Apollo-11/Luminary099/EXTENDED_VERBS.agc

# 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.
#		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
#	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

CHKP00H		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	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.

		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	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

		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	CHKP00H
		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.	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

		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 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

		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	CHKP00H		# 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	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

		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