Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction 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 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 98 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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020644,000002: ## Copyright: Public domain.
020645,000003: ## Filename: P20-P25.agc
020646,000004: ## Purpose: A section of Luminary revision 98.
020647,000005: ## It is part of the reconstructed source code for the a
020648,000006: ## development version of the flight software for the Lunar
020649,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
020650,000008: ## The code has been recreated from a copy of Luminary 99
020651,000009: ## revision 001, using asterisks indicating changed lines in
020652,000010: ## the listing and Luminary Memo #85, which lists changes between
020653,000011: ## Luminary 98 and 99.
020654,000012: ## Reference: pp. 492-613
020655,000013: ## Assembler: yaYUL
020656,000014: ## Contact: Ron Burkey <info@sandroid.org>.
020657,000015: ## Website: www.ibiblio.org/apollo/index.html
020658,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
020659,000017:
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020661,000019: # RENDEZVOUS NAVIGATION PROGRAM 20
020662,000020:
020663,000021: # PROGRAM DESCRIPTION
020664,000022:
020665,000023: # MOD NO - 2
020666,000024: # BY P. VOLANTE
020667,000025:
020668,000026: # FUNCTIONAL DESCRIPTION
020669,000027:
020670,000028: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
020671,000029: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
020672,000030: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
020673,000031: # ON THE BASIS OF THE RR TRACKING DATA.
020674,000032:
020675,000033: # CALLING SEQUENCE -
020676,000034:
020677,000035: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
020678,000036:
020679,000037: # SUBROUTINES CALLED
020680,000038:
020681,000039: # R02BOTH (IMU STATUS CHECK) FLAGUP
020682,000040: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
020683,000041: # R23LEM (MANUAL ACQUISITION) BANKCALL
020684,000042: # LS201 (LOS DETERMINATION) TASKOVER
020685,000043: # LS202 (RANGE LIMIT TEST)
020686,000044: # R61LEM (PREFERRED TRACKING ATTITUDE)
020687,000045: # R21LEM (RR DESIGNATE) ENDOFJOB
020688,000046: # R22LEM (DATA READ) GOPERF1
020689,000047: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
020690,000048: # PRIOLARM (PRIORITY DISPLAY)
020691,000049:
020692,000050: # NORMAL EXIT MODES -
020693,000051:
020694,000052: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
020695,000053: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
020696,000054:
020697,000055: # ALARM OR ABORT EXIT MODES -
020698,000056:
020699,000057: # RANGE GREATER THAN 400 NM DISPLAY
020700,000058:
020701,000059: # OUTPUT
020702,000060:
020703,000061: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
020704,000062:
020705,000063: # ERASABLE INITIALIZATION REQUIRED
020706,000064:
020707,000065: # FLAGS SET + RESET
020708,000066:
020709,000067: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
020710,000068:
020711,000069: # DEBRIS
020712,000070:
020713,000071: # CENTRALS - A,Q,L
020714,000072:
020715,000073: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
020716,000074:
020717,000075: 33,2045 BANK 33
020718,000076: 24,2000 SETLOC P20S
020719,000077: 24,2000 BANK
020720,000078:
020721,000079: 24,2000 E7,1456 EBANK= LOSCOUNT
020722,000080: 24,2000 COUNT* $$/P20
020723,000081: 24,2000 24,2000 PROG22 = PROG20
020724,000082: 24,2000 05327 PROG20 TC 2PHSCHNG
020725,000083: 24,2001 00004 OCT 4
020726,000084: 24,2002 05022 OCT 05022
020727,000085: 24,2003 26000 OCT 26000 # PRIORITY 26
020728,000086: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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020730,000088: 24,2005 02007 TC ORBCHGO # YES
020731,000089: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
020732,000090: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
020733,000091: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
020734,000092: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
020735,000093: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT
020736,000094: 24,2013 32311 CAF OCT00012
020737,000095: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
020738,000096: 24,2015 20633 CADR GOPERF4
020739,000097: 24,2016 06001 TC GOTOPOOH # TERMINATE
020740,000098: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
020741,000099: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
020742,000100: 24,2021 42312 ORBCHG1 CS P22ONE
020743,000101: 24,2022 61145 AD OPTION2
020744,000102: 24,2023 00006 EXTEND
020745,000103: 24,2024 12040 BZF PROG20A
020746,000104: 24,2025 32315 CAF V06N33*
020747,000105: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
020748,000106: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH
020749,000107: 24,2030 06001 TC GOTOPOOH # TERMINATE
020750,000108: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
020751,000109: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
020752,000110: 24,2033 06037 ORBCHG2 TC INTPRET
020753,000111: 24,2034 77650 GOTO
020754,000112: 24,2035 64217 ORBCHG3
020755,000113: 32,2217 BANK 32
020756,000114: 32,2000 SETLOC P20S4
020757,000115: 32,2000 BANK
020758,000116: 32,2217 COUNT* $$/P20
020759,000117:
020760,000118: 32,2217 77624 ORBCHG3 CALL
020761,000119: 32,2220 27414 INTSTALL
020762,000120: 32,2221 77745 DLOAD
020763,000121: 32,2222 03442 TIG
020764,000122: 32,2223 03661 STORE LNCHTM
020765,000123: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
020766,000124: 32,2225 43014 CLEAR CLEAR
020767,000125: 32,2226 01674 VINTFLAG # LM INTEGRATION
020768,000126: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
020769,000127: 32,2230 43014 CLEAR CLEAR
020770,000128: 32,2231 01676 DIM0FLAG # NO W-MATRIX
020771,000129: 32,2232 01675 D6OR9FLG
020772,000130: 32,2233 77624 CALL
020773,000131: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
020774,000132: 32,2235 77624 CALL
020775,000133: 32,2236 11244 GRP2PC
020776,000134: 32,2237 77775 VLOAD
020777,000135: 32,2240 00017 RATT1
020778,000136: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
020779,000137: 32,2242 00015 TAT
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020781,000139: 32,2243 34041 STCALL TDEC1
020782,000140: 32,2244 27414 INTSTALL
020783,000141: 32,2245 43014 SET CLEAR
020784,000142: 32,2246 01474 VINTFLAG # CSM INTEGRATION
020785,000143: 32,2247 01673 INTYPFLG
020786,000144: 32,2250 43014 CLEAR BOFF
020787,000145: 32,2251 01676 DIM0FLAG
020788,000146: 32,2252 02756 RENDWFLG # W MATRIX VALID
020789,000147: 32,2253 64257 NOWMATX # NO
020790,000148: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
020791,000149: 32,2255 01476 DIM0FLAG
020792,000150: 32,2256 01475 D6OR9FLG
020793,000151: 32,2257 77624 NOWMATX CALL
020794,000152: 32,2260 27134 INTEGRV # CSM INTEGRATION
020795,000153: 32,2261 77624 CALL
020796,000154: 32,2262 11244 GRP2PC
020797,000155: 32,2263 77775 VLOAD
020798,000156: 32,2264 00025 VATT1
020799,000157: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
020800,000158: 32,2266 00017 RATT1
020801,000159: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION
020802,000160: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020803,000161: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
020804,000162: 32,2272 24025 STOVL 20D # SAVE NSUB1
020805,000163: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
020806,000164: 32,2274 53435 VXV UNIT # PLANE CHANGE
020807,000165: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
020808,000166: 32,2276 27637 STOVL UCSM
020809,000167: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
020810,000168: 32,2300 50256 UNIT DOT # AND RSUBC
020811,000169: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
020812,000170: 32,2302 77752 SL1
020813,000171: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
020814,000172: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
020815,000173: 32,2305 10314 ONEB-2
020816,000174: 32,2306 77766 SQRT
020817,000175: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
020818,000176: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
020819,000177: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
020820,000178: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
020821,000179: 32,2313 77676 VCOMP
020822,000180: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
020823,000181: 32,2315 45014 CLEAR CALL
020824,000182: 32,2316 03666 RVSW
020825,000183: 32,2317 24732 TIMETHET
020826,000184: 32,2320 77676 VCOMP
020827,000185: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
020828,000186: 32,2322 77745 DLOAD
020829,000187: 32,2323 00037 T
020830,000188: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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020832,000190: 32,2325 03645 NEWVEL
020833,000191: 32,2326 77646 ABVAL
020834,000192: 32,2327 24025 STOVL 20D
020835,000193: 32,2330 00001 0D
020836,000194: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
020837,000195: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020838,000196: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
020839,000197: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
020840,000198: 32,2335 03653 NEWPOS # ORBITAL PLANE
020841,000199: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
020842,000200: 32,2337 00025 20D
020843,000201: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
020844,000202: 32,2341 11244 GRP2PC
020845,000203: 32,2342 77624 CALL
020846,000204: 32,2343 27414 INTSTALL
020847,000205: 32,2344 44345 DLOAD BDSU
020848,000206: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
020849,000207: 32,2346 03661 LNCHTM
020850,000208: 32,2347 25517 STOVL TET
020851,000209: 32,2350 03653 NEWPOS
020852,000210: 32,2351 01535 STORE RCV
020853,000211: 32,2352 25503 STOVL RRECT
020854,000212: 32,2353 03665 NCSMVEL
020855,000213: 32,2354 35511 STCALL VRECT
020856,000214: 32,2355 23455 MINIRECT
020857,000215: 32,2356 45174 AXT,2 CALL
020858,000216: 32,2357 00002 2
020859,000217: 32,2360 26661 ATOPCSM
020860,000218: 32,2361 77624 CALL
020861,000219: 32,2362 27423 INTWAKE0
020862,000220: 32,2363 77776 EXIT
020863,000221: 32,2364 04616 TC BANKCALL
020864,000222: 32,2365 50040 CADR PROG20A
020865,000223:
020866,000224: 24,2036 BANK 24
020867,000225: 24,2000 SETLOC P20S
020868,000226: 24,2000 BANK
020869,000227: 24,2036 COUNT* $$/P20
020870,000228:
020871,000229: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
020872,000230: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
020873,000231: 24,2040 04616 PROG20A TC BANKCALL
020874,000232: 24,2041 11254 CADR R02BOTH
020875,000233: 24,2042 05504 TC UPFLAG
020876,000234: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
020877,000235: 24,2044 05504 TC UPFLAG
020878,000236: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
020879,000237: 24,2046 05504 TC UPFLAG
020880,000238: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
020881,000239: 24,2050 05516 TC DOWNFLAG
020882,000240: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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020884,000242: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
020885,000243: 24,2053 00040 ADRES ACMODFLG
020886,000244: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
020887,000245: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
020888,000246: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
020889,000247: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
020890,000248: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
020891,000249: 24,2061 00041 ADRES LOSCMFLG
020892,000250: 24,2062 06011 TC CLRADMOD
020893,000251: 24,2063 05353 P20LEM1 TC PHASCHNG
020894,000252: 24,2064 04022 OCT 04022
020895,000253: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
020896,000254: 24,2066 55462 TS MARKCTR
020897,000255: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE
020898,000256: 24,2070 77634 RTB
020899,000257: 24,2071 21573 LOADTIME
020900,000258: 24,2072 34041 STCALL TDEC1
020901,000259: 24,2073 51255 LPS20.1
020902,000260: 24,2074 77624 CALL
020903,000261: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE
020904,000262: 24,2076 77776 EXIT
020905,000263: 24,2077 50154 INDEX MPAC
020906,000264: 24,2100 02101 TC +1
020907,000265: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
020908,000266: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
020909,000267: 24,2103 04616 TC BANKCALL
020910,000268: 24,2104 21562 CADR PRIOLARM
020911,000269: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020912,000270: 24,2106 02102 TC -4 # PROC (ILLEGAL
020913,000271: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
020914,000272: 24,2110 05155 TC ENDOFJOB
020915,000273:
020916,000274: 24,2111 05353 P20LEMA TC PHASCHNG
020917,000275: 24,2112 04022 OCT 04022
020918,000276: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
020919,000277: 24,2114 02117 TC P20LEMB
020920,000278: 24,2115 04616 TC BANKCALL
020921,000279: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
020922,000280: 24,2117 05353 P20LEMB TC PHASCHNG
020923,000281: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
020924,000282: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
020925,000283: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26
020926,000284: 24,2123 05146 TC PRIOCHNG
020927,000285: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
020928,000286: 24,2125 74747 MASK TRACKBIT
020929,000287: 24,2126 00006 EXTEND
020930,000288: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
020931,000289: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
020932,000290: 24,2131 00006 EXTEND
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020934,000292: 24,2132 02033 RAND CHAN33
020935,000293: 24,2133 00006 EXTEND
020936,000294: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
020937,000295:
020938,000296: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
020939,000297: 24,2136 61011 AD MODREG # MAJOR MODE IS 20
020940,000298: 24,2137 00006 EXTEND
020941,000299: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES - OK TO DO PLEASE PERFORM
020942,000300:
020943,000301: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22
020944,000302: 24,2142 00006 EXTEND
020945,000303: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
020946,000304: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
020947,000305: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
020948,000306: 24,2146 21562 CADR PRIOLARM
020949,000307: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
020950,000308: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
020951,000309: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
020952,000310: 24,2152 05155 TC ENDOFJOB
020953,000311: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
020954,000312: 24,2154 04616 TC BANKCALL
020955,000313: 24,2155 20623 CADR GOPERF1
020956,000314: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020957,000315: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
020958,000316: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
020959,000317: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
020960,000318: 24,2162 03135 TC R23LEM # NO - DO MANUAL ACQUISITION
020961,000319:
020962,000320: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
020963,000321: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
020964,000322: 24,2165 02117 TC P20LEMB # RR AUTO MODE
020965,000323:
020966,000324: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
020967,000325: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
020968,000326:
020969,000327: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
020970,000328: 24,2171 74737 MASK RCDU0BIT
020971,000329: 24,2172 00006 EXTEND
020972,000330: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
020973,000331: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
020974,000332: 24,2175 70076 MASK FLAGWRD2
020975,000333: 24,2176 00006 EXTEND
020976,000334: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
020977,000335: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
020978,000336: 24,2201 00037 ADRES SRCHOPTN
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020980,000338: 24,2202 05516 TC DOWNFLAG
020981,000339: 24,2203 00040 ADRES ACMODFLG
020982,000340: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
020983,000341:
020984,000342: 24,2205 32304 P20LEMB4 CAF 250DEC
020985,000343: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
020986,000344: 24,2207 01735 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
020987,000345: 24,2210 02170 TC P20LEMB3
020988,000346:
020989,000347: 24,2211 06037 P20LEMC3 TC INTPRET
020990,000348: 24,2212 77634 RTB
020991,000349: 24,2213 21573 LOADTIME
020992,000350: 24,2214 34041 STCALL TDEC1
020993,000351: 24,2215 50316 UPPSV
020994,000352: 24,2216 77776 P20LEMC4 EXIT
020995,000353: 24,2217 05353 P20LEMC TC PHASCHNG
020996,000354: 24,2220 04022 OCT 04022
020997,000355: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
020998,000356: 24,2222 74745 MASK RNDVZBIT
020999,000357: 24,2223 00006 EXTEND
021000,000358: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021001,000359: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021002,000360: 24,2226 74747 MASK TRACKBIT
021003,000361: 24,2227 00006 EXTEND
021004,000362: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021005,000363: 24,2231 02674 P20LEMF TC R21LEM
021006,000364:
021007,000365: 24,2232 32304 P20LEMWT CAF 250DEC
021008,000366: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021009,000367: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021010,000368: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021011,000369: 24,2236 74747 MASK TRACKBIT
021012,000370: 24,2237 00006 EXTEND
021013,000371: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021014,000372: 24,2241 05353 P20LMWT1 TC PHASCHNG
021015,000373: 24,2242 40072 OCT 40072
021016,000374: 24,2243 05155 TC ENDOFJOB
021017,000375:
021018,000376: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021019,000377: 24,2245 74745 MASK RNDVZBIT
021020,000378: 24,2246 00006 EXTEND
021021,000379: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021022,000380: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021023,000381: 24,2251 74747 MASK TRACKBIT
021024,000382: 24,2252 00006 EXTEND
021025,000383: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
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Page 499
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021027,000385: 24,2254 37714 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021028,000386: 24,2255 05105 TC FINDVAC
021029,000387: 24,2256 E7,1456 EBANK= LOSCOUNT
021030,000388: 24,2256 02627 50067 2CADR R22LEM42
021031,000389:
021032,000390: 24,2260 05261 TC TASKOVER
021033,000391:
021034,000392: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021035,000393: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021036,000394:
021037,000395: 24,2263 02244 TC P20LEMC1
021038,000396:
021039,000397: 24,2264 32666 P20LEMD CAF 1500DEC
021040,000398: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021041,000399: 24,2266 02270 ADRES P20LEMD1
021042,000400: 24,2267 05155 TC ENDOFJOB
021043,000401:
021044,000402: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021045,000403: 24,2271 74747 MASK TRACKBIT
021046,000404: 24,2272 10000 CCS A
021047,000405: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021048,000406: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021049,000407: 24,2275 02734 DEC 1500 B-14
021050,000408: 24,2276 02270 TC P20LEMD1
021051,000409:
021052,000410: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021053,000411: 24,2300 05105 TC FINDVAC
021054,000412: 24,2301 E7,1456 EBANK= LOSCOUNT
021055,000413: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021056,000414:
021057,000415: 24,2303 05261 TC TASKOVER
021058,000416:
021059,000417: 24,2304 00372 250DEC DEC 250 B-14
021060,000418: 24,2305 00526 ALRM526 OCT 00526
021061,000419: 24,2306 00201 OCT201 OCT 00201
021062,000420: 24,2307 00514 ALRM514 OCT 514
021063,000421: 24,2310 00074 MAXTRIES DEC 60 B-14
021064,000422: 24,2311 00012 OCT00012 OCT 00012
021065,000423: 24,2312 00001 P22ONE OCT 00001
021066,000424: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2
021067,000425:
021068,000426: 24,2315 01441 V06N33* VN 0633
021069,000427: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021070,000428: 24,2317 01757 LS21X # TO PRESENT TIME
021071,000429: 24,2320 27414 INTSTALL
021072,000430: 24,2321 77624 CALL
|
|
Page 500
|
021074,000432: 24,2322 26644 SETIFLGS
021075,000433: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
021076,000434: 24,2324 02756 RENDWFLG
021077,000435: 24,2325 50336 UPPSV1
021078,000436: 24,2326 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021079,000437: 24,2327 43014 BON SET
021080,000438: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021081,000439: 24,2331 50333 UPPSV5
021082,000440: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9
021083,000441: 24,2333 77614 UPPSV5 BOF
021084,000442: 24,2334 00747 VEHUPFLG
021085,000443: 24,2335 50370 UPPSV3
021086,000444: 24,2336 77614 UPPSV1 SET
021087,000445: 24,2337 01474 VINTFLAG
021088,000446: 24,2340 77624 CALL
021089,000447: 24,2341 27134 INTEGRV
021090,000448: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE
021091,000449: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION
021092,000450: 24,2344 77624 CALL
021093,000451: 24,2345 27414 INTSTALL
021094,000452: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021095,000453: 24,2347 01571 TETCSM
021096,000454: 24,2350 01674 VINTFLAG
021097,000455: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021098,000456: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX
021099,000457: 24,2353 34041 STCALL TDEC1
021100,000458: 24,2354 27134 INTEGRV
021101,000459: 24,2355 77214 BOFF VLOAD
021102,000460: 24,2356 04347 SURFFLAG
021103,000461: 24,2357 50216 P20LEMC4
021104,000462: 24,2360 01661 RCVLEM
021105,000463: 24,2361 77742 VSR2
021106,000464: 24,2362 26352 STOVL LMPOS
021107,000465: 24,2363 01667 VCVLEM
021108,000466: 24,2364 77742 VSR2
021109,000467: 24,2365 02360 STORE LMVEL
021110,000468: 24,2366 77650 GOTO
021111,000469: 24,2367 01757 LS21X
021112,000470:
021113,000471: 24,2370 45014 UPPSV3 CLEAR CALL
021114,000472: 24,2371 01674 VINTFLAG
021115,000473: 24,2372 27134 INTEGRV
021116,000474: 24,2373 77624 CALL
021117,000475: 24,2374 11244 GRP2PC
021118,000476: 24,2375 77624 CALL
021119,000477: 24,2376 27414 INTSTALL
021120,000478: 24,2377 71214 SET DLOAD
021121,000479: 24,2400 01474 VINTFLAG
021122,000480: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
|
|
Page 501
|
021124,000482: 24,2402 77650 GOTO
021125,000483: 24,2403 50351 UPPSV4
021126,000484: 24,2404 E7,1456 EBANK= LOSCOUNT
021127,000485: 24,2404 COUNT* $$/P22
021128,000486:
|
|
Page 502
|
021130,000488: # PROGRAM DESCRIPTION
021131,000489:
021132,000490: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021133,000491: # MOD NO - 3
021134,000492: # BY P. VOLANTE
021135,000493:
021136,000494: # FUNCTIONAL DESCRIPTION
021137,000495:
021138,000496: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021139,000497: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021140,000498: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021141,000499: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021142,000500:
021143,000501: # CALLING SEQUENCE -
021144,000502:
021145,000503: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021146,000504:
021147,000505: # SUBROUTINES CALLED -
021148,000506:
021149,000507: # BANKCALL FLAGUP
021150,000508: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021151,000509: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021152,000510: # TASKOVER FINDVAC
021153,000511:
021154,000512: # NORMAL EXIT MODES -
021155,000513:
021156,000514: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021157,000515: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021158,000516:
021159,000517: # ALARM OR ABORT EXIT MODES -
021160,000518:
021161,000519: # NONE
021162,000520:
021163,000521: # OUTPUT
021164,000522:
021165,000523: # ERASABLE INITIALIZATION REQUIRED
021166,000524:
021167,000525: # FLAGS SET + RESET
021168,000526:
021169,000527: # TRACKFLG, P25FLAG
021170,000528:
021171,000529: # DEBRIS
021172,000530:
021173,000531: # NONE
021174,000532:
021175,000533: 24,2404 E7,1456 EBANK= LOSCOUNT
021176,000534: 24,2404 COUNT* $$/P25
021177,000535: 24,2404 05327 PROG25 TC 2PHSCHNG
021178,000536: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021179,000537: 24,2406 05022 OCT 05022
021180,000538: 24,2407 26000 OCT 26000 # PRIORITY 26
021181,000539:
021182,000540: 24,2410 04616 TC BANKCALL
021183,000541: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK
021184,000542: 24,2412 05504 TC UPFLAG
021185,000543: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG
021186,000544: 24,2414 05504 TC UPFLAG
021187,000545: 24,2415 00006 ADRES P25FLAG # SET P25FLAG
021188,000546: 24,2416 05353 P25LEM1 TC PHASCHNG
021189,000547: 24,2417 04022 OCT 04022
021190,000548: 24,2420 34743 CAF P25FLBIT
021191,000549: 24,2421 70074 MASK STATE # IS P25FLAG SET
021192,000550: 24,2422 00006 EXTEND
021193,000551: 24,2423 15155 BZF ENDOFJOB
021194,000552: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021195,000553: 24,2425 70075 MASK STATE +1
021196,000554: 24,2426 00006 EXTEND
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|
Page 503
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021198,000556: 24,2427 12437 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021199,000557: 24,2430 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021200,000558: 24,2431 55745 TS R65CNTR
021201,000559: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021202,000560: 24,2433 46123 CADR R65LEM
021203,000561: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS
021204,000562: 24,2435 05353 P25LEMWT TC PHASCHNG
021205,000563: 24,2436 00112 OCT 00112
021206,000564: 24,2437 32450 P25LMWT1 CAF 60SCNDS
021207,000565: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021208,000566: 24,2441 02443 ADRES P25LEM2
021209,000567: 24,2442 05155 TC ENDOFJOB
021210,000568: 24,2443 35024 P25LEM2 CAF PRIO14
021211,000569: 24,2444 05105 TC FINDVAC
021212,000570: 24,2445 E7,1456 EBANK= LOSCOUNT
021213,000571: 24,2445 02416 50067 2CADR P25LEM1
021214,000572:
021215,000573: 24,2447 05261 TC TASKOVER
021216,000574: 24,2450 13560 60SCNDS DEC 6000 B-14
021217,000575:
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Page 504
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021219,000577: # DATA READ ROUTINE 22 (LEM)
021220,000578: # PROGRAM DESCRIPTION
021221,000579:
021222,000580: # MOD NO - 2
021223,000581: # BY P VOLANTE
021224,000582:
021225,000583: # FUNCTIONAL DESCRIPTION
021226,000584:
021227,000585: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021228,000586: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021229,000587:
021230,000588: # CALLING SEQUENCE -
021231,000589:
021232,000590: # TC BANKCALL
021233,000591: # CADR R22LEM
021234,000592:
021235,000593: # SUBROUTINES CALLED -
021236,000594:
021237,000595: # LSR22.1 GOFLASH WAITLIST
021238,000596: # LSR22.2 PRIOLARM BANKCALL
021239,000597: # LSR22.3 R61LEM
021240,000598:
021241,000599: # NORMAL EXIT MODES -
021242,000600:
021243,000601: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021244,000602: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021245,000603: # R22 WILL TERMINATE SELF.
021246,000604:
021247,000605: # ALARM OR ABORT EXIT MODES -
021248,000606:
021249,000607: # PRIORITY ALARM
021250,000608: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021251,000609:
021252,000610: # OUTPUT
021253,000611:
021254,000612: # SEE OUTPUT FROM LSR22.3
021255,000613:
021256,000614: # ERASABLE INITIALIZATION REQUIRED
021257,000615:
021258,000616: # SEE LSR22.1, LSR22.2, LSR22.3
021259,000617:
021260,000618: # FLAGS SET + RESET
021261,000619:
021262,000620: # NOANGFLG
021263,000621:
021264,000622: # DEBRIS
021265,000623:
021266,000624: # SEE LSR22.1, LSR22.2, LSR22.3
021267,000625:
021268,000626: 24,2451 E7,1737 EBANK= LRS22.1X
021269,000627: 24,2451 COUNT* $$/R22
021270,000628: 24,2451 05353 R22LEM TC PHASCHNG
021271,000629: 24,2452 04022 OCT 04022
021272,000630: 24,2453 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021273,000631: 24,2454 70074 MASK STATE
021274,000632: 24,2455 00006 EXTEND
021275,000633: 24,2456 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021276,000634: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021277,000635: 24,2460 70075 MASK STATE +1
021278,000636: 24,2461 00006 EXTEND
021279,000637: 24,2462 12636 BZF R22WAIT # NO WAIT
021280,000638: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021281,000639: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021282,000640: 24,2465 02012 RAND CHAN12
021283,000641: 24,2466 00006 EXTEND
021284,000642: 24,2467 12111 BZF P20LEMA # NO - RETURN TO P20
021285,000643: 24,2470 34752 CAF BIT2 # YES
021286,000644: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021287,000645: 24,2472 02033 RAND CHAN33
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|
Page 505
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021289,000647: 24,2473 00006 EXTEND
021290,000648: 24,2474 12476 BZF +2 # YES CONTINUE
021291,000649: 24,2475 02135 TC P20LEMB5 # NO - SET IT
021292,000650: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021293,000651: 24,2477 74737 MASK RCDU0BIT
021294,000652: 24,2500 00006 EXTEND
021295,000653: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED
021296,000654: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AN EXTRA RADAR
021297,000655: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021298,000656: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021299,000657: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021300,000658: 24,2506 50154 INDEX MPAC
021301,000659: 24,2507 02510 TC +1
021302,000660: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021303,000661: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021304,000662: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021305,000663: 24,2513 04616 TC BANKCALL
021306,000664: 24,2514 21562 CADR PRIOLARM
021307,000665: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021308,000666: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021309,000667: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION)
021310,000668: 24,2520 05155 TC ENDOFJOB
021311,000669:
021312,000670: 24,2521 05353 R22LEM1 TC PHASCHNG
021313,000671: 24,2522 04022 OCT 04022
021314,000672: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA
021315,000673: 24,2524 04616 TC BANKCALL
021316,000674: 24,2525 20507 CADR PRIODSP
021317,000675: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021318,000676: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE)
021319,000677: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE)
021320,000678: 24,2531 05353 R22LEM2 TC PHASCHNG
021321,000679: 24,2532 04022 OCT 04022
021322,000680: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021323,000681: 24,2534 02551 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021324,000682: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021325,000683: 24,2536 74747 MASK TRACKBIT
021326,000684: 24,2537 00006 EXTEND
021327,000685: 24,2540 12636 BZF R22WAIT # NO - WAIT
021328,000686: 24,2541 04616 TC BANKCALL # YES
021329,000687: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021330,000688: 24,2543 50154 INDEX MPAC
021331,000689: 24,2544 02545 TC +1
021332,000690: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021333,000691: 24,2546 04616 TC BANKCALL
021334,000692: 24,2547 46116 CADR R61LEM
021335,000693: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021336,000694: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021337,000695: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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Page 506
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021339,000697: 24,2553 00006 EXTEND
021340,000698: 24,2554 12627 BZF R22LEM42 # BRANCH - YES
021341,000699: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021342,000700: 24,2556 74745 MASK UPDATBIT
021343,000701: 24,2557 00006 EXTEND
021344,000702: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET
021345,000703: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021346,000704: 24,2562 55056 TS PHSPRDT2
021347,000705:
021348,000706: 24,2563 06037 TC INTPRET
021349,000707: 24,2564 77650 GOTO
021350,000708: 24,2565 54412 LSR22.3
021351,000709: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021352,000710: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021353,000711: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021354,000712: 24,2571 12622 TCF R22LEM44
021355,000713: 24,2572 77776 R22LEM96 EXIT
021356,000714: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021357,000715: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021358,000716: 24,2575 05353 TC PHASCHNG
021359,000717: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY
021360,000718: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY
021361,000719: 24,2600 05072 TC NOVAC
021362,000720: 24,2601 E7,1746 EBANK= N49FLAG
021363,000721: 24,2601 02644 50067 2CADR N49DSP
021364,000722:
021365,000723: 24,2603 06037 TC INTPRET
021366,000724: 24,2604 77735 SLOAD
021367,000725: 24,2605 03747 N49FLAG
021368,000726: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG
021369,000727: 24,2607 50604 -3 # SETTING CHANGED - BRANCH - NO
021370,000728: 24,2610 50616 R22LEM7 # PROCEED
021371,000729: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
021372,000730: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021373,000731: 24,2613 02636 TC R22WAIT # YES - 15 SECOND DELAY
021374,000732: 24,2614 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
021375,000733: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
021376,000734: 24,2616 77624 R22LEM7 CALL # PROCEED
021377,000735: 24,2617 11244 GRP2PC # PHASE CHANGE AND
021378,000736: 24,2620 77650 GOTO # GO TO INCORPORATE DATA.
021379,000737: 24,2621 55431 ASTOK
021380,000738: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021381,000739: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021382,000740: 24,2624 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021383,000741: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE
021384,000742: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5
021385,000743: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021386,000744: 24,2630 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021387,000745: 24,2631 34752 CA TWO # NO - SET R65COUNTER = 2
021388,000746: 24,2632 55745 R22LEM45 TS R65CNTR
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021390,000748: 24,2633 04616 TC BANKCALL
021391,000749: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021392,000750: 24,2635 02451 TC R22LEM
021393,000751: 24,2636 32666 R22WAIT CAF 1500DEC
021394,000752: 24,2637 02233 TC P20LEMWT +1
021395,000753:
021396,000754: 24,2640 35000 R22LEM46 CAF 2SECS
021397,000755: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021398,000756: 24,2642 01735 CADR DELAYJOB
021399,000757: 24,2643 02451 TC R22LEM
021400,000758:
021401,000759: 24,2644 32665 N49DSP CAF V06N49NB
021402,000760: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021403,000761: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021404,000762: 24,2647 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
021405,000763: 24,2650 44753 CS ONE # PROCEED - N49FLAG = -1
021406,000764: 24,2651 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021407,000765: 24,2652 05155 TC ENDOFJOB
021408,000766: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021409,000767: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021410,000768: 24,2655 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021411,000769: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021412,000770: 24,2657 04616 TC BANKCALL # BAD DATA
021413,000771: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
021414,000772: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021415,000773: 24,2662 02451 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
021416,000774:
021417,000775: 24,2663 00525 ALRM525 OCT 00525
021418,000776: 24,2664 01405 V06N05 VN 00605
021419,000777: 24,2665 01461 V06N49NB VN 00649
021420,000778: 24,2666 02734 1500DEC DEC 1500 B-14
021421,000779:
021422,000780: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021423,000781: # RETURNS TO CALLER +1 IF P22FLAG SET
021424,000782: # TO CALLER +2 IF P22FLAG NOT SET
021425,000783:
021426,000784: 24,2667 COUNT* $$/P22
021427,000785: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021428,000786: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET?
021429,000787: 24,2671 10000 CCS A # BRANCH - P22FLAG SET
021430,000788: 24,2672 24002 INCR Q # NOT SET
021431,000789: 24,2673 00002 TC Q # RETURN
021432,000790:
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021434,000792: # RR DESIGNATE ROUTINE (R21LEM)
021435,000793: # PROGRAM DESCRIPTION
021436,000794:
021437,000795: # MOD NO - 2
021438,000796: # BY P VOLANTE
021439,000797:
021440,000798: # FUNCTIONAL DESCRIPTION
021441,000799:
021442,000800: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021443,000801: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021444,000802:
021445,000803: # CALLING SEQUENCE -
021446,000804:
021447,000805: # TC BANKCALL
021448,000806: # CADR R21LEM
021449,000807:
021450,000808: # SUBROUTINES CALLED -
021451,000809:
021452,000810: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021453,000811: # NOVAC INTPRET LPS20.1 PHASCHNG
021454,000812: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021455,000813: # TASKOVER BANKCALL RADSTALL RRDESSM
021456,000814:
021457,000815: # NORMAL EXIT MODES
021458,000816: #
021459,000817: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021460,000818: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021461,000819:
021462,000820: # ALARM OR ABORT EXIT MODES -
021463,000821:
021464,000822: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021465,000823: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021466,000824: # ACQUISITION
021467,000825:
021468,000826: # OUTPUT
021469,000827:
021470,000828: # SEE LPS20.1, RRDESSM
021471,000829:
021472,000830: # ERASABLE INITIALIZATION REQUIRED
021473,000831:
021474,000832: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021475,000833:
021476,000834: # FLAGS SET + RESET
021477,000835:
021478,000836: # LOSCMFLG LOKONSW
021479,000837:
021480,000838: # DEBRIS
021481,000839:
021482,000840: # SEE LPS20.1, RRDESSM
021483,000841:
021484,000842: 24,2674 E7,1456 EBANK= LOSCOUNT
021485,000843: 24,2674 COUNT* $$/R21
021486,000844: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021487,000845: 24,2675 00006 EXTEND
021488,000846: 24,2676 03012 WAND CHAN12
021489,000847: 24,2677 02667 TC LUNSFCHK
021490,000848: 24,2700 02705 TC R21LEM5
021491,000849: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021492,000850: 24,2702 55107 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021493,000851: 24,2703 55110 TS TANG +1
021494,000852: 24,2704 02715 TC R21LEM6
021495,000853: 24,2705 34740 R21LEM5 CAF BIT12
021496,000854: 24,2706 70110 MASK RADMODES
021497,000855: 24,2707 10000 CCS A
021498,000856: 24,2710 02725 TC R21LEM10
021499,000857: 24,2711 34735 CAF BIT15
021500,000858: 24,2712 55107 TS TANG
021501,000859: 24,2713 44736 CS HALF
021502,000860: 24,2714 55110 TS TANG +1
021503,000861:
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021505,000863: 24,2715 05516 R21LEM6 TC DOWNFLAG
021506,000864: 24,2716 00012 ADRES LOKONSW
021507,000865: 24,2717 04616 TC BANKCALL
021508,000866: 24,2720 52475 CADR RRDESNB
021509,000867: 24,2721 02722 TC +1
021510,000868: 24,2722 04616 TC BANKCALL
021511,000869: 24,2723 17714 CADR RADSTALL
021512,000870: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
021513,000871: 24,2725 05504 R21LEM10 TC UPFLAG
021514,000872: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021515,000873: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021516,000874: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021517,000875: 24,2731 36245 R21LEM2 CAF THREE
021518,000876: 24,2732 55456 TS LOSCOUNT
021519,000877: 24,2733 06037 R21LEM1 TC INTPRET
021520,000878: 24,2734 43234 RTB DAD
021521,000879: 24,2735 21573 LOADTIME
021522,000880: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021523,000881: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021524,000882: 24,2740 51255 LPS20.1
021525,000883: 24,2741 77776 EXIT
021526,000884: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
021527,000885: 24,2743 00012 ADRES LOKONSW
021528,000886: 24,2744 05516 TC DOWNFLAG
021529,000887: 24,2745 00126 ADRES NORRMON
021530,000888: 24,2746 06037 TC INTPRET
021531,000889: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021532,000890: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE
021533,000891: 24,2751 77776 EXIT
021534,000892: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021535,000893: # ON LUNAR SURFACE
021536,000894: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021537,000895: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021538,000896: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021539,000897: 24,2756 02760 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021540,000898: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021541,000899: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503
021542,000900: 24,2761 04616 TC BANKCALL
021543,000901: 24,2762 21562 CADR PRIOLARM
021544,000902: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021545,000903: 24,2764 02772 TC R21SRCH # PROC
021546,000904: 24,2765 02211 TC P20LEMC3
021547,000905: 24,2766 05155 TC ENDOFJOB
021548,000906: 24,2767 05516 R21END TC DOWNFLAG
021549,000907: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021550,000908: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021551,000909: 24,2772 05353 R21SRCH TC PHASCHNG
021552,000910: 24,2773 04022 OCT 04022
021553,000911: 24,2774 03206 TC R24LEM # SEARCH ROUTINE
021554,000912: 24,2775 00503 ALRM503 OCT 00503
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021556,000914: 24,2776 00527 ALRM527 OCT 527
021557,000915:
021558,000916: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021559,000917: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021560,000918: 24,3001 05504 TC UPFLAG
021561,000919: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
021562,000920: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING
021563,000921: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG
021564,000922: 24,3005 06037 TC INTPRET
021565,000923: 24,3006 77634 R21LEM12 RTB
021566,000924: 24,3007 21573 LOADTIME
021567,000925: 24,3010 77615 DAD
021568,000926: 24,3011 11116 TENSEC # TIME T = T + 10 SECS.
021569,000927: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
021570,000928: 24,3013 34041 STCALL TDEC1
021571,000929: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T
021572,000930: 24,3015 77624 CALL
021573,000931: 24,3016 52373 RRDESSM
021574,000932: 24,3017 77776 EXIT
021575,000933: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
021576,000934: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
021577,000935: 24,3022 06027 TC KILLTASK
021578,000936: 24,3023 52573 CADR BEGDES
021579,000937: 24,3024 06037 TC INTPRET
021580,000938: 24,3025 77614 BOF
021581,000939: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION
021582,000940: 24,3027 51043 R21LEMB # NO - GO TO CONTINUOUS DESIGNATE
021583,000941: 24,3030 77614 CLRGO
021584,000942: 24,3031 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
021585,000943: 24,3032 51037 R21LEM7 +1
021586,000944: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
021587,000945: 24,3034 03036 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
021588,000946: 24,3035 03105 TC R21LEM11 # YES - PUT OUT ALARM 530
021589,000947: 24,3036 55423 R21LEM7 TS REPOSCNT
021590,000948: 24,3037 06037 TC INTPRET
021591,000949: 24,3040 52145 DLOAD GOTO
021592,000950: 24,3041 03425 REPOSTM
021593,000951: 24,3042 51010 R21LEM12 +2
021594,000952: 24,3043 77745 R21LEMB DLOAD
021595,000953: 24,3044 03425 REPOSTM
021596,000954: 24,3045 34041 STCALL TDEC1
021597,000955: 24,3046 50316 UPPSV
021598,000956: 24,3047 77776 EXIT
021599,000957: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
021600,000958: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
021601,000959: 24,3052 05516 TC DOWNFLAG
021602,000960: 24,3053 00012 ADRES LOKONSW
021603,000961: 24,3054 05504 TC UPFLAG
021604,000962: 24,3055 00126 ADRES NORRMON
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021606,000964: 24,3056 04616 TC BANKCALL
021607,000965: 24,3057 52475 CADR RRDESNB
021608,000966: 24,3060 03061 TC +1
021609,000967: 24,3061 06037 TC INTPRET
021610,000968: 24,3062 44234 RTB BDSU
021611,000969: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME
021612,000970: 24,3064 03425 REPOSTM # FOR LONGCALL
021613,000971: 24,3065 03427 STORE DELTATM
021614,000972: 24,3066 77776 EXIT
021615,000973: 24,3067 00006 EXTEND
021616,000974: 24,3070 31427 DCA DELTATM
021617,000975: 24,3071 05277 TC LONGCALL
021618,000976: 24,3072 E7,1456 EBANK= LOSCOUNT
021619,000977: 24,3072 03075 50067 2CADR R21LEM9
021620,000978:
021621,000979: 24,3074 05155 TC ENDOFJOB
021622,000980: 24,3075 06027 R21LEM9 TC KILLTASK
021623,000981: 24,3076 52602 CADR STDESIG
021624,000982: 24,3077 06011 TC CLRADMOD
021625,000983: 24,3100 37714 CAF PRIO26
021626,000984: 24,3101 05105 TC FINDVAC
021627,000985: 24,3102 E7,1456 EBANK= LOSCOUNT
021628,000986: 24,3102 02725 50067 2CADR R21LEM10
021629,000987:
021630,000988: 24,3104 05261 TC TASKOVER
021631,000989: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
021632,000990: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
021633,000991: 24,3107 21562 CADR PRIOLARM # 600 SECS.
021634,000992: 24,3110 06022 TC GOTOV56
021635,000993: 24,3111 06022 TC GOTOV56
021636,000994: 24,3112 06022 TC GOTOV56
021637,000995: 24,3113 05155 TC ENDOFJOB
021638,000996: 24,3114 00530 ALRM530 OCT 00530
021639,000997: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28
021640,000998:
021641,000999: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28
021642,001000:
021643,001001: 24,3121 05353 R21DISP TC PHASCHNG
021644,001002: 24,3122 04022 OCT 04022
021645,001003: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
021646,001004: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
021647,001005: 24,3125 20710 CADR GOPERF2R
021648,001006: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56
021649,001007: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
021650,001008: 24,3130 03123 TC -5 # ENTER ILLEGAL
021651,001009: 24,3131 34745 CAF BIT7
021652,001010: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
021653,001011: 24,3133 05155 TC ENDOFJOB
021654,001012:
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Page 512
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021656,001014: 24,3134 01510 V06N72PV VN 00672
021657,001015:
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Page 513
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021659,001017: # MANUAL ACQUISITION ROUTINE R23LEM
021660,001018: # PROGRAM DESCRIPTION
021661,001019:
021662,001020: # MOD NO - 2
021663,001021: # BY P VOLANTE
021664,001022:
021665,001023: # FUNCTIONAL DESCRIPTION
021666,001024:
021667,001025: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
021668,001026:
021669,001027: # CALLING SEQUENCE -
021670,001028:
021671,001029: # TC R23LEM
021672,001030:
021673,001031: # SUBROUTINES CALLED
021674,001032:
021675,001033: # BANKCALL R61LEM
021676,001034: # SETMINDB GOPERF1
021677,001035:
021678,001036: # NORMAL EXIT MODES -
021679,001037:
021680,001038: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
021681,001039: # ,SELECTION OF PROC WILL CONTINUE R23
021682,001040: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
021683,001041:
021684,001042: # ALARM OR ABORT EXIT MODES -
021685,001043:
021686,001044: # SEE NORMAL EXIT MODES ABOVE
021687,001045:
021688,001046: # OUTPUT
021689,001047:
021690,001048: # N.A.
021691,001049:
021692,001050: # ERASABLE INITIALIZATION REQUIRED -
021693,001051:
021694,001052: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
021695,001053:
021696,001054: 24,3135 1143 EBANK= GENRET
021697,001055: 24,3135 COUNT* $$/R23
021698,001056: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
021699,001057: 24,3136 00126 ADRES NORRMON
021700,001058: 24,3137 00004 INHINT
021701,001059: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
021702,001060: 24,3141 40140 CADR SETMINDB
021703,001061: 24,3142 00003 RELINT
021704,001062: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
021705,001063: 24,3144 00006 EXTEND
021706,001064: 24,3145 05012 WOR CHAN12
021707,001065: 24,3146 33205 CAF OCT205
021708,001066: 24,3147 04616 TC BANKCALL
021709,001067: 24,3150 20623 CADR GOPERF1
021710,001068: 24,3151 03176 TC R23LEM2 # TERMINATE
021711,001069: 24,3152 03154 TC R23LEM11 # PROCEDE
021712,001070: 24,3153 03201 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
021713,001071: 24,3154 00004 R23LEM11 INHINT
021714,001072: 24,3155 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
021715,001073: 24,3156 00035 ADRES CDUT
021716,001074: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS
021717,001075: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO
021718,001076: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
021719,001077: 24,3162 00003 RELINT
021720,001078: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021721,001079: 24,3164 00126 ADRES NORRMON
021722,001080: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
021723,001081: 24,3166 00003 OUTOFLIM RELINT
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021725,001083: 24,3167 33204 CAF OCT501PV
021726,001084: 24,3170 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
021727,001085: 24,3171 21562 CADR PRIOLARM # LIMITS
021728,001086: 24,3172 03176 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
021729,001087: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL
021730,001088: 24,3174 03201 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
021731,001089: 24,3175 05155 TC ENDOFJOB
021732,001090: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021733,001091: 24,3177 00126 ADRES NORRMON
021734,001092: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56
021735,001093: 24,3201 04616 R23LEM3 TC BANKCALL
021736,001094: 24,3202 46116 CADR R61LEM
021737,001095: 24,3203 03143 TC R23LEM1
021738,001096:
021739,001097: 24,3204 00501 OCT501PV OCT 501
021740,001098: 24,3205 00205 OCT205 OCT 205
021741,001099:
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Page 515
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021743,001101: # SEARCH ROUTINE R24LEM
021744,001102: # PROGRAM DESCRIPTION
021745,001103:
021746,001104: # MOD NO - 2
021747,001105: # BY P. VOLANTE
021748,001106:
021749,001107: # FUNCTIONAL DESCRIPTION
021750,001108:
021751,001109: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
021752,001110: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
021753,001111: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
021754,001112:
021755,001113: # CALLING SEQUENCE
021756,001114:
021757,001115: # CAF PRIONN
021758,001116: # TC FINDVAC
021759,001117: # EBANK= DATAGOOD
021760,001118: # 2CADR R24LEM
021761,001119:
021762,001120: # SUBROUTINES CALLED
021763,001121:
021764,001122: # FLAGUP FLAGDOWN BANKCALL
021765,001123: # R61LEM GOFLASHR FINDVAC
021766,001124: # ENDOFJOB NOVAC LSR24.1
021767,001125:
021768,001126: # NORMAL EXIT MODES -
021769,001127:
021770,001128: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
021771,001129: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
021772,001130: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
021773,001131:
021774,001132: # ALARM OR ABORT EXIT MODES -
021775,001133:
021776,001134: # SEE NORMAL EXIT MODES ABOVE
021777,001135:
021778,001136: # OUTPUT -
021779,001137:
021780,001138: # SEE OUTPUT FROM LSR24.1 + R61LEM
021781,001139:
021782,001140: # ERASABLE INITIALIZATION REQUIRED
021783,001141:
021784,001142: # SEE INPUT FOR LSR24.1
021785,001143:
021786,001144: # FLAGS SET + RESET
021787,001145:
021788,001146: # SRCHOPT, ACMODFLG
021789,001147:
021790,001148: 24,3206 E7,1733 EBANK= DATAGOOD
021791,001149: 24,3206 COUNT* $$/R24
021792,001150: 24,3206 05504 R24LEM TC UPFLAG
021793,001151: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
021794,001152: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
021795,001153: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
021796,001154: 24,3212 34755 R24LEM1 CAF ZERO
021797,001155: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
021798,001156: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
021799,001157: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
021800,001158: 24,3216 05353 R24LEM2 TC PHASCHNG
021801,001159: 24,3217 04022 OCT 04022
021802,001160: 24,3220 33254 CAF V16N80
021803,001161: 24,3221 04616 TC BANKCALL
021804,001162: 24,3222 20504 CADR PRIODSPR
021805,001163: 24,3223 06022 TC GOTOV56
021806,001164: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1
021807,001165:
021808,001166: 24,3225 03234 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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Page 516
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021810,001168: 24,3226 04616 TC BANKCALL
021811,001169: 24,3227 55442 CADR LRS24.1
021812,001170: 24,3230 06027 R24END TC KILLTASK
021813,001171: 24,3231 55643 CADR CALLDGCH
021814,001172: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
021815,001173: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
021816,001174:
021817,001175: 6011 BLOCK 3
021818,001176: 6000 SETLOC FFTAG6
021819,001177: 6000 BANK
021820,001178: 6011 COUNT* $$/R24
021821,001179:
021822,001180: 6011 46021 CLRADMOD CS BIT10+15
021823,001181: 6012 00004 INHINT
021824,001182: 6013 70110 MASK RADMODES
021825,001183: 6014 54110 TS RADMODES
021826,001184: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
021827,001185: 6016 00006 EXTEND
021828,001186: 6017 03012 WAND CHAN12 # USER WILL RELINT
021829,001187:
021830,001188: 6020 00002 TC Q
021831,001189:
021832,001190: 6021 41000 BIT10+15 OCT 41000
021833,001191: 24,3234 BANK 24
021834,001192: 24,2000 SETLOC P20S
021835,001193: 24,2000 BANK
021836,001194: 24,3234 COUNT* $$/R24
021837,001195:
021838,001196: 24,3234 05353 R24LEM3 TC PHASCHNG
021839,001197: 24,3235 04022 OCT 04022
021840,001198: 24,3236 06027 TC KILLTASK
021841,001199: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
021842,001200: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
021843,001201: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP
021844,001202: 24,3242 34774 CAF .5SEC
021845,001203: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
021846,001204: 24,3244 01735 CADR DELAYJOB
021847,001205: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
021848,001206: 24,3246 03251 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
021849,001207: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
021850,001208: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
021851,001209: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
021852,001210: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
021853,001211: # RRDESSM WILL RETURN TO CALLER
021854,001212: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
021855,001213:
021856,001214: 24,3254 04120 V16N80 VN 01680
021857,001215:
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Page 517
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021859,001217: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
021860,001218: # PROGRAM DESCRIPTION
021861,001219:
021862,001220: # MOD NO: 3 DATE: 4-11-67
021863,001221: # MOD BY: P VOLANTE SDC
021864,001222:
021865,001223: # FUNCTIONAL DESCRIPTION -
021866,001224:
021867,001225: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
021868,001226: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
021869,001227: # ATTITUDE.
021870,001228:
021871,001229: # CALLING SEQUENCE -
021872,001230:
021873,001231: # TC BANKCALL
021874,001232: # CADR R61LEM
021875,001233:
021876,001234: # SUBROUTINES CALLED
021877,001235:
021878,001236: # LPS20.1 VECPOINT
021879,001237: # KALCMAN3
021880,001238:
021881,001239: # NORMAL EXIT MODES -
021882,001240:
021883,001241: # NORMAL RETURN IS TO CALLER + 1
021884,001242:
021885,001243: # ALARM OR ABORT EXIT MODES -
021886,001244:
021887,001245: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
021888,001246: # RENDEZVOUS FLAG ARE NOT SET.
021889,001247:
021890,001248: # OUTPUT -
021891,001249:
021892,001250: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
021893,001251:
021894,001252: # ERASABLE INITIALIZATION REQUIRED
021895,001253:
021896,001254: # GENRET USED TO SAVE Q FOR RETURN
021897,001255:
021898,001256: # FLAGS SET + RESET
021899,001257:
021900,001258: # 3AXISFLG
021901,001259:
021902,001260: # DEBRIS
021903,001261:
021904,001262: # SEE SUBROUTINES
021905,001263:
021906,001264: 23,2000 SETLOC R61
021907,001265: 23,2000 BANK
021908,001266: 23,2116 E7,1456 EBANK= LOSCOUNT
021909,001267: 23,2116 COUNT* $$/R61
021910,001268: 23,2116 04645 R61LEM TC MAKECADR
021911,001269: 23,2117 55143 TS GENRET
021912,001270: 23,2120 05504 TC UPFLAG # SET R61 FLAG
021913,001271: 23,2121 00024 ADRES R61FLAG
021914,001272: 23,2122 02127 TC R61C+L01
021915,001273: 23,2123 04645 R65LEM TC MAKECADR
021916,001274: 23,2124 55143 TS GENRET
021917,001275: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
021918,001276: 23,2126 00024 ADRES R61FLAG
021919,001277: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
021920,001278: 23,2130 70075 MASK STATE +1
021921,001279: 23,2131 00006 EXTEND
021922,001280: 23,2132 12271 BZF R65WAIT # NOT SET
021923,001281: 23,2133 06037 R61C+L03 TC INTPRET
021924,001282: 23,2134 77775 VLOAD
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Page 518
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021926,001284: 23,2135 06514 HIUNITZ
021927,001285: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
021928,001286: 23,2137 43234 R61LEM1 RTB DAD
021929,001287: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
021930,001288: 23,2141 15712 3SECONDS # SIX SECOND PERIOD.
021931,001289: 23,2142 34041 STCALL TDEC1
021932,001290: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
021933,001291: 23,2144 77775 VLOAD
021934,001292: 23,2145 01102 RRTARGET
021935,001293: 23,2146 03773 STORE POINTVSM
021936,001294: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
021937,001295: 23,2150 46277 READCDUD
021938,001296: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
021939,001297: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
021940,001298: 23,2153 77776 EXIT
021941,001299: 23,2154 05353 TC PHASCHNG
021942,001300: 23,2155 04022 OCT 04022
021943,001301: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET
021944,001302: 23,2157 70075 MASK FLAGWRD1
021945,001303: 23,2160 00006 EXTEND
021946,001304: 23,2161 12271 BZF R65WAIT
021947,001305: 23,2162 04616 TC BANKCALL
021948,001306: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE
021949,001307: 23,2164 10000 CCS A
021950,001308: 23,2165 02257 TC R61C+L04 # NOT IN AUTO
021951,001309: 23,2166 06037 TC INTPRET
021952,001310: 23,2167 45175 VLOAD CALL
021953,001311: 23,2170 01102 RRTARGET
021954,001312: 23,2171 47646 CDU*SMNB
021955,001313: 23,2172 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
021956,001314: 23,2173 00162 MPAC +5
021957,001315: 23,2174 06275 COS15DEG
021958,001316: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
021959,001317: 23,2176 46213 R61C+L05 # PHI GRE 10DEG
021960,001318: 23,2177 E6,1635 EBANK= CDUXD
021961,001319: 23,2177 35015 CAF EBANK6
021962,001320: 23,2200 54003 TS EBANK
021963,001321: 23,2201 00004 INHINT
021964,001322: 23,2202 00006 EXTEND
021965,001323: 23,2203 30322 DCA CPHI
021966,001324: 23,2204 53636 DXCH CDUXD
021967,001325: 23,2205 30323 CA CPSI
021968,001326: 23,2206 55637 TS CDUZD
021969,001327: 23,2207 00003 RELINT
021970,001328: 23,2210 E7,1456 EBANK= LOSCOUNT
021971,001329: 23,2210 35016 CAF EBANK7
021972,001330: 23,2211 54003 TS EBANK
021973,001331: 23,2212 02236 TC R61C+L06
021974,001332: 23,2213 77776 R61C+L05 EXIT
021975,001333: 23,2214 00004 INHINT
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Page 519
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021977,001335: 23,2215 04674 TC IBNKCALL
021978,001336: 23,2216 40153 FCADR ZATTEROR
021979,001337: 23,2217 04674 TC IBNKCALL
021980,001338: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
021981,001339: 23,2221 05516 TC DOWNFLAG
021982,001340: 23,2222 00124 ADRES 3AXISFLG
021983,001341: 23,2223 05504 TC UPFLAG
021984,001342: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
021985,001343: 23,2225 04616 TC BANKCALL
021986,001344: 23,2226 54123 CADR R60LEM
021987,001345: 23,2227 00004 INHINT
021988,001346: 23,2230 04674 TC IBNKCALL
021989,001347: 23,2231 40123 FCADR RESTORDB
021990,001348: 23,2232 05353 TC PHASCHNG
021991,001349: 23,2233 04022 OCT 04022
021992,001350: 23,2234 05516 TC DOWNFLAG
021993,001351: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
021994,001352: 23,2236 30075 R61C+L06 CA FLAGWRD1
021995,001353: 23,2237 74742 MASK R61FLBIT
021996,001354: 23,2240 10000 CCS A
021997,001355: 23,2241 02262 TC R61C+L4
021998,001356: 23,2242 11745 CCS R65CNTR
021999,001357: 23,2243 02245 TC +2
022000,001358: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022001,001359: 23,2245 55745 TS R65CNTR
022002,001360: 23,2246 32276 CAF 06SEC
022003,001361: 23,2247 05173 TC TWIDDLE
022004,001362: 23,2250 02252 ADRES R61C+L2
022005,001363: 23,2251 05155 TC ENDOFJOB
022006,001364: 23,2252 37714 R61C+L2 CAF PRIO26
022007,001365: 23,2253 05105 TC FINDVAC
022008,001366: 23,2254 E7,1456 EBANK= LOSCOUNT
022009,001367: 23,2254 02127 46067 2CADR R61C+L01
022010,001368:
022011,001369: 23,2256 05261 TC TASKOVER
022012,001370: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022013,001371: 23,2260 54266 CADR BALLANGS
022014,001372: 23,2261 02236 TC R61C+L06
022015,001373: 23,2262 31143 R61C+L4 CAE GENRET
022016,001374: 23,2263 14640 TCF BANKJUMP # EXIT R61
022017,001375: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022018,001376: 23,2265 70074 MASK STATE
022019,001377: 23,2266 00006 EXTEND
022020,001378: 23,2267 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022021,001379: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE
022022,001380: 23,2271 04635 R65WAIT TC POSTJUMP
022023,001381: 23,2272 50232 CADR P20LEMWT
022024,001382:
022025,001383: 23,2273 00500 BIT7+9PV OCT 00500
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Page 520
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022027,001385: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1
022028,001386:
022029,001387: 23,2276 01130 06SEC DEC 600 B-14
022030,001388: 23,2277 PHI EQUALS 20D
022031,001389: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022032,001390: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022033,001391: 23,2301 56003 XCH EBANK
022034,001392: 23,2302 54070 TS RUPTREG1
022035,001393: 23,2303 E6,1635 EBANK= CDUXD
022036,001394: 23,2303 31635 CA CDUXD
022037,001395: 23,2304 54154 TS MPAC
022038,001396: 23,2305 00006 EXTEND
022039,001397: 23,2306 31637 DCA CDUYD
022040,001398: 23,2307 52156 DXCH MPAC +1
022041,001399: 23,2310 30070 CA RUPTREG1
022042,001400: 23,2311 54003 TS EBANK
022043,001401: 23,2312 00003 RELINT
022044,001402: 23,2313 16477 TCF TMODE
022045,001403: 4512 BLOCK 02
022046,001404: 4000 SETLOC RADARFF
022047,001405: 4000 BANK
022048,001406:
022049,001407: 4512 E7,1456 EBANK= LOSCOUNT
022050,001408: 4512 COUNT* $$/RRSUB
022051,001409:
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Page 521
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022053,001411: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022054,001412: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022055,001413:
022056,001414: 4512 00006 MAGSUB EXTEND
022057,001415: 4513 64515 BZMF +2
022058,001416: 4514 14516 TCF +2
022059,001417: 4515 40000 COM
022060,001418:
022061,001419: 4516 50002 INDEX Q
022062,001420: 4517 60000 AD 0
022063,001421: 4520 00006 EXTEND
022064,001422: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022065,001423: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2
022066,001424:
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Page 522
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022068,001426: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022069,001427:
022070,001428: # FUNCTIONAL DESCRIPTION_
022071,001429:
022072,001430: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022073,001431: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022074,001432: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022075,001433: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022076,001434: # MODE 1 AND =1 FOR MODE 2.
022077,001435:
022078,001436: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022079,001437: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022080,001438: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022081,001439: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022082,001440:
022083,001441: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022084,001442: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022085,001443: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022086,001444: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022087,001445: # TO L +3.
022088,001446:
022089,001447: # CALLING SEQUENCE:
022090,001448:
022091,001449: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022092,001450: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022093,001451:
022094,001452: # ERASABLE INITIALIZATION REQUIRED:
022095,001453:
022096,001454: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022097,001455: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022098,001456: # CURRENT EBANK).
022099,001457:
022100,001458: # SUBROUTINES CALLED_ MAGSUB
022101,001459:
022102,001460: # JOBS OR TASKS INITIATED_ NONE
022103,001461:
022104,001462: # ALARMS_ NONE
022105,001463:
022106,001464: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022107,001465: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022108,001466:
022109,001467: 4523 00006 RRLIMCHK EXTEND
022110,001468: 4524 50002 INDEX Q
022111,001469: 4525 50000 INDEX 0
022112,001470: 4526 30001 DCA 0
022113,001471: 4527 24002 INCR Q
022114,001472: 4530 52062 DXCH ITEMP1
022115,001473: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022116,001474:
022117,001475: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022118,001476: 4533 70110 MASK RADMODES
022119,001477: 4534 10000 CCS A
022120,001478: 4535 14550 TCF MODE2CHK
022121,001479:
022122,001480: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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Page 523
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022124,001482: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022125,001483: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022126,001484: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022127,001485:
022128,001486: 4542 34562 CAF 5.5DEGS
022129,001487: 4543 60062 AD ITEMP2 # S
022130,001488: 4544 04512 TC MAGSUB
022131,001489: 4545 64420 DEC -.35833 # 64.5 DEGS
022132,001490: 4546 00001 TC L
022133,001491: 4547 04560 TC RRLIMOK # IN LIMITS.
022134,001492:
022135,001493: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022136,001494: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022137,001495: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022138,001496: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022139,001497: 4554 00001 TC L
022140,001498:
022141,001499: 4555 30061 CA ITEMP1
022142,001500: 4556 04512 TC MAGSUB
022143,001501: 4557 51615 DEC -.69444 # 125 DEGS
022144,001502:
022145,001503: 4560 50001 RRLIMOK INDEX L
022146,001504: 4561 00001 TC L # ( = TC 1 )
022147,001505:
022148,001506: 4562 00765 5.5DEGS DEC .03056
022149,001507: 4563 16450 82DEGS DEC .45556
022150,001508:
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Page 524
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022152,001510: # PROGRAM NAME_ SETTRKF . IF EITHER:
022153,001511:
022154,001512: # FUNCTIONAL DESCRIPTION_
022155,001513: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022156,001514: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022157,001515: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022158,001516: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022159,001517: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022160,001518: # AUTO MODE (RADMODES BITS 13, 7, 2).
022161,001519: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022162,001520: # 8,5)
022163,001521: # 3) NO RR DATA (RADMODES BIT 4)
022164,001522: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022165,001523: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022166,001524: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022167,001525: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022168,001526: # TRACKER FAIL LAMP IS TURNED ON IF_
022169,001527: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022170,001528: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022171,001529: # EITHER THE ALT OR VEL INFORMATION
022172,001530: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022173,001531: # WITH EITHER THE AL
022174,001532:
022175,001533: # CALLING SEQUENCE:
022176,001534:
022177,001535: # L TC SETTRKF
022178,001536:
022179,001537: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022180,001538:
022181,001539: # SUBROUTINES CALLED_ NONE
022182,001540:
022183,001541: # JOBS OR TASKS INITIATED_ NONE
022184,001542:
022185,001543: # ALARMS_ TRACKER FAIL LAMP
022186,001544:
022187,001545: # EXIT_ L +1 (ALWAYS) ED.
022188,001546:
022189,001547: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022190,001548: 4565 71303 MASK IMODES33
022191,001549: 4566 10000 CCS A
022192,001550: 4567 00002 TC Q
022193,001551:
022194,001552: 4570 34744 RRTRKF CA BIT8
022195,001553: 4571 54001 TS L
022196,001554:
022197,001555: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022198,001556: 4573 70110 MASK RADMODES
022199,001557: 4574 00006 EXTEND
022200,001558: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022201,001559:
022202,001560: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022203,001561: 4577 70110 MASK RADMODES
|
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Page 525
|
022205,001563: 4600 10000 CCS A
022206,001564: 4601 30001 TRKFLON CA L
022207,001565: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022208,001566: 4603 70001 MASK L
022209,001567: 4604 00006 EXTEND
022210,001568: 4605 16742 BZF TCQ # NO CHANGE.
022211,001569:
022212,001570: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022213,001571: 4607 00006 EXTEND
022214,001572: 4610 06001 RXOR LCHAN
022215,001573: 4611 74733 MASK POSMAX
022216,001574: 4612 64735 AD BIT15
022217,001575: 4613 55036 TS DSPTAB +11D
022218,001576: 4614 00002 TC Q
022219,001577:
022220,001578: 4615 10102 13,7,2 OCT 10102
022221,001579: 4616 ENDRMODF EQUALS
022222,001580:
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Page 526
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022224,001582: # PROGRAM NAME_ RRTURNON
022225,001583:
022226,001584: # FUNCTIONAL DESCRIPTION_
022227,001585:
022228,001586: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022229,001587: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022230,001588: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022231,001589: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022232,001590: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022233,001591: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022234,001592: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022235,001593: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022236,001594: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022237,001595: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022238,001596: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022239,001597: # TO TASKOVER.
022240,001598:
022241,001599: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022242,001600: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022243,001601: # THE RR (STATE BIT 7).
022244,001602:
022245,001603: # ERASABLE INITIALIZATION REQUIRED:
022246,001604:
022247,001605: # RADMODES, STATE
022248,001606:
022249,001607: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022250,001608:
022251,001609: # JOBS OR TASKS INITIATED_
022252,001610: #
022253,001611: # NONE
022254,001612:
022255,001613: # ALARMS_ NONE (SEE RRZEROSB)
022256,001614:
022257,001615: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022258,001616:
022259,001617: 24,3255 BANK 24
022260,001618: 25,2000 SETLOC P20S1
022261,001619: 25,2000 BANK
022262,001620:
022263,001621: 25,2062 E7,1456 EBANK= LOSCOUNT
022264,001622: 25,2062 COUNT* $$/RSUB
022265,001623: 25,2062 02071 RRTURNON TC RRZEROSB
022266,001624: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022267,001625: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022268,001626: 25,2065 44753 CS TURNONBT
022269,001627: 25,2066 70110 MASK RADMODES
022270,001628: 25,2067 54110 TS RADMODES
022271,001629: 25,2070 15261 TCF TASKOVER
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Page 527
|
022273,001631: # PROGRAM NAME_ RRZEROSB
022274,001632:
022275,001633: # FUNCTIONAL DESCRIPTION_
022276,001634: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022277,001635: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022278,001636: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022279,001637: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022280,001638: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022281,001639: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022282,001640: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022283,001641: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022284,001642: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022285,001643: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022286,001644: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022287,001645: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022288,001646: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022289,001647: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022290,001648: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022291,001649:
022292,001650: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022293,001651:
022294,001652: # ERASABLE INITIALIZATION REQUIRED:
022295,001653:
022296,001654: # RADMODES (BIT 13 SET), DSPTAB +11D
022297,001655:
022298,001656: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022299,001657:
022300,001658: # JOBS OR TASKS INITIATED_
022301,001659:
022302,001660: # NONE
022303,001661:
022304,001662: # ALARMS_ TRACKER FAIL
022305,001663:
022306,001664: # EXIT_ L +1 (ALWAYS)
022307,001665:
022308,001666: 25,2071 00006 RRZEROSB EXTEND
022309,001667: 25,2072 23315 QXCH RRRET
022310,001668: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022311,001669: 25,2074 00006 EXTEND # COMING HERE.
022312,001670: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022313,001671: 25,2076 05221 TC FIXDELAY
022314,001672: 25,2077 00002 DEC 2 B-14
022315,001673:
022316,001674: 25,2100 34755 CAF ZERO
022317,001675: 25,2101 54035 TS CDUT
022318,001676: 25,2102 54036 TS CDUS
022319,001677: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
022320,001678: 25,2104 00006 EXTEND
022321,001679: 25,2105 03012 WAND CHAN12
022322,001680: 25,2106 05221 TC FIXDELAY
022323,001681: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022324,001682:
022325,001683: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 528
|
022327,001685: 25,2111 70110 MASK RADMODES
022328,001686: 25,2112 54110 TS RADMODES
022329,001687:
022330,001688: 25,2113 30035 CA CDUT
022331,001689: 25,2114 04512 TC MAGSUB
022332,001690: 25,2115 57777 DEC -.5
022333,001691: 25,2116 12121 TCF +3 # IF MODE 2.
022334,001692:
022335,001693: 25,2117 34755 CAF ZERO
022336,001694: 25,2120 12122 TCF +2
022337,001695: 25,2121 34740 CAF ANTENBIT
022338,001696: 25,2122 56110 XCH RADMODES
022339,001697: 25,2123 77741 MASK -BIT12
022340,001698: 25,2124 26110 ADS RADMODES
022341,001699:
022342,001700: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022343,001701:
022344,001702: 25,2126 01315 TC RRRET # DONE.
022345,001703:
022346,001704: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT
022347,001705:
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Page 529
|
022349,001707: # PROGRAM NAME_ DORREPOS
022350,001708:
022351,001709: # FUNCTIONAL DESCRIPTION_
022352,001710:
022353,001711: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022354,001712: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022355,001713: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022356,001714: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022357,001715: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022358,001716: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022359,001717: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022360,001718: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022361,001719: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022362,001720: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022363,001721: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022364,001722: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022365,001723: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022366,001724: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022367,001725: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022368,001726: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022369,001727: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022370,001728: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022371,001729: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022372,001730: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022373,001731: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022374,001732: # TASKOVER.
022375,001733:
022376,001734: # CALLING SEQUENCE:
022377,001735:
022378,001736: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022379,001737: # NOT WITHIN LIMITS OF CURRENT MODE.
022380,001738:
022381,001739: # ERASABLE INITIALIZATION REQUIRED:
022382,001740:
022383,001741: # RADMODES
022384,001742:
022385,001743: # SUBROUTINES CALLED_
022386,001744:
022387,001745: # RRTONLY, RRSONLY, BEGDES (EXIT)
022388,001746:
022389,001747: # JOBS OR TASKS INITIATED_
022390,001748:
022391,001749: # NONE
022392,001750:
022393,001751: # ALARMS- NONE
022394,001752:
022395,001753: # EXIT_ TASKOVER, BEGDES
022396,001754:
022397,001755: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022398,001756:
022399,001757: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022400,001758:
022401,001759: 25,2130 05221 TC FIXDELAY
022402,001760: 25,2131 00002 DEC 2 B-14
022403,001761:
022404,001762: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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Page 530
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022406,001764: 25,2133 70110 MASK RADMODES
022407,001765: 25,2134 10000 CCS A
022408,001766: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022409,001767: 25,2136 02241 TC RRTONLY
022410,001768:
022411,001769: 25,2137 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022412,001770: 25,2140 70110 MASK RADMODES
022413,001771: 25,2141 10000 CCS A
022414,001772: 25,2142 44736 CS HALF # -90 FOR MODE 2.
022415,001773: 25,2143 02244 TC RRSONLY
022416,001774:
022417,001775: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022418,001776: # REQUESTED DURING REPOSITION.
022419,001777: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022420,001778: 25,2146 54110 TS RADMODES
022421,001779: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022422,001780: 25,2150 10000 CCS A
022423,001781: 25,2151 12573 TCF BEGDES
022424,001782: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022425,001783: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022426,001784: 25,2154 03012 WAND CHAN12
022427,001785: 25,2155 15261 TCF TASKOVER
022428,001786:
022429,001787: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022430,001788: 25,2157 00006 EXTEND
022431,001789: 25,2160 02012 RAND CHAN12
022432,001790: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022433,001791: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022434,001792:
022435,001793: 25,2163 54112 TS LASTYCMD
022436,001794: 25,2164 54113 TS LASTXCMD
022437,001795: 25,2165 34752 CAF BIT2
022438,001796: 25,2166 00006 EXTEND
022439,001797: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022440,001798: 25,2170 00002 TC Q
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|
Page 531
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022442,001800: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022443,001801:
022444,001802: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022445,001803: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022446,001804: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022447,001805: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022448,001806: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022449,001807: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022450,001808: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022451,001809: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022452,001810: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022453,001811: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022454,001812: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022455,001813: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022456,001814: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022457,001815: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022458,001816: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022459,001817: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022460,001818: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022461,001819: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022462,001820: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022463,001821: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022464,001822:
022465,001823: # CALLING SEQUENCE:
022466,001824:
022467,001825: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022468,001826: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022469,001827: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022470,001828: # OTHER MODE.
022471,001829:
022472,001830: # ERASABLE INITIALIZATION REQUIRED:
022473,001831:
022474,001832: # RADMODES
022475,001833:
022476,001834: # SUBROUTINES CALLED_
022477,001835:
022478,001836: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022479,001837:
022480,001838: # JOBS OR TASKS INITIATED_
022481,001839:
022482,001840: # NONE
022483,001841:
022484,001842: # ALARMS_ NONE
022485,001843:
022486,001844: # EXIT_ STDESIG
022487,001845:
022488,001846: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022489,001847: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022490,001848: 25,2173 10000 CCS A
022491,001849: 25,2174 34735 CAF BIT15
022492,001850: 25,2175 02241 TC RRTONLY
022493,001851:
022494,001852: 25,2176 37740 CAF -45DEGSR
022495,001853: 25,2177 02244 TC RRSONLY
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Page 532
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022497,001855: 25,2200 40110 CS RADMODES
022498,001856: 25,2201 74740 MASK ANTENBIT
022499,001857: 25,2202 10000 CCS A
022500,001858: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
022501,001859: 25,2204 62231 AD -50DEGSR
022502,001860: 25,2205 02241 TC RRTONLY
022503,001861:
022504,001862: 25,2206 40110 CS RADMODES
022505,001863: 25,2207 74740 MASK ANTENBIT
022506,001864: 25,2210 10000 CCS A
022507,001865: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
022508,001866: 25,2212 02241 TC RRTONLY
022509,001867:
022510,001868: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
022511,001869: 25,2214 74740 MASK ANTENBIT
022512,001870: 25,2215 10000 CCS A
022513,001871: 25,2216 44736 CS HALF
022514,001872: 25,2217 02244 TC RRSONLY
022515,001873:
022516,001874: 25,2220 02233 TC RMODINV
022517,001875:
022518,001876: 25,2221 44736 CS REMODBIT # END OF REMODE.
022519,001877: 25,2222 70110 MASK RADMODES
022520,001878: 25,2223 54110 TS RADMODES
022521,001879:
022522,001880: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022523,001881: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022524,001882: 25,2226 00006 EXTEND
022525,001883: 25,2227 13555 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
022526,001884: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
022527,001885: 25,2231 7740 -45DEGSR = 13,14,15
022528,001886: 25,2231 67070 -50DEGSR DEC -.27778
022529,001887: 25,2232 61615 -80DEGSR DEC -.44444
022530,001888:
022531,001889: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022532,001890: 25,2234 34740 CAF ANTENBIT
022533,001891: 25,2235 00006 EXTEND
022534,001892: 25,2236 06001 RXOR LCHAN
022535,001893: 25,2237 54110 TS RADMODES
022536,001894: 25,2240 00002 TC Q
022537,001895:
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Page 533
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022539,001897: # PROGRAM NAMES_ RRTONLY, RRSONLY
022540,001898:
022541,001899: # FUNCTIONAL DESCRIPTION_
022542,001900:
022543,001901: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022544,001902: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022545,001903: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022546,001904: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022547,001905: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022548,001906: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022549,001907: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022550,001908: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022551,001909: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022552,001910: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022553,001911: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022554,001912: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022555,001913: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022556,001914: # REPEATED.
022557,001915:
022558,001916: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022559,001917: # L TC RRTONLY (TRUNNION ONLY)
022560,001918: # RRSONLY (SHAFT ONLY)
022561,001919: # RRTONLY IS CALLED BY PREPOS29;
022562,001920: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022563,001921:
022564,001922: # ERASABLE INITIALIZATION REQUIRED:
022565,001923:
022566,001924: # C(A) = DESIRED ANGLE, RADMODES
022567,001925:
022568,001926: # SUBROUTINES CALLED_
022569,001927:
022570,001928: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
022571,001929:
022572,001930: # JOBS OR TASKS INITIATED_
022573,001931:
022574,001932: # NONE
022575,001933:
022576,001934: # ALARMS_ NONE
022577,001935:
022578,001936: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022579,001937: # BITS 14, 11)
022580,001938: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022581,001939:
022582,001940: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
022583,001941: 25,2242 34755 CAF ZERO
022584,001942: 25,2243 12246 TCF RR1AXIS
022585,001943:
022586,001944: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022587,001945: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022588,001946:
022589,001947: 25,2246 55317 RR1AXIS TS RRINDEX
022590,001948: 25,2247 00006 EXTEND
022591,001949: 25,2250 23315 QXCH RRRET
022592,001950: 25,2251 12254 TCF RR1AX2
022593,001951:
|
|
Page 534
|
022595,001953: 25,2252 05221 NXTRR1AX TC FIXDELAY
022596,001954: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022597,001955:
022598,001956: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
022599,001957: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
022600,001958: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
022601,001959: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
022602,001960:
022603,001961: 25,2260 31316 CA RDES
022604,001962: 25,2261 00006 EXTEND
022605,001963: 25,2262 51317 INDEX RRINDEX
022606,001964: 25,2263 20035 MSU CDUT
022607,001965: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
022608,001966: 25,2265 00006 EXTEND
022609,001967: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
022610,001968: 25,2267 54001 TS L
022611,001969: 25,2270 30110 CA RADMODES
022612,001970: 25,2271 74752 MASK AUTOMBIT
022613,001971: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
022614,001972: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
022615,001973: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
022616,001974:
022617,001975: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
022618,001976: 25,2276 01315 TC RRRET # RETURN TO CALLER.
022619,001977:
022620,001978: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
022621,001979: 25,2300 12302 TCF +2 # SETTING A TO 0.
022622,001980: 25,2301 56001 XCH L
022623,001981: 25,2302 53110 DXCH TANG
022624,001982:
022625,001983: 25,2303 02306 TC RROUT
022626,001984:
022627,001985: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
022628,001986:
022629,001987: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
022630,001988:
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|
Page 535
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022632,001990: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
022633,001991:
022634,001992: # FUNCTIONAL DESCRIPTION_
022635,001993:
022636,001994: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
022637,001995: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
022638,001996: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
022639,001997: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
022640,001998: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
022641,001999: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
022642,002000: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
022643,002001: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
022644,002002: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
022645,002003: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
022646,002004: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
022647,002005: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
022648,002006: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
022649,002007:
022650,002008: # CALLING SEQUENCE:
022651,002009: #
022652,002010: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
022653,002011: # RRTONLY, RRSONLY, AND DODES
022654,002012:
022655,002013: # ERASABLE INITIALIZATION REQUIRED:
022656,002014:
022657,002015: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
022658,002016: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
022659,002017:
022660,002018: # SUBROUTINES CALLED_
022661,002019:
022662,002020: # MAGSUB
022663,002021:
022664,002022: # JOBS OR TASKS INITIATED_
022665,002023:
022666,002024: # NONE
022667,002025:
022668,002026: # ALARMS_ NONE
022669,002027:
022670,002028: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
022671,002029:
022672,002030: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
022673,002031: 25,2307 34753 CAF ONE # LOOP TWICE.
022674,002032: 25,2310 54062 RROUT2 TS ITEMP2
022675,002033: 25,2311 50000 INDEX A
022676,002034: 25,2312 31107 CA TANG
022677,002035: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
022678,002036:
022679,002037: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
022680,002038: 25,2315 77177 -RRLIMIT DEC -384 B-14
022681,002039: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
022682,002040:
022683,002041: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
022684,002042: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
022685,002043: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
022686,002044: 25,2322 40000 COM
|
|
Page 536
|
022688,002046: 25,2323 60061 AD ITEMP1
022689,002047: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
022690,002048: 25,2325 50062 INDEX ITEMP2
022691,002049: 25,2326 54053 TS CDUTCMD
022692,002050:
022693,002051: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
022694,002052: 25,2330 12310 TCF RROUT2
022695,002053:
022696,002054: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
022697,002055: 25,2332 00006 EXTEND
022698,002056: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
022699,002057: 25,2334 00001 TC L # RETURN.
022700,002058:
022701,002059: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
022702,002060: 25,2336 42315 CS -RRLIMIT
022703,002061: 25,2337 12341 TCF +2
022704,002062: 25,2340 32315 CA -RRLIMIT
022705,002063: 25,2341 54061 TS ITEMP1
022706,002064: 25,2342 12320 TCF SETRRCTR +1
022707,002065:
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|
Page 537
|
022709,002067: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
022710,002068:
022711,002069: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
022712,002070: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
022713,002071: 25,2345 10000 CCS A
022714,002072: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
022715,002073:
022716,002074: 25,2347 00004 INHINT
022717,002075: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
022718,002076: 25,2351 70110 MASK RADMODES
022719,002077: 25,2352 64737 AD RCDU0BIT
022720,002078: 25,2353 54110 TS RADMODES
022721,002079:
022722,002080: 25,2354 34753 CAF ONE
022723,002081: 25,2355 05203 TC WAITLIST
022724,002082: 25,2356 E7,1456 EBANK= LOSCOUNT
022725,002083: 25,2356 02370 52067 2CADR RRZ2
022726,002084:
022727,002085: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
022728,002086: 25,2361 74752 MASK AUTOMBIT
022729,002087: 25,2362 10000 CCS A
022730,002088: 25,2363 12366 TCF ROADBACK
022731,002089: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
022732,002090: 25,2365 00510 OCT 510
022733,002091: 25,2366 00003 ROADBACK RELINT
022734,002092: 25,2367 14631 TCF SWRETURN
022735,002093:
022736,002094: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
022737,002095: 25,2371 13546 TCF ENDRADAR
022738,002096:
022739,002097: 25,2372 02001 BIT11+1 OCT 02001
022740,002098:
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|
Page 538
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022742,002100: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
022743,002101:
022744,002102: # FUNCTIONAL DESCRIPTION_
022745,002103:
022746,002104: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
022747,002105: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
022748,002106: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
022749,002107: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
022750,002108: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
022751,002109: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
022752,002110: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
022753,002111: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
022754,002112: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
022755,002113: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
022756,002114: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
022757,002115: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
022758,002116: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
022759,002117: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
022760,002118: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
022761,002119: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
022762,002120: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
022763,002121: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
022764,002122: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
022765,002123: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
022766,002124: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
022767,002125: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
022768,002126:
022769,002127: # CALLING SEQUENCE:
022770,002128:
022771,002129: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
022772,002130: # L+1 RRDESSM
022773,002131: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
022774,002132: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
022775,002133:
022776,002134: # ERASABLE INITIALIZATION REQUIRED:
022777,002135:
022778,002136: # RRTARGET, RADMODES
022779,002137:
022780,002138: # SUBROUTINES CALLED_
022781,002139:
022782,002140: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
022783,002141: # PART OF), RMODINV
022784,002142:
022785,002143: # JOBS OR TASKS INITIATED_
022786,002144:
022787,002145: # NONE
022788,002146:
022789,002147: # ALARMS_ NONE
022790,002148:
022791,002149: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
022792,002150: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
022793,002151: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
022794,002152:
022795,002153: 25,2373 43020 RRDESSM STQ CLEAR
022796,002154: 25,2374 01113 DESRET
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|
Page 539
|
022798,002156: 25,2375 00271 RRNBSW
022799,002157: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
022800,002158: 25,2377 47537 CDUTRIG
022801,002159: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
022802,002160: 25,2401 01102 RRTARGET
022803,002161: 25,2402 47671 *SMNB*
022804,002162:
022805,002163: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
022806,002164: 25,2404 26133 RRANGLES # ALTERNATE MODE.
022807,002165: 25,2405 77776 EXIT
022808,002166:
022809,002167: 25,2406 00004 INHINT
022810,002168: 25,2407 04523 TC RRLIMCHK
022811,002169: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
022812,002170: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
022813,002171: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
022814,002172: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
022815,002173: 25,2414 40104 CS FLAGWRD8
022816,002174: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
022817,002175: 25,2416 00006 EXTEND
022818,002176: 25,2417 12456 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
022819,002177: 25,2420 02461 TC TRYSWS
022820,002178:
022821,002179: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
022822,002180: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
022823,002181: 25,2423 00006 EXTEND
022824,002182: 25,2424 12456 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
022825,002183: 25,2425 30074 CA STATE
022826,002184: 25,2426 74745 MASK RNDVZBIT
022827,002185: 25,2427 10000 CCS A # TEST RNDVZFLG.
022828,002186: 25,2430 02471 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
022829,002187: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
022830,002188:
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|
Page 540
|
022832,002190: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
022833,002191:
022834,002192: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
022835,002193: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
022836,002194: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
022837,002195: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
022838,002196: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
022839,002197: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
022840,002198: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
022841,002199: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
022842,002200: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
022843,002201: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
022844,002202: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
022845,002203: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
022846,002204: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
022847,002205: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
022848,002206: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
022849,002207: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
022850,002208: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
022851,002209: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
022852,002210: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
022853,002211: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
022854,002212: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
022855,002213:
022856,002214: # CALLING SEQUENCE:
022857,002215:
022858,002216: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
022859,002217:
022860,002218: # ERASABLE INITIALIZATION REQUIRED:
022861,002219:
022862,002220: # RADMODES, (SEE DODES)
022863,002221:
022864,002222: # SUBROUTINES CALLED_
022865,002223:
022866,002224: # SETRRECR, WAITLIST
022867,002225:
022868,002226: # JOBS OR TASKS INITIATED_
022869,002227:
022870,002228: # BEGDES
022871,002229:
022872,002230: # ALARMS_ NONE
022873,002231:
022874,002232: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
022875,002233: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
022876,002234:
022877,002235: 25,2432 25113 STARTDES INCR DESRET
022878,002236: 25,2433 40110 CS RADMODES
022879,002237: 25,2434 74742 MASK DESIGBIT
022880,002238: 25,2435 26110 ADS RADMODES
022881,002239: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
022882,002240: 25,2437 10000 CCS A
022883,002241: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
022884,002242:
022885,002243: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 541
|
022887,002245: 25,2442 34752 CAF TWO
022888,002246: 25,2443 05203 TC WAITLIST
022889,002247: 25,2444 E7,1456 EBANK= LOSCOUNT
022890,002248: 25,2444 02573 52067 2CADR BEGDES
022891,002249:
022892,002250: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
022893,002251: 25,2447 00006 EXTEND
022894,002252: 25,2450 12452 BZF DESRTRN # YES SET EXIT
022895,002253: 25,2451 05155 TC ENDOFJOB # NO
022896,002254: 25,2452 00003 DESRTRN RELINT
022897,002255: 25,2453 25113 INCR DESRET
022898,002256: 25,2454 31113 CA DESRET
022899,002257: 25,2455 14640 TCF BANKJUMP
022900,002258:
022901,002259: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
022902,002260: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
022903,002261: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
022904,002262:
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|
Page 542
|
022906,002264: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
022907,002265:
022908,002266: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
022909,002267: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
022910,002268: 25,2463 01111 ADRES MODEB
022911,002269: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
022912,002270:
022913,002271: 25,2465 02233 TC RMODINV # RESET BIT12
022914,002272: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE.
022915,002273: 25,2467 26110 ADS RADMODES
022916,002274:
022917,002275: 25,2470 12412 TCF OKDESSM
022918,002276:
022919,002277: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
022920,002278: 25,2472 25113 INCR DESRET # TO CALLER +2
022921,002279: 25,2473 12456 TCF NORDSTAL
022922,002280:
022923,002281: 25,2474 00074 MAXTRYS DEC 60 B-14
022924,002282:
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Page 543
|
022926,002284: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
022927,002285: # TANG AND TANG +1.
022928,002286:
022929,002287: 25,2475 04645 RRDESNB TC MAKECADR
022930,002288: 25,2476 55113 TS DESRET
022931,002289:
022932,002290: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
022933,002291: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
022934,002292: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
022935,002293: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
022936,002294: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
022937,002295: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
022938,002296: 25,2505 01107 ADRES TANG
022939,002297: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
022940,002298:
022941,002299: 25,2507 00003 OKDESNB RELINT
022942,002300: 25,2510 00006 EXTEND
022943,002301: 25,2511 31110 DCA TANG
022944,002302: 25,2512 53753 DXCH TANGNB
022945,002303: 25,2513 06037 TC INTPRET
022946,002304:
022947,002305: 25,2514 77624 CALL # GET LOS IN NB COORDS.
022948,002306: 25,2515 46041 RRNB
022949,002307: 25,2516 01102 STORE RRTARGET
022950,002308:
022951,002309: 25,2517 77414 SET EXIT
022952,002310: 25,2520 00071 RRNBSW
022953,002311:
022954,002312: 25,2521 00004 INHINT
022955,002313: 25,2522 12433 TCF STARTDES +1
022956,002314: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
022957,002315: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
022958,002316: 25,2525 01107 ADRES TANG
022959,002317: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
022960,002318:
022961,002319: 25,2527 02233 TC RMODINV
022962,002320: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE.
022963,002321: 25,2531 26110 ADS RADMODES
022964,002322: 25,2532 12507 TCF OKDESNB
022965,002323:
022966,002324: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
022967,002325: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
022968,002326: 25,2535 00502 OCT 502
022969,002327: 25,2536 06011 TC CLRADMOD
022970,002328: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
022971,002329:
022972,002330: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
022973,002331: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
022974,002332: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
022975,002333: 25,2543 00006 EXTEND
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Page 544
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022977,002335: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
022978,002336: 25,2545 30001 DCA 0
022979,002337: 25,2546 52062 DXCH ITEMP1
022980,002338: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
022981,002339:
022982,002340: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022983,002341: 25,2551 70110 MASK RADMODES
022984,002342: 25,2552 10000 CCS A
022985,002343: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
022986,002344: 25,2554 30061 CA ITEMP1
022987,002345: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
022988,002346: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
022989,002347: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
022990,002348:
022991,002349: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
022992,002350: 25,2561 00006 EXTEND
022993,002351: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
022994,002352: 25,2563 64562 AD 5.5DEGS
022995,002353: 25,2564 04512 SHAFTLIM TC MAGSUB
022996,002354: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
022997,002355: 25,2566 00001 TC L # NOT IN LIMITS
022998,002356: 25,2567 04560 TC RRLIMOK # IN LIMITS
022999,002357: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023000,002358: 25,2571 12564 TCF SHAFTLIM
023001,002359:
023002,002360: 25,2572 03512 20.5DEGS DEC .11389
023003,002361:
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Page 545
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023005,002363: # PROGRAM NAME_ BEGDES
023006,002364:
023007,002365: # FUNCTIONAL DESCRIPTION_
023008,002366:
023009,002367: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023010,002368: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023011,002369: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023012,002370: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023013,002371: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023014,002372: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023015,002373: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023016,002374: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023017,002375: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023018,002376: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023019,002377: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023020,002378: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023021,002379: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023022,002380: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023023,002381: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023024,002382: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023025,002383: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023026,002384: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023027,002385: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023028,002386: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023029,002387: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023030,002388: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023031,002389: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023032,002390: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023033,002391: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023034,002392:
023035,002393: # CALLING SEQUENCE:
023036,002394:
023037,002395: # WAITLIST CALL FROM STARTDES
023038,002396: # TCF BEGDES FROM DORREPOS
023039,002397: # TC STDESIG RETURNING, FROM REMODE
023040,002398:
023041,002399: # ERASABLE INITIALIZATION REQUIRED:
023042,002400: # DESCOUNT, RADMODES
023043,002401:
023044,002402: # SUBROUTINES CALLED_
023045,002403: # ENDRADAR, FINDVAC
023046,002404:
023047,002405: # JOBS OR TASKS INITIATED_ DODES
023048,002406:
023049,002407: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023050,002408: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023051,002409:
023052,002410: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023053,002411: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023054,002412: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023055,002413:
023056,002414: 25,2573 40110 BEGDES CS RADMODES
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Page 546
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023058,002416: 25,2574 74736 MASK REMODBIT
023059,002417: 25,2575 10000 CCS A
023060,002418: 25,2576 02602 TC STDESIG
023061,002419: 25,2577 02171 TC REMODE
023062,002420: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023063,002421: 25,2601 00062 DEC 50 B-14
023064,002422:
023065,002423: 25,2602 34741 STDESIG CAF REPOSBIT
023066,002424: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023067,002425: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023068,002426: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023069,002427:
023070,002428: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023071,002429: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023072,002430: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023073,002431: 25,2611 12630 TCF MOREDES +1
023074,002432:
023075,002433: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023076,002434: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023077,002435: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023078,002436: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
023079,002437:
023080,002438: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023081,002439: 25,2617 12627 TCF MOREDES
023082,002440:
023083,002441: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023084,002442: 25,2621 00006 EXTEND
023085,002443: 25,2622 03012 WAND CHAN12
023086,002444: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG
023087,002445: 25,2624 70110 MASK RADMODES
023088,002446: 25,2625 54110 TS RADMODES
023089,002447: 25,2626 13562 TCF RDBADEND
023090,002448:
023091,002449: 25,2627 55114 MOREDES TS DESCOUNT
023092,002450: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023093,002451: 25,2631 05105 TC FINDVAC
023094,002452: 25,2632 E7,1456 EBANK= LOSCOUNT
023095,002453: 25,2632 02636 52067 2CADR DODES
023096,002454:
023097,002455: 25,2634 12600 TCF DESLOOP
023098,002456:
023099,002457: 25,2635 20002 B14+B2 OCT 20002
023100,002458:
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Page 547
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023102,002460: # PROGRAM NAME_ DODES
023103,002461:
023104,002462: # FUNCTIONAL DESCRIPTION_
023105,002463:
023106,002464: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023107,002465: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023108,002466: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023109,002467: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023110,002468: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023111,002469: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023112,002470: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023113,002471: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023114,002472: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023115,002473: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023116,002474: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023117,002475: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023118,002476: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023119,002477: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023120,002478: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023121,002479: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023122,002480: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023123,002481: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023124,002482: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023125,002483: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023126,002484: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023127,002485: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023128,002486: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023129,002487: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023130,002488: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023131,002489: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023132,002490: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023133,002491: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023134,002492: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023135,002493: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023136,002494: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023137,002495: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023138,002496: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023139,002497: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023140,002498: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023141,002499: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023142,002500: # VIA ENDOFJOB.
023143,002501:
023144,002502: # CALLING SEQUENCE:
023145,002503:
023146,002504: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023147,002505:
023148,002506: # ERASABLE INITIALIZATION REQUIRED:
023149,002507:
023150,002508: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023151,002509: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023152,002510:
023153,002511: # SUBROUTINES CALLED_
023154,002512:
023155,002513: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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Page 548
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023157,002515:
023158,002516: # JOBS OR TASKS INITIATED_
023159,002517:
023160,002518: # NONE
023161,002519:
023162,002520: # ALARMS_ NONE
023163,002521:
023164,002522: # EXIT_ ENDOFJOB (ALWAYS)
023165,002523:
023166,002524: 25,2636 00006 DODES EXTEND
023167,002525: 25,2637 30036 DCA CDUT
023168,002526: 25,2640 53110 DXCH TANG
023169,002527:
023170,002528: 25,2641 06037 TC INTPRET
023171,002529:
023172,002530: 25,2642 77201 SETPD VLOAD
023173,002531: 25,2643 00001 0
023174,002532: 25,2644 01102 RRTARGET
023175,002533: 25,2645 74214 BON VXSC
023176,002534: 25,2646 00311 RRNBSW
023177,002535: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
023178,002536: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023179,002537: 25,2651 63372 VSL1 PDVL
023180,002538: 25,2652 01761 LOSVEL
023181,002539: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023182,002540: 25,2654 13072 MCTOMS
023183,002541: 25,2655 45056 UNIT CALL
023184,002542: 25,2656 47537 CDUTRIG
023185,002543: 25,2657 77624 CALL
023186,002544: 25,2660 47671 *SMNB*
023187,002545:
023188,002546: 25,2661 14041 DONBRD STODL 32D
023189,002547: 25,2662 01111 TANG +1
023190,002548: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023191,002549: 25,2664 21576 CDULOGIC # (-SIN(S)).
023192,002550: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023193,002551: 25,2666 41546 COS PUSH
023194,002552: 25,2667 65205 DMP PDDL
023195,002553: 25,2670 00041 32D
023196,002554: 25,2671 00045 36D
023197,002555: 25,2672 44205 DMP BDSU
023198,002556: 25,2673 00001 0
023199,002557: 25,2674 77626 STADR
023200,002558: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
023201,002559:
023202,002560: 25,2676 47135 SLOAD RTB
023203,002561: 25,2677 01110 TANG
023204,002562: 25,2700 21576 CDULOGIC
023205,002563: 25,2701 71406 PUSH COS # COS(T) TO 4.
023206,002564: 25,2702 73525 PDDL SIN
023207,002565: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
023208,002566: 25,2704 00003 2
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Page 549
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023210,002568: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023211,002569: 25,2706 00005 4 # ( COS(T) )
023212,002570: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
023213,002571: 25,2710 00007 6
023214,002572: 25,2711 00001 0
023215,002573: 25,2712 55552 SL1 VDEF
023216,002574: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023217,002575: 25,2714 00041 32D
023218,002576:
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Page 550
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023220,002578: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023221,002579: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023222,002580:
023223,002581: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023224,002582: 25,2716 00006 EXTEND
023225,002583: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023226,002584: 25,2720 55107 TS TANG # TRUNNION COMMAND.
023227,002585: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023228,002586: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023229,002587: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023230,002588: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023231,002589: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023232,002590: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023233,002591: 25,2727 41110 +3 CS TANG +1
023234,002592: 25,2730 00006 EXTEND
023235,002593: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023236,002594: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
023237,002595: 25,2733 06037 TC INTPRET
023238,002596:
023239,002597: 25,2734 41345 DLOAD DMP
023240,002598: 25,2735 00003 2 # COS(S).
023241,002599: 25,2736 00005 4 # COS(T).
023242,002600: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
023243,002601: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023244,002602: 25,2741 00001 0 # SIN(S).
023245,002603: 25,2742 72405 DMP SL1
023246,002604: 25,2743 00005 4 # COS(T).
023247,002605: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
023248,002606: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023249,002607: 25,2746 52751 +3
023250,002608: 25,2747 77624 CALL
023251,002609: 25,2750 47673 *NBSM* # GET URR IN SM AXES.
023252,002610: 25,2751 77441 DOT EXIT
023253,002611: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023254,002612:
023255,002613: 25,2753 00006 EXTEND
023256,002614: 25,2754 43070 DCS COS1/2DG
023257,002615: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023258,002616: 25,2756 10154 CCS MPAC
023259,002617: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023260,002618: 25,2760 12762 TCF +2
023261,002619: 25,2761 34753 CA ONE
023262,002620: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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023264,002622: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023265,002623:
023266,002624: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023267,002625: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023268,002626: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
023269,002627: 25,2766 13017 TCF DORROUT
023270,002628: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023271,002629: 25,2770 13000 TCF DGOODCHK
023272,002630: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023273,002631: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023274,002632: 25,2773 10000 CCS A
023275,002633: 25,2774 13005 TCF RRDESDUN
023276,002634:
023277,002635: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
023278,002636: 25,2776 00006 EXTEND
023279,002637: 25,2777 05012 WOR CHAN12
023280,002638:
023281,002639: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023282,002640: 25,3001 00006 EXTEND
023283,002641: 25,3002 02033 RAND CHAN33
023284,002642: 25,3003 10000 CCS A
023285,002643: 25,3004 13017 TCF DORROUT
023286,002644:
023287,002645: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023288,002646: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023289,002647: 25,3007 00004 INHINT
023290,002648: 25,3010 54110 TS RADMODES
023291,002649:
023292,002650: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023293,002651: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023294,002652: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023295,002653: 25,3014 00006 EXTEND
023296,002654: 25,3015 03012 WAND CHAN12
023297,002655: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023298,002656:
023299,002657: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023300,002658: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023301,002659: 25,3021 00006 EXTEND
023302,002660: 25,3022 13041 BZF NOTP20
023303,002661: 25,3023 06037 TC INTPRET
023304,002662: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023305,002663: 25,3025 01102 RRTARGET
023306,002664: 25,3026 01767 MLOSV
023307,002665: 25,3027 41572 VSL1 PUSH
023308,002666: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023309,002667: 25,3031 01761 LOSVEL # TO LOS VECTOR
023310,002668: 25,3032 13072 MCTOMS
023311,002669: 25,3033 53362 VSR1 VAD
023312,002670: 25,3034 77656 UNIT
023313,002671: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 552
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023315,002673: 25,3036 00045 36D
023316,002674: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
023317,002675: 25,3040 77776 EXIT
023318,002676: 25,3041 00004 NOTP20 INHINT
023319,002677: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023320,002678: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023321,002679: 25,3044 10000 CCS A
023322,002680: 25,3045 02306 TC RROUT
023323,002681:
023324,002682: 25,3046 30076 CA FLAGWRD2
023325,002683: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023326,002684: 25,3050 00006 EXTEND # LOS COUNTER
023327,002685: 25,3051 15155 BZF ENDOFJOB
023328,002686: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023329,002687: 25,3053 03064 TC DODESEND # A NEW LOS
023330,002688: 25,3054 00004 INHINT
023331,002689: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023332,002690: 25,3056 52602 CADR DESLOOP +2
023333,002691: 25,3057 00003 RELINT
023334,002692: 25,3060 10067 CCS NEWJOB
023335,002693: 25,3061 05122 TC CHANG1
023336,002694: 25,3062 04616 TC BANKCALL
023337,002695: 25,3063 50731 CADR R21LEM2
023338,002696:
023339,002697: 25,3064 55456 DODESEND TS LOSCOUNT
023340,002698: 25,3065 05155 TC ENDOFJOB
023341,002699:
023342,002700: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023343,002701: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000
023344,002702: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023345,002703: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
023346,002704:
|
|
Page 553
|
023348,002706: # RADAR READ INITIALIZATION
023349,002707:
023350,002708: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023351,002709:
023352,002710: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023353,002711: 25,3074 00017 ALLREAD OCT 17
023354,002712:
023355,002713: 25,3075 03114 LRVELZ TC INITREAD
023356,002714: 25,3076 00016 OCT 16
023357,002715:
023358,002716: 25,3077 03114 LRVELY TC INITREAD
023359,002717: 25,3100 00015 OCT 15
023360,002718:
023361,002719: 25,3101 03114 LRVELX TC INITREAD
023362,002720: 25,3102 00014 OCT 14
023363,002721:
023364,002722: 25,3103 03113 RRRDOT TC INITREAD -1
023365,002723: 25,3104 00012 OCT 12
023366,002724:
023367,002725: 25,3105 03113 RRRANGE TC INITREAD -1
023368,002726: 25,3106 00011 OCT 11
023369,002727:
023370,002728: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023371,002729: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023372,002730:
023373,002731: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023374,002732: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023375,002733: 25,3111 51105 INDEX TIMEHOLD
023376,002734: 25,3112 13075 TCF LRVELZ
023377,002735:
|
|
Page 554
|
023379,002737: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023380,002738: 25,3114 00004 INITREAD INHINT
023381,002739:
023382,002740: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023383,002741: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023384,002742: 25,3117 74751 MP BIT3 # ENCOUNTERED).
023385,002743: 25,3120 53106 DXCH TIMEHOLD
023386,002744:
023387,002745: 25,3121 10000 CCS A
023388,002746: 25,3122 55111 TS NSAMP
023389,002747: 25,3123 64753 AD ONE
023390,002748: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023391,002749: # DOUBLE
023392,002750: 25,3124 55100 TS SAMPLIM
023393,002751:
023394,002752: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023395,002753: 25,3126 00006 EXTEND
023396,002754: 25,3127 02033 RAND CHAN33
023397,002755: 25,3130 55113 TS OLDATAGD
023398,002756:
023399,002757: 25,3131 43074 CS ALLREAD
023400,002758: 25,3132 00006 EXTEND
023401,002759: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023402,002760:
023403,002761: 25,3134 50002 INDEX Q
023404,002762: 25,3135 30000 CAF 0
023405,002763: 25,3136 00006 EXTEND
023406,002764: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
023407,002765:
023408,002766: 25,3140 00006 EXTEND
023409,002767: 25,3141 30025 DCA TIME2
023410,002768: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023411,002769:
023412,002770: 25,3143 34755 CAF ZERO
023413,002771: 25,3144 54001 TS L
023414,002772: 25,3145 53102 DXCH SAMPLSUM
023415,002773: 25,3146 12366 TCF ROADBACK
023416,002774:
023417,002775: 25,3147 00230 DGBITS OCT 230
023418,002776:
|
|
Page 555
|
023420,002778: # RADAR RUPT READER
023421,002779:
023422,002780: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023423,002781:
023424,002782: 25,2000 SETLOC RADARUPT
023425,002783: 25,2000 BANK
023426,002784:
023427,002785: 25,3150 COUNT* $$/RRUPT
023428,002786: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023429,002787: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023430,002788: 25,3152 54016 TS BANKRUPT
023431,002789: 25,3153 00006 EXTEND
023432,002790: 25,3154 22012 QXCH QRUPT
023433,002791:
023434,002792: 25,3155 34757 CAF SEVEN
023435,002793: 25,3156 00006 EXTEND
023436,002794: 25,3157 02013 RAND CHAN13
023437,002795: 25,3160 55335 TS DNINDEX
023438,002796: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023439,002797: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023440,002798: 25,3163 30046 CA RNRAD
023441,002799: 25,3164 51335 INDEX DNINDEX
023442,002800: 25,3165 55332 TS DNRRANGE -1
023443,002801: 25,3166 11100 TRYCOUNT CCS SAMPLIM
023444,002802: 25,3167 13211 TCF PLENTY
023445,002803: 25,3170 13174 TCF NOMORE
023446,002804: 25,3171 05567 TC ALARM
023447,002805: 25,3172 00520 OCT 520
023448,002806: 25,3173 05270 TC RESUME
023449,002807:
023450,002808: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023451,002809: 25,3175 74735 MASK LRBYBIT
023452,002810: 25,3176 00006 EXTEND
023453,002811: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023454,002812:
023455,002813: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
023456,002814: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
023457,002815: 25,3202 00006 EXTEND
023458,002816: 25,3203 13206 BZF BADRAD
023459,002817:
023460,002818: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
023461,002819: 25,3205 00521 OCT 521
023462,002820: 25,3206 44753 BADRAD CS ONE
023463,002821: 25,3207 55100 TS SAMPLIM
023464,002822: 25,3210 03560 TC RDBADEND -2
023465,002823: 25,3211 55100 PLENTY TS SAMPLIM
023466,002824: 25,3212 34751 CAF BIT3
023467,002825: 25,3213 00006 EXTEND
023468,002826: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023469,002827: 25,3215 00006 EXTEND
|
|
Page 556
|
023471,002829: 25,3216 13276 BZF RENDRAD
023472,002830:
023473,002831: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
023474,002832: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
023475,002833: 25,3221 00006 EXTEND
023476,002834: 25,3222 06033 RXOR CHAN33
023477,002835: 25,3223 74746 MASK BIT6
023478,002836: 25,3224 00006 EXTEND
023479,002837: 25,3225 13231 BZF VELCHK
023480,002838:
023481,002839: 25,3226 05567 TC ALARM
023482,002840: 25,3227 00522 OCT 522
023483,002841: 25,3230 03206 TC BADRAD
023484,002842:
023485,002843: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT
023486,002844: 25,3232 00006 EXTEND
023487,002845: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023488,002846: 25,3234 76245 MASK BIN3
023489,002847: 25,3235 00006 EXTEND
023490,002848: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
023491,002849:
023492,002850: 25,3237 34733 CAF POSMAX
023493,002851: 25,3240 70046 MASK RNRAD
023494,002852: 25,3241 62000 AD LVELBIAS
023495,002853: 25,3242 54001 TS L
023496,002854: 25,3243 30046 CAE RNRAD
023497,002855: 25,3244 60000 DOUBLE
023498,002856: 25,3245 74753 MASK BIT1
023499,002857: 25,3246 52064 DXCH ITEMP3
023500,002858:
023501,002859: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023502,002860: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023503,002861: # INDEPENDENT OF DATA GOOD.
023504,002862:
023505,002863: 25,3251 11111 CCS NSAMP
023506,002864: 25,3252 03262 TC NOEND
023507,002865: 25,3253 44753 GOODRAD CS ONE
023508,002866: 25,3254 55100 TS SAMPLIM
023509,002867: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023510,002868: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023511,002869: 25,3257 54110 TS RADMODES
023512,002870: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023513,002871: 25,3261 03553 TC RGOODEND -2
023514,002872:
023515,002873: 25,3262 55111 NOEND TS NSAMP
023516,002874: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023517,002875: 25,3264 13266 TCF +2
023518,002876: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023519,002877: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
023520,002878: 25,3267 00006 EXTEND
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|
Page 557
|
023522,002880: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
023523,002881: 25,3271 05270 TC RESUME
023524,002882:
023525,002883:
023526,002884: 25,3272 34747 LRHEIGHT CAF BIT5
023527,002885: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023528,002886:
023529,002887: 25,3274 34743 CAF BIT9
023530,002888: 25,3275 03320 TC SCALECHK -1
023531,002889:
023532,002890: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023533,002891: 25,3277 70110 MASK RADMODES # LIMITS.
023534,002892: 25,3300 10000 CCS A
023535,002893: 25,3301 13206 TCF BADRAD
023536,002894:
023537,002895: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023538,002896: 25,3303 74745 MASK RCDUFBIT
023539,002897: 25,3304 10000 CCS A
023540,002898: 25,3305 13206 TCF BADRAD
023541,002899:
023542,002900: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023543,002901: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023544,002902:
023545,002903: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
023546,002904: 25,3311 00006 EXTEND
023547,002905: 25,3312 02013 RAND CHAN13
023548,002906: 25,3313 54002 TS Q # FOR LATER TESTING.
023549,002907: 25,3314 10000 CCS A
023550,002908: 25,3315 13317 TCF +2
023551,002909: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023552,002910: 25,3317 34751 CAF BIT3
023553,002911: 25,3320 54001 TS L
023554,002912:
023555,002913: 25,3321 00006 SCALECHK EXTEND
023556,002914: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
023557,002915: 25,3323 56001 XCH L
023558,002916: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
023559,002917: 25,3325 00006 EXTEND
023560,002918: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
023561,002919: 25,3327 10000 CCS A
023562,002920: 25,3330 03350 TC SCALCHNG # THEY DIFFER
023563,002921:
023564,002922: 25,3331 34733 RADIN CAF POSMAX
023565,002923: 25,3332 70046 MASK RNRAD
023566,002924: 25,3333 54064 TS ITEMP4
023567,002925:
023568,002926: 25,3334 30046 CAE RNRAD
023569,002927: 25,3335 60000 DOUBLE
023570,002928: 25,3336 74753 MASK BIT1
023571,002929: 25,3337 54063 TS ITEMP3
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|
Page 558
|
023573,002931: 25,3340 10002 CCS Q # SEE IF RR RDOT.
023574,002932: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023575,002933:
023576,002934: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
023577,002935: 25,3343 42002 DCS RDOTBIAS
023578,002936: 25,3344 20064 DASAMPL DAS ITEMP3
023579,002937: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023580,002938: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023581,002939: 25,3347 03253 TC GOODRAD
023582,002940:
023583,002941: 25,3350 22110 SCALCHNG LXCH RADMODES
023584,002942: 25,3351 64753 AD BIT1
023585,002943: 25,3352 00006 EXTEND
023586,002944: 25,3353 06001 RXOR LCHAN
023587,002945: 25,3354 54110 TS RADMODES
023588,002946: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023589,002947: 25,3356 00006 EXTEND
023590,002948: 25,3357 02033 RAND CHAN33
023591,002949: 25,3360 55113 TS OLDATAGD
023592,002950: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
023593,002951: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
023594,002952: 25,3363 13206 TCF BADRAD
023595,002953:
023596,002954: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023597,002955:
023598,002956: 25,3364 40101 R77CHECK CS FLAGWRD5
023599,002957: 25,3365 74741 MASK R77FLBIT
023600,002958: 25,3366 10000 CCS A
023601,002959: 25,3367 00002 TC Q # NOT R77
023602,002960: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023603,002961: 25,3371 70110 MASK RADMODES
023604,002962: 25,3372 54001 TS L
023605,002963: 25,3373 33401 CA BITS5,8
023606,002964: 25,3374 00006 EXTEND
023607,002965: 25,3375 02033 RAND CHAN33
023608,002966: 25,3376 60001 AD L
023609,002967: 25,3377 54110 TS RADMODES
023610,002968: 25,3400 03553 TC RGOODEND -2
023611,002969: 25,3401 00220 BITS5,8 OCT 220
023612,002970:
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|
Page 559
|
023614,002972: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023615,002973:
023616,002974: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
023617,002975: 25,3403 13405 TCF +2 # ON HIGH SCALE.
023618,002976: 25,3404 13345 TCF DGCHECK2
023619,002977:
023620,002978: 25,3405 31335 CA DNINDEX
023621,002979: 25,3406 74751 MASK BIT3
023622,002980: 25,3407 10000 CCS A
023623,002981: 25,3410 13417 TCF LRSCK
023624,002982:
023625,002983: 25,3411 52064 DXCH ITEMP3
023626,002984: 25,3412 20001 DDOUBL
023627,002985: 25,3413 20001 DDOUBL
023628,002986: 25,3414 20001 DDOUBL
023629,002987: 25,3415 52064 DXCH ITEMP3
023630,002988:
023631,002989: 25,3416 13345 TCF DGCHECK2
023632,002990:
023633,002991: 25,3417 10063 LRSCK CCS ITEMP3
023634,002992: 25,3420 13431 TCF +11
023635,002993: 25,3421 40064 CS ITEMP4
023636,002994: 25,3422 63441 AD HISCALIM
023637,002995: 25,3423 00006 EXTEND
023638,002996: 25,3424 63431 BZMF +5
023639,002997:
023640,002998: 25,3425 40107 CS FLGWRD11
023641,002999: 25,3426 74751 MASK SCABBIT
023642,003000: 25,3427 26107 ADS FLGWRD11
023643,003001: 25,3430 13434 TCF +4
023644,003002:
023645,003003: 25,3431 44751 CS SCABBIT
023646,003004: 25,3432 70107 MASK FLGWRD11
023647,003005: 25,3433 54107 TS FLGWRD11
023648,003006:
023649,003007: 25,3434 00006 EXTEND
023650,003008: 25,3435 30064 DCA ITEMP3
023651,003009: 25,3436 20001 DDOUBL
023652,003010: 25,3437 20001 DDOUBL
023653,003011: 25,3440 13344 TCF DASAMPL
023654,003012:
023655,003013: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
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|
Page 560
|
023657,003015: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
023658,003016: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
023659,003017: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
023660,003018: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
023661,003019: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
023662,003020: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
023663,003021: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
023664,003022: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
023665,003023: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
023666,003024: 25,3453 60001 AD L
023667,003025: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
023668,003026: 25,3455 03263 TC RESAMPLE
023669,003027: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
023670,003028: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
023671,003029: 25,3460 00002 TC Q
023672,003030:
023673,003031: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
023674,003032: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
023675,003033: 25,3463 60061 AD ITEMP1
023676,003034: 25,3464 54110 TS RADMODES
023677,003035:
023678,003036: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
023679,003037: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
023680,003038: 25,3467 03616 TC RADLITES
023681,003039: 25,3470 13174 TCF NOMORE
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|
Page 561
|
023683,003041: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
023684,003042:
023685,003043: 25,2000 SETLOC P20S1
023686,003044: 25,2000 BANK
023687,003045:
023688,003046: 25,3471 COUNT* $$/RSUB
023689,003047: 25,3471 00004 LRPOS2 INHINT
023690,003048:
023691,003049: 25,3472 40110 CS RADMODES
023692,003050: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
023693,003051: 25,3474 26110 ADS RADMODES
023694,003052:
023695,003053: 25,3475 34745 CAF BIT7
023696,003054: 25,3476 00006 EXTEND
023697,003055: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
023698,003056: 25,3500 00006 EXTEND
023699,003057: 25,3501 13530 BZF RADNOOP
023700,003058:
023701,003059: 25,3502 34737 CAF BIT13
023702,003060: 25,3503 00006 EXTEND
023703,003061: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
023704,003062: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
023705,003063: 25,3506 05203 TC WAITLIST
023706,003064: 25,3507 E7,1456 EBANK= LOSCOUNT
023707,003065: 25,3507 03543 52067 2CADR LRPOSCAN
023708,003066:
023709,003067: 25,3511 02366 TC ROADBACK
023710,003068:
023711,003069: 25,3512 55100 LRPOSNXT TS SAMPLIM
023712,003070: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
023713,003071: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
023714,003072:
023715,003073: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
023716,003074: 25,3516 00006 EXTEND
023717,003075: 25,3517 02033 RAND CHAN33
023718,003076: 25,3520 00006 EXTEND
023719,003077: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
023720,003078:
023721,003079: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
023722,003080: 25,3523 13512 TCF LRPOSNXT
023723,003081:
023724,003082: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
023725,003083: 25,3525 00006 EXTEND
023726,003084: 25,3526 03012 WAND CHAN12
023727,003085: 25,3527 13562 TCF RDBADEND
023728,003086:
023729,003087: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
023730,003088: 25,3531 05203 TC WAITLIST
023731,003089: 25,3532 E7,1456 EBANK= LOSCOUNT
023732,003090: 25,3532 03555 52067 2CADR RGOODEND
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|
Page 562
|
023734,003092: 25,3534 02366 TC ROADBACK
023735,003093:
023736,003094: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
023737,003095: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
023738,003096:
023739,003097: 25,3537 44737 CS BIT13 # REMOVE COMMAND
023740,003098: 25,3540 00006 EXTEND
023741,003099: 25,3541 03012 WAND CHAN12
023742,003100: 25,3542 13555 TCF RGOODEND
023743,003101:
023744,003102: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
023745,003103: 25,3544 13512 TCF LRPOSNXT
023746,003104: 25,3545 01130 6SECS DEC 600 B-14
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Page 563
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023748,003106: # SEQUENCES TO TERMINATE RR OPERATIONS.
023749,003107:
023750,003108: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
023751,003109: 25,3547 70110 MASK RADMODES
023752,003110: 25,3550 10000 CCS A
023753,003111: 25,3551 13555 TCF RGOODEND
023754,003112: 25,3552 13562 TCF RDBADEND
023755,003113: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
023756,003114: 25,3554 54734 TS RUPTAGN
023757,003115:
023758,003116: 25,3555 34752 RGOODEND CAF TWO
023759,003117: 25,3556 04635 TC POSTJUMP
023760,003118: 25,3557 17665 CADR GOODEND
023761,003119:
023762,003120: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
023763,003121: 25,3561 54734 TS RUPTAGN
023764,003122: 25,3562 34752 RDBADEND CAF TWO
023765,003123: 25,3563 04635 TC POSTJUMP
023766,003124: 25,3564 17662 CADR BADEND
023767,003125:
023768,003126: 25,3565 6245 BIN3 EQUALS THREE
023769,003127:
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Page 564
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023771,003129: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
023772,003130: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
023773,003131:
023774,003132: # FUNCTIONAL DESCRIPTION_
023775,003133: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
023776,003134: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
023777,003135: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
023778,003136:
023779,003137: # CALLING SEQUENCE CALL
023780,003138: # LPS20.1
023781,003139:
023782,003140: # SUBROUTINES CALLED_
023783,003141: # LEMPREC, CSMPREC
023784,003142:
023785,003143: # NORMAL EXIT_ RETURN TO CALLER + 2
023786,003144:
023787,003145: # ERROR EXITS_ NONE
023788,003146:
023789,003147: # ALARMS_ NONE
023790,003148:
023791,003149: # OUTPUT_
023792,003150: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
023793,003151: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
023794,003152: # RRNBSW CLEARED
023795,003153:
023796,003154: # INITIALIZED ERASEABLE
023797,003155: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
023798,003156: # SEE ORBITAL INTEGRATION ROUTINE
023799,003157:
023800,003158: # DEBRIS_
023801,003159: # MPAC DESTROYED BY THIS ROUTINE
023802,003160:
023803,003161: 23,2314 BANK 23
023804,003162: 24,2000 SETLOC P20S
023805,003163: 24,2000 BANK
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Page 565
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023807,003165: 24,3255 COUNT* $$/LPS20
023808,003166:
023809,003167: 24,3255 43020 LPS20.1 STQ BOFF
023810,003168: 24,3256 01757 LS21X
023811,003169: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
023812,003170: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
023813,003171: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
023814,003172: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
023815,003173: 24,3263 51274 CSMINT
023816,003174: 24,3264 77624 LMINT CALL
023817,003175: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM
023818,003176: 24,3266 77775 VLOAD
023819,003177: 24,3267 00001 RATT
023820,003178: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
023821,003179: 24,3271 00007 VATT
023822,003180: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
023823,003181: 24,3273 00015 TAT
023824,003182: 24,3274 34041 CSMINT STCALL TDEC1
023825,003183: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM
023826,003184: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
023827,003185: 24,3277 00007 VATT
023828,003186: 24,3300 02360 LMVEL
023829,003187: 24,3301 76521 MXV VSL1
023830,003188: 24,3302 01734 REFSMMAT
023831,003189: 24,3303 77776 EXIT
023832,003190: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
023833,003191: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
023834,003192: 24,3306 06037 TC INTPRET
023835,003193: 24,3307 25761 STOVL LOSVEL
023836,003194: 24,3310 00001 RATT
023837,003195: 24,3311 43051 VSU BOFF
023838,003196: 24,3312 02352 LMPOS
023839,003197: 24,3313 00350 RNDVZFLG
023840,003198: 24,3314 51321 NOTSHIFT
023841,003199: 24,3315 77604 BOVB
023842,003200: 24,3316 57753 TCDANZIG
023843,003201: 24,3317 77661 VSL
023844,003202: 24,3320 20212 9D
023845,003203: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
023846,003204: 24,3322 50102 526ALARM # THAN 400 N. M.
023847,003205: 24,3323 76521 MXV VSL1
023848,003206: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
023849,003207: 24,3325 15102 STODL RRTARGET
023850,003208: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
023851,003209: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
023852,003210: 24,3330 77614 CLRGO
023853,003211: 24,3331 00231 RRNBSW
023854,003212: 24,3332 01757 LS21X
023855,003213:
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Page 566
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023857,003215: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
023858,003216: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
023859,003217:
023860,003218: # FUNCTIONAL DESCRIPTION_
023861,003219: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
023862,003220:
023863,003221: # CALLING SEQUENCE CALL
023864,003222: # LPS20.2
023865,003223:
023866,003224: # SUBROUTINES CALLED_ NONE
023867,003225:
023868,003226: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
023869,003227:
023870,003228: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
023871,003229:
023872,003230: # ALARMS_ NONE
023873,003231:
023874,003232: # OUTPUT_ NONE
023875,003233:
023876,003234: # INITIALIZED ERASEABLE_
023877,003235: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
023878,003236:
023879,003237: # DEBRIS
023880,003238: # MPAC DESTROYED BY THIS ROUTINE
023881,003239:
023882,003240: 25,2000 SETLOC P20S1
023883,003241: 25,2000 BANK
023884,003242: 25,3565 COUNT* $$/LPS20
023885,003243:
023886,003244: 25,3565 45345 LPS20.2 DLOAD DSU
023887,003245: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
023888,003246: 25,3567 13600 FHNM # OVER 400NM _
023889,003247: 25,3570 77644 BPL
023890,003248: 25,3571 53574 TOFAR
023891,003249: 25,3572 43535 SLOAD RVQ
023892,003250: 25,3573 06522 ZERO/SP
023893,003251: 25,3574 43535 TOFAR SLOAD RVQ
023894,003252: 25,3575 13577 ONE/SP
023895,003253: 25,3576 00001 ONE/SP DEC 1 B-14
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Page 567
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023897,003255: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
023898,003256:
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Page 568
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023900,003258: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
023901,003259: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
023902,003260:
023903,003261: # FUNCTIONAL DESCRIPTION
023904,003262: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
023905,003263: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
023906,003264: # RR REPOSITION AND RR CDU FAIL
023907,003265: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
023908,003266:
023909,003267: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
023910,003268:
023911,003269: # SUBROUTINES CALLED:
023912,003270: # RRRDOT LPS20.1
023913,003271: # RRRANGE BANKCALL
023914,003272: # RADSTALL CDULOGIC
023915,003273: # RRNB SMNB
023916,003274:
023917,003275: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
023918,003276:
023919,003277: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
023920,003278: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
023921,003279: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
023922,003280:
023923,003281: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
023924,003282: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
023925,003283:
023926,003284: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
023927,003285: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
023928,003286:
023929,003287: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
023930,003288: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
023931,003289: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
023932,003290: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
023933,003291: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
023934,003292: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
023935,003293:
023936,003294: # ERASABLE INITIALIZATION REQUIRED:
023937,003295: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 569
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023939,003297: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
023940,003298: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
023941,003299: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
023942,003300:
023943,003301: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
023944,003302:
023945,003303: 32,2366 BANK 32
023946,003304: 32,2000 SETLOC LRS22
023947,003305: 32,2000 BANK
023948,003306: 32,2366 COUNT* $$/LRS22
023949,003307:
023950,003308: 32,2366 04645 LRS22.1 TC MAKECADR
023951,003309: 32,2367 55737 TS LRS22.1X
023952,003310: 32,2370 05516 TC DOWNFLAG
023953,003311: 32,2371 00120 ADRES RNGSCFLG
023954,003312: 32,2372 00004 INHINT
023955,003313: 32,2373 34751 CAF BIT3
023956,003314: 32,2374 00006 EXTEND # GET RR RANGE SCALE
023957,003315: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
023958,003316: 32,2376 54001 TS L
023959,003317: 32,2377 44751 CS RRRSBIT
023960,003318: 32,2400 70110 MASK RADMODES
023961,003319: 32,2401 60001 AD L
023962,003320: 32,2402 54110 TS RADMODES
023963,003321: 32,2403 00003 RELINT
023964,003322: 32,2404 04616 READRDOT TC BANKCALL
023965,003323: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
023966,003324: 32,2406 04616 TC BANKCALL
023967,003325: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
023968,003326: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
023969,003327:
023970,003328: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
023971,003329: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
023972,003330: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
023973,003331: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
023974,003332: 32,2415 53747 DXCH RDOTMSAV
023975,003333: 32,2416 00006 EXTEND
023976,003334: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
023977,003335: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
023978,003336: 32,2421 30032 CA CDUX
023979,003337: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
023980,003338: 32,2423 00006 EXTEND
023981,003339: 32,2424 30025 DCA TIME2 # SAVE TIME
023982,003340: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
023983,003341: 32,2426 00006 EXTEND
023984,003342: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
023985,003343: 32,2430 53110 DXCH TANG
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Page 570
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023987,003345: 32,2431 00003 RELINT
023988,003346: 32,2432 04616 TC BANKCALL
023989,003347: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
023990,003348: 32,2434 04616 TC BANKCALL
023991,003349: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
023992,003350: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ
023993,003351: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
023994,003352: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA)
023995,003353: 32,2441 53761 DXCH RANGRDOT
023996,003354: 32,2442 52162 DXCH MPAC +5
023997,003355: 32,2443 53755 DXCH MKTIME # MARK TIME
023998,003356: 32,2444 52160 DXCH MPAC +3
023999,003357: 32,2445 53460 DXCH AIG # CDUY, CDUZ
024000,003358: 32,2446 00006 EXTEND
024001,003359: 32,2447 31110 DCA TANG # PRESERVE TANG
024002,003360: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024003,003361: 32,2451 30156 CA MPAC +2
024004,003362: 32,2452 55461 TS AOG # CDUX
024005,003363: 32,2453 06037 TC INTPRET
024006,003364: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024007,003365: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024008,003366: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024009,003367: 32,2457 20217 14D # FT./SECOND PER BIT
024010,003368: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024011,003369: 32,2461 03751 STORE RDOTM
024012,003370: 32,2462 47135 SLOAD RTB
024013,003371: 32,2463 01110 TANG # GET TRUNION ANGLE
024014,003372: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024015,003373: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024016,003374: 32,2466 47135 SLOAD RTB
024017,003375: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE
024018,003376: 32,2470 21576 CDULOGIC
024019,003377: 32,2471 17736 STODL RRSHAFT
024020,003378: 32,2472 01102 SAMPLSUM
024021,003379: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024022,003380: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024023,003381: 32,2475 37757 STCALL RM
024024,003382: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024025,003383: 32,2477 17741 STODL RRBORSIT # AND SAVE
024026,003384: 32,2500 00025 20D
024027,003385: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024028,003386: 32,2502 51255 LPS20.1
024029,003387: 32,2503 77776 EXIT
024030,003388: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024031,003389: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024032,003390: 32,2506 31460 CA AMG
024033,003391: 32,2507 54770 TS CDUSPOT +2
024034,003392: 32,2510 31461 CA AOG
024035,003393: 32,2511 54772 TS CDUSPOT +4
024036,003394: 32,2512 06037 TC INTPRET
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Page 571
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024038,003396: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024039,003397: 32,2514 01102 RRTARGET
024040,003398: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024041,003399: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024042,003400: 32,2517 03741 RRBORSIT
024043,003401: 32,2520 65552 SL1 ACOS # BETWEEN THEM
024044,003402: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024045,003403: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024046,003404: 32,2523 24546 THREEDEG
024047,003405: 32,2524 64531 NORMEXIT # YES - NORMAL EXIT
024048,003406:
024049,003407: 32,2525 77776 EXIT # ERROR EXIT 2
024050,003408: 32,2526 34752 CAF BIT2 # SET ERROR CODE
024051,003409: 32,2527 54154 TS MPAC
024052,003410: 32,2530 12534 TCF OUT22.1
024053,003411:
024054,003412: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024055,003413: 32,2532 34755 CAF ZERO
024056,003414: 32,2533 54154 TS MPAC
024057,003415: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024058,003416: 32,2535 04640 TC BANKJUMP
024059,003417: 32,2536 30101 CHEXERR CAE FLAGWRD5
024060,003418: 32,2537 74742 MASK RNGSCBIT
024061,003419: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024062,003420: 32,2541 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024063,003421:
024064,003422: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024065,003423: 32,2543 54154 TS MPAC
024066,003424: 32,2544 02534 TC OUT22.1
024067,003425: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024068,003426:
024069,003427: 32,2547 1101 RRLOSVEC EQUALS RRTARGET
024070,003428:
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Page 572
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024072,003430: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024073,003431: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024074,003432:
024075,003433: # FUNCTIONAL DESCRIPTION-
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Yes, I know point #1 is missing. It is missing from the program listing — RSB 2003
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024077,003435: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024078,003436:
024079,003437: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024080,003438:
024081,003439: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024082,003440:
024083,003441: # NORMAL EXIT- RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024084,003442:
024085,003443: # ERROR EXIT- RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024086,003444:
024087,003445: # ALARMS- NONE IN THE AUTO MODE
024088,003446:
024089,003447: # ERASABLE INITIALIZATION REQUIRED -
024090,003448: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024091,003449: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024092,003450: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024093,003451:
024094,003452: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024095,003453:
024096,003454: 24,2000 SETLOC P20S
024097,003455: 24,2000 BANK
024098,003456: 24,3333 04645 LRS22.2 TC MAKECADR
024099,003457: 24,3334 55737 TS LRS22.1X
024100,003458: 24,3335 06037 TC INTPRET
024101,003459: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024102,003460: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024103,003461: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024104,003462: # LOS VECTOR, A HALF UNIT VECTOR
024105,003463: # IN NAV BASE AXES)
024106,003464: 24,3340 50025 DSU BMN
024107,003465: 24,3341 11355 30DEG
024108,003466: 24,3342 51347 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024109,003467: 24,3343 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024110,003468: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024111,003469: 24,3345 54154 TS MPAC
024112,003470: 24,3346 13352 TCF OUT22.2
024113,003471: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024114,003472:
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Page 573
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024116,003474: 24,3350 34755 CAF ZERO
024117,003475: 24,3351 54154 TS MPAC
024118,003476: 24,3352 31737 OUT22.2 CAE LRS22.1X
024119,003477: 24,3353 04640 TC BANKJUMP
024120,003478:
024121,003479: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024122,003480:
|
|
Page 574
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024124,003482: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024125,003483: # MOD. NO 3 LOG SECTION - P20-25
024126,003484: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024127,003485:
024128,003486: # FUNCTIONAL DESCRIPTION
024129,003487: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024130,003488: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024131,003489: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024132,003490:
024133,003491: # CALLING SEQUENCE
024134,003492: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024135,003493: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024136,003494: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024137,003495: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024138,003496: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024139,003497: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024140,003498:
024141,003499: # SUBROUTINES CALLED
024142,003500: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024143,003501: # GETULC RARARANG INCORP2 NBSM INTSTALL
024144,003502:
024145,003503: # OUTPUT
024146,003504: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024147,003505: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024148,003506: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024149,003507: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024150,003508: # UPDATED W-MATRIX
024151,003509:
024152,003510: # ERASABLE INITIALIZATION REQUIRED
024153,003511: # LM AND CSM STATE VECTORS
024154,003512: # W-MATRIX
024155,003513: # MARK TIME IN MKTIME
024156,003514: # RADAR RANGE IN RM METERS B-29
024157,003515: # RANGE RATE IN RDOTM METERS/CSES B-7
024158,003516: # SHAFT ANGLE IN RRSHAFT REVS. B0
024159,003517: # TRUNNION ANGLE IN RRTRUN REVS. B0
024160,003518: # GIMBAL ANGLES INNER IN AIG
024161,003519: # MIDDLE IN AMG
024162,003520: # OUTER IN AOG
024163,003521: # REFSMMAT
024164,003522: # RENDWFLG
024165,003523: # NOANGFLG
024166,003524: # VEHUPFLG
024167,003525:
024168,003526: # DEBRIS
024169,003527: # PUSHLIST -- ALL
024170,003528: # MX, MY, MZ (VECTORS)
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|
Page 575
|
024172,003530: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024173,003531:
024174,003532: 13,2207 BANK 13
024175,003533: 26,2000 SETLOC P20S3
024176,003534: 26,2000 BANK
024177,003535:
024178,003536: 26,2412 E7,1456 EBANK= LOSCOUNT
024179,003537: 26,2412 COUNT* $$/LSR22
024180,003538: 26,2412 77624 LSR22.3 CALL
024181,003539: 26,2413 11244 GRP2PC
024182,003540: 26,2414 43014 BON SET
024183,003541: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024184,003542: 26,2416 55200 LSR22.4 # YES
024185,003543: 26,2417 02466 DMENFLG
024186,003544: 26,2420 45014 BOFF CALL
024187,003545: 26,2421 00747 VEHUPFLG
024188,003546: 26,2422 54454 DOLEM
024189,003547: 26,2423 27414 INTSTALL
024190,003548: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION
024191,003549: 26,2425 01674 VINTFLAG
024192,003550: 26,2426 26644 SETIFLGS
024193,003551: 26,2427 77624 CALL
024194,003552: 26,2430 55242 INTGRCAL
024195,003553: 26,2431 77624 CALL
024196,003554: 26,2432 11244 GRP2PC
024197,003555: 26,2433 77624 CALL
024198,003556: 26,2434 27414 INTSTALL
024199,003557: 26,2435 43014 CLEAR BOFF
024200,003558: 26,2436 01676 DIM0FLAG
024201,003559: 26,2437 02756 RENDWFLG
024202,003560: 26,2440 54444 NOTWCSM
024203,003561: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024204,003562: 26,2442 01476 DIM0FLAG
024205,003563: 26,2443 01475 D6OR9FLG
024206,003564: 26,2444 43014 NOTWCSM SET CLEAR
024207,003565: 26,2445 01474 VINTFLAG
024208,003566: 26,2446 01673 INTYPFLG
024209,003567: 26,2447 45014 SET CALL
024210,003568: 26,2450 01472 STATEFLG
024211,003569: 26,2451 55242 INTGRCAL
024212,003570: 26,2452 77650 GOTO
024213,003571: 26,2453 54504 MARKTEST
024214,003572: 26,2454 77624 DOLEM CALL
024215,003573: 26,2455 27414 INTSTALL
024216,003574: 26,2456 45014 SET CALL
024217,003575: 26,2457 01474 VINTFLAG
024218,003576: 26,2460 26644 SETIFLGS
024219,003577: 26,2461 77624 CALL
024220,003578: 26,2462 55242 INTGRCAL
|
|
Page 576
|
024222,003580: 26,2463 77624 CALL
024223,003581: 26,2464 11244 GRP2PC
024224,003582: 26,2465 77624 CALL
024225,003583: 26,2466 27414 INTSTALL
024226,003584: 26,2467 43014 CLEAR BOFF
024227,003585: 26,2470 01676 DIM0FLAG
024228,003586: 26,2471 02756 RENDWFLG
024229,003587: 26,2472 54476 NOTWLEM
024230,003588: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024231,003589: 26,2474 01476 DIM0FLAG
024232,003590: 26,2475 01475 D6OR9FLG
024233,003591: 26,2476 43014 NOTWLEM CLEAR CLEAR
024234,003592: 26,2477 01673 INTYPFLG
024235,003593: 26,2500 01674 VINTFLAG
024236,003594: 26,2501 45014 SET CALL
024237,003595: 26,2502 01472 STATEFLG
024238,003596: 26,2503 55242 INTGRCAL
024239,003597: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024240,003598: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024241,003599: 26,2506 54510 RANGEBQ
024242,003600: 26,2507 55251 WLINIT # YES - REINITIALIZE
024243,003601: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024244,003602: 26,2511 04307 SURFFLAG
024245,003603: 26,2512 54520 RANGEBQ1
024246,003604: 26,2513 34755 CA ZERO
024247,003605: 26,2514 55745 TS R65CNTR
024248,003606: 26,2515 04616 TC BANKCALL
024249,003607: 26,2516 46123 CADR R65LEM
024250,003608: 26,2517 06037 TC INTPRET
024251,003609: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024252,003610: 26,2521 00000 0
024253,003611: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024254,003612: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024255,003613: 26,2524 77714 INCR,2
024256,003614: 26,2525 00002 2
024257,003615: 26,2526 45134 SETX2 SXA,2 CALL
024258,003616: 26,2527 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024259,003617: 26,2530 11244 GRP2PC
024260,003618: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024261,003619: 26,2532 00001 1
024262,003620: 26,2533 03745 WHCHREAD
024263,003621: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024264,003622: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024265,003623: 26,2536 20635 28D
024266,003624: 26,2537 77634 RTB
024267,003625: 26,2540 21633 TPMODE # AND SAVE IN 20D
024268,003626: 26,2541 00025 STORE 20D
024269,003627: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024270,003628: 26,2543 55333 GETULC # B-VECTORS FOR RANGE
024271,003629: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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|
Page 577
|
024273,003631: 26,2545 00707 VEHUPFLG
024274,003632: 26,2546 54547 +1
024275,003633: 26,2547 27525 STOVL BVECTOR
024276,003634: 26,2550 06522 ZEROVECS
024277,003635: 26,2551 03533 STORE BVECTOR +6 # B1
024278,003636: 26,2552 17541 STODL BVECTOR +12D # B2
024279,003637: 26,2553 00045 36D
024280,003638: 26,2554 44257 SRR* BDSU
024281,003639: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024282,003640: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024283,003641: 26,2557 77657 SLR*
024284,003642: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024285,003643: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024286,003644: 26,2562 00045 36D # RLC B-29/B-27
024287,003645: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE
024288,003646: 26,2564 00047 X1
024289,003647: 26,2565 53605 DMP SR*
024290,003648: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024291,003649: 26,2567 20577 0 -2,1 # UNNORMALIZE
024292,003650: 26,2570 53657 SR* SR*
024293,003651: 26,2571 20601 0,1
024294,003652: 26,2572 57176 0,2
024295,003653: 26,2573 47057 SR* RTB
024296,003654: 26,2574 57176 0,2
024297,003655: 26,2575 21633 TPMODE
024298,003656: 26,2576 02707 STORE VARIANCE # B-40
024299,003657: 26,2577 76276 DCOMP TAD
024300,003658: 26,2600 00025 20D # B-40
024301,003659: 26,2601 72240 BMN TLOAD
024302,003660: 26,2602 54605 QOK
024303,003661: 26,2603 00025 20D # B-40
024304,003662: 26,2604 02707 STORE VARIANCE
024305,003663: 26,2605 77624 QOK CALL
024306,003664: 26,2606 55401 LGCUPDTE
024307,003665:
024308,003666: 26,2607 45131 SSP CALL
024309,003667: 26,2610 03746 WHCHREAD
024310,003668: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024311,003669: 26,2612 11244 GRP2PC
024312,003670: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024313,003671: 26,2614 55333 GETULC
024314,003672: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024315,003673: 26,2616 00045 36D # AND SHIFT TO B-23
024316,003674: 26,2617 57202 0 -4,2
024317,003675: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D
024318,003676: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024319,003677: 26,2622 00707 VEHUPFLG
024320,003678: 26,2623 54624 +1
024321,003679: 26,2624 77761 VXSC
024322,003680: 26,2625 00045 36D # B1 = RLC (B-24/B-22)
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|
Page 578
|
024324,003682: 26,2626 27533 STOVL BVECTOR +6
024325,003683: 26,2627 01653 NUVLEM
024326,003684: 26,2630 53257 VSR* VAD
024327,003685: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024328,003686: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5
024329,003687: 26,2633 53715 PDVL VSR* # VL TO PD6
024330,003688: 26,2634 01601 NUVCSM
024331,003689: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024332,003690: 26,2636 52255 VAD VSU
024333,003691: 26,2637 01615 VCVCSM
024334,003692: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6
024335,003693: 26,2641 00001 0
024336,003694: 26,2642 00007 6
024337,003695: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024338,003696: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024339,003697: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024340,003698: 26,2646 01773 RATEVAR
024341,003699: 26,2647 02707 STORE VARIANCE
024342,003700: 26,2650 54335 SLOAD SR
024343,003701: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024344,003702: 26,2652 20621 16D # SHIFT TO DP (B-4)
024345,003703: 26,2653 00031 STORE 24D # AND SAVE IN 24D
024346,003704: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024347,003705: 26,2655 02707 VARIANCE
024348,003706: 26,2656 54662 VOK # BRANCH - NO
024349,003707: 26,2657 77745 DLOAD # YES - USE MINIMUM VARIANCE
024350,003708: 26,2660 00031 24D
024351,003709: 26,2661 02707 STORE VARIANCE
024352,003710: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024353,003711: 26,2663 53725 PDDL SLR* # TO B-10/B-8
024354,003712: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024355,003713: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8
024356,003714: 26,2666 77625 DSU
024357,003715: 26,2667 77675 DMPR
024358,003716: 26,2670 00045 36D
024359,003717: 26,2671 27547 STOVL DELTAQ # B-33
024360,003718: 26,2672 00001 0 # NOW GET B0
024361,003719: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC
024362,003720: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024363,003721: 26,2675 00707 VEHUPFLG
024364,003722: 26,2676 54677 +1
024365,003723: 26,2677 77657 VSR*
024366,003724: 26,2700 57200 0 -2,2 # SCALED B-5
024367,003725: 26,2701 27525 STOVL BVECTOR
024368,003726: 26,2702 06522 ZEROVECS
024369,003727: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024370,003728: 26,2704 27541 STOVL BVECTOR +12D
024371,003729: 26,2705 03525 BVECTOR
024372,003730: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024373,003731: 26,2707 00025 20D # SHIFT COUNT IN 20D
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|
Page 579
|
024375,003733: 26,2710 51575 VLOAD ABVAL
024376,003734: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024377,003735: 26,2712 71301 NORM DLOAD
024378,003736: 26,2713 00027 22D # SHIFT COUNT IN 22D
024379,003737: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER
024380,003738: 26,2715 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024381,003739: 26,2716 00025 20D
024382,003740: 26,2717 54723 VOK1
024383,003741: 26,2720 52150 LXA,1 GOTO
024384,003742: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024385,003743: 26,2722 54725 VOK2
024386,003744: 26,2723 77750 VOK1 LXA,1
024387,003745: 26,2724 00024 20D
024388,003746: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024389,003747: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT
024390,003748: 26,2727 20201 0,1
024391,003749: 26,2730 27525 STOVL BVECTOR
024392,003750: 26,2731 03533 BVECTOR +6
024393,003751: 26,2732 77657 VSL*
024394,003752: 26,2733 20201 0,1
024395,003753: 26,2734 17533 STODL BVECTOR +6
024396,003754: 26,2735 03547 DELTAQ
024397,003755: 26,2736 77657 SL*
024398,003756: 26,2737 20201 0,1
024399,003757: 26,2740 03547 STORE DELTAQ
024400,003758: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024401,003759: 26,2742 00045 36D
024402,003760: 26,2743 20200 0 -1,1
024403,003761: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024404,003762: 26,2745 02707 VARIANCE
024405,003763: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024406,003764: 26,2747 21633 TPMODE
024407,003765: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024408,003766: 26,2751 55401 LGCUPDTE
024409,003767:
024410,003768: 26,2752 77624 CALL
024411,003769: 26,2753 11244 GRP2PC
024412,003770: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE
024413,003771: 26,2755 04307 SURFFLAG
024414,003772: 26,2756 55176 RENDEND # NO
024415,003773: 26,2757 E7,1457 EBANK= AIG
024416,003774: 26,2757 33332 MXMYMZ CAF AIGBANK
024417,003775: 26,2760 54006 TS BBANK
024418,003776: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024419,003777: 26,2762 54766 TS CDUSPOT
024420,003778: 26,2763 31460 CA AMG
024421,003779: 26,2764 54770 TS CDUSPOT +2
024422,003780: 26,2765 31461 CA AOG
024423,003781: 26,2766 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024424,003782: 26,2767 06037 TC INTPRET
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|
Page 580
|
024426,003784: 26,2770 45175 VLOAD CALL
024427,003785: 26,2771 06520 UNITX
024428,003786: 26,2772 47664 TRG*NBSM
024429,003787: 26,2773 76505 VXM VSL1
024430,003788: 26,2774 01734 REFSMMAT
024431,003789: 26,2775 27677 STOVL MX
024432,003790: 26,2776 06516 UNITY
024433,003791: 26,2777 77624 CALL
024434,003792: 26,3000 47673 *NBSM*
024435,003793: 26,3001 76505 VXM VSL1
024436,003794: 26,3002 01734 REFSMMAT
024437,003795: 26,3003 27705 STOVL MY
024438,003796: 26,3004 06514 UNITZ
024439,003797: 26,3005 77624 CALL
024440,003798: 26,3006 47673 *NBSM*
024441,003799: 26,3007 76505 VXM VSL1
024442,003800: 26,3010 01734 REFSMMAT
024443,003801: 26,3011 37713 SHAFTBQ STCALL MZ
024444,003802: 26,3012 55361 RADARANG
024445,003803: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024446,003804: 26,3014 03746 WHCHREAD
024447,003805: 26,3015 00003 DEC 3 B-14
024448,003806: 26,3016 11244 GRP2PC
024449,003807: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
024450,003808: 26,3020 03724 ULC
024451,003809: 26,3021 03677 MX
024452,003810: 26,3022 77752 SL1
024453,003811: 26,3023 24023 STOVL SINTH # 18D
024454,003812: 26,3024 03724 ULC
024455,003813: 26,3025 72441 DOT SL1
024456,003814: 26,3026 03713 MZ
024457,003815: 26,3027 34021 STCALL COSTH # 16D
024458,003816: 26,3030 26510 ARCTAN
024459,003817: 26,3031 41221 BDSU DMP
024460,003818: 26,3032 03736 RRSHAFT
024461,003819: 26,3033 15441 2PI/8
024462,003820: 26,3034 41472 SL3R PUSH
024463,003821: 26,3035 52545 DLOAD SL3
024464,003822: 26,3036 01701 X789
024465,003823: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024466,003824: 26,3040 56176 0,2
024467,003825: 26,3041 53605 DMP SRR*
024468,003826: 26,3042 03722 RXZ
024469,003827: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024470,003828: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024471,003829: 26,3045 03724 ULC
024472,003830: 26,3046 76435 VXV VSL1
024473,003831: 26,3047 03705 MY
024474,003832: 26,3050 77656 UNIT
024475,003833: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
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|
Page 581
|
024477,003835: 26,3052 00747 VEHUPFLG
024478,003836: 26,3053 55054 +1
024479,003837: 26,3054 27525 STOVL BVECTOR
024480,003838: 26,3055 06522 ZEROVECS
024481,003839: 26,3056 03533 STORE BVECTOR +6
024482,003840: 26,3057 17541 STODL BVECTOR +12D
024483,003841: 26,3060 03722 RXZ
024484,003842: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024485,003843: 26,3062 20577 0 -2,1
024486,003844: 26,3063 56176 0,2
024487,003845: 26,3064 03541 STORE BVECTOR +12D
024488,003846: 26,3065 77735 SLOAD
024489,003847: 26,3066 02011 SHAFTVAR
024490,003848: 26,3067 41215 DAD DMP
024491,003849: 26,3070 15436 IMUVAR # RAD**2 B12
024492,003850: 26,3071 03722 RXZ
024493,003851: 26,3072 41257 SRR* DMP
024494,003852: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024495,003853: 26,3074 03722 RXZ
024496,003854: 26,3075 53657 SR* SR*
024497,003855: 26,3076 20577 0 -2,1
024498,003856: 26,3077 57176 0,2
024499,003857: 26,3100 47057 SR* RTB
024500,003858: 26,3101 57176 0,2
024501,003859: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024502,003860: 26,3103 36707 STCALL VARIANCE # B-40
024503,003861: 26,3104 55401 LGCUPDTE
024504,003862:
024505,003863: 26,3105 77624 CALL
024506,003864: 26,3106 11244 GRP2PC
024507,003865: 26,3107 77624 TRUNBQ CALL
024508,003866: 26,3110 55361 RADARANG
024509,003867: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49
024510,003868: 26,3112 03746 WHCHREAD
024511,003869: 26,3113 00004 DEC 4 B-14
024512,003870: 26,3114 11244 GRP2PC
024513,003871: 26,3115 47375 VLOAD VXV
024514,003872: 26,3116 03724 ULC
024515,003873: 26,3117 03705 MY
024516,003874: 26,3120 47372 VSL1 VXV
024517,003875: 26,3121 03724 ULC
024518,003876: 26,3122 77772 VSL1 # (ULC X MY) X ULC
024519,003877: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024520,003878: 26,3124 00747 VEHUPFLG
024521,003879: 26,3125 55126 +1
024522,003880: 26,3126 27525 STOVL BVECTOR
024523,003881: 26,3127 06522 ZEROVECS
024524,003882: 26,3130 03533 STORE BVECTOR +6
024525,003883: 26,3131 17541 STODL BVECTOR +12D
024526,003884: 26,3132 03722 RXZ
|
|
Page 582
|
024528,003886: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024529,003887: 26,3134 20577 0 -2,1
024530,003888: 26,3135 56176 0,2
024531,003889: 26,3136 03543 STORE BVECTOR +14D
024532,003890: 26,3137 77735 SLOAD
024533,003891: 26,3140 02012 TRUNVAR
024534,003892: 26,3141 41215 DAD DMP
024535,003893: 26,3142 15436 IMUVAR
024536,003894: 26,3143 03722 RXZ
024537,003895: 26,3144 41257 SRR* DMP
024538,003896: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024539,003897: 26,3146 03722 RXZ
024540,003898: 26,3147 53657 SR* SR*
024541,003899: 26,3150 20577 0 -2,1
024542,003900: 26,3151 57176 0,2
024543,003901: 26,3152 47057 SR* RTB
024544,003902: 26,3153 57176 0,2
024545,003903: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024546,003904: 26,3155 16707 STODL VARIANCE
024547,003905: 26,3156 03732 SINTHETA
024548,003906: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
024549,003907: 26,3160 03734 RRTRUN
024550,003908: 26,3161 56405 DMP SL3R
024551,003909: 26,3162 15441 2PI/8
024552,003910: 26,3163 52525 PDDL SL3
024553,003911: 26,3164 01703 X789 +2
024554,003912: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024555,003913: 26,3166 56176 0,2
024556,003914: 26,3167 53605 DMP SRR*
024557,003915: 26,3170 03722 RXZ
024558,003916: 26,3171 21601 0,1
024559,003917: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
024560,003918: 26,3173 55401 LGCUPDTE
024561,003919: 26,3174 77624 CALL
024562,003920: 26,3175 11244 GRP2PC
024563,003921: 26,3176 77650 RENDEND GOTO
024564,003922: 26,3177 50566 R22LEM93
024565,003923:
024566,003924: # FUNCTIONAL DESCRIPTION
024567,003925: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
024568,003926: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
024569,003927: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
024570,003928:
024571,003929: # SUBROUTINES CALLED
024572,003930: # INSTALL LGCUPDTE INCORP1 RP-TO-R
024573,003931: # INTEGRV GETULC INCORP2
024574,003932:
024575,003933: # OUTPUT
024576,003934: # CORRECTED CSM STATE VECTOR (PERMANENT)
024577,003935: # NUMBER OF MARKS INCORPORATED IN MARKCTR
|
|
Page 583
|
024579,003937: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
024580,003938: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024581,003939: # UPDATED W-MATRIX
024582,003940:
024583,003941: # ERASABLE INITIALIZATION REQUIRED
024584,003942: # LM AND CSM STATE VECTORS
024585,003943: # W-MATRIX
024586,003944: # MARK TIME IN MKTIME
024587,003945: # RADAR RANGE IN RM METERS B-29
024588,003946: # RANGE RATE IN RDOTM METERS/CSEC B-7
024589,003947: # VEHUPFLG
024590,003948:
024591,003949: 26,3200 77624 LSR22.4 CALL
024592,003950: 26,3201 27414 INTSTALL
024593,003951: 26,3202 43014 SET CLEAR
024594,003952: 26,3203 01472 STATEFLG
024595,003953: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
024596,003954: 26,3205 77624 CALL
024597,003955: 26,3206 55242 INTGRCAL
024598,003956: 26,3207 77624 CALL
024599,003957: 26,3210 11244 GRP2PC
024600,003958: 26,3211 45014 CLEAR CALL
024601,003959: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
024602,003960: 26,3213 27414 INTSTALL
024603,003961: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
024604,003962: 26,3215 03463 MARKCTR
024605,003963: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
024606,003964: 26,3217 43014 CLEAR SET
024607,003965: 26,3220 01675 D6OR9FLG
024608,003966: 26,3221 01476 DIM0FLAG
024609,003967: 26,3222 43014 SET CLEAR
024610,003968: 26,3223 01474 VINTFLAG
024611,003969: 26,3224 01673 INTYPFLG
024612,003970: 26,3225 77624 CALL
024613,003971: 26,3226 55242 INTGRCAL
024614,003972: 26,3227 77650 GOTO
024615,003973: 26,3230 54510 RANGEBQ
024616,003974:
024617,003975: 26,3231 77624 INITWMX6 CALL
024618,003976: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
024619,003977: 26,3233 45014 SET CALL
024620,003978: 26,3234 01474 VINTFLAG
024621,003979: 26,3235 26644 SETIFLGS
024622,003980: 26,3236 77624 CALL
024623,003981: 26,3237 55242 INTGRCAL
024624,003982: 26,3240 77650 GOTO
024625,003983: 26,3241 54510 RANGEBQ
024626,003984:
024627,003985: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
|
|
Page 584
|
024629,003987: 26,3242 71220 INTGRCAL STQ DLOAD
024630,003988: 26,3243 03675 IGRET
024631,003989: 26,3244 03755 MKTIME
024632,003990: 26,3245 34041 STCALL TDEC1
024633,003991: 26,3246 27134 INTEGRV
024634,003992: 26,3247 77650 GOTO
024635,003993: 26,3250 03675 IGRET
024636,003994:
024637,003995: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
024638,003996: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
024639,003997:
024640,003998: 26,3251 E5,1400 EBANK= W
024641,003999: 26,3251 77776 WLINIT EXIT
024642,004000: 26,3252 33331 CAF WBANK
024643,004001: 26,3253 54006 TS BBANK
024644,004002: 26,3254 33437 CAF WSIZE
024645,004003: 26,3255 55257 TS W.IND
024646,004004: 26,3256 34755 CAF ZERO
024647,004005: 26,3257 51257 INDEX W.IND
024648,004006: 26,3260 55400 TS W
024649,004007: 26,3261 11257 CCS W.IND
024650,004008: 26,3262 03255 TC -5
024651,004009: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
024652,004010: 26,3264 54006 TS BBANK
024653,004011: 26,3265 06037 TC INTPRET
024654,004012: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
024655,004013: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
024656,004014: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
024657,004015: 26,3271 02001 WRENDPOS
024658,004016: 26,3272 77650 GOTO
024659,004017: 26,3273 55276 WPOSTORE
024660,004018: 26,3274 77735 WLSRFPOS SLOAD
024661,004019: 26,3275 02007 WSURFPOS
024662,004020: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
024663,004021: 26,3277 20606 5
024664,004022: 26,3300 02401 STORE W
024665,004023: 26,3301 02411 STORE W +8D
024666,004024: 26,3302 02421 STORE W +16D
024667,004025: 26,3303 67214 BON SLOAD
024668,004026: 26,3304 04307 SURFFLAG
024669,004027: 26,3305 55311 WLSRFVEL
024670,004028: 26,3306 02002 WRENDVEL
024671,004029: 26,3307 77650 GOTO
024672,004030: 26,3310 55313 WVELSTOR
024673,004031: 26,3311 77735 WLSRFVEL SLOAD
024674,004032: 26,3312 02010 WSURFVEL
024675,004033: 26,3313 02511 WVELSTOR STORE W +72D
024676,004034: 26,3314 02521 STORE W +80D
024677,004035: 26,3315 02531 STORE W +88D
024678,004036: 26,3316 77735 SLOAD
|
|
Page 585
|
024680,004038: 26,3317 02003 WSHAFT
024681,004039: 26,3320 02621 STORE W +144D
024682,004040: 26,3321 77735 SLOAD
024683,004041: 26,3322 02004 WTRUN
024684,004042: 26,3323 02631 STORE W +152D
024685,004043: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
024686,004044: 26,3325 02476 RENDWFLG
024687,004045: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
024688,004046: 26,3327 00000 0
024689,004047: 26,3330 77616 RVQ
024690,004048:
024691,004049: 26,3331 E5,1400 EBANK= W
024692,004050: 26,3331 54065 WBANK BBCON WLINIT
024693,004051: 26,3332 E7,1457 EBANK= AIG
024694,004052: 26,3332 54067 AIGBANK BBCON LSR22.3
024695,004053:
024696,004054: # GETULC
024697,004055:
024698,004056: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
024699,004057: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
024700,004058: # MAGNITUDE IN 36D.
024701,004059:
024702,004060: 26,3333 77201 GETULC SETPD VLOAD
024703,004061: 26,3334 00001 0
024704,004062: 26,3335 01645 DELTALEM
024705,004063: 26,3336 77754 LXA,2
024706,004064: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
024707,004065: 26,3340 53257 VSR* VAD
024708,004066: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024709,004067: 26,3342 01661 RCVLEM
024710,004068: 26,3343 53715 PDVL VSR*
024711,004069: 26,3344 01573 DELTACSM
024712,004070: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024713,004071: 26,3346 52255 VAD VSU
024714,004072: 26,3347 01607 RCVCSM
024715,004073: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
024716,004074: 26,3351 21724 NORMUNX1
024717,004075: 26,3352 17724 STODL ULC
024718,004076: 26,3353 00045 36D
024719,004077: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
024720,004078: 26,3355 20201 0,1
024721,004079: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
024722,004080: 26,3357 03724 ULC
024723,004081: 26,3360 77616 RVQ
024724,004082:
024725,004083: # RADARANG
024726,004084:
024727,004085: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
024728,004086: # RXZ = (SQRT (1-SINTHETA**2))RLC
024729,004087: # OUTPUT
024730,004088: # ULC IN ULC, PD0
|
|
Page 586
|
024732,004090: # RLC IN PD36D
024733,004091: # SIN THETA IN SINTHETA AND PD6
024734,004092: # RXZ NORM IN RXZ (N IN X1)
024735,004093:
024736,004094: 26,3361 45020 RADARANG STQ CALL
024737,004095: 26,3362 03675 RDRET
024738,004096: 26,3363 55333 GETULC
024739,004097: 26,3364 50276 VCOMP DOT
024740,004098: 26,3365 03705 MY
024741,004099: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
024742,004100: 26,3367 03732 STORE SINTHETA
024743,004101: 26,3370 44316 DSQ BDSU
024744,004102: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2
024745,004103: 26,3372 41366 SQRT DMP
024746,004104: 26,3373 00045 36D
024747,004105: 26,3374 60352 SL1 NORM
024748,004106: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
024749,004107: 26,3376 03722 STORE RXZ
024750,004108: 26,3377 77650 GOTO # EXIT
024751,004109: 26,3400 03675 RDRET
024752,004110: 26,3401 45020 LGCUPDTE STQ CALL
024753,004111: 26,3402 03675 LGRET
024754,004112: 26,3403 46531 INCORP1
024755,004113: 26,3404 51575 VLOAD ABVAL
024756,004114: 26,3405 02673 DELTAX +6
024757,004115: 26,3406 53754 LXA,2 SRR*
024758,004116: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024759,004117: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
024760,004118: 26,3411 24317 STOVL R22DISP +2
024761,004119: 26,3412 02665 DELTAX
024762,004120: 26,3413 53646 ABVAL SRR*
024763,004121: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
024764,004122: 26,3415 00315 STORE R22DISP
024765,004123: 26,3416 54335 SLOAD SR
024766,004124: 26,3417 02005 RMAX
024767,004125: 26,3420 20613 10D
024768,004126: 26,3421 50025 DSU BMN
024769,004127: 26,3422 00315 R22DISP
024770,004128: 26,3423 50572 R22LEM96 # GO DISPLAY
024771,004129: 26,3424 45335 SLOAD DSU
024772,004130: 26,3425 02006 VMAX
024773,004131: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
024774,004132: 26,3427 77640 BMN
024775,004133: 26,3430 50572 R22LEM96 # GO DISPLAY
024776,004134: 26,3431 77624 ASTOK CALL
024777,004135: 26,3432 46743 INCORP2
024778,004136: 26,3433 77650 GOTO
024779,004137: 26,3434 03675 LGRET
024780,004138: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
024781,004139:
024782,004140: 26,3437 00241 WSIZE DEC 161 B-14
|
|
Page 587
|
024784,004142: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
024785,004143:
024786,004144: 26,3442 E7,1456 EBANK= LOSCOUNT
|
|
Page 588
|
024788,004146:
024789,004147: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
024790,004148: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
024791,004149:
024792,004150: # FUNCTIONAL DESCRIPTION
024793,004151:
024794,004152: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
024795,004153: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
024796,004154: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
024797,004155: # ATTITUDE MANEUVER.
024798,004156:
024799,004157: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
024800,004158:
024801,004159: # SUBROUTINES CALLED
024802,004160:
024803,004161: # LEMCONIC R61LEM
024804,004162: # CSMCONIC RRDESSM
024805,004163: # JOBDELAY FLAGDOWN
024806,004164: # WAITLIST FLAGUP
024807,004165: # RRNB BANKCALL
024808,004166:
024809,004167: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
024810,004168:
024811,004169: # OUTPUT
024812,004170:
024813,004171: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
024814,004172: # 11111 INDICATES LOCKON ACHIEVED
024815,004173: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
024816,004174:
024817,004175: # ERASABLE INITIALIZATION REQUIRED
024818,004176:
024819,004177: # SEARCH FLAG MUST BE SET
024820,004178: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
024821,004179:
024822,004180: # DEBRIS
024823,004181:
024824,004182: # RLMSRCH UXVECT
024825,004183: # VXRLM UYVECT
024826,004184: # LOSDESRD NSRCHPNT
024827,004185: # DATAGOOD OMEGAD
024828,004186: # MPAC PUSHLIST
024829,004187:
024830,004188: 26,3442 COUNT* $$/LRS24
024831,004189: 26,3442 34755 LRS24.1 CAF ZERO
024832,004190: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
024833,004191: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
024834,004192: 26,3445 00006 EXTEND
|
|
Page 589
|
024836,004194: 26,3446 05012 WOR CHAN12
024837,004195: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
024838,004196: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
024839,004197: 26,3451 00006 EXTEND
024840,004198: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
024841,004199:
024842,004200: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
024843,004201: 26,3454 00004 INHINT
024844,004202: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
024845,004203: 26,3456 E7,1456 EBANK= LOSCOUNT
024846,004204: 26,3456 03643 54067 2CADR CALLDGCH
024847,004205:
024848,004206: 26,3460 00003 RELINT
024849,004207: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
024850,004208: 26,3462 74736 MASK REMODBIT
024851,004209: 26,3463 00006 EXTEND
024852,004210: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
024853,004211: 26,3465 06037 TC INTPRET
024854,004212:
024855,004213: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
024856,004214: 26,3467 21573 LOADTIME
024857,004215: 26,3470 15715 1.5SECS
024858,004216: 26,3471 34041 LRS24.11 STCALL TDEC1
024859,004217: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
024860,004218: 26,3473 77775 VLOAD
024861,004219: 26,3474 00001 RATT
024862,004220: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
024863,004221: 26,3476 00007 VATT
024864,004222: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
024865,004223: 26,3500 00015 TAT
024866,004224: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
024867,004225: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
024868,004226: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
024869,004227: 26,3504 00001 RATT
024870,004228: 26,3505 03676 RLMSRCH
024871,004229: 26,3506 77656 UNIT
024872,004230: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
024873,004231: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
024874,004232: 26,3511 47256 UNIT VXV
024875,004233: 26,3512 00001 RATT
024876,004234: 26,3513 77656 UNIT
024877,004235: 26,3514 03704 STORE VXRCM
024878,004236: 26,3515 52375 VLOAD VSU
024879,004237: 26,3516 00007 VATT
024880,004238: 26,3517 03740 SAVLEMV
024881,004239: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
024882,004240: 26,3521 01734 REFSMMAT
024883,004241: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
024884,004242: 26,3523 53135 SLOAD BZE # CHECK IF N=0
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|
Page 590
|
024886,004244: 26,3524 03737 NSRCHPNT
024887,004245: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
024888,004246: 26,3526 53025 DSU BZE # IS N=1
024889,004247: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
024890,004248: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
024891,004249: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
024892,004250: 26,3532 03720 UXVECT
024893,004251: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
024894,004252: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
024895,004253: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
024896,004254: 26,3536 77761 VXSC
024897,004255: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR
024898,004256: 26,3540 27720 STOVL UXVECT
024899,004257: 26,3541 00015 UXVECTPR
024900,004258: 26,3542 53361 VXSC VAD
024901,004259: 26,3543 06520 COS60DEG
024902,004260: 26,3544 03720 UXVECT
024903,004261: 26,3545 77656 UNIT
024904,004262: 26,3546 27720 STOVL UXVECT
024905,004263: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR
024906,004264: 26,3550 77761 VXSC
024907,004265: 26,3551 15705 SIN60DEG
024908,004266: 26,3552 27726 STOVL UYVECT
024909,004267: 26,3553 00023 UYVECTPR
024910,004268: 26,3554 52361 VXSC VSU
024911,004269: 26,3555 06520 COS60DEG
024912,004270: 26,3556 03726 UYVECT
024913,004271: 26,3557 77656 UNIT
024914,004272: 26,3560 03726 STORE UYVECT
024915,004273: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
024916,004274: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
024917,004275: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
024918,004276: 26,3564 64256 UNIT MXV
024919,004277: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
024920,004278: 26,3566 77772 VSL1
024921,004279: 26,3567 25102 CONTDESG STOVL RRTARGET
024922,004280: 26,3570 03740 SAVLEMV
024923,004281: 26,3571 01761 STORE LOSVEL
024924,004282: 26,3572 77776 EXIT
024925,004283: 26,3573 00004 INHINT
024926,004284: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
024927,004285: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
024928,004286: # POINT IN THE PATTERN
024929,004287: 26,3576 44735 CONTDES2 CS CDESBIT
024930,004288: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
024931,004289: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
024932,004290: 26,3601 54110 TS RADMODES
024933,004291: 26,3602 06037 TC INTPRET
024934,004292:
024935,004293: 26,3603 77624 CALL
|
|
Page 591
|
024937,004295: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
024938,004296:
024939,004297: 26,3605 77776 EXIT
024940,004298: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
024941,004299: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
024942,004300:
024943,004301: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
024944,004302: # SPACECRAFT +Z AXIS
024945,004303: 26,3610 00006 OMEGCALC EXTEND
024946,004304: 26,3611 30036 DCA CDUT
024947,004305: 26,3612 53753 DXCH TANGNB
024948,004306: 26,3613 06037 TC INTPRET
024949,004307: 26,3614 77624 CALL
024950,004308: 26,3615 46041 RRNB
024951,004309: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
024952,004310: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
024953,004311: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
024954,004312: 26,3621 77776 EXIT
024955,004313: 26,3622 05155 TC ENDOFJOB
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|
Page 592
|
024957,004315: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
024958,004316:
024959,004317: 26,3623 47375 CALCXY VLOAD VXV
024960,004318: 26,3624 03704 VXRCM
024961,004319: 26,3625 03712 LOSDESRD
024962,004320: 26,3626 77656 UNIT
024963,004321: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
024964,004322: 26,3630 03712 LOSDESRD
024965,004323: 26,3631 53435 VXV UNIT
024966,004324: 26,3632 03720 UXVECT
024967,004325: 26,3633 03726 STORE UYVECT # UY = LOS X UX
024968,004326: 26,3634 77650 GOTO
024969,004327: 26,3635 55561 OFFCALC
024970,004328:
024971,004329: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
024972,004330: 26,3637 03712 LOSDESRD
024973,004331: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
024974,004332: 26,3641 52172 VSL1 GOTO
024975,004333: 26,3642 55567 CONTDESG
024976,004334:
024977,004335: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
024978,004336: 26,3644 74745 MASK RNDVZBIT
024979,004337: 26,3645 00006 EXTEND
024980,004338: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
024981,004339: 26,3647 37713 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
024982,004340: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
024983,004341: 26,3651 E7,1675 EBANK= RLMSRCH
024984,004342: 26,3651 03654 54067 2CADR DATGDCHK
024985,004343:
024986,004344: 26,3653 05261 TC TASKOVER
024987,004345:
024988,004346: 26,3654 34750 DATGDCHK CAF BIT4
024989,004347: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
024990,004348: 26,3656 02033 RAND CHAN33
024991,004349: 26,3657 00006 EXTEND
024992,004350: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
024993,004351: 26,3661 46242 CS SIX
024994,004352: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
024995,004353: 26,3663 00006 EXTEND
024996,004354: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
024997,004355: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
024998,004356: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
024999,004357:
025000,004358: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025001,004359: 26,3670 55733 TS DATAGOOD
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|
Page 593
|
025003,004361: 26,3671 00004 INHINT
025004,004362: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
025005,004363: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025006,004364: 26,3674 05155 TC ENDOFJOB
025007,004365:
025008,004366: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025009,004367: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025010,004368: 26,3677 00004 INHINT # REQUIRED IN P20
025011,004369: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025012,004370: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025013,004371: 26,3702 05155 TC ENDOFJOB
025014,004372:
025015,004373: 26,3703 25547 ALL1S DEC 11111 B-14
025016,004374: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025017,004375: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50)
025018,004376: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025019,004377: 26,3706 UYVECTPR EQUALS 18D
025020,004378: 26,3706 RLMUNIT EQUALS 12D
025021,004379: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025022,004380:
025023,004381: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025024,004382: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025025,004383:
025026,004384: # **** ONEOCT NEEDS A LOWER ORDER ****
025027,004385: # **** WORD OF ZEROES ****
025028,004386: 26,3713 01130 6SECONDS DEC 600 B-14
025029,004387: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025030,004388:
025031,004389: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS
025032,004390:
025033,004391: 4616 BLOCK 02
025034,004392: 6000 SETLOC FFTAG5
025035,004393: 6000 BANK
025036,004394: 6022 COUNT* $$/P20
025037,004395: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025038,004396: 6023 36026 DCA VB56CADR # GOTOPOOH
025039,004397: 6024 15165 TCF SUPDXCHZ
025040,004398: 6025 E7,1471 EBANK= WHOCARES
025041,004399: 6025 03024 66107 VB56CADR 2CADR TRMTRACK
025042,004400:
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|
Page 594
|
025044,004402: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025045,004403: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025046,004404:
025047,004405: # FUNCTIONAL DESCRIPTION:
025048,004406:
025049,004407: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025050,004408: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025051,004409: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025052,004410: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025053,004411: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025054,004412: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025055,004413:
025056,004414: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025057,004415:
025058,004416: # SUBROUTINES CALLED:
025059,004417:
025060,004418: # REMODE RRTONLY
025061,004419: # UNIT MPACVBUF
025062,004420: # QUICTRIG AX*SR*T
025063,004421: # SPSIN SPCOS
025064,004422: # SETRRECR RROUT
025065,004423: # RRRDOT RRRANGE
025066,004424:
025067,004425: # EXIT: TO NOR29NOW, IN SERVICER.
025068,004426:
025069,004427: # OUTPUT: (ALL FOR DOWNLINK)
025070,004428:
025071,004429: # RM RDOTM (RAW)
025072,004430: # AIG AMG
025073,004431: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025074,004432: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025075,004433: # MKTIME
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|
Page 595
|
025077,004435:
025078,004436: # ERASABLE INITIALIZATION REQUIRED:
025079,004437:
025080,004438: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025081,004439: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025082,004440: # R(CSM) V(CSM)
025083,004441: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025084,004442:
025085,004443: # DEBRIS:
025086,004444:
025087,004445: # RADMODES (BIT 10)
025088,004446: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025089,004447: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025090,004448: # LOSCMFLG READRFLG
025091,004449:
025092,004450: # ALARMS: NONE.
025093,004451:
025094,004452: # COMPONENT JOBS AND TASKS:
025095,004453:
025096,004454: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025097,004455: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025098,004456: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025099,004457:
025100,004458: 33,2045 BANK 33
025101,004459: 33,2000 SETLOC R29/SERV
025102,004460: 33,2000 BANK
025103,004461:
025104,004462: 33,2045 COUNT* $$/r29
025105,004463:
025106,004464: 33,2045 5014 NR29&RDR EQUALS EBANK5
025107,004465:
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|
Page 596
|
025109,004467: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025110,004468: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025111,004469:
025112,004470: 33,2045 40110 R29 CS RADMODES
025113,004471: 33,2046 74742 MASK DESIGBIT
025114,004472: 33,2047 00006 EXTEND
025115,004473: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025116,004474:
025117,004475: 33,2051 00004 INHINT
025118,004476: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025119,004477: 33,2053 44736 CS BIT14
025120,004478: 33,2054 00006 EXTEND
025121,004479: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025122,004480: 33,2056 44740 CS LOSCMBIT
025123,004481: 33,2057 70076 MASK FLAGWRD2
025124,004482: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025125,004483: 33,2061 44753 CS OLDESBIT
025126,004484: 33,2062 70074 MASK STATE
025127,004485: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025128,004486: 33,2064 04616 TC BANKCALL
025129,004487: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025130,004488: 33,2066 34740 CA ANTENBIT
025131,004489: 33,2067 70110 MASK RADMODES
025132,004490: 33,2070 10000 CCS A # TEST RR MODE BIT.
025133,004491: 33,2071 12104 TCF SETPRPOS # MODE 2.
025134,004492:
025135,004493: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025136,004494: 33,2073 05072 TC NOVAC
025137,004495: 33,2074 E7,1456 EBANK= LOSCOUNT
025138,004496: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
025139,004497:
025140,004498: 33,2076 44742 CS DESIGBIT
025141,004499: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025142,004500: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025143,004501: 33,2101 34736 CA REMODBIT
025144,004502: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025145,004503: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025146,004504:
025147,004505: 33,2104 34753 SETPRPOS CA ONE
025148,004506: 33,2105 05203 TC WAITLIST
025149,004507: 33,2106 E7,1456 EBANK= LOSCOUNT
025150,004508: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025151,004509:
025152,004510: 33,2110 34741 CA REPOSBIT
025153,004511: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025154,004512: 33,2112 12570 TCF NOR29NOW
025155,004513:
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|
Page 597
|
025157,004515: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025158,004516:
025159,004517: 33,2113 34753 R29REM0J CA ONE
025160,004518: 33,2114 05203 TC WAITLIST
025161,004519: 33,2115 E7,1456 EBANK= LOSCOUNT
025162,004520: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025163,004521:
025164,004522: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025165,004523: 33,2120 17714 CADR RADSTALL
025166,004524:
025167,004525: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025168,004526: 33,2122 15155 TCF ENDOFJOB
025169,004527:
025170,004528: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025171,004529:
025172,004530: 25,2000 SETLOC R29S1
025173,004531: 25,2000 BANK
025174,004532:
025175,004533: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
025176,004534: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
025177,004535: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025178,004536: 25,3604 70110 MASK RADMODES
025179,004537: 25,3605 54110 TS RADMODES
025180,004538: 25,3606 15261 TCF TASKOVER
025181,004539:
025182,004540: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025183,004541:
025184,004542: 33,2045 SETLOC R29
025185,004543: 33,2045 BANK
025186,004544:
025187,004545: 33,2123 00006 R29.LOS EXTEND
025188,004546: 33,2124 41235 DCS PIPTIME
025189,004547: 33,2125 52155 DXCH MPAC
025190,004548: 33,2126 00006 EXTEND
025191,004549: 33,2127 30025 DCA TIME2
025192,004550: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025193,004551: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025194,004552: 33,2132 30155 CA MPAC +1
025195,004553: 33,2133 00006 EXTEND
025196,004554: 33,2134 74740 MP BIT12
025197,004555: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025198,004556: 33,2136 06037 TC INTPRET
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|
Page 598
|
025200,004558: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025201,004559: # START IT UP WHEN THE DATA IS IN PLACE.
025202,004560:
025203,004561: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025204,004562: 33,2140 01726 V(CSM)
025205,004563: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025206,004564: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025207,004565: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025208,004566: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025209,004567: 33,2145 03521 R
025210,004568: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025211,004569: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025212,004570: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025213,004571: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025214,004572:
025215,004573: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025216,004574: 33,2153 00001 0
025217,004575: 33,2154 77761 VXSC
025218,004576: 33,2155 26177 .5SECB17
025219,004577: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025220,004578: 33,2157 77414 CLEAR EXIT
025221,004579: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025222,004580:
025223,004581: 33,2161 40074 CS STATE
025224,004582: 33,2162 74753 MASK OLDESBIT
025225,004583: 33,2163 00006 EXTEND
025226,004584: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025227,004585: 33,2165 00004 INHINT
025228,004586: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025229,004587:
025230,004588: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025231,004589: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025232,004590: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025233,004591: 33,2172 05203 TC WAITLIST
025234,004592: 33,2173 E7,1456 EBANK= LOSCOUNT
025235,004593: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025236,004594:
025237,004595: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025238,004596:
025239,004597: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025240,004598:
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Page 599
|
025242,004600: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025243,004601: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025244,004602:
025245,004603: 24,3356 BANK 24
025246,004604: 24,2000 SETLOC P20S
025247,004605: 24,2000 BANK
025248,004606:
025249,004607: 24,3356 COUNT* $$/R29
025250,004608:
025251,004609: 24,3356 35031 BEGDES29 CAF PRIO21
025252,004610: 24,3357 05072 TC NOVAC
025253,004611: 24,3360 E3,1760 EBANK= LOSVDT/4
025254,004612: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025255,004613:
025256,004614: 24,3362 34774 R29DLOOP CAF .5SEC
025257,004615: 24,3363 05224 TC VARDELAY
025258,004616:
025259,004617: 24,3364 40110 CS RADMODES
025260,004618: 24,3365 74742 MASK DESIGBIT
025261,004619: 24,3366 10000 CCS A
025262,004620: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025263,004621:
025264,004622: 24,3370 40076 CS FLAGWRD2
025265,004623: 24,3371 74740 MASK LOSCMBIT
025266,004624: 24,3372 00006 EXTEND
025267,004625: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025268,004626: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025269,004627: 24,3375 13356 TCF BEGDES29
025270,004628:
025271,004629: 24,3376 34753 CA ONE
025272,004630: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 600
|
025274,004632: # R29DODES: RR DESIGNATION LOOP FOR R29
025275,004633:
025276,004634: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025277,004635: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025278,004636: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025279,004637: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025280,004638: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025281,004639:
025282,004640: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025283,004641: # TASK WHEN LOCK-ON IS ACHIEVED.
025284,004642:
025285,004643: 32,2547 BANK 32
025286,004644: 32,2000 SETLOC F2DPS*32
025287,004645: 32,2000 BANK
025288,004646:
025289,004647: 32,2547 COUNT* $$/R29
025290,004648: 32,2547 E3,1760 EBANK= LOSVDT/4
025291,004649:
025292,004650: 32,2547 34753 R29DODES CA ONE
025293,004651: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025294,004652: 32,2551 34756 CA FIVE
025295,004653:
025296,004654: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025297,004655: 32,2553 54002 TS Q
025298,004656: 32,2554 11107 CCS TANG
025299,004657: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025300,004658:
025301,004659: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025302,004660: 32,2557 50002 INDEX Q
025303,004661: 32,2560 31761 DCA LOSVDT/4
025304,004662: 32,2561 50002 INDEX Q
025305,004663: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025306,004664:
025307,004665: 32,2563 00006 R29DPAS1 EXTEND
025308,004666: 32,2564 50002 INDEX Q
025309,004667: 32,2565 31102 DCA LOSSM
025310,004668: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025311,004669: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025312,004670: 32,2570 11107 CCS TANG
025313,004671: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025314,004672:
025315,004673: 32,2572 00006 EXTEND
025316,004674: 32,2573 50002 INDEX Q
025317,004675: 32,2574 31761 DCA LOSVDT/4
025318,004676: 32,2575 50002 INDEX Q
025319,004677: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025320,004678:
025321,004679: 32,2577 10002 R29DVEND CCS Q
025322,004680: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025323,004681:
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|
Page 601
|
025325,004683: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025326,004684:
025327,004685: 32,2601 52156 DXCH MPAC +1
025328,004686: 32,2602 52155 DXCH MPAC
025329,004687: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D
025330,004688: 32,2604 54120 TS FIXLOC
025331,004689: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025332,004690: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025333,004691: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025334,004692:
025335,004693: 32,2610 11107 CCS TANG
025336,004694: 32,2611 12613 TCF +2
025337,004695: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025338,004696: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025339,004697: 32,2614 00006 EXTEND
025340,004698: 32,2615 30036 DCA CDUT
025341,004699: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025342,004700: 32,2617 30033 CA CDUY
025343,004701: 32,2620 54766 TS CDUSPOT
025344,004702: 32,2621 30034 CA CDUZ
025345,004703: 32,2622 54770 TS CDUSPOT +2
025346,004704: 32,2623 30032 CA CDUX
025347,004705: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025348,004706: 32,2625 04616 TC BANKCALL
025349,004707: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025350,004708:
025351,004709: 32,2627 46245 GOTANGLS CS THREE
025352,004710: 32,2630 04616 TC BANKCALL
025353,004711: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025354,004712:
025355,004713: 32,2632 11107 CCS TANG
025356,004714: 32,2633 12635 TCF +2
025357,004715: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025358,004716:
|
|
Page 602
|
025360,004718: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025361,004719: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025362,004720:
025363,004721: 32,2635 00004 INHINT
025364,004722: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025365,004723: 32,2637 31766 CA SAVECDUT
025366,004724: 32,2640 05032 TC SPCOS
025367,004725: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T.
025368,004726: 32,2642 41766 CS SAVECDUT
025369,004727: 32,2643 05033 TC SPSIN
025370,004728: 32,2644 54163 TS MODE # MODE = -SIN T.
025371,004729: 32,2645 00006 EXTEND
025372,004730: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025373,004731: 32,2647 52155 DXCH MPAC
025374,004732: 32,2650 31767 CA SAVECDUT +1
025375,004733: 32,2651 05033 TC SPSIN
025376,004734: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025377,004735: 32,2653 00006 EXTEND
025378,004736: 32,2654 70166 MP PUSHLOC
025379,004737: 32,2655 00006 EXTEND
025380,004738: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025381,004739: 32,2657 20155 DAS MPAC
025382,004740: 32,2660 31767 CA SAVECDUT +1
025383,004741: 32,2661 05032 TC SPCOS
025384,004742: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025385,004743: 32,2663 00006 EXTEND
025386,004744: 32,2664 70166 MP PUSHLOC
025387,004745: 32,2665 00006 EXTEND
025388,004746: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025389,004747: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025390,004748: 32,2670 00006 EXTEND # -SIN T, COS S COS T).
025391,004749: 32,2671 30155 DCA MPAC
025392,004750: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025393,004751: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025394,004752: 32,2674 34736 CA BIT14
025395,004753: 32,2675 12676 NOOP
025396,004754: 32,2676 00006 EXTEND
025397,004755: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025398,004756: 32,2700 00003 RELINT
025399,004757: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025400,004758:
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|
Page 603
|
025402,004760: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025403,004761:
025404,004762: 32,2702 31767 R29DPAS2 CA SAVECDUT +1
025405,004763: 32,2703 00006 EXTEND
025406,004764: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X.
025407,004765: 32,2705 53110 DXCH TANG
025408,004766: 32,2706 41766 CS SAVECDUT
025409,004767: 32,2707 00006 EXTEND
025410,004768: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025411,004769: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025412,004770: 32,2712 40163 CS MODE # - SIN S)
025413,004771: 32,2713 00006 EXTEND
025414,004772: 32,2714 71766 MP SAVECDUT
025415,004773: 32,2715 00006 EXTEND
025416,004774: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025417,004775: 32,2717 52155 DXCH MPAC
025418,004776: 32,2720 30166 CA PUSHLOC
025419,004777: 32,2721 00006 EXTEND
025420,004778: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025421,004779: 32,2723 20155 DAS MPAC
025422,004780: 32,2724 40163 CS MODE
025423,004781: 32,2725 00006 EXTEND
025424,004782: 32,2726 71767 MP SAVECDUT +1
025425,004783: 32,2727 00006 EXTEND
025426,004784: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025427,004785: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025428,004786: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025429,004787: 32,2733 00006 EXTEND
025430,004788: 32,2734 72775 MP RR29GAIN
025431,004789: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
025432,004790: 32,2736 00006 EXTEND
025433,004791: 32,2737 72775 MP RR29GAIN
025434,004792: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD.
025435,004793:
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|
Page 604
|
025437,004795: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025438,004796: # READING DATA FROM THE RENDEZVOUS RADAR.
025439,004797:
025440,004798: 32,2741 34750 DGOOD? CAF BIT4
025441,004799: 32,2742 00006 EXTEND
025442,004800: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025443,004801: 32,2744 00004 INHINT # (MAINLY FOR RROUT).
025444,004802: 32,2745 00006 EXTEND
025445,004803: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025446,004804:
025447,004805: 32,2747 04616 TC BANKCALL
025448,004806: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025449,004807: 32,2751 12770 TCF END29DOD
025450,004808:
025451,004809: 32,2752 44742 R29LOKON CS DESIGBIT
025452,004810: 32,2753 70110 MASK RADMODES
025453,004811: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025454,004812: 32,2755 44752 CS BIT2
025455,004813: 32,2756 00006 EXTEND
025456,004814: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025457,004815: 32,2760 34743 CA READRBIT
025458,004816: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025459,004817: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025460,004818: 32,2763 44776 CS SUPER110 # -96D + 100D = 4.
025461,004819: 32,2764 64777 AD 1SEC # 0 + 100D = 100D.
025462,004820: 32,2765 05203 TC WAITLIST
025463,004821: 32,2766 E7,1456 EBANK= LOSCOUNT
025464,004822: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB.
025465,004823:
025466,004824: 32,2770 44740 END29DOD CS LOSCMBIT
025467,004825: 32,2771 70076 MASK FLAGWRD2
025468,004826: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025469,004827: 32,2773 15155 TCF ENDOFJOB
025470,004828:
025471,004829: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D
025472,004830: 32,2775 56655 RR29GAIN DEC -.53624
025473,004831: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL
025474,004832: 32,2776 1101 LOSSM EQUALS RRTARGET
025475,004833: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV
025476,004834:
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Page 605
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025478,004836: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025479,004837:
025480,004838: 24,3400 BANK 24
025481,004839: 24,2000 SETLOC P20S
025482,004840: 24,2000 BANK
025483,004841:
025484,004842: 24,3400 COUNT* $$/R29
025485,004843:
025486,004844: 24,3400 E7,1456 EBANK= LOSCOUNT
025487,004845:
025488,004846: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST.
025489,004847: 24,3401 05072 TC NOVAC
025490,004848: 24,3402 E7,1456 EBANK= LOSCOUNT
025491,004849: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
025492,004850:
025493,004851: 24,3404 35000 CA 2SECS
025494,004852: 24,3405 05224 TC VARDELAY
025495,004853:
025496,004854: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
025497,004855: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
025498,004856: 24,3410 10000 CCS A
025499,004857: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
025500,004858: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
025501,004859:
025502,004860: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
025503,004861: 24,3414 74741 MASK NR29FBIT
025504,004862: 24,3415 10000 CCS A # TEST "NOR29FLG".
025505,004863: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
025506,004864:
025507,004865: 24,3417 30110 CA RADMODES
025508,004866: 24,3420 74752 MASK AUTOMBIT
025509,004867: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
025510,004868: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
025511,004869:
025512,004870: 24,3423 04616 TC BANKCALL
025513,004871: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
025514,004872: 24,3425 04616 TC BANKCALL
025515,004873: 24,3426 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025516,004874: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
025517,004875:
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Page 606
|
025519,004877: # R29 RADAR READING CONTINUED.
025520,004878:
025521,004879: 24,3430 53106 DXCH TIMEHOLD
025522,004880: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
025523,004881: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
025524,004882: 24,3433 00006 EXTEND
025525,004883: 24,3434 30036 DCA CDUT
025526,004884: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
025527,004885: 24,3436 00006 EXTEND
025528,004886: 24,3437 30034 DCA CDUY
025529,004887: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
025530,004888: 24,3441 30032 CA CDUX
025531,004889: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
025532,004890:
025533,004891: 24,3443 04616 R29RANGE TC BANKCALL
025534,004892: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
025535,004893: 24,3445 04616 TC BANKCALL
025536,004894: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025537,004895: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
025538,004896:
025539,004897: 24,3450 00004 INHINT
025540,004898: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
025541,004899: 24,3452 53757 DXCH RM
025542,004900: 24,3453 52155 DXCH MPAC
025543,004901: 24,3454 53755 DXCH MKTIME
025544,004902: 24,3455 52157 DXCH MPAC +2
025545,004903: 24,3456 53753 DXCH TANGNB
025546,004904: 24,3457 52161 DXCH MPAC +4
025547,004905: 24,3460 53460 DXCH AIG
025548,004906: 24,3461 30162 CA MPAC +6
025549,004907: 24,3462 55461 TS AOG
025550,004908: 24,3463 34753 CA ONE
025551,004909: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
025552,004910: 24,3465 15155 TCF ENDOFJOB
025553,004911:
025554,004912: 24,3466 40101 R29RRR? CS FLAGWRD5
025555,004913: 24,3467 74742 MASK BIT10
025556,004914: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
025557,004915: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
025558,004916: 24,3472 05516 TC DOWNFLAG
025559,004917: 24,3473 00120 ADRES RNGSCFLG
025560,004918: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
025561,004919:
025562,004920: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
025563,004921: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
025564,004922: 24,3477 05516 TC DOWNFLAG
025565,004923: 24,3500 00063 ADRES READRFLG
025566,004924: 24,3501 44736 CS BIT14
025567,004925: 24,3502 00006 EXTEND
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|
Page 607
|
025569,004927: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
025570,004928: 24,3504 15155 TCF ENDOFJOB
025571,004929:
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|
Page 608
|
025573,004931: # W-MATRIX MONITOR
025574,004932:
025575,004933: 31,2007 BANK 31
025576,004934: 31,2000 SETLOC VB67
025577,004935: 31,2000 BANK
025578,004936: 31,2007 COUNT* $$/EXTVB
025579,004937:
025580,004938: 31,2007 E4,1600 EBANK= WWPOS
025581,004939:
025582,004940: 31,2007 06037 V67CALL TC INTPRET
025583,004941: 31,2010 77624 CALL
025584,004942: 31,2011 62120 V67WW
025585,004943: 31,2012 77776 EXIT
025586,004944: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
025587,004945: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
025588,004946: 31,2015 53607 DXCH WWBIAS +2
025589,004947: 31,2016 00006 EXTEND
025590,004948: 31,2017 31603 DCA WWVEL
025591,004949: 31,2020 53611 DXCH WWBIAS +4
025592,004950: 31,2021 00006 EXTEND
025593,004951: 31,2022 31605 DCA WWBIAS
025594,004952: 31,2023 53613 DXCH WWBIAS +6
025595,004953: 31,2024 32143 V06N99DS CAF V06N99
025596,004954: 31,2025 04616 TC BANKCALL
025597,004955: 31,2026 20334 CADR GOXDSPF
025598,004956: 31,2027 15472 TCF ENDEXT
025599,004957: 31,2030 12032 TCF V6N99PRO
025600,004958: 31,2031 12024 TCF V06N99DS
025601,004959: 31,2032 22007 V6N99PRO ZL
025602,004960: 31,2033 34756 CA FIVE
025603,004961: 31,2034 54002 N99LOOP TS Q
025604,004962: 31,2035 50002 INDEX Q
025605,004963: 31,2036 41600 CS WWPOS
025606,004964: 31,2037 50002 INDEX Q
025607,004965: 31,2040 61606 AD WWPOS +6
025608,004966: 31,2041 26001 ADS L
025609,004967: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
025610,004968: 31,2043 12034 TCF N99LOOP
025611,004969: 31,2044 22000 LXCH A
025612,004970: 31,2045 00006 EXTEND
025613,004971: 31,2046 12051 BZF V06N9933
025614,004972: 31,2047 05504 TC UPFLAG
025615,004973: 31,2050 00160 ADRES V67FLAG
025616,004974:
025617,004975: 31,2051 06037 V06N9933 TC INTPRET
025618,004976: 31,2052 77414 BON EXIT
025619,004977: 31,2053 03707 V67FLAG
025620,004978: 31,2054 62056 +2
025621,004979: 31,2055 15472 TCF ENDEXT
025622,004980: 31,2056 77745 DLOAD
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|
Page 609
|
025624,004982: 31,2057 02201 WWPOS
025625,004983: 31,2060 72412 SL4 SL1
025626,004984: 31,2061 14001 STODL 0D
025627,004985: 31,2062 02203 WWVEL
025628,004986: 31,2063 14003 STODL 2D
025629,004987: 31,2064 02205 WWBIAS
025630,004988: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
025631,004989: 31,2066 20213 10D # INTERNAL SCALING (B+5)
025632,004990: 31,2067 00005 STORE 4D
025633,004991: 31,2070 72014 BON LXA,1
025634,004992: 31,2071 04307 SURFFLAG
025635,004993: 31,2072 62102 V67SURF
025636,004994: 31,2073 00000 0D
025637,004995: 31,2074 72130 SXA,1 LXA,1
025638,004996: 31,2075 02000 WRENDPOS
025639,004997: 31,2076 00002 2D
025640,004998: 31,2077 52130 SXA,1 GOTO
025641,004999: 31,2100 02001 WRENDVEL
025642,005000: 31,2101 62110 V67CLRF
025643,005001: 31,2102 66150 V67SURF LXA,1 SXA,1
025644,005002: 31,2103 00000 0D
025645,005003: 31,2104 02006 WSURFPOS
025646,005004: 31,2105 66150 LXA,1 SXA,1
025647,005005: 31,2106 00002 2D
025648,005006: 31,2107 02007 WSURFVEL
025649,005007: 31,2110 66150 V67CLRF LXA,1 SXA,1
025650,005008: 31,2111 00004 4D
025651,005009: 31,2112 02003 WTRUN
025652,005010: 31,2113 77730 SXA,1
025653,005011: 31,2114 02002 WSHAFT
025654,005012: 31,2115 77414 CLEAR EXIT
025655,005013: 31,2116 02676 RENDWFLG
025656,005014: 31,2117 15472 TCF ENDEXT
025657,005015: 31,2120 40020 V67WW STQ BOV
025658,005016: 31,2121 00051 S2
025659,005017: 31,2122 62123 +1
025660,005018: 31,2123 45014 CLEAR CALL
025661,005019: 31,2124 03667 V67FLAG
025662,005020: 31,2125 27414 INTSTALL
025663,005021: 31,2126 71331 SSP DLOAD
025664,005022: 31,2127 00051 S1
025665,005023: 31,2130 00006 DEC 6 B-14
025666,005024: 31,2131 06522 ZEROVECS
025667,005025: 31,2132 02201 STORE WWPOS
025668,005026: 31,2133 02203 STORE WWVEL
025669,005027: 31,2134 02205 STORE WWBIAS
025670,005028: 31,2135 77770 AXT,1
025671,005029: 31,2136 00066 DEC 54 B-14
025672,005030: 31,2137 47573 NXPOSVEL VLOAD* VSQ
025673,005031: 31,2140 02467 W +54D,1
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Page 610
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025675,005033: 31,2141 77650 GOTO
025676,005034: 31,2142 60002 ADDPOS
025677,005035: 31,2143 01543 V06N99 VN 0699
025678,005036:
025679,005037: 30,2000 SETLOC VB67A
025680,005038: 30,2000 BANK
025681,005039: 30,2002 COUNT* $$/EXTVB
025682,005040:
025683,005041: 30,2002 77615 ADDPOS DAD
025684,005042: 30,2003 02201 WWPOS
025685,005043: 30,2004 02201 STORE WWPOS
025686,005044: 30,2005 47573 VLOAD* VSQ
025687,005045: 30,2006 02555 W +108D,1
025688,005046: 30,2007 77615 DAD
025689,005047: 30,2010 02203 WWVEL
025690,005048: 30,2011 02203 STORE WWVEL
025691,005049: 30,2012 47573 VLOAD* VSQ
025692,005050: 30,2013 02643 W +162D,1
025693,005051: 30,2014 77615 DAD
025694,005052: 30,2015 02205 WWBIAS
025695,005053: 30,2016 02205 STORE WWBIAS
025696,005054: 30,2017 75500 TIX,1 SQRT
025697,005055: 30,2020 62137 NXPOSVEL
025698,005056: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
025699,005057: 30,2022 20613 10D # NOUN SCALING (B-5)
025700,005058: 30,2023 16205 STODL WWBIAS
025701,005059: 30,2024 02203 WWVEL
025702,005060: 30,2025 77766 SQRT
025703,005061: 30,2026 16203 STODL WWVEL
025704,005062: 30,2027 02201 WWPOS
025705,005063: 30,2030 77766 SQRT
025706,005064: 30,2031 02201 STORE WWPOS
025707,005065: 30,2032 52000 BOV GOTO
025708,005066: 30,2033 60035 +2
025709,005067: 30,2034 60042 V67XXX
025710,005068: 30,2035 77745 DLOAD
025711,005069: 30,2036 06530 DPPOSMAX
025712,005070: 30,2037 02201 STORE WWPOS
025713,005071: 30,2040 02203 STORE WWVEL
025714,005072: 30,2041 02205 STORE WWBIAS
025715,005073: 30,2042 45345 V67XXX DLOAD DSU
025716,005074: 30,2043 02201 WWPOS
025717,005075: 30,2044 20060 FT99999
025718,005076: 30,2045 71240 BMN DLOAD
025719,005077: 30,2046 60051 +3
025720,005078: 30,2047 20060 FT99999
025721,005079: 30,2050 02201 STORE WWPOS
025722,005080: 30,2051 66150 LXA,1 SXA,1
025723,005081: 30,2052 00051 S2
025724,005082: 30,2053 00052 QPRET
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Page 611
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025726,005084: 30,2054 77776 EXIT
025727,005085: 30,2055 04635 TC POSTJUMP
025728,005086: 30,2056 27425 CADR INTWAKE
025729,005087:
025730,005088: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
025731,005089:
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Page 612
|
025733,005091: 25,3607 BANK 25
025734,005092: 25,2000 SETLOC RADARUPT
025735,005093: 25,2000 BANK
025736,005094: 25,3607 COUNT* $$/RRUPT
025737,005095:
025738,005096: 25,3607 E7,1456 EBANK= LOSCOUNT
025739,005097:
025740,005098: 25,3607 34753 R12LITES CA ONE
025741,005099: 25,3610 71303 MASK IMODES33
025742,005100: 25,3611 10000 CCS A
025743,005101: 25,3612 14707 TCF ISWRETRN
025744,005102:
025745,005103: 25,3613 03630 TC HLIGHT
025746,005104: 25,3614 03625 TC HLIGHT -3
025747,005105: 25,3615 14707 TCF ISWRETRN
025748,005106:
025749,005107: 25,3616 34753 RADLITES CA BIT1
025750,005108: 25,3617 71303 MASK IMODES33
025751,005109: 25,3620 10000 CCS A
025752,005110: 25,3621 00002 TC Q
025753,005111:
025754,005112: 25,3622 44747 CS BIT5
025755,005113: 25,3623 60061 AD ITEMP1
025756,005114: 25,3624 10000 CCS A
025757,005115: 25,3625 44753 CS ONE
025758,005116: 25,3626 13664 TCF VLIGHT
025759,005117:
025760,005118: 25,3627 14570 TCF RRTRKF
025761,005119:
025762,005120: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
025763,005121:
025764,005122: 25,3631 34747 CA HLITE
025765,005123: 25,3632 54001 TS L
025766,005124:
025767,005125: 25,3633 30107 CA FLGWRD11
025768,005126: 25,3634 74751 MASK SCABBIT
025769,005127: 25,3635 10000 CCS A
025770,005128: 25,3636 13656 TCF ONLITES
025771,005129: 25,3637 34747 CA LRALTBIT
025772,005130: 25,3640 70110 BOTHLITS MASK RADMODES
025773,005131: 25,3641 10000 CCS A
025774,005132: 25,3642 13656 TCF ONLITES
025775,005133:
025776,005134: 25,3643 30107 CA FLGWRD11
025777,005135: 25,3644 50065 INDEX ITEMP5
025778,005136: 25,3645 74753 MASK HFLSHBIT
025779,005137: 25,3646 10000 CCS A
025780,005138: 25,3647 14570 TCF RRTRKF
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Page 613
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025782,005140: 25,3650 00006 LITIT EXTEND
025783,005141: 25,3651 22066 QXCH ITEMP6
025784,005142: 25,3652 04602 TC TRKFLON +1
025785,005143:
025786,005144: 25,3653 00006 EXTEND
025787,005145: 25,3654 22066 QXCH ITEMP6
025788,005146: 25,3655 14570 TCF RRTRKF
025789,005147:
025790,005148:
025791,005149: 25,3656 50065 ONLITES INDEX ITEMP5
025792,005150: 25,3657 44753 CS HFLSHBIT
025793,005151: 25,3660 70107 MASK FLGWRD11
025794,005152: 25,3661 54107 TS FLGWRD11
025795,005153:
025796,005154: 25,3662 30001 CA L
025797,005155: 25,3663 13650 TCF LITIT
025798,005156: 25,3664 54065 VLIGHT TS ITEMP5
025799,005157: 25,3665 34751 CA VLITE
025800,005158: 25,3666 54001 TS L
025801,005159: 25,3667 34744 CA BIT8
025802,005160: 25,3670 13640 TCF BOTHLITS
025803,005161:
025804,005162: 25,3671 4747 HLITE EQUALS BIT5
025805,005163: 25,3671 4751 VLITE EQUALS BIT3
025806,005164:
End of include-file P20-P25.agc. Parent file is MAIN.agc