291 lines
5.7 KiB
Plaintext
291 lines
5.7 KiB
Plaintext
# Copyright: Public domain.
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# Filename: R31.agc
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# Purpose: Part of the source code for Comanche, build 055. It
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# is part of the source code for the Command Module's
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# (CM) Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 505-510
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# Contact: Onno Hommes <ohommes@cmu.edu>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 2009-05-11 OH Batch 2 Assignment Comanche Transcription
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# 2009-05-20 RSB Corrected INSTALL -> INTSTALL
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#
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# The contents of the "Comanche055" files, in general, are transcribed
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# from scanned documents.
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. April 1, 1969.
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#
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# This AGC program shall also be referred to as Colossus 2A
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#
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# Prepared by
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# Massachusetts Institute of Technology
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# 75 Cambridge Parkway
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# Cambridge, Massachusetts
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#
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# under NASA contract NAS 9-4065.
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#
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# Refer directly to the online document mentioned above for further
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# information. Please report any errors to info@sandroid.org.
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# Page 505
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BANK 34
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SETLOC R31
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BANK
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COUNT* $$/R31
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R31CALL CAF PRIO3
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TC FINDVAC
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EBANK= SUBEXIT
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2CADR V83CALL
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DSPDELAY CAF 1SEC
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TC BANKCALL
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CADR DELAYJOB
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CA EXTVBACT
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MASK BIT12
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EXTEND
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BZF DSPDELAY
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DISPN5X CA FLAGWRD9 # TEST R31FLAG (IN SUNDANCE R31FLAG WILL
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MASK BIT4 # ALWAYS BE SET AS R34 DOES NOT EXIST)
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EXTEND
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BZF +3
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CAF V16N54 # R31 USE NOUN 54
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TC +2
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CAF V16N53 # R34 USE NOUN 53
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TC BANKCALL
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CADR GOMARKF
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TC B5OFF
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TC B5OFF
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TCF DISPN5X
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V83 TC INTPRET
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GOTO
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HAVEBASE # INTEG STATE VECTORS
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V83CALL TC INTPRET
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GOTO
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STATEXTP # EXTRAPOLATE STATE VECTORS
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COMPDISP VLOAD VSU
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RATT
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RONE
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PUSH ABVAL # RATT-RONE TO 0D PD= 6
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STORE RANGE # METERS B-29
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NORM VLOAD
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X1 # RATT-RONE PD= 0
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VSR1
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VSL* UNIT
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0,1
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PDVL VSU # UNIT(LOS) TO 0D PD= 6
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# Page 506
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VATT
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VONE
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DOT # (VATT-VONE).UNIT(LOS) PD= 0
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SL1
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STCALL RRATE # RANGE RATE M/CS B-7
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CDUTRIG # TO INITIALIZE FOR *NBSM*
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CALL
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R34LOS # NOTE. PDL MUST = 0.
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R34ANG VLOAD UNIT
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RONE
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PDVL # UR TO 0D PD= 6
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THISAXIS # UNITX FOR CM, UNITZ FOR LM
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BON VLOAD # CHK R31FLAG. ON=R31 THETA, OFF=R34 PHI
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R31FLAG
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+2 # R31-THETA
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12D
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CALL
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*NBSM*
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VXM PUSH # UXORZ TO 6D PD=12D
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REFSMMAT
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VPROJ VSL2
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0D
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BVSU UNIT
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6D
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PDVL VXV # UP/2 TO 12D PD=18D
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RONE
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VONE
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UNIT VXV
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RONE
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DOT PDVL # SIGN TO 12D, UP/2 TO MPAC PD=18D
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12D
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VSL1 DOT # UP.UXORZ
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6D
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SIGN SL1
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12D
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ACOS
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STOVL RTHETA
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RONE
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DOT BPL
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6D
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+5
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DLOAD BDSU # IF UXORZ.R NEG, RTHETA = 1 - RTHETA
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RTHETA
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DPPOSMAX
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STORE RTHETA # RTHETA BETWEEN 0 AND 1 REV.
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EXIT
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CAF BIT5 # HAVE WE BEEN ANSWERED
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MASK EXTVBACT
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EXTEND
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BZF ENDEXT # YES, DIE
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# Page 507
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CS EXTVBACT
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MASK BIT12
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ADS EXTVBACT
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TCF V83
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V16N54 VN 1654
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V16N53 VN 1653
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# Page 508
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# STATEXTP DOES AN INITIAL PRECISION EXTRAPOLATION OF THE
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# LEM STATE VECTOR TO PRESENT TIME OR TO PIPTIME IF AV G
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# IS ON AND SAVES AS BASE VECTOR. IF AV G IS ON RN + VN
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# ARE USED AS THE CM STATE VECTOR AND THE INITIAL R RDOT
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# RTHETA ARE COMPUTED WITH NO FURTHER INTEGRATION. IF AV
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# G IS OFF A PRECISION EXTRAPOLATION IS MADE OF THE CM
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# STATE VECTOR TO PRESENT TIME AND.....
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#
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# THE CM + LM STATE VECTORS ARE INTEGRATED TO PRES TIME
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# USING PRECISION OR CONIC AS SURFFLAG IS SET OR CLEAR.
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#
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# IF AV G IS ON THEN
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# SUBSEQUENT PASSES WILL PROVIDE
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# USE OF RN + VN AS CM STATE VECTOR AND THE LM STATE
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# VECTOR WILL BE PRECISION INTEGRATED USING LEMPREC
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#
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# IF SURFFLAG IS SET.
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# CM STATE VECTOR RONE VONE + LM STATE VECTOR RATT
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# VATT ARE USED IN COMPUTING R RDOT RTHETA.
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#
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STATEXTP RTB BOF # INITIAL INTEGRATION
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LOADTIME
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V37FLAG
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+3 # AV G OFF, USE PRES TIME
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CALL
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GETRVN # ON, USE RN VN PIPTIME
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STORE BASETIME # PRES TIME OR PIPTIME
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STCALL TDEC1
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LEMPREC
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VLOAD # BASE VECTOR, LM
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RATT1
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STOVL BASEOTP # POS.
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VATT1
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STORE BASEOTV # VEL.
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BON DLOAD
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V37FLAG
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COMPDISP # COMPUTE R RDOT RTHETA FROM
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# RONE(RN) VONE(VN) RATT+VATT(LEMPREC)
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TAT
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STCALL TDEC1
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CSMPREC
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VLOAD # BASE VECTOR, CM
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RATT1
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STOVL BASETHP # POS.
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VATT1
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STORE BASETHV # VEL.
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HAVEBASE BON RTB # SUBSEQUENT INTEGRATIONS
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V37FLAG
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GETRVN5
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LOADTIME
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STCALL TDEC1 # AV G OFF. SET INTEG. OF CM
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INTSTALL
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VLOAD CLEAR
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BASETHP
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# Page 509
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MOONFLAG
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STOVL RCV
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BASETHV
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STODL VCV
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BASETIME
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BOF SET # GET APPROPRIATE MOONFLAG SETTING
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MOONTHIS
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+2
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MOONFLAG
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CLEAR
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INTYPFLG
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BON SET
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SURFFLAG
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+2 # PREC. IF LM DOWN
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INTYPFLG # CONIC IF LM NOT DOWN
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STCALL TET
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INTEGRVS # INTEGRATION --- AT LAST---
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VLOAD
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RATT
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STOVL RONE
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VATT
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STODL VONE # GET SET FOR CONIC EXTRAP.,OTHER
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TAT
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BON CALL
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SURFFLAG
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GETRVN6 # LEMPREC IF LM DOWN
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INTSTALL # ..CONIC IF NOT DOWN
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SET
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INTYPFLG
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OTHINT STORE TDEC1 # ENTERED IF AV G ON TO INTEG LM
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VLOAD CLEAR
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BASEOTP
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MOONFLAG
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STOVL RCV
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BASEOTV
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STODL VCV
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BASETIME
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BOF SET
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MOONTHIS
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+2
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MOONFLAG
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STCALL TET
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INTEGRVS
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GOTO
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COMPDISP # COMPUTE R RDOT RTHETA
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GETRVN5 CALL # AV G ON
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GETRVN
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BON CALL
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SURFFLAG
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GETRVN6 # LM DOWN, LMPREC
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# Page 510
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INTSTALL
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CLEAR GOTO
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INTYPFLG
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OTHINT
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GETRVN6 STCALL TDEC1
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LEMPREC
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GOTO
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COMPDISP # COMPUTE R RDOT RTHETA
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GETRVN STQ
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0D
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VLOAD GOTO # AV G ON, RONE = RN VONE = VN
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RN # AND USE PIPTIME
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+1
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STCALL RONE
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+1
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VLOAD GOTO
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VN
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+1
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STODL VONE
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PIPTIME
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GOTO
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0D
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SETLOC R34
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BANK
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R34LOS EXIT
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CA CDUS
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INDEX FIXLOC
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TS 9D
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CA CDUT
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INDEX FIXLOC
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TS 11D
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CA FIXLOC
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AD SIX
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COM
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INDEX FIXLOC
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TS X1
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TC INTPRET
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CALL
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SXTNB
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STCALL 12D
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R34ANG
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