https://github.com/virtualagc/virtualagc
Revision 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC, committed by Ron Burkey on 07 August 2022, 15:04:04 UTC
assembly listings from yaASM and yaLEMAP. Added some debugging messages to 'make install'. Tweaked debugging messages that VirtualAGC embeds in 'simulate'. Verified buildability in Mint 21, 20, 19, 17, and verified buildability using clang in Mint 17.
1 parent 6bb1acc
Tip revision: 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Tip revision: 078c79d
SERVICER.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: SERVICER.agc
## Purpose: A section of Luminary revision 173.
## It is part of the reconstructed source code for the second
## (unflown) release of the flight software for the Lunar
## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
## The code has been recreated from a reconstructed copy of
## Luminary 178, as well as Luminary memo 167 (revision 1).
## It has been adapted such that the resulting bugger words
## exactly match those specified for Luminary 173 in NASA
## drawing 2021152N, which gives relatively high confidence
## that the reconstruction is correct.
## Reference: pp. 850-889
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2019-09-18 MAS Created from Luminary 178.
## 2019-09-21 MAS Replaced calculation of VBIAS in NORMLIZE
## with calculation of UHYP, and moved NORMLIZE
## back to bank 23. Replaced implementation of
## COPYCYC1 with that from Luminary 131. Removed
## definitions of GSCALE1 and BIASFACT. Changed
## MUNRVG to match 131, except with the addition
## of a call to SGNAGREE. Changed VELUPDAT to
## add DELVS instead of subtract VSURFACE.
## Page 860
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 FREE FALL
# 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 # START POWERED FLITE GYRO COMPENSATION
TS FLAGWRD2 # BY T3RUPT
CAF FOUR # NO LONGER NEEDED
TS PIPAGE
CAF PRIO22 # INITIALIZE NAVIGATED STATE VECTOR(SM COO
TC FINDVAC # RD) FROM MIDTOAVE OUTPUTS PRIOR TO FIRST
EBANK= DVCNTR # AVERAGE G.
2CADR NORMLIZE
CA TWO # 5.2SPOT FOR REREADAC AND NORMLIZE
GOREADAX TC GNUTFAZ5
CA 2SECS # WAIT TWO SECONDS FOR READACCS
TC VARDELAY
## Page 861
# ************************************* 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 AND THEN ZERO THEM.
PIPSDONE CA FIVE
TC GNUFAZE5
REDO5.5 CAF ONE # SHOWS THAT PIPAREAD HAD NOT STARTED
TS PIPAGE # SO THAT RESTART BEGINS AT READACCS.
CA PRIO20
TC FINDVAC
EBANK= DVCNTR
2CADR SERVICER # SET UP SERVICER JOB
CA BIT9
EXTEND
WOR DSALMOUT # TURN ON TEST CONNECTOR OUTBIT,AVE G ON.
CA FLAGWRD7 # WAS AVERAGE G ASKED TO BE TERMINATED?
MASK AVEGFBIT
EXTEND
BZF AVEGOUT # YES: SET UP FINAL EXIT.
CA FLAGWRD6 # NO: IS THIS P6X OR P12?
MASK MUNFLBIT
EXTEND
BZF MAKEACCS # NO: BYPASS LR READ AND DISPLAYS
CS FLGWRD11 # YES: DOES SOMEONE WANT TO BYPASS LR UPDT
MASK LRBYBIT
EXTEND
BZF R10CALL # YES: BYPASS LR READINGS
CA 1.75SEC # CALL R12 0.25 SEC PRIOR TO NEXT READACCS
TC WAITLIST # VELOCITY LANDING RADAR READINGS ARE CENT
EBANK= VSELECT # ERED AROUND PIPTIME. 2 VELOCITY AND 1 AL
2CADR R12READ # TITUDE READINGS BEFORE PIPTIME,3 V AFTER
## Page 862
R10CALL 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
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
## Page 863
1.75SEC DEC 175
OCT37771 OCT 37771
BANK 33
SETLOC SERVICES
BANK
COUNT* $$/SERV
## Page 864
# ************************************* 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 # NO MASS MONITOR ON SURFACE.
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
DV Q # WHERE APPROPRIATE VEX RESIDES
EXTEND
MP MASS
DAS MASS1
MOONSPOT CA KPIP1 # TP MPAC = ABDELV AT 2(14) CM/SEC
## Page 865
TC SHORTMP # MULTIPLY BY KPIP1 TO GET
DXCH MPAC # ABDELV AT 2(7) M/CS
DAS DVTOTAL # UPDATE DVTOTAL FOR DISPLAY
TC TMPTOSPT # CDUS AT PIPTIME LOADED INTO CDUSPOT CELL
TC BANKCALL # SINES AND COSINES OF CDUSPOT.
CADR QUICTRIG
CAF XNBPIPAD
TC BANKCALL # COMPUTE BOD-TO-SM MATRIX (XNB),AND
CADR FLESHPOT # STORE INTO XNBPIPAD.
TC INTPRET
AVERAGEG BON CALL
MUNFLAG # COMPUTE LM & CM STATE VECTORS IN LUNAR G
RVBOTH # ,DO R12 , DO COPYCYCL1, RETURN AT COPYCL
CALCRVG # UPDATE LM STATE VECTOR.
EXIT
GOSERV TC QUIKFAZ5
COPYCYCL TC COPYCYC # RN1,VN1,MASS1 => RN,VN,MASS.
# CA ZERO A IS ZERO ON RETURN FROM COPYCYC
TS PIPATMPX # STILL UNDER INHINT
TS PIPATMPY
TS PIPATMPZ
CS STEERBIT # CLEAR STEERSW PRIOR TO DVMON.
MASK FLAGWRD2
TS FLAGWRD2
CAF IDLEFBIT # IS DV MONITOR TO BE TURNED ON?
MASK FLAGWRD7
CCS A
TCF NODVMON1 # NO: SET AUXFLAG TO 0
CS FLAGWRD6 # ALLOW ANOTHER PASS WITHOUT DVMON?
MASK AUXFLBIT
CCS A
TCF NODVMON2 # YES: SET AUXFLAG TO 0
## Page 866
DVMON CS DVTHRUSH # SUFFICIENT THRUST TO STEER WITH?
AD ABDELV
EXTEND
BZMF LOTHRUST # NO: THRUST TOO LO, DECREMENT DVCNTR
CS FLAGWRD2 # YES: SET STEERSW TO ALLOW GUIDANCE.
MASK STEERBIT
ADS FLAGWRD2
DVCNTSET CAF ONE # ALLOW TWO PASSES MAXIMUM NOW THAT
TS DVCNTR # THRUST HAS BEEN DETECTED.
CA FLGWRD10 # IS APSFLAG SET?
MASK APSFLBIT
CCS A
TCF USEJETS # YES: USE RCS TO STEER ASCENT STAGE.
CA BIT9 # NO: PITCH GIMBAL FAILURE?
EXTEND
RAND CHAN32
EXTEND
BZF USEJETS # YES: USE RCS TO STEER DESCENT STAGE.
USEGTS CS USEQRJTS # NO: USE GTS TO STEER DESCENT STAGE.
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 # TWO PASSES OF LO THRUST?
TCF DECCNTR # NO: DECREMENT DVCNTR.
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
## Page 867
2CADR COMFAIL # ESTABLISH JOB COMFAIL FOR
TCF SERVOUT # THRUST FAIL LOGIC.
DECCNTR TS DVCNTR1
TC QUIKFAZ5
CA DVCNTR1
TS DVCNTR
INHINT
TC IBNKCALL # IF THRUST IS LOW, NO STEERING IS DONE
CADR STOPRATE # AND THE DESIRED RATES ARE SET TO ZERO.
USEJETS CS DAPBOOLS
MASK USEQRJTS
ADS DAPBOOLS # TELL DAP TO USE RCS TO STEER.
SERVOUT RELINT
TC BANKCALL # COMPUTE VEHICLE MOMENTS OF INERTIA.
CADR 1/ACCS
CA PRIORITY
MASK LOW9
TS PUSHLOC
ZL
DXCH FIXLOC # FIXLOC AND OVFIND
TC QUIKFAZ5
CS PIPTIME +1
AD TIME1
AD HALF
AD HALF
XCH SERVDURN # SERVICER DURATION FOR DOWNLINK
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* $$/SERV
AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT,AVEGFLAG SET.
TS 1/PIPADT # SET UP COASTING FLIGHT GYRO COMPENSATION
TC UPFLAG # SET DRIFT FLAG, TERMINATE POWERED FLITE
ADRES DRIFTFLG # GYRO COMPENSATION.
## The above two instructions are circled.
TC BANKCALL
CADR PIPFREE
## Page 868
CS BIT9
EXTEND
WAND DSALMOUT # TELL WORLD THAT AVERAGEG IS NOW OFF.
TC 2PHSCHNG
OCT 5 # GROUP 5 OFF
OCT 05022 # GROUP 2 ON
OCT 20000
TC INTPRET
CLEAR
SWANDISP # SHUT OFF R10 WHEN SERVICER ENDS.
CLEAR CALL # RESET MUNFLAG.
MUNFLAG
AVETOMID # BRING CM STATE VECTOR UP TO PIPTIME.
CLEAR EXIT
V37FLAG
AVERTRN TC POSTJUMP
CADR V37RET # GO TO V37 LOGIC.
OUTGOAVE = AVERTRN
DVCNTR1 = MASS1
## Page 869
# SERVIDLE IS ENTERED AFTER A POODOO SOFTWARE RESTART. SERVICER CONTINUES,BUT GUIDANCE AND R12 ( IF RUNNING) ARE
# TERMINATED. ABORTS MONITOR CONTINUES TO RUN.
SETLOC SERV3
BANK
COUNT* $$/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 IF 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 GOPOOFIX
TS L
COM
DXCH -PHASE4
TCF WHIMPER # PERFORM A SOFTWARE RESTART AND PROCEED
# TO GOTOPOOH WHILE SERVICER CONTINUES TO
# RUN, ALBEIT IN A GROUND STATE WHERE
# ONLY STATE-VECTOR DEPENDENT FUNCTIONS
# ARE MAINTAINED.
## Page 870
EBANK= DVCNTR
SVEXTADR 2CADR SERVEXIT
BANK 32
SETLOC SERV
BANK
COUNT* $$/SERV
SERVEXIT TC PHASCHNG
OCT 00035
TCF ENDOFJOB
BANK 23
SETLOC NORMLIZ
BANK
COUNT* $$/SERV
## Page 871
# NORMLIZE AND COPYCYCL
NORMLIZE TC INTPRET
VLOAD BOFF
RN1
MUNFLAG
NORMLIZ1 # DO NOT USE LUNAR LANDING AVERAGE G
VSL6 MXV
REFSMMAT
STCALL R # LM POS VECTOR IN SM COORD AT 2(+24)M.
MUNGRAV # USE LUNAR LANDING AVERAGE G ROUTINE.
VLOAD VSL1
VN1
MXV
REFSMMAT
STOVL V
V(CSM)
VXV UNIT
R(CSM)
STORE UHYP
ASCSPOT EXIT
EXTEND # MAKE SURE GOUP 2 IS OFF.
DCA NEG0
DXCH -PHASE2
TC POSTJUMP
CADR NORMLIZ2
BANK 33
SETLOC SERVICES
BANK
COUNT* $$/SERV
NORMLIZ1 CALL
CALCGRAV
EXIT
NORMLIZ2 CA EIGHTEEN
TC COPYCYC +1 # DO NOT COPY MASS IN NORMLIZE
TC ENDOFJOB
# COPYCYC PLACES NEWLY NAVIGATED STATE VECTORS AND MASS INTO DOWNLIST REG
COPYCYC CA OCT24 # DEC 20
## Page 872
+1 INHINT
+2 MASK NEG1 # REDUCE BY 1 IF ODD
TS ITEMP1
EXTEND
INDEX ITEMP1
DCA RN1
INDEX ITEMP1
DXCH RN
CCS ITEMP1
TCF COPYCYC +2
TC Q # RETURN UNDER INHINT
EIGHTEEN DEC 18
## Page 873
# ******************* PIPA READER ********************
# MOD NO. 00 BY D. LICKLY DEC.9 1966
# FUNCTIONAL DESCRIPTION
# SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT IT WILL BE RESTARTABLE.
# PIPA READINGS ARE STORED IN THE VECTOR DELV. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING,
# RESTARTS BEGIN AT REREADAC.
# AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A
# VECTOR IN CDUTEMP. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS
# THE CDU READING IN 2S COMP IN THE ORDER CDUX,Y,Z. THE THRUST
# VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME.
# CALLING SEQUENCE AND EXIT
# CALL VIA TC, ISWCALL, ETC.
# EXIT IS VIA Q.
#
# INPUT
# INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2.
# OUTPUT
# HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS.
# PIPTIME CONTAINS TIME OF PIPA READING.
# DEBRIS (ERASABLE LOCATIONS DESTROYED BY PROGRAM)
# TEMX TEMY TEMZ PIPAGE
BANK 37
SETLOC SERV1
BANK
COUNT* $$/SERV
PIPASR EXTEND
## Page 874
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
## In the margins above there are some doodles of something I can't quite make out. Possibly satellites.
## Page 875
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 876
BANK 33
SETLOC SERVICES
BANK
COUNT* $$/SERV
TMPTOSPT CA CDUTEMPY # THIS SUBROUTINE, CALLED BY AN RTB FROM
TS CDUSPOTY # INTERPRETIVE, LOADS THE CDUS CORRESPON-
CA CDUTEMPZ # DING TO PIPTIME INTO THE CDUSPOT VECTOR.
TS CDUSPOTZ
CA CDUTEMPX
TS CDUSPOTX
TC Q
BANK 33
SETLOC SERVICES
BANK
COUNT* $$/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 TC PHASCHNG
OCT 51
CA PRIO32
TC FINDVAC
EBANK= HMEAS
2CADR HIGATJOB
CS FLGWRD11
MASK PRIO3
ADS FLGWRD11
TCF CONTSERV +1
## Page 877
# 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.
CS FLGWRD11 # CHECK IF AT 30000 FT
MASK XORFLBIT
EXTEND
BZF LROFF?
30KCHK EXTEND
DCA 1-30KFT
DAS MPAC # HCALC IS STILL IN MPAC FROM RVBOTH
CCS A
TCF R12 # ALTITUDE > 30KFT
TC UPFLAG # ALTITUDE < 30KFT SET X-AXIS OVERRIDE
ADRES XOVINFLG
TC UPFLAG
ADRES XORFLG
LROFF? CA HCALC
EXTEND # IF HIGH ORDER PART ZERO, H < 3000 FT,
BZF +2 # SO MAKE CUTOFF TEST
TCF R12
CS HCALC +1
AD HLROFF
EXTEND
BZMF R12 # IF H < HLROFF, RESET LR PERMIT FLAG
TC DOWNFLAG
ADRES LRINH
R12 CS FLGWRD11
MASK NOLRRBIT
EXTEND
BZF CONTSERV
POSTST CA BITS6+7 # TEST LANDING RADAR POSITION DISCRETES
EXTEND
RAND CHAN33
EXTEND
MP BIT10 # SHIFT BITS 6+7 TO BITS 1+2
INDEX A
TCF +1
TCF 511? # A = 0 - BOTH DISCRETES PRESENT
## Page 878
TCF POSCHNG? # A = 1 - POSITION 2
TCF POSCHNG? # A = 2 - POSITION 1
511? CCS 511CTR # IF CONDITION PERSISTS FOR FIVE
TCF ST511CTR # CONSECUTIVE PASSES,ISSUE 511 ALARM
TC ALARM
OCT 511
CS ZERO # SET CTR TO -0 TO BYPASS ALARM
ST511CTR TS 511CTR
TCF CONTSERV
POSCHNG? TS L
CA FOUR # SET 511CTR TO RE-ENABLE 511 ALARM
TS 511CTR
LXCH LRPOS # UPDATE LRPOS
CS LRPOS # COMPARE OLD AND NEW POSITIONS
AD L
EXTEND # IF OLDPOS = NEWPOS,
BZF UPDATCHK # TRY TO UPDATE WITH LR DATA
CONTSERV INHINT
CS BITS4-7
MASK FLGWRD11 # CLEAR LR MEASUREMENT MADE DISCRETES.
TS FLGWRD11
## Page 879
COPYCYC1 TC QUIKFAZ5
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 872
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 COYPCYCL.
## Page 882
# *********************************************************************************************************
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 883
GDT/2
VAD PDDL # (18)
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 884
# ****************************************************************************************************************
# 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) # CSM GDT1/2 FOR LAST PASS.
VAD PDDL
V(CSM)
PGUIDE
DDV VXSC
SHIFT11
VAD
R(CSM)
STCALL R1S # = RCSM + PGUIDE(VCSM + GCSM) AT 2(+24)M.
MUNGRAV # COMPUTE LUNAR GRAVITY AT CSM ALTITUDE.
VAD VAD
V(CSM)
STADR
STORE V1S # = VCSM + GCSM + GDT1/2 AT 2(+7)M/CS.
EXIT
TC QUIKFAZ5
TC INTPRET
VLOAD # FOR RESTART PURPOSES.
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 # LM POSITION VECTOR AT 2(24)M.
STCALL R1S # = R + PGUIDE(V + DELV + GDT1/2).
MUNGRAV
## Page 885
VAD VAD
VAD # (0)
V # LM VELOCITY VECTOR AT 2(+7)M/CS.
STORE V1S # = V + GDT1/2 + DELV
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 CORRECTION TERM*2(5)M/CS.
36D
DSU RTB
/LAND/
SGNAGREE
STCALL HCALC # FOR NOW, DISPLAY WHETHER POS OR NEG
MUNRETRN # GO TO LR UPDATES ROUTINE, R12.
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
BITS6+7 EQUALS SUPER110 # LR POSITION DISCRETES
2SEC(18) 2DEC 200 B-18
2SEC(28) 2OCT 0000000310 # 2SEC AT 2(28)
4SEC(28) 2DEC 400 B-28
BITS4-7 OCT 110
1-30KFT 2DEC 16768072 B-24 # DPPOSMAX-30KFT
66DEC DEC 66
## Page 886
UPDATCHK CA RNGEDBIT # SEE IF ALT READING MADE
## RNGEDBIT in the above line is circled
MASK FLGWRD11
EXTEND
BZF VMEASCHK # NO ALT MEAS THIS CYCLE-CHECK FOR VEL
POSUPDAT TC QUIKFAZ5
TC POSINDEX # SET X1 TO PROPER POSITION AND ZERO PLIST
TC INTPRET
VLOAD* VXM
HBEAMNB,1
XNBPIP # HBEAM SM AT 2(1)
PDDL SL # STORE IN PUSHLIST AND SCALE HMEAS
HMEAS
6D
DMP VXSC # SLANT RANGE AT 2(22),PUSH UP FOR HBEAM
HSCAL # TO GET SLANT RANGE VECTOR AT 2(23) M
PUSH DOT # PUSH NEG OF RADAR ALTITUDE BEAM VECTOR
UNIT/R/ # ALTITUDE AT 2(24) METERS
DSU PDDL # PUSH PARTIAL DELTA H, LOAD NEG OF BEAM Z
HCALC
## At the end of the 2nd divider below, the suffixed ':' was an '=' in the
## original printout. The replacement is a workaround for our proof-reading
## system.
# ========================================================================
# TERRAIN MODEL
# =======================================================================:
SR1 DAD
LAND +4
BDSU SL # SCALE RANGE TO UNITS OF 2(18) METERS
R1S +4
6D
BOVB EXIT
SIGNMPAC # PICK UP NEGMAX UPON OVERFLOW
CS FLAGWRD1 # IS NOTERFLG SET (BY P66 OR V68)?
MASK NOTERBIT
EXTEND
BZF TERSKIP # Y: SKIP TERRAIN BUT TRANSFER DELTA H
CA EBANK5 # N: PREPARE TO ACCESS TERRAIN TABLE
TS EBANK
EBANK= END-E5
CA ZERO # INITIALIZE MINUS LAST ABSCISSA FOR
TS TEM2 # TERLOOP WHICH ADDS THE CONTRIBUTIONS
CA FOUR # OF FIVE TERRAIN SEGMENTS TO DELTA H
TERLOOP TS TEM5
## Page 887
CA MPAC # PICK UP CURRENT RANGE (NEG BEFORE SITE)
TS L
INDEX TEM5
CS ABSC0 # TERRAIN ABSCISSAE UNITS: 2(18) METERS
TC BANKCALL # LIMIT GIVEN LIMITSUB MUST BE POSITIVE
FCADR LIMITSUB # LIMIT |RANGE| <= |CURRENT ABSCISSA|
TS TEM4 # SAVE TO COMPARE WITH CURRENT ABSCISSA
AD TEM2 # SUBTRACT LAST ABSCISSA
EXTEND
INDEX TEM5
MP SLOPE0 # SLOPE UNITS: 2(6) RADIANS. RESOL: 3.9 MR
INDEX FIXLOC # ADD CONTRIBUTION OF SEGMENT TO YIELD
DAS 4 # CORRECTED DELTA H IN UNITS 2(24) METERS
CA TEM1 # RETRIEVE MINUS CURR ABSC FROM LIMITSUB*
TS TEM2 # STORE AS MINUS LAST ABSC FOR NEXT SEG
# * NOTE: IF WE HAVE FLOWN BEYOND THE LANDING SITE BY MORE THAN THE
# LENGTH OF THE SEGMENT ADJACENT TO THE LANDING SITE, CA TEM1
# WILL RETRIEVE - INSTEAD OF MINUS THE CURRENT ABSCISSA -
# A ZERO OR POSITIVE REMAINDER OF THE DIVISION DONE BY LIMITSUB.
# THIS RETRIEVAL WILL CAUSE AN IMMEDIATE BRANCH TO TEREND,
# WHICH IS THE DESIRED RESULT. HOWEVER, FLYING PAST THE LANDING
# SITE IS IMPOSSIBLE EXCEPT IN P66 WHEN THE TERRAIN MODEL IS OFF.
AD TEM4 # HAS LM FLOWN PAST CURRENT ABSCISSA?
EXTEND
BZF +2
TCF TEREND # Y: IGNORE FURTHER ABSCISSAE
CCS TEM5 # N: IS CURRENT ABSCISSA THE LAST?
TCF TERLOOP # N: REPEAT TERRAIN LOOP
TEREND CA EBANK7 # Y: RESTORE EBANK AND DEPART
TS EBANK
EBANK= END-E7
TERSKIP INDEX FIXLOC # TRANSFER COMPLETED DELTA H HOME
DXCH 4 # TO BE ACCESSED BY DISPLAYS, TELEMETRY,
DXCH DELTAH # AND POSITION UPDATE.
CA FIXLOC # RESTORE PUSHDOWN POINTER TO ZERO
TS PUSHLOC
## Page 888
CA FLGWRD11 # IS PSTHIBIT SET (BY HIGATASK)?
MASK PSTHIBIT
EXTEND # DO NOT PERFORM DATA REASONABLENESS TEST
BZF NOREASON # UNTIL AFTER HIGATE
TC INTPRET
DLOAD ABS
DELTAH
DSU SL3 # ABS(DELTAH) - DQFIX
DELQFIX
DSU EXIT # ABS(DELTAH) - (DQFIX + HCALC/8) AT 2(21)
HCALC
INCR LRLCTR
TC BRANCH
TCF HFAIL # DELTA H TOO LARGE
TCF HFAIL # DELTA H TOO LARGE
TC DOWNFLAG # RESET HFAIL FLAG
ADRES HFAILFLG
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
POSUP 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
## Page 889
TC INTPRET # MODE IS DP FROM ABOVE
SL1
VXSC VAD
UNIT/R/ # DELTAR = DH(WH)(1 - H/HMAX) UNIT/R/
R1S
STORE GNUR
EXIT
TC QUIKFAZ5
CA ZERO
RUPDATED TC GNURVST
VMEASCHK TC QUIKFAZ5 # RESTART AT NEXT LOCATION
R12THRU? CS FLGWRD11 # IS RADAREAD THROUGH ?
MASK R12RDBIT
CCS A
TCF VELDATA? # YES:GO ON WITH UPDATE
CCS NEWJOB # NO-WAIT
TC CHANG1
TCF R12THRU?
VELDATA? CS FLGWRD11
MASK VELDABIT # IS V READING AVAILABLE?
CCS A
TCF VALTCHK # NO SEE IF V READING TO BE TAKEN
VELUPDAT TC POSINDEX # SET X1 AND X2 AND ZERO PUSHLIST
CS VSELECT
TS L
ADS L # -2 VSELECT IN L
AD L
AD L # -6 VSELECT IN A
INDEX FIXLOC
DAS X1 # X1 = -6 VSELECT(POS), X2 = -2 VSELECT
TC INTPRET
VLOAD* VXM
VZBEAMNB,1 # CONVERT PROPER VBEAM FROM NB TO SM
XNBPIP # SCALED AT 2(1)
PDDL SL # STORE IN PD 0-5
VMEAS # LOAD VELOCITY MEASUREMENT
12D
DMP* PDVL # SCALE TO M/CS AT 2(6)
VZSCAL,2 # AND STORE IN PD 6-7
V1S # VELOCITY AT TIME OF READING
VSL2 VAD # SCALE TO 2(5) M/CS AND SUBTRACT
DELVS # MOON ROTATION.
PUSH ABVAL # STORE IN PD
SR4 DAD # ABS(VM)/8 + VELBIAS AT 2(6)
VELBIAS
## Page 890
STOVL 20D # STORE IN 20D AND PICK UP VM
DOT BDSU
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 # RESET HFAIL FLAG
ADRES VFAILFLG
TC DOWNFLAG # TURN OFF VEL FAIL LAMP
ADRES VFLSHFLG
## The above line is circled.
CA FLGWRD11
MASK VXINHBIT
EXTEND
BZF VUPDAT # IF VX INHIBIT RESET, INCORPORATE DATA.
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
## Page 891
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
BZMF GETGNUV # IF IN P66 USE ANOTHER CONSTANT
CA LRWVFF
TS MPAC
GETGNUV 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
HIGATCHK CS FLGWRD11 # IS PSTHIBIT SET (BY HIGATASK)?
MASK PSTHIBIT
EXTEND
BZF CONTSERV # YES: BYPASS HIGATE CHECK
## Page 892
CA TTF/8
AD RPCRTIME
EXTEND
BZMF CONTSERV
CA EBANK4
XCH EBANK
TS L
EBANK= XNBPIP
CS XNBPIP
EBANK= DVCNTR
LXCH EBANK
AD RPCRTQSW
EXTEND
BZMF HIGATASK
TCF CONTSERV
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
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
POSINDEX CA FIXLOC # SET PUSHLIST TO ZERO
TS PUSHLOC
CA BIT1
MASK LRPOS # *NOTE - LRPOS = 1 FOR POS 2 & VICE VERSA
## Page 893
CCS A
CS OCT30 # POS 2 , INDEX = -24D
ZL # POS 1 , INDEX = 0 , X2 = 0 FOR BOTH
INDEX FIXLOC
DXCH X1 # SET X1,X2
TC Q
HFAIL TC UPFLAG # SET HFAIL FLAG FOR DOWNLINK
ADRES HFAILFLG
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 TC UPFLAG
ADRES VFAILFLG # SET VFAIL FLAG FOR DOWNLINK
## The above instruction and address are circled in red.
CS LRSCTR
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
## In the above comment, "THEN TWO ORE MORE OF THE" is crossed out in green.
BZF +2 # LAST FOUR V READINGS WERE BAD,
## In the above comment, a 3 has been written over FOUR, and "BAD," has been crossed out
## with "GOOD," written next to it.
TCF NOLITE # SO TURN ON VELOCITY FAIL LIGHT
## "DON'T" is written under "SO TURN", indicating the line should read "SO DON'T TURN ON..."
TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE
ADRES VFLSHFLG
## The above instruction and address are circled.
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 894
# ********************************************************************************************************
BANK 33
SETLOC SERVICES
BANK
COUNT* $$/SERV
EBANK= DVCNTR
# HIGATJOB IS BEGUN WHEN BOTH THE TIME AND ANGLE CRITERIA FOR ANTENNA REPOSITIONING ARE MET. THE JOB INITIATES THE
# LANDING RADAR ANTENNA REPOSITIONING ROUTINE. DURING THE REPOSITIONING, R12 IS INHIBITTED BY THE NOLRREAD FLAG.
# UPON COMPLETION OF THE REPOSITIONING,(SUCCESSFUL OR NOT),THE NOLRREAD FLAG IS CLEARED AND R12 CONTINUES.
REREPOS INHINT # ON RESTART, SET FLAGS AGAIN
CS FLGWRD11
MASK PRIO3
ADS FLGWRD11
HIGATJOB TC BANKCALL # INITIATE REPOSITIONING ROUTINE
CADR LRPOS2
TC BANKCALL # DELAY UNTIL FINISHED
CADR RADSTALL
TCF +1 # IF UNSUCCESSFUL, R12 WILL HANDLE THINGS
CA ONE # INDICATE POS 2 IS EXPECTED
TS LRPOS
TC DOWNFLAG # RE-ENABLE R12.
ADRES NOLRREAD
TC PHASCHNG # CLEAR RESTART PROTECTION
OCT 1
TC ENDOFJOB
## Below, in the comment column, is written "NEG3 = 77774"
Computing file changes ...
