Source Code
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These source-code files are part of a reconstructed copy of LUM69 Revision 2, the
flown Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction began with source code of Luminary 69 revision 0 previously
transcribed from a digitized copy of that program. The code was then updated
by back-porting the R-2 lunar potential model from previously-transcribed source
code of Luminary 99. These required changes were described in the original
Luminary memos 75 and 78. The reconstructed code was verified by
matching memory-bank checksums to those listed in drawing 2021152G. Note that
page numbers in the reconstructed code match those on the Luminary 069 printout,
although the added code would likely have changed page numbers for a real LUM69
Revision 2 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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022115,000002: ## Copyright: Public domain.
022116,000003: ## Filename: P20-P25.agc
022117,000004: ## Purpose: A section of LUM69 revision 2.
022118,000005: ## It is part of the reconstructed source code for the flown
022119,000006: ## version of the flight software for the Lunar Module's (LM)
022120,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
022121,000008: ## been recreated from a copy of Luminary revsion 069, using
022122,000009: ## changes present in Luminary 099 which were described in
022123,000010: ## Luminary memos 75 and 78. The code has been adapted such
022124,000011: ## that the resulting bugger words exactly match those specified
022125,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
022126,000013: ## relatively high confidence that the reconstruction is correct.
022127,000014: ## Reference: pp. 504-623
022128,000015: ## Assembler: yaYUL
022129,000016: ## Contact: Ron Burkey <info@sandroid.org>.
022130,000017: ## Website: www.ibiblio.org/apollo/index.html
022131,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
022132,000019:
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Page 504
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022134,000021:
022135,000022: # RENDEZVOUS NAVIGATION PROGRAM 20
022136,000023: # PROGRAM DESCRIPTION
022137,000024: # MOD NO - 2
022138,000025: # BY P. VOLANTE
022139,000026: # FUNCTIONAL DESCRIPTION
022140,000027:
022141,000028: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
022142,000029: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
022143,000030: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
022144,000031: # ON THE BASIS OF THE RR TRACKING DATA.
022145,000032: # CALLING SEQUENCE -
022146,000033:
022147,000034: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
022148,000035: # SUBROUTINES CALLED
022149,000036: # R02BOTH (IMU STATUS CHECK) FLAGUP
022150,000037: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
022151,000038: # R23LEM (MANUAL ACQUISITION) BANKCALL
022152,000039: # LS201 (LOS DETERMINATION) TASKOVER
022153,000040: # LS202 (RANGE LIMIT TEST)
022154,000041: # R61LEM (PREFERRED TRACKING ATTITUDE)
022155,000042: # R21LEM (RR DESIGNATE) ENDOFJOB
022156,000043: # R22LEM (DATA READ) GOPERF1
022157,000044: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
022158,000045: # PRIOLARM (PRIORITY DISPLAY)
022159,000046: # NORMAL EXIT MODES-
022160,000047: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022161,000048: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022162,000049: # ALARM OR ABORT EXIT MODES-
022163,000050: # RANGE GREATER THAN 400 NM DISPLAY
022164,000051: # OUTPUT
022165,000052: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
022166,000053: # ERASABLE INITIALIZATION REQUIRED
022167,000054: # FLAGS SET + RESET
022168,000055: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
022169,000056: # DEBRIS
022170,000057: # CENTRALS-A,Q,L
022171,000058: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
022172,000059:
022173,000060: 33,2045 BANK 33
022174,000061: 24,2000 SETLOC P20S
022175,000062: 24,2000 BANK
022176,000063:
022177,000064: 24,2022 E7,1454 EBANK= LOSCOUNT
022178,000065: 24,2022 COUNT* $$/P20
022179,000066: 24,2022 24,2022 PROG22 = PROG20
022180,000067: 24,2022 05327 PROG20 TC 2PHSCHNG
022181,000068: 24,2023 00004 OCT 4
022182,000069: 24,2024 05022 OCT 05022
022183,000070: 24,2025 26000 OCT 26000 # PRIORITY 26
022184,000071: 24,2026 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022185,000072:
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Page 505
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022187,000074: 24,2027 02031 TC ORBCHGO # YES
022188,000075: 24,2030 02060 TC PROG20A -2 # NO - CONTINUE WITH P20
022189,000076: 24,2031 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
022190,000077: 24,2032 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
022191,000078: 24,2033 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
022192,000079: 24,2034 55145 TS OPTION2 # CHANGE PRESENT ORBIT
022193,000080: 24,2035 32342 CAF OCT00012
022194,000081: 24,2036 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
022195,000082: 24,2037 20506 CADR GOPERF4
022196,000083: 24,2040 06001 TC GOTOPOOH # TERMINATE
022197,000084: 24,2041 02043 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
022198,000085: 24,2042 02035 TC -5 # R2 LOADED THRU DSKY
022199,000086: 24,2043 42343 ORBCHG1 CS P22ONE
022200,000087: 24,2044 61145 AD OPTION2
022201,000088: 24,2045 00006 EXTEND
022202,000089: 24,2046 12062 BZF PROG20A
022203,000090: 24,2047 32346 CAF V06N33*
022204,000091: 24,2050 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
022205,000092: 24,2051 20351 CADR GOFLASH # TIME OF LAUNCH
022206,000093: 24,2052 06001 TC GOTOPOOH # TERMINATE
022207,000094: 24,2053 02055 TC ORBCHG2 # PROCEED VALUES OK
022208,000095: 24,2054 02047 TC -5 # TIME LOADED THRU DSKY
022209,000096: 24,2055 06036 ORBCHG2 TC INTPRET
022210,000097: 24,2056 77650 GOTO
022211,000098: 24,2057 64227 ORBCHG3
022212,000099: 32,2227 BANK 32
022213,000100: 32,2000 SETLOC P20S4
022214,000101: 32,2000 BANK
022215,000102: 32,2227 COUNT* $$/P20
022216,000103:
022217,000104: 32,2227 77624 ORBCHG3 CALL
022218,000105: 32,2230 27412 INTSTALL
022219,000106: 32,2231 77745 DLOAD
022220,000107: 32,2232 03440 TIG
022221,000108: 32,2233 03657 STORE LNCHTM
022222,000109: 32,2234 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
022223,000110: 32,2235 43014 CLEAR CLEAR
022224,000111: 32,2236 01674 VINTFLAG # LM INTEGRATION
022225,000112: 32,2237 01673 INTYPFLG # PRECISION - ENCKE
022226,000113: 32,2240 43014 CLEAR CLEAR
022227,000114: 32,2241 01676 DIM0FLAG # NO W-MATRIX
022228,000115: 32,2242 01675 D6OR9FLG
022229,000116: 32,2243 77624 CALL
022230,000117: 32,2244 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
022231,000118: 32,2245 77624 CALL
022232,000119: 32,2246 11165 GRP2PC
022233,000120: 32,2247 77775 VLOAD
022234,000121: 32,2250 00017 RATT1
022235,000122: 32,2251 17627 STODL RSUBL # SAVE LM POSITION
022236,000123: 32,2252 00015 TAT
022237,000124:
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Page 506
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022239,000126: 32,2253 34041 STCALL TDEC1
022240,000127: 32,2254 27412 INTSTALL
022241,000128: 32,2255 43014 SET CLEAR
022242,000129: 32,2256 01474 VINTFLAG # CSM INTEGRATION
022243,000130: 32,2257 01673 INTYPFLG
022244,000131: 32,2260 43014 CLEAR BOFF
022245,000132: 32,2261 01676 DIM0FLAG
022246,000133: 32,2262 02756 RENDWFLG # W MATRIX VALID
022247,000134: 32,2263 64267 NOWMATX # NO
022248,000135: 32,2264 43014 SET SET # YES - SET FOR W MATRIX
022249,000136: 32,2265 01476 DIM0FLAG
022250,000137: 32,2266 01475 D6OR9FLG
022251,000138: 32,2267 77624 NOWMATX CALL
022252,000139: 32,2270 27134 INTEGRV # CSM INTEGRATION
022253,000140: 32,2271 77624 CALL
022254,000141: 32,2272 11165 GRP2PC
022255,000142: 32,2273 77775 VLOAD
022256,000143: 32,2274 00025 VATT1
022257,000144: 32,2275 25761 STOVL VSUBC # SAVE CSM VELOCITY
022258,000145: 32,2276 00017 RATT1
022259,000146: 32,2277 01102 STORE RSUBC # SAVE CSM POSITION
022260,000147: 32,2300 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022261,000148: 32,2301 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
022262,000149: 32,2302 24025 STOVL 20D # SAVE NSUB1
022263,000150: 32,2303 03627 RSUBL # COMPUTE ESTIMATED ORBITAL
022264,000151: 32,2304 53435 VXV UNIT # PLANE CHANGE
022265,000152: 32,2305 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
022266,000153: 32,2306 27635 STOVL UCSM
022267,000154: 32,2307 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
022268,000155: 32,2310 50256 UNIT DOT # AND RSUBC
022269,000156: 32,2311 03635 UCSM # COS A = UCSM DOT UNIT (R(CM))
022270,000157: 32,2312 77752 SL1
022271,000158: 32,2313 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
022272,000159: 32,2314 44316 DSQ BDSU # COMPUTE SINE A
022273,000160: 32,2315 10345 ONEB-2
022274,000161: 32,2316 77766 SQRT
022275,000162: 32,2317 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
022276,000163: 32,2320 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
022277,000164: 32,2321 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
022278,000165: 32,2322 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
022279,000166: 32,2323 77676 VCOMP
022280,000167: 32,2324 02744 STORE VVEC # TIME FOR TIME THETA B-5
022281,000168: 32,2325 45014 CLEAR CALL
022282,000169: 32,2326 03666 RVSW
022283,000170: 32,2327 24745 TIMETHET
022284,000171: 32,2330 77676 VCOMP
022285,000172: 32,2331 03643 STORE NEWVEL # TERMINAL VELOCITY OF CSM
022286,000173: 32,2332 77745 DLOAD
022287,000174: 32,2333 00037 T
022288,000175: 32,2334 27661 STOVL TRANSTM # TRANSFER TIME
022289,000176:
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Page 507
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022291,000178: 32,2335 03643 NEWVEL
022292,000179: 32,2336 77646 ABVAL
022293,000180: 32,2337 24025 STOVL 20D
022294,000181: 32,2340 00001 0D
022295,000182: 32,2341 03651 STORE NEWPOS # TERMINAL POSITION OF CSM
022296,000183: 32,2342 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022297,000184: 32,2343 03627 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
022298,000185: 32,2344 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
022299,000186: 32,2345 03651 NEWPOS # ORBITAL PLANE
022300,000187: 32,2346 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
022301,000188: 32,2347 00025 20D
022302,000189: 32,2350 37663 STCALL NCSMVEL # NEW CSM VELOCITY
022303,000190: 32,2351 11165 GRP2PC
022304,000191: 32,2352 77624 CALL
022305,000192: 32,2353 27412 INTSTALL
022306,000193: 32,2354 44345 DLOAD BDSU
022307,000194: 32,2355 03661 TRANSTM # LAUNCH TIME - TRANSFER TIME
022308,000195: 32,2356 03657 LNCHTM
022309,000196: 32,2357 25517 STOVL TET
022310,000197: 32,2360 03651 NEWPOS
022311,000198: 32,2361 01535 STORE RCV
022312,000199: 32,2362 25503 STOVL RRECT
022313,000200: 32,2363 03663 NCSMVEL
022314,000201: 32,2364 35511 STCALL VRECT
022315,000202: 32,2365 23361 MINIRECT
022316,000203: 32,2366 45174 AXT,2 CALL
022317,000204: 32,2367 00002 2
022318,000205: 32,2370 26661 ATOPCSM
022319,000206: 32,2371 77624 CALL
022320,000207: 32,2372 27425 INTWAKE0
022321,000208: 32,2373 77776 EXIT
022322,000209: 32,2374 04616 TC BANKCALL
022323,000210: 32,2375 50062 CADR PROG20A
022324,000211: 24,2060 BANK 24
022325,000212: 24,2000 SETLOC P20S
022326,000213: 24,2000 BANK
022327,000214: 24,2060 COUNT* $$/P20
022328,000215:
022329,000216: 24,2060 05516 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
022330,000217: 24,2061 00026 ADRES VEHUPFLG # TO BE UPDATED
022331,000218: 24,2062 04616 PROG20A TC BANKCALL
022332,000219: 24,2063 11175 CADR R02BOTH
022333,000220: 24,2064 05504 TC UPFLAG
022334,000221: 24,2065 00027 ADRES UPDATFLG # SET UPDATE FLAG
022335,000222: 24,2066 05504 TC UPFLAG
022336,000223: 24,2067 00031 ADRES TRACKFLG # SET TRACK FLAG
022337,000224: 24,2070 05504 TC UPFLAG
022338,000225: 24,2071 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
022339,000226: 24,2072 05516 TC DOWNFLAG
022340,000227: 24,2073 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
022341,000228:
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Page 508
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022343,000230: 24,2074 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
022344,000231: 24,2075 00040 ADRES ACMODFLG
022345,000232: 24,2076 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
022346,000233: 24,2077 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
022347,000234: 24,2100 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
022348,000235: 24,2101 00126 ADRES NORRMON # (RESET NORRMON FLAG)
022349,000236: 24,2102 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
022350,000237: 24,2103 00041 ADRES LOSCMFLG
022351,000238: 24,2104 05353 P20LEM1 TC PHASCHNG
022352,000239: 24,2105 04022 OCT 04022
022353,000240: 24,2106 34755 CAF ZERO # ZERO MARK COUNTER
022354,000241: 24,2107 55460 TS MARKCTR
022355,000242: 24,2110 06036 TC INTPRET # LOS DETERMINATION ROUTINE
022356,000243: 24,2111 77634 RTB
022357,000244: 24,2112 21462 LOADTIME
022358,000245: 24,2113 34041 STCALL TDEC1
022359,000246: 24,2114 51151 LPS20.1
022360,000247: 24,2115 77624 CALL
022361,000248: 24,2116 53565 LPS20.2 # TEST RANGE R/UTINE
022362,000249: 24,2117 77776 EXIT
022363,000250: 24,2120 50154 INDEX MPAC
022364,000251: 24,2121 02122 TC +1
022365,000252: 24,2122 02132 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
022366,000253: 24,2123 32336 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
022367,000254: 24,2124 04616 TC BANKCALL
022368,000255: 24,2125 21451 CADR PRIOLARM
022369,000256: 24,2126 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022370,000257: 24,2127 02123 TC -4 # PROC (ILLEGAL
022371,000258: 24,2130 02104 TC P20LEM1 # ENTER RECYCLE
022372,000259: 24,2131 05155 TC ENDOFJOB
022373,000260:
022374,000261:
022375,000262: 24,2132 05353 P20LEMA TC PHASCHNG
022376,000263: 24,2133 04022 OCT 04022
022377,000264: 24,2134 02714 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
022378,000265: 24,2135 02140 TC P20LEMB
022379,000266: 24,2136 04616 TC BANKCALL
022380,000267: 24,2137 46100 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
022381,000268: 24,2140 05353 P20LEMB TC PHASCHNG
022382,000269: 24,2141 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
022383,000270: 24,2142 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
022384,000271: 24,2143 37713 CAF PRIO26 # RESTORE PRIORITY 26
022385,000272: 24,2144 05146 TC PRIOCHNG
022386,000273: 24,2145 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
022387,000274: 24,2146 74747 MASK TRACKBIT
022388,000275: 24,2147 00006 EXTEND
022389,000276: 24,2150 12262 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
022390,000277: 24,2151 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
022391,000278: 24,2152 00006 EXTEND
022392,000279: 24,2153 02033 RAND CHAN33
022393,000280:
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Page 509
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022395,000282: 24,2154 00006 EXTEND
022396,000283: 24,2155 12211 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
022397,000284:
022398,000285: 24,2156 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
022399,000286: 24,2157 61011 AD MODREG # MAJOR MODE IS 20
022400,000287: 24,2160 00006 EXTEND
022401,000288: 24,2161 12174 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
022402,000289:
022403,000290:
022404,000291: 24,2162 67745 AD NEG2 # ALSO CHECK FOR P22
022405,000292: 24,2163 00006 EXTEND
022406,000293: 24,2164 12174 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
022407,000294: 24,2165 32340 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022408,000295: 24,2166 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
022409,000296: 24,2167 21451 CADR PRIOLARM
022410,000297: 24,2170 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
022411,000298: 24,2171 02140 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022412,000299: 24,2172 02140 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022413,000300: 24,2173 05155 TC ENDOFJOB
022414,000301: 24,2174 32337 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022415,000302: 24,2175 04616 TC BANKCALL
022416,000303: 24,2176 20476 CADR GOPERF1
022417,000304: 24,2177 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022418,000305: 24,2200 02140 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022419,000306: 24,2201 02714 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022420,000307: 24,2202 02207 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022421,000308: 24,2203 03027 TC R23LEM # NO - DO MANUAL ACQUISITION
022422,000309:
022423,000310:
022424,000311: 24,2204 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022425,000312: 24,2205 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022426,000313: 24,2206 02140 TC P20LEMB # RR AUTO MODE
022427,000314:
022428,000315:
022429,000316: 24,2207 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022430,000317: 24,2210 02140 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022431,000318:
022432,000319:
022433,000320: 24,2211 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022434,000321: 24,2212 74737 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
022435,000322: 24,2213 00006 EXTEND
022436,000323: 24,2214 12226 BZF P20LEMB4 # BRANCH - YES - WAIT
022437,000324: 24,2215 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022438,000325: 24,2216 70076 MASK FLAGWRD2
022439,000326: 24,2217 00006 EXTEND
022440,000327: 24,2220 12232 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
022441,000328: 24,2221 05516 TC DOWNFLAG # RESET TO AUTO MODE
022442,000329: 24,2222 00037 ADRES SRCHOPTN
022443,000330: 24,2223 05516 TC DOWNFLAG
022444,000331:
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Page 510
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022446,000333: 24,2224 00040 ADRES ACMODFLG
022447,000334: 24,2225 02262 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022448,000335:
022449,000336:
022450,000337: 24,2226 32335 P20LEMB4 CAF 250DEC
022451,000338: 24,2227 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022452,000339: 24,2230 01735 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
022453,000340: 24,2231 02211 TC P20LEMB3
022454,000341:
022455,000342:
022456,000343: 24,2232 06036 P20LEMC3 TC INTPRET
022457,000344: 24,2233 77624 CALL # DO A PERMANENT MEMORY PRECISION
022458,000345: 24,2234 50347 UPPSV # INTEGRATION TO ESTABLISH AN UP-TO-DATE
022459,000346: 24,2235 77214 BOFF VLOAD # BASE FOR CONICS (KEPLER) IN R21
022460,000347: 24,2236 04347 SURFFLAG
022461,000348: 24,2237 50246 P20LEMC4
022462,000349: 24,2240 01661 RCVLEM # WHEN ON LUNAR SURFACE
022463,000350: 24,2241 77742 VSR2 # SCALE B-29
022464,000351: 24,2242 26356 STOVL LMPOS
022465,000352: 24,2243 01667 VCVLEM
022466,000353: 24,2244 77742 VSR2
022467,000354: 24,2245 02364 STORE LMVEL
022468,000355: 24,2246 77776 P20LEMC4 EXIT
022469,000356: 24,2247 05353 P20LEMC TC PHASCHNG
022470,000357: 24,2250 04022 OCT 04022
022471,000358: 24,2251 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022472,000359: 24,2252 74745 MASK RNDVZBIT
022473,000360: 24,2253 00006 EXTEND
022474,000361: 24,2254 15155 BZF ENDOFJOB # NO - EXIT P20
022475,000362: 24,2255 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022476,000363: 24,2256 74747 MASK TRACKBIT
022477,000364: 24,2257 00006 EXTEND
022478,000365: 24,2260 12315 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022479,000366: 24,2261 02721 P20LEMF TC R21LEM
022480,000367:
022481,000368:
022482,000369: 24,2262 32335 P20LEMWT CAF 250DEC
022483,000370: 24,2263 00004 INHINT
022484,000371: 24,2264 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022485,000372: 24,2265 02275 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022486,000373: 24,2266 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022487,000374: 24,2267 74747 MASK TRACKBIT
022488,000375: 24,2270 00006 EXTEND
022489,000376: 24,2271 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022490,000377: 24,2272 05353 P20LMWT1 TC PHASCHNG
022491,000378: 24,2273 40072 OCT 40072
022492,000379: 24,2274 05155 TC ENDOFJOB
022493,000380:
022494,000381:
022495,000382: 24,2275 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022496,000383:
|
|
Page 511
|
022498,000385: 24,2276 74745 MASK RNDVZBIT
022499,000386: 24,2277 00006 EXTEND
022500,000387: 24,2300 15261 BZF TASKOVER # NO - EXIT P20/R22
022501,000388: 24,2301 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022502,000389: 24,2302 74747 MASK TRACKBIT
022503,000390: 24,2303 00006 EXTEND
022504,000391: 24,2304 12312 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
022505,000392: 24,2305 37713 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
022506,000393: 24,2306 05105 TC FINDVAC
022507,000394: 24,2307 E7,1454 EBANK= LOSCOUNT
022508,000395: 24,2307 02477 50067 2CADR R22LEM
022509,000396: 24,2311 05261 TC TASKOVER
022510,000397:
022511,000398:
022512,000399: 24,2312 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
022513,000400: 24,2313 02734 DEC 1500 B-14 # AND CHECK AGAIN
022514,000401:
022515,000402: 24,2314 02275 TC P20LEMC1
022516,000403:
022517,000404: 24,2315 32712 P20LEMD CAF 1500DEC
022518,000405: 24,2316 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022519,000406: 24,2317 02321 ADRES P20LEMD1
022520,000407: 24,2320 05155 TC ENDOFJOB
022521,000408:
022522,000409:
022523,000410: 24,2321 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022524,000411: 24,2322 74747 MASK TRACKBIT
022525,000412: 24,2323 10000 CCS A
022526,000413: 24,2324 12330 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
022527,000414: 24,2325 05221 TC FIXDELAY # NO-WAIT 15 SECONDS
022528,000415: 24,2326 02734 DEC 1500 B-14
022529,000416: 24,2327 02321 TC P20LEMD1
022530,000417:
022531,000418:
022532,000419: 24,2330 37713 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022533,000420: 24,2331 05105 TC FINDVAC
022534,000421: 24,2332 E7,1454 EBANK= LOSCOUNT
022535,000422: 24,2332 02232 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022536,000423: 24,2334 05261 TC TASKOVER
022537,000424:
022538,000425:
022539,000426: 24,2335 00372 250DEC DEC 250 B-14
022540,000427: 24,2336 00526 ALRM526 OCT 00526
022541,000428: 24,2337 00201 OCT201 OCT 00201
022542,000429: 24,2340 00514 ALRM514 OCT 514
022543,000430: 24,2341 00074 MAXTRIES DEC 60 B-14
022544,000431: 24,2342 00012 OCT00012 OCT 00012
022545,000432: 24,2343 00001 P22ONE OCT 00001
022546,000433:
|
|
Page 512
|
022548,000435: 24,2344 10000 00000 ONEB-2 2DEC 1.0 B-2
022549,000436: 24,2346 01441 V06N33* VN 0633
022550,000437: 24,2347 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022551,000438: 24,2350 01757 LS21X # TO PRESENT TIME
022552,000439: 24,2351 27412 INTSTALL
022553,000440: 24,2352 77624 CALL
022554,000441: 24,2353 26644 SETIFLGS
022555,000442: 24,2354 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
022556,000443: 24,2355 02756 RENDWFLG
022557,000444: 24,2356 50367 UPPSV1
022558,000445: 24,2357 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022559,000446: 24,2360 43014 BON SET
022560,000447: 24,2361 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022561,000448: 24,2362 50364 UPPSV5
022562,000449: 24,2363 01475 D6OR9FLG # OTHERWISE 9X9
022563,000450: 24,2364 77614 UPPSV5 BOF
022564,000451: 24,2365 00747 VEHUPFLG
022565,000452: 24,2366 50411 UPPSV3
022566,000453: 24,2367 47014 UPPSV1 SET RTB # CSM STATE BEING CORRECTED
022567,000454: 24,2370 01474 VINTFLAG
022568,000455: 24,2371 21462 LOADTIME
022569,000456: 24,2372 34041 STCALL TDEC1 # INTEGRATE CSM STATE WITH W-MATRIX
022570,000457: 24,2373 27134 INTEGRV
022571,000458: 24,2374 77624 CALL # GROUP 2 PHASE CHANGE
022572,000459: 24,2375 11165 GRP2PC # TO PROTECT INTEGRATION
022573,000460: 24,2376 77624 CALL
022574,000461: 24,2377 27412 INTSTALL
022575,000462: 24,2400 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022576,000463: 24,2401 01571 TETCSM
022577,000464: 24,2402 01674 VINTFLAG
022578,000465: 24,2403 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022579,000466: 24,2404 26644 SETIFLGS # WITHOUT W-MATRIX
022580,000467: 24,2405 34041 STCALL TDEC1
022581,000468: 24,2406 27134 INTEGRV
022582,000469: 24,2407 77650 GOTO
022583,000470: 24,2410 01757 LS21X
022584,000471:
022585,000472:
022586,000473: 24,2411 47014 UPPSV3 CLEAR RTB
022587,000474: 24,2412 01674 VINTFLAG
022588,000475: 24,2413 21462 LOADTIME
022589,000476: 24,2414 34041 STCALL TDEC1 # INTEGRATE LM STATE WITH W-MATRIX
022590,000477: 24,2415 27134 INTEGRV
022591,000478: 24,2416 77624 CALL
022592,000479: 24,2417 11165 GRP2PC
022593,000480: 24,2420 77624 CALL
022594,000481: 24,2421 27412 INTSTALL
022595,000482: 24,2422 71214 SET DLOAD
022596,000483: 24,2423 01474 VINTFLAG
022597,000484:
|
|
Page 513
|
022599,000486: 24,2424 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
022600,000487: 24,2425 77650 GOTO
022601,000488: 24,2426 50403 UPPSV4
022602,000489:
022603,000490:
022604,000491: 24,2427 E7,1454 EBANK= LOSCOUNT
022605,000492: 24,2427 COUNT* $$/P22
022606,000493:
|
|
Page 514
|
022608,000495: # PROGRAM DESCRIPTION
022609,000496: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022610,000497: # MOD NO - 3
022611,000498: # BY P. VOLANTE
022612,000499: # FUNCTIONAL DESCRIPTION
022613,000500:
022614,000501: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022615,000502: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022616,000503: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022617,000504: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022618,000505: # CALLING SEQUENCE -
022619,000506: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022620,000507: # SUBROUTINES CALLED -
022621,000508: # BANKCALL FLAGUP
022622,000509: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022623,000510: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022624,000511: # TASKOVER FINDVAC
022625,000512: # NORMAL EXIT MODES -
022626,000513: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022627,000514: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022628,000515: # ALARM OR ABORT EXIT MODES -
022629,000516: # NONE
022630,000517: # OUTPUT
022631,000518: # ERASABLE INITIALIZATION REQUIRED
022632,000519: # FLAGS SET + RESET
022633,000520: # TRACKFLG,P25FLAG
022634,000521: # DEBRIS
022635,000522: # NONE
022636,000523: 24,2427 E7,1454 EBANK= LOSCOUNT
022637,000524: 24,2427 COUNT* $$/P25
022638,000525: 24,2427 05327 PROG25 TC 2PHSCHNG
022639,000526: 24,2430 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022640,000527: 24,2431 05022 OCT 05022
022641,000528: 24,2432 26000 OCT 26000 # PRIORITY 26
022642,000529:
022643,000530: 24,2433 04616 TC BANKCALL
022644,000531: 24,2434 11175 CADR R02BOTH # IMU STATUS CHECK
022645,000532: 24,2435 05504 TC UPFLAG
022646,000533: 24,2436 00031 ADRES TRACKFLG # SET TRACK FLAG
022647,000534: 24,2437 05504 TC UPFLAG
022648,000535: 24,2440 00006 ADRES P25FLAG # SET P25FLAG
022649,000536: 24,2441 05353 P25LEM1 TC PHASCHNG
022650,000537: 24,2442 04022 OCT 04022
022651,000538: 24,2443 34743 CAF P25FLBIT
022652,000539: 24,2444 70074 MASK STATE # IS P25FLAG SET
022653,000540: 24,2445 00006 EXTEND
022654,000541: 24,2446 15155 BZF ENDOFJOB
022655,000542: 24,2447 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022656,000543: 24,2450 70075 MASK STATE +1
022657,000544: 24,2451 00006 EXTEND
022658,000545:
|
|
Page 515
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022660,000547: 24,2452 12462 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022661,000548: 24,2453 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022662,000549: 24,2454 55743 TS R65CNTR
022663,000550: 24,2455 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022664,000551: 24,2456 46105 CADR R65LEM
022665,000552: 24,2457 02441 TC P25LEM1 # THEN GO CHECK FLAGS
022666,000553: 24,2460 05353 P25LEMWT TC PHASCHNG
022667,000554: 24,2461 00112 OCT 00112
022668,000555: 24,2462 32474 P25LMWT1 CAF 60SCNDS
022669,000556: 24,2463 00004 INHINT
022670,000557: 24,2464 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022671,000558: 24,2465 02467 ADRES P25LEM2
022672,000559: 24,2466 05155 TC ENDOFJOB
022673,000560: 24,2467 35024 P25LEM2 CAF PRIO14
022674,000561: 24,2470 05105 TC FINDVAC
022675,000562: 24,2471 E7,1454 EBANK= LOSCOUNT
022676,000563: 24,2471 02441 50067 2CADR P25LEM1
022677,000564: 24,2473 05261 TC TASKOVER
022678,000565: 24,2474 13560 60SCNDS DEC 6000 B-14
022679,000566: 24,2475 77776 P25OK EXIT
022680,000567: 24,2476 02460 TC P25LEMWT
022681,000568:
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|
Page 516
|
022683,000570: # DATA READ ROUTINE 22 (LEM)
022684,000571: # PROGRAM DESCRIPTION
022685,000572: # MOD NO - 2
022686,000573: # BY P VOLANTE
022687,000574: # FUNCTIONAL DESCRIPTION
022688,000575:
022689,000576: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022690,000577: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022691,000578: # CALLING SEQUENCE -
022692,000579: # TC BANKCALL
022693,000580: # CADR R22LEM
022694,000581: # SUBROUTINES CALLED -
022695,000582: # LSR22.1 GOFLASH WAITLIST
022696,000583: # LSR22.2 PRIOLARM BANKCALL
022697,000584: # LSR22.3 R61LEM
022698,000585: # NORMAL EXIT MODES-
022699,000586: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022700,000587: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022701,000588: # R22 WILL TERMINATE SELF.
022702,000589: # ALARM OR ABORT EXIT MODES-
022703,000590: # PRIORITY ALARM
022704,000591: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022705,000592: # OUTPUT
022706,000593: # SEE OUTPUT FROM LSR22.3
022707,000594: # ERASABLE INITIALIZATION REQUIRED
022708,000595: # SEE LSR22.1,LSR22.2,LSR22.3
022709,000596: # FLAGS SET + RESET
022710,000597: # NOANGFLG
022711,000598: # DEBRIS
022712,000599: # SEE LSR22.1,LSR22.2,LSR22.3
022713,000600: 24,2477 E7,1735 EBANK= LRS22.1X
022714,000601: 24,2477 COUNT* $$/R22
022715,000602: 24,2477 05353 R22LEM TC PHASCHNG
022716,000603: 24,2500 04022 OCT 04022
022717,000604: 24,2501 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
022718,000605: 24,2502 70074 MASK STATE
022719,000606: 24,2503 00006 EXTEND
022720,000607: 24,2504 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
022721,000608: 24,2505 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022722,000609: 24,2506 70075 MASK STATE +1
022723,000610: 24,2507 00006 EXTEND
022724,000611: 24,2510 12664 BZF R22WAIT # NO WAIT
022725,000612: 24,2511 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
022726,000613: 24,2512 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
022727,000614: 24,2513 02012 RAND CHAN12
022728,000615: 24,2514 00006 EXTEND
022729,000616: 24,2515 12132 BZF P20LEMA # NO - RETURN TO P20
022730,000617: 24,2516 34752 CAF BIT2 # YES
022731,000618: 24,2517 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
022732,000619: 24,2520 02033 RAND CHAN33
022733,000620:
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|
Page 517
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022735,000622: 24,2521 00006 EXTEND
022736,000623: 24,2522 12524 BZF +2 # YES CONTINUE
022737,000624: 24,2523 02156 TC P20LEMB5 # NO - SET IT
022738,000625: 24,2524 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
022739,000626: 24,2525 74737 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
022740,000627: 24,2526 00006 EXTEND
022741,000628: 24,2527 12655 BZF R22LEM42 # CDUS BEING ZEROED
022742,000629: 24,2530 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
022743,000630: 24,2531 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
022744,000631: 24,2532 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
022745,000632: 24,2533 64376 CADR LRS22.1 # DATA READ SUBROUTINE
022746,000633: 24,2534 50154 INDEX MPAC
022747,000634: 24,2535 02536 TC +1
022748,000635: 24,2536 02557 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
022749,000636: 24,2537 02247 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022750,000637: 24,2540 32707 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
022751,000638: 24,2541 04616 TC BANKCALL
022752,000639: 24,2542 21451 CADR PRIOLARM
022753,000640: 24,2543 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022754,000641: 24,2544 02547 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
022755,000642: 24,2545 02540 TC -5 # ENTER (ILLEGAL OPTION)
022756,000643: 24,2546 05155 TC ENDOFJOB
022757,000644:
022758,000645:
022759,000646: 24,2547 05353 R22LEM1 TC PHASCHNG
022760,000647: 24,2550 04022 OCT 04022
022761,000648: 24,2551 32710 CAF V06N05 # DISPLAY DELTA THETA
022762,000649: 24,2552 04616 TC BANKCALL
022763,000650: 24,2553 20362 CADR PRIODSP
022764,000651: 24,2554 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022765,000652: 24,2555 02557 TC R22LEM2 # PROC (OK CONTINUE)
022766,000653: 24,2556 02247 TC P20LEMC # ENTER(RECYCLE)
022767,000654: 24,2557 05353 R22LEM2 TC PHASCHNG
022768,000655: 24,2560 04022 OCT 04022
022769,000656: 24,2561 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022770,000657: 24,2562 02577 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
022771,000658: 24,2563 30075 CA FLAGWRD1 # IS TRACK FLAG SET
022772,000659: 24,2564 74747 MASK TRACKBIT
022773,000660: 24,2565 00006 EXTEND
022774,000661: 24,2566 12664 BZF R22WAIT # NO - WAIT
022775,000662: 24,2567 04616 TC BANKCALL # YES
022776,000663: 24,2570 51230 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022777,000664: 24,2571 50154 INDEX MPAC
022778,000665: 24,2572 02573 TC +1
022779,000666: 24,2573 02577 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022780,000667: 24,2574 04616 TC BANKCALL
022781,000668: 24,2575 46100 CADR R61LEM
022782,000669: 24,2576 02664 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
022783,000670: 24,2577 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
022784,000671: 24,2600 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
022785,000672:
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|
Page 518
|
022787,000674: 24,2601 00006 EXTEND
022788,000675: 24,2602 12655 BZF R22LEM42 # BRANCH-YES
022789,000676: 24,2603 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
022790,000677: 24,2604 74745 MASK UPDATBIT
022791,000678: 24,2605 00006 EXTEND
022792,000679: 24,2606 12655 BZF R22LEM42 # UPDATE FLAG NOT SET
022793,000680: 24,2607 37713 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
022794,000681: 24,2610 55056 TS PHSPRDT2
022795,000682:
022796,000683: 24,2611 06036 TC INTPRET
022797,000684: 24,2612 77650 GOTO
022798,000685: 24,2613 54370 LSR22.3
022799,000686: 24,2614 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
022800,000687: 24,2615 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
022801,000688: 24,2616 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
022802,000689: 24,2617 12650 TCF R22LEM44
022803,000690: 24,2620 77776 R22LEM96 EXIT
022804,000691: 24,2621 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
022805,000692: 24,2622 55744 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
022806,000693: 24,2623 05353 TC PHASCHNG
022807,000694: 24,2624 04022 OCT 04022 # TO PROTECT DISPLAY
022808,000695: 24,2625 37714 CAF PRIO27 # PROTECT DISPLAY
022809,000696: 24,2626 05072 TC NOVAC
022810,000697: 24,2627 E7,1744 EBANK= N49FLAG
022811,000698: 24,2627 02670 50067 2CADR N49DSP
022812,000699: 24,2631 06036 TC INTPRET
022813,000700: 24,2632 77735 SLOAD
022814,000701: 24,2633 03745 N49FLAG
022815,000702: 24,2634 50054 BZE BMN # LOOP TO CHECK IF FLAG
022816,000703: 24,2635 50632 -3 # SETTING CHANGED-BRANCH - NO
022817,000704: 24,2636 50644 R22LEM7 # PROCEED
022818,000705: 24,2637 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
022819,000706: 24,2640 02714 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022820,000707: 24,2641 02664 TC R22WAIT # YES - 15 SECOND DELAY
022821,000708: 24,2642 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
022822,000709: 24,2643 02660 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
022823,000710: 24,2644 77624 R22LEM7 CALL # PROCEED
022824,000711: 24,2645 11165 GRP2PC # PHASE CHANGE AND
022825,000712: 24,2646 77650 GOTO # GO TO INCORPORATE DATA.
022826,000713: 24,2647 55374 ASTOK
022827,000714: 24,2650 25460 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
022828,000715: 24,2651 02714 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022829,000716: 24,2652 02666 TC R22LEM46 # YES - WAIT 2 SECONDS
022830,000717: 24,2653 34756 CA FIVE # NOT ON LUNAR SURFACE
022831,000718: 24,2654 02660 TC R22LEM45 # R65COUNTER = 5
022832,000719: 24,2655 02714 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022833,000720: 24,2656 02666 TC R22LEM46 # YES - WAIT 2 SECONDS
022834,000721: 24,2657 34752 CA TWO # NO-SET R65COUNTER = 2
022835,000722: 24,2660 55743 R22LEM45 TS R65CNTR
022836,000723:
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|
Page 519
|
022838,000725: 24,2661 04616 TC BANKCALL
022839,000726: 24,2662 46105 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
022840,000727: 24,2663 02477 TC R22LEM
022841,000728: 24,2664 32712 R22WAIT CAF 1500DEC
022842,000729: 24,2665 02263 TC P20LEMWT +1
022843,000730:
022844,000731:
022845,000732: 24,2666 35000 R22LEM46 CAF 2SECS
022846,000733: 24,2667 02263 TC P20LEMWT +1
022847,000734:
022848,000735:
022849,000736: 24,2670 32711 N49DSP CAF V06N49NB
022850,000737: 24,2671 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
022851,000738: 24,2672 20362 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022852,000739: 24,2673 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
022853,000740: 24,2674 44753 CS ONE # PROCEED - N49FLAG = -1
022854,000741: 24,2675 55744 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
022855,000742: 24,2676 05155 TC ENDOFJOB
022856,000743: 24,2677 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
022857,000744: 24,2700 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
022858,000745: 24,2701 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022859,000746: 24,2702 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022860,000747: 24,2703 04616 TC BANKCALL # BAD DATA
022861,000748: 24,2704 17667 CADR RADSTALL # WAIT FOR READ COMPLETE
022862,000749: 24,2705 02247 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
022863,000750: 24,2706 02477 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
022864,000751:
022865,000752:
022866,000753: 24,2707 00525 ALRM525 OCT 00525
022867,000754: 24,2710 01405 V06N05 VN 00605
022868,000755: 24,2711 01461 V06N49NB VN 00649
022869,000756: 24,2712 02734 1500DEC DEC 1500 B-14
022870,000757: 24,2713 10624 45SECNDS DEC 4500 B-14
022871,000758: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022872,000759: # RETURNS TO CALLER +1 IF P22FLAG SET
022873,000760: # TO CALLER +2 IF P22FLAG NOT SET
022874,000761:
022875,000762:
022876,000763: 24,2714 COUNT* $$/P22
022877,000764: 24,2714 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022878,000765: 24,2715 74744 MASK SURFFBIT # IS SURFFLAG SET?
022879,000766: 24,2716 10000 CCS A # BRANCH - P22FLAG SET
022880,000767: 24,2717 24002 INCR Q # NOT SET
022881,000768: 24,2720 00002 TC Q # RETURN
022882,000769:
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Page 520
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022884,000771: # RR DESIGNATE ROUTINE (R21LEM)
022885,000772: # PROGRAM DESCRIPTION
022886,000773: # MOD NO - 2
022887,000774: # BY P VOLANTE
022888,000775: # FUNCTIONAL DESCRIPTION
022889,000776:
022890,000777: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022891,000778: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022892,000779: # CALLING SEQUENCE -
022893,000780: # TC BANKCALL
022894,000781: # CADR R21LEM
022895,000782: # SUBROUTINES CALLED -
022896,000783: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022897,000784: # NOVAC INTPRET LPS20.1 PHASCHNG
022898,000785: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022899,000786: # TASKOVER BANKCALL RADSTALL RRDESSM
022900,000787: # NORMAL EXIT MODES
022901,000788: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022902,000789: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
022903,000790: # ALARM OR ABORT EXIT MODES-
022904,000791: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022905,000792: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022906,000793: # ACQUISITION
022907,000794: # OUTPUT
022908,000795: # SEE LPS20.1,RRDESSM
022909,000796: # ERASABLE INITIALIZATION REQUIRED
022910,000797: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
022911,000798: # FLAGS SET + RESET
022912,000799: # LOSCMFLG LOKONSW
022913,000800: # DEBRIS
022914,000801: # SEE LPS20.1,RRDESSM
022915,000802: 24,2721 E7,1454 EBANK= LOSCOUNT
022916,000803: 24,2721 COUNT* $$/R21
022917,000804: 24,2721 32341 R21LEM CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECS.) TO
022918,000805: 24,2722 55114 TS DESCOUNT # DESIGNATE AND LOCKON
022919,000806: 24,2723 02714 TC LUNSFCHK
022920,000807: 24,2724 02731 TC R21LEM5
022921,000808: 24,2725 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022922,000809: 24,2726 55107 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
022923,000810: 24,2727 55110 TS TANG +1
022924,000811: 24,2730 02735 TC R21LEM6
022925,000812: 24,2731 34735 R21LEM5 CAF BIT15 # IF ON LUNAR SURFACE-MODE 2-(T=180,S=-90)
022926,000813: 24,2732 55107 TS TANG
022927,000814: 24,2733 44736 CS HALF
022928,000815: 24,2734 55110 TS TANG +1
022929,000816: 24,2735 05516 R21LEM6 TC DOWNFLAG
022930,000817: 24,2736 00012 ADRES LOKONSW
022931,000818: 24,2737 04616 TC BANKCALL
022932,000819: 24,2740 52475 CADR RRDESNB
022933,000820: 24,2741 02742 TC +1
022934,000821:
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022936,000823: 24,2742 04616 TC BANKCALL
022937,000824: 24,2743 17667 CADR RADSTALL
022938,000825: 24,2744 02777 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
022939,000826: 24,2745 05504 R21LEM10 TC UPFLAG # INDICATES LOS TO BE COMPUTED
022940,000827: 24,2746 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022941,000828: 24,2747 44736 CS BIT14 # REMOVE RR SELF TRACK ENABLE
022942,000829: 24,2750 00006 EXTEND
022943,000830: 24,2751 03012 WAND CHAN12
022944,000831: 24,2752 36244 R21LEM2 CAF THREE
022945,000832: 24,2753 55454 TS LOSCOUNT
022946,000833: 24,2754 06036 R21LEM1 TC INTPRET
022947,000834: 24,2755 43234 RTB DAD
022948,000835: 24,2756 21462 LOADTIME
022949,000836: 24,2757 11026 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022950,000837: 24,2760 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022951,000838: 24,2761 51151 LPS20.1
022952,000839: 24,2762 77776 EXIT
022953,000840: 24,2763 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
022954,000841: 24,2764 00012 ADRES LOKONSW
022955,000842: 24,2765 06036 TC INTPRET
022956,000843: 24,2766 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022957,000844: 24,2767 52373 RRDESSM # DESIGNATE ROUTINE
022958,000845: 24,2770 77776 EXIT
022959,000846: 24,2771 03016 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022960,000847: # ON LUNAR SURFACE
022961,000848: 24,2772 02132 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022962,000849: 24,2773 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022963,000850: 24,2774 17667 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022964,000851: 24,2775 02777 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
022965,000852: 24,2776 03006 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022966,000853: 24,2777 33014 R21-503 CAF ALRM503 # ISSUE ALARM 503
022967,000854: 24,3000 04616 TC BANKCALL
022968,000855: 24,3001 21451 CADR PRIOLARM
022969,000856: 24,3002 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022970,000857: 24,3003 03011 TC R21SRCH # PROC
022971,000858: 24,3004 02232 TC P20LEMC3
022972,000859: 24,3005 05155 TC ENDOFJOB
022973,000860: 24,3006 05516 R21END TC DOWNFLAG
022974,000861: 24,3007 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022975,000862: 24,3010 02262 TC P20LEMWT # EXIT R21 TO PERFORM DATA READ
022976,000863: 24,3011 05353 R21SRCH TC PHASCHNG
022977,000864: 24,3012 04022 OCT 04022
022978,000865: 24,3013 03100 TC R24LEM # SEARCH ROUTINE
022979,000866: 24,3014 00503 ALRM503 OCT 00503
022980,000867: 24,3015 00527 ALRM527 OCT 527
022981,000868:
022982,000869:
022983,000870: 24,3016 33015 R21LEM4 CAF ALRM527 # ALARM 527-LOS NOT IN MODE 2 COVERAGE
022984,000871: 24,3017 04616 TC BANKCALL # ON LUNAR SURFACE
022985,000872: 24,3020 21451 CADR PRIOLARM
022986,000873:
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Page 522
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022988,000875: 24,3021 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022989,000876: 24,3022 02232 TC P20LEMC3
022990,000877: 24,3023 03016 TC -5 # ENTER
022991,000878: 24,3024 05155 TC ENDOFJOB
022992,000879: 24,3025 00000 00062 HALFSEC 2DEC 50 B-28
022993,000880:
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Page 523
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022995,000882: # MANUAL ACQUISITION ROUTINE R23LEM
022996,000883: # PROGRAM DESCRIPTION
022997,000884: # MOD NO - 2
022998,000885: # BY P VOLANTE
022999,000886: # FUNCTIONAL DESCRIPTION
023000,000887:
023001,000888: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
023002,000889: # CALLING SEQUENCE -
023003,000890: # TC R23LEM
023004,000891: # SUBROUTINES CALLED
023005,000892: # BANKCALL R61LEM
023006,000893: # SETMINDB GOPERF1
023007,000894: # NORMAL EXIT MODES -
023008,000895: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
023009,000896: # ,SELECTION OF PROC WILL CONTINUE R23
023010,000897: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
023011,000898: # ALARM OR ABORT EXIT MODES -
023012,000899: # SEE NORMAL EXIT MODES ABOVE
023013,000900: # OUTPUT
023014,000901: # N.A.
023015,000902: # ERASABLE INITIALIZATION REQUIRED-
023016,000903: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
023017,000904: 24,3027 1143 EBANK= GENRET
023018,000905: 24,3027 COUNT* $$/R23
023019,000906: 24,3027 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
023020,000907: 24,3030 00126 ADRES NORRMON
023021,000908: 24,3031 00004 INHINT
023022,000909: 24,3032 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
023023,000910: 24,3033 40140 CADR SETMINDB
023024,000911: 24,3034 00003 RELINT
023025,000912: 24,3035 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
023026,000913: 24,3036 00006 EXTEND
023027,000914: 24,3037 05012 WOR CHAN12
023028,000915: 24,3040 33077 CAF OCT205
023029,000916: 24,3041 04616 TC BANKCALL
023030,000917: 24,3042 20476 CADR GOPERF1
023031,000918: 24,3043 03070 TC R23LEM2 # TERMINATE
023032,000919: 24,3044 03046 TC R23LEM11 # PROCEDE
023033,000920: 24,3045 03073 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
023034,000921: 24,3046 00004 R23LEM11 INHINT
023035,000922: 24,3047 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
023036,000923: 24,3050 00035 ADRES CDUT
023037,000924: 24,3051 03060 TC OUTOFLIM # NOT WITHIN LIMITS
023038,000925: 24,3052 04674 TC IBNKCALL # RESTORE DEADBAND TO
023039,000926: 24,3053 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
023040,000927: 24,3054 00003 RELINT
023041,000928: 24,3055 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023042,000929: 24,3056 00126 ADRES NORRMON
023043,000930: 24,3057 02204 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
023044,000931: 24,3060 00003 OUTOFLIM RELINT
023045,000932:
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Page 524
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023047,000934: 24,3061 33076 CAF OCT501PV
023048,000935: 24,3062 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
023049,000936: 24,3063 21451 CADR PRIOLARM # LIMITS
023050,000937: 24,3064 03070 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
023051,000938: 24,3065 03061 TC OUTOFLIM +1 # PROCEED ILLEGAL
023052,000939: 24,3066 03073 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
023053,000940: 24,3067 05155 TC ENDOFJOB
023054,000941: 24,3070 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023055,000942: 24,3071 00126 ADRES NORRMON
023056,000943: 24,3072 06022 TC GOTOV56 # AND EXIT VIA V56
023057,000944: 24,3073 04616 R23LEM3 TC BANKCALL
023058,000945: 24,3074 46100 CADR R61LEM
023059,000946: 24,3075 03035 TC R23LEM1
023060,000947:
023061,000948: 24,3076 00501 OCT501PV OCT 501
023062,000949: 24,3077 00205 OCT205 OCT 205
023063,000950:
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Page 525
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023065,000952: # SEARCH ROUTINE R24LEM
023066,000953: # PROGRAM DESCRIPTION
023067,000954: # MOD NO - 2
023068,000955: # BY P. VOLANTE
023069,000956: # FUNCTIONAL DESCRIPTION
023070,000957:
023071,000958: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
023072,000959: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
023073,000960: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
023074,000961: # CALLING SEQUENCE
023075,000962: # CAF PRIONN
023076,000963: # TC FINDVAC
023077,000964: # EBANK= DATAGOOD
023078,000965: # 2CADR R24LEM
023079,000966: # SUBROUTINES CALLED
023080,000967: # FLAGUP FLAGDOWN BANKCALL
023081,000968: # R61LEM GOFLASHR FINDVAC
023082,000969: # ENDOFJOB NOVAC LSR24.1
023083,000970: # NORMAL EXIT MODES-
023084,000971: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
023085,000972: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
023086,000973: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
023087,000974: # ALARM OR ABORT EXIT MODES-
023088,000975: # SEE NORMAL EXIT MODES ABOVE
023089,000976: # OUTPUT -
023090,000977: # SEE OUTPUT FROM LSR24.1 + R61LEM
023091,000978: # ERASABLE INITIALIZATION REQUIRED
023092,000979: # SEE INPUT FOR LSR24.1
023093,000980: # FLAGS SET + RESET
023094,000981: # SRCHOPT,ACMODFLG
023095,000982: 24,3100 E7,1731 EBANK= DATAGOOD
023096,000983: 24,3100 COUNT* $$/R24
023097,000984: 24,3100 05504 R24LEM TC UPFLAG
023098,000985: 24,3101 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
023099,000986: 24,3102 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
023100,000987: 24,3103 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
023101,000988: 24,3104 34755 R24LEM1 CAF ZERO
023102,000989: 24,3105 55731 TS DATAGOOD # ZERO OUT DATA INDICATOR
023103,000990: 24,3106 55732 TS OMEGAD # ZERO OMEGA DISPLAY REGS
023104,000991: 24,3107 55733 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
023105,000992: 24,3110 05353 R24LEM2 TC PHASCHNG
023106,000993: 24,3111 04022 OCT 04022
023107,000994: 24,3112 33150 CAF V16N80
023108,000995: 24,3113 04616 TC BANKCALL
023109,000996: 24,3114 20357 CADR PRIODSPR
023110,000997: 24,3115 06022 TC GOTOV56
023111,000998: 24,3116 03122 TC R24END # PROCEED EXIT R24 TO P20LEM1
023112,000999:
023113,001000:
023114,001001: 24,3117 03127 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
023115,001002:
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Page 526
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023117,001004: 24,3120 04616 TC BANKCALL
023118,001005: 24,3121 55405 CADR LRS24.1
023119,001006: 24,3122 00004 R24END INHINT
023120,001007: 24,3123 06027 TC KILLTASK
023121,001008: 24,3124 55605 CADR CALLDGCH
023122,001009: 24,3125 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
023123,001010: 24,3126 12104 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
023124,001011:
023125,001012: 6011 BLOCK 3
023126,001013: 6000 SETLOC FFTAG6
023127,001014: 6000 BANK
023128,001015: 6011 COUNT* $$/R24
023129,001016:
023130,001017: 6011 46021 CLRADMOD CS BIT10+15
023131,001018: 6012 00004 INHINT
023132,001019: 6013 70110 MASK RADMODES
023133,001020: 6014 54110 TS RADMODES
023134,001021: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
023135,001022: 6016 00006 EXTEND
023136,001023: 6017 03012 WAND CHAN12 # USER WILL RELINT
023137,001024:
023138,001025: 6020 00002 TC Q
023139,001026:
023140,001027: 6021 41000 BIT10+15 OCT 41000
023141,001028: 24,3127 BANK 24
023142,001029: 24,2000 SETLOC P20S
023143,001030: 24,2000 BANK
023144,001031: 24,3127 COUNT* $$/R24
023145,001032:
023146,001033: 24,3127 05353 R24LEM3 TC PHASCHNG
023147,001034: 24,3130 04022 OCT 04022
023148,001035: 24,3131 00004 INHINT
023149,001036: 24,3132 06027 TC KILLTASK
023150,001037: 24,3133 55605 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
023151,001038: 24,3134 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
023152,001039: 24,3135 00003 RELINT # HALF SECOND DESIGNATE LOOP
023153,001040: 24,3136 34774 CAF .5SEC
023154,001041: 24,3137 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
023155,001042: 24,3140 01735 CADR DELAYJOB
023156,001043: 24,3141 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
023157,001044: 24,3142 03110 TC R24LEM2 # YES-DONT DO ATTITUDE MANEUVER
023158,001045: 24,3143 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
023159,001046: 24,3144 46100 CADR R61LEM # ATTITUDE MANEUVER
023160,001047: 24,3145 34755 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
023161,001048: 24,3146 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
023162,001049: # RRDESSM WILL RETURN TO CALLER
023163,001050: 24,3147 03110 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
023164,001051:
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Page 527
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023166,001053: 24,3150 04120 V16N80 VN 01680
023167,001054:
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Page 528
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023169,001056: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
023170,001057: # PROGRAM DESCRIPTION
023171,001058: # MOD NO : 3 DATE : 4-11-67
023172,001059: # MOD BY : P VOLANTE SDC
023173,001060:
023174,001061:
023175,001062: # FUNCTIONAL DESCRIPTION-
023176,001063: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
023177,001064: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
023178,001065: # ATTITUDE.
023179,001066: # CALLING SEQUENCE-
023180,001067: # TC BANKCALL
023181,001068: # CADR R61LEM
023182,001069: # SUBROUTINES CALLED
023183,001070: # LPS20.1 VECPOINT
023184,001071: # KALCMAN3
023185,001072:
023186,001073:
023187,001074: # NORMAL EXIT MODES-
023188,001075: # NORMAL RETURN IS TO CALLER + 1
023189,001076: # ALARM OR ABORT EXIT MODES-
023190,001077: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
023191,001078: # RENDEZVOUS FLAG ARE NOT SET.
023192,001079: # OUTPUT -
023193,001080: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
023194,001081: # ERASABLE INITIALIZATION REQUIRED
023195,001082: # GENRET USED TO SAVE Q FOR RETURN
023196,001083: # FLAGS SET + RESET
023197,001084: # 3AXISFLG
023198,001085: # DEBRIS
023199,001086: # SEE SUBROUTINES
023200,001087: 23,2000 SETLOC R61
023201,001088: 23,2000 BANK
023202,001089: 23,2100 E7,1454 EBANK= LOSCOUNT
023203,001090: 23,2100 COUNT* $$/R61
023204,001091: 23,2100 04645 R61LEM TC MAKECADR
023205,001092: 23,2101 55143 TS GENRET
023206,001093: 23,2102 05504 TC UPFLAG # SET R61 FLAG
023207,001094: 23,2103 00024 ADRES R61FLAG
023208,001095: 23,2104 02111 TC R61C+L01
023209,001096: 23,2105 04645 R65LEM TC MAKECADR
023210,001097: 23,2106 55143 TS GENRET
023211,001098: 23,2107 05516 TC DOWNFLAG # RESET R61 FLAG
023212,001099: 23,2110 00024 ADRES R61FLAG
023213,001100: 23,2111 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
023214,001101: 23,2112 70075 MASK STATE +1
023215,001102: 23,2113 00006 EXTEND
023216,001103: 23,2114 12262 BZF R61C+L1 # NOT SET
023217,001104: 23,2115 06036 R61C+L03 TC INTPRET # SET
023218,001105: 23,2116 77775 VLOAD
023219,001106:
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023221,001108: 23,2117 06416 HIUNITZ
023222,001109: 23,2120 03761 STORE SCAXIS # TRACK AXIS UNIT VECTOR
023223,001110: 23,2121 77634 RTB
023224,001111: 23,2122 21462 LOADTIME # PRESENT TIME
023225,001112: 23,2123 77615 DAD # EXTRAPULATE FORWARD FORWARD TO CENTER OF
023226,001113: 23,2124 15654 3SECONDS # SIX SECOND PERIOD.
023227,001114: 23,2125 34041 STCALL TDEC1
023228,001115: 23,2126 51151 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
023229,001116: 23,2127 77775 VLOAD
023230,001117: 23,2130 01102 RRTARGET
023231,001118: 23,2131 03767 STORE POINTVSM # DIRECTION IN WHICH TRACK AXIS IS TO BE
023232,001119: 23,2132 77624 CALL
023233,001120: 23,2133 56016 VECPOINT # TO COMPUTE FINAL ANGLES
023234,001121: 23,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
023235,001122: 23,2135 77776 EXIT
023236,001123: 23,2136 05353 TC PHASCHNG
023237,001124: 23,2137 04022 OCT 04022
023238,001125: 23,2140 34747 CAF TRACKBIT # IS TRACK FLAG SET
023239,001126: 23,2141 70075 MASK FLAGWRD1
023240,001127: 23,2142 00006 EXTEND
023241,001128: 23,2143 12262 BZF R61C+L1 # BRANCH - NO SKIP THIS CYCLE OF R61/65
023242,001129: 23,2144 00006 EXTEND
023243,001130: 23,2145 00030 READ CHAN30 # CHECK AUTO MODE
023244,001131: 23,2146 74742 MASK BIT10
023245,001132: 23,2147 10000 CCS A
023246,001133: 23,2150 02255 TC R61C+L04 # NOT IN G+N C(A) = +
023247,001134: 23,2151 00006 EXTEND
023248,001135: 23,2152 00031 READ CHAN31
023249,001136: 23,2153 74736 MASK BIT14 # (+) = NOT IN AUTO, (+0) =AOK
023250,001137: 23,2154 10000 CCS A
023251,001138: 23,2155 02255 TC R61C+L04 # NOT IN AUTO MODE
023252,001139: 23,2156 06036 TC INTPRET
023253,001140: 23,2157 45175 VLOAD CALL
023254,001141: 23,2160 01102 RRTARGET
023255,001142: 23,2161 47552 CDU*SMNB
023256,001143: 23,2162 65545 DLOAD ACOS
023257,001144: 23,2163 00162 MPAC +5
023258,001145: 23,2164 14025 STODL PHI
023259,001146: 23,2165 06271 TENDEG
023260,001147: 23,2166 51021 BDSU BPL
023261,001148: 23,2167 00025 PHI
023262,001149: 23,2170 46206 R61C+L05 # PHI GRE 10DEG
023263,001150: 23,2171 E6,1633 EBANK= CDUXD
023264,001151: 23,2171 77776 EXIT
023265,001152: 23,2172 32273 CAF CDUBANK
023266,001153: 23,2173 54006 TS BBANK
023267,001154: 23,2174 00004 INHINT
023268,001155: 23,2175 00006 EXTEND
023269,001156: 23,2176 30322 DCA CPHI
023270,001157: 23,2177 53634 DXCH CDUXD
023271,001158:
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023273,001160: 23,2200 30323 CA CPSI
023274,001161: 23,2201 55635 TS CDUZD
023275,001162: 23,2202 00003 RELINT
023276,001163: 23,2203 E7,1454 EBANK= LOSCOUNT
023277,001164: 23,2203 32274 CAF R61BANK
023278,001165: 23,2204 54006 TS BBANK
023279,001166: 23,2205 02231 TC R61C+L06
023280,001167: 23,2206 77776 R61C+L05 EXIT
023281,001168: 23,2207 00004 INHINT
023282,001169: 23,2210 04674 TC IBNKCALL
023283,001170: 23,2211 40153 FCADR ZATTEROR
023284,001171: 23,2212 04674 TC IBNKCALL
023285,001172: 23,2213 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023286,001173: 23,2214 05516 TC DOWNFLAG
023287,001174: 23,2215 00124 ADRES 3AXISFLG
023288,001175: 23,2216 05504 TC UPFLAG
023289,001176: 23,2217 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023290,001177: 23,2220 04616 TC BANKCALL
023291,001178: 23,2221 54101 CADR R60LEM
023292,001179: 23,2222 00004 INHINT
023293,001180: 23,2223 04674 TC IBNKCALL
023294,001181: 23,2224 40123 FCADR RESTORDB
023295,001182: 23,2225 05353 TC PHASCHNG
023296,001183: 23,2226 04022 OCT 04022
023297,001184: 23,2227 05516 TC DOWNFLAG
023298,001185: 23,2230 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023299,001186: 23,2231 34742 R61C+L06 CAF R61FLBIT
023300,001187: 23,2232 70075 MASK STATE +1
023301,001188: 23,2233 00006 EXTEND
023302,001189: 23,2234 12236 BZF +2
023303,001190: 23,2235 02260 TC R61C+L4
023304,001191: 23,2236 31743 CA R65CNTR
023305,001192: 23,2237 10000 CCS A
023306,001193: 23,2240 02242 TC +2
023307,001194: 23,2241 02260 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023308,001195: 23,2242 55743 TS R65CNTR
023309,001196: 23,2243 32272 CAF 06SEC
023310,001197: 23,2244 00004 INHINT
023311,001198: 23,2245 05173 TC TWIDDLE
023312,001199: 23,2246 02250 ADRES R61C+L2
023313,001200: 23,2247 05155 TC ENDOFJOB
023314,001201: 23,2250 37713 R61C+L2 CAF PRIO26
023315,001202: 23,2251 05105 TC FINDVAC
023316,001203: 23,2252 E7,1454 EBANK= LOSCOUNT
023317,001204: 23,2252 02111 46067 2CADR R61C+L01
023318,001205: 23,2254 05261 TC TASKOVER
023319,001206: 23,2255 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023320,001207: 23,2256 54244 CADR BALLANGS
023321,001208: 23,2257 02231 TC R61C+L06
023322,001209:
|
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Page 531
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023324,001211: 23,2260 31143 R61C+L4 CAE GENRET
023325,001212: 23,2261 14640 TCF BANKJUMP # EXIT R61
023326,001213: 23,2262 32267 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023327,001214: 23,2263 70074 MASK STATE
023328,001215: 23,2264 00006 EXTEND
023329,001216: 23,2265 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
023330,001217: 23,2266 02231 TC R61C+L06 # YES EXIT ROUTINE
023331,001218: 23,2267 00500 BIT7+9PV OCT 00500
023332,001219: 23,2270 00707 03432 TENDEG 2DEC .02777777 # SCALED UNITS OF REVOLUTION B0
023333,001220: 23,2272 01130 06SEC DEC 600 B-14
023334,001221: 23,2273 PHI EQUALS 20D
023335,001222: 23,2273 E6,1633 EBANK= CDUXD
023336,001223: 23,2273 46066 CDUBANK BBCON R61C+L05
023337,001224: 23,2274 E7,1454 EBANK= LOSCOUNT
023338,001225: 23,2274 46067 R61BANK BBCON R61C+L05
023339,001226: 4512 BLOCK 02
023340,001227: 4000 SETLOC RADARFF
023341,001228: 4000 BANK
023342,001229:
023343,001230: 4512 E7,1454 EBANK= LOSCOUNT
023344,001231: 4512 COUNT* $$/RRSUB
023345,001232:
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023347,001234: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023348,001235: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023349,001236:
023350,001237: 4512 00006 MAGSUB EXTEND
023351,001238: 4513 64515 BZMF +2
023352,001239: 4514 14516 TCF +2
023353,001240: 4515 40000 COM
023354,001241:
023355,001242: 4516 50002 INDEX Q
023356,001243: 4517 60000 AD 0
023357,001244: 4520 00006 EXTEND
023358,001245: 4521 66740 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023359,001246: 4522 16736 TCF Q+1 # ABS(A) > CONST GO TO L+2
023360,001247:
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Page 533
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023362,001249: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023363,001250:
023364,001251: # FUNCTIONAL DESCRIPTION_
023365,001252: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023366,001253: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023367,001254: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023368,001255: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023369,001256: # MODE 1 AND =1 FOR MODE 2.
023370,001257: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023371,001258: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023372,001259: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023373,001260: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023374,001261: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023375,001262: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023376,001263: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023377,001264: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023378,001265: # TO L +3.
023379,001266:
023380,001267: # CALLING SEQUENCE:
023381,001268: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023382,001269: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023383,001270:
023384,001271: # ERASABLE INITIALIZATION REQUIRED:
023385,001272: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023386,001273: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023387,001274: # CURRENT EBANK).
023388,001275:
023389,001276: # SUBROUTINES CALLED_ MAGSUB
023390,001277:
023391,001278: # JOBS OR TASKS INITIATED_ NONE
023392,001279:
023393,001280: # ALARMS_ NONE
023394,001281:
023395,001282: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023396,001283: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023397,001284:
023398,001285: 4523 00006 RRLIMCHK EXTEND
023399,001286: 4524 50002 INDEX Q
023400,001287: 4525 50000 INDEX 0
023401,001288: 4526 30001 DCA 0
023402,001289: 4527 24002 INCR Q
023403,001290: 4530 52062 DXCH ITEMP1
023404,001291: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023405,001292:
023406,001293: 4532 34740 CAF BIT12 # SEE WHICH MODE RR IS IN.
023407,001294: 4533 70110 MASK RADMODES
023408,001295: 4534 10000 CCS A
023409,001296: 4535 14550 TCF MODE2CHK
023410,001297:
023411,001298: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
023412,001299:
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023414,001301: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023415,001302: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023416,001303: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023417,001304:
023418,001305: 4542 34562 CAF 5.5DEGS
023419,001306: 4543 60062 AD ITEMP2 # S
023420,001307: 4544 04512 TC MAGSUB
023421,001308: 4545 64420 DEC -.35833 # 64.5 DEGS
023422,001309: 4546 00001 TC L
023423,001310: 4547 04560 TC RRLIMOK # IN LIMITS.
023424,001311:
023425,001312: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023426,001313: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023427,001314: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023428,001315: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023429,001316: 4554 00001 TC L
023430,001317:
023431,001318: 4555 30061 CA ITEMP1
023432,001319: 4556 04512 TC MAGSUB
023433,001320: 4557 51615 DEC -.69444 # 125 DEGS
023434,001321:
023435,001322: 4560 50001 RRLIMOK INDEX L
023436,001323: 4561 00001 TC L # ( = TC 1 )
023437,001324:
023438,001325: 4562 00765 5.5DEGS DEC .03056
023439,001326: 4563 16450 82DEGS DEC .45556
023440,001327:
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023442,001329: # PROGRAM NAME_ SETTRKF . IF EITHER:
023443,001330:
023444,001331: # FUNCTIONAL DESCRIPTION_
023445,001332: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023446,001333: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023447,001334: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023448,001335: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023449,001336: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023450,001337: # AUTO MODE (RADMODES BITS 13, 7, 2).
023451,001338: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023452,001339: # 8,5)
023453,001340: # 3) NO RR DATA (RADMODES BIT 4)
023454,001341: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023455,001342: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023456,001343: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023457,001344: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023458,001345: # TRACKER FAIL LAMP IS TURNED ON IF_
023459,001346: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023460,001347: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023461,001348: # EITHER THE ALT OR VEL INFORMATION
023462,001349: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023463,001350: # WITH EITHER THE AL
023464,001351:
023465,001352: # CALLING SEQUENCE:
023466,001353: # L TC SETTRKF
023467,001354:
023468,001355: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023469,001356: # SUBROUTINES CALLED_ NONE
023470,001357:
023471,001358: # JOBS OR TASKS INITIATED_ NONE
023472,001359:
023473,001360: # ALARMS_ TRACKER FAIL LAMP
023474,001361:
023475,001362: # EXIT_ L +1 (ALWAYS) ED.
023476,001363:
023477,001364: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023478,001365: 4565 71303 MASK IMODES33
023479,001366: 4566 10000 CCS A
023480,001367: 4567 00002 TC Q
023481,001368:
023482,001369: 4570 34744 RRTRKF CA BIT8
023483,001370: 4571 54001 TS L
023484,001371:
023485,001372: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023486,001373: 4573 70110 MASK RADMODES
023487,001374: 4574 00006 EXTEND
023488,001375: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023489,001376:
023490,001377: 4576 34750 RRCHECK CAF BIT4 # SEE IF RR DATA FAILED.
023491,001378: 4577 70110 MASK RADMODES
023492,001379:
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023494,001381: 4600 10000 CCS A
023495,001382: 4601 30001 TRKFLON CA L
023496,001383: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023497,001384: 4603 70001 MASK L
023498,001385: 4604 00006 EXTEND
023499,001386: 4605 16741 BZF TCQ # NO CHANGE.
023500,001387:
023501,001388: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023502,001389: 4607 00006 EXTEND
023503,001390: 4610 06001 RXOR LCHAN
023504,001391: 4611 74733 MASK POSMAX
023505,001392: 4612 64735 AD BIT15
023506,001393: 4613 55036 TS DSPTAB +11D
023507,001394: 4614 00002 TC Q
023508,001395:
023509,001396: 4615 10102 13,7,2 OCT 10102
023510,001397: 4616 ENDRMODF EQUALS
023511,001398:
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Page 537
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023513,001400: # PROGRAM NAME_ RRTURNON
023514,001401:
023515,001402: # FUNCTIONAL DESCRIPTION_
023516,001403:
023517,001404: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023518,001405: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023519,001406: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023520,001407: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023521,001408: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023522,001409: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023523,001410: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023524,001411: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023525,001412: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023526,001413: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023527,001414: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023528,001415: # TO TASKOVER.
023529,001416:
023530,001417: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023531,001418: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023532,001419: # THE RR (STATE BIT 7).
023533,001420:
023534,001421: # ERASABLE INITIALIZATION REQUIRED:
023535,001422: # RADMODES, STATE
023536,001423:
023537,001424: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023538,001425:
023539,001426: # JOBS OR TASKS INITIATED_
023540,001427: # NONE
023541,001428:
023542,001429: # ALARMS_ NONE (SEE RRZEROSB)
023543,001430:
023544,001431: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023545,001432:
023546,001433: 24,3151 BANK 24
023547,001434: 25,2000 SETLOC P20S1
023548,001435: 25,2000 BANK
023549,001436:
023550,001437: 25,2062 E7,1454 EBANK= LOSCOUNT
023551,001438: 25,2062 COUNT* $$/RSUB
023552,001439: 25,2062 02071 RRTURNON TC RRZEROSB
023553,001440: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023554,001441: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023555,001442: 25,2065 44753 CS BIT1
023556,001443: 25,2066 70110 MASK RADMODES
023557,001444: 25,2067 54110 TS RADMODES
023558,001445: 25,2070 15261 TCF TASKOVER
023559,001446:
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023561,001448: # PROGRAM NAME_ RRZEROSB
023562,001449:
023563,001450: # FUNCTIONAL DESCRIPTION_
023564,001451: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023565,001452: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023566,001453: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023567,001454: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023568,001455: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023569,001456: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023570,001457: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023571,001458: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023572,001459: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023573,001460: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023574,001461: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023575,001462: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023576,001463: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023577,001464: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023578,001465: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023579,001466:
023580,001467: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
023581,001468: # ERASABLE INITIALIZATION REQUIRED:
023582,001469: # RADMODES (BIT 13 SET), DSPTAB +11D
023583,001470:
023584,001471: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
023585,001472:
023586,001473: # JOBS OR TASKS INITIATED_
023587,001474: # NONE
023588,001475:
023589,001476: # ALARMS_ TRACKER FAIL
023590,001477:
023591,001478: # EXIT_ L +1 (ALWAYS)
023592,001479:
023593,001480: 25,2071 00006 RRZEROSB EXTEND
023594,001481: 25,2072 23315 QXCH RRRET
023595,001482: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
023596,001483: 25,2074 00006 EXTEND # COMING HERE.
023597,001484: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
023598,001485: 25,2076 05221 TC FIXDELAY
023599,001486: 25,2077 00002 DEC 2 B-14
023600,001487:
023601,001488: 25,2100 34755 CAF ZERO
023602,001489: 25,2101 54035 TS CDUT
023603,001490: 25,2102 54036 TS CDUS
023604,001491: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
023605,001492: 25,2104 00006 EXTEND
023606,001493: 25,2105 03012 WAND CHAN12
023607,001494: 25,2106 05221 TC FIXDELAY
023608,001495: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
023609,001496:
023610,001497: 25,2110 44737 CS BIT13 # REMOVE ZEROING IN PROCESS BIT.
023611,001498:
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023613,001500: 25,2111 70110 MASK RADMODES
023614,001501: 25,2112 54110 TS RADMODES
023615,001502:
023616,001503: 25,2113 30035 CA CDUT
023617,001504: 25,2114 04512 TC MAGSUB
023618,001505: 25,2115 57777 DEC -.5
023619,001506: 25,2116 12121 TCF +3 # IF MODE 2.
023620,001507:
023621,001508: 25,2117 34755 CAF ZERO
023622,001509: 25,2120 12122 TCF +2
023623,001510: 25,2121 34740 CAF ANTENBIT
023624,001511: 25,2122 56110 XCH RADMODES
023625,001512: 25,2123 77740 MASK -BIT12
023626,001513: 25,2124 26110 ADS RADMODES
023627,001514:
023628,001515: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
023629,001516:
023630,001517: 25,2126 01315 TC RRRET # DONE.
023631,001518:
023632,001519: 25,2127 7740 -BIT12 EQUALS -1/8 # IN SPROOT
023633,001520:
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Page 540
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023635,001522: # PROGRAM NAME_ DORREPOS
023636,001523: # FUNCTIONAL DESCRIPTION_
023637,001524: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023638,001525: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023639,001526: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023640,001527: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023641,001528: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023642,001529: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023643,001530: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023644,001531: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023645,001532: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023646,001533: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023647,001534: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023648,001535: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023649,001536: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023650,001537: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023651,001538: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023652,001539: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023653,001540: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023654,001541: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023655,001542: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023656,001543: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023657,001544: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023658,001545: # TASKOVER.
023659,001546:
023660,001547: # CALLING SEQUENCE:
023661,001548: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023662,001549: # NOT WITHIN LIMITS OF CURRENT MODE.
023663,001550:
023664,001551: # ERASABLE INITIALIZATION REQUIRED:
023665,001552: # RADMODES
023666,001553:
023667,001554: # SUBROUTINES CALLED_
023668,001555: # RRTONLY, RRSONLY, BEGDES (EXIT)
023669,001556:
023670,001557: # JOBS OR TASKS INITIATED_
023671,001558: # NONE
023672,001559:
023673,001560: # ALARMS- NONE
023674,001561:
023675,001562: # EXIT_ TASKOVER, BEGDES
023676,001563:
023677,001564: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023678,001565:
023679,001566: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023680,001567:
023681,001568: 25,2130 05221 TC FIXDELAY
023682,001569: 25,2131 00002 DEC 2 B-14
023683,001570:
023684,001571: 25,2132 34740 CAF BIT12 # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
023685,001572:
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Page 541
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023687,001574: 25,2133 70110 MASK RADMODES
023688,001575: 25,2134 10000 CCS A
023689,001576: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023690,001577: 25,2136 02241 TC RRTONLY
023691,001578:
023692,001579: 25,2137 34740 CAF BIT12 # NOW PUT SHAFT IN RIGHT POSITION.
023693,001580: 25,2140 70110 MASK RADMODES
023694,001581: 25,2141 10000 CCS A
023695,001582: 25,2142 44736 CS HALF # -90 FOR MODE 2.
023696,001583: 25,2143 02244 TC RRSONLY
023697,001584:
023698,001585: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023699,001586: # REQUESTED DURING REPOSITION.
023700,001587: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023701,001588: 25,2146 54110 TS RADMODES
023702,001589: 25,2147 74742 MASK BIT10 # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023703,001590: 25,2150 10000 CCS A
023704,001591: 25,2151 12573 TCF BEGDES
023705,001592: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023706,001593: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023707,001594: 25,2154 03012 WAND CHAN12
023708,001595: 25,2155 15261 TCF TASKOVER
023709,001596:
023710,001597: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023711,001598: 25,2157 00006 EXTEND
023712,001599: 25,2160 02012 RAND CHAN12
023713,001600: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023714,001601: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023715,001602:
023716,001603: 25,2163 54112 TS LASTYCMD
023717,001604: 25,2164 54113 TS LASTXCMD
023718,001605: 25,2165 34752 CAF BIT2
023719,001606: 25,2166 00006 EXTEND
023720,001607: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023721,001608: 25,2170 00002 TC Q
023722,001609:
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Page 542
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023724,001611: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023725,001612:
023726,001613: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023727,001614: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023728,001615: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023729,001616: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023730,001617: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023731,001618: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023732,001619: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023733,001620: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023734,001621: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023735,001622: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023736,001623: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023737,001624: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023738,001625: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023739,001626: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023740,001627: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023741,001628: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023742,001629: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023743,001630: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023744,001631: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023745,001632: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023746,001633:
023747,001634: # CALLING SEQUENCE:
023748,001635: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023749,001636: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023750,001637: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023751,001638: # OTHER MODE.
023752,001639:
023753,001640: # ERASABLE INITIALIZATION REQUIRED:
023754,001641: # RADMODES
023755,001642:
023756,001643: # SUBROUTINES CALLED_
023757,001644: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023758,001645:
023759,001646: # JOBS OR TASKS INITIATED_
023760,001647: # NONE
023761,001648:
023762,001649: # ALARMS_ NONE
023763,001650:
023764,001651: # EXIT_ STDESIG
023765,001652:
023766,001653: 25,2171 34740 REMODE CAF BIT12 # DRIVE TRUNNION TO 0 (180).
023767,001654: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023768,001655: 25,2173 10000 CCS A
023769,001656: 25,2174 34735 CAF BIT15
023770,001657: 25,2175 02241 TC RRTONLY
023771,001658:
023772,001659: 25,2176 37737 CAF -45DEGSR
023773,001660: 25,2177 02244 TC RRSONLY
023774,001661:
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Page 543
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023776,001663: 25,2200 40110 CS RADMODES
023777,001664: 25,2201 74740 MASK BIT12
023778,001665: 25,2202 10000 CCS A
023779,001666: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
023780,001667: 25,2204 62231 AD -50DEGSR
023781,001668: 25,2205 02241 TC RRTONLY
023782,001669:
023783,001670: 25,2206 40110 CS RADMODES
023784,001671: 25,2207 74740 MASK BIT12
023785,001672: 25,2210 10000 CCS A
023786,001673: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
023787,001674: 25,2212 02241 TC RRTONLY
023788,001675:
023789,001676: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
023790,001677: 25,2214 74740 MASK BIT12
023791,001678: 25,2215 10000 CCS A
023792,001679: 25,2216 44736 CS HALF
023793,001680: 25,2217 02244 TC RRSONLY
023794,001681:
023795,001682: 25,2220 02233 TC RMODINV
023796,001683:
023797,001684: 25,2221 44736 CS BIT14 # END OF REMODE.
023798,001685: 25,2222 70110 MASK RADMODES
023799,001686: 25,2223 54110 TS RADMODES
023800,001687:
023801,001688: 25,2224 34742 CAF BIT10 # WAS REMODE CALLED DURING DESIGNATE
023802,001689: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023803,001690: 25,2226 00006 EXTEND
023804,001691: 25,2227 13555 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
023805,001692: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
023806,001693: 25,2231 7737 -45DEGSR = 13,14,15
023807,001694: 25,2231 67070 -50DEGSR DEC -.27778
023808,001695: 25,2232 61615 -80DEGSR DEC -.44444
023809,001696:
023810,001697: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023811,001698: 25,2234 34740 CAF BIT12
023812,001699: 25,2235 00006 EXTEND
023813,001700: 25,2236 06001 RXOR LCHAN
023814,001701: 25,2237 54110 TS RADMODES
023815,001702: 25,2240 00002 TC Q
023816,001703:
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Page 544
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023818,001705: # PROGRAM NAMES_ RRTONLY, RRSONLY
023819,001706:
023820,001707: # FUNCTIONAL DESCRIPTION_
023821,001708: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023822,001709: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023823,001710: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023824,001711: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023825,001712: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023826,001713: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023827,001714: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023828,001715: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023829,001716: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023830,001717: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023831,001718: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023832,001719: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023833,001720: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023834,001721: # REPEATED.
023835,001722:
023836,001723: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023837,001724: # L TC RRTONLY (TRUNNION ONLY)
023838,001725: # RRSONLY (SHAFT ONLY)
023839,001726: # RRTONLY IS CALLED BY PREPOS29;
023840,001727: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023841,001728:
023842,001729: # ERASABLE INITIALIZATION REQUIRED:
023843,001730: # C(A) = DESIRED ANGLE, RADMODES
023844,001731:
023845,001732: # SUBROUTINES CALLED_
023846,001733: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023847,001734:
023848,001735: # JOBS OR TASKS INITIATED_
023849,001736: # NONE
023850,001737:
023851,001738: # ALARMS_ NONE
023852,001739:
023853,001740: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023854,001741: # BITS 14, 11)
023855,001742: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023856,001743:
023857,001744: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023858,001745: 25,2242 34755 CAF ZERO
023859,001746: 25,2243 12246 TCF RR1AXIS
023860,001747:
023861,001748: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023862,001749: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023863,001750:
023864,001751: 25,2246 55317 RR1AXIS TS RRINDEX
023865,001752: 25,2247 00006 EXTEND
023866,001753: 25,2250 23315 QXCH RRRET
023867,001754: 25,2251 12254 TCF RR1AX2
023868,001755:
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|
Page 545
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023870,001757: 25,2252 05221 NXTRR1AX TC FIXDELAY
023871,001758: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023872,001759:
023873,001760: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023874,001761: 25,2255 77707 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023875,001762: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023876,001763: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
023877,001764:
023878,001765: 25,2260 31316 CA RDES
023879,001766: 25,2261 00006 EXTEND
023880,001767: 25,2262 51317 INDEX RRINDEX
023881,001768: 25,2263 20035 MSU CDUT
023882,001769: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023883,001770: 25,2265 00006 EXTEND
023884,001771: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023885,001772: 25,2267 54001 TS L
023886,001773: 25,2270 30110 CA RADMODES
023887,001774: 25,2271 74752 MASK AUTOMBIT
023888,001775: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023889,001776: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023890,001777: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
023891,001778:
023892,001779: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023893,001780: 25,2276 01315 TC RRRET # RETURN TO CALLER.
023894,001781:
023895,001782: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023896,001783: 25,2300 12302 TCF +2 # SETTING A TO 0.
023897,001784: 25,2301 56001 XCH L
023898,001785: 25,2302 53110 DXCH TANG
023899,001786:
023900,001787: 25,2303 02306 TC RROUT
023901,001788:
023902,001789: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023903,001790:
023904,001791: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023905,001792:
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Page 546
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023907,001794: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023908,001795:
023909,001796: # FUNCTIONAL DESCRIPTION_
023910,001797: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023911,001798: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023912,001799: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023913,001800: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023914,001801: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023915,001802: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023916,001803: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023917,001804: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023918,001805: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023919,001806: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023920,001807: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023921,001808: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023922,001809: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023923,001810:
023924,001811: # CALLING SEQUENCE:
023925,001812: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023926,001813: # RRTONLY, RRSONLY, AND DODES
023927,001814:
023928,001815: # ERASABLE INITIALIZATION REQUIRED:
023929,001816: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023930,001817: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023931,001818:
023932,001819: # SUBROUTINES CALLED_
023933,001820: # MAGSUB
023934,001821:
023935,001822: # JOBS OR TASKS INITIATED_
023936,001823: # NONE
023937,001824:
023938,001825: # ALARMS_ NONE
023939,001826:
023940,001827: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023941,001828:
023942,001829: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
023943,001830: 25,2307 34753 CAF ONE # LOOP TWICE.
023944,001831: 25,2310 54062 RROUT2 TS ITEMP2
023945,001832: 25,2311 50000 INDEX A
023946,001833: 25,2312 31107 CA TANG
023947,001834: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023948,001835:
023949,001836: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023950,001837: 25,2315 77177 -RRLIMIT DEC -384 B-14
023951,001838: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023952,001839:
023953,001840: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023954,001841: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023955,001842: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023956,001843: 25,2322 40000 COM
023957,001844:
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Page 547
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023959,001846: 25,2323 60061 AD ITEMP1
023960,001847: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023961,001848: 25,2325 50062 INDEX ITEMP2
023962,001849: 25,2326 54053 TS CDUTCMD
023963,001850:
023964,001851: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023965,001852: 25,2330 12310 TCF RROUT2
023966,001853:
023967,001854: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
023968,001855: 25,2332 00006 EXTEND
023969,001856: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023970,001857: 25,2334 00001 TC L # RETURN.
023971,001858:
023972,001859: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023973,001860: 25,2336 42315 CS -RRLIMIT
023974,001861: 25,2337 12341 TCF +2
023975,001862: 25,2340 32315 CA -RRLIMIT
023976,001863: 25,2341 54061 TS ITEMP1
023977,001864: 25,2342 12320 TCF SETRRCTR +1
023978,001865:
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Page 548
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023980,001867: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023981,001868:
023982,001869: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023983,001870: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023984,001871: 25,2345 10000 CCS A
023985,001872: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023986,001873:
023987,001874: 25,2347 00004 INHINT
023988,001875: 25,2350 44737 CS BIT13 # SET FLAG TO SHOW ZEROING IN PROGRESS.
023989,001876: 25,2351 70110 MASK RADMODES
023990,001877: 25,2352 64737 AD BIT13
023991,001878: 25,2353 54110 TS RADMODES
023992,001879:
023993,001880: 25,2354 34753 CAF ONE
023994,001881: 25,2355 05203 TC WAITLIST
023995,001882: 25,2356 E7,1454 EBANK= LOSCOUNT
023996,001883: 25,2356 02370 52067 2CADR RRZ2
023997,001884:
023998,001885: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
023999,001886: 25,2361 74752 MASK BIT2
024000,001887: 25,2362 10000 CCS A
024001,001888: 25,2363 12366 TCF ROADBACK
024002,001889: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
024003,001890: 25,2365 00510 OCT 510
024004,001891: 25,2366 00003 ROADBACK RELINT
024005,001892: 25,2367 14631 TCF SWRETURN
024006,001893:
024007,001894: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
024008,001895: 25,2371 13546 TCF ENDRADAR
024009,001896:
024010,001897: 25,2372 02001 BIT11+1 OCT 02001
024011,001898:
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Page 549
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024013,001900: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
024014,001901:
024015,001902: # FUNCTIONAL DESCRIPTION_
024016,001903: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
024017,001904: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
024018,001905: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
024019,001906: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
024020,001907: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
024021,001908: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
024022,001909: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
024023,001910: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
024024,001911: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
024025,001912: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
024026,001913: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
024027,001914: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
024028,001915: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
024029,001916: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
024030,001917: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
024031,001918: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
024032,001919: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
024033,001920: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
024034,001921: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
024035,001922: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
024036,001923: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
024037,001924: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
024038,001925:
024039,001926: # CALLING SEQUENCE:
024040,001927: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
024041,001928: # L+1 RRDESSM
024042,001929: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
024043,001930: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
024044,001931:
024045,001932: # ERASABLE INITIALIZATION REQUIRED:
024046,001933: # RRTARGET, RADMODES
024047,001934:
024048,001935: # SUBROUTINES CALLED_
024049,001936: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
024050,001937: # PART OF), RMODINV
024051,001938:
024052,001939: # JOBS OR TASKS INITIATED_
024053,001940: # NONE
024054,001941:
024055,001942: # ALARMS_ NONE
024056,001943:
024057,001944: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
024058,001945: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
024059,001946: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
024060,001947:
024061,001948: 25,2373 43020 RRDESSM STQ CLEAR
024062,001949: 25,2374 01113 DESRET
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Page 550
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024064,001951: 25,2375 00271 RRNBSW
024065,001952: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
024066,001953: 25,2377 47443 CDUTRIG
024067,001954: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024068,001955: 25,2401 01102 RRTARGET
024069,001956: 25,2402 47575 *SMNB*
024070,001957:
024071,001958: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
024072,001959: 25,2404 26133 RRANGLES # ALTERNATE MODE.
024073,001960: 25,2405 77776 EXIT
024074,001961:
024075,001962: 25,2406 00004 INHINT
024076,001963: 25,2407 04523 TC RRLIMCHK
024077,001964: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
024078,001965: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
024079,001966: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
024080,001967: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
024081,001968: 25,2414 40104 CS FLAGWRD8
024082,001969: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
024083,001970: 25,2416 00006 EXTEND
024084,001971: 25,2417 12456 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
024085,001972: 25,2420 02461 TC TRYSWS
024086,001973:
024087,001974:
024088,001975: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
024089,001976: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
024090,001977: 25,2423 00006 EXTEND
024091,001978: 25,2424 12456 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
024092,001979: 25,2425 30074 CA STATE
024093,001980: 25,2426 74745 MASK RNDVZBIT
024094,001981: 25,2427 10000 CCS A # TEST RNDVZFLG.
024095,001982: 25,2430 02471 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
024096,001983: 25,2431 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
024097,001984:
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Page 551
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024099,001986: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
024100,001987:
024101,001988: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
024102,001989: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
024103,001990: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
024104,001991: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
024105,001992: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
024106,001993: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
024107,001994: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
024108,001995: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
024109,001996: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
024110,001997: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
024111,001998: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
024112,001999: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
024113,002000: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
024114,002001: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
024115,002002: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
024116,002003: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
024117,002004: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
024118,002005: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
024119,002006: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
024120,002007: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
024121,002008: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
024122,002009:
024123,002010: # CALLING SEQUENCE:
024124,002011: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
024125,002012:
024126,002013: # ERASABLE INITIALIZATION REQUIRED:
024127,002014: # RADMODES, (SEE DODES)
024128,002015:
024129,002016: # SUBROUTINES CALLED_
024130,002017: # SETRRECR, WAITLIST
024131,002018:
024132,002019: # JOBS OR TASKS INITIATED_
024133,002020: # BEGDES
024134,002021:
024135,002022: # ALARMS_ NONE
024136,002023:
024137,002024: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
024138,002025: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
024139,002026:
024140,002027: 25,2432 25113 STARTDES INCR DESRET
024141,002028: 25,2433 40110 CS RADMODES
024142,002029: 25,2434 74742 MASK BIT10
024143,002030: 25,2435 26110 ADS RADMODES
024144,002031: 25,2436 74741 MASK BIT11 # SEE IF REPOSITION IN PROGRESS.
024145,002032: 25,2437 10000 CCS A
024146,002033: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
024147,002034:
024148,002035: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 552
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024150,002037: 25,2442 34752 CAF TWO
024151,002038: 25,2443 05203 TC WAITLIST
024152,002039: 25,2444 E7,1454 EBANK= LOSCOUNT
024153,002040: 25,2444 02573 52067 2CADR BEGDES
024154,002041:
024155,002042: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
024156,002043: 25,2447 00006 EXTEND
024157,002044: 25,2450 12452 BZF DESRTRN # YES SET EXIT
024158,002045: 25,2451 05155 TC ENDOFJOB # NO
024159,002046: 25,2452 00003 DESRTRN RELINT
024160,002047: 25,2453 25113 INCR DESRET
024161,002048: 25,2454 31113 CA DESRET
024162,002049: 25,2455 14640 TCF BANKJUMP
024163,002050:
024164,002051: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
024165,002052: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
024166,002053: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
024167,002054:
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|
Page 553
|
024169,002056: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
024170,002057:
024171,002058: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
024172,002059: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
024173,002060: 25,2463 01111 ADRES MODEB
024174,002061: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
024175,002062:
024176,002063: 25,2465 02233 TC RMODINV # RESET BIT12
024177,002064: 25,2466 34736 CAF BIT14 # SET FLAG FOR REMODE.
024178,002065: 25,2467 26110 ADS RADMODES
024179,002066:
024180,002067: 25,2470 12412 TCF OKDESSM
024181,002068:
024182,002069: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
024183,002070: 25,2472 25113 INCR DESRET # TO CALLER +2
024184,002071: 25,2473 12456 TCF NORDSTAL
024185,002072:
024186,002073: 25,2474 00074 MAXTRYS DEC 60 B-14
024187,002074:
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Page 554
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024189,002076: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
024190,002077: # TANG AND TANG +1.
024191,002078:
024192,002079: 25,2475 04645 RRDESNB TC MAKECADR
024193,002080: 25,2476 55113 TS DESRET
024194,002081:
024195,002082: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
024196,002083: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
024197,002084: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
024198,002085: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
024199,002086: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
024200,002087: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024201,002088: 25,2505 01107 ADRES TANG
024202,002089: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
024203,002090:
024204,002091: 25,2507 00003 OKDESNB RELINT
024205,002092: 25,2510 00006 EXTEND
024206,002093: 25,2511 31110 DCA TANG
024207,002094: 25,2512 53751 DXCH TANGNB
024208,002095: 25,2513 06036 TC INTPRET
024209,002096:
024210,002097: 25,2514 77624 CALL # GET LOS IN NB COORDS.
024211,002098: 25,2515 46041 RRNB
024212,002099: 25,2516 01102 STORE RRTARGET
024213,002100:
024214,002101: 25,2517 77414 SET EXIT
024215,002102: 25,2520 00071 RRNBSW
024216,002103:
024217,002104: 25,2521 00004 INHINT
024218,002105: 25,2522 12433 TCF STARTDES +1
024219,002106: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
024220,002107: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024221,002108: 25,2525 01107 ADRES TANG
024222,002109: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
024223,002110:
024224,002111: 25,2527 02233 TC RMODINV
024225,002112: 25,2530 34736 CAF BIT14 # CALL FOR REMODE.
024226,002113: 25,2531 26110 ADS RADMODES
024227,002114: 25,2532 12507 TCF OKDESNB
024228,002115:
024229,002116: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
024230,002117: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
024231,002118: 25,2535 00502 OCT 502
024232,002119: 25,2536 06011 TC CLRADMOD
024233,002120: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
024234,002121:
024235,002122: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024236,002123: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
024237,002124: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
024238,002125: 25,2543 00006 EXTEND
024239,002126:
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Page 555
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024241,002128: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
024242,002129: 25,2545 30001 DCA 0
024243,002130: 25,2546 52062 DXCH ITEMP1
024244,002131: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
024245,002132:
024246,002133: 25,2550 34740 CAF BIT12 # SEE WHICH MODE RR IS IN
024247,002134: 25,2551 70110 MASK RADMODES
024248,002135: 25,2552 10000 CCS A
024249,002136: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
024250,002137: 25,2554 30061 CA ITEMP1
024251,002138: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024252,002139: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024253,002140: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024254,002141:
024255,002142: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024256,002143: 25,2561 00006 EXTEND
024257,002144: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024258,002145: 25,2563 64562 AD 5.5DEGS
024259,002146: 25,2564 04512 SHAFTLIM TC MAGSUB
024260,002147: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
024261,002148: 25,2566 00001 TC L # NOT IN LIMITS
024262,002149: 25,2567 04560 TC RRLIMOK # IN LIMITS
024263,002150: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024264,002151: 25,2571 12564 TCF SHAFTLIM
024265,002152:
024266,002153:
024267,002154: 25,2572 03512 20.5DEGS DEC .11389
024268,002155:
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Page 556
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024270,002157: # PROGRAM NAME_ BEGDES
024271,002158:
024272,002159: # FUNCTIONAL DESCRIPTION_
024273,002160: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024274,002161: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024275,002162: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024276,002163: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024277,002164: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024278,002165: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024279,002166: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024280,002167: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024281,002168: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024282,002169: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024283,002170: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024284,002171: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024285,002172: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024286,002173: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024287,002174: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024288,002175: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024289,002176: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024290,002177: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024291,002178: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024292,002179: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024293,002180: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024294,002181: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024295,002182: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024296,002183: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024297,002184: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024298,002185:
024299,002186: # CALLING SEQUENCE:
024300,002187: # WAITLIST CALL FROM STARTDES
024301,002188: # TCF BEGDES FROM DORREPOS
024302,002189: # TC STDESIG RETURNING, FROM REMODE
024303,002190:
024304,002191: # ERASABLE INITIALIZATION REQUIRED:
024305,002192: # DESCOUNT, RADMODES
024306,002193:
024307,002194: # SUBROUTINES CALLED_
024308,002195: # ENDRADAR, FINDVAC
024309,002196:
024310,002197: # JOBS OR TASKS INITIATED_ DODES
024311,002198:
024312,002199: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024313,002200: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024314,002201:
024315,002202: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024316,002203: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024317,002204: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024318,002205:
024319,002206: 25,2573 40110 BEGDES CS RADMODES
024320,002207:
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Page 557
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024322,002209: 25,2574 74736 MASK REMODBIT
024323,002210: 25,2575 10000 CCS A
024324,002211: 25,2576 02602 TC STDESIG
024325,002212: 25,2577 02171 TC REMODE
024326,002213: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024327,002214: 25,2601 00062 DEC 50 B-14
024328,002215:
024329,002216: 25,2602 34741 STDESIG CAF BIT11
024330,002217: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024331,002218: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024332,002219: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024333,002220:
024334,002221: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024335,002222: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024336,002223: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024337,002224: 25,2611 12630 TCF MOREDES +1
024338,002225:
024339,002226: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024340,002227: 25,2613 74742 MASK BIT10 # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024341,002228: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024342,002229: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
024343,002230:
024344,002231: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024345,002232: 25,2617 12627 TCF MOREDES
024346,002233:
024347,002234: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024348,002235: 25,2621 00006 EXTEND
024349,002236: 25,2622 03012 WAND CHAN12
024350,002237: 25,2623 44742 BADDES CS BIT10 # REMOVE DESIGNATE FLAG.
024351,002238: 25,2624 70110 MASK RADMODES
024352,002239: 25,2625 54110 TS RADMODES
024353,002240: 25,2626 13562 TCF RDBADEND
024354,002241:
024355,002242: 25,2627 55114 MOREDES TS DESCOUNT
024356,002243: 25,2630 37713 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024357,002244: 25,2631 05105 TC FINDVAC
024358,002245: 25,2632 E7,1454 EBANK= LOSCOUNT
024359,002246: 25,2632 02636 52067 2CADR DODES
024360,002247:
024361,002248: 25,2634 12600 TCF DESLOOP
024362,002249:
024363,002250: 25,2635 20002 B14+B2 OCT 20002
024364,002251:
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Page 558
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024366,002253: # PROGRAM NAME_ DODES
024367,002254:
024368,002255: # FUNCTIONAL DESCRIPTION_
024369,002256: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024370,002257: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024371,002258: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024372,002259: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024373,002260: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024374,002261: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024375,002262: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024376,002263: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024377,002264: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024378,002265: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024379,002266: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024380,002267: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024381,002268: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024382,002269: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024383,002270: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024384,002271: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024385,002272: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024386,002273: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024387,002274: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024388,002275: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024389,002276: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024390,002277: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024391,002278: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024392,002279: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024393,002280: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024394,002281: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024395,002282: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024396,002283: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024397,002284: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024398,002285: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024399,002286: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024400,002287: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024401,002288: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024402,002289: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024403,002290: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024404,002291: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024405,002292: # VIA ENDOFJOB.
024406,002293:
024407,002294: # CALLING SEQUENCE:
024408,002295: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024409,002296:
024410,002297: # ERASABLE INITIALIZATION REQUIRED:
024411,002298: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024412,002299: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024413,002300:
024414,002301: # SUBROUTINES CALLED_
024415,002302: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024416,002303:
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Page 559
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024418,002305: # JOBS OR TASKS INITIATED_
024419,002306: # NONE
024420,002307:
024421,002308: # ALARMS_ NONE
024422,002309:
024423,002310: # EXIT_ ENDOFJOB (ALWAYS)
024424,002311:
024425,002312: 25,2636 00006 DODES EXTEND
024426,002313: 25,2637 30036 DCA CDUT
024427,002314: 25,2640 53110 DXCH TANG
024428,002315:
024429,002316: 25,2641 06036 TC INTPRET
024430,002317:
024431,002318: 25,2642 77201 SETPD VLOAD
024432,002319: 25,2643 00001 0
024433,002320: 25,2644 01102 RRTARGET
024434,002321: 25,2645 74214 BON VXSC
024435,002322: 25,2646 00311 RRNBSW
024436,002323: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
024437,002324: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024438,002325: 25,2651 63372 VSL1 PDVL
024439,002326: 25,2652 01761 LOSVEL
024440,002327: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024441,002328: 25,2654 13072 MCTOMS
024442,002329: 25,2655 45056 UNIT CALL
024443,002330: 25,2656 47443 CDUTRIG
024444,002331: 25,2657 77624 CALL
024445,002332: 25,2660 47575 *SMNB*
024446,002333:
024447,002334: 25,2661 14041 DONBRD STODL 32D
024448,002335: 25,2662 01111 TANG +1
024449,002336: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024450,002337: 25,2664 21465 CDULOGIC # (-SIN(S)).
024451,002338: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024452,002339: 25,2666 41546 COS PUSH
024453,002340: 25,2667 65205 DMP PDDL
024454,002341: 25,2670 00041 32D
024455,002342: 25,2671 00045 36D
024456,002343: 25,2672 44205 DMP BDSU
024457,002344: 25,2673 00001 0
024458,002345: 25,2674 77626 STADR
024459,002346: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
024460,002347:
024461,002348: 25,2676 47135 SLOAD RTB
024462,002349: 25,2677 01110 TANG
024463,002350: 25,2700 21465 CDULOGIC
024464,002351: 25,2701 71406 PUSH COS # COS(T) TO 4.
024465,002352: 25,2702 73525 PDDL SIN
024466,002353: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
024467,002354: 25,2704 00003 2
024468,002355:
|
|
Page 560
|
024470,002357: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024471,002358: 25,2706 00005 4 # (COS(T) )
024472,002359: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
024473,002360: 25,2710 00007 6
024474,002361: 25,2711 00001 0
024475,002362: 25,2712 55552 SL1 VDEF
024476,002363: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024477,002364: 25,2714 00041 32D
024478,002365:
|
|
Page 561
|
024480,002367: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024481,002368: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024482,002369:
024483,002370: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024484,002371: 25,2716 00006 EXTEND
024485,002372: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024486,002373: 25,2720 55107 TS TANG # TRUNNION COMMAND.
024487,002374: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024488,002375: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024489,002376: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024490,002377: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024491,002378: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024492,002379: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024493,002380: 25,2727 41110 +3 CS TANG +1
024494,002381: 25,2730 00006 EXTEND
024495,002382: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024496,002383: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
024497,002384: 25,2733 06036 TC INTPRET
024498,002385:
024499,002386: 25,2734 41345 DLOAD DMP
024500,002387: 25,2735 00003 2 # COS(S).
024501,002388: 25,2736 00005 4 # COS(T).
024502,002389: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
024503,002390: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024504,002391: 25,2741 00001 0 # SIN(S).
024505,002392: 25,2742 72405 DMP SL1
024506,002393: 25,2743 00005 4 # COS(T).
024507,002394: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
024508,002395: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024509,002396: 25,2746 52751 +3
024510,002397: 25,2747 77624 CALL
024511,002398: 25,2750 47577 *NBSM* # GET URR IN SM AXES.
024512,002399: 25,2751 77441 DOT EXIT
024513,002400: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024514,002401:
024515,002402: 25,2753 00006 EXTEND
024516,002403: 25,2754 43070 DCS COS1/2DG
024517,002404: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024518,002405: 25,2756 10154 CCS MPAC
024519,002406: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024520,002407: 25,2760 12762 TCF +2
024521,002408: 25,2761 34753 CA ONE
024522,002409: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
024523,002410:
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Page 562
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024525,002412: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024526,002413:
024527,002414: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024528,002415: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024529,002416: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
024530,002417: 25,2766 13017 TCF DORROUT
024531,002418: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024532,002419: 25,2770 13000 TCF DGOODCHK
024533,002420: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024534,002421: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024535,002422: 25,2773 10000 CCS A
024536,002423: 25,2774 13005 TCF RRDESDUN
024537,002424:
024538,002425: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
024539,002426: 25,2776 00006 EXTEND
024540,002427: 25,2777 05012 WOR CHAN12
024541,002428:
024542,002429: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024543,002430: 25,3001 00006 EXTEND
024544,002431: 25,3002 02033 RAND CHAN33
024545,002432: 25,3003 10000 CCS A
024546,002433: 25,3004 13017 TCF DORROUT
024547,002434:
024548,002435: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024549,002436: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024550,002437: 25,3007 00004 INHINT
024551,002438: 25,3010 54110 TS RADMODES
024552,002439:
024553,002440: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024554,002441: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024555,002442: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024556,002443: 25,3014 00006 EXTEND
024557,002444: 25,3015 03012 WAND CHAN12
024558,002445: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024559,002446:
024560,002447: 25,3017 40074 DORROUT CS FLAGWRD0 # IF NOT IN P20/P22 BUT V41,DON'T DO
024561,002448: 25,3020 74745 MASK RNDVZBIT # VELOCITY CORRECTION.
024562,002449: 25,3021 10000 CCS A
024563,002450: 25,3022 03041 TC NOTP20
024564,002451: 25,3023 06036 TC INTPRET
024565,002452: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024566,002453: 25,3025 01102 RRTARGET
024567,002454: 25,3026 01767 MLOSV
024568,002455: 25,3027 41572 VSL1 PUSH
024569,002456: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024570,002457: 25,3031 01761 LOSVEL # TO LOS VECTOR
024571,002458: 25,3032 13072 MCTOMS
024572,002459: 25,3033 53362 VSR1 VAD
024573,002460: 25,3034 77656 UNIT
024574,002461: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
024575,002462:
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Page 563
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024577,002464: 25,3036 00045 36D
024578,002465: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
024579,002466: 25,3040 77776 EXIT
024580,002467: 25,3041 00004 NOTP20 INHINT
024581,002468: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024582,002469: 25,3043 74741 MASK BIT11 # REPOSITION HAS TAKEN OVER.
024583,002470: 25,3044 10000 CCS A
024584,002471: 25,3045 02306 TC RROUT
024585,002472:
024586,002473: 25,3046 30076 CA FLAGWRD2
024587,002474: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024588,002475: 25,3050 00006 EXTEND # LOS COUNTER
024589,002476: 25,3051 15155 BZF ENDOFJOB
024590,002477: 25,3052 11454 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
024591,002478: 25,3053 03064 TC DODESEND # A NEW LOS
024592,002479: 25,3054 00004 INHINT
024593,002480: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
024594,002481: 25,3056 52602 CADR DESLOOP +2
024595,002482: 25,3057 00003 RELINT
024596,002483: 25,3060 10067 CCS NEWJOB
024597,002484: 25,3061 05122 TC CHANG1
024598,002485: 25,3062 04616 TC BANKCALL
024599,002486: 25,3063 50752 CADR R21LEM2
024600,002487:
024601,002488:
024602,002489: 25,3064 55454 DODESEND TS LOSCOUNT
024603,002490: 25,3065 05155 TC ENDOFJOB
024604,002491:
024605,002492:
024606,002493: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
024607,002494: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
024608,002495: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
024609,002496:
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Page 564
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024611,002498: # RADAR READ INITIALIZATION
024612,002499:
024613,002500: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
024614,002501:
024615,002502: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
024616,002503: 25,3074 00017 ALLREAD OCT 17
024617,002504:
024618,002505: 25,3075 03114 LRVELZ TC INITREAD
024619,002506: 25,3076 00016 OCT 16
024620,002507:
024621,002508: 25,3077 03114 LRVELY TC INITREAD
024622,002509: 25,3100 00015 OCT 15
024623,002510:
024624,002511: 25,3101 03114 LRVELX TC INITREAD
024625,002512: 25,3102 00014 OCT 14
024626,002513:
024627,002514: 25,3103 03113 RRRDOT TC INITREAD -1
024628,002515: 25,3104 00012 OCT 12
024629,002516:
024630,002517: 25,3105 03113 RRRANGE TC INITREAD -1
024631,002518: 25,3106 00011 OCT 11
024632,002519:
024633,002520: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
024634,002521: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
024635,002522:
024636,002523: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
024637,002524: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
024638,002525: 25,3111 51105 INDEX TIMEHOLD
024639,002526: 25,3112 13075 TCF LRVELZ
024640,002527:
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Page 565
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024642,002529: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
024643,002530: 25,3114 00004 INITREAD INHINT
024644,002531:
024645,002532: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
024646,002533: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
024647,002534: 25,3117 74751 MP BIT3 # ENCOUNTERED).
024648,002535: 25,3120 53106 DXCH TIMEHOLD
024649,002536:
024650,002537: 25,3121 10000 CCS A
024651,002538: 25,3122 55111 TS NSAMP
024652,002539: 25,3123 64753 AD ONE
024653,002540: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
024654,002541: # DOUBLE
024655,002542: 25,3124 55100 TS SAMPLIM
024656,002543:
024657,002544: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
024658,002545: 25,3126 00006 EXTEND
024659,002546: 25,3127 02033 RAND CHAN33
024660,002547: 25,3130 55113 TS OLDATAGD
024661,002548:
024662,002549: 25,3131 43074 CS ALLREAD
024663,002550: 25,3132 00006 EXTEND
024664,002551: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
024665,002552:
024666,002553: 25,3134 50002 INDEX Q
024667,002554: 25,3135 30000 CAF 0
024668,002555: 25,3136 00006 EXTEND
024669,002556: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
024670,002557:
024671,002558: 25,3140 00006 EXTEND
024672,002559: 25,3141 30025 DCA TIME2
024673,002560: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
024674,002561:
024675,002562: 25,3143 34755 CAF ZERO
024676,002563: 25,3144 54001 TS L
024677,002564: 25,3145 53102 DXCH SAMPLSUM
024678,002565: 25,3146 12366 TCF ROADBACK
024679,002566:
024680,002567: 25,3147 00230 DGBITS OCT 230
024681,002568:
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|
Page 566
|
024683,002570: # RADAR RUPT READER
024684,002571:
024685,002572: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024686,002573:
024687,002574: 25,2000 SETLOC RADARUPT
024688,002575: 25,2000 BANK
024689,002576:
024690,002577: 25,3150 COUNT* $$/RRUPT
024691,002578: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
024692,002579: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
024693,002580: 25,3152 54016 TS BANKRUPT
024694,002581: 25,3153 00006 EXTEND
024695,002582: 25,3154 22012 QXCH QRUPT
024696,002583:
024697,002584: 25,3155 34757 CAF SEVEN
024698,002585: 25,3156 00006 EXTEND
024699,002586: 25,3157 02013 RAND CHAN13
024700,002587: 25,3160 55335 TS DNINDEX
024701,002588: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO,DO NOT STORE
024702,002589: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024703,002590: 25,3163 30046 CA RNRAD
024704,002591: 25,3164 51335 INDEX DNINDEX
024705,002592: 25,3165 55332 TS DNRRANGE -1
024706,002593: 25,3166 11100 TRYCOUNT CCS SAMPLIM
024707,002594: 25,3167 13211 TCF PLENTY
024708,002595: 25,3170 13174 TCF NOMORE
024709,002596: 25,3171 05567 TC ALARM
024710,002597: 25,3172 00520 OCT 520
024711,002598: 25,3173 05270 TC RESUME
024712,002599:
024713,002600: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
024714,002601: 25,3175 74735 MASK LRBYBIT
024715,002602: 25,3176 00006 EXTEND
024716,002603: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
024717,002604:
024718,002605: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
024719,002606: 25,3201 74743 MASK R04FLBIT # IF 1,R04 IS RUNNING. DO NOT ALARM-
024720,002607: 25,3202 00006 EXTEND
024721,002608: 25,3203 13206 BZF BADRAD
024722,002609:
024723,002610: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
024724,002611: 25,3205 00521 OCT 521
024725,002612: 25,3206 44753 BADRAD CS ONE
024726,002613: 25,3207 55100 TS SAMPLIM
024727,002614: 25,3210 03560 TC RDBADEND -2
024728,002615: 25,3211 55100 PLENTY TS SAMPLIM
024729,002616: 25,3212 34751 CAF BIT3
024730,002617: 25,3213 00006 EXTEND
024731,002618: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
024732,002619: 25,3215 00006 EXTEND
024733,002620:
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Page 567
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024735,002622: 25,3216 13276 BZF RENDRAD
024736,002623:
024737,002624: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
024738,002625: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
024739,002626: 25,3221 00006 EXTEND
024740,002627: 25,3222 06033 RXOR CHAN33
024741,002628: 25,3223 74746 MASK BIT6
024742,002629: 25,3224 00006 EXTEND
024743,002630: 25,3225 13231 BZF VELCHK
024744,002631:
024745,002632: 25,3226 05567 TC ALARM
024746,002633: 25,3227 00522 OCT 522
024747,002634: 25,3230 03206 TC BADRAD
024748,002635:
024749,002636: 25,3231 36244 VELCHK CAF BIN3 # = 00003 OCT
024750,002637: 25,3232 00006 EXTEND
024751,002638: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
024752,002639: 25,3234 76244 MASK BIN3
024753,002640: 25,3235 00006 EXTEND
024754,002641: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
024755,002642:
024756,002643: 25,3237 34733 CAF POSMAX
024757,002644: 25,3240 70046 MASK RNRAD
024758,002645: 25,3241 62000 AD LVELBIAS
024759,002646: 25,3242 54001 TS L
024760,002647: 25,3243 30046 CAE RNRAD
024761,002648: 25,3244 60000 DOUBLE
024762,002649: 25,3245 74753 MASK BIT1
024763,002650: 25,3246 52064 DXCH ITEMP3
024764,002651:
024765,002652: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024766,002653: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
024767,002654: # INDEPENDENT OF DATA GOOD.
024768,002655:
024769,002656: 25,3251 11111 CCS NSAMP
024770,002657: 25,3252 03262 TC NOEND
024771,002658: 25,3253 44753 GOODRAD CS ONE
024772,002659: 25,3254 55100 TS SAMPLIM
024773,002660: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024774,002661: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
024775,002662: 25,3257 54110 TS RADMODES
024776,002663: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
024777,002664: 25,3261 03553 TC RGOODEND -2
024778,002665:
024779,002666: 25,3262 55111 NOEND TS NSAMP
024780,002667: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
024781,002668: 25,3264 13266 TCF +2
024782,002669: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
024783,002670: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
024784,002671: 25,3267 00006 EXTEND
024785,002672:
|
|
Page 568
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024787,002674: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
024788,002675: 25,3271 05270 TC RESUME
024789,002676:
024790,002677:
024791,002678: 25,3272 34747 LRHEIGHT CAF BIT5
024792,002679: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024793,002680:
024794,002681: 25,3274 34743 CAF BIT9
024795,002682: 25,3275 03320 TC SCALECHK -1
024796,002683:
024797,002684: 25,3276 34741 RENDRAD CAF BIT11 # MAKE SURE ANTENNA HAS NOT GONE OUT OF
024798,002685: 25,3277 70110 MASK RADMODES # LIMITS.
024799,002686: 25,3300 10000 CCS A
024800,002687: 25,3301 13206 TCF BADRAD
024801,002688:
024802,002689: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
024803,002690: 25,3303 74745 MASK BIT7
024804,002691: 25,3304 10000 CCS A
024805,002692: 25,3305 13206 TCF BADRAD
024806,002693:
024807,002694: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024808,002695: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024809,002696:
024810,002697: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
024811,002698: 25,3311 00006 EXTEND
024812,002699: 25,3312 02013 RAND CHAN13
024813,002700: 25,3313 54002 TS Q # FOR LATER TESTING.
024814,002701: 25,3314 10000 CCS A
024815,002702: 25,3315 13317 TCF +2
024816,002703: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024817,002704: 25,3317 34751 CAF BIT3
024818,002705: 25,3320 54001 TS L
024819,002706:
024820,002707: 25,3321 00006 SCALECHK EXTEND
024821,002708: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
024822,002709: 25,3323 56001 XCH L
024823,002710: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
024824,002711: 25,3325 00006 EXTEND
024825,002712: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
024826,002713: 25,3327 10000 CCS A
024827,002714: 25,3330 03350 TC SCALCHNG # THEY DIFFER
024828,002715:
024829,002716: 25,3331 34733 RADIN CAF POSMAX
024830,002717: 25,3332 70046 MASK RNRAD
024831,002718: 25,3333 54064 TS ITEMP4
024832,002719:
024833,002720: 25,3334 30046 CAE RNRAD
024834,002721: 25,3335 60000 DOUBLE
024835,002722: 25,3336 74753 MASK BIT1
024836,002723: 25,3337 54063 TS ITEMP3
024837,002724:
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Page 569
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024839,002726: 25,3340 10002 CCS Q # SEE IF RR RDOT.
024840,002727: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024841,002728:
024842,002729: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024843,002730: 25,3343 42002 DCS RDOTBIAS
024844,002731: 25,3344 20064 DASAMPL DAS ITEMP3
024845,002732: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024846,002733: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024847,002734: 25,3347 03253 TC GOODRAD
024848,002735:
024849,002736: 25,3350 22110 SCALCHNG LXCH RADMODES
024850,002737: 25,3351 64753 AD BIT1
024851,002738: 25,3352 00006 EXTEND
024852,002739: 25,3353 06001 RXOR LCHAN
024853,002740: 25,3354 54110 TS RADMODES
024854,002741: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024855,002742: 25,3356 00006 EXTEND
024856,002743: 25,3357 02033 RAND CHAN33
024857,002744: 25,3360 55113 TS OLDATAGD
024858,002745: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
024859,002746: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
024860,002747: 25,3363 13206 TCF BADRAD
024861,002748:
024862,002749: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024863,002750:
024864,002751: 25,3364 40101 R77CHECK CS FLAGWRD5
024865,002752: 25,3365 74741 MASK R77FLBIT
024866,002753: 25,3366 10000 CCS A
024867,002754: 25,3367 00002 TC Q # NOT R77
024868,002755: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024869,002756: 25,3371 70110 MASK RADMODES
024870,002757: 25,3372 54001 TS L
024871,002758: 25,3373 33401 CA BITS5,8
024872,002759: 25,3374 00006 EXTEND
024873,002760: 25,3375 02033 RAND CHAN33
024874,002761: 25,3376 60001 AD L
024875,002762: 25,3377 54110 TS RADMODES
024876,002763: 25,3400 03553 TC RGOODEND -2
024877,002764: 25,3401 00220 BITS5,8 OCT 220
024878,002765:
|
|
Page 570
|
024880,002767: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024881,002768:
024882,002769: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024883,002770: 25,3403 13405 TCF +2 # ON HIGH SCALE.
024884,002771: 25,3404 13345 TCF DGCHECK2
024885,002772:
024886,002773: 25,3405 31335 CA DNINDEX
024887,002774: 25,3406 74751 MASK BIT3
024888,002775: 25,3407 10000 CCS A
024889,002776: 25,3410 13417 TCF LRSCK
024890,002777:
024891,002778: 25,3411 52064 DXCH ITEMP3
024892,002779: 25,3412 20001 DDOUBL
024893,002780: 25,3413 20001 DDOUBL
024894,002781: 25,3414 20001 DDOUBL
024895,002782: 25,3415 52064 DXCH ITEMP3
024896,002783:
024897,002784: 25,3416 13345 TCF DGCHECK2
024898,002785:
024899,002786: 25,3417 10063 LRSCK CCS ITEMP3
024900,002787: 25,3420 13431 TCF +11
024901,002788: 25,3421 40064 CS ITEMP4
024902,002789: 25,3422 63441 AD HISCALIM
024903,002790: 25,3423 00006 EXTEND
024904,002791: 25,3424 63431 BZMF +5
024905,002792:
024906,002793: 25,3425 40107 CS FLGWRD11
024907,002794: 25,3426 74751 MASK SCABBIT
024908,002795: 25,3427 26107 ADS FLGWRD11
024909,002796: 25,3430 13434 TCF +4
024910,002797:
024911,002798: 25,3431 44751 CS SCABBIT
024912,002799: 25,3432 70107 MASK FLGWRD11
024913,002800: 25,3433 54107 TS FLGWRD11
024914,002801:
024915,002802: 25,3434 00006 EXTEND
024916,002803: 25,3435 30064 DCA ITEMP3
024917,002804: 25,3436 20001 DDOUBL
024918,002805: 25,3437 20001 DDOUBL
024919,002806: 25,3440 13344 TCF DASAMPL
024920,002807:
024921,002808: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
024922,002809:
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|
Page 571
|
024924,002811: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024925,002812: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024926,002813: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024927,002814: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024928,002815: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024929,002816: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024930,002817: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024931,002818: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024932,002819: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024933,002820: 25,3453 60001 AD L
024934,002821: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
024935,002822: 25,3455 03263 TC RESAMPLE
024936,002823: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024937,002824: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
024938,002825: 25,3460 00002 TC Q
024939,002826:
024940,002827: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024941,002828: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024942,002829: 25,3463 60061 AD ITEMP1
024943,002830: 25,3464 54110 TS RADMODES
024944,002831:
024945,002832: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024946,002833: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
024947,002834: 25,3467 03616 TC RADLITES
024948,002835: 25,3470 13174 TCF NOMORE
024949,002836:
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|
Page 572
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024951,002838: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024952,002839:
024953,002840: 25,2000 SETLOC P20S1
024954,002841: 25,2000 BANK
024955,002842:
024956,002843: 25,3471 COUNT* $$/RSUB
024957,002844: 25,3471 00004 LRPOS2 INHINT
024958,002845:
024959,002846: 25,3472 40110 CS RADMODES
024960,002847: 25,3473 74746 MASK BIT6 # SET BIT6 TO SHOW DESIRED LR POS IS 2
024961,002848: 25,3474 26110 ADS RADMODES
024962,002849:
024963,002850: 25,3475 34745 CAF BIT7
024964,002851: 25,3476 00006 EXTEND
024965,002852: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024966,002853: 25,3500 00006 EXTEND
024967,002854: 25,3501 13530 BZF RADNOOP
024968,002855:
024969,002856: 25,3502 34737 CAF BIT13
024970,002857: 25,3503 00006 EXTEND
024971,002858: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
024972,002859: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024973,002860: 25,3506 05203 TC WAITLIST
024974,002861: 25,3507 E7,1454 EBANK= LOSCOUNT
024975,002862: 25,3507 03543 52067 2CADR LRPOSCAN
024976,002863:
024977,002864: 25,3511 02366 TC ROADBACK
024978,002865:
024979,002866: 25,3512 55100 LRPOSNXT TS SAMPLIM
024980,002867: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024981,002868: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024982,002869:
024983,002870: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024984,002871: 25,3516 00006 EXTEND
024985,002872: 25,3517 02033 RAND CHAN33
024986,002873: 25,3520 00006 EXTEND
024987,002874: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024988,002875:
024989,002876: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
024990,002877: 25,3523 13512 TCF LRPOSNXT
024991,002878:
024992,002879: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024993,002880: 25,3525 00006 EXTEND
024994,002881: 25,3526 03012 WAND CHAN12
024995,002882: 25,3527 13562 TCF RDBADEND
024996,002883:
024997,002884: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024998,002885: 25,3531 05203 TC WAITLIST
024999,002886: 25,3532 E7,1454 EBANK= LOSCOUNT
025000,002887: 25,3532 03555 52067 2CADR RGOODEND
025001,002888:
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|
Page 573
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025003,002890: 25,3534 02366 TC ROADBACK
025004,002891:
025005,002892: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
025006,002893: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
025007,002894:
025008,002895: 25,3537 44737 CS BIT13 # REMOVE COMMAND
025009,002896: 25,3540 00006 EXTEND
025010,002897: 25,3541 03012 WAND CHAN12
025011,002898: 25,3542 13555 TCF RGOODEND
025012,002899:
025013,002900: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
025014,002901: 25,3544 13512 TCF LRPOSNXT
025015,002902:
025016,002903: 25,3545 01130 6SECS DEC 600 B-14
025017,002904:
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|
Page 574
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025019,002906: # SEQUENCES TO TERMINATE RR OPERATIONS.
025020,002907:
025021,002908: 25,3546 34745 ENDRADAR CAF BIT7 # PROLOG TO CHECK RR CDU FAIL BEFORE END.
025022,002909: 25,3547 70110 MASK RADMODES
025023,002910: 25,3550 10000 CCS A
025024,002911: 25,3551 13555 TCF RGOODEND
025025,002912: 25,3552 13562 TCF RDBADEND
025026,002913: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
025027,002914: 25,3554 54734 TS RUPTAGN
025028,002915:
025029,002916: 25,3555 34752 RGOODEND CAF TWO
025030,002917: 25,3556 04635 TC POSTJUMP
025031,002918: 25,3557 17640 CADR GOODEND
025032,002919:
025033,002920: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
025034,002921: 25,3561 54734 TS RUPTAGN
025035,002922: 25,3562 34752 RDBADEND CAF TWO
025036,002923: 25,3563 04635 TC POSTJUMP
025037,002924: 25,3564 17635 CADR BADEND
025038,002925:
025039,002926: 25,3565 6244 BIN3 EQUALS THREE
025040,002927:
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|
Page 575
|
025042,002929: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
025043,002930: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025044,002931:
025045,002932:
025046,002933: # FUNCTIONAL DESCRIPTION_
025047,002934:
025048,002935: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
025049,002936: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
025050,002937: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
025051,002938:
025052,002939:
025053,002940: # CALLING SEQUENCE CALL
025054,002941: # LPS20.1
025055,002942:
025056,002943: # SUBROUTINES CALLED_
025057,002944:
025058,002945: # LEMPREC,CSMPREC
025059,002946:
025060,002947:
025061,002948: # NORMAL EXIT_ RETURN TO CALLER + 2
025062,002949:
025063,002950:
025064,002951: # ERROR EXITS_ NONE
025065,002952:
025066,002953:
025067,002954: # ALARMS_ NONE
025068,002955:
025069,002956:
025070,002957: # OUTPUT_
025071,002958:
025072,002959: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
025073,002960: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
025074,002961: # RRNBSW CLEARED
025075,002962:
025076,002963:
025077,002964: # INITIALIZED ERASEABLE
025078,002965:
025079,002966: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
025080,002967: # SEE ORBITAL INTEGRATION ROUTINE
025081,002968:
025082,002969:
025083,002970: # DEBRIS_
025084,002971:
025085,002972: # MPAC DESTROYED BY THIS ROUTINE
025086,002973:
025087,002974: 23,2275 BANK 23
025088,002975: 24,2000 SETLOC P20S
025089,002976: 24,2000 BANK
025090,002977:
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|
Page 576
|
025092,002979: 24,3151 COUNT* $$/LPS20
025093,002980:
025094,002981: 24,3151 43020 LPS20.1 STQ BOFF
025095,002982: 24,3152 01757 LS21X
025096,002983: 24,3153 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
025097,002984: 24,3154 51160 LMINT # SO CALL LEMCONIC TO GET LM STATE
025098,002985: 24,3155 77614 BON # IF IN R21 AND ON LUNAR SURFACE
025099,002986: 24,3156 04307 SURFFLAG # DON'T CALL LEMCONIC
025100,002987: 24,3157 51170 CSMINT
025101,002988: 24,3160 77624 LMINT CALL
025102,002989: 24,3161 27100 LEMCONIC # EXTRAPOLATE LEM
025103,002990: 24,3162 77775 VLOAD
025104,002991: 24,3163 00001 RATT
025105,002992: 24,3164 26356 STOVL LMPOS # SAVE LM POSITION B-29
025106,002993: 24,3165 00007 VATT
025107,002994: 24,3166 16364 STODL LMVEL # SAVE LM VELOCITY B-7
025108,002995: 24,3167 00015 TAT
025109,002996: 24,3170 34041 CSMINT STCALL TDEC1
025110,002997: 24,3171 27066 CSMCONIC # EXTRAPOLATE CSM
025111,002998: 24,3172 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
025112,002999: 24,3173 00007 VATT
025113,003000: 24,3174 02364 LMVEL
025114,003001: 24,3175 76521 MXV VSL1
025115,003002: 24,3176 01734 REFSMMAT
025116,003003: 24,3177 77776 EXIT
025117,003004: 24,3200 00004 INHINT
025118,003005: 24,3201 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
025119,003006: 24,3202 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
025120,003007: 24,3203 06036 TC INTPRET
025121,003008: 24,3204 25761 STOVL LOSVEL
025122,003009: 24,3205 00001 RATT
025123,003010: 24,3206 43051 VSU BOFF
025124,003011: 24,3207 02356 LMPOS
025125,003012: 24,3210 00350 RNDVZFLG
025126,003013: 24,3211 51217 NOTSHIFT
025127,003014: 24,3212 77604 BOVB
025128,003015: 24,3213 57725 TCDANZIG
025129,003016: 24,3214 41061 VSL BOVB
025130,003017: 24,3215 20212 9D
025131,003018: 24,3216 50123 526ALARM
025132,003019: 24,3217 77656 NOTSHIFT UNIT
025133,003020: 24,3220 76521 MXV VSL1
025134,003021: 24,3221 01734 REFSMMAT # CONVERT TO STABLE MEMBER
025135,003022: 24,3222 15102 STODL RRTARGET
025136,003023: 24,3223 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
025137,003024: 24,3224 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
025138,003025: 24,3225 77614 CLRGO
025139,003026: 24,3226 00231 RRNBSW
025140,003027: 24,3227 01757 LS21X
025141,003028:
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Page 577
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025143,003030: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
025144,003031: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025145,003032:
025146,003033:
025147,003034: # FUNCTIONAL DESCRIPTION_
025148,003035:
025149,003036: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025150,003037:
025151,003038:
025152,003039: # CALLING SEQUENCE CALL
025153,003040: # LPS20.2
025154,003041:
025155,003042:
025156,003043: # SUBROUTINES CALLED_ NONE
025157,003044:
025158,003045:
025159,003046: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025160,003047:
025161,003048:
025162,003049: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025163,003050:
025164,003051:
025165,003052: # ALARMS_ NONE
025166,003053:
025167,003054:
025168,003055: # OUTPUT_ NONE
025169,003056:
025170,003057:
025171,003058: # INITIALIZED ERASEABLE_
025172,003059:
025173,003060: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025174,003061: # DEBRIS
025175,003062:
025176,003063: # MPAC DESTROYED BY THIS ROUTINE
025177,003064:
025178,003065: 25,2000 SETLOC P20S1
025179,003066: 25,2000 BANK
025180,003067: 25,3565 COUNT* $$/LPS20
025181,003068:
025182,003069: 25,3565 45345 LPS20.2 DLOAD DSU
025183,003070: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
025184,003071: 25,3567 13600 FHNM # OVER 400NM _
025185,003072: 25,3570 77644 BPL
025186,003073: 25,3571 53574 TOFAR
025187,003074: 25,3572 43535 SLOAD RVQ
025188,003075: 25,3573 06424 ZERO/SP
025189,003076: 25,3574 43535 TOFAR SLOAD RVQ
025190,003077: 25,3575 13577 ONE/SP
025191,003078: 25,3576 00001 ONE/SP DEC 1 B-14
025192,003079:
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Page 578
|
025194,003081: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
025195,003082:
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|
Page 579
|
025197,003084: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025198,003085: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
025199,003086:
025200,003087:
025201,003088: # FUNCTIONAL DESCRIPTION
025202,003089:
025203,003090: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025204,003091: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025205,003092: # RR REPOSITION AND RR CDU FAIL
025206,003093:
025207,003094: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025208,003095:
025209,003096:
025210,003097: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
025211,003098:
025212,003099:
025213,003100: # SUBROUTINES CALLED:
025214,003101:
025215,003102: # RRRDOT LPS20.1
025216,003103: # RRRANGE BANKCALL
025217,003104: # RADSTALL CDULOGIC
025218,003105: # RRNB SMNB
025219,003106: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025220,003107:
025221,003108:
025222,003109: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025223,003110:
025224,003111: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025225,003112: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025226,003113:
025227,003114:
025228,003115: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025229,003116: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025230,003117:
025231,003118:
025232,003119: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025233,003120: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025234,003121:
025235,003122: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025236,003123:
025237,003124: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025238,003125: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025239,003126: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025240,003127: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025241,003128: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025242,003129:
025243,003130:
025244,003131: # ERASABLE INITIALIZATION REQUIRED:
025245,003132:
025246,003133: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
025247,003134:
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Page 580
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025249,003136: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025250,003137: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025251,003138:
025252,003139: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025253,003140:
025254,003141:
025255,003142: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
025256,003143:
025257,003144: 32,2376 BANK 32
025258,003145: 32,2000 SETLOC LRS22
025259,003146: 32,2000 BANK
025260,003147: 32,2376 COUNT* $$/LRS22
025261,003148:
025262,003149: 32,2376 04645 LRS22.1 TC MAKECADR
025263,003150: 32,2377 55735 TS LRS22.1X
025264,003151: 32,2400 05516 TC DOWNFLAG
025265,003152: 32,2401 00120 ADRES RNGSCFLG
025266,003153: 32,2402 00004 INHINT
025267,003154: 32,2403 34751 CAF BIT3
025268,003155: 32,2404 00006 EXTEND # GET RR RANGE SCALE
025269,003156: 32,2405 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025270,003157: 32,2406 54001 TS L
025271,003158: 32,2407 44751 CS BIT3 # AND SET IN RADMODES BIT3
025272,003159: 32,2410 70110 MASK RADMODES
025273,003160: 32,2411 60001 AD L
025274,003161: 32,2412 54110 TS RADMODES
025275,003162: 32,2413 00003 RELINT
025276,003163: 32,2414 04616 READRDOT TC BANKCALL
025277,003164: 32,2415 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025278,003165: 32,2416 04616 TC BANKCALL
025279,003166: 32,2417 17667 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025280,003167: 32,2420 12540 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025281,003168:
025282,003169: 32,2421 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025283,003170: 32,2422 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025284,003171: 32,2423 53753 DXCH MKTIME # TIME OF THE RANGE-RATE READING
025285,003172: 32,2424 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025286,003173: 32,2425 53745 DXCH RDOTMSAV
025287,003174: 32,2426 00006 EXTEND
025288,003175: 32,2427 30034 DCA CDUY # SAVE ICDU ANGLES
025289,003176: 32,2430 53456 DXCH AIG
025290,003177: 32,2431 30032 CA CDUX
025291,003178: 32,2432 55457 TS AOG
025292,003179: 32,2433 00006 EXTEND
025293,003180: 32,2434 30025 DCA TIME2 # SAVE TIME
025294,003181: 32,2435 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025295,003182: 32,2436 00006 EXTEND
025296,003183: 32,2437 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025297,003184: 32,2440 53110 DXCH TANG
025298,003185:
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Page 581
|
025300,003187: 32,2441 00003 RELINT
025301,003188: 32,2442 04616 TC BANKCALL
025302,003189: 32,2443 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025303,003190: 32,2444 04616 TC BANKCALL
025304,003191: 32,2445 17667 CADR RADSTALL # WAIT FOR READ COMPLETE
025305,003192: 32,2446 02534 TC CHEXERR # CHECK FOR ERRORS DURING READ
025306,003193: 32,2447 06036 TC INTPRET
025307,003194: 32,2450 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025308,003195: 32,2451 03745 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
025309,003196: 32,2452 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025310,003197: 32,2453 20217 14D # FT./SECOND PER BIT
025311,003198: 32,2454 24012 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025312,003199: 32,2455 17747 STODL RDOTM # STORE FOR USE BY LSR22.3
025313,003200: 32,2456 01110 TANG
025314,003201: 32,2457 03751 STORE TANGNB
025315,003202: 32,2460 47135 SLOAD RTB
025316,003203: 32,2461 01110 TANG # GET TRUNION ANGLE
025317,003204: 32,2462 21465 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025318,003205: 32,2463 03732 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025319,003206: 32,2464 47135 SLOAD RTB
025320,003207: 32,2465 01111 TANG +1 # DITTO FOR SHAFT ANGLE
025321,003208: 32,2466 21465 CDULOGIC
025322,003209: 32,2467 17734 STODL RRSHAFT
025323,003210: 32,2470 01102 SAMPLSUM
025324,003211: 32,2471 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025325,003212: 32,2472 24014 RANGCONV # PER BIT, END WITH METERS,SCALED -29
025326,003213: 32,2473 37755 STCALL RM
025327,003214: 32,2474 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025328,003215: 32,2475 17737 STODL RRBORSIT # AND SAVE
025329,003216: 32,2476 00025 20D
025330,003217: 32,2477 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025331,003218: 32,2500 51151 LPS20.1
025332,003219: 32,2501 77776 EXIT
025333,003220: 32,2502 31455 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025334,003221: 32,2503 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025335,003222: 32,2504 31456 CA AMG
025336,003223: 32,2505 54770 TS CDUSPOT +2
025337,003224: 32,2506 31457 CA AOG
025338,003225: 32,2507 54772 TS CDUSPOT +4
025339,003226: 32,2510 06036 TC INTPRET
025340,003227: 32,2511 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025341,003228: 32,2512 01102 RRTARGET
025342,003229: 32,2513 47555 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025343,003230: 32,2514 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025344,003231: 32,2515 03737 RRBORSIT
025345,003232: 32,2516 65552 SL1 ACOS # BETWEEN THEM
025346,003233: 32,2517 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025347,003234: 32,2520 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025348,003235: 32,2521 24544 THREEDEG
025349,003236: 32,2522 64527 NORMEXIT # YES-NORMAL EXIT
025350,003237:
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|
Page 582
|
025352,003239:
025353,003240: 32,2523 77776 EXIT # ERROR EXIT 2
025354,003241: 32,2524 34752 CAF BIT2 # SET ERROR CODE
025355,003242: 32,2525 54154 TS MPAC
025356,003243: 32,2526 12532 TCF OUT22.1
025357,003244:
025358,003245: 32,2527 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
025359,003246: 32,2530 34755 CAF ZERO
025360,003247: 32,2531 54154 TS MPAC
025361,003248: 32,2532 31735 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025362,003249: 32,2533 04640 TC BANKJUMP
025363,003250: 32,2534 30101 CHEXERR CAE FLAGWRD5
025364,003251: 32,2535 74742 MASK RNGSCBIT
025365,003252: 32,2536 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025366,003253: 32,2537 12414 TCF READRDOT # YES-TAKE ANOTHER READING
025367,003254:
025368,003255: 32,2540 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025369,003256: 32,2541 54154 TS MPAC
025370,003257: 32,2542 02532 TC OUT22.1
025371,003258: 32,2543 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
025372,003259: 32,2545 1101 RRLOSVEC EQUALS RRTARGET
025373,003260:
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Page 583
|
025375,003262: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025376,003263:
025377,003264:
025378,003265: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
025379,003266:
025380,003267: # FUNCTIONAL DESCRIPTION-
025381,003268:
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|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003)
|
025383,003270: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025384,003271:
025385,003272:
025386,003273: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025387,003274:
025388,003275:
025389,003276: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
025390,003277: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025391,003278:
025392,003279:
025393,003280: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025394,003281:
025395,003282:
025396,003283: # ALARMS - NONE IN THE AUTO MODE
025397,003284:
025398,003285:
025399,003286: # ERASABLE INITIALIZATION REQUIRED -
025400,003287: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025401,003288: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025402,003289: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025403,003290:
025404,003291:
025405,003292: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025406,003293:
025407,003294: 24,2000 SETLOC P20S
025408,003295: 24,2000 BANK
025409,003296: 24,3230 04645 LRS22.2 TC MAKECADR
025410,003297: 24,3231 55735 TS LRS22.1X
025411,003298: 24,3232 06036 TC INTPRET
025412,003299: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025413,003300: 24,3233 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025414,003301: 24,3234 03743 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
025415,003302: # LOS VECTOR,A HALF UNIT VECTOR
025416,003303: # IN NAV BASE AXES)
025417,003304: 24,3235 50025 DSU BMN
025418,003305: 24,3236 11252 30DEG
025419,003306: 24,3237 51244 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
025420,003307: 24,3240 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
025421,003308: 24,3241 34753 CAF BIT1 # SET ERROR CODE IN MPAC
025422,003309: 24,3242 54154 TS MPAC
025423,003310: 24,3243 13247 TCF OUT22.2
025424,003311: 24,3244 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
025425,003312:
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Page 584
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025427,003314: 24,3245 34755 CAF ZERO
025428,003315: 24,3246 54154 TS MPAC
025429,003316: 24,3247 31735 OUT22.2 CAE LRS22.1X
025430,003317: 24,3250 04640 TC BANKJUMP
025431,003318:
025432,003319: 24,3251 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
025433,003320:
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Page 585
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025435,003322: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
025436,003323: # MOD. NO 3 LOG SECTION - P20-25
025437,003324: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
025438,003325:
025439,003326: # FUNCTIONAL DESCRIPTION
025440,003327:
025441,003328: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025442,003329: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025443,003330: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025444,003331:
025445,003332: # CALLING SEQUENCE
025446,003333: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025447,003334: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025448,003335: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025449,003336: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025450,003337: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025451,003338: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
025452,003339:
025453,003340:
025454,003341: # SUBROUTINES CALLED
025455,003342: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
025456,003343: # GETULC RARARANG INCORP2 NBSM INTSTALL
025457,003344:
025458,003345: # OUTPUT
025459,003346: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025460,003347: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025461,003348: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025462,003349: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025463,003350: # UPDATED W-MATRIX
025464,003351:
025465,003352:
025466,003353: # ERASABLE INITIALIZATION REQUIRED
025467,003354: # LM AND CSM STATE VECTORS
025468,003355: # W-MATRIX
025469,003356: # MARK TIME IN MKTIME
025470,003357: # RADAR RANGE IN RM METERS B-29
025471,003358: # RANGE RATE IN RDOTM METERS/CSES B-7
025472,003359: # SHAFT ANGLE IN RRSHAFT REVS.B0
025473,003360: # TRUNNION ANGLE IN RRTRUN REVS. B0
025474,003361: # GIMBAL ANGLES INNER IN AIG
025475,003362: # MIDDLE IN AMG
025476,003363: # OUTER IN AOG
025477,003364: # REFSMMAT
025478,003365: # RENDWFLG
025479,003366: # NOANGFLG
025480,003367: # VEHUPFLG
025481,003368:
025482,003369: # DEBRIS
025483,003370: # PUSHLIST--ALL
025484,003371: # MX, MY, MZ (VECTORS)
025485,003372:
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Page 586
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025487,003374: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025488,003375:
025489,003376: 13,2207 BANK 13
025490,003377: 26,2000 SETLOC P20S3
025491,003378: 26,2000 BANK
025492,003379:
025493,003380: 26,2370 E7,1454 EBANK= LOSCOUNT
025494,003381: 26,2370 COUNT* $$/LSR22
025495,003382: 26,2370 77624 LSR22.3 CALL
025496,003383: 26,2371 11165 GRP2PC
025497,003384: 26,2372 43014 BON SET
025498,003385: 26,2373 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
025499,003386: 26,2374 55143 LSR22.4 # YES
025500,003387: 26,2375 02466 DMENFLG
025501,003388: 26,2376 45014 BOFF CALL
025502,003389: 26,2377 00747 VEHUPFLG
025503,003390: 26,2400 54432 DOLEM
025504,003391: 26,2401 27412 INTSTALL
025505,003392: 26,2402 45014 CLEAR CALL # LM PRECISION INTEGRATION
025506,003393: 26,2403 01674 VINTFLAG
025507,003394: 26,2404 26644 SETIFLGS
025508,003395: 26,2405 77624 CALL
025509,003396: 26,2406 55205 INTGRCAL
025510,003397: 26,2407 77624 CALL
025511,003398: 26,2410 11165 GRP2PC
025512,003399: 26,2411 77624 CALL
025513,003400: 26,2412 27412 INTSTALL
025514,003401: 26,2413 43014 CLEAR BOFF
025515,003402: 26,2414 01676 DIM0FLAG
025516,003403: 26,2415 02756 RENDWFLG
025517,003404: 26,2416 54422 NOTWCSM
025518,003405: 26,2417 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
025519,003406: 26,2420 01476 DIM0FLAG
025520,003407: 26,2421 01475 D6OR9FLG
025521,003408: 26,2422 43014 NOTWCSM SET CLEAR
025522,003409: 26,2423 01474 VINTFLAG
025523,003410: 26,2424 01673 INTYPFLG
025524,003411: 26,2425 45014 SET CALL
025525,003412: 26,2426 01472 STATEFLG
025526,003413: 26,2427 55205 INTGRCAL
025527,003414: 26,2430 77650 GOTO
025528,003415: 26,2431 54462 MARKTEST
025529,003416: 26,2432 77624 DOLEM CALL
025530,003417: 26,2433 27412 INTSTALL
025531,003418: 26,2434 45014 SET CALL
025532,003419: 26,2435 01474 VINTFLAG
025533,003420: 26,2436 26644 SETIFLGS
025534,003421: 26,2437 77624 CALL
025535,003422: 26,2440 55205 INTGRCAL
025536,003423:
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Page 587
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025538,003425: 26,2441 77624 CALL
025539,003426: 26,2442 11165 GRP2PC
025540,003427: 26,2443 77624 CALL
025541,003428: 26,2444 27412 INTSTALL
025542,003429: 26,2445 43014 CLEAR BOFF
025543,003430: 26,2446 01676 DIM0FLAG
025544,003431: 26,2447 02756 RENDWFLG
025545,003432: 26,2450 54454 NOTWLEM
025546,003433: 26,2451 43014 SET SET # LM WITH W-MATRIX INTEGRATION
025547,003434: 26,2452 01476 DIM0FLAG
025548,003435: 26,2453 01475 D6OR9FLG
025549,003436: 26,2454 43014 NOTWLEM CLEAR CLEAR
025550,003437: 26,2455 01673 INTYPFLG
025551,003438: 26,2456 01674 VINTFLAG
025552,003439: 26,2457 45014 SET CALL
025553,003440: 26,2460 01472 STATEFLG
025554,003441: 26,2461 55205 INTGRCAL
025555,003442: 26,2462 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
025556,003443: 26,2463 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
025557,003444: 26,2464 54474 RANGEBQ
025558,003445: 26,2465 55214 WLINIT # YES - REINITIALIZE
025559,003446: 26,2466 77776 EXIT
025560,003447: 26,2467 34755 CA ZERO
025561,003448: 26,2470 55743 TS R65CNTR
025562,003449: 26,2471 04616 TC BANKCALL
025563,003450: 26,2472 46105 CADR R65LEM
025564,003451: 26,2473 06036 TC INTPRET
025565,003452: 26,2474 43174 RANGEBQ AXT,2 BON # CLEAR X2.
025566,003453: 26,2475 00000 0
025567,003454: 26,2476 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
025568,003455: 26,2477 54502 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
025569,003456: 26,2500 77714 INCR,2
025570,003457: 26,2501 00002 2
025571,003458: 26,2502 45134 SETX2 SXA,2 CALL
025572,003459: 26,2503 03716 SCALSHFT # 0-MOON. 2-EARTH
025573,003460: 26,2504 11165 GRP2PC
025574,003461: 26,2505 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
025575,003462: 26,2506 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
025576,003463: 26,2507 20635 28D
025577,003464: 26,2510 77634 RTB
025578,003465: 26,2511 21537 TPMODE # AND SAVE IN 20D
025579,003466: 26,2512 00025 STORE 20D
025580,003467: 26,2513 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
025581,003468: 26,2514 55276 GETULC # B-VECTORS FOR RANGE
025582,003469: 26,2515 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025583,003470: 26,2516 00707 VEHUPFLG
025584,003471: 26,2517 54520 +1
025585,003472: 26,2520 27523 STOVL BVECTOR
025586,003473: 26,2521 06424 ZEROVECS
025587,003474: 26,2522 03531 STORE BVECTOR +6 # B1
025588,003475:
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Page 588
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025590,003477: 26,2523 17537 STODL BVECTOR +12D # B2
025591,003478: 26,2524 00045 36D
025592,003479: 26,2525 44257 SRR* BDSU
025593,003480: 26,2526 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
025594,003481: 26,2527 03755 RM # RM - (MAGNITUDE RCSM-RLM)
025595,003482: 26,2530 77657 SLR*
025596,003483: 26,2531 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
025597,003484: 26,2532 17545 STODL DELTAQ # EARTH B-29. MOON B-27
025598,003485: 26,2533 00045 36D # RLC B-29/B-27
025599,003486: 26,2534 63501 NORM DSQ # NORMALIZE AND SQUARE
025600,003487: 26,2535 00047 X1
025601,003488: 26,2536 53605 DMP SR*
025602,003489: 26,2537 01771 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
025603,003490: 26,2540 20577 0 -2,1 # UNNORMALIZE
025604,003491: 26,2541 53657 SR* SR*
025605,003492: 26,2542 20601 0,1
025606,003493: 26,2543 57176 0,2
025607,003494: 26,2544 47057 SR* RTB
025608,003495: 26,2545 57176 0,2
025609,003496: 26,2546 21537 TPMODE
025610,003497: 26,2547 02707 STORE VARIANCE # B-40
025611,003498: 26,2550 76276 DCOMP TAD
025612,003499: 26,2551 00025 20D # B-40
025613,003500: 26,2552 72240 BMN TLOAD
025614,003501: 26,2553 54556 QOK
025615,003502: 26,2554 00025 20D # B-40
025616,003503: 26,2555 02707 STORE VARIANCE
025617,003504: 26,2556 77624 QOK CALL
025618,003505: 26,2557 55344 LGCUPDTE
025619,003506:
025620,003507: 26,2560 77624 CALL
025621,003508: 26,2561 11165 GRP2PC
025622,003509: 26,2562 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
025623,003510: 26,2563 55276 GETULC
025624,003511: 26,2564 53725 PDDL SR* # GET RLC SCALED B-29/B-27
025625,003512: 26,2565 00045 36D # AND SHIFT TO B-23
025626,003513: 26,2566 57202 0 -4,2
025627,003514: 26,2567 24045 STOVL 36D # THEN STORE BACK IN 36D
025628,003515: 26,2570 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
025629,003516: 26,2571 00707 VEHUPFLG
025630,003517: 26,2572 54573 +1
025631,003518: 26,2573 77761 VXSC
025632,003519: 26,2574 00045 36D # B1 = RLC (B-24/B-22)
025633,003520: 26,2575 27531 STOVL BVECTOR +6
025634,003521: 26,2576 01653 NUVLEM
025635,003522: 26,2577 53257 VSR* VAD
025636,003523: 26,2600 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025637,003524: 26,2601 01667 VCVLEM # EARTH B-7. MOON B-5
025638,003525: 26,2602 53715 PDVL VSR* # VL TO PD6
025639,003526: 26,2603 01601 NUVCSM
025640,003527:
|
|
Page 589
|
025642,003529: 26,2604 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025643,003530: 26,2605 52255 VAD VSU
025644,003531: 26,2606 01615 VCVCSM
025645,003532: 26,2607 50315 PDVL DOT # VC - VL = VLC TO PD6
025646,003533: 26,2610 00001 0
025647,003534: 26,2611 00007 6
025648,003535: 26,2612 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025649,003536: 26,2613 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025650,003537: 26,2614 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025651,003538: 26,2615 01773 RATEVAR
025652,003539: 26,2616 02707 STORE VARIANCE
025653,003540: 26,2617 54335 SLOAD SR
025654,003541: 26,2620 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025655,003542: 26,2621 20621 16D # SHIFT TO DP (B -4)
025656,003543: 26,2622 00031 STORE 24D # AND SAVE IN 24D
025657,003544: 26,2623 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025658,003545: 26,2624 02707 VARIANCE
025659,003546: 26,2625 54631 VOK # BRANCH - NO
025660,003547: 26,2626 77745 DLOAD # YES - USE MINIMUM VARIANCE
025661,003548: 26,2627 00031 24D
025662,003549: 26,2630 02707 STORE VARIANCE
025663,003550: 26,2631 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
025664,003551: 26,2632 53725 PDDL SLR* # TO B-10/B-8
025665,003552: 26,2633 03747 RDOTM # SHIFT TO EARTH/MOON SPHERE
025666,003553: 26,2634 56577 0 -1,2 # B-7 TO B-10/B-8
025667,003554: 26,2635 77625 DSU
025668,003555: 26,2636 77675 DMPR
025669,003556: 26,2637 00045 36D
025670,003557: 26,2640 27545 STOVL DELTAQ # B-33
025671,003558: 26,2641 00001 0 # NOW GET B0
025672,003559: 26,2642 47235 VXV VXV # (ULC X VLC) X ULC
025673,003560: 26,2643 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025674,003561: 26,2644 00707 VEHUPFLG
025675,003562: 26,2645 54646 +1
025676,003563: 26,2646 77657 VSR*
025677,003564: 26,2647 57200 0 -2,2 # SCALED B-5
025678,003565: 26,2650 27523 STOVL BVECTOR
025679,003566: 26,2651 06424 ZEROVECS
025680,003567: 26,2652 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025681,003568: 26,2653 27537 STOVL BVECTOR +12D
025682,003569: 26,2654 03523 BVECTOR
025683,003570: 26,2655 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025684,003571: 26,2656 00025 20D # SHIFT COUNT IN 20D
025685,003572: 26,2657 51575 VLOAD ABVAL
025686,003573: 26,2660 03531 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025687,003574: 26,2661 71301 NORM DLOAD
025688,003575: 26,2662 00027 22D # SHIFT COUNT IN 22D
025689,003576: 26,2663 00027 22D # FIND WHICH SHIFT IS SMALLER
025690,003577: 26,2664 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
025691,003578: 26,2665 00025 20D
025692,003579:
|
|
Page 590
|
025694,003581: 26,2666 54672 VOK1
025695,003582: 26,2667 52150 LXA,1 GOTO
025696,003583: 26,2670 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025697,003584: 26,2671 54674 VOK2
025698,003585: 26,2672 77750 VOK1 LXA,1
025699,003586: 26,2673 00024 20D
025700,003587: 26,2674 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025701,003588: 26,2675 03523 BVECTOR # WITH THI SSHIFT COUNT
025702,003589: 26,2676 20201 0,1
025703,003590: 26,2677 27523 STOVL BVECTOR
025704,003591: 26,2700 03531 BVECTOR +6
025705,003592: 26,2701 77657 VSL*
025706,003593: 26,2702 20201 0,1
025707,003594: 26,2703 17531 STODL BVECTOR +6
025708,003595: 26,2704 03545 DELTAQ
025709,003596: 26,2705 77657 SL*
025710,003597: 26,2706 20201 0,1
025711,003598: 26,2707 03545 STORE DELTAQ
025712,003599: 26,2710 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025713,003600: 26,2711 00045 36D
025714,003601: 26,2712 20200 0 -1,1
025715,003602: 26,2713 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025716,003603: 26,2714 02707 VARIANCE
025717,003604: 26,2715 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025718,003605: 26,2716 21537 TPMODE
025719,003606: 26,2717 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025720,003607: 26,2720 55344 LGCUPDTE
025721,003608:
025722,003609: 26,2721 77624 CALL
025723,003610: 26,2722 11165 GRP2PC
025724,003611: 26,2723 77414 BON EXIT # ARE ANGLES TO BE DONE
025725,003612: 26,2724 04307 SURFFLAG
025726,003613: 26,2725 55141 RENDEND # NO
025727,003614: 26,2726 E7,1455 EBANK= AIG
025728,003615: 26,2726 33275 MXMYMZ CAF AIGBANK
025729,003616: 26,2727 54006 TS BBANK
025730,003617: 26,2730 31455 CA AIG # YES, COMPUTE MX, MY, MZ
025731,003618: 26,2731 54766 TS CDUSPOT
025732,003619: 26,2732 31456 CA AMG
025733,003620: 26,2733 54770 TS CDUSPOT +2
025734,003621: 26,2734 31457 CA AOG
025735,003622: 26,2735 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025736,003623: 26,2736 06036 TC INTPRET
025737,003624: 26,2737 45175 VLOAD CALL
025738,003625: 26,2740 06422 UNITX
025739,003626: 26,2741 47570 TRG*NBSM
025740,003627: 26,2742 76505 VXM VSL1
025741,003628: 26,2743 01734 REFSMMAT
025742,003629: 26,2744 27675 STOVL MX
025743,003630: 26,2745 06420 UNITY
025744,003631:
|
|
Page 591
|
025746,003633: 26,2746 77624 CALL
025747,003634: 26,2747 47577 *NBSM*
025748,003635: 26,2750 76505 VXM VSL1
025749,003636: 26,2751 01734 REFSMMAT
025750,003637: 26,2752 27703 STOVL MY
025751,003638: 26,2753 06416 UNITZ
025752,003639: 26,2754 77624 CALL
025753,003640: 26,2755 47577 *NBSM*
025754,003641: 26,2756 76505 VXM VSL1
025755,003642: 26,2757 01734 REFSMMAT
025756,003643: 26,2760 37711 SHAFTBQ STCALL MZ
025757,003644: 26,2761 55324 RADARANG
025758,003645: 26,2762 77624 CALL
025759,003646: 26,2763 11165 GRP2PC
025760,003647: 26,2764 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025761,003648: 26,2765 03722 ULC
025762,003649: 26,2766 03675 MX
025763,003650: 26,2767 77752 SL1
025764,003651: 26,2770 24023 STOVL SINTH # 18D
025765,003652: 26,2771 03722 ULC
025766,003653: 26,2772 72441 DOT SL1
025767,003654: 26,2773 03711 MZ
025768,003655: 26,2774 34021 STCALL COSTH # 16D
025769,003656: 26,2775 26510 ARCTAN
025770,003657: 26,2776 41221 BDSU DMP
025771,003658: 26,2777 03734 RRSHAFT
025772,003659: 26,3000 15404 2PI/8
025773,003660: 26,3001 41472 SL3R PUSH
025774,003661: 26,3002 52545 DLOAD SL3
025775,003662: 26,3003 01701 X789
025776,003663: 26,3004 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025777,003664: 26,3005 56176 0,2
025778,003665: 26,3006 53605 DMP SRR*
025779,003666: 26,3007 03720 RXZ
025780,003667: 26,3010 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025781,003668: 26,3011 27545 STOVL DELTAQ # EARTH B-29. MOON B-27
025782,003669: 26,3012 03722 ULC
025783,003670: 26,3013 76435 VXV VSL1
025784,003671: 26,3014 03703 MY
025785,003672: 26,3015 77656 UNIT
025786,003673: 26,3016 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025787,003674: 26,3017 00747 VEHUPFLG
025788,003675: 26,3020 55021 +1
025789,003676: 26,3021 27523 STOVL BVECTOR
025790,003677: 26,3022 06424 ZEROVECS
025791,003678: 26,3023 03531 STORE BVECTOR +6
025792,003679: 26,3024 17537 STODL BVECTOR +12D
025793,003680: 26,3025 03720 RXZ
025794,003681: 26,3026 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025795,003682: 26,3027 20577 0 -2,1
025796,003683:
|
|
Page 592
|
025798,003685: 26,3030 56176 0,2
025799,003686: 26,3031 03537 STORE BVECTOR +12D
025800,003687: 26,3032 77735 SLOAD
025801,003688: 26,3033 02011 SHAFTVAR
025802,003689: 26,3034 41215 DAD DMP
025803,003690: 26,3035 15401 IMUVAR # RAD**2 B12
025804,003691: 26,3036 03720 RXZ
025805,003692: 26,3037 41257 SRR* DMP
025806,003693: 26,3040 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025807,003694: 26,3041 03720 RXZ
025808,003695: 26,3042 53657 SR* SR*
025809,003696: 26,3043 20577 0 -2,1
025810,003697: 26,3044 57176 0,2
025811,003698: 26,3045 47057 SR* RTB
025812,003699: 26,3046 57176 0,2
025813,003700: 26,3047 21537 TPMODE # STORE VARIANCE TRIPLE PRECISION
025814,003701: 26,3050 36707 STCALL VARIANCE # B-40
025815,003702: 26,3051 55344 LGCUPDTE
025816,003703:
025817,003704: 26,3052 77624 CALL
025818,003705: 26,3053 11165 GRP2PC
025819,003706: 26,3054 77624 TRUNBQ CALL
025820,003707: 26,3055 55324 RADARANG
025821,003708: 26,3056 77624 CALL
025822,003709: 26,3057 11165 GRP2PC
025823,003710: 26,3060 47375 VLOAD VXV
025824,003711: 26,3061 03722 ULC
025825,003712: 26,3062 03703 MY
025826,003713: 26,3063 47372 VSL1 VXV
025827,003714: 26,3064 03722 ULC
025828,003715: 26,3065 77772 VSL1 # (ULC X MY) X ULC
025829,003716: 26,3066 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025830,003717: 26,3067 00747 VEHUPFLG
025831,003718: 26,3070 55071 +1
025832,003719: 26,3071 27523 STOVL BVECTOR
025833,003720: 26,3072 06424 ZEROVECS
025834,003721: 26,3073 03531 STORE BVECTOR +6
025835,003722: 26,3074 17537 STODL BVECTOR +12D
025836,003723: 26,3075 03720 RXZ
025837,003724: 26,3076 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025838,003725: 26,3077 20577 0 -2,1
025839,003726: 26,3100 56176 0,2
025840,003727: 26,3101 03541 STORE BVECTOR +14D
025841,003728: 26,3102 77735 SLOAD
025842,003729: 26,3103 02012 TRUNVAR
025843,003730: 26,3104 41215 DAD DMP
025844,003731: 26,3105 15401 IMUVAR
025845,003732: 26,3106 03720 RXZ
025846,003733: 26,3107 41257 SRR* DMP
025847,003734: 26,3110 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025848,003735:
|
|
Page 593
|
025850,003737: 26,3111 03720 RXZ
025851,003738: 26,3112 53657 SR* SR*
025852,003739: 26,3113 20577 0 -2,1
025853,003740: 26,3114 57176 0,2
025854,003741: 26,3115 47057 SR* RTB
025855,003742: 26,3116 57176 0,2
025856,003743: 26,3117 21537 TPMODE # STORE VARIANCE TRIPLE PRECISION
025857,003744: 26,3120 16707 STODL VARIANCE
025858,003745: 26,3121 03730 SINTHETA
025859,003746: 26,3122 44336 ASIN BDSU # SIN THETA IN PD6
025860,003747: 26,3123 03732 RRTRUN
025861,003748: 26,3124 56405 DMP SL3R
025862,003749: 26,3125 15404 2PI/8
025863,003750: 26,3126 52525 PDDL SL3
025864,003751: 26,3127 01703 X789 +2
025865,003752: 26,3130 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025866,003753: 26,3131 56176 0,2
025867,003754: 26,3132 53605 DMP SRR*
025868,003755: 26,3133 03720 RXZ
025869,003756: 26,3134 21601 0,1
025870,003757: 26,3135 37545 STCALL DELTAQ # EARTH B-29. MOON B-27
025871,003758: 26,3136 55344 LGCUPDTE
025872,003759: 26,3137 77624 CALL
025873,003760: 26,3140 11165 GRP2PC
025874,003761: 26,3141 77650 RENDEND GOTO
025875,003762: 26,3142 50614 R22LEM93
025876,003763: # FUNCTIONAL DESCRIPTION
025877,003764:
025878,003765: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025879,003766: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025880,003767: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025881,003768:
025882,003769: # SUBROUTINES CALLED
025883,003770: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025884,003771: # INTEGRV GETULC INCORP2
025885,003772:
025886,003773: # OUTPUT
025887,003774: # CORRECTED CSM STATE VECTOR (PERMANENT)
025888,003775: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025889,003776: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025890,003777: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025891,003778: # UPDATED W-MATRIX
025892,003779:
025893,003780: # ERASABLE INITIALIZATION REQUIRED
025894,003781: # LM AND CSM STATE VECTORS
025895,003782: # W-MATRIX
025896,003783: # MARK TIME IN MKTIME
025897,003784: # RADAR RANGE IN RM METERS B-29
025898,003785: # RANGE RATE IN RDOTM METERS/CSEC B-7
025899,003786: # VEHUPFLG
025900,003787:
|
|
Page 594
|
025902,003789: 26,3143 77624 LSR22.4 CALL
025903,003790: 26,3144 27412 INTSTALL
025904,003791: 26,3145 43014 SET CLEAR
025905,003792: 26,3146 01472 STATEFLG
025906,003793: 26,3147 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025907,003794: 26,3150 77624 CALL
025908,003795: 26,3151 55205 INTGRCAL
025909,003796: 26,3152 77624 CALL
025910,003797: 26,3153 11165 GRP2PC
025911,003798: 26,3154 45014 CLEAR CALL
025912,003799: 26,3155 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025913,003800: 26,3156 27412 INTSTALL
025914,003801: 26,3157 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025915,003802: 26,3160 03461 MARKCTR
025916,003803: 26,3161 55174 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025917,003804: 26,3162 43014 CLEAR SET
025918,003805: 26,3163 01675 D6OR9FLG
025919,003806: 26,3164 01476 DIM0FLAG
025920,003807: 26,3165 43014 SET CLEAR
025921,003808: 26,3166 01474 VINTFLAG
025922,003809: 26,3167 01673 INTYPFLG
025923,003810: 26,3170 77624 CALL
025924,003811: 26,3171 55205 INTGRCAL
025925,003812: 26,3172 77650 GOTO
025926,003813: 26,3173 54474 RANGEBQ
025927,003814:
025928,003815: 26,3174 77624 INITWMX6 CALL
025929,003816: 26,3175 55214 WLINIT # INITIALIZE W-MATRIX
025930,003817: 26,3176 45014 SET CALL
025931,003818: 26,3177 01474 VINTFLAG
025932,003819: 26,3200 26644 SETIFLGS
025933,003820: 26,3201 77624 CALL
025934,003821: 26,3202 55205 INTGRCAL
025935,003822: 26,3203 77650 GOTO
025936,003823: 26,3204 54474 RANGEBQ
025937,003824:
025938,003825: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025939,003826:
025940,003827: 26,3205 71220 INTGRCAL STQ DLOAD
025941,003828: 26,3206 03673 IGRET
025942,003829: 26,3207 03753 MKTIME
025943,003830: 26,3210 34041 STCALL TDEC1
025944,003831: 26,3211 27134 INTEGRV
025945,003832: 26,3212 77650 GOTO
025946,003833: 26,3213 03673 IGRET
025947,003834:
025948,003835: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025949,003836: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025950,003837:
025951,003838: 26,3214 E5,1400 EBANK= W
025952,003839:
|
|
Page 595
|
025954,003841: 26,3214 77776 WLINIT EXIT
025955,003842: 26,3215 33274 CAF WBANK
025956,003843: 26,3216 54006 TS BBANK
025957,003844: 26,3217 33402 CAF WSIZE
025958,003845: 26,3220 55257 TS W.IND
025959,003846: 26,3221 34755 CAF ZERO
025960,003847: 26,3222 51257 INDEX W.IND
025961,003848: 26,3223 55400 TS W
025962,003849: 26,3224 11257 CCS W.IND
025963,003850: 26,3225 03220 TC -5
025964,003851: 26,3226 33275 CAF AIGBANK # RESTORE EBANK 7
025965,003852: 26,3227 54006 TS BBANK
025966,003853: 26,3230 06036 TC INTPRET
025967,003854: 26,3231 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
025968,003855: 26,3232 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025969,003856: 26,3233 55237 WLSRFPOS # WRENDPOS AND WRENDVEL
025970,003857: 26,3234 02001 WRENDPOS
025971,003858: 26,3235 77650 GOTO
025972,003859: 26,3236 55241 WPOSTORE
025973,003860: 26,3237 77735 WLSRFPOS SLOAD
025974,003861: 26,3240 02007 WSURFPOS
025975,003862: 26,3241 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025976,003863: 26,3242 20606 5
025977,003864: 26,3243 02401 STORE W
025978,003865: 26,3244 02411 STORE W +8D
025979,003866: 26,3245 02421 STORE W +16D
025980,003867: 26,3246 67214 BON SLOAD
025981,003868: 26,3247 04307 SURFFLAG
025982,003869: 26,3250 55254 WLSRFVEL
025983,003870: 26,3251 02002 WRENDVEL
025984,003871: 26,3252 77650 GOTO
025985,003872: 26,3253 55256 WVELSTOR
025986,003873: 26,3254 77735 WLSRFVEL SLOAD
025987,003874: 26,3255 02010 WSURFVEL
025988,003875: 26,3256 02511 WVELSTOR STORE W +72D
025989,003876: 26,3257 02521 STORE W +80D
025990,003877: 26,3260 02531 STORE W +88D
025991,003878: 26,3261 77735 SLOAD
025992,003879: 26,3262 02003 WSHAFT
025993,003880: 26,3263 02621 STORE W +144D
025994,003881: 26,3264 77735 SLOAD
025995,003882: 26,3265 02004 WTRUN
025996,003883: 26,3266 02631 STORE W +152D
025997,003884: 26,3267 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025998,003885: 26,3270 02476 RENDWFLG
025999,003886: 26,3271 03461 MARKCTR # SET MARK COUNTER EQUAL ZERO
026000,003887: 26,3272 00000 0
026001,003888: 26,3273 77616 RVQ
026002,003889:
026003,003890: 26,3274 E5,1400 EBANK= W
026004,003891:
|
|
Page 596
|
026006,003893: 26,3274 54065 WBANK BBCON WLINIT
026007,003894: 26,3275 E7,1455 EBANK= AIG
026008,003895: 26,3275 54067 AIGBANK BBCON LSR22.3
026009,003896:
026010,003897: # GETULC
026011,003898:
026012,003899: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
026013,003900: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
026014,003901: # MAGNITUDE IN 36D.
026015,003902:
026016,003903: 26,3276 77201 GETULC SETPD VLOAD
026017,003904: 26,3277 00001 0
026018,003905: 26,3300 01645 DELTALEM
026019,003906: 26,3301 77754 LXA,2
026020,003907: 26,3302 03716 SCALSHFT # LOAD X2 WITH SCALE SHIFT
026021,003908: 26,3303 53257 VSR* VAD
026022,003909: 26,3304 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026023,003910: 26,3305 01661 RCVLEM
026024,003911: 26,3306 53715 PDVL VSR*
026025,003912: 26,3307 01573 DELTACSM
026026,003913: 26,3310 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026027,003914: 26,3311 52255 VAD VSU
026028,003915: 26,3312 01607 RCVCSM
026029,003916: 26,3313 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
026030,003917: 26,3314 21676 NORMUNX1
026031,003918: 26,3315 17722 STODL ULC
026032,003919: 26,3316 00045 36D
026033,003920: 26,3317 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
026034,003921: 26,3320 20201 0,1
026035,003922: 26,3321 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
026036,003923: 26,3322 03722 ULC
026037,003924: 26,3323 77616 RVQ
026038,003925:
026039,003926: # RADARANG
026040,003927:
026041,003928: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
026042,003929: # RXZ = (SQRT (1-SINTHETA**2))RLC
026043,003930: # OUTPUT
026044,003931: # ULC IN ULC, PD0
026045,003932: # RLC IN PD36D
026046,003933: # SIN THETA IN SINTHETA AND PD6
026047,003934: # RXZ NORM IN RXZ (N IN X1)
026048,003935: 26,3324 45020 RADARANG STQ CALL
026049,003936: 26,3325 03673 RDRET
026050,003937: 26,3326 55276 GETULC
026051,003938: 26,3327 50276 VCOMP DOT
026052,003939: 26,3330 03703 MY
026053,003940: 26,3331 41572 SL1R PUSH # SIN THETA TO PD6
026054,003941: 26,3332 03730 STORE SINTHETA
026055,003942: 26,3333 44316 DSQ BDSU
026056,003943: 26,3334 06414 DP1/4TH # 1 - (SIN THETA)**2
026057,003944:
|
|
Page 597
|
026059,003946: 26,3335 41366 SQRT DMP
026060,003947: 26,3336 00045 36D
026061,003948: 26,3337 60352 SL1 NORM
026062,003949: 26,3340 00047 X1 # SET SHIFT COUNTER IN X1
026063,003950: 26,3341 03720 STORE RXZ
026064,003951: 26,3342 77650 GOTO # EXIT
026065,003952: 26,3343 03673 RDRET
026066,003953: 26,3344 45020 LGCUPDTE STQ CALL
026067,003954: 26,3345 03673 LGRET
026068,003955: 26,3346 46433 INCORP1
026069,003956: 26,3347 51575 VLOAD ABVAL
026070,003957: 26,3350 02673 DELTAX +6
026071,003958: 26,3351 53754 LXA,2 SRR*
026072,003959: 26,3352 03716 SCALSHFT # 0 - MOON. 2 - EARTH
026073,003960: 26,3353 56174 2,2 # SET VEL DISPLAY TO B-7
026074,003961: 26,3354 24317 STOVL R22DISP +2
026075,003962: 26,3355 02665 DELTAX
026076,003963: 26,3356 53646 ABVAL SRR*
026077,003964: 26,3357 56174 2,2 # SET POS DISPLAY TO B-29
026078,003965: 26,3360 00315 STORE R22DISP
026079,003966: 26,3361 54335 SLOAD SR
026080,003967: 26,3362 02005 RMAX
026081,003968: 26,3363 20613 10D
026082,003969: 26,3364 50025 DSU BMN
026083,003970: 26,3365 00315 R22DISP
026084,003971: 26,3366 50620 R22LEM96 # GO DISPLAY
026085,003972: 26,3367 45335 SLOAD DSU
026086,003973: 26,3370 02006 VMAX
026087,003974: 26,3371 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
026088,003975: 26,3372 77640 BMN
026089,003976: 26,3373 50620 R22LEM96 # GO DISPLAY
026090,003977: 26,3374 77624 ASTOK CALL
026091,003978: 26,3375 46645 INCORP2
026092,003979: 26,3376 77650 GOTO
026093,003980: 26,3377 03673 LGRET
026094,003981: 26,3400 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
026095,003982:
026096,003983: 26,3402 00241 WSIZE DEC 161 B-14
026097,003984: 26,3403 31103 36652 2PI/8 2DEC 3.141592653 B-2
026098,003985: 26,3405 E7,1454 EBANK= LOSCOUNT
026099,003986:
|
|
Page 598
|
026101,003988: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
026102,003989: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
026103,003990:
026104,003991:
026105,003992: # FUNCTIONAL DESCRIPTION
026106,003993:
026107,003994: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026108,003995: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026109,003996: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026110,003997: # ATTITUDE MANEUVER.
026111,003998:
026112,003999:
026113,004000: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
026114,004001:
026115,004002:
026116,004003: # SUBROUTINES CALLED
026117,004004:
026118,004005: # LEMCONIC R61LEM
026119,004006: # CSMCONIC RRDESSM
026120,004007: # JOBDELAY FLAGDOWN
026121,004008: # WAITLIST FLAGUP
026122,004009: # RRNB BANKCALL
026123,004010:
026124,004011:
026125,004012: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026126,004013:
026127,004014:
026128,004015: # OUTPUT
026129,004016:
026130,004017: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026131,004018: # 11111 INDICATES LOCKON ACHIEVED
026132,004019: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026133,004020:
026134,004021: # ERASABLE INITIALIZATION REQUIRED
026135,004022: # SEARCH FLAG MUST BE SET
026136,004023: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026137,004024: # DEBRIS
026138,004025:
026139,004026: # RLMSRCH UXVECT
026140,004027: # VXRLM UYVECT
026141,004028: # LOSDESRD NSRCHPNT
026142,004029: # DATAGOOD OMEGAD
026143,004030: # MPAC PUSHLIST
026144,004031:
026145,004032: 26,3405 COUNT* $$/LRS24
026146,004033: 26,3405 34755 LRS24.1 CAF ZERO
026147,004034: 26,3406 55734 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
026148,004035: 26,3407 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
026149,004036: 26,3410 00006 EXTEND
026150,004037:
|
|
Page 599
|
026152,004039: 26,3411 05012 WOR CHAN12
026153,004040: 26,3412 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
026154,004041: 26,3413 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
026155,004042: 26,3414 00006 EXTEND
026156,004043: 26,3415 15155 BZF ENDOFJOB # NO-TERMINATE JOB
026157,004044:
026158,004045:
026159,004046: 26,3416 33655 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026160,004047: 26,3417 00004 INHINT
026161,004048: 26,3420 05203 TC WAITLIST # IN 6 SECONDS
026162,004049: 26,3421 E7,1454 EBANK= LOSCOUNT
026163,004050: 26,3421 03605 54067 2CADR CALLDGCH
026164,004051: 26,3423 00003 RELINT
026165,004052: 26,3424 40110 CS RADMODES # IS REMODE IN PROGRESS
026166,004053: 26,3425 74736 MASK BIT14 # (BIT 14 RADMODES = 1)
026167,004054: 26,3426 00006 EXTEND
026168,004055: 26,3427 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
026169,004056: 26,3430 06036 TC INTPRET
026170,004057:
026171,004058: 26,3431 77634 RTB
026172,004059: 26,3432 21462 LOADTIME
026173,004060: 26,3433 34041 LRS24.11 STCALL TDEC1
026174,004061: 26,3434 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
026175,004062: 26,3435 77775 VLOAD
026176,004063: 26,3436 00001 RATT
026177,004064: 26,3437 27674 STOVL RLMSRCH # SAVE LEM POSITION
026178,004065: 26,3440 00007 VATT
026179,004066: 26,3441 17736 STODL SAVLEMV # SAVE LEM VELOCITY
026180,004067: 26,3442 00015 TAT
026181,004068: 26,3443 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
026182,004069: 26,3444 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
026183,004070: 26,3445 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
026184,004071: 26,3446 00001 RATT
026185,004072: 26,3447 03674 RLMSRCH
026186,004073: 26,3450 77656 UNIT
026187,004074: 26,3451 27710 STOVL LOSDESRD # STORE DESIRED LOS
026188,004075: 26,3452 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
026189,004076: 26,3453 47256 UNIT VXV
026190,004077: 26,3454 00001 RATT
026191,004078: 26,3455 77656 UNIT
026192,004079: 26,3456 03702 STORE VXRCM
026193,004080: 26,3457 52375 VLOAD VSU
026194,004081: 26,3460 00007 VATT
026195,004082: 26,3461 03736 SAVLEMV
026196,004083: 26,3462 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
026197,004084: 26,3463 01734 REFSMMAT
026198,004085: 26,3464 03736 STORE SAVLEMV # VLC = V(CSM) - V(LM)
026199,004086: 26,3465 53135 SLOAD BZE # CHECK IF N=0
026200,004087: 26,3466 03735 NSRCHPNT
026201,004088:
|
|
Page 600
|
026203,004090: 26,3467 55600 DESGLOS # YES-DESIGNATE ALONG LOS
026204,004091: 26,3470 53025 DSU BZE # IS N=1
026205,004092: 26,3471 15653 ONEOCT # YES-CALCULATE X AND Y AXES OF
026206,004093: 26,3472 55565 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
026207,004094: 26,3473 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026208,004095: 26,3474 03716 UXVECT
026209,004096: 26,3475 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
026210,004097: 26,3476 03724 UYVECT # UXPRIME = ORIGINAL UX
026211,004098: 26,3477 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
026212,004099: 26,3500 77761 VXSC
026213,004100: 26,3501 15647 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
026214,004101: 26,3502 27716 STOVL UXVECT
026215,004102: 26,3503 00015 UXVECTPR
026216,004103: 26,3504 53361 VXSC VAD
026217,004104: 26,3505 06422 COS60DEG
026218,004105: 26,3506 03716 UXVECT
026219,004106: 26,3507 77656 UNIT
026220,004107: 26,3510 27716 STOVL UXVECT
026221,004108: 26,3511 00015 UXVECTPR # UY=(-SIN 60)UXPR +(COS 60)UYPR
026222,004109: 26,3512 77761 VXSC
026223,004110: 26,3513 15647 SIN60DEG
026224,004111: 26,3514 27724 STOVL UYVECT
026225,004112: 26,3515 00023 UYVECTPR
026226,004113: 26,3516 52361 VXSC VSU
026227,004114: 26,3517 06422 COS60DEG
026228,004115: 26,3520 03724 UYVECT
026229,004116: 26,3521 77656 UNIT
026230,004117: 26,3522 03724 STORE UYVECT
026231,004118: 26,3523 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
026232,004119: 26,3524 15651 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
026233,004120: 26,3525 03710 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
026234,004121: 26,3526 64256 UNIT MXV
026235,004122: 26,3527 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
026236,004123: 26,3530 77772 VSL1
026237,004124: 26,3531 25102 CONTDESG STOVL RRTARGET
026238,004125: 26,3532 03736 SAVLEMV
026239,004126: 26,3533 01761 STORE LOSVEL
026240,004127: 26,3534 77776 EXIT
026241,004128: 26,3535 00004 INHINT
026242,004129: 26,3536 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
026243,004130: 26,3537 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
026244,004131: # POINT IN THE PATTERN
026245,004132: 26,3540 44735 CONTDES2 CS BIT15
026246,004133: 26,3541 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
026247,004134: 26,3542 64735 AD BIT15 # A CONTINUOUS DESIGNATE WANTED
026248,004135: 26,3543 54110 TS RADMODES
026249,004136: 26,3544 06036 TC INTPRET
026250,004137:
026251,004138: 26,3545 77624 CALL
026252,004139: 26,3546 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
026253,004140:
|
|
Page 601
|
026255,004142:
026256,004143: 26,3547 77776 EXIT
026257,004144: 26,3550 03637 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
026258,004145: 26,3551 03637 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
026259,004146:
026260,004147:
026261,004148: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026262,004149: # SPACECRAFT +Z AXIS
026263,004150: 26,3552 00006 OMEGCALC EXTEND
026264,004151: 26,3553 30036 DCA CDUT
026265,004152: 26,3554 53751 DXCH TANGNB
026266,004153: 26,3555 06036 TC INTPRET
026267,004154: 26,3556 77624 CALL
026268,004155: 26,3557 46041 RRNB
026269,004156: 26,3560 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026270,004157: 26,3561 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026271,004158: 26,3562 03733 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026272,004159: 26,3563 77776 EXIT
026273,004160: 26,3564 05155 TC ENDOFJOB
026274,004161:
|
|
Page 602
|
026276,004163: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026277,004164:
026278,004165:
026279,004166: 26,3565 47375 CALCXY VLOAD VXV
026280,004167: 26,3566 03702 VXRCM
026281,004168: 26,3567 03710 LOSDESRD
026282,004169: 26,3570 77656 UNIT
026283,004170: 26,3571 27716 STOVL UXVECT # UX = (VLM X RLM) X LOS
026284,004171: 26,3572 03710 LOSDESRD
026285,004172: 26,3573 53435 VXV UNIT
026286,004173: 26,3574 03716 UXVECT
026287,004174: 26,3575 03724 STORE UYVECT # UY = LOS X UX
026288,004175: 26,3576 77650 GOTO
026289,004176: 26,3577 55523 OFFCALC
026290,004177:
026291,004178:
026292,004179: 26,3600 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026293,004180: 26,3601 03710 LOSDESRD
026294,004181: 26,3602 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026295,004182: 26,3603 52172 VSL1 GOTO
026296,004183: 26,3604 55531 CONTDESG
026297,004184:
026298,004185:
026299,004186: 26,3605 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026300,004187: 26,3606 74745 MASK RNDVZBIT
026301,004188: 26,3607 00006 EXTEND
026302,004189: 26,3610 15261 BZF TASKOVER # NO-EXIT R24
026303,004190: 26,3611 37712 CAF PRIO25 # YES-SCHEDULE JOB TO DRIVE RADAR TO NEXT
026304,004191: 26,3612 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026305,004192: 26,3613 E7,1673 EBANK= RLMSRCH
026306,004193: 26,3613 03616 54067 2CADR DATGDCHK
026307,004194: 26,3615 05261 TC TASKOVER
026308,004195:
026309,004196:
026310,004197: 26,3616 34750 DATGDCHK CAF BIT4
026311,004198: 26,3617 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026312,004199: 26,3620 02033 RAND CHAN33
026313,004200: 26,3621 00006 EXTEND
026314,004201: 26,3622 13631 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
026315,004202: 26,3623 46241 CS SIX
026316,004203: 26,3624 61734 AD NSRCHPNT # IS N GREATER THAN 6
026317,004204: 26,3625 00006 EXTEND
026318,004205: 26,3626 13405 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026319,004206: 26,3627 25734 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026320,004207: 26,3630 13407 TCF CHKSRCH # NEXT POINT IN PATTERN
026321,004208:
026322,004209:
026323,004210: 26,3631 33645 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026324,004211: 26,3632 55731 TS DATAGOOD
026325,004212:
|
|
Page 603
|
026327,004214: 26,3633 00004 INHINT
026328,004215: 26,3634 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
026329,004216: 26,3635 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026330,004217: 26,3636 05155 TC ENDOFJOB
026331,004218:
026332,004219: 26,3637 05567 LIMALARM TC ALARM # ISSUE ALARM 527- LOS NOT IN MODE2
026333,004220: 26,3640 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026334,004221: 26,3641 00004 INHINT # REQUIRED IN P20
026335,004222: 26,3642 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026336,004223: 26,3643 55605 CADR CALLDGCH # POINT IN SEARCH PATTERN
026337,004224: 26,3644 05155 TC ENDOFJOB
026338,004225:
026339,004226:
026340,004227: 26,3645 25547 ALL1S DEC 11111 B-14
026341,004228: 26,3646 33555 01106 SIN60DEG 2DEC .86603
026342,004229: 26,3650 23,2421 COS60DEG = DPHALF # (2DEC .50)
026343,004230: 26,3650 UXVECTPR EQUALS 12D # PREVIOUS
026344,004231: 26,3650 UYVECTPR EQUALS 18D
026345,004232: 26,3650 RLMUNIT EQUALS 12D
026346,004233: 26,3650 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026347,004234: 26,3652 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
026348,004235: 26,3653 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026349,004236: # **** ONEOCT NEEDS A LOWER ORDER ****
026350,004237: # **** WORD OF ZEROES ****
026351,004238: 26,3655 01130 6SECONDS DEC 600 B-14
026352,004239: 26,3656 00062 DEC50 DEC 50 B-14
026353,004240: # ********************************
026354,004241:
026355,004242: # TEST PROGRAM FOR LSR22.3 --- TO BE REMOVED
026356,004243: # ********************************
026357,004244:
026358,004245: 27,2156 BANK 27
026359,004246:
026360,004247: 27,2156 E7,1455 EBANK= AIG
026361,004248: 27,2156 COUNT* $$/RTEST
026362,004249: 27,2156 34755 TEST22.3 CAF ZERO
026363,004250: 27,2157 55122 TS LONG
026364,004251: 27,2160 06036 LOOP22.3 TC INTPRET
026365,004252: 27,2161 70744 LXC,2 DLOAD*
026366,004253: 27,2162 01122 LONG
026367,004254: 27,2163 62370 JOBOVER +1,2
026368,004255: 27,2164 03456 STORE AIG
026369,004256: 27,2165 77743 DLOAD*
026370,004257: 27,2166 62367 JOBOVER +2,2
026371,004258: 27,2167 03457 STORE AMG
026372,004259: 27,2170 77743 DLOAD*
026373,004260:
|
|
Page 604
|
026375,004262: 27,2171 62365 JOBOVER +4,2
026376,004263: 27,2172 03753 STORE MKTIME
026377,004264: 27,2173 77743 DLOAD*
026378,004265: 27,2174 62363 JOBOVER +6,2
026379,004266: 27,2175 03755 STORE RM
026380,004267: 27,2176 77743 DLOAD*
026381,004268: 27,2177 62361 JOBOVER +8D,2
026382,004269: 27,2200 03747 STORE RDOTM
026383,004270: 27,2201 77743 DLOAD*
026384,004271: 27,2202 62357 JOBOVER +10D,2
026385,004272: 27,2203 03734 STORE RRSHAFT
026386,004273: 27,2204 77743 DLOAD*
026387,004274: 27,2205 62355 JOBOVER +12D,2
026388,004275: 27,2206 03732 STORE RRTRUN
026389,004276: 27,2207 77624 CALL
026390,004277: 27,2210 54370 LSR22.3
026391,004278: 27,2211 77776 22.3ENT EXIT
026392,004279: 27,2212 31122 CA LONG
026393,004280: 27,2213 62222 AD DEC13T
026394,004281: 27,2214 55122 TS LONG
026395,004282: 27,2215 11123 CCS LONG +1
026396,004283: 27,2216 02220 TC +2
026397,004284: 27,2217 30000 STOP22.3 CA A
026398,004285: 27,2220 55123 TS LONG +1
026399,004286: 27,2221 02160 TC LOOP22.3
026400,004287: 27,2222 00015 DEC13T DEC 13 B-14
026401,004288:
026402,004289: 27,2223 26,3405 JOBOVER EQUALS LRS24.1 # **** TEMPORARY DEFINITION ******
026403,004290:
026404,004291: # END OF TEST PROGRAM
026405,004292: # ****************************************
026406,004293: 27,2223 23,2423 ZERO/SP EQUALS HI6ZEROS
026407,004294: 4616 BLOCK 02
026408,004295: 6000 SETLOC FFTAG5
026409,004296: 6000 BANK
026410,004297: 6022 COUNT* $$/P20
026411,004298: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026412,004299: 6023 36026 DCA VB56CADR # GOTOPOOH
026413,004300: 6024 15165 TCF SUPDXCHZ
026414,004301: 6025 E7,1467 EBANK= WHOCARES
026415,004302: 6025 03034 66107 VB56CADR 2CADR TRMTRACK
026416,004303:
026417,004304:
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Page 605
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026419,004306: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
026420,004307: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
026421,004308:
026422,004309:
026423,004310: # FUNCTIONAL DESCRIPTION:
026424,004311:
026425,004312: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
026426,004313: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
026427,004314: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
026428,004315: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
026429,004316: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
026430,004317: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
026431,004318:
026432,004319: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
026433,004320:
026434,004321:
026435,004322: # SUBROUTINES CALLED:
026436,004323:
026437,004324: # REMODE RRTONLY
026438,004325: # UNIT MPACVBUF
026439,004326: # QUICTRIG AX*SR*T
026440,004327: # SPSIN SPCOS
026441,004328: # SETRRECR RROUT
026442,004329: # RRRDOT RRRANGE
026443,004330:
026444,004331:
026445,004332: # EXIT: TO NOR29NOW, IN SERVICER.
026446,004333:
026447,004334:
026448,004335: # OUTPUT: (ALL FOR DOWNLINK)
026449,004336:
026450,004337: # RM RDOTM (RAW)
026451,004338: # AIG AMG
026452,004339: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
026453,004340: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
026454,004341: # MKTIME
026455,004342:
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Page 606
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026457,004344:
026458,004345: # ERASABLE INITIALIZATION REQUIRED:
026459,004346:
026460,004347: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
026461,004348: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
026462,004349: # R(CSM) V(CSM)
026463,004350: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
026464,004351:
026465,004352:
026466,004353: # DEBRIS:
026467,004354:
026468,004355: # RADMODES (BIT 10)
026469,004356: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
026470,004357: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
026471,004358: # LOSCMFLG READRFLG
026472,004359:
026473,004360:
026474,004361: # ALARMS: NONE.
026475,004362:
026476,004363:
026477,004364: # COMPONENT JOBS AND TASKS:
026478,004365:
026479,004366: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
026480,004367: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
026481,004368: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
026482,004369:
026483,004370:
026484,004371: 33,2045 BANK 33
026485,004372: 33,2000 SETLOC R29/SERV
026486,004373: 33,2000 BANK
026487,004374:
026488,004375: 33,2045 COUNT* $$/R29
026489,004376:
026490,004377: 33,2045 5014 NR29&RDR EQUALS EBANK5
026491,004378:
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|
Page 607
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026493,004380: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
026494,004381: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
026495,004382:
026496,004383: 33,2045 40110 R29 CS RADMODES
026497,004384: 33,2046 74742 MASK BIT10
026498,004385: 33,2047 00006 EXTEND
026499,004386: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
026500,004387:
026501,004388: 33,2051 00004 INHINT
026502,004389: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
026503,004390: 33,2053 44736 CS BIT14
026504,004391: 33,2054 00006 EXTEND
026505,004392: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
026506,004393: 33,2056 44740 CS LOSCMBIT
026507,004394: 33,2057 70076 MASK FLAGWRD2
026508,004395: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
026509,004396: 33,2061 44753 CS OLDESBIT
026510,004397: 33,2062 70074 MASK STATE
026511,004398: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
026512,004399: 33,2064 04616 TC BANKCALL
026513,004400: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
026514,004401: 33,2066 34740 CA BIT12
026515,004402: 33,2067 70110 MASK RADMODES
026516,004403: 33,2070 10000 CCS A # TEST RR MODE BIT.
026517,004404: 33,2071 12104 TCF SETPRPOS # MODE 2.
026518,004405:
026519,004406: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
026520,004407: 33,2073 05072 TC NOVAC
026521,004408: 33,2074 E7,1454 EBANK= LOSCOUNT
026522,004409: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
026523,004410:
026524,004411: 33,2076 44742 CS BIT10
026525,004412: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
026526,004413: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
026527,004414: 33,2101 34736 CA BIT14
026528,004415: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
026529,004416: 33,2103 12623 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
026530,004417:
026531,004418: 33,2104 34753 SETPRPOS CA ONE
026532,004419: 33,2105 05203 TC WAITLIST
026533,004420: 33,2106 E7,1454 EBANK= LOSCOUNT
026534,004421: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
026535,004422:
026536,004423: 33,2110 34741 CA BIT11
026537,004424: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
026538,004425: 33,2112 12623 TCF NOR29NOW
026539,004426:
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|
Page 608
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026541,004428: # FORCE RENDEZVOUS RADAR INTO MODE 2.
026542,004429:
026543,004430: 33,2113 34753 R29REM0J CA ONE
026544,004431: 33,2114 05203 TC WAITLIST
026545,004432: 33,2115 E7,1454 EBANK= LOSCOUNT
026546,004433: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
026547,004434: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
026548,004435: 33,2120 17667 CADR RADSTALL
026549,004436:
026550,004437: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
026551,004438: 33,2122 15155 TCF ENDOFJOB
026552,004439:
026553,004440: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
026554,004441:
026555,004442: 25,2000 SETLOC R29S1
026556,004443: 25,2000 BANK
026557,004444:
026558,004445: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
026559,004446: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
026560,004447: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
026561,004448: 25,3604 70110 MASK RADMODES
026562,004449: 25,3605 54110 TS RADMODES
026563,004450: 25,3606 15261 TCF TASKOVER
026564,004451:
026565,004452:
026566,004453: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
026567,004454:
026568,004455:
026569,004456: 33,2045 SETLOC R29
026570,004457: 33,2045 BANK
026571,004458:
026572,004459: 33,2123 00006 R29.LOS EXTEND
026573,004460: 33,2124 41235 DCS PIPTIME
026574,004461: 33,2125 52155 DXCH MPAC
026575,004462: 33,2126 00006 EXTEND
026576,004463: 33,2127 30025 DCA TIME2
026577,004464: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
026578,004465: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
026579,004466: 33,2132 30155 CA MPAC +1
026580,004467: 33,2133 00006 EXTEND
026581,004468: 33,2134 74740 MP BIT12
026582,004469: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
026583,004470: 33,2136 06036 TC INTPRET
026584,004471:
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Page 609
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026586,004473: # LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
026587,004474: # START IT UP WHEN THE DATA IS IN PLACE.
026588,004475:
026589,004476:
026590,004477: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
026591,004478: 33,2140 01726 V(CSM)
026592,004479: 33,2141 03525 V # LOSVEL = V(CSM) - V.
026593,004480: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
026594,004481: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
026595,004482: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
026596,004483: 33,2145 03517 R
026597,004484: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
026598,004485: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
026599,004486: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
026600,004487: 33,2151 12623 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
026601,004488:
026602,004489: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
026603,004490: 33,2153 00001 0
026604,004491: 33,2154 77761 VXSC
026605,004492: 33,2155 26177 .5SECB17
026606,004493: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
026607,004494: 33,2157 77414 CLEAR EXIT
026608,004495: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
026609,004496:
026610,004497: 33,2161 40074 CS STATE
026611,004498: 33,2162 74753 MASK OLDESBIT
026612,004499: 33,2163 00006 EXTEND
026613,004500: 33,2164 12623 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
026614,004501: 33,2165 00004 INHINT
026615,004502: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
026616,004503:
026617,004504: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
026618,004505: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
026619,004506: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
026620,004507: 33,2172 05203 TC WAITLIST
026621,004508: 33,2173 E7,1454 EBANK= LOSCOUNT
026622,004509: 33,2173 03253 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
026623,004510: 33,2175 12623 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
026624,004511:
026625,004512: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
026626,004513:
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Page 610
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026628,004515: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
026629,004516: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
026630,004517:
026631,004518: 24,3253 BANK 24
026632,004519: 24,2000 SETLOC P20S
026633,004520: 24,2000 BANK
026634,004521:
026635,004522: 24,3253 COUNT* $$/R29
026636,004523:
026637,004524: 24,3253 35031 BEGDES29 CAF PRIO21
026638,004525: 24,3254 05072 TC NOVAC
026639,004526: 24,3255 E3,1760 EBANK= LOSVDT/4
026640,004527: 24,3255 02545 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
026641,004528:
026642,004529: 24,3257 34774 R29DLOOP CAF .5SEC
026643,004530: 24,3260 05224 TC VARDELAY
026644,004531:
026645,004532: 24,3261 40110 CS RADMODES
026646,004533: 24,3262 74742 MASK BIT10
026647,004534: 24,3263 10000 CCS A
026648,004535: 24,3264 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
026649,004536:
026650,004537: 24,3265 40076 CS FLAGWRD2
026651,004538: 24,3266 74740 MASK LOSCMBIT
026652,004539: 24,3267 00006 EXTEND
026653,004540: 24,3270 13273 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
026654,004541: 24,3271 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
026655,004542: 24,3272 13253 TCF BEGDES29
026656,004543:
026657,004544: 24,3273 34753 CA ONE
026658,004545: 24,3274 13260 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
026659,004546:
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Page 611
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026661,004548: # R29DODES: RR DESIGNATION LOOP FOR R29
026662,004549:
026663,004550: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
026664,004551: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
026665,004552: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
026666,004553: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
026667,004554: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
026668,004555:
026669,004556: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
026670,004557: # TASK WHEN LOCK-ON IS ACHIEVED.
026671,004558:
026672,004559: 32,2545 BANK 32
026673,004560: 32,2000 SETLOC F2DPS*32
026674,004561: 32,2000 BANK
026675,004562:
026676,004563: 32,2545 COUNT* $$/R29
026677,004564: 32,2545 E3,1760 EBANK= LOSVDT/4
026678,004565:
026679,004566: 32,2545 34753 R29DODES CA ONE
026680,004567: 32,2546 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
026681,004568: 32,2547 34756 CA FIVE
026682,004569:
026683,004570: 32,2550 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
026684,004571: 32,2551 54002 TS Q
026685,004572: 32,2552 11107 CCS TANG
026686,004573: 32,2553 12561 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
026687,004574:
026688,004575: 32,2554 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
026689,004576: 32,2555 50002 INDEX Q
026690,004577: 32,2556 31761 DCA LOSVDT/4
026691,004578: 32,2557 50002 INDEX Q
026692,004579: 32,2560 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
026693,004580:
026694,004581: 32,2561 00006 R29DPAS1 EXTEND
026695,004582: 32,2562 50002 INDEX Q
026696,004583: 32,2563 31102 DCA LOSSM
026697,004584: 32,2564 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
026698,004585: 32,2565 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
026699,004586: 32,2566 11107 CCS TANG
026700,004587: 32,2567 12575 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
026701,004588:
026702,004589: 32,2570 00006 EXTEND
026703,004590: 32,2571 50002 INDEX Q
026704,004591: 32,2572 31761 DCA LOSVDT/4
026705,004592: 32,2573 50002 INDEX Q
026706,004593: 32,2574 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
026707,004594:
026708,004595: 32,2575 10002 R29DVEND CCS Q
026709,004596: 32,2576 12550 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
026710,004597:
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Page 612
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026712,004599: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
026713,004600:
026714,004601: 32,2577 52156 DXCH MPAC +1
026715,004602: 32,2600 52155 DXCH MPAC
026716,004603: 32,2601 32770 CA R29FXLOC # = ADRES INTB15+ -34D
026717,004604: 32,2602 54120 TS FIXLOC
026718,004605: 32,2603 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
026719,004606: 32,2604 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
026720,004607: 32,2605 07531 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026721,004608:
026722,004609: 32,2606 11107 CCS TANG
026723,004610: 32,2607 12611 TCF +2
026724,004611: 32,2610 12625 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
026725,004612: 32,2611 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
026726,004613: 32,2612 00006 EXTEND
026727,004614: 32,2613 30036 DCA CDUT
026728,004615: 32,2614 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
026729,004616: 32,2615 30033 CA CDUY
026730,004617: 32,2616 54766 TS CDUSPOT
026731,004618: 32,2617 30034 CA CDUZ
026732,004619: 32,2620 54770 TS CDUSPOT +2
026733,004620: 32,2621 30032 CA CDUX
026734,004621: 32,2622 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026735,004622: 32,2623 04616 TC BANKCALL
026736,004623: 32,2624 47521 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
026737,004624:
026738,004625: 32,2625 46244 GOTANGLS CS THREE
026739,004626: 32,2626 04616 TC BANKCALL
026740,004627: 32,2627 47601 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026741,004628:
026742,004629: 32,2630 11107 CCS TANG
026743,004630: 32,2631 12633 TCF +2
026744,004631: 32,2632 12676 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
026745,004632:
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Page 613
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026747,004634: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026748,004635: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026749,004636:
026750,004637: 32,2633 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
026751,004638: 32,2634 31766 CA SAVECDUT
026752,004639: 32,2635 05032 TC SPCOS
026753,004640: 32,2636 54166 TS PUSHLOC # PUSHLOC = COS T.
026754,004641: 32,2637 41766 CS SAVECDUT
026755,004642: 32,2640 05033 TC SPSIN
026756,004643: 32,2641 54163 TS MODE # MODE = -SIN T.
026757,004644: 32,2642 00006 EXTEND
026758,004645: 32,2643 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
026759,004646: 32,2644 52155 DXCH MPAC
026760,004647: 32,2645 31767 CA SAVECDUT +1
026761,004648: 32,2646 05033 TC SPSIN
026762,004649: 32,2647 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
026763,004650: 32,2650 00006 EXTEND
026764,004651: 32,2651 70166 MP PUSHLOC
026765,004652: 32,2652 00006 EXTEND
026766,004653: 32,2653 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
026767,004654: 32,2654 20155 DAS MPAC
026768,004655: 32,2655 31767 CA SAVECDUT +1
026769,004656: 32,2656 05032 TC SPCOS
026770,004657: 32,2657 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
026771,004658: 32,2660 00006 EXTEND
026772,004659: 32,2661 70166 MP PUSHLOC
026773,004660: 32,2662 00006 EXTEND
026774,004661: 32,2663 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
026775,004662: 32,2664 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
026776,004663: 32,2665 00006 EXTEND # -SIN T, COS S COS T).
026777,004664: 32,2666 30155 DCA MPAC
026778,004665: 32,2667 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026779,004666: 32,2670 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
026780,004667: 32,2671 34736 CA BIT14
026781,004668: 32,2672 12673 NOOP
026782,004669: 32,2673 00006 EXTEND
026783,004670: 32,2674 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026784,004671: 32,2675 12547 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
026785,004672:
|
|
Page 614
|
026787,004674: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026788,004675:
026789,004676:
026790,004677: 32,2676 31767 R29DPAS2 CA SAVECDUT +1
026791,004678: 32,2677 00006 EXTEND
026792,004679: 32,2700 70122 MP VBUF # FORM COS S ULOSNB'X.
026793,004680: 32,2701 53110 DXCH TANG
026794,004681: 32,2702 41766 CS SAVECDUT
026795,004682: 32,2703 00006 EXTEND
026796,004683: 32,2704 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
026797,004684: 32,2705 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026798,004685: 32,2706 40163 CS MODE # - SIN S)
026799,004686: 32,2707 00006 EXTEND
026800,004687: 32,2710 71766 MP SAVECDUT
026801,004688: 32,2711 00006 EXTEND
026802,004689: 32,2712 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
026803,004690: 32,2713 52155 DXCH MPAC
026804,004691: 32,2714 30166 CA PUSHLOC
026805,004692: 32,2715 00006 EXTEND
026806,004693: 32,2716 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
026807,004694: 32,2717 20155 DAS MPAC
026808,004695: 32,2720 40163 CS MODE
026809,004696: 32,2721 00006 EXTEND
026810,004697: 32,2722 71767 MP SAVECDUT +1
026811,004698: 32,2723 00006 EXTEND
026812,004699: 32,2724 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
026813,004700: 32,2725 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
026814,004701: 32,2726 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
026815,004702: 32,2727 00006 EXTEND
026816,004703: 32,2730 72771 MP RR29GAIN
026817,004704: 32,2731 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
026818,004705: 32,2732 00006 EXTEND
026819,004706: 32,2733 72771 MP RR29GAIN
026820,004707: 32,2734 55110 TS TANG +1 # STORE REFINED S CMD.
026821,004708:
|
|
Page 615
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026823,004710: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
026824,004711: # READING DATA FROM THE RENDEZVOUS RADAR.
026825,004712:
026826,004713: 32,2735 34750 DGOOD? CAF BIT4
026827,004714: 32,2736 00006 EXTEND
026828,004715: 32,2737 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
026829,004716: 32,2740 00004 INHINT # (MAINLY FOR RROUT).
026830,004717: 32,2741 00006 EXTEND
026831,004718: 32,2742 12746 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
026832,004719:
026833,004720: 32,2743 04616 TC BANKCALL
026834,004721: 32,2744 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026835,004722: 32,2745 12764 TCF END29DOD
026836,004723:
026837,004724: 32,2746 44742 R29LOKON CS BIT10
026838,004725: 32,2747 70110 MASK RADMODES
026839,004726: 32,2750 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
026840,004727: 32,2751 44752 CS BIT2
026841,004728: 32,2752 00006 EXTEND
026842,004729: 32,2753 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
026843,004730: 32,2754 34743 CA READRBIT
026844,004731: 32,2755 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
026845,004732: 32,2756 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
026846,004733: 32,2757 44776 CS SUPER110 # -96D + 100D = 4.
026847,004734: 32,2760 64777 AD 1SEC # 0 + 100D = 100D.
026848,004735: 32,2761 05203 TC WAITLIST
026849,004736: 32,2762 E7,1454 EBANK= LOSCOUNT
026850,004737: 32,2762 03275 50067 2CADR R29READ # START READING TASK AND JOB.
026851,004738:
026852,004739: 32,2764 44740 END29DOD CS LOSCMBIT
026853,004740: 32,2765 70076 MASK FLAGWRD2
026854,004741: 32,2766 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026855,004742: 32,2767 15155 TCF ENDOFJOB
026856,004743:
026857,004744: 32,2770 00052 R29FXLOC ADRES INTB15+ -34D
026858,004745: 32,2771 56655 RR29GAIN DEC -.53624
026859,004746: 32,2772 E3,1760 LOSVDT/4 EQUALS LOSVEL
026860,004747: 32,2772 1101 LOSSM EQUALS RRTARGET
026861,004748: 32,2772 E3,1766 SAVECDUT EQUALS MLOSV
026862,004749:
|
|
Page 616
|
026864,004751: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026865,004752:
026866,004753: 24,3275 BANK 24
026867,004754: 24,2000 SETLOC P20S
026868,004755: 24,2000 BANK
026869,004756:
026870,004757: 24,3275 COUNT* $$/R29
026871,004758:
026872,004759: 24,3275 E7,1454 EBANK= LOSCOUNT
026873,004760:
026874,004761: 24,3275 37713 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026875,004762: 24,3276 05072 TC NOVAC
026876,004763: 24,3277 E7,1454 EBANK= LOSCOUNT
026877,004764: 24,3277 03310 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026878,004765:
026879,004766: 24,3301 35000 CA 2SECS
026880,004767: 24,3302 05224 TC VARDELAY
026881,004768:
026882,004769: 24,3303 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026883,004770: 24,3304 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026884,004771: 24,3305 10000 CCS A
026885,004772: 24,3306 13275 TCF R29READ # IT'S OK; CALL IT AGAIN.
026886,004773: 24,3307 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026887,004774:
026888,004775: 24,3310 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026889,004776: 24,3311 74741 MASK NR29FBIT
026890,004777: 24,3312 10000 CCS A # TEST "NOR29FLG".
026891,004778: 24,3313 13372 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
026892,004779:
026893,004780: 24,3314 30110 CA RADMODES
026894,004781: 24,3315 74752 MASK AUTOMBIT
026895,004782: 24,3316 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026896,004783: 24,3317 13372 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026897,004784:
026898,004785: 24,3320 04616 TC BANKCALL
026899,004786: 24,3321 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026900,004787: 24,3322 04616 TC BANKCALL
026901,004788: 24,3323 17667 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026902,004789: 24,3324 13372 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026903,004790:
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|
Page 617
|
026905,004792: # R29 RADAR READING CONTINUED.
026906,004793:
026907,004794:
026908,004795: 24,3325 53106 DXCH TIMEHOLD
026909,004796: 24,3326 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026910,004797: 24,3327 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026911,004798: 24,3330 00006 EXTEND
026912,004799: 24,3331 30036 DCA CDUT
026913,004800: 24,3332 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026914,004801: 24,3333 00006 EXTEND
026915,004802: 24,3334 30034 DCA CDUY
026916,004803: 24,3335 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026917,004804: 24,3336 30032 CA CDUX
026918,004805: 24,3337 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026919,004806:
026920,004807: 24,3340 04616 R29RANGE TC BANKCALL
026921,004808: 24,3341 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
026922,004809: 24,3342 04616 TC BANKCALL
026923,004810: 24,3343 17667 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026924,004811: 24,3344 13363 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026925,004812:
026926,004813: 24,3345 00004 INHINT
026927,004814: 24,3346 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026928,004815: 24,3347 53755 DXCH RM
026929,004816: 24,3350 52155 DXCH MPAC
026930,004817: 24,3351 53753 DXCH MKTIME
026931,004818: 24,3352 52157 DXCH MPAC +2
026932,004819: 24,3353 53751 DXCH TANGNB
026933,004820: 24,3354 52161 DXCH MPAC +4
026934,004821: 24,3355 53456 DXCH AIG
026935,004822: 24,3356 30162 CA MPAC +6
026936,004823: 24,3357 55457 TS AOG
026937,004824: 24,3360 34753 CA ONE
026938,004825: 24,3361 55460 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026939,004826: 24,3362 15155 TCF ENDOFJOB
026940,004827:
026941,004828: 24,3363 40101 R29RRR? CS FLAGWRD5
026942,004829: 24,3364 74742 MASK BIT10
026943,004830: 24,3365 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026944,004831: 24,3366 13372 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026945,004832: 24,3367 05516 TC DOWNFLAG
026946,004833: 24,3370 00120 ADRES RNGSCFLG
026947,004834: 24,3371 13340 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026948,004835:
026949,004836: 24,3372 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
026950,004837: 24,3373 55460 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
026951,004838: 24,3374 05516 TC DOWNFLAG
026952,004839: 24,3375 00063 ADRES READRFLG
026953,004840: 24,3376 44736 CS BIT14
026954,004841: 24,3377 00006 EXTEND
026955,004842:
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|
Page 618
|
026957,004844: 24,3400 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
026958,004845: 24,3401 15155 TCF ENDOFJOB
026959,004846:
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|
Page 619
|
026961,004848: # W-MATRIX MONITOR
026962,004849:
026963,004850: 31,2011 BANK 31
026964,004851: 31,2000 SETLOC VB67
026965,004852: 31,2000 BANK
026966,004853: 31,2011 COUNT* $$/EXTVB
026967,004854:
026968,004855: 31,2011 E4,1604 EBANK= WWPOS
026969,004856:
026970,004857: 31,2011 06036 V67CALL TC INTPRET
026971,004858: 31,2012 77624 CALL
026972,004859: 31,2013 62114 V67WW
026973,004860: 31,2014 77776 EXIT
026974,004861: 31,2015 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026975,004862: 31,2016 31605 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026976,004863: 31,2017 53611 DXCH WWVEL +2
026977,004864: 31,2020 00006 EXTEND
026978,004865: 31,2021 31607 DCA WWVEL
026979,004866: 31,2022 53613 DXCH WWVEL +4
026980,004867: 31,2023 32171 V06N99DS CAF V06N99
026981,004868: 31,2024 04616 TC BANKCALL
026982,004869: 31,2025 20231 CADR GOXDSPFR
026983,004870: 31,2026 15472 TCF ENDEXT
026984,004871: 31,2027 12034 TCF +5
026985,004872: 31,2030 12023 TCF V06N99DS
026986,004873: 31,2031 34751 CAF BIT3
026987,004874: 31,2032 05464 TC BLANKET
026988,004875: 31,2033 05155 TC ENDOFJOB
026989,004876: 31,2034 22007 +5 ZL
026990,004877: 31,2035 36244 CA THREE
026991,004878: 31,2036 54002 N99LOOP TS Q
026992,004879: 31,2037 50002 INDEX Q
026993,004880: 31,2040 41604 CS WWPOS
026994,004881: 31,2041 50002 INDEX Q
026995,004882: 31,2042 61610 AD WWPOS +4
026996,004883: 31,2043 26001 ADS L
026997,004884: 31,2044 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026998,004885: 31,2045 12036 TCF N99LOOP
026999,004886: 31,2046 22000 LXCH A
027000,004887: 31,2047 00006 EXTEND
027001,004888: 31,2050 12053 BZF V06N9933
027002,004889: 31,2051 05504 TC UPFLAG
027003,004890: 31,2052 00160 ADRES V67FLAG
027004,004891:
027005,004892: 31,2053 06036 V06N9933 TC INTPRET
027006,004893: 31,2054 77414 BON EXIT
027007,004894: 31,2055 03707 V67FLAG
027008,004895: 31,2056 62060 +2
027009,004896: 31,2057 15472 TCF ENDEXT
027010,004897: 31,2060 41345 DLOAD DMP
027011,004898:
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|
Page 620
|
027013,004900: 31,2061 02205 WWPOS
027014,004901: 31,2062 22170 1/SQRT3
027015,004902: 31,2063 72412 SL4 SL1
027016,004903: 31,2064 14001 STODL 0D
027017,004904: 31,2065 02207 WWVEL
027018,004905: 31,2066 77605 DMP
027019,004906: 31,2067 22170 1/SQRT3
027020,004907: 31,2070 00003 STORE 2D
027021,004908: 31,2071 72014 BON LXA,1
027022,004909: 31,2072 04307 SURFFLAG
027023,004910: 31,2073 62103 V67SURF
027024,004911: 31,2074 00000 0D
027025,004912: 31,2075 72130 SXA,1 LXA,1
027026,004913: 31,2076 02000 WRENDPOS
027027,004914: 31,2077 00002 2D
027028,004915: 31,2100 52130 SXA,1 GOTO
027029,004916: 31,2101 02001 WRENDVEL
027030,004917: 31,2102 62111 V67CLRF
027031,004918: 31,2103 66150 V67SURF LXA,1 SXA,1
027032,004919: 31,2104 00000 0D
027033,004920: 31,2105 02006 WSURFPOS
027034,004921: 31,2106 66150 LXA,1 SXA,1
027035,004922: 31,2107 00002 2D
027036,004923: 31,2110 02007 WSURFVEL
027037,004924: 31,2111 77414 V67CLRF CLEAR EXIT
027038,004925: 31,2112 02676 RENDWFLG
027039,004926: 31,2113 15472 TCF ENDEXT
027040,004927: 31,2114 40020 V67WW STQ BOV
027041,004928: 31,2115 00051 S2
027042,004929: 31,2116 62117 +1
027043,004930: 31,2117 45014 CLEAR CALL
027044,004931: 31,2120 03667 V67FLAG
027045,004932: 31,2121 27412 INTSTALL
027046,004933: 31,2122 71331 SSP DLOAD
027047,004934: 31,2123 00051 S1
027048,004935: 31,2124 00006 DEC 6 B-14
027049,004936: 31,2125 06424 ZEROVECS
027050,004937: 31,2126 02205 STORE WWPOS
027051,004938: 31,2127 02207 STORE WWVEL
027052,004939: 31,2130 77770 AXT,1
027053,004940: 31,2131 00066 DEC 54 B-14
027054,004941: 31,2132 47573 NXPOSVEL VLOAD* VSQ
027055,004942: 31,2133 02467 W +54D,1
027056,004943: 31,2134 77615 DAD
027057,004944: 31,2135 02205 WWPOS
027058,004945: 31,2136 02205 STORE WWPOS
027059,004946: 31,2137 47573 VLOAD* VSQ
027060,004947: 31,2140 02555 W +108D,1
027061,004948: 31,2141 77615 DAD
027062,004949: 31,2142 02207 WWVEL
027063,004950:
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Page 621
|
027065,004952: 31,2143 02207 STORE WWVEL
027066,004953: 31,2144 75500 TIX,1 SQRT
027067,004954: 31,2145 62132 NXPOSVEL
027068,004955: 31,2146 16207 STODL WWVEL
027069,004956: 31,2147 02205 WWPOS
027070,004957: 31,2150 77766 SQRT
027071,004958: 31,2151 02205 STORE WWPOS
027072,004959: 31,2152 52000 BOV GOTO
027073,004960: 31,2153 62155 +2
027074,004961: 31,2154 62161 V67XXX
027075,004962: 31,2155 77745 DLOAD
027076,004963: 31,2156 06432 DPPOSMAX
027077,004964: 31,2157 02205 STORE WWPOS
027078,004965: 31,2160 02207 STORE WWVEL
027079,004966: 31,2161 66150 V67XXX LXA,1 SXA,1
027080,004967: 31,2162 00051 S2
027081,004968: 31,2163 00052 QPRET
027082,004969: 31,2164 77776 EXIT
027083,004970: 31,2165 04635 TC POSTJUMP
027084,004971: 31,2166 27427 CADR INTWAKE
027085,004972:
027086,004973: 31,2167 22363 11620 1/SQRT3 2DEC 0.5773502
027087,004974: 31,2171 01543 V06N99 VN 0699
027088,004975:
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Page 622
|
027090,004977: 25,3607 BANK 25
027091,004978: 25,2000 SETLOC RADARUPT
027092,004979: 25,2000 BANK
027093,004980: 25,3607 COUNT* $$/RRUPT
027094,004981:
027095,004982: 25,3607 E7,1454 EBANK= LOSCOUNT
027096,004983:
027097,004984: 25,3607 34753 R12LITES CA ONE
027098,004985: 25,3610 71303 MASK IMODES33
027099,004986: 25,3611 10000 CCS A
027100,004987: 25,3612 14707 TCF ISWRETRN
027101,004988:
027102,004989: 25,3613 03630 TC HLIGHT
027103,004990: 25,3614 03625 TC HLIGHT -3
027104,004991: 25,3615 14707 TCF ISWRETRN
027105,004992:
027106,004993: 25,3616 34753 RADLITES CA BIT1
027107,004994: 25,3617 71303 MASK IMODES33
027108,004995: 25,3620 10000 CCS A
027109,004996: 25,3621 00002 TC Q
027110,004997:
027111,004998: 25,3622 44747 CS BIT5
027112,004999: 25,3623 60061 AD ITEMP1
027113,005000: 25,3624 10000 CCS A
027114,005001: 25,3625 44753 CS ONE
027115,005002: 25,3626 13664 TCF VLIGHT
027116,005003:
027117,005004: 25,3627 14570 TCF RRTRKF
027118,005005:
027119,005006: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
027120,005007:
027121,005008: 25,3631 34747 CA HLITE
027122,005009: 25,3632 54001 TS L
027123,005010:
027124,005011: 25,3633 30107 CA FLGWRD11
027125,005012: 25,3634 74751 MASK SCABBIT
027126,005013: 25,3635 10000 CCS A
027127,005014: 25,3636 13656 TCF ONLITES
027128,005015: 25,3637 34747 CA BIT5
027129,005016: 25,3640 70110 BOTHLITS MASK RADMODES
027130,005017: 25,3641 10000 CCS A
027131,005018: 25,3642 13656 TCF ONLITES
027132,005019:
027133,005020: 25,3643 30107 CA FLGWRD11
027134,005021: 25,3644 50065 INDEX ITEMP5
027135,005022: 25,3645 74753 MASK HFLSHBIT
027136,005023: 25,3646 10000 CCS A
027137,005024: 25,3647 14570 TCF RRTRKF
027138,005025:
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|
Page 623
|
027140,005027: 25,3650 00006 LITIT EXTEND
027141,005028: 25,3651 22066 QXCH ITEMP6
027142,005029: 25,3652 04602 TC TRKFLON +1
027143,005030:
027144,005031: 25,3653 00006 EXTEND
027145,005032: 25,3654 22066 QXCH ITEMP6
027146,005033: 25,3655 14570 TCF RRTRKF
027147,005034:
027148,005035:
027149,005036: 25,3656 50065 ONLITES INDEX ITEMP5
027150,005037: 25,3657 44753 CS HFLSHBIT
027151,005038: 25,3660 70107 MASK FLGWRD11
027152,005039: 25,3661 54107 TS FLGWRD11
027153,005040:
027154,005041: 25,3662 30001 CA L
027155,005042: 25,3663 13650 TCF LITIT
027156,005043: 25,3664 54065 VLIGHT TS ITEMP5
027157,005044: 25,3665 34751 CA VLITE
027158,005045: 25,3666 54001 TS L
027159,005046: 25,3667 34744 CA BIT8
027160,005047: 25,3670 13640 TCF BOTHLITS
027161,005048:
027162,005049: 25,3671 4747 HLITE EQUALS BIT5
027163,005050: 25,3671 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc