EXTENDED_VERBS.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: EXTENDED_VERBS.agc
## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
## build 072. This is for the Command Module's (CM)
## Apollo Guidance Computer (AGC), for
## Apollo 15-17.
## Assembler: yaYUL
## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
## Website: www.ibiblio.org/apollo/index.html
## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
## Mod history: 2009-08-04 JL Adapted from corresponding Comanche 055 file.
## 2010-01-31 JL Fixed build errors.
## 2010-02-13 JL Fixed errors on p260, p261.
## 2010-02-16 JL Added some SBANK= directives on pages 258, 262, 271, 274 to fix rope image errors.
## 2010-02-20 RSB Un-##'d this header.
## 2010-12-29 JL Fixed indentation.
## 2011-05-07 JL Flagged SBANK= workarounds for future removal.
## 2011-05-17 JL Removed all SBANK= workarounds.
## 2017-01-22 RSB Proofed comment text by diff'ing vs Comanche 55
## and corrected errors found.
## 2017-03-15 RSB Comment-text fixes identified in 5-way
## side-by-side diff of Luminary 69/99/116/131/210.
## Page 249
SETLOC EXTVERBS
BANK
EBANK= OGC
COUNT* $$/EXTVB
# FAN-OUT
GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC
TC LST2FAN # FAN AS BEFORE.
LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 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 # VB 49 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 # V54 START R23 (R21-BACKUP)
TC ALINTIME # VB55 ALIGN TIME
TC TRACKTRM # VB56 TERMINATE TRACKING (P20 +P25)
TC V57CALL # V57 FULTKFLG SETTING OPTION
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 # VB 66 ATTACHED. MOVE THIS TO OTHER STATE
TC V67 # VB67 WMATRIX MONITOR
TC ALM/END # VB68 SPARE
VERB69 TC VERB69 # VB 69 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.
TC ALM/END # VB76 SPARE
## Page 250
TC ALM/END # VB77 SPARE
TC CHAZFOGC # CHANGE GYROCOMPASS LAUNCH AZIMUTH V78
TC ALM/END # VB79 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 (R34)
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 PLANE PARAMETERS %R36"
TC GOSHOSUM # VB91 TEMP FOR HYBRID AND STG.
TC ALM/END # VB92 SPARE
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 # V97 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 14,12,7
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
CCS NEWJOB # ALLOW POSSIBLE WAITING DISPLAY (FROM
TC CHANG1 # RELDSP) TO COME UP.
TC MPAC +1
TERMEXTV EQUALS ENDEXT
## Page 251
ENDEXTVB EQUALS ENDEXT
ALM/END TC FALTON # TURN ON OPERATOR ERROR LIGHT
GOPIN TC POSTJUMP
CADR PINBRNCH
## Page 252
# VBZERO VERB 40 DESCRIPTION
VBZERO CA MODECADR # KEYBOARD REQUEST FOR ISS CDU ZERO
EXTEND
BZF +2
TC ALM/END
TC BANKCALL
CADR IMUZERO
TC BANKCALL # STALL
CADR IMUSTALL
TC +1
TC GOPIN
## Page 253
# VBCOARK VERB 41 DESCRIPTION
# COURSE ALIGN IMU OR OPTICS
#
# 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 IMUCOARS (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 COMPUTER 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 SYSTEM
# B. PROCEED OR ENTER
# RE-DISPLAY V41, SET SWITCH TO INDICATE COURSE ALIGN OPTICS WORKING.
# RELEASE EXT VERB DISPLAY SYSTEM.
VBCOARK CS OCT24
AD NOUNREG
EXTEND
BZF IMUCOARK # NOUN 20
AD OPIMDIFF # -71
EXTEND
BZF OPTCOARK # NOUN 91
TC ALM/END # WRONG NOUN
IMUCOARK TC TESTXACT # COARSE ALIGN FROM KEYBOARD
## Page 254
CAF VNLODCDU # CALL FOR THETAD LOAD
TC BANKCALL
CADR GOXDSPF
TC TERMEXTV
TCF +1
ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB.
TC BANKCALL
CADR EXDSPRET
TC CKMODCAD
TC BANKCALL # CALL MODE SWITCHING PROG
CADR IMUCOARS
TC BANKCALL # STALL
CADR IMUSTALL
TC ENDEXTVB
TC ENDEXTVB
VNLODCDU VN 2522
IMUCOARV VN 4100
OPIMDIFF DEC -71
## Page 255
# TEMPORARY ROUTINE TO RUN THE OPTICS CDUS FROM THE KEYBOARD
OPTCOARK TC CHKPOOH # ENSURE IN POO
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 VNLDOCDU # 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
VNLDOCDU VN 2492
OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS.
## Page 256
# 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 TESTXACT # FINE ALIGN WITH GYRO TORQUING
CAF VNLODGYR # CALL FOR LOAD OF GYRO COMMANDS
TC BANKCALL
CADR GOXDSPF
TC TERMEXTV
TC +1 # PROCEED WITHOUT A LOAD
CAF IMUFINEV # RE-DISPLAY OUR OWN VERB
TC BANKCALL
CADR EXDSPRET
TC CKMODCAD
TC BANKCALL # CALL MODE SWITCH PROG
CADR IMUFINE
TC BANKCALL # HIBERNATION
CADR IMUSTALL
TC ENDEXTVB
FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGIST5RS
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 257
EXTEND
BZF TCQ
TC FALTON
TC ENDEXTVB
# 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 DOWNX # CLEAR NEEDLFLG, PHASE
ADRES NEEDLFLG # PLANE A/P FOLLOWING ERROR DISPLAYED
SETNEEDL TC UPX # SET NEEDLFLG, TOTAL ATT ERR DISPLAYED
# V62 VERB 62
V62 TC UPFLAG
ADRES N22ORN17 # COMPUTE TOTAL ATTITUDE ERROR WRT N22
TC SETNEEDL
# V63 VERB 63
V63 TC DOWNFLAG
ADRES N22ORN17 # COMPUTE TOTAL ASTRONAUT ATTITUDE ERROR
TC SETNEEDL
## Page 258
# 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* $$/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 L # ZERO T1 & 2 WHILE ALIGNING.
DXCH TIME2
DXCH MPAC
DXCH DSPTEM2 +1 # INCREMENT
DAS MPAC
TC DPAGREE # FORCE SIGN AGREEMENT
DXCH MPAC # NEW CLOCK.
DAS TIME2
RELINT
UPDTMEND TC ENDEXT
VNLODDT VN 2524 # V25N24 FOR LOAD DELTA TIME
# 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
CAF PRIO16 # PRELAUNCH OPTICAL VERIFICATION
TC FINDVAC
EBANK= QPLACE
2CADR COMPVER # STANDARD LEADIN TO GCOMPVER.
## Page 259
TC GOPIN
# 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
4P17SPT1 = 4.17SPOT
TC GOPIN
## Page 260
# 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 CHKPOOH
CAF BITS4&5 # CHECK 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
TC E6SETTER # 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 TWIDDLE
ADRES ATTCK1
TRMATTCK TC CKLFTBTS # IS IT BEFORE OR AFRER LIFTOFF
TCF ENDEXT # AFTER
TC GOPIN
ATTCK1 EXTEND # TRANSFER LOADED VALUES TO DESIRED REGS.
DCA THETAD
## Page 261
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
XACT0Q TC Q # YES
CAF BIT5
EXTEND
RAND CHAN30
TCF INCRQCK
VB64 TC TESTXACT
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 INTERUPTIONS BY RHC ACT-
# IVITY.
ENATMA TC UPFLAG # SET FLAG TO ENABLE R60 MANEUVER
ADRES V50N18FL
TC DOWNX # RESET STIKFLAG.
ADRES STIKFLAG
# STABLISH VERB 46 DESCRIPTION
# ESTABLISH G & 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 TC E6SETTER
CS FLAGWRD6 # TEST FOR TVC
MASK DPCONFIG
EXTEND
BZMF DAPFIG
## Page 262
CAE DAPDATR1 # TET FOR CSM/LM
MASK BIT14
EXTEND
BZMF ALM/END # CSM, SO ALARM AND EXIT
TC BANKCALL # CSM/LM, SO PERFORM HB TO LB SWITCH-OVER
CADR SWICHOVR
TC GOPIN
DAPFIG CS BIT9 # TURN OFF SIVB TAKEOVER
EXTEND
WAND CHAN12
CAE DAPDATR1 # DETERMINE VEHICLE CONFIGURATION
EXTEND
MP BIT3 # RIGHT SHIFT 4 OCTAL DIGITS
MASK THREE # (IN CASE BIT 15 IS USED)
INHINT
INDEX A
TCF +1 # BRANCH BASED ON CONFIG
TCF NODAPUP # CM.. ACTIVATE NODAP
TCF RCSDAPUP # CSM..ACTIVATE RCSDAP
TCF RCSDAPUP # CSM/LM ACTIVATE RCSDAP
SATSTKON EXTEND
DCA 2REDOSAT
DXCH T5LOC
CAF POSMAX
TS TIME5
CS FLAGWRD6 # TURN ON BITS 15,14 OF FLAGWRD6
MASK DPCONFIG
ADS FLAGWRD6 # SATSTICK CONTROL OF T5
TC IBNKCALL # ZERO JET CHANNELS IN 14MS AND THEN
CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
EBANK= SPOLYARG
2REDOSAT 2CADR REDOSAT
RCSDAPUP TC IBNKCALL
CADR RCSDAPON
TCF GOPIN
NODAPUP TC IBNKCALL # ZERO JET CHANNELS IN 14 MS. AND THEN
CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED.
CAF BIT1
TS HOLDFLAG # KILL KALCMANU JOB
EXDAPOFF EXTEND
DCA IDLECADR # SET T5 TO IDLE
## Page 263
DXCH T5LOC
CS DPCONFIG
MASK FLAGWRD6
TS FLAGWRD6
TC GOPIN
## Page 264
# CREWMANU 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. GO TO GOTOPOOH.
# 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 CHKPOOH # DEMAND POO
TC TESTXACT
CAF PRIO10
TC FINDVAC
EBANK= R61CNTR
2CADR R62DISP
TC ENDOFJOB
## Page 265
# 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 DESPLAY SYSTEM
COUNT* $$/EXTVB
DAPDISP CS FLAGWRD6
MASK DPCONFIG
EXTEND
BZMF +2 # TVC = 10, CS YIELDS 01, BZMF TO CONTINUE
TC ALM/END # RETURN IF TVC
TC TESTXACT
CAF PRIO10
TC NOVAC
EBANK= DAPDATR1
2CADR DONOUN46
TC ENDOFJOB
SETLOC EXTVBS
BANK
COUNT* $$/R03
DONOUN46 CAF V04N46 # R1 R2
TC BANKCALL # DAPDATR1 DAPDATR2
CADR GOXDSPF # GOXDSP ROUTINES USED FOR EXTENDED VERBS.
TC ENDEXT # EXT. VBS GO TO ENDEXT, NOT ENDOFJOB.
TC +2
TC DONOUN46
CA DAPDATR1
MASK BIT4
CCS A
TCF MAXIN
TC DOWNFLAG
ADRES MAXDBFLG
MAXOUT TC BANKCALL
CADR S41.2
DONOUN47 CAF V06N47 # R1 R2 R3
TC BANKCALL # CSM WGT. LEM WGT. BLANK
CADR GOXDSPF
## Page 266
TC ENDEXT
TC +2
TC DONOUN47
CAE DAPDATR1 # DO MASS PROPERTIES CALCULATION ONLY IF
MASK PRIO30 # CONFIG = 1(CSM), 2(CSM/LM), 6(CSM/LMA)
EXTEND
BZF DONOUN48 # SKIP IF 0, 4
COM
MASK PRIO30
EXTEND
BZF DONOUN48 # SKIP IF 3, 7
INHINT
TC IBNKCALL
CADR MASSPROP # UPDATE IXX, IAVG, IAVG/TLX
RELINT
TC BANKCALL
CADR S40.14 # COMPUTE RCS DAP STUFF
DONOUN48 CAF V0648 # R1 R2 R3
TC BANKCALL # PTRIM YTRIM BLANK
CADR GOXDSPF
TC ENDEXT
TC ENDEXT
TC DONOUN48
MAXIN TC UPFLAG
ADRES MAXDBFLG
TC MAXOUT
V0648 VN 0648
V06N47 VN 0647
V04N46 VN 0446
BANK 43
SETLOC EXTVERBS
BANK
COUNT* $$/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 1.
# SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC).
# CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE
# RPER (PERIGEE RADIUS), RAPO (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).
## Page 267
# 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
TC UPFLAG
ADRES R31FLAG
+3 CAF PRIO5
TC NOVAC
EBANK= SUBEXIT
2CADR R31CALL
TC ENDOFJOB
V85PERF TC TESTXACT
TC DOWNFLAG # RESET R31 FLAG TO INDICATE R34
ADRES R31FLAG
TC V83PERF +3
## Page 268
# 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 R23 WITH PRIORITY 16, OTHERWISE TURN ON ALARM 406
# 3. RELEASE EXT VERB DISPLAY SYSTEM
GOTOR23 TC TESTXACT
CA FLAGWRD0 # V54 UNACCEPTABLE UNLESS BOTH
MASK RNDVZBIT # RENDEZVOUS AND TRACK FLAGS ON
EXTEND
BZF R22ALARM
CA FLAGWRD1
MASK TRACKBIT
EXTEND
BZF R22ALARM
CAF PRIO16 # LOWER THAN R22
TC NOVAC
EBANK= MRKBUF1
2CADR R23CSM
TC ENDOFJOB
R22ALARM TC ALARM # VERB 57 WAS SELECTED AND NEITHER REND
OCT 00406 # NOR TRACK FLAG WERE ON.
TC ENDEXT
## Page 269
# 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 TC E7SETTER # BACKUP MARK REJ.
CA MRKBUF1
EXTEND
BZF +3
EXTEND
BZMF BKRJCT
CA NEGONE
TS MRKBUF1
TC GOPIN
BKRJCT CAF R22CABIT
MASK FLAGWRD9
EXTEND
BZF GOPIN
TC UPFLAG
ADRES REJCTFLG
TCF GOPIN
## Page 270
# TRACKTRM VERB 56 DESCRIPTION
# TERMINATE TRACKING (P20)
# 1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS.
# 2. REQUIRE P20 NOT RUNNING ALONE OR GO TO GOTOPOOH (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 RENDEZVOUS, 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 TC INTPRET
CLEAR BON
R67FLAG
UTFLAG
TRACKCHK
BOFF CLEAR
RNDVZFLG
EXPIN1
AUTOSEQ
CLEAR CLEAR
R21MARK
UPDATFLG
TRACKCHK BOFCLR CLEAR
TRACKFLG
EXPIN
IMUSE
CLEAR CLEAR
RNDVZFLG
UTFLAG
RTB CALL
INITSUBB # DO STOPRATE AND RESTOREDB
INTSTALL # DONT INTERRUPT INTEGRATION
EXIT
TC 2PHSCHNG
OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY
OCT 1 # ALSO KILL GROUP 1
CLEANOUT INHINT
TC POSTJUMP
CADR ENEMA # CAUSE RESTART
EXPIN CLEAR CLEAR
RNDVZFLG
UTFLAG
EXPIN1 EXIT
## Page 271
TC GOPIN
# LEMVEC VERB 80 DESCRIPTION
# UPDATE LEM STATE VECTOR
# RESET VEHUPFLG TO 0
LEMVEC TC DOWNX
ADRES VEHUPFLG # VEHUPFLG DOWN INDICATES LEM
CSMVEC TC UPX # VEHUPFLG UP INDICATES CM.
# CSMVEC VERB 81 DESCRIPTION
# UPDATE CSM STATE VECTOR
# SET VEHUPFLG TO 1
# DNEDUMP VERB 74 DESCRIPTION
# INITIALIZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP.
# 2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY.
# 3. RELEASE EXT VERB DISPLAY.
DNEDUMP CAF LDNDUMPI
TS DNTMGOTO
TC GOPIN
V74 EQUALS DNEDUMP
LDNDUMPI REMADR DNDUMPI
# LFTFLGON VERB 75 DESCRIPTION
# SET LIFT-OFF FLAG
# 1. SETUP GGRBKFLG, GUIDANCE REFERENCE RELEASE BACK-UP FLAG.
# 2. RETURN VIA PINBRNCH
ADRES GRRBKFLG # MUST PRECEDE LFTFLGON
LFTFLGON TC UPX
CHKPOOH CA MODREG
EXTEND
BZF TCQ
TCF ALM/END
EBANK= PACTOFF
IDLECADR 2CADR T5IDLOC
## Page 272
# VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)
#
# CALLED BY VERB 89 ENTER DURING P00. PRIO 10 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 (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 CHKPOOH # DEMAND P00
TC TESTXACT
CAF PRIO10
TC FINDVAC
EBANK= R61CNTR
2CADR V89CALL
TCF ENDOFJOB
WMATRXNG TC DOWNFLAG # RESET RENDWFLG
ADRES RENDWFLG
TC DOWNX
## Page 273
ADRES ORBWFLAG
GOSHOSUM EQUALS SHOWSUM
SHOWSUM TC CHKPOOH
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 87 SET VHF RANGE FLAG - ALLOWS R22 TO ACCEPT RANGE DATA.
# VB 88 RESET VHF RANGE FLAG - STOPS ACCEPTANCE OF RANGE DATA.
RESETVHF TC TRFAILOF # TRACKER FAIL LIGHT
TC DOWNX
ADRES VHFRFLAG
SETVHFLG TC UPX # V87 SET VHF RANGE FLAG
# VERB 66. VEHICLES ARE ATTACHED. - MOVE THIS VEHICLE STATE VECTOR TO
# OTHER VEHICLE STATE VECTOR.
## Page 274
# USE SUBROUTINE GENTRAN.
EBANK= RRECTHIS
ATTACHED CAF PRIO10
TC FINDVAC
EBANK= RRECTHIS
2CADR ATTACHIT
TC ENDOFJOB
SETLOC EXTVRBS1
BANK
COUNT* $$/EXTVB
ATTACHIT TC INTPRET
CALL
INTSTALL
SET BON
MOONOTH
MOONTHIS
CMMOVE
CLEAR
MOONOTH
CMMOVE EXIT
CAF OCT51
TC GENTRAN
ADRES RRECTHIS # OUR STATE VECTOR INTO OTHER VIA GENTRAN
ADRES RRECTOTH
TACHEXIT TC INTPRET
CALL # UPDATE RN, VN, R-OTHER, V-OTHER
PTOACSM
LXA,2 CALL
PBODY
SVDWN1
CALL
SVDWN2
CALL
INTWAKE0
TCPIN RTB
PINBRNCH
OCT51 OCT 51
SETLOC EXTVERBS
BANK
COUNT* $$/EXTVB
# VERB 47 MOVE LM STATE VECTOR INTO CM STATE VECTOR.
LMTOCMSV CAF PRIO10
TC FINDVAC
## Page 275
EBANK= RRECTHIS
2CADR LMTOCM
TC ENDOFJOB
SETLOC EXTVRBS1
BANK
COUNT* $$/EXTVB
LMTOCM TC INTPRET
CALL
INTSTALL
SET BON
MOONTHIS
MOONOTH
LMMOVE
CLEAR
MOONTHIS
LMMOVE EXIT
CAF OCT51
TC GENTRAN
ADRES RRECTOTH # LM STATE VECTOR INTO CM VIA GENTRAN
ADRES RRECTHIS
TCF TACHEXIT
# VERB 94 DO R64 VIA ENEMA TO PICK UP IN P23.
SETLOC EXTVERBS
BANK
COUNT* $$/EXTVB
VERB94 CAF V94FLBIT
MASK FLAGWRD9 # IS V94FLAG SET
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
2P11SPT1 = 2.11SPOT
TC CLEANOUT # CAUSE RESTART
# V90PERF VERB 90 DESCRIPTION
# REQUEST RENDEZVOUS OUT-OF-PLANE DISPLAY (R36)
## Page 276
# 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
EBANK= TIG
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 POO
EBANK= LANDMARK
V52 TC CHECKMM # IS P22 OPERATING
MM 22
TC ALM/END # NO
TC E7SETTER
CS PRIO7 # YES SET BITS 12,11,10 OF LANDMARK =
MASK LANDMARK # NO. OF MARKS TO GET OFFSET MARK NO.
TS LANDMARK
CA 8NN # NO. OF MARKS
EXTEND
MP BIT10
CA L
ADS LANDMARK
TC GOPIN
# VERB 67 ASTRONAUT DISPLAY OF W MATRIX
V67 TC TESTXACT
CAF PRIO5
TC FINDVAC
## Page 277
EBANK= W
2CADR V67CALL
TC ENDOFJOB
# VB 45. RESET SURFACE FLAG.
RESTSRF TC DOWNX
ADRES SURFFLAG
SETSURF TC UPX # VB 44. SET SURFACE FLAG
## Page 278
# DOWNX, UPX FLAG SETTING AND RESETTING FOR EXTENDED VERBS.
#
# RETURN IS TO GOPIN.
#
# CALLING SEQUENCES:
#
# FOR DOWNX
#
# TC DOWNX
# ADRES (FLAG NAME)
#
# FOR UPX
#
# ADRES (FLAG NAME)
# TC UPX
COUNT* $$/FLAG
DOWNX CA Q
TC DEBIT
MASK L
TCF COMXFLG
UPX CA Q
AD NEG2
TC DEBIT
COM
EXTEND
ROR LCHAN
COMXFLG INDEX ITEMP1
TS FLAGWRD0
TCF GOPIN
## Page 279
# VERB 57 SET FULL TRACK OPTION
COUNT* $$/EXTVB
V57CALL TC TESTXACT
PARTRACK CAF BIT3 # OPTION 4 SPECIFY CONDITION OF FULTKFLG
TS OPTIONX
PRTRCK CAF FULTKBIT
MASK FLGWRD10
EXTEND
BZF +2 # FULTKFLG NOT SET
CAF BIT1 # FULTKFLG SET
TS OPTIONX +1
CAF V04N12
TC BANKCALL
CADR GOXDSPF
TC ENDEXT
TC ENDEXT
CA OPTIONX +1
EXTEND
BZF +4
TC UPFLAG
ADRES FULTKFLG
TCF PRTRCK
TC DOWNFLAG
ADRES FULTKFLG
TCF PRTRCK
V04N12 VN 0412
