMP OCTAL ONLY FOR EACH
+# (USED BY EXTENDED VERBS ONLY)
+# 13 TIG OF CDH 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 14 SPARE
+# 15 INCREMENT MACHINE ADDRESS 1COMP OCTAL ONLY
+# 16 TIME OF EVENT 3COMP 00XXX. HRS DEC ONLY
+# (USED BY EXTENDED VERBS ONLY) 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 17 ASTRONAUT TOTAL ATTITUDE 3COMP XXX.XX DEG FOR EACH
+# 18 AUTO MANEUVER BALL ANGLES 3COMP XXX.XX DEG FOR EACH
+# 19 BYPASS ATTITUDE TRIM MANEUVER 3COMP XXX.XX DEG FOR EACH
+# 20 ICDU ANGLES 3COMP XXX.XX DEG FOR EACH
+# 21 PIPAS 3COMP XXXXX. PULSES FOR EACH
+# 22 NEW ICDU ANGLES 3COMP XXX.XX DEG FOR EACH
+# 23 SPARE
+# 24 DELTA TIME FOR AGC CLOCK 3COMP 00XXX. HRS. DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 25 CHECKLIST 3COMP XXXXX. FOR EACH
+# (USED WITH PLEASE PERFORM ONLY)
+
+# Page 9
+
+# 26 PRIORITY/DELAY, ADRES, BBCON 3COMP OCTAL ONLY FOR EACH
+# 27 SELF TEST ON/OFF SWITCH 1COMP XXXXX.
+# 28 SPARE
+# 29 XSM LAUNCH AZIMUTH 1COMP XXX.XX DEG DEC ONLY
+
+# Page 10
+
+# 30 TARGET CODES 3COMP XXXXX. FOR EACH
+# 31 TIME OF LANDING SITE 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 32 TIME FROM PERIGEE 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 33 TIME OF IGNITION 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 34 TIME OF EVENT 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 35 TIME FROM EVENT 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 36 TIME OF AGC CLOCK 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 37 TIG OF TPI 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 38 TIME OF STATE VECTOR 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+# 39 DELTA TIME FOR TRANSFER 3COMP 00XXX. HRS DEC ONLY
+# 000XX. MIN MUST LOAD 3 COMPS
+# 0XX.XX SEC
+
+# Page 11
+
+# MIXED NOUNS COMPONENTS SCALE & DECIMAL POINT RESTRICTION
+#
+# 40 TIME FROM IGNITION/CUTOFF 3COMP XXBXX MIN/SEC NO LOAD, DEC ONLY
+# VG XXXX.X FT/SEC
+# DELTA V (ACCUMULATED) XXXX.X FT/SEC
+# 41 TARGET AZIMUTH 2COMP XXX.XX DEG
+# ELEVATION XX.XXX DEG
+# 42 APOGEE 3COMP XXXX.X NAUT MI DEC ONLY
+# PERIGEE XXXX.X NAUT MI
+# DELTA V (REQUIRED) XXXX.X FT/SEC
+# 43 LATITUDE 3COMP XXX.XX DEG DEC ONLY
+# LONGITUDE XXX.XX DEG
+# ALTITUDE XXXX.X NAUT MI
+# 44 APOGEE 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
+# PERIGEE XXXX.X NAUT MI
+# TFF XXBXX MIN/SEC
+# 45 MARKS (VHF - OPTICS) 3COMP +XXBXX NO LOAD, DEC ONLY
+# TFI OF NEXT BURN XXBXX MIN/SEC
+# MGA XXX.XX DEG
+# 46 AUTOPILOT CONFIGURATION 2COMP OCTAL ONLY FOR EACH
+# 47 THIS VEHICLE WEIGHT 2COMP XXXXX. LBS DEC ONLY
+# OTHER VEHICLE WEIGHT XXXXX. LBS
+# 48 PITCH TRIM 2COMP XXX.XX DEG DEC ONLY
+# YAW TRIM XXX.XX DEG
+# 49 DELTA R 3COMP XXXX.X NAUT MI DEC ONLY
+# DELTA V XXXX.X FT/SEC
+# VHF OR OPTICS CODE XXXXX.
+# 50 SPLASH ERROR 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
+# PERIGEE XXXX.X NAUT MI
+# TFF XXBXX MIN/SEC
+# 51 S-BAND ANTENNA ANGLES PITCH 2COMP XXX.XX DEG DEC ONLY
+# YAW XXX.XX DEG
+# 52 CENTRAL ANGLE OF ACTIVE VEHICLE 1COMP XXX.XX DEG
+# 53 RANGE 3COMP XXX.XX NAUT MI DEC ONLY
+# RANGE RATE XXXX.X FT/SEC
+# PHI XXX.X DEG
+# 54 RANGE 3COMP XXX.XX NAUT MI DEC ONLY
+# RANGE RATE XXXX.X FT/SEC
+# THETA XXX.XX DEG
+# 55 PERIGEE CODE 3COMP XXXXX. DEC ONLY
+# ELEVATION ANGLE XXX.XX DEG
+# CENTRAL ANGLE OF PASSIVE VEHICLE XXX.XX DEG
+# 56 REENTRY ANGLE 2COMP XXX.XX DEG DEC ONLY
+# DELTA V XXXXX. FT/SEC
+# 57 DELTA R 1COMP XXXX.X NAUT MI DEC ONLY
+# 58 PERIGEE ALT (POST TPI) 3COMP XXXX.X NAUT MI DEC ONLY
+# DELTA V TPI XXXX.X FT/SEC
+# DELTA V TPF XXXX.X FT/SEC
+# 59 DELTA VELOCITY LOS 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
+# 60 GMAX 3COMP XXX.XX G DEC ONLY
+
+# Page 12
+
+# VPRED XXXXX. FT/SEC
+# GAMMA EI XXX.XX DEG
+# 61 IMPACT LATITUDE 3COMP XXX.XX DEG DEC ONLY
+# IMPACT LONGITUDE XXX.XX DEG
+# HEADS UP/DOWN +/- 00001
+# 62 INERTIAL VEL MAG (VI) 3COMP XXXXX. FT/SEC DEC ONLY
+# ALT RATE CHANGE (HDOT) XXXXX. FT/SEC
+# ALT ABOVE PAD RADIUS (H) XXXX.X NAUT MI
+# 63 RANGE 297,431 TO SPLASH (RTGO) 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
+# PREDICTED INERT VEL (VIO) XXXXX. FT/SEC
+# TIME FROM 297,431 (TFE) XXBXX MIN/SEC
+# 64 DRAG ACCELERATION 3COMP XXX.XX G DEC ONLY
+# INERTIAL VELOCITY (VI) XXXXX. FT/SEC
+# RANGE TO SPLASH XXXX.X NAUT MI
+# 65 SAMPLED AGC TIME 3COMP 00XXX. HRS DEC ONLY
+# (FETCHED IN INTERRUPT) 000XX. MIN
+# 0XX.XX SEC
+# 66 COMMAND BANK ANGLE (BETA) 3COMP XXX.XX DEG DEC ONLY
+# CROSS RANGE ERROR XXXX.X NAUT MI
+# DOWN RANGE ERROR XXXX.X NAUT MI
+# 67 RANGE TO TARGET 3COMP XXXX.X NAUT MI DEC ONLY
+# PRESENT LATITUDE XXX.XX DEG
+# PRESENT LONGITUDE XXX.XX DEG
+# 68 COMMAND BANK ANGLE (BETA) 3COMP XXX.XX DEG DEC ONLY
+# INERTIAL VELOCITY (VI) XXXXX. FT/SEC
+# ALT RATE CHANGE (RDOT) XXXXX. FT/SEC
+# 69 BETA 3COMP XXX.XX DEG
+# DL XXX.XX G
+# VL XXXXX. FT/SEC
+# 70 STAR CODE 3COMP OCTAL ONLY
+# LANDMARK DATA OCTAL ONLY
+# HORIZON DATA OCTAL ONLY
+# 71 STAR CODE 3COMP OCTAL ONLY
+# LANDMARK DATA OCTAL ONLY
+# HORIZON DATA OCTAL ONLY
+# 72 DELT ANG 3COMP XXX.XX DEG DEC ONLY
+# 73 ALTITUDE 3COMP XXXXXB. NAUT MI
+# VELOCITY XXXXX. FT/SEC
+# FLIGHT PATH ANGLE XXX.XX DEG
+# 74 COMMAND BANK ANGLE (BETA) 3COMP XXX.XX DEG
+# INERTIAL VELOCITY (VI) XXXXX. FT/SEC
+# DRAG ACCELERATION XXX.XX G
+# 75 DELTA ALTITUDE CDH 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
+# DELTA TIME (CDH-CSI OR TPI-CDH) XXBXX MIN/SEC
+# DELTA TIME (TPI-CDH OR TPI-NOMTPI) XXBXX MIN/SEC
+# 76 SPARE
+# 77 SPARE
+# 78 SPARE
+# 79 SPARE
+# 80 TIME FROM IGNITION/CUTOFF 3COMP XXBXX MIN/SEC NO LOAD, DEC ONLY
+
+# Page 13
+
+# VG XXXXX. FT/SEC
+# DELTA V (ACCUMULATED) XXXXX. FT/SEC
+# 81 DELTA V (LV) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
+# 82 DELTA V (LV) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
+# 83 DELTA V (BODY) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
+# 84 DELTA V (OTHER VEHICLE) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
+# 85 VG (BODY) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
+# 86 DELTA V (LV) 3COMP XXXXX. FT/SEC FOR EACH DEC ONLY
+# 87 MARK DATA SHAFT 2COMP XXX.XX DEG
+# TRUNION XX.XXX DEG
+# 88 HALF UNIT SUN OR PLANET VECTOR 3COMP .XXXXX FOR EACH DEC ONLY
+# 89 LANDMARK LATITUDE 3COMP XX.XXX DEG DEC ONLY
+# LONGITUDE/2 XX.XXX DEG
+# ALTITUDE XXX.XX NAUT MI
+# 90 Y 3COMP XXX.XX NM DEC ONLY
+# Y DOT XXXX.X FPS
+# PSI XXX.XX DEG
+# 91 OCDU ANGLES SHAFT 2COMP XXX.XX DEG
+# TRUNION XX.XXX DEG
+# 92 NEW OPTICS ANGLES SHAFT 2COMP XXX.XX DEG
+# TRUNON XX.XXX DEG
+# 93 DELTA GYRO ANGLES 3COMP XX.XXX DEG FOR EACH
+# 94 NEW OPTICS ANGLES SHAFT 2COMP XXX.XX DEG
+# TRUNION XX.XXX DEG
+# 95 PREFERRED ATTITUDE ICDU ANGLES 3COMP XXX.XX FOR EACH
+# 96 +X-AXIS ATTITUDE ICDU ANGLES 3COMP XXX.XX DEG FOR EACH
+# 97 SYSTEM TEST INPUTS 3COMP XXXXX. FOR EACH
+# 98 SYSTEM TEST RESULTS AND INPUTS 3COMP XXXXX.
+# .XXXXX
+# XXXXX.
+# 99 RMS IN POSITION 3COMP XXX.XX NAUT MI DEC ONLY
+# RMS IN VELOCITY XXXX.X FT/SEC
+# RMS OPTION XXXXX.
+
+# Page 14
+
+# REGISTERS AND SCALING FOR NORMAL NOUNS
+#
+# NOUN REGISTER SCALE TYPE
+#
+# 00 NOT IN USE
+# 01 SPECIFY ADDRESS H
+# 02 SPECIFY ADDRESS C
+# 03 SPECIFY ADDRESS D
+# 04 SPARE
+# 05 DSPTEM1 H
+# 06 OPTION1 A
+# 07 XREG A
+# 08 ALMCADR A
+# 09 FAILREG A
+# 10 SPECIFY CHANNEL A
+# 11 TCSI K
+# 12 OPTIONX A
+# 13 TCDH K
+# 14 SPARE
+# 15 INCREMENT ADDRESS A
+# 16 DSPTEMX C
+# 17 CPHIX D
+# 18 THETAD D
+# 19 THETAD D
+# 20 CDUX D
+# 21 PIPAX C
+# 22 THETAD D
+# 23 SPARE
+# 24 DSPTEM2 +1 K
+# 25 DSPTEM1 C
+# 26 DSPTEM1 A
+# 27 SMODE C
+# 28 SPARE
+# 29 DSPTEM1 D
+# 30 DSPTEM1 C
+# 31 DSPTEM1 K
+# 32 -TPER K
+# 33 TIG K
+# 34 DSPTEM1 K
+# 35 TTOGO K
+# 36 TIME2 K
+# 37 TTP1 K
+# 38 TET K
+# 39 T3TOT4 K
+
+# Page 15
+
+# REGISTERS AND SCALING FOR MIXED NOUNS
+#
+# NOUN COMP REGISTER SCALE TYPE
+#
+# 40 1 TTOGO L
+# 2 VGDISP S
+# 3 DVTOTAL S
+# 41 1 DSPTEM1 D
+# 2 DSPTEM1 +1 E
+# 42 1 HAPO Q
+# 2 HPER Q
+# 3 VGDISP S
+# 43 1 LAT H
+# 2 LONG H
+# 3 ALT Q
+# 44 1 HAPOX Q
+# 2 HPERX Q
+# 3 TFF L
+# 45 1 VHFCNT PP
+# 2 TTOGO L
+# 3 +MGA H
+# 46 1 DAPDATR1 A
+# 2 DAPDATR2 A
+# 47 1 CSMMASS KK
+# 2 LEMMASS KK
+# 48 1 PACTOFF FF
+# 2 YACTOFF FF
+# 49 1 N49DISP Q
+# 2 N49DISP +2 S
+# 3 N49DISP +4 C
+# 50 1 RSP-RREC LL
+# 2 HPERX Q
+# 3 TFF L
+# 51 1 RHOSB H
+# 2 GAMMASB H
+# 52 1 ACTCENT H
+# 53 1 RANGE JJ
+# 2 RRATE S
+# 3 RTHETA H
+# 54 1 RANGE JJ
+# 2 RRATE S
+# 3 RTHETA H
+# 55 1 NN1 C
+# 2 ELEV H
+# 3 CENTANG H
+# 56 1 RTEGAM2D H
+# 2 RTEDVD P
+# 57 1 DELTAR Q
+# 58 1 POSTTPI Q
+# 2 DELVTPI S
+
+# Page 16
+
+# 3 DELVTPF S
+# 59 1 DVLOS S
+# 2 DVLOS +2 S
+# 3 DVLOS +4 S
+# 60 1 GMAX T
+# 2 VPRED P
+# 3 GAMMAEI H
+# 61 1 LAT (SPL) H
+# 2 LNG (SPL) H
+# 3 HEADSUP C
+# 62 1 VMAGI P
+# 2 HDOT P
+# 3 ALTI Q
+# 63 1 RTGO LL
+# 2 VIO P
+# 3 TTE L
+# 64 1 D MM
+# 2 VMAGI P
+# 3 RTGON64 LL
+# 65 1 SAMPTIME K
+# 2 SAMPTIME K
+# 3 SAMPTIME K
+# 66 1 ROLLC H
+# 2 XRNGERR VV
+# 3 DNRNGERR LL
+# 67 1 RTGON67 LL
+# 2 LAT H
+# 3 LONG H
+# 68 1 ROLLC H
+# 2 VMAGI P
+# 3 RDOT UU
+# 69 1 ROLLC H
+# 2 Q7 MM
+# 3 VL UU
+# 70 1 STARCODE A
+# 2 LANDMARK A
+# 3 HORIZON A
+# 71 1 STARCODE A
+# 2 LANDMARK A
+# 3 HORIZON A
+# 72 1 THETZERO H
+# 73 1 P21ALT Q (MEMORY/100 TO DISPLAY TENS N.M.)
+# 2 P21VEL P
+# 3 P21GAM H
+# 74 1 ROLLC H
+# 2 VMAGI P
+# 3 D MM
+# 75 1 DIFFALT Q
+# 2 T1TOT2 L
+# 3 T2TOT3 L
+
+# Page 17
+
+# 76 SPARE
+# 77 SPARE
+# 78 SPARE
+# 79 SPARE
+# 80 1 TTOGO L
+# 2 VGDISP P
+# 3 DVTOTAL P
+# 81 1 DELVLVC S
+# 2 DELVLVC +2 S
+# 3 DELVLVC +4 S
+# 82 1 DELVLVC S
+# 2 DELVLVC +2 S
+# 3 DELVLVC +4 S
+# 83 1 DELVIMU S
+# 2 DELVIMU +2 S
+# 3 DELVIMU +4 S
+# 84 1 DELVOV S
+# 2 DELVOV +2 S
+# 3 DELVOV +4 S
+# 85 1 VGBODY S
+# 2 VGBODY +2 S
+# 3 VGBODY +4 S
+# 86 1 DELVLVC P
+# 2 DELVLVC +2 P
+# 3 DELVLVC +4 P
+# 87 1 MRKBUF1 +3 D
+# 2 MRKBUF1 +5 J
+# 88 1 STARSAV ZZ
+# 2 STARSAV +2 ZZ
+# 3 STARSAV +4 ZZ
+# 89 1 LANDLAT G
+# 2 LANDLONG G
+# 3 LANDALT JJ
+# 90 1 RANGE JJ
+# 2 RRATE S
+# 3 RTHETA H
+# 91 1 CDUS D
+# 2 CDUT J
+# 92 1 SAC D
+# 2 PAC J
+# 93 1 OGC G
+# 2 OGC +2 G
+# 3 OGC +4 G
+# 94 1 MRKBUF1 +3 D
+# 2 MRKBUF1 +5 J
+# 95 1 PRAXIS D
+# 2 PRAXIS +1 D
+# 3 PRAXIS +2 D
+# 96 1 CPHIX D
+# 2 CPHIX +1 D
+
+# Page 18
+
+# 3 CPHIX +2 D
+# 97 1 DSPTEM1 C
+# 2 DSPTEM1 +1 C
+# 3 DSPTEM1 +2 C
+# 98 1 DSPTEM2 C
+# 2 DSPTEM2 +1 B
+# 3 DSPTEM2 +2 C
+# 99 1 WWPOS XX
+# 2 WWVEL YY
+# 3 WWOPT C
+
+# Page 19
+
+# NOUN SCALES AND FORMATS
+#
+# -SCALE TYPE- PRECISION
+# UNITS DECIMAL FORMAT -- AGC FORMAT
+# ------------ -------------- -- ----------
+#
+# -A-
+# OCTAL XXXXX SP OCTAL
+#
+# -B- -14
+# FRACTIONAL .XXXXX SP BIT 1 = 2 UNITS
+# (MAX .99996)
+#
+# -C-
+# WHOLE XXXXX. SP BIT 1 = 1 UNIT
+# (MAX 16383.)
+#
+# -D- 15
+# CDU DEGREES XXX.XX DEGREES SP BIT 1 = 360/2 DEGREES
+# (MAX 359.99) (USES 15 BITS FOR MAGNI-
+# TUDE AND 2'S COMP.)
+#
+# -E- 14
+# ELEVATION DEGREES XX.XXX DEGREES SP BIT 1 = 90/2 DEGREES
+# (MAX 89.999)
+#
+# -F- 14
+# DEGREES (180) XXX.XX DEGREES SP BIT 1 = 180/2 DEGREES
+# (MAX 179.99)
+#
+# -G-
+# DP DEGREES (90) XX.XXX DEGREES DP BIT 1 OF LOW REGISTER =
+# 28
+# 360/2 DEGREES
+#
+# -H-
+# DP DEGREES (360) XXX.XX DEGREES DP BIT 1 OF LOW REGISTER =
+# (MAX 359.99) 28
+# 360/2 DEGREES
+#
+# -J- 15
+# Y OPTICS DEGREES XX.XXX DEGREES SP BIT 1 = 90/2 DEGREES
+# (BIAS OF 19.775 (USES 15 BITS FOR MAGNI-
+# DEGREES ADDED FOR TUDE AND S'S COMP.)
+# DISPLAY, SUBTRACTED
+# FOR LOAD.)
+# NOTE: NEGATIVE NUM-
+# BERS CANNOT BE
+# LOADED.
+#
+# -K-
+
+# Page 20
+
+# TIME (HR, MIN, SEC) 00XXX. HR DP BIT 1 OF LOW REGISTER =
+# 000XX. MIN -2
+# 0XX.XX SEC 10 SEC
+# (DECIMAL ONLY.
+# MAX MIN COMP = 59
+# MAX SEC COMP = 59.99
+# MAX CAPACITY = 745 HRS
+# 39 MINS
+# 14.55 SECS.
+# WHEN LOADING, ALL 3
+# COMPONENTS MUST BE
+# SUPPLIED.)
+#
+# -L-
+# TIME (MIN/SEC) XXBXX MIN/SEC DP BIT 1 OF LOW REGISTER =
+# (B IS A BLANK -2
+# POSITION, DECIMAL 10 SEC
+# ONLY, DISPLAY OR
+# MONITOR ONLY. CANNOT
+# BE LOADED.
+# MAX MIN COMP = 59
+# MAX SEC COMP = 59
+# VALUES GREATER THAN
+# 59 MIN 59 SEC
+# ARE DISPLAYED AS
+# 59 MIN 59 SEC.)
+#
+# -M- -2
+# TIME (SEC) XXX.XX SEC SP BIT 1 = 10 SEC
+# (MAX 163.83)
+#
+# -N-
+# TIME (SEC) DP XXX.XX SEC DP BIT 1 OF LOW REGISTER =
+# -2
+# 10 SEC
+#
+# -P-
+# VELOCITY 2 XXXXX. FEET/SEC DP BIT 1 OF HIGH REGISTER =
+# (MAX 41994.) -7
+# 2 METERS/CENTI-SEC
+#
+# -Q-
+# POSITION 4 XXXX.XX NAUTICAL MILES DP BIT 1 OF LOW REGISTER =
+# 2 METERS.
+#
+# -S-
+# VELOCITY 3 XXXX.X FT/SEC DP BIT 1 OF HIGH REGISTER =
+# -7
+# 2 METERS/CENTI-SEC
+
+# Page 21
+
+# -T- -2
+# G XXX.XX G SP BIT 1 = 10 G
+# (MAX 163.83)
+#
+# -FF-
+# TRIM DEGREES XXX.XX DEG. SP LOW ORDER BIT = 85.41 SEC
+# (MAX 388.69) OF ARC
+#
+# -GG-
+# INERTIA XXXXXBB. SLUG FT SQ SP FRACTIONAL PART OF
+# (MAX 07733BB.) 20 2
+# 2 KG M
+#
+# -II- 20
+# THRUST MOMENT XXXXXBB. FT LBS SP FRACTIONAL PART OF 2
+# (MAX 07733BB.) NEWTON METER
+#
+# -JJ-
+# POSITION5 XXX.XX NAUT MI DP BIT 1 OF LOW REGISTER =
+# 2 METERS
+#
+# -KK- 16
+# WEIGHT2 XXXXX. LBS SP FRACTIONAL PART OF 2 KG
+#
+# -LL-
+# POSITION6 XXXX.X NAUT MI DP BIT 1 OF LOW REG =
+# -28
+# (6,373,338)(2(PI))x2
+# -----------------------
+# 1852
+# NAUT MI.
+#
+# -MM-
+# DRAG ACCELERATION XXX.XX G DP BIT 1 OF LOW REGISTER =
+# MAX (024.99) -28
+# 25x2 G
+#
+# -PP-
+# 2 INTEGERS +XXBYY DP BIT 1 OF HIGH REGISTER =
+# (B IS A BLANK 1 UNIT OF XX
+# POSITION. DECIMAL BIT 1 OF LOW REGISTER =
+# ONLY, DISPLAY, OR 1 UNIT OF YY
+# MONITOR ONLY. CANNOT (EACH REGISTER MUST
+# BE LOADED.) LESS THAN 100.)
+# (MAX 99B99)
+#
+# -UU-
+# VELOCITY/2VS XXXXX. FEET/SEC DP FRACTIONAL PART OF
+# (MAX 51532.) 2VS FEET/SEC
+# (VS = 25766.1973)
+
+# Page 22
+
+# -VV-
+# POSITION8 XXXX.X NAUT MI DP BIT 1 OF LOW REGISTER =
+# -28
+# 4 x 6,373,338 x 2
+# --------------------
+# 1852
+# NAUT MI.
+#
+# -XX-
+# POSITION 9 XXX.XX NAUT MI DP BIT 1 OF LOW REGISTER =
+# (MAX 283.09) -9
+# 2 METERS.
+#
+# -YY-
+# VELOCITY 4 XXXX.X FEET/SEC DP FRACTIONAL PART OF
+# (MAX 328.0) METERS/CENTI-SEC
+#
+# -ZZ-
+# DP FRACTIONAL .XXXXX DP BIT 1 OF HIGH REGISTER =
+# -14
+# 2 UNITS
+
+
+# THAT'S ALL ON THE NOUNS.
+
+# Page 23
+
+# ALARM CODES FOR 504
+
+# REPORT DEFICIENCIES TO JOHN SUTHERLAND: MIT 617-864-6900 X1458
+
+# *9 *18 *60 *25 COLUMN
+#
+# CODE * TYPE SET BY ALARM ROUTINE
+#
+# 00110 NO MARK SINCE LAST MARK REJECT SXTMARK ALARM
+# 00112 MARK NOT BEING ACCEPTED SXTMARK ALARM
+# 00113 NO NBITS SXTMARK ALARM
+# 00114 MARK MADE BUT NOT DESIRED SXTMARK ALARM
+# 00115 OPTICS TORQUE REQUEST WITH SWITCH NOT AT EXT VERB OPTICS CDU ALARM
+# CGC
+# 00116 OPTICS SWITCH ALTERED BEFORE 15 SEC ZERO T4RUPT ALARM
+# TIME ELAPSED.
+# 00117 OPTICS TORQUE REQUEST WITH OPTICS NOT EXT VERB OPTICS CDU ALARM
+# AVAILABLE (OPTIND=-0)
+# 00120 OPTICS TORQUE REQUEST WITH OPTICS T4RUPT ALARM
+# NOT ZEROED.
+# 00121 CDUS NO GOOD AT TIME OF MARK SXTMARK ALARM
+# 00122 MARKING NOT CALLED FOR SXTMARK ALARM
+# 00124 P17 TPI SEARCH - NO SAFE PERICTR HERE. TPI SEARCH ALARM
+# 00205 BAD PIPA READING SERVICER ALARM
+# 00206 ZERO ENCODE NOT ALLOWED WITH COARSE ALIGN IMU MODE SWITCHING ALARM
+# + GIMBAL LOCK.
+# 00207 ISS TURNON REQUEST NOT PRESENT FOR 90 SEC T4RUPT ALARM
+# 00210 IMU NOT OPERATING IMU MODE SWITCH, ALARM, VARALARM
+# IMU-2, R02, P51
+# 00211 COARSE ALIGN ERROR - DRIVE > 2 DEGREES IMU MODE SWITCH ALARM
+# 00212 PIPA FAIL BUT PIPA IS NOT BEING USED IMU MODE SWITCH, T4RUPT ALARM
+# 00213 IMU NOT OPERATING WITH TURN-ON REQUEST T4RUPT ALARM
+# 00214 PROGRAM USING IMU WHEN TURNED OFF T4RUPT ALARM
+# 00215 PREFERRED ORIENTATION NOT SPECIFIED P52,P54 ALARM
+# 00217 BAD RETURN FROM STALL ROUTINES CURTAINS ALARM2
+# 00220 IMU NOT ALIGNED - NO REFSMMAT R02,P51 VARALARM
+# 00401 DESIRED GIMBAL ANGLES YIELD GIMBAL LOCK IMF ALIGN, IMU-2 ALARM
+# 00404 TARGET OUT OF VIEW - TRUN ANGLE > 90 DEG R52 PRIOLARM
+# 00405 TWO STARS NOT AVAILABLE P52,P54 ALARM
+# 00406 REND NAVIGATION NOT OPERATING P21,R23 ALARM
+# 00407 AUTO OPTICS REQUEST TRUN ANGLE > 50 DEG. R52 ALARM
+# 00421 W-MATRIX OVERFLOW INTEGRV ALARM
+# 00430 * INTEG. ABORT DUE TO SUBSURFACE S. V. ALL CALLS TO INTEG POODOO
+# 00600 IMAGINARY ROOTS ON FIRST ITERATION P32, P72 VARALARM
+# 00601 PERIGEE ALTITUDE LT PMIN1 P32,P72 VARALARM
+# 00602 PERIGEE ALTITUDE LT PMIN2 P32,P72 VARALARM
+# 00603 CSI TO CDH TIME LT PMIN22 P32,P72,P33,P73 VARALARM
+# 00604 CDH TO TPI TIME LT PMIN23 P32,P72 VARALARM
+# 00605 NUMBER OF ITERATIONS EXCEEDS LOOP MAXIMUM P32,P72,P37 VARALARM
+# 00606 DV EXCEEDS MAXIMUM P32,P72 VARALARM
+# 00607 * NO SOLN FROM TIME-THETA OR TIME-RADIUS TIMETHET,TIMERAD POODOO
+
+# Page 24
+
+# 00610 * LAMBDA LESS THAN UNITY P37 POODOO
+# 00611 NO TIG FOR GIVEN ELEV ANGLE P34,P74 VARALARM
+# 00612 STATE VECTOR IN WRONG SPHERE OF INFLUENCE P37 VARALARM
+# 00613 REENTRY ANGLE OUT OF LIMITS P37 VARALARM
+# 00777 PIPA FAIL CAUSED ISS WARNING. T4RUPT VARALARM
+# 01102 CMC SELF TEST ERROR ALARM2
+# 01103 * UNUSED CCS BRANCH EXECUTED ABORT ALARM2
+# 01104 * DELAY ROUTINE BUSY EXEC BAILOUT
+# 01105 DOWNLINK TOO FAST T4RUPT ALARM
+# 01106 UPLINK TOO FAST T4RUPT ALARM
+# 01107 PHASE TABLE FAILURE. ASSUME RESATRT ALARM
+# ERASABLE MEMORY IS DESTROYED
+# 01201 * EXECUTIVE OVERFLOW - NO VAC AREAS EXEC BAILOUT
+# 01202 * EXECUTIVE OVERFLOW - NO CORE SETS EXEC BAILOUT
+# 01203 * WAITLIST OVERFLOW - TOO MANY TASKS WAITLIST BAILOUT
+# 01204 * NEGATIVE OR ZERO WAITLIST CALL WAITLIST POODOO
+# 01206 * SECOND JOB ATTEMPTS TO GO TO SLEEP PINBALL P00DOO
+# VIA KEYBOARD AND DISPLAY PROGRAM
+# 01207 * NO VAC AREA FOR MARKS SXTMARK BAILOUT
+# 01210 * TWO PROGRAMS USING DEVICE AT SAME TIME IMU MODE SWITCH P00DOO
+# 01211 * ILLEGAL INTERRUPT OF EXTENDED VERB SXTMARK BAILOUT
+# 01301 ARCSIN-ARCCOS ARGUMENT TOO LARGE INTERPRETER ALARM
+# 01302 * SQRT CALLED WITH NEGATIVE ARGUMENT. ABORT. INTERPRETER P00DOO
+# 01407 VG INCREASING S40.8 ALARM
+# 01426 IMU UNSATISFACTORY P61,P62 ALARM
+# 01427 IMU REVERSED P61,P62 ALARM
+# 01501 * KEYBOARD AND DISPLAY ALARM DURING PINBALL P00DOO
+# INTERNAL USE (NVSUB). ABORT.
+# 01502 * ILLEGAL FLASHING DISPLAY GOPLAY P00DOO
+# 01520 V37 REQUEST NOT PERMITTED AT THIS TIME V37 ALARM
+# 01521 * P01 ILLEGALLY SELECTED P01, P07 POODOO
+# 01600 OVERFLOW IN DRIFT TEST OPT PRE ALIGN CALIB ALARM
+# 01601 * BAD IMU TORQUE - ABORT. OPT PRE ALIGN CALIB ALARM
+# 01602 BAD OPTICS DURING VERIFICATION OPTALGN CALIB (CSM) ALARM
+# 01703 INSUF. TIME FOR INTEG., TIG WAS SLIPPED R41 ALARM
+# 03777 ICDU FAIL CAUSED THE ISS WARNING T4RUPT VARALARM
+# 04777 ICDU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT VARALARM
+# 07777 IMU FAIL CAUSED THE ISS WARNING T4RUPT VARALARM
+# 10777 IMU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT VARALARM
+# 13777 IMU, ICDU FAILS CAUSED THE ISS WARNING T4RUPT VARALARM
+# 14777 IMU, ICDU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT VARALARM
+#
+# * INDICATES ABORT TYPE. ALL OTHERS ARE NON-ABORTIVE
+
+# Page 25
+
+# CHECKLIST CODES FOR 504
+
+# PLEASE REPORT ANY DEFICIENCIES IN THIS LIST TO JOHN SUTHERLAND.
+
+# *9 *17 *26 COLUMN
+#
+# R1 CODE ACTION TO BE EFFECTED
+#
+# 00014 KEY IN FINE ALIGNMENT OPTION
+# 00015 PERFORM CELESTIAL BODY ACQUISITION
+# 00016 KEY IN TERMINATE MARK SEQUENCE
+# 00041 SWITCH CM/SM SEPARATION TO UP
+# 00062 SWITCH AGC POWER DOWN
+# 00202 PERFORM GNCS AUTOMATIC MANEUVER
+# 00203 SWITCH TO CMC-AUTO
+# 00204 PERFORM SPS GIMBAL TRIM
+# 00403 SWITCH OPTICS TO MANUAL OR ZERO
+#
+# SWITCH DENOTES CHANGE OF POSITION OF A CONSOLE SWITCH
+# PERFORM DENOTES START OF END OF A TASK
+# KEY IN DENOTES KEY IN OF DATA THRU THE DSKY
+
+# Page 26
+
+# OPTION CODES FOR 504
+
+# PLEASE REPORT ANY DEFICIENCIES IN THIS LIST TO JOHN SUTHERLAND.
+
+# THE SPECIFIED OPTION CODES WILL BE FLASHED IN COMPONENT R1 IN
+# CONJUNCTION WITH VERB04NOUN06 TO REQUEST THE ASTRONAUT TO LOAD INTO
+# COMPONENT R2 THE OPTION HE DESIRES.
+
+# *9 *17 #52 #11 #25 COLUMNN
+#
+# OPTION
+# CODE PURPOSE INPUT FOR COMPONENT 2 PROGRAM(S) APPLICABILITY
+#
+# 00001 SPECIFY IMU ORIENTATION 1=PREF 2=NOM 3=REFSMMAT P50'S ALL
+# 00002 SPECIFY VEHICLE 1=THIS 2=OTHER P21,R30 ALL
+# 00003 SPECIFY TRACKING ATTITUDE 1=PREFERRED 2=OTHER R63 ALL
+# 00004 SPECIFY RADAR 1=RR 2=LR R04 SUNDANCE + LUMINARY
+# 00005 SPECIFY SOR PHASE 1=FIRST 2=SECOND P38 COLOSSUS + LUMINARY
+# 00006 SPECIFY RR COARSE ALIGN OPTION 1=LOCKON 2=CONTINUOUS DESIG. V41N72 SUNDANCE + LUMINARY
+# 00007 SPECIFY PROPULSION SYSTEM 1=SPS 2=RCS P37 COLOSSUS
+# 00010 SPECIFY ALIGNEMENT MODE 0=ANY TIME 1=REFSMMAT + G P57 LUMINARY
+# 2=TWO BODIES 3=ONE BODY + G
+# 00011 SPEC. SEPARATION MONITOR PHASE 1=DELTAV 2=STATE VECTOR UPDATE P46 LUMINARY
+# 00012 SPECIFY CSM ORBIT OPTION 1=NO ORBIT CHANGE 2=CHANGE P22 LUMINARY
+# ORBIT TO PASS OVER LM
+
diff --git a/ATTITUDE_MANEUVER_ROUTINE.s b/ATTITUDE_MANEUVER_ROUTINE.s
new file mode 100644
index 0000000..ac4a0d2
--- /dev/null
+++ b/ATTITUDE_MANEUVER_ROUTINE.s
@@ -0,0 +1,1027 @@
+# Copyright: Public domain.
+# Filename: ATTITUDE_MANEUVER_ROUTINE.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 342-363
+# Mod history: 2009-05-16 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 342
+# BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU
+#
+# MOD 2 DATE 5/1/67 BY DON KEENE
+#
+# PROGRAM DESCRIPTION
+#
+# KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
+# DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
+# ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE
+# MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT
+# SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
+#
+# CPHI = COMMANDED OUTER GIMBAL ANGLE
+# CTHETA = COMMANDED INNER GIMBAL ANGLE
+# CPSI = COMMANDED MIDDLE GIMBAL ANGLE
+#
+# WHEN POINTING A SPACECRAFT AXIS (I.E., X, Y, Z, THE AOT, THRUST AXIS, ETC.) THE SUBROUTINE VECPOINT MAY BE
+# USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60).
+#
+# WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALEN ROTATION (COF ALSO U) AND THE
+# MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
+# THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
+# _
+# MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
+# _
+# THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
+# LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
+# NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
+#
+# FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
+# KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
+# EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
+# THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
+# AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
+# _
+# BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
+#
+# AUTOMATIC MANEUVERS ARE TIMED WTH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
+# DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
+# ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS
+# CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
+# IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW
+# MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
+# RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
+# DESIRED GIMBAL ANGLES.
+#
+# PROGRAM LOGIC FLOW
+#
+# KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS
+# UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
+# Page 343
+# IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
+# * * *
+# MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE
+# ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TEST ARE MADE TO DETERMINE IF
+#
+# A) AM LESS THAN .25 DEGREES (MINANG)
+# B) AM GREATER THAN 170 DEGREES (MAXANG)
+#
+# IF AM IS LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THREFORE, WE CAN SIMPLY
+# SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
+#
+# IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES THE AXES OF THE SINGLE EQUIVALENT ROTATION
+# _ *
+# (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI.
+# * *
+# IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
+# _
+# TO DETERMINE COF.
+#
+# THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF
+# SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS
+# METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL
+# P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
+# YAW.
+#
+# AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
+# _
+# SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW
+# DESIRED REFERENCE MATRIX IS THEN,
+# * * *
+# MIS = MIS DEL
+# N+1 N
+# *
+# WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED
+# *
+# FROM MIS.
+#
+# AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
+# MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
+# ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS
+# (TIME1 AND TIME2) ARE THEN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF
+# NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS
+# CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
+#
+# IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
+# LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
+
+# Page 344
+# CALLING SEQUENCE
+#
+# IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
+# STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
+# ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS
+# THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
+# *
+# CAF PRIO XX
+# --
+# INHINT
+# TC FINDVAC
+# 2CADR KALCMAN3
+# RELINT
+#
+# THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO
+# WAIT, HE MAY PUT HIS JOB TO SLEEP WTH THE FOLLOWING INSTRUCTIONS:
+#
+# L TC BANKCALL
+# L+1 CADR ATTSTALL
+# L+2 (BAD RETURN)
+# L+3 (GOOD RETURN)
+#
+# UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
+# SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
+# WAS IN GIMBAL LOCK.
+#
+# *** NOTA BENE *** IF IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY
+# KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
+#
+# IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE
+# MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
+# SUBROUTINES.
+#
+# KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES
+# WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
+#
+# MXM3
+# ----
+#
+# THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
+# DOWN LIST, I.E.,
+# [ M M M ]
+# [ 0 1 2 ]
+# * [ ] * *
+# M = [ M M M ] = M1 X M2
+# [ 3 4 5 ]
+# [ ]
+# [ M M M ]
+# [ 6 7 8 ]
+# Page 345
+# *
+# INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
+# *
+# LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
+# DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M .
+# 8
+# TRANSPOS
+# --------
+#
+# THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
+#
+# * * T
+# M = M1
+#
+# INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB-
+# *
+# SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
+#
+# CDU TO DCM
+# ----------
+#
+# THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
+# THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE
+#
+# M = COSY COSZ
+# 0
+#
+# M = -COSY SINZ COSX + SINY SINX
+# 1
+#
+# M = COSY SINZ SINX + SINY COSX
+# 2
+#
+# M = SINZ
+# 3
+#
+# M = COSZ COSX
+# 4
+#
+# M = -COSZ SINX
+# 5
+#
+# M = -SINY COSZ
+# 6
+#
+# M = SINY SINZ COSX + COSY SINX
+# 7
+# Page 346
+# M = -SINY SINZ SINX + COSY COSX
+# 8
+#
+# WHERE X = OUTER GIMBAL ANGLE
+# Y = INNER GIMBAL ANGLE
+# Z = MIDDLE GIMBAL ANGLE
+#
+# THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS:
+#
+# IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
+# X Y Z
+# STABLE MEMBER AXES (B , B , B ) ARE
+# X Y Z
+#
+# [ B ] [ A ]
+# [ X ] [ X ]
+# [ ] [ ]
+# [ B ] * [ A ]
+# [ Y ] = M [ Y ]
+# [ ] [ ]
+# [ B ] [ B ]
+# [ Z ] [ Z ]
+#
+# THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
+# *
+# PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
+#
+# INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
+# REGISTER X2.
+#
+# DCM TO CDU
+# ----------
+# *
+# THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
+# *
+# STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE
+# CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1'S COMPLEMENT ANGLES ACALED BY 2PI. THE FORMULAS
+# FOR THIS CONVERSION ARE
+#
+# Z = ARCSIN (M )
+# 3
+#
+# Y = ARCSIN (-M /COSZ)
+# 6
+#
+# IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y.
+# 0
+# Page 347
+# X = ARCSIN (-M /COSZ)
+# 5
+#
+# IF M IS NEGATIVE, X IS REPLACED BY PI SGN X - X.
+# 4
+#
+# THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
+# RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
+# THE PUSH DOWN LIST.
+#
+# DELCOMP
+# -------
+# *
+# THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
+# _
+# IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR U. THE FORMULA FOR THIS MATRIX IS
+#
+# * * _ _T *
+# DEL = I COSA + U U (1 - COSA) + V SINA
+# X
+#
+# WHERE * [ 1 0 0 ]
+# I = [ 0 1 0 ]
+# [ 0 0 1 ]
+#
+# [ 2 ]
+# [ U U U U U ]
+# [ X X Y X Z ]
+# [ ]
+# _ _T [ 2 ]
+# U U = [ U U U U U ]
+# [ Y X Y Y Z ]
+# [ ]
+# [ 2 ]
+# [ U U U U U ]
+# [ Z X Z Y Z ]
+#
+#
+# [ 0 -U U ]
+# [ Z Y ]
+# * [ ]
+# V = [ U 0 -U ]
+# X [ Z X ]
+# [ ]
+# [ -U U 0 ]
+# [ Y X ]
+#
+# Page 348
+# _
+# U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES.
+# A = ROTATION ANGLE
+#
+# *
+# THE INTERPRETATION OF DEL IS AS FOLLOWS:
+#
+# IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
+# X Y Z
+# VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
+# X Y Z
+#
+# [ B ] [ A ]
+# [ X ] [ X ]
+# [ ] [ ]
+# [ B ] * [ A ]
+# [ Y ] = DEL [ Y ]
+# [ ] [ ]
+# [ B ] [ B ]
+# [ Z ] [ Z ]
+#
+# THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
+# _
+# THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
+# DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A,
+# MUST THEN BE LOADED INTO D(MPAC).
+#
+# INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
+#
+# READCDUK
+# --------
+#
+# THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
+#
+# SIGNMPAC
+# --------
+#
+# THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
+#
+# PROGRAM STORAGE ALLOCATION
+#
+# 1) FIXED MEMORY 1059 WORDS
+# 2) ERASABLE MEMORY 98
+# 3) STATE SWITCHES 3
+# Page 349
+# 4) FLAGS 1
+#
+# JOB PRIORITIES
+#
+# 1) KALCMANU TBD
+# 2) ONE SECOND UPDATE TBD
+#
+# SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
+#
+# STATE FLAGWRD 2 SETTING MEANING
+# SWITCH NO. BIT NO.
+#
+# *
+# 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK
+# 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK
+# *
+# 32 13 0 CONTINUE UPDATE PROCESS
+# 1 START UPDATE PROCESS
+#
+# 33 12 0 PERFORM FINAL P AXIS YAW IF REQUIRED
+# 1 IGNORE ANY FINAL P-AXIS YAW
+#
+# 34 11 0 SIGNAL END OF KALCMANU
+# 1 KALCMANU IN PROCESS. USER MUST SET SWITCH BEFORE INITIATING
+#
+# * INTERNAL TO KALCMANU
+#
+# SUGGESTIONS FOR PROGRAM INTEGRATION
+#
+# THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE:
+#
+# CPHI
+# CTHETA
+# CPSI
+# POINTVSM +5
+# SCAXIS +5
+# DELDCDU
+# DELDCDU1
+# DELDCDU2
+# RATEINDX
+#
+# THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
+#
+# MXM3
+# Page 350
+# TRANSPGS
+# SIGNMPAC
+# READCDUK
+# CDUTODCM
+
+# Page 351
+ BANK 15
+ SETLOC KALCMON1
+ BANK
+
+ EBANK= BCDU
+
+# THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWO'S COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
+# LOCATIONS, CPHI, CTHETA, CPSI.
+
+ COUNT* $$/KALC
+KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND
+ RTB # COMPUTE THE MATRIX FROM INITIAL S/C
+ READCDUK # AXES TO FINAL S/C AXES.
+ STORE BCDU # STORE INITIAL S/C ANGLES
+ SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED
+ CPSI # MIDDLE GIMBAL ANGLE
+ DSU BPL
+ LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER
+ TOOBADF
+ AXC,2 TLOAD
+ MIS
+ BCDU
+ CALL # COMPUTE THE TRANSFORMATION FROM INITIAL
+ CDUTODCM # S/C AXES TO STABLE MEMBER AXES
+ AXC,2 TLOAD
+ MFS # PREPARE TO CALCULATE ARRAY MFS
+ CPHI
+ CALL
+ CDUTODCM
+SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
+ MIS
+ TRANSPOS
+ VLOAD STADR
+ STOVL TMIS +12D
+ STADR
+ STOVL TMIS +6
+ STADR
+ STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
+ AXC,1 AXC,2
+ TMIS
+ MFS
+ CALL
+ MXM3
+ VLOAD STADR
+ STOVL MFI +12D
+ STADR
+ STOVL MFI +6
+ STADR
+ STORE MFI # MFI = TMIS MFS (SCALED BY 4)
+ SETPD CALL # TRANSPOSE MFI IN PD LIST
+# Page 352
+ 18D
+ TRNSPSPD
+ VLOAD STADR
+ STOVL TMFI +12D
+ STADR
+ STOVL TMFI +6
+ STADR
+ STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
+
+# CALCULATE COFSKEW AND MFISYM
+
+ DLOAD DSU
+ TMFI +2
+ MFI +2
+ PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
+ MFI +4
+ TMFI +4
+ PDDL DSU
+ TMFI +10D
+ MFI +10D
+ VDEF
+ STORE COFSKEW # EQUALS MFISKEW
+
+# CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
+
+ DLOAD DAD
+ MFI
+ MFI +16D
+ DSU DAD
+ DP1/4TH
+ MFI +8D
+ STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
+ ARCCOS
+ STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
+ DSU BPL
+ MINANG
+ CHECKMAX
+ TLOAD # MANEUVER LESS THAN .25 DEGREES
+ CPHI # GO DIRECTLY INTO ATTITUDE HOLD
+ STCALL CDUXD # ABOUT COMMANDED ANGLES
+ TOOBADI # STOP RATE AND EXIT
+
+CHECKMAX DLOAD DSU
+ AM
+ MAXANG
+ BPL VLOAD
+ ALTCALC # UNIT
+ COFSKEW # COFSKEW
+ UNIT
+ STORE COF # COF IS THE MANEUVER AXIS
+# Page 353
+ GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
+ LOCSKIRT
+ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
+ MFI
+ TMFI
+ VSR1
+ STOVL MFISYM
+ MFI +6
+ VAD VSR1
+ TMFI +6
+ STOVL MFISYM +6
+ MFI +12D
+ VAD VSR1
+ TMFI +12D
+ STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
+
+# CALCULATE COF
+
+ DLOAD SR1
+ CAM
+ PDDL DSU # PDO CAM $4
+ DPHALF
+ CAM
+ BOVB PDDL # PS2 1 - CAM $2
+ SIGNMPAC
+ MFISYM +16D
+ DSU DDV
+ 0
+ 2
+ SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
+ MFISYM +8D # $ ROOT 2
+ DSU DDV
+ 0
+ 2
+ SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
+ MFISYM
+ DSU DDV
+ 0
+ 2
+ SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
+ UNIT
+ STORE COF
+
+# DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
+
+COFMAXGO DLOAD DSU
+ COF
+ COF +2
+ BMN DLOAD # COFY G COFX
+# Page 354
+ COMP12
+ COF
+ DSU BMN
+ COF +4
+ METHOD3 # COFZ G COFX OR COFY
+ GOTO
+ METHOD1 # COFX G COFY OR COFZ
+COMP12 DLOAD DSU
+ COF +2
+ COF +4
+ BMN
+ METHOD3 # COFZ G COFY OR COFX
+
+METHOD2 DLOAD BPL # COFY MAX
+ COFSKEW +2 # UY
+ U2POS
+ VLOAD VCOMP
+ COF
+ STORE COF
+U2POS DLOAD BPL
+ MFISYM +2 # UX UY
+ OKU21
+ DLOAD DCOMP # SIGN OF UX OPPOSITE garbled
+ COF
+ STORE COF
+OKU21 DLOAD BPL
+ MFISYM +10D # UY UZ
+ LOCSKIRT
+ DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
+ COF +4
+ STORE COF +4
+ GOTO
+ LOCSKIRT
+METHOD1 DLOAD BPL # COFX MAX
+ COFSKEW # UX
+ U1POS
+ VLOAD VCOMP
+ COF
+ STORE COF
+U1POS DLOAD BPL
+ MFISYM +2 # UX UY
+ OKU12
+ DLOAD DCOMP
+ COF +2 # SIGN OF UY OPPOSITE TO UX
+ STORE COF +2
+OKU12 DLOAD BPL
+ MFISYM +4 # UX UZ
+ LOCSKIRT
+ DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
+ COF +4
+# Page 355
+ STORE COF +4
+ GOTO
+ LOCSKIRT
+METHOD3 DLOAD BPL # COFZ MAX
+ COFSKEW +4 # UZ
+ U3POS
+ VLOAD VCOMP
+ COF
+ STORE COF
+U3POS DLOAD BPL
+ MFISYM +4 # UX UZ
+ OKU31
+ DLOAD DCOMP
+ COF # SIGN OF UX OPPOSITE TO UZ
+ STORE COF
+OKU31 DLOAD BPL
+ MFISYM +10D # UY UZ
+ LOCSKIRT
+ DLOAD DCOMP
+ COF +2 # SIGN OF UY OPPOSITE TO UZ
+ STORE COF +2
+ GOTO
+ LOCSKIRT
+# Page 356
+# MATRIX OPERATIONS
+
+ BANK 13
+ SETLOC KALCMON2
+ BANK
+
+ EBANK= BCDU
+
+MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES
+ 0 # AND LEAVES RESULT IN PD LIST
+ 0,1 # AND MPAC
+ VXM* PDVL*
+ 0,2
+ 6,1
+ VXM* PDVL*
+ 0,2
+ 12D,1
+ VXM* PUSH
+ 0,2
+ RVQ
+
+# RETURN WITH MIXM2 IN PD LIST
+
+TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
+ 0 # AND LEAVES RESULT IN PD LIST
+ 0,1 # MATRIX ADDRESS IN XR1
+ PDVL* PDVL*
+ 6,1
+ 12D,1
+ PUSH # MATRIX IN PD
+TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST
+ INDEX FIXLOC
+ DXCH 12
+ INDEX FIXLOC
+ DXCH 16
+ INDEX FIXLOC
+ DXCH 12
+ INDEX FIXLOC
+ DXCH 14
+ INDEX FIXLOC
+ DXCH 4
+ INDEX FIXLOC
+ DXCH 14
+ INDEX FIXLOC
+ DXCH 2
+ INDEX FIXLOC
+ DXCH 6
+ INDEX FIXLOC
+ DXCH 2
+# Page 357
+ TC INTPRET
+ RVQ
+
+ BANK 15
+ SETLOC KALCMON1
+ BANK
+
+ EBANK= BCDU
+
+MINANG 2DEC 0.00069375
+
+MAXANG 2DEC 0.472222222
+
+# GIMBAL LOCK CONSTANTS
+
+# D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
+# NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
+
+SD 2DEC .433015 # = SIN(D) $2
+
+K3S1 2DEC .86603 # = SIN(D) $1
+
+K4 2DEC -.25 # = -COS(D) $2
+
+K4SQ 2DEC .125 # = COS(D)COS(D) $2
+
+SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2
+
+CNGL 2DEC .499695 # COS(NGL) $2
+
+LOCKANGL DEC .388889 # = 70 DEGREES
+
+# INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
+
+READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES
+ TS MPAC +2
+ EXTEND
+ DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION
+ TCF TLOAD +6
+
+CDUTODCM AXT,1 SSP
+ OCT 3
+ S1
+ OCT 1 # SET XR1, S1, AND PD FOR LOOP
+ STORE 7
+ SETPD
+ 0
+LOOPSIN SLOAD* RTB
+ 10D,1
+ CDULOGIC
+# Page 358
+ STORE 10D # LOAD PD WITH 0 SIN(PHI)
+ SIN PDDL # 2 COS(PHI)
+ 10D # 4 SIN(THETA)
+ COS PUSH # 6 COS(THETA)
+ TIX,1 DLOAD # 8 SIN(PSI)
+ LOOPSIN # 10 COS(PSI)
+ 6
+ DMP SL1
+ 10D
+ STORE 0,2 # C0 = COS(THETA)COS(PSI)
+ DLOAD DMP
+ 4
+ 0
+ PDDL DMP # (PD6 SIN(THETA)SIN(PHI))
+ 6
+ 8D
+ DMP SL1
+ 2
+ BDSU SL1
+ 12D
+ STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI)
+ DLOAD DMP
+ 2
+ 4
+ PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4
+ 6
+ 8D
+ DMP SL1
+ 0
+ DAD SL1
+ 14D
+ STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI)
+ DLOAD
+ 8D
+ STORE 6,2 # C3=SIN(PSI)
+ DLOAD
+ 10D
+ DMP SL1
+ 2
+ STORE 8D,2 # C4=COS(PSI)COS(PHI)
+ DLOAD DMP
+ 10D
+ 0
+ DCOMP SL1
+ STORE 10D,2 # C5=-COS(PSI)SIN(PHI)
+ DLOAD DMP
+ 4
+ 10D
+ DCOMP SL1
+ STORE 12D,2 # C6=-SIN(THETA)COS(PSI)
+# Page 359
+ DLOAD
+ DMP SL1 # (PUSH UP 7)
+ 8D
+ PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
+ 6
+ 0
+ DAD SL1 # (PUSH UP 7)
+ STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
+ STORE 14D,2 # +COS(THETA)SIN(PHI)
+ DLOAD
+ DMP SL1 # (PUSH UP 6)
+ 8D
+ PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
+ 6
+ 2
+ DSU SL1 # (PUSH UP 6)
+ STADR
+ STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
+ RVQ # +COS(THETA)COS(PHI)
+
+# CALCULATION OF THE MATRIX DEL......
+#
+# * * __T *
+# DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
+# _
+# WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
+# A IS THE ANGLE OF ROTATION (DP SCALED 2)
+# _
+# UPON ENTRY, THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
+
+DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
+ 0
+ SIN PDDL # PD0 = SIN(A)
+ COS PUSH # PD2 = COS(A)
+ SR2 PDDL # PD2 = COS(A) $8
+ BDSU BOVB
+ DPHALF
+ SIGNMPAC
+ PDDL # PDA = 1-COS(A)
+
+# COMPUTE THE DIAGONAL COMPONENTS OF DEL
+
+ COF
+ DSQ DMP
+ 4
+ DAD SL3
+ 2
+ BOVB
+ SIGNMPAC
+# Page 360
+ STODL KEL # UX UX(1-COS(A)) +COS(A) $1
+ COF +2
+ DSQ DMP
+ 4
+ DAD SL3
+ 2
+ BOVB
+ SIGNMPAC
+ STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1
+ COF +4
+ DSQ DMP
+ 4
+ DAD SL3
+ 2
+ BOVB
+ SIGNMPAC
+ STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
+
+# COMPUTE THE OFF DIAGONAL TERMS OF DEL
+
+ DLOAD DMP
+ COF
+ COF +2
+ DMP SL1
+ 4
+ PDDL DMP # D6 UX UY (1-COS A) $4
+ COF +4
+ 0
+ PUSH DAD # D8 UZ SIN A $4
+ 6
+ SL2 BOVB
+ SIGNMPAC
+ STODL KEL +6
+ BDSU SL2
+ BOVB
+ SIGNMPAC
+ STODL KEL +2
+ COF
+ DMP DMP
+ COF +4
+ 4
+ SL1 PDDL # D6 UX UZ (1-COS A) $4
+ COF +2
+ DMP PUSH # D8 UY SIN(A)
+ 0
+ DAD SL2
+ 6
+ BOVB
+ SIGNMPAC
+ STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A)
+# Page 361
+ BDSU SL2
+ BOVB
+ SIGNMPAC
+ STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A)
+ COF +2
+ DMP DMP
+ COF +4
+ 4
+ SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
+ COF
+ DMP PUSH # D8 UX SIN(A)
+ 0
+ DAD SL2
+ 6
+ BOVB
+ SIGNMPAC
+ STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
+ BDSU SL2
+ BOVB
+ SIGNMPAC
+ STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
+ RVQ
+
+# DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
+# X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2).
+# LEAVE CDU ANGLES SCALED 2PI IN V(MPAC).
+# COS(MGA) WILL BE LEFT IN S1 (SCALED 1).
+#
+# THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS:
+#
+# C = COS(THETA) COS(PSI
+# 0
+#
+# C = -COS(THETA) SIN(PSI) COS(PHI) + SIN(THETA) SIN(PHI)
+# 1
+#
+# C = COS(THETA) SIN(PSI) SIN(PHI) + SIN(THETA) COS(PHI)
+# 2
+#
+# C = SIN(PSI)
+# 3
+#
+# C = COS(PSI) COS(PHI)
+# 4
+#
+# C = -COS(PSI) SIN(PHI)
+# 5
+#
+# C = -SIN(THETA) COS(PSI)
+# 6
+#
+# C = SIN(THETA) SIN(PSI) COS(PHI) + COS (THETA) SIN(PHI)
+# 7
+#
+# C = -SIN(THETA) SIN(PSI) SIN(PHI) + COS(THETA)COS(PHI)
+# 8
+# Page 362
+#
+# WHERE PHI = OGA
+# THETA = IGA
+# PSI = MGA
+
+DCMTOCDU DLOAD* ARCSIN
+ 6,1
+ PUSH COS # PD +0 PSI
+ SL1 BOVB
+ SIGNMPAC
+ STORE S1
+ DLOAD* DCOMP
+ 12D,1
+ DDV ARCSIN
+ S1
+ PDDL* BPL # PD +2 THETA
+ 0,1 # MUST CHECK THE SIGN OF COS(THETA)
+ OKTHETA # TO DETERMINE THE PROPER QUADRANT.
+ DLOAD DCOMP
+ BPL DAD
+ SUHALFA
+ DPHALF
+ GOTO
+ CALCPHI
+SUHALFA DSU
+ DPHALF
+CALCPHI PUSH
+OKTHETA DLOAD* DCOMP
+ 10D,1
+ DDV ARCSIN
+ S1
+ PDDL* BPL # PUSH DOWN PHI
+ 8D,1
+ OKPHI
+ DLOAD DCOMP # PUSH UP PHI
+ BPL DAD
+ SUHALFAP
+ DPHALF
+ GOTO
+ VECOFANG
+SUHALFAP DSU GOTO
+ DPHALF
+ VECOFANG
+OKPHI DLOAD # PUSH UP PHI
+VECOFANG VDEF RVQ
+# Page 363
+# ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER.
+
+TOOBADF EXIT
+ TC ALARM
+ OCT 00401
+
+ TCF NOGO # DO NOT ZERO ATTITUDE ERRORS
+
+ TC BANKCALL
+ CADR ZATTEROR # ZERO ATTITUDE ERRORS
+
+NOGO TC BANKCALL
+ CADR STOPRATE # STOP RATES
+
+ CAF TWO
+ INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND
+ TC WAITLIST
+ EBANK= BCDU
+ 2CADR GOODMANU
+
+ TCF ENDOFJOB
+
+TOOBADI EXIT
+ TCF NOGO
+
+
diff --git a/AUTOMATIC_MANEUVERS.s b/AUTOMATIC_MANEUVERS.s
new file mode 100644
index 0000000..3aff078
--- /dev/null
+++ b/AUTOMATIC_MANEUVERS.s
@@ -0,0 +1,499 @@
+# Copyright: Public domain.
+# Filename: AUTOMATIC_MANEUVERS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1025-1036
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1025
+ BANK 21
+ SETLOC DAPS3
+ BANK
+
+ COUNT 21/DAPAM
+
+ EBANK= KMPAC
+AHFNOROT EXTEND
+ READ CHAN31
+ MASK BIT14
+ EXTEND
+ BZMF FREECONT
+ CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
+ MASK BIT14
+ CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
+ TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
+ # AUTOMATIC CONTROL YET
+ EXTEND
+ READ CHAN31
+ MASK BIT13
+ EXTEND
+ BZMF HOLDFUNC
+
+AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
+ EXTEND # OTHERWISE, GO TO ATTHOLD.
+ BZMF ATTHOLD
+ TCF GRABANG
+
+# MINIMUM IMPULSE CONTROL
+
+FREECONT CAF ONE
+ TS HOLDFLAG # RESET HOLDFLAG
+ # INHIBIT AUTOMATIC STEERING
+ EXTEND
+ READ CHAN32
+ TS L
+ COM
+ MASK MANROT
+ MASK CHANTEMP
+ LXCH CHANTEMP
+ TC STICKCHK
+ INDEX RMANNDX
+ CA MINTAU # MINTAU +0
+ TS TAU # +1 +14MS MINIMUM IMPULSE
+ INDEX PMANNDX # +2 -14MS TIME
+ CA MINTAU # +3 +0
+ TS TAU1
+ INDEX YMANNDX
+ CA MINTAU
+# Page 1026
+ TS TAU2
+ TCF T6PROGM
+
+MINTAU DEC 0
+ DEC 23 # = 14MS
+ DEC -23 # = -14MS
+ DEC 0
+
+# Page 1027
+# CALCULATION OF ATTITUDE ERRORS:
+# _ * _ _ _
+# AK = AMGB (CDUX - THETADX) + BIAS
+#
+# I.E., *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
+# * * * ** * * *
+# *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
+# * * * ** * * *
+# *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
+#
+# THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
+# AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
+# BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
+# FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
+
+ATTHOLD CA CDUX
+ EXTEND
+ MSU THETADX
+ TS ERRORX
+ CA CDUY
+ EXTEND
+ MSU THETADY
+ TS T5TEMP
+ EXTEND
+ MP AMGB1
+ ADS ERRORX
+ CA T5TEMP
+ EXTEND
+ MP AMGB4
+ TS ERRORY
+ CA T5TEMP
+ EXTEND
+ MP AMGB7
+ TS ERRORZ
+ CA CDUZ
+ EXTEND
+ MSU THETADZ
+ TS T5TEMP
+ EXTEND
+ MP AMGB5
+ ADS ERRORY
+ CA T5TEMP
+ EXTEND
+ MP AMGB8
+ ADS ERRORZ
+ CS HOLDFLAG
+ EXTEND
+# Page 1028
+ BZMF JETS
+ CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
+ ADS ERRORX
+ CA BIAS1
+ ADS ERRORY
+ CA BIAS2
+ ADS ERRORZ
+ TCF JETS
+
+HOLDFUNC CCS HOLDFLAG
+ TCF +3
+ TCF ATTHOLD
+ TCF +1
+GRABANG CAF ZERO # ZERO WBODYS AND BIASES
+ TS WBODY
+ TS WBODY +1
+ TS WBODY1
+ TS WBODY1 +1
+ TS WBODY2
+ TS WBODY2 +1
+ TS BIAS
+ TS BIAS1
+ TS BIAS2
+
+ CA RCSFLAGS
+ MASK OCT16000
+ EXTEND # IS RATE DAMPING COMPLETED
+ BZF ENDDAMP # IF SO, GO TO ENDDAMP
+ CAF ZERO # OTHERWISE, ZERO ERRORS
+ TS ERRORX
+ TS ERRORY
+ TS ERRORZ
+ TCF JETS
+
+ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
+ EXTEND
+ DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
+ DXCH THETADX # REFERENCES
+ CA CDUZ
+ TS THETADZ
+ TCF ATTHOLD
+
+# Page 1029
+# JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
+#
+# DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
+# PLANE.
+#
+# COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE
+# APPROPRIATE DEADZONE.
+#
+# .
+# R22 RATE . ERROR
+# WL+H .
+# ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
+# R23 WL * .
+# ----------------------------------* . ----- DESIRED RATE LINES
+# R23 WL-H - *.
+# ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
+# * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
+# * . *
+# *- . *
+# R22 R24*- R23 . *
+# * . *
+# * . *
+# + -ADB . * AF ATTITUDE
+# ........................+--+---------------+--+........................
+# AF * . +ADB + ERROR
+# * . *
+# * . -*
+# * . -*
+# * . -*
+# * . *
+# *. - *
+# . - *****************
+# .*-
+# . * --------------------------------
+# .
+# .
+# FIG. 1 PHASE PLANE SWITCHING LOGIC
+#
+# CONSTANTS FOR JET SWITCHING LOGIC
+
+WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
+WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
+WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
+
+WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
+
+WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
+
+# Page 1030
+SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
+JETS CA ADB
+ AD FOUR # AF = FLAT REGION = .044 DEG
+ TS T5TEMP # ADB+AF
+ CAF TWO
+JLOOP TS SPNDX
+ DOUBLE
+ TS DPNDX
+ EXTEND
+ INDEX A
+ DCA ADOT
+ DXCH EDOT
+ CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
+ EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
+ BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
+ # OF WBODY AND GO TO INHOLD
+ EXTEND
+ INDEX DPNDX
+ DCS WBODY
+ DAS EDOT # = ADOT-WBODY
+INHOLD INDEX SPNDX
+ CA ERRORX
+ TS AERR # AERR = BIAS + AK
+
+ CCS EDOT
+ TCF POSVEL
+ TCF SIGNCK1
+ TCF NEGVEL
+SIGNCK1 CCS EDOT +1
+ TCF POSVEL
+ TCF POSVEL
+ TCF NEGVEL
+ TCF NEGVEL
+POSVEL EXTEND
+ DCA EDOT
+ DXCH EDOTVEL
+ CA T5TEMP
+ TS ADBVEL # +(ADB+AF)
+ CA AERR
+ TS AERRVEL
+ TC J6.
+NEGVEL EXTEND
+ DCS EDOT
+ DXCH EDOTVEL
+ CS T5TEMP
+ TS ADBVEL # -(ADB+AF)
+ CS AERR
+ TS AERRVEL
+
+J6. EXTEND
+# Page 1031
+ SU ADB
+ AD WLH/SLOP
+ EXTEND
+ BZMF J8
+
+ CS T5TEMP # (ADB+AF)
+ AD AERRVEL
+ EXTEND
+ BZMF +2
+ TCF J7
+ EXTEND
+ DCS EDOTVEL
+ EXTEND
+ DV SLOPE
+ EXTEND
+ SU AERRVEL
+ AD ADB
+ EXTEND
+ BZMF J18
+ TCF J23
+
+J7 CS WL-H/SLP
+ EXTEND
+ SU T5TEMP # (ADB+AF)
+ AD AERRVEL
+ EXTEND
+ BZMF J20
+ TCF J21
+
+J8 EXTEND
+ DCS WLH
+ DXCH WTEMP
+ EXTEND
+ DCA EDOTVEL
+ DAS WTEMP
+ CCS WTEMP
+ TCF J22
+ TCF SIGNCK2
+ TCF NJ22
+SIGNCK2 CCS WTEMP +1
+ TCF J22
+ TCF J22
+ TCF NJ22
+
+NJ22 EXTEND
+ DCA EDOTVEL
+ EXTEND
+ DV SLOPE
+ AD T5TEMP # (ADB+AF)
+ AD AERRVEL
+# Page 1032
+ CCS A
+ TCF J23
+ TCF J23
+ TCF +2
+ TCF J23
+
+ EXTEND
+ DCS WLMH # WL - H
+ DXCH WTEMP
+ EXTEND
+ DCA EDOTVEL
+ DAS WTEMP
+ CCS WTEMP
+ TCF J23
+ TCF SIGNCK3
+ TCF NJ23
+SIGNCK3 CCS WTEMP +1
+ TCF J23
+ TCF J23
+ TCF NJ23
+
+NJ23 CA AERRVEL
+ AD T5TEMP # (ADB+AF)
+ AD WL-H/SLP
+ CCS A
+ TCF J24
+ TCF J24
+ TCF J22
+ TCF J22
+
+J18 EXTEND
+ DCS EDOT
+ DXCH KMPAC
+ TCF JTIME
+
+J20 CS AERR
+ AD ADBVEL
+ EXTEND
+ MP SLOPE2 # (HYSTERESIS SLOPE)
+ DXCH KMPAC
+ EXTEND
+ DCS EDOT
+ DAS KMPAC
+ TCF JTIME
+
+J21 CCS EDOT
+ TCF JP
+ TCF SIGNCK4
+ TCF JN
+SIGNCK4 CCS EDOT +1
+# Page 1033
+ TCF JP
+ TCF JP
+ TCF JN
+JN EXTEND
+ DCS EDOT
+ DXCH KMPAC
+ EXTEND
+ DCA WL
+ DAS KMPAC
+ TCF JTIME
+
+JP EXTEND
+ DCS EDOT
+ DXCH KMPAC
+ EXTEND
+ DCS WL
+ DAS KMPAC
+ TCF JTIME
+
+J22 CCS EDOT
+ TCF JN
+ TCF SIGNCK5
+ TCF JP
+SIGNCK5 CCS EDOT +1
+ TCF JN
+ TCF JN
+ TCF JP
+ TCF JP
+
+J23 INDEX SPNDX
+ CS BIT13 # RESET RATE DAMPING FLAG
+ MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
+ TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
+ # BIT11 FOR YAW (SPNDX = 2)
+
+ INDEX SPNDX
+ CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
+ MASK RCSFLAGS # AXIS
+ EXTEND
+ BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
+
+ TCF J18 # YES, GO TO J18 AND FORCE A FIRING
+
+J24 CS AERR
+ EXTEND
+ SU ADBVEL
+ EXTEND
+ MP SLOPE2 # (HYSTERESIS SLOPE)
+ DXCH KMPAC
+ EXTEND
+# Page 1034
+ DCS EDOT
+ DAS KMPAC
+
+# Page 1035
+# COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, I.E.,
+#
+# T = J/M(DELTA W)
+# J
+#
+# DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
+# SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
+#
+# J/M = S/C INERTIA TO TORQUE RATIO SCALED BY
+# (57.3/450)(B24/1600)(1/.8)
+# FOR 1 JET OPERATION (M = 700 FT-LB).
+# I.E., J/M = J(SLUG-FTFT) x 0.00000085601606
+#
+# THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
+# KEYBOARD ENTRY ARE
+# J/M (ROLL)
+# J/M1 (PITCH)
+# J/M2 (YAW)
+#
+# T = JET-ON TIME SCALED 16384/1600 SEC
+# J
+#
+# THE COMPUTER VARIABLES ARE
+# TAU (ROLL)
+# TAU1 (PITCH)
+# TAU2 (YAW)
+
+JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
+ CA J/M # SCALED (57.3/450)(B24/1600)
+ TC SMALLMP # FOR 1-JET OPERATION
+ CA BIT11
+ TC SMALLMP
+ CCS KMPAC
+ TCF +4
+ TCF TAUNORM
+ TCF +4
+ TCF TAUNORM
+ CA POSMAX
+ TCF DOJET
+ CA NEGMAX
+ TCF DOJET
+
+TAUNORM CA KMPAC +1
+DOJET INDEX SPNDX
+ TS TAU
+ CCS SPNDX
+ TCF JLOOP
+ TCF T6PROG
+
+# Page 1036
+ZEROCMDS CAF ZERO
+ TS TAU
+ TS TAU1
+ TS TAU2
+T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
+ DCA JETADDR # HAVE BEEN DETERINED
+ DXCH T5LOC # RESET T5LOC FOR PHASE3
+ TCF RESUME
+
+ EBANK= KMPAC
+JETADDR 2CADR JETSLECT
+
diff --git a/BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.s b/BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.s
new file mode 100644
index 0000000..ac7c532
--- /dev/null
+++ b/BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.s
@@ -0,0 +1,1059 @@
+# Copyright: Public domain.
+# Filename: BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 731-751
+# Mod history: 2009-05-19 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+# 2009-06-07 RSB Corrected 3 typos.
+# 2009-07-23 RSB Added Onno's notes on the naming
+# of this function, which he got from
+# Don Eyles.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 731
+## At the get-together of the AGC developers celebrating the 40th anniversary
+## of the first moonwalk, Don Eyles (one of the authors of this routine along
+## with Peter Adler) has related to us a little interesting history behind the
+## naming of the routine.<br>
+## <br>
+## It traces back to 1965 and the Los Angeles riots, and was inspired
+## by disc jockey extraordinaire and radio station owner Magnificent Montague.
+## Magnificent Montague used the phrase "Burn, baby! BURN!" when spinning the
+## hottest new records. Magnificent Montague was the charismatic voice of
+## soul music in Chicago, New York, and Los Angeles from the mid-1950s to
+## the mid-1960s.
+# BURN, BABY, BURN -- MASTER IGNITION ROUTINE
+
+ BANK 36
+ SETLOC P40S
+ BANK
+ EBANK= WHICH
+ COUNT* $$/P40
+
+# THE MASTER IGNITION ROUTINE IS DESIGNED FOR USE BY THE FOLLOWING LEM PROGRAMS: P12, P40, P42, P61, P63.
+# IT PERFORMS ALL FUNCTIONS IMMEDIATELY ASSOCIATED WITH APS OR DPS IGNITION: IN PARTICULAR, EVERYTHING LYING
+# BETWEEN THE PRE-IGNITION TIME CHECK -- ARE WE WITHIN 45 SECONDS OF TIG? -- AND TIG + 26 SECONDS, WHEN DPS
+# PROGRAMS THROTTLE UP.
+#
+# VARIATIONS AMONG PROGRAMS ARE ACCOMODATED BY MEANS OF TABLES CONTAINING CONSTANTS (FOR AVEGEXIT, FOR
+# WAITLIST, FOR PINBALL) AND TCF INSTRUCTIONS. USERS PLACE THE ADRES OF THE HEAD OF THE APPROPRIATE TABLE
+# (OF P61TABLE FOR P61LM, FOR EXAMPLE) IN ERASABLE REGISTER `WHICH' (E4). THE IGNITION ROUTINE THEN INDEXES BY
+# WHICH TO OBTAIN OR EXECUTE THE PROPER TABLE ENTRY. THE IGNITION ROUTINE IS INITIATED BY A TCF BURNBABY,
+# THROUGH BANKJUMP IF NECESSARY. THERE IS NO RETURN.
+#
+# THE MASTER IGNITION ROUTINE WAS CONCEIVED AND EXECUTED, AND (NOTA BENE) IS MAINTAINED BY ADLER AND EYLES.
+#
+# HONI SOIT QUI MAL Y PENSE
+#
+# ***********************************************
+# TABLES FOR THE IGNITION ROUTINE
+# ***********************************************
+#
+# NOLI SE TANGERE
+
+P12TABLE VN 0674 # (0)
+ TCF ULLGNOT # (1)
+ TCF COMFAIL3 # (2)
+ TCF GOCUTOFF # (3)
+ TCF TASKOVER # (4)
+ TCF P12SPOT # (5)
+ DEC 0 # (6) NO ULLAGE
+ EBANK= WHICH
+ 2CADR SERVEXIT # (7)
+
+ TCF DISPCHNG # (11)
+ TCF WAITABIT # (12)
+ TCF P12IGN # (13)
+
+P40TABLE VN 0640 # (0)
+ TCF ULLGNOT # (1)
+ TCF COMFAIL4 # (2)
+ TCF GOPOST # (3)
+ TCF TASKOVER # (4)
+ TCF P40SPOT # (5)
+# Page 732
+ DEC 2240 # (6)
+ EBANK= OMEGAQ
+ 2CADR STEERING # (7)
+
+ TCF P40SJUNK # (11)
+ TCF WAITABIT # (12)
+ TCF P40IGN # (13)
+ TCF REP40ALM # (14)
+
+P41TABLE TCF P41SPOT # (5)
+ DEC -1 # (6)
+ EBANK= OMEGAQ
+ 2CADR CALCN85 # (7)
+
+ TCF COMMON # (11)
+ TCF TIGTASK # (12)
+
+P42TABLE VN 0640 # (0)
+ TCF WANTAPS # (1)
+ TCF COMFAIL4 # (2)
+ TCF GOPOST # (3)
+ TCF TASKOVER # (4)
+ TCF P42SPOT # (5)
+ DEC 2640 # (6)
+ EBANK= OMEGAQ
+ 2CADR STEERING # (7)
+
+ TCF P40SJUNK # (11)
+ TCF WAITABIT # (12)
+ TCF P42IGN # (13)
+ TCF P42STAGE # (14)
+
+P63TABLE VN 0662 # (0)
+ TCF ULLGNOT # (1)
+ TCF COMFAIL3 # (2)
+ TCF V99RECYC # (3)
+ TCF TASKOVER # (4)
+ TCF P63SPOT # (5)
+ DEC 2240 # (6)
+ EBANK= WHICH
+ 2CADR SERVEXIT # (7)
+
+ TCF DISPCHNG # (11)
+ TCF WAITABIT # (12)
+# Page 733
+ TCF P63IGN # (13)
+
+ABRTABLE VN 0663 # (0)
+ TCF ULLGNOT # (1)
+ TCF COMFAIL3 # (2)
+ TCF GOCUTOFF # (3)
+ TCF TASKOVER # (4)
+ NOOP # (5)
+ NOOP # (6)
+ NOOP # (7)
+ NOOP
+ TCF DISPCHNG # (11)
+ TCF WAITABIT # (12)
+ TCF ABRTIGN # (13)
+
+# *********************************
+# GENERAL PURPOSE IGNITION ROUTINES
+# *********************************
+
+BURNBABY TC PHASCHNG # GROUP 4 RESTARTS HERE
+ OCT 04024
+
+ CAF ZERO # EXTIRPATE JUNK LEFT IN DVTOTAL
+ TS DVTOTAL
+ TS DVTOTAL +1
+
+ TC BANKCALL # P40AUTO MUST BE BANKCALLED EVEN FROM ITS
+ CADR P40AUTO # OWN BANK TO SET UP RETURN PROPERLY
+
+B*RNB*B* EXTEND
+ DCA TIG # STORE NOMINAL TIG FOR OBLATENESS COMP.
+ DXCH GOBLTIME # AND FOR P70 OR P71.
+
+ INHINT
+ TC IBNKCALL
+ CADR ENGINOF3
+ RELINT
+
+ INDEX WHICH
+ TCF 5
+
+P42SPOT = P40SPOT # (5)
+P12SPOT = P40SPOT # (5)
+P63SPOT = P41SPOT # (5) IN P63 CLOKTASK ALREADY GOING
+P40SPOT CS CNTDNDEX # (5)
+# Page 734
+ TC BANKCALL # MUST BE BANKCALLED FOR GENERALIZED
+ CADR STCLOK2 # RETURN
+P41SPOT TC INTPRET # (5)
+ DLOAD DSU
+ TIG
+ D29.9SEC
+ STCALL TDEC1
+ INITCDUW
+ BOFF CALL
+ MUNFLAG
+ GOMIDAV
+ CSMPREC
+ VLOAD MXV
+ VATT1
+ REFSMMAT
+ VSR1
+ STOVL V(CSM) # CSM VELOCITY -- M/CS*2(7)
+ RATT1
+ VSL4 MXV
+ REFSMMAT
+ STCALL R(CSM) # CSM POSITION -- M*2(24)
+ MUNGRAV
+ STODL G(CSM) # CSM GRAVITY VEC. -- M/CS*2(7)
+ TAT
+ STORE TDEC1 # RELOAD TDEC1 FOR MIDTOAV.
+GOMIDAV CALRB
+ MIDTOAV1
+ TCF CALLT-35 # MADE IT IN TIME.
+
+ EXTEND # TIG WAS SLIPPED, SO RESET TIG TO 29.9
+ DCA PIPTIME1 # SECONDS AFTER THE TIME TO WHICH WE DID
+ DXCH TIG # INTEGRATE.
+ EXTEND
+ DCA D29.9SEC
+ DAS TIG
+
+CALLT-35 DXCH MPAC
+ DXCH SAVET-30 # DELTA-T UNTIL TIG-30
+ EXTEND
+ DCS 5SECDP
+ DAS SAVET-30 # DELTA-T UNTIL TIG-35
+ EXTEND
+ DCA SAVET-30
+ TC LONGCALL
+ EBANK= TTOGO
+ 2CADR TIG-35
+
+ TC PHASCHNG
+ OCT 20254 # 4.25SPOT FOR TIG-35 RESTART.
+# Page 735
+ TC CHECKMM
+ DEC 63
+ TCF ENDOFJOB # NOT P63
+ CS CNTDNDEX # P63 CAN START DISPLAYING NOW.
+ TS DISPDEX
+ TC INTPRET
+ VLOAD ABVAL
+ VN1
+ STORE ABVEL # INITIALIZE ABVEL FOR P63 DISPLAY
+ EXIT
+ TCF ENDOFJOB
+
+# ********************************
+
+TIG-35 CAF 5SEC
+ TC TWIDDLE
+ ADRES TIG-30
+
+ TC PHASCHNG
+ OCT 40154 # 4.15SPOT FOR TIG-30 RESTART
+
+ CS BLANKDEX # BLANK DSKY FOR 5 SECONDS
+ TS DISPDEX
+
+ INDEX WHICH
+ CS 6 # CHECK ULLAGE TIME.
+ EXTEND
+ BZMF TASKOVER
+ CAF 4.9SEC # SET UP TASK TO RESTORE DISPLAY AT TIG-30
+ TC TWIDDLE
+ ADRES TIG-30.1
+
+ CAF PRIO17 # A NEGATIVE ULLAGE TIME INDICATES P41, IN
+ TC NOVAC # WHICH CASE WE HAVE TO SET UP A JOB TO
+ EBANK= TTOGO # BLANK THE DSKY FOR FIVE SECONDS, SINCE
+ 2CADR P41BLANK # CLOKJOB IS NOT RUNNING DURING P41.
+
+ TCF TASKOVER
+
+P41BLANK TC BANKCALL # BLANK DSKY.
+ CADR CLEANDSP
+ TCF ENDOFJOB
+
+TIG-30.1 CAF PRIO17 # SET UP JOB TO RESTORE DISPLAY AT TIG-30
+ TC NOVAC
+ EBANK= TTOGO
+ 2CADR TIG-30A
+
+ TCF TASKOVER
+# Page 736
+TIG-30A CAF V16N85B
+ TC BANKCALL # RESTORE DISPLAY.
+ CADR REGODSP # REGODSP DOES A TCF ENDOFJOB
+
+# ********************************
+
+TIG-30 CAF S24.9SEC
+ TC TWIDDLE
+ ADRES TIG-5
+
+ CS CNTDNDEX # START UP CLOKTASK AGAIN
+ TS DISPDEX
+
+ INDEX WHICH # PICK UP APPROPRIATE ULLAGE -- ON TIME
+ CA 6 # Was CAF --- RSB 2009.
+ EXTEND
+ BZMF ULLGNOT # DON'T SET UP ULLAGE IF DT IS NEG OR ZERO
+ TS SAVET-30 # SAVE DELTA-T FOR RESTART
+ TC TWIDDLE
+ ADRES ULLGTASK
+
+ CA THREE # RESTART PROTECT ULLGTASK (1.3SPOT)
+ TS L
+ CS THREE
+ DXCH -PHASE1
+ CS TIME1
+ TS TBASE1
+
+ INDEX WHICH
+ TCF 1
+
+WANTAPS CS FLGWRD10 # (1) FOR P42 ENSURE APSFLAG IS SET. IF IT
+ MASK APSFLBIT # WASN'T SET, DAP WILL BE INITIALIZED TO
+ ADS FLGWRD10 # ASCENT VALUES BY 1/ACCS IN 2 SECONDS.
+
+ULLGNOT EXTEND # (1)
+ INDEX WHICH
+ DCA 7 # LOAD AVEGEXIT WITH APPROPRIATE 2CADR
+ DXCH AVEGEXIT
+
+ CAF TWO # 4.2SPOT RESTARTS IMMEDIATELY AT REDO4.2
+ TS L
+ CS TWO # AND ALSO AT TIG-5 AT THE CORRECT TIME.
+ DXCH -PHASE4
+
+ CS TIME1
+ TS TBASE4 # SET TBASE4 FOR TIG-5 RESTART
+
+REDO2.17 EXTEND
+# Page 737
+ DCA NEG0 # CLEAR OUT GROUP 2 SO LAMBERT CAN START
+ DXCH -PHASE2 # IF NEEDED.
+
+REDO4.2 CCS PHASE5 # IF SERVICER GOING?
+ TCF TASKOVER # YES, DON'T START IT UP AGAIN.
+
+ TC POSTJUMP
+ CADR PREREAD # PREREAD END THIS TASK
+
+# *********************************
+
+ULLGTASK TC ONULLAGE # THIS COMES AT TIG-7.5 OR TIG-3.5
+ TC PHASCHNG
+ OCT 1
+ TCF TASKOVER
+
+# *********************************
+
+TIG-5 EXTEND
+ DCA NEG0 # INSURE THAT GROUP 3 IS INACTIVE.
+ DXCH -PHASE3
+
+ CAF 5SEC
+ TC TWIDDLE
+ ADRES TIG-0
+
+ TC DOWNFLAG # RESET IGNFLAG AND ASINFLAG
+ ADRES IGNFLAG # FOR LIGHT-UP LOGIC.
+ TC DOWNFLAG
+ ADRES ASTNFLAG
+
+ INDEX WHICH
+ TCF 11
+
+P40SJUNK CCS PHASE3 # (11) P40 AND P42. S40.13 IN PROGRESS?
+ TCF DISPCHNG # YES
+
+ CAF PRIO20
+ TC FINDVAC
+ EBANK= TTOGO
+ 2CADR S40.13
+
+ TC PHASCHNG # 3.5SPOT FOR S40.13
+ OCT 00053
+DISPCHNG CS VB99DEX # (11)
+ TS DISPDEX
+
+# Page 738
+COMMON TC PHASCHNG # RESTART TIG-0 (4.7SPOT)
+ OCT 40074
+ TCF TASKOVER
+
+# *********************************
+
+TIG-0 CS FLAGWRD7 # SET IGNFLAG SINCE TIG HAS ARRIVED
+ MASK IGNFLBIT
+ ADS FLAGWRD7
+
+ TC CHECKMM # IN P63 CASE, THROTTLE-UP IS ZOOMTIME
+ DEC 63 # AFTER NOMINAL IGNITION, NOT ACTUAL
+ TCF IGNYET?
+ CA ZOOMTIME
+ TC WAITLIST
+ EBANK= DVCNTR
+ 2CADR P63ZOOM
+
+ TC 2PHSCHNG
+ OCT 40033
+
+ OCT 05014
+ OCT 77777
+
+IGNYET? CAF ASTNBIT # CHECK ASTNFLAG: HAS ASTRONAUT RESPONDED
+ MASK FLAGWRD7 # TO OUR ENGINE ENABLE REQUEST?
+ EXTEND
+ INDEX WHICH
+ BZF 12 # BRANCH IF HE HAS NOT RESPONDED YET
+
+IGNITION CS FLAGWRD5 # INSURE ENGONFLG IS SET.
+ MASK ENGONBIT
+ ADS FLAGWRD5
+ CS PRIO30 # TURN ON THE ENGINE.
+ EXTEND
+ RAND DSALMOUT
+ AD BIT13
+ EXTEND
+ WRITE DSALMOUT
+ EXTEND # SET TEVENT FOR DOWNLINK
+ DCA TIME2
+ DXCH TEVENT
+
+ EXTEND # UPDATE TIG USING TGO FROM S40.13
+ DCA TGO
+ DXCH TIG
+ EXTEND
+ DCA TIME2
+ DAS TIG
+
+# Page 739
+ CS FLUNDBIT # PERMIT GUIDANCE LOOP DISPLAYS
+ MASK FLAGWRD8
+ TS FLAGWRD8
+
+ INDEX WHICH
+ TCF 13
+
+P63IGN EXTEND # (13) INITIATE BURN DISPLAYS
+ DCA DSP2CADR
+ DXCH AVGEXIT
+
+ CA Z # ASSASSINATE CLOKTASK
+ TS DISPDEX
+
+ CS FLAGWRD9 # SET FLAG FOR P70-P71
+ MASK LETABBIT
+ ADS FLAGWRD9
+
+ CS FLAGWRD7 # SET SWANDISP TO ENABLE R10.
+ MASK SWANDBIT
+ ADS FLAGWRD7
+
+ CS PULSES # MAKE SURE DAP IS NOT IN MINIMUM-IMPULSE
+ MASK DAPBOOLS # MODE, IN CASE OF SWITCH TO P66
+ TS DAPBOOLS
+
+ EXTEND # INITIALIZE TIG FOR P70 AND P71.
+ DCA TIME2
+ DXCH TIG
+
+ CAF ZERO # INITIALIZE WCHPHASE, AND FLPASS0
+ TS WCHPHASE
+ TS WCHPHOLD # ALSO WHCPHOLD
+ CA TWO
+ TS FLPASS0
+
+ TCF P42IGN
+P40IGN CS FLAGWRD5 # (13)
+ MASK NOTHRBIT
+ EXTEND
+ BZF P42IGN
+ CA ZOOMTIME
+ TC WAITLIST
+ EBANK= DVCNTR
+ 2CADR P40ZOOM
+
+P63IGN1 TC 2PHSCHNG
+ OCT 40033 # 3.3SPOT FOR ZOOM RESTART.
+ OCT 05014 # TYPE C RESTARTS HERE IMMEDIATELY
+ OCT 77777
+
+# Page 740
+ TCF P42IGN
+P12IGN CAF EBANK6
+ TS EBANK
+ EBANK= AOSQ
+
+ CA IGNAOSQ # INITIALIZE DAP BIAS ACCELERATION
+ TS AOSQ # ESTIMATES AT P12 IGNITION.
+ CA IGNAOSR
+ TS AOSR
+
+ CAF EBANK7
+ TS EBANK
+ EBANK= DVCNTR
+
+ABRTIGN CA Z # (13) KILL CLOKTASK
+ TS DISPDEX
+
+ EXTEND # CONNECT ASCENT GYIDANCE TO SERVICER.
+ DCA ATMAGADR
+ DXCH AVGEXIT
+
+ CS FLAGWRD7 # ENABLE R10.
+ MASK SWANDBIT
+ ADS FLAGWRD7
+
+P42IGN CS DRIFTBIT # ENSURE THAT POWERED-FLIGHT SWITCHING
+ MASK DAPBOOLS # CURVES ARE USED.
+ TS DAPBOOLS
+ CAF IMPULBIT # EXAMINE IMPULSE SWITCH
+ MASK FLAGWRD2
+ CCS A
+ TCF IMPLBURN
+
+DVMONCON TC DOWNFLAG
+ ADRES IGNFLAG # CONNECT DVMON
+ TC DOWNFLAG
+ ADRES ASTNFLAG
+ TC DOWNFLAG
+ ADRES IDLEFLAG
+
+ TC PHASCHNG
+ OCT 40054
+
+ TC FIXDELAY # TURN ULLAGE OFF HALF A SECOND AFTER
+ DEC 50 # LIGHT UP.
+
+ULLAGOFF TC NOULLAGE
+
+WAITABIT EXTEND # KILL GROUP 4
+ DCA NEG0
+# Page 741
+ DXCH -PHASE4
+
+ TCF TASKOVER
+
+TIGTASK TC POSTJUMP # (12)
+ CADR TIGTASK1
+
+# ********************************
+
+ BANK 31
+ SETLOC P40S3
+ BANK
+ COUNT* $$/P40
+
+TIGTASK1 CAF PRIO16
+ TC NOVAC
+ EBANK= TRKMKCNT
+ 2CADR TIGNOW
+
+ TC PHASCHNG
+ OCT 6 # KILL GROUP 6
+
+ TCF TASKOVER
+
+# ********************************
+
+P63ZOOM EXTEND
+ DCA LUNLANAD
+ DXCH AVEGEXIT
+
+ TC IBNKCALL
+ CADR FLATOUT
+ TCF P40ZOOMA
+
+P40ZOOM CAF BIT13
+ TS THRUST
+ CAF BIT4
+
+ EXTEND
+ WOR CHAN14
+
+P40ZOOMA TC PHASCHNG
+ OCT 3
+ TCF TASKOVER
+
+ EBANK= DVCNTR
+LUNLANAD 2CADR LUNLAND
+
+# Page 742
+ZOOM = P40ZOOMA
+ BANK 36
+ SETLOC P40S
+ BANK
+ COUNT* $$/P40
+
+# ********************************
+
+COMFAIL TC UPFLAG # (15)
+ ADRES IDLEFLAG
+ TC UPFLAG # SET FLAG TO SUPRESS CONFLICTING DISPLAY
+ ADRES FLUNDISP
+ CAF FOUR # RESET DVMON
+ TS DVCNTR
+ CCS PHASE6 # CLOCKTASK ACTIVE?
+ TCF +3 # YES
+ TC BANKCALL # OTHERWISE, START IT UP
+ CADR STCLOK1
+ +3 CS VB97DEX
+ TS DISPDEX
+ TC PHASCHNG # TURN OFF GROUP 4.
+ OCT 00004
+ TCF ENDOFJOB
+
+COMFAIL1 INDEX WHICH
+ TCF 2
+
+COMFAIL3 CA Z # (15) KILL CLOKTASK USING Z
+ TCF +2
+
+COMFAIL4 CS CNTDNDEX
+ TS DISPDEX
+
+ TC DOWNFLAG # RECONNECT DV MONITOR
+ ADRES IDLEFLAG
+ TC DOWNFLAG # PERMIT GUIDANCE LOOP DISPLAYS
+ ADRES FLUNDISP
+ TCF ENDOFJOB
+
+COMFAIL2 TC PHASCHNG # KILL ZOOM RESTART PROTECTION
+ OCT 00003
+
+ INHINT
+ TC KILLTASK # KILL ZOOM IN CASE IT'S STILL TO COME
+ CADR ZOOM
+ TC IBNKCALL # COMMAND ENGINE OFF
+ CADR ENGINOF4
+ TC UPFLAG # SET THE DRIFT BIT FOR THE DAP.
+ ADRES DRIFTDFL
+# Page 743
+ TC INVFLAG # USE OTHER RCS SYSTEM
+ ADRES AORBTFLG
+ TC UPFLAG # TURN ON ULLAGE
+ ADRES ULLAGFLG
+ CAF BIT1
+ INHINT
+ TC TWIDDLE
+ ADRES TIG-5
+ TCF ENDOFJOB
+
+# ***********************************
+# SUBROUTINES OF THE IGNITION ROUTINE
+# ***********************************
+
+INVFLAG CA Q
+ TC DEBIT
+ COM
+ EXTEND
+ RXOR LCHAN
+ TCF COMFLAG
+
+# ***********************************
+
+NOULLAGE CS ULLAGER # MUST BE CALLED IN A TASK OR UNDER INHINT
+ MASK DAPBOOLS
+ TS DAPBOOLS
+ TC Q
+
+# ***********************************
+
+ONULLAGE CS DAPBOOLS # TURN ON ULLAGE. MUST BE CALLED IN
+ MASK ULLAGER # A TASK OR WHILE INHINTED.
+ ADS DAPBOOLS
+ TC Q
+
+# ***********************************
+
+STCLOK1 CA ZERO # THIS ROUTINE STARTS THE COUNT-DOWN
+STCLOK2 TS DISPDEX # (CLOKTASK AND CLOKJOB). SETTING
+STCLOK3 TC MAKECADR # SETTING DISPDEX POSITIVE KILLS IT.
+ TS TBASE4 # RETURN SAVE (NOT FOR RESTARTS).
+ EXTEND
+ DCA TIG
+ DXCH MPAC
+ EXTEND
+ DCS TIME2
+# Page 744
+ DAS MPAC # HAVE TIG -- TIME2, UNDOUBTEDLY A + NUMBER
+ TC TPAGREE # POSITIVE, SINCE WE PASSED THE
+ CAF 1SEC # 45 SECOND CHECK.
+ TS Q
+ DXCH MPAC
+ MASK LOW5 # RESTRICT MAGNITUDE OF NUMBER IN A
+ EXTEND
+ DV Q
+ CA L # GET REMAINDER
+ AD TWO
+ INHINT
+ TC TWIDDLE
+ ADRES CLOKTASK
+ TC 2PHSCHNG
+ OCT 40036 # 6.3SPOT FOR CLOKTASK
+ OCT 05024
+ OCT 13000
+
+ CA TBASE4
+ TC BANKJUMP
+
+CLOKTASK CS TIME1 # SET TBASE6 FOR GROUP 6 RESTART
+ TS TBASE6
+
+ CCS DISPDEX
+ TCF KILLCLOK
+ NOOP
+ CAF PRIO27
+ TC NOVAC
+ EBANK= TTOGO
+ 2CADR CLOKJOB
+
+ TC FIXDELAY # WAIT A SECOND BEFORE STARTING OVER
+ DEC 100
+ TCF CLOKTASK
+
+KILLCLOK EXTEND # KILL RESTART
+ DCA NEG0
+ DXCH -PHASE6
+ TCF TASKOVER
+
+CLOKJOB EXTEND
+ DCS TIG
+ DXCH TTOGO
+ EXTEND
+# Page 745
+ DCA TIME2
+ DAS TTOGO
+ INHINT
+ CCS DISPDEX # IF DISPDEX HAS BEEN SET POSITIVE BY A
+ TCF ENDOFJOB # TASK OR A HIGHER PRIORITY JOB SINCE THE
+ TCF ENDOFJOB # LAST CLOKTASK, AVOID USING IT AS AN
+ COM # INDEX.
+ RELINT # ***** DISPDEX MUST NEVER B -0 *****
+ INDEX A
+ TCF DISPNOT -1 # (-1 DUE TO EFFECT OF CCS)
+
+VB97DEX = OCT35 # NEGATIVE OF THIS IS PROPER FOR DISPDEX
+
+ -35 CS ZERO # INDICATE VERB 97 PASTE
+ TS NVWORD1
+ CA NVWORD +2 # NVWORD+2 CONTAINS V06 & APPROPRIATE NOUN
+ TC BANKCALL
+ CADR CLOCPLAY
+ TCF STOPCLOK # TERMINATE CLOKTASK ON THE WAY TO P00H
+ TCF COMFAIL1
+ TCF COMFAIL2
+
+ # THIS DISPLAY IS CALLED VIA ASTNCLOK
+ -25 CAF V06N61 # IT IS PRIMARILY USED BY THE CREW IN P63
+ TC BANKCALL # TO RESET HIS EVENT TIMER TO AGREE WITH
+ CADR REFLASH # TIG.
+ TCF STOPCLOK
+ TCF ASTNRETN
+ TCF -6
+
+CNTDNDEX = LOW4 # OCT17: NEGATIVE PROPER FOR DISPDEX
+
+ -17 INDEX WHICH # THIS DISPLAY COMES UP AT ONE SECOND
+ # Was CAF --- RSB 2009
+ CA 0 # INTERVALS. IT IS NORMALLY OPERATED
+ TC BANKCALL # BETWEEN TIG-30 SECONDS AND TIG-5 SECONDS
+ CADR REGODSP # REGODSP DOES ITS OWN TCF ENDOFJOB
+
+VB99DEX = ELEVEN # OCT13: NEGATIVE PROPER FOR DISPDEX
+
+V99RECYC EQUALS
+
+ -13 CS BIT9 # INDICATE VERB 99 PASTE
+ TS NVWORD1
+ INDEX WHICH # THIS IS THE "PLEASE ENABLE ENGINE"
+ # Was CAF --- RSB 2004
+ CA 0 # DISPLAY; IT IS INITIATED AT TIG-5 SEC.
+ TC BANKCALL # THE DISPLAY IS A V99NXX, WHERE XX IS
+ CADR CLOCPLAY # NOUN THAT HAD PREVIOUSLY BEEN DISPLAYED
+ TCF STOPCLOK # TERMINATE GOTOP00H TURNS OFF ULLAGE.
+ TCF *PROCEED
+ TCF *ENTER
+
+# Page 746
+BLANKDEX = TWO # NEGATIVE OF THIS IS PROPER FOR DISPDEX
+
+ -2 TC BANKCALL # BLANK DSKY. THE DSKY IS BLANKED FOR
+ CADR CLEANDSP # 5 SECONDS AT TIG-35 TO INDICATE THAT
+DISPNOT TCF ENDOFJOB # AVERAGE G IS STARTING.
+
+STOPCLOK TC NULLCLOK # STOP CLOKTASK & TURN OFF ULLAGE ON THE
+ TCF GOTOP00H # WAY TO P00 (GOTOP00H RELINTS)
+
+NULLCLOK INHINT
+ EXTEND
+ QXCH P40/RET
+ TC NOULLAGE # TURN OFF ULLAGE ...
+ TC KILLTASK # DON'T LET IT COME ON, EITHER ...
+ CADR ULLGTASK
+ TC PHASCHNG # NOT EVEN IF THERE'S A RESTART.
+ OCT 1
+ CA Z # KILL CLOKTASK
+ TS DISPDEX
+ TC P40/RET
+
+ASTNRETN TC PHASCHNG
+ OCT 04024
+ CAF ZERO # STOP DISPLAYING BUT KEEP RUNNING
+ TS DISPDEX
+ CAF PRIO13
+ TC FINDVAC
+ EBANK= STARIND
+ 2CADR ASTNRET
+
+ TCF ENDOFJOB
+
+*PROCEED TC UPFLAG
+ ADRES ASTNFLAG
+
+ TCF IGNITE
+
+*ENTER INHINT
+ INDEX WHICH
+ TCF 3
+
+GOPOST CAF PRIO12 # (3) MUST BE LOWER PRIORITY THAN CLOKJOB
+ TC FINDVAC
+ EBANK= TTOGO
+ 2CADR POSTBURN
+
+# Page 747
+ INHINT # SET UP THE DAP FOR COASTING FLIGHT.
+ TC IBNKCALL
+ CADR ALLCOAST
+ TC NULLCLOK
+ TC PHASCHNG # 4.13 RESTART FOR POSTBURN
+ OCT 00134
+
+ TCF ENDOFJOB
+
+GOCUTOFF CAF PRIO17 # (3)
+ TC FINDVAC
+ EBANK= TGO
+ 2CADR CUTOFF
+
+ TC DOWNFLAG
+ ADRES FLUNDISP
+
+ INHINT # SET UP THE DAP FOR COASTING FLIGHT.
+ TC IBNKCALL
+ CADR ALLCOAST
+ TC NULLCLOK
+ TC PHASCHNG
+ OCT 07024
+ OCT 17000
+ EBANK= TGO
+ 2CADR CUTOFF
+
+ TCF ENDOFJOB
+
+IGNITE CS FLAGWRD7 # (2)
+ MASK IGNFLBIT
+ CCS A
+ TCF IGNITE1
+ CAF BIT1
+ INHINT
+ TC TWIDDLE
+ ADRES IGNITION
+
+ CAF OCT23 # IMMEDIATE RESTART AT IGNITION
+ TS L
+ COM
+ DXCH -PHASE4
+
+IGNITE1 CS CNTDNDEX # RESTORE OLD DISPLAY.
+ TS DISPDEX
+
+ TCF ENDOFJOB
+
+# Page 748
+# ********************************
+
+P40ALM TC ALARM # PROGRAM SELECTION NOT CONSISTENT WITH
+ OCT 1706 # VEHICLE CONFIGURATION
+
+REP40ALM CAF V05N09 # (14)
+ TC BANKCALL
+ CADR GOFLASH
+
+ TCF GOTOP00H # V34E TERMINATE
+ TCF +2 # PROCEED CHECK FOR P42
+ TCF REP40ALM # V32E REDISPLAY ALARM
+
+ INDEX WHICH # FOR P42, ALLOW CREW TO PRECEED EVEN
+ TCF 14 # THOUGH VEHICLE IS UNSTAGED.
+
+# ********************************
+
+ BANK 31
+ SETLOC P40S2
+ BANK
+
+ COUNT* $$/P40
+
+P40AUTO TC MAKECADR # HELLO THERE.
+ TS TEMPR60 # FOR GENERALIZED RETURN TO OTHER BANKS.
+P40A/P TC BANKCALL # SUBROUTINE TO CHECK PGNCS CONTROL
+ CADR G+N,AUTO # AND AUTO STABILIZATION MODES
+ CCS A # +0 INDICATES IN PGNCS, IN AUTO
+ TCF TURNITON # + INDICATES NOT IN PGNCS AND/OR AUTO
+ CAF APSFLBIT # ARE WE ON THE DESCENT STAGE?
+ MASK FLGWRD10
+ CCS A
+ TCF GOBACK # RETURN
+ CAF BIT5 # YES, CHECK FOR AUTO-THROTTLE MODE
+ EXTEND
+ RAND CHAN30
+ EXTEND
+ BZF GOBACK # IN AUTO-THROTTLE MODE -- RETURN
+TURNITON CAF P40A/PMD # DISPLAYS V50N25 R1=203 PLEASE PERFORM
+ TC BANKCALL # CHECKLIST 203 TURN ON PGNCS ETC.
+ CADR GOPERF1
+ TCF GOTOP00H # V34E TERMINATE
+ TCF P40A/P # RECYCLE
+GOBACK CA TEMPR60
+ TC BANKJUMP # GOODBYE. COME AGAIN SOON.
+
+P40A/PMD OCT 00203
+
+# Page 749
+ BANK 36
+ SETLOC P40S
+ BANK
+
+ COUNT* $$/P40
+
+# **********************************
+# CONSTANTS FOR THE IGNITION ROUTINE
+# **********************************
+
+SERVCADR = P63TABLE +7
+
+P40ADRES ADRES P40TABLE
+
+P41ADRES ADRES P41TABLE -5
+
+P42ADRES ADRES P42TABLE
+
+ EBANK= DVCNTR
+DSP2CADR 2CADR P63DISPS -2
+
+ EBANK= DVCNTR
+ATMAGADR 2CADR ATMAG
+
+? = GOTOP00H
+
+D29.9SEC 2DEC 2990
+
+S24.9SEC DEC 2490
+
+4.9SEC DEC 490
+
+OCT20 = BIT5
+
+V06N61 VN 0661
+
+# Page 750
+# KILLTASK
+# MOD NO: NEW PROGRAM
+# MOD BY: COVELLI
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# KILLTASK IS USED TO REMOVE A TASK FROM THE WAITLIST BY SUBSTITUTING A NULL TASK CALLED `NULLTASK' (OF COURSE),
+# WHICH MERELY DOES A TC TASKOVER. IF THE SAME TASK IS SCHEDULED MORE THAN ONCE, ONLY THE ONE WHICH WILL OCCUR
+# FIRST IS REMOVED. IF THE TASK IS NOT SCHEDULED, KILLTASK TAKES NO ACTION AND RETURNS WITH NO ALARM. KILLTASK
+# LEAVES INTERRUPTS INHIBITED SO CALLER MUST RELINT
+#
+# CALLING SEQUENCE
+# L TC KILLTASK # IN FIXED-FIXED
+# L+1 CADR ???????? # CADR (NOT 2CADR) OF TASK TO BE REMOVED.
+# L+2 (RELINT) # RETURN
+#
+# EXIT MODE: AT L+2 OF CALLING SEQUENCE.
+#
+# ERASABLE INITIALIZATION: NONE.
+#
+# OUTPUT: 2CADR OF NULLTASK IN LST2
+#
+# DEBRIS: ITEMP1 - ITEMP4, A, L, Q.
+
+ EBANK= LST2
+ BLOCK 3 # KILLTASK MUST BE IN FIXED-FIXED.
+ SETLOC FFTAG6
+ BANK
+ COUNT* $$/KILL
+KILLTASK CA KILLBB
+ INHINT
+ LXCH A
+ INDEX Q
+ CA 0 # GET CADR.
+ LXCH BBANK
+ TCF KILLTSK2 # CONTINUE IN SWITCHED FIXED.
+
+ EBANK= LST2
+KILLBB BBCON KILLTSK2
+
+ BANK 27
+
+ SETLOC P40S1
+ BANK
+ COUNT* $$/KILL
+
+KILLTSK2 LXCH ITEMP2 # SAVE CALLER'S BBANK
+# Page 751
+ INCR Q
+ EXTEND
+ QXCH ITEMP1 # RETURN 2ADR IN ITEMP1,ITEMP2
+
+ TS ITEMP3 # CADR IS IN A
+ MASK LOW10
+ AD BIT11
+ TS ITEMP4 # GENADR OF TASK
+
+ CS LOW10
+ MASK ITEMP3
+ TS ITEMP3 # FBANK OF TASK
+
+ ZL
+ADRSCAN INDEX L
+ CS LST2
+ AD ITEMP4 # COMPARE GENADRS
+ EXTEND
+ BZF TSTFBANK # IF THEY MATCH, COMPARE FBANKS
+LETITLIV CS LSTLIM
+ AD L
+ EXTEND # ARE WE DONE?
+ BZF DEAD # YES -- DONE, SO RETURN
+ INCR L
+ INCR L
+ TCF ADRSCAN # CONTINUE LOOP.
+
+DEAD DXCH ITEMP1
+ DTCB
+
+TSTFBANK CS LOW10
+ INDEX L
+ MASK LST2 +1 # COMPARE FBANKS ONLY.
+ EXTEND
+ SU ITEMP3
+ EXTEND
+ BZF KILLDEAD # MATCH -- KILL IT.
+ TCF LETITLIV # NO MATCH -- CONTINUE.
+
+KILLDEAD CA TCTSKOVR
+ INDEX L
+ TS LST2 # REMOVE TASK BY INSERTING TASKOVER
+ TCF DEAD
+
+LSTLIM EQUALS BIT5 # DEC 16
diff --git a/CM_BODY_ATTITUDE.s b/CM_BODY_ATTITUDE.s
index 5839f61..048a601 100644
--- a/CM_BODY_ATTITUDE.s
+++ b/CM_BODY_ATTITUDE.s
@@ -1,5 +1,5 @@
# Copyright: Public domain.
-# Filename: CM_BODY_ATTITUDE.s
+# Filename: CM_BODY_ATTITUDE.agc
# Purpose: Part of the source code for Comanche, build 055. It
# is part of the source code for the Command Module's
# (CM) Apollo Guidance Computer (AGC), Apollo 11.
diff --git a/CM_ENTRY_DIGITAL_AUTOPILOT.s b/CM_ENTRY_DIGITAL_AUTOPILOT.s
new file mode 100644
index 0000000..96ecd42
--- /dev/null
+++ b/CM_ENTRY_DIGITAL_AUTOPILOT.s
@@ -0,0 +1,1275 @@
+# Copyright: Public domain.
+# Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1063-1092
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: Removed an extraneous label
+# EXDAPIN, added a missing instruction in
+# COMPAT.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1063
+# SUBROUTINE TO READ GIMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2'S COMPLEMENT, BUT THE
+# DIFFERENECES ARE IN 1'S COMP. ENTER AND READ ANGLES EACH .1 SEC.
+#
+# CM/DSTBY = 1 FOR DAP OPERATION
+# CM/DSTBY = 0 TO TERMINATE DAP OPERATION
+
+ BANK 15
+
+ SETLOC ETRYDAP
+ BANK
+
+ COUNT 15/DAPEN
+
+ EBANK= AOG
+
+READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
+ ADS CM/GYMDT # PIPTIME. (GROUP 6)
+
+ # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
+ # PHASCHNG PROTECTION IS IN CM/DAPIC.
+
+ CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
+ MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
+ EXTEND # GIMBAL DIFFERENCES)
+ BZF READGYM1 # OK
+
+ CS BIT1 # NOT IN FINE ALIGN, SO IDLE
+ MASK CM/FLAGS # SET GYMDIFSW = 0
+ TS CM/FLAGS
+ TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
+ TC CM/GYMIC +2
+
+READGYM1 CA CDUX
+ XCH AOG
+ EXTEND
+ MSU AOG # -DELAOG=AOG(N-1) - AOG(N)
+ TS -DELAOG
+
+ CA CDUY
+ XCH AIG
+ EXTEND
+ MSU AIG
+ TS -DELAIG
+
+ CA CDUZ
+ XCH AMG
+ EXTEND
+ MSU AMG
+ TS -DELAMG
+
+# Page 1064
+DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
+ MASK THREE
+ INDEX A
+ TC +1
+ TC DOBRATE # OK, GO ON
+ TC CM/GYMIC # DON'T CALC BODYRATE ON FIRST PASS.
+ NOOP
+ TC FLUSHJET # TURN OFF ALL JETS
+
+ TC PHASCHNG
+ OCT 00006 # DEACTIVATE DAP GROUP 6.
+
+ TC TASKOVER
+
+DOBRATE CA ONE # DO BODYRATE
+DOBRATE1 TS JETEM # SKIP BODYRATE
+
+ CA TEN # KEEP CDU READ GOING.
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR READGYMB
+
+ # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
+
+ CCS JETEM
+ TC BODYRATE
+ TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
+
+CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
+ CAF ZERO
+ TS JETAG
+ TS OLDELP
+ TS OLDELQ
+ TS OLDELR
+ TS GAMDOT # NO GYM DIF, PROB NO GAM DIF.
+ TC DOBRATE1
+
+# Page 1065
+# COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS
+
+ANGOVCOR TS L # THIS COSTS 2 MCT TO USE.
+ TC Q # NO OVFL
+ INDEX A
+ CAF LIMITS
+ ADS L
+ TC Q
+
+ BLOCK 3
+
+ COUNT 03/DAPEN
+
+FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS.
+ EXTEND
+ WRITE ROLLJETS # ZERO CHANNEL 6
+ EXTEND
+ WRITE PYJETS # ZERO CHANNEL 5
+ TC Q
+
+ BANK 15
+
+ COUNT 15/DAPEN
+
+ SETLOC ETRYDAP
+ BANK
+
+RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE
+ AD JETEM # OF CONSTANT ACCELERATION.
+ EXTEND
+ MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2
+ AD JETEM
+ TC Q
+
+# Page 1066
+# THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED.
+
+ BANK 20
+ SETLOC DAPS1
+ BANK
+
+ COUNT 20/DAPEN
+ EBANK= AOG
+
+CM/DAPON CA EBAOG
+ TS EBANK
+
+ TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
+ ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
+ TC DOWNFLAG # RESET DAPBIT2
+ ADRES DAPBIT2 # BIT 14 FLAG 6
+ EXTEND
+ DCA T5IDLER1 # DISABLE RCS CALCULATION
+ DXCH T5LOC
+ EXTEND
+ DCA T5IDLER1 # DISABLE RCS JET CALLS
+ DXCH T6LOC
+
+ TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
+
+ CS 13,14,15
+ MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
+ TS DAPDATR1
+ TC +4
+
+NOTYET CA .5SEC
+ TC BANKCALL
+ CADR DELAYJOB # (DELAYJOB DOES INHINT)
+ +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0
+ MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE.
+ EXTEND
+ BZF NOTYET
+
+ CS ONE # ACTIVATE CM/DAP
+ TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON
+ # NEXT PASS.
+ TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
+ # HEADSUP IS SET IN P62.
+
+ # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62
+
+ CA 7
+ TS JETAG
+ TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE
+ # IN CASE CMDAPMOD IS NOT +1.
+# Page 1067
+ INHINT
+ EXTEND
+ DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD
+ DXCH ALFACOM # ESTABLISHES HEADSUP.
+ CA ROLL/180
+ TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1.
+ EXTEND
+ MP HALF
+ TS ROLLC # NOT INTERESTED IN LO WORD.
+
+ CS CM/FLAGS
+ MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0
+ ADS CM/FLAGS # SET BIT TO 1.
+
+ CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER
+ MASK BIT1 # V 37 ENTRIES.
+ ADS FLAGWRD2
+
+ RELINT
+
+ TC POSTJUMP
+ CADR P62.1
+
+# Page 1068
+# INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1
+# SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG .
+# CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE.
+# SET AVEGEXIT TO CONTINUE AT CM/POSE
+
+CM/DAPIC CA EBAOG
+ TS EBANK
+
+ INHINT
+CM/DAP2C CS PIPTIME +1
+ # PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1.
+ TS JETEM
+
+ CA POS1/2
+ AD POS1/2
+ AD TIME1 # OVFL GUARANTEED
+ ADS JETEM # C(A) = DELTA TIME SINCE PIPUP
+
+ CS FIVE
+ AD JETEM
+ CCS A
+ AD -CDUT+1
+ TCF -2
+ NOOP
+ AD ONE # SEND NO ZERO TO WTLST
+ TS CM/GYMDT # FOR RESTART
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR READGYMB
+
+ CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY
+ MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
+ AD CM/SWIC2 # SET CM/DSTBY, LATSW
+ # DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
+ # CALC. (P62.3) GOES TO ENDEXIT
+ TS CM/FLAGS
+
+ CA 7
+ TS BETA/180 # NECESSARY: NO OVFL CORRECTIO
+ CA ONE # INITIALIZE THE TM OF BODY RATES VIA
+ TS SW/NDX # UPBUFF.
+
+ TC 2PHSCHNG # DOES INHINT/RELINT
+ OCT 40116 # SAVE TBASE6
+ OCT 05024
+ OCT 13000
+
+ TC POSTJUMP
+# Page 1069
+ CADR P62.2
+
+CM/SWIC1 OCT 16017
+CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
+-CDUT+1 OCT 77766
+ EBANK= T5LOC
+T5IDLER1 2CADR T5IDLOC
+
+# Page 1070
+# THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
+# XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQIREMENT: TEMPORARILY ERASE. JETEM, JETEM +1
+#
+# SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
+# THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
+# ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER, IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
+# STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
+# THIS IS NECESSARY UNDER THE GROUND-RULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
+
+ EBANK= AOG
+ BANK 15
+ SETLOC ETRYDAP
+ BANK
+
+ COUNT 15/DAPEN
+
+BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
+ TC SPCOS
+ TS COSM
+
+ CA AOG # C(AOG) = AOG/180
+ TC SPSIN # SINO
+ TS SINO # SINO = SIN(AOG)
+
+ EXTEND
+ MP COSM
+ TS SINOCOSM # SO CM
+
+ CA AOG
+ TC SPCOS # COSO
+ TS COSO
+
+ EXTEND
+ MP COSM
+ TS COSOCOSM # CO CM
+
+# PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO
+
+ CS -DELAMG
+ EXTEND
+ MP SINO
+ DXCH JETEM # 2 LOCS
+ CS -DELAIG
+ EXTEND
+ MP COSOCOSM
+ DAS JETEM
+ CA JETEM
+ XCH OLDELQ
+ TC RATEAVG
+ TS QREL # PITCHDOT = Q TCDU/180
+
+# Page 1071
+# YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO
+
+ CS -DELAMG
+ EXTEND
+ MP COSO
+ DXCH JETEM
+ CA -DELAIG
+ EXTEND
+ MP SINOCOSM
+ DAS JETEM
+ CA JETEM
+ XCH OLDELR
+ TC RATEAVG
+ TS RREL # YAWDOT = R TCDU/180
+
+# ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM
+
+ CA AMG
+ TC SPSIN
+ TS SINM
+
+ EXTEND
+ MP -DELAIG
+ TS JETEM
+ CA ZERO
+ DDOUBL # ROUND L INTO A
+ AD -DELAOG
+ AD JETEM
+ CS A
+ TS JETEM
+ XCH OLDELP
+ TC RATEAVG
+ TS PREL # ROLLDOT = P TCDU/180
+
+ # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0
+
+ CCS GAMDOT
+ TC +2
+ TC NOGAMDUT
+ CS ROLL/180
+ TC SPSIN
+ EXTEND
+ MP GAMDOT
+ TS JETEM +1 # -SR GAMDOT
+ EXTEND
+ MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3)
+ ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180
+
+ CA ROLL/180
+ TC SPCOS
+# Page 1072
+ COM
+ EXTEND
+ MP GAMDOT
+ ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180
+
+ CS JETEM +1 # B( ) = -SR GAMDOT
+ EXTEND
+ MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3)
+ ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180
+
+NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12
+ MASK CM/FLAGS
+ EXTEND
+STBYDUMP BZF TASKOVER # DAP NOT ARMED.
+
+ CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO.
+ TS TIME5
+
+ EXTEND
+ DCA ATDOTCAD
+ DXCH T5LOC
+ # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
+
+ TC TASKOVER
+
+ EBANK= AOG
+ATDOTCAD 2CADR ATTRATES
+
+# Page 1073
+# CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES.
+#
+# CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180
+# BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180
+# ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180
+
+ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5
+ EXTEND # TASK MAY BE SKIPPED AT RESTART.
+ QXCH QRUPT
+ CA SR
+ DOUBLE
+ TS CM/SAVE
+ # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
+
+ CA QREL
+ AD ALFA/180
+ TC ANGOVCOR
+ TS ALFA/180
+ TC SPCOS
+ TS CALFA # CALFA
+ TS PHIDOT
+
+ EXTEND
+ MP PREL
+ XCH PHIDOT # CA PREL
+ EXTEND
+ MP RREL # CA RREL
+ TS BETADOT
+
+ CA ALFA/180
+ TC SPSIN
+ TS SALFA # SIN(ALFA)
+
+ EXTEND
+ MP RREL # SA RREL
+ ADS PHIDOT # CB PHIDOT, SAVED.
+
+ CS SALFA
+ EXTEND
+ MP PREL
+ ADS BETADOT # SAVE BETADOT TCDU/180
+ ADS BETA/180 # BETA DONE.
+
+ TC SPSIN
+ EXTEND
+ MP PHIDOT # NEGLECT CB IN CB PHIDOT
+ AD ALFA/180
+ TC ANGOVCOR
+ TS ALFA/180 # ALFA DONE.
+# Page 1074
+ COM
+ AD ALFACOM
+ TC ANGOVCOR # JUST IN CASE ...
+ TS AK1
+ TS QAXERR # FOR PITCH FDAI AND EDIT.
+
+ CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB
+ AD ROLL/180
+ TC ANGOVCOR
+ TS ROLLTM # ROLL/180 FOR TM.
+ TS ROLL/180 # ROLL DONE.
+
+# START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER.
+
+ CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST.
+ AD BETACOM
+ TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR'
+ # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO
+ # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL
+ # BE R-AXIS ERROR.
+
+ CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G
+ MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G
+ EXTEND
+ BZF EXDAP # IF G LESS THAN .05
+ CS ONE # IF G GEQ THAN .05
+ TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS
+
+ TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES
+ TS AK2 # IN ATM. (MODE =-1)
+
+ CS PREL # YAW ERROR = RREL - PREL TAN(ALFA)
+ EXTEND
+ MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20)
+ AD RREL
+ TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ
+ INDEX A # +/- 1 IF NOT
+ CAF YJETCODE
+
+ TS JETEM
+
+# START PITCH AUTOPILOT HERE. RATE DAMPING ONLY.
+
+ CA QREL
+ TC 2D/SDZ
+EXDAPIN INDEX A # COME HERE FROM EX ATM DAP
+ CAF P/RJCODE
+ ADS JETEM # COMBINE ALL NEW BITS.
+
+ EXTEND # DOES NOT REQUIRE SAVING OLD CODES.
+# Page 1075
+ WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG.
+
+ CCS JETAG
+ TC CM/RCS
+ TC CM/FDAI
+ TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1)
+
+# Page 1076
+# DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS.
+
+3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111
+ AD YAWLIM
+ TCF DZCOM
+ AD YAWLIM
+ TCF DZNOCOM
+
+ # BIASED DZ FOR EXT ATM DAP.
+BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
+ CCS A # START ERROR DZ.
+ CS CM/BIAS # = .6/180
+ TCF +2
+ CA CM/BIAS
+ AD L # BIAS THE ERROR.
+ LXCH Q # SAVE CALLER'S RETURN ADDRES.
+ TC 3DDZ # GO GENERATE THE ERROR BIT.
+ DXCH L # BIT TO L, RESTORE CALLER'S Q.
+4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
+ AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
+ TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
+ AD 4D/SLIM
+ TS A
+ TCF +2 # RATE OK. CONTINUE
+ ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT
+ XCH JETEM2 # AND CONTINUE TO GET SIGN.
+
+2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ
+ AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT)
+ TCF +3
+ AD YDOTLIM # YDOT DZ = 2 DEG/SEC
+DZCOM COM
+DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ
+ CA ZERO # SET C(A) = +0 INSIDE
+ TC Q
+
+# Page 1077
+# EXTRA ATMOSPHERIC DIGITAL AUTOPILOT
+#
+# 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0
+# BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0
+# RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL
+# R-AXIS = CONTROL
+#
+# ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY.
+# RATE = PREL
+# P-AXIS = CONTROL
+#
+# 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1
+# BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA)
+# RATE = BETADOT
+# P-AXIS = CONTROL
+#
+# ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY.
+# RATE = RREL
+# R-AXIS = CONTROL
+#
+# 3. FOR ALL CASES, USE
+# ALFA: PITCH ERROR = (ALFACOM - ALFA)
+# RATE = QREL
+# Q-AXIS = CONTROL
+
+EXDAP TS CMDAPMOD # +0 FOR NOW
+ CCS CALFA
+ AD C45LIM # =1.0-COS(45)
+ TCF +2
+ AD C45LIM
+ TS A
+ TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45)
+
+ CCS CALFA # |CALFA| > 0.707
+ TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG.
+
+ CCS P63FLAG # VALID VALUES ARE: -1, +1, +0.
+ TC EXDAP4
+ TC +2
+ TC EXDAP4
+ TC PHASCHNG # SINGLE PASS THROUGH HERE.
+ OCT 40334
+ CS ONE
+ TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS.
+ CA NSEC
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC.
+# Page 1078
+ # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL
+ # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM.
+
+EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC
+ TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP
+ TCF EXDAP3
+ CA ZERO
+ EXTEND # TURN OFF ROLL JETS IF ON AND WAIT
+ WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE
+ TS JETAG # RESTORE PROPER VALUE +0
+
+ # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL.
+EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45)
+ CA RAXERR # C()= BETACOM - BETA/180
+ TCF EXDAP1
+ CS ZERO
+ TS CMDAPMOD # FOR CM/RCS
+ CS RAXERR # COMPLEMENT OF YAW ERROR.
+EXDAP1 TS RAXERR # FOR YAW FDAI
+ TS AK2 # WANT RAXERR FOR TM.
+ TS L
+ CCS CMDAPMOD # COORDINATE BETA CONTROL.
+ TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0.
+ CA ONE # USE BETADOT TO COORD IN MODE +0
+ INDEX A # OTHERWISE USE RREL.
+ CA RREL
+ TC BIASEDZ # GO TEST DZ +0 IF IN DX, +-1 OTHERWISE
+ # IF GEQ 4D/S, SET ERROR BIT IN L=0
+ EXTEND
+ ROR LCHAN # L HAS BETA BIT
+ INDEX A
+ CAF YJETCODE
+ TS JETEM
+
+ CA QAXERR # ALFA ERROR.
+ TS L
+ CA QREL # FOR ALPHADOT USE QREL
+ TC BIASEDZ
+ EXTEND
+ ROR LCHAN
+ TCF EXDAPIN # CONTINUE ON IN DAP
+
+EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
+
+ CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
+ TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
+ # =0 AND JETAG =-1, QUENCHES JETS IF ON)
+
+ CCS P63FLAG # IF FLAG WAS +1, SET =0.
+ TS P63FLAG
+# Page 1079
+ NOOP
+
+ CCS SALFA # BETA CONTROL WITH P JETS
+ CS RAXERR # B()= BETACOM - BETA/180
+ TCF +2
+ CA RAXERR
+ TS PAXERR1 # TEMP SAVE. ERROR/180
+ EXTEND
+ MP HALF # CM/FDAI EXPECTS ERROR/360.
+ XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180.
+ TS L
+ CCS SALFA
+ CS BETADOT # USE BETADOT TO COORD IN MODE +1
+ TC +2
+ CA BETADOT
+ TC BIASEDZ
+ EXTEND
+ ROR LCHAN
+ INDEX A
+ CAF P/RJCODE # GET ROLL CODE
+ EXTEND # ROLL CONTROL WITH YAW JETS.
+ WRITE ROLLJETS # WE'LL SKIP REGULAR ROLL SYST
+
+ CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
+ EXTEND
+ MSU ROLL/180 # 1'S COMPL, BUT SO WHAT'S A BIT?
+ TS L # FORCE A LIMIT CYCLE IN YAW RATE.
+ CCS SALFA
+ CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
+ TC EXDAP1
+ CS L
+ TC EXDAP1
+
+NSEC DEC 2100 # 65 DEG/ 3 DEG/SEC
+ # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT.
+4D/SLIM DEC 16348 # 1.0 -4/180 D/S = 4/1800 EXP 14
+YDOTLIM DEC 16366 # =1.0 - YDOT DZ= 16384 -18
+ # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14
+
+CM/BIAS DEC 55 # =.6/180 B14 = 55
+YAWLIM DEC 16055 # YAWLIM=1.0-3.6/180=16384-329=16055
+C45LIM DEC .29289 # =1.0-COS(45)
+
+SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
+COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
+
+# TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
+# USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
+# FROM TRIM, SO USE ON-BOARD ESTIMATES.
+
+# Page 1080
+# JET CODE TABLES FOLLOW
+
+ OCTAL 00120 # POS Y
+YJETCODE OCTAL 00000 # RCS JET BITS
+ OCTAL 00240 # NEG Y
+ OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS
+P/RJCODE OCTAL 00000
+ OCTAL 00012 # NEG R ALSO NEG P
+
+# Page 1081
+# RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP.
+# THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE
+# EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE
+# TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE
+# NEXT UPDATE.
+
+SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH
+ TS TUSED
+ # THE 5 CS APPEARS IN TIMETST.
+ CA ONE # RATHER THAN INCR, FOR SAFETY
+ TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE
+ TC PHASCHNG
+ OCT 00001
+
+ TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE
+
+# PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE
+# TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE
+# THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN
+# WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE.
+
+HALFPR EQUALS NEG1/2 +1
+
+ # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW
+ # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE
+ # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY
+ # IF A RESTART OCCURS AFTER TIMETST COMMENCES.
+
+CM/RCS CS ONE
+ TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER
+
+ CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR
+ EXTEND
+ MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800
+ AD L # -2 RDOT T/180 IN L
+ TS -VT/180 # SAVE -2VT/180 HERE
+
+ CS ROLL/180
+ TS SR # SAVE (-R/180) /2
+
+ CS CM/FLAGS
+ MASK BIT4 # LATSW = 101D BIT4
+ EXTEND # ROLL OVER TOP $
+ BZF GETLCX # NO, TAKE SHORTEST PATH
+ ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0)
+ CA ROLLC # (ROLLC/180) /2
+ AD SR # -(R/180) /2
+ XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180.
+ TCF COMPAT # POSSIBLE OVFL ABOVE.
+
+# Page 1082
+GETLCX CA POS1/2 # FORM RCOM/360
+ DOUBLE
+ AD ROLLC
+ XCH LCX/360 # IGNORE POSSIBLE OVFL.
+
+ CA SR # FORM -R/360
+ AD NEG1/2
+ AD NEG1/2 # IGNORE OVFL
+ XCH LCX/360 # -R/360
+ ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
+
+# DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
+
+ CCS -VT/180 # TAKE SHORTEST ANGULAR PATH
+ AD ONE # (BASED ON SINGLE JET ACCELERATION)
+ TCF +2
+ AD ONE
+ EXTEND
+ MP -VT/180 # C(-VT/180) = -2 VT/180
+ EXTEND
+ MP 1/16A1 # = 180/(16 A1 TT)
+ EXTEND
+ DV CALFA
+ TS L
+ CCS LCX/360
+ CAF POS1/2
+ TCF +2
+ CS POS1/2
+ AD LCX/360 # IS LCX/360 LESS THAN 180 DEGS $
+ AD L
+ TS L
+ TCF COMPAT # YES, GO ON.
+TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI
+ CS HALFPR # +A YIELDS -1/2
+ DOUBLE
+ ADS LCX/360
+
+COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
+ EXTEND
+ MP CALFA # COS ALFA
+ TS LCX/360 # SCALED LCX OK HERE.
+
+ CCS CMDAPMOD # FOUR POSSIBILITIES HERE
+ TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0)
+ # ALL 3 AXES ALREADY DONE.
+ TC +1 # G LESS THAN .05. CA POS. CONTINUE
+ CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS
+ TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0
+ TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM.
+ TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360)
+# Page 1083
+ CA -VT/180 # GET - 2 VT/180
+ TS SR
+ CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ
+ TS -VT/180E # DIAGNOSTIC ****
+ XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED
+ EXTEND
+ MP -VT/180 # B(A) = -ZVT/180
+ EXTEND
+ MP 180/8ATT
+ TS VSQ/4API
+
+# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
+
+WHICHALF DOUBLE # FOR SECOND BURN, A1
+ COM
+ AD BUFLIM # =BUFLIM/(2 360)
+ TS L
+ CCS -VT/180
+ CS L
+ TCF +2
+ CA L
+ AD LCX/360
+ AD BUFLIM
+ EXTEND
+ BZMF REFLECT # POINT (X,V) IN LHP.
+
+# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG?
+
+ COM
+ AD BUFLIM
+ AD BUFLIM
+ EXTEND
+ BZMF DZ1 # POINT (X,V) IN RHP
+
+# IS POINT WITHIN VELOCITY DZ?
+
+ CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG?
+ AD VSQ/4API
+ EXTEND
+ BZMF DZCALL # YES.
+
+# POINT IS IN BUFFER ZONE. THRUST TO X AXIS.
+
+ CS JNDX
+ TS JNDX1
+ TC OVRLINE1
+
+REFLECT CS -VT/180 # RELFECT LHP INTO RHP REL TO TERM CONTR
+ TS -VT/180
+ TS SR # -VT/360 SAVED FOR DZ.
+# Page 1084
+ CS LCX/360
+ TS LCX/360
+ CS JNDX
+ TS JNDX
+
+# IS VSQ/4API - (VSQ/4API) MIN NEG?
+
+DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $
+ AD VSQ/4API
+ EXTEND
+ BZMF DZ2 # YES, GO TEST FURTHER.
+ TCF MAXVTEST # NO
+
+# IS X/360 - XMIN/360 -VT/360 NEG?
+
+DZ2 CS XMIN/360 # XMIN/360 = 4/360
+ AD LCX/360
+ AD SR # C(SR) = -VT/360
+ EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
+ BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0.
+
+# IS XD/360 - VM/360K - XS/360 POS?
+
+MAXVTEST CS JNDX
+ TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS.
+ CS XS/360 # XS/360 = (XMIN -YMIN/K) /360
+ AD VSQ/4API
+ AD LCX/360
+ TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT
+ # BUT C(XD/360) = (XD - XS) /360
+ AD -VM/360K # X INTERCEPT FOR MAX V (VM)
+ COM
+ EXTEND
+ BZMF MAXVTIM1 # YES, THRUST TO VM
+ CA XD/360
+ EXTEND
+ MP KTRCS
+ DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY.
+
+ TC GETON1 # INSURE THAT Q IS POS AS TAG.
+MAXVTIM1 EXTEND
+ ZQ # SET +Q AS TAG
+ CS -VMT/180
+GETON1 TS VDT/180 # VDT/180 OR VMT/180
+ AD -VT/180
+ DOUBLE
+ EXTEND
+ MP 180/8ATT
+ TS TON1 # TON1 / 4T
+# Page 1085
+ EXTEND
+ BZMF OVRLINE
+ TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1
+
+OVRLINE CCS Q
+ TCF OVRLINE1
+MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN
+ TS JNDX
+ CS TON1
+ TCF OVRLINE2 +1
+
+OVRLINE1 CS -VT/180 # DRIFT AT V
+ TS VDT/180
+OVRLINE2 CA ZERO
+ TS TON1
+GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180
+ DOUBLE
+ EXTEND
+ MP 180/8ATT
+ DOUBLE # FOR SECOND BURN, A1
+ TS TON2 # = TON2 / 4T
+
+ COM
+ EXTEND
+ BZMF GETOFF
+ TS TON2
+ CA JNDX
+ TS JNDX1
+
+GETOFF CS TON2 # TON2 / 4T
+ EXTEND
+ MP VDT/180 # VDT/180, OR VT/180, OR VMT/180.
+ TS XD/360 # USE AS TEMP
+ CS VDT/180
+ EXTEND
+ BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0.
+ AD -VT/180
+ EXTEND
+ MP TON1 # TON1 /4T
+ AD XD/360 # TEMP = -VDT/180 / 2 TON2
+ AD LCX/360
+ ZL
+ XCH L # TEST THE DIVIDE
+ EXTEND
+ DV VDT/180
+ EXTEND
+ BZF GETOFF2 # DIVIDE OK
+
+TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE.
+ TCF TIMSCAL
+
+# Page 1086
+GETOFF2 XCH L # GET NUMERATOR.
+ EXTEND
+ DV VDT/180 # C(A) = TOFF / 2T
+ EXTEND
+ MP 2JETT
+TIMSCAL TS TOFF # IN CS
+
+ CAF 4JETT
+ EXTEND
+ MP TON1 # C(TON1) = TON1 / 4T
+ TS TON1 # IN CS
+
+ CAF 4JETT
+ EXTEND
+ MP TON2 # C(TON2) = TON2 / 4T
+ TS TON2 # IN CS
+
+ CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE
+ TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
+
+ # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
+ # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT
+ # AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
+
+ CA ONE
+ TS SW/NDX
+
+# Page 1087
+# TIMETEST SECTION FOR RCS
+#
+# ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASABLE LOCS TON1, TOFF, TON2, JNDX
+# JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY
+# (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND
+# (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC).
+# TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS,
+# TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL.
+# SECTION JETCALL BELOW PROCESSES THIS LIST.
+
+TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL.
+ AD POS1/2
+ AD POS1/2 # OVFL GUARANTEED.
+ ADS TUSED # B(TUSED) =-TUSED =-OLTIME1
+
+ CA -T-3 # =-T +2 -5 (SEE SETJTAG)
+ # THE +2 REQUIRED FOR PROPER BRANCH.
+ ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2
+
+ CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1
+ AD TON1
+ EXTEND
+ BZMF TIMETST1
+ INDEX JNDX
+ CAF P/RJCODE
+ TS T1BITS
+
+ CA TON1
+ ADS TUSED
+ EXTEND
+ BZMF TOFFTEST
+ CA ZERO
+ TCF TIMETST3
+TIMETST1 CS ONE
+ TS TON1
+TOFFTEST CS TWO
+ AD TOFF
+ EXTEND
+ BZMF TIMETST2
+ CA TOFF
+ ADS TUSED
+ EXTEND
+ BZMF TON2TEST
+ CA ZERO
+ TCF TIMETST4
+TIMETST2 CS ONE
+ TS TOFF
+TON2TEST CS TWO
+ AD TON2
+ EXTEND
+ BZMF TIMETST5
+# Page 1088
+ INDEX JNDX1
+ CAF P/RJCODE
+ TS T2BITS
+ CA TON2
+ ADS TUSED
+ EXTEND
+ BZMF JETCALL1
+ CA ZERO
+ TCF TIMETST5 +1
+TIMETST3 TS TON1
+ CS ONE
+TIMETST4 TS TOFF
+TIMETST5 CS ONE
+ TS TON2
+
+# SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING
+# JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS
+# EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPOINDING JET BITS ARE TO BE
+# EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE
+# SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE
+# THAN ONE REGISTER.
+
+JETCALL1 CA ZERO
+ TS OUTTAG
+ TS NUJET
+ TS TBITS
+ DXCH TON1
+ CCS A
+ TCF JETCALL2 # CALL WTLST
+JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL
+ CS ONE
+ DXCH TOFF
+ CCS A
+ TCF JETCALL2 # CALL WTLST
+ LXCH NUJET
+ CS ONE
+ DXCH TON2
+ CCS A
+ TCF JETCALL2 # CALL WTLST
+ LXCH NUJET
+ TC JETACTN # C(A) = +0
+JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL
+ ADS NUJET
+ XCH L
+ AD ONE # RESTORE FOR CCS
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR JETCALL
+
+JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN
+# Page 1089
+ EXTEND # NO NEED TO SAVE OLD CODES
+ WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG.
+
+ CCS OUTTAG
+ TC TASKOVER
+ROLLDUMP TC CM/FDAIR
+
+ # EDIT DUMP AT ABOVE LOCATION.
+
+# WAITLIST ENTRIES COME HERE.
+
+JETCALL CAF BIT2 # CM/DSTBY =103D BIT2
+ TS OUTTAG # SIGNIFY WTLST ENTRY
+ MASK CM/FLAGS # IS SYSTEM DISABLED $
+ EXTEND
+ BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT.
+ ZL # NO, CONTINUE.
+ TCF JETCALL3 # C(A) POS, C(L) = +0
+
+# DEAD ZONE ENTRIES COME HERE.
+
+DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0.
+ MASK BIT1
+ TS L # C(L)=0 FOR -0: C(L)=1 FOR -1 OR +0.
+ INDEX A # ERASABLE ORDER: ROLLTM, ROLLC, ROLLC +1.
+ CA ROLLTM # GET ROLL/180 OR ROLLC (/360).
+ INDEX L
+ TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'.
+ AD L # (BOTH MUST BE SCALED DEG/180)
+ TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC.
+ TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE.
+ # OTHERWISE, SAVE ROLL COMMAND.
+
+ CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS.
+ EXTEND # INHINT NOT NEEDED HERE.
+ WRITE ROLLJETS # TURN OFF ALL ROLL JETS.
+ TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE.
+DZCALL1 TS JETAG # COME HERE WITH C(A)=0.
+ TC ROLLDUMP
+
+# Page 1090
+# CM ENTRY FDAI DISPLAY
+#
+# CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS:
+# ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR.
+# EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC.
+# ROLL ROLLC-ROLL
+# PITCH ALFAC-ALFA
+# YAW BETAC-BETA
+#
+# DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW.
+# THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE.
+
+ # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW)
+CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES
+ EXTEND
+ MP CALFA # FOR ASSUMED COORDINATION.
+ EXTEND
+ MP HALF
+ ADS PAXERR1 # ROLL ERROR/360. OVFL OK.
+
+ # EDIT DUMP AT ABOVE LOCATION.
+CM/FDAIR CA HALF
+ EXTEND
+ MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D
+ TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE.
+
+ # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND
+ # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT.
+ # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM
+ # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON
+ # THE SUBSEQUENT PASS.
+
+CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
+ TS SW/NDX
+ EXTEND # INDEX
+ BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
+ # ENDBUF.
+ # INDEX IS POS FOR NEEDLES.
+
+ TC IBNKCALL
+ CADR NEEDLER
+
+ TC CM/END
+
+ # INDEX IS NEG FOR TM FILE
+
+CMTMFILE AD THREE
+ EXTEND
+ BZMF SAVENDX
+
+# Page 1091
+ CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
+ TS CMTMTIME
+ CS THIRTEEN # INITIALIZE COUNTER
+SAVENDX TS SW/NDX # A NEGATIVE NUMBER.
+ EXTEND
+ DCA PREL
+ INDEX SW/NDX
+ DXCH ENDBUF -1
+ CA RREL
+ INDEX SW/NDX
+ TS ENDBUF +1
+
+CM/END CA CM/SAVE
+ TS SR
+ # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS
+
+ EXTEND
+ DCA T5IDLER2
+ DXCH T5LOC
+ TC RESUME
+
+ EBANK= T5LOC
+T5IDLER2 2CADR T5IDLOC
+
+ # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE
+ # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION.
+ # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D
+ # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE
+ # EACH 2 SECONDS.
+ #
+ # THE SEQUENCE IS: SP TIME INITIAL TIME
+ # SWITCH ALSO INDEX.
+ # P ROLL RATE
+ # Q PITCH RATE
+ # R YAW RATE
+ # ETC.
+
+#CMTMTIME = UPBUFF
+#SW/NDX = UPBUFF +1
+#ENDBUF = UPBUFF +16D
+
+# Page 1092
+# SPACER
+#
+# CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
+# CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
+# XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
+# XBUF = 4DEG
+
+-T-3 DEC -203 # CS
+VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
+2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC
+180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3
+-VMT/180 = -VM/360K # = 20 (2) / 180
+2JETT = 4SECS # CS 2 (2) 100 INTEGER
+4JETT DEC 800 # CS 4 (2) 100 INTEGER
+XMIN/360 DEC 182 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
+-VM/360K DEC -.22222222 # =-20/( 360 (.25))
+1/16A1 = 180/8ATT
+ # 1/16A1 = 180/(16 A1 TT)
+ # = 180/(16 4.55 4)
+XS/360 DEC 91 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
+BUFLIM = XS/360 # 4/(2 360)
+
+KTRCS = HALF # KT = (.25) 2 = .5
+
+# *** END OF TVCDAPS .011 ***
+
diff --git a/CONIC_SUBROUTINES.s b/CONIC_SUBROUTINES.s
new file mode 100644
index 0000000..9bd7ac8
--- /dev/null
+++ b/CONIC_SUBROUTINES.s
@@ -0,0 +1,1922 @@
+# Copyright: Public domain.
+# Filename: CONIC_SUBROUTINES.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1262-1308
+# Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrected: Fixed four interpreter
+# instructions.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1262
+# PROGRAM DESCRIPTION -- ENTIRE CONIC SUBROUTINE LOG SECTION DATE -- 1 SEPTEMBER 1967
+# MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES
+# MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88
+#
+# FUNCTIONAL DESCRIPTION --
+# THE FOLLOWING SET OF SUBROUTINES SOLVE VARIOUS PROBLEMS INVOLVING THE TRAJECTORY PRODUCED BY A CENTRAL
+# INVERSE-SQUARE FORCE ACTING ON A POINT MASS, AS OUTLINED IN THE CMC AND LGC LUNAR LANDING MISSION GSOP, SECTION
+# 5.5.1.2. A GENERAL USAGE POINT-OF-VIEW WAS TAKEN IN FORMULATING, MECHANIZING, AND SCALING THE SUBROUTINES,
+# RATHER THAN OPTIMIZING EACH FOR A PARTICULAR USE. THEREFORE, MULTIPLE USAGE CAN BE MADE OF THE SUBROUTINES
+# INVOLVING ANY REALISTIC SET OF CONSTRAINTS. IT SHOULD BE NOTED THAT ONLY ONE SET OF CODING IS USED, WHETHER THE
+# EARTH, MOON, OR ANY OTHER CELESTIAL BODY IS SPECIFIED AS THE CENTRAL BODY OF THE PROBLEM, PROVIDED ONE OBSERVES
+# THE INHERENT SCALE CHANGE REQUIRED IN POSITION, VELOCITY, MU, AND TIME, AS OUTLINES IN MISSION PROGRAMMING
+# DEFINITION MEMO NO. 10. THIS CAN BE ACCOMPLISHED BY SIMPLY ADDING TO THE MUTABLE AND INITIALIZING THE SUBROUTINES
+# APPROPRIATELY.
+#
+# DUE TO THE UNIFORMITY OF THE EQUATIONS INVOLVED, CODING WAS MINIMIZED BY TREATING INDIVIDUAL EQUATIONS AND
+# BLOCKS OF EQUATIONS AS SUBROUTINES OF LOWER RANK WHENEVER POSSIBLE. AS A RESULT, THREE BY-PRODUCTS SUBROUTINES,
+# DIRECTLY USABLE AS INDEPENDENT SUBROUTINES, WERE GENERATED.
+#
+# RESTRICTIONS --
+# THE ONLY LIMITATION IN THE SCOPE OF THE PROBLEM WHICH CAN BE SOLVED BY A PARTICULAR SUBROUTINE IS THE SCALING
+# LIMIT OF EACH PARAMETER AS SPECIFIED IN THE GSOP. THESE SCALING LIMITS WERE CHOSEN SO THAT ALL FEASIBLE TRAJECTORIES
+# COULD BE HANDLED.
+#
+# SINCE THE SUBROUTINES (EXCEPT KEPLER) USE COMMON SUBROUTINES OF LOWER RANK WHICH USE ERASABLE OTHER THAN
+# THE PUSHLIST (DUE TO ITS LIMITED SIZE) AND COMMON INTERPRETIVE SWITCHES, THE CONIC SUBROUTINES CANNOT BE ALLOWED
+# TO INTERRUPT EACH OTHER. IT IS UP TO THE USER TO GUARANTEE THIS CONDITION.
+
+# Page 1263
+# PROGRAM DESCRIPTION -- KEPLER SUBROUTINE DATE -- 11 OCTOBER 1967
+# MOD NO. -- 1 LOG SECTION -- CONIC SUBROUTINES
+# MOD BY KRAUSE ASSEMBLY -- COLOSSUS 103 AND SUNDANCE 222
+# MOD NO. -- 2 (AUGUST 1968) BY ROBERTSON: TO PERMIT BACKDATING BY MORE THAN ONE ORBITAL PERIOD.
+# MOD NO. -- 3 (DEC 1968) BY ROBERTSON: SUPPRESSION OF X-MODULO-ING
+# MOD NO. -- 4 (JAN 1969) BY ROBERTSON: CLEAR OVFIND AT KEPLER ENTRY
+#
+# FUNCTIONAL DESCRIPTION --
+# THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND THE DESIRED TRANSFER TIME THROUGH WHICH THE STATE IS TO
+# BE UPDATED ALONG A CONIC TRAJECTORY, COMPUTES THE NEW, UPDATED STATE VECTOR. THE TRAJECTORY MAY BE ANY CONIC
+# SECTION -- CIRCULAR, ELLIPTIC, PARABOLIC, HYPERPOLIC, OR RECTILINEAR WITH RESPECT TO THE EARTH OR THE MOON. THE
+# USE OF THE SUBROUTINE CAN BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT
+# INTRODUCING ANY CODING CHANGES, ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. AN ITERATION
+# TECHNIQUE IS UTILIZED IN THE COMPUTATION.
+#
+# IF A NEGATIVE TIME-OF-FLIGHT IS INPUT, THE PROGRAM WILL SOLVE FOR THE STATE WHICH WOULD BE PRODUCED BY
+# EXTRAPOLATING THE POSITION BACKWARD IN TIME.
+#
+# IF THE ABSOLUTE VALUE DESIRED TRANSFER TIME EXCEEDS THE ORBITAL PERIOD, THE SUBROUTINE, THROUGH A
+# MODULAR TECHNIQUE, WILL COMPUTE THE STATE CORRESPONDING TO THE DESIRED TIME AS USUAL.
+#
+# THE RESTRICTIONS ARE --
+# 1. (PREVIOUS RESTRICTION ON THE NEGATIVE DESIRED TRANSFER TIME IS NOW DELETED.)
+# 2. THE PARAMETERS IN THE PROBLEM CANNOT EXCEED THEIR SCALING LIMITS AS SPECIFIED IN THE GSOP. IF
+# ANY OF THESE LIMITS ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS.
+#
+# THE NUMBER OF ITERATIONS AND, THEREFORE, THE COMPUTATION SPEED IS DEPENDENT ON THE ACCURACY OF THE
+# GUESS, XKFPNEW. THE AGC COMPUTATION TIME IS APPROXIMATELY .061 SECONDS FOR INITIALIZATION, .065 SECONDS FOR THE
+# FINAL COMPUTATIONS, PLUS .083 SECONDS FOR EACH ITERATION.
+#
+# REFERENCES --
+# R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP, SECTION 5.5, SGA
+# MEMO 67-4.
+#
+# INPUT -- ERASABLE INITIALIZATION REQUIRED
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# RRECT +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS
+# +27 FOR MOON
+# Page 1264
+# VRECT +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND
+# +5 FOR MOON
+# X1 (38D) NONE INDEX REGISTER SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON,
+# RESPECTIVELY, IS THE CENTRAL BODY
+# TAU +28 DESIRED TRANSFER TIME IN CENTISECONDS (DP)
+# MAY BE POS OR NEG AND ABSOLUTE VALUE MAY BE GREATER OR LESS THAN ONE ORBITAL PERIOD.
+# XKEPNEW +17 FOR EARTH DP GUESS OF ROOT X OF KEPLERS EQN IN SQRT(METERS).SIGN SHOULD AGREE WTIH THAT OF TAU.
+# +16 FOR MOON AND ABS VALUE SHOULD BE LESS THAN THAT CORRESPONDING TO A PERIOD, VIZ, 2PI SQRT(SEMI-
+# MAJOR AXIS), FOR SPEED OF CONVERGENCE, BUT IF EITHER CONDITION FAILS, XKEPNEW IS RESET
+# BY KEPLER TO A POOR BUT VALID GUESS.
+# TC +28 DP PREV. VALUE OF TIME IN CENTISECS. MUST BE LESS THAN ONE ORBITAL PERIOD.
+# XPREV +17 FOR EARTH PRVIOUS VALUE OF X IN SQRT(METERS). MUST BE LESS THAN AN X CORRESPONDING TO ONE
+# +16 FOR MOON ORBITAL PERIOD, VIZ, 2PI SQRT(SEMI-MAJOR AXIS)
+#
+# SUBROUTINES CALLED --
+# DELTIME
+#
+# CALLING SEQUENCE AND NORMAL EXIT MODES --
+# KEPRTN-2 GOTO # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY.
+# KEPRTN-1 KEPLER # RETURNS WITH XPREV IN MPAC. PL IS AT 0.
+# KEPRTN ... # CONTINUE
+#
+# KEPLER MUST NOT BE CALLED DIRECTLY SINCE AN INTERRUPTION OF IT WOULD DESTROY THE ERASABLES IT NEEDS TO COMPLETE
+# THE INTERRUPTED JOB. THEREFORE THE USER MUST CALL CSMCONIC OR LEMCONIC WHICH GUARANTEES NO INTERRUPTS AND WHICH
+# ALSO CALLS KEPPREP TO COMPUTE A GUESS OF XKEPNEW.
+#
+# ABORT EXIT MODE --
+# NONE
+#
+# OUTPUT --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# RCV +29 FOR EARTH DP TERMINAL POSITION VECTOR IN METERS
+# +27 FOR MOON
+# VCV +7 FOR EARTH DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC
+# +5 FOR MOON
+# TC +28 DP TRANSFER TIME IN CENTISECS TO WHICH KEPLER CONVERGED. ALWAYS LESS THAN ONE PERIOD.
+# XPREV +17 FOR EARTH DP VALUE OF X IN SQRT(METERS) TO WHICH KEPLER CONVERGED. ALWAYS LESS THAN THE X
+# +16 FOR MOON CORRESPONDING TO ONE PERIOD.
+# Page 1265
+# FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS.
+#
+# DEBRIS --
+# PARAMETERS WHICH MAY BE OF USE --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# URRECT +1 DP UNIT VECTOR OF INITIAL POSITION
+# R1 +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION IN METERS
+# +27 FOR MOON
+# ALPHA -22 FOR EARTH DP INVERSE OF SEMI-MAJOR AXIS IN 1/METERS
+# -20 FOR MOON
+# TMODULO +28 DP INTEGRAL NUMBER OF PERIODS IN CENTISECS, WHICH WAS SUBTRACTED FROM TAU. TO PRODUCE A
+# TAU. OF LESS THAN ONE PERIOD.
+#
+# PARAMETERS OF NO USE --
+# DP PARAMETERS -- FPSILENT, DELX, DELT, RCNORM, XMODULO, PLUS PUSHLIST REGISTERS 0 THROUGH 39D.
+
+# Page 1266
+# PROGRAM DESCRIPTION -- LAMBERT SUBROUTINE DATE -- 1 SEPTEMBER 1967
+# MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES
+# MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88
+#
+# FUNCTIONAL DESCRIPTION --
+# THIS SUBROUTINE CALCULATES THE INITIAL VELOCITY REQUIRED TO TRANSFER A POINT-MASS ALONG A CONIC TRAJECTORY
+# FROM AN INITIAL POSITION TO A TERMINAL POSITION IN A PRESCRIBED TIME INTERVAL. THE RESULTING TRAJECTORY MAY BE
+# A SECTION OF A CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE
+# SUBROUTINE CAN BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY
+# CODING CHANGES, ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. AN ITERATION TECHNIQUE IS
+# UTILIZED IN THE COMPUTATION.
+#
+# THE RESTRICTIONS ARE: --
+# 1. RECTILINEAR TRAJECTORIES CANNOT BE COMPUTED.
+# 2. AN ACCURACY DEGRADATION OCCURS AS THE COSINE OF THE TRUE ANOMALY DIFFERENCE APPROACHES +1.0.
+# 3. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES
+# AND LESS THAN 178 DEGREES 12.5 MINUTES.
+# 4. NEGATIVE TRANSFER TIME IS AMBIGUOUS AND WILL RESULT IN NO SOLUTION.
+# 5. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE
+# LIMITS ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS.
+#
+# THE NUMBER OF ITERATIONS AND, THEREFORE, THE COMPUTATION'S SPEED IS DEPENDENT ON THE ACCURACY OF THE FIRST
+# GUESS OF THE INDEPENDENT VARIABLE, COGA. THE AGC COMPUTATION TIME IS APPROXIMATELY
+# .105 SECONDS FOR INITIALIZATION, .069 SECONDS FOR FINAL COMPUTATIONS, PLUS .205 SECONDS FOR EACH ITERATION.
+#
+# REFERENCES --
+# R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP -- SECTION 5.5, SGA MEMO 67-8,
+# SGA MEMO 67-4.
+#
+# INPUT -- ERASABLE INITIALIZATION REQUIRED
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# R1VEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS
+# +27 FOR MOON
+# R2VEC +29 FOR EARTH DP TARGET OR TERMINAL POSITION VECTOR IN METERS
+# +27 FOR MOON
+# TDESIRED +28 DP DESIRED TRANSFER TIME IN CENTISECONDS
+# X1 (38D) NONE INDEX REGISTER SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON,
+# RESPECTIVELY, IS THE CENTRAL BODY
+# GEOMSGN NONE SP +.5 IF DESIRED TRANSFER ANGLE IS LESS THAN 180 DEGREES, -.5 IF GREATER THAN 180 DEG.
+# GUESSW NONE AN INTERPRETER SWITCH TO BE SET IF NO GUESS OF COGA IS AVAILABLE, CLEAR IF A GUESS OF
+# Page 1267
+# COGA IS TO BE USED BY LAMBERT
+# COGA +5 DP GUESS OF COTANGENT OF FLIGHT PATH ANGLE (MEASURED FROM VERTICAL). THIS WILL BE
+# IGNORED IF GUESSW IS SET.
+# NORMSW NONE AN INTERPRETER SWITCH TO BE SET IF UN IS TO BE AN INPUT TO THE SUBROUTINE, CLEAR IF
+# LAMBERT IS TO COMPUTE ITS OWN NORMAL (UN).
+# UN +1 DP UNIT NORMAL TO THE DESIRED ORBIT PLANE IN THE DIRECTION OF THE RESULTING ANGULAR
+# MOMENTUM VECTOR. THIS WILL BE IGNORED IF NORMSW IS CLEAR.
+# VTARGTAG NONE A S.P. TAG TO BE SET TO ZERO IF LAMBERT IS TO COMUTE THE VELOCITY OF R2VEC AS WELL AS
+# AT R1VEC.
+#
+# SUBROUTINES CALLED --
+# GEOM, GETX, DELTIME, ITERATOR, LAMENTER (PART OF NEWSTATE)
+#
+# CALLING SEQUENCE AND NORMAL EXIT MODES --
+# L CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY.
+# L+1 LAMBERT # RETURNS WITH PL AT 0 AND WITH VVEC IN MPAC IF VTARGTAG WAS WAS NON-ZERO OR VTARGET
+# # IN MPAC IF VTARGTAG WAS ZERO
+# L+2 BON # CONTINUE IF SOLNSW CLEAR SINCE SOLUTION IS ACCEPTABLE
+# L+3 SOLNSW
+# L+4 LAMABORT
+#
+# IF A LAMBER RESULT IS TO BE A FIRST GUESS FOR THE NEXT LAMBERT CALCULATION, COGA MUST BE PRESERVED AND
+# GUESSW MUST BE CLEAR FOR EACH SUCCEEDING LAMBERT CALL.
+#
+# ABORT EXIT MODES --
+# IF SOLNSW WAS SET UPON EXITING, EITHER LAMBERT WAS ASKED TO COMPUTE A TRANSFER TOO NEAR 0 OR 360 DEG, OR T
+# WAS TOO SMALL TO PRODUCE A REALISTIC TRANSFER BETWEEN R1VEC AND R2FEC. IN EITHER CASE THE FIX MUST BE MADE
+# ACCORDING TO THE NEEDS OF THE PARTICULAR USER. THE ABORT EXIT MODE MAY BE CODED AS ...
+# LAMBERT DLOAD ABS # A MEASURE OF THE PROXIMITY TO 0 OR
+# 1-CHTH # 360 DEGREES.
+# DSU BWM
+# ONEBIT
+# CHANGER2 # CHANGE R2VEC DIRECTION SLIGHTLY.
+# DLOAD DAD
+# TDESIRED
+# SOMETIME
+# STCALL TDESIRED # INCRESE TDESIRED
+# LAMBERT
+#
+# OUTPUT --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# Page 1268
+# -------- -------------- -----------------------
+# VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND REQUIRED TO SATISFY THE BOUNDARY VALUE
+# +5 FOR MOON PROBLEM.
+# VTARGET +7 FOR EARTH DP RESULTANT VELOCITY VECTOR AT R2VEC IN METERS/CENTISECOND.
+# +5 FOR MOON
+# SOLNSW NONE INTERPRETER SWITCH WHICH IS SET IF THE SUBROUTINE CANNOT SOLVE THE PROBLEM, CLEAR IF THE
+# SOLUTION EXISTS.
+#
+# FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS.
+#
+# DEBRIS --
+# PARAMETERS WHICH MAY BE OF USE --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# SNTH +1 DP SIN OF ANGLE BETWEEN R1VEC AND R2VEC
+# CSTH +1 DP COSINE OF ANGLE
+# 1-CSTH +2 DP 1-CSTH
+# COGA +5 DP COTAN OF INITIAL REQUIRED FLIGHT PATH ANGLE MEASURED FROM VERTICAL
+# P +4 DP RATIO OF SEMILATUS RECTUM TO INITIAL RADIUS
+# R1A +6 DP RATIO OF INITIAL RADIUS TO SEMI-MAJOR AXIS
+# R1 (32D) +29 FOR EARTH DP INITIAL RADIUS IN METERS
+# +27 FOR MOON
+# UR1 +1 DP UNIT VECTOR OF R1VEC
+# U2 +1 DP UNIT VECTOR OF R2VEC
+#
+# PARAMETERS OF NO USE --
+# DP PARAMETERS -- EPSILONL, CSTH-RHO, TPREV, TERRLAMB, R2, RTNLAMB (SP), PLUS PUSHLIST REGISTER 0 THROUGH 41D
+# ADDITIONAL INTERPRETIVE SWITCHES USED -- INFINFLG, 360SW, SLOPESW, ORDERSW
+
+# Page 1269
+# PROGRAM DESCRIPTION -- TIME-THETA SUBROUTINE DATE -- 1 SEPTEMBER 1967
+# MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES
+# MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88
+#
+# FUNCTIONAL DESCRIPTION --
+# THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND A DESIRED TRUE-ANOMALY-DIFFERENCE THROUGH WHICH THE
+# STATE IS TO BE UPDATED ALONG A CONIC TRAJECTORY, CALCULATES THE CORRESPONDING TIME-OF-FLIGHT AND, IN ADDITION,
+# PROVIDES THE OPTION OF COMUTING THE NEW UPDATED STATE VECTOR. THE RESULTING TRAJECTORY MAY BE A SECTION OF A
+# CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN BE
+# EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WTIHOUT INTRODUCING ANY CODING CHANGES,
+# ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY.
+#
+# THE RESTRICTIONS ARE --
+# 1. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES
+# AND LESS THAN 178 DEGREES 12.5 MINUTES.
+# 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSCP. IF THE LIMITS
+# ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS.
+#
+# THE AGC COMPUTATION TIME IS APPROXIMATELY .292 SECONDS.
+#
+# REFERENCES --
+# R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5, SGA MEMO 67-8.
+#
+# INPUT -- ERASABLE INITIALIZATION REQUIRED
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# RVEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS
+# +27 FOR MOON
+# VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND
+# +5 FOR MOON
+# SNTH +1 ` DP SINE OF THE TRUE-ANOMALY-DIFFERENCE THROUGH WHICH THE STATE IS TO BE UPDATED
+# CSTH +1 DP COSINE OF THE ANGLE
+# RVSW NONE AN INTERPRETIVE SWITCH TO BE SET IF ONLY TIME IS TO BE AN OUTPUT, CLEAR IF THE NEW STATE
+# IS TO BE COMPUTED ALSO.
+# X1 (38D) NONE INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON,
+# RESPECTIVELY, IS THE CENTRAL BODY.
+#
+# SUBROUTINES CALLED --
+# Page 1270
+# PARAM, GEOM, GETX, DELTIME, NEWSTATE
+#
+# CALLING SEQUENCE AND NORMAL EXIT MODES --
+# IF ONLY TIME IS DESIRED AS OUTPUT --
+# L SET CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY.
+# L+1 RVSW
+# L+2 TIMETHET # RETURN WITH PL AT 0 AND T IN MPAC
+# L+3 ... # CONTINUE
+#
+# IF THE UPDATE STATE VECTOR IS DESIRED AS WELL --
+# L CLEAR CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY.
+# L+1 RVSW
+# L+2 TIMETHET # RETURNS WITH PL AT 6. THE INITIAL POSITION VECTOR IS IN 0D OF THE PUSHLIST AND
+# # THE INITIAL VELOCITY VECTOR IN MPAC.
+# L+3 STOVL NEWVVEC
+# L+4 STADR
+# L+5 STORE NEWRVEC # NEWVVEC AND NEWRVEC ARE SYMBOLIC REPRESENTATIONS OF THE USER'S LOCATIONS.
+# L+6 ... # CONTINUE.
+#
+# ABORT EXIT MODES --
+# IF COGAFLAG AND/OR INFINFLG IS SET AT THE EXIT TO TIME-THETA, TIME-THETA WILL TRANSFER TO P00DOO WITH
+# AN ALARM CODE (ORIGINALLY 00607), AND NOT RETURN TO THE CALLING PROGRAM. (PCR 692 AND 721).
+#
+# OUTPUT --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# T(30D) +28 DP TRANSFER TIME IN CENTISECONDS
+# INFINFLG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF THE TRANSFER ANGLE REQUIRES CLOSURE THROUGH
+# INFINITY (NO SOLUTION), CLEAR IF A PHYSICAL SOLUTION IS POSSIBLE.
+# COGAFLAG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RESTRICTION 1 HAS BEEN VIOLATED (NO SOLUTION),
+# CLEAR IF NOT.
+#
+# IN ADDITION, IF RVSW IS CLEAR, THE FOLLOWING ARE OUTPUT --
+# MPAC - +7 FOR EARTH DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC.
+# MPAC+5 +5 FOR MOON
+# 0D - 5D +29 FOR EARTH DP TERMINAL POSITION VECTOR IN METERS (PL AT 6D)
+# +27 FOR MOON
+#
+# FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS.
+# Page 1271
+#
+# DEBRIS --
+# PARAMETERS WHICH MAY BE OF USE --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# R1 (32D) +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS
+# +27 FOR MOON
+# R1A +6 DP RATIO OF R1 TO SEMI-MAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES)
+# P +4 DP RATIO OF SEMILATUS RECTUM TO R1
+# COGA +5 DP COTAN OF ANGLE BETWEEN RVEC AND VVEC
+# UR1 +1 DP UNIT VECTOR OF RVEC
+# U2 +1 DP UNIT VECTOR OF VVEC
+# UN +1 DP UNIT VECTOR OF UR1*U2
+#
+# PARAMETERS OF NO USE --
+# SP PARAMETERS -- RTNTT, GEOMSGN, RTNPRM, MAGVEC2=R2 (DP), PLUS PUSHLIST LOCATIONS 0-11D, 14D-21D, 24D-39D, 41D
+# ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW, 360SW
+
+# Page 1272
+# PROGRAM DESCRIPTION -- TIME-RADIUS SUBROUTINE DATE -- 11 OCTOBER 1967
+# MOD NO. -1 LOG SECTION -- CONIC SUBROUTINES
+# MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88
+#
+# FUNCTIONAL DESCRIPTION --
+# THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND A DESIRED RADIUS TO WHICH THE
+# STATE IS TO BE UPDATED ALONG A CONIC TRAJECTORY, CALCULATES THE CORRESPONDING TIME-OF-FLIGHT AND, IN ADDITION,
+# PROVIDES THE OPTION OF COMPUTING THE NEW UPDATED STATE VECTOR. THE RESULTING TRAJECTORY MAY BE A SECTION OF A
+# CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN BE
+# EXTENDED USING OTHER PRIMARY BODIES BY SIMMPE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY CODING CHANGES,
+# ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY.
+#
+# IF THE DESIRED RADIUS IS BEYOND THE RADIUS OF APOCENTER OF THE CONIC OR BELOW THE RADIUS OF PERICENTER,
+# APSESW WILL BE SET AND THE SUBROUTINE WILL RETURN THE APOCENTER OR PERICENTER SOLUTION, RESPECTIVELY.
+#
+# THE RESTRICTIONS ARE --
+# 1. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES
+# AND LESS THAN 178 DEGREES 12.5 MINUTES.
+# 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS
+# EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS.
+# 3. AN ACCURACY DEGRADATION OCCURS AS THE SENSITIVITIES OF TIME AND UPDATED STATE VECTOR TO CHANGES IN
+# RDESIRED INCREASE. THIS WILL OCCUR NEAR EITHER APSIS OF THE CONIC AND WHEN THE CONIC IS NEARLY CIRCULAR. IN
+# PARTICULAR, IF THE CONIC IS AN EXACT CIRCLE, THE PROBLEM IS UNDEFINED AND THE SUBROUTINE WILL ABORT.
+#
+# THE AGC COMPUTATION TIME IS APPROXIMATELY .363 SECONDS.
+#
+# REFERENCES --
+# R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5, SGA MEMO 67-8.
+#
+# INPUT -- ERASABLE INITIALIZATION REQUIRED.
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# RVEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS
+# +27 FOR MOON
+# VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND
+# +5 FOR MOON
+# RDESIRED +29 FOR EARTH DP TERMINAL RADIAL DISTANCE ON CONIC TRAJECTORY FOR WHICH TRANSFER TIME IS TO BE
+# +27 FOR MOON COMPUTED
+# SGNRDOT NONE SP TAG SET TO +.5 OR -.5 ACCORDING TO WHETHER THE RADIAL VELOCITY AT RDESIRED IS TO BE
+# POSITIVE OR NEGATIVE, RESPECTIVELY. THIS TAG REDUCES THE DOUBLE-VALUED PROBLEM TO A
+# Page 1273
+# SINGLE-VALUED PROBLEM.
+# X1 (38D) NONE INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON,
+# RESPECTIVELY, IS THE CENTRAL BODY.
+# RVSW NONE AN INTERPRETIVE SWITCH TO BE SET IF ONLY TIME IS TO BE AN OUTPUT, CLEAR IF THE NEW STATE
+# IS TO BE COMPUTED ALSO.
+#
+# SUBROUTINES CALLED --
+# PARAM, GEOM, GETX, DELTIME, NEWSTATE
+#
+# CALLING SEQUENCE AND NORMAL EXIT MODES --
+# IF ONLY TIME IS DESIRED AS OUTPUT --
+# L SET CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY.
+# L+1 RVSW
+# L+2 TIMERAD # RETURN WITH PL AT 0 AND T IN MPAC
+# L+3 ... # CONTINUE
+#
+# IF THE UPDATE STATE VECTOR IS DESIRED AS WELL --
+# L CLEAR CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY.
+# L+1 RVSW
+# L+2 TIMERAD # RETURNS WITH PL AT 6. THE INITIAL POSITION VECTOR IS IN 0D OF THE PUSHLIST AND
+# # THE INITIAL VELOCITY VECTOR IN MPAC.
+# L+3 STOVL NEWVVEC
+# L+4 STADR
+# L+5 STORE NEWRVEC # NEWVVEC AND NEWRVEC ARE SYMBOLIC REPRESENTATIONS OF THE USER'S LOCATIONS.
+# L+6 ... # CONTINUE
+#
+# ABORT EXIT MODES --
+# IF SOLNSW AND/OR COGAFLAG AND/OR INFINFLG IS SET AT THE EXIT TO TIME-RADIUS, TIME-RADIUS WILL TRANSFER
+# TO P00DOO WITH AN ALARM CODE (ORIGINALLY 00607), AND NOT RETURN TO THE CALLING PROGRAM. (PCR 692 & 721).
+#
+# OUTPUT --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# T (30D) +28 DP TRANSFER TIME IN CENTISECONDS.
+# INFINFLG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RDESIRED AND SGNRDOT REQUIRE CLOSURE THROUGH
+# INFINITY (NO SOLUTION), CLEAR IF A PHYSICAL SOLUTION IS POSSIBLE.
+# COGAFLAG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RESTRICTION 1 HAS BEEN VIOLATED (NO SOLUTION),
+# CLEAR IF NOT.
+# APSESW NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RDESIRED WAS GREATER THAN RADIUS OF APOCENTER OR
+# Page 1274
+# LESS THAN RADIUS OF PERICENTER. THE APOCENTER OR PERICENTER SOLUTION, RESPECTIVELY,
+# WILL THEN BE RETURNED. THE SWITCH IS CLEAR IF RDESIRED WAS BETWEEN PERICENTER AND
+# APOCENTER.
+# SOLNSW NONE AN INTERPRETIVE SWITCH WHICH IS SET IF THE CONIC IS SO CLOSE TO A CIRCLE THAT THE TERMIN
+# POINT IS AMBIGUOUS, VIOLATING RESTRICTION 3. IF ECCENTRICITY IS GREATER THAN 2-TO-THE-
+# MINUS-18, THE SWITCH IS CLEAR.
+#
+# IN ADDITION, IF RVSW IS CLEAR, THE FOLLOWING ARE OUTPUT --
+# MPAC - +7 FOR EARTH DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC.
+# MPAC+5 +5 FOR MOON
+# 0D - 5D +29 FOR EARTH DP TERMINAL POSITION VECTOR IN METERS (PL AT 6D)
+# +27 FOR MOON
+#
+# FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS.
+#
+# DEBRIS --
+# PARAMETERS WHICH MAY BE OF USE --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# R1 (32D) +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS
+# +27 FOR MOON
+# R1A +6 DP RATIO OF R1 TO SEMI-MAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES)
+# P +4 DP RATIO OF SEMILATUS RECTUM TO R1
+# COGA +5 DP COTAN OF ANGLE BETWEEN RVEC AND VVEC
+# UR1 +1 DP UNIT VECTOR OF RVEC
+# U2 +1 DP UNIT VECTOR OF VVEC
+# UN +1 DP UNIT VECTOR OF UR1*U2
+# CSTH +1 DP COSINE OF TRUE ANOMALY DIFFERENCE BETWEEN RVEC AND RDESIRED.
+# SNTH +1 DP SINE OF TRUE ANOMALY DIFFERENCE.
+#
+# PARAMETERS OF NO USE --
+# SP PARAMETERS -- RTNTT, GEOMSGN, RTNPRM, MAGVEC2*R2 (DP), PLUS PUSHLIST LOCATIONS 0-11D, 14D-21D, 24D-39D, 41D
+# ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW, 360SW
+#
+
+# Page 1275
+# PROGRAM DESCRIPTION -- APSIDES SUBROUTINE DATE -- 1 SEPTEMBER 1967
+# MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES
+# MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88
+#
+# FUNCTIONAL DESCRIPTION --
+# THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR, CALCULATES THE RADIUS OF PERICENTER AND OF APOCENTER AND THE
+# ECCENTRICITY OF THE RESULTING CONIC TRAJECTORY, WHICH MAY BE A STRAIGHT LINE,
+# CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN
+# BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY CODING CHANGES,
+# ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY.
+#
+# THE RESTRICTIONS ARE --
+# 1. IF APOCENTER IS BEYOND THE SCALING OF POSITION, THE SCALE FACTOR LIMIT (536,870,910 METERS WITH RESPECT
+# TO THE EARTH OR 134,217,727.5 METERS WITH RESPECT TO THE MOON) WILL BE RETURNED.
+# 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS
+# ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS.
+#
+# THE AGC COMPUTATION TIME IS APPROXIMATELY .103 SECONDS.
+#
+# REFERENCES --
+# MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5.
+#
+# INPUT -- ERASABLE INITIALIZATION REQUIRED
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# RVEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS
+# +27 FOR MOON
+# VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND
+# +5 FOR MOON
+# X1 (38D) NONE INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON,
+# RESPECTIVELY, IS THE CENTRAL BODY.
+#
+# SUBROUTINES CALLED --
+# PARAM, GEOM
+#
+# CALLING SEQUENCE AND NORMAL EXIT MODES --
+# Page 1276
+# IF ONLY TIME IS DESIRED AS OUTPUT --
+# L CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY.
+# L+1 APSIDES # RETURNS WITH PL AT 0, RADIUS OF APOCENTER IN MPAC AND RADIUS OF PERICENTER IN 0D
+# L+2 STODL APOAPSE
+# L+3 0D
+# L+4 STORE PERIAPSE # APOAPSE AND PERIAPSE ARE SYMBOLIC REPRESENTATIONS OF THE USER'S LOCATIONS
+# L+5 ... # CONTINUE
+#
+# OUTPUT --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# MPAC +29 FOR EARTH DP RADIUS OF APOCENTER IN METERS
+# +27 FOR MOON
+# 0D-1D +29 FOR EARTH DP RADIUS OF PERICENTER IN METERS
+# +27 FOR MOON
+# ECC +3 DP ECCENTRICITY OF CONIC TRAJECTORY
+#
+# FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS.
+#
+# DEBRIS --
+# PARAMETERS WHICH MAY BE OF USE --
+# SCALE FACTOR
+# VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS
+# -------- -------------- -----------------------
+# R1 (32D) +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS
+# +27 FOR MOON
+# R1A +6 DP RATIO OF R1 TO SEMI-MAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES)
+# P +4 DP RATIO OF SEMILATUS RECTUM TO R1
+# COGA +5 DP COTAN OF ANGLE BETWEEN RVEC AND VVEC
+# UR1 +1 DP UNIT VECTOR OF RVEC
+# U2 +1 DP UNIT VECTOR OF VVEC
+# UN +1 DP UNIT VECTOR OF UR1*U2
+# MAGVEC2 +7 FOR EARTH DP MAGNITUDE OF VVEC
+# +5 FOR MOON
+#
+# PARAMETERS OF NO USE --
+# SP PARAMETERS -- RTNAPSE, GOMSGN, RTNPRM, PLUS PUSHLIST LOCATIONS 0-5, 10D-11D, 14D-21D, 31D-38D.
+# ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW
+
+ SETLOC CONICS
+# Page 1277
+ BANK
+
+ COUNT 12/CONIC
+
+ EBANK= UR1
+KEPLERN SETPD BOV
+ 0
+ +1
+ VLOAD*
+ MUTABLE,1
+ STOVL 14D
+ RRECT
+ UNIT SSP
+ ITERCTR
+ 20D
+ STODL URRECT
+ 36D
+ STOVL R1
+ RRECT
+ DOT SL1R
+ VRECT
+ DMP SL1R
+ 1/ROOTMU # 1/ROOTMU (-17 OR -14)
+ STOVL KEPC1 # C1=R.V/ROOTMU (+17 OR +16)
+
+ VRECT
+ VSQ DMPR
+ 1/MU # 1/MU (-34 OR -28)
+ DMP SL3
+ R1
+ DSU ROUND
+ D1/64
+ STORE KEPC2 # C2=RV.V/MU -1 (+6)
+
+ BDSU SR1R
+ D1/64
+ DDV
+ R1
+ STORE ALPHA # ALPHA=(1-C2)/R1 (-22 OR -20)
+
+ BPL DLOAD # MAXIMUM X DEPENDS ON TYPE OF CONIC
+ 1REV
+ -50SC # -50SC (+12)
+ DDV BOV
+ ALPHA
+ STOREMAX
+ SQRT GOTO
+ STOREMAX
+# Page 1278
+1REV SQRT BDDV
+ 2PISC # 2PISC (+6)
+ BOV
+ STOREMAX
+STOREMAX STORE XMAX
+ DMP PDDL
+ 1/ROOTMU
+ ALPHA
+ NORM PDDL
+ X1
+ SL* DDV
+ 0 -6,1
+ BOV BMN
+ MODDONE
+ MODDONE # MPAC=PERIOD
+PERIODCH PDDL ABS # 0D=PERIOD
+ TAU.
+ DSU BMN
+ 0D
+ MODDONE
+ SIGN
+ TAU.
+ STODL TAU.
+ GOTO
+ PERIODCH
+MODDONE SETPD DLOAD
+ 0
+ XKEPNEW
+ STORE X
+ SIGN BZE
+ TAU.
+ BADX
+ BMN ABS
+ BADX
+ DSU BPL
+ XMAX
+ BADX
+STORBNDS DLOAD BPL
+ TAU.
+ STOREMIN
+ DLOAD DCOMP
+ XMAX
+ STODL XMIN
+ KEPZERO
+ STCALL XMAX
+ DXCOMP
+STOREMIN DLOAD
+ KEPZERO
+ STORE XMIN
+DXCOMP DLOAD DMPR
+# Page 1279
+ TAU.
+ BEE22
+ ABS
+ STODL EPSILONT
+ XPREV
+XDIFF BDSU
+ X
+ STORE DELX
+
+KEPLOOP DLOAD DSQ
+ X # X=XKEP
+ NORM PUSH # 0D=XSQ (+34 OR +32 -N1) PL AT 2
+ X1
+ DMP SRR*
+ ALPHA
+ 0 -6,1
+ STCALL XI # XI=ALPHA XSQ (+6)
+ DELTIME
+ BOV BDSU
+ TIMEOVFL # UNLIKELY
+ TAU.
+ STORE DELT # DELT=DELINDEP
+ ABS BDSU
+ EPSILONT
+ BPL DLOAD
+ KEPCONVG
+ T
+ DSU NORM
+ TC
+ X1
+ PDDL NORM
+ DELX
+ X2
+ XSU,1 DMP
+ X2
+ DELT
+ SLR* DDV
+ 1,1
+ SR1 PUSH # 0D=TRIAL DELX PL AT 2
+ BPL DLOAD
+ POSDELX
+ X
+ STORE XMAX # MOVE MAX BOUND IN
+ BDSU DSU # PL AT 0
+ XMIN
+ BOV BPL
+ NDXCHNGE
+ NDXCHNGE
+ DLOAD GOTO
+# Page 1280
+ 0D
+ NEWDELX
+
+NDXCHNGE DLOAD DSU
+ XMIN
+ X
+ DMPR GOTO # TO FORCE MPAC +2 TO ZERO
+ DP9/10
+ NEWDELX
+
+POSDELX DLOAD
+ X
+ STORE XMIN # MOVE MIN BOUND IN
+ BDSU DSU # PL AT 0
+ XMAX
+ BOV BMN
+ PDXCHNGE
+ PDXCHNGE
+ DLOAD
+ 0D
+NEWDELX STORE DELX
+ BZE DAD
+ KEPCONVG
+ X
+ STODL X
+ T
+ STORE TC
+BRNCHCTR RTB BHIZ
+ CHECKCTR
+ KEPCONVG
+ GOTO
+ KEPLOOP # ITERATE
+
+PDXCHNGE DLOAD DSU
+ XMAX
+ X
+ DMPR GOTO # TO FORCE MPAC +2 TO ZERO
+ DP9/10
+ NEWDELX
+
+BADX DLOAD SR1
+ XMAX
+ SIGN
+ TAU.
+ STCALL X
+ STORBNDS
+# Page 1281
+TIMEOVFL DLOAD BMN # X WAS TOO BIG
+ X
+ NEGTOVFL
+ STORE XMAX
+CMNTOVFL DLOAD SR1
+ DELX
+ STORE DELX
+ BZE BDSU
+ KEPRTN
+ X
+ STODL X
+ TC
+ STCALL T
+ BRNCHCTR
+NEGTOVFL STCALL XMIN
+ CMNTOVFL
+KEPCONVG DLOAD SR4R
+ R1
+ DSU VXSC
+ XSQC(XI)
+ URRECT
+ VSL1 PDDL # 0D=(R1-XSQC(XI))URRECT (+33 OR +31)
+ X
+ DSQ NORM
+ X1
+ DMPR DMPR
+ 1/ROOTMU
+ X
+ DMP SRR*
+ S(XI)
+ 0 -7,1
+ BDSU
+ T
+ SL1 VXSC
+ VRECT
+ VSL1 VAD
+ VSL4
+ STORE RCV # RCV (+29 OR +27)
+
+ ABVAL NORM
+ X2
+ STODL RCNORM
+ XI
+ DMPR DSU
+ S(XI)
+ D1/128
+ DMP SL1R
+ ROOTMU
+ DMP SLR*
+# Page 1282
+ X
+ 0 -3,2
+ DDV VXSC
+ RCNORM
+ URRECT
+ VSL1 PDDL # 0D=URRECT(XI S(XI)-1)X ROOTMU/RCV (+15
+ XSQC(XI) # OR +13) PL AT 6
+ SLR* DDV
+ 0 -4,2
+ RCNORM
+ BDSU VXSC
+ D1/256
+ VRECT
+ VAD VSL8
+ STADR # PL AT 0
+ STODL VCV # VCV (+7 OR +5)
+ T
+ STODL TC
+ X
+ STCALL XPREV
+ KEPRTN
+
+# Page 1283
+DELTIME EXIT # MPAC=XI (+6), 0D=XSQ (+34 OR +32 -N1)
+ TC POLY
+ DEC 8
+ 2DEC .083333334
+
+ 2DEC -.266666684
+
+ 2DEC .406349155
+
+ 2DEC -.361198675
+
+ 2DEC .210153242
+
+ 2DEC -.086221951
+
+ 2DEC .026268812
+
+ 2DEC -.006163316
+
+ 2DEC .001177342
+
+ 2DEC -.000199055
+
+ TC INTPRET
+ STODL S(XI)
+ XI
+ EXIT
+ TC POLY
+ DEC 8
+ 2DEC .031250001
+
+ 2DEC -.166666719
+
+ 2DEC .355555413
+
+ 2DEC -.406347410
+
+ 2DEC .288962094
+
+ 2DEC -.140117894
+
+ 2DEC .049247387
+
+ 2DEC -.013081923
+
+ 2DEC .002806389
+
+ 2DEC -.000529414
+
+ TC INTPRET
+# Page 1284
+ DMP SRR* # PL AT 0
+ 0D
+ 0 -5,1
+ STORE XSQC(XI) # XSQC(XI) (+33 OR +31)
+ DMP SL1
+ KEPC1
+ RTB PDDL # XCH WITH PL. 0D=C1 XSQ C(XI) (+49 OR +46)
+ TPMODE # PL AT 0,3
+ DMP SRR*
+ S(XI)
+ 0 -5,1
+ DMP SL1
+ KEPC2
+ RTB PDDL # 3D=C2 XSQ S(XI) (+35 OR +33) PL AT 6
+ TPMODE
+ R1
+ SR TAD # PL AT 3
+ 6
+ NORM DMP # TO PRESERVE SIGNIF.
+ X1
+ X
+ SR* TAD # X(C2 XSQ S(XI) +R1) (+49 OR +46) PL AT 0
+ 0 -3,1
+ SL4R DMPR
+ 1/ROOTMU
+ STORE T
+ RVQ
+
+# Page 1285
+ITERATOR BONCLR DLOAD
+ SLOPESW
+ FIRSTIME
+ DEP
+ DSU NORM
+ DEPREV
+ X1
+ PDDL NORM
+ DELINDEP
+ X2
+ XSU,1 DMP
+ X2
+ DELDEP
+ SLR* DDV # PL UP 2
+ 1,1
+ SR1 BOFF
+ ORDERSW
+ SGNCHECK
+ ABS SIGN # IN CASE 2ND DERIV. CHANGED SIGN, MUST
+ DELDEP # DISREGARD IT TO FIND MIN.
+
+SGNCHECK PUSH BPL # TRIAL DELINDEP PL DOWN 2
+ POSDEL
+ DLOAD BON
+ INDEP
+ ORDERSW
+ MINCHECK
+ STORE MAX # IF NOT 2ND ORDER, CAN MOVE MAX BOUND IN.
+
+MINCHECK BDSU DSU
+ MIN
+ BOV BPL
+ MODNGDEL
+ MODNGDEL
+ GOTO
+ DELOK
+
+MODNGDEL DLOAD DSU # TRIAL DELINDEP WOULD EXCEED MIN BOUND
+ MIN
+ INDEP
+ DMP GOTO
+ DP9/10
+ NEWDEL
+
+FIRSTIME DLOAD DMP
+ MIN
+ TWEEKIT # DLOAD TWEEKIT(40D) SENSITIVE TO CHANGE.
+ PDDL DMP # S2(41D) SHOULDN'T CONTAIN HI ORDER ONES
+# Page 1286
+ MAX
+ TWEEKIT
+ DSU
+ SIGN GOTO
+ DELDEP
+ SGNCHECK
+
+POSDEL DLOAD BON
+ INDEP
+ ORDERSW
+ MAXCHECK
+ STORE MIN # IF NOT 2ND ORDER, CAN MOVE MIN BOUND IN.
+
+MAXCHECK BDSU DSU
+ MAX
+ BOV BMN
+ MODPSDEL
+ MODPSDEL
+DELOK DLOAD
+ 0D
+NEWDEL STORE DELINDEP
+ RVQ
+
+MODPSDEL DLOAD DSU
+ MAX
+ INDEP
+ DMP GOTO
+ DP9/10
+ NEWDEL
+
+CHECKCTR CS ONE
+ INDEX FIXLOC
+ AD ITERCTR
+ INDEX FIXLOC
+ TS ITERCTR
+ TS MPAC
+ TC DANZIG
+
+# Page 1287
+NEWSTATE DLOAD SR4R
+ R1
+ DSU VXSC
+ XSQC(XI)
+ UR1
+ VSL1 PDDL # 0D=(R1-XSQC(XI))UR1 (+33 OR 31) PL AT 6
+ X
+ DSQ NORM
+ X1
+ DMPR DMPR
+ 1/ROOTMU
+ X
+ DMP SRR*
+ S(XI)
+ 0 -7,1
+ BDSU
+ T
+ SL1 VXSC
+ VVEC
+ VSL1 VAD # PL AT 0
+ VSL4 PUSH
+ ABVAL
+LAMENTER NORM
+ X1
+ STODL R2
+ XI
+ DMP DSU
+ S(XI)
+ D1/128
+ DMP SL1R
+ ROOTMU
+ DMP SLR*
+ X
+ 0 -3,1
+ DDV VXSC
+ R2
+ UR1
+ VSL1 PDDL # 6D=V2VEC PART (+15 OR 13) PL AT 12
+ XSQC(XI)
+ SLR* DDV
+ 0 -4,1
+ R2
+ BDSU
+ D1/256
+ VXSC VAD
+ VVEC # PL AT 6
+ VSL8 RVQ
+
+# Page 1288
+ SETLOC CONICS1
+ BANK
+
+ COUNT 04/CONIC
+# DO NOT DISTURB THE ORDER OF THESE CDS, OVERLAYS HAVE BEEN MADE.
+BEE17 DEC 0 # KEEP WITH D1/8 2DEC 1.0B-17 (0000004000)
+D1/8 2DEC 1.0 B-3
+
+D1/128 2DEC 1.0 B-7
+
+D1/64 2DEC 1.0 B-6
+
+D1/4 2DEC 1.0 B-2
+
+D1/16 2DEC 1.0 B-4
+
+D1/32 2DEC 1.0 B-5
+
+D1/1024 2DEC 1.0 B-10
+
+D1/256 2DEC 1.0 B-8
+
+DP9/10 2DEC .9
+
+KEPZERO EQUALS LO6ZEROS
+-50SC 2DEC -50.0 B-12
+
+2PISC 2DEC 6.28318530 B-6
+
+BEE19 EQUALS D1/32 -1 # 2DEC 1.0 B-19 (00000 01000)
+BEE22 EQUALS D1/256 -1 # 2DEC 1.0 B-22 (00000 00100)
+ONEBIT 2DEC 1.0 B-28
+
+COGUPLIM 2DEC .999511597
+
+COGLOLIM 2DEC -.999511597
+
+# Page 1289
+ SETLOC CONICS
+ BANK
+
+ COUNT 12/CONIC
+
+TIMETHET STQ SETPD # PL AT 0
+ RTNTT
+ 0
+ BOV
+ +1
+ VLOAD PDVL # SETUP FOR PARAM CALL PL AT 6
+ RVEC
+ VVEC
+ CALL
+ PARAM
+ BOV CALL
+ COGAOVFL # PL AT 0
+ GETX
+COMMNOUT DLOAD BON
+ XI
+ INFINFLG
+ ABTCONIC
+ CLEAR CALL
+ COGAFLAG
+ DELTIME
+ BON CALL
+ RVSW
+ RTNTT
+ NEWSTATE
+ GOTO
+ RTNTT
+
+COGAOVFL SETGO
+ COGAFLAG
+ ABTCONIC
+ BANK 4
+ SETLOC CONICS1
+ BANK
+ COUNT* $$/CONIC
+PARAM STQ CLEAR # MPAC=V1VEC, 0D=R1VEC PL AT 6
+ RTNPRM
+ NORMSW
+ CLEAR
+ COGAFLAG
+ SSP CALL
+ GEOMSGN
+ 37777 # GAMMA ALWAYS LESS THAN 180DEG
+ GEOM # MPAC=SNGA (+1), 0D=CSGA (+1) PL AT 2
+ STODL 36D # 36D=SIN GAMMA (+1) PL AT 0
+# Page 1290
+ SR DDV
+ 5
+
+ 36D
+ STOVL* COGA
+ MUTABLE,1
+ STODL 1/MU
+ MAGVEC2
+ DSQ NORM
+ X1
+ DMPR DMP
+ 1/MU
+ R1
+ SRR*
+ 0 -3,1
+ PUSH BDSU # 0D=R1 V1SQ/MU (+6) PL AT 2
+ D1/32
+ STODL R1A # R1A (+6) PL AT 0
+
+ DMP NORM
+ 36D
+ X1
+ DMP SR*
+ 36D
+ 0 -4,1
+ STCALL P # P (+4)
+ RTNPRM
+
+# Page 1291
+GEOM UNIT # MPAC=V2VEC, 0D=R1VEC PL AT 6
+ STODL U2 # U2 (+1)
+ 36D
+ STOVL MAGVEC2 # PL AT 0
+ UNIT
+ STORE UR1 # UR1 (+1)
+ DOT SL1
+ U2
+ PDDL # 0D=CSTH (+1) PL AT 2
+ 36D
+ STOVL R1 # R1 (+29 OR +27)
+ UR1
+ VXV VSL1
+ U2
+ BON SIGN
+ NORMSW
+ HAVENORM
+ GEOMSGN
+ UNIT BOV
+ COLINEAR
+UNITNORM STODL UN # UN (+1)
+ 36D
+ SIGN RVQ # MPAC=SNTH (+1), 34D=SNTH.SNTH (+2)
+ GEOMSGN
+
+COLINEAR VSR1 GOTO
+ UNITNORM
+
+HAVENORM ABVAL SIGN
+ GEOMSGN
+ RVQ # MPAC=SNTH (+1), 34D=SNTH.SNTH (+2)
+
+# Page 1292
+ BANK 12
+ SETLOC CONICS
+ BANK
+
+ COUNT 12/CONIC
+
+GETX AXT,2 SSP # ASSUMES P (+4) IN MPAC
+ 3
+ S2
+ 1
+ CLEAR
+ 360SW
+ SQRT PDDL # 0D=SQRT(P) PL AT 2
+ CSTH
+ SR1 BDSU
+ D1/4
+ PDDL SRR # PL AT 4D
+ SNTH
+ 6
+ DDV # PL AT 2
+ BOV
+ 360CHECK
+ DSU DMP
+ COGA # PL AT 0
+ SL2R BOV
+ 360CHECK
+WLOOP PUSH DSQ # 0D=W (+5) PL AT 2
+ TLOAD PDDL # 2D=WSQ (+10) PL AT 5
+ MPAC
+ R1A
+ SR4 TAD # PL AT 2
+ BMN SQRT
+ INFINITY
+ ROUND DAD # PL AT 0D
+ BOV TIX,2
+ RESETX2
+ WLOOP
+
+ BDDV BOV
+ D1/128
+ INFINITY
+POLYCOEF BMN PUSH # 0D=1/W (+2) OR 16/W (+6) PL AT 2
+ INFINITY
+ DSQ
+ NORM DMP
+ X1
+ R1A
+ SRR* EXIT
+ 0 -10D,1
+# Page 1293
+ TC POLY
+ DEC 5
+ 2DEC .5
+
+ 2DEC -.166666770
+
+ 2DEC .100000392
+
+ 2DEC -.071401086
+
+ 2DEC .055503292
+
+ 2DEC -.047264098
+
+ 2DEC .040694204
+
+ TC INTPRET
+ DMP SL1R # PL AT 0D
+ PUSH BON
+ 360SW
+ TRUE360X
+XCOMMON DSQ NORM
+ X1
+ DMP SRR*
+ R1A
+ 0 -12D,1
+ STODL XI # XI (+6)
+
+ R1
+ SR1 SQRT
+ ROUND DMP
+ SL4R # PL AT 0
+ STORE X # X (+17 OR +16)
+
+ DSQ NORM
+ X1
+ PDDL DMP # 0D=XSQ (+34 OR +32 -N1) PL AT 2
+ P
+ R1
+ SL3 SQRT
+ DMP SL3R
+ COGA
+ STODL KEPC1
+ R1A
+ BDSU CLEAR
+ D1/64
+ INFINFLG
+ STORE KEPC2
+# Page 1294
+ RVQ
+
+RESETX2 AXT,2
+ 3
+
+360CHECK SETPD BPL
+ 0D
+ INVRSEQN
+ SET
+ 360SW
+
+INVRSEQN DLOAD SQRT
+ P
+ PDDL DMP # 0D=SQRT(P) (+2) PL AT 2
+ SNTH
+ COGA
+ SL1 PDDL # 2D=SNTH COGA (+5) PL AT 4
+ CSTH
+ SR4 DAD
+ D1/32
+ DSU DMP # PL AT 2,0
+ NORM BDDV
+ X1
+ SNTH
+ SLR* ABS # NOTE: NEAR 360 CASE TREATED DIFFERENTLY
+ 0 -5,1
+ PUSH DSQ # 0D=1/W (-1) PL AT 2
+ STODL 34D
+ D1/16
+1/WLOOP PUSH DSQ # 2D=G (+4) PL AT 4
+ RTB PDDL # PL AT 7
+ TPMODE
+ R1A
+ DMP SR4
+ 34D
+ TAD
+ BMN SQRT # PL AT 4
+ INFINITY
+ DAD # PL AT 2
+ TIX,2 NORM
+ 1/WLOOP
+ X1
+ BDDV
+ SLR* GOTO # PL AT 0
+ 0 -7,1
+ POLYCOEF
+
+# Page 1295
+TRUE360X DLOAD BMN
+ R1A
+ INFINITY
+ SQRT NORM
+ X1
+ BDDV SL*
+ 2PISC
+ 0 -3,1
+ DSU PUSH # 0D=2PI/SQRT(R1A) -X PL AT 0,2
+ GOTO
+ XCOMMON
+INFINITY SETPD BOV # NO SOLUTION EXISTS SINCE CLOSURE THROUGH
+ 0 # INFINITY IS REQUIRED
+ OVFLCLR
+OVFLCLR SET RVQ
+ INFINFLG
+
+# Page 1296
+LAMBERT STQ SETPD
+ RTNLAMB
+ 0D
+ BOV
+ +1
+ SSP VLOAD*
+ ITERCTR
+ 20D
+ MUTABLE,1
+ STODL 1/MU
+ TDESIRED
+ DMPR
+ BEE19
+ STORE EPSILONL
+ SET VLOAD
+ SLOPESW
+ R1VEC
+ PDVL CALL # 0D=R1VEC (+29 OR +27) PL AT 6
+ R2VEC # MPAC=R2VEC (+29 OR +27)
+ GEOM
+ STODL SNTH # 0D=CSTH (+1) PL AT 2
+ MAGVEC2
+ NORM PDDL # PL AT 4
+ X1
+ R1
+ SR1 DDV # PL AT 2
+ SL* PDDL # DXCH WITH 0D, 0D=R1/R2 (+7) PL AT 0,2
+ 0 -6,1
+ STADR
+ STORE CSTH # CSTH (+1)
+ SR1 BDSU
+ D1/4
+ STORE 1-CSTH # 1-CSTH (+2)
+
+ ROUND BZE
+ 360LAMB
+ NORM PDDL # PL AT 4
+ X1
+ 0D
+ SR1 DDV # PL AT 2
+ SL* SQRT
+ 0 -3,1
+ PDDL SR # 2D=SQRT(2R1/R2(1-CSTH)) (+5) PL AT 4
+ SNTH
+ 6
+ DDV DAD # PL AT 2
+ 1-CSTH
+ STADR
+ STORE COGAMAX
+ BOV BMN # IF OVFL, COGAMAX=COGUPLIM
+# Page 1297
+ UPLIM # IF NEG, USE EVEN IF LT COGLOLIM, SINCE
+ MAXCOGA # THIS WOULD BE RESET IN LAMBLOOP
+ DSU BMN # IF COGAMAX GT COGUPLIM, COGAMAX=COGUPLIM
+ COGUPLIM
+ MAXCOGA # OTHERWISE OK, SO GO TO MAXCOGA
+UPLIM DLOAD
+ COGUPLIM # COGUPLIM=.999511597 = MAX VALUE OF COGA
+ STORE COGAMAX # NOT CAUSING OVFL IN R1A CALCULATION
+MAXCOGA DLOAD
+ CSTH
+ SR DSU # PL AT 0
+ 6
+ STADR
+ STODL CSTH-RHO
+ GEOMSGN
+ BMN DLOAD
+ LOLIM
+ CSTH-RHO
+ SL1 DDV
+ SNTH
+ BOV
+ LOLIM
+MINCOGA STORE COGAMIN # COGAMIN (+5)
+ BON SSP
+ GUESSW
+ NOGUESS
+ TWEEKIT
+ 00001
+ DLOAD
+ COGA
+
+LAMBLOOP DMP
+ SNTH
+ SR1 DSU
+ CSTH-RHO
+ NORM PDDL # 0D=SNTH COGA-(CSTH-RHO) (+7+C(XI)) PL=2
+ X1
+ 1-CSTH
+ SL* DDV # 1-CSTH (+2) PL AT 0
+ 0 -9D,1
+ BMN BZE
+ NEGP
+ NEGP
+ STODL P # P=(1-CSTH)/(SNTH COGA-(CSTH-RHO)) (+4)
+ COGA
+ DSQ DAD
+ D1/1024
+ NORM DMP
+ X1
+# Page 1298
+ P
+ SR* BDSU
+ 0 -8D,1
+ D1/32
+ STODL R1A # R1A=2-P(1+COGA COGA) (+6)
+
+ P
+ BOV CALL
+ HIENERGY
+ GETX
+ DLOAD
+ T
+ STODL TPREV
+ XI
+ BON CALL
+ INFINFLG
+ NEGP # HAVE EXCEEDED THEORETICAL BOUNDS
+ DELTIME
+ BOV BDSU
+ BIGTIME
+ TDESIRED
+ STORE TERRLAMB
+ ABS BDSU
+ EPSILONL
+ BPL RTB
+ INITV
+ CHECKCTR
+ BHIZ CALL
+ SUFFCHEK
+ ITERATOR
+ DLOAD BZE
+ MPAC
+ SUFFCHEK
+ DAD
+ COGA
+ STCALL COGA
+ LAMBLOOP
+
+NEGP DLOAD BPL # IMPOSSIBLE TRAJECTORY DUE TO INACCURATE
+ DCOGA # BOUND CALCULATION. TRY NEW COGA.
+ LOENERGY
+
+HIENERGY SETPD DLOAD # HIGH ENERGY TRAJECTORY RESULTED.
+ 0
+ COGA # IN OVFL OF P OR R1A, OR XI EXCEEDING 50.
+ STORE COGAMIN # THIS IS THE NEW BOUND.
+COMMONLM DLOAD SR1
+ DCOGA
+# Page 1299
+ STORE DCOGA # USE DCOGA/2 AS DECREMENT
+ BZE BDSU
+ SUFFCHEK
+ COGA
+ STCALL COGA
+ LAMBLOOP
+
+BIGTIME DLOAD
+ TPREV
+ STORE T
+
+LOENERGY SETPD DLOAD # LOW ENERGY TRAJECTORY RESULTED
+ 0
+ COGA # IN OVERFLOW OF TIME.
+ STCALL COGAMAX # THIS IS THE NEW BOUND.
+ COMMONLM
+
+SUFFCHEK DLOAD ABS
+ TERRLAMB
+ PDDL DMP
+ TDESIRED # PL AT 2D
+ D1/4
+ DAD DSU # PL AT 0D
+ ONEBIT
+ BPL SETGO
+ INITV
+ SOLNSW
+ RTNLAMB
+
+360LAMB SETPD SETGO # LAMBERT CANNOT HANDLE CSTH=1
+ 0
+ SOLNSW
+ RTNLAMB
+
+NOGUESS SSP DLOAD
+ TWEEKIT
+ 20000
+ COGAMIN
+ SR1 PDDL # PL AT 2
+ COGAMAX
+ SR1 DAD
+ STADR # PL AT 0
+ STORE COGA
+ STCALL DCOGA
+ LAMBLOOP
+# Page 1300
+LOLIM DLOAD GOTO
+ COGLOLIM # COGLOLIM=-.999511597
+ MINCOGA
+
+INITV DLOAD NORM
+ R1
+ X1
+ PDDL SR1 # PL AT 2
+ P
+ DDV # PL AT 0
+ SL* SQRT
+ 0 -4,1
+ DMP SL1
+ ROOTMU
+ PUSH DMP # 0D=VTAN (+7) PL AT 2
+ COGA
+ SL VXSC
+ 5
+ UR1
+ PDDL # XCH WITH 0D PL AT 0,6
+ VXSC VSL1
+ UN
+ VXV VAD
+ UR1 # PL AT 0
+ VSL1 CLEAR
+ SOLNSW
+ STORE VVEC
+ SLOAD BZE
+ VTARGTAG
+ TARGETV
+ GOTO
+ RTNLAMB
+
+TARGETV DLOAD CALL
+ MAGVEC2
+ LAMENTER
+ STCALL VTARGET
+ RTNLAMB
+
+# Page 1301
+TIMERAD STQ SETPD # PL AT 0
+ RTNTR
+ 0
+ BOV
+ +1
+ VLOAD PDVL # PL AT 6
+ RVEC
+ VVEC
+ CALL
+ PARAM
+ BOV DLOAD
+ COGAOVFL # PL AT 0
+ D1/32
+ DSU DMP
+ R1A
+ P
+ SQRT DMP
+ COGA
+ SL4 VXSC
+ U2
+ PDDL DSU # PL AT 6
+ D1/64
+ R1A
+ VXSC VSU # PL AT 0
+ UR1
+ VSL4 UNIT
+ BOV
+ CIRCULAR
+ PDDL NORM # 0D=UNIT(ECC) (+3) PL AT 6
+ RDESIRED # 35D=ECC (+3)
+ X1
+ PDDL DMP # PL AT 8
+ R1
+ P
+ SL* DDV # PL AT 6
+ 0,1
+ DSU DDV
+ D1/16
+ 36D # 36D=ECC (+3)
+ STORE COSF
+ BOV DSQ
+ BADR2
+ BDSU BMN
+ D1/4
+ BADR2
+ SQRT SIGN
+ SGNRDOT
+ CLEAR
+ APSESW
+
+# Page 1302
+TERMNVEC VXSC VSL1
+ UN
+ VXV PDVL # VXCH WITH 0D PL AT 0,6
+ 0D
+ VXSC VAD # PL AT 0
+ COSF
+ VSL1 PUSH # 0D=U2 PL AT 6
+
+ DOT DDV # LIMITS RESULT TO POSMAX OR NEGMAX
+ UR1
+ DP1/4
+ SR1 BOV # SCALE BACK DOWN TO NORMAL
+ +1 # CLEAR OVFIND IF SET
+ STOVL CSTH # CSTH (+1)
+ UR1
+ VXV VSL1
+ DOT SL1
+ UN
+ STODL SNTH # SNTH (+1)
+ P
+ CALL
+ GETX
+ CLRGO
+ SOLNSW
+ COMMNOUT
+
+CIRCULAR SETPD SETGO
+ 0
+ SOLNSW
+ ABTCONIC
+
+BADR2 DLOAD SIGN
+ LODPHALF
+ COSF
+ STODL COSF
+ KEPZERO
+ SETGO
+ APSESW
+ TERMNVEC
+
+# Page 1303
+APSIDES STQ SETPD # PL AT 0
+ RTNAPSE
+ 0D
+ BOV
+ +1
+ VLOAD PDVL # PL AT 6
+ RVEC
+ VVEC
+ CALL
+ PARAM
+ BOV # PL AT 0
+ GETECC
+GETECC DMP SL4
+ R1A
+ BDSU SQRT
+ D1/64
+ STORE ECC
+ DAD PDDL # PL AT 2
+ D1/8
+ R1
+ DMP SL1
+ P
+ DDV # PL AT 0
+ PDDL NORM # 0D=RP (+29 OR +27) PL AT 2
+ R1A
+ X1
+ PDDL SL* # PL AT 4
+ R1
+ 0 -5,1
+ DDV DSU # PL AT 2,0
+ BOV BMN
+ INFINAPO
+ INFINAPO
+ GOTO
+ RTNAPSE
+INFINAPO DLOAD GOTO # RETURNS WITH APOAPSIS IN MPAC, PERIAPSIS
+ LDPOSMAX
+ RTNAPSE # THAT PL IS AT 0.
+
+# Page 1304
+ABTCONIC EXIT
+ TC P00DOO
+ OCT 00607
+
+# Page 1305
+ SETLOC CONICS1
+ BANK
+
+ COUNT 04/CONIC
+
+MUTABLE 2DEC* 3.986032 E10 B-36* # MUE
+
+ 2DEC* .25087606 E-10 B+34* # 1/MUE
+
+ 2DEC* 1.99650495 E5 B-18* # SQRT(MUE)
+
+ 2DEC* .50087529 E-5 B+17* # 1/SQRT(MUE)
+
+ 2DEC 4.902778 E8 B-30 # MUM
+
+ 2DEC .203966 E-8 B+28 # 1/MUM
+
+ 2DEC* 2.21422176 E4 B-15* # SQRT(MUM)
+
+ 2DEC* .45162595 E-4 B+14* # 1/SQRT(MUM)
+
+LDPOSMAX EQUALS LODPMAX # DPPOSMAX IN LOW MEMORY.
+
+# ERASABLE ASSIGNEMENTS
+
+# KEPLER SUBROUTINE
+
+# INPUT --
+# RRECT ERASE +5
+# VRECT ERASE +5
+# TAU. ERASE +1
+# XKEP ERASE +1
+# TC ERASE +1
+# XPREV ERASE +1
+1/MU EQUALS 14D
+ROOTMU EQUALS 16D
+1/ROOTMU EQUALS 18D
+
+# OUTPUT --
+# RCV ERASE +5
+# VCV ERASE +5
+# RC ERASE +1
+# XPREV ERASE +1
+
+# DEBRIS --
+ALPHA EQUALS 8D
+XMAX EQUALS 10D
+# Page 1306
+XMIN EQUALS 12D
+X EQUALS 20D
+XI EQUALS 24D
+S(XI) EQUALS 26D
+XSQC(XI) EQUALS 28D
+T EQUALS 30D
+R1 EQUALS 32D
+KEPC1 EQUALS 34D
+KEPC2 EQUALS 36D
+
+# DELX ERASE +1
+# DELT ERASE +1
+# URRECT ERASE +5
+# RCNORM ERASE +1
+# XPREV EQUALS XKEP
+
+
+# LAMBERT SUBROUTINE
+#
+# INPUT --
+# R1VEC ERASE +5
+# R2VEC ERASE +5
+# TDESIRED ERASE +1
+# GEOMSGN ERASE +0
+# GUESSW # 0 IF COGA GUESS AVIABLE, 1 IF NOT
+# COGA ERASE +1 # INPUT ONLY IF GUESS IS ZERO.
+# NORMSW # 0 IF UN TO BE COMPUTED, 1 IF UN INPUT
+# UN ERASE +5 # ONLY USED IF NORMSW IS 1
+# VTARGTAG ERASE +0
+# TWEEKIT EQUALS 40D # ONLY USED IF GUESSW IS 0
+
+# OUTPUT --
+# VTARGET ERASE +5 # AVAILABLE ONLY IF VTARGTAG IS ZERO.
+# V1VEC EQUALS MPAC
+
+# DEBRIS --
+# RTNLAMB ERASE +0
+# U2 ERASE +5
+# MAGVEC2 ERASE +1
+# UR1 ERASE +5
+# R1 EQUALS 31D
+# UN ERASE +5
+# SNTH ERASE +1
+# CSTH ERASE +1
+# 1-CSTH ERASE +1
+# CSTH-RHO ERASE +1
+
+COGAMAX EQUALS 14D # CLOBBERS 1/MU
+COGAMIN EQUALS 8D
+DCOGA EQUALS 12D
+
+# TWEEKIT EQUALS 40D
+# P ERASE +1
+# Page 1307
+# COGA ERASE +1
+# R1A ERASE +1
+# X EQUALS 20D
+# XSQ EQUALS 22D
+# XI EQUALS 24D
+# S(XI) EQUALS 26D
+# XSQC(XI) EQUALS 28D
+# T EQUALS 30D
+# KEPC1 EQUALS 34D
+# KEPC2 EQUALS 36D
+# SLOPSW
+# SOLNSW
+
+# OTHERS --
+# RVEC EQUALS R1VEC
+# VVEC ERASE +5
+# COGAFLAG
+# RVSW
+# INFINFLG
+# APSESW
+# 360SW
+# RTNTT EQUALS RTNLAMB
+# ECC ERASE +1
+# RTNTR EQUALS RTNLAMB
+# RTNAPSE EQUALS RTNLAMB
+# R2 EQUALS MAGVEC2
+
+COSF EQUALS 24D
+
+# RTNPRM ERASE +0
+# SCNRDOT ERASE +0
+# RDESIRED ERASE +1
+
+
+# ITERATOR SUBROUTINE
+
+# ORDERSW
+MAX EQUALS 14D # CLOBBERS 1/MU
+MIN EQUALS 8D
+
+# INDEP ERASE +1
+
+DELINDEP EQUALS 12D
+ITERCTR EQUALS 22D
+DEP EQUALS 30D
+
+# DELDEP ERASE +1
+# DEPREV ERASE +1
+
+TWEEKIT EQUALS 40D
+
+
+# MORE KEPLER
+
+# EPSILONT ERASE +1
+
+# Page 1308
+# MORE LAMBERT
+
+# TERRLAMB EQUALS DELDEP
+# TPREV EQUALS DEPREV
+
+# EPSILONL EQUALS EPSILONT +2 # DOUBLE PRECISION WORD
+
+
diff --git a/CONTRACT_AND_APPROVALS.s b/CONTRACT_AND_APPROVALS.s
new file mode 100644
index 0000000..c3096b7
--- /dev/null
+++ b/CONTRACT_AND_APPROVALS.s
@@ -0,0 +1,73 @@
+# Copyright: Public domain.
+# Filename: CONTRACT_AND_APPROVALS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 2009-05-06 RSB Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+
+# Page 1
+
+#************************************************************************
+# *
+# THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS: *
+# *
+# *
+# COLOSSUS 2A *
+# *
+# *
+# THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED *
+# IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER DSR *
+# PROJECT 55-23870, SPONSORED BY THE MANNED SPACECRAFT *
+# CENTER OF THE NATIONAL AERONAUTICS AND SPACE *
+# ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE *
+# INSTRUMENTATION LABORATORY, MASSACHUSETTS INSTITUTE OF *
+# TECHNOLOGY, CAMBRIDGE, MASS. *
+# *
+#************************************************************************
+
+
+# SUBMITTED: MARGARET H. HAMILTON DATE: 28 MAR 69
+# M.H.HAMILTON, COLOSSUS PROGRAMMING LEADER
+# APOLLO GUIDANCE AND NAVIGATION
+
+# APPROVED: DANIEL J. LICKLY DATE: 28 MAR 69
+# D.J.LICKLY, DIRECTOR, MISSION PROGRAM DEVELOPMENT
+# APOLLO GUIDANCE AND NAVIGATION PROGRAM
+
+# APPROVED: FRED H. MARTIN DATE: 28 MAR 69
+# FRED H. MARTIN, COLOSSUS PROJECT MANAGER
+# APOLLO GUIDANCE AND NAVIGATION PROGRAM
+
+# APPROVED: NORMAN E. SEARS DATE: 28 MAR 69
+# N.E. SEARS, DIRECTOR, MISSION DEVELOPMENT
+# APOLLO GUIDANCE AND NAVIGATION PROGRAM
+
+# APPROVED: RICHARD H. BATTIN DATE: 28 MAR 69
+# R.H. BATTIN, DIRECTOR, MISSION DEVELOPMENT
+# APOLLO GUIDANCE AND NAVIGATION PROGRAM
+
+# APPROVED: DAVID G. HOAG DATE: 28 MAR 69
+# D.G. HOAG, DIRECTOR
+# APOLLO GUIDANCE AND NAVIGATION PROGRAM
+
+# APPROVED: RALPH R. RAGAN DATE: 28 MAR 69
+# R.R. RAGAN, DEPUTY DIRECTOR
+# INSTRUMENTATION LABORATORY
+
diff --git a/CONTROLLED_CONSTANTS.s b/CONTROLLED_CONSTANTS.s
new file mode 100644
index 0000000..c39fe07
--- /dev/null
+++ b/CONTROLLED_CONSTANTS.s
@@ -0,0 +1,558 @@
+# Copyright: Public domain.
+# Filename: CONTROLLED_CONSTANTS.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+#
+# Assembler: yaYUL
+# Contact: Jim Lawton <jim.lawton@gmail.com>
+# Website: www.ibiblio.org/apollo.
+# Pages: 038-053
+# Mod history: 2009-05-16 JVL Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
+# 16:27 JULY 14, 1969
+
+# Page 38
+# DPS AND APS ENGINE PARAMETERS
+
+ SETLOC P40S
+ BANK
+ COUNT* $$/P40
+
+# *** THE ORDER OF THE FOLLOWING SIX CONSTANTS MUST NOT BE CHANGED ***
+
+FDPS 2DEC 4.3670 B-7 # 9817.5 LBS FORCE IN NEWTONS
+MDOTDPS 2DEC 0.1480 B-3 # 32.62 LBS/SEC IN KGS/CS
+DTDECAY 2DEC -38
+FAPS 2DEC 1.5569 B-7 # 3500 LBS FORCE IN NEWTONS
+MDOTAPS 2DEC 0.05135 B-3 # 11.32 LBS/SEC IN KGS/CS
+ATDECAY 2DEC -10
+
+# ********************************************************************
+
+FRCS4 2DEC 0.17792 B-7 # 400 LBS FORCE IN NEWTONS
+FRCS2 2DEC 0.08896 B-7 # 200 LBS FORCE IN NEWTONS
+
+ SETLOC P40S1
+ BANK
+ COUNT* $$/P40
+
+# *** APS IMPULSE DATA FOR P42 ***************************************
+
+K1VAL 2DEC 124.55 B-23 # 2800 LB-SEC
+K2VAL 2DEC 31.138 B-24 # 700 LB-SEC
+K3VAL 2DEC 1.5569 B-10 # FAPS (3500 LBS THRUST)
+
+# ********************************************************************
+
+S40.136 2DEC .4671 B-9 # .4671 M NEWTONS (DPS)
+S40.136_ 2DEC .4671 B+1 # S40.136 SHIFTED LEFT 10.
+
+ SETLOC ASENT1
+ BANK
+ COUNT* $$/P70
+
+(1/DV)A 2DEC 15.20 B-7 # 2 SECONDS WORTH OF INITIAL ASCENT
+# Page 39
+ # STAGE ACCELERATION -- INVERTED (M/CS)
+ # 1) PREDICATED ON A LIFTOFF MASS OF
+ # 4869.9 KG (SNA-8-D-027 7/11/68)
+ # 2) PREDICATED ON A CONTRIBUTION TO VEH-
+ # ICLE ACCELERATION FROM RCS THRUSTERS
+ # EQUIV. TO 1 JET ON CONTINUOUSLY.
+
+K(1/DV) 2DEC 436.70 B-9 # DPS ENGINE THRUST IN NEWTONS / 100 CS.
+
+(AT)A 2DEC 3.2883 E-4 B9 # INITIAL ASC. STG. ACCELERATION ** M/CS.
+ # ASSUMPTIONS SAME AS FOR (1/DV)A.
+(TBUP)A 2DEC 91902 B-17 # ESTIMATED BURN-UP TIME OF THE ASCENT STG.
+ # ASSUMPTIONS SAME AS FOR (1/DV)A WITH THE
+ # ADDITIONAL ASSUMPTION THAT NET MASS-FLOW
+ # RATE = 5.299 KG/SEC = 5.135 (APS) +
+ # .164 (1 RCS JET).
+ SETLOC ASENT
+ BANK
+ COUNT* $$/ASENT
+AT/RCS 2DEC .0000785 B+10 # 4 JETS IN A DRY LEM
+
+ SETLOC SERVICES
+ BANK
+ COUNT* $$/SERV
+
+# *** THE ORDER OF THE FOLLOWING TWO CONSTANTS MUST NOT BE CHANGED *******
+
+APSVEX DEC -3030 E-2 B-5 # 9942 FT/SEC IN M/CS.
+DPSVEX DEC* -2.95588868 E+1 B-05* # VE (DPS) +2.95588868E+ 3
+
+# ************************************************************************
+
+ SETLOC F2DPS*31
+ BANK
+ COUNT* $$/F2DPS
+
+TRIMACCL 2DEC* +3.50132708 E-5 B+08* # A (T) +3.50132708E- 1
+
+# Page 40
+# THROTTLING AND THRUST DETECTION PARAMETERS
+
+ SETLOC P40S
+ BANK
+ COUNT* $$/P40
+
+THRESH1 DEC 24
+THRESH3 DEC 12
+HIRTHROT = BIT13
+
+ SETLOC FFTAG5
+ BANK
+ COUNT* $$/P40
+
+THRESH2 DEC 308
+
+ SETLOC FTHROT
+ BANK
+ COUNT* $$/THROT
+
+FMAXODD DEC +3841 # FSAT +4.81454413 E+4
+FMAXPOS DEC +3467 # FMAX +4.34546769 E+4
+THROTLAG DEC +20 # TAU (TH) +1.99999999 E-1
+SCALEFAC 2DEC* +7.97959872 E+2 B-16* # BITPERF +7.97959872 E-2
+
+ SETLOC F2DPS*32
+ BANK
+ COUNT* $$/F2DPS
+
+DPSTHRSH DEC 36 # (THRESH1 + THRESH3 FOR P63)
+
+# Page 41
+# LM HARDWARE-RELATED PARAMETERS
+
+ SETLOC RADARUPT
+ BANK
+ COUNT* $$/RRUPT
+
+LVELBIAS DEC -12288 # LANDING RADAR BIAS FOR 153.6 KC.
+RDOTBIAS 2DEC 17000 # BIAS COUNT FOR RR RANGE RATE.
+
+ SETLOC LRS22
+ BANK
+ COUNT* $$/LRS22
+
+RDOTCONV 2DEC -.0019135344 B7 # CONVERTS RR RDOT READING TO M/CS AT 2(7)
+RANGCONV 2DEC 2.859024 B-3 # CONVERTS RR RANGE READING TO M. AT 2(-29
+
+ SETLOC SERVICES
+ BANK
+ COUNT* $$/SERV
+
+HBEAMANT 2DEC -.4687018041 # RANGE BEAM IN LR ANTENNA COORDINATES.
+ 2DEC 0
+ 2DEC -.1741224271
+
+HSCAL 2DEC -.3288792 # SCALES 1.079 FT/BIT TO 2(22)M.
+
+# ***** THE SEQUENCE OF THE FOLLOWING CONSTANTS MUST BE PRESERVED *********
+
+VZSCAL 2DEC +.5410829105 # SCALES .8668 FT/SEC/BIT TO 2(18) M/CS.
+VYSCAL 2DEC +.7565672446 # SCALES 1.212 FT/SEC/BIT TO 2(18) M/CS.
+VXSCAL 2DEC -.4020043770 # SCALES -.644 FT/SEC/BIT TO 2(18) M/CS.
+
+# *************************************************************************
+
+KPIP DEC .0512 # SCALES DELV TO UNITS OF 2(5) M/CS.
+KPIP1 2DEC .0128 # SCALES DELV TO UNITS OF 2(7) M/CS.
+KPIP2 2DEC .0064 # SCALES DELV TO UNITS OF 2(8) M/CS.
+
+# Page 42
+ALTCONV 2DEC 1.399078846 B-4 # CONVERTS M*2(-24) TO BIT UNITS *2(-28).
+ARCONV1 2DEC 656.167979 B-10 # CONV. ALTRATE COMP. TO BIT UNITS<
+
+ SETLOC R10
+ BANK
+ COUNT* $$/R10
+
+ARCONV OCT 24402 # 656.1679798B-10 CONV ALTRATE TO BIT UNIT
+ARTOA DEC .1066098 B-1 # .25/2.345 B-1 4X/SEC CYCLE RATE.
+ARTOA2 DEC .0021322 B8 # (.5)/(2.345)(100)
+VELCONV OCT 22316 # 588.914 B-10 CONV VEL. TO BIT UNITS.
+KPIP1(5) DEC .0512 # SCALES DELV TO M/CS*2(-5).
+MAXVBITS OCT 00547 # MAX. DISPLAYED VELOCITY 199.9989 FT/SEC.
+
+ SETLOC DAPS3
+ BANK
+ COUNT* $$/DAPAO
+
+TORKJET1 DEC .03757 # 550 / .2 SCALED AT (+16) 64 / 180
+
+# Page 43
+# PARAMETERS RELATING TO MASS, INERTIA, AND VEHICLE DIMENSIONS
+
+ SETLOC FRANDRES
+ BANK
+ COUNT* $$/START
+
+FULLAPS DEC 5050 B-16 # NOMINAL FULL ASCENT MASS -- 2(16) KG.
+
+ SETLOC LOADDAP1
+ BANK
+ COUNT* $$/R03
+
+MINLMD DEC -2850 B-16 # MIN. DESCENT STAGE MASS -- 2(16) KG.
+MINMINLM DEC -2200 B-16 # MIN ASCENT STAGE MASS -- 2(16) KG.
+MINCSM = BIT11 # MIN CSM MASS (OK FOR 1/ACCS) = 9050 LB
+
+ SETLOC DAPS3
+ BANK
+ COUNT* $$/DAPAD
+
+LOASCENT DEC 2200 B-16 # MIN ASCENT LEM MASS -- 2(16) KG.
+HIDESCNT DEC 15300 B-16 # MAX DESCENT LEM MASS -- 2(16) KG.
+LODESCNT DEC 1750 B-16 # MIN DESCENT STAGE (ALONE) -- 2(16) KG.
+
+# Page 44
+# PHYSICAL CONSTANTS ( TIME - INVARIANT )
+
+ SETLOC IMU2
+ BANK
+ COUNT* $$/P07
+
+OMEG/MS 2DEC .24339048
+
+ SETLOC R30LOC
+ BANK
+ COUNT* $$/R30
+
+# *** THE ORDER OF THE FOLLOWING TWO CONSTANTS MUST BE PRESERVED ***********
+
+1/RTMUM 2DEC* .45162595 E-4 B14*
+1/RTMUE 2DEC* .50087529 E-5 B17*
+
+# **************************************************************************
+
+ SETLOC P40S1
+ BANK
+ COUNT* $$/S40.9
+
+EARTHMU 2DEC* -3.986032 E10 B-36* # M(3)/CS(2)
+
+ SETLOC ASENT1
+ BANK
+ COUNT* $$/P12
+
+MUM(-37) 2DEC* 4.9027780 E8 B-37*
+MOONRATE 2DEC* .26616994890062991 E-7 B+19* # RAD/CS.
+
+ SETLOC SERVICES
+ BANK
+ COUNT* $$/SERV
+
+# *** THE ORDER OF THE FOLLOWING TWO CONSTANTS MUST BE PRESERVED ***********
+
+-MUDT 2DEC* -7.9720645 E+12 B-44*
+-MUDT1 2DEC* -9.8055560 E+10 B-44*
+
+# **************************************************************************
+
+-MUDTMUN 2DEC* -9.8055560 E+10 B-38*
+RESQ 2DEC* 40.6809913 E12 B-58*
+
+# Page 45
+20J 2DEC 3.24692010 E-2
+2J 2DEC 3.24692010 E-3
+
+ SETLOC P50S1
+ BANK
+ COUNT* $$/LOSAM
+
+RSUBEM 2DEC 384402000 B-29
+RSUBM 2DEC 1738090 B-29
+RSUBE 2DEC 6378166 B-29
+ROE 2DEC .00257125
+
+ SETLOC CONICS1
+ BANK
+ COUNT* $$/LT-LG
+
+ERAD 2DEC 6373338 B-29 # PAD RADIUS
+504RM 2DEC 1738090 B-29 # METERS B-29 (EQUATORIAL MOON RADIUS)
+
+ SETLOC CONICS1
+ BANK
+ COUNT* $$/CONIC
+
+# *** THE ORDER OF THE FOLLOWING CONSTANTS MUST BE PRESERVED **************
+
+MUTABLE 2DEC* 3.986032 E10 B-36* # MUE
+ 2DEC* .25087606 E-10 B+34* # 1/MUE
+ 2DEC* 1.99650495 E5 B-18* # SQRT(MUE)
+ 2DEC* .50087529 E-5 B+17* # 1/SQRT(MUE)
+ 2DEC* 4.902778 E8 B-30* # MUM
+ 2DEC* .203966 E-8 B+28* # 1/MUM
+ 2DEC* 2.21422176 E4 B-15* # SQRT(MUM)
+ 2DEC* .45162595 E-4 B+14* # 1/SQRT(MUM)
+
+# *************************************************************************
+
+# Page 46
+ SETLOC INTINIT
+ BANK
+ COUNT* $$/INTIN
+
+OMEGMOON 2DEC* 2.66169947 E-8 B+23*
+
+ SETLOC ORBITAL2
+ BANK
+ COUNT* $$/ORBIT
+
+# *** THE ORDER OF THE FOLLOWING CONSTANTS MUST NOT BE CHANGED ************
+
+ 2DEC* 1.32715445 E16 B-54*
+MUM 2DEC* 4.9027780 E8 B-30*
+MUEARTH 2DEC* 3.986032 E10 B-36*
+ 2DEC 0
+J4REQ/J3 2DEC* .4991607391 E7 B-26*
+ 2DEC -176236.02 B-25
+2J3RE/J2 2DEC* -.1355426363 E5 B-27*
+ 2DEC* .3067493316 E18 B-60*
+J2REQSQ 2DEC* 1.75501139 E21 B-72*
+3J22R2MU 2DEC* 9.20479048 E16 B-58*
+
+# *************************************************************************
+
+ SETLOC TOF-FF1
+ BANK
+ COUNT* $$/TFF
+
+1/RTMU 2DEC* .5005750271 E-5 B17* # MODIFIED EARTH MU
+
+ SETLOC SBAND
+ BANK
+ COUNT* $$/R05
+
+REMDIST 2DEC 384402000 B-29 # MEAN DISTANCE BETWEEN EARTH AND MOON.
+
+# Page 47
+# PHYSICAL CONSTANTS (TIME - VARIANT)
+
+ SETLOC STARTAB
+ BANK
+ COUNT* $$/STARS
+
+ 2DEC +.8342971408 B-1 # STAR 37 X
+ 2DEC -.2392481515 B-1 # STAR 37 Y
+ 2DEC -.4966976975 B-1 # STAR 37 Z
+
+ 2DEC +.8139832631 B-1 # STAR 36 X
+ 2DEC -.5557243189 B-1 # STAR 36 Y
+ 2DEC +.1691204557 B-1 # STAR 36 Z
+
+ 2DEC +.4541086270 B-1 # STAR 35 X
+ 2DEC -.5392368197 B-1 # STAR 35 Y
+ 2DEC +.7092312789 B-1 # STAR 35 Z
+
+ 2DEC +.3201817378 B-1 # STAR 34 X
+ 2DEC -.4436021946 B-1 # STAR 34 Y
+ 2DEC -.8370786986 B-1 # STAR 34 Z
+
+ 2DEC +.5520184464 B-1 # STAR 33 X
+ 2DEC -.7933187400 B-1 # STAR 33 Y
+ 2DEC -.2567508745 B-1 # STAR 33 Z
+
+ 2DEC +.4537196908 B-1 # STAR 32 X
+ 2DEC -.8779508801 B-1 # STAR 32 Y
+ 2DEC +.1527766153 B-1 # STAR 32 Z
+
+ 2DEC +.2069525789 B-1 # STAR 31 X
+ 2DEC -.8719885748 B-1 # STAR 31 Y
+ 2DEC -.4436288486 B-1 # STAR 31 Z
+
+ 2DEC +.1217293692 B-1 # STAR 30 X
+ 2DEC -.7702732847 B-1 # STAR 30 Y
+# Page 48
+ 2DEC +.6259880410 B-1 # STAR 30 Z
+
+ 2DEC -.1124304773 B-1 # STAR 29 X
+ 2DEC -.9694934200 B-1 # STAR 29 Y
+ 2DEC +.2178116072 B-1 # STAR 29 Z
+
+ 2DEC -.1146237858 B-1 # STAR 28 X
+ 2DEC -.3399692557 B-1 # STAR 28 Y
+ 2DEC -.9334250333 B-1 # STAR 28 Z
+
+ 2DEC -.3516499609 B-1 # STAR 27 X
+ 2DEC -.8240752703 B-1 # STAR 27 Y
+ 2DEC -.4441196390 B-1 # STAR 27 Z
+
+ 2DEC -.5326876930 B-1 # STAR 26 X
+ 2DEC -.7160644554 B-1 # STAR 26 Y
+ 2DEC +.4511047742 B-1 # STAR 26 Z
+
+ 2DEC -.7861763936 B-1 # STAR 25 X
+ 2DEC -.5217996305 B-1 # STAR 25 Y
+ 2DEC +.3311371675 B-1 # STAR 25 Z
+
+ 2DEC -.6898393233 B-1 # STAR 24 X
+ 2DEC -.4182330640 B-1 # STAR 24 Y
+ 2DEC -.5909338474 B-1 # STAR 24 Z
+
+ 2DEC -.5812035376 B-1 # STAR 23 X
+ 2DEC -.2909171294 B-1 # STAR 23 Y
+ 2DEC +.7599800468 B-1 # STAR 23 Z
+
+ 2DEC -.9170097662 B-1 # STAR 22 X
+ 2DEC -.3502146628 B-1 # STAR 22 Y
+ 2DEC -.1908999176 B-1 # STAR 22 Z
+
+# Page 49
+ 2DEC -.4523440203 B-1 # STAR 21 X
+ 2DEC -.0493710140 B-1 # STAR 21 Y
+ 2DEC -.8904759346 B-1 # STAR 21 Z
+
+ 2DEC -.9525211695 B-1 # STAR 20 X
+ 2DEC -.0593434796 B-1 # STAR 20 Y
+ 2DEC -.2986331746 B-1 # STAR 20 Z
+
+ 2DEC -.9656605484 B-1 # STAR 19 X
+ 2DEC +.0525933156 B-1 # STAR 19 Y
+ 2DEC +.2544280809 B-1 # STAR 19 Z
+
+ 2DEC -.8608205219 B-1 # STAR 18 X
+ 2DEC +.4636213989 B-1 # STAR 18 Y
+ 2DEC +.2098647835 B-1 # STAR 18 Z
+
+ 2DEC -.7742591356 B-1 # STAR 17 X
+ 2DEC +.6152504197 B-1 # STAR 17 Y
+ 2DEC -.1482892839 B-1 # STAR 17 Z
+
+ 2DEC -.4657947941 B-1 # STAR 16 X
+ 2DEC +.4774785033 B-1 # STAR 16 Y
+ 2DEC +.7450164351 B-1 # STAR 16 Z
+
+ 2DEC -.3612508532 B-1 # STAR 15 X
+ 2DEC +.5747270840 B-1 # STAR 15 Y
+ 2DEC -.7342932655 B-1 # STAR 15 Z
+
+ 2DEC -.4118589524 B-1 # STAR 14 X
+ 2DEC +.9065485360 B-1 # STAR 14 Y
+ 2DEC +.0924226975 B-1 # STAR 14 Z
+
+ 2DEC -.1820751783 B-1 # STAR 13 X
+# Page 50
+ 2DEC +.9404899869 B-1 # STAR 13 Y
+ 2DEC -.2869271926 B-1 # STAR 13 Z
+
+ 2DEC -.0614937230 B-1 # STAR 12 X
+ 2DEC +.6031563286 B-1 # STAR 12 Y
+ 2DEC -.7952489957 B-1 # STAR 12 Z
+
+ 2DEC +.1371725575 B-1 # STAR 11 X
+ 2DEC +.6813721061 B-1 # STAR 11 Y
+ 2DEC +.7189685267 B-1 # STAR 11 Z
+
+ 2DEC +.2011399589 B-1 # STAR 10 X
+ 2DEC +.9690337941 B-1 # STAR 10 Y
+ 2DEC -.1432348512 B-1 # STAR 10 Z
+
+ 2DEC +.3507315038 B-1 # STAR 9 X
+ 2DEC +.8926333307 B-1 # STAR 9 Y
+ 2DEC +.2831839492 B-1 # STAR 9 Z
+
+ 2DEC +.4105636020 B-1 # STAR 8 X
+ 2DEC +.4988110001 B-1 # STAR 8 Y
+ 2DEC +.7632988371 B-1 # STAR 8 Z
+
+ 2DEC +.7032235469 B-1 # STAR 7 X
+ 2DEC +.7075846047 B-1 # STAR 7 Y
+ 2DEC +.0692868685 B-1 # STAR 7 Z
+
+ 2DEC +.5450107404 B-1 # STAR 6 X
+ 2DEC +.5314955466 B-1 # STAR 6 Y
+ 2DEC -.6484410356 B-1 # STAR 6 Z
+
+ 2DEC +.0130968840 B-1 # STAR 5 X
+ 2DEC +.0078062795 B-1 # STAR 5 Y
+# Page 51
+ 2DEC +.9998837600 B-1 # STAR 5 Z
+
+ 2DEC +.4917678276 B-1 # STAR 4 X
+ 2DEC +.2204887125 B-1 # STAR 4 Y
+ 2DEC -.8423473935 B-1 # STAR 4 Z
+
+ 2DEC +.4775639450 B-1 # STAR 3 X
+ 2DEC +.1166004340 B-1 # STAR 3 Y
+ 2DEC +.8708254803 B-1 # STAR 3 Z
+
+ 2DEC +.9342640400 B-1 # STAR 2 X
+ 2DEC +.1735073142 B-1 # STAR 2 Y
+ 2DEC -.3115219339 B-1 # STAR 2 Z
+
+ 2DEC +.8748658918 B-1 # STAR 1 X
+ 2DEC +.0260879174 B-1 # STAR 1 Y
+ 2DEC +.4836621670 B-1 # STAR 1 Z
+
+CATLOG DEC 6970
+
+# *******************************************************************************
+
+ SETLOC EPHEM1
+ BANK
+ COUNT* $$/EPHEM
+
+KONMAT 2DEC 1.0 B-1 # ********************
+ 2DEC 0 # *
+ 2DEC 0 # *
+ 2DEC 0 # *
+ 2DEC .91745 B-1 # K1 COS(OBL) *
+ 2DEC -.03571 B-1 # K2 SIN(OBL)SIN(IM) *
+ 2DEC 0 # *
+ 2DEC .39784 B-1 # K3 SIN(OBL) *
+# Page 52
+ 2DEC .082354 B-1 # K4 COS(OBL)SIN(IM) *
+CSTODAY 2DEC 8640000 B-33 # * NOTE: *
+RCB-13 OCT 00002 # * TABLES CONTAIN *
+ OCT 00000 # * CONSTANTS FOR *
+RATESP 2DEC .03660098 B+4 # LOMR * 1969 - 1970 *
+ 2DEC .00273779 B+4 # LOSR
+ 2DEC -.00014719 B+4 # LONR
+ 2DEC .815282336 # LOMO
+ 2DEC .274674910 # LOSO
+ 2DEC .986209499 # LONO
+VAL67 2DEC* .01726666666 B+1* # AMOD
+ 2DEC .530784445 # AARG
+ 2DEC .036291712 B+1 # 1/27
+ 2DEC .003505277 B+1 # BMOD
+ 2DEC .585365625 # BARG
+ 2DEC .03125 B+1 # 1/32
+ 2DEC .005325277 B+1 # CMOD
+ 2DEC -.01106341036 # CARG
+ 2DEC .002737925 B+1 # 1/365
+
+# ********************************************************************************
+
+ SETLOC PLANTIN2
+ BANK
+ COUNT* $$/LUROT
+
+COSI 2DEC .99964173 B-1 # COS (5521.5 SEC.) B-1
+SINI 2DEC .02676579 B-1 # SIN (5521.5 SEC.) B-1
+NODDOT 2DEC -.457335121 E-2 # REV/CSEC B+28 = -1.07047011 E-8 RAD/SEC
+FDOT 2DEC .570863327 # REV/CSEC B+27 = 2.67240410 E-6 RAD/SEC
+# Page 53
+BDOT 2DEC -3.07500686 E-8 # REV/CSEC B+28 = -7.19757301 E-14 RAD/SEC
+NODIO 2DEC .986209434 # REVS B-D = 6.19653663041 RAD
+FSUBO 2DEC .829090536 # REVS B-D = 5.20932947829 RAD
+BSUBO 2DEC .0651201393 # REVS B-D = 0.40916190299 RAD
+WEARTH 2DEC .973561595 # REV/CSEC B+23 = 7.29211494 E-5 RAD/SEC
+
diff --git a/CSM_GEOMETRY.s b/CSM_GEOMETRY.s
new file mode 100644
index 0000000..b845bb5
--- /dev/null
+++ b/CSM_GEOMETRY.s
@@ -0,0 +1,418 @@
+# Copyright: Public domain.
+# Filename: CSM_GEOMETRY.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 285-296
+# Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 285
+ BANK 22
+ SETLOC COMGEOM1
+ BANK
+
+# THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT
+# VECTOR REFERENCED TO THE NAVIGATION BASE COORDINATE SYSTEM AND COINCIDENT WTIH THE SEXTANT LINE OF SIGHT.
+#
+# THE INPUTS ARE: 1) THE SEXTAND SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE
+# MARK VAC AREA. 2) THE COMPLEMENT OF THE BASE ADDRESS OF THE MARK VAC AREA IS STORED SP AT LOCATION X1 OF YOUR
+# JOB VAC AREA.
+#
+# THE OUTPUT IS A HALF-UNIT VECTOR IN NAVIGATION BASE COORDINATES AND STORED AT LOCATION 32D OF THE VAC AREA. THE
+# OUTPUT IS ALSO AVAILABLE AT MPAC.
+
+ COUNT 23/GEOM
+
+SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D
+ 5,1 # TRUNNION = TA
+ CDULOGIC
+ RTB PUSH
+ SXTLOGIC
+ SIN SL1
+ PUSH SLOAD* # PD2 = SIN(TA)
+ 3,1 # SHAFT = SA
+ RTB PUSH # PD4 = SA
+ CDULOGIC
+
+ COS DMP
+ 2
+ STODL STARM # COS(SA)SIN(TA)
+
+ SIN DMP
+ STADR
+ STODL STARM +2 # SIN(SA)SIN(TA)
+
+ COS
+ STOVL STARM +4
+ STARM # STARM = 32D
+ MXV VSL1
+ NB1NB2
+ STORE 32D
+ RVQ
+
+SXTLOGIC CAF 10DEGS- # CORRECT FOR 19.775 DEGREE OFFSET
+ ADS MPAC
+ CAF QUARTER
+ TC SHORTMP
+ TC DANZIG
+
+# Page 286
+# CALCSXA COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-
+# OF-SIGHT LIES ALONG THE STAR VECTOR. THE ROUTINE TAKES THE GIVEN STAR VECTOR AND EXPRESSES IT AS A VECTOR REF-
+# ERENECED TO THE OPTICS COORDINATE SYSTEM. IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X, Y, AND Z AXES
+# REFERENCED TO THE OPTICS COORDINATE SYSTEM.
+#
+# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO THE PRESENT STABLE MEMMBER COORDINATES STORED AT STAR. 2) SAME ANGLE
+# INPUT AS *SMNB*, I.E., SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU. A CALL
+# TO CDUTRIG WILL PROVIDE THIS INPUT.
+#
+# THE OUTPUT ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
+# EQUAL TO ZERO).
+
+CALCSXA ITA VLOAD # PUSHDOWN 00-26D, 28D, 30D, 32D-36D
+ 28D
+ STAR
+ CALL
+ *SMNB*
+ MXV VSL1
+ NB2NB1
+ STOVL STAR
+ HIUNITX
+ STOVL XNB1
+ HIUNITY
+ STOVL YNB1
+ HIUNITZ
+ STCALL ZNB1
+ SXTANG1
+
+# Page 287
+# SXTANG COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-OF-
+# SIGHT LIES ALONG THE STAR VECTOR.
+#
+# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR. 2) THE NAVIGATION BASE
+# COORDINATES REFERRED TO THE SAME COORDINATE SYSTEM. THESE THREE HALF-UNIT VECTORS ARE STROED AT XNB, YNB,AND
+# ZNB.
+#
+# THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
+# EQUAL TO ZERO).
+
+SXTANG ITA RTB # PUSHDOWN 16D,18D,22D-26D,28D
+ 28D
+ TRANSP1 # EREF WRT NB2
+ VLOAD MXV
+ XNB
+ NB2NB1
+ VSL1
+ STOVL XNB1
+ YNB
+ MXV VSL1
+ NB2NB1
+ STOVL YNB1
+ ZNB
+ MXV VSL1
+ NB2NB1
+ STORE ZNB1
+
+ RTB RTB
+ TRANSP1
+ TRANSP2
+
+SXTANG1 VLOAD VXV
+ ZNB1
+ STAR
+ BOV
+ +1
+ UNIT BOV
+ ZNB=S1
+ STORE PDA # PDA = UNIT(ZNB X S)
+
+ DOT DCOMP
+ XNB1
+ STOVL SINTH # SIN(SA) = PDA . -XNB
+ PDA
+
+ DOT
+ YNB1
+ STCALL COSTH # COS(SA) = PDA . YNB
+ ARCTRIG
+# Page 288
+ RTB
+ 1STO2S
+ STOVL SAC
+ STAR
+ BOV
+ +1
+ DOT SL1
+ ZNB1
+ ACOS
+ BMN SL2
+ SXTALARM # TRUNNION ANGLE NEGATIVE
+ BOV DSU
+ SXTALARM # TRUNNION ANGLE GREATER THAN 90 DEGREES
+ 20DEG-
+ RTB
+ 1STO2S
+ STORE PAC # FOR FLIGHT USE, CULTFLAG IS ON IF
+ CLRGO # TRUNION IS GREATER THAN 90 DEG
+ CULTFLAG
+ 28D
+SXTALARM SETGO # ALARM HAS BEEN REMOVED FROM THIS
+ CULTFLAG
+ 28D # SUBROUTINE, ALARM WILL BE SET BY MPI
+ZNB=S1 DLOAD
+ 270DEG
+ STODL SAC
+ 20DEGS-
+ STORE PAC
+ CLRGO
+ CULTFLAG
+ 28D
+
+# Page 289
+# THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM, CSM BY ADDING
+# THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO
+# METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
+# R-OTHER, V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
+# OTHER VEHICLES COMPUTER.
+#
+# INPUT
+# STATE VECTOR IN TEMPORARY STORAGE AREA
+# IF STATE VECTOR IS SCALED POS B27 AND VEL B5
+# SET X2 TO +2
+# IF STATE VECTOR IS SCALED POS B29 AND VEL B7
+# SET X2 TO 0
+#
+# OUTPUT
+# R(T) IN RN, V(T) IN VN, T IN PIPTIME
+# OR
+# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
+
+ BANK 23
+ SETLOC COMGEOM2
+ BANK
+ COUNT 10/GEOM
+SVDWN1 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG
+ AVEMIDSW
+ +1
+ VLOAD VSL*
+ TDELTAV
+ 0 -7,2
+ VAD VSL*
+ RCV
+ 0,2
+ STOVL RN
+ TNUV
+ VSL* VAD
+ 0 -4,2
+ VCV
+ VSL*
+ 0,2
+ STODL VN
+ TET
+ STORE PIPTIME
+ RVQ
+
+SVDWN2 VLOAD VSL*
+ TDELTAV
+ 0 -7,2
+ VAD VSL*
+ RCV
+# Page 290
+ 0,2
+ STOVL R-OTHER
+ TNUV
+ VSL* VAD
+ 0 -4,2
+ VCV
+ VSL*
+ 0,2
+ STORE V-OTHER
+ RVQ
+
+# Page 291
+# SUBROUTINE TO COMPUTE THE NATURAL LOG OF C(MPAC, MPAC +1).
+#
+# ENTRY: CALL
+# LOG
+#
+# SUBROUTINE RETURNS WITH -LOG IN DP MPAC.
+#
+# EBANK IS ARBITRARY.
+
+ BANK 14
+ SETLOC POWFLIT2
+ BANK
+ COUNT 23/GEOM
+
+LOG NORM BDSU # GENERATES LOG BY SHIFTING ARG
+ MPAC +3 # UNTIL IT LIES BETWEEN .5 AND 1.
+ NEARLY1 # THE LOG OF THIS PART IS FOUND AND THE
+ EXIT # LOG OF THE SHIFTED PART IS COMPUTED
+ TC POLY # AND ADDED IN. SHIFT COUNT STORED
+ DEC 2 # (N-1, SUPPLIED BY SMERZH)
+ 2DEC 0 # IN MPAC +3.
+ 2DEC .031335467
+ 2DEC .0130145859
+ 2DEC .0215738898
+
+ CAF ZERO
+ TS MPAC +2
+ EXTEND
+ DCA CLOG2/32
+ DXCH MPAC
+ DXCH MPAC +3
+ COM # LOAD POSITIVE SHIFT COUNT IN A.
+ TC SHORTMP # MULTIPLY BY SHIFT COUNT.
+
+ DXCH MPAC +1
+ DXCH MPAC
+ DXCH MPAC +3
+ DAS MPAC
+ TC INTPRET # RESULT IN MPAC, MPAC +1
+
+ RVQ
+
+NEARLY1 2DEC .999999999
+
+# Page 292
+CLOG2/32 2DEC .0216608494
+
+# Page 293
+# SUBROUTINE NAME: EARTH ROTATOR (EARROT1 OR EARROT2) DATE: 15 FEB 67
+# MOD NO: N +1 LOG SECTION: POWERED FLIGHT SUBROS
+# MOD BY: ENTRY GROUP (BAIRNSFATHER)
+#
+# FUNCTIONAL DESCRIPTION: THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH
+# THE ESTIMATED TIME OF FLIGHT. INITIAL CALL RESOLVES THE INITIAL TARGET VECTOR RTINIT INTO EASTERLY
+# AND NORMAL COMPONENTS RTEAST AND RTNORM. INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR
+# ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE WIE DTEAROT TO OBTAIN THE ROTATED
+# TARGET VECTOR RT. ALL VECTORS EXCEPT UNITW ARE HALF UNIT.
+# THE EQUATIONS ARE:
+# _ _ _ _
+# RT = RTINIT + RTNORM (COS(WT) - 1) + RTEAST SIN(WT)
+#
+# WHERE WT = WIE DTEAROT
+#
+# RTINIT = INITIAL TARGET VECTOR
+# _ _ _
+# RTEAST = UNITW * RTINIT
+# _ _ _
+# RTNORM = RTEAST * UNITW
+#
+# FOR CONTINUOUS UPDATING, ONLY ONE ENTRY TO EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2.
+#
+# CALLING SEQUENCE: FIRST CALL SUBSEQUENT CALL
+# STCALL DTEAROT STCALL DTEAROT
+# EARROT1 EARROT2
+# C(MPAC) UNSPECIFIED C(MPAC) = DTEAROT
+# PUSHLOC = PDL+0, ARBITRARY. 6 LOCATIONS USED.
+#
+# SUBROUTINES USED: NONE
+#
+# NORMAL EXIT MODES: RVQ
+#
+# ALARMS: NONE
+#
+# OUTPUT: RTEAST (-1) .5 UNIT VECTOR EAST, COMPNT OF RTINIT LEFT BY FIRST CALL
+# RTNORM (-1) .5 UNIT VECTOR NORML, COMPNT OF RTINIT LEFT BY FIRST CALL
+# RT (-1) .5 UNIT TARGET VECTOR, ROTATED LEFT BY ALL CALLS
+# DTEAROT (-28) CS MAY BE CHANGED BY EARROT2, IF OVER 1 DAY
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# UNITW (0) UNIT POLAR VECTOR PAD LOADED
+# RTINIT (-1) .5 UNIT INITIAL TARGET VECTOR LEFT BY ENTRY
+# DTEAROT (-28) CS TIME OF FLIGHT LEFT BY CALLER
+#
+# DEBRIS: QPRET, PDL+0 ... PDL+5
+# Page 294
+ EBANK= RTINIT
+
+EARROT1 VLOAD VXV
+ UNITW # FULL UNIT VECTOR
+ RTINIT # .5 UNIT
+ STORE RTEAST # .5 UNIT
+
+ VXV
+ UNITW # FULL UNIT
+ STODL RTNORM # .5 UNIT
+ DTEAROT # (-28) CS
+
+EARROT2 BOVB DDV
+ TCDANZIG # RESET OVFIND, IF ON
+ 1/WIE
+ BOV PUSH
+ OVERADAY
+ COS DSU
+ HIDPHALF
+ VXSC PDDL # XCH W PUSH LIST
+ RTNORM # .5 UNIT
+ SIN VXSC
+ RTEAST # .5 UNIT
+ VAD VSL1
+ VAD UNIT # INSURE THAT RT IS "UNIT".
+ RTINIT # .5 UNIT
+ STORE RT # .5 UNIT TARGET VECTOR
+
+ RVQ
+
+OVERADAY DLOAD SIGN
+ 1/WIE
+ DTEAROT
+ BDSU
+ DTEAROT
+ STORE DTEAROT
+
+ GOTO
+ EARROT2
+
+#WIE 2DEC .1901487997
+1/WIE 2DEC 8616410
+NB2NB1 2DEC +.8431756920 B-1
+ 2DEC 0
+ 2DEC -.5376381241 B-1
+# Page 295
+ZERINFLT 2DEC 0
+HALFNFLT 2DEC .5
+ 2DEC 0
+ 2DEC +.5376381241 B-1
+ 2DEC 0
+ 2DEC +.8431756920 B-1
+NB1NB2 2DEC +.8431756920 B-1
+ 2DEC 0
+ 2DEC +.5376381241 B-1
+ 2DEC 0
+ 2DEC .5
+ 2DEC 0
+ 2DEC -.5376381241 B-1
+ 2DEC 0
+ 2DEC +.8431756920 B-1
+# Page 296
+10DEGS- DEC 3600
+270DEG OCT 60000 # SHAFT 270 DEGREES 25 COMP.
+ OCT 00000
+20DEGS- DEC -07199
+ DEC -00000
+20DEG- DEC 03600
+ DEC 00000
+
diff --git a/DAPIDLER_PROGRAM.s b/DAPIDLER_PROGRAM.s
new file mode 100644
index 0000000..fb42a73
--- /dev/null
+++ b/DAPIDLER_PROGRAM.s
@@ -0,0 +1,481 @@
+# Copyright: Public domain.
+# Filename: DAPIDLER_PROGRAM.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1410-1420
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Luminary131/ file of the same
+# name, using Luminary099 page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1410
+# THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
+# PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
+# THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
+
+ BANK 16
+ SETLOC DAPS1
+ BANK
+
+ EBANK= AOSQ
+
+ COUNT* $$/DAPID
+
+CHEKBITS EXTEND
+ READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
+ COM # THE MODE SELECT SWITCH IS IN THE OFF
+ MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
+ EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
+ BZF MOREIDLE
+
+ CS IMODES33
+ MASK BIT6
+ CCS A
+ TCF JUMPDSP
+ CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
+ MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
+ ADS RCSFLAGS
+ TCF SHUTDOWN
+
+CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
+ EXTEND
+ RAND CHAN30 # BITS IN 30 ARE INVERTED
+ CCS A
+ TCF MOREIDLE
+
+ RETURN
+
+# Page 1411
+# DAPIDLER ENTRY.
+
+DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
+ EXTEND
+ QXCH QRUPT
+
+ CA RCSFLAGS
+ MASK BIT13
+ CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
+ TCF CHECKUP # THE LAST FRESH START OR RESTART.
+ CA BIT13
+ ADS RCSFLAGS # BIT 13 IS 1.
+ CAF PRIO27
+ TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
+ EBANK= AOSQ # AND EXECUTE 1/ACCS.
+ 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
+
+CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
+ # DO ERROR DISPLAY.
+
+ CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
+ MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
+ EXTEND # KNOCK THIS BIT DOWN.
+ BZF MOREIDLE
+
+STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
+ FCADR ZATTEROR
+ CAF ZERO # ************ INITIALIZE: *************
+ TS TJP
+ TS TJU
+ TS TJV
+ TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
+ TS OMEGAQ
+ TS OMEGAR
+ TS TRAPEDP
+ TS TRAPEDQ
+ TS TRAPEDR
+ TS AOSQ # OFFSET ACCELERATION ESTIMATES.
+ TS AOSQ +1
+ TS AOSR
+ TS AOSR +1
+ TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
+ TS ALPHAR
+ TS NEGUQ
+ TS NEGUR
+ TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
+ TS AOSRTERM # FILTER INITIALIZATION TERMS.
+ TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
+ TS RACCDOT
+# Page 1412
+ TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
+ TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
+ TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
+ TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
+ TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
+ TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
+ TS OLDQRMIN
+ TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
+ TS UJETCTR # COUNTERS
+ TS VJETCTR
+CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
+ CS MANFLAG
+ MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
+ TS RCSFLAGS
+
+# SET UP "OLD" MEASURED CDU ANGLES:
+
+ EXTEND
+ DCA CDUX # OLDXFORP AND OLDYFORP
+ DXCH OLDXFORP
+ CA CDUZ
+ TS OLDZFORQ
+ CS RCSFLAGS
+ MASK BIT12
+ ADS RCSFLAGS # BIT 12 SET TO 1.
+ CA FOUR
+ TS SKIPU
+ TS SKIPV
+ CA POSMAX
+ TS TIME6
+ TS T6NEXT
+ TS T6FURTHA
+ CA ZERO
+ TS T6NEXT +1
+ TS T6FURTHA +1
+ TS NXT6ADR
+ TS NEXTP
+ TS NEXTU
+ TS NEXTV
+ CS TEN
+ TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
+ CA TWO
+ TS NPTRAPS
+ TS NQTRAPS
+ TS NRTRAPS
+ EXTEND
+ DCA PAXADIDL
+ DXCH T5ADR
+SETTIME5 CAF MS100
+ TS TIME5
+# Page 1413
+ TCF RESUME
+ EBANK= AOSQ
+IDLERADR 2CADR DAPIDLER
+
+MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
+ CADR QERRCALC
+
+ TC IBNKCALL
+ CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
+
+SHUTDOWN EXTEND
+ DCA IDLERADR
+ DXCH T5ADR
+
+ CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
+ TS NEXTP
+ TS NEXTU
+ TS NEXTV
+ EXTEND # COMMAND JETS OFF.
+ WRITE CHAN5
+ EXTEND
+ WRITE CHAN6
+ CS BGIM23 # TURN TRIM GIMBAL OFF
+ EXTEND
+ WAND CHAN12
+ TCF SETTIME5 # RETURN IN 100 MSEC.
+
+MANFLAG OCT 03021
+BGIM23 OCTAL 07400
+ EBANK= OMEGAP
+PAXADIDL 2CADR PAXIS
+
+MS100 = OCT37766
+COSMG = ITEMP1
+JUMPDSP EXTEND # TRANSFER TO BANK 20
+ DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
+ DTCB
+
+ EBANK= AK
+DSPCADR 2CADR ALTDSPLY
+
+# Page 1414
+ BANK 20
+ SETLOC DAPS3
+ BANK
+ COUNT* $$/NEEDL
+
+# PROGRAM: ALTDSPLY
+# MOD 0. 6 DEC 1967
+# AUTHOR: CRAIG WORK, DON KEENE, MIT IL
+# MOD 3 BY DON KEENE AUG 1, 1968 -- MOVED PROGRAM TO BANK 20
+#
+# PROGRAM DESCRIPTION:
+# ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
+# IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
+# ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
+#
+#
+# WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED
+#
+# WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
+#
+# INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
+# 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
+#
+#
+# OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
+#
+# ENTRY: TCF ALTDSPLY
+#
+# EXIT: TCF CHEKMORE
+#
+# ALARM OR ABORT EXITS: NONE
+#
+# SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
+#
+# DEBRIS: A, L, AND NEEDLER DEBRIS.
+
+ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
+ TS L
+ CA DSPLYALT
+ EXTEND
+ RXOR LCHAN
+ TS RCSFLAGS
+
+ MASK DSPLYALT
+ CCS A # IS ALTERNATION FLAG ZERO?
+ TCF NEEDLER
+
+ CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
+# Page 1415
+ MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
+ CCS A
+ TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
+
+ CS QERROR # YES. DISPLAY ATT ERRORS ON THE -BALL.
+ TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
+ CS RERROR
+ TS AK +2
+ CS PERROR
+ XCH AK
+
+ TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
+
+# CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
+
+DSPLYTOT EXTEND
+ QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
+
+ CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
+ EXTEND # SUBTRACT CURRENT ATTITUDE.
+ MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
+ TS AK # SAVE FOR R-ERROR CALCULATION.
+ EXTEND
+ MP M21 # (CTHETA-CDUY)*M21 SCALED AT PI RADIANS.
+ XCH AK +1 # STORE FIRST TERM OF Q ERROR.
+ CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
+ EXTEND # SUBTRACT CURRENT ATTITUDE.
+ MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
+ TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
+ EXTEND
+ MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
+ AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
+ TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW
+ TS AK +1
+
+# R ERROR CALCULATION NEXT.
+
+ CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
+ EXTEND
+ MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
+ XCH AK +2 # FIRST TERM OF R ERROR.
+ # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
+ EXTEND # RECOVERED BY THE EXCHANGE.
+ MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
+ AD AK +2 # R ERROR COMPLETE , AT PI RAD.
+ TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
+ TS AK +2
+
+# NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
+# Page 1416
+ CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
+ EXTEND
+ MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
+ XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
+ CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
+ EXTEND # SUBTRACT CURRENT X ATTITUDE.
+ MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
+
+# M13 = 1, SO BYPASS THE MULTIPLICATION.
+# EXTEND
+# MP M13 # (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
+
+ AD AK # P ERROR COMPLETE , SCALED AT PI RAD
+ TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
+ TS AK
+
+ EXTEND
+ QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
+
+ TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
+
+# Page 1417
+# FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
+#
+# PROGRAM DESCRIPTION: D. KEENE 5/24/67
+# MOD 1 BY CRAIG WORK, 12 DEC 67
+# MOD 2 BY CRAIG WORK, 6 APRIL 68, CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
+#
+# THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
+# IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
+# OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
+# THE DACS.
+#
+# CALLING SEQUENCE:
+# DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
+# TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
+# CS RCSFLAGS # IN EBANK6
+# MASK BIT3
+# ADS RCSFLAGS
+# THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERRED TO THE FOLLOWING LOCATIONS IN EBANK6:
+# AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
+# AK1 SCALED 180 DEGREES TO CHANGE
+# AK2 SCALED 180 DEGREES
+# FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
+# CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
+#
+# A CALL TO NEEDLER WILL THE UPDATE THE DISPLAY:
+# INHINT
+# TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6
+# CADR NEEDLER
+# RELINT
+# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
+# REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
+# NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS. TO ASSURE PROPER RELAY SEQUENCING.
+#
+# ERASABLES USED:
+# AK CDUXCMD
+# AK1 CDUYCMD
+# AK2 CDUZCMD
+# EDRIVEX A,L,Q
+# EDRIVEY T5TEMP
+# EDRIVEZ DINDX
+# Page 1418
+#
+# SWITCHES: RCSFLAGS BITS 3,2
+#
+# I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN -- READ ONLY)
+# CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
+# CHAN14 BIT 13,14,15 (DAC ACTIVITY)
+#
+# SIGN CONVENTION: AK = THETAC - THETA
+# WHERE THETAC = COMMAND ANGLE
+# THETA = PRESENT ANGLE
+
+NEEDLER CA RCSFLAGS
+ MASK SIX
+ EXTEND
+ BZF NEEDLES3
+ MASK BIT3
+ EXTEND
+ BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
+
+ CS BIT6 # FIRST PASS BIT3 = 1
+ EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
+ WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
+NEEDLE11 CS ZERO # ENABLING COUNTERS.
+ TS AK # ZERO THE INPUTS ON FIRST PASS
+ TS AK1
+ TS AK2
+ TS EDRIVEX # ZERO THE DISPLAY REGISTERS
+ TS EDRIVEY
+ TS EDRIVEZ
+ TS CDUXCMD # ZERO THE OUT COUNTERS
+ TS CDUYCMD
+ TS CDUZCMD
+ CS SIX # RESET RCSFLAGS FOR PASS2
+ MASK RCSFLAGS
+ AD BIT2
+ TS RCSFLAGS
+ TCF RETNMORE
+
+NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
+ EXTEND
+ WOR CHAN12
+ CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
+ MASK RCSFLAGS # ERRORS. WAIT AT LEAST 4 MS FOR
+ TS RCSFLAGS # RELAY CLOSURE.
+ TCF RETNMORE
+
+NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
+ EXTEND # IS ENABLED
+ RAND CHAN12
+# Page 1419
+ CCS A # IF NOT, RE-INITIALIZE NEEDLER.
+ TCF NEEDLES
+
+ CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
+ MASK BIT3
+ ADS RCSFLAGS
+ TCF RETNMORE
+
+NEEDLES CAF TWO
+DACLOOP TS DINDX
+ CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
+ EXTEND
+ INDEX DINDX
+ MP AK
+ TS L
+ CCS A
+ CA DACLIMIT
+ TCF +2
+ CS DACLIMIT
+ AD L
+ TS T5TEMP # OVFLO CHK
+ TCF +4
+ INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
+ CAF DACLIMIT
+ TS L
+ INDEX DINDX
+ CS EDRIVEX # CURRENT VALUE OF DAC
+ AD L
+ INDEX DINDX
+ ADS CDUXCMD
+ INDEX DINDX
+ LXCH EDRIVEX
+ CCS DINDX
+ TCF DACLOOP
+ CAF 13,14,15
+ EXTEND
+ WOR CHAN14 # SET DAC ACTIVITY BITS
+ TCF RETNMORE
+
+ DEC -384
+DACLIMIT DEC 16000
+ DEC 384
+
+ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
+DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
+
+OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
+ TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
+ INDEX A
+# Page 1420
+ CS LIMITS # DUPLICATE CODING IN BANK 16
+ TC Q
+
+RETNMORE EXTEND # RETURN TO CHEKMORE
+ DCA MORECADR
+ DTCB
+
+ EBANK= AOSQ
+MORECADR 2CADR CHEKMORE
+
diff --git a/DAP_INTERFACE_SUBROUTINES.s b/DAP_INTERFACE_SUBROUTINES.s
new file mode 100644
index 0000000..689e466
--- /dev/null
+++ b/DAP_INTERFACE_SUBROUTINES.s
@@ -0,0 +1,176 @@
+# Copyright: Public domain.
+# Filename: DAP_INTERFACE_SUBROUTINES.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1406-1409
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Luminary131/ file of the same
+# name, using Luminary099 page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1406
+ BANK 20
+ SETLOC DAPS3
+ BANK
+
+ EBANK= CDUXD
+ COUNT* $$/DAPIF
+
+# MOD 0 DATE 11/15/66 BY GEORGE W. CHERRY
+# MOD 1 1/23/67 MODIFICATION BY PETER ADLER
+#
+# FUNCTIONAL DESCRIPTION
+# HEREIN IS A COLLECTION OF SUBROUTINES WHICH ALLOW MISSION CONTROL PROGRAMS TO CONTROL THE MODE
+# AND INTERFACE WITH THE DAP.
+#
+# CALLING SEQUENCES
+# IN INTERRUPT OR WITH INTERRUPT INHIBITED
+# TC IBNKCALL
+# FCADR ROUTINE
+# IN A JOB WITHOUT INTERRUPT INHIBITED
+# INHINT
+# TC IBNKCALL
+# FCADR ROUTINE
+# RELINT
+#
+# OUTPUT
+# SEE INDIVIDUAL ROUTINES BELOW
+#
+# DEBRIS
+# A, L, AND SOMETIMES MDUETEMP ODE NOT IN PULSES MODE
+
+# Page 1407
+# SUBROUTINE NAMES:
+# SETMAXDB, SETMINDB, RESTORDB, PFLITEDB
+# MODIFIED: 30 JANUARY 1968 BY P. S. WEISSMAN TO CREATE RESTORDB.
+# MODIFIED: 1 MARCH 1968 BY P. S. WEISSMAN TO SAVE EBANK AND CREATE PFLITEDB
+#
+# FUNCTIONAL DESCRIPTION:
+# SETMAXDB -- SET DEADBAND TO 5.0 DEGREES
+# SETMINDB -- SET DEADBAND TO 0.3 DEGREE
+# RESTORDB -- SET DEADBAND TO MAX OR MIN ACCORDING TO SETTINGS OF DBSELECT BIT OF DAPBOOLS
+# PFLITEDB -- SET DEADBAND TO 1.0 DEGREE AND ZERO THE COMMANDED ATTITUDE CHANGE AND COMMANDED RATE
+#
+# ALL ENTRIES SET UP A NOVAC JOB TO DO 1/ACCS SO THAT THE TJETLAW SWITCH CURVES ARE POSITIONED TO
+# REFLECT TEH NEW DEADBAND. IT SHOULD BE NOTED THAT THE DEADBAND REFERS TO THE ATTITUDE IN THE P-, U-, AND V-AXES.
+#
+# SUBROUTINE CALLED: NOVAC
+#
+# CALLING SEQUENCE: SAME AS ABOVE
+# OR TC RESTORDB +1 FROM ALLCOAST
+#
+# DEBRIS: A, L, Q, RUPTREG1, (ITEMPS IN NOVAC)
+
+RESTORDB CAE DAPBOOLS # DETERMINE CREW-SELECTED DEADBAND.
+ MASK DBSELECT
+ EXTEND
+ BZF SETMINDB
+
+SETMAXDB CAF WIDEDB # SET 5 DEGREE DEADBAND.
+ +1 TS DB
+
+ EXTEND # SET UP JOB TO RE-POSITION SWITCH CURVES.
+ QXCH RUPTREG1
+CALLACCS CAF PRIO27
+ TC NOVAC
+ EBANK= AOSQ
+ 2CADR 1/ACCJOB
+
+ TC RUPTREG1 # RETURN TO CALLER.
+
+SETMINDB CAF NARROWDB # SET 0.3 DEGREE DEADBAND.
+ TCF SETMAXDB +1
+
+PFLITEDB EXTEND # THE RETURN FROM CALLACCS IS TO RUPTREG1.
+ QXCH RUPTREG1
+ TC ZATTEROR # ZERO THE ERRORS AND COMMANDED RATES.
+ CAF POWERDB # SET DB TO 1.0 DEG.
+ TS DB
+ TCF CALLACCS # SET UP 1/ACCS AND RETURN TO CALLER.
+NARROWDB OCTAL 00155 # 0.3 DEGREE SCALED AT 45.
+# Page 1408
+WIDEDB OCTAL 03434 # 5.0 DEGREES SCALED AT 45.
+POWERDB DEC .02222 # 1.0 DEGREE SCALED AT 45.
+
+ZATTEROR CAF EBANK6
+ XCH EBANK
+ TS L # SAVE CALLERS EBANK IN L.
+ CAE CDUX
+ TS CDUXD
+ CAE CDUY
+ TS CDUYD
+ CAE CDUZ
+ TS CDUZD
+ TCF STOPRATE +3
+
+STOPRATE CAF EBANK6
+ XCH EBANK
+ TS L # SAVE CALLERS EBANK IN L.
+ +3 CAF ZERO
+ TS OMEGAPD
+ TS OMEGAQD
+ TS OMEGARD
+ TS DELCDUX
+ TS DELCDUY
+ TS DELCDUZ
+ TS DELPEROR
+ TS DELQEROR
+ TS DELREROR
+ LXCH EBANK # RESTORE CALLERS EBANK.
+ TC Q
+
+# SUBROUTINE NAME: ALLCOAST
+# WILL BE CALLED BY FRESH STARTS AND ENGINE OFF ROUTINES.
+#
+# CALLING SEQUENCE: (SAME AS ABOVE)
+#
+# EXIT: RETURN TO Q.
+#
+# SUBROUTINES CALLED: STOPRATE, RESTORDB, NOVAC
+#
+# ZERO: (FOR ALL AXES) AOS, ALPHA, AOSTERM, OMEGAD, DELCDU, DELEROR
+#
+# OUTPUT: DRIFTBIT/DAPBOOLS, OE, JOB TO DO 1/ACCS
+#
+# DEBRIS: A, L, Q, RUPTREG1, RUPTREG2, (ITEMPS IN NOVAC)
+
+ALLCOAST EXTEND # SAVE Q FOR RETURN
+ QXCH RUPTREG2
+# Page 1409
+ TC STOPRATE # CLEAR RATE INTERFACE. RETURN WITH A=0
+ LXCH EBANK # AND L=EBANK6. SAVE CALLER'S EBANK.
+ TS AOSQ
+ TS AOSQ +1
+ TS AOSR
+ TS AOSR +1
+ TS ALPHAQ # FOR DOWNLIST.
+ TS ALPHAR
+ TS AOSQTERM
+ TS AOSRTERM
+ LXCH EBANK # RESTORE EBANK (EBANK6 NO LONGER NEEDED)
+
+ CS DAPBOOLS # SET UP DRIFTBIT
+ MASK DRIFTBIT
+ ADS DAPBOOLS
+ TC RESTORDB +1 # RESTORE DEADBANK TO CREW-SELECTED VALUE.
+
+ TC RUPTREG2 # RETURN.
+
diff --git a/DISPLAY_INTERFACE_ROUTINES.s b/DISPLAY_INTERFACE_ROUTINES.s
new file mode 100644
index 0000000..8eb4aba
--- /dev/null
+++ b/DISPLAY_INTERFACE_ROUTINES.s
@@ -0,0 +1,1485 @@
+# Copyright: Public domain.
+# Filename: DISPLAY_INTERFACE_ROUTINES.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1452-1484
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same
+# name, and page images. Corrected various
+# typos in the transcription of program
+# comments, and these should be back-ported
+# to Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1452
+# DISPLAYS CAN BE CLASSIFIED INTO THE FOLLOWING CATEGORIES --
+# 1. PRIORITY DISPLAYS -- DISPLAYS WHICH TAKE PRIORITY OVER ALL OTHER DISPLAYS. USUALLY THESE DISPLAYS ARE SENT
+# OUT UNDER CRITICAL ALARM CONDITIONS.
+# 2. EXTENDED VERB DISPLAYS -- ALL EXTENDED VERBS AND MARK ROUTINES SHOULD USE EXTENDED VERB (MARK) DISPLAYS.
+# 3. NORMAL DISPLAYS -- ALL MISSION PROGRAM DISPLAYS WHICH INTERFACE WITH THE ASTRONAUT DURING THE NORMAL
+# SEQUENCE OF EVENTS.
+# 4. MISC. DISPLAYS -- ALL DISPLAYS NOT HANDLED BY THE DISPLAY INTERFACE ROUTINES. THESE INCLUDE SUCH DISPLAYS AS
+# MM DISPLAYS AND SPECIAL PURPOSE DISPLAYS HANDLED BY PINBALL.
+# 5. ASTRONAUT INITIATED DISPLAYS -- ALL DISPLAYS INITIATED EXTERNALLY.
+#
+# THE FOLLOWING TERMS ARE USED TO DESCRIBE THE STATUS OF DISPLAYS --
+# 1. ACTIVE -- THE DISPLAY WHICH IS (1) BEING DISPLAYED TO THE ASTRONAUT AND WAITING FOR A RESPONSE OR
+# (2) WAITING FIRST IN LINE FOR THE ASTRONAUT TO FINISH USING THE DSKY OR (3) BEING DISPLAYED ON THE DSKY
+# BUT NOT WAITING FOR A RESPONSE.
+# 2. INACTIVE -- A DISPLAY WHICH HAS (1) BEEN ACTIVE BUT WAS INTERRUPTED BY A DISPLAY OF HIGHER PRIORITY,
+# (2) BEEN PUT INTO THE WAITING LIST AT TIME IT WAS REQUESTED DUE TO THE FACT A HIGHER PRIORITY DISPLAY
+# WAS ALREADY DOING, (3) BEEN INTERRUPTED BY THE ASTRONAUT (CALLED A PINBRANCH CONDITION, SINCE THIS TYPE
+# OF INACTIVE DISPLAY IS USUALLY REACTIVATED ONLY BY PINBALL) OR (4) A DISPLAY WHICH HAS FINISHED BUT STILL
+# HAS INFO SAVED FOR RESTART PURPOSES.
+#
+# DISPLAY PRIORITIES WORK AS FOLLOWS --
+# INTERRUPTS --
+# 1. THE ASTRONAUT CAN INTERRUPT ANY DISPLAY WITH AN EXTERNAL DISPLAY REQUEST.
+# 2. INTERNAL DISPLAYS CAN NOT BE SENT OUT WHEN THE ASTRONAUT IS USING THE DSKY.
+# 3. PRIORITY DISPLAYS INTERRUPT ALL OTHER TYPES OF INTERNAL DISPLAYS. A PRIORITY DISPLAY INTERRUPTING ANOTHER
+# PRIORITY DISPLAY WILL CAUSE AN ABORT UNLESS BIT14 IS SET FOR THE LINUS ROUTINE.
+# 4. A MARK DISPLAY INTERRUPTS ANY NORMAL DISPLAY.
+# 5. A MARK THAT INTERRUPTS A MARK COMPLETELY REPLACES IT.
+#
+# ORDER OF WAITING DISPLAYS --
+# 1. ASTRONAUT
+# 2. PRIORITY
+# 3. INTERRUPTED MARK
+# 4. INTERRUPTED NORMAL
+# 5. MARK TO BE REQUESTED (SEE DESCRIPTION OF ENDMARK)
+# 6. MARK WAITING
+# 7. NORMAL WAITING
+#
+# Page 1453
+# THE DISPLAY ROUTINES ARE INTENDED TO SERVE AS AN INTERFACE BETWEEN THE USER AND PINBALL. THE
+# FOLLOWING STATEMENTS CAN BE MADE ABOUT NORMAL DISPLAYS AND PRIORITY DISPLAYS (A DESCRIPTION OF MARK ROUTINES
+# WILL FOLLOW LATER):
+# 1. ALL ROUTINES THAT END IN R HAVE AN IMMEDIATE RETURN TO THE USER. FOR ALL FLASHING DISPLAYS THIS RETURN
+# IS TO THE USER'S CALL CADR +4. FOR THE ONLY NON-FLASHING IMMEDIATE RETURN DISPLAY (GODSPR) THIS RETURN
+# IS TO THE USER'S CALLING LOC +1.
+# 2. ALL ROUTINES NOT ENDING IN R DO NOT DO AN IMMEDIATE RETURN TO THE USER.
+# 3. ALL ROUTINES THAT END IN R START A SEPARATE JOB (MAKEPLAY) WITH USER'S JOB PRIORITY.
+# 4. ALL ROUTIENS NOT ENDING IN R BRANCH DIRECTLY TO MAKEPLAY WHICH MAKES THESE DISPLAYS A PART OF THE
+# USER'S JOB.
+# 5. ALL DISPLAY ROUTIENS ARE CALLED VIA BANKCALL.
+# 6. TO RESTART A DISPLAY THE USER WILL GENERALLY USE A PHASE OF ONE WITH DESIRED RESTART GROUP (SEE
+# DESCRIPTION OF RESTARTS).
+# 7. ALL FLASHING DISPLAYS HAVE 3 RETURNS TO THE USER FROM ASTRONAUT RESPOSES. A TERMINATE (V34) BRANCHES
+# TO THE USER'S CALL CADR +1. A PROCEED (V33) BRANCHES TO THE USER'S CALL CADR +2. AN ENTER OR RECYCLE
+# (V32) BRANCHES TO THE USER'S CALL CADR +3.
+# 8. ALL ROUTINES MUST BE USED UNDER EXECUTIVE CONTROL
+#
+# A DESCRIPTION OF EACH ROUTINE WITH AN EXAMPLE FOLLOWS:
+
+# GODSP IS USED TO DISPLAY A VERB NOUN ARRIVING IN A. NO RETURN IS MADE TO THE USER.
+# 1. GODSP IS NOT RESTARTABLE
+# 2. A VERB PASTE WITH GODSP ALWAYS TURNS ON THE FLASH.
+# CAF VXXNYY
+# TC BANKCALL
+# CADR GODSP
+# VXXNYY OCT OXXYY
+
+# GODSPR IS THE SAME AS GODSP ONLY RETURN IS TO THE USER.
+# CAF VXXNYY
+# TC BANKCALL
+# CADR GODSPR
+# ... ... # IMMEDIATE RETURN OF GODSPR
+
+# GOFLASH DISPLAYS A FLASHING VERB NOUN WITH NO IMMEDIATE RETURN TO THE USER. 3 RETURNS ARE POSSIBLE FORM
+# THE ASTRONAUT (SEE NO. 7 ABOVE).
+# CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN.
+# TC BANKCALL
+# CADR GOFLASH
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER OR RECYCLE RETURN
+
+# GOPERF1 IS ENTERED WITH DESIRED CHECKLIST VALUE IN A. GOPERF1 WILL DISPLAY THIS VALUE IN R1 BY MEANS OF A
+# Page 1454
+# V01 N25. A FLASHING PLEASE PERFORM ON CHECKLIST (V50 N25) IS THEN DISPLAYED. NO IMMEDIATE RETURN IS MADE TO
+# USER (SEE NO. 7 ABOVE).
+# GOPERF1 BLANKS REGISTERS R2 AND R3
+# CAF OCTXX # CODE FOR CHECKLIST VALUE XX
+# TC BANKCALL
+# CADR GOPERF1
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# GOPERF2 IS ENTERED WITH A VARIABLE NOUN AND V01 (V00 FOR N10 OR N11) IN A. GOPERF2 WILL FIRST DISPLAY THE
+# REQUESTED NOUN BY MEANS OF A V01NYY OR A V00NYY. PLEASE PERFORM ON NOUN (V50 NYY) THEN BECOMES A FLASHING
+# DISPLAY. NO IMMEDIATE RETURN IS MADE TO THE USER (SEE NO. 7 ABOVE).
+# GOPERF2 DOES NOT BLANK ANY REGISTERS
+# CAF VXXNYY # VARIABLE NOUN YY. XX=0 OR 01.
+# TC BANKCALL
+# CADR GOPERF2
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# GOPERF3 IS USED FOR A PLEASE PERFORM ON A PROGRAM NUMBER. THE DESIRED PROGRAM NO. IS ENTERED IN A. GOPERF3
+# DISPLAYS THE NO. BY MEANS OF A V06 N07 FOLLOWED BY A FLASHING V50 N07 FOR A PLEASE PERFORM. NO IMMEDIATE RETURN
+# IS MADE TO THE USER (SEE NO. 7 ABOVE).
+# GOPERF3 BLANKS REGISTERS R2 AND R3
+# CAF DECXX # REQUEST PERFORM ON PXX
+# TC BANKCALL
+# CADR GOPERF3
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+
+# GOPERF4 IS USED FOR A PLEASE PERFORM ON AN OPTION. THE DESIRED OPTION IS ENTERED IN A AND STORED IN OPTION1.
+# GOPERF4 DISPLAYS R1 AND R2 BY MEANS OF A V04N06 FOLLOWED BY A FLASHING V50N06 FOR A PLEASE PERFORM. NO
+# IMMEDIATE RETURN IS MADE TO THE USER (SEE NO. 7 ABOVE).
+# CAF OCTXX # REQUEST PERFORM ON OPTION XX
+# TC BANKCALL
+# CADR GOPERF4
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# GOPERF4 BLANKS REGISTER R3.
+#
+# Page 1455
+# GODSPRET IS USED TO DISPLAY A VERB NOUN ARRIVING IN A WITH A RETURN TO THE USER AFTER THE DISPLAY HAS BEEN SENT
+# OUT.
+# CAF VXXXNYY
+# TC BANKCALL
+# CADR GODSPRET
+# ... ... # RETURN TO USER.
+
+# REGODSP IS USED TO DISPLAY A VERB NOUN ARRIVING IN A. REGODSP IS THE SAME AS GODSP ONLY REGODSP REPLACES AND
+# ACTIVE NORMAL DISPLAY IF ONE WAS ACTIVE.
+# CAF VXXNYY
+# TC BANKCALL
+# CADR REGODSP
+
+# REFLASH IS THE SAME AS GOFLASH ONLY REFLASH REPLACES ANY ACTIVE NORMAL DISPLAY IF ONE WAS ACTIVE.
+# CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN
+# TC BANKCALL
+# CADR REFLASH
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+
+# GOFLASHR IF SAME AS GOFLASH ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +4.
+# CAF VXXNYY
+# TC BANKCALL
+# CADR GOFLASHR
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER OR RECYCLE RETURN
+# ... ... # IMMEDIATE RETURN FROM GOFLASHR
+
+# GOPERF1R IS THE SAME AS GOPERF1 ONLY GOPERF1R HAS AN IMMEDIATE RETURN TO USER'S CALL CADR +4.
+# GOPERF1R BLANKS REGISTERS R2 AND R3
+# CAF OCTXX # CODE FOR CHECKLIST VALUE XX.
+# TC BANKCALL
+# CADR GOPERF1R
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# ... ... # IMMEDIATE RETURN FROM GOPERF1R
+
+# GOPERF2R IS THE SAME AS GOPERF2 ONLY AN IMMEDIATE RETURN IS MADE TO USER'S CALL CADR +4.
+# Page 1456
+# GOPERF2R DOES NOT BLANK ANY REGISTERS
+# CAF VXXXNYY # VARIABLE NOUN YY REQUESTED. XX=00 OR 01
+# TC BANKCALL
+# CADR GOPERF2R
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# ... ... # IMMEDIATE RETURN HERE FROM GOPERF2R
+
+# GOPERF3R IS THE SAME AS GOPERF3 ONLY AN IMMEDIATE RETURN IS MADE TO USER'S CALL CADR +4.
+# GOPERF3R BLANKS REGISTERS R2 AND R3
+# CAF PROGXX # PERFORM PROGRAM XX
+# TC BANKCALL
+# CADR GOPERF3R
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# ... ... # GOPERF3R IMMEDIATELY RETURNS HERE
+
+# GOPERF4R IS THE SAME AS GOPERF4 ONLY AN IMMEDIATE RETURN IS MADE TO USER'S CALL CADR +4.
+# CAF OCTXX # REQUEST PERFORM ON OPTIONXX
+# TC BANKCALL
+# CADR GOPERF4R
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# ... ... # IMMEDIATE RETURN TO USER
+# GOPERF4R BLANKS REGISTER R3.
+#
+# REFLASHR IS THE SAME AS REFLASH ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +4.
+# CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN
+# TC BANKCALL
+# CADR REFLASHR
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# ... ... # IMMEDIATE RETURN TO USER
+
+# REGODSPR IS THE SAME AS REGODSP ONLY A RETURN (IMMEDIATE) IS MADE TO THE USER.
+# Page 1457
+# CAF VXXNYY
+# TC BANKCALL
+# CADR REGODSPR
+# ... ... # IMMEDIATE RETURN TO USER
+
+# Page 1458
+# GOMARK IS USED TO DISPLAY A MARK VERB NOUN ARRIVING IN A. NO RETURN IS MADE TO THE USER.
+# GOXDSP = GOMARK
+# CAF VXXNYY # VXXNYY CONTAINS VERB AND NOUN
+# TC BANKCALL
+# CADR GOMARK # OTHER EXTENDED VERBS USE CADR GOXDSP
+
+# GOMARKR IS THE SAME AS GOMARK ONLY RETURN IS TO THE USER.
+# GOXDSPR = GOMARKR
+# CAF VXXNYY
+# TC BANKCALL
+# CADR GOMARKR # OTHER EXTENDED VERBS USE CADR GOXDSPR
+# ... ... # IMMEDIATE RETURN OF GOMARKR
+
+# GOMARKF DISPLAYS A FLASHING MARK VERB NOUN WITH NO IMMEDIATE RETURN TO THE USER. 3 RETURNS ARE POSSIBLE FORM
+# THE ASTRONAUT (SEE NO. 7 ABOVE).
+# GOXDSPF = GOMARKF
+# CAF VXXNYY # VXXNYY WILL BE A FLASHING MARK VERB NOUN
+# TC BANKCALL
+# CADR GOMARKFR # OTHER EXTENDED VERBS USE CADR GOXDSPFR
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER OR RECYCLE RETURN
+# ... ... # IMMEDIATE RETURN TO THE USER
+
+# GOMARKFR IS THE SAME AS GOMARKF ONLY AN IMMEDIATE RETURN IS MADE TO THE USER CALL CADR +4.
+# GOXDSPFR = GOMARKFR
+# CAF VXXNYY # FLASHING MARK VERB NOUN
+# TCF BANKCALL
+# CADR GOMARKFR # OTHER EXTENDED VERBS USE CADR GOXDSPFR
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER OR RECYCLE RETURN
+#
+# ... ... # IMMEDIATE RETURN TO THE USER
+
+# GOMARK1 IS USED FOR A PLEASE PERFORM ON A MARK REQUEST WITH ONLY 1 ASTRONAUT RETURN TO THE USER. NO IMMEDIATE
+# RETURN IS MADE. THE DESIRED MARK PLEASE PERFORM VERB AND DESIRED NOUN IS ENTERED IN A. GOMARK1 DISPLAYS R1, R2, R
+# MEANS OF A V05NYY FOLLOWED BY A FLASHING V5XNYY FOR A PLEASE PERFORM. THE ASTRONAUT WILL RESPOND WITH A MARK
+# OR MARK REJECT OR AN ENTER. THE ENTER IS THE ONLY ASTRONAUT RESPONSE THAT WILL COME BACK TO THE USER.
+# CAF V5XNYY # X=1,2,3,4 YY=NOUN
+# TC BANKCALL
+# Page 1459
+# CADR GOMARK1
+# ... ... # ENTER RETURN
+
+# *** IF BLANKING DESIRED ON NON-R ROUTINES, NOTIFY DISPLAYER.
+#
+# GOMARK1R IS THE SAME AS A GOMARK1 ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +2.
+# CAF V5XNYY # X=1,2,3,4 YY=NOUN
+# TC BANKCALL
+# CADR GOMARK1R
+# ... ... # ASTRONAUT ENTER RETURN
+# ... ... # IMMEDIATE RETURN TO USER
+
+# GOMARK2 IS THE SAME AS GOMARK1 ONLY 3 RETURNS ARE MADE TO THE USER FROM THE ASTRONAUT.
+# CAF V5XNYY # X=1,2,3,4 YY=NOUN
+# TC BANKCALL
+# CADR GOMARK2
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+
+# GOMARK2R IS THE SAME AS GOMARK1R ONLY 3 ASTRONAUT RETURNS ARE MADE TO THE USER.
+# CAF V5XNYY # X=0,1,2,3,4 YY=NOUN
+# TCF BANKCALL
+# CADR GOMARK24
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+# ... ... # IMMEDIATE RETURN TO THE USER.
+
+# GOMARK3 IS USED FOR A PLEASE PERFORM ON A MARK REQUEST WITH A 3 COMP. DEC DISPLAY. THE DESIRED MARK PLEASE
+# PERFORM VERB AND NOUN ARE ENTERED IN A. GOMARK3 DISPLAYS R1, R2, R3 BY MEANS OF A V06NYY FOLLOWED BY A FLASHING
+# V5XNYY FOR A PLEASE PERFORM. GOMARK3 HAS 3 ASTRONAUT RETURNS TO THE USER WITH NO IMMEDIATE RETURN.
+# CAF V5XNYY # X=1,2,3,4 YY=NOUN
+# TC BANKCALL
+# CADR GOMARK3
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# ... ... # ENTER RETURN
+
+# GOMARK4 IS THE SAME AS GOMARK3 ONLY R2 AND R3 ARE BLANKED AND R1 IS DISPLAYED IN OCTAL.
+# CAF V5XNYY # X=1,2,3,4 YY=NOUN
+# TC BANKCALL
+# CADR GOMARK4
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# Page 1460
+# ... ... # ENTER RETURN
+# EXDSPRET IS USED TO DISPLAY A VERB NOUN ARRIVING IN A WITH A RETURN MADE TO THE USER AFTER THE DISPLAY HAS BEEN
+# SENT OUT.
+# CAF VXNYY
+# TC BANKCALL
+# CADR EXDSPRET
+# ... ... # RETURN TO USER
+
+# KLEENEX CLEANS OUT ALL MARK DISPLAYS (ACTIVE AND INACTIVE). A RETURN IS MADE TO THE USER AFTER THE MARK DISPLAYS
+# HAVE BEEN CLEANED OUT.
+# TC BANKCALL
+# CADR KLEENEX
+# ... ... # RETURN TO USER
+
+# MARKBRAN IS A SPECIAL PURPOSE ROUTINE USED FOR SAVING JOB VAC AREAS (SEE DESCRIPTION OF MARKBRAN BELOW).
+# TC BANKCALL
+# CADR MARKBRAN
+# ... ... # BAD RETURN IF MARK DISPLAY NOT ACTIVE
+# # (GOOD RETURN TO IMMEDIATE RETURN LOC OF
+# # LAST FLASHING MARK R ROUTINE)
+
+# PINBRNCH REESTABLISHES THE LAST ACTIVE FLASHING DISPLAY. IF THERE IS NO ACTIVE FLASHING DISPLAY, THE DSKY IS
+# BLANKED AND CONTROL IS SENT TO ENDOFJOB.
+# TC POSTJUMP
+# CADR PINBRNCH
+
+# PRIODSP IS USED AS A PRIORITY DISPLAY. IT WILL DISPLAY A GOFLASH TYPE DISPLAY WITH THREE POSSIBLE RETURNS FROM
+# THE ASTRONAUT (SEE NO. 7 ABOVE).
+#
+# THE MAIN PURPOSE OF PRIODSP IS TO REPLACE THE PRESENT DISPLAY WITH A DISPLAY OF HIGHER PRIORITY AND TO
+# PROVIDE A MEANS FOR RESTORING THE OLD DISPLAY WHEN THE PRIORITY DISPLAY
+# IS RESPONDED TO BY THE ASTRONAUT.
+#
+# THE FORMER DISPLAY IS RESTORED BY AN AUTOMATIC BRANCH TO WAKE UP THE DISPLAY THAT WAS INTERRUPTED BY THE
+# PRIO DISPLAY
+# CAF VXXNYY # VXXNYY WILL BE A FLASHING VERB NOUN
+# TC BANKCALL
+# CADR PRIODSP
+# ... ... # TERMINATE RETURN
+# ... ... # PROCEED RETURN
+# Page 1461
+# ... ... # ENTER OR RECYCLE RETURN
+
+# PRIODSPR IS THE SAME AS PRIODSP ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +4.
+# CAF VXXNYY # VXXNYY WILL BE A FLASHING VERB NOUN
+# TC BANKCALL
+# CADR PRIODSPR
+# ... ... # TERMINATE ACTION
+# ... ... # PROCEED RETURN
+# ... ... # ENTER OR RECYCLE RETURN
+# ... ... # IMMEDIATE RETURN
+
+# PRIOLARM DOES A V05N09 PRIODSPR.
+#
+# CLEANDSP CLEANS OUT ALL NORMAL DISPLAYS (ACTIVE AND INACTIVE). A RETURN IS MADE TO THE USER AFTER NORMAL
+# DISPLAYS ARE CLEANED OUT.
+# TC BANKCALL
+# CADR CLEANDSP
+# ... ... # RETURN TO USER
+# Page 1462
+#
+# GENERAL INFORMATION
+# -------------------
+#
+# ALARM OR ABORT EXIT MODE --
+# PRIOBORT TC ABORT
+# OCT 1502
+#
+# PRIOBORT IS BRANCHED TO WHEN (1) A NORMAL DISPLAY IS REQUESTED AND ANOTHER NORMAL DISPLAY IS ALREADY ACTIVE
+# (REFLASH AND REGODSP ARE EXCEPTIONS) OR (2) A PRIORITY DISPLAY IS REQUESTED WHEN ANOTHER PRIORITY DISPLAY IS
+# ALREADY ACTIVE (A PRIORITY WITH LINUS BIT14 IS AN EXCEPTION).
+#
+# ERASABLE INITIALIZATION REQUIRED --
+# ACCOMPLISHED BY FRESH START -- 1. FLAGWRD4 (USED EXCLUSIVELY BY DISPLAY INTERFACE ROUTINES)
+# 2. NVSAVE = NORMAL VERB AND NOUN REGISTER.
+# 3. EBANKTEM = NORMAL INACTIVE FLAGWORD (ALSO CONTAINS NORMALS EBANK).
+# 5. R1SAVE = MARKBRAN CONTROL WORD
+# 4. RESTREG = PRIORITY 30 AND SUPERBANK 3.
+#
+# OUTPUT --
+# NVWORD = PRIO VERB AND NOUN
+# NVWORD +1 (MARKNV) = MARK VERB AND NOUN
+# NVWORD +2 (NVSAVE) = NORMAL VERB AND NOUN
+# DSPFLG (EBANKSAV) = PRIO FLAGWORD (INCLUDING EBANK)
+# DSPFLG +1 (MARKEBAN) = MARK FLAGWORD (INCLUDING EBANK)
+# DSPFLG +2 (EBANKTEM) = NORMAL FLAGWORD (INCLUDING EBANK)
+# CADRFLSH = PRIO USER'S CALL CADR +1 LOCATION
+# CADRFLSH +1 (MARKFLSH) = MARK USER'S CALL CADR +1 LOCATION
+# CADRFLSH +2 (TEMPFLSH) = NORMAL USER'S CALL CADR +1 LOCATION
+# PRIOTIME = TIME EACH PRIO REQUEST FIRST SENT OUT
+# OPTION1 = DESIRED OPTION FROM GOPERF4
+# FLAGWRD4 = BIT INFO FOR CONTROL OF ALL DISPLAY ROUTINES
+# DSPTEM1 = R1 INFO FOR ASTRONAUT FROM PERFORM DISPLAYS (NORMAL)
+#
+# SUBROUTINES USED -- NVSUB, FLAGUP, FLAGDOWN, ENDOFJOB, BLANKSUB, ABORT, JOBWAKE, JOBSLEEP, FINDVAC, PRIOCHNG,
+# JAMTERM, NVSUBUSY, FLASHON, ENDIDLE, CHANG1, BANKJUMP, MAKECADR, NOVAC
+#
+# DEBRIS -- (STORED INTO)
+# TEMPORARY TEMPORARIES -- A, Q, L, MPAC +2, MPAC +3, MPAC +4, MPAC +5, MPAC +6, RUPREG2, RUPTREG3, CYL,
+# EBANK, RUPTREG4, LOC, BANKSET, MODE, MPAC, MPAC +1, FACEREG
+# ERASABLES (SHARED AND USED WITH OTHER PROGRAMS) -- CADRSTOR, DSPLIST, LOC, DSPTEM1, OPTION1
+# ERASABLES (USED ONLY BY DISPLAY ROUTINES) -- NVWORD,+1,+2, DSPFLAG,+1,+2, CADRFLSH,+1,+2, PRIOTIME, FLAGWRD4,
+# Page 1463
+# R1SAVE, MARK2PAC
+#
+# DEBRIS -- (USED BUT NOT STORED INTO) -- NOUNREG, VERBREG, LOCCTR, MONSAVE1
+#
+# FLAGWORD DESCRIPTIONS --
+# FLAGWRD4 -- SEE DESCRIPTION UNDER LOG SECTION ERASABLE ASSIGNMENTS
+#
+# DSPFLG, DSPFLG+1, DSPFLG+2
+# --------------------------
+# BITS 1 BLANK R1
+# 2 BLANK R2
+# 3 BLANK R3
+# 4 FLASHING DISPLAY REQUESTED
+# 5 PERFORM DISPLAY REQUESTED
+# 6 ----- EXDSPRET GODSPRET
+# 7 PRIO DISPLAY ----- -----
+# 8 ----- DEC MARK PERFORM -----
+# 9 EBANK
+# 10 EBANK
+# 11 EBANK
+# 12 ----- ----- V99PASTE
+# 13 2ND PART OF PERFORM
+# 14 REFLASH OR REDO ----- REFLASH OR REDO
+# 15 ----- MARK REQUEST -----
+#
+# RESTARTING DISPLAYS --
+#
+# RULES FOR THE DSKY OPERATOR --
+# 1. PROCEED AND TERMINATE SERVE AS RESPONSES TO REQUESTS FOR OPERATOR RESPONSE (FLASHING Y/N). AS LONG
+# AS THERE IS ANY REQUEST AWAITING OPERATOR RESPONSE, ANY USE OF PROCEED OR TERMINATE WILL SERVE AS
+# RESPONSES TO THAT REQUEST. CARE SHOULD BE EXERCISED IN ATTEMPTING TO KILL AN OPERATOR INITIATED MONITOR
+# WITH PROCEED AND TERMINATE FOR THIS REASON.
+# 2. THE ASTRONAUT MUST RESPOND TO A PRIORITY DISPLAY NO SOONER THAN 2 SECONDS FROM THE TIME THE
+# PROGRAM SENT OUT THE REQUEST FOR OPERATOR RESPONSE (THE ASTRONAUT WOULD SEE THIS DISPLAY FOR LESS TIME
+# DUE TO TIME IT TAKES TO GET DISPLAY SENT OUT.) IF THE ASTRONAUT RESPONDS TOO SOON, THE PRIORITY DISPLAY
+# IS SENT OUT AGAIN -- AND AGAIN UNTIL AN ACCUMULATED 2 SECS FROM THE TIME THE FIRST PRIORITY DISPLAY
+# OUT. THE SAME 2 SEC. DELAY WILL OCCUR AT 163.84 SECS OR IN ANY MULTIPLE OF THAT TIME DUE TO PROGRAM
+# CONSIDERATION.
+# 3. KEY RELEASE BUTTON --
+# A) IF THE KEY RELEASE LIGHT IS ON, IT SIMPLY RELEASES THE KEYBOARD AND DISPLAY FOR INTERNAL USE.
+# B) IF THE KEY RELEASE LIGHT IS OFF, AND IF SOME REQUEST FOR OPERATOR RESPONSE (FLASHING V/N) IS STILL
+# AWAITING RESPONSE THEN IT RE-ESTABLISHES THE DISPLAYS THAT ORIGINALLY REQUESTED RESPONSE.
+# IF AN OPERATOR WANTS THEREFORE TO RE-ESTABLISH BUT CONDITION (A) IS ENCOUNTERED, A SECOND DEPRESSION OF
+# KEY RELEASE BUTTON MAY BE NECESSARY.
+# 4. IT IS IMPORTANT TO ANSWER ALL REQUESTS FOR OPERATOR RESPONSE.
+# 5. IT IS ALWAYS GOOD PRACTICE TO TERMINATE AN EXTENDED VERB BEFORE ASKING FOR ANOTHER ONE OR THE SAME ONE
+# OVER AGAIN.
+#
+# SPECIAL CONSIDERATONS --
+# Page 1464
+# 1. MPAC +2 SAVED ONLY IN MARK DISPLAYS
+# 2. GODSP(R), REGODSP(R), GOMARK(R) ALWAYS TURN ON THE FLASH IF ENTERED WITH A PASTE VERB REQUEST.
+# 3. ALL NORMAL DISPLAYS ARE RESTARTABLE EXCEPT GODSP(R), REGODSP(R)
+# 4. ALL EXTENDED VERBS WITH DISPLAYS SHOULD START WITH A TC TESTXACT AND FINISH WITH A TC ENDEXT.
+# 5. GODSP(R) AND REGODSP(R) MUST BE IN THE SAME EBANK AND SUPERBANK AS THE LAST NORMAL DISPLAY RESTARTED
+# BY A .1 RESTART PHASE CHANGE.
+# 6. IN ORDER TO SET UP A NON DISPLAY .1 RESTART POINT, THE USER MUST MAKE CERTAIN THAT RESTREG CONTAINS THE
+# CORRECT PRIORITY AND SUPERBANK AND THAT EBANKTEM CONTAINS THE CO
+# 7. IF CLEANDSP IS RESTARTED VIA A .1 PHASE CHANGE, CAF ZERO SHOULD BE EXECUTED BEFORE THE TC BANKCALL.
+
+# Page 1465
+# CALLING SEQUENCE FOR BLANKING
+# CAF BITX # X=1,2,3 BLANK R1,R2,R3 RESPECTIVELY
+# TC BLANKET
+# ... ... # RETURN TO USER HERE
+# IN ORDER TO USE BLANKET CORRECTLY, THE USER MUST USE A DISPLAY ROUTINE THAT ENDS IN R FIRST FOLLOWED BY THE CALL
+# TO BLANKET AT THE IMMEDIATE RETURN LOC.
+ BLOCK 02
+ SETLOC FFTAG4
+ BANK
+
+ COUNT 02/DSPLA
+
+BLANKET TS MPAC +6
+ CS PLAYTEM4
+ MASK MPAC +6
+ INDEX MPAC +5
+ ADS PLAYTEM4
+
+ TC Q
+
+ENDMARK TC POSTJUMP
+ CADR MARKEND
+
+CLEARMRK CAF ZERO
+ TS EXTVBACT
+
+ INHINT
+ CS BIT1
+ MASK FLAGWRD4
+ TS FLAGWRD4
+
+ RELINT
+ TC Q
+
+# *** ALL EXTENDED VERB ROUTINES THAT HAVE AT LEAST ONE FLASHING DISPLAY MUST TCF ENDMARK OR TCF ENDEXT WHEN
+# FINISHED.
+
+ BANK 10
+ SETLOC DISPLAYS
+ BANK
+
+ COUNT 10/DSPLA
+
+# NTERONLY IS USED TO DIFFERENTIATE THE MARK ROUTINE WITH ONLY ONE RETURN TO THE USER FROM THE MARKING ROUTINE WITH
+# 3 RETURNS TO THE USER. THIS ROUTINE IS ONLY USED BY GOMARK1 AND GOMARK1R.
+
+MARKEND TC CLEARMRK
+ TCF MARKOVER
+
+# Page 1466
+GOMARK TS PLAYTEM1 # ENTRANCE FOR MARK GODSP
+
+GOMARS CAF BIT15 # BIT15 SET FOR ALL MARK REQUESTS
+ TCF GOFLASH2
+
+KLEENEX CAF ZERO # CLEAN OUT EXTENDED VERBS
+GOMARKF TS PLAYTEM1 # ENTRANCE FOR MARK GOFLASH
+
+ CAF MARKFMSK # MARK, FLASH
+ TCF GOFLASH2
+
+GOMARK2 TS PLAYTEM1 # MARK GOPERFS-3 AST. RETURNS
+MARKFORM CAF MPERFMSK # MARK, PERFORM, FLASH
+ TCF GOFLASH2
+
+GOMARK3 TS PLAYTEM1 # USED FOR 3COMP DECIMAL PERFORM
+ CAF MARK3MSK
+ TCF GOFLASH2
+
+GOMARK4 TS PLAYTEM1
+ CAF MARK4MSK # MARK,PERFORM,FLASH,BLANK
+ TCF GOFLASH2
+
+GOMARKR TS PLAYTEM1 # ENTRANCE FOR MARK GODSPR
+
+ CAF BIT15
+ TCF GODSPR2
+
+GOMARKFR TS PLAYTEM1 # ENTRANCE FOR MARK GOFLASHR
+
+ CAF MARKFMSK
+ TCF GODSPRS
+
+GOMARK2R TS PLAYTEM1 # MARK GOPERFS-3 AST. RETS+ IMMEDIATE RET.
+ CAF MPERFMSK # MARK, PERFORM, FLASH
+ TCF GODSPRS
+
+GOMARK3R TS PLAYTEM1
+ CAF MARK3MSK
+ TCF GODSPRS
+
+MAKEMARK CAF ONE
+ TC COPIES
+
+ CA FLAGWRD4 # IS NORM OR PRIO BUSY OR WAITING
+ MASK OCT34300
+ CCS A
+ TCF CHKPRIO
+
+ CA FLAGWRD4 # IS MARK SLEEPING DUE TO ASTRO BUSY?
+# Page 1467
+ MASK BIT9
+
+ EXTEND
+ BZF MARKPLAY # NO
+
+ TCF ENDOFJOB
+
+MARKPLAY INHINT
+ CS FIVE # RESET MARK OVER NORM, SET MARK
+ MASK FLAGWRD4
+ AD ONE
+ TS FLAGWRD4
+ RELINT
+
+GOGOMARK CS MARKFLAG # PERFORM
+ MASK BIT5
+ CCS A
+ TCF MARKCOP
+ CS MARKNV
+ TS MARKNV
+
+MARKCOP CAF ONE # MARK INDEX
+ TCF PRIOPLAY
+
+COPYTOGO CA MPAC2SAV
+ TS MPAC +2
+
+COPYPACS INDEX COPINDEX
+ CAF PRIOOCT
+ TS GENMASK
+
+ INDEX COPINDEX
+ CA EBANKSAV # Was CAF --- RSB 2004.
+ TS TEMPOR2 # ACTIVE EBANK AND FLAG
+
+ TS EBANK
+
+ TC Q
+
+# PINCHEK CHECKS TO SEE IF THE CURRENT MARK REQUEST IS MADE BY THE ASTRONAUT WHILE INTERUPTING A GOPLAY DISPLAY
+# (A NORMAL OR A PRIO). IF THE ASTRONAUT TRIES TO MARK DURING A PRIO, THE CHECK FAIL LIGHT GOES ON AND THE MARK
+# REQUEST IS ENDED. IF HE TRIES TO MARK DURING A NORM, THE MARK IS ALLOWED. IN THIS CASE THE NORM IS PUT TO SLEEP
+# UNTIL ALL MARKING IS FINISHED.
+#
+# IF THE MARK REQUEST COMES FROM THE PROGRAM DURING A TIME THE ASTRONAUT IS NOT INTERRUPTING A NORMAL OR A
+# PRIO, THE MARK REQUEST IS PUT TO SLEEP UNTIL THE PRESENT ACTIVE DISPLAY IS RESPONDED TO BY THE ASTRONAUT.
+
+CHKPRIO CA FLAGWRD4 # MARK ATTEMPT DURING PRIO
+ MASK OCT24100
+ CCS A
+ TCF MARSLEEP
+
+# Page 1468
+ CS FLAGWRD4
+ MASK BIT3 # SET MARK OVER NORM
+ INHINT
+ ADS FLAGWRD4
+
+ TCF SETNORM
+
+MARKPERF CA MARKNV
+ MASK VERBMASK
+ TCF NV50DSP
+
+GODSP TS PLAYTEM1
+
+GODSP2 CAF ZERO
+ TCF GOFLASH2
+
+GODSPRET TS PLAYTEM1 # ENTRANCE FOR A GODSP WITH A PASTE
+
+ CAF BIT6 # SET BIT6 TO GO BACK TO USER AFTER NVSUB
+ TCF GOFLASH2
+
+GODSPR TS PLAYTEM1
+
+GODSPR1 CAF ZERO
+GODSPR2 TS PLAYTEM4
+
+ CAF ZERO # * DON'T MOVE
+ TCF GODSPRS1
+
+# CLEANDSP IS USED FOR CLEARING OUT A NORMAL DISPLAY THAT IS PRESENTLY ACTIVE OR A NORMAL DISPLAY THAT IS
+# SET UP TO BE STARTED OR RESTARTED.
+#
+# NORMALLY THE USER WILL NOT NEED TO USE THIS ROUTINE SINCE A NEW NORMAL DISPLAY AUTOMATICALLY CLEARS OUT AN
+# OLD DISPLAY.
+#
+# CALLING SEQUENCE FOR CLEANDSP --
+#
+# TC BANKCALL
+# CADR CLEANDSP
+
+CLEANDSP CAF ZERO
+REFLASH TS PLAYTEM1
+
+ CAF REDOMASK # FLASH AND PERMIT
+ TCF GOFLASH2
+
+REGODSP TS PLAYTEM1
+
+ CAF BIT14
+ TCF GOFLASH2
+
+# Page 1469
+
+REGODSPR TS PLAYTEM1
+ CAF BIT14
+ TCF GODSPR2
+
+CLOCPLAY TS PLAYTEM1
+ CAF CLOCKCON
+ TCF GOFLASH2
+GOFLASH TS PLAYTEM1
+
+ CAF BIT4 # LEAVE ONLY FLASH BIT SET
+GOFLASH2 TS PLAYTEM4
+
+ TC SAVELOCS
+
+ RELINT
+
+ TCF MAKEPLAY # BRANCH DIRECT WITH NO SEPARATE JOB CALL
+
+PRIODSPR TS PLAYTEM1
+
+ CAF BITS7+4
+ TCF GODSPRS
+
+PRIODSP TS PLAYTEM1
+
+SETPRIO CAF BITS7+4
+ TCF GOFLASH2
+
+MAKEPRIO CAF ZERO
+ TS COPINDEX
+
+ TC LINUSCHR
+ TCF HIPRIO # LINUS RETURN
+ CA FLAGWRD4
+ MASK OCT20100 # IS PRIO IN ENDIDLE OR BUSY
+ CCS A
+ TCF PRIOBORT # YES, ABORT
+
+HIPRIO CA FLAGWRD4 # MARK ACTIVE
+ MASK OCT40400
+ EXTEND
+ BZF ASKIFNRM # NO
+
+SETMARK CAF ZERO
+ TCF JOBXCHS
+
+ASKIFNRM CA FLAGWRD4 # NORMAL ACTIVE
+ MASK OCT10200 # BITS 13+8
+ EXTEND
+# Page 1470
+ BZF OKTOCOPY # NO
+
+SETNORM CAF ONE
+ TCF JOBXCHS
+
+OKTOCOPY TC COPYNORM
+ TC WITCHONE
+
+ TC JOBWAKE
+
+ TC XCHTOEND
+
+REDOPRIO CA TIME1 # SAVE TIME PRIODSP SENT OUT
+ TS PRIOTIME
+
+KEEPPRIO CAF ZERO # START UP PRIO DISPLAY
+ TCF PRIOPLAY
+
+MAKEPLAY CA PRIORITY # SAVE USER'S PRIORITY
+ MASK PRIO37
+ TS USERPRIO
+
+ CAF PRIO33 # RAISE PRIORITY FOR FAST JOBS AFTER WAKE
+ TC PRIOCHNG
+
+ CA PLAYTEM4 # IS IT MARK OR PRIO OR NORM
+ MASK BITS15+7
+ CCS A
+ TCF MAKEPRIO # ITS PRIO
+ TCF IFLEGAL
+ TCF MAKEMARK # ITS MARK
+
+IFLEGAL CAF TWO
+ TS COPINDEX
+
+ TC LINUSCHR
+
+ TCF OKTOPLAY # LINUS RETURN
+ CS EBANKTEM
+ MASK BIT4
+ CCS A
+ TCF OKTOPLAY # NO
+
+ CA FLAGWRD4 # WAS NORM ASLEEP
+ MASK NBUSMASK # ARE ANY NORMS ASLEEP
+ EXTEND
+ BZF OKTOPLAY # NO
+
+PRIOBORT TC P00DOO
+ OCT 1502
+# Page 1471
+
+OKTOPLAY TC COPIES2
+
+ CA USERPRIO
+ EXTEND
+ ROR SUPERBNK
+ TS RESTREG
+
+ CA FLAGWRD4 # PRIO OR MARK GOING
+ MASK PMMASK
+ CCS A
+ TCF GOSLEEPS # MARK GOING
+
+ TCF +2
+ TCF GOSLEEPS
+
+# COULD PUT NORM BUSY CHECK HERE TO SAVE TIME
+
+ TC WITCHONE # IS IT NVSUB BUSY, ENDIDLE OR NOONE
+ TC JOBWAKE
+
+ TC XCHTOEND
+
+PLAYJUM1 CAF TWO
+PRIOPLAY TS COPINDEX
+
+ TCF GOPLAY
+
+EXDSPRET TS PLAYTEM1
+
+ CAF BIT15+6
+ TCF GOFLASH2
+
+GOPERF1 TS NORMTEM1 # STORE DESIRED CHECKLIST VALUE
+ CAF V01N25 # USED TO DISPLAY CHECKLIST VALUE IN R1
+
+GOPERFS TS PLAYTEM1
+
+ CAF PERFMASK # LEAVE ONLY FLASH, PERFORM, BLANKING
+ TCF GOFLASH2
+
+GOPERF2 TS PLAYTEM1 # DESIRED VERB-NOUN TO DISPLAY R1,R2,R3
+
+ CAF PERF2MSK
+ TCF GOFLASH2
+
+GOPERF4 TC PURRS4
+
+ TCF GOFLASH2
+
+GOFLASHR TS PLAYTEM1
+# Page 1472
+ CAF BIT4 # LEAVE ONLY FLASH BIT SET
+GODSPRS TS PLAYTEM4
+
+ CAF THREE
+
+GODSPRS1 INHINT # IMMEDIATE RETURN IS CALL CADR +4
+ TS RUPTREG3
+
+ CA PRIORITY # MAKE DISPLAY ONE HIGHER THAN USER
+ MASK PRIO37
+ TS NEWPRIO
+
+ CA PLAYTEM4 # IS THIS A FLASHING R DISPLAY
+ MASK BIT4
+ CCS A
+ TCF VACDSP # YES, MAKE DSPLAY JOB A VAC
+ CA NEWPRIO # NO, MAKE DSPLAY JOB A NOVAC
+ TC NOVAC
+ EBANK= WHOCARES
+ 2CADR MAKEPLAY
+
+ TCF BOTHJOBS
+
+VACDSP CA BBANK
+ EXTEND
+ ROR SUPERBNK
+ TS L
+ CAF MAKEGEN
+ TC SPVAC
+
+BOTHJOBS TC SAVELOCS # COPY TEMPS INTO PERMANENT REGISTERS
+
+ EXTEND # SAVE NVWORD AND USER'S MPAC +2
+ DCA MPAC +1
+ INDEX LOCCTR
+ DXCH MPAC +1
+
+ EXTEND # SAVE USER'S CADR, FLAGS AND EBANK
+ DCA MPAC +3
+ INDEX LOCCTR
+ DXCH MPAC +3
+
+ CA LOCCTR
+ TS MPAC +5
+ TC SAVELOCR
+ RELINT
+ TCF BANKJUMP # CALL CADR +4
+
+# Page 1473
+GOPERF1R TS NORMTEM1 # DESIRED CHECKLIST VALUE
+
+ CAF V01N25 # DISPLAYS CHECKLIST VALUE IN R1
+
+GOPERFRS TS PLAYTEM1
+
+ CAF PERFMASK # LEAVE ONLY FLASH, PERFORM, BLANKING
+ TCF GODSPRS
+
+GOPERF2R TS PLAYTEM1 # DESIRED VERB-NOUN TO DISPLAY R1,R2,R3
+
+ CAF PERF2MSK
+ TCF GODSPRS
+
+GOPERF4R TC PURRS4
+
+ TCF GODSPRS
+
+PURRS4 TS OPTION1 # DESIRED OPTION CODE
+
+ CAF V04N06
+ TS PLAYTEM1
+
+ CAF PERF4MSK # FLASH, PERFORM AND EBANK R3
+ TC Q
+
+SAVELOCS INHINT
+
+ CS OCT3400 # EBANK BITS
+ MASK PLAYTEM4
+ AD EBANK
+ TS PLAYTEM4
+
+SAVELOCR LXCH Q
+
+ TC MAKECADR
+ TS PLAYTEM3
+
+ AD RUPTREG3 # NOT USED FOR NON R ROUTINES
+ TC L
+
+COPYNORM CAF ZERO
+COPIES TS COPINDEX
+COPIES2 INHINT
+ CA PLAYTEM4 # FLAGWORD
+
+ INDEX COPINDEX
+ TS EBANKSAV # EQUIV TO DSPFLG
+ MASK CADRMASK # FLASH AND GODSPRET
+ EXTEND
+# Page 1474
+ BZF SKIPADD
+
+ CA PLAYTEM3
+ INDEX COPINDEX
+ TS CADRFLSH
+
+SKIPADD CA PLAYTEM1 # VERB NOUN
+ INDEX COPINDEX
+ TS NVWORD
+
+ TCF RELINTQ
+
+GOSLEEPS INDEX COPINDEX
+ CA PRIOOCT
+ MASK WAITMASK
+ TC UPENT2
+WAITMASK OCT 3004
+ CS ONE
+ AD COPINDEX
+ TS FACEREG
+
+XCHSLEEP INDEX FACEREG
+ CAF WAKECADR
+ INHINT
+ TC JOBWAKE # FIND CADR IN JOB AREA
+
+ TC XCHTOEND # CAUSES AWAKENED JOB TO GO TO ENDOFJOB
+
+ INDEX FACEREG # REPLACE SAME CADR BUT NEW JOB AREA
+ CAF WAKECADR
+ TCF JOBSLEEP
+
+JOBXCHS TS FACEREG # CONTROLS TYPE OF DISPLAY PUT TO SLEEP
+ TC WITCHONE
+ TC JOBWAKE
+ CA FACEREG
+ INDEX LOCCTR
+ TS FACEREG
+
+ CAF XCHQADD
+ TC XCHNYLOC
+
+ INDEX FACEREG
+ CA MARKOCT
+ MASK IDLESLEP
+
+ TC DOWNENT2
+IDLEMASK OCT 74004 # * DON'T MOVE
+ INDEX FACEREG # BIT SHOWS PRIO INTERRUPTED NORM OR MARK
+ CA BIT5 # BIT5 FOR MARK, BIT4 FOR NORMAL
+# Page 1475
+ AD FOUR
+ TC UPENT2 # FLAG ROUTINE DOES RELINT
+XCHQADD GENADR XCHSLEEP # * DON'T MOVE
+ CA FLAGWRD4
+ MASK BIT3 # MARK OVER NORM?
+ CCS A
+GENMARK TC MARKPLAY # USED AS GENADR FOR JOBWAKE
+ TCF OKTOCOPY
+
+MARKWAKE CAF ZERO
+WAKEPLAY TS TEMPOR2
+
+ INDEX TEMPOR2
+ CA BITS5+11
+ AD FOUR
+ TC DOWNENT2
+MARKFMSK OCT 40010 # *** DON'T MOVE
+
+ INDEX TEMPOR2
+ CAF WAKECADR
+ INHINT
+ TC JOBWAKE
+
+ TCF ENDRET
+
+# ALL .1 RESTARTS BRANCH DIRECTLY TO INITDSP. NORMAL DISPLAYS ARE THE ONLY DISPLAYS ALLOWED TO USE .1 RESTARTS
+# INITDSP FIRST RESTORES THE EBANK AND THE SUPERBANK TO THE MOST RECENT NORMAL EBANK AND SUPERBANK.
+#
+# IF THE MOST RECENT NORMAL DISPLAY REQUEST WAS NOT FINISHED, CONTROL IS SENT BACK TO THE LAST NORMAL USER.
+# OTHERWISE THE NORMAL DISPLAY SET UP IN THE NORMAL DISPLAY REGS IS STARTED UP IMMEDIATELY.
+
+INITDSP CA EBANKTEM # RESTORE MOST RECENT NORMAL EBANK
+ TS EBANK
+
+ CA RESTREG # SUPERBANK AND JOB PRIORITY
+ TC SUPERSW # RESTORE SUPERBANK
+
+ MASK PRIO37
+ TC PRIOCHNG
+
+ CS THREE
+ AD TEMPFLSH
+ TCF BANKJUMP
+
+PINBRNCH RELINT # FOR GOPIN USERS
+ CA MARK2PAC # NEEDED TO SAVE MPAC +2 FOR MARK USERS
+ TS MPAC +2 # ONLY
+
+ CA FLAGWRD4 # PINBRANCH CONDITION
+ MASK PINMASK
+ CCS A
+# Page 1476
+ TCF +3
+ TCF ERASER # ** NOTHING IN ENDIDLE
+ TCF MARKPLAY
+
+NORMBNCH TC UPFLAG # SET PINBRANCH BIT
+ ADRES PINBRFLG
+
+ CAF BIT14 # PRIO INTERRUPTED
+ MASK FLAGWRD4
+ CCS A
+ TCF KEEPPRIO
+
+ TCF PLAYJUM1
+
+NVDSP TC COPYPACS
+
+ CA TEMPOR2 # SET UP BLANK BITS FOR NVMONOPT IN CASE
+ MASK SEVEN # USER REQUESTS BLANKING MONITOR
+ TS L
+
+ CS BIT13
+ INDEX COPINDEX
+ MASK DSPFLG
+ INDEX COPINDEX
+ TS DSPFLG
+
+ MASK BIT8 # BIT8 SET IF DEC MARK PERFORM DISPLAY
+ TS TEM1
+
+ CA MPAC +2
+ TS MPAC2SAV
+
+ TS MARK2PAC # * FOR DISK ONLY *
+ INDEX COPINDEX
+ CCS NVWORD
+ TCF NVDSP1
+ TCF CLEANEND
+ CS MARKNV
+ TS MARKNV # IN CASE MARKPLAY AWAKENED AFTER SLEEPING
+ MASK LOW7
+ AD V05N00M1
+ AD TEM1
+NVDSP1 AD ONE
+NV50DSP TC NVMONOPT
+ TCF REST # IF BUSY
+
+ TC FLASHOFF # IN CASE OF EXTENDED VERB NON-FLASH
+
+ TC COPYTOGO # MPACS DESTROYED BY NVSUB
+ TC DOWNFLAG # UNSET SLEEPING BITS
+ ADRES MRKNVFLG
+# Page 1477
+ TC DOWNFLAG
+ ADRES NRMNVFLG
+ TC DOWNFLAG
+ ADRES PRONVFLG
+BLANKCHK CA TEMPOR2 # BLANK BITS 1,2,3 IF SET
+ TC BLANKSUB
+ TCF NVDSP
+PERFCHEK CAF BIT5 # BIT 5 FOR PERFORM
+ MASK TEMPOR2
+ CCS A # IS THIS A GOPERF DISPLAY
+ TCF 1STOR2ND # YES
+
+GOANIDLE CAF BIT4
+ MASK TEMPOR2
+ CCS A
+ TCF FLASHSUB # IT IS
+
+ CS TEMPOR2 # IS THIS A GODSPRET
+ MASK BIT6
+ CCS A
+ TCF ISITN00
+
+ INDEX COPINDEX
+ CA CADRFLSH
+ TS MPAC +3
+ TCF ENDIT
+
+ISITN00 INDEX COPINDEX # IS THIS A PASTE
+ CA NVWORD
+ MASK LOW7 # CHECK MADE FOR PINBRNCH AND PRIO ON MARK
+ EXTEND
+ BZF FLASHSUB # YES, ASSUME PASTE ALWAYS ON FLASH
+
+ TCF ENDOFJOB # NOT FLASH, NOT GOPERF, THEREFORE EXIT
+
+1STOR2ND CA TEMPOR2
+ MASK BIT13
+ CCS A
+ TCF GOANIDLE # SECOND
+
+ CA BIT13
+ INDEX COPINDEX
+ ADS DSPFLG
+
+ ZL
+ EXTEND # IS IT MARK
+ BZMF MARKPERF # YES
+ MASK BIT12
+ EXTEND
+# Page 1478
+ BZF V50PASTE
+ CS NVWORD1 # NVOWRD1= -0 IS V97. NVWORD1= -400 IS V99
+ AD V97N00
+ TCF NV50DSP
+V50PASTE CAF V50N00
+ TCF NV50DSP # DISPLAY SECOND PART OF GOPERF
+
+WITCHONE CS BIT5 # TURN OFF KEY RELEASE LIGHT
+ EXTEND
+ WAND DSALMOUT
+
+ CA FLAGWRD4
+ MASK NVBUSMSK # IS IT NVSUB ALEEP
+ CCS A
+ CAF ONE
+ TS L
+ CAF ZERO
+ INDEX L
+ XCH CADRSTOR
+
+ INHINT
+ TC Q
+
+XCHTOEND CAF ENDINST # TC ENDOFJOB REPLACES GENADR IN LOC FOR
+XCHNYLOC XCH LOCCTR # WAS THIS ADDRESS SLEEPING
+ EXTEND
+ BZMF RELINTQ # NO
+ XCH LOCCTR # YES
+ INDEX LOCCTR
+ TS LOC
+
+RELINTQ RELINT
+ TC Q # BACK TO USER
+
+CLEANEND CAF PRIO32 # ONE LOWER THAN DISPLAYS SLEEPING
+ TC FINDVAC
+ EBANK= NVSAVE
+ 2CADR JAMTERM
+
+ TCF FLASHSUB +1
+
+ISITPRIO CA FLAGWRD4
+ MASK ITISMASK # IS PINBRFLG, MARKIDFLG SET
+ EXTEND
+ BZF PRIOBORT
+ TCF ENDOFJOB
+REST CCS CADRSTOR # IS SOMEONE IN ENDIDLE
+ TCF ENDOFJOB # YES
+# Page 1479
+ TCF RESTSLEP
+
+ TCF ENDOFJOB
+
+RESTSLEP CA GENMASK # SET NVSLEEP BITS
+ MASK ASTROMSK
+ TC UPENT2
+OCT24100 OCT 24100 # *** DON'T MOVE
+
+ INDEX COPINDEX
+ CAF NVCADR
+ TC NVSUBUSY # BUSY OR ABORT IF ILLEGAL
+
+FLASHSUB TC FLASHON
+
+ CA COPINDEX # COPINDEX DESTROYED BY ENDIDLE
+ TS COPMPAC
+
+ CA GENMASK
+ MASK IDLEMASK
+ TC UPENT2
+ITISMASK OCT 40040 # *** ENDIDLE ALLOW *** DON'T MOVE
+
+ CA R1SAVE # IS THIS A REPEAT AND RETURN DISPLAY
+ INDEX COPINDEX
+ MASK BIT3
+ CCS A
+ TCF UNSETR1 # YES
+
+ CCS CADRSTOR # SEE IF SOMEONE ALREADY IN ENDIDLE
+ TCF ISITPRIO
+ TCF +2
+ TCF ISITPRIO
+
+ TC ENDIDLE
+IDLERET1 TCF TERMATE
+
+ TCF PROCEED # ENDIDLE RETURNS HERE ON PROCEED
+
+ CS LOWLOAD
+ AD MPAC # VERBREG
+ EXTEND
+ DIM A
+ EXTEND
+ BZF LOADITIS # V21 OR V22 OR V23 ON DSKY
+
+OKTOENT CAF TWO
+ENDOUT TS OUTHERE
+ CA FLAGWRD4 # CHECK NATURE OF ENDIDLE RETURN
+ MASK OCT60000
+# Page 1480
+ CCS A
+ TCF TIMECHEK # PRIO ENDIDLE RETURN
+ TCF NORMRET # NORMAL ENDIDLE RETURN
+ TCF MARKRET # MARK ENDIDLE RETURN
+
+TIMECHEK CS TIME1
+ AD PRIOTIME
+ CCS A
+ COM
+ AD OCT37776
+ AD ONE
+ AD -2SEC
+ EXTEND
+ BZMF KEEPPRIO
+
+ TCF NORMRET
+
+NORMWAKE CAF ONE
+ TCF WAKEPLAY
+
+ENDRET CCS OUTHERE
+ AD ONE
+ TCF +2 # NORMAL ENDIDLE EXIT
+ TCF ENDOFJOB
+ INDEX COPMPAC
+ AD CADRFLSH
+ TS MPAC +3
+
+ CA GENMASK # REMOVE ENDIDLE AND PINBRANCH BITS
+ MASK PINIDMSK
+ TC DOWNENT2
+PINIDMSK OCT 74044 # *** DON'T MOVE
+
+ CS THREE # BLANK EVERYTHING EXCEPT MM
+ TC NVSUB
+ TCF +1
+
+ENDIT CA USERPRIO # RETURN TO USER'S PRIORITY
+ MASK PRIO37
+ TC PRIOCHNG
+ CA MPAC +3
+ TCF BANKJUMP
+
+UNSETR1 INDEX COPINDEX # RESET REPEAT AND RETURN REQUEST
+ CS BIT3
+ MASK R1SAVE
+ TS R1SAVE
+ CAF ZERO # *** 205 ONLY MARKBRAN USERS IN
+ TC SUPERSW # SUPERBANK 0
+# Page 1481
+
+ -1 CAF THREE # RETURN TO USER'S IMMEDIATE RETURN LOC
+IMMEDRET INDEX COPINDEX
+ AD CADRFLSH
+ TCF BANKJUMP
+
+TERMATE CAF ZERO # ASTRONAUT TERMINATE (V34) RETURNS TO
+ TCF ENDOUT
+
+LINUSCHR CS PLAYTEM4 # IS THIS A LINUS
+ MASK BIT14
+ CCS A
+ TCF Q+1 # NO
+ CS PLAYTEM3 # YES, IS IT ALREADY IN ENDIDLE
+ INDEX COPINDEX
+ AD CADRFLSH
+ EXTEND
+ BZF +2 # YES
+
+ TC Q # NO
+ CCS DSPLOCK # IS THE ASTRONAUT BUSY
+ TC ENDOFJOB # END THE NEW DISPLAY, IT'S ALREADY ACTIVE
+ TC Q
+
+# MORE LOGIC COULD BE INCORPORATED HERE TO MAKE SURE A RECYCLE IS A RECYCLE AND CONVERSELY THAT A LOAD IS A LOAD
+
+PROCEED CAF ONE # ASTRONAUT PROCEED (V33) RETURNS
+ TCF ENDOUT
+
+# LASTPLAY CHECKS TO SEE IF (1) THE LAST NORMAL DISPLAY WAS EITHER INTERRUPTED BY A PRIO OR A MARK (MARK
+# COULD ONLY HAPPEN DURING PINBRANCH) OR IF (2) THE LAST NORMAL DISPLAY WAS REQUESTED WHILE A HIGHER PRIORITY
+# DISPLAY WAS GOING, RESULTING IN THE NORMAL BEING PUT TO SLEEP.
+#
+# IF EITHER OF THE ABOVE 2 CONDITIONS EXISTS, THE NORMAL DISPLAY IS AWAKENED TO GO TO PLAYJUM1 WHICH STARTS
+# UP THE MOST RECENT VALID NORMAL DISPLAY. IF THESE 2 CONDITIONS DO NOT EXIST, CONTROL GOES TO PLAYJUM1 WHICH IS
+# STARTED IMMEDIATELY WITH THE ASSUMPTION THAT THE MOST RECENT NORMAL DISPLAY IS ALREADY IN ENDIDLE (DURING A
+# PINBRNCH) OR THAT A RESTART HAS OCCURRED AND THE DISPLAY CAN BE STARTED AS A .1 RESTART.
+
+MARKRET CS SIX
+ MASK FLAGWRD4
+ INHINT # *** MAY MOVE DISPLAY FLAGWORD OUT OF
+ TS FLAGWRD4
+
+ RELINT # INHINT REALM
+ TCF ENDRET
+
+MARKOVER CAF MINUS1 # RUPTREG2 IS - MEANS ENDOFJOB TO ENDRET
+ TS OUTHERE
+ CA FLAGWRD4 # IS ENDIDFLG SET
+ MASK PRIO30 # IS NORMAL OR PRIO IN ENDIDLE
+ CCS A
+# Page 1482
+ TCF NORMBNCH
+
+NORMRET CA FLAGWRD4 # IS MARK SLEEPING
+ MASK BITS5+11 # OR WAITING
+ CCS A
+ TCF MARKWAKE
+
+ CA FLAGWRD4 # NO
+ MASK BITS4+10 # IS NORMAL INTERRUPTED OR WAITING
+ CCS A
+ TCF NORMWAKE # YES
+
+ CA EBANKTEM # NO, WAS IT A FLASH REQUEST
+ MASK OCT50 # OR A GODSPRET
+ CCS A
+ TCF ENDRET # YES
+ CA NVSAVE
+ EXTEND
+ BZF ENDRET
+
+ CAF PRIO15
+ INHINT
+ TC NOVAC
+ EBANK= NVWORD
+ 2CADR PLAYJUM1
+
+ TCF ENDRET
+
+MARSLEEP CA FLAGWRD4 # IS MARK ALREADY ON
+ MASK BITS5+11
+ CCS A
+ TCF ENDOFJOB # YES
+ TCF GOSLEEPS
+
+LOADITIS INDEX COPMPAC
+ CA NVWORD
+ MASK LOW7
+ COM
+ AD MPAC +1 # NOUNREG
+ EXTEND
+ BZF OKTOENT # NO, THEN LOAD IS VALID
+ TCF PINBRNCH # YES, ACCEPT LOAD BUT ASK FOR LAST AGAIN
+
+ERASER CS THREE # BLANK EVERYTHING EXCEPT MM
+ TC NVSUB
+ TCF ENDOFJOB
+ TCF ENDOFJOB
+
+PERFMASK OCT 0036 # FLASH, PERFORM, BLANK R2 AND R3
+# Page 1483
+V01N25 VN 00125
+V06N07 VN 00607 # GOPERF3 VN DISPLAY BEFORE V50
+V50N00 VN 5000
+PERF2MSK OCT 00030 # FLASH, PERFORM
+V04N06 VN 00406
+PERF4MSK OCT 14 # FLASH, BLANK R3
+GOAGIN EQUALS PINBRNCH
+REDOMASK OCT 20010 # BITS 4 AND 14
+MARK3MSK OCT 40230 # MARK, DECIMAL NOUN, PERFORM, FLASH
+MARK4MSK OCT 40036 # MARK, PERFORM, FLASH, BLANK 2 AND 3
+NVCADR CADR REDOPRIO
+WAKECADR CADR MARKPLAY
+ CADR PLAYJUM1
+
+OCT3400 OCT 3400 # EBANK MASK
+NBUSMASK OCT 11210
+PMMASK OCT 66521
+VERBMASK = MID7 # (OCT 37600)
+V05N00M1 OCT 1177 # V05 MINUS ONE
+GOXDSP EQUALS GOMARK
+GOXDSPR EQUALS GOMARKR
+GOXDSPF EQUALS GOMARKF
+GOXDSPFR EQUALS GOMARKFR
+ENDEXT EQUALS ENDMARK
+MPAC2SAV EQUALS BANKSET
+NVBUSMSK OCT 700
+ASTROMSK OCT 704
+MPERFMSK OCT 40030 # BIT 15,5,4 FOR MARK,PERFORM,FLASH
+OCT34300 OCT 34300
+BITS15+7 OCT 40100
+BITS7+4 OCT 110
+DSPFLG EQUALS EBANKSAV
+MARKFLAG EQUALS MARKEBAN
+SAVEFLAG EQUALS EBANKTEM
+BITS5+11 OCT 2020 # * DON'T MOVE
+BITS4+10 OCT 1010 # * DON'T MOVE
+LOWLOAD DEC 22
+BUSYMASK OCT 77730
+CADRMASK OCT 50
+PINMASK EQUALS 13,14,15
+GOPLAY EQUALS NVDSP
+PRIOSAVE EQUALS R1SAVE
+COPMPAC EQUALS MPAC +3
+TEMPOR2 EQUALS MPAC +4
+OUTHERE EQUALS MPAC +5
+COPINDEX EQUALS LOC
+USERPRIO EQUALS MODE
+GENMASK EQUALS MPAC +6
+PRIOOCT OCT 20144 # PRIO
+MARKOCT OCT 42424 # MARK
+# Page 1484
+ OCT 11254 # NORM
+
+IDLESLEP OCT 74704
+OCT67777 OCT 67777
+LINUS EQUALS BLANKET
+FACEREG EQUALS MPAC
+PLAYTEM1 EQUALS MPAC +1
+PLAYTEM3 EQUALS MPAC +3
+PLAYTEM4 EQUALS MPAC +4
+OCT40420 OCT 40420
+MAKEGEN GENADR MAKEPLAY
+OCT10200 OCT 10200
+V97N00 VN 09700 # PASTE FOR V97 OR V99
+OCT20100 OCT 20100
+CLOCKCON OCT 24030
+
+
diff --git a/DOWN-TELEMETRY_PROGRAM.s b/DOWN-TELEMETRY_PROGRAM.s
new file mode 100644
index 0000000..f6c6027
--- /dev/null
+++ b/DOWN-TELEMETRY_PROGRAM.s
@@ -0,0 +1,457 @@
+# Copyright: Public domain.
+# Filename: DOWN-TELEMETRY_PROGRAM.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1093-1102
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-08 RSB Adapted from Colossus249/ file of same name
+# and page images. Corrected various typos
+# in the transcription of program comments,
+# and these should be back-ported to
+# Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1093
+# PROGRAM NAME -- DOWN TELEMETRY PROGRAM
+# MOD NO. -- 0 TO COMPLETELY REWRITE THE DOWN TELEMETRY PROGRAM AND DOWNLINK ERASABLE DUMP PROGRAM FOR THE
+# PURPOSE OF SAVING APPROXIMATELY 150 WORDS OF CORE STORAGE.
+# THIS CHANGE REQUIRES AN ENTIRELY NEW METHOD OF SPECIFYING DOWNLINK LISTS. REFER TO DOWNLINK
+# LISTS LOG SECTION FOR MORE DETAILS. HOWEVER THIS CHANGES WILL NOT AFFECT THE GROUND PROCESSING
+# OF DOWN TELEMETRY DATA.
+# MOD BY -- KILROY, SMITH, DEWITT
+# DATE -- 02 OCT 67
+# AUTHORS -- KILROY, SMITH, DWWITT, DEWOLF, FAGIN
+# LOG SECTION -- DOWN-TELEMETRY PROGRAM
+#
+# FUNCTIONAL DESCRIPTION -- THIS ROUTINE IS INITIATED BY TELEMETRY END
+# PULSE FROM THE DOWNLINK TELEMETRY CONVERTER. THIS PULSE OCCURS
+# AT 50 TIMES PER SEC (EVERY 20 MS) THEREFORE DODOWNTM IS
+# EXECUTED AT THESE RATES. THIS ROUTINE SELECTS THE APPROPRIATE
+# AGC DATA TO BE TRANSMITTED DOWNLINK AND LOADS IT INTO OUTPUT
+# CHANNELS 34 AND 35. THE INFORMATION IS THEN GATED OUT FROM THE
+# LGC IN SERIAL FASHION.
+#
+# THIS PROGRAM IS CODED FOR A 2 SECOND DOWNLIST. SINCE DOWNRUPTS
+# OCCUR EVERY 20 MS AND 2 AGC COMPUTER WORDS CAN BE PLACED IN
+# CHANNELS 34 AND 35 DURING EACH DOWNRUPT THE PROGRAM IS CAPABLE
+# OF SENDING 200 AGC WORDS EVERY 2 SECONDS.
+#
+# CALLING SEQUENCE -- NONE
+# PROGRAM IS ENTERED VIA TCF DODOWNTM WHICH IS EXECUTED AS A
+# RESULT OF A DOWNRUPT. CONTROL IS RETURNED VIA TCF RESUME WHICH
+# IN EFFECT IS A RESUME.
+#
+# SUBROUTINES CALLED -- NONE
+#
+# NORMAL EXIT MODE -- TCF RESUME
+#
+# ALARM OR ABORT EXIT MODE -- NONE
+#
+# RESTART PROTECTION:
+# ON A FRESH START AND RESTART THE `STARTSUB' SUBROUTINE WILL INITIALIZE THE DOWNLIST POINTER (ACTUALLY
+# DNTMGOTO) TO THE BEGINNING OF THE CURRENT DOWNLIST (I.E., CURRENT CONTENTS OF DNLSTADR). THIS HAS THE
+# EFFECT OF IGNORING THE REMAINDER OF THE DOWNLIST WHICH THE DOWN-TELEMETRY PROGRAM WAS WORKING ON WHEN
+# THE RESTART (OR FRESH START) OCCURRED AND RESUME DOWN TELEMETRY FROM THE BEGINNING OF THE CURRENT
+# DOWNLIST.
+#
+# ALSO OF INTEREST IS THE FACT THAT ON A RESTART THE AGC WILL ZERO DOWNLINK CHANNELS 13, 34 AND 35.
+#
+# DOWNLINK LIST SELECTION:
+# THE APPROPRIATE DOWNLINK LISTS ARE SELECTED BY THE FOLLOWING:
+# 1. FRESH START
+# 2. V37EXXE WHERE XX = THE MAJOR MODE BEING SELECTED.
+# 3. UPDATE PROGRAM (P27)
+# 4. NON-V37 SELECTABLE TYPE PROGRAMS (E.G., AGS INITIALIZATION (SUNDANCE, LUMINARY) AND P61-P62
+# TRANSITIONS (COLOSSUS) ETC.).
+#
+# DOWNLINK LIST RULES AND LIMITATIONS:
+# READ SECTION(S) WHICH FOLLOW `DEBRIS' WRITEUP.
+#
+# OUTPUT -- EVERY 2 SECONDS 100 DOUBLE PRECISION WORDS (I.E., 200 LGC
+# COMPUTER WORDS) ARE TRANSMITTED VIA DOWNLINK.
+#
+# ERASABLE INITIALIZATION REQUIRED -- NONE
+# `DNTMGOTO' AND `DNLSTADR' ARE INITIALIZED BY THE FRESH START PROGRAM.
+#
+# DEBRIS (ERASABLE LOCATIONS DESTROYED BY THIS PROGRAM) --
+# LDATALST, DNTMBUFF TO DNTMBUFF +21D, TMINDEX, DNQ.
+# Page 1094
+# (No source on this page of the original assembly listing.)
+
+# Page 1095
+# DODOWNTM IS ENTERED EVERY 20 MS BY AN INTERRUPT TRIGGERED BY THE
+# RECEIPT OF AN ENDPULSE FROM THE SPACECRAFT TELEMETRY PROGRAMMER.
+#
+# NOTES REGARDING DOWNLINK LISTS ASSOCIATED WITH THIS PROGRAM:
+# 1. DOWNLISTS. DOWNLISTS MUST BE COMPILED IN THE SAME BANK AS THE
+# DOWN-TELEMETRY PROGRAM. THIS IS DONE FOR EASE OF CODING, FASTER
+# EXECUTION.
+# 2. EACH DOWNLINK LIST CONSISTES OF A CONTROL LIST AND A NUMBER OF
+# SUBLISTS.
+# 3. A SUBLIST REFERS TO A SNAPSHOT OR DATA COMMON TO THE SAME OR OTHER
+# DOWNLINK LISTS. ANY SUBLIST CONTAINING COMMON DATA NEEDS TO BE
+# CODED ONLY ONCE FOR THE APPLICABLE DOWNLINK LISTS.
+# 4. SNAPSHOT SUBLISTS REFER SPECIFICALLY TO HOMOGENEOUS DATA WHICH MUST BE
+# SAVED IN A BUFFER DURING ONE DOWNRUPT.
+# 5. THE 1DNADR FOR THE 1ST WORD OF SNAPSHOT DATA IS FOUND AT THE END
+# OF EACH SNAPSHOT SUBLIST, SINCE THE PROGRAM CODING SENDS THIS DP WORD
+# IMMEDIATELY AFTER STORING THE OTHERS IN THE SNAPSHOT BUFFER.
+# 6. ALL LISTS ARE COMBINATIONS OF CODED ERASABLE ADDRESS CONSTANTS
+# CREATED FOR THE DOWNLIST PROGRAM.
+# A. 1DNADR 1-WORD DOWNLIST ADDRESS.
+# SAME AS ECADR, BUT USED WHEN THE WORD ADDRESSED IS THE LEFT
+# HALF OF A DOUBLE-PRECISION WORD FOR DOWN TELEMETRY.
+# B. 2DNADR - 6DNADR N-WORD DOWNLIST ADDRESS, N = 2 - 6.
+# SAME AS 1DNADR, BUT WTIH THE 4 UNUSED BITS OF THE ECADR FORMAT
+# FILLED IN WITH 0001-0101. USED TO POINT TO A LIST OF N DOUBLE-
+# PRECISION WORDS, STORED CONSECUTIVELY, FOR DOWN TELEMETRY.
+# C. DNCHAN DOWNLIST CHANNEL ADDRESS.
+# SAME AS 1DNADR, BUT WITH PREFIX BITS 0111. USED TO POINT TO
+# A PAIR OF CHANNELS FOR DOWN TELEMETRY.
+# D. DNPTR DOWN-TELEMETRY SUBLIST POINTER.
+# SAME AS CAF BUT TAGGES AS A CONSTANT. USED IN CONTROL LIST TO POINT TO A SUBLIST.
+# CAUTION --- A DNPTR CANNOT BE USED IN A SUBLIST.
+# 7. THE WORD ORDER CODE IS SET TO ZERO AT THE BEGINNING OF EACH DOWNLIST (I.E., CONTROL LIST) AND WHEN
+# A `1DNADR TIME2' IS DETECTED IN THE CONTROL LIST (ONLY).
+# 8. IN THE SNAPSHOT SUBLIST ONLY, THE DNADR'S CANNOT POINT TO THE FIRST WORD OF ANY EBANK.
+#
+# DOWNLIST LIST RESTRICTIONS:
+# (THE FOLLOWING POINTS MAY BE LISTED ELSEWHERE BUT ARE LISTED HERE SO IT IS CLEAR THAT THESE THINGS CANNOT BE
+# DONE)
+# 1. SNAPSHOT DOWNLIST:
+# (A) CANNOT CONTAIN THE FOLLOWING ECADRS (I.E., 1DNADR'S): Q, 400, 1000, 1400, 2000, 2400, 3000, 3400.
+# (B) CAN CONTAIN ONLY 1DNADR'S
+# 2. ALL DOWNLINKED DATA (EXCEPT CHANNELS) IS PICKED UP BY A DCA SO DOWNLINK LISTS CANNOT CONTAIN THE
+# EQUIVALENT OF THE FOLLOWING ECADRS (I.E., IDNADRS): 377, 777, 1377, 1777, 2377, 2777, 3377, 3777.
+# (NOTE: TE TERM `EQUIVALENT' MEANT THAT THE IDNADR TO 6DNADR WILL BE PROCESSED LIKE 1 TO 6 ECADRS)
+# 3. CONTROL LISTS AND SUBLISTS CANNOT HAVE ENTRIES = OCTAL 00000 OR OCTAL 77777
+# Page 1096
+# 4. THE `1DNADR TIME2' WHICH WILL CAUSE THE DOWNLINT PROGRAM TO SET THE WORDER CODE TO 3 MUST APPEAR IN THE
+# CONTROL SECTION OF THE DOWNLIST.
+# 5. `DNCHAN 0' CANNOT BE USED.
+# 6. `DNPTR 0' CANNOT BE USED.
+# 7. DNPTR CANNOT APPEAR IN A SUBLIST.
+#
+# EBANK SETTINGS
+# IN THE PROCESS OF SETTING THE EBANK (WHEN PICKING UP DOWNLINK DATA) THE DOWN TELEMETRY PROGRAM PUTS
+# `GARBAGE' INTO BITS15-12 OF EBANK. HUGH BLAIR-SMITH WARNS US THAT BITS15-12 OF EBANK MAY BECOME
+# SIGNIFICANT SOMEDAY IN THE FUTURE. IF/WHEN THAT HAPPENS, THE PROGRAM SHOULD INSURE (BY MASKING ETC.)
+# THAT BITS 15-12 OF EBANK ARE ZERO.
+#
+# INITIALIZATION REQUIRED -- TO INTERRUPT CURRENT LIST AND START A NEW ONE.
+# 1. ADRES OF DOWNLINK LIST INTO DNLSTADR
+# 2. NEGONE INTO SUBLIST
+# 3. NEGONE INTO DNECADR
+
+ BANK 22
+ SETLOC DOWNTELM
+ BANK
+
+ EBANK= DNTMBUFF
+
+ COUNT 05/DPROG
+
+DODOWNTM TS BANKRUPT
+ EXTEND
+ QXCH QRUPT # SAVE Q
+ CA BIT7 # SET WORD ORDER CODE TO 1. EXCEPTION: AT
+ EXTEND # THE BEGINNING OF EACH LIST THE WORD
+ WOR CHAN13 # CODE WILL BE SET BACK TO 0.
+ TC DNTMGOTO # GOTO APPROPRIATE PHASE OF PROGRAM
+
+DNPHASE1 CA NEGONE # INITIALIZE ALL CONTROL WORDS
+ TS SUBLIST # WORDS TO MINUS ONE
+ TS DNECADR
+ CA LDNPHAS2 # SET DNTMGOTO = 0 ALL SUSEQUENT DOWRUPTS
+ TS DNTMGOTO # GO TO DNPHASE2
+ TCF NEWLIST
+DNPHASE2 CCS DNECADR # SENDING OF DATA IN PROGRESS
+DODNADR TC FETCH2WD # YES -- THEN FETCH THE NEXT 2 SP WORDS
+MINTIME2 -1DNADR TIME2 # NEGATIVE OF TIME2 1DNADR
+ TCF +1 # (ECADR OF 3776 + 74001 = 77777)
+
+ CCS SUBLIST # IS THE SUBLIST IN CONTROL
+# Page 1097
+ TCF NEXTINSL # YES
+DNADRDCR OCT 74001 # DNADR COUNT AND ECADR DECREMENTER
+
+CHKLIST CA CTLIST
+ EXTEND
+ BZMF NEWLIST # IT WILL BE NEGATIVE AT END OF LIST
+ TCF NEXTINCL
+NEWLIST INDEX DNLSTCOD
+ CA DNTABLE # INITIALIZE CTLIST WITH
+ TS CTLIST # STARTING ADDRESS OF NEW LIST
+ CS DNLSTCOD
+ TCF SENDID +3
+NEXTINCL INDEX CTLIST
+ CA 0
+ CCS A
+ INCR CTLIST # SET POINTER TO PICK UP NEXT CTLIST WORD
+ TCF +4 # ON NEXT ENTRY TO PROG. (A SHOULD NOT =0)
+ XCH CTLIST # SET CTLIST TO NEGATIVE AND PLACE(CODING)
+ COM # UNCOMPLEMENTED DNADR INTO A. (FOR LA)
+ XCH CTLIST # (ST IN )
+ +4 INCR A # (CTLIST)
+ TS DNECADR # SAVE DNADR
+ AD MINTIME2 # TEST FOR TIME2 (NEG. OF ECADR)
+ CCS A
+ TCF SETWO +1 # DON'T SET WORD ORDER CODE
+MINB1314 OCT 47777 # MINUS BIT 13 AND 14 (CAN'T GET HERE)
+ TCF SETWO +1 # DON'T SET WORD ORDER CODE
+SETWO TC WOZERO # GO SET WORD ORDER CODE TO ZERO.
+ +1 CA DNECADR # RELOAD A WITH THE DNADR.
+ +2 AD MINB1314 # IS THIS A REGULAR DNADR?
+ EXTEND
+ BZMF FETCH2WD # YES. (A MUST NEVER BE ZERO)
+ AD MINB12 # NO. IS IT A POINTER (DNPTR) OR A
+ EXTEND # CHANNEL(DNCHAN)
+ BZMF DODNPTR # IT'S A POINTER. (A MUST NEVER BE ZERO)
+
+DODNCHAN TC 6 # (EXECUTED AS EXTEND) IT'S A CHANNEL
+ INDEX DNECADR
+ INDEX 0 -4000 # (EXECUTED AS READ)
+ TS L
+ TC 6 # (EXECUTED AS EXTEND)
+ INDEX DNECADR
+ INDEX 0 -4001 # (EXECUTED AS READ)
+ TS DNECADR # SET DNECADR
+ CA NEGONE # TO MINUS
+ XCH DNECADR # WHILE PRESERVING A.
+ TCF DNTMEXIT # GO SEND CHANNELS
+
+WOZERO CS BIT7
+ EXTEND
+# Page 1098
+ WAND CHAN13 # SET WORD ORDER CODE TO ZERO
+ TC Q # RETURN TO CALLER
+
+DODNPTR INDEX DNECADR # DNECADR CONTAINS ADRES OF SUBLIST
+ 0 0 # CLEAR AND ADD LIST ENTRY INTO A.
+ CCS A # IS THIS A SNAPSHOT SUBLIST
+ CA DNECADR # NO, IT IS A REGULAR SUBLIST.
+ TCF DOSUBLST # A MUST NOT BE ZERO.
+
+ XCH DNECADR # YES. IT IS A SNAPSHOT SUBLIST.
+ TS SUBLIST # C(DNECADR) INTO SUBLIST
+ CAF ZERO # A INTO A
+ XCH TMINDEX # (NOTE: TMINDEX = DNECADR)
+
+# THE FOLLOWING CODING (FROM SNAPLOOP TO SNAPEND) IS FOR THE PURPOSE OF TAKING A SNAPSHOT OF 12 DP REGISTERS.
+# THIS IS DONE BY SAVING 11 DP REGISTERS IN DNTMBUFF AND SENDING THE FIRST DP WORD IMMEDIATELY.
+# THE SNAPSHOT PROCESSING IS THE MOST TIME CONSUMING AND THEREFORE THE CODING AND LIST STRUCTURE WERE DESIGNED
+# TO MINIMIZE TIME. THE TIME OPTIMIZATION RESULTS IN RULES UNIQUE TO THE SNAPSHOT PORTION OF THE DOWNLIST.
+# THESE RULES ARE ......
+# 1. ONLY 1DNADR'S CAN APPEAR IN THE SNAPSHOT SUBLIST
+# 2. THE 1DNADR'S CANNOT REFER TO THE FIRST LOCATION IN ANY BANK.
+
+SNAPLOOP TS EBANK # SET EBANK
+ MASK LOW8 # ISOLATE RELATIVE ADDRESS
+ EXTEND
+ INDEX A
+ EBANK= 1401
+ DCA 1401 # PICK UP 2 SNAPSHOT WORDS.
+ EBANK= DNTMBUFF
+ INDEX TMINDEX
+ DXCH DNTMBUFF # STORE 2 SNAPSHOT WORDS IN BUFFER
+ INCR TMINDEX # SET BUFFER INDEX FOR NEXT 2 WORDS.
+ INCR TMINDEX
+SNAPAGN INCR SUBLIST # SET POINTER TO NEXT 2 WORDS OF SNAPSHOT
+ INDEX SUBLIST
+ 0 0 # = CA SSSS (SSSS = NEXT ENTRY IN SUBLIST)
+ CCS A # TEST FOR LAST TWO WORDS OF SNAPSHOT.
+ TCF SNAPLOOP # NOT LAST TWO.
+LDNPHAS2 GENADR DNPHASE2
+ TS SUBLIST # YES, LAST. SAVE A.
+ CA NEGONE # SET DNECADR AND
+ TS DNECADR # SUBLIST POINTERS
+ XCH SUBLIST # TO NEGATIVE VALUES
+ TS EBANK
+ MASK LOW8
+ EXTEND
+ INDEX A
+ EBANK= 1401
+# Page 1099
+ DCA 1401 # PICK UP FIRST 2 WORDS OF SNAPSHOT.
+ EBANK= DNTMBUFF
+SNAPEND TCF DNTMEXIT # NOW GO SEND THEM.
+
+FETCH2WD CA DNECADR
+ TS EBANK # SET EBANK
+ MASK LOW8 # ISOLATE RELATIVE ADDRESS
+ TS L
+ CA DNADRDCR # DECREMENT COUNT AND ECADR
+ ADS DNECADR
+ EXTEND
+ INDEX L
+ EBANK= 1400
+ DCA 1400 # PICK UP 2 DATA WORDS
+ EBANK= DNTMBUFF
+ TCF DNTMEXIT # NOW GO SEND THEM.
+
+DOSUBLST TS SUBLIST # SET SUBLIST POINTER
+NEXTINSL INDEX SUBLIST
+ 0 0 # = CA SSSS (SSSS = NEXT ENTRY IN SUBLIST)
+ CCS A # IS IT THE END OF THE SUBLIST
+ INCR SUBLIST # NO --
+ TCF +4
+ TS SUBLIST # SAVE A.
+ CA NEGONE # SET SUBLIST TO MINUS
+ XCH SUBLIST # RETRIEVE A.
+ +4 INCR A
+ TS DNECADR # SAVE DNADR
+ TCF SETWO +2 # GO USE COMMON CODING (PROBLEMS WOULD
+ # OCCUR IF THE PROGRAM ENCOUNTERED A
+ # DNPTR NOW)
+
+DNTMEXIT EXTEND # DOWN-TELEMETRY EXIT
+ WRITE DNTM1 # TO SEND A + L TO CHANNELS 34 + 35
+ CA L # RESPECTIVELY
+TMEXITL EXTEND
+ WRITE DNTM2
+TMRESUME TCF RESUME # EXIT TELEMTRY PROGRAM VIA RESUME.
+
+MINB12 EQUALS -1/8
+DNECADR EQUALS TMINDEX
+CTLIST EQUALS LDATALST
+SUBLIST EQUALS DNQ
+
+# Page 1100
+# SUBROUTINE NAME -- DNDUMP
+#
+# FUNCTIONAL DESCRIPTION -- TO SEND (DUMP) ALL 8 BANKS OF ERASABLE STORAGE TWICE. BANKS ARE SENT ONE AT A TIME
+# EACH BANK IS PRECEDED BY AN ID WORD, SYNCH BITS, ECADR AND TIME1 FOLLOWED BY THE 256D WORDS OF EACH
+# EBANK. EBANKS ARE DUMPED IN ORDER (I.E., EBANK 0 FIRST, THEN EBANK1 ETC.)
+#
+# CALLING SEQUENCE -- THE GROUND OR ASTRONAUT BY KEYING V74E CAN INITIALIZE THE DUMP.
+# AFTER KEYING IN V74E THE CURRENT DOWNLIST WILL BE IMMEDIATELY TERMINATED AND THE DOWNLINK ERASABLE DUMP
+# WILL BEGIN.
+#
+# ONCE INITITIATED THE DOWNLINK ERASABLE DUMP CAN BE TERMINATED (AND INTERRUPTED DOWNLIST REINSTATED) ONLY
+# BY THE FOLLOWING:
+#
+# 1. A FRESH START
+# 2. COMPLETION OF ALL DOWNLINK DUMPS REQUESTED (ACCORDING TO BITS SET IN DUMPCNT). NOTE THAT DUMPCNT
+# CAN BE ALTERED BY A V21N01.
+# 3. AND INVOLUNTARILY BY A RESTART.
+#
+# NORMAL EXIT MODE -- TCF DNPHASE1
+#
+# ALARM OR ABORT MODE -- NONE
+#
+# *SUBROUTINES CALLED -- NONE
+#
+# ERASABLE INITIALIZATION REQUIRED --
+# DUMPCNT OCT 20000 IF 4 COMPLETE ERASABLE DUMPS ARE DESIRED
+# DUMPCNT OCT 10000 IF 2 COMPLETE ERASABLE DUMPS ARE DESIRED
+# DUMPCNT OCT 04000 IF 1 COMPLETE ERASABLE DUMP IS DESIRED
+#
+# DEBRIS -- DUMPLOC, DUMPSW, DNTMGOTO, EBANK, AND CENTRAL REGISTERS
+#
+# TIMING -- TIME (IN SECS) = ((NO.DUMPS)*(NO.EBANKS)*(WDSPEREBANK + NO.IDWDS)) / NO.WDSPERSEC
+# TIME (IN SECS) = ( 4 )*( 8 )*( 256 + 4 ) / 100
+# THUS TIME (IN SECS TO SEND DUMP OF ERASABLE 4 TIMES VIA DOWNLINK) = 83.2 SECONDS
+#
+# STRUCTURE OF ONE EBANK AS IT IS SENT BY DOWNLINK PROGRAM --
+# (REMINDER -- THIS ONLY DESCRIBES ONE OF THE 8 EBANKS X 4 (DUMPS) = 32 EBANKS WHICH WILL BE SENT BY DNDUMP)
+#
+# DOWNLIST W
+# WORD TAKEN FROM CONTENTS OF EXAMPLE O COMMENTS
+# 1 ERASID 0177X 0 DOWNLIST I.D. FOR DOWNLINK ERASABLE DUMP (X=7 CSM, 6 LM)
+# 2 LOWIDCOD 77340 1 DOWNLINK SYNCH BITS. (SAME ONE USED IN ALL OTHER DOWNLISTS)
+# 3 DUMPLOC 13400 1 (SEE NOTES ON DUMPLOC) 1 = 3RD ERAS DUMP, 3400=ECADR OF 5TH WD
+# 4 TIME1 14120 1 TIME IN CENTISECONDS
+# 5 FIRST WORD OF EBANK X 03400 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1400 (ECADR 3400)
+# 6 2ND WORD OF EBANK X 00142 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1401 (ECADR 3401)
+# 7. 3RD WORD OF EBANK X 00142 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1402 (ECADR 3402)
+# .
+# .
+# .
+# 260D 256TH WORD OF EBANK X 03777 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1777 (ECADR 3777)
+#
+# NOTE -- DUMPLOC CONTAINS THE COUNTER AND ECADR FOR EACH WORD BEING SENT.
+# THE BIT STRUCTURE OF DUMPLOC IS FOLLOW --
+# X = NOT USED
+# X ABC EEE RRRRRRRR ABC = ERASABLE DUMP COUNTER (I.E. ABC = 0,1,2, OR 3 WHICH MEANS THAT
+# COMPLETE ERASABLE DUMP NUMBER 1,2,3, OR 4 RESPECTIVELY IS IN PROGRESS)
+# EEE = EBANK BITS
+# RRRRRRRR = RELATIVE ADDRESS WITHIN AN EBANK
+
+# Page 1101
+DNDUMPI CA ZERO # INITIALIZE DOWNLINK
+ TS DUMPLOC # ERASABLE DUMP
+ +2 TC SENDID # GO SEND ID AND SYNCH BITS
+ CA LDNDUMP1 # SET DNTMGOTO
+ TS DNTMGOTO # TO LOCATION FOR NEXT PASS
+ CA TIME1 # PLACE TIME1
+ XCH L # INTO L
+ CA DUMPLOC # AND ECADR OF THIS EBANK INTO A
+ TCF DNTMEXIT # SEND DUMPLOC AND TIME1
+
+LDNDUMP ADRES DNDUMP
+LDNDUMP1 ADRES DNDUMP1
+
+DNDUMP CA TWO # INCREMENT ECADR IN DUMPLOC
+ ADS DUMPLOC # TO NEXT DP WORD TO BE
+ MASK LOW8 # DUMPED AND SAVE IT.
+ CCS A # IS THIS THE BEGINNING OF A NEW EBANK
+ TCF DNDUMP2 # NO -- THEN CONTINUE DUMPING
+ CA DUMPLOC # YES -- IS THIS THE END OF THE
+ MASK DUMPCNT # N-TH(N = 1 TO 4) COMPLETE ERASABLE
+ MASK PRIO34 # DUMP(BIT14 FOR 4, BIT13 FOR 2 OR BIT12
+ CCS A # FOR 1 COMPLETE ERASABLE DUMP(S)).
+ TCF DNPHASE1 # YES -- SEND DOWNLIST AGAIN
+ # AGAIN
+ TCF DNDUMPI +2 # NO -- GO BACK AND INITIALZE NEXT BANK
+
+DNDUMP1 CA LDNDUMP # SET DNTMGOTO
+ TS DNTMGOTO # FOR WORDS 3 TO 256D OF CURRENT EBANK
+
+DNDUMP2 CA DUMPLOC
+ TS EBANK # SET EBANK
+ MASK LOW8 # ISOLATE RELATIVE ADDRESS.
+ TS Q # (NOTE: MASK INSTRUCTION IS USED TO PICK
+ CA NEG0 # UP ERASABLE REGISTERS TO THAT EDITING
+ TS L # REGISTERS 20-23 WILL NOT BE ALTERED.)
+ INDEX Q
+ EBANK= 1400 # PICK UP LOW ORDER REGISTER OF PAIR
+ MASK 1401 # OF ERASABLE REGISTERS.
+ XCH L
+ INDEX Q # PICK UP HIGH ORDER REGISTER OF PAIR
+ MASK 1400 # OF ERASABLE REGISTERS.
+ EBANK= DNTMBUFF
+ TCF DNTMEXIT # GO SEND THEM
+
+SENDID EXTEND # ** ENTRANCE USED BY ERASABLE DUMP PROG. **
+ QXCH DNTMGOTO # SET DNTMGOTO SO NEXT TIME PROG WILL GO
+ CAF ERASID # TO LOCATION FOLLOWING `TC SENDID'
+
+ TS L # ** ENTRANCE USED BY REGULAR DOWNLINK PG **
+# Page 1102
+ TC WOZERO # GO SET WORD ORDER CODE TO ZERO
+ CAF LOWIDCOD # PLACE SPECIAL ID CODE INTO L
+ XCH L # AND ID BACK INTO A
+ TCF DNTMEXIT # SEND DOWNLIST ID CODE(S).
+
+
+
diff --git a/DOWNLINK_LISTS.s b/DOWNLINK_LISTS.s
new file mode 100644
index 0000000..e772786
--- /dev/null
+++ b/DOWNLINK_LISTS.s
@@ -0,0 +1,410 @@
+# Copyright: Public domain.
+# Filename: DOWNLINK_LISTS.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 170-180
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 10/05/09 FB Transcription of Batch FB-1 Assignment.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 170
+ BANK 22
+ SETLOC DOWNTELM
+ BANK
+
+ EBANK= DNTMBUFF
+
+# SPECIAL DOWNLINK OP CODES
+# OP CODE ADDRESS (EXAMPLE) SENDS... BIT 15 BITS 14-12 BITS 11-0
+# ------- ----------------- -------- ------ ---------- ---------
+# 1DNADR TIME2 (2 AGC WDS) 0 0 ECADR
+# 2DNADR TEPHEM (4 AGC WDS) 0 1 ECADR
+# 3DNADR VGBODY (6 AGC WDS) 0 2 ECADR
+# 4DNADR STATE (8 AGC WDS) 0 3 ECADR
+# 5DNADR UPBUFF (10 AGC WDS) 0 4 ECADR
+# 6DNADR DSPTAB (12 AGC WDS) 0 5 ECADR
+# DNCHAN 30 CHANNELS 0 7 CHANNEL
+# ADDRESS
+# DNPTR NEXTLIST POINTS TO NEXT 0 6 ADRES
+# LIST
+#
+# DOWNLIST FORMAT DEFINITIONS AND RULES --
+# 1. END OF A LIST = -XDNADR (X = 1 TO 6), -DNPTR, OR -DNCHAN.
+# 2. SNAPSHOT SUBLIST = LIST WHICH STARTS WITH A -1DNADR.
+# 3. SNAPSHOT SUBLIST CAN ONLY CONTAIN 1DNADRS.
+# 4. TIME2 1DNADR MUST BE LOCATED IN THE CONTROL LIST OF A DOWNLIST.
+# 5. ERASABLE DOWN TELEMETRY WORDS SHOULD BE GROUPED IN SEQUENTIAL
+# LOCATIONS AS MUCH AS POSSIBLE TO SAVE STORAGE USED BY DOWNLINK LISTS.
+# 6. THE DOWNLINK LISTS (INCLUDING SUBLISTS) ARE ORGANIZED SUCH THAT THE ITEMS LISTED FIRST (IN FRONT OF FBANK) ARE
+# SENT FIRST. EXCEPTION--- SNAPSHOT SUBLISTS. IN THE SNAPSHOT SUBLISTS THE DATA REPRESENTED BY THE FIRST
+# 11 1DNADRS IS PRESERVED (IN ORDER) IN DNTMBUFF AND SENT BY THE NEXT 11 DOWNRUPTS. THE DATA REPRESENTED BY THE
+# LIST IS SENT IMMEDIATELY.
+
+ COUNT 05/DLIST
+ERASZERO EQUALS 7
+SPARE EQUALS ERASZERO # USE SPARE TO INDICATE AVAILABLE SPACE
+LOWIDCOD OCT 77340 # LOW ID CODE
+
+NOMDNLST EQUALS CMCSTADL # FRESH START AND POST P27 DOWNLIST
+UPDNLIST EQUALS CMENTRDL # UPDATE PROGRAM (P27) DOWNLIST
+
+# Page 171
+# CSM POWERED FLIGHT DOWNLIST
+#
+# --------------------- CONTROL LIST -------------------------
+
+CMPOWEDL EQUALS
+ DNPTR CMPOWE01 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMPOWE02 # COLLECT SECOND SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMPOWE03 # COMMON DATA
+ 1DNADR TIG # TIG,+1
+ 1DNADR DELLT4 # DELLT4,+1
+ 3DNADR RTARG # RTARG,+1,+2,...+5
+ 1DNADR TGO # TGO,+1
+ 1DNADR PIPTIME1 # PIPTIME1,+1
+ 3DNADR DELV # DELV,+1,...,+4,+5
+ 1DNADR PACTOFF # PACTOFF,YACTOFF
+ 1DNADR PCMD # PCMD,YCMD
+ 1DNADR CSTEER # CSTEER,+1
+ 3DNADR DELVEET1 # CSI DELTA VELOCITY COMPONENTS (31-33)
+ 6DNADR REFSMMAT # REFSMMAT,+1,...+10,+11
+ DNPTR CMPOWE04 # COMMON DATA
+ 1DNADR TIME2 # TIME2,TIME1
+ DNPTR CMPOWE05 # COMMON DATA
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMPOWE02 # COLLECT SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMPOWE03 #
+ DNPTR CMPOWE06 # COMMON DATA
+ 1DNADR ELEV # ELEV,+1
+ 1DNADR CENTANG # CENTANG,+1
+ 1DNADR DELTAR # DELTAR,+1
+ 1DNADR STATE +10D # FLAGWORDS 10 AND 11
+ 1DNADR TEVENT # TEVENT,+1
+ 1DNADR PCMD # PCMD,YCMD
+ 1DNADR OPTMODES # OPTMODES,HOLDFLAG
+ DNPTR CMPOWE07 # COMMON DATA
+ 3DNADR VGTIG # VGTIG,+1,...,+4,+5
+ -3DNADR DELVEET2 # CDH DELTA VELOCITY COMPONENTS (98-100)
+
+# --------------------- SUB LISTS ---------------------------
+
+CMPOWE01 -1DNADR RN +2 # RN +2,+3 SNAPSHOT DATA
+ 1DNADR RN +4 # RN +4,+5
+ 1DNADR VN # VN, +1
+ 1DNADR VN +2 # VN +2,+3
+ 1DNADR VN +4 # VN +4,+5
+ 1DNADR PIPTIME # PIPTIME, +1
+ -1DNADR RN # RN, +1
+
+CMPOWE02 -1DNADR CDUZ # CDUZ,CDUT SNAPSHOT DATA
+# Page 172
+ 1DNADR ADOT # ADOT,+1/OGARATE,+1
+ 1DNADR ADOT +2 # ADOT+2,+3/OMEGAB+2,+3
+ 1DNADR ADOT +4 # ADOT+4,+5/OMEGAB+4,+5
+ -1DNADR CDUX # CDUX,CDUY
+
+CMPOWE03 2DNADR AK # AK,AK1,AK2,RCSFLAGS COMMON DATA
+ -2DNADR THETADX # THETADX,THETADY,THETADZ,GARBAGE
+
+CMPOWE04 5DNADR STATE # FLAGWRD0 THRU FLAGWRD9 COMMON DATA
+ -6DNADR DSPTAB # DISPLAY TABLES
+
+CMPOWE05 -1DNADR R-OTHER +2 # R-OTHER+2,+3 SNAPSHOT DATA
+ 1DNADR R-OTHER +4 # R-OTHER+4,+5
+ 1DNADR V-OTHER # V-OTHER,+1
+ 1DNADR V-OTHER +2 # V-OTHER+2,+3
+ 1DNADR V-OTHER +4 # V-OTHER+4,+5
+ 1DNADR T-OTHER # T-OTHER,+1
+ -1DNADR R-OTHER # R-OTHER,+1
+
+CMPOWE06 1DNADR RSBBQ # RSBBQ,+1 COMMON DATA
+ 3DNADR CADRFLSH # CADRFLSH,+1,+2,FAILREG,+1,+2
+ -2DNADR CDUS # CDUS,PIPAX,PIPAY,PIPAZ
+
+CMPOWE07 1DNADR LEMMASS # LEMMASS,CSMMASS COMMON DATA
+ 1DNADR DAPDATR1 # DAPDATR1,DAPDATR2
+ 2DNADR ERRORX # ERRORX,ERRORY,ERRORZ,GARBAGE
+ 3DNADR WBODY # WBODY,...+5/OMEGAC,...+5
+ 2DNADR REDOCTR # REDOCTR,THETAD,+1,+2
+ 1DNADR IMODES30 # IMODES30,IMODES33
+ DNCHAN 11 # CHANNELS 11,12
+ DNCHAN 13 # CHANNELS 13,14
+ DNCHAN 30 # CHANNELS 30,31
+ -DNCHAN 32 # CHANNELS 32,33
+
+# -----------------------------------------------------------
+# Page 173
+# CSM COAST AND ALIGNMENT DOWNLIST
+
+# --------------------- CONTROL LIST ------------------------
+
+CMCSTADL EQUALS # SEND ID BY SPECIAL CODING
+ DNPTR CMCSTA01 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMCSTA02 # COLLECT SECOND SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMCSTA03 # COMMON DATA
+ 1DNADR TIG # TIG,+1
+ 1DNADR BESTI # BESTI,BESTJ
+ 4DNADR MARKDOWN # MARKDOWN,+1,...+5,+6,GARBAGE
+ 4DNADR MARK2DWN # MARK2DWN,+1,...+5,+6
+ 2DNADR HAPOX # APOGEE AND PERIGEE FROM R30 (28-29)
+ 1DNADR PACTOFF # PACTOFF, YACTOFF (30)
+ 3DNADR VGTIG # VGTIG,...+5
+ 6DNADR REFSMMAT # REFSMMAT,+1,...+10,+11
+ DNPTR CMCSTA04 # COMMON DATA
+ 1DNADR TIME2 # TIME2,TIME1
+ DNPTR CMCSTA05 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMCSTA02 # COLLECT SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMCSTA03 # COMMON DATA
+ DNPTR CMCSTA06 # COMMON DATA
+ 3DNADR OGC # OGC,+1,IGC,+1,MGC,+1
+ 1DNADR STATE +10D # FLAGWRDS 10 AND 11
+ 1DNADR TEVENT # TEVENT,+1
+ 1DNADR LAUNCHAZ # LAUNCHAZ,+1
+ 1DNADR OPTMODES # OPTMODES,HOLDFLAG
+ DNPTR CMCSTA07 # COMMON DATA
+ -6DNADR DSPTAB # DISPLAY TABLES
+
+# --------------------- SUB LISTS ---------------------------
+
+CMCSTA01 EQUALS CMPOWE01 # COMMON DOWNLIST DATA
+
+CMCSTA02 EQUALS CMPOWE02 # COMMON DOWNLIST DATA
+
+CMCSTA03 EQUALS CMPOWE03 # COMMON DOWNLIST DATA
+
+CMCSTA04 EQUALS CMPOWE04 # COMMON DOWNLIST DATA
+
+CMCSTA05 EQUALS CMPOWE05 # COMMON DOWNLIST DATA
+
+CMCSTA06 EQUALS CMPOWE06 # COMMON DOWNLIST DATA
+
+CMCSTA07 EQUALS CMPOWE07 # COMMON DOWNLIST DATA
+
+# Page 174
+# -----------------------------------------------------------
+# Page 175
+# CSM RENDEZVOUS AND PRETHRUST LIST
+
+# --------------------- CONTROL LIST ------------------------
+
+CMRENDDL EQUALS # SEND ID BY SPECIAL CODING
+ DNPTR CMREND01 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMREND02 # COLLECT SECOND SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMREND03 # COMMON DATA
+ 1DNADR TIG # TIG,+1
+ 1DNADR DELLT4 # DELLT4,+1
+ 3DNADR RTARG # RTARG,+1,...+4,+5
+ 1DNADR VHFTIME # VHFTIME,+1
+ 4DNADR MARKDOWN # MARKTIME(DP),YCDU,SCDU,ZCDU,TCDU,XCDU,RM
+ 1DNADR VHFCNT # VHFCNT,+1
+ 1DNADR TTPI # TTPI,+1
+ 1DNADR ECSTEER # ECSTEER,+1
+ 1DNADR DELVTPF # DELVTPF,+1
+ 2DNADR TCDH # CDH AND CSI TIME (32-33)
+ 1DNADR TPASS4 # TPASS4,+1
+ 3DNADR DELVSLV # DELVSLV,+1...+4,+5
+ 2DNADR RANGE # RANGE,+1,RRATE,+1
+ DNPTR CMREND04 # COMMON DATA
+ 1DNADR TIME2 # TIME2,TIME1
+ DNPTR CMREND05 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMREND02 # COLLECT SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMREND03 # COMMON DATA
+ DNPTR CMREND06 # COMMON DATA
+ 1DNADR DIFFALT # CDH DELTA ALTITUDE
+ 1DNADR CENTANG # CENTANG,+1
+ 1DNADR DELTAR # DELTAR,+1
+ 3DNADR DELVEET3 # DELVEET3,+1,...,+4,+5
+ 1DNADR OPTMODES # OPTMODES,HOLDFLAG
+ DNPTR CMREND07 # COMMON DATA
+ 1DNADR RTHETA # RTHETA,+1
+ 2DNADR LAT(SPL) # LAT(SPL),LNG(SPL),+1
+ 2DNADR VPRED # VPRED,+1,GAMMAEI,+1
+ -1DNADR STATE +10D # FLAGWRDS 10 AND 11
+
+# --------------------- SUB LISTS ----------------------------
+
+CMREND01 EQUALS CMPOWE01 # COMMON DOWNLIST DATA
+
+CMREND02 EQUALS CMPOWE02 # COMMON DOWNLIST DATA
+
+CMREND03 EQUALS CMPOWE03 # COMMON DOWNLIST DATA
+
+CMREND04 EQUALS CMPOWE04 # COMMON DOWNLIST DATA
+# Page 176
+CMREND05 EQUALS CMPOWE05 # COMMON DOWNLIST DATA
+
+CMREND06 EQUALS CMPOWE06 # COMMON DOWNLIST DATA
+
+CMREND07 EQUALS CMPOWE07 # COMMON DOWNLIST DATA
+
+# ------------------------------------------------------------
+
+# Page 177
+# CSM ENTRY AND UPDATE DOWNLIST
+# --------------------- CONTROL LIST -------------------------
+
+CMENTRDL EQUALS # SEND ID BY SPECIAL CODING
+ DNPTR CMENTR01 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMENTR02 # COLLECT SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMENTR03 # COMMON DATA
+ 2DNADR CMDAPMOD # CMDAPMOD,PREL,QREL,RREL
+ 1DNADR L/D1 # L/D1,+1
+ 6DNADR UPBUFF # UPBUFF,+1,...+10,+11
+ 4DNADR UPBUFF +12D # UPBUFF+12,13,...+18,+19D
+ 2DNADR COMPNUMB # COMPNUMB,UPOLDMOD,UPVERB,UPCOUNT
+ 1DNADR PAXERR1 # PAXERR1,ROLLTM
+ 3DNADR LATANG # LATANG,+1,RDOT,+1,THETAH,+1
+ 2DNADR LAT(SPL) # LAT(SPL),+1,LNG(SPL),+1
+ 1DNADR ALFA/180 # ALFA/180,BETA/180
+ DNPTR CMENTR04 # COMMON DATA
+ 1DNADR TIME2 # TIME2,TIME1
+ DNPTR CMENTR05 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMENTR02 # COLLECT SNAPSHOT
+ 4DNADR DNTMBUFF # SENT SNAPSHOT
+ 2DNADR AK # AK,AK1,AK2,RCSFLAGS
+ 3DNADR ERRORX # ERRORX/Y/Z,THETADX/Y/Z
+ 2DNADR CMDAPMOD # CMDAPMOD,PREL,QREL,RREL
+ 6DNADR UPBUFF # UPBUFF+0,+1,...+10,+11D
+ 4DNADR UPBUFF +12D # UPBUFF+12,+13,...+18,+19D
+ 1DNADR LEMMASS # LEMMASS,CSMMASS
+ 1DNADR DAPDATR1 # DAPDATR1,DAPDATR2
+ 1DNADR ROLLTM # ROLLTM,ROLLC
+ 1DNADR OPTMODES # OPTMODES,HOLDFLAG
+ 3DNADR WBODY # WBODY,...+5/OMEGAC,...+5
+ 2DNADR REDOCTR # REDOCTR,THETAD+0,+1,+2
+ 1DNADR IMODES30 # IMODES30,IMODES33
+ DNCHAN 11 # CHANNELS 11,12
+ DNCHAN 13 # CHANNELS 13,14
+ DNCHAN 30 # CHANNELS 30,31
+ DNCHAN 32 # CHANNELS 32,33
+ 1DNADR RSBBQ # RSBBQ,+1
+ 3DNADR CADRFLSH # CADRFLSH,+1,+2,FAILREG,+1,+2
+ 1DNADR STATE +10D # FLAGWRDS 10 AND 11
+ -1DNADR GAMMAEI # GAMMAEI,+1
+
+# --------------------- SUB LISTS ----------------------------
+
+CMENTR01 EQUALS CMPOWE01 # COMMON DOWNLIST DATA
+# Page 178
+CMENTR02 EQUALS CMPOWE02 # COMMON DOWNLIST DATA
+
+CMENTR03 EQUALS CMPOWE03 # COMMON DOWNLIST DATA
+
+CMENTR04 EQUALS CMPOWE04 # COMMON DOWNLIST DATA
+
+CMENTR05 -1DNADR DELV # DELV,+1 SNAPSHOT DATA
+ 1DNADR DELV +2 # DELV+2,+3
+ 1DNADR DELV +4 # DELV+4,+5
+ 1DNADR TTE # TTE,+1
+ 1DNADR VIO # VIO,+1
+ 1DNADR VPRED # VPRED,+1
+ -1DNADR PIPTIME1 # PIPTIME1,+1
+
+CMENTR07 EQUALS CMPOWE07 # COMMON DOWNLIST DATA
+
+# -------------------------------------------------------------
+
+# Page 179
+# --------------------- CONTROL LIST --------------------------
+
+CMPG22DL EQUALS # SEND ID BY SPECIAL CODING
+ DNPTR CMPG2201 # COLLECT SNAPSHOT
+ 6DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMPG2202 # COLLECT SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMPG2203 # COMMON DATA
+ 6DNADR SVMRKDAT # LANDING SITE MARK DATA
+ 6DNADR SVMRKDAT +12D # SVMRKDAT+0,...+34
+ 6DNADR SVMRKDAT +24D # LANDING SITE MARK DATA
+ 1DNADR LANDMARK # LANDMARK,GARBAGE
+ 1DNADR SPARE
+ 1DNADR SPARE
+ 1DNADR SPARE
+ DNPTR CMPG2204 # COMMON DATA
+ 1DNADR TIME2 # TIME2,TIME1
+ DNPTR CMPG2205 # COLLECT SNAPSHOT
+ 2DNADR DNTMBUFF # SEND SNAPSHOT
+ 1DNADR SPARE
+ 1DNADR SPARE
+ 1DNADR SPARE
+ 1DNADR SPARE
+ DNPTR CMPG2202 # COLLECT SNAPSHOT
+ 4DNADR DNTMBUFF # SEND SNAPSHOT
+ DNPTR CMPG2203 # COMMON DATA
+ DNPTR CMPG2206 # COMMON DATA
+ 1DNADR 8NN # 8NN,GARBAGE
+ 1DNADR STATE +10D # FLAGWRDS 10 AND 11
+ 3DNADR RLS # RLS,+1,...+4,+5
+ 1DNADR SPARE
+ 1DNADR OPTMODES # OPTMODES,HOLDFLAG
+ DNPTR CMPG2207 # COMMON DATA
+ 1DNADR SPARE
+ 1DNADR SPARE
+ 1DNADR SPARE
+ 1DNADR SPARE
+ 1DNADR SPARE
+ -1DNADR SPARE
+
+# --------------------- SUB LISTS --------------------------
+
+CMPG2201 EQUALS CMPOWE01 # COMMON DOWNLIST DATA
+
+CMPG2202 EQUALS CMPOWE02 # COMMON DOWNLIST DATA
+
+CMPG2203 EQUALS CMPOWE03 # COMMON DOWNLIST DATA
+# Page 180
+CMPG2204 EQUALS CMPOWE04 # COMMON DOWNLIST DATA
+
+CMPG2205 -1DNADR LONG # LONG,+1 SNAPSHOT DATA
+ 1DNADR ALT # ALT,+1
+ -1DNADR LAT # LAT,+1
+
+CMPG2206 EQUALS CMPOWE06 # COMMON DOWNLIST DATA
+
+CMPG2207 EQUALS CMPOWE07 # COMMON DOWNLIST DATA
+
+# -----------------------------------------------------------
+
+DNTABLE GENADR CMCSTADL
+ GENADR CMENTRDL
+ GENADR CMRENDDL
+ GENADR CMPOWEDL
+ GENADR CMPG22DL
+
+# -----------------------------------------------------------
+
diff --git a/DOWN_TELEMETRY_PROGRAM.s b/DOWN_TELEMETRY_PROGRAM.s
new file mode 100644
index 0000000..1a72d0a
--- /dev/null
+++ b/DOWN_TELEMETRY_PROGRAM.s
@@ -0,0 +1,455 @@
+# Copyright: Public domain.
+# Filename: DOWN_TELEMETRY_PROGRAM.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 988-997
+# Mod history: 2009-05-24 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 988
+# PROGRAM NAME -- DOWN TELEMETRY PROGRAM
+# MOD NO. -- 0 TO COMPLETELY REWRITE THE DOWN TELEMETRY PROGRAM AND DOWNLINK ERASABLE DUMP PROGRAM FOR THE
+# PURPOSE OF SAVING APPROXIMATELY 150 WORDS OF CORE STORAGE.
+# THIS CHANGE REQUIRES AN ENTIRELY NEW METHOD OF SPECIFYING DOWNLINK LISTS. REFER TO DOWNLINK
+# LISTS LOG SECTION FOR MORE DETAILS. HOWEVER THIS CHANGE WILL NOT AFFECT THE GROUND PROCESSING
+# OF DOWN TELEMETRY DATA.
+# MOD BY -- KILROY, SMITH, DEWITT
+# DATE -- 02 OCT 67
+# AUTHORS -- KILROY, SMITH, DWWITT, DEWOLF, FAGIN
+# LOG SECTION -- DOWN-TELEMETRY PROGRAM
+#
+# FUNCTIONAL DESCRIPTION -- THIS ROUTINE IS INITIATED BY TELEMETRY END
+# PULSE FROM THE DOWNLINK TELEMETRY CONVERTER. THIS PULSE OCCURS
+# AT 50 TIMES PER SEC (EVERY 20 MS) THEREFORE DODOWNTM IS
+# EXECUTED AT THESE RATES. THIS ROUTINE SELECTS THE APPROPRIATE
+# AGC DATA TO BE TRANSMITTED DOWNLINK AND LOADS IT INTO OUTPUT
+# CHANNELS 34 AND 35. THE INFORMATION IS THEN GATED OUT FROM THE
+# LGC IN SERIAL FASHION.
+#
+# THIS PROGRAM IS CODED FOR A 2 SECOND DOWNLIST. SINCE DOWNRUPTS
+# OCCUR EVERY 20 MS AND 2 AGC COMPUTER WORDS CAN BE PLACED IN
+# CHANNELS 34 AND 35 DURING EACH DOWNRUPT THE PROGRAM IS CAPABLE
+# OF SENDING 200 AGC WORDS EVERY 2 SECONDS.
+#
+# CALLING SEQUENCE -- NONE
+# PROGRAM IS ENTERED VIA TCF DODOWNTM WHICH IS EXECUTED AS A
+# RESULT OF A DOWNRUPT. CONTROL IS RETURNED VIA TCF RESUME WHICH
+# IN EFFECT IS A RESUME.
+#
+# SUBROUTINES CALLED -- NONE
+#
+# NORMAL EXIT MODE -- TCF RESUME
+#
+# ALARM OR ABORT EXIT MODE -- NONE
+#
+# RESTART PROTECTION:
+# ON A FRESH START AND RESTART THE `STARTSUB' SUBROUTINE WILL INITIALIZE THE DOWNLIST POINTER (ACTUALLY
+# DNTMGOTO) TO THE BEGINNING OF THE CURRENT DOWNLIST (I.E., CURRENT CONTENTS OF DNLSTADR). THIS HAS THE
+# EFFECT OF IGNORING THE REMAINDER OF THE DOWNLIST WHICH THE DOWN-TELEMETRY PROGRAM WAS WORKING ON WHEN
+# THE RESTART (OR FRESH START) OCCURRED AND RESUME DOWN TELEMETRY FROM THE BEGINNING OF THE CURRENT
+# DOWNLIST.
+#
+# ALSO OF INTEREST IS THE FACT THAT ON A RESTART THE AGC WILL ZERO DOWNLINK CHANNELS 13, 34 AND 35.
+#
+# DOWNLINK LIST SELECTION:
+# THE APPROPRIATE DOWNLINK LISTS ARE SELECTED BY THE FOLLOWING:
+# 1. FRESH START
+# 2. V37EXXE WHERE XX = THE MAJOR MODE BEING SELECTED.
+# 3. UPDATE PROGRAM (P27)
+# 4. NON-V37 SELECTABLE TYPE PROGRAMS (E.G., AGS INITIALIZATION (SUNDANCE, LUMINARY) AND P61-P62
+# TRANSITION (COLOSSUS) ETC.).
+#
+# DOWNLINK LIST RULES AND LIMITATIONS:
+# READ SECTION(S) WHICH FOLLOW `DEBRIS' WRITEUP.
+#
+# OUTPUT -- EVERY 2 SECONDS 100 DOUBLE PRECISION WORDS (I.E., 200 LGC
+# COMPUTER WORDS) ARE TRANSMITTED VIA DOWNLINK.
+#
+# ERASABLE INITIALIZATION REQUIRED -- NONE
+# `DNTMGOTO' AND `DNLSTADR' ARE INITIALIZED BY THE FRESH START PROGRAM.
+#
+# DEBRIS (ERASABLE LOCATIONS DESTROYED BY THIS PROGRAM) --
+# LDATALST, DNTMBUFF TO DNTMBUFF +21D, TMINDEX, DNQ.
+# Page 989 (empty page)
+# Page 990
+# DODOWNTM IS ENTERED EVERY 20 MS BY AN INTERRUPT TRIGGERED BY THE
+# RECEIPT OF AN ENDPULSE FROM THE SPACECRAFT TELEMETRY PROGRAMMER.
+#
+# NOTES REGARDING DOWNLINK LISTS ASSOCIATED WITH THIS PROGRAM:
+# 1. DOWNLISTS. DOWNLISTS MUST BE COMPILED IN THE SAME BANK AS THE
+# DOWN-TELEMETRY PROGRAM. THIS IS DONE FOR EASE OF CODING, FASTER
+# EXECUTION.
+# 2. EACH DOWNLINK LIST CONSISTS OF A CONTROL LIST AND A NUMBER OF
+# SUBLISTS.
+# 3. A SUBLIST REFERS TO A SNAPSHOT OR DATA COMMON TO THE SAME OR OTHER
+# DOWNLINK LISTS. ANY SUBLIST CONTAINING COMMON DATA NEEDS TO BE
+# CODED ONLY ONCE FOR THE APPLICABLE DOWNLINK LISTS.
+# 4. SNAPSHOT SUBLISTS REFER SPECIFICALLY TO HOMOGENEOUS DATA WHICH MUST BE
+# SAVED IN A BUFFER DURING ONE DOWNRUPT.
+# 5. THE 1DNADR FOR THE 1ST WORD OF SNAPSHOT DATA IS FOUND AT THE END
+# OF EACH SNAPSHOT SUBLIST, SINCE THE PROGRAM CODING SENDS THIS DP WORD
+# IMMEDIATELY AFTER STORING THE OTHERS IN THE SNAPSHOT BUFFER.
+# 6. ALL LISTS ARE COMBINATIONS OF CODED ERASABLE ADDRESS CONSTANTS
+# CREATED FOR THE DOWNLIST PROGRAM.
+# A. 1DNADR 1-WORD DOWNLIST ADDRESS.
+# SAME AS ECADR, BUT USED WHEN THE WORD ADDRESSED IS THE LEFT
+# HALF OF A DOUBLE-PRECISION WORD FOR DOWN TELEMETRY.
+# B. 2DNADR - 6DNADR N-WORD DOWNLIST ADDRESS, N = 2 - 6.
+# SAME AS 1DNADR, BUT WTIH THE 4 UNUSED BITS OF THE ECADR FORMAT
+# FILLED IN WITH 0001-0101. USED TO POINT TO A LIST OF N DOUBLE-
+# PRECISION WORDS, STORED CONSECUTIVELY, FOR DOWN TELEMETRY.
+# C. DNCHAN DOWNLIST CHANNEL ADDRESS.
+# SAME AS 1DNADR, BUT WITH PREFIX BITS 0111. USED TO POINT TO
+# A PAIR OF CHANNELS FOR DOWN TELEMETRY.
+# D. DNPTR DOWN-TELEMETRY SUBLIST POINTER.
+# SAME AS CAF BUT TAGGED AS A CONSTANT. USED IN CONTROL LIST TO POINT TO A SUBLIST.
+# CAUTION --- A DNPTR CANNOT BE USED IN A SUBLIST.
+# 7. THE WORD ORDER CODE IS SET TO ZERO AT THE BEGINNING OF EACH DOWNLIST (I.E., CONTROL LIST) AND WHEN
+# A `1DNADR TIME2' IS DETECTED IN THE CONTROL LIST (ONLY).
+# 8. IN THE SNAPSHOT SUBLIST ONLY, THE DNADR'S CANNOT POINT TO THE FIRST WORD OF ANY EBANK.
+#
+# DOWNLIST LIST RESTRICTIONS:
+# (THE FOLLOWING POINTS MAY BE LISTED ELSEWHERE BUT ARE LISTED HERE SO IT IS CLEAR THAT THESE THINGS CANNOT BE
+# DONE)
+# 1. SNAPSHOT DOWNLIST:
+# (A) CANNOT CONTAIN THE FOLLOWING ECADRS (I.E., 1DNADR'S): Q, 400, 1000, 1400, 2000, 2400, 3000, 3400.
+# (B) CAN CONTAIN ONLY 1DNADR'S
+# 2. ALL DOWNLINKED DATA (EXCEPT CHANNELS) IS PICKED UP BY A DCA SO DOWNLINK LISTS CANNOT CONTAIN THE
+# EQUIVALENT OF THE FOLLOWING ECADRS (I.E., 1DNADRS): 377, 777, 1377, 1777, 2377, 2777, 3377, 3777.
+# (NOTE: THE TERM `EQUIVALENT' MEANT THAT THE 1DNADR TO 6DNADR WILL BE PROCESSED LIKE 1 TO 6 ECADRS)
+# 3. CONTROL LISTS AND SUBLISTS CANNOT HAVE ENTRIES = OCTAL 00000 OR OCTAL 77777
+# Page 991
+# 4. THE `1DNADR TIME2' WHICH WILL CAUSE THE DOWNLINK PROGRAM TO SET THE WORDER CODE TO 3 MUST APPEAR IN THE
+# CONTROL SECTION OF THE DOWNLIST.
+# 5. `DNCHAN 0' CANNOT BE USED.
+# 6. `DNPTR 0' CANNOT BE USED.
+# 7. DNPTR CANNOT APPEAR IN A SUBLIST.
+#
+# EBANK SETTINGS
+# IN THE PROCESS OF SETTING THE EBANK (WHEN PICKING UP DOWNLINK DATA) THE DOWN TELEMETRY PROGRAM PUTS
+# `GARBAGE' INTO BITS15-12 OF EBANK. HUGH BLAIR-SMITH WARNS US THAT BITS15-12 OF EBANK MAY BECOME
+# SIGNIFICANT SOMEDAY IN THE FUTURE. IF/WHEN THAT HAPPENS, THE PROGRAM SHOULD INSURE (BY MASKING ETC.)
+# THAT BITS 15-12 OF EBANK ARE ZERO.
+#
+# INITIALIZATION REQUIRED -- TO INTERRUPT CURRENT LIST AND START A NEW ONE.
+# 1. ADRES OF DOWNLINK LIST INTO DNLSTADR
+# 2. NEGONE INTO SUBLIST
+# 3. NEGONE INTO DNECADR
+
+ BANK 22
+ SETLOC DOWNTELM
+ BANK
+
+ EBANK= DNTMBUFF
+
+ COUNT* $$/DPROG
+DODOWNTM TS BANKRUPT
+ EXTEND
+ QXCH QRUPT # SAVE Q
+ TCF WOTEST
+WO1 EXTEND # SET WORD ORDER BIT TO 1 ONLY IF IT
+ WOR CHAN13 # ALREADY ISN'T
+ TC DNTMGOTO # GOTO APPROPRIATE PHASE OF PROGRAM
+
+DNPHASE1 CA NEGONE # INITIALIZE ALL CONTROL WORDS
+ TS SUBLIST # WORDS TO MINUS ONE
+ TS DNECADR
+ CA LDNPHAS2 # SET DNTMGOTO = 0 ALL SUSEQUENT DOWRUPTS
+ TS DNTMGOTO # GO TO DNPHASE2
+ TCF NEWLIST
+DNPHASE2 CCS DNECADR # SENDING OF DATA IN PROGRESS
+DODNADR TC FETCH2WD # YES -- THEN FETCH THE NEXT 2 SP WORDS
+MINTIME2 -1DNADR TIME2 # NEGATIVE OF TIME2 1DNADR
+ TCF +1 # (ECADR OF 3776 + 74001 = 77777)
+
+ CCS SUBLIST # IS THE SUBLIST IN CONTROL
+ TCF NEXTINSL # YES
+# Page 992
+DNADRDCR OCT 74001 # DNADR COUNT AND ECADR DECREMENTER
+
+CHKLIST CA CTLIST
+ EXTEND
+ BZMF NEWLIST # IT WILL BE NEGATIVE AT END OF LIST
+ TCF NEXTINCL
+NEWLIST INDEX DNLSTCOD
+ CA DNTABLE # INITIALIZE CTLIST WITH
+ TS CTLIST # STARTING ADDRESS OF NEW LIST
+ CS DNLSTCOD
+ TCF SENDID +3
+NEXTINCL INDEX CTLIST
+ CA 0
+ CCS A
+ INCR CTLIST # SET POINTER TO PICK UP NEXT CTLIST WORD
+ TCF +4 # ON NEXT ENTRY TO PROG. (A SHOULD NOT =0)
+ XCH CTLIST # SET CTLIST TO NEGATIVE AND PLACE(CODING)
+ COM # UNCOMPLEMENTED DNADR INTO A. (FOR LA)
+ XCH CTLIST # (ST IN )
+ +4 INCR A # (CTLIST)
+ TS DNECADR # SAVE DNADR
+ AD MINTIME2 # TEST FOR TIME2 (NEG. OF ECADR)
+ CCS A
+ TCF SETWO +1 # DON'T SET WORD ORDER CODE
+MINB1314 OCT 47777 # MINUS BIT 13 AND 14 (CAN'T GET HERE)
+ TCF SETWO +1 # DON'T SET WORD ORDER CODE
+SETWO TC WOZERO # GO SET WORD ORDER CODE TO ZERO.
+ +1 CA DNECADR # RELOAD A WITH THE DNADR.
+ +2 AD MINB1314 # IS THIS A REGULAR DNADR?
+ EXTEND
+ BZMF FETCH2WD # YES. (A MUST NEVER BE ZERO)
+ AD MINB12 # NO. IS IT A POINTER (DNPTR) OR A
+ EXTEND # CHANNEL(DNCHAN)
+ BZMF DODNPTR # IT'S A POINTER. (A MUST NEVER BE ZERO)
+
+DODNCHAN TC 6 # (EXECUTED AS EXTEND) IT'S A CHANNEL
+ INDEX DNECADR
+ INDEX 0 -4000 # (EXECUTED AS READ)
+ TS L
+ TC 6 # (EXECUTED AS EXTEND)
+ INDEX DNECADR
+ INDEX 0 -4001 # (EXECUTED AS READ)
+ TS DNECADR # SET DNECADR
+ CA NEGONE # TO MINUS
+ XCH DNECADR # WHILE PRESERVING A.
+ TCF DNTMEXIT # GO SEND CHANNELS
+
+WOZERO CS BIT7
+ EXTEND
+ WAND CHAN13 # SET WORD ORDER CODE TO ZERO
+# Page 993
+ TC Q # RETURN TO CALLER
+
+DODNPTR INDEX DNECADR # DNECADR CONTAINS ADRES OF SUBLIST
+ 0 0 # CLEAR AND ADD LIST ENTRY INTO A.
+ CCS A # IS THIS A SNAPSHOT SUBLIST
+ CA DNECADR # NO, IT IS A REGULAR SUBLIST.
+ TCF DOSUBLST # A MUST NOT BE ZERO.
+
+ XCH DNECADR # YES. IT IS A SNAPSHOT SUBLIST.
+ TS SUBLIST # C(DNECADR) INTO SUBLIST
+ CAF ZERO # A INTO A
+ XCH TMINDEX # (NOTE: TMINDEX = DNECADR)
+
+# THE FOLLOWING CODING (FROM SNAPLOOP TO SNAPEND) IS FOR THE PURPOSE OF TAKING A SNAPSHOT OF 12 DP REGISTERS.
+# THIS IS DONE BY SAVING 11 DP REGISTERS IN DNTMBUFF AND SENDING THE FIRST DP WORD IMMEDIATELY.
+# THE SNAPSHOT PROCESSING IS THE MOST TIME CONSUMING AND THEREFORE THE CODING AND LIST STRUCTURE WERE DESIGNED
+# TO MINIMIZE TIME. THE TIME OPTIMIZATION RESULTS IN RULES UNIQUE TO THE SNAPSHOT PORTION OF THE DOWNLIST.
+# THESE RULES ARE ......
+# 1. ONLY 1DNADR'S CAN APPEAR IN THE SNAPSHOT SUBLIST
+# 2. THE 1DNADR'S CANNOT REFER TO THE FIRST LOCATION IN ANY BANK.
+
+SNAPLOOP TS EBANK # SET EBANK
+ MASK LOW8 # ISOLATE RELATIVE ADDRESS
+ EXTEND
+ INDEX A
+ EBANK= 1401
+ DCA 1401 # PICK UP 2 SNAPSHOT WORDS.
+ EBANK= DNTMBUFF
+ INDEX TMINDEX
+ DXCH DNTMBUFF # STORE 2 SNAPSHOT WORDS IN BUFFER
+ INCR TMINDEX # SET BUFFER INDEX FOR NEXT 2 WORDS.
+ INCR TMINDEX
+SNAPAGN INCR SUBLIST # SET POINTER TO NEXT 2 WORDS OF SNAPSHOT
+ INDEX SUBLIST
+ 0 0 # = CA SSSS (SSSS = NEXT ENTRY IN SUBLIST)
+ CCS A # TEST FOR LAST TWO WORDS OF SNAPSHOT.
+ TCF SNAPLOOP # NOT LAST TWO.
+LDNPHAS2 GENADR DNPHASE2
+ TS SUBLIST # YES, LAST. SAVE A.
+ CA NEGONE # SET DNECADR AND
+ TS DNECADR # SUBLIST POINTERS
+ XCH SUBLIST # TO NEGATIVE VALUES
+ TS EBANK
+ MASK LOW8
+ EXTEND
+ INDEX A
+ EBANK= 1401
+ DCA 1401 # PICK UP FIRST 2 WORDS OF SNAPSHOT.
+# Page 994
+ EBANK= DNTMBUFF
+SNAPEND TCF DNTMEXIT # NOW TO SEND THEM.
+
+FETCH2WD CA DNECADR
+ TS EBANK # SET EBANK
+ MASK LOW8 # ISOLATE RELATIVE ADDRESS
+ TS L
+ CA DNADRDCR # DECREMENT COUNT AND ECADR
+ ADS DNECADR
+ EXTEND
+ INDEX L
+ EBANK= 1400
+ DCA 1400 # PICK UP 2 DATA WORDS
+ EBANK= DNTMBUFF
+ TCF DNTMEXIT # NOW GO SEND THEM.
+
+DOSUBLST TS SUBLIST # SET SUBLIST POINTER
+NEXTINSL INDEX SUBLIST
+ 0 0 # = CA SSSS (SSSS = NEXT ENTRY IN SUBLIST)
+ CCS A # IS IT THE END OF THE SUBLIST
+ INCR SUBLIST # NO --
+ TCF +4
+ TS SUBLIST # SAVE A.
+ CA NEGONE # SET SUBLIST TO MINUS
+ XCH SUBLIST # RETRIEVE A.
+ +4 INCR A
+ TS DNECADR # SAVE DNADR
+ TCF SETWO +2 # GO USE COMMON CODING (PROLEMS WOULD
+ # OCCUR IF THE PROGRAM ENCOUNTERED A
+ # DNPTR NOW)
+
+DNTMEXIT EXTEND # DOWN-TELEMETRY EXIT
+ WRITE DNTM1 # TO SEND A + L TO CHANNELS 34 + 35
+ CA L # RESPECTIVELY
+TMEXITL EXTEND
+ WRITE DNTM2
+TMRESUME TCF RESUME # EXIT TELEMTRY PROGRAM VIA RESUME.
+
+MINB12 EQUALS -1/8
+DNECADR EQUALS TMINDEX
+CTLIST EQUALS LDATALST
+SUBLIST EQUALS DNQ
+
+# Page 995
+# SUBROUTINE NAME -- DNDUMP
+#
+# FUNCTIONAL DESCRIPTION -- TO SEND (DUMP) ALL ERASABLE STORAGE 'N' TIMES. (N=1 TO 4). BANKS ARE SENT ONE AT A TIME
+# EACH BANK IS PRECEDED BY AN ID WORD, SYNCH BITS, ECADR AND TIME1 FOLLOWED BY THE 256D WORDS OF EACH
+# EBANK. EBANKS ARE DUMPED IN ORDER (I.E., EBANK 0 FIRST, THEN EBANK1 ETC.)
+#
+# CALLING SEQUENCE -- THE GROUND OR ASTRONAUT BY KEYING V74E CAN INITIALIZE THE DUMP.
+# AFTER KEYING IN V74E THE CURRENT DOWNLIST WILL BE IMMEDIATELY TERMINATED AND THE DOWNLINK ERASABLE DUMP
+# WILL BEGIN.
+#
+# ONCE INITITIATED THE DOWNLINK ERASABLE DUMP CAN BE TERMINATED (AND INTERRUPTED DOWNLIST REINSTATED) ONLY
+# BY THE FOLLOWING:
+#
+# 1. A FRESH START
+# 2. COMPLETION OF ALL DOWNLINK DUMPS REQUESTED (ACCORDING TO BITS SET IN DUMPCNT). NOTE THAT DUMPCNT
+# CAN BE ALTERED BY A V21N01.
+# 3. AND INVOLUNTARILY BY A RESTART.
+#
+# NORMAL EXIT MODE -- TCF DNPHASE1
+#
+# ALARM OR ABORT MODE -- NONE
+#
+# *SUBROUTINES CALLED -- NONE
+#
+# ERASABLE INITIALIZATION REQUIRED --
+# DUMPCNT OCT 20000 IF 4 COMPLETE ERASABLE DUMPS ARE DESIRED
+# DUMPCNT OCT 10000 IF 2 COMPLETE ERASABLE DUMPS ARE DESIRED
+# DUMPCNT OCT 04000 IF 1 COMPLETE ERASABLE DUMP IS DESIRED
+#
+# DEBRIS -- DUMPLOC, DUMPSW, DNTMGOTO, EBANK, AND CENTRAL REGISTERS
+#
+# TIMING -- TIME (IN SECS) = ((NO.DUMPS)*(NO.EBANKS)*(WDSPEREBANK + NO.IDWDS)) / NO.WDSPERSEC
+# TIME (IN SECS) = ( 4 )*( 8 )*( 256 + 4 ) / 100
+# THUS TIME (IN SECS TO SEND DUMP OF ERASABLE 4 TIMES VIA DOWNLINK) = 83.2 SECONDS
+#
+# STRUCTURE OF ONE EBANK AS IT IS SENT BY DOWNLINK PROGRAM --
+# (REMINDER -- THIS ONLY DESCRIBES ONE OF THE 8 EBANKS X 4 (DUMPS) = 32 EBANKS WHICH WILL BE SENT BY DNDUMP)
+#
+# DOWNLIST W
+# WORD TAKEN FROM CONTENTS OF EXAMPLE O COMMENTS
+# 1 ERASID 0177X 0 DOWNLIST I.D. FOR DOWNLINK ERASABLE DUMP (X=7 CSM, 6 LM)
+# 2 LOWIDCOD 77340 1 DOWNLINK SYNCH BITS. (SAME ONE USED IN ALL OTHER DOWNLISTS)
+# 3 DUMPLOC 13400 1 (SEE NOTES ON DUMPLOC) 1 = 3RD ERAS DUMP, 3400=ECADR OF 5TH WD
+# 4 TIME1 14120 1 TIME IN CENTISECONDS
+# 5 FIRST WORD OF EBANK X 03400 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1400 (ECADR 3400)
+# 6 2ND WORD OF EBANK X 00142 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1401 (ECADR 3401)
+# 7 3RD WORD OF EBANK X 00142 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1402 (ECADR 3402)
+# .
+# .
+# .
+# 260D 256TH WORD OF EBANK X 03777 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1777 (ECADR 3777)
+#
+# NOTE -- DUMPLOC CONTAINS THE COUNTER AND ECADR FOR EACH WORD BEING SENT.
+# THE BIT STRUCTURE OF DUMPLOC IS FOLLOW --
+# X = NOT USED
+# X ABC EEE RRRRRRRR ABC = ERASABLE DUMP COUNTER (I.E. ABC = 0,1,2, OR 3 WHICH MEANS THAT
+# COMPLETE ERASABLE DUMP NUMBER 1,2,3, OR 4 RESPECTIVELY IS IN PROGRESS)
+# EEE = EBANK BITS
+# RRRRRRRR = RELATIVE ADDRESS WITHIN AN EBANK
+
+# Page 996
+DNDUMPI CA ZERO # INITIALIZE DOWNLINK
+ TS DUMPLOC # ERASABLE DUMP
+ +2 TC SENDID # GO SEND ID AND SYNCH BITS
+ CA LDNDUMP1 # SET DNTMGOTO
+ TS DNTMGOTO # TO LOCATION FOR NEXT PASS
+ CA TIME1 # PLACE TIME1
+ XCH L # INTO L
+ CA DUMPLOC # AND ECADR OF THIS EBANK INTO A
+ TCF DNTMEXIT # SEND DUMPLOC AND TIME1
+
+LDNDUMP ADRES DNDUMP
+LDNDUMP1 ADRES DNDUMP1
+
+DNDUMP CA TWO # INCREMENT ECADR IN DUMPLOC
+ ADS DUMPLOC # TO NEXT DP WORD TO BE
+ MASK LOW8 # DUMPED AND SAVE IT.
+ CCS A # IS THIS THE BEGINNING OF A NEW EBANK
+ TCF DNDUMP2 # NO -- THEN CONTINUE DUMPING
+ CA DUMPLOC # YES -- IS THIS THE END OF THE
+ MASK DUMPCNT # N TH (N = 1 TO 4) COMPLETE ERASABLE
+ MASK PRIO34 # DUMP (BIT14 FOR 4, BIT13 FOR 2 OR BIT12
+ CCS A # FOR 1 COMPLETE ERASABLE DUMP(S)).
+ TCF DNPHASE1 # YES -- START SENDING INTERRUPTED DOWNLIST
+ # AGAIN
+ TCF DNDUMPI +2 # NO -- GO BACK AND INITIALIZE NEXT BANK
+
+DNDUMP1 CA LDNDUMP # SET DNTMGOTO
+ TS DNTMGOTO # FOR WORDS 3 TO 256D OF CURRENT EBANK
+
+DNDUMP2 CA DUMPLOC
+ TS EBANK # SET EBANK
+ MASK LOW8 # ISOLATE RELATIVE ADDRESS.
+ TS Q # (NOTE: MASK INSTRUCTION IS USED TO PICK
+ CA NEG0 # UP ERASABLE REGISTERS SO THAT EDITING
+ TS L # REGISTERS 20-23 WILL NOT BE ALTERED.)
+ INDEX Q
+ EBANK= 1400 # PICK UP LOW ORDER REGISTER OF PAIR
+ MASK 1401 # OF ERASABLE REGISTERS.
+ XCH L
+ INDEX Q # PICK UP HIGH ORDER REGISTER OF PAIR
+ MASK 1400 # OF ERASABLE REGISTERS.
+ EBANK= DNTMBUFF
+ TCF DNTMEXIT # GO SEND THEM
+
+SENDID EXTEND # ** ENTRANCE USED BY ERASABLE DUMP PROG. **
+ QXCH DNTMGOTO # SET DNTMGOTO SO NEXT TIME PROG WILL GO
+ CAF ERASID # TO LOCATION FOLLOWING `TC SENDID'
+
+ TS L # ** ENTRANCE USED BY REGULAR DOWNLINK PG **
+# Page 997
+ TC WOZERO # GO SET WORD ORDER CODE TO ZERO
+ CAF LOWIDCOD # PLACE SPECIAL ID CODE INTO L
+ XCH L # AND ID BACK INTO A
+ TCF DNTMEXIT # SEND DOWNLIST ID CODE(S).
+
+WOTEST CA BIT7 # AT THE BEGINNING OF THE LIST THE WORD
+ EXTEND # ORDER BIT WILL BE SET BACK TO ZERO
+ RAND CHAN13
+ CCS A
+ TC DNTMGOTO
+ CA BIT7
+ TCF WO1
+
diff --git a/ENTRY_LEXICON.s b/ENTRY_LEXICON.s
new file mode 100644
index 0000000..a692067
--- /dev/null
+++ b/ENTRY_LEXICON.s
@@ -0,0 +1,373 @@
+# Copyright: Public domain.
+# Filename: ENTRY_LEXICON.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 837-843
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
+# name and Comanche 055 page images.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 837
+# VARIABLE DESCRIPTION MAXIMUM VALUE * COMPUTER NAME
+# -------- ----------- --------------- -------------
+# _
+# URT0 INITIAL TARGET VECTOR 2 (UNIT VECTOR) = RTINIT
+# _
+# UZ UNIT VECTOR NORTH 1 = UNITW
+# _
+# V VELOCITY VECTOR 2 VSAT = VEL
+# _
+# R POSITION VECTOR 2 EXP 29 METERS = RN
+# _
+# VI INERTIAL VELOCITY 128 M/CENTISEC = VN
+# _
+# RTE VECTOR EAST AT INITIAL TARGET 2 = RTEAST
+# _
+# UTR NORMAL TO RTE AND UZ 2 = RTNORM
+# _
+# URT TARGET VECTOR 2 = RT
+# _
+# UNI UNIT NORMAL TO TRAJECTORY PLANE 2
+# _
+# DELV INTEGRATED ACCEL. FROM PIPAS 5.85 16384 CM/S
+# _
+# G GRAVITY VECTOR 128 M/CENTISEC = GDT/2
+#
+# A0 INITIAL DRAG FOR UPCONTRL 805 FPSS FPSS=FT/SEC/SEC
+#
+# AHOOKDV TERM IN GAMMAL CALC. = AHOOK DVL 16
+#
+# A1 DRAG VALUE IN FACTOR CALCULATION 805 FPSS
+#
+# ALP CONST FOR UPCONTRL 1
+#
+# ASKEP KEPLER RANGE 21600 NM NM = NAUTICAL MILE
+#
+# ASP1 FINAL PHASE RANGE 21600 NM
+#
+# ASPUP UP-RANGE 21600 NM
+#
+# ASP3 GAMMA CORRECTION 21600 NM
+#
+# ASPDWN RANGE DOWN TO PULL-UP 21600 NM
+#
+# ASP PREDICTED RANGE 21600 NM NOT STORED
+#
+# COSG COSINE(GAMMAL) 2 = COSG/2
+#
+# C/D0 RECIPROCAL DRAG, -4/D0 B-8 64/FPSS
+#
+# D TOTAL ACCELERATION 805 FPSS
+#
+# D0 CONTROLLED CONSTANT D 805 FPSS
+#
+# DHOOK TERM IN GAMMAL COMPUTATION 805 FPSS
+#
+# DIFF THETNM-ASP (RANGE DIFFERENCE) 21600 NM
+#
+# DIFFOLD PREVIOUS VALUE OF DIFF 21600 NM
+#
+# DLEWD CHANGE IN LEWD 1
+#
+# DR REFERENCE DRAG FOR DOWNCONTROL 805 FPSS NOT STORED
+#
+# DREFR REFERENCE DRAG 805 FPSS NOT STORED
+#
+# DVL VS1-VL 2 VSAT
+#
+# E ECCENTRICITY 4 NOT STORED
+#
+# F1 DRANGE/D DRAG (FINAL PHASE) 2700/805 = FX +5
+#
+# F2 DRANGE/D RDOT (FINAL PHASE) 2700/2VS NM/FPS = FX +4
+# Page 838
+#
+# F3 DRANGE/D (L/D) 2700 NM = FX
+#
+# FACT1 CONST FOR UPCONTRL 805 FPSS
+#
+# FACT2 CONST FOR UPCONTRL 1/805 FPSS
+#
+# FACTOR USED IN UPCONTRL 1 * MAXIMUM VALUE DENOTES UNSCALED
+# VARIABLE VALUE WHEN SCALED
+# GAMMAL FLIGHT PATH ANGLE AT VL 1 RADIAN VARIABLE HAS MAXIMUM VALUE OF ONE.
+#
+# GAMMAL1 SIMPLE FORM OF GAMMAL 1 RADIAN
+# Page 839
+#
+# HEADSUP INDICATOR FOR INITIAL ROLL 1
+#
+# KA DRAG TO LIFT UP IF DOWN 805 FPSS = KAT
+#
+# KLAT LATERAL SWITCH GAIN 1 (NOM = .0125)
+#
+# K2ROLL INDICATOR FOR ROLL SWITCH
+#
+# LAD MAX L/D (MIN ACTUAL VEHICLE L/D) 1
+#
+# LADPAD NOMINAL VEHICLE L/D, SP PAD LOAD 1 (NOM = 0.3)
+#
+# LATANG LATERAL RANGE 4 RADIANS
+#
+# LEQ EXCESS C.F. OVER GRAV=(VSQ-1)GS 128.8 FPSS
+#
+# LEWD UPCONTROL REFERENCE L/D 1
+#
+# LOD FINAL PHASE L/D 1 (NOM = 0.18)
+#
+# LODPAD FINAL PHASE L/D, SP PAD LOAD 1
+#
+# L/D DESIRED LIFT TO DRAG RATIO 1
+# (VERTICAL PLANE)
+#
+# L/D1 TEMP STORAGE FOR L/D IN LATERAL 1
+#
+# L/DCMINR LAD COS(15DEG) 1 (NOM = 0.2895)
+#
+# PREDANGLE PREDICTED RANGE (FINAL PHASE) 2700 NM = PREDANG
+#
+# Q2 FINAL PHASE RANGE -23500 Q3 21600 NM
+# Q2 = FCN(LAD)
+#
+# Q7 MINIMUM DRAG FOR UPCONTROL 805FPSS
+#
+# RDOT ALTITUDE RATE 2 VSAT
+#
+# RDOTREF REFERENCE RDOT FOR UPCONTROL 2 VSAT
+#
+# RDTR REFERENCE RDOT FOR DOWNCONT 2 VSAT NOT SAVED
+#
+# ROLLC ROLL COMMAND 1 REVOLUTION
+#
+# RTOGO RANGE TO GO (FINAL PHASE) 2700 NM = FX +2
+#
+# SL SINE OF LATITUDE 1 NOT SAVED
+#
+# T TIME B 28 CENTISEC = TIME2,TIME1
+#
+# THETA DESIRED RANGE (RADIANS) 2 PI RADIANS = THETAH
+#
+# THETNM DESIRED RANGE (NM) 21600 NM NON EXISTENT
+#
+# V VELOCITY MAGNITUDE 2 VSAT
+#
+# V1 INITIAL VELOCITY FOR UPCONTROL 2 VSAT
+#
+# VL EXIT VELOCITY FOR UPCONTROL 2 VSAT
+#
+# VREF REFERENCE VELOCITY FOR UPCONTROL 2 VSAT
+#
+# VS1 VSAT OR V1, WHICHEVER IS SMALLER 2 VSAT
+# 2 2
+# VBARS VL /VSAT 4
+# 2 2
+# VSQ NORMALIZED VEL. SQUARED = V /VSAT 4 = VSQUARE
+#
+# WT EARTH RATE TIMES TIME 1 REVOLUTION NOT SAVED
+#
+# X INTERMEDIATE VARIABLE IN G-LIMITER 2 VSAT NOT SAVED
+#
+# Y LATERAL MISS LIMIT 4 RADIANS NOT SAVED
+
+# Page 840
+# EXTRA COMPUTER ERASABLE LOCATIONS NOT SHOWN ON FLOW CHARTS
+# ----------------------------------------------------------
+#
+# VARIABLE DESCRIPTION MAXIMUM VALUE
+# -------- ----------- -------------
+#
+# GOTOADDR ADDRESS SELECTED BY SEQUENCER
+#
+# XPIPBUF BUFFER TO STORE X PIPA COUNTS
+#
+# YPIPBUF BUFFER TO STORE Y PIPA COUNTS
+#
+# ZPIPBUF BUFFER TO STORE Z PIPA COUNTS
+#
+# PIPCTR COUNTS PASSES THRU PIPA READ ROUTINE
+#
+# JJ INDEX IN FINAL PHASE TABLE LOOK-UP
+#
+# MM INDEX IN FINAL PHASE TABLE LOOK-U
+#
+# GRAD INTERPOLATION FACTOR IN FINAL PHASE
+#
+# FX DRANGE/D L/D = F3 2700 NM
+#
+# FX +1 AREF 805 FPSS
+#
+# FX +2 RTOGO 2700 NM
+#
+# FX +3 RDOTREF VSAT/4
+#
+# FX +4 DRANGE/D RDOT = F2 21600/2VS NM/FPS
+#
+# FX +5 DRANGE/D DRAG = F1 2700/805 NM/FPSS
+#
+# TEM1B TEMPORARY LOCATION
+#
+# TIME/RTO TIME OF INITIAL TARGET RTINIT B 28 CENTISEC
+#
+# DTEAROT EST TIME BETWEEN RTINIT AND RT B 28 CENTISEC
+# _
+# UNITV UNIT V VECTOR 2
+# _
+# UNITR UNIT R VECTOR 2
+# _
+# -VREL NEGATIVE VELOCITY REL TO ATMOSP 2 VSAT
+
+# COMPUTER SWITCHES INITIAL STATE CM/FLAGS = STATE +6
+# ----------------- ------------- -------------------
+#
+# ENTRYDSP DO ENTRY DISPLAY, IF SET NON-BRANCH (1) 92D, BIT 13
+# GONEPAST INDICATES OVERSHOOT OF TARGET NON-BRANCH (0) 95D, BIT 10
+# RELVELSW RELATIVE VELOCITY SWITCH NON-BRANCH (0) 96D, BIT 9
+# EGSW FINAL PHASE SWITCH NON-BRANCH (0) 97D, BIT 8
+# FIRSTPAS INITIAL PASS THRU HUNTEST NON-BRANCH (0) 98D, BIT 7
+# HIND INDICATES ITERATION IN HUNTEST NON-BRANCH (0) 99D, BIT 6
+# INRLSW INDICATES INIT ROLL ATTITUDE SET NON-BRANCH (0) 100D, BIT 5
+# LATSW INHIBIT DOWNLIFT SWITCH IF NOT SET BRANCH (1) 101D, BIT 4
+# .05GSW INDICATES DRAG EXCEEDS .05 GS BRANCH (0) 102D, BIT 3
+#
+# GONEBY INDICATES GONE PAST TARGET (SET) SELF-INITIALIZING 112D, BIT 8
+
+# Page 841
+# CONSTANTS AND GAINS VALUE
+# ------------------- -----
+#
+# C1 FACTOR IN ALP COMPUTATION 1.25
+# C16 CONSTD GAIN ON DRAG .01
+# C17 CONSTD GAIN ON RDOT .001
+# C18 BIAS VEL. FOR FINAL PHASE START 500 FPS
+# C20 MAX DRAG FOR DOWN-LIFT 175 FPSS
+# CHOOK FACTOR IN AHOOK COMPUTATION .25
+# CH1 FACTOR IN GAMMAL COMPUTATION 1.0
+# COS15 COS( 15 DEG ) .965
+# DLEWD0 INITIAL VARIATION IN LEWD -.05
+# D2 DRAG TO CHANGE LEWD 175 FPSS
+# DT COMPUTATION CYCLE TIME INTERVAL 2 SEC.
+# GMAX MAXIMUM ACCELERATION 257.6 FPSS (8 G'S)
+# KA1 FACTOR IN KA CALC 1.3 GS
+# KA2 FACTOR IN KA CALC .2 GS
+# KA3 FACTOR IN D0 CALC 90 FPSS
+# KA4 FACTOR IN D0 CALC 40 FPSS
+# KB1 OPTIMIZED UPCONTROL GAIN 3.4
+# KB2 OPTIMIZED UPCONTROL GAIN .0034
+# KDMIN INCREMENT ON Q7 TO DETECT END OF KEPLER PHASE .5 FPSS
+# KTETA TIME OF FLIGHT CONSTANT 1000
+# KLAT1 FACTOR IN KLAT CALC 1/24
+# K44 GAIN USED IN INITIAL ROLL SECTION 19749550 FPS
+# LATBIAS LATERAL SWITCH BIAS TERM .41252961 NM
+# LEWD1 NOMINAL UPCONTROL L/D .15
+# POINT1 FACTOR TO REDUCE UPCONTROL GAIN .1
+# Q2 FINAL PHASE RANGE - 23500 Q3 -1002 NM
+# Q3 FINAL PHASE DRANGE/D V .07 NM/FPS
+# Q5 FINAL PHASE DRANGE/D GAMMA 7050 NM/RAD
+# Q6 FINAL PHASE INITIAL FLIGHT PATH ANGLE .0349 RAD
+# Q7F MIN DRAG FOR UPCONTROL 6 FPSS
+# Q7MIN IN VALUE FOR Q7 IN FACTOR CALCULATION 40 FPSS
+# Q19 FACTOR IN GAMMAL1 CALCULATION .5
+# Q21 FACTOR IN Q2 CALCULATION 1000 NM
+# Q22 FACTOR IN Q2 CALCULATION -1302 NM
+# VFINAL1 VELOCITY TO START FINAL PHASE ON INITIAL ENTRY 27000 FPS
+# VFINAL FACTOR IN INITIAL UP-DOWN CALC 26600 FPS
+# VLMIN MINIMUM VL 18000 FPS
+# VMIN VELOCITY TO SWITCH TO RELATIVE VEL VSAT/2
+# VRCONTRL RDOT TO START INTO HUNTEST 700 FPS
+# VRCONT=COMPUTER NAME
+# 25NM TOLERANCE TO STOP RANGE ITERATION 25 NM
+# VQUIT VELOCITY TO STOP STEERING 1000 FPS
+
+# Page 842
+# CONVERSION FACTORS AND SCALING CONSTANTS
+# ----------------------------------------
+#
+# ATK ANGLE IN RAD TO NM 3437.7468 NM/RAD
+# G5 NOMINAL G VALUE FOR SCALING 32.2 FPSS
+# H5 ATMOSPHERE SCALE HEIGHT 28500 FT
+# J GRAVITY HARMONIC COEFFICIENT .00162346
+# KWE EQUATORIAL EARTH RATE 1546.10168 FPS
+# MUE EARTH GRAVITATIONAL CONSTANT 3.986032233 E14 CUBIC M/ SEC SEC
+# RE EARTH RADIUS 21202900 FT
+# REQ EARTH EQUATORIAL RADIUS 20925738.2 FT
+# VSAT SATELLITE VELOCITY AT RE 25766.1973 FPS
+# WIE EARTH RATE .0000729211505 RAD/SEC
+
+# (END GSOP AS-278, VOL 1, FIG. 5.6-3 CONSTANTS, GAINS, ETC.)
+
+# DISPLAY QUANTITIES
+# ------------------
+#
+# (SEE SECTION 4 OF THE GSOP FOR SIGN CONVENTIONS.)
+#
+# VARIABLE DESCRIPTION MAXIMUM VALUE
+# -------- ----------- -------------
+#
+# QMAX PREDICTED MAXIMUM ENTRY ACCEL 163.84 GS N 60
+# VPRED PREDICTED VELOCITY AT ALTITUDE 128 M/CENTISEC N 60
+# 400K FT ABOVE FISCHER RADIUS.
+# GAMMAEI PREDICTED GAMMA AT ALTITUDE 1 REVOLUTION N 60
+# 400K FT ABOVE FISCHER RADIUS
+# D DRAG ACCELERATION 805 FPSS N 64
+# VMAGI INERTIAL VELOCITY MAGNITUDE 128 M/CENTISEC N 64, N 68
+# THETAH DESIRED RANGE ANGLE NM 1 REVOLUTION N 64, N 67
+# LAT PRESENT LATITUDE 1 REVOLUTION N 67
+# LONG PRESENT LONGITUDE 1 REVOLUTION N 67
+# RTOGO RANGE ANGLE TO SPLASH FROM 1 REVOLUTION N 67
+# EMSALT FT ABOVE FISCHER RADIUS (IN NM)
+# VIO PREDICTED VELOCITY AT ALTITUDE 128 M/CENTISEC N 63
+# EMSALT FT ABOVE FISCHER RADIUS.
+# TTE TIME OF FREE FALL TO ALT B 28 CENTISEC N 63
+# EMSALT FT ABOVE FISCHER RADIUS
+# ROLLC ROLL COMMAND 1 REVOLUTION N 68, N 68, N 69
+# LATANG CROSS-RANGE ERROR (XRNGERR) 4 RADIANS N 66
+# DNRNGERR DOWN RANGE ERROR 1 REVOLUTION N 66
+# (PREDANG - THETAH IN NM)
+# HDOT ALTITUDE RATE 128 M/CENTISEC N 68
+# QT MINIMUM DRAG FOR UPCONTROL 805 FPSS N 69
+# VL EXIT VELOCITY FOR UP-CONTROL 2 VSAT N 69
+
+# Page 843
+# BODY ATTITUDE QUANTITIES (CM/POSE)
+# ----------------------------------
+#
+# VARIABLE DECRIPTION MAXIMUM VALUE
+# -------- ---------- -------------
+# _
+# -VREL NEGATIVE VELOCITY REL TO ATMOS. 2 VSAT
+# _
+# OLDUYA USED FOR UYA BELOW 1000 FPS 2
+# _
+# UXA/2 UNIT VECTOR TRIAD 2
+# _
+# UYA/2 BASED ON 2
+# _
+# UZA/2 THE TRAJECTORY 2
+# _
+# UBX/2 UNIT VECTOR 2
+# _
+# UBY/2 BODY TRIAD 2
+# _
+# UBZ/2 FOR CM. 2
+
diff --git a/ERASABLE_ASSIGNMENTS.s b/ERASABLE_ASSIGNMENTS.s
new file mode 100644
index 0000000..7388dc0
--- /dev/null
+++ b/ERASABLE_ASSIGNMENTS.s
@@ -0,0 +1,3785 @@
+# Copyright: Public domain.
+# Filename: ERASABLE_ASSIGNMENTS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 2009-05-06 RSB Started adapting from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images. Only through page 51 so far.
+# 2009-05-07 RSB Through page 92 so far.
+# 2009-05-07 RSB (Again!) First draft completed.
+# 2009-05-20 RSB Fixed some bugs uncovered in trial assemblies:
+# EMDOT, STATEXIT, VGDISP, DVPREV, POSTCDH,
+# RETROFLG not defined correctly, changed the
+# typing of labels 9X9LOC1 and 9X9LOC2,
+# R32FLBIT -> R31FLBIT.
+# 2009-05-21 RSB Corrected definition of DELBRTMP, which
+# chained to quite a lot of off-by-one errors.
+# Changed a +8 to a +8D.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+
+# Page 37
+# CONVENTIONS AND NOTATIONS UTILIZED FOR ERASABLE ASSIGNMENTS.
+
+# EQUALS IS USED IN TWO WAYS. IT IS OFTEN USED TO CHAIN A GROUP
+# OF ASSIGNMENTS SO THAT THE GROUP MAY BE MOVED WITH THE
+# CHANGING OF ONLY ONE CARD. EXAMPLE:
+#
+# X EQUALS START
+# Y EQUALS X +SIZE.X
+# Z EQUALS Y +SIZE.Y
+#
+# (X, Y, AND Z ARE CONSECUTIVE AND BEGIN AT START.
+# SIZE.X AND SIZE.Y ARE THE RESPECTIVE SIZES OF X AND Y.
+# USUALLY NUMERIC, IE. 1, 2, 6, 18D, ETC.)
+
+# EQUALS OFTEN IMPLIES THE SHARING OF REGISTERS (DIFFERENT NAMES
+# AND DIFFERENT DATA). EXAMPLE:
+#
+# X EQUALS Y
+
+# = MEANS THAT MULTIPLE NAMES HAVE BEEN GIVEN TO THE SAME DATA.
+# (THIS IS LOGICAL EQUIVALENCE, NOT SHARING.) EXAMPLE:
+#
+# X = Y
+
+# THE SIE AND UTILIZATION OF AN ERASABLE ARE OFTEN INCLUDED IN
+# THE COMMENTS IN THE FOLLOWING FORM: M(SIZE)N.
+#
+# M REFERS TO THE MOBILITY OF THE ASSIGNMENT.
+# B MEANS THAT THE SYMBOL IS REFERENCED BY BASIC
+# INSTRUCTIONS AND THUS IS E-BANK SENSITIVE.
+# I MEANS THAT THE SYMBOL IS REFERENCED ONLY BY
+# INTERPRETIVE INSTRUCTIONS, AND IS THUS E-BANK
+# INSENSITIVE AND MAY APPEAR IN ANY E-BANK.
+#
+# SIZE IS THE NUMBER OF REGISTERS INCLUDED BY THE SYMBOL.
+#
+# N INDICATES THE NATURE OF PERMANENCE OF THE CONTENTS.
+# PL MEANS THAT THE CONTENTS ARE PAD LOADED.
+# DSP MEANS THAT THE REGISTER IS USED FOR A DISPLAY.
+# PRM MEANS THAT THE REGISTER IS PERMANENT. IE., IT
+# IS USED DURING THE ENTIRE MISSION FOR ONE
+# PURPOSE AND CANNOT BE SHARED.
+# TMP MEANS THAT THE REGISTER IS USED TEMPORARILY OR
+# IS A SCRATCH REGISTER FOR THE ROUTINE TO WHICH
+# IT IS ASSIGNED. THAT IS, IT NEED NOT BE SET
+# PRIOR TO INVOCATION OF THE ROUTINE NOR DOES IT
+# CONTAIN USEFUL OUTPUT TO ANOTHER ROUTINE. THUS
+# Page 38
+# IT MAY BE SHARED WITHANY OTHER ROUTINE WHICH
+# IS NOT ACTIVE IN PARALLEL
+# IN MEANS INPUT TO THE ROUTINE AND IT IS PROBABLY
+# TEMPORARY FOR A HIGHER-LEVEL ROUTINE/PROGRAM.
+# OUT MEANS OUTPUT FROM THE ROUTINE, PROBABLY
+# TEMPORARY FOR A HIGHER-LEVEL ROUTINE/PROGRAM.
+
+# Page 39
+
+# SPECIAL REGISTERS.
+
+A EQUALS 0
+L EQUALS 1 # L AND Q ARE BOTH CHANNELS AND REGISTERS
+Q EQUALS 2
+EBANK EQUALS 3
+FBANK EQUALS 4
+Z EQUALS 5 # ADJACENT TO FBANK AND BBANK FOR DXCH Z
+BBANK EQUALS 6 # (DTCB) AND DXCH FBANK (DTCF).
+ # REGISTER 7 IS A ZERO-SOURCE, USED BY ZL.
+
+ARUPT EQUALS 10 # INTERRUPT STORAGE
+LRUPT EQUALS 11
+QRUPT EQUALS 12
+SAMPTIME EQUALS 13 # SAMPLED TIME 1 & 2.
+ZRUPT EQUALS 15 # (13 AND 14 ARE SPARES.)
+BANKRUPT EQUALS 16 # USUALLY HOLDS FBANK OR BBANK.
+BRUPT EQUALS 17 # RESUME ADDRESS AS WELL.
+
+CYR EQUALS 20
+SR EQUALS 21
+CYL EQUALS 22
+EDOP EQUALS 23 # EDITS INTERPRETIVE OPERATION CODE PAIRS.
+
+TIME2 EQUALS 24
+TIME1 EQUALS 25
+TIME3 EQUALS 26
+TIME4 EQUALS 27
+TIME5 EQUALS 30
+TIME6 EQUALS 31
+CDUX EQUALS 32
+CDUY EQUALS 33
+CDUZ EQUALS 34
+CDUT EQUALS 35 # OPTICS TRUNNION CDU (WAS OPTY).
+OPTY = CDUT
+CDUS EQUALS 36 # OPTICS SHAFT CDU (WAS OPTX).
+OPTX = CDUS
+PIPAX EQUALS 37
+PIPAY EQUALS 40
+PIPAZ EQUALS 41
+BMAGX EQUALS 42
+BMAGY EQUALS 43
+BMAGZ EQUALS 44
+INLINK EQUALS 45
+RNRAD EQUALS 46
+GYROCTR EQUALS 47
+GYROCMD EQUALS 47
+CDUXCMD EQUALS 50
+CDUYCMD EQUALS 51
+
+# Page 40
+
+CDUZCMD EQUALS 52
+CDUTCMD EQUALS 53 # OPTICS TRUNNION COMMAND (WAS OPTYCMD)
+OPTYCMD = CDUTCMD
+TVCYAW EQUALS CDUTCMD # SPS YAW COMMAND IN TVC MODE
+CDUSCMD EQUALS 54 # OPTICS SHAFT COMMAND (WAS OPTXCMD).
+TVCPITCH EQUALS CDUSCMD # SPS PITCH COMMAND IN TVC MODE
+OPTXCMD = CDUSCMD
+EMSD EQUALS 55
+THRUST EQUALS 55
+LEMONM EQUALS 56
+LOCALARM EQUALS 57
+BANKALRM EQUALS 60
+
+# INTERPRETIVE REGISTERS ADDRESSED RELATIVE TO VAC AREA.
+
+LVSQUARE EQUALS 34D # SQUARE OF VECTOR INPUT TO ABVAL AND UNIT
+LV EQUALS 36D # LENGTH OF VECTOR INPUT TO UNIT.
+X1 EQUALS 38D # INTERPRETIVE SPECIAL REGISTER RELATIVE
+X2 EQUALS 39D # TO THE WORK AREA.
+S1 EQUALS 40D
+S2 EQUALS 41D
+QPRET EQUALS 42D
+
+# Page 41
+
+# INPUT/OUTPUT CHANNELS
+
+# *** CHANNEL ZERO IS TO BE USED IN AN INDEXED OPERATION ONLY. ***
+LCHAN EQUALS L
+QCHAN EQUALS Q
+HISCALAR EQUALS 3
+LOSCALAR EQUALS 4
+PYJETS EQUALS 5
+ROLLJETS EQUALS 6
+SUPERBNK EQUALS 7
+OUT0 EQUALS 10
+DSALMOUT EQUALS 11
+CHAN12 EQUALS 12
+CHAN13 EQUALS 13
+CHAN14 EQUALS 14
+MNKEYIN EQUALS 15
+NAVKEYIN EQUALS 16
+CHAN30 EQUALS 30
+CHAN31 EQUALS 31
+CHAN32 EQUALS 32
+CHAN33 EQUALS 33
+DNTM1 EQUALS 34
+DNTM2 EQUALS 35
+
+# END OF CHANNEL ASSIGNMENTS
+
+# Page 42
+
+# FLAGWORDS
+#
+# FLAGWRD0 STATE +0 (000-014)
+# FLAGWRD1 STATE +1 (015-029)
+# FLAGWRD2 STATE +2 (030-044)
+# FLAGWRD3 STATE +3 (045-059)
+# FLAGWRD4 STATE +4 (060-074)
+# FLAGWRD5 STATE +5 (075-089)
+# FLAGWRD6 STATE +6 (090-104)
+# FLAGWRD7 STATE +7 (105-119)
+# FLAGWRD8 STATE +8D (120-134)
+# FLAGWRD9 STATE +9D (135-149)
+
+# SORTED LIST OF
+# INTERPRETIVE SWITCH BIT ASSIGNMENTS
+
+# INTERPRETIVE SWITCH BIT ASSIGNMENTS
+#
+# FLAGWORD DEC NUM BIT & FLAG EQUIVALENT FLAGWORDS
+#
+# 22DSPFLG 032D BIT 13 FLAG 2
+# 360SW 134D BIT 1 FLAG 8
+# 3AXISFLG 084D BIT 6 FLAG 5
+# ADVTRK 125D BIT 10 FLAG 8
+# AMOONFLG 13D BIT 2 FLAG 0
+# APSESW 130D BIT 5 FLAG 8
+# ASTNFLAG 108D BIT 12 FLAG 7
+# ATTCHFLG 118D BIT 2 FLAG 7
+# AVEGFLAG 029D BIT 1 FLAG 1
+# AVEMIDSW 149D BIT 1 FLAG 9
+# AVFLAG 040D BIT 5 FLAG 2
+# CALCMAN2 043D BIT 2 FLAG 2
+# CMDAPARM 093D BIT 12 FLAG 6
+# CMOONFLG 123D BIT 12 FLAG 8
+# CM/DSTBY 103D BIT 2 FLAG 6
+# COGAFLAG 131D BIT 4 FLAG 8
+# COMPUTER 082D BIT 8 FLAG 5
+# CPHIFLAG 000D BIT 15 FLAG 0
+# CULTFLAG 053D BIT 7 FLAG 3
+# D6OR9FLG 058D BIT 2 FLAG 3
+# DAPBIT1 090D BIT 15 FLAG 6
+# DAPBIT2 091D BIT 14 FLAG 6
+# DIM0FLAG 059D BIT 1 FLAG 3
+# DMENFLAG 081D BIT 9 FLAG 5
+# DRIFTFLG 030D BIT 15 FLAG 2
+# DSKYFLAG 075D BIT 15 FLAG 5
+# EGSW 097D BIT 8 FLAG 6 KNOTNFLG R57FLAG
+
+# Page 43
+
+# ENG1FLAG 018D BIT 12 FLAG 1
+# ENG2FLAG 019D BIT 11 FLAG 1
+# ENGONFLG 083D BIT 7 FLAG 5
+# ERADFLAG 017D BIT 13 FLAG 1
+# ETPIFLAG 038D BIT 7 FLAG 2 FIRSTFLG OPTNSW
+# F2RTE 010D BIT 5 FLAG 0
+# FINALFLG 039D BIT 6 FLAG 2
+# FIRSTFLG 038D BIT 7 FLAG 2 ETPIFLAG OPTNSW
+# FREEFLAG 012D BIT 3 FLAG 0
+# GAMDIFSW 094D BIT 11 FLAG 6
+# GLOKFAIL 046D BIT 14 FLAG 3
+# GONEBY 112D BIT 8 FLAG 7
+# GONEPAST 095D BIT 10 FLAG 6
+# GRRBKFLG 085D BIT 5 FLAG 5
+# GUESSW 028D BIT 2 FLAG 1
+# GYMDIFSW 104D BIT 1 FLAG 6
+# .05GSW 102D BIT 3 FLAG 6
+# HIND 099D BIT 6 FLAG 6
+# IDLEFAIL 024D BIT 6 FLAG 1
+# IDLEFLAG 113D BIT 7 FLAG 7
+# IGNFLAG 107D BIT 13 FLAG 7
+# IMPULSW 036D BIT 9 FLAG 2
+# IMUSE 007D BIT 8 FLAG 0
+# INCORFLG 079D BIT 11 FLAG 5
+# INFINFLG 128D BIT 7 FLAG 8
+# INRLSW 100D BIT 5 FLAG 6
+# INTFLAG 151D BIT 14 FLAG 10
+# INTYPFLG 056D BIT 4 FLAG 3
+# ITSWICH 106D BIT 14 FLAG 7
+# KFLAG 014D BIT 1 FLAG 0
+# KNOWNFLG 097D BIT 8 FLAG 6 EGSW R57FLAG
+# LATSW 101D BIT 4 FLAG 6
+# LMOONFLG 124D BIT 11 FLAG 8
+# LUNAFLAG 048D BIT 12 FLAG 3
+# MAXDBFLG 138D BIT 12 FLAG 9
+# MGLVFLAG 088D BIT 2 FLAG 5
+# MID1FLAG 147D BIT 3 FLAG 9
+# MIDAVFLG 148D BIT 2 FLAG 9
+# MIDFLAG 002D BIT 13 FLAG 0
+# MKOVFLAG 072D BIT 3 FLAG 4
+# MOONFLAG 003D BIT 12 FLAG 0
+# MRKIDFLG 060D BIT 15 FLAG 4
+# MRKNVFLG 066D BIT 9 FLAG 4
+# MRUPTFLG 070D BIT 5 FLAG 4
+# MWAITFLG 064D BIT 11 FLAG 4
+# N22ORN17 144D BIT 6 FLAG 9
+# NEEDLFLG 006D BIT 9 FLAG 0
+# NEWIFLG 122D BIT 13 FLAG 8
+# NJETSFLG 015D BIT 15 FLAG 1
+# NODOFLAG 044D BIT 1 FLAG 2
+
+# Page 44
+
+# NODOP01 018D BIT 12 FLAG 1
+# NORFHOR 004D BIT 11 FLAG 0
+# NORMSW 110D BIT 10 FLAG 7
+# NOSWITCH 098D BIT 7 FLAG 6
+# NRMIDFLG 062D BIT 13 FLAG 4
+# NRMNVFLG 067D BIT 8 FLAG 4
+# NRUPTFLG 071D BIT 4 FLAG 4
+# NWAITFLG 065D BIT 10 FLAG 4
+# OPTNSW 038D BIT 7 FLAG 2 ETPIFLAG FIRSTFLG
+# ORBWFLAG 054D BIT 6 FLAG 3
+# ORDERSW 129D BIT 6 FLAG 8
+# P21FLAG 033D BIT 12 FLAG 2
+# P22MKFLG 049D BIT 11 FLAG 3
+# P39/79SW 126D BIT 9 FLAG 8
+# PDSPFLAG 063D BIT 12 FLAG 4
+# PFRATFLG 041D BIT 4 FLAG 2
+# PINBRFLG 069D BIT 6 FLAG 4
+# PRECIFLG 052D BIT 8 FLAG 3
+# PRFTRKAT 060D BIT 10 FLAG 5
+# PRIODFLG 061D BIT 14 FLAG 4
+# PRONVFLG 068D BIT 7 FLAG 4
+# QUITFLAG 145D BIT 5 FLAG 9
+# R21MARK 031D BIT 14 FLAG 2
+# R22CAFLG 143D BIT 7 FLAG 9
+# R23FLG 021D BIT 9 FLAG 1
+# R31FLAG 146D BIT 4 FLAG 9
+# R53FLAG 009D BIT 6 FLAG 0
+# R57FLAG 097D BIT 8 FLAG 6 KNOWNFLG EGSW
+# R60FLAG 086D BIT 4 FLAG 5
+# REFSMFLG 047D BIT 13 FLAG 3
+# REINTFLG 158D BIT 7 FLAG 10
+# RELVELSW 096D BIT 9 FLAG 6
+# RENDWFLG 089D BIT 1 FLAG 5
+# RNDVZFLG 008D BIT 7 FLAG 0
+# RPQFLAG 120D BIT 15 FLAG 6
+# RVSW 111D BIT 9 FLAG 7
+# SAVECFLG 140D BIT 10 FLAG 9
+# SKIPVHF 035D BIT 10 FLAG 2
+# SLOPESW 027D BIT 3 FLAG 1
+# SOLNSW 087D BIT 3 FLAG 5
+# SOURCFLG 142D BIT 8 FLAG 9
+# STATEFLG 055D BIT 5 FLAG 3
+# STEERSW 034D BIT 11 FLAG 2
+# STIKFLAG 016D BIT 14 FLAG 1
+# STRULLSW 092D BIT 13 FLAG 6
+# SURFFLAG 127D BIT 8 FLAG 8
+# SWTOVER 135D BIT 15 FLAG 9
+# TARG1FLG 020D BIT 10 FLAG 1
+
+# Page 45
+
+# TARG2FLG 021D BIT 9 FLAG 1
+# TERMIFLG 105D BIT 15 FLAG 7
+# TFFSW 119D BIT 1 FLAG 7
+# TIMRFLAG 109D BIT 11 FLAG 7
+# TRACKFLG 025D BIT 5 FLAG 1
+# TRM03FLG 026D BIT 4 FLAG 1
+# TRUNFLAG 011D BIT 4 FLAG 0
+# UPDATFLG 023D BIT 7 FLAG 1
+# UPLOCKFL 116D BIT 4 FLAG 7
+# V37FLAG 114D BIT 6 FLAG 7
+# V59FLAG 078D BIT 12 FLAG 5
+# V67FLAG 136D BIT 14 FLAG 9
+# V82EMFLG 137D BIT 13 FLAG 9
+# V94FLAG 139D BIT 11 FLAG 9
+# V96ONFLG 132D BIT 3 FLAG 8
+# VEHUPFLG 022D BIT 8 FLAG 1
+# VERIFLAG 117D BIT 3 FLAG 7
+# VFLAG 050D BIT 10 FLAG 3
+# VHFRFLAG 141D BIT 9 FLAG 9
+# VINTFLAG 057D BIT 3 FLAG 3
+# XDELVFLG 037D BIT 8 FLAG 2
+# XDSPFLAG 074D BIT 1 FLAG 4
+
+# Page 46
+
+# INTERPRETIVE SWITCH BIT ASSIGNMENTS
+FLAGWRD0 = STATE +0 # (000-014)
+ # (SET) (RESET)
+# BIT 15 FLAG 0
+CPHIFLAG = 000D # OUTPUT OF CALCGA IS OUTPUT OF CALCGA IS
+ # CPHIX THETAD
+CPHIBIT = BIT15
+
+# BIT 14 FLAG 0
+JSWITCH = 001D # INTEGRATION OF W INTEGRATION OF STATE
+ # MATRIX VECTOR
+JSWCHBIT = BIT14
+
+# BIT 13 FLAG 0
+MIDFLAG = 002D # INTEGRATION WITH INTEGRATION WITHOUT
+ # SOLAR PERTURBATIONS SOLAR PERTURBATIONS
+
+MIDFLBIT = BIT13
+
+# BIT 12 FLAG 0
+MOONFLAG = 003D # MOON IS SPHERE OF EARTH IS SPHERE OF
+ # INFLUENCE INFLUENCE
+
+MOONBIT = BIT12
+
+# BIT 11 FLAG 0
+NORFHOR = 004D # FAR HORIZON NEAR HORIZON
+
+NORFBIT = BIT11
+
+# BIT 10 FLAG 0
+ZMEASURE = 005D # MEASUREMENT PLANET MEASUREMENT PLANET
+ # AND PRIMARY PLANET AND PRIMARY PLANET
+ # DIFFERENT SAME
+
+ZMEASBIT = BIT10
+
+# BIT 9 FLAG 0
+NEEDLFLG = 006D # TOTAL ATTITUDE A/P FOLLOWING ERROR
+ # ERROR DISPLAYED DISPLAYED
+
+NEEDLBIT = BIT9
+
+# BIT 8 FLAG 0
+IMUSE = 007D # IMU IN USE IMU NOT IN USE
+
+# Page 47
+
+IMUSEBIT = BIT8
+
+# BIT 7 FLAG 0
+RNDVZFLG = 008D # P20 RUNNING P20 NOT RUNNING
+
+RNDVZBIT = BIT7
+
+# BIT 6 FLAG 0
+R53FLAG = 009D # V51 INITIATED V51 NOT INITIATED
+
+R53FLBIT = BIT8
+
+# BIT 5 FLAG 0
+F2RTE = 010D # IN TIME CRITICAL NOT IN TIME CRITICAL
+ # MODE MODE
+
+F2RTEBIT = BIT5
+
+# BIT 4 FLAG 0
+TRUNFLAG = 011D # DRIVING OF TRUNNION DRIVING OF TRUNNION
+ # ALLOWED NOT ALLOWED
+
+TRUNBIT = BIT4
+
+# BIT 3 FLAG 0
+FREEFLAG = 012D # (TEMPORARY FLAG USED IN MANY ROUTINES)
+
+FREEFBIT = BIT3
+
+# BIT 2 FLAG 0
+AMOONFLG = 13D # STATE VECTOR IN STATE VECTOR IN
+AMOONBIT = BIT2 # LUNAR SPHERE AT EARTH SPHERE AT
+ # MIDTOAVE MIDTOAVE
+
+# BIT 1 FLAG 0
+KFLAG = 014D # SEARCH SECTOR MORE SEARCH SECTOR LESS
+ # THAN 180 DEGREES THAN 180 DEGREES
+
+KBIT = BIT1
+
+FLAGWRD1 = STATE +1 # (015-029)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 1
+NJETSFLG = 015D # TWO JET RCS BURN FOUR JET RCS BURN
+
+NJETSBIT = BIT15
+
+# Page 48
+
+# BIT 14 FLAG 1
+STIKFLAG = 016D # RHC CONTROL CMC CONTROL
+STIKBIT = BIT14
+
+# BIT 13 FLAG 1
+ERADFLAG = 017D # EARTH, COMPUTE EARTH, USED FIXED
+ # FISCHER ELLIPSOID RADIUS
+ # RADIUS
+ # MOON, USE FIXED MOON, USE RLS FOR
+ # RADIUS LUNAR RADIUS
+
+ERADFBIT = BIT13
+
+# BIT 12 FLAG 1
+NODOP01 = 018D # P01 NOT ALLOWED P01 ALLOWD
+NOP01BIT = BIT12
+
+# BIT 11 FLAG 1
+ENG2FLAG = 019D # RCS BURN SPS BURN
+
+ENG2BIT = BIT11
+
+# BIT 10 FLAG 1
+TARG1FLG = 020D # SIGHTING LEM NOT SIGHTING LEM
+
+TARG1BIT = BIT10
+
+# BIT 9 FLAG 1
+TARG2FLG = 021D # SIGHTING LANDMARK SIGHTING STAR
+
+TARG2BIT = BIT9
+
+# BIT 9 FLAG 1
+R23FLG = 021D # R23 MARKING
+
+R23BIT = BIT9
+
+# BIT 8 FLAG 1
+VEHUPFLG = 022D # CSM STATE VECTOR LEM STATE VECTOR
+ # BEING UPDATED BEING UPDATED
+
+VEHUPBIT = BIT8
+
+# BIT 7 FLAG 1
+UPDATFLG = 023D # UPDATING BY MARKS UPDATING BY MARKS
+ # ALLOWED NOT ALLOWED
+# Page 49
+
+UPDATBIT = BIT7
+
+# BIT 6 FLAG 1
+IDLEFAIL = 024D # INHIBIT R41 ENABLE R41 (ENGFAIL)
+
+IDLEBIT = BIT6
+
+# BIT 5 FLAG 1
+TRACKFLG = 025D # TRACKING ALLOWED TRACKING NOT ALLOWED
+
+TRACKBIT = BIT5
+
+# BIT 4 FLAG 1
+TRM03FLG = 026D # REQUEST TO NO REQUEST TO
+ # TERMINATE P03 HAS TERMINATE P03 HAS
+ # BEEN ENTERED BEEN ENTERED
+
+TRM03BIT = BIT4
+
+# BIT 3 FLAG 1
+SLOPESW = 027D # ITERATE WITH BIAS ITERATE WITH REGULA
+ # METHOD IN ITERATOR FALSI METHOD IN
+ # ITERATOR
+
+SLOPEBIT = BIT3
+
+# BIT 2 FLAG 1
+GUESSW = 028D # NO STARTING VALUE STARTING VALUE FOR
+ # FOR ITERATION ITERATION EXISTS
+
+GUESSBIT = BIT2
+
+# BIT 1 FLAG 1
+AVEGFLAG = 029D # AVERAGEG (SERVICER) AVERAGEG (SERVICER)
+ # TO CONTINUE TO CEASE
+
+AVEGBIT = BIT1
+
+FLAGWRD2 = STATE +2 # (030-044)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 2
+DRIFTFLG = 030D # T3RUPT CALLS GYRO T3RUPT DOES NO GYRO
+ # COMPENSATION COMPENSATION
+
+DRFTBIT = BIT15
+
+# Page 50
+
+# BIT 14 FLAG 2
+R21MARK = 031D # OPTION ONE FOR OPTION TWO FOR
+ # MARKRUPT MARKRUPT
+
+R21BIT = BIT14
+
+# BIT 13 FLAG 2
+22DSPFLG = 032D # DISPLAY DR,DV DO NOT DISPLAY DR,DV
+
+22DSPBIT = BIT13
+
+# BIT 12 FLAG 2
+P21FLAG = 033D # SUCCEEDING PASS 1ST PASS THRU P21,
+ # THRU P21, USE BASE CALCULATE BASE
+P21BIT = BIT12 # VECTOR FOR CALC. VECTOR
+
+STEERSW = 034D # STEERING TO BE DONE STEERING OMITTED
+
+STEERBIT = BIT11
+
+# BIT 10 FLAG 2
+SKIPVHF = 035D # DISREGARD RADAR RADAR READ TO
+ # READ BECAUSE OF PROCEED NORMALLY
+SKIPVBIT = BIT10 # SFTWRE OR HDWRE
+ # RESTART
+
+# BIT 9 FLAG 2
+IMPULSW = 036D # MINIMUM IMPULSE STEERING BURN (NO
+ # BURN (CUTOFF TIME CUTOFF TIME YET
+ # SPECIFIED) AVAILABLE)
+
+IMPULBIT = BIT9
+
+# BIT 8 FLAG 2
+XDELVFLG = 037D # EXTERNAL DELTAV VG LAMBERT (AIMPOINT)
+ # COMPUTATION VG COMPUTATION
+
+XDELVBIT = BIT8
+
+# BIT 7 FLAG 2
+ETPIFLAG = 038D # ELEVATION ANGLE TPI TIME SUPPLIED
+ # SUPPLIED FOR P34,74 FOR P34,74
+
+# BIT 7 FLAG 2
+FIRSTFLG = ETPIFLAG # FIRST PASS SUCCEEDING PASS THRU
+ # THRU S40.9 S40.9
+
+FIRSTBIT = BIT7
+
+# BIT 7 FLAG 2
+# Page 51
+OPTNSW = ETPIFLAG # SOI PHASE P38/P78 SOR PHASE OF P38/P78
+
+FINALBIT = BIT6
+
+# BIT 6 FLAG 2
+FINALFLG = 039D # LAST PASS THROUGH INTERIM PASS THROUGH
+ # RENDEZVOUS PROGRAM RENDEZVOUS PROGRAM
+ # COMPUTATIONS COMPUTATIONS
+
+AVFLBIT = BIT5
+
+# BIT 5 FLAG 2
+AVFLAG = 040D # LEM IS ACTIVE CSM IS ACTIVE
+ # VEHICLE VEHICLE
+
+# BIT 4 FLAG 2
+PFRATFLG = 041D # PREFERRED ATTITUDE PREFERRED ATTITUDE
+ # COMPUTED NOT COMPUTED
+
+PFRATBIT = BIT4
+
+# BIT 3 FLAG 2
+ = 042D
+
+# BIT 2 FLAG 2
+CALCMAN2 = 043D # PERFORM MANEUVER BYPASS STARTING
+ # STARTING PROCEDURE PROCEDURE
+
+CALC2BIT = BIT2
+
+# BIT 1 FLAG 2
+NODOFLAG = 044D # V37 NOT PERMITTED V37 PERMITTED
+
+NODOBIT = BIT1
+
+FLAGWRD3 = STATE +3 # (045-059)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 3
+ = 045D
+
+# BIT 14 FLAG 3
+GLOKFAIL = 046D # GIMBAL LOCK HAS NOT IN GIMBAL LOCK
+ # OCCURRED
+
+GLOKFBIT = BIT14
+
+# Page 52
+
+# BIT 13 FLAG 3
+REFSMFLG = 047D # REFSMMAT GOOD REFSMMAT NO GOOD
+
+REFSMBIT = BIT13
+
+# BIT 12 FLAG 3
+LUNAFLAG = 048D # LUNAR LAT-LONG EARTH LAT-LONG
+
+LUNABIT = BIT12
+
+# BIT 11 FLAG 3
+P22MKFLG = 049D # P22 DOWNLINKED MARK P22 DOWNLINK MARK
+ # DATA WAS JUST TAKEN DATA NOT JUST TAKEN
+
+P22MKBIT = BIT11
+
+# BIT 10 FLAG 3
+VFLAG = 050D # LESS THAN TWO STARS TWO STARS IN FIELD
+ # IN FIELD OF VIEW OF VIEW
+
+VFLAGBIT = BIT10
+
+# BIT 9 FLAG 3
+ = 051D
+
+# BIT 8 FLAG 3
+PRECIFLG = 052D # CSMPREC OR LEMPREC INTEGRV
+ # OR INTEGRVS CALLED CALLED
+
+PRECIBIT = BIT8
+
+# BIT 7 FLAG 3
+CULTFLAG = 053D # STAR OCCULTED STAR NOT OCCULTED
+
+CULTBIT = BIT7
+
+# BIT 6 FLAG 3
+ORBWFLAG = 054D # W MATRIX VALID FOR W MATRIX INVALID FOR
+ # ORBITAL NAVIGATION ORBITAL NAVIGATION
+
+ORBWFBIT = BIT6
+
+# BIT 5 FLAG 3
+STATEFLG = 055D # PERMANENT STATE PERMANENT STATE
+ # VECTOR UPDATED VECTOR NOT UPDATED
+
+STATEBIT = BIT5
+
+# BIT 4 FLAG 3
+INTYPFLG = 056D # CONIC INTEGRATION ENCKE INTEGRATION
+# Page 53
+INTYBIT = BIT4
+
+# BIT 3 FLAG 3
+VINTFLAG = 057D # CSM STATE VECTOR LEM STATE VECTOR
+ # BEING INTEGRATED BEING INTEGRATED
+
+VINTFBIT = BIT3
+
+# BIT 2 FLAG 3
+D6OR9FLG = 058D # DIMENSION OF W IS 9 DIMENSION OF W IS 6
+ # FOR INTEGRATION FOR INTEGRATION
+
+D6OR9BIT = BIT2
+
+# BIT 1 FLAG 3
+DIM0FLAG = 059D # W MATRIX IS TO BE W MATRIX IS NOT TO
+ # USED BE USED
+
+FLAGWRD4 = STATE +4 # (060-074)
+ # (SET) (RESET)
+
+DIM0BIT = BIT1
+
+# BIT 15 FLAG 4
+MRKIDFLG = 060D # MARK DISPLAY IN NO MARK DISPLAY IN
+ # ENDIDLE ENDIDLE
+
+MRKIDBIT = BIT15
+
+# BIT 14 FLAG 4
+PRIODFLG = 061D # PRIORITY DISPLAY IN NO PRIORITY DISPLAY
+ # ENDIDLE IN ENDIDLE
+
+PRIODBIT = BIT14
+
+# BIT 13 FLAG 4
+NRMIDFLG = 062D # NORMAL DISPLAY IN NO NORMAL DISPLAY
+ # ENDIDLE IN ENDIDLE
+
+NRMIDBIT = BIT13
+
+# BIT 12 FLAG 4
+PDSPFLAG = 063D # CAN'T INTERRUPT SEE M. HAMILTON
+ # PRIORITY DISPLAY
+
+PDSPFBIT = BIT12
+
+# BIT 11 FLAG 4
+MWAITFLG = 064D # HIGHER PRIORITY NO HIGHER PRIORITY
+# Page 54
+ # DISPLAY OPERATING DISPLAY OPERATING
+ # WHEN MARK DISPLAY WHEN MARK DISPLAY
+ # INITIATED INITIATED
+MWAITBIT = BIT11
+
+# BIT 10 FLAG 4
+NWAITFLG = 065D # HIGHER PRIORITY NO HIGHER PRIORITY
+ # DISPLAY OPERATING DISPLAY OPERATING
+ # WHEN NORMAL WHEN NORMAL DISPLAY
+ # DISPLAY INITIATED INITIATED
+
+NWAITBIT = BIT10
+
+# BIT 9 FLAG 4
+MRKNVFLG = 066D # ASTRONAUT USING ASTRONAUT NOT USING
+ # KEYBOARD WHEN MARK KEYBOARD WHEN MARK
+ # DISPLAY INITIATED DISPLAY INITIATED
+
+MRKNVBIT = BIT9
+
+# BIT 8 FLAG 4
+NRMNVFLG = 067D # ASTRONAUT USING ASTRONAUT NOT USING
+ # KEYBOARD WHEN KEYBOARD WHEN
+ # NORMAL DISPLAY NORMAL DISPLAY
+ # INITIATED INITIATED
+
+NRMNVBIT = BIT8
+
+# BIT 7 FLAG 4
+PRONVFLG = 068D # ASTRONAUT USING ASTRONAUT NOT USING
+ # KEYBOARD WHEN KEYBOARD WHEN
+ # PRIORITY DISPLAY PRIORITY DISPLAY
+ # INITIATED INITIATED
+
+PRONVBIT = BIT7
+
+# BIT 6 FLAG 4
+PINBRFLG = 069D # ASTRONAUT HAS ASTRONAUT HAS NOT
+ # INTERFERED WITH INTERFERED WITH
+ # EXISTING DISPLAY EXISTING DISPLAY
+
+PINBRBIT = BIT6
+
+# BIT 5 FLAG 4
+MRUPTFLG = 070D # MARK DISPLAY MARK DISPLAY NOT
+ # INTERRUPTED BY INTERRUPTED BY
+ # PRIORITY DISPLAY PRIORITY DISPLAY
+
+MRUPTBIT = BIT5
+# Page 55
+
+# BIT 4 FLAG 4
+NRUPTFLG = 071D # NORMAL DISPLAY NORMAL DISPLAY NOT
+ # INTERRUPTED BY INTERRUPTED BY
+ # PRIORITY OR MARK PRIORITY OR MARK
+ # DISPLAY DISPLAY
+
+NRUPTBIT = BIT4
+
+# BIT 3 FLAG 4
+MKOVFLAG = 072D # MARK DISPLAY OVER NO MARK DISPLAY OVER
+ # NORMAL NORMAL
+
+MKOVBIT = BIT3
+
+# BIT 2 FLAG 4 # DISPLAY BIT
+ = 073D # CLEARED AT INTERVALS
+
+# BIT 1 FLAG 4
+XDSPFLAG = 074D # MARK DISPLAY NOT TO NO SPECIAL MARK
+ # BE INTERRUPTED INFORMATION
+
+XDSPBIT = BIT1
+
+FLAGWRD5 = STATE +5 # (075-099)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 5
+DSKYFLAG = 075D # DISPLAYS SENT TO NO DISPLAYS TO DSKY
+ # DSKY
+DSKYBIT = BIT15
+
+# BIT 14 FLAG 5
+RETROFLG = 076D # P37 PREMANEUVER ORBIT NOT RETROGRADE
+RETROBIT = BIT14 # ORBIT IS RETROGRADE
+
+# BIT 13 FLAG 5
+SLOWFLG = 077D # P37 TRANSEARTH SLOW DOWN IS NOT
+SLOWBIT = BIT13 # COAST SLOW DOWN DESIRED
+ # IS DESIRED
+
+# BIT 12 FLAG 5
+V59FLAG = 078D # CALIBRATING FOR NORMAL MARKING FOR
+ # P23 P23
+
+V59FLBIT = BIT12
+
+# BIT 11 FLAG 5
+# Page 56
+INCORFLG = 079D # FIRST INCORPORATION SECOND INCORPORATION
+
+INCORBIT = BIT11
+
+# BIT 10 FLAG 5
+RNGSCFLG = 080D # ANOTHER TAG FOR PRFTRKAT
+
+# BIT 10 FLAG 5
+PRFTRKAT = RNGSCFLG # PREF TRACK ATT +K AXIS TRACK ATT
+
+PRFTRBIT = BIT10
+
+# BIT 9 FLAG 5
+DMENFLG = 081D # DIMENSION OF W IS 9 DIMENSION OF W IS 6
+ # FOR INCORPORATION FOR INCORPORATION
+
+DMENFBIT = BIT9
+
+# BIT 8 FLAG 5
+COMPUTER = 082D # COMPUTER IS CMC COMPUTER IS LGC
+
+COMPTBIT = BIT8
+
+# BIT 7 FLAG 5
+ENGONFLG = 083D # ENGINE TURNED ON ENGINE TURNED OFF
+
+ENGONBIT = BIT7
+
+# BIT 6 FLAG 5
+3AXISFLG = 084D # MANEUVER SPECIFIED MANEUVER SPECIFIED
+ # BY THREE AXES BY ONE AXIS
+
+3AXISBIT = BIT6
+
+# BIT 5 FLAG 5
+GRRBKFLG = 085D # BACKUP GRR RECEIVED BACKUP GRR NOT
+ # RECEIVED
+
+GRRBKBIT = BIT5
+
+# BIT 4 FLAG 5
+R60FLAG = 086D # R61 MUST USE R60 NORMAL R61
+
+R60FLBIT = BIT4
+
+# BIT 3 FLAG 5
+SOLNSW = 087D # LAMBERT DOES NOT LAMBERT CONVERGES OR
+# Page 57
+ # CONVERGE, OR TIME- TIME-RADIUS NON
+ # RADIUS NEARLY CIRC. CIRCULAR.
+SOLNSBIT = BIT3
+
+# BIT 2 FLAG 5
+MGLVFLAG = 088D # LOCAL VERTICAL MIDDLE GIMBAL ANGLE
+ # COORDINATES COMPUTED
+ # COMPUTED
+
+MGLVFBIT = BIT2
+
+# BIT 1 FLAG 5
+RENDWFLG = 089D # W MATRIX VALID W MATRIX INVALID
+ # FOR RENDEZVOUS FOR RENDEZVOUS
+ # NAVIGATION NAVIGATION
+
+RENDWBIT = BIT1
+
+FLAGWRD6 = STATE +6 # (090-104)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 6
+DAPBIT1 = 090D # 1 SATURN 1 TVC 0 RCS 0 NO
+
+DAP1BIT = BIT15
+
+# BIT 14 FLAG 6
+DAPBIT2 = 091D # 1 A/P 0 A/P 1 A/P 0 A/P
+
+DAP2BIT = BIT14
+
+# BIT 13 FLAG 6
+STRULLSW = 092D # DO STEERULL DO ULAGEOFF ONLY
+
+STRULBIT = BIT13
+
+# BIT 13 FLAG 6
+ENTRYDSP = STRULLSW # DO ENTRY DISPLAY OMIT ENTRY DISPLAY
+ # VIA ENTRYVN.
+
+ENDSPBIT = BIT13
+
+# BIT 12 FLAG 6
+CMDAPARM = 093D # ALLOW ENTRY FIRINGS INHIBIT ENTRY FIRING
+ # AND CALCULATIONS AND CONTROL FUNCTION
+# Page 58
+CMDARMBIT = BIT12
+
+# BIT 11 FLAG 6
+GAMDIFSW = 094D # CALCULATE GAMDOT GAMDOT NOT TO BE
+ # CALCULATED
+
+GMDIFBIT = BIT11
+
+# BIT 10 FLAG 6
+GONEPAST = 095D # LATERAL CONTROL LATERAL CONTROL
+ # CALCULATIONS TO BE CALCULATIONS TO BE
+ # OMITTED DONE
+
+GONEBIT = BIT10
+
+# BIT 9 FLAG 6
+RELVELSW = 096D # TARGETING USES TARGETING USES
+ # EARTH-RELATIVE INERTIAL VELOCITY
+ # VELOCITY.
+
+RELVBIT = BIT9
+
+# BIT 8 FLAG 6
+EGSW = 097D # IN FINAL PHASE NOT IN FINAL PHASE
+
+EGFLGBIT = BIT8
+
+# BIT 8 FLAG 6
+KNOWNFLG = EGSW # LANDMARK KNOWN LANDMARK UNKNOWN
+
+KNOWNBIT = BIT8
+
+# BIT 8 FLAG 6
+R57FLAG = KNOWNFLG # DO NOT DO R57 DO R57, TRUNION
+ # TRUNION BIAS HAS BIAS NEEDED
+ # BEEN OBTAINED.
+
+R57BIT = BIT8
+
+# BIT 7 FLAG 6
+NOSWITCH = 098D # LATERAL ROLL LATERAL ROLL MANEUVER
+ # MANEUVER INHIBITED PERMITTED IN ENTRY
+ # IN ENTRY
+
+NOSWBIT = BIT7
+
+# BIT 6 FLAG 6
+HIND = 099D # ITERATING HUNTEST ITERATING OF HUNTEST
+ # CALCULATIONS TO BE CALCULATIONS TO BE
+ # DONE AFTER RANGE OMITTED AFTER RANGE
+ # PREDICTION PREDICTION
+# Page 59
+
+HINDBIT = BIT6
+
+# BIT 5 FLAG 6
+INRLSW = 100D # INITIAL ROLL INITIAL ROLL
+ # V(LV) V(LV)
+
+INRLBIT = BIT5
+
+ # ATTITUDE NOT HELD ATTITUDE HELD
+
+# BIT 4 FLAG 6
+LATSW = 101D # DOWNLIFT NOT DOWNLIFT INHIBITED
+ # INHIBITED
+
+LATSWBIT = BIT4
+
+# BIT 3 FLAG 6
+.05GSW = 102D # DRAG OVER .05G DRAG LESS THAN .05G
+
+.05GBIT = BIT3
+
+# BIT 3 FLAG 6
+ = 102D
+
+# BIT 2 FLAG 6
+CM/DSTBY = 103D # ENTRY DAP ACTIVATED ENTRY DAP NOT
+ # ACTIVATED
+
+CM/DSBIT = BIT2
+
+# BIT 1 FLAG 6
+GYMDIFSW = 104D # CDU DIFFERENCES AND CDU DIFFERENCES AND
+ # BODY RATES COMPUTED BODY RATES NOT
+ # COMPUTED
+
+GYMDIBIT = BIT1
+
+FLAGWRD7 = STATE +7 # (105-119)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 7
+TERMIFLG = 105D # TERMINATE R52 DO NOT TERMINATE R52
+
+TERMIBIT = BIT15
+
+# BIT 14 FLAG 7
+ITSWICH = 106D # ACCEPT NEXT LAMBERT TEST LAMBERT ANSWER
+ # TPI SEARCH SOLUTION AGAINST LIMITS
+# Page 60
+
+ITSWBIT = BIT14
+
+# BIT 13 FLAG 7
+IGNFLAG = 107D # TIG HAS ARRIVED TIG HAS NOT ARRIVED
+
+IGNFLBIT = BIT13
+
+# BIT 12 FLAG 7
+ASTNFLAG = 108D # ASTRONAUT HAS ASTRONAUT HAS NOT
+ # OKAYED IGNITION OKAYED IGNITION
+
+ASTNBIT = BIT12
+
+# BIT 11 FLAG 7
+TIMRFLAG = 109D # CLOKTASK OPERATING CLOKTASK INOPERATIVE
+
+TIMRBIT = BIT11
+
+# BIT 10 FLAG 7
+NORMSW = 110D # UNIT NORMAL INPUT LAMBERT COMPUTE ITS
+ # TO LAMBERT. OWN UNIT NORMAL.
+
+NORMSBIT = BIT10
+
+# BIT 9 FLAG 7
+RVSW = 111D # DO NOT COMPUTE FINAL COMPUTE FINAL STATE
+ # STATE VECTOR IN VECTOR IN TIME-THETA
+ # TIME-THETA
+
+RVSWBIT = BIT9
+
+# BIT 8 FLAG 7
+GONEBY = 112D # PASSED TARGET APPROACHING TARGET
+
+GONBYBIT = BIT8
+
+# BIT 7 FLAG 7
+ = 113D
+
+# BIT 6 FLAG 7
+V37FLAG = 114D # AVERAGEG (SERVICER) AVERAGEG (SERVICER)
+ # RUNNING OFF
+
+V37FLBIT = BIT6
+
+# BIT 5 FLAG 7
+ = 115D
+# Page 61
+ = BIT5
+
+# BIT 4 FLAG 7
+UPLOCKFL = 116D # K-KBAR-K FAIL NO K-KBAR-K FAIL
+
+UPLOCBIT = BIT4
+
+# BIT 3 FLAG 7
+VERIFLAG = 117D # CHANGED WHEN V33E OCCURS AT END OF P27
+
+VERIFBIT = BIT3
+
+# BIT 2 FLAG 7
+ATTCHFLG = 118D # LM,CM ATTACHED LM,CM NOT ATTACHED
+
+ATTCHBIT = BIT2
+
+# BIT 1 FLAG 7
+TFFSW = 119D # CALCULATE TPERIGEE CALCULATE TFF
+
+TFFSWBIT = BIT1
+
+FLAGWRD8 = STATE +8D # (120-134)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 8
+RPQFLAG = 120D # RPQ NOT COMPUTED RPQ COMPUTED
+
+RPQFLBIT = BIT15
+
+# BIT 14 FLAG 8
+ = 121D
+
+# BIT 13 FLAG 8
+NEWIFLG = 122D # FIRST PASS THROUGH SUCCEEDING ITERATION
+ # INTEGRATION OF INTEGRATION
+
+NEWIBIT = BIT13
+
+# BIT 12 FLAG 8
+CMOONFLG = 123D # PERMANENT CSM STATE PERMANENT CSM STATE
+ # IN LUNAR SPHERE IN EARTH SPHERE
+
+CMOONBIT = BIT12
+
+# BIT 11 FLAG 8
+LMOONFLG = 124D # PERMANENT LM STATE PERMANENT LM STATE
+ # IN LUNAR SPHERE IN EARTH SPHERE
+
+LMOONBIT = BIT11
+
+# Page 62
+
+# BIT 10 FLAG 8
+ADVTRK = 125D # ADVANCE GROUND TRACK NOT ADVANCED
+ # SIGHTING WANTED GROUND TRACK
+
+ADVTKBIT = BIT10
+
+# BIT 9 FLAG 8
+P39/79SW = 126D # P39/79 OPERATING P38/78 OPERATING
+
+P39SWBIT = BIT9
+
+# BIT 8 FLAG 8
+SURFFLAG = 127D # LM ON LUNAR SURFACE LM NOT ON LUNAR
+ # SURFACE
+
+SURFFBIT = BIT8
+
+# BIT 7 FLAG 8
+INFINFLG = 128D # NO CONIC SOLUTION CONIC SOLUTION
+ # (CLOSURE THROUGH EXISTS.
+ # INFINITY REQUIRED).
+
+INFINBIT = BIT7
+
+# BIT 6 FLAG 8
+ORDERSW = 129D # ITERATOR USES 2ND ITERATOR USES 1ST
+ # ORDER MINIMUM MODE ORDER STANDARD MODE
+
+ORDERBIT = BIT6
+
+# BIT 5 FLAG 8
+APSESW = 130D # RDESIRED OUTSIDE RDESIRED INSIDE
+ # PERICENTER-APOCENTER PERICENTER-APOCENTER
+ # RANGE IN TIME-RAD RANGE IN TIME-RADIUS
+
+APSESBIT = BIT5
+
+# BIT 4 FLAG 8
+COGAFLAG = 131D # NO CONIC SOLUTION CONIC SOLUTION
+ # TOO CLOSE TO EXISTS (COGA DOES
+ # RECTILINEAR (COGA NOT OVERFLOW).
+ # OVERFLOWS).
+COGAFBIT = BIT4
+
+# Page 63
+
+# BIT 3 FLAG 8
+V96ONFLG = 132D # P00 INTEGRATION HAS P00 INTEGRATION IS
+ # BEEN INHIBITED BY PROCEEDING REGULARLY
+ # V96
+
+# BIT 2 FLAG 8
+ = 133D
+
+# BIT 1 FLAG 8
+360SW = 134D # TRANSFER ANGLE NEAR TRANSFER ANGLE NOT
+ # 360 DEGREES NEAR 360 DEGREES
+
+360SWBIT = BIT1
+
+FLAGWRD9 = STATE +9D # (135-149)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 9
+SWTOVER = 135D # SWITCHOVER HAS NO SWITCHOVER YET
+ # OCCURRED.
+
+SWTOVBIT = BIT15
+
+# BIT 14 FLAG 9
+ = 136D
+
+V67FLBIT = BIT14
+
+# BIT 13 FLAG 9
+V82EMFLG = 137D # MOON VICINITY EARTH VICINITY
+
+V82EMBIT = BIT13
+
+# BIT 12 FLAG 9
+MAXDBFLG = 138D # MAX DB SELECTED MIN DB SELECTED
+
+MAXDBBIT = BIT12
+
+# BIT 11 FLAG 9
+V94FLAG = 139D # V94 ALLOWED DURING V94 NOT ALLOWED
+ # P23
+
+V94FLBIT = BIT11
+
+# BIT 10 FLAG 9
+SAVECFLG = 140D # P23 DISPLAY AND P23 DISPLAY AND
+ # DATA STORAGE AFTER DATA STORAGE BEFORE
+# Page 64
+ # MARK IS DONE MARK IS DONE
+
+SAVECBIT = BIT10
+
+# BIT 9 FLAG 9
+VHFRFLAG = 141D # ALLOW R22 TO STOP ACCEPTANCE
+ # ACCEPT RANGE OF RANGE DATA
+ # DATA
+
+VHFRBIT = BIT9
+
+# BIT 8 FLAG 9
+SOURCFLG = 142D # SOURCE OF INPUT SOURCE OF INPUT
+ # DATA IS FROM DATA IS FROM
+ # VHF RADAR OPTICS MARK
+
+SOURCBIT = BIT8
+
+# BIT 7 FLAG 9
+R22CAFLG = 143D # R-22 CALCULATIONS R-22 CALCULATIONS
+ # ARE GOING ON ARE NOT GOING ON
+
+R22CABIT = BIT7
+
+# BIT 6 FLAG 9
+N22ORN17 = 144D # COMPUTE TOTAL COMPUTE TOTAL
+ # ATTITUDE ERRORS ATTITUDE ERRORS
+ # W.R.T. N22 (V62) W.R.T. N17 (V63)
+
+N2217BIT = BIT6
+
+# BIT 5 FLAG 9
+QUITFLAG = 145D # TERMINATE AND EXIT CONTINUE INTEGRATION
+QUITBIT = BIT5 # FROM INTEGRATION
+
+# BIT 4 FLAG 9
+R31FLAG = 146D # R31 SELECTED (V63) R34 SELECTED (V65)
+
+R31FLBIT = BIT4
+
+# BIT 3 FLAG 9
+MID1FLAG = 147D # INTEGRATE TO TDEC INTEGRATE TO THE
+ # THEN-PRESENT TIME
+
+MID1FBIT = BIT3
+
+# BIT 2 FLAG 9
+MIDAVFLG = 148D # INTEGRATION ENTERED INTEGRATION WAS
+ # FROM ONE OF MIDTOAV NOT ENTERED VIA
+ # PORTALS MIDTOAV
+# Page 65
+
+MIDAVBIT = BIT2
+
+# BIT 1 FLAG 9
+AVEMIDSW = 149D # AVETOMID CALLING NO AVETOMID W INTEGER
+ # FOR W MATRIX INTEGR ALLOW SET UP RN,VN,
+ # DON'T WRITE OVER RN, PIPTIME
+ # VN,PIPTIME
+
+AVEMDBIT = BIT1
+
+FLGWRD10 = STATE +10D # (150-164)
+ # (SET) (RESET)
+
+RASFLAG = STATE +10D
+
+# BIT 15 FLAG 10
+ = 150D
+
+# BIT 14 FLAG 10
+INTFLAG = 151D # INTEGRATION IN INTEGRATION NOT IN
+ # PROGRESS PROGRESS
+
+INTFLBIT = BIT14
+
+# BIT 13 FLAG 10
+ = 152D
+
+# BIT 12 FLAG 10
+ = 153D
+
+# BIT 11 FLAG 10
+ = 154D
+
+# BIT 10 FLAG 10
+ = 155D
+
+# BIT 9 FLAG 10
+ = 156D
+
+# BIT 8 FLAG 10
+ = 157D
+# Page 66
+
+# BIT 7 FLAG 10
+REINTFLG = 158D # INTEGRATION ROUTINE INTEGRATION ROUTINE
+ # TO BE RESTARTED NOT TO BE RESTARTED
+REINTBIT = BIT7
+
+# BIT 6 FLAG 10
+ = 159D
+
+# BIT 5 FLAG 10
+ = 160D
+
+# BIT 4 FLAG 10
+ = 161D
+
+# BIT 3 FLAG 10
+ = 162D
+
+# BIT 2 FLAG 10
+ = 163D
+
+# BIT 1 FLAG 10
+ = 164D
+
+FLGWRD11 = STATE +11D # (165-179)
+ # (SET) (RESET)
+
+# BIT 15 FLAG 11
+S32.1F1 = 165D # DELTAN AT CSI TIME DVT1 LESS THAN MAX
+S32BIT1 = BIT15 # ONE EXCEEDS MAX
+
+# BIT 14 FLAG 11
+S32.1F2 = 166D # FIRST PASS OF REITERATION OF
+S32BIT2 = BIT14 # NEWTON INTEGRATION NEWTON
+
+# BIT 13 FLAG 11
+S32.1F3A = 167D # BIT 13 AND BIT 12 FUNCTION AS AN ORDERED
+S32BIT3A = BIT13 # PAIR (13,12) INDICATING THE POSSIBLE OC-
+ # CURRENCE OF 2NEWTON ITERATIONS FOR S32.1
+# BIT 12 FLAG 11 # IN THE PROGRAM IN THE FOLLOWING ORDER:
+S32.1F3B = 168D # (0,1) (I.E. BIT 13 RESET, BIT 12 SET)
+# Page 67
+S3229T3B = BIT12 # = FIRST NEWTON ITERATION BEING DONE
+ # (0,0)= FIRST PASS OF 2ND NEWTON ITER.
+ # (1,1)= 50 FPS STAGE OF 2ND NEWT ITER.
+ # (1,0)= REMAINDER OF 2ND NEWT ITER.
+
+# BIT 11 FLAG 11
+ = 169D
+
+# BIT 10 FLAG 11
+ = 170D
+
+# BIT 9 FLAG 11
+ = 171D
+
+# BIT 8 FLAG 11
+ = 172D
+
+# BIT 7 FLAG 11
+ = 173D
+
+# BIT 6 FLAG 11
+ = 174D
+
+# BIT 5 FLAG 11
+ = 175D
+
+# BIT 4 FLAG 11
+ = 176D
+
+# BIT 3 FLAG 11
+ = 177D
+
+# BIT 2 FLAG 11
+ = 178D
+
+# BIT 1 FLAG 11
+ = 179D
+
+# Page 68
+# GENERAL ERASABLE ASSIGNMENTS
+
+ SETLOC 61
+# INTERRUPT TEMPORARY STORAGE POOL. (11D)
+
+# (ITEMP1 THROUGH RUPTREG4)
+
+# ANY OF THESE MAY BE USED AS TEMPORARIES DURING INTERRUPT OR WITH INTERRUPT INHIBITED. THE ITEMP SERIES
+# IS USED DURING CALLS TO THE EXECUTIVE AND WAITLIST -- THE RUPTREGS ARE NOT.
+
+ITEMP1 ERASE
+WAITEXIT EQUALS ITEMP1
+EXECTEM1 EQUALS ITEMP1
+
+ITEMP2 ERASE
+WAITBANK EQUALS ITEMP2
+EXECTEM2 EQUALS ITEMP2
+
+ITEMP3 ERASE
+RUPTSTOR EQUALS ITEMP3
+WAITADR EQUALS ITEMP3
+NEWPRIO EQUALS ITEMP3
+
+ITEMP4 ERASE
+LOCCTR EQUALS ITEMP4
+WAITTEMP EQUALS ITEMP4
+
+ITEMP5 ERASE
+NEWLOC EQUALS ITEMP5
+
+ITEMP6 ERASE
+NEWLOC+1 EQUALS ITEMP6 # DP ADDRESS.
+
+ SETLOC 67
+NEWJOB ERASE # MUST BE AT LOC 67 DUE TO WIRING.
+
+RUPTREG1 ERASE
+RUPTREG2 ERASE
+RUPTREG3 ERASE
+RUPTREG4 ERASE
+KEYTEMP1 EQUALS RUPTREG4
+DSRUPTEM EQUALS RUPTREG4
+
+# FLAGWORD RESERVATIONS. (12D)
+
+STATE ERASE +11D
+
+# PAD LOAD FOR DAPS
+EMDOT ERASE # I(1)PL (SPS FLOW RATE, SC AT B+3 KG/CS)
+
+# Page 69
+
+# EXIT FOR V83
+STATEXIT ERASE # I(1) STQ ADDRESS FOR STATEXIT
+
+# UNUSED ERASABLES ********(2)
+ERASFILL ERASE +1
+
+# EXEC TEMPORARIES WHICH MAY BE USED BETWEEN CCS NEWJOBS
+# (INTB15+ THROUGH RUPTMXTM) (32D)
+INTB15+ ERASE # REFLECTS 15TH BIT OF INDEXABLE ADDRESSES
+DSEXIT EQUALS INTB15+ # RETURN FOR DSPIN
+EXITEM EQUALS INTB15+ # RETURN FOR SCALE FACTOR ROUTINE SELECT
+BLANKRET EQUALS INTB15+ # RETURN FOR 2BLANK
+
+INTBIT15 ERASE # SIMILAR TO ABOVE.
+WRDRET EQUALS INTBIT15 # RETURN FOR 5BLANK.
+WDRET EQUALS INTBIT15 # RETURN FOR DSPWD
+DECRET EQUALS INTBIT15 # RETURN FOR PUTCOM(DEC LOAD)
+21/22REG EQUALS INTBIT15 # TEMP FOR CHARIN
+
+# THE REGISTERS BETWEEN ADDRWD AND PRIORITY MUST STAY IN THE FOLLOWING ORDER FOR INTERPRETIVE TRACE.
+
+ADDRWD ERASE # 12 BIT INTERPRETIVE OPERAND SUB-ADDRESS.
+POLISH ERASE # HOLDS CADR MADE FROM POLISH ADDRESSE.
+UPDATRET EQUALS POLISH # RETURN FOR UPDATNN, UPDATVB
+CHAR EQUALS POLISH # TEMP FOR CHARIN
+ERCNT EQUALS POLISH # COUNTER FOR ERROR LIGHT RESET
+DECOUNT EQUALS POLISH # COUNTER FOR SCALING AND DISPLAY (DEC)
+
+FIXLOC ERASE # WORK AREA ADDRESS
+OVFIND ERASE # SET NON-ZERO ON OVERFLOW.
+
+VBUF ERASE +5 # TEMPORARY STORAGE USED FOR VECTORS.
+SGNON EQUALS VBUF # TEMP FOR +,- ON
+NOUNTEM EQUALS VBUF # COUNTER FOR MIXNOUN FETCH
+DISTEM EQUALS VBUF # COUNTER FOR OCTAL DISPLAY VERB
+DECTEM EQUALS VBUF # COUNTER FOR FETCH (DEC DISPLAY VERBS)
+
+SGNOFF EQUALS VBUF +1 # TEMP FOR +,- ON
+NVTEMP EQUALS VBUF +1 # TEMP FOR NVSUB
+SFTEMP1 EQUALS VBUF +1 # STORAGE FOR SF CONST HI PART (=SFTEMP2-1)
+HITEMIN EQUALS VBUF +1 # TEMP FOR LOAD OF HRS,MIN,SEC
+ # MUST = LOTEMIN-1.
+
+CODE EQUALS VBUF +2 # FOR DSPIN
+SFTEMP2 EQUALS VBUF +2 # STORAGE FOR SF CONST LO PART (=SFTEMP1+1)
+LOTEMIN EQUALS VBUF +2 # TEMP FOR LOAD OF HRS,MIN,SEC
+# Page 70
+ # MUST = HITEMIN+1
+MIXTEMP EQUALS VBUF +3 # FOR MIXNOUN DATA
+SIGNRET EQUALS VBUF +3 # RETURN FOR +,- ON
+
+# ALSO MIXTEMP+1 = VBUF+4, MIXTEMP+2 = VBUF+5
+
+BUF ERASE +2 # TEMPORARY SCALAR STORAGE
+BUF2 ERASE +1
+INDEXLOC EQUALS BUF # CONTAINS ADDRESS OF SPECIFIED INDEX.
+SWWORD EQUALS BUF # ADDRESS OF SWITCH WORD
+SWBIT EQUALS BUF +1 # SWITCH BIT WITHIN THE SWITCH WORD
+MPTEMP ERASE # TEMPORARY USED IN MULTIPLY AND SHIFT
+DMPNTEMP EQUALS MPTEMP # DMPSUB TEMPORARY
+DOTINC ERASE # COMPONENT INCREMENT FOR DOT SUBROUTINE
+DVSIGN EQUALS DOTINC # DETERMINES SIGN OF DDV RESULT
+ESCAPE EQUALS DOTINC # USED IN ARCSIN/ARCCOS.
+ENTRET EQUALS DOTINC # EXIT FROM ENTER
+
+DOTRET ERASE # RETURN FROM DOT SUBROUTINE
+DVNORMCT EQUALS DOTRET # DIVIDENT NORMALIZATION COUNT IN DDV.
+ESCAPE2 EQUALS DOTRET # ALTERNATE ARCSIN/ARCCOS SWITCH
+WDCNT EQUALS DOTRET # CHAR COUNTER FOR DSPWD
+INREL EQUALS DOTRET # INPUT BUFFER SELECTIOR ( X,Y,Z, REG )
+
+MATINC ERASE # VECTOR INCREMENT IN MXV AND VXM
+MAXDVSW EQUALS MATINC # +0 IF DP QUOTIENT IS NEAR ONE -- ELSE -1.
+POLYCNT EQUALS MATINC # POLYNOMIAL LOOP COUNTER
+DSPMMTEM EQUALS MATINC # DSPCOUNT SAVE FOR DSPMM
+MIXBR EQUALS MATINC # INDICATOR FOR MIXED OR NORMAL NOUN
+
+TEM1 ERASE # EXEC TEMP
+POLYRET EQUALS TEM1
+DSREL EQUALS TEM1 # REL ADDRESS FOR DSPIN
+
+TEM2 ERASE # EXEC TEMP
+DSMAG EQUALS TEM2 # MAGNITUDE STORE FOR DSPIN
+IDADDTEM EQUALS TEM2 # MIXNOUN INDIRECT ADDRESS STORAGE
+
+TEM3 ERASE # EXEC TEMP
+COUNT EQUALS TEM3 # FOR DSPIN
+
+TEM4 ERASE # EXEC TEMP
+LSTPTR EQUALS TEM4 # LIST POINTER FOR GRABUSY
+RELRET EQUALS TEM4 # RETURN FOR RELDSP
+FREERET EQUALS TEM4 # RETURN FOR FREEDSP
+DSPWDRET EQUALS TEM4 # RETURN FOR DSPSIGN
+SEPSCRET EQUALS TEM4 # RETURN FOR SEPSEC
+SEPMNRET EQUALS TEM4 # RETURN FOR SEPMIN
+
+TEM5 ERASE # EXEC TEMP
+# Page 71
+NOUNADD EQUALS TEM5 # TEMP STORAGE FOR NOUN ADDRESS
+
+NNADTEM ERASE # TEMP FOR NOUN ADDRESS TABLE ENTRY
+NNTYPTEM ERASE # TEMP FOR NOUN TYPE TABLE ENTRY
+IDAD1TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN)
+ # MUST = IDAD2TEM-1, = IDAD3TEM-2
+IDAD2TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN)
+ # MUST = IDAD1TEM+1, IDAD3TEM-1.
+IDAD3TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN)
+ # MUST = IDAD1TEM+2, IDAD2TEM+1.
+RUTMXTEM ERASE # TEMP FOR SF ROUT TABLE ENTRY (MIXNN ONLY)
+
+# AX*SR*T STORAGE. (6D)
+DEXDEX EQUALS TEM2 # B(1)TMP
+DEX1 EQUALS TEM3 # B(1)TMP
+DEX2 EQUALS TEM4 # B(1)TMP
+RTNSAVER EQUALS TEM5 # B(1)TMP
+TERM1TMP EQUALS BUF2 # B(2)TMP
+
+DEXI = DEX1
+
+# Page 72
+# DYNAMICALLY ALLOCATED CORE SETS FOR JOBS (84D)
+
+MPAC ERASE +6 # MULTI-PURPOSE ACCUMULATOR.
+MODE ERASE # +1 FOR TP, +0 FOR DP, OR -1 FOR VECTOR.
+LOC ERASE # LOCATION ASSOCIATED WITH JOB.
+BANKSET ERASE # USUALLY CONTAINS BBANK SETTING.
+PUSHLOC ERASE # WORD OF PACKED INTERPRETIVE PARAMETERS.
+PRIORITY ERASE # PRIORITY OF PRESENT JOB AND WORK AREA.
+
+ ERASE +71D # SEVEN SETS OF 12 REGISTERS EACH
+
+# SPECIAL DOWNLINK BUFFER. -- OVERLAYED BY P27 STORAGE --
+
+# P27 (UPDATE PROGRAM) STORAGE. -- OVERLAYS SPEC DNLNK BUFF -- (24D)
+
+COMPNUMB ERASE +23D # B(1)TMP NUMBER OF ITEMS TO BE UPLINKED.
+UPOLDMOD EQUALS COMPNUMB +1 # B(1)TMP HOLDS INTERRUPTED PROGRAM NUMBER
+UPVERB EQUALS UPOLDMOD +1 # B(1)TMP VERB NUMBER
+UPCOUNT EQUALS UPVERB +1 # B(1)TMP UPBUFF INDEX
+UPBUFF EQUALS UPCOUNT +1 # B(20D)
+
+# MORE P27 STORAGE. (2D)
+
+UPTEMP ERASE # B(1)TMP SCRATCH
+UPVERBSV ERASE # B(1)TMP
+INTWAK1Q EQUALS UPTEMP # (06D)
+# (20 REGISTERS OF ENTRY DOWNLINK WILL GO HERE.)
+
+# THE FOLLOWING ARE INDEXED FOR TM. IN ENTRY DAP.
+
+CMTMTIME = UPBUFF # B(1) (VEHICLE BODY RATE INFO IS
+SW/NDX = CMTMTIME +1 # B(1) TELEMETERED EACH 0.2 SEC. DURING
+ENDBUF = CMTMTIME +16D # B(1) ENTRY.)
+
+V1 = ENDBUF +1 # I(2) REENTRY, P64-P65
+A0 = V1 +2 # I(2) REENTRY, P64-P65
+ # HI-ORDER WORD ONLY ON DNLNK.
+
+# ALIGNMENT STORAGE. (5D)
+# (CANNOT SHARE WITH PRECISION INTEGRATION OR KEPLER STORAGE.)
+
+QMAJ EQUALS COMPNUMB # B(1)TMP
+MARKINDX EQUALS QMAJ +1 # B(1)TMP
+BESTI EQUALS MARKINDX +1 # I(1)TMP
+BESTJ EQUALS BESTI +1 # I(1)TMP
+STARIND EQUALS BESTJ +1 # I(1)TMP
+
+# Page 73
+# ALIGNMENT/S40.2,3 COMMON STORAGE. (18D)
+
+XSMD EQUALS UPBUFF +2 # I(6)TMP
+YSMD EQUALS XSMD +6 # I(6)TMP
+ZSMD EQUALS YSMD +6 # I(6)TMP
+
+XSCREF = XSMD # SPACE CRAFT AXES IN REF COORDS.
+YSCREF = YSMD
+ZSCREF = ZSMD
+ZPRIME = 22D
+PDA = 22D
+COSTH = 16D
+SINTH = 18D
+THETA = 20D
+STARM = 32D
+
+# DOWNLINK STORAGE (18D)
+
+DNLSTADR EQUALS DNLSTCOD # CONTENTS NO LONGER AN ADDR BUT A CODE
+
+DNLSTCOD ERASE # B(1)PRM ID CODE OF DOWNLIST
+DUMPCNT ERASE # B(1)PRM
+LDATALST ERASE # B(1)
+DNTMGOTO ERASE # B(1)
+TMINDEX ERASE # B(1)
+DUMPLOC EQUALS TMINDEX # CONTAINS ECADR OF AGC DP WORD BEING DUMPED
+ # AND COUNT OF COMPLETE DUMPS ALREADY
+ # SENT.
+DNQ ERASE # B(1)
+DNTMBUFF ERASE +11D # B(12)PRM DOWNLINK SNAPSHOT BUFFER
+
+# OPTICS MARKING, UNSHARED. (8D)
+
+MKNDX ERASE
+MKT2T1 ERASE +1
+MKCDUY ERASE
+MKCDUS ERASE
+MKCDUZ ERASE
+MKCDUT ERASE
+MKCDUX ERASE
+
+# FOR EXCLUSIVE USE OF SYS TEST STANDARD LEAD INS (2)
+EBUF2 ERASE +1 # B(2) UNSHARED
+
+# Page 74
+# UNSWITCHED FOR DISPLAY INTERFACE ROUTINES. (10D)
+
+RESTREG ERASE # B(1)PRM FOR DISPLAY RESTARTS.
+NVWORD ERASE
+MARKNV ERASE
+NVSAVE ERASE
+# (RETAIN THE ORDER OF CADRFLSH TO FAILREG +2 FOR DOWNLINK PURPOSES)
+CADRFLSH ERASE # B(1)TMP
+CADRMARK ERASE # B(1)TMP
+TEMPFLSH ERASE # B(1)TMP
+FAILREG ERASE +2 # B(3)PRM 3 ALARM CODE REGISTERS
+
+ SETLOC 400
+
+# VAC AREAS. -- BE CAREFUL OF PLACEMENT -- (220D)
+
+VAC1USE ERASE # B(1)PRM
+VAC1 ERASE +42D # B(43)PRM
+VAC2USE ERASE # B(1)PRM
+VAC2 ERASE +42D # B(43)PRM
+VAC3USE ERASE # B(1)PRM
+VAC3 ERASE +42D # B(43)PRM
+VAC4USE ERASE # B(1)PRM
+VAC4 ERASE +42D # B(43)PRM
+VAC5USE ERASE # B(1)PRM
+VAC5 ERASE +42D # B(43)PRM
+
+# WAITLIST REPEAT FLAG. (1D)
+RUPTAGN ERASE # B(1)PRM
+KEYTEMP2 = RUPTAGN
+
+# STARALIGN ERASABLES. (13D)
+
+STARCODE ERASE # B(1)DSP NOUN 70 FOR P22,51 AND R52,53
+STARALGN ERASE +11D
+SINCDU = STARALGN
+COSCDU = STARALGN +6
+
+SINCDUX = SINCDU +4
+SINCDUY = SINCDU
+SINCDUZ = SINCDU +2
+COSCDUX = COSCDU +4
+COSCDUY = COSCDU
+COSCDUZ = COSCDU +2
+
+# PHASE TABLE AND RESTART COUNTERS (12D)
+# Page 75
+
+-PHASE1 ERASE # B(1)PRM
+PHASE1 ERASE # B(1)PRM
+-PHASE2 ERASE # B(1)PRM
+PHASE2 ERASE # B(1)PRM
+-PHASE3 ERASE # B(1)PRM
+PHASE3 ERASE # B(1)PRM
+-PHASE4 ERASE # B(1)PRM
+PHASE4 ERASE # B(1)PRM
+-PHASE5 ERASE # B(1)PRM
+PHASE5 ERASE # B(1)PRM
+-PHASE6 ERASE # B(1)PRM
+PHASE6 ERASE # B(1)PRM
+
+# A**SR*T STORAGE (6D)
+
+CDUSPOT ERASE +5 # B(6)
+
+CDUSPOTY = CDUSPOT
+CDUSPOTZ = CDUSPOT +2
+CDUSPOTX = CDUSPOT +4
+
+# VERB 37 STORAGE (2D)
+
+MINDEX ERASE # B(1)TMP INDEX FOR MAJOR MODE
+MMNUMBER ERASE # B(1)TMP MAJOR MODE REQUESTED BY V37
+
+# PINBALL INTERRUPT ACTION (1D)
+
+DSPCNT ERASE # B(1)PRM COUNTER FOR DSPOUT
+
+# PINBALL EXECUTIVE ACTION (44D)
+
+DSPCOUNT ERASE # DISPLAY POSITION INDICATOR
+DECBRNCH ERASE # +DEC, -DEC, OCT INDICATOR
+VERBREG ERASE # VERB CODE
+NOUNREG ERASE # NOUN CODE
+XREG ERASE # R1 INPUT BUFFER
+YREG ERASE # R2 INPUT BUFFER
+ZREG ERASE # R3 INPUT BUFFER
+XREGLP ERASE # LO PART OF XREG (FOR DEC CONV ONLY)
+YREGLP ERASE # LO PART OF YREG (FOR DEC CONV ONLY)
+HITEMOUT = YREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC
+ # MUST = LOTEMOUT-1.
+ZREGLP ERASE # LO PART OF ZREG (FOR DEC CONV ONLY)
+LOTEMOUT = ZREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC
+ # MUST = HITEMOUT+1
+# Page 76
+MODREG ERASE # MODE CODE
+DSPLOCK ERASE # KEYBOARD/SUBROUTINE CALL INTERLOCK
+REQRET ERASE # RETURN REGISTER FOR LOAD
+LOADSTAT ERASE # STATUS INDICATOR FOR LOADTST
+CLPASS ERASE # PASS INDICATOR FOR CLEAR
+NOUT ERASE # ACTIVITY COUNTER FOR DSPTAB
+NOUNCADR ERASE # MACHINE CADR FOR NOUN
+MONSAVE ERASE # N/V CODE FOR MONITOR. (= MONSAVE1-1)
+MONSAVE1 ERASE # NOUNCADR FOR MONITOR (MATBS) = MONSAVE+1
+MONSAVE2 ERASE # B(1)PRM NVMONOPT OPTIONS
+DSPTAB ERASE +11D # 0-100, DISPLAY PANEL BUFF. 11D, C/S LTS.
+NVQTEM ERASE # NVSUB STORAGE FOR CALLING ADDRESS
+ # MUST = NVBNKTEM-1.
+NVBNKTEM ERASE # NVSUB STORAGE FOR CALLING BANK
+ # MUST = NVQTEM+1
+VERBSAVE ERASE # NEEDED FOR RECYCLE
+CADRSTOR ERASE # ENDIDLE STORAGE
+DSPLIST ERASE # WAITING REG FOR DSP SYST INTERNAL USE
+EXTVBACT ERASE # EXTENDED VERB ACTIVITY INTERLOCK
+DSPTEM1 ERASE +2 # BUFFER STORAGE AREA 1 (MOSTLY FOR TIME)
+DSPTEM2 ERASE +2 # BUFFER STORAGE AREA 2 (MOSTLY FOR DEG)
+
+DSPTEMX EQUALS DSPTEM2 +1 # B(2) S-S DISPLAY BUFFER FOR EXT. VERBS
+NORMTEM1 EQUALS DSPTEM1 # B(3)DSP NORMAL DISPLAY REGISTERS.
+
+# DISPLAY FOR EXTENDED VERBS (2D)
+
+OPTIONX EQUALS DSPTEMX # B(2) EXTENDED VERB OPTION CODE N12(V82)
+
+# TBASE'S AND PHSPRDT'S. (12D)
+
+TBASE1 ERASE # B(1)PRM
+PHSPRDT1 ERASE # B(1)PRM
+TBASE2 ERASE # B(1)PRM
+PHSPRDT2 ERASE # B(1)PRM
+TBASE3 ERASE # B(1)PRM
+PHSPRDT3 ERASE # B(1)PRM
+TBASE4 ERASE # B(1)PRM
+PHSPRDT4 ERASE # B(1)PRM
+TBASE5 ERASE # B(1)PRM
+PHSPRDT5 ERASE # B(1)PRM
+TBASE6 ERASE # B(1)PRM
+PHSPRDT6 ERASE # B(1)PRM
+
+# UNSWITCHED FOR DISPLAY INTERFACE ROUTINES. (5D)
+# Page 77
+EBANKSAV ERASE
+MARKEBAN ERASE
+EBANKTEM ERASE
+MARK2PAC ERASE
+R1SAVE ERASE
+
+# IMU COMPENSATION UNSWITCHED ERASABLE. (1D)
+
+1/PIPADT ERASE # B(1)PRM
+OLDBT1 = 1/PIPADT
+
+# SINGLE PRECISION SUBROUTINE TEMPORARIES (3D)
+ # SPSIN, SPCOS, SPROOT VARIABLES.
+ # DO NOT SHARE. THESE ARE USED BY DAPS IN INTERRUPT
+ # AND CURRENTLY ARE NOT PROTECTED. IF OTHER USERS
+ # MATERIALIZE, THEN THIS CAN BE CHANGED.
+
+HALFY ERASE
+ROOTRET ERASE
+SQRARG ERASE
+TEMK EQUALS HALFY
+SQ EQUALS ROOTRET
+
+# Page 78
+# UNSWITCHED FOR ORBIT INTEGRATION (21D)
+
+TDEC ERASE +20D # I(2)
+COLREG EQUALS TDEC +2 # I(1)
+LAT EQUALS COLREG +1 # I(2)DSP NOUN 43,67 FOR P20,22,51 R52,53.
+LANDLAT = LAT # NOUN 89 FOR P22.
+LONG EQUALS LAT +2 # I(2)DSP NOUN 43,67 FOR P20,22,51 R52,53
+ALT EQUALS LONG +2 # I(2)DSP NOUN 43 FOR P20,22,51 R52,53.
+YV EQUALS ALT +2 # I(6)
+ZV EQUALS YV +6 # I(6)
+
+# MARK STORAGE. (2)
+
+VHFCNT ERASE # B(1)PRM NO. OF VHF MARKS (P20 (R22)).
+TRKMKCNT ERASE # B(1)PRM NO. OF VHF MARKS (P20 (R22)).
+
+MARKCTR = TRKMKCNT # B(1) MARK COUNTER USED BY R32
+
+# MISCELLANEOUS UNSWITCHED. (16D)
+
+IRETURN1 ERASE # B(1) RET ADDR USED BY MIDTOAV1 AND 2
+ # CALLED BY P40,P41,P42, P61,P62
+RATEINDX ERASE # (1) USED BY KALCMANU
+OPTION1 ERASE # B(1) NOUN 06 USES THIS.
+OPTION2 ERASE # B(1) NOUN 06 USES THIS.
+LONGCADR ERASE +1 # B(2) LONGCALL REGISTER.
+LONGBASE ERASE +1 # B(2) LONGCALL REGISTER.
+LONGTIME ERASE +1 # B(2) LONGCALL REGISTER.
+DELAYLOC ERASE +3
+NVWORD1 ERASE # B(1)
+TEMPR60 ERASE # B(1)
+PRIOTIME ERASE # B(1)
+P30/RET EQUALS IRETURN1
+
+# MISC. INCLUDING RESTART COUNTER, GIMBAL ANGLE SAVE AND
+# STANDBY VERB ERASABLES. REDOCTR BEFORE THETAD (DWNLNK) (16D)
+
+TIME2SAV ERASE +1 # B(2)TMP
+SCALSAVE ERASE +1 # B(2)TMP
+REDOCTR ERASE # B(1)PRM CONTAINS NUMBER OF RESTARTS
+THETAD ERASE +2 # B(3)PRM DESIRED GIM ANGLES FOR MANEUVER
+CPHI = THETAD # (OUTER)
+CTHETA = THETAD +1 # (INNER)
+CPSI = THETAD +2 # (MIDDLE)
+# Page 79
+# ENTRY VARIABLES SHARED FOR TM.
+RDOTREF = THETAD # I(2) P65
+VREF = RDOTREF +2 # I(2) P65 HI-ORDER WORD ONLY DNLNK'D
+DESOPTT ERASE # B(1)DSP NOUN 92 FOR P20,22,52, R52.
+DESOPTS ERASE # B(1)DSP NOUN 92 FOR P20,22,52, R52.
+
+DELV ERASE +5 # I(6)
+DELVX = DELV
+DELVY = DELV +2
+DELVZ = DELV +4
+
+# P20, CONICS (SHARING WITH TIME 2 SAV AND SCAL SAV ONLY) (3D)
+POINTEX EQUALS TIME2SAV # I(1) POINT AXS EXIT
+VHFTIME EQUALS POINTEX +1 # I(2) DOWNLINK OF VHF RANGE TIME +1M
+
+# PERM STATE VECTORS FOR BOOST AND DOWNLINK -- WHOLE MISSION -- (14D)
+
+RN ERASE +5 # B(6)PRM
+VN ERASE +5 # B(6)PRM
+PIPTIME ERASE +1 # B(2)PRM (MUST BE FOLLOWED BY GDT/2)
+
+# SERVICER STORAGE. (45D)
+
+# (SERVICER STORAGE AND P11 STORAGE IN UNSWITCHED SHOULD NOT
+# OVERLAY EACH OTHER AND THE TOTAL ERASABLE REQUIRED SHOULD NOT
+# EXCEED THE ERASABLE STORAGE REQUIRED BY RENDEZVOUS GUIDANCE.)
+
+GDT/2 EQUALS PIPTIME +2 # B(6)TMP ** MUST FOLLOW PIPTIME **
+GOBL/2 EQUALS GDT/2 +6 # B(6)TMP
+AVEGEXIT EQUALS GOBL/2 +6 # B(2)TMP
+AVGEXIT = AVEGEXIT
+TEMX EQUALS AVEGEXIT +2 # B(1)TMP
+TEMY EQUALS TEMX +1 # B(1)TMP
+TEMZ EQUALS TEMY +1 # B(1)TMP
+PIPCTR EQUALS TEMZ +1 # B(1)TMP
+PIPAGE EQUALS PIPCTR +1 # B(1)TMP
+RN1 EQUALS PIPAGE +1 # B(6)TMP
+VN1 EQUALS RN1 +6 # B(6)TMP
+PIPTIME1 EQUALS VN1 +6 # B(2)TMP
+GDT1/2 EQUALS PIPTIME1 +2 # B(6)TMP
+GOBL1/2 EQUALS GDT1/2 +6 # B(6)TMP
+
+# Page 80
+# ENTRY STORAGE (1D)
+ENTRYVN EQUALS GOBL1/2 +6 # B(1)TMP VN CODE FOR ENTRY DISPLAYS P60'S.
+
+# P11 STORAGE. (9D)
+PADLONG EQUALS ENTRYVN # (2)PL LONGITUDE OF LAUNCH PAD.
+LIFTTEMP EQUALS PADLONG +2 # (2)TMP
+TEPHEM1 EQUALS LIFTTEMP +2 # (3)TMP
+PGNCSALT EQUALS TEPHEM1 +3 # (2)PL ALTITUDE
+
+# RENDEZVOUS NAVIGATION STORAGE. (SEE COMMENT IN SERVICER STORAGE) (58D)
+CSMPOS ERASE +57D # I(6)TMP
+LEMPOS EQUALS CSMPOS +6 # I(6)TMP
+RCL EQUALS LEMPOS +6 # I(2)TMP
+MARKTIME EQUALS RCL +2 # B(2)TMP
+VTEMP EQUALS MARKTIME +2 # B(6)TMP
+UM EQUALS VTEMP +6 # I(6)TMP
+MARKDATA EQUALS UM +6 # B(2)TMP
+USTAR EQUALS MARKDATA +2 # I(6)TMP
+WIXA EQUALS USTAR +6 # B(1)TMP
+WIXB EQUALS WIXA +1 # B(1)TMP
+ZIXA EQUALS WIXB +1 # B(1)TMP
+ZIXB EQUALS ZIXA +1 # B(1)TMP
+DELTAX EQUALS ZIXB +1 # I(18)TMP
+
+VHFRANGE EQUALS DELTAX # (2)
+UCL EQUALS DELTAX +12D # (6) LM-CSM LINE OF SIGHT 1/2 UNIT V
+
+# **** CONICSEX (MEAS INC) ****
+TRIPA EQUALS DELTAX
+TEMPVAR EQUALS DELTAX +3
+
+TEMPOR1 ERASE +1 # B(2)TMP
+
+# T4RUPT ERASABLE (6D)
+
+DSRUPTSW ERASE
+OPTIND ERASE
+LGYRO ERASE
+COMMANDO ERASE +1
+
+# Page 81
+ZONE ERASE # B(1)PRM USED IN SHAFT STOP MONITOR
+LASTYCMD = OPTY # DUMMY TO MAKE RR BENCH TEST ASSEMBLE
+LASTXCMD = OPTY # DUMMY TO MAKE RR BENCH TEST ASSEMBLE
+
+# UNSWITCHED DAP ERASABLE. (4D)
+T6LOC ERASE
+T6ADR ERASE
+T5LOC ERASE +1
+
+# MODE SWITCHING ERASABLE (14D)
+SWSAMPLE ERASE # B(1)PRM
+DESOPMOD ERASE # B(1)PRM
+WTOPTION ERASE # B(1)PRM
+ZOPTCNT ERASE # B(1)PRM
+IMODES30 ERASE # B(1)PRM
+IMODES33 ERASE # B(1)PRM
+MODECADR ERASE +2 # B(3)TMP
+IMUCADR = MODECADR
+OPTCADR = MODECADR +1
+RADCADR = MODECADR +2
+ATTCADR ERASE +2 # B(3)PRM
+ATTPRIO = ATTCADR +2
+MARKSTAT ERASE # B(1)PRM
+OPTMODES ERASE # B(1)PRM
+
+# RCSDAP ERASABLE (1D)
+HOLDFLAG ERASE # B(1)PRM
+
+# CRS61.1 STORAGE. -- USED IN R63 (VERB 89) -- (5D)
+CPHIX ERASE +2 # B(3)DSP NOUN 95 CALCULATED BY CRS61.1
+
+TEVENT ERASE +1 # B(2) TIME OF EVENT FOR DOWNLIST
+TLIFTOFF = TEVENT
+
+# Page 82
+# P34-P35 STORAGE (1D)
+NORMEX ERASE
+
+# SELF-CHECK ASSIGNMENTS (17D)
+
+SELFERAS ERASE 1357 - 1377 # *** MUST NOT BE MOVED *** #
+SFAIL EQUALS SELFERAS # B(1)
+ERESTORE EQUALS SFAIL +1 # B(1)
+SELFRET EQUALS ERESTORE +1 # B(1) RETURN
+SMODE EQUALS SELFRET +1 # B(1)
+ALMCADR EQUALS SMODE +1 # B(2) ALARM ABORD USER'S 2CADR
+ERCOUNT EQUALS ALMCADR +2 # B(1)
+SCOUNT EQUALS ERCOUNT +1 # B(3)
+SKEEP1 EQUALS SCOUNT +3 # B(1)
+SKEEP2 EQUALS SKEEP1 +1 # B(1)
+SKEEP3 EQUALS SKEEP2 +1 # B(1)
+SKEEP4 EQUALS SKEEP3 +1 # B(1)
+SKEEP5 EQUALS SKEEP4 +1 # B(1)
+SKEEP6 EQUALS SKEEP5 +1 # B(1)
+SKEEP7 EQUALS SKEEP6 +1 # B(1)
+
+# USED BY P30 ROUTINES TO WRITE ONLY NEVER READ IN COLOSSUS
+
+DISPDEX EQUALS A
+
+# ERASABLE FOR SXTMARK CDU CHECK DELAY. -- PAD LOADED -- (1D)
+
+CDUCHKWD ERASE # B(1)PL
+
+# R57 STORAGE. -- MUST BE UNSHARED EXCEPT IN BOOST OR ENTRY -- (1D)
+
+TRUNBIAS ERASE # B(1)PRM RESULT OF R57 CALIBR OF TRUNION
+
+# KEPLER STORAGE (6D)
+
+XMODULO ERASE +1 # I(2) GREATER 2PI KEPLER
+TMODULO ERASE +1 # I(2) GREATER 2 KEPLER
+EPSILONT ERASE +1 # I(2)TMP
+
+# Page 83
+# P37 ** RETURN TO EARTH (PAD LOAD **** (2D)
+
+RTED1 ERASE +1 # I(2)PL VGAMMA POLY COEF B-3
+
+# P40 *** STEERING ROUTINE *** PAD LOAD (1D)
+
+DVTHRESH ERASE # I(1)PL DELTA VTHRESHOLD FOR LOW THRUST
+ # ROUTINE B-2
+
+# P23 *** PAD LOAD **** (2D)
+
+HORIZALT ERASE +1 # I(2)PL HORIZON ALTITUDE M B-29
+
+# P20 ALTERNATE LOS VARIANCE PAD LOAD **** (1D)
+ -16
+ALTVAR ERASE # I(2)PL MILLARD, SQUARED SCALED 2
+END-UE EQUALS SELFERAS +16D # LAST USED UNSWITCHED ERASABLE
+
+# Page 84
+# EBANK-3 ASSIGNMENTS
+
+ SETLOC 1400
+
+# WAITLIST TASK LISTS. (26D)
+
+LST1 ERASE +7 # B(8D)PRM DELTA T'S.
+LST2 ERASE +17D # B(18D)PRM TASK 2CADR ADDRESSES.
+
+# RESTART STORAGE. (2D)
+
+RSBBQ ERASE +1 # B(2)PRM SAVE BB AND Q FOR RESTARTS
+
+# MORE LONGCALL STORAGE. (MUST BE IN LST1'S BANK. (2D)
+
+LONGEXIT ERASE +1 # B(2)TMP MAY BE SELDOM OVERLAYED
+
+# PHASE-CHANGE LISTS PART II. (12D)
+
+
+PHSNAME1 ERASE # B(1)PRM
+PHSBB1 ERASE # B(1)PRM
+PHSNAME2 ERASE # B(1)PRM
+PHSBB2 ERASE # B(1)PRM
+PHSNAME3 ERASE # B(1)PRM
+PHSBB3 ERASE # B(1)PRM
+PHSNAME4 ERASE # B(1)PRM
+PHSBB4 ERASE # B(1)PRM
+PHSNAME5 ERASE # B(1)PRM
+PHSBB5 ERASE # B(1)PRM
+PHSNAME6 ERASE # B(1)PRM
+PHSBB6 ERASE # B(1)PRM
+
+# IMU COMPENSATION PARAMETERS (22D)
+
+PBIASX ERASE # B(1) PIPA BIAS, PIPA SCALE FACTOR TERMS
+PIPABIAS = PBIASX # INTERMIXED.
+PIPASCFX ERASE
+PIPASCF = PIPASCFX
+PBIASY ERASE
+PIPASCFY ERASE
+PBIASZ ERASE
+PIPASCFZ ERASE
+
+NBDX ERASE # GYRO BIAS DRIFT
+GBIASX = NBDX
+NBDY ERASE
+# Page 84
+NBDZ ERASE
+
+ADIAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE
+ADIAY ERASE # INPUT AXIS
+ADIAZ ERASE
+
+ADSRAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE
+ADSRAY ERASE # SPIN REFERENCE AXIS
+ADSRAZ ERASE
+
+GCOMP ERASE +5 # CONTAINS COMPENSATING TORQUES
+
+GCOMPSW ERASE
+COMMAND EQUALS GCOMP
+CDUIND EQUALS GCOMP +3
+
+# STATE VECTORS FOR ORBIT INTEGRATION. (44D)
+
+# (DIFEQCNT THUR XKEP MUST BE IN THE SAME
+# EBANK AS RRECTCSM, RRECTLEM ETC
+# BECAUSE THE COPY CYCLES (ATOPCSM,
+# PTOACSM ETC) ARE EXECUTED IN BASIC.
+# ALL OTHER REFERENCES TO THIS GROUP
+# ARE BY INTERPRETIVE INSTRUCTIONS.)
+#
+
+DIFEQCNT ERASE +43D # B(1)TMP
+# (UPSVFLAG...XKEP MUST BE KEPT IN ORDER).
+
+UPSVFLAG EQUALS DIFEQCNT +1 # B(1)PRM UPDATE FLAG
+RRECT EQUALS UPSVFLAG +1 # B(6)TMP POS AT RECT KM*2(-14)
+VRECT EQUALS RRECT +6 # B(6)TMP VEL AT RECT KM(-1/2)*2(6)
+TET EQUALS VRECT +6 # B(2)TMP TIME OF STATE VECT CSPCS*2(-28)
+TDELTAV EQUALS TET +2 # B(6)TMP POSITION DEVIATION KM*2(14)
+TNUV EQUALS TDELTAV +6 # B(6)TMP VEL DEVIATION KM(-1/2)*2(14)
+RCV EQUALS TNUV +6 # B(6)TMP CONIC POSITION KM*2(-14)
+VCV EQUALS RCV +6 # B(6)TMP CONIC VELOCITY KM(-1/2)*2(6)
+TC EQUALS VCV +6 # B(2)TMP TIME SINCE RECITIFICATION
+XKEP EQUALS TC +2 # B(2)TMP ROOT OF KEPLER EQ KM(1/2)*2(-10)
+
+# **** TEMP -- IN VAC AREA ****
+RRECT1 EQUALS 18D
+VRECT1 EQUALS 24D
+TET1 EQUALS 30D
+
+# PERMANENT STATE VECTORS AND TIMES. (101D)
+
+# (DO NOT OVERLAY WITH ANYTHING AFTER BOOST)
+
+# Page 86
+# (RRECTCSM...XKEPCSM MUST BE KEPT IN THIS ORDER)
+
+RRECTCSM ERASE +5 # B(6)PRM CSM VARIABLES
+RRECTHIS = RRECTCSM
+VRECTCSM ERASE +5 # B(6)PRM
+TETCSM ERASE +1 # B(2)PRM
+TETTHIS = TETCSM
+DELTACSM ERASE +5 # B(6)PRM
+NUVCSM ERASE +5 # B(6)PRM
+RCVCSM ERASE +5 # B(6)PRM
+VCVCSM ERASE +5 # B(6)PRM
+TCCSM ERASE +1 # B(2)PRM
+XKEPCSM ERASE +1 # B(2)PRM
+
+# (RRECTLEM...XKEPLEM MUST BE KEPT IN THIS ORDER)
+
+RRECTLEM ERASE +5 # B(6)PRM LEM VARIABLES
+RRECTOTH = RRECTLEM
+VRECTLEM ERASE +5 # B(6)PRM
+TETLEM ERASE +1 # B(2)PRM
+TETOTHER = TETLEM
+DELTALEM ERASE +5 # B(6)PRM
+NUVLEM ERASE +5 # B(6)PRM
+RCVLEM ERASE +5 # B(6)PRM
+VCVLEM ERASE +5 # B(6)PRM
+TCLEM ERASE +1 # B(2)PRM
+XKEPLEM ERASE +1 # B(2)PRM
+
+X789 ERASE +5
+TEPHEM ERASE +2
+AZO ERASE +1
+UNITW ERASE +5
+-AYO EQUALS UNITW # (2)
+AXO EQUALS UNITW +2 # (2)
+
+# STATE VECTORS FOR DOWNLINK (12D)
+
+R-OTHER ERASE +5 # B(6)PRM POS VECT (OTHER VECH) FOR DNLINK
+V-OTHER ERASE +5 # B(6)PRM VEL VECT (OTHER VECH) FOR DNLINK
+
+T-OTHER = TETLEM # TIME (OTHER VECH) FOR DNLINK
+
+# REFSMMAT. (18D)
+
+REFSMMAT ERASE +17D # I(18D)PRM
+
+# Page 87
+# AVERAGEG INTEGRATOR STORAGE. (8D)
+UNITR ERASE +5
+RMAG ERASE +1
+
+# P40 PAD LOADS (6D)
+EK1VAL ERASE +1 # I(2)PL 1-SEC SPS IMPULSE NEWTSEC/100/B23
+EK2VAL ERASE +1 # I(2)PL B+23 NEWTON-SEC/E+2
+EK3VAL ERASE # I(1)PL B+09 NEWTONS/E+4
+FANG ERASE # I(1)PL SPS THRUST USED BY IMPULSIVE BURN
+
+# **********LUNAR MODULE CHANGE ***********
+E3J22R2M EQUALS FANG +2
+E32C31RM EQUALS E3J22R2M +1
+
+# **** CONICSEX (PLANETARY INERT. ORIEN.) ****
+TIMSUBO EQUALS TEPHEM # CSEC B-14 (TRIPLE PREC)
+END-E3 EQUALS E32C31RM # NEXT UNUSED E3 ADDRESS
+
+# Page 88
+# EBANK-4 ASSIGNMENTS
+
+ SETLOC 2000
+
+# P20 STORAGE. -- PAD LOADED -- (4D)
+
+WRENDPOS ERASE # B(1)PL M B-14
+WRENDVEL ERASE # B(1)PL M/CSECB0
+RMAX ERASE # B(1)PL METERS*2(-19)
+VMAX ERASE # B(1)PL M/CSEC*2(-7)
+
+# P22 STORAGE. -- PAD LOADED -- (5D)
+WORBPOS ERASE # B(1)PL M B-14
+WORBVEL ERASE # B(1)PL M/CSECB0
+S22WSUBL ERASE # B(1)PL M B-14
+RPVAR ERASE +1 # B(2)PL
+
+# CONISEX STORAGE. -- PAD LOADED -- (6D)
+
+504LM ERASE +5 # I(6) MOON LIBRATION VECTOR
+
+# ENTRY STORAGE -- PAD LOADED -- (2D)
+EMSALT ERASE +1 # I(2)PL
+
+# P35 CONSTANTS. -- PAD LOADED -- (4D)
+ATIGINC ERASE +1 # B(2)PL
+PTIGINC ERASE +1 # B(2)PL
+
+# LUNAR LANDING SIGHT DATA. -- PAD LOADED -- (6D)
+# (USED BY INTEGRATION INITIALIZATION, LAT-LONG SUBROUTINES, P30'S)
+
+RLS ERASE +5 # I(6) LANDING SIGHT VECTOR
+
+# CONISEX (LUNAR AND SOLAR EPHEM) STORAGE. -- PAD LOADED -- (77D)
+TIMEMO ERASE +76D
+VECOEM EQUALS TIMEMO +3
+RESO EQUALS VECOEM +60D
+# Page 89
+VESO EQUALS RESO +6
+OMEGAES EQUALS VESO +6
+
+# INTEGRATION STORAGE. (95D)
+
+PBODY ERASE # I(1)
+ALPHAV EQUALS PBODY +1 # I(6)TMP
+BETAV EQUALS ALPHAV +6 # I(6)TMP
+PHIV EQUALS BETAV +6 # I(6)TMP
+PSIV EQUALS PHIV +6 # I(6)TMP
+FV EQUALS PSIV +6 # I(6)TMP
+BETAM EQUALS FV +6 # I(6)TMP
+H EQUALS BETAM +2 # I(2)TMP
+GMODE EQUALS H +2 # I(1)TMP
+IRETURN EQUALS GMODE +1 # I(1)TMP
+NORMGAM EQUALS IRETURN +1 # I(1)TMP
+VECTAB EQUALS NORMGAM +1 # I(36)TMP
+RPQV EQUALS VECTAB +36D # (6)TMP VECTOR PRIMARY TO SECONDARY BODY
+ORIGEX EQUALS RPQV +6 # B(1)TMP QSAVE FOR COORD. SWITCH ROUTINE
+KEPRTN EQUALS ORIGEX # QSAVE FOR KEPLER
+RQVV EQUALS ORIGEX +1 # (6) SEC. BODY TO VEH.VETOR (USED P23)
+RPSV EQUALS RQVV +6 # (6)TMP SUN TO PRIMARY BODY VECTOR
+XKEPNEW EQUALS RPSV +6 # (2)TMP ROOT OF KEPLER'S EQU FOR TIME TAU
+
+# THESE PROBABLY CAN SHARE INTEGRATION VARIABLES (9D)
+
+VACX EQUALS VECTAB +6 # I(2)TMP
+VACY EQUALS VACX +2 # I(2)TMP
+VACZ EQUALS VACY +2 # I(2)TMP
+
+ERADM EQUALS VECTAB +18D # I(2)TMP
+INCORPEX EQUALS ERADM +2 # I(1)TMP
+
+# R31 (V83) STORAGE. -- SHARES WITH INTEGRATION STORAGE -- (24D)
+
+BASEOTP EQUALS VECTAB +6 # I(6) BASE POS VECTOR OTHER VEH
+BASEOTV EQUALS VECTAB +18D # I(6) BASE VEL VECTOR OTHER VEH
+BASETHP EQUALS VECTAB +30D # I(6) BASE POS VECTOR THIS VEH
+BASETHV EQUALS RPQV # I(6) BASE VEL VECTOR THIS VEH
+
+# CONIC INTEGRATION STORAGE. -- MAY NOT SHARE WITH SERVICER -- (6D)
+ALPHAM EQUALS XKEPNEW +2 # I(2)TMP
+TAU. EQUALS ALPHAM +2 # I(2)TMP
+DT/2 EQUALS TAU. +2 # I(2)TMP
+
+# Page 90
+
+# P21, R61 STORAGE. (2D)
+P21TIME EQUALS DT/2 +2 # B(2)TMP
+
+# INTEGRATION STORAGE (1D)
+EGRESS EQUALS P21TIME +2 # I(1)TMP SAVES RETURNS.
+
+# VERB 83 STORAGE. (20D)
+
+RANGE EQUALS EGRESS +1 # I(2)DSP NOUN 54 DISTANCE TO OPTICAL SUBJ
+RRATE EQUALS RANGE +2 # I(2)DSP NOUN 54 RATE OF APPROACH
+RTHETA EQUALS RRATE +2 # I(2)DSP NOUN 54.
+RONE EQUALS RTHETA +2 # I(6)TMP VECTOR STORAGE. (SCRATCH)
+VONE EQUALS RONE +6 # I(6)TMP VECTOR STORAGE. (SCRATCH)
+BASETIME EQUALS VONE +6 # I(2) BASE TIME ASSOC WITH BASE VECS
+
+# S-BAND ANTENNA GIMBAL ANGLES. DISPLAYED BY R05 (V64). (4D)
+# (OPERATES DURING P00 ONLY)
+RHOSB EQUALS RANGE # B(2)DSP NOUN 51. PITCH ANGLE
+GAMMASB EQUALS RHOSB +2 # B(2)DSP NOUN 51. YAWANGLE
+
+# R36 SCRATCHPAD STORAGE (13D)
+RPASS36 EQUALS RONE # I(6) S-S
+UNP36 EQUALS RPASS36 +6 # I(6) S-S
+OPTIONY EQUALS UNP36 +6 # I(1)TMP VEHICLE CODE
+
+# EXTENDED VERB 82 STORAGE. (6D)
+
+HPERMIN EQUALS RANGE # I(2) SET TO 300KFT OR 35KFT FOR SR30.1
+RPADTEM EQUALS HPERMIN +2 # I(2) PAD OR LANDING RADIUS FOR SR30.1
+TSTART82 EQUALS RPADTEM +2 # I(2) TEMP TIME STORAGE VOR V82.
+
+# MORE VERB 82 NOT SHARING WITH VERB 83 (9D)
+V82FLAGS EQUALS VONE +6 # (1) FOR V 82 BITS
+TFF EQUALS V82FLAGS +1 # I(2)DSP NOUN 50,44
+-TPER EQUALS TFF +2 # I(2)DSP NOUN 32
+THETA(1) EQUALS -TPER +2 # I(2)TMP SET AT END OF V82
+# Page 91
+RSP-RREC EQUALS AOPTIME # DSP NOUN 50 FOR V82 DURING P00 AND P11
+
+# REENTRY CONICS (6D)
+URONE EQUALS V82FLAGS # I(6) SAVE ACTUAL FOR CALCULATIONS
+
+# V82 DISPLAY (4D)
+HAPOX EQUALS THETA(1) +2 # I(2)DSP NOUN 44
+HPERX EQUALS HAPOX +2 # I(2)DSP NOUN 44
+
+# P22 DISPLAY REGISTERS (06D)
+AOPTIME EQUALS HPERX +2 # I(2)TMP FOR SR52.1.ADVTRACK
+LANDLONG EQUALS AOPTIME +2 # I(2)DSP NOUN 89 FOR P22
+LANDALT EQUALS LANDLONG +2 # I(2)DSP NOUN 89 FOR P22
+
+# S34/35.5,P34-P35 STORAGE. (6D)
+KT EQUALS LANDALT +2 # B(2)
+VERBNOUN EQUALS KT +2 # B(1)TMP
+QSAVED EQUALS VERBNOUN +1 # B(1)TMP HOLDS RETURN
+RTRN EQUALS QSAVED +1 # B(1) RETURN
+SUBEXIT EQUALS RTRN +1 # B(1)TMP
+ # RGEXIT CAN'T SHARE WITH HPER,HAPO
+RGEXIT EQUALS SUBEXIT # I(1)TMP Q SAVE MODE 1 AND 2 TO RTRN MAIN
+
+# P30 DISPLAY (4D)
+HAPO EQUALS KT # I(2)DSP NOUN 42, FOR P30.
+HPER EQUALS HAPO +2 # I(2)DSP NOUN 42, FOR P30.
+
+# SOME P34 STORAGE. (OVERLAYS P35.1 STORAGE) (2D)
+NOMTPI EQUALS KT # I(2)TMP NOMINAL TPI TIME FOR RECYCLE.
+
+# THE FOLLOWING ARE ERASABLES USED BY THE SYSTEM TESTS. 205 USES TRANSM1. G'S ARE NOT USED IN 205 NOR ARE THEY
+# WHILE 504 USES TRANSM1 AND ALFDK.
+# Page 92
+# RSB 2009. The definition of TRANSM1 was previously just "TRANSM1 EQUALS 2000",
+# this messes up the label typing system in yaYUL.
+ SETLOC 2000
+TRANSM1 EQUALS # (18) INITIALIZATION FOR IMU TESTS
+ALFDK = TRANSM1 +18D # (144) ERASABLE LOAD IN 504
+
+# END OF PERF. TEST ERASABLE IN BANK 4
+
+# *-*-* V82 *-*-* (6D)
+
+VONE' EQUALS RGEXIT +1 # I(6)TMP NORMAL VELOCITY VONE/ SQ RT MU
+
+# PAD LOAD INTEGRATION ERROR INCLUDED IN VARIANCE BY P20 (1D)
+
+INTVAR EQUALS VONE' +6 # I(1)PL SQUARE OF EXPECTED INTEGRATION
+ # POSITION EXTRAPOLATION ERROR.
+ # SCALED METERS(2) 2(15)
+END-E4 EQUALS INTVAR # LAST USED ERASABLE IN E4.
+
+# Page 93
+# EBANK-5 ASSIGNMENTS
+
+ SETLOC 2400
+
+# *-*-*-*- OVERLAY 1 IN EBANK 5 -*-*-*-*
+
+# W-MATRIX STORAGE. (162D)
+
+# RSB 2009. The following 3 lines have been replaced to be consistent with yaYUL's
+# label-typing system. They *were* "W EQUALS 2400", "9X9LOC1 EQUALS 2444",
+# "9X9LOC2 EQUALS 2532".
+W EQUALS # B(162)
+9X9LOC1 EQUALS W +44
+9X9LOC2 EQUALS 9X9LOC1 +66
+
+EMATRIX = W +120D # B(42) USED TO CONVERT W TO 6X6
+END-W EQUALS W +162D # **NEXT AVAILABLE LOC AFTER W MATRIX**
+
+# AUTO-OPTICS STORAGE -R52-
+
+# DO NOT MOVE FROM E5,1554. A DELICATE BALANCE EXISTS BETWEEN THIS AND P03
+XNB1 EQUALS W +108D # B(6D)TMP
+YNB1 EQUALS XNB1 +6 # B(6)TMP
+ZNB1 EQUALS YNB1 +6 # B(6)TMP
+SAVQR52 EQUALS ZNB1 +6 # I(2)TMP
+PLANVEC EQUALS SAVQR52 +2 # B(6) S-S SIGHTING VECTOR IN REF. COOR.
+TSIGHT EQUALS PLANVEC +6 # B(2) S-S TIME OF SIGHTING
+
+# RENDEZVOUS -P34-35 (26D)
+DVLOS EQUALS TSIGHT +2 # I(6) S-S DELTA VELOCITY, LOS COORD-DISPLAY
+DELTAR EQUALS DVLOS # I(2)
+TINTSOI EQUALS DELTAR # I(2) INTERCEPT TIME FOR SOI MANEUVER
+DELTTIME EQUALS DVLOS +2 # I(2)
+TARGTIME EQUALS DVLOS +4 # I(2)
+UNRM EQUALS DVLOS +6 # I(6) S-S
+ULOS EQUALS UNRM +6 # I(6) S-S UNIT LINE OF SIGHT VECTOR
+ACTCENT EQUALS ULOS +6 # I(2) S-S CENTRAL ANGLE BETWEEN ACTIVE
+ # VEH AT TPI IGNITION TIME AND
+ # TARGET VECTOR.
+DELVTPI EQUALS ACTCENT +2 # I(2) NOUN 58 FOR P34
+DELVTPF EQUALS DELVTPI +2 # I(2) NOUN 58,59 FOR P34,35
+POSTTPI EQUALS DELVTPF +2 # I(2) NOUN 58 FOR P34.
+TDEC2 EQUALS DELVTPI # (2)
+
+# ALIGNMENT (12D)
+# Page 94
+STARSAV1 EQUALS DVLOS # I(6)TMP RESTART STAR SAVE.
+STARSAV2 EQUALS STARSAV1 +6 # I(6)TMP RESTART STAR SAVE.
+US = STARSAV2 # (CISLUNAR TAG FOR STARSAV2).
+
+# TPI SEARCH (26D)
+IT EQUALS DVLOS # (6)
+THETZERO EQUALS IT +6 # (2)
+TFI EQUALS THETZERO +2 # (2)
+DELVEE EQUALS TFI +2 # (2)
+HP EQUALS DELVEE +2 # (2)
+TFO EQUALS HP +2 # (2)
+HPO EQUALS TFO +2 # (2)
+DELVEO EQUALS HPO +2 # (2)
+MAGVTPI EQUALS DELVEO +2 # I(2)TMP MAG OF DELTAVTPI OR VMID
+RELDELV EQUALS MAGVTPI +2 # I(2)TMP MAG OF DELTAVTPF
+T3TOT4 EQUALS RELDELV +2 # I(2)DSP NOUN 39 FOR P34,35. TPI TO TINT
+ # (CANNOT SHARE WITH RETURN TO EARTH)
+# Page 95
+# ALIGNMENT/SYSTEST/CALCSMSC/CRS61.1 COMMON STORAGE (36D)
+# (CALCSMSC IS A SUBSET OF S41.1 AT LEAST)
+# (CRS61.1 IS A SUBSET OF P20)
+
+XSM EQUALS END-W +23D # B(6)
+YSM EQUALS XSM +6 # B(6)TMP
+ZSM EQUALS YSM +6 # B(6)TMP
+
+XDC EQUALS ZSM +6 # B(6)TMP
+YDC EQUALS XDC +6 # B(6)TMP
+ZDC EQUALS YDC +6 # B(6)TMP
+
+XNB = XDC
+YNB = YDC
+ZNB = ZDC
+
+# OVERLAYS WITHIN ALIGNMENT/SYSTEST/CALCSMSC COMMON STORAGE
+
+-COSB EQUALS XSM +2 # (2)TMP
+SINB EQUALS -COSB +2 # (2)TMP
+
+# ALIGNMENT/SYSTEST COMMON STORAGE (18D)
+
+STARAD EQUALS ZDC +6 # I(18D)TMP
+
+# ALIGNMENT/SYSTEST/AUTO OPTICS COMMON STORAGE. (17D)
+
+OGC EQUALS STARAD +18D # I(2)TMP
+IGC EQUALS OGC +2 # I(2)TMP
+MGC EQUALS IGC +2 # I(2)TMP
+STAR EQUALS MGC +2 # I(6)TMP
+SAC EQUALS STAR +6 # I(2)TMP
+PAC EQUALS SAC +2 # I(2)TMP
+QMIN EQUALS PAC +2 # B(1)TMP
+
+# **** COLP50'S **** (1D)
+CULTRIX EQUALS VEARTH # VEARTH, VSUN, VMOON
+
+# OVERLAYS WITHIN ALIGNMENT/SYSTEST COMMON STORAGE (24D)
+
+VEARTH EQUALS STARAD # (6)TMP
+VSUN EQUALS VEARTH +6 # (6)TMP
+VMOON EQUALS VSUN +6 # (6)TMP
+SAX EQUALS VMOON +6 # (6)TMP
+
+# Page 96
+# *-*-*-*- OVERLAY NUMBER 2 IN EBANK 5 -*-*-*-*
+
+# CONICS ROUTINE STORAGE. (87D)
+
+DELX EQUALS END-W # I(2)TMP
+DELT EQUALS DELX +2 # I(2)TMP
+URRECT EQUALS DELT +2 # I(6)TMP
+RCNORM EQUALS URRECT +6 # I(2)TMP
+XPREV EQUALS XKEP # I(2)TMP
+R1VEC EQUALS RCNORM +2 # I(6)TMP
+R2VEC EQUALS R1VEC +6 # I(6)TMP
+TDESIRED EQUALS R2VEC +6 # I(2)TMP
+GEOMSGN EQUALS TDESIRED +2 # I(1)TMP
+UN EQUALS GEOMSGN +1 # I(6)TMP
+VTARGTAG EQUALS UN +6 # I(1)TMP
+VTARGET EQUALS VTARGTAG +1 # I(6)TMP
+RTNLAMB EQUALS VTARGET +6 # I(1)TMP
+U2 EQUALS RTNLAMB +1 # I(6)TMP
+MAGVEC2 EQUALS U2 +6 # I(2)TMP
+UR1 EQUALS MAGVEC2 +2 # I(6)TMP
+SNTH EQUALS UR1 +6 # I(2)TMP
+CSTH EQUALS SNTH +2 # I(2)TMP
+1-CSTH EQUALS CSTH +2 # I(2)TMP
+CSTH-RHO EQUALS 1-CSTH +2 # I(2)TMP
+P EQUALS CSTH-RHO +2 # I(2)TMP
+R1A EQUALS P +2 # I(2)TMP
+RVEC EQUALS R1VEC # I(6)TMP
+VVEC EQUALS R1A +2 # I(6)TMP
+RTNTT EQUALS RTNLAMB # I(1)TMP
+ECC EQUALS VVEC +6 # I(2)TMP
+RTNTR EQUALS RTNLAMB # I(1)TMP
+RTNAPSE EQUALS RTNLAMB # I(1)TMP
+R2 EQUALS MAGVEC2 # I(2)TMP
+RTNPRM EQUALS ECC +2 # I(1)TMP
+SGNRDOT EQUALS RTNPRM +1 # I(1)TMP
+RDESIRED EQUALS SGNRDOT +1 # I(2)TMP
+DELDEP EQUALS RDESIRED +2 # I(2)TMP
+DEPREV EQUALS DELDEP +2 # I(2)TMP
+TERRLAMB EQUALS DELDEP # I(2)TMP
+TPREV EQUALS DEPREV # I(2)TMP
+
+# Page 97
+# *-*-*-*- OVERLAY NUMBER 3 IN EBANK 5 -*-*-*-*
+
+# MEASUREMENT INCORPORATION STORAGE. (66D)
+# (CALLED BY P20, P22, P23)
+
+OMEGAM1 EQUALS END-W # I(6)TMP
+OMEGAM2 EQUALS OMEGAM1 +6 # I(6)TMP
+OMEGAM3 EQUALS OMEGAM2 +6 # I(6)TMP
+HOLDW EQUALS OMEGAM3 +6 # I(18)TMP
+TDPOS EQUALS HOLDW +18D # I(6)TMP
+TDVEL EQUALS TDPOS +6 # I(6)TMP
+
+ZI EQUALS TDVEL +6 # I(18)
+
+# P22-P23 STORAGE. (8D)
+
+22SUBSCL EQUALS ZI +18D # DE OF ABCDE LANDMARK ID NO.
+CXOFF EQUALS 22SUBSCL +1 # B OF ABCDE OFFSET INDICATOR
+8KK EQUALS CXOFF +1 # B(1)TMP INDEX OF PRESENT MARK
+8NN EQUALS 8KK +1 # B(1)TMP
+S22LOC EQUALS 8NN +1 # I(1)TMP MARK DATA LOC
+LANDMARK EQUALS S22LOC +1 # B(1)DSP NOUN 70 FOR P22,51, R52,53
+HORIZON EQUALS LANDMARK +1 # B(1)DSP NOUN 70 FOR P22,51, R52,53
+IDOFLMK EQUALS HORIZON +1 # B(1)
+
+# ******P23*** (1D)
+TRUNION EQUALS IDOFLMK +1 # B(1)
+
+# Page 98
+
+# *-*-*-*- OVERLAY NUMBER 0 IN EBANK 5 -*-*-*-*
+
+# SYSTEM TEST STORAGE. (174)
+
+AZIMUTH ERASE +1
+LATITUDE ERASE +1
+
+TRUNA EQUALS DESOPTT
+SHAFTA EQUALS DESOPTS
+
+ERVECTOR ERASE +5
+LENGTHOT ERASE
+LOSVEC ERASE +5
+
+SXTOPTN = LOSVEC
+NDXCTR ERASE
+PIPINDEX ERASE
+POSITON ERASE
+QPLAC ERASE
+QPLACE ERASE
+QPLACES ERASE
+RUN ERASE
+STOREPL ERASE
+SOUTHDR ERASE
+TARG1/2 = SOUTHDR
+TAZEL1 ERASE +5
+TEMPTIME ERASE +1
+TMARK ERASE +1
+GENPL ERASE +134D
+CDUTIMEI = GENPL
+CDUTIMEF = GENPL +2
+IMU/OPT = GENPL +4
+CDUREADF = GENPL +5
+CDUREADI = GENPL +6
+CDULIMIT = GENPL +7
+
+TEMPADD = GENPL +4
+TEMP = GENPL +5
+NOBITS = GENPL +6
+CHAN = GENPL +7
+
+LOS1 = GENPL +8D
+LOS2 = GENPL +14D
+
+CALCDIR EQUALS GENPL +20D
+CDUFLAG EQUALS GENPL +21D
+GYTOBETQ EQUALS GENPL +22D
+OPTNREG EQUALS GENPL +23D
+SAVE EQUALS GENPL +24D # THREE CONSEC LOC
+SFCONST1 EQUALS GENPL +27D
+# Page 99
+TIMER EQUALS GENPL +28D
+
+DATAPL EQUALS GENPL +30D
+RDSP EQUALS GENPL # FIX LATER POSSIBLY KEEP1
+MASKREG EQUALS GENPL +64D
+CDUNDX EQUALS GENPL +66D
+RESULTCT EQUALS GENPL +67D
+COUNTPL EQUALS GENPL +70D
+
+CDUANG EQUALS GENPL +71D
+AINLA = GENPL # OPTIMUM CALIB. AND ALIGNMENT
+WANGO EQUALS AINLA
+WANGI EQUALS AINLA +2D
+WANGT EQUALS AINLA +4D
+TORQNDX = WANGT
+DRIFTT EQUALS AINLA +6D
+ALX1S EQUALS AINLA +8D
+CMPX1 EQUALS AINLA +9D
+ALK EQUALS AINLA +10D
+VLAUNS EQUALS AINLA +22D
+THETAX = ALK +2
+WPLATO EQUALS AINLA +24D
+INTY EQUALS AINLA +28D
+THETAN = THETAX +6
+ANGZ EQUALS AINLA +30D
+INTZ EQUALS AINLA +32D
+ANGY EQUALS AINLA +34D
+ANGX EQUALS AINLA +36D
+DRIFTO EQUALS AINLA +38D
+DRIFTI EQUALS AINLA +40D
+VLAUN EQUALS AINLA +44D
+FILDELV = THETAN +6
+ACCWD EQUALS AINLA +46D
+INTVEC = FILDELV +2
+POSNV EQUALS AINLA +52D
+DPIPAY EQUALS AINLA +54D
+DPIPAZ EQUALS AINLA +58D
+ALTIM EQUALS AINLA +60D
+ALTIMS EQUALS AINLA +61D
+ALDK EQUALS AINLA +62D
+DELM EQUALS AINLA +76D
+WPLATI EQUALS AINLA +84D
+RESTARPT = AINLA +91D
+GEOSAVED = AINLA +117D
+PREMTRXC = AINLA +118D
+LAUNCHAZ = AINLA +119D
+NEWAZMTH = AINLA +121D
+OLDAZMTH = AINLA +123D
+# Page 100
+TOLDAZMT = AINLA +125D
+GEOCOMPS = AINLA +127D
+1SECXT = AINLA +128D
+GTSXTLST = AINLA +129D
+ERECTIME = AINLA +130D
+ERCOMP = AINLA +131D
+ZERONDX = AINLA +137D
+GTSOPNDZ = ZERONDX
+
+# THE FOLLOWING TAGS ARE USED BY THE 504 IMU CALIBRATION AND ALIGNMENT PROGRAM ONLY.
+
+THETAX1 EQUALS ALK +2
+THETAN1 EQUALS THETAX1 +6
+FILDELV1 EQUALS THETAN1 +6
+INTVEC1 EQUALS FILDELV1 +2
+GEOSAVE1 EQUALS AINLA +117D
+PREMTRX1 EQUALS AINLA +118D
+LUNCHAZ1 EQUALS AINLA +119D
+NEWAZ1 EQUALS LUNCHAZ1 +2
+OLDAZ1 EQUALS LUNCHAZ1 +4
+TOLDAZ1 EQUALS LUNCHAZ1 +6
+GEOCOMP1 EQUALS AINLA +127D
+1SECXT1 EQUALS AINLA +128D
+GTSWTLT1 EQUALS AINLA +129D
+ERECTIM1 EQUALS AINLA +130D
+ERCOMP1 EQUALS AINLA +131D # I(6)
+ZERONDX1 EQUALS AINLA +137D
+PERFDLAY EQUALS AINLA +138D # B(2)..........
+
+# END OF 504 + ALIGN ERASE.
+
+# Page 101
+
+# *-*-*-*- OVERLAY 4 IN EBANK 5 -*-*-*-*
+#
+# P32 --- P33 (26D)
+UP1 EQUALS DVLOS # I(6)
+VPASS2 EQUALS UP1 +6 # I(6)
+RPASS2 EQUALS VPASS2 +6 # I(6)
+DIFFALT EQUALS RPASS2 +6 # I(2)
+TCDH EQUALS DIFFALT +2 # I(2)
+TCSI EQUALS TCDH +2 # I(2)
+TTPIO EQUALS TCSI +2 # I(2)
+
+# P32,P33 STORAGE OVERLAYING 9X9 W-MATRIX LOCATIONS (26D)
+DELVEET1 EQUALS 9X9LOC1 # I(6) DELV FOR CSI
+RACT2 EQUALS DELVEET1 +6 # I(6) POS. ACTIVE VEH. AT CDH TIME
+VACT2 EQUALS 9X9LOC2 # I(6) VEL. ACTIVE VEH. AT CDH TIME
+RACT1 EQUALS VACT2 +6 # I(6) POS. ACTIVE VEH. AT CSI TIME
+T1TOT2 EQUALS RACT1 +6 # I(2) TCDH - TCSI
+END-E5 EQUALS QMIN # LAST USED E5 ADDRESS
+
+# Page 102
+
+# EBANK-6 ASSIGNMENTS.
+
+ SETLOC 3000
+# P23 PAD LOADS *** (2D).
+WMIDPOS ERASE # I(1)PL INITIAL VALUES FOR W-MATRIX IN
+WMIDVEL ERASE # I(1)PL CISLUNAR (P23) NAVIGATION
+
+# R22 PAD LOADS (5D).
+RVAR ERASE +1 # I(2)PL VHF RADAR
+RVARMIN ERASE +2 # I(3)PL VHF RADAR
+
+# ***** PAD LOADED ENTRY DAP STEERING VARIABLES ***** (3D)
+LADPAD ERASE # I(1)PL FOR ENTRY. HOLDS CM NOMINAL L/D
+LODPAD ERASE # I(1)PL FOR ENTRY. HOLDS CM NOMINAL LOD
+ALFAPAD ERASE # B(1)PL ALFA TRIM / 180
+
+# ***** PAD LOADED TVC DAP VARIABLES **************** (26D)
+ETDECAY ERASE # I(1)PL
+ESTROKER ERASE # B(1)PL
+EKPRIME ERASE +1 # B(2)PL
+EKTLX/I ERASE +2 # B(3)PL
+EREPFRAC ERASE +1 # B(2)PL
+PACTOFF ERASE # B(1)PL, DSP N48 R01 = PTRIM, R02 = YTRIM
+YACTOFF ERASE # B(1)PL, CONSECUTIVE WITH PACTOFF
+HBN10 ERASE # B(1)
+HBN11/2 ERASE # B(1)
+HBN12 ERASE # B(1)
+HBD11/2 ERASE # B(1)
+HBD12 ERASE # B(1)
+HBN20 ERASE # B(1)
+HBN21/2 ERASE # B(1)
+HBN22 ERASE # B(1)
+HBD21/2 ERASE # B(1)
+HBD22 ERASE # B(1)
+HBN30 ERASE # B(1)
+HBN31/2 ERASE # B(1)
+HBN32 ERASE # B(1)
+#Page 103
+HBD31/2 ERASE # B(1)
+HBD32 ERASE # B(1)
+
+# **** EXCLUSIVE TVC DAP VARIABLES. ***************** (5D)
+V97VCNTR ERASE # B(1)
+TEMPDAP ERASE +1 # B(2)
+MRKRTMP = TEMPDAP # ((B(1)))
+CNTR ERASE # B(1)
+OGAD ERASE # B(1)
+
+# **** EXCLUSIVE RCS DAP VARIABLES ****************** (13D)
+RWORD1 ERASE +12D # B(1)
+RWORD2 EQUALS RWORD1 +1 # B(1)
+PWORD1 EQUALS RWORD2 +1 # B(1)
+PWORD2 EQUALS PWORD1 +1 # B(1)
+YWORD1 EQUALS PWORD2 +1 # B(1)
+YWORD2 EQUALS YWORD1 +1 # B(1)
+BLAST EQUALS YWORD2 +1 # B(2)
+BLAST1 EQUALS BLAST +2 # B(2)
+BLAST2 EQUALS BLAST1 +2 # B(2)
+T5PHASE EQUALS BLAST2 +2 # B(1)
+
+# **** RCS/TVC DAP COMMON STORAGE. ****************** (16D)
+DAPDATR1 ERASE # B(1)DSP NOUN 46(R1)
+DAPDATR2 ERASE # B(1)DSP NOUN 46(R2)
+
+IXX ERASE # B(1) CONSECUTIVE WITH IAVG, IAVG/TLX FOR
+IAVG ERASE # B(1) MASSPROP
+IAVG/TLX ERASE # B(1)
+
+LEMMASS ERASE # B(1)DSP NOUN 47 (R2)
+CSMMASS ERASE # B(1)DSP NOUN 47 (R1)
+WEIGHT/G ERASE # B(1)
+MASS = WEIGHT/G
+
+AK ERASE
+AK1 ERASE
+AK2 ERASE
+
+RCSFLAGS ERASE # B(1) CONSECUTIVE WITH AK2 DOWNLINK
+T5TEMP ERASE # B(1)
+EDRIVEX ERASE
+EDRIVEY ERASE
+# Page 104
+EDRIVEZ ERASE
+
+# INTEMP THRU INTEMP+14D ARE RESERVED FOR OVERLAYED TVC/RCS INTERUP TRUE TEMPORARIES
+INTTEMP ERASE +14D # (15)
+
+# TVC/RCS THRU TVCRCS +11D RESERVED FOR DOWNLINKED VARIABLES
+TVCRCS ERASE +11D # (12)
+ # RCS (WBODYS,ADOTS)
+ # TVC(OMEGACS,OMEGABS)
+
+# TVC DAP TEMPORARY VARIABLES*********************************
+
+# TVC DAP INTERRUPT TRUE TEMPORARIES**************************
+
+PHI333 EQUALS INTTEMP # B(1) TEMPORARY REGISTER
+PSI333 EQUALS PHI333 +1 # B(1) COUNTING REGISTER
+TEMP333 EQUALS PSI333 +1 # B(1) COUNTING REGISTER
+VARST0 EQUALS TEMP333 +1 # B(8) BREAKPOINTS AND SLOPES
+VARST5 = VARST0 +5
+LASTMASP EQUALS VARST0 +9D # LAST VARST0 WORD
+TVCTMP1 EQUALS LASTMASP +1 # B(1)
+
+# *******REGULAR TVC TEMPORARIES*************
+
+# TVC ZEROING STARTS HERE
+
+OMEGAC EQUALS TVCRCS # I(6)
+OMEGAXC = OMEGAC
+OMEGAYC = OMEGAC +2
+OMEGAZC = OMEGAC +4
+
+OMEGAB EQUALS TVCRCS +6 # B(6)
+OMEGAXB = OMEGAB
+OMEGAYB = OMEGAB +2
+OMEGAZB = OMEGAB +4
+
+PTMP1 EQUALS OMEGAC +12D # B(2)
+PTMP2 EQUALS PTMP1 +2 # B(2)
+PTMP3 EQUALS PTMP2 +2 # B(2)
+PTMP4 EQUALS PTMP3 +2 # B(2)
+PTMP5 EQUALS PTMP4 +2 # B(2)
+# Page 105
+PTMP6 EQUALS PTMP5 +2 # B(2)
+
+YTMP1 EQUALS PTMP6 +2 # B(2)
+YTMP2 EQUALS YTMP1 +2 # B(2)
+YTMP3 EQUALS YTMP2 +2 # B(2)
+YTMP4 EQUALS YTMP3 +2 # B(2)
+YTMP5 EQUALS YTMP4 +2 # B(2)
+YTMP6 EQUALS YTMP5 +2 # B(2)
+
+ROLLFIRE EQUALS YTMP6 +2 # B(1)
+ROLLWORD EQUALS ROLLFIRE +1 # B(1)
+TEMREG EQUALS ROLLWORD +1 # B(1)
+
+STROKER EQUALS TEMREG +1 # B(1)
+
+PERRB EQUALS STROKER +1 # B(2)
+YERRB EQUALS PERRB +2 # B(2)
+
+DELPBAR EQUALS YERRB +2 # B(2)
+DELYBAR EQUALS DELPBAR +2 # B(2)
+
+PDELOFF EQUALS DELYBAR +2 # B(2)
+YDELOFF EQUALS PDELOFF +2 # B(2)
+
+# TVC ZEROING LOOP ENDS HERE
+TTMP1 EQUALS YDELOFF +2 # B(2)
+TTMP2 EQUALS TTMP1 +2 # B(2)
+DAP1 EQUALS TTMP2 +2 # B(2)
+DAP2 EQUALS DAP1 +2 # B(2)
+DAP3 EQUALS DAP2 +2 # B(2)
+
+PCMD EQUALS DAP3 +2 # B(1)
+YCMD EQUALS PCMD +1 # B(1), CONSECUTIVE WITH PCMD
+T5TVCDT EQUALS YCMD +1 # B(1)
+MDT EQUALS T5TVCDT +1 # I(6)
+KPRIMEDT EQUALS MDT +6 # I(2)
+KTLX/I EQUALS KPRIMEDT +2 # B(1)
+TENMDOT EQUALS KTLX/I +1 # B(1)
+1/CONACC EQUALS TENMDOT +1 # B(1)
+VARK EQUALS 1/CONACC +1 # B(1)
+REPFRAC EQUALS VARK +1 # B(1)
+VCNTR EQUALS REPFRAC +1 # B(1)
+TVCPHASE EQUALS VCNTR +1 # B(1)
+PCDUYPST EQUALS TVCPHASE +1 # B(1)
+PCDUZPST EQUALS PCDUYPST +1 # B(1)
+MCDUYDOT EQUALS PCDUZPST +1 # B(1)
+MCDUZDOT EQUALS MCDUYDOT +1 # B(1)
+# Page 106
+TVCEXPHS EQUALS MCDUZDOT +1 # B(1)
+MASSTMP EQUALS TVCEXPHS +1 # B(1) PROTECT
+VCNTRTMP EQUALS MASSTMP +1 # B(1) *PROTECT***
+
+# STROKE TEST VARIABLES
+STRKTIME EQUALS VCNTRTMP +1 # B(1)
+CADDY EQUALS STRKTIME +1 # B(1)
+N EQUALS CADDY +1 # B(1)
+BUNKER EQUALS N +1 # B(1)
+REVS EQUALS BUNKER +1 # B(1)
+CARD EQUALS REVS +1 # B(1)
+
+# TVC ROLL DAP VARIABLES
+OGANOW EQUALS CARD +1 # B(1)
+OGAPAST EQUALS OGANOW +1 # B(1)
+OGA EQUALS OGAPAST +1 # B(1)TMP
+OGAERR = OGA # (ROLL DAP USES OGA, MEANS OGAERROR)
+DELOGART EQUALS OGA +1 # B(1)TMP
+SGNRT EQUALS DELOGART +1 # SIGN OF CGA RATE
+DELOGA EQUALS SGNRT +1 # USED IN ROLL LOGIC
+I EQUALS DELOGA +1 # USED IN ROLL LOGIC
+IOGARATE EQUALS I +1 # USED IN ROLL LOGIC
+
+# TVC DAP RESTART TEMPORARIES.
+PACTTMP EQUALS IOGARATE +1 # B(2)
+YACTTMP EQUALS PACTTMP +2 # B(2)
+CNTRTMP EQUALS YACTTMP +2 # B(1)
+STRKTTMP EQUALS CNTRTMP +1 # B(1)
+DELBRTMP EQUALS STRKTTMP +1 # B(2)
+ERRBTMP EQUALS DELBRTMP +2 # B(2)
+CMDTMP EQUALS ERRBTMP +2 # B(2)
+
+TMP1 EQUALS CMDTMP +2 # B(2)
+TMP2 EQUALS TMP1 +2 # B(2)
+TMP3 EQUALS TMP2 +2 # B(2)
+TMP4 EQUALS TMP3 +2 # B(2)
+TMP5 EQUALS TMP4 +2 # B(2)
+TMP6 EQUALS TMP5 +2 # B(2)
+
+# TVC DAP FILTER COEFFICIENTS TEMPORARIES
+COEFFADR EQUALS TMP6 +2 # B(1)
+N10 EQUALS COEFFADR +1 # I(15)
+# Page 107
+
+# OVERLAYS WITHIN TVC DAP
+
+OGARATE = OMEGAB # B(2)
+
+PHASETMP = TTMP1 # B(1) RESTART FOR CSM/LM V46 SWITCH-OVER
+RTRNLOC = TTMP2 # B(1) RESTART FOR CSM/LM V46 SWITCH-OVER
+BZERO = ERRBTMP
+CZERO = ERRBTMP
+JZERO = CMDTMP
+YZERO = CMDTMP
+
+# 540.9 STORAGE .............
+
+NBRCYCLS EQUALS N10 +15D # B(1) COUNTER FOR P40,41 STEERING
+NBRCYCLP EQUALS NBRCYCLS +1 # B(1) MAINTAIN ORDER
+DELVSUM EQUALS NBRCYCLP +1 # I(6) P40,P41
+DELVSUMP EQUALS DELVSUM +6 # I(6) P40,P41
+
+# Page 108
+# **** RCS DAP TEMPORARY VARIABLES. ******************** (95D)
+
+# ** RCS INTERRUPT TRUE TEMPS *************** (15D)
+SPNDX EQUALS INTTEMP # B(1)
+DPNDX EQUALS SPNDX +1 # B(1)TMP
+KMPAC EQUALS DPNDX +1 # B(2)TMP
+KMPTEMP EQUALS KMPAC +2 # B(1)TMP
+
+XNDX1 EQUALS KMPTEMP +1 # B(1)TMP XNDX1 THRU NYJETS ARE OVERLAYED
+XNDX2 EQUALS XNDX1 +1 # B(1)TMP BY OTHER DAP ERASABLES SO
+YNDX EQUALS XNDX2 +1 # B(1)TMP SHOULD ALWAYS BE DEFINED IN
+ZNDX EQUALS YNDX +1 # B(1)TMP A BLOCK
+RINDEX EQUALS ZNDX +1 # B(1)TMP
+PINDEX EQUALS RINDEX +1 # B(1)TMP
+YINDEX EQUALS PINDEX +1 # B(1)TMP
+NRJETS EQUALS YINDEX +1 # B(1)TMP
+NPJETS EQUALS NRJETS +1 # B(1)TMP
+NYJETS EQUALS NPJETS +1 # B(1)TMP
+
+WTEMP EQUALS XNDX1 # B(2)TMP WTEMP THRU DELTEMPZ OVERLAY
+DELTEMPX EQUALS WTEMP +2 # B(2)TMP XNDX1 THRU NRJETS AND EDOT THRU
+DELTEMPY EQUALS DELTEMPX +2 # B(2)TMP ADBVEL
+DELTEMPZ EQUALS DELTEMPY +2 # B(2)TMP
+
+EDOT EQUALS YNDX # B(2)TMP EDOT THRU ADBVEL OVERLAY
+AERR EQUALS EDOT +2 # B(1)TMP YNDX THRU NPJETS AND DELTEMPX
+EDOTVEL EQUALS AERR +1 # B(2)TMP THRU DELTEMPZ
+AERRVEL EQUALS EDOTVEL +2 # B(1)TMP
+ADBVEL EQUALS AERRVEL +1 # B(1)TMP
+
+# *** REGULAR RCS TEMPS ********************* ( ).
+
+# *** RCS ZEROING LOOP STARTS HERE ********** (37)
+WBODY EQUALS TVCRCS # B(2)TMP
+WBODY1 EQUALS WBODY +2 # B(2)TMP
+WBODY2 EQUALS WBODY +4 # B(2)TMP
+ADOT EQUALS WBODY2 +2 # B(2)TMP
+ADOT1 EQUALS ADOT +2 # B(2)TMP
+ADOT2 EQUALS ADOT1 +2 # B(2)TMP
+
+MERRORX EQUALS ADOT2 +2 # (2)
+MERRORY EQUALS MERRORX +2 # (2)
+MERRORZ EQUALS MERRORY +2 # (2)
+DFT EQUALS MERRORZ +2 # B(1)TMP
+DFT1 EQUALS DFT +1 # B(1)TMP
+DFT2 EQUALS DFT1 +1 # B(1)TMP
+DRHO EQUALS DFT2 +1 # B(2)TMP
+DRHO1 EQUALS DRHO +2 # B(2)TMP
+# Page 109
+DRHO2 EQUALS DRHO1 +2 # B(2)TMP
+ATTSEC EQUALS DRHO2 +2 # B(1)TMP
+TAU EQUALS ATTSEC +1 # B(1)TMP
+TAU1 EQUALS TAU +1 # B(1)TMP
+TAU2 EQUALS TAU1 +1 # B(1)TMP
+BIAS EQUALS TAU2 +1 # B(1)TMP
+BIAS1 EQUALS BIAS +1 # B(1)TMP
+BIAS2 EQUALS BIAS1 +1 # B(1)TMP
+ERRORX EQUALS BIAS2 +1 # B(1)TMP
+ERRORY EQUALS ERRORX +1 # B(1)TMP
+ERRORZ EQUALS ERRORY +1 # B(1)TMP
+
+# RCS ZERO LOOP ENDS HERE
+# MORE RCS (69D)
+THETADX EQUALS ERRORZ +1 # B(1)TMP MUST BE CONSECUTIVE WITH ERRORZ
+THETADY EQUALS THETADX +1 # B(1)TMP
+THETADZ EQUALS THETADY +1 # B(1)TMP
+
+DELCDUX EQUALS THETADZ +1 # B(2)TMP
+DELCDUY EQUALS DELCDUX +2 # B(2)TMP
+DELCDUZ EQUALS DELCDUY +2 # B(2)TMP
+
+DCDU EQUALS DELCDUZ +2 # B(6)TMP USED DURING P20
+DTHETASM EQUALS DCDU +6 # B(6)TMP STEER LOW OUTPUT.
+
+ATTKALMN EQUALS DTHETASM +6 # B(1)TMP
+KMJ EQUALS ATTKALMN +1 # B(1)TMP
+KMJ1 EQUALS KMJ +1 # B(1)TMP
+KMJ2 EQUALS KMJ1 +1 # B(1)TMP
+J/M EQUALS KMJ2 +1 # B(1)TMP
+J/M1 EQUALS J/M +1 # B(1)TMP
+J/M2 EQUALS J/M1 +1 # B(1)TMP
+RACFAIL EQUALS J/M2 +1 # B(1)TMP
+RBDFAIL EQUALS RACFAIL +1 # B(1)TMP
+ACORBD EQUALS RBDFAIL +1 # B(1)TMP
+XTRANS EQUALS ACORBD +1 # B(1)TMP
+CH31TEMP EQUALS XTRANS +1 # B(1)TMP
+CHANTEMP EQUALS CH31TEMP +1 # B(1)TMP
+T5TIME EQUALS CHANTEMP +1 # B(1)TMP
+RHO EQUALS T5TIME +1 # B(1)TMP
+RHO1 EQUALS RHO +1 # B(1)TMP
+RHO2 EQUALS RHO1 +1 # B(1)TMP
+AMGB1 EQUALS RHO2 +1 # B(1)TMP
+AMGB4 EQUALS AMGB1 +1 # B(1)TMP
+# Page 110
+AMGB5 EQUALS AMGB4 +1 # B(1)TMP
+AMGB7 EQUALS AMGB5 +1 # B(1)TMP
+AMGB8 EQUALS AMGB7 +1 # B(1)TMP
+CAPSI EQUALS AMGB8 +1 # B(1)TMP
+CDUXD EQUALS CAPSI +1 # B(2)TMP
+CDUYD EQUALS CDUXD +2 # B(2)TMP
+CDUZD EQUALS CDUYD +2 # B(2)TMP
+SLOPE EQUALS CDUZD +2 # B(1)TMP
+ADB EQUALS SLOPE +1 # B(1)TMP
+RMANNDX EQUALS ADB +1 # B(1)TMP
+PMANNDX EQUALS RMANNDX +1 # B(1)TMP
+YMANNDX EQUALS PMANNDX +1 # B(1)TMP MUST BE LAST VARIABLE IN RCS
+
+# Page 111
+# ********** ENTRY DAP TEMPORARY VARIABLES. ********************* (69D)
+
+# ANGLE REGISTERS FOR ENTRY DAPS
+AOG EQUALS BCDU # 1P
+AIG EQUALS AOG +1 # 1P
+AMG EQUALS AIG +1 # 1P
+ROLL/180 EQUALS AMG +1 # 1P
+ALFA/180 EQUALS ROLL/180 +1 # 1P
+BETA/180 EQUALS ALFA/180 +1 # 1P
+AOG/PIP EQUALS BETA/180 +1 # 1P
+AIG/PIP EQUALS AOG/PIP +1 # 1P
+AMG/PIP EQUALS AIG/PIP +1 # 1P
+ROLL/PIP EQUALS AMG/PIP +1 # 1P
+ALFA/PIP EQUALS ROLL/PIP +1 # 1P
+BETA/PIP EQUALS ALFA/PIP +1 # 1P
+
+# GYMBAL DIFFERENCES OVER INTERNAL TCDU = .1 SEC.
+-DELAOG EQUALS BETA/PIP +1 # 1P
+-DELAIG EQUALS -DELAOG +1 # 1P
+-DELAMG EQUALS -DELAIG +1 # 1P
+
+# ESTIMATED BODY RATES
+CMDAPMOD EQUALS -DELAMG +1 # 1P GOES BEFORE PREL FOR TM.
+
+PREL EQUALS CMDAPMOD +1 # 1P P TCDU/180 (ROLLDOT)
+QREL EQUALS PREL +1 # 1P Q TCDU/180 (PITCHDOT)
+RREL EQUALS QREL +1 # 1P R TCDU/180 (YAWDOT)
+
+BETADOT EQUALS RREL +1 # 1P MUST FOLLOW RREL. BETADOT TCDU/180
+PHIDOT EQUALS BETADOT +1 # 1P
+
+# OLD (UNAVERAGED) BODY RATE MEASURE
+OLDELP EQUALS PHIDOT +1 # 1P
+OLDELQ EQUALS OLDELP +1 # 1P
+OLDELR EQUALS OLDELQ +1 # 1P
+
+JETAG EQUALS OLDELR +1 # 1P
+TUSED EQUALS JETAG +1 # 1P ELAPSED TIME SINCE NOMINAL UPDATE.
+
+# FOLLOWING 3 SP WORDS IN DOWNLINK. ROLLTM SENT EACH 1 SEC.
+PAXERR1 EQUALS TUSED +1 # 1P INTEGRATED ROLL ERROR/360.
+ROLLTM EQUALS PAXERR1 +1 # 1P ROLL/180 FOR TM.
+ROLLC EQUALS ROLLTM +1 # 2P ROLLCOM/360 FROM ENTRY (FOR TM)
+ # KEEP ROLLC & ROLLHOLD ADJACENT FOR TP
+# Page 112
+ROLLHOLD EQUALS ROLLC +2 # 1P FOR ATTITUDE HOLD IN CMDAPMOD = +1
+
+# ENTRY DAP QUANTITIES THAT SHARE WITH RCS DAP.
+ALFACOM EQUALS DCDU # 1P KEEP ADJACENT TO BETACOM. <<
+BETACOM EQUALS ALFACOM +1 # 1P
+
+# JET LIST. DT, JETBITS IN THIS ORDER.
+TOFF EQUALS BETACOM +1 # 1P DP PAIR
+TBITS EQUALS TOFF +1 # 1P
+TON2 EQUALS TBITS +1 # 1P DP PAIR
+T2BITS EQUALS TON2 +1 # 1P
+
+# MISCELLANEOUS PERMANENT ERASABLE.
+OUTTAG EQUALS T2BITS +1 # 1P
+NUJET EQUALS OUTTAG +1 # 1P
+
+# MORE ENTRY DAP QUANTITIES THAT DO NOT SHARE WITH RCS DAP.
+JETEM EQUALS ROLLHOLD +1 # 2P THIS DP USED IN RATEAVG
+GAMA EQUALS JETEM +2 # 1P
+GAMDOT EQUALS GAMA +1 # 1P
+POSEXIT EQUALS GAMDOT +1 # 1P
+CM/GYMDT EQUALS POSEXIT +1 # 1P
+HEADSUP EQUALS CM/GYMDT +1 # 1P DSP NOUN 61 FOR P62,63,64,67.
+P63FLAG EQUALS HEADSUP +1 # 1P INTERLOCK FOR WAKEP62
+
+ #>> SHARE BELOW WITH RCS RUPT TEMPS (< 15D) <<<
+CALFA EQUALS SPNDX # 1P
+SALFA EQUALS CALFA +1 # 1P
+
+SINM EQUALS SALFA +1 # 1P
+COSM EQUALS SINM +1 # 1P
+SINO EQUALS COSM +1 # 1P
+COSO EQUALS SINO +1 # 1P
+SINOCOSM EQUALS COSO +1 # 1P
+COSOCOSM EQUALS SINOCOSM +1 # 1P
+ #>> SHARE ABOVE WITH RCS RUPT TEMPS <<<
+
+# THE FOLLOWING FEW REGISTERS USED ONCE EACH 2 SEC
+-VT/180 EQUALS NUJET +1 # 1P
+LCX/360 EQUALS -VT/180 +1 # 1P
+XD/360 EQUALS LCX/360 +1 # 1P
+VSQ/4API EQUALS XD/360 +1 # 1P
+JNDX EQUALS VSQ/4API +1 # 1P
+JNDX1 EQUALS JNDX +1 # 1P
+# Page 113
+TON1 EQUALS JNDX1 +1 # 1P DP PAIR
+T1BITS EQUALS TON1 +1 # 1P
+
+# MISCELLANEOUS REGISTERS USED EACH UPDATE.
+CM/SAVE EQUALS T1BITS +1 # 1P
+JETEM2 EQUALS CM/SAVE +1 # 1P TEMPORARY STORAGE
+
+# DAP QUANTITIES SHARED WITH RCS DAP FOR TM & FLIGHT RECORDER.
+VDT/180 = ERRORX # 1P (EDIT)
+-VT/180E = ERRORY # 1P (EDIT)
+
+PAXERR EQUALS AK # 1P ROLL ERROR FOR NEEDLES
+QAXERR = THETADX # 1P SINCE AK1 IS ZEROED IN ATM DAP.
+RAXERR = QAXERR +1 # 1P SINCE AK2 IS ZEROED IN TM DAP.
+
+# *** COLMANU (R60,R62) ****
+VECQTEMP EQUALS COFSKEW
+
+# Page 114
+# ******** KALCMANU VARIABLES. (71D) *******************************
+BCDU EQUALS YMANNDX +1 # B(3)TMP
+KSPNDX EQUALS BCDU +3 # B(1)TMP
+KDPNDX EQUALS KSPNDX +1 # B(1)TMP
+
+TMIS EQUALS KDPNDX +1 # I(18) MUST BE IN THE SAME BANK AS RCS DAP
+COFSKEW EQUALS TMIS +18D # I(6) MUST BE IN THE SAME BANK AS RCS DAP
+CAM EQUALS COFSKEW +6 # I(2) MUST BE IN THE SAME BANK AS RCS DAP
+
+MIS EQUALS CAM +2 # I(18) (THE REST MAY GO ANYWHERE)
+COF EQUALS MIS +18D # I(6)TMP
+SCAXIS EQUALS COF +6 # I(6)TMP
+POINTVSM EQUALS SCAXIS +6 # I(6)TMP
+AM EQUALS POINTVSM +6 # I(2)TMP
+RAD EQUALS AM +2 # I(2)TMP
+
+# FIRST-ORDER OVERLAYS IN KALCMANU
+KV1 EQUALS TMIS # I(6)TMP
+MFISYM EQUALS TMIS # I TMP
+TMFI EQUALS TMIS # I TMP
+NCDU EQUALS TMIS # B TMP
+NEXTIME EQUALS TMIS +3 # B TMP
+TTEMP EQUALS TMIS +4 # B TMP
+KV2 EQUALS TMIS +6 # I(6)TMP
+BIASTEMP EQUALS TMIS +6 # B TMP
+KV3 EQUALS TMIS +12D # I(6)TMP
+CGF EQUALS TMIS +12D # I TMP
+
+BRATE EQUALS COFSKEW # B TMP
+TM EQUALS CAM # B TMP
+
+# SECOND-ORDER OVERLAYS IN KALCMANU
+P21 EQUALS KV1 # I(2)TMP
+D21 EQUALS KV1 +2 # I(2)TMP
+G21 EQUALS KV1 +4 # I(2)TMP
+
+# SATURN BOOST STORAGE. SAVE TILL RCS DAP OPERATION. (17D)
+POLYNUM EQUALS BCDU # B(15) PAD LOADED
+POLYLOC = POLYNUM +10D
+SATRLRT EQUALS POLYNUM +15D # B(2) PAD LOADED
+
+# MORE P11 STORAGE --PAD LOADED-- (2D)
+# Page 115
+# (NOTE: THIS PAD LOAD WILL NOT BE PRESERVED THROUGHOUT THE MISSION AS IT SHARES STORAGE WITH KALCMANU,
+# ENTRY DAP AND TVC DAP)
+RPSTART EQUALS SATRLRT +2 # B(1) PITCH ROLL START TIME
+POLYSTOP EQUALS RPSTART +1 # B(1) POLYCUT OFF MINUS RPSTART SEC
+
+# STORAGE FOR VHHDOT AND ATTDSP
+BODY3 EQUALS POLYSTOP +1 # B(1)OUT
+BODY2 EQUALS BODY3 +1 # B(1)OUT
+BODY1 EQUALS BODY2 +1 # B(1)OUT
+SPOLYARG EQUALS BODY1 +1 # B(1)TMP ARGUMENT FOR POLLY
+
+OLDBODY1 = EDRIVEX # 1 PULSE = 0.0432 DEGREES
+OLDBODY2 = EDRIVEY
+OLDBODY3 = EDRIVEZ
+
+# STORAGE FOR S11.1
+VDISP EQUALS SPOLYARG +1 # I(2)OUT 2(7) M/CS
+HDISP EQUALS VDISP +2 # I(2)OUT 2(29) M
+HDOTDISP EQUALS HDISP +2 # I(2)OUT 2(7) M/CS
+BOOSTEMP EQUALS HDOTDISP +2 # B(3)TEMP
+
+# P11 SATURN I/F (9D)
+SATRATE EQUALS BOOSTEMP +3 # B(4)PL MANEUVER RATES FOR SATURN STICK
+SATSW EQUALS SATRATE +4 # B(1)TEM STATUS SW FOR BOOST TAKEOVER
+BIASAK EQUALS SATSW +1 # B(3)TEM STOR AKBIAS FOR BOOST TAKEOVER
+SATSCALE EQUALS BIASAK +3 # B(1) SCALE FACTOR FOR SATURN STEERING
+
+# P21 STORAGE. (1D)
+GENRET EQUALS RAD +2 # B(1)TMP
+
+# R61CSM STORAGE. (1D)
+SAVBNK EQUALS GENRET +1 # B(1) S-S SAVE EBANK FOR R61 SUBROUTINE
+
+# CRS61.1 STORAGE FOR AUTOPILOT BANK. (3D)
+SAVEDCDU EQUALS SAVBNK +1 # B(3)TMP
+
+# R61 STORAGE. (1D)
+# Page 116
+R61CNTR EQUALS SAVEDCDU +3 # (1)TMP
+
+# ENTRY RESTART PROTECTION STORAGE. --KEEP TEMPS IN ORDER-- (12D)
+TEMPROLL EQUALS GENRET # B(1)TMP COPY CYCLE REGISTER
+TEMPALFA EQUALS TEMPROLL +1 # B(1)TMP COPY CYCLE REGISTER
+TEMPBETA EQUALS TEMPALFA +1 # B(1)TMP COPY CYCLE REGISTER
+60GENRET EQUALS TEMPBETA +1 # B(1)TMP QSAVE FOR S61.1 AND ENTRY.
+S61DT EQUALS 60GENRET +1 # B(1)TMP VARIABLE DT FOR S61.1 RESTART.
+
+# ENTRY TM SHARING FOR ACCELERATION PROFILE.
+XPIPBUF EQUALS ADOT # B(1) PIPA BUFFER FOR TM DURING ENTRY.
+YPIPBUF EQUALS XPIPBUF +1 # B(1) PIPS FILED HERE EACH .5 SEC APPEAR
+ZPIPBUF EQUALS YPIPBUF +1 # B(1) ON DOWNLIST ONCE PER SECOND DURING
+XOLDBUF EQUALS ZPIPBUF +1 # B(1) ENTRY AFTER RCS DAP HAS BEEN DIS-
+YOLDBUF EQUALS XOLDBUF +1 # B(1) ABLED. NEWEST PIP VALUE REPLACES
+ZOLDBUF EQUALS YOLDBUF +1 # B(1) PIPBUF, WHICH IS MOVED INTO OLDBUF.
+
+# REENTRY VARIABLES SHARED WITH RCS DAP FOR TM & FLIGHT RECORDER.
+Q7 = THETADZ # I(2) HI-WORD ONLY ON DNLIST.
+ASPS(TM) = WBODY # I(6)DWN
+ # ASKEP, ASP1, ASPUP, ASPDN, ASP3, ASP3+1
+
+# P37 PAD LOADS (1)
+P37RANGE EQUALS R61CNTR +1 # I(1)PL *****
+
+END-E6 = P37RANGE +1 # FIRST UNUSED ERASABLE LOCATION IN E6
+
+# Page 117
+# EBANK-7 ASSIGNMENTS
+
+ SETLOC 3400
+
+# *-*-*-*- OVERLAY NUMBER 0 IN EBANK 7 -*-*-*-*
+
+# EXTERNAL DELTA-V UPDATE. (21D)
+# (MUST BE IN ORDER FOR UPDATE PROGRAM. ALSO ENTRY PROGRAM PICK UP 'LAT(SPL' WITH A VLOAD.)
+
+LAT(SPL) ERASE +20D # I(2)DSP NOUN 61 FOR P62,63,64,67
+LNG(SPL) EQUALS LAT(SPL) +2 # I(2)DSP NOUN 61 FOR P62,63,64,67
+
+DELVSLV EQUALS LNG(SPL) +2 # I(6)TMP DELTA VEL VECT, LOC VER COORDS
+TIG EQUALS DELVSLV +6 # B(2)DSP NOUN 33 FOR X-V84(R32),P30,40.
+RTARG EQUALS TIG +2 # I(6)IN DESIRED VEHICLE RADIUS VECTOR
+DELLT4 EQUALS RTARG +6 # I(2)IN TIME DIFFERENCE FOR INITVEL
+ECSTEER EQUALS DELLT4 +2 # I(1)PL FOR P40'S
+DELVLVC = DELVSLV
+END-DELV ERASE # *NEXT AVAIL LOC AFTER UNSHARED E7*
+
+# SERVICER STORAGE. (13D)
+DVTOTAL EQUALS END-DELV # B(2)DSP NOUN 40,99 FOR P30,34,35,40
+TGO EQUALS DVTOTAL +2 # B(2)
+DVCNTR EQUALS TGO +2 # B(1)TMP
+DELVREF EQUALS DVCNTR +1 # I(6)TMP
+
+NOMTIG EQUALS END-KALC # I(2) (CANNOT SHARE WITH KALCMANU
+ # OR DELVREF)
+END-SVCR EQUALS NOMTIG +2 # ***NEXT AVAILABLE AFTER SERVICER
+
+# ALIGNMENT STORAGE. (25D)
+XSCD EQUALS END-SVCR # I(6)TMP
+YSCD EQUALS XSCD +6 # I(6)TMP
+ZSCD EQUALS YSCD +6 # I(6)TMP
+VEL/C EQUALS ZSCD +6 # I(6)TMP
+R53EXIT EQUALS VEL/C +6 # I(1)TMP
+
+# ALIGNMENT MARKDATA (DOWNLINK) ******* (7D)
+MARK2DWN EQUALS R53EXIT +1 # (7) USED BY ALIGNMENT P50'S
+
+# Page 118
+# *-*-*-*- OVERLAY NUMBER 1 IN EBANK 7 -*-*-*-*
+
+# REENTRY ERASABLES. (206D)
+RTINIT EQUALS END-SVCR # 6P
+RTEAST EQUALS RTINIT +6 # 6P
+RTNORM EQUALS RTEAST +6 # 6P
+RT EQUALS RTNORM +6 # 6P
+UNI EQUALS RT +6 # 6P
+UNITV EQUALS UNI +6 # 6P
+VEL EQUALS UNITV +6 # 6P
+
+TIME/RTO EQUALS VEL +6 # 2P TIME OF INITIAL TARGET, RTO.
+-VREL EQUALS TIME/RTO +2 # 6P
+OLDUYA EQUALS -VREL +6 # 6P USED BY CM/POSE (ENTRY DAP)
+UXA/2 EQUALS OLDUYA +6 # 6P USED BY CM/POSE (ENTRY DAP) -UVA
+URH = UXA/2 # P67 DISPLAY NOUN
+UYA/2 EQUALS UXA/2 +6 # 6P USED BY CM/POSE (ENTRY DAP) UYA
+UZA/2 EQUALS UYA/2 +6 # 6P USED BY CM/POSE (ENTRY DAP) UNA
+UBX/2 EQUALS UZA/2 +6 # 6P USED BY CM/POSE (ENTRY DAP)
+UBY/2 EQUALS UBX/2 +6 # 6P USED BY CM/POSE (ENTRY DAP)
+UBZ/2 EQUALS UBY/2 +6 # 6P USED BY CM/POSE (ENTRY DAP)
+
+DTEAROT EQUALS UBZ/2 +6 # 2P
+DIFF EQUALS DTEAROT +2 # 2P
+DIFFOLD EQUALS DIFF +2 # 2P
+FACTOR EQUALS DIFFOLD +2 # 2P
+FACT1 EQUALS FACTOR +2 # 2P
+FACT2 EQUALS FACT1 +2 # 2P
+#Q7 = THETAD2 # 2P SHARED FOR TM. P64-P66
+VSQUARE EQUALS FACT2 +2 # 2P
+LAD EQUALS VSQUARE +2 # 2P
+LOD EQUALS LAD +2 # 2P
+L/DCMINR EQUALS LOD +2 # 2P
+KLAT EQUALS L/DCMINR +2 # 2P
+L/D EQUALS KLAT +2 # 2P
+L/D1 EQUALS L/D +2 # 2P
+LEWD = VIO # 2P SHARED FOR TM. P64-P65
+D EQUALS L/D1 +2 # 2P DSP NOUN 64,66,68 FOR P63,64,67
+#V1 = ENDBUF +1 # 2P SHARED FOR TM. P64-P65
+DLEWD EQUALS D +2 # 2P
+K2ROLL EQUALS DLEWD +2 # 2P
+GOTOADDR EQUALS K2ROLL +2 # 1P
+TEM1B EQUALS GOTOADDR +1 # 2P
+MM EQUALS TEM1B +2 # 2P
+GRAD EQUALS MM +1 # 2P
+FX EQUALS GRAD +1 # 1P OVERWRITES NEXT 5 LOCS IN P67
+LEQ EQUALS FX +1 # 2P
+DHOOK EQUALS LEQ +2 # 2P
+AHOOKDV EQUALS DHOOK +2 # 2P
+# Page 119
+DVL EQUALS AHOOKDV +2 # 2P
+#A0 = ENDBUF +3 # 2P SHARED FOR TM. (HI-WD) P84-P85
+A1 EQUALS DVL +2 # 2P
+VBARS EQUALS A1 +2 # 2P
+COSG/2 EQUALS VBARS +2 # 2P
+#GAMMAL = GAMMAEI # 2P SHARED FOR TM. P64
+GAMMAL1 = 22D # 2P
+VS1 EQUALS COSG/2 +2 # 2P
+VL = VPRED # 2P SHARED FOR TM. P64-P65
+V EQUALS VS1 +2 # 2P
+#VREF = THETAD +2 # 2P SHARED FOR TM. P65
+LATANG EQUALS V +2 # 2P ADJACENT FOR TM.
+RDOT EQUALS LATANG +2 # 2P ADJACENT FOR TM.
+THETAH EQUALS RDOT +2 # 2P DSP NOUN 64,67 FOR P63,64,67
+#RDOTREF = THETAD # 2P SHARED FOR TM. P65
+ALP EQUALS THETAH +2 # 2P
+
+ASKEP = ASPS # 2P) THESE ARE STORED IN
+ASP1 = ASPS +1 # 2P) SEQUENCE, OVERLAPPING
+ASPUP = ASPS +2 # 2P)>HI-WD OF EACH< HI-WORD ONLY APPEARING
+ASPDWN = ASPS +3 # 2P) ON DOWNLIST, EXCEPT
+ASP3 = ASPS +4 # 2P) ASP3 IS COMPLETE.
+
+C/D0 EQUALS ALP +2 # 2P -1/D0
+D0 EQUALS C/D0 +2 # I(2) CONSTANT DRAG
+Q2 EQUALS D0 +2 # 2P
+
+# ROLLC IS LOCATED IN EBANK= AOG TO AID ENTRY DAP.
+RTGO EQUALS Q2 +2 # 2P DSP NOUN 66 FOR P64,P67
+DNRNGERR EQUALS RTGO +2 # 2P DSP NOUN 66 FOR P64,67
+XRNGERR = LATANG # FOR DISKY DISPLAY
+KAT EQUALS DNRNGERR +2 # 2P
+GMAX EQUALS KAT +2 # 1P DSP NOUN 60 FOR P61,62,63
+ # GMAX IS LOADED IN DOUBLE PRECISION.
+L/DCALC = TTE # 2P CALCULATED L/D FOR TM: P64-P67.
+GAMMAL = GAMMAEI # 2P SHARED FOR TM. P64.
+PREDANG = GAMMAEI # FOR TM IN P67.
+JJ = PREDANG +1 # FOR TM IN P67.
+VMAGI EQUALS GMAX +1 # 2P DSP NOUN 62,64,66 FOR P11,63,64.
+VIO EQUALS VMAGI +2 # 2P DSP NOUN 63 FOR P61.
+TTE EQUALS VIO +2 # 2P DSP NOUN 63 FOR P61.
+ASPS EQUALS TTE +2 # I(2) HI-WORD ONLY ON DNLIST FOR TEMP
+TTE1 EQUALS ASPS +2 # I(2)TMP HOLDS UNDECREMENTED TTE VALUE
+
+# **** P6O'S ****
+RTGON64 EQUALS RTGO # RANGE ERRORS NEGATIVE IF FALLS SHORT
+# Page 120
+RTGON67 EQUALS RTGO # DSP NOUN 67
+
+# REENTRY, RETURN TO EARTH COMMON DISPLAY (4D)
+VPRED EQUALS BETA12 +2 # DSP NOUN 60 FOR P61,62,63
+GAMMAEI EQUALS VPRED +2 # DSP NOUN 60 FOR P61,62,63
+
+# DISPLAY REGISTER FOR VG (2D)
+VGDISP EQUALS GAMMAEI +2 # B(2)DSP N.40,42,99 FOR P30,34,35,37,40,
+ # 41 VG DISPLAY
+
+# SOME P11 DISPLAY REGISTERS (6D)
+ALTI EQUALS TTE1 +2 # 2P DSP NOUN 62 FOR P11.
+HDOT EQUALS ALTI +2 # 2P DSP NOUN 62 FOR P11.
+
+# Page 121
+# *-*-*-*- OVERLAY NUMBER 2 IN EBANK 7 -*-*-*-*
+
+# KALCMANU STORAGE. (18D)
+MFS EQUALS END-DELV # I(18)
+MFI EQUALS MFS # I TMP
+DEL EQUALS MFS # I TMP
+END-KALC EQUALS MFS +18D # **NEXT AVAIL LOC AFTER KALCMANU**
+
+# MEASUREMENT INCORPORATION STORAGE (R22) STORAGE. (56D)
+
+TX789 EQUALS END-KALC # I(6)TMP
+GAMMA EQUALS TX789 +6 # I(3)TMP
+OMEGA EQUALS GAMMA +2 # I(18)TMP
+BVECTOR EQUALS OMEGA +18D # I(18)TMP
+DELTAQ EQUALS BVECTOR +18D # I(2)TMP
+VARIANCE EQUALS DELTAQ +2 # I(3)TMP
+RCLP EQUALS VARIANCE +3 # I(6)TMP
+GRP2SVQ EQUALS RCLP +6 # I(1)TMP QSAVE FOR RESTARTS
+
+# P20, P22, P23 DSP NOUN (5D)
+N49DISP EQUALS BVECTOR # B(5)TMP
+
+# S22.1 STORAGE. (36D)
+SVMRKDAT EQUALS GRP2SVQ +1 # I(36)TMP 5 SETS OF MARK DATA +PAD OF ONE
+
+# **** CISLUNAR NAV. ERAS. (P20'S) **** (45D)
+TRUNX EQUALS SVMRKDAT +36D
+DATATEST EQUALS TRUNX # (1)
+UBAR0 EQUALS TRUNX +1
+UBAR1 EQUALS UBAR0 +6
+UBAR2 EQUALS UBAR1 +6
+RZC EQUALS UBAR2 +6
+VZC EQUALS RZC +6
+UCLSTAR EQUALS VZC +6
+USSTAR EQUALS UCLSTAR +6
+SRRETURN EQUALS USSTAR +6
+
+# Page 122
+# *-*-*-*- OVERLAY NUMBER 3 IN EBANK 7 -*-*-*-*
+
+# RENDEZVOUS GUIDANCE STORAGE. -- P32 ... P35 -- (8D)
+DELTEEO EQUALS END-KALC # I(2) S-S BACK VALUES OF DELTA TIME
+DELEL EQUALS DELTEEO +2 # I(2) S-S
+SECMAX EQUALS DELEL +2 # I(2) S-S MAX STOP SIZE FOR ROUTINE
+XXXALT EQUALS SECMAX +2 # I(2)
+
+# S40.9 STORAGE (16D)
+VG EQUALS XXXALT +2 # I(6)TMP
+VRPREV EQUALS VG +6 # I(6)
+TNIT EQUALS VRPREV +6 # I(2)
+TNITPREV EQUALS TNIT +2 # I(2)
+
+# S40.2,3 STORAGE. (1D)
+AXISCODE EQUALS TNITPREV +2 # I(1)IN
+
+# P30'S-P17 COMMON STORAGE. (24D)
+RACT3 EQUALS GRP2SVQ +1 # I(6)TMP POSITION OF ACTIE AT TPI TIME.
+VACT3 EQUALS RACT3 +6 # I(6)TMP VELOCITY OF ACTIVE AT TPI TIME.
+RPASS3 EQUALS VACT3 +6 # I(6)TMP POSITION OF PASSIVE AT TPI TIME.
+VPASS3 EQUALS RPASS3 +6 # I(6)TMP VELOCITY OF PASSIVE AT TPI TIME.
+
+# P76, N84 DISPLAY (6D)
+DELVOV EQUALS RACT3 # I(6)DSP NOUN 84 FOR X-V84, P34-35
+
+# INITVEL/MIDGIM STORAGE. (34D)
+# (CALLED BY S34.1,2, S35.1,2, AND S40.9)
+# (CALLS LAMBERT, CONIC SUBROUTINES)
+RINIT EQUALS VPASS3 +6 # I(6)IN ACTIVE VEHICLE RADIUS VECTOR
+VINIT EQUALS RINIT +6 # I(6)IN ACTIVE VEHICLE VELOCITY VECTOR
+RTARG1 EQUALS VINIT +6 # I(6)TMP SHIFTED RTARG
+VIPRIME EQUALS RTARG1 +6 # I(6)OUT NEW VEL REQ AT INITIAL RADIUS
+VTPRIME EQUALS VIPRIME +6 # I(6)OUT TOTAL VELOCITY AT DESIRED RADIUS
++MGA EQUALS VTPRIME +6 # I(2)DSP NOUN 45 FOR P30,34,35. +MID GIM.
+COZY4 EQUALS +MGA +2 # I(2)TMP COSINE OF ANGLE WHEN ROT STARTS
+
+# THE FOLLOWING OVERLAYS MEASUREMENT INCORP AND CANNOT SHARE WITH TPI
+# Page 123
+INTIME EQUALS AXISCODE +3
+ITCTR EQUALS INTIME +2 # I(1)TMP ITERATION COUNTER
+END-IN/M EQUALS COZY4 +2 # ** NEXT AVAIL LOC AFTER INITVEL/MIDGIM **
+
+# P34 AND P33 STORAGE. (OVERLAYS INITVEL/MIDGIM) (24D)
+VAPREC EQUALS RINIT # I(6) S-S PREC VEC FOR NOM TPI TIME (ACT V)
+RAPREC EQUALS VINIT # I(6) S-S PREC VEC FOR NOM TPI TIME (ACT V)
+VPPREC EQUALS VIPRIME # I(6) S-S PREC VEC FOR NOM TPI TIME (PASS)
+RPPREC EQUALS VTPRIME # I(6) S-S PREC VEC FOR NOM TPI TIME (PASS)
+
+# P30, P40 INTERFACE. (20D)
+RTIG EQUALS END-IN/M # I(6)TMP
+VTIG EQUALS RTIG +6 # I(6)TMP
+DELVSIN EQUALS VTIG +6 # I(6)TMP
+DELVEET3 EQUALS DELVSIN # TMP DELTA VEL VECT INERTIAL COORDS.
+VGTEMP EQUALS DELVEET3
+DELVSAB EQUALS DELVSIN +6 # I(2)TMP
+
+# P35-P40 INTERFACE STORAGE. (OVERLAYS P30-P40 I/F STORAGE) (12D)
+RPASS4 EQUALS RTIG # I(6)TMP POSITION OF PASSIVE AT INTERCEPT
+VPASS4 EQUALS RPASS4 +6 # I(6)TMP VELOCITY OF PASSIVE AT INTERCEPT
+
+# TPI SEARCH (P17) (6D)
+E2 EQUALS VPASS4 +6 # I(6)TMP
+
+# P30-P40 COMMON STORAGE. (3D)
+TPASS4 EQUALS DELVSAB +2 # I(2)TMP
+TINT = TPASS4 # I(2)
+QTEMP EQUALS TPASS4 +2 # I(1)TMP
+
+# P30-P40 STORAGE. (4D)
+TTOGO EQUALS QTEMP +1 # B(2)DSP NOUN 35,40,45,59,99
+ # FOR P30,34,35,40,41,47, R30.
+TTPI EQUALS TTOGO +2 # B(2)DSP NOUN 37 FOR P34 TPI TIME, CSECS.
+# Page 124
+END-P30S EQUALS TTPI +2 # ** NEXT AVAIL LOC AFTER P30-40 STORAGE. **
+
+# P40 STORAGE. (8D)
+VGBODY EQUALS END-P30S # B(6)DSP NOUN 85 FOR P40,41,42 VG-SC COOR
+DELVCTL = VGBODY
+P40TMP EQUALS VGBODY +6 # B(2)TMP
+
+# P47 STORAGE.
+DV47TEMP EQUALS VG
+DELVIMU EQUALS P40TMP +2 # I(6)DSP NOUN 83 FOR P47 DELTAV(IMU).
+
+# S40.1 STORAGE. (23D)
+CSTEER EQUALS DELVIMU +6 # I(2)IN
+BDT EQUALS CSTEER +2 # I(6)IN
+UT EQUALS BDT +6 # I(6)OUT THRUST DIRECTION
+VGTIG EQUALS UT +6 # I(6)OUT
+VGPREV = VGTIG
+F EQUALS VGTIG +6 # I(2)OUT S40.3 NEEDS THIS
+
+QTEMP1 EQUALS F +2 # I(1)TMP HOLDS RETURN
+
+# R41 (2D)
+T-TO-ADD EQUALS QTEMP1 +1 # I(1D) FOR MIDTOAVE
+
+# Page 125
+# *-*-*-*- OVERLAY NUMBER 4 IN EBANK 7 -*-*-*-*
+
+# S35.1 STORAGE. (2D)
+TSTRT EQUALS END-P30S # I(2)IN MIDCOURSE START TIME
+
+# S34.1 STORAGE. (OVERLAYS S35.1 STORAGE) (1)
+TITER EQUALS TSTRT # I(1)TMP ITERATION COUNTER
+
+# (P30-31 Q-SAVES) (1)
+P30/31RT EQUALS TITER # B(1) RETURN POINT
+
+# P22 STORAGE. (6D)
+S22WUNL EQUALS TSTRT +2 # 1 WUNL W8 UNKNOWN INIT VALUE.
+S22TOFF EQUALS S22WUNL +1 # 2 T SUB OFF
+S22TPRIM EQUALS S22TOFF +2 # 2 SAVE TF
+S22EORM EQUALS S22TPRIM +2 # 0 = EARTH -- NON-ZERO = MOON
+
+# DOWNLINK ERASABLES FOR P22, P20 MARK DATA. (8D)
+MARKDOWN EQUALS S22EORM +1 # B(1)
+RM EQUALS S22RTNEX # DOWNLINK OF VHF RANGE
+
+# S22.1 (1D)
+S22RTNEX EQUALS MARKDOWN +7 # B(1)
+
+# P22 STORAGE (6D)
+STARSAV3 EQUALS S22RTNEX +1 # I(6)TMP
+
+# CRS61.1 STORAGE. --A SUBSET OF P20-- (14D)
+Q611 EQUALS RM +1 # I(1)TMP QSAVE
+Q6111 EQUALS Q611 +1 # I(1)TMP QSAVE
+SAVEPOS EQUALS Q6111 +1 # I(6)TMP LEM POSITION VECTOR
+# Page 126
+SAVEVEL EQUALS SAVEPOS +6 # I(6)TMP LEM VELOCITY VECTOR
+
+# ATTITUDE MANEUVER -- CALLED BY P20,R61,R63,CRS61.1 (3D)
+PRAXIS EQUALS SAVEVEL +6 # B(3) S-S DISP RES FOR PREF AXIS N95.
+
+# MARK ROUTINE (R21) STORAGE. -- IS SUBSET OF R22 -- (14D)
+MRKBUF1 EQUALS PRAXIS +3 # B(7)TMP R21 MARK BUFFER.
+MRKBUF2 EQUALS MRKBUF1 +7 # B(7)TMP R21 MARK BUFFER.
+
+# MORE CONICS STORAGE. (4)
+COGA EQUALS 3774 # I(2) COTAN OF INITIAL FLIGHT PATH ANGLE
+INDEP EQUALS COGA # I(1) USED BY SUBROUTINE 'ITERATOR'
+EPSILONL EQUALS COGA +2 # I(2)TMP
+
+# RENDEZVOUS GUIDANCE STORAGE. -- P32...P35 -- (10D)
+ELEV EQUALS MRKBUF2 +7 # I(2)TMP
+RTX1 EQUALS ELEV +2 # (1)
+RTX2 EQUALS RTX1 +1 # (1)
+RTMU EQUALS RTX2 +1 # (2)
+RTSR1/MU EQUALS RTMU +2 # (2)
+CENTANG EQUALS RTSR1/MU +2 # I(2) S-S CENTRAL ANGLE COVERED (TPI-TFF)
+
+# TPI SEARCH (S17.1, S17.2) P17 STORAGE.(10D)
+DELTEE EQUALS MRKBUF2 +7 # I(2)
+XRS EQUALS DELTEE +2 # I(2)
+THETL EQUALS XRS +2 # I(2)
+TF EQUALS THETL +2 # I(2)
+DELHITE EQUALS TF +2 # (2)
+
+# Page 127
+# *-*-*-*- OVERLAY NUMBER 5 IN EBANK 7 -*-*-*-*
+
+# P17,P34 (2D)
+NN1 = NN # I(2)DSP NOUN 55,R1
+
+# ********* THE FOLLOWING ARE FOR FLIGHT 504 ONLY *************
+
+# RETURN-TO-EARTH STORAGE. (93D)
+RTEDVD EQUALS END-IN/M # I(2)IN DELTA VELOCITY DESIRED M/CS B7
+RTEGAM2D EQUALS RTEDVD +2 # I(2)IN REENTRY ANGLE DESIRED REVS B0
+RCON EQUALS RTEGAM2D +2 # I(2)TMP CONIC R2 RADIUS M B29
+R(T1)/ EQUALS RCON +2 # I(6)TMP POSITION VECTOR AT TIG M B29/B27
+R(T1) EQUALS R(T1)/ +6 # I(2)TMP MAGNITUDE OF R(T1)/ M B29/B27
+DT21PR EQUALS R(T1) +2 # I(2)TMP PREVIOUS DT21 CS B30
+MAMAX1 EQUALS DT21PR +2 # I(2)TMP MAJ AXIS LOW BOUND LMT M B30
+MAMAX2 EQUALS MAMAX1 +2 # I(2)TMP MAJ AXIS UP BOUND LMT M B30
+R(T2)/ EQUALS MAMAX2 +2 # I(6)TMP FINAL POSITION VECTOR M B29/B27
+RD EQUALS R(T2)/ +6 # I(2)TMP FINAL R DESIRED M B29/B27
+DRCON EQUALS RD +2 # I(2)TMP RCON SLOPE ITERATOR M B29/B27
+RPRE' EQUALS DRCON +2 # I(2)TMP PREVIOUS RPRE M B29/B27
+V(T1)/ EQUALS RPRE' +2 # I(6)TMP VEL VECTOR AT TIG M/CS B7/B5
+V2(T1)/ EQUALS V(T1)/ +6 # I(6)TMP POST IMP VEL AT TIG M/CS B7/B5
+DV EQUALS V2(T1)/ +6 # I(2)TMP DELTA VELOCITY AT TIG M/CS B7/B5
+V(T2)/ EQUALS DV +2 # I(6)TMP FINAL VELOCITY VECTOR M/CS B7/B5
+T1 EQUALS V(T2)/ +6 # I(2)TMP INITIAL VECTOR TIME CS B28
+PCON EQUALS T1 +2 # I(2)TMP SEMI-LATUS RECTUM M B29
+X(T1) EQUALS PCON +2 # I(2)TMP COTANGENT GAMMA1 B5
+T12 EQUALS X(T1) +2 # I(2)TMP INIT TO FINAL POSIT TIME CS B28
+DELTAT EQUALS T12 +2 # I(2)TMP DELTA T IN SAVE PERILUNE CS B28
+NN1A EQUALS DELTAT +2 # I(2)TMP ITERATION COUNTER 1
+NN2 EQUALS NN1A +2 # I(2)TMP ITERATION COUNTER 2
+RTENCKEX EQUALS NN2 +2 # I(1)TMP RTENCK RETURN ADDRESS
+CONICX1 EQUALS RTENCKEX +1 # I(1)TMP CONICS MU TABLE INDEX
+T2 EQUALS CONICX1 +1 # I(2)TMP FINAL TIME CS B28
+UR1/ EQUALS T2 +2 # I(6)TMP UNIT R(T1)/ B1
+UV1/ EQUALS UR1/ +6 # I(6)TMP UNIT V(T1)/ B1
+BETA1 EQUALS UV1/ +6 # I(2)TMP 1+X(T2)**2 B1
+P(T1) EQUALS BETA1 +2 # I(1)TMP PRIMARY BODY STATE TIME 1 B14
+CFPA EQUALS P(T1) +1 # I(2)TMP COSINE FLIGHT PATH ANGLE B1
+PHI2 EQUALS CFPA +2 # I(2)TMP PERI OR APO INDICATOR B2
+SPRTEX EQUALS PHI2 +2 # I(1)TMP ROUTINE RETURN ADDRESS
+VNSTORE EQUALS SPRTEX +1 # I(1)TMP VERBNOUN STORAGE
+BETA12 EQUALS VNSTORE +1 # I(2)TMP SIGN FOR TIMERAD
+
+# OVERLAYS WITHIN RETURN-TO-EARTH STORAGE.
+# Page 128
+RPRE EQUALS 24D # I(2)TMP COMPUTED PREC RADIUS M B29/B27
+P/RPRE EQUALS 26D # I(2)TMP P/R B4
+R/APRE EQUALS 28D # I(2)TMP R/A B6
+X(T2)PRE EQUALS T12 # I(2)TMP PREC COTAN GAMMA2 B0
+X(T2) EQUALS DELTAT # I(2)TMP COTAN GAMMA2 B0
+UH/ EQUALS UV1/ # I(2)TMP UNIT HORIZONTAL VECTOR. B1
+SPRTETIG EQUALS TIG # I(2)IN TIME OF IGNITION CS B28
+
+# Page 129
+# *-*-*-*- OVERLAY 6 IN EBANK 7 -*-*-*-*
+# P32,P33
+
+# THE FOLLOWING OVERLAY MEAS. INCORP. ARE AND IN USE ONLY WHEN (32D)
+POSTCSI EQUALS VG # I(2)
+DELVCSI EQUALS POSTCSI +2 # I(2)
+DELDV EQUALS DELVCSI +2 # I(2)
+GAMPREV EQUALS DELDV +2 # I(2)
+DVPREV EQUALS GAMPREV +2 # I(2)
+POSTCDH EQUALS DVPREV +2 # I(2)
+HAFPA1 EQUALS POSTCDH
+VACT4 EQUALS POSTCDH +2 # I(6)
+RDOTV EQUALS VACT4 +6 # I(2)
+VACT1 EQUALS RDOTV +2 # I(6)
+VPASS1 EQUALS VACT1 +6 # I(6) VEL. PASSIVE VEH. AT CSI TIME
+
+UNVEC EQUALS VACT3
+
+T2TOT3 EQUALS TPASS4 # I(2) TPI - TCDH
+
+CSIALRM EQUALS TITER # I(2) ALARM INDEX
+
+DELVEET2 EQUALS S22WUNL # I(6) VACT3 - VACT2 = DVCDH REF. COORD.
+
+# ADDITIONAL CSI - CDH STORAGE. (10D)
+RPASS1 EQUALS CENTANG +2 # I(6) POS. PASSIVE VEH. AT CSI TIME.
+LOOPCT EQUALS RPASS1 +6 # I(2) ITERATION COUNTER
+NN EQUALS LOOPCT +2 # I(2)
+
+# P21 STORAGE (19D)
+P21ORIG EQUALS TRUNX # I(1)
+P21BASER EQUALS P21ORIG +1 # I(6)
+P21BASEV EQUALS P21BASER +6 # I(6)
+P21ALT EQUALS P21BASEV +6 # I(2) NOUN 73 R1 ALTITUDE
+P21VEL EQUALS P21ALT +2 # I(2) NOUN 73 R2 VELOCITY
+P21GAM EQUALS P21VEL +2 # I(2) NOUN 73 R3 FLIGHT PATH ANGLE
+
+# The following two statements had been just "WHOCARES = 3777".---RSB 2009
+ SETLOC 3777
+WHOCARES EQUALS # A DUMMY FOR E-BANK INSENSITIVE 2CADRS.
+END-E7 EQUALS WHOCARES # ***** LAST LOCATION IN E7
+
+# Page 130 ... is empty.
+
diff --git a/EXECUTIVE.s b/EXECUTIVE.s
new file mode 100644
index 0000000..7548f2c
--- /dev/null
+++ b/EXECUTIVE.s
@@ -0,0 +1,497 @@
+# Copyright: Public domain.
+# Filename: EXECUTIVE.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1208-1220
+# Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1208
+ BLOCK 02
+
+# TO ENTER A JOB REQUEST REQUIRING NO VAC AREA:
+
+ COUNT 02/EXEC
+
+NOVAC INHINT
+ AD FAKEPRET # LOC(MPAC +6) - LOC(QPRET)
+ TS NEWPRIO # PRIORITY OF NEW JOB + NOVAC C(FIXLOC)
+
+ EXTEND
+ INDEX Q # Q WILL BE UNDISTURBED THROUGHOUT.
+ DCA 0 # 2CADR OF JOB ENTERED.
+ DXCH NEWLOC
+ CAF EXECBANK
+ XCH FBANK
+ TS EXECTEM1
+ TCF NOVAC2 # ENTER EXECUTIVE BANK.
+
+# TO ENTER A JOB REQUEST REQUIREING A VAC AREA -- E.G., ALL (PARTIALLY) INTERPRETIVE JOBS.
+
+FINDVAC INHINT
+ TS NEWPRIO
+ EXTEND
+ INDEX Q
+ DCA 0
+SPVACIN DXCH NEWLOC
+ CAF EXECBANK
+ XCH FBANK
+ TCF FINDVAC2 # OFF TO EXECUTIVE SWITCHED-BANK.
+
+# TO ENTER A FINDVAC WITH THE PRIORITY IN NEWPRIO TO THE 2CADR ARRIVING IN A AND L:
+# USERS OF SPVAC MUST INHINT BEFORE STORING IN NEWPRIO.
+
+SPVAC XCH Q
+ AD NEG2
+ XCH Q
+ TCF SPVACIN
+
+# TO SUSPEND A BASIC JOB SO A HIGHER PRIORITY JOB MAY BE SERVICED:
+
+CHANG1 LXCH Q
+ CAF EXECBANK
+ XCH BBANK
+ TCF CHANJOB
+
+# TO SUSPEND AN INTERPRETIVE JOB:
+
+CHANG2 CS LOC # NEGATIVE LOC SHOWS JOB = INTERPRETIVE.
+# ITRACE (4) REFERS TO "CHANG2"
+# Page 1209
+ TS L
+ +2 CAF EXECBANK
+ TS BBANK
+ TCF CHANJOB -1
+
+# Page 1210
+# TO VOLUNTARILY SUSPEND A JOB UNTIL THE COMPLETION OF SOME ANTICIPATED EVENT (I/O EVENT ETC.):
+
+JOBSLEEP TS LOC
+ CAF EXECBANK
+ TS FBANK
+ TCF JOBSLP1
+
+# TO AWAKEN A JOB PUT TO SLEEP IN THE ABOVE FASHION:
+
+JOBWAKE INHINT
+ TS NEWLOC
+ CS TWO # EXIT IS VIA FINDVAC/NOVAC PROCEDURES.
+ ADS Q
+ CAF EXECBANK
+ XCH FBANK
+ TCF JOBWAKE2
+
+# TO CHANGE THE PRIORITY OF A JOB CURRENTLY UNDER EXECUTION:
+
+PRIOCHNG INHINT # NEW PRIORITY ARRIVES IN A. RETURNS TO
+ TS NEWPRIO # CALLER AS SOON AS NEW JOB PRIORITY IS
+ CAF EXECBANK # HIGHEST. PREPARE FOR POSSIBLE BASIC-
+ XCH BBANK # STYLE CHANGE-JOB.
+ TS BANKSET
+ CA Q
+ TCF PRIOCH2
+
+# TO REMOVE A JOB FROM EXECUTIVE CONSIDERATIONS:
+
+ENDOFJOB CAF EXECBANK
+ TS FBANK
+ TCF ENDJOB1
+
+ENDFIND CA EXECTEM1 # RETURN TO CALLER AFTER JOB ENTRY
+ TS FBANK # COMPLETE.
+ TCF Q+2
+EXECBANK CADR FINDVAC2
+
+FAKEPRET ADRES MPAC -36D # LOC(MPAC +6) - LOC(QPRET)
+
+# Page 1211
+# LOCATE AN AVAILABLE VAC AREA
+
+ BANK 01
+ COUNT 01/EXEC
+
+FINDVAC2 TS EXECTEM1 # (SAVE CALLER'S BANK FIRST.)
+ CCS VAC1USE
+ TCF VACFOUND
+ CCS VAC2USE
+ TCF VACFOUND
+ CCS VAC3USE
+ TCF VACFOUND
+ CCS VAC4USE
+ TCF VACFOUND
+ CCS VAC5USE
+ TCF VACFOUND
+ TC BAILOUT
+ OCT 1201 # NO VAC AREAS.
+
+VACFOUND AD TWO # RESERVE THIS VAC AREA BY STORING A ZERO
+ ZL # IN ITS VAC USE REGISTER AND STORE THE
+ INDEX A # ADDRESS OF THE FIRST WORD OF IT IN THE
+ LXCH 0 -1 # LOW NINE BITS OF THE PRIORITY WORD.
+ ADS NEWPRIO
+
+NOVAC2 CAF ZERO # NOVAC ENTERS HERE. FIND A CORE SET.
+ TS LOCCTR
+ CAF NO.CORES # SEVEN SETS OF ELEVEN REGISTERS EACH.
+NOVAC3 TS EXECTEM2
+ INDEX LOCCTR
+ CCS PRIORITY # EACH PRIORITY REGISTER CONTAINS -0 IF
+ TCF NEXTCORE # THE CORESPONDING CORE SET IS AVAILABLE.
+NO.CORES DEC 6
+ TCF NEXTCORE # AN ACTIVE JOB HAS A POSITIVE PRIORITY
+ # BUT A DORMANT JOB'S PRIORITY IS NEGATIVE
+
+# Page 1212
+CORFOUND CA NEWPRIO # SET THE PRIORITY OF THIS JOB IN THE CORE
+ INDEX LOCCTR # SET'S PRIORITY REGISTER AND SET THE
+ TS PRIORITY # JOB'S PUSH-DOWN POINTER AT THE BEGINNING
+ MASK LOW9 # OF THE WORK AREA AND OVERFLOW INDICATOR.
+ INDEX LOCCTR
+ TS PUSHLOC # OFF TO PREPARE FOR INTERPRETIVE PROGRAMS.
+
+ CCS LOCCTR # IF CORE SET ZERO IS BEING LOADED, SET UP
+ TCF SETLOC # OVFIND AND FIXLOC IMMEDIATELY.
+ TS OVFIND
+ CA PUSHLOC
+ TS FIXLOC
+
+SPECTEST CCS NEWJOB # SEE IF ANY ACTIVE JOBS WAITING (RARE).
+ TCF SETLOC # MUST BE AWAKENED OUT UNCHANGED JOB.
+ TC CCSHOLE
+ TC CCSHOLE
+ TS NEWJOB # +0 SHOWS ACTIVE JOB ALREADY SET.
+ DXCH NEWLOC
+ DXCH LOC
+ TCF ENDFIND
+
+SETLOC DXCH NEWLOC # SET UP THE LOCATION REGISTERS FOR THIS
+ INDEX LOCCTR
+ DXCH LOC
+ INDEX NEWJOB # THIS INDEX INSTRUCTION INSURES THAT THE
+ CS PRIORITY # HIGHEST ACTIVE PRIORITY WILL BE COMPARED
+ AD NEWPRIO # WITH THE NEW PRIORITY TO SEE IF NEWJOB
+ EXTEND # SHOULD BE SET TO SIGNAL A SWITCH.
+ BZMF ENDFIND
+ CA LOCCTR # LOCCTR IS LEFT SET AT THIS CORE SET IF
+ TS NEWJOB # THE CALLER WANTS TO LOAD ANY MPAC
+ TCF ENDFIND # REGISTERS, ETC.
+
+NEXTCORE CAF COREINC
+ ADS LOCCTR
+ CCS EXECTEM2
+ TCF NOVAC3
+ TC BAILOUT # NO CORE SETS.
+ OCT 1202
+# Page 1213
+# THE FOLLOWING ROUTINE SWAPS CORE SET 0 WITH THAT WHOSE RELATIVE ADDRESS IS IN NEWJOB.
+
+ -2 LXCH LOC
+ -1 CAE BANKSET # BANKSET, NOT BBANK, HAS RIGHT CONTENTS.
+CHANJOB INHINT
+ EXTEND
+ ROR SUPERBNK # PICK UP CURRENT SBANK FOR BBCON
+ XCH L # LOC IN A AND BBCON IN L.
+ +4 INDEX NEWJOB # SWAP LOC AND BANKSET.
+ DXCH LOC
+ DXCH LOC
+
+ CAE BANKSET
+ EXTEND
+ WRITE SUPERBNK # SET SBANK FOR NEW JOB.
+ DXCH MPAC # SWAP MULTI-PURPOSE ACCUMULATOR AREAS.
+ INDEX NEWJOB
+ DXCH MPAC
+ DXCH MPAC
+ DXCH MPAC +2
+ INDEX NEWJOB
+ DXCH MPAC +2
+ DXCH MPAC +2
+ DXCH MPAC +4
+ INDEX NEWJOB
+ DXCH MPAC +4
+ DXCH MPAC +4
+ DXCH MPAC +6
+ INDEX NEWJOB
+ DXCH MPAC +6
+ DXCH MPAC +6
+
+ CAF ZERO
+ XCH OVFIND # MAKE PUSHLOC NEGATIVE IF OVFIND NZ.
+ EXTEND
+ BZF +3
+ CS PUSHLOC
+ TS PUSHLOC
+
+ DXCH PUSHLOC
+ INDEX NEWJOB
+ DXCH PUSHLOC
+ DXCH PUSHLOC # SWAPS PUSHLOC AND PRIORITY.
+ CAF LOW9 # SET FIXLOC TO BASE OF VAC AREA.
+ MASK PRIORITY
+ TS FIXLOC
+
+ CCS PUSHLOC # SET OVERFLOW INDICATOR ACCORDING TO
+ CAF ZERO
+ TCF ENDPRCHG -1
+
+# Page 1214
+ CS PUSHLOC
+ TS PUSHLOC
+ CAF ONE
+ XCH OVFIND
+ TS NEWJOB
+
+ENDPRCHG RELINT
+ DXCH LOC # BASIC JOBS HAVE POSITIVE ADDRESSES, SO
+ EXTEND # DISPATCH WITH A DTCB.
+ BZMF +2 # IF INTERPRETIVE, SET UP EBANK, ETC.
+ DTCB
+# Page 1215
+ COM # EPILOGUE TO JOB CHANGE FOR INTERPRETIVE
+ AD ONE
+ TS LOC # RESUME
+ TCF INTRSM
+
+# COMPLETE JOBSLEEP PREPARATIONS.
+
+JOBSLP1 INHINT
+ CS PRIORITY # NNZ PRIORITY SHOWS JOB ASLEEP.
+ TS PRIORITY
+ CAF LOW7
+ MASK BBANK
+ EXTEND
+ ROR SUPERBNK # SAVE OLD SUPERBANK VALUE.
+ TS BANKSET
+ CS ZERO
+JOBSLP2 TS BUF +1 # HOLDS -- HIGHEST PRIORITY.
+ TCF EJSCAN # SCAN FOR HIGHEST PRIORITY ALA ENDOFJOB.
+
+NUCHANG2 INHINT # QUICK... DON'T LET NEWJOB CHANGE TO +0.
+ CCS NEWJOB
+ TCF +3 # NEWJOB STILL PNZ
+ RELINT # NEW JOB HAS CHANGED TO +0. WAKE UP JOB
+ TCF ADVAN +2 # VIA NUDIRECT. (VERY RARE CASE.)
+
+ CAF TWO
+ EXTEND
+ WOR DSALMOUT # TURN ON ACTIVITY LIGHT
+ DXCH LOC # AND SAVE ADDRESS INFO FOR BENEFIT OF
+ TCF CHANJOB +4 # POSSIBLE SLEEPING JOB.
+
+# Page 1216
+# TO WAKE UP A JOB, EACH CORE SET IS FOUND TO LOCATE ALL JOBS WHICH ARE ASLEEP. IF THE FCADR IN THE
+# LOC REGISTER OF ANY SUCH JOB MATCHES THAT SUPPLIED BY THE CALLER, THAT JOB IS AWAKENED. IF NO JOB IS FOUND,
+# LOCCTR IS SET TO -1 AND NO FURTHER ACTION TAKES PLACE.
+
+JOBWAKE2 TS EXECTEM1
+ CAF ZERO # BEGIN CORE SET SCAN
+ TS LOCCTR
+ CAF NO.CORES
+JOBWAKE4 TS EXECTEM2
+ INDEX LOCCTR
+ CCS PRIORITY
+ TCF JOBWAKE3 # ACTIVE JOB -- CHECK NEXT CORE SET.
+COREINC DEC 12 # 12 REGISTERS PER CORE SET.
+ TCF WAKETEST # SLEEPING JOB -- SEE IF CADR MATCHES.
+
+JOBWAKE3 CAF COREINC
+ ADS LOCCTR
+ CCS EXECTEM2
+ TCF JOBWAKE4
+ CS ONE # EXIT IF SLEEPIG JOB NOT FOUND.
+ TS LOCCTR
+ TCF ENDFIND
+
+WAKETEST CS NEWLOC
+ INDEX LOCCTR
+ AD LOC
+ EXTEND
+ BZF +2 # IF MATCH.
+ TCF JOBWAKE3 # EXAMINE NEXT CORE SET IF NO MATCH.
+
+ INDEX LOCCTR # RE-COMPLEMENT PRIORITY TO SHOW JOB AWAKE
+ CS PRIORITY
+ TS NEWPRIO
+ INDEX LOCCTR
+ TS PRIORITY
+
+ CS FBANKMSK # MASK UP THE 2CADR OF THE WAKE ADDRESS
+ MASK NEWLOC # USING THE CADR IN NEWLOC AND THE EBANK
+ AD 2K # HALF OF BBANK SAVED IN BANKSET.
+ XCH NEWLOC
+ MASK FBANKMSK
+ INDEX LOCCTR
+ AD BANKSET
+ TS NEWLOC +1
+
+ CCS LOCCTR # SPECIAL TREATMENT IF THIS JOB WAS
+ TCF SETLOC # ALREADY IN THE RUN (0) POSITION.
+ TCF SPECTEST
+
+# Page 1217
+# PRIORITY CHANGE. CHANGE THE CONTENTS OF PRIORITY AND SCAN FOR THE JOB OF HIGHEST PRIORITY.
+
+PRIOCH2 TS LOC
+ CAF ZERO # SET FLAG TO TELL ENDJOB SCANNER IF THIS
+ TS BUF # JOB IS STILL HIGHEST PRIORITY.
+ CAF LOW9
+ MASK PRIORITY
+ AD NEWPRIO
+ TS PRIORITY
+ COM
+ TCF JOBSLP2 # AND TO EJSCAN.
+
+# Page 1218
+# RELEASE THIS CORE SET AND VAC AREA AND SCAN FOR THE JOB OF HIGHEST ACTIVE PRIORITY.
+
+ENDJOB1 INHINT
+ CS ZERO
+ TS BUF +1
+ XCH PRIORITY
+ MASK LOW9
+ TS L
+
+ CS FAKEPRET
+ AD L
+
+ EXTEND
+ BZMF EJSCAN # NOVAC ENDOFJOB
+
+ CCS L
+ INDEX A
+ TS 0
+
+EJSCAN CCS PRIORITY +12D
+ TC EJ1
+ TC CCSHOLE
+ TCF +1
+
+ CCS PRIORITY +24D # EXAMINE EACH PRIORITY REGISTER TO FIND
+ TC EJ1 # THE JOB OF HIGHEST ACTIVE PRIORITY.
+ TC CCSHOLE
+ TCF +1
+
+ CCS PRIORITY +36D
+ TC EJ1
+-CCSPR -CCS PRIORITY
+ TCF +1
+
+ CCS PRIORITY +48D
+ TC EJ1
+ TC CCSHOLE
+ TCF +1
+
+ CCS PRIORITY +60D
+ TC EJ1
+ TC CCSHOLE
+ TCF +1
+
+ CCS PRIORITY +72D
+ TC EJ1
+ TC CCSHOLE
+ TCF +1
+
+# Page 1219
+# EVALUATE THE RESULTS OF THE SCAN.
+
+ CCS BUF +1 # SEE IF THERE ARE ANY ACTIVE JOBS WAITING
+ TC CCSHOLE
+ TC CCSHOLE
+
+ TCF +2
+ TCF DUMMYJOB
+ CCS BUF # BUF IS ZERO IS THIS IS A PRIOCHNG AND
+ TCF +2 # CHANGED PRIORITY IS STILL HIGHEST.
+ TCF ENDPRCHG -1
+
+ INDEX A # OTHERWISE, SET NEWJOB TO THE RELATIVE
+ # Was CAF --- RSB 2004
+ CA 0 -1 # ADDRESS OF THE NEW JOB'S CORE SET.
+ AD -CCSPR
+ TS NEWJOB
+ TCF CHANJOB -2
+
+EJ1 TS BUF +2
+ AD BUF +1 # - OLD HIGH PRIORITY.
+ CCS A
+ CS BUF +2
+ TCF EJ2 # NEW HIGH PRIORITY.
+ NOOP
+ INDEX Q
+ TC 2 # PROCEED WITH SEARCH.
+
+EJ2 TS BUF +1
+ EXTEND
+ QXCH BUF # FOR LOCATING CCS PRIORITY + X INSTR.
+ INDEX BUF
+ TC 2
+
+# Page 1220
+# IDLING AND COMPUTER ACTIVITY (GREEN) LIGHT MAINTENANCE. THE IDLING ROUTIEN IS NOT A JOB IN ITSELF,
+# BUT RATHER A SUBROUTINE OF THE EXECUTIVE.
+
+ EBANK= SELFRET # SELF-CHECK STORAGE IN EBANK.
+
+DUMMYJOB CS ZERO # SET NEWJOB TO -0 FOR IDLING.
+ TS NEWJOB
+ RELINT
+ CS TWO # TURN OFF THE ACTIVITY LIGHT.
+ EXTEND
+ WAND DSALMOUT
+ADVAN CCS NEWJOB # IS THE NEWJOB ACTIVE?
+ TCF NUCHANG2 # YES... ONE REQUIRING A CHANGE JOB.
+ CAF TWO # NEW JOB ALREADY IN POSITION FOR
+ TCF NUDIRECT # EXECUTION
+
+ CA SELFRET
+ TS L # PUT RETURN ADDRESS IN L.
+ CAF SELFBANK
+ TCF SUPDXCHZ +1 # AND DISPATCH JOB.
+
+ EBANK= SELFRET
+SELFBANK BBCON SELFCHK
+
+NUDIRECT EXTEND # TURN THE GREEN LIGHT BACK ON.
+ WOR DSALMOUT
+ DXCH LOC # JOBS STARTED IN THIS FASHION MUST BE
+ TCF SUPDXCHZ
+
+ BLOCK 2 # IN FIXED-FIXED SO OTHERS MAY USE.
+
+ COUNT 02/EXEC
+
+# SUPDXCHZ -- ROUTINE TO TRANSFER TO SUPERBANK.
+# CALLING SEQUENCE:
+# TCF SUPDXCHZ # WITH 2CADR OF DESIRED LOCATION IN A + l.
+
+SUPDXCHZ XCH L # BASIC.
+ +1 EXTEND
+ WRITE SUPERBNK
+ TS BBANK
+ TC L
+
+NEG100 OCT 77677
+
+
+
diff --git a/EXTENDED_VERBS.s b/EXTENDED_VERBS.s
new file mode 100644
index 0000000..aa44901
--- /dev/null
+++ b/EXTENDED_VERBS.s
@@ -0,0 +1,1336 @@
+# Copyright: Public domain.
+# Filename: EXTENDED_VERBS.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 236-267
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-18 FB Transcription Batch 3 Assignment.
+# 2009-05-20 RSB Corrections: POODOO -> P00DOO,
+# GOTOPOOH -> GOTOP00H, added a couple of
+# missing instructions in Verb 96.
+# 2009-05-23 RSB In SYSTEST, corrected TC FLAGWRD1 to
+# CA FLAGWRD1. Added a variety of SBANK=
+# statements prior to 2CADRs. One day I'll
+# have to figure out what yaYUL is doing
+# wrong with those ....
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 236
+ BANK 7
+ SETLOC EXTVERBS
+ BANK
+
+ EBANK= OGC
+
+ COUNT* $$/EXTVB
+
+# FAN-OUT
+
+GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC
+ TC LST2FAN # FAN AS BEFROE.
+
+LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 ONLY)
+ TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR
+ # 91 ONLY)
+ TC IMUFINEK # VB42 FINE ALIGN IMU
+ TC IMUATTCK # VB43 LOAD IMU ATTITUDE ERROR METERS.
+ TC SETSURF # VB44 SET SURFACE FLAG
+ TC RESTSRF # VB45 RESET SURFACE FLAG
+ TC STABLISH # VB46 ESTABLISH G+C CONTROL
+ TC LMTOCMSV # VB47 MOVE LM STATE VECTOR INTO CM
+ TC DAPDISP # VB48 LOAD A/P DATA
+ TCF CREWMANU # VB49 START AUTOMATIC ATTITUDE MANEUVER
+ TC GOLOADLV # VB50 PLEASE PERFORM
+ TC GOLOADLV # VB51 PLEASE MARK
+ TC V52 # VB52 SET OFFSET NO. FOR P22
+ TC GOLOADLV # VB53 PLEASE PERFORM COAS MARK
+ TC GOTOR23 # VB54 PLEASE MARK (R-21 BACKUP)
+ TC ALINTIME # VB55 ALIGN TIME
+ TC TRACKTRM # VB56 TERMINATE TRACKING (P20 + P25)
+ TC GOTOR21 # VB57 START R21 REND TRACK SIGHT MARK ROUT
+ TC ENATMA # VB58 ENABLE AUTOMATIC ATTITUDE MANEUVER
+ TC GOLOADLV # VB59 PLEASE CALIBRATE
+ TC V60 # VB60 SET CPHIX (N17) EQUAL TO CDU
+ TC V61 # VB61 SELECT MODE I
+ TC V62 # VB62 SELECT MODE II, ERROR WRT N22
+ TC V63 # VB63 SELECT MODE III, ERROR WRT N17
+ TC VB64 # VB64 CALCULATE, DISPLAY S-BAND ANT ANGLES
+ TC CKOPTVB # V 65 E OPTICAL VERIFICATION FOR PRELAUNC
+ TC ATTACHED # VB66 ATTACHED. MOVE THIS TO OTHER STATE
+ TC V67 # VB67 W MATRIX MONITOR
+ TC STROKON # VB68 CSM STROKE TEST ON.
+VERB69 TC VERB69 # VB69 CAUSE RESTART
+ TC V70UPDAT # VB70 UPDATE LIFTOFF TIME.
+ TC V71UPDAT # VB71 UNIVERSAL UPDATE -- BLOCK ADDRESS
+ TC V72UPDAT # VB72 UNIVERSAL UPDATE -- SINGLE ADDRESS
+ TC V73UPDAT # VB73 UPDATE AGC TIME (OCTAL)
+ TC DNEDUMP # VB74 INITIALIZE DOWN-TELEMETRY PROGRAM
+ # FOR ERASABLE DUMP.
+ TC LFTFLGON # VB75 SET LIFTOFF FLAG.
+# Page 237
+ TC SETPRFLG # VB76 SET PREFERRED ATTITUDE FLAG
+ TC RESETPRF # VB77 RESET PREFERRED ATT. FLAG
+ TC CHAZFOGC # CHANGE GYROCOMPASS LAUNCH AZIMUTH V78
+ TC ALM/END # V79 SPARE
+ TC LEMVEC # VB80 UPDATE LEM STATE VECTOR
+ TC CSMVEC # VB81 UPDATE CSM STATE VECTOR
+ TC V82PERF # VB82 REQUEST ORBIT PARAM DISPLAY (R30)
+ TC V83PERF # VB83 RANGE, RANGE RATE, +X AXIS (R31)
+ TC ALM/END # V84 SPARE
+ TC V85PERF # VB85 RANGE, RANGE RATE, SLOS (R32)
+ TC V86PERF # VB86 BACKUP MARK REJECT
+ TC SETVHFLG # VB87 SET VHF RANGE FLAG
+ TC RESETVHF # VB88 RESET VHF RANGE FLAG
+ TC V89PERF # V89-ALIGN X OR PRF CSM AXIS TO LOS (R63)
+ TC V90PERF # VB90-OUT OF PLAN PARAMETERS (R36)
+ TC GOSHOSUM # VB91 TEMP FOR HYBRID AND STG.
+ TC SYSTEST # VB92 OPERATE IMU PERFORMANCE TEST
+ TC WMATRXNG # VB93 CLEAR RENDWFLG
+ TC VERB94 # VB94 DO R64
+ TC ALM/END # VB95 SPARE
+ TCF VERB96 # VB96 SET QUITFLAG TO STOP INTEGRATION
+ TC GOLOADLV # VB97 PLEASE PERFORM ENGINE-FAIL (R41)
+ TC ALM/END # VB98 SPARE
+ TC GOLOADLV # VB99 PLEASE ENABLE ENGINE
+
+# END OF EXTENDED VERB FAN
+
+TESTXACT CCS EXTVBACT
+ TC ALM/END # YES, TURN ON OPERATOR ERROR LIGHT
+ CA FLAGWRD4 # ARE PRIOS USING DSKY
+ MASK OC24100
+ CCS A
+ TC ALM/END
+
+ CAF OCT24 # SET BITS 3 AND 5
+SETXTACT TS EXTVBACT # NO. SET FLAG TO SHOW EXT VERB DISPLAY
+ # SYSTEM BUSY
+
+ CA Q
+ TS MPAC +1
+
+ CS TWO # BLANK EVERYTHING EXCEPT MM AND VERB
+ TC NVSUB
+ TC +1
+ TC MPAC +1
+
+XACTALM TC FALTON # TURN ON OPERATOR ERROR LIGHT.
+ TC ENDEXT # RELEASE MARK AND EXT. VERB DISPLAY SYS.
+# Page 238
+TERMEXTV EQUALS ENDEXT
+ENDEXTVB EQUALS ENDEXT
+
+XACT0 CAF ZERO # RELEASE MARK AND EXT. VERB DISPLAY SYS.
+ TC SETXTACT
+
+ALM/END TC FALTON # TURN ON OPERATOR ERROR LIGHT
+GOPIN TC POSTJUMP
+ CADR PINBRNCH
+
+OC24100 OCT 24100
+
+# Page 239
+# VBZERO VERB 40 DESCRIPTION
+#
+# 1. REQUIRE NOUN 20 (ICDU ANGLES)
+# 2. REQUIRE AVAILABILITY OF EXT VERB DISPLAY SYSTEM
+# 3. IF EITHER OF ABOVE CONDITIONS NOT PRESENT, TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH.
+# 4. SET EXT VERB DISPLAY ACTIVE FLAG.
+# 5. EXECUTE IMUZERO (ZERO IMU CDU ANGLES).
+# 6. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER).
+# 7. RELEASE EXT. VERB DISPLAY SYSTEM.
+
+VBZERO TC OP/INERT
+ TC IMUZEROK # RETURN HERE IF NOUN = ICDU(20)
+ TC ALM/END # RETURN HERE IF NOUN = OCDU(91)
+ # (NOT IN USE YET)
+
+IMUZEROK TC CKMODCAD # KEYBOARD REQUEST FOR ISS CDUZERO
+ TC BANKCALL
+ CADR IMUZERO
+
+ TC BANKCALL # STALL
+ CADR IMUSTALL
+ TC +1
+
+ TC GOPIN
+
+OP/INERT CS OCT24
+ AD NOUNREG
+ EXTEND
+ BZF XACT0Q # IF = 20.
+
+ INCR Q
+ AD OPIMDIFF # -71
+ EXTEND
+ BZF XACT0Q
+
+ TC ALM/END # ILLEGAL.
+
+OPIMDIFF DEC -71
+
+# Page 240
+# VBCOARK VERB 41 DESCRIPTION
+# COARSE ALIGN IMU OR RADAR
+#
+# 1. REQUIRE NOUN 20 OR NOUN 91 OR TURN ON OPERATOR ERROR.
+# 2. REQUIRE EXT VERB DISPLAY SYS AVAILABLE OR TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH.
+#
+# CASE 1 NOUN 20 (ICDU ANGLES)
+# 3. SET EXT VERB DISPLAY ACTIVE FLAG.
+# 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES).
+# RESPONSES
+# A. TERMINATE
+# 1. RELEASE EXT VERB DISPLAY SYSTEM.
+# B. PROCEED
+# 1. DISPLAY FLASHING V25,N23 (LOAD DELTA ICDU ANGLES).
+# RESPONSES:
+# A. TERMINATE
+# 1. RELEASE EXT VERB DISPLAY SYSTEM.
+# B. PROCEED
+# 1. EXECUTE ICORK2.
+# C. ENTER
+# 1. INCREMENT CDU ANGLES
+# 2. EXECUTE ICORK2
+# C. ENTER
+# 1. EXECUTE ICORK2
+# ICORK2
+# 1. RE-DISPLAY VERB 41.
+# 2. EXECUTE IMUCCARS (IMU COARSE ALIGN).
+# 3. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER).
+# 4. RELEASE EXT VERB DISPLAY SYSTEM.
+#
+# CASE 2 NOUN 91 (OCDU ANGLES)
+# 5. (REQUIRE OPTICS SWITCH TO BE AT COMUTER OR TURN ON OPERATOR ERROR AND ALARM 115) AND (REQUIRE
+# OPTICS AVAILABLE AND DISPLAY FLASHING V24,N92....LOAD NEW OPTICS ANGLES....OR TURN ON ALARM 117
+# AND RELEASE EXT VERB DISPLAY SYSTEM).
+# 6. RESPONSES TO V29,N92
+# A. TERMINATE
+# RELEASE EXT VERB DISPLAY SYS.
+# B. PROCEED OR ENTER
+# RE-DISPLAY VERB 41, SET SWITCH TO INDICATE COURSE ALIGN OPTICS WORKING.
+# RELEASE EXT VERB DISPLAY SYSTEM.
+
+VBCOARK TC OP/INERT
+ TC IMUCOARK # RETURN HERE IF NOUN = ICDU (20)
+ TC OPTCOARK # RETURN HERE IF NOUN = OCDU (91)
+
+# RETURNS TO L+1 IF NOUN 20 -- TO L+2 IF NOUN 91.
+
+IMUCOARK TC CKMODCAD # COARSE ALIGN FROM KEYBOARD
+ TC TESTXACT
+ CAF VNLODCDU # CALL FOR THETAD LOAD
+ TC BANKCALL
+ CADR GOXDSPF
+ TC TERMEXTV
+ TCF +1
+# Page 241
+
+ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB.
+ TC BANKCALL
+ CADR EXDSPRET
+
+ TC BANKCALL # CALL MODE SWITCHING PROG
+ CADR IMUCOARS
+
+ TC BANKCALL # STALL
+ CADR IMUSTALL
+ TC ENDEXTVB
+ TC ENDEXTVB
+
+VNLODCDU VN 2522
+IMUCOARV VN 4100
+
+# Page 242
+# TEMPORARY ROUTINE TO RUN THE OPTICS CDUS FROM THE KEYBOARD
+
+OPTCOARK CA OPTCADR
+ TC CKMODCAD +1
+ TC TESTXACT
+ CAF EBANK5
+ TS EBANK
+
+ CCS SWSAMPLE # SEE IF SWITCH AT COMPUTER
+ TC +5 # SWITCH AT COMPUTER
+ TC +1 # NOT ON COMPUTER
+ TC FALTON # TURN ON OPERATOR ERR
+ TC ALARM # AND ALARM
+ OCT 00115
+
+ CCS OPTIND # SEE IF OPTICS AVAILABLE
+ TC OPTC1 # IN USE
+ TC OPTC1 # IN USE
+ TC OPTC1 # IN USE
+
+ TC ALARM # OPTICS RESERVED (OPTIND=-0)
+ OCT 00117
+ TC ENDEXT
+
+OPTC1 CAF VNLD0CDU # VERB-NOUN TO LOAD OPTICS CDUS
+ TC BANKCALL
+ CADR GOXDSPF
+ TC TERMEXTV
+ TC +1 # PROCEED
+
+ CA SAC
+ TS DESOPTS
+ CA PAC
+ TS DESOPTT
+ CAF OPTCOARV # RE-DISPLAY OUR OWN VERB
+ TC BANKCALL
+ CADR EXDSPRET
+
+ CAF ONE
+ TS OPTIND # SET COARS WORKING
+
+ TC ENDEXTVB
+ TC ENDEXTVB
+
+VNLD0CDU VN 2492
+OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS.
+
+# Page 243
+# IMUFINEK VERB 42 DESCRIPTION
+# FINE ALIGN IMU
+#
+# 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG OR TURN ON OPER ERROR AND GO TO PINBRNCH.
+# 2. DISPLAY FLASHING V25,N93....LOAD DELTA GYRO ANGLES....
+# RESPONSES
+# A. TERMINATE
+# 1. RELEASE EXT VERB DISPLAY SYSTEM.
+# B. PROCEED OR ENTER
+# 1. RE-DISPLAY VERB 42
+# 2. EXECUTE IMUFINE (IMU FIVE ALIGN MODE SWITCHING).
+# 3. EXECUTE IMUSTALL (ALLOW FOR DATA TRANSFER)
+# A. FAILED
+# 1. RELEASE EXT VERB DISPLAY SYSTEM.
+# B. GOOD
+# 1. EXECUTE IMUPULSE (TORQUE IRIGS).
+# 2. EXECUTE IMUSTALL AND RELEASE EXT VERB DISPLAY SYSTEM.
+
+IMUFINEK TC CKMODCAD # FINE ALIGN WITH GYRO TORQUING.
+ TC TESTXACT
+ CAF VNLODGYR # CALL FOR LOAD OF GYRO COMMANDS
+ TC BANKCALL
+ CADR GOXDSPF
+ TC TERMEXTV
+ TC +1 # PROCEED WITHOUT A LOAD
+
+ CAF IMUFINEV # RE-DISPLAY OUR OWN VERB
+ TC BANKCALL
+ CADR EXDSPRET
+
+ TC BANKCALL # CALL MODE SWITCH PROG
+ CADR IMUFINE
+
+ TC BANKCALL # HIBERNATION
+ CADR IMUSTALL
+ TC ENDEXTVB
+
+FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGISTERS
+ TC BANKCALL
+ CADR IMUPULSE
+
+ TC BANKCALL # WAIT FOR PULSES TO GET OUT.
+ CADR IMUSTALL
+ TC ENDEXTVB
+ TC ENDEXTVB
+
+LGYROBIN ECADR OGC
+VNLODGYR VN 2593
+IMUFINEV VN 4200 # FINE ALIGN VERB
+
+CKMODCAD CA MODECADR
+# Page 244
+ EXTEND
+ BZF TCQ
+ TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT
+
+# GOLOADLV VERB 50 DESCRIPTION
+# AND OTHER PLEASE
+# DO SOMETHING VERBS
+#
+# PLEASE PERFORM, MARK, CALIBRATE, ETC.
+#
+# 1. PRESSING ENTER ON DSKY INDICATES REQUESTED ACTION HAS BEEN PERFORMED, AND THE PROGRAM DOES THE
+# SAME RECALL AS A COMPLETED LOAD.
+# 2. THE EXECUTION OF A VERB 33 (PROCEED WITHOUT DATA) INDICATES THE REQUESTED ACTION IS NOT DESIRED.
+
+GOLOADLV TC FLASHOFF
+ CAF PINSUPBT
+ EXTEND
+ WRITE SUPERBNK # TURN ON FE7
+ TC POSTJUMP
+ SBANK= PINSUPER
+ CADR LOADLV1
+
+# V60 VERB 60
+V60 EXTEND # SET ASTRONAUT TOTAL ATTITUDE (N17) EQUAL
+ DCA CDUX # TO PRESENT ATTITUDE
+ DXCH CPHIX
+ CA CDUZ
+ TS CPHIX +2
+ TC GOPIN
+
+# V61 VERB 61
+V61 TC DOWNFLAG # SET NEEDLFLG TO 0 (FLAGWRD0,BIT9), PHASE
+ ADRES NEEDLFLG # PLANE A/P FOLLOWING ERROR DISPLAYED
+ TC GOPIN
+
+# V62 VERB 62
+V62 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9),
+ ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED
+
+ TC UPFLAG # SET N22ORN17 TO 1 (FLAGWRD9,BIT6),
+ ADRES N22ORN17 # COMPUTE TOTAL ATTITUDE ERROR WRT N22
+ TC GOPIN
+
+# V63 VERB 63
+V63 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9),
+ ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED
+
+ TC DOWNFLAG # SET N22ORN17 TO 0 (FLAGWRD9,BIT6),
+# Page 245
+ ADRES N22ORN17 # COMPUTE TOAL ASTRONAUT ATTITUDE ERROR
+ TC GOPIN
+
+# Page 246
+# ALINTIME VERB 55 DESCRIPTION
+#
+# 1. SET EXT VERB DISPLAY BUSY FLAG.
+# 2. DISPLAY FLASHING V25,N24 (LOAD DELTA TIME FOR AGC CLOCK.
+# 3. REQUIRE EXECUTION OF VERB 23.
+# 4. ADD DELTA TIME, RECEIVED FROM INPUT REGISTER, TO THE COMPUTER TIME.
+# 5. RELEASE EXT VERB DISPLAY SYSTEM.
+
+ COUNT 04/R33
+
+ALINTIME TC TESTXACT
+
+ CAF VNLODDT
+ TC BANKCALL
+ CADR GOMARKF
+ TC ENDEXT # TERMINATE
+ TC ENDEXT # PROCEED
+ CS DEC23 # DATA IN OR RESEQUENCE (UNLIKELY)
+ AD MPAC # RECALL LEFT VERB IN MPAC
+ EXTEND
+ BZF UPDATIME # GO AHEAD WITH UPDATE ONLY IF RECALL
+ TC ENDEXT # WITH V23 (DATA IN).
+
+UPDATIME INHINT # DELTA TIME IS IN DSPTEM1, +1.
+ CAF ZERO
+ TS MPAC +2 # NEEDED FOR TP AGREE
+ TS L # ZERO T1 + 2 WHILE ALIGNING.
+ DXCH TIME2
+ DXCH MPAC
+ DXCH DSPTEM2 +1 # INCREMENT
+ DAS MPAC
+
+ TC TPAGREE # FORCE SIGN AGREEMENT.
+ DXCH MPAC # NEW CLOCK.
+ DAS TIME2
+ RELINT
+UPDTMEND TC ENDEXT
+DEC23 DEC 23 # V 23
+
+VNLODDT VN 2524 # V25N24 FOR LOAD DELTA TIME
+
+# Page 247
+# SYSTEST VERB 92 DESCRIPTION
+# OPERATE SELECTED SYSTEM TEST.
+#
+# 1. REQUIRE P00 OR P00- OR TURN ON OPERATOR ERROR.
+# 2. TURN OFF DAP IF IT IS ON.
+# 3. DISPLAY FLASHING V21,N01 (LOAD TEST NUMBER 1 THRU 17).
+# 4. UPON ENTRY OF TEST NUMBER, SCHEDULE TSELECT WITH PRIORITY 20.
+#
+# TSELECT
+# 1. IF LOADED TEST NUMBER IS VALID, GO TO THAT TEST ROUTINE, OTHERWISE TURN ON OPERATOR ERROR AND
+# REPEAT LOAD REQUEST DISPLAY. (NO. 3 ABOVE)
+
+ EBANK= QPLACE
+
+ COUNT 04/EXTVB
+
+SYSTEST TC CHKP00H
+ CA FLAGWRD1 # IS NODOP01 FLAGBIT ON? (SET BY P11)
+ MASK NOP01BIT
+ EXTEND
+ BZF V92CONT # IF IT'S NOT YET SET, CONTINUE
+ TC P00DOO # IT'S ON. SEND NODO ALARM FOR P07
+ OCT 1521
+V92CONT TC EXDAPOFF # TURN DAP OFF IF IT'S ON
+ CAF PRIO20
+ TC FINDVAC
+ EBANK= QPLACE
+ SBANK= IMUSUPER
+ 2CADR REDO
+
+ TC GOPIN
+
+# REDO AND TSELECT ARE NOW IN SYSTEM TEST.
+
+ COUNT* $$/EXTVB
+# CKOPTVB VERB 65 DESCRIPTION
+# OPTICAL VERIFICATION FOR PRELAUNCH.
+# 1. SCHEDULE GCOMPVER, OPTICAL VERIFICATION SUBPROGRAM, WITH PRIORITY 17.
+
+CKOPTVB TC CHECKMM
+ MM 02 # I WONDER IF PRELAUNCH IS RUNNING
+ TC ALM/END # NOT RUNNING OPERATOR ERROR
+ INHINT
+ CAF PRIO16 # PRELAUNCH OPTICAL VERIFICATION
+ TC FINDVAC
+ EBANK= QPLACE
+ 2CADR COMPVER # STANDARD LEADIN TO GCOMPVER.
+
+ TC GOPIN
+
+# Page 248
+# V 78 .... TO CHANGE GYROCOMPASS AZIMUTH
+
+CHAZFOGC TC CHECKMM # IS IT PRELAUNCH
+ MM 02
+ TC ALM/END # NO -- OPERATOR ERROR
+
+ CAF PRIO16 # PRELAUNCH AZIMUTH CHANGE
+ TC FINDVAC
+ EBANK= XSM
+ 2CADR AZMTHCG1
+
+ TC PHASCHNG
+ OCT 00174
+ TC GOPIN
+# Page 249
+# IMUATTCK VERB 43 DESCRIPTION
+# LOAD IMU ATTITUDE ERROR METERS
+#
+# 1. REQUIRE PROGRAM 00 ACTIVE, COARSE ALIGN ENABLE BIT OFF AND ZERO ICDU BIT OFF.
+# 2. IF GUID REF RELEASE OR LIFTOFF HAS OCCURRED REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY
+# FLAG, OTHERWISE ALLOW CURRENT EXT VERB DISPLAY TO BE OVER-RIDDEN.
+# 3. REMOVE COARSE ALIGN ENABLE AND IMU ERROR COUNTER ENABLE.
+# 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES).
+# 5. UPON PROCEED OR ENTER RESPONSE, INITIALIZE CURRENT DAC AND COMMAND VALUES, ENABLE ERROR COUNTERS
+# TRANSFER LOADED VALUES TO REGISTERS, AND SEND COMMANDS.
+# 6. IF BUSY FLAG SET, RESET IT TO RELEASE EXT VERB DISPLAY.
+
+IMUATTCK TC CHKP00H
+
+ CAF OCTAL30 # SEE IF IMU ZERO AND IMU COARSE ARE ON
+ EXTEND
+ RAND CHAN12
+ CCS A
+ TCF ALM/END # NOT ALLOWED IF IMU COARSE OR IMU ZERO ON
+
+ TC CKLFTBTS # IS IT BEFORE OR AFTER LIFTOFF
+ TC TESTXACT # AFTER
+ CS OCT50 # REMOVE COARSE AND ECTR ENABLE
+ EXTEND
+ WAND CHAN12
+
+ CAF VNLODCDU
+ TC BANKCALL
+ CADR GOXDSPF
+ TCF TRMATTCK
+ TC +1
+ CAF EBANK6
+ TS EBANK # SET E6 FOR NEEDLES.
+
+ EBANK= AK
+
+ TC BANKCALL # INITIALIZE CURRENT DAC AND
+ CADR NEEDLE11 # COMMAND VALUES.
+
+ TC BANKCALL # ENABLE ERROR COUNTERS.
+ CADR NEEDLER2
+
+ CAF TWO # 4 MS MIN.
+ TC WAITLIST
+ EBANK= AK
+ 2CADR ATTCK1
+
+TRMATTCK TC CKLFTBTS # IS IT BEFORE OR AFTER LIFTOFF
+ TCF ENDEXT # AFTER
+ TC GOPIN
+# Page 250
+ATTCK1 EXTEND # TRANSFER LOADED VALUES TO DESIRED REQS.
+ DCA THETAD
+ DXCH AK
+ CAE THETAD +2
+ TS AK +2
+
+ TC IBNKCALL # SENDS COMMANDS LIMITED TO +,- 384 PULSES
+ CADR NEEDLES # AND LEAVES ERROR COUNTERS ENABLED.
+
+ TC TASKOVER
+
+CKLFTBTS CAF GRRBKBIT # HAS LIFTOFF OCCURRED
+ MASK FLAGWRD5
+ CCS A
+ TC Q # YES
+ CAF BIT5
+ EXTEND
+ RAND CHAN30
+ CCS A
+ TCF Q+1
+XACT0Q TC Q # YES
+
+OCTAL30 OCT 30
+VB64 TC CHKP00H # DEMAND PROGRAM 00.
+ TC TESTXACT # IF DISPLAY SYS. NOT BUSY, MAKE IT BUSY.
+ INHINT
+ CAF PRIO4
+ TC FINDVAC
+ EBANK= RHOSB
+ 2CADR SBANDANT # CALC.,DISPLAY S-BAND ANTENNA ANGLES.
+
+ TC ENDOFJOB
+
+# ENATMA VERB 58 DESCRIPTION
+# ENABLE AUTOMATIC ATTITUDE MANEUVER
+#
+# VERB58 RESETS STIKFLAG TO ENABLE R61 TO PERFORM AUTOMATIC TRACKING MANEUVERS, AFTER INTERRUPTS BY THE RHC
+# ACTIVITY.
+
+ENATMA TC DOWNFLAG # RESET STIKFLAG.
+ ADRES STIKFLAG # BIT 14 FLAG 1
+ TC GOPIN
+
+# Page 251
+# STROKON VERB 68 DESCRIPTION
+# STROKE TEST SETUP/ENABLE
+# 1. SET EXT VERB DISPLAY BUSY FLAG
+# 2. SCHEDULE STRKTST1 WITH PRIORITY 30.
+# 3. RELEASE EXT VERB DISPLAY.
+
+ EBANK= T5TVCDT
+STROKON CS FLAGWRD6 # V68 PERMITTED ONLY DURING TVC
+ MASK OCT60000
+ EXTEND
+ BZMF ALM/END # NOT TVC....FLASH OP ERROR LIGHT
+ CAF PRIO30 # JOB REQUEST, TO SET UP STROKE TEST,
+ TC NOVAC # INCLUDING INITIALIZATIONS
+ SBANK= PINSUPER # Added RSB 2009.
+ EBANK= STROKER
+ 2CADR STRKTSTI
+
+ TC GOPIN
+
+# STABLISH VERB 46 DESCRIPTION
+# ESTABLISH G AND N AUTOPILOT CONTROL
+# 1. SETS UP EITHER RCS, ENTRY, OR SATURN
+# 2. IF TVC IS ON, SETS UP CSM/LM SWITCH-OVER
+# FROM HIGH BW TO LOW BW
+
+
+STABLISH CAF EBANK6 # V46 - SET EBANK TO E6
+ TS EBANK
+
+ CS FLAGWRD6 # TEST FOR TVC
+ MASK OCT60000
+ EXTEND
+ BZMF +8
+
+ CAE DAPDATR1 # TET FOR CSM/LM
+ MASK BIT14
+ EXTEND
+ BZMF +3
+
+ TC POSTJUMP # CSM/LM, SO PERFORM HB TO LB SWITCH-OVER
+ CADR PRESWTCH
+
++3 TC ALM/END
+
++8 TC POSTJUMP # SET UP RCS, ENTRY, OR SATURN-STICK DAP
+ CADR DAPFIG
+# Page 252
+# CREMANU VERB 49 DESCRIPTION
+# START AUTOMATIC ATTITUDE MANEUVER
+#
+# 1. REQUIRE PROGRAM 00 ACTIVE.
+# 2. SET EXT VERB DISPLAY BUSY FLAG.
+# 3. SCHEDULE R62DISP WITH PRIORITY 10.
+# 4. RELEASE EXT VERB DISPLAY.
+#
+# R62DISP
+# 1. DISPLAY FLASHING V06,N22 (DECIMAL DISPLAY NEW ICDU ANGLES). UPON IMMEDIATE RETURN, SET-UP GROUP
+# 4 FOR RESTART OF DISPLAY SEQUENCE.
+# RESPONSES
+# A. TERMINATE
+# 1. GOTOP00H
+# B. PROCEED
+# 1. SET 3AXISFLG TO INDICATE MANEUVER IS SPECIFIED BY 3 AXIS.
+# 2. EXECUTE R60CSM (ATTITUDE MANEUVER).
+# 3. ZERO GROUP 4 (END R62).
+# C. ENTER
+# 1. REPEAT FLASHING V06,N22.
+
+CREWMANU TC CHKP00H # DEMAND P00
+
+ TC TESTXACT
+
+ CAF PRIO10
+ TC FINDVAC
+ EBANK= CPHI
+ 2CADR R62DISP
+
+ TC ENDOFJOB
+
+# Page 253
+# DAPDISP VERB 48 DESCRIPTION
+# LOAD AUTOPILOT DATA (ROUTINE R03)
+#
+# 0. CHECKFAIL AND RETURN IF TVC.
+# 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG.
+# 2. LOWER PRIORITY TO 10.
+# 3. DISPLAY FLASHING V04,N46 (DISPLAY AUTOPILOT CONFIGURATION).
+# 4. UPON PROCEED RESPONSE, EXECUTE S41.2.
+# 5. DISPLAY FLASHING V06,N47 (DISPLAY CSM WGT., LEM WGT.)
+# 6. UPON PROCEED RESPONSE EXECUTE S40.14.
+# 7. DISPLAY FLASHING V06,N48 (DISPLAY PITCH TRIM, YAW TRIM)
+# 8. UPON PROCEED RESPONSE, RELEASE EXTENDED VERB DISPLAY SYSTEM.
+
+ COUNT* $$/EXTVB
+
+DAPDISP CS FLAGWRD6
+ MASK OCT60000
+ EXTEND
+ BZMF +2 # TVC = 10, CS YIELDS 01, BZMF TO CONTINUE
+ TC ALM/END # RETURN IF TVC
+
+ TC TESTXACT
+ TC BANKCALL
+ CADR DAPDISP1
+ BANK 42
+ SETLOC EXTVBS
+ BANK
+ COUNT 24/R03
+
+DAPDISP1 CAF EBANK6
+ TS EBANK
+
+ CAF PRIO10
+ TC PRIOCHNG
+
+DONOUN46 CAF V04N46 # R1 R2
+ TC BANKCALL # DAPDATR1 DAPDATR2
+ CADR GOXDSPF # GOXDSP ROUTINES USED FOR EXTENDED VERBS.
+
+ TC ENDEXT # EXT. VBS GO TO ENDEXT, NOT ENDOFJOB.
+ TC +2
+ TC DONOUN46
+
+ CA DAPDATR1
+ MASK BIT4
+ CCS A
+ TCF MAXIN
+ TC DOWNFLAG
+ ADRES MAXDBFLG
+MAXOUT TC BANKCALL
+ CADR S41.2
+
+DONOUN47 CAF V06N47 # R1 R2 R3
+# Page 254
+ TC BANKCALL # CSM WGT. LEM WGT. BLANK
+ CADR GOXDSPF
+
+ TC ENDEXT
+ TC +2
+ TC DONOUN47
+ CAE DAPDATR1 # DO MASS PROPERTIES CALCULATION ONLY IF
+ MASK PRIO30 # CONFIG = 1(CSM), 2 (CSM/LM), 6(CSM/LMA)
+ EXTEND
+ BZF DONOUN48 # SKIP IF 0,4
+ COM
+ MASK PRIO30
+ EXTEND
+ BZF DONOUN48 # SKIP IF 3,7
+ INHINT
+ TC IBNKCALL
+ CADR MASSPROP # UPDATE IXX, IAVG, IAVG/TLX
+
+ RELINT
+ TC BANKCALL
+ CADR S40.14 # COMPUTE RCS DAP STUFF
+
+DONOUN48 CAF V0648 # R1 R2 R3
+ TC BANKCALL # PTRIM YTRIM BLANK
+ CADR GOXDSPF
+
+ TC ENDEXT
+ TC ENDEXT
+ TC DONOUN48
+
+MAXIN TC UPFLAG
+ ADRES MAXDBFLG
+ TC MAXOUT
+
+V0648 VN 0648
+V06N47 VN 0647
+V04N46 VN 0446
+ BANK 43
+ SETLOC EXTVERBS
+ BANK
+
+ COUNT* $$/EXTVB
+
+# V82PERF VERB82 DESCRIPTION
+# REQUEST ORBIT PARAMETERS DISPLAY (R30)
+#
+# 1. IF AVERAGE G IS OFF:
+# FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS
+# TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT
+# CAN CHANGE TO OTHER SHIP BY V22EXE, WHERE X NOT EQ I.
+# SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC).
+# CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE
+# Page 255
+# RPER (PERIGEE RADIUS), RAP0 (APOGEE RADIUS), HPER (PERIGEE
+# HEIGHT ABOVE LAUNCH PAD OR LUNAR LANDING SITE), HAPO (APOGEE
+# HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), TFF (TIME TO
+# INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE).
+# FLASH MONITOR V16N44 (HAPO, HPER, TFF). TFF IS -59M59S IF IT WAS
+# NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND.
+# ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E.
+# DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS
+# ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S.
+#
+# 2. IF AVERAGE G IS ON:
+# CALLS SR30.1 APPROX EVERY TWO SECS. STATE VECTOR IS ALWAYS
+# FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR. RESULTS
+# OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF.
+# FLASH MONITOR V16N44 (HAPO, HPER, TFF).
+# IF MODE IS P11, THEN CALL DELRSPL SO ASTRONAUT CAN MONITOR
+# RESULTS BY N50E. SPLASH COMPUTATION DONE ONCE PER TWO SECS.
+#
+# ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE
+# ABOVE REMARKS.
+
+V82PERF TC TESTXACT
+
+ CAF PRIO7
+ TC PRIOCHNG
+ TC POSTJUMP
+ CADR V82CALL # ***** V82CALL MUST NOT BE A FINDVAC JOB.
+
+# VB83PERF VERB 83 DESCRIPTION
+# REQUEST RENDEZVOUS PARAMETER DISPLAY (R31)
+#
+# 1. SET EXT VERB DISPLAY BUSY FLAG.
+# 2. SCHEDULE V83CALL WITH PRIORITY 10.
+# A. DISPLAY
+# R1 RANGE
+# R2 RANGE RATE
+# R3 THETA
+
+V83PERF TC TESTXACT
+ INHINT
+ CS FLAGWRD9 # SET R31 FLAG-BIT 4 FLAGWRD9
+ MASK R31FLBIT
+ ADS FLAGWRD9
+ CAF PRIO5
+ TC NOVAC
+ SBANK= LOWSUPER # Added by RSB 2009
+ EBANK= SUBEXIT
+ 2CADR R31CALL
+
+ TC ENDOFJOB
+
+# Page 256
+V85PERF TC TESTXACT
+ INHINT
+ CS R31FLBIT # RESET R31 FLAG TO INDICATE R34
+ MASK FLAGWRD9
+ TS FLAGWRD9
+ TC V83PERF +5
+# Page 257
+# GOTOR21 VERB 57
+# GOTOR23- VERB 54 DESCRIPTION
+# SET UP MARKING FOR R22 (REND TRACK DATA PROC)
+# 1. SET EXT VERB DISPLAY BUSY FLAG
+# 2. IF REND (P20 RUNNING) + TRACK (TRACKING ALLOWED) FLAGS ARE SET,
+# SCHEDULE R21 OR R23 WITH PRIORITY 16, OTHERWISE TURN ON ALARM 406
+# 3. RELEASE EXT VERB DISPLAY SYSTEM
+
+GOTOR21 TC DOWNFLAG # CLEAR R23FLG
+ ADRES R23FLG # BIT 9 FLAG 1
+ TC +3
+GOTOR23 TC UPFLAG # SET R23FLG
+ ADRES R23FLG # BIT 9 FLAG 1
+ TC TESTXACT
+ CA FLAGWRD0 # VB 57 UNACCEPTABLE UNLESS BOTH
+ MASK RNDVZBIT # RENDEZVOUS AND TRACK FLAGS ON
+ EXTEND
+ BZF R22ALARM
+
+ CA FLAGWRD1
+ MASK TRACKBIT
+ EXTEND
+ BZF R22ALARM
+
+ CA FLAGWRD1 # TEST R23FLG
+ MASK R23BIT
+ EXTEND
+ BZF REGR21 # R21
+ CAF PRIO16
+ TC NOVAC
+ EBANK= MRKBUF1
+ 2CADR R23CSM
+
+ TC ENDOFJOB
+REGR21 CAF PRIO16
+ TC NOVAC
+ EBANK= MRKBUF1
+ 2CADR R21CSM
+
+ TC ENDOFJOB
+R22ALARM TC ALARM # VERB 57 WAS SELECTED AND NEITHER REND
+ OCT 00406 # NOR TRACK FLAG WERE ON.
+ TC ENDEXT
+
+# Page 258
+# VERB 86 DESCRIPTION
+# V86 IS TO R23 AS MARK REJECT IS TO R21
+# V86 IS THE MARK REJECT FOR R23 (THE BACKUP MARKING ROUTINE)
+
+ EBANK= MRKBUF1
+V86PERF CAF EBANK7 # BACKUP MARK REJECT (R23)
+ XCH EBANK
+ CA NEGONE
+ TS MRKBUF1
+ TC GOPIN
+
+# Page 259
+# TRACKTRM VERB 56 DESCRIPTION
+# TERMINATE TRACKING (P20)
+# 1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS.
+# 2. REQUIRE P20 NOT RUNNING ALONE OR GO TO GOTOP00H (REQUEST PROGRAM 00).
+# 3. REQUIRE R22 RUNNING OR GO TO PINBRNCH.
+# 4. IF INTEGRATION RUNNING, STALL UNTIL IT IS COMPLETED, THEN ZERO GROUPS 2 AND 3 TO KILL R21 + R22
+# 3. KNOCK DOWN RENDEZFOUS, R22, R21, TRACK, UPDATE, AND TARG1 FLAGS.
+# 4. GO TO ENEMA (SOFTWARE RESTART).
+# REFERENCE
+# P20 RENDEZVOUS NAVIGATION
+# R21 RENDEZVOUS TRACKING SIGHTING MARK.
+# R22 RENDEZVOUS TRACKING DATA PROCESSING.
+
+TRACKTRM CA RNDVZBIT # IS REND FLAG ON
+ MASK FLAGWRD0
+ EXTEND
+ BZF GOPIN # NO
+
+ TC DOWNFLAG
+ ADRES RNDVZFLG
+
+ CA TRACKBIT # IS TRACK FLAG ON
+ MASK FLAGWRD1
+ EXTEND
+ BZF GOPIN # NO
+
+ TC DOWNFLAG
+ ADRES TRACKFLG
+
+ TC DOWNFLAG
+ ADRES UPDATFLG
+
+ TC DOWNFLAG
+ ADRES IMUSE
+
+ CAF EBANK6
+ TS EBANK
+
+ INHINT
+ TC STOPRATE
+
+ CAF NEGONE
+ TS OPTIND
+
+ TC INTPRET
+ CALL
+ INTSTALL # DON'T INTERRUPT INTEGRATION
+ EXIT
+
+ TC 2PHSCHNG
+# Page 260
+ OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY
+ OCT 1 # ALSO KILL GROUP 1
+
+CLEANOUT INHINT
+ TC POSTJUMP
+ CADR ENEMA # CAUSE RESTART
+
+# LEMVEC VERB 80 DESCRIPTION
+# UPDATE LEM STATE VECTOR
+# RESET VEHUPFLG TO 0
+
+LEMVEC TC DOWNFLAG
+ ADRES VEHUPFLG # VEHUPFLG DOWN INDICATES LEM
+
+ TCF GOPIN
+
+# CSMVEC VERB 81 DESCRIPTION
+# UPDATE CSM STATE VECTOR
+# SET VEHUPFLG TO 1
+
+CSMVEC TC UPFLAG
+ ADRES VEHUPFLG # VEHUPFLG UP INDICATES CM
+
+ TCF GOPIN
+
+# DNEDUMP VERB 74 DESCRIPTION
+# INITIALZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP.
+#
+# 1. SET EXT VERB DISPLAY BUSY FLAG.
+# 2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY.
+# 3. RELEASE EXT VERB DISPLAY.
+
+ EBANK= 10
+DNEDUMP CAF LDNDUMPI
+ TS DNTMGOTO
+ TC GOPIN
+
+V74 EQUALS DNEDUMP
+LDNDUMPI REMADR DNDUMPI
+
+# LFTFLGON VERB 75 DESCRIPTION
+# SET LIFT-OFF FLAG
+# 1. SETUP GRRBKFLG, GUIDANCE REFERENCE RELEASE BACK-UP FLAG.
+# 2. RETURN VIA PINBRNCH
+
+LFTFLGON TC UPFLAG # VB 75 -- SET LIFTOFF FLAG BIT
+ ADRES GRRBKFLG # BIT 5 FLAG 5
+ TC GOPIN
+
+# Page 261
+CHKP00H CA MODREG
+ EXTEND
+ BZF TCQ
+ TCF ALM/END
+
+EXDAPOFF EXTEND
+ DCA IDLECADR # SET T5 TO IDLE.
+ DXCH T5LOC
+ CS OCT60000
+ MASK FLAGWRD6 # RESET DAPBITS 1 AND 2.
+ TS FLAGWRD6
+ TC Q
+
+ SBANK= PINSUPER # Added RSB 2009
+ EBANK= PACTOFF
+IDLECADR 2CADR T5IDLOC
+
+# Page 262
+# VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)
+#
+# CALLED BY VERB 89 ENTER DURING P00. PRIO 10 IS USED. CALCULATES AND
+# DISPLAYS FINAL GIMBAL ANGLES TO POINT CSM +X AXIS OR PREFERRED AXIS
+# (UNIT(Z)COS55 DEG + UNIT(X)SIN55 DEG) AT LM.
+#
+# 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
+# EXIT R63, OTHERWISE CONTINUE.
+#
+# 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
+# ORIENTATION KNOWN TO CGC, CONTINUE.
+#
+# 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
+# BE POINTED AT LM. INITIAL CHOICE IS PREFERRED AXIS (R2=1).
+# ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT = 1) BY V 22 E 2 E. CONTINUE
+# AFTER KEYING IN PROCEED.
+#
+# 4. SET PREFERRED ATTITUDE FLAG ACCORDING TO OPTION DESIRED. SET FLAG
+# FOR PREFERRED AXIS. RESET FLAG FOR X AXIS.
+#
+# 5. CURRENT TIME IS STORED AND R63COMP IS CALLED
+#
+# R63COMP JOB:
+#
+# UPDATES CSM AND LM STATE VECTORS USING CONIC EQUATIONS.
+#
+# CALCULATES BOTH PREFERRED AND X AXIS TRACKING ATT FROM CSM TO LM.
+#
+# DESIRED GIMBAL ANGLES AS INDICATED BY PREFERRED ATTITUDE FLAG
+# ARE STORED FOR LATER R60CSM CALL.
+#
+# 6. FLASH DISPLAY V 06 N18 AND AWAIT RESPONSE.
+#
+# 7. RECYCLE: RETURN TO STEP 5.
+# TERMINATE: EXIT R63 ROUTINE
+# PROCEED: RESET 3AXISFLG AND CALL R60CSM FOR ATTITUDE MANEUVER.
+
+V89PERF TC CHKP00H # DEMAND P00
+ TC TESTXACT
+ INHINT
+ CAF PRIO10
+ TC FINDVAC
+ SBANK= LOWSUPER # Added by RSB 2009.
+ EBANK= P21TIME
+ 2CADR V89CALL
+
+ TCF ENDOFJOB
+
+WMATRXNG TC DOWNFLAG # RESET RENDWFLAG
+ ADRES RENDWFLG
+# Page 263
+
+ TC DOWNFLAG # RESET ORBWFLAG
+ ADRES ORBWFLAG
+ TC GOPIN
+
+GOSHOSUM EQUALS SHOWSUM
+
+SHOWSUM TC CHKP00H
+ TC TESTXACT # *
+ CAF S+1 # *
+ TS SKEEP6 # * SHOWSUM OPTION
+ CAF S+ZERO # *
+ TS SMODE # * TURN OFF SELF-CHECK
+ CA SELFADRS # *
+ TS SELFRET # *
+ TC STSHOSUM # * ENTER ROPECHK
+
+SDISPLAY LXCH SKEEP2 # * BNK NO FOR DSP
+ LXCH SKEEP3 # * BUGGER WORD FOR DSP
+NOKILL CA ADRS1 # *
+ TS MPAC +2 # *
+ CA VNCON # * 0501
+ TC BANKCALL # *
+ CADR GOXDSPF # *
+ TC +3 # *
+ TC NXTBNK # *
+ TC NOKILL # *
+ CA SELFADRS
+ TS SKEEP1
+
+ TC ENDEXT # *
+
+VNCON VN 501 # *
+
+ENDSUMS CA SKEEP6 # *
+ EXTEND # *
+ BZF SELFCHK # * ROPECHK, START SELFCHK AGAIN.
+ TC STSHOSUM # * START SHOWSUM AGAIN.
+
+
+# VB 76 --- SET PREFERRED ATTITUDE FLAG --- DRIVE TO PREFERRED.
+
+SETPRFLG TC UPFLAG
+ ADRES PRFTRKAT # BIT 10 FLAG 5
+ TC GOPIN
+
+# VB 77 --- RESET PREFERRED ATTITUDE FLAG --- DRIVE TO +X-AXIS ATT.
+
+RESETPRF TC DOWNFLAG
+ ADRES PRFTRKAT # BIT 10 FLAG 5
+ TC GOPIN
+
+# Page 264
+# VB 87 --- SET VHF RANGE FLAG --- ALLOWS R22 TO ACCEPT RANGE DATA.
+
+SETVHFLG TC INTPRET
+ SET EXIT
+ VHFRFLAG
+ TC GOPIN
+
+# VB 88 --- RESET VHF RANGE FLAG --- STOPS ACCEPTANCE OF RANGE DATA.
+
+RESETVHF TC INTPRET
+ CLEAR EXIT
+ VHFRFLAG
+ TC TRFAILOF # TRACKER FAIL LIGHT
+
+ TC GOPIN
+
+# VERB 66. VEHICLES ARE ATTACHED. --- MOVE THIS VEHICLE STATE VECTOR TO
+# OTHER VEHICLE STATE VECTOR.
+
+# USE SUBROUTINE GENTRAN.
+
+ EBANK= RRECTHIS
+ATTACHED CAF PRIO10
+ TC FINDVAC
+ EBANK= RRECTHIS
+ 2CADR ATTACHIT
+
+ TC ENDOFJOB
+
+ATTACHIT TC INTPRET
+ CALL
+ INTSTALL
+ SET BON
+ MOONOTH
+ MOONTHIS
+ +3
+ CLEAR
+ MOONOTH
+ EXIT
+ CAF OCT51
+ TC GENTRAN
+ ADRES RRECTHIS # OUR STATE VECTOR INTO OTHER VIA GENTRAN
+ ADRES RRECTOTH
+
+TACHEXIT RELINT
+ TC INTPRET
+ CALL # UPDATE RN, VN, R-OTHER, V-OTHER
+ PTOACSM
+# Page 265
+ LXA,2 CALL
+ PBODY
+ SVDWN1
+ CALL
+ SVDWN2
+ EXIT
+
+ CAF TCPINAD
+ INDEX FIXLOC
+ TS QPRET
+ TC POSTJUMP
+ CADR INTWAKE
+
+TCPIN RTB
+ PINBRNCH
+
+OCT51 OCT 51
+TCPINAD CADR TCPIN
+
+# VERB 47. MOVE LM STATE VECTOR INTO CSM STATE VECTOR
+
+LMTOCMSV CAF PRIO10
+ TC FINDVAC
+ EBANK= RRECTHIS
+ 2CADR LMTOCM
+
+ TC ENDOFJOB
+
+LMTOCM TC INTPRET
+ CALL
+ INTSTALL
+ SET BON
+ MOONTHIS
+ MOONOTH
+ +3
+ CLEAR
+ MOONTHIS
+ EXIT
+
+ CAF OCT51
+ TC GENTRAN
+ ADRES RRECTOTH # LM STATE VECTOR INTO CM VIA GENTRAN
+ ADRES RRECTHIS
+
+ TCF TACHEXIT
+
+# VERB 94 --- DO R64 VIA ENEMA TO PICK UP IN P23.
+
+VERB94 CAF V94FLBIT
+ MASK FLAGWRD9 # IS V94FLAG SET
+# Page 266
+ EXTEND
+ BZF ALM/END # NO --- OPERATOR ERROR
+
+ TC DOWNFLAG
+ ADRES V94FLAG
+
+ TC CHECKMM # IS IT P23
+ MM 23
+ TC ALM/END # NO -- OPERATOR ERROR
+ TC PHASCHNG
+ OCT 112 # SET GROUP 2 TO DO R64
+
+ TC CLEANOUT # CAUSE RESTART
+
+# V90PERF VERB 90 DESCRIPTION
+# REQUEST RENDEZVOUS OUT-OF-PLANE DISPLAY (R36)
+#
+# 1. SET EXT VERB DISPLAY BUSY FLAG.
+# 2. SCHEDULE R36 CALL WITH PRIORITY 10
+# A. DISPLAY
+# TIME OF EVENT -- HOURS, MINUTES, SECONDS
+# Y OUT-OF-PLANE POSITION -- NAUTICAL MILES
+# YDOT OUT-OF-PLANE VELOCITY -- FEET/SECOND
+# PSI ANGLE BTW LINE OF SIGHT AND FORWARD
+# DIRECTION VECTOR IN HORIZONTAL PLANE -- DEGREES
+
+V90PERF TC TESTXACT
+ CAF PRIO7 # R36,V90
+ TC FINDVAC
+ SBANK= PINSUPER # Added RSB 2009
+ EBANK= RPASS36
+ 2CADR R36
+
+ TCF ENDOFJOB
+
+# VERB 96 SET QUITFLAG TO STOP INTEGRATION
+
+VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT
+ ADRES QUITFLAG # AT NEXT TIMESTEP
+
+ TC UPFLAG
+ ADRES V96ONFLG
+ CAF ZERO
+ TC POSTJUMP
+ CADR V37 # GO TO P00
+
+ EBANK= LANDMARK
+V52 TC CHECKMM # IS P22 OPERATING
+ MM 22
+ TC ALM/END # NO
+ CAF LANDBANK
+ TS EBANK
+
+# Page 267
+ CS PRIO7 # YES SET BITS 12,11,10 OF LANDMARK =
+ MASK LANDMARK # BITS 14,13,12 OF MARKSTAT AFTER
+ TS LANDMARK # SUBT. THEM FROM 5 TO GET OFFSET
+ CA MARKSTAT # MARK NO.
+ TS SR
+ CA SR
+ CA SR
+ MASK PRIO7
+ CS A
+ AD PRIO5
+ ADS LANDMARK
+ TC GOPIN
+LANDBANK ECADR LANDMARK
+
+# VERB 67 ASTRONAUT DISPLAY OF W MATRIX
+
+V67 TC TESTXACT
+ CAF PRIO5
+ TC FINDVAC
+ EBANK= W
+ 2CADR V67CALL
+
+ TC ENDOFJOB
+
+# VB 44. SET SURFACE FLAG.
+
+SETSURF TC UPFLAG
+ ADRES SURFFLAG
+ TCF GOPIN
+
+# VB 45. RESET SURFACE FLAG
+
+RESTSRF TC DOWNFLAG
+ ADRES SURFFLAG
+ TCF GOPIN
diff --git a/FINDCDUW--GUIDAP_INTERFACE.s b/FINDCDUW--GUIDAP_INTERFACE.s
new file mode 100644
index 0000000..637f04e
--- /dev/null
+++ b/FINDCDUW--GUIDAP_INTERFACE.s
@@ -0,0 +1,743 @@
+# Copyright: Public domain.
+# Filename: FINDCDUW--GUIDAP_INTERFACE.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 908-925
+# Mod history: 2009-05-28 HG Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 908
+# PROGRAM NAME: FINDCDUW
+# MOD NUMBER: 1 68-07-15
+# MOD AUTHOR: KLUMPP
+#
+# OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
+# 2. TO MAINTAIN CORRECT AND CURRENT THRUST
+# DIRECTION DATA IN ALL MODES. THIS IS DONE BY
+# FETCHING FOR THE THRUST DIRECTION FILTER THE
+# CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
+# MODES.
+# 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL
+# AUTOPILOT COMMANDS WHENEVER
+# 1) NOT IN PNGCS-AUTO, OR
+# 2) ENGINE IS OFF.
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
+# AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
+# AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
+# INCRMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
+# ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
+# LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
+# ACCELERATIONS AVAILABLE).
+#
+# FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
+# FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET,
+# ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
+#
+# Page 909
+# SPECIFICATIONS:
+#
+# INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
+# BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
+#
+# CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
+# VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
+# THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
+#
+# RETURNS: NORMAL INTERPRETIVE IN ALL CASES
+# 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
+# 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
+# WITHOUT ISSUING AUTOPILOT CMDS.
+# 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
+# ISSUING AUTOPILOT CMDS.
+#
+# ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
+# FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
+# BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
+#
+# 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
+# UNITIZED USING NORMUNIT. FINDCDUW ISSUES
+# STOPRATE AS ONLY INPUT TO AUTOPILOT.
+#
+# INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
+# UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
+# OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
+# XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
+# CSMDOCKD FLAG DENOTING CSM DOCKED.
+# STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
+#
+# OUTPUTS: DELCDUX,Y,Z
+# OMEGAPD,+1,+2
+# DELPEROR,+1,+2
+# CPHI,+1,+2 FOR NOUN22
+#
+# DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
+# WRITING INTO THESE LOCATIONS THE SINES AND COSINES
+# OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
+
+# Page 910
+# INITIALIZATION FOR FINDCDUW
+
+ BANK 30
+ SETLOC FCDUW
+ BANK
+
+ EBANK= ECDUW
+ COUNT* $$/FCDUW
+
+INITCDUW VLOAD
+ UNITX
+ STORE UNFV/2
+ STORE UNWC/2
+ RVQ
+
+# FINDCDUW PRELIMINARIES
+
+ VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
+ UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
+FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
+ FINDCDUW # INTERPRETER NOW INITIALIZED
+ 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
+ STQ EXIT
+ QCDUWUSR # SAVE RETURN ADDRESS
+
+# MORE HAUSKEEPING
+ CA ECDUWL
+ XCH EBANK # SET EBANK
+ TS ECDUWUSR # SAVE USER'S EBANK
+
+ CA DAPBOOLS
+ MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
+ CCS A
+ CA ONE # INDEX IF CSM DOCKED
+ TS NDXCDUW
+
+ CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
+ TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
+
+ MASK DAPBOOLS
+ TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD
+
+# Page 911
+# FETCH BASIC DATA
+ INHINT # RELINT AT PAUTNO (TC INTPRET)
+
+ CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
+ TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
+ CA CDUY
+ TS CDUSPOTY
+ CA CDUZ
+ TS CDUSPOTZ
+
+ CA BIT10 # PNGCS CONTROL BIT
+ EXTEND
+ RAND CHAN30
+ CCS A
+ TCF PAUTNO # NOT PNGCS (BITS INVERTED)
+
+ CA BIT14 # AUTO MODE BIT
+ EXTEND
+ RAND CHAN31
+ CCS A
+ TCF PAUTNO # NOT AUTO (BITS INVERTED)
+
+ TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
+
+ CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
+ TS CDUSPOTX
+ CA CDUYD
+ TS CDUSPOTY
+ CA CDUZD
+ TS CDUSPOTZ
+
+# Page 912
+# FETCH INPUTS
+PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
+ RTB
+ NORMUNIT
+ STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
+ UNWC/2
+ RTB RTB
+ NORMUNIT
+ QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
+ STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
+ DELV
+ BOVB UNIT
+ NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
+ BOV CALL
+ AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER
+ *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
+
+# THRUST DIRECTION FILTER
+
+ EXIT
+
+ CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
+ LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER,
+ TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
+ TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
+
+ CA UNFVZ/2
+ LXCH MPAC +5
+ TC FLTRSUB
+ TS UNFVZ/2
+
+ TC INTPRET # COMPLETES FILTER
+
+# Page 913
+# FIND A SUITABLE WINDOW POINTING VECTOR
+
+AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
+ FLAGOODW
+ FETCHZNB
+ VLOAD CALL
+ UNZ/2
+ UNWCTEST
+
+FETCHZNB VLOAD
+ ZNBPIP
+ STCALL UNZ/2
+ UNWCTEST
+
+ VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
+ XNBPIP
+ STORE UNZ/2
+
+# COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
+
+DCMCL VLOAD VXV
+ UNZ/2
+ UNX/2
+ UNIT PUSH # UNY/2 FIRST ITERATION
+ VXV VSL1
+ UNX/2
+ STORE UNZ/2 # -UNZ/2 FIRST ITERATION
+ VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
+ UNFVZ/2 # MUST BE SMALL
+ VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
+ UNFVY/2 # MUST BE SMALL
+ VSL1 VAD
+ UNX/2
+ UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
+ STORE UNX/2 # UNX/2
+ VXV VSL1
+ UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
+ STORE UNY/2 # UNY/2
+ VCOMP VXV
+ UNX/2
+ VSL1
+ STORE UNZ/2 # UNZ/2
+
+# Page 914
+# COMPUTES THE REQUIRED GIMBAL ANGLES
+
+ CALL
+ NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
+ EXIT
+
+# LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
+
+ CA MPAC +2 # LIMIT THE MGA
+ TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
+ CA CDUZDLIM
+ TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
+ XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
+ EXTEND
+ MSU MPAC +2 # THIS BETTER YIELD ZERO
+ EXTEND
+ BZF +2
+ TCF ALARMMGA
+
+MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
+
+ ZL
+ CA TWO
+DELGMBLP TS TEM2
+
+ CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
+ EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
+ SQUARE
+ AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
+ EXTEND
+ BZMF +3
+ CA ZERO
+ TS FLAGOODW
+
+ INDEX TEM2
+ CA MPAC
+ INDEX TEM2
+ TS CPHI # OUTPUTS TO NOUN22
+ EXTEND
+ INDEX TEM2
+ MSU CDUXD # NO MATTER THAT THESE SLIGHLTY DIFFERENT
+ COM # FROM WHEN WE INITIALLY FETCHED THEM
+ INDEX TEM2
+ TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
+ TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
+ CCS TEM2
+ TCF DELGMBLP
+
+# Page 915
+# BRANCHES TO NOATTCNT
+ CCS FLPAUTNO
+ TCF NOATTCNT +2 # NO PNGCS AUTO
+
+ CA FLAGWRD5
+ MASK ENGONBIT
+ EXTEND
+ BZF NOATTCNT +2 # ENGINE NOT ON
+
+# Page 916
+# LIMIT THE ATTITUDE ANGLE CHANGES
+#
+# THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
+# THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
+# THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL
+# AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
+#
+# [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ]
+# [ ] [ ] [ ]
+# [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ]
+# [ ] [ ] [ ]
+# [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ]
+
+ LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
+ INDEX NDXCDUW
+ CA DAZMAX
+ TC LIMITSUB
+ TS -DELGMB +2 # -DELGMBZ
+
+ CA -DELGMB +1
+ EXTEND
+ MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
+ TS L
+ INDEX NDXCDUW
+ CA DAY/2MAX
+ TC LIMITSUB
+ EXTEND
+ DV COSCDUZ
+ XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
+
+ EXTEND
+ MP SINCDUZ
+ DDOUBL
+ COM
+ EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
+ MSU -DELGMB # BASED ON UNLIMITED DELGMBV.
+ TS L # ONE BIT ERROR IF OPERANDS IN MSU
+ INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
+ CA DAXMAX
+ TC LIMITSUB
+ TS -DELGMB # SAVE LIMITED +DELATTX
+ CCS FLAGOODW
+ CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
+ TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
+ CS -DELGMB +1
+ EXTEND
+ MP SINCDUZ
+ DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
+ ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
+ # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
+
+# Page 917
+# COMPUTE COMMANDED ATTITUDE RATES
+#
+# [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ]
+# [ ] [ ] [ ]
+# [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ]
+# [ ] [ ] [ ]
+# [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ]
+#
+# ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
+# PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
+# AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
+
+ CS -DELGMB
+ TS OMEGAPD
+ CS -DELGMB +1
+ EXTEND
+ MP SINCDUZ
+ DDOUBL
+ ADS OMEGAPD
+ ADS OMEGAPD
+
+ CS -DELGMB +1
+ EXTEND
+ MP COSCDUX
+ DDOUBL
+ EXTEND
+ MP COSCDUZ
+ TS OMEGAQD
+ CS -DELGMB +2
+ EXTEND
+ MP SINCDUX
+ ADS OMEGAQD
+ ADS OMEGAQD
+ ADS OMEGAQD
+
+ CA -DELGMB +1
+ EXTEND
+ MP SINCDUX
+ DDOUBL
+ EXTEND
+ MP COSCDUZ
+ TS OMEGARD
+ CS -DELGMB +2
+ EXTEND
+ MP COSCDUX
+ ADS OMEGARD
+ ADS OMEGARD
+ ADS OMEGARD
+
+# Page 918
+# FINAL TRANSFER
+
+ CA TWO
+CDUWXFR TS TEM2
+ INDEX TEM2
+ CA -DELGMB
+ EXTEND
+ MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
+ TC ONESTO2S
+ INDEX TEM2
+ TS DELCDUX # ANGLE INTERFACE
+
+ INDEX TEM2
+ CCS OMEGAPD
+ AD ONE
+ TCF +2
+ AD ONE
+ EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
+ INDEX TEM2
+ MP OMEGAPD
+ EXTEND
+ MP BIT11 # 1/16
+ EXTEND
+ INDEX TEM2 # 2
+ DV 1JACC # UNITS PI/4 RAD/SEC
+ TS L
+ CA DELERLIM
+ TC LIMITSUB
+ INDEX TEM2
+ TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
+ CCS TEM2
+ TCF CDUWXFR
+
+# HAUSKEEPING AND RETURN
+
+TCQCDUW CA ECDUWUSR
+ TS EBANK # RETURN USER'S EBANK
+
+ TC INTPRET
+ SETPD GOTO
+ 0
+ QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
+
+# Page 919
+# THRUST VECTOR FILTER SUBROUTINE
+
+FLTRSUB EXTEND
+ QXCH TEM2
+ TS TEM3 # SAVE ORIGINAL OFFSET
+ COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
+ AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
+ EXTEND # NOT WORTH THE INCREASED OBSCURITY.
+ INDEX NDXCDUW
+ MP GAINFLTR
+ TS L # INCR TO OFFSET, UNLIMITED
+ CA DUNFVLIM # SAME LIMIT FOR Y AND Z
+ TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
+ AD TEM3 # ORIGINAL OFFSET
+ TS L # TOTAL OFFSET, UNLIMITED
+ CA UNFVLIM # SAME LIMIT FOR Y AND Z
+ TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
+ TC TEM2
+
+# SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
+
+UNWCTEST DOT DSQ
+ UNX/2
+ DSU BMN
+ DOTSWFMX
+ DCMCL
+ SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
+ FLAGOODW # ZEROING WINDOW GOOD FLAG
+ 0
+
+# Page 920
+# NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
+# ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
+# NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
+
+NB2CDUSP DLOAD DSQ
+ 2
+ BDSU BPL
+ DP1/4TH
+ +3
+ DLOAD
+ ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
+ SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
+
+ EXTEND
+ DCA MPAC
+ DDOUBL
+ TS TEM5
+ TCF +3
+ CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
+ TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
+
+ INDEX FIXLOC
+ CA 2
+ LXCH MPAC
+ TC ARCTRGSP
+ TS MPAC +2 # CDUZ
+
+ CA ZERO
+ TC DVBYCOSM
+ CA FOUR
+ TC DVBYCOSM
+ CS TEM1
+ TC ARCTRGSP
+ TS MPAC +1 # CDUY
+
+ CA BIT4
+ TC DVBYCOSM
+ CA 16OCT
+ TC DVBYCOSM
+ CS TEM1
+ TC ARCTRGSP
+ TS MPAC # CDUX
+
+ TC INTPRET
+ RVQ
+
+16OCT OCT 16
+
+# Page 921
+# THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
+# ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
+# ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
+# THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
+# ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
+# BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
+# THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
+#
+# IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
+# REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
+# ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
+# IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
+
+DVBYCOSM AD FIXLOC
+ TS ADDRWD # ADRES OF OPERAND
+
+ INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
+ CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
+ EXTEND
+ BZMF +2
+ COM
+ AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
+ EXTEND
+ BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
+
+ EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
+ INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
+ DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
+ EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
+ DV TEM5
+TSL&TCQ TS L
+ LXCH TEM1
+ TC Q
+
+# Page 922
+# ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
+# UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
+# THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
+
+ARCTRGSP EXTEND
+ BZF SINZERO # TO AVOID DIVIDING BY ZERO
+
+ EXTEND
+ QXCH TEM4
+ TS TEM2
+ CA L
+ TS TEM3
+ CA ZERO
+ EXTEND
+ DV TEM2
+ EXTEND
+ BZF USECOS
+
+ CCS TEM3 # SIN IS SMALLER OR EQUAL
+ CA ZERO
+ TCF +4
+ CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
+ TS TEM2 # ANGLE = PI-ARCSIN(SIN)
+ CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
+ TS TEM3 # WE NO LONGER NEED COS
+ CA TEM2
+ TC SPARCSIN -1
+ TC ONESTO2S
+ EXTEND
+ MSU TEM3
+1TO2&TCQ TC ONESTO2S
+ TC TEM4
+
+USECOS CS TEM3 # COS IS SMALLER
+ TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS))
+ AD HALF
+ TS TEM3 # WE NO LONGER NEED COS
+ CCS TEM2
+ CA TEM3
+ TCF 1TO2&TCQ
+ CS TEM3
+ TCF 1TO2&TCQ
+
+SINZERO CCS L
+ CA ZERO
+ TC Q
+ CA NEGMAX # PI, 2'S COMP
+ TC Q
+
+# Page 923
+# SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
+# 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
+# DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
+# 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
+
+ DOUBLE
+SPARCSIN TS SR
+ TCF +4
+ INDEX A
+ CS LIMITS
+ TS SR
+ EXTEND
+ MP A
+ TS TEM1
+ EXTEND
+ MP DPL9
+ AD DPL7
+ EXTEND
+ MP TEM1
+ AD DPL5
+ EXTEND
+ MP TEM1
+ AD DPL3
+ EXTEND
+ MP TEM1
+ AD DPL1
+ EXTEND
+ MP SR
+ TC Q
+DPL1 DEC 10502
+DPL3 DEC 432
+DPL5 DEC 7300
+DPL7 DEC -11803
+DPL9 DEC 8397
+
+# Page 924
+# LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
+# ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
+# THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
+#
+# VERSION COUTESY HUGH BLAIR-SMITH
+
+LIMITSUB TS TEM1
+ CA ZERO
+ EXTEND
+ DV TEM1
+ CCS A
+ LXCH TEM1
+ TCF +2
+ TCF +3
+ CA L
+ TC Q
+ CS TEM1
+ TC Q
+
+# SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
+
+ONESTO2S CCS A
+ AD ONE
+ TC Q
+ CS A
+ TC Q
+
+# NO ATTITUDE CONTROL
+
+NOATTCNT TC ALARM
+ OCT 00402 # NO ATTITUDE CONTROL
+
+ +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
+ TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
+ FCADR STOPRATE
+ TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
+
+# MIDDLE GIMBAL ANGLE ALARM
+
+ALARMMGA TC ALARM
+ OCT 00401
+ TCF MGARET
+
+# Page 925
+#******************************************************************
+# CONSTANTS
+#******************************************************************
+
+# ADDRESS CONSTANTS
+
+ECDUWL ECADR ECDUW
+
+# THRUST DIRECTION FILTER CONSTANTS
+
+GAINFLTR DEC .2 # GAIN FILTER SANS CSM
+ DEC .1 # GAIN FILTER WITH CSM
+
+DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
+ # THIS DOES NOT ALLOW FOR S/C ROT RATE.
+
+UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
+ # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
+
+# CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS
+
+DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
+ # LOWER PART COMES FROM NEXT CONSTANT
+
+DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
+ DEC .0111111111 # 2 DEG WHEN CSM DOCKED
+
+DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
+ DEC .0055555555
+
+DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
+
+CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
+
+# CONSTANTS FOR DATA TRANSFER
+
+DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
+ # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
+
+DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI
+
+# *** END OF FLY .132 ***
diff --git a/FIXED_FIXED_CONSTANT_POOL.s b/FIXED_FIXED_CONSTANT_POOL.s
new file mode 100644
index 0000000..d8c439c
--- /dev/null
+++ b/FIXED_FIXED_CONSTANT_POOL.s
@@ -0,0 +1,262 @@
+# Copyright: Public domain.
+# Filename: FIXED_FIXED_CONSTANT_POOL.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1200-1204
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1200
+ BLOCK 02
+ COUNT 02/FCONS
+
+# THE FOLLOWING TABLE OF 18 VALUES IS INDEXED. DO NOT INSERT OR REMOVE ANY QUANTITIES
+
+DPOSMAX OCT 37777 # MUST PRECED POSMAX
+POSMAX OCT 37777
+
+LIMITS = NEG1/2
+
+NEG1/2 OCT -20000 # USED BY SIN ROUTINE (MUST BE TWO
+ # LOCATIONS IN FRONT OF BIT14)
+
+# BIT TABLE
+
+BIT15 OCT 40000
+BIT14 OCT 20000
+BIT13 OCT 10000
+BIT12 OCT 04000
+BIT11 OCT 02000
+BIT10 OCT 01000
+BIT9 OCT 00400
+BIT8 OCT 00200
+BIT7 OCT 00100
+BIT6 OCT 00040
+BIT5 OCT 00020
+BIT4 OCT 00010
+BIT3 OCT 00004
+BIT2 OCT 00002
+BIT1 OCT 00001
+
+# DO NOT DESTROY THIS COMBINATION, SINCE IT IS USED IN DOUBLE PRECISION INSTRUCTIONS.
+NEG0 OCT -0 # MUST PRECEDE ZERO
+ZERO OCT 0 # MUST FOLLOW NEG0
+# BIT1 OCT 00001
+# NO.WDS OCT 2 # INTERPRETER
+# OCTAL3 OCT 3 # INTERPRETER
+# R3D1 OCT 4 # PINBALL
+FIVE OCT 5
+# REVCNT OCT 6 # INTERPRETER
+SEVEN OCT 7
+# BIT4 OCT 00010
+# R2D1 OCT 11 # PINBALL
+OCT11 = R2D1 # P20S
+# BINCON DEC 10 # PINBALL (OCTAL 12)
+ELEVEN DEC 11
+# OCT14 OCT 14 # ALARM AND ABORT (FILLER)
+OCT15 OCT 15
+# R1D1 OCT 16 # PINBALL
+# Page 1201
+LOW4 OCT 17
+# BIT5 OCT 00020
+# ND1 OCT 21 # PINBALL
+# VD1 OCT 23 # PINBALL
+# OCT24 OCT 24 # SERVICE ROUTINES
+# MD1 OCT 25 # PINBALL
+BITS4&5 OCT 30
+# OCT31 OCT 31 # SERVICE ROUTINES
+CALLCODE OCT 00032
+# LOW5 OCT 37 # PINBALL
+# 33DEC DEC 33 # PINBALL (OCTAL 41)
+# 34DEC DEC 34 # PINBALL (OCTAL 42)
+TBUILDFX DEC 37 # BUILDUP FOR CONVENIENCE IN DAPTESTING
+TDECAYFX DEC 38 # CONVENIENCE FOR DAPTESTING
+# BIT6 OCT 00040
+OCT50 OCT 50
+DEC45 DEC 45
+SUPER011 OCT 60 # BITS FOR SUPERBNK SETTING 011.
+.5SEC DEC 50
+# BIT7 OCT 00100
+
+SUPER100 = BIT7 # BITS FOR SUPERBNK SETTING 100
+ # (LAST 4K OF ROPE)
+SUPER101 OCT 120 # BITS FOR SUPERBNK SETTING 101
+# OCT121 OCT 121 # SERVICE ROUTINES
+ # (FIRST 8K OF ACM)
+SUPER110 OCT 140 # BITS FOR SUPERBNK SETTING 110.
+ # (LAST BK OF ACM)
+1SEC DEC 100
+# LOW7 OCT 177 # INTERPRETER
+# BIT8 OCT 00200
+# OT215 OCT 215 # ALARM AND ABORT
+# 8,5 OCT 00220 # P20-P25 SUNDANCE
+2SECS DEC 200
+# LOW8 OCT 377 # PINBALL
+# BIT9 OCT 00400
+GN/CCODE OCT 00401 # SET S/C CONTROL SWITCH TO G/N
+3SECS DEC 300
+4SECS DEC 400
+LOW9 OCT 777
+# BIT10 OCT 01000
+# 5.5DEGS DEC .03056 # P20-P25 SUNDANCE (OCTAL 00765)
+# OCT1103 OCT 1103 # ALARM AND ABORT
+C5/2 DEC .0363551 # (OCTAL 01124)
+V05N09 VN 0509 # (SAME AS OCTAL 1211)
+OCT1400 OCT 01400
+V06N22 VN 0622
+# MID5 OCT 1740 # PINBALL
+BITS2-10 OCT 1776
+LOW10 OCT 1777
+# Page 1202
+# BIT11 OCT 02000
+# 2K+3 OCT 2003 # PINBALL
+LOW7+2K OCT 2177 # OP CODE MASK + BANK 1 FBANK SETTING
+EBANK5 OCT 02400
+PRIO3 OCT 03000
+EBANK7 OCT 03400
+# LOW11 OCT 3777 # PINBALL
+# BIT12 OCT 04000
+# RELTAB OCT 04025 # T4RUPT
+PRIO5 OCT 05000
+PRIO6 OCT 06000
+PRIO7 OCT 07000
+
+# BIT13 OCT 10000
+# OCT 10003 # T4RUPT RELTAB +1D
+# 13,7,2 OCT 10102 # P20-P25 SUNDANCE
+PRIO11 OCT 11000
+# PRIO12 OCT 12000 # BANKCALL
+PRIO13 OCT 13000
+PRIO14 OCT 14000
+# OCT 14031 # T4RUPT RELTAB +2D
+PRIO15 OCT 15000
+PRIO16 OCT 16000
+# 85DEGS DEC .45556 # P20-P25 SUNDANCE (OCTAL 16450)
+PRIO17 OCT 17000
+OCT17770 OCT 17770
+# BIT14 OCT 20000
+# OCT 20033 # T4RUPT RELTAB +3D
+PRIO21 OCT 21000
+ BLOCK 03
+ COUNT 03/FCONS
+
+PRIO22 OCT 22000 # SERVICE ROUTINES
+PRIO23 OCT 23000
+PRIO24 OCT 24000
+# 5/8+1 OCT 24001 # SINGLE PRECISION SUBROUTINES
+# OCT 24017 # T4RUPT RELTAB +4D
+PRIO25 OCT 25000
+PRIO26 OCT 26000
+PRIO27 OCT 27000
+# CHRPRIO OCT 30000 # PINBALL
+# OCT 30036 # T4RUPT RELTAB +5D
+PRIO31 OCT 31000
+C1/2 DEC .7853134 # (OCTAL 31103)
+PRIO32 OCT 32000
+PRIO33 OCT 33000
+PRIO34 OCT 34000
+# OCT 34034 # T4RUPT RELTAB +6D
+PRIO35 OCT 35000
+PRIO36 OCT 36000
+# Page 1203
+PRIO37 OCT 37000
+63/64+1 OCT 37401
+# MID7 OCT 37600 # PINBALL
+OCT37766 OCT 37766
+OCT37774 OCT 37774
+OCT37776 OCT 37776
+# DPOSMAX OCT 37777
+# BIT15 OCT 40000
+# OCT40001 OCT 40001 # INTERPRETER (CS 1 INSTRUCTION)
+DLOADCOD OCT 40014
+DLOAD* OCT 40015
+# OCT 40023 # T4RUPT RELTAB +7D
+BIT15+6 OCT 40040
+OCT40200 OCT 40200
+# OCT 44035 # T4RUPT RELTAB +8D
+# OCT 50037 # T4RUPT RELTAB +9D
+# OCT 54000 # T4RUPT RELTAB +10D
+-BIT14 OCT 57777
+# RELTAB11 OCT 60000 # T4RUPT
+C3/2 DEC -.3216147 # (OCTAL 65552)
+13,14,15 OCT 70000
+-1/8 OCT 73777
+HIGH4 OCT 74000
+-ENDERAS DEC -2001 # (OCTAL 74056)
+# HI5 OCT 76000 # PINBALL
+HIGH9 OCT 77700
+# -ENDVAC DEC -45 # INTERPRETER (OCTAL 77722)
+# -OCT10 OCT -10 # (OCTAL 77767)
+# NEG4 DEC -4 # (OCTAL 77773)
+NEG3 DEC -3
+NEG2 OCT 77775
+NEGONE DEC -1
+
+# Page 1204
+
+# DEFINED BY EQUALS
+
+# IT WOULD BE TO THE USERS ADVANTAGE TO OCCASIONALLY CHECK ANY OF THESE SYMBOLS IN ORDER TO PREVENT ANY
+# ACCIDENTAL DEFINITION CHANGES.
+
+MINUS1 = NEG1
+NEG1 = NEGONE
+ONE = BIT1
+TWO = BIT2
+THREE = OCTAL3
+LOW2 = THREE
+FOUR = BIT3
+SIX = REVCNT
+LOW3 = SEVEN
+EIGHT = BIT4
+NINE = R2D1
+TEN = BINCON
+NOUTCON = ELEVEN
+OCT23 = VD1
+OCT25 = MD1
+PRIO1 = BIT10
+EBANK3 = OCT1400
+PRIO2 = BIT11
+OCT120 = SUPER101
+OCT140 = SUPER110
+2K = BIT11
+EBANK4 = BIT11
+PRIO4 = BIT12
+EBANK6 = PRIO3
+QUARTER = BIT13
+PRIO10 = BIT13
+OCT10001 = CCSL
+POS1/2 = HALF
+PRIO20 = BIT14
+HALF = BIT14
+PRIO30 = CHRPRIO
+BIT13-14 = PRIO30 # INTERPRETER USES IN PROCESSING STORECODE
+OCT30002 = TLOAD +1
+B12T14 = PRIO34
+NEGMAX = BIT15
+VLOADCOD = BIT15
+VLOAD* = OCT40001
+OCT60000 = RELTAB11
+BANKMASK = HI5
+
diff --git a/FLAGWORD_ASSIGNMENTS.s b/FLAGWORD_ASSIGNMENTS.s
new file mode 100644
index 0000000..787b568
--- /dev/null
+++ b/FLAGWORD_ASSIGNMENTS.s
@@ -0,0 +1,1269 @@
+# Copyright: Public domain.
+# Filename: FLAGWORD_ASSIGNMENTS.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Onno Hommes <ohommes@cmu.edu>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 0061-0089
+# Mod history: 2009-05-15 OH Transcribed from page images.
+# 2009-05-17 RSB Extended to (blank) p. 89.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+
+# Page 61
+# FLAGWORDS 0-11 ARE DOWNLINKED AND CAN BE SET AND CLEARED BY UP-FLAG AND DOWN-FLAG INSTRUCTIONS IN THE
+# INTERPRETER. THESE WERE PREVIOUSLY LISTED UNDER "INTERPRETIVE SWITCH BIT ASSIGNMENTS" IN
+# THE ERASABLE LOG SECTION. FLAGWORDS 12 & 13 WERE PREVIOUSLY RADMODES AND DAPBOOLS AND
+# ARE STILL DOWNLINKED UNDER THOSE NAMES.
+
+# ALPHABETICAL LIST OF FLAGWORDS
+
+#
+# FLAGWORD DEC. NUMBER BIT AND FLAG BIT NAME
+
+# ACCOKFLG 207 BIT 3 FLAG 13 ACCSOKAY
+# ACC4-2FL 199 BIT 11 FLAG 13 ACC4OR2X
+# ACMODFLG 032 BIT 13 FLAG 2 ACMODBIT
+# ALTSCALE 186 BIT 9 FLAG 12 ALTSCBIT
+# ANTENFLG 183 BIT 12 FLAG 12 ANTENBIT
+# AORBSFLG 205 BIT 5 FLAG 13 AORBSYST
+# AORBTFLG 200 BIT 10 FLAG 13 AORBTRAN
+# APSESW 130 BIT 5 FLAG 8 APSESBIT
+# APSFLAG 152 BIT 13 FLAG 10 APSFLBIT
+# ASTNFLAG 108 BIT 12 FLAG 7 ASTNBIT
+# ATTFLAG 104 BIT 1 FLAG 6 ATTFLBIT
+# AUTOMODE 193 BIT 2 FLAG 12 AUTOMBIT
+# AUTR1FLG 209 BIT 1 FLAG 13 AUTRATE1
+# AUTR2FLG 208 BIT 2 FLAG 13 AUTRATE2
+# AUXFLAG 103 BIT 2 FLAG 6 AUXFLBIT
+# AVEGFLAG 115 BIT 5 FLAG 7 AVEGFBIT
+# AVEMIDSW 149 BIT 1 FLAG 9 AVEMDBIT
+# AVFLAG 040 BIT 5 FLAG 2 AVFLBIT
+# CALCMAN2 043 BIT 2 FLAG 2 CALC2BIT
+# CALCMAN3 042 BIT 3 FLAG 2 CALC3BIT
+# CDESFLAG 180 BIT 15 FLAG 12 CDESBIT
+# CMOONFLG 123 BIT 12 FLAG 8 CMOONBIT
+# COGAFLAG 131 BIT 4 FLAG 8 COGAFBIT
+# CSMDKFLG 197 BIT 13 FLAG 13 CSMDOCKD
+# CULTFLAG 053 BIT 7 FLAG 3 CULTBIT
+# DAPBOOLS FLGWRD13
+# DBSELFLG 206 BIT 4 FLAG 13 DBSELECT
+# DESIGFLG 185 BIT 10 FLAG 12 DESIGBIT
+# DIDFLAG 016 BIT 14 FLAG DIDFLBIT
+# DIMOFLAG 059 BIT 1 FLAG 3 DIMOBIT
+# DMENFLG 081 BIT 9 FLAG 5 DMENFBIT
+# DRIFTDFL 202 BIT 8 FLAG 13 DRIFTBIT
+# DRIFTFLG 030 BIT 15 FLAG 2 DRFTBIT
+# DSKYFLAG 075 BIT 15 FLAG 5 DSKYFBIT
+# Page 62
+# D6OR9FLG 058 BIT 2 FLAG 3 D6OR9BIT
+# ENGONFLG 083 BIT 7 FLAG 5 ENGONBIT
+# ERADFLAG 017 BIT 13 FLAG 1 ERADFBIT
+# ETPIFLAG 038 BIT 7 FLAG 2 ETPIBIT EQUIVALENT FLAG NAME: DPTNSW
+# FINALFLG 039 BIT 6 FLAG 2 FINALBIT
+# FLAGWRD0 (000-014) (STATE +0)
+# FLAGWRD1 (015-029) (STATE +1)
+# FLAGWRD2 (030-044) (STATE +2)
+# FLAGWRD3 (045-059) (STATE +3)
+# FLAGWRD4 (060-074) (STATE +4)
+# FLAGWRD5 (075-089) (STATE +5)
+# FLAGWRD6 (090-104) (STATE +6)
+# FLAGWRD7 (105-119) (STATE +7)
+# FLAGWRD8 (120-134) (STATE +8D)
+# FLAGWRD9 (135-149) (STATE +9D)
+# FLAP 142 BIT 8 FLAG 9 FLAPBIT
+# FLGWRD10 (150-164) (STATE +10D)
+# FLGWRD11 (165-179) (STATE +11D)
+# FLGWRD12 (180-194) (STATE +12D)
+# FLGWRD13 (195-209) (STATE +13D)
+# FLPC 138 BIT 12 FLAG 9 FLPCBIT
+# FLPI 139 BIT 11 FLAG 9 FLPIBIT
+# FLRCS 149 BIT 10 FLAG 9 FLRCSBIT
+# FLUNDISP 125 BIT 10 FLAG 8 FLUNDBIT
+# FLVR 136 BIT 14 FLAG 9 FLVRBIT
+# FREEFLAG 012 BIT 3 FLAG 0 FREEFBIT
+# FSPASFLG 005 BIT 10 FLAG 0 FSPASBIT
+# GLOKFAIL 046 BIT 14 FLAG 3 GLOKFBIT
+# GMBDRVSW 095 BIT 10 FLAG 6 GMBDRBIT
+# GUESSW 028 BIT 2 FLAG 1 GUESSBIT
+# HFLSHFLG 179 BIT 1 FLAG 11 HFLSHBIT
+# IDLEFLAG 113 BIT 7 FLAG 7 IDLEFBIT
+# IGNFLAG 107 BIT 13 FLAG 7 IGNFLBIT
+# IMPULSW 036 BIT 9 FLAG 2 IMPULBIT
+# IMUSE 007 BIT 8 FLAG 0 IMUSEBIT
+# INFINFLG 128 BIT 7 FLAG 8 INFINBIT
+# INITALGN 133 BIT 2 FLAG 8 INITABIT
+# INTFLAG 151 BIT 14 FLAG 10 INTFLBIT
+# INTYPFLG 056 BIT 4 FLAG 3 INTYPBIT
+# ITSWICH 105 BIT 15 FLAG 7 ITSWBIT
+# JSWITCH 001 BIT 14 FLAG 0 JSWCHBIT
+# LETABORT 141 BIT 9 FLAG 9 LETABBIT
+# LMOONFLG 124 BIT 11 FLAG 8 LMOONBIT
+# LOKONSW 010 BIT 5 FLAG 0 LOKONBIT
+# LOSCMFLG 033 BIT 12 FLAG 2 LOSCMBIT
+# LRALTFLG 190 BIT 5 FLAG 12 LRALTBIT
+# LRBYPASS 165 BIT 15 FLAG 11 LRBYBIT
+# LRINH 172 BIT 8 FLAG 11 LRINHBIT
+# LRPOSFLG 189 BIT 6 FLAG 12 LRPOSBIT
+# LRVELFLG 187 BIT 8 FLAG 12 LRVELBIT
+# Page63
+# LUNAFLAG 048 BIT 12 FLAG 3 LUNABIT
+# MANUFLAG 106 BIT 14 FLAG 7 MANUFBIT
+# MGLVFLAG 088 BIT 2 FLAG 5 MGLVFBIT
+# MIDAVFLG 148 BIT 2 FLAG 9 MIDAVBIT
+# MIDFLAG 002 BIT 13 FLAG 0 MIDFLBIT
+# MID1FLAG 147 BIT 3 FLAG 9 MID1BIT
+# MKOVFLAG 072 BIT 3 FLAG 4 MKOVBIT
+# MOONFLAG 003 BIT 12 FLAG 0 MOONBIT
+# MRKIDFLG 060 BIT 15 FLAG 4 MRKIDBIT
+# MRKNVFLG 066 BIT 9 FLAG 4 MRKNVBIT
+# MRUPTFLG 070 BIT 5 FLAG 4 MRUPTBIT
+# MUNFLAG 097 BIT 8 FLAG 6 MUNFLBIT
+# MWAITFLG 064 BIT 11 FLAG 4 MWAITBIT
+# NEEDLFLG 011 BIT 4 FLAG 0 NEEDLBIT
+# NEWIFLG 122 BIT 13 FLAG 8 NEWIBIT
+# NJETSFLG 015 BIT 15 FLAG NJETSBIT
+# NODOFLAG 044 BIT 1 FLAG 2 NODOBIT
+# NOLRREAD 170 BIT 10 FLAG 11 NOLRRBIT
+# NORMSW 110 BIT 10 FLAG 7 NORMSBIT
+# NORRMON 086 BIT 4 FLAG 5 NORRMBIT
+# NOR29FLG 049 BIT 11 FLAG 3 NR29FBIT
+# NOTHROTL 078 BIT 12 FLAG 5 NOTHRBIT
+# NOUPFLAG 024 BIT 6 FLAG 1 NOUPFBIT
+# NRMNVFLG 067 BIT 8 FLAG 4 NRMNVBIT
+# NRMIDFLG 062 BIT 13 FLAG 4 NRMIDBIT
+# NRUPTFLG 071 BIT 4 FLAG 4 NRUPTBIT
+# NTARGFLG 102 BIT 3 FLAG 6 NTARGBIT
+# NWAITFLG 065 BIT 10 FLAG 4 NWAITBIT
+# OLDESFLG 014 BIT 1 FLAG 0 OLDESBIT
+# OPTNSW 038 BIT 7 FLAG 2 OPTNBIT EQUIVALENT FLAG NAME: ETPIFLAG
+# ORBWFLAG 054 BIT 6 FLAG 3 ORBWFBIT
+# ORDERSW 129 BIT 6 FLAG 8 ORDERBIT
+# OURRCFLG 198 BIT 12 FLAG 13 OURRCBIT
+# PDSPFLAG 063 BIT 12 FLAG 4 PDSPFBIT
+# PFRATFLG 041 BIT 4 FLAG 2 PFRATBIT
+# PINBRFLG 069 BIT 6 FLAG 4 PINBRBIT
+# PRECIFLG 052 BIT 8 FLAG 3 PRECIBIT
+# PRIODFLG 061 BIT 14 FLAG 1 PRIODBIT
+# PRONVFLG 068 BIT 7 FLAG 4 PRONVBIT
+# PSTHIGAT 169 BIT 11 FLAG 11 PSTHIBIT
+# PULSEFLG 195 BIT 15 FLAG 13 PULSES
+# P21FLAG 004 BIT 11 FLAG 0 P21FLBIT
+# P25FLAG 006 BIT 9 FLAG 0 P25FLBIT
+# P39/79SW 126 BIT 9 FLAG 8 P39SWBIT
+# QUITFLAG 145 BIT 5 FLAG 9 QUITBIT
+# RADMODES FLGWRD12
+# RASFLAG FLGWRD10
+# RCDUFAIL 188 BIT 7 FLAG 12 RCDUFBIT
+# RCDU0FLG 182 BIT 13 FLAG 12 RCDU0BIT
+# READLR 174 BIT 6 FLAG 11 READLBIT
+# Page 64
+# READRFLG 051 BIT 9 FLAG 3 READRBIT EQUIVALENT FLAG NAME FOR R04FLAG
+# READVEL 175 BIT 5 FLAG 11 READVBIT
+# REDFLAG 099 BIT 6 FLAG 6 REDFLBIT
+# REFSMFLG 047 BIT 13 FLAG 3 REFSMBIT
+# REINTFLG 158 BIT 7 FLAG 10 REINTBIT
+# REMODFLG 181 BIT 14 FLAG 12 REMODBIT
+# RENDWFLG 089 BIT 1 FLAG 5 RENDWBIT
+# REPOSMON 184 BIT 11 FLAG 12 REPOSBIT
+# RHCSCFLG 203 BIT 7 FLAG 13 RHCSCALE
+# RNDVZFLG 008 BIT 7 FLAG 0 RNDVZBIT
+# RNGEDATA 176 BIT 4 FLAG 11 RNGEDBIT
+# RNGSCFLG 080 BIT 10 FLAG 5 RNGSCBIT
+# RODFLAG 018 BIT 12 FLAG 1 RODFLBIT
+# ROTFLAG 144 BIT 6 FLAG 9 ROTFLBIT
+# RPQFLAG 120 BIT 15 FLAG 8 RPQFLBIT
+# RRDATAFL 191 BIT 4 FLAG 12 RRDATABT
+# RRNBSW 009 BIT 6 FLAG 0 RRNBBIT
+# RRRSFLAG 192 BIT 3 FLAG 12 RRRSBIT
+# RVSW 111 BIT 9 FLAG 7 RVSWBIT
+# R04FLAG 051 BIT 9 FLAG 3 R04FLBIT EQUIVALENT FLAG NAME: READRFLG
+# R10FLAG 013 BIT 2 FLAG 0 R10FLBIT
+# R61FLAG 020 BIT 10 FLAG 1 R61FLBIT
+# R77FLAG 079 BIT 11 FLAG 5 R77FLBIT
+# SCALBAD 177 BIT 3 FLAG 11 SCABBIT
+# SLOPESW 027 BIT 3 FLAG 1 SLOPEBIT
+# SNUFFER 077 BIT 13 FLAG 5 SNUFFBIT
+# SOLNSW 087 BIT 3 FLAG 5 SOLNSBIT
+# SRCHOPTN 031 BIT 14 FLAG 2 SRCHOBIT
+# STATEFLG 055 BIT 5 FLAG 3 STATEBIT
+# STEERSW 034 BIT 11 FLAG 2 STEERBIT
+# SURFFLAG 127 BIT 8 FLAG 8 SURFFBIT
+# SWANDISP 109 BIT 11 FLAG 7 SWANDBIT
+# S32.1F1 090 BIT 15 FLAG 6 S32BIT1
+# S32.1F2 091 BIT 14 FLAG 6 S32BIT2
+# S32.1F3A 092 BIT 13 FLAG 6 S32BIT3A
+# S32.1F3B 093 BIT 12 FLAG 6 S32BIT3B
+# TFFSW 119 BIT 1 FLAG 7 TFFSWBIT
+# TRACKFLG 025 BIT 5 FLAG 1 TRACKBIT
+# TURNONFL 194 BIT 1 FLAG 12 TURNONBT
+# ULLAGFLG 204 BIT 6 FLAG 13 ULLAGER
+# UPDATFLG 023 BIT 7 FLAG 1 UPDATBIT
+# UPLOCKFL 116 BIT 4 FLAG 7 UPLOCBIT
+# USEQRFLG 196 BIT 14 FLAG 13 USEQRJTS
+# VEHUPFLG 022 BIT 8 FLAG 1 VEHUPBIT
+# VELDATA 173 BIT 7 FLAG 11 VELDABIT
+# VERIFLAG 117 BIT 3 FLAG 7 VERIFBIT
+# VFLAG 050 BIT 10 FLAG 3 VFLAGBIT
+# VFLSHFLG 178 BIT 2 FLAG 11 VFLSHBIT
+# VINTFLAG 057 BIT 3 FLAG 3 VINTFBIT
+# VXINH 168 BIT 12 FLAG 11 VXINHBIT
+# Page 65
+# V37FLAG 114 BIT 6 FLAG 7 V37FLBIT
+# V67FLAG 112 BIT 8 FLAG 7 V67FLBIT
+# V82EMFLG 118 BIT 2 FLAG 7 V82EMBIT
+# XDELVFLG 037 BIT 8 FLAG 2 XDELVBIT
+# XDSPFLAG 074 BIT 1 FLAG 4 XDSPBIT
+# XORFLG 171 BIT 9 FLAG 11 XORFLBIT
+# XOVINFLG 201 BIT 9 FLAG 13 XOVINHIB
+# 3AXISFLG 084 BIT 6 FLAG 5 3AXISBIT
+# 360SW 134 BIT 1 FLAG 8 360SWBIT
+
+# ASSIGNMENT AND DESCRIPTION OF FLAGWORDS
+
+FLAGWRD0 = STATE +0 # (000-014)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 0 (S)
+ = 000D
+ = BIT15
+
+# BIT 14 FLAG 0 (S)
+JSWITCH = 001D # INTEGRATION OF W INTEGRATION OF STATE
+JSWCHBIT = BIT14 # MATRIX VECTOR
+
+# BIT 13 FLAG 0 (S)
+MIDFLAG = 002D # INTEGRATION WITH INTEGRATION WITHOUT
+ # SECONDARY BODY AND SOLAR PERTURBATIONS
+MIDFLBIT = BIT13 # SOLAR PERTURBATIONS
+
+# BIT 12 FLAG 0 (L)
+MOONFLAG = 003D # MOON IS SPHERE OF EARTH IS SPHERE OF
+MOONBIT = BIT12 # INFLUENCE INFLUENCE
+
+# BIT 11 FLAG 0
+P21FLAG = 004D # USE BASE VECTORS 1ST PASS -- CALC-
+P21FLBIT = BIT11 # ALREADY CALCULATED ULATE BASE VECTORS
+
+# BIT 10 FLAG 0
+FSPASFLG = 005D # FIRST PASS THROUGH NOT FIRST PASS THRU
+FSPASBIT = BIT10 # REPOSITION ROUTINE REPOSITION ROUTINE
+
+# Page 66
+# BIT 9 FLAG 0 (S)
+P25FLAG = 006D # P25 OPERATING P25 NOT OPERATING
+P25FLBIT = BIT9
+
+# BIT 8 FLAG 0 (S)
+IMUSE = 007D # IMU IN USE IMU NOT IN USE
+IMUSEBIT = BIT8
+
+# BIT 7 FLAG 0 (S)
+RNDVZFLG = 008D # P20 RUNNING (RADAR P20 NOT RUNNING
+RNDVZBIT = BIT7 # IN USE)
+
+# BIT 6 FLAG 0 (S)
+RRNBSW = 009D # RADAR TARGET IN RADAR TARGET IN
+RRNBBIT = BIT6 # NB COORDINATES SM COORDINATES
+
+# BIT 5 FLAG 0 (S)
+LOKONSW = 010D # RADAR LOCK-ON RADAR LOCK-ON NOT
+LOKONBIT = BIT5 # DESIRED DESIRED
+
+# BIT 4 FLAG 0 (S)
+NEEDLFLG = 011D # TOTAL ATTITUDE A/P FOLLOWING
+NEEDLBIT = BIT4 # ERROR DISPLAYED ERROR DISPLAYED
+
+# BIT 3 FLAG 0
+FREEFLAG = 012D # (USED BY P51-53 TEMP IN MANY DIFFERENT
+ # ROUTINES & BY LUNAR + SOLAR EPHEMERIDES)
+FREEFBIT = BIT3
+
+# BIT 2 FLAG 0
+R10FLAG = 013D # R10 OUTPUTS DATA TO BESIDES OUTPUT WHEN
+R10FLBIT = BIT2 # ALTITUDE & ALTITUDE SET, R10 ALSO OUTPUT
+ # RATE METERS ONLY TO FORWARD & LATERAL
+ # VELOCITY CROSSPOINTER
+
+# BIT 1 FLAG 0 (L)
+OLDESFLG = 014D # R29 GYRO CMD LOOP R29 GYRO CMD LOOP
+OLDESBIT = BIT1 # REQUESTED NOT REQUESTED
+
+
+FLAGWRD1 = STATE +1 # (015-029)
+
+# Page 67
+ # (SET) (RESET)
+
+# BIT 15 FLAG 1 (S)
+NJETSFLG = 015D # TWO JET RCS BURN FOUR JET RCS BURN
+NJETSBIT = BIT15
+
+# BIT 14 FLAG 1 (L)
+DIDFLAG = 016D # INERTIAL DATA IS PERFORM DATA DISPLAY
+DIDFLBIT = BIT14 # AVAILABLE INITIALIZATION FUNCS
+
+# BIT 13 FLAG 1 (S)
+ERADFLAG = 017D # COMPUTE REARTH USE CONSTANT REARTH
+ERADFBIT = BIT13 # FISCHER ELLIPSOID PAD RADIUS
+
+# BIT 12 FLAG 1
+RODFLAG = 018D # IF IN P66, NORMAL IF IN P66, RE-INIT-
+RODFLBIT = BIT12 # OPERATION CONTINUES. IALIZATION IS PER-
+ # RESTART CLEARS FLAG FORMED AND FLAG IS
+
+# BIT 11 FLAG 1
+ = 019D
+ = BIT11
+
+# BIT 10 FLAG 1 (L)
+R61FLAG = 020D # RUN R61 LEM RUN R65 LEM
+R61FLBIT = BIT10
+
+# BIT 9 FLAG 1
+ = 021D
+ = BIT9
+
+# BIT 8 FLAG 1 (S)
+VEHUPFLG = 022D # CSM STATE-VECTOR LEM STATE VECTOR
+VEHUPBIT = BIT8 # BEING UPDATED BEING UPDATED
+
+# BIT 7 FLAG 1 (S)
+UPDATFLG = 023D # UPDATING BY MARKS UPDATING BY MARKS
+UPDATBIT = BIT7 # ALLOWED NOT ALLOWED
+
+# BIT 6 FLAG 1 (S)
+NOUPFLAG = 024D # NEITHER CSM EITHER STATE
+ # NOR LM STATE VECTOR VECTOR MAY BE
+NOUPFBIT = BIT6 # MAY BE UPDATED UPDATED
+
+# Page 68
+# BIT 5 FLAG 1 (S)
+TRACKFLG = 025D # TRACKING ALLOWED TRACKING NOT ALLOWED
+TRACKBIT = BIT5
+
+# BIT 4 FLAG 1
+ = 026D
+ = BIT4
+
+# BIT 3 FLAG 1 (S)
+SLOPESW = 027D # ITERATE WITH BIAS ITERATE WITH REGULAR
+ # METHOD IN ITERATOR FALSI METHOD IN
+SLOPEBIT = BIT3 # ITERATOR
+
+# BIT 2 FLAG 1 (S)
+GUESSW = 028D # NO STARTING VALUE STARTING VALUE FOR
+GUESSBIT = BIT2 # FOR ITERATION ITERATION EXISTS
+
+# BIT 1 FLAG 1
+ = 029D
+ = BIT1 # OH 2009-05-15 Scan does not have this line
+
+FLAGWRD2 = STATE +2 # (030-044)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 2 (S)
+DRIFTFLG = 030D # T3RUPT CALLS GYRO T3RUPT DOES NO GYRO
+DRFTBIT = BIT15 # COMPENSATION COMPENSATION
+
+# BIT 14 FLAG 2 (S)
+SRCHOPTN = 031D # RADAR IN AUTOMATIC RADAR NOT IN AUTO-
+SRCHOBIT = BIT14 # SEARCH OPTION (R24) MATIC SEARCH OPTION
+
+# BIT 13 FLAG 2 (S)
+ACMODFLG = 032D # MANUAL ACQUISITION AUTO ACQUISITION
+ACMODBIT = BIT13 # BY RENDEZVOUS RADAR BY RENDEZVOUS RADAR
+
+# BIT 12 FLAG 2 (S)
+LOSCMFLG = 033D # LINE OF SIGHT BEING LINE OF SIGHT NOT
+ # COMPUTED (R21) BEING COMPUTED
+LOSCMBIT = BIT12
+
+# Page 69
+# BIT 11 FLAG 2 (S)
+STEERSW = 034D # SUFFICIENT THRUST INSUFFICIENT THRUST
+STEERBIT = BIT11 # IS PRESENT IS PRESENT
+
+# BIT 10 FLAG 2 (S)
+ = 035D # OH 2009-05-15 These two line don't appear in scan
+ = BIT10
+
+# BIT 9 FLAG 2 (S)
+IMPULSW = 036D # MINIMUM IMPULSE STEERING BURN (NO
+ # BURN (CUTOFF TIME CUTOFF TIME YET
+IMPULBIT = BIT9 # SPECIFIED) AVAILABLE)
+
+# BIT 8 FLAG 2 (S)
+XDELVFLG = 037D # EXTERNAL DELTAV VG LAMBERT (AIMPOINT)
+XDELVBIT = BIT8 # COMPUTATION VG COMPUTATION
+
+# BIT 7 FLAG 2 (S)
+ETPIFLAG = 038D # ELEVATION ANGLE TPI TIME SUPPLIED
+ # SUPPLIED FOR FOR P34,74 TO COMPUTE
+ETPIBIT = BIT7 # P34,74 ELEVATION
+
+# BIT 7 FLAG 2 (L)
+OPTNSW = ETPIFLAG # SOI PHASE OF P38/78 SOR PHASE OF P38/78
+OPTNBIT = BIT7
+
+# BIT 6 FLAG 2 (S)
+FINALFLG = 039D # LAST PASS THROUGH INTERIM PASS THROUGH
+ # RENDEZVOUS PROGRAM RENDEZVOUS PROGRAM
+FINALBIT = BIT6 # COMPUTATIONS COMPUTATIONS
+
+# BIT 5 FLAG 2 (S)
+AVFLAG = 040D # LEM IS ACTIVE CSM IS ACTIVE
+AVFLBIT = BIT5 # VEHICLE VEHICLE
+
+# BIT 4 FLAG 2 (S)
+PFRATFLG = 041D # PREFERRED ATTITUDE PREFERRED ATTITUDE
+PFRATBIT = BIT4 # COMPUTED NOT COMPUTED
+
+# BIT 3 FLAG 2 (S)
+
+# Page 70
+CALCMAN3 = 042D # NO FINAL ROLL FINAL ROLL IS
+CALC3BIT = BIT3 # NECESSARY
+
+# BIT 2 FLAG 2 (S)
+CALCMAN2 = 043D # PERFORM MANEUVER BYPASS STARTING
+CALC2BIT = BIT2 # STARTING PROCEDURE PROCEDURE
+
+# BIT 1 FLAG 2 (S)
+NODOFLAG = 044D # V37 NOT PERMITTED V37 PERMITTED
+NODOBIT = BIT1
+
+FLAGWRD3 = STATE +3 # (045-059)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 3
+ = 045D #
+ = BIT15 # OH 2009-05-15 This line is not in scans
+
+# BIT 14 FLAG 3 (S)
+GLOKFAIL = 046D # GIMBAL LOCK HAS NOT IN GIMBAL LOCK
+GLOKFBIT = BIT14 # OCCURRED
+
+# BIT 13 FLAG 3 *** PROTECTED FROM FRESH START ***
+REFSMFLG = 047D # REFSMMAT GOOD REFSMMAT NO GOOD
+REFSMBIT = BIT13
+
+# BIT 12 FLAG 3 (S)
+LUNAFLAG = 048D # LUNAR LAT-LONG EARTH LAT-LONG
+LUNABIT = BIT12
+
+# BIT 11 FLAG 3 (L)
+NOR29FLG = 049D # R29 NOT ALLOWED R29 ALLOWED (RR DES-
+NR29FBIT = BIT11 # IGNATED POWERED FLT)
+
+# BIT 10 FLAG 3 (S)
+VFLAG = 050D # LESS THAN TWO STARS TWO STARS IN FIELD
+VFLAGBIT = BIT10 # IN FIELD OF VIEW OF VIEW
+
+# BIT 9 FLAG 3 (S)
+R04FLAG = 051D # ALARM 521 ALARM 521 ALLOWED
+ # SUPPRESSED
+# Page 71
+R04FLBIT = BIT9
+
+# BIT 9 FLAG 3 (L)
+READRFLG = R04FLAG # READING RR DATA NOT READING RR DATA
+READRBIT = BIT9 # PURSUANT TO R29 PURSUANT TO R29
+
+# BIT 8 FLAG 3 (S)
+PRECIFLG = 052D # NORMAL INTEGRATION ENGAGES 4-TIME STEP
+ # IN P00 (P00) LOGIC IN INTE-
+PRECIBIT = BIT8 # GRATION
+
+# BIT 7 FLAG 3 (S)
+CULTFLAG = 053D # STAR OCCULTED STAR NOT OCCULTED
+CULTBIT = BIT7
+
+# BIT 6 FLAG 3 (S)
+ORBWFLAG = 054D # W MATRIX VALID FOR W MATRIX INVALID FOR
+ORBWFBIT = BIT6 # ORBITAL NAVIGATION ORBITAL NAVIGATION
+
+# BIT 5 FLAG 3 (S)
+STATEFLG = 055D # PERMANENT STATE PERMANENT STATE
+STATEBIT = BIT5 # VECTOR UPDATED VECTOR NOT UPDATED
+
+# BIT 4 FLAG 3 (S)
+INTYPFLG = 056D # CONIC INTEGRATION ENCKE INTEGRATION
+INTYPBIT = BIT4
+
+# BIT 3 FLAG 3 (S)
+VINTFLAG = 057D # CSM STATE VECTOR LEM STATE VECTOR
+VINTFBIT = BIT3 # BEING INTEGRATED BEING INTEGRATED
+
+# BIT 2 FLAG 3 (S)
+D6OR9FLG = 058D # DIMENSION OF W IS 9 DIMENSION OF W IS 6
+D6OR9BIT = BIT2 # FOR INTEGRATION FOR INTEGRATION
+
+# BIT 1 FLAG 3 (S)
+DIM0FLAG = 059D # W MATRIX IS TO BE W MATRIX IS NOT TO
+DIM0BIT = BIT1 # USED USED
+
+FLAGWRD4 = STATE +4 # (060-074)
+
+# Page 72
+ # (SET) (RESET)
+
+# BIT 15 FLAG 4 (S)
+MRKIDFLG = 060D # MARK DISPLAY IN NO MARK DISPLAY IN
+MRKIDBIT = BIT15 # ENDIDLE ENDIDLE
+
+# BIT 14 FLAG 4 (S)
+PRIODFLG = 061D # PRIORITY DISPLAY IN NO PRIORITY DISPLAY
+PRIODBIT = BIT14 # ENDIDLE IN ENDIDLE
+
+# BIT 13 FLAG 4 (S)
+NRMIDFLG = 062D # NORMAL DISPLAY IN NO NORMAL DISPLAY
+NRMIDBIT = BIT13 # ENDIDLE IN ENDIDLE
+
+# BIT 12 FLAG 4 (S)
+PDSPFLAG = 063D # P20 SETS SO AS TO LEAVE AS NORMAL DISP
+ # TURN A NORMAL DIS-
+PDSPFBIT = BIT12 # PLAY INTO A PRIORITY
+ # DISPLAY IN R60
+
+# BIT 11 FLAG 4 (S)
+MWAITFLG = 064D # HIGHER PRIORITY NO HIGHER PRIORITY
+ # DISPLAY OPERATING DISPLAY OPERATING
+MWAITBIT = BIT11 # WHEN MARK WHEN MARK DISPLAY
+ # DISPLAY INITIATED INITIATED
+
+# BIT 10 FLAG 4 (S)
+NWAITFLG = 065D # HIGHER PRIORITY NO HIGHER PRIORITY
+ # DISPLAY OPERATING DISPLAY OPERATING
+NWAITBIT = BIT10 # WHEN NORMAL WHEN NORMAL DISPLAY
+ # DISPLAY INITIATED INITIATED
+
+# BIT 9 FLAG 4 (S)
+MRKNVFLG = 066D # ASTRONAUT USING ASTRONAUT NOT USING
+ # KEYBOARD WHEN MARK KEYBOARD WHEN MARK
+MRKNVBIT = BIT9 # DISPLAY INITIATED DISPLAY INITIATED
+
+# BIT 8 FLAG 4 (S)
+NRMNVFLG = 067D # ASTRONAUT USING ASTRONAUT NOT USING
+ # KEYBOARD WHEN KEYBOARD WHEN
+NRMNVBIT = BIT8 # NORMAL DISPLAY NORMAL DISPLAY
+ # INITIATED INITIATED
+
+# BIT 7 FLAG 4 (S)
+PRONVFLG = 068D # ASTRONAUT USING ASTRONAUT NOT USING
+
+# Page 73
+ # KEYBOARD WHEN KEYBOARD WHEN
+PRONVBIT = BIT7 # PRIORITY DISPLAY PRIORITY DISPLAY
+ # INITIATED INITIATED
+
+# BIT 6 FLAG 4 (S)
+PINBRFLG = 069D # ASTRONAUT HAS ASTRONAUT HAS NOT
+ # INTERFERED WITH INTERFERED WITH
+PINBRBIT = BIT6 # EXISTING DISPLAY EXISTING DISPLAY
+
+# BIT 5 FLAG 4 (S)
+MRUPTFLG = 070D # MARK DISPLAY MARK DISPLAY NOT
+ # INTERRUPTED BY INTERRUPTED BY
+MRUPTBIT = BIT5 # PRIORITY DISPLAY PRIORITY DISPLAY
+
+# BIT 4 FLAG 4 (S)
+NRUPTFLG = 071D # NORMAL DISPLAY NORMAL DISPLAY NOT
+ # INTERRUPTED BY INTERRUPTED BY
+NRUPTBIT = BIT4 # PRIORITY OR MARK PRIORITY OR MARK
+ # DISPLAY DISPLAY
+
+# BIT 3 FLAG 4 (S)
+MKOVFLAG = 072D # MARK DISPLAY OVER NO MARK DISPLAY OVER
+MKOVBIT = BIT3 # NORMAL NORMAL
+
+# BIT 2 FLAG 4
+ = 073D
+ = BIT2 # OH 2009-05-15 Not in scan.
+
+
+# BIT 1 FLAG 4 (S)
+XDSPFLAG = 074D # MARK DISPLAY NOT NO SPECIAL MARK
+XDSPBIT = BIT1 # TO BE INTERRUPTED INFORMATION
+
+FLAGWRD5 = STATE +5 # (075-089)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 5 (S)
+DSKYFLAG = 075D # DISPLAYS SENT TO NO DISPLAYS TO DSKY
+DSKYFBIT = BIT15 # DSKY
+
+# BIT 14 FLAG 5
+ = 076D
+ = BIT14
+
+# Page 74
+# BIT 13 FLAG 5 (S,L)
+SNUFFER = 077D # U,V JETS DISABLED U,V JETS ENABLED
+ # DURING DPS DURING DPS
+SNUFFBIT = BIT13 # BURNS (V65) BURNS (V75)
+
+# BIT 12 FLAG 5 (S)
+NOTHROTL = 078D # INHIBIT FULL PERMIT FULL THROTTLE
+NOTHRBIT = BIT12 # THROTTLE
+
+# BIT 11 FLAG 5 (S,L)
+R77FLAG = 079D # R77 IS ON, R77 IS NOT ON.
+ # SUPPRESS ALL RADAR
+ # ALARMS AND TRACKER
+R77FLBIT = BIT11 # FAILS
+
+# BIT 10 FLAG 5 (S)
+RNGSCFLG = 080D # SCALE CHANGE HAS NO SCALE CHANGE HAS
+ # OCCURRED DURING OCCURRED DURING
+RNGSCBIT = BIT10 # RR READING RR READING
+
+# BIT 9 FLAG 5 (S)
+DMENFLG = 081D # DIMENSION OF W IS 9 DIMENSION OF W IS 6
+DMENFBIT = BIT9 # FOR INCORPORATION FOR INCORPORATION
+
+# BIT 8 FLAG 5 (S)
+ = 082D
+ = BIT8
+
+# BIT 7 FLAG 5 (S)
+ENGONFLG = 083D # ENGINE TURNED ON ENGINE TURNED OFF
+ENGONBIT = BIT7 #
+
+# BIT 6 FLAG 5 (S)
+3AXISFLG = 084D # MANEUVER SPECIFIED MANEUVER SPECIFIED
+ # BY THREE AXES BY ONE AXIS; R60
+3AXISBIT = BIT6 # CALLS VECPOINT.
+
+# BIT 5 FLAG 5
+ = 085D
+ = BIT5 # OH 2009-05-15 Not in scan
+
+# BIT 4 FLAG 5 (S)
+
+# Page 75
+NORRMON = 086D # BYPASS RR GIMBAL PERFORM
+NORRMBIT = BIT4 # MONITOR RR GIMBAL MONITOR
+
+# BIT 3 FLAG 5 (S)
+SOLNSW = 087D # LAMBERT DOES NOT LAMBERT CONVERGES OR
+ # CONVERGE, OR TIME-RAD TIME-RADIUS NON-
+SOLNSBIT = BIT3 # NEARLY CIRCULAR CIRCULAR
+
+# BIT 2 FLAG 5 (S)
+MGLVFLAG = 088D # LOCAL VERTICAL MIDDLE GIMBAL ANGLE
+ # COORDINATES COMPUTED
+MGLVFBIT = BIT2 # COMPUTED
+
+# BIT 1 FLAG 5 (S)
+RENDWFLG = 089D # W MATRIX VALID W MATRIX INVALID
+ # FOR RENDEZVOUS FOR RENDEZVOUS
+RENDWBIT = BIT1 # NAVIGATION NAVIGATION
+
+
+FLAGWRD6 = STATE +6 # (090-104)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 6 (S)
+S32.1F1 = 090D # DELTA V AT CSI TIME DVT1 LESS THAN MAX
+S32BIT1 = BIT15 # ONE EXEEDS MAX
+
+# BIT 14 FLAG 6 (S)
+S32.1F2 = 091D # FIRST PASS OF REITERATION OF
+S32BIT2 = BIT14 # NEWTON ITERATION NEWTON
+
+# BIT 13 FLAG 6 (S)
+S32.1F3A = 092D # BIT 13 AND BIT 12 FUNCTION AS AN ORDERED
+S32BIT3A = BIT13 # PAIR (13,12) INDICATING THE POSSIBLE OC-
+ # CURRENCE OF 2 NEWTON ITERATIONS FOR S32.1
+ # IN THE PROGRAM IN THE FOLLOWING ORDER:
+# BIT 12 FLAG 6 (S) # (0,1) (I.E. BIT 13 RESET, BIT 12 SET)
+S32.1F3B = 093D # = FIRST NEWTON ITERATION BEING DONE
+S32BIT3B = BIT12 # (0,0)= FIRST PASS OF SECOND NEWTON ITERATION
+ # (1,1)= 50 FT/SEC STAGE OF SECOND NEWTON ITERATION
+ # (1,0)= REMAINDER OF SECOND NEWTON ITERATION
+# BIT 11 FLAG 6 (S)
+ = 094D #
+ = BIT11 #
+# Page 76
+# BIT 10 FLAG 6 (S)
+GMBDRVSW = 095D # TRIMGIMB OVER TRIMGIMB NOT OVER
+GMBDRBIT = BIT10 #
+
+# BIT 9 FLAG 6
+ = 096D #
+ = BIT9 #
+
+# BIT 8 FLAG 6 (S)
+MUNFLAG = 097D # SERVICER CALLS SERVICER CALLS
+MUNFLBIT = BIT8 # MUNRVG CALCRVG
+
+# BIT 7 FLAG 6 (L)
+ = 098D #
+ = BIT7 #
+
+# BIT 6 FLAG 6 (L)
+REDFLAG = 099D # LANDING SITE LANDING SITE
+ # REDESIGNATION REDESIGNATION NOT
+REDFLBIT = BIT6 # PERMITTED PERMITTED
+
+# BIT 5 FLAG 6
+ = 100D #
+ = BIT5 # OH 2009-05-15 Not in scan
+
+# BIT 4 FLAG 6
+ = 101D #
+ = BIT4 # OH 2009-05-15 Not in scan
+
+# BIT 3 FLAG 6 (S)
+NTARGFLG = 102D # ASTRONAUT DID ASTRONAUT DID NOT
+ # OVERWRITE DELTA OVERWRITE DELTA
+NTARGBIT = BIT3 # VELOCITY AT TPI VELOCITY
+ # OR TPM (P34,35)
+
+# BIT 2 FLAG 6
+AUXFLAG = 103D # PROVIDING IDLEFLAG SERVICER WILL SKIP
+AUXFLBIT = BIT2 # IS NOT SET, SERV- DVMON ON ITS NEXT
+ # ICER WILL EXERCISE PASS EVEN IF THE
+ # DVMON ON ITS NEXT IDLEFLAG IS NOT SET.
+ # PASS. IT WILL THEN SET
+ # AUXFLAG.
+
+# BIT 1 FLAG 6 (L)
+ATTFLAG = 104D # LEM ATTITUDE EXISTS NO LEM ATTITUDE
+ # IN MOON-FIXED AVAILABLE IN MOON-
+
+# Page 77
+ATTFLBIT = BIT1 # COORDINATES FIXED COORDINATES
+
+FLAGWRD7 = STATE +7 # (105-119)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 7 (S)
+ITSWICH = 105D # R34;TPI TIME TO BE TPI HAS BEEN
+ITSWBIT = BIT15 # COMPUTED COMPUTED
+
+# BIT 14 FLAG 7 (S)
+MANUFLAG = 106D # ATTITUDE MANEUVER NO ATTITUDE MANEUVER
+ # GOING DURING RR DURING RR SEARCH
+MANUFBIT = BIT14 # SEARCH
+
+# BIT 13 FLAG 7 (S)
+IGNFLAG = 107D # TIG HAS ARRIVED TIG HAS NOT ARRIVED
+IGNFLBIT = BIT13 #
+
+# BIT 12 FLAG 7 (S)
+ASTNFLAG = 108D # ASTRONAUT HAS ASTRONAUT HAS NOT
+ASTNBIT = BIT12 # OKAYED IGNITION OKAYED IGNITION
+
+# BIT 11 FLAG 7 (L)
+SWANDISP = 109D # LANDING ANALOG LANDING ANALOG
+SWANDBIT = BIT11 # DISPLAYS ENABLED DISPLAYS SUPPRESSED
+
+# BIT 10 FLAG 7 (S)
+NORMSW = 110D # UNIT NORMAL INPUT LAMBERT COMPUTES ITS
+NORMSBIT = BIT10 # TO LAMBERT OWN UNIT NORMAL
+
+# BIT 9 FLAG 7 (S)
+RVSW = 111D # DO NOT COMPUTE COMPUTE FINAL STATE
+ # FINAL STATE VECTOR VECTOR IN TIME-THETA
+RVSWBIT = BIT9 # IN TIME-DELTA
+
+# BIT 8 FLAG 7 (S)
+V67FLAG = 112D # ASTRONAUT OVERWRITE ASTRONAUT DOES NOT
+ # W-MATRIX INITIAL OVERWRITE W-MATRIX
+V67FLBIT = BIT8 # VALUES INITIAL VALUES
+
+# Page 78
+# BIT 7 FLAG 7 (S)
+IDLEFLAG = 113D # NO DV MONITOR CONNECT DV MONITOR
+IDLEFBIT = BIT7 #
+
+# BIT 6 FLAG 7 (S)
+V37FLAG = 114D # AVERAGEG (SERVICER) AVERAGEG (SERVICER)
+V37FLBIT = BIT6 # RUNNING OFF
+
+# BIT 5 FLAG 7 (S)
+AVEGFLAG = 115D # AVERAGEG (SERVICER) AVERAGEG (SERVICER)
+AVEGFBIT = BIT5 # DESIRED NOT DESIRED
+
+# BIT 4 FLAG 7 (S)
+UPLOCKFL = 116D # K-KBAR-K FAIL NO K-KBAR-K FAIL
+UPLOCBIT = BIT4 #
+
+# BIT 3 FLAG 7 (S)
+VERIFLAG = 117D # CHANGED WHEN V33E OCCURS AT END OF P27
+VERIFBIT = BIT3 #
+
+# BIT 2 FLAG 7 (L,C)
+V82EMFLG = 118D # MOON VICINITY EARTH VICINITY
+V82EMBIT = BIT2 #
+
+# BIT 1 FLAG 7 (S)
+TFFSW = 119D # CALCULATE TPERIGEE CALCULATE TFF
+TFFSWBIT = BIT1 #
+
+
+FLAGWRD8 = STATE +8D # (120-134)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 8 (S)
+RPQFLAG = 120D # RPQ NOT COMPUTED RPQ COMPUTED
+ # (RPQ = VECTOR BE-
+RPQFLBIT = BIT15 # TWEEN SECONDARY BODY
+ # AND PRIMARY BODY)
+
+# BIT 14 FLAG 8
+ = 121D #
+ = BIT14 #
+
+# Page 79
+# BIT 13 FLAG 8 (S)
+NEWIFLG = 122D # FIRST PASS THROUGH SUCCEEDING ITERATION
+NEWIBIT = BIT13 # INTEGRATION OF INTEGRATION
+
+# BIT 12 FLAG 8 *** PROTECTED FROM FRESH START ***
+CMOONFLG = 123D # PERMANENT CSM STATE PERMANENT CSM STATE
+CMOONBIT = BIT12 # IN LUNAR SPHERE IN EARTH SPHERE
+
+# BIT 11 FLAG 8 *** PROTECTED FROM FRESH START ***
+LMOONFLG = 124D # PERMANENT LM STATE PERMANENT LM STATE
+LMOONBIT = BIT11 # IN LUNAR SPHERE IN EARTH SPHERE
+
+# BIT 10 FLAG 8 (L)
+FLUNDISP = 125D # CURRENT GUIDANCE CURRENT GUIDANCE
+FLUNDBIT = BIT10 # DISPLAYS INHIBITED DISPLAYS PERMITTED
+
+# BIT 9 FLAG 8 (L)
+P39/79SW = 126D # P39/79 OPERATING P38/78 OPERATING
+P39SWBIT = BIT9 #
+
+# BIT 8 FLAG 8 *** PROTECTED FROM FRESH START ***
+SURFFLAG = 127D # LM ON LUNAR SURFACE LM NOT ON LUNAR
+SURFFBIT = BIT8 # SURFACE
+
+# BIT 7 FLAG 8 (S)
+INFINFLG = 128D # NO CONIC SOLUTION CONIC SOLUTION
+ # (CLOSURE THROUGH EXISTS
+INFINBIT = BIT7 # INFINITY REQUIRED)
+
+# BIT 6 FLAG 8 (S)
+ORDERSW = 129D # ITERATOR USES 2ND ITERATOR USES 1ST
+ORDERBIT = BIT6 # ORDER MINIMUM MODE ORDER STANDARD MODE
+
+# BIT 5 FLAG 8 (S)
+APSESW = 130D # RDESIRED OUTSIDE RDESIRED INSIDE
+ # PERICENTER-APOCENTER PERICENTER-APOCENTER
+APSESBIT = BIT5 # RANGE IN TIME-RADIUS RANGE IN TIME-RADIUS
+
+# BIT 4 FLAG 8 (S)
+COGAFLAG = 131D # NO CONIC SOLUTION -- CONIC SOLUTION
+ # TOO CLOSE TO RECTI- EXISTS (COGA DOES NOT
+
+# Page 80
+COGAFBIT = BIT4 # LINEAR (COGA OVERFLWS) OVERFLOW)
+
+# BIT 3 FLAG 8 (S)
+ = 132D #
+ = BIT3 # OH 2009-05-15 Line not in scan
+
+# BIT 2 FLAG 8 (L)
+INITALGN = 133D # INITIAL PASS THRU SECOND PASS THRU P57
+INITABIT = BIT2 # P57 (CHECK RESET-MILLARD)
+
+# BIT 1 FLAG 8 (S)
+360SW = 134D # TRANSFER ANGLE NEAR TRANSFER ANGLE NOT
+360SWBIT = BIT1 # 360 DEGREES NEAR 360 DEGREES
+
+
+FLAGWRD9 = STATE +9D # (135-149)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 9
+ = 135D #
+ = BIT15 #
+
+# BIT 14 FLAG 9 (L)
+FLVR = 136D # VERTICAL RISE NON-VERTICAL RISE
+FLVRBIT = BIT14 # (ASCENT GUIDANCE)
+
+# BIT 13 FLAG 9
+ = 137D #
+ = BIT13 # OH 2009-05-15 Line not in scan
+
+# BIT 12 FLAG 9 (L)
+FLPC = 138D # NO POSITION CONTROL POSITION CONTROL
+FLPCBIT = BIT12 # (ASCENT GUIDANCE)
+
+# BIT 11 FLAG 9 (L)
+FLPI = 139D # PRE-IGNITION PHASE REGULAR GUIDANCE
+FLPIBIT = BIT11 # (ASCENT GUIDANCE)
+
+# BIT 10 FLAG 9 (L)
+FLRCS = 140D # RCS INJECTION MODE MAIN ENGINE MODE
+FLRCSBIT = BIT10 # (ASCENT GUIDANCE)
+
+# BIT 9 FLAG 9 (L)
+
+# Page 81
+LETABORT = 141D # ABORT PROGRAMS ABORT PROGRAMS
+LETABBIT = BIT9 # ARE ENABLED ARE NOT ENABLED
+
+# BIT 8 FLAG 9 (L)
+FLAP = 142D # APS CONTINUED ABORT APS ABORT IS NOT A
+ # AFTER DPS STAGING CONTINUATION
+FLAPBIT = BIT8 # (ASCENT GUIDANCE)
+
+# BIT 7 FLAG 9 (L)
+ = 143D
+ = BIT7 # OH 2009-05-15 Line not in scan
+
+
+# BIT 6 FLAG 9 (L)
+ROTFLAG = 144D # P70 AND P71 WILL P70 AND P71 WILL NOT
+ROTFLBIT = BIT6 # FORCE VEHICLE FORCE VEHICLE
+ # ROTATION IN THE ROTATION IN THE
+ # PREFERRED DIRECTION PREFERRED DIRECTION
+
+# BIT 5 FLAG 9 (S)
+QUITFLAG = 145D # DISCONTINUE INTEGR. CONTINUE INTEGRATION
+QUITBIT = BIT5 #
+
+# BIT 4 FLAG 9
+ = 146D #
+ = BIT4 #
+
+# BIT 3 FLAG 9 (L)
+MID1FLAG = 147D # INTEGRAT TO TDEC INTEGRATE TO THE
+MID1FBIT = BIT3 # THEN-PRESENT TIME
+
+# BIT 2 FLAG 9 (L)
+MIDAVFLG = 148D # INTEGRATION ENTERED INTEGRATION WAS
+ # FROM ONE OF MIDTOAV NOT ENTERED VIA
+MIDAVBIT = BIT2 # PORTALS MIDTOAV
+
+# BIT 1 FLAG 9 (S)
+AVEMIDSW = 149D # AVETOMID CALLING NO AVETOMID W INTEGR
+ # FOR W.MATRIX INTEGR ALLOW SET UP RM, VN
+AVEMDBIT = BIT1 # DON'T WRITE OVER RN, PIPTIME
+ # VN,PIPTIME
+
+
+RASFLAG EQUALS FLGWRD10 # WAS ONLY AN INSTALL-ERASTALL FLAG
+
+# Page 82
+FLGWRD10 = STATE +10D # (150-164)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 10 (S)
+ = 150D #
+ = BIT15 # OH 2009-05-15 Line not in scan
+
+# BIT 14 FLAG 10 (L,C)
+INTFLAG = 151D # INTEGRATION IN INTEGRATION NOT IN
+INTFLBIT = BIT14 # PROGRESS PROGRESS
+
+# BIT 13 FLAG 10 (S,L)
+APSFLAG = 152D # ASCENT STAGE DESCENT STAGE
+APSFLBIT = BIT13 # *** PROTECTED FROM FRESH START ***
+
+# BIT 12 FLAG 10
+ = 153D #
+ = BIT12 # OH 2009-05-15 Line not in scan
+
+# BIT 11 FLAG 10
+ = 154D #
+ = BIT11 # OH 2009-05-15 Line not in scan
+
+# BIT 10 FLAG 10
+ = 155D #
+ = BIT10 # OH 2009-05-15 Line not in scan
+
+# BIT 9 FLAG 10
+ = 156D #
+ = BIT9 # OH 2009-05-15 Line not in scan
+
+# BIT 8 FLAG 10
+ = 157D #
+ = BIT8 # OH 2009-05-15 Line not in scan
+
+# BIT 7 FLAG 10 (L,C)
+REINTFLG = 158D # INTEGRATION ROUTINE INTEGRATION ROUTINE
+REINTBIT = BIT7 # TO BE RESTARTED NOT TO BE RESTARTED
+
+# BIT 6 FLAG 10
+ = 159D #
+ = BIT6 # OH 2009-05-15 Line not in scan
+
+# BIT 5 FLAG 10
+ = 160D #
+ = BIT5 # OH 2009-05-15 Line not in scan
+
+# Page 83
+# BIT 4 FLAG 10
+ = 161D #
+ = BIT4 # OH 2009-05-15 Line not in scan
+
+# BIT 3 FLAG 10
+ = 162D #
+ = BIT3 # OH 2009-05-15 Line not in scan
+
+# BIT 2 FLAG 10
+ = 163D #
+ = BIT2 # OH 2009-05-15 Line not in scan
+
+# BIT 1 FLAG 10
+ = 164D #
+ = BIT1 # OH 2009-05-15 Line not in scan
+
+
+
+FLGWRD11 = STATE +11D # (165-179)
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 11 (L)(R12)
+LRBYPASS = 165D # BYPASS ALL LANDING DO NOT BYPASS LR
+LRBYBIT = BIT15 # RADAR UPDATES UPDATES
+
+# BIT 14 FLAG 11
+ = 166D #
+ = BIT14 #
+
+# BIT 13 FLAG 11
+ = 167D #
+ = BIT13 #
+
+# BIT 12 FLAG 11 (L)(R12)
+VXINH = 168D # IF Z VELOCITY DATA UPDATE X AXIS
+ # UNREASONABLE, VELOCITY
+VXINHBIT = BIT12 # BYPASS X VELOCITY
+ # UPDATE ON NEXT PASS
+
+# BIT 11 FLAG 11 (L)(R12)
+PSTHIGAT = 169D # PAST HIGATE PREHIGATE
+PSTHIBIT = BIT11 #
+
+# BIT 10 FLAG 11 (L)(R12)
+
+# Page 84
+NOLRREAD = 170D # LANDING RADAR LR NOT REPOSITIONING
+ # REPOSITIONING;
+NOLRRBIT = BIT10 # BYPASS UPDATE
+
+# BIT 9 FLAG 11 (L)(R12)
+XORFLG = 171D # BELOW LIMIT ABOVE LIMIT DO
+ # INHIBIT X AXIS NOT INHIBIT
+XORFLBIT = BIT9 # OVERRIDE
+
+# BIT 8 FLAG 11
+LRINH = 172D # LANDING RADAR UP- LR UPDATES INHIBITED
+LRINHBIT = BIT8 # DATES PERMITTED BY ASTRONAUT
+ # BY ASTRONAUT
+
+# BIT 7 FLAG 11 (L)(R12)
+VELDATA = 173D # LR VELOCITY LR VELOCITY MEASURE
+VELDABIT = BIT7 # MEASUREMENT MADE NOT MADE
+
+# BIT 6 FLAG 11 (L)(R12)
+READLR = 174D # OK TO READ LR DO NOT READ LR RANGE
+READLBIT = BIT6 # RANGE DATA DATA
+
+# BIT 5 FLAG 11 (L)(R12)
+READVEL = 175D # OK TO READ LR DO NOT READ LR
+READVBIT = BIT5 # VELOCITY DATA VELOCITY DATA
+
+# BIT 4 FLAG 11 (L)(R12)
+RNGEDATA = 176D # LR ALTITUDE LR ALTITUDE MEASURE
+RNGEDBIT = BIT4 # MEASUREMENT MADE NOT MADE
+
+# BIT 3 FLAG 11
+SCALBAD = 177D # LR LOW SCALE DISP- LS SCALE DISCRETE
+SCABBIT = BIT3 # CRETE NOT PRESENT APPEARS OK
+ # WHEN IT SHOULD
+
+# BIT 2 FLAG 11 (L)(R12)
+VFLSHFLG = 178D # LR VELOCITY FAIL LR VEL FAIL LAMP
+ # LAMP SHOULD BE SHOULDN'T FLASH
+VFLSHBIT = BIT2 # FLASHING
+
+# BIT 1 FLAG 11 (L)(R12)
+# Page 85
+HFLSHFLG = 179D # LR ALTITUDE FAIL LR ALTITUDE FAIL
+HFLSHBIT = BIT1 # LAMP SHOULD BE LAMP SHOULD NOT BE
+ # FLASHING FLASHING
+
+RADMODES EQUALS FLGWRD12 # RADAR FLAG WORD
+
+FLGWRD12 = STATE +12D # (180-194) WAS RADMODES
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 12
+CDESFLAG = 180D # CONTINUOUS DESIG- LGC CHECKS FOR LOCK-
+CDESBIT = BIT15 # NATE, LGC COMMANDS ON WHEN ANTENNA
+ # RR REGARDLESS OF BEING DESIGNATED
+ # LOCK-ON
+
+# BIT 14 FLAG 12
+REMODFLG = 181D # CHANGE IN ANTENNA NO REMODE REQUESTED
+REMODBIT = BIT14 # MODE BEEN REQUESTED OR OCCURRING
+ # I.E., REMODE
+
+# BIT 13 FLAG 12
+RCDU0FLG = 182D # RR CDU'S BEING RR CDU'S NOT BEING
+RCDU0BIT = BIT13 # ZEROED ZEROED
+
+# BIT 12 FLAG 12
+ANTENFLG = 183D # RR ANTENNA MODE IS RR ANTENNA IN MODE 1
+ANTENBIT = BIT12 # MODE 2
+
+# BIT 11 FLAG 12
+REPOSMON = 184D # REPOSITION MONITOR. NO REPOSITION TAKING
+REPOSBIT = BIT11 # RR REPOSITION IS PLACE
+ # TAKING PLACE
+
+# BIT 10 FLAG 12
+DESIGFLG = 185D # RR DESIGNATE RR DESIGNATE NOT
+DESIGBIT = BIT10 # REQUESTED OR IN REQUESTED OR IN
+ # PROGRESS PROGRESS
+
+# BIT 9 FLAG 12
+ALTSCALE = 186D # LR ALTITUDE READING LR ALTITUDE READING
+ALTSCBIT = BIT9 # IS ON HIGH SCALE IS ON LOW SCALE
+
+# Page 86
+# BIT 8 FLAG 12
+LRVELFLG = 187D # LR VELOCITY DATA NO LR VELOCITY DATA
+LRVELBIT = BIT8 # FAIL FAIL
+
+# BIT 7 FLAG 12
+RCDUFAIL = 188D # RR CDU FAIL HAS RR CDU FAIL OCCURRED
+RCDUFBIT = BIT7 # NOT OCCURRED
+
+# BIT 6 FLAG 12
+LRPOSFLG = 189D # LANDING RADAR LR POSITION 1
+LRPOSBIT = BIT6 # POSITION 2
+
+# BIT 5 FLAG 12
+LRALTFLG = 190D # LR ALTITUDE DATA NO LR ALTITUDE DATA
+LRALTBIT = BIT5 # FAIL. COULD NOT BE FAIL
+ # READ SUCCESSFULLY.
+
+# BIT 4 FLAG 12
+RRDATAFL = 191D # RR DATA FAIL. NO RR DATA FAIL
+RRDATABT = BIT4 # DATA COULD NOT BE
+ # READ SUCCESSFULLY
+
+# BIT 3 FLAG 12
+RRRSFLAG = 192D # RR RANGE READING RR RANGE READING ON
+RRRSBIT = BIT3 # ON THE HIGH SCALE THE LOW SCALE
+
+# BIT 2 FLAG 12
+AUTOMODE = 193D # RR NOT IN AUTO MODE. RR IN AUTO MODE
+AUTOMBIT = BIT2 # AUTO MODE DISCRETE
+ # IS NOT PRESENT
+
+# BIT 1 FLAG 12
+TURNONFL = 194D # RR TURN-ON SEQUENCE NO RR TURN-ON
+TURNONBT = BIT1 # IN PROGRESS. (ZERO SEQUENCE IN PROGRESS
+ # CDU'S, FIX ANTENNA
+ # MODE)
+
+DAPBOOLS EQUALS FLGWRD13 # DIGITAL AUTOPILOT FLAGWORD
+
+# Page 87
+FLGWRD13 = STATE +13D # (195-209) WAS DAPBOOLS
+
+ # (SET) (RESET)
+
+# BIT 15 FLAG 13
+PULSEFLG = 195D # MINIMUM IMPUSE NOT IN MINIMUM
+PULSES = BIT15 # COMMAND MODE IN IMPULSE COMMAND MODE
+ # "ATT HOLD" (V76) (V77)
+
+# BIT 14 FLAG 13
+USEQRFLG = 196D # GIMBAL UNUSABLE. TRIM GIMBAL MAY BE
+USEQRJTS = BIT14 # USE JETS ONLY. USED.
+
+# BIT 13 FLAG 13
+CSMDKFLG = 197D # CSM DOCKED. USE CSM NOT DOCKED TO LM
+CSMDOCKD = BIT13 # BACKUP DAP
+
+# BIT 12 FLAG 13
+OURRCFLG = 198D # CURRENT DAP PASS CURRENT DAP PASS IS
+OURRCBIT = BIT12 # IS RATE COMMAND NOT RATE COMMAND
+
+# BIT 11 FLAG 13
+ACC4-2FL = 199D # 4 JET X-AXIS TRANS- 2 JET X-AXIS TRANS-
+ACC4OR2X = BIT11 # LATION REQUESTED LATION REQUESTED
+
+# BIT 10 FLAG 13
+AORBTFLG = 200D # B SYSTEM FOR X- A SYSTEM FOR X-
+AORBTRAN = BIT10 # TRANSLATION TRANSLATION PREFER'D
+
+# BIT 9 FLAG 13
+XOVINFLG = 201D # X-AXIS OVERRIDE X-AXIS OVERRIDE OKAY
+XOVINHIB = BIT9 # LOCKED OUT
+
+# BIT 8 FLAG 13
+DRIFTDFL = 202D # ASSUME 0 OFFSET USE OFFSET ACCELERA-
+DRIFTBIT = BIT8 # DRIFTING FLIGHT ION ESTIMATE
+
+# BIT 7 FLAG 13
+RHCSCFLG = 203D # NORMAL RHC SCALING FINE RHC SCALING
+RHCSCALE = BIT7 # REQUESTED REQUESTED
+
+# Page 88
+# BIT 6 FLAG 13
+ULLAGFLG = 204D # ULLAGE REQUEST BY NO INTERNAL ULLAGE
+ULLAGER = BIT6 # MISSION PROGRAM REQUEST
+
+# BIT 5 FLAG 13
+AORBSFLG = 205D # P-AXIS COUPLES 7.15 P-AXIS COUPLES 4.12
+AORBSYST = BIT5 # AND 8.16 PREFERRED AND 3.11 PREFERRED
+
+# BIT 4 FLAG 13
+DBSELFLG = 206D # MAX DB SELECTED MIN DB SELECTED BY
+DBSELECT = BIT4 # BY CREW (5 DEG) CREW (0.3 DEG)
+
+# BIT 3 FLAG 13
+ACCOKFLG = 207D # CONTROL AUTHORITY RESTART OR FRESH ST.
+ACCSOKAY = BIT3 # VALUES FROM 1/ACCS SINCE LAST 1/ACCS;
+ # USABLE OUTPUTS SUSPECT.
+
+# BIT 2 FLAG 13
+AUTR2FLG = 208D # THESE FLAGS ARE USED TOGETHER TO INDICATE
+AUTRATE2 = BIT2 # ASTRONAUT-CHOSEN KALCMANU MANEUVER RATES
+ # (0,0)=(BIT2,BIT1)= 0.2 DEG/SEC
+# BIT 1 FLAG 13 # (0,1)= 0.5 DEG/SEC
+AUTR1FLG = 209D # (1,0)= 2.0 DEG/SEC
+AUTRATE1 = BIT1 # (1,1)= 10.0 DEG/SEC
+
+# Page 89 (nothing on this page)
+
diff --git a/FP8.s b/FP8.s
deleted file mode 100644
index c7ef351..0000000
--- a/FP8.s
+++ /dev/null
@@ -1,4768 +0,0 @@
-# Copyright: Public domain.
-# Filename: FP8.s
-# Purpose: This is the Apollo lunar module's firmware for the
-# Abort Guidance System (AGS). This is Flight Program 8.
-# Assembler: yaLEMAP
-# Contact: Ron Burkey <info@sandroid.org>.
-# Website: www.ibiblio.org/apollo/yaAGS.html
-# Reference: http://www.ibiblio.org/apollo/Pultorak_files/FP8Listing.pdf.
-# Mod history: 2005-01-15 RSB Began.
-# 2005-01-17 RSB Data entry complete, but not debugged.
-# 2005-01-18 RSB As of yesterday, this assembled with
-# 86 fatal errors. These have all been
-# repaired. Lots of other stuff fixed too.
-# I know know that the addresses and
-# opcodes at the ends of each page are
-# correct. However, the checksums are
-# still wrong, so the next step is to
-# proceed with a binary comparison.
-# 2005-01-18 RSB Fully debugged and ready to go.
-# It has been completely proofed against
-# the binary in the scanned assembly
-# listing, and the checksums are correct.
-# (Of course, it could always use more
-# proofing if somebody wanted to do it.
-# Particularly the program comments.)
-# 2005-05-14 RSB Corrected website reference above.
-# 2005-06-12 RSB Fixed comments on p. 117.
-#
-# The contents have been taken (by means of manual data entry) from
-# an assembly listing of Flight Program 8 scanned by John Pultorak from
-# a physical copy preserved by supplied by Davis Peticolas. (The WWW link
-# for the scan is referenced above.)
-#
-# This file contains the entire source code for FP8. I have not split the
-# source code into many smaller chunks as has been done for AGC source code.
-# The page references are to the scanned PDF of the assembly listing, but
-# the page markings on the physical copy match the PDF pages. In addition
-# to the comments containing the page references, I've also added some
-# blank lines for readability. So don't expect the line number in the
-# scanned version to match the line numbers in an assembly listing created
-# by processing this source file with the yaLEMAP cross-assembler.
-
-# Page 1
-# FLIGHT PROGRAM 8 -- LM AGS FP8 S03 4039 -- 12/18/70
-# LM ABORT ELECTRONICS ASSEMBLY
-#
-# SCRATCH PAD STORAGE
- ORG 0000
-TS0 DEC 0
-TS1 DEC 0
-TS2 DEC 0
-TS3 DEC 0
-TS4 DEC 0
-TS5 DEC 0
-TS6 DEC 0
-TS7 DEC 0
-TS10 DEC 0
-TS11 DEC 0
-TS12 DEC 0
-TS13 DEC 0
-TS14 DEC 0
-TS15 DEC 0
-TS16 DEC 0
-TS17 DEC 0
-SREX3 DEC 0
-SREX2 DEC 0
-SREX1 DEC 0
-SREX DEC 0
-TVARBR DEC 0 # TEMP STORE FOR CK SUM.
- TRA RETURN # SERV ROUT, STARTUP
-#
-# TAPE LOAD STARTUP CHECKSUM
-#
-SF OUT 6402 # DEDA INPUT SCALE FACTOR
-OCTF INP 2040 # DEDA OCTAL INPUT
-#
-# THE NEXT 16 LOCATIONS ARE SHARED
-# WITH A RR FILTER TEMPORARY MATRIX
-#
-U2X ALS 1 # B1 UNIT RADIAL VECTOR TO
-U2Y TMI *+2 # B1 TRIAL RENDEZ PT.
-U2Z TRA *-3 # B1
-
-# Page 2
-D11 EQU U2X # RADAR TEMP. MATRIX (16 LOC)
-VFX EQU U2X # BRAKING VEL VECTOR AT 13.
-C2 DLY *+1 # B1 RENDEZ ANGLE SINE
-V1X OUT 7012 # B1 HORIZ UNIT VECTOR
-V1Y INP 6200
-V1Z CLZ SUM
-DLSC CLA V2Z # DOWNLINK SHIFT COUNTER
-W1X STO TVARBR # B1 U1 X V1
-D31 EQU W1X
-W1Y CLZ WRDCNT
-W1Z TSQ TVARBR
-SI ADZ SUM # B0 E(SIN(E0))
-RD2DOT STO SUM # B7 DESIRED RADIAL ACCEL
-YD2DOT CLA TVARBR # B7 DESIRED OUT-OF-PLANE ACCEL
-TSEX SUB CLAFR # EXIT FROM NORTON
-SIDELL TMI U1X # B1 SIN DELTA L
-V6X CLZ SUM # B13 TEMP STORAGE FOR TPI QUANT
-V6Y TMI *+3
-V6Z SUB 1B17
-DQSX EQU V6X # ACCUM VEL IN XDV
-CODELL TMI EXIT40 # B1 COS DELTA L
-WCX CLA 10B4 # B1 UNIT VECTOR NORMAL
-WCY STO S12 # TO CSM ORBIT
-WCZ OUT 6410
-TMPBR TRA SINITC # TEMP BRANCH STORE
-U1X CLZ WRDCNT # B1 LEM UNIT RAD VECTGOR
-U1Y ADD 1B17
-U1Z STO WRDCNT
-BRANCH SUB 1B11 # GUIDANCE BRANCH
-V2X TMI W1Z # B1 HORZ UNIT VECTOR AT
-V2Y DLY W1Y # RENDEZ POINT
-V2Z CLA 0206
-VGX EQU V2X # VEL TO GAIN VECTOR AT L3
-#
-# END OF TAPE LOAD CHECKSUM PROGRAM
-#
-AT DEC 0B7
-
-# Page 3
-EX DEC 0B2 # ATTITUDE ERRORS.
-EY DEC 0
-EZ DEC 0
-X3 DEC 0B0 # XFR ORB PARAM.
-TR3 EQU X3 # ADDRESS OF RESULT FOR MXM
-DVXM1 DEC 0B1 # BODY DELTA VS
-DVYM1 DEC 0 # PREVIOUS CYCLE.
-DVZM1 DEC 0
-NI DEC 0B-9 # PREDICTION ANGULAR FREQUENCY
-NE EQU NI # CSM PRED. ANGULAR FREQ.
-TR8 EQU NI # RADAR TEMP.
-VD2X DEC 0B2 # DELTA V EXP LS
-VD2Y DEC 0
-VD2Z DEC 0
-CI DEC 0B0 # E(COS(E0))
-TR1 EQU CI # ADDR. OF 1ST MATRIX FOR MXM
-DRX DEC 0B14 # LRM POS REMAINDERS
-DRY DEC 0
-DRZ DEC 0
-THEP DEC 0 # PGNS THETA IN COUNTS.
-DIGX DEC 0B7 # PREDICTED CHANGE IN
-DIGY DEC 0 # INTEGRATED GRAVITY.
-DIGZ DEC 0
-PSIP DEC 0 # PGNS PSI IN COUNTS.
-GXDT DEC 0B7 # GRAVITY TIMES MAJOR
-GYDT DEC 0
-GZDT DEC 0
-PHIP DEC 0 # PGNS PHI IN COUNTS.
-DVSX DEC 0
-DVSY DEC 0
-DVSZ DEC 0
-SIGA DEC 0B1 # SIN FDAI GAMMA.
-RRX DEC 0B23 # COMPUTED LM-CSM RANGE
-RRY DEC 0
-RRZ DEC 0
-COGA DEC 0B1 # COS FDAI GAMMA.
-A11 DEC 1.0B1 # XB DIRECTION COSINES.
-
-# Page 4
-A12 DEC 0
-A13 DEC 0
-TS8 DEC 0
-A31 DEC 0 # ZB DIRECTION COSINES
-A32 DEC 0
-A33 DEC 1.0B1
-SUM DEC 0 # RUNNING MEMORY SUM
-A21 DEC 0 # YB DIRECTION COSINES
-A22 DEC 1.0B1
-A23 DEC 0
-X4 DEC 0B0 # XFR ORB PARAM.
-VHSQ EQU X4 # 0B26 VH SQUARED
-TR2 EQU X4 # ADDR. OF 2ND MATRIX FOR MXM
-E1 DEC 0 # -6 OR -9 XB NORM ERROR
-E3 DEC 0 # ZB NORMALITY ERROR.
-E13 DEC 0 # XB,ZB ORTHOG ERROR.
-DEL10 DEC 0 # TPI LOGIC FLAG
-DA11 DEC 0B-5 # DIR COSINE REMAINDERS
-DA12 DEC 0
-DA13 DEC 0
-WRDCNT DEC 0 # CKSUM WORD COUNT
-DA31 DEC 0
-DA32 DEC 0
-DA33 DEC 0
-DEL44 DEC 0 # RADAR CODE WORD RESET FLAG
-A11D DEC 0B1 # XD DIRECTION COSINES.
-A12D DEC 0
-A13D DEC 0
- DEC 0 # ** UNUSED -- INDEXED BY A11D **
-A31D DEC 0B1 # ZD DIRECTION COSINES.
-A32D DEC 0
-A33D DEC 0
-MU17 DEC 0B3 # RADAR FILTER ENTRY COUNTER
-P DEC 0B23 # TRIAL SEMI-PARAMETER
-ALPHA DEC 0B23 # XFR ORBIT SEMI-MAJOR AXIS
-Q1 DEC 0B23 # XFR ORBIT PERILUNE
-ESQ EQU Q1
-
-# Page 5
-AI DEC 0B23 # PRED. SEMI-MAJOR AXIS
-AE EQU AI # CSM PRED. SEMI-MAJOR AXIS
-R5X DEC 0B23 # LM PRED POS AHEAD TDEL
-R5Y DEC 0
-R5Z DEC 0
-AL DEC 0B23 # LM PRED. SEMI-MAJOR AXIS
-REX DEC 0B23 # CSM EPOCH POSITION
-REY DEC 0
-REZ DEC 0
-RT DEC 0B23 # CSM PRED POS. MAG.
-R0X DEC 0B23 # PRED EPOCH POS VECTOR
-R0Y DEC 0
-# SEE REAR OF LISTING FOR CHECKSUM
-# Note that the CHECKSUM pseudo-op is not defined in the AGS
-# programmer's manual. I have decided for the purposes of
-# implementing yaLEMAT that the following syntax will be
-# used. It means that the cross-assembler will compute a
-# checksum of the address range 0207-1004 (octal), and will
-# store it right here.
- CHECKSUM RANGE 0207-1004
-R0Z DEFINE 0206
-R0 DEC 0B23 # PRED EPOCH POS. MAG.
-C11 EQU P # RADAR TEMP. MATRIX
-C12 EQU ALPHA
-C13 EQU Q1
-C14 EQU AI
-C21 EQU R5X
-C22 EQU R5Y
-C23 EQU R5Z
-C24 EQU AL
-C31 EQU REX
-C32 EQU REY
-C33 EQU REZ
-C34 EQU RT
-C41 EQU R0X
-C42 EQU R0Y
-C43 EQU R0Z
-C44 EQU R0
-R DEC 0B23 # LM POS MAGNITUDE
-Y DEC 0B23 # OUT OF PLANE POSITION
-PP DEC 0B23 # P PRIME/EXIT FOR MXM
-POUTFS DEC 7.684096E4B23 # MAX P DISPLAYABLE
-POUT DEC 0 # DISPLAY POSITION.
-
-# Page 6
-DPOUT DEC 0 # DISPLAY POSITION INCREMENT.
-2K3 DEC 1048576.B23 # QL SET ON O.F.
-2K14 DEC 5.E4B23 # INITIAL P PERTURBATION
-RIX DEC 0B23 # ELLIPSE PRED POS OUTPUT
-RIY DEC 0
-RIZ DEC 0
-DELR1 EQU RIX # MEASURED MINUS COMPUTED RANGE
-DELR3 EQU RIY # B23
-DELR2 EQU RIZ
-25J DEC 0B23 # DEDA ALTITUDE UPDATE
-7J DEC 6042736B23 # TERM IN AL(O.I.)
-8J DEC 2940243B23 # TERM IN AL(O.I) LOWER LIMIT
-10J DEC 6046910B23 # RETARGET VALUE FOR 7J
-4K5 DEC 5735200B23 # NOMINAL BURNOUT ALTITUDE
-2K19 DEC 5.E5B23 # DELTA P LIMITER
-5J DEC 5.697785E6B23 # LANDING SITE RADIUS
-16J DEC 60000B23 # ORBIT INSERTION ALTITUDE
-21J DEC 25000B23 # PITCH STEERING ALT THRESHOLD
-RRSX DEC 0B23 # CALCULATED RANGE AT TIME
-RRSY DEC 0 # OF RADAR RANGE MEASUREMENT.
-RRSZ DEC 0
-6K11 DEC 0.318310B0 # 1/PI
-#
-# INITIALIZE DATA FROM DOWNLINK ADDRESSES
-# LOCATIONS 0240-0257 USED
-1J1 DEC 0B23 # LM EPHEMERIS POS
-1J2 DEC 0
-1J3 DEC 0
- DEC 0
-2J1 DEC 0 # CSM EPHEMERIS POS
-2J2 DEC 0
-2J3 DEC 0
- DEC 0
- DEC 0
- DEC 0
- DEC 0
- DEC 0
-
-# Page 7
-1J7 DEC 0B18 # LM EPOCH TIME
-1J7LS DEC 0B1
- DEC 0
- DEC 0
-THETAR EQU 2J3+4 # RADAR ANTENNA TRUNNION ANGLE
-BETAR EQU 2J3+5 # RADAR ANTENNA SHAFT ANGLE
-RM EQU 1J7 # RADAR RAW RANGE INPUT
-RMDOT EQU 1J7+1 # RADAR RANGE RATE INPUT
-DEL46 EQU 1J7+2 # RADAR COMPOSITE WORD
-1J4 DEC 0B13 # LM EPHEMERIS VEL
-1J5 DEC 0
-1J6 DEC 0
-VPY DEC 0B13 # OUT-OF-PLANE VELOCITY
-2J4 DEC 0 # CSM EPHEMERIS VEL
-2J5 DEC 0
-2J6 DEC 0
-5K18 DEC -.1B-2 # RD3DOT LOWER LIMIT
-VY0 DEC 0B13 # LM OUT-OF-PLANE VEL
-VY0FS DEC 200B13 # MAX VY0 DISPLAYABLE
-2J7 DEC 0 # CSM EPOCH TIME
-2J7LS DEC 0
-7K1 DEC 30B18 # TIG TIME BIAS
-1J DEC 0B18 # NOMINAL TPI TIME (CSI)
-6K5 DEC -.73B0 # Y-POSITION FILTER WEIGHT
-XI DEC 0B3 # Z-AXIS/LOCAL HORIZ ANGLE
-A31BD DEC 0B1 # UNIT VECTOR (LM-CSM)
-A32BD DEC 0
-A33BD DEC 0
-TLOS DEC 0B3 # DXFR LOS COMPUTED
-THETAF EQU TLOS # LM-CSM CENTRAL ANG AT CSI/CDH
-3K4 DEC .17365B1 # CENTRAL ANGLE LIMIT ON TPI
-12J DEC -.299904B3 # PHASE ANGLE LIMIT FOR RETARGET
-4J DEC 0B13 # TIME OF NODE PRIOR TO RENDEZ
-6J DEC 2580.0B13 # DESIRED TRANSFER TIME
-TDEL DEC 0B13 # TIME TIL NEXT MANEUVER
-TR DEC 0B13 # TIME TIL RENDEZVOUS
-3J DEC 0B13 # TARGET OFFSET TIME
-
-# Page 8
-6K12 DEC 9.38B4 # RAW RADAR AT 18 TO FT. AT 22
-DELRP DEC 0B23 # DIFF. ALT. AT TIG(CSI-CDH)
-QA DEC 0B23 # LM APOFOCUS ALTITUDE
-18J DEC 0B22 # MEASURED RADAR RANGE
-RR DEC 0B22 # COMPUTED RANGE
-READP DEC 0
-ENTERP DEC 0
-HOLDP DEC 0
-CLEARP DEC 0
-HMF DEC 0
-# START OF TELEMETRY LIST
-RMF DEC 0 # READOUT MODE FLAG
-DD DEC 0 # DEDA DATA
-CMF DEC 0 # CLEAR MODE FLAG
-A11T DEC 1.B1 # TM DIR COSINES
-A12T DEC 0
-A13T DEC 0
-ADST DEC 0 # DEDA ADDRESS
-A31T DEC 0
-A32T DEC 0
-A33T DEC 1.B1
-H DEC 0B23 # ALTITUDE
-RX DEC 0B23 # LM POSITION
-RY DEC 0
-RZ DEC 0
-QL DEC 0B23 # PRESENT LM PERICYNTHION
-EONS10 EQU QL # ENG ON+S10 FOR TM
-RCX DEC 0B23 # CSM PRESENT POSITION
-RCY DEC 0
-RCZ DEC 0
-RF DEC 0B23 # PREDICTED BURNOUT ALT.
-DVX DEC 0B1 # BODY DELTA VS
-DVY DEC 0 # THIS CYCLE.
-DVZ DEC 0
-TA2 DEC 0B1 # ABS TIME LS.
-DAX DEC 0B-6 # DELTA ALPHAS
-DAY DEC 0
-
-# Page 9
-DAZ DEC 0
-TBO DEC 0B9 # TIME TO BURNOUT.
-VX DEC 0B13 # LM VELOCITY
-VY DEC 0
-VZ DEC 0
-MU8S12 DEC 0 # MU8/S12
-VCX DEC 0B13 # CSM PRESENT VELOCITY
-VCY DEC 0
-VCZ DEC 0
-HDOT DEC 0B13 # ALTITUDE RATE
-VG DEC 0B13 # VELOCITY TO GAIN
-VF DEC 0B13 # TRANSFER BRAKING VELOCITY
-TA0 DEC 0B18 # TIME FROM CSI TO CDH
-TIG DEC 0B18 # ABSOLUTE TIME OF MANEUVER
-A11BD DEC 0B1 # CMD XB POINTING DIR
-A12BD DEC 0
-A13BD DEC 0
-TA1 DEC 0B18 # ABS TIME MS.
-S0 DEC 0 # AGS FUNCTION SELECTOR
-DISC1C DEC 0 # DISCRETE WD 1-TRUE STATE
-Q1DEDA DEC 8388500B23 # TRANS ORBIT PERICYN ALT
-DELH EQU Q1DEDA # DIFF. ALT. AFTER CDH(CSI-CDH)
-QLTELE DEC 0B23 # QL FOR TELE AND DEDA
-VD1X DEC 0B13 # 40MS VEL ACCUMULATION
-VD1Y DEC 0
-VD1Z DEC 0
-# END OF TELEMETRY LIST
-DEL6 DEC 0 # CALIBRATE I.C. FLAG
-S10 DEC 0 # GUIDANCE MODE SELECTOR
-S11 DEC 0 # AUTO RADAR SWITCH
-S12 DEC 0 # TEST STATUS
-S13 DEC 0 # STORE LUNAR AZIMUTH
-S14 DEC 0 # NAVIGATION INITIALIZE
-S15 DEC 0 # RADAR GIMBAL NULL
-RDOTS EQU S15 # R. R. STORED AT RADAR INPUT
-S16 DEC 0 # CDH APSIDAL SELECTION
-S17 DEC 0 # RADAR FILTER INIT. SWITCH
-
-# Page 10
-VEX DEC 0B13 # CSM EPOCH VEL
-VEY DEC 0
-VEZ DEC 0
-RFDOT DEC 0B13 # DESIRED ALT RATE
-V0X DEC 0B13 # PRED EPOCH VEL VECTOR
-V0Y DEC 0
-V0Z DEC 0
-I EQU V0X # MXM INDEX
-J EQU V0Y # MXM INDEX
-K EQU V0Z # MXM INDEX
-VH DEC 0B13 # LM HORIZONTAL VEL
-# VIX,VIY,VIZ ARE SHARED WITH RR FILTER
-VIX DEC 0B13 # ELLIPSE PRED VEL OUTPUT
-VIY DEC 0
-VIZ DEC 0
-V DEC 0B13 # LM TOTAL VELOCITY
-TP DEC 0B13 # TRIAL XFR ORB. TIME.
-T DEC 0B13 # TIME TO RENDEZ.
-RB EQU T # RF SAVED FOR ORBIT INSERT.
-TB DEC 0B13 # TA-TE.
-PDOTM1 DEC 0B13 # DISPLAY POS RATE(-1)
-RRDOT DEC 0B13 # RANGE RATE
-1000D DEC 1000B17 # RANGE MARK COUNTER INCREMENT
-TI DEC 0B13 # PREDICTION TIME/RR FILTER TEMP
-DPDOUT DEC 0B13 # DISPLAY POS RATE INCREMENT
-PDOUT DEC 0B13 # DSP POS RATE CONV TO FPS AT 13
-TCSM DEC 0B13 # CSM PERIOD (SEC)
-4K25 DEC 3.402B13 # ENG CUTOFF COMP
-2K18 DEC 15.B13 # PARTIAL DERIV PROTECTOR.
-28J1 DEC 0B13 # DELTA V DOWNRANGE
-28J2 DEC 0B13 # DELTA V CROSSRANGE
-28J3 DEC 0B13 # DELTA V RADIAL
-2K20 DEC 2.B13 # CONVERGENCE CHECK.
-4K26 DEC 70.0B13 # VG THRESHOLD
-DDF DEC 0 # DEDA DATA RECEIVED FLAG
-6K4 DEC .1E3B10 # INITIAL VALUE OF P33 AND P44
-6K2 DEC .1E9B30 # INIT VALUE OF P11,P22
-
-# Page 11
-V5X DEC 0B13 # TPI-PREDICTED V AT TPI TIME
-V5Y DEC 0
-V5Z DEC 0
-TR4 EQU V5X # NO. OF COL IN MATRIX A
-TR6 EQU V5Y # NO. OF ROWS IN MATRIX B
-TR5 EQU V5Z # NO. OF ROWS IN MATRIX A
-VHA DEC 0B13
-22J DEC 50B13 # PITCH STEERING ALT RATE THRESH
-23J DEC 19.5B13 # RFDOT LOWER LIMIT
-5K26 DEC 15B13 # PSEUDO ATT HOLD IN STEER
-PART DEC 0B14 # PARTIAL DERIVATIVE
-VDX DEC 0B13 # VD1 AT NAV UPDATE
-VDY DEC 0
-VDZ DEC 0
-4K27 DEC -8000.0B13 # OVERFLOW PROTECTION FOR VD1X
-VSMGX DEC 0B13 # VD1 CUTOFF
-VSMGY DEC 0
-VSMGZ DEC 0
-RADOT DEC 0B13 # PRED. RDOT AT TIG
-DELVGX DEC 0B13 # THRUST VEL TO GAIN
-DELVGY DEC 0
-DELVGZ DEC 0
-17J DEC 0B13 # RANGE RATE INPUT
-RD3DOT DEC 0B-2 # DESIRED RADIAL JERK
-YD3DOT DEC 0B-2 # DESIRED OUT-OF-PLANE JERK
-4K12 DEC 5B7 # ACCEL THRESH IN O.I. STEER
-S507 DEC 0B3 # ACQ STEER SEL OF PT DIR
-DAXREM DEC 0B-13 # INCRE. GYRO INPUT REMAINDERS
-DAYREM DEC 0
-DAZREM DEC 0
-C1 DEC 0B1 # RENDEZ ANGLE COSINE.
-WBX DEC 0B1 # UNIT VECTOR FOR
-WBY DEC 0 # GUIDANCE STEERING
-WBZ DEC 0
-6K14 DEC -15768B14 # RADAR RANGE RATE NULL
-TE1 DEC 0B18 # CSM EPOCH TIME MS.
-TL1 DEC 0B18 # LEM EPOCH TIME MS.
-
-# Page 12
-6K6 DEC -.001B-8 # Y-VELOCITY FILTER WEIGHT
-5K20 DEC 0B-2 # RD3DOT LOWER LIMIT
-TE2 DEC 0 # CSM EPOCH TIME LS.
-TL2 DEC 0 # LEM EPOCH TIME LS.
-2K11 DEC 6000B13 # VF IF OVERFLOW
-4K6 DEC 80.B13 # RFDOT UPPER LIMIT
-DAXA DEC 0B-6 # ALIGN INCREMENTS
-DAYA DEC 0
-DAZA DEC 0
-DISC1 DEC 0 # DISCRETE WORD
-1K18 DEC .003125B-8 # ACCEL SCALE FACTOR
-1K20 DEC .003125B-8
-1K22 DEC .003125B-8
-1K14 DEC 0B-14 # X-AXIS MASS UNBAL COMP
-1K19 DEC 0B1 # ACCEL BIAS
-1K21 DEC 0B1 # COMPENSATION
-1K23 DEC 0B1
-DSPSC DEC 0 # DISPLAY SHIFT COUNTER
-1K1 DEC 0B-13 # GYRO BIAS
-1K6 DEC 0 # COMPENSATIONS
-1K11 DEC 0
-DDEL DEC 0B0 # LUNAR ALIGN CORRECTION
-1K3 DEC 0B-7 # GYRO SCALE FACTOR
-1K8 DEC 0 # COMPENSATIONS
-1K13 DEC 0
-HRF DEC 0 # HIGH RATE FLAG
-A31S DEC 0B1 # RADAR NULL DIR COS
-A32S DEC 0
-A33S DEC 0
-4K4 DEC .004B-7 # FACTOR IN RFDOT(OI)
-5K14 DEC 0B-2 # RD3DOT UPPER LIMIT
-5K16 DEC .01B-2 # YD3DOT UPPER LIMIT
-DLWN DEC 0 # DOWNLINK WORD COUNTER
-DEL32 DEC 0 # DOWNLINK INITIALIZE FLAG
-6K8 DEC .22B10 # RANGE RATE ERROR VARIANCE
-# (ADDR OF 6K8 MUST END IN 4)
-6K9 DEC .3029E-4B-4 # VARIANCE OF RADAR ANGULAR ERROR
-
-# Page 13
-6K10 DEC .625E7B28 # RANGE ERROR VARIANCE
-DSPF1 DEC 0 # DISPLAY FLAG1.
-ID1F DEC 0 # DOWNLINK ID RECEIVED
-DEL31 DEC 0 # DOWNLINK INPUT COMPLETE
-FLAGT DEC 0 # MEMORY TEST
-FLAG1 DEC 0 # 20MS BRANCH CONTROL
-DEL2 OCT 0 # STAGED FLAG.
-DEL5 OCT 0 # ATTHLD LOCK FLAG.
-PI DEC 3.14159266B3
-6K13 DEC -1.59286B1 # RADAR RANGE RATE TO FPS AT 13
-DVGXX DEC 0B13 # VEL TO GAIN IN EXT DELTA V
-DVGXY DEC 0
-DVGXZ DEC 0
-DEL20 DEC 0 # LOGIC FLAG FOR ENG CONTROL
-DEL21 OCT 0 # LUNAR SURFACE FLAG.
-2J DEC 1.9970B7 # COTAN OF DESIRED LOS AT TPI
-DEL42 OCT 0 # LUNAR ALINE COMPLETE FLAG
-DEL45 EQU DEL42 # RR RANGE/RANGE RT. UPDATE FLAG
-K55 OCT 377777 # S.F. FOR HDOT DISPLAY
-MU3 DEC 0 # P-ITER COUNTER.
-RD3DTL EQU MU3 # RD3DOT LOWER LIMIT
-5K17 DEC -.01B-2 # YD3DOT LOWER LIMIT
-MU6 DEC 0 # STAGING COUNTER
-1K37 DEC 15.B17 # ACCEL CAL DURATION
-MU8 DEC 0 # ULLAGE COUNTER
-MU10 DEC 0 # GYRO CALIBRATE DURATION
-1K9 DEC 5.0B17 # ULLAGE COUNTER LIMIT
-1K30 DEC 150.B17 # GYRO CALIBRATE DURATION
-2K17 DEC 5.B17 # NO OF P-ITERATIONS-3
-MU19 DEC 0 # MARK COUNTER
-4K23 DEC 62.0B17 # STAGING TIME DELAY
-S623 DEC 0B3 # EX SELECTION IN G. S
-1K4 DEC .1B0 # DISPLAY INTERPOLATION
-1K24 DEC .87E-3B1 # SINGULARITY THRESHOLD
-1K26 DEC -.142857E3B8 # NEG INV OF ALIGN GAIN CONSTANT
-1K27 DEC .435E-1B-4 # ALIGN CONSTANT
-1K28 DEC 107.78396B7 # ALIGN CONSTANT
-
-# Page 14
-1K29 DEC .001B-4 # LUN ALIGN STOP CRITERION
-1K33 DEC .08B-3 # CALIBRATE GAIN
-1K34 DEC .00002B-15 # CALIBRATE GAIN
-1K35 DEC .25B7 # ACCEL BIAS THRESHOLD
-1K36 DEC -.66667E-3B0 # ACCEL CAL GAIN
-2K1 DEC .173189E15B48 # GRAVITY CONST (LUNAR)
-2K2 DEC .57740387E-14B-47 # 1/2K1
-6J1 DEC .3358E-8B-14 # LUNAR ROT RATE ABOUT X-REF
-6J2 DEC -.53039E-7B-14 # LUNAR ROT RATE ABOUT Y-REF
-6J3 DEC .3052E-8B-14 # LUNAR ROT RATE ABOUT Z-REF
-B13SF DEC .10416666B0 # .01 MIN TO SEC AT 13
-SDVX DEC 0B1 # DV SUM FOR ACCEL CAL
-SDVY DEC 0 # (ADDR OF SDVX MUST END IN 4)
-SDVZ DEC 0
-MU7 DEC 0B17 # CALIBRATION COUNTER
-7K2 DEC 2B17 # NOISEIN P-MATRIX DIAGONALS
-B13VSF DEC .625B0 # .1 FPS TO FPS AT 13
-B3SF DEC .34971155B0 # .01 DEG TO RAD AT 3
-B23RSF DEC .10533045B0 # .1 NMI TO FT AT 23
-4K2 DEC -.50204E-4B-12 # FACTOR IN TB COMP
-4K3 DEC .16803E-8B-25 # FACTOR IN TB COMP
-B22RSF DEC .5266522B0 # .01 NMI TO FT AT 22
-BACCSF DEC 0.762939B0 # .001 FT/SEC2 TO FPS/20MS AT 1
-4K34 DEC 1.B7 # AT LOWER LIMIT
-4K35 DEC .1B7 # ULLAGE THRESHOLD
-4K10 DEC -317438.91B20 # TERM IN AL(O.I.)
-SUMLIM DEC 0 # LAST CELL FOR CHECKSUM
-WORDS DEC 28
-B18SF DEC .333333B0 # .1 MIN TO SEC AT 18
-4K21 DEC .26179938B2 # SC FACTOR FOR ATT ERR OUTPUT
-M25B16 DEC -25.B16 # CYCLE COUNT TO SECONDS
-DTB DEC 1.25B1 # 1 SEC + DEDA TIME BIAS
-ID DEC 0 # CURRENT DOWNLIST ID CODE
-DLWNL STO 1J1+15 # END OF DOWNLINK BUFFER
-11J DEC -624599.84B20 # RETARGET VALUE FOR 4K10
-2K4 DEC -.173189E15B48 # (-2.)(2K1) B49
-KDT DEC 1.B1 # DELTA T/2 AT 1
-
-# Page 15
-BM13SF DEC .96049535B0 # .01 DEG/HR TO RAD/20MS AT -13
-B23SF DEC .64B0 # 100 FT TO FT AT 23
-# THE FOLLOWING 16 PARAMETERS HAVE
-# VARIABLE SCALING. INITIAL SCALING IS INDICATED.
-P11 DEC .1E9B30 # VARIANCE OF X-POS ERROR
-P12 DEC 0B30 # COVARIANCE OF X AND Y POS ERROR
-P13 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR
-P14 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR
-P21 DEC 0B30 # COVAR OF X AND Z POS ERROR
-P22 DEC .1E9B30 # VARIANCE OF Z-POS ERROR
-P23 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR
-P24 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR
-P31 DEC 0B20 # COVAR OF X-POS AND X-VEL ERROR
-P32 DEC 0B20 # COVAR OF Z-POS AND X-VEL ERROR
-P33 DEC .1E3B10 # VARIANCE OF X-VEL ERROR
-P34 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR
-P41 DEC 0B20 # COVAR OF X-POS AND Z-VEL ERROR
-P42 DEC 0B20 # COVAR OF Z-POS AND Z-VEL ERROR
-P43 DEC 0B10 # COVAR OF X-VEL AND Z-VEL ERROR
-P44 DEC .1E3B10 # VARIANCE OF Z-VEL ERROR
-VRSH STQ SREX2
- LRS 0
- TRA SREX2
-TMID DEC 0 # TELEMETRY ID
-SFLO OCT 000026
-PMAXP OCT 377777 # COUNTS AT 17
-ORBRET TRA DX10P # RETURN FROM NORTON IN O.I.
-DEDASC DEC 0 # DEDA SHIFT COUNTER
-#
-#
-EX36P STQ DEL10
-# SAVE QUANTITIES FOR LATER USE IN
-# T/B COMPUTATIONS
- STO V6Z
- CLA TS12
- STO V6X
- CLA TS13
-
-# Page 16
- STO V6Y
- CLA TI
- SUB 4J
- TRA DXFR14-2
-RREX CLA TS0 # VARIABLE ADDRESS LOAD, MULTIPLY
-RREX1 MPY TS0 # AND STORE FOR MATRIX MULTIPLY
- DVP 1B3 # ROUTINE (MXM) -- PERFORMS
- ADZ TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K)
-RREX2 STO TS0
- STO TR8 # C(I,J)=C(I,J)+A(K,I)*B(J,K)
- CLA RREX
- ADD TR4 # INCREMENT CLA
- STO RREX
- CLA RREX1
- ADD 1B17 # INCREMENTY MPY
- STO RREX1
- AXT 2,1 # INCREMENT AND TEST INDEXES
- CLA I,1
- ADD 1B17
- STO I,1
- SUB TR4,1
- TMI R1+1
- TIX *-5,1
- CLA TR6 # REARRANGE DIMENSIONS AND
- STO TR4 # ADDRESSES ON EXIT TO SAVE
- CLA TR3 # STEPS IN FILTER
- STO TR1
- AXT 7,1
- TRA PP # EXIT MXM
-DIAK1 OCT 377363 # TEST FOR DEDA ENTRY INTO 415
-DIAK2 OCT 377401 # TEST FOR DEDA ENTRY INTO 377
-6K8S DEC .22B10 # WORKING VALUE OF 6K8
-# (ADDR OF 6K8S MUST END IN 4)
-6K9S DEC .3029E-4B-4 # WORKING VALUE OF 6K9
-6K10S DEC .625E7B28 # WORKING VALUE OF 6K10
-6K6S DEC 0 # WORKING VALUE OF 6K6
-#
-
-# Page 17
-#
- ORG 1000
-CLADD DEC 0 # PICKUP DEDA DATA
- TRA ROR
-RND STQ SREX # DIRECTION COSINE ROUND
- ADD 1B9
- LRS 9
- TRA SREX
-TMCLA CLA 0324 # CLA FOR TELEM
-TCLTH CLA 1005
-DLSTO STO 1J1-1
-IC1BR TRA IC1 # IC1 TRA.
-BR1 TRA NAV1P
-DEDABR TRA DEDAE # DEDA BRANCH TRA.
-BR50 TRA EXEC2 # BRANCH 50 TRA.
-#
-# HARDWIRE ESCAPE POINTS
-#
-EXIT1 TRA EX1+1
-EXIT2 TRA UBCOMP
-EXIT3 TRA ADDMS
-EXIT4 TRA EX4+1
-EXIT5 TRA PGNSDE
-EXIT6 TRA TME
-EXIT7 TRA PGNSD1+5
-EXIT8 TRA EX8+1
-EXIT9 TRA TVTG
-EXIT10 TSQ SOFT1
-EXIT11 TSQ SOFT1 # ASCENT ENG ON
-EXIT12 TRA AHE1
-EXIT13 TRA EROUT+1
-EXIT14 TSQ SOFT2
-EXIT15 TRA LUNAL1 # GAIN CHANGE
-EXIT16 TRA EX16+1
-EXIT17 TRA FDAI1
-EXIT18 TRA NOC
-EXIT19 TRA DELAY
-
-# Page 18
-EXIT20 TRA DLDC
-EXIT21 TRA TIMEA
-EXIT22 TRA IDLE-1
-O25C OCT 377747 # TEST FOR TM RESET
-EXIT23 CLZ VD1X
- CLZ VD1Y
- CLZ VD1Z
- TRA NAV3
-EXIT24 TRA NAV2
-EXIT25 TRA NAV3
-SINITC CLA 4K27
- STO VD1X
- STO VDX
- TRA EXEC1+7
-EXIT26 TRA XDVS
-EXIT27 TRA EX27+1
-EXIT28 TRA EX28+1
-STGCTR CLZ MU6 # STAGING DELAY COUNTER
- ADD 1B17
- STO MU6
- TRA AHE
-EXIT29 TRA EX29+1
-CLATAB CLA SFTAB-1 # CLA FOR DEDA SF TABLE
-EXIT30 TRA EX30+1
-EXIT31 TRA ALTUP
-EXIT32 TRA LMORB2
-EXIT33 TRA EX33P
-EXIT34 TRA EX34P
-EXIT35 TRA EX35
-EXIT36 TSQ EX36P
-EXIT37 TRA EX35+1
-EXIT38 TRA Q5
-EXIT39 TRA EXECM
-EXIT40 CLZ S0 # SOFT INITIALIZE
- CLZ DEL5
- CLZ FLAGT
- AXT 7,1 # ZERO S SWITCHES
-
-# Page 19
- CLZ S10,1
- TIX *-1,1
- TRA SINITC # CONTINUE INITIALIZE
-EXIT41 TRA DSP1
-EXIT42 TRA DSP2CP
-EXIT43 ADD O25C # CHECK FOR TM RESET
- ABS
- TMI TMIE1 # -- RESET TM AT 25 CYCLE
- TRA EXEC1+4 # NOT 25TH CYCLE
-IDAI OCT 077776 # AGS INITIALIZE DOWNLIST ID
-IDRP OCT 077775 # REND./PRETHRUST DOWNLIST ID
-EXIT44 TRA EX44+1
-EXIT45 TRA EX45+1
-EXIT46 TRA EX46+1
-EXIT47 TRA DEXIT
-EXIT48 TRA CLEARM+1
-EXIT49 TRA SFTEST
-EXIT50 TRA EX50+1
-EXIT51 TSQ DIAT
-EXIT52 TRA EXEC+1
-EXIT53 TRA EXEC+1
-DLWNLC STO 1J1+15 # DLWNL PROTECTION
-ADDMS AXT 2,1
- CLA TS10,1
- ABS
- ADD MS
- TIX *-3,1
- TRA EX3+1
-EX34P CLZ DEL10
- TMI EX33PP+1
- TRA EX34+1
-THEF CLA RF
- LRS 1 # B24
- ADZ TS3
- LDQ TS4
- STO TS4 # =RF+RX B24
- STQ TS3 # =RZ B24
-
-# Page 20
- TSQ ARCTAE
- STO TS0 # THETAF B8
- SUB PI
- TMI *+2
- SUB 2PIB3
- ADD PI
- STO THETAF # THETAF B3
- CLA TS0 # B3
- SUB 2PIB3
- MPY M1B1 # B4
- DVP NI
- ADD TI # B13
- TRA DXFR14-2
-TMIE1 TSQ TMIE2 # INITIALIZE TELEMETRY
- CLA S12
- ADD MU8
- STO MU8S12 # SAVE MU8/S12 FOR TM
- SUB 3B3 # TEST FOR SELF TEST FAILURE
- TMI *+2
- OUT 6410 # SET FAILURE INDICATOR
- TRA DELAY # END MAJOR CYCLE
-#
-# DEDA SCALE FACTOR LOCATOR TABLE
-# SCALE FACTORS MUST REMAIN AT LOCS IN COMMENTS
-# FORMAT OF TABLE IS, BIT 0=1 TABLE EXCEEDED,
-# BITS 1-9 LAST ADDRESS OF DEDA SCALE FACTOR REGION
-# BIT 10=1 FOR OCTAL REGION, BITS 11-17 ADDRESS OF
-# SCALE FACTOR RELATIVE TO LOCATION 636
-SFTAB OCT 075200 # OCT LOC 026-172,OCT
- OCT 125441 # OCT LOC 173-253,DEC,SF AT 677
- OCT 127427 # OCT LOC 254-257,DEC,SF AT 665
- OCT 134413 # OCT LOC 260-271,DEC,SF AT 651
- OCT 137027 # OCT LOC 272-276,DEC,SF AT 665
- OCT 142414 # OCT LOC 277-305,DEC,SF AT 652
- OCT 145405 # OCT LOC 306-313,DEC,SF AT 643
- OCT 146415 # OCT LOC 314-315,DEC,SF AT 653
- OCT 147420 # OCT LOC 316-317,DEC,SF AT 656
-
-# Page 21
- OCT 157415 # OCT LOC 320-337,DEC,SF AT 653
- OCT 164441 # OCT LOC 340-351,DEC,SF AT 677
- OCT 174413 # OCT LOC 352-371,DEC,SF AT 651
- OCT 177427 # OCT LOC 372-377,DEC,SF AT 665
- OCT 200600 # OCT LOC 400-401,OCT
- OCT 202415 # OCT LOC 402-405,DEC,SF AT 653
- OCT 207600 # OCT LOC 406-417,OCT
- OCT 241413 # OCT LOC 420-503,DEC,SF AT 651
- OCT 257600 # OCT LOC 504-537,OCT
- OCT 261421 # OCT LOC 540-543,DEC,SF AT 657
- OCT 263040 # OCT LOC 544-546,DEC,SF AT 676
- OCT 305600 # OCT LOC 547-613,OCT
- OCT 311067 # OCT LOC 614-622,DEC,SF AT 725
- OCT 342200 # OCT LOC 623-704,OCT
-# THE ABOVE 23-PLACE TABLE MUST BE FOLLOWED
-# BY A WORD WITH BIT 0 SET
-#
-# ORBIT ALIGN COMPUTATIONS
-#
-ORBLIN AXT 6,1
- CLZ A11,1
- CLZ DA11,1 # ZERO REMAINDERS
- TIX *-2,1
- CLA 1B1
- STO A11
- STO A33
- TRA COA21-2
-#
-# MASS UNBALANCE COMPENSATION
-#
-UBCOMP MPR 1K14 # (DVX)(1K14) 1+(-14)=-13
- ADZ DAXREM
- STO DAXREM
-#
-# 20MS MODE CHECK.
-#
-MODCK CLA S0 # CHECK FOR ALIGNMENT
-
-# Page 22
- SUB 3B3 # SUBMODES
- TMI GYCOM-2 # -- IS INERT REF
- SUB 1B3
- TMI ZNOC # IMU ALIGN
- SUB 1B3
- TMI GYCOM-2 # -- IS LUNAR ALIGN
- SUB 1B3
- TMI ORBLIN # ORBIT ALIGN
- AXT 2,1 # CALIBRATE MODE
-CALIB1 CLA DEL21
- TMI *+5 # -- LM IS ON LUNAR SURFACE
- CLZ SDVX,1 # SUM BODY AXIS VEL
- ADD DVX,1 # INCREMENTS SINCE START OF ACC.
- STO SDVX,1 # BIAS CALCULATIONS
- TRA CALIB2
- CLA A11,1 # LUNAR CAL., COMPENSATE COMP.
- MPR 6J1,1 # OF VEH ROT. FOR LUNAR ROTATION
- ADZ DAXREM # 1+(-14)=-13
- STO DAXREM # A11 DOT 6J1
- CLA A21,1
- MPR 6J1,1
- ADZ DAYREM
- STO DAYREM # A21 DOT 6J1
- CLA A31,1
- MPR 6J1,1
- ADZ DAZREM
- STO DAZREM # A31 DOT 6J1
-CALIB2 TIX CALIB1,1
- TRA GYCOM-2
-#
-# DEDA MODE SELECTION
-#
-DEDAE CLZ CLEARP
- TMI CLEARM # SET CLEAR
- CLA CMF
- TMI RPT # CLEAR MODE
- CLA RMF
-
-# Page 23
- TMI HET # READOUT IN PROGRESS
- CLA HMF
- TMI RRT # HOLD IN PROGRESS
-DEXIT AXT 3,1 # NORMAL EXIT
- TRA *+4
-CLEARM STO CMF
- INP DEDA
- AXT 5,1 # CLEAR EXIT
- CLZ READP,1 # RESET FLAGS
- TIX *-1,1
- CLZ TMPBR # SET BRANCH FOR NEXT
- STO BRANCH # GUIDANCE CYCLE
- CLA 1B11 # INITIALIZE COUNTER
- STO DEDASC
- TRA DSP1 # TO DISPLAY
-RPT CLZ READP # TEST FOR
- TMI RME # READOUT MODE
- CLZ ENTERP # OR ENTER MODE
- TMI RME+1 # ENTRY.
- TRA DEXIT # EXIT
-HET CLZ HOLDP # READOUT TEST FOR
- TMI *+2 # HOLD COMMANDED
- TRA ADOUT # TO OUTPUT ROUTINE
- STO HMF # SET HOLD MODE
- CLZ RMF
- TRA DEXIT
-#
-# DEDA SCALE FACTOR SELECTION
-#
-SFTEST SUB SFLO
- TMI CLEARM+1 # -- IF OCT LOC BELOW 0026
- CLA CLATAB # INITIALIZE FIRST TABLE VALUE
- STO VRSH+1 # STORE CLA INSTRUCTION
- CLA VRSH+1 # INCREMENT CLA INSTRUCTION
- ADD 1B17 # ADDRESS
- STO VRSH+1
- TSQ VRSH
-
-# Page 24
- TMI CLEARM+1 # -- IF OCT LOC ABOVE 704
- LRS 8 # EXAMINE BITS 1-9 OF VALUE
- SUB ADST # -- IF OCT LOC ABOVE VALUE,
- TMI *-7 # CHECK NEXT VALUE IN TABLE
- LLS 18 # RECOVER BITS 10-17 OF THIS VAL
- TMI NOTDD # -- IF OCT REGION, NO SF REQ
- LRS 10 # SCALE BITS 11-17 OF VAL
- ADD TBRAKE # CONSTRUCT INSTRUCTION TO OBTAIN
- STO VRSH+1 # SCALE FACTOR FOR THIS REGION
- TSQ VRSH # OBTAIN SF FOR THIS REGION
- STO SF # SET SCALE FACTOR
- TRA DDIN # TO INPUT ROUTINE
-DIAT AXT 1,1 # IMMEDIATE ACTION TEST
- CLA ADST # IMMED. ACTION IF
- ADD DIAK1,1 # ACCUMULATOR = 400000
- ABS
- TMI *+4
- TIX DIAT+1,1
- STQ DDF
- TRA DEXIT
- TIX ATI,1
- LDQ *-2 # SET RETURN TO DEXIT
- AXT 2,1
- CLA RRX,1 # SAVE RANGE FOR FILTER
- STO RRSX,1
- CLA A31,1 # STORE DIRECTION COSINES
- STO A31S,1
- TIX *-4,1
- CLA RRDOT
- STO RDOTS
- TRA EXIT
-#
-# DOWNLINK FORMATTING
-#
-DLDC AXT 2,1
- CLZ 0244,1 # LEM VEL
- STO 1J4,1
-
-# Page 25
- CLZ 0250,1 # CSM POS
- STO 2J1,1
- CLZ 0254,1 # CSM VEL
- STO 2J4,1
- TIX DLDC+1,1
- CLZ 0247
- LRS 14
- ADZ 0243
- STO 1J7
- STQ 1J7LS
- STO 2J7
- STQ 2J7LS
- TSQ CSMPV
- TRA IC1+3
-#
-# DELTA V ACCUMULATION AND THRUST VEL TO GAIN.
-#
-TVTG AXT 2,1
- CLA DVX,1 # 1
- LRS 1 # TO 2
- ADZ VD2X,1
- STO VD2X,1
- CLA DVXM1,1
- LRS 1 # TO 2
- ADZ VD2X,1
- STO VD2X,1
- LRS 11 # TO 13
- STO TS1
- ALS 11
- COM
- ADZ VD2X,1
- STO VD2X,1 # REMAINDER AT 2
- CLA VD1X,1 # DV EXPENDED MS.
- ADZ TS1
- STO VD1X,1 # VD1 AT 13
- COM
- ADD VSMGX,1 # VSMG-VD1
-
-# Page 26
- STO DELVGX,1 # THRUST VEL TO GAIN
- CLZ EX,1
- TIX TVTG+1,1
- TRA EX9+1
-#
-# SOFT 40MS COMPUTATIONS
-#
-SOFT1 CLA S0 # TEST MODE
- SUB 3B3
- STO TS1 # SAVE
- TMI IR # -- IS INTERT. REF.
-ZERR CLA ZERO
- OUT 6007 # ZERO ATTITUDE ERRORS
- CLZ DEL5 # RESET ATT HOLD INIT FLAG
- CLZ TS1
- TMI ENCOM1 # -- IS INERTIAL REF
- SUB 1B3
- TMI SOFT3
- SUB 1B3
- TMI LUNAL
-SOFT3 OUT 7040 # RESET ENG ON
- OUT 6420 # SET ENG OFF
- CLA ZERO # SET ENG TM FLAG PLUS
- ADD S10
- STO EONS10
- TRA FDAI # TO ATTITUDE DISPLAY
-ENCOM1 CLA DISC1 # FOLLUP ENG. COMMANDS
- LLS 5
- TMI *+4 # -- DESCENT ENG ON
- LLS 1
- TMI *+2 # -- ASCENT ENG ON
- TRA SOFT3 # ENG OFF
- OUT 7020 # RESET ENG OFF
- OUT 6440 # SET ENG ON
- CLA MS # SET ENG TM FLAG NG
- TRA SOFT3+3
-IR CLA S11 # TEST FOR AUTO RADAR DATA
-
-# Page 27
- ALS 3
- TMI RADCK
- STO DEL44 # SET/RESET CODE WORD FLAG
-IR4 CLA DISC1
- ALS 3
- TMI IR1 # -- IS FOLLOWUP
- ALS 1
- TMI IR2 # -- IS AUTOMATIC
- STQ DEL20
- TRA AHE # TO ATT HOLD
-IR1 CLA DISC1C
- ALS 4
- TMI ZERR # PLUS IS AUTOMATIC
- CLZ DEL5
- STQ DEL20
- TRA MODE
-RSTE CLA S623
- ALS 3
- TMI *+3
- CLA WCX,1
- TRA *+2
- CLA WBX,1
- MPR A31,1
- COM
- ADZ EX
- STO EX
- TIX RSTE,1
-RST1 TRA RST
-IR2 ALS 4
- TMI IR3 # -- IS ABORT STAGE
- CLA DEL21 # IF ON LUNAR SURFACE
- TMI ZERR # OUTPUT ZERO ATT ERRORS
- CLA DISC1
- ALS 7
- TMI MODE # -- IS ABORT
- TSQ IR1+4
-IR3 CLA DEL21
-
-# Page 28
- TMI AHE
- CLA DISC1C
- ALS 6
- TMI MODE
- CLA MU6
- SUB 4K23
- TMI STGCTR # STAGING ATT HOLD
-MODE CLA S0 # TEST STEERING MODE
- SUB 1B3
- TMI AHE # ATT HOLD
- AXT 2,1
- SUB 1B3
- TMI RSTE # RENDEZVOUS STEERING
- CLZ DEL5 # ACQUISITION STEERING
-MODE1 CLA WCX,1
- MPR A11,1
- ADZ EZ
- STO EZ
- CLA S507 # ORIENT LM Z-BODY ASIX
- SUB 1B3 # IN DESIRED THRUST DIR.
- TMI *+3 # OR ESTIMATED CSM DIR.
- CLA A11BD,1
- STO A31BD,1
- CLA A31BD,1
- MPR A11,1 # XB
- ADZ EY
- STO EY
- CLA A31BD,1 # ZBD
- MPR A21,1 # YB
- COM
- ADZ EX
- STO EX
- TIX MODE1,1
- TRA EROUT
-SOFT2 CLZ DEL20 # FIRST TIME FOLLOW
- TMI ENCOM1 # PREVIOUS ENGINE STATE
- CLA S0 # IF NOT GUIDANCE STEERING
-
-# Page 29
- ALS 3 # TURN ENGINE OFF
- TMI *+2
- TRA SOFT3
- CLA MU8 # TEST FOR ULLAGE
- SUB 1K9
- TMI SOFT3
- CLA 4K25 # TEST CEL TO BE
- SUB DELVGX # GAINED GREATER THAN
- TMI ENCOM1+6 # SHUTDOWN THRESHOLD
- CLA 4K26
- SUB VG
- TMI ENCOM1+6
- CLZ S0 # SET ATT HOLD
- TRA SOFT3
-RADCK STQ DEL32 # REINITIALIZE DOWNLINK
- CLA IDRP # SET DOWNLIST ID TO REND/PRETHRJ
- STO ID
- CLA DEL46 # IS CODE WORD RESET
- ALS 1
- ABS
- TMI IR+3
- ADD 1B12 # IS CODE WORD SET
- ABS
- TMI *+2 # YES IF NEGATIVE
- TRA IR4
- CLZ DEL44 # HAS CODE WORD BEEN RESET
- TMI *+2 # PRIOR TO BEING SET
- TRA IR4 # NO
- TOV *+1
- AXT 1,1 # IF SHAFT OR TRUNNION
- CLA THETAR,1 # ANGLE IS GREATER
- ALS 4 # THAN 11.2 DEG, THEN
- TOV IR4 # DO NOT PROCESS
- TIX *-3,1
- CLZ DEL45 # ALTERNATE RANGE, RATE
- TMI IR6
- STQ DEL45
-
-# Page 30
- CLZ RM # RANGE ENTRY
- LRS 18
- CLZ DEL46 # TEST FOR HIGH SCALING
- TMI *+2
- LRS 3 # LOW SCALE
- LLS 17
- MPR 6K12 # COUNTS TO FEET AT 22
- STO 18J
- TRA *+5
-IR6 CLZ RMDOT # RANGE RATE ENTRY
- SUB 6K14 # NULL AT 17000
- DVP 6K13 # COUNTS TO FT/SEC AT B13
- STO 17J
- TSQ DIAT+10 # SAVE REL RNG VECT, REL VEL
- AXT 2,1
-IR5 CLA A21,1 # B1, ADJUST Z BODY FOR SHAFT
- MPR THETAR # B1+B0=B1, AND TRUNNION ANGLES
- DVP 6K11 # B1-B0=B1
- STO A31S,1 # B1
- CLA A11,1 # B1
- MPR BETAR # B1+B0=B1
- DVP 6K11 # B1-B0=B1
- SUZ A31S,1 # B1
- ADD A31,1
- STO TS14,1 # XB*BETAR/6K11-YB*THETAR/6K11+ZB
- TIX IR5,1
- TSQ NORMV
- AXT 2,1
- CLZ TS10,1 # MOVE NORMALIZED DIRECTION
- STO A31S,1 # INTO ZB*
- TIX *-2,1
- TRA 4711 # EXIT TO DEDA DISCRETE SAMPLING
-LUNAL1 CLZ DAYA # CHANGE GAIN
- LRS 2 # 1/4
- STO DAYA
- CLZ DAZA
- LRS 2
-
-# Page 31
- STO DAZA
- TRA SOFT3
-#
-# START OF NAVIGATION
-#
-NAV1P CLA DEL21
- TMI NAV1 # -- IS ON LUNAR SURFACE
- CLA VD1X # COMPUTE THRUST ACCEL
- SUB VDX # 13
- ALS 5 # 1/2(VD1-VD) AT 7
- TRA 5166 # TO HARD NAV
-XDVS AXT 2,1
- CLA DVSX,1
- ADD 1B12
- LRS 6
- ADZ DQSX,1
- STO DQSX,1
- CLA VD1X,1
- STO VDX,1
- TIX XDVS+1,1
- TRA NAV4
-ALTUP TSQ EXEC
-#
- AXT 2,1
- CLA REX,1 # SAVE REX FROM FILTER
- STO VIX,1 # SCRATCH MATRIX C AREA
- CLA 25J # ALTITUDE ENTRY TEST
- SUB 1B17
- TMI FLTR # IF NO 25J ENTRY
- CLA 25J
- ADD 5J
- STO R # R=5J+25J
- MPY U1X,1
- LLS 1
- STO RX,1 # NEW R COMPONENTS
-#
-# RANGE AND RANGE RATE COMPUTATIONS
-
-# Page 32
-#
-FLTR CLA RCX,1 # RELATIVE RANGE
- SUB RX,1
- STO RRX,1
- STO TS4,1
- TIX ALTUP+2,1
- CLZ 25J
- TSQ DPVMAG # DP COMP OF RR MAG
- ALS 1
- STO RR # B22 RANGE VECTOR MAG
- CLA 2K1 # 48
- LRS 5 # 53
- DVP R # 30
- DVP R # 7
- DVP R # -16
-DAD STO D11 # 2K1/R**3 B-16
- AXT 7,1
- CLZ C11,1 # ZERO PHI,M
- CLZ C31,1
- TIX *-2,1
- CLZ RRDOT # ZEROED FOR SUM
- AXT 2,1
-FLTRA CLA RRX,1
- DVP RR
- STO A31BD,1 # B1 UNIT POINTING VECTOR
- CLA VCX,1 # B13
- SUB VX,1
- STO TS4,1 # B13 RANGE RATE CSM-LM
- MPR A31BD,1
- ALS 1
- ADZ RRDOT
- STO RRDOT
- CLA U1X,1
- MPR U1X,1 # B2
- MPR 3B3
- SUB 1B5
- MPR D11
-
-# Page 33
- STO C31,1 # ADT,JDT AT B-7
- CLA 4B17
- STO TR4,1 # SET UP DIMENSION FOR MXM
- TIX FLTRA,1
- LDQ 1B3 # COMMON SETUP OF PHI AND M
- STQ C11
- STQ C22
- STQ C44
- CLA PAD # COMMON ADDR SETUP FOR
- STO TR1 # PHI*P*PHI(T) AND M*P*M(T)
- CLA CAD
- STO TR2
- CLA DEL21 # BYPASS FILTER IF ON SURFACE TO
- TMI FLTRX # AVOID CONFLICT WITH D44, SIDELL
-#
-PUPDAT CLZ MU17 # ZERO MU17 IF FILTER TIME
- ADD 1B3
- TMI FLTRTM
- STO MU17
-FLTRD CLA 17J
- ABS
- SUB 1B17
- TMI FLTRH # NO RATE CHECK RANGE
-RATE CLZ 17J
- SUB RDOTS
- STO DELR1 # B13
- AXT 2,1
-FLTRE CLA RRDOT # B13
- MPR A31BD,1 # B14
- DVP M1B1
- ADD TS4,1 # B13
- MPY 1B2 # SCALE AT B15
- DVP RR # B22
- STO C11,1 # M11 AT B-7
- CLA A31BD,1 # B1
- LRS 2
- STO C12,1 # M14 AT B3
-
-# Page 34
- TIX FLTRE,1
- LDQ C13
- CLA C12
- STQ C12 # M12 AT B-7
- STO C13 # M13 AT B3
- CLZ C22 # M22 (M21,M23,M24 ALREADY ZERO)
- CLA 6K8S # B10
- STO 18J # N11,(N12=C42=0,N22=C44=1B3)
- CLA 1B17
- TRA FLTRJ
-#
-#
-FLTRH ADD 18J # CHECK RANGE
- TMI FLTRX
-RANGE AXT 2,1
-FLTRI CLA A31S,1 # ZB B1
- MPR 18J # B22
- SUB RRSX,1
- STO DELR1,1 # B23
- CLA RRX,1
- MPR RRX,1 # B46
- MPY 6K9S # B42
- LLS 12 # B30
- STO TS0,1 # B30
- CLA A31BD,1 # B1
- MPR A31BD,1 # B2
- MPR 6K10S
- STO TS4,1
- TIX FLTRI,1
- ADZ TS2
- STO 18J # N11 AT B30
- CLA RRZ
- MPY TS0
- DVP RRX # B30
- STO C42 # -N12
- CLZ TS0
- ADZ TS6
-
-# Page 35
- STO C44 # N22
-# M IS ALREADY SET UP IN C11-C24
- CLA 6K5 # B0
- MPR DELR3 # B 23
- ADD RY # Y=Y+6K5*DELR3 B23
- STO RY
- CLA 6K6S # B-8
- MPY DELR3 # B15
- LLS 2 # B13
- ADD VY
- STO VY # VY=VY+6K6*DELR3
- CLA 6K6
- STO 6K6S # RESTORE GAIN AFTER 1ST PASS
- CLA 1000D
-FLTRJ ADZ MU19 # INCREMENT MARK COUNTER
- STO MU19
- CLA 2B17 # DIMENSION FOR MXM (OTHER DIM.
- STO TR6 # AND ADDR. ALREADY SET UP)
- CLA DAD
- TSQ MXM # RETURN WITH D=P(T)*M(T)
- CLA C31AD
- TSQ MXM # RETURN WITH Q IN C32-C34
- CLZ C42
- SUB C32
- STO C32 # QP12=QP21= -(Q12+N12)
- STO C33
- MPY C32
- LLS 3 # (QP12)**2 AT B57(ZERO FOR RATE)
-D31AD STO D31
- CLA C31
- ADZ 18J
- LRS 17
- CLA C34
- ADZ C44
-C31AD STO C31 # QP11=Q22+N22
- STQ C34 # QP22=Q11+N11
- MPY C34
-
-# Page 36
- LLS 3 # QP11*QP22 AT B57(B10 FOR RATE)
- SUB D31
-CAD STO C11 # DETERMINANT OF (Q+N) MATRIX
- CLA DAD
- STO TR2
- CLA 2B17
- STO TR5
- CLA 4B17
- STO TR6
- CLA D31AD
- TSQ MXM # RETURN WITH B(T)*C11 IN D31-D44
- CLA DELR1 # SETUP FOR TRICKY INDEXING
- STO C14
- CLA DELR2
- STO C24
-# INDEX IS LOADED IN MXM
- CLA D31,1 # AT B57,B47 (B20,B10 FOR RATE)
- MPY 1B3
- DVP C11
- STO D31,1 # B(T) AT B3,B-7(B13,B3 FOR RATE)
- MPY C14,1 # B(I,1)*DELR1 OR B(I,2)*DELR2
- LLS 3 # TO B23 OR B13
- ADZ C41,1 # LAST 4 TIMES THRU WILL ADD TO
- STO C41,1 # VALUES COMPUTED 1ST 4 TIMES
- TIX *-8,1
- CLA RX
- SUZ C41 # B(1,1)*DELR1+B(1,2)*DELR2
- STO RX
- CLA RZ
- SUZ C42 # B(2,1)*DELR1+B(2,2)*DELR2
- STO RZ
- CLA VX
- SUZ C43 # B(3,1)*DELR1+B(3,2)*DELR2
- STO VX
- CLA VZ
- SUZ C44 # B(4,1)*DELR1+B(4,2)*DELR2
- STO VZ
-
-# Page 37
- CLA CAD
- TSQ MXM # RETURN WITH B*M*P IN C11-C44
-# INDEX IS LOADED IN MXM
- CLA P11,1 # P=P-B*M*P
- SUZ C11,1
- STO P11,1
- CLA P31,1
- SUZ C31,1
- STO P31,1
- TIX *-6,1
- TRA FLTRX
-FLTRTM CLA C33 # FINISH SETUP OF PHI
- STO C42 # JDT
- STQ C33 # 1B3
- CLA U1X
- MPR U1Z
- MPR 3B3 # B5
- MPZ D11
- STO C32 # CDT AT B-7
- STO C41
- CLA 1B9 # DT AT B13
- STO C13
- STO C24 # NOW HAVE PHI IN C11-C44
- CLA DAD
- TSQ MXM # RETURN WITH D = P(T)*PHI(T)
- CLA PAD
- TSQ MXM # RETURN WITH P=D(T)*PHI(T), OR
-# P(NEW = PHI*P(OLD)*PHI(T)
- CLA P11 # ADD STATE NOISE TO DIAGONALS
- ADD 7K2
- STO P11
- CLA P22
- ADD 7K2
- STO P22
- CLA P33
- ADD 7K2
- STO P33
-
-# Page 38
- CLA P44
- ADD 7K2
- STO P44
- TSQ EXEC
- TOV *+1 # RESET OVERFLOW
- CLA SICO2+1 # ALS 2
- TSQ STEST # TEST FOR SCALING TOO LOW
- CLA CDCC+2 # LRS 1
- TOV RSHFT # NEED RIGHT SHIFT IF OVERFLOW
- CLA LRI+2 # ALS 3
- TSQ STEST # SEE IF SCALING DOWN IS POSSIBLE
- CLA GYCOM+2 # ALS 1
-RSHFT STO VRSH+1
- AXT 2,1
- CLA 6K8S,1
- TSQ VRSH
- TOV RVSAR # BYPASS RESCALING IF OVERFLOW IN
-# EITHER 2ND STEST OR ALS 1 6K10,
- STO 6K8S,1 # OTHERWISE SHIFT LEFT OR RIGHT 1
- TIX *-4,1 # 6K8,6K9,6K10 AND P MATRIX
- AXT 7,1
- CLA P11,1
- TSQ VRSH
- STO P11,1
- CLA P31,1
- TSQ VRSH
- STO P31,1
- TIX *-6,1
-RVSAR CLZ S17 # IS FILTER INIT. REQUESTED
- ALS 3
- TMI PINIT
- TRA FLTRX
-PINIT AXT 7,1 # INITIALIZE P MATRIX AND FILTER
- CLZ P11,1 # CONSTANTS
- CLZ P31,1
- CLA 6K8,1
- STO 6K8S,1 # THIS ALSO ZEROES 6K6S
-
-# Page 39
- TIX PINIT+1,1
- CLA 6K2
-PAD STO P11
- STO P22
- CLA 6K4
- STO P33
- STO P44
- CLZ MU19 # CLEAR MARK COUNTER
- CLZ DEL45 # MAKE RANGE THE FIRST UPDATE
-FLTRX TSQ EXEC
- TRA LMORB
-#
-# MATRIX MULTIPLY SUBROUTINE
-# PERFORMS C = A(T)*B(T) WHERE (T) INDICATES THE
-# TRANSPOSE OPERATION, EITHER WITH TR1 = ST0 A11
-# WHERE A11=ADDRESS OF 1ST ELEMENT OF A, TR2 = STO
-# B11, A = STO C11, TR4 = NO. OF COLUMNS IN A,
-# TR5 = NO. OF ROWS IN A, TR6 = NO. OF ROWS IN B,
-# THE RESULT MATRIX C WILL HAVE TR4 ROWS AND TR6
-# COLUMNS, ALL MATRICES ARE ASSUMED TO BE STORED
-# BY ROWS IN SEQUENTIAL LOCATIONS BEGINNING WITH
-# A11, A12, ..., A21, A22, ..., ETC.
-MXM STQ PP # SAVE RETURN ADDRESS
- STO TR3 # STORE ST0 C11 IN TR3
- SUB 1B17
- STO RREX2 # VARIABLE MATRIX ELEMENT STORE
- CLZ I
-R3 CLA TR2
- SUB 1B4 # FORM MPY FROM STO
- STO RREX1 # VARIABLE MULTIPLY
- CLZ J
- CLA DLSC # (D24)
- STO TI # TEMP. STORAGE TO SAVE D24
- TSQ EXEC
- CLA TI
- STO DLSC # RESTORE D24
-R2 CLA TR1
-
-# Page 40
- ADD I
- ADD STOCOM # FORM CLA FROM STO
- STO RREX # VARIABLE CLA
- CLA RREX2
- ADD 1B17 # INCREMENT STO INSTRUCTION
- STO RREX2
- CLZ K
- CLZ TR8 # TEMP. SUM
-R1 TRA RREX
- TIX *+2,1
- TRA R3
- TIX R1,1
- TRA R2
-# TEST FOR VARIABLE SCALING OF FILTER
-STEST STO VRSH+1
- STQ SREX3
- CLA RR # B22
- MPR RR # 22+22=44
- MPY 6K9S
- LLS 10
- TSQ VRSH
- AXT 7,1
- CLA P11,1
- TSQ VRSH
- CLA P31,1
- TSQ VRSH
- TIX *-4,1
- TRA SREX3
-LMORB2 SUB 5J # QL-5J AT B23
- STO QLTELE # PERIC. ALT
- CLZ TS7 # = VH SQ AT B26
- STO VHSQ # SAVE FOR ORB INS
- TSQ EXEC
-#
-ORBLM AXT 2,1
- CLA VIX,1 # RESTORE REX INTO FILTER
- STO REX,1 # SCRATCH MATRIX C AREA
-
-# Page 41
- CLA RX,1
- STO R0X,1
- CLA VX,1
- STO V0X,1
- TIX ORBLM+1,1
- TSQ ORBPM # COMPUTE LM ORBIT PARAMETERS
- CLA AI
- SUB 5J
- ALS 1 # MPY BY 2
- SUB QLTELE
- STO QA # LM APOFOCUS ALT. AT B23
- TSQ EXEC
-#
-#
- CLZ Y
- CLZ VY0
- AXT 2,1
-KINGK CLA RX,1
- STO RIX,1 # SAVE R FOR ORBIT INS.
- MPR WCX,1
- ALS 1
- ADZ Y
- STO Y # Y=(WCX)DOT(RX)
- CLA VX,1
- STO VIX,1 # SAVE V FOR ORBIT INS.
- MPR WCX,1
- ALS 1
- ADZ VY0
- STO VY0 # VY0=(WCX)DOT(VX)
- CLA WCX,1 # SET UP FOR CROSS
- COM # PRODUCT SUBROUTINE
- STO TS10,1 # WC X U1 = U1 X -WC
- CLA U1X,1
- STO TS4,1
- TIX KINGK,1
- TSQ CRSPRD
- TSQ NORMV # V1 VECTOR TO TSB
-
-# Page 42
- TSQ CRSPRD
- CLZ TS3
- CLZ TS4
- AXT 2,1
- CLZ TS10,1
- STO V1X,1 # V1 AT 1
- MPR A31,1
- ADD TS4 # TS4 = V1 DOT ZB AT B2
- STO TS4
- CLZ TS14,1
- ALS 1
- STO W1X,1
- CLA A31,1
- MPR U1X,1
- ADD TS3
- STO TS3 # TS3 = U1 DOT ZB AT B2
- TIX *-12,1
- TSQ ARCTAE
- STO XI
- TSQ EXEC # END OF LEM ORB PAR BRANCH
-#
-# GUIDANCE MODE CHECK
-#
-GM CLA S10
- ADD 5B3
- ABS
- TMI DXFR1 # TPI SEARCH
- ADD 1B2
- TMI *+5
- CLZ TDEL # TDEL=0
- CLA ORBRET # =TRA DX10P
- STO TSEX # SET UP RETURN FROM NORTON
- TRA NORTON+5
-# CSI,CDH,TPI EXECUTE, OR EXT DV
- CLA TIG # COMPUTE TDEL FOR
- SUB TA1 # CSI, CDH, OR TPI(S10=4)
- ALS 5
-
-# Page 43
- STO TDEL
-DXFR1 CLA TDEL
- LRS 5
- ADD TA1
- STO TIG
- CLZ TDEL # TDEL = OR GTR 0 AFTER TR CALC
- TMI *+2
- STO TDEL
- ADD 6J
- STO TR # TIME UNTIL RENDEZVOUS (TPI)
- CLA TDEL
-DXFR10 TSQ NORTON
-DX10P STO RF # PRED. BURNOUT ALTITUDE
- ADD 2K14
- STO P
- CLZ RADOT
- CLZ VPY
-DXFRR5 CLZ RIX,1 # R5 STORE
- STO R5X,1
- CLZ VIX,1
- STO TS14,1
- STO V5X,1 # V5 STORE
- MPR WCX,1
- ALS 1 # TO 13
- ADZ VPY # VPY = V5 DOT WC
- STO VPY
- CLZ TS10,1
- STO U1X,1 # U1 STORE
- MPR V5X,1 # RADOT = R5 DOT U1
- ALS 1 # TO 13
- ADZ RADOT
- STO RADOT
- CLA REX,1 # CSM POS AND VEL FOR
- STO R0X,1 # ELLIPSE PREDICTOR
- CLA VEX,1 # AND ORBIT PARAMETERS
- STO V0X,1
- TIX DXFRR5,1
-
-# Page 44
- TSQ NORMV
- CLA TS13
- STO VHA
- TSQ EXEC
-ORBIT3 TSQ ORBPM # CSM ORBIT PARAMETERS
- CLA TB
- SUB TCSM
- ADD TDEL # +TIME INC. TO DXFR
- TMI *+2
- SUB TCSM
- TSQ NORTON
-DXFR13 CLZ TS3
- CLA RIX,1
- SUB R5X,1
- STO VIX,1 # RC-R5
- CLA WCX,1
- STO TS4,1
- CLA U1X,1
- STO TS10,1
- MPR VIX,1 # U1 DOT (RC-R5)
- ADZ TS3 # SCALE BOTH RX AND RZ
- STO TS3 # AT 24 FOR ARCTAE
- TIX DXFR13+1,1
- TSQ CRSPRD
- TSQ NORMV
- CLZ TS4
-VRUP1 AXT 2,1
- CLA TS10,1
- STO V1X,1 # V1,NORM XPROD OF WC AND U1
- MPR VIX,1
- ADZ TS4
- STO TS4 # RZ AT 24
- TIX VRUP1+1,1
- CLA 1B1
- SUB S10
- TMI XDV-1 # EXT DELTA V
- ADD 6B3
-
-# Page 45
- TMI THEF # O.I., CSI, CDH
- CLZ 28J1 # COMPUE TPI VELOCITY
- CLZ 28J2 # IN LOCAL VERTICAL COORD.
- CLZ 28J3
- AXT 2,1
-DXFRA CLA V1X,1 # B1
- MPR VGX,1 # B1+B13=B14
- ALS 1 # B13
- ADZ 28J1
- STO 28J1
- CLA W1X,1 # B1
- MPY VGX,1 # B1+B13=B14
- DVP M1B1 # B13
- ADZ 28J2
- STO 28J2
- CLA U1X,1 # B1
- MPY VGX,1 # B1+B13=B14
- DVP M1B1 # B13
- ADZ 28J3
- STO 28J3
- TIX DXFRA,1
- TSQ ARCTAE # TLOS=ARCTAN(RX,RZ)
- STO TLOS # LINE OF SIGHT (DEDA)
- CLA TR
- SUB TDEL
- STO T
- CLA TB
- SUB TCSM
- ADD TR # TIME INC. TPI TO REND.
- SUB 3J # TARGET OFFSET
- STO TI
- TSQ EXEC
-DXFR14 CLA S10
- COM
- TMI CSMT1 # TO ELLIPX
-#
-# ORBIT INSERTION SECTION
-
-# Page 46
-#
- SUB VY0 # S10 EQUALS 0, ORBIT INSERTION
- MPR VY0
- ADD VHSQ # VH SQ
- TSQ SQRTE
- STO VHA # B13
- CLA 4K5 # COMPUTE DESIRED BURNOUT
- SUB RB # ALTITUDE RATE
- MPY 4K4
- LLS 3
- STO RFDOT
- SUB 4K6 # LIMIT RFDOT BETWEEN
- TMI *+3 # 23J AND 4K6
- CLA 4K6
- TRA *+5
- CLA 23J
- SUB RFDOT
- TMI *+3
- CLA 23J
- STO RFDOT
- CLA DISC1 # IS ABORT OR ABORT STATE YES
- ALS 7
- TMI *+3 # -- ABORT YES
- ADD M1B1
- TMI ORBI2 # -- ABORT STATE NO
- CLA THETAF
- SUB 12J
- TMI *+5 # -- CENTRAL ANGLE LESS THAN LIMIT
- CLA 10J # SET NEW SLOPE AND OFFSET
- STO 7J # VALUES FOR AL WHEN ABORT OR
- CLA 11J # ABORT STAGE YES AND THE
- STO 4K10 # CENTRAL ANGLE LARGE
- CLA 1B1 # STOP PASSES OF NEW SLOPE/OFFSET
- STO 12J # EQUALS 4 RAD AT B3
-ORBI2 CLA THETAF # CALCULATE AL
- MPY 4K10
- ADD 7J
-
-# Page 47
- STO AL
- CLA RB
- STO RF
- LRS 1 # CHECK FOR LOW LIMIT OF AL
- ADD 8J
- SUB AL
- TMI CDH3+1
- ADD AL
- TRA CDH3 # AL LOW LIMIT BJ+RB/2
-#
-# TERMINAL FOR CSI, CDH, EXT DV
- TSQ EXEC
-XDV CLA TIG # TEST FOR ULLAGE TIME
- SUB 7K1
- SUB TA1 # IF TIME FOR ULLAGE, THEN
- TMI XDV2 # FREEZE COORDINATE FRAME
-XDV1 AXT 2,1
- CLA 28J3 # RADIAL COMPONENT
- MPR U1X,1 # 13+1=14
- STO DQSX,1
- CLA 28J2 # CROSSRANGE COMPONENT
- MPR W1X,1
- ADZ DQSX,1
- STO DQSX,1
- CLA 28J1 # DOWNRANGE COMPONENT
- MPR V1X,1
- SUZ DQSX,1
- ALS 1 # TO 13
- STO DVGXX,1 # VELOCITY TO GAIN
- TIX XDV1+1,1
-XDV2 AXT 2,1 # LOAD NDX FOR STEER/XDV
- CLA S10 # O.I. EXIT TO STEERING
- SUB 1B3
- TMI STEER4+1 # GO TO STEERING
-XDV3 CLA DVGXX,1 # INITIAL VG
- SUB DQSX,1 # ACCUMULATED DELTA V
- STO TS4,1
-
-# Page 48
- STO VGX,1 # B13
- TIX XDV3,1
- TSQ DPVMAG
- STO VG # VEL TO GAIN MAGNITUDE
- TRA Q7 # GO TO STEERING
-#
-Q5 CLA RFDOT # GUIDANCE LAW
- STO TS4 # SET FOR INDEXING
- CLZ TS5
- CLA RADOT
- STO TS10
- CLA VY0
- STO TS11
- AXT 1,1
- TOV *+1
- CLA RD3DOT,1 # -2
- MPR TBO # 9-2=7
- LRS 1 # TO 8
- STO TS1 # 1/2 AT 7
- CLA TS4,1 # RFDOT OR ZERO
- SUB TS10,1 # RDOT OR VY0
- STO TS2
- MPY 1B3 # B16
- DVP TBO # 16-9=7
- SUZ TS1 # R OR YD2DOT
- STO TS0 # TEST FOR OVERFLOW
- CLZ TS2 # SIGN IF OVERFLOW
- TSQ OVFLT
- STO RD2DOT,1
- CLA SIXTH # -2
- MPR RD3DOT,1 # -4
- MPR TBO # 5
- LRS 1 # TO 6
- ADD RD2DOT,1 # +1/2 2DOT AT 6
- MPR TBO # 15
- ALS 1 # TO 14
- STO TS1
-
-# Page 49
- CLA TS10,1
- LRS 1 # TO 14
- ADZ TS1
- MPR TBO # 23
- ADD R,1
- STO TS14,1 # RF OR YF
- TIX Q5+8,1
- STO RF # 23
- STO RB # SAVE RF FOR ORBIT INSERT.
- SUB 5J # -LUNAR RADIUS
- SUB 16J # BURNOUT ALT ERROR
- STO TS14
- LDQ 5K20
- CLA 4K12
- SUB AT
- TMI *+3 # IF AT GT 4K12
- CLA DEL2
- TMI *+2 # IF AT LE 4K12 AND DEL2=1
- LDQ 5K18
- STQ RD3DTL # RD3DOT LOWER LIMIT
- CLA TBO
- MPR TBO
- MPR TBO # TB CUBED
- STO TS1 # 27
- AXT 1,1
-GDLAW3 TOV *+1
- CLA TS14,1 # BURNOUT ERROR
- MPY 12B4 # 27
- LLS 2 # TO 25
- DVP TS1 # -2
- ADZ RD3DOT,1 # DESIRED ACCEL RATE
- STO TS0 # TEST FOR OVERFLOW
- CLA TS14,1
- TSQ OVFLT
- STO RD3DOT,1
- TMI *+5
- SUB 5K14,1 # UPPER LIMIT TEST
-
-# Page 50
- TMI *+5
- CLA 5K14,1 # SET AT UPPER LIMIT
- TRA LL3DOT+1
- SUB RD3DTL,1 # LOWER LIMIT TEST
- TMI LL3DOT
-GDLAW4 TIX GDLAW3,1
- CLA 2K1 # 48
- MPY 1B1 # B49
- DVP R # 49-23-26
- SUZ VHSQ # VH SQ
- MPY 1B4 # B30
- DVP R # -ORBITAL RAD ACCEL AT 7
- ADZ RD2DOT
- STO RD2DOT # CMD RAD ACCEL AT 7
- TSQ EXEC
-#
-# STEERING EQUATIONS.
-#
-STEER CLA 21J
- SUB H
- TMI STEER1
- CLA 22J
- SUB HDOT
- TMI STEER1
- CLA 1B3 # =1024B13 COMMAND X-AXIS VERT
- STO VG
- CLA PMAX # PSIP=1
- TRA *+9
-STEER1 AXT 1,1
- TOV *+1
- CLA RD2DOT,1 # PSIP AND PSIY COMPS
- LDQ ZERO
- DVP AT # PSIP OR Y AT ZERO
- STO TS0 # TEST FOR OVERFLOW
- CLA RD2DOT,1 # SIGN IF OVERFLOW
- TSQ OVFLT
- STO TS10,1 # PSIP OR PSIY AT 0
-
-# Page 51
- TIX STEER1+1,1
- MPR TS10
- COM
- ADD PMAX
- STO TS14 # 1-(PSIP)SQ
- TSQ SQRTE
- STO TS15
- CLA TS11
- ABS
- SUB TS15
- TMI STEER3
- CLA TS11
- TMI *+3
- CLA TS15
- TRA *+3
- CLA TS15
- COM
- STO TS11
-STEER3 CLA TS11
- MPR TS11
- COM
- ADZ TS14
- TSQ SQRTE
- STO TS12
-STEER4 TRA XDV1 # COMPUTE DELTA V IN LOCAL VERT.
- CLA TS10
- MPR U1X,1
- STO TS1
- CLA 28J1
-OUT1 TMI OUT # IF 28J1 NEGATIVE
- CLA TS12
- MPR V1X,1
- ADZ TS1
- STO TS1
- CLA TS11
- MPR W1X,1
- ADZ TS1
-
-# Page 52
- MPY VG
- LLS 1 # TO 13
- STO VGX,1 # VELOCITY YET TO BE GAINED
- TIX STEER4+1,1
-Q7 AXT 2,1 # COMPUTE VELOCITY TO BE
- CLA VDX,1 # GAINED COMPONENTS
- STO VSMGX,1
- TIX *-2,1
- AXT 2,1
- CLA VGX,1
- MPY A11,1
- LLS 1 # TO 13
- ADZ VSMGX # X-COMP OF TOTAL V TO BE GAINED
- STO VSMGX
- CLA VGX,1
- MPY A21,1
- LLS 1 # TO 13
- ADZ VSMGY
- STO VSMGY # Y-COMP OF TOTAL V TO BE GAINED
- CLA VGX,1
- MPY A31,1
- LLS 1 # TO 13
- ADZ VSMGZ
- STO VSMGZ # Z-COMP OF TOTAL V TO BE GAINED
- CLA MU8 # TEST IF ENG ON
- SUB 1B17
- TMI *+4 # -- ENG OFF
- CLA VG
- SUB 5K26
- TMI *+5
- CLA VGX,1
- MPY 1B1 # B14
- DVP VG # RESULT AT B1
- STO A11BD,1
- TIX Q7+5,1
- TSQ EXEC
-IDLE TRA TEST
-
-# Page 53
-OUT CLA TS12
- COM
- TRA OUT1+2
-OVFLT TOV *+3
- CLA TS0
- TRA EXIT # EXIT WITH COMPUTED VALUE
- TMI *+3
- CLA PMAX # POSITIVE LIMIT
- TRA *+2
- CLA NMAX
- TRA EXIT
-#
-# DISPLAY ROUTINE SOFT PORTION.
-#
-DSP1 TOV *+1 # CL. O.F.
- CLZ DSPF1 # H,HDOT MODE.
- TMI *+2 # -- IS INITIALIZE
- TRA DSPLY # TO COUNTER CHECK. (HARD)
- CLA H
- STO POUT
- CLA HDOT
-# Q REGISTER DOES NOT NEED TO BE ZERO
-# SINCE DVP K55 IS AT WORST A LEFT
-# SHIFT OF 2 AND THE ALT RATE REGISTER
-# IS ONLY 15 BITS LONG
- DVP K55
- TRA DSPLY1
-DSP2CP CLA VY0 # OUT-OF-CSM PLANE VEL.
- LRS 17 # SET SIGN OF Q AND USE
- LLS 17 # UP TIME
- STQ TS10 # SAVE SIGN
- ABS
- DVP VY0FS # =FULL-SCALE VALUE(200 FPS)
- TOV *+2
- TRA *+2
- CLA PMAX
- ADZ TS10 # VY0 IN SIGN-MAGNITUDE
-
-# Page 54
- TRA DSPLY3-1 # TO OUTPUT,(HARD)
-#
-# EXECUTIVE PART 2. (BRANCH 50)
-# START EXEC2
-#
-EXEC7 CLA IDRP
- SUB ID # TEST FOR AGS INITIALIZE ID
- TMI EXECM2
-EXEC2 CLA BR1 # SET NAV BRANCH
- STO BRANCH
- CLZ DDF # DEDA DATA FLAG.
- TMI NEWDD
-EXECM CLZ DEL31 # TEST FOR DOWNLINK DATA
- TMI EXEC7
-EXECM1 CLA S0
- SUB 3B3
- TMI EXECA # S0-3(--IS INER. REF)
- SUB 1B3
- TMI EXEC6 # S0-4(--IS IMU ALIGN)
- SUB 1B3
- TMI TMIE1 # RESET TM
- SUB 1B3
- TMI EXECA # S0-6(--IS ORB ALIGN)
- ADD 7B3 # S0+1
- TMI INCMU7 # S0=7
-CAL CLA DEL21 # CALIBRATE MODE
- TMI *+2
- TSQ EADICS # IMU DIR COSINES
- TSQ ATTERR # COMPUTE ATTITUDE ERRORS
- AXT 2,1
- CLA 1K33 # -3
- MPY EX,1 # 2
- LLS 12 # -3+2-12=-13
- ADZ DAXREM,1
- STO DAXREM,1 # -13
- CLA 1K34 # -15
- MPR EX,1 # 2
-
-# Page 55
- ADZ 1K1,1
- STO 1K1,1 # GYRO BIAS AT -13
- TIX *-9,1
-INCMU7 CLZ MU7 # INCR. COUNTER
- ADD 1B17
- STO MU7
- SUB 1K37 # ACCEL. CAL. DURATION
- ABS
- COM
- TMI *+7 # + IS TIME FOR ACCEL CAL
- AXT 2,1
- CLZ SDVX,1
- MPR 1K36
- ADZ 1K19,1
- STO 1K19,1 # NEW BIAS CORRECTION
- TIX *-4,1
- CLA MU7
- SUB 1K30
- TMI EXECA
- CLZ S0 # CAL COMPLETE, SET ATT HOLD
-EXECA CLZ DAXA # ZERO ALIGNMENT INCREMENTS
- CLZ DAYA
- CLZ DAZA
- TRA TMIE1 # RESET TM
-NEWDD CLA STOCOM # EQU TO STORE
- ADD ADST # DEDA ADDRESS
- STO VRSH+1 # SET UP STORE INSTRUCTION
- CLA DD # DEDA DATA
- TSQ VRSH # STORE DATA
- CLA BR1 # PROTECT BRANCH FROM DEDA
- STO BRANCH
- CLA DLWNLC # PROTECT DLWNL
- STO DLWNL # FROM DEDA ENTRY
- CLA ADST
- SUB 1B9 # S0 ADDRESS
- TMI EXECM
- SUB 1B17
-
-# Page 56
- TMI EXEC3 # NEW WD IS S0
- SUB 10B17
- TMI EXECM # NEW WD BTWN S0PS13
- SUB 1B17
- TMI LUNAZ # NEW WD IS S13
- SUB 1B17
- TMI *+2 # NEW WD IS S14
- TRA EXECM
- CLA S14 # NEW WD IS S14
- SUB 2B3
- STO DEL32 # ENABLE DL IF S14=1
- TMI EXECM2+2
- COM
- TMI EXECM1 # -- S14=3
-EXECM2 CLA IC1BR # SET IC1 BRANCH
- STO BRANCH
- CLA IDAI # AGS INITIALIZE ID
- STO ID
- TRA EXECM1
-EXEC3 CLA S0
- ADD 1B3 # NEG IF S0=7
- TMI MABEE
- SUB 7B3
- TMI EXECA
- CLA DEL21 # CALIBRATE I.C.
- TMI MABEE
- CLA 3B3 # IMU ALINE FOR 2SECS.
- STO S0
- STQ DEL6
-MABEE AXT 6,1
- CLZ SDVX,1 # ZERO MU7 AND DV SJMS
- CLA A11,1
- STO A11D,1
- TIX *-3,1
- TRA EXECA
-EXEC6 CLZ DEL6 # IMU ALINE.
- TMI *+2 # -- IS CALIBRATE
-
-# Page 57
- TRA *+2
- CLA 6B3
- STO S0
- TRA TMIE1 # RESET TM
-FDAI1 CLA A21
- MPR COGA
- STO TS1
- CLA A23
- MPR SIGA
- TRA EX17+6
-LL3DOT CLA RD3DTL,1
- STO RD3DOT,1
- TRA GDLAW4
-NORTON STO TI
- STQ TSEX # SUBR TO GO TO EXEC.
- TSQ EXEC
- TSQ ELPRD # ELPR AND COMPT
- TSQ EXEC # LENGTH OF VECTOR
- AXT 2,1 # RIX
- CLA RIX,1
- STO TS14,1
- TIX *-2,1
- TSQ NORMV
- AXT 2,1
- CLA TS13 # LENGTH OF RI
- TRA TSEX
-RRT CLZ READP # TEST FOR EXIT
- STO RMF # FROM HOLD
- TMI ADOUT # TO READ OUT
- TRA DEXIT # EXIT
-EX33P CLA S10
- SUB 3B3
- TMI CSICDH
- CLA 3K4
- SUB C2
- TMI EX33+1
- CLZ DEL10
-
-# Page 58
- TMI EX33PP
-EX35 CLA 2K11
- STO VF
- CLZ Q1
- SUB 5J
- STO Q1DEDA
- TRA Q7 # GO TO STEERING
-EX33PP CLZ 4J
-# RESTORE SAVED QUANTITIES FO T/B COMPUTATIONS
-# IN HARD MEMORY.
- CLZ V6X
- STO TS12
- CLZ V6Y
- STO TS13
- CLZ V6Z
- STO TS14
- TRA EX36+1
-CSICDH TSQ EXEC
- CLA RT
- SUB RF
- STO DELH
- STO DELRP # LITTLE DELTA R AT 23
- CLZ RFDOT
- AXT 2,1
- CLA VIX,1
- MPR U2X,1
- ALS 1
- ADZ RFDOT
- STO RFDOT # RFDOT = U2 DOT VT B13
- TIX *-5,1
- CLA S10
- ADD 6B3
- TMI CDH # S10 = 2
-CSI CLA S16
- MPY 3PID4 # A=3/4(PI)(S16) AT B6
- STO TS1
- DVP AE
-
-# Page 59
- MPR DELH
- STO TS2 # A(DELH/AE) B6
- CLA TS1
- MPR 1B1
- STO TS5 # A AT B7
- CLA 1J
- SUB TIG
- ALS 3
- MPR NE # NE(1J-TIG) AT B6
- ADD TS2
- MPR 6B3 # =1.5B1 3/2(NE)(1J-TIG)+
-# 3/2(A)(DELH/AE)
- SUB TS5
- ADD 2J
- STO TS7 # B AT AB7
- CLA RADOT
- SUB RFDOT
- MPY 1B4
- DVP VHA # 4(RADOT-REDOT)/VHA B6
- SUB TS2
- STO TS10
- CLA THETAF
- LRS 3
- ADD TS10
- MPY 1B1 # ACC = C AT B7
- DVP TS7 # C/B B0
- STO TS11
- MPR AE
- STO DELH # DELH B23
- CLA TS11 # C/B = DELH/AE B0
- MPR TS1 # A(DELH/AE) B6
- ADD TS2
- STO TS1
- CLA PI
- MPR S16
- SUB TS1
- MPY 1B3 # TO B9
-
-# Page 60
- DVP NE
- STO TA0
- CLA RADOT
- STO RFDOT
-CDH2 CLA DELRP # LITTLE DELTA R
- ADD DELH
- MPR M1B1 # -.5B0 = -1B1
- ADD AE
-CDH3 STO AL
- CLA AL # CALCULATE 28J1
- SUB RF
- ADD AL
- MPY 2K1
- LRS 1
- DVP RF
- LDQ ZERO
- DVP AL
- TSQ SQRTE
- SUB VHA
- STO 28J1 # 28J1 = VHF - VHA
- TSQ EXEC
- CLA RADOT
- SUB RFDOT
- STO 28J3
- STO TS4+1
- CLA S10
- COM
- TMI XDV
- CLA 28J1
- STO TS4
- CLA VY0
- STO TS4+2
- TSQ DPVMAG
- STO VG
- TRA GDLAW
-CDH CLZ TA0
- ADD TIG
-
-# Page 61
- STO TIG # TIG = TIG + TAO
- TRA CDH2
-# SEE REAR OF LISTING FOR CHECKSUM
-# START OF HARDWIRED MEMORY
-# CONSTANTS
-#
- CHECKSUM RANGE 1005-3776
- ORG 4000
-7B17 DEC 7.B17 # CONSTANTS FOR NORMALIZE
-6B17 DEC 6.B17
-5B17 DEC 5.B17
-4B17 DEC 4.B17
-3B17 DEC 3.B17
-2B17 DEC 2.B17
-1B17 DEC 1.B17
-ZERO DEC 0
-2B3 EQU 1B2
-5B3 EQU 10B4
-6B3 EQU 12B4
-1B4 DEC 1.B4
-1B5 DEC 1.B5
-1B6 DEC 1.B6
-1B9 DEC 1.B9
-1B11 DEC 1.B11
-1B12 DEC 1.B12
-1B13 DEC 1.B13
-1B14 DEC 1.B14
-8B17 EQU 1B14
-SIXTH OCT 252525
-2PIB3 DEC 6.2831853B3
-1K25 EQU 2PIB3
-3PID4 DEC 2.3561945B3
-PID2 DEC 1.57079633B3
-PID4 DEC .78539816B3
-K173 DEC -.18488E-3B-6
-K172 DEC .83119E-2B-4
-K171 DEC -.16665554B-2
-
-# Page 62
-K170 OCT 377777 # 1B0
-PMAX EQU K170
-K183 DEC -.0389929B-3
-K182 DEC .1462766B-1
-K181 DEC -.3211819B1
-K180 DEC .999215B2
-SHDUM LRS 0
-MS OCT 400000
-NMAX OCT 400001
-49B17 DEC 49.B17
-10B17 DEC 10.B17
-BCDL DEC 100000.B17
-TRNSFR TRA EROUT # EXIT FROM ATT ERROR COMPS
-BACK TRA RETURN
-TMOUT OUT 6100
-CLAFR CLA 4000
-CLATEN EQU SICO2 # CLA 0,1
-TRACOM EQU MS # LOOKS LIKE TRA 0
-STOCOM EQU 1B2 # LOOKS LIKE STO 0
-DUMCLA EQU 1B1 # LOOKS LIKE CLA 0
-#
-# ** 20 MILLISECOND COMPUTATIONS
-#
-DELAY DLY *+1
- INP 2001 # INPUT PGNS ANGLES
- STO THEP
- INP 2002
- STO PHIP
- INP 2004
- STO PSIP
- INP 6010 # INPUT GYRO DATA
- STO DAX
- INP 6002
- STO DAY
- INP 6004
- STO DAZ
- INP 6020 # INPUT ACCELEROMETER DATA
-
-# Page 63
-1B2 STO TS0 # VALUE USED AS CONSTANT
- INP 6040
- STO TS1
- INP 6100
- STO TS2
-EX1 TRA EXIT1
-# PROCESS ACCELEROMETER INPUTS
- AXT 2,1
-DVS CLZ DVX,1 # SAVE PREVIOUS VALUE
- STO DVXM1,1
- CLZ TS0,1
- SUB 1K7 # 11
- ALS 1
- MPR 1K18,1 # SCALE FACTOR
- ALS 1 # SCALE AT 1
- ADD 1K19,1 # BIAS COMPENSATION
- STO DVX,1 # AT 1
- TIX DVS,1
- TRA EXIT2 # TO MODE CHECK.
-# PROCESS GYRO INPUTS
- AXT 2,1
- TOV *+1 # RESET
-GYCOM CLZ DAX,1
- SUB 1K7
- ALS 1 # RADIANS AT -6
- STO DAX,1
- MPR 1K3,1 # SCALE FACTOR COMP
- ADD 1K1,1 # AT -13
- ADZ DAXREM,1
- STO DAXREM,1
- ADD 1B4 # ROUND
- LRS 14 # TO +1
- ALS 7 # TO -6, QUANTIZED AT -16
- STO TS6
- ALS 7
-M1B1 COM # INSTRUCTION LOOKS LIKE -1B1
- ADZ DAXREM,1
-
-# Page 64
- STO DAXREM,1
- CLZ TS6
- ADZ DAX,1
- ADD DAXA,1
- STO DAX,1 # -6
- ALS 3 # TO -9
- STO TS10,1
- ABS
- ADD 1B6 # TEST FOR POSSIBLE OVERFL
- TIX GYCOM,1
-EX3 TRA EXIT3
- TOV HRC
- CLZ HRF
- TMI LRI
-# COMPUTE DIRECTION COSINE CHANGE
-CDCC CLA TS10 # DAX AT -6 OR -9
- MPY TS11 # DAY
- LRS 1 # 1/2DAX(DAY) AT -12 OR -18
- TSQ RND
- ADD TS12 # DAZ
- STO TS1
- CLA TS10
- MPY TS12
- LRS 1 # 1/2DAX(DAZ) AT -12 OR -18
- TSQ RND
- SUZ E13
- STO TS7
- SUB TS11
- STO TS2
- CLA TS11
- MPR TS11
- LRS 1
- STO TS8
- CLA TS12
- MPR TS12
- LRS 1 # 1/2DAZ(DAZ) AT -12 OR -18
- ADD TS8
-
-# Page 65
- TSQ RND
- COM
- ADZ E1 # NORMALITY CONSTRAINT
- STO TS3
- CLZ TS7
- ADD TS11
- STO TS4
- CLA TS11
- MPY TS12
- LRS 1 # 1/2DAY(DAZ) AT -12 OR -18
- TSQ RND
- SUB TS10
- STO TS5
- CLA TS10
- MPR TS10
- LRS 1 # 1/2DAX(DAX) AT -12 OR -18
- ADZ TS8
- TSQ RND
- COM
- ADZ E3
- STO TS6
-EX4 TRA EXIT4
- AXT 2,1 # COMPUTE EQUATIONS
-DICOS CLA TS1
- MPR A21,1 # 1
- ADZ DA11,1
- STO DA11,1 # -5 OR -8
- CLA TS2
- MPR A31,1
- ADZ DA11,1
- STO DA11,1 # -5 OR -8
- CLA TS3
- MPR A11,1
- ADZ DA11,1
- STO DA11,1 # -5 OR -8
- CLA TS4 # ROW 3
- MPR A11,1
-
-# Page 66
- ADZ DA31,1
- STO DA31,1
- CLA TS5
- MPR A21,1
- ADZ DA31,1
- STO DA31,1
- CLA TS6
- MPR A31,1
- ADZ DA31,1
- STO DA31,1
- TIX DICOS,1
-# INTEGRATE DIRECTION COSINES
- AXT 6,1
-INTAS CLA HRF
- TMI HRINT # -5 OR -8 TEST
- CLA DA11,1
-RND1 ADD 1B9 # ROUND
-SHFT1 LRS 9 # TO 1
- STO TS1
- ALS 9
- COM
- ADZ DA11,1
- STO DA11,1 # SAVE REMAINDER
- CLZ A11,1
- ADZ TS1
- STO A11,1
- TIX INTAS,1
- TSQ EXIT5 # DOWNLINK INPUT
- TSQ EXIT6 # TELEMETRY OUTPUT
-# COMPUTE ROW 2
-COA21 CLA A12
- MPR A33 # 2
- STO TS1
- CLA A13
- MPR A32
- SUZ TS1
- ALS 1 # TO 1
-
-# Page 67
- STO A21 # A21
- CLA A13
- MPR A31
- STO TS1
- CLA A11
- MPR A33
- SUZ TS1
- ALS 1
- STO A22 # A22
- CLA A11
- MPR A32
- STO TS1
- CLA A12
- MPR A31
- SUZ TS1
- ALS 1
- STO A23 # A23,DIR COS UPDATE COMPLETE
-EX8 TRA EXIT8
-# VELOCITY RESOLUTION
-DVINT AXT 2,1 # RESOLVE BODY DVS TO
- CLA A11,1 # INERTIAL FRAME AND
- MPR DVX # ACCUMULATE.
- STO TS1 # 2
- CLA A21,1
- MPR DVY
- ADZ TS1
- STO TS1
- CLA A31,1
- MPR DVZ
- ADZ TS1 # 2
- ADD 1B13 # ROUND
- LRS 5
- ADZ DVSX,1
- STO DVSX,1 # 7
- TIX DVINT+1,1
- TSQ EXIT5 # DOWNLINK INPUT
- TSQ EXIT6 # TELEMETRY OUTPUT
-
-# Page 68
-#
- CLZ FLAG1
- TMI BRANCH # -- IS GUID/NAV CYCLE.
- CLA MS
- STO FLAG1
-EX9 TRA EXIT9
-#
-# HARDWIRED 40 MS COMPUTATIONS
-# DISCRETE INPUT AND STAGING RECOGNITION COMPS.
-#
- INP DISC1I # INPUT DISCRETE WD 1
- STO DISC1C
- ADD 1B17 # OBTAIN TWO'S COMP OF INPUT WD
- COM
- STO DISC1
- CLA DEL2 # TEST FOR STAGING
- TMI EXIT10 # -- IS STAGED
- CLA DISC1C # TEST FOR ASCENT ENG ON
- ALS 6
- TMI EXIT10 # -- IS OFF.
- CLZ DEL21 # RESET LUNAR SURFACE FLAG
- CLA MS
- STO DEL2 # SET STAGED FLAG
- TRA EXIT11
-#
-# DIRECTION COSINE LOGIC
-LRI AXT 6,1
- CLZ DA11,1 # REMAINDERS
- ALS 3 # TO -8
- STO DA11,1
- TIX *-3,1
- CLA RND1
- STO RND+1
- CLA SHFT1
- STO RND+2
- TRA CDCC
-#
-
-# Page 69
-HRC CLA HRF
- TMI HRC1
- CLA RND2 # SET UP FOR HIGH RATE
- STO RND+1
- CLA SHFT2
- STO RND+2
- STO HRF
- AXT 6,1
- CLZ DA11,1
- LRS 3 # TO -5
- STO DA11,1
- TIX *-3,1
-HRC1 AXT 2,1
- CLA DAX,1
- STO TS10,1 # AT -6
- CLZ E1,1
- LRS 3 # TO -6
- STO E1,1
- TIX *-5,1
- TRA CDCC
-#
-HRINT CLA DA11,1
-RND2 ADD 1B12 # ROUND
-SHFT2 LRS 6 # TO 1
- STO TS1
- ALS 6
- TRA INTAS+7
-#
-# ATTITUDE HOLD. (40 MS)
-AHE CLA DEL5 # ATTITUDE HOLD ENTRY
- TMI AHE1 # IF MINUS -- DRIVE TO REF COSINES
- CLA MS # FIRST CYCLE IN
- STO DEL5 # ATTITUDE HOLD
- AXT 6,1 # SET DESIRED ATTITUDE
- CLA A11,1
- STO A11D,1
- TIX *-2,1
-
-#
-# Page 70
- TSQ EXIT12 # TO ACQUISITION RESET.
-AHE1 LDQ TRNSFR # TRA EROUT INTO Q
-ATTERR STQ SREX # ENTER HERE FROM CALIBRATE
- AXT 2,1 # COMPUTE EX
- CLA A31D,1
- MPR A21,1 # 1+1=+2
- COM
- ADZ EX
- STO EX # +2
- TIX *-5,1
-EYEZ AXT 2,1 # COMPUTE EY AND EZ
- CLA A11D,1
- MPR A21,1 # 1+1=+2
- ADZ EZ
- STO EZ
- CLA A11D,1
- MPR A31,1 # 1+1=+2
- COM
- ADZ EY
- STO EY
- TIX *-9,1
- TRA SREX
-#
-# LIMIT AND OUTPUT ATTITUDE ERRORS
-EROUT TRA EXIT13
- AXT 2,1
- CLZ EX,1
- LDQ MS
- TMI *+2
- TRA *+2
- STQ EX,1
- ABS
- SUB 4K21 # +2
- TMI *+3 # LESS THAN MAX
- CLA PMAX # SET MAX OUTPUT
- TRA *+3
- ADD 4K21
-
-# Page 71
- DVP 4K21 # SCALE FACTOR
- ADZ EX,1
- STO EX,1
- TIX EROUT+2,1
- OUT EXO # AT 0
- CLA EY
- OUT EYO # AT 0
- CLA EZ
- OUT EZO # AT 0
- TRA EXIT14
-#
-# RENDEZVOUS STEERING
-RST CLZ DEL5 # CLEAR ATT HLD 1ST CYCLE FLAG
- AXT 2,1
- CLA A11BD,1
- STO A11D,1
- TIX *-2,1
- CLA TRNSFR # TRA EROUT INTO SREX
- STO SREX
- TRA EYEZ
-#
-# LUNAR ALIGN COMPS
-LUNAL CLA A31
- MPR A31
- COM
- ADD 1B2
- TSQ SQRTE
- STO TS1
- CLA SIDELL # COMPUTE COS DEL A
- MPR DDEL
- ADD CODELL
- MPY TS1 # A32D AT 2
- LLS 1
- MPR A22
- STO TS2
- CLA CODELL # COMPUTE SIN DEL A
- MPR DDEL
-
-# Page 72
- COM
- ADD SIDELL
- MPY TS1 # A33D AT 2
- LLS 1
- MPR A23
- ADZ TS2
- STO TS2
- CLA A31
- MPR A21
- ADZ TS2
- LDQ ZERO
- DVP 1K26
- STO DAXA # -6
- CLA A31
- LDQ ZERO
- DVP 1K28 # 1-7=-6
- STO TS1
- CLA DVZ
- ADD DVZM1
- MPY 1K27 # 1-4=-3
- LLS 3 # TO -6
- SUZ TS1
- STO DAYA
- CLA DVY
- ADD DVYM1
- MPY 1K27 # 1-4=-3
- LLS 3 # TO -6
- STO TS1
- CLA A21
- LDQ ZERO
- DVP 1K28
- SUZ TS1
- STO DAZA
- AXT 2,1
- CLA DAXA,1
- ABS
- LRS 2 # TO -4
-
-# Page 73
- ADZ TS2
- STO TS2
- TIX *-5,1
- SUB 1K29 # TEST FOR LUNAR ALIGN COMPLETE
- STO DEL42 # DEL42 NEG IS LUNAL COMPLETE
- TRA EXIT15
-#
-# FDAI COMPUTATIONS
-FDAI CLA A32 # TOTAL ATTITUDE
- COM # -A32
- TSQ FDAIL # LIMIT ROUTINE
- OUT SIBEO # SIN BETA AT 0
- CLA A33
- MPR A33
- STO TS1
- CLA A31
- MPR A31
- ADZ TS1
- TSQ SQRTE
- STO TS2 # COS BETA
- TSQ FDAIL
- OUT COBEO
-EX16 TRA EXIT16
- CLA TS2
- SUB 1K24
- TMI EXIT17 # USE OLD VALUE OF SIGA AND COGA
- LDQ ZERO
- CLA A31
- LRS 1
- DVP TS2
- STO SIGA
- TSQ FDAIL
- OUT SIGAO
- LDQ ZERO
- CLA A33
- LRS 1
- DVP TS2
-
-# Page 74
- STO COGA
- TSQ FDAIL
- OUT COGAO
-EX17 TRA EXIT17
-# THE NEXT 5 CELLS ARE BYPASSED AND
-# RE-WRITTEN IN SOFT MEMORY
- CLA A23 # GAMMA OUTPUT
- MPR SIGA
- STO TS1
- CLA A21
- MPR COGA
- SUZ TS1
- ALS 1
- TSQ FDAIL
- OUT SIALO
- CLA A13
- MPR SIGA
- STO TS1
- CLA A11
- MPR COGA
- SUZ TS1
- ALS 1
- TSQ FDAIL
- OUT COALO
-#
-# DEDA DISCRETE SAMPLING
-#
- INP DISC2I
- ADD 1B17
- COM
- ALS 1 # IS TAPE LOAD REQUESTED
- TMI GSESR # IF MINUS -- TRANSFER TO GSE SERV
- ALS 3
- AXT 3,1
- TMI SPULSE
- ALS 1
- TIX *-2,1
-
-# Page 75
- TRA SPULSE+1
-#
-# FDAI LIMITING SUBROUTINE
-FDAIL STQ SREX
- LDQ MS
- TMI *+2
- LDQ ZERO
- STQ TS1 # SET SIGN
- ABS
- ADD 1B11 # ROUND
- ALS 1
- TMI *+2 # -- SET MAX VALUE
- TRA *+2
- CLA PMAX
- ADZ TS1
- TRA SREX
-#
-SPULSE STO READP,1 # SET DEDA FLAG
- TRA EXIT18
-#
-# COMPUTE NORMALITY AND ORTHOGONALITY CONSTRAINTS
-NOC AXT 2,1
- CLA A11,1
- MPR A11,1
- ADZ E1
- STO E1 # AT 2
- CLA A31,1
- MPR A31,1
- ADZ E3 # AT 2
- STO E3
- CLA A11,1
- MPR A31,1
- ADZ E13
- STO E13 # AT 2
- TIX NOC+1,1
- ALS 10 # DIV BY 2, SCALE AT -9
- STO E13
-
-# Page 76
- AXT 1,1
- CLA 1B2
- SUZ E1,1 # 1-E
- ALS 10 # TO -9
- STO E1,1
- TIX *-4,1
- TRA EXIT19
-#
-# EULER ANGLE DIRECTION COSINES SUBROUTINE
-EADICS STQ SREX1
- CLA THEP
- MPR 2PIB3 # RADIANS AT 3
- TSQ SICOE
- CLZ TS1
- STO TS5
-12B4 CLZ TS0 # VALUE USED AS CONSTANT
- STO TS6
- CLA PSIP
- MPR 2PIB3
- TSQ SICOE
- CLZ TS1
- STO A12D # 1
- CLZ TS0
- STO TS7
- CLA PHIP
- MPR 2PIB3
- TSQ SICOE # INPUTS COMPLETE
- CLA TS7
- MPR TS6
- ALS 1
- STO A11D # 1
- CLA TS7
- MPR TS5
- ALS 1
- COM
- STO A13D # 1
- CLA TS1
-
-# Page 77
- MPR A12D
- ALS 1
- STO TS3
- MPR TS6
- STO TS4
-1B1 CLA TS0 # COSINE PHI
- MPR TS5
- ADZ TS4
- ALS 1
- STO A31D # 1
- CLZ TS1
- MPZ TS7
- ALS 1
- COM
- STO A32D # 1
- CLZ TS3
- MPZ TS5
- STO TS4
- CLZ TS0
- MPZ TS6
- SUZ TS4
- ALS 1
- STO A33D # DI-COS COMPLETE
- TRA SREX1 # EXIT
-#
-# IMU ALIGN COMPUTATIONS
-ZNOC CLZ E1
- CLZ E3
- CLZ E13
-IMUDC TSQ EADICS
- AXT 6,1
- CLA A11D,1 # REPLACE DIR COSINES
- STO A11,1 # WITH IMU DIR COSINES.
- CLZ DA11,1 # ZERO REMAINDERS
- TIX *-3,1
- TRA COA21-2
-#
-
-# Page 78
-# INITIALIZE BRANCHES.
-#
-IC1 CLZ S14
- SUB 2B3
- TMI EXIT20 # TO DL FORMATTIG
- AXT 2,1 # LEM POS AND VEL DATA
- CLZ 1J1,1 # LEM POS
- STO R0X,1
- CLZ 1J4,1 # LEM VEL
- STO V0X,1
- TIX *-4,1
- CLZ 1J7 # EPOCH TIME MS
- STO TL1
- CLZ 1J7LS # EPOCH TIME LS
- STO TL2
- TSQ ORBPM
- CLZ DSPSC # CLEAR DISPLAY COUNTER
- TSQ EXIT21
-#
-IC2 AXT 1,1
- TSQ DPTSB # COMPUTE DBL PREC TA - TL
- CLA DEL21
- TMI RVCOMP
- TSQ ELPRD # TRNSFR TO ELLIPSE PRED
- AXT 2,1
- CLZ RIX,1
- STO RX,1
- CLZ VIX,1
- STO VX,1
- TIX *-4,1
- TRA *+9
-RVCOMP AXT 2,1
- CLZ V0X,1
- STO VX,1
- MPY TI # 13+13=26
- LLS 3
- ADZ R0X,1
-
-# Page 79
- STO RX,1 # AT 23
- TIX *-6,1
- TSQ EXEC # IC3 NEXT
-#
-IC3 TSQ GRAV # TO GRAVITY
- AXT 2,1
- CLZ DVSX,1
- CLZ DRX,1
- CLA GXDT,1
- STO DIGX,1
- TIX *-4,1
- TRA EXIT22
-#
-# CSM DL OR DEDA INPUTS TO EPOCH CELLS.
-CSMPV AXT 2,1
- CLZ 2J1,1 # CSM POS
- STO REX,1
- CLZ 2J4,1 # CSM VEL
- STO VEX,1
- TIX *-4,1
- CLZ 2J7 # CSM EPOCH MS
- STO TE1
- CLZ 2J7LS # CSM EPOCH LS
- STO TE2
- CLZ TB
- TRA EXIT
-#
-# NEXT 5 INSTRUCTIONS BYPASSED
-#
-NAV CLA DEL21
- TMI NAV1 # -- IS ON LUNAR SURFACE
- CLA 0464
- SUB VDX
- ALS 6
-#
-# HARDWIRED NAVIGATION
-#
-
-# Page 80
- STO AT # 1/2(VD1-VD) AT 7
- SUB 4K35 # ULLAGE THRESHOLD
- TMI NAV2-2 # AT-4K35
- CLZ MU8 # INCR ULLAGE COUNTER.
- ADD 1B17
- STO MU8
- TRA EXIT24
-NAV1 CLZ DIGX # LUNAR SURFACE NAV.
- CLZ DIGY
- CLZ DIGZ
- CLA 1K9 # ULLAGE COUNT LIMIT
- STO MU8
- TRA EXIT23
- CLZ MU8 # RESET ULLAGE COUNTER.
- TRA EXIT24
-NAV2 CLZ TS1 # ACCEL DRIFT TEST.
- AXT 2,1
- CLA DVSX,1
- ABS
- ADZ TS1
- STO TS1
- TIX *-4,1
- SUB 1K35
- TMI EXIT25 # COAST PHASE
- TRA EXIT26
-NAV3 CLZ DVSX
- CLZ DVSY
- CLZ DVSZ
- TRA EXIT26
-NAV4 AXT 2,1 # VEL AND POS UPDATE.
- CLZ DVSX,1 # SENSED VEL AT 7
- ADZ DIGX,1 # PREDICTED INTG GRAVITY.
- STO DIGX,1 # 7
- ADD 1B12 # ROUND
- LRS 6
- STO TS2 # DV AT 13
- ADD VX,1
-
-# Page 81
- STO TS1 # NEW V AT 13
- MPR KDT # DT/2 AT 1.
- STO TS4
- CLZ VX,1 # V(N-1)
- MPR KDT
- ADZ TS4
- ADZ DRX,1
- STO DRX,1 # 14
- ADD 1B9 # ROUND
- LRS 9
- STO TS3 # DR AT 23
- ADZ RX,1
- STO RX,1 # NEW R AT 23
- CLZ TS2 # DV AT 13
- ALS 6
- COM
- ADZ DIGX,1
- STO DIGX,1 # VEL REMAINDER AT 7
- CLZ TS3 # DR AT 23
- ALS 9
- COM
- ADZ DRX,1
- STO DRX,1 # POS REMAINDER AT 14
- CLZ TS1
- STO VX,1 # NEW V AT 13
- TIX NAV4+1,1
- TSQ GRAV # TO GRAVITY COMP.
-EX28 TRA EXIT28
- CLA 4K34 # LIMIT AT.
- SUB AT
- TMI *+3
- CLA 4K34
- STO AT
- CLA MS # SET IC DISPLAY.
- STO DSPF1
- TSQ TIMEA # TO TA UPDATE
-#
-
-# Page 82
-# CSM ORBIT PARAMETERS
-#
-ORBPAR CLA S14
- SUB 3B3
- TMI *+4
- CLZ S14
- TSQ CSMPV
-EX29 TRA EXIT29
- AXT 2,1
- CLA REX,1
- STO TS4,1
- STO R0X,1
- CLA VEX,1
- STO TS10,1
- STO V0X,1
- TIX *-6,1
- TSQ CRSPRD
- TSQ NORMV
- AXT 2,1
- CLZ TS10,1
- STO WCX,1
- TIX *-2,1
- TSQ ORBPM # COMPUTE CSM ORB PARAMS FROM EPD
- CLA 2PIB3
- LDQ ZERO
- LRS 1
- DVP NI # 4-(-9)=13
- STO TCSM
-EX30 TRA EXIT30
- CLA TB
- SUB TCSM
- TMI BR2EX
- CLA TCSM
- LDQ ZERO
- LRS 5 # TO +18
- STQ TS1
- ADZ TE1
-
-# Page 83
- STO TE1
- CLZ TS1
- ADZ TE2
- STO TE2
- TMI *+2 # OVERFLOW
- TRA BR2EX
- SUB MS
- STO TE2
- CLZ TE1
- ADD 1B17
- STO TE1
-BR2EX TSQ EXEC
-#
-# CSM PRESENT POS AND VEL.
-#
- AXT 0,1
- TSQ DPTSB # COMPUTE DBL PREC TA-TE
- STO TB # +13
- TSQ ELPRD # TRANSFER TO ELLIPSE PRED
- AXT 2,1
- CLZ RIX,1
- STO RCX,1 # 23
- CLZ VIX,1
- STO VCX,1 # 13
- TIX *-4,1
- TSQ EXEC
-#
- AXT 2,1
- CLA VX,1 # COMPUTE MAGNITUDE OF VEL VECTOR
- STO TS4,1
- TIX *-2,1
- TSQ DPVMAG
- STO V # 13
- TRA EXIT31
-#
-# GRAVITY AND H, HDOT COMPUTATIONS.
-#
-
-# Page 84
-GRAV STQ SREX3
- AXT 2,1
- CLA RX,1
- STO TS14,1
- TIX *-2,1
- TSQ NORMV # COMPUTE U1 AND R.
- CLZ TS13
- STO R # 23
- SUB 5J # MEAN LUNAR RADIUS
- STO H # ALTITUDE AT 23
-EX27 TRA EXIT27
- CLA 2K4
- LDQ ZERO
- LRS 3 # 52
- DVP TS17 # R SQ AT 46
- STO TS7 # -GRAV VECT MAG AT 6
- AXT 2,1
-GRAV1 CLZ GXDT,1
- STO TS0 # G(N-1)DT
- CLZ TS10,1 # UNIT VECTOR FR NORMV
- STO U1X,1 # 1
- MPR TS7 # -MUDT/(R SQ) AT 6
- STO GXDT,1 # 7
-7B3 SUZ TS0 # G(N-1)DT
- LRS 1
- ADD GXDT,1 # PREDICTED INTG GRAV IN A
- ADZ DIGX,1 # VEL REMAINDER
- STO DIGX,1 # INTG GRAV+VEL REM AT
- CLA VX,1 # 13
- MPR U1X,1 # FORM V DOT U1.
- ADZ TS13
- STO TS13
- TIX GRAV1,1
- ALS 1
- STO HDOT # ALT RATE AT 13.
- TRA SREX3
-#
-
-# Page 85
-# LEM ORBIT PARAMETERS.
-#
-LMORB CLA HDOT # B13
- MPY HDOT
- STO TS14
- STQ TS15
- CLA V # 13
- MPR V
- SUB TS14
- STO TS7 # VH SQ AT 26
- TSQ SQRTE
- STO VH # 13
- TOV *+1 # CL. O.F.
- CLA R # 23
- MPR R
- MPR 2K2
- MPY TS7 # 46-47+26=25
- LLS 2
- STO TS10 # PL AT 23
- LRS 1
- STO TS11 # SAVE PL AT 24
- STQ TS12
- DVP R
- SUB 1B1
- ALS 4 # -3
- STO TS0
- MPZ TS0
- STO TS13 # (PL/R-1) SQ AT -6.
- CLZ TS14 # HDOT SQ AT 26
- LDQ TS15
- LLS 8 # 1B
- MPR 2K2
- MPR TS10 # PL
- ADZ TS13 # EL SQ IN A AT -6.
- TOV LMORB1+2
- TSQ SQRTE
- LRS 4 # EL AT 1
-
-# Page 86
- ADD 1B1
- STO TS1 # 1+EL AT 1.
- CLZ TS11 # OL AT 24
- LDQ TS12
- DVP TS1
-LMORB1 STO QL # LM PERICYNTHION AT 23
- TRA EXIT32
- CLA 2K3 # SET QL=CONST
- TRA LMORB1
-#
-# CSM PREDICTION.
-#
-CSMT1 TSQ ELPRD # TO ELLIPSE PREDICTOR.
- TSQ EXEC
-#
-# TRANSFER ORBIT VECTORS.
-#
- AXT 2,1
- CLA RIX,1 # CSM PRED POS
- STO TS14,1
- TIX *-2,1
- TSQ NORMV # NORMALIZE RT
- CLZ TS13
- STO RT # 23
- AXT 2,1
-XORBV1 CLA TS10,1 # C1X=BX
- STO U2X,1
- CLA U1X,1
- STO TS4,1
- MPR U2X,1
- ADZ TS13
- STO TS13
- TIX XORBV1,1
- ALS 1
- STO C1 # U1 DOT U2 AT 1.
- MPR C1
- COM
-
-# Page 87
- ADD 1B2
- TSQ SQRTE
- STO C2 # 1
-EX33 TRA EXIT33
- TSQ CRSPRD # U1XU2 AT 2.
- CLA TS14+1
- MPY WCY
- TMI *+2 # -- IS REND ANG GREAT 180.
- TRA *+4
- CLZ C2
- COM
- STO C2
- AXT 2,1 # NORMALIZE W1 AND
-XORBV2 CLZ TS14,1
- LDQ ZERO
- DVP C2
- STO W1X,1 # 1
- CLA U1X,1
- MPR C1
- STO TS1
- CLA U2X,1 # 1
- LRS 1
- SUZ TS1
- LDQ ZERO
- DVP C2
- STO V1X,1 # 1
- CLA U1X,1 # 1
- LRS 1
- STO TS1 # 2
- CLA U2X,1
- MPR C1
- SUZ TS1
- LDQ ZERO
- DVP C2
- STO V2X,1 # 1
- TIX XORBV2,1
- CLZ MU3 # P-ITERATION INDEX.
-
-# Page 88
- TSQ EXEC
-#
-# P-ITERATOR
-#
-EX34 TRA EXIT34
- TOV *+1 # CL. O.F.
- CLA P # ITERATION P AT 23
- SUB RF
- LDQ ZERO
- DVP RF
- STO TS11 # X1 AT 0.
- MPY TS11
- LLS 2
- STO TS1 # X1 SQ. AT -2
- CLA P
- SUB RT
- LDQ ZERO
- DVP RT
- STO TS12 # X2 AT .0
- MPR C1
- STO TS2 # 1
- CLA TS11 # X1
- LRS 1
- SUZ TS2
- LDQ ZERO
- DVP C2
- STO X4 # AT 0.
- CLA TS12 # X2
- LRS 1
- STO TS2 # 1
- CLA TS11 # X1
- MPR C1
- SUZ TS2
- LDQ ZERO
- DVP C2 # 1
- STO X3 # AT 0.
- MPY X3
-
-# Page 89
- LLS 2
- ADZ TS1 # -2
- TOV EXIT35 # O.F. IF E TOO LARGE.
- STO ESQ # E SQ AT -2.
- LRS 2
- STO TS13 # E SQ AT 0.
- COM
- ADD PMAX
- STO TS14 # (1-E SQ) AT 0.
- TSQ SQRTE
- STO TS15 # ROOT(1-E SQ) AT 0.
- CLA X4
- SUB X3
- LRS 1 # 1
- ADD C2
- MPR TS15
- STO TS3 # SIN(DELTA E) AT 1.
- CLA X3
- MPR X4
- COM
- ADZ TS13
- LRS 1 # 1
- STO TS13 # E SQ-X3(X4) AT 1.
- CLZ TS11
- ADZ TS12 # X1+X2
- LRS 1 # 1
- ADZ TS13
- ADD C1
- STO TS4 # COS(DELTA E) AT 1.
- TSQ ARCTAE
- STO TS16 # DELTA E AT 3.
- CLA RT
- MPR X4
- STO TS1 # 23
- CLA RF
- MPR X3
- SUZ TS1
-
-# Page 90
- MPY TS15
- LRS 3 # 26
- DVP P
- ADZ TS16
- STO TS16 # DELTAE + X7-X8 AT 3.
- CLA P
- LDQ ZERO
- DVP TS14 # 1-E SQ
- STO ALPHA # 23
- MPR 2K2 # 1/2K1 AT -47
- TSQ SQRTE # (-47+23)/2=-12
- MPR ALPHA # 1/N AT 11 IN A.
- MPZ TS16 # 11+3=14
- ALS 1 # NEW TP AT 13.
- SUB TP
- STO TS2 # DELTA TP
- ADZ TP
- STO TP # 13
- CLA T
- SUB TP
- STO TS0 # T-TP
- CLZ MU3 # INCREMENT ITER COUNTER.
- ADD 1B17
- STO MU3
- SUB 2B17 # ITERATION SCHEME.
- TMI PITER2 # -- IS MU3=1.
- SUB 1B17
- TMI PITER1 # -- IS MU3=2.
- SUB 2K17 # MU3-NO. ITERATIONS IN A.
- TMI *+6 # -- IS NOT DONE.
- CLZ TS0 # DONE. T-TP
- ABS
- SUB 2K20
- TMI PITER3+5 # -- IS CONVERGED.
- TRA EXIT35
- CLA TS2 # DELTA TP.
- ABS
-
-# Page 91
- SUB 2K18
- TMI DELP # -- IS SKIP PARTIAL
-PITER1 CLA P # COMPUTE PARTIAL T.
- SUZ PP
- STO TS1 # 23
- LDQ ZERO
- LRS 4 # 27
- TOV *+1 # CL. O.F.
- TRA *+2
- DLY INIT # TO TURN ON SEQUENCE
- DVP TS2 # 27-13=14
- TOV *+2
- TRA *+7
- CLZ TS1 # DET SIGN OF PART
- MPY TS2 # NUM X DENOM
- TMI *+3
- CLA PMAX
- TRA *+2
- CLA NMAX
- STO PART # PARTIAL T AT 14
-DELP CLZ TS0 # T-TP
- MPY PART
- LLS 4 # 13+14-4=23
- STO TS3 # DELTA P
- ABS
- SUB 2K19
- TMI PITER3
- CLZ TS3
- TMI *+5
- CLA 2K19
- TRA *+5
-PITER2 CLA 2K14
- TRA *+2
- CLA 2K19
- COM
- STO TS3 # DELTA P
-PITER3 CLZ P
-
-# Page 92
- STO PP
- ADZ TS3
- STO P # NEW P
- TRA EXEC+1
- TSQ EXEC
-#
-# IMPULSE AND BRAKING VELOCITIES
-#
-TBRAKE CLA 2K1 # 48
- LDQ ZERO
- LRS 1
- DVP P # 49-23=26
- TSQ SQRTE
- STO TS1 # ROOT(MU/P) AT 13
- MPZ X3
- STO RFDOT # 13
- CLA TS1
- MPZ X4
- STO TS13 # 13
- CLZ TS1
- MPY P
- STO TS1 # ROOT(PXMU) AT 36
- STQ TS2
- DVP RF
- STO TS12 # 13
- CLZ TS1
- LDQ TS2
- DVP RT
- STO TS14 # 13
-EX36 TRA EXIT36
- TOV *+1 # CL. O.F.
- AXT 2,1
-IMPBK1 CLA TS13 # ROOT(MU/P)X(X4) AT 13
- MPZ U2X,1 # 1
- STO TS7
- CLA TS14 # ROOT(PXMU)/RT AT 13
- MPZ V2X,1 # 1
-
-# Page 93
- ADZ TS7
- ALS 1 # 13
- SUB VIX,1
- STO VFX,1 # -BRAKING VEL AT 13
- CLA RFDOT # 13
- MPR U1X,1 # 1
- STO TS7
- CLA TS12 # ROOT(PXMU)/RF AT 13
- MPR V1X,1 # 1
- ADZ TS7
- ALS 1 # 13
- SUB V5X,1
- STO VGX,1 # VEL TO GAIN AT 13
- STO TS4,1
- TIX IMPBK1,1
- TOV EXIT35 # CHECK VG OR VF D.F.
- TSQ DPVMAG
- STO VG # 13
- CLZ ESQ # E SQ ER P ITER AT -2.
- TSQ SQRTE
- LRS 1 # E AT 0.
- COM
- ADD PMAX # 1-E AT 0.
- MPR ALPHA
- STO Q1 # Q OF TRANS ORB AT 23
- TSQ EXEC
-# COMPLETE VF ON FOLLOWING CYCLE.
- AXT 2,1
- CLA VFX,1 # 13
- STO TS4,1
- TIX *-2,1
- TSQ DPVMAG
- TRA EXIT37 # VF IN A AT 8.
-#
-# GUIDANCE LAW COMPUTATIONS.
-#
-GDLAW TOV *+1 # TIME TO BURN COMP.
-
-# Page 94
- CLA VG # 13
- MPR 4K3 # AT -25
- ADD 4K2 # AT -12
- MPR VG
- ADD 1B1
- MPY VG
- LRS 2 # 16
- DVP AT # 16-7=9
- TOV *+2
- TRA *+2
- CLA PMAX
- STO TBO # TIME TO BURN AT 9.
- TRA EXIT38
-#
-# COMPUTE LUNAR AZIMUTH
-#
-LUNAZ CLA A31
- MPR A31 # +2
- COM
- ADD 1B2
- TSQ SQRTE
- STO TS1 # +1
- LDQ ZERO
- CLA A32
- LRS 1 # TO 2
- DVP TS1
- STO CODELL
- LDQ ZERO
- CLA A33
- LRS 1 # TO 2
- DVP TS1
- STO SIDELL # AT 1
- CLA MS
- STO DEL21
- TRA EXIT39
-#
-# POWER ON INITIALIZATION
-
-# Page 95
-#
-INIT OUT 3050 # RESET CARRY INHIBIT
- INP 6200
- INP DEDA
- OUT 7057 # RESET DISCRETES
- CLA BACK
- STO TVARBR+1
- CLA CLAFR # PRIME HARDWIRED CORES
- STO TVARBR
- TSQ TVARBR
- CLA TVARBR
- SUB CLATEN
- TMI *-3
- OUT 7010 # RESET FAILURE INDICATOR
-# GSF SERVICE ROUTINE
-GSESR INP 2040
- ALS 1
- TMI EXIT40 # INITIALIZE
- INP 6200
- ADD 1B5
- STO TS7
- ADD STOCOM # SET UP VARIABLE STORE
- STO TVARBR
-WRDLP OUT 6402 # SET GSE 5
- INP 2040
- ALS 1
- TMI *+2
- TRA *-3
- OUT 7012 # RESET GSE 5 AND FAIL INDIC.
- INP 2040
- ALS 1
- TMI *-3 # WAIT FOR NEXT WORD
- ALS 1
- TMI *+5
- CLZ TS7 # END OF BLOCK
- ADD TRACOM
- STO TVARBR
-
-# Page 96
- TRA TVARBR
- INP 6200 # INPUT WORD AND STORE
- TSQ TVARBR
- TRA WRDLP
-RETURN STO TS0 # INCREMENT OF VARIABLE
- CLZ TVARBR
- ADD 1B17
- STO TVARBR
- CLZ TS0
- TRA EXIT
-#
-# TIME UPDATE AND EXECUTIVE PART 1.
-#
-TIMEA CLZ TA1 # UPDATE ABS TIME.
- ADD 1B17 # EQU TO 2 SECS.
- STO TA1
- CLA 1B11 # I.C. DEDA COUNTER
- STO DEDASC
-EXEC STQ BRANCH # SET NEXT BRANCH.
- CLZ DEDASC
- ALS 1
- TMI *+3 # -- IS TIME TO DEDA.
- STO DEDASC
- TRA EXIT41
- CLZ BRANCH # SAVE BRANCH IN
- STO TMPBR # TEMPORARY BRANCH
- CLA DEDABR # DEDA START
- STO BRANCH
- TRA EXIT41 # TO SOFT DISPLAY
-#
-# DISPLAY SUBROUTINE
-#
-DSPLY CLZ DSPSC
- ALS 1
- TOV *+2 # O.F. IS TIME TO DISPLAY
- TRA DSPLY4
- CLZ PDOUT # INCREMENT DISPLAY VARIABLES.
-
-# Page 97
- ADD DPDOUT
- STO PDOUT # 13
- CLZ POUT
- ADD DPOUT
- TRA DSPLY2-5
-DSPLY1 STO PDOUT # I.C. DISPLAY COMPS.
- SUZ PDOTM1
- MPR 1K4 # .1
- STO DPDOUT # DELTA PDOT AT 13.
- CLA PDOUT # 13
- STO PDOTM1
- MPY 1K4 # .1
- LRS 9 # 0.2 PDOT AT 23.
- DVP POUTFS # =76840 FT B28
- STO DPOUT # DELTA P AT DISPLAY SCALE.
- CLA POUT # 23
- LDQ ZERO
- DVP POUTFS # =76840 FT B23
- TOV *+2
- TRA *+3
- CLZ DPOUT
- CLA PMAX
- STO POUT # OUTPUT P AT DISPLAY SCALE.
-DSPLY2 CLA PDOUT # DISPLAY POSITION RATE.
- ABS
- STO TS10
- CLA PDOUT
- TMI *+3
- CLA MS # 1 IS +
- TRA *+2
- CLA ZERO # 0 IS -
- ADZ TS10 # SIGN MAGNITUDE.
- OUT 3040 # RESET
- OUT 2440 # SELECT ALT RATE.
- OUT 6010 # OUTPUT ALT RATE.
- TRA EXIT42 # COMPUTE VY0 FOR OUTPUT
- OUT 6020 # OUTPUT SAME.
-
-# Page 98
-DSPLY3 CLA POUT # DISPLAY POSITION
- TMI *+2
- TRA *+2
- CLA ZERO # ALT NEG.
- ALS 1 # SIGN BIT USED
- OUT 3040 # RESET
- OUT 2420 # SELECT ALT.
- OUT 6010 # OUTPUT ALT.
- CLA 1B5
-DSPLY4 STO DSPSC # RESET COUNTER.
-#
-# CYCLE COUNTING
-#
-EXEC1 CLZ MU10 # UPDATE MINOR CYCLE COUNT.
- ADD 1B17
- STO MU10
- TRA EXIT43
- CLA MU10 # CHECK FOR END.
- SUB 49B17
- TMI DELAY # -- IS NOT END.
- CLZ MU10
- CLA BR50 # BR50 START.
- STO BRANCH
- TRA DELAY
-#
-# CROSS PRODUCT SUBROUTINE. AXB=C.
-#
-CRSPRD STQ SREX
- CLA TS4+2 # AZ
- MPR TS10+1 # BY
- STO TS7
- CLA TS4+1 # AY
- MPR TS10+2 # BZ
- SUZ TS7
- STO TS14 # CX
- CLA TS4 # AX
- MPR TS10+2 # BZ
-
-# Page 99
- STO TS7
- CLA TS4+2 # AZ
- MPR TS10
- SUZ TS7
- STO TS14+1 # CY
- CLA TS4+1 # AY
- MPR TS10 # BX
- STO TS7
- CLA TS4 # AX
- MPR TS10+1 # BY
- SUZ TS7
- STO TS14+2 # CZ
- TRA SREX
-#
-# NORMALIZE VECTOR SUBROUTINE.
-#
-NORMV STQ SREX2
- CLZ TS17
- AXT 2,1
- CLA TS14,1 # INPUT VECTOR
- MPR TS14,1
- ADZ TS17
- STO TS17
- TIX *-4,1
- TSQ SQRTE
- STO TS13
- AXT 2,1
- CLA TS14,1
- LDQ ZERO
- LRS 1
- DVP TS13
- STO TS10,1 # UNIT VECTOR AT 1.
- TIX *-5,1
- TRA SREX2
-#
-# ORBIT PARAMETERS FROM EPOCH SUBROUTINE
-#
-
-# Page 100
-ORBPM STQ SREX2
- CLZ TS11
- CLZ TS12
- CLZ TS13
- TOV *+1
- AXT 2,1
-ORBPM1 CLA R0X,1 # 23
- MPR V0X,1 # 13
- ADZ TS13
- STO TS13 # R0 DOT V0 AT 36
- CLA V0X,1
- MPR V0X,1
- ADZ TS12
- STO TS12 # V0 DOT V0 AT 26
- CLA R0X,1
- MPR R0X,1
- ADZ TS11
- STO TS11 # R0 DOT R0 AT 46
- TIX ORBPM1,1
-EX44 TRA EXIT44
- TSQ SQRTE
- STO R0 # 23
- MPY TS12 # 23+26=49
- TOV *+1
- DVP 2K1 # 48
- COM
- ADD PMAX # 2B1
- STO TS1
- CLA R0
- LDQ ZERO
- LRS 1
- DVP TS1
-EX45 TRA EXIT45
- STO AI # ALPHA I AT 23
- CLA 2K1
- LDQ ZERO
- LRS 1 # 49
-
-# Page 101
- DVP AI # 49-23=26
- TSQ SQRTE
- STO TS1 # ROOT(MU/ALPHA) AT 15
- LDQ ZERO
- LRS 1
- DVP AI
- STO NI # ANG FREQ AT -9.
- CLA AI
- SUB R0
- LDQ ZERO
- DVP AI
- STO CI # 0
- CLA AI
- MPZ TS1
- STO TS1 # ROOT(ALPHA X MU) AT 36
- CLZ TS13
- LDQ ZERO
- DVP TS1
- STO SI # 0
- TRA SREX2
-#
-# ELLIPSE PREDICTOR SUBROUTINE.
-#
-ELPRD STQ SREX2
- CLZ TS7 # ITERATION COUNTER.
- CLA TI # 13
- MPR NI # AT -9.
- ALS 1
- STO TS10 # DEL M AT 3.
-ELPRD1 STO TS11 # DEL E AT 3.
- TSQ SICOE
- CLA TS0
- MPR CI # AT 0.
- STO TS13 # 1
- CLA TS1 # 1
- MPR SI # 0+1=1
- SUZ TS13
-
-# Page 102
- ADD 1B1
- STO TS12 # X12 AT 1.
- CLZ TS7
- SUB 2B17 # 2 ITERATIONS.
- TMI ELPRD3 # -- IS NOT DONE.
- CLA CI # 0
- LRS 1 # 1
- COM
- ADD TS0
- MPY AI # 23+1=24
- DVP R0 # 23
- STO TS3 # F AT 1.
- CLZ TS10 # 3
- SUZ TS11
- ALS 2 # 1
- ADD TS1
- LDQ ZERO
- LRS 1
- DVP NI # AT -9.
- STO TS7 # G AT 11.
- CLA R0
- MPR TS12
- STO TS14 # 24
- CLA AI
- MPR NI
- MPY TS1 # 23-9+1=15
- DVP TS14
- COM
- STO TS13 # F DOT AT -9.
- CLA TS12 # X12
- SUB 1B1
- ADZ TS0
- LDQ ZERO
- LRS 1 # 2
- DVP TS12
- STO TS17 # G DOT AT 1.
- AXT 2,1
-
-# Page 103
-ELPRD2 CLA R0X,1 # 23
- MPR TS3 # 1
- STO TS2 # 24
- CLA V0X,1 # 13
- MPR TS7 # 11+13=24
- ADZ TS2
- ALS 1 # 23
- STO RIX,1 # PRED POS AT 23
- CLA R0X,1 # 23
- MPR TS13 # -9
- STO TS2 # 14
- CLA V0X,1 # 13
- MPR TS17 # 1
- ADZ TS2
- ALS 1
- STO VIX,1 # PRED VEL AT 13
- TIX ELPRD2,1
- TRA SREX2
-ELPRD3 ADD 3B17
- STO TS7
- CLA TS10 # 3
- SUB TS11
- ALS 2
- STO TS13 # DEL(M)-DEL(E) AT 1.
- CLA TS0 # 1
- LRS 1 # 2
- SUB 1B2
- MPR SI # 0+2=2
- ALS 1
- STO TS14 # 1
- CLA TS1
- MPR CI # 0+1=1
- ADZ TS14
- ADZ TS13 # X11 IN A AT 1.
- LDQ ZERO
- LRS 3 # 4
- DVP TS12 # DEL E CORRECTION AT 3.
-
-# Page 104
- ADZ TS11 # DEL 3
- TRA ELPRD1
-#
-# DOUBLE PRECISION SQUARE SUBROUTINE
-#
-DPSQ STQ SREX
- CLZ TS1 # A SQ MS
- CLZ TS2 # A SQ LS
- AXT 2,1
-DPSQ1 CLA TS4,1
- MPY TS4,1
- ADZ TS1
- TMI DPSQ3 # CHECK FOR O.F.
- STO TS1
- STQ TS3
- CLZ TS2
- ADZ TS3
- STO TS2
- TMI *+2 # CHECK FOR O.F.
- TRA DPSQ2
- SUB MS
- STO TS2
- CLZ TS1
- ADD 1B17
- TMI DPSQ3 # CHECK FOR O.F.
- STO TS1
-DPSQ2 TIX DPSQ1,1
- TRA SREX
-DPSQ3 CLA PMAX # O.F. DETECTED.
- STO TS1
- TRA SREX
-#
-# NORMALIZE SUBROUTINE.
-#
-NORM STQ SREX1
- TOV *+1 # CLEAR O.F.
- LDQ TS2 # A SQ LS
-
-# Page 105
- AXT 7,1 # 8 SHIFTS(16 PLACES) POSSIBLE
- CLA TS1 # A SQ MS
- LLS 2
- TOV NORM1
- STO TS1 # NORMALIZED A.
- TIX *-4,1
- CLA 8B17
- ADD SHDUM # LRS 0
- TRA SREX1
-NORM1 CLA 7B17,1
- TRA *-3
-#
-# DOUBLE PRECISION VECTOR MAGNITUDE
-#
-DPVMAG STQ SREX2 # SAVE RET ADDRS.
- TSQ DPSQ # TO DOUB PREC SQ.
- TSQ NORM # TO NORMALIZE.
- STO SREX3 # LRS(I/2)
- CLZ TS1 # NORMALIZED SQ.
- TSQ SQRTE
- TRA SREX3 # RE-NORMALIZE A-REG.
-#
-# DOUBLE PRECISION TIME SUBTRACT
-#
-DPTSB STQ SREX
- CLA TA1 # ABS TIME MS AT 18.
- SUB TE1,1 # EPOCH TIME MS AT 18.
- ALS 5 # 13
- STO TS1
- CLA TE2,1 # EPOCH TIME LS AT 1.
- LRS 12 # 13
- STO TS2
- CLA TA2 # ABS TIME LS AT 1.
- LRS 12 # 13
- SUZ TS2
- ADZ TS1
- STO TI # TIME DIFF AT 13.
-
-# Page 106
- TRA SREX
-#
-EXIT STQ SREX2
- TRA SREX2
-#
-# SINE-COSINE SUBROUTINE ENTER WITH ANGLE IN
-# RADIANS AT B3 IN ACC AND RETURN IN Q
-#
- ADD 2PIB3
-SICOE TMI *-1 # SET PLUS
- STQ SREX
- STO TS1
- SUB 2PIB3 # SET BETWEEN 0-2PI
- TMI *+2
- STO TS1
- CLA PID2 # PI/2
- SUB TS1
- STO TS0 # PI/2-ALPHA
- TMI SICO1 # -- IS GREATER THAN 90
- AXT 1,1
-SICO2 CLA TS0,1
- ALS 2 # TO 1
- STO TS0,1
- MPR TS0,1
- STO TS2 # ALPHA SQUARED AT 2
- MPR K173 # 2-6=-4
- ADD K172
- MPR TS2 # -2
- ADD K171
- MPR TS2 # 0
- ADD K170
- MPR TS0,1 # 1
- STO TS0,1
- TIX SICO2,1
- TRA SREX # EXIT
-SICO1 ADD PID2
- STO TS1 # PI-ALPHA
-
-# Page 107
- TMI *+2 # -- IS GREATER THAN 180
- TRA SICO2-1
- ADD PID2
- COM
- STO TS0 # ALPHA-3PI/2
- TMI SICO2-1 # -- IS BETWEEN 180 AND 270
- SUB PID2
- STO TS1 # ALPHA-2PI
- TRA SICO2-1
-#
-# ARCTANGENT SUBROUTINE ENTER WITH SINE AND
-# COSINE AT 1 IN TS3 AND TS4
-#
-ARCTAE STQ SREX # SET EXIT
- CLA TS3
- ABS
- STO TS1
- CLA TS4
- TOV *+1
- ABS
- ADD TS1 # KCOS+KSIN
- TOV *+3 # O.F. CHECK.
- CLA TS4
- TRA *+7
- CLZ TS1 # O.F. RE-SCALE.
- LRS 1
- STO TS1 # ABS SIN.
- CLZ TS4
- LRS 1
- STO TS4 # COS
- TMI ARCTA2 # -- IS 2ND OR 3RD QUAD
- ADD TS1
- STO TS2
- CLA PID4
- STO TS5 # 1/4 PI
- CLA TS1
- SUB TS4 # SIN-COS
-
-# Page 108
-ARCTA1 LDQ ZERO
- LRS 1
- DVP TS2
- STO TS6 # =X AT 1
- MPY TS6
- STO TS7 # X SQUARED AT 2
- MPR K183 # -1
- ADD K182
- MPY TS7 # 1
- ADD K181
- MPY TS7 # 3
- LLS 1 # 2
- ADD K180
- MPR TS6 # 3
- ADD TS5
- STO TS1
- CLA TS3
- TMI *+3
- CLA TS1
- TRA SREX # EXIT
- CLA 2PIB3 # PHI GREATER THAN 180
- SUB TS1
- TRA SREX
-ARCTA2 CLA 3PID4
- STO TS5 # 3/4 PI
- CLA TS4
- SUB TS1
- STO TS2
- CLA TS1
- ADD TS4
- TRA ARCTA1
-#
-# SQUARE ROOT SUBROUTINE ENTER WITH
-# SQUARE IN ACC AND RETURN IN Q
-#
-SQRTE STQ SREX
- STO TS1
-
-# Page 109
- COM # TEST FOR ZERO OR NEG
- TMI *+3
- CLA ZERO # SET ROOT EQUAL ZERO
- TRA SREX
- CLZ TS2 # SET TS2=0
- TSQ NORM # TO NORMALIZE
- STO SREX1 # SAVE SHIFT
- CLA TS1
- LRS 1 # .5SQ
- STO TS8
- STQ TS1
- LRS 2 # .125SQ
- ADD TS8 # .625SQ
- ADD KSR # .375+.625SQ=RN-1
- AXT 1,1 # 2 ITERATIONS
-SQRT1 STO TS2
- LRS 1 # .5 RN-1
- STO TS0
-KSR LDQ TS1 # KSR=.375+DELTA
- CLA TS8
- DVP TS2
- ADZ TS0 # .5SQ/RN-1+.5RN-1=RN
- TIX SQRT1,1
- TRA SREX1 # TO SHIFT
-#
-# ANGLE BETWEEN VECTORS SUBROUTINE.
-#
-ABVEC STQ SREX1
- CLA TS10 # BX
- MPR TS4+2 # AZ
- LRS 1
- STO TS2
- CLA TS4 # AX
- MPR TS10+2 # BZ
- LRS 1
- SUZ TS2
- STO TS3 # SIN THETA
-
-# Page 110
- CLA TS4 # AX
- MPR TS10 # BX
- LRS 1
- STO TS2
- CLA TS4+2 # AZ
- MPR TS10+2 # BZ
- LRS 1
- ADZ TS2
- STO TS4 # COS THETA
- TSQ ARCTAE
- TRA SREX1 # THETA IN A AT 3.
-#
-# DEDA PROCESSING ENTRY
-#
-ADOUT CLA ADST # OUTPUT ADDRESS
- ADD DUMCLA
- STO CLADD # SET CLA OF DATA
- LRS 9
- AXT 2,1
- LLS 3 # 3 BITS PER PASS
- OUT DEDA
- OUT SHOUT # SET SHIFT OUT
- ALS 18 # TIME DELAY
- TIX *-4,1
- TRA CLADD # GET DATA
-ROR STO DD
- TMI SNS # TEST SIGN
- CLA ZERO # POSITIVE
-
-SOUT OUT DEDA # OUTPUT SIGN
- OUT SHOUT
- CLA OCTF # OCTAL OR DECIMAL OUTPUT
- TMI OCTO
-EX46 TRA EXIT46
- CLA DD # DECIMAL OUTPUT
- MPR SF # SCALE FACTOR
- ABS # MAGNITUDE
- AXT 4,1 # OUTPUT 5 DIGITS
-
-# Page 111
- TOV *+1
- LDQ ZERO
- DVP BCDL # DIVIDE BY 100K
- STQ TS1
- CLZ TS1 # UNROUNDED QUOTIENT
- ADD 1B17 # ROUND UP
- TOV MAX # TEST FOR TOO LARGE
-DOUT MPY 10B17 # EXTRACT DIGIT
- OUT DEDA # OUTPUT
- OUT SHOUT
- STQ TS1 # REMAINDER
- CLZ TS1
- TIX *-5,1
- TRA EXIT47
-OCTO LDQ DD # OCTAL OUTPUT
- AXT 4,1 # OUTPUT 5 OCTAL DIGITS
- LLS 3 # EXTRACT DIGIT
- OUT DEDA # OUTPUT
- OUT SHOUT
- ALS 18 # TIME DELAY
- TIX *-4,1
- TRA EXIT47
-RME STO RMF # READOUT ENTRY
- OUT SHIN # ENTER ENTRY SET SHIFT IN
- CLZ CMF # RESET CLEAR MODE
- CLZ OCTF # OCTAL FLAG
- CLZ DD # CLEAR DEDA DATA
- CLA ZERO
- AXT 2,1 # INPUT 3 DIGIT ADDRESS
- ALS 3
- STO ADST
- INP DEDA # INPUT DIGIT
- OUT SHIN # SET SHIFT IN
- LRS 13
- SUB 8B17 # TEST FOR ERROR
- TMI *+2
- TRA EXIT48 # ERROR EXIT
-
-# Page 112
- ADD 8B17
- ADZ ADST # ASSEMBLE ADDRESS
- TIX *-10,1
- STO ADST
- INP DEDA
- OUT SHIN
- ALS 4
- STO TS2 # SIGN
- CLA ADST
- TRA EXIT49 # SCALE FACTOR SELECT
-NOTDD CLA MS # SET OCTAL FLAG
- STO OCTF
- CLA RMF # EXIT IF READOUT
- TMI EXIT47
- AXT 4,1 # INPUT 5 OCTAL DIGITS
- INP DEDA
- OUT SHIN
- LRS 14
- ADZ DD # ASSEMBLE WORD
- LLS 3
- STO DD
- TIX *-6,1
- ADZ TS2 # ADD SIGN
- TRA STDD
-DDIN CLA RMF # DECIMAL DATA
- TMI EXIT47 # EXIT IF READOUT
- AXT 4,1 # READ 5 DIGITS
- TRA *+5
- OUT SHIN
- MPY 10B4 # MULTIPLY BY 10
- LLS 4 # SCALE
- STO DD
- INP DEDA
- LRS 13
- ADZ DD # ASSEMBLE WORD
- TIX *-7,1
-EX50 TRA EXIT50
-
-# Page 113
- DVP SF # SCALE FACTOR
-STDD STO DD
- CLZ TS2
- TMI *+2 # COMPLEMENT IF MINUS
- TRA EXIT51 # IMMEDIATE ACTION TEST
- CLZ DD # COMPLEMENT
- COM
- TRA STDD
-SNS CLA 1B17 # PICK UP NEGATIVE SIGN
- TRA SOUT
-MAX CLA PMAX # GET MAXIMUM NUMBER
- TRA DOUT
-#
-# ABSOLUTE TIME INITIALIZE
-#
-ATI CLA MU10 # CYCLE COUNT
- LDQ ZERO
- DVP M25B16 # MINUS SEC AT 1
- ADD DTB # 1+TIME BIAS
- ADD 1B1 # +1 SEC
- STO TA2 # 2+BIAS-CYCLE COUNT
- CLA DD # INPUT TIME
- SUB 1B17 # T-2 SEC
- STO TA1 # MOST SIG ABS TIME
- TRA EXIT47
-#
-# AGS TELEMETRY OUTPUT
-#
-TME STQ SREX
- INP DISC1I
- ALS 2 # TEST FOR STOP
- TMI SREX # EXIT IF NOT
- CLZ TMID
- ADD 1B17 # INCREMENT IDENT NUMBER
- STO TMID
- ADD TMCLA # SET UP TO GET WORD
- STO SREX-2
-
-# Page 114
- SUB TMCLA # GET ID
- ALS 12
- OUT TMIDO # OUTPUT IDENTIFICATION
- CLA TMOUT # OUTPUT INSTRUCTION
- STO SREX-1
- TRA SREX-2
-#
-# TELEMETRY INITIALIZE
-#
-TMIE2 CLZ TMID # RESET TO FIRST WORD
- AXT 2,1
- CLA A11,1 # SAVE DIRECTION COSINES
- STO A11T,1 # FOR TELEMETRY
- CLA A31,1
- STO A31T,1
- TIX *-4,1
- TRA EXIT
-#
-# PGNS DOWNLINK INPUT
-#
-PGNSDE STQ SREX
- CLA DEL32 # DOWNLINK INITIALIZE FLAG
- TMI *+2
- TRA SREX # EXIT
- INP DISC1I
- ALS 1 # TEST FOR STOP
- TMI SREX # PULSE RECEIVED
- INP DLREG # INPUT WORD
- LRS 2 # DISCARD UNWANTED BITS
- STO TS12 # SAVE INPUT
- CLA ID1F # TEST FOR PRIOR ID
- TMI PGNSD1 # NUMBER 1 FOUND
- CLZ TS12 # TEST IF CURRENT
- TMI SREX # WORD IS AN ID
- SUB ID # TEST FOR PROPER ID
- ABS
- COM
-
-# Page 115
- TMI SREX
- CLA K173 # IS IDAI OR IDRP
- STO ID1F # SET FLAG
- CLZ DLWN # ZERO WORD NUMBER
-PBNSD2 CLA 1B5
- STO DLSC # SET SHIFT COUNT
- TRA SREX # EXIT
-PGNSD1 TRA EXIT7
- CLZ DLSC
- ALS 1 # TEST FOR ID
- TMI PBNSD2 # WORD EXPECTED
- STO DLSC
- CLZ DLWN
- ADD 1B17 # INCREMENT WORD NUMBER
- STO DLWN
- ADD DLSTO # FORM STORE COMMAND
- STO SREX-1
- SUB DLWNL # TEST FOR LAST WORD
- TMI *+4
- CLZ ID1F # RESET ID1 FLAG
- CLZ DEL32 # RESET INITIALIZE FLAG
- STO DEL31 # SET DATA RECEIVED FLAG
- CLZ TS12
- ALS 3
- TRA SREX-1
-#
-# SELF-TEST ROUTINE
-TEST CLA FLAGT
- TMI CKSUM
- CLA S12
- SUB 1B3
- TMI *+4
- SUB 1B2
- TMI *+3 # -- IS LESS THAN 3
- TRA EXIT52
- OUT 7010
-# LOGIC TEST
-
-# Page 116
- TOV *+1 # ACCUM. Q REG. OPER.
- LDQ K170 # 377777 377777
- CLA SIXTH # 252525 377777 252525
- ALS 1 # 525252
-1K7 STQ TS0
- TSQ OVFLW # TEST FOR OVERFLOW
- LRS 17 # 777777 525252
-10B4 SUB TS0 # 400000 525252 377777
- STQ TS0
- TOV ERROR # TEST RESET OF OVERFLOW
- COM # 400000
- TMI *+2
- TRA ERROR
-3B3 LDQ TS0 # 400000 525252 525252
- LLS 17 # 125252 000000
- STQ TS1
- TSQ OVFLW
- SUB TS1 # 125252 000000
- SUB TS0 # 400000 525252
- ALS 1 # 000000
- TSQ OVFLW
- LDQ 4B17 # 000000 000004 000004
- LLS 31 # 200000 000000
- TOV ERROR # NO OVERFLOW
- LDQ MS # 200000 400000 400000
- STQ TS1
- LRS 16 # 000001 000000
- ADD TS1 # 400001 000000 400000
- STQ TS2
- ADD TS2
- TMI *+2
- TRA ERROR
- ADD K170 # 000000 000000 377777
- TMI ERROR
- TOV ERROR
- COM # 000000
- TSQ ACCUM # 777777
-
-# Page 117
- COM # 000001
- ABS # 000001
- AXT 7,1
- STO TS0,1 # STORE 8 NUMBERS IN
- SUB 1B17 # SEQUENCE
- TIX *-2,1
- CLA 1B17 # 000001 000001
- # 2005-06-12 RSB. In the comment field, the OPER
- # entry was incorrectly shown as 777776. Since
- # CLZ clears the operand, this is impossible.
- CLZ TS4 # 777776 000000
- ALS 15 # 600000
- TOV ERROR
- # 2005-06-12 RSB. Same, but was 777777.
- MPZ TS5 # 000001 200000 000000
- # 2005-06-12 RSB. Same, but was 000001.
- SUZ TS7 # 000000 200000 000000
- LLS 3 # 000004 000000
- # 2005-06-12 RSB. Same, but was 777774.
- ADZ TS2 # 000000 000000 000000
- AXT 3,1
- ADD TS4,1
- TIX *-1,1
- AXT 7,1
- AXT 0,1
- # 2005-06-12 RSB. Same, but was 777775.
- SUZ TS3,1 # 000003 000000 000000
- TIX ERROR,1
- AXT 2,1
- # 2005-06-12 RSB. Same, but was 777773.
- ADZ TS1 # 777776 000000 000000
- TIX *+1,1
- TIX *+1,1
- # 2005-06-12 RSB. Same, but was 777772.
- SUZ TS0,1 # 000004 000000 000000
- AXT 3,1
- ADZ TS0,1
- TIX *-1,1
- ADD MS # 400004 400000
- ABS # 377774
- ADD K170 # 777773 377777
- TSQ OVFLW
- ABS # 000005
- LLS 0
- SUB 5B17 # 000000 000005
- TSQ ACCUM # 777777
-
-# Page 118
- CLA TS0 # 000000 000000
- TRA *+3
- TSQ ACCUM # 777777
- TRA *+2
- TRA *-2
- STO TS0
- ADD 1B17 # 000000 000001
- CLA TS0 # 777777 777777
- SUB TS0 # 000000 777777
- TSQ ACCUM # 777777
- ALS 16 # 600000
- MPY TS0 # 000000 200000 777777
- STQ TS1
- ADD TS1 # 200000 200000 200000
- SUB 1B1 # 000000 200000 200000
- ADD SIXTH # 252525 200000 252525
- MPR 3B17 # 000002 377777 000003
- ADD TS0 # 000001 377777 777777
- DVP 2B17 # 377777 377777 000002
- TOV ERROR
- STQ TS2
- SUB K170 # 000000 377777 377777
- SUB K170 # 400001 377777 377777
- ADD TS2 # 000000 377777 377777
- ADD SIXTH # 252525 377777 252525
- SUB 5B17 # 252520 377777 000005
- MPR SIXTH # 161612 161620 252525
- STQ TS2
- SUB TS2 # 777772 161620 161620
- LRS 17 # 777777 777772
- DVP 4B17 # 777777 777776 000004
- STQ TS2
- ADD TS2 # 777775 777776 777776
- ADD 3B17 # 000000 777776 000003
- SUB SIXTH # 525253 777776 252525
- STO TS3
- MPR TS3 # 161616 307071 525253
-
-# Page 119
- DVP TS3 # 525251 525251 525253
- MPY SIXTH # 616160 743435 252525
- DVP SIXTH # 525251 525251 252525
- ADD 2B17 # 525253 525251 000002
- ADD TS3 # 252526 525253
- TSQ OVFLW
- SUB TS3 # 525253 525253
- TSQ OVFLW
- SUB SIXTH # 252526 252525
- TSQ OVFLW
- COM
- ADD SIXTH # 777777 252525
- LDQ TS6 # 777777 000000 000000
- ADD TS0 # 777776 000000 777777
- LRS 2 # 777777 600000
-1B3 DVP TS0 # 200000 177777 777777
- STQ TS0
- TSQ OVFLW
- SUB TS0 # 000001 177777
- SUB 1B17 # 000000 000001
- TSQ ACCUM # 777777
- CLA 3B17
- DVP 2B17
- TSQ OVFLW # END OF LOGIC TEST
-SETFG CLA MS
- STO FLAGT # SET TEST FLAG
- CLZ SUM
- CLA TCLTH # INITIALIZE MEMORY
- STO TVARBR # TEST
- CLA CLATEN
- STO SUMLIM
- TRA EXIT52
-# MEMORY CHECKSUM ROUTINE
-CKSUM TSQ MEMSUM # PERFORM SUMMATION
- CLZ SUM # TEST SUM
- TMI *+3
- SUB 1B17
-
-# Page 120
- TMI COREX
- CLA S12 # INCORRECT SUM
- SUB 3B3 # SET TEST WORD BITS
- TMI *+4 # AND TEST MODE FAILURE
- CLA 7B3 # INDICATOR
- STO S12
- TRA *+3
- CLA 1B1
- OUT 6410
- STO S12
- CLZ FLAGT # RESET FLAG
- TRA EXIT52
-COREX CLA S12 # CORRECT SUM
- SUB 1B17
- TMI *+2
- TRA *-5
- CLA 1B3
- TRA COREX-3
-MEMSUM STQ SREX # MEMORY SUMMATION SUBRT.
- CLZ WRDCNT
- TSQ TVARBR
- ADZ SUM # FORM SUM
- STO SUM
- CLA TVARBR
- SUB SUMLIM # TEST FOR LIMIT
- TMI *+2
- TRA SREX
- CLZ WRDCNT
- ADD 1B17
- STO WRDCNT # INCREMENT WORD COUNTER
- SUB WORDS
- TMI MEMSUM+2
- TRA EXIT53
-ACCUM TMI ERROR # SUBROUTINE TO TEST FOR
- SUB 1B17
- TMI EXIT
-ERROR CLA 3B3
-
-# Page 121
- STO S12
- TRA SETFG
-OVFLW TOV EXIT # OVERFLOW TEST
- TRA ERROR
-#
-# INPUT-OUTPUT ADDRESSES
-#
- CHECKSUM RANGE 4000-7776
-DLREG DEFINE 6200
-DISC1I DEFINE 2020 # DISCRETE INPUT WORD 1
-DISC2I DEFINE 2040 # DISCRETE INPUT WORD 2
-DEDA DEFINE 2200
-SIALO DEFINE 2001 # DEFINE OUTPUT REGISTERS
-COALO DEFINE 2002 # FOR FDAI ANGLES
-SIBEO DEFINE 2004
-COBEO DEFINE 2010
-SIGAO DEFINE 2020
-COGAO DEFINE 2040
-EXO DEFINE 6001 # DEFINE THE ATT ERROR
-EYO DEFINE 6002 # OUTPUT REGISTERS
-EZO DEFINE 6004
-TMIDO DEFINE 6200
-SHOUT DEFINE 2600
-SHIN DEFINE 2500
- END
-
diff --git a/FRESH_START_AND_RESTART.s b/FRESH_START_AND_RESTART.s
new file mode 100644
index 0000000..d0be47d
--- /dev/null
+++ b/FRESH_START_AND_RESTART.s
@@ -0,0 +1,1474 @@
+# Copyright: Public domain.
+# Filename: FRESH_START_AND_RESTART.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 181-210
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-16 FB Transcription Batch 2 Assignment.
+# 2009-05-20 RSB Removed an extraneous "TC STARTSUB".
+# 2009-05-21 RSB Changed a "TC BANKCALL" to "TC STOPRATE"
+# in INITSUB.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 181
+# PROGRAM DESCRIPTION 8 APRIL, 1967
+# SUNDISK REV 120
+# FUNCTIONAL DESCRIPTION
+#
+# SLAP1 MAN INITIATED FRESH START
+# 1. EXECUTE STARTSUB
+# 2. TURN OFF DSKY DISCRETE-LAMPS
+# 3. CLEAR FAIL REGISTERS, SELF-CHECK ERROR COUNTER AND RESTART
+# COUNTER
+# 4. EXECUTE DOFSTART
+#
+# DOFSTART MACHINE INITIATED FRESH START
+#
+# 1. CLEAR SELF-CHECK REGISTERS, MODE REGISTER AND CDUZ REGISTER
+# 2. CLEAR PHASE TABLE
+# 3. INITIALIZE IMU FLAGS
+# 4. INITIALIZE FLAGWORDS
+# 5. TRANSFER CONTROL TO IDLE LOOP IN DUMMYJOB
+#
+# GOPROG HARDWARE RESTART
+#
+# 0. EXECUTE STARTSUB
+# 1. TRANSFER CONTROL TO DOFSTART IF ANY OF THE FOLLOWING CONDITIONS
+# EXIST.
+# A. RESTART OCCURRED DURING EXECUTION OF ERASCHK.
+# B. BOTH OSCILLATOR FAIL AND AGC WARNING ARE ON.
+# C. MARK REJECT AND EITHER NAV OR MAIN DSKY ERROR LIGHT RESET
+# ARE ON.
+# 2. SCHEDULE A T5RUPT PROGRAM FOR THE DAP
+# 3. SET FLAGWRD5 BITS FOR INTWAKE ROUTINE
+# 4. EXTINGUISH ALL DSKY LAMPS, EXCEPT FOR PROGRAM ALARM, GIMBAL LOCK, AND
+# NO ATT
+# 5. INITIALIZE IMU FLAGS
+# 6. IF ENGINE COMMAND IS ON (FLAGWRD5, BIT 7), SET ENGINE ON (CHANNEL
+# 11, BIT 13).
+# 7. TRANSFER CONTROL TO GOPROG3
+#
+# ENEMA SOFTWARE RESTART -- INITIATED BY MAJOR MODE CHANGE
+#
+# 1. EXECUTE STARTSB2
+# 2. KILL PROGRAMS THAT WERE INTEGRATING OR WAITING FOR INTEGRATION
+# ROUTINE
+# 3. TRANSFER CONTROL TO GOPROG3
+#
+# GOPROG3 SUBROUTINE COMMON TO GOPROG AND ENEMA
+#
+# 1. TEST PHASE TABLES -- IF INCORRECT, DISPLAY ALARM 1107 AND
+# TRANSFER CONTROL TO DOFSTART
+# 2. DISPLAY MAJOR MODE
+# 3. IF ANY GROUPS WERE ACTIVE UPON RESTART, TRANSFER CONTROL TO THE
+# Page 182
+# RESTARTS SUBROUTINE TO RESCHEDULE PENDING TASKS, LONGCALLS, AND
+# JOBS (P20 IS RESTARTED VIA FINDVAC)
+# 4. IF NO GROUPS WERE ACTIVE UPON RESTART, DISPLAY ALARM CODE
+# 1110 (RESTART WITH NO ACTIVE GROUPS)
+# 5. TRANSFER CONTROL TO IDLE LOOP IN DUMMYJOB
+#
+# STARTSUB SUBROUTINE COMMON TO SLAP1 AND GOPROG
+#
+# 1. CLEAR OUTBIT CHANNELS 5 AND 6
+# 2. INITIALIZE TIME5, TIME4, TIME3
+# 3. TRANSFER CONTROL TO STARTSB2
+#
+# STARTSB2 SUBROUTINE COMMON TO STARTSUB AND ENEMA
+#
+# 1. INTIALIZE OUTBIT CHANNELS 11,12,13, AND 14
+# 2. REPLACE ALL TASKS ON WAITLIST WITH ENDTASK
+# 3. MAKE ALL EXECUTEVE REGISTERS AVAILABLE
+# 4. MAKE ALL VAC AREAS AVAILABLE
+# 5. CLEAR DSKY REGISTERS
+# 6. ZERO NUMEROUS SWITCHES
+# 7. INITIALIZE OPTICS FLAGS
+# 8. INITIALIZE PIPA AND TELEMETRY FAIL FLAGS
+# 9. INITIALIZE DOWN TELEMETRY
+#
+# INPUT/OUTPUT INITIALIZATION
+#
+# A. CALLING SEQUENCE
+#
+# SLAP1 -- TC POSTJUMP OR VERB 36,ENTER
+# CADR SLAP1
+#
+# ENEMA -- TC POSTJUMP *** DO NOT CALL ENEMA WITHOUT ***
+# CADR ENEMA *** CONSULTING P00H PEOPLE ***
+#
+# B. OUTPUT
+#
+# ERASABLE MEMORY INITIALIZATION
+#
+# PROGRAM ANALYSIS
+#
+# A. SUBROUTINES CALLED
+#
+# MR.KLEAN,WAITLIST,DSPMM,ALARM,RESTARTS,FINDVAC
+#
+# B. ALARMS
+#
+# 1107 PHASE TABLE ERROR
+# 1110 RESTART WTIH NO ACTIVE GROUPS
+
+# Page 183
+ BANK 10
+ SETLOC FRANDRES
+ BANK
+
+ EBANK= LST1
+
+ COUNT 05/START
+
+SLAP1 INHINT # FRESH START. COMES HERE FROM PINBALL.
+ TC STARTSUB # SUBROUTINE DOES MOST OF THE WORK.
+
+STARTSW TCF SKIPSIM # PATCH....TCF STARTSIM...FOR SIMULATION
+STARTSIM CAF BIT14
+ TC FINDVAC
+SIM2CADR OCT 77777 # PATCH 2CADR (AND EBANK DESIGNATION) OF
+ OCT 77777 # SIMULATION START ADDRESS.
+
+SKIPSIM CA DSPTAB +11D
+ MASK BITS4&6
+ AD BIT15
+ TS DSPTAB +11D # REQUESTED FRESH START.
+
+ CA ZERO # SAME STORY ON ZEROING FAILREG.
+ TS ERCOUNT
+ TS FAILREG
+ TS FAILREG +1
+ TS FAILREG +2
+ TS REDOCTR
+
+ CS PRIO12
+ TS DSRUPTSW
+
+DOFSTART CAF ZERO # DO A FRESH START.
+ TS ERESTORE # ***** MUST NOT BE REMOVED FROM DOFSTART
+ TS SMODE # ***** MUST NOT BE REMOVED FROM DOFSTART
+ TS UPSVFLAG # UPDATE STATE VECTOR REQUEST FLAGWORD
+ EXTEND
+ WRITE CHAN5 # TURN OFF RCS JETS
+ EXTEND
+ WRITE CHAN6 # TURN OFF RCS JETS
+ EXTEND
+ WRITE DSALMOUT # ZERO CHANNEL 11
+ EXTEND
+ WRITE CHAN12 # ZERO CHANNEL 12
+ EXTEND
+ WRITE CHAN13 # ZERO CHANNEL 13
+ EXTEND
+ WRITE CHAN14 # ZERO CHANNEL 14
+ TS WTOPTION
+ TS DNLSTCOD
+# Page 184
+ TS NVSAVE
+ TS EBANKTEM
+ TS RATEINDX
+ TS TRKMKCNT
+ TS VHFCNT
+ TS EXTVBACT
+
+ CS DSPTAB +11D
+ MASK BITS4&6
+ CCS A
+ TC +4
+ CA BITS4&6
+ EXTEND # THE IMU WAS IN COARSE ALIGN IN GIMBAL
+ WOR CHAN12 # LOCK, SO PUT IT BACK INTO COARSE ALIGN.
+ TC MR.KLEAN
+
+ CS ZERO
+ TS MODREG
+
+ CAF PRIO30
+ TS RESTREG
+
+ CAF IM30INIF # FRESH START IMU INITIALIZATION.
+ TS IMODES30
+
+ CAF NEGONE
+ TS OPTIND # KILL COARSE OPTICS
+
+ CAF OPTINITF
+ TS OPTMODES
+
+ CAF IM33INIT
+ TS IMODES33
+
+ EXTEND # LET T5 IDLE.
+ DCA T5IDLER
+ DXCH T5LOC
+
+ CA SWINIT
+ TS STATE
+
+ CA FLAGWRD1
+ MASK NOP01BIT # LEAVE NODOP01 FLAG UNTOUCHED
+ AD SWINIT +1
+ TS FLAGWRD1
+
+ CA SWINIT +2
+ TS STATE +2
+
+ CA FLAGWRD3
+# Page 185
+ MASK BIT13 # REFSMMAT FLAG
+ AD SWINIT +3
+ TS FLAGWRD3
+
+ EXTEND
+ DCA SWINIT +4
+ DXCH STATE +4
+ EXTEND
+ DCA SWINIT +6
+ DXCH STATE +6
+ CA FLAGWRD8
+ MASK OCT6200 # CMOONFLG, LMOONFLG, AND SUFFLAG
+ AD SWINIT +8D
+ TS FLAGWRD8
+
+ CA SWINIT +9D
+ TS STATE +9D
+
+ EXTEND
+ DCA SWINIT +10D
+ DXCH STATE +10D
+
+ENDRSTRT TC POSTJUMP
+ CADR DUMMYJOB +2 # PICKS UP AT RELINT. (IN A SWITCHED BANK.)
+
+MR.KLEAN INHINT
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE2
+P00KLEAN EXTEND
+ DCA NEG0
+ DXCH -PHASE4
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE1
+V37KLEAN EXTEND
+ DCA NEG0
+ DXCH -PHASE3
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE5
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE6
+ TC Q
+
+OCT6200 OCT 6200
+
+# Page 186
+# COMES HERE FROM LOCATION 4000, GOJAM, RESTART ANY PROGRAMS WHICH MAY HAVE BEEN RUNNING AT THE TIME.
+
+GOPROG INCR REDOCTR # ADVANCE RESTART COUNTER.
+
+ LXCH Q
+ EXTEND
+ ROR SUPERBNK
+ DXCH RSBBQ
+ TC BANKCALL # STORE ERASABLES FOR DEBUGGING PURPOSES.
+ CADR VAC5STOR
+ CA BIT15 # TEST OSC FAIL BIT TO SEE IF WE HAVE
+ EXTEND # HAD A POWER TRANSIENT. IF SO, ATTEMPT
+ WAND CHAN33 # A RESTART. IF NOT, CHECK THE PRESENT
+ EXTEND # STATE OF AGC WARNING BIT.
+ BZF BUTTONS
+
+ CA BIT14 # IF AGC WARNING ON (BIT = 0), DO A
+ EXTEND # FRESH START ON THE ASSUMPTION THAT
+ RAND CHAN33 # WE ARE IN A RESTART LOOP.
+ EXTEND
+ BZF NONAVKEY +1
+
+BUTTONS TC LIGHTSET # MAKE FRESH START CHECKS BEFORE ERESTORE.
+
+# ERASCHK TEMPORARILY STORES THE CONTENST OF TWO ERASABLE LOCATIONS, X
+# AND X+1 INTO SKEEP5 AND SKEEP6. IT ALSO STORES X INTO SKEEP7 AND
+# ERESTORE. IF ERASCHK IS INTERRUPTED BY A RESTART, C(ERESTORE) SHOULD
+# EQUAL C(SKEEP7), AND SHOULD BE A + NUMBER LESS THAN 2000 OCT. OTHERWISE
+# C(ERESTORE) SHOULD EQUAL +0.
+
+ CAF HI5
+ MASK ERESTORE
+ EXTEND
+ BZF +2 # IF ERESTORE NOT = +0 OR +N LESS THAN 2K,
+ TCF NONAVKEY +1 # DOUBT E MEMORY AND DO A FRESH START
+ CS ERESTORE
+ EXTEND
+ BZF ELRSKIP -1
+ AD SKEEP7
+ EXTEND
+ BZF +2 # = SKEEP7, RESTORE E MEMORY.
+ TCF NONAVKEY +1 # NOT = SKEEP7, DOUBT E MEM, DO FRESH START
+ CA SKEEP4
+ TS EBANK # EBANK OF E MEMORY THAT WAS UNDER TEST.
+ EXTEND # (NOT DXCH SINCE THIS MIGHT HAPPEN AGAIN)
+ DCA SKEEP5
+ INDEX SKEEP7
+ DXCH 0000 # E MEMORY RESTORED
+ CA ZERO
+ TS ERESTORE
+# Page 187
+ TC STARTSUB # DO INITIALIZATION AFTER ERASE RESTORE.
+ELRSKIP CA FLAGWRD6 # RESTART AUTOPILOTS
+ EXTEND
+ MP BIT3 # BITS 15,14 00 T5IDLOC
+ MASK SIX # 01 REDORCS
+ EXTEND # 10 REDOTVC
+ INDEX A # 11 REDOSAT
+ DCA T5IDLER
+ DXCH T5LOC
+
+ CS INTFLBIT
+ MASK RASFLAG
+ TS RASFLAG
+
+ CA OPTMODES
+ MASK OPTINITR
+ AD BIT7
+ TS OPTMODES
+
+ CAF BIT6
+ MASK IMODES33
+ AD IM33INIT
+ TS IMODES33
+
+ CA 9,6,4 # LEAVE PROG ALARM, GIMBAL LOCK, NO ATT
+ MASK DSPTAB +11D # LAMPS INTACT ON HARDWARE RESTART
+ AD BIT15
+ XCH DSPTAB +11D
+ MASK BIT4 # IF NO ATT LAMP WAS ON, LEAVE ISS IN
+ EXTEND # COARSE ALIGN
+ BZF NOCOARSE
+ TC IBNKCALL # IF NO ATT LAMP ON, RETURN ISS TO
+ CADR SETCOARS # COARSE ALIGN.
+
+ CAF SIX
+ TC WAITLIST
+ EBANK= CDUIND
+ 2CADR CA+ECE
+
+NOCOARSE CAF IFAILINH # LEAVE FAILURE INHIBITS INTACT ON
+ MASK IMODES30 # HARDWARE RESTART. RESET ALL
+ AD IM30INIR # FAILURE CODES.
+ TS IMODES30
+
+ CS FLAGWRD5
+ MASK ENGONBIT
+ CCS A
+ TCF GOPROG3
+ CAF BIT13
+ EXTEND
+# Page 188
+ WOR DSALMOUT # TURN ENGINE ON
+ TCF GOPROG3
+
+ENEMA INHINT
+ TC LIGHTSET # EXIT TO DOFSTART IF ERROR RESET AND
+ TC STARTSB2 # MARK REJECT DEPRESSED SIMULTANEOUSLY
+ CS INTMASK # RESET INTEGRATION BITS
+ MASK RASFLAG
+ TS RASFLAG
+
+ CS FLAGWRD6 # IS TVC ON
+ MASK OCT60000
+ EXTEND
+ BZMF GOPROG3 # NO
+
+ CAF .5SEC # YES, CALL TVCEXEC TASK WHICH WAS KILLED
+ TC WAITLIST # IN STARTSB2
+ EBANK= BZERO
+ 2CADR TVCEXEC
+
+GOPROG3 CAF NUMGRPS # VERIFY PHASE TABLE AGREEMENTS
+PCLOOP TS MPAC +5
+ DOUBLE
+ EXTEND
+ INDEX A
+ DCA -PHASE1 # COMPLEMENT INTO A, DIRECT INTO L.
+ EXTEND
+ RXOR LCHAN # RESULT MUST BE -0 FOR AGREEMENT.
+ CCS A
+ TCF PTBAD # RESTART FAILURE.
+ TCF PTBAD
+ TCF PTBAD
+
+ CCS MPAC +5 # PROCESS ALL RESTART GROUPS.
+ TCF PCLOOP
+
+ TS MPAC +6 # SET TO +0.
+ TC MMDSPLAY # DISPLAY MAJOR MODE
+
+ INHINT # RELINT DONE IN MMDSPLAY
+
+ CAE FLAGWRD6 # IS RCS DAP RUNNING (BITS 15 14 OF
+ MASK OCT60000 # FLAGWORD6 = 01)
+ EXTEND # YES, DO STOPRATE
+ BZMF NXTRST -1 # NO, SKIP TO NXTRST -1
+ CAF EBANK6 # STOPRATE IS DONE IN EBANK 6
+ TS EBANK
+ TC STOPRATE # ZERO DELCDUS, WBODYS, AND BIASES THUS
+ # STOPPING AUTOMATIC MANEUVERING
+
+ CAF EBANK3
+ TS EBANK
+# Page 189
+ CAF NUMGRPS # SEE IF ANY GROUPS RUNNING
+NXTRST TS MPAC +5
+ DOUBLE
+ INDEX A
+ CCS PHASE1
+ TCF PACTIVE # PNZ -- GROUP ACTIVE.
+ TCF PINACT # +0 -- GROUP NOT RUNNING.
+
+PACTIVE TS MPAC
+ INCR MPAC # ABS OF PHASE.
+ INCR MPAC +6 # INDICATE GROUP DEMANDS PRESENT.
+ CA RACTCADR
+ TC SWCALL # MUST RETURN TO SWRETURN.
+
+PINACT CCS MPAC +5 # PROCESS ALL RESTART GROUPS.
+ TCF NXTRST
+
+ CCS MPAC +6 # NO, CHECK PHASE ACTIVITY FLAG
+ TCF ENDRSTRT # PHASE ACTIVE
+ CAF BIT15 # IS MODE -0
+ MASK MODREG
+ EXTEND
+ BZF GOTOP00H # NO
+ TCF ENDRSTRT # YES
+PTBAD TC ALARM # SET ALARM TO SHOW PHASE TABLE FAILURE.
+ OCT 1107
+
+ TCF DOFSTART # IN R21.
+
+# ********* ********* **********
+
+# DO NOT USE GOPROG2 OR ENEMA WITHOUT CONSULTING P00H PEOPLE.
+
+GOPROG2 EQUALS ENEMA
+OCT10000 = BIT13
+OCT30000 = PRIO30
+OCT7777 OCT 7777
+RACTCADR CADR RESTARTS
+
+LIGHTSET CAF BIT7 # DOFSTART IF MARK REJECT AND EITHER
+ EXTEND # ERROR LIGHT RESET BUTTONS ARE DEPRESSED
+ RAND NAVKEYIN
+ EXTEND
+ BZF NONAVKEY # NO MARK REJECT
+ CAF OCT37
+ EXTEND
+ RAND NAVKEYIN # NAV DSKY KEYCODES,MARK,MARK REJECT
+ AD -ELR
+ EXTEND
+ BZF NONAVKEY +1
+ EXTEND
+# Page 190
+ READ MNKEYIN # MAIN DSKY KEYCODES
+ AD -ELR
+ EXTEND
+ BZF +2
+
+NONAVKEY TC Q
+
+ TC STARTSUB
+ TCF DOFSTART
+STARTSUB CAF LDNPHAS1 # SET POINTER SO NEXT 20MS DOWNRUPT WILL
+ TS DNTMGOTO # CAUSE THE CURRENT DOWNLIST TO BE
+ # INTERRUPTED AND START SENDING FROM THE
+ # BEGINNING OF THE CURRENT DOWNLIST.
+ CAF POSMAX
+ TS TIME3 # 37777 TO TIME3.
+ AD MINUS2
+ TS TIME4 # 37775 TO TIME4.
+ AD NEGONE
+ TS TIME5 # 37774 TO TIME5.
+
+STARTSB2 CAF OCT77603 # TURN OFF UPLINK ACTY, TEMP CAUTION, KR,
+ EXTEND # FLASH, OP. ERROR, LEAVE OTHERS UNCHANGED.
+ WAND DSALMOUT
+
+ CAF OCT74777 # TURN OFF TEST ALARMS, STANDBY ENABLE.
+ EXTEND
+ WAND CHAN13
+ CS PRIO25 # CLEAR R21MARK, P21FLAG, AND SKIPVHF BIT.
+ MASK FLAGWRD2
+ AD SKIPVBIT # NOW SET SKIPVHF FLAG.
+ TS FLAGWRD2
+ EBANK= LST1
+ CAF STARTEB
+ TS EBANK # SET FOR E3
+
+ CAF NEG1/2 # INITIALIZE WAITLIST DELTA-TS.
+ TS LST1 +7
+ TS LST1 +6
+ TS LST1 +5
+ TS LST1 +4
+ TS LST1 +3
+ TS LST1 +2
+ TS LST1 +1
+ TS LST1
+
+ CS ENDTASK
+ TS LST2
+ TS LST2 +2
+ TS LST2 +4
+# Page 191
+ TS LST2 +6
+ TS LST2 +8D
+ TS LST2 +10D
+ TS LST2 +12D
+ TS LST2 +14D
+ TS LST2 +16D
+ CS ENDTASK +1
+ TS LST2 +1
+ TS LST2 +3
+ TS LST2 +5
+ TS LST2 +7
+ TS LST2 +9D
+ TS LST2 +11D
+ TS LST2 +13D
+ TS LST2 +15D
+ TS LST2 +17D
+
+ CS ZERO # MAKE ALL EXECUTIVE REGISTER SETS
+ TS PRIORITY # AVAILABLE.
+ TS PRIORITY +12D
+ TS PRIORITY +24D
+ TS PRIORITY +36D
+ TS PRIORITY +48D
+ TS PRIORITY +60D
+ TS PRIORITY +72D
+
+ TS DSRUPTSW
+ TS NEWJOB # SHOWS NO ACTIVE JOBS.
+
+ CAF VAC1ADRC # MAKE ALL VAC AREAS AVAILABLE.
+ TS VAC1USE
+ AD LTHVACA
+ TS VAC2USE
+ AD LTHVACA
+ TS VAC3USE
+ AD LTHVACA
+ TS VAC4USE
+ AD LTHVACA
+ TS VAC5USE
+
+ CAF TEN # BLANK DSKY REGISTERS (PROGRAM,VERB,NOUN,
+ # R1,R2,R3)
+DSPOFF TS MPAC
+ CS BIT12
+ INDEX MPAC
+ TS DSPTAB
+ CCS MPAC
+ TCF DSPOFF
+
+ TS DELAYLOC
+# Page 192
+ TS DELAYLOC +1
+ TS DELAYLOC +2
+ TS DELAYLOC +3
+ TS R1SAVE
+ TS INLINK
+ TS DSPCNT
+ TS CADRSTOR
+ TS REQRET
+ TS CLPASS
+ TS DSPLOCK
+ TS MONSAVE # KILL MONITOR
+ TS MONSAVE1
+ TS VERBREG
+ TS NOUNREG
+ TS DSPLIST
+ TS MARKSTAT
+ TS IMUCADR
+ TS OPTCADR
+ TS RADCADR
+ TS ATTCADR
+ TS LGYRO
+ TS FLAGWRD4 # KILL INTERFACE DISPLAYS
+ CAF NOUTCON
+ TS NOUT
+
+ CAF BIT14
+ MASK EXTVBACT
+ TS EXTVBACT
+ CAF LESCHK # SELF CHECK GO-TO REGISTER.
+ TS SELFRET
+
+ CS VD1
+ TS DSPCOUNT
+
+ TC Q
+
+T5IDLOC CA L # T5RUPT COMES HERE EVERY 163.84 SECS
+ TCF NOQRSM +1 # WHEN NOBODY IS USING IT.
+
+ EBANK= OGANOW
+T5IDLER 2CADR T5IDLOC
+
+ EBANK= OGANOW
+ 2CADR REDORCS
+
+ EBANK= OGANOW
+ 2CADR REDOTVC
+
+ EBANK= OGANOW
+ 2CADR REDOSAT
+# Page 193
+
+IFAILINH OCT 435
+LDNPHAS1 GENADR DNPHASE1
+LESCHK GENADR SELFCHK
+VAC1ADRC ADRES VAC1USE
+LTHVACA DEC 44
+
+INTMASK OCT 20100
+OCT77603 OCT 77603
+OCT74777 OCT 74777
+STARTEB ECADR LST1
+NUMGRPS EQUALS FIVE
+-ELR OCT -22 # -ERROR LIGHT RESET KEY CODE.
+IM30INIF OCT 37411 # INHIBITS IMU FAIL FOR 5 SEC AND PIP ISSW
+IM30INIR OCT 37000
+IM33INIT = PRIO16 # NO PIP OR TM FAIL SIGNALS.
+9,6,4 OCT 450
+OPTINITF OCT 130
+OPTINITR OCT 430
+SWINIT OCT 0
+ OCT 0
+ OCT 0
+ OCT 0
+
+ OCT 0
+ OCT 00200
+ OCT 0
+ OCT 0
+ OCT 0
+ OCT 0
+ OCT 0
+ OCT 0
+# Page 194
+# PROGRAM NAME GOTOP00H ASSEMBLY SUNDISK
+# LOG SECTION FRESH START AND RESTART
+#
+# FUNCTIONAL DESCRIPTION
+#
+# 1. DISPLAY MAJOR MODE NUMBER 00 IN DSKY REGISTER R1 AND R3. FLASH V50N07 ON DSKY. (M M CHANGE REQUEST)
+# 2. PERMIT A CURRENT PENDING REQUEST (FLASH ON DSKY) TO BE REPLACED (WITHOUT AN ABORT) BY THE MAJOR MODE
+# CHANGE REQUEST.
+#
+# INPUT/OUTPUT INFORMATION
+#
+# A. CALLING SEQUENCE TC GOTOP00H
+# B. ERASABLE INITIALIZATION NONE
+# C. OUTPUT FLASH V 50 NOUN 07 ON DSKY
+# D. DEBRIS L
+#
+# PROGRAM ANALYSIS
+#
+# A. SUBROUTINES CALLED GOPERF3, LINUS
+# B. NORMAL EXIT TCF ENDOFJOB
+# C. ALARM AND ABORT EXITS NONE
+
+ BLOCK 02
+ SETLOC FFTAG10
+ BANK
+
+ COUNT 02/P00
+
+GOTOP00H TC PHASCHNG # RESTART GOTOP00H
+ OCT 14
+
+ TC POSTJUMP
+ CADR GOP00FIX
+ BANK 10
+ SETLOC VERB37
+ BANK
+
+ COUNT 04/P00
+
+GOP00FIX TC INITSUB
+ TC CLEARMRK +2
+ CAF V37N99
+ TC BANKCALL
+ CADR GOFLASH
+ TCF -3
+# Page 195
+ TCF -4
+ TCF -5
+V37N99 VN 3799
+
+# Page 196
+# PROGRAM NAME V37 ASSEMBLY SUNDISK
+#
+# LOG SECTION FRESH START AND RESTART
+#
+# FUNCTIONAL DESCRIPTION
+#
+# 1. CHECK IF NEW PROGRAM ALLOWED. IF BIT 1 OF FLAGWRD2 (NODOFLAG) IS SET, AN ALARM 1520 IS CALLED.
+# 2. CHECK FOR VALIDITY OF PROGRAM SELECTED. IF AN INVALID PROGRAM IS SELECTED, THE OPERATOR ERROR LIGHT IS
+# SET AND CURRENT ACTIVITY, IF ANY, CONTINUE.
+# 3. SERVICER IS TERMINATED IF IT HAS BEEN RUNNING.
+# 4. INSTALL IS EXECUTED TO AVOID INTERRUPTING INTEGRATION.
+# 5. THE ENGINE IS TURNED OFF AND THE DAP IS INITIALIZED FOR COAST.
+# 6. TRACK, UPDATE, AND TARG1 FLAGS ARE SET TO ZERO.
+# 7. DISPLAY SYSTEM IS RELEASED.
+# 8. THE FOLLOWING ARE PERFORMED FOR EACH OF THE THREE CASES.
+# A. PROGRAM SELECTED IS P00.
+# 1. RENDEZVOUS FLAG IS RESET. (KILL P20)
+# 2. STATINT1 IS SCHEDULED BY SETTING RESTART GROUP 2.
+# 3. MAJOR MODE 00 IS STORED IN THE MODE REGISTER (MODREG).
+# 4. SUPERBANK 3 IS SELECTED.
+# 5. NODOFLAG IS RESET.
+# 6. ALL RESTART GROUPS EXCEPT GROUP2 ARE CLEARED. CONTROL IS TRANSFERRED TO RESTART PROGRAM (GOPROG2)
+# WHICH CAUSES ALL CURRENT ACTIVITY TO BE DISCONTINUED AND A 9 MINUTE INTEGRATION CYCLE TO BE
+# INITIATED.
+# B. PROGRAM SELECTES IS P20.
+# 1. IF THE CURRENT MAJOR MODE IS THE SAME AS THE SELECTED NEWPROGRAM. THE PROGRAM IS RE-INITIALIZED
+# VIA V37XEQ, ALL RESTART GROUPS, EXCEPT GROUP 4 ARE CLEARED.
+# 2. IF THE CURRENT MAJOR MODE IS NOT EQUAL TO THE NEW REQUEST, A CHECK IS MADE TO SEE IF THE REQUEST-
+# ED MAJOR MODE HAS BEEN RUNNING THE BACKGROUND,
+# AND IF IT HAS, NO NEW PROGRAM IS SCHEDULED, THE EXISTING
+# P20 IS RESTARTED TO CONTINUE, AND ITS MAJORE MODE IS SET.
+# 3. CONTROL IS TRANSFERRED TO GOPROG2.
+# C. PROGRAM SELECTED IS NEITHER P00 NOR P20
+# 1. V37XEQ IS SCHEDULED (AS A JOB) BY SETTING RESTART GROUP 4
+# 2. ALL CURRENT ACTIVITY EXCEPT RENDEZVOUS AND TRACKING IS DISCONTINUED BY CLEARING ALL RESTART
+# GROUPS. GROUP 2 IS CLEARED. IF THE RENDEZVOUS FLAG IS ON P20 IS RESTARTED IN GOPROG2 VIA REDOP20,
+# TO CONTINUE.
+#
+# INPUT/OUTPUT INFORMATION
+#
+# A. CALLING SEQUENCE
+# CONTROL IS DIRECTED TO V37 BY THE VERBFAN ROUTINE.
+# VERBFAN GOES TO C(VERBTAB+C(VERBREG)). VERB 37 = MMCHANG.
+# MMCHANG EXECUTES A TC POSTJUMP, CADR V37.
+#
+# B. ERASABLE INITIALIZATION NONE
+#
+# C. OUTPUT
+# MAJOR MODE CHANGE
+# Page 197
+#
+# D. DEBRIS
+# MMNUMBER, MPAC +1, MINDEX, BASETEMP +C(MINDEX), FLAGWRD0, FLAGWRD1, FLAGWRD2, MODREG, GOLOC -1,
+# GOLOC, GOLOC +1, GOLOC +2, BASETEMP, -PHASE2, PHASE2, -PHASE4
+#
+# PROGRAM ANALYSIS
+#
+# A. SUBROUTINES CALLED
+# ALARM, RELDSP, PINBRNCH, INTSTALL, ENGINOF2, ALLCOAST, V37KLEAN, GOPROG2, FALTON, FINDVAC, SUPERSW,
+# DSPMM
+#
+# B. NORMAL EXIT TC ENDOFJOB
+#
+# C. ALARMS 1520 (MAJOR MODE CHANGE NOT PERMITTED)
+
+ BLOCK 02
+ SETLOC FFTAG10
+ BANK
+
+ COUNT 02/V37
+
+OCT24 MM 20
+OCT31 MM 25
+ BANK 27
+ SETLOC VERB37
+ BANK
+
+ COUNT 04/V37
+
+V37 TS MMNUMBER # SAVE MAJOR MODE
+ CAF PRIO30 # RESTART AT PINBALL PRIORITY
+ TS RESTREG
+
+ CA IMODES30 # IS IMU BEING INITIALIZED
+ MASK BIT6
+ CCS A
+ TCF CANTR00
+
+ CAF BIT13 # IS ENGINE ON
+ EXTEND
+ RAND DSALMOUT
+ CCS A
+ TCF R00TOP00 # YES, SET UP FOR P00
+
+ CS FLAGWRD6 # NO, IS TVC DAP ON
+ MASK OCT60000
+ EXTEND
+ BZMF ISITP00 # NO, CONTINUE WITH R00
+
+R00TOP00 INHINT
+ CAF EBANK6
+# Page 198
+ TS EBANK
+ EBANK= DAPDATR1
+ CAE CSMMASS
+ TS MASSTMP
+ TC IBNKCALL
+ CADR SPSOFF
+ TC IBNKCALL
+ CADR MASSPROP
+ CAF 3.1SEC
+ TC IBNKCALL
+ CADR RCSDAPON +1
+
+ TC IBNKCALL
+ CADR TVCZAP # DISABLE TVC
+ CAF ZERO
+ TS MMNUMBER
+ RELINT
+ CAF FIVE
+ TC BANKCALL
+ CADR DELAYJOB
+ CAF ZERO
+ EXTEND
+ WRITE 5
+ EXTEND
+ WRITE 6
+ISITP00 CA MMNUMBER
+ EXTEND
+ BZF ISSERVON # YES, CHECK SERVICER STATUS
+
+ CS FLAGWRD2 # NO, IS NODO V37 FLAG SET
+ MASK NODOBIT
+ CCS A
+ TCF CHECKTAB # NO
+CANTR00 TC ALARM
+ OCT 1520
+
+V37BAD TC RELDSP # RELEASES DISPLAY FROM ASTRONAUT
+
+ TC POSTJUMP # BRING BACK LAST NORMAL DISPLAY IF THERE
+ CADR PINBRNCH # WAS ONE. OY
+
+CHECKTAB CA NOV37MM # THE NO. OF MM
+AGAINMM TS MPAC +1
+ NDX MPAC +1
+ CA PREMM1 # OBTAIN WHICH MM THIS IS FOR
+ MASK LOW7
+ COM
+ AD MMNUMBER
+ CCS A
+ CCS MPAC +1 # IF GR, SEE IF ANY MORE IN LIST
+# Page 199
+ TCF AGAINMM # YES, GET NEXT ONE
+ TCF V37NONO # LAST TIME OR PASSED MM
+
+ CA MPAC +1
+ TS MINDEX # SAVE INDEX FOR LATER
+
+ISSERVON CS FLAGWRD7 # V37 FLAG SET -- I.E., IS SERVICER GOING
+ MASK V37FLBIT
+ CCS A
+ TCF CANV37 # NO
+
+ INHINT
+ CS AVEGBIT # YES TURN OFF AVERAGE G FLAG AND WAIT
+ MASK FLAGWRD1 # FOR SERVICER TO RETURN TO CANV37
+ TS FLAGWRD1
+
+ TCF ENDOFJOB
+
+CANV37 CAF R00AD
+ TS TEMPFLSH
+
+ TC PHASCHNG
+ OCT 14
+
+ROC TC INTPRET
+
+ CALL # WAIT FOR INTEGRATION TO FINISH
+ INTSTALL
+DUMMYAD EXIT
+
+ CS OCT1400 # CLEAR CAUTION RESET
+ EXTEND # AND TEST CONNECTOR OUTBIT
+ WAND 11
+
+ CAF OCT44571 # CLEAR ENABLE OPTICS ERROR COUNTER, STAR
+ EXTEND # TRAKERS ON BIT, TVC ENABLE, ZERO OPTICS,
+ WAND 12 # DISENGAGE OPTICS DAP, SIVB IN J SEQUENCE
+ # START, AND SIVB CUTOFF BIT.
+
+ CS OCT600 # CLEAR UNUSED BITS
+ EXTEND
+ WAND 13
+
+ TC INITSUB
+
+ TC CLEARMRK
+
+ TC DOWNFLAG
+ ADRES STIKFLAG
+
+# Page 200
+ TC BANKCALL
+ CADR UPACTOFF # TURN OFF UPLINK ACTIV LIGHT
+
+ TC DOWNFLAG
+ ADRES VHFRFLAG
+ TC DOWNFLAG
+ ADRES R21MARK
+
+ CCS MMNUMBER # IS THIS A P00H REQUEST
+ TCF NOUVEAU # NO, PICK UP NEW PROGRAM
+
+ COUNT 04/P00
+
+P00H TC RELDSP # RELEASE DISPLAY SYSTEM
+ CAF PRIO5 # SET VARIABLE RESTART REGISTER FOR P00.
+ TS PHSPRDT2
+
+ INHINT
+
+ CS NODOBIT # TURN OFF NODOFLAG.
+ MASK FLAGWRD2
+ TS FLAGWRD2
+
+ CA FIVE # SET 2.5 RESTART FOR STATEINT1
+ TS L
+ COM
+ DXCH -PHASE2
+
+ CS BIT7-8 # RESET IMUSE + KILL P20 BY TURNING OFF
+ MASK FLAGWRD0
+ TS FLAGWRD0 # RENDFLG
+
+ CAF DNLADP00
+
+ COUNT 04/V37
+
+SEUDOP00 TS DNLSTCOD # SET UP APPROPRIATE DOWNLIST CODE
+ # (OLD ONE WILL BE FINISHED FIRST)
+
+ CS OCT01120 # TURN OFF TRACK, TARG1, UPDATE FLAGS
+ TS EBANKTEM
+ MASK FLAGWRD1
+ TS FLAGWRD1
+
+GROUPKIL TC IBNKCALL # KILL GROUPS 3,5,6
+ CADR V37KLEAN
+
+ CCS MMNUMBER # IS IT P00H
+ TCF RENDV00 # NO
+# Page 201
+ TC IBNKCALL
+ CADR P00KLEAN # REDUNDANT EXCEPT FOR GROUP 4.
+
+GOMOD CA MMNUMBER
+ TS MODREG
+
+GOGOPROG TC POSTJUMP
+ CADR GOPROG2
+
+RENDV00 CS MMNUMBER # IS NEW PROG = 20
+ AD OCT24 # 20
+ EXTEND
+ BZF RENDN00 # YES
+ TCF P00FIZZ
+RENDN00 CS MMNUMBER
+ AD MODREG
+ EXTEND
+ BZF KILL20
+
+ CA FLAGWRD0 # IS RENDZVOO FLAG SET
+ MASK RNDVZBIT
+ CCS A
+ TCF STATQUO
+
+P00FIZZ CAF RNDVZBIT
+ MASK FLAGWRD0
+ CCS A
+ TCF REV37
+KILL20 EXTEND # NO, KILL GROUPS 1 + 2
+ DCA NEG0
+ DXCH -PHASE1
+
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE2
+
+REV37 CAF V37QCAD # SET RESTART POINT
+ TS TEMPFLSH
+
+ TCF GOGOPROG
+
+
+STATQUO CS FLAGWRD1 # SET TRACKFLAG AND UPDATE FLAG
+ MASK OCT120
+ ADS FLAGWRD1
+
+ EXTEND # KILL GROUP 4
+ DCA NEG0
+ DXCH -PHASE4
+
+# Page 202
+ TCF GOMOD
+
+NOUVEAU CAF RNDVZBIT
+ MASK FLAGWRD0
+ CCS A
+ TCF +3
+ TC DOWNFLAG # NO, RESET IMUINUSE FLAG
+ ADRES IMUSE # BIT 8 FLAG 0
+ +3 INDEX MINDEX
+ CAF DNLADMM1 # OBTAIN NEW DOWNLIST ADDRESS
+
+ INHINT
+ TCF SEUDOP00
+
+V37NONO TC FALTON # COME HERE IF MM REQUESTED DOESN'T EXIST
+ TCF V37BAD
+
+OCT00010 EQUALS BIT4
+V37XEQ INHINT
+ INDEX MINDEX
+ CAF PREMM1
+ TS MMTEMP # OBTAIN PRIORITY BITS 15-11
+ TS CYR # SHIFT RIGHT TO BITS 14-10
+
+ CA CYR
+ MASK PRIO37
+ TS PHSPRDT4 # PRESET GROUP 4 RESTART PRIORITY
+ TS NEWPRIO # STORE PRIO FOR SPVAC
+
+ CA MMTEMP # OBTAIN EBANK -- BITS 8, 9, 10 OF MMTEMP.
+ EXTEND
+ MP BIT8
+ MASK LOW3
+ TS L
+ INDEX MINDEX
+ CAF FCADRMM1
+ TS BASETEMP
+ MASK HI5
+ ADS L
+
+ CA BASETEMP # OBTAIN GENADR PORTION OF 2CADR.
+ MASK LOW10
+ AD BIT11
+
+ TC SPVAC
+
+V37XEQC CA MMTEMP # UPON RETURN FROM FINDVAC PLACE THE
+ MASK LOW7 # NEW MM IN MODREG (THE LOW 7 BITS OF
+ TC NEWMODEA # PHSBRDT1)
+
+# Page 203
+# FOR SUNDISK ONLY
+ TC RELDSP # RELEASE DISPLAY
+ TC ENDOFJOB # AND EXIT
+
+INITSUB EXTEND
+ QXCH MPAC +1
+
+ CAF EBANK6 # SET E6 FOR DEADBAND CODING
+ TS EBANK # WILL BE RESET IN STARTSB2
+ INHINT
+ TC STOPRATE
+
+ CA FLAGWRD9 # RESTORE DEADBAND
+ MASK MAXDBBIT
+ CCS A
+ TCF SETMAXER # MAX DE SELECTED
+ TC BANKCALL # MIN DE SELECTED
+ CADR SETMINDB
+ TCF RAKE
+SETMAXER TC BANKCALL
+ CADR SETMAXDB
+
+RAKE CAF ELEVEN # THIS PART CLEARS FLAGWORD BITS.
+ +1 TS MPAC # LOOP COMES HERE
+ INDEX MPAC
+ CS FLAGTABL
+ INDEX MPAC
+ MASK FLAGWRD0
+ INDEX MPAC # PUT REVISED FLAGWORD BACK.
+ TS FLAGWRD0
+ CCS MPAC
+ TCF RAKE +1 # GET THE NEXT FLAGWORD
+ RELINT
+
+ TC UPFLAG # NOW SET IMPULSW
+ ADRES IMPULSW
+
+ CA NEGONE
+ TS OPTIND
+ TC MPAC +1 # RETURN FROM INITSUB
+
+FLAGTABL OCT 0
+ OCT 00040 # IDLEFAIL
+ OCT 06000 # P21FLAG, STEERSW
+ OCT 0
+ OCT 0
+ OCT 04140 # V59FLAG, ENGONFLG, 3AXISFLG
+ OCT 10000 # STRULLSW
+ OCT 16000
+ OCT 0
+# Page 204
+ OCT 42000 # SWTOVER, V94FLAG
+ OCT 0
+ OCT 0
+
+ SETLOC VAC5LOC
+ BANK
+VAC5STOR CA ZERO # INITIALIZE INDEX REGISTERS
+ TS ITEMP1
+ TS ITEMP2
+
+V5LOOP1 EXTEND # LOOP TO STORE LOCS, BANKSETS, AND PRIOS.
+ INDEX ITEMP1
+ DCA LOC
+ INDEX ITEMP2
+ DXCH VAC5
+
+ INDEX ITEMP1
+ CA PRIORITY
+ INDEX ITEMP2
+ TS VAC5 +2
+
+ CS ITEMP2 # HAVE WE STORED THEM ALL?
+ AD EIGHTEEN
+ EXTEND
+ BZF V5OUT1 # YES, GET PHASE INFORMATION.
+
+ CA TWELVE # NO, INCREMENT INDEXES AND LOOP.
+ ADS ITEMP1
+ CA THREE
+ ADS ITEMP2
+ TCF V5LOOP1
+
+ EBANK= PHSNAME1
+V5OUT1 CA EBANK3 # PHSNAME REGISTERS ARE IN EBANK3.
+ TS EBANK
+
+ CA ELEVEN # GET PHASE 2CADRS.
+ TC GENTRAN
+ ADRES PHSNAME1
+ ADRES VAC5 +21D
+
+ CA ZERO # NOW INITIALIZE INDEXES AGAIN.
+ TS ITEMP1
+ TS ITEMP2
+
+V5LOOP2 INDEX ITEMP1 # LOOP TO GET PHASE TABLES.
+ CA PHASE1
+ INDEX ITEMP2
+ TS VAC5 +33D
+
+# Page 205
+ CS ITEMP2 # DO WE HAVE THEM ALL?
+ AD FIVE
+ EXTEND
+ BZF V5OUT2 # YES, GO FINISH UP.
+
+ CA TWO # NO, INCREMENT INDEXES AND LOOP.
+ ADS ITEMP1
+ INCR ITEMP2
+ TCF V5LOOP2
+
+V5OUT2 CA MPAC +3
+ TS VAC5 +39D
+
+ EXTEND
+ DCA NEWLOC
+ DXCH VAC5 +40D
+
+ CA NEWJOB
+ TS VAC5 +22D
+
+ CA NEWPRIO
+ TS VAC5 +26D
+
+ TC SWRETURN
+
+EIGHTEEN OCT 22
+ SETLOC VERB37
+ BANK
+
+NEG7 EQUALS OCT77770
+
+OCT44571 OCT 44571 # CONSTANTS TO CLEAR CHANNEL BITS IN V37
+OCT600 OCT 600
+ EBANK= PACTOFF
+P00DAPAD 2CADR T5IDLOC
+
+MMTEMP EQUALS PHSPRDT3
+BASETEMP EQUALS TBASE4
+BIT7-8 OCT 300
+OCT01120 OCT 01120
+
+V37QCAD CADR V37XEQ +3
+R00AD CADR DUMMYAD
+ EBANK= DAPDATR1
+RCSADDR4 2CADR RCSATT
+
+3.1SEC OCT 37312 # 2.5 + 0.6 SEC
+
+# FOR VERB 37 TWO TABLES ARE MAINTAINED. EACH TABLE HAS AN ETRY FOR EACH
+# MAJOR MODE THAT CAN BE STARTED FROM THE KEYBOARD. THE ENTRIES ARE PUT
+# INTO THE TABLE WITH THE ENTRY FOR THE HIGHEST MAJOR MODE COMING FIRST,
+# Page 206
+# TO THE LOWEST MAJOR MODE WHICH IS THE LAST ENTRY IN EACH TABLE.
+#
+# THE FCADRMM TABLE CONTAINS THE FCADR OF THE STARTING JOB OF
+# THE MAJOR MODE. FOR EXAMPLE,
+#
+# FCADRMM1 FCADR P79 # START OF P 79
+# FCADR PROG18 # START OF P 18
+# FCADR P01 # START OF P 01
+
+FCADRMM1 EQUALS
+ FCADR P79
+ FCADR P78
+ FCADR P77
+ FCADR P76
+ FCADR P75
+ FCADR P74
+ FCADR P73
+ FCADR P72
+ FCADR P62
+ FCADR P61
+ FCADR P54
+ FCADR P53
+ FCADR PROG52
+ FCADR P51
+ FCADR P47CSM
+ FCADR P41CSM
+ FCADR P40CSM
+ FCADR P39
+ FCADR P38
+ FCADR P37
+ FCADR P35
+ FCADR P34
+ FCADR P33
+ FCADR P32
+ FCADR P31
+ FCADR P30
+ FCADR P23
+ FCADR PROG22
+ FCADR PROG21
+ FCADR PROG20
+ FCADR P17
+ FCADR P06
+ FCADR GTSCPSS1 # GYROCOMPASS STANDARD LEAD IN.
+
+# THE PREMM TABLE CONTAINS THE E-BANK, MAJOR MODE, AND PRIORITY
+# INFORMATION, IT IS IN THE FOLLOWING FORM,
+#
+# PPP PPE EEM MMM MMM
+#
+# Page 207
+# WHERE THE 7 M BITS CONTAIN THE MAJOR MODE NUMBER
+# 3 E BITS CONTAIN THE E-BANK NUMBER
+# 5 P BITS CONTAIN THE PRIORITY AT WHICH THE JOB IS
+# TO BE STARTED
+#
+# FOR EXAMPLE,
+#
+# PREMM1 OCT 67213 # PRIORITY 33
+# # E-BANK 5
+# # MAJOR MODE 11
+# OCT 25437 # PRIORITY 12
+# # E-BANK 6
+# # MAJOR MODE 31
+
+PREMM1 EQUALS
+ OCT 27117 # MM 79 EBANK 4 PRIO 13
+ OCT 27116 # MM 78 EBANK 4 PRIO 13 (original says PR23 13)
+ OCT 27115 # MM 77 EBANK 4 PRIO 13
+ OCT 27714 # MM 76 EBANK 4 PRIO 13
+ OCT 27113 # MM 75 EBANK 4 PRIO 13
+ OCT 27112 # MM 74 EBANK 4 PRIO 13
+ OCT 27111 # MM 73 EBANK 4 PRIO 13
+ OCT 27110 # MM 72 EBANK 4 PRIO 13
+ OCT 27476 # MM 62 EBANK 6 PRIO 13
+ OCT 27475 # MM 61 EBANK 6 PRIO 13
+ OCT 27266 # MM 54 EBANK 5 PRIO 13
+ OCT 27265 # MM 53 EBANK 5 PRIO 13
+ OCT 27264 # MM 52 EBANK 5 PRIO 13
+ OCT 27263 # MM 51 EBANK 5 PRIO 13
+ OCT 27657 # MM 47 EBANK 7 PRIO 13
+ OCT 27451 # MM 41 EBANK 6 PRIO 13
+ OCT 27450 # MM 40 EBANK 6 PRIO 13
+ OCT 27047 # MM 39 EBANK 4 PRIO 13
+ OCT 27046 # MM 38 EBANK 4 PRIO 13
+ OCT 27645 # MM 37 EBANK 7 PRIO 13
+ OCT 27043 # MM 35 EBANK 4 PRIO 13
+ OCT 27042 # MM 34 EBANK 4 PRIO 13
+ OCT 27041 # MM 33 EBANK 4 PRIO 13
+ OCT 27040 # MM 32 EBANK 4 PRIO 13
+ OCT 27637 # MM 31 EBANK 7 PRIO 13
+ OCT 27636 # MM 30 EBANK 7 PRIO 13
+ OCT 27227 # MM 23 EBANK 5 PRIO 13
+ OCT 27226 # MM 22 EBANK 5 PRIO 13
+ OCT 27025 # MM 21 EBANK 4 PRIO 13
+ OCT 27424 # MM 20 EBANK 6 PRIO 13
+ OCT 27021 # MM 17 EBANK 6 PRIO 13
+ OCT 27006 # MM 06 EBANK 4 PRIO 13
+ OCT 41201 # MM 01 EBANK 5 PRIO 20
+
+# Page 208
+# THE FOLLOWING LIST IS FOR THE PURPOSE OF VERIFYING THAT THE EBA
+
+ EBANK= TIG # EBANK SETTING REQUIRED BY MM 76
+ EBANK= KT # EBANK SETTING REQUIRED BY MM 75
+ EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 74
+ EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 73
+ EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 72
+ EBANK= AOG # EBANK SETTING REQUIRED BY MM 62
+ EBANK= AOG # EBANK SETTING REQUIRED BY MM 61
+ EBANK= BESTI # EBANK SETTING REQUIRED BY MM 54
+ EBANK= STARIND # EBANK SETTING REQUIRED BY MM 53
+ EBANK= BESTI # EBANK SETTING REQUIRED BY MM 52
+ EBANK= STARIND # EBANK SETTING REQUIRED BY MM 51
+ EBANK= P40TMP # EBANK SETTING REQUIRED BY MM 47
+ EBANK= DAPDATR1 # EBANK SETTING REQUIRED BY MM 41
+ EBANK= KMPAC # EBANK SETTING REQUIRED BY MM 40
+ EBANK= KT # EBANK SETTING REQUIRED BY MM 35
+ EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 34
+ EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 33
+ EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 32
+ EBANK= +MGA # EBANK SETTING REQUIRED BY MM 30
+ EBANK= LANDMARK # EBANK SETTING REQUIRED BY MM 23
+ EBANK= MARKINDX # EBANK SETTING REQUIRED BY MM 22
+ EBANK= WHOCARES # EBANK SETTING REQUIRED BY MM 21
+ EBANK= ESTROKER # EBANK SETTING REQUIRED BY MM 20
+ EBANK= TIME2SAV # EBANK SETTING REQUIRED BY MM 06
+ EBANK= QPLACE # EBANK SETTING REQUIRED BY MM 01
+
+# NOTE: THE FOLLOWING CONSTANT IS THE NUMBER OF ENTRIES IN EACH OF
+# ----- THE ABOVE LISTS-1 (I.E., THE NUMBER OF MAJOR MODES (EXCEPT P00)
+# THAT CAN BE CALLED FROM THE KEYBOARD MINUS ONE)
+
+EPREMM1 EQUALS # END OF PREMM1 TABLE
+ SETLOC PREMM1 # THIS CODING WILL AUTOMATICALLY CHANGE
+NO.MMS =MINUS EPREMM1 # THE "NOV37MM" CONSTANT AS ENTRIES ARE
+ SETLOC VERB37 # INSERTED(IN) OR DELETED(FROM) THE
+ BANK # "PREMM1" TABLE.
+
+NOV37MM ADRES NO.MMS -1 # ITEMS IN "PREMM1" TABLE - 1. *DON'T MOVE*
+
+DNLADMM1 EQUALS
+ ADRES RENDEZVU # P79
+ ADRES RENDEZVU # P78
+ ADRES RENDEZVU # P77
+ ADRES RENDEZVU # P76
+ ADRES RENDEZVU # P75
+ ADRES RENDEZVU # P74
+ ADRES RENDEZVU # P73
+# Page 209
+ ADRES RENDEZVU # P72
+ ADRES ENTRYUPD # P62
+ ADRES POWERED # P61
+ ADRES COSTALIN
+ ADRES COSTALIN
+ ADRES COSTALIN # P52
+ ADRES COSTALIN # P51
+ ADRES POWERED # P47
+ ADRES POWERED # P41
+ ADRES POWERED # P40
+ ADRES RENDEZVU # P39
+ ADRES RENDEZVU # P38
+ ADRES RENDEZVU # P37
+ ADRES RENDEZVU # P35
+ ADRES RENDEZVU # P34
+ ADRES RENDEZVU # P33
+ ADRES RENDEZVU # P32
+ ADRES RENDEZVU
+ ADRES RENDEZVU # P30
+ ADRES RENDEZVU # P23
+ ADRES P22DNLST # P22
+ ADRES RENDEZVU # P21
+ ADRES RENDEZVU # P20
+ ADRES RENDEZVU # P17
+ ADRES COSTALIN # P06
+ ADRES COSTALIN # P01
+
+DNLADP00 = ZERO
+COSTALIN = 0
+ENTRYUPD = 1
+RENDEZVU = 2
+POWERED = 3
+
+P22DNLST = 4
+
+# ORBITAL INTEGRATION CONSTANTS
+
+# THESE CONSTANTS ARE USED IN COMPUTING THE SETTING OF MIDFLAG.
+
+RMM 2DEC 2538.09 E3 B-27 # 800 KM ABOVE LUNAR SURFACE
+
+RME 2DEC 7178165 B-29 # 800 KM ABOVE EQ. RADIUS
+
+ BANK 13
+ SETLOC INTINIT
+ BANK
+
+ COUNT* $$/INTIN
+
+ EBANK= RRECTCSM
+
+STATEUP SET BOF # EXTRAPOLATE CM STATE VECTOR
+ VINTFLAG
+# Page 210
+ ORBWFLAG # ALSO 6X6 W-MATRIX IF VALID
+ +3 # FOR ORBITAL NAVIGATION
+ SET
+ DIM0FLAG
+ CLEAR CALL
+ PRECIFLG
+ INTEGRV
+ BON DLOAD
+ SURFFLAG
+ STATEND
+ TETCSM
+ STCALL TDEC1
+ INTSTALL
+ CLEAR CALL # EXTRAPOLATE LM STATE VECTOR
+ VINTFLAG
+ SETIFLGS # AND 6X6 W-MATRIX IF VALID
+ BOF SET
+ RENDWFLG # FOR RENDEZVOUS NAVIGATION
+ +2
+ DIM0FLAG
+ SET CALL
+ PRECIFLG
+ INTEGRV
+STATEND CLRGO
+ NODOFLAG
+ ENDINT
+
+# THIS VINT IS CALLED BY MIDTOAV1 AND 2
+
+THISVINT SET RVQ
+ VINTFLAG
+
diff --git a/GIMBAL_LOCK_AVOIDANCE.s b/GIMBAL_LOCK_AVOIDANCE.s
new file mode 100644
index 0000000..779d4c7
--- /dev/null
+++ b/GIMBAL_LOCK_AVOIDANCE.s
@@ -0,0 +1,99 @@
+# Copyright: Public domain.
+# Filename: GIMBAL_LOCK_AVOIDANCE.agc
+# Purpose: Part of the source code for Comanche, build 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 412-413
+# Contact: Onno Hommes <ohommes@cmu.edu>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 05/07/09 OH Transcription Batch 1 Assignment
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further information.
+# Please report any errors to info@sandroid.org.
+
+
+# Page 412
+ BANK 15
+ SETLOC KALCMON1
+ BANK
+
+ EBANK= BCDU
+
+# DETECTING GIMBAL LOCK
+LOCSKIRT EQUALS WCALC
+WCALC LXC,1 DLOAD*
+ RATEINDX
+ ARATE,1
+ SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
+ DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
+ # ABOUT COF
+ DLOAD* VXSC
+ ARATE,1
+ COF
+ MXV
+ QUADROT
+ STODL BRATE
+ AM
+ DMP DDV*
+ ANGLTIME
+ ARATE,1
+ SR
+ 5
+ STOVL TM
+ BRATE
+ VXSC
+ BIASCALE
+ STORE BIASTEMP # ATTITUDE ERROR BIAS TO PREVENT OVERSHOOT
+ # IN SYSTEM
+ SETGO # STATE SWITCH CALCMAN2 (43D)
+ CALCMAN2 # 0(OFF) = BYPASS STARTING PROCEDURE
+ NEWANGL +1 # 1(ON) = START MANEUVER
+
+
+ARATE 2DEC .0022222222 # = .05 DEG/SEC
+
+ 2DEC .0088888889 # = .2 DEG/SEC
+
+ 2DEC .0222222222 # = .5 DEG/SEC
+
+ 2DEC .0888888889 # = 2 DEG/SEC $22.5 DEG/SEC
+
+ANGLTIME 2DEC .000190735 # = 100B - 19
+
+ # MANEUVER ANGLE TO MANEUVER TIME
+QUADROT 2DEC .1 # ROTATION MATRIX FROM S/C AXES TO CONTROL
+
+# Page 413
+ 2DEC 0 # AXES (X ROT = -7.25 DEG)
+
+ 2DEC 0
+
+ 2DEC 0
+
+ 2DEC .099200 # =(.1)COS7.25
+
+ 2DEC -.012620 # =-(.1)SIN7.25
+
+ 2DEC 0
+
+ 2DEC .012620 # (.1)SIN7.25
+
+ 2DEC .099200 # (.1)COS7.25
+
+BIASCALE 2DEC .0002543132 # = (450/180)(1/0.6)(1/16384)
diff --git a/GROUND_TRACKING_DETERMINATION_PROGRAM.s b/GROUND_TRACKING_DETERMINATION_PROGRAM.s
new file mode 100644
index 0000000..bc624d7
--- /dev/null
+++ b/GROUND_TRACKING_DETERMINATION_PROGRAM.s
@@ -0,0 +1,204 @@
+# Copyright: Public domain.
+# Filename: GROUND_TRACKING_DETERMINATION_PROGRAM.agc
+# Purpose: Part of the source code for Comanche, build 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 456-459
+# Contact: Onno Hommes <ohommes@cmu.edu>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 OH Transcription Batch 1 Assignment
+# 2009-05-20 RSB Corrected a couple of DIMOFLAG to DIM0FLAG.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further information.
+# Please report any errors to info@sandroid.org.
+
+# Page 456
+# GROUND TRACKING DETERMINATION PROGRAM -- P21
+#
+# PROGRAM DESCRIPTION
+# MOD NO -- 1
+# MOD BY -- N. M. NEVILLE
+#
+# FUNCTIONAL DESCRIPTION --
+# TO PROVIDE THE ASTRONAUT DETAILS OF THE LM OR CSM GROUND TRACK WITHOUT
+# THE NEED FOR GROUND COMMUNICATION (REQUESTED BY DSKY).
+#
+# CALLING SEQUENCE --
+# ASTRONAUT REQUEST THROUGH DSKY V37E21E
+#
+# SUBROUTINES CALLED --
+# GOPERF4
+# GOFLASH
+# THISPREC
+# OTHPREC
+# LAT-LONG
+#
+# NORMAL EXIT MODES --
+# ASTRONAUT REQUEST THROUGH DSKY TO TERMINATE PROGRAM V34E
+#
+# ALARM OR ABORT EXIT MODES --
+# NONE
+#
+# OUTPUT --
+# OCTAL DISPLAY OF OPTION CODE AND VEHICLE WHOSE GROUND TRACK IS TO BE
+# COMPUTED
+# OPTION CODE 00002
+# THIS 00001
+# OTHER 00002
+# DECIMAL DISPLAY OF TIME TO BE INTEGRATED TO HOURS , MINUTES , SECONDS
+# DECIMAL DISPLAY OF LAT,LONG,ALT
+#
+# ERASABLE INITIALIZATION REQUIRED
+# AX0 2DEC 4.652459653 E-5 RADIANS "68-69 CONSTANTS"
+# -AY0 2DEC 2.147535898 E-5 RADIANS
+# AZ0 2DEC .7753206164 REVOLUTIONS
+# FOR LUNAR ORBITS 504LM VECTOR IS NEEDED
+# 504LM 2DEC -2.700340600 E-5 RADIANS
+# 504LM _2 2DEC -7.514128400 E-4 RADIANS
+# 504LM _4 2DEC _2.553198641 E-4 RADIANS
+#
+# NONE
+#
+# DEBRIS
+
+# Page 457
+# CENTRALS -- A,Q,L
+# OTHER -- THOSE USED BY THE ABOVE LISTED SUBROUTINES
+# SEE LEMPREC, LAT-LONG
+
+ SBANK= LOWSUPER # FOR LOW 2CADR'S.
+
+ BANK 33
+ SETLOC P20S
+ BANK
+
+ EBANK= P21TIME
+ COUNT 24/P21
+
+PROG21 CAF ONE
+ TS OPTION2 # ASSUMED VEHICLE IS LM, R2 = 00001
+ CAF BIT2 # OPTION 2
+ TC BANKCALL
+ CADR GOPERF4
+ TC GOTOP00H # TERMINATE
+ TC +2 # PROCEED VALUE OF ASSUMED VEHICLE OK
+ TC -5 # R2 LOADED THROUGH DSKY
+P21PROG1 CAF V6N34 # LOAD DESIRED TIME OF LAT-LONG.
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H # TERM
+ TC +2 # PROCEED VALUES OK
+ TC -5 # TIME LOADED THROUGH DSKY
+ TC INTPRET
+ DLOAD
+ DSPTEM1
+ STCALL TDEC1 # INTEG TO TIME SPECIFIED IN TDEC
+ INTSTALL
+ BON SET
+ P21FLAG
+ P21CONT # ON...RECYCLE USING BASE VECTOR
+ VINTFLAG # OFF..1ST PASS CALC BASE VECTOR
+ SLOAD SR1
+ OPTION2
+ BHIZ CLEAR
+ +2 # ZERO..THIS VEHICLE (CM)
+ VINTFLAG # ONE...OTHER VEHICLE(LM)
+ CLEAR CLEAR
+ DIM0FLAG
+ INTYPFLG # PRECISION
+ CALL
+ INTEGRV # CALCULATE
+ GOTO # .AND
+ P21VSAVE # ..SAVE BASE VECTOR
+P21CONT VLOAD # RECYCLE..INTEG FROM BASE VECTOR
+ P21BASER
+# Page 458
+ STOVL RCV # ..POS
+ P21BASEV
+ STODL VCV # ..VEL
+ P21TIME
+ STORE TET # ..TIME
+ CLEAR CLEAR
+ DIM0FLAG
+ MOONFLAG
+ SLOAD BZE
+ P21ORIG
+ +3 # ZERO = EARTH
+ SET # ...2 = MOON
+ MOONFLAG
+ CALL
+ INTEGRVS
+P21VSAVE DLOAD # SAVE CURRENT BASE VECTOR
+ TAT
+ STOVL P21TIME # ..TIME
+ RATT1
+ STOVL P21BASER # ..POS B-29 OR B-27
+ VATT1
+ STORE P21BASEV # ..VEL B-7 OR B-5
+ ABVAL SL*
+ 0,2
+ STOVL P21VEL # /VEL/ FOR N73 DSP
+ RATT
+ UNIT DOT
+ VATT # U(R).(V)
+ DDV ASIN # U(R).U(V)
+ P21VEL
+ STORE P21GAM # SIN-1 U(R).U(V), -90 TO +90
+ SXA,2 SET
+ P21ORIG # 0 = EARTH 2 = MOON
+ P21FLAG
+P21DSP CLEAR SLOAD # GENERATE DISPLAY DATA
+ LUNAFLAG
+ X2
+ BZE SET
+ +2 # 0 = EARTH
+ LUNAFLAG
+ VLOAD
+ RATT
+ STODL ALPHAV
+ TAT
+ CLEAR CALL
+ ERADFLAG
+ LAT-LONG
+ DMP # MPAC = ALT, METERS B-29
+ K.01
+ STORE P21ALT # ALT/100 FOR N73 DSP
+# Page 459
+ EXIT
+ CAF V06N43 # DISPLAY LAT,LONG,ALT
+ TC BANKCALL # LAT,LONG = REVS B0 BOTH EARTH/MOON
+ CADR GOFLASH # ALT = METERS B-29 BOTH EARTH/MOON
+ TC GOTOP00H # TERM
+ TC GOTOP00H
+ TC INTPRET # V32E RECYCLE
+ DLOAD DAD
+ P21TIME
+ 600SEC # 600 SECONDS OR 10 MIN
+ STORE DSPTEM1
+ RTB
+ P21PROG1
+
+600SEC 2DEC 60000 # 10 MIN
+
+P21ONENN OCT 00001 # NEEDED TO DETERMINE VEHICLE
+ OCT 00000 # TO BE INTEGRATED
+V06N43 VN 00643
+V6N34 VN 00634
+K.01 2DEC .01
+
diff --git a/HeaderTemplate.s b/HeaderTemplate.s
new file mode 100644
index 0000000..493c932
--- /dev/null
+++ b/HeaderTemplate.s
@@ -0,0 +1,28 @@
+# Copyright: Public domain.
+# Filename: XXXXXXXX.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: XXXX-XXXX
+# Mod history: 2009-05-XX XXX Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
diff --git a/IMU_CALIBRATION_AND_ALIGNMENT.s b/IMU_CALIBRATION_AND_ALIGNMENT.s
new file mode 100644
index 0000000..7a49ef3
--- /dev/null
+++ b/IMU_CALIBRATION_AND_ALIGNMENT.s
@@ -0,0 +1,1399 @@
+# Copyright: Public domain.
+# Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 423-455
+# Contact: Onno Hommes <ohommes@cmu.edu>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-10 OH Batch 1 Assignment Comanche Transcription
+# 2009-05-20 RSB Corrections: P00D00H -> P00DOOH, definition
+# of 25DECML fixed.
+# 2009-05-23 RSB At SPECSTS, corrected to PRIO22.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 423
+# NAME -- IMU PERFORMANCE TESTS 2
+#
+# DATE -- MARCH 20, 1967
+#
+# BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274
+#
+# MODNO. -- ZERO
+#
+# FUNCTIONAL DESCRIPTION
+#
+# POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
+# THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
+# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
+
+ BANK 33
+ SETLOC IMUCAL
+ BANK
+
+ EBANK= POSITON
+IMUTEST CA ZERO
+ TS DRIFTT
+ TS GEOCOMP1
+ CAF TESTTIME
+ TS LENGTHOT
+ TC COAALIGN # TAKE CARE OF DRIFT FLAG
+ CAF 1SECX
+ TS 1SECXT1
+
+ CA OC14400
+ TS 1/PIPADT
+GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE
+ CALL
+ LATAZCHK
+ COS DCOMP
+ SL1
+ STODL WANGI
+ LATITUDE
+ SIN SL1
+ STORE WANGO
+ EXIT
+GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE
+ CADR IMUZERO
+ TC IMUSTLLG
+IMUBACK CA ZERO
+ TS NDXCTR
+ TS TORQNDX
+ TS TORQNDX +1
+NBPOSPL CA DEC17
+ TS ZERONDX1
+ CA XNBADR
+# Page 424
+ TC ZEROING
+ CA HALF
+ TS XNB
+ TC INTPRET
+ DLOAD SIN
+ AZIMUTH
+ STORE YNB +2
+ STODL ZNB +4
+ AZIMUTH
+ COS
+ STORE YNB +4
+ DCOMP
+ STORE ZNB +2
+ EXIT
+ TC CHECKMM
+ MM 03 # SEE IF IN OPTICAL VERIFICATION
+ TCF +2 # NO
+ TCF SETNBPOS +1 # YES
+ TC INTPRET
+ CALL
+ CALCGA
+ EXIT
+ TC BANKCALL
+ CADR IMUCOARS
+ CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK
+ MASK FLAGWRD3
+ EXTEND
+ BZF +2
+ INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
+ TC DOWNFLAG # RESET GIMBAL LOCK FLAG
+ ADRES GLOKFAIL # BIT 14 FLAG 3
+ TC IMUSTLLG
+ CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
+ TC PIPACHK # ALIGN AND MEARSUE VERTICAL PIPA RATE
+ TC BANKCALL
+ CADR IMUFINE
+ TC IMUSTLLG
+ EXTEND
+ DCA PERFDLAY
+ TC LONGCALL
+ SBANK= LOWSUPER # RSB 2004, OH 2009: Ask Ron
+ EBANK= POSITON
+ 2CADR GOESTIMS
+
+ CA ESTICADR
+ TC JOBSLEEP
+GOESTIMS CA ESTICADR
+ TC JOBWAKE
+ TC TASKOVER
+ESTICADR CADR ESTIMS
+# Page 425
+TORQUE CA ZERO
+ TS DSPTEM2
+ CA DRIFTI
+ TS DSPTEM2 +1
+ INDEX POSITON
+ TS SOUTHDR -1
+ TC SHOW
+
+PIPACHK INDEX NDXCTR # PIPA TEST
+ TC +1
+ TC EARTHR*
+ CA DEC57
+ TS LENGTHOT
+ CA ONE
+ TS RESULTCT
+ CA ZERO
+ INDEX PIPINDEX
+ TS PIPAX
+ TS DATAPL
+ TS DATAPL +4
+ TC CHECKG # PIP PULSE CATCHING ROUTINE
+ INHINT
+ CAF TWO
+ TC TWIDDLE
+ EBANK= XSM
+ ADRES PIPATASK
+ TC ENDOFJOB
+PIPATASK EXTEND
+ DIM LENGTHOT
+ CA LENGTHOT
+ EXTEND
+ BZMF STARTPIP
+ CAF BIT10
+ TC TWIDDLE
+ EBANK= XSM
+ ADRES PIPATASK
+STARTPIP CAF PRIO20
+ TC FINDVAC
+ EBANK= XSM
+ 2CADR PIPJOBB
+
+ TC TASKOVER
+
+PIPJOBB INDEX NDXCTR
+ TC +1
+ TC EARTHR*
+ CA LENGTHOT
+ EXTEND
+ BZMF +2
+ TC ENDOFJOB
+ CA FIVE
+# Page 426
+ TS RESULTCT
+ TC CHECKG
+ EXTEND
+ DCS DATAPL
+ DAS DATAPL +4
+
+ TC INTPRET
+ DLOAD DSU
+ DATAPL +6
+ DATAPL +2
+ BPL CALL
+ AINGOTN
+ OVERFFIX
+AINGOTN PDDL DDV
+ DATAPL +4
+ SL4 DMPR
+ DEC585 # DEC585 HAS BEEN REDEVINED FOR LEM
+ RTB
+ SGNAGREE
+ STORE DSPTEM2
+ EXIT
+ CCS NDXCTR
+ TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
+ TC SHOW
+VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
+ TS LENGTHOT
+ INDEX POSITON
+ CS SOUTHDR -2
+ TS DRIFTT
+ CA XSM +4 # 0 IF POSN 4
+ EXTEND
+ BZF PON2
+PON4 CS BIT5 # OFFSET PLATFORM
+ ADS ERCOMP1 +2
+ CA BIT5
+ ADS ERCOMP1
+ TCF PONG
+PON2 CS BIT5
+ ADS ERCOMP1 +2
+ CA BIT5
+ ADS ERCOMP1 +4
+PONG TC EARTHR*
+ CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
+ TS ERVECTOR
+ TS ERVECTOR +1
+GUESS1 CAF POSMAX
+ TS TORQNDX
+ TS TORQNDX +1
+ CA CDUX
+ TS LOSVEC
+# Page 427
+ TC ESTIMS
+VALMIS CA DRIFTO
+ TS DSPTEM2 +1
+ CA ZERO
+ TS DSPTEM2
+ TC SHOW
+
+ENDTEST1 TC DOWNFLAG # IMU NOT IN USE
+ ADRES IMUSE # BIT 8 FLAG 0
+ CS ZERO
+ TC NEWMODEX +3
+ TC BANKCALL
+ CADR MKRELEAS
+ TC ENDEXT
+# Page 428
+
+OVERFFIX DAD DAD
+ DPPOSMAX
+ ONEDPP
+ RVQ
+
+COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
+ QXCH QPLACE
+ CA ZERO
+ TS THETAD
+ TS THETAD +1
+ TS THETAD +2
+ TC BANKCALL
+ CADR IMUCOARS
+ TC BANKCALL
+ CADR IMUSTALL
+ TC SOMERR2
+ TC QPLACE
+
+IMUSTLLG EXTEND
+ QXCH QPLACE
+ TC COAALIGN +10
+
+CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
+ QXCH QPLACE
+ TC +6
+CHECKG1 RELINT
+ CA NEWJOB
+ EXTEND
+ BZMF +6
+ TC CHANG1
+ INHINT
+ INDEX PIPINDEX
+ CS PIPAX
+ TS ZERONDX
+ INHINT
+ INDEX PIPINDEX
+ CA PIPAX
+ AD ZERONDX
+ EXTEND
+ BZF CHECKG1
+ INDEX PIPINDEX
+ CA PIPAX
+ INDEX RESULTCT
+ TS DATAPL
+ TC FINETIME
+ INDEX RESULTCT
+ TS DATAPL +1
+# Page 429
+ INDEX RESULTCT
+ LXCH DATAPL +2
+ RELINT
+ENDCHKG TC QPLACE
+
+ZEROING TS L
+ TCF +2
+ZEROING1 TS ZERONDX1
+ CAF ZERO
+ INDEX L
+ TS 0
+ INCR L
+ CCS ZERONDX1
+ TCF ZEROING1
+ TC Q
+
+# Page 430
+ SETLOC IMUCAL3
+ BANK
+ERTHRVSE DLOAD PDDL
+ SCHZEROS # PD24 = (SIN (missing) -COS (missing) 0)(OMEG/MS)
+ LATITUDE
+ COS DCOMP
+ PDDL SIN
+ LATITUDE
+ VDEF VXSC
+ OMEG/MS
+ STORE ERVECTOR
+ RTB
+ LOADTIME
+ STOVL TMARK
+ SCHZEROS
+ STORE ERCOMP1
+ RVQ
+ SETLOC IMUCAL
+ BANK
+EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE
+ S2
+ LOADTIME
+ STORE TEMPTIME
+ DSU BPL
+ TMARK
+ ERTHR
+ CALL
+ OVERFFIX
+ERTHR SL VXSC
+ 9D
+ ERVECTOR
+ MXV VAD
+ XSM
+ ERCOMP1
+ STODL ERCOMP1
+ TEMPTIME
+ STORE TMARK
+ AXT,1 RTB
+ ECADR ERCOMP1
+ PULSEIMU
+ GOTO
+ S2
+
+EARTHR* EXTEND
+ QXCH QPLACES
+ TC INTPRET
+ CALL
+ EARTHR
+PROUT EXIT
+ TC IMUSTLLG
+ TC QPLACES
+# Page 431
+
+SHOW EXTEND
+ QXCH QPLACE
+SHOW1 CA POSITON
+ TS DSPTEM2 +2
+ CA VB06N98
+ TC BANKCALL
+ CADR GOFLASH
+ TC ENDTEST1 # V34
+ TC QPLACE # V33
+ TCF SHOW1
+
+OC14400 OCT 14400
+3990DEC = OMEG/MS
+VB06N98 VN 0698
+TESTTIME OCT 01602
+DEC17 = ND1
+OGCPL ECADR OGC
+1SECX = 1SEC
+DEC57 = VD1
+XNBADR GENADR XNB
+XSMADR GENADR XSM
+OMEG/MS 2DEC .24339048
+
+P11OUT TC BANKCALL
+ CADR MATRXJOB # RETURN TO P11
+
+ COUNT 02/COMST
+
+ BLOCK 2
+FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
+ EXTEND
+ READ LOSCALAR
+ TS L
+ EXTEND
+ RXOR LOSCALAR
+ EXTEND
+ BZF +4
+ EXTEND
+ READ LOSCALAR
+ TS L
+ +4 CS POSMAX
+ AD L
+ EXTEND
+ BZF FINETIME +1
+ EXTEND
+ READ HISCALAR
+ TC Q
+
+# Page 432
+# PROGRAM NAME: OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
+# DATE: NOVEMBER 2 1966
+# BY: GEORGE SCHMIDT IL 7-146 EXT. 126
+# MOD NO 3
+#
+# FUNCTIONAL DESCRIPTION
+#
+# THIS SECTON CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS
+# INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
+# PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
+# THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT
+# IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL
+# WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST -- THEN WAIT
+# FOR THE DATA TO FLASH.
+#
+# A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST.
+# THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1
+# EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX.
+# HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE
+# OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE
+# ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION
+# PROCEDURE THE DRIFT TESTS IS IN THE JDC'S. THE INITIALIZATION METHOD
+# FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
+# THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY
+# CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR
+# COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY).
+#
+# COMPASS ERASABLE LOAD REQUIRED
+#
+# 1. LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
+# 2. LATITUDE-DP-OF LAUNCH PAD
+# 3. AZIMUTH-DP-OF ZNB OF VEHICLE
+# 4. IMU COMPENSATION PARAMETERS
+# 5. AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
+#
+# TO PERFORM AS PART OF COMPASS
+#
+# 1. OPTICAL VERIFICATION: V 65 E
+# 2. AXIMUTH CHANGE: V 78 E
+#
+# SUBROUTINES CALLED
+#
+# DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
+# IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
+#
+# NORMAL EXIT
+#
+# DRIFT TESTS. LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
+# GYROCOMPASS-MANY, SEE THE LISTING.
+#
+# ALARMS
+#
+# 1600 OVERFLOW IN DRIFT TEST
+# Page 433
+# 1601 BAD IMU TORQUE ABORT
+# 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
+#
+# OUTPUT
+#
+# DRIFT TESTS: FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
+# COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN
+# 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
+# 02 GYROCOMPASSING
+# 03 DOING OPTICAL VERIFICATION (CSM)
+#
+# DEBRIS
+#
+# ALL CENTRALS, ALL OF EBANK XSM
+
+# Page 434
+# MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
+# ON THE NEXT FEW PAGES.
+
+ COUNT 33/P02
+
+ EBANK= XSM
+ BANK 33
+ SETLOC IMUCAL
+ BANK
+
+ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2
+ OCT 00075
+ OCT 00004 # TURN OFF GROUP 4 IF ON
+RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
+ CA TIME1
+ TS GTSWTLT1
+ CAF ZERO # ZERO THE PIPAS
+ TS PIPAX
+ TS PIPAY
+ TS PIPAZ
+ RELINT
+ CA 77DECML # ZERO ALL NECESSARY LOCATIONS
+ TS ZERONDX1
+ CA ALXXXZ
+ TC ZEROING
+ TC INTPRET
+ SLOAD
+ SCHZEROS
+ STOVL GCOMPSW -1
+ INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS
+ STOVL ALX1S
+ SCHZEROS
+ STORE GCOMP
+ STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED
+ EXIT
+
+ CCS GEOCOMP1 # NON ZERO IF COMPASS.
+ TC +2
+ TC SLEEPIE +1
+ TC INTPRET
+ CALL
+ ERTHRVSE
+ EXIT
+ CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING
+ TS ERECTIME
+
+ TC NEWMODEX
+ MM 02
+ TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM
+# Page 435
+ CADR PIPUSE # COMPASS NEVER TURNS THIS OFF
+ TC ANNNNNN # END OF FIRST TIME THROUGH
+
+# Page 436
+# COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
+
+# SET UP WAITLIST SECTION
+SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGHOT
+ TC PHASCHNG # CHANGE PHASE
+ OCT 00135
+ CCS TORQNDX # ARE WE DOING VERTDRIFT
+ TC EARTHR* # TRUE TORQUE SOUTH GYRO
+WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER
+ TC SETGWLST
+ TC ENDOFJOB
+
+SETGWLST EXTEND
+ QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE
+ INHINT
+ CS TIME1
+ AD GTSWTLT1
+ EXTEND
+ BZMF +2
+ AD NEGMAX # 10 MS ERROR OK
+ AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS
+ EXTEND
+ BZMF RIGHTGTS
+WTGTSMPL TC TWIDDLE
+ EBANK= ALTIM
+ ADRES ALLOOP
+ TC MPAC
+RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
+ TC WTGTSMPL # END OF WAITLIST SECTION
+
+# STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
+
+25DECML EQUALS OCT31
+STOREDTA CAF 25DECML
+ TS MPAC
+ INDEX MPAC
+ CAE THETAX1
+ INDEX MPAC
+ TS RESTARPT
+ CCS MPAC
+ TCF STOREDTA +1
+ TC Q
+
+LOADSTDT CAF 25DECML
+ TS MPAC
+ INDEX MPAC
+ CA RESTARPT
+ INDEX MPAC
+
+# Page 437
+ TS THETAX1
+ CCS MPAC
+ TCF LOADSTDT +1
+ TC Q
+
+# COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
+
+ALLOOP CA TIME1
+ TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST.
+ALLOOP3 CA ALTIM
+ TS GEOSAVE1
+ TC PHASCHNG
+ OCT 00115
+ALLOOP1 CAE GEOSAVE1
+ TS ALTIM
+ CCS A
+ CA A # SHOULD NEVER HIT THIS LOCATION
+ TS ALTIMS
+ CS A
+ TS ALTIM
+ CAF ZERO
+ XCH PIPAX
+ TS DELVX
+ CAF ZERO
+ XCH PIPAY
+ TS DELVY
+ CAF ZERO
+ XCH PIPAZ
+ TS DELVZ
+ CAF 19DECML # 23 OCT
+ TC NEWPHASE
+ OCT 00005
+SPECSTS CAF PRIO22
+ TC FINDVAC
+ EBANK= GEOSAVE1
+ 2CADR ALFLT # START THE JOB
+
+ TC TASKOVER
+
+# Page 438
+# THIS IS PART OF THE JOB DONE EVERY ITERATION
+
+ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB
+ TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION
+ OCT 00215
+ TCF +2
+ALFLT1 TC LOADSTDT # COMES HERE ON RESTART
+
+ CCS GEOCOMP1
+ TC +2
+ TC NORMLOP
+ TC CHKCOMED # SEE IF PRELAUNCH OVER
+ TC BANKCALL # COMPENSATION IF IN COMPASS
+ CADR 1/PIPA
+NORMLOP TC INTPRET
+ DLOAD
+ INTVAL
+ STOVL S1
+ DELVX
+ VXM VSL1
+ XSM
+ DLOAD DCOMP
+ MPAC +3
+ STODL DPIPAY
+ MPAC +5
+ STORE DPIPAZ
+
+ SETPD AXT,1
+ 0
+ 8D
+ SLOAD DCOMP
+ GEOCOMP1
+ BMN
+ ALWAYSG # DO A QUICK COMPASS
+
+# Page 439
+# NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES
+
+ COUNT 33/COMST
+
+ALCGKK SLOAD BMN
+ ALTIMS
+ ALFLT3 # NO NEW GAINS NEEDED
+ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
+ 12D
+ ALX1S
+ALKCG2 DLOAD* INCR,1
+ ALFDK +144D,1
+ DEC -2
+ STORE ALDK +10D,2
+ TIX,2 SXA,1
+ ALKCG2
+ ALX1S
+
+ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES
+ 8D # AND GAIN UPDATES
+DELMLP DLOAD* DMP
+ DPIPAY +8D,1
+ PIPASC
+ SLR BDSU*
+ 9D
+ INTY +8D,1
+ STORE INTY +8D,1
+ PDDL DMP*
+ VELSC
+ VLAUN +8D,1
+ SL2R
+ DSU STADR
+ STORE DELM +8D,1
+ STORE DELM +10D,1
+ TIX,1 AXT,2
+ DELMLP
+ 4
+ALILP DLOAD* DMPR*
+ ALK +4,2
+ ALDK +4,2
+ STORE ALK +4,2
+ TIX,2 AXT,2
+ ALILP
+ 8D
+ALKLP LXC,1 SXA,1
+ CMPX1
+ CMPX1
+ DLOAD* DMPR*
+ ALK +1,1
+ DELM +8D,2
+# Page 440
+ DAD*
+ INTY +8D,2
+ STORE INTY +8D,2
+ DLOAD* DAD*
+ ALK +12D,2
+ ALDK +12D,2
+ STORE ALK +12D,2
+ DMPR* DAD*
+ DELM +8D,2
+ INTY +16D,2
+ STORE INTY +16D,2
+ DLOAD* DMP*
+ ALSK +1,1
+ DELM +8D,2
+ SL1R DAD*
+ VLAUN +8D,2
+ STORE VLAUN +8D,2
+ TIX,2 AXT,1
+ ALKLP
+ 8D
+
+LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
+ ACCWD +8D,1
+ VLAUN +8D,1
+ PDDL* VDEF
+ POSNV +8D,1
+ MXV VSL1
+ TRANSM1
+ DLOAD
+ MPAC
+ STORE POSNV +8D,1
+ DLOAD
+ MPAC +3
+ STORE VLAUN +8D,1
+ DLOAD
+ MPAC +5
+ STORE ACCWD +8D,1
+ TIX,1
+ LOOSE
+
+ AXT,2 AXT,1 # EVALUATE SINES AND COSINES
+ 6
+ 2
+BOOP DLOAD* DMPR
+ ANGX +2,1
+ GEORGEJ
+ SR2R
+ PUSH SIN
+# Page 441
+ SL3R XAD,1
+ X1
+ STORE 16D,2
+ DLOAD
+ COS
+ STORE 22D,2 # COSINES
+ TIX,2
+ BOOP
+
+PERFERAS EXIT
+ CA EBANK7
+ EBANK= LAT(SPL)
+ TS EBANK
+ TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN
+
+# CAUTION
+#
+# THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
+# BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
+
+ EBANK= LENGTHOT
+ONCEMORE CCS LENGTHOT
+ TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST
+ CCS TORQNDX
+ TCF +2
+ TC SETUPER1
+ CA CDUX
+ TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD
+SETUPER1 TC INTPRET # DRIFT TEST OVER
+ DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
+ ANGZ
+ ANGY
+ PDDL VDEF
+ ANGX
+ VCOMP VXSC
+ GEORGEJ
+ MXV VSR1
+ XSM
+ STORE OGC
+ EXIT
+
+TORQINCH TC PHASCHNG
+ OCT 00005
+ CA OGCPL
+ TC BANKCALL
+ CADR IMUPULSE
+ TC IMUSTLLG
+ CCS TORQNDX # + IF IN VERTICAL DRIFT TEST
+ TC VALMIS # VERT DRIFT TEST OVER
+ TC INTPRET
+# Page 442
+ CALL # SET UP ERATE FOR PIP TEST OR COMPASS
+ ERTHRVSE
+ EXIT
+ TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
+
+SOMEERRR TC ALARM
+ OCT 1600
+ TC +3
+SOMERR2 TC ALARM
+ OCT 1601
+ TC PHASCHNG
+ OCT 00005
+ TC ENDTEST1
+
+# THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD
+
+DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
+SCHZEROS 2DEC .00000000
+ 2DEC .00000000
+ OCT 00000
+ONEDPP OCT 00000
+ OCT 00001 # ABOVE ORDER IS IMPORTANT
+
+INTVAL OCT 4
+ OCT 2
+ DEC 144
+ DEC -1
+SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
+ 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
+
+77DECML DEC 77
+ALXXXZ GENADR ALX1S -1
+
+# GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
+
+ COUNT 33/P01
+
+# INITIALIZATION SECTION
+
+GTSCPSS CA FLAGWRD1 # CALLED BY V37
+ MASK NOP01BIT
+# Page 443
+ EXTEND
+ BZF GTSCPSSA
+ TC P00DOO
+ OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
+
+GTSCPSSA CAF ONE
+ TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS
+ CA 1/PIPAGT
+ TS 1/PIPADT
+NXXTENN CA BIT8
+ TS LENGTHOT
+ CAF 1/2SECX # COMPASS IS A .5 SEC LOOP
+ TS 1SECXT1
+ CAF ONE
+ TS PREMTRX1
+ TS PERFDLAY +1
+ CAF ZERO
+ TS PERFDLAY
+ EXTEND
+ DCA LUNCHAZ1
+ DXCH NEWAZ1
+ EXTEND
+ DCA LUNCHAZ1
+ DXCH OLDAZMTH
+SETUPGC CA DEC17
+ TS ZERONDX1
+ CA XSMADR
+ TC ZEROING
+ TC POSN17C
+ TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION
+
+
+POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
+ QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE
+ CS HALF # ALL THIS TO INITIALIZE MATRIX
+ TS ZSM
+ TC INTPRET
+ DLOAD PUSH
+ NEWAZ1
+ SIN
+ STORE XSM +4
+ STODL YSM +2
+ COS
+ STORE YSM +4
+ DCOMP
+ STORE XSM +2
+ EXIT
+ TC QPLACE
+
+# Page 444
+# JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP
+
+ COUNT 33/P02
+
+ALWAYSG DLOAD* DSU* # COMPASS AND ERECT
+ DPIPAY +8D,1
+ FILDELV1 +8D,1
+ DMPR DAD*
+ GEOCONS1
+ FILDELV1 +8D,1
+ STORE FILDELV1 +8D,1
+ DAD*
+ INTVEC1 +8D,1
+ STORE INTVEC1 +8D,1
+ DMPR DAD*
+ GEOCONS2
+ FILDELV1 +8D,1
+ DMPR PUSH
+ GEOCONS5
+ TIX,1 SLOAD
+ ALWAYSG
+ ERECTIM1
+ BZE DLOAD
+ COMPGS
+ THETAN1 +2
+ DSU STADR
+ STODL THETAN1 +2 # ERECTION ONLY.
+ BDSU
+ THETAN1 +4
+ STORE THETAN1 +4
+ GOTO
+ ADDINDRF
+COMPGS DLOAD DAD # COMPASS
+ THETAN1
+ FILDELV1
+ STODL THETAN1
+ FILDELV1
+ DMPR BDSU
+ GEOCONS3
+ THETAN1 +4
+ STODL THETAN1 +4
+ FILDELV1 +4
+ DMPR BDSU
+ GEOCONS3
+ THETAN1 +2
+ PDDL DMPR
+ INTVEC1 +4
+ GEOCONS4
+ BDSU STADR
+ STORE THETAN1 +2
+# Page 445
+ADDINDRF EXIT
+
+
+ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM
+ TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC
+ TC CHKCOMED
+ CCS LGYRO # YES BUT ARE GYROS BUSY
+ TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW
+
+LASTGTS TC INTPRET
+ VLOAD
+ ERCOMP1
+ STODL THETAX1
+ TMARK
+ STORE ALK
+ EXIT # PREVIOUS SECTION WAS FOR RESTARTS
+
+RESTAIER TC PHASCHNG
+ OCT 00275
+ TC INTPRET # ADD COMPASS COMMANDS INTO ERATE
+ VLOAD MXV
+ THETAN1
+ XSM
+ VSL1 VAD
+ THETAX1
+ STODL ERCOMP1
+ ALK
+ STORE TMARK
+ EXIT
+ TC EARTHR* # TORQUE IT ALL IN
+ CAE ERECTIM1
+ TS GEOSAVE1
+ TC PHASCHNG
+ OCT 00155
+RESTEST1 TC INTPRET
+ VLOAD
+ SCHZEROS
+ STORE THETAN1
+ EXIT
+ CCS PREMTRXC
+ TC NOCHORLD
+ TC PHASCHNG
+ OCT 00255
+RESTEST3 TC INTPRET
+ DLOAD
+ LAUNCHAZ
+ DSU BZE
+ OLDAZMTH
+ NOAZCHGE
+ STORE 0D
+# Page 446
+ SLOAD DAD
+ ONEDPP +1
+ PREMTRXC # DOES NOT CHANGE LAUNCHAZ
+ STODL PREMTRXC
+ LAUNCHAZ
+ STODL NEWAZMTH
+ 0D
+ADERCOMP STORE ERCOMP +4
+ EXIT
+ TC POSN17C
+ TC PHASCHNG
+ OCT 00335
+RESCHNG EXTEND
+ DCA NEWAZMTH
+ DXCH OLDAZMTH
+ CA BIT7 # SPEND 320 SEC ERECTING
+ TS LENGTHOT
+ TC PHASCHNG
+ OCT 00075
+SPITGYRO CA ERCOMPPL
+ TC BANKCALL
+ CADR IMUPULSE
+ TC BANKCALL
+ CADR IMUSTALL
+ TC SOMERR2
+ TC ESTIMS # RE-INITIALIZE
+
+
+NOAZCHGE EXIT
+ CA ONE
+ TS PREMTRXC
+NOCHORLD CCS GEOSAVE1
+ TS ERECTIM1 # COUNTS DOWN FOR ERECTION.
+
+ANNNNNN CAF NINE
+ TS LENGTHOT
+ TC SLEEPIE +1
+
+
+CHKCOMED INHINT
+ CS MODREG # CHECK FOR MM 07 FIRST
+ AD SEVEN
+ EXTEND
+ BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST
+ CS ZERO
+ EXTEND
+ RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30
+ MASK BIT5 # LIFTOFF BIT
+ CCS A
+ TCF PRELTERM # LIFTOFF HAS OCCURRED
+
+# Page 447
+ CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF
+ MASK FLAGWRD5 # BIT5 FLAGWRD5
+ CCS A
+ TCF PRELTERM # BACKUP RECEIVED
+
+ RELINT
+GOBKCALB TC Q
+
+PRELTERM CA PRIO22 # PRELAUNCH DONE -- SET UP P11
+ TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
+ INHINT
+ TC POSTJUMP
+ CADR P11
+
+
+ERCOMPPL ECADR ERCOMP
+
+GEOCONS5 EQUALS HIDPHALF
+1/PIPAGT OCT 06200
+17DECML = ND1 # OCT 21
+19DECML = VD1 # OCT 23
+1/2SECX = .5SEC
+
+
+# Page 448
+GEOSTRT4 EQUALS ENDOFJOB
+
+# Page 449
+# OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS
+
+ COUNT 33/P03
+
+GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
+ OCT 00154
+ TC NEWMODEX # ENTERED BY VERB 65 ENTER
+ MM 03
+SETNBPOS TC NBPOSPL
+ TC BANKCALL
+ CADR MKRELEAS
+OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGET
+ ZL # 1, THEN TARGET 2
+ LXCH RUN # AZIMUTH CLOCKWISE FROM NORTH TO TARGET
+ TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
+ EXTEND
+ INDEX RUN
+ DCA TAZEL1
+ DXCH DSPTEM1
+ CAF V05N30E
+ TC BANKCALL
+ CADR GODSPRET
+ CAF VN0641
+ TC BANKCALL
+ CADR GOFLASH
+ TC GCOMP5
+ TC +3
+ TC -8D
+VN0641 VN 0641
+ DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
+ INDEX RUN
+ DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
+ CCS RUN
+ TCF +4
+ CAF TWO
+ TS L
+ TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
+
+ TC CONTIN33
+
+V05N30E VN 0530
+
+ TC INTPRET # UNDYNAMIC ASSEMBLER
+TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
+ 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL)
+ 12D
+ SSP SETPD
+ S2
+ 6
+# Page 450
+ 0
+TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6
+ TAZEL1 +3,1
+ STORE 0 # PD00 ELEVATION PD00
+ SIN
+ STORE 18D,2 # PD06 *** SIN(EL) ***PD12
+ DLOAD
+ 0
+ COS PUSH # PD00 COS(EL) PD00
+ SLOAD* RTB
+ TAZEL1 +2,1
+ CDULOGIC
+ STORE 2 # PD02 AZIMUTH PD02
+ SIN DMP
+ 0
+ SL1
+ STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16
+ DLOAD COS
+ 2
+ DMP SL1
+ DCOMP AXT,1
+ 0
+ STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14
+ TIX,2 RVQ
+ TAR1
+
+
+ BANK 33
+ SETLOC IMUCAL
+ BANK
+ COUNT* $$/P03
+
+CONTIN33 CA ONE
+ TS STARCODE
+ CA ZERO
+ TC TARGDRVE
+ TC INTPRET
+ CALL
+ TAR/EREF
+NEXTBNKS VLOAD MXV
+ 6D
+ XSM
+ VSL1
+ STOVL STARAD
+ 12D
+ MXV VSL1
+ XSM
+ STCALL STARAD +6
+ LITTLSUB
+ STORE LOSVEC
+# Page 451
+ EXIT
+ TC BANKCALL
+ CADR MKRELEAS
+
+
+NEXBNKSS CAF TWO
+ TS STARCODE
+ CAF SIX
+ TC TARGDRVE
+ TC INTPRET
+ CALL
+ LITTLSUB
+ STOVL 12D
+ LOSVEC
+ STCALL 06D
+ AXISGEN
+ CALL
+ CALCGTA
+ EXIT
+GCOMP4 CAF V06N93S
+ TC BANKCALL
+ CADR GOFLASH
+ TC GCOMP5
+ TCF +2
+ TCF GCOMP4
+ TC INTPRET
+ VLOAD VAD
+ OGC
+ ERCOMP1
+ STORE ERCOMP1
+ EXIT
+GCOMP5 TC BANKCALL
+ CADR MKRELEAS
+ TC DOWNFLAG
+ ADRES TRM03FLG
+
+ TC NEWMODEX
+ MM 02
+ TC PHASCHNG
+ OCT 00004
+ TC ENDOFJOB
+V06N93S VN 0693
+GTSOPTCS TC ALARM
+GTSOPTSS OCT 01602
+ TC GCOMP5
+
+
+ BANK 34
+ SETLOC IMUCAL1
+ BANK
+# Page 452
+
+ COUNT 34/COMST
+
+LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE
+ LATITUDE
+ STODL DSPTEM1 +1
+ AZIMUTH
+ RTB EXIT
+ 1STO2S
+ XCH MPAC
+ TS DSPTEM1
+ TC BANKCALL
+ CADR CLEANDSP
+ CAF VNG0641
+ TC BANKCALL
+ CADR GOFLASH
+ TC +2 # NOT ALLOWED
+ TC +2
+ TC -5
+ TC INTPRET
+ SLOAD RTB
+ DSPTEM1
+ CDULOGIC
+ STORE AZIMUTH
+ SLOAD SR2
+ DSPTEM1 +1
+ STORE LATITUDE
+ RVQ
+VNG0641 VN 0641
+ BANK 33
+ SETLOC IMUCAL
+ BANK
+
+
+ COUNT* $$/P03
+TARGDRVE EXTEND
+ QXCH QPLAC
+ TS TARG1/2
+ TC INTPRET
+ CALL
+ TAR/EREF
+ LXC,1 VLOAD*
+ TARG1/2
+ 6D,1
+ STCALL STAR
+ SXTANG
+ EXIT
+ CA SAC
+ TS DESOPTS
+
+# Page 453
+ CA PAC
+ TS DESOPTT
+RETARG CAF ZERO
+ TS OPTIND
+ CAF ONE
+ TC BANKCALL
+ CADR SXTMARK
+ TC BANKCALL
+ CADR OPTSTALL
+ TC GTSOPTCS
+ CAE FLAGWRD1
+ MASK TRM03BIT
+ CCS A
+ TC GCOMP5
+
+ INDEX MARKSTAT
+ CA QPRET
+ EXTEND
+ BZF RETARG1
+ TC QPLAC
+
+
+RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA
+ XCH MARKSTAT
+ CCS A
+ INDEX A
+ TS A
+ TCF RETARG # GO DO SXTMARK AGAIN
+ BANK 33
+ SETLOC IMUCAL
+ BANK
+ COUNT* $$/P03
+PIPASC 2DEC .76376833
+
+VELSC 2DEC -.52223476
+
+ALSK 2DEC .17329931
+
+ 2DEC -.00835370
+
+GEORGEJ 2DEC .63661977
+
+GEOCONS1 2DEC .1
+
+GEOCONS2 2DEC .005
+
+GEOCONS3 2DEC .062
+
+GEOCONS4 2DEC .0003
+
+# Page 454
+
+ COUNT 33/P02
+LITTLSUB STQ
+ QPLAC
+ LXC,1 VLOAD*
+ MARKSTAT
+ 2,1
+ STCALL CDUSPOT
+ SXTNB
+ CALL
+ TRG*NBSM
+ GOTO
+ QPLAC
+
+
+ EXIT
+AZMTHCG1 TC INTPRET
+ DLOAD RTB
+ NEWAZMTH
+ 1STO2S
+ EXIT
+ XCH MPAC
+ TS DSPTEM1
+ TC BANKCALL
+ CADR CLEANDSP
+ CAF VN0629
+ TC BANKCALL
+ CADR GOFLASH
+ TCF +2
+ TCF +2
+ TCF -5
+ TC INTPRET
+ SLOAD RTB
+ DSPTEM1
+ CDULOGIC
+ STORE LAUNCHAZ
+ EXIT
+ CA ZERO
+ TS PREMTRXC
+ TC PHASCHNG
+ OCT 00004
+ TC POSTJUMP
+ CADR PINBRNCH
+
+VN0629 VN 0629
+
+# Page 455
+# *** END OF COMAID .029 ***
+
diff --git a/IMU_COMPENSATION_PACKAGE.s b/IMU_COMPENSATION_PACKAGE.s
new file mode 100644
index 0000000..7242ecd
--- /dev/null
+++ b/IMU_COMPENSATION_PACKAGE.s
@@ -0,0 +1,370 @@
+# Copyright: Public domain.
+# Filename: IMU_COMPENSATION_PACKAGE.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 297-306
+# Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images/
+# 2009-05-21 RSB In IRIGZ, PRIO17 corrected to PRIO21.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 297
+ BANK 7
+ SETLOC IMUCOMP
+ BANK
+ EBANK= NBDX
+
+ COUNT 06/ICOMP
+
+1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
+ XCH EBANK
+ TS MODE
+
+ CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
+ TCF +3
+ TCF +2
+ TCF IRIG1 # RETURN
+
+ INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
+ # FOR DOWNLINK.
+
+1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
+ TS BUF +2
+
+ INDEX BUF +2
+ CA PIPASCF # (P.P.M.) X 2(-9)
+ EXTEND
+ INDEX BUF +2
+ MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
+ TS Q # SAVE MAJOR PART
+
+ CA L # MINOR PART
+ EXTEND
+ MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
+ INDEX BUF +2
+ TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
+
+ CA Q # MAJOR PART
+ EXTEND
+ MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
+ INDEX BUF +2
+ DAS DELVX # (PIPAI) + (PIPAI)(SF)
+
+ INDEX BUF +2
+ CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) *
+ EXTEND
+ MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) *
+ EXTEND
+ MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 *
+ INDEX BUF +2
+ DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
+
+ CCS BUF +2 # PIPAZ, PIPAY, PIPAX
+# Page 298
+ AD NEG1
+ TCF 1/PIPA1 +1
+ NOOP # LESS THAN ZERO IMPOSSIBLE
+ RELINT
+# Page 299
+
+IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
+ TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
+
+IRIGX EXTEND
+ DCS DELVX # (PIPA PULSES) X 2(+14)
+ DXCH MPAC
+ CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+ TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
+
+ EXTEND #
+ DCS DELVY # (PIPA PULSES) X 2(+14)
+ DXCH MPAC #
+ CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+ TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
+
+# EXTEND # ***
+# DCS DELVY # *** (PIPA PULSES) X 2(+14)
+# DXCH MPAC # ***
+# CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+# TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
+
+ CS NBDX # (GYRO PULSES)/(CS) X 2(-3)
+ TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
+
+IRIGY EXTEND
+ DCS DELVY # (PIPA PULSES) X 2(+14)
+ DXCH MPAC
+ CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+ TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
+
+ EXTEND
+ DCS DELVZ # (PIPA PULSES) X 2(+14)
+ DXCH MPAC
+ CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+ TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
+
+# EXTEND # ***
+# DCS DELVX # *** (PIPA PULSES) X 2(+14)
+# DXCH MPAC # ***
+# CA ADOAY # *** (GYRO PULSES)/(PIPA PULS) X 2(-3) *
+# TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
+
+ CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
+ TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
+
+IRIGZ EXTEND
+ DCS DELVY # (PIPA PULSES) X 2(-14)
+ DXCH MPAC
+ CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+# Page 300
+ TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
+
+ EXTEND
+ DCS DELVZ # (PIPA PULSES) X 2(+14)
+ DXCH MPAC
+ CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+ TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
+
+# EXTEND # ***
+# DCS DELVX # *** (PIPA PULSE) X 2(+14)
+# DXCH MPAC # ***
+# CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+# TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
+
+ CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
+ TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
+
+# Page 301
+ CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
+ TCF +2 # YES
+ TCF IRIG1 # NO
+
+ CA PRIO21 # HIGHER THAN SERVICER -- LESS THAN PRELAUNCH
+ TC NOVAC
+ EBANK= NBDX
+ 2CADR 1/GYRO
+
+ RELINT
+IRIG1 CA MODE # SET EBANK FOR RETURN
+ TS EBANK
+ TCF SWRETURN
+
+GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
+ EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
+ MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
+ DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
+
+ CA MPAC +1 # MINOR PART OF PIPA PULSES
+ EXTEND
+ MP MPAC # ADIA OR ADSRA
+ TS L
+ CAF ZERO
+ DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
+
+ CA VBUF # PARTIAL RESULT -- MAJOR
+ EXTEND
+ MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
+ INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
+ DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
+
+ CA VBUF +1 # PARTIAL RESULT -- MINOR
+ EXTEND
+ MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
+ TS L
+ CAF ZERO
+ INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
+ DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
+
+ TC Q
+
+# Page 302
+DRIFTSUB EXTEND
+ QXCH BUF +1
+
+ EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
+ MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
+ LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
+ EXTEND
+ MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
+ INDEX BUF
+ DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
+
+ CA MPAC +1 # NOW MINOR PART
+ EXTEND
+ MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
+ TS L
+ CAF ZERO
+ INDEX BUF # ADD IN FRACTIONAL COMPENSATION
+ DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
+
+DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
+ AD BUF
+ XCH BUF
+ INDEX A
+ CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
+ TCF +2 # YES
+ TC BUF +1 # NO
+
+ MASK NEGONE
+ CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
+ TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
+ TC BUF +1 # NO
+
+# Page 303
+1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
+ TS BUF
+
+ INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
+ CA GCOMP +1 # FRACTIONAL PULSES
+ EXTEND
+ MP BIT8 # SHIFT RIGHT 7
+ INDEX BUF
+ TS GCOMP +1 # FRACTIONAL PULSES SCALED
+
+ CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
+ INDEX BUF
+ XCH GCOMP # GYRO PULSES
+ EXTEND
+ MP BIT8 # SHIFT RIGHT 7
+ INDEX BUF
+ DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
+
+ CCS BUF # PIPAZ, PIPAY, PIPAX
+ AD NEG1
+ TCF 1/GYRO +1
+LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
+
+ CAF LGCOMP
+ TC BANKCALL
+ CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
+ TC BANKCALL
+ CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
+ TCF ENDOFJOB # TEMPORARY
+
+GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
+ TS BUF
+
+ INDEX BUF # RESCALE
+ CA GCOMP +1
+ EXTEND
+ MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
+ INDEX BUF
+ LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
+
+ CCS BUF # PIPAZ, PIPAY, PIPAX
+ AD NEG1
+ TCF GCOMP1 +1
+
+V06N30S VN 0630
+ TCF ENDOFJOB
+
+# Page 304
+NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
+ TCF +3
+ TCF +2
+ TCF ENDOFJOB
+
+ INHINT
+ CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
+ TCF ENDOFJOB
+ TCF ENDOFJOB
+ TCF +1
+
+ CA TIME1 # (CS) X 2(+14)
+ XCH 1/PIPADT # PREVIOUS TIME
+ RELINT
+ COM
+ AD 1/PIPADT
+NBD2 CCS A # CALCULATE ELAPSED TIME.
+ AD ONE # NO TIME1 OVERFLOW
+ TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
+ TCF +2 # TIME1 OVERFLOW
+ TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
+
+ COM # CALCULATE ABSOLUTE DIFFERENCE
+ AD POSMAX
+
+NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
+ MP BIT10 # SHIFT RIGHT 5
+ DXCH VBUF
+ EXTEND
+ DCA VBUF
+ DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
+
+ CAF ZERO
+ TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
+ TS BUF # INDEX X, Y, Z.
+
+ CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
+ TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
+
+ EXTEND
+ DCS VBUF
+ DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
+ CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
+ TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
+
+ EXTEND
+ DCS VBUF
+ DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
+ CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
+ TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
+# Page 305
+ CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
+ TCF 1/GYRO # YES
+ TCF ENDOFJOB # NO
+
+# Page 303
+FBIASSUB XCH Q
+ TS BUF +1
+
+ CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
+ EXTEND
+ MP MPAC # DELTAT SCALED (CS) X 2(+19)
+ INDEX BUF
+ DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
+
+ CA Q # NO FRACTIONAL PART
+ EXTEND
+ MP MPAC +1
+ TS L
+ CAF ZERO
+ INDEX BUF
+ DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
+
+ TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
+
+LASTBIAS TC BANKCALL
+ CADR PIPUSE
+
+ CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
+ TCF +3
+ TCF +2
+ TCF ENDOFJOB
+
+ CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
+ XCH 1/PIPADT
+ COM
+ AD PIPTIME1 +1 # TIME AT PIPA1 =0
+ TCF NBD2
+
diff --git a/IMU_MODE_SWITCHING_ROUTINES.s b/IMU_MODE_SWITCHING_ROUTINES.s
new file mode 100644
index 0000000..f10df43
--- /dev/null
+++ b/IMU_MODE_SWITCHING_ROUTINES.s
@@ -0,0 +1,1068 @@
+# Copyright: Public domain.
+# Filename: IMU_MODE_SWITCHING_ROUTINES.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1420-1448
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting from
+# the Colossus249/ file of the same name,
+# using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1420
+ BLOCK 02
+ SETLOC FFTAG3
+ BANK
+
+ EBANK= COMMAND
+
+# FIXED-FIXED ROUTINES
+
+ COUNT 02/IMODE
+
+ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
+ TS CDUX
+ TS CDUY
+ TS CDUZ
+ TC Q
+
+SPSCODE = BIT9
+
+# Page 1421
+# IMU ZEROING ROUTINE.
+
+ BANK 11
+ SETLOC MODESW
+ BANK
+
+ COUNT 07/IMODE
+
+IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
+ CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
+ MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
+ CCS A
+ TCF IMUZEROA
+
+ TC ALARM # IF SO.
+ OCT 00206
+
+ TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
+
+IMUZEROA TC CAGETSTJ
+
+# DO ALL THE WORK.
+
+ CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
+ MASK SUPER011 # BIT5 FOR GROUND
+ ADS IMODES33
+
+ CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
+ MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
+ ADS IMODES30
+
+ CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
+ EXTEND # COUNTER DISABLED.
+ WAND CHAN12
+
+ TC NOATTOFF # TURN OFF NO ATT LAMP.
+
+ CAF BIT5
+ EXTEND
+ WOR CHAN12
+
+ TC ZEROICDU
+ CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
+ TC WAITLIST # RECEIVE ITS PULSE TRAIN.
+ EBANK= CDUIND
+ 2CADR IMUZERO2
+
+ CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
+ MASK BIT9
+ CCS A
+ TCF MODEEXIT
+# Page 1422
+ TC ALARM
+ OCT 210
+
+MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
+ TCF SWRETURN
+
+IMUZERO2 TC CAGETEST
+ TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
+
+ CS BIT5 # REMOVE ZERO DISCRETE.
+ EXTEND
+ WAND CHAN12
+
+ CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
+ TC VARDELAY
+
+IMUZERO3 TC CAGETEST
+ CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
+ MASK IMODES30
+ TS IMODES30
+
+ CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
+ MASK IMODES33 # BIT5 FOR GROUND
+ TS IMODES33
+
+ TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
+ CADR SETISSW # PRESENT.
+
+ TCF ENDIMU
+
+# Page 1423
+# IMU COARSE ALIGN MODE.
+
+IMUCOARS INHINT
+ TC CAGETSTJ
+ TC SETCOARS
+
+ CAF SIX
+ TC WAITLIST
+ EBANK= CDUIND
+ 2CADR COARS
+
+ TCF MODEEXIT
+
+COARS TC CAGETEST
+ CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
+ EXTEND
+ WOR CHAN12
+
+ CAF TWO # SET CDU INDICATOR
+COARS1 TS CDUIND
+
+ INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S
+ CA THETAD # COMPLEMENT FORM
+ EXTEND
+ INDEX CDUIND
+ MSU CDUX
+ EXTEND
+ MP BIT13 # SHIFT RIGHT 2
+ XCH L # ROUND
+ DOUBLE
+ TS ITEMP1
+ TCF +2
+ ADS L
+
+ INDEX CDUIND # DIFFERENCE TO BE COMPUTED
+ LXCH COMMAND
+ CCS CDUIND
+ TC COARS1
+
+ CAF TWO # MINIMUM OF 4 MS WAIT
+ TC VARDELAY
+
+# Page 1424
+COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED.
+ TS ITEMP1 # SET TO +0.
+ CAF TWO # SET CDU INDICATOR.
+ +3 TS CDUIND
+
+ INDEX CDUIND
+ CCS COMMAND # NUMBER OF PULSES REQUIRED
+ TC COMPOS # GREATER THAN MAX ALLOWED
+ TC NEXTCDU +1
+ TC COMNEG
+ TC NEXTCDU +1
+
+COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
+ EXTEND # MINUS ONE
+ BZMF COMZERO
+ INDEX CDUIND
+ TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
+ CS -COMMAX- # ALLOWED
+
+NEXTCDU INCR ITEMP1
+ AD NEG0
+ INDEX CDUIND
+ TS CDUXCMD # SET UP COMMAND REGISTER.
+
+ CCS CDUIND
+ TC COARS2 +3
+
+ CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
+ TCF SENDPULS
+
+ TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
+ DEC 150
+
+ CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
+CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
+ INDEX A
+ CA CDUX
+ EXTEND
+ INDEX ITEMP1
+ MSU THETAD
+ CCS A
+ TCF COARSERR
+ TCF CORSCHK2
+ TCF COARSERR
+
+# Page 1425
+CORSCHK2 CCS ITEMP1
+ TCF CHKCORS
+ TCF ENDIMU # END OF COARSE ALIGNMENT
+
+COARSERR AD COARSTOL # 2 DEGREES.
+ EXTEND
+ BZMF CORSCHK2
+
+ TC ALARM # COARSE ALIGN ERROR.
+ OCT 211
+
+ TCF IMUBAD
+
+COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
+
+COMNEG AD -COMMAX
+ EXTEND
+ BZMF COMZERO
+ COM
+ INDEX CDUIND
+ TS COMMAND
+ CA -COMMAX-
+ TC NEXTCDU
+
+COMZERO CAF ZERO
+ INDEX CDUIND
+ XCH COMMAND
+ TC NEXTCDU
+
+SENDPULS CAF 13,14,15
+ EXTEND
+ WOR CHAN14
+ CAF 600MS
+ TCF COARS2 -1 # THEN TO VARDELAY
+
+CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
+ EXTEND
+ WOR CHAN12
+ TC TASKOVER
+
+# Page 1426
+SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
+ EXTEND
+ RAND CHAN12
+ CCS A
+ TC Q
+
+ CS BIT6 # CLEAR ISS ERROR COUNTERS
+ EXTEND
+ WAND CHAN12
+
+ CS BIT10 # KNOCK DOWN GYRO ACTIVITY
+ EXTEND
+ WAND CHAN14
+ CS ZERO
+ TS GYROCMD
+
+ CAF BIT4 # PUT ISS IN COARSE ALIGN
+ EXTEND
+ WOR CHAN12
+
+ CS DSPTAB +11D # TURN ON NO ATT LAMP
+ MASK OCT40010
+ ADS DSPTAB +11D
+
+ CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
+ MASK BIT6
+ ADS IMODES33
+
+ CS IMODES30 # DISABLE IMUFAIL
+ MASK BIT4
+ ADS IMODES30
+
+RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
+ MASK FLAGWRD1
+ TS FLAGWRD1
+
+ CS BIT15 # KNOCK DOWN DRIFT FLAG
+ MASK FLAGWRD2
+ TS FLAGWRD2
+
+ CS BIT13 # KNOCK DOWN REFSMMAT FLAG
+ MASK FLAGWRD3
+ TS FLAGWRD3
+
+ TC Q
+
+OCT40010 OCT 40010
+
+# Page 1427
+# IMU FINE ALIGN MODE SWITCH.
+
+IMUFINE INHINT
+ TC CAGETSTJ # SEE IF IMU BEING CAGED.
+
+ CS BITS4-5 # RESET ZERO AND COARSE
+ EXTEND
+ WAND CHAN12
+
+ CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
+ MASK IMODES33
+ TS IMODES33
+
+ TC NOATTOFF
+
+ CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
+ TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
+ EBANK= CDUIND
+ 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
+
+ CAF 2SECS
+ TC WAITLIST
+ EBANK= CDUIND
+ 2CADR IMUFINED
+
+ TCF MODEEXIT
+
+IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
+ TCF ENDIMU
+
+# Page 1428
+IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
+ TCF TASKOVER # IT IS.
+
+ CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE
+ EXTEND # HAS GONE INTO COARSE ALIGN.
+ RAND CHAN12
+ CCS A
+ TCF TASKOVER
+
+ CS IMODES30 # RESET IMUFAIL.
+ MASK BIT13
+ ADS IMODES30
+ CS BIT4
+PFAILOK2 MASK IMODES30
+ TS IMODES30
+ TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
+ CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED.
+ TCF TASKOVER
+
+PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
+ TCF TASKOVER
+
+ CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
+ MASK BIT10
+ ADS IMODES30
+
+ CS IMODES33
+ MASK BIT13
+ ADS IMODES33
+
+ CS BIT5
+ TCF PFAILOK2
+
+NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
+ MASK DSPTAB +11D
+ AD BIT15
+ TS DSPTAB +11D
+ TC Q
+
+# Page 1429
+# ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
+
+PIPUSE CS ZERO
+ TS PIPAX
+ TS PIPAY
+ TS PIPAZ
+
+PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
+ TCF SWRETURN
+
+ INHINT
+ CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
+ MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
+ TS IMODES30
+
+PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
+ CADR SETISSW # (OR GO OFF ON PIPFREE).
+
+ TCF MODEEXIT
+
+PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
+ CS IMODES30 # ISS WARNING.
+ MASK BIT1
+ ADS IMODES30
+
+ MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET
+ CCS A # ISS WARNING.
+ TCF MODEEXIT
+
+ TC ALARM
+ OCT 212
+
+ INHINT
+
+ TCF PIPFREE2
+
+# Page 1430
+# THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
+# BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
+# UNSENT PORTION OF THE COMMAND IS LEFT INTACT AT TEH INPUT COMMAND REGISTERS.
+
+ EBANK= 1400 # VARIABLE, ACTUALLY.
+
+IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
+ TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED.
+
+ CCS LGYRO # SEE IF GYROS BUSY.
+ TC GYROBUSY # SLEEP.
+
+ TS MPAC +2
+ CAF BIT6 # ENABLE THE POWER SUPPLY.
+ EXTEND
+ WOR CHAN14
+
+ CAF FOUR
+GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
+ EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
+ 2CADR STRTGYRO
+
+ CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
+ XCH EBANK # RESTORATION ON RETURN.
+ XCH MPAC +5
+ TS LGYRO # RESERVES GYROS.
+ MASK LOW8
+ TS ITEMP1
+
+ CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
+GYROAGRE TS MPAC +3
+ DOUBLE
+ AD ITEMP1
+ TS MPAC +4
+ EXTEND
+ INDEX A
+ DCA 1400
+ DXCH MPAC
+ TC TPAGREE
+ DXCH MPAC
+ INDEX MPAC +4
+ DXCH 1400
+
+ CCS MPAC +3
+ TCF GYROAGRE
+
+ CA MPAC +5 # RESTORE CALLER'S EBANK.
+ TS EBANK
+ TCF MODEEXIT
+
+# Page 1431
+# ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
+
+GYROBUSY EXTEND # SAVE RETURN 2FCADR.
+ DCA BUF2
+ DXCH MPAC
+REGSLEEP CAF LGWAKE
+ TCF JOBSLEEP
+
+GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
+ TCF REGSLEEP # IF SO, SLEEP SOME MORE.
+
+ TS MPAC +2
+ EXTEND
+ DCA MPAC
+ DXCH BUF2 # RESTORE SWRETURN INFO.
+ CAF ONE
+ TCF GWAKE2
+
+LGWAKE CADR GWAKE
+
+# Page 1432
+# GYRO-TORQUING WAITLIST TASKS.
+
+STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
+ EXTEND
+ WAND CHAN14
+
+ TC CAGETEST
+
+STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
+ EXTEND
+ MP BIT4
+ INDEX A
+ TCF +1
+ TC GSELECT # =0. DO Y GYRO.
+ OCT 00202
+
+ TC GSELECT # =1. DO Z GYRO.
+ OCT 00302
+
+ TC GSELECT -2 # =2. DO X GYRO.
+ OCT 00100
+
+ CAF ZERO # =3. DONE
+ TS LGYRO
+ CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
+ TC JOBWAKE
+
+NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY.
+# Page 1433
+ -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
+ ADS LGYRO
+
+GSELECT INDEX Q # SELECT GYRO.
+ CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
+ TS ITEMP4 # AND INCREMENT TO LGYRO.
+ MASK SEVEN
+ AD BIT13
+ ADS LGYRO
+ TS EBANK
+ MASK LOW8
+ TS ITEMP1
+
+ CS SEVEN
+ MASK ITEMP4
+ TS ITEMP4
+
+ EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
+ INDEX ITEMP1
+ DCA 1400
+ DXCH RUPTREG1
+
+ CCS RUPTREG1
+ TCF MAJ+
+ TCF +2
+ TCF MAJ-
+
+ CCS RUPTREG2
+ TCF MIN+
+ TCF STRTGYR2
+ TCF MIN-
+ TCF STRTGYR2
+
+# Page 1434
+MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
+ EXTEND # 16 GYRO PULSES.
+ BZMF STRTGYR2
+
+MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
+ DCA GYROFRAC
+ DAS RUPTREG1
+
+ CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
+ EXTEND
+ WOR CHAN14
+
+ CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
+ MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
+ XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
+GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
+ MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
+ TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
+ CA RUPTREG1
+ EXTEND
+ MP BIT9
+ TS RUPTREG1
+ CA L
+ EXTEND
+ MP BIT14
+ ADS ITEMP2 # INITIAL COMMAND.
+
+ EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
+ DCA RUPTREG1 # (MORE THAN 16383 PULSES).
+ AD MINUS1
+ CCS A
+ TCF LONGGYRO
+-GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
+ TCF +4
+
+ CAF BIT14
+ ADS ITEMP2
+ CAF ZERO
+
+ +4 INDEX ITEMP1
+ DXCH 1400
+# Page 1435
+ CA ITEMP2 # ENTIRE COMMAND.
+LASTSEG TS GYROCMD
+ EXTEND
+ MP BIT10 # WAITLIST DT
+ AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
+ TC WAITLIST
+ EBANK= CDUIND
+ 2CADR STRTGYRO
+
+GYROEXIT CAF BIT10
+ EXTEND
+ WOR CHAN14
+ TCF TASKOVER
+
+LONGGYRO INDEX ITEMP1
+ DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
+ CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
+ AD ITEMP2
+ TS GYROCMD
+
+AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
+ MP BIT10 # ALMOST OUT.
+ AD NEG3
+ TC WAITLIST
+ EBANK= CDUIND
+ 2CADR 8192AUG
+
+ TCF GYROEXIT
+
+8192AUG TC CAGETEST
+
+ CAF BIT4
+ EXTEND
+ RAND CHAN12
+ CCS A
+ TCF IMUBAD
+ CA LGYRO # ADD 8192 PULSES TO GYROCMD
+ TS EBANK
+ MASK LOW8
+ TS ITEMP1
+
+ INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
+ CCS 1400
+ TCF AUG2 # MORE TO COME.
+
+ CAF BIT14
+ ADS GYROCMD
+ TCF LASTSEG +1
+
+# Page 1436
+AUG2 INDEX ITEMP1
+ TS 1400
+ CAF BIT14
+ ADS GYROCMD
+ TCF AUG3 # COMPUTE DT.
+
+# Page 1437
+MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
+ EXTEND
+ BZMF STRTGYR2
+
+MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
+ DCS GYROFRAC
+ DAS RUPTREG1
+
+ CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
+ AD BIT9
+ EXTEND
+ WOR CHAN14
+
+ CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
+ TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
+ CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES
+ MASK LOW7 # THE SIGN OF THE COMMAND.
+ COM
+ XCH RUPTREG2
+ COM
+ TCF GMERGE
+
+GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
+
+GYROFRAC 2DEC .215 B-21
+
+# Page 1438
+# IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
+
+ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF
+ READ DSALMOUT # ISS WARNING IS ON.
+ MASK BIT1
+ CCS A
+ TCF IMUBAD
+
+IMUGOOD TCF GOODEND # WITH C(A) = 0.
+
+IMUBAD CAF ZERO
+ TCF BADEND
+
+CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
+ MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
+ CCS A
+ TCF IMUBAD # DIRECTLY.
+ TC Q # WITH C(A) = +0.
+
+CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
+ MASK BIT6
+ CCS A
+ INCR Q
+ TC Q
+
+CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
+ MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
+ CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
+ TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
+ CS ZERO # TO SWRETURN.
+ TS IMUCADR
+ TCF MODEEXIT
+
+# Page 1439
+# GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
+# OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
+
+BADEND TS RUPTREG2 # DEVICE INDEX.
+ CS ZERO # FOR FAILURE.
+ TCF GOODEND +2
+
+GOODEND TS RUPTREG2
+ CS ONE # FOR SUCCESS.
+
+ TS RUPTREG3
+ INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
+ CCS MODECADR
+ TCF +2 # YES -- WAKE IT UP.
+ TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
+
+ CAF ZERO # WAKE SLEEPING PROGRAM.
+ INDEX RUPTREG2
+ XCH MODECADR
+ TC JOBWAKE
+
+ CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
+ INDEX LOCCTR
+ ADS LOC
+
+ TCF TASKOVER
+
+ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
+ INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
+ TS MODECADR # SUCCESSFUL.
+ TCF TASKOVER
+
+# Page 1440
+# GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
+#
+# PROGRAM DESCRIPTION DATE -- 21 FEB 1967
+# LOG SECTION IMU MODE SWITCHING
+# MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
+#
+# FUNCTIONAL DESCRIPTION --
+# TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
+# I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES
+# MODEECADR ARE MADE AND ACTED UPON.
+# 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
+# SLEEP.
+# 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
+# CALL AND RETURNS TO CALLING ROUTINE AT L+3.
+# 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
+# AND RETURNS TO CALLING ROUTINE AT L+2.
+# 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
+# SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
+# RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
+#
+# CALLING SEQUENCE --
+# L TC BANKCALL
+# L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL,
+# AOTSTALL, OR ATTSTALL)
+#
+# NORMAL-EXIT MODE --
+# TCF JOBSLEEP OR TCF MODEXIT
+#
+# ALARM OR ABORT EXIT MODE --
+# TC ABORT
+#
+# OUTPUT --
+# MODECADR=CADR IF JOBSLEEP
+# MODECADR=+0 IF I/O COMPLETE
+# BUF2=L+3 IF I/O COMPLETE AND GOOD.
+# BUF2=L+2 IF I/O COMPLETE BUT FAILED.
+#
+# ERASABLE INITIALIZATION --
+# BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
+# BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
+# MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
+#
+# DEBRIS --
+# RUPTREG2 AND CALLING ROUTINE MODECADR.
+
+AOTSTALL CAF ONE # AOT.
+ TC STALL
+
+RADSTALL CAF TWO
+ TCF STALL
+
+# Page 1441
+OPTSTALL EQUALS AOTSTALL
+
+IMUSTALL CAF ZERO # IMU.
+
+STALL INHINT
+ TS RUPTREG2 # SAVE DEVICE INDEX.
+ INDEX A # SEE IF OPERATION COMPLETE.
+ CCS MODECADR
+ TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
+ TCF MODESLP # OPERATION INCOMPLETE.
+ TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
+
+MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0.
+ TS MODECADR # RETURN TO CALLER.
+ TCF MODEEXIT
+
+MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
+ TCF MODABORT
+
+ INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
+ TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0.
+
+MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
+ INDEX RUPTREG2
+ TS MODECADR
+ TCF JOBSLEEP
+
+MODABORT TC P00DOO # TWO PROGRAMS USING THE SAME DEVICE.
+ OCT 1210
+
+# Page 1442
+# CONSTANTS FOR MODE SWITCHING ROUTINES
+
+BITS3&4 = OCT14
+BITS4&6 = OCT50
+BITS4-5 EQUALS BITS4&5
+IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
+-COMMAX DEC -191
+-COMMAX- DEC -192
+600MS DEC 60
+IMUFIN20 = IMUFINE
+GOMANUR CA ATTCADR # IS KALCMANU FREE
+ EXTEND
+ BZF +3
+ TC P00DOO # NO
+ OCT 1210 # 2 TRYING TO USE SAME DEVICE
+
+ +3 EXTEND
+ DCA BUF2
+ DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
+
+ CA BBANK
+ MASK SEVEN
+ ADS ATTCADR +1
+
+ CA PRIORITY
+ MASK PRIO37
+ TS ATTPRIO # SAVE USER'S PRIO
+
+ CAF KALEBCON # SET EBANK FOR KALCMAN3
+ TS EBANK
+ TC POSTJUMP
+ CADR KALCMAN3
+KALEBCON ECADR BCDU
+
+# Page 1443
+# PROGRAM DESCRIPTION
+# IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
+# MOD NO -- 1
+# MOD BY -- N.BRODEUR
+#
+# FUNCTIONAL DESCRIPTION
+# TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
+# ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
+# PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
+# CMC. CALLED THROUGH BANKCALL
+#
+# CALLING SEQUENCE --
+# L TC BANKCALL
+# L+1 CADR R02BOTH
+#
+# SUBROUTINES CALLED
+# VARALARM
+# FLAGUP
+#
+# NORMAL EXIT MODES
+# AT L+2 OF CALLING SEQUENCE
+#
+# ALARM OR ABORT EXIT MODES
+# GOTOP00H, WITH ALARM
+#
+# ERASABLE INITIALIZATION REQUIRED
+# NONE
+#
+# DEBRIS
+# CENTRALS -- A,Q,L
+
+ BANK 34
+ SETLOC R02
+ BANK
+ COUNT 04/R02 # COUNT*
+
+DEC51 DEC 51
+R02BOTH CAF BIT13
+ MASK STATE +3 # REFSMFLG
+ CCS A
+ TC R02ZERO # ZERO IMUS
+
+ CA IMODES30
+ MASK BIT9 # IS ISS INITIALIZED
+ EXTEND
+ BZF +2
+ CS BIT4 # SEND IMU ALARM CODE 210
+ AD OCT220 # SEND REFSMM ALARM
+ TC VARALARM
+
+ TC GOTOP00H
+
+# Page 1444
+R02ZERO TC UPFLAG
+ ADRES IMUSE
+ TCF SWRETURN
+OCT220 OCT 220
+
+# Page 1445
+# PROGRAM DESCRIPTION: P06 10 FEB 67
+#
+# TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
+#
+# THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
+# HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
+# CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
+#
+# CALLING SEQUENCE:
+# ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
+#
+# SUBROUTINES CALLED:
+# GOPERF1
+# BANKCALL
+# FLAGDOWN
+#
+# Page 1446
+# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
+# THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
+# BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
+
+ SETLOC P05P06
+ BANK
+
+ EBANK= TIME2SAV
+ COUNT* $$/P06
+
+P06 TC UPFLAG # SET NODOV37 BIT
+ ADRES NODOFLAG
+
+PRESTAND INHINT
+ EXTEND
+ DCA TIME2 # SNAPSHOT TIME1 TIME2
+ DXCH TIME2SAV
+ TC SCALPREP
+ TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
+ DXCH MPAC # T1,T2 AND SCALER OK
+ DXCH SCALSAVE # STORE SCALER
+ INHINT
+ TC BANKCALL
+ CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
+
+ TC DOWNFLAG
+ ADRES IMUSE # IMUSE DOWN
+ TC DOWNFLAG
+ ADRES RNDVZFLG # RNDVZFLG DOWN
+
+ CAF BIT11
+ EXTEND
+ WOR CHAN13 # SET STANDBY ENABLE BIT
+
+ TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
+ OCT 07024 # RECOVERS
+ OCT 20000
+ EBANK= SCALSAVE
+ 2CADR POSTAND
+
+ CAF OCT62
+ TC BANKCALL
+ CADR GOPERF1
+ TCF -3
+ TCF -4
+ TCF -5
+
+OCT62 EQUALS .5SEC # DEC 50 = OCT 62
+
+# THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
+# Page 1447.
+# T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
+# DATA ARE NOT COMPATIBLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
+# DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
+# THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
+# 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
+# T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
+# ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
+# BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
+# DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
+
+SCALPREP EXTEND
+ QXCH MPAC +2
+ TC FINETIME +1
+ RELINT
+ DXCH MPAC
+ CA BIT5 # ADD 5 MS TO THE SCALER READING.
+ TS L
+ CA ZERO
+ DAS MPAC
+ CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
+ MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
+ XCH MPAC +1
+ MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
+ # INTERVAL AFTER THE T1 INCREMENT
+ # (NOW = 00000, SINCE BIT 5 ADDED).
+ CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
+ INCR MPAC +2 # NO
+ TC MPAC +2 # YES
+
+# POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
+# TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
+# INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE
+# CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
+# VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
+# TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
+
+ COUNT* $$/P05
+
+POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
+ EXTEND
+ WAND CHAN13 # CLEAR STANDBY ENABLE BIT
+ INHINT
+ CA ZERO
+ TS L
+ DXCH TIME2 # CLEAR TIME1 TIME2
+ TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
+ TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
+ EXTEND # T1,T2 AND SCALER OK
+ DCS SCALSAVE
+ DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER
+# Page 1448
+ CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
+ TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
+ CAF ZERO
+ TS MPAC +2 # NEEDED FOR TP AGREE
+ TC TPAGREE # MAKE DP DIFF AGREE
+ CCS MPAC
+ TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
+ TC POSTCOM # BETWEEN PRE AND POST STANDBY.
+ TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
+ CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
+ ADS MPAC
+POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
+ DCA TIME2SAV # PRE-STANDBY TIME1 TIME2
+ DAS MPAC
+ TC TPAGREE # FORCE SIGN AGREEMENT
+ DXCH MPAC # UPDATED VALUE FOR T1,T2.
+ DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
+ TC DOWNFLAG # CLEAR NODOFLAG
+ ADRES NODOFLAG
+
+ TC GOTOP00H
+
+
+
diff --git a/IMU_PERFORMANCE_TESTS_4.s b/IMU_PERFORMANCE_TESTS_4.s
new file mode 100644
index 0000000..ebb7849
--- /dev/null
+++ b/IMU_PERFORMANCE_TESTS_4.s
@@ -0,0 +1,362 @@
+# Copyright: Public domain.
+# Filename: IMU_PERFORMANCE_TESTS_4.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 382-389
+# Mod history: 2009-05-17 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 382
+# PROGRAM -- IMU PERFORMANCE TESTS 4
+# DATE -- NOV 15, 1966
+# BY -- GEORGE SCHMIDT IL7-146 EXT 1126
+# MOD NO-ZERO
+#
+# FUNCITONAL DESCRIPTION
+#
+# THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
+# IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
+# SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
+#
+# EARTHR,OGC ZERO,ERTHRVSE
+#
+# NORMAL EXIT
+#
+# LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL
+#
+# ALARMS
+#
+# 1600 OVERFLOW IN DRIFT TEST
+# 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
+# OUTPUT
+#
+# FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2
+#
+# DEBRIS
+#
+# ALL CENTRALS -- ALL OF EBANK XSM
+
+# Page 383
+ BANK 33
+ SETLOC IMU4
+ BANK
+ COUNT* $$/P07
+
+ EBANK= XSM
+
+ESTIMS INHINT
+ CAE 1SECXT
+ TC TWIDDLE
+ EBANK= XSM
+ ADRES ALLOOP
+ CAF ZERO # ZERO THE PIPAS
+ TS PIPAX
+ TS PIPAY
+ TS PIPAZ
+ RELINT
+ CA 77DECML
+ TS ZERONDX
+ CA ALXXXZ
+ TC ZEROING
+ TC INTPRET
+ SLOAD
+ SCHZEROS
+ STOVL GCOMPSW -1
+ INTVAL +2
+ STOVL ALX1S
+ SCHZEROS
+ STORE DELVX
+ STORE GCOMP
+ SLOAD
+ TORQNDX
+ DCOMP BMN
+ VERTSKIP
+ CALL
+ ERTHRVSE
+VERTSKIP EXIT
+ TC SLEEPIE +1
+
+# Page 384
+ALLOOP CA OVFLOWCK
+ EXTEND
+ BZF +2
+ TC TASKOVER
+ CCS ALTIM
+ CA A # SHOULD NEVER HIT THIS LOCATION
+ TS ALTIMS
+ CS A
+ TS ALTIM
+ CS ONE
+ AD GEOCOMPS
+ EXTEND
+ BZF +4
+ CA LENGTHOT
+ EXTEND
+ BZMF +5
+ CAE 1SECXT
+ TC TWIDDLE
+ EBANK= XSM
+ ADRES ALLOOP
+ CAF ZERO
+ XCH PIPAX
+ TS DELVX
+ CAF ZERO
+ XCH PIPAY
+ TS DELVY
+ CAF ZERO
+ XCH PIPAZ
+ TS DELVZ
+SPECSTS CAF PRIO20
+ TC FINDVAC
+ EBANK= XSM
+ 2CADR ALFLT # START THE JOB
+
+ TC TASKOVER
+
+# Page 385
+ALFLT CCS GEOCOMPS
+ TC +2
+ TC NORMLOP
+ TC BANKCALL
+ CADR 1/PIPA
+NORMLOP TC INTPRET
+ DLOAD
+ INTVAL
+ STOVL S1
+ DELVX
+ VXM VSL1
+ XSM
+ DLOAD DCOMP
+ MPAC +3
+ STODL DPIPAY
+ MPAC +5
+ STORE DPIPAZ
+
+ SETPD AXT,1
+ 0
+ 8D
+ SLOAD DCOMP
+ GEOCOMPS
+ BMN
+ PERFERAS
+ALCGKK SLOAD BMN
+ ALTIMS
+ ALFLT3
+ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
+ 12D
+ ALX1S
+ALKCG2 DLOAD* INCR,1
+ ALFDK +144D,1
+ DEC -2
+ STORE ALDK +10D,2
+ TIX,2 SXA,1
+ ALKCG2
+ ALX1S
+
+ALFLT3 AXT,1
+ 8D
+DELMLP DLOAD* DMP
+ DPIPAY +8D,1
+ PIPASC
+ SLR BDSU*
+ 9D
+ INTY +8D,1
+ STORE INTY +8D,1
+ PDDL DMP*
+ VELSC
+# Page 386
+ VLAUN +8D,1
+ SL2R
+ DSU STADR
+ STORE DELM +8D,1
+ STORE DELM +10D,1
+ TIX,1 AXT,2
+ DELMLP
+ 4
+ALILP DLOAD* DMPR*
+ ALK +4,2
+ ALDK +4,2
+ STORE ALK +4,2
+ TIX,2 AXT,2
+ ALILP
+ 8D
+ALKLP LXC,1 SXA,1
+ CMPX1
+ CMPX1
+ DLOAD* DMPR*
+ ALK +1,1
+ DELM +8D,2
+ DAD*
+ INTY +8D,2
+ STORE INTY +8D,2
+ DLOAD* DAD*
+ ALK +12D,2
+ ALDK +12D,2
+ STORE ALK +12D,2
+ DMPR* DAD*
+ DELM +8D,2
+ INTY +16D,2
+ STORE INTY +16D,2
+ DLOAD* DMP*
+ ALSK +1,1
+ DELM +8D,2
+ SL1R DAD*
+ VLAUN +8D,2
+ STORE VLAUN +8D,2
+ TIX,2 AXT,1
+ ALKLP
+ 8D
+
+LOOSE DLOAD* PDDL*
+ ACCWD +8D,1
+ VLAUN +8D,1
+ PDDL* VDEF
+ POSNV +8D,1
+ MXV VSL1
+ TRANSM1
+# Page 387
+ DLOAD
+ MPAC
+ STORE POSNV +8D,1
+ DLOAD
+ MPAC +3
+ STORE VLAUN +8D,1
+ DLOAD
+ MPAC +5
+ STORE ACCWD +8D,1
+ TIX,1
+ LOOSE
+
+ AXT,2 AXT,1 # EVALUATE SINES AND COSINES
+ 6
+ 2
+BOOP DLOAD* DMPR
+ ANGX +2,1
+ GEORGEJ
+ SR2R
+ PUSH SIN
+ SL3R XAD,1
+ X1
+ STORE 16D,2
+ DLOAD
+ COS
+ STORE 22D,2 # COSINES
+ TIX,2
+ BOOP
+
+PERFERAS EXIT
+ CA EBANK7
+ TS EBANK
+ EBANK= ATIGINC
+ TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
+
+# CAUTION
+#
+# THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
+# BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
+
+ EBANK= AZIMUTH
+ CCS LENGTHOT
+ TC SLEEPIE
+ CCS TORQNDX
+ TCF +2
+ TC SETUPER1
+ CA CDUX
+ TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
+
+# Page 388
+SETUPER1 TC INTPRET
+ DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
+ ANGZ
+ ANGY
+ PDDL VDEF
+ ANGX
+ VCOMP VXSC
+ GEORGEJ
+ MXV VSR1
+ XSM
+ STORE OGC
+ EXIT
+
+ CA OGCPL
+ TC BANKCALL
+ CADR IMUPULSE
+ TC IMUSLLLG
+GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
+ TC VALMIS
+ TC INTPRET
+ CALL
+ ERTHRVSE
+ EXIT
+ TC TORQUE
+
+SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
+ CCS TORQNDX # ARE WE DOING VERTDRIFT
+ TC EARTHR*
+ TC ENDOFJOB
+
+SOMEERRR CA EBANK5
+ TS EBANK
+ CA ONE
+ TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
+ TC ALARM
+ OCT 1600
+ TC ENDTEST1
+SOMERR2 CAF OCT1601
+ TC VARALARM
+ TC DOWNFLAG
+ ADRES IMUSE
+ TC ENDOFJOB
+
+OCT1601 OCT 01601
+DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
+SCHZEROS 2DEC .00000000
+# Page 389
+ 2DEC .00000000
+
+ OCT 00000
+ONEDPP OCT 00000 # ORDER IS IMPORTANT
+ OCT 00001
+
+INTVAL OCT 4
+ OCT 2
+ DEC 144
+ DEC -1
+SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
+
+ 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
+
+77DECML DEC 77
+ALXXXZ GENADR ALX1S -1
+PIPASC 2DEC .13055869
+
+VELSC 2DEC -.52223476 # 512/980.402
+
+ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
+
+ 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
+
+GEORGEJ 2DEC .63661977
+
+GEORGEK 2DEC .59737013
+
diff --git a/IMU_PERFORMANCE_TEST_2.s b/IMU_PERFORMANCE_TEST_2.s
new file mode 100644
index 0000000..3f5262b
--- /dev/null
+++ b/IMU_PERFORMANCE_TEST_2.s
@@ -0,0 +1,421 @@
+# Copyright: Public domain.
+# Filename: IMU_PERFORMANCE_TEST_2.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 373-381
+# Mod history: 2009-05-17 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 373
+# NAME -- IMU PERFORMANCE TESTS 2
+#
+# DATE -- MARCH 20, 1967
+#
+# BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274
+#
+# MODNO. -- ZERO
+#
+# FUNCTIONAL DESCRIPTION
+#
+# POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
+# THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
+# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
+
+ BANK 33
+ SETLOC IMU2
+ BANK
+ EBANK= POSITON
+ COUNT* $$/P07
+
+REDO TC NEWMODEX
+ MM 07
+
+GEOIMUTT TC IMUZERR
+IMUBACK CA ZERO
+ TS NDXCTR
+ TS TORQNDX
+ TS TORQNDX +1
+ TS OVFLOWCK
+NBPOSPL CA DEC17
+ TS ZERONDX
+ CA XNBADR
+ TC ZEROING
+ CA HALF
+ TS XNB
+GUESS TC INTPRET
+LATAZCHK DLOAD SL2
+ LATITUDE
+ STODL DSPTEM1 +1
+ AZIMUTH
+ RTB EXIT
+ 1STO2S
+ XCH MPAC
+ TS DSPTEM1
+ CAF VN0641
+ TC BANKCALL
+ CADR GOFLASH
+ TC ENDTEST1
+ TC +2
+ TC -5
+# Page 374
+ TC INTPRET
+ SLOAD RTB
+ DSPTEM1
+ CDULOGIC
+ STORE AZIMUTH
+ SLOAD SR2
+ DSPTEM1 +1
+ STORE LATITUDE
+ COS DCOMP
+ SL1
+ STODL WANGI
+ LATITUDE
+ SIN SL1
+ STODL WANGO
+ AZIMUTH
+ PUSH SIN
+ STORE YNB +2
+ STODL ZNB +4
+ COS
+ STORE YNB +4
+ DCOMP
+POSGMBL STCALL ZNB +2
+ CALCGA
+ EXIT
+ TC BANKCALL
+ CADR IMUCOARS
+ CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
+ MASK FLAGWRD3
+ EXTEND
+ BZF +2
+ INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
+ TC DOWNFLAG
+ ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
+ TC IMUSLLLG
+ CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
+ TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
+ TC FINIMUDD
+ EXTEND
+ DCA PERFDLAY
+ TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
+ EBANK= POSITON
+ 2CADR GOESTIMS
+
+ CA ESTICADR
+ TC JOBSLEEP
+GOESTIMS CA ESTICADR
+ TC JOBWAKE
+ TC TASKOVER
+ESTICADR CADR ESTIMS
+TORQUE CA ZERO
+# Page 375
+ TS DSPTEM2
+ CA DRIFTI
+ TS DSPTEM2 +1
+ INDEX POSITON
+ TS SOUTHDR -1
+ TC SHOW
+
+PIPACHK INDEX NDXCTR # PIPA TEST
+ TC +1
+ TC EARTHR*
+ CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
+ TS DATAPL +4 # IN THE ALLOTTED TIME INTERVAL
+ CA DEC58
+ TS LENGTHOT
+ CA ONE
+ TS RESULTCT
+ CA ZERO
+ INDEX PIPINDEX
+ TS PIPAX
+ TS DATAPL
+ TC CHECKG
+ INHINT
+ CAF TWO
+ TC TWIDDLE
+ EBANK= XSM
+ ADRES PIPATASK
+ TC ENDOFJOB
+
+PIPATASK EXTEND
+ DIM LENGTHOT
+ CA LENGTHOT
+ EXTEND
+ BZMF STARTPIP
+ CAF BIT10
+ TC TWIDDLE
+ EBANK= XSM
+ ADRES PIPATASK
+STARTPIP CAF PRIO20
+ TC FINDVAC
+ EBANK= XSM
+ 2CADR PIPJOBB
+
+ TC TASKOVER
+
+PIPJOBB INDEX NDXCTR
+ TC +1
+ TC EARTHR*
+ CA LENGTHOT
+# Page 376
+ EXTEND
+ BZMF +2
+ TC ENDOFJOB
+
+ CA FIVE
+ TS RESULTCT
+ TC CHECKG
+ CCS DATAPL +1
+ TC +4
+ TC CCSHOLE
+ CS DATAPL +4
+ TS DATAPL +4
+ EXTEND
+ DCS DATAPL
+ DAS DATAPL +4
+
+ TC INTPRET
+ DLOAD DSU
+ DATAPL +6
+ DATAPL +2
+ BPL CALL
+ AINGOTN
+ OVERFFIX
+AINGOTN PDDL DDV
+ DATAPL +4
+ DMPR RTB
+ DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
+ SGNAGREE
+ STORE DSPTEM2
+ EXIT
+ CCS NDXCTR
+ TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
+ TC SHOW
+VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
+ TS LENGTHOT
+ INDEX POSITON
+ CS SOUTHDR -2
+ TS DRIFTT
+ CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
+ TCF PON4 # Z-UP IN POS 4
+PON2 CS BIT5 # X-UP
+ ADS ERCOMP +2
+ CA BIT5
+ ADS ERCOMP +4
+ TCF PON
+PON4 CS BIT5
+ ADS ERCOMP +2
+ CA BIT5
+ ADS ERCOMP
+PON TC EARTHR*
+# Page 377
+ CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
+ TS ERVECTOR
+ TS ERVECTOR +1
+GUESS1 CAF POSMAX
+ TS TORQNDX
+ TS TORQNDX +1
+ CA CDUX
+ TS LOSVEC
+ TC ESTIMS
+VALMIS CA DRIFTO
+ TS DSPTEM2 +1
+ CA ZERO
+ TS DSPTEM2
+ TC SHOW
+
+ENDTEST1 TC DOWNFLAG
+ ADRES IMUSE
+ CS ZERO
+ TC NEWMODEA
+ TC ENDEXT
+
+# Page 378
+OVERFFIX DAD DAD
+ DPPOSMAX
+ ONEDPP
+ RVQ
+
+COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
+ QXCH ZERONDX
+ CA ZERO
+ TS THETAD
+ TS THETAD +1
+ TS THETAD +2
+ TC BANKCALL
+ CADR IMUCOARS
+ALIGNCOA TC BANKCALL
+ CADR IMUSTALL
+ TC SOMERR2
+ TC ZERONDX
+
+IMUSLLLG EXTEND
+ QXCH ZERONDX
+ TC ALIGNCOA
+
+FINIMUDD EXTEND
+ QXCH ZERONDX
+ TC BANKCALL
+ CADR IMUFINE
+ TC ALIGNCOA
+
+IMUZERR EXTEND
+ QXCH ZERONDX
+ TC BANKCALL
+ CADR IMUZERO
+ TC ALIGNCOA
+
+CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
+ QXCH QPLACE
+ TC +6
+CHECKG1 RELINT
+ CA NEWJOB
+ EXTEND
+ BZMF +6
+ TC CHANG1
+ INHINT
+ INDEX PIPINDEX
+ CS PIPAX
+ TS ZERONDX
+ INHINT
+# Page 379
+ INDEX PIPINDEX
+ CA PIPAX
+ AD ZERONDX
+ EXTEND
+ BZF CHECKG1
+ INDEX PIPINDEX
+ CA PIPAX
+ INDEX RESULTCT
+ TS DATAPL
+ TC FINETIME
+ INDEX RESULTCT
+ TS DATAPL +1
+ INDEX RESULTCT
+ LXCH DATAPL +2
+ RELINT
+ENDCHKG TC QPLACE
+
+ZEROING TS L
+ TCF +2
+ZEROING1 TS ZERONDX
+ CAF ZERO
+ INDEX L
+ TS 0
+ INCR L
+ CCS ZERONDX
+ TCF ZEROING1
+ TC Q
+
+# Page 380
+ERTHRVSE DLOAD PDDL
+ SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
+ LATITUDE
+ COS DCOMP
+ PDDL SIN
+ LATITUDE
+ VDEF VXSC
+ OMEG/MS
+ STORE ERVECTOR
+ RTB
+ LOADTIME
+ STOVL TMARK
+ SCHZEROS
+ STORE ERCOMP
+ RVQ
+
+EARTHR ITA RTB
+ S2
+ LOADTIME
+ STORE TEMPTIME
+ DSU BPL
+ TMARK
+ ERTHR
+ CALL
+ OVERFFIX
+ERTHR SL VXSC
+ 9D
+ ERVECTOR
+ MXV VAD
+ XSM
+ ERCOMP
+ STODL ERCOMP
+ TEMPTIME
+ STORE TMARK
+ AXT,1 RTB
+ ECADR ERCOMP
+ PULSEIMU
+ GOTO
+ S2
+
+EARTHR* EXTEND
+ QXCH QPLACES
+ TC INTPRET
+ CALL
+ EARTHR
+ EXIT
+ TC IMUSLLLG
+ TC QPLACES
+
+SHOW EXTEND
+# Page 381
+ QXCH QPLACE
+SHOW1 CA POSITON
+ TS DSPTEM2 +2
+ CA VB06N98
+ TC BANKCALL
+ CADR GOFLASH
+ TC ENDTEST1 # V34
+ TC QPLACE # V33
+ TCF SHOW1
+
+3990DEC DEC 3990
+VB06N98 VN 0698
+VN0641 VN 0641
+DEC17 = ND1
+DEC58 DEC 58
+OGCPL ECADR OGC
+1SECX = 1SEC
+XNBADR GENADR XNB
+XSMADR GENADR XSM
+ BLOCK 2
+ COUNT* $$/P07
+FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
+ EXTEND
+ READ LOSCALAR
+ TS L
+ EXTEND
+ RXOR LOSCALAR
+ EXTEND
+ BZF +4
+ EXTEND
+ READ LOSCALAR
+ TS L
+ +4 CS POSMAX
+ AD L
+ EXTEND
+ BZF FINETIME +1
+ EXTEND
+ READ HISCALAR
+ TC Q
+
diff --git a/INFLIGHT_ALIGNMENT_ROUTINES.s b/INFLIGHT_ALIGNMENT_ROUTINES.s
new file mode 100644
index 0000000..55c0730
--- /dev/null
+++ b/INFLIGHT_ALIGNMENT_ROUTINES.s
@@ -0,0 +1,304 @@
+# Copyright: Public domain.
+# Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1355-1364
+# Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1355
+ BANK 22
+ SETLOC INFLIGHT
+ BANK
+
+ EBANK= XSM
+
+# CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
+#
+# THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
+# HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
+#
+# THE OUTPUTS ARE THE THREE GYRO TORQUE ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
+# MGC, AND OGC RESPECTIVELY.
+
+ COUNT 23/INFLT
+
+CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D
+ S2 # XDC = (XD1 XD2 XD3)
+ XDC # YDC = (YD1 YD2 YD3)
+ PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
+ HI6ZEROS
+ XDC +4
+ DCOMP VDEF
+ UNIT
+ STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
+ ZPRIME
+
+ SR1
+ STODL SINTH # SIN(IGC) = ZP1
+ ZPRIME +4
+ SR1
+ STCALL COSTH # COS(IGC) = ZP3
+ ARCTRIG
+
+ STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
+ XDC +2
+ SR1
+ STODL SINTH # SIN(MGC) = XD2
+ ZPRIME
+
+ DMP PDDL
+ XDC +4 # PD00 = (ZP1)(XD3)
+ ZPRIME +4
+
+ DMP DSU
+ XDC # MPAC = (ZP3)(XD1)
+ STADR
+ STCALL COSTH # COS(MGC) = MPAC - PD00
+ ARCTRIG
+# Page 1356
+ STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
+ ZPRIME
+ DOT
+ ZDC
+ STOVL COSTH # COS(OGC) = ZP . ZDC
+ ZPRIME
+ DOT
+ YDC
+ STCALL SINTH # SIN(OGC) = ZP . YDC
+ ARCTRIG
+
+ STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
+ S2
+
+# Page 1357
+# ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
+#
+# THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
+#
+# THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
+# AVAILABLE AT MPAC.
+
+ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
+ SINTH
+ DSU BMN
+ QTSN45 # ABS(SIN/4) - SIN(45)/4
+ TRIG1 # IF (-45,45) OR (135,-135)
+
+ DLOAD SL1 # (45,135) OR (-135,-45)
+ COSTH
+ ACOS SIGN
+ SINTH
+ STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
+ RVQ
+
+TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
+ SINTH
+ ASIN
+ STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
+ COSTH
+ BMN
+ TRIG2 # IF (135,-135)
+
+ DLOAD RVQ
+ THETA # X = ARCSIN(SIN) (-45,45)
+
+TRIG2 DLOAD SIGN # (135,-135)
+ HIDPHALF
+ SINTH
+ DSU
+ THETA
+ STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
+ RVQ # (+) - (+) OR (-) - (-)
+
+# Page 1358
+# SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
+# COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
+# FLIGHT SUBROUTINES.
+
+# Page 1359
+# CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
+#
+# THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
+# VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
+# COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
+#
+# THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
+
+CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
+ 0
+ VLOAD VXV
+ XNB # XNB = OGA (OUTER GIMBAL AXIS)
+ YSM # YSM = IGA (INNER GIMBAL AXIS)
+ UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
+
+ DOT ITA
+ ZNB
+ S2
+ STOVL COSTH # COS(OG) = MGA . ZNB
+ 0
+ DOT
+ YNB
+ STCALL SINTH # SIN(OG) = MGA . YNB
+ ARCTRIG
+ STOVL OGC
+ 0
+
+ VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
+ XNB
+ YSM
+ SL1
+ STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
+ YSM
+ DOT
+ XNB
+ STCALL SINTH # SIN(MG) = IGA . OGA
+ ARCTRIG
+ STORE MGC
+
+ ABS DSU
+ .166...
+ BPL
+ GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
+
+CALCGA1 VLOAD DOT
+ ZSM
+ 0
+ STOVL COSTH # COS(IG) = ZSM . MGA
+ XSM
+# Page 1360
+ DOT STADR
+ STCALL SINTH # SIN(IG) = XSM . MGA
+ ARCTRIG
+
+ STOVL IGC
+ OGC
+ RTB BONCLR
+ V1STO2S
+ CPHIFLAG
+ S2
+ STCALL THETAD
+ S2
+
+GIMLOCK1 EXIT
+ TC ALARM
+ OCT 00401
+ TC UPFLAG # GIMBAL LOCK HAS OCCURRED
+ ADRES GLOKFAIL
+
+ TC INTPRET
+ GOTO
+ CALCGA1
+
+# Page 1361
+# AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
+#
+# THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
+# REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
+# AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
+# THE VAC AREA.
+#
+# THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
+# AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
+
+AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D
+ STARAD +6
+ S1
+ STARAD -6
+
+ SETPD
+ 0
+AXISGEN1 VLOAD* VXV* # 06D UA = S1
+ STARAD +12D,1 # STARAD +00D UB = S1
+ STARAD +18D,1
+ UNIT # 12D VA = UNIT(S1 X S2)
+ STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
+ VLOAD*
+ STARAD +12D,1
+
+ VXV* VSL1
+ STARAD +18D,1 # 18D WA = UA X VA
+ STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
+
+ TIX,1
+ AXISGEN1
+
+ AXC,1 SXA,1
+ 6
+ 30D
+
+ AXT,1 SSP
+ 18D
+ S1
+ 6
+
+ AXT,2 SSP
+ 6
+ S2
+ 2
+
+AXISGEN2 XCHX,1 VLOAD*
+ 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
+ 0,1
+
+# Page 1362
+ VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
+ STARAD +6,2
+ 6,1
+ VXSC*
+ STARAD +12D,2
+ STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
+ 12D,1
+
+ VXSC* VAD
+ STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
+ VAD VSL1
+ 24D
+ XCHX,1 UNIT
+ 30D
+ STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
+
+ TIX,1
+ AXISGEN3
+
+AXISGEN3 TIX,2
+ AXISGEN2
+
+ VLOAD
+ XDC
+ STOVL STARAD
+ YDC
+ STOVL STARAD +6
+ ZDC
+ STORE STARAD +12D
+
+ RVQ
+
+# Page 1363
+QTSN45 2DEC .1768
+.166... 2DEC .1666666667
+
+# Page 1364 (empty page)
+
+
diff --git a/INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.s b/INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.s
new file mode 100644
index 0000000..a838518
--- /dev/null
+++ b/INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.s
@@ -0,0 +1,224 @@
+# Copyright: Public domain.
+# Filename: INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Onno Hommes <ohommes@cmu.edu>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 0054-0060
+# Mod history: 2009-05-14 OH Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 54
+
+# *** CHANNEL DESCRIPTION WORDS ARE ALLOCATED IN ERASABLE ASSIGNMENTS ***
+
+# CHANNEL 1 IDENTICAL TO COMPUTER REGISTER L (0001)
+
+# CHANNEL 2 IDENTICAL TO COMPUTER REGISTER Q (0002)
+
+# CHANNEL 3 HISCALAR: INPUT CHANNEL; MOST SIGNIFICANT 14 BITS FROM 33 STAGE BINARY COUNTER. SCALE
+# FACTOR IS B23 IN CSEC, SO MAX VALUE ABOUT 23.3 HOURS AND LEAST SIGNIFICANT BIT 5.12 SECS.
+
+# CHANNEL 4 LOSCALAR: INPUT CHANNEL; NEXT MOST SIGNIFICANT 14 BITS FROM THE 33 STAGE BINARY COUNTER
+# ASSOCIATED WITH CHANNEL 3. SCALE FACTOR IS B9 IN CSEC. SO MAX VAL IS 5.12 SEC AND LEAST
+# SIGNIFICANT BIT IS 1/3200 SEC. SCALE FACTOR OF D.P. WORD WITH CHANNEL 3 IS B23 CSEC.
+
+# CHANNEL 5 PYJETS: OUTPUT CHANNEL; PITCH RCS JET CONTROL. (REACTION CONTROL SYSTEM) USES BITS 1-8.
+
+# CHANNEL 6 ROLLJETS: OUTPUT CHANNEL; ROLL RCS JET CONTROL. (REACTION CONTROL SYSTEM) USES BIT 1-8.
+
+# CHANNEL 7 SUPERBNK: OUTPUT CHANNEL; NOT RESET BY RESTART; FIXED EXTENSION BITS USED TO SELECT THE
+# APPROPRIATE FIXED MEMORY BANK IF FBANK IS 30 OCTAL OR MORE. USES BITS 5-7.
+
+# CHANNEL 10 OUT0: OUTPUT CHANNEL; REGISTER USED TO TRANSMIT LATCHING-RELAY DRIVING INFORMATION FOR
+# THE DISPLAY SYSTEM. BITS 15-12 ARE SET TO THE ROW NUMBER (1-14 OCTAL) OF THE RELAY TO BE
+# CHANGED AND BITS 11-1 CONTAIN THE REQUIRED SETTINGS FOR THE RELAYS IN THE ROW.
+
+# CHANNEL 11 DSALMOUT: OUTPUT CHANNEL; REGISTER WHOSE BITS ARE USED FOR ENGINE ON-OFF CONTROL AND TO
+# DRIVE INDIVIDUAL INDICATORS OF THE DISPLAY SYSTEM. BITS 1-7 ARE A RELAYS.
+#
+# BIT 1 ISS WARNING
+# BIT 2 LIGHT COMPUTER ACTIVITY LAMP
+# BIT 3 LIGHT UPLINK ACTIVITY LAMP
+# BIT 4 LIGHT TEMP CAUTION LAMP
+# BIT 5 LIGHT KEYBOARD RELEASE LAMP
+# BIT 6 FLASH VERB AND NOUN LAMPS
+# BIT 7 LIGHT OPERATOR ERROR LAMP
+# Page 55
+# BIT 8 SPARE
+# BIT 9 TEST CONNECTOR OUTBIT
+# BIT 10 CAUTION RESET
+# BIT 11 SPARE
+# BIT 12 SPARE
+# BIT 13 ENGINE ON
+# BIT 14 ENGINE OFF
+# BIT 15 SPARE
+
+# CHANNEL 12 CHAN12: OUTPUT CHANNEL; BITS USED TO DRIVE NAVIGATION AND SPACECRAFT HARDWARE.
+#
+# BIT 1 ZERO RR CDU; CDU'S GIVE RRADAR INFORMATION FOR LM
+# BIT 2 ENABLE CDU RADAR ERROR COUNTERS
+# BIT 3 NOT USED
+# BIT 4 COARSE ALIGN ENABLE OF IMU
+# BIT 5 ZERO IMU CDU'S
+# BIT 6 ENABLE IMU ERROR COUNTER, CDU ERROR COUNTER.
+# BIT 7 SPARE
+# BIT 8 DISPLAY INERTIAL DATA
+# BIT 9 -PITCH GIMBAL TRIM (BELL MOTION) DESCENT ENGINE
+# BIT 10 +PITCH GIMBAL TRIM (BELL MOTION) DESCENT ENGINE
+# BIT 11 -ROLL GIMBAL TRIM (BELL MOTION) DESCENT ENGINE
+# BIT 12 +ROLL GIMBAL TRIM (BELL MOTION) DESCENT ENGINE
+# BIT 13 LR POSITION 2 COMMAND
+# BIT 14 ENABLE RENDEZVOUS RADAR LOCK-ON; AUTO ANGLE TRACK'G
+# BIT 15 ISS TURN ON DELAY COMPLETE
+
+# Page 56
+# CHANNEL 13 CHAN13: OUTPUT CHANNEL.
+#
+# BIT 1 RADAR C PROPER SETTING OF THE A,B,C MATRIX
+# BIT 2 RADAR B SELECTS CERTAIN RADAR
+# BIT 3 RADAR A PARAMETERS TO BE READ.
+# BIT 4 RADAR ACTIVITY
+# BIT 5 NOT USED (CONNECTS AN ALTERNATE INPUT TO UPLINK)
+# BIT 6 BLOCK INPUTS TO UPLINK CELL
+# BIT 7 DOWNLINK TELEMETRY WORD ORDER CODE BIT
+# BIT 8 RHC COUNTER ENABLE (READ HAND CONTROLLER ANGLES)
+# BIT 9 START RHC READ INTO COUNTERS IS BIT 8 SET
+# BIT 10 TEST ALARMS, TEST DSKY LIGHTS
+# BIT 11 ENABLE STANDBY
+# BIT 12 RESET TRAP 31-A ALWAYS APPEAR TO BE SET TO 0
+# BIT 13 RESET TRAP 31-B ALWAYS APPEAR TO BE SET TO 0
+# BIT 14 RESET TRAP 32 ALWAYS APPEAR TO BE SET TO 0
+# BIT 15 ENABLE T6 RUPT
+
+# CHANNEL 14 CHAN14: OUTPUT CHANNEL; USED TO CONTROL COMPUTER COUNTER CELLS (CDU, GYRO, SPACECRAFT FUNC).
+#
+# BIT 1 OUTLINK ACTIVITY (NOT USED)
+# BIT 2 ALTITUDE RATE OR ALTITUDE SELECTOR
+# BIT 3 ALTITUDE METER ACTIVITY
+# BIT 4 THRUST DRIVE ACTIVITY FOR DESCENT ENGINE
+# BIT 5 SPARE
+# BIT 6 GYRO ENABLE POWER FOR PULSES
+# BIT 7 GYRO SELECT B PAIR OF BITS IDENTIFIES AXIS OF
+# BIT 8 GYRO SELECT A GYRO SYSTEM TO BE TORQUED.
+# BIT 9 GYRO TORQUING COMMAND IN NEGATIVE DIRECTION.
+# Page 57
+# BIT 10 GYRO ACTIVITY
+# BIT 11 DRIVE CDU S
+# BIT 12 DRIVE CDU T
+# BIT 13 DRIVE CDU Z
+# BIT 14 DRIVE CDU Y
+# BIT 15 DRIVE CDU X
+
+# CHANNEL 15 MNKEYIN: INPUT CHANNEL; KEY CODE INPUT FROM KEYBOARD OF DSKY, SENSED BY PROGRAM WHEN
+# PROGRAM INTERRUPT #5 IS RECEIVED. USED BITS 5-1
+
+# CHANNEL 16 NAVKEYIN: INPUT CHANNEL; OPTICS MARK INFORMATION AND NAVIGATION PANEL DSKY (CM) OR THRUST
+# CONTROL (LM) SENSED BY PROGRAM THEN PROGRAM INTERRUPT #6 IS RECEIVED. USES BITS 3-7 ONLY.
+#
+# BIT 1 NOT ASSIGNED
+# BIT 2 NOT ASSIGNED
+# BIT 3 OPTICS X-AXIS MARK SIGNAL FOR ALIGN OPTICAL TSCOPE
+# BIT 4 OPTICS Y-AXIS MARK SIGNAL FOR AOT
+# BIT 5 OPTICS MARK REJECT SIGNAL
+# BIT 6 DESCENT+ ; CREW DESIRED SLOWING RATE OF DESCENT
+# BIT 7 DESCENT- ; CREW DESIRED SPEEDING UP RATE OF D'CENT
+
+# NOTE: ALL BITS IN CHANNELS 30-33 ARE INVERTED AS SENSED BY THE PROGRAM, SO THAT A VALUE OF ZERO MEANS
+# THAT THE INDICATED SIGNAL IS PRESENT.
+
+# CHANNEL 30 INPUT CHANNEL
+#
+# BIT 1 ABORT WITH DESCENT STAGE
+# BIT 2 UNUSED
+# BIT 3 ENGINE ARMED SIGNAL
+# BIT 4 ABORT WITH ASCENT ENGINE STAGE
+# BIT 5 AUTO THROTTLE; COMPUTER CONTROL OF DESCENT ENGINE
+# Page 58
+# BIT 6 DISPLAY INERTIAL DATA
+# BIT 7 RR CDU FAIL
+# BIT 8 SPARE
+# BIT 9 IMU OPERATE WITH NO MALFUNCTION
+# BIT 10 LM COMPUTER (NOT AGS) HAS CONTROL OF LM.
+# BIT 11 IMU CAGE COMMAND TO DRIVE IMU GIMBAL ANGLES TO 0.
+# BIT 12 IMU CDU FAIL (MALFUNCTION OF IMU CDU,S)
+# BIT 13 IMU FAIL (MALFUCTION OF IMU STABILIZATION LOOPS)
+# BIT 14 ISS TURN ON REQUESTED
+# BIT 15 TEMPERATURE OF STABLE MEMBER WITHIN DESIGN LIMITS
+
+# CHANNEL 31 INPUT CHANNEL; BITS ASSOCIATED WITH THE ATTITUDE CONTROLLER, TRANSLATIONAL CONTROLLER,
+# AND SPACECRAFT ATTITUDE CONTROL; USED BY RCS DAP.
+#
+# BIT 1 ROTATION (BY RHC) COMMANDED IN POSITIVE PITCH DIRECTION; MUST BE IN MINIMUM IMPULSE MODE.
+# ALSO POSITIVE ELEVATION CHANGE FOR LANDING POINT DESIGNATOR
+# BIT 2 AS BIT 1 EXCEPT NEGATIVE PITCH AND ELEVATION.
+# BIT 3 ROTATION (BY RHC) COMMANDED IN POSITIVE YAW DIRECTION; MUST BE IN MINIMUM IMPULSE MODE.
+# BIT 4 AS BIT 3 EXCEPT NEGATIVE YAW
+# BIT 5 ROTATION (BY RHC) COMMANDED IN POSITIVE ROLL DIRECTION; MUST BE IN MINIMUM IMPULSE MODE.
+# ALSO POSITIVE AZIMUTH CHANGE FOR LANDING POINT DESIGNATOR.
+# BIT 6 AS BIT 5 EXCEPT NEGATIVE ROLL AND AZIMUTH
+# BIT 7 TRANSLATION IN +X DIRECTION COMMANDED BY THC
+# BIT 8 TRANSLATION IN -X DIRECTION COMMANDED BY THC
+# BIT 9 TRANSLATION IN +Y DIRECTION COMMANDED BY THC
+# BIT 10 TRANSLATION IN -Y DIRECTION COMMANDED BY THC
+# BIT 11 TRANSLATION IN +Z DIRECTION COMMANDED BY THC
+# BIT 12 TRANSLATION IN -Z DIRECTION COMMANDED BY THC
+# Page 59
+# BIT 13 ATTITUDE HOLD MODE ON SCS MODE CONTROL SWITCH
+# BIT 14 AUTO STABILIZATION OF ATTITUDE ON SCS MODE SWITCH
+# BIT 15 ATTITUDE CONTROL OUT OF DETENT (RHC NOT IN NEUTRAL)
+
+# CHANNEL 32 INPUT CHANNEL.
+#
+# BIT 1 THRUSTERS 2 & 4 DISABLED BY CREW
+# BIT 2 THRUSTERS 5 & 8 DISABLED BY CREW
+# BIT 3 THRUSTERS 1 & 3 DISABLED BY CREW
+# BIT 4 THRUSTERS 6 & 7 DISABLED BY CREW
+# BIT 5 THRUSTERS 14 & 16 DISABLED BY CREW
+# BIT 6 THRUSTERS 13 & 15 DISABLED BY CREW
+# BIT 7 THRUSTERS 9 & 12 DISABLED BY CREW
+# BIT 8 THRUSTERS 10 & 11 DISABLED BY CREW
+# BIT 9 DESCENT ENGINE DISABLED BY CREW
+# BIT 10 APPARENT DESCENT ENGINE GIMBAL FAILURE
+# BIT 14 INDICATES PROCEED KEY IS DEPRESSED
+
+# CHANNEL 33 CHAN33: INPUT CHANNEL; FOR HARDWARE STATUS AND COMMAND INFORMATION. BITS 15-11 ARE FLIP-
+# FLOP BITS RESET BY A CHANNEL "WRITE" COMMAND THAT ARE RESET BY A RESTART & BY T4RUPT LOOP.
+#
+# BIT 1 SPARE
+# BIT 2 RR AUTO-POWER ON
+# BIT 3 RR RANGE LOW SCALE
+# BIT 4 RR DATA GOOD
+# BIT 5 LR RANGE DATA GOOD
+# BIT 6 LR POS1
+# BIT 7 LR POS2
+# Page 60
+# BIT 8 LR VEL DATA GOOD
+# BIT 9 LR RANGE LOW SCALE
+# BIT 10 BLOCK UPLINK INPUT
+# BIT 11 UPLINK TOO FAST
+# BIT 12 DOWNLINK TOO FAST
+# BIT 13 PIPA FAIL
+# BIT 14 WARNING OF REPEATED ALARMS: RESTART, COUNTER FAIL, VOLTAGE FAIL, AND SCALAR DOUBLE.
+# BIT 15 LGC OSCILLATOR STOPPED
+
+# CHANNEL 34 DNT M1: OUTPUT CHANNEL; DOWNLINK 1: FIRST OF TWO WORDS SERIALIZATION.
+# CHANNEL 35 DNT M2: OUTPUT CHANNEL; DOWNLINK 2: SECOND OF TWO WORDS SERIALIZATION.
+
+
diff --git a/INTEGRATION_INITIALIZATION.s b/INTEGRATION_INITIALIZATION.s
new file mode 100644
index 0000000..6e120ec
--- /dev/null
+++ b/INTEGRATION_INITIALIZATION.s
@@ -0,0 +1,1182 @@
+# Copyright: Public domain.
+# Filename: INTEGRATION_INITIALIZATION.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1309-1333
+# Mod history: 2009-05-15 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: fixed an interpreter instruction,
+# fixed a SETLOC.
+# 2009-05-23 RSB In SETCOAST, corrected MOONTHIS to AMOONFLG.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1309
+# 1.0 INTRODUCTION
+# ----------------
+#
+# FROM A USER'S POINT OF VIEW, ORBITAL INTEGRATION IS ESSENTIALLY THE SAME AS THE 278 INTEGRATION
+# PROGRAM. THE SAME ENTRANCES TO THE PROGRAM WILL BE MAINTAINED, THE SAME STALLING ROUTINE WILL BE USED AND
+# OUTPUT WILL STILL BE VIA THE PUSHLIST. THE PRIMARY DIFFERENCES TO A USER INVOLVE THE ADDED CAPABILITY OF
+# TERMINATING INTEGRATION AT A SPECIFIC FINAL RADIUS AND THE DIFFERENCE IN STATE VECTOR SCALING INSIDE AND OUTSIDE
+# THE LUNAR SPHERE OF INFLUENCE.
+#
+# IN ORDER TO MAKE THE CSM(LEM)PREC AND CSM(LEM)CONIC ENTRANCES SIMILAR TO FLIGHT 278, THE INTEGRATION PROGRAM
+# WILL ITSELF SET THE FINAL RADIUS (RFINAL) TO 0 SO THAT REACHING THE DESIRED TIME ONLY WILL TERMINATE
+# INTEGRATION. THE DP REGISTER RFINAL MUST BE SET BY USERS OF INTEGRVS AND INTEGRV, AND MUST BE DONE AFTER THE
+# CALL TC INTSTALL.
+#
+# WHEN THE LM IS ON THE LUNAR SURFACE (INDICATED BY LUNAR SURFACE FLAG SET) CALLS TO LEMCONIC, LEMPREC, AND
+# INTEGRV WITH VINFLAG = 0 WILL RESULT IN THE USE OF THE PLANETARY INERTIAL ORIENTATION SUBROUTINES TO PROVIDE
+# BOTH THE LM'S POSITION AND VELOCITY IN THE REFERENCE COORDINATE SYSTEM.
+# THE PROGRAM WILL PROVIDE OUTPUT AS IF INTEGRATION WAS USED. THAT IS, THE PUSHLIST WILL BE SET AS NOTED BELOW AND
+# THE PERMANENT STATE VECTOR UPDATED WHEN SPECIFIED BY AN INTEGRV CALL.
+#
+# USERS OF INTEGRVS DESIRING INTEGRATION (INTYPFLG = 0) SHOULD NOTE THAT THE OBLATENESS PERTURBATION COMPUTATION
+# IN LUNAR ORBIT IS TIME DEPENDENT. THEREFORE, THE USER SHOULD SUPPLY AN INITIAL STATE VECTOR VALID AT SOME REAL
+# TIME AND THE DESIRED TIME (TDEC1) ALSO AT SOME REAL TIME. FOR CONIC "INTEGRATION" THE USER MAY STILL USE ZERO
+# AS THE INITIAL TIME AND DELTA TIME AS THE DESIRED TIME.
+#
+# 2.0 CENTRAL DESCRIPTION
+# -----------------------
+#
+# THE INTEGRATION PROGRAM OPERATES AS A CLOSED INTERPRETIVE SUBROUTINE AND PERFORMS THESE FUNCTIONS --
+# 1) INTEGRATES (PRECISION OR CONIC) EITHER CSM OR LM STATE VECTOR
+# 2) INTEGRATES THE W-MATRIX
+# 3) PERMANENT OR TEMPORARY UPDATE OF THE STATE VECTOR
+#
+# THERE ARE SIX ENTRANCES TO THE INTEGRATION PROGRAM. FOUR OF THESE (CSMPREC, LEMPREC, CSMCONIC, LEMCONIC) SET
+# ALL THE FLAGS REQUIRED IN THE INTEGRATION PROGRAM ITSELF TO CAUSE THE PRECISION OR CONIC INTEGRATION (KEPLER) OF
+# THE LM OR CSM STATE VECTOR, AS THE NAMES SUGGEST. ONE ENTRANCE (INTEGRVS) PERMITS THE CALLING PROGRAM TO
+# PROVIDE A STATE VECTOR TO BE INTEGRATED. THE CALLING PROGRAM MUST SET THE FLAGS INDICATING (1) PRECISION OR
+# CONIC INTEGRATION, (2) IN OR OUT OF LUNAR SPHERE, (3) MIDCOURSE OR NOT, AND THE INTEGRATION PROGRAM COMPLETES
+# THE FLAG SETTING TO BYPASS W-MATRIX INTEGRATION. THE LAST ENTRANCE (INTEGRV, USED IN GENERAL BY THE
+# NAVIGATION PROGRAMS) PERMITS THE CALLER TO SET FIVE FLAGS (NOT MOONFLAG OR MIDFLAG) BUT NOT TO INPUT A STATE
+# VECTOR. ANY PROGRAM WHICH CALLS INTEGRVS OR INTEGRV MUST CALL INTSTALL BEFORE IT SETS THE INTEGRATION FLAGS
+# AND/OR STATE VECTOR.
+#
+# THREE SETS OF 42 REGISTERS AND 2 FLAGS ARE USED FOR THE STATE VECTORS. TWO SETS, WHICH MAY NOT BE OVERLAYED, ARE
+# USED FOR THE PERMANENT STATE VECTORS FOR THE CSM AND LM. THE THIRD SET, WHICH MAY BE OVERLAYED WHEN INTEGRATION
+# IS NOT BEING DONE, IS USED IN THE COMPUTATIONS.
+#
+# THE PERMANENT STATE VECTORS WILL BE PERIODICALLY UPDATED SO THAT THE VECTORS WILL NOT BE OLDER THAN 4 TIMESTEPS.
+# THE PERMANENT STATE VECTORS WILL ALSO BE UPDATED WHENEVER THE W-MATRIX IS INTEGRATED OR WHEN A CALLER OF INTEGRV
+# SETS STATEFLG (THE NAVIGATION PROGRAMS P20, P22.)
+#
+# Page 1310
+# APPENDIX B OF THE USERS' GUIDE LISTS THE STATE VECTOR QUANTITIES.
+#
+# 2.1 RESTARTS
+#
+# PHASE CHANGES WILL BE MADE IN THE INTEGRATION PROGRAM ONLY FOR THE INTEGRV ENTRANCE (I.E., WHEN THE W-MATRIX IS
+# INTEGRATED OR PERMANENT STATE VECTOR IS UPDATED.) THE GROUP NUMBER USED WILL BE THAT FOR THE P20-25 PROGRAMS
+# (I.E., GROUP2) WINCE THE INTEGRV ENTRANCE WILL ONLY BE USED BY THESE PROGRAMS. IF A RESTART OCCURS DURING AN
+# INTEGRATION OF THE STATE VECTOR ONLY, THE RECOVERY WILL BE TO THE LAST PHASE IN THE CALLING PROGRAM. CALLING
+# PROGRAMS WHICH USE THE INTEGRV OR INTEGRVS ENTRANCE OF INTEGRATION WHOULD ENSURE THAT IF PHASE CHANGING IS DONE
+# THAT IT IS PRIOR TO SETTING THE INTEGRATION INPUTS IN THE PUSHLIST.
+# THIS IS BECAUSE THE PUSHLIST IS LOST DURING A RESTART.
+#
+# 2.2 SCALING
+#
+# THE INTEGRATION ROUTIEN WILL MAINTAIN THE PERMANENT MEMORY STATE VECTORS IN THE SCALING AND UNITS DEFINED IN
+# APPENDIX B OF THE USERS' GUIDE. THE SCALING OF THE OUTPUT POSITION VECTOR DEPENDS ON THE ORIGIN OF THE COORDINATE
+# SYSTEM AT THE DESIRED INTEGRATION TIME. THE COORDINATE SYSTEM TRANSFORMATION WILL BE DONE AUTOMATICALLY ON
+# MULTIPLE TIMESTEP ENCKE INTEGRATION ONLY. THUS IT IS POSSIBLE TO HAVE OUTPUT FROM SUCCESSIVE INTEGRATIONS IN
+# DIFFERENT SCALING.
+# HOWEVER, RATT, VATT WILL ALWAYS BE SCALED THE SAME.
+#
+# 3.0 INPUT/OUTPUT
+# ----------------
+#
+# PROGRAM INPUTS ARE THE FLAGS DESCRIBED IN APPENDIX A AND THE PERMANENT STATE VECTOR QUANTITIES DESCRIBED IN
+# APPENDIX B OF THE USERS' GUIDE, PLUS THE DESIRED TIME TO INTEGRATE TO IN TDEC1 (A PUSH LIST LOCATION).
+# FOR INTEGRVS, THE RCV,VCV,TET OR THE TEMPORARY STATE VECTOR MUST BE SET, PLUS MOONFLAG AND MIDFLAG
+#
+# FOR SIMULATION THE FOLLOWING QUANTITIES MUST BE PRESET ---
+# EARTH MOON
+# 29 27
+# RRECTCSM(LEM) RECTIFIED POSITION VECTOR METERS 2 2
+#
+# 7 5
+# VRECTCSM(LEM) RECTIFIED VELOCITY VECTOR M/CSEC 2 2
+#
+# 28 28
+# TETCSM(LEM) TIME STATE VECTOR IS VALID CSEC 2 2
+# CUSTOMARILY 0, BUT NOTE LUNAR
+# ORBIT DEPENDENCE ON REAL TIME.
+#
+# 22 18
+# DELTAVCSM(LEM) POSITION DEVIATION METERS 2 2
+# 0 IF TCCSM(LEM) = 0
+#
+# 3 -1
+# NUVCSM(LEM) VELOCITY DEVIATION M/CSEC 2 2
+# 0 IF TCCSM(LEM) = 0
+# Page 1311
+# 29 27
+# RCVSM(LEM) CONIC POSITION METERS 2 2
+# EQUALS RRECTCSM(LEM) IF
+# TCCSM(LEM) = 0
+#
+# 7 5
+# VCVCSM(LEM) CONIC VELOCITY M/CSEC 2 2
+# EQUALS VRECTCSM(LEM) IF
+# TCCSM(LEM) = 0
+#
+# 28 28
+# TCCSM(LEM) TIME SINCE RECTIFICATION CSECS 2 2
+# CUSTOMARILY 0
+#
+# 1/2 17 16
+# XKEPCSM(LEM) RDOT OF KEPLER'S EQUATION M 2 2
+# 0 IF TCCSM(LEM) = 0
+#
+# CMOONFLG PERMANENT FLAGS CORRESPONDING 0 0
+# CMIDFLAG TO MOONFLAG AND MIDFLAG 0,1 0,1
+# LMOONFLG C = CSM, L = LM 0 0
+# LMIDFLG 0,1 0,1
+#
+# SURFFLAG LUNAR SURFACE FLAG 0,1 0,1
+#
+# IN ADDITION, IF (L)CMIDFLAG IS SET, THE INITIAL INPUT VALUES FOR LUNAR
+# SOLAR EPHEMERIDES SUBROUTINE AND PLANETARY INERTIAL ORIENTATION SUB-
+# ROUTINE MUST BE PRESET.
+#
+# OUTPUT
+# AFTER EVERY CALL TO INTEGRATION
+# EARTH MOON
+# 29 29
+# 0D RATT POSITION METERS 2 2
+#
+# 7 7
+# 6D VATT VELOCITY M/CSEC 2 2
+#
+# 28 28
+# 12D TAT TIME 2 2
+#
+# 29 27
+# 14D RATT1 POSITION METERS 2 2
+#
+# 7 5
+# 20D VATT1 VELOCITY M/CSEC 2 2
+#
+# 3 2 36 30
+# 26D MU(P) MU M /CS 2 2
+#
+# X1 MUTABLE ENTRY -2 -10D
+#
+# X2 COORDINT
+# X2 COORDINATE SYSTEM ORIGIN 0 2
+# (THIS, NOT MOONFLAG, SHOULD BE
+# Page 1312
+# USED TO DETERMINE ORIGIN.)
+#
+# IN ADDITION TO THE ABOVE, THE PERMANENT STATE VECTOR IS UPDATED WHENEVER
+# STATEFLG WAS SET AND WHENEVER A W-MATRIX IS TO BE INTEGRATED. THE PUSH
+# COUNTER IS SET TO 0 AND OVERFLOW IS CLEARED BEFORE RETURNING TO THE
+# CALLING PROGRAM.
+#
+# 4.0 CALLING SEQUENCES AND SAMPLE CODE
+# -------------------------------------
+#
+# A) PRECISION ORBITAL INTEGRATION. CSMPREC, LEMPREC ENTRANCES
+# L-X STORE TIME TO 96T5791T5 T 95 PUS L9ST (T4531)
+# L CALL
+# L+1 CSMPREC (OR LEMPREC)
+# L+2 RETURN
+# INPUT 28
+# TDEC1 (PD 32D) TIME TO INTEGRATE TO...CENTISECONDS SCALED 2
+# OUTPUT
+# THE DATA LISTED IN SECTION 3.2 PLUS
+# RQVV POSITION VECTOR OF VEHICLE WITH RESPECT TO SECONDARY
+# BODY... METERS B-29 ONLY IF MIDFLAG = DIM0FLAG = 1
+# B) CONIC INTEGRATION. CSMCONIC, LEMCONIC ENTRANCES
+# L-X STORE TIME IN PUSH LIST (TDEC1)
+# L CALL
+# L+1 CSMCONIC (OR LEMCONIC)
+# INPUT/OUTPUT
+# SAME AS PRECISION INTEGRATION, EXCEPT RQVV NOT SET
+# C) INTEGRATE GIVEN STATE VECTOR. INTEGRVS ENTRANCE
+# CALL
+# INTSTALL
+# VLOAD
+# POSITION VECTOR
+# STOVL RCV
+# VELOCITY VECTOR
+# STODL VCV
+# TIME STATE VECTOR VALID
+# STODL TET
+# FINAL RADIUS
+# STORE RFINAL
+# SET(CLEAR) SET(CLEAR)
+# INTYPFLAG
+# MOONFLAG
+# SET(CLEAR) DLOAD
+# DESIRED TIME
+# STCALL TDEC1
+# INTEGRVS
+# INPUT
+# RCV POSITION VECTOR METERS
+# VCV VELOCITY VECTOR M/CSEC
+# TET TIME OF STATE VECTOR (MAY = 0) CSEC B-28
+# Page 1313
+# TDEC1 TIME TO INTEGRATE TO CSEC B-28 (PD 32D)
+# (MAY BE INCREMENT IF TET=0)
+# OUTPUT
+# SAME AS FOR PRECISION OR CONIC INTEGRATION,
+# DEPENDING ON INTYPFLG.
+# D) INTEGRATE STATE VECTOR. INTGRV ENTRANCE
+# L-X STORE TIME IN PUSH LIST (TDEC1) (MAY BE DONE AFTER CALL TO INTSTALL)
+# L-8 CALL
+# L-7
+# L-6 SET(CLEAR) SET(CLEAR)
+# L-5 VINTFLAG 1=CSM, 0=LM
+# L-4 INTYPFLAG 1=CONIC, 0=PRECISION
+# L-3 SET(CLEAR) SET(CLEAR)
+# L-2 DIM0FLAG 1=W-MATRIX, 0=NO W-MATRIX
+# L-1 D6OR9FLG 1=9X9, 0=6X6
+# L SET DLOAD
+# L+1 STATEFLG DESIRE PERMANENT UPDATE
+# L+2 FINAL RAD. OF STATE VECTOR
+# L+3 STCALL RFINAL
+# L+4 INTEGRV
+# L CALL NORMAL USE -- WILL UPDATE STATE
+# L+1 INTEGRV VECTOR IF DIM0FLAG=1. (STATEFLG IS
+# L+2 RETURN ALWAYS RESET IN INTEGRATION AFTER
+# IT USED.)
+# INPUT
+# TDEC1 (PD 32D) TIME TO INTEGRATE TO CSEC B-28
+# OUTPUT
+# SAME AS FOR PRECISION OR CONIC INTEGRATION
+# THE PROGRAM WILL SET MOONFLAG, MIDFLAG DEPENDING ON
+# THE PERMANENT STATE VECTOR REPRESENTATION.
+
+ BANK 11
+ SETLOC INTINIT
+ BANK
+ EBANK= RRECTCSM
+ COUNT 13/INTIN
+
+STATEINT TC PHASCHNG
+ OCT 00052
+ CAF PRIO5
+ TC FINDVAC
+ EBANK= RRECTCSM
+ 2CADR STATINT1
+
+ TC TASKOVER
+STATINT1 TC INTPRET
+ BON RTB
+ QUITFLAG
+ NOINT # NO STATEINT IF V96
+ LOADTIME
+# Page 1314
+ STORE TDEC1
+ CLEAR CALL
+ V96ONFLG
+ INTSTALL
+ SET CALL
+ NODOFLAG
+ SETIFLGS
+ GOTO
+ STATEUP
+600SECS 2DEC 60000
+
+ENDINT CLEAR EXIT
+ STATEFLG
+ TC PHASCHNG
+ OCT 20032
+ EXTEND
+ DCA 600SECS
+ TC LONGCALL
+ EBANK= RRECTHIS
+ 2CADR STATEINT
+
+ TC ENDOFJOB
+SETIFLGS SET CLEAR
+ STATEFLG
+ INTYPFLG
+ CLEAR CLEAR
+ DIM0FLAG
+ D6OR9FLG
+ RVQ
+NOINT EXIT
+ TC PHASCHNG
+ OCT 2
+
+ TC DOWNFLAG
+ ADRES QUITFLAG
+
+ TC ENDOFJOB
+
+# ATOPCSM TRANSFERS RRECT TO RRECT +41 TO RRECTCSM TO RRECTCSM +41
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 ATOPCSM
+#
+# NORMAL EXIT AT L+2
+
+ATOPCSM STQ RTB
+ S2
+ MOVEACSM
+ SET CALL
+# Page 1315
+ CMOONFLG
+ SVDWN1
+ BON CLRGO
+ MOONFLAG
+ S2
+ CMOONFLG
+ S2
+MOVEACSM TC SETBANK
+ TS DIFEQCNT # INITIALIZE INDEX
+ INDEX DIFEQCNT
+ CA RRECT
+ INDEX DIFEQCNT
+ TS RRECTCSM
+ CCS DIFEQCNT # IS TRANSFER COMPLETE
+ TCF MOVEACSM +1 # NO-LOOP
+ TC DANZIG # COMPLETE -- RETURN
+
+# PTOACSM TRANSFERS RRECTCSM TO RRECTCSM +41 TO RRECT TO RRECT +41
+#
+# CALLING SEQUENCE
+# L CALL
+# PTOACSM
+#
+# NORMAL EXIT AT L+2
+
+PTOACSM RTB BON
+ MOVEPCSM
+ CMOONFLG
+ SETMOON
+CLRMOON CLEAR SSP
+ MOONFLAG
+ PBODY
+ 0
+ RVQ
+SETMOON SET SSP
+ MOONFLAG
+ PBODY
+ 2
+ RVQ
+MOVEPCSM TC SETBANK
+ TS DIFEQCNT
+ INDEX DIFEQCNT
+ CA RRECTCSM
+ INDEX DIFEQCNT
+ TS RRECT
+ CCS DIFEQCNT
+ TCF MOVEPCSM +1
+ TC DANZIG
+
+# Page 1316
+# ATOPLEM TRANSFERS RRECT TO RRECT +41 TO RRECTLEM TO RRECTLEM +41
+ATOPLEM STQ RTB
+ S2
+ MOVEALEM
+ SET CALL
+ LMOONFLG
+ SVDWN2
+ BON CLRGO
+ MOONFLAG
+ S2
+ LMOONFLG
+ S2
+MOVEALEM TC SETBANK
+ TS DIFEQCNT
+ INDEX DIFEQCNT
+ CA RRECT
+ INDEX DIFEQCNT
+ TS RRECTLEM
+ CCS DIFEQCNT
+ TCF MOVEALEM +1
+ TC DANZIG
+
+# PTOALEM TRANSFERS RRECTLEM TO RRECTLEM +41 TO RRECT TO RRECT +41
+
+PTOALEM BON RTB
+ SURFFLAG
+ USEPIOS
+ MOVEPLEM
+ BON GOTO
+ LMOONFLG
+ SETMOON
+ CLRMOON
+MOVEPLEM TC SETBANK
+ TS DIFEQCNT
+ INDEX DIFEQCNT
+ CA RRECTLEM
+ INDEX DIFEQCNT
+ TS RRECT
+ CCS DIFEQCNT
+ TCF MOVEPLEM +1
+ TC DANZIG
+
+USEPIOS SETPD VLOAD
+ 0
+ RLS
+ PDDL PUSH
+ TDEC1
+# Page 1317
+ STODL TET
+ 5/8
+ CALL
+ RP-TO-R
+ STOVL RCV
+ ZUNIT
+ STODL 0D
+ TET
+ STODL 6D
+ 5/8
+ SET CALL # NEEDED FOR SETTING X1 ON EXIT
+ MOONFLAG
+ RP-TO-R
+ VXV VXSC
+ RCV
+ OMEGMOON
+ STOVL VCV
+ ZEROVEC
+ STORE TDELTAV
+ AXT,2 SXA,2
+ 2
+ PBODY
+ STCALL TNUV
+ A-PCHK
+OMEGMOON 2DEC* 2.66169947 E-8 B+23*
+
+SETBANK CAF INTBANK
+ TS BBANK
+ CAF FORTYONE
+ TC Q
+ EBANK= RRECTCSM
+INTBANK BBCON INTEGRV
+
+# SPECIAL PURPOSE ENTRIES TO ORBITAL INTEGRATION. THESE ROUTINES PROVIDE ENTRANCES TO INTEGRATION WITH
+# APPROPRIATE SWITCHES SET OR CLEARED FOR THE DESIRED INTEGRATION.
+#
+# CSMPREC AND LEMPREC PERFORM ORBIT INTEGRATION BY THE ENCKE METHOD TO THE TIME INDICATED IN TDEC1.
+# ACCELERATIONS DUE TO OBLATENESS ARE INCLUDED. NO W-MATRIX INT. IS DONE.
+# THE PERMANENT STATE VECTOR IS NOT UPDATED.
+# CSMCONIC AND LEMCONIC PERFORM ORBIT INTEG. BY KEPLER'S METHOD TO THE TIME INDICATED IN TDEC1.
+# NO DISTURBING ACCELERATIONS ARE INCLUDED. IN THE PROGRAM FLOW THE GIVEN
+# STATE VECTOR IS RECTIFIED BEFORE SOLUTION OF KEPLER'S EQUATION.
+#
+# THE ROUTINES ASSUME THAT THE CSM (LEM) STATE VECTOR IN P-MEM IS VALID.
+# SWITCHES SET PRIOR TO ENTRY TO THE MAIN INTEG. PROG ARE AS FOLLOWS:
+# CSMPREC CSMCONIC LEMPREC LEMCONIC
+# VINTFLAG SET SET CLEAR CLEAR
+# INTYPFLG CLEAR SET CLEAR SET
+# DIM0FLAG CLEAR CLEAR CLEAR CLEAR
+# Page 1318
+#
+# CALLING SEQUENCE
+# L-X STORE TDEC1
+# L CALL (STCALL TDEC1)
+# L+1 CSMPREC (CSMCONIC, LEMPREC, LEMCONIC)
+#
+# NORMAL EXIT TO L+2
+#
+# SUBROUTINES CALLED
+# INTEGRV1
+# PRECOUT FOR CSMPREC AND LEMPREC
+# CONICOUT FOR CSMCONIC AND LEMCONIC
+#
+# OUTPUT -- SEE PAGE 2 OF THIS LOG SECTION
+#
+# INPUT
+# TDEC1 TIME TO INTEGRATE TO. CSECS B-28
+
+CSMPREC STQ CALL
+ X1
+ INTSTALL
+ SXA,1 SET
+ IRETURN
+ VINTFLAG
+
+IFLAGP SET CLEAR
+ PRECIFLG
+ DIM0FLAG
+ CLRGO
+ INTYPFLG
+ INTEGRV1
+LEMPREC STQ CALL
+ X1
+ INTSTALL
+ SXA,1 CLRGO
+ IRETURN
+ VINTFLAG
+ IFLAGP
+
+CSMCONIC STQ CALL
+ X1
+ INTSTALL
+ SXA,1 SET
+ IRETURN
+ VINTFLAG
+IFLAGC CLEAR SETGO
+ DIM0FLAG
+ INTYPFLG
+ INTEGRV1
+LEMCONIC STQ CALL
+ X1
+# Page 1319
+ INTSTALL
+ SXA,1 CLRGO
+ IRETURN
+ VINTFLAG
+ IFLAGC
+
+INTEGRVS SET SSP
+ PRECIFLG
+ PBODY
+ 0
+ BOF SSP
+ MOONFLAG
+ +3
+ PBODY
+ 2
+ STQ VLOAD
+ IRETURN
+ ZEROVEC
+ STORE TDELTAV
+ STCALL TNUV
+ RECTIFY
+ CLEAR SET
+ DIM0FLAG
+ NEWIFLG
+ SETGO
+ RPQFLAG
+ ALOADED
+
+# INTEGRV IS AN ENTRY TO ORBIT INTEGRATION WHICH PERMITS THE CALLER,
+# NORMALLY THE NAVIGATION PROGRAM, TO SET THE INTEG. FLAGS. THE ROUTINE
+# IS ENTERED AT INTEGRV1 BY CSMPREC ET. AL. AND AT ALOADED BY INTEGRVS.
+# THE ROUTINE SETS UP A-MEMORY IF ENTERED AT INTEGRV,1 AND SETS THE INTEG.
+# PROGRAM FOR PRECISION OR CONIC.
+#
+# THE CALLER MUST FIRST CALL INTSTALL TO CHECK IF INTEG. IS IN USE BEFORE
+# SETTING ANY FLAGS.
+#
+# THE FLAGS WHICH SHOULD BE SET OR CLEARED ARE
+# VINTFLAG (IGNORED WHEN ENTERED FROM INTEGRVS)
+# INTYPFLG
+# DIM0FLAG
+# D6OR9FLG
+#
+# CALLING SEQUENCE
+# L-X CALL
+# L-Y INTSTALL
+# L-1 SET OR CLEAR ALL FOUR FLAGS. ALSO CAN SET STATEFLG IF DESIRED
+# AND DIM0FLAG IS CLEAR.
+# L CALL
+# L+1 INTEGRV
+#
+# INITIALIZATION
+# FLAGS AS ABOVE
+# STORE TIME TO INTEGRATE TO IN TDEC1
+#
+# Page 1320
+# OUTPUT
+# RATT AS
+# VATT DEFINED
+# TAT BEFORE
+
+INTEGRV STQ
+ IRETURN
+INTEGRV1 SET SET
+ RPQFLAG
+ NEWIFLG
+INTEGRV2 SSP
+ QPRET
+ ALOADED
+ BON GOTO
+ VINTFLAG
+ PTOACSM
+ PTOALEM
+ SETLOC INTINIT1
+ BANK
+ALOADED DLOAD
+ TDEC1
+ STORE TDEC
+ BOFF GOTO
+ INTYPFLG
+ TESTLOOP
+ RVCON
+ SETLOC INTINIT
+ BANK
+A-PCHK BOF CALL
+ MIDFLAG
+ ANDOUT # DON'T MAKE ORIGIN CHANGE CHECK
+ CHKSWTCH
+ BPL CALL
+ ANDOUT # NO ORIGIN CHANGE
+ ORIGCHNG # MAKE THE SWITCH
+ANDOUT BOFCLR EXIT
+ STATEFLG
+ RECTOUT
+ TC PHASCHNG
+ OCT 04022
+ TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN
+ ADRES REINTFLG # INTSTALL AND INTWAKE
+ TC INTPRET
+ SSP
+ QPRET
+ PHEXIT
+ BON GOTO
+ VINTFLAG
+ ATOPCSM
+# Page 1321
+ ATOPLEM
+PHEXIT CALL
+ GRP2PC
+RECTOUT SETPD CALL
+ 0
+ RECTIFY
+ VLOAD VSL*
+ RRECT
+ 0,2
+ PDVL VSL* # RATT TO PD0
+ VRECT
+ 0,2
+ PDDL PDVL # VATT TO PD6 TAT TO PD12
+ TET
+ RRECT
+ PDVL PDDL*
+ VRECT
+ MUEARTH,2
+ PUSH AXT,1
+ DEC -10
+ BON AXT,1
+ MOONFLAG
+ +2
+ DEC -2
+INTEXIT SETPD BOV
+ 0
+ +1
+ CLEAR
+ MIDAVFLG
+ CLEAR CLEAR
+ AVEMIDSW # ALLOW UPDATE OF DOWNLINK STATE VECTOR
+ PRECIFLG
+ SLOAD EXIT
+ IRETURN
+ CA MPAC
+ INDEX FIXLOC
+ TS QPRET
+ TC INTWAKE
+
+# RVCON SETS UP ORBIT INTEGRATION TO DO A CONIC SOLUTION FOR POSITION AND
+# VELOCITY FOR THE INTERVAL (TET-TDEC)
+
+RVCON DLOAD DSU
+ TDEC
+ TET
+ STCALL TAU.
+ RECTIFY
+ CALL
+ KEPPREP
+ DLOAD DAD
+ TC
+# Page 1322
+ TET
+ STCALL TET
+ RECTOUT
+
+# Page 1323
+TESTLOOP BOF CLRGO
+ QUITFLAG
+ +3
+ STATEFLG
+ INTEXIT # STOP INTEGRATION
+ +3 SETPD LXA,2
+ 10D
+ PBODY
+ VLOAD ABVAL
+ RCV
+ PUSH CLEAR # RC TO 10D
+ MIDFLAG
+ DSU* BMN # MIDFLAG=0 IF R G.T. RMP
+ RME,2
+ +3
+ SET
+ MIDFLAG
+NORFINAL DLOAD DMP
+ 10D
+ 34D
+ SR1R DDV*
+ MUEARTH,2
+ SQRT DMP
+ .3D
+ SR3 SR4 # DT IS TRUNCATED TO A MULTIPLE
+ DLOAD SL
+ MPAC
+ 15D # OF 128 CSECS.
+ PUSH BOV
+ MAXDT
+ BDSU BMN
+ DT/2MAX
+ MAXDT
+DT/2COMP DLOAD DSU
+ TDEC
+ TET
+ RTB SL
+ SGNAGREE
+ 8D
+ STORE DT/2 # B-19
+ BOV ABS
+ GETMAXDT
+ DSU BMN # IS TIME TO INTEG. TO GR THAN MAXTIME
+ 12D
+ P00HCHK
+USEMAXDT DLOAD SIGN
+ 12D
+ DT/2
+# Page 1324
+ STCALL DT/2
+ P00HCHK
+MAXDT DLOAD PDDL # EXCHANGE DT/2MAX WITH COMPUTED MAX.
+ DT/2MAX
+ GOTO
+ DT/2COMP
+GETMAXDT RTB
+ SIGNMPAC
+ STCALL DT/2
+ USEMAXDT
+P00HCHK DLOAD ABS
+ DT/2
+ DSU BMN
+ DT/2MIN
+ A-PCHK
+ SLOAD BHIZ
+ MODREG
+ +3
+ GOTO
+ TIMESTEP
+ BON # WAS THIS CALL VIA CSM(LEM)PREC
+ PRECIFLG
+ TIMESTEP # YES
+ DLOAD DSU
+ DT/2
+ 12D
+ BMN BOFCLR
+ A-PCHK
+ NEWIFLG
+ TIMESTEP
+ DLOAD DSU
+ TDEC
+ TET
+ BMN # NO BACKWARD INTEGRATION
+ INTEXIT
+ PDDL SR4
+ DT/2 # IS 4(DT) LS (TDEC - TET)
+ SR2R BDSU
+ BMN GOTO
+ INTEXIT
+ TIMESTEP
+DT/2MIN 2DEC 3 B-20
+
+DT/2MAX 2DEC 4000 E2 B-20
+
+INTSTALL EXIT
+ CAF ZERO
+ALLSTALL TS L
+ CA RASFLAG
+ INDEX L
+# Page 1325
+ MASK INTBITAB # IS THIS STALL AREA FREE
+ EXTEND
+ BZF OKTOGRAB # YES
+ INDEX L
+ CAF WAKESTAL
+ TC JOBSLEEP
+INTWAKE0 EXIT
+ TCF INTWAKE1
+
+INTWAKE CS RASFLAG # IS THIS INTSTALLED ROUTINE TO BE
+ MASK REINTBIT # RESTARTED
+ CCS A
+ TC INTWAKE1 # NO
+
+ INDEX FIXLOC
+ CA QPRET
+ TS TBASE2 # YES, DON'T RESTART WITH SOMEONE ELSE'S Q
+
+ TC PHASCHNG
+ OCT 04022
+
+ CA TBASE2
+ INDEX FIXLOC
+ TS QPRET
+
+ CAF REINTBIT
+ MASK RASFLAG
+ EXTEND
+ BZF GOBAC # DON'T INTWAKE IF WE CAME HERE VIA RESTART
+
+INTWAKE1 CAF ZERO
+WAKE TS STALTEM # INDEX OF ANY STALL USER
+WAKE1 INDEX STALTEM
+ CAF WAKESTAL
+ INHINT
+ TC JOBWAKE
+ CCS LOCCTR
+ TCF WAKE1 # MAY BE MORE TO WAKE UP
+FORTYONE DEC 41
+ INDEX STALTEM
+ CS INTBITAB
+ MASK RASFLAG
+ TS RASFLAG # RELEASE STALL AREA
+ RELINT
+ TCF GOBAC
+OKTOGRAB INDEX L # NO, WAIT UNTIL AVAILABLE
+ CAF INTFLBIT
+ ADS RASFLAG
+GOBAC TC INTPRET
+ RVQ
+# Page 1326
+ERASTAL1 EXIT
+ CAF ONE
+ TCF ALLSTALL
+ERASTAL2 EXIT
+ CAF TWO
+ TCF ALLSTALL
+ERASWAK1 CAF ONE
+ TCF WAKE
+ERASWAK2 CAF TWO
+ TCF WAKE
+WAKESTAL CADR INTSTALL +1
+ CADR ERASTAL1 +1
+ CADR ERASTAL2 +1
+STALTEM EQUALS MPAC
+INTBITAB OCT 20100
+ OCT 10040
+ OCT 04020
+
+# Page 1327
+# AVETOMID
+#
+# THIS ROUTINE PERFORMS THE TRANSITION FROM A THRUSTING PHASE TO THE COAST
+# PHASE BY INITIALIZING THIS VEHICLE'S PERMANENT STATE VECTOR WITH THE
+# VALUES LEFT BY THE AVERAGEG ROUTINE IN RN,VN,PIPTIME.
+#
+# BEFORE THIS IS DONE THE W-MATRIX, IF IT'S VALID (OR WFLAG OR RENDWFLT IS
+# SET) IS INTEGRATED FORWARD TO PIPTIME WITH THE PRE-THRUST STATE VECTOR.
+#
+# IN ADDITION, THE OTHER VEHICLE IS INTEGRATED (PERMANENT) TO PIPTIME.
+#
+# FINALLY TRKMKCNT IS ZEROED.
+
+ SETLOC INTINIT2
+ BANK
+
+ COUNT* $$/INTIN
+AVETOMID STQ BON
+ EGRESS
+ RENDWFLG
+ INT/W # W-MATRIX VALID, GO INTEGRATE IT
+ BON
+ ORBWFLAG
+ INT/W # W-MATRIX VALID, GO INTEGRATE IT.
+
+SETCOAST AXT,2 CALL # NOW MOVE PROPERLY SCALED RN,UN AS WELL AS
+ 2 # PIPTIME TO INTEGRATION ERASABLES.
+ INTSTALL
+ BON AXT,2
+ AMOONFLG
+ +2
+ 0
+ VLOAD VSR*
+ RN
+ 0,2
+ STORE RRECT
+ STODL RCV
+ PIPTIME
+ STOVL TET
+ VN
+ VSR* CALL
+ 0,2
+ MINIRECT # FINISH SETTING UP STATE VECTOR
+ RTB SSP
+ MOVATHIS # PUT TEMP STATE VECTOR INTO PERMANENT
+ TRKMKCNT
+ 0
+ SET BON
+ CMOONFLG
+# Page 1328
+ AMOONFLG
+ +3
+ CLEAR
+ CMOONFLG
+
+ BON DLOAD # NOW DO LM
+ SURFFLAG
+ FAZAB5 # NO COASTING LM
+ PIPTIME
+ STCALL TDEC1
+ SETIFLGS
+ CLEAR CALL
+ VINTFLAG
+ INTEGRV
+ GOTO
+ EGRESS
+INT/W DLOAD CALL
+ PIPTIME # INTEGRATE W THRU BURN
+ INTSTALL
+ SET SET
+ DIM0FLAG # DO W-MATRIX
+ AVEMIDSW # SO WON'T CLOBBER RN,VN,PIPTIME
+ CLEAR SET
+ D6OR9FLG
+ VINTFLAG
+ STCALL TDEC1
+ INTEGRV
+ GOTO
+ SETCOAST
+
+# Page 1329
+# MIDTOAV1
+#
+# THIS ROUTINE INTEGRATES (PRECISION) TO THE TIME SPECIFIED IN TDEC1.
+# IF, AT THE END OF AN INTEGRATION TIME STEP, CURRENT TIME PLUS A DELTA
+# TIME (SEE TIMEDELT.....BASED ON THE COMPUTATION TIME FOR ONE TIME STEP)
+# IS GREATER THAN THE DESIRED TIME, ALARM 1703 IS SET AND THE INTEGRATION
+# IS DONE TO THE CURRENT TIME.
+# RETURN IS IN BASIC TO THE RETURN ADDRESS PLUS ONE.
+#
+# IF THE INTEGRATION IS FINISHED TO THE DESIRED TIME, RETURN IS IN BASIC
+# TO THE RETURN ADDRESS.
+#
+# IN EITHER CASE, BEFORE RETURNING, THE EXTRAPOLATED STATE VECTOR IS TRANSFERRED
+# FROM R,VATT TO R,VN1 -- PIPTIME1 IS SET TO THE FINISHING INTEGRATION
+# TIME AND MPAC IS SET TO THE DELTA TIME --
+# TAT MINUS CURRENT TIME
+
+# MIDTOAV2
+#
+# THIS ROUTINE INTEGRATES THIS VEHICLE'S STATE VECTOR TO THE CURRENT TIME PLUS
+# INCREMENTS OF TIMEDELT SUCH THAT THE DIFFERENCE BETWEEN CURRENT TIME
+# AND THE STATE VECTOR TIME AT THE END OF THE LAST STEP IS AT LEAST 5.6
+# SECS.
+# NO INPUTS ARE REQUIRED OF THE CALLER. RETURN IS IN BASIC TO THE RETURN
+# ADDRESS WITH THE ABOVE TRANSFERS TO R,VN1 -- PIPTIME1 -- AND MPAC DONE
+
+ SETLOC INTINIT
+ BANK
+ EBANK= IRETURN1
+MIDTOAV2 STQ CALL
+ IRETURN1
+ INTSTALL
+ DLOAD CLEAR
+ TIMEDELT
+ MID1FLAG
+ STCALL T-TO-ADD
+ ENTMID2
+
+MIDTOAV1 STQ CALL
+ IRETURN1
+ INTSTALL
+ SET RTB
+ MID1FLAG
+ LOADTIME
+ DAD BDSU # INITIAL CHECK, IS TDEC1 IN THE FUTURE
+ TIMEDELT
+ TDEC1
+ BPL CALL
+ ENTMID1
+# Page 1330
+ NOTIME # NO, SET ALARM, SWITCH TO MIDTOAV2
+
+ENTMID2 RTB DAD
+ LOADTIME
+ T-TO-ADD
+ STORE TDEC1
+
+ENTMID1 CLEAR CALL
+ DIM0FLAG # NO W-MATRIX
+ THISVINT
+ CLEAR SET
+ INTYPFLG
+ MIDAVFLG # LET INTEG. KNOW THE CALL IS FOR MIDTOAV.
+ CALL
+ INTEGRV # GO INTEGRATE
+ SXA,2 SXA,1
+ RTX2
+ RTX1
+ CLEAR SLOAD
+ AMOONFLG
+ RTX2
+ BZE SET
+ +2
+ AMOONFLG
+ VLOAD
+ RATT
+ STOVL RN1
+ VATT
+ STODL VN1
+ TAT
+ STORE PIPTIME1
+ EXIT
+
+ INHINT
+ EXTEND
+ DCS TIME2
+ DAS MPAC
+ TC TPAGREE
+
+ CA IRETURN1
+ TC BANKJUMP
+CKMID2 BOF RTB
+ MID1FLAG
+ MID2
+ LOADTIME
+ DAD BDSU
+ TIMEDELT
+ TDEC
+ BPL CALL
+ TESTLOOP # YES
+# Page 1331
+ NOTIME
+
+TIMEINC RTB DAD
+ LOADTIME
+ T-TO-ADD
+ STCALL TDEC
+ TESTLOOP
+
+MID2 DLOAD DSU
+ TDEC
+ TET
+ ABS DSU
+ 3CSECS
+ BPL
+ TIMEINC
+
+ RTB BDSU # SEE IF 5.6 SECS. AVAILABLE TO CALLER
+ LOADTIME
+ TET
+ DSU BPL
+ 5.6SECS
+ A-PCHK # YES. GET OUT.
+
+ DLOAD DAD # NO. ADD TIMEDELT TO T-TO-ADD AND TRY
+ T-TO-ADD # AGAIN.
+ TIMEDELT
+ STCALL T-TO-ADD
+ TIMEINC
+NOTIME CLEAR EXIT # TOO LATE
+ MID1FLAG
+ INCR IRETURN1 # SET ERROR EXIT (CALLOC +2)
+ TC ALARM # INSUFFICIENT TIME FOR INTEGRATION --
+ OCT 1703 # TIG WILL BE SLIPPED...
+ TC INTPRET
+ DLOAD
+ TIMEDELT
+ STORE T-TO-ADD
+ RVQ
+
+3CSECS 2DEC 3
+
+TIMEDELT 2DEC 1250
+
+5.6SECS 2DEC 560
+
+ BANK 27
+ SETLOC UPDATE2
+ BANK
+ EBANK= INTWAKUQ
+
+# Page 1332
+ COUNT* $$/INTIN
+
+INTWAKUQ = INTWAK1Q # TEMPORARY UNTIL NAME OF INTWAK1Q IS CHNG
+
+INTWAKEU RELINT
+ EXTEND
+ QXCH INTWAKUQ # SAVE Q FOR RETURN
+
+ TC INTPRET
+
+ SLOAD BZE # IS THIS A CSM/LEM STATE VECTOR UPDATE
+ UPSVFLAG # REQUEST. IF NOT GO TO INTWAKUP.
+ INTWAKUP
+
+ VLOAD # MOVE PRECT(6) AND VRECT(6) INTO
+ RRECT # RCV(6) AND VCV(6) RESPECTIVELY.
+ STOVL RCV
+ VRECT # NOW GO TO `RECTIFY +13D' TO
+ CALL # STORE VRECT INTO VCV AND ZERO OUT
+ RECTIFY +13D # TDELTAV(6),TNUV(6),TC(2), AND XKEP(2)
+ SLOAD ABS # COMPARE ABSOLUTE VALUE OF `UPSVFLAG'
+ UPSVFLAG # TO `UPDATE MOON STATE VECTOR CODE'
+ DSU BZE # TO DETERMINE WHETHER THE STATE VECTOR TO
+ UPMNSVCD # BE UPDATED IS IN THE EARTH OR LUNAR
+ INTWAKEM # SPHERE OF INFLUENCE........
+ AXT,2 CLRGO # EARTH SPHERE OF INFLUENCE.
+ DEC 0
+ MOONFLAG
+ INTWAKEC
+INTWAKEM AXT,2 SET # LUNAR SPHERE OF INFLUENCE.
+ DEC 2
+ MOONFLAG
+INTWAKEC SLOAD BMN # COMMON CODING AFTER X2 INITIALIZED AND
+ # MOONFLAG SET (OR CLEARED).
+ UPSVFLAG # IS THIS A REQUEST FOR A LEM OR CSM
+ INTWAKLM # STATE VECTOR UPDATE......
+ CALL # UPDATE CSM STATE VECTOR
+ ATOPCSM
+
+ CLEAR GOTO
+ ORBWFLAG
+ INTWAKEX
+
+INTWAKLM CALL # UPDATE LM STATE VECTOR
+ ATOPLEM
+
+INTWAKEX CLEAR
+ RENDWFLG
+
+INTWAKUP SSP CALL # REMOVE `UPDATE STATE VECTOR INDICATOR'
+# Page 1333
+ UPSVFLAG
+ 0
+ INTWAKE0 # RELEASE `GRAB' OF ORBIT INTEG.
+ EXIT
+
+ TC PHASCHNG
+ OCT 04026
+ TC INTWAKUQ
+
+UPMNSVCD OCT 2
+ OCT 0
+
+GRP2PC STQ EXIT
+ GRP2SVQ
+ TC PHASCHNG
+ OCT 04022
+ TC INTPRET
+ GOTO
+ GRP2SVQ
+
+
+
diff --git a/INTER-BANK_COMMUNICATION.s b/INTER-BANK_COMMUNICATION.s
new file mode 100644
index 0000000..f79019c
--- /dev/null
+++ b/INTER-BANK_COMMUNICATION.s
@@ -0,0 +1,183 @@
+# Copyright: Public domain.
+# Filename: INTER-BANK_COMMUNICATION.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1103-1106
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-08 RSB Adapted from Colossus249/ file of same name
+# and page images. Corrected various typos
+# in the transcription of program comments,
+# and these should be back-ported to
+# Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1103
+# THE FOLLOWING ROUTINE CAN BE USED TO CALL A SUBROUTINE IN ANOTHER BANK. IN THE BANKCALL VERSION, THE
+# CADR OF THE SUBROUTINE IMMEDIATELY FOLLOWS THE TC BANKCALL INSTRUCTION, WITH C(A) AND C(L) PRESERVED.
+
+ BLOCK 02
+ COUNT 02/BANK
+
+BANKCALL DXCH BUF2 # SAVE INCOMING A,L.
+ INDEX Q # PICK UP CADR.
+ CA 0
+ INCR Q # SO WE RETURN TO THE LOC. AFTER THE CADR.
+
+# SWCALL IS IDENTICAL TO BANKCALL, EXCEPT THAT THE CADR ARRIVES IN A.
+
+SWCALL TS L
+ LXCH FBANK # SWITCH BANKS, SAVING RETURN.
+ MASK LOW10 # GET SUB-ADDRESS OF CADR.
+ XCH Q # A,L NOW CONTAINS DP RETURN.
+ DXCH BUF2 # RESTORING INPUTS IF THIS IS A BANKCALL.
+ INDEX Q
+ TC 10000 # SETTING Q TO SWRETURN
+
+SWRETURN XCH BUF2 +1 # COMES HERE TO RETURN TO CALLER. C(A,L)
+ XCH FBANK # ARE PRESERVED FOR RETURN.
+ XCH BUF2 +1
+ TC BUF2
+
+# THE FOLLOWING ROUTINE CAN BE USED AS A UNILATERAL JUMP WITH C(A,L) PRESERVED AND THE CADR IMMEDIATELY
+# FOLLOWING THE TC POSTJUMP INSTRUCTION.
+
+POSTJUMP XCH Q # SAVE INCOMING C(A).
+ INDEX A # GET CADR.
+ CA 0
+
+# BANKJUMP IS THE SAME AS POSTJUMP, EXCEPT THAT THE CADR ARRIVES IN A.
+
+BANKJUMP TS FBANK
+ MASK LOW10
+ XCH Q # RESTORING INPUT C(A) IF THIS WAS A
+Q+10000 INDEX Q # POSTJUMP.
+PRIO12 TCF 10000 # PRIO12 = TCF 10000 = 12000
+
+# Page 1104
+# THE FOLLOWING ROUTINE GETS THE RETURN CADR SAVED BY SWCALL OR BANKCALL AND LEAVES IT IN A.
+
+MAKECADR CAF LOW10
+ MASK BUF2
+ AD BUF2 +1
+ TC Q
+
+SUPDACAL TS MPTEMP
+ XCH FBANK # SET FBANK FOR DATA.
+ EXTEND
+ ROR SUPERBNK # SAVE FBANK IN BITS 15-11, AND
+ XCH MPTEMP # SUPERBANK IN BITS 7-5.
+ MASK LOW10
+ XCH L # SAVE REL. ADR. IN BANK, FETCH SUPERBITS
+ INHINT # BECAUSE RUPT DOES NOT SAVE SUPERBANK.
+ EXTEND
+ WRITE SUPERBNK # SET SUPERBANK FOR DATA.
+ INDEX L
+ CA 10000 # PINBALL (FIX MEM DISP) PREVENTS DCA HERE
+ XCH MPTEMP # SAVE 1ST WD, FETCH OLD FBANK AND SBANK.
+ EXTEND
+ WRITE SUPERBNK # RESTORE SUPERBANK.
+ RELINT
+ TS FBANK # RESTORE FBANK.
+ CA MPTEMP # RECOVER FIRST WORD OF DATA.
+ RETURN # 24 WDS. DATACALL 516 MU, SUPDACAL 432 MU
+
+# Page 1105
+# THE FOLLOWING ROUTINES ARE IDENTICAL TO BANKCALL AND SWCALL EXCEPT THAT THEY ARE USED IN INTERRUPT.
+
+IBNKCALL DXCH RUPTREG3 # USES RUPTREG3,4 FOR DP RETURN ADDRESS.
+ INDEX Q
+ # Was CAF --- RSB 2009
+ CA 0
+ INCR Q
+
+ISWCALL TS L
+ LXCH FBANK
+ MASK LOW10
+ XCH Q
+ DXCH RUPTREG3
+ INDEX Q
+ TC 10000
+
+ISWRETRN XCH RUPTREG4
+ XCH FBANK
+ XCH RUPTREG4
+ TC RUPTREG3
+
+# 2. USPRCADR ACCESSES INTERPRETIVE CODING IN OTHER THAN THE USER'S FBANK. THE CALLING SEQUENCE IS AS FOLLOWS:
+# L TC USPRCADR
+# L+1 CADR INTPRETX # INTPRETX IS THE INTERPRETIVE CODING
+# # RETURN IS TO L+2
+
+USPRCADR TS LOC # SAVE A
+ CA BIT8
+ TS EDOP # EXIT INSTRUCTION TO EDOP
+ CA BBANK
+ TS BANKSET # USER'S BBANK TO BANKSET
+ INDEX Q
+ CA 0
+ TS FBANK # INTERPRETIVE BANK TO FBANK
+ MASK LOW10 # YIELDS INTERPRETIVE RELATIVE ADDRESS
+ XCH Q # INTERPRETIVE ADDRESS TO Q, FETCHING L+1
+ XCH LOC # L+1 TO LOC, RETRIEVING ORIGINAL A
+ TCF Q+10000
+
+# Page 1106
+# THERE ARE FOUR POSSIBLE SETTINGS FOR CHANNEL 07. (CHANNEL 07 CONTAINS SUPERBANK SETTING.)
+#
+# PSEUDO-FIXED OCTAL PSEUDO
+# SUPERBANK SETTING S-REG. VALUE BANK NUMBERS ADDRESSES
+# --------- ------- ------------ ------------ ---------
+# SUPERBANK 3 OXX 2000 - 3777 30 - 37 70000 - 107777 (WHERE XX CAN BE ANYTHING AND
+# WILL USUALLY BE SEEN AS 11)
+# SUPERBANK 4 100 2000 - 3777 40 - 47 110000 - 127777 (AS FAR AS IT CAN BE SEEN,
+# ONLY BANKS 40-43 WILL EVER BE
+# AND ARE PRESENTLY AVAILABLE)
+# SUPERBANK 5 101 2000 - 3777 50 - 57 130000 - 147777 (PRESENTLY NOT AVAILABLE TO
+# THE USER)
+# SUPERBANK 6 110 2000 - 3777 60 - 67 150000 - 167777 (PRESENTLY NOT AVAILABLE TO
+# THE USER)
+# *** THIS ROUTINE MAY BE CALLED BY ANY PROGRAM LOCATED IN BANKS 00 - 27. I.E., NO PROGRAM LIVING IN ANY
+# SUPERBANK SHOULD USE SUPERSW. ***
+#
+# SUPERSW MAY BE CALLED IN THIS FASHION:
+# CAF ABBCON WHERE -- ABBCON BBCON SOMETHING --
+# TCR SUPERSW (THE SUPERBNK BITS ARE IN THE BBCON)
+# ... ...
+# . .
+# . .
+# OR IN THIS FASHION:
+# CAF SUPERSET WHERE SUPERSET IS ONE OF THE FOUR AVAILABLE
+# TCR SUPERSW SUPERBANK BIT CONSTANTS:
+# ... ... SUPER011 OCTAL 60
+# . . SUPER100 OCTAL 100
+# . . SUPER101 OCTAL 120
+# SUPER110 OCTAL 140
+
+SUPERSW EXTEND
+ WRITE SUPERBNK # WRITE BITS 7-6-5 OF THE ACCUMULATOR INTO
+ # CHANNEL 07
+ TC Q # TC TO INSTRUCTION FOLLOWING
+ # TC SUPERSW
+
+
+
diff --git a/INTERPRETER.s b/INTERPRETER.s
new file mode 100644
index 0000000..20f716e
--- /dev/null
+++ b/INTERPRETER.s
@@ -0,0 +1,3059 @@
+# Copyright: Public domain.
+# Filename: INTERPRETER.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1107-1199
+# Mod history: 2009-05-08 RSB Adapted from the Luminary131/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: P00D00 -> P00DOO, fixed a
+# "Page N" reference.
+# 2009-05-21 RSB Corrected definition of 5B10, which overflowed
+# integer arithmetic.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1107
+# SECTION 1: DISPATCHER
+#
+# ENTRY TO THE INTERPRETER. INTPRET SETS LOC TO THE FIRST INSTRUCTION, BANKSET TO THE BBANK OF THE
+# OBJECT INTERPRETIVE PROGRAM, AND INTBIT15 TO THE BIT15 CONTENTS OF FBANK. INTERPRETIVE PROGRAMS MAY BE IN
+# VIRTUALLY ALL BANKS PRESENT UNDER ANY SUPER-BANK SETTING, WITH THE RESTRICTION THAT PROGRAMS IN HIGH BANKS
+# (BIT15 OF FBANK = 1) DO NOT REFER TO LOWBANKS, AND VICE-VERSA. THE INTERPRETER DOES NOT SWITCH SUPERBANKS.
+# E-BANK SWITCHING OCCURS WHENEVER GENERAL ERASABLE (100-3777) IS ADDRESSED.
+
+ BLOCK 03
+
+ COUNT* $$/INTER
+INTPRET RELINT
+ EXTEND # SET LOC TO THE WORD FOLLOWING THE TC.
+ QXCH LOC
+ +2 CA BBANK # INTERPRETIVE BRANCHES FINISH HERE.
+ TS BANKSET
+ MASK BIT15 # GET 15TH BIT FOR INDEXABLE ADDRESSES.
+ TS INTBIT15
+
+ TS EDOP # MAKE SURE NO INSTRUCTIONS LEFT OVER
+
+ TCF NEWOPS # PICK UP OP CODE PAIR AND BEGIN.
+
+INTRSM LXCH BBANK # RESUME SUSPENDED INTERPRETIVE JOB
+ TCF INTPRET +3
+
+# DLOAD LOADS MPAC, MPAC +1, LEAVING ZERO IN MPAC +2.
+
+DLOAD EXTEND
+ INDEX ADDRWD
+ DCA 0 # LOAD DP C(C(ADDRWD)) INT MPAC,MPAC +1
+SLOAD2 DXCH MPAC
+ CAF ZERO # ZERO MPAC +2
+
+# Page 1108
+# AT THE END OF MOST INSTRUCTIONS, CONTROL IS GIVEN TO DANZIG TO DISPATCH THE NEXT OPERATION.
+
+ TS MPAC +2 # AND DECLARE DP MODE
+
+NEWMODE TS MODE # PROLOGUE FOR MODE-CHANGING INSTRUCTIONS.
+
+DANZIG CA BANKSET # SET BBANK BEFORE TESTING NEWJOB SO THAT
+ TS BBANK # IT MAY BE SAVED DIRECTLY BY CHANJOB.
+
+NOIBNKSW CCS EDOP # SEE IF AN ORDER CODE IS LEFT OVER FROM
+ TCF OPJUMP # THE LAST PAIR RETRIEVED. IF SO, EXECUTE.
+ # EDOP IS SET TO ZERO ON ITS RE-EDITIING.
+
+ CCS NEWJOB # SEE IF A JOB OF HIGHER PRIORITY IS
+ TCF CHANG2 # PRESENT, AND IF SO, CHANGE JOBS.
+
+ INCR LOC # ADVANCE THE LOCATION COUNTER.
+
+# ITRACE (1) REFERS TO "NEWOPS"
+NEWOPS INDEX LOC # ENTRY TO BEGIN BY PICKING OP CODE PAIR.
+ CA 0 # MAY BE AN OPCODE PAIR OR A STORE CODE.
+ CCS A # TEST SIGN AND GET DABS(A).
+ TCF DOSTORE # PROCESS STORE CODE.
+
+LOW7 OCT 177
+
+ TS EDOP # OP CODE PAIR. LEAVE THE OTHER IN EDOP
+ MASK LOW7 # WHERE CCS EDOP WILL HONOR IT NEXT.
+
+OPJUMP TS CYR # LOWWD ENTERS HERE IF A RIGHT-HAND OP
+ CCS CYR # CODE IS TO BE PROCESSED. TEST PREFICES.
+ TCF OPJUMP2 # TEST SECOND PREFIX BIT.
+
+ TCF EXIT # +0 OP CODE IS EXIT
+
+# Page 1109
+# PROCESS ADDRESSES WHICH MAY BE DIRECT, INDEXED, OR REFERENCE THE PUSHDOWN LIST.
+
+ADDRESS MASK BIT1 # SEE IF ADDRESS IS INDEXED. CYR CONTAINED
+ CCS A # 400XX, SO BIT 1 IS NOW AS IT WAS IN CYR.
+ TCF INDEX # FORM INDEXED ADDRESS.
+
+DIRADRES INDEX LOC # LOOK AHEAD TO NEXT WORD TO SEE IF
+OCT40001 CS 1 # ADDRESS IS GIVEN.
+ CCS A
+ TCF PUSHUP # IF NOT.
+
+NEG4 DEC -4
+
+ INCR LOC # IF SO, TO SHOW WE PICKED UP A WORD.
+ TS ADDRWD
+
+# Page 1110
+# FINAL DIGESTION OF DIRECT ADDRESSES OF OP CODES WITH 01 PREFIX IS DONE HERE. IN EACH CASE, THE
+# REQUIRED 12-BIT SUB-ADDRESS IS LEFT IN ADDRWD, WITH ANY REQUIRED E OR F BANK SWITCHING DONE. ADDRESSES LESS
+# THAN 45D ARE TAKEN TO BE RELATIVE TO THE WORK AREA. THE OP CODE IS NOW IN BITS 1-5 OF CYR WITH BIT 14 = 1.
+
+ AD -ENDVAC # SEE IF ADDRESS RELATIVE TO WORK AREA.
+ CCS A
+ AD -ENDERAS # IF NOT, SEE IF IN GENERAL ERASABLE.
+ TCF IERASTST
+
+NETZERO CA FIXLOC # IF SO, LEAVE THE MODIFIED ADDRESS IN
+ ADS ADDRWD # ADDRWD AND DISPATCH.
+ITR15 INDEX CYR # THIS INDEX MAKES THE NEXT INSTRUCTION
+ 7 INDJUMP -1 # TCF INDJUMP + OP, EDITING CYR.
+
+IERASTST EXTEND
+ BZMF GEADDR # GO PROCESS GENERAL-ERASABLE ADDRESS.
+
+ MASK LOW10 # FIXED BANK ADDRESS. RESTORE AND ADD B15.
+ AD LOW10 # SWITCH BANKS AND LEAVE SUBADDRESS IN
+ XCH ADDRWD # ADDRWD FOR OPERAND RETRIEVAL. (THIS
+ AD INTBIT15 # METHOD PRECLUDES USE OF THE LAST
+ TS FBANK # LOCATION IN EACH FBANK.)
+ITR12 INDEX CYR
+ 7 INDJUMP -1
+
+GEADDR MASK LOW8
+ AD OCT1400
+ XCH ADDRWD
+ TS EBANK
+ITR10 INDEX CYR
+ 7 INDJUMP -1
+
+# Page 1111
+# THE FOLLOWING ROUTINE PROCESSES INTERPRETIVE INDEXED ADDRESSES. AN INTERPRETER INDEX REGISTER MAY
+# CONTAIN THE ADDRESS OF ANY ERASABLE REGISTER (0-42 BEING RELATIVE TO THE VAC AREA) OR ANY INTERPRETIVE PROGRAM
+# BANK, OR ANY INTEGER IN THAT RANGE.
+
+DODLOAD* CAF DLOAD* # STODL* COMES HERE TO PROCESS LOAD ADR.
+ TS CYR # (STOVL* ENTERS HERE).
+
+INDEX CA FIXLOC # SET UP INDEX LOCATION.
+ TS INDEXLOC
+ INCR LOC # (ADDRESS ALWAYS GIVEN).
+ INDEX LOC
+ CS 0
+ CCS A # INDEX 2 IF ADDRESS STORED COMPLEMENTED.
+ INCR INDEXLOC
+ NOOP
+
+ TS ADDRWD # 14 BIT ADDRESS TO ADDRWD.
+ MASK HIGH4 # IF ADDRESS GREATER THAN 2K, ADD INTBIT15
+ EXTEND
+ BZF INDEX2
+ CA INTBIT15
+ ADS ADDRWD
+
+INDEX2 INDEX INDEXLOC
+ CS X1
+ ADS ADDRWD # DO AUGMENT, IGNORING AND CORRECTING OVF.
+
+ MASK HIGH9 # SEE IF ADDRESS IS IN WORK AREA.
+ EXTEND
+ BZF INDWORK
+ MASK HIGH4 # SEE IF IN FIXED BANK.
+ EXTEND
+ BZF INDERASE
+
+ CA ADDRWD # IN FIXED -- SWITCH BANKS AND CREATE
+ TS FBANK # SUB-ADDRESS
+ MASK LOW10
+ AD 2K
+ TS ADDRWD
+ITR11 INDEX CYR
+ 3 INDJUMP -1
+
+INDWORK CA FIXLOC # MAKE ADDRWD RELATIVE TO WORK AREA.
+ TCF ITR13 -1
+
+INDERASE CA OCT1400
+ XCH ADDRWD
+ TS EBANK
+ MASK LOW8
+ -1 ADS ADDRWD
+# Page 1112
+ITR13 INDEX CYR
+ 3 INDJUMP -1
+
+# Page 1113
+# PUSH-UP ROUTINES. WHEN NO OPERAND ADDRESS IS GIVEN, THE APPROPRIATE OPERAND IS TAKEN FROM THE PUSH-DOWN
+# LIST. IN MOST CASES THE MODE OF THE RESULT (VECTOR OR SCALAR) OF THE LAST ARTGHMETIC OPERATION PERFORMED
+# IS THE SAME AS THE TYPE OF OPERAND DESIRED (ALL ADD/SUBTRACT ETC.). EXCEPTIONS TO THIS GENERAL RULE ARE LISTED
+# BELOW (NOTE THAT IN EVERY CASE THE MODE REGISTER IS LEFT INTACT):
+#
+# 1. VXSC AND V/SC WANT THE OPPOSITE TYPE OF OPERAND, E.G., IF THE LAST OPERATION YIELDED A VECTOR
+# RESULT, VXSC WANTS A SCALAR.
+#
+# 2. THE LOAD CODES SHOULD LOAD THE ACCUMULATOR INDEPENDENT OF THE RESULT OF THE LAST OPERATION. THIS
+# INCLUDES VLOAD, DLOAD, TLOAD, PDDL, AND PDVL (NO PUSHUP WITH SLOAD).
+#
+# 3. SOME ARITHMETIC OPERATIONS REQUIRE A STANDARD TYPE OF OPERAND REGARDLESS OF THE PREVIOUS OPERATION.
+# THIS INCLUDES SIGN WANTING DP AND TAD REQUIRING TP.
+
+PUSHUP CAF OCT23 # IF THE LOW 5 BITS OF CYR ARE LESS THAN
+ MASK CYR # 20, THIS OP REQUIRES SPECIAL ATTENTION.
+ AD -OCT10 # (NO -0).
+ CCS A
+ TCF REGUP # FOR ALL CODES GREATEER THAN OCT 7.
+
+-OCT10 OCT -10
+
+ AD NEG4 # WE NOW HAVE 7 -- OP CODE (MOD4). SEE IF
+ CCS A # THE OP CODE (MOD4) IS THREE (REVERSE).
+ INDEX A # NO -- THE MODE IS DEFINITE. PICK UP THE
+ CS NO.WDS
+ TCF REGUP +2
+
+ INDEX MODE # FOR VXSC AND V/SC WE WANT THE REQUIRED
+ CS REVCNT # PUSHLOC DECREMENT WITHOUT CHANGING THE
+ TCF REGUP +2 # MODE AT THE IS TIME.
+
+REGUP INDEX MODE # MOST ALL OP CODES PUSHUP HERE.
+ CS NO.WDS
+ +2 ADS PUSHLOC
+ TS ADDRWD
+ITR14 INDEX CYR
+ 7 INDJUMP -1 # (THE INDEX MAKES THIS A TCF.)
+
+ OCT 2 # REVERSE PUSHUP DECREMENT. VECTOR TAKES 2
+REVCNT OCT 6 # WORDS, SCALAR TAKES 6.
+ OCT 6
+NO.WDS OCT 2 # CONVENTIONAL DECREMENT IS 6 WORDS VECTOR
+OCTAL3 OCT 3 # 2 IN DP, AND 3 IN TP.
+ OCT 6
+
+# Page 1114
+# TEST THE SECOND PREFIX BIT TO SEE IF THIS IS A MISCELLANEOUS OR A UNARY/SHORT SHIFT OPERATION.
+
+OPJUMP2 CCS CYR # TEST SECOND PREFIX BIT.
+ TCF OPJUMP3 # TEST THIRD BIT TO SEE IF UNARY OR SHIFT
+
+-ENDVAC DEC -45
+
+# THE FOLLOWING ROUTINE PROCESSES ADDRESSES OF SUFFIX CLASS 10. THEY ARE BASICALLY WORK AREA ADDRESSES
+# IN THE RANGE 0-52, ERASABLE ECADR CONSTANTS FROM 100-3777, AND FCADRS ABOVE THAT. ALL 15 BITS ARE AVAILABLE
+# IN CONTRAST TO SUFFIX 1, IN WHICH ONLY THE LOW ORDER 14 ARE AVAILABLE.
+
+15BITADR INCR LOC # (ENTRY HERE FROM STCALL).
+ INDEX LOC # PICK UP ADDRESS WORD.
+ CA 0
+ TS POLISH # WE MAY NEED A SUBADDRESS LATER.
+
+ CAF LOW7+2K # THESE INSTRUCTIONS ARE IN BANK 1.
+ TS FBANK
+ MASK CYR
+ITR7 INDEX A
+ TCF MISCJUMP
+
+# Page 1115
+# COMPLETE THE DISPATCHING OF UNARY AND SHORT SHIFT OPERATIONS.
+
+OPJUMP3 TS FBANK # CALL IN BANK 0 (BIT5S 11-15 OF A ARE 0.)
+
+ CCS CYR # TEST THIRD PREFIX BIT.
+ INDEX A # THE DECREMENTED UNARY CODE IS IN BITS
+ TCF UNAJUMP # 1-4 OF A (ZERO, EXIT, HAS BEEN DETECTED)
+
+ CCS MODE # IT'S A SHORT SHIFT CODE. SEE IF PRESENT
+ TCF SHORTT # SCALAR OR VECTOR.
+ TCF SHORTT
+ TCF SHORTV # CALLS THE APPROPRIATE ROUTINE.
+
+FBANKMSK EQUALS BANKMASK
+LVBUF ADRES VBUF
+
+# Page 1116
+# THE FOLLOWING IS THE JUMP TABLE FOR OP CODES WHICH MAY HAVE INDEXABLE ADDRESSES OR MAY PUSH UP.
+
+INDJUMP TCF VLOAD # 00 -- LOAD MPAC WITH A VECTOR.
+ TCF TAD # 01 -- TRIPLE PRECISION ADD TO MPAC.
+ TCF SIGN # 02 -- COMPLEMENT MPAC (V OR SC) IF X NEG.
+ TCF VXSC # 03 -- VECTOR TIMES SCALAR.
+ TCF CGOTO # 04 -- COMPUTED GO TO.
+ TCF TLOAD # 05 -- LOAD MPAC WITH TRIPLE PRECISION.
+ TCF DLOAD # 06 -- LOAD MPAC WITH A DP SCALAR.
+ TCF V/SC # 07 -- VECTOR DIVIDED BY A SCALAR.
+
+ TCF SLOAD # 10 -- LOAD MPAC IN SINGLE PRECISION.
+ TCF SSP # 11 -- SET SINGLE PRECISION INTO X.
+ TCF PDDL # 12 -- PUSH DOWN MPAC AND RE-LOAD IN DP.
+ TCF MXV # 13 -- MATRIX POST-MULTIPLIED BY VECTOR.
+ TCF PDVL # 14 -- PUSH DOWN AND VECTORLOAD.
+ TCF CCALL # 15 -- COMPUTED CALL.
+ TCF VXM # 16 -- MATRIX PRE-MULTIPLIED BY VECTOR.
+ TCF TSLC # 17 -- NORMALIZE MPAC (SCALAR ONLY).
+
+ TCF DMPR # 20 -- DP MULTIPLY AND ROUND.
+ TCF DDV # 21 -- DP DIVIDE BY.
+ TCF BDDV # 22 -- DP DIVIDE INTO.
+ TCF GSHIFT # 23 -- GENERAL SHIFT INSTRUCTION
+ TCF VAD # 24 -- VECTOR ADD.
+ TCF VSU # 25 -- VECTOR SUBTRACT.
+ TCF BVSU # 26 -- VECTOR SUBTRACT FROM.
+ TCF DOT # 27 -- VECTOR DOT PRODUCT.
+
+ TCF VXV # 30 -- VECTOR CROSS PRODUCT.
+ TCF VPROJ # 31 -- VECTOR PROJECTION.
+ TCF DSU # 32 -- DP SUBTRACT.
+ TCF BDSU # 33 -- DP SUBTRACT FROM.
+ TCF DAD # 34 -- DP ADD.
+ TCF +0 # 35 -- AVAILABLE
+ TCF DMP1 # 36 -- DP MULTIPLY.
+ TCF SETPD # 37 -- SET PUSH DOWN POINTER (DIRECT ONLY)
+
+# CODES 10 AND 14 MUST NOT PUSH UP. CODE 04 MAY BE USED FOR VECTOR DECLARE BEFORE PUSHUP IF DESIRED.
+
+# Page 1117
+# THE FOLLOWING JUMP TABLE APPLIES TO INDEX, BRANCH, AND MISCELLANEOUS INSTRUCTIONS.
+
+MISCJUMP TCF AXT # 00 -- ADDRESS TO INDEX TRUE.
+ TCF AXC # 01 -- ADDRESS TO INDEX COMPLEMENTED.
+ TCF LXA # 02 -- LOAD INDEX FROM ERASABLE.
+ TCF LXC # 03 -- LOAD INDEX FROM COMPLEMENT OF ERAS.
+ TCF SXA # 04 -- STORE INDEX IN ERASABLE.
+ TCF XCHX # 05 -- EXCHANGE INDEX WITH ERASABLE.
+ TCF INCR # 06 -- INCREMENT INDEX REGISTER.
+ TCF TIX # 07 -- TRANSFER ON INDEX.
+
+ TCF XAD # 10 -- INDEX REGISTER ADD FROM ERASABLE.
+ TCF XSU # 11 -- INDEX SUBTRACT FROM ERASABLE.
+ TCF BZE/GOTO # 12 -- BRANCH ZERO AND GOTO
+ TCF BPL/BMN # 13 -- BRANCH PLUS AND BRANCH MINUS.
+ TCF RTB/BHIZ # 14 -- RETURN TO BASIC AND BRANCH HI ZERO.
+ TCF CALL/ITA # 15 -- CALL AND STORE QPRET.
+ TCF SW/ # 16 -- SWITCH INSTRUCTIONS AND AVAILABLE.
+ TCF BOV(B) # 17 -- BRANCH ON OVERFLOW TO BASIC OR INT.
+
+# Page 1118
+# THE FOLLOWING JUMP TABLE APPLIES TO UNARY INSTRUCTIONS
+ COUNT* $$/INTER
+ BANK 0 # 00 -- EXIT -- DETECTED EARLIER.
+UNAJUMP TCF SQRT # 01 -- SQUARE ROOT.
+ TCF SINE # 02 -- SIN.
+ TCF COSINE # 03 -- COS.
+ TCF ARCSIN # 04 -- ARC SIN.
+ TCF ARCCOS # 05 -- ARC COS.
+ TCF DSQ # 06 -- DP SQUARE.
+ TCF ROUND # 07 -- ROUND TO DP.
+
+ TCF COMP # 10 -- COMPLEMENT VECTOR OR SCALAR
+ TCF VDEF # 11 -- VECTOR DEFINE.
+ TCF UNIT # 12 -- UNIT VECTOR.
+ TCF ABVALABS # 13 -- LENGTH OF VECTOR OR MAG OF SCALAR.
+ TCF VSQ # 14 -- SQUARE OF LENGTH OF VECTOR.
+ TCF STADR # 15 -- PUSH UP ON STORE CODE.
+ TCF RVQ # 16 -- RETURN VIA QPRET.
+ TCF PUSH # 17 -- PUSH MPAC DOWN.
+
+# Page 1119
+# SECTION 2 LOAD AND STORE PACKAGE.
+#
+# A SET OF EIGHT STORE CODES IS PROVIDED AS THE PRIMARY METHOD OF STORING THE MULTI-PURPOSE
+# ACCUMULATOR (MPAC). IF IN THE DANZIG SECTION LOC REFERS TO AN ALGEBRAICALLY POSITIVE WORD, IT IS TAKEN AS A
+# STORE CODE WITH A CORRESPONDING ERASABLE ADDRESS. MOST OF THESE CODES ARE TWO ADDRESS, SPECIFYING THAT THE WORD
+# FOLLOWING THE STORE CODE IS TO BE USED AS AN ADDRESS FROM WHICH TO RE-LOAD MPAC. FOUR OPTIONS ARE AVAILABLE:
+#
+# 1. STORE STORE MPAC. THE E ADDRESS MAY BE INDEXED.
+# 2. STODL STORE MPAC AND RE-LOAD IT IN DP WITH THE NEXT ADDRESS (THE LOAD MAY BE INDEXED).
+# 3. STOVL STORE MPAC AND RE-LOAD A VECTOR (AS ABOVE).
+# 4. STCALL STORE AND DO A CALL (BOTH ADDRESSES MUST BE DIRECT HERE).
+#
+# STODL AND STOVL WILL TAKE FROM THE PUSH-DOWN LIST IF NO LOAD ADDRESS IS GIVEN.
+
+ BLOCK 3
+
+ COUNT 03/INTER
+
+STADR CA BANKSET # THE STADR CODE (PUSHUP UP ON STORE
+ TS FBANK # ADDRESS) ENTERS HERE.
+ INCR LOC
+ITR1 INDEX LOC # THE STORECODE WAS STORED COMPLEMENTED TO
+ CS 0 # MAKE IT LOOK LIKE AN OPCODE PAIR.
+ AD NEGONE # (YUL CAN'T REMOVE 1 BECAUSE OF EARLY CCS)
+
+DOSTORE TS ADDRWD
+ MASK LOW11 # ENTRY FROM DISPATCHER. SAVE THE ARASABLE
+ XCH ADDRWD # ADDRESS AND JUMP ON THE STORE CODE NO.
+ MASK B12T14
+ EXTEND
+ MP BIT5 # EACH TRANSFER VECTOR ENTRY IS TWO WORDS.
+ITR0 INDEX A
+ TCF STORJUMP
+
+# Page 1120
+# STORE CODE JUMP TABLE. CALLS THE APPROPRIATE STORING ROUTINE AND EXITS TO DANZIG OR TO ADDRESS WITH
+# A SUPPLIED OPERATION CODE.
+#
+# STORE STORE,1 AND STORE,2 RETURN TO DANZIG, THUS RESETTING THE EBANK TO ITS STATE AT INTPRET.
+
+STORJUMP TC STORE # STORE.
+ TCF DANZIG # PICK UP NEW OP CODE(S).
+ TC STORE,1
+ TCF DANZIG
+ TC STORE,2
+ TCF DANZIG
+
+ TC STORE # STODL.
+ TCF DODLOAD
+
+ TC STORE # STODL WITH INDEXED LOAD ADDRESS.
+ TCF DODLOAD*
+
+ TC STORE # STOVL.
+ TCF DOVLOAD
+
+ TC STORE # STOVL WITH INDEXED LOAD ADDRESS.
+ TCF DOVLOAD*
+ TC STORE # STOTC.
+ CAF CALLCODE
+ TS CYR
+ TCF 15BITADR # GET A 15 BIT ADDRESS.
+
+# Page 1121
+# STORE CODE ADDRESS PROCESSOR.
+
+STORE,1 INDEX FIXLOC
+ CS X1
+ TCF PRESTORE
+
+STORE,2 INDEX FIXLOC
+ CS X2
+PRESTORE ADS ADDRWD # RESULTANT ADDRESS IS IN ERASABLE.
+
+STORE CS ADDRWD
+ AD DEC45
+ CCS A # DOES THE ADDRESS POINT TO THE WORK AREA?
+ CA FIXLOC # YES.
+ TCF AHEAD5
+ CA OCT1400 # NO. SET EBANK & MAKE UP SUBADDRESS.
+ XCH ADDRWD
+ TS EBANK
+ MASK LOW8
+AHEAD5 ADS ADDRWD
+
+# Page 1122
+# STORING ROUTINES. STORE DP, TP, OR VECTOR AS INDICATED BY MODE.
+
+STARTSTO EXTEND # MPAC,+1 MUST BE STORED IN ANY EVENT.
+# ITRACE (5) REFERS TO "STARTSTO".
+ DCA MPAC
+ INDEX ADDRWD
+ DXCH 0
+
+ CCS MODE
+ TCF TSTORE
+ TC Q
+
+VSTORE EXTEND
+ DCA MPAC +3
+ INDEX ADDRWD
+ DXCH 2
+
+ EXTEND
+ DCA MPAC +5
+ INDEX ADDRWD
+ DXCH 4
+ TC Q
+
+TSTORE CA MPAC +2
+ INDEX ADDRWD
+ TS 2
+ TC Q
+
+# Page 1123
+# ROUTINES TO BEGIN PROCESSING OF THE SECOND ADDRESS ASSOCIATED WITH ALL STORE-TYPE CODES EXCEPT STORE
+# ITSELF.
+
+DODLOAD CAF DLOADCOD
+ TS CYR
+ TCF DIRADRES # GO GET A DIRECT ADDRESS.
+
+DOVLOAD CAF VLOADCOD
+ TS CYR
+ TCF DIRADRES
+
+DOVLOAD* CAF VLOAD*
+ TCF DODLOAD* +1 # PROLOGUE TO INDEX ROUTINE.
+
+# Page 1124
+# THE FOLLOWING LOAD INSTRUCTIONS ARE PROVIDED FOR LOADING THE MULTI-PURPOSE ACCUMULATOR MPAC.
+
+TLOAD INDEX ADDRWD
+ CA 2 # LOAD A TRIPLE PRECISION ARGUMENT INTO
+ TS MPAC +2 # THE FIRST THREE MPAC REGISTERS, WITH THE
+ EXTEND # CONTENTS OF THE OTHER FOUR IRRELEVANT.
+ INDEX ADDRWD
+ DCA 0
+ DXCH MPAC
+TMODE CAF ONE
+ TCF NEWMODE # DECLEARE TRIPLE PRECISION MODE.
+
+SLOAD ZL # LOAD A SINGLE PRECISION NUMBER INTO
+ INDEX ADDRWD # MPAC, SETTING MPAC+1,2 TO ZERO. THE
+ CA 0 # CONTENTS OF THE REMAINING MPAC REGISTERS
+ TCF SLOAD2 # ARE IRRELEVANT.
+
+VLOAD EXTEND # LOAD A DOUBLE PRECISION VECTOR INTO
+ INDEX ADDRWD # MPAC,+1, MPAC+3,4, AND MPAC+5,6. THE
+ DCA 0 # CONTENTS OF MPAC +2 ARE IRRELEVANT.
+ DXCH MPAC
+
+ENDVLOAD EXTEND # PDVL COMES HERE TO FINISH UP FOR DP, TP.
+ INDEX ADDRWD
+ DCA 2
+ DXCH MPAC +3
+
+ +4 EXTEND # TPDVL FINISHES HERE.
+ INDEX ADDRWD
+ DCA 4
+ DXCH MPAC +5
+
+VMODE CS ONE # DECLARE VECTOR MODE.
+ TCF NEWMODE
+
+# Page 1125
+# THE FOLLOWING INSTRUCTIONS ARE PROVIDED FOR STORING OPERANDS IN THE PUSHDOWN LIST:
+# 1. PUSH PUSHDOWN AND NO LOAD.
+# 2. PDDL PUSHDOWN AND DOUBLE PRECISION LOAD.
+# 3. PDVL PUSHDOWN AND VECTOR LOAD.
+
+PDDL EXTEND
+ INDEX ADDRWD # LOAD MPAC,+1, PUSHING THE FORMER
+ DCA 0 # CONTENTS DOWN.
+ DXCH MPAC
+ INDEX PUSHLOC
+ DXCH 0
+
+ INDEX MODE # ADVANCE THE PUSHDOWN POINTER APPRO-
+ CAF NO.WDS # PRIATELY.
+ ADS PUSHLOC
+
+ CCS MODE
+ TCF ENDTPUSH
+ TCF ENDDPUSH
+
+ TS MODE # NOW DP.
+ENDVPUSH TS MPAC +2
+ DXCH MPAC +3 # PUSH DOWN THE REST OF THE VECTOR HERE.
+ INDEX PUSHLOC
+ DXCH 0 -4
+
+ DXCH MPAC +5
+ INDEX PUSHLOC
+ DXCH 0 -2
+
+ TCF DANZIG
+
+ENDDPUSH TS MPAC +2 # SET MPAC +2 TO ZERO AND EXIT ON DP.
+ TCF DANZIG
+
+ENDTPUSH TS MODE
+ XCH MPAC +2 # ON TRIPLE, SET MPAC +2 TO ZERO, PUSHING
+ +2 INDEX PUSHLOC # DOWN THE OLD CONTENTS
+ TS 0 -1
+ TCF DANZIG
+
+# Page 1126
+# PDVL -- PUSHDOWN AND VECTOR LOAD
+
+PDVL EXTEND # RELOAD MPAC AND PUSH DOWN ITS CONTENTS.
+ INDEX ADDRWD
+ DCA 0
+ DXCH MPAC
+ INDEX PUSHLOC
+ DXCH 0
+
+ INDEX MODE # ADVANCE THE PUSHDOWN POINTER.
+ CAF NO.WDS
+ ADS PUSHLOC
+
+ CCS MODE # TEST PAST MODE.
+ TCF TPDVL
+ TCF ENDVLOAD # JUST LOAD LAST FOUR REGISTERS ON DP.
+
+VPDVL EXTEND # PUSHDOWN AND RE-LOAD LAST TWO COMPONENTS
+ INDEX ADDRWD
+ DCA 2
+ DXCH MPAC +3
+ INDEX PUSHLOC
+ DXCH 0 -4
+
+ EXTEND
+ INDEX ADDRWD
+ DCA 4
+ DXCH MPAC +5
+ INDEX PUSHLOC
+ DXCH 0 -2
+
+ TCF DANZIG
+
+TPDVL EXTEND # ON TP, WE MUST LOAD THE Y COMPONENT
+ INDEX ADDRWD # BEFORE STORING MPAC +2 IN CASE THIS IS A
+ DCA 2 # PUSHUP.
+ DXCH MPAC +3
+
+ CA MPAC +2
+ INDEX PUSHLOC # IN DP.
+ TS 0 -1
+ TCF ENDVLOAD +4
+
+# SSP (STORE SINGLE PRECISION) IS EXECUTED HERE.
+
+SSP INCR LOC # PICK UP THE WORD FOLLOWING THE GIVEN
+ INDEX LOC # ADDRESS AND STORE IT AT X.
+ CA 0
+STORE1 INDEX ADDRWD # SOME INDEX AND MISCELLANEOUS OPS END
+ TS 0 # HERE.
+# Page 1127
+ TCF DANZIG
+
+# Page 1128
+# SEQUENCE CHANGING AND SUBROUTINE CALLING OPTIONS.
+#
+# THE FOLLOWING OPERATIONS ARE AVAILABLE FOR SEQUENCING CHANGING, BRANCHING, AND CALLING SUBROUTINES:
+# 1. GOTO GO TO.
+# 2. CALL CALL SUBROUTINE SETTING QPRET.
+# 3. CGOTO COMPUTED GO TO.
+# 4. CCALL COMPUTED CALL.
+# 7. BPL BRANCH IF MPAC POSITIVE OR ZERO.
+# 8. BZE BRANCH IF MPAC ZERO.
+# 9. BMN BRANCH IF MPAC NEGATIVE NON-ZERO.
+
+CCALL INCR LOC # MAINTAIN LOC FOR QPRET COMPUTATION
+ INDEX LOC
+ # Was CAF --- RSB 2009.
+ CA 0 # GET BASE ADDRESS OF CADR LIST.
+ INDEX ADDRWD
+ AD 0 # ADD INCREMENT.
+ TS FBANK # SELECT DESIRED CADR.
+ MASK LOW10
+ INDEX A
+ CAF 10000
+ TS POLISH
+
+CALL CA BANKSET # FOR ANY OF THE CALL OPTIONS, MAKE UP THE
+ MASK BANKMASK # ADDRESS OF THE NEXT OP-CODE PAIR/STORE
+ AD BANKMASK # CODE AND LEAVE IT IN QPRET. NOTE THAT
+ AD LOC # BANKMASK = -(2000 - 1).
+ INDEX FIXLOC
+ TS QPRET
+
+GOTO CA POLISH # BASIC BRANCHING SEQUENCE.
+ +1 MASK HIGH4
+ EXTEND
+ BZF GOTOERS # SEE IF ADDRESS POINTS TO FIXED OR ERAS.
+ +4 CA BANKSET # SET EBANK PART OF BBANK. NEXT, SET UP
+ TS BBANK # FBANK. THE COMBINATION IS PICKED UP &
+ CA POLISH # PUT INTO BANKSET AT INTPRET +2.
+ TS FBANK
+ MASK LOW10
+ AD 2K
+ TS LOC
+ TCF INTPRET +3
+
+ EBANK= 1400 # SO YUL DOESN'T CUSS THE "CA 1400" BELOW.
+
+GOTOERS CA POLISH # THE GIVEN ADDRESS IS IN ERASABLE -- SEE
+ AD -ENDVAC # IF RELATIVE TO THE WORK ARA.
+ CCS A
+ CA POLISH # GENERAL ERASABLE.
+ TCF GOTOGE
+
+# Page 1129
+ CA FIXLOC # WORK AREA.
+ AD POLISH
+ INDEX A # USE THE GIVEN ADDRESS AS THE ADDRESS OF
+ CA 0 # THE BRANCH ADDRESS.
+ TS POLISH
+ TCF GOTO +1 # ALLOWS ARBITRARY INDIRECTNESS LEVELS.
+
+GOTOGE TS EBANK
+ MASK LOW8
+ INDEX A # USE THE GIVEN ADDRESS AS THE ADDRESS OF
+ CA 1400 # THE BRANCH ADDRESS.
+ TS POLISH
+ TCF GOTO +1
+
+CGOTO INDEX LOC # COMPUTED GO TO. PICK UP ADDRESS OF CADR
+ CA 1 # LIST
+ INDEX ADDRWD # ADD MODIFIER.
+ AD 0
+ TS FBANK # SELECT GOTO ADDRESS
+ MASK LOW10
+ INDEX A
+ CA 10000
+ TS POLISH
+ TCF GOTO +1 # WITH ADDRESS IN A.
+
+SWBRANCH CA BANKSET # SWITCH INSTRUCTIONS WHICH ELECT TO
+ TS FBANK # BRANCH COME HERE TO DO SO.
+ INDEX LOC
+ CA 1
+ TS POLISH
+ TCF GOTO +1
+
+# Page 1130
+# TRIPLE PRECISION BRANCHING ROUTINE. IF CALLING TC IS AT L, RETURN IS AS FOLLOWS:
+# L+1 IF MPAC IS GREATER THAN ZERO.
+# L+2 IF MPAC IS EQUAL TO +0 OR -0.
+# L+3 IF MPAC IS LESS THAN ZERO.
+
+BRANCH CCS MPAC
+ TC Q
+ TCF +2 # ON ZERO.
+ TCF NEG
+
+ CCS MPAC +1
+ TC Q
+ TCF +2
+ TCF NEG
+
+ CCS MPAC +2
+ TC Q
+ TCF +2
+ TCF NEG
+
+Q+1 INDEX Q
+ TC 1
+
+NEG INDEX Q # IF FIRST NON-ZERO REGISTER WAS NEGATIVE.
+ TC 2
+
+Q+2 = NEG
+
+# ITRACE (3) REFERS TO "EXIT".
+
+EXIT CA BANKSET # RESTORE USER'S BANK SETTING, AND LEAVE
+ TS BBANK # INTERPRETIVE MODE.
+ INDEX LOC
+ TC 1
+
+# Page 1131
+# SECTION 3 -- ADD/SUBTRACT PACKAGE.
+#
+# THE FOLLOWING OPERATIONS ARE PROVIDED FOR ADDING TO AND SUBTRACTING FROM THE MULTI-PURPOSE ACCUMULATOR
+# MPAC:
+# 1. DAD DOUBLE PRECISION ADD.
+# 2. DSU DOUBLE PRECISION SUBTRACT.
+# 3. BDSU DOUBLE PRECISION SUBTRACT FROM.
+# 4. TAD TRIPLE PRECISION ADD.
+# 5. VAD VECTOR ADD.
+# 6. VSU VECTOR SUBTRACT.
+# 7. BVSU VECTOR SUBTRACT FROM.
+# THE INTERPRETIVE OVERFLOW INDICATOR OVFIND IS SET NON-ZERO IF OVERFLOW OCCURS IN ANY OF THE ABOVE.
+
+VSU CAF BIT15 # CHANGES 0 TO DCS.
+ TCF +2
+
+VAD CAF PRIO30 # CHANGES 0 TO DCA.
+ ADS ADDRWD
+ EXTEND
+ INDEX ADDRWD
+ READ HISCALAR # DCA 2 OR DCS 2
+ DAS MPAC +3
+ EXTEND # CHECK OVERFLOW.
+ BZF +2
+ TC OVERFLWY
+
+ EXTEND
+ INDEX ADDRWD
+ READ CHAN5 # DCA 4 OR DCS 4
+ DAS MPAC +5
+ EXTEND
+ BZF +2
+ TC OVERFLWZ
+
+ EXTEND
+ INDEX ADDRWD
+ READ LCHAN # DCA 0 OR DCS 0
+ TCF ENDVXV
+
+DAD EXTEND
+ INDEX ADDRWD
+ DCA 0
+ENDVXV DAS MPAC # VXV FINISHES HERE.
+ EXTEND
+ BZF DANZIG
+
+# Page 1132
+SETOVF TC OVERFLOW
+ TCF DANZIG
+
+# Page 1133
+DSU EXTEND
+ INDEX ADDRWD
+ DCS 0
+ TCF ENDVXV
+
+OVERFLWZ TS L # ENTRY FOR THIRD COMPONENT.
+ CAF FIVE
+ TCF +3
+
+OVERFLWY TS L # ENTRY FOR SECOND COMPONENT.
+ CAF THREE
+ XCH L
+
+OVERFLOW INDEX A # ENTRY FOR 1ST COMP OR DP (L=0).
+ CS LIMITS # PICK UP POSMAX OR NEGMAX.
+ TS BUF
+ EXTEND
+ AUG A
+ INDEX L
+ ADS MPAC +1
+ TS 7
+ CAF ZERO
+ AD BUF
+ INDEX L
+ ADS MPAC
+ TS 7
+ TC Q # NO OVERFLOW EXIT.
+ TCF SETOVF2 # SET OVFIND AND EXIT.
+
+BVSU EXTEND
+ INDEX ADDRWD
+ DCA 2
+ DXCH MPAC +3
+ EXTEND
+ DCOM
+ DAS MPAC +3
+ EXTEND
+ BZF +2
+ TC OVERFLWY
+
+ EXTEND
+ INDEX ADDRWD
+ DCA 4
+ DXCH MPAC +5
+ EXTEND
+ DCOM
+ DAS MPAC +5
+ EXTEND
+ BZF +2
+ TC OVERFLWZ
+
+# Page 1134
+BDSU EXTEND
+ INDEX ADDRWD
+ DCA 0
+ DXCH MPAC
+ EXTEND
+ DCOM
+ TCF ENDVXV
+
+# Page 1135
+# TRIPLE PRECISION ADD ROUTINE.
+
+TAD EXTEND
+ INDEX ADDRWD
+ DCA 1 # ADD MINOR PARTS FIRST.
+ DAS MPAC +1
+ INDEX ADDRWD
+ AD 0
+ AD MPAC
+ TS MPAC
+ TCF DANZIG
+
+ TCF SETOVF # SET OVFIND IF SUCH OCCURS.
+
+# Page 1136
+# ARITHMETIC SUBROUTINES REQUIRED IN FIXED-FIXED.
+# 1. DMPSUB DOUBLE PRECISION MULTIPLY, MULTIPLY THE CONTENTS OF MPAC,+1 BY THE DP WORD WHOSE ADDRESS
+# IS IN ADDRWD AND LEAVE A TRIPLE-PRECISION RESULT IN MPAC.
+# 2. ROUNDSUB ROUND THE TRIPLE PRECISION CONTENTS OF MPAC TO DOUBLE PRECISION.
+# 3. DOTSUB TAKE THE DOT PRODUCT OF THE VECTOR IN MPAC AND THE VECTOR WHOSE ADDRESS IS IN ADDRWD
+# AND LEAVE THE TRIPLE PRECISION RESULT IN MPAC.
+# 4. POLY USING THE CONTENTS OF MPAC AS A DP ARGUMENT, EVALUATE THE POLYNOMIAL WHOSE DEGREE AND
+# COEFFICIENTS IMMEDIATELY FOLLOW THE TC POLY INSTRUCTION (SEE ROUTINE FOR DETAILS).
+
+DMP INDEX Q # BASIC SUBROUTINE FOR USE BY PINBALL, ETC
+ # Was CAF --- RSB 2009.
+ CA 0
+ INCR Q
+ -1 TS ADDRWD # (PROLOGUE FOR SETTING ADDRWD.)
+
+DMPSUB INDEX ADDRWD # GET MINOR PART OF OPERAND AT C(ADDRWD).
+ CA 1
+ TS MPAC +2 # THIS WORKS FOR SQUARING MPAC AS WELL.
+ CAF ZERO # SET MPAC +1 TO ZERO SO WE CAN ACCUMULATE
+ XCH MPAC +1 # THE PARTIAL PRODUCTS WITH DAS
+ TS MPTEMP # INSTRUCTIONS.
+ EXTEND
+ MP MPAC +2 # MINOR OF MPAC X MINOR OF C(ADDRWD).
+
+ XCH MPAC +2 # DISCARD MINOR PART OF ABOVE RESULT AND
+ EXTEND # FORM MAJOR OF MPAC X MINOR OF C(ADDRWD).
+ MP MPAC
+ DAS MPAC +1 # GUARANTEED NO OVERFLOW.
+
+ INDEX ADDRWD # GET MAJOR PART OF ARGUMENT AT C(ADDRWD).
+ CA 0
+ XCH MPTEMP # SAVE AND BRING OUT MINOR OF MPAC.
+DMPSUB2 EXTEND
+ MP MPTEMP # MAJOR OF C(ADDRWD) X MINOR OF MPAC.
+ DAS MPAC +1 # ACCUMULATE, SETTING A TO NET OVERFLOW.
+
+ XCH MPAC # SETTING MPAC TO 0 OR +-1.
+ EXTEND
+ MP MPTEMP # MAJOR OF MPAC X MAJOR OF C(ADDRWD).
+ DAS MPAC # GUARANTEED NO OVERFLOW.
+ TC Q # 49 MCT = .573 MS. INCLUDING RETURN.
+
+# Page 1137
+# ROUND MPAC TO DOUBLE PRECISION, SETTING OVFIND ON THE RARE EVENT OF OVERFLOW.
+
+ROUNDSUB CAF ZERO # SET MPAC +2 = 0 FOR SCALARS AND CHANGE
+ +1 TS MODE # MODE TO DP.
+
+VROUND XCH MPAC +2 # BUT WE NEEDN'T TAKE THE TIME FOR VECTORS.
+ DOUBLE
+ TS L
+ TC Q
+
+ AD MPAC +1 # ADD ROUDING BIT IF MPAC +2 WAS GREATER
+ TS MPAC +1 # THAN .5 IN MAGNITUDE.
+ TC Q
+
+ AD MPAC # PROPAGATE INTERFLOW.
+ TS MPAC
+ TC Q
+
+SETOVF2 TS OVFIND # (RARE).
+ TC Q
+
+# Page 1138
+# THE DOT PRODUCT SUBROUTINE USUALLY FORMS THE DOT PRODUCT OF THE VECTOR IN MPAC WITH A STANDARD SIX
+# REGISTER VECTOR WHOSE ADDRESS IS IN ADDRWD. IN THIS CASE C(DOTINC) ARE SET TO 2. VXM, HOWEVER, SETS C(DOTINC) TO
+# 6 SO THAT DOTSUB DOTS MPAC WITH A COLUMN VECTOR OF THE MATRIX IN QUESTION IN THIS CASE.
+
+PREDOT CAF TWO # PROLOGUE TO SET DOTINC TO 2.
+ TS DOTINC
+
+DOTSUB EXTEND
+ QXCH DOTRET # SAVE RETURN
+ TC DMPSUB # DOT X COMPONENTS.
+ DXCH MPAC +3 # POSITION Y COMPONENT OF MPAC FOR
+ DXCH MPAC # MULTIPLICATION WHILE SAVING RESULT IN
+ DXCH BUF # THREE WORD BUFFER, BUF.
+ CA MPAC +2
+ TS BUF +2
+
+ CA DOTINC # ADVANCE ADDRWD TO Y COMPONENT OF
+ ADS ADDRWD # OTHER ARGUMENT.
+ TC DMPSUB
+ DXCH MPAC +1 # ACCUMULATE PARTIAL PRODUCTS.
+ DAS BUF +1
+ AD MPAC
+ AD BUF
+ TS BUF
+ TCF +2
+ TS OVFIND # IF OVERFLOW OCCURS.
+
+ DXCH MPAC +5 # MULTIPLY Z COMPONENTS.
+ DXCH MPAC
+ CA DOTINC
+ ADS ADDRWD
+ TC DMPSUB
+ENDDOT DXCH BUF +1 # LEAVE FINAL ACCUMULATION IN MPAC.
+ DAS MPAC +1
+ AD MPAC
+ AD BUF
+ TS MPAC
+ TC DOTRET
+
+ TC OVERFLOW # ON OVERFLOW HERE.
+ TC DOTRET
+
+# Page 1139
+# DOUBLE PRECISION POLYNOMIAL EVALUATOR
+# N N-1
+# THIS ROUTINE EVALUATES A X + A X + ... + A X + A LEAVING THE DP RESULT IN MPAC ON EXIT.
+# N N-1 1 0
+#
+# THE ROUTINE HAS TWO ENTRIES
+#
+# 1 ENTRY THRU POWRSERS. THE COEFFICIENTS MAY BE EITHER IN FIXED OR ERASABLE E. THE CALL IS BY
+# TC POWRSERS, AND THE RETURN IS TO LOC(TC POWRSERS)+1. THE ENTERING DATA MUST BE AS FOLLOWS:
+# A SP LOC-3 ADDRESS FOR REFERENCING COEF TABLE
+# L SP N-1 N IS THE DEGREE OF THE POWER SERIES
+# MPAC DP X ARGUMENT
+# LOC-2N DP A(0)
+# ...
+# LOC DP A(N)
+#
+# 2. ENTRY THRU POLY. THE CALL TO POLY AND THE ENTERING DATA MUST BE AS FOLLOWS
+# MPAC DP X ARGUMENT
+# LOC TC POLY
+# LOC+1 DP A(0)
+# ...
+# LOC+2N+2 DP A(N) RETURN IS TO LOC+2N+4
+
+POWRSERS EXTEND
+ QXCH POLYRET # RETURN ADDRESS
+ TS POLISH # POWER SERIES ADDRESS
+ LXCH POLYCNT # N-1 TO COUNTER
+ TCF POLYCOM # SKIP SET UP BY POLY
+
+POLY INDEX Q
+ # Was CAF --- RSB 2009.
+ CA 0
+ TS POLYCNT # N-1 TO COUNTER
+ DOUBLE
+ AD Q
+ TS POLISH # L(A(N))-3 TO POLISH
+ AD FIVE
+ TS POLYRET # STORE RETURN ADDRESS
+
+POLYCOM CAF LVBUF # INCOMING X WILL BE MOVED TO VBUF, SO
+ TS ADDRWD # SET ADDRWD SO DMPSUB WILL MPY BY VBUF.
+
+ EXTEND
+ INDEX POLISH
+ DCA 3
+
+# Page 1140
+ DXCH MPAC # LOAD A(N) INTO MPAC
+ DXCH VBUF # SAVING X IN VBUF
+ TCF POLY2
+
+POLYLOOP TS POLYCNT # SAVE DECREMENTD LOOP COUNTER
+ CS TWO
+ ADS POLISH # REGRESS COEFFICIENT POINTER
+
+POLY2 TC DMPSUB # MULTIPLY BY X
+ EXTEND
+ INDEX POLISH
+ DCA 1 # ADD IN NEXT COEFFICIENT
+ DAS MPAC # USER'S RESPONSIBILITY TO ASSURE NO OVFLOW
+
+ CCS POLYCNT
+ TCF POLYLOOP
+ TC POLYRET # RETURN CALLER
+
+# Page 1141
+# MISCELLANEOUS MULTI-PRECISION ROUTINES REQUIRED IN FIXED-FIXED BUT NOT USED BY THE INTERPRETER.
+
+DPAGREE CAF ZERO # DOUBLE PRECISION ENTRY --
+ TS MPAC +2 # ZERO LOW-ORDER WORD
+
+TPAGREE LXCH Q # FORCE SIGN AGREEMENT AMONG THE TRIPLE
+ TC BRANCH # PRECISION CONTENTS OF MPAC. RETURNING
+ TCF ARG+ # WITH SIGNUM OF THE INPUT IN A.
+ TCF ARGZERO
+
+ CS POSMAX # IF NEGATIVE.
+ TCF +2
+
+ARG+ CAF POSMAX
+ TS Q
+ EXTEND
+ AUG A # FORMS +-1.0.
+ AD MPAC +2
+ TS MPAC +2
+ CAF ZERO
+ AD Q
+ AD MPAC +1
+ TS MPAC +1
+ CAF ZERO
+ AD Q # Q STILL HAS POSMAX OR NEGMAX IN IT.
+ AD MPAC
+ARGZERO2 TS MPAC # ALWAYS SKIPPING UNLESS ARGZERO.
+ TS MPAC +1
+ TC L # RETURN VIA L.
+
+ARGZERO TS MPAC +2 # SET ALL THREE MPAC REGISTERS TO ZERO.
+ TCF ARGZERO2
+
+# SHORTMP MULTIPLIES THE TP CONTENTS OF MPAC BY THE SINGLE PRECISION NUMBER ARRIVING IN A.
+
+SHORTMP TS MPTEMP
+ EXTEND
+ MP MPAC +2
+ TS MPAC +2
+SHORTMP2 CAF ZERO # SO SUBSEQUENT DAS WILL WORK.
+ XCH MPAC +1
+ TCF DMPSUB2
+
+# Page 1142
+# DMPNSUB MULTIPLIES THE DP FRACTION ARRIVING IN MPAC BY THE SP
+# INTEGER ARRIVING IN A. THE DP PRODUCT DEPARTS BOTH IN MPAC AND IN
+# A AND L. NOTE THAT DMPNSUB NORMALLY INCREASES THE MAGNITUDE OF THE
+# CONTENTS OF MPAC. THE CUSTOMER MUST INSURE THAT B(A) X B(MPAC,MPAC+1)
+# AND B(A) X B(MPAC) ARE LESS THAN 1 IN MAGNITUDE, WHERE B, AS IS OBVIOUS,
+# INDICATES THE ARRIVING CONTENTS.
+
+DMPNSUB TS DMPNTEMP
+ EXTEND
+ MP MPAC +1
+ DXCH MPAC # LOW PRODUCT TO MPAC, HIGH FACTOR TO A
+ EXTEND
+ MP DMPNTEMP
+ CA L
+ ADS MPAC # COMPLETING THE PRODUCT IN MPAC
+ EXTEND
+ DCA MPAC # BRINGING THE PRODUCT INTO A AND L
+ TC Q
+
+# Page 1143
+# MISCELLANEOUS VECTOR OPERATIONS. INCLUDED HERE ARE THE FOLLOWING.
+# 1. DOT DP VECTOR DOT PRODUCT.
+# 2. VXV DP VECTOR CROSS PRODUCT.
+# 3. VXSC DP VECTOR TIMES SCALAR.
+# 4. V/SC DP VECTOR DIVIDED BY SCALAR.
+# 5. VPROJ DP VECTOR PROJECTION. ( (MPAC.X)MPAC ).
+# 6. VXM DP VECTOR POST-MULTIPLIED BY MATRIX.
+# 7. MXV DP VECTOR PRE-MULTIPLIED BY MATRIX.
+
+DOT TC PREDOT # DO THE DOT PRODUCT AND EXIT, CHANGING
+DMODE CAF ZERO # THE MODE TO DP SCALAR.
+ TCF NEWMODE
+
+MXV CAF TWO # SET UP MATINC AND DOTINC FOR ROW
+ TS MATINC # VECTORS.
+ TCF VXM/MXV # GO TO COMMON PORTION.
+
+VXM CS TEN # SET MATINC AND DOTINC TO REFER TO MATRIX
+ TS MATINC # AS THREE COLUMN VECTORS.
+ CAF SIX
+
+# Page 1144
+# COMMON PORTION OF MXV AND VXM.
+
+VXM/MXV TS DOTINC
+
+# ITRACE (2) REFERS TO "VXM/MXV".
+
+ TC MPACVBUF # SAVE VECTOR IN MPAC FOR FURTHER USE.
+
+ TC DOTSUB # GO DOT TO GET X COMPONENT OF ANSWER.
+ EXTEND
+ DCA VBUF # MOVE MPAC VECTOR BACK INTO MPAC, SAVING
+ DXCH MPAC # NEW X COMPONENT IN BUF2.
+ DXCH BUF2
+ EXTEND
+ DCA VBUF +2
+ DXCH MPAC +3
+ EXTEND
+ DCA VBUF +4
+ DXCH MPAC +5
+ CA MATINC # INITIALIZE ADDRWD FOR NEXT DOT PRODUCT.
+ ADS ADDRWD # FORMS HAS ADDRESS OF NEXT COLUMN(ROW).
+
+ TC DOTSUB
+ DXCH VBUF # MORE GIVEN VECTOR BACK TO MPAC, SAVING Y
+ DXCH MPAC # COMPONENT OF ANSWER IN VBUF +2.
+ DXCH VBUF +2
+ DXCH MPAC +3
+ DXCH VBUF +4
+ DXCH MPAC +5
+ CA MATINC # FORM ADDRESS OF LAST COLUMN OR ROW.
+ ADS ADDRWD
+
+ TC DOTSUB
+ DXCH BUF2 # ANSWER NOW COMPLETE. PUT COMPONENTS INTO
+ DXCH MPAC # PROPER MPAC REGISTERS.
+ DXCH MPAC +5
+ DXCH VBUF +2
+ DXCH MPAC +3
+ TCF DANZIG # EXIT.
+
+# Page 1145
+# VXSC -- VECTOR TIMES SCALAR.
+
+VXSC CCS MODE # TEST PRESENT MODE.
+ TCF DVXSC # SEPARATE ROUTINE WHEN SCALAR IS IN MPAC.
+ TCF DVXSC
+
+VVXSC TC DMPSUB # COMPUTE X COMPONENT
+ TC VROUND # AND ROUND IT.
+ DXCH MPAC +3 # PUT Y COMPONENT INTO MPAC SAVING MPAC IN
+ DXCH MPAC # MPAC +3.
+ DXCH MPAC +3
+
+ TC DMPSUB # DO SAME FOR Y AND Z COMPONENTS.
+ TC VROUND
+ DXCH MPAC +5
+ DXCH MPAC
+ DXCH MPAC +5
+
+ TC DMPSUB
+ TC VROUND
+VROTATEX DXCH MPAC # EXIT USED TO RESTORE MPAC AFTER THIS
+ DXCH MPAC +5 # TYPE OF ROTATION. CALLED BY VECTOR SHIFT
+ DXCH MPAC +3 # RIGHT, V/SC, ETC.
+ DXCH MPAC
+ TCF DANZIG
+
+# Page 1146
+# DP VECTOR PROJECTION ROUTINE.
+
+VPROJ TC PREDOT # (MPAC.X)MPAC IS COMPUTED AND LEFT IN
+ CS FOUR # MPAC. DO DOT AND FALL INTO DVXSC.
+ ADS ADDRWD
+
+# VXSC WHEN SCALAR ARRIVES IN MPAC AND VECTOR IS AT X.
+
+DVXSC EXTEND # SAVE SCALAR IN MPAC +3 AND GET X
+ DCA MPAC # COMPONENT OF ANWER.
+ DXCH MPAC +3
+ TC DMPSUB
+ TC VROUND
+
+ CAF TWO # ADVANCE ADDRWD TO Y COMPONENT OF X.
+ ADS ADDRWD
+ EXTEND
+ DCA MPAC +3 # PUT SCALAR BACK INTO MPAC AND SAVE
+ DXCH MPAC # X RESULT IN MPAC +5.
+ DXCH MPAC +5
+ TC DMPSUB
+ TC VROUND
+
+ CAF TWO
+ ADS ADDRWD # TO Z COMPONENT.
+ DXCH MPAC +3 # BRING SCALAR BACK, PUTTING Y RESULT IN
+ DXCH MPAC # THE PROPER PLACE.
+ DXCH MPAC +3
+ TC DMPSUB
+ TC VROUND
+
+ DXCH MPAC # PUT Z COMPONENT IN PROPER PLACE, ALSO
+ DXCH MPAC +5 # POSITIONING X.
+ DXCH MPAC
+
+ TCF VMODE # MODE HAS CHANGED TO VECTOR.
+
+# Page 1147
+# VECTOR CROSS PRODUCT ROUTINE CALCULATES (X M -X M ,X M -X M ,X M -X M ) WHERE M IS THE VECTOR IN
+# 3 2 2 3 1 3 3 1 2 1 1 2
+# MPAC AND X THE VECTOR AT THE GIVEN ADDRESS.
+
+VXV EXTEND
+ DCA MPAC +5 # FORM UP M3X1, LEAVING M1 IN VBUF.
+ DXCH MPAC
+ DXCH VBUF
+ TC DMPSUB # BY X1.
+
+ EXTEND
+ DCS MPAC +3 # CALCULATE -X1M2, SAVING X1M3 IN VBUF +2.
+ DXCH MPAC
+ DXCH VBUF +2
+ TC DMPSUB
+
+ CAF TWO # ADVANCE ADDRWD TO X2.
+ ADS ADDRWD
+ EXTEND
+ DCS MPAC +5 # PREPARE TO GET -X2M3, SAVING -X1M2 IN
+ DXCH MPAC # MPAC +5.
+ DXCH MPAC +5
+ TC DMPSUB
+
+ EXTEND
+ DCA VBUF # GET X2M1, SAVING -X2M3 IN VBUF +4.
+ DXCH MPAC
+ DXCH VBUF +4
+ TC DMPSUB
+
+ CAF TWO # ADVANCE ADDRWD TO X3.
+ ADS ADDRWD
+ EXTEND
+ DCS VBUF # GET -X3M1, ADDING X2M1 TO MPAC +5 TO
+ DXCH MPAC # COMPLETE THE Z COMPONENT OF THE ANSWER.
+ DAS MPAC +5
+
+ EXTEND
+ BZF +2
+ TC OVERFLWZ
+
+ TC DMPSUB
+ DXCH VBUF +2 # MOVE X1M3 TO MPAC +3 SETTING UP FOR X3M2
+ DXCH MPAC +3 # AND ADD -X3M1 TO MPAC +3 TO COMPLETE THE
+ DXCH MPAC # Y COMPONENT OF THE RESULT.
+ DAS MPAC +3
+
+ EXTEND
+ BZF +2
+# Page 1148
+ TC OVERFLWY
+
+ TC DMPSUB
+ DXCH VBUF +4 # GO ADD -X2M3 TO X3M2 TO COMPLETE THE X
+ TCF ENDVXV # COMPONENT (TAIL END OF DAD).
+
+# THE MPACVBUF SUBROUTINE SAVES THE VECTOR IN MPAC IN VBUF WITHOUT CLOBBERING MPAC.
+
+MPACVBUF EXTEND # CALLED BY MXV, VXM, AND UNIT.
+ DCA MPAC
+ DXCH VBUF
+ EXTEND
+ DCA MPAC +3
+ DXCH VBUF +2
+ EXTEND
+ DCA MPAC +5
+ DXCH VBUF +4
+ TC Q # RETURN TO CALLER.
+
+# DOUBLE PRECISION SIGN AGREE ROUTINE. ARRIVE WITH INPUT IN A+L. OUTPUT IS IN A + L.
+
+ALSIGNAG CCS A # TEST UPPER PART.
+ TCF UPPOS # IT IS POSITIVE
+ TC Q # ZERO
+ TCF UPNEG # NEGATIVE
+ TC Q # ZERO
+
+UPPOS XCH L # SAVE DECREMENTED UPPER PART.
+ AD HALF
+ AD HALF
+ TS A # SKIPS ON OVERFLOW
+ TCF +2
+ INCR L # RESTORE UPPER TO ORIGINAL VALUE
+ XCH L # SWAP A + L BANCK.
+ TC Q
+
+UPNEG XCH L # SAVE COMPLEMENTED + DECREMENTED UPPER PT
+ AD NEGMAX
+ AD NEGONE
+ TS A
+ TCF +2 # DON'T INCREMENT IF NO OVERFLOW.
+ INCR L
+ XCH L
+ COM # MAKE NEGATIVE AGAIN.
+ TC Q
+
+# Page 1149
+# INTERPRETIVE INSTRUCTIONS WHOSE EXECUTION CONSISTS OF PRINCIPALLY CALLING SUBROUTINES.
+
+DMP1 TC DMPSUB # DMP INSTRUCTIONS
+ TCF DANZIG
+
+DMPR TC DMPSUB
+ TC ROUNDSUB +1 # (C(A) = +0).
+ TCF DANZIG
+
+DDV EXTEND
+ INDEX ADDRWD # MOVE DIVIDENT INTO BUF.
+ DCA 0
+ TCF BDDV +4
+
+BDDV EXTEND # MOVE DIVISOR INTO MPAC SAVING MPAC, THE
+ INDEX ADDRWD # DIVIDEND, IN BUF.
+ DCA 0
+ DXCH MPAC
+ +4 DXCH BUF
+ CAF ZERO # DIVIDE ROUTINES IN BANK 0.
+ TS FBANK
+ TCF DDV/BDDV
+
+SETPD CA ADDRWD # MUST SET TO WORK AREA, OR EBANK TROUBLE.
+ TS PUSHLOC
+ TCF NOIBNKSW # NO FBANK SWITCH REQUIRED.
+
+TSLC CAF ZERO # SHIFTING ROUTINES LOCATED IN BANK 00.
+ TS FBANK
+ TCF TSLC2
+
+GSHIFT CAF LOW7 # USED AS MASK AT GENSHIFT. THIS PROCESSES
+ TS FBANK # ANY SHIFT INSTRUCTION (EXCEPT TSLC) WITH
+ TCF GENSHIFT # AN ADDRESS (ROUTINES IN BANK 0).
+
+# Page 1150
+# THE FOLLOWING IS THE PROLOGUE TO V/SC. IF THE PRESENT MODE IS VECTOR, IT SAVES THE SCALAR AT X IN BUF
+# AND CALLS THE V/SC ROUTINE IN BANK 0. IF THE PRESENT MODE IS SCALAR, IT MOVES THE VECTOR AT X INTO MPAC, SAVING
+# THE SCALAR IN MPAC IN BUF BEFORE CALLING THE V/SC ROUTINE IN BANK 0.
+
+V/SC CCS MODE
+ TCF DV/SC # MOVE VECTOR INTO MPAC.
+ TCF DV/SC
+
+VV/SC EXTEND
+ INDEX ADDRWD
+ DCA 0
+V/SC1 DXCH BUF # IN BOTH CASES, VECTOR IS NOW IN MPAC AND
+ CAF ZERO # SCALAR IN BUF.
+ TS FBANK
+ TCF V/SC2
+
+DV/SC EXTEND
+ INDEX ADDRWD
+ DCA 2
+ DXCH MPAC +3
+ EXTEND
+ INDEX ADDRWD
+ DCA 4
+ DXCH MPAC +5
+
+ CS ONE # CHANGE MODE TO VECTOR.
+ TS MODE
+
+ EXTEND
+ INDEX ADDRWD
+ DCA 0
+ DXCH MPAC
+ TCF V/SC1
+
+# Page 1151
+# SIGN AND COMPLEMENT INSTRUCTIONS.
+
+SIGN INDEX ADDRWD # CALL COMP INSTRUCTION IF WORD AT X IS
+ CCS 0 # NEGATIVE NON-ZERO.
+ TCF DANZIG
+ TCF +2
+ TCF COMP # DO THE COMPLEMENT.
+
+ INDEX ADDRWD
+CCSL CCS 1
+ TCF DANZIG
+ TCF DANZIG
+ TCF COMP
+ TCF DANZIG
+COMP EXTEND # COMPLEMENT DP MPAC IN EVERY CASE.
+ DCS MPAC
+ DXCH MPAC
+
+ CCS MODE # EITHER COMPLEMENT MPAC +3 OR THE REST OF
+ TCF DCOMP # THE VECTOR ACCUMULATOR.
+ TCF DCOMP
+
+ EXTEND # VECTOR COMPLEMENT.
+ DCS MPAC +3
+ DXCH MPAC +3
+ EXTEND
+ DCS MPAC +5
+ DXCH MPAC +5
+ TCF DANZIG
+
+DCOMP CS MPAC +2
+ TS MPAC +2
+ TCF DANZIG
+
+# Page 1152
+# THE FOLLOWING SHORT SHIFT CODES REQUIRE NO ADDRESS WORD:
+# 1. SR1 TO SR4 SCALAR SHIFT RIGHT.
+# 2. SR1R TO SR4R SCALAR SHIFT RIGHT AND ROUND.
+# 3. SL1 TO SL4 SCALAR SHIFT LEFT.
+# 4. SL1R TO SL4R SCALAR SHIFT LEFT AND ROUND.
+# 5. VSR1 TO VSR8 VECTOR SHIFT RIGHT (ALWAYS ROUNDS).
+# 6. VSL1 TO VSL8 VECTOR SHIFT LEFT (NEVER ROUNDS).
+# THE FOLLOWING CODES REQUIRE AN ADDRESS WHICH MAY BE INDEXED:*
+# 1. SR SCALAR SHIFT RIGHT.
+# 2. SRR SCALAR SHIFT RIGHT AND ROUND.
+# 3. SL SCALAR SHIFT LEFT.
+# 4. SLR SCALAR SHIFT LEFT AND ROUND.
+# 5. VSR VECTOR SHIFT RIGHT.
+# 6. VSL VECTOR SHIFT LEFT.
+# * IF THE ADDRESS IS INDEXED, AND THE INDEX MODIFICATION RESULTS IN A NEGATIVE SHIFT COUNT, A SHIFT OF THE
+# ABSOLUTE VALUE OF THE COUNT IS DONE IN THE OPPOSITE DIRECTION.
+
+ BANK 00
+
+ COUNT 00/INTER
+
+SHORTT CAF SIX # SCALAR SHORT SHIFTS COME HERE. THE SHIFT
+ MASK CYR # COUNT-1 IS NOW IN BITS 2-3 OF CYR. THE
+ TS SR # ROUNDING BIT IS IN BIT1 AT THIS POINT.
+
+ CCS CYR # SEE IF RIGHT OR LEFT SHIFT DESIRED.
+ TCF TSSL # SHIFT LEFT.
+
+SRDDV DEC 20 # MPTEMP SETTING FOR SR BEFORE DDV.
+
+TSSR INDEX SR # GET SHIFTING BIT.
+ CAF BIT14
+ TS MPTEMP
+
+ CCS CYR # SEE IF A ROUND IS DESIRED.
+RIGHTR TC MPACSRND # YES -- SHIFT RIGHT AND ROUND.
+ TCF NEWMODE # SET MODE TO DP (C(A) = 0).
+MPACSHR CA MPTEMP # DO A TRIPLE PRECISION SHIFT RIGHT.
+ EXTEND
+ MP MPAC +2
+ +3 TS MPAC +2 # (EXIT FROM SQRT AND ABVAL).
+ CA MPTEMP
+ EXTEND
+# Page 1153
+ MP MPAC # SHIFT MAJOR PART INTO A,L AND PLACE IN
+ DXCH MPAC # MPAC,+1.
+ CA MPTEMP
+ EXTEND
+ MP L # ORIGINAL C(MPAC +1).
+ DAS MPAC +1 # GUARANTEED NO OVERFLOW.
+ TCF DANZIG
+
+# MPAC SHIFT RIGHT AND ROUND SUBROUTINES
+
+MPACSRND CA MPAC +2 # WE HAVE TO DO ALL THREE MULTIPLIES SINCE
+ EXTEND # MPAC +1 AND MPAC +2 MIGHT HAVE SIGN
+ MP MPTEMP # DISAGREEMENT WITH A SHIFT RIGHT OF L.
+ XCH MPAC +1
+ EXTEND
+ MP MPTEMP
+ XCH MPAC +1 # TRIAL MINOR PART.
+ AD L
+
+VSHR2 DOUBLE # (FINISH VECTOR COMPONENT SHIFT RIGHT
+ TS MPAC +2 # AND ROUND.)
+ TCF +2
+ ADS MPAC +1 # GUARANTEED NO OVERFLOW.
+
+ CAF ZERO
+ TS MPAC +2
+ XCH MPAC # SETTING TO ZERO SO FOLLOWING DAS WORKS.
+ EXTEND
+ MP MPTEMP
+ DAS MPAC # AGAIN NO OVERFLOW.
+ TC Q
+
+VSHRRND CA MPTEMP # ENTRY TO SHIFT RIGHT AND ROUND MPAC WHEN
+ EXTEND # MPAC CONTAINS A VECTOR COMPONENT.
+ MP MPAC +1
+ TS MPAC +1
+ XCH L
+ TCF VSHR2 # GO ADD ONE IF NECESSARY AND FINISH.
+
+# Page 1154
+# ROUTINE FOR SHORT SCALAR SHIFT LEFT (AND MAYBE ROUND).
+
+TSSL CA SR # GET SHIFT COUNT FOR SR.
+ +1 TS MPTEMP
+
+ +2 EXTEND # ENTRY HERE FROM SL FOR SCALARS.
+ DCA MPAC +1 # SHIFTING LEFT ONE PLACE AT A TIME IS
+ DAS MPAC +1 # FASTER THAN DOING THE WHOLE SHIFT WITH
+ AD MPAC # MULTIPLIES ASSUMING THAT FREQUENCY OF
+ AD MPAC # SHIFT COUNTS GOES DOWN RAPIDLY AS A
+ TS MPAC # FUNCTION OF THEIR MAGNITUDE.
+ TCF +2
+ TS OVFIND # OVERFLOW. (LEAVES OVERFLOW-CORRECTED
+ # RESULT ANYWAY).
+ CCS MPTEMP # LOOP ON DECREMENTED SHIFT COUNT.
+ TCF TSSL +1
+
+ CCS CYR # SEE IF ROUND WANTED.
+ROUND TC ROUNDSUB # YES -- ROUND AND EXIT.
+ TCF DANZIG # SL LEAVES A ZERO IN CYR FOR NO ROUND.
+ TCF DANZIG # NO -- EXIT IMMEDIATELY
+
+# Page 1155
+# VECTOR SHIFTING ROUTINES.
+
+SHORTV CAF LOW3 # SAVE 3 BIT SHIFT COUNT -- 1 WITHOUT
+ MASK CYR # EDITING CYR.
+ TS MPTEMP
+ CCS CYR # SEE IF LEFT OR RIGHT SHIFT.
+ TCF VSSL # VECTOR SHIFT LEFT.
+OCT176 OCT 176 # USED IN PROCESSED SHIFTS WITH - COUNT.
+
+VSSR INDEX MPTEMP # (ENTRY FROM SR). PICK UP SHIFTING BIT.
+ CAF BIT14 # MPTEMP CONTAINS THE SHIFT COUNT - 1.
+ TS MPTEMP
+ TC VSHRRND # SHIFT X COMPONENT.
+
+ DXCH MPAC # SWAP X AND Y COMPONENTS.
+ DXCH MPAC +3
+ DXCH MPAC
+ TC VSHRRND # SHIFT Y COMPONENT.
+
+ DXCH MPAC # SWAP Y AND Z COMPONENTS.
+ DXCH MPAC +5
+ DXCH MPAC
+ TC VSHRRND # SHIFT Z COMPONENT.
+
+ TCF VROTATEX # RESTORE COMPONENTS TO PROPER PLACES.
+
+# Page 1156
+# VECTOR SHIFT LEFT -- DONE ONE PLACE AT A TIME.
+
+ -1 TS MPTEMP # SHIFTING LOOP.
+
+VSSL EXTEND
+ DCA MPAC
+ DAS MPAC
+ EXTEND
+ BZF +2
+ TC OVERFLOW
+
+ EXTEND
+ DCA MPAC +3
+ DAS MPAC +3
+ EXTEND
+ BZF +2
+ TC OVERFLWY
+
+ EXTEND
+ DCA MPAC +5
+ DAS MPAC +5
+ EXTEND
+ BZF +2
+ TC OVERFLWZ
+
+ CCS MPTEMP # LOOP ON DECREMENTED SHIFT COUNTER.
+ TCF VSSL -1
+ TCF DANZIG # EXIT.
+
+# Page 1157
+# TSLC -- TRIPLE SHIFT LEFT AND COUNT. SHIFTS MPAC LEFT UNTIL GREATER THAN .5 IN MAGNITUDE, LEAVING
+# THE COMPLEMENT OF THE NUMBER OF SHIFTS REQUIRED IN X.
+
+TSLC2 TS MPTEMP # START BY ZEROING SHIFT COUNT (IN A NOW).
+ TC BRANCH # EXIT WITH NO SHIFTING IF ARGUMENT ZERO.
+ TCF +2
+ TCF ENDTSLC # STORES ZERO SHIFT COUNT IN THIS CASE.
+
+ TC TPAGREE # MAY CAUSE UPSHIFT OF ONE EXTRA PLACE.
+
+ CA MPAC # BEGIN NORMALIZATION LOOP.
+ TCF TSLCTEST
+
+TSLCLOOP INCR MPTEMP # INCREMENT SHIFT COUNTER.
+ EXTEND
+ DCA MPAC +1
+ DAS MPAC +1
+ AD MPAC
+ ADS MPAC
+TSLCTEST DOUBLE # SEE IF (ANOTHER) SHIFT IS REQUIRED
+ OVSK
+ TCF TSLCLOOP # YES -- INCREMENT COUNT AND SHIFT AGAIN.
+
+ENDTSLC CS MPTEMP
+ TCF STORE1 # STORE SHIFT COUNT AND RETURN TO DANZIG.
+
+# Page 1158
+# THE FOLLOWING ROUTINE PROCESSES THE GENERAL SHIFT INSTRUCTIONS SR, SRR, SL, AND SLR.
+# THE GIVEN ADDRESS IS DECODED AS FOLLOWS:
+# BITS 1-7 SHIFT COUNT (SUBADDRESS) LESS THAN 125 DECIMAL.
+# BIT 8 PSEUDO SIGN BIT (DETECTS CHANGE IN SIGN IN INDEXED SHIFTS).
+# BIT 9 0 FOR LEFT SHIFT, AND 1 FOR RIGHT SHIFT.
+# BIT 10 1 FOR TERMINAL ROUND ON SCALAR SHIFTS, 0 OTHERWISE
+# BITS 11-13 0.
+# BIT 14 1.
+# BIT 15 0.
+# THE ABOVE ENCODING IS DONE BY THE YUL SYSTEM.
+
+GENSHIFT MASK ADDRWD # GET SHIFT COUNT, TESTING FOR ZERO.
+ CCS A # (ARRIVES WITH C(A) = LOW7).
+ TCF GENSHFT2 # IF NON-ZERO, PROCEED WITH DECREMENTED CT
+
+ CAF BIT10 # ZERO SHIFT COUNT. NO SHIFTS NEEDED BUT
+ MASK ADDRWD # WE MIGHT HAVE TO ROUND MPAC ON SLR AND
+ CCS A # SRR (SCALAR ONLY).
+ TC ROUNDSUB
+ TCF DANZIG
+
+GENSHFT2 TS MPTEMP # DECREMENTED SHIFT COUNT TO MPTEMP.
+ CAF BIT8 # TEST MEANING OF LOW SEVEN BIT COUNT IN
+ EXTEND # MPTEMP NOW.
+ MP ADDRWD
+ MASK LOW2 # JUMPS ON SHIFT DIRECTION (BIT8) AND
+ INDEX A
+ TCF +1 # ORIGINAL SHIFT DIRECTION (BIT 9)
+ TCF RIGHT- # NEGATIVE SHIFT COUNT FOR SL OR SLR.
+ TCF LEFT # SL OR SLR.
+ TCF LEFT- # NEGATIVE SHIFT COUNT WITH SR OR SRR.
+
+# Page 1159
+# GENERAL SHIFT RIGHT
+
+RIGHT CCS MODE # SET IF VECTOR OR SCALAR.
+ TCF GENSCR
+ TCF GENSCR
+
+ CA MPTEMP # SEE IF SHIFT COUNT LESS THAN 14D.
+VRIGHT2 AD NEG12
+ EXTEND
+ BZMF VSSR # IF SO, BRANCH AND SHIFT IMMEDIATELY.
+
+ AD NEGONE # IF NOT, REDUCE MPTEMP BY A TOTAL OF 14.
+ TS MPTEMP # AND DO A SHIFT RIGHT AND ROUND BY 14.
+ CAF ZERO # THE ROUND AT THIS STAGE MAY INTRODUCE A
+ TS L # ONE BIT ERROR IN A SHIFT RIGHT 15D.
+ XCH MPAC
+ XCH MPAC +1
+ TC SETROUND # X COMPONENT NOW SHIFTED, SO MAKE UP THE
+ DAS MPAC # ROUNDING QUANTITY (0 IN A AND 0 OR +-1
+ # IN L).
+ XCH MPAC +3 # REPEAT THE ABOVE PROCESS FOR Y AND Z/
+ XCH MPAC +4
+ TC SETROUND
+ DAS MPAC +3 # NO OVERFLOW ON THESE ADDS.
+
+ XCH MPAC +5
+ XCH MPAC +6
+ TC SETROUND
+ DAS MPAC +5
+
+ CCS MPTEMP # SEE IF DONE, DOING FINAL DECREMENT.
+ TS MPTEMP
+ TCF VRIGHT2
+BIASLO DEC .2974 B-1 # SQRT CONSTANT
+
+ TCF DANZIG
+
+SETROUND DOUBLE # MAKES UP ROUNDING QUANTITY FROM ARRIVING
+ TS MPAC +2 # C(A). L IS ZERO INITIALLY.
+ CAF ZERO
+ XCH L
+ TC Q # RETURN AND DO THE DAS, RESETTING L TO 0.
+
+# Page 1160
+# PROCESS SR AND SRR FOR SCALARS.
+
+GENSCR CA MPTEMP # SEE IF THE ORIGINAL SHIFT COUNT WAS LESS
+ +1 AD NEG12 # THAN 14D.
+ EXTEND
+ BZMF DOSSHFT # DO THE SHIFT IMMEDIATELY IF SO.
+
+ +4 AD NEGONE # IF NOT, DECREMENT SHIFT COUNT BY 14D AND
+ TS MPTEMP # SHIFT MPAC RIGHT 14 PLACES.
+ CAF ZERO
+ XCH MPAC
+ XCH MPAC +1
+ TS MPAC +2
+ CCS MPTEMP # SEE IF FINISHED, DO FINAL DECREMENT.
+ TS MPTEMP
+ TC GENSCR +1
+SLOPEHI DEC .5884 # SQRT CONSTANT.
+ CAF BIT10 # FINISHED WITH SHIFT. SEE IF ROUND
+ MASK ADDRWD # WANTED.
+ CCS A
+ TC ROUNDSUB
+ TCF DANZIG # DO SO AND/OR EXIT.
+
+DOSSHFT INDEX MPTEMP # PICK UP SHIFTING BIT.
+ CAF BIT14
+ TS MPTEMP
+ CAF BIT10 # SEE IF TERMINAL ROUND DESIRED.
+ MASK ADDRWD
+ CCS A
+ TCF RIGHTR # YES.
+ TCF MPACSHR # JUST SHIFT RIGHT.
+
+# Page 1161
+# PROCESS THE RIGHT- (SL(R) WITH A NEGATIVE COUNT), LEFT-, AND LEFT OPTIONS.
+
+RIGHT- CS MPTEMP # GET ABSOLUTE VALUE - 1 OF SHIFT COUNT
+ AD OCT176 # UNDERSTANDING THAT BIT8 (PSEUDO-SIGN)
+ TS MPTEMP # WAS 1 INITIALLY.
+ TCF RIGHT # DO NORMAL SHIFT RIGHT.
+
+LEFT- CS OCT176 # SAME PROLOGUE TO LEFT FOR INDEXED RIGHT
+ AD MPTEMP # SHIFT WHOSE NET SHIFT COUNT IS NEGATIVE
+ COM
+ TS MPTEMP
+
+LEFT CCS MODE # SINCE LEFT SHIFTING IS DONE ONE PLACE AT
+ TCF GENSCL # A TIME, NO COMPARISON WITH 14 NEED BE
+ TCF GENSCL # DONE. FOR SCALARS, SEE IF TERMINAL ROUND
+ TCF VSSL # DESIRED. FOR VECTORS, SHIFT IMMEDIATELY.
+
+GENSCL CS ADDRWD # PUT ROUNDING BIT (BIT 10 OF ADDRWD) INTO
+ EXTEND # BIT 15 OF CYR WHERE THE ROUNDING BIT OF
+ MP BIT6 # A SHORT SHIFT LEFT WOULD BE
+ TS CYR
+ TCF TSSL +2 # DO THE SHIFT.
+
+# Page 1162
+# SCALAR DIVISION INSTRUCTIONS, DDV AND BDDV, ARE EXECUTED HERE. AT THIS POINT, THE DIVIDEND IS IN MPAC
+# AND THE DIVISOR IS IN BUF.
+
+DDV/BDDV CS ONE # INITIALIZATION
+ TS DVSIGN # +-1 FOR POSITIVE QUOTIENT -- -0 FOR NEG.
+ TS DVNORMCT # DIVIDENT NORMALIZATION COUNT.
+ TS MAXDVSW # NEAR-ONE DIVIDE FLAG.
+
+ CCS BUF # FORCE BUF POSITIVE WITH THE MAJOR PART
+ TCF BUFPOS # NON-ZERO.
+ TCF +2
+ TCF BUFNEG
+
+BUFZERO TS MPAC +2 # ZERO THIS.
+ TC TPAGREE # FORCE SIGN AGREEMENT BEFORE OVERFLOW
+
+ CCS MPAC # TEST TO SEE IF MPAC NON-ZERO. (TOO BIG)
+ TCF OVF+ # MAJOR PART OF DIVIDEND IS POSITIVE NON-0
+ TCF +2
+ TCF OVF+ -1 # MAJOR PART OF DIVIDEND IS NEG. NON-ZERO
+
+ XCH BUF +1 # SHIFT DIVIDENT AND DIVISOR LEFT 14
+ XCH BUF
+ XCH MPAC +1
+ XCH MPAC
+ CCS BUF # TRY AGAIN ON FORMER MINOR PART.
+ TCF BUF+
+ TCF +2 # OVERFLOW ON ZERO DIVISOR.
+ TCF BUF-
+
+ CS MPAC # SIGN OF MPAC DETERMINES SIGN OF RESULT.
+SGNDVOVF EXTEND
+ BZMF +2
+ INCR DVSIGN # NEGMAX IN MPAC PERHAPS.
+DVOVF CAF POSMAX # ON DIVISION OVERFLOW OF ANY SORT, SET
+ TS MPAC # SET DP MPAC TO +-POSMAX.
+ TC FINALDV +3
+ CAF ONE # SET OVEFLOW INDICATOR AND EXIT.
+ TS OVFIND
+ TC DANZIG
+
+ -1 INCR DVSIGN
+OVF+ CS BUF +1 # LOAD LOWER ORDER PART OF DIVISOR.
+ TCF SGNDVOVF # GET SIGN OF RESULT.
+
+BUF- EXTEND # IF BUF IS NEGATIVE, COMPLEMENT IT AND
+ DCS BUF # MAINTAIN DVSIGN FOR FINAL QUOTIENT SIGN.
+ DXCH BUF
+ INCR DVSIGN # NOW -0.
+
+# Page 1163
+BUF+ CCS MPAC # FORCE MPAC POSITIVE, CHECKING FOR ZERO
+ TCF MPAC+ # DIVIDEND IN THE PROCESS.
+ TCF +2
+ TCF MPAC-
+ CCS MPAC +1
+ TCF MPAC+
+ TCF DANZIG # EXIT IMMEDIATELY ON ZERO DIVIDEND.
+ TCF MPAC-
+ TCF DANZIG
+
+MPAC- EXTEND # FORCE MPAC POSITIVE AS BUF IN BUF-.
+ DCS MPAC
+ DXCH MPAC
+ INCR DVSIGN # NOW +1 OR -0.
+
+# Page 1164
+MPAC+ CS MPAC # CHECK FOR DIVISION OVERFLOW. IF THE
+ AD NEGONE # MAJOR PART OF THE DIVIDEND IS LESS THAN
+ AD BUF # THE MAJOR PART OF THE DIVISOR BY AT
+ CCS A # LEAST TWO, WE CAN PROCEED IMMEDIATELY
+ TCF DVNORM # WITHOUT NORMALIZATION PRODUCING A DVMAX.
+-1/2+2 OCT 60001 # USED IN SQRTSUB.
+
+ TCF +1 # IF THE ABOVE DOES NOT HOLD, FORCE SIGN
+ CAF HALF # AGREEMENT IN NUMERATOR AND DENOMINATOR
+ DOUBLE # TO FACILITATE OVERFLOW AND NEAR-ONE
+ AD MPAC +1 # CHECKING.
+ TS MPAC +1
+ CAF ZERO
+ AD POSMAX
+ ADS MPAC
+
+ CAF HALF # SAME FOR BUF.
+ DOUBLE
+ AD BUF +1
+ TS BUF +1
+ CAF ZERO
+ AD POSMAX
+ ADS BUF
+
+ CS MPAC # CHECK MAGNITUDE OF SIGN-CORRECTED
+ AD BUF # OPERANDS.
+ CCS A
+ TCF DVNORM # DIVIDE OK -- WILL NOT BECOME MAXOV CASE.
+LBUF2 ADRES BUF2
+ TCF DVOVF # DIVISOR NOT LESS THAN DIVIDEND -- OVF.
+
+ TS MAXDVSW # IF THE MAJOR PARTS OF THE DIVIDEND AND
+ CS MPAC +1 # DIVISOR ARE EQUAL, A SPECIAL APPROXIMA-
+ AD BUF +1 # TION IS USED (PROVIDED THE DIVISION IS
+ EXTEND # POSSIBLE, OF COURSE).
+ BZMF DVOVF
+ TCF DVNORM # IF NO OVERFLOW.
+
+# Page 1165
+BUFNORM EXTEND # ADD -1 TO AUGMENT SHIFT COUNT AND SHIFT
+ AUG DVNORMCT # LEFT ONE PLACE.
+ EXTEND
+ DCA BUF
+ DAS BUF
+
+DVNORM CA BUF # SEE IF DIVISOR NORMALIZED YET.
+ DOUBLE
+ OVSK
+ TCF BUFNORM # NO -- SHIFT LEFT ONE AND TRY AGAIN.
+
+ DXCH MPAC # CALL DIVIDEND NORMALIZATION SEQUENCE
+ INDEX DVNORMCT # PRIOR TO DOING THE DIVIDE.
+ TC MAXTEST
+
+ TS MPAC +2 # RETURNS WITH DIVISION DONE AND C(A) = 0.
+ TCF DANZIG
+
+BUFPOS CCS A
+ TCF BUF+ # TO BUF+ IF BUF IS GREATER THAN +1.
+
+ CS BUF +1 # IF BUF IS +1, FORCING SIGN AGREEMENT
+ EXTEND # MAY CAUSE BUF TO BECOME ZERO.
+ BZMF BUF+ # BRANCH IF SIGNS AGREE.
+
+ CA HALF # SIGNS DISAGREE. FORCE AGREEMENT.
+ +6 DOUBLE
+ ADS BUF +1
+ CA ZERO
+ TS BUF
+ TCF BUFZERO
+
+BUFNEG CCS A
+ TCF BUF- # TO BUF- IF BUF IS LESS THAN -1.
+
+ CA BUF +1 # IF BUF IS -1, FORCING SIGN AGREEMENT
+ EXTEND # MAY CAUSE BUF TO BECOME ZERO.
+ BZMF BUF- # BRANCH IF SIGNS AGREE.
+
+ CS HALF # SIGNS DISAGREE. FORCE AGREEMENT.
+ TCF BUFPOS +6
+
+# Page 1166
+# THE FOLLOWING ARE PROLOGUES TO SHIFT THE DIVIDEND ARRIVING IN A AND L BEFORE THE DIVIDE.
+
+ -21D LXCH SR # SPECIAL PROLOGUE FOR UNIT WHEN THE
+ EXTEND # LENGTH OF THE ARGUMENT WAS NOT LESS THAN
+ MP HALF # .5. IN THIS CASE, EACH COMPONENT MUST BE
+ XCH L # SHIFTED RIGHT ONE TO PRODUCE A HALF-UNIT
+ AD SR # VECTOR.
+ XCH L
+ TCF GENDDV +1 # WITH DP DIVIDEND IN A,L.
+
+ DDOUBL # PROLOGUE WHICH NORMALIZES THE DIVIDEND
+ DDOUBL # WHEN IT IS KNOWN THAT NO DIVISION
+ DDOUBL # OVEFLOW WILL OCCUR.
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DDOUBL
+ DXCH MPAC
+
+MAXTEST CCS MAXDVSW # 0 IF MAJORS MIGHT BE =, -1 OTHERWISE.
+BIASHI DEC .4192 B-1 # SQRT CONSTANTS.
+
+ TCF MAXDV # CHECK TO SEE IF THAY ARE NOW EQUAL.
+
+# Page 1167
+# THE FOLLOWING IS A GENERAL PURPOSE DOUBLE PRECISION DIVISION ROUTINE. IT DIVIDES MPAC BY BUF AND LEAVES
+# THE RESULT IN MPAC. THE FOLLOWING CONDITIONS MUST BE SATISFIED:
+#
+# 1. THE DIVISOR (BUF) MUST BE POSITIVE AND NOT LESS THAN .5.
+#
+# 2. THE DIVIDEND (MPAC) MUST BE POSITIVE WITH THE MAJOR PART OF MPAC STRICTLY LESS THAN THAT OF BUF
+# (A SPECIAL APPROXIMATION, MAXDV, IS USED WHEN THE MAJOR PARTS ARE EQUAL).
+#
+# UNDERSTANDING THAT A/B = Q + S(R/B) WHERE S = 2(-14) AND Q AND R ARE QUOTIENT AND REMAINDER, RESPEC-
+# TIVELY, THE FOLLOWING APPROXIMATION IS OBTAINED BY MULTIPLYING ABOVE AND BELOW BY C - SD AND NEGLECTING TERMS OF
+# ORDER S-SQUARED (POSSIBLY INTRODUCING ERROR INTO THE LOW TWO BITS OF THE RESULT). SIGN AGREEMENT IS UNNECESSARY.
+#
+# A + SB . (R - CD) A + SB
+# ------ = Q + S(------) WHERE Q AND R ARE QUOTIENT AND REMAINDER OF ------ RESPECTIVELY.
+# C + SD ( C } C
+
+GENDDV DXCH MPAC # WE NEED A AND B ONLY FOR FIRST DV.
+ +1 EXTEND # (SPECIAL UNIT PROLOGUE ENTERS HERE).
+ DV BUF # A NOW CONTAINS Q AND L, R.
+ DXCH MPAC
+
+ CS MPAC # FORM DIVIDEND FOR MINOR PART OF RESULT.
+ EXTEND
+ MP BUF +1
+ AD MPAC +1 # OVERFLOW AT THIS POINT IS POSITIVE SINCE
+ OVSK # R IS POSITIVE IN EVERY CASE.
+ TCF +5
+
+ EXTEND # OVERFLOW CAN BE REMOVED BY SUBTRACTING C
+ SU BUF # (BUF) ONCE SINCE R IS ALWAYS LESS THAN C
+ INCR MPAC # IN THIS CASE. INCR COMPENSATES SUBTRACT.
+ TCF +DOWN # (SINCE C(A) IS STILL POSITIVE).
+
+ +5 EXTEND # C(A) CAN BE MADE LESS THAN C IN MAGNI-
+ BZMF -UP # TUDE BY DIMINISHING IT BY C (SINCE C IS
+ # NOT LESS THAN .5) UNLESS C(A) = 0.
+
+# Page 1168
++DOWN EXTEND
+ SU BUF # IF POSITIVE, REDUCE ONLY IF NECESSARY
+ EXTEND # SINCE THE COMPENSATING INCR MIGHT CAUSE
+ BZF +3 # OVERFLOW.
+ EXTEND # DON'T SUBTRACT UNLESS RESULT IS POSITIVE
+ BZMF ENDMAXDV # OR ZERO.
+
+ +3 INCR MPAC # KEEP SUBTRACT HERE AND COMPENSATE.
+ TCF FINALDV
+
+-UP EXTEND # IF ZERO, SET MINOR PART OF RESULT TO
+ BZF FINALDV +3 # ZERO.
+
+ EXTEND # IF NEGATIVE, ADD C TO A, SUBTRACTING ONE
+ DIM MPAC # TO COMPENSATE. DIM IS OK HERE SINCE THE
+ENDMAXDV AD BUF # MAJOR PART NEVER GOES NEGATIVE.
+
+# Page 1169
+FINALDV ZL # DO DV TO OBTAIN MINOR PART OF RESULT.
+ EXTEND
+ DV BUF
+ +3 TS MPAC +1
+
+ CCS DVSIGN # LEAVE RESULT POSITIVE UNLESS C(DVSIGN).
+ TC Q
+ TC Q
+ TC Q
+
+ EXTEND
+ DCS MPAC
+ DXCH MPAC
+ CAF ZERO # SO WE ALWAYS RETURN WITH C(A) = 0.
+ TC Q
+
+# Page 1170
+# IF THE MAJOR PARTS OF THE DIVISOR AND DIVIDEND ARE EQUAL, BUT THE MINOR PARTS ARE SUCH THAT THE
+# DIVIDEND IS STRICTLY LESS THAN THE DIVISOR IN MAGNITUDE, THE FOLLOWING APPROXIMATION IS USED. THE ASSUMPTIONS
+# ARE THE SAME AS THE GENERAL ROUTINE WITH THE ADDITION THAT SIGN AGREEMENT IS NECESSARY (B, C, & D POSITIVE).
+#
+# C + SB . (C + B - D)
+# ------ = 37777 + S(---------)
+# C + SD ( C )
+#
+# THE DIVISION MAY BE PERFORMED IMMEDIATELY SINCE B IS STRICTLY LESS THAN D AND C IS NOT LESS THAN .5.
+
+MAXDV CS MPAC # SEE IF MAXDV CASE STILL HOLDS AFTER
+ AD BUF # NORMALIZATION.
+ EXTEND
+ BZF +2
+ TCF GENDDV # MPAC NOW LESS THAN BUFF -- DIVIDE AS USUAL.
+
+ +2 CAF POSMAX # SET MAJOR PART OF RESULT.
+ TS MPAC
+
+ CS BUF +1 # FORM DIVIDEND OF MINOR PART OF RESULT.
+ AD MPAC +1
+ TCF ENDMAXDV # GO ADD C AND DO DIVIDE, ATTACHING SIGN
+ # BEFORE EXITING.
+
+# Page 1171
+# VECTOR DIVIDED BY SCALAR, V/SC, IS EXECUTED HERE. THE VECTOR IS NOW IN MPAC WITH SCALAR IN BUF.
+
+V/SC2 CS ONE # INITIALIZE DIVIDEND NORMALIZATION COUNT
+ TS DVNORMCT # AND DIVISION SIGN REGISTER.
+ TS VBUF +5
+
+ TC VECAGREE # FORCE SIGN AGREEMENT IN VECTOR
+
+ DXCH BUF
+ TC ALSIGNAG # SIGN AGREE BUF
+ DXCH BUF
+ CCS BUF # FORCE DIVISOR POSITIVE WITH MAJOR PART
+ TCF /BUF+ # NON-ZERO (IF POSSIBLE).
+ TCF +2
+ TCF /BUF-
+
+ XCH BUF +1 # SHIFT VECTOR AND SCALAR LEFT 14.
+ XCH BUF
+ XCH MPAC +1
+ XCH MPAC
+ EXTEND # CHECK FOR OVERFLOW IN EACH CASE.
+ BZF +2
+ TCF DVOVF
+
+ XCH MPAC +4
+ XCH MPAC +3
+ EXTEND
+ BZF +2
+ TCF DVOVF
+
+ XCH MPAC +6
+ XCH MPAC +5
+ EXTEND
+ BZF +2
+ TCF DVOVF
+
+ CCS BUF
+ TCF /BUF+
+ TCF DVOVF # ZERO DIVISOR - OVERFLOW.
+ TCF /BUF-
+ TCF DVOVF
+
+/BUF- EXTEND # ON NEGATIVE, COMPLEMENT BUF AND MAINTAIN
+ DCS BUF # DVSIGN IN VBUF +5.
+ DXCH BUF
+ INCR VBUF +5
+
+# Page 1172
+/BUF+ EXTEND
+ DCA BUF # LEAVE ABS(ORIG DIVISOR) IN BUF2
+ DXCH BUF2 # FOR OVERFLOW TESTING
+ TCF /NORM # NORMALIZE DIVISOR IN BUF.
+
+/NORM2 EXTEND # IF LESS THAN .5, AUGMENT DVNORMCT AND
+ AUG DVNORMCT # DOUBLE DIVISOR.
+ EXTEND
+ DCA BUF
+ DAS BUF
+
+/NORM CA BUF # SEE IF DIVISOR NORMALIZED.
+ DOUBLE
+ OVSK
+ TCF /NORM2 # DOUBLE AND TRY AGAIN IF NOT.
+
+ TC V/SCDV # DO X COMPONENT DIVIDE.
+ DXCH MPAC +3 # SUPPLY ARGUMENTS IN USUAL SEQUENCE.
+ DXCH MPAC
+ DXCH MPAC +3
+
+ TC V/SCDV # Y COMPONENT.
+ DXCH MPAC +5
+ DXCH MPAC
+ DXCH MPAC +5
+
+ TC V/SCDV # Z COMPONENT.
+ TCF VROTATEX # GO RE-ARRANGE COMPONENTS BEFORE EXIT.
+
+# Page 1173
+# SUBROUTINE USED BY V/SC TO DIVIDE VECTOR COMPONENT IN MPAC,+1 BY THE SCALAR GIVEN IN BUF.
+
+V/SCDV CA VBUF +5 # REFLECTS SIGN OF SCALAR.
+ TS DVSIGN
+
+ CCS MPAC # FORCE MPAC POSITIVE, EXITING ON ZERO.
+ TCF /MPAC+
+ TCF +2
+ TCF /MPAC-
+
+ CCS MPAC +1
+ TCF /MPAC+
+ TC Q
+ TCF /MPAC-
+ TC Q
+
+/MPAC- EXTEND # USUAL COMPLEMENTING AND SETTING OF SIGN.
+ DCS MPAC
+ DXCH MPAC
+ INCR DVSIGN
+
+/MPAC+ CS ONE # INITIALIZE NEAR-ONE SWITCH.
+ TS MAXDVSW
+
+ CS MPAC # CHECK POSSIBLE OVERFLOW.
+ AD BUF2 # UNNORMALIZED INPUT DIVISOR.
+ CCS A
+ TCF DDVCALL # NOT NEAR-ONE
+ TCF +2 # +0 IS JUST POSSIBLE
+ TCF DVOVF # NO HOPE
+ TS MAXDVSW # SIGNAL POSSIBLE NEAR-ONE CASE
+ CS MPAC +1 # SEE IF DIVISION CAN BE DONE
+ AD BUF2 +1
+ EXTEND
+ BZMF DVOVF
+
+DDVCALL DXCH MPAC # CALL PRE-DIVIDE NORMALIZATION.
+ INDEX DVNORMCT
+ TCF MAXTEST
+
+# Page 1174
+SLOPELO DEC .8324
+
+VECAGREE XCH Q # SAVE Q IN A
+ DXCH MPAC
+ TC ALSIGNAG # SIGNAGREE MPAC
+ DXCH MPAC
+ DXCH MPAC +3
+ TC ALSIGNAG # SIGN AGREE MPAC +3
+ DXCH MPAC +3
+ DXCH MPAC +5
+ TC ALSIGNAG # SIGNAGREE MPAC +5
+ DXCH MPAC +5
+ TC A
+
+# Page 1175
+# THE FOLLOWING ROUTINE EXECUTES THE UNIT INSTRUCTION, WHICH TAKES THE UNIT OF THE VECTOR IN MPAC.
+
+UNIT TC VECAGREE # FORCE SIGN AGREEMENT IN VECTOR
+ TC MPACVBUF # SAVE ARGUMENT IN VBUF
+ CAF ZERO # MUST SENSE OVERFLOW IN FOLLOWING DOT.
+ XCH OVFIND
+ TS TEM1
+ TC VSQSUB # DOT MPAC WITH ITSELF.
+ CA TEM1
+ XCH OVFIND
+ EXTEND
+ BZF +2
+ TCF DVOVF
+ EXTEND
+ DCA MPAC # LEAVE THE SQUARE OF THE LENGTH OF THE
+ INDEX FIXLOC # ARGUMENT IN LVSQUARE.
+ DXCH LVSQUARE
+
+ TC SQRTSUB # GO TAKE THE NORMALIZED SQUARE ROOT.
+
+ CCS MPAC # CHECK FOR UNIT OVERFLOW.
+ TCF +5 # MPAC IS NOT LESS THAN .5 UNLESS
+ TS L
+ INDEX FIXLOC
+ DXCH LV
+ TCF DVOVF # INPUT TO SQRTSUB WAS 0.
+
+ CS FOURTEEN # SEE IF THE INPUT WAS SO SMALL THAT THE
+ AD MPTEMP # FIRST TWO REGISTERS OF THE SQUARE WERE 0
+ CCS A
+ COM # IF SO, SAVE THE NEGATIVE OF THE SHIFT
+ TCF SMALL # COUNT -15D.
+
+ TCF LARGE # (THIS IS USUALLY THE CASE.)
+
+ CS THIRTEEN # IF THE SHIFT COUNT WAS EXACTLY 14, SET
+ TS MPTEMP # THE PRE-DIVIDE NORM COUNT TO -13D.
+
+ CA MPAC # SHIFT THE LENGTH RIGHT 14 BEFORE STORING
+SMALL2 TS L # (SMALL EXITS TO THIS POINT).
+ CAF ZERO
+ TCF LARGE2 # GO TO STORE LENGTH AND PROCEED.
+
+LARGE CCS MPTEMP # MOST ALL CASES COME HERE.
+ TCF LARGE3 # SEE IF NO NORMALIZATION WAS REQUIRED BY
+ CS SRDDV # SQRT, AND IF SO, SET UP FOR A SHIFT
+ TS MPTEMP # RIGHT 1 BEFORE DIVIDING TO PRODUCE
+ EXTEND # THE DESIRED HALF UNIT VECTOR.
+ DCA MPAC
+# Page 1176
+ TCF LARGE2
+
+# Page 1177
+LARGE3 COM # LEAVE NEGATIVE OF SHIFT COUNT-1 FOR
+ TS MPTEMP # PREDIVIDE LEFT SHIFT.
+
+ COM # PICK UP REQUIRED SHIFTING BIT TO UNNORM-
+ INDEX A # ALIZE THE SQRT RESULT.
+ CAF BIT14
+ TS BUF
+ EXTEND
+ MP MPAC +1
+ XCH BUF
+ EXTEND # (UNNORMALIZE THE SQRT FOR LV).
+ MP MPAC
+ XCH L
+ AD BUF
+ XCH L
+
+LARGE2 INDEX FIXLOC
+ DXCH LV # LENGTH NOW STORED IN WORK AREA.
+
+ CS ONE
+ TS MAXDVSW # NO MAXDV CASES IN UNIT.
+
+ DXCH VBUF # PREPARE X COMPONENT FOR DIVIDE, SETTING
+ DXCH MPAC # LENGTH OF VECTOR AS DIVISOR IN BUF.
+ DXCH BUF
+ TC UNITDV
+
+ DXCH VBUF +2 # DO Y AND Z IN USUAL FASHION SO WE CAN
+ DXCH MPAC # EXIT THROUGH VROTATEX.
+ DXCH MPAC +3
+ TC UNITDV
+
+ DXCH VBUF +4
+ DXCH MPAC
+ DXCH MPAC +5
+ TC UNITDV
+ TCF VROTATEX # AND EXIT.
+
+# Page 1178
+# IF THE LENGTH OF THE ARGUMENT VECTOR WAS LESS THAN 2(-28), EACH COMPONENT MUST BE SHIFTED LEFT AT LEAST
+# 14 PLACES BEFORE TEH DIVIDE, NOTE THAT IN THIS CASE, THE MAJOR PART OF EACH COMPONENT IS ZERO.
+
+SMALL TS MPTEMP # NEGATIVE OF PRE-DIVIDE SHIFT COUNT.
+
+ CAF ZERO # SHIFT EACH COMPONENT LEFT 14.
+ XCH VBUF +1
+ XCH VBUF
+ XCH VBUF +3
+ XCH VBUF +2
+ XCH VBUF +5
+ XCH VBUF +4
+
+ CS MPTEMP
+ INDEX A
+ CAF BIT14
+ EXTEND
+ MP MPAC
+ TCF SMALL2
+
+THIRTEEN = OCT15
+FOURTEEN = OCT16
+OCT16 = R1D1
+
+# Page 1179
+# THE FOLLOWING ROUTINE SETS UP THE CALL TO THE DIVIDE ROUTINES.
+
+UNITDV CCS MPAC # FORCE MPAC POSITIVE IF POSSIBLE, SETTING
+ TCF UMPAC+ # DVSIGN ACCORDING TO THE SIGN OF MPAC
+ TCF +2 # SINCE THE DIVISOR IS ALWAYS POSITIVE
+ TCF UMPAC- # HERE.
+
+ CCS MPAC +1
+ TCF UMPAC+
+ TC Q # EXIT IMMEDIATELY ON ZERO.
+ TCF UMPAC-
+ TC Q
+
+UMPAC- CS ZERO # IF NEGATIVE, SET -0 IN DVSIGN FOR FINAL
+ TS DVSIGN # COMPLEMENT.
+ EXTEND
+ DCS MPAC # PICK UP ABSOLUTE VALUE OF ARG AND JUMP.
+ INDEX MPTEMP
+ TCF MAXTEST -1
+
+UMPAC+ TS DVSIGN # SET DVSIGN FOR POSITIVE QUOTIENT.
+ DXCH MPAC
+ INDEX MPTEMP
+ TCF MAXTEST -1
+
+# Page 1180
+# MISCELLANEOUS UNARY OPERATIONS.
+
+DSQ TC DSQSUB # SQUARE THE DP CONTENTS OF MPAC.
+ TCF DANZIG
+
+ABVALABS CCS MODE # ABVAL OR ABS INSTRUCTION.
+ TCF ABS # DO ABS ON SCALAR.
+ TCF ABS
+
+ABVAL TC VSQSUB # DOT MPAC WITH ITSELF.
+ LXCH MODE # MODE IS NOW DP (L ZERO AFTER DAS).
+
+ EXTEND # STORE SQUARE OF LENGTH IN WORK AREA.
+ DCA MPAC
+ INDEX FIXLOC
+ DXCH LVSQUARE
+
+# Page 1181
+# PROGRAM DESCRIPTION -- SUBROUTINE SQRT
+#
+# FUNCTIONAL DESCRIPTION -- DOUBLE PRECISION SQUARE ROOT ROUTINE
+# THIS PROGRAM TAKES THE SQUARE ROOT OF THE 27 OR 28 MOST SIGNIFICANT BITS IN THE TRIPLE PRECISION SET OF
+# NUMBERS -- MPAC, MPAC+1, AND MPAC+2. THE ROOT IS RETURNED DOUBLE PRECISION IN MPAC AND MPAC+1.
+#
+# WARNING -- THIS SUBROUTINE USES A TRIPLE PRECISION INPUT. THE PROGRAMMER MUST ASSURE THE CONTENTS OF MPAC+2
+# ESPECIALLY IF THE CONTENTS OF MPAC IS SMALL OR ZERO. FOR DETAILS SEE STG MEMO NO.949.
+#
+# CALLING SEQUENCE -- IN INTERPRETIVE MODE, I.E., FOLLOWING `TC INTPRET', `SQRT', NO ADDRESS IS ALLOWED.
+# INPUT SCALING: THE BINARY POINT IS ASSUMED TO THE RIGHT OF BIT 15. THE ANSWER IS RETURNED WITH THE SAME SCALING.
+#
+# SUBROUTINES -- GENSCR, MPACSHR, SQRTSUB, ABORT
+#
+# ABORT EXIT MODE -- ABORTS ON NEGATIVE INPUT -1.2X10E-4 (77775 OCTAL) OR LESS.
+# DISPLAYS ERROR CODE 1302
+# TC ABORT
+# OCT 1302
+#
+# DEBRIS -- LOCATIONS BUF, MPTEMP, ADDRWD ARE USED
+
+SQRT TC SQRTSUB # TAKE THE SQUARE ROOT OF MPAC.
+ CCS MPTEMP # RETURNED NORMALIZED SQUARE ROOT. SEE IF
+ TCF +2 # ANY UN-NORMALIZATION REQUIRED AND EXIT
+ TCF DANZIG # IF NOT.
+
+ AD NEG12 # A RIGHT SHIFT OF MORE THAN 13 COULD BE
+ EXTEND # REQUIRED IF INPUT WAS ZERO IN MPAC,+1.
+ BZMF SQRTSHFT # GOES HERE IN MOST CASES.
+ ZL # IF A LONG SHIFT IS REQUIRED, GO TO
+ LXCH ADDRWD # GENERAL RIGHT SHIFT ROUTINES.
+ TCF GENSCR +4 # ADDRWD WAS ZERO TO PREVENT ROUND.
+
+SQRTSHFT INDEX MPTEMP # SELECT SHIFTING BIT AND EXIT THROUGH
+ CAF BIT15 # SHIFT ROUTINES.
+ TS MPTEMP
+ CAF ZERO # TO ZERO MPAC +2 IN THE PROCESS.
+ TCF MPACSHR +3
+
+ABS TC BRANCH # TEST SIGN OF MPAC AND COMPLEMENT IF
+ TCF DANZIG
+ TCF DANZIG
+ TCF COMP
+
+# Page 1182
+VDEF CS FOUR # VECTOR DEFINE -- ESSENTIALLY TREATS
+ ADS PUSHLOC # SCALAR IN MPAC AS X COMPONENT, PUSHES UP
+ EXTEND # FOR Y AND THEN AGAIN FOR Z.
+ INDEX A
+ DCA 2
+ DXCH MPAC +3
+ EXTEND
+ INDEX PUSHLOC
+ DCA 0
+ DXCH MPAC +5
+ TCF VMODE # MODE IS NON VECTOR.
+
+VSQ TC VSQSUB # DOT MPAC WITH ITSELF.
+ TCF DMODE # MODE IS NOW DP.
+
+PUSH EXTEND # PUSH DOWN MPAC LEAVING IT LOADED.
+ DCA MPAC
+ INDEX PUSHLOC # PUSH DOWN FIRST TWO REGISTERS IN EACH
+ DXCH 0
+
+ INDEX MODE # INCREMENT PUSHDOWN POINTER.
+ CAF NO.WDS
+ ADS PUSHLOC
+
+ CCS MODE
+ TCF TPUSH # PUSH DOWN MPAC +2.
+ TCF DANZIG # DONE FOR DP.
+
+ EXTEND # ON VECTOR, PUSH DOWN Y AND Z COMPONENTS.
+ DCA MPAC +3
+ INDEX PUSHLOC
+ DXCH 0 -4
+ EXTEND
+ DCA MPAC +5
+ INDEX PUSHLOC
+ DXCH 0 -2
+ TCF DANZIG
+
+TPUSH CA MPAC +2
+ TCF ENDTPUSH +2
+
+RVQ INDEX FIXLOC # RVQ -- RETURN IVA QPRET.
+ CA QPRET
+ TS POLISH
+ TCF GOTO +4 # (ASSUME QPRET POINTS TO FIXED ONLY.)
+
+# Page 1183
+# THE FOLLOWING SUBROUTINES ARE USED IN SQUARING MPAC, IN BOTH THE SCALAR AND VECTOR SENSE. THEY ARE
+# SPECIAL CASES OF DMPSUB AND DOTSUB, PUT IN TO SAVE SOME TIME.
+
+DSQSUB CA MPAC +1 # SQUARES THE SCALAR CONTENTS OF MPAC.
+ EXTEND
+ SQUARE
+ TS MPAC +2
+ CAF ZERO # FORM 2(CROSS TERM).
+ XCH MPAC +1
+ EXTEND
+ MP MPAC
+ DDOUBL # AND MAYBE OVEFLOW.
+ DAS MPAC +1 # AND SET A TO NET OVERFLOW.
+ XCH MPAC
+ EXTEND
+ SQUARE
+ DAS MPAC
+ TC Q
+
+VSQSUB EXTEND # DOTS THE VECTOR IN MPAC WITH ITSELF.
+ QXCH DOTRET
+ TC DSQSUB # SQUARE THE X COMPONENT.
+ DXCH MPAC +3
+ DXCH MPAC
+ DXCH BUF # SO WE CAN END IN DOTSUB.
+ CA MPAC +2
+ TS BUF +2
+
+ TC DSQSUB # SQUARE Y COMPONENT.
+ DXCH MPAC +1
+ DAS BUF +1
+ AD MPAC
+ AD BUF
+ TS BUF
+ TCF +2
+ TS OVFIND # IF OVERFLOW.
+
+ DXCH MPAC +5
+ DXCH MPAC
+ TC DSQSUB # SQUARE Z COMPONENT.
+ TCF ENDDOT # END AS IN DOTSUB.
+
+# Page 1184
+# DOUBLE PRECISION SQUARE ROOT ROUTINE. TAKE THE SQUARE ROOT OF THE TRIPLE PRECISION (MPAC +2 USED ONLY
+# IN NORMALIZATION) CONTENTS OF MPAC AND LEAVE THE NORMALIZED RESULT IN MPAC (C(MPAC) GREATER THAN OR EQUAL TO
+# .5). THE RIGHT SHIFT COUNT (TC UNNORMALIZE) IS LEFT IN MPTEMP.
+
+SQRTSUB CAF ZERO # START BY ZEROING RIGHT SHIFT COUNT.
+ TS MPTEMP
+
+ CCS MPAC # CHECK FOR POSITIVE ARGUMENT, SHIFTING
+ TCF SMPAC+ # FIRST SIGNIFICANT MPAC REGISTER INTO
+ TCF +2 # MPAC ITSELF.
+ TCF SQRTNEG # SEE IF MAG OF ARGUMENT LESS THAN 10(-4).
+
+ XCH MPAC +2 # MPAC IS ZERO -- SHIFT LEFT 14.
+ XCH MPAC +1
+ TS MPAC
+ CAF SEVEN # AUGMENT RIGHT SHIFT COUNTER.
+ TS MPTEMP
+
+ CCS MPAC # SEE IF MPAC NOW PNZ.
+ TCF SMPAC+
+ TCF +2
+ TCF ZEROANS # NEGATIVE BUT LESS THAN 10(-4) IN MAG.
+
+ XCH MPAC +1 # XERO -- SHIFT LEFT 14 AGAIN.
+ TS MPAC
+ CAF SEVEN # AUGMENT RIGHT SHIFT COUNTER.
+ ADS MPTEMP
+
+ CCS MPAC
+ TCF SMPAC+
+ TC Q # SQRT(0) = 0.
+ TCF ZEROANS
+ TCF FIXROOT # DO NOT LEAVE SQRTSUB WITH -0 IN MPAC.
+
+SQRTNEG CCS A # ARGUMENT IS NEGATIVE, BUT SEE IF SIGN-
+ TCF SQRTABRT # CORRECTED ARGUMENT IS LESS THAN 10(-4)
+
+ CCS MPAC +1 # IN MAGNITUDE. IF SO, CALL ANSWER ZERO.
+ZEROANS CAF ZERO # FORCE ANSWER TO ZERO HERE.
+ TCF FIXROOT
+ TCF SQRTABRT
+ TCF FIXROOT
+
+SQRTABRT TC P00DOO
+ OCT 1302
+
+# Page 1185
+SMPAC+ AD -1/2+2 # SEE IF ARGUMENT GREATER THAN OR EQUAL TO
+ EXTEND # .5.
+ BZMF SRTEST # IF SO, SEE IF LESS THAN .25.
+
+ DXCH MPAC # WE WILL TAKE THE SQUARE ROOT OF MPAC/2.
+ LXCH SR # SHIFT RIGHT 1 AND GO TO THE SQRT ROUTINE
+ EXTEND
+ MP HALF
+ DXCH MPAC
+ XCH SR
+ ADS MPAC +1 # GUARANTEED NO OVERFLOW.
+
+ARGHI CAF SLOPEHI # ARGUMENT BETWEEN .25 AND .5, GET A
+ EXTEND # LINEAR APPROXIMATION FOR THIS RANGE.
+ MP MPAC
+ AD BIASHI # X0/2 = (MPAC/2)(SLOPHI) + BIASHI/2.
+
+ +4 TS BUF # X0/2 (ARGLO ENTERS HERE).
+ CA MPAC # SINGLE-PRECISION THROUGHOUT.
+ ZL
+ EXTEND
+ DV BUF # (MPAC/2)/(X0/2)
+ EXTEND
+ MP HALF
+ ADS BUF # X1 = X0/2 + .5(MPAX/2)/(X0/2)
+
+ EXTEND
+ MP HALF # FORM UP X1/2.
+ DXCH MPAC # SAVE AND BRING OUT ARGUMENT.
+ EXTEND # TAKE DP QUOTIENT WITH X1.
+ DV BUF
+ TS BUF +1 # SAVE MAJOR PART OF QUOTIENT.
+ CAF ZERO # FORM MINOR PART OF QUOTIENT USING
+ XCH L # (REMAINDER,0).
+ EXTEND
+ DV BUF
+ TS L # IN PREPARATION FOR DAS.
+ CA BUF +1
+ DAS MPAC # X2 = X1/2 + (MPAC/2)X1
+
+ EXTEND # OVERFLOWS IF ARG. NEAR POSMAX.
+ BZF TCQBNK00
+ CAF POSMAX
+FIXROOT TS MPAC
+ TS MPAC +1
+TCQBNK00 TC Q # RETURN TO CALLER TO UNNORMALIZE, ETC.
+
+# Page 1186
+SRTEST AD QUARTER # ARGUMENT WAS LESS THAN .5, SEE IF LESS
+ EXTEND # THAN .25.
+ BZMF SQRTNORM # IF SO, BEGIN NORMALIZATION.
+
+ DXCH MPAC # IF BETWEEN .5 AND .25, SHIFT RIGHT 1 AND
+ LXCH SR # START AT ARGLO.
+ EXTEND
+ MP HALF
+ DXCH MPAC
+ XCH SR
+ ADS MPAC +1 # NO OVERFLOW.
+
+ARGLO CAF SLOPELO # (NORMALIZED) ARGUMENT BETWEEN .125 AND
+ EXTEND # .25
+ MP MPAC
+ AD BIASLO
+ TCF ARGHI +4 # BEGIN SQUARE ROOT.
+
+SQRTNM2 EXTEND # SHIFT LEFT 2 AND INCREMENT RIGHT SHIFT
+ DCA MPAC +1 # COUNT (FOR TERMINAL UNNORMALIZATION).
+ DAS MPAC +1
+ AD MPAC
+ ADS MPAC # (NO OVERFLOW).
+
+SQRTNORM INCR MPTEMP # FIRST TIME THROUGH, JUST SHIFT LEFT 1
+ EXTEND # (PUTS IN EFFECTIVE RIGHT SHIFT SINCE
+ DCA MPAC +1 # WE WANT MPAC/2).
+ DAS MPAC +1
+ AD MPAC
+ ADS MPAC # (AGAIN NO OVERFLOW).
+ DOUBLE
+ TS CYL
+
+NORMTEST CCS CYL # SEE IF ARGUMENT NOW NORMALIZED AT
+ CCS CYL # GREATER THAN .125.
+ TCF SQRTNM2 # NO -- SHIFT LEFT 2 MORE AND TRY AGAIN.
+ TCF ARGHI # YES -- NOW BETWEEN .5 AND .25.
+ TCF ARGLO # ARGUMENT NOW BETWEEN .25 AND .125.
+
+# Page 1187
+# TRIGONOMETRIC FUNCTION PACKAGE.
+# THE FOLLOWING TRIGONOMETRIC FUNCTIONS ARE AVAIALABLE AS INTERPRETIVE OPERATIONS:
+# 1. SIN COMPUTES (1/2)SINE(2 PI MPAC).
+# 2. COS COMPUTES (1/2)COSINE(2 PI MPAC).
+# 3. ASIN COMPUTES (1/2PI)ARCSINE(2 MPAC).
+# 4. ACOS COMPUTES (1/2PI)ARCCOSINE(2 MPAC).
+#
+# SIN-ASIN AND COS-ACOS ARE MUTUALLY INVERSE, I.E., SIN(ASIN(X)) = X.
+
+COSINE TC BRANCH # FINDS COSINE USING THE IDENTITY
+ TCF +3 # COS(X) = SIN(PI/2 - ABS(X)).
+ TCF PRESINE
+ TCF PRESINE
+
+ +3 EXTEND
+ DCS MPAC
+ DXCH MPAC
+
+PRESINE CAF QUARTER # PI/2 SCALED.
+ ADS MPAC
+
+SINE DXCH MPAC # DOUBLE ARGUMENT.
+ DDOUBL
+ OVSK # SEE IF OVERFLOW PRESENT.
+ TCF +3 # IF NOT, ARGUMENT OK AS IS.
+
+ EXTEND # IF SO, WE LOST (OR GAINED) PI, SO
+ DCOM # COMPLEMENT MPAC USING THE IDENTITY
+ # SIN(X-(+)PI) = SIN(-X).
+ +3 DXCH MPAC
+ CA MPAC # SEE IF ARGUMENT GREATER THAN .5 IN
+ DOUBLE # MAGNITUDE. IF SO, REDUCE IT TO LESS THAN
+ TS L # .5 (+-PI/2 SCALED) AS FOLLOWS:
+ TCF SN1
+
+ INDEX A # IF POSITIVE, FORM PI - X, IF NEGATIVE
+ CAF NEG1/2 +1 # USE -PI -X.
+ DOUBLE
+ EXTEND
+ SU MPAC # GUARANTEED NO OVERFLOW.
+ TS MPAC
+ CS MPAC +1
+ TS MPAC +1
+
+# Page 1188
+SN1 EXTEND # SET UP TO EVALUATE HASTINGS POLYNOMIAL
+ DCA MPAC
+ DXCH BUF2
+ TC DSQSUB # SQUARE MPAC.
+
+ TC POLY # EVALUATE FOURTH ORDER POLYNOMIAL.
+ DEC 3
+ 2DEC +.3926990796
+ 2DEC -.6459637111
+ 2DEC +.318758717
+ 2DEC -.074780249
+ 2DEC +.009694988
+
+ CAF LBUF2 # MULTIPLY BY ARGUMENT AND SHIFT LEFT 2.
+ TC DMPSUB -1
+
+ EXTEND
+ DCA MPAC +1
+ DAS MPAC +1
+ AD MPAC
+ ADS MPAC # NEITHER SHIFT OVERFLOWS.
+ EXTEND
+ DCA MPAC +1
+ DAS MPAC +1
+ AD MPAC
+ ADS MPAC
+ TCF DANZIG
+
+# Page 1189
+# ARCSIN/ARCCOS ROUTINE.
+
+ARCSIN CAF LASINEX # COMPUTE ARCSIN BY USING THE IDENTITY
+ TCF +2 # ARCSIN(X) = PI/2 - ARCCOS(X).
+
+ARCCOS CAF LDANZIG # (EXITS IMMEDIATELY).
+ TS ESCAPE
+ TC BRANCH # TEST SIGN OF INPUT.
+ TCF ACOSST # START IMMEDIATELY IF POSITIVE.
+ TCF ACOSZERO # ARCCOS(0) = PI/2 = .25.
+ EXTEND # IF NEGATIVE, USE THE IDENTITY
+ DCS MPAC # ARCCOS(X) = PI - ARCCOS(-X), FORCING
+ DXCH MPAC # ARGUMENT POSITIVE.
+ CAF TCSUBTR # SET EXIT TO DO ABOVE BEFROE
+ XCH ESCAPE # ARCSIN/ARCCOS CONSIDERATIONS.
+ TS ESCAPE2
+
+ACOSST CS HALF # TEST MAGNITUDE OF INPUT.
+ AD MPAC
+ CCS A
+ TCF ACOSOVF # THIS IS PROBABLY AN OVERFLOW CASE.
+
+LASINEX TCF ASINEX
+
+ TCF ACOSST2 # NO OVERFLOW -- PROCEED.
+
+ CCS MPAC +1 # IF MAJOR PART IS .5, CALL ANSWER 0
+ CAF ZERO # UNLESS MINOR PART NEGATIVE.
+ TCF ACOS=0
+
+ TCF ACOSST2
+
+ACOS=0 TS MPAC +1
+ TS MPAC
+ TC ESCAPE
+
+ACOSST2 EXTEND # NOW THAT ARGUMENT IS IN PROPER RANGE,
+ DCS MPAC # BEGIN COMPUTATION. USE HASTINGS
+ AD HALF # APPROXIMATION ARCCOS(X) = SQRT(1-X)P(X)
+ DXCH MPAC # IN A SCALED VERSION WHERE P(X) IS A
+ DXCH BUF2 # SEVENTH ORDER POLYNOMIAL.
+
+ TC SQRTSUB # RETURNS WITH NORMALIZED SQUARE ROOT.
+
+ CCS MPTEMP # SEE IF UN-NORMALIZATION REQUIRED.
+ TCF ACOSSHR
+
+# Page 1190
+ACOS3 DXCH MPAC # SET UP FOR POLYNOMIAL EVALUATION.
+ DXCH BUF2
+ DXCH MPAC
+
+ TC POLY
+ DEC 6
+ 2DEC +.353553385 # COEFFICIENTS ARE C 2(+I)/PISQRT(2) WHERE
+ 2DEC* -.0483017006 B+1* # I
+ 2DEC* +.0200273085 B+2* # WEHRE C STANDS FOR ORIGINAL COEFFS.
+ 2DEC* -.0112931863 B+3*
+ 2DEC* +.00695311612 B+4*
+ 2DEC* -.00384617957 B+5*
+ 2DEC* +.001501297736 B+6*
+ 2DEC* -.000284160334 B+7*
+
+ CAF LBUF2 # DO FINAL MULTIPLY AND GO TO ANY
+ TC DMPSUB -1 # EPILOGUE SEQUENCES.
+ TC ESCAPE
+
+SUBTR EXTEND # EPILOGUE FOR NEGATIVE INPUTS TO ARCCOS.
+ DCS MPAC
+ AD HALF # FORMS PI - ARCCOS(-X) = ARCCOS(X).
+ DXCH MPAC
+ TC ESCAPE2 # GO TO POSSIBLE ARCSIN EPILOGUE.
+
+ASINEX EXTEND
+ DCS MPAC # ARCSIN EPILOGUE -- GET ARCSIN(X)
+ AD QUARTER # = PI/2 - ARCCOS(X).
+ DXCH MPAC
+LDANZIG TCF DANZIG
+
+# Page 1191
+ACOSSHR INDEX A # THE SHIFT RIGHT IS LESS THAN 14 SINCE
+ CAF BIT14 # THE INPUT WAS NON-ZERO DP.
+ TS MPTEMP
+ TC VSHRRND # DP SHIFT RIGHT AND ROUND.
+ TCF ACOS3 # PROCEED.
+
+ACOSOVF EXTEND # IF MAJOR PART WAS ONLY 1 MORE THAN .5,
+ BZF ACOS=0 # CALL ANSWER ZERO.
+
+ACOSABRT TC ALARM # IF OVERFLOW, CALL ANSWER ZERO BUT
+ OCT 1301 # SOUND AN ALARM.
+
+ CAF ZERO
+ TCF ACOS=0
+
+ACOSZERO CAF QUARTER # ACOS(0) = PI/2.
+ TCF ACOS=0 +1 # SET MPAC AND EXIT VIA ESCAPE.
+
+NEG12 DEC -12
+TCSUBTR TCF SUBTR
+
+# Page 1192
+# THE FOLLOWING INSTRUCTIONS ARE AVAILABLE FOR SETTING, MODIFYING, AND BRANCHING ON INDEX REGISTERS:
+# 1. AXT ADDRESS TO INDEX TRUE.
+# 2. AXC ADDRESS TO INDEX COMPLEMENTED.
+# 3. LXA LOAD INDEX FROM ERASABLE.
+# 4. LXC LOAD INDEX COMPLEMENTED FROM ERASABLE.
+# 5. SXA STORE INDEX IN ERASABLE.
+# 6. XCHX EXCHANGE INDEX REGISTER WITH ERASABLE.
+# 7. INCR INCREMENT INDEX REGISTER.
+# 8. XAD ERASABLE ERASABLE ADD TO INDEX REGISTER.
+# 9. XSU ERASABLE SUBTRACT FROM INDEX REGISTER.
+# 10. TIX BRANCH ON INDEX REGISTER AND DECREMENT.
+
+ BANK 01
+
+ COUNT 01/INTER
+
+AXT TC TAGSUB # SELECT APPROPRIATE INDEX REGISTER.
+ CA POLISH
+XSTORE INDEX INDEXLOC # CONTAINS C(FIXLOC) OR C(FIXLOC)+1
+ TS X1
+ TCF DANZIG
+
+AXC TC TAGSUB
+ CS POLISH
+ TC XSTORE
+
+LXA TC 15ADRERS # LOAD INDEX REGISTER FROM ERASABLE.
+ INDEX POLISH
+ CA 0
+ TCF XSTORE
+
+LXC TC 15ADRERS # LOAD NDX REG FROM ERASABLE COMPLEMENTED.
+ INDEX POLISH
+ CS 0
+ TCF XSTORE
+
+SXA TC 15ADRERS # STORE INDEX REGISTER IN ERASABLE.
+ INDEX INDEXLOC
+ CA X1
+MSTORE1 INDEX POLISH
+ TS 0
+ TCF DANZIG
+
+# Page 1193
+XCHX TC 15ADRERS # EXCHANGE INDEX REGISTER WITH ERASABLE.
+ INDEX POLISH
+ CA 0
+ INDEX INDEXLOC
+ XCH X1
+ TCF MSTORE1
+
+XAD TC 15ADRERS # ADD ERASABLE TO INDEX REGISTER.
+ INDEX POLISH
+ CA 0
+XAD2 INDEX INDEXLOC
+ ADS X1 # IGNORING OVERFLOWS.
+ TCF DANZIG
+
+INCR TC TAGSUB # INCREMENT INDEX REGISTER.
+ CA POLISH
+ TCF XAD2
+
+XSU TC 15ADRERS # SUBTRACT ERASABLE FROM INDEX REGISTER.
+ INDEX POLISH
+ CS 0
+ TCF XAD2
+
+TIX TC TAGSUB # BRANCH AND DECREMENT ON INDEX.
+ INDEX INDEXLOC
+ CS S1
+ INDEX INDEXLOC
+ AD X1
+ EXTEND # NO OPERATION IF DECREMENTED INDEX IS
+ BZMF DANZIG # NEGATIVE OR ZERO.
+
+DOTIXBR INDEX INDEXLOC
+ XCH X1 # IGNORING OVERFLOWS.
+
+ TCF GOTO # DO THE BRANCH USING THE CADR IN POLISH.
+
+# Page 1194
+# SUBROUTINE TO CONVERT AN ERASABLE ADDRESS (11 BITS) TO AN EBANK SETTING AND SUBADDRESS.
+
+15ADRERS CS POLISH
+ AD DEC45
+ CCS A # DOES THE ADDRESS POINT TO THE WORK AREA?
+ CA FIXLOC # YES. ADD FIXLOC. EBANK OK AS IS.
+ TCF +5
+
+ CA OCT1400 # NO. SET EBANK & MAKE UP SUBADDRESS.
+ XCH POLISH
+ TS EBANK
+ MASK LOW8
+ +5 ADS POLISH # FALL INTO TAGSUB, AND RETURN VIA Q.
+
+# SUBROUTINE WHICH SETS THE ADDRESS OF THE SPECIFIED INDEX IN INDEXLOC. (ACTUALLY, THE ADDRESS -38D.)
+
+TAGSUB CA FIXLOC
+ TS INDEXLOC
+
+ CCS CYR # BIT 15 SPECIFIES INDEX.
+ INCR INDEXLOC # 0 MEANS USE X2.
+ TC Q
+ TC Q # 1 FOR X1.
+
+# Page 1195
+# MISCELLANEOUS OPERATION CODES WITH DIRECT ADDRESSES. INCLUDED HERE ARE:
+# 1. ITA STORE CPRET (RETURN ADDRESS) IN ERASABLE.
+# 2. CALL CALL A SUBROUTINE, LEAVING RETURN IN QPRET.
+# 3. RTB RETURN TO BASIC LANGUAGE AT THE GIVEN ADDRESS.
+# 4. BHIZ BRANCH IF THE HIGHORDER OF MPAC IS ZERO (SINGLE PRECISION).
+# 5. BOV BRANCH ON OVERFLOW.
+# 6. GOTO SIMPLE SEQUENCE CHANGE.
+
+RTB/BHIZ CCS CYR
+RTB CA POLISH
+ TC SWCALL -1 # SO A "TC Q" FROM ROUTINE LEADS TO DANZIG
+
+BHIZ CCS MPAC
+ TCF DANZIG
+ TCF GOTO
+ TCF DANZIG
+ TCF GOTO
+
+BOV(B) CCS OVFIND # BRANCH ON OVERFLOW TO BASIC OR INTERP.
+ TCF +2
+ TCF DANZIG
+ TS OVFIND
+ CCS CYR
+ TCF RTB # IF BASIC.
+B5TOBB OCT 360
+ TCF GOTO
+
+# Page 1196
+BZE/GOTO CCS CYR # SEE WHICH OP-CODE IS DESIRED.
+ TC BRANCH # DO BZE.
+ TCF DANZIG
+ TCF GOTO # DO GOTO.
+ TCF DANZIG
+
+BPL/BMN CCS CYR
+ TCF BPL
+5B10 #DEC 5 B+10 # SHIFTS OP CODE IN SWITCH INSTRUCTION ADR
+ DEC 5 B-4 # RSB 2009
+
+ TC BRANCH # DO BMN
+ TCF DANZIG
+ TCF DANZIG
+ TCF GOTO # ONLY IF NNZ.
+
+BPL TC BRANCH
+ TCF GOTO # IF POSITIVE OR ZERO.
+ TCF GOTO
+ TCF DANZIG
+
+CALL/ITA CCS CYR
+ TCF CALL
+
+ TC CCSHOLE
+ TC 15ADRERS # STORE QPRET. (TAGSUB AFTER 15ADRERS IS
+ INDEX FIXLOC # SLOW IN THIS CASE, BUT SAVES STORAGE.)
+ CA QPRET
+ TCF MSTORE1
+
+# Page 1197
+# THE FOLLOWING OPERATIONS ARE AVAILABLE FOR ALTERING AND TESTING INTERPRETATIVE SWITCHES:
+# 00 BONSET SET A SWITCH AND DO A GOTO IF IT WAS ON.
+# 01 SETGO SET A SWITCH AND DO A GOTO.
+# 02 BOFSET SET A SWITCH AND DOA GOTO IF IT WAS OFF
+# 03 SET SET A SWITCH.
+# 04 BONINV INVERT A SWITCH AND BRANCH IF IT WAS ON.
+# 05 INVGO INVERT A SWITCH AND DO A GOTO.
+# 06 BOFINV INVERT A SWITCH AND BRANCH IF IT WAS OFF
+# 07 INVERT INVERT A SWITCH.
+# 10 BONCLR CLEAR A SWITCH AND BRANCH IF IT WAS ON.
+# 11 CLRGO CLEAR A SWITCH AND DO A GOTO.
+# 12 BOFCLR CLEAR A SWITCH AND BRANCH IF IT WAS OFF.
+# 13 CLEAR CLEAR A SWITCH.
+# 14 BON BRANCH IF A SWITCH WAS ON.
+# 16 BOFF BRANCH IF A SWITCH WAS OFF.
+# THE ADDRESS SUPPLIED WITH THE SWITCH INSTRUCTION IS INTERPRETED AS FOLLOWS:
+# BITS 1-4 SWITCH BIT NUMBER (1-15).
+# BITS 5-8 SWITCH OPERATION NUMBER
+# BITS 9- SWITCH WORD NUMBER (UP TO 64 SWITCH WORDS).
+# THE ADDRESS ITSELF IS MADE UP BY THE YUL SYSTEM ASSEMBLER. THE BRANCH INSTRUCTIONS REQUIRE TWO
+# ADDRESSES, THE SECOND TAKEN AS THE DIRECT (OR INDIRECT IF IN ERASABLE) ADDRESS OF THE BRANCH.
+
+SWITCHES CAF LOW4 # LEAVE THE SWITCH BIT IN SWBIT.
+ MASK POLISH
+ INDEX A
+ CAF BIT15 # (NUMBER FROM LEFT TO RIGHT.)
+ TS SWBIT
+
+ CAF BIT7 # LEAVE THE SWITCH NUMBER IN SWWORD.
+ EXTEND
+ MP POLISH
+ TS SWWORD
+
+ INHINT # DURING SWITCH CHANGE SO RUPT CAN USE TOO
+ INDEX A # LEAVE THE SWITCH WORD ITSELF IN L.
+ CA STATE
+ TS Q # Q WILL BE USED AS A CHANNEL.
+# Page 1198
+ CAF BIT11
+ EXTEND # DISPATCH SWITCH BIT OPERATION AS IN BITS
+ MP POLISH # 7-8 OF POLISH.
+ MASK B3TOB4 # GETS 4X2-BIT CODE.
+ INDEX A
+ TCF +1
+
+ +1 CA SWBIT # 00 -- SET SWITCH IN QUESTION.
+ EXTEND
+ ROR QCHAN
+ TCF SWSTORE
+
+ +5 CA SWBIT # 01 -- INVERT SWITCH.
+ EXTEND
+ RXOR QCHAN
+ TCF SWSTORE
+
+ +9D CS SWBIT # 10 -- CLEAR.
+ MASK Q
+SWSTORE INDEX SWWORD
+ TS STATE # NEW SWITCH WORD.
+
+# Page 1199
+ +13D RELINT # 11 -- NOOP.
+ CAF BIT13
+ EXTEND # DISPATCH SEQUENCE CHANGING OR BRANCING
+ MP POLISH # CODE.
+ MASK B3TOB4
+ INDEX A
+ TCF +1 # ORIGINALLY STORED IN BITS 5-6
+
+ +1 CS Q # 00 -- BRANCH IF ON.
+TEST MASK SWBIT
+ CCS A
+ TCF SWSKIP
+
+ +5 TCF SWBRANCH # 01 -- GO TO.
+
+ TCF SWSKIP # HERE ONLY ON BIT 15.
+
+ TC CCSHOLE
+ TC CCSHOLE
+
+ +9D CA Q # 10 -- BRANCH IF OFF.
+ TCF TEST
+
+B3TOB4 OCT 0014
+SWSKIP INCR LOC
+
+SW/ EQUALS SWITCHES
+
+ +13D TCF DANZIG # 11 -- NOOP.
+
diff --git a/INTERPRETIVE_CONSTANT.s b/INTERPRETIVE_CONSTANT.s
new file mode 100644
index 0000000..cbe7035
--- /dev/null
+++ b/INTERPRETIVE_CONSTANT.s
@@ -0,0 +1,81 @@
+# Copyright: Public domain.
+# Filename: INTERPRETIVE_CONSTANT.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1100-1101
+# Mod history: 2009-05-25 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1100
+ SETLOC INTPRET1
+ BANK
+
+ COUNT* $$/ICONS
+DP1/4TH 2DEC .25
+
+UNITZ 2DEC 0
+
+UNITY 2DEC 0
+
+UNITX 2DEC .5
+
+ZEROVECS 2DEC 0
+
+ 2DEC 0
+
+ 2DEC 0
+
+DPHALF = UNITX
+DPPOSMAX OCT 37777
+ OCT 37777
+
+# Page 1101
+# INTERPRETIVE CONSTANTS IN THE OTHER HALF-MEMORY
+
+ SETLOC INTPRET2
+ BANK
+
+ COUNT* $$/ICONS
+ZUNIT 2DEC 0
+
+YUNIT 2DEC 0
+
+XUNIT 2DEC .5
+
+ZEROVEC 2DEC 0
+
+ 2DEC 0
+
+ 2DEC 0
+
+ OCT 77777 # -0, -6, -12 MUST REMAIN IN THIS ORDER
+DFC-6 DEC -6
+DFC-12 DEC -12
+LODPMAX 2OCT 3777737777 # THESE TWO CONSTANTS MUST REMAIN
+
+LODPMAX1 2OCT 3777737777 # ADJACENT AND THE SAME FOR INTEGRATION
+
+ZERODP = ZEROVEC
+HALFDP = XUNIT
+
+
diff --git a/INTERPRETIVE_CONSTANTS.s b/INTERPRETIVE_CONSTANTS.s
new file mode 100644
index 0000000..2533abe
--- /dev/null
+++ b/INTERPRETIVE_CONSTANTS.s
@@ -0,0 +1,86 @@
+# Copyright: Public domain.
+# Filename: INTERPRETIVE_CONSTANTS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1205-1206
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1205
+ SETLOC INTPRET1
+ BANK
+
+ COUNT 23/ICONS
+
+DP1/4TH 2DEC .25
+
+UNITZ 2DEC 0
+
+UNITY 2DEC 0
+
+UNITX 2DEC .5
+
+ZEROVECS 2DEC 0
+
+ 2DEC 0
+
+ 2DEC 0
+
+DPHALF = UNITX
+DPPOSMAX OCT 37777
+ OCT 37777
+
+# Page 1206
+# INTERPRETIVE CONSTANTS IN THE OTHER HALF-MEMORY
+
+ SETLOC INTPRET2
+ BANK
+
+ COUNT 14/ICONS
+
+ZUNIT 2DEC 0
+
+YUNIT 2DEC 0
+
+XUNIT 2DEC .5
+
+ZEROVEC 2DEC 0
+
+ 2DEC 0
+
+ 2DEC 0
+
+ OCT 77777 # -0, -6, -12 MUST REMAIN IN THIS ORDER
+DEC-6 DEC -6
+DEC-12 DEC -12
+LODPMAX 2OCT 3777737777 # THESE TWO CONSTANTS MUST REMAIN
+
+LODPMAX1 2OCT 3777737777 # ADJACENT AND THE SAME FOR INTEGRATION
+
+ZERODP = ZEROVEC
+HALFDP = XUNIT
+
+
+
+
diff --git a/INTERRUPT_LEAD_INS.s b/INTERRUPT_LEAD_INS.s
new file mode 100644
index 0000000..c36ad41
--- /dev/null
+++ b/INTERRUPT_LEAD_INS.s
@@ -0,0 +1,128 @@
+# Copyright: Public domain.
+# Filename: INTERRUPT_LEAD_INS.agc
+# Purpose: Part of the source code for Comanche, build 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 131-132
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 09/05/09 FB Transcription of Batch FB-1 Assignment.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 131
+ SETLOC 4000
+
+ COUNT 02/RUPTS
+
+ INHINT # GO
+ CAF GOBB
+ XCH BBANK
+ TCF GOPROG
+
+ DXCH ARUPT # T6RUPT
+ EXTEND
+ DCA T6LOC
+ DTCB
+
+ DXCH ARUPT # T5RUPT
+ CS TIME5
+ AD .5SEC
+ TCF T5RUPT
+
+ DXCH ARUPT # T3RUPT
+ CAF T3RPTBB
+ XCH BBANK
+ TCF T3RUPT
+
+ DXCH ARUPT # T4RUPT
+ CAF T4RPTBB
+ XCH BBANK
+ TCF T4RUPT
+
+ DXCH ARUPT # KEYRUPT1
+ CAF KEYRPTBB
+ XCH BBANK
+ TCF KEYRUPT1
+
+ DXCH ARUPT # KEYRUPT2
+ CAF MKRUPTBB
+ XCH BBANK
+ TCF MARKRUPT
+
+ DXCH ARUPT # UPRUPT
+ CAF UPRPTBB
+ XCH BBANK
+ TCF UPRUPT
+
+ DXCH ARUPT # DOWNRUPT
+ CAF DWNRPTBB
+ XCH BBANK
+ TCF DODOWNTM
+
+ DXCH ARUPT # RADAR RUPT
+# Page 132
+ CAF RDRPTBB
+ XCH BBANK
+ TCF VHFREAD
+
+ DXCH ARUPT # HAND CONTROL RUPT
+ CAF HCRUPTBB
+ XCH BBANK
+ TCF RESUME +3 # NOT USED
+
+ EBANK= LST1 # RESTART USES E0,E3
+GOBB BBCON GOPROG
+
+ EBANK= LST1
+T3RPTBB BBCON T3RUPT
+
+ EBANK= KEYTEMP1
+KEYRPTBB BBCON KEYRUPT1
+
+ EBANK= MRKBUF1
+MKRUPTBB BBCON MARKRUPT
+
+UPRPTBB = KEYRPTBB
+
+ EBANK= DNTMBUFF
+DWNRPTBB BBCON DODOWNTM
+
+ EBANK= DATATEST
+RDRPTBB BBCON VHFREAD
+
+ EBANK= TIME1
+HCRUPTBB BBCON RESUME # NOT USED
+
+ EBANK= DSRUPTSW
+T4RPTBB BBCON T4RUPT
+
+ EBANK= TIME1
+T5RPTBB BBCON T5RUPT
+
+T5RUPT EXTEND
+ BZMF NOQBRSM
+ EXTEND
+ DCA T5LOC
+ DTCB
+
+
+
diff --git a/JET_SELECTION_LOGIC.s b/JET_SELECTION_LOGIC.s
new file mode 100644
index 0000000..f59608f
--- /dev/null
+++ b/JET_SELECTION_LOGIC.s
@@ -0,0 +1,932 @@
+# Copyright: Public domain.
+# Filename: JET_SELECTION_LOGIC.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1039-1062
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1039
+ BANK 21
+ SETLOC DAPS4
+ BANK
+
+ COUNT 17/DAPJS
+
+ EBANK= KMPAC
+
+# EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
+
+JETSLECT LXCH BANKRUPT
+ CAF DELTATT3 # = 60 MS RESET TO EXECUTIVE PHASE1
+ AD T5TIME
+ TS TIME5
+ TCF +3
+ CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT
+ TS TIME5
+ CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS
+ TS TIME6 # IN 14 MS
+ CAF NEGMAX
+ EXTEND
+ WOR CHAN13
+ EXTEND
+ QXCH QRUPT
+ CAF XLNMASK # = 7700 OCT
+ EXTEND # EXAMINE THE TRANSLATION
+ RXOR CHAN31 # HAND CONTROLLER
+ MASK XLNMASK
+ EXTEND
+ BZF NOXLNCMD
+ TS T5TEMP
+ EXTEND
+ MP BIT9
+ MASK THREE
+ TS XNDX1 # AC QUAD X-TRANSLATION INDEX
+ TS XNDX2 # BD QUAD X-TRANSLATION INDEX
+ CA T5TEMP
+ EXTEND # 1 = + XLN
+ MP BIT7 # 2 = - XLN
+ MASK THREE # 3 = NO XLN
+ TS YNDX # Y-TRANSLATION INDEX
+
+ CA T5TEMP
+ EXTEND
+ MP BIT5
+ MASK THREE
+ TS ZNDX # Z-TRANSLATION INDEX
+
+ CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
+ MASK BIT14 # TRANSLATIONS.
+ EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
+# Page 1040
+ BZF NOLEM
+ CS THREE # IF LEM IS ON, SET ATTKALMN = -3
+ TCF +2
+NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2.
+ TS ATTKALMN
+ CCS XTRANS # (+, -1, 0)
+ TS XNDX1 # USING BD-X ZERO XNDX1
+ TCF PWORD
+ TS XNDX2 # USING AC-X ZERO XNDX2
+ TCF PWORD
+XLNMASK OCT 7700
+
+DELTATT3 DEC 16378 # = 60 MS
+DELATT20 DEC 16382 # = 20 MS
+
+NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
+ TS XNDX2
+ TS YNDX
+ TS ZNDX
+
+# PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
+
+PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
+ CAF ONE
+ TCF +2 # 0 = NO PITCH
+ CAF TWO # +1 = + PITCH
+ TS PINDEX # +2 = - PITCH
+
+ CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
+ TCF AFAILP
+ TCF TABPCOM # 0 = NO REAL AC FAILURES
+ TCF CFAILP # + = A QUAD FAILED
+ TCF TABPCOM # - = C QUAD FAILED
+ # IF FAILURES ARE PRESENT IGNORE
+ # X-TRANSLATIONS ON THIS AXIS
+
+AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
+ TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
+CFAILP CAF TWELVE
+ TCF TABPCOM +2
+
+XLNNDX DEC 0 # INDICES FOR TRANSLATION COMMANDS
+ DEC 3 # FOR USE IN TABLE LOOK UP
+ DEC 6
+ DEC 0
+
+TWELVE = OCT14
+
+# TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
+# BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
+# Page 1041
+
+TABPCOM INDEX XNDX1
+ CA XLNNDX
+ AD PINDEX
+ INDEX A
+ CA PYTABLE
+ MASK PJETS # =1417 OCT
+ TS PWORD1
+ EXTEND
+ MP BIT7
+ TS NPJETS # = NO. OF PITCH JETS
+
+# YAW JET COMMANDS TIMING(N X-TRANS, NO QUAD FAILURES) 32MCT
+
+YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
+ CAF ONE
+ TCF +2
+ CAF TWO
+ TS YINDEX # YAW ROTATION INDEX
+
+ CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
+ TCF BFAILY # 0 = NO BD FAILURE
+ TCF TABYCOM # + - B QUAD FAILED
+ TCF DFAILY # - = D QUAD FAILED
+ TCF TABYCOM
+
+BFAILY CAF NINE
+ TCF TABYCOM +2
+DFAILY CAF TWELVE
+ TCF TABYCOM +2
+
+# Page 1042
+# TABLE FOR PITCH(YAW) COMMANDS
+# BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
+# BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
+# BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
+# BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
+
+ # ROT TRANS QUAD BIAS
+PYTABLE OCT 0 # 0 0 0
+ OCT 5125 # + 0 0
+ OCT 5252 # - 0 0
+ OCT 0231 # 0 + 3
+ OCT 2421 # + + 3
+ OCT 2610 # - + 3
+ OCT 0146 # 0 - 6
+ OCT 2504 # + - 6
+ OCT 2442 # - - 6
+ OCT 0 # 0 A(B) 9
+ OCT 2421 # + A(B) 9
+ OCT 2442 # - A(B) 9
+ OCT 0 # 0 C(D) 12
+ OCT 2504 # + C(D) 12
+ OCT 2610 # - C(D) 12
+
+# MASKS FOR PITCH AND YAW COMMANDS
+
+PJETS OCT 1417
+YJETS OCT 6360
+
+# TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
+# BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
+
+TABYCOM INDEX XNDX2
+ CA XLNNDX
+ AD YINDEX
+ INDEX A
+ CA PYTABLE
+ MASK YJETS # = 6360 OCT
+ TS YWORD1
+ EXTEND
+ MP BIT5
+ TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
+
+# Page 1043
+# ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
+
+RWORD CCS TAU # CHECK FOR ROLL COMMANDS
+ CAF ONE
+ TCF +2
+ CAF TWO
+ TS RINDEX
+
+ CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
+ TCF BDROLL # ROLL COMMANDS
+ TCF BDROLL # +, +0 = BD ROLL
+ TCF +1 # -, -0 = AC ROLL
+
+ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
+ TCF RAFAIL # ON AC QUADS
+ TCF RXLNS
+ TCF RCFAIL
+ TCF RXLNS
+
+RAFAIL CAF NINE # QUAD FAILURE WILL GET
+ TCF TABRCOM # 1-JET OPERATION
+RCFAIL CAF TWELVE
+ TCF TABRCOM
+
+XLN1NDX DEC 0
+ DEC 1 # INDICES FOR TRANSLATION
+ DEC 2
+ DEC 0
+
+# TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
+# BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
+
+RXLNS INDEX YNDX # NO AC QUAD FAILURES
+ CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
+TABRCOM AD RINDEX
+ INDEX A
+ CA RTABLE
+ MASK ACRJETS # = 3760 OCT
+ TS RWORD1
+
+# CHECK FOR Z-TRANSLATIONS ON BD
+
+BDZCHECK CA ZNDX
+ EXTEND
+ BZMF NOBDZ # NO Z-TRANSLATION
+
+# Page 1044
+# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
+# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION: IF THE RESULTANT NET ROLL
+# COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
+# ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
+
+ CCS RBDFAIL
+ CAF THREE
+ TCF +2
+ CAF SIX
+ INDEX ZNDX
+ AD XLN1NDX
+ INDEX A
+ CA YZTABLE
+ MASK BDZJETS # = 3417 OCT
+ AD RWORD1 # ADD TO ROLL COMMANDS
+ TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
+
+ EXTEND
+ MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
+ AD =-4 # Z-TRANSLATION ADDED ON
+ TS NRJETS # NET NO. OF +,- ROLL JETS ON
+ EXTEND
+ BZF TAUCHECK
+
+ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
+ TS RWORD1 # HAVE INTRODUCED AN UNDESIRABLE ROLL
+ TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
+
+TAUCHECK CCS TAU
+ TCF NOBDZ
+ TCF ACRBDZ
+ TCF NOBDZ
+ TCF ACRBDZ
+
+NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
+ EXTEND
+ MP BIT7
+ AD =-2
+ TS NRJETS
+ TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
+
+# Page 1045
+# BD QUAD SELECTION FOR ROLL COMMANDS
+
+BDROLL CCS RBDFAIL
+ TCF RBFAIL
+ TCF RZXLNS
+ TCF RDFAIL
+ TCF RZXLNS
+RBFAIL CAF NINE
+ TCF TABRZCMD
+RDFAIL CAF TWELVE
+ TCF TABRZCMD
+
+RZXLNS INDEX ZNDX # NO BD FAILURES
+ CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
+TABRZCMD AD RINDEX
+ INDEX A
+ CA RTABLE
+ MASK BDRJETS # = 34017 OCT
+ TS RWORD1
+
+ACYCHECK CA YNDX # ANY Y-TRANSLATION
+ EXTEND
+ BZF NOACY # NO Y-TRANSLATION
+ CCS RACFAIL
+ CAF THREE
+ TCF +2
+ CAF SIX
+ INDEX YNDX
+ AD XLN1NDX
+ INDEX A
+ CA YZTABLE
+ MASK ACYJETS # = 34360 OCT
+ AD RWORD1
+ TS T5TEMP
+ EXTEND # FOR EXPLANATION SEE CODING ON RTABLE
+ MP BIT4
+ AD =-4
+ TS NRJETS # NO. OF NET ROLL JETS
+ EXTEND
+ BZF TAUCHCK # IF NRJETS = 0
+
+BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
+ TS RWORD1
+ TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
+
+TAUCHCK CCS TAU
+ TCF NOACY
+ TCF BDRACZ
+ TCF NOACY
+ TCF BDRACZ
+
+# Page 1046
+NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
+ EXTEND
+ MP BIT4
+ AD =-2
+ TS NRJETS
+ TCF ROLLTIME
+
+# Page 1047
+# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
+#
+# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
+# PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
+# IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
+#
+# IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
+# FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
+# SWITCH TO AC ROLL.
+#
+# NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
+# INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
+#
+# WORD MAKE UP....RTABLE
+#
+# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPONDING
+# TO AC ROLL HAS THE FOLLOWING INTERPRETATION:
+#
+# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS:
+#
+# BIT NO. 11 10 9 NO. OF ROLL JETS
+#
+# 0 0 0 -2
+# 0 0 1 -1
+# 0 1 0 0
+# 0 1 1 +1
+# 1 0 0 +2
+#
+# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
+# CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
+#
+# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTEPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
+# (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
+
+ # ROLL TRANS QUADFAIL BIAS
+
+RTABLE OCT 11000 # 0 0
+ OCT 22125 # + 0
+ OCT 00252 # - 0
+ OCT 11231 # 0 +Y(+Z) 3
+ OCT 15421 # + +Y(+Z) 3
+ OCT 04610 # - +Y(+Z) 3
+ OCT 11146 # 0 -Y(-Z) 6
+ OCT 15504 # + -Y(-Z) 6
+ OCT 04442 # - -Y(-Z) 6
+ OCT 11000 # 0 A(B) 9
+ OCT 15504 # + A(B) 9
+ OCT 04610 # - A(B) 9
+ OCT 11000 # 0 C(D) 12
+ OCT 15421 # + C(D) 12
+ OCT 04442 # - C(D) 12
+
+# Page 1048
+# RTABLE MASKS:
+
+ACRJETS OCT 03760
+BDRJETS OCT 34017
+
+# Page 1049
+# Y, Z TRANSLATION TABLE
+#
+# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
+# USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
+# WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
+# COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
+# COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
+#
+# TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE
+# ABOVE.
+#
+# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
+# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILARLY BITS
+# 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
+
+ # TRANSLATION QUADFAIL BIAS
+ #
+YZTABLE OCT 11000 # 0 0
+ OCT 11231 # +Z(+Y) 0
+ OCT 11146 # -Z(-Y) 0
+ OCT 11000 # 0 B(A) 3
+ OCT 04610 # +Z(+Y) B(A) 3
+ OCT 15504 # -Z(-Y) B(A) 3
+ OCT 11000 # 0 D(C) 6
+ OCT 15421 # +Z(+Y) D(C) 6
+ OCT 04442 # -Z(-Y) D(C) 6
+
+# YZ-TABLE MASKS:
+
+BDZJETS OCT 03417
+ACYJETS OCT 34360
+
+# ADDITIONAL CONSTANTS
+
+=-2 = NEG2
+=-4 = NEG4
+
+# Page 1050
+# CALCULATION OF JET ON-TIMES
+#
+# THE ROTATION COMMANDS (TAU'S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
+# OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
+# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5
+# INTERVAL.
+#
+# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
+# (DFT'S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
+#
+# NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
+# UPDATE DFT.
+#
+# WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
+# THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
+# THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
+# AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
+# COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
+# ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
+
+# PITCH JET ON-TIME CALCULATION
+
+PITCHTIM CCS TAU1
+ TCF PTAUPOS
+ TCF +2
+ TCF PTAUNEG
+ TS DFT1 # NO PITCH ROTATION
+ TCF PBYPASS # COMMANDS
+
+PTAUNEG CS NPJETS
+ TS NPJETS
+PTAUPOS CA TAU1
+ EXTEND
+ INDEX NPJETS
+ MP NJET
+ TS BLAST1
+ AD =-.1SEC
+ EXTEND
+ BZMF AD14MSP
+ INDEX NPJETS
+ CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC
+ TS DFT1
+ COM
+ ADS TAU1 # UPDATE TAU1
+ CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION
+ TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY
+ TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH
+ # OVER TO TVC
+AD14MSP CS BLAST1 # SEE IF JET ON TIME IS LESS THAN
+ AD =14MS # MINIMUM IMPULSE TIME
+ EXTEND
+ BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS
+ CAF =14MS
+# Page 1051
+ TS BLAST1
+PBLASTOK CA BLAST1
+ EXTEND # THE PITCH COMMANDS WILL BE COMPLETED
+ MP NPJETS # WITHIN THE TS-CYCLE TIME
+ LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
+ TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
+ TCF ASMBLWP
+
+# Page 1052
+# YAW JET ON-TIME CALCULATION
+
+YAWTIME CCS TAU2
+ TCF YTAUPOS
+ TCF +2
+ TCF YTAUNEG
+ TS DFT2 # NO YAW ROTATION COMMANDS
+ TCF YBYPASS
+
+YTAUNEG CS NYJETS
+ TS NYJETS
+YTAUPOS CA TAU2
+ EXTEND
+ INDEX NYJETS
+ MP NJET
+ TS BLAST2
+ AD =-.1SEC
+ EXTEND
+ BZMF AD14MSY
+ INDEX NYJETS
+ CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC
+ TS DFT2
+ COM
+ ADS TAU2 # DECREMENT TAU2
+ CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
+ TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
+ TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
+
+AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
+ AD =14MS # MINIMUM IMPULSE TIME
+ EXTEND
+ BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
+ CAF =14MS
+ TS BLAST2
+YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
+ EXTEND # THE T5CYCLE TIME
+ MP NYJETS
+ LXCH DFT2
+ TS TAU2 # ZERO TAU2
+ TCF ASMBLWY
+
+# Page 1053
+# ROLL ON-TIME CALCULATION:
+
+ROLLTIME CCS TAU
+ TCF RBLAST
+ TCF +2
+ TCF RBLAST
+ INDEX NRJETS
+ CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
+ TS DFT # PRESENT
+ TCF RBYPASS
+
+ DEC -480 # =-.3SEC
+ DEC -320 # =-.2SEC
+=-.1SEC DEC -160 # =-.1SEC
+DFTMAX DEC 0 # 0
+=+.1SEC DEC 160 # =+.1SEC
+ DEC 320 # =+.2SEC
+ DEC 480 # =+.3SEC
+=14MS DEC 23 # =14MS
+
+RBLAST CA TAU
+ EXTEND
+ INDEX NRJETS
+ MP NJET
+ TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE
+ # USED IN DETERMINING THE JET ON-TIMES
+ AD =-.1SEC
+ EXTEND
+ BZMF AD14MSR
+ INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER
+ CA DFTMAX # THAN THE T5 CYCLE TIME
+ TS DFT
+ COM
+ ADS TAU
+ CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
+ TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
+ TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
+
+AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
+ AD =14MS # MINIMUM IMPULSE TIME
+ EXTEND
+ BZMF RBLASTOK
+ CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
+ TS BLAST
+RBLASTOK CA BLAST
+ EXTEND
+ MP NRJETS
+ LXCH DFT
+ TS TAU # ZERO TAU
+ TCF ASMBLWR
+
+# Page 1054
+ DEC -.333333 # = -1/3
+ DEC -.500000 # = -1.2
+ DEC -.999999 # = -1 (NEGMAX)
+NJET DEC 0
+ DEC .999999 # = +1 (POSMAX)
+ DEC .500000 # = +1/2
+ DEC .333333 # = +1/3
+
+# Page 1055
+# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
+# CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
+#
+# IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
+# CORRESPONDING ROTATIONS ARE COMPLETED.
+#
+# GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
+
+ASMBLWP CCS RACFAIL
+ TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION
+ TCF +2
+ TCF FPX2
+ INDEX XNDX1
+ CA XLNNDX
+ INDEX A
+FPX2 CA PYTABLE
+ MASK PJETS
+ TS PWORD2
+ TCF YAWTIME
+
+PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
+ TS PWORD2 # UPON ENTRY
+ CAF ZERO
+ TS BLAST1 # THERE IS NO PWORD2
+ TCF YAWTIME
+
+# Page 1056
+# GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
+
+ASMBLWR CCS YNDX # CHECK FOR Y-TRANS
+ TCF ACBD2Y
+NO2Y CAF ZERO
+ TS RWORD2
+ CCS ZNDX # CHECK FOR Z-TRANS
+ TCF ACBD2Z
+NO2Z CAF ZERO
+ ADS RWORD2
+ TCF PITCHTIM # RWORD2 ASSEMBLED
+
+ACBD2Y CCS ACORBD
+ TCF AC2Y # CAN DO Y-TRANS
+ TCF AC2Y
+ TCF +1 # USING AC FOR ROLL
+ CCS RACFAIL
+ TCF NO2Y # USING AC AND AC HAS FAILED
+ TCF +2
+ TCF NO2Y # DITTO
+
+ INDEX YNDX # NO FAILURES, CAN DO Y
+ CA XLNNDX
+ INDEX A
+ CA RTABLE
+ MASK ACRJETS
+ TCF NO2Y +1
+
+AC2Y CCS RACFAIL
+ CAF THREE
+ TCF +2
+ CAF SIX
+ INDEX YNDX
+ AD XLN1NDX
+ INDEX A
+ CA YZTABLE
+ MASK ACYJETS
+ TS RWORD2
+ EXTEND
+ MP BIT4
+ AD =-2
+ TS NRJETS
+ CS BLAST
+ AD =+.1SEC
+ EXTEND
+ MP NRJETS
+ CA L
+ ADS DFT
+ TCF NO2Y +2
+# Page 1057
+ACBD2Z CCS ACORBD
+ TCF BDF2Z # USING BD-ROLL
+ TCF BDF2Z # MUST CHECK FOR BD FAILURES
+ TCF +1
+ CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS
+ CAF THREE
+ TCF +2
+ CAF SIX
+ INDEX ZNDX
+ AD XLN1NDX
+ INDEX A
+ CA YZTABLE
+ MASK BDZJETS
+ ADS RWORD2
+ EXTEND
+ MP BIT7
+ AD =-2
+ TS NRJETS
+ CS BLAST
+ AD =+.1SEC
+ EXTEND
+ MP NRJETS
+ CA L
+ ADS DFT
+ TCF PITCHTIM
+
+BDF2Z CCS RBDFAIL
+ TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
+ TCF +2
+ TCF NO2Z # DITTO
+ INDEX ZNDX
+ CA XLNNDX
+ INDEX A
+ CA RTABLE
+ MASK BDRJETS
+ TCF NO2Z +1
+
+RBYPASS CA RWORD1
+ TS RWORD2
+ CAF ZERO
+ TS BLAST
+ TCF PITCHTIM
+
+# Page 1058
+# GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
+
+ASMBLWY CCS RBDFAIL
+ TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION
+ TCF +2
+ TCF FYX2
+ INDEX XNDX2
+ CA XLNNDX
+ INDEX A
+FYX2 CA PYTABLE
+ MASK YJETS
+ TS YWORD2
+ TCF T6SETUP
+
+YBYPASS CA YWORD1
+ TS YWORD2
+ CAF ZERO
+ TS BLAST2
+
+# Page 1059
+# SORT THE JET ON-TIMES
+#
+# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE:
+#
+# RWORD1
+# RWORD2 BLAST
+#
+# PWORD1
+# PWORD2 BLAST1
+#
+# YWORD1
+# YWORD2 BLAST2
+#
+# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
+# THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
+# WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
+# ORDER WORD.
+
+T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
+ TS BLAST +1
+ CAF FOUR # BRANCH INDEX FOR PITCH
+ TS BLAST1 +1
+ CAF ELEVEN # BRANCH INDEX FOR YAW
+ TS BLAST2 +1
+
+ CS BLAST
+ AD BLAST1
+ EXTEND
+ BZMF DXCHT12 # T1 OR T2
+CHECKT23 CS BLAST1
+ AD BLAST2
+ EXTEND
+ BZMF DXCHT23
+CALCDT6 CS BLAST1
+ ADS BLAST2
+ CS BLAST
+ ADS BLAST1 # END OF SORTING PROCEDURE
+ EXTEND # RESET T5LOC TO BEGIN PHASE1
+ DCA RCS2CADR
+ DXCH T5LOC
+ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
+ MASK RCSFLAGS # T6 PROGRAM
+ TS RCSFLAGS
+ CS ZERO # RESET T5PHASE FOR PHASE1
+ TS T5PHASE
+ TCF RESUME # RESUME INTERRUPTED PROGRAM
+
+ EBANK= KMPAC
+RCS2CADR 2CADR RCSATT
+
+# Page 1060
+DXCHT12 DXCH BLAST
+ DXCH BLAST1
+ DXCH BLAST
+ TCF CHECKT23
+
+DXCHT23 DXCH BLAST1
+ DXCH BLAST2
+ DXCH BLAST1
+ CS BLAST
+ AD BLAST1
+ EXTEND
+ BZMF +2
+ TCF CALCDT6
+ DXCH BLAST
+ DXCH BLAST1
+ DXCH BLAST
+ TCF CALCDT6
+
+# Page 1061
+# T6 PROGRAM AND CHANNEL SETUP
+
+ BANK 21
+ SETLOC DAPS5
+ BANK
+
+T6START LXCH BANKRUPT
+ EXTEND
+ QXCH QRUPT
+ CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET
+ TCF RESUME # AFTER T6RUPT OCCURRED (IN T5RUPT)
+ TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
+ TCF RESUME # TAKING ACTION
+
+ CS RCSFLAGS
+ MASK BIT1 # IF BIT1 IS 0 RESET TO 1
+ EXTEND # AND INITIALIZE CHANNEL
+ BZF T6RUPTOR
+ ADS RCSFLAGS
+ CA RWORD1
+ EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1
+ WRITE CHAN6
+ CA PWORD1
+ AD YWORD1
+ EXTEND
+ WRITE CHAN5
+
+T6RUPTOR CCS BLAST
+ TCF ZBLAST # ZERO BLAST1
+ TCF REPLACE # REPLACE WORD1
+ TCF +2
+ TCF REPLACE
+T6L1 CCS BLAST1
+ TCF ZBLAST1
+ TCF REPLACE1
+ TCF +2
+ TCF REPLACE1
+T6L2 CCS BLAST2
+ TCF ZBLAST2
+ TCF REPLACE2
+ TCF RESUME
+ TCF REPLACE2
+
+REPLACE INDEX BLAST +1
+ TC REPLACER
+ CS ONE
+ TS BLAST
+ TCF T6L1
+
+REPLACE1 INDEX BLAST1 +1
+# Page 1062
+ TC REPLACER
+ CS ONE
+ TS BLAST1
+ TCF T6L2
+
+REPLACE2 INDEX BLAST2 +1
+ TC REPLACER
+ CS ONE
+ TS BLAST2
+ TCF RESUME
+
+REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2
+ EXTEND
+ WRITE CHAN6
+ TC Q
+
+REPLACEP CA YJETS
+ EXTEND
+ RAND CHAN5
+ AD PWORD2
+ EXTEND
+ WRITE CHAN5
+ TC Q
+
+REPLACEY CA PJETS
+ EXTEND
+ RAND CHAN5
+ AD YWORD2
+ EXTEND
+ WRITE CHAN5
+ TC Q
+
+ZBLAST CAF ZERO
+ XCH BLAST
+ TCF ENABT6
+ZBLAST1 CAF ZERO
+ XCH BLAST1
+ TCF ENABT6
+ZBLAST2 CAF ZERO
+ XCH BLAST2
+ENABT6 TS TIME6
+ CAF NEGMAX
+ EXTEND
+ WOR CHAN13 # ENABLE T6RUPT
+ TCF RESUME
+
+# END OF T6 INTERRUPT
+
+ENDSLECT EQUALS
+
diff --git a/KALCMANU_STEERING.s b/KALCMANU_STEERING.s
new file mode 100644
index 0000000..2156c78
--- /dev/null
+++ b/KALCMANU_STEERING.s
@@ -0,0 +1,265 @@
+# Copyright: Public domain.
+# Filename: KALCMANU_STEERING.agc
+# Purpose: Part of the source code for Comanche, build 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 414-419
+# Contact: Onno Hommes <ohommes@cmu.edu>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 05/07/09 OH Transcription Batch 1 Assignment
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further information.
+# Please report any errors to info@sandroid.org.
+
+# Page 414
+# GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
+#
+# NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
+
+ BANK 15
+
+ SETLOC KALCMON1
+ BANK
+
+ EBANK= BCDU
+
+ COUNT 22/KALC
+
+NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
+ EXTEND # BY ASTRONAUT.
+ BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
+NEWANGL TC INTPRET
+ AXC,1 AXC,2
+ MIS # COMPUTE THE NEW MATRIX FROM S/C TO
+ DEL # STABLE MEMBER AXES
+ CALL
+ MXM3
+ VLOAD STADR
+ STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
+ STADR
+ STOVL MIS +6D
+ STADR
+ STORE MIS
+ AXC,1 CALL
+ MIS
+ DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
+ RTB
+ V1STO2S
+ STORE NCDU # NEW CDU ANGLES
+ BONCLR EXIT
+ CALCMAN2
+ MANUSTAT # TO START MANEUVER
+ CAF TWO # +0 OTHERWISE
+INCRDCDU TS KSPNDX
+ DOUBLE
+ TS KDPNDX
+ INDEX KSPNDX
+ CA NCDU # NEW DESIRED CDU ANGLES
+ EXTEND
+ INDEX KSPNDX
+ MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
+ EXTEND # CDU ANGLES
+ MP QUADROT
+ INDEX KDPNDX
+ DXCH DELCDUX # ANGEL INCREMENTS TO BE ADDED TO
+# Page 415
+ INDEX KSPNDX # DCDU EVERY TENTH SEC
+ CA NCDU # BY LEM DAP
+ INDEX KSPNDX
+ XCH BCDU
+ INDEX KDPNDX
+ TS CDUXD
+ CCS KSPNDX
+ TCF INCRDCDU # LOOP FOR THREE AXES
+
+ RELINT
+# COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
+
+TMANUCHK TC TIMECHK
+ TC POSTJUMP
+ CADR CONTMANU
+
+ CAF ONE
+MANUSTAL TC WAITLIST
+ EBANK= BCDU
+ 2CADR MANUSTOP
+
+ RELINT
+ TCF ENDOFJOB
+
+
+TIMECHK EXTEND
+ DCS TIME2
+ DXCH TTEMP
+ EXTEND
+ DCA TM
+ DAS TTEMP
+ CCS TTEMP
+ TC Q
+ TCF +2
+ TCF 2NDRETRN
+ CCS TTEMP +1
+ TC Q
+ TCF MANUOFF
+ COM
+MANUOFF AD 1SEC
+ EXTEND
+ BZMF 2NDRETRN
+ INCR Q
+2NDRETRN INCR Q
+ INCR Q
+ TC Q
+
+ SETLOC MANUSTUF
+ BANK
+# Page 416
+MANUSTAT EXIT # INITIALIZATION ROUTINE
+ EXTEND # FOR AUTOMATIC MANEUVERS
+ DCA TIME2
+ DAS TM # TM+T0 MANEUVER COMPLETION TIME
+ CS 1SEC
+ TS L
+ CS ZERO
+ DAS TM # (TM+T0)-1
+ INHINT
+ CS ONE # ENABLE AUTOPILOT TO PERFORM
+ TS HOLDFLAG # AUTOMATIC MANEUVERS
+ CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
+ AD SIX
+ EXTEND
+ BZMF HIGHGAIN
+ TCF +4
+HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
+ MASK BIT15 # RCSFLAGS)
+ ADS RCSFLAGS
+ DXCH BRATE # X-AXIS MANEUVER RATE
+ DXCH WBODY
+ DXCH BRATE +2 # Y-AXIS MANEUVER RATE
+ DXCH WBODY1
+ DXCH BRATE +4 # Z-AXIS MANEUVER RATE
+ DXCH WBODY2
+ CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
+ TS BIAS # INTO AUTOPILOT
+ CA BIASTEMP +3
+ TS BIAS1
+ CA BIASTEMP +5
+ TS BIAS2
+ CA TIME1
+ AD 1SEC
+ XCH NEXTIME
+ TC POSTJUMP
+ CADR INCRDCDU -1
+
+CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
+ CS TIME1
+ AD NEXTIME
+ CCS A
+ AD ONE
+ TCF MANUCALL
+ AD NEGMAX
+ COM
+MANUCALL TC WAITLIST
+ EBANK= BCDU
+ 2CADR UPDTCALL
+
+ RELINT
+# Page 417
+ CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
+ ADS NEXTIME
+ TCF ENDOFJOB
+
+
+UPDTCALL CAF PRIO26 # CALL FOR UPDATE
+ TC FINDVAC # OF STEERING COMMANDS
+ EBANK= BCDU
+ 2CADR NEWDELHI
+
+ TC TASKOVER
+
+# Page 418
+# ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
+
+ SETLOC KALCMON3
+ BANK
+
+MANUSTOP TC STOPYZ
+ TC IBNKCALL
+ CADR LOADYZ
+
+ENDROLL CA CPHI
+ TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
+ TC STOPRATE
+ENDMANU CA ATTPRIO # RESTORE USERS PRIO
+ TS NEWPRIO
+
+ CA ZERO # ZERO ATTCADR
+ DXCH ATTCADR
+
+ TC SPVAC # RETURN TO USER OF GOMANUR
+
+ TC TASKOVER
+
+ SETLOC STOPRAT
+ BANK
+STOPRATE CAF ZERO
+ TS DELCDUX
+ TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
+ TS WBODY # RATE
+ TS WBODY +1
+ TS BIAS # BIAS
+
+ CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
+ MASK RCSFLAGS # RCSFLAGS) IS RESET.
+ TS RCSFLAGS
+
+STOPYZ CAF ZERO
+ TS DELCDUY # ZERO PITCH, YAW
+ TS DELCDUY +1 # INCREMENTAL ANGLES
+ TS DELCDUZ
+ TS DELCDUZ +1
+ TS WBODY1 # RATES
+ TS WBODY1 +1
+ TS WBODY2
+ TS WBODY2 +1
+ TS BIAS1 # BIASES
+ TS BIAS2
+ TC Q
+
+ SETLOC MANUSTUF
+ BANK
+
+# Page 419
+ZEROERROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
+ TS CDUXD # CDU DESIRED
+ CA CDUY
+ TS CDUYD
+ CA CDUZ
+ TS CDUZD
+ TC Q
+
+ SETLOC KALCMON1
+ BANK
+
+LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
+ TS CDUXD # COMMAND ANGLES
+LOADYZ CA CTHETA
+ TS CDUYD
+ CA CPSI
+ TS CDUZD
+ TC Q
diff --git a/KALMAN_FILTER.s b/KALMAN_FILTER.s
new file mode 100644
index 0000000..0b9cac8
--- /dev/null
+++ b/KALMAN_FILTER.s
@@ -0,0 +1,101 @@
+# Copyright: Public domain.
+# Filename: KALMAN_FILTER.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1470-1471
+# Mod history: 2009-05-27 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1470
+ EBANK= NO.UJETS
+ BANK 16
+ SETLOC DAPS1
+ BANK
+
+ COUNT* $$/DAP
+
+RATELOOP CA TWO
+ TS DAPTEMP6
+ DOUBLE
+ TS Q
+ INDEX DAPTEMP6
+ CCS TJP
+ TCF +2
+ TCF LOOPRATE
+ AD -100MST6
+ EXTEND
+ BZMF SMALLTJU
+ INDEX DAPTEMP6
+ CCS TJP
+ CA -100MST6
+ TCF +2
+ CS -100MST6
+ INDEX DAPTEMP6
+ ADS TJP
+ INDEX DAPTEMP6
+ CCS TJP
+ CS -100MS # 0.1 AT 1
+ TCF +2
+ CA -100MS
+LOOPRATE EXTEND
+ INDEX DAPTEMP6
+ MP NO.PJETS
+ CA L
+ INDEX DAPTEMP6
+ TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
+ EXTEND
+ MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
+ EXTEND
+ BZMF NEGTORK
+STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
+ ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
+
+ CCS DAPTEMP6
+ TCF RATELOOP +1
+ TCF ROTORQUE
+SMALLTJU CA ZERO
+ INDEX DAPTEMP6
+ XCH TJP
+ EXTEND
+# Page 1471
+ MP ELEVEN # 10.24 PLUS
+ CA L
+ TCF LOOPRATE
+ROTORQUE CA DAPTEMP2
+ AD DAPTEMP3
+ EXTEND
+ MP 1JACCR
+ TS JETRATER
+ CS DAPTEMP3
+ AD DAPTEMP2
+ EXTEND
+ MP 1JACCQ
+ TS JETRATEQ
+ TCF BACKP
+-100MST6 DEC -160
+
+NEGTORK COM
+ INCR Q
+ TCF STORTORK
+
+
diff --git a/KEYRUPT_UPRUPT.s b/KEYRUPT_UPRUPT.s
new file mode 100644
index 0000000..cfa480d
--- /dev/null
+++ b/KEYRUPT_UPRUPT.s
@@ -0,0 +1,136 @@
+# Copyright: Public domain.
+# Filename: KEYRUPT_UPRUPT.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1449-1451
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same
+# name, and page images. Corrected various
+# typos in the transcription of program
+# comments, and these should be back-ported
+# to Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1449
+ BANK 14
+ SETLOC KEYRUPT
+ BANK
+ COUNT* $$/KEYUP
+
+KEYRUPT1 TS BANKRUPT
+ XCH Q
+ TS QRUPT
+ TC LODSAMPT # TIME IS SNATCHED IN RUPT FOR NOUN 65.
+ CAF LOW5
+ EXTEND
+ RAND MNKEYIN # CHECK IF KEYS 5M-1M ON
+KEYCOM TS RUPTREG4
+ CS FLAGWRD5
+ MASK BIT15
+ ADS FLAGWRD5
+
+ACCEPTUP CAF CHRPRIO # (NOTE: RUPTREG4 = KEYTEMP1)
+ TC NOVAC
+ EBANK= DSPCOUNT
+ 2CADR CHARIN
+
+ CA RUPTREG4
+ INDEX LOCCTR
+ TS MPAC # LEAVE 5 BIT KEY CODE IN MPAC FOR CHARIN
+ TC RESUME
+
+# Page 1450
+# UPRUPT PROGRAM
+
+UPRUPT TS BANKRUPT
+ XCH Q
+ TS QRUPT
+ TC LODSAMPT # TIME IS SNATCHED IN RUPT FOR NOUN 65.
+ CAF ZERO
+ XCH INLINK
+ TS KEYTEMP1
+ CAF BIT3 # TURN ON UPACT LIGHT
+ EXTEND # (BIT 3 OF CHANNEL 11)
+ WOR DSALMOUT
+UPRPT1 CAF LOW5 # TEST FOR TRIPLE CHAR REDUNDANCY
+ MASK KEYTEMP1 # LOW5 OF WORD
+ XCH KEYTEMP1 # LOW5 INTO KEYTEMP1
+ EXTEND
+ MP BIT10 # SHIFT RIGHT 5
+ TS KEYTEMP2
+ MASK LOW5 # MID 5
+ AD HI10
+ TC UPTEST
+ CAF BIT10
+ EXTEND
+ MP KEYTEMP2 # SHIFT RIGHT 5
+ MASK LOW5 # HIGH 5
+ COM
+ TC UPTEST
+
+UPOK CS ELRCODE # CODE IS GOOD. IF CODE = `ERROR RESET',
+ AD KEYTEMP1 # CLEAR UPLOCKFL (SET BIT4 OF FLAGWRD7 = 0)
+ EXTEND # IF CODE DOES NOT = `ERROR RESET', ACCEPT
+ BZF CLUPLOCK # CODE ONLY IF UPLOCKFL IS CLEAR (=0).
+
+ CAF BIT4 # TEST UPLOCKFL FOR 0 OR 1
+ MASK FLAGWRD7
+ CCS A
+ TC RESUME # UPLOCKFL = 1
+ TC ACCEPTUP # UPLOCKFL = 0
+
+CLUPLOCK CS BIT4 # CLEAR UPLOCKFL (I.E., SET BIT 4 OF
+ MASK FLAGWRD7 # FLAGWRD7 = 0)
+ TS FLAGWRD7
+ TC ACCEPTUP
+
+ # CODE IS BAD
+TMFAIL2 CS FLAGWRD7 # LOCK OUT FURTHER UPLINK ACTIVITY
+ MASK BIT4 # (BY SETTING UPLOCKFL = 1) UNTIL
+ ADS FLAGWRD7 # `ERROR RESET' IS SENT VIA UPLINK.
+ TC RESUME
+UPTEST AD KEYTEMP1
+# Page 1451
+ CCS A
+ TC TMFAIL2
+HI10 OCT 77740
+ TC TMFAIL2
+ TC Q
+
+ELRCODE OCT 22
+
+# `UPLINK ACTIVITY LIGHT' IS TURNED OFF BY .....
+# 1. VBRELDSP
+# 2. ERROR RESET
+# 3. UPDATE PROGRAM (P27) ENTERED BY V70,V71,V72, AND V73.
+#
+# THE RECEPTION OF A BAD CODE (I.E., CCC FAILURE) LOCKS OUT FURTHER UPLINK ACTIVITY BY SETTING BIT4 OF FLAGWRD7 = 1.
+# THIS INDICATION WILL BE TRANSFERRED TO THE GROUND BY THE DOWNLINK WHICH DOWNLINKS ALL FLAGWORDS.
+# WHEN UPLINK ACTIVITY IS LOCKED OUT, IT CAN BE ALLOWED WHEN THE GROUND UPLINKS AND `ERROR RESET' CODE.
+# (IT IS RECOMMENDED THAT THE `ERROR LIGHT RESET' CODE IS PRECEEDED BY 16 BITS THE FIRST OF WHICH IS 1 FOLLOWED
+# BY 15 ZEROS. THIS WILL ELIMINATE EXTRANEOUS BITS FROM INLINK WHICH MAY HAVE BEEN LEFT OVER FROM THE ORIGINAL
+# FAILURE).
+#
+# UPLINK ACTIVITY IS ALSO ALLOWED (UNLOCKED) DURING FRESH START WHEN FRESH START SETS BIT4 OF FLAGWRD7 = 0.
+
+
diff --git a/LAMBERT_AIMPOINT_GUIDANCE.s b/LAMBERT_AIMPOINT_GUIDANCE.s
new file mode 100644
index 0000000..cd367f4
--- /dev/null
+++ b/LAMBERT_AIMPOINT_GUIDANCE.s
@@ -0,0 +1,169 @@
+# Copyright: Public domain.
+# Filename: LAMBERT_AIMPOINT_GUIDANCE.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 651-653
+# Mod history: 2009-05-18 RSB Transcribed from Luminary 099
+# page images.
+# 2009-06-05 RSB Corrected 4 typos.
+# 2009-06-07 RSB Fixed a typo.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 651
+
+# GENERAL LAMBERT AIMPOINT GUIDANCE **
+# WRITTEN BY RAMA M AIYAWAR
+
+# PROGRAM P-31 DESCRIPTION **
+#
+# 1. TO ACCEPT TARGETING PARAMETERS OBTAINED FROM A SOURCE EXTERNAL
+# TO THE LEM AND COMPUTE THERE FROM THE REQUIRED-VELOCITY AND
+# OTHER INITIAL CONDITIONS REQUIRED BY LM FOR DESIRED MANEUVER.
+# THE TARGETING PARAMETERS ARE TIG (TIME OF IGNITION), TARGET
+# VECTOR (RTARG), AND THE TIME FROM TIG UNTIL THE TARGET IS
+# REACHED (DELLT4), DESIRED TIME OF FLIGHT FROM RINIT TO RTARG.
+
+# ASSUMPTIONS **
+#
+# 1. THE TARGET PARAMETERS MAY HAVE BEEN LOADED PRIOR TO THE
+# EXECUTION OF THIS PROGRAM.
+# 2. THIS PROGRAM IS APPLICABLE IN EITHER EARTH OR LUNAR ORBIT.
+# 3. THIS PROGRAM IS DESIGNED FOR ONE-MAN OPERATION, AND SHOULD
+# BE SELECTED BY THE ASTRONAUT BY DSKY ENTRY V37 E31.
+
+# SUBROUTINES USED **
+#
+# MANUPARM, TTG/N35, R02BOTH, MIDGIM, DISPMGA, FLAGDOWN, BANKCALL,
+# GOTOPOOH, ENDOFJOB, PHASCHNG, GOFLASHR, GOFLASH.
+#
+# MANUPARM CALCULATES APOGEE, PERIGEE ALTITUDES AND DELTAV DESIRED
+# FOR THE MANEUVER.
+#
+# TTG/N35 CLOCKTASK - UPDATES CLOCK.
+#
+# MIDGIM CALCULATES MIDDLE GIMBAL ANGLE FOR DISPLAY.
+#
+# R02BOTH IMU - STATUS CHECK ROUTINE.
+
+# DISPLAYS USED IN P-31LM **
+#
+# V06N33 DISPLAY SOTRED TIG (IN HRS. MINS. SECS.)
+# V06N42 DISPLAY APOGEE, PERIGEE, DELTAV.
+# V16N35 DISPLAY TIME FROM TIG.
+# V06N45 TIME FROM IGNITION AND MIDDLE GIMBAL ANGLE.
+
+# ERASABLE INITIALIZATION REQUIRED **
+#
+# TIG TIME OF IGNITION DP (B+28) CS.
+#
+# DELLT4 DESIRED TIME OF FLIGHT DP (B+28) CS
+# FROM RINIT TO RTARG.
+#
+# RTARG RADIUS VECTOR OF TARGET POSITION VECTOR
+# RADIUS VECTOR SCALED TO (B+29)METERS IF EARTH ORBIT
+# Page 652
+# RADIUS VECTOR SCALED TO (B+27)METERS IF MOON ORBIT
+
+# OUTPUT **
+#
+# HAPO APOGEE ALTITUDE
+# HPER PERIGEE ALTITUDE
+# VGDISP MAG. OF DELTAV FOR DISPLAY, SCALING B+7 M/CS EARTH
+# MAG. OF DELTAV FOR DISPLAY, SCALING B+5 M/CS MOON
+# MIDGIM MIDDLE GIMBAL ANGLE
+# XDELVFLG RESETS XDELVFLG FOR LAMBERT VG COMPUTATIONS
+
+# ALARMS OR ABORTS NONE **
+
+# RESTARTS ARE VIA GROUP 4 **
+
+ SETLOC GLM
+ BANK
+
+ EBANK= SUBEXIT
+
+ COUNT* $$/P31
+P31 TC P20FLGON
+ CAF V06N33 # T16
+ TC VNP00H
+ TC INTPRET
+ CLEAR DLOAD
+ UPDATFLG
+ TIG
+ STCALL TDEC1 # INTEGRATE STATE VECTORS TO TIG
+ LEMPREC
+ VLOAD SETPD
+ RATT
+ 0D
+ STORE RTIG
+ STOVL RINIT
+ VATT
+ STORE VTIG
+ STODL VINIT
+ P30ZERO
+ PUSH PDDL # E4 AND NUMIT = 0
+ DELLT4
+ DAD SXA,1
+ TIG
+ RTX1
+ STORE TPASS4
+ SXA,2 CALL
+ RTX2
+ INITVEL
+ VLOAD PUSH
+# Page 653
+ DELVEET3
+ STORE DELVSIN
+ ABVAL CLEAR
+ XDELVFLG
+ STCALL VGDISP
+ GET.LVC
+ VLOAD PDVL
+ RTIG
+ VIPRIME
+ CALL
+ PERIAPO1
+ CALL
+ SHIFTR1
+ CALL # LIMIT DISPLAY TO 9999.9 N. MI.
+ MAXCHK
+ STODL HPER
+ 4D
+ CALL
+ SHIFTR1
+ CALL # LIMIT DISPLAY TO 9999.9 N. MI.
+ MAXCHK
+ STORE HAPO
+ EXIT
+ CAF V06N81 # DELVLVC
+ TC VNP00H
+ CAF V06N42 # HAPO, HPER, VGDISP
+ TC VNP00H
+ TC INTPRET
+REVN1645 SET CALL # TRKMKCNT, TTOGO, +MGA
+ FINALFLG
+ VN1645
+ GOTO
+ REVN1645
+
+
+# *** END OF LEMP30S .103 ***
+
diff --git a/LANDING_ANALOG_DISPLAYS.s b/LANDING_ANALOG_DISPLAYS.s
new file mode 100644
index 0000000..2698cef
--- /dev/null
+++ b/LANDING_ANALOG_DISPLAYS.s
@@ -0,0 +1,536 @@
+# Copyright: Public domain.
+# Filename: LANDING_ANALOG_DISPLAYS.agc
+# Purpose: Part of the source code for Luminary, build 099. It
+# is part of the source code for the Lunar Module's
+# (LM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 898-907
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 05/06/09 FB Transcription Batch 4 Assignment.
+#
+# The contents of the "Luminary099" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 001 of AGC program Luminary099 by NASA
+# 2021112-061. July 14, 1969.
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 898
+ BANK 21
+ SETLOC R10
+ BANK
+
+ EBANK= UNIT/R/
+ COUNT* $$/R10
+
+LANDISP LXCH PIPCTR1 # UPDATE TBASE2 AND PIPCTR SIMULTANEOUSLY.
+ CS TIME1
+ DXCH TBASE2
+
+ CS FLAGWRD7 # IS LANDING ANALOG DISPLAYS FLAG SET?
+ MASK SWANDBIT
+ CCS A
+ TCF DISPRSET # NO.
+ CA IMODES33 # BIT 7 = 0 (DO ALTRATE), =1 (DO ALT.)
+ MASK BIT7
+ CCS A
+ TCF ALTOUT
+ALTROUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG.
+ CS IMODES33
+ MASK BIT7
+ ADS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE.
+ CAF BIT2 # RATE COMMAND IS EXECUTED BEFORE RANGE.
+ EXTEND
+ WOR CHAN14 # ALTRATE (BIT2 = 1), ALTITUDE (BIT2 = 0).
+ARCOMP CA RUNIT # COMPUTE ALTRATE = RUNIT.VVECT M/CS *(-6).
+ EXTEND
+ MP VVECT # MULTIPLY X-COMPONENTS.
+ XCH RUPTREG1 # SAVE SINGLE PRECISION RESULT M/CS*2(-6)
+ CA RUNIT +1 # MULTIPLY Y-COMPONENTS.
+ EXTEND
+ MP VVECT +1
+ ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
+ CA RUNIT +2 # MULTIPLY Z-COMPONENTS.
+ EXTEND
+ MP VVECT +2
+ ADS RUPTREG1 # ALTITUDE RATE IN M/CS *2(-6).
+ CA ARCONV # CONVERT ALTRATE TO BIT UNITS (.5FPS/BIT)
+ EXTEND
+ MP RUPTREG1
+ DDOUBL
+ DDOUBL
+ XCH RUPTREG1 # ALTITUDE RATE IN BIT UNITS*2(-14).
+ CA DALTRATE # ALTITUDE RATE COMPENSATION FACTOR.
+ EXTEND
+ MP DT
+ AD RUPTREG1
+ TS ALTRATE # ALTITUDE RATE IN BIT UNITS*2(-14).
+ CS ALTRATE
+# Page 899
+ EXTEND # CHECK POLARITY OF ALTITUDE RATE.
+ BZMF +2
+ TCF DATAOUT # NEGATIVE -- SEND POS. PULSES TO ALTM REG.
+ CA ALTRATE # POSITIVE OR ZERO -- SET SIGN BIT = 1 AND
+ AD BIT15 # SEND TO ALTM REGISTER. *DO NOT SEND +0*
+DATAOUT TS ALTM # ACTIVATE THE LANDING ANALOG DISPLAYS
+ CAF BIT3
+ EXTEND
+ WOR CHAN14 # BIT3 DRIVES THE ALT/ALTRATE METER.
+ TCF TASKOVER # EXIT
+
+ALTOUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG.
+ CS BIT7
+ MASK IMODES33
+ TS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE.
+ CS BIT2
+ EXTEND
+ WAND CHAN14
+ CCS ALTBITS # = -1 IF OLD ALT. DATA TO BE EXTRAPOLATED.
+ TCF +4
+ TCF +3
+ TCF OLDDATA
+ TS ALTBITS # SET ALTBITS FROM -0 TO +0.
+ CS ONE
+ DXCH ALTBITS # SET ALTBITS = -1 FOR SWITCH USE NEXT PASS.
+ DXCH ALTSAVE
+ CA BIT10 # NEW ALTITUDE EXTRAPOLATION WITH ALTRATE.
+ XCH Q
+ LXCH 7 # ZL
+ CA DT
+ EXTEND
+ DV Q # RESCALE DT*2(-14) TO *2(-9) TIME IN CS.
+ EXTEND
+ MP ARTOA2 # .0021322 *2(+8)
+ TCF OLDDATA +1 # RATE APPLIES FOR DT CS.
+
+ZDATA2 DXCH ALTSAVE
+ TCF NEWDATA
+OLDDATA CA ARTOA # RATE APPLIES FOR .5 SEC. (4X/SEC. CYCLE)
+ EXTEND
+ MP ALTRATE # EXTRAPOLATE WITH ALTITUDE RATE.
+ DDOUBL
+ AD ALTSAVE +1
+ TS ALTSAVE +1
+ CAF ZERO
+ ADS ALTSAVE
+ CAF POSMAX # FORCE SIGN AGREEMENT ASSUMING A
+ AD ONE # NON-NEGATIVE ALTSAVE.
+ AD ALTSAVE +1 # IF ALTSAVE IS NEGATIVE, ZERO ALTSAVE
+ TS ALTSAVE +1 # AND ALTSAVE +1 AT ZERODATA.
+# Page 900
+ CAF ZERO
+ AD POSMAX
+ AD ALTSAVE
+ TS ALTSAVE # POSSIBLY SKIP TO NEWDATA.
+ TCF ZERODATA
+NEWDATA CCS ALTSAVE +1
+ TCF +4
+ TCF +3
+ CAF ZERO # SET NEGATIVE ALTSAVE +1 TO +0.
+ TS ALTSAVE +1
+ CCS ALTSAVE # PROVIDE A 15 BIT UNSIGNED OUTPUT.
+ CAF BIT15 # THE HI-ORDER PART IS +1 OR +0.
+ AD ALTSAVE +1
+ TCF DATAOUT # DISPATCH UNSIGNED BITS TO ALTM REG.
+DISINDAT EXTEND
+ QXCH LADQSAVE # SAVE RETURN TO ALTROUT +1 OR ALTOUT +1
+ CAF BIT6
+ EXTEND # WISHETH THE ASTRONAUT THE ANALOG
+ RAND CHAN30 # DISPLAYS? I.E.,
+ CCS A # IS THE MODE SELECT SWITCH IN PGNCS?
+ TCF DISPRSET # NO. ASTRONAUT REQUESTS NO INERTIAL DATA
+ CS FLAGWRD1 # YES. CHECK STATUS OF DIDFLAG.
+ MASK DIDFLBIT
+ EXTEND
+ BZF SPEEDRUN # SET. PERFORM DATA DISPLAY SEQUENCE.
+ CS FLAGWRD1 # RESET. PERFORM INITIALIZATION FUNCTIONS.
+ MASK DIDFLBIT
+ ADS FLAGWRD1 # SET DIDFLAG.
+ CS BIT7
+ MASK IMODES33 # TO DISPLAY ALTRATE FIRST AND ALT. SECOND
+ TS IMODES33
+ CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
+ MASK R10FLBIT
+ EXTEND
+ BZF TASKOVER # NO
+ CAF BIT8 # YES.
+ EXTEND
+ WOR CHAN12 # SET DISPLAY INERTIAL DATA OUTBIT.
+ CAF ZERO
+ TS TRAKLATV # LATERAL VELOCITY MONITOR FLAG
+ TS TRAKFWDV # FORWARD VELOCITY MONITOR FLAG
+ TS LATVMETR # LATVEL MONITOR METER
+ TS FORVMETR # FORVEL MONITOR METER
+ CAF BIT4
+ TC TWIDDLE
+ ADRES INTLZE
+ TCF TASKOVER
+INTLZE CAF BIT2
+ EXTEND
+ WOR CHAN12 # ENABLE RR ERROR COUNTER.
+# Page 901
+ CS IMODES33
+ MASK BIT8
+ ADS IMODES33 # SET INERTIAL DATA FLAG.
+ TCF TASKOVER
+
+SPEEDRUN CS PIPTIME +1 # UPDATE THE VELOCITY VECTOR
+ AD TIME1 # COMPUTE T - TN
+ AD HALF # CORRECT FOR POSSIBLE OVERFLOW OF TIME1.
+ AD HALF
+ XCH DT # SAVE FOR LATER USE
+ CA 1SEC
+ TS ITEMP5 # INITIALIZE FOR DIVISION LATER
+ EXTEND
+ DCA GDT/2 # COMPUTE THE X-COMPONENT OF VELOCITY.
+ DDOUBL
+ DDOUBL
+ EXTEND
+ MP DT
+ EXTEND
+ DV ITEMP5
+ XCH VVECT # VVECT = G(T-TN) M/CS *2(-5)
+ EXTEND
+ DCA V # M/CS *2(-7)
+ DDOUBL # RESCALE TO 2(-5)
+ DDOUBL
+ ADS VVECT # VVECT = VN + G(T-TN) M/CS *2(-5)
+ CA PIPAX # DELV CM/SEC *2(-14)
+ AD PIPATMPX # IN CASE PIPAX HAS BEEN ZEROED
+ EXTEND
+ MP KPIP1(5) # DELV M/CS *2(-5)
+ ADS VVECT # VVECT = VN + DELV + GN(T-TN) M/CS *2(-5)
+ EXTEND
+ DCA GDT/2 +2 # COMPUTE THE Y-COMPONENT OF VELOCITY.
+ DDOUBL
+ DDOUBL
+ EXTEND
+ MP DT
+ EXTEND
+ DV ITEMP5
+ XCH VVECT +1
+ EXTEND
+ DCA V +2
+ DDOUBL
+ DDOUBL
+ ADS VVECT +1
+ CA PIPAY
+ AD PIPATMPY
+ EXTEND
+ MP KPIP1(5)
+ ADS VVECT +1
+# Page 902
+ EXTEND
+ DCA GDT/2 +4 # COMPUTE THE Z-COMPONENT OF VELOCITY.
+ DDOUBL
+ DDOUBL
+ EXTEND
+ MP DT
+ EXTEND
+ DV ITEMP5
+ XCH VVECT +2
+ EXTEND
+ DCA V +4
+ DDOUBL
+ DDOUBL
+ ADS VVECT +2
+ CA PIPAZ
+ AD PIPATMPZ
+ EXTEND
+ MP KPIP1(5)
+ ADS VVECT +2
+
+ CAF BIT3 # PAUSE 40 MS TO LET OTHER RUPTS IN.
+ TC VARDELAY
+
+ CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
+ MASK R10FLBIT
+ CCS A
+ TCF +2 # YES.
+ TC LADQSAVE # NO.
+
+ CA DELVS # HI X OF VELOCITY CORRECTION TERM.
+ AD VVECT # HI X OF UPDATED VELOCITY VECTOR.
+ TS ITEMP1 # = VX - DVX M/CS *2(-5).
+ CA DELVS +2 # Y
+ AD VVECT +1 # Y
+ TS ITEMP2 # = VY - DVY M/CS *2(-5)
+ CA DELVS +4 # Z
+ AD VVECT +2 # Z
+ TS ITEMP3 # = VZ - DVZ M/CS *2(-5)
+ CA ITEMP1 # COMPUTE VHY, VELOCITY DIRECTED ALONG THE
+ EXTEND # Y-COORDINATE.
+ MP UHYP # HI X OF CROSS-RANGE HALF-UNIT VECTOR
+ XCH RUPTREG1
+ CA ITEMP2
+ EXTEND
+ MP UHYP +2 # Y
+ ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
+ CA ITEMP3
+ EXTEND
+ MP UHYP +4 # Z
+ ADS RUPTREG1
+# Page 903
+ CA RUPTREG1
+ DOUBLE
+ XCH VHY # VHY=VMP.UHYP M/CS*2(-5).
+ CA ITEMP1 # NO COMPUTE VHZ, VELOCITY DIRECTED ALONG
+ EXTEND # THE Z-COORDINATE.
+ MP UHZP # HI X OF DOWN-RANGE HALF-UNIT VECTOR.
+ XCH RUPTREG1
+ CA ITEMP2
+ EXTEND
+ MP UHZP +2 # Y
+ ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
+ CA ITEMP3
+ EXTEND
+ MP UHZP +4 # Z
+ ADS RUPTREG1
+ CA RUPTREG1
+ DOUBLE
+ XCH VHZ # VHZ = VMP.UHZP M/CS*2(-5).
+GET22/32 CAF EBANK6 # GET SIN(AOG),COS(AOG) FROM GPMATRIX.
+ TS EBANK
+ EBANK= M22
+ CA M22
+ TS ITEMP3
+ CA M32
+ TS ITEMP4
+ CAF EBANK7
+ TS EBANK
+ EBANK= UNIT/R/
+LATFWDV CA ITEMP4 # COMPUTE LATERAL AND FORWARD VELOCITIES.
+ EXTEND
+ MP VHY
+ XCH RUPTREG1
+ CA ITEMP3
+ EXTEND
+ MP VHZ
+ ADS RUPTREG1 # = VHY(COS)AOG+VHZ(SIN)AOG M/CS *2(-5)
+ CA VELCONV # CONVERT LATERAL VELOCITY TO BIT UNITS.
+ EXTEND
+ MP RUPTREG1
+ DDOUBL
+ XCH LATVEL # LATERAL VELOCITY IN BIT UNITS *2(-14).
+ CA ITEMP4 # COMPUTE FORWARD VELOCITY.
+ EXTEND
+ MP VHZ
+ XCH RUPTREG1
+ CA ITEMP3
+ EXTEND
+ MP VHY
+ CS A
+ ADS RUPTREG1 # =VHZ(COS)AOG-VHY(SIN)AOG M/CS *2(-5).
+# Page 904
+ CA VELCONV # CONVERT FORWARD VELOCITY TO BIT UNITS.
+ EXTEND
+ MP RUPTREG1
+ DDOUBL
+ XCH FORVEL # FORWARD VELOCITY IN BIT UNITS *2(-14).
+
+ CS MAXVBITS # ACC.=-199.9989 FT./SEC.
+ TS ITEMP6 # -547 BIT UNITS (OCTAL) AT 0.5571 FPS/BIT
+
+ CAF ONE # LOOP TWICE.
+VMONITOR TS ITEMP5 # FORWARD AND LATERAL VELOCITY LANDING
+ INDEX ITEMP5 # ANALOG DISPLAYS MONITOR.
+ CCS LATVEL
+ TCF +4
+ TCF LVLIMITS
+ TCF +8D
+ TCF LVLIMITS
+ INDEX ITEMP5
+ CS LATVEL
+ AD MAXVBITS # +199.9989 FT.SEC.
+ EXTEND
+ BZMF CHKLASTY
+ TCF LVLIMITS
+ INDEX ITEMP5
+ CA LATVEL
+ AD MAXVBITS
+ EXTEND
+ BZMF +2
+ TCF LVLIMITS
+CHKLASTY INDEX ITEMP5
+ CCS LATVMETR
+ TCF +4
+ TCF LASTOK
+ TCF +7
+ TCF LASTOK
+ INDEX ITEMP5
+ CA LATVEL
+ EXTEND
+ BZMF LASTPOSY +5
+ TCF +5
+ INDEX ITEMP5
+ CS LATVEL
+ EXTEND
+ BZMF LASTNEGY +4
+LASTOK INDEX ITEMP5
+ CCS TRAKLATV
+ TCF LASTPOSY
+ TCF +2
+ TCF LASTNEGY
+ INDEX ITEMP5
+# Page 905
+ CA LATVEL
+ EXTEND
+ BZMF NEGVMAXY
+ TCF POSVMAXY
+LASTPOSY INDEX ITEMP5
+ CA LATVEL
+ EXTEND
+ BZMF +2
+ TCF POSVMAXY
+ CS MAXVBITS
+ TCF ZEROLSTY
+POSVMAXY INDEX ITEMP5
+ CS LATVMETR
+ AD MAXVBITS
+ INDEX ITEMP5
+ XCH RUPTREG3
+ CAF ONE
+ TCF ZEROLSTY +3
+LASTNEGY INDEX ITEMP5
+ CA LATVEL
+ EXTEND
+ BZMF NEGVMAXY
+ CA MAXVBITS
+ TCF ZEROLSTY
+NEGVMAXY INDEX ITEMP5
+ CA LATVMETR
+ AD MAXVBITS
+ COM
+ INDEX ITEMP5
+ XCH RUPTREG3
+ CS ONE
+ TCF ZEROLSTY +3
+LVLIMITS INDEX ITEMP5
+ CCS TRAKLATV
+ TCF LATVPOS
+ TCF +2
+ TCF LATVNEG
+ INDEX ITEMP5
+ CS LATVMETR
+ EXTEND
+ BZMF +2
+ TCF NEGLMLV
+ INDEX ITEMP5
+
+ CS LATVEL
+ EXTEND
+ BZMF LVMINLM
+ AD ITEMP6
+ INDEX ITEMP5
+ AD LATVMETR
+ EXTEND
+# Page 906
+ BZMF LVMINLM
+ INDEX ITEMP5
+ AD LATVEL
+ EXTEND
+ INDEX ITEMP5
+ SU LATVMETR
+ TCF ZEROLSTY
+LATVPOS INDEX ITEMP5
+ CS LATVEL
+ EXTEND
+ BZMF LVMINLM
+ TCF +5
+LATVNEG INDEX ITEMP5
+ CA LATVEL
+ EXTEND
+ BZMF LVMINLM
+ INDEX ITEMP5
+ CS LATVMETR
+ TCF ZEROLSTY
+NEGLMLV INDEX ITEMP5
+ CA LATVEL
+ EXTEND
+ BZMF LVMINLM
+ CA MAXVBITS
+ INDEX ITEMP5
+ AD LATVMETR
+ COM
+ INDEX ITEMP5
+ AD LATVEL
+ EXTEND
+ BZMF LVMINLM
+ EXTEND
+ INDEX ITEMP5
+ SU LATVEL
+ INDEX ITEMP5
+ AD LATVMETR
+ COM
+ TCF ZEROLSTY
+LVMINLM INDEX ITEMP5
+ CS LATVMETR
+ INDEX ITEMP5
+ AD LATVEL
+ZEROLSTY INDEX ITEMP5
+ XCH RUPTREG3
+ CAF ZERO
+ INDEX ITEMP5
+ TS TRAKLATV
+ INDEX ITEMP5
+ CA RUPTREG3
+ AD NEG0 # AVOIDS +0 DINC HARDWARE MALFUNCTION
+# Page 907
+ INDEX ITEMP5
+ TS CDUTCMD
+ INDEX ITEMP5
+ CA RUPTREG3
+ INDEX ITEMP5
+ ADS LATVMETR
+ CCS ITEMP5 # FIRST MONITOR FORWARD THEN LATERAL VEL.
+ TCF VMONITOR
+
+ CAF BITSET # DRIVE THE X-POINTER DISPLAY.
+ EXTEND
+ WOR CHAN14
+ TC LADQSAVE # GO TO ALTROUT +1 OR TO ALTOUT +1
+ZERODATA CAF ZERO # ZERO ALTSAVE AND ALTSAVE +1
+ TS L # NO NEGATIVE ALTITUDES ALLOWED.
+ TCF ZDATA2
+
+# ****************************************************************************
+
+DISPRSET CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
+ MASK R10FLBIT
+ EXTEND
+ BZF ABORTON # NO.
+ CAF BIT8 # YES.
+ MASK IMODES33 # CHECK IF INERTIAL DATA JUST DISPLAYED.
+ CCS A
+ CAF BIT2 # YES. DISABLE RR ERROR COUNTER
+ AD BIT8 # NO. REMOVE DISPLAY INERTIAL DATA
+ COM
+ EXTEND
+ WAND CHAN12
+ABORTON CS BITS8/7 # RESET INERTIAL DATA, INTERLEAVE FLAGS.
+ MASK IMODES33
+ TS IMODES33
+ CS DIDFLBIT
+ MASK FLAGWRD1
+ TS FLAGWRD1 # RESET DIDFLAG.
+ TCF TASKOVER
+
+# ******************************************************************************
+
+BITS8/7 OCT 00300 # INERTIAL DATA AND INTERLEAVE FLAGS.
+BITSET = PRIO6
+
+# ******************************************************************************
+
+
diff --git a/LATITUDE_LONGITUDE_SUBROUTINES.s b/LATITUDE_LONGITUDE_SUBROUTINES.s
new file mode 100644
index 0000000..e49bd64
--- /dev/null
+++ b/LATITUDE_LONGITUDE_SUBROUTINES.s
@@ -0,0 +1,318 @@
+# Copyright: Public domain.
+# Filename: LATITUDE_LONGITUDE_SUBROUTINES.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1236-1242
+# Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1236
+# SUBROUTINE TO CONVERT RAD VECTOR AT GIVEN TIME TO LAT,LONG AND ALT
+#
+# CALLING SEQUENCE
+# L-1 CALL
+# L LAT-LONG
+#
+# SUBROUTINES USED
+# R-TO-RP, ARCTAN, SETGAMMA, SETRE
+#
+# ERASABLE INIT. REQ.
+# AXO, -AYO, AZO, TEPHEM (SET AT LAUNCH TIME)
+# ALPHAV = POSITION VECTOR METERS B-29
+# MPAC -- TIME (CSECS B-28)
+# ERADFLAG =1, TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS
+# LUNAFLAG=0 FOR EARTH, 1 FOR MOON
+#
+# OUTPUT
+# LATITUDE IN LAT (REVS. B-0)
+# LONGITUDE IN LONG (REVS. B-0)
+# ALTITUDE IN ALT METERS B-29
+
+ BANK 30
+ SETLOC LATLONG
+ BANK
+
+ COUNT 13/LT-LG
+
+ EBANK= ALPHAV
+LAT-LONG STQ SETPD
+ INCORPEX
+ 0D
+ STOVL 6D # SAVE TIME IN 6-7D FOR R-TO-RP
+ ALPHAV
+ PUSH ABVAL # 0-5D= R FOR R-TO-RP
+ STODL ALPHAM # ABS. VALUE OF R FOR ALT FORMULA BELOW
+ ZEROVEC # SET MPAC=0 FOR EARTH, NON-ZERO FOR MOON
+ BOFF COS # USE COS(0) TO GET NON-ZERO IN MPAC
+ LUNAFLAG # 0=EARTH, 1=MOON
+ CALLRTRP
+CALLRTRP CALL
+ R-TO-RP # RP VECTOR CONVERTED FROM R B-29
+ UNIT # UNIT RP B-1
+ STCALL ALPHAV # U2= 1/2 SINL FOR SETRE SUBR BELOW
+ SETGAMMA # SET GAMMA=B2/A2 FOR EARTH, =1 FOR MOON
+ CALL # SCALED B-1.
+ SETRE # CALC RE METERS B-29
+ DLOAD DSQ
+ ALPHAV
+ PDDL DSQ
+ ALPHAV +2
+# Page 1237
+ DAD SQRT
+ DMP SL1R
+ GAMRP
+ STODL COSTH # COS(LAT) B-1
+ ALPHAV +4
+ STCALL SINTH # SIN(LAT) B-1
+ ARCTAN
+ STODL LAT # LAT B0
+ ALPHAV
+ STODL COSTH # COS(LONG) B-1
+ ALPHAV +2
+ STCALL SINTH # SIN(LONG) B-1
+ ARCTAN
+ STODL LONG # LONG. REVS B-0 IN RANGE -1/2 TO 1/2
+ ALPHAM
+ DSU # ALT= R-RE METERS B-29
+ ERADM
+ STCALL ALT # EXIT WITH ALT METERS B-29
+ INCORPEX
+# Page 1238
+# SUBROUTINE TO CONVERT LAT,LONG.ALT AT GIVEN TIME TO RADIUS VECTOR
+#
+# CALLING SEQUENCE
+# L-1 CALL
+# L LALOTORV
+#
+# SUBROUTINES USED
+# SETGAMMA, SETRE, RP-TO-R
+#
+# ERASABLE INIT. REQ.
+# AXO, AYO, AZO, TEPHEM SET AT LAUNCH TIME
+# LAT -- LATITUDE (REVS B0)
+# LONG -- LONGITUDE (REVS B0)
+# ALT -- ALTITUDE (METERS) B-29
+# MPAC -- TIME (CSECS B-28)
+# ERADFLAG =1 TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS
+# LUNAFLAG=0 FOR EARTH, 1 FOR MOON
+#
+# OUTPUT
+# R-VECTOR IN ALPHAV (METERS B-29)
+
+LALOTORV STQ SETPD # LAT,LONG,ALT TO R VECTOR
+ INCORPEX
+ 0D
+ STCALL 6D # 6-7D = TIME FOR RP-TO-R
+ SETGAMMA # GAMMA = B2/A2 FOR EARTH, 1 FOR MOON B-1
+ DLOAD SIN # COS(LONG)COS(LAT) IN MPAC
+ LAT # UNIT RP = SIN(LONG)COS(LAT) 2-3D
+ DMPR PDDL # PD 2 GAMMA*SIN(LAT) 0-1D
+ GAMRP
+ LAT # 0-1D = GAMMA*SIN(LAT) B-2
+ COS PDDL # PD4 2-3D= COS(LAT) B-1 TEMPORARILY
+ LONG
+ SIN DMPR # PD 2
+ PDDL COS # PD 4 2-3D= SIN(LONG)COS(LAT) B-2
+ LAT
+ PDDL COS # PD 6 4-5D= COS(LAT) B-1 TEMPORARILY
+ LONG
+ DMPR VDEF # PD4 MPAC = COS(LONG)COS(LAT) B-2
+ UNIT PUSH # 0-5D = UNIT RP FOR RP-TO-R SUBR.
+ STCALL ALPHAV # ALPHAV +4= SINL FOR SETRE SUBR.
+ SETRE # RE METERS B-29
+ DLOAD BOFF # SET MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
+ ZEROVEC
+ LUNAFLAG
+ CALLRPRT
+ COS # USE COS(0) TO GET NON-ZERO IN MPAC
+CALLRPRT CALL
+ RP-TO-R # EXIT WITH UNIT R VECTOR IN MPAC
+ STODL ALPHAV
+ ERADM
+# Page 1239
+ DAD VXSC # (RE + ALT)(UNIT R) METERS B-30
+ ALT
+ ALPHAV
+ VSL1 # R METERS B-29
+ STCALL ALPHAV # EXIT WITH R IN METERS B-29
+ INCORPEX
+
+# SUBROUTINE TO COMPUTE EARTH RADIUS
+#
+# INPUT
+# 1/2 SIN LAT IN ALPHAV +4
+#
+# OUTPUT
+# EARTH RADIUS IN ERADM AND MPAC (METERS B-29)
+
+GETERAD DLOAD DSQ
+ ALPHAV +4 # SIN**2(L)
+ SL1 BDSU
+ DP1/2 # COS**2(L)
+ DMPR BDSU
+ EE
+ DP1/2
+ BDDV SQRT
+ B2XSC
+ SR4R
+ STORE ERADM
+ RVQ
+
+# THE FOLLOWING CONSTANTS WERE COMPUTED WITH A=6378166, B=6356784 METERS
+# B2XSC = B**2 SCALED B-51
+# B2/A2 = B**2/A**2 SCALED B-1
+# EE = (1-B**2/A**2) SCALED B-0
+
+B2XSC 2DEC .0179450689 # B**2 SCALED B-51
+
+DP1/2 = XUNIT
+B2/A2 2DEC .9933064884 B-1 # GAMMA= B**2/A**2 B-1
+
+EE 2DEC 6.6935116 E-3 # (1-B**2/A**2) B-0
+
+ERAD 2DEC 6373338 B-29 # PAD RADIUS
+
+# Page 1240
+# ARCTAN SUBROUTINE
+#
+# CALLING SEQUENCE
+# SIN THETA IN SINTH B-1
+# COS THETA IN COSTH B-1
+# CALL ARCTAN
+#
+# OUTPUT
+# ARCTAN THETA IN MPAC AND THETA B-0 IN RANGE -1/2 TO +1/2
+
+ARCTAN BOV
+ CLROVFLW
+CLROVFLW DLOAD DSQ
+ SINTH
+ PDDL DSQ
+ COSTH
+ DAD
+ BZE SQRT
+ ARCTANXX # ATAN=0/0. SET THETA=0
+ BDDV BOV
+ SINTH
+ ATAN=90
+ SR1 ASIN
+ STORE THETA
+ PDDL BMN
+ COSTH
+ NEGCOS
+ DLOAD RVQ
+NEGCOS DLOAD DCOMP
+ BPL DAD
+ NEGOUT
+ DP1/2
+ARCTANXX STORE THETA
+ RVQ
+
+NEGOUT DSU GOTO
+ DP1/2
+ ARCTANXX
+ATAN=90 DLOAD SIGN
+ LODP1/4
+ SINTH
+ STORE THETA
+ RVQ
+
+2DZERO = DPZERO
+
+# Page 1241
+# ***** SETGAMMA SUBROUTINE *****
+# SUBROUTINE TO SET GAMMA FOR THE LAT-LONG AND LALOTORV SUBROUTINES
+#
+# GAMMA = B**2/A**2 FOR EARTH (B-1)
+# GAMMA = 1 FOR MOON (B-1)
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 SETGAMMA
+#
+# INPUT
+# LUNAFLAG=0 FOR EARTH, =1 FOR MOON
+#
+# OUTPUT
+# GAMMA IN GAMRP (B-1)
+
+SETGAMMA DLOAD BOFF # BRANCH FOR EARTH
+ B2/A2 # EARTH GAMMA
+ LUNAFLAG
+ SETGMEX
+ SLOAD
+ 1B1 # MOON GAMMA
+SETGMEX STORE GAMRP
+ RVQ
+GAMRP = 8D
+
+# Page 1242
+# ***** SETRE SUBROUTINE *****
+# SUBROUTINE TO SET RE (EARTH OR MOON RADIUS)
+#
+# RE = RM FOR MOON
+# RE = RREF FOR FIXED EARTH RADIUS OR COMPUTED RF FOR FISCHER ELLIPSOID
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 SETRE
+#
+# SUBROUTINES USED
+# CETERAD
+#
+# INPUT
+# ERADFLAG = 0 FOR FIXED RE, 1 FOR COMPUTED RE
+# ALPHAV +4 = 1/2 SINL IF GETERAD IS CALLED
+# LUNAFLAG = 0 FOR EARTH, =1 FOR MOON
+#
+# OUTPUT
+# ERADM = 504RM FOR MOON (METERS B-29)
+# ERADM = ERAD OR COMPUTED RE FOR EARTH (METERS B-29)
+
+SETRE STQ DLOAD
+ SETREX
+ 504RM
+ BON DLOAD # BRANCH FOR MOON
+ LUNAFLAG
+ TSTRLSRM
+ ERAD
+ BOFF CALL # ERADFLAG=0 FOR FIXED RE, 1 FOR COMPUTED
+ ERADFLAG
+ SETRXX
+ GETERAD
+SETRXX STCALL ERADM # EXIT WITH RE OR RM METERS B-29
+ SETREX
+TSTRLSRM BON VLOAD # ERADFLAG=0, SET R0=RLS
+ ERADFLAG # =1 R0=RM
+ SETRXX
+ RLS
+ ABVAL SR2R # SCALE FROM B-27 TO B-29
+ GOTO
+ SETRXX
+SETREX = S2
+504RM 2DEC 1738090 B-29 # METERS B-29 (MOON RADIUS)
+
+
+
+
diff --git a/LEM_GEOMETRY.s b/LEM_GEOMETRY.s
new file mode 100644
index 0000000..3569a4c
--- /dev/null
+++ b/LEM_GEOMETRY.s
@@ -0,0 +1,209 @@
+# Copyright: Public domain.
+# Filename: LEM_GEOMETRY.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 320-325
+# Mod history: 2009-05-16 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 320
+ BANK 23
+ SETLOC LEMGEOM
+ BANK
+
+ SBANK= LOWSUPER
+ EBANK= XSM
+
+# THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING
+# THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO
+# METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPIRATELY IN RN,VN OR
+# R-OTHER,V-OTHER FOR DOWNLINK. THE ROUTINES' NAMES ARE SWITCHED IN THE
+# OTHER VEHICLE'S COMPUTER.
+#
+# INPUT
+# STATE VECTOR IN TEMPORARY STORAGE AREA
+# IF STATE VECTOR IS SCALED POS B27 AND VEL B5
+# SET X2 TO +2
+# IF STATE VECTOR IS SCALED POS B29 AND VEL B7
+# SET X2 TO 0
+#
+# OUTPUT
+# R(T) IN RN, V(T) IN VN, T IN PIPTIME
+# OR
+# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
+
+ COUNT* $$/GEOM
+SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
+ AVEMIDSW
+ +1
+ VLOAD VSL*
+ TDELTAV
+ 0 -7,2
+ VAD VSL*
+ RCV
+ 0,2
+ STOVL RN
+ TNUV
+ VSL* VAD
+ 0 -4,2
+ VCV
+ VSL*
+ 0,2
+ STODL VN
+ TET
+ STORE PIPTIME
+ RVQ
+# Page 321
+SVDWN1 VLOAD VSL*
+ TDELTAV
+ 0 -7,2
+ VAD VSL*
+ RCV
+ 0,2
+ STOVL R-OTHER
+ TNUV
+ VSL* VAD
+ 0 -4,2
+ VCV
+ VSL*
+ 0,2
+ STORE V-OTHER
+ RVQ
+
+# Page 322
+# THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
+# GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
+# ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
+# ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
+# SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
+#
+# THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
+#
+# S(2) = 180 + S(1)
+# T(2) = 180 - T(1)
+#
+# THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT.
+
+RRANGLES STORE 32D
+ DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
+ 34D # ANGLE LATER, WE CAN FIND THE MODE 1
+ SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
+ 0 # THE Y COMPONENT, THE ASIN GIVIN AN
+ PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG.
+ LODPHALF
+ STODL 4 # MODE 2 TRUNNION TO 4.
+
+ LO6ZEROS
+ STOVL 34D # UNIT THE PROJECTION OF THE VECTOR
+ 32D # IN THE X-Z PLANE
+ UNIT BOVB # IF OVERFLOW, TARGET VECTOR IS ALONG Y
+ LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF
+ STODL 32D # PROJECTION VECTOR.
+ 32D
+ SR1 STQ
+ S2
+ STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB.
+ 36D
+ SR1
+ STCALL COSTH
+ ARCTRIG
+# Page 323
+ PUSH DAD # MODE 1 SHAFT TO 2.
+ LODPHALF
+ STOVL 6
+ 4
+ RTB # FIND MODE 2 CDU ANGLES.
+ 2V1STO2S
+ STOVL MODEB
+ 0
+ RTB # MODE 1 ANGLES TO MODE A.
+ 2V1STO2S
+ STORE MODEA
+ EXIT
+
+ CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE 2.
+ MASK ANTENBIT
+ CCS A
+ TCF +4
+
+ DXCH MODEA
+ DXCH MODEB
+ DXCH MODEA
+
+ TC INTPRET
+ GOTO
+ S2
+# Page 324
+# GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1, FIND THE ASSOCIATED
+# LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
+# -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
+
+ SETLOC INFLIGHT
+ BANK
+
+ COUNT* $$/GEOM
+
+RRNB SLOAD RTB
+ TANGNB
+ CDULOGIC
+ SETPD PUSH # TRUNNION ANGLE TO 0
+ 0
+ SIN DCOMP
+ STODL 34D # Y COMPONENT
+
+ COS PUSH # .5 COS(T) TO 0
+ SLOAD RTB
+ TANGNB +1
+ CDULOGIC
+RRNB1 PUSH COS # SHAFT ANGLE TO 2
+ DMP SL1
+ 0
+ STODL 36D # Z COMPONENT
+
+ SIN DMP
+ SL1
+ STOVL 32D
+ 32D
+ RVQ
+
+# THIS ENTRY TO RRNB REQUIRES THE TRUNNION AND SHAFT ANGLES IN MPAC AND MPAC +1 RESPECTIVELY
+
+RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21.
+ MPAC # SET MODE TO DP. (THE PRECEEDING STORE
+ # MAY BE DP, TP OR VECTOR.)
+ RTB SETPD
+ CDULOGIC
+ 0
+ PUSH SIN # TRUNNION ANGLE TO 0
+ DCOMP
+ STODL 34D # Y COMPONENT
+ COS PUSH # .5COS(T) TO 0
+ SLOAD RTB # PICK UP CDU'S.
+ 21D
+ CDULOGIC
+ GOTO
+ RRNB1
+# Page 325
+# (This page has nothing on it.)
+
+
diff --git a/LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.s b/LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.s
new file mode 100644
index 0000000..0a072a8
--- /dev/null
+++ b/LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.s
@@ -0,0 +1,211 @@
+# Copyright: Public domain.
+# Filename: LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 785-788
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
+# name and Comanche 055 page images.
+# 2009-07-26 RSB Added annotations related to computation
+# of the ephemeral(?) polynomials.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 785
+# LUNAR AND SOLAR EPHEMERIDES SUBROUTINES
+#
+# FUNCTIONAL DESCRIPTION
+#
+# THESE SUBROUTINES ARE USED TO DETERMINE THE POSITION AND VELOCITY
+# VECTORS OF THE SUN AND THE MOON RELATIVE TO THE EARTH AT THE
+# SPECIFIED GROUND ELAPSED TIME INPUT BY THE USER.
+#
+# THE POSITION OF THE MOON IS STORED IN THE COMPUTER IN THE FORM OF
+# A NINTH DEGREE POLYNOMIAL APPROXIMATION WHICH IS VALID OVER A 15
+# DAY INTERVAL BEGINNING SHORTLY BEFORE LAUNCH. THEREFORE THE TIME
+# INPUT BY THE USER SHOULD FALL WITHIN THIS 15 DAY INTERVAL.
+## The 9th-degree polynomial spoken of here is a pad load, meaning
+## that it is not actually hardcoded into the software. Additional
+## information about calculating the polynomial can be found on the
+## <a href="http://nassp.sourceforge.net/wiki/Lunar_Ephemeris_Polynomials">
+## <b>Orbiter</b> NASSP wiki</a>, as well as information about calculation
+## of the <a href="http://nassp.sourceforge.net/wiki/Solar_Ephemeris">
+## solar ephemerides</a>.
+#
+# LSPOS COMPUTES THE POSITION VECTORS OF THE SUN AND THE MOON.
+#
+# LUNPOS COMPUTES THE POSITION VECTOR OF THE MOON.
+#
+# LUNVEL COMPUTES THE VELOCITY VECTOR OF THE MOON.
+#
+# SOLPOS COMPUTES THE POSITION VECTOR OF THE SUN.
+#
+# CALLING SEQUENCE
+#
+# DLOAD CALL
+# TIME GROUND ELAPSED TIME
+# SUBROUTINE LSPOS OR LUNPOS OR LUNVEL OR SOLPOS
+#
+# INPUT
+#
+# 1) SPECIFIED GROUND ELAPSED TIME IN CS x B-28 LOADED IN MPAC.
+#
+# 2) TIMEMO -- TIME AT THE CENTER OF THE RANGE OVER WHICH THE LUNAR
+# POSITION POLYNOMIAL IS VALID IN CS x B-42.
+#
+# 3) VECOEM -- VECTOR COEFFICIENTS OF THE LUNAR POSITION POLYNOMIAL
+# LOADED IN DESCENDING SEQUENCE IN METERS/CS**N x B-2
+#
+# 4) RESO -- POSITION VECTOR OF THE SUN RELATIVE TO THE EARTH AT
+# TIMEMO IN METERS x B-38
+#
+# 5) VESO -- VELOCITY VECTOR OF THE SUN RELATIVE TO THE EARTH AT
+# TIMEMO IN METERS/CS x B-9
+#
+# 6) OMEGAES -- ANGULAR VELOCITY OF THE VECTOR RESO AT TIMEMO IN
+# REV/CS x B+26
+#
+# ALL EXCEPT THE FIRST INPUT ARE INCLUDED IN THE PRE-LAUNCH
+# ERASABLE DATA LOAD.
+#
+# OUTPUT -- LSPOS
+# Page 786
+#
+# 1) 2D OF VAC AREA CONTAINS THE POSITION VECTOR OF THE SUN RELATIVE
+# TO THE EARTH AT TIME INPUT BY THE USER IN METERS x B-38.
+#
+# 2) MPAC CONTAINS THE POSITION VECTOR OF THE MOON RELATIVE TO THE
+# EARTH AT TIME INPUT BY THE USER IN METERS x B-29
+#
+# OUTPUT -- LUNPOS
+#
+# MPAC CONTAINS THE POSITION VECTOR OF THE MOON RELATIVE TO THE
+# EARTH AT THE TIME INPUT BY USER IN METERS x B-29
+#
+# OUTPUT -- LUNVEL
+#
+# MPAC CONTAINS THE VELOCITY VECTOR OF THE MOON RELATIVE TO THE
+# EARTH AT THE TIME INPUT BY THE USER IN METERS/CS x B-7
+#
+# OUTPUT -- SOLPOS
+#
+# MPAC CONTAINS THE POSITION VECTOR OF THE SUN RELATIVE TO THE EARTH
+# AT TIME INPUT BY THE USER IN METERS x B-38.
+#
+# SUBROUTINES USED
+#
+# NONE
+#
+# REMARKS
+#
+# THE VAC AREA IS USED FOR STORAGE OF INTERMEDIATE AND FINAL RESULTS
+# OF COMPUTATIONS.
+#
+# S1, X1, AND X2 ARE USED BY THESE SUBROUTINES.
+#
+# PRELAUNCH ERASABLE DATA LOAD ARE ONLY ERASABLE STORAGE USED BY
+# THESE SUBROUTINES.
+#
+# RESTARTS DURING OPERATION OF THESE SUBROUTINES MUST BE HANDLED BY
+# THE USER.
+
+ BANK 36
+ SETLOC EPHEM
+ BANK
+
+ COUNT* $$/EPHEM
+ EBANK= END-E7
+LSPOS AXT,2 # COMPUTES POSITION VECTORS OF BOTH THE
+ RESA # SUN AND THE MOON. THE POSITION VECTOR
+ AXT,1 GOTO # OF THE SUN IS STORED IN 2D OF THE VAC
+ RES # AREA. THE POSITION VECTOR OF THE MOON
+ LSTIME # IS STORED IN MPAC.
+LUNPOS AXT,1 GOTO # COMPUTES THE POSITION VECTOR OF THE MOON
+ REM # AND STORES IT IN MPAC.
+ LSTIME
+# Page 787
+LUNVEL AXT,1 GOTO # COMPUTES THE VELOCITY VECTOR OF THE MOON
+ VEM # AND STORES IT IN MPAC.
+ LSTIME
+SOLPOS STQ AXT,1 # COMPUTES THE POSITION VECTOR OF THE SUN
+ X2 # AND STORES IT IN MPAC.
+ RES
+LSTIME SETPD SR
+ 0D
+ 14D
+ TAD DCOMP
+ TEPHEM
+ TAD DCOMP
+ TIMEMO
+ SL SSP
+ 16D
+ S1
+ 6D
+ GOTO
+ X1
+RES PUSH DMP # PD- 2
+ OMEGAES
+ PUSH COS # PD- 4
+ VXSC PDDL # PD- 8
+ RESO
+ SIN PDVL # PD-10
+ RESO
+ PUSH UNIT # PD-16
+ VXV UNIT
+ VESO
+ VXV VSL1 # PD-10
+ VXSC VAD # PD-02
+ VSL1 GOTO # RES IN METERS x B-38 IN MPAC.
+ X2
+RESA STODL 2D # RES IN METERS x B-38 IN 2D OF VAC. PD- 0
+REM AXT,1 PDVL # PD- 2
+ 54D
+ VECOEM
+REMA VXSC VAD*
+ 0D
+ VECOEM +60D,1
+ TIX,1 VSL2 # REM IN METERS x B-29 IN MPAC.
+ REMA
+ RVQ
+VEM AXT,1 PDDL # PD- 2
+ 48D
+ NINEB4
+ PUSH VXSC # PD- 4
+ VECOEM
+VEMA VXSC
+ 0D
+# Page 788
+ STODL 4D # PD- 2
+ DSU PUSH # PD- 4
+ ONEB4
+ VXSC* VAD
+ VECOEM +54D,1
+ 4D
+ TIX,1 VSL2 # VEM IN METERS/CS x B-7 IN MPAC.
+ VEMA
+ RVQ
+NINEB4 2DEC 9.0 B-4
+
+ONEB4 2DEC 1.0 B-4
+
+
+
diff --git a/LUNAR_LANDING_GUIDANCE_EQUATIONS.s b/LUNAR_LANDING_GUIDANCE_EQUATIONS.s
index 6f332da..eaab1a2 100644
--- a/LUNAR_LANDING_GUIDANCE_EQUATIONS.s
+++ b/LUNAR_LANDING_GUIDANCE_EQUATIONS.s
@@ -1,5 +1,5 @@
# Copyright: Public domain.
-# Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.s
+# Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc
# Purpose: Part of the source code for Luminary 1A build 099.
# It is part of the source code for the Lunar Module's (LM)
# Apollo Guidance Computer (AGC), for Apollo 11.
@@ -1240,7 +1240,7 @@ DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT
# N N-1
# ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A
# N N-1 1 0
-# USING NETON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
+# USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS:
# A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL
# L SP N-1 N IS THE DEGREE OF THE POWER SERIES
# MPAC DP X INITIAL GUESS FOR ROOT
diff --git a/LUNAR_LANDMARK_SELECTION_FOR_CM.s b/LUNAR_LANDMARK_SELECTION_FOR_CM.s
new file mode 100644
index 0000000..8fb219d
--- /dev/null
+++ b/LUNAR_LANDMARK_SELECTION_FOR_CM.s
@@ -0,0 +1,34 @@
+# Copyright: Public domain.
+# Filename: LUNAR_LANDMARK_SELECTION_FOR_CM.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Jim Lawton <jim.lawton@gmail.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 936
+# Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 936
+
+# *** END OF TROUBLE .043 ***
+
diff --git a/MAIN.s b/MAIN.s
new file mode 100644
index 0000000..3dc04b8
--- /dev/null
+++ b/MAIN.s
@@ -0,0 +1,168 @@
+# Copyright: Public domain.
+# Filename: MAIN.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC) Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo
+# Mod history: 2009-05-05 RSB Adapted from Colossus249/MAIN.agc.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+#
+# This file is a little different from the other Comanche055 files I'm providing,
+# in that it doesn't represent anything that appears directly in the original source.
+# What I (RSB) have done for organizational purposes is to split the huge monolithic
+# source code into smaller, more manageable chunks--i.e., into individual source
+# files. Those files are rejoined within this file as "includes". It just makes
+# it a little easier to work with. The code chunks correspond to natural divisions
+# into sub-programs. In fact, these divisions are more-or-less specified by
+# the source code itself. Refer to the "SUBROUTINE CALLS" at the
+# very beginning of the file ASSEMBLY_AND_OPERATION_INFORMATION.agc.
+#
+# It may be reasonably asked why tens of thousands of lines of source are joined by
+# means of inclusion, rather than simply assembling the source files individually and
+# then linking them to form the executable. The answer is that the original
+# development team had no linker. The builds were monolithic just like this.
+# There was a big emphasis on reusability of the code in the original project,
+# apparently, but this reusability took the form of inserting your deck of
+# punch-cards at the appropriate position in somebody else's deck of punch-cards.
+# (Actually, I think the card-decks were turned into tape libraries, and the modules
+# were mixed-and-matched from the tape libraries, but the principle is the same.)
+# So, indeed, the method of file-inclusion is a very fair representation of the
+# methods used in the original development ... with the improvement, of course,
+# that you no longer have to worry about dropping the card deck. On the other hand,
+# I wasn't there at the time, so I may have no idea what I'm talking about.
+#
+# Finally, note that the original Apollo AGC assembler (called "YUL") is no longer
+# available (as far as I can tell). Actually, it had already been replaced by another
+# assembler (called "GAP") by the time of Apollo 11, but GAP isn't available either.
+# The replacement assembler yaYUL accepts a slightly different format for the source
+# code from what YUL or GAP accepted, so the source code has been targeted for
+# assembly with yaYUL.
+
+# What follows is simply a bunch of file-includes for the individual code chunks.
+# I've marked the page numbers to make proof-reading easier. The page images also
+# contain a lot of interesting tables (cross-referenced to page numbers) created by GAP,
+# but not duplicated by yaYUL, so it's still valuable even if the source-files
+# listed below are in hand.
+
+$CONTRACT_AND_APPROVALS.agc # p. 1
+$ASSEMBLY_AND_OPERATION_INFORMATION.agc # pp. 2-26
+$TAGS_FOR_RELATIVE_SETLOC.agc # pp. 27-35
+
+ # p. 36 contains no code.
+# COMERASE
+$ERASABLE_ASSIGNMENTS.agc # pp. 37-130
+
+# COMAID
+$INTERRUPT_LEAD_INS.agc # pp. 131-132
+$T4RUPT_PROGRAM.agc # pp. 133-169
+$DOWNLINK_LISTS.agc # pp. 170-180
+$FRESH_START_AND_RESTART.agc # pp. 181-210
+$RESTART_TABLES.agc # pp. 211-221
+$SXTMARK.agc # pp. 222-235
+$EXTENDED_VERBS.agc # pp. 236-267
+$PINBALL_NOUN_TABLES.agc # pp. 268-284
+$CSM_GEOMETRY.agc # pp. 285-296
+$IMU_COMPENSATION_PACKAGE.agc # pp. 297-306
+$PINBALL_GAME_BUTTONS_AND_LIGHTS.agc # pp. 307-389
+$R60_62.agc # pp. 390-398
+$ANGLFIND.agc # pp. 399-411
+$GIMBAL_LOCK_AVOIDANCE.agc # pp. 412-413
+$KALCMANU_STEERING.agc # pp. 414-419
+$SYSTEM_TEST_STANDARD_LEAD_INS.agc # pp. 420-422
+$IMU_CALIBRATION_AND_ALIGNMENT.agc # pp. 423-455
+
+# COMEKISS
+$GROUND_TRACKING_DETERMINATION_PROGRAM.agc # pp. 456-459
+$P34-35_P74-75.agc # pp. 460-504
+$R31.agc # pp. 505-510
+$P76.agc # pp. 511-513
+$R30.agc # pp. 514-524
+$STABLE_ORBIT.agc # pp. 525-532
+
+# TROUBLE
+$P11.agc # pp. 533-550
+$TPI_SEARCH.agc # pp. 551-561
+$P20-P25.agc # pp. 562-634
+$P30-P37.agc # pp. 635-648
+$P32-P33_P72-P73.agc # pp. 649-683
+$P40-P47.agc # pp. 684-736
+$P51-P53.agc # pp. 737-784
+$LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc # pp. 785-788
+$P61-P67.agc # pp. 789-818
+$SERVICER207.agc # pp. 819-836
+$ENTRY_LEXICON.agc # pp. 837-843
+$REENTRY_CONTROL.agc # pp. 844-882
+$CM_BODY_ATTITUDE.agc # pp. 883-889
+$P37_P70.agc # pp. 890-933
+$S-BAND_ANTENNA_FOR_CM.agc # pp. 934-935
+$LUNAR_LANDMARK_SELECTION_FOR_CM.agc # pp. 936
+
+# TVCDAPS
+$TVCINITIALIZE.agc # pp. 937-944
+$TVCEXECUTIVE.agc # pp. 945-950
+$TVCMASSPROP.agc # pp. 951-955
+$TVCRESTARTS.agc # pp. 956-960
+$TVCDAPS.agc # pp. 961-978
+$TVCSTROKETEST.agc # pp. 979-983
+$TVCROLLDAP.agc # pp. 984-998
+$MYSUBS.agc # pp. 999-1001
+$RCS-CSM_DIGITAL_AUTOPILOT.agc # pp. 1002-1024
+$AUTOMATIC_MANEUVERS.agc # pp. 1025-1036
+$RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc # pp. 1037-1038
+$JET_SELECTION_LOGIC.agc # pp. 1039-1062
+$CM_ENTRY_DIGITAL_AUTOPILOT.agc # pp. 1063-1092
+
+# CHIEFTAN
+$DOWN-TELEMETRY_PROGRAM.agc # pp. 1093-1102
+$INTER-BANK_COMMUNICATION.agc # pp. 1103-1106
+$INTERPRETER.agc # pp. 1107-1199
+$FIXED_FIXED_CONSTANT_POOL.agc # pp. 1200-1204
+$INTERPRETIVE_CONSTANTS.agc # pp. 1205-1206
+$SINGLE_PRECISION_SUBROUTINES.agc # p. 1207
+$EXECUTIVE.agc # pp. 1208-1220
+$WAITLIST.agc # pp. 1221-1235
+$LATITUDE_LONGITUDE_SUBROUTINES.agc # pp. 1236-1242
+$PLANETARY_INERTIAL_ORIENTATION.agc # pp. 1243-1251
+$MEASUREMENT_INCORPORATION.agc # pp. 1252-1261
+$CONIC_SUBROUTINES.agc # pp. 1262-1308
+$INTEGRATION_INITIALIZATION.agc # pp. 1309-1333
+$ORBITAL_INTEGRATION.agc # pp. 1334-1354
+$INFLIGHT_ALIGNMENT_ROUTINES.agc # pp. 1355-1364
+$POWERED_FLIGHT_SUBROUTINES.agc # pp. 1365-1372
+$TIME_OF_FREE_FALL.agc # pp. 1373-1388
+$STAR_TABLES.agc # pp. 1389-1393
+$AGC_BLOCK_TWO_SELF-CHECK.agc # pp. 1394-1403
+$PHASE_TABLE_MAINTENANCE.agc # pp. 1404-1413
+$RESTARTS_ROUTINE.agc # pp. 1414-1419
+$IMU_MODE_SWITCHING_ROUTINES.agc # pp. 1420-1448
+$KEYRUPT_UPRUPT.agc # pp. 1449-1451
+$DISPLAY_INTERFACE_ROUTINES.agc # pp. 1452-1484
+$SERVICE_ROUTINES.agc # pp. 1485-1492
+$ALARM_AND_ABORT.agc # pp. 1493-1496
+$UPDATE_PROGRAM.agc # pp. 1497-1507
+$RT8_OP_CODES.agc # pp. 1508-1516
+
+ # pp. 1517-1751: GAP-generated tables.
+
+
+
+
+
diff --git a/MEASUREMENT_INCORPORATION.s b/MEASUREMENT_INCORPORATION.s
new file mode 100644
index 0000000..7cfb133
--- /dev/null
+++ b/MEASUREMENT_INCORPORATION.s
@@ -0,0 +1,503 @@
+# Copyright: Public domain.
+# Filename: MEASUREMENT_INCORPORATION.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1252-1261
+# Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1252
+# INCORP1 -- PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITION
+# AND VELOCITY OR THE NINE-DIMENSIONAL DEVIATION OF POSITION, VELOCITY, AND
+# RADAR OR LANDMARK BIAS. THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH THE
+# ERROR TRANSITION MATRIX (W) ARE USED AS INPUT TO THE ROUTINE. THE DEVIATION
+# IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE
+# CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMENT
+# AND APPLYING A STATISTICAL WEIGHTING VECTOR.
+#
+# INPUT
+# DMENFLG = 0 (6-DIMENSIONAL BVECTOR), =1 (9-DIMENSIONAL)
+# W = ERROR TRANSITION MATRIX 6X6 OR 9X9
+# VARIANCE = VARIANCE (SCALAR)
+# DELTAQ = MEASURED DEVIATION (SCALAR)
+# BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
+#
+# OUTPUT
+# DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL
+# ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL
+# GAMMA = SCALAR
+# OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL
+#
+# CALLING SEQUENCE
+# L CALL INCORP1
+#
+# NORMAL EXIT
+# L+1 OF CALLING SEQUENCE
+
+ BANK 37
+ SETLOC MEASINC
+ BANK
+
+ COUNT* $$/INCOR
+
+ EBANK= W
+
+INCORP1 STQ
+ EGRESS
+ AXT,1 SSP
+ 54D
+ S1
+ 18D # IX1 = 54 S1= 18
+ AXT,2 SSP
+ 18D
+ S2
+ 6 # IX2 = 18 S2=6
+Z123 VLOAD MXV*
+ BVECTOR # BVECTOR (0)
+ W +54D,1
+ STORE ZI +18D,2
+ VLOAD
+ BVECTOR +6 # BVECTOR (1)
+# Page 1253
+ MXV* VAD*
+ W +108D,1
+ ZI +18D,2
+ STORE ZI +18D,2
+ VLOAD
+ BVECTOR +12D # BVECTOR (2)
+ MXV* VAD*
+ W +162D,1
+ ZI +18D,2 # B(0)*W+B(1)*(W+54)+B(2)*(W+108) FIRST PASS
+ STORE ZI +18D,2 # ZI THEN Z2 THEN Z3
+ TIX,1
+ INCOR1
+INCOR1 TIX,2 BON
+ Z123 # LOOP FOR Z1,Z2,Z3
+ DMENFLG
+ INCOR1A
+ VLOAD
+ ZEROVECS
+ STORE ZI +12D
+INCOR1A SETPD VLOAD
+ 0
+ ZI
+ VSQ RTB
+ TPMODE
+ PDVL VSQ
+ ZI +6
+ RTB TAD
+ TPMODE
+ PDVL VSQ
+ ZI +12D
+ RTB TAD
+ TPMODE
+ TAD AXT,2
+ VARIANCE
+ 0
+ STORE TRIPA # ZI*2 + Z2*2 + Z3*2 + VARIANCE
+ TLOAD BOV
+ VARIANCE # CLEAR OVFIND
+ +1
+ STORE TEMPVAR # TEMP STORAGE FOR VARIANCE
+ BZE
+ INCOR1C
+INCOR1B SL2 BOV
+ INCOR1C
+ STORE TEMPVAR
+ INCR,2 GOTO
+ DEC 1
+ INCOR1B
+INCOR1C TLOAD ROUND
+ TRIPA
+# Page 1254
+ DMP SQRT
+ TEMPVAR
+ SL* TAD
+ 0,2
+ TRIPA
+ NORM INCR,2
+ X2
+ DEC -2
+ SXA,2 AXT,2
+ NORMGAM # NORMALIZATION COUNT -2 FOR GAMMA
+ 162D
+ BDDV SETPD
+ DP1/4TH
+ 0
+ STORE GAMMA
+ TLOAD NORM
+ TRIPA
+ X1
+ DLOAD PDDL # PD 0-1 = NORM (A)
+ MPAC
+ DELTAQ
+ NORM
+ S1
+ XSU,1 SR1
+ S1
+ DDV PUSH # PD 0-1 = DELTAQ/A
+ GOTO
+ NEWZCOMP
+ -3 SSP
+ S2
+ 54D
+INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3
+ ZI
+ W +162D,2
+ PUSH VLOAD
+ ZI +6
+ VXM* VAD
+ W +180D,2
+ PUSH VLOAD
+ ZI +12D
+ VXM* VAD
+ W +198D,2
+ PUSH TIX,2 # PD 2-7=OMEGA1, 8-13=OMEGA2, 14-19=OMEGA3
+ INCOR2
+ VLOAD STADR
+ STORE OMEGA +12D
+ VLOAD STADR
+ STORE OMEGA +6
+ VLOAD STADR
+ STORE OMEGA
+# Page 1255
+ BON VLOAD
+ DMENFLG
+ INCOR2AB
+ ZEROVECS
+ STORE OMEGA +12D
+INCOR2AB AXT,2 SSP
+ 18D
+ S2
+ 6
+INCOR3 VLOAD*
+ OMEGA +18D,2
+ VXSC VSL*
+ 0 # DELTAQ/A
+ 0,1
+ STORE DELTAX +18D,2
+ TIX,2 VLOAD
+ INCOR3
+ DELTAX +6
+ VSL3
+ STORE DELTAX +6
+ GOTO
+ EGRESS
+
+# Page 1256
+# INCORP2 -- INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE
+# ESTIMATED STATE VECTOR. THE STATE VECTOR UPDATED MAY BE FOR EITHER THE
+# LEM OR THE CSM. DETERMINED BY FLAG VEHUPFLG. (ZERO = LEM) (1 = CSM)
+#
+# INPUT
+# PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM
+# VEHUPFLG = UPDATE VEHICLE C=LEM 1=CSM
+# W = ERROR TRANSITION MATRIX
+# DELTAX = COMPUTED STATE VECTOR DEVIATIONS
+# DMENFLG = SIZE OF W MATRIX (ZERO=6X6) (1=9X9)
+# GAMMA = SCALAR FOR INCORPORATION
+# ZI = VECTOR USED IN INCORPORATION
+# OMEGA = WEIGHTING VECTOR
+#
+# OUTPUT
+# UPDATED PERMANENT STATE VECTOR
+#
+# CALLING SEQUENCE
+# L CALL INCORP2
+#
+# NORMAL EXIT
+# L+1 OF CALLING SEQUENCE
+#
+
+ SETLOC MEASINC1
+ BANK
+
+ COUNT* $$/INCOR
+
+INCORP2 STQ CALL
+ EGRESS
+ INTSTALL
+ VLOAD VXSC # CALC. GAMMA*OMEGA1,2,3
+ OMEGA
+ GAMMA
+ STOVL OMEGAM1
+ OMEGA +6
+ VXSC
+ GAMMA
+ STOVL OMEGAM2
+ OMEGA +12D
+ VXSC
+ GAMMA
+ STORE OMEGAM3
+ EXIT
+ CAF 54DD # INITIAL IX 1 SETTING FOR W MATRIX
+ TS WIXA
+ TS WIXB
+ CAF ZERO
+ TS ZIXA # INITIAL IX 2 SETTING FOR Z COMPONENT
+ TS ZIXB
+FAZA TC PHASCHNG
+# Page 1257
+ OCT 04022
+ TC UPFLAG
+ ADRES REINTFLG
+FAZA1 CA WIXB # START FIRST PHASE OF INCORP2
+ TS WIXA # TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP
+ CA ZIXB
+ TS ZIXA
+ TC INTPRET
+ LXA,1 LXA,2
+ WIXA
+ ZIXA
+ SSP DLOAD*
+ S1
+ 6
+ ZI,2
+ DCOMP NORM # CALC UPPER 3X9 PARTITION OF W MATRIX
+ S2
+ VXSC XCHX,2
+ OMEGAM1
+ S2
+ LXC,2 XAD,2
+ X2
+ NORMGAM
+ VSL* XCHX,2
+ 0,2
+ S2
+ VAD*
+ W +54D,1
+ STORE HOLDW
+ DLOAD* DCOMP # CALC MIDDLE 3X9 PARTITION OF W MATRIX
+ ZI,2
+ NORM VXSC
+ S2
+ OMEGAM2
+ XCHX,2 LXC,2
+ S2
+ X2
+ XAD,2 VSL*
+ NORMGAM
+ 0,2
+ XCHX,2 VAD*
+ S2
+ W +108D,1
+ STORE HOLDW +6
+ BOFF
+ DMENFLG # BRANCH IF 6 DIMENSIONAL
+ FAZB
+ DLOAD* DCOMP # CALC LOWER 3X9 PARTITION OF W MATRIX
+ ZI,2
+ NORM VXSC
+# Page 1258
+ S2
+ OMEGAM3
+ XCHX,2 LXC,2
+ S2
+ X2
+ XAD,2 VSL*
+ NORMGAM
+ 0,2
+ XCHX,2 VAD*
+ S2
+ W +162D,1
+ STORE HOLDW +12D
+FAZB CALL
+ GRP2PC
+ EXIT
+FAZB1 CA WIXA # START 2ND PHASE OF INCORP2 TO TRANSFER
+ AD 6DD # TEMP REG TO PERM W MATRIX
+ TS WIXB
+ CA ZIXA
+ AD MINUS2
+ TS ZIXB
+ TC INTPRET
+ LXA,1 SSP
+ WIXA
+ S1
+ 6
+ VLOAD
+ HOLDW
+ STORE W +54D,1
+ VLOAD
+ HOLDW +6
+ STORE W +108D,1
+ BOFF VLOAD
+ DMENFLG
+ FAZB5
+ HOLDW +12D
+ STORE W +162D,1
+FAZB2 TIX,1 GOTO
+ +2
+ FAZC # DONE WITH W MATRIX. UPDATE STATE VECTOR
+ RTB
+ FAZA
+FAZB5 SLOAD DAD
+ ZIXB
+ 12DD
+ BHIZ GOTO
+ FAZC
+ FAZB2
+FAZC CALL
+ GRP2PC
+# Page 1259
+ VLOAD VAD # START 3RD PHASE OF INCORP2
+ X789 # 7TH, 8TH, 9TH COMPONENTN OF STATE VECTOR
+ DELTAX +12D # INCORPORATION FOR X789
+ STORE TX789
+ BON RTB
+ VEHUPFLG
+ DOCSM
+ MOVEPLEM
+FAZAB BOVB AXT,2
+ TCDANZIG
+ 0
+ BOFF AXT,2
+ MOONTHIS
+ +2
+ 2
+ VLOAD VSR*
+ DELTAX # B27 IF MOON ORBIT, B29 IF EARTH
+ 0 -7,2
+ VAD BOV
+ TDELTAV
+ FAZAB1
+ STOVL TDELTAV
+ DELTAX +6 # B5 IF MOON ORBIT, B7 IF EARTH
+ VSR* VAD
+ 0 -4,2
+ TNUV
+ BOV
+ FAZAB2
+ STCALL TNUV
+ FAZAB3
+FAZAB1 VLOAD VAD
+ RCV
+ DELTAX
+ STORE RCV
+FAZAB2 VLOAD VAD
+ VCV
+ DELTAX +6
+ STORE VCV
+ SXA,2 CALL
+ PBODY
+ RECTIFY
+FAZAB3 CALL
+ GRP2PC
+ BON RTB
+ VEHUPFLG
+ DOCSM1
+ MOVEALEM
+ CALL
+ SVDWN2 # STORE DOWNLINK STATE VECTOR
+FAZAB4 CALL
+# Page 1260
+ GRP2PC # PHASE CHANGE
+ BOFF VLOAD
+ DMENFLG
+ FAZAB5 # 6 DIMENSIONAL
+ TX789 # 9 DIMENSIONAL
+ STORE X789
+FAZAB5 LXA,1 SXA,1
+ EGRESS
+ QPRET
+ EXIT
+ TC POSTJUMP # EXIT
+ CADR INTWAKE
+DOCSM RTB GOTO
+ MOVEPCSM
+ FAZAB
+DOCSM1 RTB CALL
+ MOVEACSM
+ SVDWN1 # STORE DOWNLINK STATE VECTOR
+ GOTO
+ FAZAB4
+ZEROD = ZEROVECS
+54DD DEC 54
+6DD DEC -6
+12DD DEC 12
+ SETLOC MEASINC2
+ BANK
+ COUNT* $$/INCOR
+
+NEWZCOMP VLOAD ABVAL
+ ZI
+ STOVL NORMZI
+ ZI +6
+ ABVAL PUSH
+ DSU BMN
+ NORMZI
+ +3
+ DLOAD STADR
+ STORE NORMZI
+ VLOAD ABVAL
+ ZI +12D
+ PUSH DSU
+ NORMZI
+ BMN DLOAD
+ NEWZCMP1
+ STADR
+ STCALL NORMZI # LARGEST ABVAL
+ NEWZCMP1
+
+ SETLOC MEASINC3
+ BANK
+
+# Page 1261
+NEWZCMP1 DLOAD SXA,1
+ NORMZI
+ NORMZI # SAVE X1
+ NORM INCR,1
+ X1
+ DEC 2
+ VLOAD VSL*
+ ZI
+ 0,1
+ STOVL ZI
+ ZI +6
+ VSL*
+ 0,1
+ STOVL ZI +6
+ ZI +12D
+ VSL* SXA,1
+ 0,1
+ NORMZI +1 # SAVE SHIFT
+ STORE ZI +12D
+ LXA,1 XSU,1
+ NORMGAM
+ NORMZI +1
+ XSU,1
+ NORMZI +1
+ SXA,1 LXC,1
+ NORMGAM
+ NORMZI +1
+ XAD,1 SETPD
+ NORMZI
+ 2D
+ GOTO
+ INCOR2 -3
+NORMZI = 36D
+
+
+
+
diff --git a/MYSUBS.s b/MYSUBS.s
new file mode 100644
index 0000000..d8a8ba3
--- /dev/null
+++ b/MYSUBS.s
@@ -0,0 +1,92 @@
+# Copyright: Public domain.
+# Filename: MYSUBS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 999-1001
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: EBANK= changed from MPAC to KMPAC.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 999
+ BANK 20
+ SETLOC MYSUBS
+ BANK
+
+ EBANK= KMPAC
+SPCOS1 EQUALS SPCOS
+SPSIN1 EQUALS SPSIN
+SPCOS2 EQUALS SPCOS
+SPSIN2 EQUALS SPSIN
+
+ COUNT 21/DAPMS
+
+# ONE AND ONE HALF PRECISION MULTIPLICATION ROUTINE
+
+SMALLMP TS KMPTEMP # A(X+Y)
+ EXTEND
+ MP KMPAC +1
+ TS KMPAC +1 # AY
+ CAF ZERO
+ XCH KMPAC
+ EXTEND
+ MP KMPTEMP # AX
+ DAS KMPAC # AX+AY
+ TC Q
+
+# SUBROUTINE FOR DOUBLE PRECISION ADDITIONS OF ANGLES
+# A AND L CONTAIN A DP(1S) ANGLE SCALED BY 180 DEGS TO BE ADDED TO KMPAC.
+# RESULT IS PLACED IN KMPAC. TIMING = 6 MCT (22 MCT ON OVERFLOW)
+
+DPADD DAS KMPAC
+ EXTEND
+ BZF TSK +1 # NO OVERFLOW
+ CCS KMPAC
+ TCF DPADD+ # + OVERFLOW
+ TCF +2
+ TCF DPADD- # - OVERFLOW
+ CCS KMPAC +1
+ TCF DPADD2+ # UPPER = 0, LOWER +
+ TCF +2
+ COM # UPPER = 0, LOWER -
+ AD POSMAX # LOWER = 0, A = 0
+ TS KMPAC +1 # CAN NOT OVERFLOW
+ CA POSMAX # UPPER WAS = 0
+TSK TS KMPAC
+ TC Q
+
+DPADD+ AD NEGMAX # KMPAC GREATER THAN 0
+ TCF TSK
+
+# Page 1000
+DPADD- COM
+ AD POSMAX # KMPAC LESS THAN 0
+ TCF TSK
+
+DPADD2+ AD NEGMAX # CAN NOT OVERFLOW
+ TS KMPAC +1
+ CA NEGMAX # UPPER WAS = 0
+ TCF TSK
+
+# Page 1001 (empty page)
+
diff --git a/ORBITAL_INTEGRATION.s b/ORBITAL_INTEGRATION.s
new file mode 100644
index 0000000..14c51aa
--- /dev/null
+++ b/ORBITAL_INTEGRATION.s
@@ -0,0 +1,949 @@
+# Copyright: Public domain.
+# Filename: ORBITAL_INTEGRATION.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1334-1354
+# Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: DAT -> DAD in one place,
+# BWM -> BMN, DEFEQCNT -> DIFEQCNT.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1334
+# ORBITAL INTEGRATION
+
+# DELETE
+ BANK 13
+ SETLOC ORBITAL
+ BANK
+ COUNT 11/ORBIT
+
+# DELETE
+KEPPREP LXA,2 SETPD
+ PBODY
+ 0
+ DLOAD* SQRT # SQRT(MU) (+18 OR +15) 0D PL 2D
+ MUEARTH,2
+ PDVL UNIT # PL 8D
+ RCV
+ PDDL NORM # NORM R (+29 OR +27 - N1) 2D PL 4D
+ 36D
+ X1
+ PDVL
+ DOT PDDL # F*SQRT(MU) (+7 OR +5) 4D PL 6D
+ VCV
+ TAU. # (+28)
+ DSU NORM
+ TC
+ S1
+ SR1
+ DDV PDDL
+ 2D
+ DMP PUSH # FS (+6 +N1-N2) 6D PL 8D
+ 4D
+ DSQ PDDL # (FS)SQ (+12 +2(N1-N2)) 8D PL 10D
+ 4D
+ DSQ PDDL* # SSQ/MU (-2 OR +2(N1-N2)) 10D PL 12D
+ MUEARTH,2
+ SR3 SR4
+ PDVL VSQ # PREALIGN MU (+43 OR +37) 12D PL 14D
+ VCV
+ DMP BDSU # PL 12D
+ 36D
+ DDV DMP # PL 10D
+ 2D # -(1/R-ALPHA) (+12 +3N1-2N2)
+ DMP SL*
+ DP2/3
+ 0 -3,1 # 10L(1/R-ALPHA) (+13 +2(N1-N2))
+ XSU,1 DAD # 2(FS)SQ - ETCETERA PL 8D
+ S1 # X1 = N2-N1
+ SL* DSU # -FS+2(FS)SQ ETC (+6 +N1-N2) PL 6D
+ 8D,1
+ DMP DMP
+ 0D
+ 4D
+ SL* SL*
+# Page 1335
+ 8D,1
+ 0,1 # S(-FS(1-2FS)-1/6...) (+17 OR +16)
+ DAD PDDL # PL 6D
+ XKEP
+ DMP SL* # S(+17 OR +16)
+ 0D
+ 1,1
+ BOVB DAD
+ TCDANZIG
+ STADR
+ STORE XKEPNEW
+ STQ AXC,1
+ KEPRTN
+ DEC 10
+ BON AXC,1
+ MOONFLAG
+ KEPLERN
+ DEC 2
+ GOTO
+ KEPLERN
+
+# Page 1336
+FBR3 LXA,1 SSP
+ DIFEQCNT
+ S1
+ DEC -13
+ DLOAD SR
+ DT/2
+ 9D
+ TIX,1 ROUND
+ +1
+ PUSH DAD
+ TC
+ STODL TAU.
+ DAD
+ TET
+ STCALL TET
+ KEPPREP
+
+# Page 1337
+# AGC ROUTINE TO COMPUTE ACCELERATION COMPONENTS.
+
+ACCOMP LXA,1 LXA,2
+ PBODY
+ PBODY
+ VLOAD
+ ZEROVEC
+ STOVL FV
+ ALPHAV
+ VSL* VAD
+ 0 -7,2
+ RCV
+ STORE BETAV
+ BOF XCHX,2
+ DIM0FLAG
+ +5
+ DIFEQCNT
+ STORE VECTAB,2
+ XCHX,2
+ DIFEQCNT
+ VLOAD UNIT
+ ALPHAV
+ STODL ALPHAV
+ 36D
+ STORE ALPHAM
+ CALL
+ GAMCOMP
+ VLOAD SXA,1
+ BETAV
+ S2
+ STODL ALPHAV
+ BETAM
+ STORE ALPHAM
+ BOF DLOAD
+ MIDFLAG
+ OBLATE
+ TET
+ CALL
+ LSPOS
+ AXT,2 LXA,1
+ 2
+ S2
+ BOF
+ MOONFLAG
+ +3
+ VCOMP AXT,2
+ 0
+ STORE BETAV
+ STOVL RPQV
+# Page 1338
+ 2D
+ STORE RPSV
+ BOF VLOAD
+ DIM0FLAG
+ GETRPSV
+ ALPHAV
+ VXSC VSR*
+ ALPHAM
+ 1,2
+ VSU XCHX,2
+ BETAV
+ DIFEQCNT
+ STORE VECTAB +6,2
+ XCHX,2
+ DIFEQCNT
+GETRPSV VLOAD INCR,1
+ RPQV
+ 4
+ CLEAR BOF
+ RPQFLAG
+ MOONFLAG
+ +5
+ VSR VAD
+ 9D
+ RPSV
+ STORE RPSV
+ CALL
+ GAMCOMP
+ AXT,2 INCR,1
+ 4
+ 4
+ VLOAD
+ RPSV
+ STCALL BETAV
+ GAMCOMP
+ GOTO
+ OBLATE
+GAMCOMP VLOAD VSR1
+ BETAV
+ VSQ SETPD
+ 0
+ NORM ROUND
+ 31D
+ PDDL NORM # NORMED B SQUARED TO PD LIST
+ ALPHAM # NORMALIZE (LESS ONE) LENGTH OF ALPHA
+ 32D # SAVING NORM SCALE FACTOR IN X1
+ SR1 PDVL
+ BETAV # C(PDL+2) = ALMOST NORMED ALPHA
+ UNIT
+ STODL BETAV
+# Page 1339
+ 36D
+ STORE BETAM
+ NORM BDDV # FORM NORMALIZE QUOTIEN ALPHAM/BETAM
+ 33D
+ SR1R PUSH # C(PDL+2) = ALMOST NORMALIZE RHO.
+ DLOAD*
+ ASCALE,1
+ STORE S1
+ XCHX,2 XAD,2
+ S1
+ 32D
+ XSU,2 DLOAD
+ 33D
+ 2D
+ SR* XCHX,2
+ 0 -1,2
+ S1
+ PUSH SR1R # RHO/4 TO 4D
+ PDVL DOT
+ ALPHAV
+ BETAV
+ SL1R BDSU # (RHO/4) - 2(ALPHAV/2.BETAV/2)
+ PUSH DMPR # TO PDL+6
+ 4
+ SL1
+ PUSH DAD
+ DQUARTER
+ PUSH SQRT
+ DMPR PUSH
+ 10D
+ SL1 DAD
+ DQUARTER
+ PDDL DAD # (1/4)+2((Q+1)/4) TO PD+14D
+ 10D
+ HALFDP
+ DMPR SL1
+ 8D
+ DAD DDV
+ THREE/8
+ 14D
+ DMPR VXSC
+ 6
+ BETAV
+ PDVL VSR3 # (G/2)(C(PD+4))B/2 TO PD+16D
+ ALPHAV
+ VAD PUSH # A12 + C(PD+16D) TO PD+16D
+ DLOAD DMP
+ 0
+ 12D
+ NORM ROUND
+# Page 1340
+ 30D
+ BDDV DMP*
+ 2
+ MUEARTH,2
+ DCOMP VXSC
+ XCHX,2 XAD,2
+ S1
+ S2
+ XSU,2 XSU,2
+ 30D
+ 31D
+ BOV # CLEAR OVIND
+ +1
+ VSR* XCHX,2
+ 0 -1,2
+ S1
+ VAD
+ FV
+ STORE FV
+ BOV RVQ # RETURN IF NO OVERFLOW
+ +1
+GOBAQUE VLOAD ABVAL
+ TDELTAV
+ BZE
+ INT-ABRT
+ DLOAD SR
+ H
+ 9D
+ PUSH BDSU
+ TC
+ STODL TAU.
+ TET
+ DSU STADR
+ STCALL TET
+ KEPPREP
+ CALL
+ RECTIFY
+ SETGO
+ RPQFLAG
+ TESTLOOP
+
+INT-ABRT EXIT
+ TC P00DOO
+ OCT 00430
+
+# Page 1341
+# THE OBLATE ROUTINE COMPUTES THE ACCELERATION DUE TO OBLATENESS. IT USES THE UNIT OF THE VEHICLE
+# POSITION VECTOR FOUND IN ALPHAV AND THE DISTANCE TO THE CENTER IN ALPHAM. THIS IS ADDED TO THE SUM OF THE
+# DISTURBING ACCELERATIONS IN FV AND THE PROPER DIFEQ STAGE IS CALLED VIA X1.
+
+OBLATE LXA,2 DLOAD
+ PBODY
+ ALPHAM
+ SETPD DSU*
+ 0
+ RDE,2
+ BPL BOF # GET URPV
+ NBRANCH
+ MOONFLAG
+ COSPHIE
+ VLOAD PDDL
+ ALPHAV
+ TET
+ PDDL CALL
+ 3/5
+ R-TO-RP
+ STORE URPV
+ VLOAD VXV
+ 504LM
+ ZUNIT
+ VAD VXM
+ ZUNIT
+ MMATRIX
+ UNIT # PROBABLY UNNECESSARY.
+COMTERM STORE UZ
+ DLOAD DMPR
+ COSPHI/2
+ 3/32
+ PDDL DSQ # P2/64 TO PD0
+ COSPHI/2
+ DMPR DSU
+ 15/16
+ 3/64
+ PUSH DMPR # P3/32 TO PD2
+ COSPHI/2
+ DMP SL1R
+ 7/12
+ PDDL DMPR
+ 0
+ 2/3
+ BDSU PUSH # P4/128 TO PD4
+ DMPR DMPR
+ COSPHI/2 # BEGIN COMPUTING P5/1024
+ 9/16
+ PDDL DMPR
+ 2
+ 5/128
+# Page 1342
+ BDSU
+ DMP*
+ J4REQ/J3,2
+ DDV DAD # -3
+ ALPHAM # (((P5/256)B 2 /R+P4/32) /R+P3/8)ALPHAV
+ 4 # 4 3
+ DMPR* DDV
+ 2J3RE/J2,2
+ ALPHAM
+ DAD VXSC
+ 2
+ ALPHAV
+ STODL TVEC
+ DMP* SR1
+ J4REQ/J3,2
+ DDV DAD
+ ALPHAM
+ DMPR* SR3
+ 2J3RE/J2,2
+ DDV DAD
+ ALPHAM
+ VXSC VSL1
+ UZ
+ BVSU
+ TVEC
+ STODL TVEC
+ ALPHAM
+ NORM DSQ
+ X1
+ DSQ NORM
+ S1 # 4
+ PUSH BDDV* # NORMED R TO 0D
+ J2REQSQ,2
+ VXSC BOV
+ TVEC
+ +1 # (RESET OVERFLOW INDICATOR)
+ XAD,1 XAD,1
+ X1
+ X1
+ XAD,1 VSL*
+ S1
+ 0 -22D,1
+ VAD BOV
+ FV
+ GOBAQUE
+ STCALL FV
+ QUALITY1
+QUALITY3 DSQ # J22 TERM X R**4 IN 2D. SCALED B61
+ # AS VECTOR.
+ PUSH DMP # STORE COSPHI**2 SCALED B2 IN 8D.
+# Page 1343
+ 5/8 # 5 SCALED B3
+ PDDL SR2 # PUT 5 COSPHI**2, D5, IN 8D. GET
+ # COSPHI**2 D2 FROM 8D
+ DAD BDSU # END UP WITH (1-7 COSPHI**2), B5
+ 8D # ADDING COSPHI**2 B4 SAME AS COSPHI**2
+ # X 2 D5
+ D1/32 # 1 SCALED B5
+ DMP DMP
+ URPV # X COMPONENT
+ 5/8 # 5 SCALED B3
+ VXSC VSL5 # AFTER SHIFT, SCALED B5
+ URPV # VECTOR, B1.
+ PDDL # VECTOR INTO 8D, 10D, 12D, SCALED B5.
+ # GET 5 COSPHI**2 OUT OF 8D
+ DSU DAD
+ D1/32 # 1 B5
+ 8D # X COMPONENT (SAME AS MULTIPLYING
+ # BY UNITX)
+ STODL 8D
+ URPV # X COMPONENT
+ DMP DMP
+ URPV +4 # Z COMPONENT
+ 5/8 # 5 B3 ANSWER B5
+ SL1 DAD # FROM 12D FOR Z COMPONENT (SL1 GIVES 10
+ # INSTEAD OF 5 FOR COEFFICIENT)
+ PDDL NORM # BACK INTO 12D FOR Z COMPONENT
+ ALPHAM # SCALED B27 FOR MOON
+ X2
+ PUSH SLOAD # STORE IN 14D, DESTROYING URPV
+ # X COMPONENT
+ E32C31RM
+ DDV VXSC # IF X2 = 0, DIVISION GIVES B53, VXSC
+ # out of 8D B5 GIVES B58
+ VSL* VAD # SHIFT MAKES B61, FOR ADDITION OF
+ # VECTOR IN 2D
+ 0 -3,2
+ VSL* V/SC # OPERAND FROM 0D, B108 FOR X1 = 0
+ 0 -27D,1 # FOR X1 = 0, MAKES B88, GIVING B-20
+ # FOR RESULT.
+ PDDL PDDL
+ TET
+ 5/8 # ANY NON-ZERO CONSTANT
+ LXA,2 CALL # POSITION IN 0D, TIME IN 6D. X2 LEFT
+ # ALONE.
+ PBODY
+ RP-TO-R
+ VAD BOV # OVERFLOW INDICATOR RESET IN *RP-TO-R*
+ FV
+ GOBAQUE
+ STORE FV
+# Page 1344
+NBRANCH SLOAD LXA,1
+ DIFEQCNT
+ MPAC
+ DMP CGOTO
+ -1/12
+ MPAC
+ DIFEQTAB
+COSPHIE DLOAD
+ ALPHAV +4
+ STOVL COSPHI/2
+ ZUNIT
+ GOTO
+ COMTERM
+DIFEQTAB CADR DIFEQ+0
+ CADR DIFEQ+1
+ CADR DIFEQ+2
+
+TIMESTEP BOF CALL
+ MIDFLAG
+ RECTEST # SKIP ORIGIN CHANGE LOGIC
+ CHKSWTCH
+ BMN
+ DOSWITCH
+
+RECTEST VLOAD ABVAL # RECTIFY IF
+ TDELTAV
+ BOV
+ CALLRECT
+ DSU BPL # 1) EITHER TDELTAV OR TNUV EQUALS OR
+ 3/4 # EXCEEDS 3/4 IN MAGNITUDE
+ CALLRECT #
+ DAD SL* # OR
+ 3/4 #
+ 0 -7,2 # 2) ABVAL(TDELTAV) EQUALS OR EXCEEDS
+ DDV DSU # .01(ABVAL(RCV))
+ 10D
+ RECRATIO
+ BPL VLOAD
+ CALLRECT
+ TNUV
+ ABVAL DSU
+ 3/4
+ BOV
+ CALLRECT
+ BMN
+ INTGRATE
+CALLRECT CALL
+ RECTIFY
+INTGRATE VLOAD
+ TNUV
+# Page 1345
+ STOVL ZV
+ TDELTAV
+ STORE YV
+ CLEAR
+ JSWITCH
+DIFEQ0 VLOAD SSP
+ YV
+ DIFEQCNT
+ 0
+ STODL ALPHAV
+ DPZERO
+ STORE H # START H AT ZERO. GOES 0(DELT/2)DELT.
+ BON GOTO
+ JSWITCH
+ DOW..
+ ACCOMP
+
+CHKSWTCH STQ BOF
+ ORIGEX
+ RPQFLAG
+ RPQOK # MOON POSITION IS AVAILABLE
+ DLOAD CALL
+ TET
+ LUNPOS # GET MOON POSITION
+ BOF VCOMP
+ MOONFLAG
+ +1
+ STORE RPQV
+
+RPQOK LXA,2 VLOAD # RESTORE X2 AFTER USING LUNPOS
+ PBODY
+ TDELTAV # _
+ VSL* VAD # |RQC|-RSPHERE WHEN OUTSIDE THE SPHERE.
+ 0 -7,2 # _ _ _
+ RCV # R = RDEVIATION + RCONIC
+ BOF ABVAL
+ MOONFLAG
+ EARSPH
+ SR2 BDSU # INSIDE
+ RSPHERE
+ GOTO
+ ORIGEX
+EARSPH VSU ABVAL # OUTSIDE
+ RPQV
+ DSU GOTO
+ RSPHERE
+ ORIGEX
+
+DOSWITCH CALL
+ ORIGCHNG
+ GOTO
+ INTGRATE
+
+# Page 1346
+ORIGCHNG STQ CALL
+ ORIGEX
+ RECTIFY
+ VLOAD VSL*
+ RCV
+ 0,2
+ VSU VSL*
+ RPQV
+ 2,2
+ STORE RRECT
+ STODL RCV
+ TET
+ CALL
+ LUNVEL
+ BOF VCOMP
+ MOONFLAG
+ +1
+ PDVL VSL*
+ VCV
+ 0,2
+ VSU
+ VSL*
+ 0 +2,2
+ STORE VRECT
+ STORE VCV
+ LXA,2 SXA,2
+ ORIGEX
+ QPRET
+ BON GOTO
+ MOONFLAG
+ CLRMOON
+ SETMOON
+# Page 1347
+# THE RECTIFY SUBROUTINE IS CALLED BY THE INTEGRATION PROGRAM AND OCCASIONALLY BY THE MEASUREMENT INCORPORATION
+# ROUTINES TO ESTABLISH A NEW CONIC.
+
+RECTIFY LXA,2 VLOAD
+ PBODY
+ TDELTAV
+ VSL* VAD
+ 0 -7,2
+ RCV
+ STORE RRECT
+ STOVL RCV
+ TNUV
+ VSL* VAD
+ 0 -4,2
+ VCV
+MINIRECT STORE VRECT
+ STOVL VCV
+ ZEROVEC
+ STORE TDELTAV
+ STODL TNUV
+ ZEROVEC
+ STORE TC
+ STORE XKEP
+ RVQ
+
+# Page 1348
+# THE THREE DIFEQ ROUTINES -- DIFEQ+0, DIFEQ+12, DIFEQ+24 -- ARE ENTERED TO PROCESS THE CONTRIBUTIONS AT THE
+# BEGINNING, MIDDLE, AND END OF THE TIMESTEP, RESPECTIVELY. THE UPDATING IS DONE BY THE NYSTROM METHOD.
+
+DIFEQ+0 VLOAD VSR3
+ FV
+ STCALL PHIV
+ DIFEQCOM
+DIFEQ+1 VLOAD VSR1
+ FV
+ PUSH VAD
+ PHIV
+ STOVL PSIV
+ VSR1 VAD
+ PHIV
+ STCALL PHIV
+ DIFEQCOM
+DIFEQ+2 DLOAD DMPR
+ H
+ DP2/3
+ PUSH VXSC
+ PHIV
+ VSL1 VAD
+ ZV
+ VXSC VAD
+ H
+ YV
+ STOVL YV
+ FV
+ VSR3 VAD
+ PSIV
+ VXSC VSL1
+ VAD
+ ZV
+ STORE ZV
+ BOFF CALL
+ JSWITCH
+ ENDSTATE
+ GRP2PC
+ LXA,2 VLOAD
+ COLREG
+ ZV
+ VSL3 # ADJUST W-POSITION FOR STORAGE
+ STORE W +54D,2
+ VLOAD
+ YV
+ VSL3 BOV
+ WMATEND
+ STORE W,2
+
+ CALL
+ GRP2PC
+# Page 1349
+ LXA,2 SSP
+ COLREG
+ S2
+ 0
+ INCR,2 SXA,2
+ 6
+ YV
+ TIX,2 CALL
+ RELOADSV
+ GRP2PC
+ LXA,2 SXA,2
+ YV
+ COLREG
+
+NEXTCOL CALL
+ GRP2PC
+ LXA,2 VLOAD*
+ COLREG
+ W,2
+ VSR3 # ADJUST W-POSITION FOR INTEGRATION
+ STORE YV
+ VLOAD* AXT,1
+ W +54D,2
+ 0
+ VSR3 # ADJUST W-VELOCITY FOR INTEGRATION
+ STCALL ZV
+ DIFEQ0
+
+ENDSTATE BOV VLOAD
+ GOBAQUE
+ ZV
+ STOVL TNUV
+ YV
+ STORE TDELTAV
+ BON BOFF
+ MIDAVFLG
+ CKMID2 # CHECK FOR MID2 BEFORE GOING TO TIMEINC
+ DIM0FLAG
+ TESTLOOP
+ EXIT
+ TC PHASCHNG
+ OCT 04022 # PHASE 1
+ TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN
+ ADRES REINTFLG # INTSTALL AND INTWAKE
+ TC INTPRET
+ SSP
+ QPRET
+ AMOVED
+ BON GOTO
+ VINTFLAG
+# Page 1350
+ ATOPCSM
+ ATOPLEM
+AMOVED SET SSP
+ JSWITCH
+ COLREG
+ DEC -30
+ BOFF SSP
+ D6OR9FLG
+ NEXTCOL
+ COLREG
+ DEC -48
+ GOTO
+ NEXTCOL
+
+RELOADSV DLOAD # RELOAD TEMPORARY STATE VECTOR
+ TDEC # FROM PERMANENT IN CASE OF
+ STCALL TDEC1
+ INTEGRV2 # BY STARTING AT INTEGRV2.
+DIFEQCOM DLOAD DAD # INCREMENT H AND DIFEQCNT.
+ DT/2
+ H
+ INCR,1 SXA,1
+ DEC -12
+ DIFEQCNT # DIFEQCNT SET FOR NEXT ENTRY.
+ STORE H
+ VXSC VSR1
+ FV
+ VAD VXSC
+ ZV
+ H
+ VAD
+ YV
+ STORE ALPHAV
+ BON GOTO
+ JSWITCH
+ DOW..
+ FBR3
+
+WMATEND CLEAR CLEAR
+ DIM0FLAG # DON'T INTEGRATE W THIS TIME
+ ORBWFLAG # INVALIDATE W
+ CLEAR
+ RENDWFLG
+ SET EXIT
+ STATEFLG # PICK UP STATE VECTOR UPDATE
+ TC ALARM
+ OCT 421
+ TC INTPRET
+# Page 1351
+ GOTO
+ TESTLOOP # FINISH INTEGRATING STATE VECTOR
+
+# Page 1352
+# ORBITAL ROUTINE FOR EXTRAPOLATION OF THE W MATRIX. IT COMPUTES THE SECOND DERIVATIVE OF EACH COLUMN POSITION
+# VECTOR OF THE MATRIX AND CALLS THE NYSTROM INTEGRATION ROUTINES TO SOLVE THE DIFFERENTIAL EQUATIONS. THE PROGRAM
+# USES A TABLE OF VEHICLE POSITION VECTORS COMPUTED DURING THE INTEGRATION OF THE VEHICLE'S POSITION AND VELOCITY.
+
+DOW.. LXA,2 DLOAD*
+ PBODY
+ MUEARTH,2
+ STCALL BETAM
+ DOW..1
+ STORE FV
+ BOF INCR,1
+ MIDFLAG
+ NBRANCH
+ DEC -6
+ LXC,2 DLOAD*
+ PBODY
+ MUEARTH -2,2
+ STCALL BETAM
+ DOW..1
+ BON VSR6
+ MOONFLAG
+ +1
+ VAD
+ FV
+ STCALL FV
+ NBRANCH
+DOW..1 VLOAD VSR4
+ ALPHAV
+ PDVL* UNIT
+ VECTAB,1
+ PDVL VPROJ
+ ALPHAV
+ VXSC VSU
+ 3/4
+ PDDL NORM
+ 36D
+ S2
+ PUSH DSQ
+ DMP
+ NORM PDDL
+ 34D
+ BETAM
+ SR1 DDV
+ VXSC
+ LXA,2 XAD,2
+ S2
+ S2
+ XAD,2 XAD,2
+ S2
+ 34D
+ VSL* RVQ
+# Page 1353
+ 0 -8D,2
+
+ SETLOC ORBITAL1
+ BANK
+
+3/5 2DEC .6 B-2
+
+THREE/8 2DEC .375
+
+.3D 2DEC .3 B-2
+
+3/64 2DEC 3 B-6
+
+DP1/4 2DEC .25
+
+DQUARTER EQUALS DP1/4
+POS1/4 EQUALS DP1/4
+3/32 2DEC 3 B-5
+
+15/16 2DEC 15. B-4
+
+3/4 2DEC 3.0 B-2
+
+7/12 2DEC .5833333333
+
+9/16 2DEC 9 B-4
+
+5/128 2DEC 5 B-7
+
+DPZERO EQUALS ZEROVEC
+DP2/3 2DEC .6666666667
+
+2/3 EQUALS DP2/3
+OCT27 OCT 27
+
+ BANK 13
+ SETLOC ORBITAL2
+ BANK
+# IT IS VITAL THAT THE FOLLOWING CONSTANTS NOT BE SHUFFLED
+ DEC -11
+ DEC -2
+ DEC -9
+ DEC -6
+ DEC -2
+ DEC -2
+ DEC 0
+ DEC -12
+ DEC -9
+ DEC -4
+ASCALE DEC -7
+ DEC -6
+# Page 1354
+ 2DEC* 1.32715445 E16 B-54* # S
+
+ 2DEC* 4.9027780 E8 B-30* # M
+
+MUEARTH 2DEC* 3.986032 E10 B-36*
+
+ 2DEC 0
+
+J4REQ/J3 2DEC* .4991607391 E7 B-26*
+
+ 2DEC -176236.02 B-25
+
+2J3RE/J2 2DEC* -.1355426363 E5 B-27*
+
+ 2DEC* .3067493316 E18 B-60*
+
+J2REQSQ 2DEC* 1.75501139 E21 B-72*
+
+3J22R2MU 2DEC* 9.20479048 E16 B-58*
+
+5/8 2DEC 5 B-3
+
+-1/12 2DEC -.1
+
+MUM = MUEARTH -2
+RECRATIO 2DEC .01
+
+RSPHERE 2DEC 64373.76 E3 B-29
+
+RDM 2DEC 16093.44 E3 B-27
+
+RDE 2DEC 80467.20 E3 B-29
+
+RATT EQUALS 00
+VATT EQUALS 6D
+TAT EQUALS 12D
+RATT1 EQUALS 14D
+VATT1 EQUALS 20D
+MU(P) EQUALS 26D
+TDEC1 EQUALS 32D
+URPV EQUALS 14D
+COSPHI/2 EQUALS URPV +4
+UZ EQUALS 20D
+TVEC EQUALS 26D
+
+
+
diff --git a/P-AXIS_RCS_AUTOPILOT.s b/P-AXIS_RCS_AUTOPILOT.s
new file mode 100644
index 0000000..41b0cfd
--- /dev/null
+++ b/P-AXIS_RCS_AUTOPILOT.s
@@ -0,0 +1,1056 @@
+# Copyright: Public domain.
+# Filename: P-AXIS_RCS_AUTOPILOT.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1421-1441
+# Mod history: 2009-05-27 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+# 2009-06-05 RSB Corrected a relative jump from
+# +8 to +8D.
+# 2009-06-07 RSB Corrected a typo.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1421
+ BANK 16
+ SETLOC DAPS1
+ BANK
+
+ EBANK= PERROR
+ COUNT* $$/DAPP
+
+# THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
+# THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
+
+PAXIS CA MS100
+ ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW
+ # SYNCHRONIZATION WITH OTHER INTERRUPTS ***
+
+ LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
+ EXTEND
+ QXCH QRUPT
+
+# CHECK IF DAP PASS IS PERMISSIBLE
+
+ CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
+ TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
+ OCT 02000 # CALLED FOR. IT IS NEVER ZERO
+
+ TC CHEKBITS # RETURN IS TC I+1 IF DAP SHOULD STAY ON.
+
+ CA CDUX # READ AND STORE CDU'S
+ TS DAPTREG4
+ CA CDUY
+ TS DAPTREG5
+ CA CDUZ
+ TS DAPTREG6
+
+# ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
+#
+# THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
+# AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
+
+ CA CDUXD
+ EXTEND
+ MSU DELCDUX
+ TC 1STOTWOS
+ TS CDUXD
+ CA CDUYD
+ EXTEND
+ MSU DELCDUY
+ TC 1STOTWOS
+ TS CDUYD
+ CA CDUZD
+ EXTEND
+ MSU DELCDUZ
+# Page 1422
+ TC 1STOTWOS
+ TS CDUZD
+ EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
+ DIM TCP # TIME COUNTERS.
+ EXTEND
+ DIM TCQR
+
+# RATFLOOP COMPUTES JETRATEQ, JRATER, AND 1JACC*NO. PJEETS IN ITEMP1.
+# RETURNS TO BACKP.
+#
+# JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
+# JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
+# JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
+
+ TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
+1STOTWOS CCS A
+ AD ONE
+ TC Q
+ CS A
+ TC Q
+SUBDIVDE EXTEND # OVERFLOW PROTECTION ROUTINE TO GIVE
+ MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
+ DAS OMEGAU # OVERFLOW
+
+ +3 EXTEND
+ DCA OMEGAU
+ DXCH DAPTEMP5
+ CCS OMEGAU
+ TCF +2
+ TCF DIVIDER
+ AD -OCT630
+ EXTEND
+ BZMF DIVIDER
+
+ CCS OMEGAU
+ CA POSMAX # 45 DEG/SEC
+ TC Q
+ CS POSMAX
+ TC Q
+
+DIVIDER DXCH OMEGAU
+ EXTEND
+ DV DAPTREG4
+ TC Q
+
+OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
+ TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
+ INDEX A
+ CS BIT15 -1
+# Page 1423
+ TC Q
+
+-OCT630 OCT 77147
+
+BACKP CA DAPTEMP1
+ EXTEND
+ MP 1JACC
+ TS JETRATE
+
+# BEGINNING OF THE RATE DERIVATION
+# OMEGAP,Q,R BODY RATES SCALED AT PI/4
+# TRAPEDP,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
+# NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
+# AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELERATION. (PI/4)
+# JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELERATION. (PI/4)
+# TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ETC.
+# OMEGAU DP-TEMPORARY STORAGE
+# OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
+
+ CAE DAPTREG4 # CDUX IS STORED HERE
+ TS L
+ EXTEND
+ MSU OLDXFORP # SCALED AT PI
+ LXCH OLDXFORP
+ TS DAPTEMP1
+ CA 1/40
+ TS DAPTREG4
+ CS JETRATE
+ EXTEND
+ MP BIT14
+ ADS TRAPEDP
+ CA JETRATEQ
+ AD AOSQTERM
+ EXTEND
+ MP -BIT14
+ ADS TRAPEDQ
+ CA JETRATER
+ AD AOSRTERM
+ EXTEND
+ MP -BIT14
+ ADS TRAPEDR
+
+ CA DAPTREG5 # CDUY IS STORED HERE
+ TS L
+ EXTEND
+ MSU OLDYFORP # SCALED AT PI
+ LXCH OLDYFORP
+ TS DAPTEMP2
+ EXTEND
+ MP M11 # M11 SCALED AT 1
+# Page 1424
+ AD DAPTEMP1
+ DXCH OMEGAU
+
+ TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
+
+ EXTEND
+ SU OMEGAP
+ ADS TRAPEDP
+ TC OVERSUB
+ TS TRAPEDP
+ EXTEND
+ DCA DAPTEMP5
+ DAS DXERROR
+ CS PLAST
+ EXTEND
+ MP 1/40
+ DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
+ CA DAPTREG6 # CDUZ IS STORED HERE
+ TS L
+ EXTEND
+ MSU OLDZFORQ
+ TS DAPTEMP3
+ LXCH OLDZFORQ
+ CA M21
+ EXTEND
+ MP DAPTEMP2
+ DXCH OMEGAU
+ CA M22
+ TC SUBDIVDE
+
+ EXTEND
+ SU OMEGAQ
+ ADS TRAPEDQ
+ TC OVERSUB
+ TS TRAPEDQ
+ EXTEND
+ DCA DAPTEMP5
+ DAS DYERROR
+ CS QLAST
+ EXTEND
+ MP 1/40
+ DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
+ CA M31
+ EXTEND
+ MP DAPTEMP2
+ DXCH OMEGAU
+ CA M32
+
+ TC SUBDIVDE
+# Page 1425
+ EXTEND
+ SU OMEGAR
+ ADS TRAPEDR
+ TC OVERSUB
+ TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
+
+ EXTEND
+ DCA DAPTEMP5
+ DAS DZERROR
+ CS RLAST
+ EXTEND
+ MP 1/40
+ DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
+ CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
+ MASK CSMDOCKD
+ EXTEND
+ BZF LMONLY
+ EXTEND # DOCKED
+ DCA DKOMEGAN
+ DXCH DAPTREG4
+ CA DKTRAP
+ TCF +5
+LMONLY EXTEND # UNDOCKED
+ DCA LMOMEGAN
+ DXCH DAPTREG4
+ CA LMTRAP
+ +5 TS DAPTREG6
+ CCS TRAPEDP
+ TCF +2
+ TCF SMALPDIF
+ AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
+ EXTEND
+ BZMF SMALPDIF
+ ZL
+ LXCH TRAPEDP
+ CA ZERO
+ EXTEND
+ DV NPTRAPS
+ ADS OMEGAP
+ TC OVERSUB
+ TS OMEGAP
+ CA DAPTREG4 ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
+ TS NPTRAPS
+SMALPDIF INCR NPTRAPS
+P-RATE CA JETRATE
+ ADS OMEGAP
+ TC OVERSUB
+ TS OMEGAP
+
+ CCS TRAPEDQ
+# Page 1426
+ TCF +2
+ TCF Q-RATE
+ AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
+ EXTEND
+ BZMF Q-RATE
+ ZL
+ LXCH TRAPEDQ
+ CA ZERO
+ EXTEND
+ DV NQTRAPS
+ TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
+ ADS OMEGAQ
+ TC OVERSUB
+ TS OMEGAQ
+ CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
+ XCH NQTRAPS
+ AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
+ XCH DAPTEMP1
+ EXTEND
+ MP FIVE
+ EXTEND
+ DV DAPTEMP1
+ ADS AOSQ
+Q-RATE INCR NQTRAPS
+ CA JETRATEQ
+ AD AOSQTERM
+ ADS OMEGAQ
+ TC OVERSUB
+ TS OMEGAQ
+
+ CCS TRAPEDR
+ TCF +2
+ TCF R-RATE
+ AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
+ EXTEND
+ BZMF R-RATE
+ ZL
+ LXCH TRAPEDR
+ CA ZERO
+ EXTEND
+ DV NRTRAPS
+ TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
+ ADS OMEGAR
+ TC OVERSUB
+ TS OMEGAR
+ CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
+ XCH NRTRAPS
+ AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
+ XCH DAPTEMP2
+ EXTEND
+# Page 1427
+ MP FIVE
+ EXTEND
+ DV DAPTEMP2
+ ADS AOSR
+R-RATE INCR NRTRAPS
+ CA JETRATER
+ AD AOSRTERM
+ ADS OMEGAR
+ TC OVERSUB
+ TS OMEGAR
+
+# END OF RATE DERIVATION
+# BEGIN OFFSET ESTIMATER
+# IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
+# AOS = AOS + K*SUMRATE
+
+ CS DAPBOOLS
+ MASK DRIFTBIT
+ CCS A
+ TCF WORKTIME
+ TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
+ TS ALPHAR
+ TS AOSQTERM
+ TS AOSRTERM
+ TS AOSQ
+ TS AOSR
+ TCF PRETIMCK
+KAOS DEC 60
+WORKTIME CA QACCDOT
+ EXTEND
+ MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
+ DAS AOSQ
+ CA AOSQ
+ TS ALPHAQ
+ EXTEND
+ MP 200MS # .2 AT 1
+ TS AOSQTERM
+ CA RACCDOT
+ EXTEND
+ MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
+ DAS AOSR
+ CA AOSR
+ TS ALPHAR
+ EXTEND
+ MP 200MS # .2 AT 1
+ TS AOSRTERM
+ TCF PRETIMCK
+
+# Page 1428
+PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
+ MASK RCSFLAGS
+ CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
+ TC ACDT+C12 # VALID.
+
+ DXCH ARUPT
+ DXCH DAPARUPT
+ CA SUPERJOB # SETTING UP THE SUPERJOB
+ XCH BRUPT
+ LXCH QRUPT
+ DXCH DAPBQRPT
+ CA SUPERADR
+ DXCH ZRUPT
+ DXCH DAPZRUPT
+ TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
+ # FORM OF A JASK, AT SUPERJOB.
+
+SUPERADR GENADR SUPERJOB +1
+
+# COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
+
+SUPERJOB TCF RATELOOP
+PRETIMCK CCS QGIMTIMR
+ TCF DECQTIMR # POSITIVE -- COUNTING DOWN
+ TCF TURNOFFQ # NEGATIVE -- DRIVE SHOULD BE ENDED
+CHKRTIMR CCS RGIMTIMR # NEGATIVE -- INACTIVE
+ TCF DECRTIMR # (NEG ZERO -- IMPOSSIBLE)
+ TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
+
+ EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
+ DIM PJETCTR
+ EXTEND
+ DIM UJETCTR
+ EXTEND
+ DIM VJETCTR
+ CA BIT12
+ MASK RCSFLAGS
+ EXTEND
+ BZF SKIPPAXS
+ TC CHKVISFZ
+DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
+ TCF CHKRTIMR
+DECRTIMR TS RGIMTIMR
+ TCF CHKRTIMR +3
+
+TURNOFFQ TS NEGUQ # HALT DRIVES.
+ TS QACCDOT
+ CS QGIMBITS
+ EXTEND
+# Page 1429
+ WAND CHAN12
+ CAF NEGMAX
+ TS QGIMTIMR
+ TCF CHKRTIMR
+TURNOFFR TS NEGUR
+ TS RACCDOT
+ CS RGIMBITS
+ EXTEND
+ WAND CHAN12
+ CAF NEGMAX
+ TS RGIMTIMR
+ TCF CHKRTIMR +3
+QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
+RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
+
+SKIPPAXS CS RCSFLAGS
+ MASK BIT12
+ ADS RCSFLAGS # BIT 12 SET TO 1.
+ TCF QRAXIS # GO TO QRAXIS OR TO CTS.
+
+# Y-X TRANSLATION
+#
+# INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLLER)
+#
+# OUTPUT: NEXTP
+#
+# NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
+# IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
+# (1) FOR DIAGONAL TRANS: UNFAILED PAIR
+# ALARM (IF NO PAIR)
+# (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
+# ALARM (IF DIAGONAL PAIRS ARE FAILED)
+
+CHKVISFZ EXTEND
+ READ CHAN31
+ CS A
+ MASK 07400OCT
+ EXTEND
+ BZF TSNEXTP
+ EXTEND
+ MP BIT7
+ INDEX A
+ CA INDXYZ
+ TS ROTINDEX
+TRYUORV CA SIX
+ TC SELECTYZ
+ CS SIX
+ AD NUMBERT
+ EXTEND
+# Page 1430
+ BZF TSNEXTP -1
+ CS FIVE
+ AD ROTINDEX
+ EXTEND
+ BZMF ALTERYZ
+ CS NUMBERT
+ AD FOUR
+ EXTEND
+ BZMF TSNEXTP -1
+ABORTYZ TC ALARM
+ OCT 02001
+ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
+ LXCH RCSFLAGS
+ EXTEND
+ RXOR 1
+ TS RCSFLAGS
+ CA ZERO
+ TCF TSNEXTP
+ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
+ LXCH RCSFLAGS
+ EXTEND
+ RXOR 1
+ TS RCSFLAGS
+ MASK BIT1
+ AD FOUR
+ ADS ROTINDEX
+ TCF TRYUORV
+ CA POLYTEMP
+TSNEXTP TS NEXTP
+
+# STATE LOGIC
+# CHECK IN ORDER: IF ON
+# LPDPHASE GO TO PURGENCY
+# PULSES MINIMUM PULSE LOTIC
+# DETENT(BIT15 CH31) RATE COMMAND
+# GOTO TO PURGENCY
+
+ CA BIT13 # CHECK STICK IF IN ATT. HOLD.
+ EXTEND
+ RAND CHAN31
+ EXTEND
+ BZF MANMODE
+
+ CA DAPBOOLS
+ MASK XOVINHIB
+ CCS A
+ TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
+
+ TCF DETENTCK
+MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
+ MASK DAPBOOLS
+# Page 1431
+ EXTEND
+ BZF DETENTCK # BRANCH FOR RATE COMMAND
+
+ CA ZERO
+ TS PERROR
+
+# MINIMUM IMPULSE MODE
+
+ CA CDUX
+ TS CDUXD
+
+ CCS OLDPMIN
+ TCF CHECKP
+
+FIREP CA BIT3
+ EXTEND
+ RAND CHAN31
+ EXTEND
+ BZF +XMIN
+
+ CA BIT4
+ EXTEND
+ RAND CHAN31
+ EXTEND
+ BZF -XMIN
+
+ TCF JETSOFF
+
+CHECKP EXTEND
+ READ CHAN31
+ CS A
+ MASK OCT14
+ TS OLDPMIN
+ TCF JETSOFF
+
+-XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
+ TCF +2 # IN JET SELECTION ROUTINE
++XMIN CA TEN
+ TS TJP
+ CA ONE
+ TS OLDPMIN
+ TCF PJETSLEC -6
+
+# MANUAL RATE COMMAND MODE
+# ========================
+# BY ROBERT F. STENGEL
+#
+# THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
+# THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
+# RATE CONTROL AND ATTITUDE HOLD.
+#
+# Page 1432
+# IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
+# THE `BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
+# THE `TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
+#
+# IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
+# CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
+# IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
+#
+# SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
+# OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
+# R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
+#
+# HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
+# AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
+# OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
+# CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
+#
+# ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
+# JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
+
+DETENTCK EXTEND
+ READ CHAN31
+ TS CH31TEMP
+ MASK BIT15 # CHECK OUT-OF-DETENT BIT.
+ EXTEND
+ BZF RHCMOVED # BRANCH IF OUT OF DETENT.
+ CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
+ MASK DAPBOOLS
+ EXTEND
+ BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
+
+# ................................................................................
+
+ CA BIT9 # JUST IN DETENT??
+ MASK RCSFLAGS
+ EXTEND
+ BZF RUTH
+ CAF BIT13 # CHECK FOR ATTITUDE HOLD.
+ EXTEND
+ RAND CHAN31
+ EXTEND
+ BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
+
+ CS BITS9,11 # IN AUTO.
+ MASK RCSFLAGS # (X-AXIS OVERRIDE)
+ TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
+ TCF RATEDAMP
+
+RUTH CA RCSFLAGS
+ MASK PBIT # IN ATTITUDE HOLD.
+ EXTEND
+ BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
+ TCF RATEDAMP
+
+# Page 1433
+ CA RCSFLAGS
+ MASK QRBIT
+ EXTEND
+ BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
+ TCF RATEDAMP
+
+# ============================================
+
+1/10SEC OCT 1
+40CYC OCT 50
+PQRBIT OCT 74777
+BITS9,11 EQUALS EBANK5
+LINRATP DEC 46
+
+# ============================================
+
+RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
+ INHINT # ALL AXES.
+ MASK DAPBOOLS
+ TS DAPBOOLS
+
+# READ CDUS INTO CDU DESIRED REGISTERS
+
+ CAF BIT13
+ EXTEND
+ RAND CHAN31
+ EXTEND
+ BZF +4
+ CA CDUX # (X-AXIS OVERRIDE)
+ TS CDUXD
+ TC +3
+ TC IBNKCALL
+ FCADR ZATTEROR
+ RELINT
+ TCF PURGENCY
+
+ TS PERROR
+JUSTOUT CA OURRCBIT # INITIALIZATION -- FIRST MANUAL PASS.
+ ADS DAPBOOLS
+ CA ZERO
+ TS DXERROR
+ TS DXERROR +1
+ TS DYERROR
+ TS DYERROR +1
+ TS DZERROR
+ TS DZERROR +1
+ TS PLAST
+ TS QLAST
+ TS RLAST
+ TS Q-RHCCTR
+ TS R-RHCCTR
+ CA PQRBIT
+ MASK RCSFLAGS
+ TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
+# Page 1434
+ CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
+ MASK BIT9
+ ADS RCSFLAGS
+ TC ZEROENBL
+ TCF JETSOFF
+ZEROENBL LXCH R-RHCCTR
+ CA Q-RHCCTR
+ DXCH SAVEHAND
+ CA ZERO
+ TS P-RHCCTR
+ TS Q-RHCCTR
+ TS R-RHCCTR
+ CA BITS8,9
+ EXTEND
+ WOR CHAN13 # COUNTERS ZEROED AND ENABLED
+ TC Q
+RATEDAMP CA ZERO
+ TS P-RHCCTR
+ TCF RATERROR
+
+RHCMOVED CA OURRCBIT # P CONTROL
+ MASK DAPBOOLS
+ EXTEND
+ BZF JUSTOUT -1
+RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
+ TS CDUXD # X-AXIS OVERRIDE
+ CCS P-RHCCTR
+ TCF +3
+ TCF +2
+ TCF +1
+ DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
+ DOUBLE # (SEE EXPLANATION OF Q,R-AXES RCS
+ AD LINRATP # AUTOPILOT)
+ EXTEND
+ MP P-RHCCTR
+ CA L
+ EXTEND
+ MP STIKSENS
+ XCH PLAST
+ COM
+ AD PLAST
+ TS DAPTEMP1
+ TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
+ CS PLAST
+ AD OMEGAP
+ TS EDOTP
+ CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
+ TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
+ TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
+ TCF +1
+# Page 1435
+ AD -RATEDB
+ EXTEND
+ BZMF +4
+ CA 40CYC
+ TS TCP
+ TC PEGI
+ CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
+ MASK PBIT
+ EXTEND
+ BZF +2
+ TC PEGI # TO PURE RATE COMMAND
+ CA DXERROR # PSEUDO-AUTO CONTROL.
+ TS E # X-ATTITUDE ERROR (SP)
+ TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
+ TC PURGENCY +4
+PEGI CA CDUX # DIRECT RATE CONTROL.
+ TS CDUXD
+ CA ZERO
+ TS DXERROR
+ TS DXERROR +1
+ TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
+ CCS EDOTP
+ TC +3
+ TC +2
+ TC +1
+ TS ABSEDOTP
+ AD TARGETDB
+ EXTEND # IF RATE ERROR IS LESS THAN DEADBANK,
+ BZMF LAST # FIRE, AN SWITCH TO PSEUDO-AUTO.
+ CA TCP
+ EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.
+ BZMF LAST
+ CS RCSFLAGS
+ MASK PBIT
+ ADS RCSFLAGS # BIT 10 IS 1.
+ TCF +4
+LAST CS PBIT
+ MASK RCSFLAGS
+ TS RCSFLAGS # BIT 10 IS 0.
+ CS EDOTP
+ EXTEND
+ MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
+ DAS A
+ TC OVERSUB
+ EXTEND
+ MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
+ TS TJP # 4.JET TIME
+ CA ABSEDOTP
+ AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
+ EXTEND
+# Page 1436
+ BZMF +3
+
+ CA SIX
+ TCF +8D
+ CA TJP
+ ADS TJP
+
+# GOES TO PJETSLEC FOR TWO JETS
+# P-JET-SELECTION-ROUTINE (ROTATION)
+#
+# INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
+# TJP + FOR +P ROTATION
+#
+# OUTPUT: CHANNEL 6
+# PJUMPADR FOR P-AXIS SKIP
+# (JTLST CALL) (SMALL TJP)
+#
+# ORDER OF POLICIES TRIED IN CASE OF FAILURE.
+# +P -P
+# 7,15 8,16
+# 4,12 3,11
+# 4,7 8,11
+# 7,12 11,16
+# 12,15 3,16
+# 4,15 3,8
+# ALARM ALARM
+
+ CA AORBSYST
+ MASK DAPBOOLS
+ CCS A
+ CA ONE
+ AD FOUR
+ TS NUMBERT
+PJETSLEC CA ONE
+ TS L
+ CCS TJP
+ TCF +5
+ TCF JETSOFF
+ TCF +2
+ TCF JETSOFF
+ ZL
+ AD ONE
+ TS ABSTJ
+ LXCH ROTINDEX
+ TC SELECTP
+ CS SIX
+ AD NUMBERT
+ EXTEND
+ BZF +2
+
+ CS TWO
+
+# Page 1437
+ AD FOUR
+ TS NO.PJETS
+ CA POLYTEMP
+ TC WRITEP
+ CS ABSTJ
+ AD +150MST6
+ EXTEND
+ BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
+
+ AD -136MST6
+ EXTEND
+ BZMF +5
+
+ ADS ABSTJ
+ INDEX ROTINDEX
+ CA MINTIMES
+ TS TJP
+
+ CA ABSTJ
+ ZL
+ INHINT
+ DXCH T6FURTHA
+ TC IBNKCALL
+ CADR JTLST
+ CS BIT12
+ MASK RCSFLAGS
+ TS RCSFLAGS # BIT 12 SET TO 0.
+ TC ALTSYST
+ TCF QRAXIS
+
+ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
+ TS L
+ CA AORBSYST
+ EXTEND
+ RXOR LCHAN
+ TS DAPBOOLS
+ RELINT
+ TC Q
+
+DKALT TC ALTSYST
+
+JETSOFF TC WRITEP -1
+ CA ZERO
+ TS TJP
+ TCF QRAXIS
+
+# (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
+
+CALCPERR CA CDUY # P-ERROR CALCULATION.
+ EXTEND
+ MSU CDUYD # CDU VALUE -- ANGLE DESIRED (Y-AXIS)
+# Page 1438
+ EXTEND
+ MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
+ XCH E # SAVE FIRST TERM (OF TWO)
+ CA CDUX # THIRD COMPONENT
+ EXTEND
+ MSU CDUXD # CDU VALUE -- ANGLE DESIRED (X-AXIS)
+# EXTEND
+# MP M13
+ AD DELPEROR # KALCMANU INTERFACE ERROR.
+ ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
+ XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
+ TC Q # RETURN TO CALLER
+
+# P-AXIS URGENCY FUNCTION CALCULATION.
+
+PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
+ CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
+ AD OMEGAP # SPS-BACKUP MODE.
+ TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
+
+ CS ONE
+ TS AXISCTR
+ CA DAPBOOLS
+ MASK CSMDOCKD
+ EXTEND
+ BZF HEADTJET
+ INHINT # IF CSMDOCKD = 1, GOT TO DOCKED RCS LOGIC
+ TC IBNKCALL
+ CADR SPSRCS
+
+ CA TJP
+ EXTEND
+ BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
+ RELINT
+ TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS.
+HEADTJET CA ZERO
+ TS SENSETYP
+ INHINT
+ TC IBNKCALL
+ CADR TJETLAW
+ RELINT
+
+ CS FIREFCT
+ AD -FOURDEG
+ EXTEND
+ BZMF PJETSLEC -6
+ CCS TJP
+ TCF +2
+ TCF JETSOFF
+# Page 1439
+ AD -160MST6
+ EXTEND
+ BZMF PJETSLEC -6
+ CA SIX
+ TCF PJETSLEC -1
+-160MST6 DEC -256
+-FOURDEG DEC -.08888
+
+# Page 1440
+# JET POLICY CONTSTRUCTION SUBROUTINE
+#
+# INPUT: ROTINDEX, NUMBERT
+#
+# OUTPUT: POLYTEMP (JET POLICY)
+#
+# THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
+
+SELECTP CA SIX
+ TS TEMPNUM
+ INDEX NUMBERT
+ CA TYPEP
+ INDEX ROTINDEX
+ MASK JETSALL
+ TS POLYTEMP
+ MASK CH6MASK
+ CCS A
+ TCF +2
+ TC Q
+ CCS TEMPNUM
+ TCF +4
+ TC ALARM
+ OCT 02003
+ TCF JETSOFF # ********** TCF ALARMJET **********
+SELECTYZ TS NUMBERT
+ TCF SELECTP +1
+ -1 TCF ABORTYZ +2
+JETSALL OCT 00252
+ OCT 00125 # +P
+ OCT 00140 # -Y
+ OCT 00006 # -Z
+ OCT 00220 # +Y
+ OCT 00011 # +Z
+ OCT 00151 # +V
+TYPEP OCT 00146 # -U
+ OCT 00226 # -V
+ OCT 00231 # +U
+ OCT 00151 # +V
+ OCT 00132 # 1-3
+ OCT 00245 # 2-4
+ OCT 00377 # ALL
+INDXYZ = -136MST6
+-136MST6 DEC -218
+ DEC 4
+ DEC 2
+ OCT 07776
+ DEC 5
+ DEC 9
+ DEC 10
+ OCT 07776
+ DEC 3
+# Page 1441
+ DEC 8
+ DEC 7
+ OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
+ OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
+ OCT 07776 # TO BE TC JETSALL -1
+ OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
+ OCT 07776
++150MST6 DEC 240
+07400OCT OCT 07400
+
+# T-JET LAW FIXED CONSTANTS
+
+NORMSCL OCT 266
+-100MS DEC -.1
+200MS DEC .2
+25/32 = PRIO31 # (DEC .78125)
+BITS8,9 OCTAL 00600
+1/40 DEC .02500
+MINTIMES DEC -22
+ DEC 22
+PSKIPADR GENADR SKIPPAXS
+
+# GOES TO Q,R-AXES RCS AUTOPILOT
+
+QRAXIS CS OMEGARD
+ AD OMEGAR
+ TC OVERSUB
+ TS EDOTR
+ CS OMEGAQD
+ AD OMEGAQ
+ TC OVERSUB
+ TS EDOTQ
+ EXTEND
+ DCA QERRCALL
+ DTCB
+
+ EBANK= AOSQ
+QERRCALL 2CADR CALLQERR
diff --git a/P11.s b/P11.s
new file mode 100644
index 0000000..1399885
--- /dev/null
+++ b/P11.s
@@ -0,0 +1,922 @@
+# Copyright: Public domain.
+# Filename: P11.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 533-550
+# Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images 0533.jpg - 0550.jpg.
+# 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT,
+# STATSW -> SATSW.
+# 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q.
+# Added an SBANK= prior to a 2CADR.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+# Page 533
+# EARTH ORBIT INSERTION MONITOR PROGRAM
+# *************************************
+#
+# PROGRAM DESCRIPTION -P11-
+#
+# MOD NO. 1
+# MOD BY ELIASSEN
+#
+# FUNCTIONAL DESCRIPTION
+#
+# P11 IS INITIATED BY
+#
+# A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
+# B) BACKUP THRU VERB 75 ENTER
+#
+# PROGRAM WILL
+# 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
+# 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
+# 3. INITIATE SERVICER AT PREREAD1
+# 4. CHANGE MAJOR MODE TO 11
+# 5. CLEAR DSKY IN CASE OF V 75
+# 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
+# 7. TERMINATE GYROCOMPASSING __ __
+# 8. COMPUTE INITIAL VECTORS RN, VN _ _ _
+# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
+# _ _ X Y Z
+# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
+# _Z _ _
+# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
+# _X _ _
+# U =U * U
+# U Z X
+# 10. SET REFSMMAT KNOWN FLAG
+# 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
+# COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
+#
+# R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS
+# R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS
+# R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM
+#
+# 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
+#
+# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
+# DESIRED ATTITUDE IS AS STORED AT L.O.
+# B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
+# DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
+# POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
+# Page 534
+# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
+# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
+#
+# SUBROUTINES CALLED
+#
+# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
+# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
+# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
+# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
+# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST
+#
+# ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
+#
+# DSKY --
+# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
+# R2 MINUTES
+#
+# DSKY --
+# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
+# R2 PERIGEE ALTITUDE IN NAUTICAL MILES
+# R3 TFF IN MINUTES/SECS
+#
+# IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
+# HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY.
+# NORMAL EXIT MODE
+#
+# ASTRONAUT VERB 37 ENTER 00 ENTER
+#
+# ALARM MODES -- NONE
+#
+# ABORT EXIT MODES --
+#
+# OUTPUT
+#
+# TLIFTOFF (DP) TEPHEM (TP)
+# REFSMMAT
+# DSKY DISPLAY
+# FDAI DISPLAY
+#
+# ERASABLE INITIALIZATION
+#
+# AZO, AXO, -AYO
+# LATITUDE
+# PADLONG
+# TEPHEM
+# PGNCSALT
+# POLYNUM THRU POLYNUM +14D
+# RPSTART
+# POLYSTOP
+# FLAGS SET OR RESET
+# Page 535
+# SET REFSMFLG
+# SET DVMON IDLE FLAG
+# CLEAR ERADFLAG
+#
+# DEBRIS
+#
+# LIFTTEMP
+# POLYNUM THRU POLYNUM +7
+# SPOLYARG
+# BODY1, BODY2, BODY3
+# VMAG2, ALTI, HDOT
+# CENTRALS, CORE SET, AND VAC AREAS
+
+ COUNT 34/P11
+
+BITS5-6 = SUPER011
+ BANK 42
+ SETLOC P11ONE
+ BANK
+
+ EBANK= TEPHEM
+P11 CA EBANK3
+ TS EBANK
+
+ EXTEND
+ DCA REP11S # DIRECT RESTARTS TO REP11
+ DXCH -PHASE3
+ CS ZERO
+ ZL
+ TS LIFTTEMP
+ DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
+P11+7 EXTEND
+ DCA REP11SA
+ DXCH TLIFTOFF
+
+ EXTEND
+ DCA TIME2
+ DXCH LIFTTEMP # FORE RESTARTS
+
+ CA ZERO
+ ZL
+ DXCH TIME2
+REP11A-2 DXCH TLIFTOFF
+REP11A-1 DXCH -PHASE3 # RESET PHASE
+
+REP11A INHINT
+ EXTEND
+ DCA TEPHEM +1
+ DXCH TEPHEM1 +1
+ CA TEPHEM
+# Page 536
+ XCH TEPHEM1
+
+ EXTEND
+ DCA TLIFTOFF
+ DAS TEPHEM1 +1
+ ADS TEPHEM1 # CORRECT FOR OVERFLOW
+
+ TC PHASCHNG
+ OCT 05023
+ OCT 22000
+
+ INHINT
+ EXTEND
+ DCA TEPHEM1
+ DXCH TEPHEM
+ CA TEPHEM1 +2
+ XCH TEPHEM +2
+
+ CAF EBDVCNT
+ TS EBANK
+ EBANK= DVCNTR
+ TC IBNKCALL
+ CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
+
+ TC PHASCHNG
+ OCT 05023 # CONTINUE HERE ON RESTART
+ OCT 22000
+
+ CAF .5SEC # START ATT ERROR DISPLAY
+ TC WAITLIST # IN .5 SEC
+ EBANK= BODY3
+ 2CADR ATERTASK
+
+ TC NEWMODEX # DISPLAY MM 11
+ MM 11
+
+ TC UPFLAG
+ ADRES NODOP01
+
+ CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
+ TS DNLSTCOD
+
+ TC BANKCALL
+ CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
+
+ TC 2PHSCHNG
+ OCT 40514 # PROTECT ATERTASK
+ OCT 00073
+ CAF EBQPLACE
+# Page 537
+ TS EBANK
+
+ EBANK= QPLACES
+ CA P11XIT # SET EXIT FROM PROUT IN EARTHR
+ TS QPLACES
+ TC INTPRET
+ VLOAD MXV
+ THETAN
+ XSM
+ VSL1 VAD
+ ERCOMP
+ STODL ERCOMP
+ TLIFTOFF
+ SSP GOTO
+ S2
+ CADR PROUT # RETURN FROM EARTHR
+ EARTHR +3
+MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
+ CA CDUX # ERROR DISPLAY AFTER LIFTOFF
+ DXCH OGC
+ ZL
+ CA CDUY
+ DXCH IGC
+ ZL
+ CA CDUZ
+ DXCH MGC
+ TC INTPRET _
+ VLOAD VSR1 # SCALE OGC B-1
+ OGC
+ STORE OGC
+ SSP # ZERO RTX2
+ RTX2 # FOR
+ 0 # EARTH
+ DLOAD PDDL
+ PGNCSALT # ALTITUDE OF PGNCS
+ PADLONG # LONGITUDE
+ PDDL VDEF
+ LATITUDE # GEODETIC LATITUDE
+ STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
+ HI6ZEROS # TIME = 0
+ CLEAR CALL
+ ERADFLAG
+ LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS.
+
+ STCALL RN1 # _
+ GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
+ VCOMP UNIT
+ STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
+ RN1
+ VXV VXSC
+# Page 538
+ UNITW # SCALED AT 1
+ -ERTHRAT # V = EARTHRATE X R
+ VSL4 # SCALE TO 2(7) M/CS
+ STOVL VN1
+ REFSMMAT +12D
+ VXV UNIT
+ UNITW # (REF3 X UNITW) = EAST
+ PUSH VXV
+ REFSMMAT +12D # (EAST X REF3) = -SOUTH
+ UNIT PDDL
+ LAUNCHAZ # COS(AZ)*SOUTH
+ COS VXSC
+ STADR
+ STODL REFSMMAT # TEMPORARY STORAGE
+ LAUNCHAZ
+ SIN VXSC # SIN(AZ)*EAST
+ VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
+ REFSMMAT
+ STORE REFSMMAT
+
+ VXV UNIT # (REF1 X REF3) = -REF3
+ REFSMMAT +12D
+ VCOMP
+ STORE REFSMMAT +6
+ DLOAD DSU
+ DPHALF # 1/2 REV
+ LAUNCHAZ
+ DAD PDDL
+ AZIMUTH
+ SATRLRT # SET SATRLRT = -SATRLRT IF
+ SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
+ STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
+ SET EXIT
+ REFSMFLG # SET REFSMMAT KNOWN FLAG
+
+ TC PHASCHNG
+ OCT 04023
+
+ EXTEND
+ DCA P11SCADR
+ DXCH AVGEXIT # SET AVGEXIT
+
+ CA PRIO31 # 2 SECONDS AT 2(+8)
+ TS 1/PIPADT
+
+ EBANK= RCSFLAGS
+ CA EBANK6
+ TS EBANK
+
+ INHINT
+# Page 539
+ CS ZERO
+ TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
+
+ CS TIME1
+ AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
+
+ CCS A # CHECK TO INSURE DT IS POSITIVE
+ TCF +3 # TIME POSITIVE
+ TCF +2 # CANNOT GET HERE
+ CA ZERO # TIME NEGATIVE -- SET TO 1
+ AD ONE # RESTORE TIME -- OR MAKE POSITIVE
+
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR READACCS
+
+ TC 2PHSCHNG
+ OCT 00003 # TURN OFF GROUP 3
+ OCT 00025 # PROTECT NORMLIZE AND READACCS
+
+ TC POSTJUMP
+ CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
+
+
+ EBANK= TEPHEM
+REP11 INHINT
+ CCS PHASE5
+ TC ENDOFJOB
+
+ CCS LIFTTEMP
+ TCF +4
+ TCF +3
+ TCF +2
+ TCF P11+7
+
+ CS TLIFTOFF
+ EXTEND
+ BZMF ENDREP11
+
+ CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
+ TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
+
+ EXTEND # T2,T1 ZEROED, SET TLIFTOFF
+ DCA LIFTTEMP
+ TCF REP11A-2
+
+ENDREP11 EXTEND
+ DCA REP11SA
+ TCF REP11A-1
+#Page 540
+REP11S 2OCT 7776600011
+
+REP11SA 2OCT 7776400013
+
+P11XIT GENADR P11OUT
+-ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
+
+ EBANK= BODY3
+P11SCADR 2CADR VHHDOT
+
+POWDNCOD EQUALS THREE
+
+ EBANK= BODY3
+# VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
+# VI INERTIAL VELOCITY MAGNITUDE
+# HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
+# H ALTITUDE ABOVE L PAD RADIUS
+
+VHHDOT TC INTPRET
+ CALL # LOAD VMAGI, ALTI,
+ S11.1 # HDOT FOR DISPLAY
+ EXIT
+ TC PHASCHNG
+ OCT 00035
+
+ CAF V06N62 # DISPLAY IN R1 R2 R3
+ TC BANKCALL # VI HDOT H
+ CADR REGODSP
+
+ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
+ TC FINDVAC # COMES HERE AT L.O. + .33 SEC
+ EBANK= BODY3
+ 2CADR ATERJOB
+
+ CS RCSFLAGS # SET BIT3 FOR
+ MASK BIT3 # NEEDLER
+ ADS RCSFLAGS # INITIALIZATION PASS
+ TC IBNKCALL # AND GO
+ CADR NEEDLER # DO IT
+ CA BIT1 # SET SW
+ TS SATSW # FOR DISPLAY
+ TC TASKOVER
+GETDOWN STQ SETPD
+ INCORPEX
+ 0D
+ DLOAD
+ HI6ZEROS
+#Page 541
+ STODL 6D
+ DPHALF
+ STCALL 8D
+ LALOTORV +5
+# THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
+#
+# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
+# 2 3 4 5 6
+# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
+# SCALED TO 32 REVS. -14
+# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2
+# WHERE TL GE RPSTART
+# TL LE (-POLYSTOP + RPSTART)
+# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM
+# LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
+# ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
+# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
+# T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
+#
+# FOR SIMPLICITY, LET P = 2*PI*PITCH
+# R = 2*PI*ROLL
+#
+# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
+# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
+# YDC, AND ZDC.
+#
+# * ( SIN(P) 0 -COS(P) ) (XDC)
+# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
+# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
+#
+# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
+# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
+# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
+# AS THE DESIRED CDU ANGLES.
+#
+# (XDC) (OGC)
+# (YDC) ---) CALCGTA ---) (IGC)
+# (ZDC) (MGC)
+# _
+# DEFINE THE VECTOR DELTACDU.
+#
+# _ (OGC) (CDUX)
+# DELTACDU = (IGC) - (CDUY)
+# (MGC) (CDUZ)
+# _ _ * _
+# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
+#
+# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
+#Page 542
+# TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
+# (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
+# _
+# THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
+# THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
+# ERROR DISPLAY ROUTINE.
+
+ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
+ MASK OCT60000 # BITS 14, 15
+ EXTEND
+ BZF +2 # OK -- CONTINUE
+ TC ENDOFJOB # STAURN STICK ON -- KILL JOB
+ CAF BIT10 # CHECK IF S/C CONTROL
+ EXTEND # OF SATURN PANEL
+ RAND CHAN30 # SWITCH IS ON
+ EXTEND
+ BZF STRSAT # IT IS -- GO STEER
+ CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE
+ TC ATTDISP # NO -- CONTINUE
+ TC ATRESET # YES -- REINITIALIZE NEEDLER
+ TC ATRESET # YES -- REINITIALIZE NEEDLER
+ATTDISP CS RPSTART # PITCH/ROLL START TIME
+ AD TIME1
+ EXTEND
+ BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
+ TS MPAC # MPAC = TIME1 - RPSTART
+ TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
+ AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
+ EXTEND
+ BZMF +2
+ TC NOPOLY # GO TO ATTITUDE HOLD
+ CA TIME2
+ EXTEND
+ BZMF +2
+ TC NOPOLY # GO TO ATTITUDE HOLD
+ CAE POLYNUM
+ TS L
+ CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
+ TC POWRSERS # SCALED TO 32 REVOLUTIONS
+ CA ZERO # RETURN WITH PITCH(32REV)
+ TS MODE # STORED MPAC, MPAC +1
+ TC INTPRET
+ SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
+ 0
+ 5
+ PUSH # LET P(RAD) = 2*PI*PITCH(REV)
+ GOTO
+ ATTDISP1 # AROUND SETLOC
+#Page 543
+# *
+# CONSTRUCT SM TO S/C MATRIX, TSMV
+
+ SETLOC P11TWO
+ BANK # 36 IN COL., 34 IN DISK
+
+ COUNT 36/P11
+
+ATTDISP1 COS DCOMP
+ STODL 14D # -.5*COS(P)
+ SIN
+ STODL 10D # .5*SIN(P)
+ ZEROVECS
+ STORE 12D # 0
+
+# EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
+ SLOAD DMP
+ SPOLYARG # TIME1 - RSPSTART, CSECS B-14.
+ SATRLRT
+ SL DSU
+ 14D
+ DPHALF
+ DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
+ LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
+ AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
+ RTB # DETERMINE IF ROLLOUT
+ RLTST # IS COMPLETED
+ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
+ PUSH # LET R(RAD) = 2*PI*ROLL(REV)
+ DMP SL1
+ 14D
+ STODL 22D # -.5*COS(R)*COS(P)
+ DCOMP
+ STORE 18D # -.5*COS(R)
+ DMP SL1
+ 10D
+ STODL 26D # -.5*COS(R)*SIN(P)
+ SIN PUSH
+ STORE 24D # .5*SIN(R)
+ DMP SL1
+ 14D
+ STODL 16D # -.5*SIN(R)*COS(P)
+ DCOMP
+ DMP SL1
+ 10D
+ STOVL 20D # -.5*SIN(R)*SIN(P)
+ 10D
+
+# FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
+# Page 544
+ UNIT
+ STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
+ 16D
+ UNIT
+ STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
+ 22D # -SIN(R)*SIN(P))
+ UNIT
+ STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
+ CALCGTA # -COS(R)*SIN(P))
+
+# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
+# _ _ _
+# FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
+#
+# ENTER HERE IF ATTITUDE HOLD
+
+NOPOLYM VLOAD PUSH # OGC IGC
+ OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
+ PUSH CALL # MGC OGC
+ CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
+ VLOAD RTB # _ DPHI OGC-CDUX , PD4
+ 2 # DELTACDU = DTHETA = IGC-CDUY , 0
+ V1STO2S # DPSI MGC-CDUZ , 2
+ STOVL BOOSTEMP
+ ZEROVECS
+ STOVL 0
+ CDUSPOT
+ RTB RTB
+ V1STO2S
+ DELSTOR
+ STODL 10D
+ SINCDUZ
+ DMP SL1
+ 0
+ DAD SR2 # CHANGE SCALE OF AK TO 2REVS
+ 4
+ GOTO
+ ATTDISP2
+
+ SETLOC P11ONE
+ BANK
+ COUNT 34/P11
+
+ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
+ COSCDUZ
+ DMP PUSH
+ 0
+ DMP SL1
+ COSCDUX
+ PDDL DMP
+# Page 545
+ SINCDUX
+ 2
+ DAD SL1
+ STADR
+ STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
+ DMP SL1 # +DPSI*SIN(CDUX))
+ SINCDUX
+ PDDL DMP
+ COSCDUX
+ 2
+ DSU SL1
+ STADR
+ STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
+ TLOAD # +DPSI*COS(CDUX))
+ 16D
+ STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
+ EXIT
+
+ CA SATSW
+ CCS A # CHK TAKEOVER STATUS
+ TC SATOUT # POS -- DISPLAY ONLY
+ TC AKLOAD # 0 STORE BIAS
+STEERSAT TC INTPRET # NEG STEER L/V
+ TLOAD TAD
+ BIASAK
+ AK
+ STORE AK # AKS = AKS - STORED BIAS
+ EXIT
+ CA AK
+ TC RESCALES
+ TS AK
+ CA AK1
+ TC RESCALES
+ TS AK1
+ CA AK2
+ TC RESCALES
+ TS AK2
+# DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
+
+SATOUT TC BANKCALL
+ CADR NEEDLER
+ATERSET CAF OCT31 # DELAY .25 SEC
+ TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
+ CADR DELAYJOB
+ TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
+
+AKLOAD CS AK # STORE AKS
+ TS BIASAK # INTO BIAS
+ CS AK1 # COMPLEMENTED
+ TS BIASAK +1
+# Page 546
+ CS AK2
+ TS BIASAK +2
+ CS BIT1 # SET SW
+ TS SATSW # TO STEER
+ TC STEERSAT # GO STEER
+STRSAT CA SATSW # CHECK IF NEDLER
+ EXTEND # HAS BEEN INITIALIZED
+ BZMF ATTDISP # YES -- CONTINUE
+ATRESET CS RCSFLAGS # NO -- SET
+ MASK BIT3 # INITIALIZATION SW
+ ADS RCSFLAGS # FOR NEDLER
+ TC BANKCALL # AND GO
+ CADR NEEDLER # DO IT
+ CAF REVCNT # OCT 6
+ TC BANKCALL # DELAY JOB
+ CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED
+ CCS SATSW # CHECK SW STATUS
+ TC TAKEON # POS STEER INIT.
+ TC +1 # 0 RETURN TO DISPLAY
+ CA BIT1 # NEG RETURN TO DISPLAY
+ TS SATSW # SW = DISPLAY ON
+ CS BIT9 # DISABLE
+ EXTEND # SIVB
+ WAND CHAN12 # TAKEOVER
+ TC SATOUT # DISPLAY
+TAKEON CAF BIT9 # ENABLE
+ EXTEND # SIVB
+ WOR CHAN12 # TAKEOVER
+ CA ZERO # INDICATE NEEDLER
+ TS SATSW # WAS INITIALIZED
+ TC SATOUT
+S11.1 VLOAD ABVAL
+ VN
+ STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
+ RN
+ UNIT DOT
+ VN
+ SL1
+ STODL HDOT
+ RPAD
+ BOF VLOAD
+ AMOONFLG
+ EARTHALT
+ RLS
+ ABVAL SR2
+EARTHALT BDSU
+ 36D
+ STORE ALTI
+ RVQ
+DELSTOR CA BOOSTEMP
+# Page 547
+ EXTEND # STORE DELTACDU INTO PDL 0,2,4
+ MSU MPAC
+ INDEX FIXLOC
+ TS 0
+ CA BOOSTEMP +1
+ EXTEND
+ MSU MPAC +1
+ INDEX FIXLOC
+ TS 2
+ CA BOOSTEMP +2
+ EXTEND
+ MSU MPAC +2
+ INDEX FIXLOC
+ TS 4
+ TCF DANZIG
+RLTST CA MPAC # DETERMINE IF ROLLOUT
+ EXTEND # IS COMPLETED
+ MP SATRLRT +1
+ EXTEND
+ BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
+ EXTEND # ROLLOUT COMPLETED
+ DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
+ DXCH MPAC
+ TC DANZIG
+NOPOLY TC INTPRET # COMES HERE IF
+ SETPD GOTO # ATTITUDE HOLD
+ 0
+ NOPOLYM
+COEFPOLY ADRES POLYLOC
+V06N62 VN 0662
+RESCALES EXTEND # RESCALE AK S FOR
+ MP SATSCALE # NEW HARDWARE
+ DDOUBL # SCALING FOR
+ DDOUBL # STEERING
+ TC Q # SATURN
+
+# SATURN TAKEOVER FUNCTION
+# ************************
+#
+# PROGRAM DESCRIPTION
+#
+# MOD NUMBER 1
+# MOD BY ELIASSEN
+#
+# FUNCTIONAL DESCRIPTION
+#
+# DURING THE COASTING PHASE OF SIVB ATTACHED, THE
+# ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
+# EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
+# THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
+# COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
+#Page 548
+# VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
+# IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
+# SULTS IN A ZERO RATE COMMAND.
+#
+# THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
+# OF THE RATE COMMAND.
+#
+# CALLING SEQUENCE
+#
+# DAPFIG +9D TC POSTJUMP
+# CADR SATSTKON
+#
+# SUBROUTINES CALLED
+#
+# ENDEXT
+# IBNKCALL
+# STICKCHK
+# NEEDLER
+# T5RUPT
+# RESUME
+#
+# ASTRONAUT REQUESTS
+#
+# ENTRY -- VERB 46 ENTER
+# (CONDITION -- BITS 13, 14 OF DAPDATR1 SET)
+#
+# EXIT -- VERB 48 ENTER (FLASH V06N46)
+# VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
+# VERB 34 ENTER
+# VERB 46 ENTER
+#
+# NORMAL EXIT MODE
+#
+# VERB 46 ENTER (SEE ASTRONAUT ABOVE)
+#
+# ALARM OR ABORT EXIT MODES
+#
+# NONE
+#
+# OUTPUT
+#
+# SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
+#
+# ERASABLE INITIALIZATION
+#
+# DAPDATR1 (BITS 13, 14 MUST BE SET)
+#
+# DEBRIS
+#
+# CENTRALS
+#Page 549
+# CDUXCMD, CDUYCMD, CDUZCMD
+
+ BANK 43
+ SETLOC EXTVERBS
+ BANK
+
+ COUNT 23/STTKE
+SATSTKON EXTEND
+ DCA 2REDOSAT
+ INHINT
+ DXCH T5LOC
+ CAF POSMAX
+ TS TIME5
+ CS FLAGWRD6 # TURN ON BITS 15,14 OF
+ MASK RELTAB11 # FLAGWRD6
+ ADS FLAGWRD6 # SATSTICK CONTROL OF T5
+ TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
+ CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
+ RELINT
+ TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
+
+ SBANK= PINSUPER # Added RSB 2009
+ EBANK= BODY3
+2REDOSAT 2CADR REDOSAT
+
+
+ SBANK= LOWSUPER
+ BANK 32
+ SETLOC P11FOUR
+ BANK
+
+REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
+ EXTEND
+ QXCH QRUPT
+ CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
+ MASK BIT3 # FOR
+ ADS RCSFLAGS # NEEDLER INITIALIZATION
+ TC IBNKCALL
+ CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
+ CAF BIT9 # SIVB
+ EXTEND # TAKEOVER
+ WOR CHAN12 # ENABLE
+ EXTEND # SET UP T5 CYCLE
+ DCA 2SATSTCK
+ DXCH T5LOC
+ CAF 100MST5 # IN 100 MSECS
+ TS TIME5
+ TCF RESUME # END OF SATURN STICK INITIALIZATION
+
+# THIS SECTION IS EXECUTED EVERY 100 MSECS.
+#Page 550
+SATSTICK LXCH BANKRUPT
+ EXTEND
+ QXCH QRUPT
+
+ CAF 2SATSTCK # SET UP RUPT
+ TS T5LOC # LO ORDER LOC SET
+ CAF 100MST5 # 100 MSECS
+ TS TIME5
+ CAF STIKBITS
+ EXTEND
+ RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
+ MASK STIKBITS
+ TC IBNKCALL # SET RATE INDICES
+ CADR STICKCHK # FOR PITCH YAW AND ROLL
+
+ INDEX RMANNDX # SET SATURN RATES
+ CA SATRATE
+ TS AK # ROLL
+ INDEX PMANNDX
+ CA SATRATE
+ TS AK1 # PITCH
+ INDEX YMANNDX
+ CA SATRATE
+ TS AK2 # YAW
+
+ TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
+ CADR NEEDLER
+ TCF RESUME # END OF SATURN STICK CONTROL
+
+STIKBITS OCT 00077
+100MST5 DEC 16374
+ EBANK= BODY3
+2SATSTCK 2CADR SATSTICK
diff --git a/P12.s b/P12.s
new file mode 100644
index 0000000..41c8775
--- /dev/null
+++ b/P12.s
@@ -0,0 +1,245 @@
+# Copyright: Public domain.
+# Filename: P12.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 838-842
+# Mod history: 2009-05-23 HG Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 838
+ BANK 24
+ SETLOC P12
+ BANK
+
+ EBANK= DVCNTR
+ COUNT* $$/P12
+
+P12LM TC PHASCHNG
+ OCT 04024
+
+ TC BANKCALL
+ CADR R02BOTH # CHECK THE STATUS OF THE IMU.
+
+ TC UPFLAG
+ ADRES MUNFLAG
+
+ TC UPFLAG # INSURE 4-JET TRANSLATION CAPABILITY.
+ ADRES ACC4-2FL
+
+ TC UPFLAG # PREVENT R10 FROM ISSUING CROSS-POINTER
+ ADRES R10FLAG # OUTPUTS.
+
+ TC CLRADMOD # INITIALIZE RADMODES FOR R29
+
+ TC DOWNFLAG # CLEAR RENDEVOUS FLAG FOR P22
+ ADRES RNDVZFLG
+
+ CAF THRESH2 # INITIALIZE DVMON
+ TS DVTHRUSH
+ CAF FOUR
+ TS DVCNTR
+
+ CA ZERO
+ TS TRKMKCNT # SHOW THAT R29 DOWNLINK DATA IS NOT READY.
+ CAF V06N33A
+ TC BANKCALL # FLASH TIG
+ CADR GOFLASH
+ TCF GOTOP00H
+ TCF +2 # PROCEED
+ TCF -5 # ENTER
+
+ TC PHASCHNG
+ OCT 04024
+
+ TC INTPRET
+ CALL # INITIALZE WM AND /LAND/
+ GUIDINIT
+ SET CALL
+ FLPI
+ P12INIT
+# Page 839
+P12LMB DLOAD
+ (TGO)A # SET TGO TO AN INITIAL NOMINAL VALUE.
+ STODL TGO
+ TIG
+ STCALL TDEC1
+ LEMPREC # ROTATE THE STATE VECTORS TO THE
+ VLOAD MXV # IGNITION TIME.
+ VATT
+ REFSMMAT
+ VSL1
+ STOVL V1S # COMPUTE V1S = VEL(TIG)*2(-7) M/CS.
+ RATT
+ MXV VSL6
+ REFSMMAT
+ STCALL R # COMPUTE R = POS(TIG)*2(-24) M.
+ MUNGRAV # COMPUTE GDT1/2(TIG)*2(-T)M/CS.
+ VLOAD UNIT
+ R
+ STCALL UNIT/R/ # COMPUTE UNIT/R/ FOR YCOMP.
+ YCOMP
+ SR DCOMP
+ 5D
+ STODL XRANGE # INITIALIZE XRANGE FOR NOUN 76
+ VINJNOM
+ STODL ZDOTD
+ RDOTDNOM
+ STORE RDOTD
+ EXIT
+
+ TC PHASCHNG
+ OCT 04024
+
+NEWLOAD CAF V06N76 # FLASH CROSS-RANGE, AND APOLUNE VALUES.
+ TC BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H
+ TCF +2 # PROCEED
+ TCF NEWLOAD # ENTER NEW DATA.
+
+ CAF P12ADRES
+ TS WHICH
+
+ TC PHASCHNG
+ OCT 04024
+
+ TC INTPRET
+ DLOAD SL
+ XRANGE
+ 5D
+ DAD
+# Page 840
+ Y
+ STOVL YCO
+ UNIT/R/
+ VXSC VAD
+ 49FPS
+ V1S
+ STORE V # V(TIPOVER) = V(IGN) + 57FPS (UNIT/R/)
+ DOT SL1
+ UNIT/R/
+ STOVL RDOT # RDOT = 2(-7)
+ UNIT/R/
+ VXV UNIT
+ QAXIS
+ STORE ZAXIS1
+ SETGO
+ FLVR
+ ASCENT
+P12RET DLOAD
+ ATP # ATP(2)*2(18)
+ DSQ PDDL
+ ATY # ATY(2)*2(18)
+ DSQ DAD
+ BZE SQRT
+ YAWDUN
+ SL1 BDDV
+ ATY
+ ARCSIN
+YAWDUN STOVL YAW
+ UNFC/2
+ UNIT DOT
+ UNIT/R/
+ SL1 ARCCOS
+ DCOMP
+ STORE PITCH
+ EXIT
+ TC PHASCHNG
+ OCT 04024
+
+ TC DOWNFLAG
+ ADRES FLPI
+
+ INHINT
+ TC IBNKCALL
+ CADR PFLITEDB
+ RELINT
+
+ TC POSTJUMP
+ CADR BURNBABY
+
+P12INIT DLOAD # INITIALIZE ENGINE DATA. USED FOR P12 AND
+# Page 841
+ (1/DV)A # P71.
+ STORE 1/DV3
+ STORE 1/DV2
+ STODL 1/DV1
+ (AT)A
+ STODL AT
+ (TBUP)A
+ STODL TBUP
+ ATDECAY
+ DCOMP SL
+ 11D
+ STORE TTO
+ SLOAD DCOMP
+ APSVEX
+ SR2
+ STORE VE
+ BOFF RVQ
+ FLAP
+ COMMINIT
+COMMINIT DLOAD DAD # INITIALIZE TARGET DATA. USED BY P12, P70
+ HINJECT # AND P71 IF IT DOES NOT FOLLOW P70.
+ /LAND/
+ STODL RCO
+ HI6ZEROS
+ STORE TXO
+ STORE YCO
+ STORE RDOTD
+ STOVL YDOTD
+ VRECTCSM
+ VXV MXV
+ RRECTCSM
+ REFSMMAT
+ UNIT
+ STORE QAXIS
+ RVQ
+P12ADRES REMADR P12TABLE
+
+ SETLOC P12A
+ BANK
+ COUNT* $$/P12
+
+GUIDINIT STQ SETPD
+ TEMPR60
+ 0D
+ VLOAD PUSH
+ UNITZ
+ RTB PUSH
+ LOADTIME
+ CALL
+ RP-TO-R
+# Page 842
+ MXV VXSC
+ REFSMMAT
+ MOONRATE
+ STOVL WM
+ RLS
+ ABVAL SL3
+ STCALL /LAND/
+ TEMPR60
+
+49FPS 2DEC .149352 B-6 # EXPECTED RDOT AT TIPOVER
+VINJNOM 2DEC 16.7924 B-7 # 5509.5 FPS(APO=30NM WITH RDOT=19.5FPS)
+RDOTDNOM 2DEC .059436 B-7 # 19.5 FPS
+
+
diff --git a/P20-P25.s b/P20-P25.s
new file mode 100644
index 0000000..d6303f3
--- /dev/null
+++ b/P20-P25.s
@@ -0,0 +1,3529 @@
+# Copyright: Public domain.
+# Filename: P20-P25.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 562-534
+# Mod history: 2009-05-10 RSB Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+# 2009-05-20 RSB Corrections: P2OS -> P20S, STO -> STQ,
+# GOTOPOOH -> GOTOP00H, a duplicated EXTEND
+# was fixed, P23.10 -> R23.10,
+# S22B0X44 -> S22BOX44, S22SUBSCL -> 22SUBSCL,
+# S22DPP -> S22DSPP, changed some instructions in
+# P23.152.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 562
+# RENDEZVOUS NAVIGATION PROGRAM 20
+#
+# PROGRAM DESCRIPTION
+#
+# MOD NO -- 1
+# MOD BY -- N. BRODEUR
+#
+# FUNCTIONAL DESCRIPTION
+#
+# TO CONTROL THE CSM ATTITUDE AND OPTICS TO ACQUIRE THE LEM IN THE S+T
+# FIELD AND TO POINT THE CSM TRANSPONDER AT THE LEM. TO UPDATE EITHER THE
+# LEM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY THE DSKY
+# ENTRY) ON THE BASIS OF OPTICAL TRACKING DATA (REQUESTED BY DSKY)
+#
+# CALLING SEQUENCE --
+#
+# ASTRONAUT REQUEST THROUGH DSKY V37E20E
+#
+# SUBROUTINES CALLED
+#
+# R02BOTH (IMU STATUS CHECK) BANKCALL
+# FLAGUP 2PHCHNG LOADTIME
+# R61CSM (PREFERRED TRACKING ATTITUDE) FLAGDOWN
+# R52 (AUTO OPTICS POSITIONING ROUT) SETINTG
+# R22 (REND TRACK DATA PROC ROUT) PRIOCHNG
+# ENDOFJOB INTEGRV GRP2PC
+# INTPRET MKRLEES FINDVAC
+#
+# NORMAL EXIT MODES --
+#
+# P20 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING
+# PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
+#
+# ALARM OR ABORT EXIT MODES --
+#
+# NONE DIRECTLY FROM P20
+#
+# OUTPUT
+#
+# TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
+# VHFCNT = NO OF VHF RANGING MARKS INCORPORATED (COUNTER)
+#
+# FLAGS SET + RESET
+#
+# RNDVZFLG,VEHUPFLG,UPDATFLG,TRACKFLG,TARG1FLG
+# HOLDFLAG,WBODY,WBODY1,WBODY2,DELCDUX,DELCDUY,DELCDUZ
+# STIKFLAG,PRFTRKAT,VINTFLAG,DIM0FLAG,R60FLAG,R61CNTR
+
+ BANK 33
+ SETLOC P20S
+ BANK
+
+ EBANK= ESTROKER
+ COUNT* $$/P20
+
+PROG20 TC BANKCALL
+ CADR R02BOTH # IMU STATUS CHECK
+ # BLOCKING OF UPLINK IS DONE BY UPLINK PRG
+ CAF ZERO
+ TS TRKMKCNT # ZERO REND TRACKING MARK COUNTER
+ TS VHFCNT # ZERO REND VHF RNG MRK COUNTER
+ TC UPFLAG # SET PREF TRACK ATT FLAG
+ ADRES PRFTRKAT # BIT 10 FLAG 5
+ TC DOWNFLAG # LEM TO BE UPDATED. VEHUPFLG RESET.
+ ADRES VEHUPFLG # BIT 8 FLAG 1
+# Page 563
+ TC UPFLAG # SET TRACKFLAG
+ ADRES TRACKFLG # BIT 5 FLAG 1
+ TC UPFLAG # SET UPDATFLG
+ ADRES UPDATFLG # BIT 7 FLAG 1
+ TC UPFLAG # SET RNDVZFLG
+ ADRES RNDVZFLG # BIT 7 FLAG 0
+ TC 2PHSCHNG
+ OCT 4
+ OCT 05022
+ OCT 26000
+ TC INTPRET
+ RTB
+ LOADTIME
+ STCALL MARKTIME
+ SETINTG # SET INTEGRATION FLAGS
+ BOFF SET
+ RENDWFLG
+ P20.1
+ DIM0FLAG # SET TO INTEGRATE THE W MATRIX
+P20.1 BON CLEAR
+ VEHUPFLG
+ P20.2
+ VINTFLAG # SET FOR LM INTEGRATION
+P20.2 CALL
+ INTEGRV
+ CALL
+ GRP2PC # GROUP 2 PHASE CHANGE
+ CALL
+ SETINTG # SET INTEGRATION FLAGS
+ BOFF CLEAR
+ VEHUPFLG
+ P20.3
+ VINTFLAG # SET FOR LM INTEGRATION
+P20.3 CALL
+ INTEGRV
+ EXIT
+ CAF PRIO26
+ TC FINDVAC
+ EBANK= MRKBUF2
+ 2CADR R22
+
+ TC 2PHSCHNG
+ OCT 00072
+ OCT 00111
+PIKUP20 CAF PRIO14 # ALLOW HIGHER PRIO THAN LAMBERT
+ TC PRIOCHNG
+ CAF BIT5 # IS TRACK FLAG SET
+ MASK STATE +1
+ EXTEND
+ BZF ENDOFJOB # NO
+# Page 564
+ CAF BIT13
+ MASK STATE +3 # IS REFSMFLG SET
+ EXTEND
+ BZF ENDOFJOB
+ CAF ZERO
+ TS R61CNTR # INITIALIZE R61 COUNTER
+ TC BANKCALL
+ CADR R61CSM
+ EBANK= QMIN
+ CAF EBANK5
+ TS EBANK
+ TC UPFLAG # SET TARGET FLAG TO LEM
+ ADRES TARG1FLG # BIT 10 FLAG 1
+P20R52JB TC INTPRET
+ CALL
+ R52 # SET UP AUTO OPTICS JOB
+ EXIT
+ TC BANKCALL
+ CADR MKRLEES
+ CAF ONE # HOLD PRESENT ATTITUDE
+ TS HOLDFLAG
+ TC ENDOFJOB
+OCT203 OCT 00203
+FIRST3 EQUALS FURST3
+
+# Page 565
+# ORBITAL NAVIGATION PROGRAM 22
+
+ BANK 31
+ SETLOC P20S1
+ BANK
+
+ EBANK= LANDMARK
+ COUNT* $$/P22
+
+PROG22 TC DOWNFLAG # RESET RNDVZFLG BIT 7 FLAG 0
+ ADRES RNDVZFLG
+ TC BANKCALL
+ CADR R02BOTH # IMU STATUS CHECK
+ TC INTPRET # COMPUTE ANGLE BETWEEN Y AND VXR SM
+ RTB
+ LOADTIME
+ STCALL TDEC1
+ CSMCONIC # INTEGRATE TO PRESENT TIME
+ VLOAD VXV # CROSS PRODUCT BETWEEN V AND R
+ VATT
+ RATT
+ UNIT DOT
+ REFSMMAT +6
+ ABS
+ SL1 ARCCOS
+ STORE +MGA
+ CLEAR EXIT
+ RENDWFLG
+ CAF V06N45B
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H # TERM P22
+ TC PROG22A # PROC
+ TC -5 # ENTER
+ CAF THREE
+ TC BLANKET # BLANK OUT R1 + R2
+ TC ENDOFJOB
+PROG22A CS PRIO7 # RESULT=70777 SET OFFSET NO.=0
+ MASK LANDMARK
+ TS LANDMARK
+ TC INTPRET
+ CLEAR
+ P22MKFLG
+ SET BOFF
+ ERADFLAG
+ CMOONFLG
+ PROG22B # EARTH
+ SET # MOON
+ LUNAFLAG
+ DLOAD CALL # MPAC=V05N70,MPAC+1=NONZERO FOR N70
+ V05N7022
+# Page 566
+ S22N7071
+ GOTO
+ CALLR52
+PROG22B CLEAR SET # EARTH ORBIT
+ LUNAFLAG
+ KNOWNFLG
+ CALL # GET LAT/LONG/ALT FROM ASTRO
+ P22SUBRB
+CALLR52 EXIT
+ TC 2PHSCHNG
+ OCT 00004
+ OCT 05022
+ OCT 13000
+ CAF FIVE
+ TS MARKINDX # SET MARK INDEX=5 FOR R52
+ TC UPFLAG
+ ADRES TARG2FLG # SET FOR SIGHTING LMK
+ TC DOWNFLAG
+ ADRES TARG1FLG # CLEAR FOR NON-LEM
+ TC INTPRET
+ CALL
+ R52
+DOV5N71 SLOAD CALL # MPAC=V05N71,MPAC+1=0 FOR N71
+ V05N7122
+ S22N7071
+PROG22C LXC,2 SLOAD*
+ MARKSTAT
+ QPRET,2
+ STCALL 8NN
+ S22.1 # ESTABLISH LANDMARK -- COMPUTE ORBITAL
+P22OVER EXIT
+ TC PHASCHNG
+ OCT 04022
+ TC PROG22A # POINT A ON GSOP
+V06N45B VN 0645
+V05N7022 VN 00570
+V05N7122 VN 00571
+ SETLOC P20S
+ BANK
+
+ SETLOC P20S1
+ BANK
+
+S22LSITE RTB # CONVERT RLS FROM MOON-FIXED TO BASIC REF
+ LOADTIME
+ STOVL 6D # 6-7D= TIME
+ RLS
+ STODL 0D # 0-5D= LANDING SITE VECTOR
+ HIDPHALF # MPAC= ANY NON-ZERO FOR MOON
+ CALL
+# Page 567
+ RP-TO-R # RLS IN BASIC REF B-27 IN MPAC
+ VSR2 # LUNAFLAG AND ERADFLAG SET ABOVE
+ STORE ALPHAV # SCALE RLS B-29 FOR LAT-LONG
+ RTB
+ LOADTIME # SET PRESENT TIME IN MPAC FOR LAT-LONG
+ CALL
+ LAT-LONG
+ GOTO
+ S22TOFF # EXIT
+OBTAINLL CALL # GET LAT/LONG/ALT FROM ASTRO
+ P22SUBRB
+ GOTO
+ S22TOFF # EXIT
+P22SUBRB STQ EXIT # GET LAT/LONG/ALT FROM ASTRO
+ S22TOFF +1
+ CAF V06N89B
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H # TERMINATE
+ TC +2 # PROCEED
+ TC -5 # ENTER OR RECYCLE
+ TC INTPRET
+ DLOAD ABS # TEST LAT/LONG GREATER THAN 90
+ LANDLAT
+ BDSU BMN # 1/4 REV - LAT
+ DP1/4TH
+ N89ERRX
+ DLOAD ABS
+ LANDLONG
+ BDSU BPL
+ DP1/4TH
+ +4
+
+N89ERRX EXIT
+ TC FALTON
+ TC P22SUBRB +2 # LONG GR. THAN 90 REDISPLAY
+ CALL
+ LLASRDA
+ GOTO
+ S22TOFF +1 # EXIT
+S22N7071 STORE 8KK # 8KK=V05N71,V05N70 8KK+1=0 N71, NOT 0 N70
+ STQ EXIT
+ S22TOFF
+S22DSPPA CA 8KK # V05N70 OR V05N71
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H # V34E TERMINATE
+ TC +5 # V33E PROCEED
+ TC -5 # V32E RECYCLE
+ CAF FIVE # IMMEDIATE RETURN BLANK OUT R1,R3
+ TC BLANKET
+# Page 568
+ TC ENDOFJOB
+ CA LANDMARK
+ MASK PRIO7 # 07000
+ TS CXOFF # 08000 = OFFSET INDICATOR
+ CS PRIO5 # 5 8-5
+ AD CXOFF
+ EXTEND
+ BZMF +2 # OFF=0 THRU 5 OK
+ TC S22DSPP # OFF=6.7 ILLEGAL REDISPLAY
+ TC DOWNFLAG
+ ADRES KNOWNFLG # CLEAR KNOWNFLG
+ CA LANDMARK # MASK A FROM ABCDE
+ MASK 13,14,15
+ EXTEND
+ BZMF S22DSPP # A=0,4,5,6,7 ILLEGAL REDISPLAY
+ TS 22SUBSCL # TEMP
+ CS BIT14
+ AD 22SUBSCL
+ CCS A
+S22DSPP TC FALTON # + A=3 ILLEGAL REDISPLAY
+ TC S22DSPPA # COMMON ERROR EXIT BACK TO DISPLAY
+ TC +2 # - A=1 KNOWN LMK CHECK DE
+ TC S22ABDE # -0 A=2 UNKNOWN LMK, DE MEANINGLESS
+ TC UPFLAG
+ ADRES KNOWNFLG # SET KNOWNFLG
+ CS HIGH9 # RESULT= 00077
+ MASK LANDMARK
+ TS 22SUBSCL # 000DE
+ CS BIT1
+ AD 22SUBSCL
+ EXTEND
+ BZMF S22ABDE # DE=0,1 OK FOR BOTH N70,N71
+ CA 8KK +1 # =0 FOR N71, NOT =0 FOR N70
+ EXTEND
+ BZF S22DSPP # N71 REDISPLAY DE MUST= 0 OR 1
+ CA BIT5 # N70 TEST DE= 50-57 OCTAL FOR ADV. ORBIT
+ AD OCT50 # SUM=00070
+ MASK 22SUBSCL # 00D0
+ CS A
+ AD OCT50
+ EXTEND
+ BZF DE-GR-50 # D=5 OR DE=50-57, OK FOR N70
+ TC S22DSPP # DE NOT 50-57 ILLEGAL, REDISPLAY
+S22ABDE TC INTPRET
+ BOFF SLOAD
+ KNOWNFLG # UNKNOWN LMK, DE MEANINGLESS
+ S22TOFF
+ 22SUBSCL # =0 GET LLA FROM ASTRO, NOT=0 USE RLS
+ BHIZ GOTO
+ OBTAINLL # GET LAT/LONG/ALT FROM ASTRO N89
+# Page 569
+ S22LSITE # GET LAT/LONG/ALT FROM RLS
+DE-GR-50 TC 2PHSCHNG
+ OCT 00004
+ OCT 05022
+ OCT 13000
+ CA FIVE
+ TS MARKINDX
+ TC UPFLAG
+ ADRES TARG2FLG
+ TC DOWNFLAG
+ ADRES TARG1FLG
+ TC INTPRET
+ CALL
+ ADVORB
+ GOTO
+ DOV5N71
+
+# Page 570
+# PROGRAM NAME: OPTICS CALIBRATION ROUTINE
+# MOD NO: 1
+# MOD BY: TOM KNATT
+#
+# FUNCTIONAL DESCRIPTION: TO MEASURE THE EFFECT OF SOLAR RADIATION ON
+# THE SXT TRUNNON ANGLE AND STORE THE MEASURED TRUNNION BIAS FOR P23
+#
+# CALLING SEQUENCE: CALL
+# R57
+#
+# SUBROUTINES CALLED: DISPLAY ROUTINES
+#
+# NORMAL EXIT MODES: VIA EGRESS
+#
+# ALARMS: NONE
+#
+# ABORT MODES: P23 ABORT IF MARKING SYSTEM OR EXTENDED VERB ACTIVE
+#
+# INPUT: NONE REQURIES, NORMALLY CALLED BY P23
+#
+# OUTPUT: TRUNNION BIAS ANGLE: ANGLE DETERMINED WHEN SHAFT LINE OF SIGHT
+# (SLOS) AND LANDMARK LINE OF SIGHT (LLOS) ARE SUPERIMPOSED. THIS ANGLE
+# MAY NOT BE EXACTLY ZERO BECAUSE OF UNEVEN HEATING OF THE OPTICS, FOR
+# EXAMPLE.
+#
+# ERASABLE INITIALIZATION REQUIRED: MRKBUF1, EXTVBACT
+#
+# DEBRIS: RUPTREGS USED BY MARKRUPT AND ERASABLES USED BY DISPLAYS.
+
+ BANK 33
+ SETLOC P20S
+ BANK
+ COUNT* $$/R57
+ EBANK= MRKBUF1
+R57 STQ EXIT
+ EGRESS
+ CAF EBANK7
+ TS EBANK
+ CAF SIX # BIT2 = MARKING SYSTEM IN USE
+ MASK EXTVBACT # BIT3 = EXTENDED VERB IN PROGRESS
+ CCS A
+ TC P23ABRT # SET, THEREFORE ABORT
+ CAF BIT2 # NOT SET
+ ADS EXTVBACT # SET IT
+R57A TC UPFLAG # SET V59FLAG (BIT 12 FLAG 5 TO INDICATE
+ ADRES V59FLAG # CALIBRATION MARK
+ CAF V59NB
+ TC BANKCALL
+ CADR GOMARKFR
+ TC GOTOP00H # TERMINATE
+ TC ENDR57
+ TC ENDR57
+ CAF SEVEN
+# Page 571
+ TC BLANKET # BLANK OUT R1,R2,R3
+ TC ENDOFJOB
+# STORE TRUNNION ANGLE (OCDU)
+MARKDISP CAF V06N87NB
+ TC BANKCALL
+ CADR GOMARKFR
+ TC GOTOP00H # TERMINATE
+ TC R57B # PROCEED
+ TC R57A # ENTER (RECYCLE)
+ CAF FIVE
+ TC BLANKET # BLANK OUT R1,R3
+ TC ENDOFJOB
+R57B CA 19.77DEG # PUT FIXED INTO ERASABLE FOR MSU
+ TS L # INSTRUCTION COMING UP
+ CA MRKBUF1 +5 # CONTAINS TRUNNION
+ EXTEND
+ MSU L # CONNECTS TRUNBIAS FROM 2'S TO 1'S
+ TS TRUNBIAS
+ENDR57 TC DOWNFLAG # RESET V59FLAG
+ ADRES V59FLAG # BIT 12 FLAG 5
+ CAF EBANK5
+ TS EBANK
+ CAF PRIO14
+ TC NOVAC # THIS JOB CLEARS BIT IN
+ EBANK= MARKSTAT
+ 2CADR ENDMARK # MARKING IN R57 SO R53 CAN TAKE OVER
+
+ TC INTPRET
+ GOTO
+ EGRESS
+P23ABRT TC BAILOUT
+ OCT 01211
+V06N87NB VN 0687
+V59NB VN 5900
+V51NB VN 5100
+19.77DEG OCT 61740
+
+# Page 572
+# PROGRAM DESCRIPTION
+# MOD NO: 1
+# MOD BY: N. BRODEUR
+#
+# FUNCTIONAL DESCRIPTION
+#
+# TO PERFORM SIGHTING MARKS IN CONJUNCTION WITH THE RENDEZVOUS NAVIG-
+# ATION PROGRAM. CALLED BY ASTRONAUT VIA EXTENDED VERB.
+#
+# CALLING SEQUENCE:
+#
+# R21 VIA V57
+# R23 VIA V 54
+#
+# SUBROUTINES CALLED:
+#
+# FLAGUP FLAGDOWN BANKCALL
+# ENDOFJOB GOMARK2 GOMARKF
+# INTPRET GENTRAN KLEENEX
+# ENDMARK
+#
+# NORMAL EXIT MODES:
+#
+# MARKRUPT USED BY SXTMARK HAS BEEN MODIFIED TO STORE MARK IN MRKBUF2
+# FOR USE BY R22. WHEN ASTRONAUT IS FINISHED TAKING MARKS, HE HITS AN
+# PROCEED, R21 IS TERMINATED THUS CAUSING THE FINAL MARK TO BE TRANSFRD
+# TO MRKBUF2 FOR PROCESSING BY R22
+#
+# ALARM OR ABORT EXIT MODES:
+#
+# NONE
+#
+# OUTPUT:
+#
+# 7 REGISTER MRKBUF2 CONTAINING TIME2,TIME1,CDUY,OPTICS X,CDUZ, OPTICS Y,
+# CDUX.
+#
+# ERASABLE INTIALIZATION REQUIRED
+#
+# FLAGS SET AND RESET
+# R21MARK (COMMUNICATION TO MARKRUPT TO STORE MARKS IN MRKBUF1 +2)
+# R23FLG INDICATES COAS MARKING
+#
+# DEBRIS
+
+ EBANK= MRKBUF1
+ SETLOC RENDEZ
+ BANK
+
+ COUNT* $$/R21
+
+R21CSM TC UPFLAG # SET R21MARK
+ ADRES R21MARK # BIT 14 FLAG 2
+R23CSM CA NEGONE
+ TS MRKBUF1
+ TS MRKBUF2
+ CA FLAGWRD1
+ MASK R23BIT # TEST R23FLG
+ EXTEND
+ BZF R21C1 # NOT SET REGULAR R21 MARKING
+ CAF V0694 # R23 BACKUP MARKING
+ TC BANKCALL # DISPLAY SHAFT + TRUNNION
+ CADR GOMARKF
+ TC R21END # TERM
+ TC +2 # PROC
+# Page 573
+ TC -5 # ENTER
+R23CSM1 CAF V53 # PERFORM ALT LOST SIGHT MARK
+ TC BANKCALL
+ CADR GOMARK2
+ TC R21END # V34: TERMINATE R23
+ TCF R21CSMA # PROCEED: END BACK UP MARKING (R23)
+ CAF SIX # TRANSFER MRKBUF1 TO MRKBUF2
+ TC GENTRAN
+ ADRES MRKBUF1
+ ADRES MRKBUF2
+ EXTEND
+ DCA TIME2
+ DXCH MRKBUF1 # READ TIME
+ CA CDUY # READ CDU ANGLES
+ TS MRKBUF1 +2
+ CA CDUZ
+ TS MRKBUF1 +4
+ CA CDUX
+ TS MRKBUF1 +6
+ RELINT
+ TC R23CSM1
+R21C1 CAF V51NB
+ TC BANKCALL
+ CADR GOMARK2
+ TC R21END # V34: TERMINATE R21
+ TCF R21CSMA # PROCEED: END R21
+ TCF R21C1 # RECYCLE
+
+R21CSMA CA MRKBUF1 # IF -1 NO MARK
+ AD ONE
+ EXTEND
+ BZF R21END # ZERO = NO MARK
+ CAF SIX # MARK THEREFORE TRANSFER IT TO MRKBUF2
+R21CSM1 TC GENTRAN # TRANSFER MRKBUF1 TO MRKBUF2
+ ADRES MRKBUF1
+ ADRES MRKBUF2
+ RELINT
+R21END TC BANKCALL
+ CADR KLEENEX
+ TC DOWNFLAG # RESET R21MARK
+ ADRES R21MARK # BIT 14 FLAG 2
+ TC ENDMARK # END MARKING AND ENDJOB
+V53 VN 5300
+V0694 VN 0694
+
+# Page 574
+# PREFERRED TRACKING ATTITUDE ROUTINE R61CSM
+#
+# PROGRAM DESCRIPTION
+# MOD NO: 2
+# MOD BY: N. BRODEUR
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE CSM TO ENABLE OPTICS
+# TRACKING OF THE LM AND TO PERFORM THE MANEUVER TO THE PREFERRED
+# OR X-AXIS TRACKING ATTITUDE.
+#
+# CALLING SEQUENCE:
+#
+# TC BANKCALL
+# CADR R61CSM
+#
+# SUBROUTINE CALLED
+#
+# MAKECADR BANKCALL
+# INTPRET FLAGUP FLAGDOWN
+# BANKJUMP CRS61.1 R60CSM
+# PHASCHNG
+#
+# NORMAL EXIT MODES:
+#
+# NORMAL RETURN TO CALLER + 1
+#
+# OUTPUT:
+#
+# SEE OUTPUT FOR CRS61.1 & ATTITUDE MANEUVER ROUTINE (R60CSM)
+#
+# ERASABLE INITIALIZATION REQUIRED
+#
+# GENRET USED TO SAVE Q FOR RETURN
+# R61CNTR MUST BE PRESET TO ZERO
+#
+# FLAGS SET + RESET
+#
+# 3-AXIS FLAG
+#
+# DEBRIS
+#
+# SEE SUBROUTINES
+
+ EBANK= GENRET
+ COUNT* $$/R61 # ROUTINES -- NAVIGATION -- PREF. TR. 9TT=
+
+R61CSM CAF EBANK6 # SWITCH TO EBANK 6
+ XCH EBANK
+ TS SAVBNK # SAVE EBANK
+ TC MAKECADR
+ TS GENRET
+ CCS R61CNTR # TEST R61DNTR
+ TC DECRM61 # NOT READY TO DO R61
+ TC +2 # DO R61
+ TC DECRM61 +1
+ TC INTPRET
+ CALL
+ CRS61.1 # LOS DETERMINATION + VEH ATTITUDE
+ EXIT
+ INDEX MPAC
+ TC +1
+ TC R61END # SUBROUTINE DRIVING DAP (EXIT R61)
+ # OR AUTO MODE NOT SET (EXIT R61)
+ # OR SKIKFLAG SET (EXIT R61)
+R61C1 TC DOWNFLAG # RESET 3-AXIS FLAG
+ ADRES 3AXISFLG # BIT 6 FLAG 5
+# Page 575
+ CS ONE # SET R61CNTR NEG. TO INDICATE KALCMANU
+ TS R61CNTR
+
+ TC UPFLAG # SET FLAG FOR PRIORITY DISPLAYS FOR R60
+ ADRES PDSPFLAG # BIT 12 FLAG 4
+ TC BANKCALL
+ CADR R60CSM
+ TC DOWNFLAG # RESET FLAG FOR PRIORITY DISPLAYS IN R60
+ ADRES PDSPFLAG # BIT 12 FLAG 4
+ TC PHASCHNG
+ OCT 00111
+ CAF ZERO
+ TC DECRM61
+R61END CAF THREE
+
+DECRM61 TS R61CNTR
+
+ CAE GENRET
+ LXCH A # RETURN IS IN L
+ CA SAVBNK # RESTORE EBANK
+ XCH EBANK
+ LXCH A # RETURN IS NOW BACK IN A
+ TC BANKJUMP # EXIT R61
+ BANK 13
+ SETLOC P20S2
+ BANK
+
+ EBANK= MRKBUF1
+# Page 576
+# BVECTOR PERFORMS COMPUTATIONS FOR
+#
+# DELTAQ, THE MEASURED DEVIATION BASED ON THE DIFFERENCE BETWEEN THE CSM-LEM
+# STATE VECTOR ESTIMATES AND THE ACTUAL TRACKING MEASUREMENT.
+#
+# US, THE MODIFIED FICTITIOUS STAR DIRECTION VECTOR
+# GEOMETRY VECTORY B ASSOCIATED WITH EACH TRACKING MEASUREMENT.
+#
+# INPUT
+#
+# UM, 1/2 UNIT VECTOR ALONG THE CSM-LM LINE-OF-SIGHT (BASIC REF. SYSTEM)
+#
+# USTAR, FICTITIOUS STAR DIRECTION (1/2 UNIT VECTOR)
+#
+# RCLP, RELATIVE CSM TO LM POSITION VECTOR
+#
+# OUTPUT
+#
+# USTAR, MODIFIED FICTITIOUS STAR DIRECTION (1/2 UNIT VECTOR)
+#
+# BVECTOR = 9 DIMENTIONAL BVECTOR (1/2 UNIT VEC.)
+#
+# DELTAQ = MEASURED DEVIATION
+#
+# CALLING SEQUENCE
+#
+# L CALL BVECTORS
+#
+# NORMAL EXIT
+#
+# L+1 OF CALLING SEQUENCE
+
+ COUNT 23/20SUB
+
+BVECTORS STQ
+ EGRESS
+ VLOAD UNIT
+ RCLP # RELATIVE POSITION VECTOR
+ STODL 26D # RCLP UNIT VEC
+ 36D # RCLP ABS VALUE
+ STOVL TEMPOR1 # MOVE TO SAFE LOCATION
+ USTAR
+ VXV UNIT
+ 26D # USTAR = UNIT(US X UCL)
+ STCALL BVECTOR
+ GRP2PC # PHASE CHANGE
+ VLOAD
+ BVECTOR
+ STORE USTAR
+ DOT SL1
+ UM # USTAR DOT UM
+ ACOS DSU
+ DP1/4TH
+ NORM DMP
+ X1
+ PI/4.0
+ DMP SRR*
+ TEMPOR1 # RCLP ABS VALUE
+ 0 -3,1 # ADJUST SCALING
+ STOVL DELTAQ
+ ZEROVECS
+ STORE BVECTOR +6
+ STORE BVECTOR +12D
+ GOTO
+# Page 577
+ EGRESS
+PI/4.0 2DEC .785398164
+
+# Page 578
+# GETUM: DETERMINES THE LINE OF SIGHT UNIT VECTOR UM IN THE BASIC REFERENCE
+# COORDINATE SYSTEM FROM THE OPTICS SHAFT AND TRUNNION ANGLES AND THE IMU
+# GIMBAL ANGLES.
+#
+# INPUT
+#
+# MARKDATA, BASE ADDRESS OF MARK DATA
+# REFSMMAT, ROTATION MATRIX FROM STABLE MEMBER TO BASIC REF. COORD. SYSTEM
+#
+# SUROUTINES CALLED:
+#
+# SXTNB -- SEXT. ANGULAR READINGS TO NAV. BASE COOR.
+# NBSM -- TRANSFORM FROM NAV. BASE TO STABLE MEMBER
+#
+# OUTPUT
+#
+# MPAC = LINE OF SIGHT 1/2 UNIT VECTOR IN BASIC REFERENCE SYSTEM
+#
+# CALLING SEQUENCE
+#
+# L CALL GETUM
+#
+# NORMAL EXIT
+#
+# L+1 OF CALLING SEQUENCE
+
+GETUM STQ SETPD
+ EGRESS
+ 0
+ LXC,1 VLOAD*
+ MARKDATA # CONTAINS ADDRESS OF MARK DATA
+ 1,1
+ STODL* MARKDOWN +1 # TRANSFER DATA FROM WORKING STORAGE
+ 0,1 # TO MARKDOWN ARRAY FOR DOWNLINK
+ STORE MARKDOWN
+ AXT,2
+ 2
+ XSU,2 SXA,2
+ X1 # X1 = MARKDATA
+ S1 # S1 = MARKDATA(ADR) +2
+ CALL
+ SXTNB # SEXT. ANGULAR READINGS TO NAV. BASE COOR.
+ CALL
+ NBSM # TRANSFORM FROM NAV. BASE TO STABLE MEM.
+ VXM VSL1
+ REFSMMAT
+ GOTO # MPAC = (UM) LINE OF SIGHT VECTOR
+ EGRESS # EXIT
+
+# Page 579
+# RENDEZVOUS TRACKING DATA PROCESSING ROUTINE (R22)
+#
+# PURPOSE (1) TO PROCESS RENDEZVOUS SIGHTING MARK DATA TO UPDATE THE STATE VECTOR OF EITHER THE CSM OR LM AS
+# DEFINED BY THE RENDEZVOUS NAVIGATION PROGRAM (P20).
+#
+# ASSUMPTIONS (1) THIS ROUTINE IS MANUALLY SELECTED BY THE ASTRONAUT BY V55E WHENEVER RENDEZVOUS SIGHTING MARKS
+# ARE DESIRED. ITS SELECTION, HOWEVER, IS LIMITED TO PERIODS WHEN THE CMC IS HOLDING FOR A V/N FLASHING
+# DATA DISPLAY. THIS ROUTINE RETURNS TO THE ORIGINAL PROGRAM AT THE INTERRUPTED DISPLAY.
+
+ BANK 34
+ SETLOC P20S3
+ BANK
+
+ COUNT 34/R22
+
+R22 CAF PRIO26
+ TS PHSPRDT2
+ TC PRIOCHNG
+ CA NEG3
+ TS MRKBUF2
+ TC INTPRET
+ RTB
+ LOADTIME
+ STORE VHFTIME # PRESENT TIME
+REND1 CALL
+ GRP2PC
+ CALL
+ WAITONE
+REND1A EXIT
+ CA MRKBUF2
+ EXTEND
+ BZF REND2
+ EXTEND
+ BZMF REND3A
+REND2 CAF SIX
+ TC GENTRAN
+ ADRES MRKBUF2
+ ADRES MARKTIME # MARKTIME MUST BE CONTIGUOUS WITH VTEMP
+ CAF NEG3 # NEG VALUE TO INDICATE VALUES USED
+ TS MRKBUF2
+ RELINT
+ TC INTPRET
+ CLEAR CALL
+ SOURCFLG # 0 = OPTICS DATA
+ GRP2PC
+ SSP GOTO
+ MARKDATA
+ ECADR VTEMP -2
+ REND4
+REND3A TC INTPRET
+REND3 CALL
+# Page 580
+ GRP2PC
+ CALL
+ WAITONE
+ BOFF
+ VHFRFLAG
+ REND1A
+ RTB
+ LOADTIME # PRESENT TIME
+ DSU DSU
+ 60SECDP # 1 MIN
+ VHFTIME # LAST READING OF RADAR
+ BMN CALL
+ REND1A
+ RANGERD # READ RADAR RANGE
+ DLOAD
+ MARKTIME
+ STORE VHFTIME # FOR DOWNLINK
+REND4 CALL
+ SETINTG # SET INTEGRV FLAGS
+ BON CALL
+ VEHUPFLG
+ CSMUPP # BRANCH IF CSM UPDATE
+ INTEGRV
+ CALL
+ GRP2PC # PHASE CHANGE
+ CALL
+ SETINTG # SET INTEGRV FLAGS
+ CLEAR
+ VINTFLAG # SET INTEGRATION VEHICLE TO LM
+REND5 BOFF SET
+ RENDWFLG
+ REND5A # DO NOT INTEGRATE W IF FLAG = 0
+ DIM0FLAG
+REND5A CALL
+ INTEGRV
+ CALL
+ SHIFTNDX # SET EARTH MOON SCALING INDEX
+ CALL
+ CMPOS # SET CSM POSITION
+ SET CALL
+ INCORFLG # SET FOR 1ST PASS
+ LMPOS # SET LM POSITION
+ CLEAR BON
+ ORBWFLAG # CLEAR FOR ORBITAL AND CISLUNAR
+ RENDWFLG
+ REND6
+ DLOAD
+ WRENDPOS
+ STCALL 0 # 0 = WRENDPOS 1 = WRENDVEL
+ INITIALW # INTIIALIZE W MATRIX
+# Page 581
+ DLOAD
+ ZEROVECS
+ STORE VHFCNT # ZERO OUT VHFCNT AND TRKMKCNT
+REND6 SET
+ RENDWFLG
+ VLOAD VSU
+ LEMPOS
+ CSMPOS
+ STORE RCLP # LM - CSM
+REND7 UNIT BON
+ SOURCFLG
+ REND14 # BRANCH IF DATA IS RADAR
+ STORE UCL
+ BOFF CALL
+ INCORFLG
+ REND9
+ GETUM # CALCULATE UM LINE OF SIGHT
+ STOVL UM
+ UCL
+ VXV BOV
+ UM # UCL X UM
+ REND8
+REND8 UNIT BOV
+ REND3 # BRANCH IF OVERFLOW IGNORE MARK
+ STORE USTAR
+REND9 CALL
+ BVECTORS
+ BON VLOAD
+ VEHUPFLG
+ REND9A
+ BVECTOR
+ VCOMP
+ STORE BVECTOR
+REND9A CALL
+ GRP2PC
+ BON
+ R23FLG
+ REND15 # BRANCH IF BACKUP OPTICS (R23 WORKING)
+ DLOAD DAD
+ SXTVAR
+ IMUVAR
+REND10 STOVL VARIANCE # TEMP STORAGE FOR VARIANCE CALC.
+ RCLP
+ ABVAL NORM
+ X1
+ DSQ DMP
+ VARIANCE
+ XAD,1 CALL
+ X1
+ SHIFTNDX # GET EARTH MOON SCALING INDEX
+# Page 582
+ XAD,1 XAD,1
+ X2
+ X2
+ SR* TLOAD
+ 0 -2,1 # ADJUST SCALING TO B-40
+ MPAC
+ STORE VARIANCE
+ SLOAD SR
+ INTVAR # INTEGRATION VARIANCE SCALED B-15
+ 25D # SCALE IT B-40
+ TAD RTB
+ VARIANCE
+ TPMODE
+ STORE VARIANCE
+ BOFF TAD
+ SOURCFLG # BRANCH IF NOT VHF RADAR
+ REND10A
+ RVARMIN # VHF RADAR MIN. VARIANCE
+ BPL TLOAD
+ REND10A
+ RVARMIN
+ ABS # MIN. VALUE WAS STORED AS NEG.
+ STORE VARIANCE # STORE MIN. VALUE
+REND10A CLEAR CALL
+ DMENFLG # CLEAR FOR 6 X 6 W MATRIX
+ INCORP1 # CALCULATE UPDATE
+ CALL
+ GRP2PC
+ BOFF CALL
+ INCORFLG
+ REND12
+ SHIFTNDX # GET EARTH MOON SCALING INDEX
+ VLOAD ABVAL
+ DELTAX +6
+ SR*
+ 0,2
+ STOVL N49DISP +2
+ DELTAX
+ ABVAL SR*
+ 0,2
+ STORE N49DISP
+ SLOAD
+ RMAX
+ SR DSU
+ 10D
+ N49DISP
+ BMN SLOAD
+ RENDISP # BRANCH IF POS UP. GREATER THAN MAX.
+ VMAX
+ DSU BMN
+# Page 583
+ N49DISP +2
+ RENDISP # BRANCH IF VEL. UPDATE GREATER THAN MAX.
+REND12 CALL
+ INCORP2 # INCORPORATE UPDATE VALUES INTO STATE VEC
+ BON BOFF
+ SOURCFLG
+ REND16 # BRANCH IF DATA IS RADAR
+ INCORFLG
+ REND17
+ CALL
+ SHIFTNDX # GET EARTH MOON SCALING INDEX
+ BON CALL
+ VEHUPFLG
+ REND18 # BRANCH IF CSM UPDATE
+ LMPOS # GET LM POSITION
+REND13 CALL
+ GRP2PC # PHASE CHANGE
+ VLOAD VSU
+ LEMPOS
+ CSMPOS
+ STORE RCLP # LM - CSM
+ CLRGO
+ INCORFLG
+ REND7 # BRANCH FOR 2ND PASS THIS OPTICS MARK
+CSMUPP CLEAR CALL
+ VINTFLAG # SET INTEGRATION VEHICLE EQ LM
+ INTEGRV
+ CALL
+ GRP2PC # PHASE CHANGE
+ CALL
+ SETINTG # SET FLAGS FOR INTEGRATION
+ GOTO
+ REND5
+REND14 STOVL BVECTOR # VHF RADAR BVECTOR
+ ZEROVECS
+ STORE BVECTOR +6
+ STOVL BVECTOR +12D
+ RCLP
+ UNIT DLOAD
+ VHFRANGE # VHFRANGE SCALED B-27
+ BON SR2
+ MOONTHIS
+ +1
+ DSU SET
+ 36D # ABVAL (RCLP)
+ INCORFLG
+ STORE DELTAQ
+ BOFF VLOAD
+ VEHUPFLG
+ REND14A
+# Page 584
+ BVECTOR
+ VCOMP
+ STORE BVECTOR
+REND14A CALL
+ GRP2PC
+ DLOAD GOTO
+ RVAR
+ REND10
+REND15 SLOAD DAD # GET ALT LOS VARIANCE
+ ALTVAR # BACKUP OPTICS
+ IMUVAR # IMU VARIANCE
+ GOTO
+ REND10
+REND16 LXA,1 INCR,1
+ VHFCNT # VHF RADAR UPDATE COUNT
+ DEC 1
+ SXA,1 GOTO
+ VHFCNT # UPDATE COUNT
+ REND1
+REND17 LXA,1 INCR,1
+ TRKMKCNT # OPTICS MARK COUNT
+ DEC 1
+ SXA,1 GOTO
+ TRKMKCNT # UPDATE COUNT
+ REND3
+REND18 CALL
+ CMPOS # GET CSM POSITION
+ GOTO
+ REND13
+CMPOS VLOAD VSR*
+ DELTACSM
+ 7,2
+ VAD
+ RCVCSM
+ STORE CSMPOS # CSM POSITION SCALED B-27 OR B-29
+ RVQ
+LMPOS VLOAD VSR*
+ DELTALEM
+ 7,2
+ VAD
+ RCVLEM
+ STORE LEMPOS # LM POSITION SCALED B-27 OR B-29
+ RVQ
+RENDISP EXIT
+ CA FLAGWRD9
+ MASK SOURCBIT
+ EXTEND
+ BZF +3
+ CA BIT2
+ TC +2
+# Page 585
+ CA BIT1
+ TS N49DISP +4
+ CAF ZERO # SET TEMPOR1 > ZERO TO INDICATE
+ TS TEMPOR1 # V06 N49 DISPLAY HASN'T BEEN ANSWERED
+ TC PHASCHNG
+ OCT 04022
+ CAF PRIO27 # SET UP DISPLAY JOB WITH HIGHER PRIORITY
+ TC NOVAC
+ EBANK= MRKBUF1 # THAN PRESENT JOB
+ 2CADR RENDISP2
+
+RENDISP7 TC INTPRET
+ STORE MPAC
+ SLOAD BZE
+ TEMPOR1
+ RENDISP7 +1 # DISPLAY HAS NOT BEEN ANSWERED YET
+ BMN GOTO
+ REND12 # NEG INDICATES PROCEED
+ RENDISP3 # POS INDICATES RECYCLE
+RENDISP2 CAF V06N49
+ TC BANKCALL
+ CADR PRIODSP
+ TC GOTOV56 # TERM EXIT P20 VIA V56
+ CS ONE # NEG INDICATES PROCEED RENDISP7 JOB
+ TS TEMPOR1 # POS INDICATES RECYCLE RENDISP7 JOB
+ TC ENDOFJOB # GO COMPLETE ABOVE JOB
+RENDISP3 BON
+ SOURCFLG
+ REND1 # DATA WAS RADAR GO LOOK FOR OPTICS NEXT
+ EXIT
+ EBANK= MRKBUF1
+ INHINT
+ CAF BUFBANK
+ TS BBANK
+ CA NEGONE
+ TS MRKBUF1 # ERASE MARK ONE BUFFER
+ TS MRKBUF2 # ERASE MARK TWO BUFFER
+ RELINT
+RENDISP4 TC INTPRET
+ GOTO
+ REND3
+SXTVAR 2DEC 0.04 E-6 B+16 # SXT ERROR VARIANCE = .04 (MR)SQ
+
+IMUVAR 2DEC 0.04 E-6 B+16 # IMU ERROR VARIANCE = .04 (MR)SQ
+
+V06N49 VN 0649
+ EBANK= MRKBUF1
+BUFBANK BBCON RENDISP3
+ BANK 31
+ SETLOC R22S1
+# Page 586
+ BANK
+SETINTG STQ CALL
+ EGRESS
+ INTSTALL # RESERVE INTEGRATION
+ DLOAD SET
+ MARKTIME
+ STATEFLG
+ STORE TDEC1 # MARKTIME
+ CLEAR CLEAR
+ INTYPFLG # PRECISION INTEGRATION
+ DIM0FLAG
+ SET CLRGO
+ VINTFLAG # SET VEHICLE EQ. CSM
+ D6OR9FLG # SET W MATRIX DIM. EQ 6
+ EGRESS # EXIT
+CNTCHK STQ
+ POINTEX
+CONTCHK BOFF
+ REFSMFLG # BRANCH TO END OF JOB IF REFSMMAT NO GOOD
+ ENDPLAC
+ SLOAD BMN
+ R61CNTR
+ WAITONE1
+ BON BOFF # IS TRACK FLAG SET
+ UPDATFLG
+ POINTEX
+ TRACKFLG
+ ENDPLAC
+ EXIT
+REDOR22 TC PHASCHNG
+ OCT 00132
+ CAF PRIO26
+ TC PRIOCHNG
+ TC WAITONE +3
+WAITONE STQ
+ POINTEX
+WAITONE1 EXIT
+ CAF 4SECS # WAIT 4 SECS.
+ TC BANKCALL
+ CADR DELAYJOB
+ TC INTPRET
+ GOTO
+ CONTCHK # CHECK AGAIN NOW
+RANGERD EXIT
+ INHINT
+ CS OCT17
+ EXTEND
+ WAND CHAN13 # ZERO OUT BITS 1-4 OF CHANNEL 13
+ CAF OCT11
+ EXTEND
+# Page 587
+ WOR CHAN13 # GENERAGE SHIFT PULSES TO RADR, SET R. BIT
+ RELINT
+ EXTEND
+ DCA TIME2
+ DXCH MARKTIME # READ PRESENT TIME
+ TC DOWNFLAG
+ ADRES SKIPVHF
+ TC BANKCALL
+ CADR RADSTALL # WAIT FOR RANGE COMPLETE
+ TC LIGHTON # BAD DATA GOOD BIT
+ TC TRFAILOF # TURN TRACKER LIGHT OFF
+RANGERD1 CCS RM # 15 BIT UNSIGNED RANGE
+ TC RANGERD4 # GR + 0
+ TC LIGHTON +4 # = + 0
+ TC RANGERD3 # L - 0
+ TC RANGERD3 # = - 0
+RANGERD4 TC INTPRET
+ SLOAD DMP
+ RM
+ CONVRNGE # CONVERT RANGE TO METERS B-27
+RANGERD2 STORE VHFRANGE
+ SET RVQ
+ SOURCFLG # SOURCE OF DATA TO VHF RADAR
+RANGERD3 CA RM
+ MASK POSMAX
+ TS MPAC # MASK OUT NEG. SIGN BIT
+ TC INTPRET
+ DMP
+ CONVRNGE # CONVERT FROM NM TO METERS AND SCALE B-27
+ DAD GOTO
+ RANGEB14 # VALUE IN METERS OF SIGN BIT SCALED B-27
+ RANGERD2
+LIGHTON CA VHFRANGE
+ EXTEND
+ BZF +2
+ TC TRFAILON
+ TC INTPRET
+ DLOAD
+ MARKTIME
+ STORE VHFTIME
+ GOTO
+ REND1
+RANGEB14 2DEC 303431.7 B-27 # 16384 X 18.52 SCALED B-27
+
+OCT17 OCT 00017
+OC40200 OCT 40200
+CONVRNGE 2DEC 18.52 B-13 # VHF INPUT RANGE CONV. FROM .01 NM TO M
+
+VHFREAD EXTEND
+ ROR SUPERBNK # MUST SAVE SBANK BECAUSE OF RUPT
+# Page 588
+ TS BANKRUPT # EXITS VIA TASKOVER BADEND OR GOODEND
+ CS ZERO
+ TS RUPTAGN
+ EXTEND
+ QXCH QRUPT
+ CS STATE +2
+ MASK SKIPVBIT # SKIPVHF FLAG
+ EXTEND
+ BZF TASKOVER # BRANCH IF VHF RESTART BIT SET
+ CAF UPDATBIT
+ MASK STATE +1 # UPDATEFLG
+ EXTEND
+ BZF BYPASS1
+ CS STATE +4
+ MASK PDSPFBIT # PDSPFLAG
+ EXTEND
+ BZF BYPASS1
+ CA RNRAD
+ TS RM # SAVE RANGE
+ CAF BIT2
+ EXTEND
+ RAND CHAN33 # READ DATA GOOD BIT
+ EXTEND
+ BZF VHFGOOD # BRANCH IF DATA GOOD BIT EQUALS GOOD
+BYPASS TS VHFRANGE # STORE NON ZERO VALUE
+ CAF TWO
+ TC POSTJUMP
+ CADR BADEND
+BYPASS1 CAF ZERO
+ TC BYPASS
+VHFGOOD CAF TWO
+ TC POSTJUMP
+ CADR GOODEND
+SHIFTNDX AXT,2 BON
+ 0
+ VEHUPFLG
+ SHIFTA # VEHICLE IS CSM
+ BON RVQ
+ LMOONFLG
+ +1
+ INCR,2 RVQ
+ DEC -2
+SHIFTA BON RVQ
+ CMOONFLG
+ +1 # MOON ORB.
+ INCR,2 RVQ
+ DEC -2
+INITIALW AXT,1 SSP
+ 36D
+ S1
+# Page 589
+ 6
+ VLOAD
+ ZEROVECS
+INITA STORE W +36D,1 # CLEAR 0 - 35
+ TIX,1 AXT,1
+ INITA
+ 36D
+INITB STORE W +90D,1 # CLEAR 54 - 89
+ TIX,1 SLOAD
+ INITB
+ 0 # POSITION VALUE
+ STORE W # INITIALIZE DIAGONAL W POSITION
+ STORE W +8D
+ STORE W +16D
+ SLOAD
+ 1 # VELOCITY VALUE
+ STORE W +72D # INITIALIZE DIAGONAL W VELOCITY
+ STORE W +80D
+ STORE W +88D
+ RVQ
+# Page 590
+# CRS61.1 R/10/68
+#
+# TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE CSM WHICH ENABLES
+# OPTICS TRACKING OF THE LEM AND LM TRACKING OF THE CSM RADAR TRANSPONDER
+# AND TO COMPUTE THE X-AXIS TRACKING ATTITUDE OF THE CSM WHICH ENABLES
+# COAS TRACKING OF THE LM.
+#
+# TO PERFORM THE MANEUVER TO THE SELECTED TRACKING ATTITUDE IF THE
+# MANEUVER IS LESS THAN 10 DEGREES BUT TO CALL R60 IF THE MANEUVER IS
+# GREATER THAN 10 DEGREES BUT TO CALL R60 IF THE MANEUVER IS
+# GREATER THAN 10 DEGREES OR IF THE R60 FLAG IS SET.
+#
+# (1) EXTRAPOLATE LM AND CSM STATE VECTORS TO PRESENT TIME USING
+# CONIC EQUATIONS.
+#
+# (2) CALCULATE LOS FROM CSM TO LM = RL - RC.
+#
+# (3) THE PRERFERRED TRACKING ATTITUDE IS DEFINED AS FOLLOWS:
+# THE TRACK AXIS (I) IS ALIGNED ALONG THE LOS TO THE LM. THE
+# TRACK AXIS (I) IS DEFINED AS:
+#
+# UNIT(I)=UNIT(Z )COS55 & UNIT(X )SIN55
+# - -SC -SC
+#
+# (4) COMPUTE DESIRED CDU ANGLES, USING VECPOINT.
+#
+# (Sorry, I don't know where (5) and (6) are. --- RSB 2009.)
+# (7) FORM DIFFERENCE BETWEEN DESIRED AND ACTUAL CDUS.
+# IF ANY OF THE THREE ANGLE DIFFERENCES EXCEEDS 10 DEGREES,
+# GROSS MANEUVER IS REQUIRED. SIGNAL R61 (SET MPAC=1) TO
+# OPERATE KALCMANU AND EXIT CRS61.1.
+# IF ALL DIFFERENCES ARE LESS THAN 10 DEGREES, CONTINUE.
+#
+# (8) CALCULATE ORTHOGONAL LOS RATE IN REF COORDS AS
+#
+# OMEGATH = (UNITLOS(B1) X UNITDV(B1))(ABSDV(B7)/ABSLOS(B29))
+#
+# CONVERSION FACTOR OF 100/2PI (B4) REV CSEC PER RAD SEC IS
+# APPLIED TO YIELD UNITS OF REVS/SEC. SCALE IS CARRIED AS
+# B+1+1+7-29+4+1 PLUS RESULTS OF NORMALIZING ABSDV, ABSLOS.
+# THE EXTRA B+1 RESULTS FROM RESCALING ABSDV B8 AFTER NORM
+# TO AVOID OVFLOW ON DIVIDE.
+#
+# UNITLOS = UNIT( RL - RC ) B1.
+# UNITDY = UNIT( VL - VC ) B1.
+# ABSLOS = LENGTH OF LOS, METERS B29.
+# ABSDV = LENGTH OF DV, METERS/CSEC B7.
+#
+# (9) OBTAIN RATE IN SM COORDS.
+#
+# OMETATHSM = (REFSMMAT)(OMEGATH).
+#
+# (10) OBTAIN GIMBAL ANGLE INCREMETNS FOR 0.1 SECOND.
+#
+# DTHETASM = (0.1)(OMEGATHSM)
+#
+# (11) OBTAIN DELCDUX,Y,Z USING SUBR SMCDURES.
+# Page 591
+# INPUT CONSISTS OF
+#
+# (A) VECTOR OF ANGULAR INCREMENTS, DTHETASM, STORED
+# IN V(DTHETASM).
+# (B) SIN,COS CDUX,Y,Z FROM SUBR CDUTRIG.
+#
+# TRANSFER OUTPUT OF SMCDURES FROM V(DCDU) TO VAC14D.
+#
+# (12) CALCULATE ANG LOS RATE IN BODY(NB) COORDS USING SUBR SMNB.
+#
+# OMEGANB = (SMNB)(OMETATHSM)
+#
+# SUBR SMNB REQUIRES OMEGATHSM IN V(VAC32D) AND ACTUAL CDUS
+# (Y,X,Z ORDER) IN V(VAC20D) WITH S1 OF VAC = BASE ADDRESS
+# OF CDUS (FIXLOC + 20D).
+#
+# (13) CALCULATE ANG LOS RATE IN CONTROL COORDS AS FOLLOWS
+#
+# WBODY = (MBDYTCTL)(OMEGANB) UNITS=REVS/SEC(B0) (?).
+#
+# ( 0.5 0 0 ) BODY TO
+# MBDYTCTL(B1) = ( 0 COS(7.25)B1 -SIN(7.25)B1 ) = CONTROL
+# ( 0 SIN(7.25)B1 COS(7.25)B1 ) AXES
+# CONVERSION
+# MATRIX
+#
+# (14) RESCALE WBODY TO UNITS OF 460 DEG/SEC BY APPLYING FACTOR
+# OF 0.8 TO REVS/SEC.
+#
+# (15) ADDRESS LIVE AUTOPILOT REGISTERS IN BASIC (UNDER INHINT).
+#
+# TRANSFER DESIRED CDUS, SCALED 180 DEGREES, FROM T(SAVEDCDU)
+# TO V(CDUXD).
+#
+# TRANSFER DELCDUS, SCALED 180 DEG, FROM V(VAC14D)
+# TO V(DELCDUX).
+#
+# TRANSFER OMEGA CONTROL, SCALED 450 DEG/SEC, FROM V(MPAC)
+# TO V(WBODY).
+#
+# RELINT, SET MPAC=0, EXIT CRS61.1.
+#
+# CALL: L CALL CRS61.1
+#
+# RETURNS: ALL TO L+1.
+#
+# (1) S(MPAC)=0. NORMAL EXIT. 3 SETS OF INPUTS FED TO DAP.
+# (2) S(MPAC)=1. CALCULATED DESIRED CDUS,SP, SET IN T(CPHI)
+# FOR KALCMANU. ABS(ACDU - DCDU) EXCEEDS 10 DEGREES.
+# (3) S(MPAC)=2. GNCS AUTO MODE NOT SELECTED (BIT10=1).
+# (4) S(MPAC)=3. DAP HOLD FLAG (HOLDFLAG) NOT EQUAL -1.
+# Page 592
+#
+# INPUT: (1) TIME2,TIME1. COMPUTER CLOCK TIME,DP, CENTISEC B28.
+# (2) CDUX,Y,Z. PRESENT CDU ANGLES,SP,2S COMPL HALF-REVS B0.
+# (3) M(REFSMMAT), STABLE MEMBER COORDS B1.
+#
+# OUTPUT: NORMAL. EXIT WITH S(MPAC) = 0.
+#
+# (1) CDUXD,CDUYD,CDUZD, DESIRED OUTER, INNER, MIDDLE CDU ANGLES,
+# DP, IS COMPL, SCALED 180 DEGREES (HALF-REVS B0).
+# (2) DELCDUX,DELCDUY,DELCDUZ. 0.1 SEC DCU ANGULAR INCREMENTS,
+# DP, IS COMPL, SCALED 180 DEG.
+# (3) WBODY,WBODY1,WBODY2. LOS ANGULAR RATE IN CONTROL COORDS,
+# DP, IS COMPL, SCALED 450 DEG/SEC.
+#
+# SPECIAL. EXIT WITH S(MPAC) = 1.
+#
+# (1) CPHI,CTHETA,CPSI. DESIRED OUTER, INNER, MIDDLE CDU ANGLES,
+# SP, 2'S COMPL, SCALED 180 DEGREES.
+#
+# EXTERNAL SUBROUTINES USED (B)=BASIC
+#
+# (1) CALCGA (5) LOADTIME(B) (9) SMNB
+# (2) CDUTRIG (6) MATMOVE
+# (3) CSMCONIC (7) RCDUS(B)
+# (4) LEMCONIC (8) SMCDURES
+#
+# ERASABLE
+#
+# (1) S(Q611),EBANK7 CRS61.1 EXIT.
+# (2) S(Q6111),EBANK7 CALCDCDU EXIT.
+# (3) T(SAVEDCDU),E6 SP VECTOR OF CDUDS.
+# (4) V(SAVEPOS),E7 CSM POS VEC AND D(SAVEPOS)= LENGTH OF LOS.
+# (5) V(SAVEVEL),E7 CSM VEL VEC.
+#
+# FLAGWDS: HOLDFLAG. USED, NOT SET.
+#
+# MISC: (1) ERASABLE ITEMP1 USED TO TEMP STORE EBANK UNDER INHINT.
+# (2) ERASABLE P21TIME USED AS TEMP STORE DURING CRS61.1
+# (3) ERAS DTHETASM USED AS TEMP STORE DURING EARLY CRS61.1
+#
+# DEBRIS -- CURRENT VAC AREA, CRS61.1 ERASABLES, ITEMP1, P21TIME
+
+ BANK 24
+ SETLOC P20S4
+ BANK
+
+ EBANK= CDUXD
+ COUNT* $/CRS61
+
+CRS61.1 STQ SETPD
+ Q611
+ 0
+ RTB
+# Page 593
+ LOADTIME # LOAD CLOCK TIME2,1 INTO MPAC.
+
+STORT STCALL P21TIME # STORE CLOCK TIME FOR SUBR R63
+ R63 # SUBR TO CALC DCDU (T=PRESENT,PASS1)
+ TLOAD
+ THETAD # SAVE DCDU(T) FROM CALCDCDU FOR STEP4.
+ STORE SAVEDCDU
+
+ EXIT
+ TC STEP2CK
+AUTOCK CAF PRIO30
+ EXTEND
+ RXOR CHAN31
+ MASK FURST3
+ EXTEND # AUTO MODE SELECTED (BITS 15-13=011)
+ BZF DAPCK # YES -- CONTINUE.
+ TC ASET
+
+DAPCK CS FLAGWRD1 # IS STIKFLAG SET (I.E., IS SOMEONE ON RHC)
+ MASK STIKBIT
+ CCS A
+ TC STEP3CK
+ASET CAF ZERO
+ TS MPAC
+ TC INTPRET # EXIT CRS61.1
+ GOTO
+ Q611
+
+STEP2CK TC BANKCALL
+ CADR UPACTOFF
+
+ CAF TWO # SET TEMPORARY INDEX DTHETASM = 2
+CDULOOP TS DTHETASM
+ INDEX DTHETASM
+ CA CDUX # SET A = ACTUAL CDU (ACDU).
+ EXTEND
+ INDEX DTHETASM # SET INDEX TO ACCESS DESIRED CDU (DCDU).
+ MSU THETAD # A = DIFF = ACDU - DCDU.
+ TS MPAC # RETURN TO INTERPRETER FOR 10 DEGREE CK.
+ TC INTPRET # (DP APPROX SP OK FOR ROUGH CHECK)
+ ABS DSU
+ DEGREE10 # IS (ACDU - DCDU) MORE THAN 10 DEGREES.
+ BPL EXIT # NO -- OK, CONTINUE CHECKING OTHER ANGLES.
+ STKTEST # TEST STICK FLAG
+ CCS DTHETASM # HAVE ALL 3 ANGLE DIFFS BEEN CHECKED.
+ TC CDULOOP # NO -- DIM COUNT, CHECK NEXT ANGLE DIFF.
+ TC AUTOCK
+STKTEST EXIT
+ CS FLAGWRD1
+ MASK STIKBIT
+# Page 594
+ CCS A
+ TC MANUEXIS # STIKFLAG IS NOT SET (DO R63)
+ CAF BIT3
+ EXTEND # STIKFLG IS SET
+ WOR DSALMOUT # TURN ON UPACTY LIGHT
+
+ TC ASET # EXIT AND SET R61CNTR
+STEP3CK TC INTPRET
+ SETPD
+ 0 # *
+ # NOW HAVE DCDUS STORED IN T(SAVEDCDU).
+ # GO CALC OTHER DAP INPUTS (DELCDU,WBODY)
+CRS61.2 VLOAD VSU
+ DCDU
+ SAVEVEL # DV = VL - VC
+ UNIT VCOMP # V(MPAC)=-UNITDV. VAC36D=ABSDV.
+ VXV VXSC # (-UNITDV)CROSS(UNITLOS).
+ SAVEPOS
+ RVCS/RDS # (UNITLOS B1)(UNITDV B1)(CONST B4)=CROSS.
+ PUSH # HOLD CROSS IN PUSHLIST0. SCALED B6.
+ DLOAD NORM # OBTAIN ABS VALUE OF LOS.
+ P21TIME # P21TIME IS TEMP STORE FOR ABSLOS.
+ X1
+ PUSH # NORM ABSLOS(DENOM) AND HOLD IN PUSH1.
+
+ DLOAD NORM
+ 36D # NORM ABS VALUE OF DV(NUM).
+ S1
+
+ XSU,1 SR1 # X1 = X1(N DENOM)-S1(N NUM).
+ S1 # SR1 TO AVOID OFLOW ON DOV.
+ DDV VXSC # ABSDV(MPAC)/ABSLOS(PUSH1) = QUOT.
+ SXA,1 # QUOT(MPAC) X CROSS(PUSH0)
+ Q6111 # SAVE SCALE OF RESULT (R-15,1X).
+ # X1= NORM OF QUOT. QTUOT SCALE B7-B29=B-22
+ # CROSS IS SCALED B6. NEED SL1 TO RECOVER
+ # SR1 SO THAT -22+6+1=-15. MPAC NOW HOLDS
+ # ORTHO LOS RATE (OMEGA TH, B-15,X1).
+ MXV VSL1 # OBTAIN RATE IN SM COORDS (OMEGTHSM) AND
+ REFSMMAT # ADJUST FOR REFSMMAT SCALE OF B1.
+ STORE 20D # OMEGTHSM = VAC20D
+ # DELTA THETA SM = OMEGTHSM * .1B-3.
+ VXSC
+ TENTH
+ STORE DTHETASM # STORE SM INCREM ANGLES FOR SMCDURES.
+ CALL
+ CDUTRIG # OBTAIN SIN,COSCDUS FOR SMCDURES.
+ SETPD CALL # SMCDURES USES PUSH
+ 0
+ SMCDURES # OBTAIN DELCDU IN V(DCDU).
+# Page 595
+ LXA,1 # RELOAD X1
+ Q6111
+ VLOAD VSL* # RECOVER SCALE.
+ DCDU # (B-15,X1) + TENTH(B-3) + HALFREVS(B1)
+ 0 -17D,1 # EQUALS B-17D,1 TO OBTAIN HALFREVS B0.
+ STORE 14D # HOLD DELS IN V(VAC14D) FOR AUTOPILOT.
+
+ CALL # COMPUTES SINES AND COSINES FOR *SMNB*
+ CDUTRIG
+ VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
+ 20D # VECTOR FOR TRG*SMNB INTO MPAC
+ *SMNB* # OBTAIN ANG. RATE REFERRED TO NB (BODY)
+ MXV
+ MBDYTCTL # CONVERT RATE(OMEGA) TO CONTROL COORDS.
+ VXSC # MULT. BY 0.8 TO RESCALE REVS TO 450 DEG.
+ POINT8 # RECOVER SCALE.
+ LXA,1 VSL* # RELOAD X1 TO RECOVER NORMALIZ.
+ Q6111 # (B-15,X1) + MBDYTCTL(B1) = B-14D,1 TO
+ 0 -14D,1 # OBTAIN REVS SCALED AT 450 DEGREES.
+
+CRS61.2A EXIT
+ INHINT
+ CAF ZERO # TRANSFER DESIRED GIMBAL ANGLES
+ TS CDUXD +1 # FROM T(SAVEDCDU) TO V(CDUXD).
+ TS CDUYD +1
+ TS CDUZD +1
+ CA SAVEDCDU
+ TS CDUXD
+ CA SAVEDCDU +1
+ TS CDUYD
+ CA SAVEDCDU +2
+ TS CDUZD
+
+ EXTEND # TRANSFER OMEGA CONTROL (ANG. LOS RATE)
+ DCA MPAC # FROM V(MPAC) TO V(WBODY)
+ DXCH WBODY
+ EXTEND
+ DCA MPAC +3
+ DXCH WBODY1
+ EXTEND
+ DCA MPAC +5
+ DXCH WBODY2
+
+ EXTEND # TRANSFER CDU INCREMENTS
+ INDEX FIXLOC # FROM V(VAC14D) TO V(DELCDUX)
+ DCA 14D
+ DXCH DELCDUX
+ EXTEND
+ INDEX FIXLOC
+ DCA 16D
+# Page 596
+ DXCH DELCDUY
+ EXTEND
+ INDEX FIXLOC
+ DCA 18D
+ DXCH DELCDUZ
+ CS ONE # NOW DAP VARIABLES LOADED. SET HOLDFLAG.
+ TS HOLDFLAG # TO -1.
+ RELINT
+ TC ASET
+MANUEXIS TC INTPRET
+MANUEXIT TLOAD # ENTER FROM STEP2. ACDU-DCDU EXCEEDS
+ SAVEDCDU # 10 DEG. STORE DCDU(T) IN CPHI,CTHETA,
+ STORE CPHI # CPSI FOR KALCMANU.
+ SLOAD GOTO # SPECIAL RETURN (MPAC+0 = 1)
+ LOONE # OCTAL 00001
+ Q611
+
+R63 STQ DLOAD # SUBR TO CALC DCDUS(T)
+ Q6111
+ P21TIME
+ STCALL TDEC1
+ CSMCONIC
+HOLDATT VLOAD # HOLD EXTRAPOLATED CSM POSITION AND
+ RATT # VELOCITY
+ STOVL SAVEPOS
+ VATT
+ STORE SAVEVEL
+CALCLEM DLOAD # EXTRAPOLATE LEM STATE VECTOR TO SAVE
+ P21TIME # TIME AS CSM USING LEMCONIC
+ STCALL TDEC1
+ LEMCONIC
+ VLOAD
+ VATT
+ STOVL DCDU # STORE VATT IN DCDU TEMPORARILY
+ RATT # LOS = RL RC
+ VSU UNIT
+ SAVEPOS
+ STORE SAVEPOS # SAVE UNITLOS FOR CRS61.2 RATE CALC.
+ MXV VSL1
+ REFSMMAT # CONVERT TO STABLE MEMBER
+ STODL POINTVSM
+ 36D # HOLD ABS VAL OF LOS (VAC 36D)
+ STORE P21TIME # IN D(P21TIME) FOR CRS61.2 RATE CALC.
+ VLOAD
+ UNITX
+ STCALL SCAXIS # TRACK AXIS UNIT VECTOR
+ VECPOINT # FOR +X-AXIS TRACKING ATTITUDE
+ STORE CPHIX # STORE ANGLES FOR N96 DISPLAY
+ VLOAD
+ PRFUNIT
+# Page 597
+ STCALL SCAXIS
+ VECPOINT
+ STORE PRAXIS # STORE ANGLES FOR N95 DISPLAY
+ BOFF
+ PRFTRKAT
+ CRSTOR1
+CRSTOR STORE THETAD # STORE ANGLES FOR N18 DISPLAY
+ GOTO
+ Q6111
+CRSTOR1 VLOAD
+ UNITX
+ STORE SCAXIS
+ TLOAD GOTO
+ CPHIX
+ CRSTOR
+PRFUNIT 2DEC .40957602 # 55 DEG TRACK AXIS UNIT VECTOR
+
+ 2DEC 0.0 # FOR USE WITH VECPOINT
+
+ 2DEC .28678822
+
+DEGREE10 DEC .05556 # 10 DEG IN REVS STEP2
+RVCS/RDS 2DEC 15.915494 B-4 # 100/2PI REV-CSEC/RAD-SEC.
+
+TENTH 2DEC .1 B+3 # .1 B-3 (TO SCALE ANG. RATE TO .1 INREMS)
+
+MAT1B1 2DEC 1.0 B-1
+
+MBDYTCTL 2DEC .5 # 7.25 DEG NEGATIVE
+
+ 2DEC 0 # X-AXIS ROTATION MATRIX
+
+ 2DEC 0 # CONVERTS BODY TO CTL
+
+ 2DEC 0 # AXES. CAME AS QUADROT
+
+ 2DEC .99200495 B-1 # COS7.25 B1 BUT SCALED B
+
+ 2DEC -.12619897 B-1 # -SIN7.25 B1
+
+ 2DEC 0
+
+ 2DEC .12619897 B-1 # SIN7.25 B1
+
+ 2DEC .99200495 B-1 # COS7.25 B1
+
+LOONE OCT 00001 # TO SET MPAC = 00001 FOR SPECIAL EXIT.
+FURST3 EQUALS 13,14,15 # CONSTANT FOR AUTOCK (OCT 70000).
+
+# Page 598
+# ..... S22.1 ORBITAL NAVIGATION ROUTINE
+# MOD 1
+#
+# FUNCTONAL DESCRIPTION
+# 1. UPDATE CSM STATE VECTOR
+# 2. UPDATE LANDMARK POSITION
+# 3. CONVERT W MATRIX FROM 9 TO 6 DIMENSIONS
+#
+# SUBROUTINES CALLED
+# INTSTALL,INTEGRV,GETNUM,SETRE,R-TO-TP,RP-TO-R,BVECTORS,INCORP1,INCORP2
+# LALOTORV,S22F2410,LAT-LONG,ROWDOT
+#
+# ERASABLE INITIALIZATION
+# W=9X9 MATRIX
+# ORBWFLAG=0 FOR INVALID W MATRIX, =1 FOR VALID W MATRIX
+# ASTRONAUT ENTRY OF KNOWN,L,OFF
+# 8NN= NUMBER OF MARKS, DECIMAL INTEGER B-14
+# REFSMMAT= TRANSFORMATION MATRIX
+# MARKSTAT= ADDRESS OF START OF MARK DATA (MARK DATA OF EACH MARK IS
+# STORED AS FOLLOWS: TIME,AIG,SA,AMG,PA,AOG) TIME IS IN DOUBLE
+# PRECISION, ALL OTHERS ARE IN SINGLE PRECISION
+# CSM STATE VECTOR
+#
+# OUTPUT
+# UPDATED CSM STATE VECTOR
+# UPDATED LANDMARK POSITION
+# NEW 6 DIMENSIONAL W MATRIX
+#
+# DEBRIS
+# PUSH LIST,CSMPOS,ALPHAV,ERADM,UM,RCLP,USTAR,VARIANCE,X789,BVECTOR,8KK,
+# S22LOC,SVMRKDAT TABLE,22SUBSCL,LANDMARK,CXOFF,S22C,LAT,LOG,ALT,
+# TEMPOR1,S22TOFF,S221OFF,DSPTEM1,S22EORM,S22TPRIM
+
+ BANK 13
+
+ SETLOC P20S6
+ BANK
+
+ EBANK= LANDMARK
+ COUNT 35/LUORB
+
+S22.1 STQ SSP
+ S22RTNEX
+ S1
+ DEC 6
+ SSP SSP # SET I=1 ITEM 8KK IS I
+ 8KK
+ DEC 1
+ S22LOC
+ ECADR SVMRKDAT # SET MARK DATA ADDRESS INTO S22LOC
+# Page 599
+ LXC,2 AXT,1
+ MARKSTAT
+ DEC 36
+S22.111 VLOAD* # MOVE MARK DATA (5 SETS FROM ADDR. IN
+ 0,2 # MARKSTAT TO SVMRKDAT TABLE TO AVOID LOSS
+ STORE SVMRKDAT +36D,1 # IF RESTART OCCURS
+ INCR,2 TIX,1
+ DEC -6
+ S22.111
+ SET EXIT
+ P22MKFLG # DOWNLINKED SVMRKDAT HOLDS PRESENT MARKS
+ TC BANKCALL # RELEASE VAC AREA WHERE MARK DATA WAS
+ CADR MKRELEAS
+ TC 2PHSCHNG
+ OCT 00004
+ OCT 05022
+ OCT 13000
+ TC INTPRET
+ AXT,1 BOFF
+ 0D
+ CMOONFLG # =0 EARTH, =1 MOON
+ S22SHIFT
+ INCR,1
+ DEC -2
+S22SHIFT SXA,1 SETPD
+ S22EORM # SET =0 EARTH, =-2 MOON FOR SHIFTING
+ 0D
+FIG2EXIT CALL
+ INTSTALL
+ CALL
+ S22FLGS
+# FLOWCHART D=0 THEN DIM0FLAG=0, D6O9FLG NOT TESTED
+# FLOWCHART D=6 THEN DIM0FLAG=1, D60R9FLG=0
+# FLOWCHART D=9 THEN DIM0FLAG=1, D6OR9FLG=1
+
+ BOFF CLRGO
+ ORBWFLAG
+ SETWW5D # BRANCH TO SET W0-W5,ORBWFLAG,D
+ D6OR9FLG # FLOWCHART D=6 PATH
+ SETVANDI
+SETWW5D CLEAR
+ DIM0FLAG # FLOWCHART D=0 PATH
+ AXT,1 SSP
+ DEC 108
+ S1
+ DEC 6
+ CLEAR VLOAD
+ RENDWFLG # GSOP CHANGE 8/18/67
+ ZEROVECS
+CLEARWW5 STORE W +108D,1
+# Page 600
+ TIX,1 SLOAD
+ CLEARWW5
+ WORBPOS
+ STORE W # SET DIAGONALS OF W0
+ STORE W +8D
+ STORE W +16D
+ SLOAD
+ WORBVEL
+ STORE W +72D # SET DIAGONALS OF W4
+ STORE W +80D
+ STORE W +88D
+SETVANDI CLEAR
+ DMENFLG # 0=6X6W, 1=9X9W
+S22NXTIN CALL
+ GETTF
+ STCALL TDEC1
+ INTEGRV
+ CALL
+ S22CALRC # CALC. RC B-29 OR B-27 (CSMPOS)
+ LXA,1 SXA,1
+ S22LOC # SETUP ADDR. OF MARK DATA FOR GETUM SUBR.
+ MARKDATA
+ CALL # COMPUTE UM
+S2GETUM GETUM
+ STORE UM
+DMPINTEG SLOAD PUSH # TEST OFF=I
+ 8KK
+ SLOAD SR3 # CXOFF SCALED B-5, MUST MOVE TO B-14
+ CXOFF # BEFORE SUBT.
+ SR3 SR3
+ DSU
+ BHIZ BON
+ S22OFF=I # BRANCH HERE IF OFF=I
+ DMENFLG # 0=6X6W, 1=9X9W
+ S22D=9
+ CALL
+ GRP2PC
+ SET
+ ORBWFLAG
+ SET SET
+ DMENFLG # =0 ON FIRST PASS THRU HERE FOR D=0, OR 6
+ 22DSPFLG # =1 TO DISPLAY DR,DV ON FIRST PASS
+ SET BON
+ ERADFLAG # =1 TO COMPUTE FISCHER RADIUS
+ KNOWNFLG
+ S22BOX22
+ VLOAD UNIT # UNIT ALSO PUTS ABVAL(RC) IN 36D
+ CSMPOS
+ STORE ALPHAV # ALPHAV +4=SINL FOR SETRE
+ CLEAR BOFF
+# Page 601
+ LUNAFLAG
+ CMOONFLG
+ S22C=I
+ SET
+ LUNAFLAG
+S22C=I CALL # ERADM= R0 METERS B-29 BOTH EARTH/MOON
+ SETRE
+ CALL # COMPUTE RL FROM EQUATION 2.4.10
+ S22F2410 # STORED IN X789,MPAC B-27,B-29
+ BOFF VSR2 # SCALE RL B-29 FOR BOTH EARTH/MOON
+ CMOONFLG
+ +1
+ STORE S22RL
+ DOT SL1
+ UM
+ STOVL S22D # D=UM RL B-29
+ ZEROVECS
+ SETPD PUSH
+ 0D
+ PUSH PDDL # SET 0-18D = I BACKWARDS
+ HIDPHALF # PD 18
+ SR2 # B-3
+ STORE 4D
+ STORE 8D
+ STOVL 12D
+ UM # B-1
+ STOVL S223X1
+ S22RL # B-29
+ CALL # (UM)(RL T) B-30 STORED IN S22UMRL THRU
+ S2231X13 # S22UMRL +17D
+ AXT,1 SSP
+ DEC 18
+ S1
+ DEC 6
+S22NXTU VLOAD* VSR2 # (UM)(RL T) B-32
+ S22UMRL +18D,1
+ V/SC
+ S22D # D B-29
+ BVSU STADR # SUBTRACT FROM I B-3
+ STORE S22UMRL +18D,1 # U MATRIX B-3
+ TIX,1 AXT,1 # PD 0 AFTER TIX
+ S22NXTU
+ DEC 36 # S1 STILL 6 FROM ABOVE
+S22NXTWI VLOAD* MXV
+ W +36D,1 # B-19
+ S22UMRL # B-3
+ VSL3
+ STORE W +144D,1 # W(I+18)= UW(I) B-19
+ TIX,1 DLOAD
+ S22NXTWI
+# Page 602
+ S22RHO # B-28,B-30
+ BOFF SR2 # MAKE RHO B-30
+ CMOONFLG
+ +1
+ NORM XAD,2
+ X2
+ X2
+ DSQ DMP
+ SCTVAR # B+16
+ SR1 # ACCOUNTS FOR 1/2 IN NEXT FORMULA
+ STORE S22RHO # 1/2(RHO SQ)(VARSCT)
+ AXT,1
+ DEC 18 # S1 STILL 6 FROM ABOVE
+S22NXXA VLOAD* MXV
+ S22UMRL +18D,1 # B-3
+ S22UMRL # B-3
+ VXSC VSR*
+ S22RHO
+ 0 -12D,2 # WITH VARRP SCALED B-28
+ STORE S22UUT +18D,1 # 1/2(RHO SQ)(VARSCT)(U)(U T)
+ TIX,1 VLOAD
+ S22NXXA
+ UM
+ STCALL S223X1 # UM ALSO IN MPAC FOR S2231X13 SUBR.
+ S2231X13 # (UM)(UM T) B-2 IN S22UMRL,P17D
+ DLOAD SR3
+ ERADM # B0 B-29
+ DDV DSQ
+ S22D # B-29
+ DMP
+ RPVAR # ***** METERS SQ
+ STORE S22RHO # TEMP (VARRP)(R0/D)
+ AXT,1
+ DEC 18 # S1 STILL 6 FROM ABOVE
+S22NXXB VLOAD* VXSC
+ S22UMRL +18D,1 # (UM)(UM T) B-2
+ S22RHO
+ VAD*
+ S22UUT +18D,1
+ STORE S22UUT +18D,1 # SMALL E MATRIX
+ VLOAD
+ ZEROVECS
+ STORE W +162D,1 # CLEAR W8
+ TIX,1 BOV
+ S22NXXB
+ +1
+ DLOAD BMN
+ S22UUT +16D # E5
+ S22W76X
+ SQRT BZE
+# Page 603
+ S22W76X
+ STODL W +148D # W74= SQ ROOT E5
+ S22UUT +14D # E4
+ DDV BOV
+ W +148D
+ S22W72X
+ STORE W +146D # W73= E4/W74
+S22W72X DLOAD DDV
+ S22UUT +12D # E3
+ W +148D
+ BOV
+ S22W76X
+ STORE W +144D # W72= E4/W74
+S22W76X DLOAD DSQ
+ W +146D # W73
+ BDSU BMN
+ S22UUT +8D # E2
+ S22W78X
+ SQRT BZE
+ S22W78X
+ STODL W +152D # W76= SQ ROOT (E2-W73 SQ)
+ W +144D # W72
+ DMP BDSU
+ W +146D # W73
+ S22UUT +6D # E1
+ DDV BOV
+ W +152D # W76
+ S22W78X
+ STORE W +150D # W75= (E1-W72W73)/W76
+S22W78X DLOAD DSQ
+ W +150D
+ PDDL DSQ
+ W +144D # W72
+ DAD
+ BDSU BMN
+ S22UUT # E0
+ S22SCLW
+ SQRT
+ STORE W +156D # W78= SQ RT(E0-W72 SQ-W75 SQ)
+S22SCLW VLOAD VSR1 # SCALE W6 METERS B-19
+ W +144D
+ STOVL W +144D
+ W +150D
+ VSR1
+ STOVL W +150D
+ W +156D
+ VSR1
+ STORE W +156D
+S22SAVET CALL
+ GETTF
+# Page 604
+ STORE S22TPRIM # SAVE PRESENT TIME FOR PIOS
+S22I=N EXIT # TEST I=N
+ TC PHASCHNG
+ OCT 04022
+ CS 8KK
+ AD 8NN
+ EXTEND
+ BZMF S22F244X # EXIT TO FIGURE 2.4-4
+ CA 8KK # I=I+1
+ AD ONE
+ TS TEMPOR1
+ CA S22LOC # ADD 7 TO LOC TO GET ADDR. OF NEXT MARK
+ AD SEVEN
+ TS TEMPOR1 +1
+ TC PHASCHNG
+ OCT 04022
+ CA TEMPOR1
+ TS 8KK
+ CA TEMPOR1 +1
+ TS S22LOC
+ TC INTPRET
+ CALL # FOR ALL INTEGRATIONS OTHER THAN FIRST
+S2INTS1 INTSTALL
+ CALL
+ S22FLGS
+ BON CLEAR
+ DMENFLG
+ S22NXTIN # RETURN ALWAYS EXCEPT OFFSET POINT MARK 1
+ DIM0FLAG
+ BOFF SET
+ ORBWFLAG
+ S22NXTIN # OFFSET POINT MARK 1, NO W INTEGRATION
+ DIM0FLAG
+ CLRGO
+ D6OR9FLG
+ S22NXTIN # OFFSET POINT MARK 1, INTEGRATE W 6X6
+S22OFF=I CALL
+ GETTF
+ STOVL S22TOFF # TIME SUB OFF
+ UM
+ STCALL S22UOFF # U SUB OFF
+ S22I=N # TEST I=N
+S22D=9 VLOAD # D=9 PATH
+ X789
+ STODL 0D # CALL PIOS TWICE TO TRANSFORM RL TO TIME
+ S22TPRIM # T(SUB F) FROM TIME T PRIME
+ STORE 6D
+ SLOAD CALL
+ S22EORM # 0=EARTH, NON-ZERO=MOON
+S2RTRP R-TO-RP
+# Page 605
+ PUSH CALL # R-TO-RP LEAVES PUSHLOC AT 0
+ GETTF
+ STORE 6D
+ SLOAD CALL
+ S22EORM
+S2RPTR RP-TO-R
+S22BOX32 STORE X789
+ SET BOV
+ INCORFLG # FLAG=1
+ +1 # CLEAR OVERFLOW
+ VSU
+ CSMPOS
+ STORE RCLP # RCL=RL-RC
+ UNIT VXV # USTAR=UNIT(UNIT(RCL)XUM)
+ UM
+ UNIT BOV
+ S22SAVET # COMPUTATION OVERFLOW, SAVE TF
+ STORE USTAR
+S22BOX12 SET SET
+ DMENFLG # =1 FOR 9X9 W
+ VEHUPFLG # =1 FOR CSM
+ DLOAD DAD
+ SCTVAR # B+18
+ IMUVARR # B+18
+ STOVL VARIANCE
+ RCLP # B-29 OR B-27
+ ABVAL NORM
+ X1
+ DSQ DMP
+ VARIANCE
+ XAD,1 XAD,1
+ X1 # DOUBLE NORM SHIFT SINCE RCLP WAS SQUARED
+ S22EORM # DOUBLE EARTH OR MOON SHIFT, SAME REASON
+ XAD,1 SR*
+ S22EORM
+ 0,1 # SCALE VARIANCE B-40 FOR BOTH EARTH, MOON
+ TLOAD # CHANGE MODE TO TRIPLE
+ MPAC
+ STCALL VARIANCE # CALC B0,B1,DELTAQ, NEW USTAR
+S2BVTRS BVECTORS
+ VLOAD VCOMP
+ BVECTOR
+ STCALL BVECTOR +12D # B2=-B0
+S2INCP1 INCORP1
+ CALL
+ GRP2PC
+ BOFF CLEAR
+ 22DSPFLG # =1 DISPLAY DELTA R,V =0 DO NOT
+ S22BOX42
+ 22DSPFLG
+# Page 606
+ CALL
+ GRP2PC
+ VLOAD ABVAL
+ DELTAX # DELTA R
+ LXA,1 SR*
+ S22EORM # SCALE DELTA R ALWAYS METERS B-29
+ 0,1
+ STOVL N49DISP
+ DELTAX +6 # DELTA V
+ ABVAL SR* # DELTA V=METERS/CSEC B-7 ALWAYS
+ 0,1
+ STORE N49DISP +2
+ EXIT
+ CAF V06N49EE
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H # V34E TERMINATE
+ TC +5 # INCORPORATE CHANGES
+ TC S22EXEX # V32E RECYCLE
+ CAF BIT3
+ TC BLANKET
+ TC ENDOFJOB
+ TC INTPRET
+S22BOX42 CALL
+ INCORP2
+ CALL # CSMPOS=RC B-29 OR B-27
+ S22CALRC
+DMPINCP2 BOFF CALL
+ INCORFLG
+ S22SAVET # SAVE TF AND TEST I=N
+ GRP2PC
+ CLEAR VLOAD
+ INCORFLG # FLAG=0
+ X789
+ VSU
+ CSMPOS
+ STCALL RCLP # RCL=RL-RC
+ S22BOX12
+S22BOX22 AXT,1 SSP # CLEAR W6,W7,W8. (27 ELEMENTS 54 REGS)
+ DEC 54
+ S1
+ DEC 6
+ VLOAD
+ ZEROVECS
+CLRW678 STORE W +162D,1
+ TIX,1 SLOAD
+ CLRW678
+ S22WSUBL
+ STORE W +144D
+ STORE W +152D
+# Page 607
+ STORE W +160D
+ CLEAR BOFF # SET LUNAFLAG, TIME FOR LALOTORV
+ LUNAFLAG # ERADFLAG,LAT,LONG,ALT SET PREVIOUSLY
+ CMOONFLG # CHECK SCALING OF ITEMS,ALT INPUT AND
+ S22BX22A # RL OUTPUT IN ALPHAV BOTH B-29
+ SET
+ LUNAFLAG
+S22BX22A CALL
+ GETTF
+ CALL # COMPUTE RL
+ LALOTORV
+ VLOAD BOFF
+ ALPHAV # RL B-29
+ CMOONFLG
+ S22BX22B
+ VSL2 # SCALE RL B-27 FOR MOON
+S22BX22B GOTO
+ S22BOX32
+S22F244X TC INTPRET
+S22F244 SLOAD BHIZ # FIG 2.4-4 TEST OFF=0
+ CXOFF
+ S22BOX44
+ SR # SCALE OFFSET B-14 THEN GET GR. 8NN
+ 9D
+ STORE ALPHAV # TEMP
+ SLOAD DSU
+ 8NN
+ ALPHAV
+ BMN CALL # OFFSET GR. NO. MARKS. FORGET IT
+ S22BOX44
+ GRP2PC # GROUP 2 PHASE CHANGE
+ DLOAD
+ S22TOFF
+ STCALL TDEC1 # CALC RC AT OFFSET TIME
+ CSMPREC
+ VLOAD
+ RATT1 # RC METERS B-29 OR B-27
+ STOVL CSMPOS
+ S22UOFF
+ STOVL UM # U=UOFF
+ X789
+ ABVAL BOFF
+ CMOONFLG
+ +2
+ SR2 # SCALE MOON R0 B-29 FOR S22F2410 SUBR
+ STCALL ERADM
+ S22F2410
+ GOTO
+ S22BX44A
+S22BOX44 CALL
+# Page 608
+ GETTF
+ STORE S22TOFF # PRESENT TIME FOR LAT-LONG SETUP
+S22BX44A CLEAR VLOAD
+ LUNAFLAG
+ X789
+ BOFF SET
+ CMOONFLG
+ S22BX44B
+ LUNAFLAG # SET = 1 FOR LAT-LONG
+ VSR2 # SCALE RL MOON B-29 FOR LAT-LONG
+S22BX44B STODL ALPHAV # RL SCALED B-29 FOR LAT-LONG
+ S22TOFF # EITHER PRESENT OR OFFSET TIME
+ CALL
+ LAT-LONG # **** ALT OUTPUT ALWAYS B-29
+ CALL # DISPLAY LAT/LONG/ALT
+ LLASRD
+ EXIT
+ CAF V06N89B
+ TC BANKCALL
+ CADR GOFLASH
+ TC S22GTP # V34E TERMINATE
+ TC +2 # PROCEED SAVE LANDING SITE COORD
+ TC S22.981X # RECYCLE POINT A IN GSOP
+ TC INTPRET
+ DLOAD
+ S22TOFF # EITHER PRESENT OR OFFSET TIME
+ STOVL 6D # 6-7D= LANDING SITE TIME FOR R-TO-RP
+ X789
+ STORE 0D # 0-5D= LANDING SITE VEC FOR R-TO-RP
+ SLOAD CALL
+ HIDPHALF # ANY NON-ZERO FOR MOON
+ R-TO-RP # CONVERT RLS TO MOON-FIXED COORD
+ STORE RLS # LANDING SITE VECTOR
+ EXIT
+S22.981X TC INTPRET
+ CALL
+ 9DWTO6DW
+ EXIT # GO TO POINT A IN CHAPTER 5
+S22EXEX TC INTPRET # WITHOUT CONVERTING W
+ GOTO
+ S22RTNEX
+
+S22GTP TC INTPRET # CONVERT W BEFORE TC GOTOP00H
+ CALL
+ 9DWTO6DW
+ EXIT
+ TC GOTOP00H
+S22F2410 SETPD VLOAD # COMPUTE FORMULA 2.4.10
+ 0D
+ CSMPOS # RC B-29 EARTH, B-27 MOON
+# Page 609
+ UNIT DOT # UNIT ALSO SETS 36D=ABVAL(RC) USED BELOW
+ UM
+ SL1 DCOMP # GSOP CHANGE 8/18/67
+ PUSH # PD 2D 8D=COSA=-(UM.RC)/ABVAL(RC) B-1
+ DSQ BDSU
+ DEC1B2
+ PDDL BOFF # PD 4D 2D=1-COSA SQ=SINA SQ B-2
+ ERADM # R0 ALWAYS B-29 FROM SETRE
+ CMOONFLG
+ +2
+ SL2 # SCALE R0 B-27 FOR MOON
+ SR1R DDV # (R0/RC) B-1
+ 36D
+ DSQ DSU # PD 2D (RP/RC) SQ - SINA SQ B-2
+ SQRT BDSU # PD 0D COSA-SQRT((R0/RC)SQ-SINA SQ) B-1
+ DMP # DMP RESULT B-28 MOON, B-30 EARTH
+ 36D # VXSC RESULT B-29 MOON, B-31 EARTH
+ STORE S22RHO # RHO FOR W INIT. OF UNKNOWN LMK B-28,B-30
+ VXSC
+ UM
+ VSL2 VAD # SCALE B-27 MOON, B-29 EARTH AND ADD RC
+ CSMPOS
+ STORE X789
+ RVQ # B-27 FOR EARTH OR B-29 FOR MOON
+S22CALRC LXA,1 VLOAD # COMPUTE RC B-29 OR B-27
+ S22EORM # =0 FOR EARTH, -2 FOR MOON
+ DELTACSM
+ VSR* VAD
+ 7,1
+ RCVCSM
+ STORE CSMPOS
+ RVQ
+ SETLOC P22S
+ BANK
+
+S2231X13 STORE S221X3 # MULT 3X1 BY 1X3, STORE RESULTING 3X3 IN
+ SSP AXT,2 # S22UMRL - S22UMRL+17D
+ S2
+ DEC 2
+ DEC 6
+ AXT,1
+ DEC 18
+S2231NXT VLOAD VXSC*
+ S221X3
+ S223X1 +6,2
+ STORE S22UMRL +18D,1
+ INCR,1 TIX,2
+ DEC -6
+ S2231NXT
+ RVQ
+# Page 610
+GETTF LXC,1 DLOAD* # SET MPAC= TF
+ S22LOC
+ 0,1
+ RVQ
+S22FLGS SET SET # INTEGRATION FLAGS
+ DIM0FLAG
+ D6OR9FLG
+ SET SET
+ VINTFLAG
+ STATEFLG
+ CLEAR RVQ
+ INTYPFLG
+
+# SUBROUTINE TO MODIFY ALT AND STORE LAT TO LAT+5 IN LANDLAT TO LANDLAT+5
+# PRIOR TO DISPLAY.
+
+LLASRD DLOAD # ALT, LANDALT METERS B-29
+ ALT
+ STODL LANDALT
+ LONG
+ SR1
+ STORE LANDLONG
+ RVQ
+
+# SUBROUTINE TO MODIFY LANDALT AND STORE LANDALT TO LANDALT+5 IN LAT TO
+# LAT+5 AFTER LMK DATA LOADED BY ASTRONAUT.
+
+LLASRDA DLOAD # ALT, LANDALT METERS B-29
+ LANDALT
+ STODL ALT
+ LANDLONG
+ SL1
+ STORE LONG
+ RVQ
+ SETLOC P20S6
+ BANK
+
+9DWTO6DW STQ SETPD
+ 9DWXX
+ 0D
+ VLOAD PUSH # CLEAR WORKING AREA OF PUSHLIST
+ HI6ZEROS # INCLUDING P
+ PUSH PUSH # PD 18D
+ SSP
+ 9DWJ # J=29 USE 2*29 FOR DP WORDS
+ DEC 58
+9DWI=J LXA,1 SXA,1 # SET I=J
+ 9DWJ
+ 9DWI
+9DWEPCAL CALL
+# Page 611
+ ROWDOT
+ LXA,1 # P VARIES 0-20 INSTEAD OF 20-0
+ 9DWP
+ STORE EMATRIX +40D,1
+ INCR,1 SXA,1
+ DEC 2
+ 9DWP
+ SLOAD BHIZ # TEST I=0
+ 9DWI
+ 9DWTESTJ
+ DSU # I=I-1
+ 9DWID
+ STORE 9DWI
+ DSU BHIZ # TEST I=26
+ 9DW26D
+ 9DWSETI2
+ GOTO # NEXT E SUB P
+ 9DWEPCAL
+9DWSETI2 SSP GOTO # I=2
+ 9DWI
+ DEC 4
+ 9DWEPCAL
+9DWTESTJ SLOAD BHIZ # TEST J=0
+ 9DWJ
+ 9DWFIG6
+ DSU
+ 9DWID
+ STORE 9DWJ # J=J-1
+ DSU BHIZ # TEST J=26
+ 9DW26D
+ 9DWSETJ2
+ GOTO
+ 9DWI=J
+9DWSETJ2 SSP GOTO # SET J=2
+ 9DWJ
+ DEC 4
+ 9DWI=J
+9DWFIG6 CALL
+ GRP2PC
+ SSP VLOAD # START OF FIGURE 2.4-6
+ 9DWJ # J=29
+ DEC 58
+ HI6ZEROS
+ STORE 9DWP # P,N,I=0
+ AXT,1 SSP
+ DEC 108 # CLEAR W0 TO W54
+ S1
+ 6
+CLEARW54 STORE W +108D,1
+ TIX,1
+# Page 612
+ CLEARW54
+9DWI=JA LXA,1 SXA,1 # I=J
+ 9DWJ
+ 9DWI
+ CALL
+ ROWDOT
+ LXA,1 BDSU*
+ 9DWP
+ EMATRIX +40D,1
+ INCR,1 SXA,1 # -(P+1)
+ 2
+ 9DWP
+ LXC,1 XSU,1 # -(I+N)
+ 9DWI
+ 9DWN
+ BPL DLOAD # TEST WSQ LTE 0
+ 9DWAAA
+ HI6ZEROS # W=0
+ GOTO
+ 9DWAAB
+9DWAAA SQRT # W= SQRT(WSQ)
+9DWAAB STORE W,1
+ STODL WORKW
+ 9DWJ # TEST J=0
+ BHIZ
+ 9DWEXITX # EXIT
+TST2I=0 SLOAD BHIZ # TEST I=0
+ 9DWI
+ 9DWN=N+3
+ DSU
+ 9DWID
+ STORE 9DWI # I=I-1
+ DSU BHIZ # TEST I=26
+ 9DW26D
+ 9DWAAC
+ GOTO
+ 9DWNEXEP
+9DWAAC SSP # I=2
+ 9DWI
+ 4
+9DWNEXEP CALL
+ ROWDOT
+ LXA,1 BDSU* # (EP-ROWI*ROWJ)/W
+ 9DWP
+ EMATRIX +40D,1
+ DDV INCR,1 # P=P+1
+ WORKW
+ 2
+ SXA,1 LXC,1
+ 9DWP
+# Page 613
+ 9DWI
+ XSU,1 BOV # -(I+N)
+ 9DWN
+ SETWIN=0
+ GOTO
+ 9DWSETWX
+SETWIN=0 DLOAD # W(I+N)=0
+ HI6ZEROS
+9DWSETWX STORE W,1
+ GOTO
+ TST2I=0
+9DWN=N+3 LXA,1 INCR,1 # N=N+3
+ 9DWN
+ 6
+ SXA,1 SLOAD # J=J-1
+ 9DWN
+ 9DWJ
+ DSU
+ 9DWID
+ STORE 9DWJ
+ DSU BHIZ # TEST J=26
+ 9DW26D
+ SETJ=2A
+ GOTO
+ 9DWI=JA
+SETJ=2A SSP GOTO # J=2
+ 9DWJ
+ 4
+ 9DWI=JA
+9DWEXITX CALL
+ GRP2PC
+ AXT,1 SSP # CLEAR W6,W7,W8 USED TEMP FOR EMATRIX
+ DEC 54
+ S1
+ 6
+ VLOAD
+ HI6ZEROS
+9DWEXXXA STORE W +162D,1
+ TIX,1 GOTO
+ 9DWEXXXA
+ 9DWXX
+ROWDOT SSP BOV
+ XTMP1
+ OCT 377
+ +1
+ LXC,1 LXC,2
+ 9DWI
+ 9DWJ
+ DLOAD PUSH
+ HI6ZEROS
+# Page 614
+ROWDOT1 DLOAD* DMPR*
+ W,1
+ W,2
+ DAD PUSH
+ BOV INCR,1
+ ROWDOT3
+ DEC -6
+ INCR,2 SLOAD
+ DEC -6
+ XTMP1
+ BHIZ SR1
+ ROWDOT2
+ STORE XTMP1
+ GOTO
+ ROWDOT1
+ROWDOT2 DLOAD
+ RVQ
+ROWDOT3 CLRGO
+ ORBWFLAG
+ ROWDOT2
+WORKW = 0D
+XTMP1 = 6D
+9DWP = 8D # P
+9DWI = 10D # I
+9DWN = 12D # N
+9DWJ = 14D # J
+9DWXX = S22UOFF
+S22UMRL = BVECTOR # 18
+S22UUT = DELTAX # 18
+S223X1 = 18D # 6
+S221X3 = 24D # 6
+S22D = 30D # 2
+S22RHO = 32D # 2
+S22RL = W +156D # 6
+9DW26D 2DEC 52 B-14
+
+9DWID 2DEC 2 B-14
+
+SCTVAR 2DEC 1.0 E-6 B+18
+
+IMUVARR 2DEC 0.04 E-6 B+18
+
+DEC1B2 2DEC 1 B-2
+
+V06N49EE VN 00649
+V06N89B VN 00689
+S22UOFF = LEMPOS # 6 U SUB OFF
+ SETLOC P20S2
+ BANK
+# Page 615
+# Nothing on this page. --- RSB 2009.
+
+# Page 616
+# SUBROUTINE NAME: V89CALL
+# MOD NO: 0 DATE: 8 FEB 1968
+# MOD BY: DIGITAL DEVEL GROUP LOG SECTION: P20-P25
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
+# DISPLAYS FINAL GIMBAL ANGLES TO POINT CSM +X AXIS OR PREFERRED AXIS
+# (UNIT(Z)COS55 DEG + UNIT(X)SIN55 DEG) AT LM.
+#
+# 1. KEY IN V89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
+# EXIT R63, OTHERWISE CONTINUE.
+#
+# 2. IF IN P00, DO IMU STATUS CHECK (R02BOTH). IF IMU ON AND ITS
+# ORIENTATION KNOWN TO CGC, CONTINUE.
+#
+# 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
+# BE POINTED AT LM. INITIAL CHOICE IS PREFERRED AXIS. (R2=1).
+# ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT= 1) BY V22 E 2 E. CONTINUE
+# AFTER KEYING IN PROCEED.
+#
+# 4. SET PREFERRED ATTITUDE FLAG ACCORDING TO OPTION DESIRED. SET FLAG
+# FOR PREFERRED AXIS. RESET FLAG FOR X AXIS.
+#
+# 5. CURRENT TIME IS STORED AND R63COMP IS CALLED
+#
+# R63COMP JOB:
+#
+# UPDATE CSM AND LM STATE VECTORS USING CONIC EQUATIONS
+#
+# CALCULATES BOTH PREFERRED AND X AXIS TRACKING ATT FROM CSM TO LM.
+#
+# DESIRED GIMBAL ANGLES AS INDICATED BY PREFERRED ATTITUDE FLAG
+# ARE STORED FOR LATER R60CSM CALL.
+#
+# 6. FLASH DISPLAY V 06 N18 AND AWAIT RESPONSE.
+#
+# 7. RECYCLE: RETURN TO STEP 5.
+# TERMINATE: EXIT R63 ROUTINE
+# PROCEED: RESET 3AXISFLG AND CALL R60CSM FOR ATTITUDE MANEUVER.
+#
+# CALLING SEQUENCE: V 89 E
+#
+# SUBROUTINES CALLED: CHKP00H, R02BOTH, GOXDSPF, R63COMP, R60CSM
+#
+# ALARMS 1. OPERATOR ERROR IF NOT IN P00
+# 2. PROGRAM ALARM IF IMU IS OFF
+# 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN
+# Page 617
+#
+# ERASABLE INITIALIZATION REQUIRED: NONE
+#
+# DEBRIS: OPTION1, OPTION1+1, PRFTEXAT(PREF ATT FLAG), P21TIME, 3AXISFLG
+
+DP1MIN 2DEC 6000
+
+ EBANK= P21TIME
+ BANK 34
+ SETLOC P20S4
+ BANK
+ COUNT* $$/R63
+
+V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
+ CADR R02BOTH # KNOWN. ALARMS IF NOT.
+ CAF THREE # ALLOW ASTRONAUT TO SELECT DESURED
+ TS OPTION1 # TRACKING ATTITUDE AXIS
+ CAF ONE
+ TS OPTION1 +1
+ CAF VB04N06 # V 04 N 06
+ TC BANKCALL
+ CADR GOFLASH
+ TC ENDEXT # TERMINATE
+ TC +2 # PROCEED
+ TC -5 # DATA IN. OPTION1 +1 = 1 FOR PREF AXIS
+ # = 2 FOR X AXIS
+ CS OPTION1 +1 # 1 FOR PREF AXIS. 2 FOR X AXIS.
+ AD ONE
+ EXTEND
+ BZF SETPAF
+RSTPAF TC DOWNFLAG # RESET PREF ATT FLAG FOR R63COMP
+ ADRES RNGSCFLG # TO DO X AXIS. RESET BIT 10 FLAG 5
+V89RECL TC INTPRET
+ RTB DAD
+ LOADTIME # READ PRESENT TIME
+ DP1MIN # INTEGRATE TO 1 MIN FROM NOW
+ STCALL P21TIME # STORE TIME FOR CALL TO R63COMP. R63COMP
+ R63COMP # LEAVES DESIRED GIM ANGS IN THETAD, LOS IN
+ EXIT # POINTVSM, AND SELECTED AXIS IN SCAXIS.
+ CAF VB06N18 # V 06 N 18
+ TC BANKCALL # NOUN 18 REFERS TO THE DESIRED GIMBAL
+ CADR GOFLASH
+ TC ENDEXT # TERMINATE
+ TC +2 # PROCEED
+ TC V89RECL # RECYCLE
+ TC DOWNFLAG # RESET 3 AXIS FLAG
+ ADRES 3AXISFLG # RESET BIT 6 FLAG 5
+# Page 618
+ TC BANKCALL # PERFORMS CSM MANEUVER TO ALIGN SELECTED
+ CADR R60CSM # SPACECRAFT AXIS TO LOS.
+ TCF ENDEXT
+
+SETPAF TC UPFLAG # SET PREFERRED ATT FLAG FOR R63COMP
+ ADRES RNGSCFLG # TO DO PREF AXIS. SET BIT 10 FLAG 5.
+ TC V89RECL
+
+VB04N06 VN 0406
+VB06N18 VN 0618
+
+R63COMP EQUALS R63
+
+# Page 619
+# PROGRAM NAME: P23 CISLUNAR MIDCOURSE NAVIGATION
+# MOD NO:
+# MOD BY: TOM KNATT
+#
+# FUNCTIONAL DESCRIPTION: DO MIDCOURSE NAVIGATION BY INCORPORATION OF
+# STAR/EARTH AND STAR/MOON OPTICAL MEASUREMENTS.
+#
+# CALLING SEQUENCE: ASTRONAUT OPERATED
+#
+# SUBROUTINES CALLED: R52,R53,R57,R60,ORBITAL INTEGRATION (INTEGRV)
+# INCORP1,INCORP2,LALOTORV,LUNLMKLD, AND DISPLAY INTERFACE ROuTINES.
+#
+# N0RMAL EXIT MODES: VIA R00
+#
+# ALARMS: NONE
+#
+# ABORT MODES: NONE
+#
+# ERASABLE INITIALIZATION REQUIRED: PAD-LOADED ERASABLES, ORBWFLAG RESET,
+# REFSMFLG=0 IF IMU OFF AND REFSMFLG=1 IF IMU ONE
+#
+# INPUTS BY USER REQUIRED: STAR NUMBER, LANDMARK LAT, LONG/2, ALT OR ID NUMB.
+# IF LANDMARK IS USED, NEAR OR FAR HORIzON IF HORIZON IS USED, AND
+# BODY TO BE MARKED ON (EARTH OR MOON). SEE GSOP CHAPT 4.
+#
+# OUTPUT: UPDATED CMC STATE VECTOR. VECTOR FROM S/C TO HORIZON OR LANDMARK
+# IN POINTAXS. POINTAXS CAN BE USED TO GENERATE THIS VECTOR APART FROM
+# P23 IF DESIRED.
+#
+# DEBRIS: NO USABLE DEBRIS IS GENERATED. RENDWFLG IS RESET FOR P20 UPON
+# COMPLETION OF P23. RUPTREGS AND ERASABLES USED BY DISPLAYS ARE DEBRIS.
+
+ BANK 31
+ SETLOC RT23
+ BANK
+ COUNT 31/S23
+ EBANK= W
+P23 TC DOWNFLAG
+ ADRES RNDVZFLG
+
+ TC 2PHSCHNG
+ OCT 00004 # LEAVE GROUP 4
+ OCT 00012 # ENTER GROUP 2
+ CAF PRIO13
+ TS PHSPRDT2
+ TC INTPRET
+ SSP CLEAR
+ MARKINDX
+ 1
+ TARG2FLG # TARGET FLAG USED R52 AND R53
+ CLEAR SSP
+ TARG1FLG
+ STARIND
+ 0
+ SSP CLEAR
+ BESTI
+ 0
+ R57FLAG # SET = DO NOT REPERFORM R57
+ CLEAR EXIT
+ V94FLAG # SET = ALLOW V94
+P23.00 TC INTPRET
+# Page 620
+ BON CALL
+ REFSMFLG # SET NOW AS INPUT, NORMALLY EXTERNAL CONT
+ P23.05 # WHEN ALIGNED, PERFORM MEASUREMENT
+ R57 # DO OPTICS CALIBRATION IF IMU NOT ALIGNED.
+ CALL
+ R53
+ GOTO
+ P23.60
+P23.05 CLEAR EXIT
+ SAVECFLG # USED TO SAVE SPACE IN P23.65
+P23.06 CAF V05N70
+ TC BANKCALL # IDENTIFICATION: STAR, HOR IDENT.
+ CADR GOFLASH
+ TC GOTOP00H # TERMINATE
+ TC P23.15
+ TC -5 # REDISPLAY
+P23.15 CA LANDMARK # IF C=2, LUNAFLAG=1. IF C=1, LUNAFLAG=0
+ EXTEND
+ BZF P23.151
+ CA HORIZON
+ EXTEND
+ BZF +2
+ TC R23.10 # OPERATOR DSKY ERROR
+ CA LANDMARK
+ TC P23.152
+P23.151 CA HORIZON
+ EXTEND
+ BZF R23.10
+P23.152 MASK BITS7-9 # IS C EQUAL TO 1 OR 2
+ AD NEG100
+ EXTEND
+ BZF P23.16
+ AD NEG100
+ EXTEND
+ BZF +2
+ TC R23.10
+ TC UPFLAG
+ ADRES LUNAFLAG
+ TCF +3
+P23.16 TC DOWNFLAG
+ ADRES LUNAFLAG
+ CA STARCODE # IS STARCODE GREATER THAN OR
+ EXTEND # EQUAL TO 0 AND LESS THAN 37
+ BZF P23.176
+ EXTEND
+ BZMF R23.10
+ AD NEG37
+ EXTEND
+ BZMF +2
+ TC R23.10
+# Page 621
+
+ TC INTPRET
+P23.17 SLOAD BZE
+ STARCODE
+ P23.175
+ PUSH
+ SLOAD DMP
+ SPSIX
+ LXA,1 SXA,1
+ MPAC +1
+ BESTI # BESTI = 6 X STAR NUMBER
+ CALL
+ LOWMEMRY # NEEDED TO RETRIEVE STAR VECTOR FROM LOW
+ STORE STARSAV2 # STORE FOR R53,P23. US(IN P23)=STARSAV2
+P23.175 EXIT
+P23.176 CA HORIZON
+ EXTEND
+ BZF P23.20
+ MASK BITS4-6
+ AD -OCT10
+ EXTEND
+ BZF P23.18
+ AD -OCT10
+ EXTEND
+ BZF +2
+ TC R23.10
+ TC UPFLAG
+ ADRES NORFHOR
+ TC P23.30
+P23.18 TC DOWNFLAG
+ ADRES NORFHOR
+ TC P23.30
+P23.20 TC INTPRET
+ CALL
+ P22SUBRB
+ EXIT
+P23.30 TC INTPRET
+ SLOAD BZE
+ STARCODE
+ LDPLANET
+P23.31 BON EXIT
+ SAVECFLG
+ P23.85
+ CAF V50N25P
+ TC BANKCALL
+ CADR GOPERF1 # GOPERF1 BLANKS OUT R2 AND R3
+ TC GOTOP00H
+ TC V94ENTER # PROCEED. AUTOCONTROL CMC
+P23.55 TC INTPRET
+ GOTO
+ P23.56
+# Page 622
+
+# VERB 94 BEGINS HERE
+V94ENTER TC INTPRET
+ RTB
+ LOADTIME # READ CLOCK
+ STCALL MARKTIME
+ POINTAXS # RETURN LOS IN RCLL AND MPAC
+ MXV UNIT
+ REFSMMAT
+ STOVL POINTVSM
+ JCAXIS
+ STORE SCAXIS
+ EXIT
+ TC DOWNFLAG # CLEAR AND GO TO VECPOINT IN R60
+ ADRES 3AXISFLG # BIT 6 FLAG 5
+ CAF R60ADRS
+ TS TEMPFLSH
+ TC PHASCHNG
+ OCT 00012
+R60CALL TC BANKCALL
+ CADR R60CSM
+ TC PHASCHNG
+ OCT 04022
+ TC INTPRET
+ BON
+ R57FLAG
+ P23.57 # DO NOT REPERFORM R57
+P23.56 CALL
+ R57
+P23.57 SET SET
+ V94FLAG
+ R57FLAG
+ CALL
+ R52
+ CLEAR CLEAR
+ V94FLAG
+ R57FLAG
+P23.60 EXIT
+ INHINT
+ CA MARKSTAT
+ MASK LOW10
+ TS MARKDATA
+ EXTEND
+ INDEX MARKDATA
+ DCA 0
+ DXCH MARKTIME
+ INDEX MARKDATA
+ CA 5
+ XCH TRUNION
+ RELINT
+ TC INTPRET
+# Page 623
+ LXC,1 VLOAD*
+ MARKDATA
+ 1,1
+ STODL* MARKDOWN +1
+ 0,1
+ STORE MARKDOWN
+ EXIT
+ CAF V05N71
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H # TERMINATE
+ TC P23.65 # STORE DATA
+ TC -5 # REDISPLAY
+P23.65 TC INTPRET
+ SET EXIT
+ SAVECFLG
+ TC P23.15
+P23.85 CLEAR CALL
+ RENDWFLG
+ POINTAXS
+ GOTO
+ R23.55
+
+# WE BEGIN CALCULATIONS HERE
+# POINTAXIS SUBROUTINE
+
+POINTAXS STQ
+ POINTEX
+R23.05 BON DLOAD
+ ORBWFLAG
+ R23.1
+ WMIDPOS
+ STCALL 0
+ INITIALW # INITIALIZE W-MATRIX FIRST PASS IN P23
+R23.1 CALL
+ SETINTG # SETUP FOR CSM INTEGRATION
+ BOF SET
+ ORBWFLAG
+ R23.2
+ DIM0FLAG
+R23.2 SET CALL
+ ORBWFLAG
+ INTEGRV # INTEGRATE CSM STATE VEC. TO MARKTIME
+ EXIT
+ TC PHASCHNG
+ OCT 04022
+ TC INTPRET
+ CALL
+ RECT.1 # PICKUP CSM STATE VECTOR FROM PERM
+ BOFF
+ ZMEASURE # IN SPHERE OF INFLUENCE OF PRIMARY BODY
+ R23.3
+# Page 624
+ DLOAD CALL
+ MARKTIME
+ LUNPOS
+ BON VCOMP
+ CMOONFLG
+ +1
+ VAD
+ RZC
+ STORE RZC
+R23.3 SLOAD BHIZ
+ LANDMARK # IF LANDMARK = 0, USE HORIZ SUBR
+ R23.4
+ SET
+ ERADFLAG
+ DLOAD CALL
+ MARKTIME
+ LALOTORV
+ GOTO
+ R23.5
+R23.4 CALL
+ HORIZ
+R23.5 VSU SETPD
+ RZC
+ 0
+ GOTO
+ POINTEX
+# Page 625
+R23.55 UNIT PUSH # RCLL IS IN MPAC
+ VLOAD
+ 34D # RCLL * RCLL
+ STOVL 30D # PUSH 30-31 =RCLL*RCLL 32-33=ABVAL RCLL
+ VZC
+ VXSC VSR
+ ONE/C
+ 15D
+ VAD # PUSH UP RCLL(UNIT)
+ UNIT
+ STOVL UCLSTAR
+ VZC
+ VSR2 VSU
+ VESO
+ VXSC VSR
+ ONE/C
+ 13D
+ VAD UNIT
+ US
+ STORE USSTAR
+ DOT SL1
+ UCLSTAR
+ PUSH VLOAD # PD 0,1 = USSTAR(DOT)UCLSTAR
+ UCLSTAR
+ VXSC VCOMP
+ VSL1 VAD
+ USSTAR
+ UNIT
+ STOVL BVECTOR # USSTAR - COSQ(UCLSTAR)
+ ZEROVECS
+ STORE BVECTOR +6
+ STODL BVECTOR +12D
+ 0
+ ACOS DCOMP
+ PUSH DLOAD
+ ZEROVECS
+ EXIT
+ CA VARSUBL # PUT FIXED INTO ERASABLE FOR MSU
+ TS L # INSTRUCTION COMING UP
+ CA TRUNION # REQUIRED TO CHANGE 2'S COMPLEMENT
+ EXTEND # TRUNION TO 1'S COMPLEMENT
+ MSU L # TRUNION (2'S)-00000 CONVERTS TRUNION TO
+ TS MPAC # 1'S. VARSUBL=00000.
+ TC INTPRET
+ PUSH SLOAD # PUSH IS DP. WHEN BDSU IS EXECUTED, 2ND
+ TRUNBIAS # HALF OF PUSHLIST IS GUARANTEED ZERO FROM
+ BDSU # DLOAD ZEROVECS ABOVE
+ SR3 DAD
+ DAD DMP
+# Page 626
+ TRUN19
+ 32D
+ DMP SL3
+ PI/4.0
+ BOFF SL2
+ CMOONFLG
+ R23.51
+R23.51 STODL DELTAQ
+ 30D # RCLL * RCLL
+ DMP RTB
+ TRUNVAR
+ TPMODE
+ TAD
+ VARSUBL
+ STORE VARIANCE
+ CLEAR CALL
+ DMENFLG
+ INCORP1
+ CALL
+ GRP2PC
+ VLOAD ABVAL
+ DELTAX +6
+ BOF SR2 # DISPLAY IS 2-27 IF IN LUNAR SPHERE.
+ CMOONFLG
+ R23.52
+R23.52 STOVL N49DISP +2
+ DELTAX
+ ABVAL
+ BOF SR2
+ CMOONFLG
+ R23.53
+R23.53 STORE N49DISP
+ EXIT
+R23.6 CAF V6N49
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H
+ TC R23.7 # INCORPORATE DATA
+ TC GOTOP00H
+ CAF BIT3 # BLAN OUT R3
+ TC BLANKET
+ TC PHASCHNG
+ OCT 00012
+ TC ENDOFJOB
+R23.7 TC INTPRET
+R23.8 SET CALL
+ VEHUPFLG
+ INCORP2
+ EXIT
+R23.END TC GOTOP00H
+
+# Page 622
+R23.10 TC FALTON
+ TC P23.06
+HORIZ STQ SETPD
+ SRRETURN
+ 0
+ DLOAD PDDL # PUSH 0-1 = -AYO SCALED B0
+ -AYO
+ AXO
+ PDDL PDVL # PUSH 2-3 = +AX SCALED B0
+ DPPOSMAX
+ US
+ VXV UNIT
+ RZC
+ STOVL UBAR2
+ VXV UNIT # PUSH UP
+ UBAR2
+ STOVL UBAR0
+ UBAR2
+ VXV UNIT
+ UBAR0
+ STORE UBAR1
+ BON DOT
+ LUNAFLAG
+ HORIZ.6
+ 0 # UBAR1 DOT UZ
+ STCALL ALPHAV +4
+ GETERAD
+ DAD PDDL # MPAC HAS RADIUS OF FISCHER ELLIPSOID
+ HORIZALT # PUSH 0-1 = BH SCALED B29
+ AEARTH
+ DAD PUSH # PUSH 2-3 = AH B29
+ HORIZALT
+HORIZ.1 VLOAD MXV
+ RZC # B29
+ UBAR0 # B1
+ VSL1 PDVL # PUSH 4-9 = RH(XH,YH,ZH) B29
+ US
+ MXV VSL1
+ UBAR0
+ PDDL # PUSH 10-15 = USH B1
+ 2 # AH
+ STODL 34D
+ 4 # XH
+ CALL
+ DIVIDE
+ SR* DMP
+ 8D,1 # NOW SCALED B9
+ MPAC
+ STODL 30D
+ 0
+# Page 628
+ STODL 34D
+ 6 # YH
+ CALL
+ DIVIDE
+ SR* DMP
+ 8D,1 # B9
+ MPAC # B18
+ DAD PUSH # PUSH 16-17 =A SCALED B18
+ 30D
+ DSU SQRT
+ 1.0B18
+ PDDL # PUSH 18-19 SQRT(A-1) B9
+ 16D
+ STODL 34D
+ 4 # XH
+ CALL
+ DIVIDE
+ SR* PDDL
+ 17D,1 # PUSH 20-21 = XH/A B29
+ 6 # YH
+ CALL
+ DIVIDE
+ SR* PDDL
+ 17D,1 # PUSH 22-23 = YH/A B29
+ 16D # A
+ STODL 34D
+ 18D # SQRT(A-1)
+ CALL
+ DIVIDE
+ SR*
+ 8D,1
+ STODL 28D
+ 0 # BH
+ STODL 34D
+ 2 # AH
+ CALL
+ DIVIDE
+ SR* DMP # AH/BH SCALED B1
+ 0,1
+ 28D # SQRT(A-1)/A
+ DMP SL1
+ 6 # YH
+ PDDL
+ 2 # AH
+ STODL 34D
+ 0
+ CALL
+ DIVIDE
+ SR* DMP # BH/AH SCALED B1
+ 0,1
+# Page 629
+ 28D # SQRT (A-1)/A
+ DMP SL1
+ 4 # XH
+ PDDL DAD
+ 20D # XH/A
+ 24D # ALPHA
+ PDDL DSU
+ 22D # YH/A
+ 26D # BETA
+ PUSH SETPD
+ 16D
+ DLOAD DSU
+ 20D # XH/A
+ 24D # ALPHA
+ PDDL DAD
+ 22D # YH/A
+ 26D # BETA
+ PDDL PUSH
+ ZEROVECS
+ STOVL 32D # ZERO THIRD COMP. OF T-0 VECTOR
+ 28D
+ VSU UNIT
+ 4 # RH VECTOR
+ DOT PDVL # PUSH 22-23 A-SUB-ZERO
+ 10D # USH VECTOR
+ 16D # T1 VECTOR
+ VSU UNIT
+ 4 # RH VECTOR
+ DOT PUSH # PUSH 24-25 A-SUB-ONE
+ 10D
+ BDSU BMN
+ 22D # A-SUB-ZERO
+ HORIZ.3
+ BON
+ NORFHOR
+ HORIZ.4
+HORIZ.2 VLOAD GOTO
+ 28D # T-0 VECTOR
+ HORIZ.5
+HORIZ.3 BON GOTO
+ NORFHOR
+ HORIZ.2
+ HORIZ.4
+HORIZ.4 VLOAD
+ 16D # T1 VECTOR
+HORIZ.5 VXM VSL1
+ UBAR0
+ GOTO
+ SRRETURN
+HORIZ.6 DLOAD PUSH
+# Page 630
+ RADMOON
+ PUSH GOTO
+ HORIZ.1
+DIVIDE NORM SR1
+ X1
+ STODL 36D
+ 34D
+ NORM BDDV
+ S1
+ 36D
+ XSU,1 RVQ
+ S1
+RECT.1 BOFF AXT,2 # SR TO SET ZMEASURE = 0 IF MEASUREMENT
+ CMOONFLG # PLANET AND PRIMARY PLANET ARE THE SAME.
+ RECT.3 # OTHERWISE = 1
+ DEC -2
+ BOFF # VEC. AND SCALE B29 AND B7
+ LUNAFLAG
+ RECT.4
+RECT.2 CLEAR GOTO
+ ZMEASURE
+ RECT.5
+RECT.3 AXT,2 BOFF
+ 0
+ LUNAFLAG
+ RECT.2
+RECT.4 SET
+ ZMEASURE
+RECT.5 VLOAD VSR7
+ DELTACSM # SCALED B22 OR B18
+ VSR* VAD
+ 0,2
+ RCVCSM # SCALED B29 OR B27
+ VSR*
+ 0,2
+ STOVL RZC # NOW SCALED B29
+ NUVCSM # SCALED B3 OR B-1
+ VSR4 VSR*
+ 0,2
+ VAD VSR*
+ VCVCSM # SCALED B7 OR B5
+ 0,2
+ STORE VZC # NOW SCALED B7
+ RVQ
+ONE/C 2DEC* .333564049 E-6 B+21*
+
+AEARTH 2DEC 6378166 B-29 # A AXIS OF EARTH (METERS B-29)
+
+RADMOON 2DEC 1738090 B-29 # RADIUS MOON IN METERS
+
+# Page 631
+
+TRUN19 OCT 01604
+TRUN19A OCT 00000
+1.0B18 2DEC 1.0 B-18
+
+VARSUBL DEC 0
+VARSUBL3 2DEC* 3.4299040 E+6 B-26*
+
+TRUNVAR 2DEC 2.5 E-9 B+18
+
+V6N49 VN 0649
+V05N70 VN 0570
+V05N71 VN 0571
+OCT00077 OCT 00077
+V50N25P OCT 00202
+SPSIX OCT 00006
+JCAXIS 2DEC .2688190620 # 1/2(SIN 32.523 DEG) TRACK AXIS
+
+ 2DEC 0
+
+ 2DEC .4215878460 # 1/2(COS 32.523 DEG)
+
+R60ADRS CADR R60CALL +3
+NEG37 DEC -37
+BITS7-9 OCT 700
+BITS4-6 OCT 70
+ SETLOC RT53
+ BANK
+LOWMEMRY VLOAD* RVQ
+ CATLOG,1
+ BANK 37
+ SETLOC P23S1
+ BANK
+LDPLANET EXIT # KEEP THIS OPEN SUBROUTINE IN EBANK=5
+ CAF VNPLAN23 # BECAUSE STAR IS EBANK=5
+ TC BANKCALL # LDPLANET ALLOWS VECTOR TO PLANET TO BE
+ CADR GOFLASH # STORED IN STARSAV2 IF STORED STARS ARE
+ TC GOTOP00H # NOT VISIBLE
+ TC +2
+ TC -5
+ TC INTPRET
+ VLOAD
+ STARSAV3
+ VXSC UNIT
+ 1/SQR3
+ STORE STARSAV2
+ GOTO
+ P23.31
+VNPLAN23 VN 0688
+ BLOCK 02
+GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
+# Page 632
+ DCA VB56CADR # GOTOP00H
+ TCF SUPDXCHZ
+ EBANK= WHOCARES
+VB56CADR 2CADR TRACKTRM
+
+ SETLOC FFTAG2
+ BANK
+ COUNT* $$/P20
+ BANK 40
+ SETLOC ENDPINS1
+ BANK
+ COUNT* $$/EXTVB
+V67CALL TC INTPRET
+ CALL
+ V67WW
+ EXIT
+V06N99DS CAF V06N99A
+ TC BANKCALL
+ CADR GOXDSPF
+ TCF ENDEXT
+ TC V06N9933
+ TC V06N99DS
+V06N9933 TC INTPRET
+ SLOAD BHIZ # IF R3 OF V67 = 0 EXIT
+ WWOPT
+ +3
+ GOTO
+ V6N99INP
+ EXIT
+ TCF ENDEXT
+V6N99INP LXA,1 LXA,2
+ WWPOS
+ WWVEL
+ SLOAD DSU
+ WWOPT
+ V67DEC2
+ BHIZ BPL
+ V67WORB
+ V67WMID
+ SXA,1 SXA,2
+ WRENDPOS
+ WRENDVEL
+ GOTO
+ V67EXITX
+V67WORB SXA,1 SXA,2
+ WORBPOS
+ WORBVEL
+ GOTO
+ V67EXITX
+V67WMID SXA,1 SXA,2
+# Page 633
+ WMIDPOS
+ WMIDVEL
+V67EXITX CLEAR CLEAR
+ ORBWFLAG
+ RENDWFLG
+ EXIT
+ TCF ENDEXT
+V67WW STQ BOV
+ S2
+ +1
+ CALL
+ INTSTALL
+ SSP DLOAD
+ S1
+ DEC 6
+ ZEROVECS
+ STORE WWPOS
+ STORE WWVEL
+ STORE WWOPT
+ AXT,1
+ DEC 36
+NXPOSVEL VLOAD* VSQ
+ W +36D,1
+ DAD
+ WWPOS
+ STORE WWPOS
+ VLOAD* VSQ
+ W +90D,1
+ DAD
+ WWVEL
+ STORE WWVEL
+ TIX,1 SQRT
+ NXPOSVEL
+ STODL WWVEL
+ WWPOS
+ SQRT
+ STORE WWPOS
+ BOV GOTO
+ +2
+ V67XXX
+ DLOAD
+ DPPOSMAX
+ STORE WWPOS
+ STORE WWVEL
+V67XXX DLOAD DSU
+ WWPOS
+ FT99999
+ BMN DLOAD
+ +3
+ FT99999
+# Page 634
+ STORE WWPOS
+ LXA,1 SXA,1
+ S2
+ QPRET
+ EXIT
+ TC POSTJUMP
+ CADR INTWAKE
+WWPOS = RANGE
+WWVEL = RRATE
+WWOPT = RTHETA
+V06N99A VN 0699
+FT99999 2DEC 30479 B-19
+
+V67DEC2 2DEC 2 B-14
+
+ SBANK= LOWSUPER
+
diff --git a/P30-P37.s b/P30-P37.s
new file mode 100644
index 0000000..5ded0b3
--- /dev/null
+++ b/P30-P37.s
@@ -0,0 +1,630 @@
+# Copyright: Public domain.
+# Filename: P30-P37.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 635-648
+# Mod history: 2009-05-10 RSB Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+# 2009-05-20 RSB Corrected BDV -> BOV.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 635
+ BANK 32
+
+ SETLOC P30S1
+ BANK
+
+ EBANK= +MGA
+
+ COUNT 35/P34
+
+DISPMGA STQ EXIT # USED IN P30
+
+ RGEXIT
+ TC COMPTGO
+
+DISP45 CAF V16N45
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H
+ TC END45
+ TC DISP45
+P30PHSI TC PHASCHNG
+ OCT 14
+ TCR ENDOFJOB
+END45 TC INTPRET
+ CLEAR GOTO
+ TIMRFLAG
+ RGEXIT
+
+COMPTGO EXTEND # USED TO COMPUTE TTOGO
+ QXCH PHSPRDT6 # ** GROUP 6 TEMPORARY USED, BEWARE **
+
+ TC UPFLAG # SET TIMRFLAG
+ ADRES TIMRFLAG # BIT 11 FLAG 7
+ CAF ZERO
+ TS NVWORD1
+
+ CAF ONE
+ TC WAITLIST
+ EBANK= TIG
+ 2CADR CLOKTASK
+
+ TC 2PHSCHNG
+ OCT 40036 # 6.3SPOT FOR CLOKTASK
+ OCT 05024 # GROUP 4 CONTINUES HERE
+ OCT 13000
+
+ TC PHSPRDT6
+# Page 636
+# PROGRAM DESCRIPTION P30 DATE 3-6-67
+# MOD. I BY S. ZELDIN: TO ADD P31 AND ADAPT P30 FOR P31 USE. 22DEC67
+#
+# FUNCTIONAL DESCRIPTION
+# P30 (EXTERNAL DELTA-V TARGETING PROGRAM)
+# ACCEPTS ASTRONAUT INPUTS OF TIG,DELV(LV) AND COMPUTES, FOR DISPLAY,
+# APOGEE, PERIGEE, DELV(MAG), MGA ASSOCIATED WITH DESIRED MANEUVER.
+# P31 (GENERAL LAMBERT AIMPOINT GUIDANCE)
+# A GROUND RULE FOR P31 IS THE ANGLE BETWEEN THE TARGET VECTOR AND
+# POSITION VECTOR AT TIG IS NOT 165-195 DEGREES APART
+# BASED ON STORED INPUT OF OFFSET TARGET(B+29) AND DELTA T TRANS, AND
+# ASTRONAUT ENTRY OF TIG, P31 COMPUTES REQUIRED VELOCITY FOR MANEUVER
+# AND, FOR DISPLAY, APOGEE, PERIGEE, DELV(7AG), +MGA ASSOCIATED WITH
+# DESIRED MANEUVER.
+#
+# THE FOLLOWING SUBROUTINES ARE USED IN P30 AND P31
+# S30.1 (P30 ONLY)
+# S31.1 (P31 ONLY)
+# P30/P31 -- DISPLAYS TIG
+# CNTUP30 -- DISPLAYS DELV(LV)
+# PARAM30 -- DISPLAYS APOGEE, PERIGEE, DELV(MAG), MGA, TIME FROM TIG,
+# MARKS SINCE LAST THRUSTING MANEUVER
+#
+# CALLING SEQUENCE VIA JOB FROM V37
+#
+# EXIT VIA V37 OR GOTOP00H
+#
+# OUTPUT FOR POWERED FLIGHT
+# VTIG X
+# RTIG X SEE S30.1
+# DELVSIN X
+# VGDISP
+# RTARG X
+# TPASS4 X SEE S31.1
+# X
+
+ COUNT 35/P30
+
+P30 TC P30/P31
+ TC CNTNUP30
+ TC DOWNFLAG # RESET UPDATFLG
+ ADRES UPDATFLG # BIT 7 FLAG 1
+ TC INTPRET
+ CALL
+ S30.1
+ EXIT
+ TC PARAM30
+ TC UPFLAG
+# Page 637
+ ADRES XDELVFLG # SET XDELVFLG BIT 8 FLAG 2
+ TCF GOTOP00H
+
+P31 TC P30/P31
+ TC DOWNFLAG
+ ADRES UPDATFLG # RESET UPDATFLG BIT 7 FLAG 1
+ TC DOWNFLAG
+ ADRES NORMSW # RESET NORMSW BIT 10 FLAG 7
+ TC INTPRET
+ CALL
+ S31.1
+ EXIT
+ TC CNTNUP30
+ TC PARAM30
+ TC DOWNFLAG
+ ADRES XDELVFLG # BIT 8 FLAG 2.
+ TCF GOTOP00H
+
+P30/P31 XCH Q
+ TS P30/31RT
+ TC UPFLAG
+ ADRES UPDATFLG # SET UPDATFLG BIT 7 FLAG 1
+ TC UPFLAG
+ ADRES TRACKFLG # SET TRACKFLG BIT 5 FLAG 1
+ CAF V06N33 # T OF IGN
+ TC BANKCALL
+ CADR GOFLASHR
+ TCF GOTOP00H
+ TC P30/31RT
+ TCF P30/P31 +4
+ TC PHASCHNG
+ OCT 00014
+ TC ENDOFJOB
+
+CNTNUP30 XCH Q
+ TS P30/RET
+ CAF V06N81
+ TC BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H
+ TC P30/RET
+ TCF CNTNUP30 +2
+PARAM30 XCH Q
+ TS P30/31RT
+ CAF V06N42
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H # ON TERMINATION GOTOP00H
+ TCF REFTEST # ON PROCEED GO DO REFTEST
+# Page 638
+ TCF PARAM30 +2
+REFTEST CAF BIT13
+ MASK STATE +3 # REFSMFLAG
+ EXTEND
+ BZF NOTSET # REFSMFLAG =0, THEN BRANCH TO NOTSET
+ TC INTPRET
+ VLOAD PUSH
+ DELVSIN
+ CALL
+ GET+MGA
+ GOTO
+ FLASHMGA
+NOTSET EXTEND
+ DCS MARSDP
+ DXCH +MGA # +MGA, +MGA+1 CONTAINS (-00001)
+ TC INTPRET
+FLASHMGA CALL
+ DISPMGA
+ EXIT
+ TC P30/31RT
+MARSDP OCT 00000 # (00000) (16440) = (+00001)
+ OCT 35100
+ # ( .01 ) DEGREES IN THE LOW ORDER REGISTER
+
+V06N33 VN 0633
+V06N42 VN 0642
+V16N35 VN 1635
+V06N45 VN 0645
+
+# Page 639
+# PROGRAM DESCRPTION S30.1 DATE 9NOV66
+# MOD NO 1 LOG SECTION P30,P37
+# MOD BY RAMA AIYAWAR **
+# MOD.2 BY S.ZELDIN -- TO CORRECT MOD.1 FOR COLOSSUS 29DEC67
+#
+# FUNCTIONAL DESCRIPTION
+# BASED ON STORED TARGET PARAMETERS (R OF IGNITION (RTIG), V OF
+# IGNITION (VTIG), TIME OF IGNITION (TIG)), DELV(LV), COMPUTE PERIGEE ALTITUDE
+# APOGEE ALTITUDE AND DELTA-V REQUIRED IN REF. COORDS. (DELVSIN).
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 S30.1
+#
+# NORMAL EXIT MODE
+# AT L+2 OR CALLING SEQUENCE (GOTO L+2)
+#
+# SUBROUTINES CALLED
+# THISPREC
+# PERIAPO
+#
+# ALARM OR ABORT EXIT MODES
+# NONE
+#
+# ERASABLE INITIALIZATION REQUIRED
+# TIG TIME OF IGNITION DP B28CS
+# DELVSLV SPECIFIED DELTA-V IN LOCAL VERT.
+# COORDS. OF ACTIVE VEHICLE AT
+# TIME OF IGNITION VCT. B+7 M/CS
+#
+# OUTPUT
+# RTIG POSITION AT TIG VCT. B+29 M
+# VTIG VELOCITY AT TIG VCT. B+7 M
+# HAPO APOGEE ALT. DP B+29 M
+# HPER PERIGEE ALT. DP B+29 M
+# DELVSIN DELVSLV IN REF COORDS VCT. B+7 M/CS
+# VGDISP MAG. OF DELVSIN DP B+7 M/CS
+#
+# DEBRIS QTEMP TEMP.ERASABLE
+# QPRET, MPAC
+# PUSHLIST
+
+ SETLOC P30S1A
+ BANK
+
+ COUNT 35/S30S
+
+S30.1 STQ DLOAD
+ QTEMP
+ TIG # TIME IGNITION SCALED AT 2(+28)CS
+ STCALL TDEC1
+ THISPREC # ENCKE ROUTINE FOR
+
+ VLOAD SXA,2
+ VATT
+ RTX2
+ STOVL VTIG
+# Page 640
+ RATT
+ STORE RTIG
+ STORE RACT3
+ VXV UNIT
+ VTIG
+ STCALL UNRM
+ LOMAT
+ VLOAD VXM
+ DELVSLV
+ 0
+ VSL1 SXA,1
+ RTX1
+ STORE DELVSIN
+ ABVAL
+ STOVL VGDISP # MAG DELV
+ RTIG
+ PDVL VAD
+ DELVSIN
+ VTIG
+ CALL
+ PERIAPO1
+ CALL
+ SHIFTR1
+ CALL
+ MAXCHK
+ STODL HPER # PERIGEE ALT B+29
+ 4D
+ CALL
+ SHIFTR1
+ CALL
+ MAXCHK
+ STCALL HAPO # APOGEE ALT B+29
+ QTEMP
+
+# Page 641
+# S31.1 PROGRAM DESCRIPTION 28DEC67
+# MOD.1 BY S.ZELDIN
+#
+# S31.1 COMPUTES DELV IN REF AND LV COORDS,MAG OF DELV,INTERCEPT TIME,
+# APOGEE AND PERIGEE ALT FOR REQUIRED MANEUVER
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 S31.1
+#
+# NORMAL EXIT MODE
+# AT L +2 OF CALLING SEQUENCE (GOTO L+2)
+#
+# SUBROUTINES CALLED
+# AGAIN
+# PERIAPO1
+# SHIFTR1
+# MIDGIM
+#
+# NO ALARM OR ABORT MODES
+#
+# INPUT
+# DELLT4 DP +28
+# TIG DP +28
+# RTARG VCT +29
+#
+# OUTPUT
+# DELVLVC VCT +7
+# VGDISP DP +7
+# HAPO DP +29
+# HPER DP +29
+# TPASS4 DP +28
+#
+# DEBRIS -- QTEMP
+
+S31.1 STQ DLOAD
+ QTEMP
+ TIG
+ STCALL TDEC1
+ AGAIN # RETURNS RTX2,RTX1,RATT,VATT,VIPRIME
+ VLOAD PDVL # DELUEET3
+ RTIG
+ VIPRIME
+ CALL
+ PERIAPO1
+ CALL
+ SHIFTR1
+ CALL
+ MAXCHK
+ STODL HPER # B29
+ 4D
+ CALL
+ SHIFTR1
+ CALL
+ MAXCHK
+ STOVL HAPO # B29
+# Page 642
+ DELVEET3
+ STORE 0
+ SET CALL
+ AVFLAG
+ MIDGIM # GET DELVLVC B7 FOR DISPLAY
+ ABVAL
+ STODL VGDISP # B+7 FOR DISPLAY
+ DELLT4
+ DAD
+ TIG
+ STCALL TPASS4 # FOR S40.1
+ QTEMP
+
+# Page 643
+# SUBROUTINE NAME: DELRSPL (CONTINUATION OF V 82 IN CSM IF P11 ACTIVE)
+# TRANSFERRED COMPLETELY FROM SUNDISK, P30S REV 33. 9 SEPT 67.
+# MOD NO: 0 MOD BY: ZELDIN DATE:
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 12 MAY 67 ADD UR.RT CALC WHEN BELOW 300K FT
+# MOD NO: 2.1 MOD BY: RR BAIRNSFATHER DATE: 5 JULY 67 FIX ERROR ON MOD. 2
+# MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 12 JUL 67 CHANGE SIGN OF DISPLAYED ERROR.
+# MOD 4 MOD BY S.ZELDIN DATE: 3 APRIL 68 CHANGE EQUATIONS FOR L/D=.16 WHICH REPLA
+#
+# FUNCTION: CALCULATE (FOR DISPLAY ON CALL) AN APPROXIMATE MEASURE OF IN-PLANE SPLASH DOWN
+# ERROR. IF THE FREE-FALL TRANSFER ANGLE TO 300K FT ABOVE PAD RADIUS IS POSITIVE:
+# SPLASH ERROR= -RANGE TO TARGET + FREE-FALL TRANSFER ANGLE + ESTIMATED ENTRY ANGLE.
+# THE TARGET LOCATION AT ESTIMATED TIME OF IMPACT IS USED. IF THE FREE-FALL TRANSFER
+# ANGLE IS NEGATIVE: SPASH ERROR= -RANGE TO TARGET.
+# THE PRESENT TARGET LOCATION IS USED.
+#
+# CALLING SEQUENCE: CALLED AFTER SR30.1 IF IN CSM AND IF P11 OPERATING (UNDER CONTROL OF V82)
+#
+# SUBROUTINES CALLED: VGAMCALC, TFF/TRIG, LALOTORV.
+#
+# EXIT: RETURN DIRECTLY TO V 82 PROG. AT SPLRET
+#
+# ERASABLE INITIALIZATION: LEFT BY SR30.1 AND V82GON1
+#
+# OUTPUT: RSP-RREC RANGE IN REVOLUTIONS. DSKY DISPLAY IN N. MI.
+#
+# DEBRIS: QPRET, PDL0 ... PDL7, PDL10.
+
+# THETA(1)
+
+ BANK 32
+ SETLOC DELRSPL1
+ BANK
+ COUNT* $$/P30 # PROGRAMS: P30 EXTERNAL DELTA V
+
+DELRSPL STORE 8D
+ BPL DSU
+ CANTDO # GONE PAST 300K FT ALT
+ 1BITDP
+ BOV CALL
+ CANTDO # POSMAX INDICATES NO 300K FT SOLUTION.
+ VGAMCALC # +GAMMA(REV) IN PMAC,V300 MAG(B-7)=PDL 0
+ PUSH CALL
+ TFF/TRIG
+ CALL
+ AUGEKUGL
+ PDDL ACOS # T ENTRY PDL 6
+ CDELF/2
+ DAD
+ 4
+GETARG STOVL THETA(1)
+ LAT(SPL)
+ STODL LAT
+ HI6ZEROS
+ STODL ALT # ALT=0 = LAT +4
+ PIPTIME
+# Page 644
+ BON DLOAD
+ V37FLAG
+ +2
+ TSTART82
+ DSU DAD
+ 8D
+ CLEAR CALL
+ ERADFLAG
+ LALOTORV # R RECOV. IN ALPHAV AND MPAC
+
+ UNIT PDVL
+ RONE
+ UNIT DOT
+ SL1 ARCCOS
+ BDSU # ERROR = THETA EST - THETA TARG
+ # NEGATIVE NUMBER SIGNIFIES THAT WILL FALL SHORT.
+ # POSITIVE NUMBER SIGNIFIES THAT WILL OVERSHOOT.
+ THETA(1)
+DELRDONE STCALL RSP-RREC # DOWNRANGE RECOVERY RANGE ERROR /360
+ INTWAKE0
+ CALL
+ SPLRET
+CANTDO DLOAD PDDL # INITIALIZE ERASE TO DOT TARGET AND UR
+ # FOR RANGE ANGLE.
+ HIDPHALF # TO PDL 0 FOR DEN INDDV.
+ HI6ZEROS
+ PUSH # ZERO TO PDL 2 FOR PHI ENTRY
+ STCALL 8D
+ GETARG # GO SET RSP-RREC =0
+
+AUGEKUGL VLOAD
+ X1CON -2
+ STODL X1 -2
+ 0
+ DSU BMN
+ V(21K)
+ LOOPSET
+ XSU,1 XCHX,2
+ S1
+ X1
+ XCHX,2 DSU
+ S1
+ V(3K)
+ BMN XCHX,2
+ LOOPSET
+ S1
+ DSU BMN
+ V(4K)
+ LOOPSET
+ XCHX,2 XCHX,2
+# Page 645
+ S1
+ X1
+ DSU BMN
+ V(400)
+ LOOPSET
+ SXA,1
+ S1
+LOOPSET INCR,1 GOTO
+ DEC 1
+ K1K2LOOP
+K2CALC SXA,1
+ S1
+K1K2LOOP DLOAD DSU*
+ 0
+ V(32K) +1,1
+ DMP* DAD*
+ YK1K2 +1,1
+ CK1K2 +1,1
+ PDDL TIX,1
+ 2
+ K2CALC
+ DSU BDDV
+ PUSH BOV
+ MAXPHI
+ BMN DSU
+ MAXPHI
+ MAXPHIC
+ BPL
+ MAXPHI
+PHICALC DLOAD DSU # PHI ENTRY PDL 4D
+ 0
+ V(26K)
+ BPL DLOAD
+ TGR26
+ TLESS26
+ DDV
+ 0
+TENT DMP RVQ
+ 4D
+TGR26 DLOAD GOTO
+ TGR26CON
+ TENT
+
+MAXPHI DLOAD PDDL
+ MAXPHIC
+ GOTO
+ PHICALC
+MAXPHIC 2DEC .09259298 # 2000 NM FOR MAXIMUM PHI ENTRY
+
+# Page 646
+
+ COUNT* $$/P30
+
+ # BELOW
+ # **** TABLE IS INDEXED. KEEP IN ORDER ***
+# Page 641
+ 2DEC 7.07304526 E-4 # 5500
+
+ 2DEC 3.08641975 E-4 # 2400
+
+ 2DEC 3.08641975 E-4 # 2400
+
+ 2DEC -8.8888888 E-3 # -3.2
+
+ 2DEC 2.7777777 E-3 # 1
+
+CK1K2 2DEC 6.6666666 E-3 # 2.4
+
+ 2DEC 0 # 0
+
+ 2DEC* -1.86909989 E-5 B7* # -.443
+
+ 2DEC 0
+
+ 2DEC* 1.11639691 E-3 B7* # .001225
+
+ 2DEC* 9.56911636 E-4 B7* # .00105
+
+YK1K2 2DEC* 2.59733157 E-4 B7* # .000285
+
+V(400) 2DEC 1.2192 B-7
+
+V(28K) 2DEC 85.344 B-7
+
+V(3K) 2DEC 9.144 B-7
+
+V(24K) 2DEC 73.152 B-7
+
+ 2DEC 85.344 B-7
+
+V(32K) 2DEC 97.536 B-7
+
+V(4K) 2DEC 12.192 B-7
+
+V(21K) 2DEC 64.000 B-7
+
+TLESS26 2DEC* 5.70146688 E7 B-35* # 8660PHI/V
+
+TGR26CON 2DEC 7.2 E5 B-28 # PHI/3
+
+V(26K) 2DEC 79.248 B-7 # 26000
+
+# Page 647
+
+X1CON DEC 10
+
+ DEC 8
+
+ DEC 6
+ # **** TABLE IS INDEXED. KEEP IN ORDER ***
+ # ABOVE
+# Page 648
+# ***** AVFLAG/P *****
+#
+# SUBROUTINES USED
+#
+# UPFLAG
+# DOWNFLAG
+
+ SETLOC P30SUBS
+ BANK
+ EBANK= SUBEXIT
+AVFLAGA EXTEND # AVFLAG = CSM
+ QXCH SUBEXIT
+ TC DOWNFLAG
+ ADRES AVFLAG # BIT 5 FLAG 2
+ CAF EBANK7
+ TS EBANK
+ EBANK= ECSTEER
+ CAF BIT13
+ TS ECSTEER # SET ECSTEER = 1
+ CAF EBANK4
+ TS EBANK
+ EBANK= SUBEXIT
+ TC SUBEXIT
+AVFLAGP EXTEND # AVFLAG = LEM
+ QXCH SUBEXIT
+ TC UPFLAG
+ ADRES AVFLAG # BIT 5 FLAG 2
+ TC SUBEXIT
+P20FLGON EXTEND
+ QXCH SUBEXIT
+ TC UPFLAG
+ ADRES TRACKFLG
+ TC UPFLAG
+ ADRES UPDATFLG
+ TC SUBEXIT # DP B4
+
+
diff --git a/P30_P37.s b/P30_P37.s
new file mode 100644
index 0000000..34f9ffc
--- /dev/null
+++ b/P30_P37.s
@@ -0,0 +1,193 @@
+# Copyright: Public domain.
+# Filename: P30_P37.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 614-617
+# Mod history: 2009-05-17 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+# 2009-06-05 RSB Removed 4 lines of code that shouldn't
+# have survived from Luminary 131.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 614
+# PROGRAM DESCRIPTION P30 DATE 3-6-67
+#
+# MOD.1 BY RAMA AIYAWAR
+#
+# FUNCTIONAL DESCRIPTIONS
+# ACCEPT ASTRONAUT INPUTS OF TIG,DELV(LV)
+# CALL IMU STATUS CHECK ROUTINE (R02)
+# DISPLAY TIME TO GO, APOGEE, PERIGEE, DELV(MAG), MGA AT IGN
+# REQUEST BURN PROGRAM
+#
+# CALLING SEQUENCE VIA JOB FROM V37
+#
+# EXIT VIA V37 CALL OR TO GOTOP00H (V34E)
+#
+# SUBROUTINE CALLS -- FLAGUP, PHASCHNG, BANKCALL, ENDOFJOB, GOFLASH, GOFLASHR
+# GOPERF3R, INTPRET, BLANKET, GOTOP00H, R02BOTH, S30.1,
+# TIG/N35, MIDGIM, DISPMGA
+#
+# ERASABLE INITIALIZATION -- STATE VECTOR
+#
+# OUTPUT -- RINIT, VINIT, +MGA, VTIG, RTIG, DELVSIN, DELVSAB, DELVSLV, HAPO,
+# HPER, TTOGO
+#
+# DEBRIS -- A, L, MPAC, PUSHLIST
+
+ BANK 32
+ SETLOC P30S
+ BANK
+ EBANK= +MGA
+ COUNT* $$/P30
+P30 TC UPFLAG # SET UPDATE FLAG
+ ADRES UPDATFLG
+ TC UPFLAG # SET TRACK FLAG
+ ADRES TRACKFLG
+
+P30N33 CAF V06N33 # T OF IGN
+ TC VNP00H # RETURN ON PROCEED, P00H ON TERMINATE
+
+ CAF V06N81 # DISPLAY DELTA V (LV)
+ TC VNP00H # REDISPLAY ON RECYCLE
+
+ TC DOWNFLAG # RESET UPDATE FLAG
+ ADRES UPDATFLG
+ TC INTPRET
+ CALL
+ S30.1
+ SET EXIT
+ UPDATFLG
+PARAM30 CAF V06N42 # DISPLAY APOGEE,PERIGEE,DELTA V
+ TC VNP00H
+# Page 615
+
+ TC INTPRET
+ SETGO
+ XDELVFLG # FOR P40'S: EXTERNAL DELTA-V GUIDANCE.
+ REVN1645 # TRKMKCNT, T60, +MGA DISPLAY
+
+V06N33 VN 0633
+V06N42 VN 0642
+
+# Page 616
+# PROGRAM DESCRPTION S30.1 DATE 9NOV66
+# MOD NO 1 LOG SECTION P30,P37
+# MOD BY RAMA AIYAWAR **
+#
+# FUNCTIONAL DESCRIPTION
+# BASED ON STORED TARGET PARAMETERS (R OF IGNITION (RTIG), V OF
+# IGNITION (VTIG), TIME OF IGNITION (TIG)), COMPUTE PERIGEE ALTITUDE
+# APOGEE ALTITUDE AND DELTAV REQUIRED (DELVSIN).
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 s30.1
+#
+# NORMAL EXIT MODE
+# AT L+2 OR CALLING SEQUENCE (GOTO L+2)
+#
+# SUBROUTINES CALLED
+# LEMPREC
+# PERIAPO
+#
+# ALARM OR ABORT EXIT MODES
+# NONE
+#
+# ERASABLE INITIALIZATION REQUIRED
+# TIG TIME OF IGNITION DP B28CS
+# DELVSLV SPECIFIED DELTA-V IN LOCAL VERT.
+# COORDS. OF ACTIVE VEHICLE AT
+# TIME OF IGNITION VECTOR B+7 METERS/CS
+#
+# OUTPUT
+# RTIG POSITION AT TIG VECTOR B+29 METERS
+# VTIG VELOCITY AT TIG VECTOR B+29 METERS/CS
+# PDL 4D APOGEE ALTITUDE DP B+29 M, B+27 METERS.
+# HAPO APOGEE ALTITUDE DP B+29 METERS
+# PDL 8D PERIGEE ALTITUDE DP B+29 M, B+27 METERS.
+# HPER PERIGEE ALTITUDE DP B+29 METERS
+# DELVSIN SPECIFIED DELTA-V IN INTERTIAL
+# COORD. OF ACTIVE VEHICLE AT
+# TIME OF IGNITION VECTOR B+7 METERS/CS
+# DELVSAB MAG. OF DELVSIN VECTOR B+7 METERS/CS
+#
+# DEBRIS QTEMP TEMP.ERASABLE
+# QPRET, MPAC
+# PUSHLIST
+
+ SETLOC P30S1
+ BANK
+
+ COUNT* $$/S30S
+
+S30.1 STQ DLOAD
+ QTEMP
+ TIG # TIME IGNITION SCALED AT 2(+28)CS
+ STCALL TDEC1
+ LEMPREC # ENCKE ROUTINE FOR LEM
+
+ VLOAD SXA,2
+# Page 617
+ RATT
+ RTX2
+ STORE RTIG # RADIUS VECTOR AT IGNITION TIME
+ UNIT VCOMP
+ STOVL DELVSIN # ZRF/LV IN DELVSIN SCALED AT 2
+ VATT # VELOCITY VECTOR AT TIG, SCALED 2(7) M/CS
+ STORE VTIG
+ VXV UNIT
+ RTIG
+ SETPD SXA,1
+ 0
+ RTX1
+ PUSH VXV # YRF/LV PDL 0 SCALED AT 2
+ DELVSIN
+ VSL1 PDVL
+ PDVL PDVL # YRF/LV PDL 6 SCALED AT 2
+ DELVSIN # ZRF/LV PDL 12D SCALED AT 2
+ DELVSLV
+ VXM VSL1
+ 0
+ STORE DELVSIN # DELTAV IN INERT. COOR. SCALED TO B+7M/CS
+ ABVAL
+ STOVL DELVSAB # DELTA V MAG.
+ RTIG # (FOR PERIAPO)
+ PDVL VAD # VREQUIRED = VTIG + DELVSIN (FOR PERIAPO)
+ VTIG
+ DELVSIN
+ CALL
+ PERIAPO1
+ CALL
+ SHIFTR1 # RESCALE IF NEEDED
+ CALL # LIMIT DISPLAY TO 9999.9 N. MI.
+ MAXCHK
+ STODL HPER # PERIGEE ALT 2(29) METERS FOR DISPLAY
+ 4D
+ CALL
+ SHIFTR1 # RESCALE IF NEEDED
+ CALL # LIMIT DISPLAY TO 9999.9 N. MI.
+ MAXCHK
+ STCALL HAPO # APOGEE ALT 2(29) METERS FOR DISPLAY
+ QTEMP
+
+
diff --git a/P32-P33_P72-P73.s b/P32-P33_P72-P73.s
new file mode 100644
index 0000000..20889f6
--- /dev/null
+++ b/P32-P33_P72-P73.s
@@ -0,0 +1,1408 @@
+# Copyright: Public domain.
+# Filename: P32-P33_P72-P73.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 649-683
+# Mod history: 2009-05-09 RSB Adapted from the Luminary131/ file
+# P32-P35_P72-P75.agc and Comanche055 page
+# images.
+# 2009-05-20 RSB Corrected CSI/COM3 -> CSI/CDH3,
+# CSI/CDHI -> CSI/CDH1, CDHTAB -> CDHTAG,
+# changed a SETLOC from CSI/CDH to CSI/CDH1,
+# a SETLOC CSI/CDH1 to CSIPROG.
+# 2009-05-21 RSB Changed a P32/P72D to P32/P72E in
+# P32/P72D. DP1/4TH changed to DP1/4 in
+# CDHMVR.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 649
+# COELLIPTIC SEQUENCE INITIATION (CSI) PROGRAMS (P32 AND P72)
+#
+# MOD NO -1 LOG SECTION -- P32-P35, P72-P75
+# MOD BY WHITE, P. DATE 1 JUNE 67
+#
+# PURPOSE
+# (1) TO CALCULATE PARAMETERS ASSOCIATED WTIH THE FOLLOWING
+# CONCENTRIC FLIGHT PLAN MANEUVERS -- THE CO-ELLIPTIC SEQUENCE
+# INITIATION (CSI) MANEUVER AND THE CONSTANT DELTA ALTITUDE
+# (CDH) MANEUVER.
+# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
+# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
+# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
+# ASSOCIATED WITH THE CONCENTRIC FLIGHT PLAN MANEUVERS FOR
+# APPROVAL BY THE ASTRRONAUT/GROUND.
+# (4) TO STORE THE CSI TARGET PARAMETERS FOR USE BY THE DESIRED
+# THRUSTING PROGRAM.
+#
+# ASSUMPTIONS
+# (1) AT A SELECTED TPI TIME THE LINE OF SIGNT BETWEEN THE ACTIVE
+# AND PASSIVE VEHICLES IS SELECTED TO BE A PRESCRIBED ANGLE (E)
+# FROM THE HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE
+# POSITION.
+# (2) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION MUST BE
+# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
+# COMPLETION OF THE PROGRAM.
+# (3) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION MUST BE
+# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
+# COMPLETION OF THE PROGRAM.
+# (4) CDH DELTA V IS SELECTED TO MINIMIZE THE VARIATION OF THE
+# ALTITUDE DIFFERENCE BETWEEN THE ORBITS.
+# (5) CSI BURN IS DEFINED SUCH THAT THE IMPULSIVE DELTA V IS IN THE
+# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION AT CSI
+# IGNITION.
+# (6) THE PERICENTER ALTITUDE OF THE ORBIT FOLLOWING CSI AND CDH
+# MUST BE GREATER THAN 35,000 FT (LUNAR ORBIT) OR 85 NM (EARTH
+# ORBIT) FOR SUCCESSFUL COMPLETION OF THIS PROGRAM.
+# (7) THE CSI AND CDH MANEUVERS ARE ORIGINALLY ASSUMED TO BE
+# PARALLEL TO THE PLANE OF THE CSM ORBIT. HOWEVER, CREW
+# Page 650
+# MODIFICATION OF DELTA V (LV) COMPONENTS MAY RESULT IN AN
+# OUT-OF-PLANE CSI MANEUVER
+# (8) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
+# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 10).
+# (9) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY
+# THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED
+# ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME
+# EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES.
+# (10) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM
+# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
+# DESIRED THE RADAR WAS TURNED ON AND LOCKED BY THE CSM BY
+# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
+# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
+# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
+# MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH
+# THRUSTING MANEUVER.
+# (11) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
+# (12) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
+#
+# ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS
+# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
+# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
+# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
+#
+# FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
+# COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY
+# CYCLE.
+#
+# EXTERNAL DELTA V STEERING FLAG -- DESIGNATES THE TYPE OF
+# STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE
+# THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS
+# PROGRAM.
+#
+# (13) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO
+# A THRUSTING MANEUVER.
+#
+# (14) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY
+#
+# P32 IF THIS VEHICLE IS ACTIVE VEHICLE.
+#
+# P72 IF THIS VEHICLE IS THE PASSIVE VEHICLE.
+#
+# INPUT
+# (1) TCSI TIME OF THE CSI MANEUVER
+# Page 651
+# (2) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
+# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
+# MANEUVER POINT.
+# (3) ELEV DESIRED LOS ANGLE AT TPI
+# (4) TTPI TIME OF THE TPI MANEUVER
+#
+# OUTPUT
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# (4) DIFFALT DELTA ALTITUDE AT CDH
+# (5) T1TOT2 DELTA TIME FROM CSI TO CDH
+# (6) T2TOT3 DELTA TIME FROM CDH TO TPI
+# (7) DELVLVC DELTA VELOCITY AT CSI -- LOCAL VERTICAL COORDINATES
+# (8) DELVLVC DELTA VELOCITY AT CDH -- LOCAL VERTICAL COORDINATES
+#
+# DOWNLINK
+# (1) TCSI TIME OF THE CSI MANEUVER
+# (2) TCDH TIME OF THE CDH MANEUVER
+# (3) TTPI TIME OF THE TPI MANEUVER
+# (4) TIG TIME OF THE CSI MANEUVER
+# (5) DELVEET1 DELTA VELOCITY AT CSI -- REFERENCE COORDINATES
+# (6) DELVEET2 DELTA VELOCITY AT CDH -- REFERENCE COORDINATES
+# (7) DIFFALT DELTA ALTITUDE AT CDH
+# (8) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
+# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
+# MANEUVER POINT
+# (9) ELEV DESIRED LOS ANGLE AT TPI
+#
+# COMMUNICATION TO THRUSTING PROGRAMS
+# (1) TIG TIME OF THE CSI MANEUVER
+# (2) RTIG POSITION OF ACTIVE VEHICLE AT CSI -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE
+# (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CSE -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE
+# (4) DELVSIN DELTA VELOCITY AT CSI -- REFERENCE COORDINATES
+# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CSI
+# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION
+#
+# SUBROUTINES USED
+# AVFLAGA
+# AVFLAGP
+# P20FLGON
+# VARALARM
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+# Page 652
+# VNP00H
+# GOFLASHR
+# BLANKET
+# ENDOFJOB
+# SELECTMU
+# ADVANCE
+# INTINT
+# PASSIVE
+# CSI/A
+# S32/33.1
+# DISDVLVC
+# VN1645
+
+ BANK 35
+ SETLOC CSI/CDH1
+ BANK
+ EBANK= SUBEXIT
+ COUNT 35/P3272
+P32 TC AVFLAGA
+ TC P32STRT
+P72 TC AVFLAGP
+P32STRT TC INTPRET
+ DLOAD
+ ZEROVEC
+ STORE CENTANG
+ EXIT
+ TC P32/P72A
+ALMXITA SXA,2
+ CSIALRM
+ALMXIT LXC,1
+ CSIALRM
+ SLOAD* EXIT
+ ALARM/TB -1,1
+ CA MPAC
+ TC VARALARM
+ CAF V05N09
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC -4
+P32/P72A TC P20FLGON
+ TC INTPRET
+ DLOAD
+ ZEROVEC
+ STORE NN
+ EXIT
+ CAF V06N11 # TCSI
+ TC VNP00H
+ CAF V06N55
+# Page 653
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC +2
+ TC -5
+ CAF V06N37 # TTPI
+ TC VNP00H
+ TC INTPRET
+ DLOAD
+ TCSI
+ STCALL TIG
+ SELECTMU
+P32/P72B CALL
+ ADVANCE
+ SETPD VLOAD
+ 0D
+ VPASS1
+ PDVL PDDL
+ RPASS1
+ TCSI
+ PDDL PDDL
+ TTPI
+ 2PISC
+ SL2 PUSH
+ CALL
+ INTINT
+ CALL
+ PASSIVE
+ CALL
+ CSI/A
+P32/P72C BON SET
+ FINALFLG
+ P32/P72D
+ UPDATFLG
+P32/P72D DLOAD GOTO
+ T1TOT2
+ P32/P72E
+ SETLOC CSI/CDH3
+ BANK
+P32/P72E STORE T1TOT2
+ DSU BPL
+ 60MIN
+ P32/P72E
+ DLOAD GOTO
+ T2TOT3
+ P32/P72F
+ SETLOC CSI/CDH1
+ BANK
+P32/P72F STORE T2TOT3
+ DSU BPL
+# Page 654
+ 60MIN
+ P32/P72F
+ EXIT
+ CAF V06N75
+ TC VNP00H
+ TC INTPRET
+ VLOAD CALL
+ DELVEET1
+ S32/33.1
+ STOVL DELVEET1
+ RACT2
+ STOVL RACT1
+ DELVEET2
+ AXT,1 CALL
+ VN 0682
+ DISDVLVC
+ DLOAD
+ TTPI
+ STCALL TTPIO
+ VN1645
+ GOTO
+ P32/P72B
+
+# Page 655
+# CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73)
+# MOD NO -1 LOC SECTION -- P32-P35, P72-P75
+# MOD BY WHITE, P. DATE: 1 JUNE 67
+#
+# PURPOSE
+#
+# (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE CONSTANT DELTA
+# ALTITUDE MANEUVER (CDH).
+#
+# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
+# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
+#
+# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
+# ASSOCIATED WITH THE CDH MANEUVER FOR APPROVAL BY THE
+# ASTRONAUT/GROUND.
+#
+# (4) TO STORE THE CDH TARGET PARAMETERS FOR USE BY THE DESIRED
+# THRUSTING PROGRAM.
+#
+# ASSUMPTIONS
+#
+# (1) THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF THE
+# CO-ELLIPTIC SEQUENCE INITIATION (CSI) PROGRAM (P32/P72).
+# THEREFORE --
+#
+# (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT
+# BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE
+# A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE
+# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION.
+#
+# (B) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION WAS
+# COMPUTED TO BE GREATER THAN 10 MINUTES.
+#
+# (C) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS
+# COMPUTED TO BE GREATER THAN 10 MINUTES.
+#
+# (D) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE
+# ORBITS WAS MINIMIZED.
+#
+# (E) CSI BURN WAS DEFINED SUCH THAT THE IMPULSIVE DELTA V WAS
+# IN THE HORIZONTAL PLANE DEFINED BY ACTIVE VEHICLE
+# POSITION AT CSI IGNITION.
+#
+# (F) THE PERICENTER ALTITUDES OF THE ORBITS FOLLOWING CSI AND
+# CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR
+# ORBIT OR 85 NM FOR EARTH ORBIT.
+#
+# (G) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO
+# THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW
+# Page 656
+# MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED
+# IN AN OUT-OF-PLANE MANEUVER.
+#
+# (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
+# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 4).
+#
+# (3) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY
+# THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED
+# ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME
+# EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES.
+#
+# (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM.
+# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
+# DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY
+# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
+# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
+# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
+# MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH
+# THRUSTING MANEUVER.
+#
+# (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
+#
+# (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
+#
+# ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS
+# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
+# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
+# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
+#
+# FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
+# COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY
+# CYCLE.
+#
+# EXTERNAL DELTA V STEERING FLAG -- DESIGNATES THE TYPE OF
+# STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE
+# THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS
+# PROGRAM.
+#
+# (7) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO
+# A THRUSTING MANEUVER.
+#
+# (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY.
+#
+# P33 IF THIS VEHICLE IS ACTIVE VEHICLE.
+#
+# P73 IF THIS VEHICLE IS PASSIVE VEHICLE.
+#
+# INPUT
+#
+# (1) TTPIO TIME OF THE TPI MANEUVER -- SAVED FROM P32/P72
+# Page 657
+# (2) ELEV DESIRED LOS ANGLE AT TPI -- SAVED FROM P32/P72
+# (3) TCDH TIME OF THE CDH MANEUVER
+#
+# OUTPUT
+#
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# (4) DIFFALT DELTA ALTITUDE AT CDH
+# (5) T2TOT3 DELTA TIME FROM CDH TO COMPUTED TPI
+# (6) NOMTPI DELTA TIME FROM NOMINAL TPI TO COMPUTED TPI
+# (7) DELVLVC DELTA VELOCITY AT CDH -- LOCAL VERTICAL COORDINATES
+#
+# DOWNLINK
+#
+# (1) TCDH TIME OF THE CDH MANEUVER
+# (2) TTPI TIME OF THE TPI MANEUVER
+# (3) TIG TIME OF THE CDH MANEUVER
+# (4) DELLVEET2 DELTA VELOCITY AT CDH -- REFERENCE COORDINATES
+# (5) DIFFALT DELTA ALTITUDE AT CDH
+# (6) ELEV DESIRED LOS ANGLE AT TPI
+#
+# COMMUNICATION TO THRUSTING PROGRAMS
+#
+# (1) TIG TIME OF THE CDH MANEUVER
+# (2) RTIG POSITION OF ACTIVE VEHICLE AT CDH -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE.
+# (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CDH -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE.
+# (4) DELVSIN DELTA VELOCITY AT CDH -- REFERENCE COORDINATES.
+# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CDH.
+# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION.
+#
+# SUBROUTINES USED
+#
+# AVFLAGA
+# AVFLAGP
+# P20FLGON
+# VNP00H
+# SELECTMU
+# ADVANCE
+# CDHMVR
+# INTINT3P
+# ACTIVE
+# PASSIVE
+# S33/S34.1
+# ALARM
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+# S32/33.1
+# Page 658
+# VN1645
+
+ COUNT 35/P3373
+
+P33 TC AVFLAGA
+ TC P33/P73A
+P73 TC AVFLAGP
+P33/P73A TC P20FLGON
+ CAF V06N13 # TCDH
+ TC VNP00H
+ TC INTPRET
+ DLOAD
+ TTPIO
+ STODL TTPI
+ TCDH
+ STCALL TIG
+ SELECTMU
+P33/P73B CALL
+ ADVANCE
+ CALL
+ CDHMVR
+ SETPD VLOAD
+ 0D
+ VACT3
+ PDVL CALL
+ RACT2
+ INTINT3P
+ CALL
+ ACTIVE
+ SETPD VLOAD
+ 0D
+ VPASS2
+ PDVL CALL
+ RPASS2
+ INTINT3P
+ CALL
+ PASSIVE
+ DLOAD SET
+ ZEROVEC
+ ITSWICH
+ STCALL NOMTPI
+ S33/34.1
+ BZE EXIT
+ P33/P73C
+ TC ALARM
+ OCT 611
+ CAF V05N09
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+# Page 659
+ TC +2
+ TC P33/P73A
+ TC INTPRET
+ DLOAD
+ ZEROVEC
+ STCALL NOMTPI
+ P33/P73C
+ SETLOC CSI/CDH2
+ BANK
+
+P33/P73C BON SET
+ FINALFLG
+ P33/P73D
+ UPDATFLG
+P33/P73D DLOAD DAD
+ NOMTPI
+ TTPI
+ STORE TTPI
+ DSU GOTO
+ TCDH
+ P33/P73E
+ SETLOC CSI/CDH1
+ BANK
+
+P33/P73E DSU BPL
+ 60MIN
+ P33/P73E
+ DAD
+ 60MIN
+ STODL T1TOT2
+ TTPI
+ DSU PUSH
+ TTPIO
+P33/P73F ABS DSU
+ 60MIN
+ BPL DAD
+ P33/P73F
+ 60MIN
+ SIGN STADR
+ STORE T2TOT3
+ EXIT
+ CAF V06N75
+ TC VNP00H
+ TC INTPRET
+ VLOAD CALL
+ DELVEET2
+ S32/33.1
+ STCALL DELVEET2
+ VN1645
+ GOTO
+# Page 660
+ P33/P73B
+
+# Page 661
+# ***** AVFLAGA/P *****
+
+# Page 662
+# ***** DISDVLVC *****
+#
+# SUBROUTINES USED
+#
+# S32/33.X
+# VNP00H
+
+ SETLOC CDHTAG3
+ BANK
+
+DISDVLVC STORE DELVLVC
+ STQ CALL
+ NORMEX
+ S32/33.X
+ VLOAD MXV
+ DELVLVC
+ 0D
+ VSL1 SXA,1
+ VERBNOUN
+ STORE DELVLVC
+ EXIT
+ CA VERBNOUN
+ TC VNP00H
+ TC INTPRET
+ GOTO
+ NORMEX
+ SETLOC FFTAG12
+ BANK
+
+V06N11 VN 0611
+V06N13 VN 0613
+V06N75 VN 0675
+
+V06N50 VN 0650
+
+# Page 663
+
+# ***** CSI/A *****
+#
+# SUBROUTINES USED
+#
+# VECSHIFT
+# TIMETHET
+# PERIAPO
+# SHIFTR1
+# INTINT2C
+# CDHMVR
+# PERIAPO1
+# INTINT
+# ACTIVE
+
+ BANK 34
+ SETLOC CSIPROG
+ BANK
+ EBANK= SUBEXIT
+ COUNT 34/CSI
+
+60MIN 2DEC 360000
+
+ALARM/TB OCT 00600 # NO 1
+ OCT 00601 # 2
+ OCT 00602 # 3
+ OCT 00603 # 4
+ OCT 00604 # 5
+ OCT 00605 # 6
+ OCT 00606 # 7
+LOOPMX 2DEC 16
+
+INITST 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS
+
+DVMAX1 2DEC 3.0480 B-7 # MAXIMUM DV1 = 1000 FPS
+
+DVMAX2 2DEC 3.014472 B-7 # 989 FPS
+
+1DPB2 2DEC 1.0 B-2
+
+1DPB28 2DEC 1
+
+EPSILN1 2DEC .0003048 B-7 # .1 FPS
+
+
+FIFPSDP 2DEC -.152400 B-7 # 5 FPS
+
+DELMAX1 2DEC .6096000 B-7 # 200 FPS
+
+ SETLOC CSI/CDH
+ BANK
+PMINE 2DEC 157420 B-29 # 84 NM -- MUST BE 8 WORDS BEFORE PMINM
+
+# Page 664
+
+NICKELDP 2DEC .021336 B-7 # 7 FPS
+
+INITST1 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS
+
+ONETHTH 2DEC .0001 B-3
+
+PMINM 2DEC 10668 B-29 # 35000 FT -- MUST BE 8 WORDS AFTER PMINE
+
+ SETLOC CSIPROG
+ BANK
+
+CSI/A CLEAR SET # INITIALIZE INDICATORS
+ S32.1F1 # DVT1 HAS EXCEEDED MAX INDICATOR
+ S32.1F2 # FIRST PASS FOR NEWTON ITERATION INDICATOR
+ CLEAR SET
+ S32.1F3A # 00=1ST 2 PASSES 2ND CYCLE, 01=FIRST CYCLE
+ S32.1F3B # 10=2ND CYCLE, 11=50 FPS STAGE 2ND CYCLE
+ DLOAD
+ ZEROVEC
+ STORE LOOPCT
+ STORE CSIALRM
+CSI/B SETPD VLOAD
+ 0D
+ RACT1
+ ABVAL PUSH # RA1 B29 PL02D
+ NORM SR1
+ X2 # B29-N2+ B1 PL04D
+ PDVL ABVAL
+ RPASS3
+ NORM BDDV # RA1/RP3 B1 PL02D
+ X1
+ XSU,2 SR* # B2
+ X1
+ 1,2
+ DAD DMP # (1+(RA1/RP3))RA1 B29+B2=B31 PL00D
+ 1DPB2
+ NORM PDDL # PL02D
+ X1
+ RTMU
+ SR1 DDV # B38-B31= B7 PL00D
+ SL* SQRT # B7
+ 0 -7,1
+ PDVL UNIT # PL02D
+ RACT1
+ PDVL VXV
+ UP1
+ UNIT # UNIT(URP1 X UVP1 X URA1) = UH1
+ DOT SL1 # VA1 . UH1 B7
+ VACT1
+ BDSU STADR # PL00D
+# Page 665
+ STODL DELVCSI
+ INITST # 10 FPS
+ STORE DELDV
+CSI/B1 DLOAD DAD # IF LOOPCT = 16
+ LOOPCT
+ 1DPB28
+ STORE LOOPCT
+ DSU AXT,2
+ LOOPMX
+ 6
+ BPL GOTO
+ SCNDSOL
+ CSI/B2
+
+ SETLOC CSIPROG2
+ BANK
+
+CSI/B2 SETPD
+ 0D
+ DLOAD ABS
+ DELVCSI
+ DSU BMN
+ DVMAX1
+ CSI/B23
+ AXT,2 BON
+ 7
+ S32.1F1
+ SCNDSOL
+ BOFF BON
+ S32.1F3A
+ CSI/B22 # FLAG 3 NEQ 3
+ S32.1F3B
+ SCNDSOL
+CSI/B22 SET DLOAD
+ S32.1F1
+ DVMAX2
+ SIGN
+ DELVCSI
+ STCALL DELVCSI
+ CSI/B23
+
+ SETLOC CSIPROG3
+ BANK
+
+CSI/B23 VLOAD PUSH
+ RACT1
+ UNIT PDVL
+ UP1
+ VXV UNIT # UNIT (URP1 X UVP1 X URA1) = UH1
+ VXSC VSL1
+# Page 666
+ DELVCSI
+ STORE DELVEET1
+ VAD BOV
+ VACT1
+ CSI/B23D
+CSI/B23D STCALL VACT4
+ VECSHIFT
+ STOVL VVEC
+ SET
+ RVSW
+ STOVL RVEC
+ SN359+
+ STCALL SNTH # ALSO CSTH
+ TIMETHET
+ SR1 LXA,1
+ RTX1
+ STCALL HAFPA1
+ PERIAPO
+ CALL
+ SHIFTR1
+ STODL POSTCSI
+ CENTANG
+ BZE GOTO
+ +2
+ CIRCL
+ DLOAD
+ ECC
+ DSU BMN
+ ONETHTH
+ CIRCL
+ DLOAD CALL
+ R1
+ SHIFTR1
+ SETPD NORM
+ 2D
+ X1
+ PDVL DOT # PL04D
+ RACT1
+ VACT4
+ ABS DDV
+ 02D # (/RDOTV/)/R1 B36-B29= B7
+ SL* DSU
+ 0,1
+ NICKELDP
+ BMN DLOAD
+ CIRCL
+ P
+ SL2 DSU
+ 1RTEB2 # 1.B.2
+ STODL 14D
+# Page 667
+ RTSR1/MU
+ SR1 DDV # (1/ROOTMU)/R1 B-16-B29 = B-45 PL02D
+ PDDL DMP
+ P
+ R1
+ CALL
+ SHIFTR1
+ SL4 SL1
+ SQRT DMP # ((P/MU)**.5)/R1 B14+B-14 = B-31 BL02D
+ BOFF SL3
+ CMOONFLG
+ CSI/B3
+CSI/B3 PDVL DOT
+ RACT1
+ VACT4
+ STORE RDOTV
+ ABS
+ NORM DMP # ((P/MU)**.5)RDOTV/R1 PL02D
+ X2
+ XSU,1 SL* # B-31+B36-B3 = B2
+ X2
+ 3,1
+ STODL 12D
+ ZEROVECS
+ STORE 16D
+ VLOAD UNIT
+ 12D
+ STOVL SNTH # ALSO STORES CSTH AND 0
+ RACT1
+ PDVL SIGN
+ VACT4
+ RDOTV
+ VCOMP CALL
+ VECSHIFT
+ STOVL VVEC
+ SETGO
+ RVSW
+ CSINEXT
+
+SN359+ 2DEC -.000086601
+
+CS359+ 2DEC +.499999992
+
+ SETLOC CSIPROG4
+ BANK
+
+CSINEXT STCALL RVEC
+ TIMETHET
+ PDDL BPL
+ RDOTV
+# Page 668
+ NTP/2
+ DLOAD DSU
+ HAFPA1
+ PUSH GOTO
+ NTP/2
+CIRCL SETPD DLOAD
+ 00D
+ ZEROVECS
+ PUSH
+NTP/2 DLOAD DMP
+ NN
+ HAFPA1
+ SL DSU
+ 14D
+ DAD
+ TCSI
+ STORE TCDH
+ BDSU AXT,2
+ TTPI
+ 5D
+ BMN SETPD
+ SCNDSOL
+ 0D
+ VLOAD PDVL
+ VACT4
+ RACT1
+ CALL
+ INTINT2C
+ STOVL RACT2
+ VATT
+ STOVL VACT2
+ VPASS1
+ SETPD PDVL
+ 0D
+ RPASS1
+ GOTO
+ CSINEXT1
+
+ SETLOC CSIPROG5
+ BANK
+
+CSINEXT1 CALL
+ INTINT2C
+ STOVL RPASS2
+ VATT
+ STCALL VPASS2
+ CDHMVR
+ VLOAD SETPD
+ RACT2
+ 0D
+# Page 669
+ PDVL CALL
+ VACT3
+ PERIAPO1
+ CALL
+ SHIFTR1
+ STOVL POSTCDH
+ VACT3
+ SETPD PDVL
+ 0D
+ RACT2
+ PDDL PDDL
+ TCDH
+ TTPI
+ PDDL SL2
+ 2PISC
+ PUSH CALL
+ INTINT
+ CALL
+ ACTIVE
+ DLOAD
+ ELEV
+ SETPD SINE
+ 6D
+ PDVL UNIT
+ RACT3
+ STORE 00D # URA3 AT 00D
+ PDVL VXV # PL14D, PL08D
+ UP1
+ UNIT
+ PDDL COSINE # UNIT(URA3 X UVA3 X URA3) = UH3 B1 PL14D
+ ELEV
+ VXSC STADR # (COSLOS)(UH3) B2 PL08D
+ STCALL 18D # PLUS
+ CSINEXT2
+
+ SETLOC CSIPROG6
+ BANK
+
+CSINEXT2 DLOAD VXSC # (SINLOS)(URA3) = U B2 PL00D
+ VAD VSL1
+ 18D # B1
+ PUSH DOT # PL06D
+ RACT3 # (U . RA3) = TEMP1 B1 + B29 = B30
+ SL1 PUSH # B29 PL08D
+ DSQ TLOAD # TEMP1**2 B58
+ MPAC
+ PDVL DOT # PL11D
+ RACT3
+ RACT3
+ TLOAD DCOMP # RA3 . RA3
+# Page 670
+ MPAC
+ PDVL DOT # RP3 . RP3 B58 PL14D
+ RPASS3
+ RPASS3 # PL11D
+ TAD TAD # TEMP1**2 + RA3.RA3 + RP3.RP3 = TEMP2 PL08D
+ BPL DLOAD
+ K10RK2
+ LOOPCT
+ DSU AXT,2
+ 1DPB28
+ 1D
+ BZE
+ ALMXITA
+ DLOAD SR1
+ DELDV
+ STORE DELDV
+ BDSU
+ DVPREV
+ STCALL DELVCSI
+ CSI/B1
+K10RK2 SQRT PUSH # TEMP3 = TEMP2**.5 B29 PL10D
+ DCOMP DSU
+ 06D # -TEMP1-TEMP3 = K2 AT 10D
+ STODL 10D # PL08D
+ DSU STADR # PL06D
+ STORE 12D # -TEMP1+TEMP3 = K1 AT 12D
+ ABS
+ STODL 14D
+ 10D
+ ABS DSU
+ 14D
+ BMN DLOAD
+ K2.
+ 12D
+ STCALL 10D # K EQUALS K1
+ K2.
+
+ SETLOC CSIPROG7
+ BANK
+
+K2. DLOAD
+ 10D
+ VXSC VSL1
+ VAD UNIT # V = RA3 + KU UNIT B1
+ RACT3
+ PDVL UNIT
+ RPASS3 # PL06D
+ PDVL UNIT
+ VPASS3 # PL12D
+ VXV PDVL # UVP3 X URP3 PL18D
+# Page 671
+ 06D
+ 06D
+ VXV DOT
+ 00D
+ STADR # PL12D
+ STOVL 12D # (URP3 X V).(UVP3 X URP3)=TEMP PL06D
+ DOT SL1 # PL00D
+ ARCCOS SIGN
+ 12D # B0
+ SR1 PUSH # GAMMA = SIGN(TEMP)ARCOS(UNITV.URP3) PL02D
+ BON DLOAD
+ S32.1F2
+ FRSTPAS
+ 00D # NOT THE FIRST PASS OF A CYCLE
+ DSU PDDL # GAMMA-GAMPREV B1 PL04D
+ GAMPREV
+ DELVCSI
+ DSU NORM # B7
+ DVPREV
+ X1
+ BDDV PDDL # (GAM-GAMPREV)/(DV-DVPREV) B-6+N1 PL06D
+ 02D # = SLOPE
+ DELVCSI
+ STORE DVPREV
+ BOFF BOFF
+ S32.1F3A
+ THRDCHK
+ S32.1F3B
+ THRDCHK
+ DLOAD DMP
+ 02D
+ GAMPREV
+ BPL DLOAD
+ FIFTYFPS
+ INITST1
+ SIGN
+ DELDV
+ STORE DELDV
+ SET CLEAR
+ S32.1F3A
+ S32.1F3B
+FRSTPAS DLOAD
+ 00D
+ STODL GAMPREV
+ DELVCSI
+ STCALL DVPREV
+ CSINEXT3
+
+ SETLOC CSIPROG8
+ BANK
+# Page 672
+
+CSINEXT3 DSU CLEAR
+ DELDV
+ S32.1F2
+ STCALL DELVCSI
+ CSI/B1
+THRDCHK BON BON
+ S32.1F3A
+ NEWTN
+ S32.1F3B
+ NEWTN
+FIFTYFPS DLOAD SIGN
+ FIFPSDP
+ 04D
+ SIGN
+ GAMPREV
+ STORE DELDV
+ DCOMP DAD
+ DELVCSI
+ STODL DELVCSI
+ 00D
+ SET SET
+ S32.1F3B
+ S32.1F3A
+ STCALL GAMPREV
+ CSI/B2
+NEWTN DLOAD NORM
+ 04D
+ X2
+ BDDV XSU,1
+ 00D
+ X2
+ SR*
+ 0,1
+ STODL DELDV
+ 00D
+ STORE GAMPREV
+ DLOAD ABS
+ DELDV
+ PUSH DSU # PL08D
+ EPSILN1
+ BMN DLOAD
+ CSI/SOL
+ DSU BMN
+ DELMAX1
+ CSISTEP
+ DLOAD SIGN
+ DELMAX1
+ DELDV
+ STORE DELDV
+CSISTEP DLOAD DSU
+# Page 673
+ DELVCSI
+ DELDV
+ STCALL DELVCSI
+ CSI/B1
+CSI/SOL DLOAD AXT,2
+ POSTCSI
+ 2
+ LXA,1 GOTO
+ RTX1
+ CSINEXT4
+
+ SETLOC CSIPROG9
+ BANK
+
+CSINEXT4 DSU* BMN
+ PMINE -2,1
+ SCNDSOL
+ AXT,2 DLOAD
+ 3
+ POSTCDH
+ DSU* BMN
+ PMINE -2,1
+ SCNDSOL
+ DLOAD DSU
+ TCDH
+ TCSI
+ STORE T1TOT2
+ AXT,2 DSU
+ 4
+ 600SEC
+ BMN AXT,2
+ SCNDSOL
+ 5
+ DLOAD DSU
+ TTPI
+ TCDH
+ STORE T2TOT3
+ DSU BPL
+ 600SEC
+ P32/P72C
+SCNDSOL BON BOFF
+ S32.1F3A
+ ALMXIT
+ S32.1F3B
+ ALMXIT
+ SXA,2 DLOAD
+ CSIALRM
+ ZEROVECS
+ CLEAR SET
+ S32.1F1
+# Page 674
+ S32.1F2
+ CLEAR CLEAR
+ S32.1F3A
+ S32.1F3B
+ STCALL LOOPCT
+ CSI/B
+
+# Page 675
+# ***** ADVANCE *****
+#
+# SUBROUTINES USED
+# PRECSET
+# ROTATE
+
+ SETLOC CDHTAG3
+ BANK
+
+ADVANCE STQ DLOAD
+ SUBEXIT
+ TIG
+ STCALL TDEC1
+ PRECSET
+ SET VLOAD
+ XDELVFLG
+ VPASS3
+ STORE VPASS2
+ STOVL VPASS1
+ RPASS3
+ STORE RPASS2
+ STORE RPASS1
+ UNIT VXV
+ VPASS1
+ UNIT
+ STOVL UP1
+ RACT3
+ STCALL RTIG
+ ROTATE
+ STORE RACT2
+ STOVL RACT1
+ VACT3
+ STCALL VTIG
+ ROTATE
+ STORE VACT2
+ STCALL VACT1
+ SUBEXIT
+
+# Page 676
+# ***** ROTATE *****
+
+ SETLOC CDHTAG
+ BANK
+
+ROTATE PUSH PUSH
+ DOT VXSC
+ UP1
+ UP1
+ VSL2 BVSU
+ UNIT PDVL
+ ABVAL VXSC
+ VSL1 RVQ
+
+# Page 677
+# ***** INTINTNA *****
+
+ SETLOC CDHTAG2
+ BANK
+
+INTINT2C PDDL PDDL
+ TCSI
+ TCDH
+ PDDL PUSH
+ TWOPI
+ GOTO
+ INTINT
+INTINT3P PDDL PDDL
+ TCDH
+ TTPI
+ PDDL PUSH
+ ZEROVECS
+ GOTO
+ INTINT
+
+# Page 678
+# ***** S32/33.1 *****
+#
+# SUBROUTINES USED
+# S32/33.X
+
+ SETLOC CSI/CDH
+ BANK
+
+S32/33.1 STQ AXT,1
+ SUBEXIT
+ VN 0681
+ CALL
+ DISDVLVC
+ CALL
+ S32/33.X
+ VLOAD VXM
+ DELVLVC
+ 0D
+ VSL1
+ STORE DELVSIN
+ PUSH ABVAL
+ STOVL DELVSAB
+ GOTO
+ SUBEXIT
+
+# Page 679
+# ***** S32/33.X *****
+
+ SETLOC CDHTAGS
+ BANK
+
+S32/33.X SETPD VLOAD
+ 6D
+ UP1
+ VCOMP PDVL
+ RACT1
+ UNIT VCOMP
+ PUSH VXV
+ UP1
+ VSL1
+ STORE 0D
+ RVQ
+
+# Page 680
+# ***** CDHMVR *****
+#
+# SUBROUTINES USED
+# VECSHIFT
+# TIMETHET
+# SHIFTR1
+
+ SETLOC CDHTAG
+ BANK
+
+CDHMVR STQ VLOAD
+ SUBEXIT
+ RACT2
+ PUSH UNIT
+ STOVL UNVEC # UR SUB A
+ RPASS2
+ UNIT DOT
+ UNVEC
+ PUSH SL1
+ STODL CSTH
+ DSQ PDDL
+ DP1/4
+ SR2 DSU
+ SQRT SL1
+ PDVL VCOMP
+ VXV
+ RPASS2
+ DOT PDDL
+ UP1
+ SIGN STADR
+ STOVL SNTH
+ RPASS2
+ PDVL CALL
+ VPASS2
+ VECSHIFT
+ STOVL VVEC
+ CLEAR
+ RVSW
+ STCALL RVEC
+ TIMETHET
+ LXA,2 VSL*
+ RTX2
+ 0,2
+ STORE 18D
+ DOT SL1R
+ UNVEC
+ PDVL ABVAL # 0D = V SUB PV
+ SL* PDVL
+ 0,2
+# Page 681
+ RACT2
+ ABVAL PDDL # 2D = LENGTH OF R SUB A
+ DSU
+ 02D
+ STODL DIFFALT # DELTA H IN METERS B+29
+ R1A
+ NORM PDDL # 2 - R V**/MU 04D
+ X1
+ R1
+ CALL
+ SHIFTR1
+ SR1R DDV
+ SL* PUSH
+ 0 -5,1
+ DSU PDDL # A SUB A B+29 04D
+ DIFFALT
+ SR2 DDV # A SUB P B+31
+ 04D # B+2
+ PUSH SQRT # A SUB P/A SUB A 06D
+ DMPR DMP
+ 06D
+ 00D
+ SL3R PDDL # V SUB A V METERS/CS B+7 08D
+ 02D # R SUB A MAGNITUDE B+29
+ NORM PDDL
+ X1
+ RTMU
+ SR1 DDV # 2MU B+38
+ SL* PDDL # 2 MU/R SUBAA B+14 10D
+ 0 -5,1
+ 04D # ASUBA B+29
+ NORM PDDL
+ X2
+ RTMU
+ SR1 DDV
+ SL* BDSU
+ 0 -6,2 # 2U/R - U/A B+14 (METERS/CS)SQ
+ PDDL DSQ # 10D
+ 08D
+ BDSU SQRT
+ PDVL VXV # SQRT(MU(2/R SUB A-1/A SUB A)-VSUBA2) 10D
+ UP1
+ UNVEC
+ UNIT VXSC
+ 10D
+ PDVL VXSC
+ UNVEC
+ 08D
+ VAD VSL1
+ STADR
+# Page 682
+ STORE VACT3
+ VSU
+ VACT2
+ STCALL DELVEET2 # DELTA VCDH -- REFERENCE COORDINATES
+ SUBEXIT
+
+# Page 683
+# ***** COMPTGO *****
+#
+# SUBROUTINES USED
+# CLOKTASK
+# 2PHSCHNG
+
+ BANK 35
+ SETLOC CSI/CDH
+ BANK
+
+ EBANK= RTRN
+
+ COUNT* $$/P3575
+
diff --git a/P32-P35_P72-P75.s b/P32-P35_P72-P75.s
new file mode 100644
index 0000000..9f1c7b8
--- /dev/null
+++ b/P32-P35_P72-P75.s
@@ -0,0 +1,1394 @@
+# Copyright: Public domain.
+# Filename: P32-P35_P72-P75.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 618-650
+# Mod history: 2009-05-18 RSB Adapted from the Luminary 131 file of the
+# same name, as corrected from Luminary 099
+# page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 618
+# COELLIPTIC SEQUENCE INITIATION (CSI) PROGRAMS (P32 AND P72)
+#
+# MOD NO -1 LOG SECTION -- P32-P35, P72-P75
+# MOD BY WHITE, P. DATE 1 JUNE 67
+#
+# PURPOSE
+
+# (1) TO CALCULATE PARAMETERS ASSOCIATED WTIH THE TIME FOLLOWING
+# CONCENTRIC FLIGHT PLAN MANEUVERS -- THE CO-ELLIPTIC SEQUENCE
+# INITIATION (CSI) MANEUVER AND THE CONSTANT DELTA ALTITUDE
+# (CDH) MANEUVER.
+
+# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
+# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
+
+# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
+# ASSOCIATED WITH THE CONCENTRIC FLIGHT PLAN MANEUVERS FOR
+# APPROVAL BY THE ASTRRONAUT/GROUND.
+
+# (4) TO STORE THE CSI TARGET PARAMETERS FOR USE BY THE DESIRED
+# THRUSTING PROGRAM.
+#
+# ASSUMPTIONS
+
+# (1) AT A SELECTED TPI TIME THE LINE OF SIGNT BETWEEN THE ACTIVE
+# AND PASSIVE VEHICLES IS SELECTED TO BE A PRESCRIBED ANGLE (E)
+# FROM THE HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE
+# POSITION.
+
+# (2) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION MUST BE
+# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
+# COMPLETION OF THE PROGRAM.
+
+# (3) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION MUST BE
+# COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL
+# COMPLETION OF THE PROGRAM.
+
+# (4) CDH DELTA V IS SELECTED TO MINIMIZE THE VARIATION OF THE
+# ALTITUDE DIFFERENCE BETWEEN THE ORBITS.
+
+# (5) CSI BURN IS DEFINED SUCH THAT THE IMPULSIVE DELTA V IS IN THE
+# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION AT CSI
+# IGNITION.
+
+# (6) THE PERICENTER ALTITUDE OF THE ORBIT FOLLOWING CSI AND CDH
+# MUST BE GREATER THAN 35,000 FT (LUNAR ORBIT) OR 85 NM (EARCH
+# ORBIT) FOR SUCCESSFUL COMPLETION OF THIS PROGRAM.
+
+# (7) THE CSI AND CDH MANEUVERS ARE ORIGINALLY ASSUMED TO BE
+# PARALLEL TO THE PLANE OF THE CSM ORBIT. HOWEVER, CREW
+# Page 619
+# MODIFICATION OF DELTA V (LV) COMPONENTS MAY RESULT IN AN
+# OUT-OF-PLANE CSI MANEUVER
+
+# (8) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
+# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 10).
+
+# (9) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY
+# THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED
+# ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME
+# EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES.
+
+# (10) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM
+# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
+# DESIRED THE RADAR WAS TURNED ON AND LOCKED BY THE CSM BY
+# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
+# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
+# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
+# MARK COUNTER IS ZEROED BY TEH SELECTION OF P20 AND AFTER EACH
+# THRUSTING MANEUVER.
+
+# (11) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
+
+# (12) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
+#
+# ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS
+# DOING RENDEZVOUS THRUSTING MANEUVERS TO TEH PROGRAM WHICH
+# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
+# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
+#
+# FINAL FLAG -- SELECTES FINAL PROGRAM DISPLAYS AFTER CREW HAS
+# COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY
+# CYCLE.
+#
+# EXTERNAL DELTA V STEERING FLAG -- DESIGNATES THE TYPE OF
+# STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE
+# THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS
+# PROGRAM.
+#
+# (13) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO
+# A THRUSTING MANEUVER.
+#
+# (14) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY
+#
+# P32 IF THIS VEHICLE IS ACTIVE VEHICLE.
+#
+# P72 IF THIS VEHICLE IS THE PASSIVE VEHICLE.
+#
+# INPUT
+
+# (1) TCSI TIME OF THE CSI MANEUVER
+
+# Page 620
+# (2) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
+# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
+# MANEUVER POINT.
+# (3) ELEV DESIRED LOS ANGLE AT TPI
+# (4) TTPI TIME OF THE TPI MANEUVER
+#
+# OUTPUT
+
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# (4) DIFFALT DELTA ALTITUDE AT CDH
+# (5) T1TOT2 DELTA TIME FROM CSI TO CDH
+# (6) T2TOT3 DELTA TIME FROM CDH TO TPI
+# (7) DELVLVC DELTA VELOCITY AT CSI -- LOCAL VERTICAL COORDINATES
+# (8) DELVLVC DELTA VELOCITY AT CDH -- LOCAL VERTICAL COORDINATES
+#
+# DOWNLINK
+
+# (1) TCSI TIME OF THE CSI MANEUVER
+# (2) TCDH TIME OF THE CDH MANEUVER
+# (3) TTPI TIME OF THE TPI MANEUVER
+# (4) TIG TIME OF THE CSI MANEUVER
+# (5) DELVEET1 DELTA VELOCITY AT CSI -- REFERENCE COORDINATES
+# (6) DELVEET2 DELTA VELOCITY AT CDH -- REFERENCE COORDINATES
+# (7) DIFFALT DELTA ALTITUDE AT CDH
+# (8) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE
+# VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH
+# MANEUVER POINT
+# (9) ELEV DESIRED LOS ANGLE AT TPI
+#
+# COMMUNICATION TO THRUSTING PROGRAM
+
+# (1) TIG TIME OF THE CSI MANEUVER
+# (2) RTIG POSITION OF ACTIVE VEHICLE AT CSI -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE
+# (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CSE -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE
+# (4) DELVSIN DELTA VELOCITY AT CSI -- REFERENCE COORDINATES
+# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CSI
+# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION
+#
+# SUBROUTINES USED
+
+# AVFLAGA
+# AVFLAGP
+# P20FLGON
+# VARALARM
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+# Page 621
+# VNP00H
+# GOFLASHR
+# BLANKET
+# ENDOFJOB
+# SELECTMU
+# ADVANCE
+# INTINT
+# PASSIVE
+# CSI/A
+# S32/33.1
+# DISDVLVC
+# VN1645
+
+ BANK 35
+ SETLOC CSI/CDH
+ BANK
+ EBANK= SUBEXIT
+ COUNT* $$/P3272
+P32 TC AVFLAGA
+ TC P32STRT
+P72 TC AVFLAGP
+P32STRT EXTEND
+ DCA P30ZERO
+ DXCH CENTANG
+ TC P32/P72A
+ALMXITA SXA,2
+ CSIALRM
+ALMXIT LXC,1
+ CSIALRM
+ SLOAD* EXIT
+ ALARM/TB -1,1
+ CA MPAC
+ TC VARALARM
+ CAF V05N09
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC -4
+P32/P72A TC P20FLGON
+ CAF P30ZERO
+ TS NN +1
+ TS TCSI
+ TS TCSI +1
+VN0611 CAF V06N11 # TCSI
+ TC VNP00H
+ TC INTPRET
+ DLOAD DCOMP
+ TCSI
+ BMN DLOAD
+ VN0655
+# Page 622
+ TETLEM
+ STCALL TDEC1
+ PRECSET
+ VLOAD VSR*
+ RACT3
+ 0,2
+ STOVL RVEC
+ VACT3
+ VSR* SET
+ 0,2
+ RVSW
+ STODL VVEC
+ DPPOSMAX
+ STCALL RDESIRED
+ TIMERAD
+ DAD
+ TDEC2
+ STORE TCSI
+ EXIT
+ TC VN0611
+VN0655 EXIT
+ CAF V06N55 # NN, ELEV(RGLOS)
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC +2
+ TC -5
+ CAF V06N37 # TTPI
+ TC VNP00H
+ TC INTPRET
+ DLOAD
+ TCSI
+ STCALL TIG
+ SELECTMU
+P32/P72B CALL
+ ADVANCE
+ SETPD VLOAD
+ 0D
+ VPASS1
+ PDVL PDDL
+ RPASS1
+ TCSI
+ PDDL PDDL
+ TTPI
+ TWOPI
+ PUSH CALL
+ INTINT
+ CALL
+ PASSIVE
+ CALL
+# Page 623
+ CSI/A
+P32/P72C BON SET
+ FINALFLG
+ P32/P72D
+ UPDATFLG
+P32/P72D DLOAD
+ T1TOT2
+P32/P72E STORE T1TOT2
+ DSU BPL
+ 60MIN
+ P32/P72E
+ DLOAD
+ T2TOT3
+P32/P72F STORE T2TOT3
+ DSU BPL
+ 60MIN
+ P32/P72F
+ EXIT
+ CAF V06N75
+ TC VNP00H
+ TC INTPRET
+ VLOAD CALL
+ DELVEET1
+ S32/33.1
+ STOVL DELVEET1
+ RACT2
+ STOVL RACT1
+ DELVEET2
+ AXT,1 CALL
+ VN 0682
+ DISDVLVC
+ DLOAD
+ TTPI
+ STCALL TTPIO
+ VN1645
+ GOTO
+ P32/P72B
+
+# Page 624
+# CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73)
+# MOD NO -1 LOC SECTION -- P32-P35, P72-P75
+# MOD BY WHITE, P. DATE: 1 JUNE 67
+#
+# PURPOSE
+#
+# (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE CONSTANT DELTA
+# ALTITUDE MANEUVER (CDH).
+#
+# (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
+# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
+#
+# (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES
+# ASSOCIATED WITH THE CDH MANEUVER FOR APPROVAL BY THE
+# ASTRONAUT/GROUND.
+#
+# (4) TO STORE THE CDH TARGET PARAMETERS FOR USE BY THE DESIRED
+# THRUSTING PROGRAM.
+#
+# ASSUMPTIONS
+#
+# (1) THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF THE
+# CO-ELLIPTIC SEQUENCE INITIATION (CSI) PROGRAM (P32/P72).
+# THEREFORE --
+#
+# (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT
+# BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE
+# A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE
+# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION.
+#
+# (B) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION WAS
+# COMPUTED TO BE GREATER THAN 10 MINUTES.
+#
+# (C) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS
+# COMPUTED TO BE GREATER THAN 10 MINUTES.
+#
+# (D) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE
+# ORBITS WAS MINIMIZED.
+#
+# (E) CSI BURN WAS DEFINED SUCH THAT THE IMPULSIVE DELTA V WAS
+# IN THE HORIZONTAL PLANE DEFINED BY ACTIVE VEHICLE
+# POSITION AT CSI IGNITION.
+#
+# (F) THE PERICENTER ALTITUDES OF THE ORBITS FOLLOWING CSI AND
+# CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR
+# ORBIT OR 85 NM FOR EARTH ORBIT.
+#
+# (G) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO
+# THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW
+# Page 625
+# MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED
+# IN AN OUT-OF-PLANE MANEUVER.
+#
+# (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
+# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 4).
+#
+# (3) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY
+# THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED
+# ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME
+# EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES.
+#
+# (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM.
+# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
+# DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY
+# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
+# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
+# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
+# MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH
+# THRUSTING MANEUVER.
+#
+# (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
+#
+# (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
+#
+# ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS
+# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
+# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
+# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
+#
+# FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
+# COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY
+# CYCLE.
+#
+# EXTERNAL DELTA V STEERING FLAG -- DESIGNATES THE TYPE OF
+# STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE
+# THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS
+# PROGRAM.
+#
+# (7) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO
+# A THRUSTING MANEUVER.
+#
+# (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY.
+#
+# P33 IF THIS VEHICLE IS ACTIVE VEHICLE.
+#
+# P73 IF THIS VEHICLE IS PASSIVE VEHICLE.
+#
+# INPUT
+#
+# (1) TTPIO TIME OF THE TPI MANEUVER -- SAVED FROM P32/P72
+# Page 626
+# (2) ELEV DESIRED LOS ANGLE AT TPI -- SAVED FROM P32/P72
+# (3) TCDH TIME OF THE CDH MANEUVER
+#
+# OUTPUT
+#
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# (4) DIFFALT DELTA ALTITUDE AT CDH
+# (5) T2TOT3 DELTA TIME FROM CDH TO COMPUTED TPI
+# (6) NOMTPI DELTA TIME FROM NOMINAL TPI TO COMPUTED TPI
+# (7) DELVLVC DELTA VELOCITY AT CDH -- LOCAL VERTICAL COORDINATES
+#
+# DOWNLINK
+#
+# (1) TCDH TIME OF THE CDH MANEUVER
+# (2) TTPI TIME OF THE TPI MANEUVER
+# (3) TIG TIME OF THE CDH MANEUVER
+# (4) DELLVEET2 DELTA VELOCITY AT CDH -- REFERENCE COORDINATES
+# (5) DIFFALT DELTA ALTITUDE AT CDH
+# (6) ELEV DESIRED LOS ANGLE AT TPI
+#
+# COMMUNICATION TO THRUSTING PROGRAMS
+#
+# (1) TIG TIME OF THE CDH MANEUVER
+# (2) RTIG POSITION OF ACTIVE VEHICLE AT CDH -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE.
+# (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CDH -- BEFORE ROTATION
+# INTO PLANE OF PASSIVE VEHICLE.
+# (4) DELVSIN DELTA VELOCITY AT CDH -- REFERENCE COORDINATES.
+# (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CDH.
+# (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION.
+#
+# SUBROUTINES USED
+#
+# AVFLAGA
+# AVFLAGP
+# P20FLGON
+# VNP00H
+# SELECTMU
+# ADVANCE
+# CDHMVR
+# INTINT3P
+# ACTIVE
+# PASSIVE
+# S33/S34.1
+# ALARM
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+# S32/33.1
+# Page 627
+# VN1645
+
+ COUNT* $$/P3373
+P33 TC AVFLAGA
+ TC P33/P73A
+P73 TC AVFLAGP
+P33/P73A TC P20FLGON
+ CAF V06N13 # TCDH
+ TC VNP00H
+ TC INTPRET
+ DLOAD
+ TTPIO
+ STODL TTPI
+ TCDH
+ STCALL TIG
+ SELECTMU
+P33/P73B CALL
+ ADVANCE
+ CALL
+ CDHMVR
+ SETPD VLOAD
+ 0D
+ VACT3
+ PDVL CALL
+ RACT2
+ INTINT3P
+ CALL
+ ACTIVE
+ SETPD VLOAD
+ 0D
+ VPASS2
+ PDVL CALL
+ RPASS2
+ INTINT3P
+ CALL
+ PASSIVE
+ DLOAD SET
+ P30ZERO
+ ITSWICH
+ STCALL NOMTPI
+ S33/34.1
+ BZE EXIT
+ P33/P73C
+ TC ALARM
+ OCT 611
+ CAF V05N09
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC +2
+# Page 628
+ TC P33/P73A
+ TC INTPRET
+ DLOAD
+ P30ZERO
+ STORE NOMTPI
+P33/P73C BON SET
+ FINALFLG
+ P33/P73D
+ UPDATFLG
+P33/P73D DLOAD DAD
+ NOMTPI
+ TTPI
+ STORE TTPI
+ DSU
+ TCDH
+P33/P73E DSU BPL
+ 60MIN
+ P33/P73E
+ DAD
+ 60MIN
+ STODL T1TOT2
+ TTPI
+ DSU PUSH
+ TTPIO
+P33/P73F ABS DSU
+ 60MIN
+ BPL DAD
+ P33/P73F
+ 60MIN
+ SIGN STADR
+ STORE T2TOT3
+ EXIT
+ CAF V06N75
+ TC VNP00H
+ TC INTPRET
+ VLOAD CALL
+ DELVEET2
+ S32/33.1
+ STCALL DELVEET2
+ VN1645
+ GOTO
+ P33/P73B
+
+# Page 629
+# ***** ADFLAG/P *****
+#
+# SUBROUTINES USED
+#
+# UPFLAG
+# DOWNFLAG
+
+AVFLAGA EXTEND # AVFLAG = LEM
+ QXCH SUBEXIT
+ TC UPFLAG
+ ADRES AVFLAG
+ TC SUBEXIT
+AVFLAGP EXTEND # AVFLAG = CSM
+ QXCH SUBEXIT
+ TC DOWNFLAG
+ ADRES AVFLAG
+ TC SUBEXIT
+P20FLGON EXTEND
+ QXCH SUBEXIT
+ TC UPFLAG
+ ADRES UPDATFLG # SET UPDATFLG
+ TC UPFLAG
+ ADRES TRACKFLG # SET TRACKFLG
+ TC SUBEXIT
+
+# Page 630
+# ***** DISDVLVC *****
+#
+# SUBROUTINES USED
+#
+# S32/33.X
+# VNP00H
+
+DISDVLVC STORE DELVLVC
+ STQ CALL
+ NORMEX
+ S32/33.X
+ VLOAD MXV
+ DELVLVC
+ 0D
+ VSL1 SXA,1
+ VERBNOUN
+ STORE DELVLVC
+ EXIT
+ CA VERBNOUN
+ TC VNP00H
+ TC INTPRET
+ GOTO
+ NORMEX
+
+# Page 631
+# ***** CONSTANTS *****
+
+V06N11 VN 0611
+V06N13 VN 0613
+V06N75 VN 0675
+SN359+ 2DEC -.000086601
+
+CS359+ 2DEC +.499999992
+
+P30ZERO 2DEC 0
+
+60MIN 2DEC 360000
+
+ALARM/TB OCT 00600 # NO 1
+ OCT 00601 # 2
+ OCT 00602 # 3
+ OCT 00603 # 4
+ OCT 00604 # 5
+ OCT 00605 # 6
+ OCT 00606 # 7
+
+# Page 632
+# ***** CSI/A *****
+#
+# SUBROUTINES USED
+#
+# VECSHIFT
+# TIMETHET
+# PERIAPO
+# SHIFTR1
+# INTINT2C
+# CDHMVR
+# PERIAPO1
+# INTINT
+# ACTIVE
+
+ BANK 34
+ SETLOC CSI/CDH1
+ BANK
+ EBANK= SUBEXIT
+ COUNT* $$/CSI
+LOOPMX 2DEC 16
+
+INITST 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS
+
+DVMAX1 2DEC 3.0480 B-7 # MAXIMUM DV1 = 1000 FPS
+
+DVMAX2 2DEC 3.014472 B-7 # 989 FPS
+
+1DPB2 2DEC 1.0 B-2
+
+1DPB28 2DEC 1
+
+PMINE 2DEC 157420 B-29 # 85 NM -- MUST BE 8 WORDS BEFORE PMINM
+
+EPSILN1 2DEC .0003048 B-7 # .1 FPS
+
+NICKELDP 2DEC .021336 B-7 # 7 FPS (CHANGED FROM .05 FPS)
+
+FIFPSDP 2DEC -.152400 B-7 # 50 FPS
+
+PMINM 2DEC 10668 B-29 # 35000 FT -- MUST BE 8 WORDS AFTER PMINE
+
+DELMAX1 2DEC .6096000 B-7 # 200 FPS
+
+ONETHTH 2DEC .0001 B-3
+
+TMIN 2DEC 60000 # 10 MIN
+
+CSI/A CLEAR SET # INITIALIZE INDICATORS
+ S32.1F1 # DVT1 HAS EXCEEDED MAX INDICATOR
+ S32.1F2 # FIRST PASS FOR NEWTON ITERATION INDICATOR
+# Page 633
+ CLEAR SET
+ S32.1F3A # 00=1ST 2 PASSES 2ND CYCLE, 01=FIRST CYCLE
+ S32.1F3B # 10=2ND CYCLE, 11=50 FPS STAGE 2ND CYCLE
+ DLOAD
+ P30ZERO
+ STORE LOOPCT
+ STORE CSIALRM
+CSI/B SETPD VLOAD
+ 0D
+ RACT1
+ ABVAL PUSH # RA1 B29 PL02D
+ NORM SR1
+ X2 # B29-N2+ B1 PL04D
+ PDVL ABVAL
+ RPASS3
+ NORM BDDV # RA1/RP3 B1 PL02D
+ X1
+ XSU,2 SR* # B2
+ X1
+ 1,2
+ DAD DMP # (1+(RA1/RP3))RA1 B29+B2=B31 PL00D
+ 1DPB2
+ NORM PDDL # PL02D
+ X1
+ RTMU
+ SR1 DDV # B38-B31= B7 PL00D
+ SL* SQRT # B7
+ 0 -7,1
+ PDVL UNIT # PL02D
+ RACT1
+ PDVL VXV
+ UP1
+ UNIT # UNIT(URP1 X UVP1 X URA1) = UH1
+ DOT SL1 # VA1 . UH1 B7
+ VACT1
+ BDSU STADR # PL00D
+ STODL DELVCSI
+ INITST # 10 FPS
+ STORE DELDV
+CSI/B1 DLOAD DAD # IF LOOPCT = 16
+ LOOPCT
+ 1DPB28
+ STORE LOOPCT
+ DSU AXT,2
+ LOOPMX
+ 6
+ BPL
+ SCNDSOL
+CSI/B2 SETPD
+ 0D
+# Page 634
+ DLOAD ABS
+ DELVCSI
+ DSU BMN
+ DVMAX1
+ CSI/B23
+ AXT,2 BON
+ 7
+ S32.1F1
+ SCNDSOL
+ BOFF BON
+ S32.1F3A
+ CSI/B22 # FLAG 3 NEQ 3
+ S32.1F3B
+ SCNDSOL
+CSI/B22 SET DLOAD
+ S32.1F1
+ DVMAX2
+ SIGN
+ DELVCSI
+ STORE DELVCSI
+CSI/B23 VLOAD PUSH
+ RACT1
+ UNIT PDVL
+ UP1
+ VXV UNIT # UNIT (URP1 X UVP1 X URA1) = UH1
+ VXSC VSL1
+ DELVCSI
+ STORE DELVEET1
+ VAD BOV
+ VACT1
+ CSI/B23D
+CSI/B23D STCALL VACT4
+ VECSHIFT
+ STOVL VVEC
+ SET
+ RVSW
+ STOVL RVEC
+ SN359+
+ STCALL SNTH # ALSO CSTH
+ TIMETHET
+ SR1 LXA,1
+ RTX1
+ STCALL HAFPA1
+ PERIAPO
+ CALL
+ SHIFTR1
+ STODL POSTCSI
+ CENTANG
+ BZE GOTO
+ +2
+# Page 635
+ CIRCL
+ DLOAD
+ ECC
+ DSU BMN
+ ONETHTH
+ CIRCL
+ DLOAD CALL
+ R1
+ SHIFTR1
+ SETPD NORM
+ 2D
+ X1
+ PDVL DOT # PL04D
+ RACT1
+ VACT4
+ ABS DDV
+ 02D # (/RDOTV/)/R1 B38-B29= B7
+ SL* DSU
+ 0,1
+ NICKELDP
+ BMN DLOAD
+ CIRCL
+ P
+ SL2 DSU
+ 1DPB2
+ STODL 14D
+ RTSR1/MU
+ SR1 DDV # (1/ROOTMU)/R1 B-16-B29 = B-45 PL02D
+ PDDL DMP
+ P
+ R1
+ CALL
+ SHIFTR1
+ SL4 SL1
+ SQRT DMP # ((P/MU)**.5)/R1 B14+B-14 = B-31 PL02D
+ BOFF SL3
+ CMOONFLG
+ CSI/B3
+CSI/B3 PDVL DOT
+ RACT1
+ VACT4
+ STORE RDOTV
+ ABS
+ NORM DMP # ((P/MU)**.5)RDOTV/R1 PL02D
+ X2
+ XSU,1 SL* # B-31+B36-B3 = B2
+ X2
+ 3,1
+ STODL 12D
+ P30ZERO
+# Page 636
+ STORE 16D
+ VLOAD UNIT
+ 12D
+ STOVL SNTH # ALSO STORES CSTH AND 0
+ RACT1
+ PDVL SIGN
+ VACT4
+ RDOTV
+ VCOMP CALL
+ VECSHIFT
+ STOVL VVEC
+ SET
+ RVSW
+ STCALL RVEC
+ TIMETHET
+ PDDL BPL
+ RDOTV
+ NTP/2
+ DLOAD DSU
+ HAFPA1
+ PUSH GOTO
+ NTP/2
+CIRCL SETPD DLOAD
+ 00D
+ P30ZERO
+ PUSH
+NTP/2 DLOAD DMP
+ NN
+ HAFPA1
+ SL DSU
+ 14D
+ DAD
+ TCSI
+ STORE TCDH
+ BDSU AXT,2
+ TTPI
+ 5D
+ BMN SETPD
+ SCNDSOL
+ 0D
+ VLOAD PDVL
+ VACT4
+ RACT1
+ CALL
+ INTINT2C
+ STOVL RACT2
+ VATT
+ STOVL VACT2
+ VPASS1
+ SETPD PDVL
+# Page 637
+ 0D
+ RPASS1
+ CALL
+ INTINT2C
+ STOVL RPASS2
+ VATT
+ STCALL VPASS2
+ CDHMVR
+ VLOAD SETPD
+ RACT2
+ 0D
+ PDVL CALL
+ VACT3
+ PERIAPO1
+ CALL
+ SHIFTR1
+ STOVL POSTCDH
+ VACT3
+ SETPD PDVL
+ 0D
+ RACT2
+ PDDL PDDL
+ TCDH
+ TTPI
+ PDDL PUSH
+ TWOPI
+ CALL
+ INTINT
+ CALL
+ ACTIVE
+ DLOAD
+ ELEV
+ SETPD SINE
+ 6D
+ PDVL UNIT
+ RACT3
+ STORE 00D # URA3 AT 00D
+ PDVL VXV # PL14D, PL08D
+ UP1
+ UNIT
+ PDDL COSINE # UNIT(URA3 X UVA3 X URA3) = UH3 B1 PL14D
+ ELEV
+ VXSC STADR # (COSLOS)(UH3) B2 PL08D
+ STORE 18D # PLUS
+ DLOAD VXSC # (SINLOS)(URA3) = U B2 PL00D
+ VAD VSL1
+ 18D # B1
+ PUSH DOT # PL06D
+ RACT3 # (U . RA3) = TEMP1 B1 +B29 = B30
+ SL1 PUSH # B29 PL08D
+# Page 638
+ DSQ TLOAD # TEMP1**2 B58
+ MPAC
+ PDVL DOT # PL11D
+ RACT3
+ RACT3
+ TLOAD DCOMP # RA3 . RA3
+ MPAC
+ PDVL DOT # RP3 . RP3 B58 PL14D
+ RPASS3
+ RPASS3 # PL11D
+ TAD TAD # TEMP1**2 + RA3.RA3 + RP3.RP3 = TEMP2 PL08D
+ BPL DLOAD
+ K10RK2
+ LOOPCT
+ DSU AXT,2
+ 1DPB28
+ 1D
+ BZE
+ ALMXITA
+ DLOAD SR1
+ DELDV
+ STORE DELDV
+ BDSU
+ DVPREV
+ STCALL DELVCSI
+ CSI/B1
+K10RK2 SQRT PUSH # TEMP3 = TEMP2**.5 B29 PL10D
+ DCOMP DSU
+ 06D # -TEMP1-TEMP3 = K2 AT 10D
+ STODL 10D # PL08D
+ DSU STADR # PL06D
+ STORE 12D # -TEMP1+TEMP3 = K1 AT 12D
+ ABS
+ STODL 14D
+ 10D
+ ABS DSU
+ 14D
+ BMN DLOAD
+ K2.
+ 12D
+ STORE 10D # K = K1
+K2. DLOAD
+ 10D
+ VXSC VSL1
+ VAD UNIT # V = RA3 + KU UNIT B1
+ RACT3
+ PDVL UNIT
+ RPASS3 # PL06D
+ PDVL UNIT
+ VPASS3 # PL12D
+# Page 639
+ VXV PDVL # UVP3 X URP3 PL18D
+ 06D
+ 06D
+ VXV DOT
+ 00D
+ STADR # PL12D
+ STOVL 12D # (URP3 X V).(UVP3 X URP3)=TEMP PL06D
+ DOT SL1 # PL00D
+ ARCCOS SIGN
+ 12D # B0
+ SR1 PUSH # GAMMA = SIGN(TEMP)ARCOS(UNITV.URP3) PL02D
+ BON DLOAD
+ S32.1F2
+ FRSTPAS
+ 00D # NOT THE FIRST PASS OF A CYCLE
+ DSU PDDL # GAMMA-GAMPREV B1 PL04D
+ GAMPREV
+ DELVCSI
+ DSU NORM # B7
+ DVPREV
+ X1
+ BDDV PDDL # (GAM-GAMPREV)/(DV-DVPREV) B-6+N1 PL06D
+ 02D # = SLOPE
+ DELVCSI
+ STORE DVPREV
+ BOFF BOFF
+ S32.1F3A
+ THRDCHK
+ S32.1F3B
+ THRDCHK
+ DLOAD DMP
+ 02D
+ GAMPREV
+ BPL DLOAD
+ FIFTYFPS
+ INITST
+ SIGN
+ DELDV
+ STORE DELDV
+ SET CLEAR
+ S32.1F3A
+ S32.1F3B
+FRSTPAS DLOAD
+ 00D
+ STODL GAMPREV
+ DELVCSI
+ STORE DVPREV
+ DSU CLEAR
+ DELDV
+ S32.1F2
+# Page 640
+ STCALL DELVCSI
+ CSI/B1
+THRDCHK BON BON
+ S32.1F3A
+ NEWTN
+ S32.1F3B
+ NEWTN
+FIFTYFPS DLOAD SIGN
+ FIFPSDP
+ 04D
+ SIGN
+ GAMPREV
+ STORE DELDV
+ DCOMP DAD
+ DELVCSI
+ STODL DELVCSI
+ 00D
+ SET SET
+ S32.1F3B
+ S32.1F3A
+ STCALL GAMPREV
+ CSI/B2
+NEWTN DLOAD NORM
+ 04D
+ X2
+ BDDV XSU,1
+ 00D
+ X2
+ SR*
+ 0,1
+ STODL DELDV
+ 00D
+ STORE GAMPREV
+ DLOAD ABS
+ DELDV # PL08D
+ PUSH DSU
+ EPSILN1
+ BMN DLOAD
+ CSI/SOL
+ DSU BMN
+ DELMAX1
+ CSISTEP
+ DLOAD SIGN
+ DELMAX1
+ DELDV
+ STORE DELDV
+CSISTEP DLOAD DSU
+ DELVCSI
+ DELDV
+ STCALL DELVCSI
+# Page 641
+ CSI/B1
+CSI/SOL DLOAD AXT,2
+ POSTCSI
+ 2
+ LXA,1
+ RTX1
+ DSU* BMN
+ PMINE -2,1
+ SCNDSOL
+ AXT,2 DLOAD
+ 3
+ POSTCDH
+ DSU* BMN
+ PMINE -2,1
+ SCNDSOL
+ DLOAD DSU
+ TCDH
+ TCSI
+ STORE T1TOT2
+ AXT,2 DSU
+ 4
+ TMIN
+ BMN AXT,2
+ SCNDSOL
+ 5
+ DLOAD DSU
+ TTPI
+ TCDH
+ STORE T2TOT3
+ DSU BPL
+ TMIN
+ P32/P72C
+SCNDSOL BON BOFF
+ S32.1F3A
+ ALMXIT
+ S32.1F3B
+ ALMXIT
+ SXA,2 DLOAD
+ CSIALRM
+ P30ZERO
+ CLEAR SET
+ S32.1F1
+ S32.1F2
+ CLEAR CLEAR
+ S32.1F3A
+ S32.1F3B
+ STCALL LOOPCT
+ CSI/B
+
+# Page 642
+# ***** ADVANCE *****
+#
+# SUBROUTINES USED
+# PRECSET
+# ROTATE
+
+ADVANCE STQ DLOAD
+ SUBEXIT
+ TIG
+ STCALL TDEC1
+ PRECSET
+ SET VLOAD
+ XDELVFLG
+ VPASS3
+ STORE VPASS2
+ STOVL VPASS1
+ RPASS3
+ STORE RPASS2
+ STORE RPASS1
+ UNIT VXV
+ VPASS1
+ UNIT
+ STOVL UP1
+ RACT3
+ STCALL RTIG
+ ROTATE
+ STORE RACT2
+ STOVL RACT1
+ VACT3
+ STCALL VTIG
+ ROTATE
+ STORE VACT2
+ STCALL VACT1
+ SUBEXIT
+
+# Page 643
+# ***** ROTATE *****
+
+ROTATE PUSH PUSH
+ DOT VXSC
+ UP1
+ UP1
+ VSL2 BVSU
+ UNIT PDVL
+ ABVAL VXSC
+ VSL1 RVQ
+
+# Page 644
+# ***** INTINTNA *****
+
+INTINT2C PDDL PDDL
+ TCSI
+ TCDH
+ PDDL PUSH
+ TWOPI
+ GOTO
+ INTINT
+INTINT3P PDDL PDDL
+ TCDH
+ TTPI
+ PDDL PUSH
+ P30ZERO
+ GOTO
+ INTINT
+
+# Page 645
+# ***** S32/33.1 *****
+#
+# SUBROUTINES USED
+# S32/33.X
+
+S32/33.1 STQ AXT,1
+ SUBEXIT
+ VN 0681
+ CALL
+ DISDVLVC
+ CALL
+ S32/33.X
+ VLOAD VXM
+ DELVLVC
+ 0D
+ VSL1
+ STORE DELVSIN
+ PUSH ABVAL
+ STOVL DELVSAB
+ GOTO
+ SUBEXIT
+
+# Page 646
+# ***** S32/33.X *****
+
+S32/33.X SETPD VLOAD
+ 6D
+ UP1
+ VCOMP PDVL
+ RACT1
+ UNIT VCOMP
+ PUSH VXV
+ UP1
+ VSL1
+ STORE 0D
+ RVQ
+
+# Page 647
+# ***** CDHMVR *****
+#
+# SUBROUTINES USED
+# VECSHIFT
+# TIMETHET
+# SHIFTR1
+
+CDHMVR STQ VLOAD
+ SUBEXIT
+ RACT2
+ PUSH UNIT
+ STOVL UNVEC # UR SUB A
+ RPASS2
+ UNIT DOT
+ UNVEC
+ PUSH SL1
+ STODL CSTH
+ DSQ PDDL
+ DP1/4TH
+ SR2 DSU
+ SQRT SL1
+ PDVL VCOMP
+ VXV
+ RPASS2
+ DOT PDDL
+ UP1
+ SIGN STADR
+ STOVL SNTH
+ RPASS2
+ PDVL CALL
+ VPASS2
+ VECSHIFT
+ STOVL VVEC
+ CLEAR
+ RVSW
+ STCALL RVEC
+ TIMETHET
+ LXA,2 VSL*
+ RTX2
+ 0,2
+ STORE 18D
+ DOT SL1R
+ UNVEC
+ PDVL ABVAL # 0D = V SUB PV
+ SL* PDVL
+ 0,2
+ RACT2
+ ABVAL PDDL # 2D = LENGTH OF R SUB A
+ DSU
+# Page 648
+ 02D
+ STODL DIFFALT # DELTA H IN METERS B+29
+ R1A
+ NORM PDDL # 2 - R V**/MU 04D
+ X1
+ R1
+ CALL
+ SHIFTR1
+ SR1R DDV
+ SL* PUSH
+ 0 -5,1
+ DSU PDDL # A SUB A B+29 04D
+ DIFFALT
+ SR2 DDV # A SUB P B+31
+ 04D # B+2
+ PUSH SQRT # A SUB P/A SUB A 06D
+ DMPR DMP
+ 06D
+ 00D
+ SL3R PDDL # V SUB AV METERS/CS B+7 08D
+ 02D # R SUB A MAGNITUDE B+29
+ NORM PDDL
+ X1
+ RTMU
+ SR1 DDV # 2MU B+38
+ SL* PDDL # 2 MU/R SUBAA B+14 10D
+ 0 -5,1
+ 04D # ASUBA B+29
+ NORM PDDL
+ X2
+ RTMU
+ SR1 DDV
+ SL* BDSU
+ 0 -6,2 # 2U/R - U/A B+14 (METERS/CS)SQ
+ PDDL DSQ # 10D
+ 08D
+ BDSU SQRT
+ PDVL VXV # SQRT(MU(2/R SUB A-1/A SUB A)-VSUBA2) 10D
+ UP1
+ UNVEC
+ UNIT VXSC
+ 10D
+ PDVL VXSC
+ UNVEC
+ 08D
+ VAD VSL1
+ STADR
+ STORE VACT3
+ VSU
+ VACT2
+# Page 649
+ STCALL DELVEET2 # DELTA VCDH -- REFERENCE COORDINATES
+ SUBEXIT
+
+# Page 650
+# ***** COMPTGO *****
+#
+# SUBROUTINES USED
+# CLOKTASK
+# 2PHSCHNG
+
+ BANK 35
+ SETLOC CSI/CDH
+ BANK
+
+ EBANK= RTRN
+
+ COUNT* $$/P3575
+
+COMPTGO EXTEND
+ QXCH RTRN
+ CAF ZERO
+ TS DISPDEX
+ CAF BIT2
+ INHINT
+ TC WAITLIST
+ EBANK= WHICH
+ 2CADR CLOKTASK
+
+ TC 2PHSCHNG
+ OCT 40036
+ OCT 05024
+ OCT 13000
+ TC RTRN
+
diff --git a/P34-35_P74-75.s b/P34-35_P74-75.s
new file mode 100644
index 0000000..84e6591
--- /dev/null
+++ b/P34-35_P74-75.s
@@ -0,0 +1,1739 @@
+# Copyright: Public domain.
+# Filename: P34-35_P74-75.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 460-504
+# Contact: Onno Hommes <ohommes@cmu.edu>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-10 OH Batch 2 Assignment Comanche Transcription
+# 2009-05-23 RSB In DISPLAYE, corrected a CADR GOFLASHR
+# to CADR GOFLASH.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+
+# Page 460
+# TRANSFER PHASE INITITIATION (TPI) PROGRAMS (P34 AND P74)
+# MOD NO -1 LOG SECTION -- P32-P35, P72-P75
+# MOD BY WHITE, P. DATE: 1 JUNE 67
+#
+# PURPOSE
+# (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS
+# REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE TRANSFER
+# PHASE INITITATION (TPI) MANEUVER, GIVEN --
+# (A) TIME OF IGNITION TIG (TPI) OR THE ELEVATION ANGLE (E) OF
+# THE ACTIVE/PASSIVE VEHICLE LOS AT TIG (TPI).
+# (B) CENTRAL ANGLE OF TRANSFER (CENTANG) FROM TIG (TPI) TO
+# INTERCEPT TIME (TIG (TPF)).
+# (2) TO CALCULATE TIG (TPI) GIVEN E OR E GIVEN TIG (TPI).
+# (3) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA
+# APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
+# (4) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT
+# VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE
+# ASTRONAUT/GROUND.
+# (5) TO STORE THE TPI TARGET PARAMETERS FOR USE BY THE DESIRED
+# THRUSTING PROGRAM.
+#
+# ASSUMPTIONS
+# (1) LM ONLY -- THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF
+# THE CONSTANT DELTA ALTITUDE (CDH) PROGRAM (P33/P73).
+# THEREFORE --
+# (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT
+# BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE
+# A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE
+# HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION.
+# (B) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS
+# COMPUTED TO BE GREATER THAN 10 MINUTES.
+# (C) THE VARIATION OF TEH ALTITUDE DIFFERENCE BETWEEN THE
+# ORBITS WAS MINIMIZED.
+# (D) THE PERICENTER ALTITUDES OF ORBITS FOLLOWING CSI AND
+# CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR
+# Page 461
+# ORBIT OR 85 NM FOR EARTH ORBIT.
+# (E) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO
+# THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW
+# MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED
+# IN AN OUT-OF-PLANE MANEUVER.
+# (2) STATE VECTOR UPDATED BY P27 ARE DISALLOWED DURING AUTOMATIC
+# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (4)).
+# (3) THIS PROGRAM MUST BE DONE OVER A TRACKING STATION FOR REAL
+# TIME GROUND PARTICIPATION IN DATA INPUT AND OUTPUT. COMPUTED
+# VARIABLES MAY BE STORED FOR LATER VERIFICATION BY THE GROUND.
+# THESE STORAGE CAPABILITIES ARE LIMITED ONLY TO THE PARAMETERS
+# FOR ONE THRUSTING MANEUVER AT A TIME EXCEPT FOR CONCENTRIC
+# FLIGHT PLAN MANEUVER SEQUENCES.
+# (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM
+# OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS
+# DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY
+# PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE
+# AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE
+# TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING
+# MARK COUNTER IS ZEROED BY TEH SELECTION OF P20 AND AFTER EACH
+# THRUSTING MANEUVER.
+# (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
+# (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
+#
+# ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS
+# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
+# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
+# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
+#
+# FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
+# SELECTED THE FINAL MANEUVER COMPUTATION CYCLE.
+#
+# EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING
+# REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING
+# PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM.
+#
+# (7) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER
+# HAVE BEEN COMPLETELY SPECIFIED, TEH VALUE OF THE ACTIVE
+# VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STORED.
+# THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT
+# THROUGH THE USE OF V06N52.
+#
+# THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE
+# CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN
+# Page 462
+# 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE
+# ASTRONAUT SHOULD REASSES THE INPUT TARGETING PARAMETERS BASED
+# UPON DELTA V AND EXPECTED MANEUVER TIME.
+# (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY --
+#
+# P34 IF THIS VEHICLE IS ACTIVE VEHICLE.
+#
+# P74 IF THIS VEHICLE IS PASSIVE VEHICLE.
+#
+# INPUT
+# (1) TTPI TIME OF THE TPI MANEUVER.
+# (2) ELEV DESIRED LOS ANGLE AT TPI
+# (3) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING
+# TRANSFER FROM TPI TO TIME OF INTERCEPT
+#
+# OUTPUT
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# (4) TTPI COMPUTED TIME OF TPI MANEUVER
+# OR
+# ELEV COMPUTED LOS ANGLE AT TPI
+# (5) POSTTPI PERIGEE ALTITUDE AFTER THE TPI MANEUVER
+# (6) DELVTPI MAGNITUDE OF DELTA V AT TPI
+# (7) DELVTPF MAGNITUDE OF DELTA V AT INTERCEPT
+# (8) DVLOS DELTA VELOCITY AT TPI -- LINE OF SIGHT
+# (9) DELVLVC DELTA VELOCITY AT TPI -- LOCAL VERTICAL COORDINATES
+#
+# DOWNLINK
+# (1) TTPI TIME OF TPI MANEUVER
+# (2) TIG TIME OF TPI MANEUVER
+# (3) ELEV DESIRED LOS ANGLE AT TPI
+# (4) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING
+# TRANSFER FROM TPI TO TIME OF INTERCEPT
+# (5) DELVEET3 DELTA VELOCITY AT TPI -- REFERENCE COORDINATES
+# (6) TPASS4 TIME OF INTERCEPT
+#
+# COMMUNICATION TO THRUSTING PROGRAMS
+# (1) TIG TIME OF THE TPI MANEUVER
+# (2) RTARG OFFSET TARGET POSITION
+# (3) TPASS4 TIME OF INTERCEPT
+# (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION
+#
+# SUBROUTINES USED
+# AVFLAGA
+# Page 463
+# AVFLAGP
+# VNP00H
+# DISPLAYE
+# SELECTMU
+# PRECSET
+# S33/34.1
+# ALARM
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+# TIMETHET
+# S34/35.2
+# PERIAPO1
+# SHIFTR1
+# S34/35.5
+# VN1645
+
+ SETLOC CSI/CDH
+ BANK
+ EBANK= SUBEXIT
+ COUNT 35/P3474
+
+P34 TC AVFLAGA
+ TC P34/P74A
+P74 TC AVFLAGP
+P34/P74A TC P20FLGON # SET UPDATFLG, TRACKFLG
+ CAF V06N37 # TTPI
+ TC VNP00H # Onno: The scans look like O not zero
+ TC INTPRET
+ SSP EXIT
+ NN
+ 0
+ TC DISPLAYE # ELEV AND CENTANG
+ TC INTPRET
+ CLEAR DLOAD
+ ETPIFLAG
+ TTPI
+ STODL TIG
+ ELEV
+ BZE SET
+ P34/P74B
+ ETPIFLAG
+P34/P74B CALL
+ SELECTMU
+DELELO EQUALS 26D
+P34/P74C DLOAD SET
+ ZEROVECS
+ ITSWICH
+ BON CLEAR
+ ETPIFLAG
+# Page 464
+ SWCHSET
+ ITSWICH
+SWCHSET STORE NOMTPI
+INTLOOP DLOAD DAD
+ TTPI
+ NOMTPI
+ STCALL TDEC1
+ PRECSET
+ CALL
+ S33/34.1
+ BZE EXIT
+ SWCHCLR
+ TC ALARM
+ OCT 611
+ CAF V05N09
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC P34/P74A # PROCEED
+ TC -7 # V32
+
+SWCHCLR BONCLR BON
+ ITSWICH
+ INTLOOP
+ ETPIFLAG
+ P34/P74D # DISPLAY TTPI
+ EXIT
+ TC DISPLAYE # DISPLAY ELEV AND CENTANG
+ TC P34/P74E
+P34/P74D EXIT
+ CAF V06N37 # TTPI
+ TC VNP00H
+P34/P74E TC INTPRET
+ SETPD DLOAD
+ 0D
+ RTX1
+ STODL X1
+ CENTANG
+ PUSH COS
+ STODL CSTH
+ SIN
+ STOVL SNTH
+ RPASS3
+ VSR*
+ 0,2
+ STOVL RVEC
+ VPASS3
+ VSR* SET
+ 0,2
+ RVSW
+# Page 465
+ STCALL VVEC
+ TIMETHET
+ DLOAD
+ TTPI
+ STORE INTIME # FOR INITVEL
+ DAD
+ T # RENDEZVOUS TIME
+ STCALL TPASS4 # FOR INITVEL
+ S34/35.2
+ VLOAD ABVAL
+ DELVEET3
+ STOVL DELVTPI
+ VPASS4
+ VSU ABVAL
+ VTPRIME
+ STOVL DELVTPF
+ RACT3
+ PDVL CALL
+ VIPRIME
+ PERIAPO1
+ CALL
+ SHIFTR1
+ STODL POSTTPI
+ TTPI
+ STORE TIG
+ EXIT
+ CAF V06N58
+ TC VNP00H
+ TC INTPRET
+ CALL
+ S34/35.5
+ CALL
+ VN1645
+ GOTO
+ P34/P74C
+
+# Page 466
+# RENDEZVOUS MID-COURSE MANEUVER PROGRAMS (P35 AND P75)
+# MOD NO -1 LOG SECTION -- P32-P35, P72-P75
+# MOD BY WHITE, P. DATE: 1 JUNE 67
+#
+# PURPOSE
+# (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS
+# REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE NEXT
+# MID-COURSE CORRECTION OF THE TRANSFER PHASE OF AN ACTIVE
+# VEHICLE RENDEZVOUS.
+# (2) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT
+# VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE
+# ASTRONAUT/GROUND.
+# (3) TO STORE THE TPM TARGET PARAMETERS FOR USE BY THE DESIRED
+# THRUSTING PROGRAM.
+#
+# ASSUMPTIONS
+# (1) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
+# (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC
+# STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (3)).
+# (3) THE RENDEZVOUS RADAR IS ON AND IS LOCKED ON THE CSM. THIS WAS
+# DONE DURING PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS
+# WILL BE MADE AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN
+# ENABLED BY THE TRACK AND UPDATE FLAGS (SEE P20). THE
+# RENDEZVOUS TRACKING MARK COUNTER IS ZEROED BY THE SELECTION OF
+# P20 AND AFTER EACH THRUSTING MANEUVER.
+# (4) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS --
+#
+# ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS
+# DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH
+# CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF
+# EACH RENDEZVOUS PRE-THRUSTING PROGRAM.
+#
+# FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS
+# SELECTED THE FINAL MANEUVER COMPUTATION CYCLE.
+#
+# EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING
+# REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING
+# PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM.
+#
+# (5) THE TIME OF INTERCEPT (T(INT)) WAS DEFINED BY PREVIOUS
+# COMPLETION OF THE TRANSFER PHASE INITIATION (TPI) PROGRAM
+# (P34/P74) AND IS PRESENTLY AVAILABLE IN STORAGE.
+# Page 467
+# (6) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER
+# HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE
+# VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STORED.
+# THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT
+# THROUGH THE USE OF V06N52
+#
+# THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE
+# CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN
+# 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE
+# ASTRONAUT SHOULD REASSESS THE INPUT TARGETING PARAMETERS BASED
+# UPON DELTA V AND EXPECTED MANEUVER TIME.
+# (7) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY --
+#
+# P35 IF THIS VEHICLE IS ACTIVE VEHICLE.
+#
+# P75 IF THIS VEHICLE IS PASSIVE VEHICLE.
+#
+# INPUT
+# (1) TPASS4 TIME OF INTERCEPT -- SAVED FROM P34/P74
+#
+# OUTPUT
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# (4) DVLOS DELTA VELOCITY AT MID -- LINE OF SIGHT
+# (5) DELVLVC DELTA VELOCITY AT MID -- LOCAL VERTICAL COORDINATES
+#
+# DOWNLINK
+# (1) TIG TIME OF THE TPM MANEUVER
+# (2) DELVEET3 DELTA VELOCITY AT TPM -- REFERENCE COORDINATES
+# (3) TPASS4 TIME OF INTERCEPT
+#
+# COMMUNICATION TO THRUSTING PROGRAMS
+# (1) TIG TIME OF THE TPM MANEUVER
+# (2) RTARG OFFSET TARGET POSITION
+# (3) TPASS4 TIME OF INTERCEPT
+# (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION.
+#
+# SUBROUTINES USED
+# AVFLAGA
+# AVFLAGP
+# LOADTIME
+# SELECTMU
+# PRECSET
+# S34/35.1
+# S34/35.2
+# Page 468
+# S34/35.5
+# VN1645
+
+ COUNT 35/P3575
+ EBANK= KT
+
+P35 TC AVFLAGA
+ EXTEND
+ DCA ATIGINC
+ TC P35/P75A
+P75 TC AVFLAGP
+ EXTEND
+ DCA PTIGINC
+P35/P75A DXCH KT
+ TC P20FLGON # SET UPDATFLG, TRACKFLG
+ TC INTPRET
+ CALL
+ SELECTMU
+P35/P75B RTB
+ LOADTIME
+ STORE TSTRT
+ DAD
+ KT
+ STORE TIG
+ STORE INTIME # FOR INITVEL
+ STCALL TDEC1
+ PRECSET # ADVANCE BOTH VEHICLES
+ CALL
+ S34/35.1 # GET NORM AND LOS FOR TRANSFORM
+ CALL
+ S34/35.2 # GET DELTA V(LV)
+ CALL
+ S34/35.5
+ CALL
+ VN1645
+ GOTO
+ P35/P75B
+# Page 469
+# ***** S33/34.1 *****
+
+S33/34.1 STQ SSP
+ NORMEX
+ TITER
+ OCT 40000
+ DLOAD SETPD
+ MAX250
+ 0D
+ STOVL SECMAX
+ RACT3
+ STOVL RAPREC
+ VACT3
+ STOVL VAPREC
+ RPASS3
+ STOVL RPPREC
+ VPASS3
+ STORE VPPREC
+ELCALC CALL
+ S34/35.1 # NORMAL AND LOS
+ VXV PDVL
+ RACT3 # (RA*VA)*RA 0D
+ PDVL UNIT # ULOS AT 6D
+ RACT3
+ PDVL VPROJ # XCHNJ AND UP
+ VSL2 BVSU
+ ULOS
+ UNIT PDVL # UP AT 0D
+ DOT PDVL # UP.UN*RA AT 0D
+ 0D # UP IN MPAC
+ DOT SIGN
+ ULOS
+ SL1 ACOS
+ PDVL DOT # EA AT 0D
+ ULOS
+ RACT3
+ BPL DLOAD
+ TESTY
+ DPPOSMAX
+ DSU PUSH
+TESTY BOFF DLOAD
+ ITSWICH
+ ELEX
+ DELEL
+ STODL DELELO
+ DSU
+ ELEV
+ STORE DELEL
+ ABS DSU
+ ELEPS
+# Page 470
+ BMN
+ TIMEX # COMMERCIALS EVERYWHERE
+FIGTIME SLOAD SR1
+ TITER
+ BHIZ LXA,1
+ NORMEX # TOO MANY ITERATIONS
+ MPAC
+ SXA,1 VLOAD
+ TITER
+ RPASS3
+ UNIT PDDL
+ 36D
+ PDVL UNIT
+ RACT3
+ PDDL
+ PDDL PUSH
+ 36D
+ BDSU
+ 12D
+ STODL 30D # RP-RA MAGNITUDES
+ DPHALF
+ DSU PUSH
+ ELEV
+ SIGN BMN
+ 30D
+ NORMEX
+ DLOAD COS
+ DMP DDV
+ 14D
+ 12D
+ DCOMP # SINCE COS(180-A)=-COS A
+ STORE 28D
+ ABS BDSU
+ DPHALF
+ BMN VLOAD
+ NORMEX
+ UNRM
+ VXV UNIT
+ 6D # UN*RA
+ DOT DMP
+ VACT3
+ 12D
+ PDVL VXV
+ 0D
+ VPASS3
+ VXV UNIT
+ 0D # (RP*VP)*RP
+ DOT DMP
+ VPASS3
+ 14D
+# Page 471
+ BDSU
+ NORM PDVL # NORMALIZED WA-WP 12D
+ X1
+ 6D
+ VXV DOT
+ 0D
+ UNRM # RA*RP.UN 14D
+ PDVL DOT
+ 0D
+ 6D
+ SL1 ACOS
+ SIGN
+ DSU DAD # ALPHA PI
+ DPHALF
+ ELEV
+ PDDL ACOS
+ 28D
+ BDSU SIGN
+ DPHALF
+ 30D # CONTAINS RP-RA
+ DAD
+ DMP DDV
+ TWOPI
+ DMP
+ SL* DMP
+ 0 -3,1
+ PUSH ABS
+ DSU BMN
+ SECMAX
+ OKMAX
+ DLOAD SIGN # REPLACE TIME WITH MAX TIME SIGNED
+ SECMAX
+ PUSH
+OKMAX SLOAD BPL # TEST FIRST ITERATION
+ TITER
+ REPETE
+ SSP DLOAD
+ TITER
+ OCT 37777
+ GOTO
+ STORDELT
+REPETE DLOAD DMP
+ DELEL
+ DELELO
+ BPL DLOAD
+ NEXTES
+ SECMAX
+ DMP
+ THIRD
+ STODL SECMAX
+# Page 472
+ ABS SR1 # CROSSED OVER SOLUTION
+ DCOMP GOTO # DT=(-SIGN(DTO)//DT//)/2
+ RESIGN
+NEXTES DLOAD ABS
+ DELEL
+ PDDL ABS
+ DELELO
+ DSU
+ BMN DLOAD
+ REVERS # WRONG DIRECTION
+ ABS
+RESIGN SIGN GOTO
+ DELTEEO
+ STORDELT
+REVERS DLOAD DCOMP
+ DELTEEO
+ PUSH SR1
+ STORE DELTEEO
+ DAD
+ GOTO
+ ADTIME
+STORDELT STORE DELTEEO
+ADTIME DAD
+ NOMTPI # SUM OF DELTA T:S
+ STORE NOMTPI
+ VLOAD PDVL
+ VAPREC
+ RAPREC
+ CALL
+ GOINT
+ CALL
+ ACTIVE # STORE NEW RACT3 VACT3
+ VLOAD PDVL
+ VPPREC
+ RPPREC
+ CALL
+ GOINT
+ CALL
+ PASSIVE # STORE NEW RPASS3 VPASS3
+ GOTO
+ ELCALC
+ELEX DLOAD DAD
+ TTPI
+ NOMTPI
+ STODL TTPI
+ BON
+ ETPIFLAG
+ TIMEX
+ STORE ELEV
+TIMEX DLOAD GOTO
+# Page 473
+ ZEROVECS
+ NORMEX
+
+# Page 474
+# ***** S34/35.1 *****
+
+# COMPUTE UNIT NORMAL AND LINE OF SIGHT VECTORS GIVEN THE ACTIVE AND
+# PASSIVE POS AND VEL AT TIME T3
+ SETLOC S3435LOC
+ BANK
+
+S34/35.1 VLOAD VSU
+ RPASS3
+ RACT3
+ UNIT PUSH
+ STOVL ULOS
+ RACT3
+ VXV UNIT
+ VACT3
+ STORE UNRM
+ RVQ
+
+# Page 475
+# ***** S34/35.2 *****
+
+# ADVANCE PASSIVE VEH TO RENDEZVOUS TIME AND GET REQ VEL FROM LAMBERT
+ SETLOC CSI/CDH
+ BANK
+
+S34/35.2 STQ VLOAD
+ SUBEXIT
+ VPASS3
+ PDVL PDDL
+ RPASS3
+ INTIME
+ PDDL PDDL
+ TPASS4
+ TWOPI # CONIC
+ PDDL BHIZ
+ NN
+ S3435.23
+ DLOAD PDDL
+ ZEROVECS # PRECISION
+S3435.23 CALL
+ INTINT # GET TARGET VECTOR
+S3435.25 STOVL RTARG
+ VATT
+ STOVL VPASS4
+ RTARG
+# COMPUTE PHI = PI + (ACOS(UNIT RA.UNIT RP) - PI) SIGN(RA*RP.U)
+ UNIT PDVL # UNIT RP
+ RACT3
+ UNIT PUSH # UNIT RA
+ VXV DOT
+ 0D
+ UNRM # RA*RP.U
+ PDVL
+ DOT SL1 # UNIT RA.UNIT RP
+ 0D
+ ACOS SIGN
+ BPL DAD
+ NOPIE
+ DPPOSMAX # REASONABLE TWO PI
+NOPIE STODL ACTCENT
+ TPASS4
+ DSU
+ INTIME
+ STORE DELLT4
+ SLOAD SETPD
+ NN # NUMBER OF OFFSETS
+ 0D
+ PDDL PDVL
+ EPSFOUR
+# Page 476
+ RACT3
+ STOVL RINIT
+ VACT3
+ STCALL VINIT
+ INITVEL
+ CALL
+ LOMAT
+ VLOAD MXV
+ DELVEET3
+ 0D
+ VSL1
+ STCALL DELVLVC
+ SUBEXIT
+
+# Page 477
+# ***** S34/35.3 *****
+
+S34/35.3 STQ CALL
+ NORMEX
+ LOMAT # GET MATRIX IN PUSH LIST
+ VLOAD VXM
+ DELVLVC # NEW DEL V TPI
+ 0D
+ VSL1
+ STORE DELVEET3 # SAVE FOR TRANSFORM
+ VAD PDVL
+ VACT3 # NEW V REQ
+ RACT3
+ PDDL PDDL
+ TIG
+ TPASS4
+ PDDL PUSH
+ DPPOSMAX
+ CALL # INTEG. FOR NEW TARGET VEC
+ INTINT
+ VLOAD
+ RATT
+ STORE RTARG
+NOVRWRT VLOAD PUSH
+ ULOS
+ VXV VCOMP
+ UNRM
+ UNIT PUSH
+ VXV VSL1
+ ULOS
+ PDVL
+ PDVL MXV
+ DELVEET3
+ 0D
+ VSL1
+ STCALL DVLOS
+ NORMEX
+
+# Page 478
+# ***** S34/35.4 *****
+
+S34/35.4 STQ SETPD NO ASTRONAUT OVERWRITE
+ NORMEX
+ 0D
+ GOTO
+ NOVRWRT
+
+# Page 479
+# ***** LOMAT *****
+
+LOMAT VLOAD VCOMP
+ UNRM
+ STOVL 6D # Y
+ RACT3
+ UNIT VCOMP
+ STORE 12D
+ VXV VSL1
+ UNRM # Z*-Y
+ STORE 0D
+ SETPD RVQ
+ 18D
+GOINT PDDL PDDL # DO
+ ZEROVECS # NOT
+ NOMTPI #
+ PUSH PUSH # ORDER OR INSERT BEFORE INTINT
+INTINT STQ CALL
+ RTRN
+ INTSTALL
+ CLEAR DLOAD
+ INTYPFLG
+ BZE SET
+ +2
+ INTYPFLG
+ DLOAD STADR
+ STODL TDEC1
+ SET LXA,2
+ MOONFLAG
+ RTX2
+ BON CLEAR
+ CMOONFLG
+ ALLSET
+ MOONFLAG
+ALLSET STOVL TET
+ VSR*
+ 0,2
+ STOVL RCV
+ VSR*
+ 0,2
+ STCALL VCV
+ INTEGRVS
+ VLOAD GOTO
+ RATT
+ RTRN
+
+# Page 480
+# ***** S34/35.5 *****
+#
+# SUBROUTINES USED
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+# S34/35.3
+# S34.35.4
+# VNP00H
+
+S34/35.5 STQ BON
+ SUBEXIT
+ FINALFLG
+ FLAGON
+ SET GOTO
+ UPDATFLG
+ FLAGOFF
+FLAGON VLOAD
+ DELVLVC
+ STORE DVLOS # SAVE DELTA V BEFORE DISPLAY
+ EXIT
+ CAF V06N81
+ TC VNP00H
+ TC INTPRET
+ VLOAD VSU # TEST FOR OVERWRITE OF COMPUTED
+ DELVLVC # DELTA V
+ DVLOS
+ ABVAL BZE
+ NOCHG # NO OVERWRITE
+ CALL
+ S34/35.3
+NOCHG CLEAR VLOAD
+ XDELVFLG
+ DELVEET3
+ STORE DELVSIN
+FLAGOFF CALL
+ S34/35.4
+ EXIT
+ CAF V06N59
+ TC VNP00H
+ TC INTPRET
+ GOTO
+ SUBEXIT
+
+# Page 481
+# ***** VN1645 *****
+#
+# SUBROUTINES USED
+# P3XORP7X
+# GET+MGA
+# BANKCALL
+# DELAYJOB
+# COMPTGO
+# GOFLASHR
+# GOTOP00H
+# FLAGUP
+
+VN1645 STQ DLOAD
+ SUBEXIT
+ DP-.01
+ STORE +MGA # MGA = -.01
+ BOFF DLOAD
+ FINALFLG
+ GET45
+ DP-.01
+ DAD
+ DP-.01
+ STORE +MGA # MGA = -.02
+ BOFF EXIT
+ REFSMFLG
+ GET45
+ TC P3XORP7X
+ TC +2 # P3X
+ TC GET45 +1 # P7X
+ TC INTPRET
+ VLOAD PUSH
+ DELVSIN
+ CALL # COMPUTE MGA
+ GET+MGA
+GET45 EXIT
+ TC COMPTGO # INITIATE TASK TO UPDATE TTOGO
+ CA SUBEXIT
+ TS QSAVED
+ CAF 1SEC
+ TC BANKCALL
+ CADR DELAYJOB
+ CAF V16N45 # TRKMKCNT, TTOGO, +MGA
+ TC BANKCALL
+ CADR GOFLASH
+ TC KILCLOCK # TERMINATE
+ TC N45PROC # PROCEED
+ TC CLUPDATE # RECYCLE -- RETURN FOR INITIAL COMPUTATION
+KILCLOCK CA Z
+ TS DISPDEX
+# Page 482
+ TC GOTOP00H
+N45PROC CS FLAGWRD2
+ MASK BIT6
+ EXTEND
+ BZF KILCLOCK # FINALFLG IS SET -- FLASH V37 -- AWAIT NEW PGM
+ TC PHASCHNG
+ OCT 04024
+ TC UPFLAG # SET
+ ADRES FINALFLG # FINALFLG
+CLUPDATE CA Z
+ TS DISPDEX
+ TC PHASCHNG
+ OCT 04024
+ TC INTPRET
+ CLEAR GOTO
+ UPDATFLG
+ QSAVED
+
+# Page 483
+# ***** DISPLAYE *****
+#
+# SUBROUTINES USED
+# BANKCALL
+# GOFLASHR
+# GOTOP00H
+# BLANKET
+# ENDOFJOB
+
+DISPLAYE EXTEND
+ QXCH NORMEX
+ CAF V06N55
+ TCR BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H
+ TC NORMEX
+ TCF -5
+
+# Page 484
+# ***** P3XORP7X *****
+
+P3XORP7X CAF HIGH9
+ MASK MODREG
+ EXTEND
+ BZF +2
+ INCR Q
+ RETURN
+
+# ***** VNP00H *****
+#
+# SUBROUTINES USED
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+
+ SETLOC P30SUBS
+ BANK
+
+VNP00H EXTEND
+ QXCH RTRN
+ TS VERBNOUN
+ CAF VNBANK # ***** THIS ROUTINE MUST REMAIN IN
+ XCH FBANK # FIXED-FIXED *****
+ TS TBASE5 # * WATCH OUT *
+
+ CA VERBNOUN
+ TCR BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H
+ TCF +2
+VNBANK TC -5
+
+ CA TBASE5
+ TS FBANK
+ TC RTRN
+
+# Page 485
+# ***** CONSTANTS *****
+
+V06N37 VN 0637
+V06N55 VN 0655
+V06N58 VN 0658
+V06N59 VN 0659
+V06N81 VN 0681
+V16N45 VN 1645
+ SETLOC CSI/CDH
+ BANK
+
+TWOPI 2DEC 6.283185307 B-4
+MAX250 2DEC 25 E3 B-28 # RSB 2004 added the B-28. OH 2009 leave?
+THIRD 2DEC .333333333
+ELEPS 2DEC .27777777 E-3
+DECTWO OCT 2
+DP-.01 OCT 77777 # CONSTANTS
+ OCT 61337 # ADJACENT -.01 FOR MGA DSP
+EPSFOUR 2DEC .0416666666
+
+# Page 486
+# ***** INITVEL *****
+# MOD NO -1 LOG SECTION -- P34-P35, P74-P75
+# MOD BY WHITE, P. DATE: 21 NOV 67
+#
+# FUNCTIONAL DESCRIPTION
+# THIS SUBROUTINE COMPUTES THE REQUIRED INITIAL VELOCITY VECTOR FOR
+# A TRAJECTORY OF SPECIFIC TRANSFER TIME BETWEEN SPECIFIED INITIAL
+# AND TARGET POSITIONS. THE TRAJECTORY MAY BE EITHER CONIC OR
+# PRECISION DEPENDING ON AN INPUT PARAMETER (NAMELY, NUMBER OF
+# OFFSETS). IN ADDITION, IN THE PRECISION TRAJECTORY CASE, THE
+# SUBROUTINE ALSO COMPUTES AN OFFSET TARGET VECTOR, TO BE USED
+# DURING PURE-CONIC CROSS-PRODUCT STEERING. THE OFFSET TARGET
+# VECTOR IS THE TERMINAL POSITION VECTOR OF A CONIC TRAJECTORY WHICH
+# HAS THE SAME INITIAL STATE AS A PRECISION TRAJECTORY WHOSE
+# TERMINAL POSITION VECTOR IS THE SPECIFIED TARGET VECTOR.
+#
+# IN ORDER TO AVOID THE INHERENT SINGULARITIES IN THE 180 DEGREE
+# TRANSFER CASE WHEN THE (TRUE OR OFFSET) TARGET VECTOR MAY BE
+# SLIGHTLYOUT OF THE ORBITAL PLANE, THIS SUBROUTINE ROTATES THIS
+# VECTOR INTO A PLANE DEFINED BY THE INPUT INITIAL POSITION VECTOR
+# AND ANOTHER INPUT VECTOR (USUALLY THE INITIAL VELOCITY VECTOR),
+# WHENEVER THE INPUT TARGET VECTOR LIES INSIDE A CONE WHOSE VERTEX
+# IS THE ORIGIN OF COORDINATES, WHOSE AXIS IS THE 180 DEGREE
+# TRANSFER DIRECTION, AND WHOSE CONE ANGLE IS SPECIFIED BY THE USER.
+#
+# THE LAMBERT SUBROUTINE IS UTILIZED FOR THE CONIC COMUTATIONS AND
+# THE COASTING INTEGRATION SUBROUTINE IS UTILIZED FOR THE PRECISION
+# TRAJECTORY COMPUTATIONS.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 INITVEL
+# L+2 (RETURN -- ALWAYS)
+#
+# INPUT
+# (1) RINIT INITIAL POSITION RADIUS VECTOR
+# (2) VINIT INITIAL POSITION VELOCITY VECTOR
+# (3) RTARG TARGET POSITION RADIUS VECTOR
+# (4) DELLT4 DESIRED TIME OF FLIGHT FROM RINIT TO RTARG
+# (5) INTIME TIME OF RINIT
+# (6) 0D NUMBER OF ITERATIONS OF LAMBERT/INTEGRVS
+# (7) 2D ANGLE TO 180 DEGREES WHEN ROTATION STARTS
+# (8) RTX1 -2 FOR EARTH, -10D FOR LUNAR
+# (9) RTX2 COORDINATE SYSTEM ORIGIN -- 0 FOR EARTH, 2 FOR LUNAR
+# PUSHLOC SET AT 4D
+#
+# Page 487
+# OUTPUT
+# (1) RTARG OFFSET TARGET POSITION VECTOR
+# (2) VIPRIME MANEUVER VELOCITY REQUIRED
+# (3) VTPRIME VELOCITY AT TARGET AFTER MANEUVER
+# (4) DELVEET3 DELTA VELOCITY REQUIRED FOR MANEUVER
+#
+# SUBROUTINES USED
+# LAMBERT
+# INTSTALL
+# INTEGRVS
+
+ SETLOC INTVEL
+ BANK
+
+ COUNT 11/INITV
+INITVEL SET # COGA GUESS NOT AVAILABLE
+ GUESSW
+HAVEGUES VLOAD STQ
+ RTARG
+ NORMEX
+ STORE RTARG1
+ SLOAD BHIZ
+ RTX2
+ INITVEL1
+ VLOAD VSL2
+ RINIT # B29
+ STOVL RINIT # B27
+ VINIT # B7
+ VSL2
+ STOVL VINIT # B5
+ RTARG1
+ VSL2
+ STORE RTARG1
+
+# INITIALIZATION
+
+INITVEL1 SSP DLOAD # SET ITCTR TO -1,LOAD MPAC WITH E4 (PL 2D)
+ ITCTR
+ 0 -1
+ COSINE SR1 # CALCULATE COSINE (E4) (+2)
+ STODL COZY4 # SET COZY4 TO COSINE (E4) (PL 0D)
+ LXA,2 SXA,2
+ MPAC
+ VTARGTAG # SET VTARGTAG TO 0D (SP)
+ VLOAD
+ RINIT
+ STOVL R1VEC # R1VEC EQ RINIT
+ RTARG1
+# Page 488
+ STODL R2VEC # R2VEC EQ RTARG
+ DELLT4
+ STORE TDESIRED # TDESIRED EQ DELLT4
+ SETPD VLOAD
+ 0D # INITIALIZE PL TO 0D
+ RINIT # MPAC EQ RINIT (+29)
+ UNIT PUSH # UNIT(RI) (+1) (PL 6D)
+ VXV UNIT
+ VINIT # MPAC EQ UNIT(RI) X VI (+8)
+ STOVL UN
+ RTARG1
+ UNIT DOT # TEMP=URT.URI (+2) (PL 0D)
+ DAD CLEAR
+ COZY4
+ NORMSW
+ STORE COZY4
+INITVEL2 BPL SET
+ INITVEL3 # UN CALCULATED IN LAMBERT
+ NORMSW
+
+# ROTATE RC INTO YC PLANE -- SET UNIT NORMAL TO YC
+
+ VLOAD PUSH # (PL 6D)
+ R2VEC # RC TO 6D (+29)
+ ABVAL PDVL # RC TO MPAC, ABVAL(RC) (+29) TO OD(PL 2D)
+ PUSH VPROJ # (PL 8D)
+ UN
+ VSL2 BVSU
+ UNIT VXSC # (PL 0D)
+ VSL1
+ STORE R2VEC
+ TLOAD SLOAD
+ ZEROVEC
+ ITCTR
+ BPL VLOAD
+ INITVEL3
+ R2VEC
+ STORE RTARG1
+INITVEL3 DLOAD PDVL # (PL 2D)
+ MUEARTH # POSITIVE VALUE
+ R2VEC
+ UNIT PDVL # 2D = UNIT(R2VEC) (PL 8D)
+ R1VEC
+ UNIT PUSH # 8D = UNIT(R1VEC) (PL 14D)
+ VXV VCOMP # -N = UNIT(R2VEC) X UNIT(R1VEC)
+ 2D
+ PUSH # (PL 20D)
+ LXA,1 DLOAD
+ RTX1
+ 18D
+ BMN INCR,1
+# Page 489
+ +2
+ DEC -8
+ INCR,1 SLOAD
+ 10D
+ X1
+ BHIZ VLOAD # (PL 14D)
+ +2
+ VCOMP PUSH # (PL 20 D)
+ VLOAD # (PL 14D)
+ VXV DOT # (PL 2D)
+ BPL DLOAD # (PL 0D)
+ INITVEL4
+ DCOMP PUSH # (PL 2D)
+INITVEL4 LXA,2 SXA,2
+ 0D
+ GEOMSGN
+
+# SET INPUTS UP FOR LAMBERT
+
+ LXA,1 CALL
+ RTX1
+# OPERATE THE LAMBERT CONIC ROUTINE (COASTFLT SUBROUTINE)
+
+ LAMBERT
+
+# ARRIVED AT SOLUTION IS GOOD ENOUGH ACCORDING TO SLIGHTLY WIDER BOUNDS.
+
+ CLEAR VLOAD
+ GUESSW
+ VVEC
+
+# STORE CALCULATED INITIAL VELOCITY REQUIRED IN VIPRIME
+
+ STODL VIPRIME # INITIAL VELOCITY REQUIRED (+7)
+
+# IF NUMIT IS ZERO, CONTINUE AT INITVELB, OTHERWISE
+# SET UP INPUTS FOR ENCKE INTEGRATION (INTEGRVS).
+
+ VTARGTAG
+ BHIZ CALL
+ INITVEL7
+ INTSTALL
+ SLOAD CLEAR
+ RTX2
+ MOONFLAG
+ BHIZ SET
+ INITVEL5
+ MOONFLAG
+INITVEL5 VLOAD
+ RINIT
+ STORE R1VEC
+# Page 490
+ STOVL RCV
+ VIPRIME
+ STODL VCV
+ INTIME
+ STORE TET
+ DAD CLEAR
+ DELLT4
+ INTYPFLG
+ STCALL TDEC1
+ INTEGRVS
+ VLOAD
+ VATT1
+ STORE VTARGET
+
+# IF ITERATION COUNTER (ITCTR) EQ NO. ITERATIONS (NUMIT), CONTINUE AT
+# INITVELC, OTHERWISE REITERATE LAMBERT AND ENCKE
+
+ LXA,2 INCR,2
+ ITCTR
+ 1D # INCREMENT ITCTR
+ SXA,2 XSU,2
+ ITCTR
+ VTARGTAG
+ SLOAD BHIZ # IF SP(MPAC) EQ 0, CONTINUE AT INITVELC
+ X2
+ INITVEL6
+
+# OFFSET CONIC TARGET VECTGOR
+
+ VLOAD VSU
+ RTARG1
+ RATT1
+ VAD
+ R2VEC
+ STODL R2VEC
+ COZY4
+ GOTO
+ INITVEL2 # CONTINUE ITERATING AT INITVEL2
+
+# COMPUTE THE DELTA VELOCITY
+
+INITVEL6 VLOAD
+ R2VEC
+ STORE RTARG1
+INITVEL7 VLOAD VSU
+ VIPRIME
+ VINIT
+ STOVL DELVEET3 # DELVEET3 = VIPRIME-VINIT (+7)
+ VTARGET
+ STORE VTPRIME
+ SLOAD BHIZ
+ RTX2
+# Page 491
+ INITVELX
+ VLOAD VSR2
+ VTPRIME
+ STOVL VTPRIME
+ VIPRIME
+ VSR2
+ STOVL VIPRIME
+ RTARG1
+ VSR2
+ STOVL RTARG1
+ DELVEET3
+ VSR2
+ STORE DELVEET3
+INITVELX SETPD VLOAD
+ 0D
+ RTARG1
+ STCALL RTARG
+ NORMEX
+
+# ***** END OF INITVEL ROUTINE *****
+
+# Page 492
+# ***** MIDGIM *****
+# MOD NO. 0, BY WILLMAN, SUBROUTINE RENDGUID, LOG P34-P35, P74-P75
+# REVISION 03, 17 FEB 67
+#
+# IF THE ACTIVE VEHICLE IS DOING THE COMPUTATION, MIDGIM COMPUTES
+# THE POSITIVE MIDDLE GIMBAL ANGLE OF THE ACTIVE VEHICLE TO THE INPUT
+# DELTA VELOCITY VECTOR (0D IN PUSY LIST), OTHERWISE
+# MIDGIM CONVERTS THE INPUT DELTA VELOCITY VECTOR FROM INERTIAL COORDIN-
+# ATES TO LOCAL VERTICAL COORDINATES OF THE ACTIVE VEHICLE.
+#
+# ** INPUTS **
+# NAME MEANING UNITS/SCALING/MODE
+# AVFLAG INT FLAG -- 0 IS CSM ACTIVE, 1 IS LEM ACTIVE BIT
+# COMPUTER INT FLAG -- 0 IS LEM COMPUTER, 1 IS CSM COMPUTER BIT
+# RINIT ACTIVE VEHICLE RADIUS VECTOR METERS/CSEC (+7) VT
+# VINIT ACTIVE VEHICLE VELOCITY VECTOR METERS/CSEC (+7) VT
+# 0D(PL) ACTIVE VEHICLE DELTA VELOCITY VECTOR METERS/CSEC (+7) VT
+#
+# ** OUTPUTS **
+# NAME MEANING UNITS/SCALING/MODE
+# +MGA + MIDDLE GIMBAL ANGLE REVOLUTIONS (+0) DP
+# DELVLVC DELTA VELOCITY VECTOR IN LV COORD. METERS/CSEC (+7) VT
+# MGLVFLAG INT FLAG: 0 IS +MGA COMUTED, 1 IS DELVLVC COMP. BIT
+#
+# ** CALLING SEQUENCE **
+# L CALL
+# L+1 MIDGIM
+# L+2 (RETURN -- ALWAYS)
+#
+# ** NO SUBROUTINES CALLED **
+#
+# ** DEBRIS -- ERASABLE TEMPORARY USAGE **
+# A,Q,L, PUSH LIST, MPAC.
+#
+# ** ALARMS -- NONE **
+
+# Page 493
+# MIDDLE GIMBAL ANGLE COMPUTATION
+ SETLOC MIDDGIM
+ BANK
+
+ COUNT* $$/MIDG
+
+HALFREV 2DEC 1 B-1
+
+MIDGIM BON BOFF
+ AVFLAG
+ MIDGIM1
+ COMPUTER
+ GET.LVC
+
+# COMPUTE +MGA IF AVFLAG AND COMPUTER HAVE OPPOSITE VALUES.
+
+GET+MGA VLOAD UNIT # (PL 0D) V (+7) TO MPAC UNITIZE UV (+1)
+ DOT SL1 # DOT UV WITH Y(STABLE MEMBER) AND RESCALE
+ REFSMMAT +6 # FROM +2 TO +1 FOR ASIN ROUTINE
+ ARCSIN BPL
+ SETMGA
+ DAD DAD # CONVERT -MGA TO +MGA BY
+ HALFREV # ADDING ONE REVOLUTION
+ HALFREV
+SETMGA STORE +MGA
+ CLR RVQ # CLEAR MGLVFLAG TO INDICATE +MGA CALC
+ MGLVFLAG # AND EXIT
+
+MIDGIM1 BOFF
+ COMPUTER
+ GET+MGA
+
+# COMPUTE DELVLVC IF AVFLAG AND COMPUTER HAVE SAME VALUES
+
+GET.LVC VLOAD UNIT # (PL 6D) R (+29) IN MPAC UNITZE UR
+ RINIT
+ VCOMP # U(-R)
+ STORE 18D # U(-R) TO 18D
+ VXV UNIT # U(-R)*V EQ V*U(R), U(V*R)
+ VINIT
+ STORE 12D # U(V*R) TO 12D
+ VXV UNIT # U(V*R)*U(-R), U((V*R)*(-R))
+ 18D
+ STOVL 6D # TRANSFORMATION MATRIX IS IN 6D (+1)
+ 0D # DELTA V (+7) IN 0D
+ MXV VSL1 # CONVERT FROM INER COOR TO LV COOR (+8)
+ 6D # AND SCALE +7 IN MPAC
+ STORE DELVLVC # STORE IN DELVLVC (+7(
+ SET RVQ # SET MGLVFLAG TO INDICATE LVC CALC
+ MGLVFLAG # AND EXIT
+
+# ***** END OF MIDGIM ROUTINE *****
+
+# Page 494
+SELECTMU AXC,1 AXT,2
+ 2D
+ 0D
+ BOFF
+ CMOONFLG
+ SETMUER
+ AXC,1 AXT,2
+ 10D
+ 2D
+SETMUER DLOAD* SXA,1
+ MUTABLE +4,1
+ RTX1
+ STODL* RTSR1/MU
+ MUTABLE -2,1
+ BOFF SR
+ CMOONFLG
+ RTRNMU
+ 6D
+RTRNMU STORE RTMU
+ SXA,2 CLEAR
+ RTX2
+ FINALFLG
+ GOTO
+ VN1645
+
+# Page 495
+# ***** PERIAPO *****
+# MOD NO -1 LOG SECTION -- P34-P35, P74-P75
+# MOD BY WHITE, P. DATE 18 JAN 68
+#
+# FUNCTIONAL DESCRIPTION
+# THIS SUBROUTINE COMPUTES THE TWO BODY APOCENTER AND PERICENTER
+# ALTITUDES GIVEN THE POSITION AND VELOCITY VECTORS FOR A POINT ON
+# THE TRAJECTORY AND THE PRIMARY BODY.
+#
+# SETRAD IS CALLED TO DETERMINE THE RADIUS OF THE PRIMARY BODY.
+#
+# APSIDES IS CALLED TO SOVE FOR THE TWO BODY RADII OF APOCENTER AND
+# PERICENTER AND THE ECCENTRICITY OF THE TRAJECTORY.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 PERIAPO
+# L+2 (RETURN -- ALWAYS)
+#
+# INPUT
+# (1) RVEC POSITION VECTOR IN METERS
+# SCALE FACTOR -- EARTH +29, MOON +27
+# (2) VVEC VELOCITY VECTORY IN METERS/CENTISECOND
+# SCALE FACTOR -- EARTH +7, MOON +5
+# (3) X1 PRIMARY BODY INDICATOR
+# EARTH -2, MOON -10
+#
+# OUTPUT
+# (1) 2D APOCENTER RADIUS IN METERS
+# SCALE FACTOR -- EARTH +29, MOON +27
+# (2) 4D APOCENTER ALTITUDE IN METERS
+# SCALE FACTOR -- EARTH +29, MOON +27
+# (3) 6D PERICENTER RADIUS IN METERS
+# SCALE FACTOR -- EARTH +29, MOON +27
+# (4) 8D PERICENTER ALTITUDE IN METERS
+# SCALE FACTOR -- EARTH +29, MOON +27
+# (5) ECC ECCENTRICITY OF CONIC TRAJECTORY
+# SCALE FACTOR -- +3
+# (6) XXXALT RADIUS OF THE PRIMARY BODY IN METERS
+# SCALE FACTOR -- EARTH +29, MOON +27
+# (7) PUSHLOC EQUALS 10D
+#
+# SUBROUTINES USED
+# SETRAD
+# Page 496
+# APSIDES
+
+ SETLOC APOPERI
+ BANK
+
+ COUNT* $$/PERAP
+
+RPAD 2DEC 6373338 B-29 # STANDARD RADIUS OF PAD 37-B.
+ # = 20 909 901.57 FT
+
+PERIAPO1 LXA,2 VSR*
+ RTX2
+ 0,2
+ STOVL VVEC
+ LXA,1 VSR*
+ RTX1
+ 0,2
+ STORE RVEC
+PERIAPO STQ CALL
+ NORMEX
+ SETRAD
+ STCALL XXXALT
+ APSIDES
+ SETPD PUSH # 2D = APOCENTER RADIUS B29 OR B27
+ 2D
+ DSU PDDL # 4D = APOGEE ALTITUDE B29 OR B27
+ XXXALT
+ 0D
+ PUSH DSU # 6D = PERICENTER RADIUS B29 OR B27
+ XXXALT
+ PUSH GOTO # 8D = PERIGEE ALTITUDE B29 OR B27
+ NORMEX
+# Page 497
+# SETRAD
+SETRAD DLOAD PUSH
+ RPAD
+ SXA,1 INCR,2
+ X2
+ 2D
+ SLOAD BHIZ
+ X2
+ SETRADX
+ VLOAD ABVAL
+ RLS
+ PDDL
+SETRADX DLOAD RVQ
+
+# Page 498
+# PRECSET
+PRECSET STQ
+ NORMEX
+ STCALL TDEC2
+ LEMPREC
+ CALL
+ LEMSTORE
+ DLOAD
+ TDEC2
+ STCALL TDEC1
+ CSMPREC
+ CALL
+ CSMSTORE
+ GOTO
+ NORMEX
+LEMSTORE VLOAD BOFF
+ RATT
+ AVFLAG
+ PASSIVE
+ACTIVE STOVL RACT3
+ VATT
+ STORE VACT3
+ RVQ
+CSMSTORE VLOAD BOFF
+ RATT
+ AVFLAG
+ ACTIVE
+PASSIVE STOVL RPASS3
+ VATT
+ STORE VPASS3
+ RVQ
+
+# Page 499
+# VECSHIFT
+VECSHIFT LXA,2 VSR*
+ RTX2
+ 0,2
+ LXA,1 PDVL
+ RTX1
+ VSR* PDVL
+ 0,2
+ RVQ
+
+# Page 500
+# SHIFTR1
+SHIFTR1 LXA,2 SL*
+ RTX2
+ 0,2
+ RVQ
+
+# Page 501
+# PROGRAM DESCRIPTION
+#
+# SUBROUTINE NAME R36 OUT-OF-PLANE RENDEZVOUS ROUTINE
+# MOD NO. 2 DATE 2 JANUARY 1969
+# MOD BY A.W.BANCROFT LOG SECTION EXTENDED VERBS
+#
+# FUNCTIONAL DESCRIPTION
+#
+# TO DISPLAY AT ASTRONAUT REQUEST LGC CALCULATED RENDEZVOUS
+# OUT-OF-PLANE PARAMETERS (Y, YDOT, PSI). (REQUESTED BY DSKY).
+#
+# CALLING SEQUENCE
+# ASTRONAUT REQUEST THROUGH DSKY V 90 E
+#
+# SUBROUTINES CALLED
+# EXDSPRET
+# GOMARKF
+# CSMPREC
+# LEMPREC
+# SGNAGREE
+# LOADTIME
+#
+# NORMAL EXIT MODES
+# ASTRONAUT REQUEST THROUGH DSKY TO TERMINATE PROGRAM V 34 E
+#
+# ALARM OR ABORT EXIT MODES
+# NONE
+#
+# OUTPUT
+# DECIMAL DISPLAY OF TIME, Y, YDOT AND PSI
+#
+# DISPLAYED VALUES Y, YDOT, AND PSI, ARE STORED IN ERASABLE
+# REGISTERS RANGE, RRATE, AND RTHETA RESPECTIVELY.
+#
+# ERASABLE INITIALIZATION REQUIRED
+# CSM AND LEM STATE VECTORS
+#
+# DEBRIS
+# CENTRALS A,Q,L
+# OTHER: THOSE USED BY THE ABOVE LISTED SUBROUTINES
+
+ BANK 20
+ SETLOC R36CM
+ BANK
+# Page 502
+ EBANK= RPASS36
+
+ SBANK= R36A
+ COUNT* $$/R36
+
+R36 CAF TWO
+ TS OPTIONX
+ CAF ONE
+ TS OPTIONX +1
+ CAF OPTION36 # V 04 N 12
+ TC BANKCALL
+ CADR GOXDSPF
+ TC ENDEXT # TERMINATE
+ TC +2 # PROCEED
+ TC -5 # R2 LOADED VIA DSKY
+ TC POSTJUMP
+ CADR R36A
+
+OPTION36 VN 0412
+
+ SETLOC R36LM
+ BANK
+
+R36A ZL
+ CAF ZERO # SET TIME OF EVENT TO ZERO FOR FIRST
+ DXCH DSPTEMX # DISPLAY
+ LXCH OPTIONY # SAVE VEH. OPTION
+R36P3 CAF V06N16N
+ TC BANKCALL
+ CADR GOMARKF
+ TCF ENDEXT # TERMINATE
+ TCF +2 # PROCEED
+ TCF -5 # RECYCLE FOR ASTRONAUT INPUT TIME
+ DXCH DSPTEMX
+ EXTEND
+ BZF LREGCHK # A-REG ZERO GOTO CHECK L-REG FOR ZERO
+ASTROTIM DXCH MPAC # A-REG NON-ZERO, TIME = ASTRO INPUT TIME
+ TC INTPRET
+ RTB GOTO
+ DPMODE
+ R36INT
+
+ SETLOC R36LM1
+ BANK
+
+R36INT STORE TDEC1
+ SLOAD SR1
+ OPTIONY
+ BHIZ CALL
+ R36PROG2 # FOR CSM DISPLAY
+# Page 503
+ THISPREC # FOR LEM DISPLAY
+ GOTO
+ R36PROG3
+R36PROG2 CALL
+ OTHPREC
+R36PROG3 VLOAD PDVL
+ VATT
+ RATT # _
+ STORE RPASS36 # R
+ UNIT PDVL # P
+ VXV UNIT # -
+ STADR
+ STODL UNP36 # U
+ TAT
+ STORE TDEC1
+ SLOAD SR1
+ OPTIONY
+ BHIZ CALL
+ R36PROG4 # FOR CSM DISPLAY
+ OTHPREC # FOR LEM DISPLAY
+ GOTO
+ R36PROG5
+R36PROG4 CALL
+ THISPREC
+R36PROG5 VLOAD PDVL # _
+ VATT # VELOCITY VECTOR V 00D
+ RATT # A
+ PDDL
+ TAT # SAVE TIME IN LOCATION 30D FOR REDISPLAY
+ STOVL 30D # _
+ PUSH PUSH # POSITION VECTOR R IN 06D AND 12D
+ BVSU PDVL # _A _
+ RPASS36 # LINE OF SIGHT VECTOR R - R 12D
+ DOT SL1 # P A
+ UNP36 # _ _
+ STOVL RANGE # Y = U . R
+ 00D # A
+ DOT SL1
+ UNP36 # . _ _
+ STOVL RRATE # Y = U . V
+ 06D # _ A
+ UNIT PUSH # U = UNIT ( R ) 18D
+ VXV VXV # RA A
+ 00D # _ _ _ _
+ 18D # (U X V ) X U = U
+ VSL2 UNIT # RA A RA A
+ UNIT GOTO
+ R36B
+
+ SETLOC R36CM1
+# Page 504
+ BANK
+
+R36B STOVL 00D # UNIT HORIZONTAL IN FORWARD DIR. 00D
+ 18D
+ DOT VXSC # _
+ 12D # U
+ VSL2 # L
+ BVSU UNIT
+ UNIT
+ PUSH DOT # LOS PROJECTED INTO HORIZONTAL 12D
+ 00D # PLANE
+ SL1 ARCCOS # _ _
+ STOVL RTHETA # PSI = ARCCOS(U . U )
+ VXV DOT # A L
+ 00D
+ BPL DLOAD
+ R36TAG2
+ DPPOSMAX
+ DSU
+ RTHETA
+ STCALL RTHETA
+ R36TAG2
+
+ SETLOC R36LM
+ BANK
+
+R36TAG2 DLOAD RTB
+ 30D
+ SGNAGREE
+ STORE DSPTEMX
+ EXIT
+ CAF V06N90N # DISPLAY Y, YDOT, AND PSI.
+ TC BANKCALL
+ CADR GOMARKF
+ TCF ENDEXT # TERMINATE
+ TCF ENDEXT # PROCEED, END OF PROGRAM
+ TCF R36P3 # REDISPLAY OUTPUT
+LREGCHK XCH L
+ EXTEND
+ BZF ENTTIM2 # L-REG ZERO, SET TIME = PRESENT TIME
+ XCH L # L-REG NON ZERO, TIME = ASTRO INPUT TIME
+ TCF ASTROTIM
+ENTTIM2 TC INTPRET
+ RTB GOTO
+ LOADTIME
+ R36INT
+V06N16N VN 00616
+V06N90N VN 00690
+ SBANK= LOWSUPER
diff --git a/P37_P70.s b/P37_P70.s
new file mode 100644
index 0000000..544f574
--- /dev/null
+++ b/P37_P70.s
@@ -0,0 +1,1950 @@
+# Copyright: Public domain.
+# Filename: P37_P70.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Jim Lawton <jim.lawton@gmail.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 890-933
+# Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+# 2009-05-20 RSB Added missing label V2T179. Fixed POODOO -> P00DOO.
+# 2009-05-23 RSB In RTD18, corrected a STOVL DELVLVC to
+# STODL DELVLVC and a STODL 02D to STORE 02D.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 890
+ BANK 31
+ SETLOC RTE1
+ BANK
+
+ EBANK= RTEDVD
+ COUNT 31/P37
+
+# PROGRAM DESCRIPTION: P37, RETURN TO EARTH
+#
+# DESCRIPTION
+# A RETURN TO EARTH TRAJECTORY IS COMPUTED PROVIDED THE CSM IS OUTSIDE THE LUNAR SPHERE OF INFLUENCE AT THE
+# TIME OF IGNITION. INITIALLY A CONIC TRAJECTORY IS DETERMINED AND RESULTING IGNITION AND REENTRY PARAMETERS ARE
+# DISPLAYED TO THE ASTRONAUT. THEN IF THE ASTRONAUT SO DESIRES, A PRECISION TRAJECTORY IS DETERMINED WTIH THE
+# RESULTING IGNITION AND REENTRY PARAMETERS DISPLAYED. UPON FINAL ACCEPTANCE BY THE ASTRONAUT, THE PROGRAM
+# COMPUTES AND STORES THE TARGET PARAMETERS FOR RETURN TO EARTH FOR USE BY SPS PROGRAM (P40) OR RCS PROGRAM (P41).
+#
+# CALLING SEQUENCE
+# L TC P37
+#
+# SUBROUTINES CALLED
+# PREC100
+# V2T100
+# RTENCK2
+# RTENCK3
+# TIMERAD
+# PARAM
+# V2T100
+# GAMDV10
+# XT1LIM
+# DVCALC
+# RTENCK1
+# INTSTALL
+# INTEGRVS
+# RTEVN
+# RETDISP
+# TMRAD100
+# AUGEKUGL
+# LAT-LONG
+# TMRAD100
+# TIMERAD
+# INVC100
+# CSMPREC
+# GETERAD
+# TIMETHET
+# P370ALRM
+# VN1645
+# POLY
+#
+# ERASABLE INITIALIZATION REQUIRED
+# CSM STATE VECTOR
+# Page 891
+# NJETSFLG NUMBER OF JETS IF THE RCS PROPULSION SYSTEM SELECTED STATE FLAG 0=4 JETS 1=2 JETS
+#
+# ASTRONAUT INPUT
+# SPRTETIG TIME OF IGNITION (OVERLAYS TIG) DP B28 CS
+# VPRED DESIRED CHANGE IN VELOCITY AT TIG(PROGRM COMPUTED IF 0) DP B7 METERS/CS
+# GAMMAEI DESIRED FLIGHT PATH ANGLE AT REENTRY (COMPUTED IF 0) DP B0 REVS + ABOVE HORIZ.
+# OPTION2 PROPULSION SYSTEM OPTION SP B14 1=SPS, 2=RCS
+#
+# OUTPUT
+# CONIC OR PRECISION TRAJECTORY DISPLAY
+# VPRED VELOCITY MAGNITUDE AT 400,000 FT. ENTRY ALTITUDE DP B7 METERS/CS
+# T3TOT4 TRANSIT TIME TO 400,000 FT. ENTRY ALTITUDE DP B28 CS
+# GAMMAEI FLIGHT PATH ANGLE AT 400,00 FT. ENTRY ALTITUDE DP B0 REVS + ABOVE HORIZON
+# DELVLVC INITIAL VELOCITY CHANGE VECTOR IN LOCAL VERTICAL COORD. VECTOR B7 METERS/CS
+# LAT(SPL) LATITUDE OF THE LANDING SITE DP B0 REVS
+# LNG(SPL) LONGITUDE OF THE LANDING SITE DP B0 REVS
+# TARGETING COMPUTATION DISPLAY
+# TIG RECOMPUTED TIG BASED ON THRUST OPTION DP B28 CS
+# TTOGO TIME FROM TIG DP B28 CS
+# +MGA POSITIVE MIDDLE GIMBAL ANGLE DP B0 REVS -.02 IF REFSMFLG=0
+# THRUST PROGRAM COMMUNICATION
+# XDELVFLG EXTERNAL DELTA V FLAG STATE FLAG SET 0 FOR LAMBERT AIMPT
+# NORMSW LAMBERT AIMPT ROTATION SWITCH STATE FLAG SET 0 FOR NO ROTATION
+# ECSTEER CROSS PRODUCT STEERING CONSTANT SP B2 SET 1
+# RTARG CONICALLY INTEGRATED REENTRY POSITION VECTOR VECTOR B29 METERS
+# TPASS4 REENTRY TIME DP B28 CS
+
+P37 TC PHASCHNG # P37 IS NOT RESTARTABLE
+ OCT 4
+
+ TC INTPRET
+ AXT,1 SXA,1
+ OCT 04000
+ ECSTEER
+ DLOAD
+ ZEROVECS
+ STORE VPRED
+ STORE GAMMAEI
+ EXIT
+ CAF V6N33RTE # INPUT TIG STORED IN SPRTETIG
+ TCR P370GOF # OVERLAYED WITH TIG
+ TCF -2 # DISPLAY NEW DATA
+ CAF V6N60RTE # INPUT REENTRY ANGLE IN GAMMAEI
+ TCR P37GFRB1 # AND DESIRED DELTA V IN RETDVD
+ TCF -2 # DISPLAY NEW DATA
+RTE299 TC INTPRET
+ SSP DLOAD
+ OVFIND
+ 0
+ VPRED
+# Page 892
+ STODL RTEDVD
+ GAMMAEI
+ STODL RTEGAM2D
+ 1RTEB13
+ STODL CONICX1
+ C4RTE
+ STCALL MAMAX1
+ INVC100 # GET R(T1)/,V(T1)/,UR1/,UH/
+ CLEAR DLOAD
+ SLOWFLG
+ RTEDVD
+ BPL ABS
+ RTE317
+ STORE RTEDVD
+ DLOAD DSU
+ R(T1)
+ K1RTE
+ BMN SET
+ RTE317
+ SLOWFLG
+RTE317 DLOAD EXIT
+ R(T1)
+ TC POLY
+ DEC 2
+ 2DEC 181000434. B-31
+ 2DEC 1.50785145 B-2
+ 2DEC* -6.49993057 E-9 B27*
+ 2DEC* 9.76938926 E-18 B56*
+ TC INTPRET
+ SL1
+ STODL MAMAX2 # C0+C1*R+C2*R**2+C3*R**3=MAMAX2 B30
+ M9RTEB28
+ STODL NN1A
+ K2RTE
+RTE320 STODL RCON # RCON=K2
+ RTEGAM2D
+ BZE BDSU
+ RTE340 # GOTORTE340 IF REENTRY ANGLE NOT INPUT
+ 1RTEB2
+ PUSH COS # PL02D
+ PDDL SIN
+ BDDV STADR # PL00D
+ STCALL X(T2) # X(T2)=COT(GAM2D) B0
+ RTE360
+RTE340 DLOAD DSU
+ R(T1)
+# Page 893
+ K1RTE
+ BMN DLOAD
+ RTE350
+ K4RTE
+ STCALL X(T2) # X(T2)=K4
+ RTE360
+RTE350 DLOAD
+ K3RTE
+ STORE X(T2) # X(T2)=K3
+RTE360 CALL
+ V2T100
+ BZE GOTO
+ RTE367
+ RTEALRM
+RTE367 VLOAD
+ R(T1)/
+ STODL RVEC
+ RCON
+ STOVL RDESIRED
+ V2(T1)/
+ STCALL VVEC
+ TMRAD100
+ DAD
+ T1
+ STODL T2
+ RTEGAM2D
+ BZE GOTO
+ RTE369
+ RTE372
+RTE369 VLOAD ABVAL
+ V(T2)/
+ EXIT
+ TC POLY
+ DEC 2
+ 2DEC 0
+ 2DEC -4.8760771 E-2 B4
+ 2DEC 4.5419476 E-4 B11
+ 2DEC -1.4317675 E-6 B18
+
+ TC INTPRET
+ DAD
+ RTED1
+ SL3 GOTO # X(T2),=D1+D2V2+D3V2**2+D4V2**3
+ RTE373
+RTE372 DLOAD # X(T2),=X(T2)
+ X(T2)
+RTE373 DSU PUSH # X(T2)ERR B0 PL02D
+# Page 894
+ X(T2)
+ VLOAD UNIT
+ R(T2)/ # B58
+ STCALL ALPHAV
+ GETERAD
+ DAD
+ E3RTE
+ PUSH DSU # RCON,=(E1/1+E2BETA11)**.5)+E3 B29 PL04D
+ RCON
+ ABS DSU
+ EPC2RTE
+ BMN GOTO
+ RTE374
+ RTE375
+RTE374 DLOAD ABS
+ 00D
+ DSU BMN
+ EPC3RTE
+ P37E
+RTE375 DLOAD DAD
+ NN1A
+ 1RTEB28
+ BMN SLOAD
+ RTE380
+ OCT605
+ GOTO
+ RTEALRM # TOO MANY ITERATIONS
+RTE380 STORE NN1A
+ DSU BZE
+ M8RTEB28
+ RTE385
+ DLOAD DSU
+ 00D
+ DRCON
+ NORM PDDL # X(T2)ERR-X(T2)ERR,=Z1 PL06D
+ X1
+ RPRE'
+ DSU DDV # X(T2)PRI-X(T2)=Z2 PL04D
+ X(T2)
+ DMP SL* # DX(T2)=X(T2)ERR(Z2/Z1)
+ 00D
+ 0,1
+ GOTO
+ RTE390
+RTE385 DLOAD # DX(T2)=X(T2)ERR
+ 00D
+RTE390 STODL 16D # DX(T2) PL02D
+ STADR
+ STODL RCON # RCON=RCON,
+ BOV
+# Page 895
+ RTE360
+ STODL DRCON # X(T2)ERR,=X(T2)ERR
+ X(T2)
+ STODL RPRE' # X(T2)PRI=X(T2)
+ 16D
+ DAD
+ X(T2)
+ STCALL X(T2) # X(T2)=X(T2)+DX(T2)
+ RTE360 # REITERATE
+P37E CALL # DISPLAY CONIC SOLUTION
+ RTEVN
+RTE505 DLOAD DMP
+ PCON
+ BETA1
+ BDSU BZE
+ RCON
+ RTE510
+ BMN DLOAD
+ RTE510
+ 1RTEB2
+ GOTO # ENTRY NEAR APOGEE
+ RTE515
+RTE510 DLOAD DCOMP # ENTRY NEAR PERIGEE
+ 1RTEB2
+RTE515 STCALL PHI2
+ PREC100 # PRECISION TRAJECTORY COMPUTATION
+RTE625 BZE
+ P37G
+RTEALRM CALL
+ P370ALRM
+ EXIT
+ TCF P37 # RECYCLE AFTER ALARM DISPLAY
+
+# RETURN TO EARTH DISPLAY SUBROUTINE
+
+RTEVN STQ CALL
+ VNSTORE
+ RTEDISP # DISPLAY PREPARATION
+ EXIT
+ CAF V6N61RTE # LATITUDE,LONGITUDE,BLANK
+ TCR P370GOFR # IN LAT(SPL),LNG(SPL),-
+ CAF FOUR
+ TCR 37BLANK +1
+ TCF +5
+ TCF P37 # RECYCLE
+ CAF V6N39RTE # T21 HRS,MIN,SEC IN T3TOT4
+ TCR P370GOF
+ TCF P37 # RECYCLE
+ CAF V6N60RTE # DISPLAY BLANK,V(T2),FPA2
+ TCR P37GFRB1 # IN -,VPRED,GAMMAEI
+# Page 896
+ TCF P37 # RECYCLE
+ CAF V6N81RTE # DISPLAY DELTA V (LV) IN DELVLVC
+ TCR P370GOF
+ TCF P37 # RECYCLE
+ TCR INTPRET
+ GOTO
+ VNSTORE
+
+# PRECISION DISPLAY, TARGETING COMPUTATION AND RTE END PROCESSING
+
+P37G CALL
+ RTEVN
+ EXIT
+P37N CAF SEVEN
+ TS OPTION1
+ CAF ONE
+ TS OPTION2
+ CAF V4N06RTE # DISPLAY RCS OR SPS OPTION SPS ASSUMED
+ TCR P370GOF
+ TCF -2 # RECYCLE
+ TC INTPRET # PROCEED
+ SETPD SLOAD
+ 00D
+ OPTION2
+ DSU BZE
+ 1RTEB13
+ P37Q
+ SLOAD NORM # SPS
+ EMDOT
+ X1
+ PDDL GOTO
+ VCSPS
+ P37T
+P37Q DLOAD BON # RCS
+ MDOTRCS
+ NJETSFLG
+ P37R
+ SL1
+P37R SL1
+ NORM PDDL
+ X1
+ VCRCS
+P37T PDDL DDV # DV/VC B7 -B5 = B2 PL02D
+ DV
+ EXIT
+ TC POLY
+ DEC 1
+ 2DEC 5.66240507 E-4 B-3
+ 2DEC 9.79487897 E-1 B-1
+# Page 897
+ 2DEC -.388281955 B1
+ TC INTPRET
+ PUSH SLOAD # (1-E)**(-DV/VC)=A B3 PL04D
+ WEIGHT/G
+ DMP DDV # DTB=(M0/MDOT)A B16+B3-B3=B16 PL00D
+ SL* DMP
+ 0 -12D,1
+ CSUBT
+ BDSU
+ T1
+ STORE TIG # TIG=T1-CT*DTB B28
+ EXIT
+ CAF V6N33RTE # DISPLAY BIASED TIG
+ TCR P370GOF
+ TCF -2
+ CAF ZERO
+ TS VHFCNT
+ TS TRKMKCNT
+ TC INTPRET
+ CALL # CONICALLY INTEGRATE FROM R1,V1 OVER T12
+ RTENCK1
+ VLOAD UNIT # PL00D
+ R(T2)/
+ PDVL VXSC # UR2 B1 PL06D
+ UR1/
+ MCOS7.5
+ PDVL VXSC # -UR1(COS7.5) B1 PL12D
+ UH/
+ MSIN7.5
+ VAD DOT # K/=-UR1(COS7.5)-UH(SIN7.5) B2 PL00D
+ DAD BMN
+ MCOS22.5
+ P37W
+ VLOAD DOT # K/ . UR2 GR COS22.5
+ UH/
+ R(T2)/
+ BMN DLOAD
+ P37U
+ THETA165
+ PUSH GOTO
+ P37V
+P37U DLOAD PUSH
+ THETA210
+P37V SIN
+ STODL SNTH
+ COS CLEAR
+ RVSW
+ STOVL CSTH
+ R(T1)/
+# Page 898
+ STOVL RVEC
+ V2(T1)/
+ STCALL VVEC
+ TIMETHET
+P37W CLEAR CLEAR
+ XDELVFLG
+ NORMSW
+ SET VLOAD
+ FINALFLG
+ STADR
+ STODL RTARG
+ T
+ DAD
+ T1
+ STOVL TPASS4
+ V2(T1)/
+ VSU
+ V(T1)/
+ STCALL DELVSIN
+ VN1645
+ GOTO
+ P37W
+
+# SUBROUTINE TO GO TO GOFLASHR AND BLANK R1
+
+P37GFRB1 EXTEND
+ QXCH SPRTEX
+ TCR P370GOFR
+37BLANK CAF ONE
+ TCR BLANKET
+ TCF ENDOFJOB
+ TC SPRTEX # RECYCLE
+ TCF P37PROC # PROCEED
+
+# SUBROUTINE TO GO TO GOFLASHR
+
+P370GOFR EXTEND
+ QXCH RTENCKEX
+ TCR BANKCALL
+ CADR GOFLASHR
+ TCF GOTOP00H # TERMINATE
+ TCF +3
+ TCF +4
+ TC RTENCKEX # IMMEDIATE RETURN
+ INDEX RTENCKEX # PROCEED
+ TCF 0 +4
+ INDEX RTENCKEX # RECYCLE
+ TCF 0 +3
+
+# SUBROUTINE TO GO TO GOFLASH
+
+# Page 899
+P370GOF EXTEND
+ QXCH SPRTEX
+ TCR BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H
+ TCF +2
+ TC SPRTEX
+P37PROC INDEX SPRTEX
+ TCF 0 +1
+V6N33RTE VN 0633
+V4N06RTE VN 0406
+V6N61RTE VN 0661
+V6N39RTE VN 0639
+V6N60RTE VN 0660
+V6N81RTE VN 0681
+ BANK 32
+ SETLOC RTE
+ BANK
+ COUNT 32/RTE
+
+# Page 900
+# ALARM DISPLAY SUBROUTINE
+
+P370ALRM STQ EXIT
+ SPRTEX
+ CA MPAC
+ TC VARALARM
+ CAF V5N09RTE
+ TC BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H
+ TCF -4
+ TC INTPRET
+ GOTO
+ SPRTEX
+V5N09RTE VN 0509
+
+# Page 901
+# TIME RADIUS CALLING SUBROUTINE
+#
+# INPUT
+# RVEC INITIAL POSITION VECTOR VECTOR B29 METERS
+# VVEC INITIAL VELOCITY VECTOR VECTOR B7 METERS/CS
+# RDESIRED FINAL RADIUS FOR WHICH TRANSFER TIME IS TO BE COMPUTED DP B29 METERS
+# CONICX1 X1 SETTING FOR CONIC SUBROUTINES -2=EARTH SP B14
+#
+# OUTPUT
+# R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS
+# V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS
+# T12 TRANSFER TIME TO FINAL RADIUS DP B28 CS
+
+TMRAD100 STQ CLEAR
+ RTENCKEX
+ RVSW
+ AXC,2 SXA,2
+ OCT 20000
+ SGNRDOT
+ LXC,1 CALL
+ CONICX1
+ TIMERAD
+ STOVL V(T2)/ PL00D
+ STADR
+ STODL R(T2)/
+ T
+ STCALL T12
+ RTENCKEX
+
+# Page 902
+# DISPLAY CALCULATION SUBROUTINE
+#
+# DESCRIPTION
+# OUTPUT FOR DISPLAY IS CONVERTED TO PROPER UNITS AND PLACED IN OUTPUT STORAGE REGISTERS. LANDING SITE
+# COMPUTATION FOR DETERMINING LANDING SITE LATITUDE AND LONGITUDE IS INCLUDED IN THE ROUTINE.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 RTEDISP
+#
+# SUBROUTINES CALLED
+# TMRAD100
+# AUGEKUGL
+# LAT-LONG
+#
+# ERASABLE INITIALIZATION REQUIRED
+# PUSHLIST
+# NONE
+# MPAC
+# NONE
+# OTHER
+# R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS
+# V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS
+# T2 FINAL TIME DP B28 CS
+# V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7 METERS/CS
+# V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7
+# UR1/ UNIT INITIAL VECTOR VECTOR B1
+# UH/ UNIT HORIZONTAL VECTOR VECTOR B1
+#
+# OUTPUT
+# VPRED VELOCITY MAGNITUDE AT 400,000 FT. ENTRY ALTITUDE DP B7 METERS/CS
+# T3TOT4 TRANSIT TIME TO 400,000 FT. ENTRY ALTITUDE DP B28 CS
+# GAMMAEI FLIGHT PATH ANGLE AT 400,000 FT. ENTRY ALTITUDE DP B0 REVS + ABOVE HORIZ
+# DELVLVC INITIAL VELOCITY CHANGE VECTOR IN LOCAL VERTICAL COORD. VECTOR B7 METERS/CS
+# LAT(SPL) LATITUDE OF THE LANDING SITE DP B0 REVS
+# LNG(SPL) LONGITUDE OF THE LANDING SITE DP B0 REVS
+
+RTEDISP STQ VLOAD # DISPLAY
+ SPRTEX
+ V(T2)/
+ UNIT PDDL
+ 36D
+ STODL VPRED # V(T2)
+ T2
+ DSU
+ SPRTETIG
+ STOVL T3TOT4 # T21
+ R(T2)/
+ UNIT DOT
+ SL1
+
+# Page 903
+ ARCCOS BDSU
+ 1RTEB2
+ STOVL GAMMAEI # FLIGHT PATH ANGLE T2
+ V2(T1)/
+ VSU PUSH
+ V(T1)/
+ DOT DCOMP
+ UR1/
+ PDVL PUSH
+ DLOAD PDVL
+ ZERORTE
+ DOT VDEF
+ UH/
+ VSL1
+ STODL DELVLVC
+ DELVLVC
+ BOFF DCOMP
+ RETROFLG
+ RTD18
+ STORE DELVLVC # NEGATE X COMPONENT, RETROGRADE
+RTD18 VLOAD ABVAL
+ DELVLVC
+ STOVL VGDISP
+ R(T2)/
+ STORE RVEC # ***** LANDING SITE COMPUTATION *****
+ ABVAL DSU
+ 30480RTE
+ STOVL RDESIRED
+ V(T2)/
+ STCALL VVEC
+ TMRAD100 # R3,V3,T23 FROM TIMERAD
+ VLOAD UNIT
+ R(T2)/
+ PDVL UNIT # UR3 PL06D
+ V(T2)/
+ DOT SL1 # GAMMAE=ARCSIN(UR3 . UV3) PL00D
+ ARCSIN PDDL # V(T3) PL02D
+ 36D
+ PDDL ABS
+ PUSH CALL # /GAMMAE/ PL04D
+ AUGEKUGL # PHIE PL06D
+ DAD DAD
+ T12 # T23
+ T2
+ STORE 02D # T(LS)=T2&T23&TE
+ SLOAD BZE
+ P37RANGE
+ RTD22
+ STORE 04D # OVERRIDE RANGE (PCR 261)
+RTD22 DLOAD SIN
+
+# Page 904
+ 04D
+ STODL LNG(SPL) # LNG(SPL)=SIN(PHIE) PL04D
+ COS
+ STORE LAT(SPL) # LAT(SPL)=COS(PHIE)
+ VLOAD UNIT
+ R(T2)/
+ PUSH PUSH
+ PDVL UNIT # PL22D
+ V(T2)/
+ PDVL VXV
+ VXV UNIT # UH3=UNIT(UR3 X UV3 X UR3) PL10D
+ VXSC PDVL
+ LNG(SPL)
+ VXSC VAD # PL04D
+ LAT(SPL)
+ CLEAR CLEAR # T(LS) IN MPAC
+ ERADFLAG
+ LUNAFLAG
+ STODL ALPHAV # ALPHAV=UR3(COSPHIE)+UH3(SINPHIE) PL02D
+ CALL
+ LAT-LONG
+ DLOAD
+ LAT
+ STODL LAT(SPL) # LATITUDE LANDING SITE *****
+ LONG
+ STCALL LNG(SPL) # LONGITUDE LANDING SITE *****
+ SPRTEX
+ COUNT* $$/RTE
+
+# Page 905
+# INITIAL VECTOR SUBROUTINE
+#
+# DESCRIPTION
+# A PRECISION INTEGRATION OF THE STATE VECTOR TO THE TIME OF IGNITION IS PERFORMED. PRECOMPUTATIONS OCCUR.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 INVC100
+#
+# NORMAL EXIT MODE
+# AT L+2 OF CALLING SEQUENCE WITH MPAC = 0
+#
+# ALARM EXIT MODE
+# AT L+2 OF CALLING SEQUENCE WITH MPAC = OCTAL 612 FOR STATE VECTOR IN MOONS SPHERE OF INFLUENCE
+#
+# SUBROUTINES CALLED
+# CSMPREC
+#
+# ERASABLE INITIALIZATION REQUIRED
+# PUSHLIST
+# NONE
+# MPAC
+# NONE
+# OTHER
+# SPRTETIG TIME OF IGNITION DP B28 CS
+# CSM STATE VECTOR
+#
+# OUTPUT
+# R(T1)/ INITIAL POSITION VECTOR AT TIG VECTOR B29 METERS
+# V(T1)/ INITIAL VELOCITY VECTOR AT TIG VECTOR B7 METERS/CS
+# T1 INITIAL VECTOR TIME (TIG) DP B28 CS
+# UR1/ UNIT INITIAL VECTOR VECTOR B1
+# UH/ UNIT HORIZONTAL VECTOR VECTOR B1
+# CFPA COSINE OF INITIAL FLIGHT PATH ANGLE DP B1
+
+INVC100 STQ DLOAD
+ SPRTEX
+ SPRTETIG
+ STCALL TDEC1
+ CSMPREC # PRECISION INTEGRATION R0,V0 TO R1,V1
+ VLOAD SXA,2
+ RATT
+ P(T1)
+ STOVL R(T1)/
+ VATT
+ STODL V(T1)/
+ TAT
+ STORE T1
+ SLOAD BZE
+ P(T1)
+# Page 906
+ INVC109
+INVC107 SLOAD GOTO
+ OCT612
+ RTEALRM # R1,V1 NOT IN PROPER SPHERE OF INFLUENCE
+INVC109 VLOAD UNIT
+ R(T1)/
+ STODL UR1/ # UR1/ B1
+ 36D
+ STOVL R(T1) # R(T1) B29
+ V(T1)/
+ UNIT
+ STORE UV1/
+ DOT SL1
+ UR1/
+ STORE CFPA # CFPA B1
+ ABS DSU
+ EPC1RTE
+ BMN DLOAD
+ INVC115 # NOT NEAR RECTILINEAR
+ 1RTEB2
+ PDDL PUSH
+ ZERORTE
+ VDEF PUSH # N/ = (0,0,1)
+ GOTO
+ INVC120
+INVC115 VLOAD VXV
+ UR1/
+ UV1/
+ PUSH # N/ = UR X UV B2
+INVC120 CLEAR DLOAD
+ RETROFLG
+ PUSH BPL
+ INVC125
+ VLOAD VCOMP # RETROGRADE ORBIT
+ PUSH SET
+ RETROFLG
+INVC125 VLOAD
+ VXV UNIT
+ UR1/
+ STORE UH/ # UH/ B1
+ GOTO
+ SPRTEX
+
+# Page 907
+# PRECISION TRAJECTORY COMPUTATION SUBROUTINE
+#
+# DESCRIPTION
+# A NUMERICALLY INTEGRATED TRAJECTORY IS GENERATED WHICH FOR THE RETURN TO EARTH PROBLEM SATISFIES THE REENTRY
+# CONSTRAINTS (RCON AND X(T2)) ACHIEVED BY THE INITIAL CONIC TRAJECTORY AND MEETS THE DVD REQUIREMENT AS CLOSELY
+# AS POSSIBLE.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 PREC100
+#
+# NORMAL EXIT MODE
+# AT L+2 OF CALLING SEQUENCE WITH MPAC = 0
+#
+# ALARM EXIT MODE
+# AT L+2 OF CALLING SEQUENCE WITH MPAC =
+# OCTAL 605 FOR EXCESS ITERATIONS
+# OCTAL 613 FOR REENTRY ANGLE OUT OF LIMITS
+#
+# SUBROUTINES CALLED
+# INTSTALL
+# RTENCK2
+# RTENCK3
+# TIMERAD
+# PARAM
+# V2T100
+#
+# ERASABLE INITIALIZATION REQUIRED
+# PUSHLIST
+# NONE
+# MPAC
+# NONE
+# OTHER
+# R(T1)/ INITIAL POSITION VECTOR VECTOR B29/B27 METERS
+# V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS
+# V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS
+# T1 INITIAL VECTOR TIME DP B28 CS
+# T12 INITIAL TO FINAL POSITION TIME DP B28 CS
+# RCON CONIC FINAL RADIUS DP B29/B27 METERS
+# R(T1) MAGNITUDE OF INITIAL POSITION VECTOR DP B29/B27 METERS
+# X(T2) COTANGENT OF FINAL FLIGHT PATH ANGLE DP B0
+# X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE DP B5
+# RTEDVD DELTA VELOCITY DESIRED DP B7/B5 METERS/CS
+# MAMAX1 MAJOR AXIS LIMIT FOR LOWER BOUND ON GAMDV ITERATOR DP B30/B28 METERS
+# MAMAX2 MAJOR AXIS LIMIT FOR UPPER BOUND ON GAMDV ITERATOR DP B30/B28 METERS
+# UR1/ UNIT INITIAL VECTOR VECTOR B1
+# UH/ UNIT HORIZONTAL VECTOR VECTOR B1
+# BETA1 1+X(T2)**2 DP B1
+# PHI2 PERIGEE OR APOGEE INDICATOR DP B2 -1 PERIGEE, +1 APOGEE
+#
+# Page 908
+#
+# OUTPUT
+# V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7 METERS/CS
+# R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS
+# V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS
+# T2 FINAL TIME DP B28 CENTISECONDS
+#
+# DEBRIS
+# RD FINAL R DESIRED DP B29/B27 METERS
+# R/APRE R/A DP B6
+# P/RPRE P/R DP B4
+# RPRE MAGNITUDE OF R(T2)/ DP B29/B27 METERS
+# X(T2)PRE COTANGENT OF GAMMA2 DP B0
+# DT12 CORRECTION TO FINAL TIME T2 DP B28 CENTISECONDS
+# RCON FINAL RADIUS DP B29/B27 METERS
+# DRCON DELTA RCON DP B29/B27 METERS
+
+PREC100 STQ DLOAD
+ SPRTEX
+ 10RTE
+ STODL NN1A
+ RCON
+ STORE RD
+PREC120 DLOAD
+ 2RTEB1
+ STODL DT21PR # DT21PR = POSMAX
+ M15RTE
+ STCALL NN2
+ RTENCK3
+PREC125 CALL
+ PARAM
+ DLOAD
+ P
+ STODL P/RPRE
+ R1A
+ STODL R/APRE
+ R1
+ STODL RPRE
+ COGA
+ SL
+ 5
+ STORE X(T2)PRE
+ DCOMP DAD
+ X(T2)
+ ABS DSU
+ EPC4RTE
+ BOV BMN
+ PREC130
+ PREC175
+
+# DESIRED REENTRY ANGLE NOT ACHIEVED
+
+# Page 909
+PREC130 DLOAD BMN
+ NN2
+ PREC140
+PREC132 SLOAD GOTO # TOO MANY ITERATIONS
+ OCT605 # EXIT WITH ALARM
+ PRECX
+
+# DETERMINE RADIUS AT WHICH THE DESIRED REENTRY ANGLE WILL BE ACHIEVED
+
+PREC140 DLOAD BZE
+ NN1A
+ PREC162
+PREC150 DLOAD SL2 B2
+ P/RPRE
+ DMP SL1 # BETA2=BETA1*P/R B2 PL02
+ BETA1
+ PUSH DLOAD
+ R/APRE
+ SL4 DMP
+ 00D
+ BDSU BMN # BETA3=1-BETA2*R/A
+ 1RTEB4
+ PREC160
+PREC155 SL2 SQRT
+ DMP BDSU
+ PHI2
+ 1RTEB3
+ NORM PDDL
+ X1
+ SR1 DDV # BETA4=BETA2/(1-PHI2*SQRT(BETA3))
+ SL* GOTO B1
+ 0 -1,1
+ PREC165
+PREC160 DLOAD NORM
+ R/APRE
+ X1
+ BDDV SL* B1
+ 1RTEB1
+ 0 -6,1
+ GOTO
+ PREC165
+PREC162 DLOAD NORM
+ RPRE
+ X1
+ BDDV SL* # BETA4=RD/RPRE B1
+ RD
+ 0 -1,1
+PREC165 SETPD PUSH
+ 0
+ DSU DCOMP
+# Page 910
+ 1RTEB1
+ STORE BETA12
+ BMN DLOAD
+ PREC168
+ X(T2)PRE
+ BMN DLOAD
+ PREC167
+ BETA12
+ DCOMP
+ STORE BETA12
+PREC167 DLOAD
+ BETA12
+PREC168 ABS DSU
+ EPC6RTE
+ BMN DLOAD
+ PREC175
+ DMP SL1
+ RPRE
+ PUSH # RF = NEW RADIUS
+PREC170 DLOAD DAD
+ NN2
+ 1RTEB28
+ STORE NN2
+ VLOAD SET
+ R(T2)/
+ RVSW
+ STOVL RVEC
+ V(T2)/
+ SIGN
+ BETA12
+ STODL VVEC
+ 1RTEB1
+ SIGN DCOMP
+ BETA12
+ LXA,2 DLOAD
+ MPAC
+ LXC,1 SXA,2
+ CONICX1
+ SGNRDOT
+ STCALL RDESIRED # COMPUTED DT12 (CORRECTION TO TIME OF
+ TIMERAD # NEW RADIUS)
+ DLOAD SIGN
+ T
+ BETA12
+ PDDL NORM # DT21=(PHI4)DT21 PL02D
+ DT21PR
+ X1
+ BDDV SL*
+ 00D
+ 0 -3,1
+# Page 911
+ PUSH BMN # BETA13=(DT21)/(DT21PR) R3 PL04D
+ PREC172
+ DLOAD PDDL # BETA14=1 B0 PL04D
+ 2RTEB1
+ GOTO
+ PREC173
+PREC172 DLOAD PDDL # BETA14=.6 B0 PL04D
+ M.6RTE
+PREC173 DDV DSU
+ 02D
+ 1RTEB3
+ BMN DLOAD
+ PREC174
+ DMP
+ DT21PR
+ STORE 00D # DT21=(BETA14)DT21PR B28
+PREC174 DLOAD PUSH
+ 00D
+ STCALL DT21PR
+ RTENCK2
+ GOTO
+ PREC125
+PREC175 DLOAD DSU
+ RPRE
+ RD
+ PUSH ABS # RPRE-RD = RERR
+ DSU BMN
+ EPC7RTE
+ PREC220
+
+# DESIRED RADIUS HAS NOT BEEN ACHIEVED
+
+ DLOAD BZE
+ NN1A
+ PREC132 # TOO MANY ITERATIONS
+ DSU BZE
+ 10RTE
+ PREC207
+PREC205 DLOAD DSU # NOT FIRST PASS OF ITERATION
+ RPRE'
+ RPRE # RPRE'-RPRE B29/B27
+ NORM BDDV
+ X2
+ DRCON
+ SL* PUSH # DRCON/(RPRE'-RPRE)=S B2
+ 0 -2,2
+ DAD BOV # S GR +4 OR LS -4
+ 1RTEB1
+ PREC205M
+ ABS DSU
+# Page 912
+ 1RTEB1
+ BMN
+ PREC206
+PREC205M DLOAD DCOMP # S GR 0 OR LS -4
+ 2RTEB1
+ PDDL # S=-4 B2
+PREC206 DLOAD DMP
+ SL2
+ STORE DRCON # DRCON=S(RERR) B29
+ DAD
+ RCON
+ STORE RCON # RCON+DRCON=RCON
+ GOTO
+ PREC210
+PREC207 DLOAD DSQ # FIRST PASS OF ITERATION
+ RD
+ NORM SR1
+ X1
+ PDDL NORM
+ RPRE
+ X2
+ XSU,1 BDDV
+ X2
+ SR*
+ 0 -1,1
+ STORE RCON # RD**2/RPRE=RCON
+ DSU
+ RD
+ STORE DRCON # RCON-RD=DRCON
+PREC210 DLOAD # PREPARE FOR NEXT ITERATION
+ RPRE
+ STODL RPRE'
+ NN1A
+ DSU
+ 1RTEB28
+ STCALL NN1A
+ V2T100
+ BHIZ GOTO
+ PREC120
+ PRECX
+
+# DESIRED RADIUS ACHIEVED
+
+ SETLOC RTE2
+ BANK
+PREC220 DLOAD DSU
+ X(T2)
+ X(T2)PRE
+ ABS DSU
+ EPC8RTE
+# Page 913
+ BMN SLOAD
+ PREC225
+ OCT613
+ GOTO
+ PRECX # IF REENTRY ANGLE OUT OF LIMITS
+
+EPC8RTE 2DEC .002
+
+OCT613 OCT 613
+
+# DESIRED FINAL ANGLE HAS BEEN REACHED.
+
+ SETLOC RTE
+ BANK
+PREC225 DLOAD
+ ZERORTE
+PRECX GOTO
+ SPRTEX
+
+# Page 914
+# INTEGRATION CALLING SUBROUTINE
+#
+# DESCRIPTION
+# PERFORMS CONIC AND PRECISION INTEGRATIONS USING SUBROUTINE INTEGRVS. THERE ARE THREE ENTRANCES (RTENCK1,
+# RTENCK2, AND RTENCK3) FOR DIFFERENT SOURCES OF INPUT AND DIFFERENT OPTIONS. THERE IS A COMMON SET OF OUTPUT
+# WHICH INCLUDES SET UP OF INPUT FOR THE PARAM SUBROUTINE.
+#
+# RTENCK1 (CONIC INTEGRATION)
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 RTENCK1
+#
+# ERASABLE INITIALIZATION REQUIRED
+# SAME AS FOR THE RTENCK3 ENTRANCE
+#
+# RTENCK2 (PRECISION INTEGRATION)
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 RTENCK2
+#
+# ERASABLE INITIALIZATION REQUIRED
+# PUSHLIST
+# PUSHLOC-2 INTEGRATION TIME DT12 (CORRECTION TO T2) DP B28 CS
+# OTHER
+# R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS
+# V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS
+# T2 FINAL TIME DP B28 CS
+#
+# RTENCK3 (PRECISION INTEGRATION)
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 RTENCK3
+#
+# ERASABLE INITIALIZATION REQUIRED
+# R(T1)/ INITIAL POSITION VECTOR VECTOR B29 METERS
+# V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7 M/CS
+# T1 INITIAL VECTOR TIME DP B28 CS
+# T2 FINAL TIME DP B28 CS
+#
+# EXIT MODE
+# AT L+2 OF CALLING SEQUENCE
+#
+# SUBROUTINES CALLED
+# INTSTALL
+# INTEGRVS
+#
+# OUTPUT
+# PUSHLIST
+# Page 915
+# PUSHLOC-6 FINAL POSITION VECTOR R(T2)/ VECTOR B29 METERS
+# X1 CONICS MUTABLE ENTRY FOR EARTH (-2) SP B14
+# MPAC
+# FINAL VELOCITY VECTOR V(T2)/ VECTOR B7 M/CS
+# OTHER
+# R(T2)/ AS IN PUSHLIST
+# V(T2)/ AS IN MPAC
+# T2 FINAL TIME DP B28 CS
+
+ SETLOC RTE3
+ BANK
+RTENCK1 STQ CALL
+ RTENCKEX
+ INTSTALL
+ VLOAD SET
+ R(T1)/
+ INTYPFLG
+ GOTO
+ RTENCK3B
+
+RTENCK2 STQ CALL
+ RTENCKEX
+ INTSTALL
+ CLEAR VLOAD
+ INTYPFLG
+ R(T2)/
+ STOVL RCV
+ V(T2)/
+ STODL VCV
+ T2
+ STORE TET
+ DAD
+ GOTO
+ RTENCK3D
+
+RTENCK3 STQ CALL
+ RTENCKEX
+ INTSTALL
+RTENCK3A VLOAD CLEAR
+ R(T1)/
+ INTYPFLG
+RTENCK3B STOVL RCV
+ V2(T1)/
+ STODL VCV
+ T1
+ STODL TET
+ T2
+# Page 916
+RTENCK3D STORE TDEC1
+ CLEAR CALL
+ MOONFLAG
+ INTEGRVS
+ VLOAD
+ RATT
+ STORE R(T2)/
+ PDDL LXC,1
+ TAT
+ CONICX1
+ STOVL T2
+ VATT
+ STORE V(T2)/
+ GOTO
+ RTENCKEX
+ SETLOC RTE
+ BANK
+
+# Page 917
+# V2(T1) COMPUTATION SUBROUTINE
+#
+# DESCRIPTION
+# A POST IMPULSE VELOCITY VECTOR (V2(T1)) IS COMPUTED WHICH EITHER
+# (1) MEETS THE INPUT VELOCITY CHANGE DESIRED (RTEDVD) IN A MINIMUM TIME OR
+# (2) IF A VELOCITY CHANGE ISN'T SPECIFIED (RTEDVD = 0), A V2(T1) IS COMPUTED WHICH MINIMIZES THE IMPULSE (DV)
+# AND CONSEQUENTLY FUEL.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 V2T100
+#
+# NORMAL EXIT MODE
+# AT L+2 OF CALLING SEQUENCE WITH MPAC = 0
+#
+# ALARM EXIT MODE
+# AT L+2 OF CALLING SEQUENCE WITH MPAC = OCTAL 605 FOR EXCESS ITERATIONS.
+#
+# SUBROUTINES CALLED
+# GAMDV10
+# XT1LIM
+# DVCALC
+#
+# ERASABLE INITIALIZATION REQUIRED
+# PUSHLIST
+# NONE
+# MPAC
+# NONE
+# OTHER
+# R(T1) MAGNITUDE OF INITIAL POSITION VECTOR DP B29/B27 METERS
+# RCON MAGNITUDE OF FINAL POSITION VECTOR DP B29/B27 METERS
+# V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS
+# RTEDVD DELTA VELOCITY DESIRED DP B7/B5 METERS/CS
+# UR1/ UNIT INITIAL VECTOR VECTOR B1
+# UH/ UNIT HORIZONTAL VECTOR VECTOR B1
+# X(T2) COTANGENT OF FINAL FLIGHT PATH ANGLE DP B0
+# X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE (INPUT FOR PREC) DP B5
+# CFPA COSINE OF INITIAL FLIGHT PATH ANGLE DP B1
+# MAMAX1 MAJOR AXIS LIMIT FOR LOWER BOUND ON GAMDV ITERATOR DP B30/B28 METERS
+# MAMAX2 MAJOR AXIS LIMIT FOR UPPER BOUND ON GAMDV ITERATOR DP B30/B28 METERS
+# PHI2 REENTRY NEAR PERIGEE OR APOGEE INDICATE (RTE ONLY) DP B2 -1 PERIGEE, +1 APOGEE
+# N1 CONIC OR PRECISION ITERATION OPERATOR DP B28 NEGATIVE CONIC, PLUS PREC
+#
+# OUTPUT
+# V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS
+# DV INITIAL VELOCITY CHANGE DP B7/B5 METERS/CS
+# X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE (POST IMPULSE) DP B5
+# PCON SEMI-LATUS RECTUM DP B28/B26 METERS
+# BETA1 1+X(T2)**2 DP B1
+#
+# Page 918
+#
+# DEBRIS
+# PUSHLIST
+# 00D X(T1),,=PREVIOUS PRECISION X(T1) DP B5
+# 02D THETA1=BETA5*LAMBDA-1 TP B17
+# 05D THETA2=2*R(T1)*(LAMBDA-1) TP B38/B36
+# 08D THETA3=MU**.5/R(T1) DP B-4/B-5
+# 10D X(T1)MIN=LOWER BOUND ON X(T1) IN GAMDV ITERATOR DP B5
+# 12D DX(T1)MAX=MAXIMUM DELTA X(T1) DP B5
+# 14D X(T1)MAX=UPPER BOUND ON X(T1) IN GAMDV ITERATOR DP B5
+# 16D DX(T1)=ITERATOR INCREMENT DP B5
+# 31D GAMDV10 SUBROUTINE RETURN ADDRESS
+# 32D DVCALC SUBROUTINE RETURN ADDRESS
+# 33D V2T100 SUBROUTINE RETURN ADDRESS
+
+V2T100 STQ DLOAD
+ 33D
+ RCON
+ BMN DSU # ABORT IF RCON NEGATIVE
+ V2TERROR
+ R(T1)
+ BMN
+ V2T101
+V2TERROR EXIT # OR IF LAMBDA LESS THAN ONE
+ TC P00DOO # NO SOLUTION IF LAMBDA LESS THAN 1
+ OCT 00610
+V2T101 SETPD CLEAR
+ 0 # PL00D
+ F2RTE
+ DLOAD NORM
+ RCON
+ X1
+ PDDL NORM
+ R(T1)
+ S1
+ STORE 10D
+ SR1 DDV # R1/RCON = LAMBDA B1
+ XSU,1 PDDL # PL02D
+ S1
+ X(T2)
+ DSQ
+ SR1 DAD
+ 1RTEB1
+ STORE BETA1 # 1+X(T2)**2 = BETA1 B1
+ DMP
+ 00D
+ STORE 28D # BETAI*LAMBDA = BETA5
+ DMP SL*
+ 00D
+ 0 -7,1
+ SL* DSU
+# Page 919
+ 0 -7,1
+ 1RTEB17
+ RTB PDDL # BETA5*LAMBDA-1 = THETA1 B17 PL05D
+ TPMODE
+ 1RTEB1
+ SR* DCOMP
+ 0,1
+ DAD DMP
+ 00D
+ R(T1)
+ SL* RTB
+ 0 -7D,1
+ TPMODE
+ PDDL # 2*R(T1)*(LAMBDA-1)=THETA2 B38/B36 PL08D
+ RTMURTE
+ NORM SR1
+ X2
+ XSU,2 DDV
+ S1
+ 10D
+ SR* PDDL # MU**.5/R(T1)=THETA3 B-4/B-5 PL10D
+ 6,2
+ MAMAX1
+ PUSH PUSH # MAMAX1=MA
+ CALL
+ XT1LIM
+ DCOMP PUSH # X(T1)MIN B5 PL12D
+ DCOMP SR4
+ PDDL PUSH # DX(T1)MAX B5 PL14D
+ MAMAX2
+ PUSH CALL
+ XT1LIM
+ PDDL BMN # X(T1)MAX B5 PL16D
+ NN1A
+ V2T102
+ GOTO
+ V2T110
+
+# PROCEED HERE IF NOT PRECISION COMPUTATION
+
+V2T102 DLOAD
+ RTEDVD
+ BZE GOTO
+ V2T105
+ V2T140
+V2T105 DLOAD BMN
+ CFPA
+ V2T140
+ GOTO
+ V2T145
+# Page 920
+# DURING A PRECISION TRAJECTORY ITERATION CONSTRAIN THE INDEPENDENT
+# VARIABLE TO INSURE THAT ALL CONICS PASS THROUGH RCON ON THE SAME PASS
+# THROUGH X(T2)
+
+V2T110 DLOAD RTB
+ 1RTEB17
+ TPMODE
+ DCOMP PDDL # -1 B17 PL19D
+ 2RTEB1
+ SR* DSU
+ 0,1
+ 00D
+ DMP SL*
+ 28D
+ 0 -7,1
+ SL* TAD
+ 0 -7,1
+ RTB PDDL # BETA5(2-LAMBDA)-1=BETA6 B17 PL19D
+ TPMODE
+ X(T1)
+ STORE 00D # X(T1),, B5
+ TLOAD # PL16D
+ BMN BZE
+ V2T115
+ V2T115
+ SL GOTO
+ 7
+ V2T120
+V2T115 DLOAD BMN
+ PHI2
+ V2T125
+ DCOMP
+ STODL PHI2
+ 10RTE
+ STORE NN1A
+ GOTO
+ V2T125
+V2T120 SQRT RTB
+ DPMODE
+ PDDL BMN # BETA6**.5=X(T1)LIM B5 PL18D
+ PHI2
+ V2T130
+ DLOAD STADR
+ STORE 14D # X(T1)LIM = X(T1)MAX
+ DCOMP
+ STORE 10D # -X(T1)LIM = X(T1)MIN
+V2T125 DLOAD BZE
+ X(T1)
+ V2T140
+ BMN GOTO
+# Page 921
+ V2T140
+ V2T145
+V2T130 DLOAD BZE
+ X(T1)
+ V2T135
+ BMN DLOAD # PL16D
+ V2T135
+ STADR
+ STORE 10D # X(T1)LIM = X(T1)MIN
+ GOTO
+ V2T145
+V2T135 DLOAD DCOMP # PL16D
+ STADR
+ STORE 14D # -X(T1)LIM = X(T1)MAX
+V2T140 DLOAD
+ 10D
+ STODL X(T1) # X(T1)MIN = X(T1)
+ 12D
+ PUSH GOTO # DX(T1)MAX = DX(T1) PL18D
+ V2T150
+V2T145 DLOAD
+ 14D
+ STODL X(T1) # X(T1)MAX = X(T1)
+ 12D
+ DCOMP PUSH # -DX(T1)MAX = DX(T1) PL18D
+V2T150 CALL # GOTO X(T1)-DV ITERATOR
+ GAMDV10
+ DLOAD BZE # EXIT IF MINIMUM FUEL MODE
+ RTEDVD
+ V2T1X
+
+# CONTINUE IF TIME CRITICAL MODE
+
+ DSU BMN
+ DV
+ V2T155
+ GOTO
+ V2T175
+V2T155 DLOAD BMN
+ NN1A
+ V2T160
+ GOTO
+ V2T185
+
+# CONIC TRAJECTORY COMPUTATION
+
+V2T160 DLOAD BZE
+ X(T1)
+ V2T165
+ BMN GOTO
+# Page 922
+ V2T165
+ V2T300
+V2T165 DLOAD BZE
+ CFPA
+ V2T300
+ BMN DLOAD
+ V2T300
+ 14D
+ STODL X(T1) # X(T1)MAX=X(T1)
+ 12D
+ DCOMP
+ STCALL 16D # -DX(T1)MAX=DX(T1)
+ GAMDV10
+ DLOAD DSU
+ RTEDVD
+ DV
+ BMN
+ V2T300
+V2T175 SET DLOAD
+ F2RTE
+ X(T1)
+ BOFF
+ SLOWFLG
+ V2T177
+ STODL 10D # X(T1)MIN
+ 12D # DX(T1)MAX
+ GOTO
+ V2T179
+V2T177 STODL 14D
+ 12D
+ DCOMP
+V2T179 STCALL 16D # DX(T1)
+ GAMDV10
+ DLOAD BMN
+ NN1A
+ V2T300
+
+# PREVENT A LARGE CHANGE IN INDEPENDENT VARIABLE DURING AN ITERATION FOR A
+# PRECISION TRAJECTORY
+
+V2T185 DLOAD DSU
+ X(T1)
+ 00D
+ ABS PDDL # /X(T1)-X(T1),,/ = BETA7
+ 12D
+ SL1 BDSU
+ BMN DLOAD
+ V2T300
+ 00D # CONTINUE IF BETA7 LARGER THAN 2DX(T1)MAX
+ STORE X(T1) # X(T1),, = X(T1)
+# Page 923
+ DSU BMN
+ 14D
+ V2T195
+ DLOAD
+ 14D
+ STORE X(T1) # X(T1)MAX = X(T1)
+ GOTO
+ V2T205
+V2T195 DLOAD DSU
+ X(T1)
+ 10D
+ BMN GOTO
+ V2T200
+ V2T205
+V2T200 DLOAD
+ 10D
+ STORE X(T1) # X(T1)MIN = X(T1)
+V2T205 CALL
+ DVCALC
+V2T300 DLOAD
+ ZERORTE
+V2T1X GOTO
+ 33D
+
+# Page 924
+# X(T1)-DV ITERATOR SUBROUTINE
+#
+# DESCRIPTION
+# COMPUTES A POST IMPULSE VELOCITY VECTOR (V2(T1)) WHICH REQUIRES A MINIMUM DV.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 GAMDV10
+#
+# NORMAL EXIT MODE
+# AT L+2 OF CALLING SEQUENCE
+#
+# ALARM EXIT MODE
+# AT V2T1X WITH MPAC = OCTAL 605 FOR EXCESS ITERATIONS
+#
+# SUBROUTINES CALLED
+# DVCALC
+#
+# ERASABLE INITIALIZATION REQUIRED
+# PUSHLIST
+# 02D THETA1=BETA5*LAMBDA-1 TP B17
+# 05D THETA2=2*R(T1)*(LAMBDA-1) TP B38/B36
+# 08D THETA3=MU**.5/R(T1) DP B-4/B-5
+# 10D X(T1)MIN=LOWER BOUND ON INDEPENDENT VARIABLE X(T1) DP B5
+# 12D DX(T1)MAX=MAXIMUM DX(T1) DP B5
+# 14D X(T1)MAX=UPPER BOUND ON INDEPENDENT VARIABLE X(T1) DP B5
+# 16D DX(T1)=ITERATOR INCREMENT DP B5
+# MPAC
+# NONE
+# OTHER
+# V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS
+# RTEDVD DELTA VELOCITY DESIRED DP B7/B5 METERS/CS
+# UR1/ UNIT INITIAL VECTOR VECTOR B1
+# UH/ UNIT HORIZONTAL VECTOR VECTOR B1
+# X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE (FROM VERTICAL) DP B5
+# F2RTE TIME CRITICAL OR MINIMUM FUEL MODE INDICATOR STATE AREA 0 MIN. FUEL, 1 MIN. TIME
+#
+# OUTPUT
+# V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS
+# DV INITIAL VELOCITY CHANGE DP B7/B5 METERS/CS
+# X(T1) COTANGENT OF INITIAL FPA MEASURED FROM VERTICAL DP B5
+# PCON SEMI-LATUS RECTUM DP B28/B26 METERS
+#
+# DEBRIS
+# PUSHLIST
+# 00D X(T1),,
+# 02D THETA1
+# 05D THETA2
+# 08D THETA3
+# 10D X(T1)MIN
+# 12D DX(T1)MAX
+# Page 925
+# 14D X(T1)MAX
+# 16D DX(T1)
+# 22D DV,=PREVIOUS DV DP B7/B5
+# 24D BETA9=X(T1)+1.1DX(T1) DP B5
+# 31D GAMDV10 SUBROUTINE RETURN ADDRESS
+# 32D DVCALC SUBROUTINE RETURN ADDRESS
+# 33D V2T100 SUBROUTINE RETURN ADDRESS
+
+GAMDV10 STQ
+ 31D
+ SETPD CALL
+ 18D # PL18D
+ DVCALC
+ DLOAD DSU
+ 14D
+ 10D
+ BOV
+ GAMDV20
+ PUSH DSU # X(T1)MAX-X(T1)MIN=BETA8 B5 PL20D
+ EPC9RTE
+ BMN DLOAD
+ GAMDVX # BOUNDS CLOSE TOGETHER
+ 18D
+ DSU BMN # BETA8-DX(T1)MAX
+ 12D
+ GAMDV15
+ SETPD GOTO # PL18D
+ 18D
+ GAMDV20
+GAMDV15 DLOAD # PL18D
+ SIGN SR1
+ 16D
+ STORE 16D # BETA8(SIGNDX(T1))/2=DX(T1)
+GAMDV20 DLOAD
+ M144RTE
+ STORE NN2
+GAMDV25 DLOAD DAD
+ NN2
+ 1RTEB28
+ BMN SLOAD
+ GAMDV30
+ OCT605
+ GOTO
+ V2T1X
+GAMDV30 STORE NN2 # NN2=NN2+1
+ DLOAD PDDL # X(T1)=X(T1), B5 PL20D
+ X(T1)
+ DV
+ PDDL DAD # DV=DV, B7/B5 PL22D
+ X(T1)
+ 16D
+# Page 926
+ STCALL X(T1) # X(T1)+DX(T1)=X(T1) B5
+ DVCALC
+ BON DLOAD
+ F2RTE
+ GAMDV35
+ DV
+ DSU BMN # CONTINUE IF FUEL CRITICAL MODE
+ 20D
+ GAMDV33
+GAMDV32 DLOAD DCOMP
+ 16D
+ SR1
+ STORE 16D
+GAMDV33 SETPD GOTO
+ 18D # PL18D
+ GAMDV50
+
+# TIME CRITICAL MODE
+
+GAMDV35 DLOAD DSU
+ RTEDVD
+ DV
+ PDDL PUSH # DVD-DV=DVERR B7/B5 PL22D
+GAMDV40 DLOAD ABS # DV, PL24D
+ 20D
+ DSU BMN
+ EPC10RTE
+ GAMDVX
+GAMDV45 BOVB DLOAD
+ TCDANZIG # ASSURE OVFIND IS 0
+ BDSU NORM
+ DV
+ X2
+ PDDL # DV-DV, B7/B5-N2 PL22D
+ NORM SR1 # DVERR B8/B6-N1
+ X1
+ DDV PDDL # DVERR/ DV - DV
+ BDSU DMP # PL18D
+ X(T1)
+ XSU,1
+ X2
+ STORE 16D # PRESERVE SIGN IF OVERFLOW
+ SR* BOV
+ 0 -1,1
+ GAMDV47
+ STORE 16D # (X(T1)-X(T1),)DVERR/(DV-DV,)=DX(T1)
+ ABS DSU
+ 12D
+ BMN
+ GAMDV50
+# Page 927
+GAMDV47 DLOAD SIGN
+ 12D
+ 16D
+ STORE 16D # DX(T1)MAX(SIGNDX(T1))=DX(T1)
+
+# CHECK TO KEEP INDEPENDENT VARIABLE IN BOUNDS
+
+GAMDV50 DLOAD DMP
+ 16D
+ 1.1RTEB1
+ SL1 DAD
+ X(T1)
+ STORE 24D # X(T1)+1.1DX(T1)=BETA9 B5
+ DSU BMN
+ 14D
+ GAMDV55
+ DLOAD DSU
+ 14D
+ X(T1)
+ SR1
+ STCALL 16D # (X(T1)MAX-X(T1))/2=DX(T1) B5
+ GAMDV65
+GAMDV55 DLOAD DSU
+ 24D
+ 10D
+ BMN GOTO
+ GAMDV60
+ GAMDV65
+GAMDV60 DLOAD DSU
+ 10D
+ X(T1)
+ SR1
+ STORE 16D # (X(T1)MIN-X(T1))/2=DX(T1) B5
+GAMDV65 DLOAD ABS
+ 16D
+ DSU BMN
+ EPC9RTE
+ GAMDVX
+ GOTO
+ GAMDV25
+GAMDVX GOTO
+ 31D
+
+# Page 928
+# DV CALCULATION SUBROUTINE
+#
+# INPUT
+# PUSHLIST
+# 02D THETA1=BETA5*LAMBDA-1 TP B17
+# 05D THETA2=2*R(T1)*(LAMBDA-1) TP B38/B36
+# 08D THETA3=MU**.5/R(T1) DP B-4/B-5
+# OTHER
+# X(T1) COTANGENT OF POST IMPULSE INITIAL FLIGHT PATH ANGLE DP B5
+# V(T1)/ INITIAL VELOCITY VECTOR (PRE IMPULSE) VECTOR B7/B5 METERS/CS
+# UR1/ UNIT INITIAL VECTOR VECTOR B1
+# UH/ UNIT HORIZONTAL VECTOR VECTOR B1
+#
+# OUTPUT
+# V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS
+# DV INITIAL VELOCITY CHANGE DP B7/B5 METERS/CS
+# PCON SEMI-LATUS RECTUM DP B28/B26 METERS
+#
+# DEBRIS
+# 28D THETA3*PCON**.5 DP B10/B8-N1
+# C(PUSHLOC) THETA3(PCON**.5)*X(T1)*UR1/ VECTOR B7/B5
+# 32D DVCALC SUBROUTINE RETURN ADDRESS
+# X1 NORMALIZATION FACTOR FOR VALUE IN 28D
+#
+# PUSHLOC IS RESTORED TO ITS ENTRANCE VALUE UPON EXITING DVCALC
+
+DVCALC STQ DLOAD
+ 32D
+ X(T1)
+ DSQ SR
+ 7
+ DCOMP TAD
+ 02D
+ NORM PUSH
+ X1
+ TLOAD NORM
+ 05D
+ X2
+ RTB SR1
+ DPMODE
+ XSU,2 DDV
+ X1
+ SR*
+ 6,2
+ STORE PCON # THETA2/(THETA1-X(T1)**2)=PCON B28/26
+ SQRT DMP
+ 08D
+ NORM
+ X1
+ STODL 28D # THETA3*PCON**.5 B10/B8 -N1
+# Page 929
+ X(T1)
+ NORM VXSC
+ X2
+ UR1/ # X(T1)*UR1/ B5+B1 -N2
+ XAD,2 VXSC
+ X1
+ 28D
+ VSR* PDVL # THETA3(PCON**.5)X(T1)*UR1/ B7/B5
+ 0 -9D,2 # +
+ UH/
+ VXSC VSR* # THETA3(PCON**.5)UH/ B7/B5
+ 28D
+ 0 -4,1 # =
+ VAD STADR
+ STORE V2(T1)/ # V2(T1)/ B7/B5
+ VSU ABVAL
+ V(T1)/
+ STORE DV # ABVAL(V2(T1)/-V1(T)/)=DV B7/B5
+ GOTO
+ 32D
+
+# Page 930
+# SUBROUTINE TO COMPUTE BOUNDS ON INDEPENDENT VARIABLE X(T1)
+#
+# INPUT
+# PUSHLIST
+# PUSHLOC -4 MAJOR AXIS (MA) DP B30/B28
+# PUSHLOC -2 MAJOR AXIS (MA) AGAIN DP B30/B28
+# 28D BETA5=LAMBDA*BETA1 DP B9
+# OTHER
+# RCON DP B29/B27
+# R(T1) DP B29/B27
+#
+# OUTPUT
+# MPAC
+# X(T1)LIM LIMIT ON INDEPENDENT VARIABLE X(T1) DP B5
+#
+# DEBRIS
+# PUSHLIST
+# C(PUSHLOC) MA-RCON DP (B30/28)-N1
+# C(PUSHLOC) +2 MA DP B30/B28
+# X1 NORMALIZATION FACTOR FOR MA-RCON
+# 20D XT1LIM SUBROUTINE RETURN ADDRESS
+#
+# PUSHLOC IS RESTORED TO ITS ENTRANCE VALUE UPON EXITING XT1LIM
+
+XT1LIM STQ DLOAD
+ 20D
+ RCON
+ SR1 BDSU
+ NORM PDDL # MA-RCON B30-N1
+ X2
+ PDDL SR1
+ R(T1)
+ BDSU DDV
+ SL* DMP
+ 0 -3,2
+ 28D
+ SL* DSU # BETA10=BETA5(MA-RT)/(MA-RC)-1 B11
+ 0 -6,1
+ 1RTEB25 +1 # 1.0 B-11
+ SL1 BOV
+ XT1LIM2
+ BMN GOTO
+ XT1LIM5
+ XT1LIM3
+XT1LIM2 DLOAD # BETA10=POSMAX IF OVERFLOW
+ 2RTEB1
+XT1LIM3 SQRT GOTO # X(T1)=SQRT(BETA10)
+ XT1LIMX
+XT1LIM5 DLOAD
+ ZERORTE
+XT1LIMX GOTO
+ 20D
+
+# Page 931
+# CONSTANTS FOR THE P37 AND P70 PROGRAMS AND SUBROUTINES
+
+ BANK 36
+ SETLOC RTECON1
+ BANK
+
+1RTEB1 2DEC 1. B-1
+1RTEB2 2DEC 1. B-2
+1RTEB3 2DEC 1. B-3
+1RTEB4 2DEC 1. B-4
+1RTEB10 2DEC 1. B-10
+1RTEB12 2DEC 1. B-12
+1RTEB13 2DEC 1. B-13
+1RTEB17 2DEC 1. B-17
+1RTEB25 2DEC 1. B-25
+# * * B25 AND B28 MUST BE CONSECUTIVE * *
+1RTEB28 2DEC 1. B-28
+ZERORTE 2DEC 0
+M144RTE 2DEC -144. B-28
+M15RTE 2DEC -15
+10RTE 2DEC 10
+M.6RTE 2DEC -.6
+1.1RTEB1 2DEC 1.1 B-1
+M6RTEB28 2DEC -6
+2RTEB1 2OCT 3777737777
+M9RTEB28 2DEC -9
+M8RTEB28 2DEC -8
+30480RTE 2DEC 30480. B-29
+VCSPS 2DEC 31.510396 B-5 # (SEE 2VEXHUST)
+# Page 932
+VCRCS 2DEC 27.0664 B-5
+MDOTRCS 2DEC .0016375 B-3
+CSUBT 2DEC .5
+OCT605 OCT 00605
+OCT612 OCT 00612
+MCOS7.5 2DEC -.99144486
+MSIN7.5 2DEC -.13052619
+MCOS22.5 2DEC -.92387953 B-2
+THETA165 2DEC .4583333333
+THETA210 2DEC .5833333333
+EPC1RTE 2DEC .99966 B-1
+EPC2RTE 2DEC 100. B-29
+EPC3RTE 2DEC .001
+EPC4RTE 2DEC .00001
+EPC5RTE 2DEC .01 B-6
+EPC6RTE 2DEC .000007 B-1
+EPC7RTE 2DEC 1000. B-29
+EPC9RTE 2DEC 1. B-25
+EPC10RTE 2DEC .0001 B-7
+
+ BANK 35
+ SETLOC RTECON1
+ BANK
+
+C4RTE 2DEC -6.986643 E7 B-30
+K1RTE 2DEC 7. E6 B-29
+K2RTE 2DEC 6495000. B-29
+K3RTE 2DEC -.06105
+K4RTE 2DEC -.10453
+RTMURTE 2DEC 199650.501 B-18
+# Page 933
+E3RTE 2DEC 121920. B-29
+
diff --git a/P40-P47.s b/P40-P47.s
new file mode 100644
index 0000000..72acab8
--- /dev/null
+++ b/P40-P47.s
@@ -0,0 +1,2429 @@
+# Copyright: Public domain.
+# Filename: P40-P47.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 684-736
+# Mod history: 2009-05-11 RSB Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+# 2009-05-20 RSB In S20.1, a DMP DDV was corrected to DMPR DDV.
+# 2009-05-22 RSB In BESTTRIM, TC PACTOFF corrected to
+# TS PACTOFF.
+# 2009-05-23 RSB Prior to the 2CADR at T5IDLDAP, added an
+# SBANK.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 684
+# PROGRAM DESCRIPTION ** P40CSM **
+
+ EBANK= DAPDATR1
+ BANK 31
+ SETLOC P40S
+ BANK
+
+ COUNT 24/P40
+
+P40CSM TC DOWNFLAG
+ ADRES ENG2FLAG
+
+ TC INTPRET
+ SLOAD BOFF
+ ECSTEER # IS THIS AN EXTERNAL DELTA V BURN
+ XDELVFLG
+ P40S/C # NO CSTEER = ECSTEER
+ DLOAD # YES CSTEER = ZERO
+ HI6ZEROS
+P40S/C STODL CSTEER
+ FENG # SET UP THRUST FOR P40 20,000 LBS
+P40S/F STODL F # P41 ENTERS HERE
+ TIG # ORIGINAL TIG MAY BE SLIPPED BY P40S/SV
+ STORE NOMTIG # SET ORIGINAL TIME OF IGNITION FOR S40.9
+
+ EXIT
+ TC BANKCALL
+ CADR R02BOTH # IMU STATUS CHECK
+
+P40PVA TC INTPRET
+ CALL
+ S40.1 # COMPUTE VGTIG,UT
+ CALL
+ S40.2,3 # COMPUTE PREFERRED ATTITUDE
+ SET EXIT
+ PFRATFLG
+P40SXTY TCR SETMINDB -1 # NARROW DEADBAND FOR MANEUVER (EBANK6)
+ RELINT
+ TC BANKCALL
+ CADR R60CSM # ATTITUDE MANEUVER
+ CS ONE # FOR UPDATEVG
+ TS NBRCYCLS
+ TC UPFLAG
+ ADRES TIMRFLAG # ALLOW CLOCKTASK
+
+ TC P41/P40
+ TC P41/DSP # P41
+
+P40TTOG CAF V06N40 # INITIALIZE FOR CLOCKTASK WHICH IS CALLED
+# Page 685
+ TS NVWORD1 # BELOW
+
+ TC INTPRET
+ VLOAD ABVAL # FOR R2
+ VGTIG
+ STODL VGDISP
+ HI6ZEROS
+ STORE DVTOTAL
+ EXIT
+
+ EXTEND
+ DCA STEERADS # SET FOR UPDATEVG AND TEST FOR STEERING
+ DXCH AVEGEXIT # AFTER AVERAGE G
+
+P40GMB CAF P40CKLS2 # (4.1 PROTECTION)
+ TC BANKCALL
+ CADR GOPERF1
+ TCF POST41 # V34
+ TCF TST,TRIM # V33
+TRIMONLY CS BIT1 # SET MRKRTEMP FOR GIMBAL TRIM (-1)
+ +1 TS MRKRTMP # ENTRY FROM TST,TRIM
+
+ CAF ZERO # SET CNTR +0 FOR RESTART LOGIC IN S40.6
+ TS CNTR # +0 SAYS NORMAL ENTRY
+ # +1 (PRE40.6) SAYS RESTART ENTRY
+
+ CAF ONE
+ TC WAITLIST
+ EBANK= DAPDATR1
+ 2CADR S40.6
+
+ CCS MRKRTMP # TEST TO FIND TIME TO WAIT FOR GIMBAL TEST
+ CAF 18SEC # PLUS, DELAY FOR 18 SECONDS
+ TCF +2 # HOLE
+ CAF 5SEC # DELAY FOR TRIM ONLY TASK
+ TC BANKCALL
+ CADR DELAYJOB
+ TC 2PHSCHNG
+ OCT 40026 # 6.2 = PRE40.6(-0CS), CLOKTASK(100CS)
+ OCT 00234 # 4.23 = P40S/SV (PRIO12)
+P40S/RS CAF ONE
+ TC WAITLIST # P41/SDP
+ EBANK= TIG
+ 2CADR CLOKTASK
+
+ RELINT
+
+P40S/SV TCR E7SETTER # JOB, 4.23 PRETECTS, PREO12
+ EBANK= TIG
+# Page 686
+ TC INTPRET
+ DLOAD DSU
+ TIG
+ SEC29.96
+ STORE TDEC1
+
+ CALRB # RETURN IN BASIC
+ MIDTOAV1
+ TCF +2
+ TC P40SNEWM # INTEGRATION TIME GREATER THAN ALLOWED
+P40SET EXTEND
+ DCA MPAC # DELTA TIME TO PREREAD (INT.INIT.)
+ DXCH P40TMP
+ EXTEND
+ DCS 5SECDP # FOR TIGBLNK
+ DAS P40TMP
+ EXTEND
+ DCA P40TMP
+ TC LONGCALL
+ EBANK= TIG
+ 2CADR TIGBLNK
+
+ TC PHASCHNG
+ OCT 20214 # 4.21 = TIGBLNK (P40TMP CS)
+
+ TCF ENDOFJOB
+P40BLNKR TC BANKCALL
+ CADR CLEANDSP # REMOVE RESIDUE
+ TCF ENDOFJOB
+ EBANK= TIG
+P40SNEWM EXTEND
+ DCA PIPTIME1
+ DXCH TIG # SET NEW TIG FOR 06 40
+ EXTEND
+ DCA SEC29.96
+ DAS TIG
+ TCF P40SET # FOR LONGCALL OF TIG-30 (OR -35)
+
+ EBANK= DAPDATR1
+POSTBURN CAF V16N40
+ TC BANKCALL
+ CADR REFLASH
+ TCF POST41 # V34 GO FINISH
+ TCF P40RCS # PROCEED
+ TCF POSTBURN # RECYCLE
+P40RCS EXTEND # V99N40 ENTERS HERE ON A P40 BYPASS SPS
+ DCA ACADN85
+ DXCH AVEGEXIT
+ CAF 2SECS # WAIT FOR CALCN85 VIA AVEGEXIT
+ TC BANKCALL
+# Page 687
+ CADR DELAYJOB
+
+P40MINDB TCR SETMINDB -1
+ RELINT
+TIGNOW TC PHASCHNG
+ OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 85
+ OCT 20000 # PRIO 20
+ CAF V16N85B
+ TC BANKCALL
+ CADR REFLASH
+ TCF POST41 # FINISH P40/P41
+ TCF POST41 # V03 PROCEED WITH REST OF THE CLEAN-UP
+ TCF TIGNOW # V32 NOT GSOP RESPONSE BUT REDISPLAY N85
+
+POST41 EXTEND
+ DCA SERVCADR
+ DXCH AVEGEXIT
+ TCF GOTOP00H
+
+MINDB DEC 46
+MAXDB DEC 455
+ EBANK= DAPDATR1
+ -1 INHINT
+SETMINDB CA CDUX # ROUTINE FOR SETTING
+ TS THETADX # THE MINIMUM DEADBAND
+ EXTEND # IN AUTOPILOT
+ DCA CDUY
+ DXCH THETADY
+ CA MINDB # SHOULD BE CALLED UNDER
+ TS ADB # INTERRUPT INHIBITED
+ CS BIT4 # EBANK = E6
+ MASK DAPDATR1
+ TS DAPDATR1
+ TC Q
+
+ EBANK= DAPDATR1
+ -1 INHINT
+SETMAXDB CA MAXDB # ROUTINE FOR SETTING
+ TS ADB # THE MAXIMUM DEADBAND IN AUTOPILOT
+ CS DAPDATR1
+ MASK BIT4 # SHOULD BE CALLED UNDER
+ ADS DAPDATR1 # INTERRUPT INHIBITED
+ TC Q # EBANK = E6
+
+# Page 688
+# PROGRAM DESCRIPTION ** P41CSM **
+
+ SETLOC P40S2
+ BANK
+
+ EBANK= DAPDATR1
+ COUNT 24/P41
+
+P41CSM TC UPFLAG
+ ADRES ENG2FLAG # SET FOR RCS
+
+ TC INTPRET
+ DLOAD
+ HI6ZEROS # FOR P41 CSTEER =0
+ STORE CSTEER
+
+ DLOAD BON
+ FRCS2 # 2JET THRUST FOR S40.1
+ NJETSFLG
+ P40S/F # NJETS = 1 2-JET
+ DAD GOTO # NJETS = 0 4-JET
+ FRCS2
+ P40S/F
+
+ SETLOC P40S
+ BANK
+
+P41/P40 CS MODREG
+ MASK ONE # P41EXITS AT CALL LOC +1
+ EXTEND
+ BZF +2 # P41
+ INCR Q # P40 EXITS AT CALL LOC +2
+ TC Q
+
+TTG/0 CAF PRIO20 # TASK (4.4 PROTECTS IN P41)
+ TC NOVAC
+ EBANK= DAPDATR1
+ 2CADR TIGNOW
+
+P40CLK TC DOWNFLAG
+ ADRES TIMRFLAG
+
+ TCF TASKOVER
+
+P41/DSP CAF V06N85B # SET UP FOR NONFLASH V 06 N85 BY CLOCKJOB
+ TS NVWORD1
+
+ TC INTPRET
+# Page 689
+ CALL # COMPUTE
+ P40CNV85 # VGTIG IN CTRL COORDS
+ EXIT
+ EXTEND # DO CONTROL COORD CALCULATION AFTER AVEG
+ DCA ACADN85
+ DXCH AVEGEXIT
+ TC 2PHSCHNG
+ OCT 40036 # 6.3=CLOKTASK(100CS)
+ OCT 234 # 4.23=P40S/SV(PRIO12)
+
+ TCF P40S/RS
+P41REDSP CAF V16N85B # ENTER FROM P41 SIDE OF TIGAVEG
+ TS NVWORD1 # REDISPLAY NONFLASHING
+ CAF SEC29.96 +1
+ TC WAITLIST
+ EBANK= DAPDATR1
+ 2CADR TTG/0
+
+ CS BIT3
+ TCF TTGPHS
+P40CNV85 STQ SETPD
+ QTEMP1
+ 0
+ VLOAD PUSH
+ VGPREV # EQUALS VGTIG (TARGETTING INPUT)
+ CALL
+ S41.1
+ STCALL VGBODY
+ QTEMP1
+
+ EBANK= DAPDATR1
+CALCN85 TC INTPRET
+ CALL
+ UPDATEVG # NEW VG, S40.8 (+MAYBE S40.9)
+ CALL
+ P40CNV85 # COMPUTE VGBODY
+ EXIT
+ TC SERVXT
+FENG 2DEC 9.1188544 B-7 # SPS THRUST (20500LBS), SC.AT B+7 NEWT/E4
+
+FRCS2 2DEC .087437837 B-7 # RCS ULLAGE (199.6COS10 LBS), SC.AT
+
+ # B+7 NEWTONS/E+4
+SEC24.96 DEC 2496
+SEC29.96 2DEC 2996
+
+18SEC DEC 1800
+P40CKLS2 OCT 204
+40CST5 OCT 37730 # 40 CS FOR THE T5 CLOCK
+OCT12 = TEN
+# Page 690
+V1683 VN 1683
+V06N85B VN 0685
+V16N85B VN 1685
+V06N40 VN 0640
+V16N40 VN 1640
+OCT27/24 OCT 27
+OCT53 OCT 53
+OCT35 OCT 35
+ EBANK= DAPDATR1
+T5IDL24 2CADR T5IDLOC
+
+3MDOT DEC 86.6175796 B-16 # 3SEC MASS LOSS (63.8 LBS/SEC), SC.AT
+ # B+16 KB/SEC (NOT, EMDOT IS PAD-LOADED,
+ # BUT 3MDOT IS NOT A CRITICAL QUANTITY, SO
+ # IT CAN REMAIN IN FIXED MEMORY)
+TST,TRIM CAF BIT1 # SET UP FOR GIMB DRIVE TEST AND TRIM (+1)
+ TCF TRIMONLY +1
+TIGBLNK CAF 5SEC # CALL TIGAVEG IN FIVE SEC AT TIG-30
+ TC WAITLIST
+ EBANK= TIG
+ 2CADR TIGAVEG
+
+ CAF ZERO # DISABLE HERE, NOT IN P40BLNKR
+ TS NVWORD1
+
+ CAF PRIO14
+ TC NOVAC
+ EBANK= TIG
+ 2CADR P40BLNKR # DON'T PROTECT -- RESTARTS BLANK DSKY
+
+ CS OCT37 # 4.37 = TIGAVEG (500CS)
+P40TSK TC NEWPHASE
+ OCT 4
+ TC TASKOVER
+
+ EBANK= TIG
+ACADN83 2CADR CALCN83
+
+ EBANK= TIG
+SERVCADR 2CADR SERVEXIT
+
+ EBANK= DAPDATR1
+ACADN85 2CADR CALCN85
+
+# Page 691
+# PROGRAM DESCRIPTION ** P47CSM **
+
+ COUNT 24/P47
+
+ EBANK= TIG
+P47CSM TC BANKCALL # IMU STATUS CHECK
+ CADR R02BOTH
+ TC INTPRET
+ CALRB
+ MIDTOAV2
+ CA MPAC +1 # DELTA TIME TO RPEREAD (LESS THAN 100
+ TS P40TMP # CS, WITH A TPAGREE, INT.INIT.)
+ TC WAITLIST
+ EBANK= TIG
+ 2CADR TIGON # TIGON IS REQUIRED TO MATHCHTAT AND AVEG
+
+ TC PHASCHNG
+ OCT 40574 # A, 4.57 = TIGON (P40TMP CS)
+ TCF ENDOFJOB
+
+ EBANK= P40TMP
+TIGON EXTEND
+ DCA ACADN83
+ DXCH AVEGEXIT
+ CAF PRIO30 # FORCE ZEROING OF N83 BEFORE SERVICER
+ TC NOVAC
+ EBANK= TIG
+ 2CADR P47BODY
+
+ CS BIT2 # 4.2 = PRECHECK (-0CS), P47BODY (PRIO30)
+ TCF TTGPHS
+
+ EBANK= TIG
+CALCN83 TC INTPRET
+ SETPD # SET UP PUSHLIST FOR S41.1
+ 0
+ VLOAD VAD
+ DELVCTL
+ DELVREF
+ STORE DV47TEMP # FOR COPYCYCLE BELOW
+ PUSH CALL
+ S41.1
+ STCALL DELVIMU
+ S11.1 # CALC. VI, H, HDOT FOR NOUN 62
+ EXIT
+ TC PHASCHNG
+ OCT 10035
+# Page 692
+ CAF FIVE
+ TC GENTRAN
+ ADRES DV47TEMP
+ ADRES DELVCTL
+
+ TC SERVXT
+P47BODY TC INTPRET
+ VLOAD
+ HI6ZEROS
+ STORE DELVIMU # CLEAR DISPLAY AND ACCUMULATOR STORAGE
+ STORE DELVCTL # UPON INITIATION OR ENTER RESPONSE
+ EXIT
+P47BOD CAF PRIO15 # LOWER PRIO THAN CALCN83 (20)
+ TC PRIOCHNG # TO PREVENT INTERRUPTION OF CALCN83
+ TC PHASCHNG
+ OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 83
+ OCT 15000 # PRIO 15
+P47/DSP CAF V1683
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC GOTOP00H
+ TCF P47BODY # RECYCLE -- CLEAR ACCUMULATED VELOCITY
+
+# Page 693
+# ROUTINE ** TIG-30 ** DESCRIPTION
+
+ EBANK= TIG
+ COUNT 24/P40
+
+TIGAVEG TC P41/P40 # TASK (4.37 PROTECTS)
+ TCF P41REDSP
+
+ CAF V06N40 # UNBLANK DISPLAY
+ TS NVWORD1
+
+ CAF SEC24.96
+ TC WAITLIST
+ EBANK= TIG
+ 2CADR TIG-5
+
+ CS SIX # 4.6 = TIG-5 (2496CS), PRECHECK (-0CS)
+TTGPHS TC NEWPHASE # ENTRY FROM P41REDSP (P41) WITH A=-4, OR
+ OCT 4 # FROM TIGON (P47) WITH A=-1
+
+PRECHECK CCS PHASE5 # HAS SERVICER BEEN RESTARTED
+ TCF TASKOVER # YES, DON'T START ANOTHER ONE
+ TC POSTJUMP
+ CADR PREREAD
+
+# Page 694
+# ROUTINE ** TIG-5 ** DESCRIPTION
+
+ EBANK= TIG
+TIG-5 CAF 5SEC
+ TC WAITLIST
+ EBANK= DAPDATR1
+ 2CADR TIG-0
+
+ CS BIT9 # WILL CAUSE V99 FLASH
+ TS NVWORD1
+
+ TC 2PHSCHNG
+ OCT 40074 # A, 4.7 = TIG-0 (500CS)
+ OCT 00033 # A, 3.3 = S40.13 (PRIO20)
+
+ CAF PRIO20
+ TC FINDVAC
+ EBANK= TGO
+ 2CADR S40.13
+
+ TCF TASKOVER
+
+# Page 695
+# ROUTINES ** TIG-0 ** AND ** IGNITION ** DESCRIPTION
+
+ EBANK= DAPDATR1 # TASK, 4.7 PHASE, OR 4.77 (-0CS) IN R40
+TIG-0 CS FLAGWRD7 # SET IGN FLAG
+ MASK BIT13
+ ADS FLAGWRD7
+
+ CAE FLAGWRD7 # CHECK ASTN FLAG FOR V99 RESPONSE
+ MASK BIT12
+ EXTEND
+ BZF TASKOVER # WAIT FOR V99P
+
+ CAF V06N40 # CLEAR THE V99 (IN CASE OF A RESTART
+ TS NVWORD1 # DURING THE V99 SEQUENCE)
+
+ TC PHASCHNG # V99P HAS COME ALREADY, DO IGNITION NOW
+ OCT 00614 # A, 4.61 = IGNITION (-0CS) TBASE OLD
+
+IGNITION CAE CDUX # SAVE FOR ROLL DAP REFERENCE OGAD
+ TS OGAD # V99PJOB (CLOCKJOB) SETS UP IGNITION
+ EXTEND # TASK (4.61 PROTECTION)
+ DCA TIME2 # FOR RESTARTS
+ DXCH TEVENT
+ CS FLAGWRD5 # SET ENGONFLG
+ MASK BIT7
+ ADS FLAGWRD5
+SPSON CAF BIT13 # TURN ON SPS ENGINE
+ EXTEND
+ WOR DSALMOUT
+
+IMPULCHK CAF BIT9 # CHECK FOR IMPULSIVE BURN
+ MASK FLAGWRD2
+ CCS A
+ TCF IMPLBURN # IMPULSIVE
+ CS FLAGWRD6 # NON-IMPULSIVE, SET STRULLSW FOR STEERULL
+ MASK BIT13
+ ADS FLAGWRD6
+
+PREPTVC CS OCT60000 # RESET T5 BITS
+ MASK FLAGWRD6
+ TS FLAGWRD6
+
+ EXTEND # KILL RCS
+ DCA T5IDL24
+ DXCH T5LOC
+
+ CS THREE # 4.3 = DOTVCON (40CS)
+ TC NEWPHASE
+ OCT 4
+
+# Page 696
+ TC FIXDELAY
+ DEC 40 # 0.4 SECOND DELAY FOR THRUST BUILDUP
+
+DOTVCON CS BIT1 # SET TVCPHASE = TVCDAPON CALL (FRESHDAP)
+ TS TVCPHASE
+ CAF ZERO # SET TVCEXECUTIVE PHASE
+ TS TVCEXPHS
+ CS OCT60000 # SET T5 BITS TO INDICATE TVC TAKEOVER ....
+ MASK FLAGWRD6 # BITS 15,14 = 10
+ AD BIT15
+ TS FLAGWRD6
+
+ CAF THREE # 6.3 = CLOKTASK (100CS), DROPPING PRE40.6
+ TS L # WHICH IS HANDLED NOW BY REDOTVC
+ COM
+ DXCH -PHASE6
+
+ EXTEND # STORE RCS ATTITUDE ERRORS FOR USE IN
+ DCS ERRORY # INITIALIZING TVC ATTITUDE ERRORS
+ DXCH ERRBTMP
+
+ CS FIVE # 4.5 = DOSTRULL (160 CS)
+ TC NEWPHASE
+ OCT 4
+
+ CAF POSMAX # SET TIME5 FOR STARTING RIGHT AWAY
+ TS TIME5
+ EXTEND
+ DCA TVCON2C # (TVCDAPON)
+ DXCH T5LOC # (KILLS RCS DAP)
+
+ TC FIXDELAY # 0.4 + 1.6 = 2.0 SEC FOR ULLAGE-OFF AND
+ DEC 160 # STEERING (IF NON-IMPULSIVE)
+
+DOSTRULL CAF BIT13 # CHECK STRULLSW FOR IMPULSIVE BURN
+ MASK FLAGWRD6
+ CCS A
+ TCR STEERULL # NON-IMPULSIVE, STEERING AND ULLAGE OFF
+ TCR ULAGEOFF # ULLAGE OFF (ONLY, OR AGAIN)
+
+ EXTEND
+ DCA NEG0 # KILL GROUP 4 (DP NEG0 = -0,+0)
+ DXCH -PHASE4
+
+ENDIGN TCF TASKOVER
+
+STEERULL CS FLAGWRD2 # SET STEERSW
+ MASK BIT11
+ ADS FLAGWRD2
+
+# Page 697
+
+ULAGEOFF CAF ZERO
+ EXTEND
+ WRITE CHAN5 # ZERO CHANNEL 5
+ TC Q
+
+IMPLBURN CS BIT13 # RESET STRULLSW (COULD BE AN IMPULSIVE
+ MASK FLAGWRD6 # ENGINE FAIL)
+ TS FLAGWRD6
+
+ TCR E7SETTER
+
+ EBANK= TIG
+ EXTEND # PREPARE FOR R1 OF V06N40 (CLOCKTASK)
+ DCA TGO
+ DXCH TIG
+ EXTEND
+ DCA TIME2
+ DAS TIG
+
+ TC 2PHSCHNG
+ OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOT GROUP
+ OCT 07014 # C, DELTAT NEXT, TASK BELOW, IN
+ DEC -0 # -0 CS
+ EBANK= DAPDATR1
+ 2CADR IMPLCONT
+
+ CAE TGO +1 # (TPAGREE IN S40.13, LESS THAN 600CS)
+ TC WAITLIST
+ EBANK= TGO
+ 2CADR ENGINOFF
+
+IMPLCONT CS BIT9 # RESET IMPULSW, ENGINOFF IS NOW SET UP
+ MASK FLAGWRD2
+ TS FLAGWRD2
+
+ TCR E6SETTER
+ EBANK= DAPDATR1
+
+ CAF ZERO # SET UP V97VCNTR IN CASE ENGINOFF (MASS-=
+ TS V97VCNTR # BACK) ARRIVES BEFORE TVCDAPON
+
+ TCF PREPTVC
+
+ EBANK= TGO # E7 FORCED BY 3.15SPOT VARIABLE DELTA-T
+ENGINOFF TCR E6SETTER # TASK, 3.15 PHASE (TGO+1 CS) GET E6
+ EBANK= DAPDATR1
+ CAE CSMMASS
+ TS MASSTMP # COPYCYCLE FOR MASSBACK
+# Page 698
+ TC 2PHSCHNG
+ OCT 00003 # KILL GROUP 3 PROTECTION OF ENGINOFF, DO
+ OCT 40634 # A, 4.63 = DOSPSOFF (-0CS)
+DOSPSOFF TCR SPSOFF # SHUTDOWN SPS, MASS UPDATES, ETC.
+ CS OCT27/24 # (OCTAL 27)
+ TC NEWPHASE
+ OCT 4 # 4.27 = DOTVCRCS (250 CS)
+
+ TC FIXDELAY # 2.5 SECOND DELAY FOR SPS TAILOFF
+ DEC 250
+
+DOTVCRCS TCR SETMAXDB # WIDE DEADBAND FOR CUTOFF TRANSIENT
+
+ TC IBNKCALL # SET UP RCS DAP (KILLS TVCDAPS, SETS T5
+ CADR RCSDAPON # BITS, WAITS 0.6SEC FOR TVCEXEC DIE)
+
+ TC IBNKCALL # UPDATE WEIGHT/G AND MASS-PROPERTIES FOR
+ CADR MASSPROP # RCS DAP STARTUP IN 0.6 SECONDS
+
+ TCR TVCZAP # WIPE OUT TVC, TURN OFF CLOKTASK
+
+ TC PHASCHNG
+ OCT 00354 # A, 4.35 = POSTBURN (NOVAC, PRIO12)
+ CAF PRIO12 # SET UP POSTBURN V16N40 JOB
+ TC NOVAC
+ EBANK= DAPDATR1 # (SET MAXDB IN POST41)
+ 2CADR POSTBURN
+
+ TCF TASKOVER
+
+ EBANK= DAPDATR1
+SPSOFF EXTEND # ESTABLISH SPSOFF TEVENT
+ DCA TIME2
+ DXCH TEVENT
+ CS BIT7 # RESET ENGONFLG
+ MASK FLAGWRD5
+ TS FLAGWRD5 # (RESTARTS WILL SHUT DOWN SPS NOW)
+ CS BIT13 # SHUT DOWN SPS ENGINE
+ EXTEND
+ WAND DSALMOUT
+
+ CAF BIT14 # ISSUE SIV CUTOFF COMMAND
+ EXTEND # FOR POSSIBLE BACK-UP USE
+ WOR CHAN12
+MASSBACK CAE V97VCNTR # RESTORE PART OF PRE-DECREMENTED MASS
+ # V97CNTR = VCNTR UNLESS V97 IS
+ # ACTIVE. ONLY V97CNTR IS THEN RIGHT.
+ EXTEND # VCNTR COUNTS 1/2-SECONDS IN TVC EXEC
+ MP EMDOT # MDOT, SC.AT B+3 KG/CS
+ LXCH A
+# Page 699
+ EXTEND
+ MP 1SEC # DEC 100
+ AD MASSTMP # CORRECTION IS ACCURATE TO 5 CS OF FLOW
+ TS CSMMASS # (1.44 KG OR 0.4 BITS)
+
+ CA TVCPHASE # CHECK IF OK FOR TRIM UPDATE
+ AD ONE # THESE CHECKS ARE ONLY NEEDED
+ EXTEND # FOR A LESS THAN 0.4 SEC BURN
+ BZF BTRIMR # NO. INITIALIZATION NOT COMPLETE
+ CS FLAGWRD6 # YES, CHECK IF TVC
+ MASK OCT60000
+ EXTEND
+ BZMF BTRIMR # NO, NOT TVC YET
+BESTTRIM CAE DELPBAR # UPDATE TRIMS WITH DELFILTER VALUES
+ TS PACTOFF
+ CAE DELYBAR
+ TS YACTOFF
+BTRIMR TC Q
+ EBANK= DAPDATR1
+STEERADS 2CADR STEERING
+
+.6SECT5 OCT 37703
+5SECDP DEC 0 # MAKE DP 5SEC
+5SEC DEC 500
+OCT02202 OCT 02202 # BITS 2, 8, 11 FOR CHANNEL 12 TVC/OPTICS
+ EBANK= DAPDATR1
+TVCON2C 2CADR TVCDAPON
+
+ -1 INHINT
+TVCZAP CS OCT02202 # DISABLE TVC AND OPT ERR CNTRLS, REENGAGE
+ EXTEND # OPTICS DAC
+ WAND CHAN12
+ CS BIT1 # ENABLE T4RUPT OPTICS MONITOR .... PERMIT
+ TS OPTIND # OPTICS-ZERO BUT NOT OPTICS-DRIVE
+ CAF ZERO # CLEAR NVWORD1 IN CASE CLOCKJOB WAITING
+ TS NVWORD1
+ CS BIT11 # CLEAR TIMRFLAG TO STOP CLOKTASK
+ MASK FLAGWRD7
+ TS FLAGWRD7
+ TC Q
+ EBANK= DAPDATR1
+UPDATEVG STQ BON
+ QTEMP1
+ XDELVFLG
+ CALL40.8
+
+ SLOAD BMN
+ NBRCYCLS
+ SETUP.9
+# Page 700
+
+ VLOAD VAD
+ DELVSUM
+ DELVREF
+ STORE DELVSUMP
+ EXIT
+ CA ONE
+ AD NBRCYCLS
+ TS NBRCYCLP
+
+ TC PHASCHNG # TYPE B RESTART RESTART BELOW AND 5.3 REREADACCS
+ OCT 10035
+
+ CA NBRCYCLP
+ TS NBRCYCLS
+ TC INTPRET
+ VLOAD
+ DELVSUMP
+ STORE DELVSUM
+
+CALL40.8 CALL
+ S40.8
+ GOTO
+ QTEMP1
+
+SETUP.9 BON SLOAD
+ FIRSTFLG
+ SURELY.9
+ NBRCYCLP
+ NORM VXSC # (NORM HANDLES ZERO PROPERLY)
+ X1
+ BDT
+ VSR* VAD
+ 0 -14D,1
+ VGTEMP
+ VSU
+ DELVSUM
+ STORE VGPREV
+SURELY.9 EXIT
+ CAF PRIO10
+ TC FINDVAC
+ EBANK= DAPDATR1
+ 2CADR S40.9
+
+ TC 2PHSCHNG
+ OCT 00051 # A, 1.5 = REDO40.9, PRIO 10
+ OCT 10035
+ TC INTPRET
+ VLOAD
+ RN # ACTIVE VEHICLE RADIUS VECTOR AT T1
+ STOVL RINIT
+# Page 701
+ VN # ACTIVE VEHICLE VELOCITY VECTORY AT T1
+ STODL VINIT
+ PIPTIME
+ STORE TNIT
+ BDSU
+ TPASS4
+ STOVL DELLT4
+ HI6ZEROS
+ STODL DELVSUM
+ HI6ZEROS
+ STORE NBRCYCLS
+ GOTO
+ CALL40.8
+ EBANK= DAPDATR1
+STEERING TC INTPRET
+ CALL
+ UPDATEVG
+ EXIT
+ CAF BIT9 # CHECK IMPULSW
+ MASK FLAGWRD2
+ CCS A
+ TCF +3 # PRE-IGNITE, REQUEST ENG-OFF, OR POST-OFF
+SERVXT TC POSTJUMP
+ CADR SERVEXIT
+ CAF BIT13 # CHECK ENGINE-ON/-OFF
+ EXTEND
+ RAND DSALMOUT
+ EXTEND
+ BZF SERVXT # ENGINE-OFF, SO PRE-IGNITE OR POST-OFF
+ TCR E7SETTER
+ EBANK= TIG
+ INHINT
+ EXTEND
+ DCA TIG
+ DXCH MPAC
+ EXTEND
+ DCS TIME2
+ DAS MPAC
+ TCR DPAGREE
+ CAE MPAC +1 # (LESS THAN 6 (OR 4) SECONDS TO GO)
+ CCS A # PROTECT AGAINST NEG/ZRO W.L. CALL
+ TCF +3
+ TCF +2
+ CAF ZERO
+ AD ONE
+ XCH L
+ CA ZERO
+ DXCH TGO
+ CA TGO +1
+ TC WAITLIST
+# Page 702
+ EBANK= TGO
+ 2CADR ENGINOFF
+
+ TC 2PHSCHNG
+ OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOTE GROUP
+ OCT 10035 # B, 5.3 = REREADAC, AND START BELOW
+ TC DOWNFLAG # CLEAR IMPULSW, ENGINOFF IS NOW SET UP
+ ADRES IMPULSW # RESTARTS OK
+ TCF SERVXT
+
+# Page 703
+# ROUTINE ** CLOKTASK ** DESCRIPTION
+
+ EBANK= TIG
+CLOKTASK CAF BIT11 # IS TIMRFLAG SET
+ MASK FLAGWRD7
+ CCS A
+ TCF CLOCKON
+ TC PHASCHNG
+ OCT 00006 # KILL RESTART
+ TC TASKOVER
+
+CLOCKON EXTEND
+ DCA TIME2
+ DXCH TTOGO
+ EXTEND
+ DCS TIG
+ DAS TTOGO
+
+SETCLOCK CAF 1SEC
+ TC WAITLIST
+ EBANK= TIG
+ 2CADR CLOKTASK
+
+ CCS NVWORD1
+ TCF +3
+ TCF SETTB6
+
+ TCF +1
+ CS V06N85B # CHECK FOR V06N85B (P41)
+ AD NVWORD1
+ EXTEND
+ BZF SETUPDYN # V06N85, SO UPDATE N85 FOR DYNAMIC DISP
+
+ CAF PRIO27
+ TC NOVAC
+ EBANK= DAPDATR1
+ 2CADR CLOCKJOB
+
+SETTB6 CS TIME1 # SET GROUP6 TIMEBASE
+ TS TBASE6
+ TCF TASKOVER
+
+SETUPDYN CAF PRIO27 # SET UP A JOB TO UPDATE N85 (FOR P41=V06)
+ TC FINDVAC
+ EBANK= DAPDATR1
+ 2CADR DYNDISP
+
+ TCF SETTB6 # CLOSE OUT CLOCKTASK
+# Page 704
+DYNDISP TC INTPRET # UPDATE N85 FOR A DYNAMIC V06N85 IN P41.
+ CALL # PRIOR TO BLANKING AND AVEG (V16N85)
+ P40CNV85
+ EXIT
+ TCF CKNVWRD1
+
+# Page 705
+# ROUTINE ** CLOCKJOB ** DESCRIPTION
+
+ EBANK= DAPDATR1
+CLOCKJOB CA CDUX
+ TS CDUSPOTX
+ CA CDUY
+ TS CDUSPOTY
+ CA CDUZ
+ TS CDUSPOTZ
+ TC BANKCALL
+ CADR QUICTRIG
+CKNVWRD1 INHINT
+ CCS NVWORD1 # DETERMINE FUNCTION, INDICATED BY NVWORD1
+ TCF NOFLASH
+ TCF ENDOFJOB
+ TCF ENGREQST # SPS ENGINE-ON-ENABLE V99 FLASH
+FAILDSP CAF V06N40 # SPS ENGINE-FAILED V97 FLASH
+ TC BANKCALL
+ CADR CLOCPLAY
+ TCF V97T # TERMINATE
+ TCF V97P # PROCEED
+ TCF V97E # ENTER
+
+ENGREQST CAF V06N40
+ TC BANKCALL
+ CADR CLOCPLAY # LINUS MAKES IT A REDO, INHINT OK
+ TCF V99T # TERMINATE
+ TCF V99P # PROCEED
+ TCF V99E # ENTER
+
+NOFLASH CAE NVWORD1 # DISPLAY NVWORD1 NORMALLY
+ TC BANKCALL
+ CADR REGODSP
+
+E7SETTER CAF EBANK7
+ TS EBANK
+ EBANK= TIG
+ TC Q
+
+E6SETTER CAF EBANK6 # SET UP EBANK6
+ TS EBANK
+ EBANK= DAPDATR1
+ TC Q
+
+ EBANK= DAPDATR1
+V99E TC 2PHSCHNG
+ OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION
+ OCT 05024 # C, PRIORITY NEXT, JOB BELOW
+# Page 706
+ OCT 27000
+V99EJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK
+ TCF P40RCS # V16N85 POST-BURN OPERATIONS
+
+ EBANK= DAPDATR1
+V99T TC 2PHSCHNG # (ENTRY FROM V97T FLOW TOO)
+ OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION
+ OCT 05024 # C, PRIORITY NEXT, JOB BELOW
+ OCT 27000
+V99TJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK
+ TCF POST41 # AVEGEXIT, SETMAXDB, GOTOP00H
+
+V99P INHINT
+ CAE FLAGWRD7 # CHECK ASTN FLAG FOR PRIOR V99P
+ MASK BIT12
+ CCS A
+ TCF V99P/TIG # YES, THIS MUST BE A RESTART ENTRY
+
+ASTNV99P CAF BIT12 # SET ASTN FLAG
+ ADS FLAGWRD7
+ CAE FLAGWRD7 # CHECK IGN FLAG FOR TIG-0 ARRIVAL
+ MASK BIT13
+ EXTEND
+ BZF V99P/TIG # NO, CLEAR THE V99 AND WAIT FOR TIG-0
+
+ENDV99PI CAF BIT1 # TIG-0 HAS COME ALREADY
+ TC WAITLIST # SET UP IGNITION HERE
+ EBANK= DAPDATR1
+ 2CADR IGNITION
+
+V99P/TIG CAF V06N40 # CLEAR THE V99 FLASH AND WAIT FOR TIG-0
+ TS NVWORD1
+ENDV99P TCF ENDOFJOB
+
+ EBANK= CSMMASS
+V97T TC 2PHSCHNG
+ OCT 00006 # KILL GROUP 6 (CLOKTASK)
+ OCT 40674 # A, 4.67 = V97TTASK (-0 CS), TBASE NOW
+ CAF BIT1
+ TC TWIDDLE
+ ADRES V97TTASK # KEEP EBANK6 FOR MASSES, SPSOFF, ETC.
+ TCF ENDOFJOB
+
+ EBANK= CSMMASS
+V97TTASK CAF ZERO # DISABLE CLOCKJOB
+ TS NVWORD1
+ CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL
+ AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST
+ TS MASSTMP # FAILED. COPYCYCLE FOR MASSBACK
+# Page 707
+ TC PHASCHNG
+ OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
+ DEC -0 # -0 CS
+
+ TCR SPSOFF # SHUTDOWN SPS ENGINE, MASS UPDATE, ETC.
+ TC PHASCHNG
+ OCT 00714 # A, 4.71 = V97TRCS (250 CS), TBASE OLD
+ TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL-
+ DEC 250 # OFF (FALSE THRUST-LOSS)
+
+ EBANK= DAPDATR1
+V97TRCS TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO
+ CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS
+ CAF PRIO27 # SET UP V99T FOR TVCZAP AND POST41 (SET-
+ TC NOVAC # MAXDB AND GOTOP00H)
+ EBANK= DAPDATR1 # EBANK6 FOR SETMAXDB IN POST41
+ 2CADR V99T
+
+ENDV97T TCF TASKOVER
+
+ EBANK= V97VCNTR
+V97P TC PHASCHNG
+ OCT 40734 # A, 4.73 = V97PTASK (-0 CS), TBASE NOW
+ CAF BIT1
+ TC TWIDDLE
+ ADRES V97PTASK
+ TCF ENDOFJOB
+
+ EBANK= V97VCNTR
+V97PTASK CAE V97VCNTR # GET MASS UPDATES (TVCEXEC) GOING AGAIN
+ TS VCNTR # (ERRORS IF FLASE THRUST-LOSS AND/OR
+ # POOR SYNC OF MANUAL ENGINE-ON AND
+ # THE VERB 97 PROCEED)
+ CAF V06N40 # REDISPLAY V06N40
+ TS NVWORD1
+ TC UPFLAG # SET IDLEFAIL TO ALLOW R41-BYPASS, IN
+ ADRES IDLEFAIL # CASE OF UNFAVORABLE S40.8 SYNCH
+ TC UPFLAG # SET STEERSW TO RE-ENABLE STEERING
+ ADRES STEERSW
+ TC PHASCHNG
+ OCT 00134 # A, 4.13 = R40ENABL (200 CS), TBASE OLD
+ TC FIXDELAY # WAIT 2 SECONDS, THEN
+ DEC 200
+
+ EBANK= WHOCARES
+R40ENABL TC DOWNFLAG # RE-ENABLE R40 BY CLEARING IDLEFAIL
+ ADRES IDLEFAIL
+ TC PHASCHNG
+ OCT 00004 # KILL GROUP 4
+# Page 708
+ENDV97P TCF TASKOVER
+
+ EBANK= WHOCARES
+V97E TC PHASCHNG
+ OCT 40534 # A, 4.53 = V97ETASK (-0 CS), TBASE NOW
+ CAF BIT1
+ TC WAITLIST
+ EBANK= TIG
+ 2CADR V97ETASK
+
+ TCF ENDOFJOB
+
+ EBANK= TIG
+V97ETASK CS OCT24 # FORCE R1 OF V06N40 TO READ 59X59
+ TS TIG
+ CAF V06N40 # REDISPLAY V06N40
+ TS NVWORD1
+ TCR E6SETTER # RETURN TO EBANK6 FOR REST OF V97ETASK
+ EBANK= CSMMASS
+ CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL
+ AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST
+ TS MASSTMP # FAILED....COPYCYCLE FOR MASSBACK
+ TC PHASCHNG
+ OCT 00754 # A, 4.75 = SPSOFF97 (-0 CS), TBASE OLD
+SPSOFF97 TCR SPSOFF
+ TC PHASCHNG
+ OCT 00114 # A, 4.11 = V97E40.6 (250 CS), TBASE OLD
+ TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL-
+ DEC 250 # OFF (FALSE THRUST-LOSS)
+
+ EBANK= DAPDATR1
+V97E40.6 CAF BIT1
+ TC WAITLIST
+ EBANK= CNTR
+ 2CADR PRE40.6 # USE S40.6 RESTART ENTRY TO TRIM ENGINE
+
+ TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO
+ CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS.
+ # LEAVE NARROW DEADBAND FOR REIGNITE.
+
+ TC 2PHSCHNG
+ OCT 00026 # A, 6.2 = PRE40.6 (-0 CS), CLOKTASK (1 SEC)
+ OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
+ DEC -0 # -0 CS.
+
+QUICKIGN CS PRIO14 # CLEAR ASTNFLAG AND SET IGNFLAG FOR
+ MASK FLAGWRD7 # IMMEDIATE V99 RESPONSE.
+ AD BIT13
+ TS FLAGWRD7
+ TC FIXDELAY # DELAY TO ALLOW TIME FOR PRE40.6
+# Page 709
+ DEC 30
+
+V99FLASH CS BIT9 # CAUSE V99 TO FLASH
+ TS NVWORD1
+ TC 2PHSCHNG
+ OCT 40774 # A, 4.77 = TIG-0 (-0 CS) TBASE FOR PREPTVC
+ OCT 00033 # A, 3.3 = S40.13 (PRIO 20)
+ CAF PRIO20 # SET UP TIMEBURN
+ TC FINDVAC
+ EBANK= TGO
+ 2CADR S40.13
+
+ENDV97E TCF TASKOVER # WAIT FOR CLOCKJOB (IMMEDIATE) REACTION
+ # TO FLASHING V99 RESPONSE.
+
+# MOD N02 LOG SECTION P40-P47
+# MOD BY ZELDIN
+#
+# FUNCTIONAL DESCRIPTION
+# COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
+# VECTOR(VGTIG).
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 S40.1
+#
+# NORMAL EXIT MODE
+# AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
+# ERROR RETURN IF NOSOFLAG =1
+#
+# SUBROUTINES CALLED
+# CSMPREC
+# INITVEL
+# CALCGRAV
+# MIDGIM
+#
+# ALARM OR ABORT EXIT MODES
+# L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
+#
+# ERASABLE INITIALIZATION REQUIRED
+# WEIGHT/G ANTICIPATED VEHICLE MASS SP B16 KGM
+# XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
+# IF DELTA-V MANEUVER:
+# DELVSIN SPECIFIED DELTA-V REQUIRED IN
+# INERTIAL COORDS. OF ACTIVE VEHICLE
+# AT TIME OF IGNITION VECTOR B7 M/CS
+# DELVSAB MAG. OF DELVSIN DP B7 M/CS
+# RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
+# VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS.
+# CSTEER = 0 DP
+# IF AIMPOINT STEERING:
+# IF AIMPT STEER
+# TIG TIME OF IGNITION DP B28 CS
+# RTARG POSITION TARGET TIME VECTOR B29 M
+# CSTEER = ECSTEER (GR 0) DP B1
+# Page 710
+# TPASS4 -- TIME OF ARRIVAL AT AIMPOINT
+#
+# OUTPUT
+# UT 1/2 UNIT VECTOR ALIGNED WITH THRUST DIRETION IN REF COOR
+# VGTIG INITIAL VALUE OF VELOCITY
+# TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
+# DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
+# F NOMINAL THRUST FOR ENG USED FOR S40.13 DP B7 M-NEWT
+# BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
+# -GDT FOR S40.13 VECT B7 M/CS
+# RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
+# POSITION AT TIME OF IGNITION
+#
+# DEBRIS QTEMP1
+# MPAC, QPRET
+# PUSHLIST
+# RTX2,RTX1
+
+ BANK 14
+ SETLOC P40S1
+ BANK
+
+ COUNT 16/S40.1
+
+S40.1 SET VLOAD
+ FIRSTFLG
+ LO6ZEROS
+ STORE BDT
+ STQ BOF
+ QTEMP
+ XDELVFLG
+ S40.1B # LAMBERT
+ VLOAD ABVAL # EXTERNAL DELTA-V
+ DELVSIN
+ STORE DELVSAB # COMPUTE FOR P30/P40 INTERFACE
+ # THUS PERMITTING MODULE-ONLY CHANGE
+ SETPD VLOAD
+ 0
+ VTIG
+ STORE VINIT
+ VXV UNIT
+ RTIG
+ STOVL UT # UP IN UT
+ RTIG
+ STORE RINIT
+ VSQ PDDL
+ 36D
+ DMPR DDV
+ THETACON
+ DMP DMP
+ DELVSAB
+ WEIGHT/G
+ DDV
+# Page 711
+ F
+ STOVL 14D
+ DELVSIN
+
+ DOT VXSC
+ UT
+ UT
+ VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
+ BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
+ DELVSIN
+ 14D
+ SIN PDVL
+ 6D
+ VXV UNIT
+ UT
+ VXSC STADR
+ STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
+ UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
+ 14D
+ COS VXSC
+ VAD VXSC
+ VGTIG
+ 36D
+ VSL2 VAD
+ STADR
+ STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
+
+ UNIT
+ STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
+ VGTIG
+ PUSH SET
+ AVFLAG
+ CALL
+ MIDGIM # VGTIG IN LV COOR AT 2(+7)M/CS IN DELVLVC
+ GOTO
+ QTEMP
+S40.1B DLOAD DSU # LAMBERT
+ TIG
+ TWODT
+ STODL TDEC1
+ TPASS4
+ DSU
+ TDEC1
+ STCALL DELLT4
+ AGAIN
+ VLOAD
+ VIPRIME
+ STODL UT
+ TIG
+ STORE TDEC1
+# Page 712
+ BDSU
+ TPASS4
+ STCALL DELLT4
+ AGAIN
+ VLOAD PUSH
+ DELVEET3
+ STORE VGTIG
+ SET CALL
+ AVFLAG
+ MIDGIM
+ SETPD GOTO
+ 0
+ CALCUT
+
+THETACON 2DEC .31830989 B-8
+
+ SETLOC P40S3
+ BANK
+
+ COUNT 24/S40.1
+
+EP4(45)H 2DEC .125
+
+EP4(10)H 2DEC .027777777
+
+AGAIN STQ CALL
+ QTEMP1
+ THISPREC
+ SXA,2 SXA,1
+ RTX2
+ RTX1
+ VLOAD
+ RATT
+ STORE RTIG
+ STOVL RINIT
+ VATT
+ STORE VTIG
+ STORE VINIT
+ SETPD SLOAD
+ 0
+ HI6ZEROS
+ PDDL BON
+ EP4(45)H
+ NORMSW
+ +3
+ DLOAD
+ EP4(10)H
+ PUSH CALL
+ INITVEL
+ SETPD GOTO
+# Page 713
+ 0
+ QTEMP1
+CALCUT VLOAD CALL
+ RTIG
+ CALCGRAV # GDELTAT IN MPAC AT 2(+7) M/CS
+ VSL1 V/SC
+ 200CS # G AT 2(-5) M/CS. CS
+ PDVL VSU
+ VIPRIME
+ UT
+ V/SC VSU
+ 200CS
+ VXSC VSL2
+ CSTEER
+ STOVL 12D # B.C SCALED AT 2(-15) PDL 12D
+ VGTIG
+ UNIT PUSH # UG PDL 0 SCALED AT 2(+1)
+
+ DOT VXSC
+ 12D
+ 0
+ VSL2 BVSU
+ 12D
+ STODL 12D # Q PDL SCALED AT 2(-5)
+ F
+ SRR DDV
+ 4
+ WEIGHT/G
+ DSQ PDVL # F/MASS SQUARED PDL 6 AT 2(-10M/(CS.CS)
+ 12D
+ VSQ
+ BDSU SQRT
+ VXSC VSL1
+ VAD UNIT
+ 12D
+ STCALL UT
+ QTEMP
+200CS 2DEC 200 B-12
+
+# Page 714
+# PROGRAM DESCRIPTION S40.2,3 DATE 15 NOV 66
+# MOD NO 2 LOG SECTIONS P40-P47
+# MOD BY ZELDIN
+#
+# FUNCTIONAL DESCRIPTION
+#
+# COMPUTE GIMBAL ANGLES IF THRUSTING OCCURRED WITH PRESENT IMU
+# ORIENTATION, WINGS LEVEL SPACECRAFT, HEADS UP
+# COMPUTE X AXIS OF ENGINE BELL
+# COMPUTE PREFERRED IMU ORIENTATION (XSCREF)
+# FOR THIS CALCULATION, ASSUME X AXIS OF SC ALONG UT INITIALLY,
+# YSC=UNIT(XXR), ZSC=UNIT(XX(XXR)) AND ROTATE ENGINE BELL ALONG UT.
+# NEW SC AXES WILL BE APPROX. WINGS LEVEL AND NEW SC AXES IN REF.
+# COORDS. WILL BE PREFERRED IMU ORIENTATION.
+# COMPUTE DESIRED THRUST DIRECTION IN SM COORDS.
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 S40.2,3
+#
+# NORMAL EXIT MODE
+# AT L+2 OF CALLING SEQUENCE (GOTO L+2)
+#
+# SUBROUTINES CALLED
+# CALCGA
+#
+# ALARM OR ABORT MODES
+# NONE
+#
+# ERASABLE INITIALIZATION REQUIRED
+# PACTOFF TOTAL PITCH TRIM ANGLE SP AT 1.0795111 REV.
+# YACTOFF TOTAL YAW TRIM ANGLE SP AT 1.0795111 REV.
+# UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
+# RTIG POSITION AT TIME OF IGNITION VECT. B29 M
+# ENG2FLAG ON=RCS OFF=SPS
+#
+# OUTPUT
+# SCAXIS UNIT VECT. ALIGNED WITH ENG BELL IN SC COOR. B1
+# XSCREF UNIT VECTORS ALIGNED WTH PREFERRED IMU B1
+# YSCREF
+# ZSCREF
+# GIMBAL ANGLES IN THETAD
+# POINTVSM UNIT VECT ALONG DESIRED THRUST DIRECTION IN SM B1
+#
+# DEBRIS
+# PUSHLIST, QPRET, MPAC
+# QTEMP TEMP. ERASABLE
+
+ BANK 24
+ SETLOC P40S
+ BANK
+ COUNT* $$/S40.2
+S40.2,3 VLOAD MXV
+ UT
+ REFSMMAT
+ VSL1 STQ
+ QTEMP
+ STORE POINTVSM # THRUST IN SM AT 2
+ SETPD BON
+ 0
+# Page 715
+ ENG2FLAG
+ S40.2,3B
+ DLOAD
+ HI6ZEROS
+ PUSH SLOAD # ZERO PDL 0
+ YACTOFF
+ DMP SL1
+ TRIMSCAL
+ DAD PUSH
+ YBIAS
+ COS PDDL # COS(Y +Y0) PDL 2
+ SIN PUSH # SIN(Y +Y0) PDL 4
+ SLOAD
+ PACTOFF
+ DMP SL1
+ TRIMSCAL
+ DAD PUSH
+ PBIAS
+ COS PDDL # COS(P +P0) PDL 6
+ SIN PUSH # SIN(P +P0) PDL 8D
+ STODL ZSCREF # SIN(P +P0)
+ 6
+ DMP SL1
+ 4
+ DCOMP PDDL # -SIN(Y+Y0)COS(P+P0) PDL 10
+ 6
+ DMP SL1
+ 2
+ VDEF
+
+ STODL XSCREF # PD POINTER AT 6 NEW SC X AXIS SCALED AT
+ ZSCREF
+ DMP SL1
+ 4
+ PDDL DMP
+ ZSCREF
+ 2
+ SL1 DCOMP
+ VDEF
+
+ STODL ZSCREF # PD POINTER AT 4 NEW SC Z AXIS SCALED AT 2
+ VDEF
+
+ STODL YSCREF # PD POINTER AT 0 NEW SC Y AXIS SCALED AT 2
+ ZSCREF
+ PDDL PDDL
+ YSCREF
+ XSCREF
+ VDEF
+# Page 716
+ STOVL SCAXIS # ENGINE BELL SCALED AT 2
+ UT
+ PDVL UNIT
+ RTIG
+ VXV VCOMP
+ 0
+ UNIT PUSH
+ CALL
+ TSTRXUT
+ VXV VCOMP
+ 0
+ VSL1 PDVL # 2 RF/SC IN PDL 12D
+ XSCREF
+ VXM VSL1
+ 0
+ STOVL XSCREF # X OF PREF. IMU,X OF SC IN REF COOR. AT 2
+ YSCREF
+ VXM VSL1
+ 0
+ STOVL YSCREF # Y OF PREF. IMU,Y OF SC IN REF COOR. AT 2
+ ZSCREF
+ VXM VSL1
+ 0
+ STORE ZSCREF # Z OF PREF. IMU,Z OF SC IN REF COOR. AT 2
+ SETPD GOTO
+ 0
+ QTEMP
+S40.2,3B VLOAD
+ UNITX
+ STOVL SCAXIS
+ UT
+ STORE XSCREF
+ VXV UNIT
+ RTIG
+ STCALL 6D
+ TSTRXUT
+ STORE YSCREF
+ VXV VCOMP
+ XSCREF
+ VSL1
+ STCALL ZSCREF # ZNB AXIS IN REF COOR
+ QTEMP
+TSTRXUT DLOAD BHIZ
+ 36D
+ BADVCTOR
+ VLOAD RVQ
+ 6D
+BADVCTOR VLOAD UNIT
+ RTIG
+ PDVL UNIT
+# Page 717
+ VTIG
+ VSR3 VAD
+ VXV UNIT
+ UT
+ VCOMP
+ STORE 6D
+ RVQ
+TRIMSCAL 2DEC 1.07975111 B-1
+
+YBIAS 2DEC +.00263888889 # YAW MECH BIAS (+0.95 DEG, THRUST ON)
+
+PBIAS 2DEC -.00597222222 # PITCH MECH BIAS (-2.15 DEG, THRUST ON)
+
+ # REFERENCE, TRW 68.6520.3.3-40 27 FEB, 1968
+
+# PROGRAM DESCRIPTION S41.1 DATE 8 DEC 66
+# MOD NO 1 LOG SECTION P40-P47
+# MOD BY ZELDIN
+#
+# FUNCTIONAL DESCRIPTION
+#
+# COMPUTE VELOCITY TO BE GAINED INITIALLY IN REF COORDS.
+# TO CONTROL COORDS.
+#
+# CALLING SEQUENCE
+#
+# L CALL
+# L+1 S41.1
+#
+# NORMAL EXIT MODE
+#
+# AT L +2 OF CALLING SEQUENCE
+#
+# SUBROUTINES CALLED:
+#
+# CALCSMSC
+# CDUTRIG
+#
+# ALARM OR ABORT MODES
+#
+# NONE
+#
+# ERASABLE INITIALIZATION REQUIRED
+#
+# VG IN REF. COORD. PDL L POINTER AT L+5. S41.1 WILL RETURN WITH
+# POINTER AT L (L MUST BE LESS THAN OR = TO 14D)
+#
+# OUTPUT
+#
+# MPAC CONTAINS VG IN CONTROL COORDS VECT. B7 M/CS
+#
+# DEBRIS:
+#
+# QTEMP TEMP ERASABLE
+# QPRET
+
+ COUNT 22/S41.1
+
+ SETLOC P40S5
+ BANK
+
+S41.1 STQ CALL
+ QTEMP
+ CDUTRIG
+ VLOAD
+ MXV CALL
+ REFSMMAT
+ *SMNB*
+# Page 718
+ MXV VXSC
+ QUADROT
+ TENBNK14 # VG IN CONTROL COORD IN MPAC SCALED AT
+ VSL5 GOTO # VG IN CONTROL COORDS. IN MPAC AT 2(+7)
+ QTEMP
+TENBNK14 2DEC 10. B-4
+
+# Page 719
+# NAME S40.8 -- CROSS PRODUCT STEERING
+# FUNCTION (1) UPDATES THE VELOCITY-TO-BE-GAINED VECTOR.
+# (2) GENERATES ANGULAR RATE STEERING COMMANDS FOR AUTOPILOT.
+# (3) ESTABLISHES ENGINE CUT-OFF SIGNALS AT APPROPRIATE TIMES.
+# (4) INITIATES THRUST-FAIL ROUTINE, R40
+# CALLING SEQ CALL S40.6
+# INPUT VGPREV LAST VALUE OF THE VELOCITY-TO-BE-GAINED VECTOR
+# PRIOR TO UPDATING IN METERS/CS AT +7.
+# DELVREF CHANGE IN VEHICLE VELOCITY SINCE LAST MEASUREMENT
+# IN METERS/CS AT +7.
+# BDT EFFECT OF RATE OF CHANGE OF REQUIRED VELOCITY AND
+# GRAVITY DURING DT UPON VELOCITY-TO-BE-GAINED IN
+# METERS/CS AT +7.
+# CSTEER A SCALAR OF THE STEERING LAW, SC.AT B+1, USED FOR
+# SPS AIMPOINT STEERING MANEUVERS.
+# IDLEFAIL A FLAG TO INHIBIT (IDLE) THE THRUST-FAIL ROUTINE.
+# STEERSW A SWITCH TO PRECLUDE NEEDLESS CONDUCT OF STEERING.
+# REFSMMAT, DAPDATR1, PIPTIME
+# EREPFRAC, ETDECAY, KPRIMEDT FOR TVC.
+# OUTPUT TTOGO TIME REMAINING FOR ENGINE BURN IN CS AT +28.
+# OMEGAC DP VECTOR RATE COMMAND, SC.AT 1/(2TVCDT) REVS/SEC.
+# VG, VGPREV, VGDISP, TGO, TIG, SCALED AS NOTED IN CODING
+# STEERSW, IMPULSW, NVWORD1
+# REPFRAC, CNTR, VCNTR, VCNTRTMP FOR TVC (R40 INTERFACING)
+# DEBRIS OMEGAXC, +1
+# SUBROUTINES USED: *SMNB*, ALARM
+
+ SETLOC P40S1
+ BANK
+ EBANK= DAPDATR1
+ COUNT 16/S40.8
+
+S40.8 SETPD STQ
+SPBIT1 00D
+ QTEMP
+ VLOAD BVSU # CONSTRUCT DELVG, SC.AT B+7 M/CS
+ DELVREF
+ BDT
+ VAD
+ VGPREV
+ STORE VG # VELOCITY-TO-BE-GAINED, SC.AT B+7 M/CS
+
+ ABVAL
+ STORE VGDISP # FOR DISPLAY PURPOSES
+ EXIT
+ TC PHASCHNG
+ OCT 10035 # TYPE B RESTART RESTART BELOW AND 5.3 REREADAC
+
+ TC INTPRET
+ VLOAD
+# Page 720
+ VG
+ STORE VGPREV
+ BOFF VLOAD
+ STEERSW # SKIP TGO AND CROSS-PRODUCT
+ QTEMP
+ DELVREF
+ ABVAL PUSH # CHECK FOR LOTHRUST
+ SLOAD DMP
+ DVTHRESH # SC.AT B-2 M/CS
+ DPB-9
+ BDSU
+ BMN EXIT
+ LOTHRUST
+ CAE DAPDATR1 # ENABLE TVCDAP CG TRACKING
+ MASK BIT14
+ CCS A
+ CAF BIT1
+ INDEX A # LM-OFF, LM-ON VALUE
+ CAE EREPFRAC
+ TS REPFRAC
+
+ TC INTPRET
+TGOCALC VLOAD BVSU # GET DELVG
+ DELVREF
+ BDT
+ UNIT
+ DOT PUSH # (00D)
+ VG
+ BPL DDV # ANGLE SHOULD BE GREATER THAN PI/2
+ INCRSVG # DISPLAY ALARM IF NOT
+ 2VEXHUST
+ DAD DMP # (DOT PRODUCT UP FROM 00D)
+ LODPHALF
+ NORM SR1
+ X1
+ PDDL NORM
+ 36D # (MAG DELVG)
+ X2
+ BDDV
+ XSU,2 SL*
+ X1
+ 0 -9D,2
+ DMP PUSH # (00D)
+ -FOURDT
+ SLOAD SR
+ ETDECAY # ETDECAY SC.AT B+14 CS
+ 14D
+ BDSU STADR
+ STORE TGO # TIME TO GO IN CS. AT +28
+ DAD
+# Page 721
+ PIPTIME
+ STODL TIG
+ TGO
+ DSU BMN
+ FOURSEC
+ S40.81
+
+XPRODUCT VLOAD VXSC
+ BDT
+ CSTEER
+ VSL2 VSU
+ DELVREF
+ UNIT PDVL
+ VG
+ UNIT VXV
+ MXV CALL
+ REFSMMAT # (REFSMMAT/2)
+ *SMNB*
+ VXSC
+ KPRIMEDT # (KPRIMEDT SCIAT PI/8 RAD)
+OMEGACLC STORE OMEGAC
+ GOTO
+ QTEMP
+
+ SETLOC DAPS7
+ BANK
+ COUNT 17/S40.8
+
+TWODT 2DEC 200.0 B-28 # 2 SEC
+
+-FOURDT 2DEC -800 B-18 # -4(200CS), SC.AT B+18CS (-4 FOR SCALING)
+
+2VEXHUST 2DEC 63.020792 B-7 # 2(10338.0564 FPS), SC.AT B+7 M/CS
+
+FOURSEC 2DEC 400.0 B-28 # 4 SEC
+
+DPB-9 2DEC 1 B-9
+
+ SETLOC DAPS6
+ BANK
+
+ COUNT 20/S40.8
+
+S40.81 SET VLOAD # TGO LESS THAN 4 SECONDS
+ IMPULSW # FOR ENGINE-OFF CALL
+ HI6ZEROS
+RATEZRO STORE OMEGAC # TVC TO ATTITUDE HOLD
+ EXIT
+ CAF POSMAX # INHIBIT SWITCHOVER/TVC EG TRACKING
+ TS CNTR
+# Page 722
+ TC INTPRET
+ CLEAR GOTO
+ STEERSW # RESTARTS OK
+ QTEMP
+INCRSVG EXIT # ALARM INDICATING THAT THRUST IS POINTING
+ TC ALARM # IN WRONG DIRECTION.
+ OCT 01407
+ TC INTPRET
+ GOTO
+ QTEMP
+
+LOTHRUST BON VLOAD # THRUST FAILURE (LO-OR-NO) INDICATED
+ IDLEFAIL # SET BY V97P. ALLOWS 1 BYPASS IN CASE OF
+ QTEMP # UNFAVORABLE S40.8 SYNCH.
+ HI6ZEROS # START OF ENGINE-FAIL (R40) OPERATIONS
+ STORE OMEGAC # PUT TVC IN ATTITUDE HOLD
+ EXIT
+
+ CS ZERO
+ TS VCNTR # KILL CSMMASS UPDATING
+ TS VCNTRTMP # (TVCEXEC LOGIC REQUIRES THIS TOO)
+ TS REPFRAC # KILL TVCDAP CG TRIM TRACKING
+ TS NVWORD1 # SET UP ENGINE-FAIL V97FLASH (CLOCKJOB)
+
+ TC INTPRET
+ CLEAR GOTO # INHIBIT STEERING AND TGO CALC (MANUAL
+ STEERSW # SHUTDOWN IF NOT SET UP AGAIN)
+ QTEMP # RESTARTS OK
+
+# Page 723
+# NAME S40.9 -- VTOGAIN (AIMPOINT MANEUVERS ONLY)
+# FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
+# VECTORS FOR USE DURING AIMPOINT MANEUVERS.
+# (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
+# CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED.
+# CALLING SEQ VIA FINDVEC AS NEW JOB.
+# INPUT RNIT ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
+# VNIT ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7.
+# VRPREV LAST COMPUTED VELOCITY REQUIRED VECTOR IN
+# METERS/CS AT +7.
+# NONTIG TIME OF IGN. USED IN TARGETTING ROUTINES B+28
+# DELLT4 TRANSFER TIME FROM PIPTIME TO TARGET B+28
+# TNIT TIME OF RNIT AND VNIT IN CS AT +28
+# GDT/2 HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
+# ACCELERATION OF GRAVITY IN METERS/CS AT +7.
+# DELVREF CHANGE IN VELOCITY DURING LAST 2 SEC IN
+# METERS/CS AT +7.
+# NORMSW SET=CENTRAL ANGLE BETWEEN RTARG AND RTIG IS BETWEEN
+# 165 TO 195 DEGREES.
+# RESET=CENTRAL ANGLE OUTSIDE CONE DESCRIBED ABOVE.
+# OUTPUT VGTEMP VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
+# COGA INPUT OF INITIAL GUESS FOR LAMBERT FROM S40.1
+# OR PREVIOUS PASS THRU S40.9.
+# GOBL/2 OBLATENESS TERM IN AVG GRAV CALC: GOBL*RSQ/MU
+# VRPREV/ VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
+# BDT B VECTOR IN METERS/CS AT +7.
+# SUBROUTINES USED -- INITVEL
+
+ SETLOC P40S1
+ BANK
+
+ EBANK= NBRCYCLS
+ COUNT 16/S40.9
+
+S40.9 TC INTPRET
+ SETPD DLOAD
+ 00D
+ LO6ZEROS
+ PDDL
+ EP4(45)L
+ BON DLOAD
+ NORMSW
+ +2
+ EP4(10)L
+ PUSH
+ CLEAR CALL
+ GUESSW
+ HAVEGUES
+ EXIT
+ TC PHASCHNG # SAVE TIME BY NOT REDOING LAMBERT CALCS
+ OCT 05021 # C, PRIORITY NEXT, JOB BELOW
+# Page 724
+ OCT 10000
+ TC INTPRET
+ENDLAMB BON
+ FIRSTFLG
+ FIRSTTME
+ VLOAD VSU
+ VIPRIME
+ VRPREV
+ PDDL DSU
+ TNIT
+ TNITPREV
+ SL BDDV
+ 17D
+ 200CSHI
+ VXSC
+ VSU VSL1
+ GDT/2
+ STORE BDT
+FIRSTTME SLOAD DCOMP
+ RTX2
+ BMN
+ MOONCASE
+ VLOAD UNIT
+ RN
+ DLOAD DSU
+ PIPTIME
+ NOMTIG
+ DMP DDV
+ EARTHMU
+ 34D
+ VXSC VAD
+ GOBL/2
+ VGTEMP # NOTE: NO TEST IS MADE TO SUBTRACT GOBL
+ STORE VGTEMP # INSIDE 165-195 DEGREE CONE AREA.
+MOONCASE EXIT
+ TC PHASCHNG
+ OCT 04021 # C, JOB BELOW
+
+COPY40.9 TC INTPRET
+ DLOAD
+ TNIT
+ STOVL TNITPREV
+ VIPRIME
+ STORE VRPREV
+ CLEAR EXIT
+ FIRSTFLG
+ -2 CS ONE # REDO40.9 (RESTART) ENTRY TO END S40.9
+ TS NBRCYCLS
+ENDS40.9 TC PHASCHNG
+ OCT 00001
+# Page 725
+ TCF ENDOFJOB
+
+REDO40.9 TC INTPRET # S40.9 RESTARTS COME HERE TO GRACEFULLY
+ VLOAD # TERMINATE S40.9 SO THAT IT CAN BE
+ LO6ZEROS # SET UP WITH LATEST R,V,T NEXT PASS
+ STODL DELVSUM # (TYPE C PHASE POINTS '04021' WILL
+ LO6ZEROS # FORCE NORMAL S40.9 TERMINATIONS,
+ STOVL NBRCYCLS # RATHER THAN LOSE TIME OF BRAND NEW
+ VGPREV # PASS -- QUICK OLD DATA BETTER THAN
+ STORE VGTEMP # NONE) NOW CAN GO THRU SETUP.9
+ EXIT # WITHOUT DISTURBING VGPREV.
+ TCF ENDS40.9 -2 # STORE 0,0 COVERED NBRCYCLS,P -- FIX UP S
+
+200CSHI 2DEC 200 B-12
+
+EARTHMU 2DEC* -3.986032 E10 B-36*
+
+EP4(45)L 2DEC .125
+
+EP4(10)L 2DEC .027777777
+
+# Page 726
+# NAME: S40.13 -- TIMEBURN
+#
+# FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY-TO-
+# BE-GAINED AND ENGINE CHOICE RESULT IN A BURN TIME SUFFICIENT
+# TO ALLOW STEERING AT THE VEHICLE DURING THE BURN, AND
+# (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT IS SHORT --
+# AND THE ASSOCIATED TIME OF THE ENGINE OFF SIGNAL.
+#
+# CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
+#
+# INPUT VGTIG -- VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
+# WEIGHT/G -- MASS OF VEHICLE IN KGM AT TIG
+# F -- ENGINE THRUST IN M.NEWTONS AT +7
+# MDOT -- RATE OF DECREASE OF VEHICLE MASS DURING ENGINE BURN
+# IN KILOGRAMS/CENTISECOND AT +3. THIS SCALING MAY
+# REQUIRE MODIFICATION FOR SATURN BURNS.
+#
+# OUTPUT IMPULSW ZERO FOR STEERING
+# ONE FOR ATTITUDE HOLD
+# TGO TIME TO BURN IN CENTISECONDS AT +14
+# THE QUANTITY M.NEWTON SHALL BE USED TO EXPRESS WEIGHT IN TERMS OF
+# (KILOGRAM*METER)/(CENTISECOND*CENTISECOND)
+# (1) M.NEWTON = (10000) NEWTONS.
+
+ EBANK= TGO
+ COUNT 16/40.13
+
+S40.13 TC INTPRET
+ SETPD SET
+ 00D
+ IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
+ VLOAD ABVAL
+ VGTIG # VELOCITY TO BE GAINED AT +7
+ EXIT
+ CAF BIT7 # TEST +X TRANSLATION
+ EXTEND
+ RXOR CHAN31
+ MASK BIT7
+ EXTEND
+ BZF NOTADDUL
+ TC INTPRET
+ PDDL DDV # 00D = MAG OF VGTIG AT +7
+ S40.135 # COMPENSATION FOR 2 JET ULLAGE AT +24
+ WEIGHT/G # MASS IN KGMS AT +16
+ BON SL1 # DOUBLE CORRECTION IF FOUR JETS
+ NJETSFLG
+ S40.130
+S40.130 BDSU
+ PDDL DDV # 00D = MAG OF VGTIG CORRECTED FOR ULLAGE
+ K1VAL # M.NEWTON-CS AT +24
+ WEIGHT/G
+ BDSU BMN
+ 00D
+ S40.131 # TGO LESS THAN 100 CS
+ PDDL DMP # 02D = TEMP1 AT +7
+# Page 727
+ EMDOT # SPS FLOW RATE SC.AT B+3 KG/CS (SP, NOTE)
+ 3.5SEC # 350 CS AT +14
+ BDSU PDDL
+ WEIGHT/G
+ FANG
+ DMP SR2
+ 5SECOND # 500 CS AT +14
+ DDV PUSH # 04D = TEMP2
+ BDSU BPL
+ 02D
+ S40.133 # TGO GREATER THAN 600 CS
+ DLOAD BDDV
+ DMP DAD
+ 5SECOND # 500 CS AT +14
+ 1SEC2D # 100 CS AT +14
+ GOTO
+ S40.132
+S40.131 DLOAD DMP # TGO LESS THAN 100 CS
+ WEIGHT/G
+ DAD DDV
+ K2VAL # M.NEWTON CS AT +24
+ K3VAL # M.NEWTON AT +10
+S40.132 EXIT
+ EBANK= TGO
+ TC TPAGREE
+ CA MPAC
+ XCH L
+ CA ZERO
+ DXCH TGO # TGO IN CS AT +28
+ TC S40.134
+S40.133 CLEAR EXIT # WILL STEER VEHICLE
+ IMPULSW
+S40.134 TC PHASCHNG # KILL GROUP 3
+ OCT 3
+
+ TCF ENDOFJOB
+
+NOTADDUL TC INTPRET
+ GOTO
+ S40.130 +1 # DO NOT COMPENSATE FOR 7 SEC OF ULLAGE
+ SETLOC DAPS7
+ BANK
+
+ COUNT 17/40.13
+
+K1VAL = EK1VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2
+K2VAL = EK2VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2
+K3VAL = EK3VAL # DP PAD LOAD B+09 NEWTONS/E+4
+1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
+# Page 728
+3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
+
+5SECOND 2DEC 500.0 B-14 # 500.0 CS AT +14
+
+S40.135 2DEC 69.6005183 B-23 # IMPULSE FROM 7.96 SECS OF 2-JET FIRING
+ # 7.96 (199.6)COS(10) LB-SEC, SC.AT
+ # B+23 NEWTON-SEC/E+2 (7 SEC ULLAGE
+ # TO GO, PLUS 0.96 SEC FROM PIPTIME)
+
+# Page 729
+# NAME S40.6 GIMBAL DRIVE TEST AND/OR GIMBAL TRIM
+# MOD NO 5 DATE 9 MARCH, 1967
+# MOD BY ENGEL LOG SECTION P40-P47
+#
+# FUNCTIONAL DESCRIPTION
+# GIMBAL DRIVE TEST....0,+2,-2,0 DEGREE ENGINE COMMANDS, AT 2 SECOND
+# INTERVALS, FIRST IN PITCH, THEN IN YAW. ASTRONAUT VERIFICATION
+# OF GIMBAL MOTION ON GPI
+# GIMBAL TRIM....AFTER A 4 SECOND DELAY, ENGINE COMMANDED TO
+# PRE-COMPUTED TRIM POSITION. ASTRONAUT VERIFICATION ON GPI.
+# PRE40.6....RESTART ENTRY TO RE-DO S40.6, ONLY IF RCS IS ON --- IF TVC
+# IS NOT ON --- PRIMARILY TO GET ACTUATORS TRIMMED FOR IGNITION.
+# BYPASS 4 SEC DELAY. SPEED IS CRITICAL NEAR IGNITION.
+# IF TVC IS ON (TVCDAPON OR LATER) THEN REDOTVC WILL TAKE CARE
+# OF RESTARTING ACTUATORS.
+#
+# CALLING SEQUENCE....
+# WAITLIST, WITH 2CADR FOR S40.6 (OR PRE40.6), WITH EBANK= CNTR
+#
+# NORMAL EXIT MODE -- FIXDELAY, TASKOVER
+#
+# SUBROUTINES CALLED....
+# OUTPUT (INTERNAL)
+# FIXDELAY
+#
+# ALARM OR ABORT EXIT MODES --- NONE
+#
+# ERASABLE INITIALIZATION REQUIRED
+# CNTR = +0, NORMALLY SET BY THE P40 CALL AT TST,TRIM.
+# MRKRTMP....POSITIVE FOR GIMBAL DRIVE TEST AND GIMBAL TRIM (BOTH)
+# NEGATIVE FOR GIMBAL TRIM ONLY
+# PACTOFF, YACTOFF SC.AT 85.41 ARCSEC/BIT (V48N48 P, YTRIM)
+# "SC CONT" SWITCH AT "CMC" (A/P CONTROL SWITCH AT "GNC")
+# ACTIVE SPS GIMBAL MOTOR POWER(S), PITCH, YAW
+#
+# OUTPUT
+# TVCYAW, TVCPITCH (BITS RELEASED)
+# TVC ENABLE AND OPTICS ERROR COUNTER ENABLE
+#
+# DEBRIS
+# TBMPR60, CNTR
+
+ BANK 17
+ SETLOC DAPS6
+ BANK
+
+ EBANK= CNTR
+ COUNT 20/S40.6
+
+PRE40.6 CS FLAGWRD6 # RESTART ENTRY TO S40.6 (DO NOT PERMIT
+ MASK OCT60000 # IF TVC, BITS 15,14 = 1,0)
+ EXTEND
+ BZMF +2
+ TCF TASKOVER # TVC, REDOTVC WILL REESTABLISH INTERFACE
+
+ CS BIT1 # RCS, SO DO S40.6, GIMTRIM ONLY
+# Page 730
+ TS MRKRTMP
+
+ CAF BIT1 # FOR REVISED S40.6 TIMING FOR RESTARTS...
+ TS CNTR # TO INDICATE A RESTART ENTRY (CNTR 1S
+ # NORMALLY +0, BY S40.6)
+
+ EBANK= CNTR
+S40.6 CS ZERO # INHIBIT OPTICS ACTIVITY
+ TS OPTIND
+
+ CS BIT2 # DISENABLE OPTICS ERROR COUNTERS (ZERO,
+ EXTEND # AND INHIBIT PULSE TRANSMISSION --
+ WAND CHAN12 # NORMAL STATE)
+
+ CAF OCT02200 # TVC ENABLE (SPS SERVO AMPS SEE DAC
+ EXTEND # VOLTAGES) AND DISENGAGE OPTICS/DAC
+ WOR CHAN12
+
+ TC FIXDELAY # 60MS PROCEDURAL DELAY (40MS MINIMUM) FOR
+ DEC 6 # RELAY LATCHING
+
+ CAF BIT2 # ENABLE OPTICS ERROR COUNTERS
+ EXTEND
+ WOR CHAN12
+
+ TC FIXDELAY # 20MS PROCEDURAL DELAY (4MS MINIMUM) FOR
+ DEC 2 # RELAY LATCHING
+
+RSTRTST CCS CNTR # CHECK FOR RESTART ENTRY (PRE40.6)
+ TCF GIMTRIM +2 # RESTART ENTRY....BYPASS 4 SECOND DELAY
+ # TST,TRIM SETS +0 ON NORMAL ENTRY
+
+ CAE MRKRTMP # CHECK FOR TEST/TRIM OR TRIM ONLY
+ TS CNTR # MRKRTMP SAVES CNTR FOR RESTARTS
+ EXTEND
+ BZMF GIMTRIM # (TRIM ONLY)
+
+GDTSETUP CS ZERO # GIMBAL DRIVE TEST SETUP, FOR PITCH
+ TS CNTR
+
+GIMDTEST CAF +2ACTDEG # GIMBAL DRIVE TEST, 1ST INCREMENT
+ TC OUTPUT # (LEAVES GIMBAL AT +2 DEG)
+ CAF -4ACTDEG # 2ND INCREMENT (LEAVES GIMBAL AT -2)
+ TC OUTPUT
+ CAF +2ACTDEG # 3RD INCREMENT (LEAVES GIMBAL AT -0)
+ TC OUTPUT
+
+ CS CNTR # CHECK FOR COMPLETION OF YAW TEST.
+# Page 731
+ CCS A
+ TCF GIMTRIM # COMPLETED, GO TO GIMBAL TRIM ROUTINE
+ CS BIT1 # SET UP YAW TEST
+ TS CNTR
+ TCF GIMDTEST # FOR YAW TEST
+
+OUTPUT EXTEND # OUTPUT THE INCREMENT....SAVE Q
+ QXCH TEMPR60
+
+ INDEX CNTR
+ TS TVCPITCH
+
+ INDEX CNTR
+ CAF BIT11
+ EXTEND
+ WOR CHAN14
+
+ TC FIXDELAY # WAIT 2SEC, WHILE ASTRONAUT VERIFIES
+ DEC 200 # GIMBAL MOTION ON GPI
+ TC TEMPR60
+
+GIMTRIM TC FIXDELAY # WAIT 4 SECONDS BEFORE GIMBAL TRIM
+ DEC 400
+
+ +2 CS ZERO # PICK UP TRIM VALUES AND OUTPUT THEM
+ AD PACTOFF # (AVOID +0) ENTRY POINT FROM RSTRTST
+ TS TVCPITCH # ON A RESTART, TO AVOID 4SEC DELAY
+ CS ZERO
+ AD YACTOFF
+ TS TVCYAW
+
+ CAF PRIO6 # RELEASE THE COUNTERS, BITS 11,12
+ EXTEND
+ WOR CHAN14
+
+ENDS40.6 TCF TASKOVER
+
+OCT02200 OCT 02200 # BITS 8,11 FOR CHANNEL 12 TVC/OPTICS
+-4ACTDEG DEC -168 # -2(+2ACTDEG), WHOLE BITS, NO ROUNDUP
++2ACTDEG DEC +84 # +2 DEG, SC.AT 85.41 ARCSEC/BIT (+84D)
+
+# CALLED BY "DONOUN46" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP) VIA IBNKCALL
+
+ COUNT 20/S41.2
+
+S41.2 CA DAPDATR1
+# Page 732
+ MASK THREE
+ AD A
+ TS RATEINDX
+
+ INHINT
+ CAE DAPDATR1 # IS LEM ATTACHED (BITS 14,13 OF DAPDATR1
+ MASK PRIO30 # =10)
+ AD -BIT14 # (OCT57777)
+ EXTEND
+ BZF TOGETHER # YES
+
+ CS BIT2 # NO, UNSET FLAG
+ MASK FLAGWRD7
+ TS FLAGWRD7
+
+ TCF +4
+
+TOGETHER CS FLAGWRD7 # ATTACHED, SET FLAG FOR INTEGRATION
+ MASK BIT2
+ ADS FLAGWRD7
+
+ RELINT
+
+ CA DAPDATR1
+ MASK BIT4
+ EXTEND
+ BZMF +2 # DEC 46 MEANS NARROW DB
+ CA DEC409
+ AD DEC46 # DEC 455 MEANS WIDE DB
+ TS ADB
+
+ CA DAPDATR1
+ MASK BIT7 # QUAD BD
+ EXTEND
+ BZMF +2
+ CA ONE
+ TS XTRANS
+ CA DAPDATR1
+ MASK BIT10 # QUAD AC
+ EXTEND
+ BZMF +2
+ CS ONE
+ ADS XTRANS
+
+ INHINT
+ EXTEND
+ BZF +5 # CLEAR NJETSFLG (4 JETS, OR NO JETS)
+ CS FLAGWRD1 # SET NJETSFLG (2 JETS, AC OR BD QUADS)
+ MASK BIT15 # NJETSFLG = 1 FOR 2 JET ULLAGE (AC OR BD)
+ ADS FLAGWRD1
+# Page 733
+ TCF +4
+ CS BIT15 # KJETSFLG = 0 FOR 4 JET (OR 0 JET) ULLAGE
+ MASK FLAGWRD1
+ TS FLAGWRD1
+ RELINT
+ CA DAPDATR2
+ MASK BIT13
+ EXTEND
+ BZMF +2
+ TCF +2
+ CS ONE
+ COM
+ TS ACORBD # MINUS FOR A-C, PLUS FOR B-D
+
+ CA DAPDATR2
+ MASK BIT10
+ CCS A
+ TCF +4
+ CA ONE
+ TS RACFAIL
+ TCF BDFAIL
+ CA ZERO
+ TS RACFAIL
+ CA DAPDATR2
+ MASK BIT4
+ CCS A
+ TCF BDFAIL
+ CS ONE
+ TS RACFAIL
+BDFAIL CA DAPDATR2
+ MASK BIT7
+ CCS A
+ TCF +4
+ CA ONE
+ TS RBDFAIL
+ TC Q
+ CA ZERO
+ TS RBDFAIL
+ CA DAPDATR2
+ MASK BIT1
+ CCS A
+ TC Q
+ CS ONE
+ TS RBDFAIL
+ TC Q
+
+# DAPFIG ENTRY VIA TC POSTJUMP AS JOB FROM "STABLISH" (VERB 46)
+
+ BANK 42
+ SETLOC EXTVBS
+# Page 734
+ BANK
+
+DAPFIG CS BIT9 # TURN OFF SIVB TAKEOVER
+ EXTEND
+ WAND CHAN12
+ CAE DAPDATR1 # DETERMINE VEHICLE CONFIGURATION
+ EXTEND
+ MP BIT3 # RIGHT SHIFT 4 OCTAL DIGITS
+ MASK THREE # (IN CASE BIT 15 IS USED)
+ INDEX A
+ TCF +1 # BRANCH BASED ON CONFIG....
+
+ TCF NODAPUP # CM.......ACTIVATE NODAP
+ TCF RCSDAPUP # CSM......ACTIVATE RCSDAP
+ TCF RCSDAPUP # CSM/LEM..ACTIVATE RCSDAP
+ TC POSTJUMP
+ CADR SATSTKON
+RCSDAPUP INHINT # CALL TO ACTIVATE RCSDAP, AND RETURN
+ TCR IBNKCALL
+ CADR RCSDAPON
+ RELINT
+ TCF ENDFIG # CAME IN VIA V46, GO OUT VIA GOPIN
+NODAPUP EXTEND # T5 IDLE FOR NODAP (DON'T WORRY ABOUT T)
+ DCA T5IDLDAP
+ DXCH T5LOC
+ TC DOWNFLAG # RESET T5-USAGE FLAGS FOR NODAP
+ ADRES DAPBIT1 # BIT 15 FLAG 6 = 0
+ TC DOWNFLAG
+ ADRES DAPBIT2 # BIT 14 FLAG 6 = 0
+ INHINT
+ TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
+ CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED.
+ RELINT
+ CAF BIT1 # KILL KALCMANU JOB
+ TS HOLDFLAG
+ENDFIG TC POSTJUMP # CAME IN VIA V46, GO OUT VIA GOPIN
+ CADR GOPIN
+ SBANK= PINSUPER # Added by RSB 2009
+ EBANK= PACTOFF
+T5IDLDAP 2CADR T5IDLOC
+
+ SBANK= LOWSUPER
+ BANK 17
+ SETLOC DAPS6
+ BANK
+
+DEC409 DEC 409
+DEC46 DEC 46
+
+# Page 735
+
+# CALLED BY "DONOUN47" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP)
+S40.14 CAE IXX # RCS ENTRY
+ EXTEND
+ MP CONTONE
+ TS J/M
+
+ CA IAVG
+ EXTEND
+ MP CONTONE
+ TS J/M1
+
+ TS J/M2
+
+ EXTEND
+ DCA CONTTWO
+ EXTEND
+ DV IXX
+ TS KMJ
+
+ EXTEND
+ DCA CONTTWO
+ EXTEND
+ DV IAVG
+ TS KMJ1
+
+ TS KMJ2
+
+ TC Q
+
+CONTONE DEC .662034 # 2PI/M
+CONTTWO 2DEC .00118
+
+ COUNT 24/TVNG
+
+ BANK 31
+ SETLOC P40S
+ BANK
+
+POS-2.5 OCT 37405
+ EBANK= DAPDATR1
+RCSCADR 2CADR RCSUP
+
+6SECT5 OCT 37704
+ COUNT 21/RCSUP
+
+ BANK 20
+
+ SETLOC DAPS3
+ BANK
+
+# Page 736
+
+RCSUP LXCH BANKRUPT
+ EXTEND
+ QXCH QRUPT
+
+ TCR RCSDAPON # ACTIVATE RCS DAP
+
+ TCF RESUME
+
+ EBANK= DAPDATR1
+RCSADDR 2CADR RCSATT
+
+0.6SECT5 OCT 37704
+
+ # RCSDAPON ENTRY MUST BE UNDER INT-INHIBIT
+RCSDAPON CAF 0.6SECT5 # 0.6 SEC ALLOWS TVCEXEC/ROLLDAP TO DIE
+ +1 TS TIME5 # ENTRY FROM R00TOP00
+ TS T5PHASE # WILL CAUSE FRESHDAP (+1)
+
+ CS RCSFLAGS # SET BIT3 TO REINITIALIZE FDAI ERROR
+ MASK BIT3 # DISPLAY, IN CASE SC CONT SWITCH
+ ADS RCSFLAGS # IN SCS NOT GNC (GUIDEMODE PRIMARY)
+
+ EXTEND
+ DCA RCSADDR # (RCSATT)
+ DXCH T5LOC
+
+ CS OCT60000 # SEE BITS 15,14 TO 01 TO INDICATE
+ MASK FLAGWRD6 # T5 TAKEOVER BY RCSDAP
+ AD BIT14
+ TS FLAGWRD6 # KILLS TVCEXEC AND ROLLDAP STARTS
+
+ TC Q # RETURN TO CALLER (TVCDAPOF OR RCSDAPUP)
+
+
diff --git a/P51-P53.s b/P51-P53.s
new file mode 100644
index 0000000..baf2fba
--- /dev/null
+++ b/P51-P53.s
@@ -0,0 +1,2213 @@
+# Copyright: Public domain.
+# Filename: P51-P53.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 737-784
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
+# name, and Comanche 055 page images.
+# 2009-05-20 RSB Corrections: SETI/PDT -> SET1/PDT,
+# GOTOPOOH -> GOTOP00H, R33EXIT -> R53EXIT,
+# V853 -> VB53, R56A -> R56A1 (some places
+# only), added missing R56A1 label, added a
+# missing CAF in COARSTYP, corrected a SETLOC
+# from P50S to P50S3.
+# 2009-05-21 RSB In COARFINE, a TC BANKCALL was corrected to
+# TC PHASCHNG. In R53C, a CADR GOFLASHR was
+# corrected to CADR GOFLASH.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 737
+# PROGRAM NAME -- PROG52 DATE -- NOV 30, 1966
+# MOD NO -- 2 LOG SECTION -- P51-P53
+# MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDISK REV 30
+#
+# FUNCTIONAL DESCRIPTION --
+#
+# ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
+# AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE:
+#
+# (A) PREFERRED ORIENTATION
+#
+# AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND
+# STORED BY A PREVIOUSLY SELECTED PROGRAM.
+#
+# (B) NOMINAL ORIENTATION
+#
+# X = UNIT ( Y x Z )
+# -SM -SM -SM
+#
+# Y = UNIT (V X R)
+# -SM - -
+#
+# Z = UNIT ( -R )
+# -SM -
+#
+# WHERE:
+#
+# R = THE GEOMETRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
+# -
+#
+# V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
+# -
+#
+# (C) RERSMMAT ORIENTATION
+#
+# THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
+# WAS LAST ALIGNED ONLY DUE TO GYRO DRIVE (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPT HAS OCCURRED
+# SINCE THE LAST ALIGNMENT).
+#
+# AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
+# NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
+# COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
+# IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS
+# EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
+# THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
+# REQUESTED.
+#
+# CALLING SEQUENCE --
+#
+# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
+# Page 738
+#
+# SUBROUTINES CALLED --
+#
+# 1. FLAGDOWN 7. S52.2 13. NEWMODEX
+# 2. R02BOTH 8. CAL53A 14. PRIOLARM
+# 3. GOPERF4 9. FLAGUP
+# 4. MATMOVE 10. R56
+# 5. GOFLASH 11. R51
+# 6. S52.3 12. GOPERF3
+#
+# NORMAL EXIT MODES --
+#
+# EXITS TO ENDOFJOB
+#
+# ALARM OR ABORT EXIT MODES --
+#
+# NONE
+#
+# OUTPUT --
+#
+# THE FOLLOWING MAY BE FLASHED ON THE DSKY
+# 1. IMU ORIENTATION CODE
+# 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED
+# 3. TIME OF NEXT IGNITION
+# 4. GIMBAL ANGLES
+# 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE
+# 6. PLEASE PERFORM P00
+# THE MODE DISPLAY MAY BE CHANGED TO 20
+#
+# ERASABLE INITIALIZATION REQUIRED --
+#
+# PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
+# XSMD, YSMD, ZSMD.
+#
+# RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
+#
+# DEBRIS --
+#
+# WORK AREA
+
+P54 = PROG52
+ BANK 33
+ SETLOC P50S
+ BANK
+
+ SBANK= LOWSUPER
+ EBANK= SAC
+ COUNT 15/P52
+
+PROG52 TC PHASCHNG
+ OCT 00254
+ TC DOWNFLAG
+ ADRES UPDATFLG # BIT 7 FLAG 1
+# Page 739
+ TC DOWNFLAG
+ ADRES TRACKFLG # BIT 5 FLAG 1
+ TC BANKCALL
+ CADR R02BOTH # IMU STATUS CHECK
+ CAF BIT4
+ MASK STATE +2 # IS PFRATFLG SET?
+ CCS A
+ TC P52A # YES
+ CAF BIT2 # NO
+ TC P52A +1
+P52A CAF BIT1
+ TS OPTION2
+P52B CAF BIT1
+ TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
+ CADR GOPERF4R
+ TC GOTOP00H
+ TC +5
+ TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT
+ TC PHASCHNG
+ OCT 00014
+ TC ENDOFJOB
+ CA OPTION2
+ MASK THREE
+ INDEX A
+ TC +1
+ TC P52T # L.S.
+ TC P52J # PREF
+ TC P52T # NORM
+ TCF P52C # REF
+P52T EXTEND
+ DCA NEG0
+ DXCH DSPTEM1
+ CAF V06N34
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC +2
+ TC -5
+ EXTEND
+ DCA DSPTEM1
+ EXTEND
+ BZF +2
+ TCF +4
+
+ EXTEND
+ DCA TIME2
+ DXCH DSPTEM1
+ CA OPTION2
+ MASK BIT2
+ CCS A
+# Page 740
+ TCF +6 # NOM
+ TC INTPRET # LS
+ CALL
+ P52LS
+ GOTO
+ P52D
+ TC INTPRET
+ DLOAD
+ DSPTEM1
+ CALL # COMPUTE NOMINAL IMU
+ S52.3 # ORIENTATION
+P52D CALL # READ VEHICLE ATTITUDE AND
+ S52.2 # COMPUTE GIMBAL ANGLES
+ EXIT
+ CAF VB06N22
+ TC BANKCALL # DISPLAY GIMBAL ANGLES
+ CADR GOFLASH
+ TC GOTOP00H
+ TC COARSTYP
+P52J TC INTPRET # RECYCLE: VEHICLE HAS BEEN MANEUVERED
+ GOTO
+ P52D
+ TC INTPRET
+ CALL # DO COARSE ALIGN
+ CAL53A # ROUTINE
+CAL53RET SET EXIT
+ REFSMFLG
+P52C TC PHASCHNG
+ OCT 04024
+ CAF ALRM15
+ TC BANKCALL
+ CADR GOPERF1
+ TC GOTOP00H
+ TC +2 # V33
+ TC P52F # E
+ TC INTPRET
+ RTB DAD
+ LOADTIME
+ TSIGHT1
+ CALL
+ LOCSAM
+ EXIT
+P52E TC BANKCALL # DO STAR SELECTION
+ CADR PICAPAR
+ TC P52I # 2 STARS NOT AVAILABLE
+P52F TC INTPRET # 2 STARS AVAILABLE
+ CALL
+ R51
+ENDP50S EXIT
+ TC GOTOP00H
+# Page 741
+P52I TC ALARM
+ OCT 405
+ CAF V05N09
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC P52F # PROCEED: DO FINE ALIGN-R51
+ TC P52C # RECYCLE: VEHICLE HAS BEEN MANEUVERED
+V06N34 VN 0634
+VB06N22 VN 00622
+COARSTYP CAF OCT13
+ TC BANKCALL
+ CADR GOPERF1
+ TCF GOTOP00H # V34
+ TCF P52J +3 # NORMAL
+ TC INTPRET # GYRO COARSE
+GYCRS VLOAD MXV
+ XSMD
+ REFSMMAT
+ UNIT
+ STOVL XDC
+ YSMD
+ MXV UNIT
+ REFSMMAT
+ STOVL YDC
+ ZSMD
+ MXV UNIT
+ REFSMMAT
+ STCALL ZDC
+ CALCGTA
+ CLEAR CLEAR
+ DRIFTFLG
+ REFSMFLG
+ EXIT
+ CAF V16N20
+ TC BANKCALL
+ CADR GODSPR
+ CA R55CDR
+ TC BANKCALL
+ CADR IMUPULSE
+ TC BANKCALL
+ CADR IMUSTALL
+ TC CURTAINS
+ TC PHASCHNG
+ OCT 04024
+ TC INTPRET
+ AXC,1 AXC,2
+ XSMD
+ REFSMMAT
+ CALL
+# Page 742
+ MATMOVE
+ CLEAR SET
+ PFRATFLG
+ REFSMFLG
+ RTB VLOAD
+ SET1/PDT
+ ZEROVEC
+ STORE GCOMP
+ SET GOTO
+ DRIFTFLG
+ R51K
+V16N20 VN 1620
+ALRM15 EQUALS OCT15
+ SETLOC P50S2
+ BANK
+V06N89* VN 0689
+
+# NAME -- P52LS
+#
+# FUNCTION -- TO DISPLAY THE LANDING SITE LATITUDE,
+# LONGITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
+# THE KEYBOARD. TO COMPUT THE LANDING SITE
+# ORIENTATIION FOR P52 OR P54.
+#
+# LET:
+# RLS = LANDING SITE VECTOR IN REF COORDINATES
+# R = CSM POSITION VECTOR IN REF COORDINATES
+# V = CSM VELOCITY VECTOR IN REF COORDINATES
+# THEN THE LANDING SITE ORIENTATION IS:
+# XSMD = UNIT(RLS)
+# YSMD = UNIT(ZSMD*XSMD)
+# ZSMD = UNIT((R*V)*RLS)
+#
+# CALL: CALL
+# P52LS
+#
+# INPUTS: DSPTEM1 = TIME OF ALIGNMENT
+# RLS = LANDING SITE VECTOR IN MOON FIXED COORDINATES
+#
+# OUTPUTS: XSMD, YSMD, ZSMD
+#
+# SUBROUTINES: RP-TO-R, LAT-LONG, LLASRD, LLASRDA, CSMPREC
+#
+# DEBRIS: VAC, SEE SUBROUTINES
+
+P52LS STQ SET
+ QMAJ
+ LUNAFLAG
+ DLOAD
+ DSPTEM1
+ STORE TSIGHT
+ VLOAD SET
+ RLS
+ ERADFLAG
+ STODL 0D
+ TSIGHT
+ STCALL 6D
+# Page 743
+ RP-TO-R
+ VSR2
+ STODL ALPHAV
+ TSIGHT
+ CALL
+ LAT-LONG
+ CALL
+ LLASRD
+ EXIT
+LSDISP CAF V06N89*
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC +2
+ TC LSDISP
+ TC INTPRET
+ CALL
+ LLASRDA
+ DLOAD CALL
+ TSIGHT
+ LALOTORV
+ VLOAD UNIT
+ ALPHAV
+ STODL XSMD
+ TSIGHT
+ STCALL TDEC1
+ CSMPREC
+ VLOAD VXV
+ RATT
+ VATT
+ VXV UNIT
+ XSMD
+ STORE ZSMD
+ VXV UNIT
+ XSMD
+ STCALL YSMD
+ QMAJ
+ SETLOC P50S1
+ BANK
+
+# NAME: AUTOMATIC OPTICS POSITIONING ROUTINE
+#
+# FUNCTION: (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
+# (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
+#
+# CALLING: CALL R52
+#
+# INPUT: 1. TARG1FLG AND TARG2FLG: PRESET BY CALLER
+# 2. RNDVZFLG AND TRACKFLG: PRESET BY CALLER
+# 3. STAR CODE: PRESET BY CALLER. ALSO INPUT THROUGH DSKY
+# 4. LAT, LONG, AND ALT OF LANDMARK: INPUT THROUGH DSKY
+# Page 744
+# 5. NO. OF MARKS (MARKINDX): PRESET BY CALLER
+#
+# OUTPUT: DRIVE SHAFT AND TRUNNION CDUS.
+#
+# SUBROUTINES: 1. FIXDELAY 7. CLEANDSP
+# 2. GOPERF1 8. GODSPR
+# 3. GOFLASH 9. REFLASHR
+# 4. R53 10. R52.2
+# 5. ALARM 11. R52.3
+# 6. SR52.1
+
+ COUNT 15/R52
+
+R52 STQ CLEAR
+ SAVQR52
+ ADVTRK
+R52VRB EXIT
+ EXTEND
+ DCA CDUT
+ DXCH DESOPTT
+ TC INTPRET
+ SSP CLEAR
+ OPTIND
+ 0
+ R53FLAG
+ EXIT
+R52A TC INTPRET
+ SET BON
+ TRUNFLAG
+ TARG1FLG
+ R52H
+ CLEAR EXIT
+ TERMIFLG
+R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
+ EXTEND
+ BZMF R52M # MANUAL
+R52D TC BANKCALL # AGC
+ CADR SR52.1
+ TCF R52L # GR 90 DEGREES
+ TCF R52J # GR 50 DEGREES
+ TC UPFLAG # LS 50 DEGREES
+ ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0
+R52JA CAF BIT10 # IS THIS A LEM
+ MASK STATE +1
+ CCS A
+ TC R52E # YES
+ CAF BIT6 # NO, IS R53FLAG SET
+ MASK STATE
+ CCS A
+ TCF R52E # YES
+# Page 745
+ CAF V06N92 # NO
+ TC BANKCALL
+ CADR GODSPR
+R52E CA SWSAMPLE # IS OSS IN CMC MODE
+ EXTEND
+ BZMF R52F # NO
+ CS STATE # YES: IS TRUNFLAG SET
+ MASK BIT4
+ CCS A
+ TC +3 # NO
+ CA PAC # YES
+ TS DESOPTT
+ CA SAC
+ TS DESOPTS
+R52F CAF .5SEC # WAIT 1/2 SEC
+ TC BANKCALL
+ CADR DELAYJOB
+ CAF BIT10
+ MASK STATE +1
+ CCS A
+ TCF R52HA # YES, LEM
+ CAF BIT15 # NO
+ MASK STATE +7 # IS TERMIFLG SET
+ EXTEND
+ BZF R52C # NO
+R52Q TC INTPRET # YES
+ GOTO
+ SAVQR52
+R52H EXIT # LEM
+R52HA TC BANKCALL
+ CADR R61CSM
+ CA STATE +1
+ MASK BIT5
+ EXTEND # TRACKFLG
+ BZF R52Q
+
+ CS STATE +1
+ MASK BIT7 # UPDATFLG
+ CCS A
+ TCF R52SYNC
+
+R52I CA STATE +5
+ MASK BIT10
+ CCS A
+ TC R52D # PRFTRKAT = 1
+R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME
+ TCF R52F +1
+
+R52J TC DOWNFLAG # CLEAR TRUNFLAG
+ ADRES TRUNFLAG # BIT 4 FLAG 0
+# Page 746
+ TC ALARM # SET 407 ALARM
+ OCT 407
+ TC R52JA
+R52M CAF BIT6 # IS R53FLAG SET
+ MASK STATE
+ CCS A
+ TC R52F # YES
+ INHINT # NO
+ CAF PRIO24
+ TC FINDVAC
+ EBANK= SAC
+ 2CADR R53JOB
+
+ RELINT
+ TCF R52F
+R53JOB TC INTPRET
+ CALL
+ R53
+ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB (R22 USES)
+ TC ENDOFJOB
+V06N92 VN 00692
+V06N89A VN 0689
+SHAXIS 2DEC .5376381241 B-1
+
+ 2DEC 0
+
+ 2DEC .8431766920 B-1
+
+R52L CAF BIT10 # IS THIS A LEM
+ MASK STATE +1
+ CCS A
+ TC R52J # YES
+ CAF OCT404
+ TC BANKCALL
+ CADR PRIOLARM
+ TCF TERM52 # TERMINATE
+ TCF R52F # PROCEED
+ TCF R52F # NO PROVISION FOR NEW DATA
+ TCF ENDOFJOB
+
+OCT404 OCT 404
+1.8SEC DEC 180
+
+TERM52 TC CLEARMRK
+
+ TC BANKCALL # KILL MARK SYSTEM
+ CADR MKRELEAS
+
+# Page 747
+
+ CAF ZERO
+ TS OPTCADR
+
+ TC BANKCALL # CLEAR OUT EXTENDED VERBS
+ CADR KLEENEX
+
+ TC GOTOP00H # NO GO TO P00
+
+ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING
+ SAVQR52
+ ADVTRK
+ SET SET
+ LUNAFLAG
+ ERADFLAG
+ GOTO
+ R52VRB
+
+# Page 748
+# NAME -- S50 ALIAS LOCSAM
+# NAME: LOCSAM
+#
+# FUNCTION -- TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
+# IMU ALIGNMENT PROGRAMS.
+#
+# DEFINE:
+#
+# RATT = POSITION VECTOR OF CM WRT PRIMARY BODY
+#
+# VATT = VELOCITY VECTOR OF CM WRT PRIMARY BODY
+#
+# RE = RADIUS OF EARTH
+#
+# RM = RADIUS OF MOON
+#
+# ECLIPOL = POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
+# WRT TO SUN OVER THE VELOCITY OF LIGHT
+#
+# REM = POSITION OF MOON WRT EARTH
+#
+# RES = POSITION OF SUN WRT EARTH
+#
+# C = VELOCITY OF LIGHT
+#
+# EARTH IS PRIMARY MOON IS PRIMARY
+# _ _
+# VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
+# _ _
+# VMOON = 1(REM-RATT) VMOON =-1(RATT)
+# _ _
+# VSUN = 1(RES) VSUN = 1(RES-REM)
+# -1
+# CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
+# -1
+# CMOON =COS 5 CMOON =COS(SIN CRM/RATT)+5)
+#
+# CSUN =COS 15 CSUN =COS 15
+#
+# VEL/C = VSUN x ECLIPOL + VATT/C
+#
+# CALL: DLOAD CALL
+# DESIRED TIME
+# LOCSAM
+#
+# INPUTS: MPAC = TIME
+#
+# OUTPUTS: VEARTH, VMOON, VSUN, CEARTH, CMOON, CSUN, VEL/C
+#
+# SUBROUTINES: LSPOS, CSMCONIC
+#
+# DEBRIS: VAC AREA, SEE SUBROUTINES.
+
+# Page 749
+ SETLOC P50S1
+ BANK
+
+ COUNT* $$/S50
+
+LOCSAM = S50
+S50 STQ
+ QMAJ
+ STCALL TSIGHT
+ LSPOS
+ STOVL VMOON
+ 2D
+ STODL VSUN
+ TSIGHT
+ STCALL TDEC1
+ CSMCONIC
+ SSP TIX,2
+ S2
+ 0
+ MOONCNTR
+EARTCNTR VLOAD VSU
+ VMOON
+ RATT
+ UNIT
+ STOVL VMOON
+ RATT
+ UNIT VCOMP
+ STODL VEARTH
+ RSUBE
+ CALL
+ OCCOS
+ STODL CEARTH
+ CSS5
+ STOVL CMOON
+ VSUN
+ UNIT
+ STCALL VSUN
+ ENDSAM
+MOONCNTR VLOAD VSR8
+ VMOON
+ VSR1 BVSU
+ VSUN
+ UNIT
+ STOVL VSUN
+ VMOON
+ VAD UNIT
+ RATT
+ VCOMP
+ STOVL VEARTH
+# Page 750
+
+ RATT
+ UNIT VCOMP
+ STODL VMOON
+ RSUBM
+ CALL
+ OCCOS
+ STODL CMOON
+ CSS5
+ STOVL CEARTH
+ VSUN
+ENDSAM VXV
+ ECLIPOL
+ STOVL VEL/C
+ VATT
+ VXSC VAD
+ 1/C
+ VEL/C
+ STODL VEL/C
+ CSSUN
+ STCALL CSUN
+ QMAJ
+OCCOS DDV SR1
+ 36D
+ ASIN DAD
+ 5DEGREES
+ COS SR1
+ RVQ
+ SETLOC P50S
+ BANK
+RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS
+
+RSUBE 2DEC 6378166 B-29
+
+5DEGREES 2DEC .013888889 # SCALED IN REVS
+
+1/C 2DEC .000042699 B-1 # *
+
+ECLIPOL 2DEC 0 # *
+
+ 2DEC -.00007896 B-1 # *
+
+ 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY
+
+TSIGHT1 2DEC 24000
+
+CEARTH = 14D
+CSUN = 16D
+CMOON = 18D
+CSS5 2DEC .2490475 # (COS 5)/4
+# Page 751
+CSSUN 2DEC .24148 # (COS 15)/4
+
+# Page 752
+# PROGRAM NAME -- PICAPAR DATE: DEC 20 66
+# MOD 1 LOG SECTION: P51-P53
+# ASSEMBLY: SUNDISK REV40
+# BY KEN VINCENT
+#
+# FUNCTION
+# THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
+# WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
+# WITH RESPECT TO REFERENCE INTERTIAL. EACH STAR IN THE CATALOG IS TESTED
+# TO DETERMINE IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A
+# STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STARS OF LOWER INDEX.
+# THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
+# THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
+# HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66 DEGREES
+# AND MORE THAN 40 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
+# ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
+# 33 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
+# THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
+#
+# CALLING SEQUENCE
+# L TC BANKCALL
+# L+1 CADR PICAPAR
+# L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW
+# L+3 NORMAL RETURN
+#
+# OUTPUT
+# BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
+# VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
+#
+# INITIALIZATION
+# 1) A CALL TO LOCSAM MUST BE MADE
+# 2) VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TO APPROXIMATE TIME OF
+# SIGHTINGS.
+#
+# DEBRIS
+# WORK AREA
+# X,Y,ZNB
+# SINCDU, COSCDU
+# STARAD -- STAR +5
+
+ COUNT 14/PICAP
+
+ SETLOC P50S1
+ BANK
+PICAPAR TC MAKECADR
+ TS QMIN
+ TC INTPRET
+ CALL
+ CDUTRIG
+ CALL
+ CALCSMSC
+# Page 753
+ SETPD
+ 0
+ SET DLOAD # VFLAG = 1
+ VFLAG
+ DPZERO
+ STOVL BESTI
+ XNB
+ VXSC PDVL
+ SIN33
+ ZNB
+ AXT,1 VXSC
+ 228D # X1 = 37 X 6 + 6
+ COS33
+ VAD
+ VXM UNIT
+ REFSMMAT
+ STORE SAX # SAX = SHAFT AXIS
+ SSP SSP # S1 = S2 = 6
+ S1
+ 6
+ S2
+ 6
+PIC1 TIX,1 GOTO # MAJOR STAR
+ PIC2
+ PICEND
+PIC2 VLOAD* CALL
+ CATLOG,1
+ OCCULT
+ BON LXA,2
+ CULTFLAG
+ PIC1
+ X1
+PIC3 TIX,2 GOTO
+ PIC4
+ PIC1
+PIC4 VLOAD* CALL
+ CATLOG,2
+ OCCULT
+ BON VLOAD*
+ CULTFLAG
+ PIC3
+ CATLOG,1
+ DOT* DSU
+ CATLOG,2
+ CSS66 # SEPARATION LESS THAN 66 DEG.
+ BMN DAD
+ PIC3
+ CSS6640 # SEPARATION MORE THAN 40 DEG.
+ BPL
+ PIC3
+# Page 754
+ VLOAD* DOT
+ CATLOG,1
+ SAX
+ DSU BMN # MAJOR STAR IN CONE
+ CSS33
+ PIC1
+ VLOAD* DOT
+ CATLOG,2
+ SAX
+ DSU BPL
+ CSS33
+ STRATGY
+ GOTO
+ PIC3
+STRATGY BONCLR
+ VFLAG
+ NEWPAR
+ XCHX,1 XCHX,2
+ BESTI
+ BESTJ
+STRAT VLOAD* DOT*
+ CATLOG,1
+ CATLOG,2
+ PUSH BOFINV
+ VFLAG
+ STRAT -3
+ DLOAD DSU
+ BPL
+ PIC3
+NEWPAR SXA,1 SXA,2
+ BESTI
+ BESTJ
+ GOTO
+ PIC3
+OCCULT MXV BVSU
+ CULTRIX
+ CSS
+ BZE
+ CULTED
+ BMN SIGN
+ CULTED
+ MPAC +3
+ BMN SIGN
+ CULTED
+ MPAC +5
+ BMN CLRGO
+ CULTED
+ CULTFLAG
+ QPRET
+CULTED SETGO
+# Page 755
+ CULTFLAG
+ QPRET
+CSS = CEARTH
+SIN33 2DEC .5376381241
+
+COS33 2DEC .8431756920
+
+CSS66 2DEC .060480472 # (COS76)/4
+
+CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
+
+CSS33 2DEC .197002688 # (COS(1/2(76))/4
+
+PICEND BOFF EXIT
+ VFLAG
+ PICGXT
+ TC PICBXT
+PICGXT EXIT
+ INCR QMIN
+PICBXT CA QMIN
+ TC SWCALL
+#V1 = 12D
+
+# Page 756
+# NAME -- R51 FINE ALIGN
+# FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT
+# CALLING SEQ -- CALL R51
+# INPUT -- BESTI, BESTJ (PAIR OF STAR NO)
+# OUTPUT -- GYRO TORQUE PULSES
+# SUBROUTINES -- R52, R54, R55 (SXTNB, NBSM, AXISGEN)
+
+ COUNT 14/R51
+
+R51 EXIT
+ CAF BIT1
+ TS STARIND
+ TS MARKINDX
+R51.2 TC INTPRET
+R51.3 CLEAR CLEAR
+ TARG2FLG
+ TARG1FLG
+ EXIT
+ TC PHASCHNG
+ OCT 05024 # RESTART GR 4 FOR R52-R53
+ OCT 13000
+ INDEX STARIND
+ CA BESTI
+ EXTEND
+ MP 1/6TH
+ TS STARCODE
+R51DSP CAF V01N70
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H
+ TC +5
+ TC -5
+ CAF SIX
+ TC BLANKET
+ TCF ENDOFJOB
+ TC CHKSCODE
+ TC FALTON
+ TC R51DSP
+ TC INTPRET
+ RTB CALL
+ LOADTIME
+ PLANET
+ SSP LXA,1
+ S1
+ 0
+ STARIND
+ TIX,1
+ R51ST
+ STCALL STARSAV2 # 2ND STAR
+ R51ST +1
+R51ST STORE STARSAV1 # 1ST STAR
+# Page 757
+ EXIT
+ CS MODREG # IS THIS P54
+ AD OCT66
+ EXTEND
+ BZF R51B # YES
+ TC INTPRET
+ CALL
+ R52 # AOP WILL MAKE CALLS TO SIGHTING
+R51A CALL # COMPUTE LOS IN SM FROM MARK DATA
+ SXTSM
+ STORE STARSAV2
+ EXIT
+ TC BANKCALL
+ CADR MKRELEAS
+ TC INTPRET
+ DLOAD CALL
+ TSIGHT
+ PLANET
+ EXIT
+ CCS STARIND
+ TC R51.4
+ TC INTPRET
+ MXV UNIT
+ REFSMMAT
+ STORE STARAD
+ VLOAD
+ STARSAV2
+ STOVL 6D
+ STARSAV1
+ STOVL 12D
+ PLANVEC
+ STCALL STARAD +6
+ R54 # STAR DATA TEST
+ BOFF CALL
+ FREEFLAG
+ R51K
+ AXISGEN
+ CALL
+ R55 # GYRO TORQUE
+ CLEAR
+ PFRATFLG
+R51K EXIT
+ CAF OCT14
+ TC BANKCALL
+ CADR GOPERF1
+ TC GOTOP00H
+ TC +2 # V33
+ TC +3
+ TC BANKCALL
+ CADR P52C
+# Page 758
+ TC INTPRET
+ GOTO
+ ENDP50S
+R51.4 TC INTPRET
+ MXV UNIT
+ REFSMMAT
+ STOVL PLANVEC
+ STARSAV2
+ STORE STARSAV1
+ SSP
+ STARIND
+ 0
+ GOTO
+ R51.3
+R51B TC INTPRET
+ CALL
+ R56
+ GOTO
+ R51A
+OCT66 OCT 00066
+V01N70 VN 0170
+1/6TH DEC .1666667
+
+# Page 759
+# NAME: R55 GYRO TORQUE
+# FUNCTION -- COMPUTE AND SEND GYRO PULSES
+# CALLING SEQ -- CALL R55
+# INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER
+# OUTPUT -- GYRO PULSES
+# SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
+
+ SETLOC P50S
+ BANK
+ COUNT* $$/R55
+R55 STQ
+ QMIN
+ CALL
+ CALCGTA
+PULSEM EXIT
+R55.1 CAF V06N93
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC R55.2
+ TC R55RET
+R55.2 TC PHASCHNG
+ OCT 00314
+ CA R55CDR
+ TC BANKCALL
+ CADR IMUPULSE
+ TC BANKCALL
+ CADR IMUSTALL
+ TC CURTAINS
+ TC PHASCHNG
+ OCT 05024
+ OCT 13000
+R55RET TC INTPRET
+ GOTO
+ QMIN
+V06N93 VN 0693
+R55CDR ECADR OGC
+R54 = CHKSDATA
+
+# ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967
+# MOD NO -- 0 LOG SECTION -- P51-P53
+# MODIFICATION BY -- LONSKE ASSEMBLY --
+#
+# FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
+# BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
+# COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED --
+# OS1 = OBSERVED STAR 1 VECTOR
+# OS2 = OBSERVED STAR 2 VECTOR
+# SS1 = STORED STAR 1 VECTOR
+# SS2 = STORED STAR 2 VECTOR
+# A1 = ARCCOS(OS1 - OS2)
+# Page 760
+# A2 = ARCCOS(SS1 - SS2)
+# A = ABS(2(A1 - A2))
+
+# THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE.
+#
+# EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
+# 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE
+#
+# OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
+# 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
+#
+# ERASABLE INITIALIZATION REQUIRED --
+# 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
+# 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
+#
+# DEBRIS --
+
+ SETLOC P50S1
+ BANK
+ COUNT* $$/R50
+CHKSDATA STQ SET
+ QMIN
+ FREEFLAG
+CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
+ STARAD
+
+CHKSB VLOAD* DOT* # CAL. ANGLE THETA
+ 0,1
+ 6,1
+ SL1 ACOS
+ STORE THETA
+ BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
+ FREEFLAG
+ CHKSD
+ FREEFLAG # CLEAR FREEFLAG
+ AXC,1 DLOAD # SET X1 TO MARK ANGLES
+ 6D
+ THETA
+ STORE 18D
+ GOTO
+ CHKSB # RETURN TO CAL. 2ND ANGLE
+CHKSD DLOAD DSU
+ THETA # COMPUTE POS DIFF
+ 18D
+ ABS RTB
+ SGNAGREE
+ STORE NORMTEM1
+ SET EXIT
+ FREEFLAG
+ CAF ZERO
+ TC BANKCALL
+ CADR CLEANDSP
+
+ CAF VB6N5
+# Page 761
+ TC BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H
+ TC CHKSDA # PROCEED
+ TC INTPRET
+ CLEAR GOTO
+ FREEFLAG
+ QMIN
+CHKSDA TC INTPRET
+ GOTO
+ QMIN
+VB6N5 VN 605
+
+# NAME -- CAL53A
+# FUNCTION -- COARSE ALIGN THE IMU, IF NECESSARY
+# CALLING SEQUENCE -- CALL CAL53A
+# INPUT -- PRESENT GIMBAL ANGLES -- CDUX, CDUY, CDUZ
+# DESIRED GIMBAL ANGLES -- THETAD,+1,+2
+# OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT
+# SUBROUTINES -- 1.IMUCOARS, 2.IMUSTALL, 3CURTAINS
+
+ COUNT 14/R50
+
+CAL53A CALL
+ S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
+ RTB SSP
+ RDCDUS # READ CDUS
+ S1
+ 1
+ AXT,1 SETPD
+ 3
+ 4
+CALOOP DLOAD* SR1
+ THETAD +3D,1
+ PDDL* SR1
+ 4,1
+ DSU ABS
+ PUSH DSU
+ DEGREE1
+ BMN DLOAD
+ CALOOP1
+ DSU BPL
+ DEG359
+ CALOOP1
+COARFINE EXIT
+ TC PHASCHNG
+ OCT 04024
+ TC BANKCALL
+ CADR IMUCOARS # PERFORM COARSE ALIGNMENT
+ TC BANKCALL
+ CADR IMUSTALL # REQUEST MODE SWITCH
+# Page 762
+ TC CURTAINS
+ TC BANKCALL
+ CADR IMUFIN20
+ TC BANKCALL
+ CADR IMUSTALL
+ TC CURTAINS # TEST FOR MALFUNCTION
+ TC INTPRET
+ RTB VLOAD
+ SET1/PDT
+ ZEROVEC
+ STORE GCOMP
+ SET GOTO
+ DRIFTFLG
+ FINEONLY
+CALOOP1 TIX,1
+ CALOOP
+FINEONLY AXC,1 AXC,2
+ XSM
+ REFSMMAT
+ CALL
+ MATMOVE
+ GOTO
+ CAL53RET
+MATMOVE VLOAD* # TRANSFER MATRIX
+ 0,1
+ STORE 0,2
+ VLOAD*
+ 6D,1
+ STORE 6D,2
+ VLOAD*
+ 12D,1
+ STORE 12D,2
+ RVQ
+DEGREE1 DEC 46
+DEG359 DEC 16338
+ SETLOC P50S
+ BANK
+RDCDUS INHINT # READ CDUS
+ CA CDUX
+ INDEX FIXLOC
+ TS 1
+ CA CDUY
+ INDEX FIXLOC
+ TS 2
+ CA CDUZ
+ INDEX FIXLOC
+ TS 3
+ RELINT
+ TC DANZIG
+
+# Page 763
+# NAME: GIMB
+#
+# FUNCTION: DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
+#
+# CALLING SEQUENCE: CALL GIMB
+#
+# INPUT: DESIRED IMU INERTIAL ORIENTATION VECTORS: XSMD, YSMD, ZSMD
+#
+# OUTPUT: GIMBAL ANGLES LEFT IN THETAD, +1, +2
+#
+# SUBROUTINES USED: 1.CDUTRIG 2.CALCSMSC 3.CALCGA
+
+ SETLOC P50S2
+ BANK
+ COUNT 14/INFLT
+
+CALCSMSC DLOAD DMP
+ SINCDUY
+ COSCDUZ
+ DCOMP
+ PDDL SR1
+ SINCDUZ
+ PDDL DMP
+ COSCDUY
+ COSCDUZ
+ VDEF VSL1
+ STORE XNB
+ DLOAD DMP
+ SINCDUX
+ SINCDUZ
+ SL1
+ STORE 26D
+ DMP
+ SINCDUY
+ PDDL DMP
+ COSCDUX
+ COSCDUY
+ DSU
+ PDDL DMP
+ SINCDUX
+ COSCDUZ
+ DCOMP
+ PDDL DMP
+ COSCDUX
+ SINCDUY
+ PDDL DMP
+ COSCDUY
+ 26D
+ DAD VDEF
+ VSL1
+ STORE ZNB
+ VXV VSL1
+ XNB
+ STORE YNB
+ RVQ
+
+# NAME -- P51 -- IMU ORIENTATION DETERMINATION
+# MOD. NO. 2 21 DEC 66 LOG SECTION -- P51-P53
+# Page 764
+# MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15
+#
+# FUNCTIONAL DESCRIPTION
+# DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
+# ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
+# THEN PROCESSED AS FOLLOWS.
+#
+# 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
+# TRUNNION ANGLES, RESPECTIVELY. THEN,
+# _
+# V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
+# NB
+# THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
+#
+# 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
+# _ T T T _
+# V = Q *Q *Q *V , WHERE
+# 1 2 3 NB
+#
+# ( COS(IG) 0 -SIN(IG) )
+# ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
+# Q = ( 0 1 0 ), IG= INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
+# 1 ( ) ROT AND CDULOGIC)
+# ( SIN(IG) 0 COS(IG) )
+#
+# ( COS(MG) SIN(MG) 0 )
+# ( )
+# Q = (-SIN(MG) COS(MG) 0 ), MG= MIDDLE GIMBAL ANGLE
+# 2 ( )
+# ( 0 0 1 )
+#
+# ( 1 0 0 )
+# ( )
+# Q = ( 0 COS(OG) SIN(OG) ), OG= OUTER GIMBAL ANGLE
+# 3 ( )
+# ( 0 -SIN(OG) COS(OG) )
+#
+# 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
+#
+# 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
+#
+# 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
+# _ _
+# LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS, A AND B (BASIC AND STABLE MEMBER).
+# 1 2
+# Page 765
+# DEFINE,
+# _ _
+# U = S
+# A A1
+# _ _ _
+# V = UNIT(S x S )
+# A A1 A2
+# _ _ _
+# W = U x V
+# A A A
+#
+# AND,
+# _ _
+# U = S
+# B B1
+# _ _ _
+# V = UNIT(S x S )
+# B B1 B2
+# _ _ _
+# W = U x V
+# B B B
+#
+# THEN
+# _ _ _ _
+# X = U *U + V *V + W *W
+# B1 A B1 A B1 A
+# _ _ _ _
+# Y = U *U + V *V + W *W (REFSMMAT)
+# B2 A B2 A B2 A
+# _ _ _ _
+# Z = U *U + V *V + W *W
+# B3 A B3 A B3 A
+#
+# THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
+# _
+# S IN 6-11 OF THE VAC AREA
+# A1
+# _
+# S IN 12-17 OF THE VAC AREA
+# A2
+# _
+# S IN STARAD
+# B1
+# Page 766 _
+# S IN STARAD +6
+# B2
+#
+# CALLING SEQUENCE:
+#
+# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
+#
+# SUBROUTINES CALLED:
+#
+# GOPERF3
+# GOPERF1R
+# GODSPR
+# IMUCOARS
+# IMUFIN20
+# R53
+# SXTNB
+# NBSM
+# MKRELEAS
+# CHKSDATA
+# MATMOVE
+#
+# ALARMS
+#
+# NONE
+#
+# ERASABLE INITIALIZATION:
+#
+# IMU ZERO FLAG SHOULD BE SET.
+#
+# OUTPUT
+#
+# REFSMMAT
+# REFSMFLG
+#
+# DEBRIS
+#
+# WORK AREA
+# STARAD
+# STARIND
+# BESTI
+# BESTJ
+
+ SETLOC P50S1
+ BANK
+ COUNT 14/P5153
+
+P53 EQUALS P51
+P51 CS IMODES30
+ MASK BIT9
+ CCS A
+# Page 767
+ TC P51A
+ TC ALARM
+ OCT 210
+ TC GOTOP00H
+P51A TC BANKCALL
+ CADR R02ZERO
+
+P51AA CAF PRFMSTAQ
+ TC BANKCALL
+ CADR GOPERF1
+ TC GOTOP00H # TERM.
+ TC P51B # V33
+ TC PHASCHNG
+ OCT 05024
+ OCT 13000
+ CAF P51ZERO
+ TS THETAD # ZERO THE GIMBALS
+ TS THETAD +1
+ TS THETAD +2
+ CAF V6N22
+ TC BANKCALL
+ CADR GODSPRET
+ CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
+ TC BANKCALL
+ CADR GODSPRET
+ TC BANKCALL
+ CADR IMUCOARS
+ TC BANKCALL
+ CADR IMUSTALL
+ TC CURTAINS # CAGING OR BAD END
+ TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS, IN 5
+ CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL,
+ TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
+ CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US
+ TC CURTAINS # UP.
+ TC PHASCHNG
+ OCT 05024
+ OCT 13000
+ TCF P51AA # COARSE ALIGN DONE: RECYCLE FOR FINE
+
+# Page 768
+# DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
+P51B TC PHASCHNG
+ OCT 00014
+ TC INTPRET
+ SSP SETPD
+ STARIND # INDEX -- STAR 1 OR 2
+ 0
+ 0
+ RTB VLOAD
+ SET1/PDT
+ ZEROVEC
+ STORE GCOMP
+ SET CLEAR
+ DRIFTFLG # ENABLE T4 COMPENSATION
+ TARG2FLG # SHOW MARK IS STAR --- NOT LANDMARK
+ EXIT
+ CAF BIT1
+ TS MARKINDX # INITIALIZE FOR ONE MARK
+
+P51C TC PHASCHNG
+ OCT 05024
+ OCT 13000
+ TC CHECKMM
+ MM 53 # BACKUP PROGRAM
+ TCF P51C.1 # NOT P53
+ TC INTPRET
+ CALL
+ R56
+ GOTO
+ P51C.2
+P51C.1 TC INTPRET
+ CALL
+ R53 # SIGHTING ROUTINE
+P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
+ SXTSM
+ PUSH
+ SLOAD BZE
+ STARIND
+ P51D
+ VLOAD STADR
+ STORE STARSAV2 # DOWNLINK
+ GOTO
+ P51E
+P51D VLOAD STADR
+ STODL STARSAV1
+ TSIGHT
+ CALL
+ PLANET
+ STORE PLANVEC
+# Page 769
+P51E EXIT
+ TC PHASCHNG
+ OCT 05024
+ OCT 13000
+ TC BANKCALL
+ CADR MKRELEAS # ZERO MARKSTAT
+ CCS STARIND
+ TCF P51F # STAR 2
+ TC PHASCHNG
+ OCT 05024
+ OCT 13000
+ CAF BIT1
+ TS STARIND
+ TCF P51C # GO DO SECOND STAR
+P51F TC PHASCHNG
+ OCT 05024
+ OCT 13000
+ TC INTPRET
+ DLOAD CALL
+ TSIGHT
+ PLANET
+ STOVL 12D
+ PLANVEC
+ STOVL 6D
+ STARSAV1
+ STOVL STARAD
+ STARSAV2
+ STCALL STARAD +6
+ CHKSDATA # CHECK STAR ANGLES IN STARAD AND
+ BON EXIT
+ FREEFLAG
+ P51G
+ TC P51AA
+P51G CALL
+ AXISGEN # COME BACK WITH REFSMMAT IN XDC
+ AXC,1 AXC,2
+ XDC
+ REFSMMAT
+ CLEAR CALL
+ REFSMFLG
+ MATMOVE
+ SET GOTO
+ REFSMFLG
+ ENDP50S
+PRFMSTAQ = OCT15
+P51ZERO = ZERO
+P51FIVE = FIVE
+V6N22 VN 0622
+V41K VN 4100
+SET1/PDT CA TIME1
+# Page 770
+ TS 1/PIPADT
+ TCF DANZIG
+
+# Page 771
+# SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
+
+ SETLOC P50S3
+ BANK
+SXTSM STQ
+ QMAJ
+ LXC,1 DLOAD*
+ MARKSTAT
+ 0D,1
+ STORE TSIGHT
+ LXC,2 SLOAD*
+ STARIND
+ MKDNCDR,2
+ LXC,2 VLOAD*
+ MPAC
+ 0,1
+ STORE 0,2
+ DLOAD*
+ 5,1
+ STORE 5,2
+ CALL
+ SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC
+ LXA,1 INCR,1
+ MARKSTAT
+ 2 # INCREMENT TO BASE ADR OF ICDU
+ SXA,1 CALL
+ S1
+ NBSM # TRANSFORM LOS TO SM
+ GOTO
+ QMAJ
+MKDNCDR ECADR MARKDOWN
+ ECADR MARK2DWN
+
+# Page 772
+# PROGRAM DESCRIPTION: R53 -- SIGHTING MARK ROUTINE
+# MOD. NO. 2 21 DEC 66
+# MOD. BY STURLAUGSON
+#
+# FUNCTIONAL DESCRIPTIION:
+#
+# TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
+# CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
+# OCDUS) AND THE TIME OF THE MARK.
+#
+# CALLING SEQUENCE:
+#
+# R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
+# THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
+#
+# SUBROUTINES CALLED
+#
+# SXTMARK
+# OPTSTALL
+# GOFLASH
+#
+# ERASABLE INITIALIZATION:
+#
+# TARGET FLAG -- STAR OR LANDMARK
+# MARKINDX -- NUMBER OF MARKS WANTED
+# STARIND -- INDEX TO BESTI OR BESTJ (STAR NUMBER)
+#
+# OUTPUT
+#
+# MARKSTAT CONTAINS INDEX TO VACANT AREA WEHRE MARK DATA IS STORED
+# BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED.
+#
+# DEBRIS
+#
+# MARKINDX CONTAINS NUMBER OF MARKS DESIRED
+
+ SETLOC RT53
+ BANK
+
+ COUNT 14/R53
+
+R53 STQ SET # SET SIGHTING MARK FLAG
+ R53EXIT
+ R53FLAG
+ EXIT
+R53A CA MARKINDX # NUMBER OF MARKS
+ MASK LOW3
+ TC BANKCALL
+ CADR SXTMARK
+ TC BANKCALL
+ CADR OPTSTALL
+ TC CURTAINS
+ INDEX MARKSTAT
+ CCS QPRET # NUMNBER OF MARKS ACTUALLY DONE
+ TCF R53B
+ TCF +2 # ZERO
+ TCF +1 # CCS HOLE
+ CAF ZERO # HOUSEKEEP VAC AREA SAVE
+ XCH MARKSTAT # AND MARKSTAT
+# Page 773
+ CCS A
+ INDEX A
+ TS 0
+ TCF R53A
+R53B TC CHECKMM
+ MM 22
+ TCF +2
+ TCF R53D
+ TC CHECKMM
+ MM 23
+ TCF R53C1
+ TCF R53D
+R53C1 CAF ZERO
+ TC BANKCALL
+ CADR CLEANDSP
+R53C CAF V01N71
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H # TERM.
+ TCF R53Z
+ TC R53C # RECYCLE
+R53Z TC CHKSCODE
+ TC FALTON
+ TC R53C
+ CS HIGH9
+ MASK STARCODE
+ EXTEND
+ MP SIGHTSIX
+ XCH L
+ INDEX STARIND
+ TS BESTI
+R53D TC INTPRET
+R53OUT SETGO
+ TERMIFLG # SET TERMINATE FOR R52
+ R53EXIT
+SIGHTSIX = SIX
+V01N71 VN 0171
+
+# ****** KEEP IN SAME BANK AS R51 AND R53 ********
+CHKSCODE CCS STARCODE
+ AD NEG47
+ CCS A
+ TC Q # SC < 0 OR SC > 50
+ TCF +2 # SC = + OR - 0
+ TCF +1 # 0 <= SC< 50
+ INDEX Q # SC = 50
+ TC 00002
+NEG47 OCT 77730
+
+# Page 774
+# NAME -- S52.2
+# FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
+# CALL -- CALL S52.2
+# INPUT -- X,Y,ZSMD
+# OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2
+# SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA
+
+ SETLOC S52/2
+ BANK
+
+ COUNT 13/S52.2
+S52.2 STQ
+ QMAJ
+ CALL
+ CDUTRIG
+ CALL
+ CALCSMSC
+ AXT,1 SSP
+ 18D
+ S1
+ 6D
+S52.2A VLOAD* VXM
+ XNB +18D,1
+ REFSMMAT
+ UNIT
+ STORE XNB +18D,1
+ TIX,1
+ S52.2A
+S52.2.1 AXC,1 AXC,2
+ XSMD
+ XSM
+ CALL
+ MATMOVE
+ CALL
+ CALCGA
+ GOTO
+ QMAJ
+
+# Page 775
+# PROGRAM NAME: SR52.1 DATE: DEC 20 1968
+# MOD 1 LOG SEC: P51-P53
+# BY KEN VINCENT ASSEMBLY: SUNDISK REV 40
+#
+# FUNCTION
+#
+# TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
+# LEM, STAR, OR LANDMARK. IN CASE OF LEM OR LMK, THE PRESENT TIME PLUS
+# 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD, +1). IF THE LEM IS
+# THE TARGET THEN CONIC UPDATES OF TEH CSM AND LEM ARE MADE TO
+# THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
+# POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
+# COMMON PART OF THE THIS PROGRAM.
+#
+# IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
+# VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
+# FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
+# THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
+# VECTOR FOR THE COMMON PART OF THIS ROUTINE.
+#
+# IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
+# AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
+#
+# THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
+# VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
+# THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
+# MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG.
+# MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
+#
+# CALLING SEQUENCE
+#
+# L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5 DEG OF DESIRED
+# L TC BANKCALL
+# L+1 CADR SR52.1
+# L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG.
+# L+3 ERROR RETURN TRUNNION GREATER THAN 50 DEG
+# L+4 NORMAL RETURN
+#
+# OUTPUT
+#
+# SAC: SINGLE PREC, 2'S COMP, SCALED AT HALF REVS -- SHAFT ANGLE DESIRED.
+# PAC: SINGLE PREC, 2'S COMP, SCALED AT EIGHTH REVS -- TRUNNION ANGLE DESIRED.
+#
+# INITIALIZATION
+#
+# IF TARG1FLG =1 THEN TARGET IS LEM -- NO OTHER INPUT REQUIRED.
+#
+# IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
+# 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
+# ARE 6 TIMES STAR NUMBER.
+#
+# IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SETT ROUTINE
+# LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
+# RADIUS
+#
+# DEBRIS
+#
+# WORK AREA
+# STARAD -- STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
+
+ COUNT* $$/SR521
+# Page 776
+ SETLOC SR52/1
+ BANK
+
+SR52.1 TC MAKECADR
+ TS QMIN
+ TC INTPRET
+ RTB DAD
+ LOADTIME
+ 1.3SECDP
+ STORE AOPTIME
+ BON BON
+ TARG1FLG
+ LEM52
+ TARG2FLG
+ LMK52
+ GOTO
+ STAR52
+LEM52 DLOAD
+ AOPTIME
+ STCALL TDEC1
+ LEMCONIC
+ VLOAD
+ RATT
+ GOTO
+ LMKLMCOM
+LMK52 BON DLOAD
+ ADVTRK
+ ADVTRACK
+ AOPTIME
+ CALL
+ LALOTORV
+ VLOAD
+ ALPHAV
+LMKLMCOM STODL STAR
+ AOPTIME
+ STCALL TDEC1
+ CSMCONIC
+ VLOAD VSU
+ STAR
+ RATT
+ UNIT GOTO
+ COM52
+STAR52 SSP LXA,1
+ S1
+ 0
+ STARIND
+ TIX,1
+ ST52ST
+ VLOAD GOTO
+ STARSAV2
+# Page 777
+ COM52
+ST52ST VLOAD
+ STARSAV1
+COM52 MXV UNIT
+ REFSMMAT
+ STORE STAR
+ SETPD CALL
+ 0
+ CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
+ CALL # NOW EXPECT TO SEE THE CDU ANGLES.
+ CALCSXA
+ BOFF EXIT
+ CULTFLAG
+ TRUN38
+ TC SR52E1
+TRUN38 DLOAD DSU
+ PAC
+ 38TRDEG
+ BPL DLOAD
+ SR52E22
+ PAC
+ DSU BPL
+ 20DEGSMN
+ SR52E3
+SR52E22 EXIT
+ TC SR52E2
+SR52E3 EXIT
+ INCR QMIN
+SR52E2 INCR QMIN
+SR52E1 CA QMIN
+ TC SWCALL
+38TRDEG 2DEC .66666667 # CORRESPONDS TO 50 DEGS IN TRUNION
+
+1.3SECDP 2DEC 130
+
+20DEGSMN DEC -07199
+ DEC -0
+
+# Page 778
+# THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
+# A POINT ON THE GROUND TRACK 60 DEGREES FORWARD OF THE LOCAL VERTICAL
+# OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW.
+
+ SETLOC 26P50S
+ BANK
+ADVTRACK SETPD
+ 0
+ VLOAD PUSH # INITIALIZE FOR RP-TO-R
+ UNITZ # UZ VEC IN PD 0-5
+ RTB PUSH # TIME IN PD 6-7
+ LOADTIME
+ STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC
+ RP-TO-R # GET MOON ROTATION VEC IN REF
+ STODL STAR
+ AOPTIME # PICK UP TIME
+ STCALL TDEC1 # UPDATE STATE TO TIME
+ CSMCONIC
+ VLOAD VXV
+ VATT
+ RATT
+ UNIT
+ STOVL 24D # SAVE -UNIT(VxR) FOR 2ND ROTATION
+ RATT
+ UNIT VCOMP
+ SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5
+ 0
+ EXIT
+ CA LANDMARK
+ MASK SEVEN # GET NUMBER OF ADVANCE PERIODS
+ EXTEND
+ MP BIT11 # GET N/16
+ XCH L
+ INDEX FIXLOC
+ TS 30D # TEMP STORE N/16
+ TC INTPRET
+ SLOAD DMP
+ 30D
+ MPERIOD
+ STCALL AOPTIME # ROTATE ANG ABOUT UR
+ ROTA
+ VLOAD
+ 24D # PICK UP 2ND ROTATION AXIS
+ STODL STAR
+ DP1/6
+ DSU
+ AOPTIME # 2ND RAT ANGLE = 60 - A
+ STCALL AOPTIME
+ ROTA # GO ROTATE 2ND TIME
+ VLOAD
+# Page 779
+ 0
+ STCALL STAR # STORE FINAL LOS IN STAR
+ COM52 # RETURN TO SR52.1
+
+ROTA DLOAD SIN
+ AOPTIME
+ PDVL VXV # PUSH 1/2SIN(A) PD 6-7
+ STAR # UR VEC
+ 0 # LOS
+ VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11
+ PDVL DOT
+ STAR
+ 0
+ VXSC VSL2
+ STAR
+ PDDL COS # 1/2(UR . LOS)UR 12-17
+ AOPTIME
+ PDVL BVSU # PUSH 1/2COS(A) 18-19
+ 12D
+ 0
+ VXSC VSL1 # UP 18-19
+ VAD VAD # UP 12-17 UP 6011
+ UNIT SETPD
+ 0
+ PUSH RVQ
+
+DP1/6 2DEC .16666666
+
+MPERIOD 2DEC .047619 # APPROX LUNAR ROT ANG IN 2HRS x 16
+
+# Page 780
+# NAME -- S52.3
+# FUNCTION -- XSMD= UNIT(YSMD x ZSMD)
+# YSMD= UNIT(V X R)
+# ZSMD= UNIT(-R)
+# CALL -- DLOAD CALL
+# TALIGN
+# S52.3
+# INPUT -- TIME OF ALIGNMENT IN MPAC
+# OUTPUT -- X,Y,ZSMD
+# SUBROUTINES -- CSMCONIC
+
+ SETLOC P50S2
+ BANK
+
+ COUNT 15/S52.3
+S52.3 STQ
+ QMAJ
+ STCALL TDEC1
+ CSMPREC
+ SETPD
+ 0
+ VLOAD VCOMP
+ RATT
+ UNIT
+ STOVL ZSMD
+ VATT
+ VXV UNIT
+ RATT
+ STORE YSMD
+ VXV UNIT
+ ZSMD
+ STCALL XSMD
+ QMAJ
+
+# Page 781
+# PROGRAM DESCRIPTION: R56 -- ALTERNATE LOS SIGHTING MARK ROUTINE
+#
+# FUNCTIONAL DESCRIPTION
+#
+# TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
+# COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
+# ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
+# IN N92.
+#
+# CALLING SEQUENCE
+#
+# CALL
+# R56
+#
+# SUBROUTINES CALLED
+#
+# A PORTION OF SXTMARK (VAC.AREA SEARCH)
+# GOFLASH
+# GOPERF1
+#
+# ERASABLE INITIALIZATION
+#
+# STARIND: INDEX TO STAR NUMBER
+#
+# OUTPUT
+#
+# MARKSTAT: INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
+# BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
+# ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS:
+# VAC +2 CDUY
+# VAC +3 CDUS
+# VAC +4 CDUZ
+# VAC +5 CDUT
+# VAC +6 CDUX
+
+ COUNT* $$/R56
+ SETLOC P50S3
+ BANK
+R56 STQ EXIT
+ R53EXIT
+ CAF V06N94B
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H # TERM.
+ TC R56A # PROCEED: ANGLES OK
+ TC -5 # ENTER: NEW ANGLES
+R56A TC BANKCALL
+ CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA
+
+ CAF ZERO
+ TC BANKCALL
+ CADR CLEANDSP
+
+R56A1 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
+ TC BANKCALL
+# Page 782
+ CADR GOMARK2
+ TCF GOTOP00H # V34: TERMINATE
+ TCF R56A1 # V33: DON'T PROCEED -- JUST ENTER TO MARK
+ TC INTPRET
+ DLOAD
+ MRKBUF1 +3
+ STODL SAC
+ MRKBUF1 +5
+ STORE PAC
+ EXIT
+ INHINT
+ EXTEND
+ DCA TIME2
+ INDEX MARKSTAT
+ DXCH 0
+ CA CDUY # ENTER: THIS IS A BACKUP SYSTEM MARK
+ INDEX MARKSTAT
+ TS 2
+ CA SAC
+ INDEX MARKSTAT
+ TS 3
+ CA CDUZ
+ INDEX MARKSTAT
+ TS 4
+ CA PAC
+ INDEX MARKSTAT
+ TS 5
+ CA CDUX
+ INDEX MARKSTAT
+ TS 6
+ RELINT
+ TC CLEARMRK # ENABLE EXTENDED VERBS
+ CAF OCT16
+ TC BANKCALL
+ CADR GOPERF1
+ TC GOTOP00H # TERM.
+ TCF R56B # PROCEED: MARK COMPLETED
+ TCF R56A +2 # RECYCLE: DO ANOTHER MARK -- LIKE REJECT.
+R56B TC BANKCALL
+ CADR R53C1
+VB53 VN 05300 # ALTERNATE MARK VERB
+V06N94B VN 00694
+ SETLOC P50S
+ BANK
+
+PLANET STORE TSIGHT
+ STQ CALL
+ QMIN
+ LOCSAM
+ VLOAD
+# Page 783
+ VEARTH
+ STOVL 0D
+ VSUN
+ STOVL VEARTH
+ 0D
+ STORE VSUN
+NOSAM EXIT
+ CS HIGH9
+ MASK STARCODE
+ EXTEND
+ MP SIGHTSIX
+ XCH L
+ INDEX STARIND
+ TS BESTI
+ CCS A
+ TCF NOTPLAN
+ CAF VNPLANV
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC +2
+ TC -5
+ TC INTPRET
+ VLOAD VXSC
+ STARSAV3
+ 1/SQR3
+ UNIT GOTO
+ CORPLAN
+NOTPLAN CS A
+ AD DEC227
+ EXTEND
+ BZMF CALSAM1
+ INDEX STARIND
+ CA BESTI
+ INDEX FIXLOC
+ TS X1
+ TC INTPRET
+ VLOAD* GOTO
+ CATLOG,1
+ CORPLAN
+CALSAM1 TC INTPRET
+ LXC,1 DLOAD*
+ STARIND
+ BESTI,1
+ LXC,1 VLOAD*
+ MPAC
+ STARAD -228D,1
+CORPLAN VAD UNIT
+ VEL/C
+ GOTO
+# Page 784
+ QMIN
+DEC227 DEC 227
+VNPLANV VN 0688
+1/SQR3 2DEC .57735021
+
+
diff --git a/P61-P67.s b/P61-P67.s
new file mode 100644
index 0000000..ced25b3
--- /dev/null
+++ b/P61-P67.s
@@ -0,0 +1,1226 @@
+# Copyright: Public domain.
+# Filename: P61-P67.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 789-818
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
+# name and Comanche 055 page images.
+# 2009-05-20 RSB Corrections: V06N68 -> V06N74, added missing
+# definition of V06N74, in several
+# interpreter operands fixed stuff like
+# N-M,1 to N -M,1
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 789
+# PROGRAM: P61
+# MOD NO.: 0 MAR. 13, 1967
+# MOD BY: R. HIRSCHKOP
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES
+# MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 DELETE CMSM MANEUVER (PCR 50)
+# FUNCTION: TO CALCULATE AND DISPLAY EMS INITIALIZATION DATA
+# CALLING SEQUENCE: BY V37
+# EXIT: TO P62
+# SUBROUTINE CALLS: S61.1, S61.3, GOFLASH, FLAGUP, R02BOTH
+# ERASABLE INITIALIZATION:
+# EMSALT (-29) M .05G ALTITUDE ABOVE FISCHER ELLIPSOID PAD LOADED.
+# ALFAPAD /180 HYPERSONIC CM TRIM ANGLE OF ATTACK PAD LOADED
+# OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
+# GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
+# VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
+# GAMMAEI (GAMMA/360 PREDICTED GAMMA AT 400K FT
+# RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED
+# VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED
+# TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED
+# LAT(SPL) /360 TARGET LOCATION LEFT BY DSKY
+# LNG(SPL) /360 TARGET LOCATION LEFT BY DSKY
+# HEADSUP (0) +1 = LIFT DOWN, -1 = LIFT UP LEFT BY DSKY
+# DEBRIS: SEE SUBROUTINES.
+
+ BANK 26
+ SETLOC P60S
+ BANK
+
+ EBANK= AOG
+
+ COUNT* $$/P61
+
+P61 CA BIT14 # EXTENDED VERB SHOULD BE FREE THIS CLOSE
+ TS EXTVBACT # TO V37
+ # LOCK OUT EXTENDED VERBS SO CAN USE TFF
+ # ROUTINES. EXT VERB ERASE IS USED
+
+ CS ONE # REMOVE IF HEADSUP EVER ON UPLINK DATA
+ TS HEADSUP # PRELOAD
+
+ TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION
+ # RV 50GENRET. DOES PHASCHNG, GROUP 4.
+
+ CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
+ # XXX.XX DEG XXX.XX DEG XXXXX.
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H
+# Page 790
+ TC P61.4
+ TC -5
+
+P61.3 TC PHASCHNG
+ OCT 00014
+
+ TC ENDOFJOB
+
+P61.4 ZL
+ CCS HEADSUP # C(HEADSUP)= +1/-1
+ CA BIT14 # IF HEADSUP POS,ROLLC =180 DEG.(LIFT DWN)
+ NOOP # IF HEADSUP NEG,ROLLC =0 (LIFT UP)
+ DXCH ROLLC # ROLLC IS USED BY S62.3: GIM ANG AT .05G
+
+ TC INTPRET
+NEWRNVN DLOAD
+ PIPTIME # SAVE TIME OF RN,VN TO DETERMINE IF AN
+ STCALL MM # UPDATE HAS OCCURRED.
+ STARTEN1 # INITIALIZE
+ VLOAD
+ RN
+ STORE RONE
+ UNIT
+ STOVL URONE
+ VN
+ STORE VONE
+ VXV UNIT
+ URONE
+ STORE UNI
+DUMPP61 DLOAD DSU
+ MM # INITIAL VALUE OF PIPTIME
+ PIPTIME
+ BMN CALRB
+ NEWRNVN # UPDATED... GO TRY AGAIN
+ S61.2 # GET DISPLAY DATA FOR N60 AND N63
+ # AND RETURN IN BASIC, BELOW.
+P61.1 TC CLEARMRK
+ CA V06N60 # GMAX VPRED GAMMAEI
+ # XXX.XX G XXXXX. FPS XXX.XX DEG
+ TC BANKCALL
+ CADR GOFLASH
+
+ TC GOTOP00H
+ TC P61.2 # PROCEED
+ TC -5
+
+P61.2 TC INTPRET # CORRECT TTE FOR TIME LAPSE DURING
+ # ABOVE DISPLAY.
+ RTB DSU
+ LOADTIME # CURRENT TIME.
+# Page 791
+ MM # PIPTIME FOR RONE & VONE.
+ DAD
+ TTE1 # NEGATIVE OF FREE FALL TIME.
+ STORE TTE # DECREMENTED
+
+ EXIT
+
+ CA V06N63 # RTGO VIO TTE
+ # XXXX.X NM XXXXX. FPS XXBXX M,S
+ TC BANKCALL
+ CADR GOFLASH
+ TC GOTOP00H
+ TC +2
+ TC P61.2 # REDO
+
+# .... THEN FALL INTO P62
+# Page 792
+
+# PROGRAM: P62
+# MOD NO.: 0 MAR. 13, 1967
+# MOD BY: R. HIRSCHKOP
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
+# MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES.
+# MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 MOVE START OF DESIRED GIMBAL CALC.
+# FUNCTION: 1) TO NOTIFY CREW WHEN GNC SYSTEM IS PREPARED FOR CM/SM SEPARATION.
+# 2) TO ORIENT THE CM TO THE CORRECT ATTITUDE FOR ATMOSPHERIC ENTRY.
+# CALLING SEQUENCE: BY V37 OR DIRECTLY FROM P61
+# EXIT: TO P63
+# ERASABLE INITIALIZATION:
+# ALFAPAD LEFT BY PAD LOAD
+# LADPAD LEFT BY PAD LOAD
+# LODPAD LEFT BY PAD LOAD
+# LAT(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
+# LNG(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
+# HEADSUP (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61
+# SUBROUTINE CALLS: NEWMODEX, S61.1, CM/DAPIC, CM/DAPON, R02BOTH, GOPERF1, GOFLASH, GODSPR.
+
+ COUNT* $$/P62
+
+ TC NEWMODEX # MODE CHANGE IF CAME FROM P61.
+ MM 62 # MODE CHANGE AUTOMATIC VIA V 37.
+ CA ONE
+ TS DNLSTCOD
+
+P62 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION.
+
+ TC INTPRET
+ SSP RTB
+ POSEXIT
+ P62.3 # CALCULATE DESIRED .05G GIMBAL ANGLES.
+ # WITHOUT DISPLAY.
+ CM/DAPIC # START CM/POSE AND BODY RATE CALC
+
+ # DOES 2PHSCHNG, OCT 40116, OCT 05024, OCT 13000.
+ # CM/DAPIC SETS EBANK = EBAOG
+ # AND RETURNS IN BASIC TO P62.2.
+P62.2 EXTEND
+ DCA POSECADR # CONTINUE WITH CM/POSE AFTER AV G.
+ DXCH AVEGEXIT
+
+ CAF OCT41 # REQUEST SEPARATION
+ TC BANKCALL
+ CADR GOPERF1R
+ TC GOTOP00H
+ TC +3 # PROCEED
+# Page 793
+ # NOTE: NODOFLAG WILL BE SET IN CM/DAPON. ***
+ TC -5 # ENTER
+ TC P61.3 # FOR PHASCHNG AND ENDOFJOB
+
+ +3 TC POSTJUMP
+ CADR CM/DAPON # DISABLE RCS DAP, ENABLE ENTRY DAP AND
+ # DO ATTITUDE HOLD.
+
+ # WILL IDLE UNTIL CM/POSE DOES ONE UPDATE.
+ # CM/DAPON DOES NO PHASCHNG.
+
+P62.1 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP
+ # XXX.XX DEG XXX.XX DEG 0000X.
+
+ # TERMINATE ATTITUDE HOLD. SET UP COMMANDS:
+ # ROLLC, ALFACOM, BETACOM. BEGIN MANEUVER TO
+ # ENTRY ATTITUDE.
+
+ TC BANKCALL
+ CADR GOFLASH
+ TC -3
+ TC +2
+ TC -5
+
+ TC PHASCHNG
+ OCT 04024 # USE ENTRYVN FOR DISPLAY BELOW.
+ # EBANK WAS SET IN CM/DAPON TO EBAOG
+
+ CCS HEADSUP # C(HEADSUP) = +/- 1
+ CA BIT14 # IF HEADSUP POS, ROLLC=180 DEG (LIFT DWN)
+ NOOP # IF HEADSUP NEG, ROLLC=0 DEG (LIFT UP)
+ TS ROLLC
+ CA ALFAPAD # NOMINAL ALFATRIM PAD LOADED, NEG. NO.
+ ZL
+ DXCH ALFACOM # SET ALFACOM = ALFA TRIM, BETACOM=0
+
+ CA ONE # PERMITS EXDAP2 TO CHANGE FLAG TO +0
+ TS P63FLAG # AS INDICATOR. STARTS UP P63.
+
+ CA V06N22 # SET UP DISPLAY FOR CDU DESIRED VALUES
+ TS ENTRYVN # FROM ENTRY ATTITUDE CALC, THAT IS
+ # ALREADY GOING.
+ TC UPFLAG # TURN ON ENTRY DISPLAY
+ ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
+SKIP
+# Page 794
+ CS CMDAPMOD # GO DIRECTLY TO P63 IF BODY ATTITUDE
+ MASK ONE # IS SUCH THAT THE DELAY TASK: WAKEP62
+ EXTEND # WILL BE OMITTED.
+ BZF P63.1 # DISABLE GRP 4, GO TO ENDOFJOB.
+ # (I.E., CONTINUE IF CMDAPMOD = -1, OR +0)
+ TC P63
+
+ # PUT JOB TO SLEEP UNTIL VEHICLE MANEUVER HAS
+ # REDUCED ALFA TO +/-45 DEG. CONSIDER REMAINING
+ # 65 DEG (25 DEG IF ALFA NEG) TO ALFA TRIM TO
+ # OCCUR AT 3 DEG/SEC, AND TERMINATE P62 AT THAT
+ # TIME.
+
+ # TASK WAKEP62 IS CALLED FROM ENTRY DAP.
+WAKEP62 CA PRIO13
+ TC NOVAC
+ EBANK= AOG
+ 2CADR P63
+
+ TC TASKOVER
+
+ # EACH 2 SEC, CALCULATE GIMBAL ANGLES FOR ENTRY CON-
+ # DITIONS THAT WILL HOLD IF REORIENTATION WERE MADE
+ # AT PRESENT RN, VN. COME HERE FROM CM/POSE AND ALSO
+ # IN KEPLER PHASE OF ENTRY.
+
+P62.3 SSP GOTO # SET RETURN ADDRESS SO THAT ROUTINE
+ QPRET # GOES DIRECTLY TO ENTRY GUIDANCE EXIT
+ ENDEXIT # THAT DOES ENTRY DISPLAY, GRP 5.
+ S62.3 # PUT DESIRED CDU VALUES IN CPHI'S FOR
+ # N22 DISPLAY.
+
+# Page 795
+# P63
+# PROGRAM: P63
+# MOD NO: 0 MAR. 13, 1967
+# MOD BY: R. HIRSCHKOP
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 JUL 67 REVISED RESTARTS
+# FUNCTION: 1) TO INITIALIZE THE ENTRY EQUATIONS.
+# 2) TO CONTINUE TO HOLD THE CM TO THE CORRECT ATTITUDE WITH RESPECT TO THE ATMOSPHERE FOR
+# THE ONSET OF ENTRY DECELERATION. ROLL ANGLE IS LIFT UP/DOWN AS SPECIFIED BY HEADSUP.
+# 3) TO SENSE .05G.
+# CALLING SEQUENCE: DIRECTLY FROM P62
+# EXIT: TO ENDOFJOB
+# SUBROUTINE CALLS: NEWMODEX, GODSPR
+
+ COUNT* $$/P63
+
+P63 TC NEWMODEX
+ MM 63
+
+ # ARRIVE WITH EBANK = AOG.
+
+ CA ENTCADR # CONTINUE AT STARTENT AFTER CM/POSE.
+
+ # AT END OF STATEMENT, CHANGE ADDRESS IN GOTOADDR
+ # TO CONTINUE AT SCALEPOP THEREAFTER.
+
+ TS POSEXIT
+
+ CA V06N64 # G VI R TO SPLSH
+ # XXX.XX G XXXX. FPS XXXX.X NM
+ TS ENTRYVN # FOR DISPLAY CALL IN OVERNOUT
+
+ CS ONE # IN CASE FLAG IS LEFT AT +1 BY DAP. THE
+ TS P63FLAG # -1 ASSURES THAT EXO-ATM DAP WILL NOT
+ # CALL P63 OUT OF SEQUENCE IN P66.
+
+ TC PHASCHNG # THIS IS REQUIRED TO PRESERVE CLEANDSP
+ OCT 00004 # RETURN IN EVENT OF AN EXTENDED VERB
+
+ TC BANKCALL # FLUSH 'N22' DISPLAY, IF ON, (OMIT
+ CADR CLEANDSP # DISPLAY DURING 'STARTENT' PASS.)
+
+P63.1 TC PHASCHNG
+ OCT 00004 # DISABLE. DISPLAY RESTARTED VIA ENTRY.
+
+ TC ENDOFJOB
+
+V06N60 VN 0660
+V06N61 VN 0661
+V06N63 VN 0663
+# Page 796
+V06N64 VN 0664
+ENTCADR CADR STARTENT
+
+ EBANK= RTINIT # TO CARRY OVER INTO ENTRY STEERING.
+POSECADR 2CADR CM/POSE
+
+# Page 797
+# PROGRAM: P64
+# MOD NO: 1 SEPT. 19, 1967
+# MOD BY: R. HIRSCHKOP
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 REVISED COMMENTS FOR COLOSSUS
+# FUNCTION: 1. TO START ENTRY GUIDANCE AT .05G SELECTING ROLL ATTITUDE, CONSTANT DRAG LEVEL, AND
+# DRAG THRESHHOLD, KA, WHICH ARE KEYED TO THE .05G POINT.
+# 2. SELECT FINAL PHASE P67 IF V < 27000 FPS WHEN .2G OCCURS.
+# 3. ITERATE FOR UP-CONTROL SOLUTION P65 IF V > 27000 FPS AND IF ALTITUDE RATE AND DRAG
+# LEVEL CONDITIONS ARE SATISFIED. ENTER P65 WHEN CONSTANT DRAG CONTROLLER HAS BROUGHT RANGE
+# AS PREDICTED TO WITHIN 25 NM OF DESIRED RANGE.
+# 4. SELECT FINAL PHASE P67 IF NO UP-CONTROL SOLUTION EXISTS WITH VL > 18000 FPS.
+# CALLING SEQUENCE: BY RTB FROM REENTRY CONTROL
+# EXIT: BACK TO REENTRY CONTROL.
+# SUBROUTINE CALLS: NEWMODEX
+
+ BANK 25
+ SETLOC P60S1
+ BANK
+
+# THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
+
+ COUNT* $$/P64
+
+P64 TC NEWMODEX # ENTER VIA RTB WHEN .05G IS EXCEEDED.
+ MM 64
+ CA V06N74 # ROLLC VI D
+ # XXX.XX DEG XXXXX. FPS XXX.XX G
+ TS ENTRYVN # DISPLAY VIA OVERNOUT.
+
+ TC DANZIG # ... AND CONTINUE IN INITROLL ...
+
+V06N74 VN 0674
+
+# Page 798
+# PROGRAM: P65
+# MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITION.
+# FUNCTION: TO CONTINUE ENTRY GUIDANCE, USING THE UP-CONTROL PHASE TO STEER TO A CONTROLLED EXIT
+# CONDITION. THIS PHASE TERMINATES A) IF D < Q7 FPSS, GOTO TO P66.
+# B) IF RDOT NEG, AND IF V < VL +500 FPS, GO TO P67.
+# CALLING SEQUENCE: BY RTB FROM REENTRY CONTROL
+# EXIT: BACK TO REENTRY CONTROL, OR TO ENDOFJOB.
+# SUBROUTINE CALLS: NEWMODEX
+
+ COUNT* $$/P65
+
+P65 TC NEWMODEX # ENTER VIA RTB WHEN RANGE < 25 N M OF
+ MM 65 # TARGET.
+
+ CA PRIO13
+ TC NOVAC
+ EBANK= ENTRYVN
+ 2CADR P65.1
+
+ TC 2PHSCHNG # 2 PHASE CHG REQUIRED TO PREVENT RE-
+ OCT 00554 # STARTING FLASHING DISPLAY TWICE.
+ OCT 10035 # 4.55 SPOT AND SERVICER, HERE.
+ TC INTPRET
+ SSP RTB
+ GOTOADDR # CHANGE ENTRY MODE TO UPCONTRL.
+ UPCONTRL
+ REFAZE10 # GO HERE TO REESTABLISH ENTRY SEQUENCER.
+ # AND CONTINUE AT UPCONTRL...
+
+P65.1 TC DOWNFLAG
+ ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
+
+ CA V16N69 # ROLLC DL (Q7) VL
+ TC BANKCALL # XXX.XX DEG XXX.XX G XXXXX. FPS
+ CADR GOFLASHR
+ TC -3 # NODOFLAG IS SET ...
+ TC +3
+ TC -5
+ TC P61.3 # EST. GRP 4 FOR DISPLAY AND DO ENDOFJOB
+ # IF PROCEED, CONTINUE
+ TC UPFLAG
+ ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6
+
+ TC P63.1 # DISABLE GRP 4, START UP ENTRY DISPLAY
+ # N06V68 VIA OVERNOUT, AS USED IN P64
+V16N69 VN 1669
+
+# Page 799
+# PROGRAM: P66
+# MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITIONS
+# FUNCTION: KEEP CM ATTITUDE IN TRIM TO THE RELATIVE VELOCITY VECTOR. ENTRY GUIDANCE STOPS GENERATING
+# ROLL COMMANDS UNTIL DRAG BUILDS UP TO Q7+0.5 FPSS.
+# CALLING SEQUENCE: VIA RTB FROM REENTRY CONTROL.
+# EXIT: BACK TO REENTRY CONTROL.
+# SUBROUTINE CALLS: NEWMODEX
+
+ COUNT* $$/P66
+
+P66 TC NEWMODEX # ENTER VIA RTB WHEN D < Q7 FPSS
+ MM 66
+
+ CA V06N22 # OGA IGA MGA
+ # XXX.XX DEG XXX.XX DEG XXX.XX DEG
+ TC P66END # IN CASE CAME FROM P65, GO TO DISABLE GRP 4,
+ # AND SET ENTRYDSP TO DO DISPLAY VIA
+ # OVERNOUT.
+
+ # ... AND CONTINUE AT KEP2
+
+# Page 800
+# PROGRAM: P67
+# MOD NO: 0 MAR. 16, 1967
+# MOD BY: R. HIRSCHKOP
+# FUNCTION: TO TERMINATE STEERING WHEN THE CM VELOCITY WRT EARTH = 1000 FT/SEC
+# CALLING SEQUENCE:
+# EXIT: TO P00H
+# SUBROUTINE CALLS: GOFLASH
+
+# THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING.
+
+ COUNT* $$/P67
+
+P67 TC NEWMODEX # ENTER VIA RTB
+ MM 67
+ CA V06N66 # ROLLC XRNGERR DNRNGERR
+ # XXX.XX DEG XXXX.X NM XXXX.X NM
+P66END TS ENTRYVN # DISPLAY VIA OVERNOUT.
+
+ TC UPFLAG # (IN CASE CAME FROM P65. ENTRY DISPLAY
+ ADRES ENTRYDSP # WILL FLUSH FLASHING DISP. IF STILL ON)
+ # BIT 13 FLAG 6
+KILLGRP4 TC PHASCHNG # DISABLE GRP4, IN CASE CAME FROM HUNTEST.
+ OCT 00004 # (COME TO KILLGRP4 VIA RTB, RET TO CALLER)
+
+ TC DANZIG # ... AND CONTINUE AT PREDICT3 ...
+
+V06N66 VN 0666
+
+ BANK 26
+ SETLOC P60S2
+ BANK
+
+P67.1 CA V16N67 # RTOGO LAT LONG
+ # XXXX.X NM XXX.XX DEG XXX.XX DEG
+ TC BANKCALL
+ CADR GOFLASH
+ TC +3 # EFFECTIVE GOTOP00H
+ TC +2
+ TC P67.1 # REDO
+
+ CS THREE # TURN OFF ENTRY DAP
+ INHINT
+ MASK CM/FLAGS # CM/DSTBY, GAMDIFSW
+ TS CM/FLAGS
+ RELINT
+ EXTEND
+ DCA SERVCAD2
+
+# Page 801
+ DXCH AVEGEXIT
+
+ TCF GOTOP00H
+
+# Page 802
+P67.2 VLOAD CLEAR # CALC PRESENT LAT, LONG, ALT.
+ RN
+ ERADFLAG # USE PAD RAD FOR ALT. (NOT SEEN ANYWAY)
+ STODL ALPHAV
+ PIPTIME # USE TIME OF RN
+ CLEAR CALL
+ LUNAFLAG
+ LAT-LONG
+P67.3 RTB # ENTRY EXIT THAT OMITS DISPLAY.
+ SERVNOUT
+
+V16N67 VN 1667
+OCT41 = 33DEC
+SERVCAD2 = SERVCAD1
+
+# Page 803
+# SUBROUTINE NAME: S61.1
+# MOD NO: 0 DATE: 21 FEB 67
+# MOD BY: RR BAIRNSFATHER LOG SECTION: P61-P67
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS.
+#
+# FUNCTIONAL DESCRIPTION: CALLED BY BOTH P61 AND P62
+# FIRST, TEST TO SEE IF AVERAGEG IS ON. IF NOT, UPDATE THE STATE VECTOR TO PRESENT TIME + TOLERANCE
+# AND TURN ON AVERAGEG AT THAT TIME, AND CONTINUE. OTHERWISE CONTINUE: SEE IF IMU Y AXIS IS
+# WITHIN 30 DEG OF VAR. IF YES, EXIT SUBROUTINE S61.1. IF SO, SEE IF -Y AXIS OF IMU IS WITHIN
+# 30 DEG OF VAR. IF YES, DISPLAY ALARM: 01427 IMU REVERSED.
+# IF NO, DISPLAY ALARM: 01426 IMU UNSATISFACTORY.
+# IN EITHER OF THESE LAST 2 CASES, WAIT 10 SEC AND THEN EXIT SUBROUTINE S61.1.
+#
+# REMARK: THERE WILL BE A SHORT 10 SEC DELAY IF AN ALARM EXIT IS TAKEN. THE DELAY FOR INTEGRATION IS
+# AS SHORT AS CAN BE MADE, BUT IS ARBITRARY SINCE IT DEPENDS ON THE AGE OF THE STATE VECTOR.
+#
+# CALLING SEQUENCE: CALL
+# S61.1
+#
+# C(MPAC) UNSPECIFIED
+# PUSHLOC UNSPECIFIED
+#
+# SUBROUTINES CALLED: LOADTIME, CSMPREC, TPAGTREE,
+# WAITLIST, JOBSLEEP, JOBWAKE, PREREAD, ALARM, GODSPR, BANKCALL, DELAYJOB
+#
+# NORMAL EXIT MODES: RVQ
+#
+# ALARMS: 01426 IMU UNSATISFACTORY
+# 01427 IMU REVERSED
+#
+# OUTPUT: POSSIBLE ALARMS
+# POSSIBLY TDEC1, RATT, VATT, RN, VN
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# AVEGFLAG AVERAGEG ON OR OFF LEFT BY SERVICER
+# PIPTIME (-28) CS TIME OF PIPA UPDATE LEFT BY READACCS
+# RN (-29) M STATE VECTOR LEFT BY AVERAGEG
+# VN (-7) M/CS STATE VECTOR LEFT BY AVERAGEG
+# REFSMMAT (-1) .5 REF TO SM MATRIX LEFT BY LAST IMU ALIGNMENT
+#
+# DEBRIS: QPRET
+# POSSIBLY PIPTIME1, RATT, VATT, TDEC1, RN1, VN1, QTEMP, X1 IF UPDATED
+# PUSH LIST LOCS USED BY CSMPREC
+
+ EBANK= AOG # FOR 60GENRET, S61DT
+ BANK 26
+ SETLOC P60S3
+ BANK
+
+ COUNT* $$/S61.1
+
+S61.1 EXTEND
+ QXCH 60GENRET # SAVE RET ADDR IN EB 6
+ TC BANKCALL
+ CADR R02BOTH
+ TC INTPRET
+# Page 804
+ BON CALRB
+ AVEGFLAG # IS AVERAGEG ON
+ S61.1A # YES
+ MIDTOAV2 # GET FUTURE STATE VECTOR SOON AS CAN
+
+ CA MPAC +1 # RETURN INHINTED ***
+ TS S61DT # FOR RESTART.
+ TC WAITLIST
+ EBANK= DVCNTR
+ 2CADR S61.1C
+
+ TC PHASCHNG
+ OCT 40434
+ TC ENDOFJOB
+
+S61.1C CA PRIO13
+ TC FINDVAC
+ EBANK= AOG
+ 2CADR S61.1A -1
+
+ EXTEND
+ DCA SERVCAD1 # HE WHO START AVERAGEG MUST SERVICE
+ DXCH AVEGEXIT # THE EXIT.
+
+ TC 2PHSCHNG
+ OCT 00454
+ OCT 00415
+
+ CA EBENTRY # SET EB= 7 FOR PREREAD.
+ TS EBANK
+
+ TC POSTJUMP
+ CADR PREREAD # PREREAD DOES TC TASKOVER.
+
+ TC INTPRET
+S61.1A BOVB VLOAD
+ TCDANZIG # TURN OFF OVFIND, IF ON
+ VN # VN (-7) M/CS
+ VXV MXV
+ RN # RN (-29) M
+ REFSMMAT # .5 UNIT MATRIX
+ UNIT DLOAD
+ MPAC +3 # GET COS(THETA)/2
+ BMN DAD
+ S61.1B # DO TEST ON -YSM
+ C(30)LIM # = 1.0 -.5 COS(30)
+ BOVB RTB
+ RETRN1
+ RETRN3
+# Page 805
+S61.1B DCOMP DAD
+ C(30)LIM # = 1.0 - .5 COS(30)
+ BOVB EXIT
+ RETRN2
+
+RETRN3 TC ALARM
+ OCT 01426 # IMU UNSATISFACTORY
+ TC RETRN2 +2
+
+RETRN2 TC ALARM
+ OCT 01427 # IMU REVERSED
+
+ +2 CAF V05N09
+ TC BANKCALL
+ CADR GODSPR # DO DISPLAY
+ CA 10SECS
+ TC BANKCALL
+ CADR DELAYJOB
+
+RETRN1 TC 60GENRET
+
+ EBANK= DVCNTR
+SERVCAD1 2CADR SERVEXIT
+
+C(30)LIM 2DEC .566985 # = 1.0 - .5 COS(30)
+
+10SECS DEC 1000 # 1000 CS
+60SECDP 2DEC 6000 B-28 # 6000 CS
+
+# Page 806
+# PROGRAM NAME: S61.2 DATE: 14 FEB 67
+# MOD NO: 1 LOG SECTION: P61-P67
+# MOD BY: NORTH / BAIRNSFATHER
+# MOD NO: 2 MOD BY: NORTH/BAIRNSFATHER DATE: 11 MAY 67 ADD 2ND ITER FOR ERAD AT 400K FT.
+# MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
+# MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 DIFFERENT EARTH/MOON SCALES IN TFF'S
+#
+# FUNCTIONAL DESCRIPTION: CALLED IN P61. PROVIDES DISPLAYS FOR NOUNS N60 AND N63 .
+# PROGRAM CALCULATES ENTRY DISPLAY OF MAXIMUM ACCELERATION EXPECTED (GMAX) AND ALSO THE EXPECTED
+# INERTIAL VELOCITY (VPRED) AND ENTRY ANGLE (GAMMAEI) THAT WILL OBTAIN AT 400K FT ABOVE THE FISCHER
+# ELLIPSOID. PROGRAM ALSO CALCULATES A SECOND DISPLAY RELATIVE TO THE EMSALT ABOVE FISCHER ELLIPSOID
+# AND CONSISTS OF RANGE TO SPLASH FOM NOW (RTGO) , PREDICTED INERTIAL VELOCITY (VIO) , AND THE TIME TO
+# GO FROM NOW (TTE) .
+#
+# CALLING SEQUENCE: CALL
+# S61.2
+# C(MPAC) UNSPECIFIED
+# PUSHLOC WILL BE SET TO ZERO.
+#
+# SUBROUTINES CALLED: TFFCONIC, CALCTFF, TFF/TRIG, FISHCALC, GETERAD, VGAMCALC
+#
+# NORMAL EXIT MODES: RTB, P61.1
+#
+# ALARMS: NONE
+#
+# OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS
+# GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION
+# VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT
+# GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT
+# FOR TM, DP(GAMMAEI) = (GAMMAEI, RTGO) / 360
+# RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED.
+# VIO (-7) M/CS INTERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED.
+# TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED.
+# PUSHLOC = 0
+# CONIC PARAMETERS STORED IN VAC AREA (SEE TFF SUBROUTINES)
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# RONE (-29) M STATE VECTOR LEFT BY USER
+# VONE (-7) M/CS STATE VECTOR LEFT BY USER
+# URONE UR/2 LEFT BY USER
+# UNI (-1) UNIT NORMAL V*R LEFT BY ENTRY / P61
+# THETAH THETAH/360 RANGE ANGLE LEFT BY ENTRY / P61
+# UNITW (0) UNIT POLAR VECTOR LEFT BY PAD LOAD
+# EMSALT (-29) M EMS INTERFACE ALTITUDE LEFT BY PAD LOAD
+# ORBITAL REENTRY: 284843 FT., LUNAR REENTRY: 297431 FT.
+#
+# DEBRIS: QPRET,
+# ALL PDL LOCATIONS ABOVE 12D, INCLUDING X1,X2,S1,S2
+# ALSO PDL+0 ... PDL+5, WHERE INITIAL PUSHLOC = PDL
+
+# Page 807
+# THE FOLLOWING PUSH LIST LOCATIONS HAVE BEEN RESERVED FOR TFF ROUTINES AND ARE REPEATED HERE FOR CONVENIENCE.
+# OF COURSE FOR S61.2 USAGE, EARTH ORIGIN SCALING IS USED.
+#
+# BELOW E: IS USED FOR EARTH ORIGIN SCALE
+# M: IS USED FOR MOON ORIGIN SCALE
+#
+# RTERM = 18D TERMINAL RADIUS M E: (-29) M: (-27)
+# NRTERM = 16D TERMINAL RADIUS M E: (-29+NR)
+# M: (-27+NR)
+# RMAG1 = 12D PRESENT RADIUS M E: (-29) M: (-27)
+# NRMAG = 32D PRESENT RADIUS M E: (-29+NR)
+# M: (-27+NR)
+# SDELF/2 SIN(THETA) / 2
+# CDELF/2 = 14D COS(THETA) / 2
+# TFFX = 34D X, ARGUMENT OF SERIES T(X)
+# TFFTEM = 36D ARG FOR TRANSFER ANGLE CALCULATION
+# TFFNP = 28D LC P M E: (-38+2NR) M: (-36+2NR)
+# TFF/RTMU= 30D 1/SQRT(MU) E: (17) M: (14)
+# TFFVSQ = 20D -(VN.VN/MU) 1/M E: (20) M: (18)
+
+# Page 808
+ BANK 34
+ SETLOC P60S2
+ BANK
+
+ COUNT* $$/S61.2
+ # PDL LEFT AT ZERO BY TARGETING
+
+S61.2 DLOAD DSU
+ EMSALT
+ 290KFT
+ BPL DLOAD
+ LUNENT
+ 1/RTMU # ESTABLISH MU FOR ORBITAL ENTRIES
+CALLCON CALL
+ TFFCONIC # FILL VAC AREA WITH CONIC PARAMETERS
+
+ DLOAD CALL
+ RTRIAL # 1ST GUESS AT TERMINAL RADIUS (-29)
+ CALCTFF # SAVES MPAC IN RTERM (18D)
+
+ CALL # CALC SDELF/2, CDELF/2
+ TFF/TRIG # RETURN WITH S(THETA) IN MPAC
+
+ CALL # GET FISCHER RADIUS (-29) M
+ FISHCALC # ANS IN MPAC AND IN ERADM
+
+ DAD CALL
+ EMSALT
+ CALCTFF # SAVES MPAC IN RTERM (18D)
+
+ DCOMP # NEGATIVE AS IN COUNTDOWN
+ STORE TTE1 # DECR TTE FROM BASB TTE1. (RESTART)
+ # DNLIST AND DSKY WILL USE TTE.
+ STCALL TTE # LET MISS CONTRL DECR BY ELAPSED TIME
+ # TTE= TIME FROM NOW TO EMSALT +FISCHER
+
+ TFF/TRIG # S(THETA) IN MPAC ON RETURNING
+ # AND THETA= RANGE FROM NOW TO EMSALT
+
+ CALL
+ FISHCALC
+ CALL
+ VRCALC
+ CALL
+ DISPTARG
+ CALL
+ DISPTARG
+ STCALL RTGO
+# Page 809
+ VGAMCALC
+
+ DMP # MPAC = GAMMA
+ # PDL0 HAS VGAM.
+ BDDV DAD
+ VEMSCON # -HS D 180/PI (-14)
+ 0 # VGAM FROM PDL0
+ STODL VIO # PREDICTED VELOCITY AT EMSALT.
+
+ # GAMMA AND VGAM AT 300K FT ARE REQUIRED BY GMAX
+ # ALGORITHM.
+
+ ERADM # EARTH RADIUS FROM GETERAD (-29) M
+ # = FISCHER RADIUS (-29)
+
+ DAD
+ 300KFT # M (-29)
+ STCALL RTERM # TERMINAL RADIUS M (-29)
+
+ PREVGAM # VGAMCALC WITH NEW RTERM
+
+ # VBAR = (V(FPS) - 36KF/S) / 20 F/S
+# GMAX = (4/(1 + 4.8 VBARSQ))(GAM - 6.05 - 2.4 VBARSQ) - 10(L/D - .3) + 10 ASSUME L/D = 0.3, BANK =0.
+
+# GMAXCALC
+ PDDL DSU # GAM TO PDL2
+ 0 # VGAM IS IN PDL0 (-7)
+ 36KFT/S # (-7) M/CS
+ DDV DSQ
+ 20KFT/S # (-6) M/CS
+ STORE 0 # VBARSQ (-2) TO PDL0
+
+ DMP DAD
+ KR1
+ # GAM, POS DOWN, FROM PDL2
+ DAD DMP
+ -6.05DEG
+ KR2
+ PDDL # XCH PDL+0 FOR VBARSQ (-2)
+ DDV DAD
+ KR4
+ DP2(-4)
+ BDDV
+ # NUM FROM PDL+0
+ DAD BPL
+ KR3
+ +3
+ DLOAD
+ HI6ZEROS
+ STODL GMAX # 100 GMAX (-14)
+# Page 810
+# DISPLAY USES GMAX AS SP, SO LO WORD IS WRITTEN OVER BY VPRED.
+ ERADM # = FISCHER RADIUS (-29) M
+ DAD CALL # 2 ND ITERATION FOR FISCHER RADIUS
+ 400KFT
+ CALCTFF # ESTABLISH TRANSFER ANGLE DATA.
+ CALL
+ TFF/TRIG # GET SIN, COS DELF
+ CALL
+ FISHCALC # GET CORRESPONDING FISCHER RADIUS.
+
+ DAD LXA,2 # SAVE HI-WORD FOR DOWNLIST.
+ 400KFT # M (-29)
+ RTGO # (RANGE ANGLE FROM EMSALT) / 360
+ STCALL RTERM
+ PREVGAM # VGAMCALC WITH NEW RTERM
+
+ DCOMP SXA,2 # HI-WORD OF EACH ON DOWNLIST.
+ MPAC +1
+ STODL GAMMAEI # CONIC GAMMA/360 AT 400K FT. (HI-WORD)
+ # CONIC RTGO/360 FROM EMSALT (LOW-WORD)
+ # FOR TM, DP(GAMMAEI) = (GAMMA, RTGO) / 360
+
+ # VGAM FROM PDL+0 (-7)
+ STADR
+ STORE VPRED # CONIC VELOCITY AT 400K FT
+
+ RTB
+ P61.1
+ # PDL BACK TO ZERO.
+
+LUNENT DLOAD GOTO
+ 1/RTMUE # ESTABLISH MU FOR LUNAR TYPE ENTRIES
+ CALLCON
+290KFT 2DEC 88392.0 B-29
+
+KTETA1 2DEC* .421844723 E2 B-14* # 110 2PI/16384(163.84)
+
+36KFT/S 2DEC 109.728 B-7 # (-7) M/CS = 36 KFT/S (-7)
+
+20KFT/S 2DEC 121.92 B-7 # (-6) M/CS = 2 20KFT/S (-7)
+
+KR1 2DEC -.026666667 # = -2.4 4 / 360
+
+-6.05DEG 2DEC -.016805556 # = -6.05 / 360
+
+KR2 2DEC .54931641 # = (360/4) 100 (-14) = 9000 B-14
+
+KR3 2DEC 1000 B-14 # = 100 (10.0) (-14) G,S
+# Page 811
+ # ASSUMES L/D = 0.3, BANK =0.
+RTRIAL 2DEC 6460097.18 B-29 # RPAD +264643 FT =21 194 545 FT
+ # RPAD DEFINED AS 20 909 901.57 FT =6 373 336 M
+400KFT 2DEC 121920 B-29 # METERS
+
+# 300KFT 2DEC 91440 B-29 # (-29) M
+
+# EMSALT 2DEC 86759.2 B-29 # 284643 FT (-29) M (ORBITAL REENTRY)
+
+# EMSALT 2DEC 90657 B-29 # 297431 FT (-29) M (LUNAR REENTRY)
+
+KR4 2DEC .833333333
+
+300KFT EQUALS MINPERE
+VEMSCON 2DEC -.0389676 B-14 # = -HS D / 2 PI (-14) M SQ / CS SQ
+
+ # = -16369 .05G 32.2 .3048 .3048/2 PI (-14)
+
+# Page 812
+# SUBROUTINE NAME: FISHCALC (USED BY S61.2) DATE: 01.21.67
+# MOD NO: 0 LOG SECTION: P61-P67
+# MOD BY: MORTH / BAIRNSFATHER
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 MAY 67 INCLUDE GETERAD CALL
+#
+# FUNCTIONAL DESCRIPTION: GIVEN THE PRESENT POSITION, UNITR, CALCULATE A NEW UNITR THAT IS ROTATED THROUGH
+# TRANSFER ANGLE, THETA, ALONG THE TRAJECTORY. THEN CALCULATE SIN(LAT) AND USE TO OBTAIN FISCHER RADIUS.
+# SINCE FISHCALC USED UNI (LEFT BY ENTRY) EARTH SCALING IS ASSUMED. (WILL IMPROVE FOR SUITABLE TENNANT)
+#
+# CALLING SEQUENCE: CALL
+# FISHCALC
+# ENTER WITH .5 SIN(THETA) IN MPAC.
+# PUSHLOC IS AT PDL+0, AN ARBITRARY BASE VALUE IF LEQ 8D
+#
+# SUBROUTINES CALLED: GET ERAD
+#
+# NORMAL EXIT MODE: RVQ
+#
+# EXIT MODES: NONE
+#
+# OUTPUT: ERADM (-29) M IN MPAC ON RETURNING
+# NEW UNIT VECTOR NOT SAVED.
+# SIN(LAT) NOT SAVED.
+# PUSHLOC AT PDL+0
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# SDELF/2 =SIN(THETA) / 2, IN MPAC LEFT BY TFF/TRIG
+# CDELF/2 =COS(THETA) / 2, STORED IN PDL 14D LEFT BY TFF/TRIG
+# RONE (-29) M LEFT BY USER
+# VONE (-7) M/CS LEFT BY USER
+# URONE UR/2 LEFT BY USER
+# UNI .5 UNIT(V*R) LEFT BY ENTRY / P61
+# UNITW UNIT NORTH POLE LEFT BY PAD LOAD
+#
+# DEBRIS: QPRET, PDL+0 ... PDL+5
+ # _ _ _
+FISHCALC PDVL VXV # URPR = UR CDELF + UHOR SDELF
+ URONE
+ UNI
+ VXSC VSL1
+ # SIN(THETA) / 2 FROM PDL+0
+ PDVL VXSC # TO PDL+0, +5
+ URONE
+ CDELF/2 # COS(THETA) / 2
+ VAD STADR
+ STORE URH # FOR USE IN RTGO FROM EMS DISPLAY
+ DOT SL1
+ UNITW # PULL UNIT VECTOR UNIT NORTH
+ STORE ALPHAV +4 # = .5 SIN(LAT)
+DUMPFISH GOTO
+ GETERAD # SAVES FISCHER RAD (-29) M IN ERADM AND
+ # IN MPAC. RETURNS TO CALLER VIO QPRET.
+
+# Page 813
+# SUBROUTINE NAME: VGAMCALC (USED BY S61.2) DATE: 01.21.67
+# MOD NO: 0 LOG SECTION: P61-P67
+# MOD BY: MORTH / BAIRNSFATHER
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED.
+# MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
+#
+# FUNCTONAL DESCRIPTION: EARTH CENTERED VIS VIVA CALCULATION OF TERMINAL VELOCITY AND GAMMA (REL TO
+# HORIZONTAL) GIVEN THE SCALAR QUANTITIES: PRESENT RADIUS AND VELOCITY AND THE TERMINAL RADIUS.
+# THE USER MUST APPEND PROPER SIGN TO GAMMA, SINCE IT IS CALCULATED AS A POSITIVE NUMBER.
+# THE EQUATIONS ARE
+#
+# VGAM = SQRT(VN VN/MU + 2(RN-RTERM)/(RN RTERM) ) RTMU
+#
+# COSGAM = H / RTERM VGAM = SQRT (LCP) / (RTERM VGAM/RTMU)
+#
+# VGAMCALC ASSUMES THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT RADIUS. BOTH CALCTFF AND CALCTPER
+# MAKE THIS ASSUMPTION.
+#
+# CALLING SEQUENCE: CALL STCALL RTERM
+# VGAMCALC PREVGAM
+# PUSHLOC AT PDL+0, ARBITRARY IF LEQ 12D
+# C(MPAC) UNSPECIFIED C(MPAC)=NEW RTERM
+#
+# SUBROUTINES CALLED: NONE
+#
+# NORMAL EXIT MODE: RVQ
+#
+# ALARMS: NONE
+#
+# OUTPUT: GAMMA / 360 IN MPAC, POSITIVE NUMBER
+# VGAM E: (-7) M: (-5) M/CS IN PDL+0
+# PUSHLOC AT PDL+2
+#
+# ERASABLE INITIALIZATION REQD:
+# TFF/RTMU E: (17) M: (14) 1/SQRT(MU) LEFT BY TFFCONIC
+# RMAG1 E: (-29) M: (-27) M PRESENT RADIUS LENGTH LEFT BY TFFCONIC
+# NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
+# M: (-27+NR)
+# RTERM E: (-29) M: (-27) M TERMINAL RADIUS LENGTH LEFT BY CALCTFF
+# NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF
+# M: (-27+NR)
+# TFFVSQ E: (20) M: (18) 1/M -(V SQ/MU): PRESENT VELOCITY, NORM LEFT BY TFFCONIC
+# TFFNP E: (-38+2NR) M LCP, SEMI-LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC
+# M: (-36+2NR)
+#
+# DEBRIS: QPRET, PDL+0 ... PDL+3
+# RTERM, NRTERM IF PREVGAM ENTERED.
+# Page 814
+
+PREVGAM SL* # ENTER WITH NEW RTERM IN MPAC
+ # E: (-29) M: (-27)
+ 0,1 # X1 = -NR
+ STORE NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
+
+VGAMCALC DLOAD DMP
+ NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
+ NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
+ PDDL DSU # RMAG RTERM M E: (-58+2NR) M: (-54+2NR)
+ NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
+ NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
+ SL* DDV # 2(RN-RTERM) E: (-30+NR) M: (-28+NR)
+ 0 -8D,1 # (-8+NR)
+ # PUSH UP PRODUCT.
+ DSU
+ TFFVSQ # -(V SQ/MU) E: (20) M: (18)
+ SQRT PUSH # SAVE VGAM/RT(MU) FOR NOW. E: (10) M: (9)
+ DDV PDDL # XCH PDL+0, LEAVING VGAM FOR OUTPUT.
+ # VGAM TO PDL M/CS E: (-7) M: (-2)
+ TFF/RTMU # E: (17) M: (14)
+ DMP PDDL # RTERM VGAM/RTMU E: (-19+NR) M: (-18+NR)
+ NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
+ TFFNP # LC P =H.H/MU M E: (-38+2NR) M: (-36+2NR)
+ SQRT DDV # E: (-19+NR) M: (-18+NR)
+ # PUSH UP DEN E: (-19+NR) M: (-18+NR)
+ # USE DDV OVFL AS LIMITER (|COS| <1.0)
+ SR1 ACOS
+DUMPVGAM RVQ
+ # CALLER MUST SUPPLY OWN SIGN ...
+ # 22W 27MS
+
+# Page 815
+# SUBROUTINE NAME: TFF/TRIG (USED BY S61.2) DATE: 01.17.67
+# MOD NO: 0 LOG SECTION: P61-P67
+# MOD BY: RR BAIRNSFATHER
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE
+#
+# FUNCTIONAL DESCRIPTION: USED BY ENTRY DISPLAY TO CALCULATE SIN(THETA), COS(THETA) FROM DATA LEFT IN
+# PDL BY TFF SUBROUTINES. THE EQNS ARE
+#
+# COS(THETA) = 1-2 ABS(ARG) / (RN RTERM (1+X) )
+# 2
+# SIN(THETA) = SGN(ARG) SQRT(1-COS (THETA) )
+#
+# WHERE THETA = TRANSFER ANGLE
+# AND ARG = P Z ABS(Z) IF ALFA ZZ LEQ 1
+# ARG = (P / ALFA) SGN(Q1 + R 1/Z) IF ALFA Z Z G 1
+# AND ARG HAS BEEN AFFIXED WITH THE SIGN OF SIN(THETA)
+#
+# CALLING SEQUENCE: CALL
+# TFF/TRIG
+# PUSHLOC AT PDL+0, ARBITRARY IF NOT EQ 14D
+# C(MPAC) UNSPECIFIED
+#
+# SUBROUTINES CALLED: NONE
+#
+# NORMAL EXIT MODES: RVQ
+#
+# ALARMS: NONE
+#
+# OUTPUT: C(MPAC) = .5 SIN(THETA)
+# CDELF/2 = .5 COS(THETA) (IN PDL 14D)
+# PUSHLOC AT PDL+0
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# TFFX X LEFT BY CALCTFF OR CALCTPER
+# TFFTEM E: (-59+2NR) ARG LEFT BY CALCTFF OR CALCTPER
+# M: (-55+2NR) WHERE ARG = LCF ZZ SGN(DELF) OR ARG = LCP/ALFA SGN(DELF)
+# NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF OR CALCTPER
+# M: (-27+NR)
+# NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC
+# M: (-27+NR)
+#
+# DEBRIS: QPRET, CDELF/2
+
+ BANK 27
+ SETLOC P60S5
+ BANK
+TFF/TRIG DLOAD SR1
+ TFFX
+ DAD DMP
+ HIDPHALF
+ NRMAG # RMAG M E: (-29+NR) M: (-27+NR)
+ DMP BDDV
+ NRTERM # RTERM M E: (-29+NR) M: (-27+NR)
+ TFFTEM # P ZSQ OR P/ALFA E: (-59+2NR) M: (-55+2NR)
+ ABS BDSU # THE SIGN IS FOR SDELF.
+ HIDPHALF
+ STORE CDELF/2 # .5 COS(THETA)
+ DSQ DCOMP # KEEP HONEST FOR SQRT.
+# Page 816
+ DAD SQRT
+ HIDP1/4
+DUMPTRIG SIGN RVQ
+ TFFTEM # AFFIX SIGN(DELE/2)
+ # RETURN WITH .5 SIN(THETA) IN MPAC
+
+ # 16W 15MS
+
+DISPTARG STQ # C(MPAC = TRGO ESTIMATE
+ 60GENRET
+ DMP DSU
+ KTETA1
+ TTE1
+ STCALL DTEAROT
+ EARROT2
+ CALL
+ VRCALC
+ GOTO
+ 60GENRET
+VRCALC VLOAD DOT
+ URH
+ RT
+ SL2 ACOS
+ RVQ
+
+# END OF PROGRAM S61.2
+
+# Page 817
+# PROGRAM DESCRIPTION S62.3 DATE 10JAN67
+# MOD NO 1: LOG SECTION P60-P67
+# MOD BY ZELDIN
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 15 MAY 67 CHANGED TO REF COORDS.
+# MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 ALFAPAD CHANGES MADE.
+#
+# FUNCTIONAL DESCRIPTION
+#
+# COMPUTE DESIRED GIMBAL ANGLES FOR ENTRY ATTITUDE
+# THE FOLLOWING TRAJECTORY TRIAD IS AVAILABLE IN MEMORY AND IS COMPUTED EACH 2 SECONDS BY CM/POSE IN
+# REFERENCE COORDINATES (V = VELOCITY RELATIVE TO EARTH):
+#
+# UXA = -UNIT(V)
+# UYA = UNIT(V*R)
+# UZA = UXA*UYA
+#
+# GENERATE A DESIRED BODY TRIAD FOR TRIMMED FLIGHT WITH RESPECT TO THE RELATIVE VELOCITY VECTOR, USING
+# ROLL COMMAND AND TRIM ANGLE OF ATTACK:
+#
+# UXD = UNIT(UYD*UXA) SIN(ALFATRIM) + UXA COS(ALFATRIM)
+# UYD = UYA COS(ROLLC) + UZA SIN(ROLLC)
+# UZD = UXD * UYD
+#
+# USE THE DESIRED SET (IN REFERENCE COORDS) AND REFSMMAT TO CALL CALCGA AND OBTAIN GIMBAL ANGLES
+# IN 2S, C IN MPAC, +2 AND THETAD, +2.
+#
+# CALLING SEQUENCE
+#
+# L CALL
+# L+1 S62.3
+#
+# NORMAL EXIT MODE
+#
+# RETURN VIA QPRET DIRECTLY FROM CALCGA.
+#
+# SUBROUTINES CALLED
+#
+# CALCGA
+#
+# ALARM OR ABORT MODES
+#
+# NONE
+#
+# ERASABLE INITIALIZATION REQUIRED
+#
+# ROLLC ROLL COMMAND DP 1'S COMP AT 1REV
+# ALFAPAD SP 1'S C / 180 LEFT BY PAD LOAD ALFATRIM IS NEGATIVE.
+# UXA/2 REF COORDS LEFT BY CM/POSE
+# UYA/2 REF COORDS LEFT BY CM/POSE
+# UZA/2 REF COORDS LEFT BY CM/POSE
+#
+# OUTPUT
+#
+# CPHI GIMBAL ANGLES (O,I,M) 2'S COMP TP (O,I,M)/180
+#
+# DEBRIS
+#
+# QTEMP, QPRET, PUSHLIST
+
+ BANK 10
+ SETLOC P60S4
+ BANK
+# Page 818
+ COUNT* $$/S62.3
+
+S62.3 SETPD SLOAD
+ 0
+ ALFAPAD # ALFATRIM / 180, ALFA IS NEG.
+ SR1 PUSH
+ COS PDDL # XCH PDL, COS TO PDL0
+ SIN PDDL # SIN TO PDL2
+ ROLLC
+ COS VXSC
+ UYA/2 # REF COORDS
+ PDDL SIN # PUSH VECTOR INTO PDL4...9
+ ROLLC
+ VXSC VAD
+ UZA/2 # REF COORDS
+ # VECTOR FROM PDL4...9
+ VSL1
+ STORE YNB # = UYD REF COORDS
+
+ VXV VSL1
+ UXA/2 # REF COORDS
+ VXSC PDDL
+ # SIN TRIM FROM PDL2
+ # XCH PDL0 FOR COS TRIM
+ VXSC VAD
+ UXA/2 # REF COORDS
+ # FROM PDL0
+ VSL1
+ STORE XNB # X SC AXIS (.5 UNIT) REF COORDS
+
+ VXV VSL1
+ YNB
+ STOVL ZNB # Z SC IN REF COOR. SCALED AT 2
+ REFSMMAT
+ STOVL XSM
+ REFSMMAT +6
+ STOVL YSM
+ REFSMMAT +12D
+ STORE ZSM
+
+ CLEAR GOTO
+ CPHIFLAG # CAUSE CALCGA TO STORE ANS IN TP CPHI
+ CALCGA
+ # CALCGA WILL RETURN TO ORIGINAL CALLER
+ # VIA QPRET WITH 2'S COMP. ANGLES IN CPHI
+
+
+
diff --git a/P70-P71.s b/P70-P71.s
new file mode 100644
index 0000000..933f970
--- /dev/null
+++ b/P70-P71.s
@@ -0,0 +1,434 @@
+# Copyright: Public domain.
+# Filename: P70-P71.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 829-837
+# Mod history: 2009-05-23 HG Transcribed from page images.
+# 2009-06-05 RSB Fixed a typo.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 829
+ BANK 21
+ SETLOC R11
+ BANK
+
+ EBANK= DVCNTR
+ COUNT* $$/R11
+
+R10,R11 CS FLAGWRD7 # IS SERVICER STILL RUNNING?
+ MASK AVEGFBIT
+ CCS A
+ TCF TASKOVER # LET AVGEND TAKE CARE OF GROUP 2.
+ CCS PIPCTR
+ TCF +2
+ TCF LRHTASK # LAST PASS. CALL LRHTASK.
+ +2 TS PIPCTR1
+
+PIPCTR1 = LADQSAVE
+PIPCTR = PHSPRDT2
+ CAF OCT31
+ TC TWIDDLE
+ ADRES R10,R11
+R10,R11A CS IMODES33 # IF LAMP TEST, DO NTO CHANGE LR LITES
+ MASK BIT1
+ EXTEND
+ BZF 10,11
+
+FLASHH? MASK FLGWRD11 # C(A) = 1 - HFLASH BIT
+ EXTEND
+ BZF FLASHV? # H FLASH OFF, SO LEAVE ALONE
+
+ CA HLITE
+ TS L
+ TC FLIP # FLIP H LITE
+
+FLASHV? CA VFLSHBIT # VLASHBIT MUST BE BIT 2.
+ MASK FLGWRD11
+ EXTEND
+ BZF 10,11 # V FLASH OFF
+
+ CA VLITE
+ TS L
+ TC FLIP # FLIP V LITE
+
+10,11 CA FLAGWRD9 # IS THE LETABORT FLAG SET ?
+ MASK LETABBIT
+ EXTEND
+ BZF LANDISP # NO. PROCEED TO R10.
+
+P71NOW? CS MODREG # YES. ARE WE IN P71 NOW?
+# Page 830
+ AD 1DEC71
+ EXTEND
+ BZF LANDISP # YES. PROCEED TO R10.
+
+ EXTEND # NO. IS AN ABORT STAGE COMMANDED?
+ READ CHAN30
+ COM
+ TS L
+ MASK BIT4
+ CCS A
+ TCF P71A # YES.
+
+P70NOW? CS MODREG # NO. ARE WE IN P70 NOW?
+ AD 1DEC70
+ EXTEND
+ BZF LANDISP # YES. PROCEED TO R10.
+
+ CA L # NO. IS AN ABORT COMMANDED?
+ MASK BIT1
+ CCS A
+ TCF P70A # YES.
+ TCF LANDISP # NO. PROCEED TO R10.
+
+ COUNT* $$/P70
+
+P70 TC LEGAL?
+P70A CS ZERO
+ TCF +3
+P71 TC LEGAL?
+P71A CAF TWO
+ +3 TS Q
+ INHINT
+ EXTEND
+ DCA CNTABTAD
+ DTCB
+
+ EBANK= DVCNTR
+CNTABTAD 2CADR CONTABRT
+
+1DEC70 DEC 70
+1DEC71 DEC 71
+
+ BANK 05
+ SETLOC ABORTS1
+ BANK
+ COUNT* $$/P70
+
+CONTABRT CAF ABRTJADR
+ TS BRUPT
+ RESUME
+# Page 831
+
+ABRTJADR TCF ABRTJASK
+
+ABRTJASK CAF OCTAL27
+ AD Q
+ TS L
+ COM
+ DXCH -PHASE4
+ INDEX Q
+ CAF MODE70
+ TS MODREG
+
+ TS DISPDEX # INSURE DISPDEX IS POSITIVE.
+
+ CCS Q # SET APSFLAG IF P71.
+ CS FLGWRD10 # SET APSFLAG PRIOR TO THE ENEMA.
+ MASK APSFLBIT
+ ADS FLGWRD10
+ CS DAPBITS # DAPBITS = OCT 640 = BITS 6, 8, 9
+ MASK DAPBOOLS # (TURN OFF ULLAGE, DRIFT, AND XOVINHIB
+ TS DAPBOOLS
+
+ CS FLAGWRD5 # SET ENGONFLG.
+ MASK ENGONBIT
+ ADS FLAGWRD5
+
+ CS PRIO30 # INSURE THAT THE ENGINE IS ON, IF ARMED.
+ EXTEND
+ RAND DSALMOUT
+ AD BIT13
+ EXTEND
+ WRITE DSALMOUT
+
+ CAF LRBYBIT # TERMINATE R12.
+ TS FLGWRD11
+
+ CS FLAGWRD0 # SET R10FLAG TO SUPPRESS OUTPUTS TO THE
+ MASK R10FLBIT # CROSS-POINTER DISPLAY.
+ ADS FLAGWRD0 # THE FOLLOWING ENEMA WILL REMOVE THE
+ # DISPLAY INERTIAL DATA OUTBIT.
+ TC CLRADMOD # INSURE RADMODES PROPERLY SET FOR R29.
+
+ EXTEND # LOAD TEVENT FOR THE DOWNLINK.
+ DCA TIME2
+ DXCH TEVENT
+
+ EXTEND
+ DCA SVEXITAD
+ DXCH AVGEXIT
+
+# Page 832
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE1
+
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE3
+
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE6
+
+ CAF THREE # SET UP 4.3SPOT FOR GOABORT
+ TS L
+ COM
+ DXCH -PHASE4
+
+# the 3 in OCT37774 could be something else, garbled
+ CAF OCT37774 # SET T5RUPT TO CALL DAPIDLER IN
+ TS TIME5 # 40 MILLISECONDS.
+
+ TC POSTJUMP
+ CADR ENEMA
+
+ EBANK= DVCNTR
+SVEXITAD 2CADR SERVEXIT
+
+MODE70 DEC 70
+OCTAL27 OCT 27
+MODE71 DEC 71
+
+DAPBITS OCT 00640
+
+ BANK 32
+ SETLOC ABORTS
+ BANK
+
+ COUNT* $$/P70
+
+GOABORT TC INTPRET
+ CALL
+ INITCDUW
+ EXIT
+ CAF FOUR
+ TS DVCNTR
+
+ CAF WHICHADR
+ TS WHICH
+
+ TC DOWNFLAG
+ ADRES FLRCS
+# Page 833
+ TC DOWNFLAG
+ ADRES FLUNDISP
+
+ TC DOWNFLAG
+ ADRES IDLEFLAG
+
+ TC UPFLAG # INSURE 4-JET TRANSLATION CAPABILIITY.
+ ADRES ACC4-2FL
+
+ TC CHECKMM
+70DEC DEC 70
+ TCF P71RET
+
+P70INIT TC INTPRET
+ CALL
+ TGOCOMP
+ DLOAD SL
+ MDOTDPS
+ 4D
+ BDDV
+ MASS
+ STODL TBUP
+ MASS
+ DDV SR1
+ K(1/DV)
+ STORE 1/DV1
+ STORE 1/DV2
+ STORE 1/DV3
+ BDDV
+ K(AT)
+ STODL AT
+ DTDECAY
+ DCOMP SL
+ 11D
+ STORE TTO
+ SLOAD DCOMP
+ DPSVEX
+ SR2
+ STORE VE # INITIALIZE DPS EXHAUST VELOCITY
+ SET CALL
+ FLAP
+ COMMINIT
+ AXC,1 GOTO # RETURN HERE IN P70, SET X1 FOR DPS COEFF.
+ 0D
+ BOTHPOLY
+INJTARG AXC,1 # RETURN HERE IN P71, SET X1 FOR APS COEFF.
+ 8D
+BOTHPOLY DLOAD* DMP # TGO D
+ ABTCOF,1
+ TGO
+# Page 834
+ DAD* DMP
+ ABTCOF +2,1 # TGO(C+TGO )
+ TGO
+ DAD* DMP
+ ABTCOF +4,1 # TGO(B+TGO d))
+ TGO
+ DAD*
+ ABTCOF +6,1 # A+TGO(B+TGO(C+TGO D))
+ STORE ZDOTD # STORE TENTATIVELY IN ZDOTD
+ DSU BPL # CHECK AGAINST MINIMUM
+ VMIN
+ UPRATE # IF BIG ENOUGH, LEAVE ZDOTD AS IS .
+ DLOAD
+ VMIN
+ STORE ZDOTD # IF TOO SMALL, REPLCAE WITH MINIMUM.
+UPRATE DLOAD
+ ABTRDOT
+ STCALL RDOTD # INITIALZE RDOTD.
+ YCOMP # COMPUTE Y
+ ABS DSU
+ YLIM # /Y/-DYMAX
+ BMN SIGN # IF <0, XR<.5DEG, LEAVE YCO AT 0
+ YOK # IF >0, FIX SIGN OF DEFICIT. THIS IS YCO.
+ Y
+ STORE YCO
+YOK DLOAD DSU
+ YCO
+ Y # COMPUTE XRANGE IN CASE ASTRONAUT WANTS
+ SR
+ 5D
+ STORE XRANGE # TO LOOK.
+UPTHROT SET EXIT
+ FLVR
+
+ TC UPFLAG # SET ROTFLAG
+ ADRES ROTFLAG
+
+ TC THROTUP
+
+ TC PHASCHNG
+ OCT 04024
+
+-3 TC BANKCALL # VERIFY THAT THE PANEL SWITCHES
+ CADR P40AUTO # ARE PROPERLY SET.
+
+ TC THROTUP
+
+UPTHROT1 EXTEND # SET SERVICER TO CALL ASCENT GUIDANCE.
+ DCA ATMAGAD
+ DXCH AVGEXIT
+# Page 835
+GRP4OFF TC PHASCHNG # TERMINATE USE OF GROUP 4.
+ OCT 00004
+
+ TCF ENDOFJOB
+
+P71RET TC DOWNFLAG
+ ADRES LETABORT
+
+ CAF THRESH2 # SET DVMON THRESHOLD TO THE ASCENT VALUE.
+ TS DVTHRUSH
+
+ TC INTPRET
+ BON CALL
+ FLAP
+ OLDTIME
+ TGOCOMP # IF FLAP=0, TGO=T-TIG
+ SSP GOTO
+ QPRET
+ CADR INJTARG
+ P12INIT # WILL EXIT P12INIT TO INJTARG
+OLDTIME DLOAD SL1 # IF FLAP=1,GTO=2 TGO
+ TGO
+ STCALL TGO1
+ P12INIT
+ EXIT
+ TC PHASCHNG
+ OCT 04024
+
+ EXTEND
+ DCA TGO1
+ DXCH TGO
+ TCF UPTHROT1 -3
+
+TGO1 = VGBODY
+# *************************************************************************
+
+ BANK 21
+ SETLOC R11
+ BANK
+ COUNT* $$/P70
+
+LEGAL? CS MMNUMBER # IS THE DESIRED PGM ALREADY IN PROGRESS?
+ AD MODREG
+ EXTEND
+ BZF ABORTALM
+
+ CS FLAGWRD9 # ARE THE ABORTS ENABLED?
+ MASK LETABBIT
+ CCS A
+# Page 836
+ TCF ABORTALM
+
+ CA FLAGWRD7 # IS SERVICER ON THE AIR?
+ MASK AVEGFBIT
+ CCS A
+ TC Q # YES. ALL IS WELL.
+ABORTALM TC FALTON
+ TC RELDSP
+ TC POSTJUMP
+ CADR PINBRNCH
+
+ BANK 32
+ SETLOC ABORTS
+ BANK
+
+ COUNT* $$/P70
+
+# **********************************************************************
+
+TGOCOMP RTB DSU
+ LOADTIME
+ TIG
+ SL
+ 11D
+ STORE TGO
+ RVQ
+
+# ************************************************************************
+
+THROTUP CAF BIT13
+ TS THRUST
+ CAF BIT4
+ EXTEND
+ WOR CHAN14
+ TC Q
+
+# ************************************************************************
+
+10SECS 2DEC 1000
+HINJECT 2DEC 18288 B-24 # 60,000 FEET EXPRESSED IN METERS.
+(TGO)A 2DEC 37000 B-17
+K(AT) 2DEC .02 # SCALING CONSTANT
+WHICHADR REMADR ABRTABLE
+
+# ************************************************************************
+# Page 837
+ EBANK= DVCNTR
+ATMAGAD 2CADR ATMAG
+ORBMANAD ADRES ORBMANUV
+
diff --git a/P76.s b/P76.s
new file mode 100644
index 0000000..9adb9c8
--- /dev/null
+++ b/P76.s
@@ -0,0 +1,162 @@
+# Copyright: Public domain.
+# Filename: P76.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: pp 511-513
+# Mod history: 2009-05-08 HG Adapting from the Luminary131/ file
+# of the same name, using Comanche055 page
+# images 0511.jpg - 0513.jpg.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 511
+# 1) PROGRAM NAME -- TARGET DELTA V PROGRAM (P76).
+# 2) FUNCTIONAL DESCRIPTION -- UPON ENTRY BY ASTRONAUT ACTION, P76 FLASHES DSKY REQUESTS TO THE ASTRONAUT
+# TO PROVIDE VIA DSKY (1) THE DELTA V TO BE APPLIED TO THE OTHER VEHICLE STATE VECTOR AND (2) THE
+# TIME (TIG) AT WHICH THE OTHER VEHICLE VELOCITY WAS CHANGED BY EXECUTION OF A THRUSTING MANEUVER. THE
+# OTHER VEHICLE STATE VECTOR IS INTEGRATED TO TIG AND UPDATED BY THE ADDITION OF DELTA V (DELTA V HAVING
+# BEEN TRANSFORMED FROM LV TO REF COSYS). USING INTEGRVS, THE PROGRAM THEN INTEGRATES THE OTHER
+# VEHICLE STATE VECTOR TO THE STATE VECTOR OF THIS VEHICLE, THUS INSURING THAT THE W-MATRIX AND BOTH VEHICLE
+# STATES CORRESPOND TO THE SAME TIME.
+# 3) ERASABLE INIITIALIZATION REQUIRED -- NONE.
+# 4) CALLING SEQUENCES AND EXIT MODES -- CALLED BY ASTRONAUT REQUEST THRU DSKY V 37 E 76E.
+# EXITS BY TCF ENDOFJOB.
+# 5) OUTPUT -- OTHER VEHICLE STATE VECTOR INTEGRATED TO TIG AND INCREMENTED BY DELTA V IN REF COSYS.
+# THE PUSHLIST CONTAINS THE MATRIX BY WHICH THE INPUT DELTA V MUST BE POST-MULTIPLIED TO CONVERT FROM LV
+# TO REF COSYS.
+# 6) DEBRIS -- OTHER VEHICLE STATE VECTOR.
+# 7) SUBROUTINES CALLED -- BANKCALL, GOXDSPF, CSMPREC (OR LEMPREC), ATOPCSM (OR ATOPLEM), INTSTALL, INTWAKE, PHASCHNG
+# INTPRET, INTEGRVS, AND MINIRECT.
+# 8) FLAG USE -- MOONFLAG, CMOONFLG, INTYPFLG, RASFLAG, AND MARKCTR.
+
+ BANK 30
+ SETLOC P76LOC
+ BANK
+
+ COUNT* $$/P76
+
+ EBANK= TIG
+
+P76 TC UPFLAG
+ ADRES TRACKFLG
+
+ CAF V06N84 # FLASH LAST DELTA V.
+ TC BANKCALL # AND WAIT FOR KEYBOARD ACTION.
+ CADR GOFLASH
+ TCF ENDP76
+ TC +2 # PROCEED
+ TC -5 # STORE DATA AND REPEAT FLASHING
+ CAF V06N84 +1 # FLASH VERB 06 NOUN 33, DISPLAY LAST TIG,
+ TC BANKCALL # AND WAIT FOR KEYBOARD ACTION.
+ CADR GOFLASH
+ TCF ENDP76
+ TC +2
+ TC -5
+ TC INTPRET # RETURN TO INTERPRETIVE CODE
+ DLOAD # SET D(MPAC)=TIG IN CSEC B28
+ TIG
+ STCALL TDEC1 # SET TDEC1=TIG FOR ORBITAL INTEGRATION
+ OTHPREC
+COMPMAT VLOAD UNIT
+ RATT
+# Page 512
+ VCOMP # U(-R)
+ STORE 24D # U(-R) TO 24D
+ VXV UNIT # U(-R) X V = U(V X R)
+ VATT
+ STORE 18D
+ VXV UNIT # U(V X R) X U(-R) = U((R X V) X R)
+ 24D
+ STOVL 12D
+ DELVOV
+ VXM VSL1 # V(MPAC)=DELTA V IN REFCOSYS
+ 12D
+ VAD
+ VATT
+ STORE 6 # V(PD6)=VATT + DELTA V
+ CALL # PREVENT WOULD-BE USER OF ORBITAL
+ INTSTALL # INTEG FROM INTERFERING WITH UPDATING
+ CALL
+ P76SUB1
+ VLOAD VSR*
+ 6
+ 0,2
+ STOVL VCV
+ RATT
+ VSR*
+ 0,2
+ STODL RCV
+ TIG
+ STORE TET
+ CLEAR DLOAD
+ INTYPFLG
+ TETTHIS
+INTOTHIS STCALL TDEC1
+ INTEGRVS
+ CALL
+ INTSTALL
+ CALL
+ P76SUB1 # SET/CLEAR MOONFLAG
+ VLOAD
+ RATT1
+ STORE RRECT
+ STODL RCV
+ TAT
+ STOVL TET
+ VATT1
+ CALL
+ MINIRECT
+ EXIT
+ TC PHASCHNG
+ OCT 04024
+# Page 513
+ TC UPFLAG
+ ADRES REINTFLG
+
+ TC INTPRET
+ CALL
+ ATOPOTH
+ SSP EXIT
+ QPRET
+ OUT
+ TC BANKCALL # PERMIT USE OF ORBITAL INTEGRATION
+ CADR INTWAKE1
+OUT EXIT
+ENDP76 CAF ZERO
+ TS MARKCTR # CLEAR RR TRACKING MARK COUNTER
+ TS VHFCNT
+
+ CAF NEGONE
+ TS MRKBUF2 # INVALIDATE MARK BUFFER
+
+ TCF GOTOP00H
+
+V06N84 NV 0684
+ NV 0633
+P76SUB1 CLEAR SLOAD
+ MOONFLAG
+ X2
+ BHIZ SET # X2=0...CLEAR MOONFLAG
+ +2 # =2.....SET MOONFLAG
+ MOONFLAG
+ RVQ
+
\ No newline at end of file
diff --git a/PHASE_TABLE_MAINTENANCE.s b/PHASE_TABLE_MAINTENANCE.s
new file mode 100644
index 0000000..247b4bd
--- /dev/null
+++ b/PHASE_TABLE_MAINTENANCE.s
@@ -0,0 +1,406 @@
+# Copyright: Public domain.
+# Filename: PHASE_TABLE_MAINTENANCE.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1404-1413
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Colossus249/ file of the same
+# name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1404
+# SUBROUTINE TO UPDATE THE PROGRAM NUMBER DISPLAY ON THE DSKY.
+
+ COUNT 02/PHASE
+ BLOCK 02
+ SETLOC FFTAG1
+ BANK
+
+NEWMODEX INDEX Q # UPDATE MODREG. ENTRY FOR MODE IN FIXED.
+ CAF 0
+ INCR Q
+
+NEWMODEA TS MODREG # ENTRY FOR MODE IN A.
+MMDSPLAY CAF +3 # DISPLAY MAJOR MODE.
+PREBJUMP LXCH BBANK # PUTS BBANK IN L
+ TCF BANKJUMP # PUTS Q INTO A
+ CADR SETUPDSP
+
+# RETURN TO CALLER +3 IF MODE = THAT AT CALLER +1. OTHERWISE RETURN TO CALLER +2.
+
+CHECKMM INDEX Q
+ CS 0
+ AD MODREG
+ EXTEND
+ BZF Q+2
+ TCF Q+1 # NO MATCH
+
+TCQ = Q+2 +1
+
+ BANK 14
+ SETLOC PHASETAB
+ BANK
+
+ COUNT 10/PHASE
+
+SETUPDSP INHINT
+ DXCH RUPTREG1 # SAVE CALLER'S RETURN 2CADR
+ CAF PRIO30 # EITHER A TASK OR JOB CAN COME TO
+ TC NOVAC # NEWMODEX
+ EBANK= MODREG
+ 2CADR DSPMMJOB
+
+ DXCH RUPTREG1
+ RELINT
+ DXCH Z # RETURN
+
+DSPMMJOB EQUALS DSPMMJB
+
+ BLOCK 02
+# Page 1405
+ SETLOC FFTAG1
+ BANK
+
+# Page 1406
+# PHASCHNG IS THE MAIN WAY OF MAKING PHASE CHANGES FOR RESTARTS. THERE ARE THREE FORMS OF PHASCHNG, KNOWN AS TYPE
+# A, TYPE B, AND TYPE C. THEY ARE ALL CALLED AS FOLLOWS, WHERE OCT XXXXX CONTAINS THE PHASE INFORMATION,
+# TC PHASCHNG
+# OCT XXXXX
+# TYPE A IS CONCERNED WITH FIXED PHASE CHANGES, THAT IS, PHASE INFORMATION THAT IS STORED PERMANENTLY. THESE
+# OPTIONS ARE, WHERE G STANDS FOR A GROUP AND .X FOR THE PHASE,
+# G.0 INACTIVE, WILL NOT PERMIT A GROUP G RESTART
+# G.1 WILL CAUSE THE LAST DISPLAY TO BE REACTIVATED, USED MAINLY IN MANNED FLIGHTS
+# G.EVEN A DOUBLE TABLE RESTART, CAN CAUSE ANY COMBINATION OF TWO JOBS, TASKS, AND/OR
+# LONGCALL TO BE RESTARTED.
+# G.ODD NOT .1 A SINGLE TABLE RESTART, CAN CAUSE EITHER A JOB, TASK, OR LONGCALL RESTART.
+#
+# THIS INFORMATION IS PUT INTO THE OCTAL WORD AFTER TC PHASCHNG AS FOLLOWS
+# TL0 00P PPP PPP GGG
+# WHERE EACH LETTER OR NUMBER STANTS FOR A BIT. THE G'S STAND FOR THE GROUP, OCTAL 1-7, THE P'S FOR THE PHASE,
+# OCTAL 0 - 127. 0'S MUST BE 0. IF ONE WISHES TO HAVE THE TBASE OF GROUP G TO BE SET AT THIS TIME,
+# T IS SET TO 1, OTHERWISE IT IS SET TO 0. SIMILARLY IF ONE WISHES TO SET LONGBASE, THEN L IS SET TO 1, OTHERWISE
+# IT IS SET TO 0. SOME EXAMLES,
+# TC PHASCHNG # THIS WILL CAUSE GROUP 3 TO BE SET TO 0,
+# OCT 00003 # MAKING GROUP 3 INACTIVE
+#
+# TC PHASCHNG # IF A RESTART OCCURS THIS WOULD CAUSE
+# OCT 00012 # GROUP 2 TO RESTART THE LAST DISPLAY
+#
+# TC PHASCHNG # THIS SETS THE TBASE OF GROUP 4 AND IN
+# OCT 40064 # CASE OF A RESTART WOULD START UP THE TWO
+# # THINGS LOCATED IN THE DOUBLE 4.6 RESTART
+# # LOCATION.
+#
+# TC PHASCHNG # THIS SETS LONGBASE AND UPON A RESTART
+# OCT 20135 # CAUSES 5.13 TO BE RESTARTED (SINCE
+# # LONGBASE WAS SET THIS SINGLE ENTRY
+# # SHOULD BE A LONGCALL)
+#
+# TC PHASCHNG # SINCE BOTH TBASE4 AND LONGBASE ARE SET,
+# OCT 60124 # 4.12 SHOULD CONTAIN BOTH A TASK AND A
+# # LONGCALL TO BE RESTARTED
+#
+# TYPE C PHASCHNG CONTAINS THE VARIABLE TYPE OF PHASCHNG INFORMATION. INSTEAD OF THE INFORMATION BEING IN A
+# PERMANENT FORM, ONE STORES THE DESIRED RESTART INFORMATION IN A VARIABLE LOCATION. THE BITS ARE AS FOLLOWS,
+# TL0 1AD XXX CJW GGG
+# WHERE EACH LETTER OR NUMBER STANDS FOR A BIT. THE G'S STAND FOR THE GROUP, OCTAL 1 - 7. IF THE RESTART IS TO
+# BE BY WAITLIST, W IS SET TO 1, IF IT IS A JOB, J IS SET TO 1, IF IT IS A LONGCALL, C IS SET TO 1. ONLY ONE OF
+# THESE THREE BITS MAY BE SET. X'S ARE IGNORED, 1 MUST BE 1, AND 0 MUST BE 0. AGAIN T STANDS FOR THE TBASE,
+# Page 1407
+# AND L FOR LONGBASE. THE BITS A AND D ARE CONCERNED WITH THE VARIABLE INFORMATION. IF D IS SET TO 1, A PRIORITY
+# OR DELTA TIME WILL BE READ FROM THE NEXT LOCATION AFTER THE OCTAL INFORMATION., IF THIS IS TO BE INDIRECT, THAT
+# IS, THE NAME OF A LOCATION CONTAINING THE INFORMATION (DELTA TIME ONLY), THEN THIS IS GIVEN AS THE -GENADR OF
+# THAT LOCATION WHICH CONTAINS THE DELTA TIME. IF THE OLD PRIORITY OR DELTA TIME IS TO BE USED, THAT WHICH IS
+# ALREADY IN THE VARIABLE STORAGE, THEN D IS SET TO 0. NEXT THE A BIT IS USED. IF IT IS SET TO 0, THE ADDRESS
+# THAT WOULD BE RESTARTED DURING A RESTART IS THE NEXT LOCATION AFTER THE PHASE INFORMATION, THAT IS, EITHER
+# (TC PHASCHNG) +2 OR +3, DEPENDING ON WHETHER D HAD BEEN SET OR NOT. IF A IS SET TO 1, THEN THE ADDRESS THAT
+# WOULD BE RESTARTED IS THE 2CADR THAT IS READ FROM THE NEXT TWO LOCATION. EXAMPLES,
+# AD TC PHASCHNG # THIS WOULD CAUSE LOCATION AD +3 TO BE
+# AD+1 OCT 05023 # RESTARTED BY GROUP THREE WITH A PRIORITY
+# AD+2 OCT 23000 # OF 23. NOTE UPON RETURNING IT WOULD
+# AD+3 # ALSO GO TO AD+3
+#
+# AD TC PHASCHNG # GROUP 1 WOULD CAUSE CALLCALL TO BE
+# AD+1 OCT 27441 # BE STARTED AS A LONGCALL FROM THE TIME
+# AD+2 -GENADR DELTIME # STORED IN LONGBASE (LONGBASE WAS SET) BY
+# AD+3 2CADR CALLCALL # A DELTATIME STORED IN DELTIME. THE
+# AD+4 # BBCON OF THE 2CADR SHOULD CONTAIN THE E
+# AD+5 # BANK OF DELTIME. PHASCHNG RETURNS TO
+# # LOCATION AD+5
+#
+# NOTE THAT IF A VARIABLE PRIORITY IS GIVEN FOR A JOB, THE JOB WILL BE RESTARTED AS A NOVAC IF THE PRIORITY IS
+# NEGATIVE, AS A FINDVAC IF THE PRIORITY IS POSITIVE.
+#
+# TYPE B PHASCHNG IS A COMBINATION OF VARIABLE AND FIXED PHASE CHANGES. IT WILL START UP A JOB AS INDICATED
+# BELOW AND ALSO START UP ONE FIXED RESTART, THAT IS EITHER AN G.1 OR A G.ODD OR THE FIRST ENTRY OF G.EVEN
+# DOUBLE ENTRY. THE BIT INFORMATION IS AS FOLLOW,
+# TL1 DAP PPP PPP GGG
+# WHERE EACH LETTER OR NUMBER STANDS FOR A BIT. THE G'S STAND FOR THE GROUP, OCTAL 1 - 7, THE P'S FOR THE FIXED
+# PHASE INFORMATION, OCTAL 0 - 127. 1 MUST BE 1. AND AGAIN T STANDS FOR THE TBASE AND L FOR LONGBASE. D THIS
+# TIME STANDS ONLY FOR PRIORITY SINCE THIS WILL BE CONSIDERED A JOB, AND IT MUST BE GIVEN DIRECTLY IF GIVEN.
+# AGAIN A STANDS FOR THE ADDRESS OF THE LOCATION TO BE RESTARTED, 1 IF THE 2CADR IS GIVEN, OR 0 IF IT IS TO BE
+# THE NEXT LOCATION. (THE RETURN LOCATION OF PHASCHNG) EXAMPLES,
+# AD TC PHASCHNG # TBASE IS SET AND A RESTART CAUSE GROUP 3
+# AD+1 OCT 56043 # TO START THE JOB AJOBAJOB WITH PRIORITY
+# AD+2 OCT 31000 # 31 AND THE FIRST ENTRY OF 3.4SPOT (WE CAN
+# AD+3 2CADR AJOBAJOB # ASSUME IT IS A TASK SINCE WE SET TBASE3)
+# AD+4 # UPON RETURN FROM PHASCHNG CONTROL WOULD
+# AD+5 # GO TO AD+5
+#
+# AD TC PHASCHNG # UPON A RESTART THE LAST DISPLAY WOULD BE
+# AD+1 OCT 10015 # RESTARTED AND A JOB WITH THE PREVIOUSLY
+# AD+2 # STORED PRIORITY WOULD BE BEGUN AT AD+2
+# # BY MEANS OF GROUP 5
+# Page 1408
+# THE NOVAC-FINDVAC CHOICE FOR JOBS HOLDS HERE ALSO -- NEGATIVE PRIORITY CAUSES A NOVAC CALL, POSITIVE A FINDVAC.
+
+# SUMMARY OF BITS:
+# TYPE A TL0 00P PPP PPP GGG
+# TYPE B TL1 DAP PPP PPP GGG
+# TYPE C TL0 1AD XXX CJW GGG
+
+# Page 1409
+# 2PHSCHNG IS USED WHEN ONE WISHES TO START UP A GROUP OR CHANGE A GROUP WHILE UNDER THE CONTROL OF A DIFFERENT
+# GROUP. FOR EXAMPLE, CHANGE THE PHASE OF GROUP 3 WHILE THE PORTION OF THE PROGRAM IS UNDER GROUP 5. ALL 2PHSCHNG
+# CALLS ARE MADE IN THE FOLLOWING MANNER,
+# TC 2PHSCHNG
+# OCT XXXXX
+# OCT YYYYY
+# WHERE OCT XXXXX MUST BE OF TYPE A AND OCT YYYYY MAY BE OF EITHER TYPE A OR TYPE B OR TYPE C. THERE IS ONE
+# DIFFERENCE --- NOTE: IF LONGBASE IS TO BE SET THIS INFORMATION IS GIVEN IN THE OCT YYYYY INFORMATION, IT WILL
+# BE DISREGARDED IF GIVEN WITH THE OCT XXXXX INFORMATION. A COUPLE OF EXAMPLES MAY HELP,
+# AD TC 2PHACHNG # SET TBASE3 AND IF A RESTART OCCURS START
+# AD+1 OCT 40083 # THE TWO ENTRIES IN 3.8 TABLE LOCATION
+# AD+2 OCT 05025 # THIS IS OF TYPE C, SET THE JOB TO BE
+# AD+3 OCT 18000 # TO BE LOCATION AD+4, WITH A PRIORITY 18,
+# AD+4 # FOR GROUP 5 PHASE INFORMATION.
+
+ COUNT 02/PHASE
+
+2PHSCHNG INHINT # THE ENTRY FOR A DOUBLE PHASE CHANGE
+ NDX Q
+ CA 0
+ INCR Q
+ TS TEMPP2
+
+ MASK OCT7
+ DOUBLE
+ TS TEMPG2
+
+ CA TEMPP2
+ MASK OCT17770 # NEED ONLY 1770, BUT WHY GET A NEW CONST.
+ EXTEND
+ MP BIT12
+ XCH TEMPP2
+
+ MASK BIT15
+ TS TEMPSW2 # INDICATES WHETHER TO SET TBASE OR NOT
+
+ TCF PHASCHNG +3
+
+PHASCHNG INHINT
+ CA ONE # INDICATES CAME FROM A PHASCHNG ENTRY
+ TS TEMPSW2
+
+ NDX Q
+ CA 0
+ INCR Q
+ TS TEMPSW
+# Page 1410
+ EXTEND
+ DCA ADRPCHN2 # OFF TO SWITCHED BANK
+ DTCB
+
+ EBANK= LST1
+ADRPCHN2 2CADR PHSCHNG2
+
+ONEORTWO LXCH TEMPBBCN
+ LXCH BBANK
+ LXCH TEMPBBCN
+
+ MASK OCT14000 # SEE WHAT KIND OF PHASE CHANGE IT IS
+ CCS A
+ TCF CHECKB # IT IS OF TYPE `B'.
+
+ CA TEMPP
+ MASK BIT7
+ CCS A # SHALL WE USE THE OLD PRIORITY
+ TCF GETPRIO # NO GET A NEW PRIORITY (OR DELTA T)
+
+OLDPRIO NDX TEMPG # USE THE OLD PRIORITY (OR DELTA T)
+ CA PHSPRDT1 -2
+ TS TEMPPR
+
+CON1 CA TEMPP # SEE IF A 2CADR IS GIVEN
+ MASK BIT8
+ CCS A
+ TCF GETNEWNM
+
+ CA Q
+ TS TEMPNM
+ CA BB
+ EXTEND # PICK UP USER'S SUPERBANK
+ ROR SUPERBNK
+ TS TEMPBB
+
+TOCON2 CA CON2ADR # BACK TO SWITCHED BANK
+ LXCH TEMPBBCN
+ DTCB
+
+CON2ADR GENADR CON2
+
+GETPRIO NDX Q # DON'T CARE IF DIRECT OR INDIRECT
+ CA 0 # LEAVE THAT DECISION TO RESTARTS
+ INCR Q # OBTAIN RETURN ADDRESS
+ TCF CON1 -1
+
+GETNEWNM EXTEND
+# Page 1411
+ INDEX Q
+ DCA 0
+ DXCH TEMPNM
+ CA TWO
+ ADS Q # OBTAIN RETURN ADDRESS
+
+ TCF TOCON2
+
+OCT14000 EQUALS PRIO14
+TEMPG EQUALS ITEMP1
+TEMPP EQUALS ITEMP2
+TEMPNM EQUALS ITEMP3
+TEMPBB EQUALS ITEMP4
+TEMPSW EQUALS ITEMP5
+TEMPSW2 EQUALS ITEMP6
+TEMPPR EQUALS RUPTREG1
+TEMPG2 EQUALS RUPTREG2
+TEMPP2 EQUALS RUPTREG3
+
+TEMPBBCN EQUALS RUPTREG4
+BB EQUALS BBANK
+
+ BANK 14
+ SETLOC PHASETAB
+ BANK
+
+ EBANK= PHSNAME1
+ COUNT 10/PHASE
+
+PHSCHNG2 LXCH TEMPBBCN
+ CA TEMPSW
+ MASK OCT7
+ DOUBLE
+ TS TEMPG
+
+ CA TEMPSW
+ MASK OCT17770
+ EXTEND
+ MP BIT12
+ TS TEMPP
+
+ CA TEMPSW
+ MASK OCT60000
+ XCH TEMPSW
+ MASK OCT14000
+ CCS A
+ TCF ONEORTWO
+
+# Page 1412
+ CA TEMPP # START STORING THE PHASE INFORMATION
+ NDX TEMPG
+ TS PHASE1 -2
+
+BELOW1 CCS TEMPSW2 # IS IT A PHASCHNG OR A 2PHSCHNG
+ TCF BELOW2 # IT'S A PHASCHNG
+
+ TCF +1 # IT'S A 2PHSCHNG
+ CS TEMPP2
+ LXCH TEMPP2
+ NDX TEMPG2
+ DXCH -PHASE1 -2
+
+ CCS TEMPSW2
+ NOOP # CAN'T GET HERE
+ TCF BELOW2
+
+ CS TIME1
+ NDX TEMPG2
+ TS TBASE1 -2
+
+BELOW2 CCS TEMPSW # SEE IF WE SHOULD SET TBASE OR LONGBASE
+ TCF BELOW3 # SET LONGBASE ONLY
+ TCF BELOW4 # SET NEITHER
+
+ CS TIME1 # SET TBASE TO BEGIN WITH
+ NDX TEMPG
+ TS TBASE1 -2
+
+ CA TEMPSW # SHALL WE NOW SET LONGBASE
+ AD BIT14COM
+ CCS A
+ NOOP # ***** CAN'T GET HERE *****
+BIT14COM OCT 17777 # ***** CAN'T GET HERE *****
+ TCF BELOW4 # NO WE NEED ONLY SET TBASE
+
+BELOW3 EXTEND # SET LONGBASE
+ DCA TIME2
+ DXCH LONGBASE
+
+BELOW4 CS TEMPP # AND STORE THE FINAL PART OF THE PHASE
+ NDX TEMPG
+ TS -PHASE1 -2
+
+ CA Q
+ LXCH TEMPBBCN
+ RELINT
+ DTCB
+CON2 LXCH TEMPBBCN
+# Page 1413
+ CA TEMPP
+ NDX TEMPG
+ TS PHASE1 -2
+
+ CA TEMPPR
+ NDX TEMPG
+ TS PHSPRDT1 -2
+
+ EXTEND
+ DCA TEMPNM
+ NDX TEMPG
+ DXCH PHSNAME1 -2
+
+ TCF BELOW1
+
+ BLOCK 02
+ SETLOC FFTAG1
+ BANK
+
+ COUNT 02/PHASE
+
+CHECKB MASK BIT12 # SINCE THIS IS OF TYPE B, THIS BIT SHOULD
+ CCS A # BE HERE IF WE ARE TO GET A NEW PRIORITY
+ TCF GETPRIO # IT IS, SO GET NEW PRIORITY
+
+ TCF OLDPRIO # IT ISN'T, USE THE OLD PRIORITY.
+
+
+
diff --git a/PINBALL_GAME_BUTTONS_AND_LIGHTS.s b/PINBALL_GAME_BUTTONS_AND_LIGHTS.s
new file mode 100644
index 0000000..266b32b
--- /dev/null
+++ b/PINBALL_GAME_BUTTONS_AND_LIGHTS.s
@@ -0,0 +1,3781 @@
+# Copyright: Public domain.
+# Filename: PINBALL_GAME_BUTTONS_AND_LIGHTS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 307-389
+# Mod history: 2009-05-08 RSB Started adapting from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images. Finished through page 329.
+# 2009-05-09 RSB Finished first draft.
+# 2009-05-20 RSB Corrected a CHKPOOH to CHKP00H.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 307
+# PROGRAM NAME -- KEYBOARD AND DISPLAY PROGRAM
+# MOD NO -- 4 DATE -- 27 APRIL 1967 ASSEMBLY -- PINDISK REV 17
+# MOD BY -- FILENE
+# LOG SECTION -- PINBALL GAME BUTTONS AND LIGHTS
+#
+# FUNCTIONAL DESCRIPTION
+#
+# THE KEYBOARD AND DISPLAY SYSTEM PROGRAM OPERATES UNDER EXECUTIVE
+# CONTROL AND PROCESSES INFORMATION EXCHANGED BETWEEN THE AGC AND THE
+# COMPUTER OPERATOR. THE INPUTS TO THE PROGRAM ARE FROM THE KEYBOARD,
+# FROM INTERNAL PROGRAM, AND FROM THE UPLINK.
+#
+# THE LANGUAGE OF COMMUNICATION WITH THE PROGRAM IS A PAIR OF WORDS
+# KNOWN AS VERB AND NOUN. EACH OF THESE IS REPRESENTED BY A 2 CHARACTER
+# DECIMAL NUMBER. THE VERB CODE INDICATES WHAT ACTION IS TO BE TAKEN, THE
+# NOUN CODE INDICATES TO WHAT THIS ACTION IS APPLIED. NOUNS USUALLY
+# REFER TO A GROUP OF ERASABLE REGISTERS.
+#
+# VERBS ARE GROUPED INTO DISPLAYS, LOADS, MONITORS (DISPLAYS THAT ARE
+# UPDATED ONCE PER SECOND), SPECIAL FUNCTIONS, AND EXTENDED VERBS (THESE
+# ARE OUTSIDE OF THE DOMAIN OF PINBALL AND CAN BE FOUND UNDER LOG SECTION
+# `EXTENDED VERBS').
+#
+# A LIST OF VERBS AND NOUNS IS GIVEN IN LOG SECTION `ASSEMBLY AND
+# OPERATION INFORMATION'.
+#
+# CALLING SEQUENCES --
+#
+# KEYBOARD:
+# EACH DEPRESSION OF A MAIN (NAVIGATION) KEYBOARD BUTTON ACTIVATES
+# INTERRUPT KEYRUPT1 (KEYRUPT2) AND PLACES THE 5 BIT KEY CODE INTO
+# CHANNEL 15 (CHANNEL 16). KEYRUPT1 (KEYRUPT2) PLACES THE KEY
+# CODE INTO MPAC, ENTERS AN EXECUTIVE REQUEST FOR THE KEYBOARD AND DISPLAY
+# PROGRAM (AT `CHARIN'), AND EXECUTES A RESUME.
+#
+# UPLINK:
+# EACH WORD RECEIVED BY THE UPLINK ACTIVATES INTERRUPT UPRUPT, WHICH
+# PLACES THE 5 BIT KEY CODE INTO MPAC, ENTERS AN EXECUTIVE REQUEST FOR THE
+# KEYBOARD AND DISPLAY PROGRAM (AT `CHARIN') AND EXECUTES A RESUME.
+#
+# INTERNAL PROGRAMS:
+# INTERNAL PROGRAMS CALL PINBALL AT `NVSUB' WITH THE DESIRED VERB/NOUN
+# CODE IN A (LOW 7 BITS FOR NOUN, NEXT 7 BITS FOR VERB). DETAILS
+# DESCRIBED ON REMARKS CARDS JUST BEFORE `NVSUB' AND `NVSBWAIT' (SEE
+# SYMBOL TABLE FOR PAGE NUMBERS).
+#
+# NORMAL EXIT MODES --
+#
+# IF PINBALL WAS CALLED BY EXTERNAL ACTION, THERE ARE FOUR EXITS:
+# 1) ALL BUT (2), (3), AND (4) EXIT DIRECTLY TO ENDOFJOB.
+# Page 308
+# 2) EXTENDED VERBS TO TO THE EXTENDED VERB FAN AS PART OF THE
+# PINBALL EXECUTIVE JOB WITH PRIORITY 30000. IT IS THE
+# RESPONSIBILITY OF THE EXTEDED VERB CALLED TO EVENTUALLY
+# CHANGE PRIORITY (IF NECESSARY) AD DO AN ENDOFJOB.
+# ALSO PINBALL IS A NOVAC JOB. EBANK SET FOR COMMON.
+# 3) VERB 37. CHANGE OF PROGRAM (MAJOR MODE) CALLS `V37' IN THE
+# SERVICE ROUTINES AS PART OF THE PINBALL EXEC JOB WITH PRIO
+# 30000. THE NEW PROGRAM CODE (MAJOR MODE) IS LEFT IN A.
+# 4) KEY RELEASE BUTTON CALLS `PINBRNCH' IN THE DISPLAY INTERFACE
+# ROUTINES AS PART OF THE PINBALL EXEC JOB WITH PRIO 30000 IF
+# THE KEY RELEASE LIGHT IS OFF AND `CADRSTOR' IS NOT 40.
+#
+# IF PINBALL WAS CALLED BY INTERNAL PROGRAMS, EXIT FROM PINBALL IS BACK
+# TO CALLING ROUTINE. DETAILS DESCRIBED IN REMARKS CARDS JUST BEFORE
+# `NVSUB' AND `NVSBWAIT' (SEE SYMBOL TABLE FOR PAGE NUMBERS).
+#
+# ALARM OR ABORT EXIT MODES --
+#
+# EXTERNAL INITIATION:
+# IF SOME IMPROPER SEQUENCE OF KEY CODES IS DETECTED, THE OPERATOR
+# ERROR LIGHT IS TURNED ON AND EXIT IS TO `ENDOFJOB'.
+#
+# INTERNAL PROGRAM INITIATION:
+# IF AN ILLEGAL V/N COMBINATION IS ATTEMPTED, AN ABORT IS CAUSED
+# (WITH OCTAL 01501).
+# IF A SECOND ATTEMPT IS MADE TO GO TO SLEEP IN PINBALL, AN ABORT IS
+# CAUSED (WITH OCTAL 01206). THERE ARE TWO WAYS TO GO TO SLEEP IN PINBALL:
+# 1) ENDIDLE OR DATAWAIT.
+# 2) NVSBWAIT, PRENVBSY, OR NVSUBUSY.
+#
+# CONDITIONS LEADING TO THE ABOVE ARE DESCRIBED IN FORTHCOMING MIT/IL
+# E-REPORT DESCRIBING KEYBOARD AND DISPLAY OPERATION FOR 278.
+#
+# OUTPUT --
+#
+# INFORMATION TO BE SENT TO THE DISPLAY PANEL IS LEFT IN THE `DSPTAB'
+# BUFFERS REGISTERS (UNDER EXEC CONTROL). `DSPOUT' (A PART OF T4RUPT)
+# HANDLES THE PLACING OF THE `DSPTAB' INFORMATION INTO OUTPUT CHANNEL 10
+# IN INTERRUPT.
+#
+# ERASABLE INITIALIZATION --
+#
+# FRESH START AND RESTART INITIALIZE THE NECESSARY E REGISTERS FOR
+# PINBALL IN `STARTSUB'. REGISTERS ARE: DSPTAB BUFFER, CADRSTOR,
+# REQRET, CLPASS, DSPLOCK, MONSAVE, MONSAVE1, VERBREG, NOUNREG, DSPLIST,
+# DSPCOUNT, NOUT.
+#
+# Page 309
+# A COMPLETE LIST OF ALL THE ERASABLES (BOTH RESERVED AND TEMPORARIES) FOR
+# PINBALL IS GIVEN BELOW.
+#
+# THE FOLLOWING ARE OF GENERAL INTEREST --
+#
+# REMARKS CARDS PRECEDE THE REFERENCED SYMBOL DEFINITION. SEE SYMBOL
+# TABLE TO FIND APPROPRIATE PACE NUMBERS.
+#
+# NVSUB CALLING POINT FOR INTERNAL USE OF PINBALL.
+# OF RELATED INTEREST NVSBWAIT
+# NVSUBUSY
+# PRENVBSY
+#
+# ENDIDLE ROUTINE FOR INTERNAL PROGRAMS WISHING TO TO SLEEP WHILE
+# AWAITING OPERATOR'S RESPONSE.
+#
+# DSPMM ROUTINE BY WHICH AN INTERNAL PROGRAM MAY DISPLAY A DECIMAL
+# PROGRAM CODE (MAJOR MODE) IN THE PROGRAM (MAJOR MODE) LIGHT
+# (DSPMM DOES NOT DISPLAY DIRECTLY BUT ENTERS EXEC REQUEST
+# FOR DSPMMJB WITH PRIO 30000 AND RETURNS TO CALLER.)
+#
+# BLANKSUB ROUTINE BY WHICH AN INTERNAL PROGRAM MAY BLANK ANY
+# COMBINATION OF THE DISPLAY REGISTERS R1, R2, R3.
+#
+# JAMTERM ROUTINE BY WHICH AN INTERNAL PROGRAM MAY PERFORM THE
+# JAMPROC TERMINATE (V 34) OR PROCEED (V33) FUNCTION.
+#
+# MONITOR VERBS FOR PERIODIC (1 PER SEC) DISPLAY.
+#
+# PLEASE PERFORM, PLEASE MARK SITUATIONS
+# REMARKS DESCRIBING HOW AN INTERNAL ROUTINE SHOULD HANDLE
+# THESE SITUATIONS CAN BE FOUND JUST BEFORE `NVSUB' (SEE
+# SYMBOL TABLE FOR PAGE NUMBER).
+#
+# THE NOUN TABLE FORMAT IS DESCRIBED ON A PAGE OF REMARKS CARDS JUST
+# BEFORE `DSPABC' (SEE SYMBOL TABLE FOR PAGE NUMBER).
+#
+# THE NOUN TABLES THEMSELVES ARE FOUND IN LOG SECTION `PINBALL NOUN
+# TABLES'.
+#
+# FOR FURTHER DETAILS ABOUT OPERATION OF THE KEYBOARD AND DISPLAY SYSTEM
+# PROGRAM, SEE THE MISSION PLAN AND/OR MIT/IL E-2129
+# DESCRIBING KEYBOARD AND DISPLAY OPERATION FOR 278.
+# (Note that this doc by Green and Filene is/was available online at
+# http://hrst.mit.edu/hrs/apollo/public/archive/1706.pdf --- RSB 6/2004.)
+#
+# THE FOLLOWING QUOTATION IS PROVIDED THROUGH THE COURTESY OF THE AUTHORS.
+#
+# "IT WILL BE PROVED TO THY FACE THAT THOU HAST MEN ABOUT THEE THAT
+# Page 310
+# USUALLY TALK OF A NOUN AND A VERB, AND SUCH ABOMINABLE WORDS AS NO
+# CHRISTIAN EAR CAN ENDURE TO HEAR."
+# HENRY 6, ACT 2, SCENE 4
+
+# THE FOLLOWING ASSIGNMENTS FOR PINBALL ARE MADE ELSEWHERE
+
+# RESERVED FOR PINBALL EXECUTIVE ACTION
+#
+#DSPCOUNT ERASE # DISPLAY POSITION INDICATOR
+#DECBRNCH ERASE # +DEC, -DEC, OCT INDICATOR
+#VERBREG ERASE # VERB CODE
+#NOUNREG ERASE # NOUN CODE
+#XREG ERASE # R1 INPUT BUFFER
+#YREG ERASE # R2 INPUT BUFFER
+#ZREG ERASE # R3 INPUT BUFFER
+#XREGLP ERASE # LO PART OF XREG (FOR DEC CONV ONLY)
+#YREGLP ERASE # LO PART OF YREG (FOR DEC CONV ONLY)
+#HITEMOUT = YREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC
+# # MUST = LOTEMOUT-1.
+#ZREGLP ERASE # LO PART OF ZREG (FOR DEC CONV ONLY)
+#LOTEMOUT = ZREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC
+# # MUST = HITEMOUT+1
+#MODREG ERASE # MODE CODE
+#DSPLOCK ERASE # KEYBOARD/SUBROUTINE CALL INTERLOCK
+#REQRET ERASE # RETURN REGISTER FOR LOAD
+#LOADSTAT ERASE # STATUS INDICATOR FOR LOADTST
+#CLPASS ERASE # PASS INDICATOR FOR CLEAR
+#NOUT ERASE # ACTIVITY COUNTER FOR DSPTAB
+#NOUNCADR ERASE # MACHINE CADR FOR NOUN
+#MONSAVE ERASE # N/V CODE FOR MONITOR. (= MONSAVE1-1)
+#MONSAVE1 ERASE # NOUNCADR FOR MONITOR (MATBS1) = MONSAVE+1
+#MONSAVE2 ERASE # NVMONOPT OPTIONS
+#DSPTAB ERASE +13D # 0-10, DISPLAY PANEL BUFFER 11-13, C RELAYS.
+#CADRSTOR ERASE # ENDIDLE STORAGE
+#NVQTEM ERASE # NVSUB STORAGE FOR CALLING ADDRESS
+# # MUST = NVBNKTEM-1.
+#NVBNKTEM ERASE # NVSUB STORAGE FOR CALLING BANK
+# # MUST = NVQTEM+1
+#VERBSAVE ERASE # NEEDED FOR RECYCLE
+#DSPLIST ERASE # WAITING REG FOR DSP SYST INTERNAL USE
+#EXTVBACT ERASE # EXTENDED VERB ACTIVITY INTERLOCK
+#DSPTEM1 ERASE +2 # BUFFER STORAGE AREA 1 (MOSTLY FOR TIME)
+#DSPTEM2 ERASE +2 # BUFFER STORAGE AREA 2 (MOSTLY FOR DEG)
+#
+# END OF ERASABLES RESERVED FOR PINBALL EXECUTIVE ACTION.
+#
+# TEMPORARIES FOR PINBALL EXECUTIVE ACTION
+# Page 311
+#DSEXIT = INTB15+ # RETURN FOR DSPIN
+#EXITEM = INTB15+ # RETURN FOR SCALE FACTOR ROUTINE SELECT
+#BLANKRET = INTB15+ # RETURN FOR 2BLANK
+#WRDRET = INTBIT15 # RETURN FOR 5BLANK.
+#WDRET = INTBIT15 # RETURN FOR DSPWD
+#DECRET = INTBIT15 # RETURN FOR PUTCOM(DEC LOAD)
+#21/22REG = INTBIT15 # TEMP FOR CHARIN
+#UPDATRET = POLISH # RETURN FOR UPDATNN, UPDATVB
+#CHAR = POLISH # TEMP FOR CHARIN
+#ERCNT = POLISH # COUNTER FOR ERROR LIGHT RESET
+#DECOUNT = POLISH # COUNTER FOR SCALING AND DISPLAY (DEC)
+#SGNON = VBUF # TEMP FOR +,- ON
+#NOUNTEM = VBUF # COUNTER FOR MIXNOUN FETCH
+#DISTEM = VBUF # COUNTER FOR OCTAL DISPLAY VERB
+#DECTEM = VBUF # COUNTER FOR FETCH (DEC DISPLAY VERBS)
+#SGNOFF = VBUF +1 # TEMP FOR +,- ON
+#NVTEMP = VBUF +1 # TEMP FOR NVSUB
+#SFTEMP1 = VBUF +1 # STORAGE FOR SF CONST HI PART (=SFTEMP2-1)
+#HITEMIN = VBUF +1 # TEMP FOR LOAD OF HRS,MIN,SEC
+# # MUST = LOTEMIN-1.
+#CODE = VBUF +2 # FOR DSPIN
+#SFTEMP2 = VBUF +2 # STORAGE FOR SF CONST LO PART (=SFTEMP1+1)
+#LOTEMIN = VBUF +2 # TEMP FOR LOAD OF HRS,MIN,SEC
+# # MUST = HITEMIN+1
+#MIXTEMP = VBUF +3 # FOR MIXNOUN DATA
+#SIGNRET = VBUF +3 # RETURN FOR +,- ON
+# ALSO MIXTEMP+1 = VBUF+4, MIXTEMP+2 = VBUF+5
+#ENTRET = DOTINC # EXIT FROM ENTER
+#WDONT = DOTRET # CHAR COUNTER FOR DSPWD
+#INREL = DOTRET # INPUT BUFFER SELECTOR (X,Y,Z, REG )
+#DSPMMTEM = MATINC # DSPCOUNT SAVE FOR DSPMM
+#MIXBR = MATINC # INDICATOR FOR MIXED OR NORMAL NOUN
+#TEM1 ERASE # EXEC TEMP
+#DSREL = TEM1 # REL ADDRESS FOR DSPIN
+#TEM2 ERASE # EXEC TEMP
+#DSMAG = TEM2 # MAGNITUDE STORE FOR DSPIN
+#IDADDTEM = TEM2 # MIXNOUN INDIRECT ADDRESS STORAGE
+#TEM3 ERASE # EXEC TEMP
+#COUNT = TEM3 # FOR DSPIN
+# Page 312
+#TEM4 ERASE # EXEC TEMP
+#LSTPTR = TEM4 # LIST POINTER FOR GRABUSY
+#RELRET = TEM4 # RETURN FOR RELDSP
+#FREERET = TEM4 # RETURN FOR FREEDSP
+#DSPWDRET = TEM4 # RETURN FOR DSPSIGN
+#SEPSCRET = TEM4 # RETURN FOR SEPSEC
+#SEPMNRET = TEM4 # RETURN FOR SEPMIN
+#TEM5 ERASE # EXEC TEMP
+#NOUNADD = TEM5 # TEMP STORAGE FOR NOUN ADDRESS
+#NNADTEM ERASE # TEMP FOR NOUN ADDRESS TABLE ENTRY
+#NNTYPTEM ERASE # TEMP FOR NOUN TYPE TABLE ENTRY
+#IDAD1TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN)
+# # MUST = IDAD2TEM-1, = IDAD3TEM-2
+#IDAD2TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN)
+# # MUST = IDAD1TEM+1, IDAD3TEM-1.
+#IDAD3TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN)
+# # MUST = IDAD1TEM+2, IDAD2TEM+1.
+#RUTMXTEM ERASE # TEMP FOR SF ROUT TABLE ENTRY (MIXNN ONLY)
+#
+# END OF TEMPORARIES FOR PINBALL EXECUTIVE ACTION.
+#
+# ADDITIONAL TEMPORARIES FOR PINBALL EXECUTIVE ACTION
+#
+# MPAC, THRU MPAC +6
+# BUF, +1, +2
+# BUF2, +1, +2
+# MPTEMP
+# ADDRWD
+#
+# END OF ADDITIONAL TEMPS FOR PINBALL EXEC ACTION
+#
+# RESERVED FOR PINBALL INTERRUPT ACTION
+#
+#DSPCNT ERASE # COUNTER FOR DSPOUT
+#UPLOCK ERASE # BIT1 = UPLINK INTERLOCK (ACTIVATED BY
+# # RECEPTION OF A BAD MESSAGE IN UPLINK)
+#
+# END OF ERASABLES RESERVED FOR PINBALL INTERRUPT ACTION
+#
+# TEMPORARIES FOR PINBALL INTERRUPT ACTION
+#
+#KEYTEMP1 = WAITEXIT # TEMP FOR KEYRUPT, UPRUPT
+#DSRUPTEM = WAITEXIT # TEMP FOR DSPOUT
+#KEYTEMP2 = RUPTAGN # TEMP FOR KEYRUPT, UPRUPT
+#
+# END OF TEMPORARIES FOR PINBALL INTERRUPT ACTION
+
+# Page 313
+# THE INPUT CODES ASSUMED FOR THE KEYBOARD ARE,
+# 0 10000
+# 1 00001
+# 9 01001
+# VERB 10001
+# ERROR RES 10010
+# KEY RLSE 11001
+# + 11010
+# - 11011
+# ENTER 11100
+# CLEAR 11110
+# NOUN 11111
+#
+# OUTPUT FORMAT FOR DISPLAY PANEL. SET OUT0 TO AAAABCCCCCDDDDD.
+# A'S SELECTS A RELAYWORD. THIS DETERMINES WHICH PAIR OF CHARACTERS ARE
+# ENERGIZED.
+# B FOR SPECIAL RELAYS SUCH AS SIGNS ETC.
+# C'S 5 BIT RELAY CODE FOR LEFT CHAR OF PAIR SELECTED BY RELAYWORD.
+# D'S 5 BIT RELAY CODE FOR RIGHT CHAR OF PAIR SELECTED BY RELAYWORD.
+#
+# THE PANEL APPEARS AS FOLLOWS,
+# MD1 MD2 (MAJOR MODE)
+# VD1 VD2 (VERB) ND1 ND2 (NOUN)
+# R1D1 R1D2 R1D3 R1D4 R1D5 (R1)
+# R2D1 R2D2 R2D3 R2D4 R2D5 (R2)
+# R3D1 R3D2 R3D3 R3D4 R3D5 (R3)
+#
+# EACH OF THESE IS GIVEN A DSPCOUNT NUMBER FOR USE WITHIN COMPUTATION ONLY
+#
+# MD1 25 R2D1 11 ALL ARE OCTAL
+# MD2 24 R2D2 10
+# VD1 23 R2D3 7
+# VD2 22 R2D4 6
+# ND1 21 R2D5 5
+# ND2 20 R3D1 4
+# R1D1 16 R3D2 3
+# R1D2 15 R3D3 2
+# R1D3 14 R3D4 1
+# R1D4 13 R3D5 0
+# R1D5 12
+#
+# THERE IS AN 11-REGISTER TABLE (DSPTAB) FOR THE DISPLAY PANEL.
+#
+# DSPTAB RELAYWD BIT11 BITS 10-6 BITS 5-1
+# RELADD
+# 10 1011 MD1 (25) MD2 (24)
+# 9 1010 VD1 (23) VD2 (22)
+# 8 1001 ND1 (21) ND2 (20)
+# 7 1000 R1D1 (16)
+# Page 314
+# 6 0111 +R1 R1D2 (15) R1D3 (14)
+# 5 0110 -R1 R1D4 (13) R1D5 (12)
+# 4 0101 +R2 R2D1 (11) R2D2 (10)
+# 3 0100 -R2 R2D3 (7) R2D4 (6)
+# 2 0011 R2D5 (5) R3D1 (4)
+# 1 0010 +R3 R3D2 (3) R3D3 (2)
+# 0 0001 -R3 R3D4 (1) R3D5 (0)
+# 0000 NO RELAYWORD
+#
+# THE 5-BIT OUTOUT RELAY CODES ARE:
+#
+# BLANK 00000
+# 0 10101
+# 1 00011
+# 2 11001
+# 3 11011
+# 4 01111
+# 5 11110
+# 6 11100
+# 7 10011
+# 8 11101
+# 9 11111
+#
+# OUTPUT BITS USED BY PINBALL:
+#
+# KEY RELEASE LIGHT -- BIT 5 OF CHANNEL 11
+# VERB/NOUN FLASH -- BIT 6 OF CHANNEL 11
+# OPERATOR ERROR LIGHT -- BIT 7 OF CHANNEL 11
+
+# Page 315
+# START OF EXECUTIVE SECTION OF PINBALL
+
+ BANK 40
+ SETLOC PINBALL1
+ BANK
+
+ COUNT 40/PIN
+
+CHARIN CAF ONE # BLOCK DISPLAY SYST
+ XCH DSPLOCK # MAKE DSP SYST BUSY, BUT SAVE OLD
+ TS 21/22REG # C(DSPLOCK) FOR ERROR LIGHT RESET.
+ CCS CADRSTOR # ALL KEYS EXCEPT ER TURN ON KR LITE IF
+ TC +2 # CADRSTOR IS FULL. THIS REMINDS OPERATOR
+ TC CHARIN2 # TO RE-ESTABLISH A FLASHING DISPLAY
+ CS ELRCODE1 # WHICH HE HAS OBSCURED WITH DISPLAYS OF
+ AD MPAC # HIS OWN (SEE REMARKS PRECEDING ROUTINE
+ EXTEND # VBRELDSP).
+ BZF CHARIN2
+ TC RELDSPON
+CHARIN2 XCH MPAC
+ TS CHAR
+ INDEX A
+ TC +1 # INPUT CODE FUNCTION
+ TC CHARALRM # 0
+ TC NUM # 1
+ TC NUM # 2
+ TC NUM # 3
+ TC NUM # 4
+ TC NUM # 5
+ TC NUM # 6
+ TC NUM # 7
+ TC 89TEST # 10 8
+ TC 89TEST # 11 9
+ TC CHARALRM # 12
+ TC CHARALRM # 13
+ TC CHARALRM # 14
+ TC CHARALRM # 15
+ TC CHARALRM # 16
+ TC CHARALRM # 17
+ TC NUM -2 # 20 0
+ TC VERB # 21 VERB
+ TC ERROR # 22 ERROR LIGHT RESET
+ TC CHARALRM # 23
+ TC CHARALRM # 24
+ TC CHARALRM # 25
+ TC CHARALRM # 26
+ TC CHARALRM # 27
+ TC CHARALRM # 30
+ TC VBRELDSP # 31 KEY RELEASE
+# Page 316
+ TC POSGN # 32 +
+ TC NEGSGN # 33 -
+ TC ENTERJMP # 34 ENTER
+ TC CHARALRM # 35
+ TC CLEAR # 36 CLEAR
+ TC NOUN # 37 NOUN
+
+ELRCODE1 OCT 22
+ENTERJMP TC POSTJUMP
+ CADR ENTER
+
+89TEST CCS DSPCOUNT
+ TC +4 # +
+ TC +3 # +0
+ TC ENDOFJOB # - BLOCK DATA IN IF DSPCOUNT IS - OR -0
+ TC ENDOFJOB # -0
+ CAF THREE
+ MASK DECBRNCH
+ CCS A
+ TC NUM # IF DECBRNCH IS +, 8 OR 9 OK
+ TC CHARALRM # IF DECBRNCH IS +0, REJECT 8 OR 9
+
+# NUM ASSEMBLES OCTAL 3 BITS AT A TIME. FOR DECIMAL IT CONVERTS INCOMING
+# WORD AS A FRACTION, KEEPING RESULTS TO DP.
+# OCTAL RESULTS ARE LEFT IN XREG, YREG, OR ZREG. HI PART OF DEC IN XREG,
+# YREG, ZREG. THE LOW PARTS IN XREGLP, YREGLP, OR ZREGLP.
+# DECBRNCH IS LEFT AT +0 FOR OCT, +1 FOR + DEC, +2 FOR - DEC.
+# IF DSPCOUNT WAS LEFT -, NO MORE DATA IS ACCEPTED.
+
+ CAF ZERO
+ TS CHAR
+NUM CCS DSPCOUNT
+ TC +4 # +
+ TC +3 # +0
+ TC +1 # -BLOCK DATA IN IF DSPCOUNT IS -
+ TC ENDOFJOB # -0
+ TC GETINREL
+ CCS CLPASS # IF CLPASS IS + OR +0, MAKE IT +0.
+ CAF ZERO
+ TS CLPASS
+ TC +1
+ INDEX CHAR
+ CAF RELTAB
+ MASK LOW5
+ TS CODE
+ CA DSPCOUNT
+ TS COUNT
+ TC DSPIN
+# Page 317
+ CAF THREE
+ MASK DECBRNCH
+ CCS A # +0, OCTAL. +1, + DEC. +2, - DEC.
+ TC DECTOBIN # +
+ INDEX INREL # +0 OCTAL
+ XCH VERBREG
+ TS CYL
+ CS CYL
+ CS CYL
+ XCH CYL
+ AD CHAR
+ TC ENDNMTST
+DECTOBIN INDEX INREL
+ XCH VERBREG
+ TS MPAC # SUM X 2EXP-14 IN MPAC
+ CAF ZERO
+ TS MPAC +1
+ CAF TEN # 10 X 2EXP-14
+ TC SHORTMP # 10SUM X 2EXP-28 IN MPAC, MPAC+1
+ XCH MPAC +1
+ AD CHAR
+ TS MPAC +1
+ TC ENDNMTST # NO OF
+ ADS MPAC # OF MUST BE 5TH CHAR
+ TC DECEND
+ENDNMTST INDEX INREL
+ TS VERBREG
+ CS DSPCOUNT
+ INDEX INREL
+ AD CRITCON
+ EXTEND
+ BZF ENDNUM # -0, DSPCOUNT = CRITCON
+ TC MORNUM # -, DSPCOUNT G/ CRITCON
+ENDNUM CAF THREE
+ MASK DECBRNCH
+ CCS A
+ TC DECEND
+ENDALL CS DSPCOUNT # BLOCK NUMIN BY PLACING DSPCOUNT
+ TC MORNUM +1 # NEGATIVELY
+DECEND CS ONE
+ AD INREL
+ EXTEND
+ BZMF ENDALL # IF INREL=0,1 (VBREG,NNREG) LEAVE WHOLE
+ TC DMP # IF INREL=2,3,4 (R1,R2,R3), CONVERT TO FRAC
+ # MULT SUM X 2EXP-28 IN MPAC, MPAC+1 BY
+ ADRES DECON # 2EXP14/10EXP5, GIVES (SUM/10EXP5)X2EXP-14
+ CAF THREE # IN MPAC, +1, +2.
+ MASK DECBRNCH
+ INDEX A
+ TC +0
+# Page 318
+ TC +DECSGN
+ EXTEND # - CASE
+ DCS MPAC +1
+ DXCH MPAC +1
++DECSGN XCH MPAC +2
+ INDEX INREL
+ TS XREGLP -2
+ XCH MPAC +1
+ INDEX INREL
+ TS VERBREG
+ TC ENDALL
+MORNUM CCS DSPCOUNT # DECREMENT DSPCOUNT
+ TS DSPCOUNT
+ TC ENDOFJOB
+
+CRITCON OCT 22 # (DEC 18)
+ OCT 20 # (DEC 16)
+ OCT 12 # (DEC 10)
+ OCT 5
+ OCT 0
+
+DECON 2DEC 1 E-5 B14 # 2EXP14/10EXP5 = .16384 DEC
+
+# GETINREL GETS PROPER DATA REG REL ADDRESS FOR CURRENT C(DSPCOUNT) AND
+# PUTS IN INTO INREL. +0 VERBREG, 1 NOUNREG, 2 XREG, 3 YREG, 4 ZREG.
+
+GETINREL INDEX DSPCOUNT
+ CAF INRELTAB
+ TS INREL # (A TEMP. REG)
+ TC Q
+
+INRELTAB OCT 4 # R3D5 (DSPCOUNT = 0)
+ OCT 4 # R3D4 =(1)
+ OCT 4 # R3D3 =(2)
+ OCT 4 # R3D2 =(3)
+ OCT 4 # R3D1 =(4)
+ OCT 3 # R2D5 =(5)
+ OCT 3 # R2D4 =(6)
+ OCT 3 # R2D3 =(7)
+ OCT 3 # R2D2 =(8D)
+ OCT 3 # R2D1 =(9D)
+ OCT 2 # R1D5 =(10D)
+ OCT 2 # R1D4 =(11D)
+ OCT 2 # R1D3 =(12D)
+ OCT 2 # R1D2 =(13D)
+ OCT 2 # R1D1 =(14D)
+ TC CCSHOLE # NO DISCOUNT NUMBER = 15D
+ OCT 1 # ND2 =(16D)
+# Page 319
+ OCT 1 # ND1 =(17D)
+ OCT 0 # VD2 =(18D)
+ OCT 0 # VD1 =(19D)
+
+VERB CAF ZERO
+ TS VERBREG
+ CAF VD1
+NVCOM TS DSPCOUNT
+ TC 2BLANK
+ CAF ONE
+ TS DECBRNCH # SET FOR DEC V/N CODE
+ CAF ZERO
+ TS REQRET # SET FOR ENTPAS0
+ CAF ENDINST # IF DSPALARM OCCURS BEFORE FIRST ENTPAS0
+ TS ENTRET # OR NVSUB, ENTRET MUST ALREADY BE SET
+ # TO TC ENDOFJOB
+ TC ENDOFJOB
+NOUN CAF ZERO
+ TS NOUNREG
+ CAF ND1 # ND1, OCT 21 (DEC 17)
+ TC NVCOM
+
+NEGSGN TC SIGNTEST
+ TC -ON
+ CAF TWO
+BOTHSGN INDEX INREL # SET DEC COMP BIT TO 1 (IN DECBRNCH)
+ AD BIT7 # BIT 5 FOR R1. BIT 4 FOR R2.
+ ADS DECBRNCH # BIT 3 FOR R3.
+FIXCLPAS CCS CLPASS # IF CLPASS IS + OR +0. MAKE IT +0.
+ CAF ZERO
+ TS CLPASS
+ TC +1
+ TC ENDOFJOB
+
+POSGN TC SIGNTEST
+ TC +ON
+ CAF ONE
+ TC BOTHSGN
+
++ON LXCH Q
+ TC GETINREL
+ INDEX INREL
+ CAF SGNTAB -2
+ TS SGNOFF
+ AD ONE
+ TS SGNON
+SGNCOM CAF ZERO
+ TS CODE
+# Page 320
+ XCH SGNOFF
+ TC 11DSPIN
+ CAF BIT11
+ TS CODE
+ XCH SGNON
+ TC 11DSPIN
+ TC L
+-ON LXCH Q
+ TC GETINREL
+ INDEX INREL
+ CAF SGNTAB -2
+ TS SGNON
+ AD ONE
+ TS SGNOFF
+ TC SGNCOM
+
+SGNTAB OCT 5 # -R1
+ OCT 3 # -R2
+ OCT 0 # -R3
+
+SIGNTEST LXCH Q # ALLOWS +,- ONLY WHEN DSPCOUNT=R1D1,
+ CAF THREE # R2D1, OR R3D1. ALLOWS ONLY FIRST OF
+ MASK DECBRNCH # CONSECUTIVE +/- CHARACTERS.
+ CCS A # IF LOW2 BITS OF DECBRNCH NOT 0. SIGN
+ TC ENDOFJOB # FOR THIS WORD ALREADY IN. REJECT.
+ CS R1D1
+ TC SGNTST1
+ CS R2D1
+ TC SGNTST1
+ CS R3D1
+ TC SGNTST1
+ TC ENDOFJOB # NO MATCH FOUND. SIGN ILLEGAL
+SGNTST1 AD DSPCOUNT
+ EXTEND
+ BZF +2 # MATCH FOUND
+ TC Q
+ TC L # SIGN LEGAL
+
+# CLEAR BLANKS WHICH R1, R2, R3 IS CURRENT OR LAST TO BE DISPLAYED (PERTINENT
+# XREG, YREG, ZREG IS CLEARED). SUCCESSIVE CLEARS TAKE CARE OF EACH RX
+# L/ RC UNTIL R1 IS DONE. THEN NO FURTHER ACTION.
+#
+# THE SINGLE COMPONENT LOAD VERBS ALLOW ONLY THE SINGLE RC THAT IS
+# APPROPRIATE TO BE CLEARED.
+#
+# CLPASS +0 PASS0, CAN BE BACKED UP
+# +NZ HIPASS, CAN BE BACKED UP
+# -NZ PASS0, CANNOT BE BACKED UP
+# Page 321
+CLEAR CCS DSPCOUNT
+ AD ONE
+ TC +2
+ AD ONE
+ INDEX A # DO NOT CHANGE DSPCOUNT BECAUSE MAY LATER
+ CAF INRELTAB # FAIL LEGALTST.
+ TS INREL # MUST SET INREL, EVEN FOR HIPASS.
+ CCS CLPASS
+ TC CLPASHI # +
+ TC +2 # +0 IF CLPASS IS +0 OR -, IT IS PASS0
+ TC +1 # -
+ CA INREL
+ TC LEGALTST
+ TC CLEAR1
+CLPASHI CCS INREL
+ TS INREL
+ TC LEGALTST
+ CAF DOUBLK +2 # +3 TO - NUMBER, BACKS DATA REQUESTS.
+ ADS REQRET
+ CA INREL
+ TS MIXTEMP # TEMP STORAGE FOR INREL
+ EXTEND
+ DIM VERBREG # DECREMENT VERB AND RE-DISPLAY
+ TC BANKCALL
+ CADR UPDATVB
+ CA MIXTEMP
+ TS INREL # RESTORE INREL
+CLEAR1 TC CLR5
+ INCR CLPASS # ONLY IF CLPASS IS + OR +0
+ TC ENDOFJOB # SET FOR HIGHER PASS.
+CLR5 LXCH Q # USED 5BLANK BUT AVOIDS ITS TC GETINREL
+ TC 5BLANK +2
+LEGALTST AD NEG2
+ CCS A
+ TC Q # LEGAL INREL G/2
+ TC CCSHOLE
+ TC ENDOFJOB # ILLEGAL INREL=0,1
+ TC Q # LEGAL INREL=2
+
+# 5BLANK BLANKS 5 CHAR DISPLAY WORD IN R1, R2, OR R3. IT ALSO ZEROES XREG,
+# YREG, OR ZREG. PLACE ANY + DSPCOUNT NUMBER FOR PERTINENT RC INTO DSPCOUNT.
+# DSPCOUNT IS LEFT SET TO LEFT MOST DSP NUMB FOR RC JUST BLANKED.
+
+ TS DSPCOUNT # NEEDED FOR BLANKSUB
+5BLANK LXCH Q
+ TC GETINREL
+ CAF ZERO
+ INDEX INREL
+ TS VERBREG # ZERO X, Y, Z, REG.
+# Page 322
+ INDEX INREL
+ TS XREGLP -2
+ TS CODE
+ INDEX INREL # ZERO PERTINENT DEC COMP BIT.
+ CS BIT7 # PROTECT OTHERS
+ MASK DECBRNCH
+ MASK BRNCHCON # ZERO LOW 2 BITS.
+ TS DECBRNCH
+ INDEX INREL
+ CAF SINBLANK -2 # BLANK ISOLATED CHAR SEPARATELY
+ TS COUNT
+ TC DSPIN
+5BLANK1 INDEX INREL
+ CAF DOUBLK -2
+ TS DSPCOUNT
+ TC 2BLANK
+ CS TWO
+ ADS DSPCOUNT
+ TC 2BLANK
+ INDEX INREL
+ CAF R1D1 -2
+ TS DSPCOUNT # SET DSPCOUNT TO LEFT MOST DSP NUMBER
+ TC L # OF REG. JUST BLANKED
+
+SINBLANK OCT 16 # DEC 14
+ OCT 5
+ OCT 4
+DOUBLK OCT 15 # DEC 13
+ OCT 11 # DEC 9
+ OCT 3
+
+BRNCHCON OCT 77774
+
+# 2BLANK BLANKS TWO CHAR. PLACE DSP NUMBER OF LEFT CHAR OF THE PAIR INTO
+# DSPCOUNT. THIS NUMBER IS LEFT IN DSPCOUNT
+
+2BLANK CA DSPCOUNT
+ TS SR
+ CS BLANKCON
+ INHINT
+ INDEX SR
+ XCH DSPTAB
+ EXTEND
+ BZMF +2 # IF OLD CONTENTS -, NOUT OK
+ INCR NOUT # IF OLD CONTENTS +, +1 TO NOUT
+ RELINT # IF -, NOUT OK
+ TC Q
+BLANKCON OCT 4000
+
+# Page 323
+# ENTER PASS 0 IS THE EXECUTE FUNCTION. HIGHER ORDER ENTERS ARE TO LOAD
+# DATA. THE SIGN OF REQRET DETERMINES THE PASS, + FOR PASS 0, - FOR HIGHER
+# PASSES
+#
+# MACHINE CADR TO BE SPECIFIED (MCTBS) NOUNS DESIRE AN ECADR TO BE LOADED
+# WHEN USED WITH LOAD VERBS, MONITOR VERBS, OR DISPLAY VERBS (EXCEPT
+# VERB = FIXED MEMORY DISPLAY, WHICH REQUIRES AN FCADR).
+
+ BANK 41
+ SETLOC PINBALL2
+ BANK
+
+ COUNT 41/PIN
+
+NVSUBB TC NVSUB1 # STANDARD LEAD INS. DON'T MOVE.
+LOADLV1 TC LOADLV
+
+# END OF STANDARD LEAD INS.
+
+ENTER CAF ZERO
+ TS CLPASS
+ CAF ENDINST
+ TS ENTRET
+ CCS REQRET
+ TC ENTPAS0 # IF +, PASS 0
+ TC ENTPAS0 # IF +, PASS 0
+ TC +1 # IF -, NOT PASS 0
+ENTPASHI CAF MMADREF
+ AD REQRET # IF L/ 2 CHAR IN FOR MM CODE, ALARM
+ EXTEND # AND RECYCLE (DECIDE AT MCHANG+1).
+ BZF ACCEPTWD
+ CAF THREE # IF DEC, ALARM IF L/ 5 CHAR IN FOR DATA,
+ MASK DECBRNCH # BUT LEAVE REQRET - AND FLASH ON, SO
+ CCS A # OPERATOR CAN SUPPLY MISSING NUMERICAL
+ TC +2 # CHARACTERS AND CONTINUE.
+ TC ACCEPTWD # OCTAL. ANY NUMBER OF CHAR OK.
+ CCS DSPCOUNT
+ TC GODSPALM # LESS THAN 5 CHAR DEC(DSPCOUNT IS +)
+ TC GODSPALM # LESS THAN 5 CHAR DEC(DSPCOUNT IS +)
+ TC +1 # 5 CHAR IN (DSPCOUNT IS -)
+ACCEPTWD CS REQRET # 5 CHAR IN (DSPCOUNT IS -)
+ TS REQRET # SET REQRET +.
+ TC FLASHOFF
+ TC REQRET
+
+ENTEXIT = ENTRET
+
+MMADREF ADRES MMCHANG +1 # ASSUMES TC REQMM AT MMCHANG.
+
+# Page 324
+LOWVERB DEC 28 # LOWER VERB THAT AVOIDS NOUN TEST.
+
+ENTPAS0 CAF ZERO # NOUN VERB SUB ENTERS HERE
+ TS DECBRNCH
+ CS VD1 # BLOCK FURTHER NUM CHAR, SO THAT STRAY
+ TS DSPCOUNT # CHAR DO NOT GET INTO VERB OR NOUN LTS.
+TESTVB CS VERBREG # IF VERB IS G/E LOWVB, SKIP NOUN TEST.
+ TS VERBSAVE # SAVE VERB FOR POSSIBLE RECYCLE.
+ AD LOWVERB # LOWVERB - VB
+ EXTEND
+ BZMF VERBFAN # VERB G/ E LOWVERB
+TESTNN EXTEND # VERB L/ LOWVERB
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING
+ DXCH Z # ROUTINE.
+ INDEX MIXBR
+ TC +0
+ TC +2 # NORMAL
+ TC MIXNOUN # MIXED
+ CCS NNADTEM # NORMAL
+ TC VERBFAN -2 # NORMAL IF +
+ TC GODSPALM # NOT IN USE IF +0
+ TC REQADD # SPECIFY MACHINE CADR IF -
+ INCR NOUNCADR # AUGMENT MACHINE CADR IF -0
+ TC SETNADD # ECADR FROM NOUNCADR, SETS ED, NOUNADD.
+ TC INTMCTBS +2
+REQADD CAF BIT15 # SET CLPASS FOR PASS 0 ONLY
+ TS CLPASS
+ CS ENDINST # TEST IF REACHED HERE FROM INTERNAL OR
+ AD ENTEXIT # FROM EXTERNAL
+ EXTEND
+ BZF +2 # EXTERNAL MACH CADR TO BE SPECIFIED
+ TC INTMCTBS
+ TC REQDATZ # EXTERNAL MACH CADR TO BE SPECIFIED
+ CCS DECBRNCH # ALARM AND RECYCLE IF DECIMAL USED
+ TC ALMCYCLE # FOR MCTBS.
+ CS VD1 # OCTAL USED OK
+ TS DSPCOUNT # BLOCK NUM CHAR IN
+ CCS CADRSTOR
+ TC +3 # EXTERNAL MCTBS DISPLAY WILL LEAVE FLASH
+ TC USEADD # ON IF ENDIDLE NOT = +0.
+ TC +1
+ TC FLASHON
+USEADD XCH ZREG
+ TC SETNCADR # ECADR INTO NOUNCADR. SET EB, NOUNADD.
+ EXTEND
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TAB E READING
+ DXCH Z # ROUTINE.
+ TC VERBFAN
+
+ EBANK= DSPCOUNT
+# Page 325
+LODNNLOC 2CADR LODNNTAB
+
+NEG5 OCT 77772
+
+INTMCTBS CA MPAC +2 # INTERNAL MACH CADR TO BE SPECIFIED.
+ TC SETNCADR # ECADR INTO NOUNCADR. SET EB, NOUNADD.
+ CS FIVE # NVSUB CALL LEFT CADR IN MPAC+2 FOR MACH
+ AD VERBREG # CADR TO BE SPECIFIED.
+ EXTEND
+ BZF VERBFAN # DON'T DISPLAY CADR IF VB = 05.
+ CAF R3D1 # VB NOT = 05. DISPLAY CADR.
+ TS DSPCOUNT
+ CA NOUNCADR
+ TC DSPOCTWO
+ TC VERBFAN
+
+ AD ONE
+ TC SETNCADR # ECADR INTO NOUNCADR. SETS EB, NOUNADD.
+VERBFAN CS LST2CON
+ AD VERBREG # VERB -- LST2CON
+ CCS A
+ AD ONE # VERB G/ LST2CON
+ TC +2
+ TC VBFANDIR # VERB L/ LST2CON
+ TS MPAC
+ TC RELDSP # RELEASE DISPLAY SYST
+ TC POSTJUMP # GO TO GOEXTVB WITH VB=40 IN MPAC.
+ CADR GOEXTVB
+LST2CON DEC 40 # FIRST LIST2 VERB (EXTENDED VERB)
+
+VBFANDIR INDEX VERBREG
+ CAF VERBTAB
+ TC BANKJUMP
+
+VERBTAB CADR GODSPALM # VB00 ILLEGAL
+ CADR DSPA # VB01 DISPLAY OCT COMP 1 (R1)
+ CADR DSPB # VB02 DISPLAY OCT COMP 2 (R1)
+ CADR DSPC # VB03 DISPLAY OCT COMP 3 (R1)
+ CADR DSPAB # VB04 DISPLAY OCT COMP 1,2 (R1,R2)
+ CADR DSPABC # VB05 DISPLAY OCT COMP 1,2,3 (R1,R2,R3)
+ CADR DECDSP # VB06 DECIMAL DISPLAY
+ CADR DSPDPDEC # VB07 DP DECIMAL DISPLAY (R1,R2)
+ CADR GODSPALM # VB08 SPARE
+ CADR GODSPALM # VB09 SPARE
+ CADR DSPALARM # VB10 SPARE
+ CADR MONITOR # VB11 MONITOR OCT COMP 1 (R1)
+ CADR MONITOR # VB12 MONITOR OCT COMP 2 (R1)
+ CADR MONITOR # VB13 MONITOR OCT COMP 3 (R1)
+ CADR MONITOR # VB14 MONITOR OCT COMP 1,2 (R1,R2)
+# Page 326
+ CADR MONITOR # VB15 MONITOR OCT COMP 1,2,3 (R1,R2,R3)
+ CADR MONITOR # VB16 MONITOR DECIMAL
+ CADR MONITOR # VB17 MONITOR DP DEC (R1,R2)
+ CADR GODSPALM # VB18 SPARE
+ CADR GODSPALM # VB19 SPARE
+ CADR GODSPALM # VB20 SPARE
+ CADR ALOAD # VB21 LOAD COMP 1 (R1)
+ CADR BLOAD # VB22 LOAD COMP 2 (R2)
+ CADR CLOAD # VB23 LOAD COMP 3 (R3)
+ CADR ABLOAD # VB24 LOAD COMP 1,2 (R1,R2)
+ CADR ABCLOAD # VB25 LOAD COMP 1,2,3 (R1,R2,R3)
+ CADR GODSPALM # VB26 SPARE
+ CADR DSPFMEM # VB27 FIXED MEMORY DISPLAY
+ # THE FOLLOWING VERBS MAKE NO NOUN TEST
+ CADR GODSPALM # VB28 SPARE
+ CADR GODSPALM # VB29 SPARE
+REQEXLQC CADR VBRQEXEC # VB30 REQUEST EXECUTIVE
+ CADR VBRQWAIT # VB31 REQUEST WAITLIST
+ CADR VBRESEQ # VB32 RESEQUENCE
+ CADR VBPROC # VB33 PROCEED WITHOUT DATA
+ CADR VBTERM # VB34 TERMINATE CURRENT TEST OR LOAD REQ
+ CADR VBTSTLTS # VB35 TEST LIGHTS
+ CADR SLAP1 # VB36 FRESH START
+ CADR MMCHANG # VB37 CHANGE MAJOR MODE
+ CADR GODSPALM # VB38 SPARE
+ CADR GODSPALM # VB39 SPARE
+
+# THE LIST2 VERBFAN IS LOCATED IN THE EXTENDED VERB BANK.
+# Page 327
+# NNADTAB CONTAINS A RELATIVE ADDRESS, IDADDREL (IN LOW 10 BITS), REFERRING
+# TO WHERE 3 CONSECUTIVE ADDRESSES ARE STORED (IN IDADDTAB).
+# MIXNOUN GETS DATA AND STORES IN MIXTEMP,+1,+2. IT SETS NOUNADD FOR
+# MIXTEMP.
+
+MIXNOUN CCS NNADTEM
+ TC +4 # + IN USE
+ TC GODSPALM # +0 NOT IN USE
+ TC +2 # - IN USE
+ TC +1 # -0 IN USE
+ CS SIX
+ AD VERBREG
+ EXTEND
+ BZMF +2 # VERB L/E 6
+ TC VERBFAN # AVOID MIXNOUN SWAP IF VB NOT = DISPLAY
+ CAF TWO
+MIXNN1 TS DECOUNT
+ AD MIXAD
+ TS NOUNADD # SET NOUNADD TO MIXTEMP +K
+ INDEX DECOUNT # GET IDADDTAB ENTRY FOR COMPONENT K
+ CA IDAD1TEM # OF NOUN.
+ TS NOUNTEM
+ # TEST FOR DP (FOR OCT DISPLAY). IF SO, GET
+ # MINOR PART ONLY.
+ TC SFRUTMIX # GET SF ROUT NUMBER IN A
+ TC DPTEST
+ TC MIXNN2 # NO DP
+ INCR NOUNTEM # DP GET MINOR PART
+MIXNN2 CA NOUNTEM
+ MASK LOW11 # ESUBK (NO DP) OR (ESUBK)+1 FOR DP.
+ TC SETEBANK # SET EBANK, LEAVE EADRES IN A.
+ INDEX A # PICK UP C(ESUBK) NOT DP.
+ CA 0 # OR C((ESUBK)+1) FOR DP MINOR PART
+ INDEX NOUNADD
+ XCH 0 # STORE IN MIXTEM + K
+ CCS DECOUNT
+ TC MIXNN1
+ TC VERBFAN
+
+MIXAD TC MIXTEMP
+
+# DPTEST ENTER WITH SF ROUT NUMBER IN A.
+# RETURNS TO L+1 IF NO DP.
+# RETURNS TO L+2 IF DP.
+
+DPTEST INDEX A
+ TCF +1
+ TC Q # OCTAL ONLY NO DP
+ TC Q # FRACT NO DP
+# Page 328
+ TC Q # DEG NO DP
+ TC Q # ARITH NO DP
+ TCF DPTEST1 # DP1OUT
+ TCF DPTEST1 # DP2OUT
+ TC Q # OPDEG NO DP
+ TCF DPTEST1 # DP3OUT
+ TC Q # HMS NO DP
+ TC Q # M/S NO DP
+ TCF DPTEST1 # DP4OUT
+ TC Q # ARITH1 NO DP
+ TC Q # 2INTOUT NO DP TO GET HI PART IN MPAC
+ TCF DPTEST1 # DPFRACOT
+DPTEST1 INDEX Q
+ TC 1 # RETURN TO L+2
+
+REQDATX CAF R1D1
+ TCF REQCOM
+REQDATY CAF R2D1
+ TCF REQCOM
+REQDATZ CAF R3D1
+REQCOM TS DSPCOUNT
+ CS Q
+ TS REQRET
+ TC BANKCALL
+ CADR 5BLANK
+ TC FLASHON
+ENDRQDAT TC ENTEXIT
+
+ TS NOUNREG
+UPDATNN XCH Q
+ TS UPDATRET
+ EXTEND
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING
+ DXCH Z # ROUTINE.
+ CCS NNADTEM
+ AD ONE # NORMAL
+ TCF PUTADD
+ TCF PUTADD +1 # MCTBS DON'T CHANGE NOUNADD
+ TCF PUTADD +1 # MCTBI DON'T CHANGE NOUNADD
+PUTADD TC SETNCADR # ECADR INTO NOUNCADR. SETS EB, NOUNADD.
+ CAF ND1
+ TS DSPCOUNT
+ CA NOUNREG
+ TCF UPDAT1
+
+ TS VERBREG
+UPDATVB XCH Q
+ TS UPDATRET
+ CAF VD1
+# Page 329
+ TS DSPCOUNT
+ CA VERBREG
+UPDAT1 TC POSTJUMP # CAN'T USE SWCALL TO GO TC DSPDECVN, SINCE
+ CADR GOVNUPDT # UPDATVB CAN ITSELF BE CALLED BY SWCALL.
+ TC UPDATRET
+
+GOALMCYC TC ALMCYCLE # NEEDED BECAUSE BANKJUMP CAN'T HANDLE F/F.
+
+GODSPALM TC POSTJUMP
+ CADR DSPALARM
+
+# Page 330
+# NOUN TABLES
+#
+# NOUN CODE L/40, NORMAL NOUN CASE. NOUN CODE G/E 40, MIXED NOUN CASE.
+# FOR NORMAL CASE, NNADTAB CONTAINS ONE ECADR FOR EACH NOUN.
+# +0 INDICATES NOUN NOT USED. - ENTRY INDICATES MACHINE CADR (E OR F) TO
+# BE SPECIFIED. -1 INDICATES CHANNEL TO BE SPECIFIED. -0 INDICATES AUGMENT
+# OF LAST MACHINE CADR SUPPLIED.
+#
+# FOR MIXED CASE, NNADTAB CONTAINS ONE INDIRECT ADDRESS (IDADDREL) IN LOW
+# 10 BITS, AND THE COMPONENT CODE NUMBER IN THE HIGH 5 BITS.
+#
+# NNTYPTAB IS A PACKED TABLE OF THE FORM MMMMMNNNNNPPPPP.
+#
+# FOR THE NORMAL CASE, M'S ARE THE COMPONENT CODE NUMBER.
+# N'S ARE THE SF ROUTINE CODE NUMBER.
+# P'S ARE THE SF CONSTANT CODE NUMBER.
+#
+# MIXED-CASE, M'S ARE THE SF CONSTANT3 CODE NUMBER 3 COMPONENT CASE
+# N'S ARE THE SF CONSTANT2 CODE NUMBER
+# P'S ARE THE SF CONSTANT1 CODE NUMBER
+# N'S ARE THE SF CONSTANT2 CODE NUMBER 2 COMPONENT CASE
+# P'S ARE THE SF CONSTANT1 CODE NUMBER
+# P'S ARE THE SF CONSTANT1 CODE NUMBER 1 COMPONENT CASE
+#
+# THERE IS ALSO AN INDIRECT ADDRESS TABLE (IDADDTAB) FOR MIXED CASE ONLY
+# EACH ENTRY CONTAINS ONE ECADR. IDADDREL IS THE RELATIVE ADDRESS OF
+# THE FIRST OF THESE ENTRIES.
+#
+# THERE IS ONE ENTRY IN THIS TABEL FOR EACH COMPONENT OF A MIXED NOUN
+# THEY ARE LISTED IN ORDER OF ASCENDING K.
+#
+# THERE IS ALSO A SCALE FACTOR ROUTINE NUMBER TABLE (RUTMXTAB) FOR MIXED
+# CASE ONLY. THERE IS ONE ENTRY PER MIXED NOUN. THE FORM IS,
+#
+# QQQQQRRRRRSSSSS
+#
+# Q'S ARE THE SF ROUTINE 3 CODE NUMBER 3 COMPONENT CASE
+# R'S ARE THE SF ROUTINE 2 CODE NUMBER
+# S'S ARE THE SF ROUTINE 1 CODE NUMBER
+# R'S ARE THE SF ROUTINE 2 CODE NUMBER 2 COMPONENT CASE
+# S'S ARE THE SF ROUTINE 1 CODE NUMBER
+#
+# IN OCTAL DISPLAY AND LOAD (OCT OR DEC) VERBS, EXCLUDE USE OF VERBS WHOSE
+# COMPONENT NUMBER IS GREATER THAN THE NUMBER OF COMONENTS IN NOUN.
+# (ALL MACHINE ADDRESS TO BE SPECIFIED NOUNS ARE 3 COMPONENT.)
+#
+# IN MULTI-COMPONENT LOAD VERBS, NO MIXING OF OCTAL AND DECIMAL DATA
+# COMPONENT WORDS IS ALLOWED. ALARM IF VIOLATION.
+#
+# IN DECIMAL LOADS OF DATA, 5 NUMERICAL CHARACTERS MUST BE KEYED IN
+# BEFORE EACH ENTER. IF NOT, ALARM.
+
+# Page 331
+# DISPLAY VERBS
+
+DSPABC CS TWO
+ TC COMPTEST
+ INDEX NOUNADD
+ CS 2
+ XCH BUF +2
+DSPAB CS ONE
+ TC COMPTEST
+ INDEX NOUNADD
+ CS 1
+ XCH BUF +1
+DSPA TC DECTEST
+ TC TSTFORDP
+ INDEX NOUNADD
+ CS 0
+DSPCOM1 XCH BUF
+ TC DSPCOM2
+DSPB CS ONE
+ TC DCOMPTST
+ INDEX NOUNADD
+ CS 1
+ TC DSPCOM1
+DSPC CS TWO
+ TC DCOMPTST
+ INDEX NOUNADD
+ CS 2
+ TC DSPCOM1
+DSPCOM2 CS TWO # A B C AB ABC
+ AD VERBREG # -1 -0 +1 +2 +3 IN A
+ CCS A # +0 +0 +0 +1 +2 IN A AFTER CCS
+ TC DSPCOM3
+ TC ENTEXIT
+ TC +1
+DSPCOM3 TS DISTEM # +0 +1 +2 INTO DISTEM
+ INDEX A
+ CAF R1D1
+ TS DSPCOUNT
+ INDEX DISTEM
+ CS BUF
+ TC DSPOCTWO
+ XCH DISTEM
+ TC DSPCOM2 +2
+
+# COMPTEST ALARMS IF COMPONENT NUMBER OF VERB (LOAD OR OCT DISPLAY) IS
+# GREATER THAN THE HIGHEST COMPONENT NUMBER OF NOUN.
+
+COMPTEST TS SFTEMP1 # VERB COMP
+ LXCH Q
+COMPTST1 TC GETCOMP
+ TC LEFT5
+ MASK THREE # NOUN COMP
+# Page 332
+ AD SFTEMP1 # NOUN COMP -- VERB COMP
+ CCS A
+ TC L # NOUN COMP G/ VERB COMP
+ TC CCSHOLE
+ TC GODSPALM # NOUN COMP L/ VERB COMP
+NDCMPTST TC L # NOUN COMP = VERB COMP
+
+# DCOMPTST ALARMS IF DECIMAL ONLY BIT (BIT4 OF COMP CODE NUMBER) = 1.
+# IF NOT, IT PERFORMS REGULAR COMPTEST.
+
+DCOMPTST TS SFTEMP1 # - VERB COMP
+ LXCH Q
+ TC DECTEST
+ TC COMPTST1
+
+DECTEST EXTEND # ALARMS IF DEC ONLY BIT = 1 (BIT4 OF COMP
+ QXCH MPAC +2 # CODE NUMBER). RETURNS IF NOT.
+ TC GETCOMP
+ MASK BIT14
+ CCS A
+ TC GODSPALM
+ TC MPAC +2
+
+DCTSTCYC LXCH Q # ALARMS AND RECYCLES IF DEC ONLY BIT = 1
+ TC GETCOMP # (BIT4 OF COMP CODE NUMBER). RETURNS
+ MASK BIT14 # IF NOT. USED BY LOAD VERBS.
+ CCS A
+ TC ALMCYCLE
+ TC L
+
+# NOUNTEST ALARMS IF NO-LOAD BIT (BIT5 OF COMP CODE NUMBER) = 1.
+# IF NOT, IT RETURNS.
+
+NOUNTEST LXCH Q
+ TC GETCOMP
+ CCS A
+ TC L
+ TC L
+ TC GODSPALM
+
+TSTFORDP LXCH Q # TEST FOR DP. IF SO, GET MINOR PART ONLY.
+ CA NNADTEM
+ AD ONE # IF NNADTEM = -1, CHANNEL TO BE SPECIFIED
+ EXTEND
+ BZF CHANDSP
+ INDEX MIXBR
+ TC +0
+ TC +2 # NORMAL
+# Page 333
+ TC L # MIXED CASE ALREADY HANDLED IN MIXNOUN
+ TC SFRUTNOR
+ TC DPTEST
+ TC L # NO DP
+ INCR NOUNADD # DP E+1 INTO NOUNADD FOR MINOR PART.
+ TC L
+
+CHANDSP CA NOUNCADR
+ MASK LOW9
+ EXTEND
+ INDEX A
+ READ 0
+ CS A
+ TCF DSPCOM1
+
+COMPICK ADRES NNTYPTEM
+ ADRES NNADTEM
+
+GETCOMP INDEX MIXBR # NORMAL MIXED
+ CAF COMPICK -1 # ADRES NNTYPTEM ADRES NNADTEM
+ INDEX A
+ CA 0 # C(NNTYPTEM) C(NNADTEM)
+ MASK HI5 # GET HI5 OF NNTYPTAB (NORM) OF NNADTAB (MIX)
+ TC Q
+
+DECDSP TC GETCOMP
+ TC LEFT5
+ MASK THREE
+ TS DECOUNT # COMP NUMBER INTO DECOUNT
+DSPDCGET TS DECTEM # PICKS UP DATA
+ AD NOUNADD # DECTEM 1COMP +0, 2COMP +1, 3COMP +2
+ INDEX A
+ CS 0
+ INDEX DECTEM
+ XCH XREG # CAN'T USE BUF SINCE DMP USES IT.
+ CCS DECTEM
+ TC DSPDCGET # MORE TO GET
+DSPDCPUT CAF ZERO # DISPLAYS DATA
+ TS MPAC +1 # DECOUNT 1COMP +0, 2COMP +1, 3COMP +2
+ TS MPAC +2
+ INDEX DECOUNT
+ CAF R1D1
+ TS DSPCOUNT
+ INDEX DECOUNT
+ CS XREG
+ TS MPAC
+ TC SFCONUM # 2X (SF CON NUMB) IN A
+# Page 334
+ TS SFTEMP1
+ EXTEND # SWITCH BANKS TO SF CONSTANT TABLE
+ DCA GTSFOUTL # READING ROUTINE.
+ DXCH Z # LOADS SFTEMP1, SFTEMP2
+ INDEX MIXBR
+ TC +0
+ TC DSPSFNOR
+ TC SFRUTMIX
+ TC DECDSP3
+
+DSPSFNOR TC SFRUTNOR
+ TC DECDSP3
+
+ EBANK= DSPCOUNT
+GTSFOUTL 2CADR GTSFOUT
+
+DSPDCEND TC BANKCALL # ALL SFOUT ROUTINES END HERE
+ CADR DSPDECWD
+ CCS DECOUNT
+ TC +2
+ TC ENTEXIT
+ TS DECOUNT
+ TC DSPDCPUT # MORE TO DISPLAY
+
+DECDSP3 INDEX A
+ CAF SFOUTABR
+ TC BANKJUMP
+
+SFOUTABR CADR PREDSPAL # ALARM IF DEC DISP WITH OCTAL ONLY NOUN
+ CADR DSPDCEND
+ CADR DEGOUTSF
+ CADR ARTOUTSF
+ CADR DP1OUTSF
+ CADR DP2OUTSF
+ CADR OPDEGOUT
+ CADR DP3OUTSF
+ CADR HMSOUT
+ CADR M/SOUT
+ CADR DP2OUTSF
+ CADR AROUT1SF
+ CADR 2INTOUT
+ CADR DPFRACOT
+ENDRTOUT EQUALS
+
+# THE FOLLOWING IS ATYPICAL SF ROUTINE. IT USES MPAC. LEAVES RESULTS
+# IN MPAC, MPAC+1. ENDS WITH TC DSPDCEND
+
+# Page 335
+
+ SETLOC BLANKCON +1
+
+ COUNT 40/PIN
+# DEGOUTSF SCALES BY .18 THE LOW 14 BITS OF ANGLE, ADDING .18 FOR
+# NUMBERS IN THE NEGATIVE (AGC) RANGE.
+
+DEGOUTSF CAF ZERO
+ TS MPAC +2 # SET INDEX FOR FULL SCALE.
+ TC FIXRANGE
+ TC +2 # NO AUGMENT NEEDED (SFTEMP1 AND 2 ARE 0)
+ TC SETAUG # SET AUGMENTER ACCORDING TO C(MPAC +2)
+ TC DEGCOM
+
+# OPDEGOUT SCALES BY .45 (THE RANGE IS 90 DEGREES) AND ADDS A 20 DEG BIAS.
+
+OPDEGOUT CCS MPAC # RANGE IS 90 DEG
+ XCH MPAC # IF POS OR POS 0 THEN ADD BIAS AND
+ TC +3 # CORRECT FOR POSSIBLE OVERFLOW
+ TC NEGOPT # IF NEG NON ZERO
+ AD NEG1 # IF NEG ZERO SUBTRACT 1
+ AD 20BIAS
+BIASCOM TS MPAC # TEST FOR OVEFLOW
+ TC +3 # NO OVFLOW
+ CAF BIT15 # IF OVFLOW
+ ADS MPAC
+ CAF TWO # SET MULTIPLIER TO .45
+ TC DEGOUTSF +1
+
+NEGOPT XCH MPAC # NEGATIVE CASE
+ AD 20BIAS
+ CCS A
+ TC BIASCOM # IF POS THEN SUBTRACT 1 BECASUE OF 2SCOM
+ TC CCSHOLE
+ AD ONE # IF NEG RESTORE SUM
+ COM # IF NEG 0 LEAVE NEG 0
+ TC BIASCOM
+
+SETAUG EXTEND # LOADS SFTEMP1 AND SFTEMP2 WITH THE
+ INDEX MPAC +2 # DP AUGMENTER CONSTANT
+ DCA DEGTAB
+ DXCH SFTEMP1
+ TC Q
+
+FIXRANGE CCS MPAC # IF MPAC IS + RETURN TO L+1
+ TC Q # IF MPAC IS - RETURN TO L+2 AFTER
+ TC Q # MASKING OUT THE SIGN BIT
+ TCF +1
+ CS BIT15
+ MASK MPAC
+# Page 336
+ TS MPAC
+ INDEX Q
+ TC 1
+
+DEGCOM EXTEND # LOADS MULTIPLIER, DOES SHORTMP, AND
+ INDEX MPAC +2 # ADDS AUTMENTER.
+ DCA DEGTAB
+ DXCH MPAC # ADJUSTED ANGLE IN A
+ TC SHORTMP
+ DXCH SFTEMP1
+ DAS MPAC
+ TC SCOUTEND
+
+DEGTAB OCT 05605 # HI PART OF .18
+ OCT 03656 # LOW PART OF .18
+ OCT 16314 # HI PART OF .45
+ OCT 31463 # LO PART OF .45
+
+20BIAS OCT 16040 # 20 DEG BIAS FOR OPTICS
+
+ARTOUTSF DXCH SFTEMP1 # ASSUMES POINT AT LEFT OF DP SFCON
+ DXCH MPAC
+ TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0.
+SCOUTEND TC POSTJUMP
+ CADR DSPDCEND
+
+AROUT1SF DXCH SFTEMP1 # ASSUMES POINT BETWEEN HI AND LO PARTS OF
+ DXCH MPAC # DP SFCON. SHIFTS RESULTS LEFT 14, BY
+ TC PRSHRTMP # TAKING RESULTS FROM MPAC+1, MPAC+2.
+ TC L14/OUT
+
+DP1OUTSF TC DPOUT # SCALES MPAC, MPAC +1 BY DP SCALE FACTOR
+L14/OUT XCH MPAC +2 # IN SFTEMP1, SFTEMP2. THEN SCALE RESULT
+ XCH MPAC +1 # BY B14
+ TS MPAC
+ TC SCOUTEND
+
+DP2OUTSF TC DPOUT # SCALES MPAC, MPAC +1 BY DP SCALE FACTOR
+ TC SCOUTEND
+
+DP3OUTSF TC DPOUT # ASSUMES POINT BETWEEN BITS 7-8 OF HIGH
+ CAF SIX # LEFT BY 7, ROUNDS MPAC+2 INTO MPAC+1
+ TC TPLEFTN # SHIFT LEFT 7.
+ TC SCOUTEND
+
+# Page 337
+
+MPAC+6 = MPAC +6 # USE MPAC +6 INSTEAD OF OVFIND
+
+DPOUT XCH Q
+ TS MPAC+6
+ TC READLO # GET FRESH DATA FOR BOTH HI AND LO.
+ TC TPAGREE # MAKE DP DATA AGREE
+ TC DMP
+ ADRES SFTEMP1
+ TC MPAC+6
+
+# THE FOLLOWING ROUTINE DISPLAYS TWO CONTIGUOUS SP POSITIVE INTEGERS
+# AS TWO POSITIVE DECIMAL INTEGERS IN RXD1-RXD2 AND RXD4-RXD5 (RXD3 IS
+# BLANKED). THE INTEGER IN THE LOWER NUMBERED ADDRESS IS DISPLAYED IN
+# RXD1-RXD2.
+
+2INTOUT TC 5BLANK # TO BLANK RXD3
+ TC +ON # TURN ON + SIGN
+ CA MPAC
+ TC DSPDECVN # DISPLAY 1ST INTEGER (LIKE VERB AND NOUN)
+ CS THREE
+ INDEX DECOUNT
+ AD R1D1 # RXD4
+ TS DSPCOUNT
+ TC READLO # GET 2ND INTEGER
+ CA MPAC +1
+ TC DSPDECVN # DISPLAY 2ND INTEGER (LIKE VERB AND NOUN)
+ TC POSTJUMP
+ CADR DSPDCEND +2
+
+DPFRACOT TC READLO # DP FRACTION TO MPAC,+1
+ TC SCOUTEND
+
+# READLO PICKS UP FRESHDATA FOR BOTH HI AND LO AND LEAVES IT IN
+# MPAC, MPAC+1. THIS IS NEEDED FOR TIME DISPLAY. IT ZEROES MPAC+2, BUT
+# DOES NOT FORCE TPAGREE.
+
+READLO XCH Q
+ TS TEM4
+ INDEX MIXBR
+ TC +0
+ TC RDLONOR
+ INDEX DECOUNT
+ CA IDAD1TEM # GET IDADDTAB ENTRY FOR COMP K OF NOUN.
+ MASK LOW11 # E SUBK
+ TC SETEBANK # SET EB, LEAVE EADRES IN A
+READLO1 EXTEND # MIXED NORMAL
+ INDEX A # C(ESUBK) C(E)
+ DCA 0 # C(E SUBK)+1) C(E+1)
+ DXCH MPAC
+# Page 338
+ CAF ZERO
+ TS MPAC +2
+ TC TEM4
+
+RDLONOR CA NOUNADD # E
+ENDRDLO TC READLO1
+
+ BANK 42
+ SETLOC PINBALL3
+ BANK
+
+ COUNT 42/PIN
+
+HMSOUT TC BANKCALL # READ FRESH DATA FOR HI AND LO INTO MPAC.
+ CADR READLO # MPAC+1.
+ TC TPAGREE # MAKE DP DATA AGREE.
+ TC SEPSECNR # LEAVE FRACT SEC/60 IN MPAC, MPAC+1. LEAVE
+ # WHOLE MIN IN BIT13 OF LOTEMOUT AND ABOVE
+ TC DMP # USE ONLY FRACT SEC/60 MOD 60
+ ADRES SECON2 # MULT BY .06
+ CAF R3D1 # GIVES CENTI-SEC/10EXP5 MOD 60
+ TS DSPCOUNT
+ TC BANKCALL # DISPLAY SEC MOD 60
+ CADR DSPDECWD
+ TC SEPMIN # REMOVE REST OF SECONDS
+ CAF MINCON2 # LEAVE FRACT MIN/60 IN MPAC+1. LEAVE
+ XCH MPAC # WHOLE HOURS IN MPAC.
+ TS HITEMOUT # SAVE WHOLE HOURS.
+ CAF MINCON2 +1
+ XCH MPAC +1 # USE ONLY FRACT MIN/60 MOD 60
+ TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0.
+ # MULT BY .0006
+ CAF R2D1 # GIVE MIN/10EXP5 MOD 60
+ TS DSPCOUNT
+ TC BANKCALL # DISPLAY MIN MOD 60
+ CADR DSPDECWD
+ EXTEND # MINUTES, SECONDS HAVE BEEN REMOVED
+ DCA HRCON1
+ DXCH MPAC
+ CA HITEMOUT # USE WHOLE HOURS
+ TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0.
+ # MULT BY .16384
+ CAF R1D1 # GIVES HOURS/10EXP5
+ TS DSPCOUNT
+ TC BANKCALL # USE REGULAR DSPDECWD WITH ROUND OFF.
+ CADR DSPDECWD
+ TC ENTEXIT
+
+SECON1 2DEC* 1.666666666 E-4 B12* # 2EXP12/6000
+# Page 339
+SECON2 OCT 01727 # .06 FOR SECONDS DISPLAY
+ OCT 01217
+MINCON2 OCT 00011 # .0006 FOR MINUTES DISPLAY
+ OCT 32445
+MINCON1 OCT 02104 # .06..66 UPPED BY 2EXP-2B
+ OCT 10422
+HRCON1 2DEC .16384
+ OCT 00000
+RNDCON OCT 00062 # .5 SEC
+
+M/SOUT TC BANKCALL # READ FRESH DATA FOR HI AND LO INTO MPAC.
+ CADR READLO # MPAC+1.
+ TC TPAGREE # MAKE DP DATA AGREE
+ CCS MPAC # IF MAG OF (MPAC, MPAC+1) G/ 59 M 59 S.
+ TC +2 # DISPLAY 59B59, WITH PROPER SIGN.
+ TC M/SNORM # MPAC = +0. L/ 59M58.5S
+ AD M/SCON1 # - HI PART OF (59M58.5) +1 FOR CCS
+ CCS A # MAG OF MPAC - HI PART OF (59M58.5S)
+ TC M/SLIMIT # G/ 59M58.5S
+ TC M/SNORM # ORIGINAL MPAC = -0. L/59M58.5S
+ TC M/SNORM # L/ 59M58.5S
+ CCS MPAC +1 # MAG OF MPAC = HI PART OF 59M58.5S
+ TC +2
+ TC M/SNORM # MPAC+1 = +0. L/ 59M58.5S
+ AD M/SCON2 # - LO PART OF (59M58.5S) +1 FOR CCS
+ CCS A # MAG OF MPAC+1 - LO PART OF (59M58.5S)
+ TC M/SLIMIT # G/ 59M58.5S
+ TC M/SNORM # ORIGINAL MPAC+1 = -0. L/ 49M58.5S
+ TC M/SNORM # L/ 59M58.5S
+M/SLIMIT CCS MPAC # = 59M58.5S LIMIT
+ CAF M/SCON3 # MPAC CANNOT BE +/- 0 AT THIS POINT.
+ TC +LIMIT # FORCE MPAC, MPAC+1 TO +/- 59M58.5S
+ CS M/SCON3
+ TS MPAC # WILL DISPLAY 59M59S IN DSPDECNR
+ CS M/SCON3 +1
+LIMITCOM TS MPAC +1
+ CAF NORMADR # SET RETURN TO M/SNORM+1.
+ TC SEPSECNR +1
++LIMIT TS MPAC
+ CAF M/SCON3 +1
+ TC LIMITCOM
+M/SNORM TC SEPSEC # LEAVE FRACT SEC/60 IN MPAC,MPAC+1. LEAVE
+ # WHOLE MIN IN BIT13 OF LOTEMOUT AND ABOVE
+ CAF HISECON # USE ONLY FRACT SEC/60 MOD 60
+ TC SHORTMP # MULT BY .6 + 2EXP-14
+ CS THREE # GIVES SEC/100 MOD 60
+ ADS DSPCOUNT # DSPCOUNT ALREADY SET TO RXD1
+ TC BANKCALL # DISPLAY SEC MOD 60 IN D4D5.
+# Page 340
+ CADR DSPDC2NR
+ CAF ZERO
+ TS CODE
+ CS TWO
+ INDEX DECOUNT
+ AD R1D1 # RXD3
+ TS COUNT
+ TC BANKCALL # BLANK MIDDLE CHAR
+ CADR DSPIN
+ TC SEPMIN # REMOVE REST OF SECONDS
+ XCH MPAC +1 # LEAVE FRACT MIN/60 IN MPAC+1
+ EXTEND # USE ONLY FRACT MIN/60 MOD 60
+ MP HIMINCON # MULT BY .6 + 2EXP-7
+ DXCH MPAC # GIVES MIN/100 MOD 60
+ INDEX DECOUNT
+ CAF R1D1 # RXD1
+ TS DSPCOUNT
+ TC BANKCALL # DISPLAY MIN MOD 60 IN D1D2.
+ CADR DSPDC2NR
+ TC POSTJUMP
+ CADR DSPDCEND +2
+
+HISECON OCT 23147 # .6 + 2EXP-14
+HIMINCON OCT 23346 # .6 + 2EXP-7
+
+M/SCON1 OCT 77753 # - HI PART OF (59M58.5S)
+M/SCON2 OCT 41126 # - LO PART OF (59M58.5S)
+NORMADR ADRES M/SNORM +1
+M/SCON3 OCT 00025 # 59M 59.5S
+ OCT 37016
+
+SEPSEC CCS MPAC +1 # IF +, ROUND BY ADDING .5 SEC
+ TCF POSEC # IF -, ROUND BY SUBTRACING .5 SEC
+ TCF POSEC # FINDS TIME IN MPAC, MPAC+1
+ TCF +1 # ROUNDS OFF BY +/- .5 SEC
+ EXTEND # LEAVES WHOLE MIN IN BIT13 OF
+ DCS RNDCON -1 # LOTEMOUT AND ABOVE.
+SEPSEC1 DAS MPAC # LEAVES FRACT SEC/60 IN MPAC, MPAC+1.
+ TCF SEPSECNR
+POSEC EXTEND
+ DCA RNDCON -1
+ TCF SEPSEC1
+SEPSECNR XCH Q # THIS ENTRY AVOIDS ROUNDING BY .5 SEC
+ TS SEPSCRET
+ TC DMP # MULT BY 2EXP12/6000
+ ADRES SECON1 # GIVES FRACT SEC/60 IN BIT12 OF MPAC+1
+ EXTEND # AND BELOW.
+ DCA MPAC # SAVE MINUTES AND HOURS
+ DXCH HITEMOUT
+# Page 341
+ TC TPSL1
+ TC TPSL1 # GIVES FRACT SEC/60 IN MPAC+1, MPAC+2.
+ CAF ZERO
+ XCH MPAC +2 # LEAVE FRACT SEC/60 IN MPAC, MPAC+1.
+ XCH MPAC +1
+ XCH MPAC
+ TC SEPSCRET
+
+SEPMIN XCH Q # FIND WHOLE MINUTES IN BIT13
+ TS SEPMNRET # OF LOTEMOUT AND ABOVE.
+ CA LOTEMOUT # REMOVES REST OF SECONDS.
+ EXTEND # LEAVES FRACT MIN/60 IN MPAC+1.
+ MP BIT3 # LEAVES WHOLE HOURS IN MPAC.
+ EXTEND # SR 12, THROW AWAY LP.
+ MP BIT13 # SR 2, TAKE FROM LP. = SL 12.
+ LXCH MPAC +1 # THIS FORCES BITS 12-1 TO 0 IF +.
+ # FORCES BITS 12-1 TO 1 IF -.
+ CA HITEMOUT
+ TS MPAC
+ TC DMP # MULT BY 1/15
+ ADRES MINCON1 # GIVES FRACT MIN/60 IN MPAC+1.
+ENDSPMIN TC SEPMNRET # GIVES WHOLE HOURS IN MPAC.
+
+# THIS IS A SPECIAL PURPOS VERB FOR DISPLAYING A DOUBLE PRECISION AGC
+# WORD AS 10 DECIMAL DIGITS ON THE AGC DISPLAY PANEL. IT CAN BE USED WITH
+# ANY NOUN, EXCEPT MIXED NOUNS. IT DISPLAYS THE CONTENTS
+# OF THE REGISTER NOUNADD IS POINTING TO. IF USED WITH NOUNS WHICH ARE
+# INHERENTLY NOT DP SUCH AS THE CDU COUNTERS THE DISPLAY WILL BE GARBAGE.
+# DISPLAY IS IN R1 AND R2 ONLY WITH THE SIGN IN R1.
+
+ SETLOC ENDRDLO +1
+
+ COUNT 40/PIN
+
+DSPDPDEC INDEX MIXBR
+ TC +0
+ TC +2 # NORMAL NOUN
+ TC DSPALARM
+ EXTEND
+ INDEX NOUNADD
+ DCA 0
+ DXCH MPAC
+ CAF R1D1
+ TS DSPCOUNT
+ CAF ZERO
+ TS MPAC +2
+ TC TPAGREE
+# Page 342
+ TC DSP2DEC
+ENDDPDEC TC ENTEXIT
+
+# Page 343
+
+# LOAD VERBS IF ALARM CONDITION IS DETECTED DURING EXECUTE,
+# CHECK FAIL LIGHT IS TURNED ON AND ENDOFJOB. IF ALARM CONDITION IS
+# DETECTED DURING ENTER OF DATA, CHECK FAIL IS TURNED ON AND IT RECYCLES
+# TO EXECUTE OF ORIGINAL LOAD VERB. RECYCLE CAUSED BY 1) DECIMAL MACHINE
+# CADR 2) MIXTURE OF OCTAL/DECIMAL DATA 3) OCTAL DATA INTO DECIMAL
+# ONLY NOUN 4) DEC DATA INTO OCT ONLY NOUN 5) DATA TOO LARGE FOR SCALE
+# 6) FEWER THAN 3 DATA WORDS LOADED FOR HRS, MIN, SEC NOUN.8 (2)-(6) ALARM
+# AND RECYCLE OCCUR AT FINAL ENTER OF SET. (1) ALARM AND RECYCLE OCCUR AT
+# ENTER OF CADR.
+
+ SETLOC ENDRTOUT
+
+ COUNT 41/PIN
+
+ABCLOAD CS TWO
+ TC COMPTEST
+ TC NOUNTEST # TEST IF NOUN CAN BE LOADED.
+ CAF VBSP1LD
+ TC UPDATVB -1
+ TC REQDATX
+ CAF VBSP2LD
+ TC UPDATVB -1
+ TC REQDATY
+ CAF VBSP3LD
+ TC UPDATVB -1
+ TC REQDATZ
+
+PUTXYZ CS SIX # TEST THAT THE 3 DATA WORDS LOADED ARE
+ TC ALLDC/OC # ALL DEC OR ALL OCT.
+ EXTEND
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING
+ DXCH Z # ROUTINE.
+ CAF ZERO # X COMP
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 0
+ CAF ONE # Y COMP
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 1
+ CAF TWO # Z COMP
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 2
+ CS SEVEN # IF NOUN 7 HAS JUST BEEN LOADED, SET
+ AD NOUNREG # FLAG BITS AS SPECIFIED.
+ EXTEND
+ BZF +2
+# Page 344
+ TC LOADLV
+ CA XREG # ECADR OF ERASABLE CELL
+ TC SETNCADR +1 # SET EBANK, NOUNADD
+ CA ZREG # ZERO TO RESET BITS. NON-ZERO TO SET BITS
+ INHINT
+ EXTEND
+ BZF BITSOFF
+ INDEX NOUNADD
+ CS 0
+ MASK YREG # BITS TO BE PROCESSED
+ INDEX NOUNADD
+ ADS 0 # SET BITS.
+ TC BITSOFF1
+
+BITSOFF CS YREG # BITS TO BE PROCESSED
+ INDEX NOUNADD
+ MASK 0
+ INDEX NOUNADD
+ TS 0 # RESET BITS
+BITSOFF1 RELINT
+ TC LOADLV
+
+ABLOAD CS ONE
+ TC COMPTEST
+ TC NOUNTEST # TEST IF NOUN CAN BE LOADED
+ CAF VBSP1LD
+ TC UPDATVB -1
+ TC REQDATX
+ CAF VBSP2LD
+ TC UPDATVB -1
+ TC REQDATY
+PUTXY CS FIVE # TEST THAT THE 2 DATA WORDS LOADED ARE
+ TC ALLDC/OC # ALL DEC OR ALL OCT.
+ EXTEND
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING
+ DXCH Z # ROUTINE.
+ CAF ZERO # X COMP
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 0
+ CAF ONE # Y COMP
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 1
+ TC LOADLV
+
+ALOAD TC REQDATX
+ EXTEND
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING
+ DXCH Z # ROUTINE.
+ CAF ZERO # X COMP
+# Page 345
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 0
+ TC LOADLV
+
+BLOAD CS ONE
+ TC COMPTEST
+ CAF BIT15 # SET CLPASS FOR PASS0 ONLY
+ TS CLPASS
+ TC REQDATY
+ EXTEND
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING
+ DXCH Z # ROUTINE.
+ CAF ONE
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 1
+ TC LOADLV
+
+CLOAD CS TWO
+ TC COMPTEST
+ CAF BIT15 # SET CLPASS FOR PASS0 ONLY
+ TS CLPASS
+ TC REQDATZ
+ EXTEND
+ DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING
+ DXCH Z # ROUTINE.
+ CAF TWO
+ TC PUTCOM
+ INDEX NOUNADD
+ TS 2
+ TC LOADLV
+
+LOADLV CAF ZERO
+ TS DECBRNCH
+ CS ZERO
+ TS LOADSTAT
+ TC RELDSP # RELEASE FOR PRIORITY DISPLAY PROBLEM.
+ CS VD1 # TO BLOCK NUMERICAL CHARACTERS AND
+ TS DSPCOUNT # CLEARS AFTER A COMPLETED LOAD
+ TC POSTJUMP # AFTER COMPLETED LOAD, GO TO RECALTST
+ CADR RECALTST # TO SEE IF THERE IS RECALL FROM ENDIDLE.
+
+VBSP1LD DEC 21 # VB21 = ALOAD
+VBSP2LD DEC 22 # VB22 = BLOAD
+VBSP3LD DEC 23 # VB23 = CLOAD
+
+ALLDC/OC TS DECOUNT # TESTS THAT DATA WORDS LOADED ARE EITHER
+ CS DECBRNCH # ALL DEC OR ALL OCT. ALARMS IF NOT.
+# Page 346
+ TS SR
+ CS SR
+ CS SR # SHIFTED RIGHT 2
+ CCS A # DEC COMP BITS IN LOW 3
+ TCF +2 # SOME ONES IN LOW 3
+ TC Q # ALL ZEROS. ALL OCTAL. OK
+ AD DECOUNT # DEC COMP = 7 FOR 3COMP, =6 FOR 2COMP
+ EXTEND # (BUT IT HAS BEEN DECREMENTED BY CCS)
+ BZF +2 # MUST MATCH 6 FOR 3COMP, 5 FOR 2COMP.
+ TC ALMCYCLE # ALARM AND RECYCLE.
+GOQ TC Q # ALL REQUIRED ARE DEC. OK
+
+SFRUTNOR XCH Q # GETS SF ROUTINE NUMBER FOR NORMAL CASE
+ TS EXITEM # CAN'T USE L FOR RETURN. TSTFORDP USES L.
+ CAF MID5
+ MASK NNTYPTEM
+ TC RIGHT5
+ TC EXITEM # SF ROUTINE NUMBER IN A
+
+SFRUTMIX XCH Q # GETS SF ROUTINE NUMBER FOR MIXED CASE
+ TS EXITEM
+ INDEX DECOUNT
+ CAF DISPLACE # PUT TC GOQ, TC RIGHT5, OR TC LEFT5 IN L
+ TS L
+ INDEX DECOUNT
+ CAF LOW5 # LOW5, MID5, OR HI5 IN A
+ MASK RUTMXTEM # GET HI5, MID5, OR LOW5 OF RUTMXTAB ENTRY
+ INDEX L
+ TC 0
+
+# DO TC GOQ(DECOUNT=0), DO TC RIGHT5(DECOUNT=1), DO TC LEFT5(DECOUNT=2).
+
+SFRET1 TC EXITEM # SF ROUTINE NUMBER IN A
+
+SFCONUM XCH Q # GETS 2X(SF CONSTANT NUMBER)
+ TS EXITEM
+ INDEX MIXBR
+ TC +0
+ TC CONUMNOR # NORMAL NOUN
+ INDEX DECOUNT # MIXED NOUN
+ CAF DISPLACE
+ TS L # PUT TC GOQ, TC RIGHT5, OR TC LEFT5 IN L
+ INDEX DECOUNT
+ CAF LOW5
+ MASK NNTYPTEM
+ INDEX L
+ TC 0
+
+# DO TC GOQ(DECOUNT=0), DO TC RIGHT5(DECOUNT=1), DO TC LEFT5(DECOUNT=2).
+
+SFRET DOUBLE # 2X(SF CONSTANT NUMBER) IN A
+ TC EXITEM
+
+# Page 347
+
+DISPLACE TC GOQ
+ TC RIGHT5
+ TC LEFT5
+
+CONUMNOR CAF LOW5 # NORMAL NOUN ALWAYS GETS LOW 5 OF
+ MASK NNTYPTEM # NNTYPTAB FOR SF CONUM.
+ DOUBLE
+ TC EXITEM # 2X(SF CONSTANT NUMBER) IN A
+
+PUTCOM TS DECOUNT
+ XCH Q
+ TS DECRET
+ CAF ZERO
+ TS MPAC+6
+ INDEX DECOUNT
+ XCH XREGLP
+ TS MPAC +1
+ INDEX DECOUNT
+ XCH XREG
+ TS MPAC
+ INDEX MIXBR
+ TC +0
+ TC PUTNORM # NORMAL NOUN
+
+# IF MIXNOUN, PLACE ADDRESS FOR COMPONENT K INTO NOUNADD, SET EBANK BITS.
+
+ INDEX DECOUNT # GET IDADDTAB ENTRY FOR COMPONENT K
+ CA IDAD1TEM # OF NOUN.
+ MASK LOW11 # (ECADR)SUBK FOR CURRENT COMP OF NOUN
+ TC SETNCADR # ECADR INTO NOUNCADR. SETS EB, NOUNADD.
+ EXTEND # C(NOUNADD) IN A UPON RETURN
+ SU DECOUNT # PLACE (ESUBK)-K INTO NOUNADD
+ TS NOUNADD
+ CCS DECBRNCH
+ TC PUTDECSF # + DEC
+ TC DCTSTCYC # +0 OCTAL
+ TC SFRUTMIX # TEST IF DEC ONLY BIT = 1. IF SO,
+ TC DPTEST # ALARM AND RECYCLE. IF NOT, CONTINUE.
+ TC PUTCOM2 # NO DP
+ # TEST FOR DP SCALE FOR OCT LOAD. IF SO,
+ # +0 INTO MAJOR PART. SET NOUNADD FOR
+ # LOADING OCTAL WORD INTO MINOR PART.
+PUTDPCOM INCR NOUNADD # DP (ESUBK)-K+1 OR E+1
+ CA NOUNADD # NOUNADD NOW SET FOR MINOR PART
+ ADS DECOUNT # (ESUBK)+1 OR E+1 INTO DECOUNT
+ CAF ZERO # NOUNADD SET FOR MINOR PART
+ INDEX DECOUNT
+ TS 0 -1 # ZERO MAJOR PART(ESUBK OR E)
+ TC PUTCOM2
+
+PUTNORM TC SETNADD # ECADR FROM NOUNCADR. SETS EB, NOUNADD.
+# Page 348
+ CCS DECBRNCH
+ TC PUTDECSF # + DEC
+ TC DCTSTCYC # +0 OCTAL
+ TC SFRUTNOR # TEST IF DEC ONLY BIT (garbled). IF SO,
+ TC DPTEST # ALARM AND RECYCLE. IF NOT, CONTINUE.
+ TC PUTCOM2 -4 # NO DP
+ CAF ZERO # DP
+ TS DECOUNT
+ TC PUTDPCOM
+
+ CA NNADTEM
+ AD ONE # IF NNADTEM = -1, CHANNEL TO BE SPECIFIED
+ EXTEND
+ BZF CHANLOAD
+PUTCOM2 XCH MPAC
+ TC DECRET
+
+ EBANK= DSPCOUNT
+GTSFINLC 2CADR GTSFIN
+
+CHANLOAD CS SEVEN # DON'T LOAD CHAN 7. (IT'S SUPERBANK).
+ AD NOUNCADR
+ EXTEND
+ BZF LOADLV
+ CA NOUNCADR
+ MASK LOW9
+ XCH MPAC
+ EXTEND
+ INDEX MPAC
+ WRITE 0
+ TC LOADLV
+
+# PUTDECSF FINDS MIXBR AND DECOUNT STILL SET FROM PUTCOM.
+
+PUTDECSF TC SFCONUM # 2X(SF CON NUMB) IN A
+ TS SFTEMP1
+ EXTEND # SWITCH BANKS TO SF CONSTANT TABLE
+ DCA GTSFINLC # READING ROUTINE.
+ DXCH Z # LOADS SFTEMP1, SFTEMP2.
+ INDEX MIXBR
+ TC +0
+ TC PUTSFNOR
+ TC SFRUTMIX
+ TC PUTDCSF2
+PUTSFNOR TC SFRUTNOR
+
+PUTDCSF2 INDEX A
+# Page 349
+ CAF SFINTABR
+ TC BANKJUMP # SWITCH BANKS FOR EXPANSION ROOM
+SFINTABR CADR GOALMCYC # ALARM AND RECYCLE IF DEC LOAD
+ # WITH OCTAL ONLY NOUN.
+ CADR BINROUND
+ CADR DEGINSF
+ CADR ARTHINSF
+ CADR DPINSF
+ CADR DPINSF2
+ CADR OPTDEGIN
+ CADR DPINSF # SAME AS ARITHDP1
+ CADR HMSIN
+ CADR DSPALARM # MIN/SEC CAN'T BE LOADED.
+ CADR DPINSF4
+ CADR ARTIN1SF
+ CADR DSPALARM # 2INTOUT CAN'T BE LOADED.
+ CADR DPFRACIN
+ENDRUTIN EQUALS
+
+# SCALE FACTORS FOR THOSE ROUTINES NEEDING THEM ARE AVAILABLE IN SFTEMP1.
+# ALL SFIN ROUTINES USE MPAC MPAC+1. LEAVE RESULT IN A. END WITH TC DECRET.
+
+ SETLOC ENDDPDEC +1
+
+ COUNT 40/PIN
+
+# DEGINSF APPLIES 1000/180 * 5.55555(10) = 5.43434(8)
+
+DEGINSF TC DMP # SF ROUTINE FOR DEC DEGREES
+ ADRES DEGCON1 # MULT BY 5.5 5(10)X2EXP-3
+ CCS MPAC +1 # THIS ROUNDS OFF MPAC+1 BEFORE SHIFT
+ CAF BIT11 # LEFT 3, AND CAUSES 360.00 TO OF/UF
+ TC +2 # WHEN SHIFTED LEFT AND ALARM.
+ CS BIT11
+ AD MPAC +1
+ TC 2ROUND +2
+ TC TPSL1 # LEFT 1
+DEGINSF2 TC TPSL1 # LEFT 2
+ TC TESTOFUF
+ TC TPSL1 # RETURNS IF NO OF/UF (LEFT3)
+ CCS MPAC
+ TC SIGNFIX # IF +, GO TO SIGNFIX
+ TC SIGNFIX # IF +0, GO TO SIGNFIX
+ COM # IF -, USE -MAGNITUDE +1
+ TS MPAC # IF -0, USE +0
+SIGNFIX CCS MPAC+6
+ TC SGNTO1 # IF OVERFLOW
+ TC ENDSCALE # NO OVERFLOW/UNDERFLOW
+# Page 350
+ CCS MPAC # IF UF FORCE SIGN TO 0 EXCEPT -180
+ TC CCSHOLE
+ TC NEG180
+ TC +1
+ XCH MPAC
+ MASK POSMAX
+ TS MPAC
+ENDSCALE TC POSTJUMP
+ CADR PUTCOM2
+
+NEG180 CS POSMAX
+ TC ENDSCALE -1
+
+SGNTO1 CS MPAC # IF OF FORCE SIGN TO 1
+ MASK POSMAX
+ CS A
+ TC ENDSCALE -1
+
+DEGCON1 2DEC 5.555555555 B-3
+
+DEGCON2 2DEC 2.222222222 B-2
+
+NEG.2 OCT -06250 # = .197753906 I.E., THE BIAS SCALED
+
+ARTHINSF TC DMP # SCALES MPAC, +1 BY SFTEMP1, SFTEMP2.
+ ADRES SFTEMP1 # ASSUMES POINT BETWEEN HI AND LO PARTS
+ XCH MPAC +2 # OF SFCON. SHIFTS RESULTS LEFT BY 14.
+ XCH MPAC +1 # (BY TAKING RESULTS FROM MPAC+1, MPAC+2)
+ XCH MPAC
+ EXTEND
+ BZF BINROUND
+ TC ALMCYCLE # TOO LARGE A LOAD. ALARM AND RECYCLE.
+BINROUND TC 2ROUND
+ TC TESTOFUF
+ TC ENDSCALE # RETURNS IF NO OF/UF
+
+ARTIN1SF TC DMP # SCALES MPAC, +1 BY SFTEMP1, SFTEMP2.
+ ADRES SFTEMP1 # ROUNDS MPAC+1 INTO MPAC.
+ TC BINROUND
+
+OPTDEGIN CCS MPAC # OPTICS SCALING ROUTINE
+ TC +4
+ TC +3
+ TC ALMCYCLE # REJECT -- INPUT. ALARM AND RECYCLE.
+ TC ALMCYCLE # REJECT -- INPUT. ALARM AND RECYCLE.
+OPDEGIN2 CAF NEG.2 # RANGE IS 90 DEG
+ ADS MPAC # SUBTRACT BIAS
+# Page 351
+ TC DMP # MULT BY 100 / 45 B-2
+ ADRES DEGCON2
+ CAF BIT12 # ROUND AS IN DEGINSF
+ AD MPAC +1
+ TC 2ROUND +2
+ TC DEGINSF2
+
+DPINSF TC DMP # SCALES MPAC, MPAC +1 BY SFTEMP1,
+ ADRES SFTEMP1 # SFTEMP. STORES LOW PART OF RESULT
+ XCH MPAC +2 # IN (E SUBK) +1 OR E+1
+ DOUBLE
+ TS MPAC +2
+ CAF ZERO
+ AD MPAC +1
+ TC 2ROUND +2
+ TC TESTOFUF
+DPFRACIN INDEX MIXBR # RETURNS IF NO OF/UF
+ TC +0
+ TC DPINORM
+ CA DECOUNT # MIXED NOUN
+DPINCOM AD NOUNADD # MIXED NORMAL
+ TS Q # E SUBK E
+ XCH MPAC +1
+ INDEX Q
+ TS 1 # PLACE LOW PART IN
+ TC ENDSCALE # (E SUBK) +1 MIXED
+
+DPINORM CAF ZERO # E +1 NORMAL
+ TC DPINCOM
+
+DPINSF2 TC DMP # ASSUMES POINT BETWEEN BITS 7-8 OF HIGH
+ ADRES SFTEMP1 # PART OF SF CONST. DPINSF2 SHIFTS RESULTS
+ CAF SIX # LEFT BY 7, ROUNDS MPAC+2 INTO MPAC+1
+ TC TPLEFTN # SHIFT LEFT 7.
+ TC DPINSF +2
+
+DPINSF4 TC DMP # ASSUMES POINT BETWEEN BITS 11-12 OF HIGH
+ ADRES SFTEMP1 # PART OF SF CONST. DPINSF2 SHIFTS RESULTS
+ CAF TWO # LEFT BY 3, ROUNDS MPAC+2 INTO MPAC+1.
+ TC TPLEFTN # SHIFT LEFT 3.
+ TC DPINSF +2
+
+TPLEFTN XCH Q # SHIFTS MPAC, +1, +2 LEFT N. SETS OVFIND
+ TS SFTEMP2 # TO +1 FOR OF, -1 FOR UF.
+ XCH Q # CALL WITH N-1 IN A.
+LEFTNCOM TS SFTEMP1 # LOOP TIME .37 MSEC.
+ TC TPSL1
+ CCS SFTEMP1
+# Page 352
+ TC LEFTNCOM
+ TC SFTEMP2
+
+2ROUND XCH MPAC +1
+ DOUBLE
+ TS MPAC +1
+ TC Q # IF MPAC+1 DOES NOT OF/UF
+ AD MPAC
+ TS MPAC
+ TC Q # IF MPAC DOES NOT OF/UF
+ TS MPAC+6
+2RNDEND TC Q
+
+TESTOFUF CCS MPAC+6 # RETURNS IF NO OF/UF
+ TC ALMCYCLE # OF ALARM AND RECYCLE.
+ TC Q
+ TC ALMCYCLE # UF ALARM AND RECYCLE.
+
+ SETLOC ENDSPMIN +1
+
+ COUNT 42/PIN
+
+HMSIN TC ALL3DEC # IF ALL 3 WORDS WERE NOT LOADED, ALARM.
+ TC DMP # XREG, XREGLP (=HOURS) WERE ALREADY PUT
+ ADRES WHOLECON # INTO MPAC, MPAC+1.
+ TC RND/TST # ROUND OFF TO WHOLE HRS IN MPAC+1.
+ CAF ZERO # ALARM IF MPAC NON ZERO (G/ 16383).
+ TS MPAC +2
+ CAF HRCON
+ TS MPAC
+ CAF HRCON +1
+ XCH MPAC +1
+ TC SHORTMP
+ TC MPACTST # ALARM IF MPAC NON ZERO (G/ 745)
+ DXCH MPAC +1 # STORE HOURS CONTRIBUTION
+ DXCH HITEMIN
+ CA YREG # PUT YREG, YREGLP INTO MPAC, +1.
+ LXCH YREGLP
+ DXCH MPAC
+ TC DMP
+ ADRES WHOLECON
+ TC RND/TST # ROUND OFF TO WHOLE MIN IN MPAC+1
+ CS 59MIN # ALARM IF MPAC NON ZERO (G/16383)
+ TC SIZETST # ALARM IF MPAC+1 G/ 59MIN
+ XCH MPAC +1
+ EXTEND
+ MP MINCON # LEAVES MINUTES CONTRIBUTION IN A,L
+# Page 353
+ DAS HITEMIN # ADD IN MINUTES CONTRIBUTION
+ EXTEND # IF THIS DAS OVEFLOWS, G/ 745 HR, 39MIN
+ BZF +2
+ TC ALMCYCLE
+ CA ZREG # PUT ZREG, ZREGLP INTO MPAC +1.
+ LXCH ZREGLP
+ DXCH MPAC
+ TC DMP
+ ADRES WHOLECON
+ TC RND/TST # ROUND OFF TO WHOLE CENTI-SEC IN MPAC+1
+ CS 59.99SEC # ALARM IF MPAC NON ZERO (G/163.83 SEC)
+ TC SIZETST # ALARM IF MPAC+1 G/59.99 SEC
+ DXCH HITEMIN # ADD IN SECONDS CONTRIBUTION
+ DAS MPAC # IF THIS DAS OVERFLOWS,
+ EXTEND # G/ 745 HR, 39 MIN, 14.59 SEC.
+ BZF +2
+ TC ALMCYCLE # ALARM AND RECYCLE
+ CAF ZERO
+ TS MPAC +2
+ TC TPAGREE
+ DXCH MPAC
+ INDEX NOUNADD
+ DXCH 0
+ TC POSTJUMP
+ CADR LOADLV
+
+WHOLECON OCT 00006 # (10EXP5/2EXP14)2EXP14
+ OCT 03240
+HRCON OCT 00025 # 1 HOUR IN CENTI-SEC
+ OCT 37100
+MINCON OCT 13560 # 1 MINUTE IN CENTI-SEC
+59MIN OCT 00073 # 59 AS WHOLE
+59.99SEC OCT 13557 # 5999 SENTI-SEC
+
+RND/TST XCH MPAC +2 # ROUNDS MPAC+2 INTO MPAC+1.
+ DOUBLE # ALARMS IF MPAC NOT 0
+ TS MPAC +2
+ CAF ZERO
+ AD MPAC +1
+ TS MPAC +1
+ CAF ZERO
+ AD MPAC # CAN'T OVFLOW
+ XCH MPAC
+MPACTST CCS MPAC # ALARM IF MPAC NON ZERO
+ TC ALMCYCLE # ALARM AND RECYCLE
+ TC Q
+ TC ALMCYCLE # ALARM AND RECYCLE
+ TC Q
+
+# Page 354
+
+SIZETST TS MPAC +2 # CALLED WITH - CON IN A
+ CCS MPAC +1 # GET MAG OF MPAC+1
+ AD ONE
+ TCF +2
+ AD ONE
+ AD MPAC +2
+ EXTEND # MAG OF MPAC+1 - CON
+ BZMF +2
+ TC ALMCYCLE # MAG OF MPAC+1 G/ CON. ALARM AND RECYCLE.
+ TC Q # MAG OF MPAC+1 L/= CON
+
+# ALL3DEC TESTS THAT ALL 3 WORDS ARE LOADED IN DEC (FOR HMSIN).
+# ALARM IF NOT. (TEST THAT BITS 3,4,5 OF DECBRNCH ARE ALL = 1).
+
+ALL3DEC CS OCT34BAR # GET BITS 3,4,5 IN A
+ MASK DECBRNCH # GET BITS 3,4,5 OF DECBRNCH IN A
+ AD OCT34BAR # BITS 3,4,5 OF DECBRNCH MUST ALL = 1
+ CCS A
+ TC FORCEV25
+OCT34BAR OCT 77743
+ TC FORCEV25
+ TC Q
+
+FORCEV25 CS OCT31 # FORCE VERB 25 TO BE EXECUTED BY RECYCLE
+ TS VERBSAVE # IN CASE OPERATOR EXECUTED A LOWER LOAD
+ TC ALMCYCLE # VERB. ALARM AND RECYCLE.
+ENDHMSS EQUALS
+
+# Page 355
+# MONITOR ALLOWS OTHER KEYBOARD ACTIVITY. IT IS ENDED BY VERB TERMINATE,
+# VERB PROCEED WITHOUT DATA, VERB RESEQUENCE,
+# ANOTHER MONITOR, OR ANY NVSUB CALL THAT PASSES THE DSPLOCK (PROVIDED
+# THAT THE OPERATOR HAS SOMEHOW ALLOWED THE ENDING OF A MONITOR WHICH
+# HE HAS INITIATED THROUGH THE KEYBOARD).
+#
+# MONITOR ACTION IS SUSPENDED, BUT NOT ENDED, BY ANY KEYBOARD ACTION.
+# EXCEPT ERROR LIGHT RESET. IT BEGINS AGAIN WHEN KEY RELEASE IS PERFORMED.
+# MONITOR SAVES THE NOUN AND APPROPRIATE DISPLAY VERB IN MONSAVE. IT SAVES
+# NOUNCADR IN MONSAVE1, IF NOUN = MACHINE CADR TO BE SPECIFIED. BIT 15 OF
+# MONSAVE1 IS THE KILL MONITOR SIGNAL (KILLER BIT). BIT 14 OF MONSAVE1
+# INDICATES THE CURRENT MONITOR WAS EXTERNALLY INITIATED (EXTERNAL
+# MONITOR BIT). IT IS TURNED OFF BY RELDSP AND KILMONON.
+#
+# MONSAVE INDICATES IF MONITOR IS ON (+=ON, +0=OFF)
+# IF MONSAVE IS +, MONITOR ENTERS NO REQUEST, BUT TURNS KILLER BIT OFF.
+# IF MONSAVE IS +0, MONITOR ENTERS REQUEST AND TURNS KILLER BIT OFF.
+#
+# NVSUB (IF EXTERNAL MONITOR BIT IS OFF), VB=PROCEED WITHOUT DATA,
+# VB=RESEQUENCE, AND VB=TERMINATE TURN KILL MONITOR BIT ON.
+#
+# IF KILLER BIT IS ON, MONREQ ENTERS NO FURTHER REQUESTS, ZEROS MONSAVE
+# AND MONSAVE1 (TURNING OFF KILLER BIT AND EXTERNAL MONITOR BIT).
+#
+# MONITOR DOESN'T TEST FOR MATBS SINCE NVSUB CAN HANDLE INTERNAL MATBS NOW.
+
+ SETLOC ENDRUTIN
+
+ COUNT 41/PIN
+
+MONITOR CS BIT15/14
+ MASK NOUNCADR
+MONIT1 TS MPAC +1 # TEMP STORAGE
+ CS ENTEXIT
+ AD ENDINST
+ CCS A
+ TC MONIT2
+BIT15/14 OCT 60000
+ TC MONIT2
+ CAF BIT14 # EXTERNALLY INITIATED MONITOR.
+ ADS MPAC +1 # SET BIT 14 FOR MONSAVE1.
+ CAF ZERO
+ TS MONSAVE2 # ZERO NVMONOPT OPTIONS
+MONIT2 CAF LOW7
+ MASK VERBREG
+ TC LEFT5
+ TS CYL
+ CS CYL
+ XCH CYL
+ AD NOUNREG
+ TS MPAC # TEMP STORAGE
+# Page 356
+ CAF ZERO
+ TS DSPLOCK # +0 INTO DSPLOCK SO MONITOR CAN RUN.
+ CCS CADRSTOR # TURN OFF KR LITE IF CADRSTOR AND DSPLIST
+ TC +2 # ARE BOTH EMPTY. (LITE COMES ON IF NEW
+ TC RELDSP1 # MONITOR IS KEYED IN OVER OLD MONITOR.)
+ INHINT
+ CCS MONSAVE
+ TC +5 # IF MONSAVE WAS +, NO REQUEST
+ CAF ONE # IF MONSAVE WAS 0, REQUEST MONREQ
+ TC WAITLIST
+ EBANK= DSPCOUNT
+ 2CADR MONREQ
+
+ DXCH MPAC # PLACE MONITOR VERB AND NOUN INTO MONSAVE
+ DXCH MONSAVE # ZERO THE KILL MONITOR BIT
+ RELINT # SET UP EXTERNAL MONITOR BIT
+ TC ENTRET
+
+MONREQ TC LODSAMPT # CALLED BY WAITLIST
+ CCS MONSAVE1 # TIME IS SNATCHED N RUPT FOR NOUN 65
+ TC +4 # IF KILLER BIT = 0, ENTER REQUESTS
+ TC +3 # IF KILLER BIT = 0, ENTER REQUESTS
+ TC KILLMON # IF KILLER BIT = 1, NO REQUESTS.
+ TC KILLMON # IF KILLER BIT = 1, NO REQUESTS.
+ CAF MONDEL
+ TC WAITLIST # ENTER WAITLIST REQUEST FOR MONREQ
+ EBANK= DSPCOUNT
+ 2CADR MONREQ
+
+ CAF CHRPRIO
+ TC NOVAC # ENTER EXEC REQUEST FOR MONDO
+ EBANK= DSPCOUNT
+ 2CADR MONDO
+
+ TC TASKOVER
+
+KILLMON CAF ZERO # ZERO MONSAVE AND TURN KILLER BIT OFF
+ TS MONSAVE
+ TS MONSAVE1 # TURN OFF KILL MONITOR BIT.
+ TC TASKOVER # TURN OFF EXTERNAL MONITOR BIT.
+MONDEL OCT 144 # FOR 1 SEC MONITOR INTERVALS.
+
+MONDO CCS MONSAVE1 # CALLED BY EXEC
+ TC +4 # IF KILLER BIT = 0, CONTINUE
+ TC +3 # IF KILLER BIT = 0, CONTINUE
+ TC ENDOFJOB # IN CASE TERMINATE CAME SINCE LAST MONREQ
+ TC ENDOFJOB # IN CASE TERMINATE CAME SINCE LAST MONREQ
+ CCS DSPLOCK
+# Page 357
+ TC MONBUSY # NVSUB IS BUSY
+ CAF LOW7
+ MASK MONSAVE
+ TC UPDATNN -1 # PLACE NOUN INTO NOUNREG AND DISPLAY IT
+ CAF MID7
+ MASK MONSAVE # CHANGE MONITOR VERB TO DISPLAY VERB
+ AD MONREF # -DEC10, STARTING IN BIT8
+ TS EDOP # RIGHT 7
+ CA EDOP
+ TS VERBREG
+ CAF MONBACK # SET RETURN TO PASTEVB AFTER DATA DISPLAY
+ TS ENTRET
+ CS BIT15/14
+ MASK MONSAVE1 # PUT ECADR INTO MPAC +2. INTMCTBS WILL
+ TS MPAC +2 # DISPLAY IT AND SET NOUNCADR, NOUNADD,
+ENDMONDO TC TESTNN # EBANK.
+
+ BLOCK 2
+
+ SETLOC FFTAG8
+ BANK
+
+ COUNT 02/PIN
+
+PASTEVB CAF MID7
+ MASK MONSAVE2 # NVMONOPT PASTE OPTION
+ EXTEND
+ BZF +2
+ TC PASTEOPT # PASTE PLEASE VERB FOR NVMONOPT
+ CA MONSAVE # PASTE MONITOR VERB -- PASTE OPTION IS 0
+PASTEOPT TS EDOP # RIGHT 7
+ CA EDOP # PLACE MONITOR VERB OR PLEASE VERB INTO
+ TC BANKCALL # VERBREG AND DISPLAY IT.
+ CADR UPDATVB -1
+ CAF ZERO # ZERO REQRET SO THAT PASTED VERBS CAN
+ TS REQRET # BE EXECUTED BY OPERATOR.
+ CA MONSAVE2
+ TC BLANKSUB # PROCESS NVMONOPT BLANK OPTION IF ANY
+ TC +1
+ENDPASTE TC ENDOFJOB
+
+MID7 OCT 37600
+
+ SETLOC ENDMONDO +1
+ COUNT 41/PIN
+
+MONREF OCT 75377 # -DEC10, STARTING IN BIT8
+MONBACK ADRES PASTEVB
+
+# Page 358
+MONBUSY TC RELDSPON # TURN KEY RELEASE LIGHT
+ TC ENDOFJOB
+
+# DSPFMEM IS USED TO DISPLAY (IN OCTAL) ANY FIXED REGISTER.
+# IT IS USED WITH NOUN = MACHINE CADR TO BE SPECIFIED. THE FCADR OF THE
+# DESIRED LOCATION IS THEN PUNCHED IN. IT HANDLES F/F (FCADR 4000-7777)
+#
+# FOR BANKS L/E 27, THIS IS ENOUGH.
+#
+# FOR BANKS G/E 30, THE THIRD COMPONENT OF NOUN 26 (PRIO, ADRES, BBCON)
+# MUST BE PRELOADED WITH THE DESIRED SUPERBANK BITS (BITS 5,6,7).
+# V23N26 SHOULD BE USED.
+#
+# SUMMARY
+# FOR BANKS L/E 27, V27N01E(FCADR)E
+# FOR BANKS G/E 30, V23N26E(SUPERBITS)E V27N01E(FCADR)E
+
+DSPFMEM CAF R1D1 # IF F/F, DATACALL USES BANK 02 OR 03.
+ TS DSPCOUNT
+ CA DSPTEM1 +2 # SUPERBANK BITS WERE PRELOADED INTO
+ TS L # 3RD COMPONENT OF NOUN 26.
+ CA NOUNCADR # ORIGINAL FCADR LOADED STILL IN NOUNCADR.
+ TC SUPDACAL # CALL WITH FCADR IN A, SUPERBITS IN L.
+ TC DSPOCTWO
+ENDSPF TC ENDOFJOB
+
+# Page 359
+# WORD DISPLAY ROUTINES
+ SETLOC TESTOFUF +4
+ COUNT 40/PIN
+
+DSPSIGN XCH Q
+ TS DSPWDRET
+ CCS MPAC
+ TC +8D
+ TC +7
+ AD ONE
+ TS MPAC
+ TC -ON
+ CS MPAC +1
+ TS MPAC +1
+ TC DSPWDRET
+ TC +ON
+ TC DSPWDRET
+
+DSPRND EXTEND # ROUND BY 5 EXP-6
+ DCA DECROUND -1
+ DAS MPAC
+ EXTEND
+ BZF +4
+ EXTEND
+ DCA DPOSMAX
+ DXCH MPAC
+ TC Q
+
+# DSPDECWD CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 5 CHAR DECIMAL
+# STARTING IN LOC SPECIFIED IN DSPCOUNT. IT ROUNDS BY 5 EXP-6.
+
+DSPDECWD XCH Q
+ TS WDRET
+ TC DSPSIGN
+ TC DSPRND
+ CAF FOUR
+DSPDCWD1 TS WDCNT
+ CAF BINCON
+ TC SHORTMP
+TRACE1 INDEX MPAC
+ CAF RELTAB
+ MASK LOW5
+ TS CODE
+ CAF ZERO
+ XCH MPAC +2
+ XCH MPAC +1
+ TS MPAC
+ XCH DSPCOUNT
+TRACE1S TS COUNT
+# Page 360
+ CCS A # DECREMENT DSPCOUNT EXCEPT AT +0
+ TS DSPCOUNT
+ TC DSPIN
+ CCS WDCNT
+ TC DSPDCWD1
+ CS VD1
+ TS DSPCOUNT
+ TC WDRET
+
+ OCT 00000
+DECROUND OCT 02476
+
+# DSPDECNR CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 5 CHAR DECIMAL
+# STARTING IN LOC SPECIFIED IN DSPCOUNT. IT DOES NOT ROUND
+
+DSPDECNR XCH Q
+ TS WDRET
+ TC DSPSIGN
+ TC DSPDCWD1 -1
+
+# DSPDC2NR CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 2 CHAR DECIMAL
+# STARTING IN LOC SPECIFIED IN DSPCOUNT. IT DOES NOT ROUND
+
+DSPDC2NR XCH Q
+ TS WDRET
+ TC DSPSIGN
+ CAF ONE
+ TC DSPDCWD1
+
+# DSP2DEC CONVERTS C(MPAC) AND C(MPAC+1) INTO A SIGN AND 10 CHAR DECIMAL
+# STARTING IN THE LOC SPECIFIED IN DSPCOUNT.
+
+DSP2DEC XCH Q
+ TS WDRET
+ CAF ZERO
+ TS CODE
+ CAF THREE
+ TC 11DSPIN # -R2 OFF
+ CAF FOUR
+ TC 11DSPIN # +R2 OFF
+ TC DSPSIGN
+ CAF R2D1
+END2DEC TC DSPDCWD1
+
+# DSPDECVN DISPLAYS C(A) UPON ENTRY AS A 2 CHAR DECIMAL BEGINNING IN THE
+# DSP LOC SPECIFIED IN DSPCOUNT.
+#
+# C(A) SHOULD BE IN FORM N X 2EXP-14. THIS IS SCALED TO FORM N/100 BEFORE
+# DISPLAY CONVERSION.
+# Page 361
+
+DSPDECVN EXTEND
+ MP VNDSPCON # MULT BY .01
+ LXCH MPAC # TAKE RESULTS FROM L. (MULT BY 2EXP14).
+ CAF ZERO
+ TS MPAC +1
+ XCH Q
+ TS WDRET
+ TC DSPDC2NR +3 # NO SIGN, NO ROUND, 2 CHAR
+
+VNDSPCON OCT 00244 # .01 ROUNDED UP
+
+GOVNUPDT TC DSPDECVN # THIS IS NOT FOR GENERAL USE. REALLY PART
+ TC POSTJUMP # OF UPDATVB.
+ CADR UPDAT1 +2
+
+ENDECVN EQUALS
+
+ SETLOC ENDSPF +1
+ COUNT 41/PIN
+
+# DSPOCTWD DISPLAYS C(A) UPON ENTRY AS A 5 CHAR OCT STARTING IN THE DSP
+# CHAR SPECIFIED IN DSPCOUNT. IT STOPS AFTER 5 CHAR HAVE BEEN DISPLAYED.
+
+DSPOCTWO TS CYL
+ XCH Q
+ TS WDRET # MUST USE SAME RETURN AS DSP2BIT.
+ CAF BIT14 # TO BLANK SIGNS
+ ADS DSPCOUNT
+ CAF FOUR
+WDAGAIN TS WDCNT
+ CS CYL
+ CS CYL
+ CS CYL
+ CS A
+ MASK DSPMSK
+ INDEX A
+ CAF RELTAB
+ MASK LOW5
+ TS CODE
+ XCH DSPCOUNT
+ TS COUNT
+ CCS A # DECREMENT DSPCOUNT EXCEPT AT +0
+ TS DSPCOUNT
+ TC POSTJUMP
+ CADR DSPOCTIN
+OCTBACK CCS WDCNT
+ TC WDAGAIN # +
+DSPLV CS VD1 # TO BLOCK NUMERICAL CHARACTERS, CLEARS,
+# Page 362
+ TS DSPCOUNT # AND SIGNS AFTER A COMPLETED DISPLAY.
+ TC WDRET
+
+DSPMSK = SEVEN
+
+# DSP2BIT DISPLAYS C(A) UPON ENTRY AS A 2 CHAR OCT BEGINNING IN THE DSP
+# LOC SPECIFIED IN DSPCOUNT BY PRE CYCLING RIGHT C(A) AND USING THE LOGIC
+# OF THE 5 CHAR OCTAL DISPLAY
+
+DSP2BIT TS CYR
+ XCH Q
+ TS WDRET
+ CAF ONE
+ TS WDCNT
+ CS CYR
+ CS CYR
+ XCH CYR
+ TS CYL
+ TC WDAGAIN +5
+
+# FOR DSPIN PLACE 0/25 OCT INTO COUNT, 5 BIT RELAY CODE INTO CODE. BOTH
+# ARE DESTROYED. IF BIT14 OF COUNT IS 1, SIGN IS BLANKED WITH LEFT CHAR.
+# FOR DSPIN1 PLACE 0,1 INTO BIT11 OF CODE, 2 INTO COUNT, REL ADDRESS OF
+# DSPTAB ENTRY INTO DSREL.
+
+ SETLOC ENDECVN
+
+ COUNT 40/PIN
+
+DSPIN XCH Q # CAN'T USE L FOR RETURN, SINCE MANY OF THE
+ TS DSEXIT # ROUTINES CALLING DSPIN USE L AS RETURN.
+ CAF LOW5
+ MASK COUNT
+ TS SR
+ XCH SR
+ TS DSREL
+ CAF BIT1
+ MASK COUNT
+ CCS A
+ TC +2 # LEFT IF COUNT IS ODD
+ TC DSPIN1 -1 # RIGHT IF COUNT IS EVEN
+ XCH CODE
+ TC SLEFT5 # DOES NOT USE CYL
+ TS CODE
+ CAF BIT14
+ MASK COUNT
+ CCS A
+ CAF TWO # BIT14 = 1, BLANK SIGN
+# Page 363
+ AD ONE # BIT14 = 0, LEAVE SIGN ALONE
+ TS COUNT # +0 INTO COUNT FOR RIGHT
+ # +1 INTO COUNT FOR LEFT (SIGN LEFT ALONE)
+ # +3 INTO COUNT FOR LEFT (TO BLANK SIGN)
+DSPIN1 INHINT
+ INDEX DSREL
+ CCS DSPTAB
+ TC +2 # IF +
+ TC CCSHOLE
+ AD ONE # IF -
+ TS DSMAG
+ INDEX COUNT
+ MASK DSMSK
+ EXTEND
+ SU CODE
+ EXTEND
+ BZF DSLV # SAME
+DFRNT INDEX COUNT
+ CS DSMSK # MASK WITH 77740, 76037, 76777, OR 74037
+ MASK DSMAG
+ AD CODE
+ CS A
+ INDEX DSREL
+ XCH DSPTAB
+ EXTEND
+ BZMF DSLV # DSPTAB ENTRY WAS -
+ INCR NOUT # DSPTAB ENTRY WAS +
+DSLV RELINT
+ TC DSEXIT
+
+DSMSK OCT 37
+ OCT 1740
+ OCT 2000
+ OCT 3740
+
+# FOR 11DSPIN, PUT REL ADDRESS OF DSPTAB ENTRY INTO A, 1 IN BIT11 OR 0 IN
+# BIT11 OF CODE.
+
+11DSPIN TS DSREL
+ CAF TWO
+ TS COUNT
+ XCH Q # MUST USE SAME RETURN AS DSPIN
+ TS DSEXIT
+ TC DSPIN1
+
+DSPOCTIN TC DSPIN # SO DSPOCTWD DOESN'T USE SWCALL
+ CAF +2
+ TC BANKJUMP
+# Page 364
+ENDSPOCT CADR OCTBACK
+
+# DSPALARM FINDS TC NVSUBEND IN ENTRET FOR NVSUB INITIATED ROUTINES
+# ABORT WITH 01501.
+#
+# DSPALARM FINDS TC ENDOFJOB IN ENTRET FOR KEYBOARD INITIATED ROUTINES.
+# DC TC ENTRET.
+
+PREDSPAL CS VD1
+ TS DSPCOUNT
+DSPALARM CS NVSBENDL
+ AD ENTEXIT
+ EXTEND
+ BZF CHARALRM +2
+ CS MONADR # IF THIS IS A MONITOR, KILL IT
+ AD ENTEXIT
+ EXTEND
+ BZF +2
+ TC CHARALRM
+ TC KILMONON
+ TC FALTON
+ TC PASTEVB # PUT MONITOR VERB BACK IN VERBREG
+CHARALRM TC FALTON # NOT NVSUB INITATED TURN ON OPR ERROR
+ TC ENDOFJOB
+ TC P00DOO
+ OCT 01501
+MONADR GENADR PASTEVB
+NVSBENDL TC NVSUBEND
+
+# ALMCYCLE TURNS ON CHECK FAIL LIGHT, REDISPLAYS THE ORIGINAL VERB THAT
+# WAS EXECUTED, AND RECYCLES TO EXECUTE THE ORIGINAL VERB/NOUN COMBINATION
+# THAT WAS LAST EXECUTED. USED FOR BAD DATA DURING LOAD VERBS AND BY
+# MCTBS. ALSO BY MMCHANG IF 2 NUMERICAL CHARACTERS WERE NOT PUNCHED IN
+# FOR MM CODE
+
+ SETLOC MID7 +1
+ COUNT 02/PIN
+
+ALMCYCLE TC FALTON # TURN ON CHECK FAIL LIGHT.
+ CS VERBSAVE # GET ORIGINAL VERB THAT WAS EXECUTED
+ TS REQRET # SET FOR ENTPAS0
+ TC BANKCALL # PUTS ORIGINAL VERB INTO VERBREG AND
+ CADR UPDATVB -1 # DISPLAYS IT IN VERB LIGHTS.
+ TC POSTJUMP
+ENDALM CADR ENTER
+
+# MMCHANG USES NOUN DISPLAY UNTIL ENTER. THEN IT USES MODE DISP.
+# IT GOES TO MODROUT WITH THE NEW M M CODE IN A, BUT NOT DISPLAYED IN
+# Page 365
+# MM LIGHTS.
+#
+# IT DEMANDS 2 NUMERICAL CHARACTERS BE PUNCHED IN FOR NEW MM CODE.
+# IF NOT, IT RECYCLES.
+
+ SETLOC DSP2BIT +10D
+
+ COUNT 41/PIN
+
+MMCHANG TC REQMM # ENTPASHI ASSUMES THE TC REQMM AT MMCHANG
+ # IF THIS MOVES AT ALL, MUST CHANGE
+ # MMADREF AT ENTPASHI.
+ CAF BIT5 # OCT20 = ND2.
+ AD DSPCOUNT # DSPCOUNT MUST = -ND2.
+ EXTEND # DEMAND THAT 2 NUM CHAR WERE PUNCHED IN.
+ BZF +2
+ TC ALMCYCLE # DSPCOUNT NOT= -ND2. ALARM AND RECYCLE.
+ CAF ZERO # DSPCOUNT = -ND2.
+ XCH NOUNREG
+ TS MPAC
+ CAF ND1
+ TS DSPCOUNT
+ TC BANKCALL
+ CADR 2BLANK
+ CS VD1 # BLOCK NUM CHAR IN
+ TS DSPCOUNT
+ CA MPAC
+ TC POSTJUMP
+ CADR MODROUTB # GO THRU STANDARD LOC.
+
+MODROUTB = V37
+REQMM CS Q
+ TS REQRET
+ CAF ND1
+ TS DSPCOUNT
+ CAF ZERO
+ TS NOUNREG
+ TC BANKCALL
+ CADR 2BLANK
+ TC FLASHON
+ CAF ONE
+ TS DECBRNCH # SET FOR DEC
+ TC ENTEXIT
+
+# VBRQEXEC ENTERS REQUEST TO EXEC FOR ANY ADDRESS WITH ANY PRIORITY.
+# IT DOES ENDOFJOB AFTER ENTERING REQUEST. DISPLAY SYST IS RELEASED.
+# IT ASSUMES NOUN 26 HAS BEEN PRELOADED WITH
+# COMPONENT 1 PRIORITY (BITS 10-14) BIT1=0 FOR NOVAC, BIT1=1 FOR FINDVAC.
+# COMPONENT 2 JOB ADRES (12 BIT)
+# Page 366
+# COMPONENT 3 BBCON
+
+VBRQEXEC CAF BIT1
+ MASK DSPTEM1
+ CCS A
+ TC SETVAC # IF BIT1 = 1, FINDVAC
+ CAF TCNOVAC # IF BIT1 = 0, NOVAC
+REQEX1 TS MPAC # TC NOVAC OR TC FINDVAC INTO MPAC
+ CS BIT1
+ MASK DSPTEM1
+ TS MPAC +4 # PRIO INTO MPAC+4 AS A TEMP
+REQUESTC TC RELDSP
+ CA ENDINST
+ TS MPAC +3 # TC ENDOFJOB INTO MPAC+3
+ EXTEND
+ DCA DSPTEM1 +1 # JOB ADRES INTO MPAC+1
+ DXCH MPAC +1 # BBCON INTO MPAC+2
+ CA MPAC +4 # PRIO IN A
+ INHINT
+ TC MPAC
+
+SETVAC CAF TCFINDVC
+ TC REQEX1
+
+# VBRQWAIT ENTERS REQUEST TO WAITLIST FOR ANY ADDRESS WITH ANY DELAY.
+# IT DOES ENDOFJOB AFTER ENTERING REQUEST. DISPLAY SYST IS RELEASED.
+# IT ASSUMES NOUN 26 HAS BEEN PRELOADED WTIH
+# COMPONENT 1 DELAY (LOW BITS)
+# COMPONENT 2 TASK ADRES (12 BIT)
+# COMPONENT 3 BBCON
+
+VBRQWAIT CAF TCWAIT
+ TS MPAC # TC WAITLIST INTO MPAC
+ CA DSPTEM1 # TIME DELAY
+ENDRQWT TC REQUESTC -1
+
+# REQUESTC WILL PUT TASK ADRES INTO MPAC+1, BBCON INTO MPAC+2,
+# TC ENDOFJOB INTO MPAC+3. IT WILL TAKE TIME DELAY OUT OF MPAC+4 AND
+# LEAVE IT IN A, INHINT AND TC MPAC.
+
+ SETLOC NVSBENDL +1
+ COUNT 40/PIN
+
+VBPROC CAF ONE # PROCEED WITHOUT DATA
+ TS LOADSTAT
+ TC KILMONON # TURN ON KILL MONITOR BIT
+ TC RELDSP
+ TC FLASHOFF
+ TC RECALTST # SEE IF THERE IS ANY RECALL FROM ENDIDLE
+
+# Page 367
+VBTERM CS ONE
+ TC VBPROC +1 # TERM VERB SETS LOADSTAT NEG
+
+# PROCKEY PERFORMS THE SAME FUNCTION AS VBPROC. IT MUST BE CALLED UNDER
+# EXECUTIVE CONTROL, WITH CHRPRIO.
+
+PROCKEY CAF ZERO # SET REQRET FOR ENTER PASS 0.
+ TS REQRET
+ CS VD1 # BLOCK NUMERICAL CHARACTERS, SIGNS, CLEAR
+ TS DSPCOUNT
+ TC VBPROC
+
+# VBRESEQ WAKES ENDIDLE AT SAME LINE AS FINAL ENTER OF LOAD (L+3).
+# (MAIN USE IS INTENDED AS RESPONSE TO INTERNALLY INITIATED FLASHING
+# DISPLAYS IN ENDIDLE. SHOULD NOT BE USED WITH LOAD VERBS, PLEASE PERFORM,
+# OR PLEASE MARK VERBS BECAUSE THEY ALREADY USE L+3 IN ANOTHER CONTEXT.)
+
+VBRESEQ CS ZERO # MAKE IT LOOK LIKE DATA IN.
+ TC VBPROC +1
+
+# FLASH IS TURNED OFF BY PROCEED WITHOUT DATA, TERMINATE, RESEQUENCE,
+# END OF LOAD.
+# Page 368
+
+# KEY RELEASE ROUTINE
+#
+# THIS ROUTINE ALWAYS TURNS OFF THE UPACT LIGHT AND ALWAYS CLEARS DSPLOCK.
+#
+# THE HIGHEST PRIORITY FUNCTION OF THE KEY RELEASE BUTTON IS THE
+# UNSUSPENDING OF A SUSPENDED MONITOR WHICH WAS EXTERNALLY INITIATED.
+# THIS FUNCTION IS ACCOMPLISHED BY CLEARING DSPLOCK AND TURNING OFF
+# THE KEY RELEASE LIGHT IF BOTH DSPLIST AND CADRSTOR ARE EMPTY.
+#
+# IF NO SUCH MONITOR EXISTS, THEN RELDSP IS EXECUTED TO CLEAR DSPLOCK
+# AND THE EXTERNAL MONITOR BIT (FREEING THE DISPLAY SYSTEM FOR INTERNAL
+# USE), TURN OFF THE KEY RELEASE LIGHT, AND WAKE UP ANY JOB IN DSPLIST.
+#
+# IN ADDITION IF THERE IS A JOB IN ENDIDLE, THEN CONTROL IS TRANSFERRED
+# TO PINBRNCH (IN DISPLAY INTERFACE ROUTINE) TO RE-EXECUTE THE SERIES OF
+# NVSUB CALLS ETC. THAT PRECEDED THE ENDIDLE CALL STILL AWAITING RESPONSE.
+# THIS FEATURE IS INTENDED FOR USE WHEN THE OPERATOR HAS BEEN REQUESTED TO
+# RESPOND TO SOME INTERNAL ACTION THAT USED ENDIDLE, BUT HE HAS WRITTEN
+# OVER THE INFORMATION ON THE DISPLAY PANEL BY SOME DISPLAYS OF HIS OWN
+# INITIATION WHICH DO NOT SERVE AS RESPONSES. HITTING KEYRLSE WILL
+# RE-ESTABLISH THE DISPLAYS TO THE STATE THEY WERE IN BEOFRE HE OBSCURED
+# THEM, SO THAT HE CAN SEE THE WAITING REQUEST. THIS WORKS ONLY FOR
+# INTERNAL PROGRAMS THAT USED ENDIDLE THROUGH MARGARET'S DISPLAY
+# SUBROUTINES.
+
+VBRELDSP CS BIT3
+ EXTEND
+ WAND DSALMOUT # TURN OF UPACT LITE
+ CCS 21/22REG # OLD DSPLOCK
+ CAF BIT14
+ MASK MONSAVE1 # EXTERNAL MONITOR BIT (EMB)
+ CCS A
+ TC UNSUSPEN # OLD DSPLOCK AND EMB BOTH 1, UNSUSPEND,
+TSTLTS4 TC RELDSP # NOT UNSUSPENDING EXTERNAL MONITOR
+ CCS CADRSTOR # RELEASE DISPLAY SYSTEM AND
+ TC +2 # DO RE-ESTABLISH IF CADRSTOR IS FULL.
+ TC ENDOFJOB
+ TC POSTJUMP
+ CADR PINBRNCH
+UNSUSPEN CAF ZERO # EXTERNAL MONITOR IS SUSPENDED,
+ TS DSPLOCK # JUST UNSUSPEND IT BY CLEARING DSPLOCK.
+ CCS CADRSTOR # TURN KEY RELEASE LIGHT OFF IF BOTH
+ TC ENDOFJOB # CADRSTOR AND DSPLIST ARE EMPTY.
+ TC RELDSP1
+ TC ENDOFJOB
+
+ENDRELDS EQUALS
+
+# Page 369
+# NVSUB IS USED FOR SUBROUTINE CALLS FROM WITHIN COMPUTER. IT CAN BE
+# USED TO CALL THE COMBINATION OF ANY DISPLAY, LOAD, OR MONITOR VERB
+# TOGETHER WITH ANY NOUN AVAILABLE TO THE KEYBOARD.
+# PLACE 0VVVVVVVNNNNNNN INTO A.
+# V'S ARE THE 7-BIT VERB CODE. N'S ARE THE 7-BIT NOUN CODE.
+#
+# IF NVSUB IS CALLED WTIH THE FOLLOWING NEGATIVE NUMBERS (RATHER THAN THE
+# VERB-NOUN CODE) IN A, THEN THE DISPLAY IS BLANKED AS FOLLOWS ---
+# -4 FULL BLANK, -3 LEAVE MODE, -2 LEAVE MODE AND VERB, -1 BLANK R'S ONLY.
+#
+# NVSUB CAN BE USED WTIH MACHINE CADR TO BE SPECIFIED BY PLACING THE CADR INTO
+# MPAC+2 BEFORE THE STANDARD NVSUB CALL.
+#
+# NVSUB RETURNS TO 2+ CALLING LOC AFTER PERFORMING TASK, IF DISPLAY
+# SYSTEM IS AVAILABLE. THE NEW NOUN AND VERB CODES ARE DISPLAYED.
+# IF V'S =0, THE NEW NOUN CODE IS DISPLAYED ONLY (RETURN WITH NO FURTHER
+# ACTION). IF N'S =0, THE NEW VERB CODE IS DISPLAYED ONLY (RETURN WITH NO
+# FURTHER ACTION).
+#
+# IT RETURNS TO 1+ CALLING LOC WITHOUT PERFORMING TASK, IF DISPLAY
+# SYSTEM IS BLOCKED (NOTHING IS DISPLAYED IN THIS CASE).
+# IT DOES TC ABORT (WITH OCT 01501) IF IT ENCOUNTERS A DISPLAY PROGRAM
+# ALARM CONDITION BEFORE RETURN TO CALLER.
+#
+# THE DISPLAY SYSTEM IS BLOCKED BY THE DEPRESSION OF ANY
+# KEY, EXCEPT ERROR LIGHT RESET.
+# IT IS RELEASED BY THE KEY RELEASE BUTTON, ALL EXTENDED VERBS,
+# PROCED WITOHOUT DATA, TERMINATE, RESEQUENCE, INITIALIZE EXECUTIVE,
+# RECALL PART OF RECALTST IF ENDIDLE WAS USED,
+# VB = REQUEST EXECUTIVE, VB = REQUEST WAITLIST,
+# MONITOR SET UP.
+#
+# THE DISPLAY SYSTEM IS ALSO BLOCKED BY THE EXTERNAL MONITOR BIT, WHICH
+# INDICATES AND EXTERNALLY INITIATED MONITOR IS RUNNING (SEE MONITOR).
+#
+# A NVSUB CALL THAT PASSES DSPLOCK AND THE EXTERNAL MONITOR BIT ENDS OLD
+# MONITOR.
+#
+# DSPLOCK IS THE INTERLOCK FOR USE OF KEYBOARD AND DISPLAY SYSTEM WHICH
+# LOCKS OUT INTERNAL USE WHENEVER THERE IS EXTERNAL KEYBOARD ACTION.
+#
+# NVSUB SHOULD BE USED TWICE IN SUCCESSION FOR `PLEASE PERFORM' SITUATIONS
+# (SIMILARLY FOR PLEASE MARK). FIRST PLACE THE CODED NUMBER FOR WHAT
+# ACTION IS DESIRED OF OPERATOR INTO THEREGISTERS REFERRED TO BY THE
+# `CHECKLIST' NOUN. GO TO NVSUB WITH A DISPLAY VERB AND THE `CHECKLIST'
+# NOUN. GO TO NVSUB AGAIN WTIH THE `PLEASE PERFORM' VERB AND ZEROS IN THE
+# LOW 7 BITS. THIS `PASTES UP' THE `PLEASE PERFORM' VERB INTO THE VERB
+# LIGHTS.
+#
+# NVMONOPT IS AN ENTRY SIMILAR TO NVSUB, BUT REQUIRING AN ADDITIONAL
+# Page 370
+# PARAMETER IN L. IT SHOULD BE USED ONLY WITH A MONITOR VERB-NOUN CODE IN
+# A. AFTER EACH MONITOR DISPLAY A *PLEASE* VERB WILL BE PASED INT THE VERB
+# LIGHTS OR DATA WILL BE BLANKED (OR BOTH) ACCORDING TO THE OPTIONS
+# SPECIFIED IN L. IF BITS 8-14 OF L ARE OTHER THAN ZERO, THEN THEY WILL
+# BE INTERPRETED AS A VERB CODE AND PASTED IN THE VERB LIGHTS. (THIS VERB
+# CODE SHOULD DESIGNATE ONE OF THE *PLEASE* VERBS.) IF BITS 1-3 OF L ARE
+# OTHER THAN ZERO, THEN THEY WILL BE USED BO BLANK DATA BY BEING FED TO
+# BLANKSUB. IF NVMONOPT IS USED WITH A VERB OTHER THAN A MONITOR VERB,
+# THE PARAMETER IN L HAS NO EFFECT.
+#
+# NVSUB IN FIXED-FIXED PLACES 2+CALLING LOC INTO NVQTEM, TC NVSUBEND INTO
+# ENTRET. (THIS WILL RESTORE OLD CALLING BANK BITS)
+
+ SETLOC ENDALM +1
+
+ COUNT 02/PIN
+
+NVSUB LXCH 7 # ZERO NVMONOPT OPTIONS
+NVMONOPT TS NVTEMP
+ CAF BIT14
+ MASK MONSAVE1 # EXTERNAL MONITOR BIT
+ AD DSPLOCK
+ CCS A
+ TC Q # DSP SYST BLOCKED. RET TO 1. CALLING LOC
+ CAF ONE # DSP SYST AVAILABLE.
+NVSBCOM AD Q
+ TS NVQTEM # 2+ CALLING LOC INTO NVQTEM
+ LXCH MONSAVE2 # STORE NVMONOPT OPTIONS
+ TC KILMONON # TURN ON KILL MONITOR BIT
+NVSUBCOM CAF NVSBBBNK
+
+ XCH BBANK
+ EXTEND # SAVE OLD SUPERBITS
+ ROR SUPERBNK
+ TS NVBNKTEM
+ CAF PINSUPBT
+ EXTEND
+ WRITE SUPERBNK
+ TC NVSUBB # GO TO NVSUB1 THRU STANDARD LOC
+ EBANK= DSPCOUNT
+NVSBBBNK BBCON NVSUB1
+
+PINSUPBT = NVSBBBNK # CONTAINS THE PINBALL SUPERBIT.
+
+NVSUBEND DXCH NVQTEM # NVBNKTEM MUST = NVQTEM+1
+ TC SUPDXCHZ # DTCB WITH SUPERBIT SWITCHING
+
+ SETLOC ENDRQWT +1
+
+ COUNT 41/PIN
+# Page 371
+
+# BLANKDSP BLANKS DISPLAY ACCORDING TO OPTION NUMBER IN NVTEMP AS FOLLOWS:
+# -4 FULL BLANK, -3 LEAVE MODE, -2 LEAVE MODE AND VERB, -1 BLANK R'S ONLY.
+
+BLANKDSP AD SEVEN # 7,8,9, OR 10 (A HAD 0,1,2,OR 3)
+ INHINT
+ TS CODE # BLANK SPECIFIED DSPTABS
+ CS BIT12
+ INDEX CODE
+ XCH DSPTAB
+ CCS A
+ INCR NOUT
+ TC +1
+ CCS CODE
+ TC BLANKDSP +2
+ RELINT
+ INDEX NVTEMP
+ TC +5
+ TC +1 # NVTEMP HAS -4 (NEVER TOUCH MODREG)
+ TS VERBREG # -3
+ TS NOUNREG # -2
+ TS CLPASS # -1
+ CS VD1
+ TS DSPCOUNT
+ TC FLASHOFF # PROTECT AGAINST INVISIBLE FLASH
+ TC ENTSET -2 # ZEROS REQRET
+
+NVSUB1 CAF ENTSET # IN BANK
+ TS ENTRET # SET RETURN TO NVSUBEND
+ CCS NVTEMP # WHAT NOW
+ TC +4 # NORMAL NVSUB CALL (EXECUTE VN OR PASTE)
+ TC GODSPALM
+ TC BLANKDSP # BLANK DISPLAY AS SPECIFIED
+ TC GODSPALM
+ CAF LOW7
+ MASK NVTEMP
+ TS MPAC +3 # TEMP FOR NOUN (CAN'T USE MPAC. DSPDECVN
+ CA NVTEMP # USES MPAC, +1, +2).
+ TS EDOP # RIGHT 7
+ CA EDOP
+ TS MPAC +4 # TEMP FOR VERB (CAN'T USE MPAC+1. DSPDECVN
+ # USES MPAC, +1, +2)
+ CCS MPAC +3 # TEST NOUN
+ TC NVSUB2 # IF NOUN NOT +0, GO ON
+ CA MPAC +4
+ TC UPDATVB -1 # IF NOUN = +0, DISPLAY VERB. THEN RETURN
+ CAF ZERO # ZERO REQRET SO THAT PASTED VERBS CAN
+ TS REQRET # BE EXECUTED BY OPERATOR.
+ENTSET TC NVSUBEND
+NVSUB2 CCS MPAC +4 # TEST VERB
+ TC +4 # IF VERB NOT +0, GO ON
+# Page 372
+ CA MPAC +3
+ TC UPDATNN -1 # IF VERB = +0, DISPLAY NOUN. THEN RETURN
+ TC NVSUBEND
+ CA MPAC +2 # TEMP FOR MACH CADR TO BE SPEC. (DSPDECVN
+ TS MPAC +5 # USES MPAC, +1, +2)
+ CA MPAC +4
+ TC UPDATVB -1 # IF BOTH NOUN AND VERB NOT +0, DISPLAY
+ CA MPAC +3 # BOTH AND GO TO ENTPAS0.
+ TC UPDATNN -1
+ CAF ZERO
+ TS LOADSTAT # SET FOR WAITING FOR DATA CONDITION
+ TS CLPASS
+ TS REQRET # SET REQRET FOR PASS 0.
+ CA MPAC +5 # RESTORES MACH CADR TO BE SPEC TO MPAC+2
+ TS MPAC +2 # FOR USE IN INTMCTBS (IN ENTPAS0).
+ENDNVSB1 TC ENTPAS0
+
+# IF INTERNAL MACH CADR TO BE SPECIFIED, MPAC+2 WILL BE PLACED INTO
+# NOUNCADR IN ENTPAS0 (INTMCTBS).
+
+ SETLOC NVSUBEND +2
+ COUNT 02/PIN
+ # FORCE BIT 15 OF MONSAVE1 TO .
+KILMONON CAF BIT15 # THIS IS THE KILL MONITOR BIT.
+ TS MONSAVE1 # TURN OFF BIT 14, THE EXTERNAL
+ # MONITOR BIT.
+ TC Q
+
+# LOADSTAT +0 INACTIVE (WAITING FOR DATA). SET BY NVSUB
+# +1 PROCEED NO DATA. SET BY SPECIAL VERB
+# -1 TERMINATE. SET BY SPECIAL VERB.
+# -0 DATA IN. SET BY END OF LOAD ROUTINE.
+# OR RESEQUENCE. SET BY VERB 32
+#
+# L TO ENDIDLE (FIXED FIXED).
+# ROUTINES THAT REQUEST LOADS THROUGH NVSUB SHOULD USE ENDIDLE WHILE
+# WAITING FOR THE DATA TO BE LOADED. ENDIDLE PUTS CURRENT JOB TO SLEEP.
+# ENDIDLE CANNOT BE CALLED FROM ERASABLE OR F/F MEMORY,
+# SINCE JOB SLEEP AND JOBWAKE CAN HANDLE ONLY FIXED BANKS.
+# RECALTST TESTS LOADSTAT AND WAKES JOB UP TO,
+# L+1 FOR TERMINATE
+# L+2 FOR PROCEED WITHOUT DATA
+# L+3 FOR DATA IN, OR RESEQUENCE
+# IT DOES NOTHING IF LOADSTAT INDICATES WAITING FOR DTA.
+# Page 373
+#
+# ENDIDLE ABORTS (WITH CODE 1206) IF A SECOND JOB ATTEMPTS TO GO TO SLEEP
+# IN PINBALL. IN PARTICULAR, IF AN ATTEMPT IS MADE TO GO TO ENDIDLE WHEN
+# 1) CADRSTOR NOT= +0. THIS IS THE CASE WHERE THE CAPACITY OF ENDIDLE IS
+# EXCEEDED. (+-NZ INDICATES A JOB IS ALREADY ASLEEP DUE TO ENDIDDLE.)
+# 2) DSPLIST NOT= +0. THIS INDICATES A JOB IS ALREADY ASLEEP DUE TO
+# NVSUBUSY.
+
+ENDIDLE LXCH Q # RETURN ADDRESS INTO L.
+ TC ISCADR+0 # ABORT IF CADRSTOR NOT= +0.
+ TC ISLIST+0 # ABORT IF DSPLIST NOT= +0
+ CA L # DON'T SET DSPLOC TO 1 SO CAN USE
+ MASK LOW10 # ENDIDLE WITH NVSUB INITIATE MONITOR.
+ AD FBANK # SAME STRATEGY FOR CADR AS MAKECADR.
+ TS CADRSTOR
+ TC JOBSLEEP
+
+ENDINST TC ENDOFJOB
+
+ISCADR+0 CCS CADRSTOR # ABORTS (CODE 01206) IF CADRSTOR NOT= +0.
+ TC DSPABORT # RETURNS IF CADRSTOR = +0.
+ TC Q
+ TC DSPABORT
+
+ISLIST+0 CCS DSPLIST # ABORTS (CODE 01206) IF DSPLIST NOT= +0.
+ TC DSPABORT # RETURNS IF DSPLIST = +0.
+ TC Q
+DSPABORT TC P00DOO
+ OCT 01206
+
+# JAMTERM ALLOWS PROGRAMS TO PERFORM THE TERMINATE FUNCTION.
+# IT DOES ENDOFJOB.
+
+JAMTERM CAF PINSUPBT
+ EXTEND
+ WRITE SUPERBNK
+ CAF 34DEC
+ TS REQRET # LEAVE ENTER SET FOR ENTPASS0.
+ CS VD1
+ TS DSPCOUNT
+ TC POSTJUMP
+ CADR VBTERM
+
+34DEC DEC 34
+
+# JAMPROC ALLOWS PROGRAMS TO PERFORM THE PROCEED/PROCEED WITHOUT DATA
+# FUNCTION. IT DOES ENDOFJOB.
+# Page 374
+
+JAMPROC CAF PINSUPBT
+ EXTEND
+ WRITE SUPERBNK
+ CAF 33DEC
+ TS REQRET # LEAVE ENTER SET FOR ENTPASS0.
+ CS VD1
+ TS DSPCOUNT
+ TC POSTJUMP
+ CADR VBPROC
+
+33DEC DEC 33
+
+# BLANKSUB BLANKS ANY COMBINATION OF R1, R2, R3.
+# CALL WITH BLANKING CODE IN A.
+# BIT1=1 BLANKS R1, BIT2=1 BLANKS R2, BIT3=1 BLANKS R3.
+# ANY COMBINATION OF THESE BITS IS ACCEPTED.
+#
+# DSPCOUNT IS RESTORED TO STATE IT WAS IN BEFORE BLANKSUB WAS EXECUTED.
+
+BLANKSUB MASK SEVEN
+ TS NVTEMP # STORE BLANKING CODE IN NVTEMP.
+ CAF BIT14
+ MASK MONSAVE1 # EXTERNAL MONITOR BIT
+ AD DSPLOCK
+ CCS A
+ TC Q # DSP SYST BLOCKED. RET TO 1+ CALLING LOC
+ INCR Q # DSP SYST AVAILABLE
+ # SET RETURN FOR 2+ CALLING LOC
+ CCS NVTEMP
+ TCF +2
+ TC Q # NOTHING TO BLANK. RET TO 2+ CALLING LOC
+ LXCH Q # SET RETURN FOR 2 + CALLING LOC
+ CAF BLNKBBNK
+ XCH BBANK
+ EXTEND
+ ROR SUPERBNK # SAVE OLD SUPERBITS.
+ DXCH BUF
+ CAF PINSUPBT
+ EXTEND
+ WRITE SUPERBNK
+ TC BLNKSUB1
+
+ EBANK= DSPCOUNT
+BLNKBBNK BBCON BLNKSUB1
+ENDBLFF EQUALS
+
+ SETLOC ENDRELDS
+ COUNT 40/PIN
+
+# Page 375
+BLNKSUB1 CA DSPCOUNT # SAVE OLD DSPCOUNT FOR LATER RESTORATION
+ TS BUF +2
+ CAF BIT1 # TEST BIT1. SEE IF R1 TO BE BLANKED.
+ TC TESTBIT
+ CAF R1D1
+ TC 5BLANK -1
+ CAF BIT2 # TEST BIT2. SEE IF R2 TO BE BLANKED.
+ TC TESTBIT
+ CAF R2D1
+ TC 5BLANK -1
+ CAF BIT3 # TEST BIT3. SEE IF R3 TO BE BLANKED.
+ TC TESTBIT
+ CAF R3D1
+ TC 5BLANK -1
+ CA BUF +2 # RESTORE DSPCOUNT TO STATE IT HAD
+ TS DSPCOUNT # BEFORE BLANKSUB.
+ DXCH BUF # CALL L+2 DIRECTORY.
+ TC SUPDXCHZ +1 # DTCB WITH SUPERBIT SWITCHING
+
+TESTBIT MASK NVTEMP # NVTEMP CONTAINS BLANKING CODE
+ CCS A
+ TC Q # IF CURRENT BIT = 1, RETURN TO L+1.
+ INDEX Q # IF CURRENT BIT = 0, RETURN TO L+3.
+ TC 2
+
+ENDBSUB1 EQUALS
+
+# DSPMM DOES NOT DISPLAY MODREG DIRECTLY. IT PUTS IN EXEC REQUEST WITH
+# PRIO 30000 FOR DSPMMJB AND RETURNS TO CALLER.
+#
+# IF MODREG CONTAINS -0, DSPMMJB BLANKS THE MODE LIGHTS.
+#
+# DSPMM MUST BE IN BANK 27 OR LOWER, SO IT CAN BE CALLED VIA BANKCALL.
+
+ BANK 7
+ SETLOC PINBALL4
+ BANK
+
+ COUNT 07/PIN
+
+DSPMM XCH Q
+ TS MPAC
+ INHINT
+ CAF CHRPRIO
+ TC NOVAC
+ EBANK= DSPCOUNT
+ 2CADR DSPMMJB
+
+ RELINT
+# Page 376
+ENDSPMM TC MPAC
+
+# DSPMM PLACE MAJOR MODE CODE INTO MODREG
+
+ SETLOC ENDBSUB1
+
+ COUNT 40/PIN
+
+DSPMMJB CAF MD1 # GETS HERE THRU DSPMM
+ XCH DSPCOUNT
+ TS DSPMMTEM # SAVE DSPCOUNT
+ CCS MODREG
+ AD ONE
+ TC DSPDECVN # IF MODREG IS + OR +0, DISPLAY MODREG
+ TC +2 # IF MODREG IS -NZ, DO NOTHING
+ TC 2BLANK # IF MODREG IS -0, BLANK MM
+ XCH DSPMMTEM # RESTORE DSPCOUNT
+ TS DSPCOUNT
+ TC ENDOFJOB
+
+# RECALTST IS ENTERED DIRECTLY AFTER DATA IS LOADED (OR RESEQUENCE VERB IS
+# EXECUTED), TERMINATE VERB IS EXECUTED, OR PROCEED WITHOUT DATA VERB IS
+# EXECUTED. IT WAKES UP JOB THAT DID TC ENDIDLE.
+#
+# IF CADRSTOR NOT= +0, IT PUTS +0 INTO DSPLOCK, AND TURNS OFF KEY RLSE
+# LIGHT IF DSPLIST IS EMPTY (LEAVES KEY RLSE LIGHT ALONE IF NOT EMPTY).
+
+RECALTST CCS CADRSTOR
+ TC RECAL1
+ TC ENDOFJOB # NORMAL EXIT IF KEYBOARD INITIATED
+RECAL1 CAF ZERO
+ XCH CADRSTOR
+ INHINT
+ TC JOBWAKE
+ CCS LOADSTAT
+ TC DOPROC # + PROCEED WITHOUT DATA
+ TC ENDOFJOB # PATHOLOGICAL CASE EXIT
+ TC DOTERM # - TERMINATE
+ CAF TWO # -0 DATA IN OR RESEQUENCE
+RECAL2 INDEX LOCCTR
+ AD LOC # LOC IS + FOR BASIC JOBS
+ INDEX LOCCTR
+ TS LOC
+ CA NOUNREG # SAVE VERB IN MPAC, NOUN IN MPAC+1 AT
+ TS L # TIME OF RESPONSE TO ENDIDLE FOR
+ CA VERBREG # POSSIBLE LATER TESTING BY JOB THAT HAS
+ INDEX LOCCTR # BEEN WAKED UP.
+ DXCH MPAC
+ RELINT
+# Page 377
+RECAL3 TC RELDSP
+ TC ENDOFJOB
+
+DOTERM CAF ZERO
+ TC RECAL2
+
+DOPROC CAF ONE
+ TC RECAL2
+
+ SBANK= LOWSUPER
+# Page 378
+# MISCELLANEOUS SERVICE ROUTINES IN FIXED/FIXED
+
+ SETLOC ENDBLFF
+
+ COUNT 02/PIN
+
+# SETNCADR E CADR ARRIVES IN A. IT IS STORED IN NOUNCADR. EBANK BITS
+# ARE SET. E ADRES IS DERIVED AND PUT INTO NOUNADD.
+
+SETNCADR TS NOUNCADR # STORE ECADR
+ TS EBANK # SET EBANK BITS
+ MASK LOW8
+ AD OCT1400
+ TS NOUNADD # PUT E ADRES INTO NOUNADD
+ TC Q
+
+# SETNADD GETS E CADR FROM NOUNCADR, SETS EBANK BITS, DERIVES
+# E ADRES AND PUTS IT INTO NOUNADD.
+
+SETNADD CA NOUNCADR
+ TCF SETNCADR +1
+
+# SETEBANK E CADR ARRIVES IN A. EBANK BITS ARE SET. E ADRES IS
+# DERIVED AND LEFT IN A.
+
+SETEBANK TS EBANK # SET EBANK BITS
+ MASK LOW8
+ AD OCT1400 # E ADRES LEFT IN A
+ TC Q
+
+R1D1 OCT 16 # THESE 3 CONSTANTS FORM A PACKED TABLE.
+R2D1 OCT 11 # DON'T SEPARATE.
+R3D1 OCT 4
+
+RIGHT5 TS CYR
+ CS CYR
+ CS CYR
+ CS CYR
+ CS CYR
+ XCH CYR
+ TC Q
+
+LEFT5 TS CYL
+ CS CYL
+ CS CYL
+ CS CYL
+# Page 379
+ CS CYL
+ XCH CYL
+ TC Q
+
+SLEFT5 DOUBLE
+ DOUBLE
+ DOUBLE
+ DOUBLE
+ DOUBLE
+ TC Q
+
+LOW5 OCT 37 # THESE 3 CONSTANTS FORM A PACKED TABLE.
+MID5 OCT 1740 # DON'T SEPARATE.
+HI5 OCT 76000 # MUST STAY HERE
+
+TCNOVAC TC NOVAC
+TCWAIT TC WAITLIST
+TCTSKOVR TC TASKOVER
+TCFINDVC TC FINDVAC
+
+CHRPRIO OCT 30000 # EXEC PRIORITY OF CHARIN
+
+LOW11 OCT 3777
+B12-1 EQUALS LOW11
+LOW8 OCT 377
+
+VD1 OCT 23 # THESE 3 CONSTANTS FORM A PACKED TABLE.
+ND1 OCT 21 # DON'T SEPARATE.
+MD1 OCT 25
+
+BINCON DEC 10
+
+FALTON CA BIT7 # TURN ON OPERATOR ERROR LIGHT.
+ EXTEND
+ WOR DSALMOUT # BIT 7 OF CHANNEL 11
+ TC Q
+
+FALTOF CS BIT7 # TURN OFF OPERATOR ERROR LIGHT
+ EXTEND
+ WAND DSALMOUT # BIT 7 OF CHANNEL 11
+ TC Q
+
+RELDSPON CAF BIT5 # TURN ON KEY RELEASE LIGHT
+ EXTEND
+ WOR DSALMOUT # BIT 5 OF CHANNEL 11
+ TC Q
+
+# Page 380
+LODSAMPT EXTEND
+ DCA TIME2
+ DXCH SAMPTIME
+ TC Q
+
+TPSL1 EXTEND # SHIFTS MPAC, +1, +2 LEFT 1
+ DCA MPAC +1 # LEAVES OVFIND SET TO +/- 1 FOR OF/UF
+ DAS MPAC +1
+ AD MPAC
+ ADS MPAC
+ TS 7 # TS A DOES NOT CHANGE A ON OF/UF.
+ TC Q # NO NET OF/UF
+ TS MPAC+6 # MPAC +6 SET TO +/- 1 FOR OF/UF
+ TC Q
+
+# IF MPAC, +1 ARE EACH +NZ OR +0 AND C(A)=-0, SHORTMP WRONGLY GIVES +0.
+# IF MPAC, +1 ARE EACH -NZ OR -0 AND C(A)=+0, SHORTMP WRONGLY GIVES +0.
+# PRSHRTMP FIXES FIRST CASE ONLY, BY MERELY TESTING C(A) AND IF IT = -0,
+# SETTING RESULT TO -0.
+#
+# (DO NOT USE PRSHRTMP UNLESS MPAC, +1 ARE EACH +NZ OR +0, AS THEY ARE
+# WHEN THEY CONTAIN THE SF CONSTANTS.)
+
+PRSHRTMP TS MPTEMP
+ CCS A
+ CA MPTEMP # C(A) +, DO REGULAR SHORTMP
+ TCF SHORTMP +1 # C(A) +0, DO REGULAR SHORTMP
+ TCF -2 # C(A) -, DO REGULAR SHORTMP
+ CS ZERO # C(A) -0, FORCE RESULT TO -0 AND RETURN.
+ TS MPAC
+ TS MPAC +1
+ TS MPAC +2
+ TC Q
+
+FLASHON CAF BIT6 # TURN ON V/N FLASH
+ EXTEND # BIT 6 OF CHANNEL 11
+ WOR DSALMOUT
+ TC Q
+
+FLASHOFF CS BIT6 # TURN OFF V/N FLASH
+ EXTEND
+ WAND DSALMOUT # BIT 6 OF CHANNEL 11
+ TC Q
+
+# Page 381
+# INTERNAL USE OF KEYBOARD AND DISPLAY PROGRAM.
+#
+# USER MUST SCHEDULE CALLS TO NVSUB SO THAT THERE IS NO CONFLICT OF USE OR
+# CONFUSION TO OPERATOR. THE OLD CRABLOCK (INTERNAL/INTERNAL INTERLOCK)
+# HAS BEEN REMOVED AND THE INTERNAL USER NO LONGER HAS THE PROTECTION THIS
+# OFFERED.
+#
+# THERE ARE TWO WAYS A JOB CAN BE PUT TO SLEEP BY TEH KEYBOARD + DISPLAY
+# PROGRAM. 1) BY ENDIDLE
+# 2) BY NVSUBUSY
+# THE BASIC CONVENTION IS THAT ONLY ONE JOB WILL BE PERITTED ASLEEP VIA
+# THE KEYBOARD + DISPLAY PROGRAM AT A TIME. IF A JOB ATTEMPTS TO GO TO
+# SLEEP BY MEANS OF (1) OR (2) AND THERE IS ALREADY AJOB ASLEEP THAT WAS
+# PUT TO SLEEP BY (1) OR (2), THEN AN ABORT IS CAUSED.
+#
+# THE CALLING SEQUENCE FOR NVSUB IS
+# CAF V/N
+# L TC NVSUB
+# L+1 RETURN HERE IF OPERATOR HAS INTERVENED
+# L+2 RETURN HERE AFTER EXECUTION
+#
+# A ROUTINE CALLED NVSUBUSY IS PROVIDED (USE IS OPTIONAL) TO PUT
+# YOUR JOB TO SLEEP UNTIL THE OPERATOR RELEASES THE KEYBOARD + DISPLAY
+# SYSTEM. NVSUBUSY ALSO TURNS ON THE KEY RELEASE LIGHT.
+# NVSUBUSY CANNOT BE CALLED FROM ERASABLE OR F/F MEMORY,
+# SINCE JOBSLEEP AND JOBWAKE CAN HANDLE ONLY FIXED BANKS.
+#
+# THE CALLING SEQUENCE IS
+# CAF WAKEFCADR
+# TC NVSUBUSY
+# .
+#
+# NVSUBUSY IS INTENDED FOR USE WHEN AN INTERNAL PROGRAM FINDS THE OPERATOR
+# IS NOT USING THE KEYBOARD + DISPLAY PROGRAM (BY HIS OWN INITIATION). IT IS
+# NOT INTENDED FOR USE WHEN ONE INTERNAL PROGRAM FINDS ANOTHER INTERNAL
+# PROGRAM USING THE KEYBOARD + DISPLAY PROGRAM.
+#
+# NVSUBUSY ABORTS (WITH CODE 01206) IF A SECOND JOB ATTEMPTS TO GO TO
+# SLEEP IN PINBALL. IN PARTICULAR, IF AN ATTEMPT IS MAKE TO GO TO NVSUBUSY
+# WHEN
+#
+# 1) DSPLIST NOT= +0. THIS IS THE CASE WHERE THE CAPACITY FO THE DSPLIST
+# IS EXCEEDED.
+# 2) CADRSTOR NOT= +0. THIS INDICATES THAT A JOB IS ALREADY USING
+# Page 382
+# ENDIDLE. (+-NZ INDICATES A JOB IS ALREADY ASLEEP DUE TO ENDIDLE.)
+
+PRENVBSY CS 2K+3 # SPECIAL ENTRANCE FOR ROUTINES IN FIXED
+ AD Q # BANKS ONLY DESIRING THE FCADR OF (LOC
+ AD FBANK # FROM WHICH THE TC PRENVBSY WAS DONE) -2
+NVSUBUSY TC POSTJUMP # TO BE ENTERED.
+ CADR NVSUBSY1
+2K+3 OCT 2003
+
+# NVSUBSY1 MUST BE IN BANK 27 OR LOWER, SO IT WILL PUT CALLER TO SLEEP
+# WITH HIS PROPER SUPERBITS.
+
+ SETLOC ENDSPMM +1
+ COUNT 07/PIN
+
+NVSUBSY1 TS L
+ TC ISCADR+0 # ABORT IF CADRSTOR NOT= +0.
+ TC ISLIST+0 # ABORT IF DSPLIST NOT= +0.
+ TC RELDSPON
+ CA L
+ TS DSPLIST
+ENDNVBSY TC JOBSLEEP
+
+# NVSBWAIT IS A SPECIAL ENTRANCE FOR ROUTINES IN FIXED BANKS ONLY. IF
+# SYSTEM IS NOT BUSY, IT EXECUTES V/N AND RETURNS TO L+1 (L= LOC FROM
+# WHICH THE TC NVSBWAIT WAS DONE). IF SYSTEM IS BUSY, IT PUTS CALLING JOB
+# TO SLEEP WITH L-1 GOING INTO LIST FOR EVENTUAL WAKING UP WHEN SYSTEM
+# IS NOT BUSY.
+
+ SETLOC NVSUBUSY +3
+ COUNT 02/PIN
+
+NVSBWAIT LXCH 7 # ZERO NVMONOPT OPTIONS
+ TS NVTEMP
+ CAF BIT14
+ MASK MONSAVE1 # EXTERNAL MONITOR BIT
+ AD DSPLOCK
+ CCS A
+ TCF NVSBWT1 # BUSY
+ TCF NVSBCOM # FREE. NVSUB WILL SAVE L+1 FOR RETURN
+ # AFTER EXECUTION.
+NVSBWT1 INCR Q # L+2. PRENVBSY WILL PUT L-1 INTO LIST AND
+ TCF PRENVBSY # GO TO SLEEP.
+
+# RELDSP IS USED BY VBPROC, VBTERM, VBRQEXEC, VBRQWAIT, VBRELDSP, EXTENDED
+# VERB DISPATCHER, VBRESEQ, RECALTST.
+#
+# RELDSP1 IS USED BY MONITOR SET UP, VBRELDSP.
+
+RELDSP XCH Q # SET DSPLOCK TO +0, TURN RELDSP LIGHT
+# Page 383
+ TS RELRET # OFF, SEARCH DSPLIST
+ CS BIT14
+ INHINT
+ MASK MONSAVE1
+ TS MONSAVE1 # TURN OFF EXTERNAL MONITOR BIT
+ CCS DSPLIST
+ TC +2
+ TC RELDSP2 # LIST EMPTY
+ CAF ZERO
+ XCH DSPLIST
+ TC JOBWAKE
+RELDSP2 RELINT
+ CS BIT5 # TURN OFF KEY RELEASE LIGHT
+ EXTEND # (BIT 5 OF CHANNEL 11)
+ WAND DSALMOUT
+ CAF ZERO
+ TS DSPLOCK
+ TC RELRET
+RELDSP1 XCH Q # SET DSPLOCK TO +0. NO DSPLIST SEARCH.
+ TS RELRET # TURN KEY RLSE LIGHT OFF IF DSPLIST IS
+ # EMPTY. LEAVE KEY RLSE LIGHT ALONE IF
+ # DSPLIST IS NOT EMPTY.
+ CCS DSPLIST
+ TC +2 # + NOT EMPTY. LEAVE KEY RLSE LIGHT ALONE.
+ TC RELDSP2 # +0 EMPTY. TURN OFF KEY RLSE LIGHT
+ CAF ZERO # - NOT EMPTY. LEAVE KEY RLSE LIGHT ALONE
+ TS DSPLOCK
+ TC RELRET
+
+ENDPINBF EQUALS
+
+# Page 384
+# PINTEST IS NEEDED FOR AUTO CHECK OF PINBALL.
+
+PINTEST EQUALS LST2FAN
+
+# Page 385
+# VBTSTLTS TURNS ON ALL DISPLAY PANEL LIGHTS. AFTER 5 SEC, IT TURNS
+# OFF THE CAUTION AND STATUS LIGHTS.
+
+ SETLOC ENDNVSB1 +1
+
+ COUNT 41/PIN
+
+VBTSTLTS TC BANKCALL
+ CADR CHKP00H
+
+ INHINT
+ CS BIT1 # SET BIT 1 OF IMODES33 SO IMUMON WON'T
+ MASK IMODES33 # TURN OUT ANY LAMPS.
+ AD BIT1
+ TS IMODES33
+
+ CAF TSTCON1 # TURN ON UPLINK ACTIVITY, TEMP, KEY RLSE,
+ EXTEND # V/N FLASH, OPERATOR ERROR.
+ WOR DSALMOUT
+ CAF TSTCON2 # TURN ON NO ATT, GIMBAL LOCK, TRACKER,
+ TS DSPTAB +11D # PROG ALM.
+ CAF BIT10 # TURN ON TEST ALARM OUTBIT
+ EXTEND
+ WOR CHAN13
+ CAF TEN
+TSTLTS1 TS ERCNT
+ CS FULLDSP
+ INDEX ERCNT
+ TS DSPTAB
+ CCS ERCNT
+ TC TSTLTS1
+ CS FULLDSP1
+ TS DSPTAB +1 # TURN ON 3 PLUS SIGNS
+ TS DSPTAB +4
+ TS DSPTAB +6
+ CAF ELEVEN
+ TS NOUT
+ CAF SHOLTS
+ TC WAITLIST
+ EBANK= DSPTAB
+ 2CADR TSTLTS2
+
+ TC ENDOFJOB # DSPLOCK IS LEFT BUSY (FROM KEYBOARD
+ # ACTION) UNTIL TSTLTS3 TO INSURE THAT
+ # LIGHTS TEST WILL BE SEEN.
+
+FULLDSP OCT 05675 # DISPLAY ALL 8'S
+FULLDSP1 OCT 07675 # DISPLAY ALL 8'S AND +
+TSTCON1 OCT 00175
+# Page 386
+ # UPLINK ACTIVITY, TEMP, KEY RLSE,
+ # V/N FLASH, OPERATOR ERROR.
+TSTCON2 OCT 40650 # DSPTAB+11D BITS 4,6,8,9,
+ # NO ATT, GIMBAL LOCK, TRACKER, PROG ALM.
+TSTCON3 OCT 00115 # CHAN 11 BITS 1, 3, 4, 7.
+ # UPLINK ACITIVY, TEMP, OPERATOR ERROR.
+SHOLTS OCT 764 # 5 SEC
+
+TSTLTS2 CAF CHRPRIO # CALLED BY WAITLIST
+ TC NOVAC
+ EBANK= DSPTAB
+ 2CADR TSTLTS3
+
+ TC TASKOVER
+
+TSTLTS3 CS TSTCON3 # CALLED BY EXECUTIVE
+ INHINT
+ EXTEND # TURN OFF UPLINK ACTIVITY, TEMP,
+ WAND DSALMOUT # OPERATOR ERROR.
+ CS BIT10 # TURN OFF TEST ALARM OUTBIT
+ EXTEND
+ WAND CHAN13
+ CAF BIT4 # MAKE NO ATT FOLLOW BIT 4 OF CHANNEL 12
+ EXTEND # (NO TT LIGHT ON IF IN COARSE ALIGN)
+ RAND CHAN12
+ AD BIT15 # TURN OFF AUTO, HOLD, FREE, SPARE,
+ TS DSPTAB +11D # GIMBAL LOCK, SPARE, TRACKER, PROG ALM
+ CS 13-11,1 # SET BITS TO INDICATE ALL LAMPS OUT. TEST
+ MASK IMODES33 # LIGHTS COMPLETE.
+ AD PRIO16
+ TS IMODES33
+
+ CS OCT55000
+ MASK IMODES30
+ AD PRIO15 # 15000.
+ TS IMODES30
+
+ CS OPTMODES
+ MASK BIT7
+ ADS OPTMODES
+ RELINT
+
+ TC BANKCALL # REDISPLAY C(MODREG)
+ CADR DSPMM
+ TC KILMONON # TURN ON KILL MONITOR BIT.
+ TC FLASHOFF # TURN OFF V/N FLASH.
+ TC POSTJUMP # DOES RELDSP AND GOES TO PINBRNCH IF
+ CADR TSTLTS4 # ENDIDLE IS AWAITING OPERATOR RESPONSE.
+# Page 387
+13-11,1 OCT 16001
+OCT55000 OCT 55000
+ENDPINS2 EQUALS
+
+# Page 388
+# ERROR LIGHT RESET (RSET) TURNS OFF:
+# UPLINK ACTIVITY, AUTO, HOLD, FREE, OPERATOR ERROR,
+# PROG ALM, TRACKER FAIL.
+#
+# LEAVES GIMBAL LOCK AND NO ATT ALONE.
+#
+# IT ALSO ZEROS THE `TEST ALARM' OUT BIT, WHICH TURNS OFF STBY, RESTART.
+# IT ALSO SETS `CAUTION RESET' TO 1.
+# IT ALSO FORCES BIT 12 OF ALL DSPTAB ENTRIES TO 1.
+
+ SETLOC DOPROC +2
+ COUNT 40/PIN
+
+ERROR XCH 21/22REG # RESTORE ORIGINAL C(DSPLOCK). THUS ERROR
+ TS DSPLOCK # LIGHT RESET LEAVES DSPLOCK CHANGED.
+ INHINT
+ CAF BIT10 # TURN ON `CAUTION RESET' OUTBIT
+ EXTEND
+ WOR DSALMOUT # BIT10 CHAN 11
+ CAF GL+NOATT # LEAVE GIMBAL LOCK AND NO ATT INTACT,
+ MASK DSPTAB +11D # TURNING OFF AUTO, HOLD, FREE,
+ AD BIT15 # PROG ALARM, AND TRACKER.
+ TS DSPTAB +11D
+ CS PRIO16 # RESET FAIL BITS WHICH GENERATE PROG
+ MASK IMODES33 # ALARM SO THAT IF THE FAILURE STILL
+ AD PRIO16 # EXISTS, THE ALARM WILL COME BACK.
+ TS IMODES33
+ CS BIT10
+ MASK IMODES30
+ AD BIT10
+ TS IMODES30
+
+ CS OPTMODES
+ MASK BIT7
+ ADS OPTMODES
+ CS BIT10 # TURN OFF 'TEST ALARM' OUTBIT
+ EXTEND
+ WAND CHAN13
+ CS ERCON # TURN OFF UPLINK ACTIVITY,
+ EXTEND # OPERATOR ERROR.
+ WAND DSALMOUT
+TSTAB CAF BINCON # (DEC 10)
+ TS ERCNT # ERCNT = COUNT
+ INHINT
+ INDEX ERCNT
+ CCS DSPTAB
+ AD ONE
+ TC ERPLUS
+ AD ONE
+ERMINUS CS A
+ MASK NOTBIT12
+ TC ERCOM
+# Page 389
+ERPLUS CS A
+ MASK NOTBIT12
+ CS A # MIGHT WANT TO RESET CLPASS, DECBRNCH,
+ERCOM INDEX ERCNT # ETC.
+ TS DSPTAB
+ RELINT
+ CCS ERCNT
+ TC TSTAB +1
+ CAF ZERO
+ TS FAILREG
+ TS FAILREG +1
+ TS FAILREG +2
+ TS SFAIL
+ TC ENDOFJOB
+
+ERCON OCT 104 # CHAN 11 BITS 3,7.
+ # UPLINK ACTIVITY, AND OPERATOR ERROR.
+BITS6,8 OCT 240
+GL+NOATT OCT 00050 # NO ATT AND GIMBAL LOCK LAMPS
+NOTBIT12 OCT 73777
+
+ENDPINS1 EQUALS
+
+ SBANK= LOWSUPER
+
diff --git a/PINBALL_NOUN_TABLES.s b/PINBALL_NOUN_TABLES.s
new file mode 100644
index 0000000..8fbd97a
--- /dev/null
+++ b/PINBALL_NOUN_TABLES.s
@@ -0,0 +1,867 @@
+# Copyright: Public domain.
+# Filename: PINBALL_NOUN_TABLES.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 268-284
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-18 FB Transcription Batch 3 Assignment.
+# 2009-05-23 RSB In NNTYPTAB, corrected former 13 SPARE.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 268
+# THE FOLLOWING REFERS TO THE NOUN TABLES
+#
+# COMPONENT CODE NUMBER INTERPRETATION
+#
+# 00000 1 COMPONENT
+# 00001 2 COMPONENT
+# 00010 3 COMPONENT
+# X1XXX BIT 4 = 1. DECIMAL ONLY
+# 1XXXX BIT 5 = 1. NO LOAD
+#
+# END OF COMPONENT CODE NUMBERS
+#
+# SF ROUTINE CODE NUMBER INTERPRETATION
+#
+# 00000 OCTAL ONLY
+# 00001 STRAIGHT FRACTIONAL
+# 00010 CDU DEGREES (XXX.XX)
+# 00011 ARITHMETIC SF
+# 00100 ARITH DP1 OUT (MULT BY 2EXP14 AT END) IN (STRAIGHT)
+# 00101 ARITH DP2 OUT (STRAIGHT) IN (SL 7 AT END)
+# 00110 Y OPTICS DEGREES (XX.XXX MAX 89.999)
+# 00111 ARITH DP3 OUT (SL 7 AT END) IN (STRAIGHT
+# 01000 WHOLE HOURS IN R1, WHOLE MINUES (MOD 60) IN R2,
+# SECONDS (MOD 60) 0XX.XX IN R3. *** ALARMS IF USED WITH OCTAL
+# 01001 MINUTES (MOD 60) IN D1D2, D3 BLANK, SECONDS (MOD 60) IN D4D5
+# LIMITS TO 59B59 IF MAG EXCEEDS THIS VALUE.
+# ALARMS IF USED WITH OCTAL ******** IN (ALARM)
+# 01010 ARITH DP4 OUT (STRAIGHT) IN (SL 3 AT END)
+# 01011 ARITH1 SF OUT (MULT BY 2EXP14 AT END) IN (STRAIGHT)
+# 01100 2 INTEGERS IN D1D2, D4D5, D3 BLANK.
+# ALARMS IF USED WITH OCTAL ******** IN (ALARM)
+# 01101 DP STRAIGHT FRACTIONAL
+#
+# END OF SF ROUTINE CODE NUMBERS
+
+# SF CONSTANT CODE NUMBER INTERPRETATION
+#
+# 00000 WHOLE USE ARITH
+# 00000 DP TIME SEC (XXX.XX SEC) USE ARITHDP1
+# 00001 SPARE
+# 00010 CDU DEGREES USE CDU DEGREES
+# 00010 Y OPTICS DEGREES USE Y OPTICS DEGREES
+# 00011 DP DEGREES (90) XX.XXX DEG USE ARITHDP3
+# 00100 DP DEGREES (360) XXX.XX DEG USE ARITHDP4
+# 00101 DEGREES (180) XXX.XX DEG USE ARITH
+# 00110 WEIGHT2 (XXXXX. LBS) USE ARITH1
+# 00111 POSITION5 (XXX.XX NAUTICAL MILES)
+# USE ARITHDP3
+# 01000 POSITION4 (XXXX.X NAUTICAL MILES)
+# Page 269
+# USE ARITHDP3
+# 01001 VELOCITY2 (XXXXX. FT/SEC) USE ARITHDP4
+# 01010 VELOCITY3 (XXXX.X FT/SEC) USE ARITHDP3
+# 01011 ELEVATION DEGREES (89.999 MAX) USE ARITH
+# 01100 TRIM DEGREES (XXX.XX DEG) USE ARITH
+# 01101 INERTIA (XXXXXBB. SLUG FT FT) USE ARITH
+# 01101 THRUST MOMENT (XXXXXBB. FT LBS) USE ARITH
+# 01110 VELOCITY/2VS (XXXXX. FT/SEC) USE ARITHDP4
+# 01111 POSITION6 (XXXX.X NAUT MI) USE ARITHDP3
+# 10000 DRAG ACCELERATION (XXX.XX) USE ARITHDP2
+# 10001 POSITION8 (XXXX.X NAUT MI) USE ARITHDP?
+# 10010 POSITION9 (XXX.XX NAUT MI) USE ARITHDP4
+# 10011 VELOCITY4 (XXXX.X FT/SEC) USE ARITHDP2
+#
+# END OF SF CONSTANT CODE NUMBERS
+
+# FOR GREATER THAN SINGLE PRECISION SCALES, PUT ADDRESS IN MAJOR PART INTO
+# NOUN TABLES.
+
+# OCTAL LOADS PLACE +0 INTO MAJOR PART, DATA INTO MINOR PART.
+
+# OCTAL DISPLAYS SHOW MINOR PART ONLY.
+
+# TO GET AT BOTH MAJOR AND MINOR PARTS (IN OCTAL), USE NOUN 01.
+
+# A NOUN MAY BE DECLARED "DECIMAL ONLY" BY MAKING BIT4=1 OF ITS COMPONENT
+# CODE NUMBER. IF THIS NOUN IS USED WITH ANY OCTAL DISPLAY VERB, OR IF
+# DATA IS LOADED IN OCTAL, IT ALARMS.
+
+# IN LOADING AN "HOURS, MINUTES, SECONDS" NOUN, ALL 3 WORDS MUST BE
+# LOADED, OR ALARM.
+
+# ALARM IF AN ATTEMPT IS MADE TO LOAD "SPLIT MINUTES/SECONDS" (MMBSS).
+# THIS IS USED FOR DISPLAY ONLY.
+
+# Page 270
+# THE FOLLOWING ROUTINES ARE FOR READING THE NOUN TABLES AND THE SF TABLES
+# (WHICH ARE IN A SEPARATE BANK FROM THE REST OF PINBALL). THESE READING
+# ROUTINES ARE IN THE SAME BANK AS THE TABLES. THEY ARE CALLED BY DXCH Z.
+
+# LODNNTAB LOADS NNADTEM WTIH THE NNADTAB ENTRY, NNTYPTEM WITH THE
+# NNTYPTAB ENTRY. IF THE NOUN IS MIXED, IDADITEM IS LOADED WITH THE FIRST
+# IDADDTAB ENTRY, IDAD2TEM THE SECOND IDADDTAB ENTRY, IDAD3TEM THE THIRD
+# IDADDTAB ENTRY, RUTMXTEM WITH THE RUTMXTAB ENTRY. MIXBR IS SET FOR
+# MIXED OR NORMAL NOUN.
+
+ BANK 06
+ SETLOC PINBALL3
+ BANK
+
+ COUNT 42/NOUNS
+
+LODNNTAB DXCH IDAD2TEM # SAVE RETURN INFO IN IDAD2TEM, IDAD3TEM.
+ INDEX NOUNREG
+ CAF NNADTAB
+ TS NNADTEM
+ INDEX NOUNREG
+ CAF NNTYPTAB
+ TS NNTYPTEM
+ CS NOUNREG
+ AD MIXCON
+ EXTEND
+ BZMF LODMIXNN # NOUN NUMBER G/E FIRST MIXED NOUN
+ CAF ONE # NOUN NUMBER L/ FIRST MIXED NOUN
+ TS MIXBR # NORMAL. +1 INTO MIXBR
+ TC LODNLV
+LODMIXNN CAF TWO # MIXED. +2 INTO MIXBR.
+ TS MIXBR
+ INDEX NOUNREG
+ CAF RUTMXTAB -40D # FIRST MIXED NOUN = 40.
+ TS RUTMXTEM
+ CAF LOW10
+ MASK NNADTEM
+ TS Q # TEMP
+ INDEX A
+ CAF IDADDTAB
+ TS IDAD1TEM # LOAD IDAD1TEM WITH FIRST IDADDTAB ENTRY
+ EXTEND
+ INDEX Q # LOAD IDAD2TEM WITH 2ND IDADDTAB ENTRY
+ DCA IDADDTAB +1 # LOAD IDAD3TEM WITH 3RD IDADDTAB ENTRY.
+LODNLV DXCH IDAD2TEM # PUT RETURN INFO INTO A, L.
+ DXCH Z
+
+MIXCON = OCT50 # FIRST MIXED NOUN =40. (DEC 40)
+
+# GTSFOUT LOADS SFTEMP1, SFTEMP2 WTIH THE DP SFOUTAB ENTRIES.
+# Page 271
+
+GTSFOUT DXCH SFTEMP1 # 2X (SFCONUM) ARRIVES IN SFTEMP1.
+ EXTEND
+ INDEX A
+ DCA SFOUTAB
+SFCOM DXCH SFTEMP1
+ DXCH Z
+
+# GTSFIN LOADS SFTEMP1, SFTEMP2 WITH THE DP SFINTAB INTRIES.
+
+GTSFIN DXCH SFTEMP1 # 2X (SFCONUM) ARIVES IN SFTEMP1.
+ EXTEND
+ INDEX A
+ DCA SFINTAB
+ TCF SFCOM
+
+ # NN NORMAL NOUNS
+
+NNADTAB OCT 00000 # 00 NOT IN USE
+ OCT 40000 # 01 SPECIFY MACHINE ADDRESS (FRACTIONAL)
+ OCT 40000 # 02 SPECIFY MACHINE ADDRESS (WHOLE)
+ OCT 40000 # 03 SPECIFY MACHINE ADDRESS (DEGREES)
+ OCT 0 # 04 SPARE
+ ECADR DSPTEM1 # 05 ANGULAR ERROR/DIFFERENCE
+ ECADR OPTION1 # 06 OPTION CODE
+ ECADR XREG # 07 ECADR OF WORD TO BE MODIFIED
+ # ONES FOR BITS TO BE MODIFIED
+ # 1 TO SET OR 0 TO RESET SELECTED BITS
+ ECADR ALMCADR # 08 ALARM DATA
+ ECADR FAILREG # 09 ALARM CODES
+ OCT 77776 # 10 CHANNEL TO BE SPECIFIED
+ ECADR TCSI # 11 TIG OF CSI (HRS,MIN,SEC)
+ ECADR OPTIONX # 12 OPTION CODE
+ # (USED BY EXTENDED VERBS ONLY)
+ ECADR TCDH # 13 TIG OF CDH (HRS,MIN,SEC)
+ OCT 0 # 14 SPARE
+ OCT 77777 # 15 INCREMENT MACHINE ADDRESS
+ ECADR DSPTEMX # 16 TIME OF EVENT (HRS,MIN,SEC)
+ ECADR CPHIX # 17 ASTRONAUT TOTAL ATTITUDE
+ ECADR THETAD # 18 AUTO MANEUVER BALL ANGLES
+ ECADR THETAD # 19 BYPASS ATTITUDE TRIM MANEUVER
+ ECADR CDUX # 20 ICDU ANGLES
+ ECADR PIPAX # 21 PIPAS
+ ECADR THETAD # 22 NEW ICDU ANGLES
+ OCT 00000 # 23 SPARE
+ ECADR DSPTEM2 +1 # 24 DELTA TIME FOR AGC CLOCK (HRS,MIN,SEC)
+ ECADR DSPTEM1 # 25 CHECKLIST
+ # (USED WTIH PLEASE PERFORM ONLY)
+ ECADR DSPTEM1 # 26 PRIO/DELAY, ADRES, BBCON
+ ECADR SMODE # 27 SELF TEST ON/OFF SWITCH
+# Page 272
+ OCT 0 # 28 SPARE
+ ECADR DSPTEM1 # 29 XSM LAUNCH AZIMUTH
+ ECADR DSPTEM1 # 30 TARGET CODES
+ ECADR DSPTEM1 # 31 TIME OF LANDING SITE (HRS,MIN,SEC)
+ ECADR -TPER # 32 TIME TO PERIGEE (HRS,MIN,SEC)
+ ECADR TIG # 33 TIME OF IGNITION (HRS,MIN,SEC)
+ ECADR DSPTEM1 # 34 TIME OF EVENT (HRS,MIN,SEC)
+ ECADR TTOGO # 35 TIME TO GO TO EVENT (HRS,MIN,SEC)
+ ECADR TIME2 # 36 TIME OF AGC CLOCK (HRS,MIN,SEC)
+ ECADR TTPI # 37 TIG OF TPI (HRS,MIN,SEC)
+ ECADR TET # 38 TIME OF STATE VECTOR
+ ECADR T3TOT4 # 39 DELTA TIME TO TRANSFER (HRS,MIN,SEC)
+
+# END OF NNADTAB FOR NORMAL NOUNS
+
+ # NN MIXED NOUNS
+
+ OCT 64000 # 40 TIME TO IGNITION/CUTOFF
+ # VG
+ # DELTA V (ACCUMULATED)
+ OCT 02003 # 41 TARGET AZIMUTH
+ # ELEVATION
+ OCT 24006 # 42 APOGEE
+ # PERIGEE
+ # DELTA V (REQUIRED)
+ OCT 24011 # 43 LATITUDE
+ # LONGITUDE
+ # ALTITUDE
+ OCT 64014 # 44 APOGEE
+ # PERIGEE
+ # TFF
+ OCT 64017 # 45 MARKS (VHF - OPTIC)
+ # TTI OF NEXT BURN
+ # MGA
+ OCT 02022 # 46 AUTOPILOT CONFIGURATION
+ OCT 22025 # 47 THIS VEHICLE WEIGHT
+ # OTHER VEHICLE WEIGHT
+ OCT 22030 # 48 PITCH TRIM
+ # YAW TRIM
+ OCT 24033 # 49 DELTA R
+ # DELTA V
+ # VHF OR OPTICS CODE
+ OCT 64036 # 50 SPLASH ERROR
+ # PERIGEE
+ # TFF
+ OCT 22041 # 51 S-BAND ANTENNA PITCH
+ # YAW
+ OCT 00044 # 52 CENTRAL ANGLE OF ACTIVE VEHICLE
+ OCT 24047 # 53 RANGE
+ # RANGE RATE
+ # PHI
+# Page 273
+ OCT 24052 # 54 RANGE
+ # RANGE RATE
+ # THETA
+ OCT 24055 # 55 PERIGEE CODE
+ # ELEVATION ANGLE
+ # CENTRAL ANGLE
+ OCT 22060 # 56 REENTRY ANGLE,
+ # DELTA V
+ OCT 20063 # 57 DELTA R
+ OCT 24066 # 58 PERIGEE ALT
+ # DELTA V TPI
+ # DELTA V TPF
+ OCT 24071 # 59 DELTA VELOCITY LOS
+ OCT 24074 # 60 GMAX
+ # VPRED
+ # GAMMA EI
+ OCT 24077 # 61 IMPACT LATITUDE
+ # IMPACT LONGITUDE
+ # HEADS UP/DOWN
+ OCT 24102 # 62 INERTIAL VEL MAG (V1)
+ # ALT RATE CHANGE (HDOT)
+ # ALT ABOVE PAD RADIUS (H)
+ OCT 64105 # 63 RANGE 297,431 TO SPLASH (RTGO)
+ # PREDICTED INERT VEL (VIO)
+ # TIME TO GO TO 297,431 (TTE)
+ OCT 24110 # 64 DRAG ACCELERATION
+ # INERTIAL VELOCITY (VI)
+ # RANGE TO SPLASH
+ OCT 24113 # 65 SAMPLED AGC TIME (HRS,MIN,SEC)
+ # (FETCHED IN INTERRUPT)
+ OCT 24116 # 66 COMMAND BANK ANGLE (BETA)
+ # CROSS RANGE ERROR
+ # DOWN RANGE ERROR
+ OCT 24121 # 67 RANGE TO TARGET
+ # PRESENT LATITUDE
+ # PRESENT LONGITUDE
+ OCT 24124 # 68 COMMAND BANK ANGLE (BETA)
+ # INERTIAL VELOCITY (VI)
+ # ALT RATE CHANGE (RDOT)
+ OCT 24127 # 69 BETA
+ # DL
+ # VL
+ OCT 04132 # 70 STAR CODE
+ # LANDMARK DATA
+ # HORIZON DATA
+ OCT 04135 # 71 STAR CODE
+ # LANDMARK DATA
+ # HORIZON DATA
+ OCT 24140 # 72 DELT ANG
+ # DELT ALT
+# Page 274
+ # SEARCH OPTION
+ OCT 04143 # 73 ALTITUDE
+ # VELOCITY
+ # FLIGHT PATH ANGLE
+ OCT 04146 # 74 COMMAND BANK ANGLE (BETA)
+ # INERTIAL VELOCITY (VI)
+ # DRAG ACCELERATION
+ OCT 64151 # 75 DELTA ALTITUDE CDH
+ # DELTA TIME (CDH-CSI OR TPI-CDH)
+ # DELTA TIME (TPI-CDH OR TPI-NOMTPI)
+ OCT 0 # 76 SPARE
+ OCT 0 # 77 SPARE
+ OCT 0 # 78 SPARE
+ OCT 0 # 79 SPARE
+ OCT 64170 # 80 TIME TO IGNITION/CUTOFF
+ # VG
+ # DELTA V (ACCUMULATED)
+ OCT 24173 # 81 DELTA V (LV)
+ OCT 24176 # 82 DELTA V (LV)
+ OCT 24201 # 83 DELTA V (BODY)
+ OCT 24204 # 84 DELTA V (OTHER VEHICLE)
+ OCT 24207 # 85 VG (BODY)
+ OCT 24212 # 86 DELTA V (LV)
+ OCT 02215 # 87 MARK DATA SHAFT
+ # TRUNION
+ OCT 24220 # 88 HALF UNIT SUN OR PLANET VECTOR
+ OCT 24223 # 89 LANDMARK LATITUDE
+ # LONGITUDE/2
+ # ALTITUDE
+ OCT 24226 # 90 Y
+ # Y DOT
+ # PSI
+ OCT 02231 # 91 OCDU ANGLES SHAFT
+ # TRUNION
+ OCT 02234 # 92 NEW OPTICS ANGLES SHAFT
+ # TRUNION
+ OCT 04237 # 93 DELTA GYRO ANGLES
+ OCT 02242 # 94 NEW OPTICS ANGLES SHAFT
+ # TRUNNION
+ OCT 04245 # 95 PREFERRED ATTITUDE ICDU ANGLES
+ OCT 04250 # 96 +X-AXIS ATTITUDE ICDU ANGLES
+ OCT 04253 # 97 SYSTEM TEST INPUTS
+ OCT 04256 # 98 SYSTEM TEST RESULTS
+ OCT 24261 # 99 RMS IN POSITION
+ # RMS IN VELOCITY
+ # RMS OPTION
+
+# END OF NNADTAB FOR MIXED NOUNS
+
+ # NN NORMAL NOUNS
+# Page 275
+NNTYPTAB OCT 00000 # 00 NOT IN USE
+ OCT 04040 # 01 3COMP FRACTIONAL
+ OCT 04140 # 02 3COMP WHOLE
+ OCT 04102 # 03 3COMP CDU DEGREES
+ OCT 0 # 04 SPARE
+ OCT 00504 # 05 1COMP DPDEG(360)
+ OCT 02000 # 06 2COMP OCTAL ONLY
+ OCT 04000 # 07 3COMP OCTAL ONLY
+ OCT 04000 # 08 3COMP OCTAL ONLY
+ OCT 04000 # 09 3COMP OCTAL ONLY
+ OCT 00000 # 10 1COMP OCTAL ONLY
+ OCT 24400 # 11 3COMP HMS (DEC ONLY)
+ OCT 02000 # 12 2COMP OCTAL ONLY
+ OCT 24400 # 13 3COMP HMS (DEC ONLY)
+ OCT 0 # 14 SPARE
+ OCT 00000 # 15 1COMP OCTAL ONLY
+ OCT 24400 # 16 3COMP HMS (DEC ONLY)
+ OCT 04102 # 17 3COMP CDU DEG
+ OCT 04102 # 18 3COMP CDU DEG
+ OCT 04102 # 19 3COMP CDU DEG
+ OCT 04102 # 20 3COMP CDU DEGREES
+ OCT 04140 # 21 3COMP WHOLE
+ OCT 04102 # 22 3COMP CDU DEGREES
+ OCT 00000 # 23 SPARE
+ OCT 24400 # 24 3COMP HMS (DEC ONLY)
+ OCT 04140 # 25 3COMP WHOLE
+ OCT 04000 # 26 3COMP OCTAL ONLY
+ OCT 00140 # 27 1COMP WHILE
+ OCT 00000 # 28 SPARE
+ OCT 20102 # 29 1COMP CDU DEG (DEC ONLY)
+ OCT 04140 # 30 3COMP WHOLE
+ OCT 24400 # 31 3COMP HMS (DEC ONLY)
+ OCT 24400 # 32 3COMP HMS (DEC ONLY)
+ OCT 24400 # 33 3COMP HMS (DEC ONLY)
+ OCT 24400 # 34 3COMP HMS (DEC ONLY)
+ OCT 24400 # 35 3COMP HMS (DEC ONLY)
+ OCT 24400 # 36 3COMP HMS (DEC ONLY)
+ OCT 24400 # 37 3COMP HMS (DEC ONLY)
+ OCT 24400 # 38 3COMP HMS (DEC ONLY)
+ OCT 24400 # 39 3COMP HMS (DEC ONLY)
+
+# END OF NNTYPTAB FOR NORMAL NOUNS
+
+ # NN MIXED NOUNS
+
+ OCT 24500 # 40 3COMP MIN/SEC, VEL3, VEL3
+ # (NO LOAD, DEC ONLY)
+ OCT 00542 # 41 2COMP CDU DEG, ELEV DEG
+ OCT 24410 # 42 3COMP POS4, POS4, VEL3
+ # (DEC ONLY)
+ OCT 20204 # 43 3COMP DPDEG(360), DPDEG(360) POS4
+# Page 276
+ # (DEC ONLY)
+ OCT 00410 # 44 3COMP POS4, POS4, MIN/SEC
+ # (NO LOAD, DEC ONLY)
+ OCT 10000 # 45 3COMP 2INT, MIN/SEC, DPDEG(360)
+ # (NO LOAD, DEC ONLY)
+ OCT 00000 # 46 2COMP OCTAL ONLY FOR EACH
+ OCT 00306 # 47 2COMP WEIGHT2 FOR EACH
+ # (DEC ONLY)
+ OCT 00614 # 48 2COMP TRIM DEG, TRIM DEG
+ # (DEC ONLY)
+ OCT 00510 # 49 3COMP POS4, VEL3, WHOLE
+ # (DEC ONLY)
+ OCT 00417 # 50 3COMP POS6, POS4, MIN/SEC
+ # (NO LOAD, DEC ONLY)
+ OCT 00204 # 51 2COMP DPDEG(360), DPDEG(360)
+ # (DEC ONLY)
+ OCT 00004 # 52 1COMP DPDEG(360)
+ OCT 10507 # 53 3COMP POS5, VEL3, DPDEG(360)
+ # (DEC ONLY)
+ OCT 10507 # 54 3COMP POS5, VEL3, DPDEG(360)
+ # (DEC ONLY)
+ OCT 10200 # 55 3COMP WHOLE, DPDEG(360), DPDEG(360)
+ # (DEC ONLY)
+ OCT 00444 # 56 2COMP DPDEG(360), VEL2
+ # (DEC ONLY)
+ OCT 00010 # 57 1COMP POS4
+ # (DEC ONLY)
+ OCT 24510 # 58 3COMP POS4, VEL3, VEL3
+ # (DEC ONLY)
+ OCT 24512 # 59 3COMP VEL3 FOR EACH
+ # (DEC ONLY)
+ OCT 10440 # 60 3COMP WHOLE, VEL2, DPDEG(360)
+ # (DEC ONLY)
+ OCT 00204 # 61 3COMP DPDEG(360), DPDEG(360), WHOLE
+ # (DEC ONLY)
+ OCT 20451 # 62 3COMP VEL2, VEL2, POS4
+ # (DEC ONLY)
+ OCT 00457 # 63 3COMP POS6, VEL2, MIN/SEC
+ # (NO LOAD, DEC ONLY)
+ OCT 36460 # 64 3COMP DRAG ACCEL, VEL2, POS6
+ # (DEC ONLY)
+ OCT 00000 # 65 3COMP HMS (DEC ONLY)
+ OCT 37044 # 66 3COMP DPDEG(360), POS8, POS6
+ # (DEC ONLY)
+ OCT 10217 # 67 3COMP POS6, DPDEG(360), DPDEG(360)
+ # (DEC ONLY)
+ OCT 34444 # 68 3COMP DPDEG(360), VEL2, VEL/2VS
+ # (DEC ONLY)
+ OCT 35004 # 69 3COMP DPDEG(360), DRAG ACCEL, VEL/2VS
+ # (DEC ONLY)
+# Page 277
+ OCT 00000 # 70 3COMP OCTAL ONLY FOR EACH
+ OCT 0 # 71 3COMP OCTAL ONLY FOR EACH
+ OCT 00404 # 72 3COMP DPDEG(360), POS4, WHOLE
+ # (DEC ONLY)
+ OCT 10450 # 73 3COMP POS4, VEL2, DPDEG(360)
+ OCT 40444 # 74 3COMP DPDEG(360), VEL2, DRAG ACCEL
+ OCT 00010 # 75 3COMP POS4, MIN/SEC, MIN/SEC
+# # (NO LOAD, DEC ONLY)
+ OCT 0 # 76 SPARE
+ OCT 0 # 77 SPARE
+ OCT 0 # 78 SPARE
+ OCT 0 # 79 SPARE
+ OCT 22440 # 80 3COMP MIN/SEC, VEL2, VEL2
+ # (NO LOAD, DEC ONLY)
+ OCT 24512 # 81 3COMP VEL3 FOR EACH
+ # (NO LOAD, DEC ONLY)
+ OCT 24512 # 82 3COMP VEL3 FOR EACH
+ # (NO LOAD, DEC ONLY)
+ OCT 24512 # 83 3COMP VEL3 FOR EACH
+ # (DEC ONLY)
+ OCT 24512 # 84 3COMP VEL3 FOR EACH
+ # (DEC ONLY)
+ OCT 24512 # 85 3COMP VEL3 FOR EACH
+ # (DEC ONLY)
+ OCT 22451 # 86 3COMP VEL2 FOR EACH
+ # (DEC ONLY)
+ # (DEC ONLY)
+ OCT 00102 # 87 2COMP CDU DEG, Y OPTICS DEG
+ OCT 0 # 88 3COMP FRAC FOR EACH
+ # (DEC ONLY)
+ OCT 16143 # 89 3COMP DPDEG(90), DPDEG(90), POS5
+ # (DEC ONLY)
+ OCT 10507 # 90 3COMP POS5, VEL3, DEPDEG(360)
+ # (DEC ONLY)
+ OCT 00102 # 91 2COMP CDUDEG, YOPTICS DEG
+ OCT 00102 # 92 2COMP CDUDEG, YOPTICS DEG
+ OCT 06143 # 93 3COMP DPDEG(90) FOR EACH
+ OCT 00102 # 94 2COMP CDUDEG, YOPTICS DEG
+ OCT 04102 # 95 3COMP CDU DEG FOR EACH
+ OCT 04102 # 96 3COMP CDU DEG FOR EACH
+ OCT 00000 # 97 3COMP WHOLE FOR EACH
+ OCT 00000 # 98 3COMP WHOLE, FRAC, WHOLE
+ OCT 01162 # 99 3COMP POS9, VEL4, WHOLE
+ # (DEC ONLY)
+
+# END OF NNTYPTAB FOR MIXED NOUNS
+
+SFINTAB OCT 00006 # WHOLE, DP TIME (SEC)
+ OCT 03240
+ OCT 00000 # SPARE
+ OCT 00000
+# Page 278
+ OCT 00000 # CDU DEGREES, Y OPTICS DEGREES
+ OCT 00000 # (SFCONS IN DEGINSF, OPTDEGIN)
+ OCT 10707 # DP DEGREES (90)
+ OCT 03435 # UPPED BY 1
+ OCT 13070 # DP DEGREES (360) (POINT BETWN BITS 11-12)
+ OCT 34345 # UPPED BY 1
+ OCT 00005 # DEGREES (180)
+ OCT 21616
+ OCT 26113 # WEIGHT2
+ OCT 31713
+ OCT 00070 # POSITION5
+ OCT 20460
+ OCT 01065 # POSITION4
+ OCT 05740
+ OCT 11414 # VELOCITY2 (POINT BETWN BITS 11-12)
+ OCT 31463
+ OCT 07475 # VELOCITY3
+ OCT 16051
+ OCT 00001 # ELEVATION DEGREES
+ OCT 03434
+ OCT 00002 # TRIM DEGREES
+ OCT 22245
+ OCT 00014 # INERTIA, THRUST MOMENT
+ OCT 35607
+ OCT 07606 # VELOCITY/2VS
+ OCT 06300
+ OCT 16631 # POSITION 6
+ OCT 11307
+ OCT 12000 # DRAG ACCELERATION (POINT BETWN BITS 7-8)
+ OCT 00000
+ OCT 27176 # POSITION 8
+ OCT 14235
+ 2DEC 30480 B-19 # POSITION 9
+
+ 2DEC 30.48 B-7 # VELOCITY4
+
+# END OF SFINTAB
+
+SFOUTAB OCT 05174 # WHOLE, DP TIME (SEC)
+ OCT 13261
+ OCT 00000 # SPARE
+ OCT 00000
+ OCT 00000 # CDU DEGREES, Y OPTICS DEGREES
+ OCT 00000 # (SFCONS IN DEGOUTSF, OPTDEGOUT)
+ OCT 00714 # DP DEGREES (90) (POINT BETWN BITS 7-8)
+ OCT 31463
+ OCT 13412 # DP DEGREES (360)
+ OCT 07534
+ OCT 05605 # DEGREES (180)
+# Page 279
+ OCT 03656
+ OCT 00001 # WEIGHT2
+ OCT 16170
+ OCT 00441 # POSITION5
+ OCT 34306
+ OCT 07176 # POSITION4
+ OCT 21603
+ OCT 15340 # VELOCITY2
+ OCT 15340
+ OCT 01031 # VELOCITY3 (POINT BETWN BITS 7-8)
+ OCT 21032
+ OCT 34631 # ELEVATION DETREES
+ OCT 23146
+ OCT 14340 # TRIM DEGREES
+ OCT 24145
+ OCT 02363 # INERTIA, THRUST MOMENT
+ OCT 03721
+ OCT 20373 # VELOCITY/ZVS
+ OCT 02122
+ OCT 00424 # POSITION 6 (POINT BETWN BITS 7-8)
+ OCT 30446
+ OCT 00631 # DRAG ACCELERATION
+ OCT 23146
+ OCT 00260 # POSITION 8
+ OCT 06213
+ 2DEC 17.2010499 B-7 # POSITION 9
+
+ 2DEC .032808399 # VELOCITY4
+
+# END OF SFOUTAB
+
+ # NN SF CONSTANT SF ROUTINE
+
+IDADDTAB ECADR TTOGO # 40 MIN/SEC M/S
+ ECADR VGDISP # 40 VEL3 DP3
+ ECADR DVTOTAL # 40 VEL3 DP3
+ ECADR DSPTEM1 # 41 CDU DEG CDU
+ ECADR DSPTEM1 +1 # 41 ELEV DEG ARTH
+ OCT 0 # 41 SPARE COMPONENT
+ ECADR HAPO # 42 POS4 DP3
+ ECADR HPER # 42 POS4 DP3
+ ECADR VGDISP # 42 VEL3 DP3
+ ECADR LAT # 43 DPDEG(360) DP4
+ ECADR LONG # 43 DPDEG(360 DP4
+ ECADR ALT # 43 POS4 DP3
+ ECADR HAPOX # 44 POS4 DP3
+ ECADR HPERX # 44 POS4 DP3
+ ECADR TFF # 44 MIN/SEC M/S
+ ECADR VHFCNT # 45 2INT 2INT
+# Page 280
+ ECADR TTOGO # 45 MIN/SEC M/S
+ ECADR +MGA # 45 DPDEG(360) DP4
+ ECADR DAPDATR1 # 46 OCTAL ONLY OCT
+ ECADR DAPDATR2 # 46 OCATAL ONLY OCT
+ OCT 0 # 46 SPARE COMPONENT
+ ECADR CSMMASS # 47 WEIGHT2 ARTH1
+ ECADR LEMMASS # 47 WEIGHT2 ARTH1
+ OCT 00000 # 47 SPARE COMPONENT
+ ECADR PACTOFF # 48 TRIM DEG2 ARTH
+ ECADR YACTOFF # 48 TRIM DEG2 ARTH
+ OCT 00000 # 48 SPARE COMPONENT
+ ECADR N49DISP # 49 POS4 DP3
+ ECADR N49DISP +2 # 49 VEL3 DP3
+ ECADR N49DISP +4 # 49 WHOLE ARTH
+ ECADR RSP-RREC # 50 POS6 DP3
+ ECADR HPERX # 50 POS4 DP3
+ ECADR TFF # 50 MIN/SEC M/S
+ ECADR RHOSB # 51 DPDEG(360)
+ ECADR GAMMASB # 51 DPDEG(360) DP4
+ OCT 0 # 51 SPARE COMPONENT
+ ECADR ACTCENT # 52 DPDEG(360) DP4
+ OCT 00000 # 52 SPARE COMPONENT
+ OCT 00000 # 52 SPARE COMPONENT
+ ECADR RANGE # 53 POS5 DP1
+ ECADR RRATE # 53 VEL3 DP3
+ ECADR RTHETA # 53 DPDEG(360) DP4
+ ECADR RANGE # 54 POS5 DP1
+ ECADR RRATE # 54 VEL3 DP3
+ ECADR RTHETA # 54 DPDEG(360) DP4
+ ECADR NN1 # 55 WHOLE ARTH
+ ECADR ELEV # 55 DPDEG(360) DP4
+ ECADR CENTANG # 55 DPDEG(360) DP4
+ ECADR RTEGAM2D # 56 DPDEG(360) DP4
+ ECADR RTEDVD # 56 VEL2 DP4
+ OCT 0 # 56 SPARE COMPONENT
+ ECADR DELTAR # 57 POS4 DP3
+ OCT 0 # 57 SPARE COMPONENT
+ OCT 0 # 57 SPARE COMPONENT
+ ECADR POSTTPI # 58 POS4 DP3
+ ECADR DELVTPI # 58 VEL3 DP3
+ ECADR DELVTPF # 58 VEL3 DP3
+ ECADR DVLOS # 59 VEL3 DP3
+ ECADR DVLOS +2 # 59 VEL3 DP3
+ ECADR DVLOS +4 # 59 VEL3 DP3
+ ECADR GMAX # 60 WHOLE ARTH
+ ECADR VPRED # 60 VEL2 DP4
+ ECADR GAMMAEI # 60 DPDEG(360) DP4
+ ECADR LAT(SPL) # 61 DPDEG(360) DP4
+ ECADR LNG(SPL) # 61 DPDEG(360) DP4
+ ECADR HEADSUP # 61 WHOLE ARTH
+# Page 281
+ ECADR VMAGI # 62 VEL2 DP4
+ ECADR HDOT # 62 VEL2 DP4
+ ECADR ALTI # 62 POS4 DP3
+ ECADR RTGO # 63 POS6 DP3
+ ECADR VIO # 63 VEL2 DP4
+ ECADR TTE # 63 MIN/SEC M/S
+ ECADR D # 64 DRAG ACCEL DP2
+ ECADR VMAGI # 64 VEL2 DP4
+ ECADR RTGON64 # 64 POS6 DP3
+ ECADR SAMPTIME # 65 HMS (MIXED ONLY TO KEEP CODE 65) HMS
+ ECADR SAMPTIME # 65 HMS HMS
+ ECADR SAMPTIME # 65 HMS HMS
+ ECADR ROLLC # 66 DPDEG(360) DP4
+ ECADR XRNGERR # 66 POS8 DP3
+ ECADR DNRNGERR # 66 POS6 DP3
+ ECADR RTGON67 # 67 POS6 DP3
+ ECADR LAT # 67 DPDEG(360) DP4
+ ECADR LONG # 67 DPDEG(360) DP4
+ ECADR ROLLC # 68 DPDEG(360) DP4
+ ECADR VMAGI # 68 VEL2 DP4
+ ECADR RDOT # 68 VEL/2VS DP4
+ ECADR ROLLC # 69 DPDEG(360) DP4
+ ECADR Q7 # 69 DRAG ACCEL DP2
+ ECADR VL # 69 VEL/2VS DP4
+ ECADR STARCODE # 70 OCTAL ONLY OCT
+ ECADR LANDMARK # 70 OCTAL ONLY OCT
+ ECADR HORIZON # 70 OCTAL ONLY OCT
+ ECADR STARCODE # 71 OCTAL ONLY OCT
+ ECADR LANDMARK # 71 OCTAL ONLY OCT
+ ECADR HORIZON # 71 OCTAL ONLY OCT
+ ECADR THETZERO # 72 DPDEG(360) DP4
+ ECADR DELHITE # 72 POS4 DP3
+ ECADR OPTION2 # 72 WHOLE ARTH
+ ECADR P21ALT # 73 POS4 DP3
+ ECADR P21VEL # 73 VEL2 DP4
+ ECADR P21GAM # 73 DPDEG(360) DP4
+ ECADR ROLLC # 74 DPDEG(360) DP4
+ ECADR VMAGI # 74 VEL 2 DP4
+ ECADR D # 74 DRAG ACCEL DP2
+ ECADR DIFFALT # 75 POS4 DP3
+ ECADR T1TOT2 # 75 MIN/SEC M/S
+ ECADR T2TOT3 # 75 MIN/SEC M/S
+ OCT 0 # 76 SPARE
+ OCT 0 # 76 SPARE
+ OCT 0 # 76 SPARE
+ OCT 0 # 77 SPARE
+ OCT 0 # 77 SPARE
+ OCT 0 # 77 SPARE
+ OCT 0 # 78 SPARE
+ OCT 0 # 78 SPARE
+# Page 282
+ OCT 0 # 78 SPARE
+ OCT 0 # 79 SPARE
+ OCT 0 # 79 SPARE
+ OCT 0 # 79 SPARE
+ ECADR TTOGO # 80 MIN/SEC M/S
+ ECADR VGDISP # 80 VEL2 DP4
+ ECADR DVTOTAL # 80 VEL2 DP4
+ ECADR DELVLVC # 81 VEL3 DP3
+ ECADR DELVLVC +2 # 81 VEL3 DP3
+ ECADR DELVLVC +4 # 81 VEL3 DP3
+ ECADR DELVLVC # 82 VEL3 DP3
+ ECADR DELVLVC +2 # 82 VEL3 DP3
+ ECADR DELVLVC +4 # 82 VEL3 DP3
+ ECADR DELVIMU # 83 VEL3 DP3
+ ECADR DELVIMU +2 # 83 VEL3 DP3
+ ECADR DELVIMU +4 # 83 VEL3 DP3
+ ECADR DELVOV # 84 VEL3 DP3
+ ECADR DELVOV +2 # 84 VEL3 DP3
+ ECADR DELVOV +4 # 84 VEL3 DP3
+ ECADR VGBODY # 85 VEL3 DP3
+ ECADR VGBODY +2 # 85 VEL3 DP3
+ ECADR VGBODY +4 # 85 VEL3 DP3
+ ECADR DELVLVC # 86 VEL3 DP3
+ ECADR DELVLVC +2 # 86 VEL3 DP3
+ ECADR DELVLVC +4 # 86 VEL3 DP3
+ ECADR MRKBUF1 +3 # 87 CDU DEG CDU
+ ECADR MRKBUF1 +5 # 87 Y OPTICS DEG YOPT
+ OCT 0 # 87 SPARE COMPONENT
+ ECADR STARSAV3 # 88 DPFRAC DPFRAC
+ ECADR STARSAV3 +2 # 88 DPFRAC DPFRAC
+ ECADR STARSAV3 +4 # 88 DPFRAC DPFRAC
+ ECADR LANDLAT # 89 DPDEG(90) DP3
+ ECADR LANDLONG # 89 DPDEG(90) DP3
+ ECADR LANDALT # 89 POS5 DP1
+ ECADR RANGE # 90 POS5 DP1
+ ECADR RRATE # 90 VEL3 DP3
+ ECADR RTHETA # 90 DPDEG(360) DP4
+ ECADR CDUS # 91 CDU DEG CDU
+ ECADR CDUT # 91 Y OPTICS DEG YOPT
+ OCT 0 # 91 SPARE COMPONENT
+ ECADR SAC # 92 CDU DEG CDU
+ ECADR PAC # 92 Y OPTICS DEG YOPT
+ OCT 0 # 92 SPARE COMPONENT
+ ECADR OGC # 93 DPDEG(90) DP3
+ ECADR OGC +2 # 93 DPDEG(90) DP3
+ ECADR OGC +4 # 93 DPDEG(90) DP3
+ ECADR MRKBUF1 +3 # 94 CDU DEG CDU
+ ECADR MRKBUF1 +5 # 94 Y OPTICS DEG YOPT
+ OCT 00000 # 94 SPARE
+ ECADR PRAXIS # 95 CDU DEG CDU
+# Page 283
+ ECADR PRAXIS +1 # 95 CDU DEG CDU
+ ECADR PRAXIS +2 # 95 CDU DEG CDU
+ ECADR CPHIX # 96 CDU DEG CDU
+ ECADR CPHIX +1 # 96 CDU DEG CDU
+ ECADR CPHIX +2 # 96 CDU DEG CDU
+ ECADR DSPTEM1 # 97 WHOLE ARTH
+ ECADR DSPTEM1 +1 # 97 WHOLE ARTH
+ ECADR DSPTEM1 +2 # 97 WHOLE ARTH
+ ECADR DSPTEM2 # 98 WHOLE ARTH
+ ECADR DSPTEM2 +1 # 98 FRAC FRAC
+ ECADR DSPTEM2 +2 # 98 WHOLE ARTH
+ ECADR WWPOS # 99 POS9 DP3
+ ECADR WWVEL # 99 VEL4 DP2
+ ECADR WWOPT # 99 WHOLE ARTH
+
+# END OF IDADDTAB
+
+ # NN SF ROUTINES
+
+RUTMXTAB OCT 16351 # 40 M/S, DP3, DP3
+ OCT 00142 # 41 CDU, ARTH
+ OCT 16347 # 42 DP3, DP3, DP3
+ OCT 16512 # 43 DP4, DP4, DP3
+ OCT 22347 # 44 DP3, DP3, M/S
+ OCT 24454 # 45 2INT, M/S, DP4
+ OCT 00000 # 46 OCT, OCT
+ OCT 00553 # 47 ARITH1, ARITH1
+ OCT 00143 # 48 ARTH, ARTH
+ OCT 06347 # 49 DP3, DP3, ARTH
+ OCT 22347 # 50 DP3, DP3, M/S
+ OCT 00512 # 51 DP4, DP4
+ OCT 00012 # 52 DP4
+ OCT 24344 # 53 DP1, DP3, DP4
+ OCT 24344 # 54 DP1, DP3, DP4
+ OCT 24503 # 55 ARTH, DP4, DP4
+ OCT 00512 # 56 DP4, DP4
+ OCT 00007 # 57 DP3
+ OCT 16347 # 58 DP3, DP3, DP3
+ OCT 16347 # 59 DP3, DP3, DP3
+ OCT 24503 # 60 ARTH, DP4, DP4
+ OCT 06512 # 61 DP4, DP4, ARTH
+ OCT 16512 # 62 DP4, DP4, DP3
+ OCT 22507 # 63 DP3, DP4, M/S
+ OCT 16505 # 64 DP2, DP4, DP3
+ OCT 20410 # 65 HMS, HMS, HMS
+ OCT 16352 # 66 DP4, DP3, DP3
+ OCT 24507 # 67 DP3, DP4, DP4
+ OCT 24512 # 68 DP4, DP4, DP4
+ OCT 24252 # 69 DP4, DP2, DP4
+ OCT 00000 # 70 OCT, OCT, OCT
+# Page 284
+ OCT 0 # 71 OCT, OCT,OCT
+ OCT 06352 # 72 DP4, DP3, ARTH
+ OCT 24507 # 73 DPR, DP4, DP4
+ OCT 12512 # 74 DP4, DP4, DP2
+ OCT 22447 # 75 DP3, M/S, M/S
+ OCT 0 # 76 SPARE
+ OCT 0 # 77 SPARE
+ OCT 0 # 78 SPARE
+ OCT 0 # 79 SPARE
+ OCT 24511 # 80 M/S, DP4, DP4
+ OCT 16347 # 81 DP3, DP3, DP3
+ OCT 16347 # 82 DP3, DP3, DP3
+ OCT 16347 # 83 DP3, DP3, DP3
+ OCT 16347 # 84 DP3, DP3, DP3
+ OCT 16347 # 85 DP3, DP3, DP3
+ OCT 24512 # 86 DP4, DP4, DP4
+ OCT 00302 # 87 CDU, YOPT
+ OCT 32655 # 88 DPFRAC FOR EACH
+ OCT 10347 # 89 DP3, DP3, DP1
+ OCT 24344 # 90 DP1, DP3, DP4
+ OCT 00302 # 91 CDU, YOPT
+ OCT 00302 # 92 CDU, YOPT
+ OCT 16347 # 93 DP3, DP3, DP3
+ OCT 00302 # 94 CDU, YOPT
+ OCT 04102 # 95 CDU, CDU, CDU
+ OCT 04102 # 96 CDU, CDU, CDU
+ OCT 06143 # 97 ARTH, ARTH, ARTH
+ OCT 06043 # 98 ARTH, FRAC, ARTH
+ OCT 06247 # 99 DP3, DP2, ARTH
+
+# END OF RUTMXTAB
+
+ SBANK= LOWSUPER
+
diff --git a/PLANETARY_INERTIAL_ORIENTATION.s b/PLANETARY_INERTIAL_ORIENTATION.s
new file mode 100644
index 0000000..d481ae9
--- /dev/null
+++ b/PLANETARY_INERTIAL_ORIENTATION.s
@@ -0,0 +1,390 @@
+# Copyright: Public domain.
+# Filename: PLANETARY_INERTIAL_ORIENTATION.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1243-1251
+# Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1243
+# PLANETARY INERTIAL ORIENTATION
+#
+# ***** RP-TO-R SUBROUTINE *****
+# SUBROUTINE TO CONVERT RP (VECTOR IN PLANETARY COORDINATE SYSTEM, EITHER
+# EARTH-FIXED OR MOON-FIXED) TO R (SAME VECTOR IN BASIC REF. SYSTEM)
+# R = MT(T) * (RP + LP X RP) MT = M MATRIX TRANSPOSE
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 RP-TO-R
+#
+# SUBROUTINES USED
+# EARTHMX, MOONMX, EARTHL
+#
+# ITEMS AVAILABLE FROM LAUNCH DATA
+# 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
+# IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
+#
+# ITEMS NECESSARY FOR SUBR. USED (SEE DESCRIPTION OF SUBR.)
+#
+# INPUT
+# MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
+# 0-5D = RP VECTOR
+# 6-7D = TIME
+#
+# OUTPUT
+# MPAC = R VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
+
+ SETLOC PLANTIN
+ BANK
+
+ COUNT* $$/LUROT
+
+RP-TO-R STQ BHIZ
+ RPREXIT
+ RPTORA
+ CALL # COMPUTE M MATRIX FOR MOON
+ MOONMX # LP=LM FOR MOON RADIANS B0
+ VLOAD
+ 504LM
+RPTORB VXV VAD
+ 504RPR
+ 504RPR
+ VXM GOTO
+ MMATRIX # MPAC=R=MT(T)*(RP+LPXRP)
+ RPRPXXXX # RESET PUSHLOC TO 0 BEFORE EXITING
+RPTORA CALL # EARTH COMPUTATIONS
+ EARTHMX # M MATRIX B-1
+ CALL
+ EARTHL # L VECTOR RADIANS B0
+ MXV VSL1 # LP=M(T)*L RAD B-0
+ MMATRIX
+# Page 1244
+ GOTO
+ RPTORB
+
+# Page 1245
+# ***** R-TO-RP SUBROUTINE *****
+# SUBROUTINE TO CONVERT R (VECTOR IN REFERENCE COORD. SYSTEM) TO RP
+# (VECTOR IN PLANETARY COORD SYSTEM) EITHER EARTH-FIXED OR MOON-FIXED
+# RP = M(T) * (R - L X R)
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 R-TO-RP
+#
+# SUBROUTINES USED
+# EARTHMX, MOONMX, EARTHL
+#
+# INPUT
+# MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
+# 0-5D = R VECTOR
+# 6-7D = TIME
+#
+# ITEMS AVAILABLE FROM LAUNCH DATA
+# 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
+# IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
+#
+# ITEMS NECESSARY FOR SUBROUTINES USED (SEE DESCRIPTION OF SUBR.)
+#
+# OUTPUT
+# MPAC = RP VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
+
+R-TO-RP STQ BHIZ
+ RPREXIT
+ RTORPA
+ CALL
+ MOONMX
+ VLOAD VXM
+ 504LM # LP=LM
+ MMATRIX
+ VSL1 # L = MT(T)*LP RADIANS B0
+RTORPB VXV BVSU
+ 504RPR
+ 504RPR
+ MXV # M(T)*(R-LXR) B-2
+ MMATRIX
+RPRPXXXX VSL1 SETPD
+ 0D
+ GOTO
+ RPREXIT
+RTORPA CALL # EARTH COMPUTATIONS
+ EARTHMX
+ CALL
+ EARTHL
+ GOTO # MPAC=L=(-AX,-AY,0) RAD B-0
+ RTORPB
+
+# Page 1246
+# ***** MOONMX SUBROUTINE *****
+# SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE MOON
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 MOONMX
+#
+# SUBROUTINES USED
+# NEWANGLE
+#
+# INPUT
+# 6-7D = TIME
+#
+# ITEMS AVAILABLE FROM LAUNCH DATA
+# BSUBO, BDOT
+# TIMSUBO, NODIO, NODDOT, FSUBO, FDOT
+# COSI = COS(I) B-1
+# SINI = SIN(I) B-1
+# I IS THE ANGLE BETWEEN THE MEAN LUNAR EQUATORIAL PLANE AND THE
+# PLANE OF THE ECLIPTIC (1 DEGREE 32.1 MINUTES)
+#
+# OUTPUT
+# MMATRIX = 3X3 M MATRIX B-1 (STORED IN VAC AREA)
+
+MOONMX STQ SETPD
+ EARTHMXX
+ 8D
+ AXT,1 # B REQUIRES SL 0, SL 5 IN NEWANGLE
+ 5
+ DLOAD PDDL # PD 10D 8-9D=BSUBO
+ BSUBO # 10-11D=BDOT
+ BDOT
+ PUSH CALL # PD 12D
+ NEWANGLE # EXIT WITH PD 8D AND MPAC= B REVS B0
+ PUSH COS # PD 10D
+ STODL COB # PD 8D COS(B) B-1
+ SIN # SIN(B) B-1
+ STODL SOB # SETUP INPUT FOR NEWANGLE
+ FSUBO # 8-9D=FSUBO
+ PDDL PUSH # PD 10D THEN 12D 10-11D=FDOT
+ FDOT
+ AXT,1 CALL # F REQUIRES SL 1, SL 6 IN NEWANGLE.
+ 4
+ NEWANGLE # EXIT WITH PD 8D AND MPAC= F REVS B0
+ STODL AVECTR +2 # SAVE F TEMP
+ NODIO # 8-9D=NODIO
+ PDDL PUSH # PD 10D THEN 12D 10-11D=NODDOT
+ NODDOT # MPAC=5
+ AXT,1 CALL # NODE REQUIRES SL 0, SL 5 IN NEWANGLE
+ 5
+ NEWANGLE # EXIT WITH PD 8D AND MPAC= NODI REVS B0
+# Page 1247
+ PUSH COS # PD 10D 8-9D= NODI REVS B0
+ PUSH # PD 12D 10-11D= COS(NODI) B-1
+ STORE AVECTR
+ DMP SL1R
+ COB # COS(NODI) B-1
+ STODL BVECTR +2 # PD 10D 20-25D=AVECTR=COB*SIN(NODI)
+ DMP SL1R # SOB*SIN(NODI)
+ SOB
+ STODL BVECTR +4 # PD 8D
+ SIN PUSH # PD 10D -SIN(NODI) B-1
+ DCOMP # 26-31D=BVECTR=COB*COS(NODI)
+ STODL BVECTR # PD 8D SOB*COS(NODI)
+ AVECTR +2 # MOVE F FROM TEMP LOC. TO 504F
+ STODL 504F
+ DMP SL1R
+ COB
+ STODL AVECTR +2
+ SINNODI # 8-9D=SIN(NODI) B-1
+ DMP SL1R
+ SOB
+ STODL AVECTR +4 # 0
+ HI6ZEROS # 8-13D= CVECTR= -SOB B-1
+ PDDL DCOMP # PD 10D COB
+ SOB
+ PDDL PDVL # PD 12D THEN PD 14D
+ COB
+ BVECTR
+ VXSC PDVL # PD 20D BVECTR*SINI B-2
+ SINI
+ CVECTR
+ VXSC VAD # PD 14D CVECTR*COSI B-2
+ COSI
+ VSL1
+ STOVL MMATRIX +12D # PD 8D M2=BVECTR*SINI+CVECTR*COSI B-1
+ VXSC PDVL # PD 14D
+ SINI # CVECTR*SINI B-2
+ BVECTR
+ VXSC VSU # PD 8D BVECTR*COSI B-2
+ COSI
+ VSL1 PDDL # PD 14D
+ 504F # 8-13D=DVECTR=BVECTR*COSI-CVECTR*SINI B-1
+ COS VXSC
+ DVECTR
+ PDDL SIN # PD 20D 14-19D= DVECTR*COSF B-2
+ 504F
+ VXSC VSU # PD 14D AVECTR*SINF B-2
+ AVECTR
+ VSL1
+ STODL MMATRIX +6 # M1= AVECTR*SINF-DVECTR*COSF B-1
+ 504F
+# Page 1248
+ SIN VXSC # PD 8D
+ PDDL COS # PD 14D 8-13D=DVECTR*SINF B-2
+ 504F
+ VXSC VAD # PD 8D AVECTR*COSF B-2
+ AVECTR
+ VSL1 VCOMP
+ STCALL MMATRIX # M0= -(AVECTR*COSF+DVECTR*SINF) B-1
+ EARTHMXX
+
+# COMPUTE X=X0+(XDOT)(T+T0)
+# 8-9D= X0 (REVS B-0), PUSHLOC SET AT 12D
+# 10-11D=XDOT (REVS/CSEC) SCALED B+23 FOR WEARTH,B+28 FOR NODDOT AND BDOT
+# AND B+27 FOR FDOT
+# X1=DIFFERENCE IN 23 AND SCALING OF XDOT, =0 FOR WEARTH, 5 FOR NDDOT AND
+# BDOT AND 4 FOR FDOT
+# 6-7D=T (CSEC B-28), TIMSUBO= (CSEC B-42 TRIPLE PREC.)
+
+NEWANGLE DLOAD SR # ENTER PD 12D
+ 6D
+ 14D
+ TAD TLOAD # CHANGE MODE TO TP
+ TIMSUBO
+ MPAC
+ STODL TIMSUBM # T+T0 CSEC B-42
+ TIMSUBM +1
+ DMP # PD 10D MULT BY XDOT IN 10-11D
+ SL* DAD # PD 8D ADD X0 IN 8-9D AFTER SHIFTING
+ 5,1 # SUCH THAT SCALING IS B-0
+ PUSH SLOAD # PD 10D SAVE PARTIAL (X0+XDOT*T) IN 8-9D
+ TIMSUBM
+ SL DMP
+ 9D
+ 10D # XDOT
+ SL* DAD # PD 8D SHIFT SUCH THAT THIS PART OF X
+ 10D,1 # IS SCALED REVS/CSEC B-0
+ BOV # TURN OFF OVERFLOW IF SET BY SHIFT
+ +1 # INSTRUCTION BEFORE EXITING.
+ RVQ # MPAC=X= X0+(XDOT)(T+T0) REVS B0
+
+# Page 1249
+# ***** EARTHMX SUBROUTINE *****
+# SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE EARTH
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 EARTHMX
+#
+# SUBROUTINE USED
+# NEWANGLE
+#
+# INPUT
+# INPUT AVAILABLE FROM LAUNCH DATA AZO REVS B-0
+# TEPHEM CSEC B-42
+# 6-7D= TIME CSEC B-28
+#
+# OUTPUT
+# MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA)
+
+EARTHMX STQ SETPD # SET 8-9D=AZO
+ EARTHMXX
+ 8D # 10-11D=WEARTH
+ AXT,1 # FOR SL 5, AND SL 10 IN NEWANGLE
+ 0
+ DLOAD PDDL # LEAVING PD SET AT 12D FOR NEWANGLE
+ AZO
+ WEARTH
+ PUSH CALL
+ NEWANGLE
+ SETPD PUSH # 18-19D=504AZ
+ 18D # COS(AZ) SIN(AZ) 0
+ COS PDDL # 20-37D= MMATRIX= -SIN(AZ) COS(AZ) 0 B-1
+ 504AZ # 0 0 1
+ SIN PDDL
+ HI6ZEROS
+ PDDL SIN
+ 504AZ
+ DCOMP PDDL
+ 504AZ
+ COS PDVL
+ HI6ZEROS
+ PDDL PUSH
+ HIDPHALF
+ GOTO
+ EARTHMXX
+
+# Page 1250
+# ***** EARTHL SUBROUTINE *****
+# SUBROUTINE TO COMPUTE L VECTOR FOR EARTH
+#
+# CALLING SEQUENCE
+# L CALL
+# L+1 EARTHL
+#
+# INPUT
+# AXO,AYO SET AT LAUNCH TIME WITH AYO IMMEDIATELY FOLLOWING AXO IN CORE
+#
+# OUTPUT
+# -AX
+# MPAC= -AY RADIANS B-0
+# 0
+
+EARTHL DLOAD DCOMP
+ AXO
+ STODL 504LPL
+ -AYO
+ STODL 504LPL +2
+ HI6ZEROS
+ STOVL 504LPL +4
+ 504LPL
+ RVQ
+
+# Page 1251
+# CONSTANTS AND ERASABLE ASSIGNMENTS
+
+1B1 = DP1/2 # 1 SCALED B-1
+COSI 2DEC .99964173 B-1 # COS(5521.5 SEC) B-1
+
+SINI 2DEC .02676579 B-1 # SIN(5521.T SEC) B-1
+
+RPREXIT = S1 # R-TO-RP AND RP-TO-R SUBR EXIT
+EARTHMXX = S2 # EARTHMX, MOONMX SUBR. EXITS
+504RPR = 0D # 6 REGS R OR RP VECTOR
+SINNODI = 8D # 2 SIN(NODI)
+DVECTR = 8D # 6 D VECTOR MOON
+CVECTR = 8D # 6 C VECTR MOON
+504AZ = 18D # 2 AZ
+TIMSUBM = 14D # 3 TIME SUB M (MOON) T+10 IN GETAZ
+504LPL = 14D # 6 L OR LP VECTOR
+AVECTR = 20D # 6 A VECTOR (MOON)
+BVECTR = 26D # 6 B VECTOR (MOON)
+MMATRIX = 20D # 18 M MATRIX
+COB = 32D # 2 COS(B) B-1
+SOB = 34D # 2 SIN(B) B-1
+504F = 6D # 2 F(MOON)
+NODDOT 2DEC -.457335121 E-2 # REVS/CSEC B+28=-1.07047011 E-8 RAD/SEC
+
+FDOT 2DEC .570863327 # REVS/CSEC B+27= 2.67240410 E-6 RAD/SEC
+
+BDOT 2DEC -3.07500686 E-8 # REVS/CSEC B+28=-7.19757301 E-14 RAD/SEC
+
+NODIO 2DEC .986209434 # REVS B-0 = 6.19653663041 RAD
+
+FSUBO 2DEC .829090536 # REVS B-0 = 5.20932947829 RAD
+
+BSUBO 2DEC .0651201393 # REVS B=0 = 0.40916190299 RAD
+
+WEARTH 2DEC .973561595 # REVS/CSEC B+23= 7.29211494 E-5 RAD/SEC
+
diff --git a/POWERED_FLIGHT_SUBROUTINES.s b/POWERED_FLIGHT_SUBROUTINES.s
new file mode 100644
index 0000000..f81233e
--- /dev/null
+++ b/POWERED_FLIGHT_SUBROUTINES.s
@@ -0,0 +1,364 @@
+# Copyright: Public domain.
+# Filename: POWERED_FLIGHT_SUBROUTINES.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1365-1372
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Colossus249/ file of the same
+# name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+
+# Page 1365
+ BANK 14 # SAME FBANK AS THE FINDCDUD SUB-PROGRAM
+ SETLOC POWFLITE
+ BANK
+
+ EBANK= DEXDEX
+ COUNT* $$/POWFL
+
+# CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*GR*GS ALL COMPUTE THE SINES AND
+# COSINES OF THREE 2'S COMPLEMENT ANGLES AND PLACE THE RESULT, DOUBLE
+# PRECISION, IN THE SAME ORDER AS THE INPUTS, AT SINCDU AND COSCDU. AN
+# ADDITIONAL OUTPUT IS THE 1'S COMPLENT ANGLES AT CDUSPOT. THESE
+# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT.
+# EXCEPT FOR THE GENERALLY UNIMPORTANT MPAC +2. THEY DIFFER ONLY IN
+# WHERE THEY GET THE ANGLES, AND IN METHOD OF CALLING.
+#
+# CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE
+# SINES AND COSINES FROM THE CURRENT CONTENTS OF THE CDU REGISTERS.
+# THE CONTENTS OF CDUTEMP, ETC., ARE NOT TOUCHED SO THAT THEY MAY
+# CONTINUE TO FORM A CONSISTENT SET WITH THE LATEST PIPA READINGS.
+#
+# CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC.
+#
+# CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP. THIS
+# ALLOWS USERS TO MAKE TRANSFORMATIONS USING ARBITRARY ANGLES, OR REAL
+# ANGLES IN AN ORDER OTHER THAN X Y Z. A CALL TO THIS ROUTINE IS
+# NECESSARY IN PREPARATION FOR A CALL TO AX*SR*T IN EITHER OF ITS TWO
+# MODES (SMNB OR NBSM). SINCE AX*SR*T EXPECTS TO FIND THE SINES AND
+# COSINES IN THE ORDER Y Z X THE ANGLES MUST HAVE BEEN PLACED IN CDUSPOT
+# IN THIS ORDER. CD*TR*GS NEED NOT BE REPEATED WHEN AX*SR*T IS CALLED
+# MORE THAN ONCE, PROVIDED THE ANGLES HAVE NOT CHANGED. NOTE THAT SINCE
+# IT CLOBBERS BUF2 (IN THE SINE AND COSINE ROUTINES) CD*TR*GS CANNOT BE
+# CALLED USING BANKCALL. SORRY.
+#
+# CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN
+# INTERPRETIVE.
+
+CDUTRIG EXIT
+ TC CDUTRIGS
+ TC INTPRET
+ RVQ
+
+CD*TR*G EXIT
+ TC CD*TR*GS
+ TC INTPRET
+ RVQ
+
+CDUTRIGS CA CDUX
+ TS CDUSPOT +4
+ CA CDUY
+ TS CDUSPOT
+# Page 1366
+ CA CDUZ
+ TS CDUSPOT +2
+
+CD*TR*GS EXTEND
+ QXCH TEM2
+ CAF FOUR
+TR*GL**P MASK SIX # MAKE IT EVEN AND SMALLER
+ TS TEM3
+ INDEX TEM3
+ CA CDUSPOT
+ DXCH MPAC # STORING 2'S COMP ANGLE, LOADING MPAC
+ DXCH VBUF +4 # STORING MPAC FOR LATER RESTORATION
+ TC USPRCADR
+ CADR CDULOGIC
+ EXTEND
+ DCA MPAC
+ INDEX TEM3
+ DXCH CDUSPOT # STORING 1'S COMPLEMENT ANGLE
+ TC USPRCADR
+ CADR COSINE
+ DXCH MPAC
+ INDEX TEM3
+ DXCH COSCDU # STORING COSINE
+ EXTEND
+ INDEX TEM3
+ DCA CDUSPOT # LOADING 1'S COMPLEMENT ANGLE
+ TC USPRCADR
+ CADR SINE +1 # SINE +1 EXPECTS ARGUMENT IN A AND L
+ DXCH VBUF +4 # BRINGING UP PRIOR MPAC TO BE RESTORED
+ DXCH MPAC
+ INDEX TEM3
+ DXCH SINCDU
+ CCS TEM3
+ TCF TR*GL**P
+ TC TEM2
+# Page 1367
+# *******************************************************************************************************
+# QUICTRIG, INTENDED FOR QUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS.
+# QUICTRIG COMPUTES AND STORES THE SINES AND COSINES OF THE 2'S COMPLEMENT ANGLES AT CDUSPOT, CDUSPOT +2,
+# AND CDUSPOT +4. UNLIKE CD*TR*GS, QUICTRIG DOES NOT LEAVE THE 1'S COMPLEMENT VERSIONS OF THE ANGLES IN
+# CDUSPOT. QUICTRIG'S EXECUTION TIME IS 4.1 MS; THIS IS 10 TIMES AS FAST AS CD*TR*GS. QUICTRIG MAY BE
+# CALLED FROM INTERPRETIVE AS AN RTB OP-CODE, OR FROM BASIC VIA BANKCALL OR IBNKCALL.
+
+QUICTRIG INHINT # INHINT SINCE DAP USES THE SAME TEMPS
+ EXTEND
+ QXCH ITEMP1
+ CAF FOUR
+ +4 MASK SIX
+ TS ITEMP2
+ INDEX ITEMP2
+ CA CDUSPOT
+ TC SPSIN
+ EXTEND
+ MP BIT14 # SCALE DOWN TO MATCH INTERPRETER OUTPUTS
+ INDEX ITEMP2
+ DXCH SINCDU
+ INDEX ITEMP2
+ CA CDUSPOT
+ TC SPCOS
+ EXTEND
+ MP BIT14
+ INDEX ITEMP2
+ DXCH COSCDU
+ CCS ITEMP2
+ TCF QUICTRIG +4
+ CA ITEMP1
+ RELINT
+ TC A
+# Page 1368
+#****************************************************************************
+# THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN
+# INTERPRETIVE. LATER, WHERE POSSIBLE, THEY WILL BE ELIMINATED.
+#
+# NBSM WILL BE THE FIRST TO GO. IT SHOULD NOT BE USED.
+
+NBSM STQ
+ X2
+ LXC,1 VLOAD*
+ S1 # BASE ADDRESS OF THE CDU ANGLES IS IN S1
+ 0,1
+ STOVL CDUSPOT
+ 32D # VECTOR TO BE TRANSFORMED IS IN 32D
+ CALL
+ TRG*NBSM
+ STCALL 32D # SINCE THERE'S NO STGOTO
+ X2
+
+# THESE INTERFACE ROUTINES ARE PERMANENT. ALL RESTORE USER'S EBANK
+# SETTING. ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL",
+# RETURNING VIA QPRET. ALL EXPECT AND RETURN THE VECTOR TO BE TRANSFOR-
+# MED INTERPRETER-STYLE IN MPAC: COMPONENTS AT MPAC, MPAC +3, AND MPAC +5.
+#
+# TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES
+# AT CDUSPOT (ORDER Y Z X, AT CDUSPOT, CDUSPOT +2, AND CDUSPOT +4. ODD
+# LOCATIONS NEED NOT BE ZEROED). TRG*NBSM DOES THE NB TO SM TRANSFOR-
+# MATION: TRG*SMNB, VICE VERSA.
+#
+# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
+# THE CDL COUNTERS. OTHERWISE IT IS LIKE TRG*NBSM.
+#
+# CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM.
+
+CDU*SMNB EXIT
+ TC CDUTRIGS
+ TCF C*MM*N1
+
+TRG*SMNB EXIT
+ TC CD*TR*GS
+C*MM*N1 TC MPACVBUF # AX*SR*T EXPECTS VECTOR IN VBUF
+ CS THREE # SIGNAL FOR SM TO NB TRANSFORMATION.
+C*MM*N2 TC AX*SR*T
+ TC INTPRET
+ VLOAD RVQ
+ VBUF
+
+CDU*NBSM EXIT
+ TC CDUTRIGS
+
+# Page 1369
+
+ TCF C*MM*N3
+
+TRG*NBSM EXIT
+ TC CD*TR*GS
+C*MM*N3 TC MPACVBUF # FOR AX*SR*T
+ CA THREE # SIGNAL FOR NB TO SM TRANSFORMATION
+ TCF C*MM*N2
+
+# *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU
+# AND COSCDU) RATHER THAN THE ANGLES THEMSELVES. OTHERWISE THEY ARE
+# LIKE TRG*NBSM AND TRG*SMNB.
+#
+# NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES
+# OF TRANSFORMATIONS USING THE SAME ANGLES, SO TOO ONLY ONE OF TRG*NBSM
+# AND TRG*SMNB NEED BE CALLED FOR EACH SERIES. FOR SUBSEQUENT TRANFOR-
+# MATIONS USE *NBSM* AND *SMNB*.
+
+*SMNB* EXIT
+ TCF C*MM*N1
+
+*NBSM* EXIT
+ TCF C*MM*N3
+
+# AX*SR*T COMBINES THE OLD SMNB AND NBSM. FOR THE NB TO SM
+# TRANSFORMATION, ENTER WITH +3 IN A. FOR SM TO NB, ENTER WITH -3.
+# THE VECTOR TO BE TRANSFORMED ARRIVES, AND IS RETURNED, IN VBUF.
+# AX*SR*T EXPECTS TO FIND THE SINES AND COSINES OF THE ANGLES OF ROTATION
+# AT SINCDU AND COSCDU, IN THE ORDER Y Z X. A CALL TO CD*TR*GS, WITH
+# THE 2'S COMPLEMENT ANGLES (ORDER Y Z X) AT CDUSPOT, WILL TAKE CARE OF
+# THIS. HERE IS A SAMPLE CALLING SEQUENCE:--
+# TC CDUTRIGS
+# CS THREE # ("CA THREE" FOR NBSM)
+# TC AX*SR*T
+# THE CALL TO CD*TR*GS NEED NOT BE REPEATED, WHEN AX*SR*T IS CALLED MORE
+# THAN ONCE, UNLESS THE ANGLES HAVE CHANGED.
+#
+# AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN
+# UNITY. A LOOK AT THE CASE IN WHICH A VECTOR OF GREATER MAGNITUDE
+# HAPPENS TO LIE ALONG AN AXIS OF THE SYSTEM TO WHICH IT IS TO BE TRANS-
+# FORMED CONVINCES ONE THAT THIS IS A RESTRICTION WHICH MUST BE ACCEPTED.
+
+AX*SR*T TS DEXDEX # WHERE IT BECOMES THE INDEX OF INDEXES.
+ EXTEND
+ QXCH RTNSAVER
+
+R*TL**P CCS DEXDEX # +3 --> 0 -3 --> 2
+ CS DEXDEX # THUS: +2 --> 1 -2 --> 1
+ AD THREE # +1 --> 2 -1 --> 0
+# Page 1370
+ EXTEND
+ INDEX A
+ DCA INDEXI
+ DXCH DEXI
+
+ CA ONE
+ TS BUF
+ EXTEND
+ INDEX DEX1
+ DCS VBUF
+ TCF LOOP1 # REALLY BE A SUBTRACT, AND VICE VERSA
+
+LOOP2 DXCH BUF # LOADING VECTOR COMPONENT, STORING INDEX
+
+LOOP1 DXCH MPAC
+ CA SINESLOC
+ AD DEX1
+ TS ADDRWD
+
+ TC DMPSUB # MULTIPLY BY SIN(CDUANGLE)
+ CCS DEXDEX
+ DXCH MPAC # NBSM CASE
+ TCF +3
+ EXTEND # SMNB CASE
+ DCS MPAC
+ DXCH TERM1TMP
+
+ CA SIX # SINCDU AND COSCDU (EACH 6 WORDS) MUST
+ ADS ADDRWD # BE CONSECUTIVE AND IN THAT ORDER
+
+ EXTEND
+ INDEX BUF
+ INDEX DEX1
+ DCA VBUF
+ DXCH MPAC
+ TC DMPSUB # MULTIPLY BY COS(CDUANGLE)
+ DXCH MPAC
+ DAS TERM1TMP
+ DXCH TERM1TMP
+ DDOUBL
+ INDEX BUF
+ INDEX DEX1
+ DXCH VBUF
+ DXCH BUF # LOADING INDEX, STORING VECTOR COMPONENT
+ CCS A # 'CAUSE THAT'S WHERE THE INDEX NOW IS
+ TCF LOOP2
+
+ EXTEND
+ DIM DEXDEX # DECREMENT MAGNITUDE PRESERVING SIGN
+
+# Page 1371
+TSTPOINT CCS DEXDEX # ONLY THE BRANCHING FUNCTION IS USED
+ TCF R*TL**P
+ TC RTNSAVER
+ TCF R*TL**P
+ TC RTNSAVER
+
+SINESLOC ADRES SINCDU # FOR USE IN SETTING ADDRWD
+
+INDEXI DEC 4 # ********** DON'T ***********
+ DEC 2 # ********** TOUCH ***********
+ DEC 0 # ********** THESE ***********
+ DEC 4 # ********** CONSTANTS ***********
+
+# ******************************************************************************
+# Page 1372
+# THIS SUBROUTINE COMPUTES INCREMENTAL CHANGES IN CDU(GIMBAL) ANGLES FROM INCREMENTAL CHANGES ABOUT SM AXES. IT
+# REQUIRES SM INCREMENTS AS A DP VECTOR SCALED AT ONE REVOLUTION(DTHETASM,+2,+4). SIN,COS(CDUY,Z,X) ARE IN
+# SINCDU,+2,+4 AND COSCDU,+2,+4 RESPECTIVELY, SCALED TO ONE HALF. CDU INCREMENTS ARE PLACED IN DCDU,+2,+4 SCALED TO
+# ONE REVOLUTION.
+#
+# * COS(IGA)SEC(MGA) 0 -SIN(IGA)SEC(MGA) *
+# * *
+# * -COS(IGA)TAN(MGA) 1 SIN(IGA)TAN(MGA) *
+# * *
+# * SIN(IGA) 0 COS(IGA) *
+
+ BANK 14
+ SETLOC POWFLIT1
+ BANK
+
+SMCDURES DLOAD DMP
+ DTHETASM
+ COSCDUY
+
+ PDDL DMP
+ DTHETASM +4
+ SINCDUY
+
+ BDSU
+ DDV
+ COSCDUZ
+ STORE DCDU
+
+ DMP SL1 # SCALE
+ SINCDUZ
+ BDSU
+
+ DTHETASM +2
+ STODL DCDU +2
+ DTHETASM
+
+ DMP PDDL
+ SINCDUY
+ DTHETASM +4
+
+ DMP DAD
+ COSCDUY
+ SL1
+ STORE DCDU +4
+ RVQ
+
diff --git a/Q_R-AXIS_RCS_AUTOPILOT.s b/Q_R-AXIS_RCS_AUTOPILOT.s
new file mode 100644
index 0000000..f3265b5
--- /dev/null
+++ b/Q_R-AXIS_RCS_AUTOPILOT.s
@@ -0,0 +1,860 @@
+# Copyright: Public domain.
+# Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1442-1459
+# Mod history: 2009-05-27 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+# 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
+# the former is not compatible with yaYUL.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1442
+ BANK 17
+ SETLOC DAPS2
+ BANK
+
+ EBANK= CDUXD
+
+ COUNT* $$/DAPQR
+
+CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
+ EXTEND # ARE IN MANUAL RATE COMMAND.
+ RAND CHAN31
+ CCS A
+ TCF +5 # IN AUTO COMPUTE Q,R ERRORS
+ CS DAPBOOLS # IN MANUAL RATE COMMAND?
+ MASK OURRCBIT
+ EXTEND
+ BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERROS.
+ TC QERRCALC
+
+Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
+ TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
+ TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
+RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
+ TS COTROLER
+
+ DXCH EDOTQ
+ TC ROT-TOUV
+ DXCH OMEGAU
+
+# X - TRANSLATION
+#
+# INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
+# ULLAGER
+# APSFLAG, DRIFTBIT
+# ACC40R2X, ACRBTRAN
+#
+# OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
+# SENSETYP TELL ROTATION DIRECTION AND DESIRE
+#
+# X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
+# WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
+
+SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
+ EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
+ RAND CHAN31
+ EXTEND
+ BZF +X0RULGE
+# Page 1443
+ CA BIT8
+ EXTEND
+ RAND CHAN31
+ EXTEND
+ BZF -XTRANS
+
+ CA ULLAGER
+ MASK DAPBOOLS
+ CCS A
+ TCF +X0RULGE
+
+ TS NEXTU # STORE NULL TRANSLATION POLICIES
+ TS NEXTV
+ CS DAPBOOLS # BURNING OR DRIFTING?
+ MASK DRIFTBIT
+ EXTEND
+ BZF TSENSE
+ CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
+ MASK APSFLBIT
+ CCS A
+ CAF TWO # FAVOR +X JETS DURING AN APS BURN.
+TSENSE TS SENSETYP
+ TCF QRCONTRL
+
++X0RULGE CAF ONE
+-XTRANS AD FOUR
+ TS ROTINDEX
+ AD NEG3
+ TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
+ CA DAPBOOLS
+ MASK ACC4OR2X
+ CCS A
+ TCF TRANS4
+
+ CA DAPBOOLS
+ MASK AORBTRAN
+ CCS A
+ CA ONE # THREE FOR B
+ AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
+TSNUMBRT TS NUMBERT
+
+ TC SELCTSUB
+
+ CCS POLYTEMP
+ TCF +3
+ TC ALARM
+ OCT 02002
+ CA 00314OCT
+ MASK POLYTEMP
+TSNEXTS TS NEXTU
+# Page 1444
+ CS 00314OCT
+ MASK POLYTEMP
+ TS NEXTV
+
+# Q,R-AXES RCS CONTROL MODE SELECTION
+# SWITCHES INDICATION WHEN SET
+# BIT13/CHAN31 AUTO, GO TO ATTSTEER
+# PULSES MINIMUM IMPULSE MODE
+# (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
+
+QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
+ EXTEND
+ RAND CHAN31 # BITS INVERTED
+ CCS A
+ TCF ATTSTEER
+CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
+ MASK DAPBOOLS
+ EXTEND
+ BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
+
+# MINIMUM IMPULSE MODE
+
+ INHINT
+ TC IBNKCALL
+ CADR ZATTEROR
+ CA ZERO
+ TS QERROR
+ TS RERROR # FOR DISPLAYS
+ RELINT
+
+ EXTEND
+ READ CHAN31
+ TS TEMP31 # IS EQUAL TO DAPTEMP1
+ CCS OLDQRMIN
+ TCF CHECKIN
+
+FIREQR CA TEMP31
+ MASK BIT1
+ EXTEND
+ BZF +QMIN
+
+ CA TEMP31
+ MASK BIT2
+ EXTEND
+ BZF -QMIN
+
+ CA TEMP31
+ MASK BIT5
+# Page 1445
+ EXTEND
+ BZF +RMIN
+
+ CA TEMP31
+ MASK BIT6
+ EXTEND
+ BZF -RMIN
+
+ TCF XTRANS
+
+CHECKIN CS TEMP31
+ MASK OCT63
+ TS OLDQRMIN
+ TCF XTRANS
+
++QMIN CA 14MS
+ TS TJU
+ CS 14MS
+ TCF MINQR
+-QMIN CS 14MS
+ TS TJU
+ CA 14MS
+ TCF MINQR
++RMIN CA 14MS
+ TCF +2
+-RMIN CS 14MS
+ TS TJU
+MINQR TS TJV
+ CA MINADR
+ TS RETJADR
+ CA ONE
+ TS OLDQRMIN
+MINRTN TS AXISCTR
+ CA DAPBOOLS
+ MASK CSMDOCKD
+ EXTEND
+ BZF MIMRET
+ INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
+ CCS TJU
+ CA 60MS
+ TCF +2
+ CS 60MS
+ INDEX AXISCTR
+ TS TJU
+MIMRET CA DAPBOOLS
+ MASK AORBTRAN
+ CCS A
+ CA ONE
+ AD TWO
+ TS NUMBERT
+# Page 1446
+ TCF AFTERTJ
+
+60MS DEC 96 # RSB 2009 -- was 96.0.
+MINADR GENADR MINRTN
+OCT63 OCT 63
+14MS = +TJMINT6
+
+TRANS4 CA FOUR
+ TCF TSNUMBRT
+
+# RATE COMMAND MODE:
+#
+# DESCRIPTION (SAME AS P-AXIS)
+
+CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
+ CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
+ TS COTROLER # COME BACK TO RCS NEXT TIME
+ CA BIT15
+ MASK CH31TEMP
+ EXTEND
+ BZF RHCACTIV # BRANCH IF OUT OF DETENT.
+ CA OURRCBIT # ***********
+ MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
+ EXTEND # *********** LAST TIME.
+ BZF STILLRCS
+ CS BIT9
+ MASK RCSFLAGS
+ TS RCSFLAGS # BIT 9 IS 0.
+ TCF DAMPING
+40CYCL OCT 50
+1/10S OCT 1
+LINRAT DEC 46
+
+# ===========================================================
+
+DAMPING CA ZERO
+ TS SAVEHAND
+ TS SAVEHAND +1
+RHCACTIV CCS SAVEHAND # ******************
+ TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
+ TCF +2 # ******************
+ TCF +1
+ DOUBLE # WHERE
+ DOUBLE #
+ AD LINRAT # WC = COMMANDED ROTATIONAL RATE
+ EXTEND # A = QUADRATIC SENSITIVITY FACTOR
+ MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
+ CA L # |D| = ABS. VALUE OF DEFLECTION
+ EXTEND # D = HAND CONTROLLER DEFLECTION
+ MP STIKSENS
+ XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC
+ COM
+# Page 1447
+ AD QLAST
+ TS DAPTEMP3
+ CCS SAVEHAND +1
+ TCF +3
+ TCF +2
+ TCF +1
+ DOUBLE
+ DOUBLE
+ AD LINRAT
+ EXTEND
+ MP SAVEHAND +1
+ CA L
+ EXTEND
+ MP STIKSENS
+ XCH RLAST
+ COM
+ AD RLAST
+ TS DAPTEMP4
+ CS QLAST # INTERVAL.
+ AD OMEGAQ
+ TS QRATEDIF
+ CS RLAST
+ AD OMEGAR
+ TS RRATEDIF
+ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
+ TC ROT-TOUV
+ DXCH URATEDIF
+ CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
+ TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
+ TC +2
+ TC +1
+ AD -RATEDB
+ EXTEND
+ BZMF +2
+ TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
+ CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
+ TC +3
+ TC +2
+ TC +1
+ AD -RATEDB
+ EXTEND
+ BZMF +2
+ TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
+ CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
+ MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
+ EXTEND
+ BZF +2
+ TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
+ TCF STILLRCS # PSEUDO-AUTO CONTROL.
+ CA 40CYCL
+# Page 1448
+ TS TCQR
+ENTERUV INHINT # DIRECT RATE CONTROL
+ TC IBNKCALL
+ FCADR ZATTEROR
+ RELINT
+ CA ZERO
+ TS DYERROR
+ TS DYERROR +1
+ TS DZERROR
+ TS DZERROR +1
+ CCS URATEDIF
+ TCF +3
+ TCF +2
+ TCF +1
+ AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
+ EXTEND # DIRECT RATE CONTROL.
+ BZMF VDB
+ CCS VRATEDIF
+ TCF +3
+ TCF +2
+ TCF +1
+ AD TARGETDB
+ EXTEND
+ BZMF +2
+ TCF QRTIME
+ CA ZERO
+ TS VRATEDIF
+ TCF QRTIME
+VDB CCS VRATEDIF
+ TC +3
+ TC +2
+ TC +1
+ AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
+ EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
+ BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
+ CA ZERO # PASS.
+ TS URATEDIF
+QRTIME CA TCQR # DIRECT RATE TIME CHECK.
+ EXTEND
+ BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
+ CS RCSFLAGS
+ MASK QRBIT
+ ADS RCSFLAGS # BIT 11 IS 1.
+ TC +4
+TOPSEUDO CS QRBIT
+ MASK RCSFLAGS
+ TS RCSFLAGS # BIT 11 IS 0.
+ CA HANDADR
+ TS RETJADR
+ CA ONE
+
+# Page 1449
+BACKHAND TS AXISCTR
+
+ CA FOUR
+ TS NUMBERT
+
+ INDEX AXISCTR
+ INDEX SKIPU
+ TCF +1
+ CA FOUR
+ INDEX AXISCTR
+ TS SKIPU
+ TCF LOOPER
+
+ INDEX AXISCTR
+ CCS URATEDIF # INDEX AXIS QUANTITY
+ CA ZERO # 0 -U 1/JETACC-AOSU
+ TCF +2 # 1 +U 1/JETACC+AOSU
+ CA ONE # 16 -V 1/JETACC-AOSV
+ INDEX AXISCTR # 17 +V 1/JETACC+AOSV
+ AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
+
+ INDEX A
+ CS 1/ANET2 +1
+ EXTEND
+ INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC
+ MP URATEDIF # JET TIME IN A, SCALED 32 SEC
+ TS Q
+ DAS A
+ AD Q
+ TS A # OVERFLOW SKIP
+ TCF +2
+ CA Q # RIGHT SIGN AND BIGGER THAN 150MS
+SETTIME INDEX AXISCTR
+ TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
+ TCF AFTERTJ
+
+ZEROTJ CA ZERO
+ TCF SETTIME
+
+HANDADR GENADR BACKHAND
+
+# GTS WILL BE TRIED IF
+# 1. USEQRJTS = 0,
+# 2. ALLOWGTS POS,
+# 3. JETS ARE OFF (Q,R-AXES)
+
+TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
+ MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.)
+ CCS A
+ TCF RCS
+ CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
+# Page 1450
+ TCF +2
+ TCF RCS
+ EXTEND
+ READ CHAN5
+ CCS A
+ TCF CHKINGTS
+GOTOGTS EXTEND
+ DCA GTSCADR
+ DTCB
+
+CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
+ TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
+ TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS.
+ INHINT
+ TC IBNKCALL
+ CADR TIMEGMBL
+ RELINT
+ CAF ZERO
+ TS INGTS
+ TCF RCS
+
+ EBANK= CDUXD
+GTSCADR 2CADR GTS
+
+# Page 1451
+# SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
+
+QERRCALC CAE CDUY # Q-ERROR CALCULATION
+ EXTEND
+ MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS)
+ TS DAPTEMP1 # SAVE FOR RERRCALC
+ EXTEND
+ MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
+ TS E
+ CAE CDUZ # SECOND TERM CALCULATION:
+ EXTEND
+ MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
+ TS DAPTEMP2 # SAVE FOR RERRCALC
+ EXTEND
+ MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
+ AD DELQEROR # KALCMANU INERFACE ERROR
+ AD E
+ XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
+
+RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
+ EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
+ MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
+ TS E
+ CAE DAPTEMP2 # SECOND TERM CALCULATION:
+ EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
+ MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
+ AD DELREROR # KALCMANU INERFACE ERROR
+ AD E
+ XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
+ TC Q
+
+# Page 1452
+# "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
+
+ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
+
+STILLRCS CA RERROR
+ LXCH A
+ CA QERROR
+ TC ROT-TOUV
+ DXCH UERROR
+
+# PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
+# PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
+
+TJLAW CA TJLAWADR
+ TS RETJADR
+ CA ONE
+ TS AXISCTR
+ INDEX AXISCTR
+ INDEX SKIPU
+ TCF +1
+ CA FOUR
+ INDEX AXISCTR
+ TS SKIPU
+ TCF LOOPER
+ INDEX AXISCTR
+ CA UERROR
+ TS E
+ INDEX AXISCTR
+ CA OMEGAU
+ TS EDOT
+ CA DAPBOOLS
+ MASK CSMDOCKD
+ CCS A
+ TCF +3
+ TC TJETLAW
+ TCF AFTERTJ
+ +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
+ MASK USEQRJTS # ON THE NEXT PASS.
+ CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
+ TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
+ INHINT
+ TC IBNKCALL
+ CADR SPSRCS # DETERMINE RCS CONTROL
+ RELINT
+ CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
+ TS NUMBERT # FALL THROUGH TO JET SLECTION, ETC.
+
+# Q,R-JET-SELECTION-LOGIC
+#
+# INPUT: AXISCTR 0,1 FOR U,V
+# SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
+# Page 1453
+# TJU,TJV JET TIME SCALED 10.24 SEC.
+# NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
+# RETJADR WHERE TO RETURN TO
+#
+# OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
+# CHANNEL 5
+# SKIPU,SKIPV FOR LESS THAN 150MS FIRING
+#
+# NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
+# JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
+# TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
+# IF NONE CAN BE FOUND.
+#
+# TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
+# MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
+
+AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
+ MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
+ EXTEND
+ BZF DOROTAT
+ CS FLGWRD10
+ MASK APSFLBIT
+ EXTEND
+ BZF DOROTAT
+ CA DAPBOOLS
+ MASK DRIFTBIT
+ EXTEND
+ BZF XTRANS
+
+DOROTAT CAF TWO
+ TS L
+ INDEX AXISCTR
+ CCS TJU
+ TCF +5
+ TCF NOROTAT
+ TCF +2
+ TCF NOROTAT
+ ZL
+ AD ONE
+ TS ABSTJ
+
+ CA AXISCTR
+ AD L
+ TS ROTINDEX # 0 1 2 3 = -U -V +U +V
+
+ CA ABSTJ
+ AD -150MS
+ EXTEND
+ BZMF DOSKIP
+# Page 1454
+ TC SELCTSUB
+
+ INDEX AXISCTR
+ CA INDEXES
+ TS L
+
+ CA POLYTEMP
+ INHINT
+ INDEX L
+ TC WRITEP
+
+ RELINT
+ TCF FEEDBACK
+
+NOROTAT INDEX AXISCTR
+ CA INDEXES
+ INHINT
+ INDEX A
+ TC WRITEP -1
+
+ RELINT
+LOOPER CCS AXISCTR
+ TC RETJADR
+ TCF CLOSEOUT
+DOSKIP CS ABSTJ
+ AD +TJMINT6 # 14MS
+ EXTEND
+ BZMF NOTMIN
+
+ ADS ABSTJ
+ INDEX AXISCTR
+ CCS TJU
+ CA +TJMINT6
+ TCF +2
+ CS +TJMINT6
+ INDEX AXISCTR
+ TS TJU
+
+ CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
+ TCF NOTMIN -1
+ EXTEND
+ READ LOSCALAR
+ MASK ONE
+ TS NUMBERT
+
+NOTMIN TC SELCTSUB
+
+ INDEX AXISCTR
+ CA INDEXES
+ INHINT
+# Page 1455
+ TS T6FURTHA +1
+ CA POLYTEMP
+ INDEX T6FURTHA +1
+ TC WRITEP
+
+ CA ABSTJ
+ TS T6FURTHA
+ TC JTLST # IN QR BANK BY NOW
+
+ RELINT
+
+ CA ZERO
+ INDEX AXISCTR
+ TS SKIPU
+
+FEEDBACK CS THREE
+ AD NUMBERT
+ EXTEND
+ BZMF +3
+
+ CA TWO
+ TCF +2
+ CA ONE
+ INDEX AXISCTR
+ TS NO.UJETS
+ TCF LOOPER
+
+XTRANS CA ZERO
+ TS TJU
+ TS TJV
+ CA FOUR
+ INHINT
+ XCH SKIPU
+ EXTEND
+ BZF +2
+ TC WRITEU -1
+ CA FOUR
+ XCH SKIPV
+ RELINT
+
+ EXTEND
+ BZF CLOSEOUT
+ INHINT
+ TC WRITEV -1
+ RELINT
+
+ TCF CLOSEOUT
+INDEXES DEC 4
+ DEC 13
++TJMINT6 DEC 22
+# Page 1456
+-150MS DEC -240
+BIT8,9 OCT 00600
+SCLNORM OCT 266
+TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
+
+# THE JET LIST:
+# THIS IS A WAITLIST FOR T6RUPTS.
+#
+# CALLED BY:
+# CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN
+# TS T6FURTHA
+# CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW)
+# TS T6FURTHA +1
+# TC JTLST
+#
+# EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
+# JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
+# 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
+# CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
+# OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
+#
+# THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT)
+# THE INPUT IS THE LAST MEMBER OF THE LIST.
+#
+# RETURNS BY:
+# + TC Q
+#
+# DEFINITIONS: (OUTPUT)
+# TIME6 TIME OF NEXT RUPT
+# T6NEXT DELTA TIME TO NEXT RUPT
+# T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
+# NXT6ADR AXIS INDEX 0 -- P-AXIS
+# T6NEXT +1 AXIS INDEX 4 -- U-AXIS
+# T6FURTHA +1 AXIS INDEX 13 -- V-AXIS
+
+JTLST CS T6FURTHA
+ AD TIME6
+ EXTEND
+ BZMF MIDORLST # TIME6 -- TI IS IN A
+
+ LXCH NXT6ADR
+ DXCH T6NEXT
+ DXCH T6FURTHA
+ TS TIME6
+ LXCH NXT6ADR
+
+TURNON CA BIT15
+ EXTEND
+ WOR CHAN13
+ TC Q
+
+# Page 1457
+MIDORLST AD T6NEXT
+ EXTEND
+ BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
+
+ LXCH T6NEXT +1
+ DXCH T6FURTHA
+ EXTEND
+ SU TIME6
+ DXCH T6NEXT
+
+ TC Q
+
+LASTCHG CS A
+ AD NEG0
+ TS T6FURTHA
+
+ TC Q
+
+# ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
+# ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
+# PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
+# A AND THE V-COMPONENT IS IN L.
+
+ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
+ EXTEND
+ MP COEFFQ
+ XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
+ EXTEND
+ MP COEFFR
+ TS L # COEFFR.(R) IS PUT INTO L
+ AD ROTEMP2
+ TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
+ TCF +4
+ INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
+ CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
+ TS ROTEMP1
+ CS ROTEMP2
+ AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
+ TS 7
+ TCF +3
+ INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
+ CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
+ LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
+ TC Q
+SELCTSUB INDEX ROTINDEX
+ CA ALLJETS
+ INDEX NUMBERT
+ MASK TYPEPOLY
+ TS POLYTEMP
+# Page 1458
+ MASK CH5MASK
+ CCS A
+ TCF +2
+
+ TC Q
+
+ CA THREE
+FAILOOP TS NUMBERT
+ INDEX ROTINDEX
+ CA ALLJETS
+ INDEX NUMBERT
+ MASK TYPEPOLY
+ TS POLYTEMP
+ MASK CH5MASK
+ EXTEND
+ BZF FAILOOP -2
+ CCS NUMBERT
+ TCF FAILOOP
+ INDEX AXISCTR
+ TS TJU
+ TC ALARM
+ OCT 02004
+ TCF NOROTAT
+ALLJETS OCT 00110 # -U 6 13
+ OCT 00022 # -V 2 9
+ OCT 00204 # +U 5 14
+ OCT 00041 # +V 1 10
+TYPEPOLY OCT 00125 # -X 1 5 9 13
+ OCT 00252 # +X 2 6 10 14
+ OCT 00146 # A 2 5 10 13
+ OCT 00231 # B 1 6 9 14
+ OCT 00377 # ALL 1 2 5 6 9 10 13 14
+
+# THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
+
+CLOSEOUT CA ADRRUPT
+ TC MAKERUPT
+
+ADRRUPT ADRES ENDJASK
+
+ENDJASK DXCH DAPARUPT
+ DXCH ARUPT
+ DXCH DAPBQRPT
+ XCH BRUPT
+ LXCH Q
+ CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
+ DXCH DAPZRUPT
+ DXCH ZRUPT
+ TCF NOQRSM
+# Page 1459
+ BLOCK 3
+ SETLOC FFTAG6
+ BANK
+
+ COUNT* $$/DAP
+
+MAKERUPT EXTEND
+ EDRUPT MAKERUPT
+
diff --git a/R30.s b/R30.s
new file mode 100644
index 0000000..1ee43f8
--- /dev/null
+++ b/R30.s
@@ -0,0 +1,490 @@
+# Copyright: Public domain.
+# Filename: R30.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 514-524
+# Mod history: 2009-05-09 HG Started adapting from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images 0514.jpg - 0524.jpg.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 514
+# SUBROUTINE NAME: V82CALL
+# MOD NO: 0 DATE: 16 FEB 67
+# MOD BY: R. R. BAIRNSFATHER LOG SECTION: R30
+# MOD NO: 1 MOD BY: R. R. BAIRNSFATHER DATE: 11 APR 67 SR30.1 CHANGED TO ALLOW MONITOR OPERN
+# MOD NO: 2 MOD BY: ALONSO DATE: 11 DEC 67 VB82 PROGRAM REWRITTEN
+# MOD NO: 3 MOD BY: ALONSO DATE: 26 MAR 68 PROG MOD TO HANDLE DIF EARTH/MOON SCALE
+#
+# NEW FUNCTIONAL DESCRIPTION: CALLED BY VERB 82 ENTER. PRIORITY 10.
+# USED THROUGHOUT. CALCULATE AND DISPLAY ORBITAL PARAMETERS
+#
+# 1. IF AVERAGE G IS OFF:
+# FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS
+# TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT
+# CAN CHANGE TO OTHER SHIP BY V22EXE. WHERE X IS NOT EQ 1.
+# SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC).
+# CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE
+# RPER (PERIGEE RADIUS), RAPO (APOGEE RADIUS), HPER (PERIGEE
+# HEIGHT ABOVE LAUNCH PAD OR LAUNAR LANDING SITE), HARD (APOGEE
+# HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), TFF (TIME TO
+# INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE).
+# FLASH MONITOR V16N44 (HAPO, HPER, TFF). TFF IS -59MS59S IF IT WAS
+# NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND.
+# ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E.
+# DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS
+# ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S.
+# 2. IF AVERAGE G IS ON:
+# CALLS SR30.1 APPROX EVERY TWO SECS. STATE VECTOR IS ALWAYS
+# FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR. RESULTS
+# OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF.
+# FLASH MONITOR V16N44 (HAPO, HPER, TFF).
+# IF MODE IS P11, THEN CALL DELRSPL SO ASTRONAUT CAN MONITOR
+# RESULTS BY N50E. SPLASH COMPUTATION DONE ONCE PER TWO SECS.
+# ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE
+# ABOVE REMARKS.
+#
+# CALLING SEQUENCE: VERB 82 ENTER.
+#
+# SUBROUTINES CALLED: SR30.1, GOXDSPF
+# MAYBE -- THISPREC, OTHPREC, LOADTIME, DELRSPL
+#
+# NORMAL EXIT MODES: TC ENDEXT
+#
+# ALARMS: NONE
+#
+# OUTPUT: HAPOX (-29) M
+# HPERX (-29) M
+# RAPO (-29) M EARTH
+# (-27) M MOON
+# Page 515
+# RPER (-29) M EARTH
+# (-27) M MOON
+# TFF (-28) CS CONTAINS NEGATIVE QUANTITY
+# -TPER (-28) CS CONTAINS NEGATIVE QUANTITY
+# RSP-RREC(-29) M IF DELRSPL CALLED
+#
+# ERASABLE INITIALIZATION REQUIRED: STATE VECTOR.
+#
+# DEBRIS: QPRET, RONE, VONE, TFF/RTMU, HPERMIN, RPADTEM, V82EMFLG.
+# MAYBE: TSTART82, V82FLAGS, TDEC1.
+
+ EBANK= HAPOX
+ BANK 31
+ SETLOC R30LOC
+ BANK
+ COUNT* $$/R30
+
+V82CALL TC INTPRET
+ BON GOTO
+ AVEGFLAG
+ V82GON # IF AVERAGE G ON
+ V82GOFF # IF AVERAGE G OFF
+
+V82GOFF EXIT # ALLOW ASTRONAUT TO SELECT VEHICLE
+ CAF TWO # DESIRED FOR ORBITAL PARAMETERS
+ TS OPTIONX
+ CAF ONE
+ TS OPTIONX +1
+ CAF OPTIONVN # V 04 N 06
+ TC BANKCALL
+ CADR GOXDSPF
+ TC ENDEXT # TERMINATE
+ TC +2 # PROCEED
+ TC -5 # DATA IN. OPTIONX +1 = 1 FOR THIS VEHIC.
+ # UNEQ 1 FOR OTHER VEHICLE.
+ CAF BIT4 # 80 MS
+ TC WAITLIST
+ EBANK= TFF
+ 2CADR TICKTEST
+
+ RELINT
+V82GOFLP CAF TFFBANK # MAJOR RECYCLE LOOP ENTRY
+ TS EBANK
+ CAF ZERO
+ TS V82FLAGS # ZERO FLAGS FOR TICKTEST, INHIBITS
+ # DECREMENTING OF TFF AND -TPER.
+ CAF PRIO7
+ TC FINDVAC # V82GOFF1 WILL EXECUTE STATE VECTOR
+# Page 516
+ EBANK= TFF # UPDATE AND ORBIT CALCULATIONS FOR
+ 2CADR V82GOFF1 # SELECTED VEHICLE ABOUT PROPER BODY.
+
+ RELINT
+V82STALL CAF THREE # STALL IN THIS LOOP AND WITHOLD V 16 N 44
+ MASK V82FLAGS # UNTIL STATE VECTOR UPDATE SETS ONE OF
+ CCS A # OUR FLAG BITS.
+ TC FLAGGON # EXIT FROM STALL LOOP.
+ CAF 1SEC
+ TC BANKCALL
+ CADR DELAYJOB
+ TC V82STALL
+
+FLAGGON CAF V16N44 # MONITOR HAPO,HPER,TFF.
+ TC BANKCALL
+ CADR GOXDSPF
+ TC B5OFF # TERM THIS TELLS TICKTEST TO KILL ITSELF
+ TC B5OFF # PROCEED DITTO
+ TC V82GOFLP # RECYCLE RECOMPUTE STATE VECT + DISPLAY
+
+OPTIONVN VN 0412
+V16N44 VN 1644
+TFFBANK ECADR TFF
+
+V82GOFF1 TC INTPRET
+ RTB
+ LOADTIME
+ STORE TDEC1 # TIME FOR STATE VECTOR UPDATE.
+ STORE TSTART82 # TIME FOR INTERNAL USE.
+ EXIT
+ CS OPTIONX +1 # 1 FOR THIS VEHICLE, NOT 1 FOR OTHER
+ AD ONE
+ EXTEND
+ BZF THISSHIP
+OTHSHIP TC INTPRET
+ CALL # CALL STATE VECTOR UPDATE FOR OTHER SHIP.
+ OTHPREC
+BOTHSHIP VLOAD # MOVE RESULTS INTO TFFCONIC STORAGE AREAS
+ RATT # TO BE CALLED BY SR30.1.
+ STOVL RONE # RATT AT (-29)M FOR EARTH OR MOON
+ VATT
+ STORE VONE # VATT AT (-7)M/CS FOR EARTH OR MOON
+ DLOAD*
+ 1/RTMUE,2 # X2 IS 0 FOR EARTH CENTERED STATE VEC
+ # HG remark: In Comanche055 scan this line (5324) looks pretty much like 1/RTMUF.2 can not decide, leave it
+ # as it is in start source
+ STORE TFF/RTMU # X2 IS 2 FOR MOON
+ DLOAD* # AS LEFT BY THISPREC OR OTHPREC.
+ MINPERE,2
+ STORE HPERMIN # TFFRTMU, HPERMIN, AND RPADTEM ARE ALL
+ SLOAD BHIZ # EARTH/MOON PARAMETERS AS SET HERE.
+# Page 517
+ X2
+ EARTHPAD
+ GOTO
+ MOONPAD
+THISSHIP TC INTPRET
+ CALL # CALL STATE VECTOR UPDATE FOR THIS SHIP.
+ THISPREC
+ GOTO
+ BOTHSHIP
+
+# THE FOLLOWING CONSTANTS ARE PAIRWISE INDEXED. DO NOT SEPARATE PAIRS.
+
+1/RTMUM 2DEC* .45162595 E-4 B14*
+1/RTMUE 2DEC* .50087529 E-5 B17*
+
+MINPERM 2DEC 10668 B-27 # 35 KFT MIN PERIGEE HEIGHT FOR MOON(-27)M
+MINPERE 2DEC 91440 B-29 # 300 KFT (-29)M FOR EARTH
+
+EARTHPAD DLOAD CLRGO # PAD 37-B RADIUS. SCALED AT (-29)M
+ RPAD
+ V82EMFLG # INDICATE EARTH SCALING FOR SR30.1
+ BOTHPAD
+
+MOONPAD VLOAD ABVAL # COMPUTE MOON PAD RADIUS FROM RLS VECTOR.
+ RLS # SCALED AT (-27)M.
+ SET
+ V82EMFLG # INDICATE MOON SCALING FOR SR30.1
+BOTHPAD STCALL RPADTEM
+ SR30.1 # CALCULATE ORBITAL PARAMETERS
+ EXIT
+ CA MODREG # ARE WE IN P00
+ EXTEND
+ BZF CANDEL # YES, DO DELRSPL
+SPLRET1 TC INTPRET
+ RTB DSU
+ LOADTIME
+ TSTART82 # PRESENT TIME -- TIME V82GOFF1 BEGAN
+ STORE TSTART82 # SAVE IT
+ DLOAD BZE # SR30.1 SETS -TPER=0 IF HPER L/
+ -TPER # HPERMIN (300 OR 35) KFT.
+ TICKTFF # (-TPER = 0)
+TICKTPER DLOAD DAD # (-TPER NON ZERO) TFF WAS NOT COMPUTED.
+ -TPER # BUT WAS SET TO 59M59S. DON'T DICK TFF, DO
+ TSTART82 # TICK -TPER. DISPLAY BOTH.
+ STORE -TPER # -TPER CORRECTED FOR TIME SINCE V82GOFF1
+ EXIT # BEGAN.
+
+# Page 518
+ CAF BIT1
+ TS V82FLAGS # INFORMS TICKTEST TO INCREMENT ONLY -TPER
+ TC ENDOFJOB
+
+TICKTFF DLOAD DAD # (-TPER=0) TFF WAS COMPUTED. TICK TFF.
+ TFF # DO NOT TICK -TPER. DISPLAY TFF, BUT NOT
+ TSTART82 # -TPER
+ STORE TFF # TFF CORRECTED FOR TIME SINCE V82GOFF1
+ EXIT # BEGAN.
+ CAF BIT2
+ TS V82FLAGS # INFORMS TICKTEST TO INCREMENT ONLY TFF.
+ TC ENDOFJOB
+
+TICKTEST CAF BIT5 # THIS WAITLIST PROGRAM PERPETUATES ITSELF
+ MASK EXTVBACT # ONCE A SEC UNTIL BIT 5 OF EXTVBACT =0.
+ CCS A
+ TC DOTICK
+ CAF PRIO25
+ TC NOVAC # TERMINATE V 82. CAN'T CALL ENDEXT IN RUPT.
+ EBANK= EXTVBACT
+ 2CADR ENDEXT
+
+ TC TASKOVER
+DOTICK CAF 1SEC # RE-REQUEST TICKTEST.
+ TC WAITLIST
+ EBANK= TFF
+ 2CADR TICKTEST
+
+ CAF THREE
+ MASK V82FLAGS
+ INDEX A
+ TC +1
+ TC TASKOVER # IF NO FLAGBITS SET DONT' CHANGE TFF OR
+ # -TPER, BUT CONTINUE LOOP.
+ TC TPERTICK # ONLY BIT 1 SET. INCR -TPER BY 1 SEC.
+TFFTICK CAF 1SEC # ONLY BIT 2 SET. INCR TFF BY 1 SEC.
+ TS L
+ CAF ZERO
+ DAS TFF
+ TC TASKOVER
+TPERTICK CAF 1SEC
+ TS L
+ CAF ZERO
+ DAS -TPER
+ TC TASKOVER
+# Page 519
+V82GON EXIT # AVERAGE G ON. USE CURRENT STATE VECTOR
+ # FOR ORBITAL PARAMETER CALCULATIONS.
+ CAF PRIO7 # LESS THAN LAMBERT
+ TC FINDVAC # V82GON1 WILL PERFORM ORBIT CALCULATIONS
+ EBANK= TFF # ABOUT PROPER BODY APPROX ONCE PER SEC.
+ 2CADR V82GON1
+
+ RELINT
+ CCS NEWJOB # WITHOLD V16 N44 UNTIL FIRST ORBIT CALC
+ TC CHANG1 # IS DONE. NOTE: V82GON1 (PRIO7, FINDVAC
+ # JOB) IS COMPLETED BEFORE V82GON (PRIO7,
+ # NOVAC JOB).
+V82REDSP CAF V16N44 # MONITOR HAPO, HPER, TFF
+ TC BANKCALL
+ CADR GOXDSPF
+ TC B5OFF # TERM THIS TELLS V82GON1 TO KILL ITSELF.
+ TC B5OFF # PROC DITTO.
+ TC V82REDSP # RECYCLE
+
+V82GON1 TC INTPRET # THIS EXEC PROGRAM PERPETUATES ITSELF
+ # ONCE A SEC UNTIL BIT 5 OF EXTVBACT =0.
+ VLOAD GOTO # HOLDS OFF CCS NEWJOB BETWEEN RN AND
+ RN # VN FETCH SO RN, VN ARE FROM SAME
+ NEXTLINE # STATE VECTOR UPDATE.
+NEXTLINE STOVL RONE # RN AT (-29)M FOR EARTH OR MOON
+ VN
+ STORE VONE # VN AT (-7)M/CS FOR EARTH OR MOON
+ BON GOTO
+ AMOONFLG # FLAG INDICATES BODY ABOUT WHICH ORBITAL
+ MOONGON # CALCULATIONS ARE TO BE PERFORMED.
+ EARTHGON # IF SET - MOON, IF RESET - EARTH.
+
+MOONGON SET DLOAD
+ V82EMFLG # INDICATE MOON SCALING FOR SR30.1
+ 1/RTMUM # LUNAR PARAMETERS LOADED HERE FOR SR30.1
+ STODL TFF/RTMU
+ MINPERM
+ STOVL HPERMIN
+ RLS # SCALED AT (-27)M
+ ABVAL GOTO
+ V82GON2
+EARTHGON CLEAR DLOAD
+ V82EMFLG # INDICATE EARTH SCALING FOR SR30.1
+ 1/RTMUE # EARTH PARAMETERS LOADED HERE FOR SR30.1
+ STODL TFF/RTMU
+ MINPERE
+ STODL HPERMIN
+ RPAD
+V82GON2 STCALL RPADTEM # COMMON CODE FOR EARTH & MOON.
+ SR30.1
+# Page 520
+ EXIT
+ TC CHECKMM
+ DEC 11
+ TC V82GON3 # NOT IN MODE 11.
+CANDEL TC INTPRET # IN MODE 11 OR 00
+ CALL
+ INTSTALL # DELRSPL DOES INTWAKE
+ DLOAD CALL
+ TFF
+ DELRSPL # RETURN IS TO NEXT LINE (SPLRET).
+SPLRET EXIT
+
+ CA MODREG
+ EXTEND
+ BZF SPLRET1
+V82GON3 CAF BIT5
+ MASK EXTVBACT # SEE IF ASTRONAUT HAS SIGNALLED TERMINATE
+ EXTEND
+ BZF ENDEXT # YES, TERMINATE VB 82 LOOP
+ CAF 1SEC
+ TC BANKCALL # WAIT ONE SECOND BEFORE REPEATING
+ CADR DELAYJOB # ORBITAL PARAMETER COMPUTATION.
+ TC V82GON1
+
+# Page 521
+# SUBROUTINE NAME: SR30.1
+# MOD NO: 0 DATE: 16 FEB 67
+# MOD BY: R. R. BAIRNSFATHER LOG SECTION: R32
+# MOD NO: 1 MOD BY: R. R. BAIRNSFATHER DATE: 11 APR 67 SR30.1 CHANGED TO ALLOW MONITOR OPERN
+# MOD NO: 2 MOD BY: R. R. BAIRNSFATHER DATE: 14 APR 67 ADD OVFL CK FOR RAPO
+# MOD NO: 3 MOD BY ALONSO DATE: 11 DEC 67 SUBROUTINE REWRITTEN
+# MOD NO: 4 MOD BY ALONSO DATE: 26 MAR 68 PROG MOD TO HANDLE DIF EARTH/MOON SCALE
+# MOD NO: 5 MOD BY: R. R. BAIRNSFATHER DATE: 6 AUG 68 OVFL CK FOR HAPO & HPER. VOIDS MOD #2.
+#
+# NEW FUNCTIONAL DESCRIPTION: ORBITAL PARAMETERS DISPLAY FOR NOUNS 32 AND 44.
+# SR30.1 CALLS TFFCONMU AND TFFRP/RA TO CALCULATE RPER (PERIGEE RADIUS),
+# RAPO (APOGEE RADIUS), HPER (PERIGEE HEIGHT ABOVE LAUNCH PAD OR LUNAR
+# LANDING SITE), HAPO (APOGEE HEIGHT AS ABOVE), TPER (TIME TO PERIGEE),
+# TFF (TIME TO INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE).
+# IF HPER IS GREATER THAN OR EQUAL TO HPERMIN, CALCULATES TPER AND STORES
+# NEGATIVE. IN -TPER. OTHERWISE STORES +0 IN -TPER. WHENEVER TPER IS
+# CALCULATED, TFF IS NOT COMPUTABLE AND DEFAULTS TO -59MIN 59SEC. IF HAPO
+# WOULD EXCEED 9999.9 NM, IT IS LIMITED TO THAT VALUE FOR DISPLAY.
+#
+# ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE
+# ABOVE REMARKS.
+#
+# CALLING SEQUENCE: CALL
+# SR30.1
+#
+# SUBROUTINES CALLED: TFFCONMU, TFFRP/RA, CALCTPER, CALCTFF
+#
+# NORMAL EXIT MODE: CALLING LINE +1 (STILL IN INTERPRETIVE MODE)
+#
+# ALARMS: NONE
+#
+# OUTPUT: RAPO (-29) M EARTH APOGEE RADIUS EARTH CENTERED COORD.
+# (-27) M MOON MOON CENTERED COORD.
+# RPER (-29) M EARTH PERIGEE RADIUS EARTH CENTERED COORD.
+# (-27) M MOON MOON CENTERED COORD.
+# HAPOX (-29) M APOGEE ALTITUDE ABOVE PAD OR LAND. SITE MAX VALUE LIMITED TO 9999.9 NM.
+# HPERX (-29) M PERIGEE ALT. ABOVE PAD OR LAND. SITE MAX VALUE LIMITED TO 9999.9 NM.
+# TFF (-28) CS TIME TO 300KFT OR 35KFT ALTITUDE
+# -TPER (-28) CS TIME TO PERIGEE
+#
+# ERASABLE INITIALIZATION REQUIRED -
+# TFF/RTMU (+17) EARTH RECIPROCAL OF PROPER GRAV CONSTANT FOR
+# (+14) MOON EARTH OR MOON = 1/SQRT(MU).
+# RONE (-29) M STATE VECTOR
+# VONE (-7) M/CS STATE VECTOR
+# RPADTEM (-29) M EARTH RADIUS OF LAUNCH PAD OR LUNAR LANDING
+# (-27) M MOON SITE.
+# HPERMIN (-29) M EARTH (300 OR 35) KFT MINIMUM PERIGEE ALTITUDE
+# (-27) M MOON ABOVE LAUNCH PAD OR LUNAR LANDING SITE.
+# V82EMFLG (INT SW BIT) RESET FOR EARTH, SET FOR MOON.
+#
+# DEBRIS: QPRET, PDL, S2
+
+# Page 522
+ COUNT* $$/SR30S
+
+SR30.1 SETPD STQ # INITIALIZE PUSHDOWN LIST.
+ 0
+ S2
+ # SR30.1 INPUT: RONE AT (-29)M EARTH/MOON
+ # VONE AT (-7)M/CS
+ # TFFCONMU, TFFRP/RA, CALCTPER, AND CALCTFF
+ # CALLS REQUIRE:
+ # EARTH CENTERED (NO RESCALING REQUIRED)
+ # RONE SCALED TO B-29 M
+ # VONE SCALED TO B-7 M/CS
+ # MOON CENTERED (RESCALING REQUIRED)
+ # RONE SCALED TO B-27 M
+ # VONE SCALED TO B-5 M/CS
+ BOFF VLOAD
+ V82EMFLG # OFF FOR EARTH, ON FOR MOON.
+ TFFCALLS
+ RONE
+ VSL2
+ STOVL RONE
+ VONE
+ VSL2
+ STORE VONE
+TFFCALLS CALL
+ TFFCONMU
+ CALL # TFFRP/RA COMPUTES RAPO,RPER.
+ TFFRP/RA
+ # RETURNS WITH RAPO IN D(MPAC).
+ DSU
+ RPADTEM
+ BOFF SR2R # NEED HAPO AT (-29)M FOR DISPLAY.
+ # IF MOON CENTERED, RESCALE FROM (-27)M.
+ # IF EARTH CENTERED ALREADY AT (-29)M.
+ V82EMFLG # OFF FOR EARTH, ON FOR MOON.
+ +1
+ CALL # IF HAPO > MAXNM, SET HAPO =9999.9 NM.
+ MAXCHK # OTHERWISE STORE (RAPO-RPADTEM) IN HAPO.
+STORHAPO STODL HAPOX
+ RPER
+ DSU
+ RPADTEM # GIVES HPER AT (-29)M EARTH, (-27)M MOON.
+ STORE MPAC +4 # SAVE THIS FOR COMPARISON TO HPERMIN.
+ BOFF SR2R # NEED HPER AT (-29)M FOR DISPLAY.
+ # IF MOON CENTERED, RESCALE FROM (-27)M.
+ # IF EARTH CENTERED ALREADY AT (-29)M.
+ V82EMFLG # OFF FOR EARTH, ON FOR MOON.
+ +1
+ CALL # IF HPER > MAXNM, SET HPER = 9999.9 NM.
+ MAXCHK
+# Page 523
+STORHPER STODL HPERX # STORE (RPER - RPADTEM) INTO HPERX.
+ MPAC +4
+ DSU BPL # HPERMIN AT (-29)M FOR EARTH, (-27)M MOON
+ HPERMIN # IF HPER L/ HPERMIN (300 OR 35) KFT,
+ DOTPER # THEN ZERO INTO -TPER.
+ DLOAD GOTO # OTHERWISE CALCULATE TPER.
+ HI6ZEROS
+ SKIPTPER
+DOTPER DLOAD CALL
+ RPER
+ CALCTPER
+ DCOMP # TPER IS PUT NEG INTO -TPER.
+SKIPTPER STODL -TPER
+ HPERMIN # HPERMIN AT (-29)M FOR EARTH, (-27)M MOON
+ DAD CALL
+ RPADTEM # RPADTEM AT (-29)M FOR EARTH, (-27)M MOON
+ CALCTFF # GIVES 59M59S FOR TFF IF RPER G/
+ DCOMP # HPERMIN + RPADTEM. (TPER WAS NON ZERO)
+ STCALL TFF # OTHERWISE COMPUTES TFF. (GOTO)
+ S2
+
+MAXCHK DSU BPL # IF C(MPAC) > 9999.9 NM. MPAC = 9999.9 NM.
+ MAXNM
+ +3 # OTHERWISE C(MPAC) = B(MPAC).
+ DAD RVQ
+ MAXNM
+ +3 DLOAD RVQ # (USED BY P30 - P37 ALSO)
+ MAXNM
+
+MAXNM 2OCT 0106505603
+
+# Page 524
+
+# There is no source code on this page --- HG 2009
diff --git a/R31.s b/R31.s
new file mode 100644
index 0000000..3d11ea5
--- /dev/null
+++ b/R31.s
@@ -0,0 +1,290 @@
+# Copyright: Public domain.
+# Filename: R31.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 505-510
+# Contact: Onno Hommes <ohommes@cmu.edu>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-11 OH Batch 2 Assignment Comanche Transcription
+# 2009-05-20 RSB Corrected INSTALL -> INTSTALL
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+
+# Page 505
+ BANK 34
+ SETLOC R31
+ BANK
+
+ COUNT* $$/R31
+
+R31CALL CAF PRIO3
+ TC FINDVAC
+ EBANK= SUBEXIT
+ 2CADR V83CALL
+
+DSPDELAY CAF 1SEC
+ TC BANKCALL
+ CADR DELAYJOB
+ CA EXTVBACT
+ MASK BIT12
+ EXTEND
+ BZF DSPDELAY
+
+DISPN5X CA FLAGWRD9 # TEST R31FLAG (IN SUNDANCE R31FLAG WILL
+ MASK BIT4 # ALWAYS BE SET AS R34 DOES NOT EXIST.
+ EXTEND
+ BZF +3
+ CAF V16N54 # R31 USE NOUN 54
+ TC +2
+ CAF V16N53 # R34 USE NOUN 53
+ TC BANKCALL
+ CADR GOMARKF
+ TC B5OFF
+ TC B5OFF
+ TCF DISPN5X
+
+V83 TC INTPRET
+ GOTO
+ HAVEBASE # INTEG STATE VECTORS
+V83CALL TC INTPRET
+ GOTO
+ STATEXTP # EXTRAPOLATE STATE VECTORS
+COMPDISP VLOAD VSU
+ RATT
+ RONE
+ PUSH ABVAL # RATT-RONE TO 0D PD= 6
+ STORE RANGE # METERS B-29
+ NORM VLOAD
+ X1 # RATT-RONE PD= 0
+ VSR1
+ VSL* UNIT
+ 0,1
+ PDVL VSU # UNIT(LOS) TO 0D PD= 6
+# Page 506
+ VATT
+ VONE
+ DOT # (VATT-VONE).UNIT(LOS) PD= 0
+ SL1
+ STCALL RRATE # RANGE RATE M/CS B-7
+ CDUTRIG # TO INITIALIZE FOR *NBSM*
+ CALL
+ R34LOS # NOTE. PDL MUST = 0.
+R34ANG VLOAD UNIT
+ RONE
+ PDVL # UR TO 0D PD= 6
+ THISAXIS # UNITX FOR CM, UNITZ FOR LM
+ BON VLOAD # CHK R31FLAG. ON=R31 THETA, OFF=R34 PHI
+ R31FLAG
+ +2 # R31-THETA
+ 12D
+ CALL
+ *NBSM*
+ VXM PUSH # UXORZ TO 6D PD=12D
+ REFSMMAT
+ VPROJ VSL2
+ 0D
+ BVSU UNIT
+ 6D
+ PDVL VXV # UP/2 TO 12D PD=18D
+ RONE
+ VONE
+ UNIT VXV
+ RONE
+ DOT PDVL # SIGN TO 12D, UP/2 TO MPAC PD=18D
+ 12D
+ VSL1 DOT # UP.UXORZ
+ 6D
+ SIGN SL1
+ 12D
+ ACOS
+ STOVL RTHETA
+ RONE
+ DOT BPL
+ 6D
+ +5
+ DLOAD BDSU # IF UXORZ.R NEG, RTHETA = 1 - RTHETA
+ RTHETA
+ DPPOSMAX
+ STORE RTHETA # RTHETA BETWEEN 0 AND 1 REV.
+ EXIT
+ CAF BIT5 # HAVE WE BEEN ANSWERED
+ MASK EXTVBACT
+ EXTEND
+ BZF ENDEXT # YES, DIE
+# Page 507
+ CS EXTVBACT
+ MASK BIT12
+ ADS EXTVBACT
+
+ TCF V83
+V16N54 VN 1654
+V16N53 VN 1653
+
+# Page 508
+# STATEXTP DOES AN INITIAL PRECISION EXTRAPOLATION OF THE
+# LEM STATE VECTOR TO PRESENT TIME OR TO PIPTIME IF AV G.
+# IS ON AND SAVES AS BASE VECTOR. IF AV G IS ON RN + VN
+# ARE USED AS THE CM STATE VECTOR AND THE INITIAL R RDOT
+# RTHETA ARE COMPUTED WITH NO FURTHER INTEGRATION. IF AV
+# G IS OFF A PRECISION EXTRAPOLATION IS MADE OF THE CM
+# STATE VECTOR TO PRESENT TIME AND.....
+#
+# THE CM + LM STATE VECTORS ARE INTEGRATED TO PRES TIME
+# USING PRECISION OR CONIC AS SURFFLAG IS SET OR CLEAR.
+#
+# IF AV G IS ON THEN
+# SUBSEQUENT PASSES WILL PROVIDE
+# USE OF RN + VN AS CM STATE VECTOR AND THE LM STATE
+# VECTOR WILL BE PRECISION INTEGRATED USING LEMPREC
+#
+# IF SURFFLAG IS SET.
+# CM STATE VECTOR RONE VONE + LM STATE VECTOR RATT
+# VATT ARE USED IN COMPUTING R RDOT RTHETA.
+#
+
+STATEXTP RTB BOF # INITIAL INTEGRATION
+ LOADTIME
+ V37FLAG
+ +3 # AV G OFF, USE PRES TIME
+ CALL
+ GETRVN # ON, USE RN VN PIPTIME
+ STORE BASETIME # PRES TIME OR PIPTIME
+ STCALL TDEC1
+ LEMPREC
+ VLOAD # BASE VECTOR, LM
+ RATT1
+ STOVL BASEOTP # POS.
+ VATT1
+ STORE BASEOTV # VEL.
+ BON DLOAD
+ V37FLAG
+ COMPDISP # COMPUTE R RDOT RTHETA FROM
+ # RONE(RN) VONE(VN) RATT+VATT(LEMPREC)
+ TAT
+ STCALL TDEC1
+ CSMPREC
+ VLOAD # BASE VECTOR, CM
+ RATT1
+ STOVL BASETHP # POS.
+ VATT1
+ STORE BASETHV # VEL.
+HAVEBASE BON RTB # SUBSEQUENT INTEGRATIONS
+ V37FLAG
+ GETRVN5
+ LOADTIME
+ STCALL TDEC1 # AV G OFF, SET INTEG, OF CM
+ INTSTALL
+ VLOAD CLEAR
+ BASETHP
+# Page 509
+ MOONFLAG
+ STOVL RCV
+ BASETHV
+ STODL VCV
+ BASETIME
+ BOF SET # GET APPROPRIATE MOONFLAG SETTING
+ MOONTHIS
+ +2
+ MOONFLAG
+ CLEAR
+ INTYPFLG
+ BON SET
+ SURFFLAG
+ +2 # PREC. IF LM DOWN
+ INTYPFLG # CONIC IF LM NOT DOWN
+ STCALL TET
+ INTEGRVS # INTEGRATION --- AT LAST ---
+ VLOAD
+ RATT
+ STOVL RONE
+ VATT
+ STODL VONE # GET SET FOR CONIC EXTRAP., OTHER.
+ TAT
+ BON CALL
+ SURFFLAG
+ GETRVN6 # LEMPREC IF LM DOWN
+ INTSTALL # ..CONIC IF NOT DOWN
+ SET
+ INTYPFLG
+OTHINT STORE TDEC1 # ENTERED IF AV G ON TO INTEG LM
+ VLOAD CLEAR
+ BASEOTP
+ MOONFLAG
+ STOVL RCV
+ BASEOTV
+ STODL VCV
+ BASETIME
+ BOF SET
+ MOONTHIS
+ +2
+ MOONFLAG
+ STCALL TET
+ INTEGRVS
+ GOTO
+ COMPDISP # COMPUTE R RDOT RTHETA
+GETRVN5 CALL # AV G ON
+ GETRVN
+ BON CALL
+ SURFFLAG
+ GETRVN6 # LM DOWN, LMPREC
+# Page 510
+ INTSTALL
+ CLEAR GOTO
+ INTYPFLG
+ OTHINT
+GETRVN6 STCALL TDEC1
+ LEMPREC
+ GOTO
+ COMPDISP # COMPUTE R RDOT RTHETA
+GETRVN STQ
+ 0D
+ VLOAD GOTO # AV G ON, RONE = RN VONE = VN
+ RN # AND USE PIPTIME
+ +1
+ STCALL RONE
+ +1
+ VLOAD GOTO
+ VN
+ +1
+ STODL VONE
+ PIPTIME
+ GOTO
+ 0D
+ SETLOC R34
+ BANK
+R34LOS EXIT
+ CA CDUS
+ INDEX FIXLOC
+ TS 9D
+ CA CDUT
+ INDEX FIXLOC
+ TS 11D
+ CA FIXLOC
+ AD SIX
+ COM
+ INDEX FIXLOC
+ TS X1
+ TC INTPRET
+ CALL
+ SXTNB
+ STCALL 12D
+ R34ANG
diff --git a/R60_62.s b/R60_62.s
new file mode 100644
index 0000000..f436b2b
--- /dev/null
+++ b/R60_62.s
@@ -0,0 +1,387 @@
+# Copyright: Public domain.
+# Filename: R60_62.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 390-398
+# Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 390
+ BANK 34
+ SETLOC MANUVER
+ BANK
+
+ EBANK= TEMPR60
+
+ COUNT 27/R60
+
+# CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18, 1968
+
+R60CSM TC MAKECADR
+ TS TEMPR60
+
+# INSERT PRIODSP CHECK WITH R22 (V06N49) WITH JENNINGS BRODEUR
+
+REDOMANN CAF BIT6
+ MASK FLAGWRD5 # IS 3-AXIS FLAG SET
+ CCS A
+ TCF TOBALL # YES
+ TC INTPRET
+ CALL
+ VECPOINT # TO COMPUTE FINAL ANGLES
+ STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
+ EXIT
+
+TOBALL CAF V06N18
+ TC BANKCALL
+ CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER
+ TC R61TEST
+ TC REDOMANC # PROCEED
+ TCF ENDMANU1 # ENTER I.E., FINISHED WITH R60
+
+ TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS
+ TC ENDOFJOB
+
+REDOMANC CAF BIT6
+ MASK FLAGWRD5 # IS 3-AXIS FLAG SET
+ CCS A
+ TCF TOBALLC # YES
+ TC INTPRET
+ CALL
+ VECPOINT # TO COMPUTE FINAL ANGLES
+ STORE CPHI # STORE ANGLES
+ EXIT
+
+TOBALLC CAF PRIO30 # IS MODE AUTO AND CTL GNC
+# Page 391
+ EXTEND
+ RXOR CHAN31
+ MASK 13,14,15
+ EXTEND
+ BZF +2 # AUTO, NON-FLASH N18
+ TCF TOBALL # NOT AUTO
+
+ CAF V06N18 # STATIC UP NON-FLASHING V06 N18
+ TC BANKCALL
+ CADR GODSPR
+ TC CHKLINUS
+
+STARTMNV TC BANKCALL
+ CADR GOMANUR
+ENDMANUV TCF TOBALL # FINISHED MANEUVER.
+
+ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG
+ ADRES 3AXISFLG # BIT 6 FLAG 5
+ CAE TEMPR60
+ TC BANKJUMP
+
+CHKLINUS CS FLAGWRD4
+ MASK BIT12 # IS PRIORITY DISPLAY FLAG SET?
+ CCS A
+ TC Q # NO -- EXIT
+ CA Q
+ TS MPAC +2 # SAVE RETURN
+ CS THREE # OBTAIN LOCATION FOR RESTART
+ AD BUF2 # HOLD Q OF LAST DISPLAY
+ TS TBASE1
+
+ TC PHASCHNG
+ OCT 71 # 1.7SPOT FOR RELINUS
+
+ CAF BIT7
+ TC LINUS # GO SET BITS FOR PRIORITY DISPLAY
+ TC MPAC +2
+
+RELINUS CAF BIT5 # IS TRACK FLAG ON
+ MASK FLAGWRD1
+ EXTEND
+ BZF GOREDO20 # NO
+
+ TC UPFLAG
+ ADRES PDSPFLAG # R60 PRIODSP FLAG
+
+ TC UPFLAG
+ ADRES TARG1FLG # FOR R52
+
+ CAF ZERO # RESET TO ZERO, SINCE
+# Page 392
+ TS OPTIND # OPTIND WAS SET TO -1 BY V379
+
+ CAF PRIO14 # RESTORE ORIGINAL PRIORITY
+ TC PRIOCHNG
+
+ TC TBASE1
+
+GOREDO20 TC PHASCHNG
+ OCT 111 # 1.11 FOR PIKUP20
+
+ TC ENDOFJOB
+
+R61TEST CA MODREG # ARE WE IN P00. IF YES THIS MUST BE
+ EXTEND # VERB49 OR VERB89 SO DO ENDEXT.
+ BZF ENDMANU1 # RESET 3-AXIS & RETURN. USER DOES ENDEXT
+ CA FLAGWRD4 # ARE WE IN R61 (P20)
+ MASK BIT12
+ EXTEND
+ BZF GOTOP00H # NO
+ TC GOTOV56 # YES
+
+BIT14+7 OCT 20100
+V06N18 VN 0618
+
+# Page 393
+# PROGRAM DESCRIPTION -- VECPOINT
+#
+# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS
+# TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
+# BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
+# THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
+# SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS
+# VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
+# ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
+# IN T(MPAC) BEFORE RETURNING TO THE CALLER.
+#
+# THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE,
+# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS-
+# PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
+# LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
+# THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
+# THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
+# STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER.
+#
+# WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
+# CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
+# REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
+# EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
+#
+# CALLING SEQUENCE
+#
+# 1) LOAD SCAXIS, POINTVSM
+# 2) CALL
+# VECPOINT
+#
+# RETURNS WITH
+#
+# 1) DESIRED OUTER GIMBAL ANGLE IN MPAC
+# 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
+# 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
+#
+# ERASABLES USED --
+#
+# 1) SCAXIS 6
+# 2) POINTVSM 6
+# 3) MIS 18
+# 4) DEL 18
+# 5) COF 6
+# 6) VECQTEMP 1
+# 7) ALL OF VAC AREA 43
+#
+# TOTAL 99
+
+ SETLOC VECPT
+ BANK
+# Page 394
+ EBANK= BCDU
+
+ COUNT 27/VECPT
+
+VECPOINT STQ BOV # SAVE RETURN ADDRESS
+ VECQTEMP
+ VECLEAR # AND CLEAR OVFIND
+VECLEAR AXC,2 RTB
+ MIS # READ THE PRESENT CDU ANGLES AND
+ READCDUK # STORE THEM IN PD25, 26, 27
+ STCALL 25D
+ CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS)
+ VLOAD VXM
+ POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO
+ MIS # INITIAL S/C AXES (VF = POINTVSM)
+ UNIT
+ STORE 28D
+ # PD 28 29 30 31 32 33
+ VXV UNIT # TAKE THE CROSS PRODUCT VF X VI
+ SCAXIS # WHERE VI = SCAXIS
+ BOV VCOMP
+ PICKAXIS
+ STODL COF # CHECK MAGNITUDE
+ 36D # OF CROSS PRODUCT
+ DSU BMN # VECTOR, IF LESS
+ DPB-14 # THAN B-14 ASSUME
+ PICKAXIS # UNIT OPERATION
+ VLOAD DOT # INVALID.
+ SCAXIS
+ 28D
+ SL1 ARCCOS
+COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM
+ DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI
+ AXC,1 AXC,2
+ MIS # COMPUTE THE TRANSFORMATION FROM FINAL
+ DEL # S/C AXES TO STABLE MEMBER AXES
+ CALL # MFS = MIS MFI
+ MXM3 # (IN PD LIST)
+
+ DLOAD ABS
+ 6 # MFS6 = SIN(CPSI) $2
+ DSU BMN
+ SINGIMLC # = SIN(59 DEGS) $2
+ FINDGIMB # /CPSI/ LESS THAN 59 DEGS.
+ # I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
+
+ DLOAD ABS # CHECK TO SEE IF WE ARE POINTING
+ SCAXIS # THE THRUST AXIS
+ DSU BPL
+ SINVEC1 # SIN 49.4 DEGS $2
+# Page 395
+ FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO
+ VLOAD # GIMBAL LOCK, ABORT COULD GO HERE
+ STADR
+ STOVL MIS +12D
+ STADR # STORE MFS (IN PD LIST) IN MIS
+ STOVL MIS +6
+ STADR
+ STOVL MIS
+ MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES
+ BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO
+ IGSAMEX # FINAL X S/C AXIS
+
+IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE
+ SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION
+ U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3)
+ # X SCAXIS . XF) LESS THAN Q, U = SCAXIS
+ # OTHERWISE U = -SCAXIS.
+
+ VLOAD VCOMP
+ SCAXIS
+ STCALL COF # ROTATE ABOUT -SCAXIS
+ CHEKAXIS
+U=SCAXIS VLOAD
+ SCAXIS
+ STORE COF # ROTATE ABOUT + SCAXIS
+CHEKAXIS DLOAD ABS
+ SCAXIS # SEE IF WE ARE POINTING THE AOT
+ DSU BPL
+ SINVEC2 # SIN 29.5 DEGS $2
+ PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
+ DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER
+ VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE
+ COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT
+ # OF GIMBAL LOCK (VECANG2 $360)
+PICKANG1 DLOAD
+ VECANG1 # = 50 DEGS. $360
+COMPMFSN CALL
+ DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO
+ AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK
+ MIS
+ DEL
+ CALL # COMPUTE THE NEW TRANSFORMATION FROM
+ MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES
+ # WHICH WILL ALIGN VI WITH VF AND AVOID
+ # GIMBAL LOCK
+FINDGIMB AXC,1 CALL
+ 0 # EXTRACT THE COMMANDED CDU ANGLES FROM
+ DCMTOCDU # THIS MATRIX
+ RTB SETPD
+ V1STO2S # CONVERT TO 2'S COMPLEMENT
+# Page 396
+ 0
+ GOTO
+ VECQTEMP # RETURN TO CALLER
+
+PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI
+ 28D
+ SCAXIS
+ BMN TLOAD
+ ROT180
+ 25D
+ GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU
+ VECQTEMP # PRESENT CDU ANGLES
+
+ROT180 VLOAD VXV # IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION
+ MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN
+ HIUNITX # INITIAL S/C AXES.
+ UNIT VXV # FIND Y(SM) X X(I)
+ SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I)))
+ UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I),
+ PICKX # Y(SM) PERPENDICULAR TO VI
+ STODL COF
+ 36D # CHECK MAGNITUDE
+ DSU BMN # OF THIS VECTOR.
+ DPB-14 # IF LESS THAN B-14,
+ PICKX # PICK X-AXIS.
+ VLOAD
+ COF
+XROT STODL COF
+ HIDPHALF
+ GOTO
+ COMPMATX
+PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE
+ HIUNITX
+ XROT
+ BANK 35
+ SETLOC MANUVER1
+ BANK
+
+SINGIMLC 2DEC .4285836003 # = SIN(59) $2
+
+SINVEC1 2DEC .3796356537 # = SIN(49.4) $2
+
+SINVEC2 2DEC .2462117800 # = SIN(29.5) $2
+
+VECANG1 2DEC .1388888889 # = 50 DEGREES $360
+
+VECANG2 2DEC .09722222222 # = 35 DEGREES $360
+
+
+1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ********
+DPB-14 OCT 00001
+# Page 397
+ OCT 00000
+ BANK 34
+ SETLOC MANUVER
+ BANK
+
+# Page 398
+# ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
+
+ EBANK= CPHI
+
+ COUNT 27/R62
+
+R62DISP CAF V06N22 # DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
+ TC BANKCALL
+ CADR GOFLASH
+ TCF ENDEXT
+ TCF GOMOVE # PROCEED
+ TCF R62DISP # ENTER
+
+ # ASTRONAUT MAY LOAD NEW ICDUS AT THIS
+ # POINT.
+GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER
+ ADRES 3AXISFLG
+
+ TC BANKCALL
+ CADR R60CSM
+ TCF ENDEXT
+
diff --git a/R63.s b/R63.s
new file mode 100644
index 0000000..e477acf
--- /dev/null
+++ b/R63.s
@@ -0,0 +1,156 @@
+# Copyright: Public domain.
+# Filename: R63.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 338-341
+# Mod history: 2009-05-16 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 338
+# SUBROUTINE NAME: V89CALL
+# MOD NO: 0 DATE: 9 JAN 1968
+# MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND
+# DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.
+#
+# 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
+# EXIT R63, OTHERWISE CONTINUE.
+#
+# 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
+# ORIENTATION KNOWN TO LGC, CONTINUE.
+#
+# 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
+# BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
+# ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT =1) BY V 22 E 2 E. CONTINUE
+# AFTER KEYING IN PROCEED.
+#
+# 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.
+#
+# 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
+# HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
+# PREPARED FOR VECPOINT.
+#
+# 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
+# BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.
+#
+# 7 RECYCLE -- RETURN TO STEP 4.
+# TERMINATE -- EXIT R63
+# PROCEED -- RESET 3AXISFLAG AND CALL R60LEM FOR ATTITUDE MANEUVER.
+#
+# CALLING SEQUENCE: V 89 E.
+#
+# SUBROUTINES CALLED: CHECKP00H, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC,
+# VECPOINT, BALLANGS, R60LEM.
+#
+# NORMAL EXIT MODES: TC ENDEXT
+#
+# ALARMS: 1. OPERATOR ERROR IF NOT IN P00.
+# 2. PROGRAM ALARM IF IMU IS OFF.
+# 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN.
+#
+# OUTPUT: NONE
+#
+# ERASABLE INITIALIZATION REQUIRED: NONE
+#
+# DEBRIS: OPTION1, +1, TDEC1, PCINTVSM, SCAXIS, CPHI, CTHETA, CPSI,
+# Page 339
+# 3AXISFLAG.
+
+ EBANK= RONE
+ BANK 32
+ SETLOC BAWLANGS
+ BANK
+
+ COUNT* $$/R63
+V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION
+ CADR R02BOTH # KNOWN. ALARMS IF NOT.
+ CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED
+ TS OPTIONX # TRACKING ATTITUDE AXIS.
+ CAF ONE
+ TS OPTIONX +1
+ CAF VB04N12 # V 04 N 12.
+ TC BANKCALL
+ CADR GOFLASH
+ TC ENDEXT # TERMINATE
+ TC +2 # PROCEED
+ TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS
+V89RECL TC INTPRET # 2 FOR X AXIS
+ RTB DAD
+ LOADTIME # READ PRESENT TIME
+ DP1MIN
+ STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL
+ STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL
+ CSMCONIC # CSM STATE VECTOR UPDATE
+ VLOAD # CSMCONIC LEFT R VECTOR IN RATT
+ RATT
+ STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION
+ TSTART82
+ STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL
+ LEMCONIC # LEM STATE VECTOR UPDATE
+ VLOAD VSU # CSM POSITION -- LEM POSITION -- LOS
+ RONE # LOS VECTOR LEFT IN MPAC
+ RATT
+ MXV RTB # (REFSMAT X LOS). TRANSFORMS LOS FROM
+ REFSMMAT # REFERENCE COORD TO STAB MEMB COORD.
+ NORMUNIT
+ STORE POINTVSM # STORE LOS FOR VECPOINT CALCULATION
+ EXIT
+ CS OPTIONX +1 # 1 FOR Z AXIS. 2 FOR X AXIS.
+ AD ONE
+ EXTEND
+ BZF ALINEZ
+ALINEX TC INTPRET # X AXIS ALIGNMENT
+ VLOAD
+ UNITX # READ (.5, 0, 0)
+# Page 340
+V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS
+ VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC
+ STORE CPHI # STOR GIMBAL ANGLES FOR BALLANGS CALL
+ EXIT
+ TC BANKCALL
+ CADR BALLANGS # PUTS DESIRED BALL ANGLE IN FDAIX,Y,Z
+ CAF VB06N18 # V 06 N 18
+ TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z
+ CADR GOFLASH
+ TC ENDEXT # TERMINATE
+ TC +2 # PROCEED
+ TC V89RECL # RECYCLE
+ TC DOWNFLAG # RESET 3 AXIS FLAG
+ ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5
+ TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED
+ CADR R60LEM # SPACECRAFT AXIS TO CSM.
+ TCF ENDEXT # TERMINATE R63
+
+ALINEZ TC INTPRET # Z AXIS ALIGNMENT
+ VLOAD GOTO
+ UNITZ # READ (0, 0, .5)
+ V89CALL1
+
+VB04N12 VN 412
+VB06N18 VN 0618
+# Page 341
+DP1MIN 2DEC 6000
+
diff --git a/RADAR_LEADIN_ROUTINES.s b/RADAR_LEADIN_ROUTINES.s
new file mode 100644
index 0000000..b2f23b7
--- /dev/null
+++ b/RADAR_LEADIN_ROUTINES.s
@@ -0,0 +1,103 @@
+# Copyright: Public domain.
+# Filename: RADAR_LEADIN_ROUTINES.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 490-491
+# Mod history: 2009-05-17 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 490
+ BANK 25
+ SETLOC RRLEADIN
+ BANK
+
+ EBANK= RSTACK
+
+# RADAR SAMPLING LOOP.
+
+ COUNT* $$/RLEAD
+RADSAMP CCS RSAMPDT # TIMES NORMAL ONCE PER SECOND SAMLING
+ TCF +2
+ TCF TASKOVER # +0 INSERTED MANUALLY TERMINATES TEST.
+
+ TC WAITLIST
+ EBANK= RSTACK
+ 2CADR RADSAMP
+
+ CAF PRIO25
+ TC NOVAC
+ EBANK= RSTACK
+ 2CADR DORSAMP
+
+ CAF BIT14 # FOR CYCLIC SAMPLING, RTSTDEX=
+ EXTEND # RTSTLOC/2 + RTSTBASE
+ MP RTSTLOC
+ AD RTSTBASE # 0 FOR RR, 2 FOR LR.
+ TS RTSTDEX
+ TCF TASKOVER
+
+# DO THE ACTUAL RADAR SAMPLE.
+
+DORSAMP TC VARADAR # SELECTS VARIABLE RADAR CHANNEL.
+ TC BANKCALL
+ CADR RADSTALL
+
+ INCR RFAILCNT # ADVANCE FAIL COUNTER BUT ACCEPT BAD DATA
+
+DORSAMP2 INHINT
+ CA FLAGWRD5 # DON'T UPDATE RSTACK IF IN R77.
+ MASK R77FLBIT
+ CCS A
+ TCF +4
+
+ DXCH SAMPLSUM
+ INDEX RTSTLOC
+ DXCH RSTACK
+
+ CS RTSTLOC # CYCLE RTSTLOC.
+ AD RTSTMAX
+ EXTEND
+
+# Page 491
+ BZF +3
+ CA RTSTLOC
+ AD TWO # STORAGE IS DP
+ TS RTSTLOC
+ TCF ENDOFJOB # CONTINUOUS SAMPLING AND 2N TRIES -- GONE.
+
+# VARIABLE RADAR DATA CALLER FOR ONE MEASUREMENT ONLY.
+
+VARADAR CAF ONE # WILL BE SENT TO RADAR ROUTINE IN A BY
+ TS BUF2 # SWCALL
+ INDEX RTSTDEX
+ CAF RDRLOCS
+ TCF SWCALL # NOT TOUCHING Q.
+
+RDRLOCS CADR RRRANGE # = 0
+ CADR RRRDOT # = 1
+ CADR LRVELX # = 2
+ CADR LRVELY # = 3
+ CADR LRVELZ # = 4
+ CADR LRALT # = 5
+
+
diff --git a/RCS-CSM_DAP_EXECUTIVE_PROGRAMS.s b/RCS-CSM_DAP_EXECUTIVE_PROGRAMS.s
new file mode 100644
index 0000000..3e7e0f9
--- /dev/null
+++ b/RCS-CSM_DAP_EXECUTIVE_PROGRAMS.s
@@ -0,0 +1,85 @@
+# Copyright: Public domain.
+# Filename: RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1037-1038
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB A "Page N" comment was corrected.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1037
+# CALCULATION OF AMGB, AMBG ONCE EVERY SECOND
+#
+# AMGB = 1 SIN(PSI) 0
+# 0 COS(PSI)COS(PHI) SIN(PHI)
+# 0 -COS(PSI)SIN(PHI) COS(PHI)
+#
+# AMBG = 1 -TAN(PSI)COS(PHI) TAN(PSI)SIN(PHI)
+# 0 COS(PHI)/COS(PSI) -SIN(PHI)/COS(PSI)
+# 0 SIN(PHI) COS(PHI)
+#
+# WHERE PHI AND PSI ARE CDU ANGLES
+
+ BANK 20
+ SETLOC DAPS8
+ BANK
+
+ COUNT* $$/DAPEX
+ EBANK= KMPAC
+AMBGUPDT CA FLAGWRD6 # CHECK FOR RCS AUTOPILOT
+ EXTEND
+ BZMF ENDOFJOB # BIT15 = 0, BIT14 = 1
+ MASK BIT14 # IF NOT RCS, EXIT
+ EXTEND
+ BZF ENDOFJOB # TO PROTECT TVC DAP ON SWITCHOVER
+
+ CA CDUZ
+ TC SPSIN2
+ TS AMGB1 # CALCULATE AMGB
+ CA CDUZ
+ TC SPCOS2
+ TS CAPSI # MUST CHECK FOR GIMBAL LOCK
+ CAF QUADANGL # = 7.25 DEGREES JET QUAD ANGULAR OFFSET
+ EXTEND
+ MSU CDUX
+ COM # CDUX - 7.25 DEG
+ TC SPCOS1
+ TS AMGB8
+ EXTEND
+ MP CAPSI
+ TS AMGB4
+ CAF QUADANGL
+ EXTEND
+ MSU CDUX
+ COM # CDUX - 7.25 DEG
+ TC SPSIN1
+ TS AMGB5
+ EXTEND
+ MP CAPSI
+ COM
+# Page 1038
+ TS AMGB7
+ TCF ENDOFJOB
+QUADANGL DEC 660 # = 7.25 DEGREES
+
diff --git a/RCS-CSM_DIGITAL_AUTOPILOT.s b/RCS-CSM_DIGITAL_AUTOPILOT.s
new file mode 100644
index 0000000..20a7872
--- /dev/null
+++ b/RCS-CSM_DIGITAL_AUTOPILOT.s
@@ -0,0 +1,976 @@
+# Copyright: Public domain.
+# Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1002-1024
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1002
+# T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT
+
+# START OF T5 INTERRUPT PROGRAM
+
+ BANK 20
+ SETLOC DAPS3
+ BANK
+
+ COUNT 21/DAPRC
+
+ EBANK= KMPAC
+REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
+ CA T5PHASE # ON A T5 RUPT
+ EXTEND
+ BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO -
+ TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP
+ CS ONE
+ TS T5PHASE
+ EXTEND
+ DCA RCSLOC
+ DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT
+ TCF RCSATT +1
+ EBANK= KMPAC
+RCSLOC 2CADR RCSATT
+
+RCSATT LXCH BANKRUPT # SAVE BB
+ EXTEND # SAVE Q
+ QXCH QRUPT
+ CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND
+ EXTEND # S/C CONT SW IS IN CMC (I.E., IF G/C AUTO
+ RAND CHAN31 # PILOT IS FULLY ENABLED)
+ EXTEND
+ BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
+ # GO TO SETT5
+
+ CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
+ MASK BIT14
+ ADS RCSFLAGS # SET NORATE FLAG,
+ CAF POSMAX
+ TS HOLDFLAG # SET HOLDFLAG +,
+ CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ,
+ TS ERRORX
+ TS ERRORY
+ TS ERRORZ
+ CAF BIT14
+ EXTEND
+ RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31).
+ EXTEND
+# Page 1003
+ BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
+
+ TS T5PHASE # IF NOT IN FREE MODE,
+ CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
+ TS TIME5 # IN 100 MS VIA T5RUPT
+
+ TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
+
+ TCF KMATRIX
+DELTATT OCT 37770 # 80MS (TIME5)
+DELTATT2 OCT 37776 # 20MS (TIME5)
+ONESEK DEC 16284 # 1 SEC(TIME5)
+CHAN5 EQUALS 5
+CHAN6 EQUALS 6
+PRIO34A = PRIO34
+
+# CHECK PHASE OF T5 PROGRAM
+#
+# BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
+# THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
+# TO ALLOW FOR THE EXECUTION OF OTHER
+# INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
+# VARIABLES AT TURN ON.
+#
+# THE CODING OF T5PHASE IS...
+#
+# + = INITIALIZE T5 RCS-CSM AUTOPILOT
+# T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM
+# - = RESTART DAP
+# -0 = PHASE1 OF THE T5 PROGRAM
+
+SETT5 CCS T5PHASE
+ TCF FRESHDAP # TURN ON AUTOPILOT
+ TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
+ TCF REDAP # RESTART AUTOPILOT
+
+ TS T5PHASE # PHASE 1 RESET FOR PHASE 2
+ CA TIME5
+ TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
+ CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2
+ TS TIME5 # OF PROGRAM
+
+# Page 1004
+# IMU STATUS CHECK
+
+ CS IMODES33 # CHECK IMU STATUS
+ MASK BIT6 # BIT6 = 0 IMU OK
+ CCS A # BIT6 = 1 NO IMU
+ TCF RATEFILT
+FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN
+ MASK BIT14 # INITIALIZED
+ ADS RCSFLAGS
+ CAF BIT14 # NO ATTITUDE REFERENCE
+ TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE
+ # TO PICK UP CDU ANGLES UPON RESUMPTION OF
+ # ATTITUDE HOLD
+ EXTEND
+ RAND CHAN31 # CHECK FOR FREE MODE
+ EXTEND
+ BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY
+ TCF REINIT # .....TILT...............................
+BITS4,5 OCT 30
+
+RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
+ MASK BIT14
+ EXTEND # IF SO, PROCEED WITH RATE DERIVATION
+ BZF +2
+ TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
+
+# RATE FILTER TIMING = 7.72 MS
+#
+# RATE FILTER EQUATIONS
+#
+#
+# DRHO = DELRHO - (.1)ADOT + (1 = GAIN1)DRHO
+# -1
+#
+# ADOT = ADOT + GAIN2 DRHO + KMJ DFT
+# -1
+# _ * _ _
+# WHERE DELRHO = AMGB (CDU - CDU )
+# -1
+
+ CAF TWO
+DRHOLOOP TS SPNDX
+ DOUBLE
+ TS DPNDX
+ INDEX DPNDX
+ CS DRHO # DRHO SCALED 180 DEGS
+ EXTEND
+ INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN
+ MP GAIN1
+ INDEX DPNDX
+ DAS DRHO # (1 -.064) DRHO
+ EXTEND
+# Page 1005
+ INDEX DPNDX
+ DCS ADOT
+ DXCH KMPAC # -(.1)ADOT
+ CA QUARTER
+ TC SMALLMP
+ DXCH KMPAC
+ INDEX DPNDX
+ DAS DRHO
+ CCS SPNDX
+ TCF DRHOLOOP
+
+ CA CDUX # MEASURED BODY RATES--
+ XCH RHO
+ EXTEND
+ MSU RHO # _ * _ _
+ COM # DELRHO = AMGB (CDU - CDU )
+ # -1
+ ZL
+ DXCH DELTEMPX
+ CA CDUY
+ XCH RHO1
+ EXTEND
+ MSU RHO1
+ COM
+ TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS
+ EXTEND
+ MP AMGB1
+ DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1)
+ # MUST BE DOUBLE PRECISION OR WILL LOSE
+ # PULSES
+ CA AMGB4
+ EXTEND
+ MP T5TEMP
+ DXCH DELTEMPY
+ CA AMGB7
+ EXTEND
+ MP T5TEMP
+ DXCH DELTEMPZ
+ CA CDUZ
+ XCH RHO2
+ EXTEND
+ MSU RHO2
+ COM
+ TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS
+ EXTEND
+ MP AMGB5
+ DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1)
+ # + AMGB5(CDUZ-RHO2)
+ CA AMGB8
+ EXTEND
+
+# Page 1006
+ MP T5TEMP
+ DAS DELTEMPZ # DELTEMPZ = AMBG7(CDUY-RHO1)
+ # + AMGB8(CDUZ-RHO2)
+ CAF TWO
+ADOTLOOP TS SPNDX
+ DOUBLE
+ TS DPNDX
+ EXTEND
+ INDEX DPNDX
+ DCA DELTEMPX
+ INDEX DPNDX
+ DAS DRHO
+ EXTEND
+ INDEX DPNDX
+ DCA DELTEMPX
+ INDEX DPNDX
+ DAS MERRORX
+ INDEX DPNDX
+ CA DRHO
+ DOUBLE # N.B.
+ DOUBLE # N.B.
+ EXTEND
+ INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS
+ MP GAIN2
+ INDEX DPNDX # ADOT + (.16)(.1)DRHO
+ DAS ADOT # -1
+ INDEX SPNDX # S/C TORQUE TO INERTIA RATIO
+ CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3
+ EXTEND
+ INDEX SPNDX
+ MP DFT
+ INDEX DPNDX
+ DAS ADOT # KMJ(DFT)
+ CCS SPNDX
+ TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES
+KMATRIX CA ATTSEC
+ MASK LOW4
+ CCS A
+ TCF TENTHSEK
+ CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION
+ TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
+ EBANK= KMPAC
+ 2CADR AMBGUPDT
+
+ CAF NINE
+
+TENTHSEK TS ATTSEC
+
+# Page 1007
+# WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH
+# SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT--
+#
+# CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION)
+# CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION)
+# CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION)
+#
+# THE STEERING PROGRAMS:
+# 1) ATTITUDE MANEUVER ROUTINE
+# 2) LEM TRACKING
+#
+# SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY,
+# DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES.
+#
+# HOLDFLAG CODING:
+#
+# + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ
+# AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES
+# ALSO IGNORE AUTOMATIC STEERING
+# SET = + BY
+# 1) INITIALIZATION PHASE OF AUTOPILOT
+# 2) OCCURANCE OF RHC COMMANDS
+# 3) FREE MODE
+# 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO
+# WHILE DOING AUTOMATIC STEERING (IN THIS CASE
+# HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC
+# FUNCTIONS AS IF IT WERE.)
+# 5) S/C CONTROL SWITCH IS SCS
+# 6) IMU POWER OFF
+# +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE
+# - = PERFORMING AUTOMATIC MANEUVER
+# -0 = NOT USED AT PRESENT
+#
+# NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT.
+# SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO
+# DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE THE APPROPRIATE ACTION.
+
+ CS HOLDFLAG
+ EXTEND
+ BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC
+ # COMMANDS.
+DCDUINCR CAF TWO
+DELOOP TS SPNDX
+ DOUBLE
+ TS DPNDX
+ EXTEND
+ INDEX A
+ DCA CDUXD
+# Page 1008
+ DXCH KMPAC
+ EXTEND
+ INDEX DPNDX
+ DCA DELCDUX
+ TC DPADD
+ EXTEND
+ DCA KMPAC
+ INDEX SPNDX
+ TS THETADX
+ INDEX DPNDX
+ DXCH CDUXD
+ CCS SPNDX
+ TCF DELOOP
+
+# Page 1009
+# RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
+#
+# THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI:
+#
+# MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E
+# GENERATED INTERNALLY BY THE AUTOPILOT
+#
+# MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E
+# WITH RESPECT TO THE CONTENTS OF N22
+#
+# MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E
+# WITH RESPECT TO THE CONTENTS OF N17
+#
+# MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS
+# MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE.
+#
+# MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
+# IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
+# AS A FLY-TO INDICATOR.
+#
+# MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED
+# IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES
+# AS A FLY-TO INDICATOR.
+#
+# V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY
+# WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME.
+#
+# THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN
+# INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA
+# V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME.
+
+DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
+ MASK BIT4
+ EXTEND
+ BZF FDAIDSP2
+
+FDAIDSP1 ADS RCSFLAGS
+ TC NEEDLER
+KRESUME1 TCF RESUME # END PHASE 1
+
+# Page 1010
+# FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
+#
+# PROGRAM DESCRIPTION: D. KEENE 5/24/67
+#
+# THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
+# IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
+# OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
+# THE DACS.
+#
+# CALLING SEQUENCE:
+#
+# DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
+# TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
+#
+# CS RCSFLAGS # IN EBANK6
+# MASK BIT3
+# ADS RCSFLAGS
+#
+# THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANFERRED TO THE FOLLOWING LOCATIONS IN EBANK6:
+#
+# AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
+# AK1 SCALED 180 DEGREES TO CHANGE
+# AK2 SCALED 180 DEGREES
+#
+# FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR
+# (= 384 BITS IN IMU ERROR COUNTER)
+#
+# A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
+#
+# INHINT
+# TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6
+# CADR NEEDLER
+# RELINT
+#
+# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PRORAM ARE
+# REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
+# NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
+#
+# ERASABLE USED:
+# AK CDUXCMD
+# AK1 CDUYCMD
+# AK2 CDUZCMD
+# EDRIVEX A,L,Q
+# EDRIVEY T5TEMP
+# EDRIVEZ SPNDX
+#
+# SWITCHES; RCSFLAGS BITS 3,2
+#
+# I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
+# Page 1011
+# CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
+# CHAN14 BIT 13,14,15 (DAC ACTIVITY)
+#
+# SIGN CONVENTION: AK = THETAC - THETA
+# WHERE THETAC = COMMAND ANGLE
+# THETA = PRESENT ANGLE
+
+NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
+ EXTEND # IF IN COARSE ALIGN DO NOT USE IMU
+ RAND CHAN12 # ERROR COUNTERS. DON'T USE NEEDLES
+ EXTEND
+ BZF NEEDLER1
+ CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS
+ MASK BIT3
+ ADS RCSFLAGS
+ TC Q
+
+NEEDLER1 CA RCSFLAGS
+ MASK SIX
+ EXTEND
+ BZF NEEDLES3
+ MASK BIT3
+ EXTEND
+ BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
+
+ CS BIT6 # FIRST PASS BIT3 = 1
+ EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
+ WAND CHAN12 # MUST WAIT AT LEAST 60 MS. BEFORE
+NEEDLE11 CS ZERO # ENABLING COUNTERS.
+ TS AK # ZERO THE INPUTS ON FIRST PASS
+ TS AK1
+ TS AK2
+ TS EDRIVEX # ZERO THE DISPLAY REGISTERS
+ TS EDRIVEY
+ TS EDRIVEZ
+ TS CDUXCMD # ZERO THE OUT COUNTERS
+ TS CDUYCMD
+ TS CDUZCMD
+ CS SIX # RESET RCSFLAGS FOR PASS2
+ MASK RCSFLAGS
+ AD BIT2
+ TS RCSFLAGS
+ TC Q # END PASS1
+
+NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
+ EXTEND
+ WOR CHAN12
+ CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
+# Page 1012
+ MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
+ TS RCSFLAGS # RELAY CLOSURE
+ TC Q
+
+NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
+ EXTEND # IS ENABLED
+ RAND CHAN12
+ EXTEND # IF NOT RECYCLE NEEDLES
+ BZF NEEDLER +5
+
+NEEDLES CAF TWO
+DACLOOP TS SPNDX
+ CS QUARTER
+ EXTEND
+ INDEX SPNDX
+ MP AK
+ TS L
+ CCS A
+ CA DACLIMIT
+ TCF +2
+ CS DACLIMIT
+ AD L
+ TS T5TEMP # OVFLO CHK
+ TCF +4
+ INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
+ CAF DACLIMIT
+ TS L
+ INDEX SPNDX
+ CS EDRIVEX # CURRENT VALUE OF DAC
+ AD L
+ INDEX SPNDX
+ ADS CDUXCMD
+ INDEX SPNDX
+ LXCH EDRIVEX
+ CCS SPNDX
+ TCF DACLOOP
+ CAF 13,14,15
+ EXTEND
+ WOR CHAN14 # SET DAC ACTIVITY BITS
+ TC Q
+
+REINIT CAF DELAY200 # ........TILT LOGIC
+ TS TIME5 # REINITIALIZE DAP IN 200MS
+ TS T5PHASE
+ TCF RESUME
+DELAY200 DEC 16364 # 200MS
+
+ DEC -384
+
+# Page 1013
+DACLIMIT DEC 16000
+ DEC 384
+
+# Page 1014
+# INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
+#
+# THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY
+#
+# WBODY (+1) DFT TAU2
+# WBODY1 (+1) DFT1 BIAS
+# WBODY2 (+1) DFT2 BIAS1
+# ADOT (+1) DRHO (+1) BIAS2
+# ADOT1 (+1) DRHO1 (+1) ERRORX
+# ADOT2 (+1) DRHO2 (+1) ERRORY
+# MERRORX (+1) ATTSEC ERRORZ
+# MERRORY (+1) TAU
+# MERRORZ (+1) TAU1
+
+FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
+ TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
+ # ATTITUDE HOLD REFERENCE
+
+REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
+ CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
+
+ TC IBNKCALL # DECODE IXX, IAVG, AND CONVERT
+ CADR S40.14 # TO AUTOPILOT GAINS
+
+ CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
+ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
+ CAF ZERO
+ INDEX SPNDX
+ TS WBODY
+ CCS SPNDX
+ TCF ZEROT5
+ TCR ZEROJET
+
+ CS ZERO
+ TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
+
+ TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
+ # MANUAL RATE MODES
+
+ CAF =.24
+ TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
+
+ CAF FOUR
+ TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
+ # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
+ # IN (80MS - T5TIME(40MS)). THEREFORE
+ # PHASE 1 (RATEFILTER) BEGINS CYCLING 100
+ # MS FROM NOW AND EVERY 100MS THEREAFTER.
+
+ CAF ELEVEN
+ TS ATTKALMN # RESET TO PICK UP KALMAN FILTER TAINS
+ # TO INITIALIZE THE S/C ANGULAR RATES
+# Page 1015
+ CA CDUX
+ TS RHO
+ CA CDUY
+ TS RHO1
+ CA CDUZ
+ TS RHO2
+ CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
+ TS T5PHASE # PHASE2 OF PROGRAM
+
+ CS IMODES33 # CHECK IMU STATUS
+ MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
+ CCS A # IF BIT6 = 1 IMU NOT READY
+ TCF IMUAOK
+ TS ATTKALMN # CANNOT USE IMU
+ CAF RCSINITB # PROVIDE FREE CONTROL ONLY
+ TCF RCSSWIT # DON'T START UP RATE FILTER
+ # SIGNAL NO RATE FILTER
+
+IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
+ TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
+ EBANK= KMPAC
+ 2CADR AMBGUPDT
+
+ CAF RCSINIT # CLEAR BIT14 --ASSUME WE HAVE A GOOD IMU
+RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM
+ # SET BIT3 --INITIALIZE NEEDLES
+ # CLEAR BIT4 --RESET FOR FDAIDSP1
+ CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU
+ # ERROR COUNTER TO ZERO.
+ # (MINIMUM DELAY = 15 MS)
+ TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN
+ TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
+ # FILTER WILL BEGIN OPERATING ZOOMS FROM
+ # NOW
+
+# CONSTANTS USED IN INITIALIZATION PROGRAM
+
+NO.T5VAR DEC 36
+=.24 DEC .24 # = SLOPE OF 0.6/SEC
+RCSINIT OCT 00004
+RCSINITB OCT 20004
+T5WAIT60 DEC 16378 # = 6 CS
+ EBANK= KMPAC
+T6ADDR 2CADR T6START
+
+ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
+ TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
+ CAF ZERO # AND RWORD1
+
+# Page 1016
+ INDEX SPNDX
+ TS RWORD1
+ CCS SPNDX
+ TCF ZEROJET +1
+
+ CAF FOUR
+ TS BLAST1 +1
+ CAF ELEVEN
+ TS BLAST2 +1
+
+ CS BIT1
+ MASK RCSFLAGS
+ TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
+
+ EXTEND
+ DCA T6ADDR
+ DXCH T6LOC
+ CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS.
+ TS TIME6
+ CAF BIT15
+ EXTEND
+ WOR CHAN13
+
+ TC Q
+
+T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
+ TCF KALUPDT
+
+ TCF +2 # ONLY IF ATTKALMN POSITIVE
+ TCF +1
+ CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
+ XCH TIME5 # (JET SELECTION LOGIC)
+ ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
+
+ CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
+ MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
+ EXTEND # ATTKALMN TO -1
+ BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0.
+ CS ONE
+NOHIAUTO TS ATTKALMN
+
+# Page 1017
+# MANUAL ROTATION COMMANDS
+
+ CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
+ MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
+ TS RCSFLAGS
+
+ EXTEND
+ READ CHAN31
+ TS L
+ CA CH31TEMP
+ EXTEND
+ RXOR LCHAN
+ MASK MANROT # = OCT00077
+ EXTEND
+ BZMF NOCHANGE
+
+ LXCH A
+ TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
+
+ CA L
+ EXTEND
+ MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
+ CA L
+ ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH
+ # CHANGES IN COMMAND. BITS 10,9 FOR
+ # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
+ # PITCH
+
+ CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND
+ MASK OCT16000 # 11 OF RCSFLAGS)
+ ADS RCSFLAGS
+
+NOCHANGE CS CH31TEMP
+ MASK MANROT
+ EXTEND
+ BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
+
+ TS HOLDFLAG # SET HOLDFLAG +
+
+ TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
+ # YMANNDX, AND RMANNDX ARE ALL SET, BY
+ # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
+ # +, OR - ROTATION RESPECTIVELY AS
+ # COMMANDED BY THE RHC.
+ #
+ # HOWEVER, IT IS WELL TO NOTE THAT AFTER
+ # THE RHC IS RETURNED TO DETENT, THE
+ # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS
+ # STICKCHK SO PMANNDX, YMANNDX, AND
+ # RMANNDX ARE NOT RESET TO ZERO BUT RATHER
+ # LEFT SET TO THEIR LAST OUT OF DETENT
+# Page 1018
+ # VALUES.
+
+ CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
+ MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
+ ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
+
+ CAF BIT14
+ EXTEND
+ RAND CHAN31
+ EXTEND
+ BZMF FREEFUNC
+
+ CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
+ MASK BIT14 # HAS BEEN INITIALIZED
+ CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
+ TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
+
+ CS FIVE # IF MANUAL MANEUVER IS AT HIGH RTE, SET
+ AD RATEINDX # ATTKALMN TO -1.
+ EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
+ BZMF +3
+ CS ONE
+ TS ATTKALMN
+
+ CAF TWO # AUTO-HOLD MANUAL ROTATION
+SETWBODY TS SPNDX
+ DOUBLE
+ TS DPNDX
+ INDEX SPNDX # RMANNDX = 0 NO ROTATION
+ CA RMANNDX # = 1 + ROTATION
+ EXTEND # = 2 - ROTATION
+ BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
+ # GO TO NORATE.
+
+ AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
+ TS Q # = 2 0.2 DEG/SEC
+ INDEX Q # = 4 0.5 DEG/SEC
+ CA MANTABLE -1 # = 6 2.0 DEG/SEC
+ EXTEND
+ MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
+ INDEX DPNDX # TO GET COMMANDED RATE.
+ DXCH WBODY # SET WBODY TO COMMANDED RATE.
+
+ CA RCSFLAGS
+ MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
+ EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
+ BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE
+ # ERROR.
+
+# Page 1019
+ZEROER CA ZERO # ZEROER ZEROS MERRORS
+ ZL
+ INDEX DPNDX
+ DXCH MERRORX
+ TCF SPNDXCHK
+
+NORATE ZL
+ INDEX DPNDX
+ DXCH WBODY # ZERO WBODY FOR THIS AXIS
+ CA RCSFLAGS
+ MASK OCT16000
+ EXTEND # IS RATE DAMPING COMPLETED
+ BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
+ TCF ZEROER # NO, GO TO ZEROER
+
+MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
+ CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
+ EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
+ MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
+ INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
+ DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
+
+SPNDXCHK INDEX DPNDX
+ CA MERRORX
+ INDEX SPNDX
+ TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX
+ CCS SPNDX
+ TCF SETWBODY
+ TCF JETS
+
+OCT01760 OCT 01760 # FORCED FIRING BITS MASK
+
+OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
+OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION
+OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE
+ # PRESERVED
+ # FOR INDEXING
+MANROT OCT 77
+OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK
+MANTABLE DEC .0071111
+ DEC -.0071111
+ DEC .028444
+ DEC -0.028444
+ DEC .071111
+ DEC -.071111
+ DEC .284444
+ DEC -.284444
+=+14MS DEC 23
+FREEFUNC INDEX RMANNDX # ACCELERATION
+# Page 1020
+ CA FREETAU # COMMANDS
+ TS TAU
+ INDEX PMANNDX
+ CA FREETAU # FREETAU 0 SEC
+ TS TAU1 # +1 +0.10 SEC
+ INDEX YMANNDX # +2 -0.10 SEC
+ CA FREETAU # (+3) 0 SEC
+ TS TAU2
+ TCF T6PROGM
+
+FREETAU DEC 0
+ DEC 480
+ DEC -480
+ DEC 0
+
+T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
+ TS ERRORX
+ TS ERRORY
+ TS ERRORZ
+ TCF T6PROG
+
+# Page 1021
+ DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
+ DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
+ DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
+GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
+ DEC .3180 # OF ATTITUDE RATES
+ DEC .3452
+ DEC .3774
+ DEC .4161
+ DEC .4634
+ DEC .5223
+ DEC .5970
+ DEC .6933
+ DEC .8151
+ DEC .9342
+
+ DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
+ DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
+ DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
+GAIN2 DEC .0016 # SCALED 10
+ DEC .0454
+ DEC .0545
+ DEC .0666
+ DEC .0832
+ DEC .1069
+ DEC .1422
+ DEC .1985
+ DEC .2955
+ DEC .4817
+ DEC .8683
+STICKCHK TS T5TEMP
+ MASK THREE # INDICES FOR MANUAL ROTATION
+ TS PMANNDX
+ CA T5TEMP
+ EXTEND # MAN RATE 0 0 RATE (DP)
+ MP QUARTER # +1 + RATE (DP)
+ TS T5TEMP # +2 - RATE (DP)
+ MASK THREE # (+3) 0 RATE (DP)
+ TS YMANNDX
+ CA T5TEMP
+ EXTEND
+ MP QUARTER
+ TS RMANNDX
+ TC Q
+KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
+ # KALMAN FILTER TAKES 1.1 SEC
+
+ CA DELTATT # =1SEC - 80MS
+ AD T5TIME # + DELAYS
+# Page 1022
+ TS TIME5
+ TCF +3
+ CAF DELTATT2 # SAFETY PLAY TO ASSURE
+ TS TIME5 # A T5RUPT
+
+KRESUME2 CS ZERO # RESET FOR PHASE1
+ TS T5PHASE # RESUME INTERRUPTED PROGRAM
+ TCF RESUME
+
+FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
+ MASK RCSFLAGS
+ TS RCSFLAGS
+
+ CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
+ MASK BIT9 # ERRORS
+ EXTEND
+ BZF FDAITOTL
+ EXTEND
+ DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR
+ DXCH AK
+ CS ERRORZ
+ TS AK2
+ TCF RESUME # END PHASE 1
+
+FDAITOTL CA FLAGWRD9
+ MASK BIT6
+ EXTEND
+ BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0
+ # IF SO, GO TO WRTN17
+WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
+ DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
+ DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
+ CA CPHI # COMPONENTS OF N22
+
+GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
+ MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
+ TS AK
+ CA WTEMP
+ EXTEND
+ MSU CDUY
+ TS T5TEMP
+ EXTEND
+ MP AMGB1
+ ADS AK
+ CA T5TEMP
+ EXTEND
+ MP AMGB4
+# Page 1023
+ TS AK1
+ CA T5TEMP
+ EXTEND
+ MP AMGB7
+ TS AK2
+ CA WTEMP +1
+ EXTEND
+ MSU CDUZ
+ TS T5TEMP
+ EXTEND
+ MP AMGB5
+ ADS AK1
+ CA T5TEMP
+ EXTEND
+ MP AMGB8
+ ADS AK2
+ TCF RESUME # END PHASE1 OF RCS DAP
+
+WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
+ DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
+ DXCH WTEMP # THE THREE COMPONENTS OF N17
+ CA CPHIX
+ TCF GETAKS
+
+# Page 1024 (empty page)
+
diff --git a/RCS_FAILURE_MONITOR.s b/RCS_FAILURE_MONITOR.s
new file mode 100644
index 0000000..f8c72d5
--- /dev/null
+++ b/RCS_FAILURE_MONITOR.s
@@ -0,0 +1,173 @@
+# Copyright: Public domain.
+# Filename: RCS_FAILURE_MONITOR.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 190-192
+# Mod history: 2009-05-19 HG Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 190
+# PROGRAM DESCRIPTION:
+#
+# AUTHOR: J. S. MILLER
+#
+# MODIFIED 6 MARCH 1968 BY P. S. WEISSMAN TO SET UP JOB FOR 1/ACCS WHEN THE MASKS ARE CHANGED.
+#
+# THIS ROUTINE IS ATTACHED TO T4RUPT, AND IS ENTERED EVERY 480 MS. ITS FUNCTION IS TO EXAMINE THE LOW 8 BITS
+# OF CHANNEL 32 TO SEE IF ANY ISOLATION-VALVE CLOSURE BITS HAVE APPEARED OR DISAPPEARED (THE CREW IS WARNED OF JET
+# FAILURES BY LAMPS LIT BY THE GRUMMAN FAILURE-DETECTION CIRCUITRY; THEY MAY RESPOND BY OPERATING SWITCHES WHICH
+# ISOLATE PAIRS OF JETS FROM THE PROPELLANT TANKS AND SET BITS IN CHANNEL 32). iN THE EVENT THAT CHANNEL 32 BITS
+# DIFFER FROM `PVALVEST', THE RECORD OF ACTIONS TAKEN BY THIS ROUTINE, THE APPROPRIATE BITS IN `CH5MASK' &
+# `CH6MASK', USED BY THE DAP JET-SELECTION LOGIC, ARE UPDATED, AS IS `PVALVEST'. TO SPEED UP & SHORTEN THE
+# ROUTINE, NO MORE THAN ONE CHANGE IS ACCEPTED PER ENTRY. THE HIGHEST-NUMBERED BIT IN CHANNEL 32 WHICH REQUIRES
+# ACTION IS THE ONE PROCESSED.
+#
+# THE CODING IN THE FAILURE MONITOR HAS BEEN WRITTEN SO AS TO HAVE ALMOST COMPLETE RESTART PROTECTION. FOR
+# EXAMPLE, NO ASSUMPTION IS MADE WHEN SETTING A `CH5MASK' BIT TO 1 THAT THE PREVIOUS STATE IS 0, ALTHOUGH IT OF
+# COURSE SHOULD BE. ONE CASE WHICH MAY BE SEEN TO EVADE PROTECTION IS THE OCCURRENCE OF A RESTART AFTER UPDATING
+# ONE OR BOTH DAP MASK-WORDS BUT BEFORE UPDATING `PVALVEST', COUPLED WITH A CHANGE IN THE VALVE-BIT BACK TO ITS
+# FORMER STATE. THE CONSEQUENCE OF THIS IS THAT THE NEXT ENTRY WOULD NOT SEE THE CHANGE INCOMPLETELY INCORP-
+# ORATED BY THE LAST PASS (BECAUSE IT WENT AWAY AT JUST THE RIGHT TIME), BUT THE DAP MASK-WORDS WILL BE INCORRECT.
+# THIS COMBINATION OF EVENTS SEEMS QUITE REMOTE, BUT NOT IMPOSSIBLE UNLESS THE CREW OPERATES THE SWITCHES AT HALF-
+# SECOND INTERVALS OR LONGER. IN ANY EVENT, A DISAGREEMENT BETWEEN REALITY AND THE DAP MASKS WILL BE CUREED IF
+# THE MISINTERPRETED SWITCH IS REVERSED AND THEN RESTORED TO ITS CORRECT POSITION (SLOWLY).
+#
+# CALLING SEQUENCE:
+#
+# TCF RCSMONIT # (IN INTERRUPT MODE, EVERY 480 MS.)
+#
+# EXIT: TCF RCSMONEX (ALL PATHS EXIT VIA SUCH AN INSTRUCTION)
+
+RCSMONEX EQUALS RESUME
+
+# ERASABLE INITIALIZATION REQUIRED:
+#
+# VIA FRESH START: PVALVEST = +0 (ALL JETS ENABLED)
+# CH5MASK,CH6MASK = +0 (ALL JETS OK)
+#
+# OUTPUT: CH5MASK & CH6MASK UPDATED (1'S WHERE JETS NOT TO BE USED, IN CHANNEL 5 & 6 FORMAT)
+# PVALTEST UPDATED (1'S WHEN VALVE CLOSURES HAVE BEEN TRANSLATED INTO CH5MASK & CH6MASK; CHAN 32 FORMAT)
+# JOB TO DO 1/ACCS.
+#
+# DEBRIS: A, L, AND Q AND DEBRIS OF NOVAC.
+#
+# SUBROUTINE CALLED: NOVAC.
+
+ EBANK= CH5MASK
+
+ BANK 23
+ SETLOC RCSMONT
+ BANK
+# Page 191
+ COUNT* $$/T4RCS
+
+RCSMONIT EQUALS RCSMON
+
+RCSMON CS ZERO
+ EXTEND
+ RXOR CHAN32 # PICK UP + INVERT INVERTED CHANNEL 32.
+ MASK LOW8 # KEEP JET-FAIL BITS ONLY.
+ TS Q
+
+ CS PVALVEST # _ _
+ MASK Q # FORM PC + PC.
+ TS L # (P = PREVIOUS ISOLATION VALVE STATE,
+ CS Q # C = CURRENT VALVE STATE (CH32)).
+ MASK PVALVEST
+ ADS L # RESULT NZ INDICATES ACTION REQUIRED.
+
+ EXTEND
+ BZF RCSMONEX # QUIT IF NO ACTION REQUIRED.
+
+ EXTEND
+ MP BIT7 # MOVE BITS 8-1 OF A TO 14-7 OF L.
+ XCH L # ZERO TO L IN THE PROCESS.
+
+ -3 INCR L
+ DOUBLE # BOUND TO GET OVERFLOW IN THIS LOOP,
+ OVSK # SINCE WE ASSURED INITIAL NZ IN A.
+ TCF -3
+
+ INDEX L
+ CA BIT8 -1 # SAVE THE RELEVANT BIT (8-1).
+ TS Q
+ MASK PVALVEST # LOOK AT PREVIOUS VALVE STATE BIT.
+ CCS A
+ TCF VOPENED # THE VALVE HAS JUST BEEN OPENED.
+
+ CS CH5MASK # THE VALVE HAS JUST BEEN CLOSED.
+ INDEX L
+ MASK 5FAILTAB
+ ADS CH5MASK # SET INHIBIT BIT FOR CHANNEL 5 JET.
+
+ CS CH6MASK
+ INDEX L
+ MASK 6FAILTAB
+ ADS CH6MASK # SET INGIBIT BIT FOR CHANNEL 6 JET
+
+ CA Q
+ ADS PVALVEST # RECORD ACTION TAKEN.
+
+ TCF 1/ACCFIX # SET UP 1/ACCJOB AND EXIT.
+
+# Page 192
+VOPENED INDEX L # A VALVE HAS JUST BEEN OPENED.
+ CS 5FAILTAB
+ MASK CH5MASK
+ TS CH5MASK # REMOVE INHIBIT BIT FOR CHANNEL 5 JET.
+
+ INDEX L
+ CS 6FAILTAB
+ MASK CH6MASK
+ TS CH6MASK # REMOVE INHIBIT BIT FOR CHANNEL 6 JET.
+
+ CS Q
+ MASK PVALVEST
+ TS PVALVEST # RECORD ACTION TAKEN.
+
+1/ACCFIX CAF PRIO27 # SET UP 1/ACCS SO THAT THE SWITCH CURVES
+ TC NOVAC # FOR TJETLAW CAN BE MODIFIED IF CH5MASK
+ EBANK= AOSQ # HAS BEEN ALTERED.
+ 2CADR 1/ACCJOB
+
+ TCF RCSMONEX # EXIT.
+
+5FAILTAB EQUALS -1 # CH 5 JET BIT CORRESPONDING TO CH 32 BIT:
+ OCT 00040 # 8
+ OCT 00020 # 7
+ OCT 00100 # 6
+ OCT 00200 # 5
+ OCT 00010 # 4
+ OCT 00001 # 3
+ OCT 00004 # 2
+ OCT 00002 # 1
+
+6FAILTAB EQUALS -1 # CH 6 JET BIT CORRESPONDING TO CH 32 BIT:
+ OCT 00010 # 8
+ OCT 00020 # 7
+ OCT 00004 # 6
+ OCT 00200 # 5
+ OCT 00001 # 4
+ OCT 00002 # 3
+ OCT 00040 # 2
+ OCT 00100 # 1
+
+
diff --git a/REENTRY_CONTROL.s b/REENTRY_CONTROL.s
new file mode 100644
index 0000000..f3ffbb8
--- /dev/null
+++ b/REENTRY_CONTROL.s
@@ -0,0 +1,1609 @@
+# Copyright: Public domain.
+# Filename: REENTRY_CONTROL.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 844-882
+# Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-23 RSB In a couple of 2OCT statements, removed the
+# space between the first and second octal words.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 844
+# ENTRY INITIALIZATION ROUTINE
+# ----------------------------
+
+ BANK 25
+ SETLOC REENTRY
+ BANK
+
+ COUNT* $$/ENTRY
+ EBANK= RTINIT
+
+EBENTRY = EBANK7
+EBAOG EQUALS EBANK6
+NTRYPRIO EQUALS PRIO20 # (SERVICER)
+CM/FLAGS EQUALS STATE +6
+
+STARTENT EXIT # MM = 63
+
+ # COME HERE FROM CM/POSE. RESTARTED IN CM/POSE.
+ CS ENTMASK # INITIALIZE ALL SWITCHES TO ZERO
+ # EXCEPT LATSW, ENTRYDSP, AND GONEPAST.
+ # GONEBY 112D BIT8 FLAG7, SELF-INITIALIZING.
+ INHINT
+ MASK CM/FLAGS
+ # ENTRYDSP = 92D B13
+ # GONEPAST=95D B10 RELVELSW=96D B9
+ # EGSW = 97D B8
+ # HIND=99D B6 INRLSW=100D B5
+ # LATSW=101D B4 .05GSW=102D B3
+
+ AD ENTRYSW
+ TS CM/FLAGS
+
+ RELINT
+
+ TC INTPRET
+
+ SLOAD
+ LODPAD
+ STORE LOD
+
+ SLOAD
+ LADPAD
+ STORE LAD
+
+ DMP # L/DCMINR = LAD COS(15)
+ COS15
+ STODL L/DCMINR
+ LATSLOPE
+ DMP SR1 # KLAT = LAD/24
+ LAD
+# Page 845
+ STODL KLAT
+ Q7F
+ STODL Q7 # Q7 = Q7F
+ NEARONE # 1.0 -1BIT
+ STODL FACTOR
+ LAD
+ SIGN DCOMP
+ HEADSUP # MAY BE NOISE FOR DISPLAY P61
+ STCALL L/D # L/D = - LAD SGN(HEADSUP)
+
+ STARTEN1 # RETURN VIA GOTOADDR
+ VLOAD VXV
+ VN # (-7) M/CS
+ UNITR # .5 UNIT REF COORDS
+ UNIT DOT
+ RT # RT/2 TARGET VECTOR REF COORDS
+ STORE LATANG # LATANG = UNI.RT /4
+ DCOMP RTB
+ SIGNMPAC
+ STODL K2ROLL # K2ROLL = -SGN(LATANG)
+
+ LAD
+ DMP DAD
+ Q21
+ Q22
+ STORE Q2 # Q2 = -1152 + 500 LAD
+
+ SSP SSP
+ GOTOADDR # SET SELECTOR FOR INITIAL PASS
+ INITROLL
+ POSEXIT
+ SCALEPOP # SET CM/POSE TO CONTINUE AT SCALEPOP
+
+ RTB
+ SERVNOUT # OMIT INITIAL DISPLAY, SINCE 1ST GUESSBAD
+
+# CALCULATE THE INITIAL TARGET VECTOR: RTINIT, ALSO RTEAST, RTNORM, AND RT. ALL ARE .5 UNIT AND IN
+# REFERENCE COORDINATES.
+
+STARTEN1 STQ VLOAD
+ GOTOADDR
+ LAT(SPL) # TARGET COORDINATES
+ CLEAR CLEAR # DO CALL USING PAD RADIUS. WILL UNIT IT.
+ ERADFLAG # ANYWAY.
+ LUNAFLAG
+ STODL LAT
+ 3ZEROS
+
+ STODL LAT +4 # SET ALT=0.
+ PIPTIME # ESTABLISH RTINIT AT TIME OF PRESENT
+# Page 846
+ # RN AND VN.
+ STCALL TIME/RTO # SAVE TIME BASE OF RTINIT.
+ LALOTORV # C(MPAC) =TIME (PIPTIME)
+ UNIT # ANSWER IN ALPHAV ALSO
+ STODL RTINIT # .5 UNIT TARGET REF COORDS
+ 500SEC # NOMINAL ENTRY TIME FOR P63
+ # TIME/RTO = PIPTIME, STILL.
+ STCALL DTEAROT # INITIALIZE EARROT
+ EARROT1 # GET R5
+ DOT SL1
+ UNITR # RT/2 IN MPAC
+ ACOS
+ STCALL THETAH # RANGE ANGLE /360
+ GOTOADDR # RETURN TO CALLER
+
+500SEC 2DEC 50000 B-28 # CS.
+
+ENTMASK OCT 11774
+ENTRYSW OCT 11010 # ENTRYDSP B13. GONEPAST B10. LATSW B4
+# Page 847
+
+SCALEPOP CALL
+ TARGETNG
+
+ EXIT
+
+REFAZE10 TC PHASCHNG
+ OCT 10035 # SERVICER 5.3 RESTART AT REFAZE10
+
+ TC INTPRET
+
+# JUMP TO PARTICULAR RE-ENTRY PHASE:
+# SEQUENCE
+ GOTO
+ GOTOADDR
+
+# GOTOADDR CONTAINS THE ADDRESS OF THE ROLL COMMAND EQUATIONS TO THE CURRENT PHASE OF
+# RE-ENTRY. SEQUENCING IS AS FOLLOWS:
+#
+# INITROLL ADDRESS IS SET HERE INITIALLY. HOLDS INITIAL ROLL ATTITUDE UNTIL KAT IS EXCEEDED. THEN HOLDS NEW ROLL
+# ATTITUDE UNTIL VRTHRESH IS EXCEEDED. THEN BRANCHES TO
+#
+# HUNTEST THIS SECTION CHECKS TO SEE IF THE PREDICTED RANGE AT NOMINAL L/D FROM PRESENT CONDITIONS IS LESS
+# THAN THE DESIRED RANGE.
+# IF NOT --- A ROLL COMMAND IS GENERATED BY THE CONSTANT DRAG CONTROLLER.
+# IF SO --- CONTROL AND GOTOADDR ARE SET TO UPCONTRL.
+# USUALLY NO ITERATION IS INVOLVED EXCEPT IF THE RANGE DESIRED IS TOO LONG ON THE FIRST PASS THROUGH
+# HUNTEST.
+#
+# UPCONTRL CONTROLS ROLL DURING THE SUPER-CIRCULAR PHASE. UPCONTRL IS TERMINATED EITHER
+# (A) WHEN THE DRAG (AS MEASURED BY THE PIPAS) FALLS BELOW Q7, OR
+# (B) IF RDOT IS NEGATIVE AND REFERENCE VL EXCEEDS V.
+# IN CASE (A), GOTOADDR IS SET TO KEP2 AND IN CASE (B), TO PREDICT3 SKIPPING THE KEPLER PHASE OF
+# ENTRY.
+#
+# KEP2 GOTOADDR IS SET HERE DURING THE KEPLER PHASE TO MONITOR DRAG. THE SPACECRAFT IS INSTANTANEOUSLY
+# TRIMMED IN PITCH AND YAW TO THE COMPUTED RELATIVE VELOCITY. THE LAST COMPUTED ROLL ANGLE IS MAINTAINED.
+# WHEN THE MEASURED DRAG EXCEEDS Q7 +0.5, GOTOADDR IS SET TO
+#
+# PREDICT3 THIS CONTROLS THE FINAL SUB-ORBITAL PHASE. ROLL COMMANDS CEASE
+# WHEN V IS LESS THAN VQUIT . AN EXIT IS MADE TO
+#
+# P67.1 THE LAST COMPUTED ROLL ANGLE IS MAINTAINED. RATE DAMPING IS DONE IN PITCH AND YAW. PRESENT LATITUDE
+# AND LONGITUDE ARE COMPUTED FOR DISPLAY.
+# ENTRY IS TERMINATED WHEN DISKY RESPONSE IS MADE TO THIS FINAL FLASHING DISPLAY.
+
+# Page 848
+# PROCESS AVERAGE G OUTPUT...SCALE IT AND GET INPUT DATA
+
+# * START TARGETING ...
+
+ EBANK= RTINIT
+
+ # TARGETNG IS CALLED BY P61, FROM GROUP 4.
+ # TARGETNG IS CALLED BY ENTRY, FROM GROUP 5.
+
+ # ALL MM COME HERE.
+TARGETNG BOFF VLOAD # ENTER WITH PROPER EB FROM CM/POSE(TEST)
+ RELVELSW # RELVELSW = 96D BIT9
+ GETVEL # WANT INERTIAL VEL. GO GET IT.
+ -VREL # NEW V IS RELATIVE, CONTINUE
+
+ VCOMP GOTO # (VREL) = (V) + KWE UNITR*UNITW
+ GETUNITV -1 # - VREL WAS LEFT BY CM/POSE
+
+GETVEL VLOAD VXSC # INERTIAL V WANTED
+ VN # KVSCALE = (12800 / .3048) / 2VS
+ KVSCALE # KVSCALE = .81491944
+ STORE VEL # V/2 VS
+
+GETUNITV UNIT STQ
+ 60GENRET
+ STODL UNITV
+ 34D
+ STORE VSQUARE # VSQ/4
+
+ DSU # LEQ = VSQUARE - 1
+ FOURTH # 4 G'S FULL SCALE
+ STODL LEQ # LEQ/4
+
+ 36D
+ STOVL V # V/2 VS = VEL/2 VS
+
+ VEL
+ DOT SL1 # RDOT= V.UNITR
+ UNITR
+ STOVL RDOT # RDOT /2 VS
+
+ DELV # PIPA COUNTS IN PLATFORM COORDS.
+ ABVAL DMP
+ KASCALE
+ SL1 BZE
+ SETMIND
+DSTORE STOVL D # ACCELERATION USED TO APPROX DRAG
+ VEL
+ VXV UNIT # UNI = UNIT(V*R)
+# Page 849
+ UNITR
+ STORE UNI # .5 UNI REF COORDS.
+
+ BOFF DLOAD
+ RELVELSW
+ GETETA
+ 3ZEROS
+UPDATERT DSU DAD # PIPTIME-TIME/RTO =ELAPSED TIME SINCE
+ # RTINIT WAS ESTABLISHED.
+ TIME/RTO
+ PIPTIME
+ STCALL DTEAROT # GET PREDICTED TARGET VECTOR RT
+
+ EARROT2
+ DOT SETPD # SINCE (RT) UNIT VECT, THIS IS 1/4 MAX
+ UNI # LATANG = RT.UNI
+ 0
+ STOVL LATANG # LATANG = MAC LATANG / 4
+
+ RT
+ CLEAR
+ GONEBY # SHOW HAVE NOT GONE PAST TARGET.
+ VXV DOT # IF RT*UNITR.UNI NEG, GONEBY=1
+ UNITR # GONEPAST IS CONDITIONAL SW SET IN
+ UNI # FINAL PHASE.
+ BPL SET
+ +2
+ GONEBY # SHOW HAVE GONE PAST TARGET.
+
+ VLOAD
+ RT
+GETANGLE DOT DSU # THETA = ARCCOS(RT.UNITR)
+ UNITR
+ NEAR1/4 # TO IMPROVE ACCURACY, CALC RANGE BY
+ BPL DAD # TINYTHET IF HIGH ORDER PART OF
+ TINYTHET # ARCCOS ARGUMENT IS ZERO
+ NEAR1/4
+ SL1 ACOS
+THETDONE STORE THETAH # THETAH/360
+ # HI WORD, LO BIT =1.32 NM=360 60/16384
+
+ BON DCOMP
+ GONEBY # =1 IF HAVE GONE PAST TARGET.
+ # (SIGN MAY BECOME ERRATIC VERY NEAR
+ # TARGET DUE TO LOSS OF PRECISION.)
+ +1
+ STODL RTGON67 # RANGE ERROR: NEG IF WILL FALL SHORT.
+
+ D
+ DSU BMN
+# Page 850
+ .05G
+ NO.05G
+ SET VLOAD
+ .05GSW
+ DELVREF
+ PUSH DOT
+ UXA/2
+ SL1 DSQ
+ PDVL VSQ # EXCHANGE WITH PDL.
+ DSU DDV
+ 0
+ BOV SQRT
+ NOLDCALC # OVFL LAST CLEARED IN EARROT2 ABOVE.
+ STORE L/DCALC
+
+NOLDCALC GOTO
+ 60GENRET
+
+NO.05G CLEAR GOTO # THIS WAY FOR DAP. (MAY INTERRUPT)
+ .05GSW # .05GSW = 102D B3
+ NOLDCALC # KEEP SINGLE EXIT FOR TARGETING
+
+# Page 851
+# SUBROUTINES CALLED BY SCALEPOP (TARGETING):
+
+ BANK 26
+ SETLOC REENTRY1
+ BANK
+
+ COUNT* $$/ENTRY
+
+GETETA DLOAD DDV # D = D +D(-RDOT/HS -2D/V) DT/2
+ # DT/2 = 2/2 =1
+ RDOT
+ -HSCALED
+ PDDL DMP
+ D
+ -KSCALE
+ DDV DAD
+ V
+ # -RDOT/HS FROM PDL.
+ DMP DAD
+ D
+ D
+ STORE D
+
+ BON DLOAD # EGSW INDICATES FINAL PHASE
+ EGSW
+ SUBETA
+ THETAH
+ DMP GOTO
+ KTETA # = 1000x2PI/(2)E14 163.84
+ UPDATERT
+
+SUBETA DLOAD DSU # SWITCH FROM INERTIAL TO RELATIVE VEL.
+ V
+ VMIN
+ BPL SET
+ SUBETA2
+ RELVELSW
+
+SUBETA2 DLOAD DMP
+
+ THETAH
+ KT1 # KT1 = KT
+ DDV GOTO
+ V # KT = RE(2 PI)/2 VS 16384 163.84/ 2 VSAT
+ UPDATERT
+
+SETMIND DLOAD GOTO
+ 1BITDP
+ DSTORE
+
+# Page 852
+TINYTHET DSU ABS # ENTER WITH X-.249
+ 1BITDP +1 # GET 1/4 - MPAC
+ SL SQRT # SCALE UP BEFORE SQRT
+ 13D # HAS FACTOR FOR UP SCALING
+ DMP GOTO
+ KACOS
+ THETDONE
+
+# Page 853
+# * START INITIAL ROLL ...
+
+ BANK 25
+ SETLOC REENTRY
+ BANK
+
+ COUNT* $$/ENTRY
+
+ # MM = 63, 64, ...
+INITROLL BON BOFF # IF D- .05G NEG, GO TO LIMITL/D
+ INRLSW
+ INITRL1
+ .05GSW
+ LIMITL/D
+
+ # MM = 64, NOW
+ # 3
+ # KA = KA1 LEG + KA2
+ DLOAD DSQ
+ LEQ
+ DMP DDV
+ LEQ
+ 1/KA1 # = 25 /(64 1.8)
+ DAD RTB
+ KA2 # = .2
+ P64 # ROLLC VI RDOT
+ # XXX.XX DEG XXXXX. FPS XXXXX. FPS
+ STORE KAT
+
+ DSU BMN
+ KALIM
+ +4
+ DLOAD
+ KALIM
+ STORE KAT
+ DLOAD DSU # IF V-VFINAL1 NEG, GO TO FINAL PHASE.
+ V
+ VFINAL1
+ CLEAR BPL # (CAN'T CLEAR INRLSW AFTER HERE: RESTARTS)
+ GONEPAST # GONEPAST WAS INITIALLY SET=1 TO FORCE
+ # ROLLC TO REMAIN AS DEFINED BY HEADSUP
+ # UNTIL START OF P64. (UNTIL D > .05G)
+ D0EQ
+ SSP GOTO
+ GOTOADDR
+ KEP2 # AND IDLE UNTIL D > 0.2 G. (NO P66 HERE)
+ INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW.
+
+D0EQ DLOAD DMP # D0 = KA3 LEQ + KA4
+# Page 854
+ LEQ
+ KA3
+ DAD
+ KA4
+ STORE D0 # D0/805
+ BDDV BOV
+ C001 # (-4/25 G) B-8
+ +1 # CLEAR OVFIND, IF ON.
+ STODL C/D0 # (-4/D0) B-8
+ LAD # IF V-VFINAL +K(RDOT/V)CUBED POS,L/D=-LAD
+ STODL L/D
+ RDOT
+ DDV PUSH
+ V
+ DSQ DMP
+ DDV DSU
+ 1/K44
+ VFINAL
+ # 3
+ # V-VFINAL +(RDOT/V) / K44 OVFL $
+
+ DAD BOV
+ V
+ INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW.
+ BMN DLOAD
+ INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW.
+ LAD
+ DCOMP
+ STORE L/D
+
+ # SET INRLSW AT END FOR RESTART PROTECTION
+INROLOUT BOFSET # END OF PRE .05G PATH OF INITROLL.
+ INRLSW # SWITCH IS ZERO INITIALLY.
+ LIMITL/D # (GO TO)
+
+KATEST DLOAD DSU # IF KAT - D POS, GO TO CONSTD
+ KAT
+ D # IF POS, OUT WITH COMMAND VIA LIMITL/D
+ BPL GOTO
+ LIMITL/D
+ CONSTD
+
+INITRL1 DLOAD DAD # IF RDOT + VRCONT POS, GO TO HUNTEST
+ RDOT
+ VRCONT
+ BMN CALL # IF POSITIVE, FALL INTO HUNTEST.
+ KATEST
+
+ FOREHUNT # INITIALIZE HUNTEST.
+
+# Page 855
+# * START HUNT TEST ...
+ # MM = 64
+ SSP # INITIALIZE HUNTEST ON FIRST PASS
+ GOTOADDR
+ HUNTEST # MUST GO AFTER FOREHUNT FOR RESTARTS.
+
+HUNTEST DLOAD
+ D
+ STODL A1 # A1/805 = A1/25G
+
+ LAD
+ STODL TEM1B
+ RDOT
+ BMN DLOAD # IF RDOT NEG,TEM1B=LAD, OTHERWISE = LEWD
+ A0CALC
+ LEWD
+ STODL TEM1B
+
+ RDOT
+A0CALC DDV DAD # V1 = V + RDOT/TEM1B
+ TEM1B
+ V
+ STODL V1 # V1/2 VS
+
+ RDOT
+ DSQ DDV # A0=(V1/V)SQ(D+RDOT SQ/(TEM1B 2 C1 HS)
+ TEM1B
+ DDV DAD
+ 2C1HS
+ D
+ DMP DMP
+ V1
+ V1
+ DDV
+ VSQUARE
+ STODL A0 # A0/805 = A0/25G
+
+ RDOT
+ BPL DLOAD
+ V1LEAD
+ A0
+ STORE A1 # A1/25G
+
+V1LEAD DLOAD BPL # IF L/D NEG, V1=V1 - 1000
+ L/D
+ HUNTEST1
+
+ DLOAD DSU
+ V1
+# Page 856
+ VQUIT
+ STORE V1
+
+HUNTEST1 DLOAD DMP # ALP = 2 C1 HS A0/LEWD V1 V1
+ A0
+ 2C1HS
+ DDV SETPD
+ V1
+ 0
+ DDV DDV
+ V1
+ LEWD
+ STORE ALP
+
+ BDSU BDDV # FACT1 = V1 / (1 - ALP)
+ BARELY1
+ V1
+ STODL FACT1 # FACT1 / 2VS
+
+ ALP
+ DSU DMP # FACT2 = ALP(ALP - 1) / A0
+ BARELY1
+ ALP
+ DDV
+ A0
+ STORE FACT2 # FACT2 (25G)
+
+ DMP DAD
+ Q7 # Q7 / 805 = Q7 / 25G
+ ALP # VL=FACT1 (1-SQRT(Q7 FACT2 +ALP) )
+ SQRT BDSU
+ BARELY1
+ DMP
+ FACT1
+ STORE VL # VL / 2 VS
+
+ BDSU DMP # GAMMAL1 = LEWD (V1-VL)/VL
+ V1
+ LEWD
+ DDV
+ VL
+ STODL GAMMAL1 # GAMMAL1 USED IN UPCONTROL.
+
+ # GAMMAL1 = PDL 22D.
+ VL
+ DSU BMN # IF VL-VLMIN NEG, GO TO PREFINAL
+ VLMIN
+ PREFINAL
+
+ DLOAD DSQ
+# Page 857
+ VL
+ STODL VBARS # VBARS / 4 VS VS
+
+ HALVE # IF VSAT-VL NEG, GO TO CONSTD
+ DSU BMN
+ VL
+ BECONSTD # SET MODE=HUNTEST, CONTINUE IN CONSTD
+ STODL DVL # DVL / 2VS
+
+ HALVE
+ STORE VS1 # VS1 = VSAT
+
+ DSU BMN # IF V1 GREATER THAN VSAT, GO ON
+ V1
+ GETDHOOK
+ BDSU
+ DVL
+ STODL DVL # DVL = DVL - (VSAT-V1) = V1 - VL
+ V1
+ STORE VS1 # VS1 = V1, IN THIS CASE
+
+GETDHOOK DLOAD CALL # DHOOK=((1-VS1/FACT1) SQ -ALP)/FACT2
+ VS1 # VS1 / 2 VS
+ DHOOKYQ7 # GO CALC DHOOK
+ STORE DHOOK # DHOOK / 25G
+
+ SR DDV
+ 6 # CHOOK
+ Q7
+ DSU
+ CHOOK # = .25/16 = (-6)
+ STORE AHOOKDV
+
+ DAD DMP # GAMMAL= GAMMAL1-CH1 DVL SQ(1+AHOOK DVL)
+ 1/16TH
+ CH1
+ DMP DMP
+ DVL
+ DVL
+ DDV DDV
+ DHOOK
+ VBARS
+ BDSU BMN
+ GAMMAL1
+ NEGAMA
+HUNTEST3 STORE GAMMAL
+
+ DSU # GAMMAL1=GAMMAL1 +Q19 (GAMMAL-GAMMAL1)
+ GAMMAL1
+ DMP DAD
+# Page 858
+ Q19
+ GAMMAL1
+ STODL GAMMAL1
+ GAMMAL
+
+# Page 859
+# *START RANGE PREDICTION ...
+ # C(MPAC) = GAMMAL.
+RANGER DSQ SR2 # COSG = 1-GAMMAL SQ/2, TRUNCATED SERIES
+ BDSU
+ HALVE
+ STODL COSG/2
+ VBARS # E=SQRT(1+VBARS........
+
+ DSU DMP
+ HALVE
+ VBARS
+ DMP DMP
+ COSG/2
+ COSG/2
+ SL2 DAD
+ C1/16 # C1/16 = 1/16
+ SQRT PDDL # E/4 INTO PDL
+
+ VBARS
+ DMP DMP # ASKEP/2 = ARCSIN(VBARS COSG SING/E)
+ COSG/2
+ GAMMAL
+ DDV ASIN
+ SL1 PUSH # ASKEP TO PDL 0.
+ STODL ASKEP # BALLISTIC RANGE ASKEP/2PI
+
+ # FOR TM, STORE RANGE COMPONENTS OVERLAPPING (SP)
+ VL
+ DMP DAD # ASP1 = Q2 + Q3 VL
+ Q3
+ Q2
+ STORE ASP1 # FINAL PHASE RANGE ASP1/2 PI
+
+ PDDL DSQ # ASP1 TO PDL 2.
+ V1
+ # 2
+ # ASPUP= -C12 LOG(V1 Q7/VBARS A0)/GAMMAL1
+ DMP DDV
+ Q7
+ VBARS
+ DDV CALL
+ A0
+ LOG # RETURN WITH -LOG IN MPAC
+
+ DMP DDV
+ C12
+ GAMMAL1
+ STORE ASPUP # UP PHASE RANGE ASPUP / 2 PI
+# Page 860
+ PDDL DMP # ASPUP TO PDL 4.
+ KC3 # KC3 = -4 VS VS / 2 PI 805 RE
+ # ASPDWN = KC3 RDOT V / A0
+ RDOT
+ DMP DDV
+ V
+ A0
+ DDV PUSH # ASPDWN TO PDL 6.
+ LAD
+ STODL ASPDWN # RANGE TO PULL OUT ASPDWN /2 PI
+
+ Q6
+ DSU DMP # ASP3 = Q5(Q6-GAMMAL)
+ GAMMAL
+ Q5
+ STOVL ASP3 # GAMMA CORRECTION ASP3/2PI
+
+ ASKEP # GET HI-WD AND
+ STODL ASPS(TM) # SAVE HI-WORD OF ASP'S FOR TM.
+
+ ASP3
+ DAD DAD
+ # ASPDWN FROM PDL 6.
+ # ASPUP FROM PDL 4.
+ DAD DAD
+ # ASP1 FROM PDL 2.
+ # ASKEP FROM PDL 0.
+ DSU BOVB # CLEAR OVFIND.
+ THETAH
+ TCDANZIG
+ STORE DIFF # DIFF = (ASP-THETAH) / 2 PI
+ # ASP=ASKEP+ASP1+ASPUP+ASP3+ASPDWN = TOTAL RANGE
+
+ ABS DSU # IF ABS(THETAH-ASP) -25NM NEG, GO TO UPSY
+ 25NM
+ BMN BON
+ GOTOUPSY
+ HIND
+ GETLEWD
+
+ DLOAD BPL
+ DIFF
+ DCONSTD # EVENTUALLY SETS MODE = HUNTEST.
+GETLEWD DLOAD DMP
+ # DLEWD = DLEWD (DIFF/(DIFFOLD-DIFF))
+ DLEWD
+ DIFF
+ PDDL DSU
+ DIFFOLD
+ DIFF
+# Page 861
+ BDDV
+LWDSTORE STADR
+ STORE DLEWD
+ DAD BMN # IF LEWD+DLEWD NEG, DLEWD=-LEWD/2
+ LEWD
+ LEWDPTR
+ BOV
+ LEWDOVFL
+ STORE LEWD
+
+SIDETRAK EXIT
+
+ CA EBENTRY
+ TS EBANK
+
+ CA PRIO16 # DROP GRP 5 RESTART PRIO TO 1 LESS THAN
+ TS PHSPRDT5 # GRP 4.
+
+ TC PHASCHNG
+ OCT 00474 # RESTART GRP 4 AT PRE-HUN.
+ # FORCE RESTART TO PICK UP IN GRP 4:
+ # USE PRIO 17 FOR GRP 4 (< SERVICER PRIO)
+ CA PRIO16 # CONTINUE GRP 5 AT LOWER PRIO THAN EITHER
+ # GRP 4 OR SERVICER.
+ TC PRIOCHNG
+
+ CAF ADENDEXT # SIDETRACK NEXT PASS UNTIL THIS ONE DONE.
+ TS GOTOADDR # ONLY AFTER RESTART IS LEFT AFTER DETOUR.
+
+ TC INTPRET
+
+ DLOAD SET
+ DIFF
+ HIND
+ STODL DIFFOLD # DIFFOLD / 2 PI
+
+ Q7F
+ STCALL Q7 # Q7 / 805 FPSS
+ HUNTEST # (GO TO)
+
+LEWDOVFL DLOAD
+ NEARONE
+ STCALL LEWD
+ DCONSTD # (GO TO) ALSO WILL SET MODE = HUNTEST
+
+LEWDPTR DLOAD SR1
+ LEWD
+ DCOMP GOTO
+ LWDSTORE
+
+# Page 862
+NEGAMA DMP DMP # ENTER WITH GAMMAL IN MPAC
+
+ VL
+ 1/3RD
+ PDDL DMP # PUSH GAMMAL VL/3
+ LEWD
+ 1/3RD
+ PDDL DAD # PUSH LEWD/3
+ AHOOKDV
+ 1/24TH
+ DMP DMP # DEL VL = (GAMMAL VL/3)/(LEWD/3-DVL
+ DVL # (2/3 + AHOOKDV)(CH1 GS/DHOOK VL))
+ CH1
+ DDV DDV
+ DHOOK
+ VL
+ BDSU BDDV
+ # LEWD/3
+ # GAMMAL VL /3
+ DAD
+ VL
+ STCALL VL # VL/2 VS
+
+ DHOOKYQ7 # GO CALC Q7
+ # Q7=((1-VL/FACT1)SQ - ALP)/FACT2
+ STODL Q7 # Q7 / 25G
+
+ VL
+ DSQ
+ STODL VBARS # VBARS / 4 VS VS
+
+ 3ZEROS
+ GOTO # SET GAMMAL = 0
+ HUNTEST3
+
+DHOOKYQ7 SR1 DDV # SUBROUTINE TO CALC DHOOK OR Q7
+ FACT1
+ BDSU SL1
+ HALVE
+ DSQ DSU
+ ALP
+ DDV RVQ
+ FACT2
+
+# Page 863
+ # COME TO PRE-HUNT WHEN RESTART OCCURS AFTER
+ # HUNTEST IS SIDE-TRACKED AT SIDETRAK.
+ # PICK UP IN GROUP 4.
+
+PRE-HUNT TC INTPRET
+ CLEAR CALL
+ HIND # HIND 99D BIT 6 FLAG 6
+ FOREHUNT # RE-INITIALIZE HUNTEST AFTER RE-START.
+ GOTO
+ HUNTEST
+
+FOREHUNT DLOAD # INITIALIZE HUNTEST.
+ 3ZEROS
+ STODL DIFFOLD
+ DLEWD0
+ STODL DLEWD
+ LEWD1
+ STORE LEWD
+ RVQ
+
+ADENDEXT CADR ENDEXIT
+
+# Page 864
+# * START UP CONTROL ...
+ # MM = 65
+GOTOUPSY RTB # END OF HUNTEST
+ P65 # HUNTEST USE OF GRP4 IS DISABLED BY P65
+ # USE FOR DISPLAY.
+ # SET MODE = UPCONTRL.
+ # RETURN FROM P65 DIRECTLY TO UPDONTRL
+ # VIA THE GOTOADDR AT REFAZE10.
+
+UPCONTRL DLOAD DSU # IF D-140 POS, NOSWITCH =1
+ D # (SUPPRESS LATERAL SWITCH)
+ C21
+ BMN SET
+ +2
+ NOSWITCH
+
+ DLOAD DSU # IF V-V1 POS, GO TO DOWN CONTROL.
+ V
+ V1
+ BPL DLOAD
+ DOWNCNTL
+ D
+ DSU BMN # IF D- Q7 NEG, GO TO KEP
+ Q7
+ KEP
+ DLOAD BPL # IF RDOT NEG, DO VLTEST
+ RDOT
+ CONT1
+
+VLTEST DLOAD DSU # IF V-VL-C18 NEG,EGSW=1,MODE=PREDICT3
+ V
+ VL
+ DSU BMN
+ C18
+ PREFINAL
+
+CONT1 DLOAD # IF D-A0 POS, L/D = LAD, GO TO LIMITL/D
+ D
+ DSU BMN
+ A0
+ CONT3
+ DLOAD GOTO
+ LAD
+ STOREL/D
+
+CONT3 DLOAD DMP # VREF=FACT1(1-SQRT(FACT2 D + ALP))
+ D
+ FACT2
+# Page 865
+ DAD SQRT
+ ALP
+ BDSU DMP
+ BARELY1
+ FACT1
+ STORE VREF # VREF / 2VS
+
+ BDSU DMP # RDOTREF = LEWD(V1-VREF)
+ V1
+ LEWD
+ STODL RDOTREF # RDOTREF / 2VS
+
+ VS1
+ DSU BMN # IF VSAT-VREF NEG, GO TO CONTINU2
+ VREF
+ CONTINU2
+
+ PUSH PUSH # VS1-VREF TO PDL TWICE
+ DMP DDV # RDHOOK=CHI1(1+DV AHOOKDV/DVL) DV DV
+ AHOOKDV # /DHOOK VREF
+ DVL # WHERE DV = (VS1-VREF)
+ DAD DMP
+ 1/16TH
+ CH1
+ DMP DMP
+ # VS1-VREF FROM PDL TWICE.
+ DDV
+ DHOOK
+ DDV BDSU
+ VREF
+ RDOTREF # C(RDOTREF)= LEWD (V1-VREF)
+ STORE RDOTREF # RDOTREF = RDOTREF - RDHOOK
+
+CONTINU2 DLOAD DSU
+ D
+ Q7MIN
+ BOVB BMN
+ TCDANZIG # CLEAR OVFL IND, IF ON.
+ UPCNTRL3
+ DLOAD DSU
+ A1
+ Q7
+ PDDL DSU
+ D
+ Q7
+ DDV STADR
+ STORE FACTOR # FACTOR / 25G
+
+# Page 866
+# SKIPPER
+ # DELTA L/D=-((RDOT-RDOTREF)F1 KB1+V-VREF)F1 KB2
+ # WHERE F1 = FACTOR
+
+UPCNTRL3 DLOAD
+ RDOT
+ DSU DMP # L/D = LEWD
+ RDOTREF # -((RDOT-RDOTREF)F1/KB1+V-VREF)F1/KB2
+ FACTOR
+ DDV DAD
+ 1/KB1
+ V
+ DSU DMP
+ VREF
+ FACTOR
+ DDV PUSH
+
+ -1/KB2 # DELTA L/D INTO PDL
+ BOV ABS # NONLINEAR CIRCUIT FOR REDUCING HIGH GAIN
+ GOMAXL/D
+ DSU BMN
+ PT1/16
+ NEXT1
+ DMP DAD
+ POINT1
+ PT1/16
+ SIGN PUSH # ATTACH SIGN OF PUSH TO MPAC THEN PUSH
+
+NEXT1 DLOAD SL4
+ # DELTA L/D FROM PDL.
+
+ DAD
+ LEWD
+NEGTESTS BOV PUSH # L/D TO PDL FOR USE IN NEGTESTS.
+ GOMAXL/D
+ STODL L/D
+ # IF D-C20 POS, LATSW =0
+ # AND IF L/D NEG, L/D = 0.
+ D
+ DSU BMN
+ C20
+ LIMITL/D
+ CLEAR DLOAD
+ LATSW # =21D. ROLL OVER TOP, REGARDLESS.
+ # L/D FROM PDL.
+ BPL DLOAD
+ LIMITL/D
+ 3ZEROS
+ STCALL L/D
+ LIMITL/D # (GO TO)
+
+# Page 867
+DCONSTD DLOAD # TWO RANGER ENTRIES TO CONSTD HERE
+ DIFF
+ # SAVE OLD VALUE OF DIFF FOR NEXT PASS.
+ STODL DIFFOLD # DIFFOLD / 2 PI
+
+ Q7F
+ STORE Q7
+
+BECONSTD SSP RTB # A HUNTEST ENTRY INTO CONSTD.
+ GOTOADDR # RESET MODE TO HUNTEST
+ HUNTEST
+ KILLGRP4 # DEACTIVATE GRP4 FROM HUNTEST.
+
+CONSTD BOVB
+ TCDANZIG # CLEAR OVF IND IF ON.
+
+ DLOAD DMP
+ LEQ
+ C/D0 # C/D0 = -4/D0 B-8
+ PDDL DMP # LEQ C/D0 INTO PDL
+ 2HS # 2HS / 4 VS VS
+ D0
+ DDV DAD # RDOTREF = -2 HS D0/V
+ V
+ RDOT
+ DMP DAD
+ K2D # C/D0 LEQ + K2D(RDOT-RDOTREF) INTO PD
+ PDDL
+ D0 # D0 /805
+
+CONSTD1 BDSU # ENTER WITH DREF IN MPAC
+ D
+ DMP DAD
+ K1D # K2D TERM FROM PUSH
+ SL GOTO
+ 8D
+ NEGTESTS # (GO TO)
+
+DOWNCNTL BOVB # INITIAL PART OF UPCONTROL.
+ TCDANZIG # CLEAR OVFIND, IF ON.
+
+ DLOAD SR
+ LAD
+ 8D
+ PDDL DSU # RDTR = LAD(V1-V)
+ V
+ V1
+ DMP DAD
+ LAD
+# Page 868
+ RDOT
+ DMP DAD
+ K2D
+ # PUSH UP LAD.
+ PDDL DSU # LAD + K2D(RDOT-RDTR) INTO PD
+ V1
+ V
+ DSQ DMP
+ LAD
+ DDV PDDL # (V1-V)SQ LAD/(2 C1 HS) INTO PD
+ 2C1HS
+ V1
+ DSQ DDV
+ VSQUARE
+ BDDV DSU # DREF = (V/V1)SQ A0 - PD
+ A0
+ # PUSH UP HERE
+ GOTO # C(MPAC) = DREF
+ CONSTD1
+
+ # 2 2
+ # DREF = (V/V1) A0 -(V-V1) LAD/2 C1 HS
+# Page 869
+# * START BALLISTIC PHASE ...
+ # MM = 66 UPCONTRL ENTRY INTO KEP2
+KEP RTB SSP
+ P66 # DISPLAY TRIM GIMBAL ANGLE VALUES.
+ GOTOADDR # SET GOTOADDR TO KEPLER PHASE.
+ KEP2
+
+ # KEP2 CAN ALSO BE STARTED UP DIRECTLY FROM INITROLL
+ # IN P64. PROGRAM WILL IDLE IN P64 UNTIL D EXCEEDS
+ # .2 G BEFORE GOING ON TO P67.
+
+KEP2 DLOAD DSU # IF Q7F+KDMIN -D NEG, GO TO FINAL PHASE.
+ Q7FKDMIN # (Q7F + KDMIN)/805
+ D
+ BMN TLOAD
+ PREFINAL
+ # SET ROLLHOLD = ROLLC, IN CASE CMDAPMOD
+ ROLLC # = +1 EVER ENTERED.
+ BON TLOAD # IF D > .05G, KEEP PRESENT ROLL COMMAND.
+ .05GSW # IF D < .06G, SET ROLL COMMAND = 0.
+ +2
+ 3ZEROS # SET ROLLC & ROLLHOLD =0.
+ +2 STCALL ROLLC # (SP ROLLHOLD FOLLOWS DP ROLLC)
+ P62.3 # CALC DESIRED GIMBAL ANGLES AT PRESENT
+ # RN, VN TO YIELD TRIM ATTITUDE.
+ # AVAILABLE IN CPHI'S FOR N22.
+# Page 870
+# START FINAL PHASE ...
+ # MM = 67
+PREFINAL SSP RTB
+ GOTOADDR # RESTART PROTECT: RESET GOTOADDR IF CAME
+ PREFINAL # FROM HUNTEST.
+ P67 # DISABLES GRP4. FINE IF FROM HUNTEST, BUT
+ # MAY ALSO REMOVE RESTART PROTECTION OF
+ # N69 (P65).
+ # ROLLC XRNGERR DNRNGERR
+ # XXX.XX DEG XXXX.X NM XXXX.XX NM
+
+ SET SSP
+ EGSW
+ GOTOADDR
+ PREDICT3
+
+PREDICT3 DLOAD DSU # IF V-VQUIT NEG, STOP STEERING
+ V
+ VQUIT
+ BMN EXIT
+ STEEROFF
+
+ CA EBENTRY # PRECAUTIONARY.
+ TS EBANK
+
+ CA TWELVE
+BACK TS JJ
+
+ CS V
+ INDEX JJ
+ AD VREFER # VREF - V, HIGHEST VREF AT END OF TABLE.
+ CCS A # IF VREF-V POS LOOP BACK
+ CCS JJ # DECREMENT JJ, JJ CANNOT BE ZERO
+ TCF BACK
+ AD ONE
+ TS TEM1B # V-VREF IN TEM1B (MUST BE POSITIVE NUM)
+
+ INDEX JJ
+ CS VREFER
+ INDEX JJ
+ AD VREFER +1 # V(K+1) - V(K) (POS NUM)
+ XCH TEM1B
+ ZL
+ EXTEND
+ DV TEM1B
+ TS GRAD # GRAD = (V-VREF)/(VK+1 - VK) (POS NUM)
+
+ CAF FIVE
+
+# Page 871
+BACK2 TS MM
+ CAF THIRTEEN
+ ADS JJ
+ INDEX A
+ CS VREFER
+ INDEX JJ
+ AD VREFER +1 # X(K+1) - X(K)
+ EXTEND
+ MP GRAD
+ INDEX JJ
+ AD VREFER
+ INDEX MM
+ TS FX # FX = AK + GRAD (AK+1 - AK)
+ CCS MM
+ TCF BACK2
+ XCH FX +1 # ZERO FX +1 AND GET DREFR
+ AD D
+ EXTEND
+ MP FX +5 # F1
+ DXCH MPAC # MPAC = F1(D-DREF)
+
+ EXTEND
+ DCS RDOT # FORM RDOTREF - RDOT
+ DDOUBL
+ DDOUBL
+ DDOUBL # SCALE UP BY 8 FOR THIS PHASE.
+ AD FX +3 # RDOTREF
+ EXTEND
+ MP FX +4 # F2
+ AD FX +2 # RTOGO
+ DAS MPAC # ADD F2(DADV1-DADVR)
+ CA MPAC
+ TS PREDANG
+ # L/D = LOD + (THETA- PREDANG)/ Y
+ TC INTPRET
+
+ SR3 DSU
+ THETAH
+ BON BOFF
+ GONEPAST
+ GONEGLAD
+ GONEBY
+ HAVDNRNG
+ DLOAD SET # SET GONEPAST IF GONEBY SET & LATCH IN-PLACE
+ MAXRNG # DISPLAY = 9999.9 IF GONEBY
+ GONEPAST
+ STCALL DNRNGERR
+ GONEGLAD
+
+HAVDNRNG STORE DNRNGERR # = (PREDANG - THETA) /360
+# Page 872
+ DCOMP # FALLS SHORT IF NEG, OVERSHOOT IF POS
+ BOVB DDV
+ TCDANZIG # CLEAR OVFIND IF ON.
+ FX # FX= DRANGE/D L/D = Y
+ SL BOV
+ 5
+ GOMAXL/D
+ DAD BOV
+ LOD
+ GOMAXL/D
+ STCALL L/D
+ GLIMITER # (GO TO)
+
+# GONEGLAD AND GOPOSMAX ENTRY POINTS FOR GLIMITER ...
+
+GONEGLAD DLOAD # SET L/D = -LAD
+ GONEGLAD # (ANY NEGATIVE NUMBER WILL DO)
+
+GOMAXL/D RTB DMP L/D = LAD SIGN(MPAC)
+ SIGNMPAC
+ LAD
+ STORE L/D # AND FALL INTO GLIMITER SECTION
+
+GLIMITER DLOAD DSU # IF GMAX/2-D POS, GO TO LIMITL/D
+ GMAX/2
+ D
+ BPL DAD # IF GMAX -D NEG, GO TO GOPOSLAD
+ LIMITL/D
+ GMAX/2
+ BMN DMP
+ GOPOSLAD
+ 2HS
+ PDDL DMP # 2HS(GMAX-D) INTO PD
+ LEQ
+ 1/GMAX
+ DAD DMP
+ LAD
+ PDDL DDV # 2HS(GMAX-D) (LEQ/GMAX+LAD) INTO PD
+ 2HSGMXSQ
+ VSQUARE
+ DAD SQRT # XLIM = SQRT(PD+(2HSGMAX/V)SQ)
+ DAD BPL # IF RDOT+XLIM POS, GO TO LIMITL/D
+ RDOT
+ LIMITL/D
+
+GOPOSLAD DLOAD
+ LAD
+STOREL/D STORE L/D
+
+# Page 873
+LIMITL/D DLOAD
+ L/D
+ STODL L/D1
+ VSQUARE
+
+ BON # NO LATERAL CONTROL IF PAST TARGET
+ GONEPAST
+ L355
+ DMP DAD # Y= KLAT VSQUARE + LATBIAS
+ KLAT
+ LATBIAS # Y INTO PD
+L350 PDDL ABS # IF ABS(L/D)-L/DCMINR NEG, GO TO L353
+ L/D
+ DSU BMN
+ L/DCMINR
+ L353
+ DLOAD SIGN # IF K2ROLL LATANG NEG, GO TO L357
+ LATANG
+ K2ROLL
+ BMN DLOAD
+ L357
+ SR1 PUSH # Y = Y/2
+L353 DLOAD SIGN # IF LATANG SIGN(K2ROLL)-Y POS, SWITCH
+ LATANG
+ K2ROLL
+ DSU
+ BMN DLOAD
+ L355
+ K2ROLL
+ BONCLR DCOMP # IF NOSWITCH =1, K2ROLL= K2ROLL
+ NOSWITCH
+ L355
+ STORE K2ROLL # K2ROLL = -K2ROLL
+
+L355 DLOAD DDV # ROLLC = ACOS( (L/D1) / LAD)
+ L/D1
+ LAD # MPAC SET TO +-1 IF OVERFLOW***
+ SR1 ACOS
+ SIGN CLEAR
+ K2ROLL
+ NOSWITCH
+ STORE ROLLC
+
+ENDEXIT EXIT
+
+OVERNOUT CA BIT13 # ENTRYDSP =92D B13
+ MASK CM/FLAGS
+ EXTEND
+ BZF NODISKY # OMIT DISPLAY.
+# Page 874
+ CA ENTRYVN # ALL ENTRY DISPLAYS ARE DONE HERE.
+ TC BANKCALL
+ CADR REGODSPR # NO ABORT IF DISKY IN USE
+
+NODISKY INHINT
+ CCS NEWJOB # PROTECT READACCS GRP 5, IF SIDETRACKED.
+ TC CHANG1
+SERVNOUT TC POSTJUMP # ( COME HERE FROM P67.3 )
+ CADR SERVEXIT # AND END AVERAGEG JOB VIA ENDOJOB.
+
+# Page 875
+# DISPLAY WHEN V IS LESS THAN VQUIT.
+
+STEEROFF EXIT
+ CA EBENTRY # PRECAUTIONARY.
+ TS EBANK
+
+ CA PRIO16 # 2 LESS THAN NTRYPRIO.
+ TC NOVAC
+ EBANK= AOG # ANY EB HERE
+ 2CADR P67.1 # START UP REMAINDER OF P67
+
+ # RTOGO LAT LONG
+ # XXXX.X NM XXX.XX DEG XXX.XX DEG
+
+ TC 2PHSCHNG # INHINT/RELINT DONE.
+ OCT 00414 # 4.41 RESTART FOR P67.1 DISPLAY JOB.
+ OCT 10035 # SERVICER 5.3 RESTART.
+
+ CA P67.2CAD # HEREAFTER, DO LAT, LONG.
+ TS GOTOADDR
+
+ TC INTPRET
+ GOTO
+P67.2CAD P67.2 # CONTINUE FOR LAT, LONG THIS TIME.
+
+L357 DLOAD SIGN # L/D = L/DCMINR SIGN(L/D)
+ L/DCMINR
+ L/D
+ STCALL L/D1
+ L355 # (GO TO)
+
+# Page 876
+# TABLE USED FOR SUB-ORBITAL REFERENCE TRAJECTORY CONTROL.
+
+VREFER DEC .019288 # REFERENCE VELOCITY SCALED V/51532.3946
+ DEC .040809 # 13 POINTS ARE STORED AS THE INDEPENDENT
+ DEC .076107 # VARIABLE AND THEN SIX 13-POINT FUNCTIONS
+ DEC .122156 # OF V ARE STORED CONSECUTIVELY
+ DEC .165546
+ DEC .196012
+ DEC .271945
+ DEC .309533
+ DEC .356222
+ DEC .404192
+ DEC .448067
+ DEC .456023
+ DEC .67918 # HIGHVELOCITY FOR SAFETY.
+
+ DEC -.010337 # DRANGE/DA SCALED DRDA/(2700/805)
+ DEC -.016550
+ DEC -.026935
+ DEC -.042039
+ DEC -.058974
+ DEC -.070721
+ DEC -.098538
+ DEC -.107482
+ DEC -.147762
+ DEC -.193289
+ DEC -.602557
+ DEC -.99999
+ DEC -.99999
+
+ DEC -.0478599 B-3 # -DRANGE/DRDOT
+ DEC -.0683663 B-3 # SCALED ((2VS/8 2700) DR/DRDOT)
+ DEC -.1343468 B-3
+ DEC -.2759846 B-3
+ DEC -.4731437 B-3
+ DEC -.6472087 B-3
+ DEC -1.171693 B-3
+ DEC -1.466382 B-3
+ DEC -1.905171 B-3
+ DEC -2.547990 B-3
+ DEC -4.151220 B-3
+ DEC -5.813617 B-3
+ DEC -5.813617 B-3
+
+# Page 877
+ DEC -.0134001 B3 # RDOTREF SCALED (8 RDT/2VS)
+ DEC -.013947 B3
+ DEC -.013462 B3
+ DEC -.011813 B3
+ DEC -.0095631 B3
+ DEC -.00806946 B3
+ DEC -.006828 B3
+ DEC -.00806946 B3
+ DEC -.0109791 B3
+ DEC -.0151498 B3
+ DEC -.0179817 B3
+ DEC -.0159061 B3
+ DEC -.0159061 B3
+
+ DEC .0008067 # RANGE TO GO SCALED RTOGO/2700
+ DEC .0032963 # 8.9
+ DEC .0081852 # 22.1
+ DEC .017148
+ DEC .027926
+ DEC .037
+ DEC .063298
+ DEC .077889
+ DEC .098815
+ DEC .127519
+ DEC .186963
+ DEC .238148
+ DEC .294185185
+
+ DEC -.051099 # -AREF/805
+ DEC -.074534
+ DEC -.101242
+ DEC -.116646
+ DEC -.122360
+ DEC -.127081
+ DEC -.147453
+ DEC -.155528
+ DEC -.149565
+ DEC -.118509
+ DEC -.034907
+ DEC -.007950
+ DEC -.007950
+
+# Page 878
+ DEC .004491 # DRANGE/D L/D SCALED Y/2700
+ DEC .008081
+ DEC .016030
+ DEC .035815
+ DEC .069422
+ DEC .104519
+ DEC .122
+ DEC .172407
+ DEC .252852
+ DEC .363148
+ DEC .512963
+ DEC .558519
+ DEC .558519 # END OF STORED REFERENCE
+
+# Page 879
+# REENTRY CONSTANTS.
+
+# DEFINED BY EQUALS
+
+DEC15 = LOW4
+#GAMMAL1 = 22D
+
+MAXRNG 2OCT 1663106755 # DNRNGERR = 9999.9 IF GONEPAST=1
+
+ BANK 26
+ SETLOC REENTRY1
+ BANK
+
+ COUNT* $$/ENTRY
+
+BARELY1 = NEARONE # COMMON TO BOTH DISK,DANCE, DEFND IN TFF
+#1BITDP # COMMON TO BOTH DISK AND DANCE. DEFND IN VECPOINT.
+
+1/12TH DEC .083333 # DP 1/12 USES HI WORD IN 1/3 BELOW
+1/3RD 2DEC .3333333333 # DP 1/3
+
+1/16TH = DP2(-4)
+
+# BELOW: VS = VSAT = 25766.1973 FT/SEC
+
+# RE = 21,202,900 FEET
+
+LEWD1 2DEC .15
+
+POINT1 2DEC .1
+
+POINT2 2DEC .2 # .2
+
+DLEWD0 2DEC -.05 # -.05
+
+GMAX/2 2DEC .16 # 8 GS / 2
+
+3ZEROS EQUALS HI6ZEROS
+NEAR1/4 2OCT 0777700000 # 1/4 LESS 1 BIT IN UPPER PART.
+
+C18 2DEC .0097026346 # 500/2VS
+
+Q7FKDMIN 2DEC .0080745342 # 6.5/805 (Q7F +KDMIN) = 6 + .5)
+
+C1/16 = DP2(-4)
+
+Q3 2DEC .167003132 # .07 2VS/21600
+# Page 880
+Q5 2DEC .326388889 # .3 23500/21600
+
+Q6 2DEC .0349 # 2 DEG. APPROX 820/23500
+
+Q7F 2DEC .0074534161 # 6/805 (VALUE OF Q7 IN FIXED MEM.)
+
+Q19 = HALVE # Q19 = .5
+
+Q21 2DEC .0231481481 # 500/21600
+
+Q22 2DEC -.053333333 # -1152/21600
+
+VLMIN 2DEC .34929485 # 18000/2 VS
+
+VMIN = FOURTH # (VS/2) / 2VS
+C12 2DEC .00684572901 # 32 28500/(21202900 2 PI)
+
+1/KB1 2DEC .29411765 # 1 / 3.4
+
+-1/KB2 2DEC -.0057074322 B4 # - 1/(.0034 2 VS) EXP +4
+
+VQUIT 2DEC .019405269 # 1000 /2VS
+
+C20 2DEC .21739130 # (175 FPSS) LIFT UP IF ABOVE C20
+
+C21 2DEC .17391304 # 140/805
+
+25NM 2DEC .0011574074 # 25/21600 (25 NAUT MILES)
+
+K1D 2DEC .0314453125 # =C16 805/256 = .01 805/256
+
+K2D 2DEC -.201298418 # -C17 2VS/256 = -.001 2VS/256
+
+KVSCALE 2DEC .81491944 # 12800/(2 VS .3048)
+
+KASCALE 2DEC .97657358 # 5.85 16384/(4 .3048 100 805)
+
+KTETA 2DEC* .383495203 E2 B-14* # 1000 2PI/16384(163.84)
+
+KT1 2DEC* .157788327 E2 B-14* # RE(2PI)/2 VS(16384) 163.84
+
+.05G 2DEC .002 # .05/25
+
+LATBIAS 2DEC .00003 # APPRX .5 NM/ 4(21600/2 PI)
+
+KWE 2DEC .120056652 B-1
+
+KACOS 2DEC .004973592 # 1/32(2PI)
+
+CHOOK 2DEC 1 B-6 # .25/16
+# Page 881
+1/24TH 2DEC .0833333333 B-1
+
+CH1 2DEC .32 B1 # 16 CH1/25 = 16 (1) /25
+
+KC3 2DEC -.0247622232 # -(4 VS VS/ 2 PI 805 RE)
+
+VRCONT 2DEC .0135836886 # 700/2 VSAT
+
+HALVE EQUALS HIDPHALF
+FOURTH EQUALS HIDP1/4
+
+1/GMAX EQUALS HALVE # 4/GMAX = 4 / 8
+2HS 2DEC .0172786611 # 2 28500 25 32.2/(4 VS VS)
+
+2HSGMXSQ 2DEC .0000305717 # (2 28500 8 32.2/ 4 VS VS)SQ
+
+C001 2DEC -.000625 # -(4/25)/256 LEQ/D0 CONST
+
+POINT8 2DEC .8
+
+2C1HS 2DEC .0215983264 # 2 1.25 28500 805/(2 VS)SQ
+
+PT1/16 2DEC .1 B-4
+
+1/K44 2DEC .00260929464 # 2 VS/19749550
+
+VFINAL 2DEC .51618016 # 26600/2 VS
+
+VFINAL1 2DEC .523942273 # = 27000 / 2 VS
+
+1/KA1 2DEC .30048077 # 25/(1.3 64)
+
+KA2 2DEC .008 # .2/25
+
+KA3 2DEC .44720497 # = 90 4/805
+
+KA4 2DEC .049689441 # 40/805
+
+KALIM 2DEC .06 # 1.5/25
+
+Q7MIN = KA4 # = 40/805 = .049689441
+-HSCALED 2DEC -.55305018 # -28500/2 VS
+
+-KSCALE 2DEC -.0312424837 # -805/VS
+
+COS15 2DEC .965
+
+LATSLOPE EQUALS 1/12TH
+# ... END OF RE-ENTRY CONSTANTS ...
+
diff --git a/RESTARTS_ROUTINE.s b/RESTARTS_ROUTINE.s
new file mode 100644
index 0000000..fb0de01
--- /dev/null
+++ b/RESTARTS_ROUTINE.s
@@ -0,0 +1,335 @@
+# Copyright: Public domain.
+# Filename: RESTARTS_ROUTINE.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1414-1419
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same
+# name, and page images. Corrected various
+# typos in the transcription of program
+# comments, and these should be back-ported
+# to Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1414
+ BANK 01
+ SETLOC RESTART
+ BANK
+
+ EBANK= PHSNAME1 # GOPROG MUST SWITCH TO THIS EBANK
+
+ COUNT 01/RSROU
+
+RESTARTS CA MPAC +5 # GET GROUP NUMBER -1
+ DOUBLE # SAVE FOR INDEXING
+ TS TEMP2G
+
+ CA PHS2CADR # SET UP EXIT IN CASE IT IS AN EVEN
+ TS TEMPSWCH # TABLE PHASE
+
+ CA RTRNCADR # TO SAVE TIME ASSUME IT WILL GET NEXT
+ TS GOLOC +2 # GROUP AFTER THIS
+
+ CA TEMPPHS
+ MASK OCT1400
+ CCS A # IS IT A VARIABLE OR TABLE RESTART
+ TCF ITSAVAR # IT'S A VARIABLE RESTART
+
+GETPART2 CCS TEMPPHS # IS IT AN X.1 RESTART
+ CCS A
+ TCF ITSATBL # NO, IT'S A TABLE RESTART
+
+ CA PRIO14 # IT IS AN X.1 RESTART, THEREFORE START
+ TC FINDVAC # THE DISPLAY RESTART JOB
+ EBANK= LST1
+ 2CADR INITDSP
+
+ TC RTRNCADR # FINISHED WITH THIS GROUP, GET NEXT ONE
+
+ITSAVAR MASK OCT1400 # IS IT TYPE B ?
+ CCS A
+ TCF ITSLIKEB # YES, IT IS TYPE B
+
+ EXTEND # STORES THE JOB (OR TASK) 2CADR FOR EXIT
+ NDX TEMP2G
+ DCA PHSNAME1
+ DXCH GOLOC
+
+ CA TEMPPHS # SEE IF THIS IS A JOB, TASK, OR A LONGCALL
+ MASK OCT7
+ AD MINUS2
+ CCS A
+ TCF ITSLNGCL # IT'S A LONGCALL
+
+# Page 1415
+RTRNCADR TC SWRETURN # CAN'T GET HERE.
+ TCF ITSAWAIT
+
+ TCF ITSAJOB # IT'S A JOB
+
+ITSAWAIT CA WTLTCADR # SET UP WAITLIST CALL
+ TS GOLOC -1
+
+ NDX TEMP2G # DIRECTLY STORED
+ CA PHSPRDT1
+TIMETEST CCS A # IS IT AN IMMEDIATE RESTART
+ INCR A # NO.
+ TCF FINDTIME # FIND OUT WHEN IT SHOULD BEGIN
+
+ TCF ITSINDIR # STORED INDIRECTLY
+
+ TCF IMEDIATE # IT WANTS AN IMMEDIATE RESTART
+
+# ***** THIS MUST BE IN FIXED FIXED *****
+
+ BLOCK 02
+ SETLOC FFTAG2
+ BANK
+
+ COUNT 02/RSROU
+
+ITSINDIR LXCH GOLOC +1 # GET THE CORRECT E BANK IN CASE THIS IS
+ LXCH BB # SWITCHED ERASABLE
+
+ NDX A # GET THE TIME INDIRECTLY
+ CA 1
+
+ LXCH BB # RESTORE THE BB AND GOLOC
+ LXCH GOLOC +1
+
+ TCF FINDTIME # FIND OUT WHEN IT SHOULD BEGIN
+
+# ***** YOU MAY RETURN TO SWITCHED FIXED *****
+
+ BANK 01
+ SETLOC RESTART
+ BANK
+
+ COUNT 01/RSROU
+
+FINDTIME COM # MAKE NEGATIVE SINCE IT WILL BE SUBTRACTED
+ TS L # AND SAVE
+ NDX TEMP2G
+ CS TBASE1
+ EXTEND
+# Page 1416
+ SU TIME1
+ CCS A
+ COM
+ AD OCT37776
+ AD ONE
+ AD L
+ CCS A
+ CA ZERO
+ TCF +2
+ TCF +1
+IMEDIATE AD ONE
+ TC GOLOC -1
+ITSLIKEB CA RTRNCADR # TYPE B, SO STORE RETURN IN
+ TS TEMPSWCH # TEMPSWCH IN CASE OF AN EVEN PHASE
+
+ CA PRT2CADR # SET UP EXIT TO GET TABLE PART OF THIS
+ TS GOLOC +2 # VARIABLE TYPE OF PHASE
+
+ CA TEMPPHS # MAKE THE PHASE LOOK RIGHT FOR THE TABLE
+ MASK OCT177 # PART OF THIS VARIABLE PHASE
+ TS TEMPPHS
+
+ EXTEND
+ NDX TEMP2G # OBTAIN THE JOB'S 2CADR
+ DCA PHSNAME1
+ DXCH GOLOC
+
+ITSAJOB NDX TEMP2G # NOW ADD THE PRIORITY AND LET'S GO
+ CA PHSPRDT1
+CHKNOVAC TS GOLOC -1 # SAVE PRIO UNTIL WE SEE IF IT'S
+ EXTEND # A FINDVAC OR A NOVAC
+ BZMF ITSNOVAC
+
+ CAF FVACCADR # POSITIVE, SET UP FINDVAC CALL.
+ XCH GOLOC -1 # PICK UP PRIO
+ TC GOLOC -1 AND GO
+
+ITSNOVAC CAF NOVACADR # NEGATIVE,
+ XCH GOLOC -1 # SET UP NOVAC CALL,
+ COM # CORRECT PRIO,
+ TC GOLOC -1 # AND GO
+
+ITSATBL TS CYR # FIND OUT IF THE PHASE IS ODD OR EVEN
+ CCS CYR
+ TCF +1 # IT'S EVEN
+ TCF ITSEVEN
+
+ CA RTRNCADR # IN CASE THIS IS THE SECOND PART OF A
+ TS GOLOC +2 # TYPE B RESTART, WE NEED PROPER EXIT
+# Page 1417
+ CA TEMPPHS # SET UP POINTER FOR FINDING OUR PLACE IN
+ TS SR # THE RESTART TABLES
+ AD SR
+ NDX TEMP2G
+ AD SIZETAB +1
+ TS POINTER
+
+CONTBL2 EXTEND # FIND OUT WHAT'S IN THE TABLE
+ NDX POINTER
+ DCA CADRTAB # GET THE 2CADR
+
+ LXCH GOLOC +1 # STORE THE BB INFORMATION
+
+ CCS A # IS IT A JOB OR IT IT TIMED
+ INCR A # POSITIVE, MUST BE A JOB
+ TCF ITSAJOB2
+
+ INCR A # MUST BE EITHER A WAITLIST OR LONGCALL
+ TS GOLOC # LET'S STORE THE CORRECT CADR
+
+ CA WTLTCADR # SET UP OUR EXIT TO WAITLIST
+ TS GOLOC -1
+
+ CA GOLOC +1 # NOW FIND OUT IF IT IS A WAITLIST CALL
+ MASK BIT10 # THIS SHOULD BE ONE IF WE HAVE -BB
+ CCS A # FOR THAT MATTER SO SHOULD BE BITS 9,8,7,
+ # 6,5, AND LAST BUT NOT LEAST (PERHAPS NOT
+ # IN IMPORTANCE ANYWAY. BUT 4
+ TCF ITSWTLST # IT IS A WAITLIST CALL
+
+ NDX POINTER # OBTAIN THE ORIGINAL DELTA T
+ CA PRDTTAB # ADDRESS FOR THIS LONGCALL
+
+ TCF ITSLGCL1 # NOW GO GET THE DELTA TIME
+
+# ***** THIS MUST BE IN FIXED FIXED *****
+
+ BLOCK 02
+ SETLOC FFTAG2
+ BANK
+
+ COUNT 02/RSROU
+
+ITSLGCL1 LXCH GOLOC +1 # OBTAIN THE CORRECT E BANK
+ LXCH BB
+ LXCH GOLOC +1 # AND PRESERVE OUR E AND F BANKS
+
+ EXTEND # GET THE DELTA TIME
+ NDX A
+ DCA 0
+# Page 1418
+ LXCH GOLOC +1 # RESTORE OUR E AND F BANK
+ LXCH BB # RESTORE THE TASKS E AND F BANKS
+ LXCH GOLOC +1 # AND PRESERVE OUR L
+ TCF ITSLGCL2 # NOT GET'S PROCESS THIS LONGCALL
+
+# ***** YOU MAY RETURN TO SWITCHED FIXED *****
+
+ BANK 01
+ SETLOC RESTART
+ BANK
+
+ COUNT 01/RSROU
+ITSLGCL2 DXCH LONGTIME
+
+ EXTEND # CALCULATE TIME LEFT
+ DCS TIME2
+ DAS LONGTIME
+ EXTEND
+ DCA LONGBASE
+ DAS LONGTIME
+
+ CCS LONGTIME # FIND OUT HOW THIS SHOULD BE RESTARTED
+ TCF LONGCLCL
+ TCF +2
+ TCF IMEDIATE -3
+ CCS LONGTIME +1
+ TCF LONGCLCL
+ NOOP # CAN'T GET HERE ************
+ TCF IMEDIATE -3
+ TCF IMEDIATE
+
+LONGCLCL CA LGCLCADR # WE WILL GO TO LONGCALL
+ TS GOLOC -1
+
+ EXTEND # PREPARE OUR ENTRY TO LONGCALL
+ DCA LONGTIME
+ TC GOLOC -1
+
+ITSLNGCL CA WTLTCADR # ASSUME IT WILL GO TO WAITLIST
+ TS GOLOC -1
+
+ NDX TEMP2G
+ CS PHSPRDT1 # GET THE DELTA T ADDRESS
+
+ TCF ITSLGCL1 # NOW GET THE DELTA TIME
+
+ITSWTLST CS GOLOC +1 # CORRECT THE BBCON INFORMATION
+ TS GOLOC +1
+# Page 1419
+ NDX POINTER # GET THE DT AND FIND OUT IF IT WAS STORED
+ CA PRDTTAB # DIRECTLY OR INDIRECTLY
+
+ TCF TIMETEST # FIND OUT HOW THE TIME IS STORED
+
+ITSAJOB2 XCH GOLOC # STORE THE CADR
+
+ NDX POINTER # ADD THE PRIORITY AND LET'S GO
+ CA PRDTTAB
+
+ TCF CHKNOVAC
+
+ITSEVEN CA TEMPSWCH # SET FOR EITHER THE SECOND PART OF THE
+ TS GOLOC +2 # TABLE, OR A RETURN FOR THE NEXT GROUP
+
+ NDX TEMP2G # SET UP POINTER FOR OUR LOCATION WITHIN
+ CA SIZETAB # THE TABLE
+ AD TEMPPHS # THIS MAY LOOK BAD BUT LET'S SEE YOU DO
+ AD TEMPPHS # BETTER IN TIME OR NUMBER OF LOCATIONS
+ AD TEMPPHS
+ TS POINTER
+
+ TCF CONTBL2 # NO PROCESS WHAT IS IN THE TABLE
+
+PHSPART2 CA THREE # SET THE POINTER FOR THE SECOND HALF OF
+ ADS POINTER # THE TABLE
+
+ CA RTRNCADR # THIS WILL BE OUR LAST TIME THROUGH THE
+ TS GOLOC +2 # EVEN TABLE, SO AFTER IT GET THE NEXT
+ # GROUP
+ TCF CONTBL2 # SO LET'S GET THE SECOND ENTRY IN THE TBL
+
+TEMPPHS EQUALS MPAC
+TEMP2G EQUALS MPAC +1
+POINTER EQUALS MPAC +2
+TEMPSWCH EQUALS MPAC +3
+GOLOC EQUALS VAC5 +20D
+MINUS2 EQUALS NEG2
+OCT177 EQUALS LOW7
+
+PHS2CADR GENADR PHSPART2
+PRT2CADR GENADR GETPART2
+LGCLCADR GENADR LONGCALL
+FVACCADR GENADR FINDVAC
+WTLTCADR GENADR WAITLIST
+NOVACADR GENADR NOVAC
+
+
+
+
diff --git a/RESTART_TABLES.s b/RESTART_TABLES.s
new file mode 100644
index 0000000..bd25dd2
--- /dev/null
+++ b/RESTART_TABLES.s
@@ -0,0 +1,558 @@
+# Copyright: Public domain.
+# Filename: RESTART_TABLES.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 211-221
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-16 FB Transcription Batch 2 Assignment.
+# 2009-05-20 RSB Added a missing comment mark. Corrected mismarked
+# Page 217 -> 220.
+# 2009-05-21 RSB Fixed value of 5.21SPOT.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 211
+# RESTART TABLES
+# --------------
+#
+# THERE ARE TWO FORMS OF RESTART TABLES FOR EACH GROUP. THEY ARE KNOWN AS THE EVEN RESTART TABLES AND THE ODD
+# RESTART TABLES. THE ODD TABLES HAVE ONLY ONE ENTRY OF THREE LOCATIONS WHILE THE EVEN TABLES HAVE TWO ENTRIES
+# EACH USING THREE LOCATIONS. THE INFORMATION AS TO WHETHER IT IS A JOB, WAITLIST, OR A LONGCALL IS GIVEN BY THE
+# WAY THINGS ARE PUT IN TO THE TABLES.
+#
+# A JOB HAS ITS PRIORITY STORED IN A PRDTTAB OF THE CORRECT PHASE SPOT -- A POSITIVE PRIORITY INDICATES A
+# FINDVAC JOB, A NEGATIVE PRIORITY A NOVAC. THE 2CADR OF THE JOB IS STORED IN THE CADRTAB.
+# FOR EXAMPLE,
+#
+# 5.7SPOT OCT 23000
+# 2CADR SOMEJOB
+#
+# A RESTART OF GROUP 5 WITH PHASE SEVEN WOULD THEN CAUSE SOMEJOB TO BE RESTARTED AS A FINDVAC WITH PRIORITY 23.
+#
+# 5.5SPOT OCT -23000
+# 2CADR ANYJOB
+#
+# HERE A RESTART OF GROUP 5 WITH PHASE 7 WOULD CAUSE ANYJOB TO BE RESTARTED AS A NOVAC WITH PRIORITY 23.
+# A LONGCALL HAS ITS GENADR OF ITS 2CADR STORED NEGATIVELY AND ITS BBCON STORED POSITIVELY. IN ITS PRDTTAB IS
+# PLACED THE LOCATION OF A DP REGISTER THAT CONTAINS THE DELTA TIME THAT LONGCALL HAD BEEN ORIGINALLY STARTED
+# WITH. EXAMPLE,
+#
+# 3.6SPOT GENADR DELTAT
+# -GENADR LONGTASK
+# BBCON LONGTASK
+
+# OCT 31000
+# 2CADR JOBAGAIN
+#
+# THIS WOULD START UP LONGTASK AT THE APPROPRIATE TIME, OR IMMEDIATELY IF THE TIME HAD ALREADY PASSED. IT SHOULD
+# BE NOTED THAT IF DELTAT IS IN A SWITCHED E BANK, THIS INFORMATION SHOULD BE IN THE BBCON OF THE 2CADR OF THE
+# TASK. FROM ABOVE, WE SEE THAT THE SECOND PART OF THIS PHASE WOULD BE STARTED AS A JOB WITH A PRIORITY OF 31.
+#
+# WAITLIST CALLS ARE IDENTIFIED BY THE FACT THAT THEIR 2CADR IS STORED NEGATIVELY. IF PRDTTAB OF THE PHASE SPOT
+# IS POSITIVE, THEN IT CONTAINS THE DELTA TIME, IF PRDTTAB IS NEGATIVE THEN IT IS THE -GENADR OF AN ERASABLE
+# LOCATION CONTAINING THE DELTA TIME, THAT IS, THE TIME IS STORED INDIRECTLY. IT SHOULD BE NOTED AS ABOVE, THAT
+# IF THE TIME IS STORED INDIRECTLY, THE BBCON MUST CONTAIN THE NECESSARY E BANK INFORMATION IF APPLICABLE. WITH
+# WAITLIST WE HAVE ONE FURTHER OPTION, IF -0 IS STORED IN PRDTTAB, IT WILL CAUSE AN IMMEDIATE RESTART OF THE
+# TASK. EXAMPLES,
+#
+# OCT 77777 # THIS WILL CAUSE AN IMMEDIATE RESTART
+# -2CADR ATASK # OF THE TASK "ATASK"
+#
+# DEC 200 # IF THE TIME OF THE 2 SECONDS SINCE DUMMY
+# -2CADR DUMMY # WAS PUT ON THE WAITLIST IS UP, IT WILL BEGIN
+# # IN 10 MS, OTHERWISE IT WILL BEGIN WHEN
+# # IT NORMALLY WOULD HAVE BEGUN.
+# Page 212
+# -GENADR DTIME # WHERE DTIME CONTAINS THE DELTA TIME
+# -2CADR TASKTASK # OTHERWISE THIS IS AS ABOVE
+#
+# ***** NOW THE TABLES THEMSELVES *****
+
+ BANK 01
+ SETLOC RESTART
+ BANK
+
+ COUNT 01/RSTAB
+
+PRDTTAB EQUALS 12000 # USED TO FIND THE PRIORITY OR DELTATIME
+CADRTAB EQUALS 12001 # THIS AND THE NEXT RELATIVE LOC CONTAIN
+ # RESTART 2CADR
+
+SIZETAB TC 1.2SPOT -12006
+ TC 1.3SPOT -12004
+ TC 2.2SPOT -12006
+ TC 2.3SPOT -12004
+ TC 3.2SPOT -12006
+ TC 3.3SPOT -12004
+ TC 4.2SPOT -12006
+ TC 4.3SPOT -12004
+ TC 5.2SPOT -12006
+ TC 5.3SPOT -12004
+ TC 6.2SPOT -12006
+ TC 6.3SPOT -12004
+1.2SPOT EQUALS 3.2SPOT
+
+# ANY MORE GROUP 1.EVEN RESTART VALUES SHOULD GO HERE.
+
+1.3SPOT DEC 120 # THIS NUMBER MUST BE EQUAL C(JTAGTIME)
+ EBANK= AOG
+ -2CADR SETJTAG
+
+1.5SPOT OCT 10000
+ EBANK= DAPDATR1
+ 2CADR REDO40.9
+
+1.7SPOT OCT 10000
+ EBANK= ESTROKER
+ 2CADR RELINUS
+
+1.11SPOT OCT 10000
+ EBANK= ESTROKER
+ 2CADR PIKUP20
+
+# ANY MORE GROUP 1.ODD RESTART VALUES SHOULD GO HERE.
+
+2.2SPOT EQUALS 1.2SPOT
+
+# ANY MORE GROUP 2.EVEN RESTART VALUES SHOULD GO HERE
+# Page 213
+
+2.3SPOT GENADR 600SECS
+ -GENADR STATEINT
+ EBANK= RRECTCSM
+ BBCON STATEINT
+
+2.5SPOT OCT 05000
+ EBANK= RRECTCSM
+ 2CADR STATINT1
+
+2.7SPOT OCT 10000
+ EBANK= MRKBUF2
+ 2CADR R22
+
+2.11SPOT OCT 14000
+ EBANK= LANDMARK
+ 2CADR V94ENTER
+
+2.13SPOT OCT 10000
+ EBANK= MRKBUF2
+ 2CADR REDOR22
+
+# ANY MORE GROUP 2.ODD RESTART VALUES SHOULD GO HERE.
+
+3.2SPOT EQUALS 4.2SPOT
+
+# ANY MORE GROUP 3.EVEN RESTART VALUES SHOULD GO HERE
+
+3.3SPOT OCT 20000
+ EBANK= TGO
+ 2CADR S40.13
+
+3.5SPOT DEC 0
+ DEC 0
+ DEC 0
+
+3.7SPOT OCT 22000
+ EBANK= TEPHEM
+ 2CADR MATRXJOB
+
+3.11SPOT OCT 22000
+ EBANK= TEPHEM
+ 2CADR REP11
+
+3.13SPOT OCT 22000
+ EBANK= TEPHEM
+ 2CADR REP11A
+
+3.15SPOT -GENADR TGO +1
+ EBANK= TGO
+ -2CADR ENGINOFF
+
+# Page 214
+# ANY MORE GROUP 3.ODD RESTART VALUES SHOULD GO HERE
+
+4.2SPOT OCT 77777
+ EBANK= TIG
+ -2CADR PRECHECK
+
+ OCT 30000
+ EBANK= DELVIMU
+ 2CADR P47BODY
+
+4.4SPOT OCT 77777
+ EBANK= TIG
+ -2CADR PRECHECK
+
+ DEC 2996
+ EBANK= DAPDATR1
+ -2CADR TTG/0
+
+4.6SPOT OCT 77777
+ EBANK= TIG
+ -2CADR PRECHECK
+
+ DEC 2496
+ EBANK= TIG
+ -2CADR TIG-5
+
+# ANY MORE GROUP 4.EVEN RESTART VALUES SHOULD GO HERE
+
+4.3SPOT DEC 40
+ EBANK= PACTOFF
+ -2CADR DOTVCON
+
+4.5SPOT DEC 160
+ EBANK= PACTOFF
+ -2CADR DOSTRULL
+
+4.7SPOT DEC 500
+ EBANK= PACTOFF
+ -2CADR TIG-0
+
+4.11SPOT DEC 250
+ EBANK= DAPDATR1
+ -2CADR V97E40.6
+
+4.13SPOT DEC 200
+ EBANK= WHOCARES
+ -2CADR R40ENABL
+
+4.15SPOT OCT 16000 # PRELAUNCH OPTICAL VERIFICATION
+ EBANK= OGC
+# Page 215
+ 2CADR COMPVER # CALLS FOR OPTICS DATA AGAIN (STD LEADIN)
+
+4.17SPOT OCT 16000
+ EBANK= XSM
+ 2CADR AZMTHCG1
+
+4.21SPOT GENADR P40TMP # DELTA TIME USED IN SETTING UP
+ -GENADR TIGBLNK # LONG CALL OF TIGBLNK BY P40,P41
+ EBANK= P40TMP
+ BBCON TIGBLNK
+
+4.23SPOT OCT 12000 # PROTECT P40S/SV BY P40 P41
+ EBANK= TIG
+ 2CADR P40S/SV
+
+4.25SPOT OCT 24000
+ EBANK= BESTI
+ 2CADR PROG52
+
+4.27SPOT DEC 250
+ EBANK= PACTOFF
+ -2CADR DOTVCRCS
+
+4.31SPOT OCT 13000
+ EBANK= STAR
+ 2CADR R51 +1
+
+4.33SPOT DEC 2100 # PROTECT CONTINUING JOB TO START P63
+ EBANK= AOG
+ -2CADR WAKEP62
+
+4.35SPOT OCT 12000
+ EBANK= DAPDATR1
+ 2CADR POSTBURN
+
+4.37SPOT DEC 500
+ EBANK= TIG
+ -2CADR TIGAVEG
+
+4.41SPOT OCT 17000 # PROTECT DISPLAY JOB IN P67
+ EBANK= AOG
+ 2CADR P67.1
+
+4.43SPOT -GENADR S61DT # PROTECT TASK TO START PREREAD,ENTRY
+ EBANK= S61DT # S61.1C WILL CHANGE EBANK=EB7 FOR PREREAD
+ -2CADR S61.1C
+
+4.45SPOT OCT 13000 # PROTECT CONTINUING JOB S61.1
+ EBANK= AOG # (ENTRY IMU ALIGNMENT)
+# Page 216
+ 2CADR S61.1A -1
+
+4.47SPOT OCT 17000 # PROTECT HUNTEST ITERATION
+ EBANK= AOG
+ 2CADR PRE-HUNT
+
+4.51SPOT OCT 77777 # PROTECT FDAI ATTITUDE
+ EBANK= BODY3 # ERROR DISPLAY IN P11
+ -2CADR ATERTASK
+
+4.53SPOT DEC -0
+ EBANK= END-E7 # EBANK7 FOR TIG
+ -2CADR V97ETASK
+
+4.55SPOT OCT 13000 # PROTECT P65 RESPONSIVE DISPLAY.
+ EBANK= RTINIT
+ 2CADR P65.1
+
+4.57SPOT -GENADR P40TMP
+ EBANK= P40TMP
+ -2CADR TIGON
+
+4.61SPOT OCT 77777
+ EBANK= PACTOFF
+ -2CADR IGNITION
+
+4.63SPOT OCT 77777
+ EBANK= PACTOFF
+ -2CADR DOSPSOFF
+
+4.65SPOT DEC 10
+ EBANK= TIG
+ -2CADR TIG-5
+
+4.67SPOT DEC -0
+ EBANK= CSMMASS
+ -2CADR V97TTASK
+
+4.71SPOT DEC 250
+ EBANK= DAPDATR1 # (FOR RCSDAPON)
+ -2CADR V97TRCS
+
+4.73SPOT DEC -0
+ EBANK= V97VCNTR
+ -2CADR V97PTASK
+
+4.75SPOT DEC -0
+ EBANK= DAPDATR1
+ -2CADR SPSOFF97
+
+# Page 217
+4.77SPOT DEC -0
+ EBANK= PACTOFF
+ -2CADR TIG-0
+
+# ANY MORE GROUP 4.ODD RESTART VALUES SHOULD GO HERE
+
+5.2SPOT OCT 32000
+ EBANK= DVCNTR
+ 2CADR NORMLIZE
+
+ DEC 200
+ EBANK= AOG
+ -2CADR REREADAC
+
+5.4SPOT OCT 20000
+ EBANK= DVCNTR
+ 2CADR SERVICER
+
+ DEC 200
+ EBANK= AOG
+ -2CADR REREADAC
+
+# ANY MORE GROUP 5.EVEN RESTART VALUES SHOULD GO HERE
+
+5.3SPOT DEC 200
+ EBANK= AOG
+ -2CADR REREADAC
+
+5.5SPOT OCT 77777
+ EBANK= AOG
+ -2CADR REDO5.5
+
+5.7SPOT OCT 20000 # USED BY PRELAUNCH
+ EBANK= XSM
+ 2CADR RSTGTS1
+
+5.11SPOT OCT 77777
+ EBANK= XSM
+ -2CADR ALLOOP1
+
+5.13SPOT OCT 20000
+ EBANK= XSM
+ 2CADR WTLISTNT
+
+5.15SPOT OCT 20000
+ EBANK= XSM
+ 2CADR RESTEST1
+
+5.17SPOT OCT 20000
+ EBANK= XSM
+# Page 218
+ 2CADR GEOSTRT4
+
+5.21SPOT OCT 22000
+ EBANK= XSM
+ 2CADR ALFLT1
+
+5.23SPOT OCT 77777
+ EBANK= XSM
+ -2CADR SPECSTS
+
+5.25SPOT OCT 20000
+ EBANK= XSM
+ 2CADR RESTEST3
+
+5.27SPOT OCT 20000
+ EBANK= XSM
+ 2CADR RESTAIER
+
+5.31SPOT DEC 0
+ DEC 0
+ DEC 0
+
+5.33SPOT OCT 20000
+ EBANK= XSM
+ 2CADR RESCHNG
+
+5.35SPOT DEC 0
+ 2DEC 0
+
+5.37SPOT OCT 77777
+ EBANK= AOG
+ -2CADR CHEKAVEG
+
+5.41SPOT OCT 77777 # TO PROTECT PREREAD AT TIG-30A
+ EBANK= DVCNTR # TIG-15 T+60
+ -2CADR PREREAD
+
+# ANY MORE GROUP 5.ODD RESTART VALUES SHOULD GO HERE
+
+6.2SPOT OCT 77777 # USED BY P40 AFTER GIMB DR TST TO REPOS'N
+ EBANK= AK # ENGINE UNTIL TVCDAPON
+ -2CADR PRE40.6
+
+ DEC 100
+ EBANK= TTOGO
+ -2CADR CLOKTASK
+
+# ANY MORE 6.ODD RESTART VALUES SHOULD GO HERE
+# Page 219
+
+6.3SPOT DEC 100
+ EBANK= TIG
+ -2CADR CLOKTASK
+
+6.5SPOT OCT 30000 # PROTECT INCREMENTING OF TIME2,TIME1 BY
+ EBANK= TEPHEM # P27(UPDATE PROGRAM)
+ 2CADR TIMEDIDR
+
+6.7SPOT OCT 0
+ OCT 0
+ OCT 0
+
+6.11SPOT -GENADR CM/GYMDT # PROTECT TASK TO READ CDUS.
+ EBANK= CM/GYMDT # FOR ENTRY DAP
+ -2CADR READGYMB
+
+6.13SPOT DEC 0
+ DEC 0
+ DEC 0
+
+# Page 220
+# PROGRAM DESCRIPTION: NEWPHASE DATE: 11 NOV 1966
+# MOD: 1 ASSEMBLY: SUNBURST REV
+# MOD BY: COPPS LOG SECTION: PHASE TABLE MAINTENANCE
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# NEWPHASE IS THE QUICK WAY TO MAKE A NON VARIABLE PHASE CHANGE. IT INCLUDES THE OPTION OF SETTING
+# TBASE OF THE GROUP. IF TBASE IS TO BE SET, -C(TIME1) IS STORED IN THE TBASE TABLE AS FOLLOWS:
+#
+# (L-1) TBASE0
+# (L) TBASE1 (IF GROUP=1)
+# (L+1)
+# (L+2) TBASE2 (IF GROUP=2)
+# -----
+# (L+6) TBASE4 (IF GROUP=4)
+# (L+7)
+# (L+8) TBASE5 (IF GROUP=5)
+#
+# IN ANY CASE, THE NEGATIVE OF THE PHASE, FOLLOWED (IN THE NEXT REGISTER) BY THE PHASE, IS STORED IN THE
+# PHASE TABLE AS FOLLOWS:
+#
+# (L) -PHASE1 (IF GROUP=1)
+# (L+1) PHASE1
+# (L+2) -PHASE2 (IF GROUP=2)
+# (L+3) PHASE2
+# -----
+# (L+7) PHASE4
+# (L+8) -PHASE5 (IF GROUP=5)
+# (L+9) PHASE5
+#
+# CALLING SEQUENCE:
+#
+# EXAMPLE IS FOR PLACING A PHASE OF FIVE INTO GROUP THREE:
+#
+# 1) IF TBASE IS NOT TO BE SET:
+# L-1 CA FIVE
+# L TC NEWPHASE
+# L+1 OCT 00003
+#
+# 2) IF TBASE IS TO BE SET:
+# L-1 CS FIVE
+# L TC NEWPHASE
+# L+1 OCT 00003
+#
+# SUBROUTINES CALLED: NONE
+#
+# NORMAL EXIT MODE: AT L+2 OF CALLING SEQUENCE
+#
+# ALARM OR ABORT EXITS: NONE
+#
+# OUTPUT: PHASE TABLE AND TBASE TABLE UPDATED
+#
+# ERASABLE INITIALIZATION REQ'D: NONE
+# Page 221
+# DEBRIS: A,L,TEMPG
+
+# *** WARNING *** THIS PROGRAM IS TO BE PLACED IN FIXED-FIXED AND UNSWITCHED ERASABLE.
+
+ BLOCK 02
+ SETLOC FFTAG1
+ BANK
+
+ COUNT* $$/PHASE
+
+NEWPHASE INHINT
+
+ TS L # SAVE FOR FURTHER USE
+
+ NDX Q # OBTAIN THE GROUP NUMBER
+ CA 0
+ INCR Q # OBTAIN THE RETURN ADDRESS
+ DOUBLE # SAVE THE GROUP IN A FORM USED FOR
+ TS TEMPG # INDEXING
+
+ CCS L # SEE IF WE ARE TO SET TBASE
+ TCF +7 # NO, THE DELTA T WAS POSITIVE
+ TCF +6
+
+NUFAZ+10 INCR A # SET TBASE AND STORE PHASE CORRECTLY
+ TS L
+
+ CS TIME1 # SET TBASE
+ NDX TEMPG
+ TS TBASE1 -2
+
+ CS L # NOW PUT THE PHASE IN THE RIGHT TABLE LOC
+ NDX TEMPG
+ DXCH -PHASE1 -2
+
+ RELINT
+ TC Q # NOW RETURN TO CALLER
+
+
diff --git a/RT8_OP_CODES.s b/RT8_OP_CODES.s
new file mode 100644
index 0000000..c823fdb
--- /dev/null
+++ b/RT8_OP_CODES.s
@@ -0,0 +1,355 @@
+# Copyright: Public domain.
+# Filename: RT8_OP_CODES.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1508-1516
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 RSB Adapted from Colossus249/RT8_OP_CODES.agc
+# and page images.
+# 2009-05-07 RSB Oops! Left out the entire last page before.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1508
+ BANK 22
+ SETLOC RTBCODES
+ BANK
+
+ EBANK= XNB
+ COUNT* $$/RTB
+
+# LOAD TIME2, TIME1 INTO MPAC:
+
+LOADTIME EXTEND
+ DCA TIME2
+ TCF SLOAD2
+
+# CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A
+# DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS.
+
+CDULOGIC CCS MPAC
+ CAF ZERO
+ TCF +3
+ NOOP
+ CS HALF
+
+ TS MPAC +1
+ CAF ZERO
+ XCH MPAC
+ EXTEND
+ MP HALF
+ DAS MPAC
+ TCF DANZIG # MODE IS ALREADY AT DOUBLE-PRECISION
+
+# READ THE PIPS INTO MPAC WITHOUT CHANGING THEM:
+
+READPIPS INHINT
+ CA PIPAX
+ TS MPAC
+ CA PIPAY
+ TS MPAC +3
+ CA PIPAZ
+ RELINT
+ TS MPAC +5
+
+ CAF ZERO
+ TS MPAC +1
+ TS MPAC +4
+ TS MPAC +6
+VECMODE TCF VMODE
+
+# FORCE TP SIGN AGREEMENT IN MPAC:
+
+SGNAGREE TC TPAGREE
+
+# Page 1509
+
+ TCF DANZIG
+
+# CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE
+# SCALED IN HALF-REVOLUTIONS.
+
+1STO2S TC 1TO2SUB
+ CAF ZERO
+ TS MPAC +1
+ TCF NEWMODE
+
+# DO 1STO2S ON A VECTOR OF ANGLES:
+
+V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC.
+
+ DXCH MPAC +5
+ DXCH MPAC
+ TC 1TO2SUB
+ TS MPAC +2
+
+ DXCH MPAC +3
+ DXCH MPAC
+ TC 1TO2SUB
+ TS MPAC +1
+
+ CA MPAC +5
+ TS MPAC
+
+TPMODE CAF ONE # MODE IS TP.
+ TCF NEWMODE
+
+# V1STO2S FOR 2 COMPONENT VECTOR. USED BY RR.
+
+2V1STO2S TC 1TO2SUB
+ DXCH MPAC +3
+ DXCH MPAC
+ TC 1TO2SUB
+ TS L
+ CA MPAC +3
+ TCF SLOAD2
+
+# SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S CONVERSION:
+
+1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED.
+ DDOUBL
+ CCS A
+ AD ONE
+ TCF +2
+ COM # THIS WAS REVERSE OF MSU.
+
+ TS MPAC # AND SKIP ON OVERFLOW.
+# Page 1510
+ TC Q
+
+ INDEX A # OVERFLOW UNCORRECT AND IN MSU.
+ CAF LIMITS
+ ADS MPAC
+ TC Q
+
+# Page 1511
+# SUBROUTINE TO INCREMENT CDUS
+
+INCRCDUS CAF LOCTHETA
+ TS BUF # PLACE ADRES(THETA) IN BUF.
+ CAE MPAC # INCREMENT IN 1'S COMPL.
+ TC CDUINC
+
+ INCR BUF
+ CAE MPAC +3
+ TC CDUINC
+
+ INCR BUF
+ CAE MPAC +5
+ TC CDUINC
+
+ TCF VECMODE
+
+LOCTHETA ADRES THETAD
+
+# THE FOLLOWING ROUTINE INCREMENTS IN 2'S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1'S COMPL.
+# QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCRMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2'S COMPL.
+# (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
+
+CDUINC TS TEM2 # 1'S COMPL. QUANT. ARRIVES IN ACC. STORE IT
+ INDEX BUF
+ CCS 0 # CHANGE 2'S COMPLE. ANGEL (IN BUF) INTO 1'S
+ AD ONE
+ TCF +4
+ AD ONE
+ AD ONE # OVEFLOW HERE IF 2'S COMPL. IS 180 DEG.
+ COM
+
+ AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD. (OR BACK)
+ CCS A # BACK TO 2'S COMPL.
+ AD ONE
+ TCF +2
+ COM
+ TS TEM2 # STORE 14-BIT QUANTITY WITH PRESENT SIGN
+ TCF +4
+ INDEX A # SIGN.
+ CAF LIMITS # FIX IT, BY ADDING IN 37777 OR 40000
+ AD TEM2
+
+ INDEX BUF
+ TS 0 # STORE NEW ANGLE IN 2'S COMPLEMENT.
+ TC Q
+
+# Page 1512
+# RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1.
+
+PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
+ CA X1
+ TC BANKCALL
+ CADR IMUPULSE
+ TCF DANZIG
+
+# Page 1513
+# EACH ROUTINE TAKES A 3X3 MATRIX STORED IN DOUBLE PRECISION IN A FIXED AREA OF ERASABLE MEMORY AND REPLACES IT
+# WITH THE TRANSPOSE MATRIX. TRANSP1 USES LOCATIONS XNB+0,+1 THROUGH XNB+16D,+17D AND TRANSP2 USES LOCATIONS
+# XNB1+0,+1 THROUGH XNB1+16D,+17D. EACH MATRIX IS STORED BY ROWS.
+
+XNBEB ECADR XNB
+XNB1EB ECADR XNB1
+
+ EBANK= XNB
+
+TRANSP1 CAF XNBEB
+ TS EBANK
+ DXCH XNB +2
+ DXCH XNB +6
+ DXCH XNB +2
+
+ DXCH XNB +4
+ DXCH XNB +12D
+ DXCH XNB +4
+
+ DXCH XNB +10D
+ DXCH XNB +14D
+ DXCH XNB +10D
+ TCF DANZIG
+ EBANK= XNB1
+
+TRANSP2 CAF XNB1EB
+ TS EBANK
+ DXCH XNB1 +2
+ DXCH XNB1 +6
+ DXCH XNB1 +2
+
+ DXCH XNB1 +4
+ DXCH XNB1 +12D
+ DXCH XNB1 +4
+
+ DXCH XNB1 +10D
+ DXCH XNB1 +14D
+ DXCH XNB1 +10D
+ TCF DANZIG
+
+# Page 1514
+# THE SUBROUTINE SIGNMPAC SETS C(MPAC, MPAC +1) TO SIGN(MPAC).
+# FOR THIS, ONLY THE CONTENTS OF MPAC ARE EXAMINED. ALSO +0 YIELDS POSMAX AND -0 YIELDS NEGMAX.
+#
+# ENTRY MAY BE BY EITHER OF THE FOLLOWING:
+# 1. LIMIT THE SIZE OF MPAC ON INTERPRETIVE OVERFLOW:
+# ENTRY: BOVB
+# SIGNMPAC
+# 2. GENERATE IN MPAC THE SIGNUM FUNCTION OF MPAC:
+# ENTRY: RTB
+# SIGNMPAC
+# IN EITHER CASE, RETURN IS TO TEH NEXT INTERPRETIVE INSTRUCTION IN THE CALLING SEQUENCE.
+
+SIGNMPAC EXTEND
+ DCA DPOSMAX
+ DXCH MPAC
+ CCS A
+DPMODE CAF ZERO # SETS MPAC +2 TO ZERO IN THE PROCESS
+ TCF SLOAD2 +2
+ TCF +1
+ EXTEND
+ DCS DPOSMAX
+ TCF SLOAD2
+
+# RTB OP CODE NORMUNIT IS LIKE INTERPRETIVE INSTRUCTION UNIT, EXCEPT THAT IT CAN BE DEPENDED ON NOT TO BLOW
+# UP WHEN THE VECTOR BEING UNITIZED IS VERY SAMLL -- IT WILL BLOW UP WHEN ALL COMPONENT ARE ZERO. IF NORMUNIT
+# IS USED AND THE UPPER ORDER HALVES OF ALL COMPONENTS ARE ZERO, THE MAGNITUDE RETURNS IN 36D WILL BE TOO LARGE
+# BY A FACTOR OF 2(13) AND THE SQURED MAGNITUDE RETURNED AT 34D WILL BE TOO BIG BY A FACTOR OF 2(26).
+
+NORMUNX1 CAF ONE
+ TCF NORMUNIT +1
+NORMUNIT CAF ZERO
+ AD FIXLOC
+ TS MPAC +2
+ TC BANKCALL # GET SIGN AGREEMENT IN ALL COMPONENTS
+ CADR VECAGREE
+ CCS MPAC
+ TCF NOSHIFT
+ TCF +2
+ TCF NOSHIFT
+ CCS MPAC +3
+ TCF NOSHIFT
+ TCF +2
+ TCF NOSHIFT
+ CCS MPAC +5
+ TCF NOSHIFT
+ TCF +2
+ TCF NOSHIFT
+# Page 1515
+ CA MPAC +1 # SHIFT ALL COMPONENTS LEFT 13
+ EXTEND
+ MP BIT14
+ DAS MPAC # DAS GAINS A LITTLE ACCURACY
+ CA MPAC +4
+ EXTEND
+ MP BIT14
+ DAS MPAC +3
+ CA MPAC +6
+ EXTEND
+ MP BIT14
+ DAS MPAC +5
+ CAF THIRTEEN
+ INDEX MPAC +2
+ TS 37D
+OFFTUNIT TC POSTJUMP
+ CADR UNIT +1 # SKIP THE "TC VECAGREE" DONE AT UNIT
+
+NOSHIFT CAF ZERO
+ TCF OFFTUNIT -2
+
+# RTB VECSGNAG ... FORCES SIGN AGREEMENT OF VECTOR IN MPAC.
+
+VECSGNAG TC BANKCALL
+ CADR VECAGREE
+ TC DANZIG
+
+# Page 1516
+# MODULE CHANGE FOR NEW LUNAR GRAVITY MODEL
+ SETLOC MODCHG3
+ BANK
+QUALITY1 BOF DLOAD
+ MOONFLAG
+ NBRANCH
+ URPV
+ DSQ GOTO
+ QUALITY2
+ SETLOC MODCHG2
+ BANK
+QUALITY2 PDDL DSQ # SQUARE INTO 2D, B2
+ URPV +2 # Y COMPONENT, B1
+ DSU
+ DMP VXSC # 5(Y**2-X**2)UR
+ 5/8 # CONSTANT, 5B3
+ URPV # VECTOR, RESULT MAXIMUM IS 5, SCALING
+ # HERE B6
+ VSL3 PDDL # STORE SCALED B3 IN 2D, 4D, 6D FOR XYZ
+ URPV # X COMPONENT, B1
+ SR1 DAD # 2 X X COMPONENT FOR B3 SCALING
+ 2D # ADD TO VECTOR X COMPONENT OF ANSWER.
+ # SAME AS MULTIPLYING BY UNITX. MAX IS 7.
+ STODL 2D
+ URPV +2 # Y COMPONENT, B1
+ SR1 BDSU # 2 X Y COMPONENT FOR B3 SCALING
+ 4D # SUBTRACT FROM VECTOR Y COMPONENT OF
+ # ANSWER, SAME AS MULTIPLYING BY UNITY.
+ # MAX IS 7.
+ STORE 4D # 2D HAS VECTOR, B3.
+ SLOAD VXSC # MULTIPLY COEFFICIENT TIMES VECTOR IN 2D
+ E3J22R2M
+ PDDL RVQ # J22 TERM X R**4 IN 2D, SCALED B61
+ COSPHI/2 # SAME AS URPV +4, Z COMPONENT
+
+# *** END OF CHIEFTAN.028 ***
+
diff --git a/RTB_OP_CODES.s b/RTB_OP_CODES.s
new file mode 100644
index 0000000..ad480e2
--- /dev/null
+++ b/RTB_OP_CODES.s
@@ -0,0 +1,236 @@
+# Copyright: Public domain.
+# Filename: RTB_OP_CODES.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1397-1401
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Luminary131/ file of the same
+# name, using Luminary099 page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1397
+ BANK 22
+ SETLOC RTBCODES
+ BANK
+
+ EBANK= XNB
+ COUNT* $$/RTB
+
+# LOAD TIME2, TIME1 INTO MPAC:
+
+LOADTIME EXTEND
+ DCA TIME2
+ TCF SLOAD2
+
+# CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A
+# DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS.
+
+CDULOGIC CCS MPAC
+ CAF ZERO
+ TCF +3
+ NOOP
+ CS HALF
+
+ TS MPAC +1
+ CAF ZERO
+ XCH MPAC
+ EXTEND
+ MP HALF
+ DAS MPAC
+ TCF DANZIG # MODE IS ALREADY AT DOUBLE-PRECISION
+
+# FORCE TP SIGN AGREEMENT IN MPAC:
+
+SGNAGREE TC TPAGREE
+ TCF DANZIG
+
+# CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE
+# SCALED IN HALF-REVOLUTIONS.
+
+1STO2S TC 1TO2SUB
+ CAF ZERO
+ TS MPAC +1
+ TCF NEWMODE
+
+# DO 1STO2S ON A VECTOR OF ANGLES:
+
+V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC.
+
+ DXCH MPAC +5
+ DXCH MPAC
+ TC 1TO2SUB
+# Page 1398
+ TS MPAC +2
+
+ DXCH MPAC +3
+ DXCH MPAC
+ TC 1TO2SUB
+ TS MPAC +1
+
+ CA MPAC +5
+ TS MPAC
+
+TPMODE CAF ONE # MODE IS TP.
+ TCF NEWMODE
+
+# V1STO2S FOR 2 COMPONENT VECTOR. USED BY RR.
+
+2V1STO2S TC 1TO2SUB
+ DXCH MPAC +3
+ DXCH MPAC
+ TC 1TO2SUB
+ TS L
+ CA MPAC +3
+ TCF SLOAD2
+
+# SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S CONVERSION:
+
+1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED.
+ DDOUBL
+ CCS A
+ AD ONE
+ TCF +2
+ COM # THIS WAS REVERSE OF MSU.
+
+ TS MPAC # AND SKIP ON OVERFLOW.
+ TC Q
+
+ INDEX A # OVERFLOW UNCORRECT AND IN MSU.
+ CAF LIMITS
+ ADS MPAC
+ TC Q
+
+# THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL.
+# QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCRMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL.
+# (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
+
+CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT
+ INDEX BUF
+ CCS 0 # CHANGE 2S COMPL. ANGLE(IN BUF)INTO 1S
+ AD ONE
+ TCF +4
+ AD ONE
+# Page 1399
+ AD ONE # OVEFLOW HERE IF 2S COMPL. IS 180 DEG.
+ COM
+
+ AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD. (OR BACK)
+ CCS A # BACK TO 2S COMPL.
+ AD ONE
+ TCF +2
+ COM
+ TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN
+ TCF +4
+ INDEX A # SIGN.
+ CAF LIMITS # FIX IT, BY ADDING IN 37777 OR 40000
+ AD TEM2
+
+ INDEX BUF
+ TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT.
+ TC Q
+
+# Page 1400
+# RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1.
+
+PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
+ CA X1
+ TC BANKCALL
+ CADR IMUPULSE
+ TCF DANZIG
+
+# Page 1401
+# THE SUBROUTINE SIGNMPAC SETS C(MPAC, MPAC +1) TO SIGN(MPAC).
+# FOR THIS, ONLY THE CONTENTS OF MPAC ARE EXAMINED. ALSO +0 YIELDS POSMAX AND -0 YIELDS NEGMAX.
+#
+# ENTRY MAY BE BY EITHER OF THE FOLLOWING:
+# 1. LIMIT THE SIZE OF MPAC ON INTERPRETIVE OVERFLOW:
+# ENTRY: BOVB
+# SIGNMPAC
+# 2. GENERATE IN MPAC THE SIGNUM FUNCTION OF MPAC:
+# ENTRY: RTB
+# SIGNMPAC
+# IN EITHER CASE, RETURN IS TO TEH NEXT INTERPRETIVE INSTRUCTION IN THE CALLING SEQUENCE.
+
+SIGNMPAC EXTEND
+ DCA DPOSMAX
+ DXCH MPAC
+ CCS A
+DPMODE CAF ZERO # SETS MPAC +2 TO ZERO IN THE PROCESS
+ TCF SLOAD2 +2
+ TCF +1
+ EXTEND
+ DCS DPOSMAX
+ TCF SLOAD2
+
+# RTB OP CODE NORMUNIT IS LIKE INTERPRETIVE INSTRUCTION UNIT, EXCEPT THAT IT CAN BE DEPENDED ON NOT TO BLOW
+# UP WHEN THE VECTOR BEING UNITIZED IS VERY SMALL -- IT WILL BLOW UP WHEN ALL COMPONENT ARE ZERO. IF NORMUNIT
+# IS USED AND THE UPPER ORDER HALVES OF ALL COMPONENTS ARE ZERO, THE MAGNITUDE RETURNED IN 36D WILL BE TOO LARGE
+# BY A FACTOR OF 2(13) AND THE SQUARED MAGNITUDE RETURNED ATE 34D WILL BE TOO BIG BY A FACTOR OF 2(26).
+
+NORMUNX1 CAF ONE
+ TCF NORMUNIT +1
+NORMUNIT CAF ZERO
+ AD FIXLOC
+ TS MPAC +2
+ TC BANKCALL # GET SIGN AGREEMENT IN ALL COMPONENTS
+ CADR VECAGREE
+ CCS MPAC
+ TCF NOSHIFT
+ TCF +2
+ TCF NOSHIFT
+ CCS MPAC +3
+ TCF NOSHIFT
+ TCF +2
+ TCF NOSHIFT
+ CCS MPAC +5
+ TCF NOSHIFT
+ TCF +2
+ TCF NOSHIFT
+# Page 1402
+ CA MPAC +1 # SHIFT ALL COMPONENTS LEFT 13
+ EXTEND
+ MP BIT14
+ DAS MPAC # DAS GAINS A LITTLE ACCURACY
+ CA MPAC +4
+ EXTEND
+ MP BIT14
+ DAS MPAC +3
+ CA MPAC +6
+ EXTEND
+ MP BIT14
+ DAS MPAC +5
+ CAF THIRTEEN
+ INDEX MPAC +2
+ TS 37D
+OFFTUNIT TC POSTJUMP
+ CADR UNIT +1 # SKIP THE "TC VECAGREE" DONE AT UNIT
+
+NOSHIFT CAF ZERO
+ TCF OFFTUNIT -2
+
+# RTB VECSGNAG ... FORCES SIGN AGREEMENT OF VECTOR IN MPAC.
+
+VECSGNAG TC BANKCALL
+ CADR VECAGREE
+ TC DANZIG
+
+# *** END OF SKIPPER .087 ***
+
diff --git a/S-BAND_ANTENNA_FOR_CM.s b/S-BAND_ANTENNA_FOR_CM.s
new file mode 100644
index 0000000..53d7465
--- /dev/null
+++ b/S-BAND_ANTENNA_FOR_CM.s
@@ -0,0 +1,129 @@
+# Copyright: Public domain.
+# Filename: S-BAND_ANTENNA_FOR_CM.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Jim Lawton <jim.lawton@gmail.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 934-935
+# Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 934
+# S-BAND ANTENNA FOR CM
+
+ BANK 23
+ SETLOC SBAND
+ BANK
+
+ COUNT* $$/R05
+ EBANK= EMSALT
+
+SBANDANT TC BANKCALL # V 64 E GETS US HERE
+ CADR R02BOTH # CHECK IF IMU IS ON AND ALIGNED
+ TC INTPRET
+ RTB CALL
+ LOADTIME # PICKUP CURRENT TIME SCALED B-28
+ CDUTRIG # COMPUTE SINES AND COSINES OF CDU ANGLES
+ STCALL TDEC1 # ADVANCE INTEGRATION TO TIME IN TDEC1
+ CSMCONIC # USING CONIC INTEGRATION
+ SLOAD BHIZ # ORIGIN OF REFERENCE INERTIAL SYSTEM IS
+ X2 # EARTH = 0, MOON = 2
+ EISOI
+ VLOAD
+ RATT
+ STORE RCM # MOVE RATT TO PREVENT WIPEOUT
+ DLOAD CALL # MOON, PUSH ON
+ TAT # GET ORIGINAL TIME
+ LUNPOS # COMPUTE POSITION VECTOR OF MOON
+ VAD VCOMP # R= -(REM+RCM) = NEG. OF S/C POS. VEC
+ RCM
+ GOTO
+ EISOI +2
+EISOI VLOAD VCOMP # EARTH, R= -RCM
+ RATT
+ SETPD MXV # RCS TO STABLE MEMBER: B-1X B-29X B+1
+ 2D # 2D
+ REFSMMAT # STABLE MEMBER. B-1X B-29X B+1= B-29
+ VSL1 PDDL # 8D
+ HI6ZEROS
+ STOVL YAWANG # ZERO OUT YAWANG, SET UP FOR SMNB
+ RCM # TRANSFORMATION. SM COORD. SCALED B-29
+ CALL
+ *SMNB*
+ STORE R # SAVE NAV. BASE COORDINATES
+ UNIT PDVL # 14D
+ R
+ VPROJ VSL2 # COMPUTE PROJECTION OF VECTOR INTO CM
+ HIUNITZ # XY-PLANE, R-(R.UZ)UZ
+ BVSU BOV # CLEAR OVERFLOW INDICATOR IF SET
+ R
+ COVCNV
+COVCNV UNIT BOV # TEST OVERFLOW FOR INDICATION OF NULL
+ NOADJUST # VECTOR
+ PUSH DOT # 20D
+# Page 935
+ HIUNITX # COMPUTE YAW ANGLE = ACOS (URP.UX)
+ SL1 ACOS # REVOLUTIONS SCALED B0
+ PDVL DOT # 22D YAWANG
+ URP
+ HIUNITY # COMPUTE FOLLOWING: URP.UY
+ SL1 BPL # POSITIVE
+ NOADJUST # YES, 0-180 DEGREES
+ DLOAD DSU # NO, 181-360 DEGREES 20D
+ DPPOSMAX # COMPUTE 2 PI MINUS YAW ANGLE
+ PUSH # 22D YAWANG
+NOADJUST VLOAD DOT # COMPUTE PITCH ANGLE
+ UR # ACOS (UR.UZ) - PI/2
+ HIUNITZ
+ SL1 ACOS # REVOLUTIONS B0
+ DSU
+ HIDP1/4
+ STODL RHOSB
+ YAWANG
+ STORE GAMMASB # PATCH FOR CHECKOUT
+ EXIT
+ CA EXTVBACT # IS BIT 5 STILL ON
+ MASK BIT5
+ EXTEND
+ BZF ENDEXT # NO, WE HAVE BEEN ANSWERED
+ CAF V06N51 # DISPLAY ANGLES
+ TC BANKCALL
+ CADR GOMARKFR
+ TC B5OFF # TERMINATE
+ TC B5OFF
+ TC ENDOFJOB # RECYCLE
+ CAF BIT3 # IMMEDIATE RETURN
+ TC BLANKET # BLANK R3
+ CAF BIT1 # DELAY MINIMUM TIME TO ALLOW DISPLAY IN
+ TC BANKCALL
+ CADR DELAYJOB
+ TCF SBANDANT +2
+V06N51 VN 0651
+RCM EQUALS 2D
+UR EQUALS 8D
+URP EQUALS 14D
+YAWANG EQUALS 20D
+PITCHANG EQUALS 22D
+R EQUALS RCM
+ SBANK= LOWSUPER
+
diff --git a/S-BAND_ANTENNA_FOR_LM.s b/S-BAND_ANTENNA_FOR_LM.s
new file mode 100644
index 0000000..1d24695
--- /dev/null
+++ b/S-BAND_ANTENNA_FOR_LM.s
@@ -0,0 +1,201 @@
+# Copyright: Public domain.
+# Filename: S-BAND_ANTENNA_FOR_LM.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 486-489
+# Mod history: 2009-05-17 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+# 2009-06-07 RSB Corrected a misprint.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 486
+# SUBROUTINE NAME: R05 -- S-BAND ANTENNA FOR LM
+#
+# MOD0 BY T. JAMES
+# MOD1 BY P. SHAKIR
+#
+# FUNCTIONAL DESCRIPTION
+#
+# THE S-BAND ANTENNA ROUTINE, R05, COMPUTES AND DISPLAYS THE PITCH AND
+# YAW ANTENNA GIMBAL ANGLES REQUIRED TO POINT THE LM STEERABLE ANTENNA
+# TOWARD THE CENTER OF THE EARTH. THIS ROUTINE IS SELECTED BY THE ASTRO-
+# NAUT VIA DSKY ENTRY DURING COASTING FLIGHT OR WHEN THE LM IS ON THE MOON
+# SURFACE. THE EARTH OR MOON REFERENCE COORDINATE SYSTEM IS USED DEPENDING
+# ON WHETHER THE LM IS ABOUT TO ENTER OR HAS ALREADY ENTERED THE MOON
+# SPHERE OF INFLUENCE, RESPECTIVELY.
+#
+# TO CALL SUBROUTINE, ASTRONAUT KEYS IN V 64 E
+#
+# SUBROUTINES CALLED ---
+# R02BOTH
+# INTPRET
+# LOADTIME
+# LEMCONIC
+# LUNPOS
+# CDUTRIG
+# *SMNB*
+# BANKCALL
+# B50OFF
+# ENDOFJOB
+# BLANKRET
+#
+# RETURNS WITH
+# PITCH ANGLE IN PITCHANG REV. B0
+# YAW ANGLE IN YAWANG REV. B0
+#
+# ERASABLES USED
+# PITCHANG
+# YAWANG
+# RLM
+# VAC AREA
+
+ BANK 41
+ SETLOC SBAND
+ BANK
+
+ EBANK= WHOCARES
+ COUNT* $$/R05
+SBANDANT TC BANKCALL
+# Page 487
+ CADR R02BOTH # CHECK IF IMU IS ON AND ALIGNED
+ TC INTPRET
+ SETPD RTB
+ 0D
+ LOADTIME # PICK UP CURRENT TIME
+ STCALL TDEC1 # ADVANCE INTEGRATION TO TIME IN TDEC1
+ LEMCONIC # USING CONIC INTEGRATION
+ SLOAD BHIZ
+ X2 # X2 =0 EARTH SPHERE, X2 =2 MOON SPHERE
+ CONV4
+ VLOAD
+ RATT
+ STODL RLM
+ TAT
+CONV3 CALL
+ LUNPOS # UNIT POSITION VECTOR FROM EARTH TO MOON
+ VLOAD VXSC
+ VMOON
+ REMDIST # MEAN DISTANCE FROM EARTH TO MOON
+ VSL1 VAD
+ RLM
+ GOTO
+ CONV5
+CONV4 VLOAD
+ RATT # UE = -UNIT(RATT) EARTH SPHERE
+CONV5 SETPD UNIT # UE = -UNIT((REM)(UEM) + RL) MOON SPHERE
+ 0D # SET PL POINTER TO 0
+ VCOMP CALL
+ CDUTRIG # COMPUTE SINES AND COSINES OF CDU ANGLES
+ MXV VSL1 # TRANSFORM REF. COORDINATE SYSTEM TO
+ REFSMMAT # STABLE MEMBER B-1 X B-1 X B+1 = B-1
+ PUSH DLOAD # 8D
+ HI6ZEROS
+ STORE PITCHANG
+ STOVL YAWANG # ZERO OUT ANGLES
+ CALL
+ *SMNB*
+ STODL RLM # PRE-MULTIPLY RLM BY (NBSA) MATRIX(B0)
+ RLM +2
+ PUSH DSU
+ RLM
+ DMP
+ 1OVSQRT2
+ STODL RLM +2
+ DAD DMP
+ RLM
+ 1OVSQRT2
+ STOVL RLM # R B-1
+ RLM
+ UNIT PDVL
+# Page 488
+ RLM
+ VPROJ VSL2 # PROJECTION OF R ONTO LM XZ PLANE.
+ HIUNITY
+ BVSU BOV # CLEAR OVERFLOW INDICATOR IF ON
+ RLM
+ COVCNV
+COVCNV UNIT BOV # EXIT ON OVERFLOW
+ SBANDEX
+ PUSH VXV # URP VECTOR B-1
+ HIUNITZ
+ VSL1 VCOMP # UZ X URP = -(URP X UZ)
+ STORE RLM # X VEC B-1
+ DOT PDVL # SGN(X.UY) UNSCALED
+ HIUNITY
+ RLM
+ ABVAL SIGN
+ ASIN # ASIN((SGN(X.UY))ABV(X)) REV B0
+ STOVL PITCHANG
+ URP
+ DOT BPL
+ HIUNITZ
+ NOADJUST # YES, -90 TO +90
+ DLOAD DSU
+ HIDPHALF
+ PITCHANG
+ STORE PITCHANG
+NOADJUST VLOAD VXV
+ UR # Z = (UR X URP)
+ URP
+ VSL1
+ STODL RLM # Z VEC B-1
+ PITCHANG
+ SIN VXSC
+ HIUNITZ
+ PDDL COS
+ PITCHANG
+ VXSC VSU
+ HIUNITX # (UX COS ALPHA) - (UZ SIN ALPHA)
+ DOT PDVL # YAW.Z
+ RLM
+ RLM
+ ABVAL SIGN
+ ASIN
+ STORE YAWANG
+SBANDEX EXIT
+ CA EXTVBACT
+ MASK BIT5 # IS BIT5 STILL ON
+ EXTEND
+ BZF ENDEXT # NO
+ CAF PRIO5
+# Page 489
+ TC PRIOCHNG
+ CAF V06N51 # DISPLAY ANGLES
+ TC BANKCALL
+ CADR GOMARKFR
+ TC B5OFF # TERMINATE
+ TC B5OFF # PROCEED
+ TC ENDOFJOB # RECYCLE
+ CAF BIT3 # IMMEDIATE RETURN
+ TC BLANKET # BLANK R3
+ CAF PRIO4
+ TC PRIOCHNG
+ TC SBANDANT +2 # YES, CONTINUE DISPLAYING ANGLES.
+V06N51 VN 0651
+1OVSQRT2 2DEC .7071067815 # 1/SQRT(2)
+
+UR EQUALS 0D
+URP EQUALS 6D
+ SBANK= LOWSUPER
+
+# END OF LNYAIDE .001 ***
+
diff --git a/SERVICER.s b/SERVICER.s
new file mode 100644
index 0000000..c3a8f2f
--- /dev/null
+++ b/SERVICER.s
@@ -0,0 +1,1715 @@
+# Copyright: Public domain.
+# Filename: SERVICER.agc
+# Purpose: Part of the source code for Luminary, build 099. It
+# is part of the source code for the Lunar Module's
+# (LM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 857-897
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-06-01 FB Transcription Batch 4 Assignment.
+# 2009-06-05 RSB Fixed a couple of typos, plus a goofy relative
+# label reference from the original source.
+#
+# The contents of the "Luminary099" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 001 of AGC program Luminary099 by NASA
+# 2021112-061. July 14, 1969.
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 857
+ BANK 37
+ SETLOC SERV1
+ BANK
+
+ EBANK= DVCNTR
+
+# ************* PREREAD *******************
+
+ COUNT* $$/SERV
+
+PREREAD CAF SEVEN # 5.7 SPOT TO SKIP LASTBIAS AFTER
+ TC GNUFAZE5 # RESTART.
+ CAF PRIO21
+ TC NOVAC
+ EBANK= NBDX
+ 2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL
+
+BIBIBIAS TC PIPASR +3 # CLEAR + READ PIPS LAST TIME IN FRE5+F133
+ # DO NOT DESTROY VALUE OF PIPTIME1
+
+ CS FLAGWRD7
+ MASK SUPER011 # SET V37FLAG AND AVEGFLAG (BITS 5 AND 6
+ ADS FLAGWRD7 # OF FLAGWRD7)
+
+ CS DRFTBIT
+ MASK FLAGWRD2 # RESET DRIFTFLAG
+ TS FLAGWRD2
+
+ CAF FOUR # INITIALIZE DV MONITOR
+ TS PIPAGE
+
+ CAF ENDJBCAD # POINT OUTROUTE TO END-OF-JOB.
+ TS OUTROUTE
+
+ CAF PRIO22
+ TC FINDVAC # TO FIRST ENTRY TO AVERAGE G
+ EBANK= DVCNTR
+ 2CADR NORMLIZE
+
+ CA TWO # 5.2SPOT FOR REREADAC AND NORMLIZE
+GOREADAX TC GNUTFAZ5
+ CA 2SECS # WAIT TWO SECONDS FOR READACCS
+ TC VARDELAY
+
+# Page 858
+# ************* READACCS ****************
+
+READACCS CS OCT37771 # THIS PIECE OF CODING ATTEMPTS TO
+ AD TIME5 # SYNCHRONIZE READACCS WITH THE DIGITAL
+ CCS A # AUTOPILOT SO THAT A PAXIS RUPT WILL
+ CS ONE # OCCUR APPROXIMATELY 70 MILLISECONDS
+ TCF +2 # FOLLOWING THE READACCS RUPT. THE 70 MS
+ CA ONE # OFFSET WAS CHOSEN SO THAT THE PAXIS
+ +2 ADS TIME5 # RUPT WOULD NOT OCCUR SIMULTANEOUSLY
+ # WITH ANY OF THE 8 SUBSEQUENT R10,R11
+ # INTERRUPTS -- THUS MINIMIZING THE POSS-
+ # IBILITY OF LOSING DOWNRUPTS.
+
+ TC PIPASR # READ THE PIPAS.
+
+PIPSDONE CA FIVE
+ TC GNUFAZE5
+REDO5.5 CAF ONE
+ TS PIPAGE
+
+ CA PRIO20
+ TC FINDVAC
+ EBANK= DVCNTR
+ 2CADR SERVICER # SET UP SERVICER JOB
+
+ CA BIT9
+ EXTEND
+ WOR DSALMOUT # TURN ON TEST CONNECTOR OUTBIT
+
+ CA FLAGWRD7
+ MASK AVEGFBIT
+ EXTEND
+ BZF AVEGOUT # AVEGFLAG DOWN -- SET UP FINAL EXIT
+
+ CA FLAGWRD6
+ MASK MUNFLBIT
+ EXTEND
+ BZF MAKEACCS # MUNFLAG CLEAR -- BYPASS LR AND DISP.
+
+ CCS PHASE2
+ TCF MAKEACCS # PHASE 2 ACTIVATED -- AVOID MULTIPLE R10.
+
+ CAF SEVEN # SET PIPCTR FOR 4X/SEC RATE.
+ TS PIPCTR
+
+ CS TIME1 # SET TBASE2 .05 SECONDS IN THE PAST.
+ AD FIVE
+ AD NEG1/2
+ AD NEG1/2
+ XCH TBASE2
+# Page 859
+ CAF DEC17 # 2.21SPOT FOR R10,R11
+ TS L
+ COM
+ DXCH -PHASE2
+
+ CAF OCT24 # FIRST R10,R11 IN .200 SECONDS
+ TC WAITLIST
+ EBANK= UNIT/R/
+ 2CADR R10,R11
+
+MAKEACCS CA FOUR
+ TCF GOREADAX # DO PHASE CHANGE AND RECALL READACCS
+
+AVEGOUT EXTEND
+ DCA AVOUTCAD # SET UP FINAL SERVICER EXIT
+ DXCH AVGEXIT
+
+ CA FOUR # SET 5.4 SPOT FOR REREADAC AND SERVICER
+ TC GNUTFAZ5 # IF REREADAC IS CALLED, IT WILL EXIT
+ TC TASKOVER # END TASK WITHOUT CALLING READACCS
+
+GNUTFAZ5 TS L # SAVE INPUT IN L
+ CS TIME1
+ TS TBASE5 # SET TBASE5
+ TCF +2
+
+GNUFAZE5 TS L # SAVE INPUT IN L
+ CS L # -PHASE IN A, PHASE IN L.
+ DXCH -PHASE5 # SET -PHASE5,PHASE5
+ TC Q
+
+ EBANK= DVCNTR
+AVOUTCAD 2CADR AVGEND
+
+ENDJBCAD CADR SERVEXIT +2
+
+OCT37771 OCT 37771
+
+ BANK 33
+ SETLOC SERVICES
+ BANK
+
+ COUNT* $$/SERV
+
+# Page 860
+# ************* SERVICER ****************
+
+SERVICER TC PHASCHNG # RESTART REREADAC + SERVICER
+ OCT 16035
+ OCT 20000
+ EBANK= DVCNTR
+ 2CADR GETABVAL
+
+ CAF PRIO31 # INITIALIZE 1/PIPADT IN CASE RESTART HAS
+ TS 1/PIPADT # CAUSED LASTBIAS TO BE SKIPPED.
+
+ TC BANKCALL # PIPA COMPENSATION CALL
+ CADR 1/PIPA
+
+GETABVAL TC INTPRET
+ VLOAD ABVAL
+ DELV
+ EXIT
+ CA MPAC
+ TS ABDELV # ABDELV = CM/SEC*2(-14).
+ EXTEND
+ MP KPIP
+ DXCH ABDVCONV # ABDVCONV = M/CS * 2(-5).
+ EXTEND
+ DCA MASS
+ DXCH MASS1 # INITIALIZE MASS1 IN CASE WE SKIP MASSMON
+MASSMON CS FLAGWRD8 # ARE WE ON THE SURFACE?
+ MASK SURFFBIT
+ EXTEND
+ BZF MOONSPOT # YES: BYPASS MASS MESS
+
+ CA FLGWRD10 # NO: WHICH VEX SHOULD BE USED?
+ MASK APSFLBIT
+ CCS A
+ EXTEND # IF EXTEND IS EXECUTED, APSVEX --> A,
+ DCA APSVEX # OTHERWISE DPSVEX --> A
+ TS Q
+
+ EXTEND
+ DCA ABDVCONV
+ EXTEND
+OCT10002 DV Q # WHERE APPROPRIATE VEX RESIDES
+ EXTEND
+ MP MASS
+ DAS MASS1
+
+MOONSPOT CA KPIP1 # TP MPAC = ABDELV AT 2(14) CM/SEC
+ TC SHORTMP # MULTIPLY BY KPIP1 TO GET
+# Page 861
+ DXCH MPAC # ABDELV AT 2(7) M/CS
+ DAS DVTOTAL # UPDATE DVTOTAL FOR DISPLAY
+
+ TC TMPTOSPT
+
+ TC BANKCALL
+ CADR QUICTRIG
+
+ CAF XNBPIPAD
+ TC BANKCALL
+ CADR FLESHPOT
+ TC INTPRET
+AVERAGEG BON CALL
+ MUNFLAG
+ RVBOTH
+ CALCRVG
+ EXIT
+GOSERV TC QUIKFAZ5
+
+COPYCYCL TC COPYCYC
+
+# CA ZERO # A IS ZERO ON RETURN FROM COPYCYC
+ TS PIPATMPX
+ TS PIPATMPY
+ TS PIPATMPZ
+
+ CS STEERBIT # CLEAR STEERSW PRIOR TO DVMON.
+ MASK FLAGWRD2
+ TS FLAGWRD2
+
+ CAF IDLEFBIT # IS THE IDLE FLAG SET?
+ MASK FLAGWRD7
+ CCS A
+ TCF NODVMON1 # IDLEFLAG = 1, HENCE SET AUXFLAG TO 0.
+
+ CS FLAGWRD6
+ MASK AUXFLBIT
+ CCS A
+ TCF NODVMON2 # AUXFLAG = 0, HENCE SET AUXFLAG TO 1.
+
+DVMON CS DVTHRUSH
+ AD ABDELV
+ EXTEND
+ BZMF LOTHRUST
+
+ CS FLAGWRD2 # SET STEERSW.
+ MASK STEERBIT
+ ADS FLAGWRD2
+
+DVCNTSET CAF ONE # ALLOW TWO PASSES MAXIMUM NOW THAT
+# Page 862
+ TS DVCNTR # THRUST HAS BEEN DETECTED.
+
+ CA FLGWRD10 # BRANCH IF APSFLAG IS SET.
+ MASK APSFLBIT
+ CCS A
+ TCF USEJETS
+
+ CA BIT9 # CHECK GIMBAL FAIL BIT
+ EXTEND
+ RAND CHAN32
+ EXTEND
+ BZF USEJETS
+
+USEGTS CS USEQRJTS
+ MASK DAPBOOLS
+ TS DAPBOOLS
+ TCF SERVOUT
+
+NODVMON1 CS AUXFLBIT # SET AUXFLAG TO 0.
+ MASK FLAGWRD6
+ TS FLAGWRD6
+ TCF USEJETS
+NODVMON2 CS FLAGWRD6 # SET AUXFLAG TO 1.
+ MASK AUXFLBIT
+ ADS FLAGWRD6
+ TCF USEJETS
+
+LOTHRUST TC QUIKFAZ5
+ CCS DVCNTR
+ TCF DECCNTR
+
+ CCS PHASE4 # COMFAIL JOB ACTIVE?
+ TCF SERVOUT # YES: WON'T NEED ANOTHER.
+
+ TC PHASCHNG # 4.37SPOT FOR COMFAIL.
+ OCT 00374
+
+ CAF PRIO25
+ TC NOVAC
+ EBANK= WHICH
+ 2CADR COMFAIL
+
+ TCF SERVOUT
+
+DECCNTR TS DVCNTR1
+ TC QUIKFAZ5
+ CA DVCNTR1
+ TS DVCNTR
+ INHINT
+ TC IBNKCALL # IF THRUST IS LOW, NO STEERING IS DONE
+# Page 863
+ CADR STOPRATE # AND THE DESIRED RATES ARE SET TO ZERO.
+USEJETS CS DAPBOOLS
+ MASK USEQRJTS
+ ADS DAPBOOLS
+SERVOUT RELINT
+ TC BANKCALL
+ CADR 1/ACCS
+
+ CA PRIORITY
+ MASK LOW9
+ TS PUSHLOC
+ ZL
+ DXCH FIXLOC # FIXLOC AND DVFIND
+
+ TC QUIKFAZ5
+ EXTEND # EXIT TO SELECTED ROUTINE WHETHER THERE
+ DCA AVGEXIT # IS THRUST OR NOT. THE STATE OF STEERSW
+ DXCH Z # WILL CONVEY THIS INFORMATION.
+
+XNBPIPAD ECADR XNBPIP
+
+ BANK 32
+ SETLOC SERV2
+ BANK
+ COUNT* $$/SERV
+
+AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT
+ TS 1/PIPADT # SET UP FREE FALL GYRO COMPENSATION.
+
+ TC UPFLAG # SET DRIFT FLAG.
+ ADRES DRIFTFLG
+
+ TC BANKCALL
+ CADR PIPFREE
+
+ CS BIT9
+ EXTEND
+ WAND DSALMOUT
+
+ TC 2PHSCHNG
+ OCT 5 # GROUP 5 OFF
+ OCT 05022 # GROUP 2 ON
+ OCT 20000
+
+ TC INTPRET
+ SET CLEAR
+ NOR29FLG # SHUT OFF R29 WHEN SERVICER ENDS.
+ SWANDISP # SHUT OFF R10 WHEN SERVICER ENDS.
+ CLEAR CALL # RESET MUNFLAG.
+ MUNFLAG
+# Page 864
+ AVETOMID
+ CLEAR EXIT
+ V37FLAG
+AVERTRN CA OUTROUTE # RETURN TO DESIRED POINT.
+ TC BANKJUMP
+
+OUTGOAVE = AVERTRN
+DVCNTR1 = MASS1
+
+# Page 865
+ SETLOC SERV3
+ BANK
+ COUNT* $$/SERV
+
+SERVIDLE EXTEND # DISCONNECT SERVICER FROM ALL GUIDANCE
+ DCA SVEXTADR
+ DXCH AVGEXIT
+
+ CS FLAGWRD7 # DISCONNECT THE DELTA-V MONITOR
+ MASK IDLEFBIT
+ ADS FLAGWRD7
+
+ CAF LRBYBIT # TERMINATE R12 IS RUNNING.
+ TS FLGWRD11
+
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE1
+
+ CA FLAGWRD6 # DO NOT TURN OFF PHASE 2 IF MUNFLAG SET.
+ MASK MUNFLBIT
+ CCS A
+ TCF +4
+
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE2
+
+ +4 EXTEND
+ DCA NEG0
+ DXCH -PHASE3
+
+ EXTEND
+ DCA NEG0
+ DXCH -PHASE6
+
+ CAF OCT33 # 4.33SPOT FOR GOP00FIX
+ TS L
+ COM
+ DXCH -PHASE4
+
+ TCF WHIMPER # PERFORM A SOFTWARE RESTART AND PROCEED
+ # TO GOTOP00H WHILE SERVICER CONTINUES TO
+ # RUN, ALBEIT IN A GROUND STATE WHERE
+ # ONLY STATE-VECTOR DEPENDENT FUNCTIONS
+ # ARE MAINTAINED.
+
+ EBANK= DVCNTR
+# Page 866
+SVEXTADR 2CADR SERVEXIT
+
+ BANK 32
+ SETLOC SERV
+ BANK
+ COUNT* $$/SERV
+
+SERVEXIT TC PHASCHNG
+ OCT 00035
+
++2 TCF ENDOFJOB
+
+ BANK 23
+ SETLOC NORMLIZ
+ BANK
+
+ COUNT* $$/SERV
+
+# Page 867
+NORMLIZE TC INTPRET
+ VLOAD BOFF
+ RN1
+ MUNFLAG
+ NORMLIZ1
+ VSL6 MXV
+ REFSMMAT
+ STCALL R
+ MUNGRAV
+ VLOAD VSL1
+ VN1
+ MXV
+ REFSMMAT
+ STOVL V
+ V(CSM)
+ VXV UNIT
+ R(CSM)
+ STORE UHYP
+ASCSPOT EXIT
+ EXTEND # MAKE SURE GROUP 2 IS OFF
+ DCA NEG0
+ DXCH -PHASE2
+
+ TC POSTJUMP
+ CADR NORMLIZ2
+
+ BANK 33
+ SETLOC SERVICES
+ BANK
+ COUNT* $$/SERV
+
+NORMLIZ1 CALL
+ CALCGRAV
+ EXIT
+
+NORMLIZ2 CA EIGHTEEN
+ TC COPYCYC +1 # DO NOT COPY MASS IN NORMLIZE
+ TC ENDOFJOB
+
+COPYCYC CA OCT24 # DEC 20
+ +1 INHINT
+ +2 MASK NEG1 # REDUCE BY 1 IF ODD
+ TS ITEMP1
+ EXTEND
+ INDEX ITEMP1
+ DCA RN1
+ INDEX ITEMP1
+# Page 868
+ DXCH RN
+ CCS ITEMP1
+ TCF COPYCYC +2
+ TC Q # RETURN UNDER INHINT
+
+EIGHTEEN DEC 18
+
+# Page 869
+# ************* PIPA READER *****************
+# MOD NO. 00 BY D. LICKLY, DEC. 9 1966
+#
+# FUNCTIONAL DESCRIPTION
+# SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT WILL BE RESTARTABLE.
+# PIPA READINGS ARE STORED IN THE VECTOR DELV. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING,
+# RESTARTS BEGIN AT REREADAC.
+#
+# AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A
+# VECTOR IN CDUTEMP. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS
+# THE CDU READING IN 25 COMP IN THE ORDER CDUX,Y,Z. THE THRUST
+# VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME.
+#
+# CALLING SEQUENCE AND EXIT
+# CALL VIA TC, ISWCALL, ETC.
+# EXIT IS VIA Q.
+#
+# INPUT
+# INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2.
+#
+# OUTPUT
+# HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS.
+# PIPTIME CONTAINS TIME OF PIPA READING.
+#
+# DEBRIS (ERASABLE LOCATIONS DESTROYED BY PROGRAM)
+# TEMX, TEMY, TEMZ, PIPAGE
+
+ BANK 37
+ SETLOC SERV1
+ BANK
+
+ COUNT* $$/SERV
+
+PIPASR EXTEND
+# Page 870
+ DCA TIME2
+ DXCH PIPTIME1 # CURRENT TIME POSITIVE VALUE
+ +3 CS ZERO # INITIALIZE THESE AT NEG. ZERO.
+ TS TEMX
+ TS TEMY
+ TS TEMZ
+
+ CA ZERO
+ TS DELVZ
+ TS DELVZ +1
+ TS DELVY
+ TS DELVY +1
+ TS DELVX +1
+ TS PIPAGE # SHOW PIPA READING IN PROGRESS
+
+REPIP1 EXTEND
+ DCS PIPAX # X AND Y PIPS READ
+ DXCH TEMX
+ DXCH PIPAX # PIPAS SET TO NEG ZERO AS READ.
+ TS DELVX
+ LXCH DELVY
+
+REPIP3 CS PIPAZ # REPEAT PROCESS FOR Z PIP
+ XCH TEMZ
+ XCH PIPAZ
+DODELVZ TS DELVZ
+
+REPIP4 EXTEND # COMPUTE GUIDANCE PERIOD
+ DCA PIPTIME1
+ DXCH PGUIDE
+ EXTEND
+ DCS PIPTIME
+ DAS PGUIDE
+
+ CA CDUX # READ CDUS INTO HIGH ORDER CDUTEMPS
+ TS CDUTEMPX
+ CA CDUY
+ TS CDUTEMPY
+ CA CDUZ
+ TS CDUTEMPZ
+ CA DELVX
+ TS PIPATMPX
+ CA DELVY
+ TS PIPATMPY
+ CA DELVZ
+ TS PIPATMPZ
+
+ TC Q
+
+# Page 871
+REREADAC CCS PIPAGE
+ TCF READACCS # PIP READING NOT STARTED. GO TO BEGINNING
+
+ CAF DONEADR # SET UP RETURN FROM PIPASR
+ TS Q
+
+ CCS DELVZ
+ TCF REPIP4 # Z DONE, GO DO CDUS
+ TCF +3 # Z NOT DONE, CHECK Y.
+ TCF REPIP4
+ TCF REPIP4
+
+ ZL
+ CCS DELVY
+ TCF +3
+ TCF CHKTEMX # Y NOT DONE, CHECK X.
+ TCF +1
+ LXCH PIPAZ # Y DONE, ZERO Z PIP.
+
+ CCS TEMZ
+ CS TEMZ # TEMZ NOT = -0, CONTAINS -PIPAZ VALUE.
+ TCF DODELVZ
+ TCF -2
+ LXCH DELVZ # TEMZ = -0, L HAS ZPIP VALUE.
+ TCF REPIP4
+
+CHKTEMX CCS TEMX # HAS THIS CHANGED
+ CS TEMX # YES
+ TCF +3 # YES
+ TCF -2 # YES
+ TCF REPIP1 # NO
+ TS DELVX
+
+ CS TEMY
+ TS DELVY
+
+ CS ZERO # ZERO X AND Y PIPS
+ DXCH PIPAX # L STILL ZERO FROM ABOVE
+
+ TCF REPIP3
+
+DONEADR GENADR PIPSDONE
+
+# Page 872
+ BANK 33
+ SETLOC SERVICES
+ BANK
+
+ COUNT* $$/SERV
+
+TMPTOSPT CA CDUTEMPY # THIS SUBROUTINE, CALLED BY AN RTB FROM
+ TS CDUSPOTY # INTERPRETIVE, LOADS THE CDUS CORRESPON-
+ CA CDUTEMPZ # DING TO PIPTIME INTO THE CDUSPOT VECTOR.
+ TS CDUSPOTZ
+ CA CDUTEMPX
+ TS CDUSPOTX
+ TC Q
+
+# LRHTASK IS A WAITLIST TASK SET BY READACCS DURING THE DESCENT BRAKING
+# PHASE WHEN THE ALT TO THE LUNAR SURFACE IS LESS THAN 25,000 FT. THIS
+# TASK CLEARS THE ALTITUDE MEASUREMENT MADE DISCRETE AND INITIATES THE
+# LANDING RADAR MEASUREMENT JOB (LRHJOB) TO TAKE A ALTITUDE MEASUREMENT
+# 50 MS PRIOR TO THE NEXT READACCS TASK.
+
+ BANK 21
+ SETLOC R10
+ BANK
+
+ COUNT* $$/SERV
+
+LRHTASK CS FLGWRD11
+ MASK LRBYBIT
+ EXTEND
+ BZF GRP2OFF # LR BYPASS SET -- BYPASS ALL LR READING.
+
+ CA READLBIT
+ MASK FLGWRD11 # IS READLR FLAG SET?
+ EXTEND
+ BZF GRP2OFF # NO. BYPASS LR READ.
+
+ CS FLGWRD11
+ MASK NOLRRBIT # IS LR READ INHIBITED?
+ EXTEND
+ BZF GRP2OFF # YES. BYPASS LR READ.
+
+ CA PRIO32 # LR READ OK. SET JOB TO DO IT
+ TC NOVAC # ABOUT 50 MS. PRIOR TO PIPA READ.
+ EBANK= HMEAS
+ 2CADR LRHJOB
+
+GRP2OFF EXTEND
+ DCA NEG0
+ DXCH -PHASE2
+ TCF R10,R11A
+
+ BANK 33
+ SETLOC SERVICES
+ BANK
+# Page 873
+ COUNT* $$/SERV
+
+# HIGATASK IS ENTERED APPROXIMATELY 6 SECS PRIOR TO HIGATE DURING THE
+# DESCENT PHASE. HIGATASK SETS THE HIGATE FLAG (BIT11) AND THE LR INHIBIT
+# FLAG (BIT10) IN LRSTAT. THE HIGATJOB IS SET UP TO REPOSITION THE LR
+# ANTENNA FROM POSITION 1 TO POSITION 2. IF THE REPOSITIONING IS
+# SUCCESSFUL THE ALT BEAM AND VELOCITY BEAMS ARE TRANSFORMED TO THE NEW
+# ORIENTATION IN NB COORDINATES AND STORED IN ERASABLE.
+
+HIGATASK INHINT
+ CS PRIO3 # SET HIGATE AND LR INHIBIT FLAGS
+ MASK FLGWRD11
+ AD PRIO3
+ TS FLGWRD11
+ CAF PRIO32
+ TC FINDVAC # SET LR POSITIONING JOB (POS2)
+ EBANK= HMEAS
+ 2CADR HIGATJOB
+
+ TCF CONTSERV # CONTINUE SERVICER
+
+# Page 874
+# MUNRETRN IS THE RETURN LOC FROM SPECIAL AVE G ROUTINE (MUNRVG)
+
+MUNRETRN EXIT
+
+ CS FLGWRD11
+ MASK LRBYBIT
+ EXTEND
+ BZF COPYCYC1 # BYPASS LR LOGIC IF BIT15 IS SET.
+
+ CA READLBIT # SEE IF ALT < 35000 FT LAST CYCLE
+ MASK FLGWRD11
+ EXTEND
+ BZF 35KCHK # ALT WAS > 35000 FT LAST CYCLE CHK NOW
+
+ CAF XORFLBIT # WERE WE BELOW 30000 FT LAST PASS?
+ MASK FLGWRD11
+ EXTEND
+ BZF XORCHK # NO -- TEST THIS PASS
+HITEST CAF PSTHIBIT # CHECK FOR HIGATE
+ MASK FLGWRD11
+ EXTEND
+ BZF HIGATCHK # NOT AT HIGATE LAST CYCLE -- CHK THIS CYCLE
+
+POS2CHK CAF BIT7 # VERIFY LR IN POS2
+ EXTEND
+ RAND CHAN33
+ EXTEND
+ BZF UPDATCHK # IT IS -- CHECK FOR LR UPDATE
+ CAF BIT13
+ EXTEND
+ RAND CHAN12
+ EXTEND
+ BZF LRPOSALM # LR NOT IN POS2 OR REPOSITIONING -- BAD
+ TCF CONTSERV # LR BEING REPOSITIONED -- CONTINUE SERV
+
+HIGATCHK CA TTF/8 # IS TTF > CRITERION? (TTF IS NEGATIVE)
+ AD RPCRTIME
+ EXTEND
+ BZMF POS1CHK # NO
+
+ CA EBANK4 # MUST SWITCH EBANKS
+ XCH EBANK
+ TS L # SAVE IN L
+
+ EBANK= XNBPIP
+ CS XNBPIP # UXBXP IN GSOP CH5
+ EBANK= DVCNTR
+ LXCH EBANK # RESTORE EBANK
+ AD RPCRTQSW # QSW - UXBXP
+# Page 875
+
+ EXTEND
+ BZMF HIGATASK # IF UXBXP > QSW, THEN REPOSITION
+
+POS1CHK CAF BIT6 # HIGATE NOT IN SIGHT -- DO POS1 CHK
+ EXTEND
+ RAND 33
+ EXTEND
+ BZF UPDATCHK # LR IN POS1 -- CHECK FOR LR UPDATE
+
+LRPOSALM TC ALARM # LR NOT IN PROPER POS-ALARM-BYPASS UPDATE
+ OCT 511 # AND CONTINUE SERVICER
+CONTSERV INHINT
+ CS BITS4-7
+ MASK FLGWRD11 # CLEAR LR MEASUREMENT MADE DISCRETES.
+ TS FLGWRD11
+
+ TC IBNKCALL # SET LR LITES PROPERLY
+ CADR R12LITES
+
+# Page 876
+COPYCYC1 TC QUIKFAZ5
+
+R29? CA FLAGWRD3
+ MASK NR29&RDR
+ CCS A # IS NOR29FLG OR READRFLG SET?
+ TCF R29NODES # YES, SO DON'T DESIGNATE.
+
+ CA RADMODES # NO, SO R29 IS CALLED FOR.
+ MASK OCT10002 # IS THE RR NOT ZEROING ITS CDUS, AND
+ CCS A # IS THE RENDEZVOUS RADAR IN AUTO MODE?
+ TCF R29NODES # NO, SO DON'T DESIGNATE.
+
+ CA RADMODES
+ MASK PRIO22
+ CCS A # IS RR REPOSITIONING OR REMODING?
+ TCF NOR29NOW # YES: COME BACK IN 2 SECONDS & TRY AGAIN.
+
+ TCF R29
+
+R29NODES INHINT # R29 NOT ALLOWED THIS CYCLE.
+ CS DESIGBIT # SHOW THAT DESIGNATION IS OFF.
+ MASK RADMODES
+ TS RADMODES
+
+NOR29NOW TC INTPRET # INTPRET DOES A RELINT.
+ VLOAD ABVAL # MPAC = ABVAL( NEW SM. POSITION VECTOR )
+ R1S
+ PUSH DSU # (2)
+ /LAND/
+ STORE HCALC # NEW HCALC*2(24)M.
+ STORE HCALC1
+ DMPR RTB
+ ALTCONV
+ SGNAGREE
+ STOVL ALTBITS # ALTITUDE FOR R10 IN BIT UNITS.
+ UNIT/R/
+ VXV UNIT
+ UHYP
+ STOVL UHZP # DOWNRANGE HALF-UNIT VECTOR FOR R10.
+ R1S
+ VXM VSR4
+ REFSMMAT
+ STOVL RN1 # TEMP. REF. POSITION VECTOR*2(29)M.
+ V1S
+ VXM VSL1
+ REFSMMAT
+ STOVL VN1 # TEMP. REF. VELOCITY VECTOR 2(7) M/CS.
+ UNIT/R/
+ VXV ABVAL
+# Page 877
+ V1S
+ SL1 DSQ
+ DDV
+ DMPR RTB
+ ARCONV1
+ SGNAGREE
+COPYCYC2 EXIT # LEAVE ALTITUDE RATE COMPENSATION IN MPAC
+ INHINT
+ CA UNIT/R/ # UPDATE RUNIT FOR R10.
+ TS RUNIT
+ CA UNIT/R/ +2
+ TS RUNIT +1
+ CA UNIT/R/ +4
+ TS RUNIT +2
+ CA MPAC # LOAD NEW DALTRATE FOR R10.
+ TS DALTRATE
+
+ EXTEND
+ DCA R1S
+ DXCH R
+ EXTEND
+ DCA R1S +2
+ DXCH R +2
+ EXTEND
+ DCA R1S +4
+ DXCH R +4
+ EXTEND
+ DCA V1S
+ DXCH V
+ EXTEND
+ DCA V1S +2
+ DXCH V +2
+ EXTEND
+ DCA V1S +4
+ DXCH V +4
+
+ TCF COPYCYCL # COMPLETE THE COPYCYCL.
+
+# Page 878
+# 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.
+
+ALTCHK EXTEND
+ INDEX A
+ DCA ALTCRIT
+ DXCH MPAC +1
+ EXTEND
+ DCS HCALC
+ DAS MPAC +1
+ TC BRANCH +4
+ CAF ZERO # BETTER THAN A NOOP, PERHAPS
+ INCR BUF2
+ TCF SWRETURN
+
+ALTCRIT = 25KFT
+
+25KFT 2DEC 7620 B-24 # (0)
+
+50KFT 2DEC 15240 B-24 # (2)
+
+50FT 2DEC 15.24 B-24 # (4)
+
+30KFT 2DEC 9144 B-24 # (6)
+
+2KFT/SEC DEC 6.096 B-7 # 2000 FT/SEC AT 2(7) M/CS
+
+
+# (A remark was likely to be needed here to explain XORCHK) 4/Jun/09,FB
+
+XORCHK CAF SIX # ARE WE BELOW 30000 FT?
+ TC BANKCALL
+ CADR ALTCHK
+ TCF HITEST # CONTINUE LR UPDATE
+ TC UPFLAG # YES: INHIBIT X-AXIS OVERRIDE
+ ADRES XOVINFLG
+ TC UPFLAG
+ ADRES XORFLG
+ TCF HITEST # CONTINUE LR UPDATE
+
+35KCHK CAF TWO # ARE WE BELOW 35000 FT?
+
+# Page 879
+ TC BANKCALL
+ CADR ALTCHK
+ TCF CONTSERV
+ TC UPFLAG
+ ADRES READLR # SET READLR FLAG TO ENABLE LR READING.
+ TCF CONTSERV
+
+# Page 880
+# ***************************************************************
+
+CALCGRAV UNIT PUSH # SAVE UNIT/R/ IN PUSHLIST (18)
+ STORE UNIT/R/
+ LXC,1 SLOAD # RTX2 = 0 IF EARTH ORBIT, =2 IF LUNAR.
+ RTX2
+ RTX2
+ DCOMP BMN
+ CALCGRV1
+ VLOAD DOT # (12)
+ UNITZ
+ UNIT/R/
+ SL1 PUSH # (14)
+ DSQ BDSU
+ DP1/20
+ PDDL DDV
+ RESQ
+ 34D # (RN)SQ
+ STORE 32D # TEMP FOR (RE/RN)SQ
+ DMP DMP
+ 20J
+ VXSC PDDL
+ UNIT/R/
+ DMP DMP
+ 2J
+ 32D
+ VXSC VSL1
+ UNITZ
+ VAD STADR
+ STORE UNITGOBL
+ VAD PUSH # MPAC = UNIT GRAVITY VECTOR. (18)
+CALCGRV1 DLOAD NORM # PERFORM A NORMALIZATION ON RMAGSQ IN
+ 34D # ORDER TO BE ABLE TO SCALE THE MU FOR
+ X2 # MAXIMUM PRECISION.
+ BDDV* SLR*
+ -MUDT,1
+ 0 -21D,2
+ VXSC STADR
+ STORE GDT1/2 # SCALED AT 2(+7) M/CS
+ RVQ
+
+CALCRVG VLOAD VXM
+ DELV
+ REFSMMAT
+ VXSC VSL1
+ KPIP1
+ STORE DELVREF
+ VSR1 PUSH
+ VAD PUSH # (DV-OLDGDT)/2 TO PD SCALED AT 2(+7) M/CS.
+# Page 881
+ GDT/2
+ VAD PDDL
+ VN
+ PGUIDE
+ SL VXSC
+ 6D
+ VAD STQ
+ RN
+ 31D
+ STCALL RN1 # TEMP STORAGE OF RN SCALED 2(+29) M
+ CALCGRAV
+
+ VAD VAD
+ VAD
+ VN
+ STCALL VN1 # TEMP STORAGE OF VN SCALED 2(+7) M/CS
+ 31D
+
+DP1/20 2DEC 0.05
+SHIFT11 2DEC 1 B-11
+
+# Page 882
+#*****************************************************************************
+# 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.
+
+RVBOTH VLOAD PUSH
+ G(CSM)
+ VAD PDDL
+ V(CSM)
+ PGUIDE
+ DDV VXSC
+ SHIFT11
+ VAD
+ R(CSM)
+ STCALL R1S
+ MUNGRAV
+ VAD VAD
+ V(CSM)
+ STADR
+ STORE V1S
+ EXIT
+ TC QUIKFAZ5
+ TC INTPRET
+ VLOAD
+ GDT1/2
+ STOVL G(CSM)
+ R1S
+ STOVL R(CSM)
+ V1S
+ STORE V(CSM)
+ EXIT
+ TC QUIKFAZ5
+ TC INTPRET
+MUNRVG VLOAD VXSC
+ DELV
+ KPIP2
+ PUSH VAD # 1ST PUSH: DELV IN UNITS OF 2(8) M/CS
+ GDT/2
+ PUSH VAD # 2ND PUSH: (DELV + GDT)/2, UNITS OF 2(7)
+ V # (12)
+ PDDL DDV
+ PGUIDE
+ SHIFT11
+ VXSC
+ VAD
+ R
+ STCALL R1S # STORE R SCALED AT 2(+24) M
+ MUNGRAV
+# Page 883
+ VAD VAD
+ VAD
+ V
+ STORE V1S # STORE V SCALED AT 2(+7) M/CS.
+ ABVAL
+ STOVL ABVEL # STORE SPEED FOR LR AND DISPLAYS.
+ UNIT/R/
+ DOT SL1
+ V1S
+ STOVL HDOTDISP # HDOT = V. UNIT(R)*2(7) M/CS.
+ R1S
+ VXV VSL2
+ WM
+ STODL DELVS # LUNAR ROTATION CORRECTON TERM*2(5) M/CS.
+ 36D
+ DSU
+ /LAND/
+ STCALL HCALC # FOR NOW, DISPLAY WHETHER POS OR NEG
+ MUNRETRN
+MUNGRAV UNIT # AT 36D HAVE ABVAL(R), AT 34D R.R
+ STODL UNIT/R/
+ 34D
+ SL BDDV
+ 6D
+ -MUDTMUN
+ DMP VXSC
+ SHIFT11
+ UNIT/R/
+ STORE GDT1/2 # 1/2GDT SCALED AT 2(7) M/CS.
+ RVQ
+
+1.95SECS DEC 195
+7.5 2DEC .02286 B-6 # 7.5 FT/SEC AT 2(6) M/CS
+
+2SEC(18) 2DEC 200 B-18
+
+2SEC(28) 2OCT 0000000310 # 2SEC AT 2(28)
+
+4SEC(28) 2DEC 400 B-28
+
+BITS4-7 OCT 110
+
+
+# Page 884
+UPDATCHK CAF NOLRRBIT # SEE IF LR UPDATE INHIBITED.
+ MASK FLGWRD11
+ CCS A
+ TCF CONTSERV # IT IS -- NO LR UPDATE
+ CAF RNGEDBIT # NO INHIBIT -- SEE ALT MEAS. THIS CYCLE.
+ MASK FLGWRD11
+ EXTEND
+ BZF VMEASCHK # NO ALT MEAS THIS CYCLE -- CHECK FOR VEL
+
+POSUPDAT CA FIXLOC # SET PUSHLIST TO ZERO
+ TS PUSHLOC
+
+ TC INTPRET
+ VLOAD VXM
+ HBEAMNB
+ XNBPIP # HBEAM SM AT 2(2)
+ PDVL VSL2 # STORE HBEAM IN PD 0-5
+ V1S # SCALE V AT 2(5) M/CS
+ VAD DOT
+ DELVS # V RELATIVE TO SURFACE AT 2(5) M/CS
+ 0D # V ALONG HBEAM AT 2(7) M/CS.
+ DMP EXIT
+ RADSKAL # SCALE TO RADAR COUNTS X 5
+
+ CS FLGWRD12 # TEST LR ALTITUDE SCALE FACTOR
+ MASK ALTSCBIT
+ EXTEND
+ BZF +3 # BRANCH IF HIGH SCALE
+
+ CA SKALSKAL # RESCALE IF LOW SCALE
+ TC SHORTMP
+
+ +3 TC INTPRET
+ DAD SL # CORRECT HMEAS FOR DOPPLER EFFECT
+ HMEAS
+ 7D
+ DMP VXSC # SLANT RANGE AT 2(21), PUSH UP FOR HBEAM
+ HSCAL # SLANT RANGE VECTOR AT 2(23) M
+ DOT DSU
+ UNIT/R/ # ALTITUDE AT 2(24) M
+ HCALC # DELTA H AT 2(24) M
+ STORE DELTAH
+ EXIT
+
+ CA FLGWRD11
+ MASK PSTHIBIT
+ EXTEND # DO NOT PERFORM DATA REASONABLENESS TEST
+ BZF NOREASON # UNTIL AFTER HIGATE
+# Page 885
+ TC INTPRET
+ ABS DSU
+ DELQFIX # ABS(DELTAH) - DQFIX 50 FT NOM
+ SL3 DSU # SCALE TO 2(21)
+ HCALC # ABS(DELTAH) - (50 + HCALC/8) AT 2(21)
+ EXIT
+
+ INCR LRLCTR
+ TC BRANCH
+ TCF HFAIL # DELTA H TOO LARGE
+ TCF HFAIL # DELTA H TOO LARGE
+ TC DOWNFLAG # TURN OFF ALT FAIL LAMP
+ ADRES HFLSHFLG
+
+NOREASON CS FLGWRD11
+ MASK LRINHBIT
+ CCS A
+ TCF VMEASCHK # UPDATE INHIBITED -- TEST VELOCITY ANYWAY
+
+ TC INTPRET # DO POSITION UPDATE
+ DLOAD SR4
+ HCALC # RESCALE H TO 2(28)M
+ EXIT
+ EXTEND
+ DCA DELTAH # STORE DELTAH IN MPAC AND
+ DXCH MPAC # BRING HCALC INTO A,L
+ TC ALSIGNAG
+ EXTEND # IF HIGH PART OF HCALC IS NON-ZERO, THEN
+ BZF +2 # HCALC > HMAX,
+ TCF VMEASCHK # SO UPDATE IS BYPASSED
+ TS MPAC +2 # FOR LATER SHORTMP
+
+ CS L # -H AT 2(14) M
+ AD LRHMAX # HMAX - H
+ EXTEND
+ BZMF VMEASCHK # IF H >HMAX, BYPASS UPDATE
+ EXTEND
+ MP LRWH # WH(HMAX - H)
+ EXTEND
+ DV LRHMAX # WH(1 - H/HMAX)
+ TS MPTEMP
+ TC SHORTMP2 # DELTAH (WH)(1 - H/HMAX) IN MPAC
+ TC INTPRET # MODE IS DP FROM ABOVE
+ SL1
+ VXSC VAD
+ UNIT/R/ # DELTAR = DH(WH)(1 - H/HMAX) UNIT/R/
+ R1S
+ STCALL GNUR
+ MUNGRAV
+ EXIT
+# Page 886
+ TC QUIKFAZ5
+
+ CA ZERO
+RUPDATED TC GNURVST
+
+VMEASCHK TC QUIKFAZ5 # RESTART AT NEXT LOCATION
+ CS FLGWRD11
+ MASK VELDABIT # IS V READING AVAILABLE?
+ CCS A
+ TCF VALTCHK # NO: SEE IF V READING TO BE TAKEN
+
+VELUPDAT CS VSELECT # PROCESS VELOCITY DATA
+ TS L
+ ADS L # -2 VSELECT IN L
+ AD L
+ AD L # -6 VSELECT IN A
+ INDEX FIXLOC
+ DXCH X1 # X1 = -6 VSELECT, X2 = -2 VSELECT
+
+ CA EBANK4
+ TS EBANK
+ EBANK= LRXCDU
+
+ CA LRYCDU # STORE LRCDUS IN CDUSPOTS
+ TS CDUSPOT
+ CA LRZCDU
+ TS CDUSPOT +2
+ CA LRXCDU
+ TS CDUSPOT +4
+
+ TC BANKCALL
+ CADR QUICTRIG # GET SINES AND COSINES FOR NBSM
+
+ CA FIXLOC
+ TS PUSHLOC # SET PD TO ZERO
+
+ TC INTPRET
+ VLOAD* CALL
+ VZBEAMNB,1 # CONVERT VBEAM FROM NB TO SM
+ *NBSM*
+ PDDL SL # STORE IN PD 0-5
+ VMEAS # LOAD VELOCITY MEASUREMENT
+ 12D
+ DMP* PUSH # SCALE TO M/CS AT 2(6)
+ VZSCAL,2 # AND STORE IN PD 6-7
+ EXIT
+ CS ONE
+ TS MODE # CHANGE STORE MODE TO VECTOR
+
+ CA PIPTEM # STORE DELV IN MPAC
+# Page 887
+ ZL
+ DXCH MPAC
+
+ CA PIPTEM +1
+ ZL
+ DXCH MPAC +3
+
+ CA PIPTEM +2
+ ZL
+ DXCH MPAC +5
+
+ CA EBANK7
+ TS EBANK # RESTORE EBANK 7
+ EBANK= DVCNTR
+ TC INTPRET
+ VXSC PDDL
+ KPIP1 # SCALE DELV TO 2(7) M/CS AND PUSH
+ LRVTIME # TIME OF DELV AT 2(28) CS
+ DSU DDV
+ PIPTIME # TU - T(N-1)
+ 2SEC(28)
+ VXSC VSL1 # G(N-1)(TU - T(N-1))
+ GDT/2 # SCALED AT 2(7) M/CS
+ VAD VAD # PUSH UP FOR DELV
+ V # VU = V(N-1) + DELVU + G(N-1) DTU
+ VSL2 VAD # SCALE TO 2(5) M/CS AND SUBTRACT
+ DELVS # MOON ROTATION.
+ PUSH ABVAL # STORE IN PD
+ SR4 DAD # ABS(VM)/8 + 7.5 AT 2(6)
+ 7.5
+ STOVL 20D # STORE IN 20D AND PICK UP VM
+ DOT BDSU # V(EST) AT 2(6)
+ 0 # DELTAV = VMEAS - V(EST)
+ PUSH ABS
+ DSU EXIT # ABS(DV) - (7.5 + ABS(VM)/8))
+ 20D
+
+ INCR LRMCTR
+ TC BRANCH
+ TCF VFAIL # DELTA V TOO LARGE. ALARM
+ TCF VFAIL # DELTA V TOO LARGE. ALARM
+
+ TC DOWNFLAG # TURN OFF VEL FAIL LAMP
+ ADRES VFLSHFLG
+
+ CA FLGWRD11
+ MASK VXINHBIT
+ EXTEND
+ BZF VUPDAT # IF VX INHIBIT RESET, INCORPORATE DATA.
+# Page 888
+ TC DOWNFLAG
+ ADRES VXINH # RESET VX INHIBIT
+
+ CA VSELECT
+ AD NEG2 # IF VSELECT = 2 (X AXIS).
+ EXTEND # BYPASS UPDATE
+ BZF ENDVDAT
+
+VUPDAT CS FLGWRD11
+ MASK LRINHBIT
+ CCS A
+ TCF VALTCHK # UPDATE INHIBITED
+
+ TS MPAC +1
+
+ CA ABVEL # STORE E7 ERASABLES NEEDED IN TEMPS
+ TS ABVEL*
+ CA VSELECT
+ TS VSELECT*
+ CA EBANK5
+ TS EBANK # CHANGE EBANKS
+
+ EBANK= LRVF
+ CS LRVF
+ AD ABVEL* # IF V < VF, USE WVF
+ EXTEND
+ BZMF USEVF
+
+ CS ABVEL*
+ AD LRVMAX # VMAX - V
+ EXTEND
+ BZMF WSTOR -1 # IF V > VMAX, W = 0
+
+ EXTEND
+ INDEX VSELECT*
+ MP LRWVZ # WV(VMAX - V)
+
+ EXTEND
+ DV LRVMAX # WV( 1 - V/VMAX )
+ TCF WSTOR
+
+USEVF INDEX VSELECT*
+ CA LRWVFZ # USE APPROPRIATE CONSTANT WEIGHT
+ TCF WSTOR
+
+ -1 CA ZERO
+WSTOR TS MPAC
+ CS BIT7 # (=64D)
+ AD MODREG
+ EXTEND
+# Page 889
+ BZMF +3 # IF IN P65,P66,P67, USE ANOTHER CONSTANT
+
+ CA LRWVFF
+ TS MPAC
+
+ +3 CA EBANK7
+ TS EBANK # CHANGE EBANKS
+
+ EBANK= ABVEL
+ TC INTPRET
+ DMP VXSC # W(DELTA V)(VBEAMSM) UP 6-7, 0-5
+ VAD
+ V1S # ADD WEIGHTED DELTA V TO VELOCITY
+ STORE GNUV
+ EXIT
+
+ TC QUIKFAZ5 # DO NOT RE-UPDATE
+
+ CA SIX
+VUPDATED TC GNURVST # STORE NEW VELOCITY VECTOR
+ENDVDAT = VALTCHK
+
+VALTCHK TC QUIKFAZ5 # DO NOT REPEAT ABOVE
+
+ CAF READVBIT # TEST READVEL TO SEE IF VELOCITY READING
+ MASK FLGWRD11 # IS DESIRED.
+ CCS A
+ TCF READV # YES -- READ VELOCITY
+ CS ABVEL # NO -- SEE IF VELOCITY < 2000 FT/SEC
+ AD 2KFT/SEC
+ EXTEND
+ BZMF CONTSERV # V > 2000 FT/SEC DO NOT READ VEL
+
+ TC UPFLAG # V < 2000 FT/SEC SET READVEL AND READ.
+ ADRES READVEL
+
+READV CAF PRIO32 # SET UP JOB TO READ VELOCITY BEAMS.
+ TC NOVAC
+ EBANK= HMEAS
+ 2CADR LRVJOB
+
+ TCF CONTSERV # CONTINUE WITH SERVICER
+
+GNURVST TS BUF # STORE GNUR (=GNUV) IN R1S OR V1S
+ EXTEND # A = 0 FOR R, A = 6 FOR V
+ DCA GNUR
+ INDEX BUF
+ DXCH R1S
+ EXTEND
+# Page 890
+ DCA GNUR +2
+ INDEX BUF
+ DXCH R1S +2
+ EXTEND
+ DCA GNUR +4
+ INDEX BUF
+ DXCH R1S +4
+ TC Q
+
+QUIKFAZ5 CA EBANK3
+ XCH EBANK # SET EBANK 3
+ DXCH L # Q TO A, A TO L
+ EBANK= PHSNAME5
+ TS PHSNAME5
+ LXCH EBANK
+ EBANK= DVCNTR
+ TC A
+
+HFAIL CS LRRCTR
+ EXTEND
+ BZF NORLITE # IF R = 0, DO NOT TURN ON TRK FAIL
+ AD LRLCTR
+ MASK NEG3
+ EXTEND # IF L-R LT 4, DO NOT TURN ON TRK FAIL
+ BZF +2
+ TCF NORLITE
+
+ TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE
+ ADRES HFLSHFLG
+
+NORLITE CA LRLCTR
+ TS LRRCTR # SET R = L
+
+ TCF VMEASCHK
+
+VFAIL CS LRSCTR # DELTA Q LARGE
+ EXTEND # IF S = 0, DO NOT TURN ON TRACKER FAIL
+ BZF NOLITE
+ AD LRMCTR # M-S
+ MASK NEG3 # TEST FOR M-S > 3
+ EXTEND # IF M-S > 3, THEN TWO OR MORE OF THE
+ BZF +2 # 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
+
+# Page 891
+NOLITE CA LRMCTR # SET S = M
+ TS LRSCTR
+
+ CCS VSELECT # TEST FOR Z COMPONENT
+ TCF ENDVDAT # NOT Z, DO NOT SET VX INHIBIT
+
+ TC UPFLAG # Z COMPONENT - SET FLAG TO SKIP X
+ ADRES VXINH # COMPONENT, AS ERROR MAY BE DUE TO CROSS
+ TCF ENDVDAT # LOBE LOCK UP NOT DETECTED ON X AXIS.
+
+# Page 892
+# ********************************************************************************
+# LRVJOB IS SET WHEN THE LEM IS BELOW 15000 FT DURING THE LANDING PHASE
+# THIS JOB INITIALIZES THE LANDING RADAR READ ROUTINE FOR 5 VELOCITY
+# SAMPLES AND GOES TO SLEEP WHILE THE SAMPLING IS DONE -- ABOUT 500 MS.
+# WITH A GOODEND RETURN THE DATA IS STORED IN VMEAS AND BIT7 OF LRSTAT
+# IS SET. THE GIMBAL ANGLES ARE READ ABOUT MIDWAY IN THE SAMPLINGS.
+
+170MS EQUALS ND1
+
+LRVJOB CA 170MS # SET TASK TO READ CDUS + PIPAS
+ TC WAITLIST
+ EBANK= LRVTIME
+ 2CADR RDGIMS
+
+ CCS VSELECT # SEQUENCE LR VEL BEAM SELECTOR
+ TCF +2
+ CAF TWO # IF ZERO, RESET TO TWO
+ DOUBLE # 2XVSELECT USED FOR VBEAM INDEX IN LRVEL
+ TC BANKCALL # GO INITIALIZE LR VEL READ ROUTINE
+ CADR LRVEL
+ TC BANKCALL # PUT LRVJOB TO SLEEP ABOUT 500 MS
+ CADR RADSTALL
+ TCF VBAD
+ CCS STILBADV # IS DATA GOOD JUST PRESENT?
+ TCF VSTILBAD # JUST GOOD -- MUST WAIT 4 SECONDS.
+
+ INHINT
+ EXTEND # GOOD RETURN -- STOW AWAY VMEAS
+ DCA SAMPLSUM
+ DXCH VMEAS
+ CA EBANK4 # FOR DOWNLINK
+ TS EBANK
+ EBANK= LRVTIME
+
+ EXTEND
+ DCA LRVTIME
+ DXCH LRVTIMDL
+ EXTEND
+ DCA LRXCDU
+ DXCH LRXCDUDL
+ CA LRZCDU
+ TS LRZCDUDL
+ CA EBANK7
+ TS EBANK
+ EBANK= VSELECT
+
+ CS FLGWRD11 # SET BIT TO INDICATE VELOCITY
+ MASK VELDABIT # MEASUREMENT MADE
+# Page 893
+ ADS FLGWRD11
+ENDLRV CCS VSELECT # UPDATE VSELECT
+ TCF +2
+ CA TWO
+ TS VSELECT
+ TCF ENDOFJOB
+
+VBAD CAF TWO # SET STILBAD TO WAIT 4 SECONDS
+VSTILBAD TS STILBADV
+ TCF ENDLRV
+
+# LRHJOB IS SET BY LRHTASK WHEN LEM IS BELOW 25000 FT. THIS JOB
+# INITIALIZES THE LR READ ROUTINE FOR AN ALT MEASUREMENT AND GOES TO
+# SLEEP WHILE THE SAMPLING IS DONE -- ABOUT 95 MS. WITH A GOODEND RETURN
+# THE ALT DATA IS STORED IN HMEAS AND BIT7 OF LRSTAT IS SET.
+
+ BANK 34
+ SETLOC R12STUFF
+ BANK
+
+ COUNT* $$/SERV
+
+LRHJOB TC BANKCALL # INITIATE LR ALT MEASUREMENT
+ CADR LRALT
+ TC BANKCALL # LRHJOB TO SLEEP ABOUT 95MS
+ CADR RADSTALL
+ TCF HBAD
+ CCS STILBADH # IS DATA GOOD JUST PRESENT?
+ TCF HSTILBAD # JUST GOOD -- MUST WAIT 4 SECONDS.
+
+ INHINT
+ EXTEND
+ DCA SAMPLSUM # GOOD RETURN -- STORE AWAY LRH DATA
+ DXCH HMEAS # LRH DATA 1.079 FT/BIT
+ EXTEND # FOR DOWNLINK
+ DCA PIPTIME1
+ DXCH MKTIME
+
+ EXTEND
+ DCA CDUTEMPY # CDUY,Z = AIG,AMG
+ DXCH AIG
+
+ CA CDUTEMPX # CDUX = AOG
+ TS AOG
+
+ CS FLGWRD11 # SET BIT TO INDICATE RANGE
+ MASK RNGEDBIT # MEASUREMENT MADE.
+ ADS FLGWRD11
+ENDLRH TC ENDOFJOB # TERMATE LRHJOB
+
+# Page 894
+HBAD CA FLAGWRD5
+ MASK RNGSCBIT # IS BAD RETURN DUE TO SCALE CHANGE?
+ EXTEND
+ BZF HSTILBAD -1 # NO RESET HSTILBAD
+ TC DOWNFLAG # YES RESET SCALE CHANGE BIT AND IGNORE
+ ADRES RNGSCFLG
+ TC ENDOFJOB
+
+ CAF TWO # SET STILBAD TO WAIT 4 SECONDS
+HSTILBAD TS STILBADH
+ TC ENDOFJOB
+
+ BANK 34
+ SETLOC SERV4
+ BANK
+
+ COUNT* $$/SERV
+
+# RDGIMS IS A TASK SET UP BY LRVJOB TO PICK UP THE IMU CDUS AND TIME
+# AT ABOUT THE MIDPOINT OF THE LR VEL READ ROUTINE WHEN 5 VEL SAMPLES
+# ARE SPECIFIED.
+
+ EBANK= LRVTIME
+RDGIMS EXTEND
+ DCA TIME2 # PICK UP TIME2, TIME1
+ DXCH LRVTIME # AND SAVE IN LRVTIME
+
+ EXTEND
+ DCA CDUX # PICK UP CDUX AND CDUY
+ DXCH LRXCDU # AND SAVE IN LRXCDU AND LRYCDU
+
+ CA CDUZ
+ TS LRZCDU # SAVE CDUZ IN LRZCDU
+
+ CA PIPAX
+ TS PIPTEM # SAVE PIPAX IN PIPTEM
+
+ EXTEND
+ DCA PIPAY # PICK UP PIPAY AND PIPAZ
+ DXCH PIPTEM +1 # AND SAVE IN PIPTEM +1 AND PIPTEM +2
+ TC TASKOVER
+
+ BANK 33
+ SETLOC SERVICES
+ BANK
+
+ COUNT* $$/SERV
+
+ EBANK= DVCNTR
+# Page 895
+# 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.
+
+HIGATJOB TC BANKCALL # START LRPOS2 JOB
+ CADR LRPOS2
+ TC BANKCALL # PUT HIGATJOB TO SLEEP UNTIL JOB IS DONE
+ CADR RADSTALL
+ TCF POSALARM # BAD END ALARM
+
+POSGOOD CA PRIO23 # REDUCE PRIORITY FOR INTERPRETIVE COMPS.
+ TC PRIOCHNG
+
+ TC SETPOS2 # LR IN POS2 -- SET UP TRANSFORMATIONS
+
+ TC DOWNFLAG
+ ADRES NOLRREAD # RESET NOLRREAD FLAG TO ENABLE LR READING
+ TC ENDOFJOB
+
+POSALARM CA OCT523
+ TC BANKCALL
+ CADR PRIOLARM # FLASH ALARM CODE
+ TCF GOTOP00H # TERMINATE
+ TCF +3 # PROCEED -- TRY AGAIN
+ TCF ENDOFJOB # V 32 E TERMINATE R12
+ TC ENDOFJOB
+
+ +3 CA BIT7 # SEE IF IN POS2 YET
+ EXTEND
+ RAND CHAN33
+ EXTEND
+ BZF POSGOOD # POS2 ACHIEVED SET UP ANTENNA BEAMS
+ TCF POSALARM # STILL DIDN'T MAKE IT REALARM
+
+OCT523 OCT 00523
+
+
+
+SETPOS1 TC MAKECADR # MUST BE CALLED BY BANKCALL
+ TS LRADRET1 # SAVE RETURN CADR. SINCE BUP2 CLOBBERED
+
+ CAF TWO
+ TS STILBADH # INITIALIZE STILBAD
+ TS STILBADV # INITIALIZE STILBAD
+
+ CA ZERO # INDEX FOR LRALPHA, LRBETA IN POS 1.
+# Page 896
+ TS LRLCTR # SET L,M,R, ANS S TO ZERO
+ TS LRMCTR
+ TS LRRCTR
+ TS LRSCTR
+ TS VSELECT # INITIALIZE VSELECT
+
+ TC SETPOS # CONTINUE WITH COMPUTATIONS.
+
+ CA LRADRET1
+ TC BANKJUMP # RETURN TO CALLER
+
+SETPOS2 CA TWO # INDEX FOR POS2
+SETPOS XCH Q # SAVE INDEX IN Q
+ TS LRADRET # SAVE RETURN
+
+ CA EBANK5
+ TS EBANK
+ EBANK= LRALPHA
+
+ EXTEND
+ INDEX Q
+ DCA LRALPHA # LRALPHA IN A, LRBETA IN L
+ TS CDUSPOT +4 # ROTATION ABOUT X
+ LXCH CDUSPOT # ROTATION ABOUT Y
+ CA ZERO
+ TS CDUSPOT +2 # ZERO ROTATION ABOUT Z.
+
+ CA EBANK7
+ TS EBANK
+ EBANK= LRADRET
+
+ TC INTPRET
+ VLOAD CALL
+ UNITY # CONVERT UNITY(ANTENNA) TO NB
+ TRG*SMNB
+ STOVL VYBEAMNB
+ UNITX # CONVERT UNITX(ANTENNA) TO NB
+ CALL
+ *SMNB*
+ STORE VXBEAMNB
+ VXV VSL1
+ VYBEAMNB
+ STOVL VZBEAMNB # Z = X * Y
+ HBEAMANT
+ CALL
+ *SMNB* # CONVERT TO NB
+ STORE HBEAMNB
+ EXIT
+
+# Page 897
+ TC LRADRET
+
diff --git a/SERVICER207.s b/SERVICER207.s
new file mode 100644
index 0000000..f9316be
--- /dev/null
+++ b/SERVICER207.s
@@ -0,0 +1,804 @@
+# Copyright: Public domain.
+# Filename: SERVICER207.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 819-836
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
+# name and Comanche 055 page images.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 819
+# SERVICER207
+#
+# PROGRAM NAME: PREREAD, READACCS, SERVICER, AVERAGE G.
+# MOD NO. 00 BY M. HAMILTON DEC. 12, 1966
+#
+# FUNCTIONAL DESCRIPTION
+#
+# THE ROUTINES DESCRIBED BELOW ARE USED TO CALCULATE VALUES OF RN, VN, AND GDT/2 DURING ACCELERATED FLIGHT.
+# THE SEVERAL ROUTINES COMPRISE A PACKAGE AND ARE NOT MEANT TO BE USED AS SEPARATE SUBROUTINES.
+#
+# GENERAL REFERENCES TO SERVICER OR AVERAGE G ARE UNDERSTOOD TO REFER TO THE ENTIRE SET OF ROUTINES INCLUDING
+# RRADACCS, SERVICER, AVERAGE G, INTEREAD, SMOOTHER, AND ANY ADDITIONAL ROUTINES ATTACHED AT AVGEXIT (SEE BELOW).
+#
+# PROGRAMS INITIATING SERVICER ARE REQUIRED TO MAKE A WAITLIST CALL FOR PREREAD (OR, IF LIFTOFF, FOR BIBIBIAS)
+# AT 2 SECONDS BEFORE THE FIRST AVERAGE G UPDATE IN ORDER TO INITIALIZE THE SEQUENCE, WHICH WILL RECUR EVERY
+# 2 SECONDS FROM THAT TIME ON AS LONG AS AVEGFLAG REMAINS SET.
+#
+# THE USE OF ERASABLE AVGEXIT ALLOWS VARIOUS ROUTINES TO BE PERFORMED AS PART OF THE NORMAL CYCLE (SEE
+# EXPLANATION OF AVGEXIT BELOW).
+#
+# DESCRIPTIONS OF INDIVIDUAL ROUTINES FOLLOW.
+#
+# PREREAD
+#
+# PREVIOUSLY EXTRAPOLATED VALUES COPIED FROM RN1, VN1, AND PIPTIME1 INTO RN, VN, AND PIPTIME.
+# LASTBIAS JOB SCHEDULED.
+# PIPS READ AND CLEARED VIA PIPASR SUBROUTINE.
+# AVERAGE G FLAG SET ON.
+# DRIFT FLAG SET OFF.
+# V37 FLAG SET ON.
+# INITIALIZATION OF 1) THRUST MONITOR (DVMON) -- DVCNTR SET TO ONE.
+# 2) TOTAL ACCUMULATED DELV VALUE (DVTOTAL) -- SET TO ZERO.
+# 3) AXIS VECTOR (AXIS) -- SET TO (.5,0,0).
+# NORMLIZE JOB SCHEDULED.
+# READACCS TASH CALLED IN 2 SECONDS.
+#
+# NORMLIZE
+#
+# GDT/2 INITIALIZED VIA CALCGRAV ROUTINE.
+#
+# READACCS
+#
+# IF ONMON FLAG SET QUIKREAD ROUTINE IS PERFORMED BEFORE PIPASR ZEROS THE PIPA REGISTERS, AND THE 1/2 SEC
+# ONMONITOR LOOP IS INITIATED TO PROVIDE DOWNLINK INFORMATION DURING ENTRY.
+# PIPS READ AND CLEARED BY PIPASR SUBROUTINE.
+# IF CM/DSTBY IS ON, ENTRY VARIABLES INITIALIZED AND SETJTAG TASK CALLED.
+# Page 820
+#
+# SERVICER207
+#
+# IF AVERAGEG FLAG ON READACCS CALLED TO RECYCLE IN 2 SECONDS.
+# IF AVERAGEG FLAG OFF AVERAGE G EXIT (AVGEXIT) SET TO 2CADR AVGEND FOR FINAL PASS.
+# SERVICER JOB SCHEDULED.
+# TEST CONNECTOR OUTBIT TURNED ON.
+#
+# ONMNITOR
+#
+# A SEQUENCE OF THREE PASSES THROUGH QUICREAD FOLLOWING A CALL TO READACCS WITH ONMONFLG SET AT 1/2
+# SEC INTERVALS. INTERVALS ARE COUNTED OUT BY PIPCTR, INITIALIZED AT 3 BY READACCS.
+#
+# QUIKREAD
+#
+# READS CURRENT PIPS INTO X,Y,ZPIPBUF. READS OLD X,Y,ZPIPBUF INTO X,Y,ZOLDBUF. VALUES ARE SENT TO
+# DOWNLIST DURING ENTRY.
+#
+# SERVICER
+#
+# DELV VALUES CHECKED TO DETECT RUNAWAY PIP:
+# IF BAD PIP 1) ALARM SENT.
+# 2) COMPENSATION, DVTOTAL ACCUMULATION, AND DVMON BYPASSED. CONTROL
+# TRANSFERRED TO AVERAGE G.
+# PIPS COMPENSATED VIA 1/PIPA SUBROUTINE.
+# DVTOTAL INCREMENTED BY ABSOLUTE VALUE OF DELV.
+# THRUST MONITOR (DVMON) PERFORMED UNLESS IDLE FLAG IS ON.
+# CONTROL TRANSFERRED TO AVERAGE Q.
+#
+# DVMON
+#
+# THRESHOLD VALUD (PLACED IN DVTHRUSH BY USER) CHECKED AGAINST ABSOLUTE VALUE OF DELV TO CHECK
+# THRUST LEVEL.
+#
+# IF THRUST 1) ULLAGE OFF ROUTINE PERFORMED.
+# 2) STEERING FLAG TURNED ON AT FIRST DETECTION OF THRUST
+# 3) CONTROL TRANSFERRED TO AVERAGE G.
+# IF NO THRUST 1) ON FIRST PASS THROUGH MONITOR, CONTROL TRANSFERRED TO AVERAGE G.
+# 2) ON SUBSEQUENT PASSES, CONTROL TRANSFERRED TO ENGINE FAIL ROUTINE IF THRUST
+# HAS FAILED FOR 3 CONSECUTIVE PASSES.
+#
+# ENGINE FAIL
+#
+# ENGFAIL1 TASK CALLED IN 2.5 SECONDS. THIS WILL RETURN CONTROL TO TIG-5 SO THAT THE IGNITION
+# SEQUENCE MAY BE REPEATED.
+# ENGINOF3 PERFORMED.
+# DAP SET UP FOR RCS.
+#
+# AVERAGE G
+# Page 821
+# RN1, VN1, GDT1/2 CALCULATED VIA CALCRVG ROUTINE BY UPDATING RN, VN WITH DELV AND AN AVERAGED VALUE
+# OF GDT/2
+# RN1, VN1, GDT1/2, PIPTIME1 COPIED INTO RN, VN, GDT/2, PIPTIME FOR RESTART PROTECTION.
+# CONTROL TRANSFERRED TO ADDRESS SPECIFIED BY USER (OR BY READACCS FOR LAST PASS) IN AVGEXIT.
+# LAST PASS (AVGEND) 1) FREE FALL GYRO COMPENSATION SET UP.
+# 2) DRIFT FLAG TURNED ON.
+# 3) STATE VECTOR TRANSFERRED VIA AVETOMID ROUTINE.
+# 4) ONMONITOR FLAG RESET.
+# 5) V37 FLAG RESET.
+# 6) TEST CONNECTOR OUTBIT RESET.
+# 7) CONTROL TRANSFERRED TO CANV37 TO CONTINUE MM CHANGE ROUTINE (R00).
+#
+# CALLING SEQUENCE
+#
+# PREREAD ENTERED DIRECTLY FROM TIG-30 VIA POSTJUMP.
+# READACCS CALLED AS WAITLIST TASK.
+#
+# SUBROUTINES CALLED
+#
+# UTILITY ROUTINES: PHASCHNG FLAGUP FLAGDOWN NOVAC FINDVAC WAITLIST ALARM NEWPHASE 2PHSCHNG
+#
+# OTHER: PIPASR 1/PIPA CALCGRAV CALCRVG AVETOMID
+#
+# NORMAL EXIT MODES
+#
+# ENDOFJOB TASKOVER CANV37
+#
+# AVGEXIT: THIS IS A DOUBLE PRECISION ERASABLE LOCATION BY WHICH CONTROL IS TRANSFERRED AT THE END
+# OF EACH CYCLE OF AVERAGE G.
+# THE 2CADR OF A ROUTINE TO BE PERFORMED AT THAT TIME (E.G., STEERING EQUATIONS TO BE REPORTED
+# AT 2 SECOND INTERVALS) MAY BE SET BY THE USER INTO AVGEXIT.
+# ALL SUCH ROUTINES SHOULD RETURN TO SERVEXIT, WHICH IS THE NORMAL EXIT FROM AVERAGE G.
+#
+# SERVEXIT: DOES A PHASE CHANGE FOR RESTART PROTECTION AND GOES TO ENDOFJOB.
+# THE 2CADR OF SERVEXIT IS SET INTO AVGEXIT BY THE USERI F NO OTHER ROUTINE (SEE ABOVE).
+#
+# AVGEND: LAST PASS OF AVERAGE G EXITS HERE, BYPASSING SPECIAL ROUTINE (SEE ABOVE UNDER READACCS).
+# FINAL EXIT IS TO CANV37. F AVERAGE G).
+#
+# OUTPUT
+#
+# DVTOTAL(2) PIPTIME(2) XPIPBUF(2) YPIPBUF(2) ZPIPBUF(2)
+# RN(6) REFERENCE COORD. SCALED AT 2(+29) M/CS
+# VN(6) REFERENCE COORD. SCALED AT 2(+7) M/CS
+# GDT/2(6) REFERENCE COORD. SCALED AT 2(+7) M/CS
+# DELV(6) STABLE MEMB. COORD. SCALED AT 2(+14)*5.85*10(-4) M/CS (KPIP1 USED TO GET DV/2 AT 2(+7))
+# Page 822
+# DELVREF(6) REFERENCE COORD. SCALED AT 2(+7) M/CS
+#
+# INITIALIZATION
+#
+# ONMONITOR FLAG SET BY ENTRY TO SHOW PIPBUF VALUES REQUIRED.
+# IDLE FLAG ON IF DVMON TO BE BYPASSED.
+# DVTHRUSH SET TO APPROPRIATE VALUE FOR DVMON.
+# AVGEXIT SET TO 2CADR OF ROUTINE, IF ANY, TO BE PERFORMED AFTER EACH CYCLE OF AVERAGE G. IF NO ROUTINE
+# TO BE DONE, AVGEXIT SET TO SERVEXIT.
+# VALUES NEEDED
+# REFSMMAT
+# UNITW: FULL UNIT VECTOR, IN REFERENCE COORD., OF EARTH'S ROTATIONAL VECTOR
+# RN1, VN1, PIPTIME1: IN REFERENCE COORD., CONSISTENT WITH TIME OF EXECUTION OF PREREAD.
+#
+# DEBRIS
+#
+# CENTRALS A, L, Q
+# OTHER INTERNAL: DVCNTR(1) PIPAGE(1) PIPCTR(1) AVGEXIT(2)
+# EXTERNAL: ITEMP1(1) ITEMP2(1) RUPTREG1(1) TEMX(1) TEMY(1) TEMZ(1)
+# USEFUL DEBRIS
+# RN1(0) VN1(0) GDT1/0 PIPTIME1(2?)
+# THESE LOCATIONS USED AS BUFFER STORAGE FOR NEWLY CALCULATED VALUES OF RN, VN, GDT/2,
+# AND PIPTIME DURING PERFORMANCE OF SERVICER ROUTINES.
+# UNITR: HALF UNIT VECTOR OF RN, REFERENCE COORD.
+# RMAG SCALED AT 2(+58) IN 36D.
+# RMAGSQ SCALED AT 2(+58) IN 34D.
+# (RE/RMAG)SQ IN 32D
+
+ BANK 27
+ SETLOC SERVICES
+ BANK
+
+ EBANK= DVCNTR
+# ********************* PREREAD ***************************************
+
+ COUNT 37/SERV
+
+PREREAD CAF PRIO21 # CALLER MUST PROTECT PREREAD
+ TC NOVAC
+ EBANK= NBDX
+ 2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL
+
+ # CALL-TO AND LASTBIAS ITSELF ARE NOT
+ # PROTECTED. REREADAC SETS 1/PIPADT
+ # TO 2.0 SECS IN CASE LASTBIAS LOST.
+ # (REDUNDANT IF LASTBIAS IS AOK.)
+# Page 823
+REDO5.31 TC PREREAD1
+
+ CAF PRIO32
+ TC FINDVAC # SET UP NORMLIZE JOB REQUIRED PRIOR TO
+ EBANK= DVCNTR # FIRST AVERAGE G PASS
+ 2CADR NORMLIZE
+
+ CAF 2SECS
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR READACCS
+
+ CS TWO
+ TC NEWPHASE
+ OCT 5
+
+ TCF TASKOVER
+
+PREREAD1 EXTEND
+ QXCH RUPTREG1
+
+ TC PIPASR # CLEAR + READ PIPS LAST TIME IN FREE FALL
+
+ CAF ONE # SET UP PIPAGE FOR REREADAC IN CASE A
+ TS PIPAGE # RESTART OCCURS BEFORE READACCS
+
+ CS FLAGWRD1 # SET AVEG FLAG
+ MASK BIT1
+ ADS FLAGWRD1
+
+ CA POSMAX
+ MASK FLAGWRD2
+ TS FLAGWRD2 # KNOCK DOWN DRIFT FLAG
+
+ CS FLAGWRD7 # SET V37 FLAG
+ MASK BIT6
+ ADS FLAGWRD7
+
+ CAF ZERO
+ TS DVTOTAL # CLEAR DVTOTAL
+ TS DVTOTAL +1
+
+ TC RUPTREG1
+
+# Page 824
+# ********************* READACCS ***************************************
+ EBANK= AOG
+READACCS TC PIPASR
+
+PIPSDONE CAF FIVE
+ TS L
+ COM
+ DXCH -PHASE5
+
+REDO5.5 CAF ONE # SHOW PIPS HAVE BEEN READ
+ TS PIPAGE
+
+ CA TWO # SET PIPCTR FOR ONMINTOR
+ TS PIPCTR # AFTER ABOVE PHASCHNG
+
+ CS CM/FLAGS
+ MASK BIT2 # CM/DSTBY
+ CCS A
+ TC CHEKAVEG
+
+ CS PIPTIME1 +1
+ TS TBASE6 # FOR RESTARTS
+ EXTEND # CONTINUE FOR ENTRY DAP
+ DCA AOG
+ DXCH AOG/PIP
+ CA AMG
+ XCH AMG/PIP
+ EXTEND
+ DCA ROLL/180
+ DXCH ROLL/PIP
+ CA BETA/180
+ XCH BETA/PIP
+ CA CM/FLAGS
+ MASK BIT12 # CM/DAPARM 93D BIT12
+ EXTEND # DURING ENTRY, WHEN RCS DAP IS INACTIVE,
+ BZF NOSAVPIP # SAVE PIPAS EACH 0.5 SEC FOR TM.
+
+ CA 0.5SEC
+ TC WAITLIST
+ EBANK= XPIPBUF
+ 2CADR QUIKREAD
+
+ # NO NEED TO RESTART PROTECT THIS.
+ CA DELVX # SAVE PIPAS AS READ (BUT NOT COMPENSATED)
+ XCH XPIPBUF
+ TS XOLDBUF
+
+ CA DELVY
+ XCH YPIPBUF
+ TS YOLDBUF
+# Page 825
+ CA DELVZ
+ XCH ZPIPBUF
+ TS ZOLDBUF
+
+NOSAVPIP CA FIVE
+ TS CM/GYMDT
+
+ CA JTAGTIME # ACTIVATE CM/RCS AFTER PIPUP TO GO
+ # IN JTAGTIME +5 CS.
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR SETJTAG
+
+ CS THREE # 1.3SPOT FOR SETJTAG
+ TC NEWPHASE
+ OCT 1
+
+ CAF OCT37
+ TS L
+ COM
+ DXCH -PHASE5
+
+CHEKAVEG CS FLAGWRD1
+ MASK BIT1
+ CCS A # IF AVEG FLAG DOWN SET FINAL EXIT AVEG
+ TC AVEGOUT
+
+ CAF 2SECS
+ TC WAITLIST
+ EBANK= AOG
+ 2CADR READACCS
+
+MAKESERV CAF PRIO20 # ESTABLISH SERVICER ROUTINE
+ TC FINDVAC
+ EBANK= DVCNTR
+ 2CADR SERVICER
+
+ CS FOUR # RESTART SERVICER AND READACCS
+ TC NEWPHASE
+ OCT 5
+
+ CAF BIT9
+ EXTEND
+ WOR DSALMOUT # TURN TEST CONNECTOR OUTBIT ON
+
+ TCF TASKOVER # END PREVIOUS READACCS WAITLIST TASK
+
+# Page 826
+AVEGOUT EXTEND
+ DCA AVOUTCAD
+ DXCH AVGEXIT
+ TCF MAKESERV
+
+ EBANK= DVCNTR
+AVOUTCAD 2CADR AVGEND
+
+# Page 827
+# ROUTINE NAME: ONMNITOR
+# MOD 04 BY BAIRNSFATHER 30 APR 1968 REDO ONMNITOR TO SAVE PIPS EACH 0.5 SEC FOR TM,ENTRY.
+# MOD 03 BY FISHER DECEMBER 1967
+# MOD 02 BY RYE SEPT 1967
+# MOD 01 BY KOSMALA 23 MAR 1967
+# MOD 00 BY KOSMALA 27 FEB 1967
+#
+# FUNCTIONAL DESCRIPTION
+#
+# THE PURPOSE OF ONMONITOR IS TO PROVIDE 1/2 SEC. READING OF PIPAS FOR DOWNLIST DURING ENTRY.
+# X,Y,XPIPBUF CONTAIN PRESET VALUES X,Y,ZOLDBUF CONTAIN VALUES FROM PREVIOUS READING.
+#
+# CALLING SEQUENCE
+#
+# CALL AS WAITLIST TASK. TERMINATES ITSELF IN TASKOVER
+#
+# INITIALIZATION
+#
+# PIPCTR = 2 (FOR DT = 0.5 SEC)
+# X,Y,ZPIPBUF SET TO PREVIOUS PIPAX,Y,Z
+#
+# OUTPUT
+#
+# X,Y,ZPIPBUF, X,Y,ZOLDBUF
+#
+# DEBRIS
+#
+# X,Y,ZPIPBUF CONTAIN LAST PIPAX,Y,Z VALUES
+# X,Y,ZOLDBUF CONTAIN LAST-BUT-ONE PIPAX,Y,Z VALUES
+# RUPTREG1
+# PIPCTR
+
+ONMNITOR TS PIPCTR
+
+ TC FIXDELAY # WAIT
+0.5SEC DEC 50
+
+QUIKREAD CAF TWO
+ TS RUPTREG1
+ INDEX A
+ CA PIPAX # SAVE ACTUAL PIPAS FOR TM.
+ INDEX RUPTREG1
+ XCH XPIPBUF # UPDATE X,Y,ZPIPBUF
+ INDEX RUPTREG1
+ TS XOLDBUF # AND X,Y,ZOLDBUF
+CHKCTR CCS RUPTREG1
+ TCF QUIKREAD +1 # LOOP AGAIN
+ CCS PIPCTR
+ TCF ONMNITOR
+ TC TASKOVER
+
+# Page 828
+# ********************* SERVICER ***************************************
+
+ EBANK= DVCNTR
+
+SERVICER CAF TWO
+ INHINT
+PIPCHECK TS RUPTREG1
+
+ DOUBLE
+ INDEX A
+ CCS DELVX
+ TC +2
+ TC PIPLOOP
+
+ AD -MAXDELV # DO PIPA-SATURATION TEST BEFORE
+ EXTEND
+ BZMF PIPLOOP # COMPENSATION.
+
+ TC ALARM
+ OCT 00205 # SATURATED-PIPA ALARM ***CHANGE LATER
+ TC AVERAGEG
+
+PIPLOOP CCS RUPTREG1
+ TCF PIPCHECK
+
+ TC PHASCHNG # RESTART REREADAC + SERVICER
+ OCT 16035
+ OCT 20000
+ EBANK= DVCNTR
+ 2CADR DVTOTUP
+
+ TC BANKCALL # PIPA COMPENSATION CALL
+ CADR 1/PIPA
+
+DVTOTUP TC INTPRET
+ VLOAD ABVAL # GET ABS VALUE OF DELV
+ DELV
+ DMP EXIT
+ KPIP1 # SCALE AT 2(+7)
+
+ EXTEND
+ DCA MPAC
+ DAS DVTOTAL # ACCUMULATE DVTOTAL
+AVERAGEG TC PHASCHNG
+ OCT 10035
+
+ TC INTPRET
+ CALL
+# Page 829
+ CALCRVG
+ EXIT
+
+ TC PHASCHNG
+ OCT 10035
+
+ CAF OCT31 # COPY RN1,VN1,GOT102,GOBL1/2,PIPTIME1
+ TC GENTRAN # INTO RN, VN, GDT/12, GOBL/2,PIPTIME
+ ADRES RN1
+ ADRES RN
+ RELINT # GENTRAN DOES AN INHINT
+ TC PHASCHNG
+ OCT 10035
+
+ EXTEND
+ DCA AVGEXIT
+ DXCH Z # AVERAGEG EXIT
+
+AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT
+ TS OLDBT1 # SET UP FREE FALL GYRO COMPENSATION
+
+ TC UPFLAG # SET DRIFTFLG
+ ADRES DRIFTFLG # BIT 15 FLAG 2
+ TC 2PHSCHNG
+ OCT 5 # GROUP 5 OFF
+ OCT 05022 # GROUP 2 ON FOR AVETOMID
+ OCT 20000
+
+ TC INTPRET
+ CALL
+ AVETOMID # CONVERT STATE VECTOR TO REFERENCE SCALE.
+ EXIT
+
+ CAF ZERO # ZERO MARK COUNTERS.
+ TS VHFCNT
+ TS TRKMKCNT
+
+ TC BANKCALL
+ CADR PIPFREE
+
+ CS BIT9
+ TS MRKBUF2 # INVALIDATE MARK BUFFER
+ EXTEND
+ WAND DSALMOUT
+
+ TC DOWNFLAG
+ ADRES CM/DSTBY
+
+ TC DOWNFLAG
+ ADRES V37FLAG
+
+# Page 830
+ CAF BIT7 # RESTORE GROUP 1 + 2 IF P20 IS RUNNING.
+ MASK FLAGWRD0
+ EXTEND
+ BZF +4
+
+ TC 2PHSCHNG
+ OCT 111 # 1.11SPOT
+ OCT 132 # 2.13SPOT
+
+ TC POSTJUMP
+ CADR CANV37
+
+SERVEXIT TC PHASCHNG
+ OCT 00035 # A, 5.3 = REREADAC (ONLY)
+
+ TCF ENDOFJOB
+
+DVTHRUSH EQUALS ELEVEN # 15 PERCENT OF 2SEC PIPA ACCUMULATION,
+ # FOR 503-FULL CSM/LEM....DELV SC.AT
+ # 5.85 CM/SEC.
+
+-MAXDELV DEC -6398 # 3200 PPS FOR 2 SEC CCS TAKES 1
+
+JTAGTIME DEC 120 # = 1 SEC + T CDU, T CDU = .1 SEC
+
+2.5SEC DEC 250
+MDOTFAIL DEC 144.0 B-16 # 5 SEC MASS LOSS AT 28.8 KG/SEC
+ # SHOULD BE 2-4 SECS FOR NO START
+ # 6-8 SECS FOR FAILURE
+
+# Page 831
+# NORMLIZE PERFORMS THE INITIALIZATION REQUIRED PRIOR TO THE FIRST ENTRY TO AVERAGEG, AND SCALES RN SO THAT IT
+# HAS 1 LEADING BINARY ZERO. IN MOST MISSIONS, RN WILL BE SCALED AT 2(+29), BUT IN THE 206 MISSION, RN WILL BE
+# SCALED AT 2(+24) M.
+
+NORMLIZE CAF THIRTEEN # SET UP TO COPY 14 REGS: RN1,VN1,PIPTIME1
+ TC GENTRAN # INTO RN,VN,PIPTIME
+ ADRES RN1 # FROM HERE
+ ADRES RN # TO HERE
+
+ RELINT
+ TC INTPRET
+ VLOAD CALL # LOAD RN FOR CALCGRAV
+ RN
+ CALCGRAV # INITIALIZE UNITR RMAG GDT1
+
+ STOVL GDT/2
+ GOBL1/2
+ STORE GOBL/2
+ EXIT
+ TCF ENDOFJOB
+
+# Page 832
+# ***** 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 2'S 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 THE PROGRAM)
+#
+# LOW ORDER DELV'S ARE ZEROED FOR TM INDICATION.
+# TEMX TEMY TEMZ PIPAGE
+
+PIPASR EXTEND
+ DCA TIME2
+ DXCH PIPTIME1 # CURRENT TIME POSITIVE VALUE
+ CS ZERO # INITIALIZAE THESE AT NEG ZERO.
+ TS TEMX
+ TS TEMY
+ TS TEMZ
+# Page 833
+ CA ZERO
+ TS DELVZ # OTHER DELVS OK INCLUDING LOW ORDER
+ TS DELVY
+
+ TS DELVX +1 # LOW ORDER DELV'S ARE ZEROED FOR TM: THIS
+ TS DELVY +1 # IF DNLNK=D LOW ORDER DELVS ARE NZ, THEY
+ TS DELVZ +1 # CONTAIN PROPER COMPENSATION. IF=0, THEN
+ # THE TM VALUES ARE BEFORE COMPENSATION.
+
+ TS PIPAGE # SHOW PIPA READING IN PROGRESS
+
+REPIP1 EXTEND
+ DCS PIPAX # X AND Y PIPS READ
+ DXCH TEMX
+ DXCH PIPAX # PIPAS SET TO NEG ZERO AS READ.
+ TS DELVX
+ LXCH DELVY
+
+REPIP3 CS PIPAZ # REPEAT PROCESS FOR Z PIP
+ XCH TEMZ
+ XCH PIPAZ
+DODELVZ TS DELVZ
+
+ TC Q
+
+ EBANK= AOG
+
+REREADAC CCS PHASE5 # LAST PASS CHECK
+ TCF +2
+ TCF TASKOVER
+
+ CAF PRIO31 # RESTART MAY HAVE WIPED OUT LASTBIAS, AN
+ TS 1/PIPADT # UNPROTECTED NOVAC FROM PREREAD,
+ # WHICH SET(S) UP 1/PIPADT (THUSLY)
+ # FOR NON-COASTING COMPENSATION....BE
+ # SURE 1/PIPADT IS AOK. (PRIO31 IS
+ # 2.0SEC SC.AT B+8(CS)
+
+ CCS PIPAGE
+ TCF READACCS # PIP READING NOT STARTED. GO TO BEGINNING
+
+ CAF DONEADR # SET UP RETURN FROM PIPASR
+ TS Q
+
+ CCS DELVZ
+ TC Q # Z DONE, GO DO CDUS
+ TCF +3 # Z NOT DONE, CHECK Y.
+ TC Q
+ TC Q
+# Page 834
+ ZL
+ CCS DELVY
+ TCF +3
+ TCF CHKTEMX # Y NOT DONE, CHECK X.
+ TCF +1
+ LXCH PIPAZ # Y DONE, ZERO Z PIP.
+
+ CCS TEMZ
+ CS TEMZ # TEMZ NOT = -0, CONTAINS -PIPAZ VALUE.
+ TCF DODELVZ
+ TCF -2
+ LXCH DELVZ # TEMZ = -0, L HAS ZPIP VALUE.
+ TC Q
+
+CHKTEMX CCS TEMX # HAS THIS CHANGED
+ CS TEMX # YES
+ TCF +3 # YES
+ TCF -2 # YES
+ TCF REPIP1 # NO
+ TS DELVX
+
+ CS TEMY
+ TS DELVY
+
+ CS ZERO # ZERO X AND Y PIPS
+ DXCH PIPAX # L STILL ZERO FROM ABOVE
+
+ TCF REPIP3
+
+DONEADR GENADR PIPSDONE
+
+# Page 835
+#*********************************************************************************************
+#
+# ROUTINE CALCRVG INTEGRATES THE EQUATIONS OF MOTION BY AVERAGING THE THRUST AND GRAVITATIONAL
+# ACCELERATIONS OVER A TIME INTERVAL OF 2 SECONDS.
+#
+# FOR THE EARTH-CENTERED GRAVITATIONAL FIELD, THE PERTURBATION DUE TO OBLATENESS IS COMPUTED TO THE FIRST
+# HARMONIC COEFFICIENT J.
+#
+# ROUTINE CALCRVG REQUIRES...
+# 1) THRUST ACCELERATION INCREMENTS IN DELV SCALED SAME AS PIPAX,Y,Z IN STABLE MEMBER COORDS.
+# 2) VN SCALED 2(+7) M/CS IN REFERENCE COORDS.
+# 3) RN SCALED AT 2(+29) METERS IN REFERENCE COORDS.
+# 4) UNITW THE EARTH'S UNIT ROTATIONAL VECTOR (SCALED AS A FULL UNIT VECTOR) IN REFERENCE COORDS.
+#
+# IT LEAVES RN1 UPDATED (SCALED AT 2(+29)M, VN1 (SCALED AT 2(+7)M/CS), AND GDT1/2 (SCALED AT 2(+7)M/CS). ALSO HALF
+# UNIT VECTOR UNITR, RMAG IN 36D SCALED AT 2(+29)M, R MAG SQ. IN 34D SCALED AT 2(+58) M SQ.
+
+CALCGRAV UNIT PUSH # ENTER WITH RN IN MPAC
+ STORE UNITR
+ LXC,1 SLOAD
+ RTX2
+ X1
+ BMN VLOAD
+ ITISMOON
+ DOT PUSH
+ UNITW
+ DSQ BDSU
+ DP1/20
+ PDDL DDV
+ RESQ
+ 34D # (RN)SQ
+ STORE 32D # TEMP FOR (RE/RN)SQ
+ DMP DMP
+ 20J
+ VXSC PDDL
+ UNITR
+ DMP DMP
+ 2J
+ 32D
+ VXSC VAD
+ UNITW
+ STADR
+ STORE GOBL1/2
+ VAD PUSH
+ UNITR
+ITISMOON DLOAD NORM
+ 34D
+ X2
+ BDDV* SLR*
+# Page 836
+ -MUDT(E),1
+ 0 -21D,2
+ VXSC STADR
+ STORE GDT1/2 # SCALED AT 2(+7) M/CS
+ RVQ
+
+CALCRVG VLOAD VXSC
+ DELV
+ KPIP1
+ VXM VSL1
+ REFSMMAT
+ STORE DELVREF # DELV IN REF COORDS AT 2(+7)
+ VSR1 PUSH
+ VAD PUSH # (DV-OLDGDT)/2 TO PD SCALED AT 2(+7)M/CS
+ GDT/2
+ VAD VXSC
+ VN
+ 2SEC(22)
+ VAD STQ
+ RN
+ 31D
+ STCALL RN1 # TEMP STORAGE OF RN SCALED 2(+29)M
+ CALCGRAV
+
+ VAD VAD
+ VAD
+ VN
+ STCALL VN1 # TEMP STORAGE OF VN SCALED 2(+7) M/CS.
+ 31D
+
+KPIP 2DEC .1024 # SCALES DELV TO 2(+4)
+
+KPIP1 2DEC 0.074880 # 207 DELV SCALING. 1 PULSE = 5.85 CM/SEC.
+
+-MUDT(E) 2DEC* -7.9720645 E+12 B-44*
+
+-MUDT(M) 2DEC* -9.805556 E+10 B-44*
+
+2SEC(22) 2DEC 200 B-22
+
+DP1/20 2DEC 0.05
+
+RESQ 2DEC* 40.6809913 E12 B-59*
+
+20J 2DEC* 3.24692010 E-2 B1*
+
+2J 2DEC* 3.24692010 E-3 B1*
+
diff --git a/SERVICE_ROUTINES.s b/SERVICE_ROUTINES.s
new file mode 100644
index 0000000..64479cc
--- /dev/null
+++ b/SERVICE_ROUTINES.s
@@ -0,0 +1,271 @@
+# Copyright: Public domain.
+# Filename: SERVICE_ROUTINES.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1485-1492
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same
+# name, and page images. Corrected various
+# typos in the transcription of program
+# comments, and these should be back-ported
+# to Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1485
+ BLOCK 3
+ SETLOC FFTAG6
+ BANK
+ COUNT 03/FLAG
+
+UPENT2 TS L # WHICH FLAGWORD IS IT
+ MASK OCT7
+ XCH L # SAVE IN L FOR INDEXING
+
+ MASK OCT77770 # OBTAIN THE BIT INFORMATION
+ INHINT # PREVENT INTERRUPTS
+ TS ITEMP1 # STORE THE BIT INFORMATION TEMPORARILY
+
+ NDX L
+ CS FLAGWRD0
+ MASK ITEMP1
+ NDX L
+ ADS FLAGWRD0
+ RELINT # RELEASE INTERRUPT INHIBIT
+
+ INCR Q # OBTAIN THE CORRECT RETURN ADDRESS
+ TC Q # RETURN
+
+DOWNENT2 TS L # WHICH FLAGWORD IS IT
+ MASK OCT7
+ XCH L # SAVE IN L FOR INDEXING
+
+ MASK OCT77770 # OBTAIN THE BIT INFORMATION
+ COM # START TO PROCESS THE INFORMATION
+
+ INHINT # PREVENT INTERRUPTS
+ NDX L
+ MASK FLAGWRD0
+ NDX L
+ TS FLAGWRD0
+ RELINT # RELEASE INTERRUPT INHIBIT
+
+ INCR Q # OBTAIN THE CORRECT RETURN ADDRESS
+ TC Q
+
+OCT7 EQUALS SEVEN
+ BANK 10
+
+# Page 1486
+# UPFLAG AND DOWNFLAG ARE ENTIRELY GENERAL FLAG SETTING AND CLEARING SUBROUTINES. USING THEM, WHETHER OR
+# NOT IN INTERRUPT, ONE MAY SET OR CLEAR ANY SINGLE, NAMED BIT IN ANY ERASABLE REGISTER, SUBJECT OF COURSE TO
+# EBANK SETTING. A "NAMED" BIT, AS THE WORD IS USED HERE, IS ANY BIT WITH A NAME FORMALLY ASSIGNED BY THE YUL
+# ASSEMBLER.
+#
+# AT PRESENT THE ONLY NAMED BITS ARE THOSE IN THE FLAGWORDS. ASSEMBLER CHANGES WILL MAKE IT POSSIBLE TO
+# NAME ANY BIT IN ERASABLE MEMORY.
+#
+# CALLING SEQUENCES ARE AS FOLLOWS --
+# TC UPFLAG TC DOWNFLAG
+# ADRES NAME OF FLAG ADRES NAME OF FLAG
+#
+# RETURN IS TO THE LOCATION FOLLOWING THE "ADRES" ABOUT .58 MS AFTER THE "TC".
+# UPON RETURN A CONTAINS THE CURRENT FLAGWRD SETTING.
+
+ BLOCK 02
+ SETLOC FFTAG1
+ BANK
+ COUNT* $$/FLAG
+
+UPFLAG CA Q
+ TC DEBIT
+ COM # +(15 - BIT)
+ EXTEND
+ ROR LCHAN # SET BIT
+COMFLAG INDEX ITEMP1
+ TS FLAGWRD0
+ LXCH ITEMP3
+ RELINT
+ TC L
+
+DOWNFLAG CA Q
+ TC DEBIT
+ MASK L # RESET BIT
+ TCF COMFLAG
+
+DEBIT AD ONE # CET DE BITS
+ INHINT
+ TS ITEMP3
+ CA LOW4 # DEC15
+ TS ITEMP1
+ INDEX ITEMP3
+ CA 0 -1 # ADRES
+ TS L
+ CA ZERO
+# Page 1487
+ EXTEND
+ DV ITEMP1 # A = FLAGWRD, L = (15 - BIT)
+ DXCH ITEMP1
+ INDEX ITEMP1
+ CA FLAGWRD0
+ TS L # CURRENT STATE
+ INDEX ITEMP2
+ CS BIT15 # -(15 - BIT)
+ TC Q
+
+# Page 1488
+# DELAYJOB -- A GENERAL ROUTINE TO DELAY A JOB A SPECIFIC AMOUNT OF TIME BEFORE PICKING UP AGAIN.
+#
+# ENTRANCE REQUIREMENTS ...
+# CAF DT # DELAY JOB FOR DT CENTISECS
+# TC BANKCALL
+# CADR DELAYJOB
+
+ BANK 06
+ SETLOC DLAYJOB
+ BANK
+
+# THIS MUST REMAIN IN BANK 0 ****************************************
+
+ COUNT 00/DELAY
+
+DELAYJOB INHINT
+ TS Q # STORE DELAY DT IN Q FOR DLY -1 IN
+ CAF DELAYNUM # WAITLIST
+DELLOOP TS RUPTREG1
+ INDEX A
+ CA DELAYLOC # IS THIS DELAYLOC AVAILABLE
+ EXTEND
+ BZF OK2DELAY # YES
+
+ CCS RUPTREG1 # NO, TRY NEXT DELAYLOC
+ TCF DELLOOP
+
+ TC BAILOUT # NO AVAILABLE LOCS.
+ OCT 1104
+
+OK2DELAY CA TCSLEEP # SET WAITLIST IMMEDIATE RETURN
+ TS WAITEXIT
+
+ CA FBANK
+ AD RUPTREG1 # STORE BBANK FOR TASK CALL
+ TS L
+
+ CAF WAKECAD # STORE CADR FOR TASK CALL
+ TCF DLY2 -1 # DLY IS IN WAITLIST ROUTINE
+
+TCGETCAD TC MAKECADR # GET CALLER'S FCADR
+
+ INDEX RUPTREG1
+ TS DELAYLOC # SAVE DELAY CADRS
+
+ TC JOBSLEEP
+
+WAKER CAF ZERO
+ INDEX BBANK
+ XCH DELAYLOC # MAKE DELAYLOC AVAILABLE
+# Page 1489
+ TC JOBWAKE
+
+ TC TASKOVER
+
+TCSLEEP GENADR TCGETCAD -2
+WAKECAD GENADR WAKER
+
+# Page 1490
+# GENTRAN, A BLOCK TRANSFER ROUTINE
+# WRITTEN BY D. EYLES
+# MOD 1 BY KERNAN UTILITYM REV 17 11/18/67
+# MOD 2 BY SCHULENBERG -- (REMOVE RELINT) -- SKIPPER REV 4 2/28/68
+#
+# THIS ROUTINE IS USEFUL FOR TRANSFERRING N CONSECUTIVE ERASABLE OR FIXED QUANTITIES TO SOME OTHER N
+# CONSECUTIVE ERASABLE LOCATIONS. IF BOTH BLOCKS OF DATA ARE IN SWITCHABLE EBANKS, THEY MUST BE IN THE SAME ONE.
+#
+# GENTRAN IS CALLABLE IN A JOB AS WELL AS A RUPT. THE CALLING SEQUENCE IS:
+# I CA N-1 # NO. NUMBER OF QUANTITIES MINUS ONE.
+# I +1 TC GENTRAN # IN FIXED-FIXED.
+# I +2 ADRES L # STARTING ADRES OF DATA TO BE MOVED.
+# I +3 ADRES M # STARTING ADRES OF DUPLICATION BLOCK.
+# I +4 # RETURNS HERE.
+#
+# GENTRAN TAKES 25 MCT'S (300 MICROSECONDS) PER ITEM + 5 MCT'S (60 MICS) FOR ENTERING AND EXITING.
+# A, L, AND ITEMP1 ARE NOT PRESERVED.
+
+ BLOCK 02
+ SETLOC FFTAG4
+ BANK
+
+ EBANK= ITEMP1
+
+ COUNT* $$/TRAN
+
+GENTRAN INHINT
+ TS ITEMP1 # SAVE N-1
+ INDEX Q # C(Q) = ADRES L.
+ AD 0 # ADRES (L + N - 1).
+ INDEX A
+ CA 0 # C(ABOVE).
+ TS L # SAVE DATA.
+ CA ITEMP1
+ INDEX Q
+ AD 1 # ADRES (M + N - 1).
+ INDEX A
+ LXCH 0 # STUFF IT.
+ CCS ITEMP1 # LOOP UNTIL N-1 = 0.
+ TCF GENTRAN +1
+ TCF Q+2 # RETURN TO CALLER.
+
+# Page 1491
+# B5OFF ZERO BIT 5 OF EXTVBACK, WHICH IS SET BY TESTXACT.
+# MAY BE USED AS NEEDED BY ANY EXTENDED VERB WHICH HAS DONE TESTXACT
+
+ COUNT* $$/EXTVB
+
+B5OFF CS BIT5
+ MASK EXTVBACT
+ TS EXTVBACT
+ TC ENDOFJOB
+
+# Page 1492
+# SUBROUTINES TO TURN OFF AND TURN ON TRACKER FAIL LIGHT.
+
+TRFAILOF INHINT
+ CS OCT40200 # TURN OFF TRACKER LIGHT
+ MASK DSPTAB +11D
+ AD BIT15
+ TS DSPTAB +11D
+ CS OPTMODES # TO INSURE THAT OCDU FAIL WILL GO ON
+ MASK BIT7 # AGAIN IF IT WAS ON IN ADDITION TO
+ ADS OPTMODES # TRACKER FAIL.
+
+REQ RELINT
+ TC Q
+
+TRFAILON INHINT
+ CS DSPTAB +11D # TURN ON
+ MASK OCT40200
+ ADS DSPTAB +11D
+ TCF REQ
+
+
+
+
diff --git a/SINGLE_PRECISION_SUBROUTINES.s b/SINGLE_PRECISION_SUBROUTINES.s
new file mode 100644
index 0000000..28882ab
--- /dev/null
+++ b/SINGLE_PRECISION_SUBROUTINES.s
@@ -0,0 +1,74 @@
+# Copyright: Public domain.
+# Filename: SINGLE_PRECISION_SUBROUTINES.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1207
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1207
+ BLOCK 02
+
+# SINGLE PRECISION SINE AND COSINE
+
+ COUNT 02/INTER
+
+SPCOS AD HALF # ARGUMENTS SCALED AT PI
+SPSIN TS TEMK
+ TCF SPT
+ CS TEMK
+SPT DOUBLE
+ TS TEMK
+ TCF POLLEY
+ XCH TEMK
+ INDEX TEMK
+ AD LIMITS
+ COM
+ AD TEMK
+ TS TEMK
+ TCF POLLEY
+ TCF ARG90
+POLLEY EXTEND
+ MP TEMK
+ TS SQ
+ EXTEND
+ MP C5/2
+ AD C3/2
+ EXTEND
+ MP SQ
+ AD C1/2
+ EXTEND
+ MP TEMK
+ DDOUBL
+ TS TEMK
+ TC Q
+ARG90 INDEX A
+ CS LIMITS
+ TC Q # RESULT SCALED AT 1.
+
+# SPROOT WAS DELETED IN REV 51 OF MASTER. ASS. CONT. HAS CARDS.
+
+
+
+
diff --git a/SPS_BACK-UP_RCS_CONTROL.s b/SPS_BACK-UP_RCS_CONTROL.s
new file mode 100644
index 0000000..0935a86
--- /dev/null
+++ b/SPS_BACK-UP_RCS_CONTROL.s
@@ -0,0 +1,196 @@
+# Copyright: Public domain.
+# Filename: SPS_BACK-UP_RCS_CONTROL.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1507-1510
+# Mod history: 2009-05-27 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1507
+# PROGRAM NAME: SPSRCS
+# AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
+# MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
+# MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN, FEB. 14, 1969
+#
+# FUNCTIONAL DESCRIPTION:
+# THE PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
+# PLANE LOGIC.
+#
+# 1. JET SENSE TEST (SPSRCS)
+# IF JETS ARE FIRING NEGATIVELY, SET OLDSENSE NEGATIVE AND CONTINUE
+# IF JETS ARE FIRING POSITIVELY, SET OLDSENSE POSITIVE AND CONTINUE
+# IF JETS ARE NOT FIRING, SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
+#
+# 2. RATE DEAD BAND TEST
+# IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE
+# JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
+# IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE, LEAVE
+# JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
+#
+# 3. OUTER RATE LIMIT TEST (SPSSTART)
+# IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
+# TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
+#
+# 4. COAST ZONE TEST
+# IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME
+# POSITIVE AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
+# IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
+# AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
+#
+# 5. INHIBITION LOGIC
+# IF OLDSENSE IS NON-ZERO:
+# A) RETURN IF JET TIME AS THE SAME SIGN AS OLDSENSE
+# B) SET INHIBITION COUNTER* AND RETURN IF JET TIME IS ZERO
+# C) SET INHIBITION COUNTER,* SET JET TIME TO ZERO AND RETURN IF SIGN
+# OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
+# IF OLDSENSE IS ZERO:
+# A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
+# B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
+# *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P AND UV AXES,
+# RESPECTIVELY, IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF
+# Page 1508
+# EACH DAP PASS.
+#
+# THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
+# AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
+# P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
+#
+# CALLING SEQUENCE:
+# INHINT
+# TC IBNKCALL
+# CADR SPSRCE
+#
+# EXIT:
+# TC Q
+#
+# ALARM/ABORT MODE: NONE
+#
+# SUBROUTINES CALLED: NONE
+#
+# INPUT: E, EDOT
+# TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
+#
+# OUTPUT: TJP, TJV, TJU
+
+ BANK 21
+ SETLOC DAPS4
+ BANK
+
+ COUNT* $$/DAPBU
+
+ EBANK= TJU
+RATELIM2 OCT 00632 # 1.125 DEG/SEC
+POSTHRST CA HALF
+
+ NDX AXISCTR
+ TS TJU
+ CCS OLDSENSE
+ TCF POSCHECK # JETS FIRING POSITIVELY
+ TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR
+NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY
+ CS TJU
+ CCS A
+ TC Q # RETURN
+ TCF +2
+ TCF +1 # JETS COMMANDED OFF. SET CTR AND RETURN
+SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR,
+ CA UTIME # SET JET TIME TO ZER, AND RETURN
+# Page 1509
+ INDEX AXISCTR
+ TS UJETCTR
+ZAPTJ CA ZERO
+ INDEX AXISCTR
+ TS TJU
+ TC Q
+POSCHECK INDEX AXISCTR
+ CA TJU
+ TCF NEGCHECK +2
+CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER
+ CCS UJETCTR
+ TCF +2
+ TC Q # CTR IS NOT POSITIVE. RETURN
+ TCF ZAPTJ # CTR IS POSITIVE. INHIBIT FIRINGS
+ TC Q # CTR IS NOT POSITIVE. RETURN
+ OCT 00004
+UTIME OCT 00012
+ OCT 00012
+OLDSENSE EQUALS DAPTREG1
+NEGFIRE CS ONE # JETS FIRING NEGATIVELY
+ TS OLDSENSE
+ CA EDOT
+ TCF +4
+PLUSFIRE CA ONE
+ TS OLDSENSE
+ CS EDOT # RATE DEAD BAND TEST
+ LXCH A
+ CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
+ MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
+ CCS A
+ CA RATEDB1
+ AD L
+ EXTEND
+ BZMF SPSSTART
+ TCF POSTHRST +3
+
+SPSRCS INDEX AXISCTR # JET SENSE TEST
+ CCS TJU
+ TCF PLUSFIRE # JETS FIRING POSITIVELY
+ TCF +2
+ TCF NEGFIRE # JETS FIRING NEGATIVELY
+ TS OLDSENSE # JETS OFF
+SPSSTART CA EDOT # OUTER RATE LIMIT TEST
+ EXTEND
+ MP RATELIM1
+ CCS A
+ TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED
+ TCF +2
+ TCF POSTHRST # OUTER RATE LIMIT EXCEEDED
+ CA EDOT # COAST ZONE TEST
+# Page 1510
+ AD E
+ EXTEND
+ MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
+ EXTEND
+ BZF TJZERO
+
+ EXTEND
+ BZMF +7
+ CA EDOT
+ AD RATELIM2
+ EXTEND
+ BZMF TJZERO
+NEGTHRST CS HALF
+ TCF POSTHRST +1
+ +7 CS RATELIM2
+ AD EDOT
+ EXTEND
+ BZMF POSTHRST
+TJZERO CA ZERO
+ TCF POSTHRST +1
+
+RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
+RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
+
+# *** END OF LMDAP .015 ***
+
+
diff --git a/STABLE_ORBIT.s b/STABLE_ORBIT.s
new file mode 100644
index 0000000..c1a21d5
--- /dev/null
+++ b/STABLE_ORBIT.s
@@ -0,0 +1,428 @@
+# Copyright: Public domain.
+# Filename: STABLE_ORBIT.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 525-532
+# Mod history: 2009-05-10 HG Started adapting from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images 0525.jpg - 0532.jpg.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+# Page 525
+# STABLE ORBIT RENDEZVOUS PROGRAMS (P38 AND P78)
+#
+# MOD NO -1 LOG SECTION - STABLE ORBIT - P38-P39
+# MOD BY RUDNICKI.S DATE 25JAN68
+#
+# FUNCTIONAL DESCRIPTION
+#
+# P38 AND P78 CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL
+# CONDITIONS REQUIRED BY THE AGC TO (1) PUT THE ACTIVE VEHICLE
+# ON A TRANSFER TRAJECTORY THAT INTERCEPTS THE PASSIVE VEHICLE
+# ORBIT A GIVEN DISTANCE, DELTA R, EITHER AHEAD OF OR BEHIND THE
+# PASSIVE VEHICLE AND (2) ACTUALLY PLACE THE ACTIVE VEHICLE IN THE
+# PASSIVE VEHICLE ORBIT WITH A DELTA R SEPARATION BETWEEN THE TWO
+# VEHICLES
+#
+# CALLING SEQUENCE
+#
+# ASTRONAUT REQUEST THRU DSKY
+#
+# V37E38E IF THIS VEHICLE IS ACTIVE VEHICLE
+# V37E78E IF OTHER VEHICLE IS ACTIVE VEHICLE
+#
+# INPUT
+#
+# (1) SOI MANEUVER
+#
+# (A) TIG TIME OF SOI MANEUVER
+# (B) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE
+# DURING THE TRANSFER FROM TIG TO TIME OF INTERCEPT
+# (C) DELTAR THE DESIRED SEPARATION OF THE TWO VEHICLES
+# SPECIFIED AS A DISTANCE ALONG THE PASSIVE VEHICLE
+# ORBIT
+# (D) OPTION EQUALS 1 FOR SOI
+#
+# (2) SOR MANEUVER
+#
+# (A) TIG TIME OF SOR MANEUVER
+# (B) CENTANG AN OPTIONAL RESPECIFICATION OF 1 (B) ABOVE
+# (C) OPTION EQUALS 2 FOR SOR
+# (D) DELTTIME THE TIME REQUIRED TO TRAVERSE DELTA R WHEN
+# TRAVELING AT A VELOCITY EQUAL TO THE HORIZONTAL
+# VELOCITY OF THE PASSIVE VEHICLE - SAVED FROM
+# SOI PHASE
+# (E) TINT TIME OF INTERCEPT (SOI) - SAVED FROM SOI PHASE
+#
+# OUTPUT
+#
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# Page 526
+# (4) DSPTEM1 TIME OF INTERCEPT OF PASSIVE VEHICLE ORBIT
+# (FOR SOI ONLY)
+# (5) POSTTPI PERIGEE ALTITUDE OF ACTIVE VEHICLE ORBIT AFTER
+# THE SOI (SOR) MANEUVER
+# (6) DELVTPI MAGNITUDE OF DELTA V AT SOI (SOR) TIME
+# (7) DELVTPF MAGNITUDE OF DELTA V AT INTERCEPT TIME
+# (8) DELTA VELOCITY AT SOI (AND SOR) - LOCAL VERTICAL
+# CORDINATES
+#
+# SUBROUTINES USED
+#
+# AVFLAGA
+# AVFLAGP
+# VNDSPLY
+# BANKCALL
+# GOFLASHR
+# GOTOP00H
+# BLANKET
+# ENDOFJOB
+# PREC/TT
+# SELECTMU
+# INTRPVP
+# MAINRTNE
+
+ BANK 04
+ SETLOC STBLEORB
+ BANK
+
+ EBANK= SUBEXIT
+ COUNT* $$/P3879
+
+P38 TC AVFLAGA # THIS VEHICLE ACTIVE
+ TC +2
+P78 TC AVFLAGP # OTHER VEHICLE ACTIVE
+ TC P20FLGON # SET UPDATFLG, TRACKFLG
+ CAF V06N33SR # DISPLAY TIG
+ TC VNDSPLY
+ CAF V06N55SR # DISPLAY CENTANG
+ TCR BANKCALL
+ CADR GOFLASHR
+ TCF GOTOP00H # TERMINATE
+ TCF +5 # PROCEED
+ TCF -5 # RECYCLE
+ CAF THREE # IMMEDIATE RETURN -- BLANK R1, R2
+ TCR BLANKET
+ TCF ENDOFJOB
+ CAF FIVE
+ TS OPTION1
+ CAF ONE
+ TS OPTION2 # OPTION CODE IS SET TO 1
+# Page 527
+ CAF V04N06SR # DISPLAY OPTION CODE -1 = SOI, 2 = SOR
+ TCR BANKCALL
+ CADR GOFLASHR
+ TCF GOTOP00H # TERMINATE
+ TCF +5 # PROCEED
+ TCF -5 # RECYCLE
+ CAF BIT3 # IMMEDIATE RETURN -- BLANK R3
+ TCR BLANKET
+ TCF ENDOFJOB
+ TC INTPRET
+ SSP
+ NN
+ 2
+ SLOAD SR1
+ OPTION2
+ BHIZ DLOAD
+ OPTN1
+ TINT
+ STORE TINTSOI # STORE FOR SOR PHASE
+ CLRGO
+ OPTNSW # OPTNSW: ON = SOI. OFF = SOR
+ JUNCTN1
+OPTN1 SET CLEAR # SOI
+ OPTNSW
+ UPDATFLG
+ CALL
+ PREC/TT
+ SET DAD
+ UPDATFLG
+ TIG
+ STORE TINT # TI = TIG + TF
+ STORE DSPTEM1 # FOR DISPLAY
+ EXIT
+ CAF V06N57SR # DISPLAY DELTA R
+ TCR BANKCALL
+ CADR GOFLASHR
+ TCF GOTOP00H # TERMINATE
+ TCF +5 # PROCEED
+ TCF -5 # RECYCLE
+ CAF SIX # IMMEDIATE RETURN - BLANK R2, R3
+ TCR BLANKET
+ TCF ENDOFJOB
+ CAF V06N34SR # DISPLAY TIME OF INTERCEPT
+ TC VNDSPLY
+ TC INTPRET
+JUNCTN1 CLEAR CALL
+ P39/79SW
+ SELECTMU # SELECT MU, CLEAR FINALFLG, GO TO VN1645
+RECYCLE CALL
+ PREC/TT
+# Page 528
+ BOFF DLOAD
+ OPTNSW
+ OPTN2
+ TINT
+ STCALL TDEC1 # PRECISION UPDATE PASSIVE VEHICLE TO
+ INTRPVP # INTERCEPT TIME
+ VLOAD UNIT
+ RATT # RP/(RP)
+ PDVL VXV
+ VATT
+ ABVAL NORM # (VP X RP/(RP))
+ X1
+ PDDL DDV
+ DELTAR
+ SL* # DELTA R / (VP X RP/RP)
+ 0 -7,1
+ STCALL DELTTIME # DELTA T = (RP) DELTA R / (VP X RP)
+ JUNCTN2
+OPTN2 DLOAD DAD
+ TINTSOI
+ T
+ STORE TINT # TI = TI + TF
+JUNCTN2 DLOAD DSU
+ TINT
+ DELTTIME
+ STORE TARGTIME # TT = TI - DELTA T
+
+# .... MAINRTNE ....
+#
+# SUBROUTINES USED
+#
+# S3435.25
+# PERIAPO1
+# SHIFTR1
+# VNDSPLY
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+# VN1645
+
+MAINRTNE STCALL TDEC1 # PRECISION UPDATE PASSIVE VEHICLE TO
+ INTRPVP # TARGET TIME
+ DLOAD
+ TIG
+ STORE INTIME
+ SSP VLOAD
+ SUBEXIT
+ TEST3979
+ RATT
+ CALL
+ S3435.25
+TEST3979 BOFF BON
+# Page 529
+ P39/79SW
+ MAINRTN1
+ FINALFLG
+ P39P79
+ SET
+ UPDATFLG
+P39P79 EXIT
+ TC DSPLY81 # FOR P39 AND P79
+MAINRTN1 VLOAD ABVAL
+ DELVEET3
+ STOVL DELVTPI # DELTA V
+ VPASS4
+ VSU ABVAL
+ VTPRIME
+ STOVL DELVTPF # DELTA V (FINAL) = V-T - VT
+ RACT3
+ PDVL CALL
+ VIPRIME
+ PERIAPO1 # GET PERIGEE ALTITUDE
+ CALL
+ SHIFTR1
+ STORE POSTTPI
+ BON SET
+ FINALFLG
+ DSPLY58
+ UPDATFLG
+DSPLY58 EXIT
+ CAF V06N58SR # DISPLAY HP, DELTA V, DELTA V (FINAL)
+ TC VNDSPLY
+DSPLY81 CAF V06N81SR # DISPLAY DELTA V (LV)
+ TC VNDSPLY
+ TC INTPRET
+ CLEAR VLOAD
+ XDELVFLG
+ DELVEET3
+ STCALL DELVSIN
+ VN1645 # DISPLAY TRKMKCNT, TTOGO, +MGA
+ BON GOTO
+ P39/79SW
+ P39/P79B
+ RECYCLE
+
+# STABLE ORBIT MIDCOURSE PROGRAM (P39 AND P79)
+#
+# MOD NO -1 LOG SECTION - STABLE ORBIT - P38-P39
+# MOD BY RUDNICKI, S DATE 25JAN68
+#
+# FUNCTIONAL DESCRIPTION
+#
+# P39 AND P79 CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL
+# CONDITIONS REQUIRED BY THE AGC TO MAKE A MIDCOURSE CORRECTION
+# Page 530
+# MANEUVER AFTER COMPLETING THE SOI MANEUVER BUT BEFORE MAKING
+# THE SOR MANEUVER.
+#
+# CALLING SEQUENCE
+#
+# ASTRONAUT REQUEST THRU DSKY
+#
+# V37E39E IF THIS VEHICLE IS ACTIVE VEHICLE
+# V37E79E IF OTHER VEHICLE IS ACTIVE VEHICLE
+#
+# INPUT
+#
+# (1) TPASS4 TIME OF INTERCEPT -- SAVED FROM P38/P78
+# (2) TARGTIME TIME THAT PASSIVE VEHICLE IS AT INTERCEPT POINT --
+# SAVED FROM P38/P78
+#
+# OUTPUT
+#
+# (1) TRKMKCNT NUMBER OF MARKS
+# (2) TTOGO TIME TO GO
+# (3) +MGA MIDDLE GIMBAL ANGLE
+# (4) DELVLVC DELTA VELOCITY AT MID -- LOCAL VERTICAL COORDINATES
+#
+# SUBROUTINES USED
+#
+# AVFLAGA
+# AVFLAGP
+# LOADTIME
+# SELECTMU
+# PRECSET
+# S34/35.1
+# MAINRTNE
+
+P39 TC AVFLAGA # THIS VEHICLE ACTIVE
+ EXTEND
+ DCA ATIGINC
+ TC P39/P79A
+P79 TC AVFLAGP # OTHER VEHICLE ACTIVE
+ EXTEND
+ DCA PTIGINC
+P39/P79A DXCH KT # TIME TO PREPARE FOR BURN
+ TC P20FLGON # SET UPDATFLG, TRACKFLG
+ TC INTPRET
+ SET CALL
+ P39/79SW
+ SELECTMU # SELECT MU, CLEAR FINALFLG, GO TO VN1645
+P39/P79B RTB DAD
+ LOADTIME
+ KT
+ STORE TIG # TIG = T (PRESENT) + PREPARATION TIME
+# Page531
+ STCALL TDEC1 # PRECISION UPDATE ACTIVE AND PASSIVE
+ PRECSET # VEHICLES TO TIG
+ CALL
+ S34/35.1 # GET UNIT NORMAL
+ DLOAD GOTO
+ TARGTIME
+ MAINRTNE # CALCULATE DELTA V AND DELTA V (LV)
+
+# .... PREC/TT ....
+#
+# SUBROUTINES USED
+#
+# PRECSET
+# TIMETHET
+# S34/35.1
+
+PREC/TT STQ DLOAD
+ RTRN
+ TIG
+ STCALL TDEC1 # PRECISION UPDATE ACTIVE AND PASSIVE
+ PRECSET # VEHICLES TO TIG
+ VLOAD VSR*
+ RPASS3
+ 0,2
+ STODL RVEC
+ CENTANG
+ PUSH COS
+ STODL CSTH
+ SIN SET
+ RVSW
+ STOVL SNTH
+ VPASS3
+ VSR*
+ 0,2
+ STCALL VVEC # GET TRANSFER TIME BASED ON CENTANG OF
+ TIMETHET # PASSIVE VEHICLE
+ CALL
+ S34/35.1 # GET UNIT NORMAL
+ DLOAD GOTO
+ T
+ RTRN
+
+# .... INTRPVP ....
+#
+# SUBROUTINES USED
+#
+# CSMPREC
+# LEMPREC
+
+INTRPVP STQ BOFF # PRECISION UPDATE PASSIVE VEHICLE TO
+ RTRN # TDEC1
+ AVFLAG
+ OTHERV
+ CALL
+# Page 532
+ CSMPREC
+ GOTO
+ RTRN
+OTHERV CALL
+ LEMPREC
+ GOTO
+ RTRN
+
+# .... VNDSPLY ....
+#
+# SUBROUTINES USED
+#
+# BANKCALL
+# GOFLASH
+# GOTOP00H
+
+VNDSPLY EXTEND # FLASH DISPLAY
+ QXCH RTRN
+ TS VERBNOUN
+ CA VERBNOUN
+ TCR BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H # TERMINATE
+ TC RTRN # PROCEED
+ TCF -5 # RECYCLE
+V06N33SR VN 0633
+V06N55SR VN 0655
+V04N06SR VN 0406
+V06N57SR VN 0657
+V06N34SR VN 0634
+V06N58SR VN 0658
+V06N81SR VN 0681
+
+# *** END OF COMEKISS.020 ***
diff --git a/STAR_TABLES.s b/STAR_TABLES.s
new file mode 100644
index 0000000..84012cc
--- /dev/null
+++ b/STAR_TABLES.s
@@ -0,0 +1,193 @@
+# Copyright: Public domain.
+# Filename: STAR_TABLES.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1389-1393
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Colossus249/ file of the same
+# name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1389
+ BANK 32
+ SETLOC STARTAB
+ BANK
+
+ COUNT 14/STARS
+
+ 2DEC +.8342971408 B-1 # STAR 37 X
+ 2DEC -.2392481515 B-1 # STAR 37 Y
+ 2DEC -.4966976975 B-1 # STAR 37 Z
+
+ 2DEC +.8139832631 B-1 # STAR 36 X
+ 2DEC -.5557243189 B-1 # STAR 36 Y
+ 2DEC +.1691204557 B-1 # STAR 36 Z
+
+ 2DEC +.4541086270 B-1 # STAR 35 X
+ 2DEC -.5392368197 B-1 # STAR 35 Y
+ 2DEC +.7092312789 B-1 # STAR 35 Z
+
+ 2DEC +.3201817378 B-1 # STAR 34 X
+ 2DEC -.4436021946 B-1 # STAR 34 Y
+ 2DEC -.8370786986 B-1 # STAR 34 Z
+
+ 2DEC +.5520184464 B-1 # STAR 33 X
+ 2DEC -.7933187400 B-1 # STAR 33 Y
+ 2DEC -.2567508745 B-1 # STAR 33 Z
+
+ 2DEC +.4537196908 B-1 # STAR 32 X
+ 2DEC -.8779508801 B-1 # STAR 32 Y
+ 2DEC +.1527766153 B-1 # STAR 32 Z
+
+ 2DEC +.2069525789 B-1 # STAR 31 X
+ 2DEC -.8719885748 B-1 # STAR 31 Y
+ 2DEC -.4436288486 B-1 # STAR 31 Z
+
+ 2DEC +.1217293692 B-1 # STAR 30 X
+# Page 1390
+ 2DEC -.7702732847 B-1 # STAR 30 Y
+ 2DEC +.6259880410 B-1 # STAR 30 Z
+
+ 2DEC -.1124304773 B-1 # STAR 29 X
+ 2DEC -.9694934200 B-1 # STAR 29 Y
+ 2DEC +.2178116072 B-1 # STAR 29 Z
+
+ 2DEC -.1146237858 B-1 # STAR 28 X
+ 2DEC -.3399692557 B-1 # STAR 28 Y
+ 2DEC -.9334250333 B-1 # STAR 28 Z
+
+ 2DEC -.3516499609 B-1 # STAR 27 X
+ 2DEC -.8240752703 B-1 # STAR 27 Y
+ 2DEC -.4441196390 B-1 # STAR 27 Z
+
+ 2DEC -.5326876930 B-1 # STAR 26 X
+ 2DEC -.7160644554 B-1 # STAR 26 Y
+ 2DEC +.4511047742 B-1 # STAR 26 Z
+
+ 2DEC -.7861763936 B-1 # STAR 25 X
+ 2DEC -.5217996305 B-1 # STAR 25 Y
+ 2DEC +.3311371675 B-1 # STAR 25 Z
+
+ 2DEC -.6898393233 B-1 # STAR 24 X
+ 2DEC -.4182330640 B-1 # STAR 24 Y
+ 2DEC -.5909338474 B-1 # STAR 24 Z
+
+ 2DEC -.5812035376 B-1 # STAR 23 X
+ 2DEC -.2909171294 B-1 # STAR 23 Y
+ 2DEC +.7599800468 B-1 # STAR 23 Z
+
+ 2DEC -.9170097662 B-1 # STAR 22 X
+ 2DEC -.3502146628 B-1 # STAR 22 Y
+# Page 1391
+ 2DEC -.1908999176 B-1 # STAR 22 Z
+
+ 2DEC -.4523440203 B-1 # STAR 21 X
+ 2DEC -.0493710140 B-1 # STAR 21 Y
+ 2DEC -.8904759346 B-1 # STAR 21 Z
+
+ 2DEC -.9525211695 B-1 # STAR 20 X
+ 2DEC -.0593434796 B-1 # STAR 20 Y
+ 2DEC -.2986331746 B-1 # STAR 20 Z
+
+ 2DEC -.9656605484 B-1 # STAR 19 X
+ 2DEC +.0525933156 B-1 # STAR 19 Y
+ 2DEC +.2544280809 B-1 # STAR 19 Z
+
+ 2DEC -.8608205219 B-1 # STAR 18 X
+ 2DEC +.4636213989 B-1 # STAR 18 Y
+ 2DEC +.2098647835 B-1 # STAR 18 Z
+
+ 2DEC -.7742591356 B-1 # STAR 17 X
+ 2DEC +.6152504197 B-1 # STAR 17 Y
+ 2DEC -.1482892839 B-1 # STAR 17 Z
+
+ 2DEC -.4657947941 B-1 # STAR 16 X
+ 2DEC +.4774785033 B-1 # STAR 16 Y
+ 2DEC +.7450164351 B-1 # STAR 16 Z
+
+ 2DEC -.3612508532 B-1 # STAR 15 X
+ 2DEC +.5747270840 B-1 # STAR 15 Y
+ 2DEC -.7342932655 B-1 # STAR 15 Z
+
+ 2DEC -.4118589524 B-1 # STAR 14 X
+ 2DEC +.9065485360 B-1 # STAR 14 Y
+ 2DEC +.0924226975 B-1 # STAR 14 Z
+
+# Page 1392
+ 2DEC -.1820751783 B-1 # STAR 13 X
+ 2DEC +.9404899869 B-1 # STAR 13 Y
+ 2DEC -.2869271926 B-1 # STAR 13 Z
+
+ 2DEC -.0614937230 B-1 # STAR 12 X
+ 2DEC +.6031563286 B-1 # STAR 12 Y
+ 2DEC -.7952489957 B-1 # STAR 12 Z
+
+ 2DEC +.1371725575 B-1 # STAR 11 X
+ 2DEC +.6813721061 B-1 # STAR 11 Y
+ 2DEC +.7189685267 B-1 # STAR 11 Z
+
+ 2DEC +.2011399589 B-1 # STAR 10 X
+ 2DEC +.9690337941 B-1 # STAR 10 Y
+ 2DEC -.1432348512 B-1 # STAR 10 Z
+
+ 2DEC +.3507315038 B-1 # STAR 9 X
+ 2DEC +.8926333307 B-1 # STAR 9 Y
+ 2DEC +.2831839492 B-1 # STAR 9 Z
+
+ 2DEC +.4105636020 B-1 # STAR 8 X
+ 2DEC +.4988110001 B-1 # STAR 8 Y
+ 2DEC +.7632988371 B-1 # STAR 8 Z
+
+ 2DEC +.7032235469 B-1 # STAR 7 X
+ 2DEC +.7075846047 B-1 # STAR 7 Y
+ 2DEC +.0692868685 B-1 # STAR 7 Z
+
+ 2DEC +.5450107404 B-1 # STAR 6 X
+ 2DEC +.5314955466 B-1 # STAR 6 Y
+ 2DEC -.6484410356 B-1 # STAR 6 Z
+
+ 2DEC +.0130968840 B-1 # STAR 5 X
+# Page 1393
+ 2DEC +.0078062795 B-1 # STAR 5 Y
+ 2DEC +.9998837600 B-1 # STAR 5 Z
+
+ 2DEC +.4917678276 B-1 # STAR 4 X
+ 2DEC +.2204887125 B-1 # STAR 4 Y
+ 2DEC -.8423473935 B-1 # STAR 4 Z
+
+ 2DEC +.4775639450 B-1 # STAR 3 X
+ 2DEC +.1166004340 B-1 # STAR 3 Y
+ 2DEC +.8708254803 B-1 # STAR 3 Z
+
+ 2DEC +.9342640400 B-1 # STAR 2 X
+ 2DEC +.1735073142 B-1 # STAR 2 Y
+ 2DEC -.3115219339 B-1 # STAR 2 Z
+
+ 2DEC +.8748658918 B-1 # STAR 1 X
+ 2DEC +.0260879174 B-1 # STAR 1 Y
+ 2DEC +.4836621670 B-1 # STAR 1 Z
+
+CATLOG DEC 6970
+
+
+
diff --git a/SXTMARK.s b/SXTMARK.s
new file mode 100644
index 0000000..a6ad217
--- /dev/null
+++ b/SXTMARK.s
@@ -0,0 +1,702 @@
+# Copyright: Public domain.
+# Filename: SXTMARK.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 222-235
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 16/05/09 FB Transcription Batch 2 Assignment.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 222
+# PROGRAM NAME: SXTMARK DATE: 5 APRIL 1967
+# PROGRAM MODIFIED BY 258/278 PROGRAMMERS LOG SECTION SXTMARK
+# MOD BY: R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# SXTMARK IS CALLED FROM INTERNAL ROUTINES WHICH MAY REQUIRE STAR OR LANDMARK MARKINGS BY THE ASTRONAUT. IF
+# THE MARK SYSTEM IS NOT IN USE, SXTMARK RESERVES A VAC AREA FOR MARKING AND REQUESTS EXECUTION OF THE MKVB51
+# ROUTINE VIA THE EXECUTIVE JOB PRIORITY LIST. R21 USES THIS ROUTINE TO DETERMINE IF THE MARK SYSTEM CAN BE
+# USED. IF YES, SXTMARK RETURNS TO R21 TO PERFORM ITS OWN MARK REQUESTS VIA THE V51 FLASH.
+#
+# CALLING SEQUENCE:
+#
+# CAF (NO. MARK REQUESTS IN BITS 1-3 OF A)
+# TC BANKCALL
+# CADR SXTMARK
+#
+# NORMAL EXIT MODE:
+#
+# SWRETURN
+#
+# ALARM OR ABORT EXIT MODE:
+#
+# ABORT
+#
+# OUTPUT:
+#
+# 1) MARKSTAT CONTAINS MARK VALUE (BITS 14-12) AND VAC AREA ADDRESS
+# 2) QPRET = VAC AREA POINTER VALUE
+# 3) 1ST WORD OF RESERVED VAC AREA SET TO +0
+# 4) PRIO32 PLACED IN A REGISTER
+#
+# ERASABLE INITIALIZATION:
+#
+# 1) BITS 1-3 OF A = NO. MARKS REQUESTED
+# 2) BITS 2,3 OF EXTVBACT = 0
+# 3) A VAC AREA MUST BE AVAILABLE (WORD 1 = ADDRESS OF VAC AREA)
+#
+# DEBRIS:
+#
+# A,Q,L,RUPTREG1,MARKSTAT,QPRET,BIT2 OF EXTVBACT
+
+ BANK 13
+ SETLOC SXTMARKE
+ BANK
+
+ EBANK= MRKBUF1
+ COUNT 07/SXTMK
+
+SXTMARK INHINT
+ TS RUPTREG1 # NUMBER OF MARKS WANTED
+
+ CAF SIX # BIT2 = MARKING SYSTEM IN USE
+ MASK EXTVBACT # BIT3 = EXTENDED VERB IN PROGRESS
+ CCS A
+ TC MKABORT
+# Page 223
+ CAF BIT2 # NOT SET
+ ADS EXTVBACT # SET IT, RESET IN ENDMARK
+ TC MARKOK # YES, FIND VAC AREA
+
+MKABORT TC BAILOUT
+ OCT 01211
+MARKOK CCS VAC1USE # FIND VAC AREA
+ TC MKVACFND
+ CCS VAC2USE
+ TC MKVACFND
+ CCS VAC3USE
+ TC MKVACFND
+ CCS VAC4USE
+ TC MKVACFND
+ CCS VAC5USE
+ TC MKVACFND
+ TC BAILOUT
+ OCT 01207
+
+MKVACFND AD TWO # ADDRESS OF VAC AREA
+ TS MARKSTAT
+ INDEX A
+ TS QPRET # STORE NEXT AVAILABLE MARK SLOT
+
+ CAF ZERO # STORE VAC AREA OCCUPIED
+ INDEX MARKSTAT
+ TS 0 -1
+
+ TC CHECKMM # BACKUP MARK ROUTINE USES SXTMARK
+ MM 53
+ TCF +2
+ TCF SWRETURN
+ TC CHECKMM
+ MM 54
+ TCF +2
+ TCF SWRETURN
+ CAF BIT12 # DESIRED NUMBER OF MARKS IN 12-14
+ EXTEND
+ MP RUPTREG1
+ XCH L
+ ADS MARKSTAT
+
+ CAF PRIO32 # ENTER MARK JOB
+ TC NOVAC
+ EBANK= MARKSTAT
+ 2CADR MKVB51
+
+ RELINT
+ TCF SWRETURN # SAME AS MODEEXIT
+
+# Page 224
+# PROGRAM NAME: MKRELEAS DATE: 5 APRIL 1967
+# PROGRAM MODIFIED BY 248/278 PROGRAMMERS LOG SECTION SXTMARK
+# MOD BY: R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# MKRELEAS IS EXECUTED BY INTERNAL ROUTINES TO RELEASE THE MARK SYSTEM TO MAKE IT AVAILABLE TO OTHER INTERNAL
+# SYSTEM ROUTINES. IT ALSO CLEARS THE COARSE OPTICS FLAG BIT AND DISABLES THE OPTICS ERROR COUNTER.
+#
+# CALLING SEQUENCE:
+#
+# TC BANKCALL
+# CADR MKRELEAS
+#
+# NORMAL EXIT MODE:
+#
+# SWRETURN
+#
+# ALARM OR EXIT MODE: NONE
+#
+# OUTPUT:
+#
+# 1) BIT9 OPTMODES SET TO 0
+# 2) OPTIND SET TO -1
+# 3) 1ST WORD OF VAC AREA SET TO VAC ADDRESS TO SIGNIFY AVAILABILITY
+# 4) MARKSTAT CLEARED
+# 5) BIT2 CHANNEL 12 SET TO 0
+#
+# ERASABLE INITIALIZATION: NONE
+#
+# DEBRIS:
+#
+# A,MARKSTAT,BIT9,OPTMODES OPTIND,BIT2 CHANNEL 12
+
+MKRELEAS CAF ZERO # SHOW MARK SYSTEM NOW AVAILABLE
+ XCH MARKSTAT
+ MASK LOW9
+ CCS A
+ INDEX A
+ TS 0
+MKRLEES INHINT
+ CS BIT9 # COARSE OPTICS RETURN FLAG.
+ MASK OPTMODES
+ TS OPTMODES
+
+ CA NEGONE
+ TS OPTIND # KILL COARSE OPTICS
+
+ CS BIT2 # DISABLE OPTICS ERROR COUNTER
+ EXTEND
+ WAND CHAN12
+
+ RELINT
+ TC SWRETURN
+# Page 225
+# PROGRAM NAME: MARKRUPT DATE: 5 APRIL 1967
+# PROGRAM MODIFIED BY 258/278 PROGRAMMERS LOG SECTION SXTMARK
+# MOD BY: R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# MARKRUPT STORES CDUS,OPTICS AND TIME AND TRANSFERS CONTROL TO THE MARKIT,MARK REJECT OR KEYCOM ROUTINES IF
+# BITS IN CHANNEL 16 ARE SET AS REQUIRED.
+#
+# CALLING SEQUENCE:
+#
+# ROUTINE ENTERED VIA KEYRUPT2 WHEN MARK,MARK REJECT OR DSKY KEYS DEPRESSED BY THE OPERATOR.
+#
+# NORMAL EXIT MODE:
+#
+# MARKIT, MKREJECT, OR POSTJUMP ROUTINES (MARK, MARK REJECT, OR DSKY CODE)
+#
+# ALARM OR ABORT EXIT MODE:
+#
+# ALARM AND RESUME
+#
+# OUTPUT:
+#
+# RUPTSTOR+5 = CDUT, RUPTSTOR+3 = CDUS, RUPTSTOR+2 = CDUY,
+# RUPTREG3 = CDUZ, RUPTSTOR+6 = CDUX, RUPTSTOR+1 AND SAMPTIME+1 = TIME1,
+# RUPTSTOR AND SAMPTIME = TIME2
+#
+# ERASABLE INITIALIZATION:
+#
+# CDUT,CDUS,CDUY,CDUZ,CDUX,TIME2,TIME1,CHANNEL 16 BITS 6,7 OR 1-5.
+#
+# DEBRIS:
+#
+# A,QRUPT,RUPTREG3,SAMPTIME,SAMPTIME+1,RUPTSTOR TO RUPTSTOR+6 EXCEPT RUPTSTOR+4 (LOCATION 67)
+
+MARKRUPT TS BANKRUPT # STORE CDUS AND OPTICS NOW
+ CA CDUT
+ TS MKCDUT
+ CA CDUS
+ TS MKCDUS
+ CA CDUY
+ TS MKCDUY
+ CA CDUZ
+ TS MKCDUZ
+ CA CDUX
+ TS MKCDUX
+ EXTEND
+ DCA TIME2 # GET TIME
+ DXCH MKT2T1
+ EXTEND
+ DCA MKT2T1
+ DXCH SAMPTIME # RUPT TIME FOR NOUN 65.
+
+ XCH Q
+ TS QRUPT
+
+ CAF BIT6 # SEE IF MARK OR MKREJECT
+# Page 226
+ EXTEND
+ RAND NAVKEYIN
+ CCS A
+ TC MARKIT # IT'S A MARK
+
+ CAF BIT7 # NOT A MARK, SEE IF MKREJECT
+ EXTEND
+ RAND NAVKEYIN
+ CCS A
+ TC MKREJECT # IT'S A MARK REJECT
+
+KEYCALL CAF OCT37 # NOT MARK OR MKREJECT, SEE IF KEYCODE
+ EXTEND
+ RAND NAVKEYIN
+ EXTEND
+ BZF +3 # IF NO INBITS
+ TC POSTJUMP
+ CADR KEYCOM # IT'S A KEY CODE, NOT A MARK.
+
+ +3 TC ALARM # ALARM IF NO INBITS
+ OCT 113
+ TC RESUME
+
+# Page 227
+# PROGRAM NAME: MARKCONT DATE: 19 SEPT 1967
+# PROGRAM MODIFIED BY 258/278 PROGRAMMERS LOG SECTION SXTMARK
+# MOD BY: R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# MARKCONT IS USED TO PERFORM A SPECIAL MARK FUNCTION FOR R21, TO EXECUTE A SPECIAL DISPLAY OF OPTICS AND TIME OR
+# TO PERFORM A MARK OF THE STAR OR LAND SIGHTING BASED UPON FLASHING V-N.
+#
+# CALLING SEQUENCE:
+#
+# FROM MARKDIF
+#
+# NORMAL EXIT MODE:
+#
+# TASKOVER
+#
+# ALARM OR ABORT EXIT MODE:
+#
+# ALARM AND TASKOVER
+#
+# OUTPUT:
+#
+# 1) FOR R21:
+# EBANK=EBANK7
+# MRKBUF1 TO MRKBUF1+6 = TIME2,TIME1,CDUY,OPTICX,CDUZ,OPTICSY,CDUX OF CURRENT R21 MARK FUNCTION
+# MRKBUF2 TO MRKBUF2+6 CONTAINS PREVIOUS R21 MARK VALUES.
+# 2) FOR SPECIAL DISPLAY JOB:
+# RUPTREG1 AND MRKBUF1 = CDUS,RUPTREG2, AND MRKBUF1+1 = CDUT.
+# RUPTREG3 AND MRKBUF1+2 = TIME2,RUPTREG4, AND MRKBUF1+3 = TIME1.
+# 3) FOR NORMAL MARKING:
+# DECREMENT BITS14-12 OF MARKSTAT BY 1,
+# BIT10 MARKSTAT SET TO 1, INCREMENT QPRET BY 7,
+# STORE TIME2,TIME1,CDUY,CDUS,CDUZ,CDUT, AND CDUX IN VAC+1 TO VAC+7.
+#
+# ERASABLE INITIALIZATION:
+#
+# 1) FOR R21:
+# BIT14 OF STATE+2 =1, MRKBUF1 TO MRKBUF1+6, ITEMP1, RUPTREG3,
+# RUPTSTOR TO RUPTSTOR+6 EXCEPT RUPTSTOR+4.
+# 2) FOR SPECIAL DISPLAY JOB:
+# BIT14 OF STATE+2 =0, MARKSTAT =+0, RUPTREG1,RUPTREG2,RUPTREG3
+# RUPTREG4,RUPTSTOR,RUPTSTOR+1,RUPTSTOR+3,RUPTSTOR+5,
+# BIT12 OF STATE+5 (V59 FLAG), MRKBUF1 THRU MRKBUF1+3
+# 3) FOR NORMAL MARKING:
+# BIT14 OF STATE+2 =0, MARKSTATE =VAC ADDRESS, A REG, ITEMP1, RUPTREG3,
+# RUPTSTOR TO RUPTSTOR+6 EXCEPT RUPTSTOR+4.
+#
+# DEBRIS:
+#
+# 1) FOR R21:
+# A, ITEMP1, MRKBUF1, MRKBUF2
+# 2) FOR SPECIAL DISPLAY JOB:
+# A,RUPTREG1,RUPTREG2,RUPTREG3,RUPTREG4,MPAC TO MPAC+3.
+# 3) FOR NORMAL MARKING:
+# A,MARKSTAT,ITEMP1,QPRET,VAC+1 TO VAC+7 OF VAC AREA IN USE.
+
+# Page 228
+MARKCONT CAF BIT14
+ MASK STATE +2 # R21 MARK (SPECIAL MARKING FOR R21)
+ EXTEND
+ BZF MARKET # NOT SET THEREFORE REGULAR MARKING
+MARKIT1 CAF SIX # SPECIAL FOR R21
+ TC GENTRAN # TRANSFER MRKBUF1 TO MRKBUF2
+ ADRES MRKBUF1
+ ADRES MRKBUF2
+
+ CAF SIX # TRANSFER CURRENT MARK DATE TO MARKBUF1
+ TC GENTRAN
+ ADRES MKT2T1
+ ADRES MRKBUF1
+
+ TCF TASKOVER
+
+MARKET CCS MARKSTAT # SEE IF MARKS CALLED FOR
+ TC MARK2 # COLLECT MARKS
+
+ CAF TWO # IS MARKING SYSTEM IN USE (BIT2)
+ MASK EXTVBACT
+ EXTEND
+ BZF MARKET3 # MARKING NOT CALLED FOR
+ CAF BIT12
+ MASK STATE +5 # V59FLAG
+ EXTEND
+ BZF MARKET3 # IF V59FLAG NOT SET-MARK UNCALLED FOR
+ CAF PRIO5 # CALIBRATION MARK (SET) FOR P23
+ TC NOVAC # SPECIAL DISPLAY JOB
+ EBANK= MRKBUF1
+ 2CADR MARKDISP
+
+ CAF SIX
+ TC GENTRAN # TRANSFER MARK DATE TO MARKDOWN
+ ADRES MKT2T1
+ ADRES MARKDOWN
+ CAF SIX
+ TC GENTRAN # TRANSFER MARK DATA TO MRKBUF1 FOR
+ ADRES MKT2T1 # SPECIAL DISPLAY OF SHAFT AND TRUNNION
+ ADRES MRKBUF1 # IF V59 ACTING
+ TCF TASKOVER
+MARKET3 TC ALARM
+ OCT 122 # MARKING NOT CALLED FOR
+ TCF TASKOVER
+114ALM TC ALARM # MARK NOT WANTED
+ OCT 114
+ TCF TASKOVER
+
+# Page 229
+# STORE MARK DATA IN MKVAC AND INCREMENT POINTER
+
+MARK2 AD 74K # SEE IF MARKS WANTED-REDUCE MARKS WANTED
+ EXTEND
+ BZMF 114ALM # MARK NOT WANTED-ALARM
+ TS MARKSTAT
+ COM
+ MASK BIT10 # SET BIT10 TO ENABLE REJECT
+ ADS MARKSTAT
+
+ MASK LOW9
+ TS ITEMP1
+ INDEX A
+ XCH QPRET # PICK UP MARK SLOT-POINTER
+ TS ITEMP2 # SAVE CURRENT POINTER
+ AD SEVEN # INCREMENT POINTER
+ INDEX ITEMP1
+ TS QPRET # STORE ADVANCED POINTER
+
+VACSTOR EXTEND
+ DCA MKT2T1
+ INDEX ITEMP2
+ DXCH 0
+ CA MKCDUY
+ INDEX ITEMP2
+ TS 2
+ CA MKCDUS
+ INDEX ITEMP2
+ TS 3
+ CA MKCDUZ
+ INDEX ITEMP2
+ TS 4
+ CA MKCDUT
+ INDEX ITEMP2
+ TS 5
+ CA MKCDUX
+ INDEX ITEMP2
+ TS 6
+
+ CAF PRIO34 # IF ALL MARKS MADE FLASH VB50
+ MASK MARKSTAT
+ EXTEND
+ BZF +2
+ TCF TASKOVER
+ CAF PRIO32
+ TC NOVAC
+ EBANK= MARKSTAT
+ 2CADR MKVB50
+
+ TCF TASKOVER
+
+# Page 230
+# PROGRAM NAME: MKREJECT DATE: 5 APRIL 1967
+# PROGRAM MODIFIED BY 258/276 PROGRAMMERS LOG SECTION SXTMARK
+# MOD BY: R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# ROUTINE ALLOWS OPEATOR TO REJECT MARK MADE PRIOR TO ACCEPTANCE AND ALLOWS A NEW MARK TO BE MADE BY ASTRONAUT.
+#
+# CALLING SEQUENCE:
+#
+# FROM MARKRUPT IF BIT7 OF CHANNEL 16 IS 1.
+#
+# NORMAL EXIT MODE:
+#
+# RESUME
+#
+# ALARM OR ABORT EXIT MODE:
+#
+# ALARM AND RESUME
+#
+# OUTPUT:
+#
+# 1) FOR R21:
+# MRKRUP1 SET TO -1
+# 2) FOR NORMAL MARKING:
+# BIT10 MARKSTAT =0, INCREMENT NO. MARKS BY 1, DECREMENT QPRET BY 7
+#
+# ERASABLE INITIALIZATION:
+#
+# 1) FOR R21:
+# BIT14 OF STATE+2 SET TO 1
+# 2) FOR NORMAL MARKING:
+# BIT14 OF STATE+2 SET TO 0, MARKSTAT,QPRET
+#
+# DEBRIS:
+#
+# 1) FOR R21:
+# A,MARKSTAT,EBANK
+# 2) FOR NORMAL MARKING:
+# A,MARKSTAT,ITEMP1,QPRET
+
+MKREJECT CAF BIT14
+ MASK STATE +2 # R21 MARK (SPECIAL MARKING FOR R21)
+ EXTEND
+ BZF MRKREJCT # NOT SET THEREFORE REGULAR REJECT
+ CA NEGONE # -1 (FOR R22)
+ TS MRKBUF1 # -0 IN TIME IS FLAG TO R22 SIGNIFYING A
+ TC RESUME # REJECTED MARK
+MRKREJCT CCS MARKSTAT # SEE IF MARKS BEING ACCEPTED
+ TC REJECT2
+ TC ALARM # MARKS NOT BEING ACCEPTED
+ OCT 112
+ TC RESUME
+
+REJECT2 CS BIT10 # SEE IF MARK HAD BEEN MADE SINCE LAST
+ MASK MARKSTAT # REJECT, AND SET BIT10 TO ZERO TO
+ XCH MARKSTAT # SHOW MARK REJECT
+# Page 231
+ MASK BIT10
+ CCS A
+ TC REJECT3
+
+ TC ALARM # DON'T ACCEPT TWO REJECTS TOGETHER
+ OCT 110
+ TC RESUME
+
+REJECT3 CAF LOW9 # DECREMENT POINTER TO REJECT MARK
+ MASK MARKSTAT
+ TS ITEMP1
+ CS SEVEN
+ INDEX ITEMP1
+ ADS QPRET # NEW POINTER
+
+ CAF BIT12 # INCREMENT MARKS WANTED AND IF FIELD
+ AD MARKSTAT # IS NOW NON-ZERO, CHANGE TO VB51 TO
+ XCH MARKSTAT # INDICATE MORE MARKS WANTED
+ MASK PRIO34 # INDICATE MORE MARKS WANTED
+ CCS A
+ TC RESUME
+ CAF PRIO32
+ TC NOVAC
+ EBANK= MARKSTAT
+ 2CADR MKVB51
+
+ TC RESUME
+
+# Page 232
+# PROGRAM DESCRIPTON MKVB51 AND MKVB50
+#
+# AUTHOR: BARNERT DATE: 2-15-67 MOD: 0
+# PURPOSE: FLASH V51N70,V51N43, OR V51 TO REQUEST MARKING,
+# AND V50N25 R1=16 TO REQUEST TERMINATE MARKING.
+#
+# CALLING SEQUENCE: AS JOB WITHIN SXTMARK
+#
+# EXIT TO ENDMARK UPON RECEIPT OF V33, V34 CAUSES GOTOP00H, ENTER
+# RECYCLES THE DISPLAY
+#
+# NOTE: SXTMARK AUTOMATICALLY CHANGES FROM CALLING MKVB51 TO MKVB50 WHEN
+# SUFFICIENT MARKS HAVE BEEN MADE, AND THE REVERSE WHEN A MARK
+# REJECT REDUCES THE NUMBER MADE BELOW THAT REQUIRED
+#
+# SUBROUTINES CALLED: BANKCALL, GOMARK2, GOODEND, ENDMARK, WAITLIST
+#
+# ALARM OR ABORT MODES: NONE
+#
+# ERASABLE USED: VERBREG, MARKSTAT, QPRET, DSPTEM1
+#
+# OUTPUT MARKSTAT = VAC ADDRESS
+
+# QPRET = NO. MARKS
+
+MKVB51 TC BANKCALL # CLEAR DISPLAY FOR MARK VERB
+ CADR KLEENEX
+ CAF VB51 # DISPLAY MARK VB51
+ TC BANKCALL
+ CADR GOMARK4
+ TCF TERMSXT # VB34-TERMINATE
+ TCF ENTANSWR # V33-PROCEED-MARKING DONE
+ TCF MKVB5X # ENTER-RECYCLE TO INITIAL MARK DISPLAY
+
+TERMSXT TC CLEARMRK # CLEAR MARK ACTIVITY.
+
+ TC CHECKMM
+ MM 03
+ TCF +2
+ TC TERMP03
+ TC POSTJUMP
+ CADR TERM52
+
+TERMP03 TC UPFLAG
+ ADRES TRM03FLG
+ENTANSWR CAF LOW9 # PUT VAC ADR IN MARKSTAT AND NO. OF
+ MASK MARKSTAT # MARKS MADE IN QPRET BEFORE LEAVING
+ TS MARKSTAT # SXTMARK
+ COM
+ INDEX MARKSTAT
+ AD QPRET
+# Page 233
+ EXTEND
+ BZMF JAMIT # NO MARKS MADE, SHOW IT IN QPRET, R53
+ EXTEND # WILL PICK IT UP AND RECYCLE
+ MP BIT12 # THIS PUTS NUMBER MARKS-1 IN A
+ AD ONE
+JAMIT INDEX MARKSTAT # STORE NO OF MARKS MADE
+ TS QPRET
+ INHINT # SERVICE OPTSTALL INTERFACE WITH
+ CAF FIVE
+ TC WAITLIST
+ EBANK= MARKSTAT
+ 2CADR ENDMARKS
+
+ TC ENDMARK # KNOCKS DOWN MARKING FLAG + DOES ENDOFJOB
+
+ENDMARKS CAF ONE
+ TC IBNKCALL
+ CADR GOODEND
+MKVB5X CAF PRIO34
+ MASK MARKSTAT # RE-DISPLAY VB51 IF MORE MARKS WANTED
+ CCS A # AND VB50 IF ALL IN
+ TCF MKVB51
+MKVB50 CAF R1D1 # OCT 16
+ TS DSPTEM1
+ CAF V50N25
+ TCF MKVB51 +3
+
+V50N25 VN 5025
+VB51 VN 5100
+OCT37 = LOW5
+
+# PROGRAM NAME: MARKIT DATE: 19 SEPT 1967
+#
+# CALLING SEQUENCE:
+#
+# FROM MARKRUPT IF CHAN 16 BIT 6 = 1
+#
+# EXIT
+#
+# RESUME
+#
+# INPUT
+#
+# CDUCHKWD. ALSO ALL INITIALIZATION FOR MARKCONT
+#
+# OUTPUT
+#
+# MKT2T1,MKCDUX,MKCDUY,MKCDUZ,MKCDUS,MKCDUT
+#
+# ALARM EXIT
+#
+# NONE
+
+MARKIT CCS CDUCHKWD
+ TCF +3 # DELAY OF CDUCHKWD CS IF PNZ
+# Page 234
+ TCF +2
+ CAF ZERO
+ AD ONE # 10 MS IF NO CHECK
+ TC WAITLIST
+ EBANK= MRKBUF1
+ 2CADR MARKDIF
+
+ TCF RESUME
+
+ SETLOC SXTMARK1
+ BANK
+
+ COUNT 20/SXTMK
+
+# PROGRAM NAME: MARKDIF
+#
+# CALLING SEQUENCE
+#
+# WAITLIST FROM MARKIT
+#
+# EXIT
+#
+# TASKOVER TO IBNKCALL TO MARKCONT
+#
+# INPUT
+#
+# OUTPUT FROM MARKIT, INPUT TO MARKCONT, CDUCHKWD
+#
+# OUTPUT
+#
+# RUPTSTOR - RUPTSTOR+3, RUPTREG3, RUPTSTOR+5 - RUPTSTOR+6
+#
+# ALARM EXIT
+#
+# ALARM AND TASKOVER
+
+MARKDIF CA CDUCHKWD # IF DELAY CHECK IS ZERO OR NEG, ACP MARK
+ EXTEND
+ BZMF MKACPT
+ CS BIT1
+ TS MKNDX # SET INDEX -1
+ CA MKCDUX
+ TC DIFCHK # SEE IF VEHICLE RATE TO MUCH AT MARK
+ CA MKCDUY
+ TC DIFCHK
+ CA MKCDUZ
+ TC DIFCHK
+
+MKACPT TC IBNKCALL
+ CADR MARKCONT # MARK DATA OK, WHAT DO WE DO WITH IT
+
+DIFCHK INCR MKNDX # INCREMENT INDEX
+
+ EXTEND
+ INDEX MKNDX
+# Page 235
+ MSU CDUX # GET MARK(ICDU) - CURRENT(ICDU)
+ CCS A
+ TCF +4
+ TC Q
+ TCF +2
+ TC Q
+ AD NEG2 # SEE IF DIFFERENCE GREATER THAN 3 BITS
+ EXTEND
+ BZMF -3 # NOT GREATER
+
+ TC ALARM # COUPLED WITH PROGRAM ALARM
+ OCT 00121
+
+ TCF TASKOVER # DO NOT ACCEPT
+
+
diff --git a/SYSTEM_TEST_STANDARD_LEAD_INS.s b/SYSTEM_TEST_STANDARD_LEAD_INS.s
new file mode 100644
index 0000000..a92f944
--- /dev/null
+++ b/SYSTEM_TEST_STANDARD_LEAD_INS.s
@@ -0,0 +1,147 @@
+# Copyright: Public domain.
+# Filename: SYSTEM_TEST_STANDARD_LEAD_INS.agc
+# Purpose: Part of the source code for Comanche, build 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 420-422
+# Contact: Onno Hommes <ohommes@cmu.edu>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 05/07/09 OH Transcription Batch 1 Assignment
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further information.
+# Please report any errors to info@sandroid.org.
+
+
+# Page 420
+ EBANK= XSM
+
+ BANK 33
+ SETLOC E/PROG1
+ BANK
+
+ COUNT* $$/P07
+
+# SPECIAL PROGRAMS TO EASE THE PANGS OF ERASABLE MEMORY PROGRAMS.
+#
+# E/BKCALL FOR DOING BANKCALLS FROM AND RETURNING TO ERASABLE.
+#
+# THIS ROUTINE IS CALLABLE FROM ERASABLE OR FIXED. LIKE BANKCALL, HOWEVER, SWITCHING BETWEEN S3 AND S4
+# IS NOT POSSIBLE.
+#
+# THE CALLING SEQUENCE IS:
+#
+# TC BANKCALL
+# CADR E/BKCALL
+# CADR ROUTINE # WHERE TO WANT TO GO IN FIXED.
+# RETURN HERE FROM DISPLAY TERMINATE, BAD STALL OR TC Q.
+# RETURN HERE FROM DISPLAY PROCEED OR GOOD RETURN FROM STALL.
+# RETURN HERE FROM DISPLAY ENTER OR RECYCLE.
+#
+# THIS ROUTINE REQUIRES TWO ERASABLES (EBUF2, +1) IN UNSWITCHED WHICH ARE UNSHARED BY INTERRUPTS AND
+# OTHER EMEMORY PROGRAMS.
+#
+# A + L ARE PRESERVED THROUGH BANKCALL AND E/BKCALL.
+
+E/BKCALL DXCH BUF2 # SAVE A,L AND GET DP RETURN.
+ DXCH EBUF2 # SAVE DP RETURN.
+ INCR EBUF2 # RETURN +1 BECAUSE DOUBLE CADR.
+ CA BBANK
+ MASK LOW10 # GET CURRENT EBANK. (SBANK SOMEDAY)
+ ADS EBUF2 +1 # FORM BBCON. (WAS FBANK)
+ NDX EBUF2
+ CA 0 -1 # GET CADR OF ROUTINE.
+ TC SWCALL # GO TO ROUTINE, SETTING Q TO SWRETURN
+ # AND RESTORING A + L.
+ TC +4 # TX Q, V34, OR BADD STALL RETURN.
+ TC +2 # PROCEED OR GOOD STALL RETURN.
+ INCR EBUF2 # ENTER OR RECYCLE RETURN.
+ INCR EBUF2
+E/SWITCH DXCH EBUF2
+ DTCB
+
+# Page 421
+# E/CALL FOR CALLING A FIXED MEMORY INTERPRETIVE SUBROUTINE FROM ERASABLE AND RETURNING TO ERASABLE.
+#
+# THE CALLING SEQUENCE IS...
+#
+# RTB
+# E/CALL
+# CADR ROUTINE # THE INTERPRETIVE SUBROUTINE YOU WANT
+# # RETURNS HERE IN INTERPRETIVE.
+
+E/CALL LXCH LOC # ADRES -1 OF CADR.
+ INDEX L
+ CA L # CADR IN A.
+ INCR L
+ INCR L # RETURN ADRES IN L.
+ DXCH EBUF2 # STORE CADR AND RETURN.
+ TC INTPRET
+ CALL
+ EBUF2 # INDIRECTLY EXECUTE ROUTING. IT MUST
+ EXIT # LEAVE VIA RVQ OR EQUIVALENT.
+ LXCH EBUF2 +1 # PICK UP RETURN.
+ TCF INTPRET +2 # SET LOC AND RETURN TO CALLER.
+
+# Page 422
+# E/JOBWAK FOR WAKING UP ERASABLE MEMORY JOBS.
+#
+# THIS ROUTINE MUST BE CALLED IN INTERRUPT OR WITH INTERRUPTS INHIBITED.
+#
+# THE CALLING SEQUENCE IS
+#
+# INHINT
+# ...
+# CA WAKEADR # ADDRESS OF SLEEPING JOB
+# TC IBNKCALL
+# CADR E/JOBWAK
+# ... # RETURNS HERE
+# RELINT # IF YOU DID AND INHINT
+
+ BANK 33
+ SETLOC E/PROG
+ BANK
+
+ COUNT* $$/P07
+
+E/JOBWAK TC JOBWAKE # ARRIVE IWTH ADRES IN A.
+ CS BIT11
+ NDX LOCCTR
+ ADS LOC # KNOCK FIXED MEMORY BIT OUT OF ADRES.
+ TC RUPTREG3 # RETURN
+
+
+# THESE PROGRAMS ARE PROVIDED TO ALLOW OVERLAY OF BANKS 30 THRU 33 OF THE 205 VERSIONS OF SYSTEM TESTS AND
+# PRELAUNCH ALIGN. THE INTENT IS TO ALLOW THE STG AND HYBRID LABS TO RUN ALL THE TESTS WITH COLOSSUS.
+
+
+ BANK 33
+ SETLOC TESTLEAD
+ BANK
+
+ COUNT 33/COMST
+
+ EBANK= QPLACE
+
+COMPVER TC GCOMPVER # MUST BE 33,2000.
+
+GTSCPSS1 TC GTSCPSS # MUST BE AT 33,2001
+
+REDO TC NEWMODEX # DISPLAY MM 07.
+ MM 07 # FALL INTO IMUTEST
+
diff --git a/T4RUPT_PROGRAM.s b/T4RUPT_PROGRAM.s
new file mode 100644
index 0000000..e36a18d
--- /dev/null
+++ b/T4RUPT_PROGRAM.s
@@ -0,0 +1,1467 @@
+# Copyright: Public domain.
+# Filename: T4RUPT_PROGRAM.agc
+# Purpose: Part of the source code for Comanche, build 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 133-169
+# Contact: Ron Burkey <info@sandroid.org>,
+# Fabrizio Bernardini <fabrizio@spacecraft.it>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 10/05/09 FB Transcription of Batch FB-1 Assignment.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 133
+ BANK 12
+ SETLOC T4RUP
+ BANK
+
+ COUNT 06/T4RPT
+
+T4RUPT TS BANKRUPT
+ EXTEND
+ QXCH QRUPT
+
+ CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
+ TCF NORMT4 +1
+ TCF NORMT4
+
+ TCF QUIKDSP
+
+NORMT4 CAF SEVEN
+ TS RUPTREG1
+ TS DSRUPTSW
+
+ COUNT 02/T4RPT
+
+74K = HIGH4
+
+# RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
+# IN LOWER 5 BITS.
+
+ BLOCK 02
+ SETLOC FFTAG12
+ BANK
+
+RELTAB OCT 04025
+ OCT 10003
+ OCT 14031
+ OCT 20033
+ OCT 24017
+ OCT 30036
+ OCT 34034
+ OCT 40023
+ OCT 44035
+ OCT 50037
+ OCT 54000
+RELTAB11 OCT 60000
+
+# Page 134
+# SWITCHED-BANK PORTION
+
+ BANK 12
+ SETLOC T4RUP
+ BANK
+
+ COUNT 06/T4RPT
+
+CDRVE CCS DSPTAB +11D
+ TC DSPOUT
+ TC DSPOUT
+
+ XCH DSPTAB +11D
+ MASK LOW11
+ TS DSPTAB +11D
+ AD RELTAB11
+ EXTEND
+ WRITE OUT0
+ TC HANG20
+
+# Page 135
+# DSPOUT PROGRAM, PUTS OUT DISPLAYS
+
+DSPOUTSB TS NOUT
+ CS ZERO
+ TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
+ XCH DSPCNT
+ AD NEG0 # TO PREVENT +0
+ TS DSPCNT
+DSPSCAN INDEX DSPCNT
+ CCS DSPTAB
+ CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
+ TCF DSPSCAN -2 # IF DSPCNT +, AGAIN
+ TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
+TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
+ CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
+120MRUPT DEC 16372 # (DSPCNT = 0). +0 INTO NOUT.
+ TS NOUT
+ TC Q
+ TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
+ CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
+ TCF DSPSCAN -1
+
+DSPLAY AD ONE
+ INDEX DSPCNT
+ TS DSPTAB # REPLACE POSITIVELY
+ MASK LOW11 # REMOVE BITS 12 TO 15
+ TS DSRUPTEM
+ CAF HI5
+ INDEX DSPCNT
+ MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
+ AD DSRUPTEM
+ EXTEND
+ WRITE OUT0 # WRITE CHANNEL 10
+ TCF Q+1 # *** NORMAL RETURN SKIPS ONE
+
+DSPOUT CCS FLAGWRD5 # DON'T DISPLAY UNLESS DSKY FLAG ON
+ CAF ZERO
+ TCF NODSPOUT
+ CCS NOUT
+ TC DSPOUTSB
+ TCF NODSPOUT # NO DISPLAY REQUESTS
+
+HANG20 CS 11,14,9
+ ADS DSRUPTSW
+
+ CAF 20MRUPT
+
+SETTIME4 TS TIME4
+
+# Page 136
+# THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
+# THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
+# IF PREV ON AND NOW ON -- BYPASS
+# IF PREV ON AND NOW OFF -- UPDATE IMODES33
+# IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL
+# IF PREV OFF AND NOW OFF -- BYPASS
+# THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
+
+PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON
+ EXTEND
+ RXOR CHAN32 # CHECK IF BIT 14 DIFFERENT
+ MASK BIT14
+ EXTEND
+ BZF T4JUMP # NO CHANGE
+
+ LXCH IMODES33
+ EXTEND
+ RXOR LCHAN
+ TS IMODES33 # UPDATE IMODES33
+ MASK BIT14
+ CCS A
+ TCF T4JUMP # WAS ON -- NOW OFF
+
+ CAF CHRPRIO # WAS OFF -- NOW ON
+ TC NOVAC
+ EBANK= DSPCOUNT
+ 2CADR PROCKEY
+
+# Page 137
+# JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY
+
+T4JUMP INDEX RUPTREG1
+ TCF +1
+
+ TCF OPTTEST
+ TCF OPTMON
+ TCF IMUMON
+ TCF RESUME
+ TCF OPTTEST
+ TCF OPTMON
+ TCF IMUMON
+ TCF RESUME
+
+OPTTEST TC IBNKCALL
+ CADR OPTDRIVE
+
+20MRUPT = OCT37776 # (DEC 16382)
+
+NODSPOUT EXTEND # TURN OFF RELAYS
+ WRITE OUT0
+
+ CAF 120MRUPT # SET FOR NEXT CDRVE
+ TCF SETTIME4
+
+QUIKDSP CAF BIT14
+ MASK DSRUPTSW
+ EXTEND
+ BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
+
+ CCS NOUT
+ TC DSPOUTSB
+ TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
+ CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
+QUIKRUPT ADS DSRUPTSW
+
+ CAF 20MRUPT
+ TS TIME4
+
+ CAF BIT9
+ ADS DSRUPTSW
+
+ TC RESUME
+
+NODSPY EXTEND
+ WRITE OUT0
+
+SYNCT4 CAF 20MRUPT
+ ADS TIME4
+
+ CAF BIT9
+# Page 138
+ ADS DSRUPTSW
+ CCS DSRUPTSW
+ TC RESUME
+OCT37737 OCT 37737
+ TC SYNCT4
+ TC RESUME
+
+QUIKOFF EXTEND
+ WRITE OUT0
+ CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
+ TCF QUIKRUPT
+
+11,14,9 OCT 22400
+
+# Page 139
+# PROGRAM NAME: IMUMON
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
+# CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUROUTINES ARE:
+#
+# FUNCTION BIT SUBROUTINE CALLED
+# -------- --- -----------------
+# TEMP IN LIMITS 15 TLIM
+# ISS TURN-ON REQUEST 14 ITURNON
+# IMU FAIL 13 IMUFAIL (SETISSW)
+# IMU CDU FAIL 12 ICDUFAIL (SETISSW)
+# IMU CAGE 11 IMUCAGE
+# IMU OPERATE 9 IMUOP
+#
+# THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
+# VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION NXTIFAIL.
+#
+# CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
+#
+# ERASABLE INITIALIZATION:
+# FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
+# RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
+# THIS LEAVES IMU FAIL BITS INTACT.
+#
+# ALARMS: NONE.
+#
+# EXIT: TNONTEST.
+#
+# OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
+
+IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
+ EXTEND # RELEVANT BITS OF CHAN 30.
+ RXOR CHAN30 # CHECK IF BITS 9,11-15 CHANGED
+ MASK 30RDMSK
+ EXTEND
+ BZF TNONTEST # NO CHANGE IN STATUS
+
+ TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
+ LXCH IMODES30 # UPDATE IMODES30.
+ EXTEND
+ RXOR LCHAN
+ TS IMODES30
+
+ CS ONE
+ XCH RUPTREG1
+ EXTEND
+# Page 140
+ BZMF TLIM # CHANGE IN IMU TEMP.
+ TCF NXTIFBIT # BEGIN BIT SCAN.
+
+ -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
+NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
+ +1 DOUBLE
+ TS A # SKIP IF OVERFLOW.
+ TCF NXTIFBIT # LOOK FOR BIT.
+
+ XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
+ INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
+ CAF BIT14
+ MASK IMODES30
+ INDEX RUPTREG1
+ TC IFAILJMP
+
+NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
+ TCF NXTIFBIT -1
+
+# Page 141
+# PROGRAM NAME: TNONTEST.
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
+# AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
+# AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
+#
+# 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
+# BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
+# SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
+#
+# 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
+# A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
+# ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
+# A RESTART, THE ICDU'S WILL NOT BE ZEROED.
+#
+# 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
+# IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
+#
+# IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS
+# ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND
+# PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
+# COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
+# OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
+# THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
+# WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
+# WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
+# INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
+#
+# AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
+# ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (INUSEFLG = 1).
+#
+# CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
+#
+# JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
+# 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
+# STARTED.
+#
+# SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
+#
+# ERASABLE INITIALIZATION: SEE IMUMON.
+#
+# ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
+#
+# EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
+# WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
+# IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
+#
+# OUTPUT: ISS INITIALIZED.
+
+TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
+# Page 142
+ MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
+ CCS A
+ TCF C33TEST # NO -- EXAMINE CHANNEL 33.
+
+ CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
+ MASK IMODES30
+ CCS A
+ TCF PROCTNON # REACT AFTER A SECOND SAMPLE.
+
+ CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
+ ADS IMODES30 # TIME.
+ TCF C33TEST
+
+# PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
+
+PROCTNON CS BITS7&8
+ MASK IMODES30
+ TS IMODES30
+ MASK BIT14 # SEE IF TURN-ON REQUEST.
+ CCS A
+ TCF OPONLY # OPERATE ON ONLY.
+
+ CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
+ MASK BIT9 # OPERATE.
+ CCS A
+ TCF +3
+
+ TC ALARM # ALARM IF NOT
+ OCT 213
+
+ +3 TC CAGESUB
+
+ CAF 90SECS
+ TC WAITLIST
+ EBANK= CDUIND
+ 2CADR ENDTNON
+
+ TCF C33TEST
+
+RETNON CAF 90SECS
+ TC VARDELAY
+
+ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
+ MASK IMODES30
+ XCH IMODES30
+ MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
+ EXTEND
+ BZF ENDTNON2
+# Page 143
+ CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW.
+ MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
+ EXTEND
+ BZF RETNON
+
+ CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS
+ MASK IMUSEFLG # WAITING.
+ CCS A
+ TCF TASKOVER
+ TC POSTJUMP
+ CADR IMUBAD # UNSUCCESSFUL TURN-ON.
+
+ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
+ EXTEND
+ WOR CHAN12 # TURN OFF ISS DELAY COUNTER
+ TC IBNKCALL # TURN OFF NO ATT LAMP.
+ CADR NOATTOFF
+
+UNZ2 TC ZEROICDU
+
+ CS BITS4&5 # REMOVE ZERO AND COARSE.
+ EXTEND
+ WAND CHAN12
+
+ CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
+ TC VARDELAY
+
+ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
+ MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
+ TS IMODES30
+
+ CS BIT6 # ENABLE DAP
+ MASK IMODES33
+ TS IMODES33
+
+ TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
+
+ CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
+ EXTEND
+ WAND CHAN12
+
+ CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
+ TC WAITLIST # ANOTHER 4 SECS.
+ EBANK= CDUIND
+ 2CADR PFAILOK
+
+ TCF TASKOVER
+
+OPONLY CAF BIT4
+# Page 144
+ EXTEND # IF OPERATE ON ONLY AND WE ARE IN COARSE
+ RAND CHAN12 # ALIGN, DON'T ZERO THE CDUS BECAUSE WE
+ CCS A # MIGHT BE IN GIMBAL LOCK. USE V41N20 TO
+ TCF C33TEST # RECOVER.
+
+ CAF IMUSEFLG # OTHERWISE, ZERO THE COUNTERS
+ MASK STATE # UNLESS SOMEONE IS USING THE IMU.
+ CCS A
+ TCF C33TEST
+
+ TC CAGESUB2 # SET TURNON FLAGS.
+
+ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP.
+ CADR NOATTOFF # IMU CAGE OFF ENTRY.
+
+ CAF BIT5 # ISS CDU ZERO
+ EXTEND
+ WOR CHAN12
+
+ TC ZEROICDU
+ CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
+ TC WAITLIST
+ EBANK= OPTMODES
+ 2CADR UNZ2
+
+ TCF C33TEST
+
+# Page 145
+# PROGRAM NAME: C33TEST
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
+# SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
+# CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A `WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
+# PROCESSED AND THE SUBROUTINES CALLED ARE:
+# BIT FUNCTION SUBROUTINE
+# --- -------- ----------
+# 13 PIPA FAIL PIPFAIL
+# 12 DOWNLINK TOO FAST DNTMFAST
+# 11 UPLINK TOO FAST UPTMFAST
+#
+# UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
+#
+# CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
+#
+# ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
+# REAPPEAR IF THE CONDITIONS PERSIST.
+#
+# ALARMS: NONE.
+#
+# EXIT: GLOCKMON.
+#
+# OUTPUT: UPDATED BITS 13, 12, AND 11 OF IMODES33 WITH CHANGES PROCESSED.
+
+C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
+ MASK 33RDMSK
+ TS L # CHANGED.
+ CAF 33RDMSK
+ EXTEND
+ WAND CHAN33 # RESETS FLIP-FLOP INPUTS
+ EXTEND
+ RXOR LCHAN
+ EXTEND
+ BZF GLOCKMON # ON NO CHANGE.
+
+ TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED
+ LXCH IMODES33
+ EXTEND
+ RXOR LCHAN
+ TS IMODES33 # UPDATED IMODES33.
+
+ CAF ZERO
+ XCH RUPTREG1
+ DOUBLE
+# Page 146
+ TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
+
+ -1 AD ONE
+NXTIBT INCR RUPTREG1
+ +1 DOUBLE
+ TS A # (CODING IDENTICAL TO CHAN 30).
+ TCF NXTIBT
+
+ XCH RUPTREG2
+ INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
+ CAF BIT13
+ MASK IMODES33
+ INDEX RUPTREG1
+ TC C33JMP
+
+NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
+ TCF NXTIBT -1
+
+# Page 147
+# PROGRAM NAME: GLOCKMON
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
+# AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
+#
+# 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES -- NORMAL MODE.
+# 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES -- GIMBAL LOCK LAMP TURNED ON.
+# 3) ABS(MGA) GREATER THAN 85 DEGREES -- ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
+#
+# CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THEN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
+# 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
+#
+# ERASABLE INITIALIZATION:
+# 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
+# 2) RESTART WTIH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
+# PROCEEDS AS BEFORE.
+#
+# ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
+# 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
+# SO ALREADY.
+
+GLOCKMON CCS CDUZ
+ TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
+ TCF SETGLOCK # 70 DEGREES.
+ TCF GLOCKCHK
+ TCF SETGLOCK
+
+GLOCKCHK AD -70DEGS
+ EXTEND
+ BZMF SETGLOCK -1 # NO LOCK.
+
+ AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES
+ EXTEND
+ BZMF NOGIMRUN
+
+ CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
+ EXTEND # TO PREVENT GIMBAL RUNAWAY.
+ RAND CHAN12
+ CCS A
+ TCF NOGIMRUN
+
+ TC IBNKCALL # GO INTO COARSE ALIGN.
+ CADR SETCOARS
+
+ CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS.
+ TC WAITLIST
+# Page 148
+ EBANK= CDUIND
+ 2CADR CA+ECE
+
+NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
+ TCF SETGLOCK
+
+ -1 CAF ZERO
+SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
+ MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
+ EXTEND # THE TWO.
+ BZF GLOCKOK # OK AS IS.
+
+ MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED.
+ CCS A
+ TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
+
+ CAF BIT6
+ MASK IMODES30
+ CCS A
+ TCF GLOCKOK
+
+GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
+ MASK BIT6
+ AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
+ XCH DSPTAB +11D
+ MASK OCT37737
+ ADS DSPTAB +11D
+ TCF GLOCKOK
+
+GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
+ TCF GLOCKOK
+ TCF GLINVERT
+
+-70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
+-15DEGS DEC -.08333
+
+# Page 149
+# PROGRAM NAME: TLIM.
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
+# THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
+# IS IN PROGRESS.
+#
+# CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: LAMPTEST.
+#
+# ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
+#
+# ALARMS: TEMP LAMP TURNED ON WHEN THE IMU TEMP GOES OUT OF LIMITS.
+#
+# EXIT: NXTIFAIL.
+#
+# OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
+
+TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
+ TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
+
+ CCS IMODES30
+ TCF TEMPOK
+ TCF TEMPOK
+
+ CAF BIT4 # TURN ON LAMP.
+ EXTEND
+ WOR DSALMOUT
+ TCF NXTIFAIL
+
+TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF
+ TCF NXTIFAIL # LAMP TEST IN PROGRESS.
+
+ CS BIT4
+ EXTEND
+ WAND DSALMOUT # TURN OFF LAMP
+ TCF NXTIFAIL
+
+# Page 150
+# PROGRAM NAME: ITURNON.
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
+# REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
+# IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT 7 OF IMODES30 TO 1 SO
+# THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
+# 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
+# OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
+#
+# THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
+# PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
+# ENDS.
+#
+# CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
+#
+# ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
+# AND BIT 14 OF IMODES30 TO 1.
+#
+# ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
+#
+# EXIT: NXTIFAIL.
+#
+# OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
+# A FAILED TURN-ON SEQUENCE.
+
+ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
+ MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
+ CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
+ TCF NXTIFAIL
+
+ CAF BIT14 # SEE IF JUST ON OR OFF.
+ MASK IMODES30
+ EXTEND
+ BZF ITURNON2 # IF JUST ON.
+
+ CAF BIT15
+ EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
+ RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
+ EXTEND
+ BZF +2
+ TCF NXTIFAIL
+
+ CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
+ ADS IMODES30 # PRESENT FOR FULL DURATION.
+ TC ALARM
+ OCT 207
+ TCF NXTIFAIL
+
+# Page 151
+ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
+ MASK BIT7
+ ADS IMODES30
+ TCF NXTIFAIL
+
+# Page 152
+# PROGRAM NAME: IMUCAGE.
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BITS 11. IF THE BIT
+# CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
+# ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
+# THE ASSOCIATE OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
+# RELEASED (INBIT CHANGES TO 1).
+#
+# CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: CAGESUB.
+#
+# ERASABLE INITIALZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
+#
+# ALARMS: NONE.
+#
+# EXIT: NXTIFAIL.
+#
+# OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
+
+IMUCAGE CCS A # NO ACTION IF GOING OFF.
+ TCF ISSZERO
+ CS OCT77000 # TERMINATE ICDU, OPTICS, GYRO PULSE TRAINS
+ EXTEND
+ WAND CHAN14
+
+ CS OCT272 # KNOCK DOWN TVC ENABLE, IMU ERROR COUNTER
+ EXTEND # ENABLE, ZERO ICDU, COARSE ALIGN
+ WAND CHAN12 # ENABLE, OPTICS ERR CNTR ENABLE
+
+ CS BIT13 # TURN OFF ENGINE
+ EXTEND
+ WAND DSALMOUT
+
+ TC CAGESUB1
+
+ TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
+ CADR RNDREFDR
+
+ CS ZERO # ZERO COMMAND OUT-COUNTERS
+ TS CDUXCMD
+ TS CDUYCMD
+ TS CDUZCMD
+ TS GYROCMD
+
+ CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
+ EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
+ WAND CHAN14 # DE-SELECT THE GYROS.
+# Page 153
+ TCF NXTIFAIL
+
+# Page 154
+# PROGRAM NAME: IMUOP.
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
+# IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
+# INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
+# TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
+# TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
+#
+# CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
+#
+# ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
+# LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
+#
+# ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
+#
+# EXIT: NXTIFAIL.
+#
+# OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
+
+IMUOP EXTEND # IF OPERATE JUST ON, WAIT 1 SAMPLE.
+ BZF IMUOP2
+
+ CS IMODES33 # DISABLE DAP
+ MASK BIT6
+ ADS IMODES33
+
+ TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
+ CADR RNDREFDR
+
+ CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
+ MASK STATE
+ XCH STATE # IF GOING OFF, ALARM IF PROG USING IMU.
+ COM
+ MASK IMUSEFLG
+ CCS A
+ TCF NXTIFAIL
+
+ TC ALARM
+ OCT 214
+ TCF NXTIFAIL
+
+IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
+ MASK IMODES30
+ CCS A
+ TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90
+ TCF ITURNON2 # SECONDS EXPIRES
+
+# Page 155
+# PROGRAM NAME: PIPFAIL
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
+# IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
+# BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED.
+#
+# CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCITONAL DESCRIPTION).
+#
+# ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELEVANT BITS ARE 5, 7, 8, 9, AND 10.
+#
+# ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
+# BEING INITIALIZED.
+#
+# EXIT: NXTFL33.
+#
+# OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
+
+PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
+ CAF BIT10 # INFO IS IN ONE REGISTER.
+ XCH IMODES30
+ MASK -BIT10
+ ADS IMODES30
+
+ TC SETISSW
+
+ CS IMODES30 # IF PIP FAIL DOESN'T LIGHT ISS WARNING, DO
+ MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
+ CCS A # CAGED OR BEING TURNED ON.
+ TCF NXTFL33
+
+ CA IMODES30
+ MASK OCT1720
+ CCS A
+ TCF NXTFL33 # ABOVE CONDITION NOT MET.
+
+ TC ALARM
+ OCT 212
+ TCF NXTFL33
+
+# Page 156
+# PROGRAM NAMES: DNTMFAST, UPTMFAST
+#
+# FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
+# 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
+#
+# BIT ALARM CAUSE
+# --- ----- -----
+# 12 01105 DOWNLINK TOO FAST
+# 11 01106 UPLINK TOO FAST
+#
+# CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
+#
+# SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
+#
+# ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
+#
+# ALARMS: SEE FUNCTIONAL DESCRIPTION.
+#
+# EXIT: NXTFL33.
+#
+# OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
+
+DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
+ TCF NXTFL33
+
+ TC ALARM
+ OCT 1105
+ TCF NXTFL33
+
+UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
+ TCF NXTFL33 # ALARM CODE.
+
+ TC ALARM
+ OCT 1106
+ TCF NXTFL33
+
+# Page 157
+# PROGRAM NAME: SETISSW
+#
+# FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
+# 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
+# 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
+# PROGRESS.
+#
+# CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
+# REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
+# SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
+# AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
+#
+# JOBS OR TASKS INITIATED: NONE.
+#
+# SUBROUTINES CALLED: NONE.
+#
+# ERASABLE INITIALIZATION:
+#
+# 1) IMODES30 -- SEE IMUMON.
+# 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
+#
+# ALARMS: ISS WARNING.
+#
+# EXIT: VIA Q.
+#
+# OUTPUT: ISS WARNING LAMP SET PROPERLY.
+
+SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
+ MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
+ EXTEND # FAILURE INHIBIT BITS IN POSITIONS
+ MP BIT10 # 4, 3, AND 1.
+ CA IMODES30
+ EXTEND
+ ROR LCHAN # 0 INDICATES FAILURE
+ COM
+ MASK OCT15000
+ CCS A
+ TCF ISSWON # FAILURE.
+
+ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST
+ MASK IMODES33 # IN PROGRESS.
+ CCS A
+ TC Q
+
+ CS BIT1
+ EXTEND
+ WAND DSALMOUT # TURN OFF ISS WARNING.
+ TC Q
+
+ISSWON EXTEND
+# Page 158
+ QXCH ITEMP6
+ TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING
+ CAF BIT1
+ EXTEND
+ WOR DSALMOUT # TURN ON ISS WARNING
+ TC ITEMP6
+
+CAGESUB CS BIT15+6 # SET OUTBITS + INTERNAL FLAGS FOR
+ EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
+ WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP.
+ CAF BITS4&5 # SEND ZERO AND COARSE.
+ EXTEND
+ WOR CHAN12
+
+CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
+ MASK OC40010
+ ADS DSPTAB +11D
+
+CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
+ MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
+ ADS IMODES30
+
+ CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
+ MASK BIT6
+ ADS IMODES33
+
+ TC Q
+
+IMUFAIL EQUALS SETISSW
+ICDUFAIL EQUALS SETISSW
+
+# Page 159
+# JUMP TABLES AND CONSTANTS.
+
+IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
+ TCF IMUFAIL
+ TCF ICDUFAIL
+ TCF IMUCAGE
+30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
+ TCF IMUOP
+
+C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
+ TCF DNTMFAST
+ TCF UPTMFAST
+
+# SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
+
+LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
+ MASK BIT1 # PROGRESS.
+ TCF ZOPFIN3
+
+33RDMSK EQUALS PRIO16
+OC40010 OCT 40010
+OCT54 OCT 54
+OCT75 OCT 75
+OCT272 OCT 00272
+BITS7&8 OCT 300
+OCT1720 OCT 1720
+OCT740 OCT 00740
+OCT15000 EQUALS PRIO15
+OCT77000 OCT 77000
+-BIT10 OCT -1000
+
+90SECS DEC 9000
+120MS = OCT14 # (DEC12)
+GLOCKOK EQUALS RESUME
+
+# Page 160
+# OPTICS MONITORING AND ZERO ROUTINES
+OPTMON CA OPTMODES # MONITOR OPTICS INBITS IN CHAN 30 AND 33
+ EXTEND
+ RXOR CHAN30 # LOOK FOR OCDU FAIL BIT CHANGE
+ MASK BIT7
+ TS RUPTREG1 # STORE CHANGE BIT
+ CCS A
+ TC OCDUFTST # PROCESS OCDUFAIL BIT CHANGE
+
+33OPTMON CCS OPTIND # BYPASS IF TVC TAKEOVER
+ TCF +4
+ TCF +3
+ TCF +2
+ TCF RESUME
+
+ CA OPTMODES # LOOK FOR OPTICS MODE SWITCH CHANGE
+ EXTEND
+ RXOR CHAN33
+ MASK OCTHIRTY
+ ADS RUPTREG1 # STORE INBIT CHANGES
+ LXCH OPTMODES
+ EXTEND
+ RXOR LCHAN
+ TS OPTMODES # UPDATE OPTMODES TO SHOW BIT CHANGES
+
+ COM # SAMPLE CURRENT SWITCH SETTING
+ MASK OCTHIRTY
+ EXTEND
+ BZF SETSAMP # MANUAL-SET ZERO IN SWSAMPLE
+
+ MASK BIT5 # SEE IF CSC
+ CCS A
+ TC +2 # CSC-SET SWSAMPLE POS
+ CAF NEGONE # ZOPTICS-SET SWSAMPLE (-1)
+SETSAMP TS SWSAMPLE # CURRENT OPTICS SWITCH SETTING
+
+PROCESSW CCS DESOPMOD # BRANCH ON PREVIOUS SETTING
+ TC CSCDES # CSC
+ TC MANUDES # MANUAL
+ TC ZOPTDES # ZERO OPTICS
+# Page 161
+ZOPTDES CCS SWSAMPLE # IS SWITCH STILL AT ZOPTICS
+ TC ZTOCSC # NOW AT CSC
+ TC ZTOMAN # MANUAL
+ TC ZOPFIN1 # ZOPTICS-SEE IF ZOPT PROCESSING // Should be TC ZOPFINI
+ TC SETDESMD # ZOPT NOT PROCESSING-NO ACTION
+
+ CCS ZOPTCNT # ZOPT PROCESSING-CHECK COUNTER
+ TC SETCNT # 32 SAMPLE NOT FINISHED-SET COUNTER
+ TC SETZOEND # 32 SAMPLE WAIT COMPLETED-SET UP ZOP END
+
+ZTOMAN TC ZOPFIN1 # ZOP TO MANUAL-IS ZOPT DONE // Should be TC ZOPFINI
+ TC SETDESMD # YES-NORMAL EXIT
+
+ZOPALARM TC ALARM # ALARM-SWITCHED ALTERED WHILE ZOPTICS
+ OCT 00116
+ CAF OCT13 # PROCESSING-SET RETURN OPTION
+ TS WTOPTION
+
+ TC CANZOPT # CANCEL ZOPT
+
+ TC SETDESMD
+
+ZTOCSC TC ZOPFIN1 # SEE IF ZOPT PROCESSING // Should be TC ZOPFINI
+ TC MANTOCSC +3 # NO-CHECK RETURN TO COARS OPT
+ TC ALARM # ZOPT PROCESSING-ALARM
+ OCT 00116
+ TC CANZOPT # CANCEL ZOPT
+ TC MANTOCSC # ZERO CNT-LOOK FOR COARS OPT RETURN
+
+COARSLOK CAF BIT9 # IF COARS OPT SINCE FSTART GO TO L+2
+ TCF ZOPFIN2 # IF NOT GO TO L+1
+ZOPFIN1 CAF BIT1 # SEE IF END ZOPT TASK WORKING // Label should be ZOPFINI
+ MASK OPTMODES
+ CCS A
+ TC RESUME # ZOPT TASK WORKING-WAIT ONE SAMPLE PERIOD
+
+ CAF BIT3 # TEST IF ZOPTICS PROCESSING
+ZOPFIN2 MASK OPTMODES # RETURNS TO L+1 PROCESSING AND
+ZOPFIN3 CCS A
+ INCR Q # L+2 IF NOT
+ TC Q
+
+CANZOPT CS SIX # CANCEL ZERO OPTICS
+ MASK OPTMODES # ZERO ZOPT PROCESSING BIT-ENABLE OCDUFAIL
+ TS OPTMODES
+ CS BIT1 # MAKE SURE ZERO OCDU IS OFF
+ EXTEND
+ WAND CHAN12
+ TC Q
+
+# Page 162
+MANUDES CCS SWSAMPLE # SEE IF SWITCH STILL IN MANUAL MODE
+ TC MANTOCSC # NOW AT CSC
+ TC MANTOMAN # STILL MANUAL
+ CCS WTOPTION # ZOPTICS-LOOK AT ZOPTICS RETURN OPTION
+ TC +2 # 5 SEC RETURN GOOD-CONTINUE ZOPTICS
+ TC OPTZERO # ZOPTICS MUST START ANEW
+
+ TC INITZOPT # SHOW ZERO OPTICS PROCESSING
+ TC SETDESMD # NORMAL EXIT
+
+MANTOMAN CCS WTOPTION # DECREMENT RETURN OPTION TIME
+ TS WTOPTION
+ TC SETDESMD
+
+MANTOCSC CAF ZERO # CANCEL ZOPT RETURN OPTION IF SET
+ TS WTOPTION
+ TS ZOPTCNT
+
+ TC COARSLOK # CHECK FOR COARS OPT RETURN
+ TC SETDESMD # NO COARS TASK-NO ACTION
+
+ CAF ONE # SET COARS OPT WORKING
+ TS OPTIND
+ CAF BIT2 # ENABLE OPTICS CDU ERROR CNTS
+ EXTEND
+ WOR CHAN12
+
+ TC SETDESMD
+
+CSCDES CCS SWSAMPLE # SEE IF SWITCH STILL AT CSC
+ TC SETDESMD # STILL AT CSC
+ TC CSCTOMAN # MANUAL
+CSCTOZOP CAF OCT40 # ZOPTICS-INITIALIZE FOR ZOPT
+ TS ZOPTCNT
+ TC INITZOPT
+
+CSCTOMAN CCS OPTIND # SEE IF COARS WORKING
+ TC CANCOARS # COARS WORKING-SWITCH NOT CSC-KILL COARS
+ TC CANCOARS
+ TC +1 # NO COARS-NORMAL EXIT
+ TC SETDESMD
+# Page 163
+CANCOARS CA NEGONE
+ TS OPTIND # SET OPTIND (-1) TO SHOW NOT WORKING
+ CS BIT2 # DISABLE OCDU ERR CNTS
+ EXTEND
+ WAND CHAN12
+ CS OPTMODES # SET RETURN-TO-COARS BIT
+ MASK BIT9
+ ADS OPTMODES
+
+ TC SETDESMD
+OPTZERO TC INITZOPT # INITIALIZE ZERO OPTICS
+
+ CA OCT40 # SET UP 32 SAMPLE WAIT
+SETCNT TS ZOPTCNT
+SETDESMD CA SWSAMPLE # SET CURRENT SWITCH INDICATION-RESUME
+ TS DESOPMOD
+ TC RESUME
+
+SETZOEND CAF BIT1 # SEND ZERO OPTICS CDU
+ EXTEND
+ WOR CHAN12
+ CA 200MS # HOLD ZERO CDU FOR 200 MS
+ TC WAITLIST
+ EBANK= OPTMODES
+ 2CADR ENDZOPT
+
+ CS OPTMODES # SHOW ZOPTICS TASK WORKING
+ MASK BIT1
+ ADS OPTMODES
+
+ TC SETDESMD
+
+ENDZOPT TC ZEROPCDU # ZERO OCDU COUNTERS
+ CS BIT1 # TURN OFF ZERO OCDU
+ EXTEND
+ WAND CHAN12
+ CAF 200MS # DELAY 200MS FOR CDUS TO RESYNCHRONIZE
+ TC VARDELAY
+
+ CS OPTMODES # SHOW ZOPTICS SINCE LAST FRESH START
+ MASK BIT10 # OR RESTART
+ ADS OPTMODES
+
+ CS SEVEN # ENABLE OCDUFAIL-SHOW OPTICS COMPLETE
+ MASK OPTMODES
+ TS OPTMODES
+
+ TC OCDUFTST # CHECK OCDU FAIL BIT AFTER ENABLE.
+# Page 164
+ TC TASKOVER
+
+ZEROPCDU CAF ZERO
+ TS CDUS # ZERO IN CDUS, -20 IN CDUT
+ TS ZONE # INITIALZE SHAFT MONITOR ZONE.
+ CS 20DEGS
+ TS CDUT
+ TC Q
+
+INITZOPT CAF ZERO # INITIALIZE ZOPTICS-INHIBIT OCDUFAIL
+ TS WTOPTION # AND SHOW OPTICS PROCESSING
+ CS OPTMODES # SET ZERO OPTICS PROCESSING
+ MASK SIX # OPTICS CDU FAIL INHIBITED
+ ADS OPTMODES
+ TC Q
+
+# Page 165
+OCDUFTST CAF BIT7 # SEE IF OCDUFAIL ON OR OFF
+ EXTEND
+ RAND CHAN30
+ CCS A
+ TCF OPFAILOF # OCDUFAIL LIGHT OFF
+
+ CAF BIT2 # OCDUFAIL LIGHT ON UNLESS INHIBITED
+ MASK OPTMODES
+ CCS A
+ TC Q # OCDUFAIL INHIBITED
+
+OPFAILON CAF BIT8 # ON BIT
+ AD DSPTAB +11D
+ MASK BIT8
+SETOFF EXTEND
+ BZF TCQ # NO CHANGE
+
+ TS L
+ CA DSPTAB +11D
+ EXTEND
+ RXOR LCHAN
+ MASK POSMAX
+ AD BIT15 # SHOW ACTION WANTED
+ TS DSPTAB +11D
+ TC Q
+
+OPFAILOF CAF BIT1 # DON'T TURN OFF IF LAMP TEST
+ MASK IMODES33
+ CCS A
+ TC Q # LAMP TEST IN PROGRESS
+
+ CAF BIT8 # TURN OFF OCDUFAIL LIGHT
+ MASK DSPTAB +11D
+ TCF SETOFF
+
+OCT13 = ELEVEN
+OCTHIRTY EQUALS BITS4&5
+20DEGS DEC 7199
+OCT40 EQUALS BIT6
+200MS EQUALS OCT24
+
+# Page 166
+# OPTICS CDU DRIVING PROGRAM
+
+ BANK 10
+ SETLOC OPTDRV
+ BANK
+ COUNT* $$/SXT
+
+# SHAFT STOP MONITOR-ZONE UPDATE
+
+OPTDRIVE CA CDUS # GRAB OPTIC SHAFT CDU
+ TS L
+ CCS A # GET ABS(CDUS)
+ AD 13,14,15
+ TCF +2 # ABS(CDUS) - 45 DEG
+ TCF -2
+ EXTEND
+ BZMF OZONE # LESS THAN 45 DEG-SET ZONE 0
+ CA ZONE # IF ZONE ZERO, CHANGE TO + OR - OTHERWISE
+ EXTEND # DON'T MESS WITH ZONE
+ BZF +2
+ TCF CONTDRVE # JUST CONTINUE
+ XCH L # GREATER THAN 45 DEG-SET ZONE TO SIGN CDU
+ TCF OZONE +1
+OZONE CAF ZERO # ABS(CDUS) LESS THAN 90 DEG-ZONE ZERO
+ TS ZONE
+ COUNT* $$/T4RUPT
+CONTDRVE CCS OPTIND
+ TC +4 # WORK COARS OPTICS
+ TC +3 # WORK COARS OPTICS
+ TC RESUME # NO OPT
+ TC RESUME # NO OPT
+
+ CA SWSAMPLE # SEE IF SWITCH AT CMC
+ EXTEND
+ BZMF RESUME # ZERO (-1) MANUAL (+0)
+
+ CAF BIT10 # SEE IF OCDUS ZEROED SINCE LAST FSTART
+ MASK OPTMODES
+ CCS A
+ TC +3
+ TC ALARM # OPTICS NOT ZEROED
+ OCT 00120
+
+ CA BIT2 # SEE IF ERR CNTS ENABLED
+ EXTEND
+ RAND CHAN12
+ EXTEND
+ BZF SETBIT # CNTS NOT ENABLED-DO IT AND RESUME
+
+ CAF ONE # INITIALIZE OPTIND
+# Page 167
+OPT2 TS OPTIND
+ EXTEND
+ BZF TRUNCMD # CHECK TRUNION COMMAND
+
+GETOPCMD INDEX OPTIND
+ CA DESOPTT # PICK UP DESIRED OPT ANGLE
+ EXTEND
+ INDEX OPTIND
+ MSU CDUT # GET DIFFERENCE
+ EXTEND
+ MP BIT13
+ XCH L
+ DOUBLE
+ TS ITEMP1
+ TCF +2 # NO OVFL
+
+ ADS L # WITH OVFL
+STORCMD INDEX OPTIND
+ LXCH COMMANDO # STORE COMMAND
+ CCS OPTIND
+ TCF OPT2 # GET NEXT COMMAND
+
+ TS ITEMP1 # INITIALIZE SEND INDICATOR TO ZERO
+ COUNT* $$/SXT
+
+# SHAFT STOP AVOIDANCE
+
+ CCS CDUS # IF CDUS GREATER THAN + OR - 90 DEG CHECK
+ AD NEG1/2 # FOR POSSIBLE STOP PROBLEM
+ TCF +2
+ TCF -2
+ EXTEND
+ BZMF CMDSETUP # CDU LESS THAN 90 DEG, NO PROBLEMS
+
+ CA ZONE
+ EXTEND
+ BZF CMDSETUP # ZONE=3, NORMAL COMMAND
+ MASK BIT15 # GRAB SIGN OF ZONE
+ TS L
+ CA COMMANDO +1
+ MASK BIT15 # GRAB SIGN OF SHAFT COMMAND
+ EXTEND
+ RXOR LCHAN
+ CCS A
+ TCF CMDSETUP # SIGN ZONE NOT EQUAL TO SIGN COMMAND
+ CCS DESOPTS # SEE IF DESOPTS BETWEEN -90 AND +90
+ AD NEG1/2
+ TCF +2 # ABS(DESOPTS) - 90 DEG
+ TCF -2
+ EXTEND
+# Page 168
+ BZMF +2 # DESOPTS IN FIRST OR FOURTH QUAD
+ TCF CMDSETUP
+ CS COMMANDO +1 # REVERSE REGULAR COMMAND
+ TS COMMANDO +1
+
+ COUNT* $$/T4RPT
+
+CMDSETUP CAF ONE # SET OPTIND
+ TS OPTIND
+ INDEX A
+ CCS COMMANDO # GET SIGN OF COMMAND
+ TC POSOPCMD
+ TC NEXTOPT +1 # ZERO COMMAND-SKIP SEND INDICATOR
+ TC NEGOPCMD
+ TC NEXTOPT +1 # ZERO COMMAND
+
+TRUNCMD CS CDUT # IF COMMAND GREATER THAN 45 DEG-COMMAND
+ AD DESOPTT # 45 DEG
+ TS Q
+ TC GETOPCMD # LESS THAN 45 DEG-NORMAL OPERATION
+
+ CCS A # GREATER THAN 45 DEG-USE OPSMAX WITH
+ CA POSMAX # CORRECT SIGN
+ TC +2
+ CS POSMAX
+ TS L
+ TC STORCMD
+POSOPCMD AD MAXPLS1
+ EXTEND
+ BZMF DELOPCMD # COMMAND LESS THAN MAX PULSE
+ CS MAXPLS # GREATER THAN MAX PULSE-USE MAX PULSE
+
+NEXTOPT INCR ITEMP1 # SET SEND INDICATOR
+ AD NEG0 # MAKE SURE ZERO COMMAND IS -ZERO
+ INDEX OPTIND
+ TS CDUTCMD # STORE PULSE IN SEND REG
+
+ CCS OPTIND
+ TC CMDSETUP +1 # GET NEXT OPT
+
+ CCS ITEMP1 # ARE ANY PULSES TO GO
+ TCF SENDOCMD # YES-SEND EM
+ TC RESUME # NO
+
+NEGOPCMD AD MAXPLS1
+ EXTEND
+ BZMF DELOPCMD # LESS THAN MAX PULSE
+ CA MAXPLS # MAX PULSES
+ TCF NEXTOPT
+# Page 169
+DELOPCMD INDEX OPTIND
+ XCH COMMANDO # SET UP SMALL COMMAND
+ TCF NEXTOPT
+
+SENDOCMD CAF 11,12 # SEND OCDU DRIVE COMMANDS
+ EXTEND
+ WOR CHAN14
+ TC RESUME
+
+SETBIT CAF BIT2 # ENABLE OCDU ERR CNTS
+ EXTEND
+ WOR CHAN12
+ TC RESUME # START COARS NEXT TIME AROUND
+
+MAXPLS DEC -165 # WAS -80
+MAXPLS1 DEC -164 # WAS -79
+11,12 EQUALS PRIO6
+
diff --git a/T6-RUPT_PROGRAMS.s b/T6-RUPT_PROGRAMS.s
new file mode 100644
index 0000000..c838543
--- /dev/null
+++ b/T6-RUPT_PROGRAMS.s
@@ -0,0 +1,163 @@
+# Copyright: Public domain.
+# Filename: T6-RUPT_PROGRAMS.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1403-1405
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Luminary131/ file of the same
+# name, using Luminary099 page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1403
+# PROGRAM NAMES: (1) T6JOBCHK MOD. NO. 5 OCTOBER 2, 1967
+# (2) DOT6RUPT
+# MODIFICATION BY: LOWELL G. HULL (A.C.ELECTRONICS)
+#
+# THESE PROGRAMS ENABLE THE LM DAP TO CONTROL THE THRUST TIMES OF THE REACTION CONTROL SYSTEM JETS BY USING TIME6.
+# SINCE THE LM DAP MAINTAINS EXCLUSIVE CONTROL OVER TIME6 AND ITS INTERRUPTS, THE FOLLOWING CONVENTIONS HAVE BEEN
+# ESTABLISHED AND MUST NOT BE TAMPERED WITH:
+# 1. NO NUMBER IS EVER PLACED INTO TIME6 EXCEPT BY LM DAP.
+# 2. NO PROGRAM OTHER THAN LM DAP ENABLES THE TIME6 COUNTER.
+# 3. TO USE TIME6, THE FOLLOWING SEQUENCE IS ALWAYS EMPLOYED:
+# A. A POSITIVE (NON-ZERO) NUMBER IS STORED IN TIME6.
+# B. THE TIME6 CLOCK IS ENABLED.
+# C. TIME6 IS INTERROGATED AND IS:
+# I. NEVER FOUND NEGATIVE (NON-ZERO) OR +0.
+# II. SOMETIMES FOUND POSITIVE (BETWEEN 1 AND 240D) INDICATING THAT IT IS ACTIVE.
+# III. SOMETIMES FOUND POSMAX INDICATING THAT IT IS INACTIVE AND NOT ENABLED.
+# IV. SOMETIMES FOUND NEGATIVE ZERO INDICATING THAT:
+# A. A T6RUPT IS ABOUT TO OCCUR AT THE NEXT DINC, OR
+# B. A T6RUPT IS WAITING IN THE PRIORITY CHAIN, OR
+# C. A T6RUPT IS IN PROCESS NOW.
+# 4. ALL PROGRAMS WHICH OPERATE IN EITHER INTERRUPT MODE OR WITH INTERRUPT INHIBITED MUST CALL T6JOBCHK
+# EVERY 5 MILLISECONDS TO PROCESS A POSSIBLE WAITING T6RUPT BEFORE IT CAN BE HONORED BY THE HARDWARE.
+# (5. PROGRAM JTLST, IN Q,R-AXES, HANDLES THE INPUT LIST.)
+#
+# T6JOBCHK CALLING SEQUENCE:
+# L TC T6JOBCHK
+# L+1 (RETURN)
+#
+# DOT6RUPT CALLING SEQUENCE:
+# DXCH ARUPT # T6RUPT LEAD IN AT LOCATION 4004.
+# EXTEND
+# DCA T6ADR
+# DTCB
+#
+# SUBROUTINES CALLED: DOT6RUPT CALLS T6JOBCHK.
+#
+# NORMAL EXIT MODES: T6JOBCHK RETURNS TO L +1.
+# DOT6RUPT TRANSFERS CONTROL TO RESUME.
+#
+# ALARM/ABORT MODES: NONE.
+#
+# INPUT: TIME6 NXT6ADR OUTPUT: TIME6 NXT6ADR CHANNEL 5
+# T6NEXT T6NEXT +1 T6NEXT T6NEXT +1 CHANNEL 6
+# T6FURTHA T6FURTHA +1 T6FURTHA T6FURTHA +1 BIT15/CH13
+#
+# DEBRIS: T6JOBCHK CLOBBERS A. DOT6RUPT CLOBBERS NOTHING.
+
+ BLOCK 02
+# Page 1404
+ BANK 17
+ SETLOC DAPS2
+ BANK
+ EBANK= T6NEXT
+ COUNT* $$/DAPT6
+
+T6JOBCHK CCS TIME6 # CHECK TIME6 FOR WAITING T6RUPT:
+ TC Q # NONE: CLOCK COUNTING DOWN.
+ TC CCSHOLE
+ TC T6JOBCHK +3
+
+# CONTROL PASSES TO T6JOB ONLY WHEN C(TIME6) = -0 (I.E., WHEN A T6RUPT MUST BE PROCESSED).
+
+T6JOB CAF POSMAX # DISABLE CLOCK: NEEDED SINCE RUPT OCCURS
+ EXTEND # 1 DINC AFTER T6 = 77777. FOR 625 MUSECS
+ WAND CHAN13 # MUST NOT HAVE T6 = +0 WITH ENABLE SET
+
+ CA POSMAX
+ ZL
+ DXCH T6FURTHA
+ DXCH T6NEXT
+ LXCH NXT6ADR
+ TS TIME6
+
+ AD PRIO37
+ TS A
+ TCF ENABLET6
+ CA POSMAX
+ TS TIME6
+ TCF GOCH56
+ENABLET6 CA BIT15
+ EXTEND
+ WOR CHAN13
+ CA T6NEXT
+ AD PRIO37
+ TS A
+ TCF GOCH56
+ CA POSMAX
+ TS T6NEXT
+GOCH56 INDEX L
+ TCF WRITEP -1
+
+ BLOCK 02
+ SETLOC FFTAG9
+ BANK
+ EBANK= CDUXD
+ COUNT* $$/DAPT6
+
+ CA NEXTP
+WRITEP EXTEND
+ WRITE CHAN6
+# Page 1405
+ TC Q
+
+ CA NEXTU
+WRITEU TS L
+ CS 00314OCT
+ EXTEND
+ RAND CHAN5
+ AD L
+ EXTEND
+ WRITE CHAN5
+ TC Q
+
+ CA NEXTV
+WRITEV TS L
+ CA 00314OCT
+ TCF -9D
+00314OCT OCT 00314
+
+ BANK 17
+ SETLOC DAPS2
+ BANK
+
+ EBANK= T6NEXT
+ COUNT* $$/DAPT6
+
+DOT6RUPT LXCH BANKRUPT # (INTERRUPT LEAD INS CONTINUED)
+ EXTEND
+ QXCH QRUPT
+
+ TC T6JOBCHK # CALL T6JOBCHK.
+
+ TCF RESUME # END TIME6 INTERRUPT PROCESSOR.
+
diff --git a/TAGS_FOR_RELATIVE_SETLOC.s b/TAGS_FOR_RELATIVE_SETLOC.s
new file mode 100644
index 0000000..1644bda
--- /dev/null
+++ b/TAGS_FOR_RELATIVE_SETLOC.s
@@ -0,0 +1,436 @@
+# Copyright: Public domain.
+# Filename: TAGS_FOR_RELATIVE_SETLOC.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Mod history: 2009-05-05 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrected R32 -> R31.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 27
+# TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS
+
+FIXED MEMORY 120000 - 167777
+ COUNT BANKSUM
+
+# MODULE 1 CONTAINS BANKS 0 THROUGH 5
+
+ BLOCK 02
+FFTAG1 EQUALS
+FFTAG2 EQUALS
+FFTAG3 EQUALS
+FFTAG4 EQUALS
+FFTAG7 EQUALS
+FFTAG8 EQUALS
+FFTAG9 EQUALS
+FFTAG10 EQUALS
+FFTAG12 EQUALS
+P30SUBS EQUALS
+STOPRAT EQUALS
+P23S EQUALS
+ BNKSUM 02
+
+ BLOCK 03
+FFTAG5 EQUALS
+FFTAG6 EQUALS
+DAPS9 EQUALS
+FFTAG13 EQUALS
+ BNKSUM 03
+
+ BANK 00
+DLAYJOB EQUALS
+ BNKSUM 00
+
+ BANK 01
+RESTART EQUALS
+ BNKSUM 01
+
+ BANK 4
+VERB37 EQUALS
+CONICS1 EQUALS
+PINBALL4 EQUALS
+CSI/CDH1 EQUALS
+INTPRET2 EQUALS
+IMUCAL1 EQUALS
+
+# Page 28
+
+STBLEORB EQUALS
+E/PROG EQUALS
+MIDDGIM EQUALS
+
+ BNKSUM 04
+
+ BANK 5
+FRANDRES EQUALS
+DOWNTELM EQUALS
+DAPMASS EQUALS
+CDHTAG EQUALS
+ BNKSUM 05
+
+# MODULE 2 CONTAINS BANKS 6 THROUGH 13
+
+ BANK 6
+IMUCOMP EQUALS
+T4RUP EQUALS
+IMUCAL2 EQUALS
+CSIPROG EQUALS
+ BNKSUM 06
+
+ BANK 7
+SXTMARKE EQUALS
+R02 EQUALS
+MODESW EQUALS
+XANG EQUALS
+KEYRUPT EQUALS
+CSIPROG6 EQUALS
+ BNKSUM 07
+
+ BANK 10
+DISPLAYS EQUALS
+PHASETAB EQUALS
+COMGEOM2 EQUALS
+SXTMARK1 EQUALS
+P60S4 EQUALS
+OPTDRV EQUALS
+CSIPROG8 EQUALS
+ BNKSUM 10
+
+ BANK 11
+ORBITAL EQUALS
+ORBITAL1 EQUALS # CONSTANTS
+
+# Page 29
+
+INTVEL EQUALS
+S52/2 EQUALS
+CSIPROG5 EQUALS
+INTINIT1 EQUALS
+ BNKSUM 11
+
+ BANK 12
+CONICS EQUALS
+CSIPROG2 EQUALS
+CSI/CDH2 EQUALS
+MODCHG2 EQUALS
+ BNKSUM 12
+
+ BANK 13
+P76LOC EQUALS
+LATLONG EQUALS
+INTINIT EQUALS
+SR52/1 EQUALS
+ORBITAL2 EQUALS
+CDHTAGS EQUALS
+E/PROG1 EQUALS
+MODCHG3 EQUALS
+ BNKSUM 13
+
+# MODULE 3 CONTAINS BANKS 14 THROUGH 21
+
+ BANK 14
+STARTAB EQUALS
+RT53 EQUALS
+P50S1 EQUALS
+MEASINC2 EQUALS
+CSI/CDH3 EQUALS
+ BNKSUM 14
+
+ BANK 15
+P50S EQUALS
+ETRYDAP EQUALS
+S52/3 EQUALS
+ BNKSUM 15
+
+ BANK 16
+P40S1 EQUALS
+
+# Page 30
+
+DAPROLL EQUALS
+P50S2 EQUALS
+P23S1 EQUALS
+RTE2 EQUALS
+ BNKSUM 16
+
+ BANK 17
+DAPS4 EQUALS
+DAPS5 EQUALS
+DAPS7 EQUALS
+P50S3 EQUALS
+ BNKSUM 17
+
+ BANK 20
+DAPS6 EQUALS
+DAPS1 EQUALS
+DAPS2 EQUALS
+MANUSTUF EQUALS
+R36CM EQUALS
+VAC5LOC EQUALS
+ BNKSUM 20
+
+ BANK 21
+DAPS3 EQUALS
+MYSUBS EQUALS
+KALCMON3 EQUALS
+ BNKSUM 21
+
+# MODULE 4 CONTAINS BANKS 22 THROUGH 27
+
+ BANK 22
+RTBCODES EQUALS
+RTBCODE1 EQUALS
+DAPS8 EQUALS
+APOPERI EQUALS
+P40S5 EQUALS
+KALCMON2 EQUALS
+KALCMON1 EQUALS
+CSIPROG3 EQUALS
+ BNKSUM 22
+
+# Page 31
+
+ BANK 23
+P20S2 EQUALS
+INFLIGHT EQUALS
+COMGEOM1 EQUALS
+POWFLITE EQUALS
+POWFLIT1 EQUALS
+RENDGUID EQUALS
+POWFLIT2 EQUALS
+R30LOC EQUALS
+P11FOUR EQUALS
+CSIPROG4 EQUALS
+ BNKSUM 23
+
+ BANK 24
+LOADDAP EQUALS
+P40S EQUALS
+CSIPROG7 EQUALS
+ BNKSUM 24
+
+ BANK 25
+REENTRY EQUALS
+CDHTAG1 EQUALS
+ BNKSUM 25
+
+ BANK 26
+INTPRET1 EQUALS
+REENTRY1 EQUALS
+P60S EQUALS
+P60S1 EQUALS
+P60S2 EQUALS
+P60S3 EQUALS
+PLANTIN EQUALS # LUNAR ROT
+EPHEM EQUALS
+P05P06 EQUALS
+26P50S EQUALS
+ BNKSUM 26
+
+ BANK 27
+TOF-FF EQUALS
+TOF-FF1 EQUALS
+MANUVER EQUALS
+MANUVER1 EQUALS
+
+# Page 32
+
+VECPT EQUALS
+UPDATE1 EQUALS
+UPDATE2 EQUALS
+R22S1 EQUALS
+P60S5 EQUALS
+P40S2 EQUALS
+ BNKSUM 27
+
+# MODULE 5 CONTAINS BANKS 30 THROUGH 35
+
+ BANK 30
+IMUSUPER EQUALS
+LOWSUPER EQUALS
+FCSTART EQUALS # STANDARD LOCATION FOR THIS. (FOR EXTV8)
+LOPC EQUALS
+P20S1 EQUALS
+P20S6 EQUALS
+P40S3 EQUALS
+R35A EQUALS
+ BNKSUM 30
+
+ BANK 31
+R35 EQUALS
+RT23 EQUALS
+P30S1A EQUALS
+R34 EQUALS
+CDHTAG2 EQUALS
+CSIPROG9 EQUALS
+R31 EQUALS
+P22S EQUALS
+RTE3 EQUALS
+ BNKSUM 31
+
+ BANK 32
+MSGSCAN1 EQUALS
+RTE EQUALS
+DELRSPL1 EQUALS
+IMUCAL3 EQUALS
+ BNKSUM 32
+
+ BANK 33
+TESTLEAD EQUALS
+
+# Page 33
+
+IMUCAL EQUALS
+ BNKSUM 33
+
+ BANK 34
+P11ONE EQUALS
+P20S3 EQUALS
+P20S4 EQUALS
+RTECON EQUALS
+ BNKSUM 34
+
+ BANK 35
+RTECON1 EQUALS
+CSI/CDH EQUALS
+P30S1 EQUALS
+P30S EQUALS
+P17S1 EQUALS
+MEASINC3 EQUALS
+INTINIT2 EQUALS
+ BNKSUM 35
+
+# MODULE 6 CONTAINS BANKS 36 THROUGH 43
+
+ BANK 36
+MEASINC EQUALS
+MEASINC1 EQUALS
+P17S EQUALS
+RTE1 EQUALS
+S3435LOC EQUALS
+ BNKSUM 36
+
+ BANK 37
+P20S EQUALS
+BODYATT EQUALS
+RENDEZ EQUALS
+SERVICES EQUALS
+P11TWO EQUALS
+CDHTAG3 EQUALS
+ BNKSUM 37
+
+ BANK 40
+PINSUPER EQUALS
+
+# Page 34
+
+SELFSUPR EQUALS
+PINBALL1 EQUALS
+R36CM1 EQUALS
+ BNKSUM 40
+
+ BANK 41
+PINBALL2 EQUALS
+R36LM EQUALS
+ BNKSUM 41
+
+ BANK 42
+SBAND EQUALS
+PINBALL3 EQUALS
+EXTVBS EQUALS
+R36LM1 EQUALS
+ BNKSUM 42
+
+ BANK 43
+SELFCHEC EQUALS
+EXTVERBS EQUALS
+ BNKSUM 43
+
+HI6ZEROS EQUALS ZEROVECS # ZERO VECTOR ALWAYS IN HIGH MEMORY
+LO6ZEROS EQUALS ZEROVEC # ZERO VECTOR ALWAYS IN LOW MEMORY
+HIDPHALF EQUALS UNITX
+LODPHALF EQUALS XUNIT
+HIDP1/4 EQUALS DP1/4TH
+LODP1/4 EQUALS D1/4 # 2DEC .25
+HIUNITX EQUALS UNITX
+HIUNITY EQUALS UNITY
+HIUNITZ EQUALS UNITZ
+LOUNITX EQUALS XUNIT # 2DEC .5
+LOUNITY EQUALS YUNIT # 2DEC 0
+LOUNITZ EQUALS ZUNIT # 2DEC 0
+3/4LOWDP EQUALS 3/4 # 2DEC 3.0 B-2
+
+ SBANK= LOWSUPER
+
+# ROPE-SPECIFIC ASSIGNS OBVIATING NEED TO CHECK COMPUTER FLAG IN DETERMINING(?) INTEGRATION AREA ENTRIES.
+
+OTHPREC EQUALS LEMPREC
+ATOPOTH EQUALS ATOPLEM
+ATOPTHIS EQUALS ATOPCSM
+MOONTHIS EQUALS CMOONFLG
+
+# Page 35
+
+MOONOTH EQUALS LMOONFLG
+MOVATHIS EQUALS MOVEACSM
+STATEST EQUALS V83CALL # * TEMPORARY
+THISPREC EQUALS CSMPREC
+THISAXIS = UNITX
+ERASID EQUALS LOW10 # DOWNLINK ERASABLE DUMP ID
+DELAYNUM EQUALS THREE
+
+#********************************************************************************************************
+
+# THE FOLLOWING ECADRS ARE DEFINED TO FACILITATE EBANK SWITCHING. THEY ALSO MAKE IT EASIER FOR
+# ERASABLE CONTROL TO REARRANGE ERASABLE MEMORY WITHOUT DISRUPTING THE PROGRAMS WHICH SET EBANKS.
+# PRIOR TO ROPE RELEASE FIXED MEMORY CAN BE SAVED BY SETTING EACH EBXXXX =EBANKX (X=4,5,6,7). EBANKX OF COURSE
+# WILL BE THE BANK WHERE THE ERASABLES REFERENCED IN EBXXXX WILL BE STORED.
+
+ BANK 7
+ EBANK= MARKDOWN
+EBMARKDO ECADR MARKDOWN
+ EBANK= MRKBUF1
+EBMRKBUF ECADR MRKBUF1
+
+ BANK 24
+ EBANK= DVCNTR
+EBDVCNTR ECADR DVCNTR
+ EBANK= P40TMP
+EBP40TMP ECADR P40TMP
+
+ BANK 34
+ EBANK= DVCNTR
+EBDVCNT ECADR DVCNTR
+ EBANK= QPLACES
+EBQPLACE ECADR QPLACES
+
+ BANK 37
+ EBANK= RN1
+EBRN1 ECADR RN1
+
+#******************************************************************************************************
+
+# Page 36
+
+# *** END OF MAIN PROGRAM ***
+
diff --git a/THE_LUNAR_LANDING.s b/THE_LUNAR_LANDING.s
new file mode 100644
index 0000000..775f08d
--- /dev/null
+++ b/THE_LUNAR_LANDING.s
@@ -0,0 +1,335 @@
+# Copyright: Public domain.
+# Filename: THE_LUNAR_LANDING.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Hartmuth Gutsche<hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 785-792
+# Mod history: 2009-05-20 HG Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 785
+ BANK 32
+ SETLOC F2DPS*32
+ BANK
+
+ EBANK= E2DPS
+
+# *************************************
+# P63: THE LUNAR LANDING, BRAKING PHASE
+# *************************************
+
+ COUNT* $$/P63
+
+P63LM TC PHASCHNG
+ OCT 04024
+
+ TC BANKCALL # DO IMU STATUS CHECK ROUTINE R02
+ CADR R02BOTH
+
+ CAF P63ADRES # INITIALIZE WHICH FOR BURNBABY
+ TS WHICH
+
+ CAF DPSTHRSH # INITIALIZE DVMON
+ TS DVTHRUSH
+ CAF FOUR
+ TS DVCNTR
+
+ CS ONE # INITIALIZE WCHPHASE AND FLPASS0
+ TS WCHPHASE
+
+ CA ZERO
+ TS FLPASS0
+
+ CS BIT14
+ EXTEND
+ WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
+
+FLAGORGY TC INTPRET # DIONYSIAN FLAG WAVING
+ CLEAR CLEAR
+ NOTHROTL
+ REDFLAG
+ CLEAR SET
+ LRBYPASS
+ MUNFLAG
+ CLEAR CLEAR
+ P25FLAG # TERMINATE P25 IF IT IS RUNNING.
+ RNDVZFLG # TERMINATE P20 IF IT IS RUNNING.
+
+ # ********************************
+
+IGNALG SETPD VLOAD # FIRST SET UP INPUTS FOR RP-TO-R:
+# Page 786
+ 0 # AT 0D LANDING SITE IN MOON FIXED FRAME
+ RLS # AT 6D ESTIMATED TIME OF LANDING
+ PDDL PUSH # MPAC NON-ZERO TO INDICATE LUNAR CASE
+ TLAND
+ STCALL TPIP # ALSO SET TPIP FOR FIRST GUIDANCE PASS
+ RP-TO-R
+ VSL4 MXV
+ REFSMMAT
+ STCALL LAND
+ GUIDINIT # GUIDINIT INITIALIZES WM AND /LAND/
+ DLOAD DSU
+ TLAND
+ GUIDDURN
+ STCALL TDEC1 # INTEGRATE STATE FORWARD TO THAT TIME
+ LEMPREC
+ SSP VLOAD
+ NIGNLOOP
+ 40D
+ UNITX
+ STOVL CG
+ UNITY
+ STOVL CG +6
+ UNITZ
+ STODL CG +14
+ 99999CON
+ STOVL DELTAH # INITIALIZE DELTAH FOR V16N68 DISPLAY
+ ZEROVECS
+ STODL UNFC/2 # INITIALIZE TRIM VELOCITY CORRECTION TERM
+ HI6ZEROS
+ STORE TTF/8
+
+IGNALOOP DLOAD
+ TAT
+ STOVL PIPTIME1
+ RATT1
+ VSL4 MXV
+ REFSMMAT
+ STCALL R
+ MUNGRAV
+ STCALL GDT/2
+ ?GUIDSUB # WHICH DELIVERS N PASSES OF GUIDANCE
+
+# DDUMCALC IS PROGRAMMED AS FOLLOWS:
+# 2 ___
+# (RIGNZ - RGU )/16 + 16(RGU )KIGNY/B8 + (RGU - RIGNX)KIGNX/B4 + (ABVAL(VGU) - VIGN)KIGNV/B4
+# 2 1 0
+# DDUM = -------------------------------------------------------------------------------------------
+# 10
+# 2 (VGU - 16 VGU KIGNX/B4)
+# 2 0
+# Page 787 new page is actually one line earlier but this would put the indices on a seperate line
+# disconnected from their respective variables
+# THE NUMERATOR IS SCALED IN METERS AT 2(28). THE DENOMINATOR IS A VELOCITY IN UNITS OF 2(10) M/CS.
+# THE QUOTIENT IS THUS A TIME IN UNITS OF 2(18) CENTISECONDS. THE FINAL SHIFT RESCALES TO UNITS OF 2(28) CS.
+# THERE IS NO DAMPING FACTOR. THE CONSTANTS KIGNX/B4, KIGNY/B8 AND KIGNV/B4 ARE ALL NEGATIVE IN SIGN.
+
+DDUMCALC TS NIGNLOOP
+ TC INTPRET
+ DLOAD DMPR # FORM DENOMINATOR FIRST
+ VGU
+ KIGNX/B4
+ SL4R BDSU
+ VGU +4
+ PDDL DSU
+ RIGNZ
+ RGU +4
+ SR4R PDDL
+ RGU +2
+ DSQ DMPR
+ KIGNY/B8
+ SL4R PDDL
+ RGU
+ DSU DMPR
+ RIGNX
+ KIGNX/B4
+ PDVL ABVAL
+ VGU
+ DSU DMPR
+ VIGN
+ KIGNV/B4
+ DAD DAD
+ DAD DDV
+ SRR
+ 10D
+
+ PUSH DAD
+ PIPTIME1
+ STODL TDEC1 # STORE NEW GUESS FOR NEXT INTEGRATION
+ ABS DSU
+ DDUMCRIT
+ BMN CALL
+ DDUMGOOD
+ INTSTALL
+ SET SET
+ INTYPFLG
+ MOONFLAG
+ DLOAD
+ PIPTIME1
+ STOVL TET # HOPEFULLY ?GUIDSUB DID NOT
+ RATT1 # CLOBBER RATT1 AND VATT1
+# Page 788
+ STOVL RCV
+ VATT1
+ STCALL VCV
+ INTEGRVS
+ GOTO
+ IGNALOOP
+
+DDUMGOOD SLOAD SR
+ ZOOMTIME
+ 14D
+ BDSU
+ TDEC1
+ STOVL TIG # COMPUTE DISTANCE LANDING SITE WILL BE
+ V # OUT OF LM'S ORBITAL PLANE AT IGNITION:
+ VXV UNIT # SIGN IS + IF LANDING SITE IS TO THE
+ R # RIGHT, NORTH; - IF TO THE LEFT, SOUTH.
+ DOT SL1
+ LAND
+R60INIT STOVL OUTOFPLN # INITIALIZATION FOR CALCMANU
+ UNFC/2
+ STORE R60VSAVE # STORE UNFC/2 TEMPORARILY IN R60SAVE
+ EXIT
+ # *******************************************
+
+IGNALGRT TC PHASCHNG # PREVENT REPEATING IGNALG
+ OCT 04024
+
+ASTNCLOK CS ASTNDEX
+ TC BANKCALL
+ CADR STCLOK2
+ TCF ENDOFJOB # RETURN IN NEW JOB AND IN EBANK FIVE
+
+ASTNRET TC INTPRET
+ SSP RTB # GO PICK UP DISPLAY AT END OF R51:
+ QMAJ # "PROCEED" WILL DO A FINE ALIGNMENT
+ FCADR P63SPOT2 # "ENTER" WILL RETURN TO P63SPOT2
+ R51P63
+P63SPOT2 VLOAD UNIT # INITIALIZE KALCMANU FOR BURN ATTITUDE
+ R60VSAVE
+ STOVL POINTVSM
+ UNITX
+ STORE SCAXIS
+ EXIT
+
+ CAF EBANK7
+ TS EBANK
+
+ INHINT
+ TC IBNKCALL
+ CADR PFLITEDB
+# Page 789
+ RELINT
+
+ TC BANKCALL
+ CADR R60LEM
+
+ TC PHASCHNG # PREVENT RECALLING R60
+ OCT 04024
+
+P63SPOT3 CA BIT6 # IS THE LR ANTENNA IN POSITION 1 YET
+ EXTEND
+ RAND CHAN33
+ EXTEND
+ BZF P63SPOT4 # BRANCH IF ANTENNA ALREADY IN POSITION 1
+
+ CAF CODE500 # ASTRONAUT: PLEASE CRANK THE
+ TC BANKCALL # SILLY THING AROUND
+ CADR GOPERF1
+ TCF GOTOP00H # TERMINATE
+ TCF P63SPOT3 # PROCEED SEE IF HE'S LYING
+
+P63SPOT4 TC BANKCALL # ENTER INITIALIZE LANDING RADAR
+ CADR SETPOS1
+
+ TC POSTJUMP # OFF TO SEE THE WIZARD ...
+ CADR BURNBABY
+
+# ---------------------------------
+
+# CONSTANTS FOR P63LM AND IGNALG
+
+P63ADRES GENADR P63TABLE
+
+ASTNDEX = MD1 # OCT 25: INDEX FOR CLOKTASK
+
+CODE500 OCT 00500
+
+99999CON 2DEC 30479.7 B-24
+
+GUIDDURN 2DEC +66440 # GUIDDURN +6.64400314 E+2
+DDUMCRIT 2DEC +8 B-28 # CRITERION FOR IGNALG CONVERGENCE
+
+# Page 790
+# --------------------------------
+
+# Page 791
+# *************************
+# P68: LANDING CONFIRMATION
+# *************************
+
+ BANK 31
+ SETLOC F2DPS*31
+ BANK
+
+ COUNT* $$/P6567
+
+LANDJUNK TC PHASCHNG
+ OCT 04024
+
+ INHINT
+ TC BANKCALL # ZERO ATTITUDE ERROR
+ CADR ZATTEROR
+
+ TC BANKCALL # SET 5 DEGREE DEADBAND
+ CADR SETMAXDB
+
+ TC INTPRET # TO INTERPRETIVE AS TIME IS NOT CRITICAL
+ SET CLEAR
+ SURFFLAG
+ LETABORT
+ SET VLOAD
+ APSFLAG
+ RN
+ STODL ALPHAV
+ PIPTIME
+ SET CALL
+ LUNAFLAG
+ LAT-LONG
+ SETPD VLOAD # COMPUTE RLS AND STORE IT AWAY
+ 0
+ RN
+ VSL2 PDDL
+ PIPTIME
+ PUSH CALL
+ R-TO-RP
+ STORE RLS
+ EXIT
+ CAF V06N43* # ASTRONAUT: NOW LOOK WHERE TO ENDED UP
+ TC BANKCALL
+ CADR GOFLASH
+ TCF GOTOP00H # TERMINATE
+ TCF +2 # PROCEED
+ TCF -5 # RECYCLE
+
+ TC INTPRET
+# Page 792
+ VLOAD # INITIALIZE GSAV AND (USING REFMF)
+ UNITX # YNBSAV, ZNBSAV AND ATTFLAG FOR P57
+ STCALL GSAV
+ REFMF
+ EXIT
+
+ TCF GOTOP00H # ASTRONAUT: PLEASE SELECT P57
+
+V06N43* VN 0643
+
diff --git a/THROTTLE_CONTROL_ROUTINES.s b/THROTTLE_CONTROL_ROUTINES.s
new file mode 100644
index 0000000..c43b9c9
--- /dev/null
+++ b/THROTTLE_CONTROL_ROUTINES.s
@@ -0,0 +1,224 @@
+# Copyright: Public domain.
+# Filename: THROTTLE_CONTROL_ROUTINES.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: HARTMUTH GUTSCHE <hgutsche@xplornet.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 793-797
+# Mod history: 2009-05-20 HG Transcribed from page images.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 793
+ BANK 31
+ SETLOC FTHROT
+ BANK
+ EBANK= PIF
+ COUNT* $$/THROT
+
+# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
+# HERE FC, DESIRED THRUST, AND FP, PRESENT THRUST, UNWEIGHTED, ARE COMPUTED.
+
+THROTTLE CA ABDELV # COMPUTE PRESENT ACCELERATION IN UNITS OF
+ EXTEND # 2(-4) M/CS/CS, SAVING SERVICER TROUBLE
+ MP /AF/CNST
+ +3 EXTEND
+ QXCH RTNHOLD
+AFDUMP TC MASSMULT
+ DXCH FP # FP = PRESENT THRUST
+ EXTEND
+ DCA /AFC/
+ TC MASSMULT
+ TS FC # FC = THRUST DESIRED BY GUIDANCE
+ DXCH FCODD # FCODD = WHAT IT IS GOING TO GET
+
+# IF IT HAS BEEN LESS THAN 3 SECONDS SINCE THE LAST THROTTLING, AUGMENT FP USING THE FWEIGHT CALCULATED THEN.
+
+ CS TTHROT # THIS CODING ASSUMES A FLATOUT WITHIN
+ AD TIME1 # 80 SECONDS BEFORE FIRST THROTTLE CALL
+ MASK POSMAX
+ COM
+ AD 3SECS
+ EXTEND
+ BZMF WHERETO # BRANCH IF (TIME1-TTHROT +1) > 3 SECONDS
+ EXTEND
+ DCA FWEIGHT
+ DAS FP
+
+# THIS LOGIC DETERMINES THE THROTTLING IN THE REGION 10% - 94%. THE MANUAL THROTTLE, NOMINALLY SET AT
+# MINIMUM BY ASTRONAUT OR MISSION CONTROL PROGRAMS, PROVIDES THE LOWER BOUND. A STOP IN THE THROTTLE HARDWARE
+# PROVIDES THE UPPER.
+
+WHERETO CA EBANK5 # INITIALIZE L*WCR*T AND H*GHCR*T FROM
+ TS EBANK # PAD LOADED ERASABLES IN W-MATRIX
+#Page 794
+ EBANK= LOWCRIT
+ EXTEND
+ DCA LOWCRIT
+ DXCH L*WCR*T
+ CA EBANK7
+ TS EBANK
+ EBANK= PIF
+ CS ZERO # INITIALIZE PIFPSET
+ TS PIFPSET
+ CS H*GHCR*T
+ AD FCOLD
+ EXTEND
+ BZMF LOWFCOLD # BRANCH IF FCOLD < OR = HIGHCRIT
+ CS L*WCR*T
+ AD FCODD
+ EXTEND
+ BZMF FCOMPSET # BRANCH IF FC < OR = LOWCRIT
+ CA FP # SEE NOTE 1
+ TCF FLATOUT1
+
+FCOMPSET CS FMAXODD # SEE NOTE 2
+ AD FP
+ TCF FLATOUT2
+
+LOWFCOLD CS H*GHCR*T
+ AD FCODD
+ EXTEND
+ BZMF DOPIF # BRANCH IF FC < OR = HIGHCRIT
+
+ CA FMAXPOS # NO: THROTTLE-UP
+FLATOUT1 DXCH FCODD
+ CA FEXTRA
+FLATOUT2 TS PIFPSET
+
+# NOTE 1 FC IS SET EQUAL TO FP SO PIF WILL BE ZERO. THIS IS DESIRABLE
+# AS THERE IS ACTUALLY NO THROTTLE CHANGE.
+#
+# NOTE2 HERE, SINCE WE ARE ABOUT TO RETURN TO THE THROTTLEABLE REGION
+# (BELOW 55%) THE QUANTITY -(FMAXODD-FP) IS COMPUTED AND PUT
+# INTO PIFPSET TO COMPENSATE FOR THE DIFFERENCE BETWEEN THE
+# NUMBER OF BITS CORRESPONDING TO FULL THROTTLE (FMAXODD) AND THE
+# NUMBER CORRESPONDING TO ACTUAL THRUST (FP). THUS THE TOTAL
+# THROTTLE COMMAND PIF = FC - FP - (FMAXODD - FP) = FC - FMAXODD.
+
+DOPIF TC FASTCHNG
+ EXTEND
+ DCA FCODD
+ TS FCOLD
+ DXCH PIF
+ EXTEND
+#Page 795
+ DCS FP
+ DAS PIF # PIF = FC - FP, NEVER EQUALS +0
+
+DOIT CA PIF
+ AD PIFPSET # ADD IN PIFPSET, WITHOUT CHANGING PIF
+ TS PSEUDO55
+ TS THRUST
+ CAF BIT4
+ EXTEND
+ WOR CHAN14
+ CA TIME1
+ TS TTHROT
+
+# SINCE /AF/ IS NOT AN INSTANTANEOUS ACELERATION, BUT RATHER AN "AVERAGE" OF THE ACCELERATION LEVELS DURING
+# THE PRECEEDING PIPA INTERVAL, AND SINCE FP IS COMPUTED DIRECTLY FROM /AF/, FP IN ORDER TO CORRESPOND TO THE
+# ACTUAL THRUST LEVEL AT THE END OF THE INTERVAL MUST BE WEIGHTED BY
+#
+# PIF(PPROCESS + TL) PIF /PIF/
+# FWEIGHT = ------------------ + -------------
+# PGUID 2 PGUID FRATE
+#
+# WHERE PROCESS IS THE TIME BETWEEN PIPA READING AND THE START OF THROTTLING, PGUID IS THE GUIDANCE PERIOD, AND
+# FRATE IS THE THROTTLING RATE (32 UNITS PER CENTISECOND). PGUID IS EITHER 1 OR 2 SECONDS. THE "TL" IN THE
+# FIRST TERM REPRESENTS THE ENGINE'S RESPONSE LAG. HERE FWEIGHT IS COMPUTED FOR USE NEXT PASS.
+
+ CA THISTPIP +1 # INITIALIZE FWEIGHT COMP AS IF FOR P66
+ TS BUF
+
+ CS MODREG # ARE WE IN FACT IN P66?
+ AD DEC66
+ EXTEND
+ BZF FWCOMP # YES
+
+ CA PIPTIME +1 # NO: INITIALIZE FOR TWO SECOND PERIOD
+ TS BUF
+ CAF 4SECS
+ TCF FWCOMP +1
+
+FWCOMP CAF 2SECS
+ +1 TS Q
+ EXTEND
+ MP BIT6
+ LXCH BUF +1
+ CS BUF # TIME OF LAST PIPA READING.
+ AD TIME1
+ AD THROTLAG # COMPENSATE FOR ENGINE RESPONSE LAG
+ MASK LOW8 # MAKE SURE SMALL AND POSITIVE
+ ZL
+ EXTEND
+#Page 796
+ DV Q
+ EXTEND
+ MP PIF
+ DOUBLE
+ DXCH FWEIGHT
+ CCS PIF
+ AD ONE
+ TCF +2
+ AD ONE
+ EXTEND
+ MP PIF
+ EXTEND
+ DV BUF +1
+ ZL
+ DAS FWEIGHT
+
+THDUMP TC RTNHOLD
+
+# FLATOUT THROTTLES UP THE DESCENT ENGINE, AND IS CALLED AS A BASIC SUBROUTINE.
+
+FLATOUT CAF BIT13 # 4096 PULSES
+WHATOUT TS PIFPSET # USE PIFPSET SO FWEIGHT WILL BE ZERO
+ CS ZERO
+ TS FCOLD
+ TS PIF
+ EXTEND
+ QXCH RTNHOLD
+ TCF DOIT
+
+# MASSMULT SCALES ACCELERATION, ARRIVING IN A AND L IN UNITS OF 2(-4) M/CS/CS, TO FORCE IN PULSE UNITS.
+
+MASSMULT EXTEND
+ QXCH BUF
+ DXCH MPAC
+ TC DMP
+ ADRES MASS
+ TC DMP # LEAVES PROPERLY SCALED FORCE IN MPAC
+ ADRES SCALEFAC
+ TC TPAGREE
+ CA MPAC
+ EXTEND
+ BZF +3
+ CAF POSMAX
+ TC BUF
+ DXCH MPAC +1
+ TC BUF
+#Page 797
+# CONSTANTS --
+
+FEXTRA = BIT13 # FEXT +5.13309020 E+4
+
+/AF/CNST DEC .13107
+
+# * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
diff --git a/TIME_OF_FREE_FALL.s b/TIME_OF_FREE_FALL.s
new file mode 100644
index 0000000..83714b0
--- /dev/null
+++ b/TIME_OF_FREE_FALL.s
@@ -0,0 +1,710 @@
+# Copyright: Public domain.
+# Filename: TIME_OF_FREE_FALL.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1373-1388
+# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
+# from the Colossus249/ file of the same
+# name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1373
+# THE TFF SUBROUTINES MAY BE USED IN EITHER EARTH OR MOON CENTERED COORDINATES. THE TFF ROUTINES NEVER
+# KNOW WHICH ORIGIN APPLIES. IT IS THE USER WHO KNOWS, AND WHO SUPPLIES RONE, VONE, AND 1/SQRT(MU) AT THE
+# APPROPIRATE SCALE LEVEL FOR THE PROPER PRIMARY BODY.
+#
+# EARTH ORIGIN POSITION -29 METERS
+# VELOCITY -7 METERS/CENTISECOND
+# 1/SQRT(MU) +17 SQRT(CS SQ/METERS CUBED)
+#
+# MOON ORIGIN POSITION -27 METERS
+# VELOCITY -5 METERS/CENTISECONDS
+# 1/SQRT(MU) +14 SQRT(CS SQ/METERS CUBED)
+#
+# ALL DATA PROVIDED TO AND RECEIVED FROM ANY TFF SUBROUTINE WILL BE AT ONE OF THE LEVELS ABOVE. IN ALL CASES,
+# THE FREE FALL TIME IS RETURNED IN CENTISECONDS AT (-28). PROGRAM TFF/CONIC WILL GENERATE VONE/RTMU AND
+# LEAVE IT IN VONE' AT (+10) IF EARTH ORIGIN AND (+9) IF MOON ORIGIN.
+#
+# THE USER MUST STORE THE STATE VECTOR IN RONE, VONE, AND MU IN THE FORM 1/SQRT(MU) IN TFF/RTMU
+# AT THE PROPER SCALE BEFORE CALLING TFF/CONIC. SINCE RONE, VONE ARE IN THE EXTENDED VERB STORAGE AREA,
+# THE USER MUST ALSO LOCK OUT THE EXTENDED VERBS, AND RELEASE THEM WHEN FINISHED.
+#
+# PROGRAMS CALC/TFF AND CALC/TPER ASSUME THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT
+# RADIUS. THIS RESTRICTION CAN BE REMOVED BY A 15 W CODING CHANGE, BUT AT PRESENT IT IS NOT DEEMED NECESSARY.
+#
+# THE FOLLOWING ERASABLE QUANTITIES ARE USED BY THE TFF ROUTINES, AND ARE LOCATED IN THE PUSH LIST.
+#
+# BELOW E: IS USED FOR EARTH ORIGIN SCALE
+# M: IS USED FOR MOON ORIGIN SCALE
+#
+#TFFSW = 119D # BIT1 0 = CALCTFF 1 = CALCTPER
+TFFDELQ = 10D # Q2-Q1 E: (-16) M: (-15)
+RMAG1 = 12D # ABVAL(RN) M E: (-29) M: (-27)
+#RPER = 14D # PERIGEE RADIUS M E: (-29) M: (-27)
+TFFQ1 = 14D # R.V / SQRT(MUE) E: (-16) M: (-15)
+#SDELF/2 # SIN(THETA) /2
+CDELF/2 = 14D # COS(THETA) /2
+#RAPO = 16D # APOGEE RADIUS M E: (-29) M: (-27)
+NRTERM = 16D # TERMINAL RADIUS M E: (-29+NR)
+ # M: (-27+NR)
+RTERM = 18D # TERMINAL RADIUS M E: (-29) M: (-27)
+TFFVSQ = 20D # -(V SQUARED/MU) 1/M E: (20) M: (18)
+TFF1/ALF = 22D # SEMI MAJ AXIS M E: (-22-2 NA)
+ # M: (-20-2 NA)
+TFFRTALF = 24D # SQRT(ALFA) E:(10+NA) M: (9+NA)
+TFFALFA = 26D # ALFA 1/M E:(26-NR) M: (24-NR)
+TFFNP = 28D # SEMI LATUS RECTUM M E: (-38+2 NR)
+ # M: (-36+2 NR)
+TFF/RTMU = 30D # 1/SQRT(MU) E: (17) M: (14)
+NRMAG = 32D # PRESENT RADIUS M E: (-29+NR)
+ # M: (-27+NR)
+TFFX = 34D #
+TFFTEM = 36D # TEMPORARY
+# Page 1374
+# REGISTERS S1, S2 ARE UNTOUCED BY ANY TFF SUBROUTINE
+# INDEX REGISTERS X1, X2 ARE USED BY ALL TFF SUBROUTINES. THEY ARE ESTAB-
+# LISHED IN TFF/CONIC AND MUST BE PRESERVED BETWEEN CALLS TO SUBSEQUENT
+# SUBROUTINES.
+# -NR C(X1) = NORM COUNT OF RMAG
+# -NA C(X2) = NORM COUNT OF SQRT(ABS(ALFA))
+
+# Page 1375
+# SUBROUTINE NAME: TFFCONIC DATE: 01.29.67
+# MOD NO: 0 LOG SECTION: TIME OF FREE FALL
+# MOD BY: RR BAIRNSFATHER
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 ADD MOON MU.
+# MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES
+#
+# FUNCTIONAL DESCRIPTION: THIS SUBROUTINE IS CALLED TO COMPUTE THOSE CONIC PARAMETERS REQUIRED BY THE TFF
+# SUBROUTINES AND TO ESTABLISH THEM IN THE PUSH LIST AREA. THE PARAMETERS ARE LISTED UNDER OUTPUT.
+# THE EQUATIONS ARE:
+# _ __ __
+# H = RN*VN ANGULAR MOMENTUM
+# _ _
+# LCP = H.H / MU SEMI LATUS RECTUM
+# __ __
+# ALFA = 2/RN - VN.VN / MU RECIPROCAL SEMI MAJ AXIS, SIGNED
+#
+# AND ALFA IS POS FOR ELLIPTIC ORBITS
+# 0 FOR PARABOLIC ORBITS
+# NEG FOR HYPERBOLIC ORBITS.
+# SUBROUTINE ALSO COMPUTES AND SAVES RMAG.
+#
+# CALLING SEQUENCE:
+# TFFCONIC EXPECTS CALLER TO ENTER WITH CORRECT GRAVITATIONAL CONSTANT IN MPAC, IN THE FORM
+# 1/SQRT(MU). THE PROGRAM WILL SAVE IN TFF/RTMU. THE SCALE IS DETERMINED BY WHETHER EARTH OR MOON
+# ORIGIN IS USED. THE CALLER MUST LOCK OUT THE EXTENDED VERBS BEFORE PROVIDING STATE VECTOR IN RONE,
+# VONE AT PROPER SCALE. THE EXTENDED VERBS MUST BE RESTORED WHEN THE CALLER IS FINISHED USING THE
+# TFF ROUTINES.
+#
+# ENTRY POINT TFFCONMU EXPECTS THAT TFF/RTMU IS ALREADY LOADED.
+#
+# TO SPECIFY MU: DLOAD CALL # IF MU ALREADY STORED: CALL
+# YOURMU # 1/RTMU E:(17) M:(14) TFFCONMU
+# TFFCONIC
+# PUSHLOC = PDL+0, ARBITRARY IF LEQ 18D
+#
+# SUBROUTINES CALLED: NONE
+#
+# NORMAL EXIT MODES: RVQ
+#
+# ALARMS: NONE
+#
+# OUTPUT: THE FOLLOWING ARE STORED IN THE PUSH LIST AREA.
+# RMAG1 E:(-29) M:(-27) M RN, PRESENT RADIUS LENGTH.
+# NRMAG E:(-29+NR) M RMAG, NORMALIZED
+# M:(-27+NR)
+# X1 -NR, NORM COUNT
+# TFFNP E:(-38+2NR) M LCP, SEMI LATUS RECTUM, WEIGHTED BY NR. FOR VGAMCALC.
+# M:(-36+2NR)
+# TFF/RTMU E:(17) M:(14) 1/SQRT(MU)
+# TFFVSQ E:(20) M:(18) 1/M -(V SQ/MU): PRESENT VELOCITY, NORMLIZED. FOR VGAMCALC
+# TFFALFA E:(26-NR) 1/M ALFA, WEIGHTED BY NR
+# M:(24-NR)
+# TFFRTALF E:(10+NA) SQRT(ALFA), NORMALIZED
+# M:(9+NA)
+# Page 1376
+# X2 -NA, NORM COUNT
+# TFF1/ALF E:(-22-2NA) SIGNED SEMI MAJ AXIS, WEIGHTED BY NA
+# M:(-20-2NA)
+# PUSHLOC AT PDL+0
+#
+# THE FOLLOWING IS STORED IN GENERAL ERASABLE
+# VONE' E:(10) M:(9) V/RT(MU), NORMALIZED VELOCITY
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# RONE E:(-29) M:(-27) M STATE VECTOR LEFT BY CALLER
+# VONE E:(-7) M:(-5) M/CS STATE VECTOR LEFT BY CALLER
+# TFF/RTMU E:(17) M:(14) 1/RT(CS SQ/M CUBE) IF ENTER VIA TFFCONMU.
+#
+# DEBRIS: QPRET PDL+0 ... PDL+3
+
+ BANK 33
+ SETLOC TOF-FF
+ BANK
+
+ COUNT* $$/TFF
+
+TFFCONIC STORE TFF/RTMU # 1/SQRT(MU) E:(17) M:(14)
+
+TFFCONMU VLOAD UNIT # COME HERE WITH TFFRTMU LOADED.
+ RONE # SAVED RN. M E:(-29) M:(-27)
+ PDDL # UR/2 TO PDL+0, +5
+ 36D # MAGNITUDE
+ STORE RMAG1 # M E:(-29) M:(-27)
+
+ NORM
+ X1 # -NR
+ STOVL NRMAG # RMAG M E:(-29+NR) M:(-27+NR)
+ VONE # SAVED VN. M/CS E:(-7) M:(-5)
+ VXSC
+ TFF/RTMU # E:(17) M:(14)
+ STORE VONE' # VN/SQRT(MU) E:(10) M:(9)
+
+ VXSC VXV
+ NRMAG # E:(-29+NR) M:(-27+NR)
+ # UR/2 FROM PDL
+ VSL1 VSQ # BEFORE: E:(-19+NR) M:(-18+NR)
+ STODL TFFNP # LC P M E:(-38+2NR) M:(-36+2NR)
+ # SAVE ALSO FOR VGAMCALC
+ TFF1/4
+ DDV PDVL # (2/RMAG) 1/M E:(26-NR) M:(24-NR)
+ NRMAG # RMAG M E:(-29+NR) M:(-27+NR)
+ VONE' # SAVED VN. E:(10) M:(9)
+ VSQ DCOMP # KEEP MPAC+2 HONEST FOR SQRT.
+ STORE TFFVSQ # -(V SQ/MU) E:(20) M:(18)
+ # SAVE FOR VGAMCALC
+ SR* DAD
+# Page 1377
+ 0 -6,1 # GET -VSQ/MU E:(26-NR) M:(24-NR)
+ STADR
+ # 2/RMAG FROM PDL+2
+ STORE TFFALFA # ALFA 1/M E:(26-NR) M:(24-NR)
+ SL* PUSH # TEMP SAVE ALFA E:(20) M:(18)
+ 0 -6,1
+ ABS SQRT # E:(10) M:(9)
+ NORM
+ X2 # X2 = -NA
+ STORE TFFRTALF # SQRT( ABS(ALFA) ) E:(10+NA) M:(9+NA)
+ DSQ SIGN # NOT SO ACCURATE, BUT OK
+ # ALFA FROM PDL+2 E:(20) M:(18)
+ BZE BDDV # SET 1/ALFA =0, TO SHOW SMALL ALFA
+ +2
+ TFF1/4
+ +2 STORE TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA)
+DUMPCNIC RVQ
+ # 39 W
+# Page 1378
+# SUBROUTINE NAME: TFFRP/RA DATE: 01.17.67
+# MOD NO: 0 LOG SECTION: TIME OF FREE FALL
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES
+# ALSO IMPROVE ACCURACY OF RAPO.
+#
+# FUNCTIONAL DESCRIPTION: USED BY CALCTPER AND TFF DISPLAYS TO CALCULATE PERIGEE RADIUS AND ALSO
+# APOGEE RADIUS FOR A GENERAL CONIC.
+# PROGRAM GIVES PERIGEE RADIUS AS APOGEE RADIUS IS GIVEN BY
+# RP = P/(1+E) RA = (1+E) / ALFA
+# WHERE 2
+# E = 1 - P ALFA
+# IF RA IS NEGATIVE OR SHOWS DIVIDE OVERFLOW, THEN RA = POSMAX BECAUSE
+# 1. APOGEE RADIUS IS NOT MEANINGFUL FOR HYPERBOLA
+# 2. APOGEE RADIUS IS NOT DEFINED FOR PARABOLA
+# 3. APOGEE RADIUS EXCEEDS THE SCALING FOR ELLIPSE.
+#
+# THIS SUBROUTINE REQUIRED THE SIGNED RECIPROCAL SEMI MAJ AXIS, ALFA, AND SEMI LATUS RECTUM AS DATA.
+#
+# CALLING SEQUENCE: CALL
+# TFFRP/RA
+# PUSHLOC = PDL+0, ARBITRARY IF LEQ 10D
+# C(MPAC) UNSPECIFIED
+#
+# SUBROUTINES CALLED: NONE
+#
+# NORMAL EXIT MODE: RVQ
+# IF ELLIPSE, WITHIN NORMAL SCALING, RAPO IS CORRECT.
+# OTHERWISE, RAPO = POSMAX.
+#
+# ALARMS: NONE
+#
+# OUTPUT: STORED IN PUSH LIST AREA. SCALE OF OUTPUT AGREES WITH DATA SUPPLIED TO TFF/CONIC.
+# RPER E:(-29) M:(-27) M PERIGEE RADIUS DESTROYED BY CALCTFF/CALCTPER, TFFTRIG.
+# RAPO E:(-29) M:(-27) M APOGEE RADIUS WILL BE DESTROYED BY CALCTFF/CALCTPER
+# PUSHLOC AT PDL+0
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# TFFALFA E:(26-NR) M 1/SEMI MAJ AXIS LEFT BY TFFCONIC
+# M:(24-NR)
+# TFFNP E:(-38+2NR) M LC P, SEMI LATUS RECTUM LEFT BY TFFCONIC
+# M:(-36+2NR)
+# X1 -NR, NORM COUNT OF RMAG LEFT BY TFFCONIC
+# X2 -NA, NORM COUNT OF ALFA LEFT BY TFFCONIC
+#
+# DEBRIS: QPRET, PDL+0 ... PDL+1
+
+# Page 1379
+RAPO = 16D # APOGEE RADIUS M E:(-29) M:(-27)
+RPER = 14D # PERIGEE RADIUS M E:(-29) M:(-27)
+
+TFFRP/RA DLOAD DMP
+ TFFALFA # ALFA 1/M E:(26-NR) M:(24-NR)
+ TFFNP # LC P M E:(-38+2NR) M:(-36+2NR)
+ SR* DCOMP # ALFA P (-12+NR)
+ 0 -8D,1 # ALFA P (-4)
+ DAD ABS # (DCOMP GIVES VALID TP RESULT FOR SQRT)
+ # (ABS PROTECTS SQRT IF E IS VERY NEAR 0)
+ DP2(-4)
+ SQRT DAD # E SQ = (1- P ALFA) (-4)
+ TFF1/4
+ PUSH BDDV # (1+E) (-2) TO PDL+0
+ TFFNP # LCP M E:(-38+2NR) M:(-36+2NR)
+ SR* SR* # (DOES SR THEN SL TO AVOID OVFL)
+ 0,1 # X1=-NR
+ 0 -7,1 # (EFFECTIVE SL)
+ STODL RPER # PERIGEE RADIUS M E:(-29) M:(-27)
+ # (1+E) (-2) FROM PDL+0
+ DMP BOVB
+ TFF1/ALF # E:(-22-2NA) M:(-20-2NA)
+ TCDANZIG # CLEAR OVFIND, IF ON.
+ BZE SL*
+ MAXRA # SET POSMAX IF ALFA=0
+ 0 -5,2 # -5+NA
+ SL* BOV
+ 0,2
+ MAXRA # SET POSMAX IF OVFL.
+ BPL # CONTINUE WITH VALID RAPO.
+ +3
+MAXRA DLOAD # RAPO CALC IS NOT VALID. SET RAPO =
+ NEARONE # POSMAX AS A TAG.
+ +3 STORE RAPO # APOGEE RADIUS M E:(-29) M:(-27)
+DUMPRPRA RVQ
+ # 30 W
+# Page 1380
+# SUBROUTINE NAME: CALCTPER / CALCTFF DATE: 01.29.67
+# MOD NO: 0 LOG SECTION: TIME OF FREE FALL
+# MOD BY: RR BAIRNSFATHER
+# MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67
+# MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67
+# MOD BY: 3 MOD BY: RR BAIRNSFATHER DATE: 8 JUL 67 NEAR EARTH MUE AND NEG TFF (GONEPAST)
+# MOD BY: 4 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 ADD VARIABLE MU.
+# MOD BY: 5 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES
+#
+# FUNCTIONAL DESCRIPTION: PROGRAM CALCULATES THE FREE-FALL TIME OF FLIGHT FROM PRESENT POSITION RN AND
+# VELOCITY VN TO A RADIUS LENGTH SPECIFIED BY RTERM, SUPPLIED BY THE USER. THE POSITION VECTOR
+# RN MAY BE ON EITHER SIDE OF THE CONIC, BUT RTERM IS CONSIDERED ON THE INBOUND SIDE.
+# THE EQUATIONS ARE:
+#
+# Q2 = -SQRT(RTERM (2-RTERM ALFA) - LCP) (INBOUND SIDE) LEQ +- LCE/SQRT(ALFA)
+# __ __
+# Q1 = RN.VN / SQRT(MU) LEQ +- LCE/SQRT(ALFA)
+#
+# Z = NUM / DEN LEQ +- 1/SQRT(ALFA)
+#
+# WHERE, IF INBOUND
+# NUM = RTERM -RN LEQ +- 2 LCE/ALFA
+# DEN = Q2+Q1 LEQ +- 2 LCE/SQRT(ALFA)
+#
+# AND, IF OUTBOUND
+# NUM = Q2-Q1 LEQ +- 2 LCE/SQRT(ALFA)
+# DEN = 2 - ALFA (RTERM + RN). LEQ +- 2 LCE
+#
+# IF ALFA ZZ < 1.0 (FOR ALL CONICS EXCEPT ELLIPSES HAVING ABS(DEL ECC ANOM) G 90 DEG)
+# THEN X = ALFA Z Z
+# AND TFF = (RTERM +RN -2 ZZ T(X) ) Z/SQRT(MU)
+# EXCEPT IF ALFA PNZ, AND IF TFF NEG,
+# THEN TFF = 2 PI /(ALFA SQRT(ALFA)) + TFF
+# OR IF ALFA ZZ GEQ 1.0 (FOR ELLIPSES HAVING ABS(DEL ECC ANOM) GEQ 90 DEG)
+# THEN X = 1/ALFA Z Z
+# AND TFF = (PI/SQRT(ALFA) -Q2 +Q1 +2(X T(X) -1) /ALFA Z) /ALFA SQRT(MU)
+# WHERE T(X) IS A POLYNOMIAL APPROXIMATION TO THE SERIES
+# 2 3 2
+# 1/3 - X/5 + X /7 - X /8 ... (X < 1.0)
+#
+# CALLING SEQUENC: TIME TO RTERM TIME TO PERIGEE
+# CALL CALL
+# CALCTFF CALCTPER
+# C(MPAC) = TERMNL RAD M C(MPAC) = PERIGEE RAD M
+# FOR EITHER, E:(-29) M:(-27)
+# FOR EITHER, PUSHLOC = PDL+0, ARBITRARY IF LEQ 8D.
+# Page 1381
+#
+# SUBROUTINES CALLED: T(X), VIA RTB
+#
+# NORMAL EXIT MODE: RVQ
+# HOWEVER, PROGRAM EXITS WITH ONE OF THE FOLLOWING VALUES FOR TFF (-28) CS IN MPAC. USER MUST STORE.
+# A. TFF = FLIGHT TIME. NORMAL CASE FOR POSITIVE FLIGHT TIME LESS THAN ONE ORBITAL PERIOD.
+# B. (THIS OPTION IS NO LONGER USED.)
+# C. TFF = POSMAX. THIS INDICATES THAT THE CONIC FROM THE PRESENT POSITION WILL NOT RETURN TO
+# THE SPECIFIED ALTITUDE. ALSO INDICATES OUTBOUND PARABOLA OR HYPERBOLA.
+#
+# OUTPUT: C(MPAC) (-28) CS TIME OF FLIGHT, OR TIME TO PERIGEE
+# TFFX (0) X, LEFT FOR ENTRY DISPLAY TFF ROUTINES
+# NRTERM E:(-29+NR) M RTERM, WEIGHTED BY NR LEFT FOR ENTRY DISPLAY TFF ROUTINES
+# M:(-27+NR)
+# TFFTEM E:(-59+2NR) LCP Z Z SGN(SDELF) LEFT FOR ENTRY DISPLAY TFF ROUTINES
+# M:(-55+2NR) LCP /ALFA SGN(SDELF) LEFT FOR ENTRY DISPLAY TFF ROUTINES
+# NOTE: TFFTEM = PDL 36D AND WILL BE DESTROYED BY .:UNIT:.
+# RMAG1 E:(-29) M:(-27) PDL 12 NOT TOUCHED.
+# TFFQ1 E:(-16) M:(-15) PDL 14D
+# TFFDELQ E:(-16) M:(-15) PDL 10D
+# PUSHLOC AT PDL+0
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# RONE E:(-29) M:(-27) M STATE VECTOR LEFT BY USER
+# VONE' E:(+10) M:(+9) VN/SQRT(NU) LEFT BY TFF/CONIC
+# RMAG1 E:(-29) M:(-27) PRESENT RADIUS, M LEFT BY TFFCONIC
+# C(MPAC) E:(-29) M:(-27) RTERM, TERMINAL RADIUS LENGTH, M LEFT BY USER
+#
+# THE FOLLOWING ARE STORED IN THE PUSH LIST AREA.
+# TFF/RTMU E:(17) M:(14) 1/SQRT(MU) LEFT BY TFFCONIC.
+# NRMAG E:(-29+NR) M RMAG, NORMALIZED LEFT BY TFFCONIC
+# M:(-27+NR)
+# X1 -NR, NORM COUNT LEFT BY TFFCONIC
+# TFFNP E:(-38+2NR) M LCP, SEMI LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC
+# M:(-36+2N4)
+# TFFALFA E:(26-NR) 1/M ALFA, WEIGHT NR LEFT BY TFFCONIC
+# M:(24-NR)
+# TFFRTALF E:(10+NA) SQRT(ALFA), NORMALIZED LEFT BY TFFCONIC
+# M:(9+NA)
+# X2 -NA, NORM COUNT LEFT BY TFFCONIC
+# TFF1/ALF E:(-22-2NA) SIGNED SEMIMAJ AXIS, WEIGHTED BY NA LEFT BY TFFCONIC
+# M:(-20-2NA)
+#
+# DEBRIS: QPRET, PDL+0 ... PDL+3
+# RTERM E:(-29) M(-27) RTERM, TERMINAL RADIUS LENGTH
+# RAPO E:(-29) M(-27) PDL 16D (=NRTERM)
+# RPER E:(-29) M(-27) PDL 14D (=TFFQ1)
+
+# Page 1382
+CALCTPER SETGO # ENTER WITH RPER IN MPAC
+ TFFSW
+ +3
+CALCTFF CLEAR # ENTER WITH RTERM IN MPAC
+ TFFSW
+ +3 STORE RTERM # E:(-29) M:(-27)
+ SL*
+ 0,1 # X1=-NR
+ STORE NRTERM # RTERM E:(-29+NR) M:(-27+NR)
+ DMP BDSU
+ TFFALFA # ALFA E:(26-NR) M:(24-NR)
+ TFF1/4
+ PUSH DMP # (2-ALFA RTERM) (-3) TO PDL+0
+ NRTERM # E:(-29+NR) M:(-27+NR)
+ PDDL SR* # RTERM(2-ALFA RTERM) TO PDL+2
+ # E:(-32+NR) M:(-30+NR)
+ TFFNP # LC P E:(-38+2NR) M:(-36+2NR)
+ 0 -6,1 # X1 = -NR
+ DCOMP DAD # DUE TO SHIFTS, KEEP PRECISION FOR SQRT
+ # RTERM(2-ALFA RTERM) FROM PDL +2
+ # E:(-32+NR) M:(-30+NR)
+ SR* # LEAVE E:(-32) M:(-30)
+ 0,1 # X1 = -NR
+ BOFF DLOAD # CHECK TFF /TPER SWITCH
+ TFFSW
+ +2 # IF TFF, CONTINUE
+ TFFZEROS # IF TPER, SET Q2 = 0
+ +2 BMN SQRT # E:(-16) M:(-15)
+ MAXTFF1 # NO FREE FALL CONIC TO RTERM FROM HERE
+ # RESET PDL, SET TFF=POSMAX, AND EXIT.
+
+ DCOMP BOVB # RT IS ON INBOUND SIDE. ASSURE OVFIND=0
+ TCDANZIG # ANY PORT IN A STORM.
+ STOVL TFFTEM # Q2 E:(-16) M:(-15)
+ VONE' # VN/SQRT(MU) E:(10) M:(9)
+ DOT SL3
+ RONE # SAVED RN. E:(-29) M:(-27)
+ STORE TFFQ1 # Q1, SAVE FOR GONEPAST TEST.
+ # E:(-16) M:(-15)
+ BMN BDSU
+ INBOUND # USE ALTERNATE Z
+ TFFTEM # Q2 E:(-16) M:(-15)
+
+# OUTBOUND Z CALC CONTINUES HERE
+
+ STODL TFFX # NUM=Q2-Q1 E:(-16) M:(-15)
+ TFFALFA # ALFA E:(26-NR) M:(24-NR)
+ DMP BDSU
+# Page 1383
+ NRMAG # RMAG E:(-29+NR) M:(-27+NR)
+ # (2-RTERM ALFA) (-3) FROM PDL+0
+SAVEDEN PUSH ABS # DEN TO PDL+0 E:(-3) OR (-16)
+ # M:(-3) OR (-15)
+ DAD BOV # INDETERMINANCY TEST
+ LIM(-22) # =1.0-B(-22)
+ TFFXTEST # GO IF DEN >/= B(-22)
+ DLOAD PDDL # SET DEN=0 OTHERWISE
+ TFFZEROS
+ # XCH ZERO WITH PDL+0
+ DLOAD DCOMP
+ TFFALFA # ALFA E:(26-NR) M:(24-NR)
+ BMN DLOAD # FOR TPER: Z INDET AT DELE/2=0 AND 90.
+ TFFEL1 # ASSUME 90, AND LEAVE 0 IN PDL: 1/Z=D/N
+
+ # Z INDET. AT PERIGEE FOR PARAB OR HYPERB.
+DUMPTFF1 RVQ # RETURN TFF =0
+
+# INBOUND Z CALC CONTINUES HERE
+
+INBOUND DLOAD # RESET PDL+0
+ DLOAD DSU # ALTERNATE Z CALC
+ RTERM # E:(-29) M:(-27)
+ RMAG1 # E:(-29) M:(-27)
+ STODL TFFX # NUM=RTERM-RN E:(-29) M:(-27)
+ TFFTEM # Q2 E:(-16) M:(-15)
+ DAD GOTO
+ TFFQ1 # Q1 E:(-16) M:(-15)
+ SAVEDEN # DEN = Q2+Q1 E:(-16) M:(-15)
+
+TFFXTEST DAD PDDL # (ABS(DEN) TO PDL+2) E:(-3) OR (-16)
+ # M:(-3) OR (-15)
+ DP(-22) # RESTORE ABS(DEN) TO MPAC
+ TFFX # NUM E:(-16) OR (-29) M:(-15) OR (-27)
+ DMP SR*
+ TFFRTALF # SQRT(ALFA) E:(10+NA) M:(9+NA)
+ 0 -3,2 # X2=-NA
+ DDV # C(MPAC) =NUM SQRT(ALFA) E:(-3) OR (-16)
+ # M:(-3) OR (-15)
+ # ABS(DEN) FROM PDL+2 E:(-3) OR (-16)
+ # M:(-3) OR (-15)
+ DLOAD BOV # (THE DLOAD IS SHARED WITH TFFELL)
+ TFFX # NUM E:(-16) OR (-29) M:(-15) OR (-27)
+ TFFELL # USE EQN FOR DELE GEQ 90, LEQ -90
+
+# OTHERWISE, CONTINUE FOR GENERAL CONIC FOR TFF EQN
+
+ DDV STADR
+ # DEN FROM PDL+0 E:(-3) OR (-16)
+ # M:(-3) OR (-15)
+ STORE TFFTEM # Z SAVE FOR SIGN OF SDELF.
+# Page 1384
+ # E:(-13) M:(-12)
+ PUSH DSQ # Z TO PDL+0
+ PUSH DMP # Z SQ TO PDL+2 E:(-26) M:(-24)
+ TFFNP # LC P E:(-38+2NR) M:(-36+NR)
+ SL SIGN
+ 5
+ TFFTEM # AFFIX SIGN FOR SDELF (ENTRY DISPLAY)
+ STODL TFFTEM # P ZSQ E:(-59+2NR) M:(-55+2NR)
+ # (ARG IS USED IN TFF/TRIG)
+ # ZSQ FROM PDL+2 E:(-26) M:(-24)
+ PUSH DMP # RESTORE PUSH LOC
+ TFFALFA # ALFA E:(26-NR) M:(24-NR)
+ SL*
+ 0,1 # X1=-NR
+ STORE TFFX # X
+ RTB DMP
+ T(X) # POLY
+ # ZSQ FROM PDL+2 E:(-26) M:(-24)
+ SR2 BDSU # 2 ZSQ T(X) E:(-29) M:(-27)
+ RTERM # RTERM E:(-29) M:(-27)
+ DAD DMP
+ RMAG1 # E:(-29) M:(-27)
+ # Z FROM PDL+0 E:(-13) M:(-12)
+ SR3 BPL # TFF SQRT(MU) E:(-45) M:(-42)
+ ENDTFF # (NO PUSH UP)
+ PUSH SIGN # TFF SQRT(MU) TO PDL+0
+ TFFQ1 # Q1 FOR GONEPAST TEST
+ BPL DLOAD # GONE PAST ?
+ NEGTFF # YES. TFF < 0.
+ TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA)
+ DCOMP BPL # ALFA > 0 ?
+ NEGTFF # NO. TFF IS NEGATIVE.
+
+# CORRECT FOR ORBITAL PERIOD.
+
+ DCOMP # YES. CORRECT FOR ORB PERIOD.
+ DMP DDV
+ PI/16 # 2 PI (-5)
+ TFFRTALF # SQRT(ALFA) E:(10+NA) M:(9+NA)
+ SL* SL*
+ 0 -4,2 # X2=-NA
+ 0 -4,2
+ SL* DAD
+ 0,2
+ # TFF SQRT(MU) FROM PDL+0 E:(-45) M:(-42)
+ENDTFF DMP BOV # TFF SQRT(MU) IN MPAC E:(-45) M:(-42)
+ TFF/RTMU # E:(17) M:(14)
+ MAXTFF # SET POSMAX IN OVFL.
+
+DUMPTFF2 RVQ # RETURN TFF (-28) CS IN MPAC.
+
+# Page 1385
+NEGTFF DLOAD
+ # TFF SQRT(MU) FROM PDL+0, NEGATIVE.
+ GOTO
+ ENDTFF
+
+MAXTFF1 DLOAD # RESET PDL
+MAXTFF DLOAD RVQ
+ NEARONE
+
+# TIME OF FLIGHT ELLIPSE WHEN DEL (ECCENTRIC ANOM) GEQ 90 AND LEQ -90.
+
+ # NUM FROM TFFX. E:(-16) OR (-29)
+ # M:(-15) OR (-27)
+TFFELL SL2 # NUM E:(-14) OR (-27) M:(-13) OR (-25)
+ BDDV PUSH # TEMP SAVE D/N IN PDL+0
+ # DEN FROM PDL+0 E:(-3)/(-16) M:(-3)/(-15)
+ # N/D TO PDL+0 E:(11) M:(10)
+TFFEL1 DLOAD DSU # (ENTER WITH D/N=0 IN PDL+0)
+ TFFTEM # Q2 E:(-16) M:(-15)
+ TFFQ1 # Q1 E:(-16) M:(-15)
+ STODL TFFDELQ # Q2-Q1 E:(-16) M:(-15)
+ # D/N FROM PDL+0
+ STADR
+ STORE TFFTEM # D/N E:(11) M:(10)
+ DMP SL*
+ TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA)
+ 0,2 # 1/ALFA Z E:(-11-NA) M:(-10-NA)
+ PUSH DMP # TO PDL+0
+ TFFTEM # 1/Z E:(11) M:(10)
+ SL* BOVB
+ 0,2 # X2= -NA
+ SIGNMPAC # IN CASE X= 1.0, CONTINUE
+ STORE TFFX # X=1/ALFA ZSQ
+ RTB DMP
+ T(X) # POLY
+ TFFX
+ SR3 DSU
+ DP2(-3)
+ DMP PUSH # 2(X T(X)-1) /Z ALFA E:(-15-NA)
+ # M:(-14-NA)
+ # 1/ALFA Z FROM PDL+0 E:(-11-NA)
+ # M:(-10-NA)
+ DLOAD DMP # GET SIGN FOR SDELF
+ TFFTEM # 1/Z E:(11) M:(10)
+ RMAG1 # E:(-29) M:(-27)
+ SL2 DAD
+ TFFQ1 # Q1 E:(-16) M:(-15)
+ STODL TFFTEM # (Q1+R 1/Z) =SGN OF SDELF E:(-16) M:(-15)
+ TFFNP # LC P E:(-38+2NR) M:(-36+2NR)
+ DMP SL* # CALC FOR ARG FOR TFF/TRIG.
+# Page 1386
+ TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA)
+ 1,2 # X2=-NA
+ SIGN SL*
+ TFFTEM # AFFIX SIGN FOR SDELF
+ 0,2
+ STODL TFFTEM # P/ALFA E:(-59+2NR) M:(-55+2NR)
+ # (ARG FOR USE IN TFF/TRIG)
+ TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA)
+ SQRT DMP
+ PI/16 # PI (-4)
+ DAD
+ # 2(XT(X)-1)/Z ALFA FROM PDL E:(-15-NA)
+ # M:(-14-NA)
+ SL* DSU
+ 0 -1,2
+ TFFDELQ # Q2-Q1 E:(-16) M:(-15)
+ DMP SL*
+ TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA)
+ 0 -3,2
+ SL* GOTO
+ 0 -4,2
+ ENDTFF # TFF SQRT(MU) IN MPAC E:(-145) M:(-42)
+
+# Page 1387
+# PROGRAM NAME: T(X) DATE: 01.17.67
+# MOD NO: 0 LOG SECTION: TIME OF FREE FALL
+# MOD BY: RR BAIRNSFATHER
+#
+# FUNCTIONAL DESCRIPTION: THE POLYNOMIAL T(X) IS USED BY TIME OF FLIGHT SUBROUTINES CALCTFF AND
+# CALCTPER TO APPROXIMATE THE SERIES
+# 2 3
+# 1/3 -X/5 +X /7 -X /9 ...
+#
+# WHERE X = ALFA Z Z IF ALFA Z Z LEQ 1
+# X = 1/(ALFA Z Z) IF ALFA Z Z G 1
+#
+# ALSO X IS NEG FOR HYPERBOLIC ORBITS
+# X = 0 FOR PARABOLIC ORBITS
+# X IS POSITIVE FOR ELLIPTIC ORBITS
+#
+# FOR FLIGHT 278, THE POLYNOMIAL T(X) IS FITTED OVER THE RANGE (0,+1) AND HAS A MAXIMUM
+# DEVIATION FROM THE SERIES OF 2 E-5. (T(X) IS A CHEBYCHEV TYPE FIT AND WAS OBTAINED USING
+# MAC PROGRAM AUTCURFIT294RRB AND IS VALID TO THE SAME TOLERANCE OVER THE RANGE (-.08,+1).)
+#
+# CALLING SEQUENCE: RTB
+# T(X)
+# C(MPAC) = X
+#
+# SUBROUTINE CALLED: NONE
+#
+# NORMAL EXIT MODE: TC DANZIG
+#
+# ALARMS: NONE
+#
+# OUTPUT: C(MPAC) = T(X)
+#
+# ERASABLE INITIALIZATION REQUIRED:
+# C(MPAC) = X
+#
+# DEBRIS: NONE
+
+T(X) TC POLY
+ DEC 4 # N-1
+ 2DEC 3.333333333 E-1
+ 2DEC* -1.999819135 E-1*
+ 2DEC* 1.418148467 E-1*
+ 2DEC* -1.01310997 E-1*
+ 2DEC* 5.609004986 E-2*
+ 2DEC* -1.536156925 E-2*
+
+ENDT(X) TC DANZIG
+
+TCDANZIG = ENDT(X)
+
+# Page 1388
+# TFF CONSTANTS
+
+ BANK 32
+
+ SETLOC TOF-FF1
+ BANK
+
+# # NOTE _ NOTE _ ADJUSTED MUE FOR NEAR EARTH TRAJ.
+#MUE = 3.990815471 E10 # M CUBE/CS SQ
+#RTMUE = 1.997702549 E5 B-18* # MODIFIED EARTH MU
+
+1/RTMU 2DEC* .5005750271 E-5 B17* # MODIFIED EARTH MU
+
+# # NOTE _ NOTE _ ADJUSTED MUE FOR NEAR EARTH TRAJ.
+#MUM = 4.902778 E8 # M CUBE/CS SQ
+#RTMUM 2DEC* 2.21422176 E4 B-18*
+PI/16 2DEC 3.141592653 B-4
+LIM(-22) 2OCT 3777737700 # 1.0 -B(-22)
+DP(-22) 2OCT 0000000100 # B(-22)
+DP2(-3) 2DEC 1 B-3
+DP2(-4) 2DEC 1 B-4 # 1/16
+
+# RPAD1 2DEC 6373338 B-29 # M (-29) = 20909901.57 FT
+RPAD1 = RPAD
+
+R300K 2DEC 6464778 B-29 # (-29) M
+NEARONE 2DEC .999999999
+TFFZEROS EQUALS HI6ZEROS
+TFF1/4 EQUALS HIDP1/4
+
+
+
diff --git a/TJET_LAW.s b/TJET_LAW.s
new file mode 100644
index 0000000..9b15a67
--- /dev/null
+++ b/TJET_LAW.s
@@ -0,0 +1,519 @@
+# Copyright: Public domain.
+# Filename: TJET_LAW.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1460-1469
+# Mod history: 2009-05-27 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+# 2009-06-06 RSB Eliminated a stray instruction that had crept
+# in somehow.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1460
+# PROGRAM DESCRIPTION
+# DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN
+# CODED BY: P. S. WEISSMAN, 28 FEBRURARY 1968
+#
+# TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
+# ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
+# -1 INDICATES THE P-AXIS
+# +0 INDICATES THE U-AXIS
+# +1 INDICATES THE V-AXIS
+# THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
+# UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
+# COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
+# ACCESSED BY INDEXING.
+#
+# THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
+# PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU, OR TJV). THE NUMBER OF JETS THAT
+# TJETLAW ASSUMES WILL BE USED AS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
+# ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
+# (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
+#
+# IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
+# ERROR AND/OR ERROR RATE ARE LARGE.
+#
+# CALLING SEQUENCE:
+# TC TJETLAW # (MUST BE IN JASK)
+# OR
+# INHINT # (MUST BE IN JASK)
+# TC IBNKCALL
+# CADR TJETLAW
+# RELINT
+#
+# EXIT: RETURN TO Q.
+#
+# INPUT:
+# FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP, -U, -V.
+# FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU, -V).
+#
+# OUTPUT:
+# TJP, -U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
+#
+# DEBRIS:
+# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTEMP1-4.
+#
+# ALARM: NONE
+
+ BANK 17
+ SETLOC DAPS2
+ BANK
+ EBANK= TJP
+# Page 1461
+ COUNT* $$/DAPTJ
+
+TJETLAW EXTEND # SAVE Q FOR RETURN.
+ QXCH HOLDQ
+
+# SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
+
+ INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U
+ CAF AXISDIFF # AXISDIFF(0)=0
+ TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
+
+ CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
+ EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
+ BZMF NEGEDOT # POSITIVE EDOT.
+ CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
+ TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
+ CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
+ TCF SETSENSE # INITIALIZED POSITIVE.
+
+NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
+ TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
+ CS EDOT # 1. COMPLEMENT E AND EDOT.
+ TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
+ CAF BIT1 # (REVERSED LATER IF NECESSARY).
+ ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
+ TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
+ CS SENSOR
+SETSENSE TS ROTSENSE
+
+# TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
+# IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
+# IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4
+
+ CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
+ EXTEND
+ MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
+ CCS A # ZERO, RESCALE AND TEST EDOT.
+ TCF RUFLAW2
+ TCF SCALEE
+ TCF RUFLAW1
+SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
+ EXTEND # IT TO PI/4 AND SAVE IT.
+ MP L
+ TS E
+
+# TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
+# IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
+# IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
+
+ CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
+# Page 1462
+ EXTEND # FOR THIS AXIS=
+ MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
+ EXTEND # ZERO, THEN RESCALE AND USE FINELAW.
+ BZF SCALEDOT
+ TCF RUFLAW3
+
+# *** FINELAW STARTS HERE ***
+
+SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
+
+ CAE EDOT # COMPUTE (EDOT)(EDOT)
+ EXTEND
+ SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
+ EXTEND
+ MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE TO EDOTSQ
+ TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
+
+ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
+ AD -3DEG # DEADBAND) REQUIRE MAXIMUM JETS?
+ TCF +2
+ AD -3DEG
+ EXTEND
+ INDEX ADRSDIF1
+ SU FIREDB
+ EXTEND
+ BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED?
+MAXJETS CAF TWO # IF YES: INCRMENT ADDRESS LOCATOR AND
+ ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
+ CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
+ TCF TJCALC
+SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
+ TCF TJCALC # YES. USE MIN-JET PARAMETERS
+ TCF MAXJETS # NO. GET THE MAX-JET PARAMETERS.
+TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
+
+# BEGINNING OF TJET CALCULATIONS:
+
+ CS EDOTSQ # SCALED AT PI(2)/2(8).
+ EXTEND
+ INDEX ADRSDIF2
+ MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
+ INDEX ADRSDIF1
+ AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
+ EXTEND
+ SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
+ TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
+ EXTEND
+ BZMF ZON1,2,3
+
+ZONE4,5 INDEX ADRSDIF1
+ CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
+# Page 1463
+ EXTEND # ACC = MAX(AMIN, AOS-).
+ MP EDOTSQ # SCALED AT PI/2(8).
+ AD E # SCALED AT PI/4
+ INDEX ADRSDIF1
+ AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
+ EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
+ BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
+ # IF FUNCTION POSITIVE, IN ZONE 4.
+
+# ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
+# A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
+# B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
+# THEN THE THRUSTERS ARE KEPT ON.
+
+ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
+ CS TJETU # WITH SENSE OPPOSITE TO EDOT,
+ EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD
+ MP ROTSENSE # THE DESIRABLE STATE).
+ EXTEND
+ BZMF COASTTJ # NO. COAST.
+
+JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT?
+ TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
+
+ CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
+ INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
+ AD AXISDIST # PHASE PLANE?
+ EXTEND
+ BZMF COASTTJ # NO. SET TJET = 0.
+ TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
+ CAE FIREFCT # AFTER COMPUTING THE REQUIRED
+ TCF ZONE1 # PARAMETERS.
+
+DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
+ CS FIREDB # THIS POINT IN THE PHASE PLANE?
+ DOUBLE
+ AD FIREFCT
+ EXTEND
+ BZMF +3
+COASTTJ CAF ZERO # NO. SET TJET = 0.
+ TCF RETURNTJ
+
+ TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
+ TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
+
+ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
+ CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
+ TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
+ TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
+ CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
+# Page 1464
+ ADS ADRSDIF2
+
+ +4 CAE L
+ EXTEND
+ INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
+ MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
+ DDOUBL # ABASED.
+ DDOUBL
+ DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
+ INDEX ADRSDIF2
+ CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
+ EXTEND
+ MP EDOT # SCALED AT PI/2(5)
+ TS TTOAXIS # SCALED AT 4 SEC.
+
+# TEST WHETHER TJET GREATER THAN 50 MSEC.
+
+ EXTEND
+ MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
+ AD HH # (SCALED AT 8 SEC(2) ).
+ AD NEG2
+ EXTEND
+ BZMF FORMULA1
+
+# TEST WHETHER TJET GREATER THAN 150 MSEC.
+
+ CAE TTOAXIS
+ EXTEND
+ MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
+ AD HH # (SCALED AT 8 SEC(2) )
+ AD -.0112A8
+ EXTEND
+ BZMF FORMULA2
+
+# IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
+# IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
+
+FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
+
+# RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
+
+RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
+ MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
+ INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
+ TS TJETU
+ EXTEND
+ INDEX AXISCTR
+ MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
+ CAE L
+ EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
+ BZMF +3 # A MAX-JET CALCULATION.
+ CAF FOUR
+# Page 1465
+ TS NUMBERT
+ TC HOLDQ # RETURN VIA SAVED Q.
+
+# TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
+
+FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
+ AD TTOAXIS # SCALED AT 4 SECONDS.
+ DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
+ EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
+ DV HH # DP H AND DIVIDE BY DENOMINATOR.
+ EXTEND
+ MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
+ TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
+
+# TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
+
+FORMULA2 EXTEND
+ DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
+ DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
+ # BE PRESERVED.
+ CAE TTOAXIS # SCALED AT 4 SEC.
+ AD .1AT4 # 0.1 SEC SCALED AT 4.
+ DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
+ EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
+ DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
+ EXTEND
+ MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
+ TCF RETURNTJ # END SUBROUTINE.
+
+# SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
+# REACHED BY TC FROM 3 POINTS IN TJETLAW.
+
+Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
+ TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
+ CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
+ EXTEND
+ INDEX ADRSDIF2
+ MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
+ TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
+ AD -TJMAX
+ EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
+ BZMF +2
+ TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
+ RETURN # YES. GO ON TO FIND TJET
+
+ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
+
+# IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
+# LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
+# Page 1466
+# OR ULLAGE, FLAT = 0
+
+ CAE FIREFCT # SCALED AT PI/4 RAD.
+ AD FLAT
+ EXTEND
+ BZMF ZONE1 # NOT IN SPECIAL ZONES.
+
+# FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
+
+ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
+ AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
+ EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
+ BZMF ZONE3
+ZONE2 CAE TTOAXIS # FIRE TO AXIS.
+ TCF RETURNTJ
+ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
+ CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
+ TCF RETURNTJ # TJET = +0.
+ TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
+ TCF RETURNTJ # TJET = +0.
+
+ZONE1 EXTEND
+ INDEX ADRSDIF1
+ SU AXISDIST # SCALED AT PI/4 RAD.
+ EXTEND
+ INDEX ADRSDIF2
+ MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
+ DDOUBL
+ DDOUBL
+ DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
+
+# TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
+# 2 2
+# IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS )
+
+ CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS.
+ AD -TJMAX # -.150 SECOND SCALED AT 4.
+ EXTEND
+ SQUARE
+ EXTEND
+ SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
+ EXTEND
+ BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
+
+# TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
+
+ CAE HH
+ AD NEG2
+ EXTEND
+ BZMF FORMULA3
+
+# Page 1467
+# TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
+
+ CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
+ DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
+ EXTEND # PRESERVED.
+ DV HH # QUOTIENT SCALED AT 4 SECONDS.
+ AD TTOAXIS # SCALED AT 4 SEC.
+ AD .0375AT4 # .0375 SEC SCALED AT 4.
+ TCF RETURNTJ # END COMPUTATION.
+
+# TJET - H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
+
+FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION
+ DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
+ EXTEND # PRESERVED.
+ DV HH # QUOTIENT SCALED AT 4 SECONDS.
+ AD TTOAXIS # SCALED AT 4 SEC.
+
+# IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
+# MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
+
+CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
+ EXTEND
+ BZMF COASTTJ # YES, SET TIME TO ZERO.
+ AD TJMIN # NO, RESTORE COMPUTED TIME.
+ TCF RETURNTJ # END COMPUTATION.
+
+# Page 1468
+# *** ROUGHLAW ***
+#
+# BEFORE ENTRY TO RUFLAW:
+# 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
+# 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
+# 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
+# (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
+#
+# RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.).
+# RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
+# RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
+
+RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
+ ADS EDOT # WHICH IS THE TARGET RATE
+ EXTEND
+ BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
+ TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
+ CAE EDOT # PICK UP DESIRED RATE CHANGE.
+
+RUFLAW12 EXTEND # COMPUTE TJET
+ INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
+ MP 1/ANET1 +2
+ AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
+ EXTEND # 4 SECONDS, SET TJET TO TJMAX.
+ BZMF +2
+ TCF FULLTIME
+ EXTEND
+ BZF FULLTIME
+ AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR
+ DAS A
+ DAS A
+ DAS A # RESCALED TJET AT 4 SECONDS.
+ TCF CHKMINTJ # RETURN AS FROM FINELAW.
+
+SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
+ CCS ROTSENSE
+ CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
+ TCF +2 # CORRESPONDING TO THE PROPER SENSE.
+ CAF NEGONE
+ ADS ADRSDIF2
+
+ CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
+ TCF RUFLAW12
+
+RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
+ CAF RUFRATE
+ AD EDOT # (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG.
+ TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
+ TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
+ TCF FULLTIME
+
+# Page 1469
+RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
+ INDEX ADRSDIF1
+ CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
+ AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
+ EXTEND # SCALED AT 4 PI RADIANS
+ MP BIT11
+ XCH EDOT
+ EXTEND
+ SQUARE
+ EXTEND
+ INDEX ADRSDIF1
+ MP 1/ANET1 +2
+ AD EDOT
+ EXTEND
+ BZMF COASTTJ # COAST IF BELOW IT.
+ TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
+
+# SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
+
+RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
+ TS ROTSENSE
+ +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
+ TS NUMBERT
+ CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS.
+ TS FIREFCT
+ TC Q
+
+# CONSTANTS FOR TJETLAW
+
+ DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
+AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR
+ DEC 16 # THE INDEXED AXIS AND THE U-AXIS.
+SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
+ # (4 SEC) TO SCALING FOR T6 (10.24 SEC).
+-3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
+-.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
+.1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
+.1AT2 DEC .05 # .1 SEC SCALED AT 2.
+.0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
+-.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
+-.025AT4 DEC -.00625
+-.05AT2 DEC -.025
+-.15AT2 DEC -.075
+.00375A8 2DEC .00375 B-3
+
+-TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
+TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
+-TJMIN DEC -.005
+RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
diff --git a/TPI_SEARCH.s b/TPI_SEARCH.s
new file mode 100644
index 0000000..b31452b
--- /dev/null
+++ b/TPI_SEARCH.s
@@ -0,0 +1,557 @@
+# Copyright: Public domain.
+# Filename: TPI_SEARCH.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 551-561
+# Mod history: 2009-05-15 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: On p. 551, "SETLOC P17S" -> P17S1.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 551
+# TPI SEARCH
+#
+# PROGRAM DESCRIPTION S17.1 AND S17.2
+#
+# FUNCTIONAL DESCRIPTION
+#
+# THE TPI SEARCH ROUTINE DETERMINES THE MINIMUM TOTAL VELOCITY TRANSFER TRAJECTORY FROM A GIVEN TPI
+# MANEUVER TIME WITHIN THE CONSTRAINT OF A SAFE PERICENTER. THIS VELOCITY IS THE SUM OF THE IMPULSIVE VELOCITIES
+# FOR THE TPI AND TPF MANEUVERS.
+#
+# THE S17.1 ROUTINE EXTRAPOLATES THE STATE VECTORS OF BOTH VEHICLES TO THE TPI TIME AND COMPUTES THE
+# RELATIVE PHASE ANGLE BETWEEN THE VEHICLES, THE ALTITUDE DIFFERENCE (I.E., THE MAGNITUDE DIFFERENCE OF THE
+# POSITION VECTORS) AND SELECTS A SEARCH SECTOR BASED ON THE SIGN OF THE ALTITUDE DIFFERENCE.
+#
+# THE S17.2 ROUTINE FURTHER DEFINES THE SEARCH SECTOR BY COMPUTING ANGULAR LIMITS AND USES THE TIME THETA
+# SUBROUTINE TO COMPUTE THE SEARCH START AND END TIMES. THE SEARCH IS THEN MADE IN AN ITERATIVE LOOP USING THE
+# LAMBERT SUBROUTINE TO COMPUTE TEH VELOCITIES REQUIRED AT TPI TIME AND AT TPF TIME. EXIT FROM THE SEARCH LOOP
+# IS MADE WHEN SOLUTION CRITERIA ARE MET (NORMAL EXIT) OR AS SOON AS IT IS EVIDENT THAT NO SOLUTION EXISTS IN
+# THE SECTOR SEARCHED.
+#
+# CALLING SEQUENCE
+#
+# BOTH ROUTINES ARE CALLED IN INTERPRETIVE CODE AND RETURN VIA QPRET. S17.1 HAS ONLY A NORMAL EXIT.
+# S17.2 RETURNS VIA QPRET FOR NORMAL EXIT AND TO ALARUMS FOR ERROR EXIT.
+#
+# SUBROUTINES CALLED
+#
+# CSMCONIC
+# LEMCONIC
+# TIMETHET
+# INITVEL
+
+ BANK 36
+ SETLOC P17S1
+ BANK
+
+ COUNT 36/TPI
+
+ EBANK= RACT3
+
+# **** TEMPORARY ****
+
+HPE 2DEC 157420.0 B-29 # EARTH'S MIN. PERICENTER ALTITUDE 85 N.M.
+
+HPL 2DEC 10668.0213 B-29 # MOON'S MIN. PERICENTER ALTITUDE 35000 FT.
+
+CDSEC 2DEC 40000
+
+CLSEC 2DEC 15000
+
+PIINVERS 2DEC .3183098862
+
+SEC1THET 2DEC .1944444444
+
+# Page 552
+SEC2THET 2DEC .9166666667
+
+MANYFEET 2DEC -1.0 B-2
+
+LIMVEL 2DEC .6096 E-2 B-7 # 2FPS
+
+DFTMOON 2DEC .1524 E3 B-29 # 500 FEET
+
+DP-.002 2DEC 0.002
+
+ SETLOC P17S
+ BANK
+S17.1 STQ DLOAD
+ NORMEX
+ TTPI
+ STCALL TDEC1 # ADVANCE PASSIVE VEHICLE TO TPI
+ LEMCONIC
+ CALL
+ LEMSTORE
+ DLOAD
+ TTPI
+ STCALL TDEC1 # ADVANCE ACTIVE VEHICLE TO TPI
+ CSMCONIC
+ CALL
+ CSMSTORE
+ VLOAD
+ RACT3
+ ABVAL PDVL # /RA/ 0D PL 2D
+ RPASS3
+ UNIT PDDL # UNIT RP 0D PL 6D
+ BDSU SET
+ 36D # /RP/ -/RA/
+ KFLAG # OFF = +
+ BMN CLEAR
+ +2
+ KFLAG # ON = -
+ STOVL DELHITE
+ 0D
+ VXV UNIT
+ VPASS3
+ STOVL E2 # ALMOST IT SAVE FOR 17.2
+ RACT3
+ PUSH VPROJ
+ E2
+ VSL2 BVSU # RPA
+ UNIT DOT
+ 0D
+ SL1 ACOS
+ PDVL
+ VXV DOT
+# Page 553
+ RACT3
+ E2
+ PDDL SIGN
+ STADR
+ STODL THETZERO # CENTRAL ANGLE
+ X1
+ STCALL XRS # SAVE INDICES FOR FURTHER USE
+ NORMEX # += ACTIVE AHEAD -= ACTIVE BEHIND
+S17.2 STQ VLOAD # COMPUTE SEARCH SECTOR LIMITS
+ QTEMP
+ RACT3
+ UNIT DOT
+ E2
+ ABS SQRT
+ SL1 DAD
+ DP-.002 # ADD .002 RADIANS TO IT
+ BON DCOMP # GIVES CORRECT SINE, COSINE MUST BE
+ KFLAG # COMP. ADD .5 FOR ANGLE
+ +1
+# PHI(0)=180-(-(THETAZERO +K5IT)), PHI(I)=180-(-THETAZERO+K2IT))
+# SIN(180-ALPHA)=SIN(ALPHA) ETC
+ DMP SETPD
+ PIINVERS # REVOLUTIONARY HERES TWO IT
+ 0D
+ PUSH DSU
+ THETZERO
+ STORE IT # PHI(I) , -(THETZERO + K2IT)
+ PDDL PUSH
+ SR1 DAD
+ DAD PUSH # PHI(0) , -(THETZERO + K5IT)
+ SIN SET
+ RVSW
+ STODL SNTH
+ COS BMN
+ +2
+ DCOMP
+ STODL CSTH
+ XRS
+ STOVL X1
+ RPASS3
+ VSR*
+ 0,2
+ STOVL RVEC
+ VPASS3
+ VSR*
+ 0,2
+ STCALL VVEC
+ TIMETHET
+ DLOAD # SAVE START TIME AND GET END TIME
+ T
+# Page 554
+ STORE TF
+ STODL TFO
+ IT
+ PUSH SIN
+ STODL SNTH
+ COS BMN
+ +2
+ DCOMP
+ STORE CSTH
+ LXA,1 CALL
+ XRS
+ TIMETHET
+# INITIALIZE LOOP
+ DLOAD CLEAR
+ T
+ ITSWICH
+ STODL TFI # SAVE TIME FOR LOOP TEST
+ DPPOSMAX
+ STODL DELVEE
+ MANYFEET
+ STODL HP
+ SEC1THET # 70 DEGREES
+ BON DLOAD
+ KFLAG
+ +2
+ SEC2THET # 330 DEGREES
+ STCALL THETL
+ CONCAUL
+BIS DLOAD SR1
+ CSTH
+ STODL COSTH
+ SNTH
+ SR1
+ STCALL SINTH # GET 4 QUADRANT THETA
+ ARCTRIG
+ BPL DAD
+ +2
+ DPPOSMAX # PUT THETA BETWEEN 0,1
+ BDSU PDDL
+ THETL
+ TF
+ DSU SIGN # FAST TIMES
+ TFI
+ BMN
+ RNGETEST # TIME MUST HAVE A STOP
+# ADVANCE PASSIVE FOR TARGET VECTOR
+CONCAUL DLOAD
+ TTPI
+ DAD BON
+ TF
+# Page 555
+ AVFLAG
+ ADVCSM
+ STCALL TDEC1
+ LEMCONIC
+ GOTO
+ JUNCT3
+ADVCSM STCALL TDEC1
+ CSMCONIC
+# SAVE BACK VALUES OF HP AND DELVEE
+JUNCT3 VLOAD
+ VATT
+ STOVL VPASS4
+ RATT
+ STORE RPASS4
+ STODL RTARG
+ TF
+ STODL DELLT4
+ HP
+ STODL HPO
+ DELVEE
+ STODL DELVEO
+# PREPARE FOR LAMBERT
+ TTPI
+ STODL INTIME
+ XRS
+ STODL RTX1
+ HI6ZEROS
+ SETPD PDDL
+ 0D
+ EPSFOUR
+ PDVL
+ RACT3
+ STOVL RINIT
+ VACT3
+ STCALL VINIT
+ INITVEL
+# COMPUTE H ET CETERA
+ VLOAD VSU
+ VTPRIME
+ VPASS4
+ ABVAL PUSH
+ STOVL RELDELV # /V2-VP(TPI+TF)/
+ DELVEET3 # V1-VA
+ ABVAL # /V1-VA/
+ STORE MAGVTPI
+ DAD STADR
+ STODL DELVEE
+ XRS
+ STOVL X1
+ VIPRIME
+# Page 556
+ VSR*
+ 0,2
+ STOVL VVEC
+ RACT3
+ VSR*
+ 0,2
+ STCALL RVEC
+ PERIAPO
+ LXA,2 DLOAD
+ XRS +1
+ SL*
+ 0,2
+ STORE HP
+# ITSWICH DENOTES INTERPOLATION -- SOLUTION ACCEPTANCE IS FORCED
+ BON DLOAD
+ ITSWICH
+ ENDEN
+ HPERMIN
+ DSU BMN
+ HP
+ HALFSAFE
+ PDDL DSU # WAS PERICENTER ALT SAFE
+ HPERMIN
+ HPO
+ BMN DSU # (HPLIM-HPO)-(HPLIM-HP)=HP-HPO
+ INTERP # SOLUTION AT HAND
+ BMN DLOAD
+ ALARUMS # IT'S GETTING WORSE -- SOUND THE ALARM
+ CDSEC
+JUNCT1 BOFF DCOMP # OFF IS PLUS, ON IS MINUS
+ KFLAG
+ +1
+ STORE DELTEE
+JUNCT2 DLOAD DAD
+ DELTEE
+ TF
+ STCALL TF
+ BIS # RECYCLE
+INTERP SET DSU # HP-HPO
+ ITSWICH
+ NORM PDDL
+ X1
+ DFTMOON
+ DAD DSU
+ HPERMIN
+ HP
+ NORM SR1
+ X2
+ XSU,2 DDV
+ X1
+# Page 557
+ DMP SR*
+ DELTEE
+ 0 -1,2
+ STCALL DELTEE
+ JUNCT2
+HALFSAFE PDDL DSU # SAVE HP-HPLIM FOR POSSIBLE
+ DELVEE
+ DELVEO # SAVE THIS TOO
+ PUSH ABS
+ DSU BMN
+ LIMVEL # 2 FT PS
+ ENDEN
+ DLOAD DSU
+ HPERMIN
+ HPO
+ PDDL
+ BMN DLOAD
+ LRGRDVO
+ BPL DLOAD
+ INTERP
+ DELTEE
+ SR1 DCOMP
+ STCALL DELTEE
+ JUNCT2
+LRGRDVO DLOAD
+ BMN DLOAD
+ JUNCT2
+ CLSEC
+ GOTO
+ JUNCT1
+# TIME RAN OUT ASSUME SOLUTION IF SAVE PERICENTER
+RNGETEST DLOAD DSU
+ HP
+ HPERMIN
+ BMN DLOAD
+ ALARUMS
+ TF
+ DSU
+ DELTEE
+ STORE TF # TIME OF SOLUTION
+ENDEN VLOAD
+ VTPRIME
+ DOT PDDL # SG2 WITH MAGNITUDE
+ RPASS4
+ RELDELV
+ SIGN STADR # NOW SIGN(RELDELV)=SIGN(SG2)
+ STCALL RELDELV
+ TRANSANG # COMPUTE OMEGA T, CENTRAL ANGLE
+ VLOAD DOT
+ RACT3
+# Page 558
+ VIPRIME # SG1
+ SIGN BPL # IF POSITIVE THEN SG1 = SG2 OTHERWISE
+ RELDELV
+ USEKAY # SIGN(SG2-SG1)=SIGN(SG2)=SIGN(RELDELV)
+ SLOAD DCOMP
+ DECTWO
+ SIGN BPL
+ RELDELV
+ NEXUS
+ DCOMP GOTO
+ USEKAY +4
+USEKAY SLOAD BON
+ DECTWO
+ KFLAG
+ NEXUS
+ DSU
+ P21ONENN
+NEXUS STODL NN1
+ HP
+ STCALL POSTTPI
+ QTEMP
+ BANK 07
+ SETLOC XANG
+ BANK
+ COUNT 07/XANG
+
+# CENTRAL ANGLE SUBROUTINE
+#
+# THIS SUBROUTINE COMPUTES THE CENTRAL ANGLE OF TRAVEL OF THE
+# PASSIVE VEHICLE DURING THE TRANSFER.
+
+TRANSANG STQ SETPD
+ SUBEXIT
+ 0
+ LXA,1 LXA,2
+ XRS
+ XRS +1
+ VLOAD VSR*
+ VPASS4
+ 0,2
+ STODL* VVEC
+ MUTABLE +2,1
+ PDVL VSR* # SQRT MU (+18 OR +15) 00D
+ RPASS4
+ 0,2
+ ABVAL PDDL* # MAGNITUDE OF R (+29 OR +27) 02D
+ MUTABLE,1
+ PDVL VSQ # 1/MU (+34 OR +28) 04D
+ VVEC
+ NORM DMPR # PUSH LIST AT 02D
+ X1
+# Page 559
+ DMP SRR*
+ 02D
+ 0 -3,1
+ BDSU # R V**/MU (+6)
+ D1/32
+ NORM PDDL
+ X1 # (2 - R V**/MU) (+6-N)
+ SR1R DDV # MAGNITUDE OF R (+30 OR +28)
+ SL* PUSH # R/(2 - R V**/MU) (+29 OR +27) 02D
+ 0 -5,1
+ SR1 SQRT
+ DMP
+ NORM PDDL # ASUBP*** 00D
+ X1
+ SR1 DDV
+ DMP SL*
+ TF
+ 0,1
+ PDDL NORM
+ 2PISC
+ X1
+ PDDL DDV
+ SL*
+ 0 -3,1 # CENTANG = (SQRT(MU/ASUP***)TF)
+ STCALL CENTANG # IN REVOLUTIONS B-0
+ SUBEXIT
+ BANK 35
+ SETLOC P17S1
+ BANK
+ COUNT 35/P17
+
+# TPI SEARCH DISPLAY ROUTNE
+
+P17 TC AVFLAGA # AVFLAG = CSM, SET TRACK + UPDATE FLAGS
+ TC P17.1
+P77 TC AVFLAGP # AVFLAG = LEM, SET TRACK + UPDATE FLAGS
+P17.1 TC P20FLGON # SET UPDATE FLAG
+ CAF V06N37 # DISPLAY TTPI TIME
+ TC VNP00H
+ TC INTPRET
+ CLEAR CALL
+ UPDATFLG
+ S17.1 # UPDATE STATE VECTORS TO TTPI
+ SET AXT,1
+ UPDATFLG
+ DEC 2 # DELTA H = 2 K POSITIVE, KFLAG OFF
+ BOFF AXT,1
+ KFLAG
+ +2
+ DEC 1 # DELTA H = 1 K NEGATIVE, KFLAG ON
+# Page 560
+ SXA,1 EXIT
+ OPTION2
+ CAF V06N72 # DISPLAY PHI, DELTA H, SEARCH OPTION K
+ TC VNCOMP17
+ TC INTPRET
+ CLEAR SET
+ UPDATFLG
+ KFLAG
+ SLOAD DSU
+ OPTION2 # RESET KFLAG ON FOR OPTION =1
+ P21ONENN # OFF FOR OPTION =2
+ BHIZ CLEAR
+ +2
+ KFLAG
+ SLOAD BHIZ
+ XRS +1
+ +4
+ DLOAD GOTO
+ HPL
+ P17.2
+ DLOAD
+ HPE
+P17.2 STCALL HPERMIN
+ S17.2
+ SET EXIT
+ UPDATFLG
+P17.3 CAF V06N58 # DISPLAY DELTA VTPI, DELTA VTPF, AND H
+ TC VNCOMP17
+ CAF V06N55 # DISPLAY PERICENTER CODE AND CENTRAL ANG,
+ TC BANKCALL
+ CADR GOFLASHR
+ TC GOTOP00H # TERMINATE PROGRAM
+ TC GOTOP00H # END PROGRAM
+ TC P17.1 # RECYCLE WITH NEW TTPI OR SEARCH OPTION
+ CAF TWO # BLANK R2
+ TC BLANKET
+ TCF ENDOFJOB
+ EBANK= RTRN
+
+VNCOMP17 EXTEND
+ QXCH QSAVED
+ TS VERBNOUN
+ CA VERBNOUN
+ TCR BANKCALL
+ CADR GOFLASH
+ TC -3 # TERMINATE ILLEGAL REDISPLAY
+ TC QSAVED # PROCEED
+ CS MPAC # RECYCLE WITH NEW TPI TIME
+ AD BIT6 # OR PROCEED WITH NEW SEARCH OPTION
+ EXTEND
+# Page 561
+ BZF P17.1
+ TC VNCOMP17 +3
+ALARUMS SET EXIT
+ UPDATFLG
+ TC ALARM
+ OCT 00124 # NO SAFE PERICENTER IN THIS SECTOR
+ CAF V05N09
+ TC VNCOMP17
+ TC GOTOP00H # PROCEED ILLEGAL TERMINATE PROGRAM
+V06N72 VN 0672
+
diff --git a/TRIM_GIMBAL_CNTROL_SYSTEM.s b/TRIM_GIMBAL_CNTROL_SYSTEM.s
new file mode 100644
index 0000000..226d0b5
--- /dev/null
+++ b/TRIM_GIMBAL_CNTROL_SYSTEM.s
@@ -0,0 +1,622 @@
+# Copyright: Public domain.
+# Filename: TRIM_GIMBAL_CNTROL_SYSTEM.agc
+# Purpose: Part of the source code for Luminary 1A build 099.
+# It is part of the source code for the Lunar Module's (LM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1472-1485
+# Mod history: 2009-05-27 RSB Adapted from the corresponding
+# Luminary131 file, using page
+# images from Luminary 1A.
+#
+# This source code has been transcribed or otherwise adapted from
+# digitized images of a hardcopy from the MIT Museum. The digitization
+# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
+# the Museum. Many thanks to both. The images (with suitable reduction
+# in storage size and consequent reduction in image quality as well) are
+# available online at www.ibiblio.org/apollo. If for some reason you
+# find that the images are illegible, contact me at info@sandroid.org
+# about getting access to the (much) higher-quality images which Paul
+# actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
+# 16:27 JULY 14, 1969
+
+# Page 1472
+ BANK 21
+ EBANK= QDIFF
+ SETLOC DAPS4
+ BANK
+
+ COUNT* $$/DAPGT
+
+# CONTROL REACHES THIS POINT UNDER EITHER OF THE FOLLOWING TWO CONDITIONS ONCE THE DESCENT ENGINE AND THE DIGITAL
+# AUTOPILOT ARE BOTH ON:
+# A) THE TRIM GIMBAL CONTROL LAW WAS ON DURING THE PREVIOUS Q,R-AXIS TIME5 INTERRUPT (OR THE DAPIDLER
+# INITIALIZATION WAS SET FOR TRIM GIMBAL CONTROL AND THIS IS THE FIRST PASS), OR
+# B) THE Q,R-AXES RCS AUTOPILOT DETERMINED THAT THE VEHICLE WAS ENTERING (OR HAD JUST ENTERED) A COAST
+# ZONE WITH A SMALL OFFSET ANGULAR ACCELERATION.
+# GTS IS THE ENTRY TO THE GIMBAL TRIM SYSTEM FOR CONTROLLING ATTITUDE ERRORS AND RATES AS WELL AS ACCELERATIONS.
+
+GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
+ TS COTROLER # THROUGH RCS CONTROL,
+ CAF FOUR # AND ENSURE THAT IT IS NOT A SKIP.
+ TS SKIPU
+ TS SKIPV
+
+ CAF TWO
+ TS INGTS # SET INDICATOR OF GTS CONTROL POSITIVE.
+ TS QGIMTIMR # SET TIMERS TO 200 MSEC TO AVOID BOTH
+ TS RGIMTIMR # RUNAWAY AND INTERFERENCE BY NULLING.
+
+# THE DRIVE SETTING ALGORITHM
+#
+# DEL = SGN(OMEGA + ALPHA*ABS(ALPHA)/(2*K))
+# 2 1/2 2 3/2
+# NEGUSUM = ERROR*K + ALPHA*(DEL*OMEGA + ALPHA /(3*K)) + DEL*K (DEL*OMEGA + ALPHA /(2*K))
+#
+# DRIVE = -SGN(NEGUSUM)
+
+ CA SR # SAVE THE SR. SHIFT IT LEFT TO CORRECT
+ AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
+ TS SAVESR
+
+GTSGO+DN CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
+ TCF GOQTRIMG +1
+
+GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
+ TS QRCNTR
+# Page 1473
+# RSB 2009 ---------------------------------------------------------------------
+# Everything between this line and the similar line below was simply filled-in
+# as-is from Luminary 131, and then verified to assemble to the proper binary
+# values. This area is blank on the Luminary 099 print-out, as if the
+# printer ribbon had run out.
+ INDEX QRCNTR # AOS SCALED AT PI/2
+ CA AOSQ
+ EXTEND
+ MP BIT2 # RESCALE AOS TO PI/4
+ EXTEND
+ BZF GTSQAXIS -3 # USE FULL SCALE FOR LARGER AOS ESTIMATES.
+
+ INDEX A
+ CS LIMITS # LIMITS +1 CONTAINS NEGMAX.
+ XCH L # LIMITS -1 CONTAINS POSMAX.
+
+ CCS QRCNTR # PICK UP RATE FOR THIS AXIS. RATE CELLS
+ INDEX A # USE ADJACENT, NOT SEPARATED. AT PI/4
+ CA EDOTQ
+GTSQAXIS DXCH WCENTRAL
+
+ INDEX QRCNTR # COLLECT K FOR THIS AXIS
+ CA KQ
+ TS KCENTRAL
+
+ EXTEND # CONTROL AUTHORITY ZERO. AVOID DRIVING
+ BZF POSDRIVE +1 # ENGINE BELL TO THE STOPS.
+
+ INDEX QRCNTR # QDIFF, RDIFF ARE STORED IN D.P.
+ CAE QDIFF
+
+ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
+ MP KCENTRAL # FORM K*ERROR AT PI(2)/2(8), IN D.P.
+ LXCH K2THETA
+ EXTEND
+ MP BIT5 # RESCALE TO 4*PI(2)
+ DXCH K2THETA
+ EXTEND
+ MP BIT5 # FIRST TERM OF NEGUSUM IN K2THETA.
+ ADS K2THETA +1 # NO CARRY NEEDED D.P. AT 4*PI(2)
+
+ CS ACENTRAL # FORM ALPHA(2)/(2*K) AT 16*PI, IN D.P.,
+ EXTEND # LIMITING QUOTIENT TO AVOID OVERFLOW.
+ MP BIT14 # -ALPHA/2 IN A, SCALED AT PI/4
+ EXTEND
+ MP ACENTRAL # -ALPHA(2)/2 IN A,L, SCALED AT PI(2)/16)
+ AD KCENTRAL
+ EXTEND
+ BZMF HUGEQUOT # K-ALPHA(2)/2 SHOULD BE PNZ FO DIVISION
+
+ EXTEND
+ DCS A # ALPHA(2)/2 - K
+ AD KCENTRAL
+# RSB 2009 ---------------------------------------------------------------------
+ EXTEND
+ DV KCENTRAL # HIGH ORDER OF QUOTIENT.
+ XCH A2CNTRAL
+ CA L # SHIFT UP THE REMAINDER.
+ LXCH 7 # ZERO LOW-ORDER DIVIDEND.
+ EXTEND
+# Page 1474
+ DV KCENTRAL
+ XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI, D.P.
+ TCF HAVEQUOT
+
+HUGEQUOT CA POSMAX
+ TS L
+ DXCH A2CNTRAL # LIMITED QUOTIENT STORED AT 16*PI, D.P.
+
+HAVEQUOT CA WCENTRAL
+ EXTEND
+ MP BIT9 # RESCALE OMEGA AT 16*PI IN D.P.
+ DXCH K2CNTRAL # LOWER WORD OVERLAYS OMEGA IN WCENTRAL
+
+ EXTEND
+ DCA K2CNTRAL
+ DXCH FUNCTION
+
+ CA ACENTRAL # GET ALPHA*ABS(ALPHA)/(2*K)
+ EXTEND
+ BZMF +4
+
+ EXTEND
+ DCA A2CNTRAL
+ TCF +3
+
+ EXTEND
+ DCS A2CNTRAL
+
+ DAS FUNCTION # OMEGA + ALPHA*ABS(ALPHA)/(2*K) AT 16*PI
+
+ CCS FUNCTION # DEL = +1 FOR FUNCT1 GREATER THAN ZERO.
+ TCF POSFNCT1 # OTHERWISE DEL = -1
+ TCF +2
+ TCF NEGFNCT1
+
+ CCS FUNCTION +1 # USE LOW ORDER WORD SINCE HIGH IS ZERO
+POSFNCT1 CAF BIT1
+ TCF +2
+NEGFNCT1 CS BIT1
+ TS DEL
+
+ CCS DEL # REPLACE OMEGA BY DEL*OMEGA
+ TCF FUNCT2 # POSITIVE DEL VALUE. PROCEED.
+ TCF DEFUNCT
+ TCF NEGFNCT2
+
+DEFUNCT TS K2CNTRAL
+ TS K2CNTRAL +1
+ TCF FUNCT2
+
+# Page 1475
+NEG1/3 DEC -.33333
+
+NEGFNCT2 EXTEND
+ DCS K2CNTRAL
+ DXCH K2CNTRAL
+
+FUNCT2 EXTEND
+ DCA A2CNTRAL
+ DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI, D.P.
+
+FUNCT3 CA A2CNTRAL
+ EXTEND
+ MP NEG1/3
+ DXCH A2CNTRAL
+ CA L
+ EXTEND
+ MP NEG1/3
+ ADS A2CNTRAL +1
+ TS L
+ TCF +2 # A2CNTRAL NOW CONTAINS -ALPHA(2)/(6*K),
+ ADS A2CNTRAL # SCALED AT 16*PI, IN D.P.
+
+ EXTEND
+ DCA K2CNTRAL # DEL*OMEGA + ALPHA(2)/(3*K) IN A2CNTRAL,
+ DAS A2CNTRAL # SCALED AT 16*PI, D.P.
+
+ CA A2CNTRAL
+ EXTEND
+ MP ACENTRAL
+ DAS K2THETA
+ CA A2CNTRAL +1
+ EXTEND
+ MP ACENTRAL # ACENTRAL MAY NOW BE OVERLAID.
+ ADS K2THETA +1
+ TS L
+ TCF +2 # TWO TERMS OF NEGUSUM ACCUMULATED, SO FAR
+ ADS K2THETA # SCALED AT 4*PI(2), IN D.P.
+
+GETROOT CA K2CNTRAL # K*(DEL*OMEGA + ALPHA(2)/(2*K)) IS THE
+ EXTEND # TERM FOR WHICH A SQUARE ROOT IS NEEDED.
+ MP KCENTRAL # K AT PI/2(8)
+ DXCH FUNCTION
+ CA K2CNTRAL +1
+ EXTEND
+ MP KCENTRAL
+ ADS FUNCTION +1
+ TS L
+ TCF +2
+ ADS FUNCTION # DESIRED TERM IN FUNCTION, AT PI(2)/16
+# Page 1476
+ CCS DEL
+ TCF RSTOFGTS
+ TCF NEGUSUM
+ TCF NEGATE
+ TCF NEGUSUM
+
+NEGATE EXTEND
+ DCS K2CNTRAL
+ DXCH K2CNTRAL
+ TCF RSTOFGTS
+
+ BANK 16
+ EBANK= NEGUQ
+ SETLOC DAPS1
+ BANK
+
+# THE WRCHN12 SUBROUTINE SETS BITS 9,10,11,12 OF CHANNEL 12 ON THE BASIS OF THE CONTENTS OF NEGUQ,NEGUR WHICH ARE
+# THE NEGATIVES OF THE DESIRED ACCELERATION CHANGES. ACDT+C12 SETS Q(R)ACCDOT TO REFLECT THE NEW DRIVES.
+#
+# WARNING: ACDT+C12 AND WRCHN12 MUST BE CALLED WITH INTERRUPT INHIBITED.
+
+BGIM OCTAL 07400
+CHNL12 EQUALS ITEMP6
+ACDT+C12 CS NEGUQ
+ EXTEND # GIMBAL DRIVE REQUESTS.
+ MP ACCDOTQ
+ LXCH QACCDOT
+ CS NEGUR
+ EXTEND
+ MP ACCDOTR
+ LXCH RACCDOT
+
+ CCS NEGUQ
+ CAF BIT10
+ TCF +2
+ CAF BIT9
+ TS CHNL12
+
+ CCS NEGUR
+ CAF BIT12
+ TCF +2
+ CAF BIT11
+ ADS CHNL12 # (STORED RESULT NOT USED AT PRESENT)
+
+ CS BGIM
+ EXTEND
+ RAND CHAN12
+ AD CHNL12
+ EXTEND
+ WRITE CHAN12
+# Page 1477
+ CS CALLGMBL # TURN OFF REQUEST FOR ACDT+C12 EXECUTION.
+ MASK RCSFLAGS
+ TS RCSFLAGS
+
+ TC Q # RETURN TO CALLER.
+
+ BANK 21
+ EBANK= QDIFF
+ SETLOC DAPS4
+ BANK
+
+# Page 1478
+# SUBROUTINE TIMEGMBL: MOD 0, OCTOBER 1967, CRAIG WORK
+#
+# TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL
+# THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R),
+# SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
+# ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON
+# DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
+# IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
+# WHICH IS NEGATIVE, ZERO, OR POSITIVE.
+#
+# INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
+#
+# OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12, NEGUQ, NEGUR, QACCDOT, AND RACCDOT, THE LAST SCALED AT PI/2(7).
+# Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S).
+#
+# DEBRIS: A, L, Q, ITEMPS 2, 3, 6, AND RUPTREG2 AND ACDT+C12 DEBRIS.
+#
+# EXITS: VIA TC Q.
+#
+# ALARMS, ABORTS: NONE.
+#
+# SUBROUTINES: ACDT+C12, IBNKCALL
+#
+# WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH
+# INTERRUPT INHIBITED.
+#
+# ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
+# NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
+# (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
+# NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
+# ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
+# (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT
+# ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
+# # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
+# AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
+# AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
+
+QRNDXER EQUALS ITEMP6
+OCT23146 OCTAL 23146 # DECIMAL .6
+NZACCDOT EQUALS ITEMP3
+
+TIMEGMBL CAF ONE # INITIALZE ALLOWGTS.
+ TS ALLOWGTS
+
+ CAF TWO # SET UP LOOP FOR R AXIS.
+ LXCH Q # SAVE RETURN ADDRESS.
+ LXCH RUPTREG2
+# Page 1479
+ TCF +2
+TIMQGMBL CAF ZERO # NOW DO THE Q-AXIS
+ TS QRNDXER
+ INDEX QRNDXER
+ CA ACCDOTQ # ACCDOT IS PRESUMED TO BE AT PI/2(7).
+ EXTEND
+ BZMF TGOFFNOW # IS ACCDOT LESS THAN OR EQUAL TO 0?
+ TS NZACCDOT # NO. STORE NON-ZERO, POSITIVE ACCDOT.
+
+ALPHATRY INDEX QRNDXER
+ CS AOSQ
+ EXTEND
+ BZF TGOFFNOW # IS ALPHA ZERO?
+
+ TS Q # SAVE A COPY OF -AOS.
+ EXTEND # NO. RESCALE FOR TIMEGMBL USE.
+ MP OCT23146 # OCTAL 23146 IS DECIMAL .6
+ AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8
+ TS L # WAS THERE OVERFLOW?
+ TCF SETNEGU # NO. COMPUTE DRIVE TIME.
+
+ CS A # RECOVER -SGN(AOS) IN THE A REGISTER.
+ INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST.
+ XCH NEGUQ
+ TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG.
+
+SETNEGU EXTEND
+ BZMF POSALPH
+
+ COM
+ TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
+ CS BIT1
+ TCF POSALPH +2
+POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
+ CA BIT1
+ +2 INDEX QRNDXER # SGN(AOS) INTO NEGU
+ TS NEGUQ # STORE SGN(ALPHA) AS NEGU
+
+ CA NZACCDOT
+ EXTEND
+ MP BIT12 # 2*ACCDOT, SCALED AT PI/8.
+ AD ITEMP2 # -ABS(ALPHS) + 2*ACCDOT, AT PI/8.
+ EXTEND
+ BZMF NOTALLOW # IS DRIVE TIME MORE THAN TWO SECONDS?
+ CS ITEMP2 # NO. COMPUTE DRIVE TIME.
+ EXTEND # ABS(ALPHA) AT PI/8.
+ MP OCT00240 # DECIMAL 10/1024
+ EXTEND # QUOTIENT IS DRIVE TIME AT WAITLIST.
+ DV NZACCDOT # ABS(ALPHA)/ACCDOT AT 2(14)/100
+# Page 1480
+ EXTEND
+ BZF TGOFFNOW # DRIVE TIME MUST BE GREATER THAN ZERO.
+
+ TCF DRIVEON
+
+TGOFFNOW CAF ZERO # TURN OFF GIMBAL NOW.
+ INDEX QRNDXER
+ TS NEGUQ
+
+ TCF DONEYET
+
+NOTALLOW CAF OCT31
+ INDEX QRNDXER
+ TS QGIMTIMR
+ CAF ZERO # DRIVE TIME IS MORE THAN 2 SECONDS, SO
+ TS ALLOWGTS # DO NOT PERMIT FURTHER GTS ATTITUDE-RATE
+ # CONTROL UNTIL AOSTASK APPROVES.
+ TCF DONEYET # NO WAITLIST CALL IS MADE.
+
+DRIVEON INDEX QRNDXER
+ TS QGIMTIMR # CHOOSE Q OR R AXIS.
+
+DONEYET CCS QRNDXER
+ TCF TIMQGMBL
+
+ DXCH RUPTREG3 # PROTECT IBNKCALL ERASABLES. ACDT+C12
+ DXCH ITEMP2 # LEAVES ITEMPS2,3 ALONE.
+
+ TC IBNKCALL # TURN OFF CHANNEL BITS, SET Q(R)ACCDOTS.
+ CADR ACDT+C12
+
+ DXCH ITEMP2 # RESTORE ERASABLES FOR IBNKCALL.
+ DXCH RUPTREG3
+
+ TC RUPTREG2 # RETURN TO CALLER.
+
+OCT00240 OCTAL 00240 # DECIMAL 10/1024
+
+# Page 1481
+# THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY. THE QUANTITY NEGUSUM
+# IS COMPUTED FOR EACH AXIS (Q,R), .707*DEL*FUNCTION(3/2) + K2THETA = NEGUSUM. NEW DRIVES ARE ENTERED TO CH 12.
+#
+# THE SUBROUTINE GTSQRT ACCEPTS A DOUBLE PRECISION VALUE IN FUNCTION, FUNCTION +1 AND RETURNS A SINGLE-PRECISION
+# SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY
+# EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
+# POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
+# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A, L, SHFTFLAG, ININDEX,
+# HALFARG, SCRATCH, SR, FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
+# ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
+
+GTSQRT CCS FUNCTION
+ TCF GOODARG # FUNCTION IS POSITIVE. TAKE SQUARE ROOT.
+ TCF +2 # HIGH ORDER WORD IS ZERO. TRY THE LOWER.
+ TCF ZEROOT # NEGATIVE. USE ZERO FOR 1/2 POWER.
+
+ CA FUNCTION +1
+ EXTEND
+ BZMF ZEROOT
+
+ TCF ZEROHIGH # PROCEED.
+ZEROOT CA ZERO
+ TS SHFTFLAG
+ TC Q
+
+ZEROHIGH XCH FUNCTION # 14 MOST SIGNIFICANT BITS ARE IN THE
+ XCH FUNCTION +1 # LOWER WORD. EXCHANGE THEM.
+ CA SEVEN
+ TCF GOODARG +1
+
+GOODARG CA ZERO
+ TS SHFTFLAG
+ CA TWELVE # INITIALIZE THE SCALING LOOP.
+ TS ININDEX
+ TCF SCALLOOP
+
+SCALSTRT CA FUNCTION
+ TCF SCALDONE
+
+MULBUSH CA NEG2 # IF ARG IS NOT LESS THAN 1/4, INDEX IS
+ ADS ININDEX # ZERO, INDICATING NO SHIFT NEEDED.
+ EXTEND # BRANCH IF ARG IS NOT LESS THAN 1/4.
+ BZMF SCALSTRT # OTHERWISE COMPARE ARG WITH A REFERENCE
+ # WHICH IS 4 TIMES LARGER THAN THE LAST.
+SCALLOOP CS FUNCTION
+ INDEX ININDEX
+ AD BIT15 # REFERENCE MAGNITUDE LESS OR EQUAL TO 1/4
+ EXTEND
+ BZMF MULBUSH # IF ARG IS NOT LESS THAN REFERENCE, GO
+ # AROUND THE MULBERRY BUSH ONCE MORE.
+# Page 1482
+ INDEX ININDEX
+ CA BIT15 # THIS IS THE SCALE MAGNITUDE
+ XCH HALFARG # 2**(-ININDEX) IS THE SHIFT DIVISOR.
+ EXTEND # RESCALE ARGUMENT.
+ DCA FUNCTION
+ EXTEND
+ DV HALFARG
+ # ININDEX AND SHFTFLAG PRESERVE INFO FOR
+ # RESCALING AFTER ROOT PROCESS.
+SCALDONE EXTEND
+ QXCH FUNCTION +1 # SAVE Q FOR RETURN
+ EXTEND
+ MP BIT14
+ TS HALFARG
+ MASK BIT13
+ CCS A
+ CA OCT11276
+ AD ROOTHALF # INITIAL GUESS IS ROOT 1/2 OR POSMAX
+ TC ROOTCYCL
+ TC ROOTCYCL
+ TC ROOTCYCL
+ TC FUNCTION +1
+
+# ***************************************************************************
+
+RSTOFGTS TC GTSQRT
+PRODUCT XCH K2CNTRAL
+ EXTEND
+ MP K2CNTRAL
+ DXCH K2CNTRAL
+ EXTEND # THE PRODUCT OF
+ MP L # 1/2 2 1/2
+ ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K))
+ TS L # AND
+ TCF +2 # 2
+ ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN
+ # K2CNTRAL
+
+DOSHIFT CA ININDEX
+ EXTEND # MULTIPLY IN THE FACTOR 2(-S), RETURNED
+ MP BIT14 # BY THE GTSQRT SUBROUTINE
+ ADS SHFTFLAG
+ EXTEND
+ BZF ADDITIN
+ INDEX SHFTFLAG
+ CA BIT15
+# Page 1483
+ XCH K2CNTRAL
+ EXTEND
+ MP K2CNTRAL
+ DAS K2THETA
+ XCH K2CNTRAL
+ EXTEND
+ MP K2CNTRAL +1
+ ADS K2THETA +1
+ TS L
+ TCF +2
+ ADS K2THETA
+
+ TCF NEGUSUM
+
+ADDITIN EXTEND
+ DCA K2CNTRAL
+ DAS K2THETA # NO ADD IN THE K2THETA TERM.
+NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART.
+ TCF NEGDRIVE
+ TCF +2
+ TCF POSDRIVE
+
+ CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART.
+NEGDRIVE CA BIT1
+ TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM.
+POSDRIVE CS BIT1
+ TS L # SAVE FOR DRIVE REVERSAL TEST.
+ INDEX QRCNTR
+ XCH NEGUQ
+
+ EXTEND
+ MP L # MULTIPLY OLD NEGU AND NEW NEGU.
+ CCS L
+ TCF LOUPE # NON-ZERO GIMBAL DRIVE BEING CONTINUED.
+
+ TCF ZEROLOUP # NO REVERSAL PROBLEM HERE.
+
+ TCF REVERSAL # NON-ZERO GIMBAL DRIVE BEING REVERSED.
+ TCF ZEROLOUP # NO REVERSAL PROBLEM HERE.
+
+REVERSAL INDEX QRCNTR # A ZERO-DRIVE PAUSE IS NEEDED HERE. ZERO
+ TS QACCDOT # IS IN A REGISTER FROM CCS ON (-1).
+ INDEX QRCNTR
+ CS GMBLBITA
+ EXTEND
+ WAND CHAN12
+
+ZEROLOUP CS RCSFLAGS # SET UP REQUEST FOR ACDT+C12 CALL.
+ MASK CALLGMBL
+ ADS RCSFLAGS
+# Page 1484
+LOUPE CCS QRCNTR # HAVE BOTH AXES BEEN PROCESSED?
+ TCF GOQTRIMG # NO. DO Q AXIS NEXT.
+
+ CA SAVESR # RESTORE THE SR
+ TS SR
+
+GOCLOSE EXTEND # TERMINATE THE JASK.
+ DCA CLOSEADR
+ DTCB
+
+ EBANK= AOSQ
+CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
+
+TWELVE EQUALS OCT14
+ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
+GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE *******
+OCT11276 OCTAL 11276 # POSMAX -- ROOTHALF
+GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE *******
+
+# SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68
+#
+# ROOTCYCL IS A SUBROUTINE WHICH EXECUTS ONE NEWTON SQUARE ALGORITHM ITERATION. THE INITIAL GUESS AT THE
+# SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXIMATION
+# TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A, L, SR, SCRATCH. ROOTCYCL IS CALLED FROM
+# LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
+#
+# WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
+
+ROOTCYCL TS SCRATCH # STORE X
+ TS SR # X/2 NOW IN SR
+ CA HALFARG # ARG/2 IN THE A REG
+ ZL # PREPARE FOR DIVISION
+ EXTEND
+ DV SCRATCH # (ARG/X)/2
+ AD SR # (X + ARG/X)/2 IN THE A REG
+ TC Q
+
+
diff --git a/TVCDAPS.s b/TVCDAPS.s
new file mode 100644
index 0000000..c6ba2ca
--- /dev/null
+++ b/TVCDAPS.s
@@ -0,0 +1,781 @@
+# Copyright: Public domain.
+# Filename: TVCDAPS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 961-978
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND,
+# added a missing instruction to PFORWARD.
+# 2000-05-21 RSB Wrong opcode was used with DELBRTMP and
+# DELBRTMP +1 operands in 4 places. Corrected
+# an MP operation in 2CASFLTR.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 961
+# PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
+# LOG SECTION....TVCDAPS SUBROUTINE....DAPCSM
+# MODIFIED BY SCHLUNDT 21 OCTOBER 1968
+#
+# FUNCTIONAL DESCRIPTION
+#
+# SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
+# FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
+# IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
+# (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
+# ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
+#
+# THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
+# EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
+# GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR
+# INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTERS
+# FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER.
+# CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
+#
+# THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
+# TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
+# REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
+# TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
+# MODING.
+#
+# CALLING SEQUENCE.... (TYPICALLY)
+#
+# T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
+# T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
+# T5 CALL OF PITCHDAP BY DAPINIT
+# T5 CALL OF YAWDAP BY PITCHDAP
+# T5 CALL OF PITCHDAP BY YAWDAP
+# ETC.
+# (AUTOMATIC SEQUENCING FROM TVCDAPON)
+#
+# NORMAL EXIT MODE....RESUME
+#
+# ALARM OR ABORT EXIT MODES....NONE
+#
+# SUBROUTINES CALLED....
+#
+# HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
+# PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
+# DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
+# ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND
+# OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND
+# YAW DAPS
+# FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
+# OUTPUTS AND STORAGE VALUES
+# RESUME
+#
+# Page 962
+# OTHER INTERFACES
+#
+# S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
+# S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
+# TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
+# TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
+#
+# ERASABLE INITIALIZATION REQUIRED....
+#
+# PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS)
+# CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
+# ENGINE-ON BIT (11.13) FOR RESTARTS
+# TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4)
+# T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
+# MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
+# INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN
+# CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY QUICTRIG1 (WITH
+# UPDATES EVERY 1/2 SECOND)
+# ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
+# UNLESS BENCH-TESTING.
+#
+# OUTPUT....
+#
+# TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL
+# COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
+# AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
+# OFFSET-TRACKER-FILTER OUTPUTS, ETC.
+#
+# DEBRIS....
+#
+# MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
+
+ BANK 17
+ SETLOC DAPS2
+ BANK
+
+ EBANK= BZERO
+
+ COUNT* $$/DAPS
+
+# Page 963
+# PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
+
+PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
+ EXTEND
+ QXCH QRUPT
+
+ CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
+ TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
+ CAE T5TVCDT
+ TS TIME5
+
+PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
+ TC HACK # TEST-START OR TEST-IN-PROGRESS
+ TCF +2 # NO-TEST
+ TC HACK # TEST-IN-PROGRESS
+
+PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
+ XCH PCDUYPST
+ EXTEND
+ MSU PCDUYPST
+ TCR RLIMTEST # RATE TEST
+ TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
+
+ CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW)
+ XCH PCDUZPST
+ EXTEND
+ MSU PCDUZPST
+ TCR RLIMTEST # RATE TEST
+ TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
+ TCF PINTEGRL
+
+RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
+ EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD
+ MP 1/RTLIM
+ EXTEND
+ BZF +3
+ CAF ZERO
+ TS TTMP1
+ CAE TTMP1
+ TC Q
+
+PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
+ DCA PERRB # ERROR, SC.AT B-1 REVS
+ DXCH ERRBTMP
+
+ EXTEND
+ DCA OMEGAYC
+ DAS ERRBTMP
+
+# Page 964
+ CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
+ EXTEND
+ MP COSCDUX
+ DDOUBL
+ EXTEND
+ MP MCDUYDOT
+ DDOUBL
+ DXCH OMEGAYB
+
+ CS MCDUZDOT
+ EXTEND
+ MP SINCDUX
+ DDOUBL
+ DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
+
+ EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
+ DCS OMEGAYB
+ DAS ERRBTMP
+
+PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
+
+PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
+ DCA PTMP1 # FOR THE PITCH CHANNEL
+ DXCH TMP1
+ EXTEND
+ DCA PTMP3
+ DXCH TMP3
+ EXTEND
+ DCA PTMP5
+ DXCH TMP5
+
+ TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
+ # (INCLUDES VARIABLE GAIN PACKAGE)
+
+POFFSET EXTEND
+ DCA PDELOFF
+ DAS CMDTMP # NO SCALED AT B+0 ASCREV
+
+PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
+
+POUT CS PCMD # INCREMENTAL PITCH COMMAND
+ AD CMDTMP
+ ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
+ # PROTECT. SINCE ERROR CNTR ZEROED)
+
+ CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
+ EXTEND
+ WOR CHAN14
+
+PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
+# Page 965
+ DCA PTMP2
+ DXCH TMP2
+ EXTEND
+ DCA PTMP4
+ DXCH TMP4
+ EXTEND
+ DCA PTMP6
+ DXCH TMP6
+
+ TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
+
+DELBARP CAE DELPBAR +1
+ EXTEND
+ MP E(-AT)
+ TS DELBRTMP +1
+ CAE DELPBAR
+ EXTEND
+ MP E(-AT)
+ DAS DELBRTMP
+ CAE CMDTMP
+ EXTEND
+ MP 1-E(-AT)
+ DAS DELBRTMP
+
+PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
+
+PDAPEND TCF RESUME # PITCH DAP COMPLETED
+# Page 966
+# PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
+
+PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
+ # NOTE POSSIBLE RE-ENTRY FROM RESTART
+ # PACKAGE, SHOULD A RESTART OCCUR
+ # DURING PITCH COPYCYCLE.
+
+ EXTEND
+ DCA TMP1
+ DXCH PTMP1
+ EXTEND
+ DCA TMP2
+ DXCH PTMP2
+ EXTEND
+ DCA TMP3
+ DXCH PTMP3
+ EXTEND
+ DCA TMP4
+ DXCH PTMP4
+ EXTEND
+ DCA TMP5
+ DXCH PTMP5
+ EXTEND
+ DCA TMP6
+ DXCH PTMP6
+
+PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
+ DCA ERRBTMP
+ TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
+ DXCH PERRB
+
+ CAE CMDTMP # PITCH ACTUATOR COMMAND
+ TS PCMD
+
+ EXTEND # PITCH OFFSET-TRACKER-FILTER
+ DCA DELBRTMP
+ DXCH DELPBAR
+
+ INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2)
+
+ TC Q
+
+# Page 967
+# YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
+
+YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
+ EXTEND
+ QXCH QRUPT
+
+ CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
+ TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
+ CAE T5TVCDT
+ TS TIME5
+
+YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
+ TC HACK # TEST-START OR TEST-IN-PROGRESS
+ TCF +2 # NO-TEST
+ TC HACK # TEST-IN-PROGRESS
+
+ # USE BODY RATES FROM PITCHDAP (PCDUDOTS)
+
+YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
+ DCA YERRB # ERROR, SC.AT B-1 REVS
+ DXCH ERRBTMP
+
+ EXTEND
+ DCA OMEGAZC
+ DAS ERRBTMP
+
+ CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
+ EXTEND
+ MP SINCDUX
+ DDOUBL
+ EXTEND
+ MP MCDUYDOT
+ DDOUBL
+ DXCH OMEGAZB
+
+ CS MCDUZDOT
+ EXTEND
+ MP COSCDUX
+ DDOUBL
+ DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
+
+ EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
+ DCS OMEGAZB
+ DAS ERRBTMP
+
+YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
+
+YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
+ DCA YTMP1 # FOR THE YAW CHANNEL
+# Page 968
+ DXCH TMP1
+ EXTEND
+ DCA YTMP3
+ DXCH TMP3
+ EXTEND
+ DCA YTMP5
+ DXCH TMP5
+
+ TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
+ # (INCLUDES VARIABLE GAIN PACKAGE)
+
+YOFFSET EXTEND
+ DCA YDELOFF
+ DAS CMDTMP # NOW SCALED AT B+0 ASCREV
+
+YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER
+
+YOUT CS YCMD # INCRMENTAL YAW COMMAND
+ AD CMDTMP
+ ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART-
+ # PROTECT, SINCE ERROR CNTR ZEROED)
+
+ CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
+ EXTEND
+ WOR CHAN14
+
+YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW
+ DCA YTMP2
+ DXCH TMP2
+ EXTEND
+ DCA YTMP4
+ DXCH TMP4
+ EXTEND
+ DCA YTMP6
+ DXCH TMP6
+
+ TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
+
+DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER
+ EXTEND
+ MP E(-AT)
+ TS DELBRTMP +1
+ CAE DELYBAR
+ EXTEND
+ MP E(-AT)
+ DAS DELBRTMP
+ CAE CMDTMP
+ EXTEND
+ MP 1-E(-AT)
+ DAS DELBRTMP
+
+# Page 969
+YCOPYCYC TCR YCOPY # YAW COPYCYCLE
+
+YDAPEND TCF RESUME # YAW DAP COMPLETED
+
+# Page 970
+# TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
+
+YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3)
+ # NOTE POSSIBLE RE-ENTRY FROM RESTART
+ # PACKAGE, SHOULD A RESTART OCCUR
+ # DURING YAW COPYCYCLE.
+
+ EXTEND
+ DCA TMP1
+ DXCH YTMP1
+ EXTEND
+ DCA TMP2
+ DXCH YTMP2
+ EXTEND
+ DCA TMP3
+ DXCH YTMP3
+ EXTEND
+ DCA TMP4
+ DXCH YTMP4
+ EXTEND
+ DCA TMP5
+ DXCH YTMP5
+ EXTEND
+ DCA TMP6
+ DXCH YTMP6
+
+YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
+ DCA ERRBTMP
+ TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
+ DXCH YERRB
+
+ CAE CMDTMP
+ TS YCMD
+
+ EXTEND
+ DCA DELBRTMP
+ DXCH DELYBAR
+
+ CAF ZERO # YAW COPYCYCLE COMPLETED
+ TS TVCPHASE # RESET TVCPHASE
+
+ TC Q
+
+# Page 971
+# SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
+
+# INITIALIZATION PACKAGE FOR CDURATES....
+
+DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
+
+ CAF NEGONE # SET UP
+ AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS
+ AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1)
+ AD T5TVCDT
+ TS TIME5
+ CAF PITCHT5 # (BBCON ALREADY THERE)
+ TS T5LOC
+
+ CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
+ TS PCDUYPST # PAST-VALUES
+ CAE CDUZ
+ TS PCDUZPST
+
+ TCF NOQRSM
+
+# BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
+
+ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
+ EXTEND # CHECKS UPPER WORD ONLY
+ MP 1/ERRLIM
+ EXTEND
+ BZF +6
+ CCS ERRBTMP
+ CAF ERRLIM
+ TCF +2
+ CS ERRLIM
+ TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
+
+ TC Q
+
+# ACTUATOR-COMMAND LIMITER PACKAGE....
+
+ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
+ DOUBLE
+ TS L
+ CAF ZERO
+ AD CMDTMP
+
+ EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
+ MP 1/ACTSAT
+ EXTEND
+# Page 972
+ BZF +6
+ CCS CMDTMP # APPLY LIMITS
+ CAF ACTSAT
+ TCF +2
+ CS ACTSAT
+ TS CMDTMP # LIMITS WRITE OVER CMDTMP
+
+ TC Q
+
+# FILTER COMPUTATIONS FOR PRESENT OUTPUT................
+
+FWDFLTR CAF ZERO
+ TS DAP1
+ TS DAP2
+ TS DAP3
+ TS CMDTMP
+
+ TS DELBRTMP
+
+1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE
+ EXTEND
+ MP N10 # N10
+ TS DAP1 +1
+ CA ERRBTMP
+ EXTEND
+ MP N10 # N10
+ DAS DAP1
+ DXCH TMP1
+ DAS DAP1
+
+2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE
+ EXTEND
+ MP N10 +5 # N20
+ TS DAP2 +1
+ CA DAP1
+ EXTEND
+ MP N10 +5 # N20
+ DAS DAP2
+ DXCH TMP3
+ DAS DAP2
+
+ CAE DAPDATR1 # TEST FOR LEM ON OR OFF
+ MASK BIT14
+ CCS A
+ TCF 3DAPCAS # LEM ON
+ EXTEND # LEM OFF
+ DCA DAP2
+ DXCH DAP3
+ TCF OPTVARK
+
+# Page 973
+3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE
+ EXTEND
+ MP N10 +10D # N30
+ TS DAP3 +1
+ CA DAP2
+ EXTEND
+ MP N10 +10D # N30
+ DAS DAP3
+ DXCH TMP5
+ DAS DAP3
+
+OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
+ EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP)
+ MP VARK # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE
+ TS CMDTMP +1
+ CS DAP3
+ EXTEND
+ MP VARK
+ DAS CMDTMP
+
+ DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS
+ DDOUBL
+ DDOUBL
+ DXCH CMDTMP # -- SCALED B+1 ASCREVS
+ # NOTE -- THERE IS AN INHERENT GAIN OF
+ # (B+1 ASCREVS) ON THE OUTPUT DACS.
+
+ TC Q
+
+# FILTER PRECOMPUTATIONS FOR NEXT PASS................
+
+PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
+ TS TTMP1
+ TS TTMP2
+
+ CA ERRBTMP +1 # MULTIPLY INPUT BY
+ EXTEND
+ MP N10 +1 # N11/2
+ TS TTMP1 +1
+ CA ERRBTMP
+ EXTEND
+ MP N10 +1 # N11/2
+ DAS TTMP1
+
+ CS DAP1 +1 # MULTIPLY OUTPUT BY
+ EXTEND
+ MP N10 +3 # D11/2
+ TS TTMP2 +1
+ CS DAP1
+
+# Page 974
+ EXTEND
+ MP N10 +3 # D11/2
+ DAS TTMP2
+
+ DXCH TTMP2
+ DAS TTMP1
+ DXCH TTMP1
+ DDOUBL
+ DAS TMP2
+
+ DXCH TMP2
+ DXCH TMP1
+
+ CAF ZERO
+ TS TTMP1
+ TS TMP2
+
+ CA ERRBTMP +1 # MULTIPLY INPUT BY
+ EXTEND # SECOND-ORDER NUMERATOR COEFF.
+ MP N10 +2 # N12
+ TS TTMP1 +1
+ CA ERRBTMP
+ EXTEND
+ MP N10 +2 # N12
+ DAS TTMP1
+
+ CS DAP1 +1 # MULTIPLY OUTPUT BY
+ EXTEND
+ MP N10 +4 # D12
+ TS TMP2 +1
+ CS DAP1
+ EXTEND
+ MP N10 +4 # D12
+ DAS TMP2
+
+ DXCH TTMP1
+ DAS TMP2
+
+2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER **********
+ TS TTMP1
+ TS TTMP2
+
+ CA DAP1 +1 # MULTIPLY INPUT BY
+ EXTEND
+ MP N10 +6 # N21/2
+ TS TTMP1 +1
+ CA DAP1
+ EXTEND
+ MP N10 +6 # N21/2
+# Page 975
+ DAS TTMP1
+
+ CS DAP2 +1 # MULTIPLY OUTPUT BY
+ EXTEND
+ MP N10 +8D # D21/2
+ TS TTMP2 +1
+ CS DAP2
+ EXTEND
+ MP N10 +8D # D21/2
+ DAS TTMP2
+
+ DXCH TTMP2
+ DAS TTMP1
+ DXCH TTMP1
+ DDOUBL
+ DAS TMP4
+
+ DXCH TMP4
+ DXCH TMP3
+
+ CAF ZERO
+ TS TTMP1
+ TS TMP4
+
+ CA DAP1 +1 # MULTIPLY INPUT BY
+ EXTEND # SECOND-ORDER NUMERATOR COEFF.
+ MP N10 +7 # N22
+ TS TTMP1 +1
+ CA DAP1
+ EXTEND
+ MP N10 +7 # N22
+ DAS TTMP1
+
+ CS DAP2 +1 # MULTIPLY OUTPUT BY
+ EXTEND
+ MP N10 +9D # D22
+ TS TMP4 +1
+ CS DAP2
+ EXTEND
+ MP N10 +9D # D22
+ DAS TMP4
+
+ DXCH TTMP1
+ DAS TMP4
+
+ CAE DAPDATR1 # TEST FOR LEM ON OR OFF
+ MASK BIT13
+ CCS A
+ TC Q # EXIT IF LEM OFF
+
+# Page 976
+3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER **********
+ TS TTMP1
+ TS TTMP2
+
+ CA DAP2 +1 # MULTIPLY INPUT BY (1/2)
+ EXTEND
+ MP N10 +11D # N31/2
+ TS TTMP1 +1
+ CA DAP2
+ EXTEND
+ MP N10 +11D # N31/2
+ DAS TTMP1
+
+ CS DAP3 +1
+ EXTEND
+ MP N10 +13D # D31/2
+ TS TTMP2 +1
+ CS DAP3
+ EXTEND
+ MP N10 +13D # D31/2
+ DAS TTMP2
+
+ DXCH TTMP2
+ DAS TTMP1
+ DXCH TTMP1
+ DDOUBL
+ DAS TMP6
+
+ DXCH TMP6
+ DXCH TMP5
+
+ CAF ZERO
+ TS TTMP1
+ TS TMP6
+
+ CA DAP2 +1 # MULTIPLY INPUT BY
+ EXTEND
+ MP N10 +12D # N32
+ TS TTMP1 +1
+ CA DAP2
+ EXTEND
+ MP N10 +12D # N32
+ DAS TTMP1
+
+ CS DAP3 +1
+ EXTEND
+ MP N10 +14D # D32
+ TS TMP6 +1
+ CS DAP3
+ EXTEND
+# Page 977
+ MP N10 +14D # D32
+ DAS TMP6
+
+ DXCH TTMP1
+ DAS TMP6
+
+ TC Q
+
+# Page 978
+# CONSTANTS FOR AUTOPILOTS
+
+# NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)
+# 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
+
+ACTSAT DEC 253 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV
+1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
+
+ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),
+1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
+
+PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS
+DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS
+YAWT5 GENADR YAWDAP # REQUIRED.
+
+1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG
+1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
+E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)
+
diff --git a/TVCEXECUTIVE.s b/TVCEXECUTIVE.s
new file mode 100644
index 0000000..578ab5b
--- /dev/null
+++ b/TVCEXECUTIVE.s
@@ -0,0 +1,273 @@
+# Copyright: Public domain.
+# Filename: TVCEXECUTIVE.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 945-950
+# Mod history: 2009-05-12 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: CAE -> CAF in one place.
+# 2009-05-21 RSB In 1SHOTCHK, a CAF SEVEN was corrected to
+# CAF SIX.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 945
+# PROGRAM NAME.... TVCEXECUTIVE, CONSISTING OF TVCEXEC, NEEDLEUP, VARGAINS
+# 1SHOTCHK, REPCHEK, CG.CORR, COPYCYCLES, ETC.
+# LOG SECTION.... TVCEXECUTIVE SUBROUTINE ....DAPCSM
+# MOD BY SCHLUNDT 21 OCTOBER 1968
+#
+# FUNCTIONAL DESCRIPTION....
+# *A SELF-PERPETUATING WAITLIST TASK AT 1/2 SECOND INTERVALS WHICH:
+# PREPARES THE ROLL WITH OGA (CDUX)
+# PREPARES THE ROLL FDAI NEEDLE (FLY-TO OGA ERROR)
+# PREPARES THE ROLL PHASE PLANE OGAERR (FLY-FROM OGA ERROR)
+# PREPARES THE TVC ROLLDAP TASK WAITLIST CALL (3 CS DELAY)
+# UPDATES THE NEEDLES DISPLAY
+# UPDATES THE VEHICLE MASS AND CALLS MASSPROP TO UPDATE INERTIA DATA
+# UPDATES PITCH, YAW, AND ROLL DAP GAINS FROM MASSPROP DATA
+# PERFORMS ONE-SHOT CORRECTION FOR TMC LOOP 0-3 SEC AFTER IGNITION
+# PERFORMS REPETITIVE UPDATES FOR THE TMC LOOP AFTER THE ONE-SHOT CORR.
+#
+# CALLING SEQUENCE....
+# *TVCEXEC CALLED AS A WAITLIST TASK, IN PARTICULAR BY TVCINIT4 AND BY
+# ITSELF, BOTH AT 1/2 SECOND INTERVALS
+#
+# NORMAL EXIT MODE.... TASKOVER
+#
+# ALARM OR ABORT EXIT MODES.... NONE
+#
+# SUBROUTINES CALLED....NEEDLER, S40.15, MASSPROP, TASKOVER, IBNKCALL
+#
+# OTHER INTERFACES....
+# *TVCRESTART PACKAGE FOR RESTARTS
+# *PITCHDAP, YAWDAP FOR VARIABLE GAINS AND ENGINE TRIM ANGLES
+#
+# ERASABLE INITIALIZATION REQUIRED....
+# *SEE TVCDAPON....TVCINIT4
+# *VARK AND 1/CONACC (S40.15 OF R03)
+# *PAD LOAD EREPFRAC
+# *BITS 15,14 OF FLAGWRD6 (T5 BITS)
+# *TVCEXPHS FOR RESTARTS
+# *ENGINE-ON BIT (11.13) FOR RESTARTS
+# *CDUX, OGAD
+#
+# OUTPUT....
+# *ROLL DAP OGANOW, FDAI NEEDLE= (AK). AND PHASE PLANE OGAERR
+# *VARIABLE GAINS FOR PITCH/YAW AND ROLL TVC DAPS
+# *SINGLE-SHOT AND REPETITIVE CORRECTIONS TO ENGINE TRIM ANGLES
+# PACTOFF AND YACTOFF
+#
+# DEBRIS.... MUCH, BUT SHAREABLE WITH RCS/ENTRY, ALL IN EBANK6
+
+# Page 946
+ BANK 16
+ SETLOC DAPROLL
+ BANK
+ EBANK= BZERO
+ COUNT* $$/TVCX
+
+TVCEXEC CS FLAGWRD6 # CHECK FOR TERMINATION (BITS 15,14 READ
+ MASK OCT60000 # 10 FROM TVCDAPON TO RCSDAPON)
+ EXTEND
+ BZMF TVCEXFIN # TERMINATE
+
+ CAF .5SEC # W.L. CALL TO PERPETUATE TVCEXEC
+ TC WAITLIST
+ EBANK= BZERO
+ 2CADR TVCEXEC
+
+ROLLPREP CAE CDUX # UPDATE ROLL LADDERS (NO NEED TO RESTART-
+ XCH OGANOW # PROTECT, SINCE ROLL DAPS RE-START)
+ XCH OGAPAST
+
+ CAE OGAD # PREPARE ROLL FDAI NEEDLE WTIH FLY-TO
+ EXTEND # ERROR (COMMAND - MEASURED)
+ MSU OGANOW
+ TS AK # FLY-TO OGA ERROR, SC.AT B-1 REVS
+
+ EXTEND # PREPARE ROLL DAP PHASE PLANE OGAERR
+ MP -BIT14
+ TS OGAERR # PHASE-PLANE (FLY-FROM) OGAERROR,
+ # SC.AT B+0 REVS
+
+ CAF THREE # SET UP ROLL DAP TASK (ALLOW SOME TIME)
+ TC WAITLIST
+ EBANK= BZERO
+ 2CADR ROLLDAP
+
+NEEDLEUP TC IBNKCALL # DO A NEEDLES UPDATE (RETURNS AFTER CADR)
+ CADR NEEDLER # (NEEDLES RESTARTS ITSELF)
+
+VARGAINS CAF BIT13 # CHECK ENGINE-ON BIT TO INHIBIT VARIABLE
+ EXTEND # GAINS AND MASS IF ENGINE OFF
+ RAND DSALMOUT # CHANNEL 11
+ CCS A
+ TCF +4 # ON, SO OK TO UPDATE GAINS AND MASS
+ +5 CAF TWO # OFF, SO BYPASS MASS/GAIN UPDATES,
+ TS TVCEXPHS # ALSO ENTRY FROM CCS BELOW WITH
+ TCF 1SHOTCHK # VCNTR = -0 (V97 R40 ENGFAIL)
+ CCS VCNTR # TEST FOR GAIN OF UPDATE TIME
+ TCF +4 # NOT YET
+# Page 947
+ TCF GAINCHNG # NOW
+ TCF +0 # NOT USED
+ TCF VARGAINS +5 # NO, LOTHRUST (S40.6 R40)
+
+ +4 TS VCNTRTMP # PROTECT VCNTR AND
+ CAE CSMMASS # CSMMASS DURING AN IMPULSIVE BURN
+ TS MASSTMP
+ TCF EXECCOPY
+
+GAINCHNG TC IBNKCALL # UPDATE IXX, IAVG, IAVG/TLX
+ CADR FIXCW # MASSPROP ENTRY (ALREADY INITIALIZED)
+ TC IBNKCALL # UPDATE 1/CONACC, VARK
+ CADR S40.15 # (S40.15 IS IN TVCINITIALIZE)
+ CS TENMDOT # UPDATE MASS FOR NEXT 10 SEC. OF BURN
+ AD CSMMASS
+ TS MASSTMP # KG B+16
+
+ CAF NINETEEN # RESET THE VARIABLE-GAIN UPDATE COUNTER
+ TS VCNTRTMP
+
+EXECCOPY INCR TVCEXPHS # RESTART-PROTECT TEH COPYCYCLE (1)
+
+ CAE MASSTMP # CSMMASS KG B+16
+ TS CSMMASS
+
+ CAE VCNTRTMP # VCNTR
+ TS VCNTR
+ TS V97VCNTR # FOR ENGFAIL (R41) MASS UPATES AT SPSOFF
+
+ INCR TVCEXPHS # COPYCYCLE OVER (2)
+
+1SHOTCHK CCS CNTR # CHECK FOR ONE-SHOT OR REPCORR
+ TCF +4 # NOT YET
+ TCF 1SHOTOK # NOW
+ TCF REPCHEK # ONE-SHOT OVER, ON TO REPCORR
+ TCF 1SHOTOK # NOW (ONE-SHOT ONLY, NO REPCORR)
+
+ +4 TS CNTRTMP # COUNT DOWN
+ CAF SIX # SETUP TVCEXPHS FOR ENTRY AT CNTRCOPY
+ TS TVCEXPHS
+ TCF CNTRCOPY
+
+REPCHEK CAE REPFRAC # CHECK FOR REPETITIVE UPDATES
+ EXTEND
+ BZMF TVCEXFIN # NO (NEG OR +-ZERO)
+ TS TEMPDAP +1 # YES, SET UP CORRECTION FUNCTION
+ CAF FOUR # SET UP TVCEXPHS FOR ENTRY AT CORSETUP
+ TS TVCEXPHS
+ TCF CORSETUP
+# Page 948
+1SHOTOK CAF BIT13 # CHECK ENGINE-ON BIT, NOT PERMITTING
+ EXTEND # SWITCHOVER DURING ENGINE-SHUTDOWN
+ RAND DSALMOUT
+ CCS A
+ TCF +2 # ONE-SHOT OK
+ TCF TVCEXFIN # NO, TERMINATE
+
+ INCR TVCEXPHS # (3)
+
+# RSB 2009. The following instruction was previously "CAE FCORFRAC", but FCORFRAC
+# is not in erasable memory as implied by the use of CAE. I've accordingly changed
+# it to CAF instead to indicate fixed memory.
+TEMPSET CAF FCORFRAC # SET UP CORRECTION FRACTION
+ TS TEMPDAP +1
+
+ INCR TVCEXPHS # ENTRY FROM REPCHECK AT NEXT LOCATION (4)
+
+CORSETUP CAE DAPDATR1 # CHECK FOR LEM-OFF/ON
+ MASK BIT13 # (NOTE, SHOWS LEM-OFF)
+ EXTEND
+ BZF +2 # LEM IS ON, PICK UP TEMPDAP+1
+ CAE TEMPDAP +1 # LEM IS OFF, PICK UP 2(TEMPDAP+1)
+ AD TEMPDAP +1
+ TS TEMPDAP # CG.CORR USES TEMPDAP
+
+ CAF NEGONE # SET UP FOR CNTR = -1 (SWTCHOVR DONE)
+ TS CNTRTMP # (COPYCYCLE AT "CNTRCOPY")
+
+CG.CORR EXTEND # PITCH TMC LOOP
+ DCA PDELOFF
+ DXCH PACTTMP
+ EXTEND
+ DCS PDELOFF
+ DDOUBL
+ DDOUBL
+ DXCH TTMP1
+ EXTEND
+ DCA DELPBAR
+ DDOUBL
+ DDOUBL
+ DAS TTMP1
+ EXTEND
+ DCA TTMP1
+ EXTEND
+ MP TEMPDAP
+ DAS PACTTMP
+
+ EXTEND # YAW TMC LOOP
+ DCA YDELOFF
+ DXCH YACTTMP
+ EXTEND
+ DCS YDELOFF
+ DDOUBL
+# Page 949
+ DDOUBL
+ DXCH TTMP1
+ EXTEND
+ DCA DELYBAR
+ DDOUBL
+ DDOUBL
+ DAS TTMP1
+ EXTEND
+ DCA TTMP1
+ EXTEND
+ MP TEMPDAP
+ DAS YACTTMP
+
+CORCOPY INCR TVCEXPHS # RESTART-PROTECT THE COPYCYCLE (5)
+
+ EXTEND # TRIM-ESTIMATES, AND
+ DCA PACTTMP
+ TS PACTOFF # TRIMS
+ DXCH PDELOFF
+
+ EXTEND
+ DCA YACTTMP
+ TS YACTOFF
+ DXCH YDELOFF
+
+ INCR TVCEXPHS # ENTRY FROM 1SHOTCHK AT NEXT LOCATION (6)
+
+CNTRCOPY CAE CNTRTMP # UPDATE CNTR (RESTARTS OK, FOLLOWS CPYCY)
+ TS CNTR
+
+TVCEXFIN CAF ZERO # RESET TVCEXPHS
+ TS TVCEXPHS
+ TCF TASKOVER # TVCEXECUTIVE FINISHED
+
+FCORFRAC OCT 10000 # ONE-SHOT CORRECTION FRACTION
+
+# Page 950 (page is empty)
+
diff --git a/TVCINITIALIZE.s b/TVCINITIALIZE.s
new file mode 100644
index 0000000..a220e87
--- /dev/null
+++ b/TVCINITIALIZE.s
@@ -0,0 +1,414 @@
+# Copyright: Public domain.
+# Filename: TVCINITIALIZE.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Jim Lawton <jim.lawton@gmail.com>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 936-944
+# Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file
+# of the same name, using Comanche055 page
+# images.
+# 2009-05-20 RSB Corrections: +80 -> +8D, added 4 missing
+# lines in TVCINIT1, changed the capitalization
+# of a couple of the "Page N" comments,
+# corrected a couple of lines in LOADCOEFF.
+# 2009-05-22 RSB In LOADCOEF, DXCH N10 +14D corrected to
+# TS N10 +14D. Also, various comment-marks
+# were added to comments following this
+# change.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 937
+# NAME TVCDAPON (TVC DAP INITIALIZATION AND STARTUP CALL)
+# LOG SECTION...TVCINITIALIZE SUBROUTINE...DAPCSM
+# MODIFIED BY SCHLUNDT 21 OCTOBER 1968
+# FUNCTIONAL DESCRIPTION
+# PERFORMS TVCDAP INITIALIZATION (GAINS, TIMING PARAMETERS, FILTER VARIABLES, ETC.)
+# COMPUTES STEERING (S40.8) GAIN KPRIMEDT, AND ZEROES PASTDELV,+1 VARIABLE
+# MAKES INITIALIZATION CALL TO "NEEDLER" FOR TVC DAP NEEDLES-SETUP
+# PERFORMS INITIALIZATION FOR ROLL DAP
+# CALLS TVCEXECUTIVE AT TVCEXEC, VIA WAITLIST
+# CALLS TVCDAP CDU-RATE INITIALIZATION PKG AT DAPINIT VIA T5
+# PROVIDES FOR LOADING OF LOW-BANDWIDTH COEFFS AND GAINS AT SWICHOVR
+# CALLING SEQUENCE - T5LOC=2CADR(TVCDAPON,EBANK=BZERO), T5=.6SECT5
+# IN PARTICULAR, CALLED BY "DOTVCON" IN P40
+# MRCLEAN AND TVCINIT4 ARE POSSIBLE TVC-RESTART ENTRY POINTS
+# NORMAL EXIT MODE
+# TCF RESUME
+# SUBROUTINES CALLED
+# NEEDLER, MASSPROP
+# ALARM OR ABORT EXIT MODES
+# NONE
+# ERASABLE INITIALIZATION REQUIRED
+# CSMMASS, LEMMASS, DAPDATR1 (FOR MASSPROP SUBROUTINE)
+# TVC PAD LOADS (SEE EBANK6 IN ERASABLE ASSIGNMENTS)
+# PACTOFF, YACTOFF, CDUX
+# TVCPHASE AND THE T5 BITS OF FLAGWRD6 (SET AT DOTVCON IN P40)
+# OUTPUT
+# ALL TVC AND ROLL DAP ERASABLES, FLAGWRD6 (BITS 13,14), T5, WAITLIST
+# DEBRIS
+# NONE
+
+ COUNT* $$/INIT
+ BANK 17
+ SETLOC DAPS7
+ BANK
+
+ EBANK= BZERO
+
+TVCDAPON LXCH BANKRUPT # T5 RUPT ARRIVAL (CALL BY DOTVCON - P40)
+ EXTEND # SAVE Q REQUIRED IN RESTART (MRCLEAN AND
+ QXCH QRUPT # TVCINIT4 ARE ENTRIES)
+MRCLEAN CAF NZERO # NUMBER TO ZERO, LESS ONE (MUST BE ODD)
+ # TVC RESTARTS ENTER HERE (NEW BANK)
+ +1 CCS A
+ TS CNTR
+ CAF ZERO
+ TS L
+ INDEX CNTR
+ DXCH OMEGAYC # FIRST (LAST) TWO LOCATIONS
+ CCS CNTR
+ TCF MRCLEAN +1
+# Page 938
+ EXTEND # SET UP ANOTHER T5 RUPT TO CONTINUE
+ DCA INITLOC2 # INITIALIZATION AT TVCINIT1
+ DXCH T5LOC # THE PHSCHK2 ENTRY (REDOTVC) AT TVCDAPON
+ CAF POSMAX # +3 IS IN ANOTHER BANK. MUST RESET
+ TS TIME5 # BBCON TOO (FULL 2CADR), FOR THAT
+ENDMRC TCF RESUME # ENTRY.
+
+TVCINIT1 LXCH BANKRUPT
+ EXTEND
+ QXCH QRUPT
+
+ TC IBNKCALL # UPDATE IXX, IAVG/TLX FOR DAP GAINS (R03
+ CADR MASSPROP # OR NOUNS 46 AND 47 MUST BE CORRECT)
+
+ CAE EMDOT # SPS FLOW RATE, SCALED B+3 KG/CS
+ EXTEND
+ MP ONETHOU
+ TS TENMDOT # 10-SEC MASS LOSS B+16 KG
+ COM
+ AD CSMMASS
+ TS MASSTMP # DECREMENT FOR FIRST 10 SEC OF BURN
+
+ CAE DAPDATR1 # CHECK LEM-ON/OFF
+ MASK BIT14
+ CCS A
+ CAF BIT1 # LEM-ON (BIT1)
+ TS CNTR # LEM-OFF (ZERO)
+
+ INDEX CNTR # LOAD THE FILTER COEFFICIENTS
+ CAF CSMCFADR
+ TS COEFFADR
+ TC LOADCOEF
+
+ INDEX CNTR # PICK UP LM-OFF,-ON KTLX/I
+ CAE EKTLX/I # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE
+ TS KTLX/I
+
+ TCR S40.15 # COMPUTE 1/CONACC, VARK
+
+TVCINIT2 CS CNTR # PICK LM-OFF,-ON VALUE FOR FILTER PERIOD
+ INDEX A # DETERMINATION:
+ CAF BIT2 # BIT2 FOR CSM ONLY 40MS FILTER
+ TS KPRIMEDT # BIT3 FOR CSM/LM 80MS FILTER
+
+ COM # PREPARE T5TVCDT
+ AD POSMAX
+ AD BIT1
+ TS T5TVCDT
+
+ CS BIT15 # RESET SWTOVER FLAG
+# Page 939
+ MASK FLAGWRD9
+ TS FLAGWRD9
+
+ INDEX CNTR # PICK UP LEM-OFF,-ON KPRIME
+ CAE EKPRIME # SCALED (100 PI)/16
+ EXTEND
+ MP KPRIMEDT # (TVCDT/2, SC.AT B+14 CS)
+ LXCH A # SC.AT PI/8 (DIMENSIONLESS)
+ DXCH KPRIMEDT
+
+ INDEX CNTR # PICK UP LEM-OFF,-ON REPFRAC
+ CAE EREPFRAC
+ TS REPFRAC
+
+ INDEX CNTR # PICK UP ONE-SHOT CORRECTION TIME
+ CAF TCORR
+ TS CNTR
+
+ CAF NEGONE # PREVENT STROKE TEST UNTIL CALLED
+ TS STRKTIME
+
+ CAF NINETEEN # SET VCNTR FOR VARIABLE-GAIN UPDATES IN
+ TS VCNTR # 10 SECONDS (TVCEXEC 1/2 SEC RATE)
+ TS V97VCNTR # FOR ENGFAIL (R41) LOGIC
+
+TVCINIT3 CAE PACTOFF # TRIM VALUES TO TRIM-TRACKERS, OUTPUT
+ TS PDELOFF # TRACKERS, OFFSET-UPDATES, AND
+ TS PCMD # OFFSET-TRACKER FILTERS
+ TS DELPBAR # NOTE, LO-ORDER DELOFF,DELBAR ZEROED
+
+ CAE YACTOFF
+ TS YDELOFF
+ TS YCMD
+ TS DELYBAR
+
+ATTINIT CAE DAPDATR1 # ATTITUDE-ERROR INITIALIZATION LOGIC
+ MASK BIT13 # TEST FOR CSM OR CSM/LM
+ EXTEND
+ BZF NEEDLEIN # BYPASS INITIALIZATION FOR CSM/LM
+
+ CAF BIT1 # SET UP TEMPORARY COUNTER
+ +5 TS TTMP1
+
+ INDEX TTMP1
+ CA ERRBTMP # ERRBTMP CONTAINS RCS ATTITUDE ERRORS
+ EXTEND # ERRORY & ERRORZ (P40 AT DOTVCON)
+ MP 1/ATTLIM # .007325(ERROR) = 0 IF ERROR < 1.5 DEG
+ EXTEND
+ BZF +8D # |ERROR| LESS THAN 1.5 DEG
+ EXTEND
+# Page 940
+ BZMF +3 # |ERROR| > 1.5 DEG, AND NEG
+ CA ATTLIM # |ERROR| > 1.5 DEG, AND POS
+ TCF +2
+ +3 CS ATTLIM
+ +2 INDEX TTMP1
+ TS ERRBTMP
+ +8 CCS TTMP1 # TEST TEMPORARY COUNTER
+ TCF ATTINIT +5 # BACK TO REPEAT FOR PITCH ERROR
+
+ CA ERRBTMP # ERROS ESTABLISHED AND LIMITED
+ TS PERRB
+ CA ERRBTMP +1
+ TS YERRB
+
+NEEDLEIN CS RCSFLAGS # SET BIT 3 FOR INITIALIZATION PASS AND GO
+ MASK BIT3 # TO NEEDLER. WILL CLEAR FOR TVC DAP
+ ADS RCSFLAGS # (RETURNS AFTER CADR)
+ TC IBNKCALL
+ CADR NEEDLER
+
+TVCINIT4 CAF ZERO # SET TVCPHASE TO INDICATE TVCDAPON-THRU-
+ TS TVCPHASE # NEEDLEIN INITIALIZATION FINISHED.
+ # (POSSIBLE TVC-RESTART ENTRY)
+
+ CAE CDUX # PREPARE ROLL DAP
+ TS OGANOW
+
+ CAF BIT13 # IF ENGINE IS ALREADY OFF, ENGINOFF HAS
+ EXTEND # ALREADY ESTABLISHED THE POST-BURN
+ RAND DSALMOUT # CSMMASS (MASSBACK DOES IT). DON'T
+ EXTEND # TOUCH CSMMASS. IF ENGINE IS ON,
+ BZF +3 # THEN IT'S OK TO DO THE COPYCYCLE
+ # EVEN BURNS LESS THAN 0.4 SEC ARE AOK
+
+ CAE MASSTMP # COPYCYCLE
+ TS CSMMASS
+
+ +3 CAF .5SEC # CALL TVCEXECUTIVE (ROLLDAP CALL, ETC)
+ TC WAITLIST
+ EBANK= BZERO
+ 2CADR TVCEXEC
+
+ EXTEND # CALL FOR DAPINIT
+ DCA DAPINIT5
+ DXCH T5LOC
+ CAE T5TVCDT # (ALLOW TIME FOR RESTART COMPUTATIONS)
+ TS TIME5
+# Page 941
+ENDTVCIN TCF RESUME
+
+PRESWTCH TCR SWICHOVR # ENTRY FROM V46
+
+ TC POSTJUMP # THIS PROVIDES AN EXIT FROM SWITCH-OVER
+ CADR PINBRNCH # (PINBRNCH DOES A RELINT)
+
+SWICHOVR INHINT
+ CA TVCPHASE # SAVE TVCPHASE
+ TS PHASETMP
+ CS BIT2 # SET TVCPHASE = -2 (INDICATES SWITCH-OVER
+ TS TVCPHASE # TO RESTART LOGIC)
+
+ +5 EXTEND # SAVE Q FOR RETURN (RESTART ENTRY POINT,
+ QXCH RTRNLOC # TVCPHASE AND PHASETMP ALREADY SET)
+
+ CAF NZEROJR # ZEROING LOOP FOR FILTER STORAGE LOCS
+ +8 TS CNTRTMP
+
+MCLEANJR CA ZERO
+ TS L
+ INDEX CNTRTMP
+ DXCH PTMP1 -1
+ CCS CNTRTMP
+ CCS A
+ TCF SWICHOVR +8D
+
+ CS FLAGWRD9 # SET SWITCHOVER FLAG FOR DOWNLINK
+ MASK BIT15
+ ADS FLAGWRD9
+
+ CAE EKTLX/I +2 # LOW BANDWIDTH GAINS - DAP
+ TS KTLX/I
+ TCR S40.15 +7
+
+ CAF FKPRIMDT # - STEERING
+ TS KPRIMEDT
+
+ CAF FREPFRAC # - TMC LOOP
+ TS REPFRAC
+
+ EXTEND # UPDATE TRIM ESTIMATES
+ DCA DELPBAR
+ DXCH PDELOFF
+ EXTEND
+ DCA DELYBAR
+ DXCH YDELOFF
+
+ CA LBCFADR
+# Page 942
+ TS COEFFADR
+ TC LOADCOEF
+
+ CAE PHASETMP # RESTORE TVCPHASE
+ TS TVCPHASE
+
+ TC RTRNLOC # BACK TO PRESWTCH OR TVCRESTARTS
+
+LOADCOEF EXTEND # LOAD DAP FILTER COEFFICIENTS
+ INDEX COEFFADR # FROM: ERASABLE FOR CSM/LM HB
+ DCA 0 # FIXED FOR CSM/LM LB
+ DXCH N10 # FIXED FOR CSM
+
+ EXTEND # NOTE: FOR CSM/LM, NORMAL COEFFICIENT
+ INDEX COEFFADR # LOAD WILL BE HIGH BANDWIDTH PAD LOAD
+ DCA 2 # ERASABLES. DURING CSM/LM SWITCHOVER,
+ DXCH N10 +2 # THIS LOGIC IS USED TO LOAD LOW BANDWIDTH
+ # COEFFICIENTS FROM FIXED MEMORY.
+
+ EXTEND
+ INDEX COEFFADR
+ DCA 4
+ DXCH N10 +4
+
+ EXTEND
+ INDEX COEFFADR
+ DCA 6
+ DXCH N10 +6
+
+ EXTEND
+ INDEX COEFFADR
+ DCA 8D
+ DXCH N10 +8D
+
+ EXTEND
+ INDEX COEFFADR
+ DCA 10D
+ DXCH N10 +10D
+
+ EXTEND
+ INDEX COEFFADR
+ DCA 12D
+ DXCH N10 +12D
+
+ INDEX COEFFADR
+ CA 14D
+ TS N10 +14D
+
+ TC Q
+# Page 943
+S40.15 CAE IXX # GAIN COMPUTATIONS (1/CONACC, VARK)
+ EXTEND # ENTERED FROM TVCINITIALIZE AND TVCEXEC
+ MP 2PI/M # 2PI/M SCALED 1/(B+8 N M)
+ DDOUBL # IXX SCALED B+20 KG-MSQ
+ DDOUBL
+ DDOUBL
+ TS 1/CONACC # SCALED B+9 SEC-SQ/REV
+
+ +7 CAE KTLX/I # ENTRY FROM CSM/LM V46 SWITCH-OVER
+ EXTEND # SCALED (B+3 ASCREV) 1/SECSQ
+ MP IAVG/TLX # SCALED B+2 SECSQ
+ DDOUBL
+ DDOUBL
+ TS VARK # SCALED (B+3 ASCREV)
+ TC Q
+
+CSMN10 DEC .99999 # N10 CSM ONLY FILTER COEFFICIENTS
+ DEC -.2549 # N11/2
+ DEC .0588 # N12
+ DEC -.7620 # D11/2
+ DEC .7450 # D12
+
+ DEC .99999 # N20
+ DEC -.4852 # N21/2
+ DEC 0 # N22
+ DEC -.2692 # D22/2
+ DEC 0 # D22
+
+LBN10 DEC +.99999 # N10 LOW BANDWIDTH FILTER COEFFICIENTS
+ DEC -.3285 # N11/2
+ DEC -.3301 #N12
+ DEC -.9101 #D11/2
+ DEC +.8460 #D12
+
+ DEC +.03125 #N20
+ DEC 0 #N21/2
+ DEC 0 #N22
+ DEC -.9101 #D21/2
+ DEC +.8460 #D22
+
+ DEC +.50000 #N30
+ DEC -.47115 #N31/2
+ DEC +.4749 #N32
+ DEC -.9558 #D31/2
+ DEC +.9372 #D32
+
+CSMCFADR GENADR CSMN10 # CSM ONLY COEFFICIENTS ADDRESS
+HBCFADR GENADR HBN10 # HIGH BANDWIDTH COEFFICIENTS ADDRESS
+# Page 944
+LBCFADR GENADR LBN10 # LOW BANDWIDTH COEFFICIENTS ADDRESS
+
+NZERO DEC 51 # MUST BE ODD FOR MRCLEAN
+NZEROJR DEC 23 # MUST BE ODD FOR MCLEANJR
+
+ATTLIM DEC 0.00833 # INITIAL ATTITUDE EROR LIMIT (1.5 DEG)
+1/ATTLIM DEC 0.007325 # .007325(ERROR) = 0 IF ERROR < 1.5 DEG
+
+TCORR OCT 00005 # CSM
+ +1 OCT 00000 # CSM/LM (HB,LB)
+
+FKPRIMDT DEC .0102 # CSM/LM (LB), (.05 X .08) SCALED AT PI/8
+FREPFRAC DEC .0375 B-2 # CSM/LM (LB), 0.0375 SCALED AT B+2
+
+NINETEEN = VD1
+2PI/M DEC .00331017 B+8 # 2PI/M, SCALED AT 1/(B+8 N-M)
+
+ONETHOU DEC 1000 B-13 # KG/CS B3 TO KG/10SEC B16 CONVERSION
+
+ EBANK= BZERO
+DAPINIT5 2CADR DAPINIT
+
+ EBANK= BZERO
+INITLOC2 2CADR TVCINIT1
+
diff --git a/TVCMASSPROP.s b/TVCMASSPROP.s
new file mode 100644
index 0000000..3847483
--- /dev/null
+++ b/TVCMASSPROP.s
@@ -0,0 +1,239 @@
+# Copyright: Public domain.
+# Filename: TVCMASSPROP.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 951-955
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 951
+# PROGRAM NAME....MASSPROP
+# LOG SECTION....TVCMASSPROP PROGRAMMER...MELANSON (ENGEL, SCHLUNDT)
+#
+# FUNCTIONAL DESCRIPTION:
+#
+# MASSPROP OPERATES IN TWO MODES: (1) IF LEM MASS OR CONFIGURATION ARE UPDATED (MASSPROP DOES NOT TEST
+# FOR THIS) THE ENTIRE PROGRAM MUST BE RUN THROUGH, BREAKPOINT VALUES AND DERIVATIVES OF THE OUTPUTS WITH
+# RESPECT TO CSM MASS BEING CALCULATED PRIOR TO CALCULATION OF THE OUTPUTS. (2) OTHERWISE, THE OUTPUTS CAN BE
+# CALCULATED USING PREVIOUSLY COMPUTED BREAKPOINT VALUES AND DERIVATIVES.
+#
+# CALLING SEQUENCES
+#
+# IF LEM MASS OR CONFIGURATION HAS BEEN UPDATED, TRANSFER TO MASSPROP, OTHERWISE TRANSFER TO FIXCW.
+# L TC BANKCALL or IBNKCALL
+# L+1 CADR MASSPROP
+# OR
+# L+1 CADR FIXCW
+# L+2 RETURNS VIA Q
+#
+# CALLED: IN PARTICULAR BY DONOUN47 (JOB) AND TVCEXECUTIVE (TASK)
+#
+# JOBS OR TASKS INITIATED: NONE
+#
+# SUBROUTINES CALLED: NONE
+#
+# ERASABLE INITIALIZATION REQUIRED
+#
+# LEMMASS MUST CONTAIN LEM MASS SCALED AT B+16 KILOGRAMS
+# CSMMASS MUST CONTAIN CSM MASS SCALED AT B+16 KILOGRAMS
+# DAPDATR1 MUST BE SET TO INDICATE VEHICLE CONFIGURATION.
+# BITS (15,14,13) = ( 0 , 0 , 1 ) LEM OFF
+# ( 0 , 1 , 0 ) LEM ON (ASCNT,DSCNT)
+# ( 1 , 1 , 0 ) LEM ON (ASCNT ONLY)
+#
+# ALARMS: NONE
+#
+# EXIT: TC Q
+#
+# OUTPUTS:
+#
+# (1) IXX, SINGLE PRECISION SCALED AT B+20 IN KG-M SQ.
+# (2) IAVG, SINGLE PRECISION SCALED AT B+20 IN KG-M SQ.
+# (3) IAVG/TLX, SINGLE PRECISION, SCALED AT B+2 SEC-SQD
+#
+# THEY ARE STORED IN CONSECUTIVE REGISTERS IXX0, IXX1, IXX2
+# CONVERSION FACTOR: (SLUG-FTSQ) = 0.737562 (KG-MSQ)
+# Page 952
+#
+# OUTPUTS ARE CALCULATED AS FOLLOWS:
+#
+# (1) IF LEM DOCKED, LEMMASS IS FIRST ELIMINATED AS A PARAMETER
+#
+# VARST0 = INTVALUE0 + LEMMASS(SLOPEVAL0) IXX BREAKPOINT VALUE
+# VARST1 = INTVALUE1 + LEMMASS(SLOPEVAL1) IAVG BREAKPOINT VALUE
+# VARST2 = INTVALUE2 + LEMMASS(SLOPEVAL2) IAVG/TLX BREAKPOINT VALUE
+#
+# VARST3 = INTVALUE3 + LEMMASS(SLOPEVAL3) IAVG/TLX SLOPE FOR CSMMASS > 33956 LBS (SPS > 10000 LBS)
+# VARST4 = INTVALUE4 + LEMMASS(SLOPEVAL4) IAVG SLOPE FOR CSMMASS > 33956 LBS (SPS > 10000 LBS)
+#
+# VARST5 = INTVALUE5 + LEMMASS(SLOPEVAL5) IXX SLOPE FOR ALL VALUES OF CSMMASS
+#
+# VARST6 = INTVALUE6 + LEMMASS(SLOPEVAL6) IAVG SLOPE FOR CSMMASS < 33956 LBS (SPS < 10000 LBS)
+# VARST7 = INTVALUE7 + LEMMASS(SLOPEVAL7) IAVG/TLX SLOPE FOR CSMMASS < 33956 LBS (SPS < 10000 LBS)
+#
+# VARST8 = INTVALUE8 + LEMMASS(SLOPEVAL8) IAVG DECREMENT TO BRKPT VALUE WHEN LEM DSCNT STAGE OFF
+# VARST9 = INTVALUE9 + LEMMASS(SLOPEVAL9) IAVG/TLX DECREMENT TO BRKPT VALUE WHEN LEM DSCNT STAGE OFF
+#
+# (2) IF LEM NOT DOCKED
+#
+# VARST0 = NOLEMVAL0 WHERE THE MEANING AND SCALING OF VARST0
+# . TO VARST9 ARE THE SAME AS GIVEN ABOVE
+# .
+# . NOTE... FOR THIS CASE, VARST8,9 HAVE NO
+# VARST9 = NOLEMVAL9 MEANING (THEY ARE COMPUTED BUT NOT USED)
+#
+# (3) THE FINAL OUTPUT CALCULATIONS ARE THEN DONE
+#
+# IXX0 = VARST0 + (CSMMASS + NEGBPW)VARST5 IXX
+#
+# IXX1 = VARST1 + (CSMMASS + NEGBPW)VARST(4 OR 6) IAVG
+#
+# IXX2 = VARST2 + (CSMMASS + NEGBPW)VARST(3 OR 7) IAVG/TLX
+#
+# THE DATA USED CAME FROM THE CSM/LM SPACECRAFT OPERATIONAL DATA BOOK
+# VOL. 3, NASA DOCUMENT SNA-8-D-027 (MARCH 1968)
+#
+# PERTINENT MASS DATA: CSM WEIGHT (FULL) 64100 LBS.
+# (EMPTY) 23956 LBS.
+# LEM WEIGHT (FULL) 32000 LBS.
+# (EMPTY) 14116 LBS.
+#
+# (WEIGHTS ARE FROM AMMENDMENT #1 (APRIL 24, 1968) TO ABOVE DATA BOOK)
+# Page 953
+
+ BANK 25
+ SETLOC DAPMASS
+ BANK
+ EBANK= BZERO
+ COUNT* $$/MASP
+
+MASSPROP CAF NINE # MASSPROP USES TVC/RCS INTERRUPT TEMPS
+ TS PHI333 # SET UP TEN PASSES
+
+LEMTEST CAE DAPDATR1 # DETERMINE LEM STATUS
+ MASK BIT13
+ EXTEND
+ BZF LEMYES
+
+LEMNO INDEX PHI333 # LEM NOT ATTACHED
+ CAF NOLEMVAL
+ TCF STOINST
+
+LEMYES CAE LEMMASS # LEM IS ATTACHED
+ DOUBLE
+ EXTEND
+ INDEX PHI333
+ MP SLOPEVAL
+ DDOUBL
+ INDEX PHI333
+ AD INTVALUE
+
+STOINST INDEX PHI333 # STORAGE INST BEGIN HERE
+ TS VARST0
+ CCS PHI333 # ARE ALL TEN PASSES COMPLETED
+ TCF MASSPROP +1 # NO: GO DECREMENT PHI333
+
+DXTEST CCS DAPDATR1 # IF NEG, BIT15 IS 1, LEM DSCNT STAGE OFF
+ TCF FIXCW
+ TCF FIXCW
+ DXCH VARST0 +8D
+ DAS VARST0 +1
+ CA DXITFIX
+ ADS VARST0 +7
+
+FIXCW CAF BIT2 # COMPUTATION PHASE BEGINS HERE. SET UP
+ TS PHI333 # THREE PASSES
+ TS PSI333
+
+ CAE CSMMASS # GET DELTA CSM WEIGHT: SIGN DETERMINES
+ AD NEGBPW # SLOPE LOCATIONS.
+ DOUBLE
+ TS TEMP333
+# Page 954
+ EXTEND
+ BZMF PEGGY # DETERMINE CORRECT SLOPE
+ CAF NEG2
+ TS PHI333
+
+PEGGY INDEX PHI333 # ALL IS READY: CALCULATE OUTPUTS NOW
+ CAE VARST5 # GET SLOPE
+ EXTEND
+ MP TEMP333 # MULT BY DELTA CSM WEIGHT
+ DOUBLE
+ INDEX PSI333
+ AD VARST0 # ADD BREAKPOINT VALUE
+ INDEX PSI333
+ TS IXX # ***** OUTPUTS (IXX0, IXX1, IXX2) *****
+
+ CCS PSI333 # BOOKKEEPING: MASSPROP FINISHED OR NOT
+ TCF BOKKEP2 # NO: GO TAKE CARE OF INDEXING REGISTERS
+
+ CAE DAPDATR1 # UPDATE WEIGHT/G
+ MASK BIT14
+ CCS A
+ CA LEMMASS
+ AD CSMMASS
+ TS WEIGHT/G # SCALED AT B+16 KILOGRAMS
+ENDMASSP TC Q
+
+BOKKEP2 TS PSI333 # REDUCE PSI BY ONE
+ EXTEND
+ DIM PHI333
+ TCF PEGGY
+
+# Page 955
+NOLEMVAL DEC 25445 B-20
+ DEC 87450 B-20
+ DEC .30715 B-2
+ DEC 1.22877 E-5 B+12
+ DEC 1.6096 B-6
+ DEC 1.54 B-6
+ DEC 7.77177 B-6
+ DEC 3.46458 E-5 B+12
+
+INTVALUE DEC 26850 B-20
+ DEC 127518 B-20
+ DEC .54059 B-2
+ DEC .153964 E-4 B+12
+ DEC -.742923 B-6
+ DEC 1.5398 B-6
+ DEC 9.68 B-6
+ DEC .647625 E-4 B+12
+ DEC -27228 B-20
+ DEC -.206476 B-2
+
+SLOPEVAL DEC 1.96307 B-6
+ DEC 27.5774 B-6
+ DEC 2.3548 E-5 B+12
+ DEC 2.1777 E-9 B+26
+ DEC 1.044 E-3 B+8
+ DEC 0
+ DEC 2.21068 E-3 B+8
+ DEC 1.5166 E-9 B+26
+ DEC -1.284 B-6
+ DEC 2 E-5 B+12
+
+NEGBPW DEC -15402.17 B-16
+DXITFIX DEC* -1.88275 E-5 B+12*
+
diff --git a/TVCRESTARTS.s b/TVCRESTARTS.s
new file mode 100644
index 0000000..da4d43f
--- /dev/null
+++ b/TVCRESTARTS.s
@@ -0,0 +1,272 @@
+# Copyright: Public domain.
+# Filename: TVCRESTARTS.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 956-960
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+# 2009-05-20 RSB Corrections: TCF -> BZF in one place.
+# 2009-05-21 RSB In PHSCHK2, CS TVCPHASE corrected to
+# CCS TVCPHASE and CCS 4 corrected to CCS A.
+# Page 924 corrected to 961. CORCOPY +2
+# corrected to CORCOPY +1.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 956
+# NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC.
+# LOG SECTION....TVCRESTARTS SUBROUTINE....DAPCSM
+# MODIFIED BY SCHLUNDT 21 OCTOBER 1968
+#
+# FUNCTIONAL DESCRIPTION....
+#
+# *RESTART-PROCESS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP,
+# TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/.M V46 SWTCHOVR.
+#
+# *TVC RESTARTS DESERVE SPECIAL CONSIDERATION IN SEVERAL AREAS.
+# RESTART DOWN-TIME IS IMPORTANT BECAUSE OF THE TRANSIENTS INTRODUCED
+# BY THE THRUST VECTOR RETURN TO THE ACTUATOR MECHANICAL NULLS
+# FOLLOWING TVC- AND OPTICS-ERROR-COUNTER-DISENABLES (CHANNEL 12).
+# TVC USES A MIXTURE OF WAITLIST, T5, T6, AND JOB CALLS. THERE IS
+# FILTER MEMORY (UP TO 6TH ORDER) TO BE PROTECTED IF WILD TRANSIENTS
+# ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT
+# CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE
+# BODY AXIS ATTITUDE ERROR INTEGRATORS INVOLVE DIGITAL SUMMATION.
+# DIGITAL DIFFERENTIATORS ARE INVOLVED IN THE BODY AXIS RATE ESTIMA-
+# TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN
+# OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC.
+#
+# *THOSE QUANTITIES WHICH MUST BE PROTECTED ARE STORED IN TEMPORARY
+# REGISTERS AS THEY ARE COMPUTED, FOR UPDATING THE REAL REGISTERS
+# DURING COPYCYCLES.
+#
+# *THE SEVERAL COPYCYCLES ARE EACH PROTECTED BY PHASE POINTS AT THEIR
+# BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY
+# "INCR" INSTRUCTIONS, EITHER "INCR TVCEXPHS" FOR COPYCYCLES
+# IN THE TVCEXECUTIVE, OR "INCR TVCPHASE" FOR THE PITCH AND YAW
+# COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A
+# RETURN TO THE APPROPRIATE RESTART POINTS.
+#
+# *IF A RESTART OCCURS DURING EITHER COPYCYCLE, THAT COPYCYCLE IS
+# COMPLETED. THEN THE NORMAL TVCINIT4....DAPINIT....PITCHDAP STARTUP
+# SEQUENCE IS CALLED UPON TO GET THINGS GOING AGAIN.
+#
+# *TVC-ENABLE AND OPTICS-ERROR-COUNTER ENABLE MUST BE SET ASAP
+# (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED
+# TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE
+# AIR, WITH THE REGULAR STARTUP SEQUENCE, EITHER AT MRCLEAN FOR A
+# COMPLETE INITIALIZATION OR AT TVCINIT4 FOR A PARTIAL INITIALIZATION.
+#
+# *FOR RESTARTS PRIOR TO THE SETTING OF THE T5 BITS AT DOTVCON THE
+# PRE40.6 SECTION OF S40.6 TAKES CARE OF RE-ESTABLISHING TRIMS.
+#
+# *IF A RESTART OCCURS DURING THE TVCEXEC....TVCEXFIN SEQUENCE THE
+# COMPUTATIONS WILL BE COMPLETED, STARTING AT THE APPROPRIATE RESTART
+# POINT, AFTER THE DAPS ARE READY TO GO ON THE AIR.
+#
+# *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHAS = -1) E.G. DURING
+# THE EARLY DAP INITIALIZATION PHASE, THE DAP STARTUP SEQUENCE IS
+# ENTERED AT MRCLEAN FOR A FULL INITIALIZATION.
+#
+# *FOR RESTARTS DURING CSM/LM V46 SWITCH-VER, TVCPHASE IS SET TO -2.
+# AND THE RESTART LOGIC GOES BACK TO REDO SWITCH-OVER (AFTER THE
+# NORMAL DAP RESTART SEQUENCE IS FOLLOWED.)
+#
+# *RESTARTS ARE NOT CRITICAL TO THE ROLL DAP PERFORMANCES HENCE THE
+# ROLL DAP IS MERELY RESTARTED.
+#
+# *RESTARTS DURING A STROKE TEST (STROKER IS NON-ZERO) WILL CAUSE THE
+# Page 957
+# STROKE TEST TO BE TERMINATED. A NEW V68 ENTRY WILL BE REQUIRED
+# TO GET IT GOING AGAIN (NO AUTOMATIC RESTART).
+#
+# *REDOTVC IS REACHED FOLLOWING ANY RESTART WHICH FINDS THE T5 BITS
+# (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON TVCPHASE = -1
+# AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE
+# MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS
+# CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS
+#
+# CALLING SEQUENCE....T5, IN PARTICULAR BY ELRSKIP OF FRESH START/RESTART
+#
+# NORMAL EXIT MODES....RESUME, NOQRSM, POSTJUMP (TO TVCINIT4 OR MRCLEAN)
+#
+# ALARM OR ABORT EXIT MODES....NONE
+#
+# SUBROUTINES CALLED....
+#
+# *PCOPY+1, YCOPY+1 (PITCH AND YAW COPYCYCLES)
+# *ENABLE1,2, CMDSOUT (RE-ESTABLISH ACTUATOR TRIMS)
+# *MRCLEAN OR TVCINIT4 (TVCDAP INITIALIZATIONS)
+# *SWITCHOVR +5 (CSM/LM V46 SWITCH-OVER)
+# *EXRSTRT AND TVCEXECUTIVE PHASE POINTS 1 THRU 6
+# *WAITLIST, IBNKCALL, POSTJUMP, ISWCALL
+#
+# OTHER INTERFACES....DOTVCON AND RCSDAPON (T5 BITS), ELRSKIP (CALLS IT)
+#
+# ERASABLE ININTIALIZATION REQUIRED....
+#
+# *T5 BITS (1,0), TVCPHASE (-2,-1,0,1,2,3), TVCEXPHS (1 THRU 6)
+# *TVC DAP VARIABLES
+# *OPERATIONS PERFORMED BY REDOTVC ARE BASED ON THE ASSUMPTION THAT
+# THE TVC DAPS ARE RUNNING NORMALLY
+#
+# OUTPUT....
+#
+# *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERRUPTED
+# *TVCEXECUTIVE COMPLETED IF INTERRUPTED
+# *STROKE TEST TERMINATED IF INTERRUPTED
+# *CSM/LM V46 SWITCH-OVER REPEATED IF INTERRUPTED
+# *ACTUATOR TRIMS RE-ESTABLISHED (ACTUATORS BACK ON THE AIR)
+# *TVC DAP INITIALIZATION AS REQUIRED
+# *ALL TVC DAP OPERATIONS ON THE AIR
+#
+# DEBRIS....TVC TEMPORARIES IN EBANK6
+
+#Page 958
+
+ BANK 16
+ SETLOC DAPROLL
+ BANK
+ EBANK= TVCPHASE
+ COUNT* $$/RSRT
+
+REDOTVC LXCH BANKRUPT # TVC RESTART PACKAGE
+ EXTEND
+ QXCH QRUPT # ("TCR" IN "FINCOPY")
+
+EXECPHS CCS TVCEXPHS # CHECK TVCEXECUTIVE PHASE
+ TCF +2 # MUST RESTART TVCEXECUTIVE
+ TCF TVCDAPHS # NO NEED TO RESTART TVCEXECUTIVE
+
+ CAF NINE # 9CS DELAY TO FORCE EXRSTRT TO OCCUR
+ TC WAITLIST # BEFORE PITCHDAP, AFTER CMDSOUT
+ EBANK= TVCEXPHS
+ 2CADR EXRSTRT
+
+TVCDAPHS CS OCT37776 # CHECK BITS 15 AND 1 OF TVCPHASE TO SEE
+ MASK TVCPHASE # DAP RESTART LOCATION (-1,1,2,3)
+ CCS A
+ TCF FINCOPY # FINISH THE COPYCYCLE FIRST
+ TCF ENABL1 # JUST PREPARE THE OUTCOUNTERS AND GO
+
+ CS TVCPHASE # TEST FOR TVCPHASE = -2
+ MASK BIT2 # (THIS INDICATES RESTART OCCURRED
+ EXTEND # DURING CSM/LM V46 SWITCH-OVER)
+ BZF TRIM/CMD # NO. TVCPHASE = -1. RSTRT WAS IN TVCINIT
+
+ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT
+ AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO
+ EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY)
+ WOR CHAN12
+ CAF TVCADDR # WAIT, CALLING ENABL2 (BBCON THERE)
+ TS T5LOC
+ CAF TVCADDR +4 # 60 MS (TVCEXADR)
+ TS TIME5
+
+ TCF RESUME
+
+ENABL2 LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS
+
+ CAF BIT2 # OPTICS ERROR CNTR ENABLE, 4MS MIN WAIT
+ EXTEND
+ WOR CHAN12
+# Page 959
+ CAF TVCADDR +2 # WAIT, CALLING CMDSOUT (BBCON THERE)
+ TS T5LOC
+ CAF OCT37776 # 20MS
+ TS TIME5
+
+ TCF NOQRSM
+
+CMDSOUT LXCH BANKRUPT # CONTNUE PREPARATION OF OUTCOUNTERS
+ EXTEND
+ QXCH QRUPT
+
+ CS ZERO # MOST RECENT ACTUATOR COMMANDS
+ AD PCMD # (AVOID +0)
+ TS TVCPITCH
+ CS ZERO
+ AD YCMD
+ TS TVCYAW
+
+ CAF PRIO6 # RELEASE THE COUNTERS (BITS 11,12)
+ EXTEND
+ WOR CHAN14
+
+PHSCHK2 CCS TVCPHASE # CHECK TVCPHASE AGAIN
+ TCF CHKSTRK
+ TCF CHKSTRK
+ CCS A # A CONTAINS THE DIMINISHED ABSOLUTE OF
+ TC +3 # TVCPHASE (-2 BECOMES +1. -1 BECOMES +0)
+
+ TC POSTJUMP # REPEAT TVC INITIALIZATION
+ CADR MRCLEAN # (DO NOT RETURN)
+
+ +3 TC IBNKCALL # REPEAT CSM/LM V46 SWITCH-OVER
+ CADR SWICHOVR +5 # (RETURN TO CHECK FOR STROKE TEST)
+
+CHKSTRK CCS STROKER # CHECK FOR STROKE TEST IN PROGRESS
+ TCF TSTINITJ # YES, KILL IT
+ TCF +2 # NO, PROCEED
+ TCF TSTINITJ # YES, KILL IT
+
+ +4 TC POSTJUMP # IF POSITIVE OR ZERO, RESTART AT
+ CADR TVCINIT4 # TVCINIT4 (ZEROS TVCPHASE, AND
+ # CALLS TVC DAPS VIA DAPINIT)
+FINCOPY INDEX TVCPHASE # PICK UP THE APPROPRIATE COPYCYCLE
+ CAF TVCCADR
+ TCR ISWCALL # RE-ENTER THE COPYCYCLE, RETURN AT END
+ TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS
+
+TRIM/CMD EXTEND # TVCDAPON INITIALIZATION NOT COMPLETED,
+# Page 960
+ DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET...
+ DXCH PCMD
+ TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS
+
+TSTINITJ CAF ZERO # DISABLE STROKE TEST (-0 SHOWS PRIOR V68)
+ TS STROKER # (+0 MEANS NEW V68 REQUIRED FOR STARTUP)
+
+ TCF CHKSTRK +4
+
+EXRSTRT INDEX TVCEXPHS # TVCEXECUTIVE RESTARTS....GO TO
+ CAF TVCEXADR # APPROPRIATE RESTART POINT
+ INDEX A
+ TCF 0
+
+# Page 961
+# TVC RESTART TABLES.... ORDER IS REQUIRED. HI-ORDER WORDS ONLY, OF 2CADRS, SINCE BBCON IS ALREADY THERE.
+
+TVCADDR = TVCCADR # TABLE OF CADRS, UNUSED LOCS FOR GENADRS
+TVCCADR GENADR ENABL2 # (FOR T5 CALL, UNUSED TABLE LOC)
+ +1 CADR PCOPY +1 # PITCH COPYCYCLE
+ +2 GENADR CMDSOUT # (FOR T5 CALL, UNUSED TABLE LOC)
+ +3 CADR YCOPY +1 # YAW COPYCYCLE
+TVCEXADR OCT 37772 # (UNUSED TABLE LOC, FILL WITH 60MS, T5)
+ +1 GENADR EXECCOPY +1 # TVCEXECUTIVE RESTART POINTS (ORDERED)
+ +2 GENADR 1SHOTCHK
+ +3 GENADR TEMPSET
+ +4 GENADR CORSETUP
+ +5 GENADR CORCOPY +1
+ +6 GENADR CNTRCOPY
+
+
diff --git a/TVCROLLDAP.s b/TVCROLLDAP.s
new file mode 100644
index 0000000..160acc1
--- /dev/null
+++ b/TVCROLLDAP.s
@@ -0,0 +1,617 @@
+# Copyright: Public domain.
+# Filename: TVCROLLDAP.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 984-998
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 984
+# PROGRAM NAME....TVC ROLL AUTOPILOT
+# LOG SECTION....TVCROLLDAP SUBROUTINE....DAPCSM
+# MOD BY SCHLUNDT 21 OCTOBER 1968
+#
+# FUNCTIONAL DESCRIPTION....
+#
+# *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
+# *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
+# BY IGNOVER (P40)
+# *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
+# *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
+# *USES T6 CLOCK TO TIME JET FIRINGS.
+# *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
+# *MINIMUM JET FIRING TIME = 15 MS
+# *JET PAIRS FIRE ALTERNATELY
+# *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
+# *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
+# OF A JET FIRING TIME IS MADE ON A LATER PASS
+#
+# CALLING SEQUENCE....
+#
+# *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
+# WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
+#
+# NORMAL EXIT MODES.... ENDOFJOB
+#
+# ALARM OR ABORT EXIT MODES.... NONE
+#
+# SUBROUTINES CALLED.....NONE
+#
+# OTHER INTERFACES....
+#
+# *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
+# EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
+# *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC
+# SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS
+# NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
+#
+# ERASABLE INITIALIZATION REQUIRED
+#
+# *1/CONACC (S40.15)
+# *OGAD (CDUX, AT IGNITION)
+# *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
+# *OGAPAST (OGANOW AT TVCEXECUTIVE)
+# *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
+#
+# OUTPUT....
+#
+# *ROLL JET PAIR FIRINGS
+#
+# Page 985
+# DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
+
+# Page 986
+# SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
+# LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
+
+# SWITCHING LOGIC IN THE PHASE PLANE....
+#
+# OGARATE
+# *
+# *
+# * * * * * * * * * * * *
+# * (REGION 1, SEE TEXT BELOW)
+# * *
+# *
+# * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
+# * * .
+# * * *
+# * * (FIRE NEG ROLL JETS)
+# * * *
+# (-DB,+LMCRATE)....* *
+# * * *
+# * * OGAERROR
+# ************************************************************************
+# * * (-AK, OGAERR)
+# * * * (REGION 6-PRIME)
+# * * (SEE TEXT BELOW)
+# * * *
+# * * ...STRAIGHT LINE
+# (FIRE POS ROLL JETS) * * * .
+# * (COAST) *
+# * * * * * * * * * * *
+# * -MINLIM
+# * *
+# *
+# * * * * * * * * * * * * * * * *
+# * -MAXLIM
+# *
+# *
+#
+# SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
+# CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
+# ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
+# FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
+# SUBJECT TO TEH LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
+# ABOVE.
+#
+# THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRISED OF
+# TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
+# 5-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
+# Page 987
+#
+# GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
+# IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
+# PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
+# DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
+# TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
+# LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
+# INSTEAD. CONSIDER AN OPERATING POINT IN REGION 6'. PASS A TANGENT TO
+# THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
+# INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
+# THE INTERSECTION DEFINES THE DESIRED OGARATE. IF THE OPERATING POINT IS
+# CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
+# THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
+# THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
+# TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
+# INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
+# RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
+# SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
+# APPROXIMATION.
+#
+# FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
+# INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
+# IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
+# THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
+# IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
+# THE DESIRED INTERSECTION (I.E., IN THE REGION BETWEEN THE MINLIM
+# AND THE STRAIGHT LINE SWITCH) IT WILL EXHIBIT NORMAL COAST-REGION
+# BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
+# IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
+# FAILED-ON.
+#
+# WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
+# MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
+# DEFINED BY: OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
+# OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
+# REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
+# FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,
+# AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
+#
+# EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
+# 2
+# SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
+#
+# EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
+#
+# SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
+#
+# WHERE INTERCEP = DB(-SLOPE) - LMCRATE
+# Page 988
+#
+# EQUATION FOR INTERSECTION, CONTROL PARABOLA, AND STRAIGHT SWITCH LINE....
+#
+# DOGADOT = NUM/DEN, WHERE
+# 2
+# NUM = (-SLOPE)(OGARATE) (1/CONACC)
+# +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
+# +LMCRATE
+#
+# DEN = (-SLOPE)(LMCRATE)(1/CONACC) = SGN(DELOGA)
+# 2
+# DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2)SGN(OGARATE)
+#
+# FOR REGIONS 6 AND 6-PRIME, USE ACTUAL OPERATING POINT (OGA, OGARATE)
+# FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
+# FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
+# AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
+#
+# OGAERROR = DELOGA + DB SGN(OGARATE)
+#
+# OGARATE = -LMCRATE SGN(OGARATE)
+#
+# NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
+# ALSO, AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
+# AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE.
+# Page 989
+
+# ROLLDAP CODING....
+
+ SETLOC DAPROLL
+ BANK
+ EBANK= OGANOW
+ COUNT* $$/ROLL
+ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
+ EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
+ MSU OGAPAST
+ EXTEND
+ MP BIT5
+ LXCH A
+ TS OGARATE # SC.AT B-4 REV/SEC
+
+# COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
+# EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
+
+DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
+ EXTEND
+ BZF +2 # ROLL JETS ARE NOW OFF.
+ TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
+
+ CAE TEMREG # EXAMINE LAST FIRING INTERVAL
+ EXTEND # IF POSITIVE, DON'T FIRE
+ BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
+
+ CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
+ TS TEMREG # RESET TEMREG
+WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
+
+# COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
+
+ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
+ EXTEND
+ MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
+ EXTEND
+ MP OGARATE
+ AD DB # SCALED AT 2(+0) REV
+ TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
+
+# GET SIGN OF OGARATE
+
+ CA OGARATE
+ EXTEND
+ BZMF +3 # LET SGN(0) BE NEGATIVE
+ CA BIT1
+ TCF +2
+ CS BIT1
+ TS SGNRT # + OR - 2(-14)
+
+# Page 990
+# CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
+ EXTEND
+ MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
+ CS L
+ AD OGA # SCALED AT 2(+0) REV
+DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
+
+# EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
+
+ EXTEND
+ BZMF +3
+ CAF PRIO30 # = CA (30000)
+ TCF +2
+ CAF BIT15 # = CS (40000)
+ TS I
+
+ INDEX I # TSET ON I SGN(OGARATE)
+ 0 SGNRT # CA OR CS
+ COM
+ EXTEND
+REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
+
+# NO JET FIRE YET. TEST FOR MAX OGARATE.
+
+ INDEX I
+ 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
+ TS IOGARATE # I.E., I OGARATE
+ AD MAXLIM # SCALED AT 2(-4) REV/SEC
+ EXTEND
+REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
+
+# COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT: NOTE THAT STR. LINE
+# SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG. QUANTITY
+
+ CA OGARATE
+ EXTEND
+ MP BIT14
+ TS TEMREG
+ CA OGA
+ EXTEND
+ MP -SLOPE
+ DDOUBL
+ DDOUBL
+ DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
+ AD TEMREG
+
+ INDEX I
+ 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
+ COM
+# Page 991
+ AD INTERCEP # SCALED AT 2(-3) REV.
+ COM
+ EXTEND
+REG2TST BZMF NOROLL # IP REGION 2 (COAST SIDE OF STRT LINE)
+
+# CHECK TO SEE IF OGARATE IS ABOVE MINLIM
+
+ CA IOGARATE # ALWAYS NEGATIVE
+ AD MINLIM # SCALED AT 2(-4) REV/SEC.
+ EXTEND
+REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
+
+# ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
+
+ INDEX I
+ 0 OGA
+ COM
+ AD DB
+ COM
+ EXTEND
+REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
+
+# JETS MUST FIRE NOW. OGARATE IS NEG. (OR VICE VERSA). USE DIRECT STR. LINE.
+# DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
+# STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
+# OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
+# LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
+# OPERATING POINTS IN REGIONS 6 AND 6')
+
+REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
+ TS DELOGA # ACTUAL STATE
+ CA OGARATE
+ TS DELOGART # ACTUAL STATE, I.E., DEL OGARATE
+ TCF ONROLL
+
+# JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VICE VERSA), USE INDIRECT
+# STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
+# + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
+# OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1')
+
+ROLLON INDEX I
+ 0 DB
+ ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
+
+ CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
+ INDEX I
+ 0 A
+ TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
+
+# Page 992
+# SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
+
+ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
+ MP 1/CONACC
+ DOUBLE
+ EXTEND
+ MP -SLOPE
+ TS TEMREG # 2(-SLOPE)RATE /CONACC
+ EXTEND
+ MP DELOGART
+ TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
+ CS BIT11
+ INDEX I
+ 0 A
+RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
+
+ INDEX I
+ 0 DELOGA
+ COM
+ AD DB
+ COM
+ EXTEND
+ MP -SLOPE
+ ADS DELOGART
+ CA LMCRATE
+ EXTEND
+ MP BIT11
+RATENUM AD DELOGART # NUMERATOR COMPLETED
+
+ XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
+ CA ZERO
+ EXTEND
+ DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
+ EXTEND
+ BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
+
+MINLIMAP CCS A
+ CAF POSMAX # POSITIVE OVERFLOW
+ TCF ROLLSET
+ CS POSMAX # NEGATIVE OVERFLOW
+ TCF ROLLSET
+
+DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 INTO L
+ EXTEND
+ DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
+ TCF ROLLSET # (SCALED AT B-4 REV/SEC)
+
+RATELIM CS MAXLIM
+ INDEX I
+# Page 993
+ 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
+
+# COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE
+
+ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
+ EXTEND
+ SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
+ TS TEMREG # OVERFLOW PROTECT
+ TCF +3 # " "
+ INDEX A # " "
+ CS LIMITS # " "
+ EXTEND
+ MP T6SCALE # T6SCALE = 8/10.24
+ EXTEND
+ MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60)
+ DDOUBL
+ DDOUBL
+ TS TEMREG # OVERFLOW PROTECT
+ TCF +3 # " "
+ INDEX A # " "
+ CS LIMITS # " "
+ TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
+ EXTEND # POS MEANS POSITIVE ROLL TORQUE.
+ BZF NOROLL
+
+# JET FIRE TIME IS NZ, TEST FOR JETS NOW ON.
+
+ CAE TEMREG # DESIRED CHANGE IN OGARATE
+ EXTEND
+ MP ROLLFIRE # (SGN OF TORQUE: ZERO IF JETS NOW OFF)
+ CCS A
+ TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
+ TCF NEWROLL # START NEW FIRING NOW, PLUS
+ TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
+ TCF NEWROLL # START NEW FIRING NOW, MINUS
+
+# CONTINUE PRESENT FIRING
+
+MOREROLL CAF ZERO
+ TS I # USE TEMP. AS MOREROLL SWITCH
+ TCF MAXTFIRE
+
+# START NEW FIRING BUT CHECK IF GREATER THAN MIN FIRE TIME.
+
+NEWROLL CCS TEMREG # CALL THIS T6FIRE
+ AD ONE
+ TCF +2
+ AD ONE
+ COM # -MAG(T6FIRE)
+ AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
+# Page 994
+ COM
+ EXTEND
+MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
+
+# PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
+
+MAXTFIRE CA TEMREG
+ EXTEND
+ MP 1/TMXFIR # I.E., 1/TMAXFIRE
+ EXTEND
+MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
+
+ CCS A
+ CAF TMAXFIRE # USE MAXIMUM
+ TCF +2
+ CS TMAXFIRE # USE MAXIMUM
+ TS TEMREG
+
+# SET UP SIGN OF REQUIRED TORQUE
+
+NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
+ CA POSMAX # POSITIVE TORQUE REQUIRED
+ TCF +2
+ CA NEGMAX # NEGATIVE TORQUE REQUIRED
+ TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
+
+ COM # COMPLEMENT... POS. FOR NEG. TORQUE
+ EXTEND
+ BZMF +3 # POSITIVE TORQUE REQUIRED
+ CS TEMREG
+ TS TEMREG
+
+FIRELOOK CA I # IS IT MOREROLL
+ EXTEND
+ BZF FIREPLUG # YES
+ TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
+
+FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
+ EXTEND
+ SU TEMREG
+ EXTEND
+EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DON'T, EXIT ROLL DAP
+ TCF JETROLL
+
+NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
+ TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
+ TS TEMREG
+
+JETROLL EXTEND
+ DCA NOROL1T6
+# Page 995
+ DXCH T6LOC
+ CA TEMREG # ENTER JET FIRING TIME
+ TS TIME6
+
+ CA I # I=0 IF MOREROLL, KEEP SAME JETS ON
+ EXTEND
+SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
+
+ CCS ROLLFIRE
+ TCF +TORQUE
+ TCF T6ENABL
+ TCF -TORQUE
+ TCF T6ENABL
+
+# PROCEED WITH + TORQUE
+
++TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
+ MASK BIT1 # WAS IT NO.9-11
+ EXTEND
+ BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
+
+NO.13-15 CS BIT1
+ MASK ROLLWORD
+ TS ROLLWORD # CHANGE BIT 1 TO ZERO
+ CAF +ROLL2
+ EXTEND
+ WRITE CHAN6
+ TCF T6ENABL
+
+NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
+ ADS ROLLWORD # CHANGE BIT 1 TO ONE
+ CAF +ROLL1
+ EXTEND
+ WRITE CHAN6
+ TCF T6ENABL
+
+-TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
+ MASK BIT2 # WAS IT NO.12-10
+ EXTEND
+ BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
+
+NO.16-14 CS BIT2
+ MASK ROLLWORD
+ TS ROLLWORD # CHANGE BIT 2 TO ZERO
+ CAF -ROLL2
+ EXTEND
+ WRITE CHAN6
+ TCF T6ENABL
+
+NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
+# Page 996
+ ADS ROLLWORD # CHANGE BIT 2 TO ONE
+ CAF -ROLL1
+ EXTEND
+ WRITE CHAN6
+
+T6ENABL CAF BIT15
+ EXTEND
+ WOR CHAN13
+RDAPEND TCF TASKOVER # EXIT ROLL DAP
+
+# Page 997
+# THIS T6 TASK SHUTS OFF ALL ROLL JETS
+
+NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
+ CAF ZERO # CALLED BY "JETROLL")
+ TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
+ EXTEND
+KILLJETS WRITE CHAN6
+ TCF NOQRSM
+
+# Page 998
+# CONSTANTS FOR ROLL AUTOPILOT....
+
+ EBANK= BZERO
+NOROL1T6 2CADR NOROLL1
+
+DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
+
+-SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
+ # PER SEC
+LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
+ # B-4 REV/SEC
+INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
+
+MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
+
+1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
+
+MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
+
+# The following two were B+4.---RSB 2009.
+TMINFIRE DEC 1.5 B-10 # 15 MS. (14MIN), SC.AT 16 BITS/CS
+
+TMAXFIRE DEC 250 B-10 # 2.5 SEC, SC.AT 16 BITS/CS
+
+1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
+ # ROUNDS TO OCT00004, SO ALLOWS 2.56
+ # SEC FIRINGS BEFORE APPLYING LIMIT
+T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
+
++ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
++ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
+-ROLL1 = TEN # ONBITS FOR JETS 12 AND 10
+-ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
+
diff --git a/TVCSTROKETEST.s b/TVCSTROKETEST.s
new file mode 100644
index 0000000..1844343
--- /dev/null
+++ b/TVCSTROKETEST.s
@@ -0,0 +1,261 @@
+# Copyright: Public domain.
+# Filename: TVCSTROKETEST.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 979-983
+# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 979
+# NAME STROKE TEST PACKAGE (INCLUDING INITIALIZATION PACKAGE)
+# LOG SECTION...TVCSTROKETEST SUBROUTINE...DAPCSM
+# MODIFIED BY SCHLUNDT 21 OCTOBER 1968
+#
+# FUNCTIONAL DESCRIPTION....
+# STROKE TEST PACKAGE GENERATES A WAVEFORM DESIGNED TO EXCITE BENDING
+# STRKTSTI (STROKE TEST INITIALIZATION) IS CALLED AS A JOB BY VB68.
+# IT INITIALIZES ALL ERASABLES REQD FOR A STROKE TEST, AND
+# THEN TESTS FOR CSM/LM (BIT 13 OF DAPDATR1). IF CSM/LM,
+# IN EITHER HIGH OR LOW-BANDWIDTH MODE, THE TEST IS STARTED
+# IMMEDIATELY. IF NOT CSM/LM, PROGRAM EXITS WITH NO ACTION.
+# HACK (STROKE TEST) GENERATES THE WAVEFORM BY DUMPING PULSE BURSTS
+# OF PROPER SIGN AND IN PROPER SEQUENCE DIRECTLY INTO
+# TVCPITCH, WORKING IN CONJUNCITON WITH BOTH PITCH AND YAW
+# TVC DAPS, WITH INTERMEDIAT WAITLIST CALLS. NOTE, HOWEVER
+# THAT THE STROKE TEST IS PERFORMED ONLY IN THE PITCH AXIS.
+# AN EXAMPLE WAVEFORM IS GIVEN BELOW, TO DEMONSTRATE STROKE-
+# TEST PARAMETER SELECTION.
+# RESTARTS CAUSE TEST TO BE TERMINATED. ANOTHER V68 REQD IF TEST
+# IS TO BE RE-RUN.
+# PULSE BURST SIZE IS PAD-LOADED (ESTROKER) SO THAT AMPLITUDE OF
+# WAVEFORM CAN BE CHANGED. THERE ARE TEN PULSE BURSTS IN
+# THE HALF-AMPLITUDE OF THE FIRST FREQUENCY SET IN THE
+# STANDARD WAVEFORM. AMPLITUDE IS 10(ESTROKER)(1/42.15),
+# NOMINALLY 50/42.15 = 1.185 DEG
+#
+# CALLING SEQUENCE....
+# EXTENDED VERB 68 SETS UP STRKTSTI JOB
+# PITCH AND YAW TVCDAPS, FINDING STROKER NON-ZERO, DO A "TC HACK"
+# AN INTERNALLY-GENERATED WAITLIST CALL ENTERS AT "HACKWLST"
+#
+# NORMAL EXIT MODES....
+# TC BUNKER ("Q" IF ENTRY FROM DAP, "TCTSKOVR" IF FROM WAITLIST) LIST
+#
+# SUBROUTINES CALLED....
+# WAITLIST
+#
+# ALARM OR ABORT EXIT MODES....
+# NONE
+#
+# ERASABLE INITIALIZATION REQUIRED....
+# ESTROKER (PAD-LOAD)
+# STROKER, CADDY, REVS, CARD, N
+#
+# OUTPUT....
+# STRKTSTI...INITIALIZATION FOR STROKE TEST
+# HACK, HACKWLST...PULSE BURSTS INTO TVCPITCH VIA "ADS"
+# RESETS STROKER = +0 WHEN TEST COMPLETED
+#
+# DEBRIS....
+# N = CADDY = +0, CARD = -0, REVS = -1
+# BUNKER
+# Page 980
+#
+# EXAMPLE STROKE TEST WAVE FORM, DEMONSTRATING PARAMETER SELECTION
+
+# NOTE....THIS IS NOT THE OFFICIAL WAVEFORM....
+#
+# ** **
+# ** **
+# ** ** EXAMPLE WAVEFORM (EACH * REPRESENTS
+# * * * * (85.41 ARCSEC OF ACTUATOR CMD)
+# * * * *
+# * * * *
+# * * * * ** ** ** ** **
+# * * * * ** ** ** ** **
+# * * * * ** ** ** ** **
+# * * * * * * * * * * * * * * ** ** ** ** **
+# * * * * * * * * * * * * * * ** ** ** ** **
+# * * * * * * * * * * * * * * ** ** ** ** **
+# ----------------------------------------------------------------------------------------------------
+# * * * * * * * * * * * * * * ** ** ** ** **
+# * * * * * * * * * * * * * * ** ** ** ** **
+# * * * * * * * * * * * * * * ** ** ** ** **
+# * * * * ** ** ** ** **
+# * * * * ** ** ** ** **
+# * * * * ** ** ** ** **
+# * * * *
+# * * * *
+# * * * *
+# ** **
+# ** **
+# ** **
+#
+# FOR THIS (UNOFFICIAL, EXAMPLE) WAVEFORM, THE REQUIRED PARAMETERS ARE AS FOLLOWS....
+#
+# FCARD = +3 (NUMBER OF SETS)
+# ESTROKER = +3 (PULSE BURST SIZE, SC.AT 85.41 ARCSEC/BIT)
+#
+# SET1:
+# FREVS = +3 (NUMBER REVERSALS MINUS 1)
+# FCADDY = +4 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
+# SET2:
+# FCARD1 = +9 (NUMBER REVERSALS MINUS 1)
+# FCARD4 = +2 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
+# SET3:
+# FCARD2 = +9 (NUMBER REVERSALS MINUS 1)
+# FCARD5 = +1 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
+# SET4:
+# FCARD3 = +0 (NUMBER OF REVERSALS MINUS 1)
+# FCARD6 = +0 (NUMBER OF PULSE BURSTS IN 1/2 AMPLUTUDE)
+
+# Page 981
+# STROKE TEST INITIALIZATION PACKAGE (AS A JOB, FROM VERB 68)
+
+ BANK 17
+ SETLOC DAPS2
+ BANK
+
+ COUNT* $$/STRK
+ EBANK= CADDY
+
+STRKTSTI TCR TSTINIT # STROKE TEST INITIALIZATION PKG (CALLED
+ # AS A JOB BY VERB68)
+
+STRKCHK INHINT
+
+ CAE DAPDATR1 # CHECK FOR CSM/LM CONFIGURATION
+ MASK BIT14
+ EXTEND
+ BZF +3
+
+ CAE ESTROKER # BEGIN ON NEXT DAP PASS (PITCH OR YAW)
+ TS STROKER # (STROKING DONE IN PITCH ONLY, HOWEVER)
+
+ TCF ENDOFJOB
+
+TSTINIT CS FCADDY # NORMAL ENTRY FROM STRKTSTI
+ TS CADDY
+ TS N # NOTE SGN CHNG FCADDY(+) TO CADDY(-)
+
+ CAF FREVS
+ TS REVS
+
+ CS FCARD # NOTE SGN CHNG FCARD(+) TO CARD(-)
+ TS CARD
+
+ TC Q # RETURN TO STRKTSTI+1 (OR CHKSTRK+2 OR +4)
+
+# Page 982
+# THE OFFICIAL STROKE TEST WAVEFORM (3 JAN, 1967) CONSISTS OF FOUR STROKE SETS, AS FOLLOWS....
+#
+# SET 1...10 BURSTS IN 1/2 AMP, 4 REVERSALS
+# SET 2... 6 BURSTS IN 1/2 AMP, 6 REVERSALS
+# SET 3... 5 BURSTS IN 1/2 AMP, 10 REVERSALS
+# SET 4... 4 BURSTS IN 1/2 AMP, 14 REVERSALS
+#
+# THE PULSE BURST SIZE (ESTROKER) IS PAD-LOADED (5 BITS AS OF 3 JAN, 1967)
+# THE REMAINING WAVEFORM-GENERATING PARAMETERS ARE AS FOLLOWS....
+
+FCADDY DEC 10 # NO. PULSE BURSTS IN 1/2 AMP, SET1..(+10)
+FREVS DEC 3 # NO. REVERSALS MINUS 1, SET1........( 3)
+
+FCARD DEC 4 # NO. STROKE SETS....................(+ 4)
+
+FCARD1 DEC 5 # NO. REVERSALS MINUS 1, SET2........( 5)
+
+FCARD2 DEC 9 # 3........( 9)
+FCARD3 DEC 13 # 4........( 13)
+
+FCARD4 DEC 6 # NO. PULSE BURSTS IN 1/2 AMP, SET2..(+ 6)
+FCARD5 DEC 5 # 3..(+ 5)
+FCARD6 DEC 4 # 4..(+ 4)
+
+20MS = BIT2
+
+# STROKE TEST PACKAGE PROPER....
+
+ EBANK= BUNKER
+
+HACK EXTEND # ENTRY (IN T5 RUPT) FROM TVCDAPS
+ QXCH BUNKER # SAVE Q FOR DAP RETURN
+
+ CAF 20MS # 2DAPSx2(PASSES/DAP)x2(CS/PASS)=8CS=TVCDT
+ TC WAITLIST
+ EBANK= BUNKER
+ 2CADR HACKWLST
+
+ TCF +3
+
+HACKWLST CAF TCTSKOVR # ENTRY FROM WAITLIST
+ TS BUNKER # BUNKER IS TC TASKOVER
+
+ CA STROKER # STROKE
+ ADS TVCPITCH
+
+ CAF BIT11 # RELEASE THE ERROR COUNTERS
+ EXTEND
+ WOR CHAN14
+ INCR CADDY # COUNT DOWN THE NO. BURSTS, THIS SLOPE
+# Page 982
+ CS CADDY
+ EXTEND
+ BZMF +2
+ TC BUNKER # EXIT, WHILE ON A SLOPE
+
+ CCS REVS
+ TCF REVUP # POSITIVE REVS
+ TCF REVUP +4 # FINAL REVERSAL, THE SET
+
+ INCR CARD # NEGATIVE REVS SET LAST PASS, READY FOR
+ CS CARD # THE NEXT SET. CHECK IF NO MORE SETS
+ EXTEND
+ BZF STROKILL # ALL SETS COMPLETED
+
+ INDEX CARD
+ CAF FCARD +4 # PICK UP NO. REVERSALS (-), NEXT SET
+ TS REVS # REINITIALIZE
+ INDEX CARD
+ CS FCARD +7 # PICK UP NO. BURSTS IN 1/2AMP, NEXT SET
+ TS N # REINITIALIZE
+ TS CADDY
+ TC BUNKER # EXIT, AT END OF SET
+
+STROKILL TS STROKER # RESET (TO +0) TO END TEST
+ TC BUNKER # EXIT, STROKE TEST FINIS
+
+REVUP TS REVS # ALL REVERSALS EXCEPT LAST OF SET
+ CA N
+ DOUBLE # 2 x 1/2AMP
+ TCF +4
+
+ +4 CS ONE # FINAL REVERSAL, THIS SET
+ TS REVS # PREPARE TO BRANCH TO NEW BURST
+ CA N # JUST RETURN TO ZERO, FINAL SLOPE OF SET
+ TS CADDY # CADUP
+
+ CS STROKER # CHANGE SIGN OF SLOPE
+ TS STROKER
+ TC BUNKER # EXIT AT A REVERSAL (SLOPE CHANGE)
+
diff --git a/UPDATE_PROGRAM.s b/UPDATE_PROGRAM.s
new file mode 100644
index 0000000..e3f83d8
--- /dev/null
+++ b/UPDATE_PROGRAM.s
@@ -0,0 +1,554 @@
+# Copyright: Public domain.
+# Filename: UPDATE_PROGRAM.agc
+# Purpose: Part of the source code for Comanche, build 055. It
+# is part of the source code for the Command Module's
+# (CM) Apollo Guidance Computer (AGC), Apollo 11.
+# Assembler: yaYUL
+# Reference: pp. 1497-1507
+# Contact: Ron Burkey <info@sandroid.org>
+# Website: http://www.ibiblio.org/apollo.
+# Mod history: 2009-05-07 RSB Adapted from Colossus249/UPDATE_PROGRAM.agc
+# and page images. Corrected various typos
+# in the transcription of program comments,
+# and these should be back-ported to
+# Colossus249.
+#
+# The contents of the "Comanche055" files, in general, are transcribed
+# from scanned documents.
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. April 1, 1969.
+#
+# This AGC program shall also be referred to as Colossus 2A
+#
+# Prepared by
+# Massachussets Institute of Technology
+# 75 Cambridge Parkway
+# Cambridge, Massachusetts
+#
+# under NASA contract NAS 9-4065.
+#
+# Refer directly to the online document mentioned above for further
+# information. Please report any errors to info@sandroid.org.
+
+# Page 1497
+# PROGRAM NAME: P27
+# WRITTEN BY: KILROY/ DE WOLF
+#
+# MOD NO: 0
+# MOD BY: KILROY
+# DATE: 01DEC67
+#
+# LOG SECTION: UPDATE PROGRAM.
+#
+# FUNCT. DESCR.: P27 (THE UPDATE PROGRAM) PROCESSES COMMANDS AND DATA
+# INSERTIONS REQUESTED BY THE GROUND VIA UPLINK.
+# THE P27 PROGRAM WILL ACCEPT UPDATES
+# ONLY DURING P00 FOR THE LM, AND ONLY DURINT P00,
+# P02, AND FRESH START FOR THE CSM.
+#
+# CALLING SEQ: PROGRAM IS INITIATED BY UPLINK ENTRY OF VERBS 70, 71, 72, AND 73.
+#
+# SUBROUTINES: TESTXACT, NEWMODEX, NEWMODEX +3, GOXDSPF, BANKCALL, FINDVAC, INTPRET, INTSTALL, TPAGREE,
+# INTWAKEU, ENDEXT, POSTJUMP, FALTON, NEWPHASE, PHASCHNG
+#
+# NORMAL EXIT: TC ENDEXT
+#
+# ALARM/ABORT: TC FALTON FOLLOWED BY TC ENDEXT
+#
+# RESTARTS: P27 IS RESTART PROTECTED IN TWO WAYS ...
+# 1. PRIOR TO VERIFLAG INVERSION (WHICH IS CAUSED BY THE GROUND/ASTRONAUT'S VERIFICATION OF UPDATE
+# DATA BY SENDING A V33E WHEN V21N02 IS FLASHING)---
+# NO PROTECTION EXCEPT PRE-P27 MODE IS RESTROED, COAST + ALIGN DOWNLIST IS SELECTED AND UPLINE
+# ACTIVITY LIGHT IS TURNED OFF. (JUST AS IF A V34E WAS SENT DURING P27 DATA LOADS).
+# V70,V71,V72, OR V73 WILL HAVE TO BE COMPLETELY RESENT BY USER.
+# 2. AFTER VERIFLAG INVERSION (WHEN UPDATE OF THE SPECIFIED ERASABLES IS BEING PERFORMED)---
+# PROTECTED AGAINST RESTARTS.
+#
+# DEBRIS: UPBUFF (20D) TEMP STORAGE FOR ADDRESSES AND CONTENTS.
+# UPVERB (1) VERB NUMBER MINUS 70D (E.G., FOR V72, UPVERB = 72D - 70D = 2)
+# UPOLDMOD(1) FOR MAJOR MODE INTERRUPTED BY P27.
+# COMPNUMB(1) TOTAL NUMBER OF COMPONENTS TO BE TRANSMITTED.
+# UPCOUNT (1) ACTUAL NUMBER OF COMPONENTS RECEIVED.
+# UPTEMP (1) SCRATCH, BUT USUALLY CONTAINS COMPONENT NUMBER TO BE CHANGED DURING VERIFY CYCLE.
+#
+# INPUT:
+#
+# ENTRY DESCRIPTION
+# V70EXXXXXEXXXXXE (LIFTOFF TIME INCREMENT) DOUBLE PRECISION OCTAL TIME INCREMENT, XXXXX XXXXX,
+# IS ADDED TO TEPHEM, SUBTRACTED FROM AGC CLOCK(TIME2,TIME1), SUBTRACTED FROM CSM STATE
+# VECTOR TIME(TETCSM) AND SUBTRACTED FROM LEM STATE VECTOR TIME(TETLEM).
+# THE DP OCTAL TIME INCREMENT IS SCALED AT 2(28).
+# Page 1498
+# V71EIIEAAAAE (CONTIGUOUS BLOCK UPDATE) II-2 OCTAL COMPONENTS, XXXXX,
+# XXXXXE ARE LOADED INTO ERASABLE STARTING AT ECADR, AAAA.
+# XXXXXE IT IS .GE. 3 .AND. .LE. 20D.,
+# AND (AAAA + II -3) DOES NOT PRODUCE AN ADDRESS IN THE
+# 9 NEXT BANK
+# . SCALING IS SAME AS INTERNAL REGISTERS.
+# V72EIIE (SCATTER UPDATE) (II-1)/2 OCTAL COMPONENTS, XXXXX, ARE
+# AAAAEXXXXXE LOADED INTO ERASABLE LOCATIONS, AAAA.
+# AAAAEXXXXXE II IS .GE. 3 .AND. .LE. 19D, AND MUST BE ODD.
+# . SCALING IS SAME AS INTERNAL REGISTERS.
+#
+# V73EXXXXXEXXXXXE (OCTAL CLOCK INCREMENT) DOUBLE PRECISION OCTAL TIME
+# INCREMENT XXXXX XXXXX, IS ADDED TO THE AGC CLOCK, IN
+# CENTISECONDS SCALED AT (2)28).
+# THIS LOAD IS THE OCTAL EQUIVALENT OF V55.
+#
+# OUTPUT: IN ADDITION TO THE ABOVE REGISTER LOADS, ALL UPDATES
+# COMPLEMENT BIT3 OF FLAGWORD7.
+#
+# ADDITIONAL NOTES: VERB 71, JUST DEFINED ABOVE WILL BE USED TO PERFORM BUT NOT LIMITED TO THE FOLLOWING UPDATES --
+# 1. CSM/LM STATE VECTOR UPDATE
+# 2. REFSMMAT UPDATE
+#
+# THE FOLLOWING COMMENTS DELINEATE EACH SPECIAL UPDATE ---
+#
+# 1. CSM/LM STATE VECTOR UPDATE (ALL DATA ENTRIES IN OCTAL)
+# ENTRIES: DATA DEFINITION: SCALE FACTORS:
+# V71E CONTIGUOUS BLOCK UPDATE VERB
+# 21E NUMBER OF COMPONENTS FOR STATE VECTOR UPDATE
+# AAAAE ECADR OF `UPSVFLAG'
+# XXXXXE STATE VECTOR IDENTIFIER: 00001 FOR CSM, 77776 FOR LEM -- EARTH SPHERE OF INFLUENCE SCALING
+# 00002 FOR CSM, 77775 FOR LEM -- LUNAR SPHERE OF INFLUENCE SCALING
+# XXXXXEXXXXXE X POSITION
+# XXXXXEXXXXXE Y POSITION
+# XXXXXEXXXXXE Z POSITION
+# XXXXXEXXXXXE X VELOCITY
+# XXXXXEXXXXXE Y VELOCITY
+# XXXXXEXXXXXE Z VELOCITY
+# XXXXXEXXXXXE TIME FROM AGC CLOCK ZERO
+# V33E VERB 33 TO SIGNAL THAT THE STATE VECTOR IS READY TO BE STORED.
+#
+# 2. REFSMMAT (ALL DATA ENTRIES IN OCTAL)
+# ENTRIES DATA DEFINITITIONS SCALE FACTORS:
+# Page 1499
+# V71E CONTIGUOUS BLOCK UPDATE VERB
+# 24E NUMBER OF COMPONENTS FOR REFSMMAT UPDATE
+# AAAAE ECADR OF `REFSMMAT'
+# XXXXXEXXXXXE ROW 1 COLUMN 1 2(-1)
+# XXXXXEXXXXXE ROW 1 COLUMN 2 2(-1)
+# XXXXXEXXXXXE ROW 1 COLUMN 3 2(-1)
+# XXXXXEXXXXXE ROW 2 COLUMN 1 2(-1)
+# XXXXXEXXXXXE ROW 2 COLUMN 2 2(-1)
+# XXXXXEXXXXXE ROW 2 COLUMN 3 2(-1)
+# XXXXXEXXXXXE ROW 3 COLUMN 1 2(-1)
+# XXXXXEXXXXXE ROW 3 COLUMN 2 2(-1)
+# XXXXXEXXXXXE ROW 3 COLUMN 3 2(-1)
+# V33E VERB 33 TO SIGNAL THAT REFSMMAT IS READY TO BE STORED
+
+ BANK 07
+ SETLOC EXTVERBS
+ BANK
+
+ EBANK= TEPHEM
+
+ COUNT* $$/P27
+V70UPDAT CAF UP70 # COMES HERE ON V70E
+ TCF V73UPDAT +1
+
+V71UPDAT CAF UP71 # COMES HERE ON V71E
+ TCF V73UPDAT +1
+
+V72UPDAT CAF UP72 # COMES HERE ON V72E
+ TCF V73UPDAT +1
+
+V73UPDAT CAF UP73 # COMES HERE ON V73E
+
+ +1 TS UPVERBSV # SAVE UPVERB UNTIL IT'S OK TO ENTER P27
+
+ TC TESTXACT # GRAB DISPLAY IF AVAILABLE, OTHERWISE
+ # TURN *OPERATOR ERROR* ON AND TERMINATE JOB
+
+ CA MODREG # CHECK IF UPDATE ALLOWED
+ EXTEND # FIRST CHECK FOR MODREG = +0, -0
+ BZF +2 # (+0 = P00, -0 = FRESHSTART)
+ TC CKMDMORE # NOW CHECK FOR PROGRAM WHICH CAN BE
+ # INTERRUPTED BY P27.
+
+ CAE MODREG # UPDATE ALLOWED
+ TS UPOLDMOD # SAVE CURRENT MAJOR MODE
+# Page 1500
+ CAE UPVERBSV # SET UPVERB TO INDICDATE TO P27
+ TS UPVERB # WHICH EXTENDED VERB CALLED IT.
+
+ CAF ONE
+ TS UPCOUNT # INITIALIZE UPCOUNT TO 1
+
+ TC POSTJUMP # LEAVE EXTENDED VERB BANK AND
+ CADR UPPART2 # GO TO UPDATE PROGRAM (P27) BANK.
+
+CKMDMORE CS FLAGWRD5
+ MASK BIT8 # CHECK IF COMPUTER IS LGC
+ CCS A # IS COMPUER LGC OR AGC
+UPERLEM TCF UPERROR # ERROR: IT'S THE LEM + MODE IS NOT P00.
+ CS TWO
+ MASK MODREG
+ CCS A
+UPERCMC TCF UPERROR # ERROR: IT'S THE CMC AND MODE IS NOT
+ # P00 OR P02.
+ TC Q # ALLOW UPDATE TO PROCEED.
+
+UPERROR TC POSTJUMP # TURN ON 'OPERATOR ERROR' LIGHT
+ CADR UPERROUT +2 # GO TO COMMON UPDATE PROGRAM EXIT
+
+ SBANK= LOWSUPER
+UP70 EQUALS ZERO
+UP71 EQUALS ONE
+UP72 EQUALS TWO
+UP73 EQUALS THREE
+
+ BANK 04
+ SETLOC UPDATE2
+ BANK
+
+ COUNT* $$/P27
+
+UPPART2 EQUALS # UPDATE PROGRAM -- PART 2
+
+ TC PHASCHNG # SET RESTART GROUP 6 TO RESTORE OLD MODE
+ OCT 07026 # AND DOWNLIST AND EXIT IF RESTART OCCURS.
+ OCT 30000 # PRIORITY SAME AS CHRPRIO
+ EBANK= UPBUFF
+ 2CADR UPOUT +1
+
+ CAF ONE
+ TS DNLSTCOD # DOWNLIST
+
+ TC NEWMODEX # SET MAJOR MODE = 27
+# Page 1501
+ DEC 27
+
+ INDEX UPVERB # BRANCH DEPENDING ON WHETHER THE UPDATE
+ TCF +1 # VERB REQUIRES A FIXED OR VARIABLE NUMBER
+ TCF +3 # V70 FIXED (OF COMPONENTS)
+ TCF OHWELL1 # V71 VARIABLE -- GO GET NO. OF COMPONENTS
+ TCF OHWELL1 # V72 VARIABLE -- GO GET NO. OF COMPONENTS
+ CA TWO # V73 (AND V70) FIXED
+ TS COMPNUMB # SET NUMBER OF COMPONENTS TO 2.
+ TCF OHWELL2 # GO GET THE TWO UPDATE COMPONENTS
+
+OHWELL1 CAF ADUPBUFF # * REQUEST USER TO SEND NUMBER *
+ TS MPAC +2 # * OF COMPONENTS PARAMETER(II) *
+ +2 CAF UPLOADNV # (CKV432 RETURNS HERE IF V32 ENCOUNTERED)
+ TC BANKCALL # DISPLAY A FLASHING V21N01
+ CADR GOXDSPF # TO REQUEST II.
+ TCF UPOUT4 # V32 TERMINATE UPDATE (P27) RETURN
+ TCF OHWELL1 +2
+ TC CK4V32 # DATA OR V32 RETURN
+ CS BIT2
+ AD UPBUFF # IS II (NUMBER OF COMPONENTS PARAMETER)
+ EXTEND # .GE. 3 AND .LE. 20D.
+ BZMF OHWELL1 +2
+ CS UPBUFF
+ AD UP21
+ EXTEND
+ BZMF OHWELL1 +2
+ CAE UPBUFF
+ TS COMPNUMB # SAVE II IN COMPNUMB
+
+# UPBUFF LOADING SEQUENCE
+
+ INCR UPCOUNT # INCREMENT COUNT OF COMPONENTS RECEIVED.
+OHWELL2 CAF ADUPBFM1 # CALCULATE LOCATION (ECADR) IN UPBUFF
+ AD UPCOUNT # WHERE NEXT COMPONENT SHOULD BE STORED
+ +2 TS MPAC +2 # PLACE ECADR INTO R3.
+ +3 CAF UPLOADNV # (CK4V32 RETURNS HERE IF V32 ENCOUNTERED)
+ TC BANKCALL # DISPLAY A FLASHING V21N01
+ CADR GOXDSPF # TO REQUEST DATA.
+ TCF UPOUT4 # V34 TERMINATE UPDATE (P27) RETURN.
+ TCF OHWELL2 +3 # V33 PROCEED RETURN
+ TC CK4V32 # DATA OR V32 RETURN
+ CS UPCOUNT # HAVE WE FINISHED RECEIVING ALL
+ AD COMPNUMB # THE DATA WE EXPECTED.
+ EXTEND
+ BZMF UPVERIFY # YES -- GO TO VERIFICATION SEQUENCE
+ TCF OHWELL2 -1 # NO -- REQUEST ADDITIONAL DATA.
+
+# Page 1502
+# VERIFY SEQUENCE
+UPVERIFY CAF ADUPTEMP # PLACE ECADR WHERE COMPONENT NO. INDEX
+ TS MPAC +2 # IS TO BE STORED INTO R3.
+ CAF UPVRFYNV # (CK4V32 RETURNS HERE IF V32 ENCOUNTERED)
+ TC BANKCALL # DISPLAY A FLASHING V21N02 TO REQUEXT
+ CADR GOXDSPF # DATA CORRECTION OR VERIFICATION.
+ TCF UPOUT4 # V34 TERMINATE UPDATE (P27) RETURN
+ TCF UPSTORE # V33 DATA SENT IS GOOD. GO STORE IT.
+ TC CK4V32 # COMPONENT NO. INDEX OR V32 RETURN
+ CA UPTEMP # DOES THE COMPONENT NO. INDEX JUST SENT
+ EXTEND # SPECIFY A LEGAL COMPONENT NUMBER?
+ BZMF UPVERIFY # NO, IT IS NOT POSITIVE NONZERO
+ CS UPTEMP
+ AD COMPNUMB
+ AD BIT1
+ EXTEND
+ BZMF UPVERIFY # NO
+ CAF ADUPBFM1 # YES -- BASED ON THE COMPONENT NO. INDEX
+ AD UPTEMP # CALCULATE THE ECADR OF LOCATION IN
+ TCF OHWELL2 +2 # UPBUFF WHICH USER WANTS TO CHANGE.
+
+UPOUT4 EQUALS UPOUT +1 # COMES HERE ON V34 TC TERMINATE UPDATE.
+
+# CHECK FOR VERB 32 SEQUENCE
+
+CK4V32 CS MPAC # ON DATA RETURN FROM `GOXDSPF'
+ MASK BIT6 # ON DATA RETURN FROM "GOXDSP" & THE CON-
+ CCS A # TENTS OF MPAC = VERB. SO TEST FOR V32.
+ TC Q # IT'S NOT A V32, IT'S DATA. PROCEED.
+ INDEX Q
+ TC 0 -6 # V32 ENCOUNTERED -- GO BACK AND GET DATA
+
+ADUPTEMP ADRES UPTEMP # ADDRESS OF TEMP STORAGE FOR CORRECTIONS
+ADUPBUFF ADRES UPBUFF # ADDRESS OF UPDATE DATA STORAGE BUFFER
+UPLOADNV VN 2101 # VERB 21 NOUN 01
+UPVRFYNV VN 2102 # VERB 21 NOUN 02
+UP21 = MD1 # DEC 21 = MAX NO OF COMPONENTS +1
+UPDTPHAS EQUALS FIVE
+
+# PRE-STORE AND FAN TO APPROPRIATE BRANCH SEQUENCE
+
+UPSTORE EQUALS # GROUND HAS VERIFIED UPDATE. STORE DATA.
+
+ INHINT
+
+ CAE FLAGWRD7 # INVERT VERIFLAG (BIT 3 OF FLAGWRD7) TO
+ XCH L # INDICATE TO THE GROUND (VIA DOWNLINK)
+ CAF BIT3 # THAT THE V33 (WHICH THE GROUND SENT TO
+# Page 1503
+ EXTEND # VERIFY THE UPDATE) HAS BEEN SUCCESSFULLY
+ RXOR LCHAN # RECEIVED BY THE UPDATE PROGRAM
+ TS FLAGWRD7
+
+ TC PHASCHNG # SET RESTART GROUP 6 TO REDO THE UPDATE
+ OCT 04026 # DATA STORE IF A RESTART OCCURS.
+ INHINT # (BECAUSE PHASCHNG DID A RELINT)
+
+ CS TWO # GO TO UPFNDVAC IF INSTALL IS REQUIRED.
+ AD UPVERB # THAT IS, IF IT'S A V70 - V72.
+ EXTEND # GO TO UPEND73 IF IT'S A V73.
+ BZMF UPFNDVAC
+
+# VERB 73 BRANCH
+
+UPEND73 EXTEND # V73 -- PERFORM DP OCTAL AGC CLOCK INCREMENT
+ DCA UPBUFF
+ DXCH UPBUFF +8D
+ TC TIMEDIDL
+ TC FALTON # ERROR -- TURN ON *OPERATOR ERROR* LIGHT
+ TC UPOUT +1 # GO TO COMMON UPDATE PROGRAM EXIT
+
+UPFNDVAC CAF CHRPRIO # (USE EXTENDED VERB PRIORITY)
+ TC FINDVAC # GET VAC AREA FOR `CALL INTSTALL'
+ EBANK= TEPHEM
+ 2CADR UPJOB # (NOTE: THIS WILL ALSO SET EBANK FOR
+ TC ENDOFJOB # `TEPHEM' UPDATE BY V70)
+
+UPJOB TC INTPRET # THIS COULD BE A STATE VECTOR UPDATE -- SO
+ CALL # WAIT (PUT JOB TO SLEEP) IF ORBIT INT(OI)
+ INTSTALL # IS IN PROGRESS -- OR -- GRAB OI AND RETURN
+ # TO UPWAKE IF OI IS NOT IN PROGRESS.
+
+UPWAKE EXIT
+
+ TC PHASCHNG # RESTART PROTECT (GROUP 6)
+ OCT 04026
+
+ TC UPFLAG # SET INTEGRATION RESTART BIT
+ ADRES REINTFLG
+ INHINT
+UPPART3 EQUALS
+
+ INDEX UPVERB # BRANCH TO THE APPROPRIATE UPDATE VERB
+ TCF +1 # ROUTINE TO ACTUALLY PERFORM THE UPDATE
+ TCF UPEND70 # V70
+ TCF UPEND71 # V71
+ TCF UPEND72 # V72
+
+# Page 1504
+# ROUTINE TO INCREMENT CLOCK (TIME2,TIME1) WITH CONTENTS OF DP WORD AT UPBUFF.
+TIMEDIDL EXTEND
+ QXCH UPTEMP # SAVE Q FOR RETURN
+ CAF ZERO # ZERO AND SAVE TIME2,TIME1
+ ZL
+ DXCH TIME2
+ DXCH UPBUFF +18D # STORE IN CASE OF OVERFLOW
+
+ CAF UPDTPHAS # DO
+ TS L # A
+ COM # QUICK
+ DXCH -PHASE6 # PHASCHNG
+
+TIMEDIDR INHINT
+ CAF ZERO
+ ZL # PICK UP INCRMENTER (AND ZERO
+ TS MPAC +2 # IT IN CASE OF RESTARTS) AND
+ DXCH UPBUFF +8D # STORE IT
+ DXCH MPAC # INTO MPAC FOR TPAGREE.
+
+ EXTEND
+ DCA UPBUFF +18D
+ DAS MPAC # FORM SUM IN MPAC
+ EXTEND
+ BZF DELTAOK # TEST FOR OVERFLOW
+ CAF ZERO
+ DXCH UPBUFF +18D # OVERFLOW, RESTORE OLD VALUE OF CLOCK
+ DAS TIME2 # AND TURN ON OPERATOR ERROR
+
+ TC PHASCHNG # RESTART PROTECT (GROUP 6)
+ OCT 04026
+
+ TC UPTEMP # GO TO ERROR EXIT
+
+DELTAOK TC TPAGREE # FORCE SIGN AGREEMENT
+ DXCH MPAC
+ DAS TIME2 # INCREMENT TIME2,TIME1
+
+ TC PHASCHNG # RESTART PROTECT (GROUP 6)
+ OCT 04026
+
+ INHINT
+ INDEX UPTEMP # (CODED THIS WAY FOR RESTART PROTECTION)
+ TC 1 # NORMAL RETURN
+
+# VERB 71 BRANCH
+
+UPEND71 CAE UPBUFF +1 # SET EBANK
+ TS EBANK # AND
+# Page 1505
+ MASK LOW8 # CALCULATE
+ TS UPTEMP # S-REG VALUE OF RECEIVING AREA
+ AD NEG3 # IN THE PROCESS OF
+ AD COMPNUMB # PERFORMING
+ EXTEND # THIS UPDATE
+ BZF STORLP71 # WILL WE
+ MASK BIT9 # OVERFLOW
+ CCS A # INTO THE NEXT EBANK....
+ TCF UPERROUT # YES
+
+ CA NEG3 # NO -- CALCULATE NUMBER OF
+ AD COMPNUMB # WORDS TO BE STORED MINUS ONE
+STORLP71 TS MPAC # SAVE NO. OF WORDS REMAINING MINUS ONE
+ INDEX A # TAKE NEXT UPDATE WORD FROM
+ CA UPBUFF +2 # UPBUFF AND
+ TS L # SAVE IT IN L
+ CA MPAC # CALCULATE NEXT
+ AD UPTEMP # RECEIVING ADDRESS
+ INDEX A
+ EBANK= 1400
+ LXCH 1400 # UPDATE THE REGISTER BY CONTENTS OF L
+ EBANK= TEPHEM
+ CCS MPAC # ARE THERE ANY WORDS LEFT TO BE STORED
+ TCF STORLP71 # YES
+ TCF UPOUT # NO -- THEN EXIT UPDATE PROGRAM
+ADUPBFM1 ADRES UPBUFF -1 # SAME AS ADUPBUFF BUT LESS 1 (DON'T MOVE)
+ TCF UPOUT # NO -- EXIT UPDATE (HERE WHEN COMPNUMB = 3)
+
+# VERB 72 BRANCH
+
+UPEND72 CAF BIT1 # HAVE AN ODD NO. OF COMPONENTS
+ MASK COMPNUMB # BEEN SENT FOR A V72 UPDATE ...
+ CCS A
+ TCF +2 # YES
+ TCF UPERROUT # ERROR -- SHOULD BE ODD NO. OF COMPONENTS
+ CS BIT2
+ AD COMPNUMB
+LDLOOP72 TS MPAC # NOW PERFORM THE UPDATE
+ INDEX A
+ CAE UPBUFF +1 # PICK UP NEXT UPDATE WORD
+ LXCH A
+ CCS MPAC # SET POINTER TO ECADR (MUST BE CCS)
+ TS MPAC
+ INDEX A
+ CAE UPBUFF +1 # PICK UP NEXT ECADR OF REG TO BE UPDATED
+ TS EBANK # SET EBANK
+ MASK LOW8 # ISOLATE RELATIVE ADDRESS
+ INDEX A
+
+# Page 1506
+ EBANK= 1400
+ LXCH 1400 # UPDATE THE REGISTER BY CONTENTS OF L
+ EBANK= TEPHEM
+ CCS MPAC # ARE WE THORUGH THE V72 UPDATE...
+ TCF LDLOOP72 # NO
+
+# NORMAL FINISH OF P27
+
+UPOUT EQUALS
+ TC INTWAKEU # RELEASE GRAB OF ORBITAL INTEGRATION
+ +1 CAE UPOLDMOD # RESTORE PRIOR P27 MODE
+ TC NEWMODEX +3
+ CAF ZERO
+ TS DNLSTCOD
+ TC UPACTOFF # TURN OFF `UPLINK ACTIVITY' LIGHT
+ EXTEND # KILL GROUP 6
+ DCA NEG0
+ DXCH -PHASE6
+
+ TC ENDEXT # EXTENDED VERB EXIT
+
+# VERB TO BRANCH
+
+UPEND70 EXTEND # V70 DOES THE FOLLOWING WITH DP DELTA
+ DCS UPBUFF # TIME IN UPBUFF
+ DXCH UPBUFF +8D
+ TC TIMEDIDL # DECREMENT AGC CLOCK
+
+ TC UPERROUT # ERROR WHILE DECREMENTING CLOCK -- EXIT
+
+ EBANK= TEPHEM
+ EXTEND
+ DCS UPBUFF # COPY DECREMENTERS FOR
+ DXCH UPBUFF +10D # RESTART PROTECTION
+ EXTEND
+ DCS UPBUFF
+ DXCH UPBUFF +12D
+
+ TC PHASCHNG # RESTART PROTECT (GROUP 6)
+ OCT 04026
+
+ CAF ZERO
+ ZL
+ DXCH UPBUFF +10D # DECREMENT CSM STATE VECTOR TIME
+ DAS TETCSM
+
+ CAF ZERO
+
+# Page 1507
+ ZL
+ DXCH UPBUFF +12D # DECREMENT LEM STATE VECTOR TIME
+ DAS TETLEM
+ CAF ZERO
+ ZL
+ DXCH UPBUFF
+ DAS TEPHEM +1 # INCREMENT TP TEPHEM
+ ADS TEPHEM
+
+ TC PHASCHNG # RESTART PROTECT (GROUP 6)
+ OCT 04026
+
+ EBANK= UPBUFF
+
+ TC UPOUT # GO TO STANDARD UPDATE PROGRAM EXIT
+
+# ERROR SEQUENCE
+
+UPERROUT TC FALTON # TURN ON *OPERATOR ERROR* LIGHT
+ TCF UPOUT # GO TO COMMON UPDATE PROGRAM EXIT
+
+ +2 TC FALTON # TURN ON `OPERATOR ERROR' LIGHT
+ TC UPACTOFF # TURN OFF `UPLINK ACTIVITY' LIGHT
+ TC ENDEXT # EXTENDED VERB EXIT
+ # (THE PURPOSE OF UPERROUT +2 EXIT IS
+ # TO PROVIDE AN ERROR EXIT WHICH DOES NOT
+ # RESET ANY RESTART GROUPS)
+
+# `UPACTOFF' IS A ROUTINE TO TURN OFF UPLINK ACTIVITY LIGHT ON ALL EXITS FROM UPDATE PROGRAM (P27).
+
+UPACTOFF CS BIT3
+ EXTEND # TURN OFF UPLINK ACTIVITY LIGHT
+ WAND DSALMOUT # (BIT 3 OF CHANNEL 11)
+ TC Q
+
+
+
diff --git a/WAITLIST.s b/WAITLIST.s
new file mode 100644
index 0000000..a77c93d
--- /dev/null
+++ b/WAITLIST.s
@@ -0,0 +1,550 @@
+# Copyright: Public domain.
+# Filename: WAITLIST.agc
+# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
+# It is part of the source code for the Command Module's (CM)
+# Apollo Guidance Computer (AGC), for Apollo 11.
+# Assembler: yaYUL
+# Contact: Ron Burkey <info@sandroid.org>.
+# Website: www.ibiblio.org/apollo.
+# Pages: 1221-1235
+# Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
+# same name, using Comanche055 page images.
+#
+# This source code has been transcribed or otherwise adapted from digitized
+# images of a hardcopy from the MIT Museum. The digitization was performed
+# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
+# thanks to both. The images (with suitable reduction in storage size and
+# consequent reduction in image quality as well) are available online at
+# www.ibiblio.org/apollo. If for some reason you find that the images are
+# illegible, contact me at info@sandroid.org about getting access to the
+# (much) higher-quality images which Paul actually created.
+#
+# Notations on the hardcopy document read, in part:
+#
+# Assemble revision 055 of AGC program Comanche by NASA
+# 2021113-051. 10:28 APR. 1, 1969
+#
+# This AGC program shall also be referred to as
+# Colossus 2A
+
+# Page 1221
+# PROGRAM DESCRIPTION DATE -- 10 OCTOBER 1966
+# MOD NO -- 2 LOG SECTION -- WAITLIST
+# MOD BY -- MILLER (DTMAX INCREASED TO 162.5 SEC) ASSEMBLY -- SUNBURST REV 5
+# MOD 3 BY KERNAN (INHINT INSERTED AT WAITLIST) 2/28/68 SKIPPER REV 4
+# MOD 4 BY KERNAN (TWIDDLE IN 54) 3/28/68 SKIPPER REV 13.
+#
+# FUNCTIONAL DESCRIPTION --
+# PART OF A SECTION OF PROGRAMS -- WAITLIST, TASKOVER, T3RUPT, USED TO CALL A PROGRAM (CALLED A TASK),
+# WHICH IS TO BEGIN IN C(A) CENTISECONDS. WAITLIST UPDATES TIME3, LST1, AND LST2. THE MEANING OF THESE LISTS
+# FOLLOW.
+#
+# C(TIME3) = 16384 -(T1-T) CENTISECONDS, (T=PRESENT TIME, T1-TIME FOR TASK1)
+#
+# C(LST1) = -(T2-T1)+1
+# C(LST1 +1) = -(T3-T2)+1
+# C(LST1 +2) = -(T4-T3)+1
+# ...
+# C(LST1 +6) = -(T8-T7)+1
+# C(LST1 +7) = -(T9-T8)+1
+#
+# C(LST2) = 2CADR OF TASK1
+# C(LST2 +2) = 2CADR OF TASK2
+# ...
+# C(LST2 +14) = 2CADR OF TASK8
+# C(LST2 +16) = 2CADR OF TASK9
+#
+# WARNINGS --
+# 1) 1 <= C(A) <= 16250D (1 CENTISCOND TO 162.5 SEC)
+# 2) 9 TASKS MAXIMUM
+# 3) TASKS CALLED UNDER INTERRUPT INHIBITED
+# 4) TASKS END BY TC TASKOVER
+#
+# CALLING SEQUENCE --
+# L-1 CA DELTAT (TIME IN CENTISECONDS TO TASK START)
+# L TC WAITLIST
+# L+1 2CADR DESIRED TASK
+# L+2 (MINOR OF 2CADR)
+# L+3 RELINT (RETURNS HERE)
+#
+# TWIDDLE --
+# TWIDDLE IS FOR USE WHEN THE TASK BEING SET UP IS IN THE SAME EBANK AND FBANK AS THE USER. IN
+# SUCH CASES, IT IMPROVES UPON WAITLIST BY ELIMINATING THE NEED FOR THE BBCON HALF OF THE 2CADR,
+# Page 1222
+# SAVING A WORD. TWIDDLE IS LIKE WAITLIST IN EVERY RESPECT EXCEPT CALLING SEQUENCE, TO WIT,
+# L-1 CA DELTAT
+# L TC TWIDDLE
+# L+1 ADRES DESIRED TASK
+# L+2 RELINT (RETURNS HERE)
+#
+# NORMAL EXIT MODES --
+# AT L+3 OF CALLING SEQUENCE.
+#
+# ALARM OR ABORT EXIT MODES --
+# TC ABORT
+# OCT 1203 (WAITLIST OVERFLOW -- TOO MANY TASKS)
+#
+# ERASABLE INITIALIZATION REQUIRED --
+# ACCOMPLISHED BY FRESH START -- LST2, ..., LST2 +16 = ENDTASK
+# LST1, ..., LST1 +7 = NEG1/2
+#
+# OUTPUT --
+# LST1 AND LST2 UPDATED WITH NEW TASK AND ASSOCIATED TIME.
+#
+# DEBRIS --
+# CENTRALS -- A,Q,L
+# OTHER -- WAITEXIT, WAITADR, WAITTEMP, WAITBANK
+#
+# DETAILED ANALYSIS OF TIMING --
+# CONTROL WILL NOT BE RETURNED TO THE SPECIFIED ADDRESS (2CADR) IN EXACTLY DELTA T CENTISECONDS.
+# THE APPROXIMATE TIME MAY BE CALCULATED AS FOLLOWS:
+# LET T0 = THE TIME OF THE TC WAITLIST
+# LET TS = T0 +147U + COUNTER INCREMENTS (SET UP TIME)
+# LET X = TS -(100TS)/100 (VARIANCE FROM COUNTERS)
+# LET Y = LENGTH OF TIME OF INHIBIT INTERRUPT AFTER T3RUPT
+# LET Z = LENGTH OF TIME TO PROCESS TASKS WHICH ARE DUE THIS T3RUPT BUT DISPATCHED EARLIER.
+# (Z=0, USUALLY).
+# LET DELTD = THE ACTUAL TIME TAKEN TO GIVE CONTROL TO 2CADR
+# THEN DELTD = TS+DELTA T -X +Y +Z +1.05MS* +COUNTERS*
+# *THE TIME TAKEN BY WAITLIST ITSELF AND THE COUNTER TICKING DURING THIS WAITLIST TIME.
+# IN SHORT, THE ACTUAL TIME TO RETURN CONTROL TO A 2CADR IS AUGMENTED BY THE TIME TO SET UP THE TASK'S
+# INTERRUPT, ALL COUNTERS TICKING, THE T3RUPT PROCESSING TIME, THE WAITLIST PROCESSING TIME AND THE POSSIBILITY
+# OF OTHER TASKS INHIBITING THE INTERRUPT.
+
+ BLOCK 02
+# Page 1223
+ EBANK= LST1 # TASK LISTS IN SWITCHED E BANK.
+
+ COUNT 02/WAIT
+
+TWIDDLE INHINT
+ TS L # SAVE DELAY TIME IN L
+ CA POSMAX
+ ADS Q # CREATING OVERFLOW AND Q-1 IN Q
+ CA BBANK
+ EXTEND
+ ROR SUPERBNK
+ XCH L
+
+WAITLIST INHINT
+ EXTEND
+ BZMF WATLST0-
+ XCH Q SAVE DELTA T IN Q AND RETURN IN
+ TS WAITEXIT WAITEXIT.
+ EXTEND
+ INDEX WAITEXIT # IF TWIDDLING, THE TS SKIPS TO HERE
+ DCA 0 # PICK UP 2CADR OF TASK.
+ -1 TS WAITADR # BBCON WILL REMAIN IN L
+DLY2 CAF WAITBB # ENTRY FROM FIXDELAY AND VARDELAY.
+ XCH BBANK
+ TCF WAIT2
+
+WATLST0- TC P00DOO
+ OCT 1204 # WAITLIST CALL WITH ZERO OR NEG DT
+
+# RETURN TO CALLER AFTER TASK INSERTION:
+
+LVWTLIST DXCH WAITEXIT
+ AD TWO
+ DTCB
+
+ EBANK= LST1
+WAITBB BBCON WAIT2
+
+# RETURN TO CALLER +2 AFTER WAITING DT SPECIFIED AT CALLER +1.
+
+FIXDELAY INDEX Q # BOTH ROUTINES MUST BE CALLED UNDER
+ # Was CAF --- RSB 2004.
+ CA 0 # WAITLIST CONTROL AND TERMINATE THE TASK
+ INCR Q # IN WHICH THEY WERE CALLED.
+
+# RETURN TO CALLER +1 AFTER WAITING THE DT AS ARRIVING IN A.
+
+VARDELAY XCH Q # DT TO Q. TASK ADRES TO WAITADR.
+ TS WAITADR
+ CA BBANK # BBANK IS SAVED DURING DELAY.
+ EXTEND
+# Page 1224
+ ROR SUPERBNK # ADD SBANK TO BBCON.
+ TS L
+ CAF DELAYEX
+ TS WAITEXIT # GO TO TASKOVER AFTER TASK ENTRY.
+ TCF DLY2
+
+DELAYEX TCF TASKOVER -2 # RETURNS TO TASKOVER.
+
+# Page 1225
+# ENDTASK MUST ENTERED IN FIXED-FIXED SO IT IS DISTINGUISHABLE BY ITS ADRES ALONE.
+
+ EBANK= LST1
+ENDTASK -2CADR SVCT3
+
+SVCT3 CCS FLAGWRD2 # DRIFT FLAG
+ TCF TASKOVER
+ TCF TASKOVER
+ TCF +1
+
+ CCS IMUCADR # DON'T DO NBDONLY IF SOMEONE ELSE IS IN
+ TCF SVCT3X
+ TCF +3
+ TCF SVCT3X
+ TCF SVCT3X
+ +3 CAF PRIO35 # COMPENSATE FOR NBD COEFFICIENTS ONLY.
+ TC NOVAC # ENABLE EVERY 81.93 SECONDS
+ EBANK= NBDX
+ 2CADR NBDONLY
+
+ TCF TASKOVER
+
+ SETLOC FFTAG6
+ BANK
+
+SVCT3X TC FIXDELAY # DELAY MAX OF 2 TIMES FOR IMU ZERO
+ DEC 500
+ TC SVCT3
+
+# Page 1226
+# BEGIN TASK INSERTION.
+
+ BANK 01
+ COUNT 01/WAIT
+
+WAIT2 TS WAITBANK # BBANK OF CALLING PROGRAM.
+ CS TIME3
+ AD BIT8 # BIT 8 = OCT 200
+ CCS A # TEST 200 - C(TIME3). IF POSITIVE,
+ # IT MEANS THAT TIME3 OVERFLOW HAS OCCURRED PRIOR TO CS TIME3 AND THAT
+ # C(TIME3) = T - T1, INSTEAD OF 1.0 - (T1 - T). THE FOLLOWING FOUR
+ # ORDERS SET C(A) = TD - T1 + 1 IN EITHER CASE.
+
+ AD OCT40001 # OVERFLOW HAS OCCURRED. SET C(A) =
+ CS A # T - T1 + 1.0 - 201
+
+# NORMAL CASE (C(A) NNZ) YIELDS SAME C(A): -( -(1.0-(T1-T)) + 200) - 1
+
+ AD OCT40201
+ AD Q # RESULT = TD - T1 + 1.
+
+ CCS A # TEST TD - T1 +1.
+
+ AD LST1 # IF TD - T1 POS, GO TO WTLST5 WITH
+ TCF WTLST5 # C(A) = (TD - T1) + C(LST1) = TD-T2+1
+
+ NOOP
+ CS Q
+
+# NOTE THAT THIS PROGRAM SECTION IS NEVER ENTERED WHEN T-T1 G/E -1,
+# SINCE TD-T1+1 = (TD-T) + (T-T1+1), AND DELTA T = TD-T G/E +1. (G/E
+# SYMBOL MEANS GREATER THAN OR EQUAL TO). THUS THERE NEED BE NO CON-
+# CERN OVER A PREVIOUS OR IMMINENT OVEFLOW OF TIME3 HERE.
+
+ AD POS1/2 # WHEN TD IS NEXT, FORM QUANTITY
+ AD POS1/2 # 1.0 - DELTA T = 1.0 - (TD - T)
+ XCH TIME3
+ AD NEGMAX
+ AD Q # 1.0 - DELTAT T NOW COMPLETE.
+ EXTEND # ZERO INDEX Q.
+ QXCH 7 # (ZQ)
+
+# Page 1227
+WTLST4 XCH LST1
+ XCH LST1 +1
+ XCH LST1 +2
+ XCH LST1 +3
+ XCH LST1 +4
+ XCH LST1 +5
+ XCH LST1 +6
+ XCH LST1 +7
+
+ CA WAITADR # (MINOR PART OF TASK CADR HAS BEEN IN L.)
+ INDEX Q
+ TCF +1
+
+ DXCH LST2
+ DXCH LST2 +2
+ DXCH LST2 +4
+ DXCH LST2 +6
+ DXCH LST2 +8D
+ DXCH LST2 +10D # AT END, CHECK THAT C(LST2 +10) IS STD
+ DXCH LST2 +12D
+ DXCH LST2 +14D
+ DXCH LST2 +16D
+ AD ENDTASK # END ITEM, AS CHECK FOR EXCEEDING
+ # THE LENGTH OF THE LIST.
+ EXTEND # DUMMY TASK ADRES SHOULD BE IN FIXED-
+ BZF LVWTLIST # FIXED SO ITS ADRES ALONE DISTINGUISHES
+ TCF WTABORT # IT.
+
+# Page 1228
+WTLST5 CCS A # TEST TD - T2 + 1
+ AD LST1 +1
+ TCF +4
+ AD ONE
+ TC WTLST2
+ OCT 1
+
+ +4 CCS A # TEST TD - T3 + 1
+ AD LST1 +2
+ TCF +4
+ AD ONE
+ TC WTLST2
+ OCT 2
+
+ +4 CCS A # TEST TD - T4 + 1
+ AD LST1 +3
+ TCF +4
+ AD ONE
+ TC WTLST2
+ OCT 3
+
+ +4 CCS A # TEST TD - T5 + 1
+ AD LST1 +4
+ TCF +4
+ AD ONE
+ TC WTLST2
+ OCT 4
+
+ +4 CCS A # TEST TD - T6 + 1
+ AD LST1 +5
+ TCF +4
+ AD ONE
+ TC WTLST2
+ OCT 5
+
+ +4 CCS A # TEST TD - T7 + 1
+ AD LST1 +6
+ TCF +4
+ AD ONE
+ TC WTLST2
+ OCT 6
+
+# Page 1229
+ +4 CCS A
+ AD LST1 +7
+ TCF +4
+ AD ONE
+ TC WTLST2
+ OCT 7
+
+ +4 CCS A
+WTABORT TC BAILOUT # NO ROOM IN THE INN
+ OCT 1203
+
+ AD ONE
+ TC WTLST2
+ OCT 10
+
+OCT40201 OCT 40201
+
+# Page 1230
+# THE ENTRY TC WTLST2 JUST PRECEDING OCT N IS FOR T LE TD LE T -1.
+# N N+1
+#
+# (LE MEANS LESS THAN OR EQUAL TO). AT ENTRY, C(A) = -(TD - T + 1)
+# N+1
+#
+# THE LST1 ENTRY-(T -T +1) IS TO BE REPLACED BY -(TD - T + 1), AND
+# N+1 N N
+#
+# THE ENTRY-(T - TD + 1) IS TO BE INSERTED IMMEDIATELY FOLLOWING.
+# N+1
+
+WTLST2 TS WAITTEMP # C(A) = -(TD - T + 1)
+ INDEX Q
+ # Was CAF --- RSB 2004.
+ CA 0
+ TS Q # INDEX VALUE INTO Q.
+
+ CAF ONE
+ AD WAITTEMP
+ INDEX Q # C(A) = -(TD - T ) + 1.
+ ADS LST1 -1 # N
+
+ CS WAITTEMP
+ INDEX Q
+ TCF WTLST4
+
+# Page 1231
+# ENTERS HERE ON T3 RUPT TO DISPATCH WAITLISTED TASK.
+
+T3RUPT EXTEND
+ ROR SUPERBNK # READ CURRENT SUPERBANK VALUE AND
+ TS BANKRUPT # SAVE WITH E AND F BANK VALUES.
+ EXTEND
+ QXCH QRUPT
+
+T3RUPT2 CAF NEG1/2 # DISPATCH WAITLIST TASK.
+ XCH LST1 +7
+ XCH LST1 +6
+ XCH LST1 +5
+ XCH LST1 +4 # 1. MOVE UP LST1 CONTENTS, ENTERING
+ XCH LST1 +3 # A VALUE OF 1/2 +1 AT THE BOTTOM
+ XCH LST1 +2 # FOR T6-T5, CORRESPONDING TO THE
+ XCH LST1 +1 # INTERVAL 81.91 SEC FOR ENDTASK.
+ XCH LST1
+ AD POSMAX # 2. SET T3 = 1.0 - T2 - T USING LIST 1.
+ ADS TIME3 # SO T3 WON'T TICK DURING UPDATE.
+ TS RUPTAGN
+ CS ZERO
+ TS RUPTAGN # SETS RUPTAGN TO +1 ON OVERFLOW.
+
+ EXTEND # DISPATCH TASK.
+ DCS ENDTASK
+ DXCH LST2 +16D
+ DXCH LST2 +14D
+ DXCH LST2 +12D
+ DXCH LST2 +10D
+ DXCH LST2 +8D
+ DXCH LST2 +6
+ DXCH LST2 +4
+ DXCH LST2 +2
+ DXCH LST2
+
+ XCH L
+ EXTEND
+ WRITE SUPERBNK # SET SUPERBANK FROM BBCON OF 2CADR
+ XCH L # RESTORE TO L FOR DXCH Z.
+ DTCB
+
+# Page 1232
+# RETURN, AFTER EXECUTION OF T3 OVERFLOW TASK:
+
+ BLOCK 02
+ COUNT 02/WAIT
+
+TASKOVER CCS RUPTAGN # IF +1 RETURN TO T3RUPT, IF -0 RESUME.
+ CAF WAITBB
+ TS BBANK
+ TCF T3RUPT2 # DISPATCH NEXT TASK IF IT WAS DUE.
+
+ CA BANKRUPT
+ EXTEND
+ WRITE SUPERBNK # RESTORE SUPERBANK BEFORE RESUME IS DONE
+
+RESUME EXTEND
+ QXCH QRUPT
+NOQRSM CA BANKRUPT
+ XCH BBANK
+NOQBRSM DXCH ARUPT
+ RELINT
+ RESUME
+
+# Page 1233
+# LONGCALL
+# PROGRAM DESCRIPTION DATE -- 17 MARCH 1967
+# PROGRAM WRITTEN BY W.H.VANDEVER LOG SECTION WAITLIST
+# MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 100
+#
+# FUNCTIONAL DESCRIPTION --
+# LONGCALL IS CALLED WITH THE DELTA TIME ARRIVING IN A,L SCALED AS TIME2,TIME1 WITH THE 2CADR OF THE TASK
+# IMMEDIATELY FOLLOWING THE TC LONGCALL. FOR EXAMPLE, IT MIGHT BE DONE AS FOLLOWS WHERE TIMELOC IS THE NAME OF
+# A DP REGISTER CONTAINING A DELTA TIME AND WHERE TASKTODO IS THE NAME OF THE LOCATION AT WHICH LONGCALL IS TO
+# START.
+#
+# CALLING SEQUENCE --
+# EXTEND
+# DCA TIMELOC
+# TC LONGCALL
+# 2CADR TASKTODO
+#
+# NORMAL EXIT MODE --
+# 1) TC WAITLIST
+# 2) DTCB (TC L+3 OF CALLING ROUTINE 1ST PASS THRU LONGCYCL)
+# 3) DTCB (TO TASKOVER ON SUBSEQUENT PASSES THRU LONGCYCL)
+#
+# ALARM OR ABORT EXIT MODE --
+# NONE
+#
+# OUTPUT --
+# LONGTIME AND LONGTIME+1 = DELTA TIME
+# LONGEXIT AND LONGEXIT+1 = RETURN 2CADR
+# LONGCADR AND LONGCADR+1 = TASK 2CADR
+# A = SINGLE PRECISION TIME FOR WAITLIST
+#
+# ERASABLE INITIALIZATION --
+# A = MOST SIGNIFICANT PART OF DELTA TIME
+# L = LEAST SIGNIFICANT PART OF DELTA TIME
+# Q = ADDRESS OF 2CADR TASK VALUE
+#
+# DEBRIS --
+# A,Q,L
+# LONGCADR AND LONGCADR+1
+# LONGEXIT AND LONGEXIT+1
+# LONGTIME AND LONGTIME+1
+#
+# *** THE FOLLOWING IS TO BE IN FIXED-FIXED AND UNSWITCHED ERASIBLE **
+
+ BLOCK 02
+ EBANK= LST1
+LONGCALL DXCH LONGTIME # OBTAIN THE DELTA TIME
+
+ EXTEND # OBTAIN THE 2CADR
+# Page 1234
+ NDX Q
+ DCA 0
+ DXCH LONGCADR
+
+ EXTEND # NO GO TO THE APPROPRIATE SWITCHED BANK
+ DCA LGCL2CDR # FOR THE REST OF LONGCALL
+ DTCB
+
+ EBANK= LST1
+LGCL2CDR 2CADR LNGCALL2
+
+# *** THE FOLLOWING MAY BE IN A SWITCHED BANK, INCLUDING ITS ERASABLE ***
+
+ BANK 01
+ COUNT 01/WAIT
+
+LNGCALL2 LXCH LONGEXIT +1 # SAVE THE CORRECT BB FOR RETURN
+ CA TWO # OBTAIN THE RETURN ADDRESS
+ ADS Q
+ TS LONGEXIT
+
+# *** WAITLIST TASK LONGCYCL ***
+
+LONGCYCL EXTEND # CAN WE SUCCESFULLY TAKE ABOUT 1.25
+ DCS DPBIT14 # MINUTES OFF OF LONGTIME
+ DAS LONGTIME
+
+ CCS LONGTIME +1 # THE REASONING BEHIND THIS PART IS
+ TCF MUCHTIME # INVOLVED, TAKING INTO ACCOUNT THAT THE
+ # WORDS MAY NOT BE SIGNED CORRECTED (DP
+ # BASIC INSTRUCTIONS
+ # DO NOT SIGN CORRECT) AND THAT WE SUBTRAC-
+ # TED BIT14 (1 OVER HALF THE POS. VALUE
+ # REPRESENTABLE IN SINGLE WORD)
+ NOOP # CAN'T GET HERE *************
+ TCF +1
+ CCS LONGTIME
+ TCF MUCHTIME
+DPBIT14 OCT 00000
+ OCT 20000
+
+ # LONGCALL
+LASTTIME CA BIT14 # GET BACK THE CORRECT DELTA TFOR WAITLIST
+ ADS LONGTIME +1
+ TC WAITLIST
+ EBANK= LST1
+ 2CADR GETCADR # THE ENTRY TO OUR LONGCADR
+
+LONGRTRN CA TSKOVCDR # SET IT UP SO THAT ONLY THE FIRST EXIT IS
+# Page 1235
+ DXCH LONGEXIT # TO THE CALLER OF LONGCALL
+ DTCB # THE REST ARE TO TASKOVER
+
+MUCHTIME CA BIT14 # WE HAVE OVER OUR ABOUT 1.25 MINUTES
+ TC WAITLIST # SO SET UP FOR ANOTHER CYCLE THROUGH HERE
+ EBANK= LST1
+ 2CADR LONGCYCL
+
+ TCF LONGRTRN # NOW EXIT PROPERLY
+
+# *** WAITLIST TASK GETCADR ***
+
+GETCADR DXCH LONGCADR # GET THE LONGCALL THAT WE WISHED TO START
+ DTCB # AND TRANSFER CONTROL TO IT
+
+TSKOVCDR GENADR TASKOVER
+
+