1682 lines
37 KiB
Plaintext
1682 lines
37 KiB
Plaintext
# Copyright: Public domain.
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# Filename: EXTENDED_VERBS.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 262-300
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# Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
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# from the Luminary131/ file of the same
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# name, using Luminary099 page images.
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# 2009-06-05 RSB Corrected 5 typos.
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# 2009-06-06 RSB Eliminated an extraneous 3-instruction block
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# and added a missing instruction.
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# 2009-06-07 RSB Added a couple of "SBANK=" for compatibility
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# with yaYUL. Corrected a typo.
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# 2010-12-31 JL Fixed page number comments.
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# 2011-01-06 JL Added missing comment characters.
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# 2011-05-08 JL Flagged SBANK= workarounds for future removal.
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
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# 16:27 JULY 14, 1969
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# Page 262
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BANK 7
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SETLOC EXTVERBS
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BANK
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EBANK= OGC
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COUNT* $$/EXTVB
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# FAN-OUT
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GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC
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TC LST2FAN # FAN AS BEFORE.
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LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 OR 72 ONLY)
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TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR
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# 72 ONLY)
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TC IMUFINEK # VB42 FINE ALIGN IMU
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TC IMUATTCK # VB43 LOAD IMU ATTITUDE ERROR METERS.
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TC RRDESEND # VB44 TERMINATE CONTINUOUS DESIGNATE
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TC ALM/END # VB45 SPARE
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TC ALM/END # VB46 SPARE
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TC V47TXACT # VB47 AGS INITIALIZATION
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TC DAPDISP # VB48 LOAD A/P DATA
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TCF CREWMANU # VB49 START AUTOMATIC ATTITUDE MANEUVER
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TC GOLOADLV # VB50 PLEASE PERFORM
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TC ALM/END # VB51 SPARE
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TC GOLOADLV # VB52 PLEASE MARK X -- RETICLE.
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TC GOLOADLV # VB53 PLEASE MARK Y -- RETICLE.
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TC GOLOADLV # VB54 PLEASE MARK X OR Y RETICLE
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TC ALINTIME # VB55 ALIGN TIME
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TC TRMTRACK # VB56 TERMINATE TRACKING -- P20 + P25
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TC LRON # VB57 PERMIT LANDING RADAR UPDATES
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TC LROFF # VB58 INHIBIT LANDING RADAR UPDATES
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TC ALM/END # VB59 SPARE
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TC LRPOS2K # VB60 COMMAND LR TO POSITION 2.
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TC DAPATTER # VB61 DISPLAY DAP ATTITUDE ERROR
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TC TOTATTER # VB62 DISPLAY TOTAL ATTITUDE ERROR
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TC R04 # VB63 SAMPLE RADAR ONCE PER SECOND
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TC VB64 # VB64 CALCULATE, DISPLAY S-BAND ANT ANGLES
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TC SNUFFOUT # VB65 DISABLE U,V JETS DURING DPS BURNS.
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TC ATTACHED # VB66 ATTACHED MOVE THIS TO OTHER STATE
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TC V67 # VB67 W MATRIX MONITOR
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TC ALM/END # VB68 SPARE
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VERB69 TC VERB69 # VB69 FORCE A HARDWARE RESTART
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TC V70UPDAT # VB70 UPDATE LIFTOFF TIME.
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TC V71UPDAT # VB71 UNIVERSAL UPDATE -- BLOCK ADDRESS.
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TC V72UPDAT # VB72 UNIVERSAL UPDATE -- SINGLE ADDRESS.
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TC V73UPDAT # VB73 UPDATE AGC TIME (OCTAL).
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TC DNEDUMP # VB74 INITIALIZE DOWN-TELEMETRY PROGRAM
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# FOR ERASABLE DUMP.
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TC OUTSNUFF # VB75 ENABLE U,V JETS DURING DPS BURNS.
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# Page 263
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TC MINIMP # VB76 MINIMUM IMPULSE MODE
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TC NOMINIMP # VB77 RATE COMMAND MODE
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TC R77 # VB78 START LR SPURIOUS RETURN TEST
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TC R77END # VB79 TERMINATE LR SPURIOUS RETURN TEST
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TC LEMVEC # VB80 UPDATE LEM STATE VECTOR
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TC CSMVEC # VB81 UPDATE CSM STATE VECTOR
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TC V82PERF # VB82 REQUEST ORBIT PARAM DISPLAY (R30)
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TC V83PERF # VB83 REQUEST REND PARAM DISPLAY (R31)
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TC ALM/END # VB84 SPARE
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TC VERB85 # VB85 DISPLAY RR LOS AZ AND ELEV
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TC ALM/END # VB86 SPARE
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TC ALM/END # VB87 SPARE
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TC ALM/END # VB88 SPARE
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TC V89PERF # VB89 ALIGN XORZ LEM AXIS ALONG LOS (R63)
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TC V90PERF # VB90 OUT OF PLANE RENDEZVOUS DISPLAY
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TC GOSHOSUM # VB91 DISPLAY BANK SUM.
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TC SYSTEST # VB92 OPERAT IMU PERFORMANCE TEST.
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TC WMATRXNG # VB93 CLEAR RENDWFLG
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TC ALM/END # VB94 SPARE
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TC UPDATOFF # VB95 NO STATE VECTOR UPDATE ALLOWED
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TC VERB96 # VB96 INTERRUPT INTEGRATION AND GO TO P00
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TC GOLOADLV # VB97 PLEASE VERIFY ENGINE FAILURE
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TC ALM/END # VB98 SPARE
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TC GOLOADLV # VB99 PLEASE ENABLE ENGINE
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# END OF EXTENDED VERB FAN
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TESTXACT CCS EXTVBACT # ARE EXTENDED VERBS BUSY
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TC ALM/END # YES, TURN ON OPERATOR LIGHT
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CA FLAGWRD4 # ARE PRIORITY DISPLAYS USING DSKY
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MASK OC24100
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CCS A
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TC ALM/END # YES
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CAF OCT24 # SET 3, AND 5
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SETXTACT TS EXTVBACT # NO. SET FLAG TO SHOW EXT VERB DISPLAY
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# SYSTEM BUSY
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CA Q
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TS MPAC +1
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CS TWO # BLANK EVERYTHING EXCEPT MM AND VERB
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TC NVSUB
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TC +1
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TC MPAC +1
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XACTALM TC FALTON # TURN ON OPERATOR ERROR LIGHT.
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TC ENDEXT # RELEASE MARK AND EXT. VERB DISPLAY SYS.
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TERMEXTV EQUALS ENDEXT
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# Page 264
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ENDEXTVB EQUALS ENDEXT
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XACT0 CAF ZERO # RELEASE MARK AND EXT. VERB DISPLAY SYS.
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TC SETXTACT
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ALM/END TC FALTON # TURN ON OPERATOR ERROR LIGHT
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GOPIN TC POSTJUMP
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CADR PINBRNCH
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CHKP00H CA MODREG # CHECK FOR P00 OR P00-.
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EXTEND
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BZF TCQ
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TC ALM/END
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OC24100 OCT 24100
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# Page 265
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# VBZERO VERB 40 DESCRIPTION
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#
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# 1. REQUIRE NOUN 20 (ICDU ANGLES) OR NOUN 72 (RCDU ANGLES).
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# 2. FOR N20, CHECK IMUCADR IN AN EFFORT TO AVOID A 1210 RESTART.
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# FOR N72, CHECK IF EITHER RADAR IS IN USE.
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# 3. EXECUTE THE CDU ZERO.
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# 4. STALL UNTIL THE ZERO IS DONE.
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# 5. DON'T DIFFERENTIATE BETWEEN A BAD OR GOOD RETURN.
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# 6. EXIT, RE-ESTABLISHING THE INTERRUPTED DISPLAY (IF ANY).
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VBZERO TC OP/INERT
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TC IMUZEROK # RETURN HERE IF NOUN = ICDU(20)
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TC RRZEROK # RETURN HERE IF NOUN = RCDU(72)
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IMUZEROK TC CKMODCAD
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TC BANKCALL # KEYBOARD REQ FOR ISS CDUZERO
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CADR IMUZERO
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TC BANKCALL # STALL
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CADR IMUSTALL
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TC +1
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TC GOPIN # IMUZERO
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RRZEROK TC RDRUSECK
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TC BANKCALL
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CADR RRZERO
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RWAITK TC BANKCALL
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CADR RADSTALL
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TCF +1
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TC GOPIN # RRZERO
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# LRPOS2K VERB 60 DESCRIPTION
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# COMMAND LANDING RADAR TO POSITION 2
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#
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# 1. EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAR.
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# 2. ALARM WITH CODE 523 IF POS 2 IS NOT INDICATED WITHIN
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# THE PRESCRIBED TIME.
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# 3. RE-ESTABLISH THE DISPLAYS.
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LRPOS2K TC RDRUSECK
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TC BANKCALL # COMMAND LR TO POSITION 2
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CADR LRPOS2
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TC BANKCALL
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CADR RADSTALL
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TC LRP2ALM
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TC GOPIN
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LRP2ALM TC ALARM
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OCT 523
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TC GOPIN
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# Page 266
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# V61 VERB 61, DISPLAY DAP ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES.
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DAPATTER TC DOWNFLAG
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ADRES NEEDLFLG
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TC GOPIN
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# V62 VERB 62, DISPLAY TOTAL ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES.
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TOTATTER TC UPFLAG
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ADRES NEEDLFLG
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TC GOPIN
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# Page 267
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# VBCOARK VERB 41 DESCRIPTION
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# COARSE ALIGN IMU OR RADAR
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#
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# 1. REQUIRE NOUN 20 OR NOUN 72 OR TURN ON OPERATOR ERROR.
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# 2. REQUIRE EXT VERB DISPLAY SYS AVAILABLE OR TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH.
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# CASE 1, NOUN 20 (ICDU ANGLES)
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# 3. SET EXT VERB DISPLAY ACTIVE FLAG.
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# 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES).
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# RESPONSES
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# A. TERMINATE
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# 1. RELEASE EXT VERB DISPLAY SYSTEM
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# B. PROCEED
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# 1. COARSE ALIGN TO THE EXISTING THETAD'S (ICORK2).
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# C. ENTER
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# 1. COARSE ALIGN TO THE LOADED THETAD'S (ICORK2).
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# ICORK2
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# 1. RE-DISPLAY VERB 41.
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# 2. EXECUTE IMUCCARS (IMU COARSE ALIGN).
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# 3. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER).
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# 4. RELEASE EXT VERB DISPLAY SYSTEM.
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# CASE 2, NOUN 72 (RCDU ANGLES)
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# EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAD.
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# 5. DISPLAY FLASHING V24, N73 (LOAD NEW RR TRUNION ANGLE AND NEW SHAFT ANGLE).
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# RESPONSES
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# A. TERMINATE
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# 1. RELEASE EXT VERB DISPLAY SYS.
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# B. PROCEED OR ENTER
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# 1. EXECUTE AURLOKON (ASK OPERATOR FOR LOCK-ON REQUIREMENTS).
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# 2. RE-DISPLAY VERB 41.
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# 3. SCHEDULE RRDESK2 WITH PRIORITY 20.
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# 4. RELEASE EXT VERB DISPLAY SYS.
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# AURLOKON
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# 1. FLASH V04 N12 R1 = 00006 R2 = 00002
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# RESPONSES
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# A. TERMINATE
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# B. PROCEED
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# 1. RESET LOCK-ON SWITCH
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# 2. SET CONTINUOUS DESIGNATE FLAG
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# 3. DISABLE R25
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# C. V22 E 1 E, R1 = 00001, PROCEED
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# 1. SET LOCK-ON SWITCH
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VBCOARK TC OP/INERT
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TC IMUCOARK # RETURN HERE IF NOUN = ICDU (20)
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TC RRDESNBK # RETURN HERE IF NOUN = RCDU (72)
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# RETURNS TO L+1 IF IMU OR L+2 IF RR.
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OP/INERT CS OCT24
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AD NOUNREG
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EXTEND
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# Page 268
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BZF TCQ # IF = 20.
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AD RRIMUDIF # -52
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EXTEND
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BZF Q+1
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TC ALM/END # ILLEGAL.
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RRIMUDIF DEC -52 # THE IMU
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IMUCOARK TC CKMODCAD
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TC TESTXACT # COARSE ALIGN FROM KEYBOARD.
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CAF VNLODCDU # CALL FOR THETAD LOAD
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TC BANKCALL
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CADR GOXDSPF
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TC TERMEXTV
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TCF +1
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ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB.
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TC BANKCALL
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CADR EXDSPRET
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TC BANKCALL # CALL MODE SWITCHING PROG
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CADR IMUCOARS
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TC BANKCALL # STALL
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CADR IMUSTALL
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TC ENDEXTVB
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TC ENDEXTVB
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VNLODCDU VN 2522
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IMUCOARV VN 4100
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# Page 269
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# DESIGNATE TO DESIRED GIMBAL ANGLES.
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RRDESNBK TC RDRUSECK
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TC TESTXACT
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CA RNDVZBIT # IS P20 RUNNING?
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MASK FLAGWRD0
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CCS A
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TCF XACTALM # OPERADOR ERROR IF IN P20
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CS OCT41000 # TERMINATE PRESENT DESIGNATION
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INHINT # RELINT DONE IN GOXDSPF
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MASK RADMODES
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TS RADMODES
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CAF VNLDRCDU # ASK FOR GIMBAL ANGLES.
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TC BANKCALL
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CADR GOXDSPF
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TC TERMEXTV
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TCF -4 # V33
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TC BANKCALL # ASK OP FOR LOCK ON REQUIREMENTS.
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CADR AURLOKON
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CAF OPTCOARV # RE-DISPLAY OUR OWN VERB
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TC BANKCALL
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CADR EXDSPRET
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CAF PRIO20
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TC FINDVAC
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EBANK= LOSCOUNT
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2CADR RRDESK2
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TCF TERMEXTV # FREES DISPLAY
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VNLDRCDU VN 2473
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OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS.
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RRDESK2 TC BANKCALL
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CADR RRDESNB
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TC +1 # DUMMY NEEDED SINCE DESRETRN DOES INCR
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CA PRIORITY
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MASK LOW9
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CCS A
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INDEX A
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TS A # RELEASE THIS JOB'S VAC AREA.
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COM # INSURE ENDOFJOB DOES A NOVAC END (BZMF).
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ADS PRIORITY
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TC BANKCALL # WAIT FOR COMPLETION OF DESIGNATE
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CADR RADSTALL
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# Page 270
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TC +2 # BADEND -- NO LOCKON OR OUT OF LIMITS
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TC ENDOFJOB # GOODEND -- LOCKON ACHIEVED
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TC ALARM
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OCT 503 # TURN ON ALARM LIGHT -- 503 DESIGNATE FAIL
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TC ENDOFJOB
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RRDESEND CCS RADMODES # TERMINATE CONTINOUS DESIGNATE ONLY
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TCF GOPIN
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TCF GOPIN
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TCF +1
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CS OCT41000 # BEGDES GOES TO ENDRADAR
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INHINT # RELINT DONE IN DOWNFLAG
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MASK RADMODES
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TS RADMODES
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TC CLRADMOD
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CAF 1SEC
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TC BANKCALL
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CADR DELAYJOB
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TC DOWNFLAG # ENABLE R25 GIMBAL MONITOR
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ADRES NORRMON
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TCF GOPIN
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OCT41000 OCT 41000 # CONTINOUS DESIGNATE -- DESIGNATE
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# Page 271
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BANK 23
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SETLOC EXTVB1
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BANK
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COUNT* $$/EXTVB
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AURLOKON TC MAKECADR
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TS DESRET
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CAF TWO
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TS OPTIONX +1
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CAF SIX # OPTION CODE FOR V04N12
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TS OPTIONX
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-5 CAF V04N1272
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TC BANKCALL # R2 00001 LOCK-ON
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CADR GOMARKFR
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TCF ENDEXT # V34
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TCF +5 # V33
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TCF -5 # V32
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CAF BIT3
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TC BLANKET
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TC ENDOFJOB
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+5 CA OPTIONX +1
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MASK BIT2
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CCS A
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TCF NOLOKON
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TC UPFLAG
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ADRES LOKONSW
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TCF AURLKON1
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NOLOKON TC DOWNFLAG # IF NO LOCK-ON, SET BIT15 OF RADMADES TO
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ADRES LOKONSW # INDICATE THAT CONTINUOUS DESIGNATION IS
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TC UPFLAG # WANTED (TO BE TERMINATED BY V44.)
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ADRES CDESFLAG
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TC UPFLAG # SET NO RR ANGLE MONITOR FLAG.
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ADRES NORRMON # DISABLE R25 RR GIMBAL MONITOR IN T4RUPT
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AURLKON1 RELINT
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CA DESRET
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TCF BANKJUMP
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V04N1272 VN 412
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-LOKONFG OCT -20
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BANK 43
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SETLOC EXTVERBS
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BANK
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COUNT* $$/EXTVB
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LRON TC UPFLAG # PERMIT INCORPORATION OF LR DATA V57
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# Page 272
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ADRES LRINH
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TCF GOPIN
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LROFF TC DOWNFLAG # INHIBIT INCORPORATION OF LR DATA V58
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ADRES LRINH
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TCF GOPIN
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EBANK= OGC
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# Page 273
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# IMUFINEK VERB 42 DESCRIPTION
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# FINE ALIGN IMU
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#
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# 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG OR TURN ON OPER ERROR AND GO TO PINBRNCH.
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# 2. DISPLAY FLASHING V25,N93....LOAD DELTA GYRO ANGLES....
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# RESPONSES
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# A. TERMINATE
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# 1. RELEASE EXT VERB DISPLAY SYSTEM.
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# B. PROCEED OR ENTER
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# 1. RE-DISPLAY VERB 42
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# 2. EXECUTE IMUFINE (IMU FIVE ALIGN MODE SWITCHING).
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# 3. EXECUTE IMUSTALL (ALLOW FOR DATA TRANSFER)
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# A. FAILED
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# 1. RELEASE EXT VERB DISPLAY SYSTEM.
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# B. GOOD
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# 1. EXECUTE IMUPULSE (TORQUE IRIGS).
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# 2. EXECUTE IMUSTALL AND RELEASE EXT VERB DISPLAY SYSTEM.
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IMUFINEK TC CKMODCAD
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TC TESTXACT # FINE ALIGN WITH GYRO TORQUING.
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CAF VNLODGYR # CALL FOR LOAD OF GYRO COMMANDS
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TC BANKCALL
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CADR GOXDSPF
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TC TERMEXTV
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TC +1 # PROCEED WITHOUT A LOAD
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CAF IMUFINEV # RE-DISPLAY OUR OWN VERB
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TC BANKCALL
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CADR EXDSPRET
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TC BANKCALL # CALL MODE SWITCH PROG
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CADR IMUFINE
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TC BANKCALL # HIBERNATION
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CADR IMUSTALL
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TC ENDEXTVB
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FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGISTERS
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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
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PTOALEM
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LXA,2 CALL
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PBODY
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SVDWN1
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EXIT
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CAF TCPINAD
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INDEX FIXLOC
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TS QPRET
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TC POSTJUMP
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CADR INTWAKE # FREE INTEGRATION AND EXIT.
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# Page 298
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|
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TCPIN RTB
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PINBRNCH
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OCT51 OCT 51
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TCPINAD CADR TCPIN
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|
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# VERB 96 SET QUITFLAT TO STOP INTEGRATION.
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#
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# GO TO V37 WITH ZERO TO CAUSE P00.
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# STATEINT WILL CHECK QUITFLAG AND SKIP 1ST PASS,
|
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# THUS ALLOWING A 10 MINUT PERIOD WITHOUT INTEGRATION.
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|
|
|
VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT
|
|
ADRES QUITFLAG # AT NEXT TIMESTEP
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|
|
|
CAF ZERO
|
|
TC POSTJUMP
|
|
CADR V37 # GO TO P00
|
|
|
|
# VERB 67: DISPLAY OF W MATRIX
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|
|
|
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
|
|
|