# Copyright: Public domain. # Filename: EXTENDED_VERBS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 262-300 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # 2009-06-05 RSB Corrected 5 typos. # 2009-06-06 RSB Eliminated an extraneous 3-instruction block # and added a missing instruction. # 2009-06-07 RSB Added a couple of "SBANK=" for compatibility # with yaYUL. Corrected a typo. # 2010-12-31 JL Fixed page number comments. # 2011-01-06 JL Added missing comment characters. # 2011-05-08 JL Flagged SBANK= workarounds for future removal. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 262 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 OR 72 ONLY) TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR # 72 ONLY) TC IMUFINEK # VB42 FINE ALIGN IMU TC IMUATTCK # VB43 LOAD IMU ATTITUDE ERROR METERS. TC RRDESEND # VB44 TERMINATE CONTINUOUS DESIGNATE TC ALM/END # VB45 SPARE TC ALM/END # VB46 SPARE TC V47TXACT # VB47 AGS INITIALIZATION TC DAPDISP # VB48 LOAD A/P DATA TCF CREWMANU # VB49 START AUTOMATIC ATTITUDE MANEUVER TC GOLOADLV # VB50 PLEASE PERFORM TC ALM/END # VB51 SPARE TC GOLOADLV # VB52 PLEASE MARK X -- RETICLE. TC GOLOADLV # VB53 PLEASE MARK Y -- RETICLE. TC GOLOADLV # VB54 PLEASE MARK X OR Y RETICLE TC ALINTIME # VB55 ALIGN TIME TC TRMTRACK # VB56 TERMINATE TRACKING -- P20 + P25 TC LRON # VB57 PERMIT LANDING RADAR UPDATES TC LROFF # VB58 INHIBIT LANDING RADAR UPDATES TC ALM/END # VB59 SPARE TC LRPOS2K # VB60 COMMAND LR TO POSITION 2. TC DAPATTER # VB61 DISPLAY DAP ATTITUDE ERROR TC TOTATTER # VB62 DISPLAY TOTAL ATTITUDE ERROR TC R04 # VB63 SAMPLE RADAR ONCE PER SECOND TC VB64 # VB64 CALCULATE, DISPLAY S-BAND ANT ANGLES TC SNUFFOUT # VB65 DISABLE U,V JETS DURING DPS BURNS. TC ATTACHED # VB66 ATTACHED MOVE THIS TO OTHER STATE TC V67 # VB67 W MATRIX MONITOR TC ALM/END # VB68 SPARE VERB69 TC VERB69 # VB69 FORCE A HARDWARE 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 OUTSNUFF # VB75 ENABLE U,V JETS DURING DPS BURNS. # Page 263 TC MINIMP # VB76 MINIMUM IMPULSE MODE TC NOMINIMP # VB77 RATE COMMAND MODE TC R77 # VB78 START LR SPURIOUS RETURN TEST TC R77END # VB79 TERMINATE LR SPURIOUS RETURN TEST 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 REQUEST REND PARAM DISPLAY (R31) TC ALM/END # VB84 SPARE TC VERB85 # VB85 DISPLAY RR LOS AZ AND ELEV TC ALM/END # VB86 SPARE TC ALM/END # VB87 SPARE TC ALM/END # VB88 SPARE TC V89PERF # VB89 ALIGN XORZ LEM AXIS ALONG LOS (R63) TC V90PERF # VB90 OUT OF PLANE RENDEZVOUS DISPLAY TC GOSHOSUM # VB91 DISPLAY BANK SUM. TC SYSTEST # VB92 OPERAT IMU PERFORMANCE TEST. TC WMATRXNG # VB93 CLEAR RENDWFLG TC ALM/END # VB94 SPARE TC UPDATOFF # VB95 NO STATE VECTOR UPDATE ALLOWED TC VERB96 # VB96 INTERRUPT INTEGRATION AND GO TO P00 TC GOLOADLV # VB97 PLEASE VERIFY ENGINE FAILURE TC ALM/END # VB98 SPARE TC GOLOADLV # VB99 PLEASE ENABLE ENGINE # END OF EXTENDED VERB FAN TESTXACT CCS EXTVBACT # ARE EXTENDED VERBS BUSY TC ALM/END # YES, TURN ON OPERATOR LIGHT CA FLAGWRD4 # ARE PRIORITY DISPLAYS USING DSKY MASK OC24100 CCS A TC ALM/END # YES CAF OCT24 # SET 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. TERMEXTV EQUALS ENDEXT # Page 264 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 CHKPOOH CA MODREG # CHECK FOR P00 OR P00-. EXTEND BZF TCQ TC ALM/END OC24100 OCT 24100 # Page 265 # VBZERO VERB 40 DESCRIPTION # # 1. REQUIRE NOUN 20 (ICDU ANGLES) OR NOUN 72 (RCDU ANGLES). # 2. FOR N20, CHECK IMUCADR IN AN EFFORT TO AVOID A 1210 RESTART. # FOR N72, CHECK IF EITHER RADAR IS IN USE. # 3. EXECUTE THE CDU ZERO. # 4. STALL UNTIL THE ZERO IS DONE. # 5. DON'T DIFFERENTIATE BETWEEN A BAD OR GOOD RETURN. # 6. EXIT, RE-ESTABLISHING THE INTERRUPTED DISPLAY (IF ANY). VBZERO TC OP/INERT TC IMUZEROK # RETURN HERE IF NOUN = ICDU(20) TC RRZEROK # RETURN HERE IF NOUN = RCDU(72) IMUZEROK TC CKMODCAD TC BANKCALL # KEYBOARD REQ FOR ISS CDUZERO CADR IMUZERO TC BANKCALL # STALL CADR IMUSTALL TC +1 TC GOPIN # IMUZERO RRZEROK TC RDRUSECK TC BANKCALL CADR RRZERO RWAITK TC BANKCALL CADR RADSTALL TCF +1 TC GOPIN # RRZERO # LRPOS2K VERB 60 DESCRIPTION # COMMAND LANDING RADAR TO POSITION 2 # # 1. EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAR. # 2. ALARM WITH CODE 523 IF POS 2 IS NOT INDICATED WITHIN # THE PRESCRIBED TIME. # 3. RE-ESTABLISH THE DISPLAYS. LRPOS2K TC RDRUSECK TC BANKCALL # COMMAND LR TO POSITION 2 CADR LRPOS2 TC BANKCALL CADR RADSTALL TC LRP2ALM TC GOPIN LRP2ALM TC ALARM OCT 523 TC GOPIN # Page 266 # V61 VERB 61, DISPLAY DAP ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES. DAPATTER TC DOWNFLAG ADRES NEEDLFLG TC GOPIN # V62 VERB 62, DISPLAY TOTAL ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES. TOTATTER TC UPFLAG ADRES NEEDLFLG TC GOPIN # Page 267 # VBCOARK VERB 41 DESCRIPTION # COARSE ALIGN IMU OR RADAR # # 1. REQUIRE NOUN 20 OR NOUN 72 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. COARSE ALIGN TO THE EXISTING THETAD'S (ICORK2). # C. ENTER # 1. COARSE ALIGN TO THE LOADED THETAD'S (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 72 (RCDU ANGLES) # EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAD. # 5. DISPLAY FLASHING V24, N73 (LOAD NEW RR TRUNION ANGLE AND NEW SHAFT ANGLE). # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYS. # B. PROCEED OR ENTER # 1. EXECUTE AURLOKON (ASK OPERATOR FOR LOCK-ON REQUIREMENTS). # 2. RE-DISPLAY VERB 41. # 3. SCHEDULE RRDESK2 WITH PRIORITY 20. # 4. RELEASE EXT VERB DISPLAY SYS. # AURLOKON # 1. FLASH V04 N12 R1 = 00006 R2 = 00002 # RESPONSES # A. TERMINATE # B. PROCEED # 1. RESET LOCK-ON SWITCH # 2. SET CONTINUOUS DESIGNATE FLAG # 3. DISABLE R25 # C. V22 E 1 E, R1 = 00001, PROCEED # 1. SET LOCK-ON SWITCH VBCOARK TC OP/INERT TC IMUCOARK # RETURN HERE IF NOUN = ICDU (20) TC RRDESNBK # RETURN HERE IF NOUN = RCDU (72) # RETURNS TO L+1 IF IMU OR L+2 IF RR. OP/INERT CS OCT24 AD NOUNREG EXTEND # Page 268 BZF TCQ # IF = 20. AD RRIMUDIF # -52 EXTEND BZF Q+1 TC ALM/END # ILLEGAL. RRIMUDIF DEC -52 # THE IMU IMUCOARK TC CKMODCAD TC TESTXACT # COARSE ALIGN FROM KEYBOARD. CAF VNLODCDU # CALL FOR THETAD LOAD TC BANKCALL CADR GOXDSPF TC TERMEXTV TCF +1 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 269 # DESIGNATE TO DESIRED GIMBAL ANGLES. RRDESNBK TC RDRUSECK TC TESTXACT CA RNDVZBIT # IS P20 RUNNING? MASK FLAGWRD0 CCS A TCF XACTALM # OPERADOR ERROR IF IN P20 CS OCT41000 # TERMINATE PRESENT DESIGNATION INHINT # RELINT DONE IN GOXDSPF MASK RADMODES TS RADMODES CAF VNLDRCDU # ASK FOR GIMBAL ANGLES. TC BANKCALL CADR GOXDSPF TC TERMEXTV TCF -4 # V33 TC BANKCALL # ASK OP FOR LOCK ON REQUIREMENTS. CADR AURLOKON CAF OPTCOARV # RE-DISPLAY OUR OWN VERB TC BANKCALL CADR EXDSPRET CAF PRIO20 TC FINDVAC EBANK= LOSCOUNT 2CADR RRDESK2 TCF TERMEXTV # FREES DISPLAY VNLDRCDU VN 2473 OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS. RRDESK2 TC BANKCALL CADR RRDESNB TC +1 # DUMMY NEEDED SINCE DESRETRN DOES INCR CA PRIORITY MASK LOW9 CCS A INDEX A TS A # RELEASE THIS JOB'S VAC AREA. COM # INSURE ENDOFJOB DOES A NOVAC END (BZMF). ADS PRIORITY TC BANKCALL # WAIT FOR COMPLETION OF DESIGNATE CADR RADSTALL # Page 270 TC +2 # BADEND -- NO LOCKON OR OUT OF LIMITS TC ENDOFJOB # GOODEND -- LOCKON ACHIEVED TC ALARM OCT 503 # TURN ON ALARM LIGHT -- 503 DESIGNATE FAIL TC ENDOFJOB RRDESEND CCS RADMODES # TERMINATE CONTINOUS DESIGNATE ONLY TCF GOPIN TCF GOPIN TCF +1 CS OCT41000 # BEGDES GOES TO ENDRADAR INHINT # RELINT DONE IN DOWNFLAG MASK RADMODES TS RADMODES TC CLRADMOD CAF 1SEC TC BANKCALL CADR DELAYJOB TC DOWNFLAG # ENABLE R25 GIMBAL MONITOR ADRES NORRMON TCF GOPIN OCT41000 OCT 41000 # CONTINOUS DESIGNATE -- DESIGNATE # Page 271 BANK 23 SETLOC EXTVB1 BANK COUNT* $$/EXTVB AURLOKON TC MAKECADR TS DESRET CAF TWO TS OPTIONX +1 CAF SIX # OPTION CODE FOR V04N12 TS OPTIONX -5 CAF V04N1272 TC BANKCALL # R2 00001 LOCK-ON CADR GOMARKFR TCF ENDEXT # V34 TCF +5 # V33 TCF -5 # V32 CAF BIT3 TC BLANKET TC ENDOFJOB +5 CA OPTIONX +1 MASK BIT2 CCS A TCF NOLOKON TC UPFLAG ADRES LOKONSW TCF AURLKON1 NOLOKON TC DOWNFLAG # IF NO LOCK-ON, SET BIT15 OF RADMADES TO ADRES LOKONSW # INDICATE THAT CONTINUOUS DESIGNATION IS TC UPFLAG # WANTED (TO BE TERMINATED BY V44.) ADRES CDESFLAG TC UPFLAG # SET NO RR ANGLE MONITOR FLAG. ADRES NORRMON # DISABLE R25 RR GIMBAL MONITOR IN T4RUPT AURLKON1 RELINT CA DESRET TCF BANKJUMP V04N1272 VN 412 -LOKONFG OCT -20 BANK 43 SETLOC EXTVERBS BANK COUNT* $$/EXTVB LRON TC UPFLAG # PERMIT INCORPORATION OF LR DATA V57 # Page 272 ADRES LRINH TCF GOPIN LROFF TC DOWNFLAG # INHIBIT INCORPORATION OF LR DATA V58 ADRES LRINH TCF GOPIN EBANK= OGC # Page 273 # 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 TC TESTXACT # FINE ALIGN WITH GYRO TORQUING. 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 REGISTERS 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 # GOLOADLV VERB 50 DESCRIPTION # AND OTHER PLEASE # Page 274 # 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. SBANK= PINSUPER # FOR LOADLV1 AND SHOWSUM CADR'S GOLOADLV TC FLASHOFF CAF PINSUPBT EXTEND WRITE SUPERBNK TC POSTJUMP CADR LOADLV1 # VERB 47 -- AGS INITIALIZATION -- R47. # # SEE LOG SECTION AGS INITIALIZATION FOR OTHER PERTINENT REMARKS. V47TXACT TC TESTXACT # NO OTHER EXTVERB. CAF PRIO4 TC FINDVAC ## [WORKAROUND] RSB 2009 SBANK= LOWSUPER ## [WORKAROUND] EBANK= AGSBUFF 2CADR AGSINIT TC ENDOFJOB CKMODCAD CA MODECADR EXTEND BZF TCQ TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT # Page 275 # ALINTIME VERB 55 DESCRIPTION # REQUIRE P00 OR P00-. # # 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 ALINTIME TC TESTXACT TC POSTJUMP # NO ROOM IN 43 CADR R33 BANK 42 SETLOC SBAND BANK COUNT* $$/R33 R33 CAF PRIO7 TC PRIOCHNG CAF VNLODDT TC BANKCALL CADR GOXDSPF 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 276 # SET UP FOR RADAR SAMPLING. BANK 42 SETLOC EXTVERBS BANK EBANK= RSTACK COUNT* $$/R0477 R77 TC RDRUSECK # TRY TO AVOID THE 1210. CA FLAGWRD3 # IS R04 RUNNING? MASK R04FLBIT CCS A TC ALM/END # YES. TC UPFLAG ADRES R77FLAG TCF R04Z R04 TC RDRUSECK # TRY TO AVOID THE 1210. TC TESTXACT TC UPFLAG ADRES R04FLAG # SET R04FLAG FOR ALARMS R04Z CAF EBANK4 TS EBANK CAF 1SEC+1 # SAMPLE ONCE PER SECOND TS RSAMPDT CAF ZERO TS RTSTLOC TS RFAILCNT # ZERO BAD SAMPLE COUNTER INHINT CS LRPOSCAL # INITIALIZE MASK RADMODES # BIT 9 LR RANGE LOW SCALE =0 TS RADMODES # BIT 6 LR POS 1 =0 CAF LRPOSCAL # BIT 3 RR RANGE LOW SCALE =0 EXTEND RAND CHAN33 ADS RADMODES RELINT CS FLAGWRD3 # CHECK R04FLAG R04 =1 R77 =0 MASK R04FLBIT CCS A TCF R04K CAF ONE # INDICATES RENDEZVOUS DESIRED TS OPTIONX +1 R04A CAF BIT3 # OPTION CODE FOR V04N12 # Page 277 TS OPTIONX CAF V04N12X TC BANKCALL # R2 00001 RENDEZVOUS RADAR CADR GOMARKFR # 00002 LANDING RADAR TCF R04END # V34 TCF +5 # V33 TCF R04A +2 # R2 CAF BIT3 TC BLANKET TC ENDOFJOB CA OPTIONX +1 # SAVE DESIRED OPTION RR =1 LR =2 TS RTSTDEX R04X CAF SIX # RR OR LR DESIRED MASK RTSTDEX CCS A TCF R04L # LANDING RADAR TS RTSTBASE # FOR RR BASE =0, MAX =1 R04B CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT EXTEND RAND CHAN33 EXTEND BZF R04C # YES CAF 201R04 # REQUEST SELECTION OF RR AUTO MODE TS DSPTEM1 CAF V50N25X TC BANKCALL CADR GOMARK4 TCF R04END # V34 TCF R04B # V33 TCF -7 # E R04C CAF BIT14 # ENABLE RR AUTO TRACKER EXTEND WOR CHAN12 CAF TWO TS RTSTMAX # FOR SEQUENTIAL STORAGE TC WAITLIST ## [WORKAROUND] RSB 2009 SBANK= PINSUPER ## [WORKAROUND] EBANK= RSTACK 2CADR RADSAMP RELINT CS FLAGWRD3 # CHECK R04FLAG R04 =1 R77 =0 MASK R04FLBIT # Page 278 CCS A TCF GOPIN # R77 CAF SIX # RR OR LR MASK RTSTDEX CCS A TCF R04LR # LR R04RR CAF V16N72 # DISPLAY RR CDU ANGLES (1/SEC) TC BANKCALL # R1 + XXX.XX DEG TRUNNION CADR GOMARKF # R2 + XXX.XX DEG SHAFT TCF R04END # V34 R3 BLANK TCF +2 # V33 TCF R04RR # V32 CAF V16N78 # DISPLAY RR RANGE AND RANGE RATE (1/SEC) TC BANKCALL # R1 +- XXX.XX NM RANGE CADR GOMARKF # R2 +- XXXXX. FPS RANGE RATE TCF R04END # V34 R3 BLANK TCF R04Y # V33 TCF R04RR # V32 R04LR CAF V16N66 # DISPLAY LR RANGE AND POSITON (1/SEC) TC BANKCALL # R1 +- XXXXX, FT LR RANGE CADR GOMARKF # R2 + 0000X. POS. NO. TCF R04END # V34 R3 BLANK TCF +2 # V33 TCF R04LR # V32 CAF V16N67 # DISPLAY LR VELX, VELY, VELZ (1/SEC) TC BANKCALL # R1 +- XXXXX. FPS LR V(X) CADR GOMARKF # R2 +- XXXXX. FPS LR V(Y) TCF R04END # V34 R3 +- XXXXX. FPS LR V(Z) TCF R04Y # V33 TCF R04LR # V32 R04Y CAF ZERO # TO TERMINATE SAMPLING. TS RSAMPDT CAF 2SECS # WAIT FOR LAST RADARUP TC BANKCALL CADR DELAYJOB CAF 1SEC+1 # SAMPLE ONCE PER SECOND TS RSAMPDT CAF ZERO # FOR STORING RESULTS TS RTSTLOC CAF SIX MASK RTSTDEX CCS A CS ONE # WAS LR AD TWO # WAS RR # Page 279 TCF R04X -1 R04K CAF 250MS+1 # SAMPLE 4 LR COMPONENTS PER SECOND. TS RSAMPDT R04L CAF TWO TS RTSTBASE # FOR LR BASE =2, MAX =3 CAF SIX TCF R04C +4 R04END CAF ZERO # ZERO RSAMPDT TS RSAMPDT # TO TERMINATE SAMPLING CAF BIT8 # WAIT 1.28 SECONDS FOR POSSIBLE TC BANKCALL # PENDING RUPT. CADR DELAYJOB INHINT CS BIT14 # DISABLE RR AUTO TRACKER. EXTEND WAND CHAN12 TC DOWNFLAG ADRES R04FLAG # SIGNAL END OF R04. TC ENDEXT R77END CAF EBANK4 # TO TERMINATE SAMPLING TS EBANK CAF ZERO TS RSAMPDT CAF BIT6 # WAIT 320 MS FOR POSSIBLE TC BANKCALL # PENDING RUPT. CADR DELAYJOB TC DOWNFLAG ADRES R77FLAG TCF GOPIN V16N72 VN 1672 V16N78 VN 1678 V16N66 VN 1666 V16N67 VN 1667 V04N12X VN 412 V50N25X VN 5025 201R04 OCT 00201 1SEC+1 DEC 101 250MS+1 EQUALS CALLCODE LRPOSCAL OCT 444 # Page 280 RDRUSECK CS FLAGWRD3 # IS R29 ON? MASK NR29FBIT CCS A TC ALM/END # YES CA FLAGWRD5 # IS R77 RUNNING? MASK R77FLBIT CCS A TC ALM/END # YES. CS FLAGWRD7 # IS SERVICER RUNNING AND HENCE POSSIBLY MASK V37FLBIT # R12 USING THE LR? CCS A TCF CHECKRR # NO CS FLGWRD11 # YES, IS R12 ON? MASK LRBYBIT CCS A TC ALM/END # YES CHECKRR CS FLAGWRD1 # IS THE TRACK FLAG SET AND HENCE POSSIBLY MASK TRACKBIT # P20 USING THE RR? CCS A TCF CHECKP22 # NO, CHECK FOR P22. CKRNDBIT CA FLAGWRD0 # YES, BUT IS IT P25? MASK RNDVZBIT CCS A TC ALM/END CHECKP22 CS MODREG AD DEC22 EXTEND BZF ALM/END TC Q DEC22 DEC 22 COUNT* $$/EXTVB VB64 TC CHKPOOH # DEMAND PROGRAM 00. TC TESTXACT # IF DISPLAY SYS. NOT BUSY MAKE IT BUSY. CAF PRIO4 TC FINDVAC EBANK= ALPHASB 2CADR SBANDANT # CALC., DISPLAY S-BAND ANTENNA ANGLES. TC ENDOFJOB # Page 281 # IMUATTCK VERB 43 DESCRIPTION # LOAD IMU ATTITUDE ERROR METERS # # 1. REQUIRE P00 OR FRESH START. # 2. REQUIRE COARSE ALIGN ENABLE AND ZERO ICDU BITS OFF. # 3. REQUIRE THAT NEEDLES BE OFF. # 4. REQUEST LOAD OF N22 (VALUES TO BE DISPLAYED). # 5. ON PROCEED OR ENTER RE-DISPLAY V43 AND SEND PULSES. IMUATTCK TC CHKPOOH # VB 76 -- LOAD IMU ATT. ERROR METERS CAF BITS4&5 # SEE IF COARSE ALIGN ENABLE AND ZERO IMU EXTEND # CDUS BITS ARE ON RAND CHAN12 CCS A TCF ALM/END # NOT ALLOWED IF IMU COARSE OR IMU ZERO ON CAF BIT13-14 # BOTH BITS 13 AND 14 MUST BE 1 EXTEND # INDICATING THE MODE SELECTED IS OFF. RXOR CHAN31 MASK BIT13-14 EXTEND BZF +2 # NEEDLES IS OFF. TCF ALM/END # EXIT. NEEDLES IS ON. TC TESTXACT CAF VNLODCDU TC BANKCALL CADR GOXDSPF TC ENDEXT # V34 TC +1 CAF V43K # REDISPLAY OUR VERB. TC BANKCALL CADR EXDSPRET CAF BIT6 EXTEND WOR CHAN12 # ENABLE ERROR COUNTERS. CAF TWO TC WAITLIST # PUT OUT COMMANDS IN .32 SECONDS. EBANK= THETAD 2CADR ATTCK2 TCF ENDEXT BANK 42 SETLOC PINBALL3 # SOMETHING IN B42. BANK COUNT* $$/EXTVB # Page 282 ATTCK2 CAF TWO # PUT OUT COMMANDS. +1 TS Q # CDU WILL LIMIT EXCESS DATA. INDEX A CA THETAD EXTEND MP ATTSCALE INDEX Q XCH CDUXCMD CCS Q TCF ATTCK2 +1 CAF 13,14,15 EXTEND WOR CHAN14 TCF TASKOVER # LEAVE ERROR COUNTERS ENABLED. ATTSCALE DEC 0.1 BANK 7 SETLOC EXTVERBS BANK COUNT* $$/EXTVB V43K VN 4300 # 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 I. # SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC). # CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE # 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. # Page 283 V82PERF TC TESTXACT CAF PRIO7 # LESS THAN LAMBERT. R30,V82 TC PRIOCHNG EXTEND DCA V82CON TC SUPDXCHZ # V82CALL IN DIFF SUPERBANK FROM V82PERF EBANK= HAPO V82CON 2CADR V82CALL # VB83PERF VERB 83 DESCRIPTION # REQUEST RENDEZVOUS PARAMETER DISPLAY (R31) # # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. SCHEDULE R31CALL WITH PRIORITY 5. # A. DISPLAY # R1 RANGE # R2 RANGE RATE # R3 THETA V83PERF TC TESTXACT CAF BIT2 TC WAITLIST EBANK= TSTRT 2CADR R31CALL TC ENDOFJOB # VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63) # # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 IS USED. CALCULATES AND # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM. # # 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 LGC,CONTINUE. # # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1). # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT = 1) BY V 22 E 2 E. CONTINUE # AFTER KEYING IN PROCEED. # # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS. # # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND # Page 284 # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES) # PREPARED FOR VECPOINT. # # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE. # # 7. RECYCLE -- RETURN TO STEP 4. # TERMINATE -- EXIT R63. # PROCEED -- RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER. V89PERF TC CHKPOOH TC TESTXACT CAF PRIO10 TC FINDVAC EBANK= RONE 2CADR V89CALL TC ENDOFJOB # 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 # MINIMP VERB 76 DESCRIPTION # MINIMUM IMPULSE MODE # # 1. SET MINIMUM IMPULSE RHO MODE FLAG TO 1. MINIMP INHINT CS DAPBOOLS MASK PULSES # PULSES = 1 INDICATES MIN IMP MODE ADS DAPBOOLS TCF GOPIN # RETURN VIA PINBRNCH # NOMINIMP VERB 77 DESCRIPTION # RATE COMMAND MODE # Page 285 # # 1. SET MINIMUM IMPULSE RHO MODE FLAG TO 0. (ZERO INDICATES NOT MINIMUM IMPULSE MODE.). # 2. MOVE CDUX, CDUY, CDUZ INTO CDUXD, CDUYD, CDUZD. NOMINIMP INHINT CS PULSES MASK DAPBOOLS TS DAPBOOLS # PULSES = NOT IN MINIMUM UMPULSE MODE TC IBNKCALL CADR ZATTEROR TC GOPIN # Page 286 # 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. # RESPONSES # A. TERMINATE # 1. GOTOPOOH # B. PROCEED # 1. SET 3AXISFLG TO INDICATE MANEUVER IS SPECIFIED BY 3 AXIS. # 2. EXECUTE R60LEM (ATTITUDE MANEUVER). # C. ENTER # 1. REPEAT FLASHING V06,N22. CREWMANU TC CHKPOOH # DEMAND P00 TC TESTXACT CAF PRIO10 TC FINDVAC EBANK= BCDU 2CADR R62DISP TC ENDOFJOB # Page 287 # TRMTRACK VERB 56 DESCRIPTION # TERMINATE TRACKING (P20 AND P25). # # 1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS. # 2. REQUIRE P20 OR P25 NOT RUNNING ALONE OR GO TO GOGOPOOH (REQUEST PROGRAM 00). # 3. SCHEDULE V56TOVAC WITH PRIORITY 30. # # V56TOVAC # 1. EXECUTE INTSTALL (IF INTEGRATION IS RUNNING, STALL UNTIL IT IS FINISHED.). # 2. ZERO GROUP 2 TO HALT P20. # 3. TRANSFER CONTROL TO GOPROG2 (SOFTWARE RESTART). TRMTRACK CA BITS9+7 # IS REND OR P25 FLAG ON MASK FLAGWRD0 EXTEND BZF GOPIN # NO TC DOWNFLAG ADRES RNDVZFLG TC DOWNFLAG ADRES P25FLAG TC DOWNFLAG # ENSURE SEARCH FLAG IS OFF ADRES SRCHOPTN CA TRACKBIT # IS TRACK FLAG ON? MASK FLAGWRD1 EXTEND BZF GOPIN TC POSTJUMP CADR TRMTRAK1 BITS9+7 OCT 500 SETLOC SBAND # BANK 42 BANK COUNT* $$/EXTVB TRMTRAK1 TC DOWNFLAG ADRES UPDATFLG # UPDATE FLAG DOWN TC DOWNFLAG ADRES TRACKFLG # TRACK FLAG DOWN TC DOWNFLAG ADRES IMUSE TC INTPRET CALL INTSTALL # DON'T INTERRUPT INTEGRATION # Page 288 EXIT TC PHASCHNG OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY INHINT TC IBNKCALL # ZERO THE COMMANDED RATES TO STOP CADR STOPRATE # MANEUVER TC IBNKCALL CADR RESTORDB TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES. CS BIT14 # DISABLE LOCKON EXTEND WAND CHAN12 TC POSTJUMP CADR GOPROG2 # CAUSE RESTART. # DNEDUMP VERB 74 DESCRIPTION # INITIALZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP. # # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY. # 3. RELEASE EXT VERB DISPLAY. SETLOC EXTVERBS BANK COUNT* $$/EXTVB EBANK= 400 DNEDUMP CAF LDNDUMPI TS DNTMGOTO TC GOPIN V74 EQUALS DNEDUMP LDNDUMPI REMADR DNDUMPI # LEMVEC VERB 80 DESCRIPTION # UPDATE LEM STATE VECTOR # RESET VHUPFLG TC 0 LEMVEC TC DOWNFLAG ADRES VEHUPFLG # VB 80 -- VEHUPFLG DOWN INDICATES LEM TC NOUPDOWN # CSMVEC VERB 81 DESCRIPTION # UPDATE CSM STATE VECTOR # Page 289 # SET VEHUPFLG TO 1 CSMVEC TC UPFLAG ADRES VEHUPFLG # VB 81 -- VEHUPFLG UP INDICATES CSM NOUPDOWN TC DOWNFLAG ADRES NOUPFLAG TCF GOPIN # UPDATOFF VERB 95 DESCRIPTION # INHIBIT STATE VECTOR UPDATES BY INCORP # SET NOUPFLAG TO 1 UPDATOFF TC UPFLAG # VB 95 SET NOUPFLAG ADRES NOUPFLAG TC GOPIN # Page 290 # SYSTEST VERB 92 DESCRIPTION # OPERATE IMU PERFORMANCE TEST. # # 1. REQUIRE PROGRAM 00 OR TURN ON OPERATOR ERROR. # 2. SET EXT VERB BUSY FLAG. EBANK= QPLACE SYSTEST TC CHKPOOH # DEMAND P00 TC TESTXACT CAF PRIO22 TC FINDVAC EBANK= QPLACE SBANK= IMUSUPER 2CADR REDO TC ENDOFJOB # VERB 93 CLEAR RENDWFLG, CAUSES W-MATRIX TO BE RE-INITIALIZED. WMATRXNG INHINT CS RENDWBIT MASK FLAGWRD5 TS FLAGWRD5 TC GOPIN GOSHOSUM EQUALS SHOWSUM SHOWSUM TC CHKPOOH # * TC TESTXACT # * CAF PRIO7 # * ALLOW OTHER CHARINS. TC PRIOCHNG # * 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 # * BANK # FOR DISPLAY LXCH SKEEP3 # * BUGGER WORD FOR DISPLAY NOKILL CA ADRS1 # * TS MPAC +2 # * CA VNCON # * 0501 TC BANKCALL # * CADR GOXDSPF # * TC +3 # * TC NXTBNK # * # Page 291 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. # Page 292 # DAPDISP VERB 48 DESCRIPTION # LOAD AUTO PILOT DATA # # 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG. # 2. EXECUTE DAPDATA1, DAPDATA2, AND DAPDATA3. # 3. RELEASE EXT VERB DISPLAY SYSTEM. DAPDISP TC TESTXACT CAF PRIO7 # R03 TC PRIOCHNG TC POSTJUMP CADR DAPDATA1 BANK 34 SETLOC LOADDAP BANK COUNT* $$/R03 SBANK= LOWSUPER # FOR SUBSEQUENT LOW 2CADR'S DAPDATA1 CAF BOOLSMSK # SET DISPLAY ACCORDING TO DAPBOOLS BITS. MASK DAPBOOLS # LM TS DAPDATR1 # LM CS FLGWRD10 # SET BIT 14 TO BE COMPLEMENT OF APSFLAG. MASK APSFLBIT CCS A CAF BIT14 ADS DAPDATR1 CHKDATA1 CAE DAPDATR1 # IF BITS 13 AND 14 ARE BOTH ZERO, FORCE MASK BIT13-14 # A ONE INTO BIT 13. EXTEND BZF FORCEONE CAE DAPDATR1 # ENSURE THAT NO ILLEGAL BITS SET BY CREW. MSKDATR1 MASK DSPLYMSK TS DAPDATR1 CAF V01N46 # LM TC BANKCALL CADR GOXDSPFR TCF ENDEXT # V34E TERMINATE TCF DPDAT1 # V33E PROCEED TCF CHKDATA1 # E NEW DATA CHECK AND REDISPLAY CAF REVCNT # BITS 2 & 3: BLANKS R2 & R3. TC BLANKET TCF ENDOFJOB FORCEONE CAF BIT13 ADS DAPDATR1 TCF MSKDATR1 DPDAT1 INHINT # INHINT FOR SETTING OF FLAG BITS AND MASS CS APSFLBIT # ON BASIS OF DISPLAYED DAPDATR1. MASK FLGWRD10 TS L # SET APSFLAG TO BE COMPLEMENT OF BIT 14. # Page 293 CS DAPDATR1 MASK BIT14 CCS A CAF APSFLBIT AD L TS FLGWRD10 CS DAPDATR1 # SET BITS OF DAPBOOLS ON BASIS OF DISPLAY MASK BIT13-14 # MASK OUT CSMDOCKD (BIT 13) UNLESS BOTH CCS A # 13 AND 14 ARE SET. CS CSMDOCKD AD BOOLSMSK MASK DAPDATR1 TS L CS BOOLSMSK MASK DAPBOOLS AD L TS DAPBOOLS MASK CSMDOCKD # LOAD MASS IN ACCORDANCE WITH CSMDOCKD. CCS A # MASS IS USUALLY OKAY, SO DO CAE CSMMASS # NOT TOUCH ITS LOW-ORDER PART. AD LEMMASS TS MASS CAE DAPBOOLS MASK ACC4OR2X # 2 OR 4 JET X-TRANSLATION EXTEND # (BIT ACC4OR2X = 1 FOR 4 JETS) BZF +5 CS BIT15 MASK FLAGWRD1 # CLEAR NJTSFLAG TO 0 FOR 4 JETS TS FLAGWRD1 TCF +4 CS FLAGWRD1 # SET NJTSFLAG TO 1 FOR 2 JETS MASK BIT15 ADS FLAGWRD1 CA DAPBOOLS # SELECT DESIRED KALCMANU AUTOMATIC MASK THREE # MANEUVER RATE DOUBLE # RATEINDX HAS TO BE 0,2,4,6 SINCE RATES TS RATEINDX # ARE DP TC POSTJUMP CADR STIKLOAD V01N46 VN 0146 DSPLYMSK OCT 33113 BOOLSMSK OCT 13113 BANK 01 SETLOC LOADDAP1 BANK COUNT* $$/R03 STIKLOAD CAF EBANK6 # Page 294 TS EBANK EBANK= STIKSENS CA RHCSCALE # SET STICK SENSITIVITY TO CORRESPOND TO A MASK DAPBOOLS # MAXIMUM COMMANDED RATE (AT 42 COUNTS) OF CCS A # 20 D/S (NORMAL) OR 4 D/S (FINE), SCALED CA NORMAL # AT 45 D/S. AD FINE TS STIKSENS CA -0.6D/S TS -RATEDB # LM-ONLY BREAKOUT LEVEL IS .6 D/S. CA CSMDOCKD # IF CSM-DOCKED, DIVIDE STICK SENSITIVITY MASK DAPBOOLS # BY 10. NORMAL SCALING IS THEN 2 D/S AND EXTEND # FINE SCALING IS 0.4 D/S BZF +7 # BRANCH IF CSM IS NOT DOCKED. CA STIKSENS EXTEND MP 1/10 TS STIKSENS CA -0.3D/S # CSM-DOCKED BREAKOUT LEVEL IS .3 D/S. TS -RATEDB RELINT # PROCEED TO NOUN 47, MASS LOAD. DAPDATA2 CAF V0647 TC BANKCALL CADR GOXDSPFR TCF ENDR03 # V34E TERMINATE. FIRST SET DB. DO 1/ACCS TCF DAPDAT2 # V33E PROCEED TCF DAPDATA2 # LOAD NEW DATA AND RECYCLE CAF BIT3 # BLANKS R3 TC BLANKET # LM TCF ENDOFJOB ENDR03 INHINT TC IBNKCALL CADR RESTORDB TCF ENDEXT # DOES RELINT DAPDAT2 CS FLGWRD10 # DETERMINE STAGE FROM APSFLAG MASK APSFLBIT CCS A CA MINLMD AD MINMINLM AD LEMMASS # LEMMASS MUST BE GREATER THAN EMPTY LEM EXTEND BZMF DAPDATA2 # ASK FOR NEW MASSES CAE DAPBOOLS MASK CSMDOCKD EXTEND BZF LEMALONE # SKIP TEST ON CSMMASS IF NOT DOCKED. CS MINCSM # TEST CSM MASS AD CSMMASS # CSMMASS MUST BE GREATER THAN EMPTY CSM # Page 295 EXTEND BZMF DAPDATA2 # ASK FOR NEW MASSES CAE CSMMASS # DOCKED: MASS = CSMMASS + LEMMASS LEMALONE AD LEMMASS # LEM ALONE: MASS = LEMMASS ZL DXCH MASS INHINT TC IBNKCALL # SET DEADBANK AND COMPUTE MOMENTS OF CADR RESTORDB # INERTIA. RELINT # PROCEED TO NOUN 48 (OR END). DAPDATA3 CS FLGWRD10 MASK APSFLBIT EXTEND # END ROUTINE IF LEM HAS STAGED. BZF ENDEXT CAF V06N48 # DISPLAY TRIM ANGLES AND REQUEST RESPONSE TC BANKCALL CADR GOXDSPFR TC ENDEXT TCF DPDAT3 # V33E GO DO TRIM (WAITLIST TO TRIMGIMB) TCF -5 # LOAD NEW DATA AND RECYCLE CAF BIT3 TC BLANKET # BLANK R3 TCF ENDOFJOB DPDAT3 CAF BIT1 # GO TO TRIMGIMB VIA WAITLIST SO IT INHINT # CAN USE FIXDELAY AND VARDELAY TC WAITLIST EBANK= ROLLTIME 2CADR TRIMGIMB TCF ENDOFJOB # DOES A RELINT TRIMDONE CAF V50N48 TC BANKCALL # TRIM IS FINISHED; PLEASE TERMINATE R03 CADR GOMARK3R TC ENDEXT # V34E TERMINATE TC ENDEXT TC ENDEXT CAF OCT24 # BIT5 TO CHANGE TO PERFORM, 3 TO BLANK 43 TC BLANKET TCF ENDOFJOB V0647 VN 0647 V06N48 VN 0648 V50N48 VN 5048 NORMAL DEC .660214 # NORMAL SCALING IS 20 D/S FINE DEC .165054 # FINE STICK SCALING (4 D/S). 1/10 DEC .1 # FACTOR FOR CSM-DOCKED SCALING -0.6D/S DEC -218 # Page 296 -0.3D/S DEC -109 # Page 297 # VERB 66 VEHICLES ARE ATTACHED. MOVE THIS VEHICLE STATE VECTOR TO # OTHER VEHICLE STATE VECTOR. # # USE SUBROUTINE GENTRAN. BANK 7 SETLOC EXTVERBS BANK COUNT* $$/EXTVB EBANK= RRECTHIS ATTACHED CAF PRIO10 TC FINDVAC EBANK= RRECTHIS 2CADR ATTACHIT TC ENDOFJOB ATTACHIT TC INTPRET CALL INTSTALL SET BON MOONOTH MOONTHIS +3 CLEAR MOONOTH EXIT CAF OCT51 TC GENTRAN ADRES RRECTHIS # OUR STATE VECTOR INTO OTHER VIA GENTRAN ADRES RRECTOTH RELINT TC INTPRET CALL # UPDATE R-OTHER, V-OTHER PTOALEM LXA,2 CALL PBODY SVDWN1 EXIT CAF TCPINAD INDEX FIXLOC TS QPRET TC POSTJUMP CADR INTWAKE # FREE INTEGRATION AND EXIT. # Page 298 TCPIN RTB PINBRNCH OCT51 OCT 51 TCPINAD CADR TCPIN # VERB 96 SET QUITFLAT TO STOP INTEGRATION. # # GO TO V37 WITH ZERO TO CAUSE P00. # STATEINT WILL CHECK QUITFLAG AND SKIP 1ST PASS, # THUS ALLOWING A 10 MINUT PERIOD WITHOUT INTEGRATION. VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT ADRES QUITFLAG # AT NEXT TIMESTEP CAF ZERO TC POSTJUMP CADR V37 # GO TO P00 # VERB 67: DISPLAY OF W MATRIX V67 TC TESTXACT CAF PRIO5 TC FINDVAC EBANK= WWPOS 2CADR V67CALL TC ENDOFJOB # VERB 65 DISABLE U,V JETS DURING DPS BURNS SNUFFOUT TC UPFLAG ADRES SNUFFER TC GOPIN # VERB 75 ENABLE U,V JETS DURING DPS BURNS OUTSNUFF TC DOWNFLAG ADRES SNUFFER TC GOPIN # VERB 85 DISPLAY RR LOS AZIMUTH AND ELEVATION. # # AZIMUTH IS THE ANGLE BETWEEN THE LOS AND THE X-Z NB PLANE, 0-90 DEG IN THE +Y HEMISPHERE, # 360-270 DEG IN THE -Y HEMISPHERE. # # ELEVATION IS THE ANGLE BETWEEN +ZNB AND THE PROJECTION OF THE LOS INTO THE X-Z PLANE, 0-360 ABOUT +Y. EBANK= RR-AZ VERB85 TC TESTXACT # Page 299 TC POSTJUMP CADR DSPRRLOS SETLOC PINBALL1 BANK COUNT* $$/EXTVB DSPRRLOS CAF PRIO5 TC FINDVAC EBANK= RR-AZ 2CADR RRLOSDSP CAF PRIO4 TC PRIOCHNG CAF V16N56 TC BANKCALL CADR GOMARKFR TC B5OFF TC B5OFF TC B5OFF CAF BIT3 TC BLANKET TC ENDOFJOB RRLOSDSP EXTEND DCA CDUT DXCH MPAC TC INTPRET CALL RRNBMPAC # GET RR LOS IN BODY AXIS. STORE 0D # UNIT LOS STODL 6D HI6ZEROS STOVL 8D 6D UNIT STORE 6D # UNIT OF LOS PROJ IN X-Z PLANE DOT UNITZ STOVL COSTH # 16D UNITX DOT 6D STCALL SINTH # 18D ARCTRIG BPL DAD # INSURE DISPLAY OF 0-360 DEG. +2 DPPOSMAX # INTRODUCES AND ERROR OF B-28 REVS. # Page 300 STOVL RR-ELEV 0D DOT UNITY STOVL SINTH 0D DOT 6D STCALL COSTH ARCTRIG BPL DAD # INSURE DISPLAY OF 0-360 DEG. +2 DPPOSMAX # INTRODUCES AN ERROR OF B-28 REVS. STORE RR-AZ EXIT CA 1SEC TC BANKCALL CADR DELAYJOB CA BIT5 MASK EXTVBACT CCS A TC RRLOSDSP TC ENDEXT V16N56 VN 1656