https://github.com/virtualagc/virtualagc
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Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
EXTENDED_VERBS.agc
### FILE="Main.annotation"
## Copyright:   Public domain.
## Filename:    EXTENDED_VERBS.agc
## Purpose:     A section of Luminary revision 116.
##              It is part of the source code for the Lunar Module's (LM)
##              Apollo Guidance Computer (AGC) for Apollo 12.
##              This file is intended to be a faithful transcription, except
##              that the code format has been changed to conform to the
##              requirements of the yaYUL assembler rather than the
##              original YUL assembler.
## Reference:   pp. 262-301
## Assembler:   yaYUL
## Contact:     Ron Burkey <info@sandroid.org>.
## Website:     www.ibiblio.org/apollo/index.html
## Mod history: 2017-01-22 MAS  Created from Luminary 99.
##              2017-02-23 RSB  CHKP00H -> CHKPOOH
##              2017-03-06 RSB  Transcribed, and then proofed comment-text using
##                              3-way diff vs Luminary 99 and Luminary 131.
##                              (Admittedly, the former is more for detecting errors
##                              in Luminary 99 than the other way around.)
##              2017-03-15 RSB  Comment-text fixes identified in 5-way
##                              side-by-side diff of Luminary 69/99/116/131/210.
##              2017-03-17 RSB  Comment-text fixes identified in diff'ing
##                              Luminary 99 vs Comanche 55.
##              2017-03-19 HG   Add missing statement adres NEED2FLG
##                              Fix values OCT 33113 --> OCT 33133 (DSPLYMSK)
##                                         OCT 13113 --> OCT 13133 (BOOLSMSK)
##                              Fix operator TC --> TCF
##		2017-06-17 MAS	Globally removed all SBANK= workarounds.

## Page 262
                BANK            7
                SETLOC          EXTVERBS
                BANK

                EBANK=          OGC

                COUNT*          $$/EXTVB

# FAN-OUT

GOEXTVB         INDEX           MPAC                            # VERB-40 IS IN MPAC
                TC              LST2FAN                         # FAN AS BEFORE.

LST2FAN         TC              VBZERO                          # VB40 ZERO (USED WITH NOUN 20 OR 72 ONLY)
                TC              VBCOARK                         # VB41 COARSE ALIGN (USED WITH NOUN 20 OR
                                                                #                                 72 ONLY)
                TC              IMUFINEK                        # VB42 FINE ALIGN IMU
                TC              IMUATTCK                        # VB43  LOAD IMU ATTITUDE ERROR METERS.
                TC              RRDESEND                        # VB44 TERMINATE CONTINUOUS DESIGNATE
                TC              ALM/END                         # VB45 SPARE
                TC              ALM/END                         # VB46 SPARE
                TC              V47TXACT                        # VB47 AGS INITIALIZATION
                TC              DAPDISP                         # VB48  LOAD A/P DATA
                TCF             CREWMANU                        # VB49 START AUTOMATIC ATTITUDE MANEUVER
                TC              GOLOADLV                        # VB50 PLEASE PERFORM
                TC              ALM/END                         # VB51 SPARE
                TC              GOLOADLV                        # VB52 PLEASE MARK X - RETICLE.
                TC              GOLOADLV                        # VB53 PLEASE MARK Y - RETICLE.
                TC              GOLOADLV                        # VB54 PLEASE MARK X OR Y - RETICLE
                TC              ALINTIME                        # VB55 ALIGN TIME
                TC              TRMTRACK                        # VB56 TERMINATE TRACKING - P20 + P25
                TC              LRON                            # VB57 PERMIT  LANDING RADAR UPDATES
                TC              LROFF                           # VB58 INHIBIT LANDING RADAR UPDATES
                TC              LRPOS2K                         # VB59 COMMAND LR TO POSITION 2.
                TC              RATEDISP                        # VB60 DISPLAY DAP ESTIMATED RATES
                TC              DAPATTER                        # VB61 DISPLAY DAP ATTITUDE ERROR
                TC              TOTATTER                        # VB62 DISPLAY TOTAL ATTITUDE ERROR
                TC              R04                             # VB63 SAMPLE RADAR ONCE PER SECOND
                TC              VB64                            # VB64 CALCULATE,DISPLAY S-BAND ANT ANGLES
                TC              SNUFFOUT                        # VB65 DISABLE U,V JETS DURING DPS BURNS.
                TC              ATTACHED                        # VB66 ATTACHED   MOVE THIS TO OTHER STATE
                TC              V67                             # VB67 W MATRIX MONITOR
                TC              ALM/END                         # VB68 SPARE
VERB69          TC              VERB69                          # VB69 FORCE A HARDWARE RESTART
                TC              V70UPDAT                        # VB70 UPDATE LIFTOFF TIME.
                TC              V71UPDAT                        # VB71 UNIVERSAL UPDATE - BLOCK ADDRESS.
                TC              V72UPDAT                        # VB72 UNIVERSAL UPDATE - SINGLE ADDRESS.
                TC              V73UPDAT                        # VB73 UPDATE AGC TIME (OCTAL).
                TC              DNEDUMP                         # VB74 INITIALIZE DOWN-TELEMETRY PROGRAM
                                                                #          FOR ERASABLE DUMP.
                TC              OUTSNUFF                        # VB75 ENABLE U,V JETS DURING DPS BURNS.
## Page 263
                TC              MINIMP                          # VB76 MINIMUM IMPULSE MODE
                TC              NOMINIMP                        # VB77 RATE COMMAND MODE
                TC              R77                             # VB78 START LR SPURIOUS RETURN TEST
                TC              R77END                          # VB79 TERMINATE LR SPURIOUS RETURN TEST
                TC              LEMVEC                          # VB80 UPDATE LEM STATE VECTOR
                TC              CSMVEC                          # VB81 UPDATE CSM STATE VECTOR
                TC              V82PERF                         # VB82 REQUEST ORBIT PARAM DISPLAY (R30)
                TC              V83PERF                         # VB83 REQUEST REND PARAM DISPLAY (R31)
                TC              ALM/END                         # VB84 SPARE
                TC              VERB85                          # VB85 DISPLAY RR LOS AZ AND ELEV
                TC              ALM/END                         # VB86 SPARE
                TC              ALM/END                         # VB87 SPARE
                TC              ALM/END                         # VB88 SPARE
                TC              V89PERF                         # VB89 ALIGN XORZ LEM AXIS ALONG LOS (R63)
                TC              V90PERF                         # VB90 OUT OF PLANE RENDEZVOUS DISPLAY
                TC              GOSHOSUM                        # VB91 DISPLAY BANK SUM.
                TC              SYSTEST                         # VB92 OPERATE IMU PERFORMANCE TEST.
                TC              WMATRXNG                        # VB93 CLEAR RENDWFLG
                TC              ALM/END                         # VB94 SPARE
                TC              UPDATOFF                        # VB95 NO STATE VECTOR UPDATE ALLOWED
                TC              VERB96                          # VB96 INTERRUPT INTEGRATION AND GO TO POO
                TC              GOLOADLV                        # VB97 PLEASE VERIFY ENGINE FAILURE
                TC              ALM/END                         # VB98 SPARE
                TC              GOLOADLV                        # VB99 PLEASE ENABLE ENGINE

# END OF EXTENDED VERB FAN

TESTXACT        CCS             EXTVBACT                        # ARE EXTENDED VERBS BUSY
                TC              ALM/END                         # YES, TURN ON OPERATOR LIGHT
                CA              FLAGWRD4                        # ARE PRIORITY DISPLAYS USING DSKY
                MASK            OC24100
                CCS             A
                TC              ALM/END                         # YES
                CAF             OCT25                           # SET BITS 1, 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

TERMEXTV        EQUALS          ENDEXT
ENDEXTVB        EQUALS          ENDEXT

ALM/END         TC              FALTON                          # TURN ON OPERATOR ERROR LIGHT
## Page 264
GOPIN           TC              POSTJUMP
                CADR            PINBRNCH

CHKPOOH         CA              MODREG                          # CHECK FOR POO OR POO-.
                EXTEND
                BZF             TCQ
                TC              ALM/END

OC24100         OCT             24100

## Page 265
# VBZERO       VERB 40            DESCRIPTION

#     1. REQUIRE NOUN 20 (ICDU ANGLES) OR NOUN 72 (RCDU ANGLES).
#    2. FOR N20, CHECK IMUCADR IN AN EFFORT TO AVOID A 1210 RESTART.
#       FOR N72, CHECK IF EITHER RADAR IS IN USE.
#     3. EXECUTE THE CDU ZERO.
#     4. STALL UNTILL THE ZERO IS DONE.
#     5. DON'T DIFFERENIATE BETWEEN A BAD OR GOOD RETURN.
#     6. EXIT, RE-ESTABLISHING THE INTERRUPTED DISPLAY (IF ANY).

VBZERO          TC              OP/INERT
                TC              IMUZEROK                        # RETURN HERE IF NOUN = ICDU(20)
                TC              RRZEROK                         # RETURN HERE IF NOUN = RCDU(72)
IMUZEROK        TC              CKMODCAD
                TC              BANKCALL                        # KEYBOARD REQ FOR ISS CDUZERO
                CADR            IMUZERO

                TC              BANKCALL                        # STALL
                CADR            IMUSTALL
                TC              +1

                TC              GOPIN                           # IMUZERO

RRZEROK         TC              RDRUSECK
                TC              BANKCALL
                CADR            RRZERO

RWAITK          TC              BANKCALL
                CADR            RADSTALL
                TCF             +1
                TC              GOPIN                           # RRZERO

# LRPOS2K          VERB 59            DESCRIPTION
#     COMMAND LANDING RADAR TO POSITION 2
#    1. EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAR.
#     2. ALARM WITH CODE 523 IF POS 2 IS NOT INDICATED WITHIN
#        THE PRESCRIBED TIME.
#     3. RE-ESTABLISH THE DISPLAYS.

LRPOS2K         TC              RDRUSECK
                TC              BANKCALL                        # COMMAND LR TO POSITION 2
                CADR            LRPOS2
                TC              BANKCALL
                CADR            RADSTALL
                TC              LRP2ALM
                TC              GOPIN

LRP2ALM         TC              ALARM
                OCT             523
                TC              GOPIN
## Page 266

# V61      VERB 61, DISPLAY DAP ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES.

DAPATTER        TC              DOWNFLAG
                ADRES           NEEDLFLG
                TCF             TOTATTER        +2

# V62      VERB 62, DISPLAY TOTAL ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES.

TOTATTER        TC              UPFLAG
                ADRES           NEEDLFLG
   +2           TC              DOWNFLAG
                ADRES           NEED2FLG
                TC              GOPIN

# V60      VERB 60, DISPLAY DAP ESTIMATED RATES ON FDAI ATTITUDE ERROR NEEDLES.

RATEDISP        TC              UPFLAG
                ADRES           NEED2FLG
                TC              GOPIN

## Page 267
# VBCOARK      VERB 41            DESCRIPTION
#     COARSE ALIGN IMU OR RADAR
#    1. REQUIRE NOUN 20 OR NOUN 72 OR TURN ON OPERATOR ERROR.
#     2. REQUIRE EXT VERB DISPLAY SYS AVAILABLE OR TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH.
#     CASE 1     NOUN 20     (ICDU ANGLES)
#     3. SET EXT VERB DISPLAY ACTIVE FLAG.
#     4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES).
#        RESPONSES
#          A. TERMINATE
#             1. RELEASE EXT VERB DISPLAY SYSTEM
#          B. PROCEED
#            1. COARSE ALIGN TO THE EXISTING THETAD'S (ICORK2).
#          C. ENTER
#            1. COARSE ALIGN TO THE LOADED THETAD'S (ICORK2).
#     ICORK2
#        1. RE-DISPLAY VERB 41.
#        2. EXECUTE IMUCOARS (IMU COARSE ALIGN).
#        3. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER).
#        4. RELEASE EXT VERB DISPLAY SYSTEM.
#     CASE 2     NOUN 72     (RCDU ANGLES)
#       EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAD.
#     5. DISPLAY FLASHING V24,N73 (LOAD NEW RR TRUNION ANGLE AND NEW SHAFT ANGLE).
#        RESPONSES
#        A. TERMINATE
#           1. RELEASE EXT VERB DISPLAY SYS.
#        B. PROCEED OR ENTER
#           1. EXECUTE AURLOKON (ASK OPERATOR FOR LOCK-ON REQUIREMENTS).
#           2. RE-DISPLAY VERB 41.
#           3. SCHEDULE RRDESK2 WITH PRIORITY 20.
#           4. RELEASE EXT VERB DISPLAY SYS.

#        AURLOKON

#       1. FLASH V04 N12 R1 = 00006 R2 = 00002
#           RESPONSES
#           A. TERMINATE
#           B. PROCEED
#             1. RESET LOCK-ON SWITCH
#             2. SET CONTINUOUS DESIGNATE FLAG
#             3. DISABLE R25
#          C. V22 E 1 E, R1 = 00001, PROCEED
#             1. SET LOCK-ON SWITCH
VBCOARK         TC              OP/INERT
                TC              IMUCOARK                        # RETURN HERE IF NOUN = ICDU (20)
                TC              RRDESNBK                        # RETURN HERE IF NOUN = RCDU (72)
# RETURNS TO L+1 IF IMU OR L+2 IF RR.

OP/INERT        CS              OCT24
                AD              NOUNREG
                EXTEND
## Page 268
                BZF             TCQ                             # IF = 20.

                AD              RRIMUDIF                        # -52
                EXTEND
                BZF             Q+1

                TC              ALM/END                         # ILLEGAL.

RRIMUDIF        DEC             -52                             # THE IMU
IMUCOARK        TC              CKMODCAD
                TC              TESTXACT                        # COARSE ALIGN FROM KEYBOARD.
                CAF             VNLODCDU                        # CALL FOR THETAD LOAD
                TC              BANKCALL
                CADR            GOXDSPF
                TC              TERMEXTV
                TCF             +1

ICORK2          CAF             IMUCOARV                        # RE-DISPLAY COARSE ALIGN VERB.
                TC              BANKCALL
                CADR            EXDSPRET

                TC              BANKCALL                        # CALL MODE SWITCHING PROG
                CADR            IMUCOARS

                TC              BANKCALL                        # STALL
                CADR            IMUSTALL
                TC              ENDEXTVB
                TC              ENDEXTVB

VNLODCDU        VN              2522
IMUCOARV        VN              4100

## Page 269
# DESIGNATE TO DESIRED GIMBAL ANGLES.

RRDESNBK        TC              RDRUSECK
                TC              TESTXACT
                CS              OCT41000                        # TERMINATE PRESENT DESIGNATION
                INHINT                                          # RELINT DONE IN GOXDSPF
                MASK            RADMODES
                TS              RADMODES

                CAF             VNLDRCDU                        # ASK FOR GIMBAL ANGLES.
                TC              BANKCALL
                CADR            GOXDSPF
                TC              TERMEXTV
                TCF             -4                              # V33

                TC              BANKCALL                        # ASK OP FOR LOCK ON REQUIREMENTS.
                CADR            AURLOKON

                CAF             OPTCOARV                        # RE-DISPLAY OUR OWN VERB
                TC              BANKCALL
                CADR            EXDSPRET

                CAF             PRIO20
                TC              FINDVAC
                EBANK=          LOSCOUNT
                2CADR           RRDESK2

                TCF             TERMEXTV                        # FREES DISPLAY.

VNLDRCDU        VN              2473
OPTCOARV        EQUALS          IMUCOARV                        # DIFFERENT NOUNS.

RRDESK2         TC              BANKCALL
                CADR            RRDESNB

                TC              +1                              # DUMMY NEEDED SINCE DESRETRN DOES INCR
                CA              PRIORITY
                MASK            LOW9
                CCS             A
                INDEX           A
                TS              A                               # RELEASE THIS JOBS VAC AREA.
                COM                                             # INSURE ENDOFJOB DOES A NOVAC END (BZMF).
                ADS             PRIORITY
                TC              BANKCALL                        # WAIT FOR COMPLETION OF DESIGNATE
                CADR            RADSTALL
                TC              +2                              # BADEND-NO LOCKON OR OUT OF LIMITS
                TC              ENDOFJOB                        # GOODEND-LOCKON ACHIEVED
                TC              ALARM
                OCT             503                             # TURN ON ALARM LIGHT-503 DESIGNATE FAIL
## Page 270

                TC              ENDOFJOB

RRDESEND        CCS             RADMODES                        # TERMINATE CONTINUOUS DESIGNATE ONLY
                TCF             GOPIN
                TCF             GOPIN
                TCF             +1
                CS              OCT41000                        # BEGDES GOES TO ENDRADAR
                INHINT                                          # RELINT DONE IN DOWNFLAG
                MASK            RADMODES
                TS              RADMODES
                TC              CLRADMOD
                CAF             1SEC
                TC              BANKCALL
                CADR            DELAYJOB
                TC              DOWNFLAG                        # ENABLE R25 GIMBAL MONITOR
                ADRES           NORRMON
                TCF             GOPIN
OCT41000        OCT             41000                           # CONTINUOUS DESIGNATE - DESIGNATE

## Page 271
                BANK            23
                SETLOC          EXTVB1
                BANK
                COUNT*          $$/EXTVB

AURLOKON        TC              MAKECADR
                TS              DESRET
                CAF             TWO
                TS              OPTIONX         +1
                CAF             SIX                             # OPTION CODE FOR V04N12
                TS              OPTIONX

 -5             CAF             V04N1272
                TC              BANKCALL                        #      R2   00001  LOCK-ON
                CADR            GOMARKFR
                TCF             ENDEXT                          # V34
                TCF             +5                              # V33
                TCF             -5                              # V32
                CAF             BIT3
                TC              BLANKET
                TC              ENDOFJOB

 +5             CA              OPTIONX         +1
                MASK            BIT2
                CCS             A
                TCF             NOLOKON
                TC              UPFLAG
                ADRES           LOKONSW
                TCF             AURLKON1

NOLOKON         TC              DOWNFLAG                        # IF NO LOCK-ON, SET BIT15 OF RADMODES TO
                ADRES           LOKONSW                         # INDICATE THAT CONTINUOUS DESIGNATION IS
                TC              UPFLAG                          # WANTED (TO BE TERMINATED BY V44.)
                ADRES           CDESFLAG
                TC              UPFLAG                          # SET NO RR ANGLE MONITOR FLAG.
                ADRES           NORRMON                         # (DISABLE R25 RR GIMBAL MONITOR IN T4RUPT
AURLKON1        RELINT
                CA              DESRET
                TCF             BANKJUMP

V04N1272        VN              412
-LOKONFG        OCT             -20

                BANK            43
                SETLOC          EXTVERBS
                BANK
                COUNT*          $$/EXTVB

LRON            TC              TESTXACT

## Page 272
DSP68           CAF             V06N68
                TC              BANKCALL
                CADR            GOMARKFR
                TC              B1+5OFF
                TC              SET57
                TC              ENDOFJOB

WAIT68          TC              BANKCALL
                CADR            2SECDELY

                CAF             OCT21
                MASK            EXTVBACT
                EXTEND
                BZF             ENDEXT

                MASK            BIT5
                CCS             A
                TCF             DSP68

DSP5068         CAF             V50N68
                TC              BANKCALL
                CADR            GOMARK3R        -1
                TCF             B1+5OFF
                TCF             B1+5OFF
                TCF             RESET57

                TCF             WAIT68

SET57           TC              UPFLAG
                ADRES           LRINH

                TCF             B5OFF

RESET57         TC              DOWNFLAG
                ADRES           LRINH

                CAF             OCT25
                TC              B5OFF           +2

B1+5OFF         CS              OCT21
                TCF             B5OFF           +1

OCT21           EQUALS          ND1

V06N68          VN              0668
V50N68          =               V06N68

LROFF           TC              DOWNFLAG                # INHIBIT INCORPORATION OF LR DATA      V58
                ADRES           LRINH
                TCF             GOPIN

## Page 273

                EBANK=          OGC

## Page 274
# IMUFINEK      VERB 42         DESCRIPTION
#     FINE ALIGN IMU
#     1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG OR TURN ON OPER ERROR AND GO TO PINBRNCH.
#     2. DISPLAY FLASHING V25,N93....LOAD DELTA GYRO ANGLES....
#        RESPONSES
#        A. TERMINATE
#           1. RELEASE EXT VERB DISPLAY SYSTEM.
#        B. PROCEED OR ENTER
#           1. RE-DISPLAY VERB 42
#           2. EXECUTE IMUFINE (IMU FIVE ALIGN MODE SWITCHING).
#           3. EXECUTE IMUSTALL (ALLOW FOR DATA TRANSFER)
#              A. FAILED
#                 1. RELEASE EXT VERB DISPLAY SYSTEM.
#              B. GOOD
#                 1. EXECUTE IMUPULSE (TORQUE IRIGS).
#                 2. EXECUTE IMUSTALL AND RELEASE EXT VERB DISPLAY SYSTEM.

IMUFINEK        TC              CKMODCAD
                TC              TESTXACT                        # FINE ALIGN WITH GYRO TORQUING.
                CAF             VNLODGYR                        # CALL FOR LOAD OF GYRO COMMANDS
                TC              BANKCALL
                CADR            GOXDSPF
                TC              TERMEXTV
                TC              +1                              # PROCEED WITHOUT A LOAD

                CAF             IMUFINEV                        # RE-DISPLAY OUR OWN VERB
                TC              BANKCALL
                CADR            EXDSPRET

                TC              BANKCALL                        # CALL MODE SWITCH PROG
                CADR            IMUFINE

                TC              BANKCALL                        # HIBERNATION
                CADR            IMUSTALL
                TC              ENDEXTVB

FINEK2          CAF             LGYROBIN                        # PINBALL LEFT COMMANDS IN OGC 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
# GOLOADLV      VERB 50            DESCRIPTION
#               AND OTHER PLEASE
## Page 275
#               DO SOMETHING VERBS
#      PLEASE PERFORM, MARK, CALIBRATE, ETC.
#      1. PRESSING ENTER ON DSKY INDICATES REQUESTED ACTION HAS BEEN PERFORMED, AND THE PROGRAM DOES THE
#         SAME RECALL AS A COMPLETED LOAD.
#      2. THE EXECUTION OF A VERB 33 (PROCEED WITHOUT DATA) INDICATES THE REQUESTED ACTION IS NOT DESIRED.

                SBANK=          PINSUPER                        # FOR LOADLV1 AND SHOWSUM CADR'S.

GOLOADLV        TC              FLASHOFF

                CAF             PINSUPBT
                EXTEND
                WRITE           SUPERBNK
                TC              POSTJUMP
                CADR            LOADLV1

# VERB 47 - AGS INITIALIZATION - R47.

#          SEE LOG SECTION AGS INITIALIZATION FOR OTHER PERTINENT REMARKS.

V47TXACT        TC              TESTXACT                        # NO OTHER EXTVERB.
                CAF             PRIO4
                TC              FINDVAC
                EBANK=          AGSBUFF
                2CADR           AGSINIT

                TC              ENDOFJOB

CKMODCAD        CA              MODECADR
                EXTEND
                BZF             TCQ
                TC              ALM/END                         # SOMEBODY IS USING MODECADR SO EXIT

## Page 276
# ALINTIME     VERB 55            DESCRIPTION
#        REQUIRE POO OR POO-.
#     1. SET EXT VERB DISPLAY BUSY FLAG.
#     2. DISPLAY FLASHING V25,N24 (LOAD DELTA TIME FOR AGC CLOCK.
#     3. REQUIRE EXECUTION OF VERB 23.
#     4. ADD DELTA TIME, RECEIVED FROM INPUT REGISTER, TO THE COMPUTER TIME.
#     5. RELEASE EXT VERB DISPLAY SYSTEM

ALINTIME        TC              TESTXACT
                TC              POSTJUMP                        # NO ROOM IN 43
                CADR            R33

                BANK            42
                SETLOC          SBAND
                BANK
                COUNT*          $$/R33

R33             CAF             PRIO7
                TC              PRIOCHNG
                CAF             VNLODDT
                TC              BANKCALL
                CADR            GOXDSPF
                TC              ENDEXT                          # TERMINATE
                TC              ENDEXT                          # PROCEED
                CS              DEC23                           # DATA IN OR RESEQUENCE (UNLIKELY)
                AD              MPAC                            # RECALL LEFT VERB IN MPAC
                EXTEND
                BZF             UPDATIME                        # GO AHEAD WITH UPDATE ONLY IF RECALL
                TC              ENDEXT                          #   WITH V23 (DATA IN).

UPDATIME        INHINT                                          # DELTA TIME IS IN DSPTEM1, +1.
                CAF             ZERO
                TS              MPAC            +2              # NEEDED FOR TP AGREE
                TS              L                               # ZERO T1 + 2 WHILE ALIGNING.
                DXCH            TIME2
                DXCH            MPAC
                DXCH            DSPTEM2         +1              # INCREMENT
                DAS             MPAC

                TC              TPAGREE                         # FORCE SIGN AGREEMENT.
                DXCH            MPAC                            # NEW CLOCK.
                DAS             TIME2
                RELINT
UPDTMEND        TC              ENDEXT

DEC23           DEC             23                              # V 23

VNLODDT         VN              2524                            # V25N24 FOR LOAD DELTA TIME

## Page 277
# SET UP FOR RADAR SAMPLING.

                BANK            42
                SETLOC          EXTVERBS
                BANK

                EBANK=          RSTACK

                COUNT*          $$/R0477

R77             TC              RDRUSECK                        # TRY TO AVOID THE 1210.
                CA              FLAGWRD3                        # IS R04 RUNNING?
                MASK            R04FLBIT
                CCS             A
                TC              ALM/END                         # YES.
                TC              UPFLAG
                ADRES           R77FLAG
                TCF             R04Z

R04             TC              RDRUSECK                        # TRY TO AVOID THE 1210.
                TC              TESTXACT
                TC              UPFLAG
                ADRES           R04FLAG                         # SET R04FLAG FOR ALARMS

R04Z            CAF             EBANK4
                TS              EBANK
                CAF             1SEC+1                          # SAMPLE ONCE PER SECOND
                TS              RSAMPDT
                CAF             ZERO
                TS              RTSTLOC
                TS              RFAILCNT                        # ZERO BAD SAMPLE COUNTER

                INHINT
                CS              LRPOSCAL                        # INITIALIZE
                MASK            RADMODES                        #     BIT 9  LR RANGE  LOW SCALE =0
                TS              RADMODES                        #     BIT 6  LR POS 1 =0
                CAF             LRPOSCAL                        #     BIT 3  RR RANGE  LOW SCALE =0
                EXTEND
                RAND            CHAN33
                ADS             RADMODES
                RELINT

                CS              FLAGWRD3                        # CHECK R04FLAG      R04 =1    R77 =0
                MASK            R04FLBIT
                CCS             A
                TCF             R04K

                CAF             ONE                             # INDICATES RENDEZVOUS DESIRED
                TS              OPTIONX         +1
R04A            CAF             BIT3                            # OPTION CODE FOR V04N12

## Page 278
                TS              OPTIONX
                CAF             V04N12X
                TC              BANKCALL                        #      R2   00001   RENDEZVOUS RADAR
                CADR            GOMARKFR                        #           00002   LANDING RADAR
                TCF             R04END                          # V34
                TCF             +5                              # V33
                TCF             R04A            +2              # R2
                CAF             BIT3
                TC              BLANKET
                TC              ENDOFJOB

                CA              OPTIONX         +1              # SAVE DESIRED OPTION     RR =1     LR =2
                TS              RTSTDEX

R04X            CAF             SIX                             # RR OR LR DESIRED
                MASK            RTSTDEX
                CCS             A
                TCF             R04L                            # LANDING RADAR
                TS              RTSTBASE                        # FOR RR   BASE = 0, MAX = 1

R04B            CAF             BIT2                            # IS RR AUTO MODE DISCRETE PRESENT
                EXTEND
                RAND            CHAN33
                EXTEND
                BZF             R04C                            # YES

                CAF             201R04                          # REQUEST SELECTION OF RR AUTO MODE
                TS              DSPTEM1
                CAF             V50N25X
                TC              BANKCALL
                CADR            GOMARK4
                TCF             R04END                          # V34
                TCF             R04B                            # V33
                TCF             -7                              # E

R04C            CAF             BIT14                           # ENABLE RR AUTO TRACKER
                EXTEND
                WOR             CHAN12

                CAF             TWO
                TS              RTSTMAX                         # FOR SEQUENTIAL STORAGE

                TC              WAITLIST
                EBANK=          RSTACK
                2CADR           RADSAMP

                RELINT

                CS              FLAGWRD3                        # CHECK R04FLAG       R04 =1    R77 =0
                MASK            R04FLBIT
## Page 279
                CCS             A
                TCF             GOPIN                           # R77

                CAF             SIX                             # RR OR LR
                MASK            RTSTDEX
                CCS             A
                TCF             R04LR                           # LR

R04RR           CAF             V16N72                          # DISPLAY RR CDU ANGLES (1/SEC)
                TC              BANKCALL                        #          R1  +  XXX.XX DEG   TRUNNION
                CADR            GOMARKF                         #          R2  +  XXX.XX DEG   SHAFT
                TCF             R04END                          # V34      R3     BLANK
                TCF             +2                              # V33
                TCF             R04RR                           # V32

                CAF             V16N78                          # DISPLAY RR RANGE AND RANGE RATE (1/SEC)
                TC              BANKCALL                        #          R1  +- XXX.XX NM    RANGE
                CADR            GOMARKF                         #          R2  +- XXXXX. FPS   RANGE RATE
                TCF             R04END                          # V34      R3     BLANK
                TCF             R04Y                            # V33
                TCF             R04RR                           # V32

R04LR           CAF             V16N66                          # DISPLAY LR RANGE AND POSITION (1/SEC)
                TC              BANKCALL                        #          R1  +- XXXXX. FT    LR RANGE
                CADR            GOMARKF                         #          R2  +  0000X.       POS. NO.
                TCF             R04END                          # V34      R3     BLANK
                TCF             +2                              # V33
                TCF             R04LR                           # V32

                CAF             V16N67                          # DISPLAY LR VELX, VELY, VELZ (1/SEC)
                TC              BANKCALL                        #          R1  +- XXXXX. FPS   LR V(X)
                CADR            GOMARKF                         #          R2  +- XXXXX. FPS   LR V(Y)
                TCF             R04END                          # V34      R3  +- XXXXX. FPS   LR V(Z)
                TCF             R04Y                            # V33
                TCF             R04LR                           # V32

R04Y            CAF             ZERO                            # TO TERMINATE SAMPLING
                TS              RSAMPDT
                TC              BANKCALL
                CADR            2SECDELY                        # WAIT FOR LAST RADARUPT
                CAF             1SEC+1                          # SAMPLE ONCE PER SECOND
                TS              RSAMPDT
                CAF             ZERO                            # FOR STORING RESULTS
                TS              RTSTLOC
                CAF             SIX
                MASK            RTSTDEX
                CCS             A
                CS              ONE                             # WAS LR
                AD              TWO                             # WAS RR
                TCF             R04X            -1

## Page 280

R04K            CAF             250MS+1                         # SAMPLE 4 LR COMPONENTS PER SECOND.
                TS              RSAMPDT

R04L            CAF             TWO
                TS              RTSTBASE                        # FOR LR   BASE =2, MAX =3
                CAF             SIX
                TCF             R04C            +4
R04END          CAF             ZERO                            # ZERO RSAMPDT
                TS              RSAMPDT                         # TO TERMINATE SAMPLING
                CAF             BIT8                            # WAIT 1.28 SECONDS FOR POSSIBLE
                TC              BANKCALL                        # PENDING RUPT.
                CADR            DELAYJOB

                INHINT
                CS              BIT14                           # DISABLE RR AUTO TRACKER
                EXTEND
                WAND            CHAN12

                TC              DOWNFLAG
                ADRES           R04FLAG                         # SIGNAL END OF R04.

                TC              ENDEXT

R77END          CAF             EBANK4                          # TO TERMINATE SAMPLING
                TS              EBANK
                CAF             ZERO
                TS              RSAMPDT
                CAF             BIT6                            # WAIT 320 MS FOR POSSIBLE
                TC              BANKCALL                        # PENDING RUPT.
                CADR            DELAYJOB

                TC              DOWNFLAG
                ADRES           R77FLAG
                TCF             GOPIN

V16N72          VN              1672
V16N78          VN              1678
V16N66          VN              1666
V16N67          VN              1667
V04N12X         VN              412
V50N25X         VN              5025
201R04          OCT             00201
1SEC+1          DEC             101
250MS+1         EQUALS          CALLCODE
LRPOSCAL        OCT             444

## Page 281
RDRUSECK        CS              FLAGWRD3                        # IS R29 ON?
                MASK            NR29FBIT
                CCS             A
                TC              ALM/END                         # YES
                CA              FLAGWRD5                        # IS R77 RUNNING?
                MASK            R77FLBIT
                CCS             A
                TC              ALM/END                         # YES.
                CS              FLAGWRD7                        # IS SERVICER RUNNING AND HENCE POSSIBLY
                MASK            V37FLBIT                        # R12 USING THE LR?
                CCS             A
                TCF             CHECKRR                         # NO
                CA              FLGWRD11                        # YES, IS R12 ON?
                MASK            LRBYBIT                         # BIT 15
                EXTEND
                BZF             ALM/END                         # YES
CHECKRR         CS              FLAGWRD1                        # IS THE TRACK FLAG SET AND HENCE POSSIBLY
                MASK            TRACKBIT                        # P20 USING THE RR?
                CCS             A
                TC              Q                               # NOT ALLOWED DURING P20
                TC              ALM/END                         # P22 OR P25,  (R65)
                COUNT*          $$/EXTVB

VB64            TC              TESTXACT                        # IF DISPLAY SYS. NOT BUSY,MAKE IT BUSY.
                CAF             PRIO4
                TC              FINDVAC
                EBANK=          ALPHASB
                2CADR           SBANDANT                        # CALC.,DISPLAY S-BAND ANTENNA ANGLES.

                TC              ENDOFJOB

## Page 282
# IMUATTCK     VERB 43            DESCRIPTION
#     LOAD IMU ATTITUDE ERROR METERS
#        1. REQUIRE POO OR FRESH START.
#        2. REQUIRE COARSE ALIGN ENABLE AND ZERO ICDU BITS OFF.
#        3. REQUIRE THAT NEEDLES BE OFF.
#        4. REQUEST LOAD OF N22 (VAUES TO BE DISPLAYED).
#        5. ON PROCEED OR ENTER RE-DISPLAY V43 AND SEND PULSES.

IMUATTCK        TC              CHKPOOH                         # VB 76 - LOAD IMU ATT. ERROR METERS

                CAF             BITS4&5                         # SEE IF COARSE ALIGN ENABLE AND ZERO IMU
                EXTEND                                          # CDUS BITS ARE ON
                RAND            CHAN12
                CCS             A
                TCF             ALM/END                         # NOT ALLOWED IF IMU COARSE OR IMU ZERO ON

                CAF             BIT13-14                        # BOTH BITS 13 AND 14 MUST BE 1
                EXTEND                                          # INDICATING THE MODE SELECTED IS OFF.
                RXOR            CHAN31
                MASK            BIT13-14
                EXTEND
                BZF             +2                              # NEEDLES IS OFF.
                TCF             ALM/END                         # EXIT.  NEEDLES IS ON.

                TC              TESTXACT

                CAF             VNLODCDU
                TC              BANKCALL
                CADR            GOXDSPF
                TC              ENDEXT                          # V34
                TC              +1
                CAF             V43K                            # REDISPLAY OUR VERB.
                TC              BANKCALL
                CADR            EXDSPRET
                CAF             BIT6
                EXTEND
                WOR             CHAN12                          # ENABLE ERROR COUNTERS.
                CAF             TWO
                TC              WAITLIST                        # PUT OUT COMMANDS IN .32 SECONDS.
                EBANK=          THETAD
                2CADR           ATTCK2

                TCF             ENDEXT

                BANK            42
                SETLOC          PINBALL3                        # SOMETHING IN B42.
                BANK

                COUNT*          $$/EXTVB
## Page 283
ATTCK2          CAF             TWO                             # PUT OUT COMMANDS.
 +1             TS              Q                               # CDU WILL LIMIT EXCESS DATA.
                INDEX           A
                CA              THETAD
                EXTEND
                MP              ATTSCALE
                INDEX           Q
                XCH             CDUXCMD
                CCS             Q
                TCF             ATTCK2          +1

                CAF             13,14,15
                EXTEND
                WOR             CHAN14
                TCF             TASKOVER                        # LEAVE ERROR COUNTERS ENABLED.

ATTSCALE        DEC             0.1

                BANK            7
                SETLOC          EXTVERBS
                BANK

                COUNT*          $$/EXTVB

V43K            VN              4300
# V82PERF       VERB82          DESCRIPTION
#              REQUEST ORBIT PARAMETERS DISPLAY (R30)
# 1. IF AVERAGE G IS OFF:
#          FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS
#           TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT
#           CAN CHANGE TO OTHER SHIP BY V22EXE, WHERE X NOT EQ 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).
#          FLASH MONITOR V16N44 (HAPO, HPER, TFF).TFF IS -59M59S IF IT WAS
#           NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND.
#           ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E.
#           DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS
#           ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S.

# 2. IF AVERAGE G IS ON:
#          CALLS SR30.1 APPROX EVERY TWO SECS.  STATE VECTOR IS ALWAYS
#           FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR.  RESULTS
#           OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF.
#          FLASH MONITOR V16N44 (HAPO, HPER, TFF).
#          IF MODE IS P11, THEN CALL DELRSPL SO ASTRONAUT CAN MONITOR
#           RESULTS BY N50E. SPLASH COMPUTATION DONE ONCE PER TWO SECS.

## Page 284
V82PERF         TC              TESTXACT

                CAF             PRIO7                           # LESS THAN LAMBERT.  R30,V82
                TC              PRIOCHNG
                EXTEND
                DCA             V82CON
                TC              SUPDXCHZ                        # V82CALL IN DIFF SUPERBANK FROM V82PERF

                EBANK=          HAPO
V82CON          2CADR           V82CALL

# VB83PERF     VERB 83            DESCRIPTION
#     REQUEST RENDEZVOUS PARAMETER DISPLAY (R31)
#     1. SET EXT VERB DISPLAY BUSY FLAG.
#     2. SCHEDULE R31CALL WITH PRIORITY 5.
#        A. DISPLAY
#            R1  RANGE
#            R2  RANGE RATE
#            R3  THETA

V83PERF         TC              TESTXACT

                CAF             BIT2
                TC              WAITLIST
                EBANK=          TSTRT
                2CADR           R31CALL

                TC              ENDOFJOB

# VERB 89 DESCRIPTION     RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)
#
# CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED.  CALCULATES AND
# DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM.

# 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND
# EXIT R63, OTHERWISE CONTINUE.

# 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS
# ORIENTATION KNOWN TO LGC, CONTINUE.

# 3. FLASH DISPLAY V 04 N 06.  R2 INDICATES WHICH SPACECRAFT AXIS IS TO
# BE POINTED AT CSM.  INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1).
# ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT = 1) BY V 22 E 2 E.  CONTINUE
# AFTER KEYING IN PROCEED.

# 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS.

# 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND
## Page 285
# HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES)
# PREPARED FOR VECPOINT.

# 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY
# BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE.

# 7. RECYCLE - RETURN TO STEP 4.
#    TERMINATE - EXIT R63.
#    PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER.

V89PERF         TC              CHKPOOH
                TC              TESTXACT
                CAF             PRIO10
                TC              FINDVAC
                EBANK=          RONE
                2CADR           V89CALL

                TC              ENDOFJOB

# V90PERF     VERB 90             DESCRIPTION
#     REQUEST RENDEZVOUS OUT-OF-PLANE DISPLAY (R36)
#     1. SET EXT VERB DISPLAY BUSY FLAG.
#     2. SCHEDULE R36 CALL WITH PRIORITY 10
#        A. DISPLAY
#            TIME OF EVENT - HOURS , MINUTES , SECONDS
#            Y  OUT-OF-PLANE POSITION - NAUTICAL MILES
#            YDOT  OUT-OF-PLANE VELOCITY - FEET/SECOND
#            PSI  ANGLE BTW LINE OF SIGHT AND FORWARD
#                 DIRECTION VECTOR IN HORIZONTAL PLANE - DEGREES

V90PERF         TC              TESTXACT
                CAF             PRIO7                           # R36,V90
                TC              FINDVAC
                EBANK=          RPASS36
                2CADR           R36

                TCF             ENDOFJOB
# MINIMP     VERB 76              DESCRIPTION
#     MINIMUM IMPULSE MODE
#     1. SET MINIMUM IMPULSE RHC MODE FLAG TO 1.

MINIMP          TC              UPFLAG                          # SET PULSES = 1 (MIN. IMPULSE MODE)
                ADRES           PULSEFLG
                TCF             GOPIN                           # RETURN VIA PINBRNCH

# NOMINIMP     VERB 77            DESCRIPTION
#     RATE COMMAND MODE
#     1. SET MINIMUM IMPULSE RHC MODE FLAG TO 0. (ZERO INDICATES NOT MINIMUM IMPULSE MODE.).
#     2. MOVE CDUX,CDUY,CDUZ INTO CDUXD,CDUYD,CDUZD.
## Page 286

NOMINIMP        TC              DOWNFLAG                        # SET PULSES = 0 (NOT MINIMUM IMPULSE MODE
                ADRES           PULSEFLG
                INHINT
                TC              IBNKCALL
                CADR            ZATTEROR
                TC              GOPIN

## Page 287
# 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.
#        RESPONSES
#        A. TERMINATE
#           1. GO TO GOTOPOOH.
#        B. PROCEED
#           1. SET 3AXISFLG TO INDICATE MANEUVER IS SPECIFIED BY 3 AXIS.
#           2. EXECUTE R60LEM (ATTITUDE MANEUVER).
#        C. ENTER
#           1. REPEAT FLASHING V06,N22.

CREWMANU        TC              CHKPOOH                         # DEMAND POO

                TC              TESTXACT

                CAF             PRIO10
                TC              FINDVAC
                EBANK=          BCDU
                2CADR           R62DISP

                TC              ENDOFJOB

## Page 288
# TRMTRACK     VERB 56              DESCRIPTION
#       TERMINATE TRACKING (P20 AND P25).
#       1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS.
#       2. REQUIRE P20 OR P25 NOT RUNNING ALONE OR GO TO GOTOPOOH (REQUEST PROGRAM 00).
#       3. SCHEDULE V56TOVAC WITH PRIORITY 30.

#       V56TOVAC
#       1. EXECUTE INTSTALL (IF INTEGRATION IS RUNNING, STALL UNTIL IT IS FINISHED.).
#       2. ZERO GROUP 2 TO HALT P20.
#       3. TRANSFER CONTROL TO GOPROG2 (SOFTWARE RESTART).

TRMTRACK        CA              BITS9+7                         # IS REND OR P25 FLAG ON
                MASK            FLAGWRD0
                EXTEND
                BZF             GOPIN                           # NO

                TC              DOWNFLAG
                ADRES           RNDVZFLG

                TC              DOWNFLAG
                ADRES           P25FLAG

                TC              DOWNFLAG                        # ENSURE SEARCH FLAG IS OFF
                ADRES           SRCHOPTN

                CA              TRACKBIT                        # IS TRACK FLAG ON?
                MASK            FLAGWRD1
                EXTEND
                BZF             GOPIN

                TC              POSTJUMP
                CADR            TRMTRAK1

BITS9+7         OCT             500

                SETLOC          SBAND                           # BANK 42
                BANK

                COUNT*          $$/EXTVB

TRMTRAK1        TC              DOWNFLAG
                ADRES           UPDATFLG                        # UPDATE FLAG DOWN
                TC              DOWNFLAG
                ADRES           TRACKFLG                        # TRACK FLAG DOWN
                TC              DOWNFLAG
                ADRES           IMUSE

                TC              INTPRET
                CALL
                                INTSTALL                        # DONT INTERRUPT INTEGRATION
## Page 289
                EXIT

                TC              PHASCHNG
                OCT             2                               # KILL GROUP 2 TO HALT P20 ACTIVITY

                INHINT
                TC              IBNKCALL                        # ZERO THE COMMANDED RATES TO STOP
                CADR            STOPRATE                        # MANEUVER

                TC              IBNKCALL
                CADR            RESTORDB

                TC              CLRADMOD                        # CLEAR BITS 10 + 15 OF RADMODES.

                CS              BIT14                           # DISABLE LOCKON
                EXTEND
                WAND            CHAN12
                TC              POSTJUMP
                CADR            GOPROG2                         # CAUSE RESTART.

# DNEDUMP     VERB 74             DESCRIPTION
#     INITIALIZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP.
#     1. SET EXT VERB DISPLAY BUSY FLAG.
#     2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY.
#     3. RELEASE EXT VERB DISPLAY.

                SETLOC          EXTVERBS
                BANK

                COUNT*          $$/EXTVB

                EBANK=          400
DNEDUMP         CAF             LDNDUMPI
                TS              DNTMGOTO
                TC              GOPIN

V74             EQUALS          DNEDUMP
LDNDUMPI        REMADR          DNDUMPI

# LEMVEC     VERB 80             DESCRIPTION
#     UPDATE LEM STATE VECTOR
#        RESET VEHUPFLG TO 0

LEMVEC          TC              DOWNFLAG
                ADRES           VEHUPFLG                        # VB 80 - VEHUPFLG DOWN INDICATES LEM

                TC              NOUPDOWN

# CSMVEC     VERB 81             DESCRIPTION
#     UPDATE CSM STATE VECTOR
## Page 290
#               SET VEHUPFLG TO 1

CSMVEC          TC              UPFLAG
                ADRES           VEHUPFLG                        # VB 81 - VEHUPFLG UP INDICATES CSM

NOUPDOWN        TC              DOWNFLAG
                ADRES           NOUPFLAG

                TCF             GOPIN

# UPDATOFF   VERB 95              DESCRIPTION
#     INHIBIT STATE VECTOR UPDATES BY INCORP
#        SET NOUPFLAG TO 1

UPDATOFF        TC              UPFLAG                          # VB 95 SET NOUPFLAG
                ADRES           NOUPFLAG

                TC              GOPIN
## Page 291
# SYSTEST     VERB 92             DESCRIPTION
#   OPERATE IMU PERFORMANCE TEST.
#     1. REQUIRE PROGRAM 00 OR TURN ON OPERATOR ERROR.
#     2. SET EXT VERB BUSY FLAG.

                EBANK=          QPLACE

SYSTEST         TC              CHKPOOH                         # DEMAND POO

                TC              TESTXACT

                CAF             PRIO22
                TC              FINDVAC
                EBANK=          QPLACE
                SBANK=          IMUSUPER
                2CADR           REDO

                TC              ENDOFJOB

# VERB 93       CLEAR RENDWFLG, CAUSES W-MATRIX TO BE RE-INITIALIZED.

WMATRXNG        INHINT
                CS              RENDWBIT
                MASK            FLAGWRD5
                TS              FLAGWRD5

                TC              GOPIN

GOSHOSUM        EQUALS          SHOWSUM

SHOWSUM         TC              CHKPOOH                         # *
                TC              TESTXACT                        # *
                CAF             PRIO7                           # ALLOW OTHER CHARINS.
                TC              PRIOCHNG
                CAF             S+1                             # *
                TS              SKEEP6                          # * SHOWSUM OPTION
                CAF             S+ZERO                          # *
                TS              SMODE                           # * TURN OFF SELF-CHECK
                CA              SELFADRS                        # *
                TS              SELFRET                         # *
                TC              STSHOSUM                        # * ENTER ROPECHK

SDISPLAY        LXCH            SKEEP2                          # * BANK # FOR DISPLAY
                LXCH            SKEEP3                          # * BUGGER WORD FOR DISPLAY
NOKILL          CA              ADRS1                           # *
                TS              MPAC            +2              # *
                CA              VNCON                           # * 0501
                TC              BANKCALL                        # *
                CADR            GOXDSPF                         # *
                TC              +3                              # *
                TC              NXTBNK                          # *
## Page 292
                TC              NOKILL                          # *
                CA              SELFADRS
                TS              SKEEP1

                TC              ENDEXT                          # *

VNCON           VN              501                             # *

ENDSUMS         CA              SKEEP6                          # *
                EXTEND                                          # *
                BZF             SELFCHK                         # * ROPECHK, START SELFCHK AGAIN.
                TC              STSHOSUM                        # * START SHOWSUM AGAIN.

## Page 293
# DAPDISP     VERB 48             DESCRIPTION
#     LOAD AUTO PILOT DATA
#     1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG.
#     2. EXECUTE DAPDATA1, DAPDATA2, AND DAPDATA3.
#     3. RELEASE EXT VERB DISPLAY SYSTEM.
# KEY
# THE FOLLOWING IS A KEY TO THE 5 DIGITS OF THE DAP DATA CODE (N46)

# DIGIT A - VEHICLE CONFIGURATION
#          1 - LM ALONE, ASCENT
#          2 - LM ALONE, DESCENT
#          3 - CSM AND LM DOCKED

# DIGIT B - ACCELERATION CODE
#          0 - 2 JET TRANSLATION, RCS SYSTEM A PREFERRED
#          1 - 2 JET TRANSLATION, RCS SYSTEM B PREFERRED
#          2 - 4 JET TRANSLATION, RCS SYSTEM A PREFERRED (NOT MEANINGFUL)
#          3 - 4 JET TRANSLATION, RCS SYSTEM B PREFERRED (NOT MEANINGFUL)

# DIGIT C - ACA SCALING
#          0 - FINE
#          1 - NORMAL

# DIGIT D - DEADBAND
#          0 - 0.3 DEG
#          1 - 1.0 DEG
#          2 - 5.0 DEG
#         (3 - 5.0 DEG BY DEFAULT)

# DIGIT E - MANEUVER RATE
#          0 - 0.2 DEG/SEC
#          1 - 0.5 DEG/SEC
#          2 - 2.0 DEG/SEC
#          3 -10.0 DEG/SEC

DAPDISP         TC              TESTXACT
                CAF             PRIO7                           # R03
                TC              PRIOCHNG
                TC              POSTJUMP
                CADR            DAPDATA1
                BANK            34
                SETLOC          LOADDAP
                BANK

                COUNT*          $$/R03

                SBANK=          LOWSUPER                        # FOR SUBSEQUENT LOW 2CADR'S.

DAPDATA1        CAF             BOOLSMSK                        # SET DISPLAY ACCORDING TO DAPBOOLS BITS.
                MASK            DAPBOOLS                        # LM
## Page 294
                TS              DAPDATR1                        # LM
                CS              FLGWRD10                        # SET BIT 14 TO BE COMPLEMENT OF APSFLAG.
                MASK            APSFLBIT
                CCS             A
                CAF             BIT14
                ADS             DAPDATR1
CHKDATA1        CAE             DAPDATR1                        # IF BITS 13 AND 14 ARE BOTH ZERO, FORCE
                MASK            BIT13-14                        #   A ONE INTO BIT 13.
                EXTEND
                BZF             FORCEONE
                CAE             DAPDATR1                        # ENSURE THAT NO ILLEGAL BITS SET BY CREW.
MSKDATR1        MASK            DSPLYMSK
                TS              DAPDATR1
                CAF             V01N46                          # LM
                TC              BANKCALL
                CADR            GOXDSPFR
                TCF             ENDEXT                          # V34E  TERMINATE
                TCF             DPDAT1                          # V33E  PROCEED
                TCF             CHKDATA1                        # E     NEW DATA    CHECK AND REDISPLAY
                CAF             REVCNT                          # BITS 2 & 3:  BLANKS R2 & R3.
                TC              BLANKET
                TCF             ENDOFJOB
FORCEONE        CAF             BIT13
                ADS             DAPDATR1
                TCF             MSKDATR1

DPDAT1          INHINT                                          # INHINT FOR SETTING OF FLAG BITS AND MASS
                CS              APSFLBIT                        #   ON BASIS OF DISPLAYED DAPDATR1.
                MASK            FLGWRD10
                TS              L                               # SET APSFLAG TO BE COMPLEMENT OF BIT 14.
                CS              DAPDATR1
                MASK            BIT14
                CCS             A
                CAF             APSFLBIT
                AD              L
                TS              FLGWRD10
                CS              DAPDATR1                        # SET BITS OF DAPBOOLS ON BASIS OF DISPLAY
                MASK            BIT13-14                        #   MASK OUT CSMDOCKD (BIT 13) UNLESS BOTH
                CCS             A                               #   13 AND 14 ARE SET.
                CS              CSMDOCKD
                AD              BOOLSMSK
                MASK            DAPDATR1
                TS              L
                CS              BOOLSMSK
                MASK            DAPBOOLS
                AD              L
                TS              DAPBOOLS
                MASK            CSMDOCKD                        # LOAD MASS IN ACCORDANCE WITH CSMDOCKD.
                CCS             A                               #   MASS IS USUALLY ALREADY OKAY, SO DO
                CAE             CSMMASS                         #   NOT TOUCH ITS LOW-ORDER PART.
## Page 295
                AD              LEMMASS
                TS              MASS
                CAE             DAPBOOLS
                MASK            ACC4OR2X                        # 2 OR 4 JET X-TRANSLATION
                EXTEND                                          # (BIT ACC4OR2X = 1 FOR 4 JETS)
                BZF             +5
                CS              BIT15
                MASK            FLAGWRD1                        # CLEAR NJTSFLAG TO 0 FOR 4 JETS
                TS              FLAGWRD1
                TCF             +4
                CS              FLAGWRD1                        # SET NJTSFLAG TO 1 FOR 2 JETS
                MASK            BIT15
                ADS             FLAGWRD1
                CA              DAPBOOLS                        # SELECT DESIRED KALCMANU AUTOMATIC
                MASK            THREE                           # MANEUVER RATE
                DOUBLE                                          # RATEINDX HAS TO BE 0,2,4,6 SINCE RATES
                TS              RATEINDX                        # ARE DP
                TC              POSTJUMP
                CADR            STIKLOAD

V01N46          VN              0146
DSPLYMSK        OCT             33133
BOOLSMSK        OCT             13133
                BANK            01
                SETLOC          LOADDAP1
                BANK

                COUNT*          $$/R03

STIKLOAD        CAF             EBANK6
                TS              EBANK
                EBANK=          STIKSENS
                CA              RHCSCALE                        # SET STICK SENSITIVITY TO CORRESPOND TO A
                MASK            DAPBOOLS                        # MAXIMUM COMMANDED RATE (AT 42 COUNTS) OF
                CCS             A                               # 20 D/S (NORMAL) OR 4 D/S (FINE), SCALED
                CA              NORMAL                          # AT 45 D/S.
                AD              FINE
                TS              STIKSENS
                CA              -0.6D/S
                TS              -RATEDB                         # LM-ONLY BREAKOUT LEVEL IS .6 D/S.
                CA              CSMDOCKD                        # IF CSM-DOCKED, DIVIDE STICK SENSITIVITY
                MASK            DAPBOOLS                        # BY 10. NORMAL SCALING IS THEN 2 D/S AND
                EXTEND                                          # FINE SCALING IS 0.4 D/S
                BZF             +7                              # BRANCH IF CSM IS NOT DOCKED.
                CA              STIKSENS
                EXTEND
                MP              1/10
                TS              STIKSENS
                CA              -0.3D/S                         # CSM-DOCKED BREAKOUT LEVEL IS .3 D/S.
                TS              -RATEDB
## Page 296
                RELINT                                          # PROCEED TO NOUN 47, MASS LOAD,

DAPDATA2        CAF             V0647
                TC              BANKCALL
                CADR            GOXDSPFR
                TCF             ENDR03                          # V34E  TERMINATE. FIRST SET DB, DO 1/ACCS
                TCF             DAPDAT2                         # V33E  PROCEED
                TCF             DAPDATA2                        #       LOAD NEW DATA AND RECYCLE
                CAF             BIT3                            # BLANKS R3
                TC              BLANKET                         #            LM
                TCF             ENDOFJOB
ENDR03          INHINT
                TC              IBNKCALL
                CADR            RESTORDB
                TCF             ENDEXT                          # DOES RELINT

DAPDAT2         CS              FLGWRD10                        # DETERMINE STAGE FROM APSFLAG
                MASK            APSFLBIT
                CCS             A
                CA              MINLMD
                AD              MINMINLM
                AD              LEMMASS                         # LEMMASS MUST BE GREATER THAN EMPTY LEM
                EXTEND
                BZMF            DAPDATA2                        # ASK FOR NEW MASSES
                CAE             DAPBOOLS
                MASK            CSMDOCKD
                EXTEND
                BZF             LEMALONE                        # SKIP TEST ON CSMMASS IF NOT DOCKED.
                CS              MINCSM                          # TEST CSM MASS
                AD              CSMMASS                         # CSMMASS MUST BE GREATER THAN EMPTY CSM
                EXTEND
                BZMF            DAPDATA2                        # ASK FOR NEW MASSES
                CAE             CSMMASS                         # DOCKED:  MASS = CSMMASS + LEMMASS
LEMALONE        AD              LEMMASS                         # LEM ALONE:  MASS = LEMMASS
                ZL
                DXCH            MASS
                INHINT
                TC              IBNKCALL                        # SET DEADBANK AND COMPUTE MOMENTS OF
                CADR            RESTORDB                        #   INERTIA.
                RELINT                                          # PROCEED TO NOUN 48 (OR END).

DAPDATA3        CS              FLGWRD10
                MASK            APSFLBIT
                EXTEND                                          # END ROUTINE IF LEM HAS STAGED,
                BZF             ENDEXT
                CAF             V06N48                          # DISPLAY TRIM ANGLES AND REQUEST RESPONSE
                TC              BANKCALL
                CADR            GOXDSPFR
                TC              ENDEXT
                TCF             DPDAT3                          # V33E GO DO TRIM (WAITLIST TO TRIMGIMB)
## Page 297
                TCF             -5                              #      LOAD NEW DATA AND RECYCLE
                CAF             BIT3
                TC              BLANKET                         # BLANK R3
                TCF             ENDOFJOB
DPDAT3          CAF             BIT1
                TC              WAITLIST
                EBANK=          ROLLTIME
                2CADR           TRIMGIMB

                TCF             ENDOFJOB                        # DOES A RELINT
TRIMDONE        CAF             V50N48
                TC              BANKCALL                        # TRIM IS FINISHED; PLEASE TERMINATE R03
                CADR            GOMARK3R        -1
                TC              ENDEXT                          # V34E TERMINATE
                TC              ENDEXT
                TC              ENDEXT
                CAF             OCT24                           # BIT5 TO CHANGE TO PERFORM, 3 TO BLANK R3
                TC              BLANKET
                TCF             ENDOFJOB

V0647           VN              0647
V06N48          VN              0648

V50N48          =               V06N48

NORMAL          DEC             .660214
                                                                # NORMAL SCALING IS 20 D/S
FINE            DEC             .165054                         # FINE STICK SCALING (4 D/S).
1/10            DEC             .1                              # FACTOR FOR CSM-DOCKED SCALING
-0.6D/S         DEC             -218
-0.3D/S         DEC             -109

## Page 298
# VERB 66.  VEHICLES ARE ATTACHED.  MOVE THIS VEHICLE STATE VECTOR TO
#           OTHER VEHICLE STATE VECTOR.

#     USE SUBROUTINE GENTRAN.

                BANK            7
                SETLOC          EXTVERBS
                BANK

                COUNT*          $$/EXTVB

                EBANK=          RRECTHIS

ATTACHED        CS              FLAGWRD8
                MASK            SURFFBIT
                EXTEND
                BZF             ALM/END                         # TURN ON OE AND EXIT IF SURFFLAG SET.
                CAF             PRIO10
                TC              FINDVAC
                EBANK=          RRECTHIS

                2CADR           ATTACHIT

                TC              ENDOFJOB

ATTACHIT        TC              INTPRET
                CALL
                                INTSTALL
                SET             BON
                                MOONOTH
                                MOONTHIS
                                +3
                CLEAR
                                MOONOTH
                EXIT
                CAF             OCT51
                TC              GENTRAN
                ADRES           RRECTHIS                        # OUR STATE VECTOR INTO OTHER VIA GENTRAN
                ADRES           RRECTOTH

                RELINT
                TC              INTPRET
                CALL                                            # UPDATE R-OTHER, V-OTHER
                                PTOALEM
                LXA,2           CALL
                                PBODY
                                SVDWN1
                EXIT

                CAF             TCPINAD
## Page 299
                INDEX           FIXLOC
                TS              QPRET
                TC              POSTJUMP
                CADR            INTWAKE                         # FREE INTEGRATION AND EXIT.


TCPIN           RTB
                                PINBRNCH

OCT51           OCT             51
TCPINAD         CADR            TCPIN

# VERB 96  SET QUITFLAG TO STOP INTEGRATION.

#          GO TO V37 WITH ZERO TO CAUSE POO.
#          STATEINT WILL CHECK QUITFLAG AND SKIP 1ST PASS,
#                 THUS ALLOWING A 10 MINUTE PERIOD WITHOUT INTEGRATION.

VERB96          TC              UPFLAG                          # QUITFLAG WILL CAUSE INTEGRATION TO EXIT
                ADRES           QUITFLAG                        #    AT NEXT TIMESTEP

                CAF             ZERO
                TC              POSTJUMP
                CADR            V37                             # GO TO POO

# VERB 67 :   DISPLAY OF W MATRIX

V67             TC              TESTXACT
                CAF             PRIO5
                TC              FINDVAC
                EBANK=          WWPOS
                2CADR           V67CALL

                TC              ENDOFJOB

# VERB 65         DISABLE U,V JETS DURING DPS BURNS

SNUFFOUT        TC              UPFLAG
                ADRES           SNUFFER
                TC              GOPIN

# VERB 75         ENABLE U,V JETS DURING DPS BURNS

OUTSNUFF        TC              DOWNFLAG
                ADRES           SNUFFER
                TC              GOPIN
# VERB 85         DISPLAY RR LOS AZIMUTH AND ELEVATION.

#          AZIMUTH IS THE ANGLE BETWEEN THE LOS AND THE X-Z NB PLANE, 0 - 90 DEG IN THE +Y HEMISPHERE,
# 360 - 270 DEG IN THE -Y HEMISPHERE.
## Page 300
#
#          ELEVATION IS THE ANGLE BETWEEN +ZNB AND THE PROJECTION OF THE LOS INTO THE X-Z PLANE, 0 - 360 ABOUT +Y.

                EBANK=          RR-AZ
VERB85          TC              TESTXACT
                TC              POSTJUMP
                CADR            DSPRRLOS

                SETLOC          PINBALL1
                BANK

                COUNT*          $$/EXTVB

DSPRRLOS        CAF             PRIO5
                TC              FINDVAC
                EBANK=          RR-AZ
                2CADR           RRLOSDSP

                CAF             PRIO4
                TC              PRIOCHNG
                CAF             V16N56
                TC              BANKCALL
                CADR            GOMARKFR
                TC              B5OFF
                TC              B5OFF
                TC              B5OFF

                CAF             BIT3
                TC              BLANKET
                TC              ENDOFJOB

RRLOSDSP        EXTEND
                DCA             CDUT
                DXCH            MPAC
                TC              INTPRET
                CALL
                                RRNBMPAC                        # GET RR LOS IN BODY AXIS.
                STORE           0D                              # UNIT LOS
                STODL           6D
                                HI6ZEROS
                STOVL           8D
                                6D
                UNIT
                STORE           6D                              # UNIT OF LOS PROJ IN X-Z PLANE
                DOT
                                UNITZ
                STOVL           COSTH                           # 16D
                                UNITX
                DOT
                                6D
                STCALL          SINTH                           # 18D
## Page 301
                                ARCTRIG
                BPL             DAD                             # INSURE DISPLAY OF 0 - 360 DEG.
                                +2
                                DPPOSMAX                        # INTRODUCES AN ERROR OF B-28 REVS.
                STOVL           RR-ELEV
                                0D
                DOT
                                UNITY
                STOVL           SINTH
                                0D
                DOT
                                6D
                STCALL          COSTH
                                ARCTRIG
                BPL             DAD                             # INSURE DISPLAY OF 0 - 360 DEG.
                                +2
                                DPPOSMAX                        # INTRODUCES AN ERROR OF B-28 REVS.
                STORE           RR-AZ
                EXIT
                CA              1SEC
                TC              BANKCALL
                CADR            DELAYJOB

                CA              BIT5
                MASK            EXTVBACT
                CCS             A
                TC              RRLOSDSP
                TC              ENDEXT

V16N56          VN              1656

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