Pre-launch Review
ASSEMBLY AND OPERATION INFORMATION
Scanned pages: 001-027
# Copyright: Public domain.# Filename: ASSEMBLY_AND_OPERATION_INFORMATION.agc# Purpose: Part of the source code for Luminary 1A build 099.# It is part of the source code for the Lunar Module's (LM)# Apollo Guidance Computer (AGC), for Apollo 11.## Assembler: yaYUL# Contact: Jim Lawton <jim.lawton@gmail.com># Website: www.ibiblio.org/apollo.# Pages: 001-027# Mod history: 2009-05-16 JVL Transcribed from page images.## This source code has been transcribed or otherwise adapted from digitized# images of a hardcopy from the MIT Museum. The digitization was performed# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many# thanks to both. The images (with suitable reduction in storage size and# consequent reduction in image quality as well) are available online at# www.ibiblio.org/apollo. If for some reason you find that the images are# illegible, contact me at info@sandroid.org about getting access to the# (much) higher-quality images which Paul actually created.## Notations on the hardcopy document read, in part:## Assemble revision 001 of AGC program LMY99 by NASA 2021112-061# 16:27 JULY 14, 1969
# Page 1
# THIS LGC PROGRAM IS INTENDED FOR USE IN THE LM DURING THE MANNED LUNAR LANDING MISSION OR ANY SUBSET THEREOF.# THE DETAILS OF IMPLEMENTATION ARE SPECIFIED IN REPORT R-567, AS AMENDED.
# GUIDANCE SYSTEM OPERATIONS PLAN# FOR MANNED LM EARTH ORBITAL AND LUNAR MISSIONS# USING PROGRAM LUMINARY
# THIS PROGRAM AND R-567 HAVE BEEN PREPARED BY THE INSTRUMENTATION LABORATORY, MASSACHUSETTS INSTITUTE OF# TECHNOLOGY, 75 CAMBRIDGE PARKWAY, CAMBRIDGE, MASSACHUSETTS, UNDER PROJECT 55-238-70, SPONSORED BY THE MANNED# SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION, CONTRACT NAS 9-4065.
# THIS PROGRAM IS REFERRED TO AS LUMINARY 1A
# Page 2
# TABLE OF LOG CARDS# ASSEMBLY AND OPERATION INFORMATION# TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS# CONTROLLED CONSTANTS# INPUT/OUTPUT CHANNEL BIT DESCRIPTIONS# FLAGWORD ASSIGNMENTS# SUBROUTINE CALLS
# TABLE OF SUBROUTINE LOG SECTIONS# LUMERASE# ERASABLE ASSIGNMENTS# LNYAIDE# INTERRUPT LEAD INS# T4RUPT PROGRAM# RCS FAILURE MONITOR# DOWNLINK LISTS# AGS INITIALIZATION# FRESH START AND RESTART# RESTART TABLES# AOTMARK# EXTENDED VERBS# PINBALL NOUN TABLES# LEM GEOMETRY# IMU COMPENSATION PACKAGE# R63# ATTITUDE MANEUVER ROUTINE# GIMBAL LOCK AVOIDANCE# KALCMANU STEERING# SYSTEM TEST STANDARD LEAD INS# IMU PERFORMANCE TESTS 2# IMU PERFORMANCE TESTS 4# PINBALL GAMES BUTTONS AND LIGHTS# R60,R62# S-BAND ANTENNA FOR LM# LEMP20S# RADAR LEADIN ROUTINES# P20-P25# LEMP30S# P30,P37# P32-P35, P72-P75# GENERAL LAMBERT AIMPOINT GUIDANCE# KISSING# GROUND TRACKING DETERMINATION PROGRAM - P21# P34-P35, P74-P75# R31# P76# R30# STABLE ORBIT - P38-P39# Page 3# FLY# BURN, BABY, BURN -- MASTER IGNITION ROUTINE# P40-P47# THE LUNAR LANDING# THROTTLE CONTROL ROUTINES# LUNAR LANDING GUIDANCE EQUATIONS# P70-P71# P12# ASCENT GUIDANCE# SERVICER# LANDING ANALOG DISPLAYS# FINDCDUW -- GUIDAP INTERFACE# LEMP50S# P51-P53# LUNAR AND SOLAR EPHEMERIDES SUBROUTINES# SKIPPER# DOWN-TELEMETRY PROGRAM# INTER-BANK COMMUNICATION# INTERPRETER# FIXED-FIXED CONSTANT POOL# INTERPRETIVE CONSTANTS# SINGLE PRECISION SUBROUTINES# EXECUTIVE# WAITLIST# LATITUDE LONGITUDE SUBROUTINES# PLANETARY INERTIAL ORIENTATION# MEASUREMENT INCORPORATION# CONIC SUBROUTINES# INTEGRATION INITIALIZATION# ORBITAL INTEGRATION# INFLIGHT ALIGNMENT ROUTINES# POWERED FLIGHT SUBROUTINES# TIME OF FREE FALL# AGC BLOCK TWO SELF-CHECK# PHASE TABLE MAINTENANCE# RESTARTS ROUTINE# IMU MODE SWITCHING ROUTINES# KEYRUPT, UPRUPT# DISPLAY INTERFACE ROUTINES# SERVICE ROUTINES# ALARM AND ABORT# UPDATE PROGRAM# RTB OP CODES# LMDAP# T6-RUPT PROGRAMS# DAP INTERFACE SUBROUTINES# DAPIDLER PROGRAM# P-AXIS RCS AUTOPILOT# Q,R-AXIS RCS AUTOPILOT# TJET LAW# Page 4# KALMAN FILTER# TRIM GIMBAL CONTROL SYSTEM# AOSTASK AND AOSJOB# SPS BACK-UP RCS CONTROL## SYMBOL TABLE LISTING# UNREFERENCED SYMBOL LISTING# ERASABLE & EQUALS CROSS-REFERENCE TABLE# SUMMARY OF SYMBOL TABLE LISTINGS# MEMORY TYPE & AVAILABILITY DISPLAY# COUNT TABLE# PARAGRAPHS GENERATED FOR THIS ASSEMBLY# OCTAL LISTING# OCCUPIED LOCATIONS TABLE# SUBROS CALLED & PROGRAM STATUS
# Page 5# VERB LIST FOR LUMINARY
# REGULAR VERBS
# 00 NOT IN USE# 01 DISPLAY OCTAL COMP 1 IN R1# 02 DISPLAY OCTAL COMP 2 IN R1# 03 DISPLAY OCTAL COMP 3 IN R1# 04 DISPLAY OCTAL COMP 1,2 IN R1,R2# 05 DISPLAY OCTAL COMP 1,2,3 IN R1,R2,R3# 06 DISPLAY DECIMAL IN R1 OR R1,R2 OR R1,R2,R3# 07 DISPLAY DP DECIMAL IN R1,R2 (TEST ONLY)# 08# 09# 10# 11 MONITOR OCTAL COMP 1 IN R1# 12 MONITOR OCTAL COMP 2 IN R1# 13 MONITOR OCTAL COMP 3 IN R1# 14 MONITOR OCTAL COMP 1,2 IN R1,R2# 15 MONITOR OCTAL COMP 1,2,3 IN R1,R2,R3# 16 MONITOR DECIMAL IN R1 OR R1,R2 OR R1,R2,R3# 17 MONITOR DP DECIMAL IN R1,R2 (TEST ONLY)# 18# 19# 20# 21 LOAD COMPONENT 1 INTO R1# 22 LOAD COMPONENT 2 INTO R2# 23 LOAD COMPONENT 3 INTO R3# 24 LOAD COMPONENT 1,2, INTO R1,R2# 25 LOAD COMPONENT 1,2,3 INTO R1,R2,R3# 26# 27 DISPLAY FIXED MEMORY# 28# 29# 30 REQUEST EXECUTIVE# 31 REQUEST WAITLIST# 32 RECYCLE PROGRAM# 33 PROCEED WITHOUT DSKY INPUTS# 34 TERMINATE FUNCTION# 35 TEST LIGHTS# 36 REQUEST FRESH START# 37 CHANGE PROGRAM (MAJOR MODE)# 38# 39
# Page 6# EXTENDED VERBS
# 40 ZERO CDU-S# 41 COARSE ALIGN CDU-S# 42 FINE ALIGN IMU# 43 LOAD IMU ATT ERROR METERS# 44 TERMINATE RR CONTINUOUS DESIGNATE (V41N72 OPTION 2)# 45# 46# 47 INITIALIZE AGS (R47)# 48 REQUEST DAP DATA LOAD ROUTINE (R03)# 49 REQUEST CREW DEFINED MANEUVER ROUTINE (R62)# 50 PLEASE PERFORM# 51# 52 MARK X-RETICLE# 53 MARK Y-RETICLE# 54 MARK X OR Y-RETICLE# 55 INCREMENT AGC TIME (DECIMAL)# 56 TERMINATE TRACKING (P20 + P25)# 57 PERMIT LANDING RADAR UPDATES# 58 INHIBIT LANDING RADAR UPDATES# 59# 60 COMMAND LR TO POSITON 2.# 61 DISPLAY DAP FOLLOWING ATTITUDE ERRORS.# 62 DISPLAY TOTAL ATTITUDE ERRORS WITH RESPECT TO NOUN 22.# 63 SAMPLE RADAR ONCE PER SECOND (R04).# 64 REQUEST S-BAND ANTENNA ROUTINE (R05).# 65 DISABLE U AND V JET FIRINGS DURING DPS BURNS.# 66 VEHICLES ARE ATTACHED. MOVE THIS VEHICLE STATE TO OTHER VEHICLE.# 67 DISPLAY W MATRIX# 68# 69 CAUSE RESTART# 70 UPDATE LIFTOFF TIME# 71 UNIVERSAL UPDATE-BLOCK ADR# 72 UNIVERSAL UPDATE-SINGLE ADR# 73 UPDATE AGC TIME (OCTAL)# 74 INITIALIZE ERASABLE DUMP VIA DOWNLINK# 75 ENABLE U AND V JET FIRINGS DURING DPS BURNS.# 76 MINIMUM IMPUSE COMMAND MODE.# 77 RATE COMMAND AND ATTITUDE HOLD MODE# 78 LR SPURIOUS RETURN TEST START (R77)# 79 LR SPURIOUS RETURN TEST STOP# 80 UPDATE LEM STATE VECTOR# 81 UPDATE CSM STATE VECTOR# 82 REQUEST ORBIT PARAM DISPLAY (R30)# 83 REQUEST REND PARAM DISPLAY (R31)# 84# 85 DISPLAY RR LOS AZ AND ELEV# 86# 87# Page 7# 88# 89 REQUEST RENDEZVOUS FINAL ATTITUDE ROUTINE (R63)# 90 REQUEST RENDEZVOUS OUT OF PLANE DISPLAY ROUTINE (R36)# 91 DISPLAY BANK SUM# 92 OPERATE IMU PERFORMANCE TEST (P07)# 93 ENABLE W MATRIX INITIALIZATION# 94# 95 NO UPDATE OF EITHER STATE VECTOR (P20 OR P22)# 96 INTERRUPT INTEGRATION AND GO TO P00# 97 PERFORM ENGINE FAIL PROCEDURE# 98# 99 PLEASE ENABLE ENGINE
# Page 8# IN THE FOLLOWING NOUN LIST THE :NO LOAD: RESTRICTION MEANS THE NOUN# CONTAINS AT LEAST ONE COMPONENT WHICH CANNOT BE LOADED, I.E. OF# SCALE TYPE L (MIN/SEC), PP (2 INTEGERS) OR TT (LANDING RADAR POSITION).# IN THIS CASE VERBS 24 AND 25 ARE NOT ALLOWED, BUT VERBS 21, 22 OR 23# MAY BE USED TO LOAD ANY OF THE NOUN:S COMPONENTS WHICH ARE NOT OF THE# ABOVE SCALE TYPES.## THE :DEC ONLY: RESTRICTION MEANS ONLY DECIMAL OPERATION IS ALLOWED ON# EVERY COMPONENT IN THE NOUN. (NOTE THAT :NO LOAD: IMPLIES :DEC ONLY:.)
# NORMAL NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS# 00 NOT IN USE# 01 SPECIFY MACHINE ADDRESS (FRACTIONAL) 3COMP .xxxxx FOR EACH# 02 SPECIFY MACHINE ADDRESS (WHOLE) 3COMP xxxxx. FOR EACH# 03 SPECIFY MACHINE ADDRESS (DEGREES) 3COMP xxx.xx DEG FOR EACH# 04 ANGULAR ERROR/DIFFERENCE 1COMP xxx.xx DEG# 05 ANGULAR ERROR/DIFFERENCE 1COMP xxx.xx DEG# 06 OPTION CODE 3COMP OCTAL ONLY FOR EACH# LOADING NOUN 07 WILL SET OR RESET SELECTED BITS IN ANY ERASABLE REGISTER# 07 ECADR OF WORD TO BE MODIFIED 3COMP OCTAL ONLY FOR EACH# ONES FOR BITS TO BE MODIFIED# 1 TO SET OR 0 TO RESET SELECTED BITS# 08 ALARM DATA 3COMP OCTAL ONLY FOR EACH# 09 ALARM CODES 3COMP OCTAL ONLY FOR EACH# 10 CHANNEL TO BE SPECIFIED 1COMP OCTAL ONLY# 11 TIG OF CSI 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 12 OPTION CODE 2COMP OCTAL ONLY FOR EACH# (USED BY EXTENDED VERBS ONLY)# 13 TIG OF CDH 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 14 CHECKLIST 3COMP xxxxx. FOR EACH# (USED BY EXTENDED VERBS ONLY)# (NOUN 25 IS PASTED AFTER DISPLAY)# 15 INCREMENT MACHINE ADDRESS 1COMP OCTAL ONLY# 16 TIME OF EVENT 3COMP 00xxx. HRS DEC ONLY# (USED BY EXTENDED VERBS ONLY) 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 17 SPARE# 18 AUTO MANEUVER BALL ANGLES 3COMP xxx.xx DEG FOR EACH# 19 SPARE# 20 ICDU ANGLES 3COMP xxx.xx DEG FOR EACH# 21 PIPAS 3COMP xxxxx. PULSES FOR EACH# 22 NEW ICDU ANGLES 3COMP xxx.xx DEG FOR EACH# 23 SPARE# 24 DELTA TIME FOR AGC CLOCK 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# Page 9# 25 CHECKLIST 3COMP xxxxx. FOR EACH# (USED WITH PLEASE PERFORM ONLY)# 26 PRIORITY/DELAY, ADRES, BBCON 3COMP OCTAL ONLY FOR EACH# 27 SELF TEST ON/OFF SWITCH 1COMP xxxxx.# 28 SPARE# 29 SPARE# 30 SPARE# 31 SPARE# 32 TIME FROM PERIGEE 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 33 TIME OF IGNITION 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 34 TIME OF EVENT 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 35 TIME FROM EVENT 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 36 TIME OF AGC CLOCK 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 37 TIG OF TPI 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 38 TIME OF STATE BEING INTEGRATED 3COMP 00xxx. HRS DEC ONLY# 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 39 SPARE
# Page 10# MIXED NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS# 40 TIME FROM IGNITION/CUTOFF 3COMP xxBxx MIN/SEC NO LOAD, DEC ONLY# VG, xxxx.x FT/SEC# DELTA V (ACCUMULATED) xxxx.x FT.SEC# 41 TARGET AZIMUTH 2COMP xxx.xx DEG (FOR SYSTEM TEST)# ELEVATION xx.xxx DEG# 42 APOGEE, 3COMP xxxx.x NAUT MI DEC ONLY# PERIGEE, xxxx.x NAUT MI# DELTA V (REQUIRED) xxxx.x FT/SEC# 43 LATITUDE, 3COMP xxx.xx DEG DEC ONLY# LONGITUDE, xxx.xx DEG# ALTITUDE xxxx.x NAUT MI# 44 APOGEE, 3COMP xxxx.x NAUT MI NO LOAD, DEC ONLY# PERIGEE, xxxx.x NAUT MI# TFF xxBxx MIN/SEC# 45 MARKS, 3COMP xxxxx. NO LOAD, DEC ONLY# TFI OF NEXT BURN, xxBxx MIN/SEC# MGA xxx.xx DEG# 46 AUTOPILOT CONFIGURATION 1COMP OCTAL ONLY# 47 LEM WEIGHT, 2COMP xxxxx. LBS DEC ONLY# CSM WEIGHT xxxxx. LBS# 48 GIMBAL PITCH TRIM, 2COMP xxx.xx DEG DEC ONLY# GIMBAL ROLL TRIM xxx.xx DEG# 49 DELTA R, 3COMP xxxx.x NAUT MI DEC ONLY# DELTA V, xxxx.x FT/SEC# RADAR DATA SOURCE CODE xxxxx.# 50 SPARE# 51 S-BAND ANTENNA ANGLES PITCH 2COMP xxx.xx DEG DEC ONLY# YAW xxx.xx DEG# 52 CENTRAL ANGLE OF ACTIVE VEHICLE 1COMP xxx.xx DEG# 53 SPARE# 54 RANGE, 3COMP xxx.xx NAUT MI DEC ONLY# RANGE RATE, xxxx.x FT/SEC# THETA xxx.xx DEG# 55 NO. OF APSIDAL CROSSINGS 3COMP xxxxx. DEC ONLY# ELEVATION ANGLE xxx.xx DEG# CENTRAL ANGLE OF PASSIVE VEHICLE xxx.xx DEG# 56 RR LOS AZIMUTH 2COMP xxx.xx DEG# ELEVATION xxx.xx DEG# 57 DELTA R 1COMP xxxx.x NAUT MI DEC ONLY# 58 PERIGEE ALT (POST TPI) 3COMP xxxx.x NAUT MI DEC ONLY# DELTA V TPI xxxx.x FT/SEC# DELTA V TPF xxxx.x FT/SEC# 59 DELTA VELOCITY LOS 3COMP xxxx.x FT/SEC FOR EA. DEC ONLY# 60 HORIZONTAL VELOCITY 3COMP xxxx.x FT/SEC DEC ONLY# ALTITUDE RATE xxxx.x FT/SEC# COMPUTED ALTITUDE xxxxx. FEET# 61 TIME TO GO IN BRAKING PHASE 3COMP xxBxx MIN/SEC NO LOAD, DEC ONLY# TIME FROM IGNITION xxBxx MIN/SEC# Page 11# CROSS RANGE DISTANCE xxxx.x NAUT MI# 62 ABSOLUTE VALUE OF VELOCITY 3COMP xxxx.x FT/SEC NO LOAD, DEC ONLY# TIME FROM IGNITION xxBxx MIN/SEC# DELTA V (ACCUMULATED) xxxx.x FT/SEC# 63 ABSOLUTE VALUE OF VELOCITY 3COMP xxxx.x FT/SEC DEC ONLY# ALTITUDE RATE xxxx.x FT/SEC# COMPUTED ALTITUDE xxxxx. FEET# 64 TIME LEFT FOR REDESIGNATION- LPD ANGLE 3COMP xxBxx NO LOAD, DEC ONLY# ALTITUDE RATE xxxx.x FT/SEC# COMPUTED ALTITUDE xxxxx. FEET# 65 SAMPLED AGC TIME 3COMP 00xxx. HRS. DEC ONLY# (FETCHED IN INTERRUPT) 000xx. MIN MUST LOAD 3 COMPS# 0xx.xx SEC# 66 LR RANGE 2COMP xxxxx. FEET NO LOAD, DEC ONLY# POSITION +0000x# 67 LRVX 3COMP xxxxx. FT/SEC# LRVY xxxxx. FT/SEC# LRVZ xxxxx. FT/SEC# 68 SLANT RANGE TO LANDING SITE 3COMP xxxx.x NAUT MI NO LOAD, DEC ONLY# TIME TO GO IN BRAKING PHASE xxBxx MIN/SEC# LR ALTITUDE - COMPUTED ALTITUDE xxxxx. FEET# 69 SPARE# 70 AOT DETENT CODE/STAR CODE 3COMP OCTAL ONLY FOR EACH# 71 AOT DETENT CODE/STAR CODE 3COMP OCTAL ONLY FOR EACH# 72 RR 360 - TRUNNION ANGLE 2COMP xxx.xx DEG# SHAFT ANGLE xxx.xx DEG# 73 NEW RR 360 - TRUNNION ANGLE 2COMP xxx.xx DEG# SHAFT ANGLE xxx.xx DEG# 74 TIME FROM IGNITION 3COMP xxBxx MIN/SEC NO LOAD, DEC ONLY# YAW AFTER VEHICLE RISE xxx.xx DEG# PITCH AFTER VEHICLE RISE xxx.xx DEG# 75 DELTA ALTITUDE CDH 3COMP xxxx.x NAUT MI NO LOAD, DEC ONLY# DELTA TIME (CDH-CSI OR TPI-CDH) xxBxx MIN/SEC# DELTA TIME (TPI-CDH OR TPI-NOMTPI) xxBxx MIN/SEC# 76 DESIRED HORIZONTAL VELOCITY 3COMP xxxx.x FT/SEC DEC ONLY# DESIRED RADIAL VELOCITY xxxx.x FT/SEC# CROSS-RANGE DISTANCE xxxx.x NAUT MI# 77 TIME TO ENGINE CUTOFF 2COMP xxBxx MIN/SEC NO LOAD, DEC ONLY# VELOCITY NORMAL TO CSM PLANE xxxx.x FT/SEC# 78 RR RANGE 2COMP xxx.xx NAUT MI NO LOAD, DEC ONLY# RANGE RATE xxxxx. FT/SEC# 79 CURSOR ANGLE 3COMP xxx.xx DEG DEC ONLY# SPIRAL ANGLE xxx.xx DEG# POSITION CODE xxxxx.# 80 DATA INDICATOR, 2COMP xxxxx.# OMEGA xxx.xx DEG# 81 DELTA V (LV) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY# Page 12# 82 DELTA V (LV) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY# 83 DELTA V (BODY) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY# 84 DELTA V (OTHER VEHICLE) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY# 85 VG (BODY) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY# 86 VG (LV) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY# 87 BACKUP OPTICS LOS AZIMUTH 2COMP xxx.xx DEG# ELEVATION xxx.xx DEG# 88 HALF UNIT SUN OR PLANET VECTOR 3COMP .xxxxx FOR EACH DEC ONLY# 89 LANDMARK LATITUDE 3COMP xx.xxx DEG DEC ONLY# LONGITUDE/2 xx.xxx DEC# ALTITUDE xxx.xx NAUT MI# 90 Y 3COMP xxx.xx NM DEC ONLY# Y DOT xxxx.x FPS# PSI xxx.xx DEG# 91 ALTITUDE 3COMP xxxxxB. NAUT MI# VELOCITY xxxxx. FT/SEC# FLIGHT PATH ANGLE xxx.xx DEG# 92 SPARE# 93 DELTA GYRO ANGLES 3COMP xx.xxx DEG FOR EACH# 94 SPARE# 95 SPARE# 96 SPARE# 97 SYSTEM TEST INPUTS 3COMP xxxxx. FOR EACH# 98 SYSTEM TEST RESULTS AND INPUTS 3COMP xxxxx.# .xxxxx# xxxxx.# 99 RMS IN POSITION 3COMP xxxxx. FT DEC ONLY# RMS IN VELOCITY xxxx.x FT/SEC# RMS IN BIAS xx.xxx RADIANS
# Page 13# REGISTERS AND SCALING FOR NORMAL NOUNS
# NOUN REGISTER SCALE TYPE# 00 NOT IN USE# 01 SPECIFY ADDRESS B# 02 SPECIFY ADDRESS C# 03 SPECIFY ADDRESS D# 04 DSPTEM1 H# 05 DSPTEM1 H# 06 OPTION1 A# 07 XREG A# 08 ALMCADR A# 09 FAILREG A# 10 SPECIFY CHANNEL A# 11 TCSI K# 12 OPTIONX A# 13 TCDH K# 14 DSPTEMX C# 15 INCREMENT ADDRESS A# 16 DSPTEMX K# 17 SPARE# 18 FDAIX D# 19 SPARE# 20 CDUX D# 21 PIPAX C# 22 THETAD D# 23 SPARE# 24 DSPTEM2 +1 K# 25 DSPTEM1 C# 26 DSPTEM1 A# 27 SMODE C# 28 SPARE# 29 SPARE# 30 SPARE# 31 SPARE# 32 -TPER K# 33 TIG K# 34 DSPTEM1 K# 35 TTOGO K# 36 TIME2 K# 37 TTPI K# 38 TET K# 39 SPARE
# Page 14# REGISTERS AND SCALING FOR MIXED NOUNS
# NOUN COMP REGISTER SCALE TYPE# 40 1 TTOGO L# 2 VGDISP S# 3 DVTOTAL S# 41 1 DSPTEM1 D# 2 DSPTEM1 +1 E# 42 1 HAPO Q# 2 HPER Q# 3 VGDISP S# 43 1 LAT H# 2 LONG H# 3 ALT Q# 44 1 HAPOX Q# 2 HPERX Q# 3 TFF L# 45 1 TRKMKCNT C# 2 TTOGO L# 3 +MGA H# 46 1 DAPDATR1 A# 47 1 LEMMASS KK# 2 CSMMASS KK# 48 1 PITTIME NN# 2 ROLLTIME NN# 49 1 R22DISP Q# 2 R22DISP +2 S# 3 WHCHREAD C# 50 SPARE# 51 1 ALPHASB H# 2 BETASB H# 52 1 ACTCENT H# 53 SPARE# 54 1 RANGE JJ# 2 RRATE S# 3 RTHETA H# 55 1 NN C# 2 ELEV H# 3 CENTANG H# 56 1 RR-AZ H# 2 RR-ELEV H# 57 1 DELTAR Q# 58 1 POSTTPI Q# 2 DELVTPI S# 3 DELVTPF S# 59 1 DVLOS S# 2 DVLOS +2 S# 3 DVLOS +4 S# 60 1 VHORIZ S# Page 15# 2 HDOTDISP S# 3 HCALC RR# 61 1 TTFDISP L# 2 TTOGO L# 3 OUTOFPLN QQ# 62 1 ABVEL S# 2 TTOGO L# 3 DVTOTAL S# 63 1 ABVEL S# 2 HDOTDISP S# 3 HCALC1 RR# 64 1 FUNNYDSP PP# 2 HDOTDISP S# 3 HCALC RR# 65 1 SAMPTIME K# 2 SAMPTIME K# 3 SAMPTIME K# 66 1 RSTACK +6 W# 2 CHANNEL 33 TT# 67 1 RSTACK X# 2 RSTACK +2 Y# 3 RSTACK +4 Z# 68 1 RANGEDSP QQ# 2 TTFDISP L# 3 DELTAH RR# 69 SPARE# 70 1 AOTCODE A# 2 AOTCODE +1 A# 3 AOTCODE +2 A# 71 1 AOTCODE A# 2 AOTCODE +1 A# 3 AOTCODE +2 A# 72 1 CDUT WW# 2 CDUS D# 73 1 TANG WW# 2 TANG +1 D# 74 1 TTOGO L# 2 YAW H# 3 PITCH H# 75 1 DIFFALT Q# 2 T1TOT2 L# 3 T2TOT3 L# 76 1 ZDOTD S# 2 RDOTD S# 3 XRANGE Q# 77 1 TTOGO L# 2 YDOT S# 78 1 RSTACK U# 2 RSTACK +2 V# 79 1 CURSOR D# Page 16# 2 SPIRAL D# 3 POSCODE C# 80 1 DATAGOOD C# 2 OMEGAD H# 81 1 DELVLVC S# 2 DELVLVC +2 S# 3 DELVLVC +4 S# 82 1 DELVLVC S# 2 DELVLVC +2 S# 3 DELVLVC +4 S# 83 1 DELVIMU S# 2 DELVIMU +2 S# 3 DELVIMU +4 S# 84 1 DELVOV S# 2 DELVOV +2 S# 3 DELVOV +4 S# 85 1 VGBODY S# 2 VGBODY +2 S# 3 VGBODY +4 S# 86 1 DELVLVC S# 2 DELVLVC +2 S# 3 DELVLVC +4 S# 87 1 AZ D# 2 EL D# 88 1 STARAD B# 2 STARAD +2 B# 3 STARAD +4 B# 89 1 LANDLAT G# 2 LANDLONG G# 3 LANDALT JJ# 90 1 RANGE JJ# 2 RRATE S# 3 RTHETA H# 91 1 P21ALT Q (MEMORY/100 TO DISPLAY TENS N.M.)# 2 P21VEL P# 3 P21GAM H# 92 SPARE# 93 1 OGC G# 2 OGC +2 G# 3 OGC +4 G# 94 SPARE# 95 SPARE# 96 SPARE# 97 1 DSPTEM1 C# 2 DSPTEM1 +1 C# 3 DSPTEM1 +2 C# 98 1 DSPTEM2 C# 2 DSPTEM2 +1 B# 3 DSPTEM2 +2 C# 99 1 WWPOS XX# Page 17# 2 WWVEL YY# 3 WWBIAS AAA# Page 18# NOUN SCALES AND FORMATS
# -SCALE TYPE- PRECISION# UNITS DECIMAL FORMAT -- AGC FORMAT# ------------ -------------- -- ----------
# -A-# OCTAL xxxxx SP OCTAL
# -B- -14# FRACTIONAL .xxxxx SP BIT 1 = 2 UNITS# (MAX .99996)
# -C-# WHOLE xxxxx. SP BIT 1 = 1 UNIT# (MAX 16383.)
# -D- 15# CDU DEGREES xxx.xx DEGREES SP BIT 1 = 360/2 DEGREES# (MAX 359.99) (USES 15 BITS FOR MAGNI-# TUDE AND 2-S COMP.)
# -E- 14# ELEVATION DEGREES xx.xxx DEGREES SP BIT 1 = 90/2 DEGREES# (MAX 89.999)
# -F- 14# DEGREES (180) xxx.xx DEGREES SP BIT 1 = 180/2 DEGREES# (MAX 179.99)
# -G-# DP DEGREES(90) xx.xxx DEGREES DP BIT 1 OF LOW REGISTER =# 28# 360/2 DEGREES
# -H-# DP DEGREES (360) xxx.xx DEGREES DP BIT 1 OF LOW REGISTER =# 28# (MAX 359.99) 360/2 DEGREES
# Page 19# -K-# TIME (HR, MIN, SEC) 00xxx. HR DP BIT 1 OF LOW REGISTER =# 000xx. MIN -2# 0xx.xx SEC 10 SEC# (DECIMAL ONLY.# MAX MIN COMP=59# MAX SEC COMP=59.99# MAX CAPACITY=745 HRS# 39 MINS# 14.55 SECS.# WHEN LOADING, ALL 3# COMPONENTS MUST BE# SUPPLIED.)
# -L-# TIME (MIN/SEC) xxBxx MIN/SEC DP BIT 1 OF LOW REGISTER =# (B IS A BLANK -2# POSITION, DECIMAL 10 SEC# ONLY, DISPLAY OR# MONITOR ONLY. CANNOT# BE LOADED.# MAX MIN COMP=59# MAX SEC COMP=59# VALUES GREATER THAN# 59 MIN 59 SEC# ARE DISPLAYED AS# 59 MIN 59 SEC.)
# -M- -2# TIME (SEC) xxx.xx SEC SP BIT 1 = 10 SEC# (MAX 163.83)
# -N-# TIME(SEC) DP xxx.xx SEC DP BIT 1 OF LOW REGISTER =# -2# 10 SEC.
# -P-# VELOCITY 2 xxxxx. FEET/SEC DP BIT 1 OF HIGH REGISTER =# (MAX 41994.) -7# 2 METERS/CENTI-SEC
# -Q-# POSITION 4 xxxx.x NAUTICAL MILES DP BIT 1 OF LOW REGISTER =# 2 METERS
# -S-# VELOCITY 3 xxxx.x FT/SEC DP BIT 1 OF HIGH REGISTER =# -7# 2 METERS/CENTI-SEC
# Page 20# -T- -2# G xxx.xx G SP BIT 1 = 10 G# (MAX 163.83)
# -U-# RENDEZVOUS xxx.xx NAUT MI DP LOW ORDER BIT OF LOW ORDER# RADAR RANGE WORD = 9.38 FEET
# -V-# RENDEZVOUS xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER# RADAR RANGE RATE WORD = -.6278 FEET/SEC
# -W-# LANDING RADAR xxxxx. FEET DP LOW ORDER BIT OF LOW ORDER# ALTITUDE WORD = 1.079 FEET
# -X-# LANDING RADAR xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER# VELX WORD = -.6440 FEET/SEC
# -Y-# LANDING RADAR xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER# VELY WORD = 1.212 FEET/SEC
# -Z-# LANDING RADAR xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER# VELZ WORD = .8668 FEET/SEC
# -AA-# INITIAL/FINAL xxxxx. FEET DP LOW ORDER BIT OF LOW ORDER# ALTITUDE WORD = 2.345 FEET
# -BB-# ALTITUDE RATE xxxxx. FEET/SEC SP LOW ORDER BIT = .5# (MAX 08191.) FEET/SEC
# -CC-# FORWARD/LATERAL xxxxx. FEET/SEC SP LOW ORDER BIT = .5571# VELOCITY (MAX 09126.) FEET/SEC
# -DD-# ROTATIONAL HAND xxxxx. DEG/SEC SP FRACTIONAL PART OF PI RAD# CONTROLLER ANGULAR (MAX 00044.) 4 SEC# RATES
# -EE-# OPTICAL TRACKER xxx.xx DEG. DP LOW ORDER BIT OF LOW ORDER# AZIMUTH ANGLE 15# WORD = 360/2 DEGREES
# Page 21
# -JJ-# POSITION5 xxx.xx NAUT MI DP BIT 1 OF LOW REGISTER =# 2 METERS
# -KK- 16# WEIGHT2 xxxxx. LBS SP FRACTIONAL PART OF 2 KG
# -NN-# TRIM DEGREES 2 xxx.xx DEG SP BIT 1=.01 SEC(TIME)# (MAX 032.76)
# -PP-# 2 INTEGERS +xxByy DP BIT 1 OF HIGH REGISTER =# (B IS A BLANK 1 UNIT OF XX# POSITION. DECIMAL BIT 1 OF LOW REGISTER =# ONLY, DISPLAY OR 1 UNIT OF YY# MONITOR ONLY. CANNOT (EACH REGISTER MUST# BE LOADED.) CONTAIN A POSITIVE INTEGER# (MAX 99B99) LESS THAN 100)
# -QQ-# POSITION7 xxxx.x NAUT MI DP BIT 1 OF LOW REGISTER =# (MAX 9058.9) -4# 2 METERS
# -RR-# COMPUTED ALTITUDE xxxxx. FEET DP BIT 1 OF LOW REGISTER =# -4# 2 METERS
# -SS-# DP DEGREES xxxx.x DEGREES DP BIT 1 OF HIGH REGISTER =# 1 DEGREE
# -TT-# LANDING RADAR +0000x CHANNEL 33, BIT 6 = NOT POSIT. 1# POSITION (DECIMAL ONLY. CHANNEL 33, BIT 7 = NOT POSIT. 2# DISPLAY OR MONITOR X = 1 FOR LR POSITION 1# ONLY. CANNOT BE X = 2 FOR LR POSITION 2# LOADED.)
# -WW- 15# 360-CDU DEGREES xxx.xx DEGREES SP BIT 1 = 360 - (360/2 )# (MAX 359.99) DEGREES# (USES 15 BITS FOR MAGNI-# TUDE AND 2-S COMP.)
# -XX-# POSITION 9 xxxxx. FEET DP BIT 1 OF LOW REGISTER =# -9# 2 METERS
# Page 22
# -YY-# VELOCITY 4 xxxx.x FEET/SEC DP FRACTIONAL PART# (MAX 328.0) METERS/CENTI-SEC
# -AAA-# RADIANS xx.xxx RADIANS DP BIT 1 OF HIGH REGISTER =# (MAX 31.999) -9# 2 RADIANS.
# THAT-S ALL ON THE NOUNS.
# Page 23# ALARM CODES FOR LUMINARY
# *9 *18 *60 COLUMN
# CODE * TYPE SET BY
# 00105 ** AOTMARK SYSTEM IN USE# 00107 MORE THAN 5 MARK PAIRS AOTMARK# 00111 MARK MISSING AOTMARK# 00112 MARK OR MARK REJECT NOT BEING ACCEPTED AOTMARK# 00113 NO INBITS AOTMARK# 00114 MARK MADE BUT NOT DESIRED AOTMARK# 00115 NO MARKS IN LAST PAIR TO REJECT AOTMARK# 00206 ZERO ENCODE NOT ALLOWED WITH COARSE ALIGN IMU MODE SWITCHING# 00206 + GIMBAL LOC# 00207 ISS TURNON REQUEST NOT PRESENT FOR 90 SEC T4RUPT# 00210 IMU NOT OPERATING IMU MODE SWITCH, IMU-2, RD2, P51, P57# 00211 COARSE ALIGN ERROR IMU MODE SWITCH# 00212 PIPA FAIL BUT PIPA IS NOT BEING USED IMU MODE SWITCH, T4RPT# 00213 IMU NOT OPERATING WITH TURN-ON REQUEST T4RUPT# 00214 PROGRAM USING IMU WHEN TURNED OFF T4RUPT# 00217 BAD RETURN FROM IMUSTALL P51, P52, P57# 00220 IMU NOT ALIGNED - NO REFSMMAT R02, R47# 00401 DESIRED GIMBAL ANGLE YIELDS GIMBAL LOCK INF ALIGN, IMU-2,# FINDCDUW# 00402 FINDCDUW NOT CONTROLLING ATTITUDE FINDCDUW# 00404 TWO STARS NOT AVAILABLE IN ANY DETENT R59, LUNAR SURFACE# 00405 TWO STARS NOT AVAILABLE P52# 00421 W-MATRIX OVERFLOW INTEGRV# 00430 ** ACCELERATION OVERFLOW IN INTEGRATION ORBITAL INTEGRATION# 00501 P RADAR ANTENNA OUT OF LIMITS R23# 00502 BAD RADAR GIMBAL ANGLE INPUT V41N72# 00503 P RADAR ANTENNA DESIGNATE FAIL R21, NON-P IN V41N72# 00510 RADAR AUTO DESCRETE NOT PRESENT R25# 00511 LR NOT IN POSITION 2 OR REPOSITIONING SERVICER# 00514 P RR GOES OUT OF AUTO MODE WHILE IN USE P20# 00515 RR CDU FAIL DISCRETE PRESENT R25# 00520 RADAR RUPT NOT EXPECTED AT THIS TIME RADAR READ# 00521 COULD NOT READ RADAR P20# 00522 LANDING RADAR POSITION CHANGE RADAR READ# 00523 P LR ANTENNA DIDN'T ACHIEVE POSITION 2 SERVICER, V60 (NON-P IN V60)# 00525 P DELTA THETA GREATER THAN 3 DEGREES R22# 00526 P RANGE GREATER THAN 400 NAUT. MILES P20, P22# 00527 P LOS NOT IN MODE II COVERAGE WHILE ON R21, R24# LUNAR SURFACE# OR VEHICLE MANEUVER REQUIRED R24 (20)# 00530 P LOS NOT IN MODE2 COVERAGE R21# ON LUNAR SURFACE AFTER 600 SECS.# 00600 IMAGINARY ROOTS ON FIRST ITERATION P32, P72# 00601 PERIGEE ALTITUDE CSI LT PMIN1 P32, P72.
# Page 24
# 00602 PERIGEE ALTITUDE CDH LT PMIN2 P32, P72.# 00603 CSI TO CDH TIME LT TMIN12 P32, P72, P33, P73# 00604 CDH TO TPI TIME LT TMIN23 P32, P72,# OR COMPUTED CDH TIME GREATER THAN INPUT TP1 TIME# 00605 NUMBER OF ITERATIONS EXCEEDS LOOP MAXIMUM P32, P72# 00606 DV EXCEEDS MAXIMUM P32, P72# 00607 ** NO SOLN FROM TIME-THETA OR TIME-RADIUS TIMETHET, TIMERAD# 00611 NO TIG FOR GIVEN ELEV ANGLE P34, P74# 00701 ILLEGAL OPTION CODE SELECTED P57# 00777 PIPA FAIL CAUSED THE ISS WARNING T4RUPT# 01102 AGC SELF TEST ERROR SELF CHECK# 01103 ** UNUSED CCS BRANCH EXECUTED ABORT# 01104 * DELAY ROUTINE BUSY EXEC# 01105 DOWNLINK TOO FAST T4RUPT# 01106 UPLINK TOO FAST T4RUPT# 01107 PHASE TABLE FAILURE. ASSUME RESTART# ERASABLE MEMORY IS SUSPECT. RESTART# 01201 * EXECUTIVE OVERFLOW - NO VAC AREAS EXEC# 01202 * EXECUTIVE OVERFLOW - NO CORE SETS EXEC# 01203 * WAITLIST OVERFLOW - TOO MANY TASKS WAITLIST# 01204 ** WAITLIST, VARDELAY, FIXDELAY, OR LONGCALL WAITLIST ROUTINES# CALLED WITH ZERO OR NEGATIVE DELTA-TIME# 01206 ** SECOND JOB ATTEMPTS TO GO TO SLEEP PINBALL# 01206 VIA KYBD AND DISPLAY PROGRAM# 01207 * NO VAC AREAS FOR MARKS AOTMARK# 01210 * TWO PROGRAMS USING DEVICE AT SAME TIME MODE SWITCHING# 01211 * ILLEGAL INTERRUPT OF EXTENDED VERB AOTMARK# 01301 ARCSIN-ARCCOS ARGUMENT TOO LARGE INTERPRETER# 01302 ** SQRT CALLED WITH NEGATIVE ARGUMENT INTERPRETER# 01406 BAD RETURN FROM ROOTPSRS DESCENT GUIDANCE EQS.# 01406 ** BAD RETURN FROM ROOTPSRS IGNITION ALGORITHM## NOTE: 1406 IS A POODOO DURING THE IGNITION ALGORITHM# AND AN ALARM DURING THE ACTUAL GUIDANCE PHASE.## 01407 VG INCREASING (DELTA-V ACCUMULATED S40.8# .GT. 90 DEGREES AWAY FROM DESIRED THRUST S40.8# VECTOR.) S40.8# 01410 UNINTENTIONAL OVERFLOW IN GUIDANCE DESCENT GUIDANCE EQS.# 01412 DESCENT IGNALG NOT CONVERGING P63# 01501 ** KEYBOARD AND DISPLAY ALARM DURING PINBALL# 01501 INTERNAL USE (NVSUB). ABORT# 01502 ** ILLEGAL FLASHING DISPLAY GOPLAY# 01520 V37 REQUEST NOT PERMITTED AT THIS TIME V37# 01600 OVERFLOW IN DRIFT TEST IMU 4# 01601 BAD IMU TORQUE OPT PRE ALIGN CALIB# 01601 IMU 4 (LEM)# 01703 IGNITION TIME SLIPPED MIDTOAVE# 01706 INCORRECT PROGRAM REQUESTED FOR VEHICLE# CONFIGURATION P40, P42
# Page 25
# 02000 * DAP STILL IN PROGRESS AT NEXT TIMES RUPT DAP# 02001 JET FAILURES HAVE DISABLED Y-Z TRANS. DAP# 02002 JET FAILURES HAVE DISABLED X TRANSLATION DAP# 02003 JET FAILURES HAVE DISABLED P-ROTATION DAP# 02004 JET FAILURES HAVE DISABLED U-V ROTATION DAP# 03777 ICDU FAIL CAUSED THE ISS WARNING T4RUPT# 04777 ICDU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT# 07777 IMU FAIL CAUSED THE ISS WARNING T4RUPT# 10777 IMU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT# 13777 IMU, ICDU FAILS CAUSED THE ISS WARNING T4RUPT# 14777 IMU, ICDU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT## * INDICATES AN ABORT CODE THAT RESULTS IN A SOFTWARE RESTART.## ** INDICATES A MORE SERIOUS ABORT CODE THAT RESULTS IN THE# PROGRAM GOING TO R00.## P INDICATES A PRIORITY ALARM.## ALL OTHERS ARE NON-ABORTIVE
# Page 26
# CHECKLIST CODES FOR LUMINARY
# *9 *17 *26 *9 COLUMN
# R1CODE ACTION TO BE EFFECTED PROGRAM
# 00013 KEY IN NORMAL OR GYRO TORQUE COARSE ALIGN P52# 00014 PROCEED DO IMU FINE ALIGN ROUTINE P51, P63, P57# 00014 ENTER DO LANDING SITE DETERMINATION (N89DISP) P57OPTION2# 00015 PERFORM CELESTIAL BODY ACQUISITION R51, P51# 00062 SWITCH AGC POWER DOWN P06# 00201 SWITCH RR MODE TO AUTOMATIC P20, P22, R04# 00203 SWITCH GUID CONTROL TO GNC, MODE TO AUTO... P12, P42, P71# ALSO THR CONT TO AUTO P40, P63, P70# 00205 PERFORM MANUAL ACQUISITION OF RR R23# 00500 SWITCH LR ANTENNA TO POSITION 1 P63
# SWITCH DENOTES CHANGE POSITION OF A CONSOLE SWITCH# PERFORM DENOTES START OR END OF A TASK# KEY IN DENOTES KEY IN OF DATA THRU THE DSKY
# Page 27# OPTION CODES FOR LUMINARY
# THE SPECIFIED OPTION CODES WIL BE FLASHED IN COMPONENT R1 IN# CONJUNCTION WITH V04N06 OR V04N12 (FOR EXTENDED VERBS) TO REQUEST THE# ASTRONAUT TO LOAD INTO COMPONENT R2 THE OPTION HE DESIRES.
# *9 *17 *52 *11 *25 COLUMN
# OPTION# CODE PURPOSE INPUT FOR COMPONENT 2 PROGRAM(S) APPLICABILITY
# 00001 SPECIFY IMU ORIENTATION 1=PREF 2=NOM 3=REFSMMAT P52 ALL# 4=LAND SITE# 00002 SPECIFY VEHICLE 1=THIS 2=OTHER P21,R30 ALL# 00003 SPECIFY TRACKING ATTITUDE 1=PREFERRED 2=OTHER R63 ALL# 00004 SPECIFY RADAR 1=RR 2=LR R04 SUNDANCE + LUMINARY# 00005 SPECIFY SOR PHASE 1=FIRST 2=SECOND P38 COLOSSUS + LUMINARY# 00006 SPECIFY RR COARSE ALIGN OPTION 1=LOCKON 2=CONTINUOUS DESIG. V41N72 SUNDANCE + LUMINARY# 00010 SPECIFY ALIGNMENT MODE 0=ANY TIME 1=REFSMMAT +G P57 LUMINARY# 2=TWO BODIES 3=ONE BODY + G# 00012 SPECIFY CSM ORBIT OPTION 1=NO ORBIT CHANGE 2=CHANGE P22 LUMINARY# ORBIT TO PASS OVER LM