# Copyright: Public domain. # Filename: EXTENDED_VERBS.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 236-267 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-18 FB Transcription Batch 3 Assignment. # 2009-05-20 RSB Corrections: POODOO -> P00DOO, # GOTOPOOH -> GOTOP00H, added a couple of # missing instructions in Verb 96. # 2009-05-23 RSB In SYSTEST, corrected TC FLAGWRD1 to # CA FLAGWRD1. Added a variety of SBANK= # statements prior to 2CADRs. One day I'll # have to figure out what yaYUL is doing # wrong with those .... # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 236 BANK 7 SETLOC EXTVERBS BANK EBANK= OGC COUNT* $$/EXTVB # FAN-OUT GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC TC LST2FAN # FAN AS BEFORE. LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 ONLY). TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR # 91 ONLY) TC IMUFINEK # VB42 FINE ALIGN IMU TC IMUATTCK # VB43 LOAD IMU ATTITUDE ERROR METERS. TC SETSURF # VB44 SET SURFACE FLAG TC RESTSRF # VB45 RESET SURFACE FLAG TC STABLISH # VB46 ESTABLISH G+C CONTROL. TC LMTOCMSV # VB47 MOVE LM STATE VECTOR INTO CM TC DAPDISP # VB48 LOAD A/P DATA. TCF CREWMANU # VB 49 START AUTOMATIC ATTITUDE MANEUVER TC GOLOADLV # VB50 PLEASE PERFORM TC GOLOADLV # VB51 PLEASE MARK TC V52 # VB52 SET OFFSET NO. FOR P22 TC GOLOADLV # VB 53 PLEASE PERFORM COAS MARK TC GOTOR23 # VB54 PLEASE MARK (R-21-BACKUP) TC ALINTIME # VB55 ALIGN TIME TC TRACKTRM # VB56 TERMINATE TRACKING (P20 +P25) TC GOTOR21 # V57 START R21 REND TRACK SIGHT MARK ROUT TC ENATMA # VB58 ENABLE AUTOMATIC ATTITUDE MANEUVER TC GOLOADLV # VB59 PLEASE CALIBRATE TC V60 # VB60 SET CPHIX (N17) EQUAL TO CDU TC V61 # VB61 SELECT MODE I TC V62 # VB62 SELECT MODE II, ERROR WRT N22 TC V63 # VB63 SELECT MODE III, ERROR WRT N17 TC VB64 # VB64 CALCULATE,DISPLAY S-BAND ANT ANGLES TC CKOPTVB # V 65 E OPTICAL VERIFICATION FOR PRELAUNC TC ATTACHED # VB 66 ATTACHED. MOVE THIS TO OTHER STATE TC V67 # VB67 WMATRIX MONITOR TC STROKON # VB68 CSM STROKE TEST ON. VERB69 TC VERB69 # VB 69 CAUSE RESTART TC V70UPDAT # VB70 UPDATE LIFTOFF TIME. TC V71UPDAT # VB71 UNIVERSAL UPDATE - BLOCK ADDRESS. TC V72UPDAT # VB72 UNIVERSAL UPDATE - SINGLE ADDRESS. TC V73UPDAT # VB73 UPDATE AGC TIME (OCTAL). TC DNEDUMP # VB74 INITIALIZE DOWN-TELEMETRY PROGRAM # FOR ERASABLE DUMP. TC LFTFLGON # VB75 SET LIFTOFF FLAG. # Page 237 TC SETPRFLG # VB76 SET PREFERRED ATTITUDE FLAG TC RESETPRF # VB77 RESET PREFERRED ATT. FLAG TC CHAZFOGC # CHANGE GYROCOMPASS LAUNCH AZIMUTH V78 TC ALM/END # V79 SPARE TC LEMVEC # VB80 UPDATE LEM STATE VECTOR TC CSMVEC # VB81 UPDATE CSM STATE VECTOR TC V82PERF # VB82 REQUEST ORBIT PARAM DISPLAY (R30) TC V83PERF # VB83 RANGE, RANGE RATE, +X AXIS (R31) TC ALM/END # V84 SPARE TC V85PERF # VB85 RANGE, RANGE RATE, SLOS (R32) TC V86PERF # VB86 BACKUP MARK REJECT TC SETVHFLG # VB87 SET VHF RANGE FLAG TC RESETVHF # VB88 RESET VHF RANGE FLAG TC V89PERF # V89-ALIGN X OR PRF CSM AXIS TO LOS (R63) TC V90PERF # VB90-OUT OF PLAN PARAMETERS %R36" TC GOSHOSUM # VB91 TEMP FOR HYBRID AND STG. TC SYSTEST # VB92 OPERATE IMU PERFORMANCE TEST TC WMATRXNG # VB93 CLEAR RENDWFLG TC VERB94 # VB94 DO R64 TC ALM/END # VB95 SPARE TCF VERB96 # VB96 SET QUITFLAG TO STOP INTEGRATION TC GOLOADLV # VB97 PLEASE PERFORM ENGINE-FAIL (R41) TC ALM/END # VB98 SPARE TC GOLOADLV # VB99 PLEASE ENABLE ENGINE # END OF EXTENDED VERB FAN TESTXACT CCS EXTVBACT TC ALM/END # YES, TURN ON OPERATOR ERROR LIGHT CA FLAGWRD4 # ARE PRIOS USING DSKY MASK OC24100 CCS A TC ALM/END CAF OCT24 # SET BITS 3 AND 5 SETXTACT TS EXTVBACT # NO. SET FLAG TO SHOW EXT VERB DISPLAY # SYSTEM BUSY CA Q TS MPAC +1 CS TWO # BLANK EVERYTHING EXCEPT MM AND VERB TC NVSUB TC +1 TC MPAC +1 XACTALM TC FALTON # TURN ON OPERATOR ERROR LIGHT. TC ENDEXT # RELEASE MARK AND EXT. VERB DISPLAY SYS. # Page 238 TERMEXTV EQUALS ENDEXT ENDEXTVB EQUALS ENDEXT XACT0 CAF ZERO # RELEASE MARK AND EXT. VERB DISPLAY SYS. TC SETXTACT ALM/END TC FALTON # TURN ON OPERATOR ERROR LIGHT GOPIN TC POSTJUMP CADR PINBRNCH OC24100 OCT 24100 # Page 239 # VBZERO VERB 40 DESCRIPTION # ZERO # 1. REQUIRE NOUN 20 (ICDU ANGLES) # 2. REQUIRE AVAILABILITY OF EXT VERB DISPLAY SYSTEM # 3. IF EITHER OF ABOVE CONDITIONS NOT PRESENT, TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH. # 4. SET EXT VERB DISPLAY ACTIVE FLAG. # 5. EXECUTE IMUZERO (ZERO IMU CDU ANGLES). # 6. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER). # 7. RELEASE EXT. VERB DISPLAY SYSTEM. VBZERO TC OP/INERT TC IMUZEROK # RETURN HERE IF NOUN = ICDU(20) TC ALM/END # RETURN HERE IF NOUN = OCDU(91) # (NOT IN USE YET) IMUZEROK TC CKMODCAD # KEYBOARD REQUEST FOR ISS CDUZERO TC BANKCALL CADR IMUZERO TC BANKCALL # STALL CADR IMUSTALL TC +1 TC GOPIN OP/INERT CS OCT24 AD NOUNREG EXTEND BZF XACT0Q # IF = 20. INCR Q AD OPIMDIFF # -71 EXTEND BZF XACT0Q TC ALM/END # ILLEGAL. OPIMDIFF DEC -71 # Page 240 # VBCOARK VERB 41 DESCRIPTION # COARSE ALIGN IMU OR RADAR # 1. REQUIRE NOUN 20 OR NOUN 91 OR TURN ON OPERATOR ERROR # 2. REQUIRE EXT VERB DISPLAY SYS AVAILABLE OR TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH. # CASE 1 NOUN 20 (ICDU ANGLES) # 3. SET EXT VERB DISPLAY ACTIVE FLAG. # 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES). # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM # B. PROCEED # 1. DISPLAY FLASHING V25,N23 (LOAD DELTA ICDU ANGLES). # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. PROCEED # 1. EXECUTE ICORK2. # C. ENTER # 1. INCREMENT CDU ANGLES # 2. EXECUTE ICORK2. # C. ENTER # 1. EXECUTE ICORK2. # ICORK2 # 1. RE-DISPLAY VERB 41. # 2. EXECUTE IMUCCARS (IMU COARSE ALIGN). # 3. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER). # 4. RELEASE EXT VERB DISPLAY SYSTEM. # CASE 2 NOUN 91 (OCDU ANGLES) # 5. (REQUIRE OPTICS SWITCH TO BE AT COMPUTER OR TURN ON OPERATOR ERROR AND ALARM 115) AND (REQUIRE # OPTICS AVAILABLE AND DISPLAY FLASHING V24,N92....LOAD NEW OPTICS ANGLES....OR TURN ON ALARM 117 # AND RELEASE EXT VERB DISPLAY SYSTEM). # 6. RESPONSES TO V29,N92. # A. TERMINATE # RELEASE EXT VERB DISPLAY SYSTEM # B. PROCEED OR ENTER # RE-DISPLAY V41, SET SWITCH TO INDICATE COURSE ALIGN OPTICS WORKING. # RELEASE EXT VERB DISPLAY SYSTEM. VBCOARK TC OP/INERT TC IMUCOARK # RETURN HERE IF NOUN = ICDU(20) TC OPTCOARK # RETURN HERE IF NOUN = OCDU(91) # RETURNS TO L+1 IF NOUN 20 - TO L+2 IF NOUN 91. IMUCOARK TC CKMODCAD # COARSE ALIGN FROM KEYBOARD TC TESTXACT CAF VNLODCDU # CALL FOR THETAD LOAD TC BANKCALL CADR GOXDSPF TC TERMEXTV TCF +1 # Page 241 ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB. TC BANKCALL CADR EXDSPRET TC BANKCALL # CALL MODE SWITCHING PROG CADR IMUCOARS TC BANKCALL # STALL CADR IMUSTALL TC ENDEXTVB TC ENDEXTVB VNLODCDU VN 2522 IMUCOARV VN 4100 # Page 242 # TEMPORARY ROUTINE TO RUN THE OPTICS CDUS FROM THE KEYBOARD OPTCOARK CA OPTCADR TC CKMODCAD +1 TC TESTXACT CAF EBANK5 TS EBANK CCS SWSAMPLE # SEE IF SWITCH AT COMPUTER TC +5 # SWITCH AT COMPUTER TC +1 # NOT ON COMPUTER TC FALTON # TURN ON OPERATOR ERR TC ALARM # AND ALARM OCT 00115 CCS OPTIND # SEE IF OPTICS AVAILABLE TC OPTC1 # IN USE TC OPTC1 # IN USE TC OPTC1 # IN USE TC ALARM # OPTICS RESERVED (OPTIND=-0) OCT 00117 TC ENDEXT OPTC1 CAF VNLD0CDU # VERB-NOUN TO LOAD OPTICS CDUS TC BANKCALL CADR GOXDSPF TC TERMEXTV TC +1 # PROCEED CA SAC TS DESOPTS CA PAC TS DESOPTT CAF OPTCOARV # RE-DISPLAY OUR OWN VERB TC BANKCALL CADR EXDSPRET CAF ONE TS OPTIND # SET COARS WORKING TC ENDEXTVB TC ENDEXTVB VNLD0CDU VN 2492 OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS. # Page 243 # IMUFINEK VERB 42 DESCRIPTION # FINE ALIGN IMU # 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG OR TURN ON OPER ERROR AND GO TO PINBRNCH. # 2. DISPLAY FLASHING V25,N93....LOAD DELTA GYRO ANGLES.... # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. PROCEED OR ENTER # 1. RE-DISPLAY VERB 42 # 2. EXECUTE IMUFINE (IMU FIVE ALIGN MODE SWITCHING). # 3. EXECUTE IMUSTALL (ALLOW FOR DATA TRANSFER) # A. FAILED # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. GOOD # 1. EXECUTE IMUPULSE (TORQUE IRIGS). # 2. EXECUTE IMUSTALL AND RELEASE EXT VERB DISPLAY SYSTEM. IMUFINEK TC CKMODCAD # FINE ALIGN WITH GYRO TORQUING TC TESTXACT CAF VNLODGYR # CALL FOR LOAD OF GYRO COMMANDS TC BANKCALL CADR GOXDSPF TC TERMEXTV TC +1 # PROCEED WITHOUT A LOAD CAF IMUFINEV # RE-DISPLAY OUR OWN VERB TC BANKCALL CADR EXDSPRET TC BANKCALL # CALL MODE SWITCH PROG CADR IMUFINE TC BANKCALL # HIBERNATION CADR IMUSTALL TC ENDEXTVB FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGIST5RS TC BANKCALL CADR IMUPULSE TC BANKCALL # WAIT FOR PULSES TO GET OUT. CADR IMUSTALL TC ENDEXTVB TC ENDEXTVB LGYROBIN ECADR OGC VNLODGYR VN 2593 IMUFINEV VN 4200 # FINE ALIGN VERB CKMODCAD CA MODECADR # Page 244 EXTEND BZF TCQ TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT # GOLOADLV VERB 50 DESCRIPTION # AND OTHER PLEASE # DO SOMETHING VERBS # PLEASE PERFORM, MARK, CALIBRATE, ETC. # 1. PRESSING ENTER ON DSKY INDICATES REQUESTED ACTION HAS BEEN PERFORMED, AND THE PROGRAM DOES THE # SAME RECALL AS A COMPLETED LOAD. # 2. THE EXECUTION OF A VERB 33 (PROCEED WITHOUT DATA) INDICATES THE REQUESTED ACTION IS NOT DESIRED. GOLOADLV TC FLASHOFF CAF PINSUPBT EXTEND WRITE SUPERBNK # TURN ON FE7 TC POSTJUMP SBANK= PINSUPER CADR LOADLV1 # V60 VERB 60 V60 EXTEND # SET ASTRONAUT TOTAL ATTITUDE (N17) EQUAL DCA CDUX # TO PRESENT ATTITUDE DXCH CPHIX CA CDUZ TS CPHIX +2 TC GOPIN # V61 VERB 61 V61 TC DOWNFLAG # SET NEEDLFLG TO 0 (FLAGWRD0,BIT9), PHASE ADRES NEEDLFLG # PLANE A/P FOLLOWING ERROR DISPLAYED TC GOPIN # V62 VERB 62 V62 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9), ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED TC UPFLAG # SET N22ORN17 TO 1 (FLAGWRD9,BIT6), ADRES N22ORN17 # COMPUTE TOTAL ATTITUDE ERROR WRT N22 TC GOPIN # V63 VERB 63 V63 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9), ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED TC DOWNFLAG # SET N22ORN17 TO 0 (FLAGWRD9,BIT6, # Page 245 ADRES N22ORN17 # COMPUTE TOTAL ASTRONAUT ATTITUDE ERROR TC GOPIN # Page 246 # ALINTIME VERB 55 DESCRIPTION # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. DISPLAY FLASHING V25,N24 (LOAD DELTA TIME FOR AGC CLOCK. # 3. REQUIRE EXECUTION OF VERB 23. # 4. ADD DELTA TIME, RECEIVED FROM INPUT REGISTER, TO THE COMPUTER TIME. # 5. RELEASE EXT VERB DISPLAY SYSTEM COUNT 04/R33 ALINTIME TC TESTXACT CAF VNLODDT TC BANKCALL CADR GOMARKF TC ENDEXT # TERMINATE TC ENDEXT # PROCEED CS DEC23 # DATA IN OR RESEQUENCE(UNLIKELY) AD MPAC # RECALL LEFT VERB IN MPAC EXTEND BZF UPDATIME # GO AHEAD WITH UPDATE ONLY IF RECALL TC ENDEXT # WITH V23 (DATA IN). UPDATIME INHINT # DELTA TIME IS IN DSPTEM1, +1. CAF ZERO TS MPAC +2 # NEEDED FOR TP AGREE TS L # ZERO T1 & 2 WHILE ALIGNING. DXCH TIME2 DXCH MPAC DXCH DSPTEM2 +1 # INCREMENT DAS MPAC TC TPAGREE # FORCE SIGN AGREEMENT. DXCH MPAC # NEW CLOCK. DAS TIME2 RELINT UPDTMEND TC ENDEXT DEC23 DEC 23 # V 23 VNLODDT VN 2524 # V25N24 FOR LOAD DELTA TIME # Page 247 # SYSTEST VERB 92 DESCRIPTION # OPERATE SELECTED SYSTEM TEST # 1. REQUIRE P00 OR P00- OR TURN ON OPERATOR ERROR. # 2. TURN OFF DAP IF IT IS ON. # 3. DISPLAY FLASHING V21,N01 (LOAD TEST NUMBER 1 THRU 17). # 4. UPON ENTRY OF TEST NUMBER, SCHEDULE TSELECT WITH PRIORITY 20. # TSELECT # 1. IF LOADED TEST NUMBER IS VALID, GO TO THAT TEST ROUTINE, OTHERWISE TURN ON OPERATOR ERROR AND # REPEAT LOAD REQUEST DISPLAY. (NO. 3 ABOVE) EBANK= QPLACE COUNT 04/EXTVB SYSTEST TC CHKP00H CA FLAGWRD1 # IS NODOP01 FLAGBIT ON? (SET BY P11) MASK NOP01BIT EXTEND BZF V92CONT # IF IT'S NOT YET SET, CONTINUE TC POODOO # IT'S ON. SEND NODO ALARM FOR P07 OCT 1521 V92CONT TC EXDAPOFF # TURN DAP OFF IF IT'S ON CAF PRIO20 TC FINDVAC EBANK= QPLACE SBANK= IMUSUPER 2CADR REDO TC GOPIN # REDO AND TSELECT ARE NOW IN SYSTEM TEST. COUNT* $$/EXTVB # CKOPTVB VERB 65 DESCRIPTION # OPTICAL VERIFICATION FOR PRELAUNCH. # 1. SCHEDULE GCOMPVER, OPTICAL VERIFICATION SUBPROGRAM, WITH PRIORITY 17. CKOPTVB TC CHECKMM MM 02 # I WONDER IF PRELAUNCH IS RUNNING TC ALM/END # NOT RUNNING OPERATOR ERROR INHINT CAF PRIO16 # PRELAUNCH OPTICAL VERIFICATION TC FINDVAC EBANK= QPLACE 2CADR COMPVER # STANDARD LEADIN TO GCOMPVER. TC GOPIN # Page 248 # V 78.... TO CHANGE GYROCOMPASS AZIMUTH CHAZFOGC TC CHECKMM # IS IT PRELAUNCH MM 02 TC ALM/END # NO - OPERA TOR ERROR CAF PRIO16 # PRELAUNCH AZIMUTH CHANGE TC FINDVAC EBANK= XSM 2CADR AZMTHCG1 TC PHASCHNG OCT 00174 TC GOPIN # Page 249 # IMUATTCK VERB 43 DESCRIPTION # LOAD IMU ATTITUDE ERROR METERS # 1. REQUIRE PROGRAM 00 ACTIVE, COARSE ALIGN ENABLE BIT OFF AND ZERO ICDU BIT OFF. # 2. IF GUID REF RELEASE OR LIFTOFF HAS OCCURRED REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY # FLAG, OTHERWISE ALLOW CURRENT EXT VERB DISPLAY TO BE OVER-RIDDEN. # 3. REMOVE COARSE ALIGN ENABLE AND IMU ERROR COUNTER ENABLE # 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES). # 5. UPON PROCEED OR ENTER RESPONSE, INITIALIZE CURRENT DAC AND COMMAND VALUES, ENABLE ERROR COUNTERS # TRANSFER LOADED VALUES TO REGISTERS, AND SEND COMMANDS. # 6. IF BUSY FLAG SET, RESET IT TO RELEASE EXT VERB DISPLAY. IMUATTCK TC CHKP00H CAF OCTAL30 # CHECK IF IMU ZERO AND IMU COARSE ARE ON EXTEND RAND CHAN12 CCS A TCF ALM/END # NOT ALLOWED IF IMU COARSE OR IMU ZERO ON TC CKLFTBTS # IS IT BEFORE OR AFTER LIFTOFF TC TESTXACT # AFTER CS OCT50 # REMOVE COARSE AND ECTR ENABLE. EXTEND WAND CHAN12 CAF VNLODCDU TC BANKCALL CADR GOXDSPF TCF TRMATTCK TC +1 CAF EBANK6 TS EBANK # SET E6 FOR NEEDLES. EBANK= AK TC BANKCALL # INITIALIZE CURRENT DAC AND CADR NEEDLE11 # COMMAND VALUES TC BANKCALL # ENABLE ERROR COUNTERS. CADR NEEDLER2 CAF TWO # 4 MS MIN. TC WAITLIST EBANK= AK 2CADR ATTCK1 TRMATTCK TC CKLFTBTS # IS IT BEFORE OR AFRER LIFTOFF TCF ENDEXT # AFTER TC GOPIN # Page 250 ATTCK1 EXTEND # TRANSFER LOADED VALUES TO DESIRED REGS. DCA THETAD DXCH AK CAE THETAD +2 TS AK +2 TC IBNKCALL # SENDS COMMANDS LIMITED TO +,- 384 PULSES CADR NEEDLES # AND LEAVES ERROR COUNTERS ENABLED. TC TASKOVER CKLFTBTS CAF GRRBKBIT # HAS LIFTOFF OCCURRED MASK FLAGWRD5 CCS A TC Q # YES CAF BIT5 EXTEND RAND CHAN30 CCS A TCF Q+1 XACT0Q TC Q # YES OCTAL30 OCT 30 VB64 TC CHKP00H # DEMAND PROGRAM 00. TC TESTXACT # IF DISPLAY SYS. NOT BUSY,MAKE IT BUSY. INHINT CAF PRIO4 TC FINDVAC EBANK= RHOSB 2CADR SBANDANT # CALC.,DISPLAY S-BAND ANTENNA ANGLES. TC ENDOFJOB # ENATMA VERB 58 DESCRIPTION # ENABLE AUTOMATIC ATTITUDE MANEUVER # VERB58 RESETS STIKFLAG TO ENABLE R61 TO PERFORM AUTOMATIC TRACKING MANEUVERS, AFTER INTERRUPTS BY THE RHC ACT- # IVITY. ENATMA TC DOWNFLAG # RESET STIKFLAG. ADRES STIKFLAG # BIT 14 FLAG 1 TC GOPIN # Page 251 # STROKON VERB 68 DESCRIPTION # STROKE TEST SETUP/ENABLE # 1. SET EXT VERB DISPLAY BUSY FLAG # 2. SCHEDULE STRKTST1 WITH PRIORITY 30. # 3. RELEASE EXT VERB DISPLAY. EBANK= T5TVCDT STROKON CS FLAGWRD6 # V68 PERMITTED ONLY DURING TVC MASK OCT60000 EXTEND BZMF ALM/END # NOT TVC....FLASH OP ERROR LIGHT CAF PRIO30 # JOB REQUEST, TO SET UP STROKE TEST, TC NOVAC # INCLUDING INITIALIZATIONS EBANK= STROKER 2CADR STRKTSTI TC GOPIN # STABLISH VERB 46 DESCRIPTION # ESTABLISH G & N AUTOPILOT CONTROL # 1. SETS UP EITHER RCS, ENTRY, OR SATURN # 2. IF TVC IS ON, SETS UP CSM/LM SWITCH-OVER # FROM HIGH BW TO LOW BW STABLISH CAF EBANK6 # V46 - SET EBANK TO E6 TS EBANK CS FLAGWRD6 # TEST FOR TVC MASK OCT60000 EXTEND BZMF +8 CAE DAPDATR1 # TEST FOR CSM/LM MASK BIT14 EXTEND BZMF +3 TC POSTJUMP # CSM/LM, SO PERFORM HB TO LB SWITCH-OVER CADR PRESWTCH +3 TC ALM/END # CSM, SO ALARM AND EXIT +8 TC POSTJUMP # SET UP RCS, ENTRY, OR SATURN-STICK DAP CADR DAPFIG # Page 252 # CREMANU VERB 49 DESCRIPTION # START AUTOMATIC ATTITUDE MANEUVER # 1. REQUIRE PROGRAM 00 ACTIVE. # 2. SET EXT VERB DISPLAY BUSY FLAG. # 3. SCHEDULE R62DISP WITH PRIORITY 10. # 4. RELEASE EXT VERB DISPLAY. # R62DISP # 1. DISPLAY FLASHING V06,N22 (DECIMAL DISPLAY NEW ICDU ANGLES). UPON IMMEDIATE RETURN, SET-UP GROUP # 4 FOR RESTART OF DISPLAY SEQUENCE. # RESPONSES # A. TERMINATE # 1. GO TO GOTOPOOH. # B. PROCEED # 1. SET 3AXISFLG TO INDICATE MANEUVER IS SPECIFIED BY 3 AXIS. # 2. EXECUTE R60CSM (ATTITUDE MANEUVER). # 3. ZERO GROUP 4 (END R62). # C. ENTER # 1. REPEAT FLASHING V06,N22. CREWMANU TC CHKP00H # DEMAND P00 TC TESTXACT CAF PRIO10 TC FINDVAC EBANK= CPHI 2CADR R62DISP TC ENDOFJOB # Page 253 # DAPDISP VERB 48 DESCRIPTION # LOAD AUTOPILOT DATA (ROUTINE R03) # 0. CHECKFAIL AND RETURN IF TVC. # 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG. # 2. LOWER PRIORITY TO 10. # 3. DISPLAY FLASHING V04,N46 (DISPLAY AUTOPILOT CONFIGURATION) # 4. UPON PROCEED RESPONSE, EXECUTE S41.2. # 5. DISPLAY FLASHING V06,N47 (DISPLAY CSM WGT.. LEM WGT.) # 6. UPON PROCEED RESPONSE EXECUTE S40.14. # 7. DISPLAY FLASHING V06,N48 (DISPLAY PITCH TRIM, YAW TRIM) # 8. UPON PROCEED RESPONSE, RELEASE EXTENDED VERB DESPLAY SYSTEM COUNT* $$/EXTVB DAPDISP CS FLAGWRD6 MASK OCT60000 EXTEND BZMF +2 # TVC = 10, CS YIELDS 01, BZMF TO CONTINUE TC ALM/END # RETURN IF TVC TC TESTXACT TC BANKCALL CADR DAPDISP1 BANK 42 SETLOC EXTVBS BANK COUNT 24/R03 DAPDISP1 CAF EBANK6 TS EBANK CAF PRIO10 TC PRIOCHNG DONOUN46 CAF V04N46 # R1 R2 TC BANKCALL # DAPDATR1 DAPDATR2 CADR GOXDSPF # GOXDSP ROUTINES USED FOR EXTENDED VERBS. TC ENDEXT # EXT. VBS GO TO ENDEXT, NOT ENDOFJOB. TC +2 TC DONOUN46 CA DAPDATR1 MASK BIT4 CCS A TCF MAXIN TC DOWNFLAG ADRES MAXDBFLG MAXOUT TC BANKCALL CADR S41.2 DONOUN47 CAF V06N47 # R1 R2 R3 # Page 254 TC BANKCALL # CSM WGT. LEM WGT. BLANK CADR GOXDSPF TC ENDEXT TC +2 TC DONOUN47 CAE DAPDATR1 # DO MASS PROPERTIES CALCULATION ONLY IF MASK PRIO30 # CONFIG = 1(CSM), 2(CSM/LM), 6(CSM/LMA) EXTEND BZF DONOUN48 # SKIP IF 0, 4 COM MASK PRIO30 EXTEND BZF DONOUN48 # SKIP IF 3, 7 INHINT TC IBNKCALL CADR MASSPROP # UPDATE IXX, IAVG, IAVG/TLX RELINT TC BANKCALL CADR S40.14 # COMPUTE RCS DAP STUFF DONOUN48 CAF V0648 # R1 R2 R3 TC BANKCALL # PTRIM YTRIM BLANK CADR GOXDSPF TC ENDEXT TC ENDEXT TC DONOUN48 MAXIN TC UPFLAG ADRES MAXDBFLG TC MAXOUT V0648 VN 0648 V06N47 VN 0647 V04N46 VN 0446 BANK 43 SETLOC EXTVERBS BANK COUNT* $$/EXTVB # V82PERF VERB82 DESCRIPTION # REQUEST ORBIT PARAMETERS DISPLAY (R30) # 1. IF AVERAGE G IS OFF: # FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS # TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT # CAN CHANGE TO OTHER SHIP BY V22EXE, WHERE X NOT EQ 1. # SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC). # CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE # Page 255 # RPER (PERIGEE RADIUS), RAP0 (APOGEE RADIUS), HPER (PERIGEE # HEIGHT ABOVE LAUNCH PAD OR LUNAR LANDING SITE), HAPO (APOGEE # HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), TFF (TIME TO # INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE). # FLASH MONITOR V16N44 (HAPO, HPER, TFF). TFF IS -59M59S IF IT WAS # NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND. # ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E. # DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS # ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S. # # 2. IF AVERAGE G IS ON: # CALLS SR30.1 APPROX EVERY TWO SECS. STATE VECTOR IS ALWAYS # FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR. RESULTS # OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF. # FLASH MONITOR V16N44 (HAPO, HPER, TFF). # IF MODE IS P11, THEN CALL DELRSPL SO ASTRONAUT CAN MONITOR # RESULTS BY N50E. SPLASH COMPUTATION DONE ONCE PER TWO SECS. # ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE # ABOVE REMARKS. V82PERF TC TESTXACT CAF PRIO7 TC PRIOCHNG TC POSTJUMP CADR V82CALL # ***** V82CALL MUST NOT BE A FINDVAC JOB. # VB83PERF VERB 83 DESCRIPTION # REQUEST RENDEZVOUS PARAMETER DISPLAY (R31) # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. SCHEDULE V83CALL WITH PRIORITY 10. # A. DISPLAY # R1 RANGE # R2 RANGE RATE # R3 THETA V83PERF TC TESTXACT INHINT CS FLAGWRD9 # SET R31 FLAG-BIT 4 FLAGWRD9 MASK R31FLBIT ADS FLAGWRD9 CAF PRIO5 TC NOVAC EBANK= SUBEXIT 2CADR R31CALL TC ENDOFJOB # Page 256 V85PERF TC TESTXACT INHINT CS R31FLBIT # RESET R31 FLAG TO INDICATE R34 MASK FLAGWRD9 TS FLAGWRD9 TC V83PERF +5 # Page 257 # GOTOR21 VERB 57 # GOTOR23- VERB 54 DESCRIPTION # SET UP MARKING FOR R22(REND TRACK DATA PROC) # 1. SET EXT VERB DISPLAY BUSY FLAG # 2. IF REND (P20 RUNNING) + TRACK (TRACKING ALLOWED) FLAGS ARE SET, # SCHEDULE R21 OR R23 WITH PRIORITY 16, OTHERWISE TURN ON ALARM 406 # 3. RELEASE EXT VERB DISPLAY SYSTEM GOTOR21 TC DOWNFLAG # CLEAR R23FLG ADRES R23FLG # BIT 9 FLAG 1 TC +3 GOTOR23 TC UPFLAG # SET R23FLG ADRES R23FLG # BIT 9 FLAG 1 TC TESTXACT CA FLAGWRD0 # VB 57 UNACCEPTABLE UNLESS BOTH MASK RNDVZBIT # RENDEZVOUS AND TRACK FLAGS ON EXTEND BZF R22ALARM CA FLAGWRD1 MASK TRACKBIT EXTEND BZF R22ALARM CA FLAGWRD1 # TEST R23FLG MASK R23BIT EXTEND BZF REGR21 # R21 CAF PRIO16 TC NOVAC EBANK= MRKBUF1 2CADR R23CSM TC ENDOFJOB REGR21 CAF PRIO16 TC NOVAC EBANK= MRKBUF1 2CADR R21CSM TC ENDOFJOB R22ALARM TC ALARM # VERB 57 WAS SELECTED AND NEITHER REND OCT 00406 # NOR TRACK FLAG WERE ON. TC ENDEXT # Page 258 # VERB 86 DESCRIPTION # V86 IS TO R23 AS MARK REJECT IS TO R21 # V86 IS THE MARK REJECT FOR R23(THE BACKUP MARKING ROUTINE) EBANK= MRKBUF1 V86PERF CAF EBANK7 # BACKUP MARK REJECT (R23) XCH EBANK CA NEGONE TS MRKBUF1 TC GOPIN # Page 259 # TRACKTRM VERB 56 DESCRIPTION # TERMINATE TRACKING (P20) # 1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS. # 2. REQUIRE P20 NOT RUNNING ALONE OR GO TO GOTOPOOH (REQUEST PROGRAM 00). # 3. REQUIRE R22 RUNNING OR GO TO PINBRNCH. # 4. IF INTEGRATION RUNNING, STALL UNTIL IT IS COMPLETED, THEN ZERO GROUPS 2 AND 3 TO KILL R21 + R22. # 3. KNOCK DOWN RENDEZFOUS, R22, R21, TRACK, UPDATE, AND TARG1 FLAGS. # 4. GO TO ENEMA (SOFTWARE RESTART). # REFERENCE # P20 RENDEZVOUS NAVIGATION. # R21 RENDEZVOUS TRACKING SIGHTING MARK. # R22 RENDEZVOUS TRACKING DATA PROCESSING. TRACKTRM CA RNDVZBIT # IS REND FLAG ON MASK FLAGWRD0 EXTEND BZF GOPIN # NO TC DOWNFLAG ADRES RNDVZFLG CA TRACKBIT # IS TRACK FLAG ON MASK FLAGWRD1 EXTEND BZF GOPIN # NO TC DOWNFLAG ADRES TRACKFLG TC DOWNFLAG ADRES UPDATFLG TC DOWNFLAG ADRES IMUSE CAF EBANK6 TS EBANK INHINT TC STOPRATE CAF NEGONE TS OPTIND TC INTPRET CALL INTSTALL # DONT INTERRUPT INTEGRATION EXIT TC 2PHSCHNG # Page 260 OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY OCT 1 # ALSO KILL GROUP 1 CLEANOUT INHINT TC POSTJUMP CADR ENEMA # CAUSE RESTART # LEMVEC VERB 80 DESCRIPTION # UPDATE LEM STATE VECTOR # RESET VEHUPFLG TO 0 LEMVEC TC DOWNFLAG ADRES VEHUPFLG # VEHUPFLG DOWN INDICATES LEM TCF GOPIN # CSMVEC VERB 81 DESCRIPTION # UPDATE CSM STATE VECTOR # SET VEHUPFLG TO 1 CSMVEC TC UPFLAG ADRES VEHUPFLG # VEHUPFLG UP INDICATES CM. TCF GOPIN # DNEDUMP VERB 74 DESCRIPTION # INITIALIZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP. # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY. # 3. RELEASE EXT VERB DISPLAY. EBANK= 10 DNEDUMP CAF LDNDUMPI TS DNTMGOTO TC GOPIN V74 EQUALS DNEDUMP LDNDUMPI REMADR DNDUMPI # LFTFLGON VERB 75 DESCRIPTION # SET LIFT-OFF FLAG # 1. SETUP GGRBKFLG, GUIDANCE REFERENCE RELEASE BACK-UP FLAG. # 2. RETURN VIA PINBRNCH LFTFLGON TC UPFLAG # VB 75 - SET LIFTOFF FLAG BIT ADRES GRRBKFLG # BIT 5 FLAG 5 TC GOPIN # Page 261 CHKP00H CA MODREG EXTEND BZF TCQ TCF ALM/END EXDAPOFF EXTEND DCA IDLECADR # SET T5 TO IDLE. DXCH T5LOC CS OCT60000 MASK FLAGWRD6 # RESET DAPBITS 1 AND 2. TS FLAGWRD6 TC Q EBANK= PACTOFF IDLECADR 2CADR T5IDLOC # Page 262 # VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63) # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 IS USED. CALCULATES AND # DISPLAYS FINAL GIMBAL ANGLES TO POINT CSM +X AXIS OR PREFERRED AXIS # (UNIT(Z)COS55 DEG + UNIT(X)SIN55 DEG) AT LM. # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND # EXIT R63, OTHERWISE CONTINUE. # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS # ORIENTATION KNOWN TO CGC, CONTINUE. # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO # BE POINTED AT LM. INITIAL CHOICE IS PREFERRED AXIS. (R2=1). # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT= 1) BY V 22 E 2 E. CONTINUE # AFTER KEYING IN PROCEED. # 4. SET PREFERRED ATTITUDE FLAG ACCORDING TO OPTION DESIRED. SET FLAG # FOR PREFERRED AXIS. RESET FLAG FOR X AXIS. # 5. CURRENT TIME IS STORED AND R63COMP IS CALLED # R63COMP JOB: # UPDATES CSM AND LM STATE VECTORS USING CONIC EQUATIONS # CALCULATES BOTH PREFERRED AND X AXIS TRACKING ATT FROM CSM TO LM. # DESIRED GIMBAL ANGLES AS INDICATED BY PREFERRED ATTITUDE FLAG # ARE STORED FOR LATER R60CSM CALL. # 6. FLASH DISPLAY V 06 N18 AND AWAIT RESPONSE. # 7. RECYCLE- RETURN TO STEP 5. # TERMINATE- EXIT R63 ROUTINE # PROCEED- RESET 3AXISFLG AND CALL R60CSM FOR ATTITUDE MANEUVER. V89PERF TC CHKP00H # DEMAND P00 TC TESTXACT INHINT CAF PRIO10 TC FINDVAC EBANK= P21TIME 2CADR V89CALL TCF ENDOFJOB WMATRXNG TC DOWNFLAG # RESET RENDWFLG ADRES RENDWFLG # Page 263 TC DOWNFLAG # RESET ORBWFLAG ADRES ORBWFLAG TC GOPIN GOSHOSUM EQUALS SHOWSUM SHOWSUM TC CHKP00H TC TESTXACT # * CAF S+1 # * TS SKEEP6 # * SHOWSUM OPTION CAF S+ZERO # * TS SMODE # * TURN OFF SELF-CHECK CA SELFADRS # * TS SELFRET # * TC STSHOSUM # * ENTER ROPECHK SDISPLAY LXCH SKEEP2 # * BNK NO FOR DSP LXCH SKEEP3 # * BUGGER WORD FOR DSP NOKILL CA ADRS1 # * TS MPAC +2 # * CA VNCON # * 0501 TC BANKCALL # * CADR GOXDSPF # * TC +3 # * TC NXTBNK # * TC NOKILL # * CA SELFADRS TS SKEEP1 TC ENDEXT # * VNCON VN 501 # * ENDSUMS CA SKEEP6 # * EXTEND # * BZF SELFCHK # * ROPECHK, START SELFCHK AGAIN. TC STSHOSUM # * START SHOWSUM AGAIN. # VB 76 SET PREFERRED ATTITUDE FLAG - DRIVE TO PREFERRED. SETPRFLG TC UPFLAG ADRES PRFTRKAT # BIT 10 FLAG 5 TC GOPIN # VB 77 RESET PREFERRED ATTITUDE FLAG - DRIVE TO +X-AXIS ATT. RESETPRF TC DOWNFLAG ADRES PRFTRKAT # BIT 10 FLAG 5 TC GOPIN # Page 264 # VB 87 SET VHF RANGE FLAG - ALLOWS R22 TO ACCEPT RANGE DATA. SETVHFLG TC INTPRET SET EXIT VHFRFLAG TC GOPIN # VB 88 RESET VHF RANGE FLAG - STOPS ACCEPTANCE OF RANGE DATA. RESETVHF TC INTPRET CLEAR EXIT VHFRFLAG TC TRFAILOF # TRACKER FAIL LIGHT TC GOPIN # VERB 66. VEHICLES ARE ATTACHED.- MOVE THIS VEHICLE STATE VECTOR TO # OTHER VEHICLE STATE VECTOR. # USE SUBROUTINE GENTRAN. EBANK= RRECTHIS ATTACHED CAF PRIO10 TC FINDVAC EBANK= RRECTHIS 2CADR ATTACHIT TC ENDOFJOB ATTACHIT TC INTPRET CALL INTSTALL SET BON MOONOTH MOONTHIS +3 CLEAR MOONOTH EXIT CAF OCT51 TC GENTRAN ADRES RRECTHIS # OUR STATE VECTOR INTO OTHER VIA GENTRAN ADRES RRECTOTH TACHEXIT RELINT TC INTPRET CALL # UPDATE RN, VN, R-OTHER, V-OTHER PTOACSM # Page 265 LXA,2 CALL PBODY SVDWN1 CALL SVDWN2 EXIT CAF TCPINAD INDEX FIXLOC TS QPRET TC POSTJUMP CADR INTWAKE TCPIN RTB PINBRNCH OCT51 OCT 51 TCPINAD CADR TCPIN # VERB 47 MOVE LM STATE VECTOR INTO CSM STATE VECTOR. LMTOCMSV CAF PRIO10 TC FINDVAC EBANK= RRECTHIS 2CADR LMTOCM TC ENDOFJOB LMTOCM TC INTPRET CALL INTSTALL SET BON MOONTHIS MOONOTH +3 CLEAR MOONTHIS EXIT CAF OCT51 TC GENTRAN ADRES RRECTOTH # LM STATE VECTOR INTO CM VIA GENTRAN ADRES RRECTHIS TCF TACHEXIT # VERB 94 DO R64 VIA ENEMA TO PICK UP IN P23. VERB94 CAF V94FLBIT MASK FLAGWRD9 # IS V94FLAG SET # Page 266 EXTEND BZF ALM/END # NO - OPERATOR ERROR TC DOWNFLAG ADRES V94FLAG TC CHECKMM # IS IT P23 MM 23 TC ALM/END # NO - OPERATOR ERROR TC PHASCHNG OCT 112 # SET GROUP 2 TO DO R64 TC CLEANOUT # CAUSE RESTART # V90PERF VERB 90 DESCRIPTION # REQUEST RENDEZVOUS OUT-OF-PLANE DISPLAY (R36) # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. SCHEDULE R36 CALL WITH PRIORITY 10 # A. DISPLAY # TIME OF EVENT - HOURS , MINUTES , SECONDS # Y OUT-OF-PLANE POSITION - NAUTICAL MILES # YDOT OUT-OF-PLANE VELOCITY - FEET/SECOND # PSI ANGLE BTW LINE OF SIGHT AND FORWARD # DIRECTION VECTOR IN HORIZONTAL PLANE - DEGREES V90PERF TC TESTXACT CAF PRIO7 # R36,V90 TC FINDVAC EBANK= RPASS36 2CADR R36 TCF ENDOFJOB # VERB 96 SET QUITFLAG TO STOP INTEGRATION. VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT ADRES QUITFLAG # AT NEXT TIMESTEP TC UPFLAG ADRES V96ONFLG CAF ZERO TC POSTJUMP CADR V37 # GO TO P00 EBANK= LANDMARK V52 TC CHECKMM # IS P22 OPERATING MM 22 TC ALM/END # NO CAF LANDBANK TS EBANK # Page 267 CS PRIO7 # YES SET BITS 12,11,10 OF LANDMARK = MASK LANDMARK # BITS 14,13,12 OF MARKSTAT AFTER TS LANDMARK # SUBT. THEM FROM 5 TO GET OFFSET CA MARKSTAT # MARK NO. TS SR CA SR CA SR MASK PRIO7 CS A AD PRIO5 ADS LANDMARK TC GOPIN LANDBANK ECADR LANDMARK # # VERB 67 ASTRONAUT DISPLAY OF W MATRIX V67 TC TESTXACT CAF PRIO5 TC FINDVAC EBANK= W 2CADR V67CALL TC ENDOFJOB # VB 44. SET SURFACE FLAG. SETSURF TC UPFLAG ADRES SURFFLAG TCF GOPIN # VB 45. RESET SURFACE FLAG. RESTSRF TC DOWNFLAG ADRES SURFFLAG TCF GOPIN