Apollo-11/Luminary099/EXTENDED_VERBS.agc

1682 lines
36 KiB
Plaintext
Raw Normal View History

# 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 <info@sandroid.org>.
# 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.
2016-12-28 16:11:25 +00:00
# 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 2021112-61
2016-12-28 16:11:25 +00:00
# 16:27 JULY 14, 1969
# Page 262
BANK 7
SETLOC EXTVERBS
BANK
2016-12-28 16:11:25 +00:00
EBANK= OGC
2016-12-28 16:11:25 +00:00
COUNT* $$/EXTVB
2016-12-28 16:11:25 +00:00
# FAN-OUT
GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC
2016-09-22 22:55:32 +00:00
TC LST2FAN # FAN AS BEFORE.
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
CA Q
TS MPAC +1
2016-12-28 16:11:25 +00:00
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.
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
CHKP00H CA MODREG # CHECK FOR P00 OR P00-.
EXTEND
BZF TCQ
TC ALM/END
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
TC BANKCALL # STALL
CADR IMUSTALL
TC +1
2016-12-28 16:11:25 +00:00
TC GOPIN # IMUZERO
2016-12-28 16:11:25 +00:00
RRZEROK TC RDRUSECK
TC BANKCALL
CADR RRZERO
2016-12-28 16:11:25 +00:00
RWAITK TC BANKCALL
CADR RADSTALL
TCF +1
TC GOPIN # RRZERO
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
# V62 VERB 62, DISPLAY TOTAL ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES.
TOTATTER TC UPFLAG
ADRES NEEDLFLG
TC GOPIN
2016-12-28 16:11:25 +00:00
# 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)
2016-12-28 16:11:25 +00:00
# RETURNS TO L+1 IF IMU OR L+2 IF RR.
OP/INERT CS OCT24
AD NOUNREG
EXTEND
# Page 268
BZF TCQ # IF = 20.
2016-12-28 16:11:25 +00:00
AD RRIMUDIF # -52
EXTEND
BZF Q+1
2016-12-28 16:11:25 +00:00
TC ALM/END # ILLEGAL.
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB.
TC BANKCALL
CADR EXDSPRET
2016-12-28 16:11:25 +00:00
TC BANKCALL # CALL MODE SWITCHING PROG
CADR IMUCOARS
2016-12-28 16:11:25 +00:00
TC BANKCALL # STALL
CADR IMUSTALL
TC ENDEXTVB
TC ENDEXTVB
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
CAF VNLDRCDU # ASK FOR GIMBAL ANGLES.
TC BANKCALL
CADR GOXDSPF
TC TERMEXTV
TCF -4 # V33
2016-12-28 16:11:25 +00:00
TC BANKCALL # ASK OP FOR LOCK ON REQUIREMENTS.
CADR AURLOKON
2016-12-28 16:11:25 +00:00
CAF OPTCOARV # RE-DISPLAY OUR OWN VERB
TC BANKCALL
CADR EXDSPRET
2016-12-28 16:11:25 +00:00
CAF PRIO20
TC FINDVAC
EBANK= LOSCOUNT
2CADR RRDESK2
2016-12-28 16:11:25 +00:00
TCF TERMEXTV # FREES DISPLAY
2016-12-28 16:11:25 +00:00
VNLDRCDU VN 2473
OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS.
RRDESK2 TC BANKCALL
CADR RRDESNB
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
AURLOKON TC MAKECADR
TS DESRET
CAF TWO
TS OPTIONX +1
CAF SIX # OPTION CODE FOR V04N12
TS OPTIONX
2016-12-28 16:11:25 +00:00
-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
2016-12-28 16:11:25 +00:00
+5 CA OPTIONX +1
MASK BIT2
CCS A
TCF NOLOKON
TC UPFLAG
ADRES LOKONSW
TCF AURLKON1
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
CAF IMUFINEV # RE-DISPLAY OUR OWN VERB
TC BANKCALL
CADR EXDSPRET
2016-12-28 16:11:25 +00:00
TC BANKCALL # CALL MODE SWITCH PROG
CADR IMUFINE
2016-12-28 16:11:25 +00:00
TC BANKCALL # HIBERNATION
CADR IMUSTALL
TC ENDEXTVB
2016-12-28 16:11:25 +00:00
FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGISTERS
TC BANKCALL
CADR IMUPULSE
2016-12-28 16:11:25 +00:00
TC BANKCALL # WAIT FOR PULSES TO GET OUT.
CADR IMUSTALL
TC ENDEXTVB
TC ENDEXTVB
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
GOLOADLV TC FLASHOFF
CAF PINSUPBT
EXTEND
WRITE SUPERBNK
TC POSTJUMP
CADR LOADLV1
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
## [WORKAROUND]
EBANK= AGSBUFF
2CADR AGSINIT
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
CKMODCAD CA MODECADR
EXTEND
BZF TCQ
TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
ALINTIME TC TESTXACT
TC POSTJUMP # NO ROOM IN 43
CADR R33
2016-12-28 16:11:25 +00:00
BANK 42
SETLOC SBAND
BANK
COUNT* $$/R33
2016-12-28 16:11:25 +00:00
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).
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
EBANK= RSTACK
2016-12-28 16:11:25 +00:00
COUNT* $$/R0477
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
R04 TC RDRUSECK # TRY TO AVOID THE 1210.
TC TESTXACT
TC UPFLAG
ADRES R04FLAG # SET R04FLAG FOR ALARMS
2016-12-28 16:11:25 +00:00
R04Z CAF EBANK4
TS EBANK
CAF 1SEC+1 # SAMPLE ONCE PER SECOND
TS RSAMPDT
CAF ZERO
TS RTSTLOC
TS RFAILCNT # ZERO BAD SAMPLE COUNTER
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
CS FLAGWRD3 # CHECK R04FLAG R04 =1 R77 =0
MASK R04FLBIT
CCS A
TCF R04K
2016-12-28 16:11:25 +00:00
CAF ONE # INDICATES RENDEZVOUS DESIRED
TS OPTIONX +1
R04A CAF BIT3 # OPTION CODE FOR V04N12
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
CA OPTIONX +1 # SAVE DESIRED OPTION RR =1 LR =2
TS RTSTDEX
2016-12-28 16:11:25 +00:00
R04X CAF SIX # RR OR LR DESIRED
MASK RTSTDEX
CCS A
TCF R04L # LANDING RADAR
TS RTSTBASE # FOR RR BASE =0, MAX =1
2016-12-28 16:11:25 +00:00
R04B CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
EXTEND
RAND CHAN33
EXTEND
BZF R04C # YES
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
R04C CAF BIT14 # ENABLE RR AUTO TRACKER
EXTEND
WOR CHAN12
2016-12-28 16:11:25 +00:00
CAF TWO
TS RTSTMAX # FOR SEQUENTIAL STORAGE
2016-12-28 16:11:25 +00:00
TC WAITLIST
## [WORKAROUND] RSB 2009
SBANK= PINSUPER
2016-12-28 16:11:25 +00:00
## [WORKAROUND]
EBANK= RSTACK
2CADR RADSAMP
2016-12-28 16:11:25 +00:00
RELINT
2016-12-28 16:11:25 +00:00
CS FLAGWRD3 # CHECK R04FLAG R04 =1 R77 =0
MASK R04FLBIT
# Page 278
CCS A
TCF GOPIN # R77
2016-12-28 16:11:25 +00:00
CAF SIX # RR OR LR
MASK RTSTDEX
CCS A
TCF R04LR # LR
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
TCF R04X -1
R04K CAF 250MS+1 # SAMPLE 4 LR COMPONENTS PER SECOND.
TS RSAMPDT
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
INHINT
CS BIT14 # DISABLE RR AUTO TRACKER.
EXTEND
WAND CHAN12
TC DOWNFLAG
ADRES R04FLAG # SIGNAL END OF R04.
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
TC DOWNFLAG
ADRES R77FLAG
TCF GOPIN
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
VB64 TC CHKP00H # 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.
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
# 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 CHKP00H # 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
2016-12-28 16:11:25 +00:00
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.
2016-12-28 16:11:25 +00:00
TC TESTXACT
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
TCF ENDEXT
2016-12-28 16:11:25 +00:00
BANK 42
SETLOC PINBALL3 # SOMETHING IN B42.
BANK
2016-12-28 16:11:25 +00:00
COUNT* $$/EXTVB
# Page 282
ATTCK2 CAF TWO # PUT OUT COMMANDS.
+1 TS Q # CDU WILL LIMIT EXCESS DATA.
INDEX A
CA THETAD
EXTEND
MP ATTSCALE
INDEX Q
XCH CDUXCMD
CCS Q
TCF ATTCK2 +1
2016-12-28 16:11:25 +00:00
CAF 13,14,15
EXTEND
WOR CHAN14
TCF TASKOVER # LEAVE ERROR COUNTERS ENABLED.
2016-12-28 16:11:25 +00:00
ATTSCALE DEC 0.1
BANK 7
SETLOC EXTVERBS
BANK
2016-12-28 16:11:25 +00:00
COUNT* $$/EXTVB
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
# VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)
2016-12-28 16:11:25 +00:00
#
# 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 CHKP00H
TC TESTXACT
CAF PRIO10
TC FINDVAC
EBANK= RONE
2CADR V89CALL
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
TCF ENDOFJOB
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
# 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. GOTOP00H
# 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 CHKP00H # DEMAND P00
2016-12-28 16:11:25 +00:00
TC TESTXACT
2016-12-28 16:11:25 +00:00
CAF PRIO10
TC FINDVAC
EBANK= BCDU
2CADR R62DISP
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
# 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 GOGOP00H (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
2016-12-28 16:11:25 +00:00
TC DOWNFLAG
ADRES RNDVZFLG
TC DOWNFLAG
ADRES P25FLAG
2016-12-28 16:11:25 +00:00
TC DOWNFLAG # ENSURE SEARCH FLAG IS OFF
ADRES SRCHOPTN
2016-12-28 16:11:25 +00:00
CA TRACKBIT # IS TRACK FLAG ON?
MASK FLAGWRD1
EXTEND
BZF GOPIN
2016-12-28 16:11:25 +00:00
TC POSTJUMP
CADR TRMTRAK1
2016-12-28 16:11:25 +00:00
BITS9+7 OCT 500
SETLOC SBAND # BANK 42
BANK
2016-12-28 16:11:25 +00:00
COUNT* $$/EXTVB
2016-12-28 16:11:25 +00:00
TRMTRAK1 TC DOWNFLAG
ADRES UPDATFLG # UPDATE FLAG DOWN
TC DOWNFLAG
ADRES TRACKFLG # TRACK FLAG DOWN
TC DOWNFLAG
ADRES IMUSE
2016-12-28 16:11:25 +00:00
TC INTPRET
2016-12-28 16:11:25 +00:00
CALL
INTSTALL # DON'T INTERRUPT INTEGRATION
# Page 288
EXIT
2016-12-28 16:11:25 +00:00
TC PHASCHNG
OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY
2016-12-28 16:11:25 +00:00
INHINT
TC IBNKCALL # ZERO THE COMMANDED RATES TO STOP
CADR STOPRATE # MANEUVER
2016-12-28 16:11:25 +00:00
TC IBNKCALL
CADR RESTORDB
2016-12-28 16:11:25 +00:00
TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES.
2016-12-28 16:11:25 +00:00
CS BIT14 # DISABLE LOCKON
EXTEND
WAND CHAN12
TC POSTJUMP
CADR GOPROG2 # CAUSE RESTART.
2016-12-28 16:11:25 +00:00
# DNEDUMP VERB 74 DESCRIPTION
# INITIALZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP.
#
# 1. SET EXT VERB DISPLAY BUSY FLAG.
# 2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY.
# 3. RELEASE EXT VERB DISPLAY.
SETLOC EXTVERBS
BANK
COUNT* $$/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
2016-12-28 16:11:25 +00:00
TC NOUPDOWN
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
NOUPDOWN TC DOWNFLAG
ADRES NOUPFLAG
2016-12-28 16:11:25 +00:00
TCF GOPIN
2016-12-28 16:11:25 +00:00
# UPDATOFF VERB 95 DESCRIPTION
# INHIBIT STATE VECTOR UPDATES BY INCORP
# SET NOUPFLAG TO 1
UPDATOFF TC UPFLAG # VB 95 SET NOUPFLAG
ADRES NOUPFLAG
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
SYSTEST TC CHKP00H # DEMAND P00
TC TESTXACT
2016-12-28 16:11:25 +00:00
CAF PRIO22
TC FINDVAC
EBANK= QPLACE
SBANK= IMUSUPER
2CADR REDO
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
# VERB 93 CLEAR RENDWFLG, CAUSES W-MATRIX TO BE RE-INITIALIZED.
WMATRXNG INHINT
CS RENDWBIT
MASK FLAGWRD5
TS FLAGWRD5
2016-12-28 16:11:25 +00:00
TC GOPIN
2016-12-28 16:11:25 +00:00
GOSHOSUM EQUALS SHOWSUM
SHOWSUM TC CHKP00H # *
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
2016-12-28 16:11:25 +00:00
TC ENDEXT # *
VNCON VN 501 # *
ENDSUMS CA SKEEP6 # *
EXTEND # *
BZF SELFCHK # * ROPECHK, START SELFCHK AGAIN.
TC STSHOSUM # * START SHOWSUM AGAIN.
2016-12-28 16:11:25 +00:00
# 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
2016-12-28 16:11:25 +00:00
BANK 34
SETLOC LOADDAP
BANK
2016-12-28 16:11:25 +00:00
COUNT* $$/R03
2016-12-28 16:11:25 +00:00
SBANK= LOWSUPER # FOR SUBSEQUENT LOW 2CADR'S
2016-12-28 16:11:25 +00:00
DAPDATA1 CAF BOOLSMSK # SET DISPLAY ACCORDING TO DAPBOOLS BITS.
MASK DAPBOOLS # LM
TS DAPDATR1 # LM
CS FLGWRD10 # SET BIT 14 TO BE COMPLEMENT OF APSFLAG.
MASK APSFLBIT
CCS A
CAF BIT14
ADS DAPDATR1
CHKDATA1 CAE DAPDATR1 # IF BITS 13 AND 14 ARE BOTH ZERO, FORCE
MASK BIT13-14 # A ONE INTO BIT 13.
EXTEND
BZF FORCEONE
CAE DAPDATR1 # ENSURE THAT NO ILLEGAL BITS SET BY CREW.
MSKDATR1 MASK DSPLYMSK
TS DAPDATR1
CAF V01N46 # LM
TC BANKCALL
CADR GOXDSPFR
TCF ENDEXT # V34E TERMINATE
TCF DPDAT1 # V33E PROCEED
TCF CHKDATA1 # E NEW DATA CHECK AND REDISPLAY
CAF REVCNT # BITS 2 & 3: BLANKS R2 & R3.
TC BLANKET
TCF ENDOFJOB
FORCEONE CAF BIT13
ADS DAPDATR1
TCF MSKDATR1
2016-12-28 16:11:25 +00:00
DPDAT1 INHINT # INHINT FOR SETTING OF FLAG BITS AND MASS
CS APSFLBIT # ON BASIS OF DISPLAYED DAPDATR1.
MASK FLGWRD10
TS L # SET APSFLAG TO BE COMPLEMENT OF BIT 14.
# Page 293
CS DAPDATR1
MASK BIT14
CCS A
CAF APSFLBIT
AD L
TS FLGWRD10
CS DAPDATR1 # SET BITS OF DAPBOOLS ON BASIS OF DISPLAY
MASK BIT13-14 # MASK OUT CSMDOCKD (BIT 13) UNLESS BOTH
CCS A # 13 AND 14 ARE SET.
CS CSMDOCKD
AD BOOLSMSK
MASK DAPDATR1
TS L
CS BOOLSMSK
MASK DAPBOOLS
AD L
TS DAPBOOLS
MASK CSMDOCKD # LOAD MASS IN ACCORDANCE WITH CSMDOCKD.
CCS A # MASS IS USUALLY OKAY, SO DO
CAE CSMMASS # NOT TOUCH ITS LOW-ORDER PART.
AD LEMMASS
TS MASS
CAE DAPBOOLS
MASK ACC4OR2X # 2 OR 4 JET X-TRANSLATION
EXTEND # (BIT ACC4OR2X = 1 FOR 4 JETS)
BZF +5
CS BIT15
MASK FLAGWRD1 # CLEAR NJTSFLAG TO 0 FOR 4 JETS
TS FLAGWRD1
TCF +4
CS FLAGWRD1 # SET NJTSFLAG TO 1 FOR 2 JETS
MASK BIT15
ADS FLAGWRD1
CA DAPBOOLS # SELECT DESIRED KALCMANU AUTOMATIC
MASK THREE # MANEUVER RATE
DOUBLE # RATEINDX HAS TO BE 0,2,4,6 SINCE RATES
TS RATEINDX # ARE DP
TC POSTJUMP
CADR STIKLOAD
2016-12-28 16:11:25 +00:00
V01N46 VN 0146
DSPLYMSK OCT 33113
BOOLSMSK OCT 13113
BANK 01
SETLOC LOADDAP1
BANK
2016-12-28 16:11:25 +00:00
COUNT* $$/R03
2016-12-28 16:11:25 +00:00
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.
2016-12-28 16:11:25 +00:00
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).
2016-12-28 16:11:25 +00:00
DAPDATA3 CS FLGWRD10
MASK APSFLBIT
EXTEND # END ROUTINE IF LEM HAS STAGED.
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
COUNT* $$/EXTVB
2016-12-28 16:11:25 +00:00
EBANK= RRECTHIS
ATTACHED CAF PRIO10
TC FINDVAC
EBANK= RRECTHIS
2016-12-28 16:11:25 +00:00
2CADR ATTACHIT
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
ATTACHIT TC INTPRET
CALL
INTSTALL
SET BON
MOONOTH
MOONTHIS
+3
CLEAR
MOONOTH
EXIT
CAF OCT51
TC GENTRAN
ADRES RRECTHIS # OUR STATE VECTOR INTO OTHER VIA GENTRAN
ADRES RRECTOTH
2016-12-28 16:11:25 +00:00
RELINT
TC INTPRET
CALL # UPDATE R-OTHER, V-OTHER
PTOALEM
LXA,2 CALL
PBODY
SVDWN1
EXIT
2016-12-28 16:11:25 +00:00
CAF TCPINAD
INDEX FIXLOC
TS QPRET
TC POSTJUMP
CADR INTWAKE # FREE INTEGRATION AND EXIT.
2016-12-28 16:11:25 +00:00
# Page 298
TCPIN RTB
PINBRNCH
2016-12-28 16:11:25 +00:00
OCT51 OCT 51
TCPINAD CADR TCPIN
# VERB 96 SET QUITFLAT TO STOP INTEGRATION.
#
# GO TO V37 WITH ZERO TO CAUSE P00.
# STATEINT WILL CHECK QUITFLAG AND SKIP 1ST PASS,
# THUS ALLOWING A 10 MINUT PERIOD WITHOUT INTEGRATION.
VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT
ADRES QUITFLAG # AT NEXT TIMESTEP
2016-12-28 16:11:25 +00:00
CAF ZERO
TC POSTJUMP
CADR V37 # GO TO P00
2016-12-28 16:11:25 +00:00
# VERB 67: DISPLAY OF W MATRIX
V67 TC TESTXACT
CAF PRIO5
TC FINDVAC
EBANK= WWPOS
2CADR V67CALL
2016-12-28 16:11:25 +00:00
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
# VERB 65 DISABLE U,V JETS DURING DPS BURNS
SNUFFOUT TC UPFLAG
ADRES SNUFFER
TC GOPIN
2016-12-28 16:11:25 +00:00
# VERB 75 ENABLE U,V JETS DURING DPS BURNS
OUTSNUFF TC DOWNFLAG
ADRES SNUFFER
TC GOPIN
2016-12-28 16:11:25 +00:00
# VERB 85 DISPLAY RR LOS AZIMUTH AND ELEVATION.
#
# AZIMUTH IS THE ANGLE BETWEEN THE LOS AND THE X-Z NB PLANE, 0-90 DEG IN THE +Y HEMISPHERE,
# 360-270 DEG IN THE -Y HEMISPHERE.
2016-12-28 16:11:25 +00:00
#
# ELEVATION IS THE ANGLE BETWEEN +ZNB AND THE PROJECTION OF THE LOS INTO THE X-Z PLANE, 0-360 ABOUT +Y.
EBANK= RR-AZ
VERB85 TC TESTXACT
# Page 299
TC POSTJUMP
CADR DSPRRLOS
2016-12-28 16:11:25 +00:00
SETLOC PINBALL1
BANK
2016-12-28 16:11:25 +00:00
COUNT* $$/EXTVB
2016-12-28 16:11:25 +00:00
DSPRRLOS CAF PRIO5
TC FINDVAC
EBANK= RR-AZ
2CADR RRLOSDSP
2016-12-28 16:11:25 +00:00
CAF PRIO4
TC PRIOCHNG
CAF V16N56
TC BANKCALL
CADR GOMARKFR
TC B5OFF
TC B5OFF
TC B5OFF
2016-12-28 16:11:25 +00:00
CAF BIT3
TC BLANKET
TC ENDOFJOB
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
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
2016-12-28 16:11:25 +00:00
CA BIT5
MASK EXTVBACT
CCS A
TC RRLOSDSP
TC ENDEXT
2016-12-28 16:11:25 +00:00
V16N56 VN 1656