1337 lines
31 KiB
Plaintext
1337 lines
31 KiB
Plaintext
# Copyright: Public domain.
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# Filename: EXTENDED_VERBS.agc
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# Purpose: Part of the source code for Comanche, build 055. It
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# is part of the source code for the Command Module's
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# (CM) Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 236-267
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# Contact: Ron Burkey <info@sandroid.org>,
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# Fabrizio Bernardini <fabrizio@spacecraft.it>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 2009-05-18 FB Transcription Batch 3 Assignment.
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# 2009-05-20 RSB Corrections: POODOO -> P00DOO,
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# GOTOPOOH -> GOTOP00H, added a couple of
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# missing instructions in Verb 96.
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# 2009-05-23 RSB In SYSTEST, corrected TC FLAGWRD1 to
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# CA FLAGWRD1. Added a variety of SBANK=
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# statements prior to 2CADRs. One day I'll
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# have to figure out what yaYUL is doing
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# wrong with those ....
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#
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# The contents of the "Comanche055" files, in general, are transcribed
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# from scanned documents.
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. April 1, 1969.
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#
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# This AGC program shall also be referred to as Colossus 2A
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#
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# Prepared by
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# Massachusetts Institute of Technology
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# 75 Cambridge Parkway
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# Cambridge, Massachusetts
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#
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# under NASA contract NAS 9-4065.
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#
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# Refer directly to the online document mentioned above for further
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# information. Please report any errors to info@sandroid.org.
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# Page 236
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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 BEFROE.
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LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 ONLY)
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TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR
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# 91 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 SETSURF # VB44 SET SURFACE FLAG
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TC RESTSRF # VB45 RESET SURFACE FLAG
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TC STABLISH # VB46 ESTABLISH G+C CONTROL
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TC LMTOCMSV # VB47 MOVE LM STATE VECTOR INTO CM
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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 GOLOADLV # VB51 PLEASE MARK
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TC V52 # VB52 SET OFFSET NO. FOR P22
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TC GOLOADLV # VB53 PLEASE PERFORM COAS MARK
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TC GOTOR23 # VB54 PLEASE MARK (R-21 BACKUP)
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TC ALINTIME # VB55 ALIGN TIME
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TC TRACKTRM # VB56 TERMINATE TRACKING (P20 + P25)
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TC GOTOR21 # VB57 START R21 REND TRACK SIGHT MARK ROUT
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TC ENATMA # VB58 ENABLE AUTOMATIC ATTITUDE MANEUVER
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TC GOLOADLV # VB59 PLEASE CALIBRATE
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TC V60 # VB60 SET CPHIX (N17) EQUAL TO CDU
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TC V61 # VB61 SELECT MODE I
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TC V62 # VB62 SELECT MODE II, ERROR WRT N22
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TC V63 # VB63 SELECT MODE III, ERROR WRT N17
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TC VB64 # VB64 CALCULATE, DISPLAY S-BAND ANT ANGLES
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TC CKOPTVB # V 65 E OPTICAL VERIFICATION FOR PRELAUNC
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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 STROKON # VB68 CSM STROKE TEST ON.
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VERB69 TC VERB69 # VB69 CAUSE 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 LFTFLGON # VB75 SET LIFTOFF FLAG.
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# Page 237
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TC SETPRFLG # VB76 SET PREFERRED ATTITUDE FLAG
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TC RESETPRF # VB77 RESET PREFERRED ATT. FLAG
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TC CHAZFOGC # CHANGE GYROCOMPASS LAUNCH AZIMUTH V78
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TC ALM/END # V79 SPARE
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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 RANGE, RANGE RATE, +X AXIS (R31)
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TC ALM/END # V84 SPARE
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TC V85PERF # VB85 RANGE, RANGE RATE, SLOS (R32)
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TC V86PERF # VB86 BACKUP MARK REJECT
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TC SETVHFLG # VB87 SET VHF RANGE FLAG
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TC RESETVHF # VB88 RESET VHF RANGE FLAG
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TC V89PERF # V89-ALIGN X OR PRF CSM AXIS TO LOS (R63)
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TC V90PERF # VB90-OUT OF PLAN PARAMETERS (R36)
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TC GOSHOSUM # VB91 TEMP FOR HYBRID AND STG.
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TC SYSTEST # VB92 OPERATE IMU PERFORMANCE TEST
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TC WMATRXNG # VB93 CLEAR RENDWFLG
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TC VERB94 # VB94 DO R64
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TC ALM/END # VB95 SPARE
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TCF VERB96 # VB96 SET QUITFLAG TO STOP INTEGRATION
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TC GOLOADLV # VB97 PLEASE PERFORM ENGINE-FAIL (R41)
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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
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TC ALM/END # YES, TURN ON OPERATOR ERROR LIGHT
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CA FLAGWRD4 # ARE PRIOS USING DSKY
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MASK OC24100
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CCS A
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TC ALM/END
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CAF OCT24 # SET BITS 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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# Page 238
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TERMEXTV EQUALS ENDEXT
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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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OC24100 OCT 24100
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# Page 239
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# VBZERO VERB 40 DESCRIPTION
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#
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# 1. REQUIRE NOUN 20 (ICDU ANGLES)
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# 2. REQUIRE AVAILABILITY OF EXT VERB DISPLAY SYSTEM
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# 3. IF EITHER OF ABOVE CONDITIONS NOT PRESENT, TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH.
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# 4. SET EXT VERB DISPLAY ACTIVE FLAG.
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# 5. EXECUTE IMUZERO (ZERO IMU CDU ANGLES).
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# 6. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER).
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# 7. RELEASE EXT. VERB DISPLAY SYSTEM.
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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 ALM/END # RETURN HERE IF NOUN = OCDU(91)
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# (NOT IN USE YET)
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IMUZEROK TC CKMODCAD # KEYBOARD REQUEST FOR ISS CDUZERO
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TC BANKCALL
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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
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OP/INERT CS OCT24
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AD NOUNREG
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EXTEND
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BZF XACT0Q # IF = 20.
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INCR Q
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AD OPIMDIFF # -71
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EXTEND
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BZF XACT0Q
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TC ALM/END # ILLEGAL.
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OPIMDIFF DEC -71
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# Page 240
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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 91 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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#
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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. DISPLAY FLASHING V25,N23 (LOAD DELTA 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. EXECUTE ICORK2.
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# C. ENTER
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# 1. INCREMENT CDU ANGLES
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# 2. EXECUTE ICORK2
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# C. ENTER
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# 1. EXECUTE 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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#
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# CASE 2 NOUN 91 (OCDU ANGLES)
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# 5. (REQUIRE OPTICS SWITCH TO BE AT COMUTER OR TURN ON OPERATOR ERROR AND ALARM 115) AND (REQUIRE
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# OPTICS AVAILABLE AND DISPLAY FLASHING V24,N92....LOAD NEW OPTICS ANGLES....OR TURN ON ALARM 117
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# AND RELEASE EXT VERB DISPLAY SYSTEM).
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# 6. RESPONSES TO V29,N92
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# A. TERMINATE
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# RELEASE EXT VERB DISPLAY SYS.
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# B. PROCEED OR ENTER
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# RE-DISPLAY VERB 41, SET SWITCH TO INDICATE COURSE ALIGN OPTICS WORKING.
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# RELEASE EXT VERB DISPLAY SYSTEM.
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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 OPTCOARK # RETURN HERE IF NOUN = OCDU (91)
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# RETURNS TO L+1 IF NOUN 20 -- TO L+2 IF NOUN 91.
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IMUCOARK TC CKMODCAD # COARSE ALIGN FROM KEYBOARD
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TC TESTXACT
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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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# Page 241
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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 242
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# TEMPORARY ROUTINE TO RUN THE OPTICS CDUS FROM THE KEYBOARD
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OPTCOARK CA OPTCADR
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TC CKMODCAD +1
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TC TESTXACT
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CAF EBANK5
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TS EBANK
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CCS SWSAMPLE # SEE IF SWITCH AT COMPUTER
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TC +5 # SWITCH AT COMPUTER
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TC +1 # NOT ON COMPUTER
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TC FALTON # TURN ON OPERATOR ERR
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TC ALARM # AND ALARM
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OCT 00115
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CCS OPTIND # SEE IF OPTICS AVAILABLE
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TC OPTC1 # IN USE
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TC OPTC1 # IN USE
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TC OPTC1 # IN USE
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TC ALARM # OPTICS RESERVED (OPTIND=-0)
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OCT 00117
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TC ENDEXT
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OPTC1 CAF VNLD0CDU # VERB-NOUN TO LOAD OPTICS CDUS
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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
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CA SAC
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TS DESOPTS
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CA PAC
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TS DESOPTT
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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 ONE
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TS OPTIND # SET COARS WORKING
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TC ENDEXTVB
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TC ENDEXTVB
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VNLD0CDU VN 2492
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OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS.
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# Page 243
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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 # FINE ALIGN WITH GYRO TORQUING.
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TC TESTXACT
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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
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CADR IMUPULSE
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TC BANKCALL # WAIT FOR PULSES TO GET OUT.
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CADR IMUSTALL
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TC ENDEXTVB
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TC ENDEXTVB
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LGYROBIN ECADR OGC
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VNLODGYR VN 2593
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IMUFINEV VN 4200 # FINE ALIGN VERB
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CKMODCAD CA MODECADR
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# Page 244
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EXTEND
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BZF TCQ
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TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT
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# GOLOADLV VERB 50 DESCRIPTION
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# AND OTHER PLEASE
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# DO SOMETHING VERBS
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#
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# PLEASE PERFORM, MARK, CALIBRATE, ETC.
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#
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# 1. PRESSING ENTER ON DSKY INDICATES REQUESTED ACTION HAS BEEN PERFORMED, AND THE PROGRAM DOES THE
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# SAME RECALL AS A COMPLETED LOAD.
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# 2. THE EXECUTION OF A VERB 33 (PROCEED WITHOUT DATA) INDICATES THE REQUESTED ACTION IS NOT DESIRED.
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GOLOADLV TC FLASHOFF
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CAF PINSUPBT
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EXTEND
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WRITE SUPERBNK # TURN ON FE7
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TC POSTJUMP
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SBANK= PINSUPER
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CADR LOADLV1
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# V60 VERB 60
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V60 EXTEND # SET ASTRONAUT TOTAL ATTITUDE (N17) EQUAL
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DCA CDUX # TO PRESENT ATTITUDE
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DXCH CPHIX
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CA CDUZ
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TS CPHIX +2
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TC GOPIN
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# V61 VERB 61
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V61 TC DOWNFLAG # SET NEEDLFLG TO 0 (FLAGWRD0,BIT9), PHASE
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ADRES NEEDLFLG # PLANE A/P FOLLOWING ERROR DISPLAYED
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TC GOPIN
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# V62 VERB 62
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V62 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9),
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ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED
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TC UPFLAG # SET N22ORN17 TO 1 (FLAGWRD9,BIT6),
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ADRES N22ORN17 # COMPUTE TOTAL ATTITUDE ERROR WRT N22
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TC GOPIN
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# V63 VERB 63
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V63 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9),
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ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED
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TC DOWNFLAG # SET N22ORN17 TO 0 (FLAGWRD9,BIT6),
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# Page 245
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ADRES N22ORN17 # COMPUTE TOAL ASTRONAUT ATTITUDE ERROR
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TC GOPIN
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# Page 246
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# ALINTIME VERB 55 DESCRIPTION
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#
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# 1. SET EXT VERB DISPLAY BUSY FLAG.
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# 2. DISPLAY FLASHING V25,N24 (LOAD DELTA TIME FOR AGC CLOCK.
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# 3. REQUIRE EXECUTION OF VERB 23.
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# 4. ADD DELTA TIME, RECEIVED FROM INPUT REGISTER, TO THE COMPUTER TIME.
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# 5. RELEASE EXT VERB DISPLAY SYSTEM.
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COUNT 04/R33
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ALINTIME TC TESTXACT
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CAF VNLODDT
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TC BANKCALL
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CADR GOMARKF
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TC ENDEXT # TERMINATE
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TC ENDEXT # PROCEED
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CS DEC23 # DATA IN OR RESEQUENCE (UNLIKELY)
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AD MPAC # RECALL LEFT VERB IN MPAC
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EXTEND
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BZF UPDATIME # GO AHEAD WITH UPDATE ONLY IF RECALL
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TC ENDEXT # WITH V23 (DATA IN).
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UPDATIME INHINT # DELTA TIME IS IN DSPTEM1, +1.
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CAF ZERO
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TS MPAC +2 # NEEDED FOR TP AGREE
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TS L # ZERO T1 + 2 WHILE ALIGNING.
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DXCH TIME2
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DXCH MPAC
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DXCH DSPTEM2 +1 # INCREMENT
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DAS MPAC
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TC TPAGREE # FORCE SIGN AGREEMENT.
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DXCH MPAC # NEW CLOCK.
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DAS TIME2
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RELINT
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UPDTMEND TC ENDEXT
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DEC23 DEC 23 # V 23
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VNLODDT VN 2524 # V25N24 FOR LOAD DELTA TIME
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# Page 247
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# SYSTEST VERB 92 DESCRIPTION
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# OPERATE SELECTED SYSTEM TEST.
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#
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# 1. REQUIRE P00 OR P00- OR TURN ON OPERATOR ERROR.
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# 2. TURN OFF DAP IF IT IS ON.
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# 3. DISPLAY FLASHING V21,N01 (LOAD TEST NUMBER 1 THRU 17).
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# 4. UPON ENTRY OF TEST NUMBER, SCHEDULE TSELECT WITH PRIORITY 20.
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#
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# TSELECT
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# 1. IF LOADED TEST NUMBER IS VALID, GO TO THAT TEST ROUTINE, OTHERWISE TURN ON OPERATOR ERROR AND
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# REPEAT LOAD REQUEST DISPLAY. (NO. 3 ABOVE)
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EBANK= QPLACE
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COUNT 04/EXTVB
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SYSTEST TC CHKP00H
|
|
CA FLAGWRD1 # IS NODOP01 FLAGBIT ON? (SET BY P11)
|
|
MASK NOP01BIT
|
|
EXTEND
|
|
BZF V92CONT # IF IT'S NOT YET SET, CONTINUE
|
|
TC P00DOO # IT'S ON. SEND NODO ALARM FOR P07
|
|
OCT 1521
|
|
V92CONT TC EXDAPOFF # TURN DAP OFF IF IT'S ON
|
|
CAF PRIO20
|
|
TC FINDVAC
|
|
EBANK= QPLACE
|
|
SBANK= IMUSUPER
|
|
2CADR REDO
|
|
|
|
TC GOPIN
|
|
|
|
# REDO AND TSELECT ARE NOW IN SYSTEM TEST.
|
|
|
|
COUNT* $$/EXTVB
|
|
# CKOPTVB VERB 65 DESCRIPTION
|
|
# OPTICAL VERIFICATION FOR PRELAUNCH.
|
|
# 1. SCHEDULE GCOMPVER, OPTICAL VERIFICATION SUBPROGRAM, WITH PRIORITY 17.
|
|
|
|
CKOPTVB TC CHECKMM
|
|
MM 02 # I WONDER IF PRELAUNCH IS RUNNING
|
|
TC ALM/END # NOT RUNNING OPERATOR ERROR
|
|
INHINT
|
|
CAF PRIO16 # PRELAUNCH OPTICAL VERIFICATION
|
|
TC FINDVAC
|
|
EBANK= QPLACE
|
|
2CADR COMPVER # STANDARD LEADIN TO GCOMPVER.
|
|
|
|
TC GOPIN
|
|
|
|
# Page 248
|
|
# V 78 .... TO CHANGE GYROCOMPASS AZIMUTH
|
|
|
|
CHAZFOGC TC CHECKMM # IS IT PRELAUNCH
|
|
MM 02
|
|
TC ALM/END # NO -- OPERATOR ERROR
|
|
|
|
CAF PRIO16 # PRELAUNCH AZIMUTH CHANGE
|
|
TC FINDVAC
|
|
EBANK= XSM
|
|
2CADR AZMTHCG1
|
|
|
|
TC PHASCHNG
|
|
OCT 00174
|
|
TC GOPIN
|
|
# Page 249
|
|
# IMUATTCK VERB 43 DESCRIPTION
|
|
# LOAD IMU ATTITUDE ERROR METERS
|
|
#
|
|
# 1. REQUIRE PROGRAM 00 ACTIVE, COARSE ALIGN ENABLE BIT OFF AND ZERO ICDU BIT OFF.
|
|
# 2. IF GUID REF RELEASE OR LIFTOFF HAS OCCURRED REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY
|
|
# FLAG, OTHERWISE ALLOW CURRENT EXT VERB DISPLAY TO BE OVER-RIDDEN.
|
|
# 3. REMOVE COARSE ALIGN ENABLE AND IMU ERROR COUNTER ENABLE.
|
|
# 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES).
|
|
# 5. UPON PROCEED OR ENTER RESPONSE, INITIALIZE CURRENT DAC AND COMMAND VALUES, ENABLE ERROR COUNTERS
|
|
# TRANSFER LOADED VALUES TO REGISTERS, AND SEND COMMANDS.
|
|
# 6. IF BUSY FLAG SET, RESET IT TO RELEASE EXT VERB DISPLAY.
|
|
|
|
IMUATTCK TC CHKP00H
|
|
|
|
CAF OCTAL30 # SEE IF IMU ZERO AND IMU COARSE ARE ON
|
|
EXTEND
|
|
RAND CHAN12
|
|
CCS A
|
|
TCF ALM/END # NOT ALLOWED IF IMU COARSE OR IMU ZERO ON
|
|
|
|
TC CKLFTBTS # IS IT BEFORE OR AFTER LIFTOFF
|
|
TC TESTXACT # AFTER
|
|
CS OCT50 # REMOVE COARSE AND ECTR ENABLE
|
|
EXTEND
|
|
WAND CHAN12
|
|
|
|
CAF VNLODCDU
|
|
TC BANKCALL
|
|
CADR GOXDSPF
|
|
TCF TRMATTCK
|
|
TC +1
|
|
CAF EBANK6
|
|
TS EBANK # SET E6 FOR NEEDLES.
|
|
|
|
EBANK= AK
|
|
|
|
TC BANKCALL # INITIALIZE CURRENT DAC AND
|
|
CADR NEEDLE11 # COMMAND VALUES.
|
|
|
|
TC BANKCALL # ENABLE ERROR COUNTERS.
|
|
CADR NEEDLER2
|
|
|
|
CAF TWO # 4 MS MIN.
|
|
TC WAITLIST
|
|
EBANK= AK
|
|
2CADR ATTCK1
|
|
|
|
TRMATTCK TC CKLFTBTS # IS IT BEFORE OR AFTER LIFTOFF
|
|
TCF ENDEXT # AFTER
|
|
TC GOPIN
|
|
# Page 250
|
|
ATTCK1 EXTEND # TRANSFER LOADED VALUES TO DESIRED REQS.
|
|
DCA THETAD
|
|
DXCH AK
|
|
CAE THETAD +2
|
|
TS AK +2
|
|
|
|
TC IBNKCALL # SENDS COMMANDS LIMITED TO +,- 384 PULSES
|
|
CADR NEEDLES # AND LEAVES ERROR COUNTERS ENABLED.
|
|
|
|
TC TASKOVER
|
|
|
|
CKLFTBTS CAF GRRBKBIT # HAS LIFTOFF OCCURRED
|
|
MASK FLAGWRD5
|
|
CCS A
|
|
TC Q # YES
|
|
CAF BIT5
|
|
EXTEND
|
|
RAND CHAN30
|
|
CCS A
|
|
TCF Q+1
|
|
XACT0Q TC Q # YES
|
|
|
|
OCTAL30 OCT 30
|
|
VB64 TC CHKP00H # DEMAND PROGRAM 00.
|
|
TC TESTXACT # IF DISPLAY SYS. NOT BUSY, MAKE IT BUSY.
|
|
INHINT
|
|
CAF PRIO4
|
|
TC FINDVAC
|
|
EBANK= RHOSB
|
|
2CADR SBANDANT # CALC.,DISPLAY S-BAND ANTENNA ANGLES.
|
|
|
|
TC ENDOFJOB
|
|
|
|
# ENATMA VERB 58 DESCRIPTION
|
|
# ENABLE AUTOMATIC ATTITUDE MANEUVER
|
|
#
|
|
# VERB58 RESETS STIKFLAG TO ENABLE R61 TO PERFORM AUTOMATIC TRACKING MANEUVERS, AFTER INTERRUPTS BY THE RHC
|
|
# ACTIVITY.
|
|
|
|
ENATMA TC DOWNFLAG # RESET STIKFLAG.
|
|
ADRES STIKFLAG # BIT 14 FLAG 1
|
|
TC GOPIN
|
|
|
|
# Page 251
|
|
# STROKON VERB 68 DESCRIPTION
|
|
# STROKE TEST SETUP/ENABLE
|
|
# 1. SET EXT VERB DISPLAY BUSY FLAG
|
|
# 2. SCHEDULE STRKTST1 WITH PRIORITY 30.
|
|
# 3. RELEASE EXT VERB DISPLAY.
|
|
|
|
EBANK= T5TVCDT
|
|
STROKON CS FLAGWRD6 # V68 PERMITTED ONLY DURING TVC
|
|
MASK OCT60000
|
|
EXTEND
|
|
BZMF ALM/END # NOT TVC....FLASH OP ERROR LIGHT
|
|
CAF PRIO30 # JOB REQUEST, TO SET UP STROKE TEST,
|
|
TC NOVAC # INCLUDING INITIALIZATIONS
|
|
SBANK= PINSUPER # Added RSB 2009.
|
|
EBANK= STROKER
|
|
2CADR STRKTSTI
|
|
|
|
TC GOPIN
|
|
|
|
# STABLISH VERB 46 DESCRIPTION
|
|
# ESTABLISH G AND N AUTOPILOT CONTROL
|
|
# 1. SETS UP EITHER RCS, ENTRY, OR SATURN
|
|
# 2. IF TVC IS ON, SETS UP CSM/LM SWITCH-OVER
|
|
# FROM HIGH BW TO LOW BW
|
|
|
|
|
|
STABLISH CAF EBANK6 # V46 - SET EBANK TO E6
|
|
TS EBANK
|
|
|
|
CS FLAGWRD6 # TEST FOR TVC
|
|
MASK OCT60000
|
|
EXTEND
|
|
BZMF +8
|
|
|
|
CAE DAPDATR1 # TET FOR CSM/LM
|
|
MASK BIT14
|
|
EXTEND
|
|
BZMF +3
|
|
|
|
TC POSTJUMP # CSM/LM, SO PERFORM HB TO LB SWITCH-OVER
|
|
CADR PRESWTCH
|
|
|
|
+3 TC ALM/END
|
|
|
|
+8 TC POSTJUMP # SET UP RCS, ENTRY, OR SATURN-STICK DAP
|
|
CADR DAPFIG
|
|
# Page 252
|
|
# 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 (DECIMAL DISPLAY NEW ICDU ANGLES). UPON IMMEDIATE RETURN, SET-UP GROUP
|
|
# 4 FOR RESTART OF DISPLAY SEQUENCE.
|
|
# RESPONSES
|
|
# A. TERMINATE
|
|
# 1. GOTOP00H
|
|
# B. PROCEED
|
|
# 1. SET 3AXISFLG TO INDICATE MANEUVER IS SPECIFIED BY 3 AXIS.
|
|
# 2. EXECUTE R60CSM (ATTITUDE MANEUVER).
|
|
# 3. ZERO GROUP 4 (END R62).
|
|
# C. ENTER
|
|
# 1. REPEAT FLASHING V06,N22.
|
|
|
|
CREWMANU TC CHKP00H # DEMAND P00
|
|
|
|
TC TESTXACT
|
|
|
|
CAF PRIO10
|
|
TC FINDVAC
|
|
EBANK= CPHI
|
|
2CADR R62DISP
|
|
|
|
TC ENDOFJOB
|
|
|
|
# Page 253
|
|
# DAPDISP VERB 48 DESCRIPTION
|
|
# LOAD AUTOPILOT DATA (ROUTINE R03)
|
|
#
|
|
# 0. CHECKFAIL AND RETURN IF TVC.
|
|
# 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG.
|
|
# 2. LOWER PRIORITY TO 10.
|
|
# 3. DISPLAY FLASHING V04,N46 (DISPLAY AUTOPILOT CONFIGURATION).
|
|
# 4. UPON PROCEED RESPONSE, EXECUTE S41.2.
|
|
# 5. DISPLAY FLASHING V06,N47 (DISPLAY CSM WGT., LEM WGT.)
|
|
# 6. UPON PROCEED RESPONSE EXECUTE S40.14.
|
|
# 7. DISPLAY FLASHING V06,N48 (DISPLAY PITCH TRIM, YAW TRIM)
|
|
# 8. UPON PROCEED RESPONSE, RELEASE EXTENDED VERB DISPLAY SYSTEM.
|
|
|
|
COUNT* $$/EXTVB
|
|
|
|
DAPDISP CS FLAGWRD6
|
|
MASK OCT60000
|
|
EXTEND
|
|
BZMF +2 # TVC = 10, CS YIELDS 01, BZMF TO CONTINUE
|
|
TC ALM/END # RETURN IF TVC
|
|
|
|
TC TESTXACT
|
|
TC BANKCALL
|
|
CADR DAPDISP1
|
|
BANK 42
|
|
SETLOC EXTVBS
|
|
BANK
|
|
COUNT 24/R03
|
|
|
|
DAPDISP1 CAF EBANK6
|
|
TS EBANK
|
|
|
|
CAF PRIO10
|
|
TC PRIOCHNG
|
|
|
|
DONOUN46 CAF V04N46 # R1 R2
|
|
TC BANKCALL # DAPDATR1 DAPDATR2
|
|
CADR GOXDSPF # GOXDSP ROUTINES USED FOR EXTENDED VERBS.
|
|
|
|
TC ENDEXT # EXT. VBS GO TO ENDEXT, NOT ENDOFJOB.
|
|
TC +2
|
|
TC DONOUN46
|
|
|
|
CA DAPDATR1
|
|
MASK BIT4
|
|
CCS A
|
|
TCF MAXIN
|
|
TC DOWNFLAG
|
|
ADRES MAXDBFLG
|
|
MAXOUT TC BANKCALL
|
|
CADR S41.2
|
|
|
|
DONOUN47 CAF V06N47 # R1 R2 R3
|
|
# Page 254
|
|
TC BANKCALL # CSM WGT. LEM WGT. BLANK
|
|
CADR GOXDSPF
|
|
|
|
TC ENDEXT
|
|
TC +2
|
|
TC DONOUN47
|
|
CAE DAPDATR1 # DO MASS PROPERTIES CALCULATION ONLY IF
|
|
MASK PRIO30 # CONFIG = 1(CSM), 2 (CSM/LM), 6(CSM/LMA)
|
|
EXTEND
|
|
BZF DONOUN48 # SKIP IF 0,4
|
|
COM
|
|
MASK PRIO30
|
|
EXTEND
|
|
BZF DONOUN48 # SKIP IF 3,7
|
|
INHINT
|
|
TC IBNKCALL
|
|
CADR MASSPROP # UPDATE IXX, IAVG, IAVG/TLX
|
|
|
|
RELINT
|
|
TC BANKCALL
|
|
CADR S40.14 # COMPUTE RCS DAP STUFF
|
|
|
|
DONOUN48 CAF V0648 # R1 R2 R3
|
|
TC BANKCALL # PTRIM YTRIM BLANK
|
|
CADR GOXDSPF
|
|
|
|
TC ENDEXT
|
|
TC ENDEXT
|
|
TC DONOUN48
|
|
|
|
MAXIN TC UPFLAG
|
|
ADRES MAXDBFLG
|
|
TC MAXOUT
|
|
|
|
V0648 VN 0648
|
|
V06N47 VN 0647
|
|
V04N46 VN 0446
|
|
BANK 43
|
|
SETLOC EXTVERBS
|
|
BANK
|
|
|
|
COUNT* $$/EXTVB
|
|
|
|
# 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
|
|
# Page 255
|
|
# 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.
|
|
#
|
|
# ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE
|
|
# ABOVE REMARKS.
|
|
|
|
V82PERF TC TESTXACT
|
|
|
|
CAF PRIO7
|
|
TC PRIOCHNG
|
|
TC POSTJUMP
|
|
CADR V82CALL # ***** V82CALL MUST NOT BE A FINDVAC JOB.
|
|
|
|
# VB83PERF VERB 83 DESCRIPTION
|
|
# REQUEST RENDEZVOUS PARAMETER DISPLAY (R31)
|
|
#
|
|
# 1. SET EXT VERB DISPLAY BUSY FLAG.
|
|
# 2. SCHEDULE V83CALL WITH PRIORITY 10.
|
|
# A. DISPLAY
|
|
# R1 RANGE
|
|
# R2 RANGE RATE
|
|
# R3 THETA
|
|
|
|
V83PERF TC TESTXACT
|
|
INHINT
|
|
CS FLAGWRD9 # SET R31 FLAG-BIT 4 FLAGWRD9
|
|
MASK R31FLBIT
|
|
ADS FLAGWRD9
|
|
CAF PRIO5
|
|
TC NOVAC
|
|
SBANK= LOWSUPER # Added by RSB 2009
|
|
EBANK= SUBEXIT
|
|
2CADR R31CALL
|
|
|
|
TC ENDOFJOB
|
|
|
|
# Page 256
|
|
V85PERF TC TESTXACT
|
|
INHINT
|
|
CS R31FLBIT # RESET R31 FLAG TO INDICATE R34
|
|
MASK FLAGWRD9
|
|
TS FLAGWRD9
|
|
TC V83PERF +5
|
|
# Page 257
|
|
# GOTOR21 VERB 57
|
|
# GOTOR23- VERB 54 DESCRIPTION
|
|
# SET UP MARKING FOR R22 (REND TRACK DATA PROC)
|
|
# 1. SET EXT VERB DISPLAY BUSY FLAG
|
|
# 2. IF REND (P20 RUNNING) + TRACK (TRACKING ALLOWED) FLAGS ARE SET,
|
|
# SCHEDULE R21 OR R23 WITH PRIORITY 16, OTHERWISE TURN ON ALARM 406
|
|
# 3. RELEASE EXT VERB DISPLAY SYSTEM
|
|
|
|
GOTOR21 TC DOWNFLAG # CLEAR R23FLG
|
|
ADRES R23FLG # BIT 9 FLAG 1
|
|
TC +3
|
|
GOTOR23 TC UPFLAG # SET R23FLG
|
|
ADRES R23FLG # BIT 9 FLAG 1
|
|
TC TESTXACT
|
|
CA FLAGWRD0 # VB 57 UNACCEPTABLE UNLESS BOTH
|
|
MASK RNDVZBIT # RENDEZVOUS AND TRACK FLAGS ON
|
|
EXTEND
|
|
BZF R22ALARM
|
|
|
|
CA FLAGWRD1
|
|
MASK TRACKBIT
|
|
EXTEND
|
|
BZF R22ALARM
|
|
|
|
CA FLAGWRD1 # TEST R23FLG
|
|
MASK R23BIT
|
|
EXTEND
|
|
BZF REGR21 # R21
|
|
CAF PRIO16
|
|
TC NOVAC
|
|
EBANK= MRKBUF1
|
|
2CADR R23CSM
|
|
|
|
TC ENDOFJOB
|
|
REGR21 CAF PRIO16
|
|
TC NOVAC
|
|
EBANK= MRKBUF1
|
|
2CADR R21CSM
|
|
|
|
TC ENDOFJOB
|
|
R22ALARM TC ALARM # VERB 57 WAS SELECTED AND NEITHER REND
|
|
OCT 00406 # NOR TRACK FLAG WERE ON.
|
|
TC ENDEXT
|
|
|
|
# Page 258
|
|
# VERB 86 DESCRIPTION
|
|
# V86 IS TO R23 AS MARK REJECT IS TO R21
|
|
# V86 IS THE MARK REJECT FOR R23 (THE BACKUP MARKING ROUTINE)
|
|
|
|
EBANK= MRKBUF1
|
|
V86PERF CAF EBANK7 # BACKUP MARK REJECT (R23)
|
|
XCH EBANK
|
|
CA NEGONE
|
|
TS MRKBUF1
|
|
TC GOPIN
|
|
|
|
# Page 259
|
|
# TRACKTRM VERB 56 DESCRIPTION
|
|
# TERMINATE TRACKING (P20)
|
|
# 1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS.
|
|
# 2. REQUIRE P20 NOT RUNNING ALONE OR GO TO GOTOP00H (REQUEST PROGRAM 00).
|
|
# 3. REQUIRE R22 RUNNING OR GO TO PINBRNCH.
|
|
# 4. IF INTEGRATION RUNNING, STALL UNTIL IT IS COMPLETED, THEN ZERO GROUPS 2 AND 3 TO KILL R21 + R22
|
|
# 3. KNOCK DOWN RENDEZFOUS, R22, R21, TRACK, UPDATE, AND TARG1 FLAGS.
|
|
# 4. GO TO ENEMA (SOFTWARE RESTART).
|
|
# REFERENCE
|
|
# P20 RENDEZVOUS NAVIGATION
|
|
# R21 RENDEZVOUS TRACKING SIGHTING MARK.
|
|
# R22 RENDEZVOUS TRACKING DATA PROCESSING.
|
|
|
|
TRACKTRM CA RNDVZBIT # IS REND FLAG ON
|
|
MASK FLAGWRD0
|
|
EXTEND
|
|
BZF GOPIN # NO
|
|
|
|
TC DOWNFLAG
|
|
ADRES RNDVZFLG
|
|
|
|
CA TRACKBIT # IS TRACK FLAG ON
|
|
MASK FLAGWRD1
|
|
EXTEND
|
|
BZF GOPIN # NO
|
|
|
|
TC DOWNFLAG
|
|
ADRES TRACKFLG
|
|
|
|
TC DOWNFLAG
|
|
ADRES UPDATFLG
|
|
|
|
TC DOWNFLAG
|
|
ADRES IMUSE
|
|
|
|
CAF EBANK6
|
|
TS EBANK
|
|
|
|
INHINT
|
|
TC STOPRATE
|
|
|
|
CAF NEGONE
|
|
TS OPTIND
|
|
|
|
TC INTPRET
|
|
CALL
|
|
INTSTALL # DON'T INTERRUPT INTEGRATION
|
|
EXIT
|
|
|
|
TC 2PHSCHNG
|
|
# Page 260
|
|
OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY
|
|
OCT 1 # ALSO KILL GROUP 1
|
|
|
|
CLEANOUT INHINT
|
|
TC POSTJUMP
|
|
CADR ENEMA # CAUSE RESTART
|
|
|
|
# LEMVEC VERB 80 DESCRIPTION
|
|
# UPDATE LEM STATE VECTOR
|
|
# RESET VEHUPFLG TO 0
|
|
|
|
LEMVEC TC DOWNFLAG
|
|
ADRES VEHUPFLG # VEHUPFLG DOWN INDICATES LEM
|
|
|
|
TCF GOPIN
|
|
|
|
# CSMVEC VERB 81 DESCRIPTION
|
|
# UPDATE CSM STATE VECTOR
|
|
# SET VEHUPFLG TO 1
|
|
|
|
CSMVEC TC UPFLAG
|
|
ADRES VEHUPFLG # VEHUPFLG UP INDICATES CM
|
|
|
|
TCF GOPIN
|
|
|
|
# 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.
|
|
|
|
EBANK= 10
|
|
DNEDUMP CAF LDNDUMPI
|
|
TS DNTMGOTO
|
|
TC GOPIN
|
|
|
|
V74 EQUALS DNEDUMP
|
|
LDNDUMPI REMADR DNDUMPI
|
|
|
|
# LFTFLGON VERB 75 DESCRIPTION
|
|
# SET LIFT-OFF FLAG
|
|
# 1. SETUP GRRBKFLG, GUIDANCE REFERENCE RELEASE BACK-UP FLAG.
|
|
# 2. RETURN VIA PINBRNCH
|
|
|
|
LFTFLGON TC UPFLAG # VB 75 -- SET LIFTOFF FLAG BIT
|
|
ADRES GRRBKFLG # BIT 5 FLAG 5
|
|
TC GOPIN
|
|
|
|
# Page 261
|
|
CHKP00H CA MODREG
|
|
EXTEND
|
|
BZF TCQ
|
|
TCF ALM/END
|
|
|
|
EXDAPOFF EXTEND
|
|
DCA IDLECADR # SET T5 TO IDLE.
|
|
DXCH T5LOC
|
|
CS OCT60000
|
|
MASK FLAGWRD6 # RESET DAPBITS 1 AND 2.
|
|
TS FLAGWRD6
|
|
TC Q
|
|
|
|
SBANK= PINSUPER # Added RSB 2009
|
|
EBANK= PACTOFF
|
|
IDLECADR 2CADR T5IDLOC
|
|
|
|
# Page 262
|
|
# VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)
|
|
#
|
|
# CALLED BY VERB 89 ENTER DURING P00. PRIO 10 IS USED. CALCULATES AND
|
|
# DISPLAYS FINAL GIMBAL ANGLES TO POINT CSM +X AXIS OR PREFERRED AXIS
|
|
# (UNIT(Z)COS55 DEG + UNIT(X)SIN55 DEG) AT LM.
|
|
#
|
|
# 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 CGC, CONTINUE.
|
|
#
|
|
# 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO
|
|
# BE POINTED AT LM. INITIAL CHOICE IS PREFERRED AXIS (R2=1).
|
|
# ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT = 1) BY V 22 E 2 E. CONTINUE
|
|
# AFTER KEYING IN PROCEED.
|
|
#
|
|
# 4. SET PREFERRED ATTITUDE FLAG ACCORDING TO OPTION DESIRED. SET FLAG
|
|
# FOR PREFERRED AXIS. RESET FLAG FOR X AXIS.
|
|
#
|
|
# 5. CURRENT TIME IS STORED AND R63COMP IS CALLED
|
|
#
|
|
# R63COMP JOB:
|
|
#
|
|
# UPDATES CSM AND LM STATE VECTORS USING CONIC EQUATIONS.
|
|
#
|
|
# CALCULATES BOTH PREFERRED AND X AXIS TRACKING ATT FROM CSM TO LM.
|
|
#
|
|
# DESIRED GIMBAL ANGLES AS INDICATED BY PREFERRED ATTITUDE FLAG
|
|
# ARE STORED FOR LATER R60CSM CALL.
|
|
#
|
|
# 6. FLASH DISPLAY V 06 N18 AND AWAIT RESPONSE.
|
|
#
|
|
# 7. RECYCLE: RETURN TO STEP 5.
|
|
# TERMINATE: EXIT R63 ROUTINE
|
|
# PROCEED: RESET 3AXISFLG AND CALL R60CSM FOR ATTITUDE MANEUVER.
|
|
|
|
V89PERF TC CHKP00H # DEMAND P00
|
|
TC TESTXACT
|
|
INHINT
|
|
CAF PRIO10
|
|
TC FINDVAC
|
|
SBANK= LOWSUPER # Added by RSB 2009.
|
|
EBANK= P21TIME
|
|
2CADR V89CALL
|
|
|
|
TCF ENDOFJOB
|
|
|
|
WMATRXNG TC DOWNFLAG # RESET RENDWFLAG
|
|
ADRES RENDWFLG
|
|
# Page 263
|
|
|
|
TC DOWNFLAG # RESET ORBWFLAG
|
|
ADRES ORBWFLAG
|
|
TC GOPIN
|
|
|
|
GOSHOSUM EQUALS SHOWSUM
|
|
|
|
SHOWSUM TC CHKP00H
|
|
TC TESTXACT # *
|
|
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 # * BNK NO FOR DSP
|
|
LXCH SKEEP3 # * BUGGER WORD FOR DSP
|
|
NOKILL CA ADRS1 # *
|
|
TS MPAC +2 # *
|
|
CA VNCON # * 0501
|
|
TC BANKCALL # *
|
|
CADR GOXDSPF # *
|
|
TC +3 # *
|
|
TC NXTBNK # *
|
|
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.
|
|
|
|
|
|
# VB 76 --- SET PREFERRED ATTITUDE FLAG --- DRIVE TO PREFERRED.
|
|
|
|
SETPRFLG TC UPFLAG
|
|
ADRES PRFTRKAT # BIT 10 FLAG 5
|
|
TC GOPIN
|
|
|
|
# VB 77 --- RESET PREFERRED ATTITUDE FLAG --- DRIVE TO +X-AXIS ATT.
|
|
|
|
RESETPRF TC DOWNFLAG
|
|
ADRES PRFTRKAT # BIT 10 FLAG 5
|
|
TC GOPIN
|
|
|
|
# Page 264
|
|
# VB 87 --- SET VHF RANGE FLAG --- ALLOWS R22 TO ACCEPT RANGE DATA.
|
|
|
|
SETVHFLG TC INTPRET
|
|
SET EXIT
|
|
VHFRFLAG
|
|
TC GOPIN
|
|
|
|
# VB 88 --- RESET VHF RANGE FLAG --- STOPS ACCEPTANCE OF RANGE DATA.
|
|
|
|
RESETVHF TC INTPRET
|
|
CLEAR EXIT
|
|
VHFRFLAG
|
|
TC TRFAILOF # TRACKER FAIL LIGHT
|
|
|
|
TC GOPIN
|
|
|
|
# VERB 66. VEHICLES ARE ATTACHED. --- MOVE THIS VEHICLE STATE VECTOR TO
|
|
# OTHER VEHICLE STATE VECTOR.
|
|
|
|
# USE SUBROUTINE GENTRAN.
|
|
|
|
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
|
|
|
|
TACHEXIT RELINT
|
|
TC INTPRET
|
|
CALL # UPDATE RN, VN, R-OTHER, V-OTHER
|
|
PTOACSM
|
|
# Page 265
|
|
LXA,2 CALL
|
|
PBODY
|
|
SVDWN1
|
|
CALL
|
|
SVDWN2
|
|
EXIT
|
|
|
|
CAF TCPINAD
|
|
INDEX FIXLOC
|
|
TS QPRET
|
|
TC POSTJUMP
|
|
CADR INTWAKE
|
|
|
|
TCPIN RTB
|
|
PINBRNCH
|
|
|
|
OCT51 OCT 51
|
|
TCPINAD CADR TCPIN
|
|
|
|
# VERB 47. MOVE LM STATE VECTOR INTO CSM STATE VECTOR
|
|
|
|
LMTOCMSV CAF PRIO10
|
|
TC FINDVAC
|
|
EBANK= RRECTHIS
|
|
2CADR LMTOCM
|
|
|
|
TC ENDOFJOB
|
|
|
|
LMTOCM TC INTPRET
|
|
CALL
|
|
INTSTALL
|
|
SET BON
|
|
MOONTHIS
|
|
MOONOTH
|
|
+3
|
|
CLEAR
|
|
MOONTHIS
|
|
EXIT
|
|
|
|
CAF OCT51
|
|
TC GENTRAN
|
|
ADRES RRECTOTH # LM STATE VECTOR INTO CM VIA GENTRAN
|
|
ADRES RRECTHIS
|
|
|
|
TCF TACHEXIT
|
|
|
|
# VERB 94 --- DO R64 VIA ENEMA TO PICK UP IN P23.
|
|
|
|
VERB94 CAF V94FLBIT
|
|
MASK FLAGWRD9 # IS V94FLAG SET
|
|
# Page 266
|
|
EXTEND
|
|
BZF ALM/END # NO --- OPERATOR ERROR
|
|
|
|
TC DOWNFLAG
|
|
ADRES V94FLAG
|
|
|
|
TC CHECKMM # IS IT P23
|
|
MM 23
|
|
TC ALM/END # NO -- OPERATOR ERROR
|
|
TC PHASCHNG
|
|
OCT 112 # SET GROUP 2 TO DO R64
|
|
|
|
TC CLEANOUT # CAUSE RESTART
|
|
|
|
# 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
|
|
SBANK= PINSUPER # Added RSB 2009
|
|
EBANK= RPASS36
|
|
2CADR R36
|
|
|
|
TCF ENDOFJOB
|
|
|
|
# VERB 96 SET QUITFLAG TO STOP INTEGRATION
|
|
|
|
VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT
|
|
ADRES QUITFLAG # AT NEXT TIMESTEP
|
|
|
|
TC UPFLAG
|
|
ADRES V96ONFLG
|
|
CAF ZERO
|
|
TC POSTJUMP
|
|
CADR V37 # GO TO P00
|
|
|
|
EBANK= LANDMARK
|
|
V52 TC CHECKMM # IS P22 OPERATING
|
|
MM 22
|
|
TC ALM/END # NO
|
|
CAF LANDBANK
|
|
TS EBANK
|
|
|
|
# Page 267
|
|
CS PRIO7 # YES SET BITS 12,11,10 OF LANDMARK =
|
|
MASK LANDMARK # BITS 14,13,12 OF MARKSTAT AFTER
|
|
TS LANDMARK # SUBT. THEM FROM 5 TO GET OFFSET
|
|
CA MARKSTAT # MARK NO.
|
|
TS SR
|
|
CA SR
|
|
CA SR
|
|
MASK PRIO7
|
|
CS A
|
|
AD PRIO5
|
|
ADS LANDMARK
|
|
TC GOPIN
|
|
LANDBANK ECADR LANDMARK
|
|
|
|
# VERB 67 ASTRONAUT DISPLAY OF W MATRIX
|
|
|
|
V67 TC TESTXACT
|
|
CAF PRIO5
|
|
TC FINDVAC
|
|
EBANK= W
|
|
2CADR V67CALL
|
|
|
|
TC ENDOFJOB
|
|
|
|
# VB 44. SET SURFACE FLAG.
|
|
|
|
SETSURF TC UPFLAG
|
|
ADRES SURFFLAG
|
|
TCF GOPIN
|
|
|
|
# VB 45. RESET SURFACE FLAG
|
|
|
|
RESTSRF TC DOWNFLAG
|
|
ADRES SURFFLAG
|
|
TCF GOPIN
|