Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 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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020905,000002: ## Copyright: Public domain.
020906,000003: ## Filename: P20-P25.agc
020907,000004: ## Purpose: A section of LM131 revision 1.
020908,000005: ## It is part of the reconstructed source code for the final
020909,000006: ## release of the flight software for the Lunar Module's (LM)
020910,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
020911,000008: ## been reconstructed from a listing of Luminary 131 and a dump
020912,000009: ## of a core rope memory module B5, part number 2010802-171,
020913,000010: ## which is the only module different between LM131 revision 1
020914,000011: ## and Luminary 131. The executable generated from this source
020915,000012: ## has been verified against the module dump, so while the names,
020916,000013: ## comments, and ordering may not be exactly correct, the
020917,000014: ## resulting binary is.
020918,000015: ## Reference: pp. 496-618
020919,000016: ## Assembler: yaYUL
020920,000017: ## Contact: Ron Burkey <info@sandroid.org>.
020921,000018: ## Website: www.ibiblio.org/apollo/index.html
020922,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
020923,000020:
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020925,000022: # RENDEZVOUS NAVIGATION PROGRAM 20
020926,000023:
020927,000024: # PROGRAM DESCRIPTION
020928,000025:
020929,000026: # MOD NO - 2
020930,000027: # BY P. VOLANTE
020931,000028:
020932,000029: # FUNCTIONAL DESCRIPTION
020933,000030:
020934,000031: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
020935,000032: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
020936,000033: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
020937,000034: # ON THE BASIS OF THE RR TRACKING DATA.
020938,000035:
020939,000036: # CALLING SEQUENCE -
020940,000037:
020941,000038: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
020942,000039:
020943,000040: # SUBROUTINES CALLED
020944,000041:
020945,000042: # R02BOTH (IMU STATUS CHECK) FLAGUP
020946,000043: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
020947,000044: # R23LEM (MANUAL ACQUISITION) BANKCALL
020948,000045: # LS201 (LOS DETERMINATION) TASKOVER
020949,000046: # LS202 (RANGE LIMIT TEST)
020950,000047: # R61LEM (PREFERRED TRACKING ATTITUDE)
020951,000048: # R21LEM (RR DESIGNATE) ENDOFJOB
020952,000049: # R22LEM (DATA READ) GOPERF1
020953,000050: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
020954,000051: # PRIOLARM (PRIORITY DISPLAY)
020955,000052:
020956,000053: # NORMAL EXIT MODES -
020957,000054:
020958,000055: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
020959,000056: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
020960,000057:
020961,000058: # ALARM OR ABORT EXIT MODES -
020962,000059:
020963,000060: # RANGE GREATER THAN 400 NM DISPLAY
020964,000061:
020965,000062: # OUTPUT
020966,000063:
020967,000064: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
020968,000065:
020969,000066: # ERASABLE INITIALIZATION REQUIRED
020970,000067:
020971,000068: # FLAGS SET + RESET
020972,000069:
020973,000070: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
020974,000071:
020975,000072: # DEBRIS
020976,000073:
020977,000074: # CENTRALS - A,Q,L
020978,000075:
020979,000076: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
020980,000077:
020981,000078: 33,2045 BANK 33
020982,000079: 24,2000 SETLOC P20S
020983,000080: 24,2000 BANK
020984,000081:
020985,000082: 24,2000 E7,1456 EBANK= LOSCOUNT
020986,000083: 24,2000 COUNT* $$/P20
020987,000084: 24,2000 24,2000 PROG22 = PROG20
020988,000085: 24,2000 05327 PROG20 TC 2PHSCHNG
020989,000086: 24,2001 00004 OCT 4
020990,000087: 24,2002 05022 OCT 05022
020991,000088: 24,2003 26000 OCT 26000 # PRIORITY 26
020992,000089: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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020994,000091: 24,2005 02007 TC ORBCHGO # YES
020995,000092: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
020996,000093: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
020997,000094: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
020998,000095: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
020999,000096: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021000,000097: 24,2013 34363 CAF OCT00012
021001,000098: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021002,000099: 24,2015 20634 CADR GOPERF4
021003,000100: 24,2016 06001 TC GOTOPOOH # TERMINATE
021004,000101: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021005,000102: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021006,000103: 24,2021 44753 ORBCHG1 CS ONE
021007,000104: 24,2022 61144 AD OPTION2
021008,000105: 24,2023 00006 EXTEND
021009,000106: 24,2024 12040 BZF PROG20A
021010,000107: 24,2025 32311 CAF V06N33*
021011,000108: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021012,000109: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021013,000110: 24,2030 06001 TC GOTOPOOH # TERMINATE
021014,000111: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021015,000112: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021016,000113: 24,2033 06042 ORBCHG2 TC INTPRET
021017,000114: 24,2034 77650 GOTO
021018,000115: 24,2035 64217 ORBCHG3
021019,000116:
021020,000117: 32,2217 BANK 32
021021,000118: 32,2000 SETLOC P20S4
021022,000119: 32,2000 BANK
021023,000120: 32,2217 COUNT* $$/P20
021024,000121:
021025,000122: 32,2217 77624 ORBCHG3 CALL
021026,000123: 32,2220 27410 INTSTALL
021027,000124: 32,2221 77745 DLOAD
021028,000125: 32,2222 03442 TIG
021029,000126: 32,2223 03661 STORE LNCHTM
021030,000127: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021031,000128: 32,2225 43014 CLEAR CLEAR
021032,000129: 32,2226 01674 VINTFLAG # LM INTEGRATION
021033,000130: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021034,000131: 32,2230 43014 CLEAR CLEAR
021035,000132: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021036,000133: 32,2232 01675 D6OR9FLG
021037,000134: 32,2233 77624 CALL
021038,000135: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
021039,000136: 32,2235 77624 CALL
021040,000137: 32,2236 11210 GRP2PC
021041,000138: 32,2237 77775 VLOAD
021042,000139: 32,2240 00017 RATT1
021043,000140: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021044,000141: 32,2242 00015 TAT
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021046,000143: 32,2243 34041 STCALL TDEC1
021047,000144: 32,2244 27410 INTSTALL
021048,000145: 32,2245 43014 SET CLEAR
021049,000146: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021050,000147: 32,2247 01673 INTYPFLG
021051,000148: 32,2250 43014 CLEAR BOFF
021052,000149: 32,2251 01676 DIM0FLAG
021053,000150: 32,2252 02756 RENDWFLG # W MATRIX VALID
021054,000151: 32,2253 64257 NOWMATX # NO
021055,000152: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021056,000153: 32,2255 01476 DIM0FLAG
021057,000154: 32,2256 01475 D6OR9FLG
021058,000155: 32,2257 77624 NOWMATX CALL
021059,000156: 32,2260 27133 INTEGRV # CSM INTEGRATION
021060,000157: 32,2261 77624 CALL
021061,000158: 32,2262 11210 GRP2PC
021062,000159: 32,2263 77775 VLOAD
021063,000160: 32,2264 00025 VATT1
021064,000161: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021065,000162: 32,2266 00017 RATT1
021066,000163: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021067,000164: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021068,000165: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021069,000166: 32,2272 24025 STOVL 20D # SAVE NSUB1
021070,000167: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021071,000168: 32,2274 53435 VXV UNIT # PLANE CHANGE
021072,000169: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021073,000170: 32,2276 27637 STOVL UCSM
021074,000171: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021075,000172: 32,2300 50256 UNIT DOT # AND RSUBC
021076,000173: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021077,000174: 32,2302 77752 SL1
021078,000175: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021079,000176: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021080,000177: 32,2305 06514 ONEB-2
021081,000178: 32,2306 77766 SQRT
021082,000179: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021083,000180: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021084,000181: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021085,000182: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021086,000183: 32,2313 77676 VCOMP
021087,000184: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021088,000185: 32,2315 45014 CLEAR CALL
021089,000186: 32,2316 03666 RVSW
021090,000187: 32,2317 24732 TIMETHET
021091,000188: 32,2320 77676 VCOMP
021092,000189: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021093,000190: 32,2322 77745 DLOAD
021094,000191: 32,2323 00037 T
021095,000192: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021097,000194: 32,2325 03645 NEWVEL
021098,000195: 32,2326 77646 ABVAL
021099,000196: 32,2327 24025 STOVL 20D
021100,000197: 32,2330 00001 0D
021101,000198: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021102,000199: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021103,000200: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021104,000201: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021105,000202: 32,2335 03653 NEWPOS # ORBITAL PLANE
021106,000203: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021107,000204: 32,2337 00025 20D
021108,000205: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021109,000206: 32,2341 11210 GRP2PC
021110,000207: 32,2342 77624 CALL
021111,000208: 32,2343 27410 INTSTALL
021112,000209: 32,2344 44345 DLOAD BDSU
021113,000210: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021114,000211: 32,2346 03661 LNCHTM
021115,000212: 32,2347 25517 STOVL TET
021116,000213: 32,2350 03653 NEWPOS
021117,000214: 32,2351 01535 STORE RCV
021118,000215: 32,2352 25503 STOVL RRECT
021119,000216: 32,2353 03665 NCSMVEL
021120,000217: 32,2354 35511 STCALL VRECT
021121,000218: 32,2355 27705 MINIRECT
021122,000219: 32,2356 45174 AXT,2 CALL
021123,000220: 32,2357 00002 2
021124,000221: 32,2360 26660 ATOPCSM
021125,000222: 32,2361 77624 CALL
021126,000223: 32,2362 27417 INTWAKE0
021127,000224: 32,2363 77776 EXIT
021128,000225: 32,2364 04616 TC BANKCALL
021129,000226: 32,2365 50040 CADR PROG20A
021130,000227:
021131,000228: 24,2036 BANK 24
021132,000229: 24,2000 SETLOC P20S
021133,000230: 24,2000 BANK
021134,000231: 24,2036 COUNT* $$/P20
021135,000232:
021136,000233: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021137,000234: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021138,000235: 24,2040 04616 PROG20A TC BANKCALL
021139,000236: 24,2041 11233 CADR R02BOTH
021140,000237: 24,2042 05504 TC UPFLAG
021141,000238: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021142,000239: 24,2044 05504 TC UPFLAG
021143,000240: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021144,000241: 24,2046 05504 TC UPFLAG
021145,000242: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021146,000243: 24,2050 05516 TC DOWNFLAG
021147,000244: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021149,000246: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021150,000247: 24,2053 00040 ADRES ACMODFLG
021151,000248: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021152,000249: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021153,000250: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021154,000251: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021155,000252: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021156,000253: 24,2061 00041 ADRES LOSCMFLG
021157,000254: 24,2062 06011 TC CLRADMOD
021158,000255: 24,2063 05353 P20LEM1 TC PHASCHNG
021159,000256: 24,2064 04022 OCT 04022
021160,000257: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021161,000258: 24,2066 55462 TS MARKCTR
021162,000259: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE
021163,000260: 24,2070 77634 RTB
021164,000261: 24,2071 21574 LOADTIME
021165,000262: 24,2072 34041 STCALL TDEC1
021166,000263: 24,2073 51256 LPS20.1
021167,000264: 24,2074 77624 CALL
021168,000265: 24,2075 53570 LPS20.2 # TEST RANGE R/UTINE
021169,000266: 24,2076 77776 EXIT
021170,000267: 24,2077 50154 INDEX MPAC
021171,000268: 24,2100 02101 TC +1
021172,000269: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021173,000270: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021174,000271: 24,2103 04616 TC BANKCALL
021175,000272: 24,2104 21563 CADR PRIOLARM
021176,000273: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021177,000274: 24,2106 02102 TC -4 # PROC (ILLEGAL
021178,000275: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021179,000276: 24,2110 05155 TC ENDOFJOB
021180,000277:
021181,000278: 24,2111 05353 P20LEMA TC PHASCHNG
021182,000279: 24,2112 04022 OCT 04022
021183,000280: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021184,000281: 24,2114 02117 TC P20LEMB
021185,000282: 24,2115 04616 TC BANKCALL
021186,000283: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021187,000284: 24,2117 05353 P20LEMB TC PHASCHNG
021188,000285: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021189,000286: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021190,000287: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26
021191,000288: 24,2123 05146 TC PRIOCHNG
021192,000289: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021193,000290: 24,2125 74747 MASK TRACKBIT
021194,000291: 24,2126 00006 EXTEND
021195,000292: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021196,000293: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021197,000294: 24,2131 00006 EXTEND
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021199,000296: 24,2132 02033 RAND CHAN33
021200,000297: 24,2133 00006 EXTEND
021201,000298: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021202,000299:
021203,000300: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021204,000301: 24,2136 61010 AD MODREG # MAJOR MODE IS 20
021205,000302: 24,2137 00006 EXTEND
021206,000303: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
021207,000304:
021208,000305: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22
021209,000306: 24,2142 00006 EXTEND
021210,000307: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021211,000308: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021212,000309: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021213,000310: 24,2146 21563 CADR PRIOLARM
021214,000311: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
021215,000312: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021216,000313: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021217,000314: 24,2152 05155 TC ENDOFJOB
021218,000315: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021219,000316: 24,2154 04616 TC BANKCALL
021220,000317: 24,2155 20624 CADR GOPERF1
021221,000318: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021222,000319: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021223,000320: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021224,000321: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021225,000322: 24,2162 03137 TC R23LEM # NO - DO MANUAL ACQUISITION
021226,000323:
021227,000324: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021228,000325: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021229,000326: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021230,000327:
021231,000328: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021232,000329: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021233,000330:
021234,000331: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021235,000332: 24,2171 74737 MASK RCDU0BIT
021236,000333: 24,2172 00006 EXTEND
021237,000334: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021238,000335: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021239,000336: 24,2175 70076 MASK FLAGWRD2
021240,000337: 24,2176 00006 EXTEND
021241,000338: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021242,000339: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021243,000340: 24,2201 00037 ADRES SRCHOPTN
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021245,000342: 24,2202 05516 TC DOWNFLAG
021246,000343: 24,2203 00040 ADRES ACMODFLG
021247,000344: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021248,000345:
021249,000346: 24,2205 32304 P20LEMB4 CAF 250DEC
021250,000347: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021251,000348: 24,2207 01736 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021252,000349: 24,2210 02170 TC P20LEMB3
021253,000350:
021254,000351: 24,2211 06042 P20LEMC3 TC INTPRET
021255,000352: 24,2212 77634 RTB
021256,000353: 24,2213 21574 LOADTIME
021257,000354: 24,2214 34041 STCALL TDEC1
021258,000355: 24,2215 50312 UPPSV
021259,000356: 24,2216 77776 P20LEMC4 EXIT
021260,000357: 24,2217 05353 P20LEMC TC PHASCHNG
021261,000358: 24,2220 04022 OCT 04022
021262,000359: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021263,000360: 24,2222 74745 MASK RNDVZBIT
021264,000361: 24,2223 00006 EXTEND
021265,000362: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021266,000363: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021267,000364: 24,2226 74747 MASK TRACKBIT
021268,000365: 24,2227 00006 EXTEND
021269,000366: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021270,000367: 24,2231 02675 P20LEMF TC R21LEM
021271,000368:
021272,000369: 24,2232 32304 P20LEMWT CAF 250DEC
021273,000370: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021274,000371: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021275,000372: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021276,000373: 24,2236 74747 MASK TRACKBIT
021277,000374: 24,2237 00006 EXTEND
021278,000375: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021279,000376: 24,2241 05353 P20LMWT1 TC PHASCHNG
021280,000377: 24,2242 40072 OCT 40072
021281,000378: 24,2243 05155 TC ENDOFJOB
021282,000379:
021283,000380: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021284,000381: 24,2245 74745 MASK RNDVZBIT
021285,000382: 24,2246 00006 EXTEND
021286,000383: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021287,000384: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021288,000385: 24,2251 74747 MASK TRACKBIT
021289,000386: 24,2252 00006 EXTEND
021290,000387: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
|
Page 503
|
021292,000389: 24,2254 37717 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021293,000390: 24,2255 05105 TC FINDVAC
021294,000391: 24,2256 E7,1456 EBANK= LOSCOUNT
021295,000392: 24,2256 02631 50067 2CADR R22LEM42
021296,000393:
021297,000394: 24,2260 05261 TC TASKOVER
021298,000395:
021299,000396: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021300,000397: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021301,000398:
021302,000399: 24,2263 02244 TC P20LEMC1
021303,000400:
021304,000401: 24,2264 32667 P20LEMD CAF 1500DEC
021305,000402: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021306,000403: 24,2266 02270 ADRES P20LEMD1
021307,000404: 24,2267 05155 TC ENDOFJOB
021308,000405:
021309,000406: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021310,000407: 24,2271 74747 MASK TRACKBIT
021311,000408: 24,2272 10000 CCS A
021312,000409: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021313,000410: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021314,000411: 24,2275 02734 DEC 1500 B-14
021315,000412: 24,2276 02270 TC P20LEMD1
021316,000413:
021317,000414: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021318,000415: 24,2300 05105 TC FINDVAC
021319,000416: 24,2301 E7,1456 EBANK= LOSCOUNT
021320,000417: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021321,000418:
021322,000419: 24,2303 05261 TC TASKOVER
021323,000420:
021324,000421: 24,2304 00372 250DEC DEC 250 B-14
021325,000422: 24,2305 00526 ALRM526 OCT 00526
021326,000423: 24,2306 00201 OCT201 OCT 00201
021327,000424: 24,2307 00514 ALRM514 OCT 514
021328,000425: 24,2310 00074 MAXTRIES DEC 60 B-14
021329,000426: 24,2311 4363 OCT00012 EQUALS BINCON
021330,000427: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH
021331,000428: 24,2311 01441 V06N33* VN 0633
021332,000429: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021333,000430: 24,2313 01757 LS21X # TO PRESENT TIME
021334,000431: 24,2314 27410 INTSTALL
021335,000432: 24,2315 77624 CALL
021336,000433: 24,2316 26643 SETIFLGS
021337,000434: 24,2317 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
|
|
Page 504
|
021339,000436: 24,2320 02756 RENDWFLG
021340,000437: 24,2321 50332 UPPSV1
021341,000438: 24,2322 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021342,000439: 24,2323 43014 BON SET
021343,000440: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021344,000441: 24,2325 50327 UPPSV5
021345,000442: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9
021346,000443: 24,2327 77614 UPPSV5 BOF
021347,000444: 24,2330 00747 VEHUPFLG
021348,000445: 24,2331 50364 UPPSV3
021349,000446: 24,2332 77614 UPPSV1 SET
021350,000447: 24,2333 01474 VINTFLAG
021351,000448: 24,2334 77624 CALL
021352,000449: 24,2335 27133 INTEGRV
021353,000450: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE
021354,000451: 24,2337 11210 GRP2PC # TO PROTECT INTEGRATION
021355,000452: 24,2340 77624 CALL
021356,000453: 24,2341 27410 INTSTALL
021357,000454: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021358,000455: 24,2343 01571 TETCSM
021359,000456: 24,2344 01674 VINTFLAG
021360,000457: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021361,000458: 24,2346 26643 SETIFLGS # WITHOUT W-MATRIX
021362,000459: 24,2347 34041 STCALL TDEC1
021363,000460: 24,2350 27133 INTEGRV
021364,000461: 24,2351 77214 BOFF VLOAD
021365,000462: 24,2352 04347 SURFFLAG
021366,000463: 24,2353 50216 P20LEMC4
021367,000464: 24,2354 01661 RCVLEM
021368,000465: 24,2355 77742 VSR2
021369,000466: 24,2356 26352 STOVL LMPOS
021370,000467: 24,2357 01667 VCVLEM
021371,000468: 24,2360 77742 VSR2
021372,000469: 24,2361 02360 STORE LMVEL
021373,000470: 24,2362 77650 GOTO
021374,000471: 24,2363 01757 LS21X
021375,000472:
021376,000473: 24,2364 45014 UPPSV3 CLEAR CALL
021377,000474: 24,2365 01674 VINTFLAG
021378,000475: 24,2366 27133 INTEGRV
021379,000476: 24,2367 77624 CALL
021380,000477: 24,2370 11210 GRP2PC
021381,000478: 24,2371 77624 CALL
021382,000479: 24,2372 27410 INTSTALL
021383,000480: 24,2373 71214 SET DLOAD
021384,000481: 24,2374 01474 VINTFLAG
021385,000482: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
021386,000483: 24,2376 77650 GOTO
021387,000484: 24,2377 50345 UPPSV4
|
|
Page 505
|
021389,000486: 24,2400 E7,1456 EBANK= LOSCOUNT
021390,000487: 24,2400 COUNT* $$/P22
021391,000488:
|
|
Page 506
|
021393,000490: # PROGRAM DESCRIPTION
021394,000491:
021395,000492: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021396,000493: # MOD NO - 3
021397,000494: # BY P. VOLANTE
021398,000495:
021399,000496: # FUNCTIONAL DESCRIPTION
021400,000497:
021401,000498: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021402,000499: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021403,000500: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021404,000501: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021405,000502:
021406,000503: # CALLING SEQUENCE -
021407,000504:
021408,000505: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021409,000506:
021410,000507: # SUBROUTINES CALLED -
021411,000508:
021412,000509: # BANKCALL FLAGUP
021413,000510: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021414,000511: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021415,000512: # TASKOVER FINDVAC
021416,000513:
021417,000514: # NORMAL EXIT MODES -
021418,000515:
021419,000516: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021420,000517: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021421,000518:
021422,000519: # ALARM OR ABORT EXIT MODES -
021423,000520:
021424,000521: # NONE
021425,000522:
021426,000523: # OUTPUT
021427,000524:
021428,000525: # ERASABLE INITIALIZATION REQUIRED
021429,000526:
021430,000527: # FLAGS SET + RESET
021431,000528:
021432,000529: # TRACKFLG, P25FLAG
021433,000530:
021434,000531: # DEBRIS
021435,000532:
021436,000533: # NONE
021437,000534:
021438,000535: 24,2400 E7,1456 EBANK= LOSCOUNT
021439,000536: 24,2400 COUNT* $$/P25
021440,000537: 24,2400 05327 PROG25 TC 2PHSCHNG
021441,000538: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021442,000539: 24,2402 05022 OCT 05022
021443,000540: 24,2403 26000 OCT 26000 # PRIORITY 26
021444,000541:
021445,000542: 24,2404 04616 TC BANKCALL
021446,000543: 24,2405 11233 CADR R02BOTH # IMU STATUS CHECK
021447,000544: 24,2406 05504 TC UPFLAG
021448,000545: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG
021449,000546: 24,2410 05504 TC UPFLAG
021450,000547: 24,2411 00006 ADRES P25FLAG # SET P25FLAG
021451,000548: 24,2412 05516 TC DOWNFLAG
021452,000549: 24,2413 00010 ADRES RNDVZFLG
021453,000550: 24,2414 05353 P25LEM1 TC PHASCHNG
021454,000551: 24,2415 04022 OCT 04022
021455,000552: 24,2416 34743 CAF P25FLBIT
021456,000553: 24,2417 70074 MASK STATE # IS P25FLAG SET
021457,000554: 24,2420 00006 EXTEND
021458,000555: 24,2421 15155 BZF ENDOFJOB
021459,000556: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET?
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|
Page 507
|
021461,000558: 24,2423 70075 MASK STATE +1
021462,000559: 24,2424 00006 EXTEND
021463,000560: 24,2425 12433 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021464,000561: 24,2426 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021465,000562: 24,2427 55745 TS R65CNTR
021466,000563: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021467,000564: 24,2431 46123 CADR R65LEM
021468,000565: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS
021469,000566: 24,2433 32444 P25LMWT1 CAF 60SCNDS
021470,000567: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021471,000568: 24,2435 02437 ADRES P25LEM2
021472,000569: 24,2436 05155 TC ENDOFJOB
021473,000570: 24,2437 35024 P25LEM2 CAF PRIO14
021474,000571: 24,2440 05105 TC FINDVAC
021475,000572: 24,2441 E7,1456 EBANK= LOSCOUNT
021476,000573: 24,2441 02414 50067 2CADR P25LEM1
021477,000574:
021478,000575: 24,2443 05261 TC TASKOVER
021479,000576: 24,2444 13560 60SCNDS DEC 6000 B-14
021480,000577:
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|
Page 508
|
021482,000579: # DATA READ ROUTINE 22 (LEM)
021483,000580: # PROGRAM DESCRIPTION
021484,000581:
021485,000582: # MOD NO - 2
021486,000583: # BY P VOLANTE
021487,000584:
021488,000585: # FUNCTIONAL DESCRIPTION
021489,000586:
021490,000587: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021491,000588: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021492,000589:
021493,000590: # CALLING SEQUENCE -
021494,000591:
021495,000592: # TC BANKCALL
021496,000593: # CADR R22LEM
021497,000594:
021498,000595: # SUBROUTINES CALLED -
021499,000596:
021500,000597: # LSR22.1 GOFLASH WAITLIST
021501,000598: # LSR22.2 PRIOLARM BANKCALL
021502,000599: # LSR22.3 R61LEM
021503,000600:
021504,000601: # NORMAL EXIT MODES -
021505,000602:
021506,000603: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021507,000604: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021508,000605: # R22 WILL TERMINATE SELF.
021509,000606:
021510,000607: # ALARM OR ABORT EXIT MODES -
021511,000608:
021512,000609: # PRIORITY ALARM
021513,000610: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021514,000611:
021515,000612: # OUTPUT
021516,000613:
021517,000614: # SEE OUTPUT FROM LSR22.3
021518,000615:
021519,000616: # ERASABLE INITIALIZATION REQUIRED
021520,000617:
021521,000618: # SEE LSR22.1, LSR22.2, LSR22.3
021522,000619:
021523,000620: # FLAGS SET + RESET
021524,000621:
021525,000622: # NOANGFLG
021526,000623:
021527,000624: # DEBRIS
021528,000625:
021529,000626: # SEE LSR22.1, LSR22.2, LSR22.3
021530,000627:
021531,000628: 24,2445 E7,1737 EBANK= LRS22.1X
021532,000629: 24,2445 COUNT* $$/R22
021533,000630: 24,2445 05353 R22LEM TC PHASCHNG
021534,000631: 24,2446 04022 OCT 04022
021535,000632: 24,2447 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021536,000633: 24,2450 70074 MASK STATE
021537,000634: 24,2451 00006 EXTEND
021538,000635: 24,2452 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021539,000636: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021540,000637: 24,2454 70075 MASK STATE +1
021541,000638: 24,2455 00006 EXTEND
021542,000639: 24,2456 12640 BZF R22WAIT # NO WAIT
021543,000640: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021544,000641: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT
021545,000642: 24,2461 02012 RAND CHAN12
021546,000643: 24,2462 00006 EXTEND
021547,000644: 24,2463 12111 BZF P20LEMA # NO - RETURN TO P20
021548,000645: 24,2464 34752 CAF BIT2 # YES
021549,000646: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021550,000647: 24,2466 02033 RAND CHAN33
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|
Page 509
|
021552,000649: 24,2467 00006 EXTEND
021553,000650: 24,2470 12472 BZF +2 # YES CONTINUE
021554,000651: 24,2471 02135 TC P20LEMB5 # NO - SET IT
021555,000652: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021556,000653: 24,2473 74737 MASK RCDU0BIT
021557,000654: 24,2474 00006 EXTEND
021558,000655: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED
021559,000656: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
021560,000657: 24,2477 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021561,000658: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021562,000659: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021563,000660: 24,2502 50154 INDEX MPAC
021564,000661: 24,2503 02504 TC +1
021565,000662: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021566,000663: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021567,000664: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021568,000665: 24,2507 04616 TC BANKCALL
021569,000666: 24,2510 21563 CADR PRIOLARM
021570,000667: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021571,000668: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021572,000669: 24,2513 02506 TC -5 # ENTER (ILLEGAL OPTION)
021573,000670: 24,2514 05155 TC ENDOFJOB
021574,000671:
021575,000672: 24,2515 05353 R22LEM1 TC PHASCHNG
021576,000673: 24,2516 04022 OCT 04022
021577,000674: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA
021578,000675: 24,2520 04616 TC BANKCALL
021579,000676: 24,2521 20510 CADR PRIODSP
021580,000677: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021581,000678: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE)
021582,000679: 24,2524 02217 TC P20LEMC # ENTER (RECYCLE)
021583,000680: 24,2525 05353 R22LEM2 TC PHASCHNG
021584,000681: 24,2526 04022 OCT 04022
021585,000682: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021586,000683: 24,2530 02545 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021587,000684: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021588,000685: 24,2532 74747 MASK TRACKBIT
021589,000686: 24,2533 00006 EXTEND
021590,000687: 24,2534 12640 BZF R22WAIT # NO - WAIT
021591,000688: 24,2535 04616 TC BANKCALL # YES
021592,000689: 24,2536 51334 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021593,000690: 24,2537 50154 INDEX MPAC
021594,000691: 24,2540 02541 TC +1
021595,000692: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021596,000693: 24,2542 04616 TC BANKCALL
021597,000694: 24,2543 46116 CADR R61LEM
021598,000695: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021599,000696: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021600,000697: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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|
Page 510
|
021602,000699: 24,2547 00006 EXTEND
021603,000700: 24,2550 12631 BZF R22LEM42 # BRANCH - YES
021604,000701: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021605,000702: 24,2552 74745 MASK UPDATBIT
021606,000703: 24,2553 00006 EXTEND
021607,000704: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET
021608,000705: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021609,000706: 24,2556 55055 TS PHSPRDT2
021610,000707:
021611,000708: 24,2557 06042 TC INTPRET
021612,000709: 24,2560 77650 GOTO
021613,000710: 24,2561 54416 LSR22.3
021614,000711: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021615,000712: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021616,000713: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021617,000714: 24,2565 12624 TCF R22LEM44
021618,000715: 24,2566 77776 R22LEM96 EXIT
021619,000716: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021620,000717: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021621,000718: 24,2571 05353 TC PHASCHNG
021622,000719: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY
021623,000720: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY
021624,000721: 24,2574 05072 TC NOVAC
021625,000722: 24,2575 E7,1746 EBANK= N49FLAG
021626,000723: 24,2575 02645 50067 2CADR N49DSP
021627,000724:
021628,000725: 24,2577 06042 TC INTPRET
021629,000726: 24,2600 77735 SLOAD
021630,000727: 24,2601 03747 N49FLAG
021631,000728: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG
021632,000729: 24,2603 50600 -3 # SETTING CHANGED - BRANCH - NO
021633,000730: 24,2604 50612 R22LEM7 # PROCEED
021634,000731: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE - INCORPORATE
021635,000732: 24,2606 03675 LGRET # NEXT MEASUREMENT
021636,000733: 24,2607 44752 V34TON49 CS TWO
021637,000734: 24,2610 55746 TS N49FLAG
021638,000735: 24,2611 05155 TC ENDOFJOB
021639,000736: 24,2612 77776 R22LEM7 EXIT
021640,000737: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
021641,000738: 24,2614 64752 AD TWO
021642,000739: 24,2615 00006 EXTEND
021643,000740: 24,2616 12445 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
021644,000741: 24,2617 06042 TC INTPRET
021645,000742: 24,2620 77624 CALL
021646,000743: 24,2621 11210 GRP2PC # PHASE CHANGE AND
021647,000744: 24,2622 77650 GOTO # GO TO INCORPORATE DATA.
021648,000745: 24,2623 55431 ASTOK
021649,000746: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021650,000747: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021651,000748: 24,2626 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
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Page 511
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021653,000750: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE
021654,000751: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5
021655,000752: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021656,000753: 24,2632 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021657,000754: 24,2633 34752 CA TWO # NO - SET R65COUNTER = 2
021658,000755: 24,2634 55745 R22LEM45 TS R65CNTR
021659,000756: 24,2635 04616 TC BANKCALL
021660,000757: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021661,000758: 24,2637 02445 TC R22LEM
021662,000759: 24,2640 32667 R22WAIT CAF 1500DEC
021663,000760: 24,2641 02233 TC P20LEMWT +1
021664,000761:
021665,000762: 24,2642 04616 R22LEM46 TC BANKCALL
021666,000763: 24,2643 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021667,000764: 24,2644 02445 TC R22LEM
021668,000765:
021669,000766: 24,2645 32666 N49DSP CAF V06N49NB
021670,000767: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021671,000768: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021672,000769: 24,2650 02607 TC V34TON49 # TERMINATE - SET N49FLAG = -2
021673,000770: 24,2651 44753 CS ONE # PROCEED - N49FLAG = -1
021674,000771: 24,2652 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021675,000772: 24,2653 05155 TC ENDOFJOB
021676,000773: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021677,000774: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021678,000775: 24,2656 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021679,000776: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021680,000777: 24,2660 04616 TC BANKCALL # BAD DATA
021681,000778: 24,2661 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
021682,000779: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021683,000780: 24,2663 02445 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
021684,000781:
021685,000782: 24,2664 00525 ALRM525 OCT 00525
021686,000783: 24,2665 01405 V06N05 VN 00605
021687,000784: 24,2666 01461 V06N49NB VN 00649
021688,000785: 24,2667 02734 1500DEC DEC 1500 B-14
021689,000786:
021690,000787: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021691,000788: # RETURNS TO CALLER +1 IF P22FLAG SET
021692,000789: # TO CALLER +2 IF P22FLAG NOT SET
021693,000790:
021694,000791: 24,2670 COUNT* $$/P22
021695,000792: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021696,000793: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET?
021697,000794: 24,2672 10000 CCS A # BRANCH - P22FLAG SET
021698,000795: 24,2673 24002 INCR Q # NOT SET
021699,000796: 24,2674 00002 TC Q # RETURN
021700,000797:
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Page 512
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021702,000799: # RR DESIGNATE ROUTINE (R21LEM)
021703,000800: # PROGRAM DESCRIPTION
021704,000801:
021705,000802: # MOD NO - 2
021706,000803: # BY P VOLANTE
021707,000804:
021708,000805: # FUNCTIONAL DESCRIPTION
021709,000806:
021710,000807: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021711,000808: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021712,000809:
021713,000810: # CALLING SEQUENCE -
021714,000811:
021715,000812: # TC BANKCALL
021716,000813: # CADR R21LEM
021717,000814:
021718,000815: # SUBROUTINES CALLED -
021719,000816:
021720,000817: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021721,000818: # NOVAC INTPRET LPS20.1 PHASCHNG
021722,000819: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021723,000820: # TASKOVER BANKCALL RADSTALL RRDESSM
021724,000821:
021725,000822: # NORMAL EXIT MODES
021726,000823: #
021727,000824: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021728,000825: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021729,000826:
021730,000827: # ALARM OR ABORT EXIT MODES -
021731,000828:
021732,000829: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021733,000830: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021734,000831: # ACQUISITION
021735,000832:
021736,000833: # OUTPUT
021737,000834:
021738,000835: # SEE LPS20.1, RRDESSM
021739,000836:
021740,000837: # ERASABLE INITIALIZATION REQUIRED
021741,000838:
021742,000839: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021743,000840:
021744,000841: # FLAGS SET + RESET
021745,000842:
021746,000843: # LOSCMFLG LOKONSW
021747,000844:
021748,000845: # DEBRIS
021749,000846:
021750,000847: # SEE LPS20.1, RRDESSM
021751,000848:
021752,000849: 24,2675 E7,1456 EBANK= LOSCOUNT
021753,000850: 24,2675 COUNT* $$/R21
021754,000851: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021755,000852: 24,2676 00006 EXTEND
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In the printout, there is a red, handwritten hyphen to the right of CHAN12 below.
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021757,000854: 24,2677 03012 WAND CHAN12
021758,000855: 24,2700 02670 TC LUNSFCHK
021759,000856: 24,2701 02706 TC R21LEM5
021760,000857: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021761,000858: 24,2703 55106 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021762,000859: 24,2704 55107 TS TANG +1
021763,000860: 24,2705 02716 TC R21LEM6
021764,000861: 24,2706 34740 R21LEM5 CAF BIT12
021765,000862: 24,2707 70110 MASK RADMODES
021766,000863: 24,2710 10000 CCS A
021767,000864: 24,2711 02726 TC R21LEM10
021768,000865: 24,2712 34735 CAF BIT15
021769,000866: 24,2713 55106 TS TANG
021770,000867: 24,2714 44736 CS HALF
021771,000868: 24,2715 55107 TS TANG +1
021772,000869:
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Page 513
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021774,000871: 24,2716 05516 R21LEM6 TC DOWNFLAG
021775,000872: 24,2717 00012 ADRES LOKONSW
021776,000873: 24,2720 04616 TC BANKCALL
021777,000874: 24,2721 52506 CADR RRDESNB
021778,000875: 24,2722 02723 TC +1
021779,000876: 24,2723 04616 TC BANKCALL
021780,000877: 24,2724 17705 CADR RADSTALL
021781,000878: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
021782,000879: 24,2726 05504 R21LEM10 TC UPFLAG
021783,000880: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021784,000881: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021785,000882: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021786,000883: 24,2732 36250 R21LEM2 CAF THREE
021787,000884: 24,2733 55456 TS LOSCOUNT
021788,000885: 24,2734 06042 R21LEM1 TC INTPRET
021789,000886: 24,2735 43234 RTB DAD
021790,000887: 24,2736 21574 LOADTIME
021791,000888: 24,2737 11122 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021792,000889: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021793,000890: 24,2741 51256 LPS20.1
021794,000891: 24,2742 77776 EXIT
021795,000892: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
021796,000893: 24,2744 00012 ADRES LOKONSW
021797,000894: 24,2745 05516 TC DOWNFLAG
021798,000895: 24,2746 00126 ADRES NORRMON
021799,000896: 24,2747 06042 TC INTPRET
021800,000897: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021801,000898: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE
021802,000899: 24,2752 77776 EXIT
021803,000900: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021804,000901: # ON LUNAR SURFACE
021805,000902: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021806,000903: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021807,000904: 24,2756 17705 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021808,000905: 24,2757 02761 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021809,000906: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021810,000907: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503
021811,000908: 24,2762 04616 TC BANKCALL
021812,000909: 24,2763 21563 CADR PRIOLARM
021813,000910: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021814,000911: 24,2765 02775 TC R21SRCH # PROC
021815,000912: 24,2766 02211 TC P20LEMC3
021816,000913: 24,2767 05155 TC ENDOFJOB
021817,000914: 24,2770 05516 R21END TC DOWNFLAG
021818,000915: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021819,000916: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021820,000917: 24,2773 02232 TC P20LEMWT # YES - BYPASS V50 N 72 DISPLAY
021821,000918: 24,2774 03123 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021822,000919: 24,2775 05353 R21SRCH TC PHASCHNG
021823,000920: 24,2776 04022 OCT 04022
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Page 514
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021825,000922: 24,2777 03210 TC R24LEM # SEARCH ROUTINE
021826,000923: 24,3000 00503 ALRM503 OCT 00503
021827,000924: 24,3001 00527 ALRM527 OCT 527
021828,000925:
021829,000926: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021830,000927: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021831,000928: 24,3004 05504 TC UPFLAG
021832,000929: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
021833,000930: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING
021834,000931: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG
021835,000932: 24,3010 06042 TC INTPRET
021836,000933: 24,3011 77634 R21LEM12 RTB
021837,000934: 24,3012 21574 LOADTIME
021838,000935: 24,3013 77615 R21LEM00 DAD
021839,000936: 24,3014 11120 TENSEC # TIME T = T + 10 SECS.
021840,000937: 24,3015 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
021841,000938: 24,3016 34041 STCALL TDEC1
021842,000939: 24,3017 51256 LPS20.1 # COMPUTE LOS AT TIME T
021843,000940: 24,3020 77624 CALL
021844,000941: 24,3021 52404 RRDESSM
021845,000942: 24,3022 77776 EXIT
021846,000943: 24,3023 03035 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
021847,000944: 24,3024 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
021848,000945: 24,3025 06032 TC KILLTASK
021849,000946: 24,3026 52604 CADR BEGDES
021850,000947: 24,3027 06042 TC INTPRET
021851,000948: 24,3030 43014 BOF CLRGO
021852,000949: 24,3031 00345 FSPASFLG # FIRST PASS THRU REPOSITION
021853,000950: 24,3032 51045 R21LEM8 # NO - GO TO CONTINUOUS DESIGNATE
021854,000951: 24,3033 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
021855,000952: 24,3034 51042 R21LEM50
021856,000953: 24,3035 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
021857,000954: 24,3036 03040 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
021858,000955: 24,3037 03107 TC R21LEM11 # YES - PUT OUT ALARM 530
021859,000956: 24,3040 55423 R21LEM7 TS REPOSCNT
021860,000957: 24,3041 06042 TC INTPRET
021861,000958: 24,3042 52145 R21LEM50 DLOAD GOTO
021862,000959: 24,3043 03425 REPOSTM
021863,000960: 24,3044 51013 R21LEM00
021864,000961: 24,3045 77745 R21LEM8 DLOAD
021865,000962: 24,3046 03425 REPOSTM
021866,000963: 24,3047 34041 STCALL TDEC1
021867,000964: 24,3050 50312 UPPSV
021868,000965: 24,3051 77776 EXIT
021869,000966: 24,3052 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
021870,000967: 24,3053 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
021871,000968: 24,3054 05516 TC DOWNFLAG
021872,000969: 24,3055 00012 ADRES LOKONSW
021873,000970: 24,3056 05504 TC UPFLAG
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Page 515
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021875,000972: 24,3057 00126 ADRES NORRMON
021876,000973: 24,3060 04616 TC BANKCALL
021877,000974: 24,3061 52506 CADR RRDESNB
021878,000975: 24,3062 03063 TC +1
021879,000976: 24,3063 06042 TC INTPRET
021880,000977: 24,3064 44234 RTB BDSU
021881,000978: 24,3065 21574 LOADTIME # COMPUTE DELTA TIME
021882,000979: 24,3066 03425 REPOSTM # FOR LONGCALL
021883,000980: 24,3067 03427 STORE DELTATM
021884,000981: 24,3070 77776 EXIT
021885,000982: 24,3071 00006 EXTEND
021886,000983: 24,3072 31427 DCA DELTATM
021887,000984: 24,3073 05277 TC LONGCALL
021888,000985: 24,3074 E7,1456 EBANK= LOSCOUNT
021889,000986: 24,3074 03077 50067 2CADR R21LEM9
021890,000987:
021891,000988: 24,3076 05155 TC ENDOFJOB
021892,000989: 24,3077 06032 R21LEM9 TC KILLTASK
021893,000990: 24,3100 52613 CADR STDESIG
021894,000991: 24,3101 06011 TC CLRADMOD
021895,000992: 24,3102 37717 CAF PRIO26
021896,000993: 24,3103 05105 TC FINDVAC
021897,000994: 24,3104 E7,1456 EBANK= LOSCOUNT
021898,000995: 24,3104 02726 50067 2CADR R21LEM10
021899,000996:
021900,000997: 24,3106 05261 TC TASKOVER
021901,000998: 24,3107 33116 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
021902,000999: 24,3110 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
021903,001000: 24,3111 21563 CADR PRIOLARM # 600 SECS.
021904,001001: 24,3112 06025 TC GOTOV56
021905,001002: 24,3113 06025 TC GOTOV56
021906,001003: 24,3114 06025 TC GOTOV56
021907,001004: 24,3115 05155 TC ENDOFJOB
021908,001005: 24,3116 00530 ALRM530 OCT 00530
021909,001006: 24,3117 00000 01750 TENSEC 2DEC 1000 B-28
021910,001007:
021911,001008: 24,3121 00000 00062 HALFSEC 2DEC 50 B-28
021912,001009:
021913,001010: 24,3123 05353 R21DISP TC PHASCHNG
021914,001011: 24,3124 04022 OCT 04022
021915,001012: 24,3125 33136 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
021916,001013: 24,3126 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
021917,001014: 24,3127 20711 CADR GOPERF2R
021918,001015: 24,3130 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
021919,001016: 24,3131 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
021920,001017: 24,3132 03125 TC -5 # ENTER ILLEGAL
021921,001018: 24,3133 34745 CAF BIT7
021922,001019: 24,3134 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
021923,001020: 24,3135 05155 TC ENDOFJOB
021924,001021:
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Page 516
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021926,001023: 24,3136 01510 V06N72PV VN 00672
021927,001024:
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Page 517
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021929,001026: # MANUAL ACQUISITION ROUTINE R23LEM
021930,001027: # PROGRAM DESCRIPTION
021931,001028:
021932,001029: # MOD NO - 2
021933,001030: # BY P VOLANTE
021934,001031:
021935,001032: # FUNCTIONAL DESCRIPTION
021936,001033:
021937,001034: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
021938,001035:
021939,001036: # CALLING SEQUENCE -
021940,001037:
021941,001038: # TC R23LEM
021942,001039:
021943,001040: # SUBROUTINES CALLED
021944,001041:
021945,001042: # BANKCALL R61LEM
021946,001043: # SETMINDB GOPERF1
021947,001044:
021948,001045: # NORMAL EXIT MODES -
021949,001046:
021950,001047: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
021951,001048: # ,SELECTION OF PROC WILL CONTINUE R23
021952,001049: # ,SELECTION OF TERM WILL TERMINATE R23 + P20
021953,001050:
021954,001051: # ALARM OR ABORT EXIT MODES -
021955,001052:
021956,001053: # SEE NORMAL EXIT MODES ABOVE
021957,001054:
021958,001055: # OUTPUT
021959,001056:
021960,001057: # N.A.
021961,001058:
021962,001059: # ERASABLE INITIALIZATION REQUIRED -
021963,001060:
021964,001061: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
021965,001062:
021966,001063: 24,3137 1142 EBANK= GENRET
021967,001064: 24,3137 COUNT* $$/R23
021968,001065: 24,3137 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
021969,001066: 24,3140 00126 ADRES NORRMON
021970,001067: 24,3141 00004 INHINT
021971,001068: 24,3142 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
021972,001069: 24,3143 40141 CADR SETMINDB
021973,001070: 24,3144 00003 RELINT
021974,001071: 24,3145 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
021975,001072: 24,3146 00006 EXTEND
021976,001073: 24,3147 05012 WOR CHAN12
021977,001074: 24,3150 33207 CAF OCT205
021978,001075: 24,3151 04616 TC BANKCALL
021979,001076: 24,3152 20624 CADR GOPERF1
021980,001077: 24,3153 03200 TC R23LEM2 # TERMINATE
021981,001078: 24,3154 03156 TC R23LEM11 # PROCEDE
021982,001079: 24,3155 03203 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
021983,001080: 24,3156 00004 R23LEM11 INHINT
021984,001081: 24,3157 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
021985,001082: 24,3160 00035 ADRES CDUT
021986,001083: 24,3161 03170 TC OUTOFLIM # NOT WITHIN LIMITS
021987,001084: 24,3162 04674 TC IBNKCALL # RESTORE DEADBAND TO
021988,001085: 24,3163 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
021989,001086: 24,3164 00003 RELINT
021990,001087: 24,3165 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021991,001088: 24,3166 00126 ADRES NORRMON
021992,001089: 24,3167 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
021993,001090: 24,3170 00003 OUTOFLIM RELINT
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Page 518
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021995,001092: 24,3171 33206 CAF OCT501PV
021996,001093: 24,3172 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
021997,001094: 24,3173 21563 CADR PRIOLARM # LIMITS
021998,001095: 24,3174 03200 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
021999,001096: 24,3175 03171 TC OUTOFLIM +1 # PROCEED ILLEGAL
022000,001097: 24,3176 03203 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
022001,001098: 24,3177 05155 TC ENDOFJOB
022002,001099: 24,3200 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022003,001100: 24,3201 00126 ADRES NORRMON
022004,001101: 24,3202 06025 TC GOTOV56 # AND EXIT VIA V56
022005,001102: 24,3203 04616 R23LEM3 TC BANKCALL
022006,001103: 24,3204 46116 CADR R61LEM
022007,001104: 24,3205 03145 TC R23LEM1
022008,001105:
022009,001106: 24,3206 00501 OCT501PV OCT 501
022010,001107: 24,3207 00205 OCT205 OCT 205
022011,001108:
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Page 519
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022013,001110: # SEARCH ROUTINE R24LEM
022014,001111: # PROGRAM DESCRIPTION
022015,001112:
022016,001113: # MOD NO - 2
022017,001114: # BY P. VOLANTE
022018,001115:
022019,001116: # FUNCTIONAL DESCRIPTION
022020,001117:
022021,001118: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022022,001119: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022023,001120: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022024,001121:
022025,001122: # CALLING SEQUENCE
022026,001123:
022027,001124: # CAF PRIONN
022028,001125: # TC FINDVAC
022029,001126: # EBANK= DATAGOOD
022030,001127: # 2CADR R24LEM
022031,001128:
022032,001129: # SUBROUTINES CALLED
022033,001130:
022034,001131: # FLAGUP FLAGDOWN BANKCALL
022035,001132: # R61LEM GOFLASHR FINDVAC
022036,001133: # ENDOFJOB NOVAC LSR24.1
022037,001134:
022038,001135: # NORMAL EXIT MODES -
022039,001136:
022040,001137: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
022041,001138: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022042,001139: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022043,001140:
022044,001141: # ALARM OR ABORT EXIT MODES -
022045,001142:
022046,001143: # SEE NORMAL EXIT MODES ABOVE
022047,001144:
022048,001145: # OUTPUT -
022049,001146:
022050,001147: # SEE OUTPUT FROM LSR24.1 + R61LEM
022051,001148:
022052,001149: # ERASABLE INITIALIZATION REQUIRED
022053,001150:
022054,001151: # SEE INPUT FOR LSR24.1
022055,001152:
022056,001153: # FLAGS SET + RESET
022057,001154:
022058,001155: # SRCHOPT, ACMODFLG
022059,001156:
022060,001157: 24,3210 E7,1733 EBANK= DATAGOOD
022061,001158: 24,3210 COUNT* $$/R24
022062,001159: 24,3210 05504 R24LEM TC UPFLAG
022063,001160: 24,3211 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022064,001161: 24,3212 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022065,001162: 24,3213 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022066,001163: 24,3214 34755 R24LEM1 CAF ZERO
022067,001164: 24,3215 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022068,001165: 24,3216 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022069,001166: 24,3217 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022070,001167: 24,3220 05353 R24LEM2 TC PHASCHNG
022071,001168: 24,3221 04022 OCT 04022
022072,001169: 24,3222 33255 CAF V16N80
022073,001170: 24,3223 04616 TC BANKCALL
022074,001171: 24,3224 20505 CADR PRIODSPR
022075,001172: 24,3225 06025 TC GOTOV56
022076,001173: 24,3226 03232 TC R24END # PROCEED EXIT R24 TO P20LEM1
022077,001174:
022078,001175: 24,3227 03236 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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Page 520
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022080,001177: 24,3230 04616 TC BANKCALL
022081,001178: 24,3231 55442 CADR LRS24.1
022082,001179: 24,3232 06032 R24END TC KILLTASK
022083,001180: 24,3233 55643 CADR CALLDGCH
022084,001181: 24,3234 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022085,001182: 24,3235 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022086,001183:
022087,001184: 6011 BLOCK 3
022088,001185: 6000 SETLOC FFTAG6
022089,001186: 6000 BANK
022090,001187: 6011 COUNT* $$/R24
022091,001188:
022092,001189: 6011 46021 CLRADMOD CS BIT10+15
022093,001190: 6012 00004 INHINT
022094,001191: 6013 70110 MASK RADMODES
022095,001192: 6014 54110 TS RADMODES
022096,001193: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022097,001194: 6016 00006 EXTEND
022098,001195: 6017 03012 WAND CHAN12 # USER WILL RELINT
022099,001196:
022100,001197: 6020 00002 TC Q
022101,001198:
022102,001199: 6021 41000 BIT10+15 OCT 41000
022103,001200:
022104,001201: 24,3236 BANK 24
022105,001202: 24,2000 SETLOC P20S
022106,001203: 24,2000 BANK
022107,001204: 24,3236 COUNT* $$/R24
022108,001205:
022109,001206: 24,3236 05353 R24LEM3 TC PHASCHNG
022110,001207: 24,3237 04022 OCT 04022
022111,001208: 24,3240 06032 TC KILLTASK
022112,001209: 24,3241 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022113,001210: 24,3242 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022114,001211: 24,3243 34774 CAF .5SEC
022115,001212: 24,3244 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022116,001213: 24,3245 01736 CADR DELAYJOB
022117,001214: 24,3246 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022118,001215: 24,3247 03252 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022119,001216: 24,3250 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022120,001217: 24,3251 46116 CADR R61LEM # ATTITUDE MANEUVER
022121,001218: 24,3252 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022122,001219: 24,3253 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022123,001220: # RRDESSM WILL RETURN TO CALLER
022124,001221: 24,3254 03220 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022125,001222:
022126,001223: 24,3255 04120 V16N80 VN 01680
022127,001224:
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Page 521
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022129,001226: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022130,001227: # PROGRAM DESCRIPTION
022131,001228:
022132,001229: # MOD NO: 3 DATE: 4-11-67
022133,001230: # MOD BY: P VOLANTE SDC
022134,001231:
022135,001232: # FUNCTIONAL DESCRIPTION -
022136,001233:
022137,001234: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022138,001235: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022139,001236: # ATTITUDE.
022140,001237:
022141,001238: # CALLING SEQUENCE -
022142,001239:
022143,001240: # TC BANKCALL
022144,001241: # CADR R61LEM
022145,001242:
022146,001243: # SUBROUTINES CALLED
022147,001244:
022148,001245: # LPS20.1 VECPOINT
022149,001246: # KALCMAN3
022150,001247:
022151,001248: # NORMAL EXIT MODES -
022152,001249:
022153,001250: # NORMAL RETURN IS TO CALLER + 1
022154,001251:
022155,001252: # ALARM OR ABORT EXIT MODES -
022156,001253:
022157,001254: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022158,001255: # RENDEZVOUS FLAG ARE NOT SET.
022159,001256:
022160,001257: # OUTPUT -
022161,001258:
022162,001259: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022163,001260:
022164,001261: # ERASABLE INITIALIZATION REQUIRED
022165,001262:
022166,001263: # GENRET USED TO SAVE Q FOR RETURN
022167,001264:
022168,001265: # FLAGS SET + RESET
022169,001266:
022170,001267: # 3AXISFLG
022171,001268:
022172,001269: # DEBRIS
022173,001270:
022174,001271: # SEE SUBROUTINES
022175,001272:
022176,001273: 23,2000 SETLOC R61
022177,001274: 23,2000 BANK
022178,001275: 23,2116 E7,1456 EBANK= LOSCOUNT
022179,001276: 23,2116 COUNT* $$/R61
022180,001277: 23,2116 04645 R61LEM TC MAKECADR
022181,001278: 23,2117 55142 TS GENRET
022182,001279: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022183,001280: 23,2121 00024 ADRES R61FLAG
022184,001281: 23,2122 02152 TC R61C+L02
022185,001282: 23,2123 04645 R65LEM TC MAKECADR
022186,001283: 23,2124 55142 TS GENRET
022187,001284: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022188,001285: 23,2126 00024 ADRES R61FLAG
022189,001286: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022190,001287: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022191,001288: 23,2131 02033 RAND CHAN33
022192,001289: 23,2132 10000 CCS A
022193,001290: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD
022194,001291: 23,2134 05504 TC UPFLAG
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Page 522
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022196,001293: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM
022197,001294: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
022198,001295: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022199,001296: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022200,001297: 23,2141 17705 CADR RADSTALL # DURING ANY MARK PROCESSING,
022201,001298: 23,2142 12143 NOOP
022202,001299: 23,2143 04616 TC BANKCALL
022203,001300: 23,2144 53114 CADR RRRANGE
022204,001301: 23,2145 04616 TC BANKCALL
022205,001302: 23,2146 17705 CADR RADSTALL
022206,001303: 23,2147 12150 NOOP
022207,001304: 23,2150 05516 TC DOWNFLAG
022208,001305: 23,2151 00063 ADRES R04FLAG
022209,001306: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022210,001307: 23,2153 70075 MASK STATE +1
022211,001308: 23,2154 00006 EXTEND
022212,001309: 23,2155 12314 BZF R65WAIT # NOT SET
022213,001310: 23,2156 06042 R61C+L03 TC INTPRET
022214,001311: 23,2157 77775 VLOAD
022215,001312: 23,2160 06516 HIUNITZ
022216,001313: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022217,001314: 23,2162 43234 R61LEM1 RTB DAD
022218,001315: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022219,001316: 23,2164 15712 3SECONDS # SIX SECOND PERIOD.
022220,001317: 23,2165 34041 STCALL TDEC1
022221,001318: 23,2166 51256 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022222,001319: 23,2167 77775 VLOAD
022223,001320: 23,2170 01101 RRTARGET
022224,001321: 23,2171 03773 STORE POINTVSM
022225,001322: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022226,001323: 23,2173 46322 READCDUD
022227,001324: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022228,001325: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022229,001326: 23,2176 77776 EXIT
022230,001327: 23,2177 05353 TC PHASCHNG
022231,001328: 23,2200 04022 OCT 04022
022232,001329: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET
022233,001330: 23,2202 70075 MASK FLAGWRD1
022234,001331: 23,2203 00006 EXTEND
022235,001332: 23,2204 12314 BZF R65WAIT
022236,001333: 23,2205 04616 TC BANKCALL
022237,001334: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE
022238,001335: 23,2207 10000 CCS A
022239,001336: 23,2210 02302 TC R61C+L04 # NOT IN AUTO
022240,001337: 23,2211 06042 TC INTPRET
022241,001338: 23,2212 45175 VLOAD CALL
022242,001339: 23,2213 01101 RRTARGET
022243,001340: 23,2214 47650 CDU*SMNB
022244,001341: 23,2215 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022245,001342: 23,2216 00162 MPAC +5
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Page 523
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022247,001344: 23,2217 06320 COS15DEG
022248,001345: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022249,001346: 23,2221 46236 R61C+L05 # PHI GRE 10DEG
022250,001347: 23,2222 E6,1634 EBANK= CDUXD
022251,001348: 23,2222 35015 CAF EBANK6
022252,001349: 23,2223 54003 TS EBANK
022253,001350: 23,2224 00004 INHINT
022254,001351: 23,2225 00006 EXTEND
022255,001352: 23,2226 30322 DCA CPHI
022256,001353: 23,2227 53635 DXCH CDUXD
022257,001354: 23,2230 30323 CA CPSI
022258,001355: 23,2231 55636 TS CDUZD
022259,001356: 23,2232 00003 RELINT
022260,001357: 23,2233 E7,1456 EBANK= LOSCOUNT
022261,001358: 23,2233 35016 CAF EBANK7
022262,001359: 23,2234 54003 TS EBANK
022263,001360: 23,2235 02261 TC R61C+L06
022264,001361: 23,2236 77776 R61C+L05 EXIT
022265,001362: 23,2237 00004 INHINT
022266,001363: 23,2240 04674 TC IBNKCALL
022267,001364: 23,2241 40154 FCADR ZATTEROR
022268,001365: 23,2242 04674 TC IBNKCALL
022269,001366: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022270,001367: 23,2244 05516 TC DOWNFLAG
022271,001368: 23,2245 00124 ADRES 3AXISFLG
022272,001369: 23,2246 05504 TC UPFLAG
022273,001370: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022274,001371: 23,2250 04616 TC BANKCALL
022275,001372: 23,2251 54123 CADR R60LEM
022276,001373: 23,2252 00004 INHINT
022277,001374: 23,2253 04674 TC IBNKCALL
022278,001375: 23,2254 40115 FCADR RESTORDB
022279,001376: 23,2255 05353 TC PHASCHNG
022280,001377: 23,2256 04022 OCT 04022
022281,001378: 23,2257 05516 TC DOWNFLAG
022282,001379: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022283,001380: 23,2261 30075 R61C+L06 CA FLAGWRD1
022284,001381: 23,2262 74742 MASK R61FLBIT
022285,001382: 23,2263 10000 CCS A
022286,001383: 23,2264 02305 TC R61C+L4
022287,001384: 23,2265 11745 CCS R65CNTR
022288,001385: 23,2266 02270 TC +2
022289,001386: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022290,001387: 23,2270 55745 TS R65CNTR
022291,001388: 23,2271 32321 CAF 06SEC
022292,001389: 23,2272 05173 TC TWIDDLE
022293,001390: 23,2273 02275 ADRES R61C+L2
022294,001391: 23,2274 05155 TC ENDOFJOB
022295,001392: 23,2275 37717 R61C+L2 CAF PRIO26
022296,001393: 23,2276 05105 TC FINDVAC
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Page 524
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022298,001395: 23,2277 E7,1456 EBANK= LOSCOUNT
022299,001396: 23,2277 02127 46067 2CADR R61C+L01
022300,001397:
022301,001398: 23,2301 05261 TC TASKOVER
022302,001399: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022303,001400: 23,2303 54272 CADR BALLANGS
022304,001401: 23,2304 02261 TC R61C+L06
022305,001402: 23,2305 31142 R61C+L4 CAE GENRET
022306,001403: 23,2306 14640 TCF BANKJUMP # EXIT R61
022307,001404: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022308,001405: 23,2310 70074 MASK STATE
022309,001406: 23,2311 00006 EXTEND
022310,001407: 23,2312 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022311,001408: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE
022312,001409: 23,2314 04635 R65WAIT TC POSTJUMP
022313,001410: 23,2315 50232 CADR P20LEMWT
022314,001411:
022315,001412: 23,2316 00500 BIT7+9PV OCT 00500
022316,001413: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1
022317,001414:
022318,001415: 23,2321 01130 06SEC DEC 600 B-14
022319,001416: 23,2322 PHI EQUALS 20D
022320,001417: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022321,001418: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022322,001419: 23,2324 56003 XCH EBANK
022323,001420: 23,2325 54070 TS RUPTREG1
022324,001421: 23,2326 E6,1634 EBANK= CDUXD
022325,001422: 23,2326 31634 CA CDUXD
022326,001423: 23,2327 54154 TS MPAC
022327,001424: 23,2330 00006 EXTEND
022328,001425: 23,2331 31636 DCA CDUYD
022329,001426: 23,2332 52156 DXCH MPAC +1
022330,001427: 23,2333 30070 CA RUPTREG1
022331,001428: 23,2334 54003 TS EBANK
022332,001429: 23,2335 00003 RELINT
022333,001430: 23,2336 16502 TCF TMODE
022334,001431:
022335,001432: 4512 BLOCK 02
022336,001433: 4000 SETLOC RADARFF
022337,001434: 4000 BANK
022338,001435:
022339,001436: 4512 E7,1456 EBANK= LOSCOUNT
022340,001437: 4512 COUNT* $$/RRSUB
022341,001438:
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Page 525
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022343,001440: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022344,001441: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022345,001442:
022346,001443: 4512 00006 MAGSUB EXTEND
022347,001444: 4513 64515 BZMF +2
022348,001445: 4514 14516 TCF +2
022349,001446: 4515 40000 COM
022350,001447:
022351,001448: 4516 50002 INDEX Q
022352,001449: 4517 60000 AD 0
022353,001450: 4520 00006 EXTEND
022354,001451: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022355,001452: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
022356,001453:
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Page 526
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022358,001455: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022359,001456:
022360,001457: # FUNCTIONAL DESCRIPTION_
022361,001458:
022362,001459: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022363,001460: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022364,001461: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022365,001462: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022366,001463: # MODE 1 AND =1 FOR MODE 2.
022367,001464:
022368,001465: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022369,001466: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022370,001467: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022371,001468: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022372,001469:
022373,001470: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022374,001471: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022375,001472: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022376,001473: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022377,001474: # TO L +3.
022378,001475:
022379,001476: # CALLING SEQUENCE:
022380,001477:
022381,001478: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022382,001479: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022383,001480:
022384,001481: # ERASABLE INITIALIZATION REQUIRED:
022385,001482:
022386,001483: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022387,001484: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022388,001485: # CURRENT EBANK).
022389,001486:
022390,001487: # SUBROUTINES CALLED_ MAGSUB
022391,001488:
022392,001489: # JOBS OR TASKS INITIATED_ NONE
022393,001490:
022394,001491: # ALARMS_ NONE
022395,001492:
022396,001493: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022397,001494: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022398,001495:
022399,001496: 4523 00006 RRLIMCHK EXTEND
022400,001497: 4524 50002 INDEX Q
022401,001498: 4525 50000 INDEX 0
022402,001499: 4526 30001 DCA 0
022403,001500: 4527 24002 INCR Q
022404,001501: 4530 52062 DXCH ITEMP1
022405,001502: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022406,001503:
022407,001504: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022408,001505: 4533 70110 MASK RADMODES
022409,001506: 4534 10000 CCS A
022410,001507: 4535 14550 TCF MODE2CHK
022411,001508:
022412,001509: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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Page 527
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022414,001511: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022415,001512: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022416,001513: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022417,001514:
022418,001515: 4542 34562 CAF 5.5DEGS
022419,001516: 4543 60062 AD ITEMP2 # S
022420,001517: 4544 04512 TC MAGSUB
022421,001518: 4545 64420 DEC -.35833 # 64.5 DEGS
022422,001519: 4546 00001 TC L
022423,001520: 4547 04560 TC RRLIMOK # IN LIMITS.
022424,001521:
022425,001522: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022426,001523: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022427,001524: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022428,001525: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022429,001526: 4554 00001 TC L
022430,001527:
022431,001528: 4555 30061 CA ITEMP1
022432,001529: 4556 04512 TC MAGSUB
022433,001530: 4557 51615 DEC -.69444 # 125 DEGS
022434,001531:
022435,001532: 4560 50001 RRLIMOK INDEX L
022436,001533: 4561 00001 TC L # ( = TC 1 )
022437,001534:
022438,001535: 4562 00765 5.5DEGS DEC .03056
022439,001536: 4563 16450 82DEGS DEC .45556
022440,001537:
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Page 528
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022442,001539: # PROGRAM NAME_ SETTRKF . IF EITHER:
022443,001540:
022444,001541: # FUNCTIONAL DESCRIPTION_
022445,001542: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022446,001543: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022447,001544: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022448,001545: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022449,001546: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022450,001547: # AUTO MODE (RADMODES BITS 13, 7, 2).
022451,001548: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022452,001549: # 8,5)
022453,001550: # 3) NO RR DATA (RADMODES BIT 4)
022454,001551: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022455,001552: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022456,001553: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022457,001554: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022458,001555: # TRACKER FAIL LAMP IS TURNED ON IF_
022459,001556: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022460,001557: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022461,001558: # EITHER THE ALT OR VEL INFORMATION
022462,001559: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022463,001560: # WITH EITHER THE AL
022464,001561:
022465,001562: # CALLING SEQUENCE:
022466,001563:
022467,001564: # L TC SETTRKF
022468,001565:
022469,001566: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022470,001567:
022471,001568: # SUBROUTINES CALLED_ NONE
022472,001569:
022473,001570: # JOBS OR TASKS INITIATED_ NONE
022474,001571:
022475,001572: # ALARMS_ TRACKER FAIL LAMP
022476,001573:
022477,001574: # EXIT_ L +1 (ALWAYS) ED.
022478,001575:
022479,001576: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022480,001577: 4565 71300 MASK IMODES33
022481,001578: 4566 10000 CCS A
022482,001579: 4567 00002 TC Q
022483,001580:
022484,001581: 4570 34744 RRTRKF CA BIT8
022485,001582: 4571 54001 TS L
022486,001583:
022487,001584: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022488,001585: 4573 70110 MASK RADMODES
022489,001586: 4574 00006 EXTEND
022490,001587: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022491,001588:
022492,001589: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022493,001590: 4577 70110 MASK RADMODES
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022495,001592: 4600 10000 CCS A
022496,001593: 4601 30001 TRKFLON CA L
022497,001594: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022498,001595: 4603 70001 MASK L
022499,001596: 4604 00006 EXTEND
022500,001597: 4605 16745 BZF TCQ # NO CHANGE.
022501,001598:
022502,001599: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022503,001600: 4607 00006 EXTEND
022504,001601: 4610 06001 RXOR LCHAN
022505,001602: 4611 74733 MASK POSMAX
022506,001603: 4612 64735 AD BIT15
022507,001604: 4613 55035 TS DSPTAB +11D
022508,001605: 4614 00002 TC Q
022509,001606:
022510,001607: 4615 10102 13,7,2 OCT 10102
022511,001608: 4616 ENDRMODF EQUALS
022512,001609:
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Page 530
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022514,001611: # PROGRAM NAME_ RRTURNON
022515,001612:
022516,001613: # FUNCTIONAL DESCRIPTION_
022517,001614:
022518,001615: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022519,001616: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022520,001617: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022521,001618: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022522,001619: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022523,001620: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022524,001621: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022525,001622: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022526,001623: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022527,001624: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022528,001625: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022529,001626: # TO TASKOVER.
022530,001627:
022531,001628: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022532,001629: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022533,001630: # THE RR (STATE BIT 7).
022534,001631:
022535,001632: # ERASABLE INITIALIZATION REQUIRED:
022536,001633:
022537,001634: # RADMODES, STATE
022538,001635:
022539,001636: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022540,001637:
022541,001638: # JOBS OR TASKS INITIATED_
022542,001639: #
022543,001640: # NONE
022544,001641:
022545,001642: # ALARMS_ NONE (SEE RRZEROSB)
022546,001643:
022547,001644: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022548,001645:
022549,001646: 24,3256 BANK 24
022550,001647: 25,2000 SETLOC P20S1
022551,001648: 25,2000 BANK
022552,001649:
022553,001650: 25,2073 E7,1456 EBANK= LOSCOUNT
022554,001651: 25,2073 COUNT* $$/RSUB
022555,001652: 25,2073 02102 RRTURNON TC RRZEROSB
022556,001653: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022557,001654: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022558,001655: 25,2076 44753 CS TURNONBT
022559,001656: 25,2077 70110 MASK RADMODES
022560,001657: 25,2100 54110 TS RADMODES
022561,001658: 25,2101 15261 TCF TASKOVER
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Page 531
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022563,001660: # PROGRAM NAME_ RRZEROSB
022564,001661:
022565,001662: # FUNCTIONAL DESCRIPTION_
022566,001663:
022567,001664: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022568,001665: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022569,001666: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022570,001667: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022571,001668: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022572,001669: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022573,001670: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022574,001671: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022575,001672: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022576,001673: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022577,001674: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022578,001675: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022579,001676: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022580,001677: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022581,001678: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022582,001679:
022583,001680: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022584,001681:
022585,001682: # ERASABLE INITIALIZATION REQUIRED:
022586,001683:
022587,001684: # RADMODES (BIT 13 SET), DSPTAB +11D
022588,001685:
022589,001686: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022590,001687:
022591,001688: # JOBS OR TASKS INITIATED_
022592,001689:
022593,001690: # NONE
022594,001691:
022595,001692: # ALARMS_ TRACKER FAIL
022596,001693:
022597,001694: # EXIT_ L +1 (ALWAYS)
022598,001695:
022599,001696: 25,2102 00006 RRZEROSB EXTEND
022600,001697: 25,2103 23312 QXCH RRRET
022601,001698: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022602,001699: 25,2105 00006 EXTEND # COMING HERE.
022603,001700: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022604,001701: 25,2107 05221 TC FIXDELAY
022605,001702: 25,2110 00002 DEC 2 B-14
022606,001703:
022607,001704: 25,2111 34755 CAF ZERO
022608,001705: 25,2112 54035 TS CDUT
022609,001706: 25,2113 54036 TS CDUS
022610,001707: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
022611,001708: 25,2115 00006 EXTEND
022612,001709: 25,2116 03012 WAND CHAN12
022613,001710: 25,2117 05221 TC FIXDELAY
022614,001711: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022615,001712:
022616,001713: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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Page 532
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022618,001715: 25,2122 70110 MASK RADMODES
022619,001716: 25,2123 54110 TS RADMODES
022620,001717:
022621,001718: 25,2124 30035 CA CDUT
022622,001719: 25,2125 04512 TC MAGSUB
022623,001720: 25,2126 57777 DEC -.5
022624,001721: 25,2127 12132 TCF +3 # IF MODE 2.
022625,001722:
022626,001723: 25,2130 34755 CAF ZERO
022627,001724: 25,2131 12133 TCF +2
022628,001725: 25,2132 34740 CAF ANTENBIT
022629,001726: 25,2133 56110 XCH RADMODES
022630,001727: 25,2134 77744 MASK -BIT12
022631,001728: 25,2135 26110 ADS RADMODES
022632,001729:
022633,001730: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022634,001731:
022635,001732: 25,2137 01312 TC RRRET # DONE.
022636,001733:
022637,001734: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
022638,001735:
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Page 533
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022640,001737: # PROGRAM NAME_ DORREPOS
022641,001738:
022642,001739: # FUNCTIONAL DESCRIPTION_
022643,001740:
022644,001741: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022645,001742: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022646,001743: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022647,001744: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022648,001745: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022649,001746: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022650,001747: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022651,001748: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022652,001749: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022653,001750: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022654,001751: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022655,001752: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022656,001753: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022657,001754: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022658,001755: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022659,001756: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022660,001757: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022661,001758: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022662,001759: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022663,001760: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022664,001761: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022665,001762: # TASKOVER.
022666,001763:
022667,001764: # CALLING SEQUENCE:
022668,001765:
022669,001766: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022670,001767: # NOT WITHIN LIMITS OF CURRENT MODE.
022671,001768:
022672,001769: # ERASABLE INITIALIZATION REQUIRED:
022673,001770:
022674,001771: # RADMODES
022675,001772:
022676,001773: # SUBROUTINES CALLED_
022677,001774:
022678,001775: # RRTONLY, RRSONLY, BEGDES (EXIT)
022679,001776:
022680,001777: # JOBS OR TASKS INITIATED_
022681,001778:
022682,001779: # NONE
022683,001780:
022684,001781: # ALARMS- NONE
022685,001782:
022686,001783: # EXIT_ TASKOVER, BEGDES
022687,001784:
022688,001785: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022689,001786:
022690,001787: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022691,001788:
022692,001789: 25,2141 05221 TC FIXDELAY
022693,001790: 25,2142 00002 DEC 2 B-14
022694,001791:
022695,001792: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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022697,001794: 25,2144 70110 MASK RADMODES
022698,001795: 25,2145 10000 CCS A
022699,001796: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022700,001797: 25,2147 02252 TC RRTONLY
022701,001798:
022702,001799: 25,2150 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022703,001800: 25,2151 70110 MASK RADMODES
022704,001801: 25,2152 10000 CCS A
022705,001802: 25,2153 44736 CS HALF # -90 FOR MODE 2.
022706,001803: 25,2154 02255 TC RRSONLY
022707,001804:
022708,001805: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022709,001806: # REQUESTED DURING REPOSITION.
022710,001807: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022711,001808: 25,2157 54110 TS RADMODES
022712,001809: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022713,001810: 25,2161 10000 CCS A
022714,001811: 25,2162 12604 TCF BEGDES
022715,001812: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022716,001813: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022717,001814: 25,2165 03012 WAND CHAN12
022718,001815: 25,2166 15261 TCF TASKOVER
022719,001816:
022720,001817: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022721,001818: 25,2170 00006 EXTEND
022722,001819: 25,2171 02012 RAND CHAN12
022723,001820: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022724,001821: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022725,001822:
022726,001823: 25,2174 54112 TS LASTYCMD
022727,001824: 25,2175 54113 TS LASTXCMD
022728,001825: 25,2176 34752 CAF BIT2
022729,001826: 25,2177 00006 EXTEND
022730,001827: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022731,001828: 25,2201 00002 TC Q
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Page 535
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022733,001830: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022734,001831:
022735,001832: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022736,001833: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022737,001834: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022738,001835: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022739,001836: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022740,001837: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022741,001838: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022742,001839: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022743,001840: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022744,001841: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022745,001842: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022746,001843: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022747,001844: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022748,001845: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022749,001846: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022750,001847: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022751,001848: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022752,001849: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022753,001850: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022754,001851: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022755,001852:
022756,001853: # CALLING SEQUENCE:
022757,001854:
022758,001855: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022759,001856: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022760,001857: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022761,001858: # OTHER MODE.
022762,001859:
022763,001860: # ERASABLE INITIALIZATION REQUIRED:
022764,001861:
022765,001862: # RADMODES
022766,001863:
022767,001864: # SUBROUTINES CALLED_
022768,001865:
022769,001866: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022770,001867:
022771,001868: # JOBS OR TASKS INITIATED_
022772,001869:
022773,001870: # NONE
022774,001871:
022775,001872: # ALARMS_ NONE
022776,001873:
022777,001874: # EXIT_ STDESIG
022778,001875:
022779,001876: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022780,001877: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022781,001878: 25,2204 10000 CCS A
022782,001879: 25,2205 34735 CAF BIT15
022783,001880: 25,2206 02252 TC RRTONLY
022784,001881:
022785,001882: 25,2207 37743 CAF -45DEGSR
022786,001883: 25,2210 02255 TC RRSONLY
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Page 536
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022788,001885: 25,2211 40110 CS RADMODES
022789,001886: 25,2212 74740 MASK ANTENBIT
022790,001887: 25,2213 10000 CCS A
022791,001888: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
022792,001889: 25,2215 62242 AD -50DEGSR
022793,001890: 25,2216 02252 TC RRTONLY
022794,001891:
022795,001892: 25,2217 40110 CS RADMODES
022796,001893: 25,2220 74740 MASK ANTENBIT
022797,001894: 25,2221 10000 CCS A
022798,001895: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
022799,001896: 25,2223 02252 TC RRTONLY
022800,001897:
022801,001898: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
022802,001899: 25,2225 74740 MASK ANTENBIT
022803,001900: 25,2226 10000 CCS A
022804,001901: 25,2227 44736 CS HALF
022805,001902: 25,2230 02255 TC RRSONLY
022806,001903:
022807,001904: 25,2231 02244 TC RMODINV
022808,001905: 25,2232 44736 CS REMODBIT # END OF REMODE.
022809,001906: 25,2233 70110 MASK RADMODES
022810,001907: 25,2234 54110 TS RADMODES
022811,001908:
022812,001909: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022813,001910: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022814,001911: 25,2237 00006 EXTEND
022815,001912: 25,2240 13560 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
022816,001913: 25,2241 02613 TC STDESIG # YES - RETURN TO DESIGNATE
022817,001914: 25,2242 7743 -45DEGSR = 13,14,15
022818,001915: 25,2242 67070 -50DEGSR DEC -.27778
022819,001916: 25,2243 61615 -80DEGSR DEC -.44444
022820,001917:
022821,001918: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022822,001919: 25,2245 34740 CAF ANTENBIT
022823,001920: 25,2246 00006 EXTEND
022824,001921: 25,2247 06001 RXOR LCHAN
022825,001922: 25,2250 54110 TS RADMODES
022826,001923: 25,2251 00002 TC Q
022827,001924:
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Page 537
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022829,001926: # PROGRAM NAMES_ RRTONLY, RRSONLY
022830,001927:
022831,001928: # FUNCTIONAL DESCRIPTION_
022832,001929:
022833,001930: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022834,001931: # RRMANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022835,001932: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022836,001933: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022837,001934: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022838,001935: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022839,001936: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022840,001937: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022841,001938: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022842,001939: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022843,001940: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022844,001941: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022845,001942: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022846,001943: # REPEATED.
022847,001944:
022848,001945: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022849,001946: # L TC RRTONLY (TRUNNION ONLY)
022850,001947: # RRSONLY (SHAFT ONLY)
022851,001948: # RRTONLY IS CALLED BY PREPOS29;
022852,001949: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022853,001950:
022854,001951: # ERASABLE INITIALIZATION REQUIRED:
022855,001952:
022856,001953: # C(A) = DESIRED ANGLE, RADMODES
022857,001954:
022858,001955: # SUBROUTINES CALLED_
022859,001956:
022860,001957: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
022861,001958:
022862,001959: # JOBS OR TASKS INITIATED_
022863,001960:
022864,001961: # NONE
022865,001962:
022866,001963: # ALARMS_ NONE
022867,001964:
022868,001965: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022869,001966: # BITS 14, 11)
022870,001967: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022871,001968:
022872,001969: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
022873,001970: 25,2253 34755 CAF ZERO
022874,001971: 25,2254 12257 TCF RR1AXIS
022875,001972:
022876,001973: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022877,001974: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022878,001975:
022879,001976: 25,2257 55314 RR1AXIS TS RRINDEX
022880,001977: 25,2260 00006 EXTEND
022881,001978: 25,2261 23312 QXCH RRRET
022882,001979: 25,2262 12265 TCF RR1AX2
022883,001980:
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Page 538
|
022885,001982: 25,2263 05221 NXTRR1AX TC FIXDELAY
022886,001983: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022887,001984:
022888,001985: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
022889,001986: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
022890,001987: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
022891,001988: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
022892,001989:
022893,001990: 25,2271 31313 CA RDES
022894,001991: 25,2272 00006 EXTEND
022895,001992: 25,2273 51314 INDEX RRINDEX
022896,001993: 25,2274 20035 MSU CDUT
022897,001994: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
022898,001995: 25,2276 00006 EXTEND
022899,001996: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
022900,001997: 25,2300 54001 TS L
022901,001998: 25,2301 30110 CA RADMODES
022902,001999: 25,2302 74752 MASK AUTOMBIT
022903,002000: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
022904,002001: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
022905,002002: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
022906,002003:
022907,002004: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
022908,002005: 25,2307 01312 TC RRRET # RETURN TO CALLER.
022909,002006:
022910,002007: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
022911,002008: 25,2311 12313 TCF +2 # SETTING A TO 0.
022912,002009: 25,2312 56001 XCH L
022913,002010: 25,2313 53355 DXCH TRUNNCMD
022914,002011: 25,2314 02317 TC RROUT
022915,002012:
022916,002013: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
022917,002014:
022918,002015: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
022919,002016:
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|
Page 539
|
022921,002018: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
022922,002019:
022923,002020: # FUNCTIONAL DESCRIPTION_
022924,002021:
022925,002022: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
022926,002023: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
022927,002024: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
022928,002025: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
022929,002026: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
022930,002027: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
022931,002028: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
022932,002029: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
022933,002030: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
022934,002031: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
022935,002032: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
022936,002033: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
022937,002034: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
022938,002035:
022939,002036: # CALLING SEQUENCE:
022940,002037: #
022941,002038: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
022942,002039: # RRTONLY, RRSONLY, AND DODES
022943,002040:
022944,002041: # ERASABLE INITIALIZATION REQUIRED:
022945,002042:
022946,002043: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
022947,002044: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
022948,002045:
022949,002046: # SUBROUTINES CALLED_
022950,002047:
022951,002048: # MAGSUB
022952,002049:
022953,002050: # JOBS OR TASKS INITIATED_
022954,002051:
022955,002052: # NONE
022956,002053:
022957,002054: # ALARMS_ NONE
022958,002055:
022959,002056: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
022960,002057:
022961,002058: 25,2317 22002 RROUT LXCH Q # SAVE RETURN.
022962,002059: 25,2320 34753 CAF ONE # LOOP TWICE.
022963,002060: 25,2321 54062 RROUT2 TS ITEMP2
022964,002061: 25,2322 50000 INDEX A
022965,002062: 25,2323 31354 CA TRUNNCMD
022966,002063: 25,2324 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
022967,002064:
022968,002065: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LMITS.
022969,002066: 25,2326 77177 -RRLIMIT DEC -384 B-14
022970,002067: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
022971,002068:
022972,002069: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
022973,002070: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
022974,002071: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
022975,002072: 25,2333 40000 COM
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|
Page 540
|
022977,002074: 25,2334 60061 AD ITEMP1
022978,002075: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
022979,002076: 25,2336 50062 INDEX ITEMP2
022980,002077: 25,2337 54053 TS CDUTCMD
022981,002078:
022982,002079: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
022983,002080: 25,2341 12321 TCF RROUT2
022984,002081:
022985,002082: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
022986,002083: 25,2343 00006 EXTEND
022987,002084: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
022988,002085: 25,2345 00001 TC L # RETURN.
022989,002086:
022990,002087: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
022991,002088: 25,2347 42326 CS -RRLIMIT
022992,002089: 25,2350 12352 TCF +2
022993,002090: 25,2351 32326 CA -RRLIMIT
022994,002091: 25,2352 54061 TS ITEMP1
022995,002092: 25,2353 12331 TCF SETRRCTR +1
022996,002093:
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|
Page 541
|
022998,002095: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
022999,002096:
023000,002097: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023001,002098: 25,2355 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023002,002099: 25,2356 10000 CCS A
023003,002100: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023004,002101:
023005,002102: 25,2360 00004 INHINT
023006,002103: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023007,002104: 25,2362 70110 MASK RADMODES
023008,002105: 25,2363 64737 AD RCDU0BIT
023009,002106: 25,2364 54110 TS RADMODES
023010,002107:
023011,002108: 25,2365 34753 CAF ONE
023012,002109: 25,2366 05203 TC WAITLIST
023013,002110: 25,2367 E7,1456 EBANK= LOSCOUNT
023014,002111: 25,2367 02401 52067 2CADR RRZ2
023015,002112:
023016,002113: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
023017,002114: 25,2372 74752 MASK AUTOMBIT
023018,002115: 25,2373 10000 CCS A
023019,002116: 25,2374 12377 TCF ROADBACK
023020,002117: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023021,002118: 25,2376 00510 OCT 510
023022,002119: 25,2377 00003 ROADBACK RELINT
023023,002120: 25,2400 14631 TCF SWRETURN
023024,002121:
023025,002122: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023026,002123: 25,2402 13551 TCF ENDRADAR
023027,002124:
023028,002125: 25,2403 02001 BIT11+1 OCT 02001
023029,002126:
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Page 542
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023031,002128: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023032,002129:
023033,002130: # FUNCTIONAL DESCRIPTION_
023034,002131:
023035,002132: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023036,002133: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023037,002134: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023038,002135: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023039,002136: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023040,002137: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023041,002138: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023042,002139: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023043,002140: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023044,002141: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023045,002142: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023046,002143: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023047,002144: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023048,002145: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023049,002146: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023050,002147: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023051,002148: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023052,002149: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023053,002150: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023054,002151: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023055,002152: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023056,002153: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023057,002154:
023058,002155: # CALLING SEQUENCE:
023059,002156:
023060,002157: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023061,002158: # L+1 RRDESSM
023062,002159: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023063,002160: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023064,002161:
023065,002162: # ERASABLE INITIALIZATION REQUIRED:
023066,002163:
023067,002164: # RRTARGET, RADMODES
023068,002165:
023069,002166: # SUBROUTINES CALLED_
023070,002167:
023071,002168: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023072,002169: # PART OF), RMODINV
023073,002170:
023074,002171: # JOBS OR TASKS INITIATED_
023075,002172:
023076,002173: # NONE
023077,002174:
023078,002175: # ALARMS_ NONE
023079,002176:
023080,002177: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023081,002178: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023082,002179: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023083,002180:
023084,002181: 25,2404 43020 RRDESSM STQ CLEAR
023085,002182: 25,2405 01112 DESRET
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|
Page 543
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023087,002184: 25,2406 00271 RRNBSW
023088,002185: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023089,002186: 25,2410 47541 CDUTRIG
023090,002187: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023091,002188: 25,2412 01101 RRTARGET
023092,002189: 25,2413 47673 *SMNB*
023093,002190:
023094,002191: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023095,002192: 25,2415 26133 RRANGLES # ALTERNATE MODE.
023096,002193: 25,2416 77776 EXIT
023097,002194:
023098,002195: 25,2417 00004 INHINT
023099,002196: 25,2420 04523 TC RRLIMCHK
023100,002197: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023101,002198: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
023102,002199: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023103,002200: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
023104,002201: 25,2425 40104 CS FLAGWRD8
023105,002202: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023106,002203: 25,2427 00006 EXTEND
023107,002204: 25,2430 12467 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023108,002205: 25,2431 02472 TC TRYSWS
023109,002206:
023110,002207: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023111,002208: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023112,002209: 25,2434 00006 EXTEND
023113,002210: 25,2435 12467 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023114,002211: 25,2436 30074 CA STATE
023115,002212: 25,2437 74745 MASK RNDVZBIT
023116,002213: 25,2440 10000 CCS A # TEST RNDVZFLG.
023117,002214: 25,2441 02502 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023118,002215: 25,2442 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023119,002216:
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Page 544
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023121,002218: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023122,002219:
023123,002220: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023124,002221: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023125,002222: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023126,002223: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023127,002224: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023128,002225: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023129,002226: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023130,002227: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023131,002228: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023132,002229: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023133,002230: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023134,002231: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023135,002232: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023136,002233: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023137,002234: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023138,002235: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023139,002236: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023140,002237: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023141,002238: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023142,002239: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023143,002240: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023144,002241:
023145,002242: # CALLING SEQUENCE:
023146,002243:
023147,002244: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023148,002245:
023149,002246: # ERASABLE INITIALIZATION REQUIRED:
023150,002247:
023151,002248: # RADMODES, (SEE DODES)
023152,002249:
023153,002250: # SUBROUTINES CALLED_
023154,002251:
023155,002252: # SETRRECR, WAITLIST
023156,002253:
023157,002254: # JOBS OR TASKS INITIATED_
023158,002255:
023159,002256: # BEGDES
023160,002257:
023161,002258: # ALARMS_ NONE
023162,002259:
023163,002260: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023164,002261: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023165,002262:
023166,002263: 25,2443 25112 STARTDES INCR DESRET
023167,002264: 25,2444 40110 CS RADMODES
023168,002265: 25,2445 74742 MASK DESIGBIT
023169,002266: 25,2446 26110 ADS RADMODES
023170,002267: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023171,002268: 25,2450 10000 CCS A
023172,002269: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023173,002270:
023174,002271: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
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Page 545
|
023176,002273: 25,2453 34752 CAF TWO
023177,002274: 25,2454 05203 TC WAITLIST
023178,002275: 25,2455 E7,1456 EBANK= LOSCOUNT
023179,002276: 25,2455 02604 52067 2CADR BEGDES
023180,002277:
023181,002278: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023182,002279: 25,2460 00006 EXTEND
023183,002280: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023184,002281: 25,2462 05155 TC ENDOFJOB # NO
023185,002282: 25,2463 00003 DESRTRN RELINT
023186,002283: 25,2464 25112 INCR DESRET
023187,002284: 25,2465 31112 CA DESRET
023188,002285: 25,2466 14640 TCF BANKJUMP
023189,002286:
023190,002287: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023191,002288: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023192,002289: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023193,002290:
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Page 546
|
023195,002292: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023196,002293:
023197,002294: 25,2472 02244 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023198,002295: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023199,002296: 25,2474 01110 ADRES MODEB
023200,002297: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023201,002298:
023202,002299: 25,2476 02244 TC RMODINV # RESET BIT12
023203,002300: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023204,002301: 25,2500 26110 ADS RADMODES
023205,002302:
023206,002303: 25,2501 12423 TCF OKDESSM
023207,002304:
023208,002305: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023209,002306: 25,2503 25112 INCR DESRET # TO CALLER +2
023210,002307: 25,2504 12467 TCF NORDSTAL
023211,002308:
023212,002309: 25,2505 00074 MAXTRYS DEC 60 B-14
023213,002310:
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Page 547
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023215,002312: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023216,002313: # TANG AND TANG +1.
023217,002314:
023218,002315: 25,2506 04645 RRDESNB TC MAKECADR
023219,002316: 25,2507 55112 TS DESRET
023220,002317:
023221,002318: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023222,002319: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023223,002320: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023224,002321: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023225,002322: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023226,002323: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023227,002324: 25,2516 01106 ADRES TANG
023228,002325: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023229,002326:
023230,002327: 25,2520 00003 OKDESNB RELINT
023231,002328: 25,2521 00006 EXTEND
023232,002329: 25,2522 31107 DCA TANG
023233,002330: 25,2523 53753 DXCH TANGNB
023234,002331: 25,2524 06042 TC INTPRET
023235,002332:
023236,002333: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023237,002334: 25,2526 46041 RRNB
023238,002335: 25,2527 01101 STORE RRTARGET
023239,002336:
023240,002337: 25,2530 77414 SET EXIT
023241,002338: 25,2531 00071 RRNBSW
023242,002339:
023243,002340: 25,2532 00004 INHINT
023244,002341: 25,2533 12444 TCF STARTDES +1
023245,002342: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023246,002343: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023247,002344: 25,2536 01106 ADRES TANG
023248,002345: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023249,002346:
023250,002347: 25,2540 02244 TC RMODINV
023251,002348: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023252,002349: 25,2542 26110 ADS RADMODES
023253,002350: 25,2543 12520 TCF OKDESNB
023254,002351:
023255,002352: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023256,002353: 25,2545 05567 TC ALARM # BAD INPUT ANGLES.
023257,002354: 25,2546 00502 OCT 502
023258,002355: 25,2547 06011 TC CLRADMOD
023259,002356: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023260,002357:
023261,002358: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023262,002359: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023263,002360: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023264,002361: 25,2554 00006 EXTEND
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Page 548
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023266,002363: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023267,002364: 25,2556 30001 DCA 0
023268,002365: 25,2557 52062 DXCH ITEMP1
023269,002366: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023270,002367:
023271,002368: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023272,002369: 25,2562 70110 MASK RADMODES
023273,002370: 25,2563 10000 CCS A
023274,002371: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023275,002372: 25,2565 30061 CA ITEMP1
023276,002373: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023277,002374: 25,2567 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023278,002375: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023279,002376:
023280,002377: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023281,002378: 25,2572 00006 EXTEND
023282,002379: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023283,002380: 25,2574 64562 AD 5.5DEGS
023284,002381: 25,2575 04512 SHAFTLIM TC MAGSUB
023285,002382: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
023286,002383: 25,2577 00001 TC L # NOT IN LIMITS
023287,002384: 25,2600 04560 TC RRLIMOK # IN LIMITS
023288,002385: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023289,002386: 25,2602 12575 TCF SHAFTLIM
023290,002387:
023291,002388: 25,2603 03512 20.5DEGS DEC .11389
023292,002389:
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Page 549
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023294,002391: # PROGRAM NAME_ BEGDES
023295,002392:
023296,002393: # FUNCTIONAL DESCRIPTION_
023297,002394: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023298,002395: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023299,002396: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023300,002397: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023301,002398: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023302,002399: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023303,002400: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023304,002401: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023305,002402: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023306,002403: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023307,002404: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023308,002405: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023309,002406: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023310,002407: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023311,002408: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023312,002409: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023313,002410: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023314,002411: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023315,002412: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023316,002413: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023317,002414: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023318,002415: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023319,002416: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023320,002417: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023321,002418: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023322,002419:
023323,002420: # CALLING SEQUENCE:
023324,002421:
023325,002422: # WAITLIST CALL FROM STARTDES
023326,002423: # TCF BEGDES FROM DORREPOS
023327,002424: # TC STDESIG RETURNING, FROM REMODE
023328,002425:
023329,002426: # ERASABLE INITIALIZATION REQUIRED:
023330,002427: # DESCOUNT, RADMODES
023331,002428:
023332,002429: # SUBROUTINES CALLED_
023333,002430: # ENDRADAR, FINDVAC
023334,002431:
023335,002432: # JOBS OR TASKS INITIATED_ DODES
023336,002433:
023337,002434: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023338,002435: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023339,002436:
023340,002437: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023341,002438: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023342,002439: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023343,002440:
023344,002441: 25,2604 40110 BEGDES CS RADMODES
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Page 550
|
023346,002443: 25,2605 74736 MASK REMODBIT
023347,002444: 25,2606 10000 CCS A
023348,002445: 25,2607 02613 TC STDESIG
023349,002446: 25,2610 02202 TC REMODE
023350,002447: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023351,002448: 25,2612 00062 DEC 50 B-14
023352,002449:
023353,002450: 25,2613 34741 STDESIG CAF REPOSBIT
023354,002451: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023355,002452: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023356,002453: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023357,002454:
023358,002455: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023359,002456: 25,2620 12623 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023360,002457: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023361,002458: 25,2622 12640 TCF MOREDES +1
023362,002459:
023363,002460: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023364,002461: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023365,002462: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023366,002463: 25,2626 13551 TCF ENDRADAR # CHECKING RR CDU FAIL.
023367,002464:
023368,002465: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023369,002466: 25,2630 12637 TCF MOREDES
023370,002467:
023371,002468: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023372,002469: 25,2632 00006 EXTEND
023373,002470: 25,2633 03012 WAND CHAN12
023374,002471: 25,2634 05516 BADDES TC DOWNFLAG
023375,002472: 25,2635 00271 ADRES DESIGFLG
023376,002473: 25,2636 13565 TCF RDBADEND
023377,002474:
023378,002475: 25,2637 55113 MOREDES TS DESCOUNT
023379,002476: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023380,002477: 25,2641 05105 TC FINDVAC
023381,002478: 25,2642 E7,1456 EBANK= LOSCOUNT
023382,002479: 25,2642 02646 52067 2CADR DODES
023383,002480:
023384,002481: 25,2644 12611 TCF DESLOOP
023385,002482:
023386,002483: 25,2645 20002 B14+B2 OCT 20002
023387,002484:
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Page 551
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023389,002486: # PROGRAM NAME_ DODES
023390,002487:
023391,002488: # FUNCTIONAL DESCRIPTION_
023392,002489:
023393,002490: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023394,002491: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023395,002492: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023396,002493: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023397,002494: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023398,002495: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023399,002496: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023400,002497: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023401,002498: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023402,002499: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023403,002500: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023404,002501: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023405,002502: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023406,002503: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023407,002504: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023408,002505: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023409,002506: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023410,002507: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023411,002508: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023412,002509: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023413,002510: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023414,002511: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023415,002512: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023416,002513: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023417,002514: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023418,002515: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023419,002516: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023420,002517: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023421,002518: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023422,002519: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023423,002520: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023424,002521: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023425,002522: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023426,002523: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023427,002524: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023428,002525: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023429,002526: # VIA ENDOFJOB.
023430,002527:
023431,002528: # CALLING SEQUENCE:
023432,002529:
023433,002530: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023434,002531:
023435,002532: # ERASABLE INITIALIZATION REQUIRED:
023436,002533:
023437,002534: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023438,002535: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023439,002536:
023440,002537: # SUBROUTINES CALLED_
023441,002538:
023442,002539: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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Page 552
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023444,002541:
023445,002542: # JOBS OR TASKS INITIATED_
023446,002543:
023447,002544: # NONE
023448,002545:
023449,002546: # ALARMS_ NONE
023450,002547:
023451,002548: # EXIT_ ENDOFJOB (ALWAYS)
023452,002549:
023453,002550: 25,2646 00006 DODES EXTEND
023454,002551: 25,2647 30036 DCA CDUT
023455,002552: 25,2650 53107 DXCH TANG
023456,002553:
023457,002554: 25,2651 06042 TC INTPRET
023458,002555:
023459,002556: 25,2652 77201 SETPD VLOAD
023460,002557: 25,2653 00001 0
023461,002558: 25,2654 01101 RRTARGET
023462,002559: 25,2655 74214 BON VXSC
023463,002560: 25,2656 00311 RRNBSW
023464,002561: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
023465,002562: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023466,002563: 25,2661 63372 VSL1 PDVL
023467,002564: 25,2662 01761 LOSVEL
023468,002565: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023469,002566: 25,2664 13101 MCTOMS
023470,002567: 25,2665 45056 UNIT CALL
023471,002568: 25,2666 47541 CDUTRIG
023472,002569: 25,2667 77624 CALL
023473,002570: 25,2670 47673 *SMNB*
023474,002571:
023475,002572: 25,2671 14041 DONBRD STODL 32D
023476,002573: 25,2672 01110 TANG +1
023477,002574: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023478,002575: 25,2674 21577 CDULOGIC # (-SIN(S)).
023479,002576: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023480,002577: 25,2676 41546 COS PUSH
023481,002578: 25,2677 65205 DMP PDDL
023482,002579: 25,2700 00041 32D
023483,002580: 25,2701 00045 36D
023484,002581: 25,2702 44205 DMP BDSU
023485,002582: 25,2703 00001 0
023486,002583: 25,2704 77626 STADR
023487,002584: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
023488,002585:
023489,002586: 25,2706 47135 SLOAD RTB
023490,002587: 25,2707 01107 TANG
023491,002588: 25,2710 21577 CDULOGIC
023492,002589: 25,2711 71406 PUSH COS # COS(T) TO 4.
023493,002590: 25,2712 73525 PDDL SIN
023494,002591: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
023495,002592: 25,2714 00003 2
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Page 553
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023497,002594: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023498,002595: 25,2716 00005 4 # ( COS(T) )
023499,002596: 25,2717 41325 PDDL DMP # (SIN(T)COS(S))
023500,002597: 25,2720 00007 6
023501,002598: 25,2721 00001 0
023502,002599: 25,2722 55552 SL1 VDEF
023503,002600: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023504,002601: 25,2724 00041 32D
023505,002602:
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|
Page 554
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023507,002604: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023508,002605: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023509,002606:
023510,002607: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023511,002608: 25,2726 00006 EXTEND
023512,002609: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023513,002610: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
023514,002611: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023515,002612: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023516,002613: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023517,002614: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023518,002615: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023519,002616: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023520,002617: 25,2737 41107 +3 CS TANG +1
023521,002618: 25,2740 00006 EXTEND
023522,002619: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023523,002620: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
023524,002621: 25,2743 06042 TC INTPRET
023525,002622:
023526,002623: 25,2744 41345 DLOAD DMP
023527,002624: 25,2745 00003 2 # COS(S).
023528,002625: 25,2746 00005 4 # COS(T).
023529,002626: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
023530,002627: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023531,002628: 25,2751 00001 0 # SIN(S).
023532,002629: 25,2752 72405 DMP SL1
023533,002630: 25,2753 00005 4 # COS(T).
023534,002631: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
023535,002632: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023536,002633: 25,2756 52761 +3
023537,002634: 25,2757 77624 CALL
023538,002635: 25,2760 47675 *NBSM* # GET URR IN SM AXES.
023539,002636: 25,2761 77441 DOT EXIT
023540,002637: 25,2762 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023541,002638:
023542,002639: 25,2763 00006 EXTEND
023543,002640: 25,2764 43077 DCS COS1/2DG
023544,002641: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023545,002642: 25,2766 10154 CCS MPAC
023546,002643: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023547,002644: 25,2770 12772 TCF +2
023548,002645: 25,2771 34753 CA ONE
023549,002646: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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|
Page 555
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023551,002648: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023552,002649:
023553,002650: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023554,002651: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023555,002652: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
023556,002653: 25,2776 13027 TCF DORROUT
023557,002654: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023558,002655: 25,3000 13010 TCF DGOODCHK
023559,002656: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023560,002657: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023561,002658: 25,3003 10000 CCS A
023562,002659: 25,3004 13015 TCF RRDESDUN
023563,002660:
023564,002661: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER.
023565,002662: 25,3006 00006 EXTEND
023566,002663: 25,3007 05012 WOR CHAN12
023567,002664:
023568,002665: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023569,002666: 25,3011 00006 EXTEND
023570,002667: 25,3012 02033 RAND CHAN33
023571,002668: 25,3013 10000 CCS A
023572,002669: 25,3014 13027 TCF DORROUT
023573,002670:
023574,002671: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023575,002672: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023576,002673: 25,3017 00004 INHINT
023577,002674: 25,3020 54110 TS RADMODES
023578,002675:
023579,002676: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023580,002677: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023581,002678: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023582,002679: 25,3024 00006 EXTEND
023583,002680: 25,3025 03012 WAND CHAN12
023584,002681: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023585,002682:
023586,002683: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023587,002684: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023588,002685: 25,3031 00006 EXTEND
023589,002686: 25,3032 13051 BZF NOTP20
023590,002687: 25,3033 06042 TC INTPRET
023591,002688: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023592,002689: 25,3035 01101 RRTARGET
023593,002690: 25,3036 01767 MLOSV
023594,002691: 25,3037 41572 VSL1 PUSH
023595,002692: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023596,002693: 25,3041 01761 LOSVEL # TO LOS VECTOR
023597,002694: 25,3042 13101 MCTOMS
023598,002695: 25,3043 53362 VSR1 VAD
023599,002696: 25,3044 77656 UNIT
023600,002697: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
|
|
Page 556
|
023602,002699: 25,3046 00045 36D
023603,002700: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE
023604,002701: 25,3050 77776 EXIT
023605,002702: 25,3051 00004 NOTP20 INHINT
023606,002703: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023607,002704: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023608,002705: 25,3054 10000 CCS A
023609,002706: 25,3055 02317 TC RROUT
023610,002707:
023611,002708: 25,3056 30076 CA FLAGWRD2
023612,002709: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023613,002710: 25,3060 00006 EXTEND # LOS COUNTER
023614,002711: 25,3061 15155 BZF ENDOFJOB
023615,002712: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023616,002713: 25,3063 03073 TC DODESEND # A NEW LOS
023617,002714: 25,3064 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023618,002715: 25,3065 52613 CADR DESLOOP +2
023619,002716: 25,3066 00003 RELINT
023620,002717: 25,3067 10067 CCS NEWJOB
023621,002718: 25,3070 05122 TC CHANG1
023622,002719: 25,3071 04616 TC BANKCALL
023623,002720: 25,3072 50732 CADR R21LEM2
023624,002721:
023625,002722: 25,3073 55456 DODESEND TS LOSCOUNT
023626,002723: 25,3074 05155 TC ENDOFJOB
023627,002724:
023628,002725: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023629,002726: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
023630,002727: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023631,002728: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
023632,002729:
|
|
Page 557
|
023634,002731: # RADAR READ INITIALIZATION
023635,002732:
023636,002733: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023637,002734:
023638,002735: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023639,002736: 25,3103 00017 ALLREAD OCT 17
023640,002737:
023641,002738: 25,3104 03123 LRVELZ TC INITREAD
023642,002739: 25,3105 00016 OCT 16
023643,002740:
023644,002741: 25,3106 03123 LRVELY TC INITREAD
023645,002742: 25,3107 00015 OCT 15
023646,002743:
023647,002744: 25,3110 03123 LRVELX TC INITREAD
023648,002745: 25,3111 00014 OCT 14
023649,002746:
023650,002747: 25,3112 03122 RRRDOT TC INITREAD -1
023651,002748: 25,3113 00012 OCT 12
023652,002749:
023653,002750: 25,3114 03122 RRRANGE TC INITREAD -1
023654,002751: 25,3115 00011 OCT 11
023655,002752:
023656,002753: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023657,002754: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023658,002755:
023659,002756: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023660,002757: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023661,002758: 25,3120 51104 INDEX TIMEHOLD
023662,002759: 25,3121 13104 TCF LRVELZ
023663,002760:
|
|
Page 558
|
023665,002762: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023666,002763: 25,3123 00004 INITREAD INHINT
023667,002764:
023668,002765: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023669,002766: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023670,002767: 25,3126 74751 MP BIT3 # ENCOUNTERED).
023671,002768: 25,3127 53105 DXCH TIMEHOLD
023672,002769:
023673,002770: 25,3130 10000 CCS A
023674,002771: 25,3131 55110 TS NSAMP
023675,002772: 25,3132 64753 AD ONE
023676,002773: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023677,002774: # DOUBLE
023678,002775: 25,3133 55077 TS SAMPLIM
023679,002776:
023680,002777: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023681,002778: 25,3135 00006 EXTEND
023682,002779: 25,3136 02033 RAND CHAN33
023683,002780: 25,3137 55112 TS OLDATAGD
023684,002781:
023685,002782: 25,3140 43103 CS ALLREAD
023686,002783: 25,3141 00006 EXTEND
023687,002784: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023688,002785:
023689,002786: 25,3143 50002 INDEX Q
023690,002787: 25,3144 30000 CAF 0
023691,002788: 25,3145 04674 TC IBNKCALL
023692,002789: 25,3146 36000 CADR RADSTART
023693,002790:
023694,002791: 25,3147 00006 EXTEND
023695,002792: 25,3150 30025 DCA TIME2
023696,002793: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023697,002794:
023698,002795: 25,3152 34755 CAF ZERO
023699,002796: 25,3153 54001 TS L
023700,002797: 25,3154 53101 DXCH SAMPLSUM
023701,002798: 25,3155 12377 TCF ROADBACK
023702,002799:
023703,002800: 25,3156 00230 DGBITS OCT 230
023704,002801:
|
|
Page 559
|
023706,002803: # RADAR RUPT READER
023707,002804:
023708,002805: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023709,002806:
023710,002807: 25,2000 SETLOC RADARUPT
023711,002808: 25,2000 BANK
023712,002809:
023713,002810: 25,3157 COUNT* $$/RRUPT
023714,002811: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023715,002812: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023716,002813: 25,3161 54016 TS BANKRUPT
023717,002814: 25,3162 00006 EXTEND
023718,002815: 25,3163 22012 QXCH QRUPT
023719,002816:
023720,002817: 25,3164 00006 EXTEND
023721,002818: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG
023722,002819: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING.
023723,002820:
023724,002821: 25,3167 34757 CAF SEVEN
023725,002822: 25,3170 00006 EXTEND
023726,002823: 25,3171 02013 RAND CHAN13
023727,002824: 25,3172 55332 TS DNINDEX
023728,002825: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023729,002826: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023730,002827: 25,3175 30046 CA RNRAD
023731,002828: 25,3176 51332 INDEX DNINDEX
023732,002829: 25,3177 55327 TS DNRRANGE -1
023733,002830: 25,3200 11077 TRYCOUNT CCS SAMPLIM
023734,002831: 25,3201 13223 TCF PLENTY
023735,002832: 25,3202 13206 TCF NOMORE
023736,002833: 25,3203 05567 TC ALARM
023737,002834: 25,3204 00520 OCT 520
023738,002835: 25,3205 05270 TC RESUME
023739,002836:
023740,002837: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023741,002838: 25,3207 74735 MASK LRBYBIT
023742,002839: 25,3210 00006 EXTEND
023743,002840: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023744,002841:
023745,002842: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG.
023746,002843: 25,3213 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
023747,002844: 25,3214 00006 EXTEND
023748,002845: 25,3215 13220 BZF BADRAD
023749,002846:
023750,002847: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM.
023751,002848: 25,3217 00521 OCT 521
023752,002849: 25,3220 44753 BADRAD CS ONE
023753,002850: 25,3221 55077 TS SAMPLIM
023754,002851: 25,3222 03563 TC RDBADEND -2
023755,002852: 25,3223 55077 PLENTY TS SAMPLIM
|
|
Page 560
|
023757,002854: 25,3224 34751 CAF BIT3
023758,002855: 25,3225 00006 EXTEND
023759,002856: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023760,002857: 25,3227 00006 EXTEND
023761,002858: 25,3230 13277 BZF RENDRAD
023762,002859:
023763,002860: 25,3231 03365 TC R77CHECK # R77 QUITS HERE.
023764,002861: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT
023765,002862: 25,3233 00006 EXTEND
023766,002863: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023767,002864: 25,3235 76250 MASK BIN3
023768,002865: 25,3236 00006 EXTEND
023769,002866: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING
023770,002867:
023771,002868: 25,3240 34733 CAF POSMAX
023772,002869: 25,3241 70046 MASK RNRAD
023773,002870: 25,3242 62000 AD LVELBIAS
023774,002871: 25,3243 54001 TS L
023775,002872: 25,3244 30046 CAE RNRAD
023776,002873: 25,3245 60000 DOUBLE
023777,002874: 25,3246 74753 MASK BIT1
023778,002875: 25,3247 52064 DXCH ITEMP3
023779,002876:
023780,002877: 25,3250 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023781,002878: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023782,002879: # INDEPENDENT OF DATA GOOD.
023783,002880:
023784,002881: 25,3252 11110 CCS NSAMP
023785,002882: 25,3253 03263 TC NOEND
023786,002883: 25,3254 44753 GOODRAD CS ONE
023787,002884: 25,3255 55077 TS SAMPLIM
023788,002885: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023789,002886: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023790,002887: 25,3260 54110 TS RADMODES
023791,002888: 25,3261 03612 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023792,002889: 25,3262 03556 TC RGOODEND -2
023793,002890:
023794,002891: 25,3263 55110 NOEND TS NSAMP
023795,002892: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023796,002893: 25,3265 13267 TCF +2
023797,002894: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023798,002895: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT.
023799,002896: 25,3270 04674 TC IBNKCALL
023800,002897: 25,3271 36000 CADR RADSTART
023801,002898:
023802,002899: 25,3272 05270 TC RESUME
023803,002900:
023804,002901: 25,3273 34747 LRHEIGHT CAF BIT5
023805,002902: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
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|
Page 561
|
023807,002904: 25,3275 34743 CAF BIT9
023808,002905: 25,3276 03321 TC SCALECHK -1
023809,002906:
023810,002907: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023811,002908: 25,3300 70110 MASK RADMODES # LIMITS.
023812,002909: 25,3301 10000 CCS A
023813,002910: 25,3302 13220 TCF BADRAD
023814,002911:
023815,002912: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023816,002913: 25,3304 74745 MASK RCDUFBIT
023817,002914: 25,3305 10000 CCS A
023818,002915: 25,3306 13220 TCF BADRAD
023819,002916:
023820,002917: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023821,002918: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023822,002919:
023823,002920: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT.
023824,002921: 25,3312 00006 EXTEND
023825,002922: 25,3313 02013 RAND CHAN13
023826,002923: 25,3314 54002 TS Q # FOR LATER TESTING.
023827,002924: 25,3315 10000 CCS A
023828,002925: 25,3316 13320 TCF +2
023829,002926: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023830,002927: 25,3320 34751 CAF BIT3
023831,002928: 25,3321 54001 TS L
023832,002929:
023833,002930: 25,3322 00006 SCALECHK EXTEND
023834,002931: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW
023835,002932: 25,3324 56001 XCH L
023836,002933: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE
023837,002934: 25,3326 00006 EXTEND
023838,002935: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER
023839,002936: 25,3330 10000 CCS A
023840,002937: 25,3331 03351 TC SCALCHNG # THEY DIFFER
023841,002938:
023842,002939: 25,3332 34733 RADIN CAF POSMAX
023843,002940: 25,3333 70046 MASK RNRAD
023844,002941: 25,3334 54064 TS ITEMP4
023845,002942:
023846,002943: 25,3335 30046 CAE RNRAD
023847,002944: 25,3336 60000 DOUBLE
023848,002945: 25,3337 74753 MASK BIT1
023849,002946: 25,3340 54063 TS ITEMP3
023850,002947:
023851,002948: 25,3341 10002 CCS Q # SEE IF RR RDOT.
023852,002949: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023853,002950:
023854,002951: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
023855,002952: 25,3344 42002 DCS RDOTBIAS
023856,002953: 25,3345 20064 DASAMPL DAS ITEMP3
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|
Page 562
|
023858,002955: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023859,002956: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023860,002957: 25,3350 03254 TC GOODRAD
023861,002958:
023862,002959: 25,3351 22110 SCALCHNG LXCH RADMODES
023863,002960: 25,3352 64753 AD BIT1
023864,002961: 25,3353 00006 EXTEND
023865,002962: 25,3354 06001 RXOR LCHAN
023866,002963: 25,3355 54110 TS RADMODES
023867,002964: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023868,002965: 25,3357 00006 EXTEND
023869,002966: 25,3360 02033 RAND CHAN33
023870,002967: 25,3361 55112 TS OLDATAGD
023871,002968: 25,3362 05504 TC UPFLAG # SET RNGSCFLG
023872,002969: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1
023873,002970: 25,3364 13220 TCF BADRAD
023874,002971:
023875,002972: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023876,002973:
023877,002974: 25,3365 40101 R77CHECK CS FLAGWRD5
023878,002975: 25,3366 74741 MASK R77FLBIT
023879,002976: 25,3367 10000 CCS A
023880,002977: 25,3370 00002 TC Q # NOT R77
023881,002978: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023882,002979: 25,3372 70110 MASK RADMODES
023883,002980: 25,3373 54001 TS L
023884,002981: 25,3374 33402 CA BITS5,8
023885,002982: 25,3375 00006 EXTEND
023886,002983: 25,3376 02033 RAND CHAN33
023887,002984: 25,3377 60001 AD L
023888,002985: 25,3400 54110 TS RADMODES
023889,002986: 25,3401 03556 TC RGOODEND -2
023890,002987: 25,3402 00220 BITS5,8 OCT 220
023891,002988:
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|
Page 563
|
023893,002990: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023894,002991:
023895,002992: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
023896,002993: 25,3404 13406 TCF +2 # ON HIGH SCALE.
023897,002994: 25,3405 13346 TCF DGCHECK2
023898,002995:
023899,002996: 25,3406 31332 CA DNINDEX
023900,002997: 25,3407 74751 MASK BIT3
023901,002998: 25,3410 10000 CCS A
023902,002999: 25,3411 13420 TCF LRSCK
023903,003000:
023904,003001: 25,3412 52064 DXCH ITEMP3
023905,003002: 25,3413 20001 DDOUBL
023906,003003: 25,3414 20001 DDOUBL
023907,003004: 25,3415 20001 DDOUBL
023908,003005: 25,3416 52064 DXCH ITEMP3
023909,003006:
023910,003007: 25,3417 13346 TCF DGCHECK2
023911,003008:
023912,003009: 25,3420 00006 LRSCK EXTEND
023913,003010: 25,3421 30064 DCA ITEMP3
023914,003011: 25,3422 20001 DDOUBL
023915,003012: 25,3423 20001 DDOUBL
023916,003013: 25,3424 13345 TCF DASAMPL
023917,003014:
023918,003015: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
023919,003016: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
023920,003017: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
023921,003018: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
023922,003019: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
023923,003020: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
023924,003021: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
023925,003022: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
023926,003023: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
023927,003024: 25,3436 60001 AD L
023928,003025: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO.
023929,003026: 25,3440 03264 TC RESAMPLE
023930,003027: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
023931,003028: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION.
023932,003029: 25,3443 00002 TC Q
023933,003030:
023934,003031: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
023935,003032: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
023936,003033: 25,3446 60061 AD ITEMP1
023937,003034: 25,3447 54110 TS RADMODES
023938,003035:
023939,003036: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
023940,003037: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
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|
Page 564
|
023942,003039: 25,3452 03612 TC RADLITES
023943,003040: 25,3453 13206 TCF NOMORE
023944,003041:
|
|
Page 565
|
023946,003043: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
023947,003044:
023948,003045: 17,2000 SETLOC C13BANK
023949,003046: 17,2000 BANK
023950,003047:
023951,003048: 17,2000 54002 RADSTART TS Q
023952,003049: 17,2001 00006 +1 EXTEND
023953,003050: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
023954,003051: 17,2003 54001 TS L
023955,003052:
023956,003053: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
023957,003054: 17,2005 40000 COM
023958,003055: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
023959,003056: 17,2007 74346 MASK LOW5
023960,003057: 17,2010 55270 TS RADDEL
023961,003058:
023962,003059: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
023963,003060: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
023964,003061: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
023965,003062:
023966,003063: 17,2014 30002 CA Q
023967,003064: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
023968,003065: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
023969,003066:
023970,003067: 17,2017 40001 CS L
023971,003068: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
023972,003069: 17,2021 04707 TC ISWRETRN
023973,003070:
023974,003071: 17,2022 55266 C13STAL1 TS C13FSAV
023975,003072:
023976,003073: 17,2023 34750 CA BIT4
023977,003074: 17,2024 00006 EXTEND
023978,003075: 17,2025 02013 RAND CHAN13
023979,003076: 17,2026 00006 EXTEND
023980,003077: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
023981,003078:
023982,003079: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
023983,003080: 17,2031 00006 EXTEND
023984,003081: 17,2032 00004 READ LOSCALAR
023985,003082: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
023986,003083: 17,2034 64736 AD HALF
023987,003084: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
023988,003085: 17,2036 56001 XCH L
023989,003086:
023990,003087: 17,2037 32053 CA 90MSCALR
023991,003088: 17,2040 61270 AD RADDEL
023992,003089: 17,2041 00006 EXTEND
023993,003090: 17,2042 60001 SU L
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|
Page 566
|
023995,003092: 17,2043 00006 EXTEND
023996,003093: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
023997,003094:
023998,003095: 17,2045 62054 AD -DTSCALR
023999,003096: 17,2046 00006 EXTEND
024000,003097: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024001,003098:
024002,003099: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024003,003100: 17,2051 31266 CA C13FSAV
024004,003101: 17,2052 52005 DTCF
024005,003102:
024006,003103: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024007,003104: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024008,003105:
024009,003106: 6000 SETLOC FFTAG6
024010,003107: 6000 BANK
024011,003108:
024012,003109: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024013,003110: 6023 56004 XCH FBANK
024014,003111: 6024 12022 TCF C13STAL1
024015,003112:
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|
Page 567
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024017,003114: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024018,003115:
024019,003116: 25,2000 SETLOC P20S1
024020,003117: 25,2000 BANK
024021,003118:
024022,003119: 25,3454 COUNT* $$/RSUB
024023,003120: 25,3454 00004 LRPOS2 INHINT
024024,003121:
024025,003122: 25,3455 40110 CS RADMODES
024026,003123: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024027,003124: 25,3457 26110 ADS RADMODES
024028,003125:
024029,003126: 25,3460 34745 CAF BIT7
024030,003127: 25,3461 00006 EXTEND
024031,003128: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024032,003129: 25,3463 00006 EXTEND
024033,003130: 25,3464 13513 BZF RADNOOP
024034,003131:
024035,003132: 25,3465 34737 CAF BIT13
024036,003133: 25,3466 00006 EXTEND
024037,003134: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2
024038,003135: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024039,003136: 25,3471 05203 TC WAITLIST
024040,003137: 25,3472 E7,1456 EBANK= LOSCOUNT
024041,003138: 25,3472 03526 52067 2CADR LRPOSCAN
024042,003139:
024043,003140: 25,3474 02377 TC ROADBACK
024044,003141:
024045,003142: 25,3475 55077 LRPOSNXT TS SAMPLIM
024046,003143: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024047,003144: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024048,003145:
024049,003146: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024050,003147: 25,3501 00006 EXTEND
024051,003148: 25,3502 02033 RAND CHAN33
024052,003149: 25,3503 00006 EXTEND
024053,003150: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024054,003151:
024055,003152: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024056,003153: 25,3506 13475 TCF LRPOSNXT
024057,003154:
024058,003155: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024059,003156: 25,3510 00006 EXTEND
024060,003157: 25,3511 03012 WAND CHAN12
024061,003158: 25,3512 13565 TCF RDBADEND
024062,003159:
024063,003160: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024064,003161: 25,3514 05203 TC WAITLIST
024065,003162: 25,3515 E7,1456 EBANK= LOSCOUNT
024066,003163: 25,3515 03560 52067 2CADR RGOODEND
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|
Page 568
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024068,003165: 25,3517 02377 TC ROADBACK
024069,003166:
024070,003167: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024071,003168: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024072,003169:
024073,003170: 25,3522 44737 CS BIT13 # REMOVE COMMAND
024074,003171: 25,3523 00006 EXTEND
024075,003172: 25,3524 03012 WAND CHAN12
024076,003173: 25,3525 13560 TCF RGOODEND
024077,003174:
024078,003175: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024079,003176: 25,3527 13475 TCF LRPOSNXT
024080,003177: 25,3530 01130 6SECS DEC 600 B-14
024081,003178:
024082,003179: 25,3531 03454 LRP2COMM TC LRPOS2
024083,003180: 25,3532 04616 TC BANKCALL
024084,003181: 25,3533 17705 CADR RADSTALL
024085,003182: 25,3534 03536 TC LP2ALM
024086,003183: 25,3535 13547 TCF GOPINNER
024087,003184:
024088,003185: 25,3536 05567 LP2ALM TC ALARM
024089,003186: 25,3537 00523 OCT 523
024090,003187: 25,3540 13547 TCF GOPINNER
024091,003188:
024092,003189: 25,3541 35016 V59GP63 CA EBANK7
024093,003190: 25,3542 54003 TS EBANK
024094,003191: 25,3543 E7,1427 EBANK= RPCRTIME
024095,003192: 25,3543 34733 CA POSMAX
024096,003193: 25,3544 55427 TS RPCRTIME
024097,003194: 25,3545 44736 CS BIT14
024098,003195: 25,3546 55430 TS RPCRTQSW
024099,003196: 25,3547 04635 GOPINNER TC POSTJUMP
024100,003197: 25,3550 21051 CADR PINBRNCH
024101,003198:
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|
Page 569
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024103,003200: # SEQUENCES TO TERMINATE RR OPERATIONS.
024104,003201:
024105,003202: 25,3551 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024106,003203: 25,3552 70110 MASK RADMODES
024107,003204: 25,3553 10000 CCS A
024108,003205: 25,3554 13560 TCF RGOODEND
024109,003206: 25,3555 13565 TCF RDBADEND
024110,003207: 25,3556 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024111,003208: 25,3557 54332 TS RUPTAGN
024112,003209:
024113,003210: 25,3560 34752 RGOODEND CAF TWO
024114,003211: 25,3561 04635 TC POSTJUMP
024115,003212: 25,3562 17656 CADR GOODEND
024116,003213:
024117,003214: 25,3563 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024118,003215: 25,3564 54332 TS RUPTAGN
024119,003216: 25,3565 34752 RDBADEND CAF TWO
024120,003217: 25,3566 04635 TC POSTJUMP
024121,003218: 25,3567 17653 CADR BADEND
024122,003219:
024123,003220: 25,3570 6250 BIN3 EQUALS THREE
024124,003221:
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|
Page 570
|
024126,003223: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024127,003224: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024128,003225:
024129,003226: # FUNCTIONAL DESCRIPTION_
024130,003227: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024131,003228: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024132,003229: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024133,003230:
024134,003231: # CALLING SEQUENCE CALL
024135,003232: # LPS20.1
024136,003233:
024137,003234: # SUBROUTINES CALLED_
024138,003235: # LEMPREC, CSMPREC
024139,003236:
024140,003237: # NORMAL EXIT_ RETURN TO CALLER + 2
024141,003238:
024142,003239: # ERROR EXITS_ NONE
024143,003240:
024144,003241: # ALARMS_ NONE
024145,003242:
024146,003243: # OUTPUT_
024147,003244: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024148,003245: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024149,003246: # RRNBSW CLEARED
024150,003247:
024151,003248: # INITIALIZED ERASEABLE
024152,003249: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024153,003250: # SEE ORBITAL INTEGRATION ROUTINE
024154,003251:
024155,003252: # DEBRIS_
024156,003253: # MPAC DESTROYED BY THIS ROUTINE
024157,003254:
024158,003255: 23,2337 BANK 23
024159,003256: 24,2000 SETLOC P20S
024160,003257: 24,2000 BANK
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|
Page 571
|
024162,003259: 24,3256 COUNT* $$/LPS20
024163,003260:
024164,003261: 24,3256 43020 LPS20.1 STQ BOFF
024165,003262: 24,3257 01757 LS21X
024166,003263: 24,3260 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024167,003264: 24,3261 51265 LMINT # SO CALL LEMCONIC TO GET LM STATE
024168,003265: 24,3262 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024169,003266: 24,3263 04307 SURFFLAG # DON'T CALL LEMCONIC
024170,003267: 24,3264 51275 CSMINT
024171,003268: 24,3265 77624 LMINT CALL
024172,003269: 24,3266 27077 LEMCONIC # EXTRAPOLATE LEM
024173,003270: 24,3267 77775 VLOAD
024174,003271: 24,3270 00001 RATT
024175,003272: 24,3271 26352 STOVL LMPOS # SAVE LM POSITION B-29
024176,003273: 24,3272 00007 VATT
024177,003274: 24,3273 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024178,003275: 24,3274 00015 TAT
024179,003276: 24,3275 34041 CSMINT STCALL TDEC1
024180,003277: 24,3276 27065 CSMCONIC # EXTRAPOLATE CSM
024181,003278: 24,3277 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024182,003279: 24,3300 00007 VATT
024183,003280: 24,3301 02360 LMVEL
024184,003281: 24,3302 76521 MXV VSL1
024185,003282: 24,3303 01734 REFSMMAT
024186,003283: 24,3304 77776 EXIT
024187,003284: 24,3305 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024188,003285: 24,3306 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024189,003286: 24,3307 06042 TC INTPRET
024190,003287: 24,3310 25761 STOVL LOSVEL
024191,003288: 24,3311 00001 RATT
024192,003289: 24,3312 43051 VSU BOFF
024193,003290: 24,3313 02352 LMPOS
024194,003291: 24,3314 00350 RNDVZFLG
024195,003292: 24,3315 51322 NOTSHIFT
024196,003293: 24,3316 77604 BOVB
024197,003294: 24,3317 57754 TCDANZIG
024198,003295: 24,3320 77661 VSL
024199,003296: 24,3321 20212 9D
024200,003297: 24,3322 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024201,003298: 24,3323 50102 526ALARM # THAN 400 N. M.
024202,003299: 24,3324 76521 MXV VSL1
024203,003300: 24,3325 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024204,003301: 24,3326 15101 STODL RRTARGET
024205,003302: 24,3327 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024206,003303: 24,3330 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024207,003304: 24,3331 77614 CLRGO
024208,003305: 24,3332 00231 RRNBSW
024209,003306: 24,3333 01757 LS21X
024210,003307:
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|
Page 572
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024212,003309: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024213,003310: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024214,003311:
024215,003312: # FUNCTIONAL DESCRIPTION_
024216,003313: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024217,003314:
024218,003315: # CALLING SEQUENCE CALL
024219,003316: # LPS20.2
024220,003317:
024221,003318: # SUBROUTINES CALLED_ NONE
024222,003319:
024223,003320: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024224,003321:
024225,003322: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024226,003323:
024227,003324: # ALARMS_ NONE
024228,003325:
024229,003326: # OUTPUT_ NONE
024230,003327:
024231,003328: # INITIALIZED ERASEABLE_
024232,003329: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024233,003330:
024234,003331: # DEBRIS
024235,003332: # MPAC DESTROYED BY THIS ROUTINE
024236,003333:
024237,003334: 25,2000 SETLOC P20S1
024238,003335: 25,2000 BANK
024239,003336: 25,3570 COUNT* $$/LPS20
024240,003337:
024241,003338: 25,3570 45345 LPS20.2 DLOAD DSU
024242,003339: 25,3571 01767 MLOSV # MAGNITUDE OF LOS
024243,003340: 25,3572 13603 FHNM # OVER 400NM _
024244,003341: 25,3573 77644 BPL
024245,003342: 25,3574 53577 TOFAR
024246,003343: 25,3575 43535 SLOAD RVQ
024247,003344: 25,3576 06524 ZERO/SP
024248,003345: 25,3577 43535 TOFAR SLOAD RVQ
024249,003346: 25,3600 13602 ONE/SP
024250,003347: 25,3601 00001 ONE/SP DEC 1 B-14
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|
Page 573
|
024252,003349: 25,3602 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024253,003350:
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|
Page 574
|
024255,003352: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024256,003353: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024257,003354:
024258,003355: # FUNCTIONAL DESCRIPTION
024259,003356: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024260,003357: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024261,003358: # RR REPOSITION AND RR CDU FAIL
024262,003359: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024263,003360:
024264,003361: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024265,003362:
024266,003363: # SUBROUTINES CALLED:
024267,003364: # RRRDOT LPS20.1
024268,003365: # RRRANGE BANKCALL
024269,003366: # RADSTALL CDULOGIC
024270,003367: # RRNB SMNB
024271,003368:
024272,003369: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024273,003370:
024274,003371: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024275,003372: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024276,003373: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024277,003374:
024278,003375: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024279,003376: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024280,003377:
024281,003378: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024282,003379: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024283,003380:
024284,003381: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024285,003382: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024286,003383: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024287,003384: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024288,003385: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024289,003386: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024290,003387:
024291,003388: # ERASABLE INITIALIZATION REQUIRED:
024292,003389: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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|
Page 575
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024294,003391: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024295,003392: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024296,003393: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024297,003394:
024298,003395: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024299,003396:
024300,003397: 32,2366 BANK 32
024301,003398: 32,2000 SETLOC LRS22
024302,003399: 32,2000 BANK
024303,003400: 32,2366 COUNT* $$/LRS22
024304,003401:
024305,003402: 32,2366 04645 LRS22.1 TC MAKECADR
024306,003403: 32,2367 55737 TS LRS22.1X
024307,003404: 32,2370 05516 TC DOWNFLAG
024308,003405: 32,2371 00120 ADRES RNGSCFLG
024309,003406: 32,2372 00004 INHINT
024310,003407: 32,2373 34751 CAF BIT3
024311,003408: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024312,003409: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024313,003410: 32,2376 54001 TS L
024314,003411: 32,2377 44751 CS RRRSBIT
024315,003412: 32,2400 70110 MASK RADMODES
024316,003413: 32,2401 60001 AD L
024317,003414: 32,2402 54110 TS RADMODES
024318,003415: 32,2403 00003 RELINT
024319,003416: 32,2404 04616 READRDOT TC BANKCALL
024320,003417: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024321,003418: 32,2406 04616 TC BANKCALL
024322,003419: 32,2407 17705 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024323,003420: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024324,003421:
024325,003422: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024326,003423: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024327,003424: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024328,003425: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024329,003426: 32,2415 53747 DXCH RDOTMSAV
024330,003427: 32,2416 00006 EXTEND
024331,003428: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024332,003429: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024333,003430: 32,2421 30032 CA CDUX
024334,003431: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024335,003432: 32,2423 00006 EXTEND
024336,003433: 32,2424 30025 DCA TIME2 # SAVE TIME
024337,003434: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024338,003435: 32,2426 00006 EXTEND
024339,003436: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024340,003437: 32,2430 53107 DXCH TANG
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Page 576
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024342,003439: 32,2431 00003 RELINT
024343,003440: 32,2432 04616 TC BANKCALL
024344,003441: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024345,003442: 32,2434 04616 TC BANKCALL
024346,003443: 32,2435 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
024347,003444: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
024348,003445: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024349,003446: 32,2440 00006 EXTEND
024350,003447: 32,2441 31331 DCA DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024351,003448: 32,2442 53761 DXCH RANGRDOT
024352,003449: 32,2443 52162 DXCH MPAC +5
024353,003450: 32,2444 53755 DXCH MKTIME # MARK TIME
024354,003451: 32,2445 52160 DXCH MPAC +3
024355,003452: 32,2446 53460 DXCH AIG # CDUY, CDUZ
024356,003453: 32,2447 00006 EXTEND
024357,003454: 32,2450 31107 DCA TANG # PRESERVE TANG
024358,003455: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024359,003456: 32,2452 30156 CA MPAC +2
024360,003457: 32,2453 55461 TS AOG # CDUX
024361,003458: 32,2454 06042 TC INTPRET
024362,003459: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024363,003460: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024364,003461: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024365,003462: 32,2460 20217 14D # FT./SECOND PER BIT
024366,003463: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024367,003464: 32,2462 03751 STORE RDOTM
024368,003465: 32,2463 47135 SLOAD RTB
024369,003466: 32,2464 01107 TANG # GET TRUNION ANGLE
024370,003467: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024371,003468: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024372,003469: 32,2467 47135 SLOAD RTB
024373,003470: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
024374,003471: 32,2471 21577 CDULOGIC
024375,003472: 32,2472 17736 STODL RRSHAFT
024376,003473: 32,2473 01101 SAMPLSUM
024377,003474: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024378,003475: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024379,003476: 32,2476 37757 STCALL RM
024380,003477: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024381,003478: 32,2500 17741 STODL RRBORSIT # AND SAVE
024382,003479: 32,2501 00025 20D
024383,003480: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024384,003481: 32,2503 51256 LPS20.1
024385,003482: 32,2504 77776 EXIT
024386,003483: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024387,003484: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024388,003485: 32,2507 31460 CA AMG
024389,003486: 32,2510 54767 TS CDUSPOT +2
024390,003487: 32,2511 31461 CA AOG
024391,003488: 32,2512 54771 TS CDUSPOT +4
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Page 577
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024393,003490: 32,2513 06042 TC INTPRET
024394,003491: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024395,003492: 32,2515 01101 RRTARGET
024396,003493: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024397,003494: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024398,003495: 32,2520 03741 RRBORSIT
024399,003496: 32,2521 65552 SL1 ACOS # BETWEEN THEM
024400,003497: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024401,003498: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024402,003499: 32,2524 24547 THREEDEG
024403,003500: 32,2525 64532 NORMEXIT # YES - NORMAL EXIT
024404,003501:
024405,003502: 32,2526 77776 EXIT # ERROR EXIT 2
024406,003503: 32,2527 34752 CAF BIT2 # SET ERROR CODE
024407,003504: 32,2530 54154 TS MPAC
024408,003505: 32,2531 12535 TCF OUT22.1
024409,003506:
024410,003507: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024411,003508: 32,2533 34755 CAF ZERO
024412,003509: 32,2534 54154 TS MPAC
024413,003510: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024414,003511: 32,2536 04640 TC BANKJUMP
024415,003512: 32,2537 30101 CHEXERR CAE FLAGWRD5
024416,003513: 32,2540 74742 MASK RNGSCBIT
024417,003514: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024418,003515: 32,2542 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024419,003516:
024420,003517: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024421,003518: 32,2544 54154 TS MPAC
024422,003519: 32,2545 02535 TC OUT22.1
024423,003520: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024424,003521:
024425,003522: 32,2550 1100 RRLOSVEC EQUALS RRTARGET
024426,003523:
|
|
Page 578
|
024428,003525: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024429,003526: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024430,003527:
024431,003528: # FUNCTIONAL DESCRIPTION-
024432,003529: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024433,003530:
024434,003531: # CALLING SEQUENCE - BANKCALL FOR LRS22.2
024435,003532:
024436,003533: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024437,003534:
024438,003535: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024439,003536:
024440,003537: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024441,003538:
024442,003539: # ALARMS - NONE IN THE AUTO MODE
024443,003540:
024444,003541: # ERASABLE INITIALIZATION REQUIRED -
024445,003542: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024446,003543: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024447,003544: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024448,003545:
024449,003546: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024450,003547:
024451,003548: 24,2000 SETLOC P20S
024452,003549: 24,2000 BANK
024453,003550: 24,3334 04645 LRS22.2 TC MAKECADR
024454,003551: 24,3335 55737 TS LRS22.1X
024455,003552: 24,3336 06042 TC INTPRET
024456,003553: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024457,003554: 24,3337 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024458,003555: 24,3340 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024459,003556: # LOS VECTOR, A HALF UNIT VECTOR
024460,003557: # IN NAV BASE AXES)
024461,003558: 24,3341 50025 DSU BMN
024462,003559: 24,3342 11356 30DEG
024463,003560: 24,3343 51350 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024464,003561: 24,3344 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024465,003562: 24,3345 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024466,003563: 24,3346 54154 TS MPAC
024467,003564: 24,3347 13353 TCF OUT22.2
024468,003565: 24,3350 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024469,003566:
|
|
Page 579
|
024471,003568: 24,3351 34755 CAF ZERO
024472,003569: 24,3352 54154 TS MPAC
024473,003570: 24,3353 31737 OUT22.2 CAE LRS22.1X
024474,003571: 24,3354 04640 TC BANKJUMP
024475,003572:
024476,003573: 24,3355 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024477,003574:
|
|
Page 580
|
024479,003576: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024480,003577: # MOD. NO 3 LOG SECTION - P20-25
024481,003578: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024482,003579:
024483,003580: # FUNCTIONAL DESCRIPTION
024484,003581: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024485,003582: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024486,003583: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024487,003584:
024488,003585: # CALLING SEQUENCE
024489,003586: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024490,003587: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024491,003588: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024492,003589: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024493,003590: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024494,003591: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024495,003592:
024496,003593: # SUBROUTINES CALLED
024497,003594: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024498,003595: # GETULC RARARANG INCORP2 NBSM INTSTALL
024499,003596:
024500,003597: # OUTPUT
024501,003598: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024502,003599: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024503,003600: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024504,003601: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024505,003602: # UPDATED W-MATRIX
024506,003603:
024507,003604: # ERASABLE INITIALIZATION REQUIRED
024508,003605: # LM AND CSM STATE VECTORS
024509,003606: # W-MATRIX
024510,003607: # MARK TIME IN MKTIME
024511,003608: # RADAR RANGE IN RM METERS B-29
024512,003609: # RANGE RATE IN RDOTM METERS/CSES B-7
024513,003610: # SHAFT ANGLE IN RRSHAFT REVS. B0
024514,003611: # TRUNNION ANGLE IN RRTRUN REVS. B0
024515,003612: # GIMBAL ANGLES INNER IN AIG
024516,003613: # MIDDLE IN AMG
024517,003614: # OUTER IN AOG
024518,003615: # REFSMMAT
024519,003616: # RENDWFLG
024520,003617: # NOANGFLG
024521,003618: # VEHUPFLG
024522,003619:
024523,003620: # DEBRIS
024524,003621: # PUSHLIST -- ALL
024525,003622: # MX, MY, MZ (VECTORS)
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|
Page 581
|
024527,003624: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024528,003625:
024529,003626: 13,2207 BANK 13
024530,003627: 26,2000 SETLOC P20S3
024531,003628: 26,2000 BANK
024532,003629:
024533,003630: 26,2416 E7,1456 EBANK= LOSCOUNT
024534,003631: 26,2416 COUNT* $$/LSR22
024535,003632: 26,2416 77624 LSR22.3 CALL
024536,003633: 26,2417 11210 GRP2PC
024537,003634: 26,2420 43014 BON SET
024538,003635: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024539,003636: 26,2422 55200 LSR22.4 # YES
024540,003637: 26,2423 02466 DMENFLG
024541,003638: 26,2424 45014 BOFF CALL
024542,003639: 26,2425 00747 VEHUPFLG
024543,003640: 26,2426 54460 DOLEM
024544,003641: 26,2427 27410 INTSTALL
024545,003642: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION
024546,003643: 26,2431 01674 VINTFLAG
024547,003644: 26,2432 26643 SETIFLGS
024548,003645: 26,2433 77624 CALL
024549,003646: 26,2434 55242 INTGRCAL
024550,003647: 26,2435 77624 CALL
024551,003648: 26,2436 11210 GRP2PC
024552,003649: 26,2437 77624 CALL
024553,003650: 26,2440 27410 INTSTALL
024554,003651: 26,2441 43014 CLEAR BOFF
024555,003652: 26,2442 01676 DIM0FLAG
024556,003653: 26,2443 02756 RENDWFLG
024557,003654: 26,2444 54450 NOTWCSM
024558,003655: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024559,003656: 26,2446 01476 DIM0FLAG
024560,003657: 26,2447 01475 D6OR9FLG
024561,003658: 26,2450 43014 NOTWCSM SET CLEAR
024562,003659: 26,2451 01474 VINTFLAG
024563,003660: 26,2452 01673 INTYPFLG
024564,003661: 26,2453 45014 SET CALL
024565,003662: 26,2454 01472 STATEFLG
024566,003663: 26,2455 55242 INTGRCAL
024567,003664: 26,2456 77650 GOTO
024568,003665: 26,2457 54510 MARKTEST
024569,003666: 26,2460 77624 DOLEM CALL
024570,003667: 26,2461 27410 INTSTALL
024571,003668: 26,2462 45014 SET CALL
024572,003669: 26,2463 01474 VINTFLAG
024573,003670: 26,2464 26643 SETIFLGS
024574,003671: 26,2465 77624 CALL
024575,003672: 26,2466 55242 INTGRCAL
|
|
Page 582
|
024577,003674: 26,2467 77624 CALL
024578,003675: 26,2470 11210 GRP2PC
024579,003676: 26,2471 77624 CALL
024580,003677: 26,2472 27410 INTSTALL
024581,003678: 26,2473 43014 CLEAR BOFF
024582,003679: 26,2474 01676 DIM0FLAG
024583,003680: 26,2475 02756 RENDWFLG
024584,003681: 26,2476 54502 NOTWLEM
024585,003682: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024586,003683: 26,2500 01476 DIM0FLAG
024587,003684: 26,2501 01475 D6OR9FLG
024588,003685: 26,2502 43014 NOTWLEM CLEAR CLEAR
024589,003686: 26,2503 01673 INTYPFLG
024590,003687: 26,2504 01674 VINTFLAG
024591,003688: 26,2505 45014 SET CALL
024592,003689: 26,2506 01472 STATEFLG
024593,003690: 26,2507 55242 INTGRCAL
024594,003691: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024595,003692: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024596,003693: 26,2512 54514 RANGEBQ
024597,003694: 26,2513 55251 WLINIT # YES - REINITIALIZE
024598,003695: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024599,003696: 26,2515 04307 SURFFLAG
024600,003697: 26,2516 54524 RANGEBQ1
024601,003698: 26,2517 34755 CA ZERO
024602,003699: 26,2520 55745 TS R65CNTR
024603,003700: 26,2521 04616 TC BANKCALL
024604,003701: 26,2522 46123 CADR R65LEM
024605,003702: 26,2523 06042 TC INTPRET
024606,003703: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024607,003704: 26,2525 00000 0
024608,003705: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024609,003706: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024610,003707: 26,2530 77714 INCR,2
024611,003708: 26,2531 00002 2
024612,003709: 26,2532 45134 SETX2 SXA,2 CALL
024613,003710: 26,2533 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024614,003711: 26,2534 11210 GRP2PC
024615,003712: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024616,003713: 26,2536 00001 1
024617,003714: 26,2537 01356 WHCHREAD
024618,003715: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024619,003716: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024620,003717: 26,2542 20635 28D
024621,003718: 26,2543 77634 RTB
024622,003719: 26,2544 21634 TPMODE # AND SAVE IN 20D
024623,003720: 26,2545 00025 STORE 20D
024624,003721: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024625,003722: 26,2547 55333 GETULC # B-VECTORS FOR RANGE
024626,003723: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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|
Page 583
|
024628,003725: 26,2551 00707 VEHUPFLG
024629,003726: 26,2552 54553 +1
024630,003727: 26,2553 27525 STOVL BVECTOR
024631,003728: 26,2554 06524 ZEROVECS
024632,003729: 26,2555 03533 STORE BVECTOR +6 # B1
024633,003730: 26,2556 17541 STODL BVECTOR +12D # B2
024634,003731: 26,2557 00045 36D
024635,003732: 26,2560 44257 SRR* BDSU
024636,003733: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024637,003734: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024638,003735: 26,2563 77657 SLR*
024639,003736: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024640,003737: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024641,003738: 26,2566 00045 36D # RLC B-29/B-27
024642,003739: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE
024643,003740: 26,2570 00047 X1
024644,003741: 26,2571 53605 DMP SR*
024645,003742: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024646,003743: 26,2573 20577 0 -2,1 # UNNORMALIZE
024647,003744: 26,2574 53657 SR* SR*
024648,003745: 26,2575 20601 0,1
024649,003746: 26,2576 57176 0,2
024650,003747: 26,2577 47057 SR* RTB
024651,003748: 26,2600 57176 0,2
024652,003749: 26,2601 21634 TPMODE
024653,003750: 26,2602 02707 STORE VARIANCE # B-40
024654,003751: 26,2603 76276 DCOMP TAD
024655,003752: 26,2604 00025 20D # B-40
024656,003753: 26,2605 72240 BMN TLOAD
024657,003754: 26,2606 54611 QOK
024658,003755: 26,2607 00025 20D # B-40
024659,003756: 26,2610 02707 STORE VARIANCE
024660,003757: 26,2611 77624 QOK CALL
024661,003758: 26,2612 55401 LGCUPDTE
024662,003759:
024663,003760: 26,2613 45131 SSP CALL
024664,003761: 26,2614 01357 WHCHREAD
024665,003762: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024666,003763: 26,2616 11210 GRP2PC
024667,003764: 26,2617 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024668,003765: 26,2620 55333 GETULC
024669,003766: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024670,003767: 26,2622 00045 36D # AND SHIFT TO B-23
024671,003768: 26,2623 57202 0 -4,2
024672,003769: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D
024673,003770: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024674,003771: 26,2626 00707 VEHUPFLG
024675,003772: 26,2627 54630 +1
024676,003773: 26,2630 77761 VXSC
024677,003774: 26,2631 00045 36D # B1 = RLC (B-24/B-22)
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|
Page 584
|
024679,003776: 26,2632 27533 STOVL BVECTOR +6
024680,003777: 26,2633 01653 NUVLEM
024681,003778: 26,2634 53257 VSR* VAD
024682,003779: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024683,003780: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5
024684,003781: 26,2637 53715 PDVL VSR* # VL TO PD6
024685,003782: 26,2640 01601 NUVCSM
024686,003783: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024687,003784: 26,2642 52255 VAD VSU
024688,003785: 26,2643 01615 VCVCSM
024689,003786: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6
024690,003787: 26,2645 00001 0
024691,003788: 26,2646 00007 6
024692,003789: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024693,003790: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024694,003791: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024695,003792: 26,2652 01773 RATEVAR
024696,003793: 26,2653 02707 STORE VARIANCE
024697,003794: 26,2654 54335 SLOAD SR
024698,003795: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024699,003796: 26,2656 20621 16D # SHIFT TO DP (B-4)
024700,003797: 26,2657 00031 STORE 24D # AND SAVE IN 24D
024701,003798: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024702,003799: 26,2661 02707 VARIANCE
024703,003800: 26,2662 54666 VOK # BRANCH - NO
024704,003801: 26,2663 77745 DLOAD # YES - USE MINIMUM VARIANCE
024705,003802: 26,2664 00031 24D
024706,003803: 26,2665 02707 STORE VARIANCE
024707,003804: 26,2666 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024708,003805: 26,2667 53725 PDDL SLR* # TO B-10/B-8
024709,003806: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024710,003807: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8
024711,003808: 26,2672 77625 DSU
024712,003809: 26,2673 77675 DMPR
024713,003810: 26,2674 00045 36D
024714,003811: 26,2675 27547 STOVL DELTAQ # B-33
024715,003812: 26,2676 00001 0 # NOW GET B0
024716,003813: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC
024717,003814: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024718,003815: 26,2701 00707 VEHUPFLG
024719,003816: 26,2702 54703 +1
024720,003817: 26,2703 77657 VSR*
024721,003818: 26,2704 57200 0 -2,2 # SCALED B-5
024722,003819: 26,2705 27525 STOVL BVECTOR
024723,003820: 26,2706 06524 ZEROVECS
024724,003821: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024725,003822: 26,2710 27541 STOVL BVECTOR +12D
024726,003823: 26,2711 03525 BVECTOR
024727,003824: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024728,003825: 26,2713 00025 20D # SHIFT COUNT IN 20D
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Page 585
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024730,003827: 26,2714 51575 VLOAD ABVAL
024731,003828: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024732,003829: 26,2716 71301 NORM DLOAD
024733,003830: 26,2717 00027 22D # SHIFT COUNT IN 22D
024734,003831: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER
024735,003832: 26,2721 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024736,003833: 26,2722 00025 20D
024737,003834: 26,2723 54727 VOK1
024738,003835: 26,2724 52150 LXA,1 GOTO
024739,003836: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024740,003837: 26,2726 54731 VOK2
024741,003838: 26,2727 77750 VOK1 LXA,1
024742,003839: 26,2730 00024 20D
024743,003840: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024744,003841: 26,2732 03525 BVECTOR # WITH THI SSHIFT COUNT
024745,003842: 26,2733 20201 0,1
024746,003843: 26,2734 27525 STOVL BVECTOR
024747,003844: 26,2735 03533 BVECTOR +6
024748,003845: 26,2736 77657 VSL*
024749,003846: 26,2737 20201 0,1
024750,003847: 26,2740 17533 STODL BVECTOR +6
024751,003848: 26,2741 03547 DELTAQ
024752,003849: 26,2742 77657 SL*
024753,003850: 26,2743 20201 0,1
024754,003851: 26,2744 03547 STORE DELTAQ
024755,003852: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024756,003853: 26,2746 00045 36D
024757,003854: 26,2747 20200 0 -1,1
024758,003855: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024759,003856: 26,2751 02707 VARIANCE
024760,003857: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024761,003858: 26,2753 21634 TPMODE
024762,003859: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024763,003860: 26,2755 55401 LGCUPDTE
024764,003861:
024765,003862: 26,2756 77624 CALL
024766,003863: 26,2757 11210 GRP2PC
024767,003864: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE
024768,003865: 26,2761 04307 SURFFLAG
024769,003866: 26,2762 55176 RENDEND # NO
024770,003867: 26,2763 E7,1457 EBANK= AIG
024771,003868: 26,2763 33332 MXMYMZ CAF AIGBANK
024772,003869: 26,2764 54006 TS BBANK
024773,003870: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024774,003871: 26,2766 54765 TS CDUSPOT
024775,003872: 26,2767 31460 CA AMG
024776,003873: 26,2770 54767 TS CDUSPOT +2
024777,003874: 26,2771 31461 CA AOG
024778,003875: 26,2772 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024779,003876: 26,2773 06042 TC INTPRET
|
|
Page 586
|
024781,003878: 26,2774 45175 VLOAD CALL
024782,003879: 26,2775 06522 UNITX
024783,003880: 26,2776 47666 TRG*NBSM
024784,003881: 26,2777 76505 VXM VSL1
024785,003882: 26,3000 01734 REFSMMAT
024786,003883: 26,3001 27677 STOVL MX
024787,003884: 26,3002 06520 UNITY
024788,003885: 26,3003 77624 CALL
024789,003886: 26,3004 47675 *NBSM*
024790,003887: 26,3005 76505 VXM VSL1
024791,003888: 26,3006 01734 REFSMMAT
024792,003889: 26,3007 27705 STOVL MY
024793,003890: 26,3010 06516 UNITZ
024794,003891: 26,3011 77624 CALL
024795,003892: 26,3012 47675 *NBSM*
024796,003893: 26,3013 76505 VXM VSL1
024797,003894: 26,3014 01734 REFSMMAT
024798,003895: 26,3015 37713 SHAFTBQ STCALL MZ
024799,003896: 26,3016 55361 RADARANG
024800,003897: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024801,003898: 26,3020 01357 WHCHREAD
024802,003899: 26,3021 00003 DEC 3 B-14
024803,003900: 26,3022 03724 ULC
024804,003901: 26,3023 72441 DOT SL1
024805,003902: 26,3024 03677 MX
024806,003903: 26,3025 24023 STOVL SINTH # 18D
024807,003904: 26,3026 03724 ULC
024808,003905: 26,3027 72441 DOT SL1
024809,003906: 26,3030 03713 MZ
024810,003907: 26,3031 34021 STCALL COSTH # 16D
024811,003908: 26,3032 26506 ARCTAN
024812,003909: 26,3033 41221 BDSU DMP
024813,003910: 26,3034 03736 RRSHAFT
024814,003911: 26,3035 15441 2PI/8
024815,003912: 26,3036 41472 SL3R PUSH
024816,003913: 26,3037 52545 DLOAD SL3
024817,003914: 26,3040 01701 X789
024818,003915: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024819,003916: 26,3042 56176 0,2
024820,003917: 26,3043 53605 DMP SRR*
024821,003918: 26,3044 03722 RXZ
024822,003919: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024823,003920: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024824,003921: 26,3047 03724 ULC
024825,003922: 26,3050 76435 VXV VSL1
024826,003923: 26,3051 03705 MY
024827,003924: 26,3052 77656 UNIT
024828,003925: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024829,003926: 26,3054 00747 VEHUPFLG
024830,003927: 26,3055 55056 +1
|
|
Page 587
|
024832,003929: 26,3056 27525 STOVL BVECTOR
024833,003930: 26,3057 06524 ZEROVECS
024834,003931: 26,3060 03533 STORE BVECTOR +6
024835,003932: 26,3061 17541 STODL BVECTOR +12D
024836,003933: 26,3062 03722 RXZ
024837,003934: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024838,003935: 26,3064 20577 0 -2,1
024839,003936: 26,3065 56176 0,2
024840,003937: 26,3066 03541 STORE BVECTOR +12D
024841,003938: 26,3067 77735 SLOAD
024842,003939: 26,3070 02011 SHAFTVAR
024843,003940: 26,3071 41215 DAD DMP
024844,003941: 26,3072 15436 IMUVAR # RAD**2 B12
024845,003942: 26,3073 03722 RXZ
024846,003943: 26,3074 41257 SRR* DMP
024847,003944: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024848,003945: 26,3076 03722 RXZ
024849,003946: 26,3077 53657 SR* SR*
024850,003947: 26,3100 20577 0 -2,1
024851,003948: 26,3101 57176 0,2
024852,003949: 26,3102 47057 SR* RTB
024853,003950: 26,3103 57176 0,2
024854,003951: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
024855,003952: 26,3105 36707 STCALL VARIANCE # B-40
024856,003953: 26,3106 55401 LGCUPDTE
024857,003954:
024858,003955: 26,3107 77624 CALL
024859,003956: 26,3110 11210 GRP2PC
024860,003957: 26,3111 77624 TRUNBQ CALL
024861,003958: 26,3112 55361 RADARANG
024862,003959: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
024863,003960: 26,3114 01357 WHCHREAD
024864,003961: 26,3115 00004 DEC 4 B-14
024865,003962: 26,3116 03724 ULC
024866,003963: 26,3117 76435 VXV VSL1
024867,003964: 26,3120 03705 MY
024868,003965: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC
024869,003966: 26,3122 03724 ULC
024870,003967: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024871,003968: 26,3124 00747 VEHUPFLG
024872,003969: 26,3125 55126 +1
024873,003970: 26,3126 27525 STOVL BVECTOR
024874,003971: 26,3127 06524 ZEROVECS
024875,003972: 26,3130 03533 STORE BVECTOR +6
024876,003973: 26,3131 17541 STODL BVECTOR +12D
024877,003974: 26,3132 03722 RXZ
024878,003975: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024879,003976: 26,3134 20577 0 -2,1
024880,003977: 26,3135 56176 0,2
024881,003978: 26,3136 03543 STORE BVECTOR +14D
|
|
Page 588
|
024883,003980: 26,3137 77735 SLOAD
024884,003981: 26,3140 02012 TRUNVAR
024885,003982: 26,3141 41215 DAD DMP
024886,003983: 26,3142 15436 IMUVAR
024887,003984: 26,3143 03722 RXZ
024888,003985: 26,3144 41257 SRR* DMP
024889,003986: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024890,003987: 26,3146 03722 RXZ
024891,003988: 26,3147 53657 SR* SR*
024892,003989: 26,3150 20577 0 -2,1
024893,003990: 26,3151 57176 0,2
024894,003991: 26,3152 47057 SR* RTB
024895,003992: 26,3153 57176 0,2
024896,003993: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
024897,003994: 26,3155 16707 STODL VARIANCE
024898,003995: 26,3156 03732 SINTHETA
024899,003996: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
024900,003997: 26,3160 03734 RRTRUN
024901,003998: 26,3161 56405 DMP SL3R
024902,003999: 26,3162 15441 2PI/8
024903,004000: 26,3163 52525 PDDL SL3
024904,004001: 26,3164 01703 X789 +2
024905,004002: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024906,004003: 26,3166 56176 0,2
024907,004004: 26,3167 53605 DMP SRR*
024908,004005: 26,3170 03722 RXZ
024909,004006: 26,3171 21601 0,1
024910,004007: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
024911,004008: 26,3173 55401 LGCUPDTE
024912,004009: 26,3174 77624 CALL
024913,004010: 26,3175 11210 GRP2PC
024914,004011: 26,3176 77650 RENDEND GOTO
024915,004012: 26,3177 50562 R22LEM93
024916,004013:
024917,004014: # FUNCTIONAL DESCRIPTION
024918,004015: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
024919,004016: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
024920,004017: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
024921,004018:
024922,004019: # SUBROUTINES CALLED
024923,004020: # INSTALL LGCUPDTE INCORP1 RP-TO-R
024924,004021: # INTEGRV GETULC INCORP2
024925,004022:
024926,004023: # OUTPUT
024927,004024: # CORRECTED CSM STATE VECTOR (PERMANENT)
024928,004025: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024929,004026: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
024930,004027: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024931,004028: # UPDATED W-MATRIX
|
|
Page 589
|
024933,004030:
024934,004031: # ERASABLE INITIALIZATION REQUIRED
024935,004032: # LM AND CSM STATE VECTORS
024936,004033: # W-MATRIX
024937,004034: # MARK TIME IN MKTIME
024938,004035: # RADAR RANGE IN RM METERS B-29
024939,004036: # RANGE RATE IN RDOTM METERS/CSEC B-7
024940,004037: # VEHUPFLG
024941,004038:
024942,004039: 26,3200 77624 LSR22.4 CALL
024943,004040: 26,3201 27410 INTSTALL
024944,004041: 26,3202 43014 SET CLEAR
024945,004042: 26,3203 01472 STATEFLG
024946,004043: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
024947,004044: 26,3205 77624 CALL
024948,004045: 26,3206 55242 INTGRCAL
024949,004046: 26,3207 77624 CALL
024950,004047: 26,3210 11210 GRP2PC
024951,004048: 26,3211 45014 CLEAR CALL
024952,004049: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
024953,004050: 26,3213 27410 INTSTALL
024954,004051: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
024955,004052: 26,3215 03463 MARKCTR
024956,004053: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
024957,004054: 26,3217 43014 CLEAR SET
024958,004055: 26,3220 01675 D6OR9FLG
024959,004056: 26,3221 01476 DIM0FLAG
024960,004057: 26,3222 43014 SET CLEAR
024961,004058: 26,3223 01474 VINTFLAG
024962,004059: 26,3224 01673 INTYPFLG
024963,004060: 26,3225 77624 CALL
024964,004061: 26,3226 55242 INTGRCAL
024965,004062: 26,3227 77650 GOTO
024966,004063: 26,3230 54514 RANGEBQ
024967,004064:
024968,004065: 26,3231 77624 INITWMX6 CALL
024969,004066: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
024970,004067: 26,3233 45014 SET CALL
024971,004068: 26,3234 01474 VINTFLAG
024972,004069: 26,3235 26643 SETIFLGS
024973,004070: 26,3236 77624 CALL
024974,004071: 26,3237 55242 INTGRCAL
024975,004072: 26,3240 77650 GOTO
024976,004073: 26,3241 54514 RANGEBQ
024977,004074:
024978,004075: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
024979,004076:
024980,004077: 26,3242 71220 INTGRCAL STQ DLOAD
024981,004078: 26,3243 03675 IGRET
024982,004079: 26,3244 03755 MKTIME
|
|
Page 590
|
024984,004081: 26,3245 34041 STCALL TDEC1
024985,004082: 26,3246 27133 INTEGRV
024986,004083: 26,3247 77650 GOTO
024987,004084: 26,3250 03675 IGRET
024988,004085:
024989,004086: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
024990,004087: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
024991,004088:
024992,004089: 26,3251 E5,1400 EBANK= W
024993,004090: 26,3251 77776 WLINIT EXIT
024994,004091: 26,3252 33331 CAF WBANK
024995,004092: 26,3253 54006 TS BBANK
024996,004093: 26,3254 33437 CAF WSIZE
024997,004094: 26,3255 55256 TS W.IND
024998,004095: 26,3256 34755 CAF ZERO
024999,004096:
025000,004097: 26,3257 51256 INDEX W.IND
025001,004098: 26,3260 55400 TS W
025002,004099: 26,3261 11256 CCS W.IND
025003,004100: 26,3262 03255 TC -5
025004,004101: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025005,004102: 26,3264 54006 TS BBANK
025006,004103: 26,3265 06042 TC INTPRET
025007,004104: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
025008,004105: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025009,004106: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025010,004107: 26,3271 02001 WRENDPOS
025011,004108: 26,3272 77650 GOTO
025012,004109: 26,3273 55276 WPOSTORE
025013,004110: 26,3274 77735 WLSRFPOS SLOAD
025014,004111: 26,3275 02007 WSURFPOS
025015,004112: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025016,004113: 26,3277 20606 5
025017,004114: 26,3300 02401 STORE W
025018,004115: 26,3301 02411 STORE W +8D
025019,004116: 26,3302 02421 STORE W +16D
025020,004117: 26,3303 67214 BON SLOAD
025021,004118: 26,3304 04307 SURFFLAG
025022,004119: 26,3305 55311 WLSRFVEL
025023,004120: 26,3306 02002 WRENDVEL
025024,004121: 26,3307 77650 GOTO
025025,004122: 26,3310 55313 WVELSTOR
025026,004123: 26,3311 77735 WLSRFVEL SLOAD
025027,004124: 26,3312 02010 WSURFVEL
025028,004125: 26,3313 02511 WVELSTOR STORE W +72D
025029,004126: 26,3314 02521 STORE W +80D
025030,004127: 26,3315 02531 STORE W +88D
025031,004128: 26,3316 77735 SLOAD
025032,004129: 26,3317 02003 WSHAFT
025033,004130: 26,3320 02621 STORE W +144D
025034,004131: 26,3321 77735 SLOAD
|
|
Page 591
|
025036,004133: 26,3322 02004 WTRUN
025037,004134: 26,3323 02631 STORE W +152D
025038,004135: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025039,004136: 26,3325 02476 RENDWFLG
025040,004137: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025041,004138: 26,3327 00000 0
025042,004139: 26,3330 77616 RVQ
025043,004140:
025044,004141: 26,3331 E5,1400 EBANK= W
025045,004142: 26,3331 54065 WBANK BBCON WLINIT
025046,004143: 26,3332 E7,1457 EBANK= AIG
025047,004144: 26,3332 54067 AIGBANK BBCON LSR22.3
025048,004145:
025049,004146: # GETULC
025050,004147:
025051,004148: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025052,004149: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025053,004150: # MAGNITUDE IN 36D.
025054,004151:
025055,004152: 26,3333 77201 GETULC SETPD VLOAD
025056,004153: 26,3334 00001 0
025057,004154: 26,3335 01645 DELTALEM
025058,004155: 26,3336 77754 LXA,2
025059,004156: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025060,004157: 26,3340 53257 VSR* VAD
025061,004158: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025062,004159: 26,3342 01661 RCVLEM
025063,004160: 26,3343 53715 PDVL VSR*
025064,004161: 26,3344 01573 DELTACSM
025065,004162: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025066,004163: 26,3346 52255 VAD VSU
025067,004164: 26,3347 01607 RCVCSM
025068,004165: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025069,004166: 26,3351 21725 NORMUNX1
025070,004167: 26,3352 17724 STODL ULC
025071,004168: 26,3353 00045 36D
025072,004169: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025073,004170: 26,3355 20201 0,1
025074,004171: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025075,004172: 26,3357 03724 ULC
025076,004173: 26,3360 77616 RVQ
025077,004174:
025078,004175: # RADARANG
025079,004176:
025080,004177: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025081,004178: # RXZ = (SQRT (1-SINTHETA**2))RLC
025082,004179: # OUTPUT
025083,004180: # ULC IN ULC, PD0
025084,004181: # RLC IN PD36D
025085,004182: # SIN THETA IN SINTHETA AND PD6
025086,004183: # RXZ NORM IN RXZ (N IN X1)
|
|
Page 592
|
025088,004185:
025089,004186: 26,3361 45020 RADARANG STQ CALL
025090,004187: 26,3362 03675 RDRET
025091,004188: 26,3363 55333 GETULC
025092,004189: 26,3364 50276 VCOMP DOT
025093,004190: 26,3365 03705 MY
025094,004191: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025095,004192: 26,3367 03732 STORE SINTHETA
025096,004193: 26,3370 44316 DSQ BDSU
025097,004194: 26,3371 06514 DP1/4TH # 1-(SIN THETA)**2
025098,004195: 26,3372 41366 SQRT DMP
025099,004196: 26,3373 00045 36D
025100,004197: 26,3374 60352 SL1 NORM
025101,004198: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025102,004199: 26,3376 03722 STORE RXZ
025103,004200: 26,3377 77650 GOTO # EXIT
025104,004201: 26,3400 03675 RDRET
025105,004202: 26,3401 45020 LGCUPDTE STQ CALL
025106,004203: 26,3402 03675 LGRET
025107,004204: 26,3403 46533 INCORP1
025108,004205: 26,3404 51575 VLOAD ABVAL
025109,004206: 26,3405 02673 DELTAX +6
025110,004207: 26,3406 53754 LXA,2 SRR*
025111,004208: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025112,004209: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025113,004210: 26,3411 24317 STOVL R22DISP +2
025114,004211: 26,3412 02665 DELTAX
025115,004212: 26,3413 53646 ABVAL SRR*
025116,004213: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025117,004214: 26,3415 00315 STORE R22DISP
025118,004215: 26,3416 54335 SLOAD SR
025119,004216: 26,3417 02005 RMAX
025120,004217: 26,3420 20613 10D
025121,004218: 26,3421 50025 DSU BMN
025122,004219: 26,3422 00315 R22DISP
025123,004220: 26,3423 50566 R22LEM96 # GO DISPLAY
025124,004221: 26,3424 45335 SLOAD DSU
025125,004222: 26,3425 02006 VMAX
025126,004223: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025127,004224: 26,3427 77640 BMN
025128,004225: 26,3430 50566 R22LEM96 # GO DISPLAY
025129,004226: 26,3431 77624 ASTOK CALL
025130,004227: 26,3432 46745 INCORP2
025131,004228: 26,3433 77650 GOTO
025132,004229: 26,3434 03675 LGRET
025133,004230: 26,3435 00103 03370 IMUVAR 2DEC 1 E-6 B12 # RAD**2
025134,004231:
025135,004232: 26,3437 00241 WSIZE DEC 161 B-14
025136,004233: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025137,004234:
025138,004235: 26,3442 E7,1456 EBANK= LOSCOUNT
025139,004236:
|
|
Page 593
|
025141,004238: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025142,004239: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025143,004240:
025144,004241: # FUNCTIONAL DESCRIPTION
025145,004242:
025146,004243: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025147,004244: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025148,004245: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025149,004246: # ATTITUDE MANEUVER.
025150,004247:
025151,004248: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025152,004249:
025153,004250: # SUBROUTINES CALLED
025154,004251:
025155,004252: # LEMCONIC R61LEM
025156,004253: # CSMCONIC RRDESSM
025157,004254: # JOBDELAY FLAGDOWN
025158,004255: # WAITLIST FLAGUP
025159,004256: # RRNB BANKCALL
025160,004257:
025161,004258: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025162,004259:
025163,004260: # OUTPUT
025164,004261:
025165,004262: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025166,004263: # 11111 INDICATES LOCKON ACHIEVED
025167,004264: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025168,004265:
025169,004266: # ERASABLE INITIALIZATION REQUIRED
025170,004267:
025171,004268: # SEARCH FLAG MUST BE SET
025172,004269: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025173,004270:
025174,004271: # DEBRIS
025175,004272:
025176,004273: # RLMSRCH UXVECT
025177,004274: # VXRLM UYVECT
025178,004275: # LOSDESRD NSRCHPNT
025179,004276: # DATAGOOD OMEGAD
025180,004277: # MPAC PUSHLIST
025181,004278:
025182,004279: 26,3442 COUNT* $$/LRS24
025183,004280: 26,3442 34755 LRS24.1 CAF ZERO
025184,004281: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025185,004282: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025186,004283: 26,3445 00006 EXTEND
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|
Page 594
|
025188,004285: 26,3446 05012 WOR CHAN12
025189,004286: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025190,004287: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025191,004288: 26,3451 00006 EXTEND
025192,004289: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025193,004290:
025194,004291: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025195,004292: 26,3454 00004 INHINT
025196,004293: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025197,004294: 26,3456 E7,1456 EBANK= LOSCOUNT
025198,004295: 26,3456 03643 54067 2CADR CALLDGCH
025199,004296:
025200,004297: 26,3460 00003 RELINT
025201,004298: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025202,004299: 26,3462 74736 MASK REMODBIT
025203,004300: 26,3463 00006 EXTEND
025204,004301: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025205,004302: 26,3465 06042 TC INTPRET
025206,004303:
025207,004304: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025208,004305: 26,3467 21574 LOADTIME
025209,004306: 26,3470 15715 1.5SECS
025210,004307: 26,3471 34041 LRS24.11 STCALL TDEC1
025211,004308: 26,3472 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025212,004309: 26,3473 77775 VLOAD
025213,004310: 26,3474 00001 RATT
025214,004311: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025215,004312: 26,3476 00007 VATT
025216,004313: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025217,004314: 26,3500 00015 TAT
025218,004315: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025219,004316: 26,3502 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025220,004317: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025221,004318: 26,3504 00001 RATT
025222,004319: 26,3505 03676 RLMSRCH
025223,004320: 26,3506 77656 UNIT
025224,004321: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025225,004322: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025226,004323: 26,3511 47256 UNIT VXV
025227,004324: 26,3512 00001 RATT
025228,004325: 26,3513 77656 UNIT
025229,004326: 26,3514 03704 STORE VXRCM
025230,004327: 26,3515 52375 VLOAD VSU
025231,004328: 26,3516 00007 VATT
025232,004329: 26,3517 03740 SAVLEMV
025233,004330: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025234,004331: 26,3521 01734 REFSMMAT
025235,004332: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025236,004333: 26,3523 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 595
|
025238,004335: 26,3524 03737 NSRCHPNT
025239,004336: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025240,004337: 26,3526 53025 DSU BZE # IS N=1
025241,004338: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025242,004339: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025243,004340: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025244,004341: 26,3532 03720 UXVECT
025245,004342: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025246,004343: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025247,004344: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025248,004345: 26,3536 77761 VXSC
025249,004346: 26,3537 15705 SIN60DEG # UX = (COS 60) UXPR + (SIN 60) UYPR
025250,004347: 26,3540 27720 STOVL UXVECT
025251,004348: 26,3541 00015 UXVECTPR
025252,004349: 26,3542 53361 VXSC VAD
025253,004350: 26,3543 06522 COS60DEG
025254,004351: 26,3544 03720 UXVECT
025255,004352: 26,3545 77656 UNIT
025256,004353: 26,3546 27720 STOVL UXVECT
025257,004354: 26,3547 00015 UXVECTPR # UY = (-SIN 60) UXPR + (COS 60) UYPR
025258,004355: 26,3550 77761 VXSC
025259,004356: 26,3551 15705 SIN60DEG
025260,004357: 26,3552 27726 STOVL UYVECT
025261,004358: 26,3553 00023 UYVECTPR
025262,004359: 26,3554 52361 VXSC VSU
025263,004360: 26,3555 06522 COS60DEG
025264,004361: 26,3556 03726 UYVECT
025265,004362: 26,3557 77656 UNIT
025266,004363: 26,3560 03726 STORE UYVECT
025267,004364: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025268,004365: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025269,004366: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025270,004367: 26,3564 64256 UNIT MXV
025271,004368: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025272,004369: 26,3566 77772 VSL1
025273,004370: 26,3567 25101 CONTDESG STOVL RRTARGET
025274,004371: 26,3570 03740 SAVLEMV
025275,004372: 26,3571 01761 STORE LOSVEL
025276,004373: 26,3572 77776 EXIT
025277,004374: 26,3573 00004 INHINT
025278,004375: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025279,004376: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025280,004377: # POINT IN THE PATTERN
025281,004378: 26,3576 44735 CONTDES2 CS CDESBIT
025282,004379: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025283,004380: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025284,004381: 26,3601 54110 TS RADMODES
025285,004382: 26,3602 06042 TC INTPRET
025286,004383:
025287,004384: 26,3603 77624 CALL
|
|
Page 596
|
025289,004386: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025290,004387:
025291,004388: 26,3605 77776 EXIT
025292,004389: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025293,004390: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025294,004391:
025295,004392: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025296,004393: # SPACECRAFT +Z AXIS
025297,004394: 26,3610 00006 OMEGCALC EXTEND
025298,004395: 26,3611 30036 DCA CDUT
025299,004396: 26,3612 53753 DXCH TANGNB
025300,004397: 26,3613 06042 TC INTPRET
025301,004398: 26,3614 77624 CALL
025302,004399: 26,3615 46041 RRNB
025303,004400: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025304,004401: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025305,004402: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025306,004403: 26,3621 77776 EXIT
025307,004404: 26,3622 05155 TC ENDOFJOB
|
|
Page 597
|
025309,004406: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025310,004407:
025311,004408: 26,3623 47375 CALCXY VLOAD VXV
025312,004409: 26,3624 03704 VXRCM
025313,004410: 26,3625 03712 LOSDESRD
025314,004411: 26,3626 77656 UNIT
025315,004412: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025316,004413: 26,3630 03712 LOSDESRD
025317,004414: 26,3631 53435 VXV UNIT
025318,004415: 26,3632 03720 UXVECT
025319,004416: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025320,004417: 26,3634 77650 GOTO
025321,004418: 26,3635 55561 OFFCALC
025322,004419:
025323,004420: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025324,004421: 26,3637 03712 LOSDESRD
025325,004422: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025326,004423: 26,3641 52172 VSL1 GOTO
025327,004424: 26,3642 55567 CONTDESG
025328,004425:
025329,004426: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025330,004427: 26,3644 74745 MASK RNDVZBIT
025331,004428: 26,3645 00006 EXTEND
025332,004429: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025333,004430: 26,3647 37716 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025334,004431: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025335,004432: 26,3651 E7,1675 EBANK= RLMSRCH
025336,004433: 26,3651 03654 54067 2CADR DATGDCHK
025337,004434:
025338,004435: 26,3653 05261 TC TASKOVER
025339,004436:
025340,004437: 26,3654 34750 DATGDCHK CAF BIT4
025341,004438: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025342,004439: 26,3656 02033 RAND CHAN33
025343,004440: 26,3657 00006 EXTEND
025344,004441: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025345,004442: 26,3661 46245 CS SIX
025346,004443: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025347,004444: 26,3663 00006 EXTEND
025348,004445: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025349,004446: 26,3665 25736 INCR NSRCHPNT # NO - SET N = N+1 AN GO TO
025350,004447: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025351,004448:
025352,004449: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025353,004450: 26,3670 55733 TS DATAGOOD
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|
Page 598
|
025355,004452: 26,3671 00004 INHINT
025356,004453: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
025357,004454: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025358,004455: 26,3674 05155 TC ENDOFJOB
025359,004456:
025360,004457: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025361,004458: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025362,004459: 26,3677 00004 INHINT # REQUIRED IN P20
025363,004460: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025364,004461: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025365,004462: 26,3702 05155 TC ENDOFJOB
025366,004463:
025367,004464: 26,3703 25547 ALL1S DEC 11111 B-14
025368,004465: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025369,004466: 26,3706 23,2521 COS60DEG = DPHALF # (2DEC .50)
025370,004467: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025371,004468: 26,3706 UYVECTPR EQUALS 18D
025372,004469: 26,3706 RLMUNIT EQUALS 12D
025373,004470: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025374,004471: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025375,004472: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025376,004473: # **** ONEOCT NEEDS A LOWER ORDER ****
025377,004474: # **** WORD OF ZEROES ****
025378,004475: 26,3713 01130 6SECONDS DEC 600 B-14
025379,004476: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025380,004477:
025381,004478: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS
025382,004479:
025383,004480: 4616 BLOCK 02
025384,004481: 6000 SETLOC FFTAG5
025385,004482: 6000 BANK
025386,004483: 6025 COUNT* $$/P20
025387,004484: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025388,004485: 6026 36031 DCA VB56CADR # GOTOPOOH
025389,004486: 6027 15165 TCF SUPDXCHZ
025390,004487: 6030 E7,1471 EBANK= WHOCARES
025391,004488: 6030 03045 66107 VB56CADR 2CADR TRMTRACK
025392,004489:
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|
Page 599
|
025394,004491: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025395,004492: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025396,004493:
025397,004494: # FUNCTIONAL DESCRIPTION:
025398,004495:
025399,004496: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025400,004497: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025401,004498: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025402,004499: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025403,004500: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025404,004501: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025405,004502:
025406,004503: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025407,004504:
025408,004505: # SUBROUTINES CALLED:
025409,004506:
025410,004507: # REMODE RRTONLY
025411,004508: # UNIT MPACVBUF
025412,004509: # QUICTRIG AX*SR*T
025413,004510: # SPSIN SPCOS
025414,004511: # SETRRECR RROUT
025415,004512: # RRRDOT RRRANGE
025416,004513:
025417,004514: # EXIT: TO NOR29NOW, IN SERVICER.
025418,004515:
025419,004516: # OUTPUT: (ALL FOR DOWNLINK)
025420,004517:
025421,004518: # RM RDOTM (RAW)
025422,004519: # AIG AMG
025423,004520: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025424,004521: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025425,004522: # MKTIME
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|
Page 600
|
025427,004524:
025428,004525: # ERASABLE INITIALIZATION REQUIRED:
025429,004526:
025430,004527: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025431,004528: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025432,004529: # R(CSM) V(CSM)
025433,004530: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025434,004531:
025435,004532: # DEBRIS:
025436,004533:
025437,004534: # RADMODES (BIT 10)
025438,004535: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025439,004536: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025440,004537: # LOSCMFLG READRFLG
025441,004538:
025442,004539: # ALARMS: NONE.
025443,004540:
025444,004541: # COMPONENT JOBS AND TASKS:
025445,004542:
025446,004543: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025447,004544: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025448,004545: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025449,004546:
025450,004547: 33,2045 BANK 33
025451,004548: 33,2000 SETLOC R29/SERV
025452,004549: 33,2000 BANK
025453,004550:
025454,004551: 33,2045 COUNT* $$/R29
025455,004552:
025456,004553: 33,2045 5014 NR29&RDR EQUALS EBANK5
025457,004554:
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|
Page 601
|
025459,004556: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025460,004557: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025461,004558:
025462,004559: 33,2045 40110 R29 CS RADMODES
025463,004560: 33,2046 74742 MASK DESIGBIT
025464,004561: 33,2047 00006 EXTEND
025465,004562: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025466,004563:
025467,004564: 33,2051 00004 INHINT
025468,004565: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025469,004566: 33,2053 44736 CS BIT14
025470,004567: 33,2054 00006 EXTEND
025471,004568: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025472,004569: 33,2056 44740 CS LOSCMBIT
025473,004570: 33,2057 70076 MASK FLAGWRD2
025474,004571: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025475,004572: 33,2061 44753 CS OLDESBIT
025476,004573: 33,2062 70074 MASK STATE
025477,004574: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025478,004575: 33,2064 04616 TC BANKCALL
025479,004576: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025480,004577: 33,2066 34740 CA ANTENBIT
025481,004578: 33,2067 70110 MASK RADMODES
025482,004579: 33,2070 10000 CCS A # TEST RR MODE BIT.
025483,004580: 33,2071 12104 TCF SETPRPOS # MODE 2.
025484,004581:
025485,004582: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025486,004583: 33,2073 05072 TC NOVAC
025487,004584: 33,2074 E7,1456 EBANK= LOSCOUNT
025488,004585: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
025489,004586:
025490,004587: 33,2076 44742 CS DESIGBIT
025491,004588: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025492,004589: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025493,004590: 33,2101 34736 CA REMODBIT
025494,004591: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025495,004592: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025496,004593:
025497,004594: 33,2104 34753 SETPRPOS CA ONE
025498,004595: 33,2105 05203 TC WAITLIST
025499,004596: 33,2106 E7,1456 EBANK= LOSCOUNT
025500,004597: 33,2106 03604 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025501,004598:
025502,004599: 33,2110 34741 CA REPOSBIT
025503,004600: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025504,004601: 33,2112 12573 TCF NOR29NOW
025505,004602:
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|
Page 602
|
025507,004604: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025508,004605:
025509,004606: 33,2113 34753 R29REMOJ CA ONE
025510,004607: 33,2114 05203 TC WAITLIST
025511,004608: 33,2115 E7,1456 EBANK= LOSCOUNT
025512,004609: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025513,004610:
025514,004611: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025515,004612: 33,2120 17705 CADR RADSTALL
025516,004613:
025517,004614: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025518,004615: 33,2122 15155 TCF ENDOFJOB
025519,004616:
025520,004617: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025521,004618:
025522,004619: 25,2000 SETLOC R29S1
025523,004620: 25,2000 BANK
025524,004621:
025525,004622: 25,3604 34735 PREPOS29 CA NEGMAX # -180 DEG.
025526,004623: 25,3605 02252 TC RRTONLY # DRIVE TRUNNION CDU.
025527,004624: 25,3606 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025528,004625: 25,3607 70110 MASK RADMODES
025529,004626: 25,3610 54110 TS RADMODES
025530,004627: 25,3611 15261 TCF TASKOVER
025531,004628:
025532,004629: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025533,004630:
025534,004631: 33,2045 SETLOC R29
025535,004632: 33,2045 BANK
025536,004633:
025537,004634: 33,2123 00006 R29.LOS EXTEND
025538,004635: 33,2124 41234 DCS PIPTIME
025539,004636: 33,2125 52155 DXCH MPAC
025540,004637: 33,2126 00006 EXTEND
025541,004638: 33,2127 30025 DCA TIME2
025542,004639: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025543,004640: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025544,004641: 33,2132 30155 CA MPAC +1
025545,004642: 33,2133 00006 EXTEND
025546,004643: 33,2134 74740 MP BIT12
025547,004644: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025548,004645: 33,2136 06042 TC INTPRET
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|
Page 603
|
025550,004647: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025551,004648: # START IT UP WHEN THE DATA IS IN PLACE.
025552,004649: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025553,004650: 33,2140 01726 V(CSM)
025554,004651: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025555,004652: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025556,004653: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025557,004654: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025558,004655: 33,2145 03521 R
025559,004656: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025560,004657: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025561,004658: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025562,004659: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025563,004660:
025564,004661: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025565,004662: 33,2153 00001 0
025566,004663: 33,2154 77761 VXSC
025567,004664: 33,2155 26177 .5SECB17
025568,004665: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025569,004666: 33,2157 77414 CLEAR EXIT
025570,004667: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025571,004668:
025572,004669: 33,2161 40074 CS STATE
025573,004670: 33,2162 74753 MASK OLDESBIT
025574,004671: 33,2163 00006 EXTEND
025575,004672: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025576,004673: 33,2165 00004 INHINT
025577,004674: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025578,004675:
025579,004676: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025580,004677: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025581,004678: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025582,004679: 33,2172 05203 TC WAITLIST
025583,004680: 33,2173 E7,1456 EBANK= LOSCOUNT
025584,004681: 33,2173 03357 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025585,004682:
025586,004683: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025587,004684:
025588,004685: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025589,004686:
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|
Page 604
|
025591,004688: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025592,004689: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025593,004690:
025594,004691: 24,3357 BANK 24
025595,004692: 24,2000 SETLOC P20S
025596,004693: 24,2000 BANK
025597,004694:
025598,004695: 24,3357 COUNT* $$/R29
025599,004696:
025600,004697: 24,3357 35031 BEGDES29 CAF PRIO21
025601,004698: 24,3360 05072 TC NOVAC
025602,004699: 24,3361 E3,1760 EBANK= LOSVDT/4
025603,004700: 24,3361 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025604,004701:
025605,004702: 24,3363 34774 R29DLOOP CAF .5SEC
025606,004703: 24,3364 05224 TC VARDELAY
025607,004704:
025608,004705: 24,3365 40110 CS RADMODES
025609,004706: 24,3366 74742 MASK DESIGBIT
025610,004707: 24,3367 10000 CCS A
025611,004708: 24,3370 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025612,004709:
025613,004710: 24,3371 40076 CS FLAGWRD2
025614,004711: 24,3372 74740 MASK LOSCMBIT
025615,004712: 24,3373 00006 EXTEND
025616,004713: 24,3374 13377 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025617,004714: 24,3375 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025618,004715: 24,3376 13357 TCF BEGDES29
025619,004716:
025620,004717: 24,3377 34753 CA ONE
025621,004718: 24,3400 13364 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 605
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025623,004720: # R29DODES: RR DESIGNATION LOOP FOR R29
025624,004721:
025625,004722: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025626,004723: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025627,004724: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025628,004725: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025629,004726: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025630,004727:
025631,004728: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025632,004729: # TASK WHEN LOCK-ON IS ACHIEVED.
025633,004730:
025634,004731: 32,2550 BANK 32
025635,004732: 32,2000 SETLOC F2DPS*32
025636,004733: 32,2000 BANK
025637,004734:
025638,004735: 32,2550 COUNT* $$/R29
025639,004736: 32,2550 E3,1760 EBANK= LOSVDT/4
025640,004737:
025641,004738: 32,2550 34753 R29DODES CA ONE
025642,004739: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025643,004740: 32,2552 34756 CA FIVE
025644,004741:
025645,004742: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025646,004743: 32,2554 54002 TS Q
025647,004744: 32,2555 11106 CCS TANG
025648,004745: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025649,004746:
025650,004747: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025651,004748: 32,2560 50002 INDEX Q
025652,004749: 32,2561 31761 DCA LOSVDT/4
025653,004750: 32,2562 50002 INDEX Q
025654,004751: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025655,004752:
025656,004753: 32,2564 00006 R29DPAS1 EXTEND
025657,004754: 32,2565 50002 INDEX Q
025658,004755: 32,2566 31101 DCA LOSSM
025659,004756: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025660,004757: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025661,004758: 32,2571 11106 CCS TANG
025662,004759: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025663,004760:
025664,004761: 32,2573 00006 EXTEND
025665,004762: 32,2574 50002 INDEX Q
025666,004763: 32,2575 31761 DCA LOSVDT/4
025667,004764: 32,2576 50002 INDEX Q
025668,004765: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025669,004766:
025670,004767: 32,2600 10002 R29DVEND CCS Q
025671,004768: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025672,004769:
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Page 606
|
025674,004771: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025675,004772:
025676,004773: 32,2602 52156 DXCH MPAC +1
025677,004774: 32,2603 52155 DXCH MPAC
025678,004775: 32,2604 32776 CA R29FXLOC # = ADRES INTB15 + -34D
025679,004776: 32,2605 54120 TS FIXLOC
025680,004777: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025681,004778: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025682,004779: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025683,004780:
025684,004781: 32,2611 11106 CCS TANG
025685,004782: 32,2612 12614 TCF +2
025686,004783: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025687,004784: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025688,004785: 32,2615 00006 EXTEND
025689,004786: 32,2616 30036 DCA CDUT
025690,004787: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025691,004788: 32,2620 30033 CA CDUY
025692,004789: 32,2621 54765 TS CDUSPOT
025693,004790: 32,2622 30034 CA CDUZ
025694,004791: 32,2623 54767 TS CDUSPOT +2
025695,004792: 32,2624 30032 CA CDUX
025696,004793: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025697,004794: 32,2626 04616 TC BANKCALL
025698,004795: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025699,004796:
025700,004797: 32,2630 46250 GOTANGLS CS THREE
025701,004798: 32,2631 04616 TC BANKCALL
025702,004799: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025703,004800:
025704,004801: 32,2633 11106 CCS TANG
025705,004802: 32,2634 12636 TCF +2
025706,004803: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025707,004804:
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|
Page 607
|
025709,004806: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025710,004807: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025711,004808:
025712,004809: 32,2636 00004 INHINT
025713,004810: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025714,004811: 32,2640 31766 CA SAVECDUT
025715,004812: 32,2641 05032 TC SPCOS
025716,004813: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T.
025717,004814: 32,2643 41766 CS SAVECDUT
025718,004815: 32,2644 05033 TC SPSIN
025719,004816: 32,2645 54163 TS MODE # MODE = -SIN T.
025720,004817: 32,2646 00006 EXTEND
025721,004818: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025722,004819: 32,2650 52155 DXCH MPAC
025723,004820: 32,2651 31767 CA SAVECDUT +1
025724,004821: 32,2652 05033 TC SPSIN
025725,004822: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025726,004823: 32,2654 00006 EXTEND
025727,004824: 32,2655 70166 MP PUSHLOC
025728,004825: 32,2656 00006 EXTEND
025729,004826: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025730,004827: 32,2660 20155 DAS MPAC
025731,004828: 32,2661 31767 CA SAVECDUT +1
025732,004829: 32,2662 05032 TC SPCOS
025733,004830: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025734,004831: 32,2664 00006 EXTEND
025735,004832: 32,2665 70166 MP PUSHLOC
025736,004833: 32,2666 00006 EXTEND
025737,004834: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025738,004835: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025739,004836: 32,2671 00006 EXTEND # -SIN T, COS S COS T).
025740,004837: 32,2672 30155 DCA MPAC
025741,004838: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025742,004839: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025743,004840: 32,2675 34736 CA BIT14
025744,004841: 32,2676 12677 NOOP
025745,004842: 32,2677 00006 EXTEND
025746,004843: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025747,004844: 32,2701 00003 RELINT
025748,004845: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025749,004846:
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Page 608
|
025751,004848: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025752,004849:
025753,004850: 32,2703 31767 R29DPAS2 CA SAVECDUT +1
025754,004851: 32,2704 00006 EXTEND
025755,004852: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X.
025756,004853: 32,2706 53107 DXCH TANG
025757,004854: 32,2707 41766 CS SAVECDUT
025758,004855: 32,2710 00006 EXTEND
025759,004856: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025760,004857: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025761,004858: 32,2713 40163 CS MODE # - SIN S)
025762,004859: 32,2714 00006 EXTEND
025763,004860: 32,2715 71766 MP SAVECDUT
025764,004861: 32,2716 00006 EXTEND
025765,004862: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025766,004863: 32,2720 52155 DXCH MPAC
025767,004864: 32,2721 30166 CA PUSHLOC
025768,004865: 32,2722 00006 EXTEND
025769,004866: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025770,004867: 32,2724 20155 DAS MPAC
025771,004868: 32,2725 40163 CS MODE
025772,004869: 32,2726 00006 EXTEND
025773,004870: 32,2727 71767 MP SAVECDUT +1
025774,004871: 32,2730 00006 EXTEND
025775,004872: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025776,004873: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025777,004874: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025778,004875: 32,2734 00006 EXTEND
025779,004876: 32,2735 72777 MP RR29GAIN
025780,004877: 32,2736 55354 TS TRUNNCMD
025781,004878: 32,2737 31106 CA TANG
025782,004879: 32,2740 00006 EXTEND
025783,004880: 32,2741 72777 MP RR29GAIN
025784,004881: 32,2742 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT
025785,004882:
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|
Page 609
|
025787,004884: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025788,004885: # READING DATA FROM THE RENDEZVOUS RADAR.
025789,004886:
025790,004887: 32,2743 34750 DGOOD? CAF BIT4
025791,004888: 32,2744 00006 EXTEND
025792,004889: 32,2745 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025793,004890: 32,2746 00004 INHINT # (MAINLY FOR RROUT).
025794,004891: 32,2747 00006 EXTEND
025795,004892: 32,2750 12754 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025796,004893:
025797,004894: 32,2751 04616 TC BANKCALL
025798,004895: 32,2752 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025799,004896: 32,2753 12772 TCF END29DOD
025800,004897:
025801,004898: 32,2754 44742 R29LOKON CS DESIGBIT
025802,004899: 32,2755 70110 MASK RADMODES
025803,004900: 32,2756 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025804,004901: 32,2757 44752 CS BIT2
025805,004902: 32,2760 00006 EXTEND
025806,004903: 32,2761 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025807,004904: 32,2762 34743 CA READRBIT
025808,004905: 32,2763 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025809,004906: 32,2764 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025810,004907: 32,2765 44776 CS SUPER110 # -96D + 100D = 4.
025811,004908: 32,2766 64777 AD 1SEC # 0 + 100D = 100D.
025812,004909: 32,2767 05203 TC WAITLIST
025813,004910: 32,2770 E7,1456 EBANK= LOSCOUNT
025814,004911: 32,2770 03401 50067 2CADR R29READ # START READING TASK AND JOB.
025815,004912:
025816,004913: 32,2772 44740 END29DOD CS LOSCMBIT
025817,004914: 32,2773 70076 MASK FLAGWRD2
025818,004915: 32,2774 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025819,004916: 32,2775 15155 TCF ENDOFJOB
025820,004917:
025821,004918: 32,2776 00052 R29FXLOC ADRES INTB15+ -34D
025822,004919: 32,2777 56655 RR29GAIN DEC -.53624
025823,004920: 32,3000 E3,1760 LOSVDT/4 EQUALS LOSVEL
025824,004921: 32,3000 1100 LOSSM EQUALS RRTARGET
025825,004922: 32,3000 E3,1766 SAVECDUT EQUALS MLOSV
025826,004923:
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Page 610
|
025828,004925: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025829,004926:
025830,004927: 24,3401 BANK 24
025831,004928: 24,2000 SETLOC P20S
025832,004929: 24,2000 BANK
025833,004930:
025834,004931: 24,3401 COUNT* $$/R29
025835,004932:
025836,004933: 24,3401 E7,1456 EBANK= LOSCOUNT
025837,004934:
025838,004935: 24,3401 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST.
025839,004936: 24,3402 05072 TC NOVAC
025840,004937: 24,3403 E7,1456 EBANK= LOSCOUNT
025841,004938: 24,3403 03414 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
025842,004939:
025843,004940: 24,3405 35000 CA 2SECS
025844,004941: 24,3406 05224 TC VARDELAY
025845,004942:
025846,004943: 24,3407 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
025847,004944: 24,3410 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
025848,004945: 24,3411 10000 CCS A
025849,004946: 24,3412 13401 TCF R29READ # IT'S OK; CALL IT AGAIN.
025850,004947: 24,3413 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
025851,004948:
025852,004949: 24,3414 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
025853,004950: 24,3415 74741 MASK NR29FBIT
025854,004951: 24,3416 10000 CCS A # TEST "NOR29FLG".
025855,004952: 24,3417 13501 TCF ENDR29RD # R29 OVER, EXIT WITH RR STILL LOCKED ON
025856,004953: 24,3420 30110 CA RADMODES
025857,004954: 24,3421 74752 MASK AUTOMBIT
025858,004955: 24,3422 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
025859,004956: 24,3423 13476 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
025860,004957:
025861,004958: 24,3424 04616 TC BANKCALL
025862,004959: 24,3425 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE.
025863,004960: 24,3426 04616 TC BANKCALL
025864,004961: 24,3427 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025865,004962: 24,3430 13476 TCF ENDRRD29 # BAD READ; REDESIGNATE.
025866,004963:
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|
Page 611
|
025868,004965: # R29 RADAR READING CONTINUED.
025869,004966:
025870,004967: 24,3431 53105 DXCH TIMEHOLD
025871,004968: 24,3432 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
025872,004969: 24,3433 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
025873,004970: 24,3434 00006 EXTEND
025874,004971: 24,3435 30036 DCA CDUT
025875,004972: 24,3436 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
025876,004973: 24,3437 00006 EXTEND
025877,004974: 24,3440 30034 DCA CDUY
025878,004975: 24,3441 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
025879,004976: 24,3442 30032 CA CDUX
025880,004977: 24,3443 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
025881,004978:
025882,004979: 24,3444 04616 R29RANGE TC BANKCALL
025883,004980: 24,3445 53114 CADR RRRANGE # INITIATE READING OF RR RANGE.
025884,004981: 24,3446 04616 TC BANKCALL
025885,004982: 24,3447 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025886,004983: 24,3450 13467 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
025887,004984:
025888,004985: 24,3451 00004 INHINT
025889,004986: 24,3452 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
025890,004987: 24,3453 53757 DXCH RM
025891,004988: 24,3454 52155 DXCH MPAC
025892,004989: 24,3455 53755 DXCH MKTIME
025893,004990: 24,3456 52157 DXCH MPAC +2
025894,004991: 24,3457 53753 DXCH TANGNB
025895,004992: 24,3460 52161 DXCH MPAC +4
025896,004993: 24,3461 53460 DXCH AIG
025897,004994: 24,3462 30162 CA MPAC +6
025898,004995: 24,3463 55461 TS AOG
025899,004996: 24,3464 34753 CA ONE
025900,004997: 24,3465 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
025901,004998: 24,3466 15155 TCF ENDOFJOB
025902,004999:
025903,005000: 24,3467 40101 R29RRR? CS FLAGWRD5
025904,005001: 24,3470 74742 MASK BIT10
025905,005002: 24,3471 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
025906,005003: 24,3472 13476 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
025907,005004: 24,3473 05516 TC DOWNFLAG
025908,005005: 24,3474 00120 ADRES RNGSCFLG
025909,005006: 24,3475 13444 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
025910,005007:
025911,005008: 24,3476 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE
025912,005009: 24,3477 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL
025913,005010: 24,3500 03012 WAND CHAN12
025914,005011: 24,3501 34755 ENDR29RD CA ZERO
025915,005012: 24,3502 55462 TS TRKMKCNT
025916,005013: 24,3503 05516 TC DOWNFLAG
025917,005014:
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Page 612
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025919,005016: 24,3504 00063 ADRES READRFLG
025920,005017: 24,3505 15155 TCF ENDOFJOB
025921,005018:
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Page 613
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025923,005020: # W-MATRIX MONITOR
025924,005021:
025925,005022: 31,2007 BANK 31
025926,005023: 31,2000 SETLOC VB67
025927,005024: 31,2000 BANK
025928,005025: 31,2007 COUNT* $$/EXTVB
025929,005026:
025930,005027: 31,2007 E4,1600 EBANK= WWPOS
025931,005028:
025932,005029: 31,2007 06042 V67CALL TC INTPRET
025933,005030: 31,2010 77624 CALL
025934,005031: 31,2011 62120 V67WW
025935,005032: 31,2012 77776 EXIT
025936,005033: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
025937,005034: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
025938,005035: 31,2015 53607 DXCH WWBIAS +2
025939,005036: 31,2016 00006 EXTEND
025940,005037: 31,2017 31603 DCA WWVEL
025941,005038: 31,2020 53611 DXCH WWBIAS +4
025942,005039: 31,2021 00006 EXTEND
025943,005040: 31,2022 31605 DCA WWBIAS
025944,005041: 31,2023 53613 DXCH WWBIAS +6
025945,005042: 31,2024 32143 V06N99DS CAF V06N99
025946,005043: 31,2025 04616 TC BANKCALL
025947,005044: 31,2026 20334 CADR GOXDSPF
025948,005045: 31,2027 15472 TCF ENDEXT
025949,005046: 31,2030 12032 TCF V6N99PRO
025950,005047: 31,2031 12024 TCF V06N99DS
025951,005048: 31,2032 22007 V6N99PRO ZL
025952,005049: 31,2033 34756 CA FIVE
025953,005050: 31,2034 54002 N99LOOP TS Q
025954,005051: 31,2035 50002 INDEX Q
025955,005052: 31,2036 41600 CS WWPOS
025956,005053: 31,2037 50002 INDEX Q
025957,005054: 31,2040 61606 AD WWPOS +6
025958,005055: 31,2041 26001 ADS L
025959,005056: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
025960,005057: 31,2043 12034 TCF N99LOOP
025961,005058: 31,2044 22000 LXCH A
025962,005059: 31,2045 00006 EXTEND
025963,005060: 31,2046 12051 BZF V06N9933
025964,005061: 31,2047 05504 TC UPFLAG
025965,005062: 31,2050 00160 ADRES V67FLAG
025966,005063:
025967,005064: 31,2051 06042 V06N9933 TC INTPRET
025968,005065: 31,2052 77414 BON EXIT
025969,005066: 31,2053 03707 V67FLAG
025970,005067: 31,2054 62056 +2
025971,005068: 31,2055 15472 TCF ENDEXT
025972,005069: 31,2056 77745 DLOAD
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Page 614
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025974,005071: 31,2057 02201 WWPOS
025975,005072: 31,2060 72412 SL4 SL1
025976,005073: 31,2061 14001 STODL 0D
025977,005074: 31,2062 02203 WWVEL
025978,005075: 31,2063 14003 STODL 2D
025979,005076: 31,2064 02205 WWBIAS
025980,005077: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
025981,005078: 31,2066 20213 10D # INTERNAL SCALING (B+5)
025982,005079: 31,2067 00005 STORE 4D
025983,005080: 31,2070 72014 BON LXA,1
025984,005081: 31,2071 04307 SURFFLAG
025985,005082: 31,2072 62102 V67SURF
025986,005083: 31,2073 00000 0D
025987,005084: 31,2074 72130 SXA,1 LXA,1
025988,005085: 31,2075 02000 WRENDPOS
025989,005086: 31,2076 00002 2D
025990,005087: 31,2077 52130 SXA,1 GOTO
025991,005088: 31,2100 02001 WRENDVEL
025992,005089: 31,2101 62110 V67CLRF
025993,005090: 31,2102 66150 V67SURF LXA,1 SXA,1
025994,005091: 31,2103 00000 0D
025995,005092: 31,2104 02006 WSURFPOS
025996,005093: 31,2105 66150 LXA,1 SXA,1
025997,005094: 31,2106 00002 2D
025998,005095: 31,2107 02007 WSURFVEL
025999,005096: 31,2110 66150 V67CLRF LXA,1 SXA,1
026000,005097: 31,2111 00004 4D
026001,005098: 31,2112 02003 WTRUN
026002,005099: 31,2113 77730 SXA,1
026003,005100: 31,2114 02002 WSHAFT
026004,005101: 31,2115 77414 CLEAR EXIT
026005,005102: 31,2116 02676 RENDWFLG
026006,005103: 31,2117 15472 TCF ENDEXT
026007,005104: 31,2120 40020 V67WW STQ BOV
026008,005105: 31,2121 00051 S2
026009,005106: 31,2122 62123 +1
026010,005107: 31,2123 45014 CLEAR CALL
026011,005108: 31,2124 03667 V67FLAG
026012,005109: 31,2125 27410 INTSTALL
026013,005110: 31,2126 71331 SSP DLOAD
026014,005111: 31,2127 00051 S1
026015,005112: 31,2130 00006 DEC 6 B-14
026016,005113: 31,2131 06524 ZEROVECS
026017,005114: 31,2132 02201 STORE WWPOS
026018,005115: 31,2133 02203 STORE WWVEL
026019,005116: 31,2134 02205 STORE WWBIAS
026020,005117: 31,2135 77770 AXT,1
026021,005118: 31,2136 00066 DEC 54 B-14
026022,005119: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026023,005120: 31,2140 02467 W +54D,1
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Page 615
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026025,005122: 31,2141 77650 GOTO
026026,005123: 31,2142 60002 ADDPOS
026027,005124: 31,2143 01543 V06N99 VN 0699
026028,005125:
026029,005126: 30,2000 SETLOC VB67A
026030,005127: 30,2000 BANK
026031,005128: 30,2002 COUNT* $$/EXTVB
026032,005129:
026033,005130: 30,2002 77615 ADDPOS DAD
026034,005131: 30,2003 02201 WWPOS
026035,005132: 30,2004 02201 STORE WWPOS
026036,005133: 30,2005 47573 VLOAD* VSQ
026037,005134: 30,2006 02555 W +108D,1
026038,005135: 30,2007 77615 DAD
026039,005136: 30,2010 02203 WWVEL
026040,005137: 30,2011 02203 STORE WWVEL
026041,005138: 30,2012 47573 VLOAD* VSQ
026042,005139: 30,2013 02643 W +162D,1
026043,005140: 30,2014 77615 DAD
026044,005141: 30,2015 02205 WWBIAS
026045,005142: 30,2016 02205 STORE WWBIAS
026046,005143: 30,2017 75500 TIX,1 SQRT
026047,005144: 30,2020 62137 NXPOSVEL
026048,005145: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026049,005146: 30,2022 20613 10D # NOUN SCALING (B-5)
026050,005147: 30,2023 16205 STODL WWBIAS
026051,005148: 30,2024 02203 WWVEL
026052,005149: 30,2025 77766 SQRT
026053,005150: 30,2026 16203 STODL WWVEL
026054,005151: 30,2027 02201 WWPOS
026055,005152: 30,2030 77766 SQRT
026056,005153: 30,2031 02201 STORE WWPOS
026057,005154: 30,2032 52000 BOV GOTO
026058,005155: 30,2033 60035 +2
026059,005156: 30,2034 60042 V67XXX
026060,005157: 30,2035 77745 DLOAD
026061,005158: 30,2036 06532 DPPOSMAX
026062,005159: 30,2037 02201 STORE WWPOS
026063,005160: 30,2040 02203 STORE WWVEL
026064,005161: 30,2041 02205 STORE WWBIAS
026065,005162: 30,2042 45345 V67XXX DLOAD DSU
026066,005163: 30,2043 02201 WWPOS
026067,005164: 30,2044 20060 FT99999
026068,005165: 30,2045 71240 BMN DLOAD
026069,005166: 30,2046 60051 +3
026070,005167: 30,2047 20060 FT99999
026071,005168: 30,2050 02201 STORE WWPOS
026072,005169: 30,2051 66150 LXA,1 SXA,1
026073,005170: 30,2052 00051 S2
026074,005171: 30,2053 00052 QPRET
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Page 616
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026076,005173: 30,2054 77776 EXIT
026077,005174: 30,2055 04635 TC POSTJUMP
026078,005175: 30,2056 27421 CADR INTWAKE
026079,005176:
026080,005177: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026081,005178:
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Page 617
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026083,005180: 25,3612 BANK 25
026084,005181: 25,2000 SETLOC RADARUPT
026085,005182: 25,2000 BANK
026086,005183: 25,3612 COUNT* $$/RRUPT
026087,005184:
026088,005185: 25,3612 E7,1456 EBANK= LOSCOUNT
026089,005186:
026090,005187: 25,3612 44747 RADLITES CS BIT5
026091,005188: 25,3613 60061 AD ITEMP1
026092,005189: 25,3614 10000 CCS A
026093,005190: 25,3615 44753 CS ONE
026094,005191: 25,3616 13646 TCF VLIGHT
026095,005192:
026096,005193: 25,3617 14570 TCF RRTRKF
026097,005194:
026098,005195: 25,3620 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026099,005196:
026100,005197: 25,3621 34747 CA HLITE
026101,005198: 25,3622 54001 TS L
026102,005199:
026103,005200: 25,3623 34747 CA LRALTBIT
026104,005201: 25,3624 70110 BOTHLITS MASK RADMODES
026105,005202: 25,3625 10000 CCS A
026106,005203: 25,3626 13640 TCF ONLITES
026107,005204:
026108,005205: 25,3627 30107 CA FLGWRD11
026109,005206: 25,3630 50065 INDEX ITEMP5
026110,005207: 25,3631 74753 MASK HFLSHBIT
026111,005208: 25,3632 10000 CCS A
026112,005209: 25,3633 14570 TCF RRTRKF
026113,005210:
026114,005211: 25,3634 00006 LITIT EXTEND
026115,005212: 25,3635 22066 QXCH ITEMP6
026116,005213: 25,3636 04602 TC TRKFLON +1
026117,005214:
026118,005215: 25,3637 00066 TC ITEMP6
026119,005216:
026120,005217: 25,3640 50065 ONLITES INDEX ITEMP5
026121,005218: 25,3641 44753 CS HFLSHBIT
026122,005219: 25,3642 70107 MASK FLGWRD11
026123,005220: 25,3643 54107 TS FLGWRD11
026124,005221:
026125,005222: 25,3644 30001 CA L
026126,005223: 25,3645 13634 TCF LITIT
026127,005224: 25,3646 54065 VLIGHT TS ITEMP5
026128,005225: 25,3647 34751 CA VLITE
026129,005226: 25,3650 54001 TS L
026130,005227: 25,3651 34744 CA BIT8
026131,005228: 25,3652 13624 TCF BOTHLITS
026132,005229:
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Page 618
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026134,005231: 25,3653 4747 HLITE EQUALS BIT5
026135,005232: 25,3653 4751 VLITE EQUALS BIT3
026136,005233:
End of include-file P20-P25.agc. Parent file is MAIN.agc