473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source code files have been transcribed or otherwise adapted from
digitized images of a hardcopy from the private collection of
Don Eyles. The digitization was performed by archive.org, and
transcription was performed by a team of volunteers.
Note that the page images
presented online are of reduced quality, and that the original
high-quality images are available at archive.org.
Report any conversion errors or legibility problems in page images to info@sandroid.org.
Notations on the program listing read, in part:
473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
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008810,000002: ## Copyright: Public domain.
008811,000003: ## Filename: RADAR_LEAD-IN_ROUTINES.agc
008812,000004: ## Purpose: Part of the source code for Aurora (revision 12).
008813,000005: ## Assembler: yaYUL
008814,000006: ## Contact: Ron Burkey <info@sandroid.org>.
008815,000007: ## Website: https://www.ibiblio.org/apollo.
008816,000008: ## Pages: 227-255
008817,000009: ## Mod history: 2016-09-20 JL Created.
008818,000010: ## 2016-10-20 HG finished transcription
008819,000011: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
008820,000012: ## and fixed the errors found.
008821,000013: ## 2021-05-30 ABS Aligned RELINT line to match scans.
008822,000014:
008823,000015: ## This source code has been transcribed or otherwise adapted from
008824,000016: ## digitized images of a hardcopy from the private collection of
008825,000017: ## Don Eyles. The digitization was performed by archive.org.
008826,000018:
008827,000019: ## Notations on the hardcopy document read, in part:
008828,000020:
008829,000021: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
008830,000022: ## NOV 10, 1966
008831,000023:
008832,000024: ## [Note that this is the date the hardcopy was made, not the
008833,000025: ## date of the program revision or the assembly.]
008834,000026:
008835,000027: ## The scan images (with suitable reduction in storage size and consequent
008836,000028: ## reduction in image quality) are available online at
008837,000029: ## https://www.ibiblio.org/apollo.
008838,000030: ## The original high-quality digital images are available at archive.org:
008839,000031: ## https://archive.org/details/aurora00dapg
008840,000032:
008841,000033:
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Page 227 |
008843,000035: 4763 SETLOC ENDIMODF
008844,000036: 4763 E3,1460 EBANK= RRRET
008845,000037:
008846,000038: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF C(A) IS GREATER THAN THE
008847,000039: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
008848,000040:
008849,000041: 4763 00006 MAGSUB EXTEND
008850,000042: 4764 64766 BZMF +2
008851,000043: 4765 14767 TCF +2
008852,000044: 4766 40000 COM
008853,000045:
008854,000046: 4767 50002 INDEX Q
008855,000047: 4770 60000 AD 0
008856,000048: 4771 00006 EXTEND
008857,000049: 4772 64775 BZMF +3 # ABS(A) G CONST
008858,000050: 4773 50002 INDEX Q
008859,000051: 4774 00001 TC 1 # ABS(A) LEQ CONST
008860,000052:
008861,000053: 4775 50002 MAGLESS INDEX Q
008862,000054: 4776 00002 TC 2
008863,000055:
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008865,000057: # THE FOLLOWING SUBROUTINE CHECKS RR GIMBAL ANGLES TO SEE IF THEY ARE IN THE LIMITS OF THE CURRENT MODE.
008866,000058: # CALLING SEQUENCE IS AS FOLLOWS:
008867,000059:
008868,000060: # TC RRLIMCHK (WITH INTERRUPT INHIBITED).
008869,000061: # ADRES T,S (IN UNSWITCHED E OR CURRENT EBANK).
008870,000062:
008871,000063: # RETURN IS TO CALLER +2 IF NOT IN LIMITS AND TO CALLER +3 IF SO.
008872,000064:
008873,000065: 4777 50002 RRLIMCHK INDEX Q # READ GIMBAL ANGLES INTO ITEMP STORAGE.
008874,000066: 5000 30000 CAF 0
008875,000067: 5001 24002 INCR Q
008876,000068: 5002 00006 EXTEND
008877,000069: 5003 50000 INDEX A
008878,000070: 5004 30001 DCA 0
008879,000071: 5005 52066 DXCH ITEMP1
008880,000072: 5006 22002 LXCH Q # L(CALLER +2) TO L.
008881,000073:
008882,000074: 5007 37644 CAF BIT12 # SEE WHICH MODE RR IS IN.
008883,000075: 5010 70413 MASK RADMODES
008884,000076: 5011 10000 CCS A
008885,000077: 5012 15025 TCF MODE2CHK
008886,000078:
008887,000079: 5013 30065 CA ITEMP1 # MODE 1 IS DEFINED AS
008888,000080: 5014 04763 TC MAGSUB # 1. ABS(T) L 70 DEGS.
008889,000081: 5015 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
008890,000082: 5016 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
008891,000083:
008892,000084: 5017 35037 CAF 5.5DEGS
008893,000085: 5020 60066 AD ITEMP2 # S
008894,000086: 5021 04763 TC MAGSUB
008895,000087: 5022 64420 DEC -.35833 # 64.5 DEGS
008896,000088: 5023 00001 TC L
008897,000089: 5024 05035 TC RRLIMOK # IN LIMITS.
008898,000090:
008899,000091: 5025 35041 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
008900,000092: 5026 60066 AD ITEMP2 # 1. ABS(T) G 110 DEGS
008901,000093: 5027 04763 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
008902,000094: 5030 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
008903,000095: 5031 00001 TC L
008904,000096:
008905,000097: 5032 30065 CA ITEMP1
008906,000098: 5033 04763 TC MAGSUB
008907,000099: 5034 54343 DEC -.61111 # 110 DEGS
008908,000100:
008909,000101: 5035 50001 RRLIMOK INDEX L
008910,000102: 5036 00001 TC L # ( = TC 1)
008911,000103:
008912,000104: 5037 00765 5.5DEGS DEC .03056
008913,000105: 5040 00707 5DEGS DEC .02777 # SCALED IN HALF-REVOLUTIONS.
008914,000106: 5041 16450 82DEGS DEC .45556
008915,000107:
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008917,000109: # THE FOLLOWING ROUTINE UPDATES THE TRACKER FAIL LAMP ON THE DSKY, IF EITHER:
008918,000110:
008919,000111: # 1. N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
008920,000112: # 2. N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH EITHER THE ALT OR VEL INFORMATION.
008921,000113: # 3. RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU NOT BEING ZEROED.
008922,000114:
008923,000115: 5042 37657 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
008924,000116: 5043 70370 MASK IMODES33
008925,000117: 5044 10000 CCS A
008926,000118: 5045 00002 TC Q
008927,000119:
008928,000120: 5046 35076 CAF 13,7,2 # SEE IF CDU FAILED.
008929,000121: 5047 70413 MASK RADMODES
008930,000122: 5050 00006 EXTEND
008931,000123: 5051 15061 BZF TRKFLON # CONDITION 3 ABOVE.
008932,000124:
008933,000125: 5052 40413 CS RADMODES # SEE IF LR FAILED.
008934,000126: 5053 75077 MASK 8,5
008935,000127: 5054 00006 EXTEND
008936,000128: 5055 15061 BZF TRKFLON # CONDITION 2 ABOVE.
008937,000129:
008938,000130: 5056 37654 CAF BIT4 # SEE IF RR DATA FAILED.
008939,000131: 5057 70413 MASK RADMODES
008940,000132: 5060 10000 CCS A
008941,000133: 5061 37650 TRKFLON CAF BIT8
008942,000134: 5062 60322 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
008943,000135: 5063 77650 MASK BIT8
008944,000136: 5064 00006 EXTEND
008945,000137: 5065 14712 BZF TCQ # NO CHANGE.
008946,000138:
008947,000139: 5066 54001 TS L # INVERT BIT 8 AND SET BIT 15.
008948,000140: 5067 30322 CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
008949,000141: 5070 00006 EXTEND
008950,000142: 5071 06001 RXOR L
008951,000143: 5072 77637 MASK POSMAX
008952,000144: 5073 67641 AD BIT15
008953,000145: 5074 54322 TS DSPTAB +11D
008954,000146: 5075 00002 TC Q
008955,000147:
008956,000148: 5076 10102 13,7,2 OCT 10102
008957,000149: 5077 00220 8,5 OCT 00220
008958,000150:
008959,000151: 5100 ENDRMODF EQUALS
008960,000152:
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008962,000154: # TURNON SEQUENCE TO ZERO THE CDUS AND DETERMINE THE RR MODE.
008963,000155:
008964,000156: 10,2000 BANK 10
008965,000157:
008966,000158: 10,2000 02013 RRTURNON TC RRZEROSB
008967,000159: 10,2001 04554 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
008968,000160: 10,2002 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
008969,000161: 10,2003 47657 CS BIT1
008970,000162: 10,2004 70413 MASK RADMODES
008971,000163: 10,2005 54413 TS RADMODES
008972,000164: 10,2006 40061 CS STATE # SEE IF SOMEONE IS WAITING TO USE THE RR.
008973,000165: 10,2007 77651 MASK RRUSEFLG
008974,000166: 10,2010 10000 CCS A
008975,000167: 10,2011 14602 TCF TASKOVER
008976,000168:
008977,000169: 10,2012 13235 TCF ENDRADAR # CHECK RR CDU FAIL BEFORE EXIT.
008978,000170:
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008980,000172: # CLOSED SUBROUTINE TO ZERO THE RR CDUS.
008981,000173:
008982,000174: 10,2013 00006 RRZEROSB EXTEND
008983,000175: 10,2014 23460 QXCH RRRET
008984,000176: 10,2015 37657 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
008985,000177: 10,2016 00006 EXTEND # COMING HERE.
008986,000178: 10,2017 05012 WOR 12
008987,000179: 10,2020 04554 TC FIXDELAY
008988,000180: 10,2021 00002 DEC 2 B-14
008989,000181:
008990,000182: 10,2022 37665 CAF ZERO
008991,000183: 10,2023 54035 TS OPTY
008992,000184: 10,2024 54036 TS OPTX
008993,000185: 10,2025 47657 CS ONE # REMOVE ZEROING BIT.
008994,000186: 10,2026 00006 EXTEND
008995,000187: 10,2027 03012 WAND 12
008996,000188: 10,2030 04554 TC FIXDELAY
008997,000189: 10,2031 00454 DEC 300 B-14
008998,000190:
008999,000191: 10,2032 47643 CS BIT13 # REMOVE ZEROING IN PROCESS BIT.
009000,000192: 10,2033 70413 MASK RADMODES
009001,000193: 10,2034 54413 TS RADMODES
009002,000194:
009003,000195: 10,2035 30035 CA OPTY
009004,000196: 10,2036 04763 TC MAGSUB
009005,000197: 10,2037 57777 DEC -.5
009006,000198: 10,2040 12043 TCF +3 # IF MODE 2.
009007,000199:
009008,000200: 10,2041 37665 CAF ZERO
009009,000201: 10,2042 12044 TCF +2
009010,000202: 10,2043 37644 CAF BIT12
009011,000203: 10,2044 56413 XCH RADMODES
009012,000204: 10,2045 74360 MASK -BIT12
009013,000205: 10,2046 26413 ADS RADMODES
009014,000206:
009015,000207: 10,2047 05042 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
009016,000208:
009017,000209: 10,2050 01460 TC RRRET # DONE.
009018,000210:
009019,000211: 10,2051 4360 -BIT12 EQUALS -1/8 # IN SPROOT
009020,000212:
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009022,000214: # SEQUENCE OF TASKS TO DRIVE THE RR TO A SAFE POSITION.
009023,000215:
009024,000216: 10,2051 02106 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
009025,000217:
009026,000218: 10,2052 37657 CAF BIT1 # DO AN ALARM UNLESS RR JUST TURNED ON.
009027,000219: 10,2053 70413 MASK RADMODES
009028,000220: 10,2054 10000 CCS A
009029,000221: 10,2055 12060 TCF +3
009030,000222:
009031,000223: 10,2056 05413 TC ALARM
009032,000224: 10,2057 00501 OCT 501
009033,000225: 10,2060 04554 TC FIXDELAY
009034,000226: 10,2061 00002 DEC 2 B-14
009035,000227:
009036,000228: 10,2062 37644 CAF BIT12 # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
009037,000229: 10,2063 70413 MASK RADMODES
009038,000230: 10,2064 10000 CCS A
009039,000231: 10,2065 37641 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
009040,000232: 10,2066 02150 TC RRTONLY
009041,000233:
009042,000234: 10,2067 37644 CAF BIT12 # NOW PUT SHAFT IN RIGHT POSITION.
009043,000235: 10,2070 70413 MASK RADMODES
009044,000236: 10,2071 10000 CCS A
009045,000237: 10,2072 47642 CS HALF # -90 FOR MODE 2.
009046,000238: 10,2073 02153 TC RRSONLY
009047,000239:
009048,000240: 10,2074 47645 REPOSRPT CS BIT11 # RETURNS HERE FROM RR1AXIS IF REMODE
009049,000241: # REQUESTED DURING REPOSITION.
009050,000242: 10,2075 70413 MASK RADMODES # REMOVE REPOSITION BIT.
009051,000243: 10,2076 54413 TS RADMODES
009052,000244: 10,2077 77646 MASK BIT10 # SEE IF SOMEONE IS WAITING TO DESIGNATE.
009053,000245: 10,2100 10000 CCS A
009054,000246: 10,2101 12422 TCF BEGDES
009055,000247: 10,2102 47656 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
009056,000248: 10,2103 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
009057,000249: 10,2104 03012 WAND 12
009058,000250: 10,2105 14602 TCF TASKOVER
009059,000251:
009060,000252: 10,2106 37656 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
009061,000253: 10,2107 00006 EXTEND
009062,000254: 10,2110 05012 WOR 12
009063,000255:
009064,000256: 10,2111 37665 CAF ZERO
009065,000257: 10,2112 54362 TS LASTYCMD
009066,000258: 10,2113 54363 TS LASTXCMD
009067,000259: 10,2114 00002 TC Q
009068,000260:
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009070,000262: # GENERAL REMODING SUBROUTINE. DRIVES TRUNION TO 0 (180), THEN DRIVES SHAFT TO -45, AND FINALLY DRIVES
009071,000263: # TRUNNION TO -130 (-50) BEFORE INITIATING 2-AXIS CONTROL. ALL RE-MODING IONE WITH SINGLE AXIS ROTATIONS (RR1AXIS)
009072,000264: 10,2115 37644 REMODE CAF BIT12 # DRIVE TRUNNION TO 0 (180).
009073,000265: 10,2116 70413 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
009074,000266: 10,2117 10000 CCS A
009075,000267: 10,2120 37641 CAF BIT15
009076,000268: 10,2121 02150 TC RRTONLY
009077,000269:
009078,000270: 10,2122 32137 CAF -45DEGSR
009079,000271: 10,2123 02153 TC RRSONLY
009080,000272:
009081,000273: 10,2124 40413 CS RADMODES
009082,000274: 10,2125 77644 MASK BIT12
009083,000275: 10,2126 10000 CCS A
009084,000276: 10,2127 32141 CAF -80DEGSR # GO TO T = -130 (-50).
009085,000277: 10,2130 62141 AD -80DEGSR
009086,000278: 10,2131 02150 TC RRTONLY
009087,000279:
009088,000280: 10,2132 02142 TC RMODINV
009089,000281:
009090,000282: 10,2133 47642 CS BIT14 # END OF REMODE.
009091,000283: 10,2134 70413 MASK RADMODES
009092,000284: 10,2135 54413 TS RADMODES
009093,000285:
009094,000286: 10,2136 02431 TC STDESIG # BEGIN 2-AXIS CONTROL.
009095,000287:
009096,000288: 10,2137 70000 -45DEGSR OCT 70000
009097,000289: 10,2140 67070 -50DEGSR DEC -.27778
009098,000290: 10,2141 61615 -80DEGSR DEC -.44444
009099,000291:
009100,000292: 10,2142 22413 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
009101,000293: 10,2143 37644 CAF BIT12
009102,000294: 10,2144 00006 EXTEND
009103,000295: 10,2145 06001 RXOR L
009104,000296: 10,2146 54413 TS RADMODES
009105,000297: 10,2147 00002 TC Q
009106,000298:
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009108,000300: # SUBROUTINES FOR DOING SINGLE AXIS RR MANEUVERS FOR REMODE AND REPOSITION. DRIVES TO WITHIN 1 DEGREE.
009109,000301:
009110,000302: 10,2150 55461 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
009111,000303: 10,2151 37665 CAF ZERO
009112,000304: 10,2152 12155 TCF RR1AXIS
009113,000305:
009114,000306: 10,2153 55461 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
009115,000307: 10,2154 37657 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
009116,000308:
009117,000309: 10,2155 55462 RR1AXIS TS RRINDEX
009118,000310: 10,2156 00006 EXTEND
009119,000311: 10,2157 23460 QXCH RRRET
009120,000312: 10,2160 12163 TCF RR1AX2
009121,000313:
009122,000314: 10,2161 04554 NXTRR1AX TC FIXDELAY
009123,000315: 10,2162 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
009124,000316:
009125,000317: 10,2163 40413 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
009126,000318: 10,2164 74520 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
009127,000319: 10,2165 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
009128,000320: 10,2166 12074 BZF REPOSRPT # REMODE IMMEDIATELY.
009129,000321:
009130,000322: 10,2167 31461 CA RDES
009131,000323: 10,2170 00006 EXTEND
009132,000324: 10,2171 51462 INDEX RRINDEX
009133,000325: 10,2172 20035 MSU OPTY
009134,000326: 10,2173 54002 TS Q # SAVE ERROR SIGNAL.
009135,000327: 10,2174 00006 EXTEND
009136,000328: 10,2175 72212 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
009137,000329: 10,2176 54001 TS L
009138,000330: 10,2177 30002 CA Q # SEE IF WITHIN 1 DEGREE.
009139,000331: 10,2200 04763 TC MAGSUB
009140,000332: 10,2201 77644 DEC -.00555 # SCALED IN HALF-REVS.
009141,000333:
009142,000334: 10,2202 12204 TCF +2 # NO.
009143,000335: 10,2203 01460 TC RRRET # RETURN TO CALLER.
009144,000336:
009145,000337: 10,2204 11462 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
009146,000338: 10,2205 12207 TCF +2 # SETTING A TO 0.
009147,000339: 10,2206 56001 XCH L
009148,000340: 10,2207 52424 DXCH TANG
009149,000341:
009150,000342: 10,2210 02213 TC RROUT
009151,000343:
009152,000344: 10,2211 12161 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
009153,000345:
009154,000346: 10,2212 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
009155,000347:
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009157,000349: # THE FOLLOWING ROUTINE RECEIVES RR GYRO COMMANDS IN TANG,+1 IN ERROR COUNTER SCALING. RROUT LIMITS THEM
009158,000350: # AND GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS TO THE DESIRED VALUES. RUPT MUST BE INHIBITED.
009159,000351:
009160,000352: 10,2213 22002 RROUT LXCH Q # SAVE RETURN.
009161,000353: 10,2214 37657 CAF ONE # LOOP TWICE.
009162,000354: 10,2215 54066 RROUT2 TS ITEMP2
009163,000355: 10,2216 50000 INDEX A
009164,000356: 10,2217 30423 CA TANG
009165,000357: 10,2220 54065 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
009166,000358:
009167,000359: 10,2221 04763 TC MAGSUB # SEE IF WITHIN LMITS.
009168,000360: 10,2222 77177 -RRLIMIT DEC -384 B-14
009169,000361: 10,2223 12241 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
009170,000362:
009171,000363: 10,2224 30065 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
009172,000364: 10,2225 50066 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
009173,000365: 10,2226 56362 XCH LASTYCMD # LASTYCMD AND LASTXCMD
009174,000366: 10,2227 40000 COM
009175,000367: 10,2230 60065 AD ITEMP1
009176,000368: 10,2231 50066 INDEX ITEMP2
009177,000369: 10,2232 54053 TS OPTYCMD
009178,000370:
009179,000371: 10,2233 10066 CCS ITEMP2 # PROCESS BOTH INPUTS.
009180,000372: 10,2234 12215 TCF RROUT2
009181,000373:
009182,000374: 10,2235 34506 CAF PRIO6 # ENABLE COUNTERS.
009183,000375: 10,2236 00006 EXTEND
009184,000376: 10,2237 05014 WOR 14
009185,000377:
009186,000378: 10,2240 00001 TC L # RETURN.
009187,000379:
009188,000380: 10,2241 10065 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
009189,000381: 10,2242 42222 CS -RRLIMIT
009190,000382: 10,2243 12245 TCF +2
009191,000383: 10,2244 32222 CA -RRLIMIT
009192,000384: 10,2245 54065 TS ITEMP1
009193,000385: 10,2246 12225 TCF SETRRCTR +1
009194,000386:
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009196,000388: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
009197,000389:
009198,000390: 10,2247 00004 RRZERO INHINT
009199,000391: 10,2250 47651 CS RRUSEFLG # SET FLAG TO SHOW SOMEONE USING THE RR.
009200,000392: 10,2251 70061 MASK STATE
009201,000393: 10,2252 67651 AD RRUSEFLG
009202,000394: 10,2253 54061 TS STATE
009203,000395:
009204,000396: 10,2254 37657 CAF BIT1 # SEE IF RR COMING UP. IF SO, TURNON
009205,000397: 10,2255 70413 MASK RADMODES # PROGRAM WILL DO THE WORK.
009206,000398: 10,2256 10000 CCS A
009207,000399: 10,2257 12302 TCF ROADBACK
009208,000400:
009209,000401: 10,2260 37645 CAF BIT11 # SEE IF MONITOR REPOSITION IN PROGRESS.
009210,000402: 10,2261 70413 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
009211,000403: 10,2262 10000 CCS A
009212,000404: 10,2263 13227 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
009213,000405:
009214,000406: 10,2264 47643 CS BIT13 # SET FLAG TO SHOW ZEROING IN PROGRESS.
009215,000407: 10,2265 70413 MASK RADMODES
009216,000408: 10,2266 67643 AD BIT13
009217,000409: 10,2267 54413 TS RADMODES
009218,000410:
009219,000411: 10,2270 37657 CAF ONE
009220,000412: 10,2271 04536 TC WAITLIST
009221,000413: 10,2272 02304 20003 2CADR RRZ2
009222,000414:
009223,000415: 10,2274 40413 CS RADMODES # SEE IF IN AUTO MODE.
009224,000416: 10,2275 77656 MASK BIT2
009225,000417: 10,2276 10000 CCS A
009226,000418: 10,2277 12302 TCF ROADBACK
009227,000419: 10,2300 05413 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
009228,000420: 10,2301 00510 OCT 510
009229,000421: 10,2302 00003 ROADBACK RELINT
009230,000422: 10,2303 14076 TCF SWRETURN
009231,000423:
009232,000424: 10,2304 02013 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
009233,000425: 10,2305 13235 TCF ENDRADAR
009234,000426:
009235,000427: 10,2306 7651 RRUSEFLG EQUALS BIT7
009236,000428: 10,2306 7653 LOKONFLG EQUALS BIT5
009237,000429:
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Page 237 |
009239,000431: # STABLE-MEMBER RR DESIGNATE ROUTINE. DESIGNATE TO A SM LOS VECTOR (HALF-UNIT) IN RRTARGET. REMODES IF
009240,000432: # REQUIRED. RETURNS TO CALLER IF MANEUVER REQUIRED FOR DES AND SKIPS IF IT CAN BE DONE IN PRESENT VEH ATTITUDE.
009241,000433:
009242,000434: 10,2306 43030 RRDESSM STQ CLEAR
009243,000435: 10,2307 00427 DESRET
009244,000436: 10,2310 00271 RRNBSW
009245,000437: 10,2311 66224 RTB SSP # READ CDUS FOR SMNB.
009246,000438: 10,2312 33361 READCDUS
009247,000439: 10,2313 00051 S1
009248,000440: 10,2314 00024 20D
009249,000441: 10,2315 22025 STOVL 20D
009250,000442: 10,2316 00416 RRTARGET
009251,000443: 10,2317 36041 STCALL 32D
009252,000444: 10,2320 32473 SMNB
009253,000445:
009254,000446: 10,2321 77634 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
009255,000447: 10,2322 33267 RRANGLES # ALTERNATE MODE.
009256,000448: 10,2323 77776 EXIT
009257,000449:
009258,000450: 10,2324 00004 INHINT
009259,000451: 10,2325 04777 TC RRLIMCHK
009260,000452: 10,2326 00423 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
009261,000453: 10,2327 12351 TCF TRYSWS
009262,000454:
009263,000455: 10,2330 24427 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
009264,000456:
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Page 238 |
009266,000458: # AT THIS POINT WE ARE READY TO BEGIN DESIGNATION. THE TARGET IS STORED AS A HALF-UNIT VECTOR IN RRTARGET
009267,000459: # WITH RRNBSW SET IF IT IS REFERRED TO NAV BASE AXES. LOKONSW IS SET IF LOCKON IS DESIRED. BIT14 OF RADMODES IS
009268,000460: # SET IF A REMODE IS REQUIRED. AT THIS TIME, THE ANTENNA MAY BE IN A MONITOR REPOSITION OPERATION. IN THIS
009269,000461: # CASE, IF A REMODE IS REQUIRED IT MAY HAVE ALREADY BEGUN BUT IT ANY CASE THE REPOSITION WILL BE INTERRUPTED.
009270,000462: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS DESIGNATION BEGINS.
009271,000463:
009272,000464: 10,2331 32350 STARTDES CAF MAXTRIES # ALLOW 30 SECS.
009273,000465: 10,2332 54430 TS DESCOUNT
009274,000466:
009275,000467: 10,2333 37646 CAF BIT10 # SHOW DESIGNATE REQUIRED.
009276,000468: 10,2334 26413 ADS RADMODES
009277,000469: 10,2335 77645 MASK BIT11 # SEE IF REPOSITION IN PROGRESS.
009278,000470: 10,2336 10000 CCS A
009279,000471: 10,2337 12345 TCF DESRETRN # ECTR ALREADY SET UP.
009280,000472:
009281,000473: 10,2340 02106 TC SETRRECR # SET UP ERROR COUNTERS.
009282,000474:
009283,000475: 10,2341 37656 CAF TWO
009284,000476: 10,2342 04536 TC WAITLIST
009285,000477: 10,2343 02422 20003 2CADR BEGDES
009286,000478:
009287,000479: 10,2345 00003 DESRETRN RELINT # RETURN VIA DESRET
009288,000480: 10,2346 30427 +1 CA DESRET
009289,000481: 10,2347 14105 TCF BANKJUMP
009290,000482:
009291,000483: 10,2350 00074 MAXTRIES DEC 60 B-14
009292,000484:
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|
Page 239 |
009294,000486: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
009295,000487:
009296,000488: 10,2351 02142 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
009297,000489: 10,2352 04777 TC RRLIMCHK # TRY DIFFERENT MODE.
009298,000490: 10,2353 00425 ADRES MODEB
009299,000491: 10,2354 12361 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
009300,000492:
009301,000493: 10,2355 02142 TC RMODINV # RESET BIT12
009302,000494: 10,2356 37642 CAF BIT14 # SET FLAG FOR REMODE.
009303,000495: 10,2357 26413 ADS RADMODES
009304,000496:
009305,000497: 10,2360 12330 TCF OKDESSM
009306,000498:
009307,000499: 10,2361 02142 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN WITHOUT IN-
009308,000500: 10,2362 12345 TCF DESRETRN # CREMENTING DESRET
009309,000501:
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009311,000503: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
009312,000504: # TANG AND TANG +1.
009313,000505:
009314,000506: 10,2363 77430 RRDESNB STQ EXIT # ENTER IN INTERP. - EXIT IN BASIC.
009315,000507: 10,2364 00427 DESRET
009316,000508:
009317,000509: 10,2365 00004 INHINT # SEE IF CURRENT MODE OK.
009318,000510: 10,2366 04777 TC RRLIMCHK
009319,000511: 10,2367 00423 ADRES TANG
009320,000512: 10,2370 12402 TCF TRYSWN # SEE IF IN OTHER MODE.
009321,000513:
009322,000514: 10,2371 00003 OKDESNB RELINT
009323,000515: 10,2372 06000 TC INTPRET
009324,000516:
009325,000517: 10,2373 77634 CALL # GET LOS IN NB COORDS.
009326,000518: 10,2374 33243 RRNB
009327,000519: 10,2375 00416 STORE RRTARGET
009328,000520:
009329,000521: 10,2376 77414 SET EXIT
009330,000522: 10,2377 00071 RRNBSW
009331,000523:
009332,000524: 10,2400 00004 INHINT
009333,000525: 10,2401 12331 TCF STARTDES
009334,000526:
009335,000527: 10,2402 02142 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
009336,000528: 10,2403 04777 TC RRLIMCHK
009337,000529: 10,2404 00423 ADRES TANG
009338,000530: 10,2405 12412 TCF NODESNB # NOT POSSIBLE.
009339,000531:
009340,000532: 10,2406 02142 TC RMODINV
009341,000533: 10,2407 37642 CAF BIT14 # CALL FOR REMODE.
009342,000534: 10,2410 26413 ADS RADMODES
009343,000535: 10,2411 12371 TCF OKDESNB
009344,000536:
009345,000537: 10,2412 37657 NODESNB CAF BIT1 # CALL FOR ERROR RETURN.
009346,000538: 10,2413 04536 TC WAITLIST
009347,000539: 10,2414 03251 20003 2CADR RDBADEND
009348,000540:
009349,000541: 10,2416 02142 TC RMODINV
009350,000542: 10,2417 05413 TC ALARM # BAD GIMBAL ANGLE INPUTS.
009351,000543: 10,2420 00502 OCT 502
009352,000544: 10,2421 12346 TCF DESRETRN +1 # ALARM DID A RELINT.
009353,000545:
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Page 241 |
009355,000547: # WAITLIST TASKS TO RUN RR DESIGNATION.
009356,000548:
009357,000549: 10,2422 37642 BEGDES CAF BIT14 # ENTER HERE FROM STARTDES OR REPOSRPT.
009358,000550: 10,2423 70413 MASK RADMODES # SEE IF REMODE REQUIRED.
009359,000551: 10,2424 10000 CCS A
009360,000552: 10,2425 12115 TCF REMODE
009361,000553: 10,2426 12431 TCF STDESIG
009362,000554:
009363,000555: 10,2427 04554 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
009364,000556: 10,2430 00062 DEC 50 B-14
009365,000557:
009366,000558: 10,2431 37645 STDESIG CAF BIT11 # ENTRY FROM BEGDES AND REMODE.
009367,000559: 10,2432 70413 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
009368,000560: 10,2433 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
009369,000561: 10,2434 12454 TCF BADDES # REPOSITION TO BE IN PROGRESS.
009370,000562:
009371,000563: 10,2435 10413 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
009372,000564: 10,2436 12441 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
009373,000565: 10,2437 12441 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
009374,000566: 10,2440 12461 TCF MOREDES +1
009375,000567:
009376,000568: 10,2441 40413 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
009377,000569: 10,2442 77646 MASK BIT10 # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
009378,000570: 10,2443 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
009379,000571: 10,2444 13235 TCF ENDRADAR # CHECKING RR CDU FAIL.
009380,000572:
009381,000573: 10,2445 10430 CCS DESCOUNT # SEE IF TIME LIMIT HAS EXPIRED.
009382,000574: 10,2446 12460 TCF MOREDES
009383,000575:
009384,000576: 10,2447 05413 TC ALARM # OUT OF TIME.
009385,000577: 10,2450 00503 OCT 503
009386,000578: 10,2451 42466 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
009387,000579: 10,2452 00006 EXTEND
009388,000580: 10,2453 03012 WAND 12
009389,000581: 10,2454 47646 BADDES CS BIT10 # REMOVE DESIGNATE FLAG.
009390,000582: 10,2455 70413 MASK RADMODES
009391,000583: 10,2456 54413 TS RADMODES
009392,000584: 10,2457 13251 TCF RDBADEND
009393,000585:
009394,000586: 10,2460 54430 MOREDES TS DESCOUNT
009395,000587: 10,2461 34524 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
009396,000588: 10,2462 04374 TC FINDVAC
009397,000589: 10,2463 02467 20003 2CADR DODES
009398,000590:
009399,000591: 10,2465 12427 TCF DESLOOP
009400,000592:
009401,000593: 10,2466 20002 B14+B2 OCT 20002
009402,000594:
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Page 242 |
009404,000596: # CALCULATE GYRO TORQUE COMMANDS.
009405,000597:
009406,000598: 10,2467 00006 DODES EXTEND
009407,000599: 10,2470 30036 DCA OPTY
009408,000600: 10,2471 52424 DXCH TANG
009409,000601:
009410,000602: 10,2472 06000 TC INTPRET
009411,000603:
009412,000604: 10,2473 77775 VLOAD # MOVE TARGET VECTOR TO 32D.
009413,000605: 10,2474 00416 RRTARGET
009414,000606: 10,2475 00041 STORE 32D
009415,000607:
009416,000608: 10,2476 45014 BON RTB # DO STABLE-MEMBER TO NAVBASE TRANSFORMA-
009417,000609: 10,2477 00311 RRNBSW # TION IF TARGET IN SM COORDS. OTHERWISE,
009418,000610: 10,2500 20507 DONBRD # IN NB COORDS ALREADY.
009419,000611: 10,2501 33361 READCDUS
009420,000612:
009421,000613: 10,2502 77731 SSP
009422,000614: 10,2503 00051 S1
009423,000615: 10,2504 00024 20D # LOC OF ICDUS.
009424,000616: 10,2505 36025 STCALL 20D
009425,000617: 10,2506 32473 SMNB
009426,000618:
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009428,000620: 10,2507 67201 DONBRD SETPD SLOAD # DO NAVBASE TO RADAR DISH TRANSFORMATION.
009429,000621: 10,2510 00001 0
009430,000622: 10,2511 00425 TANG +1
009431,000623: 10,2512 41424 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
009432,000624: 10,2513 33345 CDULOGIC # (-SIN(S)).
009433,000625: 10,2514 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
009434,000626: 10,2515 41546 COS PUSH
009435,000627: 10,2516 65205 DMP PDDL
009436,000628: 10,2517 00041 32D
009437,000629: 10,2520 00045 36D
009438,000630: 10,2521 44205 DMP BDSU
009439,000631: 10,2522 00001 0
009440,000632: 10,2523 77626 STADR
009441,000633: 10,2524 77352 STORE TANG +1 # SHAFT COMMAND
009442,000634:
009443,000635: 10,2525 45135 SLOAD RTB
009444,000636: 10,2526 00424 TANG
009445,000637: 10,2527 33345 CDULOGIC
009446,000638: 10,2530 71406 PUSH COS # COS(T) TO 4.
009447,000639: 10,2531 73525 PDDL SIN
009448,000640: 10,2532 41206 PUSH DMP # SIN(T) TO 6.
009449,000641: 10,2533 00003 2
009450,000642: 10,2534 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
009451,000643: 10,2535 00005 4 # ( COS(T) )
009452,000644: 10,2536 41325 PDDL DMP # (SIN(T)COS(S))
009453,000645: 10,2537 00007 6
009454,000646: 10,2540 00001 0
009455,000647: 10,2541 55552 SL1 VDEF
009456,000648: 10,2542 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
009457,000649: 10,2543 00041 32D
009458,000650:
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009460,000652: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
009461,000653: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN 1 DEGREE OF THE TARGET.
009462,000654:
009463,000655: 10,2544 40140 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
009464,000656: 10,2545 54423 TS TANG
009465,000657:
009466,000658: 10,2546 40413 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
009467,000659: 10,2547 77644 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
009468,000660: 10,2550 10000 CCS A # POSITIVE TORQUE APPLIED TO THE SHAFT
009469,000661: 10,2551 12554 TCF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
009470,000662:
009471,000663: 10,2552 40424 CS TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
009472,000664: 10,2553 54424 TS TANG +1 # BY CHANGING THE POLARITY OF OUR COMMAND.
009473,000665:
009474,000666: 10,2554 37665 CAF ZERO
009475,000667: 10,2555 54141 TS MPAC +1
009476,000668: 10,2556 37657 CAF ONE
009477,000669:
009478,000670: 10,2557 54140 RRSCALUP TS MPAC
009479,000671: 10,2560 50000 INDEX A
009480,000672: 10,2561 30423 CA TANG # TRUNNION COMPONENT OF ROTATION.
009481,000673: 10,2562 00006 EXTEND
009482,000674: 10,2563 72635 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
009483,000675: 10,2564 50140 INDEX MPAC
009484,000676: 10,2565 56423 XCH TANG # MAKE EACH COMPONENT LESS THAN .7 DEGREES
009485,000677: 10,2566 04763 TC MAGSUB # BEFORE SENDING TRACK ENABLE.
009486,000678: 10,2567 77715 DEC -.00305
009487,000679: 10,2570 24141 INCR MPAC +1 # IF OUT OF BOUNDS.
009488,000680:
009489,000681: 10,2571 10140 CCS MPAC
009490,000682: 10,2572 12557 TCF RRSCALUP
009491,000683:
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Page 245 |
009493,000685: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
009494,000686:
009495,000687: 10,2573 00004 INHINT
009496,000688:
009497,000689: 10,2574 10413 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
009498,000690: 10,2575 12600 TCF +3 # COMMANDS WITHOUT CHECKING MAGNITUDE OF
009499,000691: 10,2576 12600 TCF +2 # ERROR SIGNALS.
009500,000692: 10,2577 12625 TCF TRKOFF
009501,000693:
009502,000694: 10,2600 10141 CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .7 DEGS.
009503,000695: 10,2601 12625 TCF TRKOFF
009504,000696:
009505,000697: 10,2602 40061 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
009506,000698: 10,2603 77653 MASK LOKONFLG # PROBLEM IS FINISHED.
009507,000699: 10,2604 10000 CCS A
009508,000700: 10,2605 12616 TCF RRDESDUN
009509,000701:
009510,000702: 10,2606 37642 CAF BIT14 # ENABLE THE TRACKER.
009511,000703: 10,2607 00006 EXTEND
009512,000704: 10,2610 05012 WOR 12
009513,000705:
009514,000706: 10,2611 37654 CAF BIT4 # SEE IF DATA GOOD RECEIVED YET.
009515,000707: 10,2612 00006 EXTEND
009516,000708: 10,2613 02033 RAND 33
009517,000709: 10,2614 10000 CCS A
009518,000710: 10,2615 12630 TCF DORROUT
009519,000711:
009520,000712: 10,2616 47646 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
009521,000713: 10,2617 70413 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
009522,000714: 10,2620 54413 TS RADMODES
009523,000715:
009524,000716: 10,2621 47656 CS BIT2
009525,000717: 10,2622 00006 EXTEND
009526,000718: 10,2623 03012 WAND 12
009527,000719: 10,2624 14440 TCF ENDOFJOB # WITH ECTR DISABLED.
009528,000720:
009529,000721: 10,2625 47642 TRKOFF CS BIT14
009530,000722: 10,2626 00006 EXTEND
009531,000723: 10,2627 03012 WAND 12
009532,000724:
009533,000725: 10,2630 40413 DORROUT CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
009534,000726: 10,2631 77645 MASK BIT11 # REPOSITION HAS TAKEN OVER.
009535,000727: 10,2632 10000 CCS A
009536,000728: 10,2633 02213 TC RROUT
009537,000729:
009538,000730: 10,2634 14440 TCF ENDOFJOB
009539,000731:
009540,000732: 10,2635 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
009541,000733:
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Page 246 |
009543,000735: # RADAR READ INITIALIZATION
009544,000736:
009545,000737: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
009546,000738:
009547,000739:
009548,000740:
009549,000741: 10,2636 02652 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
009550,000742: 10,2637 00017 ALLREAD OCT 17
009551,000743:
009552,000744: 10,2640 02653 LRVELZ TC INITREAD
009553,000745: 10,2641 00016 OCT 16
009554,000746:
009555,000747: 10,2642 02653 LRVELY TC INITREAD
009556,000748: 10,2643 00015 OCT 15
009557,000749:
009558,000750: 10,2644 02653 LRVELX TC INITREAD
009559,000751: 10,2645 00014 OCT 14
009560,000752:
009561,000753: 10,2646 02652 RRRDOT TC INITREAD -1
009562,000754: 10,2647 00012 OCT 12
009563,000755:
009564,000756: 10,2650 02652 RRRANGE TC INITREAD -1
009565,000757: 10,2651 00011 OCT 11
009566,000758:
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Page 247 |
009568,000760: 10,2652 37657 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
009569,000761: 10,2653 00004 INITREAD INHINT
009570,000762:
009571,000763: 10,2654 54421 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
009572,000764: 10,2655 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
009573,000765: 10,2656 77655 MP BIT3 # ENCOUNTERED).
009574,000766: 10,2657 52422 DXCH TIMEHOLD
009575,000767:
009576,000768: 10,2660 10000 CCS A
009577,000769: 10,2661 54425 TS NSAMP
009578,000770: 10,2662 67657 AD ONE
009579,000771: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
009580,000772: # DOUBLE
009581,000773: 10,2663 54414 TS SAMPLIM
009582,000774:
009583,000775: 10,2664 32706 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
009584,000776: 10,2665 00006 EXTEND
009585,000777: 10,2666 02033 RAND 33
009586,000778: 10,2667 54427 TS OLDATAGD
009587,000779:
009588,000780: 10,2670 42637 CS ALLREAD
009589,000781: 10,2671 00006 EXTEND
009590,000782: 10,2672 03013 WAND 13 # REMOVE ALL RADAR BITS
009591,000783:
009592,000784: 10,2673 50002 INDEX Q
009593,000785: 10,2674 30000 CAF 0
009594,000786: 10,2675 00006 EXTEND
009595,000787: 10,2676 05013 WOR 13 # SET NEW RADAR BITS
009596,000788:
009597,000789: 10,2677 00006 EXTEND
009598,000790: 10,2700 30025 DCA TIME2
009599,000791: 10,2701 20422 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
009600,000792:
009601,000793: 10,2702 37665 CAF ZERO
009602,000794: 10,2703 54001 TS L
009603,000795: 10,2704 52416 DXCH SAMPLSUM
009604,000796: 10,2705 12302 TCF ROADBACK
009605,000797:
009606,000798: 10,2706 00230 DGBITS OCT 230
009607,000799:
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Page 248 |
009609,000801: # RADAR RUPT READER
009610,000802:
009611,000803: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
009612,000804:
009613,000805: 10,2707 54016 RADAREAD TS BANKRUPT
009614,000806: 10,2710 00006 EXTEND
009615,000807: 10,2711 22012 QXCH QRUPT
009616,000808:
009617,000809: 10,2712 00006 ANGLREAD EXTEND
009618,000810: 10,2713 30036 DCA OPTY
009619,000811: 10,2714 52420 DXCH OPTYHOLD # SAVE RAW CDU ANGLES
009620,000812:
009621,000813: 10,2715 10414 TRYCOUNT CCS SAMPLIM
009622,000814: 10,2716 12730 TCF PLENTY
009623,000815: 10,2717 12723 TCF NOMORE
009624,000816: 10,2720 05413 TC ALARM
009625,000817: 10,2721 00520 OCT 520
009626,000818: 10,2722 04606 TC RESUME
009627,000819:
009628,000820: 10,2723 05413 NOMORE TC ALARM
009629,000821: 10,2724 00521 OCT 521
009630,000822: 10,2725 47657 BADRAD CS ONE
009631,000823: 10,2726 54414 TS SAMPLIM
009632,000824: 10,2727 03247 TC RDBADEND -2
009633,000825:
009634,000826: 10,2730 54414 PLENTY TS SAMPLIM
009635,000827: 10,2731 37655 CAF BIT3
009636,000828: 10,2732 00006 EXTEND
009637,000829: 10,2733 02013 RAND 13 # TO FIND OUT WHICH RADAR
009638,000830: 10,2734 00006 EXTEND
009639,000831: 10,2735 13014 BZF RENDRAD
009640,000832:
009641,000833: 10,2736 30413 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
009642,000834: 10,2737 00006 EXTEND
009643,000835: 10,2740 06033 RXOR 33
009644,000836: 10,2741 77652 MASK BIT6
009645,000837: 10,2742 00006 EXTEND
009646,000838: 10,2743 12747 BZF VELCHK
009647,000839:
009648,000840: 10,2744 05413 TC ALARM
009649,000841: 10,2745 00522 OCT 522
009650,000842: 10,2746 02725 TC BADRAD
009651,000843:
009652,000844: 10,2747 36165 VELCHK CAF BIN3 # = 00003 OCT
009653,000845: 10,2750 00006 EXTEND
009654,000846: 10,2751 06013 RXOR 13
009655,000847: 10,2752 76165 MASK BIN3
009656,000848: 10,2753 00006 EXTEND
009657,000849: 10,2754 13010 BZF LRHEIGHT # TAKE A LR RANGE READING
009658,000850:
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009660,000852: 10,2755 37637 CAF POSMAX
009661,000853: 10,2756 70046 MASK RNRAD
009662,000854: 10,2757 63167 AD LVELBIAS
009663,000855: 10,2760 54001 TS L
009664,000856: 10,2761 30046 CAE RNRAD
009665,000857: 10,2762 60000 DOUBLE
009666,000858: 10,2763 77657 MASK BIT1
009667,000859: 10,2764 52071 DXCH ITEMP3
009668,000860:
009669,000861: 10,2765 37650 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
009670,000862: 10,2766 03137 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
009671,000863: # INDEPENDENT OF DATA GOOD.
009672,000864:
009673,000865: 10,2767 10425 CCS NSAMP
009674,000866: 10,2770 03000 TC NOEND
009675,000867: 10,2771 47657 GOODRAD CS ONE
009676,000868: 10,2772 54414 TS SAMPLIM
009677,000869: 10,2773 40065 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
009678,000870: 10,2774 70413 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
009679,000871: 10,2775 54413 TS RADMODES
009680,000872: 10,2776 05042 TC SETTRKF # LAMP MIGHT GO OFF IF DATA JUST GOOD.
009681,000873: 10,2777 03242 TC RGOODEND -2
009682,000874:
009683,000875: 10,3000 54425 NOEND TS NSAMP
009684,000876: 10,3001 10414 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
009685,000877: 10,3002 13004 TCF +2
009686,000878: 10,3003 13156 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
009687,000879: 10,3004 37654 CAF BIT4 # RESET ACTIVITY BIT.
009688,000880: 10,3005 00006 EXTEND
009689,000881: 10,3006 05013 WOR 13 # RESET ACTIVITY BIT
009690,000882: 10,3007 04606 TC RESUME
009691,000883:
009692,000884:
009693,000885: 10,3010 37653 LRHEIGHT CAF BIT5
009694,000886: 10,3011 54065 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
009695,000887:
009696,000888: 10,3012 37647 CAF BIT9
009697,000889: 10,3013 03047 TC SCALECHK -1
009698,000890:
009699,000891: 10,3014 37645 RENDRAD CAF BIT11 # MAKE SURE ANTENNA HAS NOT GONE OUT OF
009700,000892: 10,3015 70413 MASK RADMODES # LIMITS.
009701,000893: 10,3016 10000 CCS A
009702,000894: 10,3017 12725 TCF BADRAD
009703,000895:
009704,000896: 10,3020 40413 CS RADMODES # BE SURE RR CDU HASNT FAILED.
009705,000897: 10,3021 77651 MASK BIT7
009706,000898: 10,3022 10000 CCS A
009707,000899: 10,3023 12725 TCF BADRAD
009708,000900:
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009710,000902: 10,3024 37644 CAF BIT12 # DONT ACCEPT RR DATA IF TRUNNION MORE
009711,000903: 10,3025 70413 MASK RADMODES # THAN 55 DEGREES FROM NOMINAL POSITION.
009712,000904: 10,3026 10000 CCS A
009713,000905: 10,3027 37641 CAF BIT15 # 180 FOR MODE 2 - 0 FOR MODE 1.
009714,000906: 10,3030 00006 EXTEND
009715,000907: 10,3031 20035 MSU OPTY
009716,000908: 10,3032 04763 TC MAGSUB
009717,000909: 10,3033 66161 DEC -.30555 # 55 DEGS AT HALF-REVS.
009718,000910: 10,3034 12725 TCF BADRAD
009719,000911:
009720,000912: 10,3035 37654 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
009721,000913: 10,3036 54065 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
009722,000914:
009723,000915: 10,3037 37657 CAF BIT1 # SEE IF RR RDOT.
009724,000916: 10,3040 00006 EXTEND
009725,000917: 10,3041 02013 RAND 13
009726,000918: 10,3042 54002 TS Q # FOR LATER TESTING.
009727,000919: 10,3043 10000 CCS A
009728,000920: 10,3044 13046 TCF +2
009729,000921: 10,3045 13060 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
009730,000922: 10,3046 37655 CAF BIT3
009731,000923: 10,3047 54001 TS L
009732,000924:
009733,000925: 10,3050 00006 SCALECHK EXTEND
009734,000926: 10,3051 02033 RAND 33 # SCALE STATUS NOW
009735,000927: 10,3052 56001 XCH L
009736,000928: 10,3053 70413 MASK RADMODES # SCALE STATUS BEFORE
009737,000929: 10,3054 00006 EXTEND
009738,000930: 10,3055 06001 RXOR 01 # SEE IF THEY DIFFER
009739,000931: 10,3056 10000 CCS A
009740,000932: 10,3057 03077 TC SCALCHNG # THEY DIFFER
009741,000933:
009742,000934: 10,3060 37637 RADIN CAF POSMAX
009743,000935: 10,3061 70046 MASK RNRAD
009744,000936: 10,3062 54071 TS ITEMP4
009745,000937:
009746,000938: 10,3063 30046 CAE RNRAD
009747,000939: 10,3064 60000 DOUBLE
009748,000940: 10,3065 77657 MASK BIT1
009749,000941: 10,3066 54070 TS ITEMP3
009750,000942:
009751,000943: 10,3067 10002 CCS Q # SEE IF RR RDOT.
009752,000944: 10,3070 13111 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
009753,000945:
009754,000946: 10,3071 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
009755,000947: 10,3072 43171 DCS RDOTBIAS
009756,000948: 10,3073 20071 DASAMPL DAS ITEMP3
009757,000949: 10,3074 30065 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
009758,000950: 10,3075 03140 TC DGCHECK +1 # AFTER TAKING SAMPLE.
009759,000951: 10,3076 02771 TC GOODRAD
009760,000952:
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009762,000954: 10,3077 22413 SCALCHNG LXCH RADMODES
009763,000955: 10,3100 67657 AD BIT1
009764,000956: 10,3101 00006 EXTEND
009765,000957: 10,3102 06001 RXOR 01
009766,000958: 10,3103 54413 TS RADMODES
009767,000959: 10,3104 32706 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
009768,000960: 10,3105 00006 EXTEND
009769,000961: 10,3106 02033 RAND 33
009770,000962: 10,3107 54427 TS OLDATAGD
009771,000963: 10,3110 12725 TCF BADRAD
009772,000964:
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009774,000966: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
009775,000967:
009776,000968: 10,3111 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
009777,000969: 10,3112 13114 TCF +2 # ON HIGH SCALE.
009778,000970: 10,3113 13074 TCF DGCHECK2
009779,000971:
009780,000972: 10,3114 52071 DXCH ITEMP3
009781,000973: 10,3115 20001 DDOUBL
009782,000974: 10,3116 20001 DDOUBL
009783,000975: 10,3117 20001 DDOUBL
009784,000976: 10,3120 52071 DXCH ITEMP3
009785,000977:
009786,000978: 10,3121 37655 CAF BIT3 # SEE IF LR OR RR.
009787,000979: 10,3122 00006 EXTEND
009788,000980: 10,3123 02013 RAND 13
009789,000981: 10,3124 00006 EXTEND # IF RR, NO MORE ACTION REQUIRED.
009790,000982: 10,3125 13074 BZF DGCHECK2
009791,000983:
009792,000984: 10,3126 33166 CAF LRRATIO # IF LR, CONVERT TO LO SCALING.
009793,000985: 10,3127 00006 EXTEND
009794,000986: 10,3130 70071 MP ITEMP4
009795,000987: 10,3131 54071 TS ITEMP4
009796,000988: 10,3132 37665 CAF ZERO # (SO SUBSEQUENT DAS WILL BE OK)
009797,000989: 10,3133 56070 XCH ITEMP3
009798,000990: 10,3134 00006 EXTEND
009799,000991: 10,3135 73166 MP LRRATIO
009800,000992: 10,3136 13073 TCF DASAMPL
009801,000993:
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009803,000995: 10,3137 54065 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
009804,000996: 10,3140 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
009805,000997: 10,3141 02033 RAND 33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
009806,000998: 10,3142 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
009807,000999: 10,3143 40065 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
009808,001000: 10,3144 70427 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
009809,001001: 10,3145 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
009810,001002: 10,3146 56427 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
009811,001003: 10,3147 70065 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
009812,001004: 10,3150 60001 AD L
009813,001005: 10,3151 10000 CCS A # SHOULD BOTH BE ZERO.
009814,001006: 10,3152 03001 TC RESAMPLE
009815,001007: 10,3153 52071 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
009816,001008: 10,3154 20416 DAS SAMPLSUM # ACCUMULATION.
009817,001009: 10,3155 00002 TC Q
009818,001010:
009819,001011: 10,3156 40065 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
009820,001012: 10,3157 70413 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
009821,001013: 10,3160 60065 AD ITEMP1
009822,001014: 10,3161 54413 TS RADMODES
009823,001015:
009824,001016: 10,3162 52071 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
009825,001017: 10,3163 52416 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
009826,001018:
009827,001019: 10,3164 05042 TC SETTRKF
009828,001020:
009829,001021: 10,3165 12723 TCF NOMORE
009830,001022:
009831,001023: 10,3166 23773 LRRATIO DEC 4.9977 B-3
009832,001024: 10,3167 50437 LVELBIAS DEC -12000 B-14 # LANDING RADAR VELOCITY BIAS.
009833,001025: 10,3170 00001 01150 RDOTBIAS 2DEC 17000 B-28 # BIAS COUNT FOR RR RANGE RATE
009834,001026:
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009836,001028: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
009837,001029:
009838,001030: 10,3172 00004 LRPOS2 INHINT
009839,001031:
009840,001032: 10,3173 47652 CS BIT6 # DESIRED LR POSITION IS NOW 2.
009841,001033: 10,3174 70413 MASK RADMODES
009842,001034: 10,3175 67652 AD BIT6
009843,001035: 10,3176 54413 TS RADMODES
009844,001036:
009845,001037: 10,3177 37651 CAF BIT7
009846,001038: 10,3200 00006 EXTEND
009847,001039: 10,3201 02033 RAND 33 # SEE IF ALREADY THERE.
009848,001040: 10,3202 00006 EXTEND
009849,001041: 10,3203 13227 BZF RADNOOP
009850,001042:
009851,001043: 10,3204 37643 CAF BIT13
009852,001044: 10,3205 00006 EXTEND
009853,001045: 10,3206 05012 WOR 12 # COMMAND TO POSITION 2
009854,001046:
009855,001047: 10,3207 33234 CAF 5SECS
009856,001048: 10,3210 04536 TC WAITLIST
009857,001049: 10,3211 03214 20003 2CADR MAKESURE
009858,001050:
009859,001051: 10,3213 02302 TC ROADBACK
009860,001052:
009861,001053: 10,3214 47643 MAKESURE CS BIT13 # REMOVE LR POSITION COMMAND OUTBIT.
009862,001054: 10,3215 00006 EXTEND
009863,001055: 10,3216 03012 WAND 12
009864,001056:
009865,001057: 10,3217 37651 CAF BIT7
009866,001058: 10,3220 00006 EXTEND
009867,001059: 10,3221 02033 RAND 33
009868,001060: 10,3222 00006 EXTEND
009869,001061: 10,3223 13244 BZF RGOODEND
009870,001062:
009871,001063: 10,3224 05413 TC ALARM # LR ANTENNA DIDNT MAKE IT.
009872,001064: 10,3225 00523 OCT 523
009873,001065: 10,3226 13251 TCF RDBADEND
009874,001066:
009875,001067: 10,3227 37657 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
009876,001068: 10,3230 04536 TC WAITLIST
009877,001069: 10,3231 03244 20003 2CADR RGOODEND
009878,001070:
009879,001071: 10,3233 02302 TC ROADBACK
009880,001072:
009881,001073: 10,3234 00764 5SECS DEC 5 E2
009882,001074:
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009884,001076: # SEQUENCES TO TERMINATE RR OPERATIONS.
009885,001077:
009886,001078: 10,3235 37651 ENDRADAR CAF BIT7 # PROLOG TO CHECK RR CDU FAIL BEFORE END.
009887,001079: 10,3236 70413 MASK RADMODES
009888,001080: 10,3237 10000 CCS A
009889,001081: 10,3240 13244 TCF RGOODEND
009890,001082: 10,3241 13251 TCF RDBADEND
009891,001083: 10,3242 47665 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
009892,001084: 10,3243 55070 TS RUPTAGN
009893,001085:
009894,001086: 10,3244 37656 RGOODEND CAF TWO
009895,001087: 10,3245 04102 TC POSTJUMP
009896,001088: 10,3246 26667 CADR GOODEND
009897,001089:
009898,001090: 10,3247 47665 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
009899,001091: 10,3250 55070 TS RUPTAGN
009900,001092: 10,3251 37656 RDBADEND CAF TWO
009901,001093: 10,3252 04102 TC POSTJUMP
009902,001094: 10,3253 26664 CADR BADEND
009903,001095:
009904,001096: 10,3254 6165 BIN3 EQUALS THREE
009905,001097: 10,3254 ENDRMODS EQUALS
End of include-file RADAR_LEAD-IN_ROUTINES.agc. Parent file is MAIN.agc