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EXTENDED_VERBS.s
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EXTENDED_VERBS.s
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# Copyright: Public domain.
# Filename: EXTENDED_VERBS.agc
# Purpose: Part of the source code for Comanche, build 055. It
# is part of the source code for the Command Module's
# (CM) Apollo Guidance Computer (AGC), Apollo 11.
# Assembler: yaYUL
# Reference: pp. 236-267
# Contact: Ron Burkey <info@sandroid.org>,
# Fabrizio Bernardini <fabrizio@spacecraft.it>
# Website: http://www.ibiblio.org/apollo.
# Mod history: 2009-05-18 FB Transcription Batch 3 Assignment.
# 2009-05-20 RSB Corrections: POODOO -> P00DOO,
# GOTOPOOH -> GOTOP00H, added a couple of
# missing instructions in Verb 96.
# 2009-05-23 RSB In SYSTEST, corrected TC FLAGWRD1 to
# CA FLAGWRD1. Added a variety of SBANK=
# statements prior to 2CADRs. One day I'll
# have to figure out what yaYUL is doing
# wrong with those ....
#
# The contents of the "Comanche055" files, in general, are transcribed
# from scanned documents.
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. April 1, 1969.
#
# This AGC program shall also be referred to as Colossus 2A
#
# Prepared by
# Massachussets Institute of Technology
# 75 Cambridge Parkway
# Cambridge, Massachusetts
#
# under NASA contract NAS 9-4065.
#
# Refer directly to the online document mentioned above for further
# information. Please report any errors to info@sandroid.org.
# Page 236
BANK 7
SETLOC EXTVERBS
BANK
EBANK= OGC
COUNT* $$/EXTVB
# FAN-OUT
GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC
TC LST2FAN # FAN AS BEFROE.
LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 ONLY)
TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR
# 91 ONLY)
TC IMUFINEK # VB42 FINE ALIGN IMU
TC IMUATTCK # VB43 LOAD IMU ATTITUDE ERROR METERS.
TC SETSURF # VB44 SET SURFACE FLAG
TC RESTSRF # VB45 RESET SURFACE FLAG
TC STABLISH # VB46 ESTABLISH G+C CONTROL
TC LMTOCMSV # VB47 MOVE LM STATE VECTOR INTO CM
TC DAPDISP # VB48 LOAD A/P DATA
TCF CREWMANU # VB49 START AUTOMATIC ATTITUDE MANEUVER
TC GOLOADLV # VB50 PLEASE PERFORM
TC GOLOADLV # VB51 PLEASE MARK
TC V52 # VB52 SET OFFSET NO. FOR P22
TC GOLOADLV # VB53 PLEASE PERFORM COAS MARK
TC GOTOR23 # VB54 PLEASE MARK (R-21 BACKUP)
TC ALINTIME # VB55 ALIGN TIME
TC TRACKTRM # VB56 TERMINATE TRACKING (P20 + P25)
TC GOTOR21 # VB57 START R21 REND TRACK SIGHT MARK ROUT
TC ENATMA # VB58 ENABLE AUTOMATIC ATTITUDE MANEUVER
TC GOLOADLV # VB59 PLEASE CALIBRATE
TC V60 # VB60 SET CPHIX (N17) EQUAL TO CDU
TC V61 # VB61 SELECT MODE I
TC V62 # VB62 SELECT MODE II, ERROR WRT N22
TC V63 # VB63 SELECT MODE III, ERROR WRT N17
TC VB64 # VB64 CALCULATE, DISPLAY S-BAND ANT ANGLES
TC CKOPTVB # V 65 E OPTICAL VERIFICATION FOR PRELAUNC
TC ATTACHED # VB66 ATTACHED. MOVE THIS TO OTHER STATE
TC V67 # VB67 W MATRIX MONITOR
TC STROKON # VB68 CSM STROKE TEST ON.
VERB69 TC VERB69 # VB69 CAUSE RESTART
TC V70UPDAT # VB70 UPDATE LIFTOFF TIME.
TC V71UPDAT # VB71 UNIVERSAL UPDATE -- BLOCK ADDRESS
TC V72UPDAT # VB72 UNIVERSAL UPDATE -- SINGLE ADDRESS
TC V73UPDAT # VB73 UPDATE AGC TIME (OCTAL)
TC DNEDUMP # VB74 INITIALIZE DOWN-TELEMETRY PROGRAM
# FOR ERASABLE DUMP.
TC LFTFLGON # VB75 SET LIFTOFF FLAG.
# Page 237
TC SETPRFLG # VB76 SET PREFERRED ATTITUDE FLAG
TC RESETPRF # VB77 RESET PREFERRED ATT. FLAG
TC CHAZFOGC # CHANGE GYROCOMPASS LAUNCH AZIMUTH V78
TC ALM/END # V79 SPARE
TC LEMVEC # VB80 UPDATE LEM STATE VECTOR
TC CSMVEC # VB81 UPDATE CSM STATE VECTOR
TC V82PERF # VB82 REQUEST ORBIT PARAM DISPLAY (R30)
TC V83PERF # VB83 RANGE, RANGE RATE, +X AXIS (R31)
TC ALM/END # V84 SPARE
TC V85PERF # VB85 RANGE, RANGE RATE, SLOS (R32)
TC V86PERF # VB86 BACKUP MARK REJECT
TC SETVHFLG # VB87 SET VHF RANGE FLAG
TC RESETVHF # VB88 RESET VHF RANGE FLAG
TC V89PERF # V89-ALIGN X OR PRF CSM AXIS TO LOS (R63)
TC V90PERF # VB90-OUT OF PLAN PARAMETERS (R36)
TC GOSHOSUM # VB91 TEMP FOR HYBRID AND STG.
TC SYSTEST # VB92 OPERATE IMU PERFORMANCE TEST
TC WMATRXNG # VB93 CLEAR RENDWFLG
TC VERB94 # VB94 DO R64
TC ALM/END # VB95 SPARE
TCF VERB96 # VB96 SET QUITFLAG TO STOP INTEGRATION
TC GOLOADLV # VB97 PLEASE PERFORM ENGINE-FAIL (R41)
TC ALM/END # VB98 SPARE
TC GOLOADLV # VB99 PLEASE ENABLE ENGINE
# END OF EXTENDED VERB FAN
TESTXACT CCS EXTVBACT
TC ALM/END # YES, TURN ON OPERATOR ERROR LIGHT
CA FLAGWRD4 # ARE PRIOS USING DSKY
MASK OC24100
CCS A
TC ALM/END
CAF OCT24 # SET BITS 3 AND 5
SETXTACT TS EXTVBACT # NO. SET FLAG TO SHOW EXT VERB DISPLAY
# SYSTEM BUSY
CA Q
TS MPAC +1
CS TWO # BLANK EVERYTHING EXCEPT MM AND VERB
TC NVSUB
TC +1
TC MPAC +1
XACTALM TC FALTON # TURN ON OPERATOR ERROR LIGHT.
TC ENDEXT # RELEASE MARK AND EXT. VERB DISPLAY SYS.
# Page 238
TERMEXTV EQUALS ENDEXT
ENDEXTVB EQUALS ENDEXT
XACT0 CAF ZERO # RELEASE MARK AND EXT. VERB DISPLAY SYS.
TC SETXTACT
ALM/END TC FALTON # TURN ON OPERATOR ERROR LIGHT
GOPIN TC POSTJUMP
CADR PINBRNCH
OC24100 OCT 24100
# Page 239
# VBZERO VERB 40 DESCRIPTION
#
# 1. REQUIRE NOUN 20 (ICDU ANGLES)
# 2. REQUIRE AVAILABILITY OF EXT VERB DISPLAY SYSTEM
# 3. IF EITHER OF ABOVE CONDITIONS NOT PRESENT, TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH.
# 4. SET EXT VERB DISPLAY ACTIVE FLAG.
# 5. EXECUTE IMUZERO (ZERO IMU CDU ANGLES).
# 6. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER).
# 7. RELEASE EXT. VERB DISPLAY SYSTEM.
VBZERO TC OP/INERT
TC IMUZEROK # RETURN HERE IF NOUN = ICDU(20)
TC ALM/END # RETURN HERE IF NOUN = OCDU(91)
# (NOT IN USE YET)
IMUZEROK TC CKMODCAD # KEYBOARD REQUEST FOR ISS CDUZERO
TC BANKCALL
CADR IMUZERO
TC BANKCALL # STALL
CADR IMUSTALL
TC +1
TC GOPIN
OP/INERT CS OCT24
AD NOUNREG
EXTEND
BZF XACT0Q # IF = 20.
INCR Q
AD OPIMDIFF # -71
EXTEND
BZF XACT0Q
TC ALM/END # ILLEGAL.
OPIMDIFF DEC -71
# Page 240
# VBCOARK VERB 41 DESCRIPTION
# COARSE ALIGN IMU OR RADAR
#
# 1. REQUIRE NOUN 20 OR NOUN 91 OR TURN ON OPERATOR ERROR.
# 2. REQUIRE EXT VERB DISPLAY SYS AVAILABLE OR TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH.
#
# CASE 1 NOUN 20 (ICDU ANGLES)
# 3. SET EXT VERB DISPLAY ACTIVE FLAG.
# 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES).
# RESPONSES
# A. TERMINATE
# 1. RELEASE EXT VERB DISPLAY SYSTEM.
# B. PROCEED
# 1. DISPLAY FLASHING V25,N23 (LOAD DELTA ICDU ANGLES).
# RESPONSES:
# A. TERMINATE
# 1. RELEASE EXT VERB DISPLAY SYSTEM.
# B. PROCEED
# 1. EXECUTE ICORK2.
# C. ENTER
# 1. INCREMENT CDU ANGLES
# 2. EXECUTE ICORK2
# C. ENTER
# 1. EXECUTE ICORK2
# ICORK2
# 1. RE-DISPLAY VERB 41.
# 2. EXECUTE IMUCCARS (IMU COARSE ALIGN).
# 3. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER).
# 4. RELEASE EXT VERB DISPLAY SYSTEM.
#
# CASE 2 NOUN 91 (OCDU ANGLES)
# 5. (REQUIRE OPTICS SWITCH TO BE AT COMUTER OR TURN ON OPERATOR ERROR AND ALARM 115) AND (REQUIRE
# OPTICS AVAILABLE AND DISPLAY FLASHING V24,N92....LOAD NEW OPTICS ANGLES....OR TURN ON ALARM 117
# AND RELEASE EXT VERB DISPLAY SYSTEM).
# 6. RESPONSES TO V29,N92
# A. TERMINATE
# RELEASE EXT VERB DISPLAY SYS.
# B. PROCEED OR ENTER
# RE-DISPLAY VERB 41, SET SWITCH TO INDICATE COURSE ALIGN OPTICS WORKING.
# RELEASE EXT VERB DISPLAY SYSTEM.
VBCOARK TC OP/INERT
TC IMUCOARK # RETURN HERE IF NOUN = ICDU (20)
TC OPTCOARK # RETURN HERE IF NOUN = OCDU (91)
# RETURNS TO L+1 IF NOUN 20 -- TO L+2 IF NOUN 91.
IMUCOARK TC CKMODCAD # COARSE ALIGN FROM KEYBOARD
TC TESTXACT
CAF VNLODCDU # CALL FOR THETAD LOAD
TC BANKCALL
CADR GOXDSPF
TC TERMEXTV
TCF +1
# Page 241
ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB.
TC BANKCALL
CADR EXDSPRET
TC BANKCALL # CALL MODE SWITCHING PROG
CADR IMUCOARS
TC BANKCALL # STALL
CADR IMUSTALL
TC ENDEXTVB
TC ENDEXTVB
VNLODCDU VN 2522
IMUCOARV VN 4100
# Page 242
# TEMPORARY ROUTINE TO RUN THE OPTICS CDUS FROM THE KEYBOARD
OPTCOARK CA OPTCADR
TC CKMODCAD +1
TC TESTXACT
CAF EBANK5
TS EBANK
CCS SWSAMPLE # SEE IF SWITCH AT COMPUTER
TC +5 # SWITCH AT COMPUTER
TC +1 # NOT ON COMPUTER
TC FALTON # TURN ON OPERATOR ERR
TC ALARM # AND ALARM
OCT 00115
CCS OPTIND # SEE IF OPTICS AVAILABLE
TC OPTC1 # IN USE
TC OPTC1 # IN USE
TC OPTC1 # IN USE
TC ALARM # OPTICS RESERVED (OPTIND=-0)
OCT 00117
TC ENDEXT
OPTC1 CAF VNLD0CDU # VERB-NOUN TO LOAD OPTICS CDUS
TC BANKCALL
CADR GOXDSPF
TC TERMEXTV
TC +1 # PROCEED
CA SAC
TS DESOPTS
CA PAC
TS DESOPTT
CAF OPTCOARV # RE-DISPLAY OUR OWN VERB
TC BANKCALL
CADR EXDSPRET
CAF ONE
TS OPTIND # SET COARS WORKING
TC ENDEXTVB
TC ENDEXTVB
VNLD0CDU VN 2492
OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS.
# Page 243
# IMUFINEK VERB 42 DESCRIPTION
# FINE ALIGN IMU
#
# 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG OR TURN ON OPER ERROR AND GO TO PINBRNCH.
# 2. DISPLAY FLASHING V25,N93....LOAD DELTA GYRO ANGLES....
# RESPONSES
# A. TERMINATE
# 1. RELEASE EXT VERB DISPLAY SYSTEM.
# B. PROCEED OR ENTER
# 1. RE-DISPLAY VERB 42
# 2. EXECUTE IMUFINE (IMU FIVE ALIGN MODE SWITCHING).
# 3. EXECUTE IMUSTALL (ALLOW FOR DATA TRANSFER)
# A. FAILED
# 1. RELEASE EXT VERB DISPLAY SYSTEM.
# B. GOOD
# 1. EXECUTE IMUPULSE (TORQUE IRIGS).
# 2. EXECUTE IMUSTALL AND RELEASE EXT VERB DISPLAY SYSTEM.
IMUFINEK TC CKMODCAD # FINE ALIGN WITH GYRO TORQUING.
TC TESTXACT
CAF VNLODGYR # CALL FOR LOAD OF GYRO COMMANDS
TC BANKCALL
CADR GOXDSPF
TC TERMEXTV
TC +1 # PROCEED WITHOUT A LOAD
CAF IMUFINEV # RE-DISPLAY OUR OWN VERB
TC BANKCALL
CADR EXDSPRET
TC BANKCALL # CALL MODE SWITCH PROG
CADR IMUFINE
TC BANKCALL # HIBERNATION
CADR IMUSTALL
TC ENDEXTVB
FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGISTERS
TC BANKCALL
CADR IMUPULSE
TC BANKCALL # WAIT FOR PULSES TO GET OUT.
CADR IMUSTALL
TC ENDEXTVB
TC ENDEXTVB
LGYROBIN ECADR OGC
VNLODGYR VN 2593
IMUFINEV VN 4200 # FINE ALIGN VERB
CKMODCAD CA MODECADR
# Page 244
EXTEND
BZF TCQ
TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT
# GOLOADLV VERB 50 DESCRIPTION
# AND OTHER PLEASE
# 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.
GOLOADLV TC FLASHOFF
CAF PINSUPBT
EXTEND
WRITE SUPERBNK # TURN ON FE7
TC POSTJUMP
SBANK= PINSUPER
CADR LOADLV1
# V60 VERB 60
V60 EXTEND # SET ASTRONAUT TOTAL ATTITUDE (N17) EQUAL
DCA CDUX # TO PRESENT ATTITUDE
DXCH CPHIX
CA CDUZ
TS CPHIX +2
TC GOPIN
# V61 VERB 61
V61 TC DOWNFLAG # SET NEEDLFLG TO 0 (FLAGWRD0,BIT9), PHASE
ADRES NEEDLFLG # PLANE A/P FOLLOWING ERROR DISPLAYED
TC GOPIN
# V62 VERB 62
V62 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9),
ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED
TC UPFLAG # SET N22ORN17 TO 1 (FLAGWRD9,BIT6),
ADRES N22ORN17 # COMPUTE TOTAL ATTITUDE ERROR WRT N22
TC GOPIN
# V63 VERB 63
V63 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9),
ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED
TC DOWNFLAG # SET N22ORN17 TO 0 (FLAGWRD9,BIT6),
# Page 245
ADRES N22ORN17 # COMPUTE TOAL ASTRONAUT ATTITUDE ERROR
TC GOPIN
# Page 246
# ALINTIME VERB 55 DESCRIPTION
#
# 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.
COUNT 04/R33
ALINTIME TC TESTXACT
CAF VNLODDT
TC BANKCALL
CADR GOMARKF
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 247
# SYSTEST VERB 92 DESCRIPTION
# OPERATE SELECTED SYSTEM TEST.
#
# 1. REQUIRE P00 OR P00- OR TURN ON OPERATOR ERROR.
# 2. TURN OFF DAP IF IT IS ON.
# 3. DISPLAY FLASHING V21,N01 (LOAD TEST NUMBER 1 THRU 17).
# 4. UPON ENTRY OF TEST NUMBER, SCHEDULE TSELECT WITH PRIORITY 20.
#
# TSELECT
# 1. IF LOADED TEST NUMBER IS VALID, GO TO THAT TEST ROUTINE, OTHERWISE TURN ON OPERATOR ERROR AND
# REPEAT LOAD REQUEST DISPLAY. (NO. 3 ABOVE)
EBANK= QPLACE
COUNT 04/EXTVB
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