359 lines
7.6 KiB
Plaintext
359 lines
7.6 KiB
Plaintext
# Copyright: Public domain.
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# Filename: RT8_OP_CODES.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. 1508-1516
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# Contact: Ron Burkey <info@sandroid.org>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 2009-05-07 RSB Adapted from Colossus249/RT8_OP_CODES.agc
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# and page images.
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# 2009-05-07 RSB Oops! Left out the entire last page before.
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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 1508
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BANK 22
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SETLOC RTBCODES
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BANK
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EBANK= XNB
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COUNT* $$/RTB
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# LOAD TIME2, TIME1 INTO MPAC:
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LOADTIME EXTEND
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DCA TIME2
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TCF SLOAD2
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# CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A
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# DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS.
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CDULOGIC CCS MPAC
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CAF ZERO
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TCF +3
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NOOP
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CS HALF
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TS MPAC +1
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CAF ZERO
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XCH MPAC
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EXTEND
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MP HALF
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DAS MPAC
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TCF DANZIG # MODE IS ALREADY AT DOUBLE-PRECISION
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# READ THE PIPS INTO MPAC WITHOUT CHANGING THEM:
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READPIPS INHINT
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CA PIPAX
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TS MPAC
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CA PIPAY
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TS MPAC +3
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CA PIPAZ
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RELINT
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TS MPAC +5
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CAF ZERO
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TS MPAC +1
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TS MPAC +4
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TS MPAC +6
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VECMODE TCF VMODE
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# FORCE TP SIGN AGREEMENT IN MPAC:
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SGNAGREE TC TPAGREE
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# Page 1509
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TCF DANZIG
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# CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE
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# SCALED IN HALF-REVOLUTIONS.
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1STO2S TC 1TO2SUB
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CAF ZERO
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TS MPAC +1
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TCF NEWMODE
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# DO 1STO2S ON A VECTOR OF ANGLES:
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V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC.
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DXCH MPAC +5
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DXCH MPAC
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TC 1TO2SUB
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TS MPAC +2
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DXCH MPAC +3
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DXCH MPAC
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TC 1TO2SUB
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TS MPAC +1
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CA MPAC +5
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TS MPAC
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TPMODE CAF ONE # MODE IS TP.
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TCF NEWMODE
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# V1STO2S FOR 2 COMPONENT VECTOR. USED BY RR.
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2V1STO2S TC 1TO2SUB
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DXCH MPAC +3
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DXCH MPAC
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TC 1TO2SUB
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TS L
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CA MPAC +3
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TCF SLOAD2
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# SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S CONVERSION:
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1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED.
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DDOUBL
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CCS A
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AD ONE
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TCF +2
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COM # THIS WAS REVERSE OF MSU.
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TS MPAC # AND SKIP ON OVERFLOW.
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# Page 1510
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TC Q
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INDEX A # OVERFLOW UNCORRECT AND IN MSU.
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CAF LIMITS
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ADS MPAC
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TC Q
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# Page 1511
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# SUBROUTINE TO INCREMENT CDUS
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INCRCDUS CAF LOCTHETA
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TS BUF # PLACE ADRES(THETA) IN BUF.
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CAE MPAC # INCREMENT IN 1S COMPL.
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TC CDUINC
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INCR BUF
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CAE MPAC +3
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TC CDUINC
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INCR BUF
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CAE MPAC +5
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TC CDUINC
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TCF VECMODE
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LOCTHETA ADRES THETAD
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# THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL.
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# QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL.
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# (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
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CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT
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INDEX BUF
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CCS 0 # CHANGE 2S COMPLE. ANGLE(IN BUF) INTO 1S
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AD ONE
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TCF +4
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AD ONE
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AD ONE # OVEFLOW HERE IF 2S COMPL. IS 180 DEG.
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COM
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AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD.(OR BACK)
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CCS A # BACK TO 2S COMPL.
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AD ONE
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TCF +2
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COM
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TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN
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TCF +4
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INDEX A # SIGN.
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CAF LIMITS # FIX IT,BY ADDING IN 37777 OR 40000
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AD TEM2
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INDEX BUF
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TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT.
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TC Q
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# Page 1512
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# RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1.
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PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
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CA X1
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TC BANKCALL
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CADR IMUPULSE
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TCF DANZIG
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# Page 1513
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# EACH ROUTINE TAKES A 3X3 MATRIX STORED IN DOUBLE PRECISION IN A FIXED AREA OF ERASABLE MEMORY AND REPLACES IT
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# WITH THE TRANSPOSE MATRIX. TRANSP1 USES LOCATIONS XNB+0,+1 THROUGH XNB+16D, 17D AND TRANSP2 USES LOCATIONS
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# XNB1+0,+1 THROUGH XNB1+16D, 17D. EACH MATRIX IS STORED BY ROWS.
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XNBEB ECADR XNB
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XNB1EB ECADR XNB1
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EBANK= XNB
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TRANSP1 CAF XNBEB
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TS EBANK
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DXCH XNB +2
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DXCH XNB +6
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DXCH XNB +2
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DXCH XNB +4
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DXCH XNB +12D
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DXCH XNB +4
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DXCH XNB +10D
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DXCH XNB +14D
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DXCH XNB +10D
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TCF DANZIG
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EBANK= XNB1
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TRANSP2 CAF XNB1EB
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TS EBANK
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DXCH XNB1 +2
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DXCH XNB1 +6
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DXCH XNB1 +2
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DXCH XNB1 +4
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DXCH XNB1 +12D
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DXCH XNB1 +4
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DXCH XNB1 +10D
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DXCH XNB1 +14D
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DXCH XNB1 +10D
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TCF DANZIG
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# Page 1514
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# THE SUBROUTINE SIGNMPAC SETS C(MPAC, MPAC +1) TO SIGN(MPAC).
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# FOR THIS, ONLY THE CONTENTS OF MPAC ARE EXAMINED. ALSO +0 YIELDS POSMAX AND -0 YIELDS NEGMAX.
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#
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# ENTRY MAY BE BY EITHER OF THE FOLLOWING:
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# 1. LIMIT THE SIZE OF MPAC ON INTERPRETIVE OVERFLOW:
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# ENTRY: BOVB
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# SIGNMPAC
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# 2. GENERATE IN MPAC THE SIGNUM FUNCTION OF MPAC:
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# ENTRY: RTB
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# SIGNMPAC
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# IN EITHER CASE, RETURN IS TO TEH NEXT INTERPRETIVE INSTRUCTION IN THE CALLING SEQUENCE.
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SIGNMPAC EXTEND
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DCA DPOSMAX
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DXCH MPAC
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CCS A
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DPMODE CAF ZERO # SETS MPAC +2 TO ZERO IN THE PROCESS
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TCF SLOAD2 +2
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TCF +1
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EXTEND
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DCS DPOSMAX
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TCF SLOAD2
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# RTB OP CODE NORMUNIT IS LIKE INTERPRETIVE INSTRUCTION UNIT, EXCEPT THAT IT CAN BE DEPENDED ON NOT TO BLOW
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# UP WHEN THE VECTOR BEING UNITIZED IS VERY SMALL -- IT WILL BLOW UP WHEN ALL COMPONENT ARE ZERO. IF NORMUNIT
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# IS USED AND THE UPPER ORDER HALVES OF ALL COMPONENTS ARE ZERO, THE MAGNITUDE RETURNS IN 36D WILL BE TOO LARGE
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# BY A FACTOR OF 2(13) AND THE SQUARED MAGNITUDE RETURNED AT 34D WILL BE TOO BIG BY A FACTOR OF 2(26).
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NORMUNX1 CAF ONE
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TCF NORMUNIT +1
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NORMUNIT CAF ZERO
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AD FIXLOC
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TS MPAC +2
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TC BANKCALL # GET SIGN AGREEMENT IN ALL COMPONENTS
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CADR VECAGREE
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CCS MPAC
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TCF NOSHIFT
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TCF +2
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TCF NOSHIFT
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CCS MPAC +3
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TCF NOSHIFT
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TCF +2
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TCF NOSHIFT
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CCS MPAC +5
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TCF NOSHIFT
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TCF +2
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TCF NOSHIFT
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# Page 1515
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CA MPAC +1 # SHIFT ALL COMPONENTS LEFT 13
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EXTEND
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MP BIT14
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DAS MPAC # DAS GAINS A LITTLE ACCURACY
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CA MPAC +4
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EXTEND
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MP BIT14
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DAS MPAC +3
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CA MPAC +6
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EXTEND
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MP BIT14
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DAS MPAC +5
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CAF THIRTEEN
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INDEX MPAC +2
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TS 37D
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OFFTUNIT TC POSTJUMP
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CADR UNIT +1 # SKIP THE "TC VECAGREE" DONE AT UNIT
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NOSHIFT CAF ZERO
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TCF OFFTUNIT -2
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# RTB VECSGNAG ...FORCES SIGN AGREEMENT OF VECTOR IN MPAC.
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VECSGNAG TC BANKCALL
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CADR VECAGREE
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TC DANZIG
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# Page 1516
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# MODULE CHANGE FOR NEW LUNAR GRAVITY MODEL
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SETLOC MODCHG3
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BANK
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QUALITY1 BOF DLOAD
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MOONFLAG
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NBRANCH
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URPV
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DSQ GOTO
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QUALITY2
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SETLOC MODCHG2
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BANK
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QUALITY2 PDDL DSQ # SQUARE INTO 2D, B2
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URPV +2 # Y COMPONENT, B1
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DSU
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DMP VXSC # 5(Y**2-X**2)UR
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5/8 # CONSTANT, 5B3
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URPV # VECTOR, RESULT MAXIMUM IS 5, SCALING
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# HERE B6
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VSL3 PDDL # STORE SCALED B3 IN 2D, 4D, 6D FOR XYZ
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URPV # X COMPONENT, B1
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SR1 DAD # 2 X X COMPONENT FOR B3 SCALING
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2D # ADD TO VECTOR X COMPONENT OF ANSWER.
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# SAME AS MULTIPLYING BY UNITX. MAX IS 7.
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STODL 2D
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URPV +2 # Y COMPONENT, B1
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SR1 BDSU # 2 X Y COMPONENT FOR B3 SCALING
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4D # SUBTRACT FROM VECTOR Y COMPONENT OF
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# ANSWER, SAME AS MULTIPLYING BY UNITY.
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# MAX IS 7.
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STORE 4D # 2D HAS VECTOR, B3.
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SLOAD VXSC # MULTIPLY COEFFICIENT TIMES VECTOR IN 2D
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E3J22R2M
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PDDL RVQ # J22 TERM X R**4 IN 2D, SCALED B61
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COSPHI/2 # SAME AS URPV +4, Z COMPONENT
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# *** END OF CHIEFTAN.028 ***
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