Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

034544,000002:                                                                                                  ## Copyright:   Public domain.
034545,000003:                                                                                                  ## Filename:    SERVICER207.agc
034546,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
034547,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
034548,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
034549,000007:                                                                                                  ## Assembler:   yaYUL
034550,000008:                                                                                                  ## Reference:   pp. 773-790.
034551,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
034552,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
034553,000011:                                                                                                  ## Mod history: 08/19/04 RSB.   Began transcribing.
034554,000012:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
034555,000013:                                                                                                  ##                              original harcopy, as opposed to the PDF page
034556,000014:                                                                                                  ##                              numbers in 1701.pdf.
034557,000015:                                                                                                  ##              2017-01-18 RSB  Cross-diff'd comment text (not whitespace)
034558,000016:                                                                                                  ##                              vs the already-proofed corresponding Colossus
034559,000017:                                                                                                  ##                              237 and Comanche 55 source-code files
034560,000018:                                                                                                  ##                              and corrected errors found.
034561,000019:                                                                                                  ##
034562,000020:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
034563,000021:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
034564,000022:                                                                                                  ## document read, in part:
034565,000023:                                                                                                  ##
034566,000024:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
034567,000025:                                                                                                  ##      2021111-041.  October 28, 1968.  
034568,000026:                                                                                                  ##
034569,000027:                                                                                                  ##      This AGC program shall also be referred to as
034570,000028:                                                                                                  ##                              Colossus 1A
034571,000029:                                                                                                  ##
034572,000030:                                                                                                  ##      Prepared by
034573,000031:                                                                                                  ##                      Massachusetts Institute of Technology
034574,000032:                                                                                                  ##                      75 Cambridge Parkway
034575,000033:                                                                                                  ##                      Cambridge, Massachusetts
034576,000034:                                                                                                  ##      under NASA contract NAS 9-4065.
034577,000035:                                                                                                  ##
034578,000036:                                                                                                  ## Refer directly to the online document mentioned above for further information.
034579,000037:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
034580,000038:                                                                                                  ##
034581,000039:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
034582,000040:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
034583,000041:                                                                                                  ## source file, and then is proofed to incorporate any changes.
034584,000042: 

Page 773

034586,000044:                                                                                                  #  PROGRAM NAME - PREREAD, READACCS, SERVICER, AVERAGE G.
034587,000045:                                                                                                  #  MOD NO. 00 BY M. HAMILTON     DEC. 12, 1966
034588,000046: 
034589,000047:                                                                                                  #  FUNCTIONAL DESCRIPTION
034590,000048: 
034591,000049:                                                                                                  #  THE ROUTINES DESCRIBED BELOW ARE USED TO CALCULATE VALUES OF RN, VN, AND GDT/2 DURING ACCELERATED FLIGHT.
034592,000050:                                                                                                  #  THE SEVERAL ROUTINES COMPRISE A PACKAGE AND ARE NOT MEANT TO BE USED AS SEPARATE SUBROUTINES.
034593,000051: 
034594,000052:                                                                                                  #  GENERAL REFERENCES TO SERVICER OR AVERAGE G ARE UNDERSTOOD TO REFER TO THE ENTIRE SET OF ROUTINES INCLUDING
034595,000053:                                                                                                  #  READACCS, SERVICER, AVERAGE G, INTEREAD, SMOOTHER, AND ANY ADDITIONAL ROUTINES ATTACHED AT AVGEXIT (SEE BELOW).
034596,000054: 
034597,000055:                                                                                                  #  PROGRAMS INITIATING SERVICER ARE REQUIRED TO MAKE A WAITLIST CALL FOR PREREAD (OR, IF LIFTOFF, FOR BIBIBIAS)
034598,000056:                                                                                                  #  AT 2 SECONDS BEFORE THE FIRST AVERAGE G UPDATE IN ORDER TO INITIALIZE THE SEQUENCE, WHICH WILL RECUR EVERY
034599,000057:                                                                                                  #  2 SECONDS FROM THAT TIME ON AS LONG AS AVEGFLAG REMAINS SET.
034600,000058: 
034601,000059:                                                                                                  #  THE USE OF ERASABLE AVGEXIT ALLOWS VARIOUS ROUTINES TO BE PERFORMED AS PART OF THE NORMAL CYCLE (SEE
034602,000060:                                                                                                  #  EXPLANATION OF AVGEXIT BELOW).
034603,000061: 
034604,000062:                                                                                                  #  DESCRIPTIONS OF INDIVIDUAL ROUTINES FOLLOW.
034605,000063: 
034606,000064:                                                                                                  #        PREREAD
034607,000065: 
034608,000066:                                                                                                  #                PREVIOUSLY EXTRAPOLATED VALUES COPIED FROM RN1, VN1, AND PIPTIME1 INTO RN, VN, AND PIPTIME.
034609,000067:                                                                                                  #                LASTBIAS JOB SCHEDULED.
034610,000068:                                                                                                  #                PIPS READ AND CLEARED VIA PIPASR SUBROUTINE.
034611,000069:                                                                                                  #                AVERAGE G FLAG SET ON.
034612,000070:                                                                                                  #                DRIFT FLAG SET OFF.
034613,000071:                                                                                                  #                V37 FLAG SET ON.
034614,000072:                                                                                                  #                INITIALIZATION OF       1) THRUST MONITOR (DVMON) - DVCNTR SET TO ONE.
034615,000073:                                                                                                  #                                        2) TOTAL ACCUMULATED DELV VALUE (DVTOTAL) - SET TO ZERO.
034616,000074:                                                                                                  #                                        3) AXIS VECTOR (AXIS) - SET TO (.5,0,0).
034617,000075:                                                                                                  #                NORMLIZE JOB SCHEDULED.
034618,000076:                                                                                                  #                READACCS TASK CALLED IN 2 SECONDS.
034619,000077: 
034620,000078:                                                                                                  #        NORMLIZE
034621,000079: 
034622,000080:                                                                                                  #                GDT/2 INITIALIZED VIA CALCGRAV SUBROUTINE.
034623,000081: 
034624,000082:                                                                                                  #        READACCS
034625,000083: 
034626,000084:                                                                                                  #                IF ONMON FLAG SET QUIKREAD ROUTINE IS PERFORMED BEFORE PIPASR ZEROS THE PIPA REGISTERS, AND THE 1/2 SEC
034627,000085:                                                                                                  #                ONMONITOR LOOP IS INITIATED TO PROVIDE DOWNLINK INFORMATION DURING ENTRY.
034628,000086:                                                                                                  #                PIPS READ AND CLEARED BY PIPASR SUBROUTINE.
034629,000087:                                                                                                  #                IF CM/DSTBY IS ON, ENTRY VARIABLES INITIALIZED AND SETJTAG TASK CALLED.

Page 774

034631,000089: 
034632,000090:                                                                                                  #                IF AVERAGEG FLAG ON     READACCS CALLED TO RECYCLE IN 2 SECONDS.
034633,000091:                                                                                                  #                IF AVERAGEG FLAG OFF    AVERAGE G EXIT (AVGEXIT) SET TO 2CADR AVGEND FOR FINAL PASS.
034634,000092:                                                                                                  #                SERVICER JOB SCHEDULED.
034635,000093:                                                                                                  #                TEST CONNECTOR OUTBIT TURNED ON.
034636,000094: 
034637,000095:                                                                                                  #        ONMNITOR
034638,000096: 
034639,000097:                                                                                                  #                A SEQUENCE OF THREE PASSES THROUGH QUICKREAD FOLLOWING A CALL TO READACCS WITH ONMONFLG SET AT 1/2 
034640,000098:                                                                                                  #                SEC INTERVALS.  INTERVALS ARE COUNTED OUT BY PIPCTR, INITIALISED AT 3 BY READACCS
034641,000099: 
034642,000100:                                                                                                  #        QUIKREAD
034643,000101: 
034644,000102:                                                                                                  #                READS CURRENT PIPS INTO X,Y,ZPIPBUF.  READS OLD X,Y,ZPIPBUF INTO X,Y,ZOLDBUF.  VALUES ARE SENT TO
034645,000103:                                                                                                  #                DOWNLIST DURING ENTRY.
034646,000104: 
034647,000105:                                                                                                  #        SERVICER
034648,000106: 
034649,000107:                                                                                                  #                DELV VALUES CHECKED TO DETECT RUNAWAY PIP -
034650,000108: 
034651,000109:                                                                                                  #                        IF BAD PIP      1) ALARM SENT.
034652,000110:                                                                                                  #                                        2) COMPENSATION, DVTOTAL ACCUMULATION, AND DVMON BYPASSED.  CONTROL
034653,000111:                                                                                                  #                                           TRANSFERRED TO AVERAGEG.
034654,000112: 
034655,000113:                                                                                                  #                PIPS COMPENSATED VIA 1/PIPA SUBROUTINE.
034656,000114:                                                                                                  #                DVTOTAL INCREMENTED BY ABSOLUTE VALUE OF DELV.
034657,000115:                                                                                                  #                THRUST MONITOR (DVMON) PERFORMED UNLESS IDLE FLAG IS ON.
034658,000116:                                                                                                  #                CONTROL TRANSFERRED TO AVERAGE G.
034659,000117: 
034660,000118:                                                                                                  #                DVMON
034661,000119: 
034662,000120:                                                                                                  #                        THRESHOLD VALUE (PLACED IN DVTHRUSH BY USER) CHECKED AGAINST ABSOLUTE VALUE OF DELV TO CHECK
034663,000121:                                                                                                  #                        THRUST LEVEL.
034664,000122: 
034665,000123:                                                                                                  #                                IF THRUST       1) ULLAGE OFF ROUTINE PERFORMED.
034666,000124:                                                                                                  #                                                2) STEERING FLAG TURNED ON AT FIRST DETECTION OF THRUST.
034667,000125:                                                                                                  #                                                3) CONTROL TRANSFERRED TO AVERAGE G.
034668,000126:                                                                                                  #                                IF NO THRUST    1) ON FIRST PASS THROUGH MONITOR, CONTROL TRANSFERRED TO AVERAGE G.
034669,000127:                                                                                                  #                                                2) ON SUBSEQUENT PASSES, CONTROL TRANSFERRED TO ENGINE FAIL ROUTINE IF THRUST
034670,000128:                                                                                                  #                                                   HAS FAILED FOR 3 CONSECUTIVE PASSES.
034671,000129:                                                                                                  #                ENGINE FAIL
034672,000130: 
034673,000131:                                                                                                  #                        ENGFAIL1 TASK CALLED IN 2.5 SECONDS.  THIS WILL RETURN CONTROL TO TIG-5 SO THAT THE IGNITION
034674,000132:                                                                                                  #                                SEQUENCE MAY BE REPEATED.
034675,000133:                                                                                                  #                        ENGINOF3 PERFORMED.
034676,000134:                                                                                                  #                        DAP SET UP FOR RCS.
034677,000135:                                                                                                  #        
034678,000136:                                                                                                  #        AVERAGE G

Page 775

034680,000138:                                                                                                  #                RN1, VN1, GDT1/2 CALCULATED VIA CALCRVG ROUTINE BY UPDATING RN, VN WITH DELV AND AN AVERAGED VALUE
034681,000139:                                                                                                  #                        OF GDT/2.
034682,000140:                                                                                                  #                RN1, VN1, GDT1/2, PIPTIME1 COPIED INTO RN, VN, GDT/2, PIPTIME FOR RESTART PROTECTION.
034683,000141:                                                                                                  #                CONTROL TRANSFERRED TO ADDRESS SPECIFIED BY USER (OR BY READACCS FOR LAST PASS) IN AVGEXIT.
034684,000142:                                                                                                  #                LAST PASS (AVGEND)      1) FREE FALL GYRO COMPENSATION SET UP.
034685,000143:                                                                                                  #                                        2) DRIFT FLAG TURNED ON.
034686,000144:                                                                                                  #                                        3) STATE VECTOR TRANSFERRED VIA AVETOMID ROUTINE.
034687,000145:                                                                                                  #                                        4) ONMONITOR FLAG RESET.
034688,000146:                                                                                                  #                                        5) V37 FLAG RESET.
034689,000147:                                                                                                  #                                        6) TEST CONNECTOR OUTBIT RESET.
034690,000148:                                                                                                  #                                        7) CONTROL TRANSFERRED TO CANV37 TO CONTINUE MM CHANGE ROUTINE (R00).
034691,000149: 
034692,000150:                                                                                                  #  CALLING SEQUENCE
034693,000151: 
034694,000152:                                                                                                  #        PREREAD ENTERED DIRECTLY FROM TIG-30 VIA POSTJUMP.
034695,000153:                                                                                                  #        READACCS CALLED AS WAITLIST TASK. .
034696,000154: 
034697,000155:                                                                                                  #  SUBROUTINES CALLED
034698,000156: 
034699,000157:                                                                                                  #        UTILITY ROUTINES - PHASCHNG FLAGUP FLAGDOWN NOVAC FINDVAC WAITLIST ALARM NEWPHASE 2PHSCHNG
034700,000158: 
034701,000159:                                                                                                  #        OTHER - PIPASR 1/PIPA CALCGRAV CALCRVG AVETOMID
034702,000160: 
034703,000161:                                                                                                  #  NORMAL EXIT MODES
034704,000162: 
034705,000163:                                                                                                  #        ENDOFJOB        TASKOVER        CANV37
034706,000164: 
034707,000165:                                                                                                  #        AVGEXIT -       THIS IS A DOUBLE PRECISION ERASABLE LOCATION BY WHICH CONTROL IS TRANSFERRED AT THE END
034708,000166:                                                                                                  #                                OF EACH CYCLE OF AVERAGE G.
034709,000167:                                                                                                  #                        THE 2CADR OF A ROUTINE TO BE PERFORMED AT THAT TIME (E.G., STEERING EQUATIONS TO BE PERFORMED
034710,000168:                                                                                                  #                                AT 2 SECOND INTERVALS) MAY BE SET BY THE USER INTO AVGEXIT.
034711,000169:                                                                                                  #                        ALL SUCH ROUTINES SHOULD RETURN TO SERVEXIT, WHICH IS THE NORMAL EXIT FROM AVERAGE G.
034712,000170: 
034713,000171:                                                                                                  #        SERVEXIT -      DOES A PHASE CHANGE FOR RESTART PROTECTION AND GOES TO ENDOFJOB.
034714,000172:                                                                                                  #                        THE 2CADR OF SERVEXIT IS SET INTO AVGEXIT BY THE USER IF NO OTHER ROUTINE (SEE ABOVE).
034715,000173: 
034716,000174:                                                                                                  #        AVGEND -                LAST PASS OF AVERAGE G EXITS HERE, BYPASSING SPECIAL ROUTINE (SEE ABOVE UNDER READACCS).
034717,000175:                                                                                                  #                        FINAL EXIT IS TO CANV37.                                F AVERAGE G).
034718,000176: 
034719,000177:                                                                                                  #  OUTPUT
034720,000178: 
034721,000179:                                                                                                  #        DVTOTAL(2)      PIPTIME(2) XPIPBUF(2) YPIPBUF(2) ZPIPBUF(2)
034722,000180:                                                                                                  #        RN(6)           REFERENCE COORD.        SCALED AT 2(+29) M/CS
034723,000181:                                                                                                  #        VN(6)           REFERENCE COORD.        SCALED AT 2(+7) M/CS
034724,000182:                                                                                                  #        GDT/2(6)        REFERENCE COORD.        SCALED AT 2(+7) M/CS
034725,000183:                                                                                                  #        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 776

034727,000185:                                                                                                  #        DELVREF(6)      REFERENCE COORD.        SCALED AT 2(+7) M/CS
034728,000186: 
034729,000187:                                                                                                  #  INITIALIZATION
034730,000188: 
034731,000189:                                                                                                  #        ONMONITOR FLAG SET BY ENTRY TO SHOW PIPBUF VALUES REQUIRED.
034732,000190:                                                                                                  #        IDLE FLAG ON IF DVMON TO BE BYPASSED.
034733,000191:                                                                                                  #        DVTHRUSH SET TO APPROPRIATE VALUE FOR DVMON.
034734,000192:                                                                                                  #        AVGEXIT SET TO 2CADR OF ROUTINE, IF ANY, TO BE PERFORMED AFTER EACH CYCLE OF AVERAGE G.  IF NO ROUTINE
034735,000193:                                                                                                  #                TO BE DONE, AVGEXIT SET TO SERVEXIT.
034736,000194:                                                                                                  #        VALUES NEEDED
034737,000195:                                                                                                  #                REFSMMAT
034738,000196:                                                                                                  #                UNITW - FULL UNIT VECTOR, IN REFERENCE COORD., OF EARTH S ROTATIONAL VECTOR
034739,000197:                                                                                                  #                RN1, VN1, PIPTIME1 - IN REFERENCE COORD., CONSISTENT WITH TIME OF EXECUTION OF PREREAD
034740,000198: 
034741,000199:                                                                                                  #  DEBRIS
034742,000200: 
034743,000201:                                                                                                  #        CENTRALS        A, L, Q
034744,000202:                                                                                                  #        OTHER           INTERNAL - DVCNTR(1) PIPAGE(1) PIPCTR(1) AVGEXIT(2)
034745,000203:                                                                                                  #                        EXTERNAL - ITEMP1(1) ITEMP2(1) RUPTREG1(1) TEMX(1) TEMY(1) TEMZ(1)
034746,000204:                                                                                                  #                        USEFUL DEBRIS
034747,000205:                                                                                                  #                                RN1(6) VN1(6) GDT1/2 PIPTIME1(2)
034748,000206:                                                                                                  #                                        THESE LOCATIONS USED AS BUFFER STORAGE FOR NEWLY CALCULATED VALUES OF RN, VN, GDT/2,
034749,000207:                                                                                                  #                                        AND PIPTIME DURING PERFORMANCE OF SERVICER ROUTINES.
034750,000208:                                                                                                  #                                UNITR - HALF UNIT VECTOR OF RN, REFERENCE COORD.
034751,000209:                                                                                                  #                                RMAG SCALED AT 2(+58) IN 36D.
034752,000210:                                                                                                  #                                RMAGSQ SCALED AT 2(+58) IN 34D.
034753,000211:                                                                                                  #                                (RE/RMAG)SQ IN 32D.
034754,000212: 
034755,000213: 27,2633                                           BANK     27                                    
034756,000214: 37,2000                                           SETLOC   SERVICES                              
034757,000215: 37,2000                                           BANK                                           
034758,000216: 
034759,000217: 37,2604  E7,1431                                  EBANK=   DVCNTR                                
034760,000218:                                                                                                  #  *************************************   PREREAD   **************************************************************
034761,000219: 
034762,000220: 37,2604                                           COUNT    37/SERV                               
034763,000221: 
034764,000222: 37,2604           34766        PREREAD            CAF      PRIO21                                #  CALLER MUST PROTECT PREREAD
034765,000223: 37,2605           05027                           TC       NOVAC                                 
034766,000224: 37,2606  E3,1460                                  EBANK=   NBDX                                  
034767,000225: 37,2606           03636 14063                     2CADR    LASTBIAS                              #  DO LAST GYRO COMPENSATION IN FREE FALL
034768,000226: 
034769,000227:                                                                                                  #  CALL-TO AND LASTBIAS ITSELF ARE NOT
034770,000228:                                                                                                  #        PROTECTED. REREADAC SETS 1/PIPADT
034771,000229:                                                                                                  #        TO 2.0 SECS IN CASE LASTBIAS LOST.
034772,000230:                                                                                                  #        (REDUNDANT IF LASTBIAS IS AOK)

Page 777

034774,000232: 37,2610           02625        REDO5.31           TC       PREREAD1                              
034775,000233: 
034776,000234: 37,2611           37667                           CAF      PRIO32                                
034777,000235: 37,2612           05042                           TC       FINDVAC                               #  SET UP NORMLIZE JOB REQUIRED PRIOR TO
034778,000236: 37,2613  E7,1431                                  EBANK=   DVCNTR                                #  FIRST AVERAGE G PASS
034779,000237: 37,2613           03141 76067                     2CADR    NORMLIZE                              
034780,000238: 
034781,000239: 37,2615           34735                           CAF      2SECS                                 
034782,000240: 37,2616           05140                           TC       WAITLIST                              
034783,000241: 37,2617  E6,1661                                  EBANK=   AOG                                   
034784,000242: 37,2617           02647 76066                     2CADR    READACCS                              
034785,000243: 
034786,000244: 37,2621           44711                           CS       TWO                                   
034787,000245: 37,2622           04114                           TC       NEWPHASE                              
034788,000246: 37,2623           00005                           OCT      5                                     
034789,000247: 
034790,000248: 37,2624           15213                           TCF      TASKOVER                              
034791,000249: 37,2625           00006        PREREAD1           EXTEND                                         
034792,000250: 37,2626           22070                           QXCH     RUPTREG1                              
034793,000251: 
034794,000252: 37,2627           03157                           TC       PIPASR                                #  CLEAR + READ PIPS LAST TIME IN FREE FALL
034795,000253: 
034796,000254: 37,2630           34712                           CAF      ONE                                   #  SET UP PIPAGE FOR REREADAC IN CASE A
034797,000255: 37,2631           55230                           TS       PIPAGE                                #        RESTART OCCURS BEFORE READACCS
034798,000256: 
034799,000257: 37,2632           40075                           CS       FLAGWRD1                              #  SET AVEG FLAG
034800,000258: 37,2633           74712                           MASK     BIT1                                  
034801,000259: 37,2634           26075                           ADS      FLAGWRD1                              
034802,000260: 
034803,000261: 37,2635           34672                           CA       POSMAX                                
034804,000262: 37,2636           70076                           MASK     FLAGWRD2                              
034805,000263: 37,2637           54076                           TS       FLAGWRD2                              #  KNOCK DOWN DRIFT FLAG
034806,000264: 
034807,000265: 37,2640           40103                           CS       FLAGWRD7                              #  SET V37 FLAG
034808,000266: 37,2641           74705                           MASK     BIT6                                  
034809,000267: 37,2642           26103                           ADS      FLAGWRD7                              
034810,000268: 
034811,000269: 37,2643           34714                           CAF      ZERO                                  
034812,000270: 37,2644           55425                           TS       DVTOTAL                               #  CLEAR DVTOTAL
034813,000271: 37,2645           55426                           TS       DVTOTAL    +1                         
034814,000272: 
034815,000273: 37,2646           00070                           TC       RUPTREG1                              
034816,000274: 

Page 778

034818,000276:                                                                                                  #  *************************************   READACCS   *************************************************************
034819,000277: 
034820,000278: 37,2647  E6,1661                                  EBANK=   AOG                                   
034821,000279: 37,2647           03157        READACCS           TC       PIPASR                                
034822,000280: 
034823,000281: 37,2650           34715        PIPSDONE           CAF      FIVE                                  
034824,000282: 37,2651           54001                           TS       L                                     
034825,000283: 37,2652           40000                           COM                                            
034826,000284: 37,2653           52763                           DXCH     -PHASE5                               
034827,000285: 
034828,000286: 37,2654           34712        REDO5.5            CAF      ONE                                   #  SHOW PIPS HAVE BEEN READ
034829,000287: 37,2655           55230                           TS       PIPAGE                                
034830,000288: 
034831,000289: 37,2656           34711                           CA       TWO                                   #  SET PIPCTR FOR ONMINTOR
034832,000290: 37,2657           55227                           TS       PIPCTR                                #  AFTER ABOVE PHASCHNG
034833,000291: 
034834,000292: 37,2660           40102                           CS       CM/FLAGS                              
034835,000293: 37,2661           74711                           MASK     BIT2                                  #  CM/DSTBY
034836,000294: 37,2662           10000                           CCS      A                                     
034837,000295: 37,2663           02736                           TC       CHEKAVEG                              
034838,000296: 
034839,000297: 37,2664           41246                           CS       PIPTIME1   +1                         
034840,000298: 37,2665           55065                           TS       TBASE6                                #  FOR RESTARTS
034841,000299: 37,2666           00006                           EXTEND                                         #  CONTINUE FOR ENTRY DAP
034842,000300: 37,2667           31662                           DCA      AOG                                   
034843,000301: 37,2670           53670                           DXCH     AOG/PIP                               
034844,000302: 37,2671           31663                           CA       AMG                                   
034845,000303: 37,2672           57671                           XCH      AMG/PIP                               
034846,000304: 37,2673           00006                           EXTEND                                         
034847,000305: 37,2674           31665                           DCA      ROLL/180                              
034848,000306: 37,2675           53673                           DXCH     ROLL/PIP                              
034849,000307: 37,2676           31666                           CA       BETA/180                              
034850,000308: 37,2677           57674                           XCH      BETA/PIP                              
034851,000309: 37,2700           30102                           CA       CM/FLAGS                              
034852,000310: 37,2701           74677                           MASK     BIT12                                 #  CM/DAPARM 93D BIT12
034853,000311: 37,2702           00006                           EXTEND                                         #  DURING ENTRY, WHEN RCS DAP IS INACTIVE,
034854,000312: 37,2703           12721                           BZF      NOSAVPIP                              #  SAVE PIPAS EACH 0.5 SEC FOR TM.
034855,000313: 
034856,000314: 37,2704           32771                           CA       0.5SEC                                
034857,000315: 37,2705           05140                           TC       WAITLIST                              
034858,000316: 37,2706  E6,1533                                  EBANK=   XPIPBUF                               
034859,000317: 37,2706           02772 76066                     2CADR    QUIKREAD                              
034860,000318: 
034861,000319:                                                                                                  #  NO NEED TO RESTART PROTECT THIS.
034862,000320: 37,2710           31162                           CA       DELVX                                 #  SAVE PIPAS AS READ (BUT NOT COMPENSATED)
034863,000321: 37,2711           57533                           XCH      XPIPBUF                               
034864,000322: 37,2712           55536                           TS       XOLDBUF                               
034865,000323: 
034866,000324: 37,2713           31164                           CA       DELVY                                 
034867,000325: 37,2714           57534                           XCH      YPIPBUF                               
034868,000326: 37,2715           55537                           TS       YOLDBUF                               

Page 779

034870,000328: 37,2716           31166                           CA       DELVZ                                 
034871,000329: 37,2717           57535                           XCH      ZPIPBUF                               
034872,000330: 37,2720           55540                           TS       ZOLDBUF                               
034873,000331: 
034874,000332: 37,2721           34715        NOSAVPIP           CA       FIVE                                  
034875,000333: 37,2722           55725                           TS       CM/GYMDT                              
034876,000334: 
034877,000335: 37,2723           33136                           CA       JTAGTIME                              #  ACTIVATE CM/RCS AFTER PIPUP TO GO
034878,000336:                                                                                                  #  IN JTAGTIME +5 CS.
034879,000337: 37,2724           05140                           TC       WAITLIST                              
034880,000338: 37,2725  E6,1661                                  EBANK=   AOG                                   
034881,000339: 37,2725           03227 32066                     2CADR    SETJTAG                               
034882,000340: 
034883,000341: 37,2727           46214                           CS       THREE                                 #  1.3SPOT FOR SETJTAG
034884,000342: 37,2730           04114                           TC       NEWPHASE                              
034885,000343: 37,2731           00001                           OCT      1                                     
034886,000344: 
034887,000345: 37,2732           34362                           CAF      OCT37                                 
034888,000346: 37,2733           54001                           TS       L                                     
034889,000347: 37,2734           40000                           COM                                            
034890,000348: 37,2735           52763                           DXCH     -PHASE5                               
034891,000349: 
034892,000350: 37,2736           40075        CHEKAVEG           CS       FLAGWRD1                              
034893,000351: 37,2737           74712                           MASK     BIT1                                  
034894,000352: 37,2740           10000                           CCS      A                                     #  IF AVEG FLAG DOWN SET FINAL EXIT AVEG
034895,000353: 37,2741           02761                           TC       AVEGOUT                               
034896,000354: 
034897,000355: 37,2742           34735                           CAF      2SECS                                 
034898,000356: 37,2743           05140                           TC       WAITLIST                              
034899,000357: 37,2744  E6,1661                                  EBANK=   AOG                                   
034900,000358: 37,2744           02647 76066                     2CADR    READACCS                              
034901,000359: 
034902,000360: 37,2746           34675        MAKESERV           CAF      PRIO20                                #  ESTABLISH SERVICER ROUTINE
034903,000361: 37,2747           05042                           TC       FINDVAC                               
034904,000362: 37,2750  E7,1431                                  EBANK=   DVCNTR                                
034905,000363: 37,2750           03007 76067                     2CADR    SERVICER                              
034906,000364: 
034907,000365: 37,2752           44710                           CS       FOUR                                  #  RESTART SERVICER AND READACCS
034908,000366: 37,2753           04114                           TC       NEWPHASE                              
034909,000367: 37,2754           00005                           OCT      5                                     
034910,000368: 
034911,000369: 37,2755           34702                           CAF      BIT9                                  
034912,000370: 37,2756           00006                           EXTEND                                         
034913,000371: 37,2757           05011                           WOR      DSALMOUT                              #  TURN TEST CONNECTOR OUTBIT ON
034914,000372: 
034915,000373: 37,2760           15213                           TCF      TASKOVER                              #  END PREVIOUS READACCS WAITLIST TASK
034916,000374: 

Page 780

034918,000376: 37,2761           00006        AVEGOUT            EXTEND                                         
034919,000377: 37,2762           32766                           DCA      AVOUTCAD                              
034920,000378: 37,2763           53223                           DXCH     AVGEXIT                               
034921,000379: 37,2764           12746                           TCF      MAKESERV                              
034922,000380: 
034923,000381: 37,2765  E7,1431                                  EBANK=   DVCNTR                                
034924,000382: 37,2765           03070 76067  AVOUTCAD           2CADR    AVGEND                                
034925,000383: 

Page 781

034927,000385:                                                                                                  #  ROUTINE NAME: ONMNITOR
034928,000386:                                                                                                  #  MOD 04 BY BAIRNSFATHER 30 APR 1968    REDO ONMNITOR TO SAVE PIPS EACH 0.5 SEC FOR TM,ENTRY.
034929,000387:                                                                                                  #  MOD 03 BY FISHER DECEMBER 1967
034930,000388:                                                                                                  #  MOD 02 BY RYE SEPT 1967
034931,000389:                                                                                                  #  MOD 01 BY KOSMALA 23 MAR 1967
034932,000390:                                                                                                  #  MOD 00 BY KOSMALA 27 FEB 1967
034933,000391: 
034934,000392:                                                                                                  #  FUNCTIONAL DESCRIPTION
034935,000393: 
034936,000394:                                                                                                  #        THE PURPOSE OF ONMONITOR IS TO PROVIDE 1/2 SEC. READING OF PIPAS FOR DOWNLIST DURING ENTRY.
034937,000395:                                                                                                  #        X,Y,ZPIPBUF CONTAIN PRESENT VALUES X,Y,ZOLDBUF CONTAIN VALUES FROM PREVIOUS READING.
034938,000396: 
034939,000397:                                                                                                  #  CALLING SEQUENCE
034940,000398: 
034941,000399:                                                                                                  #        CALL AS WAITLIST TASK. TERMINATES ITSELF IN TASKOVER
034942,000400: 
034943,000401:                                                                                                  #  INITIALISATION
034944,000402: 
034945,000403:                                                                                                  #        PIPCTR = 2 (FOR DT = 0.5 SEC)
034946,000404:                                                                                                  #        X,Y,ZPIPBUF SET TO PREVIOUS PIPAX,Y,Z
034947,000405: 
034948,000406:                                                                                                  #  OUTPUT
034949,000407: 
034950,000408:                                                                                                  #        X,Y,ZPIPBUF, X,Y,ZOLDBUF
034951,000409: 
034952,000410:                                                                                                  #  DEBRIS
034953,000411: 
034954,000412:                                                                                                  #        X,Y,ZPIPBUF CONTAIN LAST PIPAX,Y,Z VALUES
034955,000413:                                                                                                  #                X,Y,ZOLDBUF CONTAIN LAST-BUT-ONE PIPAX,Y,Z VALUES
034956,000414:                                                                                                  #        RUPTREG1
034957,000415:                                                                                                  #        PIPCTR
034958,000416: 
034959,000417: 37,2767           55227        ONMNITOR           TS       PIPCTR                                
034960,000418: 
034961,000419: 37,2770           05156                           TC       FIXDELAY                              #  WAIT
034962,000420: 37,2771           00062        0.5SEC             DEC      50         B-14                       
034963,000421: 
034964,000422: 37,2772           34711        QUIKREAD           CAF      TWO                                   
034965,000423: 37,2773           54070                           TS       RUPTREG1                              
034966,000424: 37,2774           50000                           INDEX    A                                     
034967,000425: 37,2775           30037                           CA       PIPAX                                 #  SAVE ACTUAL PIPAS FOR TM.
034968,000426: 37,2776           50070                           INDEX    RUPTREG1                              
034969,000427: 37,2777           57533                           XCH      XPIPBUF                               #  UPDATE X,Y,ZPIPBUF
034970,000428: 37,3000           50070                           INDEX    RUPTREG1                              
034971,000429: 37,3001           55536                           TS       XOLDBUF                               #  AND X,Y,ZOLDBUF
034972,000430: 37,3002           10070        CHKCTR             CCS      RUPTREG1                              
034973,000431: 37,3003           12773                           TCF      QUIKREAD   +1                         #  LOOP AGAIN
034974,000432: 37,3004           11227                           CCS      PIPCTR                                
034975,000433: 37,3005           12767                           TCF      ONMNITOR                              
034976,000434: 37,3006           05213                           TC       TASKOVER                              
034977,000435: 

Page 782

034979,000437:                                                                                                  #  *************************************   SERVICER   *************************************************************
034980,000438: 
034981,000439: 37,3007  E7,1431                                  EBANK=   DVCNTR                                
034982,000440: 
034983,000441: 37,3007           34711        SERVICER           CAF      TWO                                   
034984,000442: 37,3010           00004                           INHINT                                         
034985,000443: 37,3011           54070        PIPCHECK           TS       RUPTREG1                              
034986,000444: 
034987,000445: 37,3012           60000                           DOUBLE                                         
034988,000446: 37,3013           50000                           INDEX    A                                     
034989,000447: 37,3014           11162                           CCS      DELVX                                 
034990,000448: 37,3015           03017                           TC       +2                                    
034991,000449: 37,3016           03025                           TC       PIPLOOP                               
034992,000450: 
034993,000451: 37,3017           63135                           AD       -MAXDELV                              #  DO PIPA-SATURATION TEST BEFORE
034994,000452: 37,3020           00006                           EXTEND                                         
034995,000453: 37,3021           63025                           BZMF     PIPLOOP                               #  COMPENSATION.
034996,000454: 
034997,000455: 37,3022           05537                           TC       ALARM                                 
034998,000456: 37,3023           00205                           OCT      00205                                 #  SATURATED-PIPA ALARM   ***CHANGE LATER
034999,000457: 37,3024           03046                           TC       AVERAGEG                              
035000,000458: 
035001,000459: 37,3025           10070        PIPLOOP            CCS      RUPTREG1                              
035002,000460: 37,3026           13011                           TCF      PIPCHECK                              
035003,000461: 
035004,000462: 37,3027           05301                           TC       PHASCHNG                              #  RESTART REREADAC + SERVICER
035005,000463: 37,3030           16035                           OCT      16035                                 
035006,000464: 37,3031           20000                           OCT      20000                                 
035007,000465: 37,3032  E7,1431                                  EBANK=   DVCNTR                                
035008,000466: 37,3032           03036 76067                     2CADR    DVTOTUP                               
035009,000467: 
035010,000468: 37,3034           04555                           TC       BANKCALL                              #  PIPA COMPENSATION CALL
035011,000469: 37,3035           15262                           CADR     1/PIPA                                
035012,000470: 
035013,000471: 37,3036           06006        DVTOTUP            TC       INTPRET                               
035014,000472: 37,3037           51575                           VLOAD    ABVAL                                 #  GET ABS VALUE OF DELV
035015,000473: 37,3040           01163                                    DELV                                  
035016,000474: 37,3041           77405                           DMP      EXIT                                  
035017,000475: 37,3042           37354                                    KPIP1                                 #  SCALE AT 2(+7)
035018,000476: 
035019,000477: 37,3043           00006                           EXTEND                                         
035020,000478: 37,3044           30155                           DCA      MPAC                                  
035021,000479: 37,3045           21426                           DAS      DVTOTAL                               #  ACCUMULATE DVTOTAL
035022,000480: 37,3046           05301        AVERAGEG           TC       PHASCHNG                              
035023,000481: 37,3047           10035                           OCT      10035                                 
035024,000482: 
035025,000483: 37,3050           06006                           TC       INTPRET                               
035026,000484: 37,3051           77624                           CALL                                           

Page 783

035028,000486: 37,3052           77323                                    CALCRVG                               
035029,000487: 37,3053           77776                           EXIT                                           
035030,000488: 
035031,000489: 37,3054           05301                           TC       PHASCHNG                              
035032,000490: 37,3055           10035                           OCT      10035                                 
035033,000491: 
035034,000492: 37,3056           34113                           CAF      OCT31                                 #  COPY RN1,VN1,GOT102,GOBL1/2,PIPTIME1
035035,000493: 37,3057           05475                           TC       GENTRAN                               #  INTO RN, VN, GDT/12, GOBL/2,PIPTIME
035036,000494: 37,3060           01231                           ADRES    RN1                                   
035037,000495: 37,3061           01170                           ADRES    RN                                    
035038,000496: 37,3062           00003                           RELINT                                         #  GENTRAN DOES AN INHINT
035039,000497: 37,3063           05301                           TC       PHASCHNG                              
035040,000498: 37,3064           10035                           OCT      10035                                 
035041,000499: 
035042,000500: 37,3065           00006                           EXTEND                                         
035043,000501: 37,3066           31223                           DCA      AVGEXIT                               
035044,000502: 37,3067           52006                           DXCH     Z                                     #  AVERAGEG EXIT
035045,000503: 
035046,000504: 37,3070           31205        AVGEND             CA       PIPTIME    +1                         #  FINAL AVERAGE G EXIT
035047,000505: 37,3071           55074                           TS       OLDBT1                                #  SET UP FREE FALL GYRO COMPENSATION
035048,000506: 
035049,000507: 37,3072           05435                           TC       UPFLAG                                #  SET DRIFTFLG
035050,000508: 37,3073           00036                           ADRES    DRIFTFLG                              #  BIT 15 FLAG 2
035051,000509: 37,3074           05261                           TC       2PHSCHNG                              
035052,000510: 37,3075           00005                           OCT      5                                     #  GROUP 5 OFF
035053,000511: 37,3076           05022                           OCT      05022                                 #  GROUP 2 ON FOR AVETOMID
035054,000512: 37,3077           20000                           OCT      20000                                 
035055,000513: 
035056,000514: 37,3100           06006                           TC       INTPRET                               
035057,000515: 37,3101           77624                           CALL                                           
035058,000516: 37,3102           27472                                    AVETOMID                              #  CONVERT STATE VECTOR TO REFERENCE SCALE.
035059,000517: 37,3103           77776                           EXIT                                           
035060,000518: 
035061,000519: 37,3104           34714                           CAF      ZERO                                  #  ZERO MARK COUNTERS.
035062,000520: 37,3105           55125                           TS       VHFCNT                                
035063,000521: 37,3106           55126                           TS       TRKMKCNT                              
035064,000522: 
035065,000523: 37,3107           04555                           TC       BANKCALL                              
035066,000524: 37,3110           17112                           CADR     PIPFREE                               
035067,000525: 
035068,000526: 37,3111           44702                           CS       BIT9                                  
035069,000527: 37,3112           55734                           TS       MRKBUF2                               #  INVALIDATE MARK BUFFER
035070,000528: 37,3113           00006                           EXTEND                                         
035071,000529: 37,3114           03011                           WAND     DSALMOUT                              
035072,000530: 
035073,000531: 37,3115           05447                           TC       DOWNFLAG                              
035074,000532: 37,3116           00147                           ADRES    CM/DSTBY                              
035075,000533: 
035076,000534: 37,3117           05447                           TC       DOWNFLAG                              
035077,000535: 37,3120           00162                           ADRES    V37FLAG                               
035078,000536: 

Page 784

035080,000538: 37,3121           34704                           CAF      BIT7                                  #  RESTORE GROUP 1 + 2 IF P20 IS RUNNING.
035081,000539: 37,3122           70074                           MASK     FLAGWRD0                              
035082,000540: 37,3123           00006                           EXTEND                                         
035083,000541: 37,3124           13130                           BZF      +4                                    
035084,000542: 
035085,000543: 37,3125           05261                           TC       2PHSCHNG                              
035086,000544: 37,3126           00111                           OCT      111                                   #  1.11SPOT
035087,000545: 37,3127           00132                           OCT      132                                   #  2.13SPOT
035088,000546: 
035089,000547: 37,3130           04574                           TC       POSTJUMP                              
035090,000548: 37,3131           10123                           CADR     CANV37                                
035091,000549: 
035092,000550: 37,3132           05301        SERVEXIT           TC       PHASCHNG                              
035093,000551: 37,3133           00035                           OCT      00035                                 #  A, 5.3 = REREADAC     (ONLY)
035094,000552: 
035095,000553: 37,3134           15112                           TCF      ENDOFJOB                              
035096,000554: 
035097,000555: 37,3135     4717               DVTHRUSH           EQUALS   ELEVEN                                #  15 PERCENT OF 2SEC PIPA ACCUMULATION,
035098,000556:                                                                                                  #        FOR 503-FULL CSM/LEM....DELV SC.AT
035099,000557:                                                                                                  #        5.85 CM/SEC.
035100,000558: 
035101,000559: 37,3135           63401        -MAXDELV           DEC      -6398      B-14                       #  3200 PPS FOR 2 SEC CCS TAKES 1
035102,000560: 37,3136           00170        JTAGTIME           DEC      120        B-14                       #  = 1 SEC + T CDU, T CDU = .1 SEC
035103,000561: 
035104,000562: 37,3137           00372        2.5SEC             DEC      250        B-14                       
035105,000563: 37,3140           00044        MDOTFAIL           DEC      144.0      B-16                       #  5 SEC MASS LOSS AT 28.8 KG/SEC
035106,000564:                                                                                                  #  SHOULD BE 2-4 SECS FOR NO START
035107,000565:                                                                                                  #            6-8 SECS FOR FAILURE
035108,000566: 

Page 785

035110,000568:                                                                                                  #  NORMLIZE PERFORMS THE INITIALIZATION REQUIRED PRIOR TO THE FIRST ENTRY TO AVERAGEG, AND SCALES RN SO THAT IT
035111,000569:                                                                                                  #  HAS 1 LEADING BINARY ZERO.  IN MOST MISSIONS, RN WILL BE SCALED AT 2(+29), BUT IN THE 206 MISSION, RN WILL BE
035112,000570:                                                                                                  #  SCALED AT 2(+24) M.
035113,000571: 
035114,000572: 37,3141           34720        NORMLIZE           CAF      THIRTEEN                              #  SET UP TO COPY 14 REGS- RN1,VN1,PIPTIME1
035115,000573: 37,3142           05475                           TC       GENTRAN                               #  INTO RN,VN,PIPTIME
035116,000574: 37,3143           01231                           ADRES    RN1                                   #  FROM HERE
035117,000575: 37,3144           01170                           ADRES    RN                                    #  TO HERE
035118,000576: 
035119,000577: 37,3145           00003                           RELINT                                         
035120,000578: 37,3146           06006                           TC       INTPRET                               
035121,000579: 37,3147           45175                           VLOAD    CALL                                  #  LOAD RN FOR CALCGRAV
035122,000580: 37,3150           01171                                    RN                                    
035123,000581: 37,3151           77256                                    CALCGRAV                              #  INITIALISE UNITR RMAG GDT1
035124,000582: 
035125,000583: 37,3152           25207                           STOVL    GDT/2                                 
035126,000584: 37,3153           01256                                    GOBL1/2                               
035127,000585: 37,3154           01215                           STORE    GOBL/2                                
035128,000586: 37,3155           77776                           EXIT                                           
035129,000587: 37,3156           15112                           TCF      ENDOFJOB                              
035130,000588: 

Page 786

035132,000590:                                                                                                  #  *****  PIPA READER *****
035133,000591:                                                                                                  #  MOD NO. 00 BY D. LICKLY DEC. 9 1966
035134,000592: 
035135,000593:                                                                                                  #  FUNCTIONAL DESCRIPTION
035136,000594: 
035137,000595:                                                                                                  #  SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT IT WILL BE RESTARTABLE.
035138,000596:                                                                                                  #  PIPA READINGS ARE STORED IN THE VECTOR DELV.  THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING,
035139,000597:                                                                                                  #  RESTARTS BEGIN AT REREADAC.
035140,000598: 
035141,000599:                                                                                                  #  AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A
035142,000600:                                                                                                  #  VECTOR IN CDUTEMP.  THE HIGH ORDER PART OF EACH COMPONENT CONTAINS
035143,000601:                                                                                                  #  THE CDU READING IN 2S COMP IN THE ORDER CDUX,Y,Z.  THE THRUST
035144,000602:                                                                                                  #  VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME.
035145,000603: 
035146,000604:                                                                                                  #  CALLING SEQUENCE AND EXIT
035147,000605: 
035148,000606:                                                                                                  #        CALL VIA TC, ISWCALL, ETC.
035149,000607: 
035150,000608:                                                                                                  #        EXIT IS VIA Q.
035151,000609: 
035152,000610:                                                                                                  #  INPUT
035153,000611: 
035154,000612:                                                                                                  #        INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2.
035155,000613: 
035156,000614:                                                                                                  #  OUTPUT
035157,000615: 
035158,000616:                                                                                                  #        HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS.
035159,000617: 
035160,000618:                                                                                                  #        PIPTIME CONTAINS TIME OF PIPA READING.
035161,000619: 
035162,000620:                                                                                                  #  DEBRIS (ERASABLE LOCATIONS DESTROYED BY PROGRAM)
035163,000621: 
035164,000622:                                                                                                  #        LOW ORDER DELV'S ARE ZEROED FOR TM INDICATION.
035165,000623:                                                                                                  #        TEMX    TEMY    TEMZ    PIPAGE
035166,000624: 
035167,000625: 37,3157           00006        PIPASR             EXTEND                                         
035168,000626: 37,3160           30025                           DCA      TIME2                                 
035169,000627: 37,3161           53246                           DXCH     PIPTIME1                              #  CURRENT TIME  POSITIVE VALUE
035170,000628: 37,3162           44714                           CS       ZERO                                  #  INITIALIZE THESE AT NEG ZERO.
035171,000629: 37,3163           55224                           TS       TEMX                                  
035172,000630: 37,3164           55225                           TS       TEMY                                  
035173,000631: 37,3165           55226                           TS       TEMZ                                  

Page 787

035175,000633: 37,3166           34714                           CA       ZERO                                  
035176,000634: 37,3167           55166                           TS       DELVZ                                 #  OTHER DELVS OK INCLUDING LOW ORDER
035177,000635: 37,3170           55164                           TS       DELVY                                 
035178,000636: 
035179,000637: 37,3171           55163                           TS       DELVX      +1                         #  LOW ORDER DELV'S ARE ZEROED FOR TM:  THUS
035180,000638: 37,3172           55165                           TS       DELVY      +1                         #  IF DNLNK'D LOW ORDER DELVS ARE NZ, THEY
035181,000639: 37,3173           55167                           TS       DELVZ      +1                         #  CONTAIN PROPER COMPENSATION.  IF=0, THEN
035182,000640:                                                                                                  #  THE TM VALUES ARE BEFORE COMPENSATION.
035183,000641: 
035184,000642: 37,3174           55230                           TS       PIPAGE                                #  SHOW PIPA READING IN PROGRESS
035185,000643: 
035186,000644: 37,3175           00006        REPIP1             EXTEND                                         
035187,000645: 37,3176           40040                           DCS      PIPAX                                 #  X AND Y PIPS READ
035188,000646: 37,3177           53225                           DXCH     TEMX                                  
035189,000647: 37,3200           52040                           DXCH     PIPAX                                 #  PIPAS SET TO NEG ZERO AS READ.
035190,000648: 37,3201           55162                           TS       DELVX                                 
035191,000649: 37,3202           23164                           LXCH     DELVY                                 
035192,000650: 
035193,000651: 37,3203           40041        REPIP3             CS       PIPAZ                                 #  REPEAT PROCESS FOR Z PIP
035194,000652: 37,3204           57226                           XCH      TEMZ                                  
035195,000653: 37,3205           56041                           XCH      PIPAZ                                 
035196,000654: 37,3206           55166        DODELVZ            TS       DELVZ                                 
035197,000655: 
035198,000656: 37,3207           00002                           TC       Q                                     
035199,000657: 37,3210  E6,1661                                  EBANK=   AOG                                   
035200,000658: 
035201,000659: 37,3210           10763        REREADAC           CCS      PHASE5                                #  LAST PASS CHECK
035202,000660: 37,3211           13213                           TCF      +2                                    
035203,000661: 37,3212           15213                           TCF      TASKOVER                              
035204,000662: 
035205,000663: 37,3213           37665                           CAF      PRIO31                                #  RESTART MAY HAVE WIPED OUT LASTBIAS, AN
035206,000664: 37,3214           55074                           TS       1/PIPADT                              #        UNPROTECTED NOVAC FROM PREREAD,
035207,000665:                                                                                                  #        WHICH SET(S) UP 1/PIPADT (THUSLY)
035208,000666:                                                                                                  #        FOR NON-COASTING COMPENSATION....BE
035209,000667:                                                                                                  #        SURE 1/PIPADT IS AOK.  (PRIO31 IS
035210,000668:                                                                                                  #        2.0SEC SC.AT B+8CS)
035211,000669: 
035212,000670: 37,3215           11230                           CCS      PIPAGE                                
035213,000671: 37,3216           12647                           TCF      READACCS                              #  PIP READING NOT STARTED.  GO TO BEGINNING
035214,000672: 
035215,000673: 37,3217           33255                           CAF      DONEADR                               #  SET UP RETURN FROM PIPASR
035216,000674: 37,3220           54002                           TS       Q                                     
035217,000675: 
035218,000676: 37,3221           11166                           CCS      DELVZ                                 
035219,000677: 37,3222           00002                           TC       Q                                     #  Z DONE, GO DO CDUS
035220,000678: 37,3223           13226                           TCF      +3                                    #  Z NOT DONE, CHECK Y.
035221,000679: 37,3224           00002                           TC       Q                                     
035222,000680: 37,3225           00002                           TC       Q                                     

Page 788

035224,000682: 37,3226           22007                           ZL                                             
035225,000683: 37,3227           11164                           CCS      DELVY                                 
035226,000684: 37,3230           13233                           TCF      +3                                    
035227,000685: 37,3231           13242                           TCF      CHKTEMX                               #  Y NOT DONE, CHECK X.
035228,000686: 37,3232           13233                           TCF      +1                                    
035229,000687: 37,3233           22041                           LXCH     PIPAZ                                 #  Y DONE, ZERO Z PIP.
035230,000688: 
035231,000689: 37,3234           11226                           CCS      TEMZ                                  
035232,000690: 37,3235           41226                           CS       TEMZ                                  #  TEMZ NOT = -0, CONTAINS -PIPAZ VALUE.
035233,000691: 37,3236           13206                           TCF      DODELVZ                               
035234,000692: 37,3237           13235                           TCF      -2                                    
035235,000693: 37,3240           23166                           LXCH     DELVZ                                 #  TEMZ = -0, L HAS ZPIP VALUE.
035236,000694: 37,3241           00002                           TC       Q                                     
035237,000695: 
035238,000696: 37,3242           11224        CHKTEMX            CCS      TEMX                                  #  HAS THIS CHANGED
035239,000697: 37,3243           41224                           CS       TEMX                                  #  YES
035240,000698: 37,3244           13247                           TCF      +3                                    #  YES
035241,000699: 37,3245           13243                           TCF      -2                                    #  YES
035242,000700: 37,3246           13175                           TCF      REPIP1                                #  NO
035243,000701: 37,3247           55162                           TS       DELVX                                 
035244,000702: 
035245,000703: 37,3250           41225                           CS       TEMY                                  
035246,000704: 37,3251           55164                           TS       DELVY                                 
035247,000705: 
035248,000706: 37,3252           44714                           CS       ZERO                                  #  ZERO X AND Y PIPS
035249,000707: 37,3253           52040                           DXCH     PIPAX                                 #  L STILL ZERO FROM ABOVE
035250,000708: 
035251,000709: 37,3254           13203                           TCF      REPIP3                                
035252,000710: 
035253,000711: 37,3255           02650        DONEADR            GENADR   PIPSDONE                              
035254,000712: 

Page 789

035256,000714:                                                                                                  #  *************************************************************************************************************
035257,000715: 
035258,000716:                                                                                                  #  ROUTINE CALCRVG INTEGRATES THE EQUATIONS OF MOTION BY AVERAGING THE THRUST AND GRAVITATIONAL
035259,000717:                                                                                                  #  ACCELERATIONS OVER A TIME INTERVAL OF 2 SECONDS.
035260,000718: 
035261,000719:                                                                                                  #  FOR THE EARTH-CENTERED GRAVITATIONAL FIELD, THE PERTURBATION DUE TO OBLATENESS IS COMPUTED TO THE FIRST
035262,000720:                                                                                                  #  HARMONIC COEFFICIENT J.
035263,000721: 
035264,000722:                                                                                                  #  ROUTINE CALCRVG REQUIRES...
035265,000723:                                                                                                  #        1) THRUST ACCELERATION INCREMENTS IN DELV SCALED SAME AS PIPAX,Y,Z IN STABLE MEMBER COORDS.
035266,000724:                                                                                                  #        2) VN SCALED 2(+7) M/CS IN REFERENCE COORDS.
035267,000725:                                                                                                  #        3) RN SCALED AT 2(+29) METERS IN REFERENCE COORDS.
035268,000726:                                                                                                  #        4) UNITW THE EARTH S UNIT ROTATIONAL VECTOR (SCALED AS A FULL UNIT VECTOR) IN REFERENCE COORDS.
035269,000727: 
035270,000728:                                                                                                  #  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
035271,000729:                                                                                                  #  UNIT VECTOR UNITR, RMAG IN 36D SCALED AT 2(+29)M, R MAG SQ. IN 34D SCALED AT 2(+58) M SQ.
035272,000730: 
035273,000731: 37,3256           41456        CALCGRAV           UNIT     PUSH                                  #  ENTER WITH RN IN MPAC
035274,000732: 37,3257           01760                           STORE    UNITR                                 
035275,000733: 37,3260           67340                           LXC,1    SLOAD                                 
035276,000734: 37,3261           03746                                    RTX2                                  
035277,000735: 37,3262           00047                                    X1                                    
035278,000736: 37,3263           77240                           BMN      VLOAD                                 
035279,000737: 37,3264           77312                                    ITISMOON                              
035280,000738: 37,3265           41441                           DOT      PUSH                                  
035281,000739: 37,3266           01714                                    UNITW                                 
035282,000740: 37,3267           44316                           DSQ      BDSU                                  
035283,000741: 37,3270           37364                                    DP1/20                                
035284,000742: 37,3271           56325                           PDDL     DDV                                   
035285,000743: 37,3272           37366                                    RESQ                                  
035286,000744: 37,3273           00043                                    34D                                   #  (RN)SQ
035287,000745: 37,3274           00041                           STORE    32D                                   #  TEMP FOR (RE/RN)SQ
035288,000746: 37,3275           41205                           DMP      DMP                                   
035289,000747: 37,3276           37370                                    20J                                   
035290,000748: 37,3277           65361                           VXSC     PDDL                                  
035291,000749: 37,3300           01760                                    UNITR                                 
035292,000750: 37,3301           41205                           DMP      DMP                                   
035293,000751: 37,3302           37372                                    2J                                    
035294,000752: 37,3303           00041                                    32D                                   
035295,000753: 37,3304           53361                           VXSC     VAD                                   
035296,000754: 37,3305           01714                                    UNITW                                 
035297,000755: 37,3306           77626                           STADR                                          
035298,000756: 37,3307           76521                           STORE    GOBL1/2                               
035299,000757: 37,3310           41455                           VAD      PUSH                                  
035300,000758: 37,3311           01760                                    UNITR                                 
035301,000759: 37,3312           60345        ITISMOON           DLOAD    NORM                                  
035302,000760: 37,3313           00043                                    34D                                   
035303,000761: 37,3314           00050                                    X2                                    
035304,000762: 37,3315           53663                           BDDV*    SLR*                                  

Page 790

035306,000764: 37,3316           37356                                    -MUDT(E),1                            
035307,000765: 37,3317           56623                                    0          -21D,2                     
035308,000766: 37,3320           45561                           VXSC     STADR                                 
035309,000767: 37,3321           76527                           STORE    GDT1/2                                #  SCALED AT 2(+7) M/CS
035310,000768: 37,3322           77616                           RVQ                                            
035311,000769: 
035312,000770: 37,3323           74375        CALCRVG            VLOAD    VXSC                                  
035313,000771: 37,3324           01163                                    DELV                                  
035314,000772: 37,3325           37354                                    KPIP1                                 
035315,000773: 37,3326           76505                           VXM      VSL1                                  
035316,000774: 37,3327           01736                                    REFSMMAT                              
035317,000775: 37,3330           03433                           STORE    DELVREF                               #  DELV IN REF COORDS AT 2(+7)
035318,000776: 37,3331           41562                           VSR1     PUSH                                  
035319,000777: 37,3332           41455                           VAD      PUSH                                  #  (DV-OLDGDT)/2 TO PD SCALED AT 2(+7)M/CS
035320,000778: 37,3333           01207                                    GDT/2                                 
035321,000779: 37,3334           74255                           VAD      VXSC                                  
035322,000780: 37,3335           01177                                    VN                                    
035323,000781: 37,3336           37362                                    2SEC(22)                              
035324,000782: 37,3337           44055                           VAD      STQ                                   
035325,000783: 37,3340           01171                                    RN                                    
035326,000784: 37,3341           00037                                    31D                                   
035327,000785: 37,3342           35232                           STCALL   RN1                                   #  TEMP STORAGE OF RN SCALED 2(+29)M
035328,000786: 37,3343           77256                                    CALCGRAV                              
035329,000787: 
035330,000788: 37,3344           53255                           VAD      VAD                                   
035331,000789: 37,3345           77655                           VAD                                            
035332,000790: 37,3346           01177                                    VN                                    
035333,000791: 37,3347           35240                           STCALL   VN1                                   #  TEMP STORAGE OF VN SCALED 2(+7) M/CS
035334,000792: 37,3350           00037                                    31D                                   
035335,000793: 
035336,000794: 37,3351           03215 27057  KPIP               2DEC     .1024                                 #  SCALES DELV TO 2(+4)
035337,000795: 37,3353           02312 32537  KPIP1              2DEC     0.074880                              #  207 DELV SCALING.  1 PULSE = 5.85 CM/SEC.
035338,000796: 37,3355           61377 55754  -MUDT(E)           2DEC*    -7.9720645 E+12       B-44*           
035339,000797: 37,3357           77644 65556  -MUDT(M)           2DEC*    -9.805556  E+10       B-44*           
035340,000798: 37,3361           00000 31000  2SEC(22)           2DEC     200        B-22                       
035341,000799: 37,3363           01463 06315  DP1/20             2DEC     0.05                                  
035342,000800: 37,3365           00001 05000  RESQ               2DEC*    40.6809913 E12        B-59*           
035343,000801: 37,3367           02047 36332  20J                2DEC*    3.24692010 E-2        B1*             
035344,000802: 37,3371           00152 14511  2J                 2DEC*    3.24692010 E-3        B1*             
035345,000803: 

End of include-file SERVICER207.agc.  Parent file is MAIN.agc