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# Copyright: Public domain.
# Filename: ASSEMBLY_AND_OPERATION_INFORMATION.agc
# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Mod history: 2009-05-05 RSB Adapted from the Colossus249/ file of the
# same name, using Comanche055 page images.
#
# 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 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
# Page 2
# ASSEMBLY AND OPERATIONS INFORMATION
# TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS
# SUBROUTINE CALLS
#
#
# COMERASE
# ERASABLE ASSIGNMENTS
# COMAID
# INTERRUPT LEAD INS
# T4RUPT PROGRAM
# DOWNLINK LISTS
# FRESH START AND RESTART
# RESTART TABLES
# SXTMARK
# EXTENDED VERBS
# PINBALL NOUN TABLES
# CSM GEOMETRY
# IMU COMPENSATION PACKAGE
# PINBALL GAME BUTTONS AND LIGHTS
# R60,R62
# ANGLFIND
# GIMBAL LOCK AVOIDANCE
# KALCMANU STEERING
# SYSTEM TEST STANDARD LEAD INS
# IMU CALIBRATION AND ALIGNMENT
# COMEKISS
# GROUND TRACKING DETERMINATION PROGRAM - P21
# P34-P35, P74-P75
# R31
# P76
# R30
# STABLE ORBIT - P38-P39
# TROUBLE
# P11
# TPI SEARCH
# P20-P25
# P30,P37
# P32-P33, P72-P73
# P40-P47
# P51-P53
# LUNAR AND SOLAR EPHEMERIDES SUBROUTINES
# P61-P67
# SERVICER207
# ENTRY LEXICON
# REENTRY CONTROL
# CM BODY ATTITUDE
# P37,P70
# S-BAND ANTENNA FOR CM
# TVCDAPS
# TVCINITIALIZE
# Page 3
# TVCEXECUTIVE
# TVCMASSPROP
# TVCRESTARTS
# TVCDAPS
# TVCSTROKETEST
# TVCROLLDAP
# MYSUBS
# RCS-CSM DIGITAL AUTOPILOT
# AUTOMATIC MANEUVERS
# RCS-CSM DAP EXECUTIVE PROGRAMS
# JET SELECTION LOGIC
# CM ENTRY DIGITAL AUTOPILOT
# CHIEFTAN
# DOWN-TELEMETRY PROGRAM
# INTER-BANK COMMUNICATION
# INTERPRETER
# FIXED-FIXED CONSTANT POOL
# INTERPRETIVE CONSTANTS
# SINGLE PRECISION SUBROUTINES
# EXECUTIVE
# WAITLIST
# LATITUDE LONGITUDE SUBROUTINES
# PLANETARY INERTIAL ORIENTATION
# MEASUREMENT INCORPORATION
# CONIC SUBROUTINES
# INTEGRATION INITIALIZATION
# ORBITAL INTEGRATION
# INFLIGHT ALIGNMENT ROUTINES
# POWERED FLIGHT SUBROUTINES
# TIME OF FREE FALL
# STAR TABLES
# AGC BLOCK TWO SELF-CHECK
# PHASE TABLE MAINTENANCE
# RESTARTS ROUTINE
# IMU MODE SWITCHING ROUTINES
# KEYRUPT, UPRUPT
# DISPLAY INTERFACE ROUTINES
# SERVICE ROUTINES
# ALARM AND ABORT
# UPDATE PROGRAM
# RTB OP CODES
#
#
# SYMBOL TABLE LISTING
# UNREFERENCED SYMBOL LISTING
# ERASABLE & EQUALS CROSS-REFERENCE TABLE
# SUMMARY OF SYMBOL TABLE LISTINGS
# MEMORY TYPE & AVAILABILITY DISPLAY
# COUNT TABLE
# PARAGRAPHS GENERATED FOR THIS ASSEMBLY
# Page 4
# OCTAL LISTING
# OCCUPIED LOCATIONS TABLE
# SUBROS CALLED & PROGRAM STATUS
# Page 5
# VERB LIST FOR CSM
# REGULAR VERBS
# 00 NOT IN USE
# 01 DISPLAY OCTAL COMP 1 IN R1
# 02 DISPLAY OCTAL COMP 2 IN R1
# 03 DISPLAY OCTAL COMP 3 IN R1
# 04 DISPLAY OCTAL COMP 1,2 IN R1,R2
# 05 DISPLAY OCTAL COMP 1,2,3 IN R1,R2,R3
# 06 DISPLAY DECIMAL IN R1 OR R1,R2 OR R1,R2,R3
# 07 DISPLAY DP DECIMAL IN R1,R2 (TEST ONLY)
# 08
# 09
# 10
# 11 MONITOR OCTAL COMP 1 IN R1
# 12 MONITOR OCTAL COMP 2 IN R1
# 13 MONITOR OCTAL COMP 3 IN R1
# 14 MONITOR OCTAL COMP 1,2, IN R1,R2
# 15 MONITOR OCTAL COMP 1,2,3 IN R1,R2,R3
# 16 MONITOR DECIMAL IN R1 OR R1,R2 OR R1,R2,R3
# 17 MONITOR DP DECIMAL IN R1,R2 (TEST ONLY)
# 18
# 19
# 20
# 21 LOAD COMPONENT 1 INTO R1
# 22 LOAD COMPONENT 2 INTO R2
# 23 LOAD COMPONENT 3 INTO R3
# 24 LOAD COMPONENT 1,2 INTO R1,R2
# 25 LOAD COMPONENT 1,2,3 INTO R1,R2,R3
# 26
# 27 DISPLAY FIXED MEMORY
# 28
# 29
# 30 REQUEST EXECUTIVE
# 31 REQUEST WAITLIST
# 32 RECYCLE PROGRAM
# 33 PROCEED WITHOUT DSKY INPUTS
# 34 TERMINATE FUNCTION
# 35 TEST LIGHTS
# 36 REQUEST FRESH START
# 37 CHANGE PROGRAM (MAJOR MODE)
# 38
# 39
# Page 6
# EXTENDED VERBS
# 40 ZERO CDU-S
# 41 COARSE ALIGN CDU-S
# 42 FINE ALIGN IMU-S
# 43 LOAD IMU ATT ERROR METERS
# 44 SET SURFACE FLAG
# 45 RESET SURFACE FLAG
# 46 ESTABLISH G+C CONTROL
# 47 MOVE LM STATE VECTOR INTO CM STATE VECTOR.
# 48 REQUEST DAP DATA LOAD ROUTINE (R03)
# 49 REQUEST CREW DEFINED MANEUVER ROUTINE (R62)
# 50 PLEASE PERFORM
# 51 PLEASE MARK
# 52 MARK ON OFFSET LANDING SITE
# 53 PLEASE PERFORM ALTERNATE LOS MARK
# 54 REQUEST RENDEZVOUS BACKUP SIGHTING MARK ROUTINE (R23)
# 55 INCREMENT AGC TIME (DECIMAL)
# 56 TERMINATE TRACKING (P20 + P25)
# 57 REQUEST RENDEZVOUS SIGHTING MARK ROUTINE (R21)
# 58 RESET STICK FLAG
# 59 PLEASE CALIBRATE
# 60 SET ASTRONAUT TOTAL ATTITUDE (N17) TO PRESENT ATTITUDE
# 61 DISPLAY DAP ATTITUDE ERROR
# 62 DISPLAY TOTAL ATTITUDE ERROR (WRT N22 (THETAD))
# 63 DISPLAY TOTAL ASTRONAUT ATTITUDE ERROR (WRT N17 (CPHIX))
# 64 REQUEST S-BAND ANTENNA ROUTINE
# 65 OPTICAL VERIFICATION OF PRELAUNCH ALIGNMENT
# 66 VEHICLES ARE ATTACHED. MOVE THIS VEHICLE STATE TO OTHER VEHICLE.
# 67
# 68 CSM STROKE TEST ON
# 69 CAUSE RESTART
# 70 UPDATE LIFTOFF TIME
# 71 UNIVERSAL UPDATE-BLOCK ADR
# 72 UNIVERSAL UPDATE-SINGLE ADR
# 73 UPDATE AGC TIME (OCTAL)
# 74 INITIALIZE ERASABLE DUMP VIA DOWNLINK
# 75 BACKUP LIFTOFF
# 76 SET PREFERRED ATTITUDE FLAG
# 77 RESET PREFERRED ATTITUDE FLAG
# 78 UPDATE PRELAUNCH AZIMUTH
# 79 REQUEST LUNAR LANDMARK SELECTION ROUTINE (R35)
# 80 UPDATE LEM STATE VECTOR
# 81 UPDATE CSM STATE VECTOR
# 82 REQUEST ORBIT PARAM DISPLAY (R30)
# 83 REQUEST REND PARAM DISPLAY (R31)
# 84 START TARGET DELTA V (R32)
# 85 REQUEST RENDEZVOUS PARAMETER DISPLAY NO. 2 (R34)
# 86 REJECT RENDEZVOUS BACKUP SIGHTING MARK
# 87 SET VHF RANGE FLAG
# Page 7
# 88 RESET VHF RANGE FLAG
# 89 REQUEST RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)
# 90 REQUEST RENDEZVOUS OUT OF PLANE DISPLAY ROUTINE (R36)
# 91 DISPLAY BANK SUM
# 92 OPERATE IMU PERFORMANCE TEST (P07)
# 93 ENABLE W MATRIX INITIALIZATION
# 94 PERFORM CYSLUNAR ATTITUDE MANEUVER (P23)
# 95 NO UPDATE OF EITHER STATE VECTOR (P20 OR P22)
# 96 TERMINATE INTEGRATION AND GO TO P00
# 97 PERFORM ENGINE FAIL PROCEDURE
# 98 ENABLE TRANSLUNAR INJECT
# 99 PLEASE ENABLE ENGINE
# Page 8
# IN THE FOLLOWING NOUN LIST THE :NO LOAD: RESTRICTION MEANS THE NOUN
# CONTAINS AT LEAST ONE COMPONENT WHICH CANNOT BE LOADED, I.E. OF
# SCALE TYPE L (MIN/SEC) OR PP (2 INTEGERS).
# IN THIS CASE VERBS 24 AND 25 ARE NOT ALLOWED, BUT VERBS 21, 22 OR 23
# MAY BE USED TO LOAD ANY OF THE NOUN:S COMPONENTS WHICH ARE NOT OF THE
# ABOVE SCALE TYPES.
# THE :DEC ONLY: RESTRICTION MEANS ONLY DECIMAL OPERATION IS ALLOWED ON
# EVERY COMPONENT IN THE NOUN. (NOTE THAT :NO LOAD: IMPLIES :DEC ONLY:.)
# NORMAL NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS
# 00 NOT IN USE
# 01 SPECIFY MACHINE ADDRESS (FRACTIONAL) 3COMP .XXXXX FOR EACH
# 02 SPECIFY MACHINE ADDRESS (WHOLE) 3COMP XXXXX. FOR EACH
# 03 SPECIFY MACHINE ADDRESS (DEGREES) 3COMP XXX.XX DEG FOR EACH
# 04 SPARE
# 05 ANGULAR ERROR/DIFFERENCE 1COMP XXX.XX DEG
# 06 OPTION CODE 2COMP OCTAL ONLY FOR EACH
# LOADING NOUN 07 WILL SET OR RESET SELECTED BITS IN ANY ERASABLE REGISTER
# 07 ECADR OF WORD TO BE MODIFIED 3COMP OCTAL ONLY FOR EACH
# ONES FOR BITS TO BE MODIFIED
# 1 TO SET OR 0 TO RESET SELECTED BITS
# 08 ALARM DATA 3COMP OCTAL ONLY FOR EACH
# 09 ALARM CODES 3COMP OCTAL ONLY FOR EACH
# 10 CHANNEL TO BE SPECIFIED 1COMP OCTAL ONLY
# 11 TIG OF CSI 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 12 OPTION CODE 2COMP OCTAL ONLY FOR EACH
# (USED BY EXTENDED VERBS ONLY)
# 13 TIG OF CDH 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 14 SPARE
# 15 INCREMENT MACHINE ADDRESS 1COMP OCTAL ONLY
# 16 TIME OF EVENT 3COMP 00XXX. HRS DEC ONLY
# (USED BY EXTENDED VERBS ONLY) 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 17 ASTRONAUT TOTAL ATTITUDE 3COMP XXX.XX DEG FOR EACH
# 18 AUTO MANEUVER BALL ANGLES 3COMP XXX.XX DEG FOR EACH
# 19 BYPASS ATTITUDE TRIM MANEUVER 3COMP XXX.XX DEG FOR EACH
# 20 ICDU ANGLES 3COMP XXX.XX DEG FOR EACH
# 21 PIPAS 3COMP XXXXX. PULSES FOR EACH
# 22 NEW ICDU ANGLES 3COMP XXX.XX DEG FOR EACH
# 23 SPARE
# 24 DELTA TIME FOR AGC CLOCK 3COMP 00XXX. HRS. DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 25 CHECKLIST 3COMP XXXXX. FOR EACH
# (USED WITH PLEASE PERFORM ONLY)
# Page 9
# 26 PRIORITY/DELAY, ADRES, BBCON 3COMP OCTAL ONLY FOR EACH
# 27 SELF TEST ON/OFF SWITCH 1COMP XXXXX.
# 28 SPARE
# 29 XSM LAUNCH AZIMUTH 1COMP XXX.XX DEG DEC ONLY
# Page 10
# 30 TARGET CODES 3COMP XXXXX. FOR EACH
# 31 TIME OF LANDING SITE 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 32 TIME FROM PERIGEE 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 33 TIME OF IGNITION 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 34 TIME OF EVENT 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 35 TIME FROM EVENT 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 36 TIME OF AGC CLOCK 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 37 TIG OF TPI 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 38 TIME OF STATE VECTOR 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 39 DELTA TIME FOR TRANSFER 3COMP 00XXX. HRS DEC ONLY
# 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# Page 11
# MIXED NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS
#
# 40 TIME FROM IGNITION/CUTOFF 3COMP XXBXX MIN/SEC NO LOAD, DEC ONLY
# VG, XXXX.X FT/SEC
# DELTA V (ACCUMULATED) XXXX.X FT/SEC
# 41 TARGET AZIMUTH, 2COMP XXX.XX DEG
# ELEVATION XX.XXX DEG
# 42 APOGEE, 3COMP XXXX.X NAUT MI DEC ONLY
# PERIGEE, XXXX.X NAUT MI
# DELTA V (REQUIRED) XXXX.X FT/SEC
# 43 LATITUDE, 3COMP XXX.XX DEG DEC ONLY
# LONGITUDE, XXX.XX DEG
# ALTITUDE XXXX.X NAUT MI
# 44 APOGEE, 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
# PERIGEE, XXXX.X NAUT MI
# TFF XXBXX MIN/SEC
# 45 MARKS (VHF - OPTICS) 3COMP +XXBXX NO LOAD, DEC ONLY
# TFI OF NEXT BURN XXBXX MIN/SEC
# MGA XXX.XX DEG
# 46 AUTOPILOT CONFIGURATION 2COMP OCTAL ONLY FOR EACH
# 47 THIS VEHICLE WEIGHT 2COMP XXXXX. LBS DEC ONLY
# OTHER VEHICLE WEIGHT XXXXX. LBS
# 48 PITCH TRIM 2COMP XXX.XX DEG DEC ONLY
# YAW TRIM, XXX.XX DEG
# 49 DELTA R 3COMP XXXX.X NAUT MI DEC ONLY
# DELTA V XXXX.X FT/SEC
# VHF OR OPTICS CODE XXXXX.
# 50 SPLASH ERROR, 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
# PERIGEE, XXXX.X NAUT MI
# TFF XXBXX MIN/SEC
# 51 S-BAND ANTENNA ANGLES PITCH 2COMP XXX.XX DEG DEC ONLY
# YAW XXX.XX DEG
# 52 CENTRAL ANGLE OF ACTIVE VEHICLE 1COMP XXX.XX DEG
# 53 RANGE, 3COMP XXX.XX NAUT MI DEC ONLY
# RANGE RATE, XXXX.X FT/SEC
# PHI XXX.XX DEG
# 54 RANGE, 3COMP XXX.XX NAUT MI DEC ONLY
# RANGE RATE, XXXX.X FT/SEC
# THETA XXX.XX DEG
# 55 PERIGEE CODE 3COMP XXXXX. DEC ONLY
# ELEVATION ANGLE XXX.XX DEG
# CENTRAL ANGLE OF PASSIVE VEHICLE XXX.XX DEG
# 56 REENTRY ANGLE, 2COMP XXX.XX DEG DEC ONLY
# DELTA V XXXXX. FT/SEC
# 57 DELTA R 1COMP XXXX.X NAUT MI DEC ONLY
# 58 PERIGEE ALT (POST TPI) 3COMP XXXX.X NAUT MI DEC ONLY
# DELTA V TPI XXXX.X FT/SEC
# DELTA V TPF XXXX.X FT/SEC
# 59 DELTA VELOCITY LOS 3COMP XXXX.X FT/SEC FOR EA. DEC ONLY
# 60 GMAX, 3COMP XXX.XX G DEC ONLY
# Page 12
# VPRED, XXXXX. FT/SEC
# GAMMA EI XXX.XX DEG
# 61 IMPACT LATITUDE, 3COMP XXX.XX DEG DEC ONLY
# IMPACT LONGITUDE, XXX.XX DEG
# HEADS UP/DOWN +/- 00001
# 62 INERTIAL VEL MAG (VI), 3COMP XXXXX. FT/SEC DEC ONLY
# ALT RATE CHANGE (HDOT), XXXXX. FT/SEC
# ALT ABOVE PAD RADIUS (H) XXXX.X NAUT MI
# 63 RANGE 297,431 TO SPLASH (RTGO), 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
# PREDICTED INERT VEL (VIO), XXXXX. FT/SEC
# TIME FROM 297,431 (TFE), XXBXX MIN/SEC
# 64 DRAG ACCELERATION, 3COMP XXX.XX G DEC ONLY
# INERTIAL VELOCITY (VI), XXXXX. FT/SEC
# RANGE TO SPLASH XXXX.X NAUT MI
# 65 SAMPLED AGC TIME 3COMP 00XXX. HRS DEC ONLY
# (FETCHED IN INTERRUPT) 000XX. MIN MUST LOAD 3 COMPS
# 0XX.XX SEC
# 66 COMMAND BANK ANGLE (BETA), 3COMP XXX.XX DEG DEC ONLY
# CROSS RANGE ERROR, XXXX.X NAUT MI
# DOWN RANGE ERROR XXXX.X NAUT MI
# 67 RANGE TO TARGET, 3COMP XXXX.X NAUT MI DEC ONLY
# PRESENT LATITUDE, XXX.XX DEG
# PRESENT LONGITUDE XXX.XX DEG
# 68 COMMAND BANK ANGLE (BETA), 3COMP XXX.XX DEG DEC ONLY
# INERTIAL VELOCITY (VI), XXXXX. FT/SEC
# ALT RATE CHANGE (RDOT) XXXXX. FT/SEC
# 69 BETA 3COMP XXX.XX DEG DEC ONLY
# DL XXX.XX G
# VL XXXXX. FT/SEC
# 70 STAR CODE, 3COMP OCTAL ONLY
# LANDMARK DATA, OCTAL ONLY
# HORIZON DATA OCTAL ONLY
# 71 STAR CODE 3COMP OCTAL ONLY
# LANDMARK DATA OCTAL ONLY
# HORIZON DATA OCTAL ONLY
# 72 DELT ANG 3COMP XXX.XX DEG DEC ONLY
# 73 ALTITUDE 3COMP XXXXXB. NAUT MI
# VELOCITY XXXXX. FT/SEC
# FLIGHT PATH ANGLE XXX.XX DEG
# 74 COMMAND BANK ANGLE (BETA) 3COMP XXX.XX DEG
# INERTIAL VELOCITY (VI) XXXXX. FT/SEC
# DRAG ACCELERATION XXX.XX G
# 75 DELTA ALTITUDE CDH 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY
# DELTA TIME (CDH-CSI OR TPI-CDH) XXBXX MIN/SEC
# DELTA TIME (TPI-CDH OR TPI-NOMTPI) XXBXX MIN/SEC
# 76 SPARE
# 77 SPARE
# 78 SPARE
# 79 SPARE
# 80 TIME FROM IGNITION/CUTOFF 3COMP XXBXX MIN/SEC NO LOAD, DEC ONLY
# Page 13
# VG XXXXX. FT/SEC
# DELTA V (ACCUMULATED) XXXXX. FT/SEC
# 81 DELTA V (LV) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
# 82 DELTA V (LV) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
# 83 DELTA V (BODY) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
# 84 DELTA V (OTHER VEHICLE) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
# 85 VG (BODY) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY
# 86 DELTA V(LV) 3COMP XXXXX. FT/SEC FOR EACH DEC ONLY
# 87 MARK DATA SHAFT, 2COMP XXX.XX DEG
# TRUNION XX.XXX DEG
# 88 HALF UNIT SUN OR PLANET VECTOR 3COMP .XXXXX FOR EACH DEC ONLY
# 89 LANDMARK LATITUDE, 3COMP XX.XXX DEG DEC ONLY
# LONGITUDE/2, XX.XXX DEG
# ALTITUDE XXX.XX NAUT MI
# 90 Y 3COMP XXX.XX NM DEC ONLY
# Y DOT XXXX.X FPS
# PSI XXX.XX DEG
# 91 OCDU ANGLES SHAFT, 2COMP XXX.XX DEG
# TRUNION XX.XXX DEG
# 92 NEW OPTICS ANGLES SHAFT, 2COMP XXX.XX DEG
# TRUNION XX.XXX DEG
# 93 DELTA GYRO ANGLES 3COMP XX.XXX DEG FOR EACH
# 94 NEW OPTICS ANGLES SHAFT 2COMP XXX.XX DEG
# TRUNNION XX.XXX DEG
# 95 PREFERRED ATTITUDE ICDU ANGLES 3COMP XXX.XX FOR FOR EACH
# 96 +X-AXIS ATTITUDE ICDU ANGLES 3COMP XXX.XX DEG FOR EACH
# 97 SYSTEM TEST INPUTS 3COMP XXXXX. FOR EACH
# 98 SYSTEM TEST RESULTS AND INPUTS 3COMP XXXXX.
# .XXXXX
# XXXXX.
# 99 RMS IN POSITION 3COMP XXXXX.FT DEC ONLY
# RMS IN VELOCITY XXXX.X FT/SEC
# RMS OPTION XXXXX.
# Page 14
# REGISTERS AND SCALING FOR NORMAL NOUNS
#
# NOUN REGISTER SCALE TYPE
#
# 00 NOT IN USE
# 01 SPECIFY ADDRESS B
# 02 SPECIFY ADDRESS C
# 03 SPECIFY ADDRESS D
# 04 SPARE
# 05 DSPTEM1 H
# 06 OPTION1 A
# 07 XREG A
# 08 ALMCADR A
# 09 FAILREG A
# 10 SPECIFY CHANNEL A
# 11 TCSI K
# 12 OPTIONX A
# 13 TCDH K
# 14 SPARE
# 15 INCREMENT ADDRESS A
# 16 DSPTEMX C
# 17 CPHIX D
# 18 THETAD D
# 19 THETAD D
# 20 CDUX D
# 21 PIPAX C
# 22 THETAD D
# 23 SPARE
# 24 DSPTEM2 +1 K
# 25 DSPTEM1 C
# 26 DSPTEM1 A
# 27 SMODE C
# 28 SPARE
# 29 DSPTEM1 D
# 30 DSPTEM1 C
# 31 DSPTEM1 K
# 32 -TPER K
# 33 TIG K
# 34 DSPTEM1 K
# 35 TTOGO K
# 36 TIME2 K
# 37 TTPI K
# 38 TET K
# 39 T3TOT4 K
# Page 15
# REGISTERS AND SCALING FOR MIXED NOUNS
#
# NOUN COMP REGISTER SCALE TYPE
#
# 40 1 TTOGO L
# 2 VGDISP S
# 3 DVTOTAL S
# 41 1 DSPTEM1 D
# 2 DSPTEM1 +1 E
# 42 1 HAPO Q
# 2 HPER Q
# 3 VGDISP S
# 43 1 LAT H
# 2 LONG H
# 3 ALT Q
# 44 1 HAPOX Q
# 2 HPERX Q
# 3 TFF L
# 45 1 VHFCNT PP
# 2 TTOGO L
# 3 +MGA H
# 46 1 DAPDATR1 A
# 2 DAPDATR2 A
# 47 1 CSMMASS KK
# 2 LEMMASS KK
# 48 1 PACTOFF FF
# 2 YACTOFF FF
# 49 1 N49DISP Q
# 2 N49DISP +2 S
# 3 N49DISP +4 C
# 50 1 RSP-RREC LL
# 2 HPERX Q
# 3 TFF L
# 51 1 RHOSB H
# 2 GAMMASB H
# 52 1 ACTCENT H
# 53 1 RANGE JJ
# 2 RRATE S
# 3 RTHETA H
# 54 1 RANGE JJ
# 2 RRATE S
# 3 RTHETA H
# 55 1 NN1 C
# 2 ELEV H
# 3 CENTANG H
# 56 1 RTEGAM2D H
# 2 RTEDVD P
# 57 1 DELTAR Q
# 58 1 POSTTPI Q
# 2 DELVTPI S
# Page 16
# 3 DELVTPF S
# 59 1 DVLOS S
# 2 DVLOS +2 S
# 3 DVLOS +4 S
# 60 1 GMAX T
# 2 VPRED P
# 3 GAMMAEI H
# 61 1 LAT(SPL) H
# 2 LNG(SPL) H
# 3 HEADSUP C
# 62 1 VMAGI P
# 2 HDOT P
# 3 ALTI Q
# 63 1 RTGO LL
# 2 VIO P
# 3 TTE L
# 64 1 D MM
# 2 VMAGI P
# 3 RTGON64 LL
# 65 1 SAMPTIME K
# 2 SAMPTIME K
# 3 SAMPTIME K
# 66 1 ROLLC H
# 2 XRNGERR VV
# 3 DNRNGERR LL
# 67 1 RTGON67 LL
# 2 LAT H
# 3 LONG H
# 68 1 ROLLC H
# 2 VMAGI P
# 3 RDOT UU
# 69 1 ROLLC H
# 2 Q7 MM
# 3 VL UU
# 70 1 STARCODE A
# 2 LANDMARK A
# 3 HORIZON A
# 71 1 STARCODE A
# 2 LANDMARK A
# 3 HORIZON A
# 72 1 THETZERO H
# 73 1 P21ALT Q (MEMORY/100 TO DISPLAY TENS N.M.)
# 2 P21VEL P
# 3 P21GAM H
# 74 1 ROLLC H
# 2 VMAGI P
# 3 D MM
# 75 1 DIFFALT Q
# 2 T1TOT2 L
# 3 T2TOT3 L
# Page 17
# 76 SPARE
# 77 SPARE
# 78 SPARE
# 79 SPARE
# 80 1 TTOGO L
# 2 VGDISP P
# 3 DVTOTAL P
# 81 1 DELVLVC S
# 2 DELVLVC +2 S
# 3 DELVLVC +4 S
# 82 1 DELVLVC S
# 2 DELVLVC +2 S
# 3 DELVLVC +4 S
# 83 1 DELVIMU S
# 2 DELVIMU +2 S
# 3 DELVIMU +4 S
# 84 1 DELVOV S
# 2 DELVOV +2 S
# 3 DELVOV +4 S
# 85 1 VGBODY S
# 2 VGBODY +2 S
# 3 VGBODY +4 S
# 86 1 DELVLVC P
# 2 DELVLVC +2 P
# 3 DELVLVC +4 P
# 87 1 MRKBUF1 +3 D
# 2 MRKBUF1 +5 J
# 88 1 STARSAV3 ZZ
# 2 STARSAV3 +2 ZZ
# 3 STARSAV3 +4 ZZ
# 89 1 LANDLAT G
# 2 LANDLONG G
# 3 LANDALT JJ
# 90 1 RANGE JJ
# 2 RRATE S
# 3 RTHETA H
# 91 1 CDUS D
# 2 CDUT J
# 92 1 SAC D
# 2 PAC J
# 93 1 OGC G
# 2 OGC +2 G
# 3 OGC +4 G
# 94 1 MRKBUF1 +3 D
# 2 MRKBUF1 +5 J
# 95 1 PRAXIS D
# 2 PRAXIS +1 D
# 3 PRAXIS +2 D
# 96 1 CPHIX D
# 2 CPHIX +1 D
# Page 18
# 3 CPHIX +2 D
# 97 1 DSPTEM1 C
# 2 DSPTEM1 +1 C
# 3 DSPTEM1 +2 C
# 98 1 DSPTEM2 C
# 2 DSPTEM2 +1 B
# 3 DSPTEM2 +2 C
# 99 1 WWPOS XX
# 2 WWVEL YY
# 3 WWOPT C
# Page 19
# NOUN SCALES AND FORMATS
#
# -SCALE TYPE- PRECISION
# UNITS DECIMAL FORMAT -- AGC FORMAT
# ------------ -------------- -- ----------
#
# -A-
# OCTAL XXXXX SP OCTAL
#
# -B- -14
# FRACTIONAL .XXXXX SP BIT 1 = 2 UNITS
# (MAX .99996)
#
# -C-
# WHOLE XXXXX. SP BIT 1 = 1 UNIT
# (MAX 16383.)
#
# -D- 15
# CDU DEGREES XXX.XX DEGREES SP BIT 1 = 360/2 DEGREES
# (MAX 359.99) (USES 15 BITS FOR MAGNI-
# TUDE AND 2-S COMP.)
#
# -E- 14
# ELEVATION DEGREES XX.XXX DEGREES SP BIT 1 = 90/2 DEGREES
# (MAX 89.999)
#
# -F- 14
# DEGREES (180) XXX.XX DEGREES SP BIT 1 = 180/2 DEGREES
# (MAX 179.99)
#
# -G-
# DP DEGREES(90) XX.XXX DEGREES DP BIT 1 OF LOW REGISTER =
# 28
# 360/2 DEGREES
#
# -H-
# DP DEGREES (360) XXX.XX DEGREES DP BIT 1 OF LOW REGISTER =
# 28
# (MAX 359.99) 360/2 DEGREES
#
# -J- 15
# Y OPTICS DEGREES XX.XXX DEGREES SP BIT 1 = 90/2 DEGREES
# (BIAS OF 19.775 (USES 15 BITS FOR MAGNI-
# DEGREES ADDED FOR TUDE AND 2-S COMP.)
# DISPLAY, SUBTRACTED
# FOR LOAD.)
# NOTE: NEGATIVE NUM-
# BERS CANNOT BE
# LOADED.
#
# -K-
# Page 20
# TIME (HR, MIN, SEC) 00XXX. HR DP BIT 1 OF LOW REGISTER =
# 000XX. MIN -2
# 0XX.XX SEC 10 SEC
# (DECIMAL ONLY.
# MAX MIN COMP=59
# MAX SEC COMP=59.99
# MAX CAPACITY=745 HRS
# 39 MINS
# 14.55 SECS.
# WHEN LOADING, ALL 3
# COMPONENTS MUST BE
# SUPPLIED.)
#
# -L-
# TIME (MIN/SEC) XXBXX MIN/SEC DP BIT 1 OF LOW REGISTER =
# (B IS A BLANK -2
# POSITION, DECIMAL 10 SEC
# ONLY, DISPLAY OR
# MONITOR ONLY. CANNOT
# BE LOADED.
# MAX MIN COMP=59
# MAX SEC COMP=59
# VALUES GREATER THAN
# 59 MIN 59 SEC
# ARE DISPLAYED AS
# 59 MIN 59 SEC.)
#
# -M- -2
# TIME (SEC) XXX.XX SEC SP BIT 1 = 10 SEC
# (MAX 163.83)
#
# -N-
# TIME(SEC) DP XXX.XX SEC DP BIT 1 OF LOW REGISTER =
# -2
# 10 SEC
#
# -P-
# VELOCITY 2 XXXXX. FEET/SEC DP BIT 1 OF HIGH REGISTER =
# (MAX 41994.) -7
# 2 METERS/CENTI-SEC
#
# -Q-
# POSITION 4 XXXX.X NAUTICAL MILES DP BIT 1 OF LOW REGISTER =
# 2 METERS
#
# -S-
# VELOCITY 3 XXXX.X FT/SEC DP BIT 1 OF HIGH REGISTER =
# -7
# 2 METERS/CENTI-SEC
# Page 21
# -T- -2
# G XXX.XX G SP BIT 1 = 10 G
# (MAX 163.83)
#
# -FF-
# TRIM DEGREES XXX.XX DEG. SP LOW ORDER BIT = 85.41 SEC
# (MAX 388.69) OF ARC
#
# -GG-
# INERTIA XXXXXBB. SLUG FT SQ SP FRACTIONAL PART OF
# (MAX 07733BB.) 20 2
# 2 KG M
#
# -II- 20
# THRUST MOMENT XXXXXBB. FT LBS SP FRACTIONAL PART OF 2
# (MAX 07733BB.) NEWTON METER
#
# -JJ-
# POSITION5 XXX.XX NAUT MI DP BIT 1 OF LOW REGISTER =
# 2 METERS
#
# -KK- 16
# WEIGHT2 XXXXX. LBS SP FRACTIONAL PART OF 2 KG
#
# -LL-
# POSITION6 XXXX.X NAUT MI DP BIT 1 OF LOW REG =
# -28
# (6,373,338)(2(PI))X2
# -----------------------
# 1852
# NAUT. MI.
#
# -MM-
# DRAG ACCELERATION XXX.XX G DP BIT 1 OF LOW REGISTER =
# MAX (024.99) -28
# 25X2 G
#
# -PP-
# 2 INTEGERS +XXBYY DP BIT 1 OF HIGH REGISTER =
# (B IS A BLANK 1 UNIT OF XX
# POSITION. DECIMAL BIT 1 OF LOW REGISTER =
# ONLY, DISPLAY OR 1 UNIT OF YY
# MONITOR ONLY. CANNOT (EACH REGISTER MUST
# BE LOADED.) CONTAIN A POSITIVE INTEGER
# (MAX 99B99) LESS THAN 100)
#
# -UU-
# VELOCITY/2VS XXXXX. FEET/SEC DP FRACTIONAL PART OF
# (MAX 51532.) 2VS FEET/SEC
# (VS = 25766.1973)
# Page 22
# -VV-
# POSITION8 XXXX.X NAUT MI DP BIT 1 OF LOW REGISTER =
# -28
# 4 X 6,373,338 X 2
# --------------------
# 1852
# NAUT MI.
#
# -XX-
# POSITION 9 XXXXX. FEET DP BIT 1 OF LOW REGISTER =
# -9
# 2 METERS
#
# -YY-
# VELOCITY 4 XXXX.X FEET/SEC DP FRACTIONAL PART OF
# (MAX 328.0) METERS/CENTI-SEC
#
# -ZZ-
# DP FRACTIONAL .XXXXX DP BIT 1 OF HIGH REGISTER =
# -14
# 2 UNITS
# THAT-S ALL ON THE NOUNS.
# Page 23
# ALARM CODES FOR 504
# REPORT DEFICIENCIES TO JOHN SUTHERLAND @ MIT 617-864-6900 X1458
# *9 *18 *60 *25 COLUMN
#
# CODE * TYPE SET BY ALARM ROUTINE
#
# 00110 NO MARK SINCE LAST MARK REJECT SXTMARK ALARM
# 00112 MARK NOT BEING ACCEPTED SXTMARK ALARM
# 00113 NO INBITS SXTMARK ALARM
# 00114 MARK MADE BUT NOT DESIRED SXTMARK ALARM
# 00115 OPTICS TORQUE REQUESTWITH SWITCH NOT AT EXT VERB OPTICS CDU ALARM
# CGC
# 00116 OPTICS SWITCH ALTERED BEFORE 15 SEC ZERO T4RUPT ALARM
# TIME ELAPSED.
# 00117 OPTICS TORQUE REQUEST WITH OPTICS NOT EXT VERB OPTICS CDU ALARM
# AVAILABLE (OPTIND=-0)
# 00120 OPTICS TORQUE REQUEST WITH OPTICS T4RUPT ALARM
# NOT ZEROED
# 00121 CDUS NO GOOD AT TIME OF MARK SXTMARK ALARM
# 00122 MARKING NOT CALLED FOR SXTMARK ALARM
# 00124 P17 TPI SEARCH - NO SAFE PERICTR HERE. TPI SEARCH ALARM
# 00205 BAD PIPA READING SERVICER ALARM
# 00206 ZERO ENCODE NOT ALLOWED WITH COARSE ALIGN IMU MODE SWITCHING ALARM
# + GIMBAL LOCK
# 00207 ISS TURNON REQUEST NOT PRESENT FOR 90 SEC T4RUPT ALARM
# 00210 IMU NOT OPERATING IMU MODE SWITCH, IMU-2, R02, P51 ALARM,VARALARM
# 00211 COARSE ALIGN ERROR - DRIVE > 2 DEGREES IMU MODE SWITCH ALARM
# 00212 PIPA FAIL BUT PIPA IS NOT BEING USED IMU MODE SWITCH,T4RPT ALARM
# 00213 IMU NOT OPERATING WITH TURN-ON REQUEST T4RUPT ALARM
# 00214 PROGRAM USING IMU WHEN TURNED OFF T4RUPT ALARM
# 00215 PREFERRED ORIENTATION NOT SPECIFIED P52,P54 ALARM
# 00217 BAD RETURN FROM STALL ROUTINES. CURTAINS ALARM2
# 00220 IMU NOT ALIGNED - NO REFSMMAT R02,P51 VARALARM
# 00401 DESIRED GIMBAL ANGLES YIELD GIMBAL LOCK IMF ALIGN, IMU-2 ALARM
# 00404 TARGET OUT OF VIEW - TRUN ANGLE > 90 DEG R52 PRIOLARM
# 00405 TWO STARS NOT AVAILABLE P52,P54 ALARM
# 00406 REND NAVIGATION NOT OPERATING R21,R23 ALARM
# 00407 AUTO OPTICS REQUEST TRUN ANGLE > 50 DEG. R52 ALARM
# 00421 W-MATRIX OVERFLOW INTEGRV VARALARM
# 00430 * INTEG. ABORT DUE TO SUBSURFACE S. V. ALL CALLS TO INTEG POODOO
# 00600 IMAGINARY ROOTS ON FIRST ITERATION P32, P72 VARALARM
# 00601 PERIGEE ALTITUDE LT PMIN1 P32,P72, VARALARM
# 00602 PERIGEE ALTITUDE LT PMIN2 P32,P72, VARALARM
# 00603 CSI TO CDH TIME LT PMIN22 P32,P72,P33,P73 VARALARM
# 00604 CDH TO TPI TIME LT PMIN23 P32,P72 VARALARM
# 00605 NUMBER OF ITERATIONS EXCEEDS LOOP MAXIMUM P32,P72,P37 VARALARM
# 00606 DV EXCEEDS MAXIMUM P32,P72 VARALARM
# 00607 * NO SOLN FROM TIME-THETA OR TIME-RADIUS TIMETHET,TIMERAD POODOO
# Page 24
# 00610 * LAMBDA LESS THAN UNITY P37 POODOO
# 00611 NO TIG FOR GIVEN ELEV ANGLE P34,P74 VARALARM
# 00612 STATE VECTOR IN WRONG SPHERE OF INFLUENCE P37 VARALARM
# 00613 REENTRY ANGLE OUT OF LIMITS P37 VARALARM
# 00777 PIPA FAIL CAUSED ISS WARNING. T4RUPT VARALARM
# 01102 CMC SELF TEST ERROR ALARM2
# 01103 * UNUSED CCS BRANCH EXECUTED ABORT POODOO
# 01104 * DELAY ROUTINE BUSY EXEC BAILOUT
# 01105 DOWNLINK TOO FAST T4RUPT ALARM
# 01106 UPLINK TOO FAST T4RUPT ALARM
# 01107 PHASE TABLE FAILURE. ASSUME RESATRT ALARM
# ERASABLE MEMORY IS DESTROYED
# 01201 * EXECUTIVE OVERFLOW-NO VAC AREAS EXEC BAILOUT
# 01202 * EXECUTIVE OVERFLOW-NO CORE SETS EXEC BAILOUT
# 01203 * WAITLIST OVERFLOW-TOO MANY TASKS WAITLIST BAILOUT
# 01204 * NEGATIVE OR ZERO WAITLIST CALL WAITLIST POODOO
# 01206 * SECOND JOB ATTEMPTS TO GO TO SLEEP PINBALL POODOO
# VIA KEYBOARD AND DISPLAY PROGRAM
# 01207 * NO VAC AREA FOR MARKS SXTMARK BAILOUT
# 01210 * TWO PROGRAMS USING DEVICE AT SAME TIME IMU MODE SWITCH POODOO
# 01211 * ILLEGAL INTERRUPT OF EXTENDED VERB SXTMARK BAILOUT
# 01301 ARCSIN-ARCCOS ARGUMENT TOO LARGE INTERPRETER ALARM
# 01302 * SQRT CALLED WITH NEGATIVE ARGUMENT.ABORT INTERPRETER POODOO
# 01407 VG INCREASING S40.8 ALARM
# 01426 IMU UNSATISFACTORY P61, P62 ALARM
# 01427 IMU REVERSED P61, P62 ALARM
# 01501 * KEYBOARD AND DISPLAY ALARM DURING PINBALL POODOO
# INTERNAL USE (NVSUB). ABORT.
# 01502 * ILLEGAL FLASHING DISPLAY GOPLAY POODOO
# 01520 V37 REQUEST NOT PERMITTED AT THIS TIME V37 ALARM
# 01521 * P01 ILLEGALLY SELECTED P01, P07 POODOO
# 01600 OVERFLOW IN DRIFT TEST OPT PRE ALIGN CALIB ALARM
# 01601 BAD IMU TORQUE OPT PRE ALIGN CALIB ALARM
# 01602 BAD OPTICS DURING VERIFICATION OPTALGN CALIB (CSM) ALARM
# 01703 INSUF. TIME FOR INTEG., TIG WAS SLIPPED R41 ALARM
# 03777 ICDU FAIL CAUSED THE ISS WARNING T4RUPT VARALARM
# 04777 ICDU , PIPA FAILS CAUSED THE ISS WARNING T4RUPT VARALARM
# 07777 IMU FAIL CAUSED THE ISS WARNING T4RUPT VARALARM
# 10777 IMU , PIPA FAILS CAUSED THE ISS WARNING T4RUPT VARALARM
# 13777 IMU , ICDU FAILS CAUSED THE ISS WARNING T4RUPT VARALARM
# 14777 IMU,ICDU,PIPA FAILS CAUSED THE ISSWNING T4RUPT VARALARM
# * INDICATES ABORT TYPE.ALL OTHERS ARE NON-ABORTIVE
# Page 25
# CHECKLIST CODES FOR 504
# PLEASE REPORT ANY DEFICIENCIES IN THIS LIST TO JOHN SUTHERLAND
# *9 *17 *26 COLUMN
#
# R1 CODE ACTION TO BE EFFECTED
#
# 00014 KEY IN FINE ALIGNMENT OPTION
# 00015 PERFORM CELESTIAL BODY ACQUISITION
# 00016 KEY IN TERMINATE MARK SEQUENCE
# 00041 SWITCH CM/SM SEPARATION TO UP
# 00062 SWITCH AGC POWER DOWN
# 00202 PERFORM GNCS AUTOMATIC MANEUVER
# 00203 SWITCH TO CMC-AUTO
# 00204 PERFORM SPS GIMBAL TRIM
# 00403 SWITCH OPTICS TO MANUAL OR ZERO
# SWITCH DENOTES CHANGE POSITION OF A CONSOLE SWITCH
# PERFORM DENOTES START OR END OF A TASK
# KEY IN DENOTES KEY IN OF DATA THRU THE DSKY
# Page 26
# OPTION CODES FOR 504
# PLEASE REPORT ANY DEFICIENCIES IN THIS LIST TO JOHN SUTHERLAND
# THE SPECIFIED OPTION CODES WILL BE FLASHED IN COMPONENT R1 IN
# CONJUNCTION WITH VERB04NOUN06 TO REQUEST THE ASTRONAUT TO LOAD INTO
# COMPONENT R2 THE OPTION HE DESIRES.
# *9 *17 #52 #11 #25 COLUMN
#
# OPTION
# CODE PURPOSE INPUT FOR COMPONENT 2 PROGRAM(S) APPLICABILITY
#
# 00001 SPECIFY IMU ORIENTATION 1=PREF 2=NOM 3=REFSMMAT P50'S ALL
# 00002 SPECIFY VEHICLE 1=THIS 2=OTHER P21,R30 ALL
# 00003 SPECIFY TRACKING ATTITUDE 1=PREFERRED 2=OTHER R63 ALL
# 00004 SPECIFY RADAR 1=RR 2=LR R04 SUNDANCE + LUMINARY
# 00005 SPECIFY SOR PHASE 1=FIRST 2=SECOND P38 COLOSSUS + LUMINARY
# 00006 SPECIFY RR COARSE ALIGN OPTION 1=LOCKON 2=CONTINUOUS DESIG. V41N72 SUNDANCE + LUMINARY
# 00007 SPECIFY PROPULSION SYSTEM 1=SPS 2=RCS P37 COLOSSUS
# 00010 SPECIFY ALIGNMENT MODE 0=ANY TIME 1=REFSMMAT +G P57 LUMINARY
# 2=TWO BODIES 3=ONE BODY + G
# 00011 SPECIFY SEPARATION MONITOR PHASE 1=DELTAV 2=STATE VECTOR UPDATE P46 LUMINARY
# 00012 SPECIFY CSM ORBIT OPTION 1=NO ORBIT CHANGE 2=CHANGE P22 LUMINARY
# ORBIT TO PASS OVER LM
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