Apollo-11/Luminary099/SERVICER.agc

# 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
#			Massachusetts 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 CORRECTION 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