Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
021650,000002: ## Copyright: Public domain.
021651,000003: ## Filename: P20-P25.agc
021652,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
021653,000005: ## otherwise known as Luminary Rev 99, the third release
021654,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
021655,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
021656,000008: ## placement of a single label. The corrections shown here have
021657,000009: ## been verified to have the same bank checksums as AGC developer
021658,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
021659,000011: ## to be accurate. This file is intended to be a faithful
021660,000012: ## recreation, except that the code format has been changed to
021661,000013: ## conform to the requirements of the yaYUL assembler rather than
021662,000014: ## the original YUL assembler.
021663,000015: ##
021664,000016: ## Assembler: yaYUL
021665,000017: ## Contact: Onno Hommes <ohommes@cmu.edu>.
021666,000018: ## Website: www.ibiblio.org/apollo.
021667,000019: ## Pages: 0492-0613
021668,000020: ## Mod history: 2009-05-26 OH Transcribed from page images.
021669,000021: ## 2009-06-05 RSB Corrected a typos.
021670,000022: ## 2009-06-06 RSB Added a missing instruction, and a block
021671,000023: ## of 3 missing instructions.
021672,000024: ## 2009-06-07 RSB Fixed a misprint.
021673,000025: ## 2009-06-07 RSB Changed the construct "2DEC E-6 B12"
021674,000026: ## (which isn't legal in yaYUL) to
021675,000027: ## "2DEC 1.0 E-6 B12".
021676,000028: ## 2011-05-07 JL Removed workarounds.
021677,000029: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
021678,000030: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
021679,000031: ## and corrected the errors found.
021680,000032: ## 2017-01-28 RSB WTIH -> WITH.
021681,000033: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
021682,000034: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021683,000035: ## side-by-side diff of Luminary 69/99/116/131/210.
021684,000036: ## 2017-08-01 MAS Created from LMY99 Rev 1.
021685,000037: ## 2021-05-30 ABS R21LEMB -> R21LEM8
021686,000038: ## $$/r29 -> $$/R29
021687,000039: ## R29REM0J -> R29REMOJ
021688,000040:
021689,000041: ## This source code has been transcribed or otherwise adapted from
021690,000042: ## digitized images of a hardcopy from the MIT Museum. The digitization
021691,000043: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
021692,000044: ## the Museum. Many thanks to both. The images (with suitable reduction
021693,000045: ## in storage size and consequent reduction in image quality as well) are
021694,000046: ## available online at www.ibiblio.org/apollo. If for some reason you
021695,000047: ## find that the images are illegible, contact me at info@sandroid.org
021696,000048: ## about getting access to the (much) higher-quality images which Paul
021697,000049: ## actually created.
021698,000050: ##
021699,000051: ## The code has been modified to match LMY99 Revision 0, otherwise
021700,000052: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
021701,000053: ## the listing from which it was transcribed. It has been verified to
021702,000054: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
021703,000055: ## of Luminary Revision 99 (for which we do not have scans).
021704,000056: ##
021705,000057: ## Notations on Allan Klumpp's listing read, in part:
021706,000058: ##
021707,000059: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
021708,000060:
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021710,000062: # RENDEZVOUS NAVIGATION PROGRAM 20
021711,000063:
021712,000064: # PROGRAM DESCRIPTION
021713,000065:
021714,000066: # MOD NO - 2
021715,000067: # BY P. VOLANTE
021716,000068:
021717,000069: # FUNCTIONAL DESCRIPTION
021718,000070:
021719,000071: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021720,000072: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021721,000073: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021722,000074: # ON THE BASIS OF THE RR TRACKING DATA.
021723,000075:
021724,000076: # CALLING SEQUENCE -
021725,000077:
021726,000078: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021727,000079:
021728,000080: # SUBROUTINES CALLED
021729,000081:
021730,000082: # R02BOTH (IMU STATUS CHECK) FLAGUP
021731,000083: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021732,000084: # R23LEM (MANUAL ACQUISITION) BANKCALL
021733,000085: # LS201 (LOS DETERMINATION) TASKOVER
021734,000086: # LS202 (RANGE LIMIT TEST)
021735,000087: # R61LEM (PREFERRED TRACKING ATTITUDE)
021736,000088: # R21LEM (RR DESIGNATE) ENDOFJOB
021737,000089: # R22LEM (DATA READ) GOPERF1
021738,000090: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021739,000091: # PRIOLARM (PRIORITY DISPLAY)
021740,000092:
021741,000093: # NORMAL EXIT MODES -
021742,000094:
021743,000095: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021744,000096: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021745,000097:
021746,000098: # ALARM OR ABORT EXIT MODES -
021747,000099:
021748,000100: # RANGE GREATER THAN 400 NM DISPLAY
021749,000101:
021750,000102: # OUTPUT
021751,000103:
021752,000104: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021753,000105:
021754,000106: # ERASABLE INITIALIZATION REQUIRED
021755,000107:
021756,000108: # FLAGS SET + RESET
021757,000109:
021758,000110: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021759,000111:
021760,000112: # DEBRIS
021761,000113:
021762,000114: # CENTRALS - A,Q,L
021763,000115:
021764,000116: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021765,000117:
021766,000118: 33,2045 BANK 33
021767,000119: 24,2000 SETLOC P20S
021768,000120: 24,2000 BANK
021769,000121:
021770,000122: 24,2000 E7,1456 EBANK= LOSCOUNT
021771,000123: 24,2000 COUNT* $$/P20
021772,000124: 24,2000 24,2000 PROG22 = PROG20
021773,000125: 24,2000 05327 PROG20 TC 2PHSCHNG
021774,000126: 24,2001 00004 OCT 4
021775,000127: 24,2002 05022 OCT 05022
021776,000128: 24,2003 26000 OCT 26000 # PRIORITY 26
021777,000129: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021779,000131: 24,2005 02007 TC ORBCHGO # YES
021780,000132: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021781,000133: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021782,000134: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021783,000135: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021784,000136: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT
021785,000137: 24,2013 32311 CAF OCT00012
021786,000138: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021787,000139: 24,2015 20633 CADR GOPERF4
021788,000140: 24,2016 06001 TC GOTOPOOH # TERMINATE
021789,000141: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021790,000142: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021791,000143: 24,2021 42312 ORBCHG1 CS P22ONE
021792,000144: 24,2022 61145 AD OPTION2
021793,000145: 24,2023 00006 EXTEND
021794,000146: 24,2024 12040 BZF PROG20A
021795,000147: 24,2025 32315 CAF V06N33*
021796,000148: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021797,000149: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH
021798,000150: 24,2030 06001 TC GOTOPOOH # TERMINATE
021799,000151: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021800,000152: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021801,000153: 24,2033 06037 ORBCHG2 TC INTPRET
021802,000154: 24,2034 77650 GOTO
021803,000155: 24,2035 64217 ORBCHG3
021804,000156: 32,2217 BANK 32
021805,000157: 32,2000 SETLOC P20S4
021806,000158: 32,2000 BANK
021807,000159: 32,2217 COUNT* $$/P20
021808,000160:
021809,000161: 32,2217 77624 ORBCHG3 CALL
021810,000162: 32,2220 27414 INTSTALL
021811,000163: 32,2221 77745 DLOAD
021812,000164: 32,2222 03442 TIG
021813,000165: 32,2223 03661 STORE LNCHTM
021814,000166: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021815,000167: 32,2225 43014 CLEAR CLEAR
021816,000168: 32,2226 01674 VINTFLAG # LM INTEGRATION
021817,000169: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021818,000170: 32,2230 43014 CLEAR CLEAR
021819,000171: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021820,000172: 32,2232 01675 D6OR9FLG
021821,000173: 32,2233 77624 CALL
021822,000174: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
021823,000175: 32,2235 77624 CALL
021824,000176: 32,2236 11244 GRP2PC
021825,000177: 32,2237 77775 VLOAD
021826,000178: 32,2240 00017 RATT1
021827,000179: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021828,000180: 32,2242 00015 TAT
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021830,000182: 32,2243 34041 STCALL TDEC1
021831,000183: 32,2244 27414 INTSTALL
021832,000184: 32,2245 43014 SET CLEAR
021833,000185: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021834,000186: 32,2247 01673 INTYPFLG
021835,000187: 32,2250 43014 CLEAR BOFF
021836,000188: 32,2251 01676 DIM0FLAG
021837,000189: 32,2252 02756 RENDWFLG # W MATRIX VALID
021838,000190: 32,2253 64257 NOWMATX # NO
021839,000191: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021840,000192: 32,2255 01476 DIM0FLAG
021841,000193: 32,2256 01475 D6OR9FLG
021842,000194: 32,2257 77624 NOWMATX CALL
021843,000195: 32,2260 27134 INTEGRV # CSM INTEGRATION
021844,000196: 32,2261 77624 CALL
021845,000197: 32,2262 11244 GRP2PC
021846,000198: 32,2263 77775 VLOAD
021847,000199: 32,2264 00025 VATT1
021848,000200: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021849,000201: 32,2266 00017 RATT1
021850,000202: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION
021851,000203: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021852,000204: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021853,000205: 32,2272 24025 STOVL 20D # SAVE NSUB1
021854,000206: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021855,000207: 32,2274 53435 VXV UNIT # PLANE CHANGE
021856,000208: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021857,000209: 32,2276 27637 STOVL UCSM
021858,000210: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021859,000211: 32,2300 50256 UNIT DOT # AND RSUBC
021860,000212: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021861,000213: 32,2302 77752 SL1
021862,000214: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021863,000215: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021864,000216: 32,2305 10314 ONEB-2
021865,000217: 32,2306 77766 SQRT
021866,000218: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021867,000219: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
021868,000220: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021869,000221: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021870,000222: 32,2313 77676 VCOMP
021871,000223: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021872,000224: 32,2315 45014 CLEAR CALL
021873,000225: 32,2316 03666 RVSW
021874,000226: 32,2317 24732 TIMETHET
021875,000227: 32,2320 77676 VCOMP
021876,000228: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021877,000229: 32,2322 77745 DLOAD
021878,000230: 32,2323 00037 T
021879,000231: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021881,000233: 32,2325 03645 NEWVEL
021882,000234: 32,2326 77646 ABVAL
021883,000235: 32,2327 24025 STOVL 20D
021884,000236: 32,2330 00001 0D
021885,000237: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021886,000238: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021887,000239: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021888,000240: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021889,000241: 32,2335 03653 NEWPOS # ORBITAL PLANE
021890,000242: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
021891,000243: 32,2337 00025 20D
021892,000244: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021893,000245: 32,2341 11244 GRP2PC
021894,000246: 32,2342 77624 CALL
021895,000247: 32,2343 27414 INTSTALL
021896,000248: 32,2344 44345 DLOAD BDSU
021897,000249: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021898,000250: 32,2346 03661 LNCHTM
021899,000251: 32,2347 25517 STOVL TET
021900,000252: 32,2350 03653 NEWPOS
021901,000253: 32,2351 01535 STORE RCV
021902,000254: 32,2352 25503 STOVL RRECT
021903,000255: 32,2353 03665 NCSMVEL
021904,000256: 32,2354 35511 STCALL VRECT
021905,000257: 32,2355 23455 MINIRECT
021906,000258: 32,2356 45174 AXT,2 CALL
021907,000259: 32,2357 00002 2
021908,000260: 32,2360 26661 ATOPCSM
021909,000261: 32,2361 77624 CALL
021910,000262: 32,2362 27423 INTWAKE0
021911,000263: 32,2363 77776 EXIT
021912,000264: 32,2364 04616 TC BANKCALL
021913,000265: 32,2365 50040 CADR PROG20A
021914,000266:
021915,000267: 24,2036 BANK 24
021916,000268: 24,2000 SETLOC P20S
021917,000269: 24,2000 BANK
021918,000270: 24,2036 COUNT* $$/P20
021919,000271:
021920,000272: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021921,000273: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021922,000274: 24,2040 04616 PROG20A TC BANKCALL
021923,000275: 24,2041 11254 CADR R02BOTH
021924,000276: 24,2042 05504 TC UPFLAG
021925,000277: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021926,000278: 24,2044 05504 TC UPFLAG
021927,000279: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021928,000280: 24,2046 05504 TC UPFLAG
021929,000281: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021930,000282: 24,2050 05516 TC DOWNFLAG
021931,000283: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021933,000285: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021934,000286: 24,2053 00040 ADRES ACMODFLG
021935,000287: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021936,000288: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021937,000289: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021938,000290: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021939,000291: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021940,000292: 24,2061 00041 ADRES LOSCMFLG
021941,000293: 24,2062 06011 TC CLRADMOD
021942,000294: 24,2063 05353 P20LEM1 TC PHASCHNG
021943,000295: 24,2064 04022 OCT 04022
021944,000296: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021945,000297: 24,2066 55462 TS MARKCTR
021946,000298: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE
021947,000299: 24,2070 77634 RTB
021948,000300: 24,2071 21573 LOADTIME
021949,000301: 24,2072 34041 STCALL TDEC1
021950,000302: 24,2073 51255 LPS20.1
021951,000303: 24,2074 77624 CALL
021952,000304: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE
021953,000305: 24,2076 77776 EXIT
021954,000306: 24,2077 50154 INDEX MPAC
021955,000307: 24,2100 02101 TC +1
021956,000308: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021957,000309: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021958,000310: 24,2103 04616 TC BANKCALL
021959,000311: 24,2104 21562 CADR PRIOLARM
021960,000312: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021961,000313: 24,2106 02102 TC -4 # PROC (ILLEGAL
021962,000314: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021963,000315: 24,2110 05155 TC ENDOFJOB
021964,000316:
021965,000317: 24,2111 05353 P20LEMA TC PHASCHNG
021966,000318: 24,2112 04022 OCT 04022
021967,000319: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021968,000320: 24,2114 02117 TC P20LEMB
021969,000321: 24,2115 04616 TC BANKCALL
021970,000322: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021971,000323: 24,2117 05353 P20LEMB TC PHASCHNG
021972,000324: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021973,000325: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021974,000326: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26
021975,000327: 24,2123 05146 TC PRIOCHNG
021976,000328: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021977,000329: 24,2125 74747 MASK TRACKBIT
021978,000330: 24,2126 00006 EXTEND
021979,000331: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021980,000332: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021981,000333: 24,2131 00006 EXTEND
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021983,000335: 24,2132 02033 RAND CHAN33
021984,000336: 24,2133 00006 EXTEND
021985,000337: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021986,000338:
021987,000339: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021988,000340: 24,2136 61011 AD MODREG # MAJOR MODE IS 20
021989,000341: 24,2137 00006 EXTEND
021990,000342: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES - OK TO DO PLEASE PERFORM
021991,000343:
021992,000344: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22
021993,000345: 24,2142 00006 EXTEND
021994,000346: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021995,000347: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021996,000348: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021997,000349: 24,2146 21562 CADR PRIOLARM
021998,000350: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
021999,000351: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022000,000352: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022001,000353: 24,2152 05155 TC ENDOFJOB
022002,000354: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022003,000355: 24,2154 04616 TC BANKCALL
022004,000356: 24,2155 20623 CADR GOPERF1
022005,000357: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022006,000358: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022007,000359: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022008,000360: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
022009,000361: 24,2162 03135 TC R23LEM # NO - DO MANUAL ACQUISITION
022010,000362:
022011,000363: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022012,000364: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022013,000365: 24,2165 02117 TC P20LEMB # RR AUTO MODE
022014,000366:
022015,000367: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022016,000368: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022017,000369:
022018,000370: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022019,000371: 24,2171 74737 MASK RCDU0BIT
022020,000372: 24,2172 00006 EXTEND
022021,000373: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
022022,000374: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022023,000375: 24,2175 70076 MASK FLAGWRD2
022024,000376: 24,2176 00006 EXTEND
022025,000377: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
022026,000378: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
022027,000379: 24,2201 00037 ADRES SRCHOPTN
|
|
Page 498 |
022029,000381: 24,2202 05516 TC DOWNFLAG
022030,000382: 24,2203 00040 ADRES ACMODFLG
022031,000383: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022032,000384:
022033,000385: 24,2205 32304 P20LEMB4 CAF 250DEC
022034,000386: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022035,000387: 24,2207 01735 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
022036,000388: 24,2210 02170 TC P20LEMB3
022037,000389:
022038,000390: 24,2211 06037 P20LEMC3 TC INTPRET
022039,000391: 24,2212 77634 RTB
022040,000392: 24,2213 21573 LOADTIME
022041,000393: 24,2214 34041 STCALL TDEC1
022042,000394: 24,2215 50316 UPPSV
022043,000395: 24,2216 77776 P20LEMC4 EXIT
022044,000396: 24,2217 05353 P20LEMC TC PHASCHNG
022045,000397: 24,2220 04022 OCT 04022
022046,000398: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022047,000399: 24,2222 74745 MASK RNDVZBIT
022048,000400: 24,2223 00006 EXTEND
022049,000401: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
022050,000402: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022051,000403: 24,2226 74747 MASK TRACKBIT
022052,000404: 24,2227 00006 EXTEND
022053,000405: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
022054,000406: 24,2231 02674 P20LEMF TC R21LEM
022055,000407:
022056,000408: 24,2232 32304 P20LEMWT CAF 250DEC
022057,000409: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022058,000410: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022059,000411: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022060,000412: 24,2236 74747 MASK TRACKBIT
022061,000413: 24,2237 00006 EXTEND
022062,000414: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
022063,000415: 24,2241 05353 P20LMWT1 TC PHASCHNG
022064,000416: 24,2242 40072 OCT 40072
022065,000417: 24,2243 05155 TC ENDOFJOB
022066,000418:
022067,000419: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022068,000420: 24,2245 74745 MASK RNDVZBIT
022069,000421: 24,2246 00006 EXTEND
022070,000422: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
022071,000423: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022072,000424: 24,2251 74747 MASK TRACKBIT
022073,000425: 24,2252 00006 EXTEND
022074,000426: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
|
Page 499 |
022076,000428: 24,2254 37714 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
022077,000429: 24,2255 05105 TC FINDVAC
022078,000430: 24,2256 E7,1456 EBANK= LOSCOUNT
022079,000431: 24,2256 02627 50067 2CADR R22LEM42
022080,000432:
022081,000433: 24,2260 05261 TC TASKOVER
022082,000434:
022083,000435: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
022084,000436: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
022085,000437:
022086,000438: 24,2263 02244 TC P20LEMC1
022087,000439:
022088,000440: 24,2264 32666 P20LEMD CAF 1500DEC
022089,000441: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022090,000442: 24,2266 02270 ADRES P20LEMD1
022091,000443: 24,2267 05155 TC ENDOFJOB
022092,000444:
022093,000445: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022094,000446: 24,2271 74747 MASK TRACKBIT
022095,000447: 24,2272 10000 CCS A
022096,000448: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
022097,000449: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
022098,000450: 24,2275 02734 DEC 1500 B-14
022099,000451: 24,2276 02270 TC P20LEMD1
022100,000452:
022101,000453: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022102,000454: 24,2300 05105 TC FINDVAC
022103,000455: 24,2301 E7,1456 EBANK= LOSCOUNT
022104,000456: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022105,000457:
022106,000458: 24,2303 05261 TC TASKOVER
022107,000459:
022108,000460: 24,2304 00372 250DEC DEC 250 B-14
022109,000461: 24,2305 00526 ALRM526 OCT 00526
022110,000462: 24,2306 00201 OCT201 OCT 00201
022111,000463: 24,2307 00514 ALRM514 OCT 514
022112,000464: 24,2310 00074 MAXTRIES DEC 60 B-14
022113,000465: 24,2311 00012 OCT00012 OCT 00012
022114,000466: 24,2312 00001 P22ONE OCT 00001
022115,000467: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2
022116,000468:
022117,000469: 24,2315 01441 V06N33* VN 0633
022118,000470: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022119,000471: 24,2317 01757 LS21X # TO PRESENT TIME
022120,000472: 24,2320 27414 INTSTALL
022121,000473: 24,2321 77624 CALL
|
|
Page 500 |
022123,000475: 24,2322 26644 SETIFLGS
022124,000476: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
022125,000477: 24,2324 02756 RENDWFLG
022126,000478: 24,2325 50336 UPPSV1
022127,000479: 24,2326 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022128,000480: 24,2327 43014 BON SET
022129,000481: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022130,000482: 24,2331 50333 UPPSV5
022131,000483: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9
022132,000484: 24,2333 77614 UPPSV5 BOF
022133,000485: 24,2334 00747 VEHUPFLG
022134,000486: 24,2335 50370 UPPSV3
022135,000487: 24,2336 77614 UPPSV1 SET
022136,000488: 24,2337 01474 VINTFLAG
022137,000489: 24,2340 77624 CALL
022138,000490: 24,2341 27134 INTEGRV
022139,000491: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE
022140,000492: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION
022141,000493: 24,2344 77624 CALL
022142,000494: 24,2345 27414 INTSTALL
022143,000495: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022144,000496: 24,2347 01571 TETCSM
022145,000497: 24,2350 01674 VINTFLAG
022146,000498: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022147,000499: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX
022148,000500: 24,2353 34041 STCALL TDEC1
022149,000501: 24,2354 27134 INTEGRV
022150,000502: 24,2355 77214 BOFF VLOAD
022151,000503: 24,2356 04347 SURFFLAG
022152,000504: 24,2357 50216 P20LEMC4
022153,000505: 24,2360 01661 RCVLEM
022154,000506: 24,2361 77742 VSR2
022155,000507: 24,2362 26352 STOVL LMPOS
022156,000508: 24,2363 01667 VCVLEM
022157,000509: 24,2364 77742 VSR2
022158,000510: 24,2365 02360 STORE LMVEL
022159,000511: 24,2366 77650 GOTO
022160,000512: 24,2367 01757 LS21X
022161,000513:
022162,000514: 24,2370 45014 UPPSV3 CLEAR CALL
022163,000515: 24,2371 01674 VINTFLAG
022164,000516: 24,2372 27134 INTEGRV
022165,000517: 24,2373 77624 CALL
022166,000518: 24,2374 11244 GRP2PC
022167,000519: 24,2375 77624 CALL
022168,000520: 24,2376 27414 INTSTALL
022169,000521: 24,2377 71214 SET DLOAD
022170,000522: 24,2400 01474 VINTFLAG
022171,000523: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
|
|
Page 501 |
022173,000525: 24,2402 77650 GOTO
022174,000526: 24,2403 50351 UPPSV4
022175,000527: 24,2404 E7,1456 EBANK= LOSCOUNT
022176,000528: 24,2404 COUNT* $$/P22
022177,000529:
|
|
Page 502 |
022179,000531: # PROGRAM DESCRIPTION
022180,000532:
022181,000533: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022182,000534: # MOD NO - 3
022183,000535: # BY P. VOLANTE
022184,000536:
022185,000537: # FUNCTIONAL DESCRIPTION
022186,000538:
022187,000539: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022188,000540: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022189,000541: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022190,000542: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022191,000543:
022192,000544: # CALLING SEQUENCE -
022193,000545:
022194,000546: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022195,000547:
022196,000548: # SUBROUTINES CALLED -
022197,000549:
022198,000550: # BANKCALL FLAGUP
022199,000551: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022200,000552: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022201,000553: # TASKOVER FINDVAC
022202,000554:
022203,000555: # NORMAL EXIT MODES -
022204,000556:
022205,000557: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
022206,000558: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022207,000559:
022208,000560: # ALARM OR ABORT EXIT MODES -
022209,000561:
022210,000562: # NONE
022211,000563:
022212,000564: # OUTPUT
022213,000565:
022214,000566: # ERASABLE INITIALIZATION REQUIRED
022215,000567:
022216,000568: # FLAGS SET + RESET
022217,000569:
022218,000570: # TRACKFLG, P25FLAG
022219,000571:
022220,000572: # DEBRIS
022221,000573:
022222,000574: # NONE
022223,000575:
022224,000576: 24,2404 E7,1456 EBANK= LOSCOUNT
022225,000577: 24,2404 COUNT* $$/P25
022226,000578: 24,2404 05327 PROG25 TC 2PHSCHNG
022227,000579: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022228,000580: 24,2406 05022 OCT 05022
022229,000581: 24,2407 26000 OCT 26000 # PRIORITY 26
022230,000582:
022231,000583: 24,2410 04616 TC BANKCALL
022232,000584: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK
022233,000585: 24,2412 05504 TC UPFLAG
022234,000586: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG
022235,000587: 24,2414 05504 TC UPFLAG
022236,000588: 24,2415 00006 ADRES P25FLAG # SET P25FLAG
022237,000589: 24,2416 05353 P25LEM1 TC PHASCHNG
022238,000590: 24,2417 04022 OCT 04022
022239,000591: 24,2420 34743 CAF P25FLBIT
022240,000592: 24,2421 70074 MASK STATE # IS P25FLAG SET
022241,000593: 24,2422 00006 EXTEND
022242,000594: 24,2423 15155 BZF ENDOFJOB
022243,000595: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022244,000596: 24,2425 70075 MASK STATE +1
022245,000597: 24,2426 00006 EXTEND
|
|
Page 503 |
022247,000599: 24,2427 12437 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
022248,000600: 24,2430 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022249,000601: 24,2431 55745 TS R65CNTR
022250,000602: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022251,000603: 24,2433 46123 CADR R65LEM
022252,000604: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS
022253,000605: 24,2435 05353 P25LEMWT TC PHASCHNG
022254,000606: 24,2436 00112 OCT 00112
022255,000607: 24,2437 32450 P25LMWT1 CAF 60SCNDS
022256,000608: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022257,000609: 24,2441 02443 ADRES P25LEM2
022258,000610: 24,2442 05155 TC ENDOFJOB
022259,000611: 24,2443 35024 P25LEM2 CAF PRIO14
022260,000612: 24,2444 05105 TC FINDVAC
022261,000613: 24,2445 E7,1456 EBANK= LOSCOUNT
022262,000614: 24,2445 02416 50067 2CADR P25LEM1
022263,000615:
022264,000616: 24,2447 05261 TC TASKOVER
022265,000617: 24,2450 13560 60SCNDS DEC 6000 B-14
022266,000618:
|
|
Page 504 |
022268,000620: # DATA READ ROUTINE 22 (LEM)
022269,000621: # PROGRAM DESCRIPTION
022270,000622:
022271,000623: # MOD NO - 2
022272,000624: # BY P VOLANTE
022273,000625:
022274,000626: # FUNCTIONAL DESCRIPTION
022275,000627:
022276,000628: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022277,000629: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022278,000630:
022279,000631: # CALLING SEQUENCE -
022280,000632:
022281,000633: # TC BANKCALL
022282,000634: # CADR R22LEM
022283,000635:
022284,000636: # SUBROUTINES CALLED -
022285,000637:
022286,000638: # LSR22.1 GOFLASH WAITLIST
022287,000639: # LSR22.2 PRIOLARM BANKCALL
022288,000640: # LSR22.3 R61LEM
022289,000641:
022290,000642: # NORMAL EXIT MODES -
022291,000643:
022292,000644: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
022293,000645: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022294,000646: # R22 WILL TERMINATE SELF.
022295,000647:
022296,000648: # ALARM OR ABORT EXIT MODES -
022297,000649:
022298,000650: # PRIORITY ALARM
022299,000651: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022300,000652:
022301,000653: # OUTPUT
022302,000654:
022303,000655: # SEE OUTPUT FROM LSR22.3
022304,000656:
022305,000657: # ERASABLE INITIALIZATION REQUIRED
022306,000658:
022307,000659: # SEE LSR22.1, LSR22.2, LSR22.3
022308,000660:
022309,000661: # FLAGS SET + RESET
022310,000662:
022311,000663: # NOANGFLG
022312,000664:
022313,000665: # DEBRIS
022314,000666:
022315,000667: # SEE LSR22.1, LSR22.2, LSR22.3
022316,000668:
022317,000669: 24,2451 E7,1737 EBANK= LRS22.1X
022318,000670: 24,2451 COUNT* $$/R22
022319,000671: 24,2451 05353 R22LEM TC PHASCHNG
022320,000672: 24,2452 04022 OCT 04022
022321,000673: 24,2453 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
022322,000674: 24,2454 70074 MASK STATE
022323,000675: 24,2455 00006 EXTEND
022324,000676: 24,2456 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
022325,000677: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022326,000678: 24,2460 70075 MASK STATE +1
022327,000679: 24,2461 00006 EXTEND
022328,000680: 24,2462 12636 BZF R22WAIT # NO WAIT
022329,000681: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
022330,000682: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
022331,000683: 24,2465 02012 RAND CHAN12
022332,000684: 24,2466 00006 EXTEND
022333,000685: 24,2467 12111 BZF P20LEMA # NO - RETURN TO P20
022334,000686: 24,2470 34752 CAF BIT2 # YES
022335,000687: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
022336,000688: 24,2472 02033 RAND CHAN33
|
|
Page 505 |
022338,000690: 24,2473 00006 EXTEND
022339,000691: 24,2474 12476 BZF +2 # YES CONTINUE
022340,000692: 24,2475 02135 TC P20LEMB5 # NO - SET IT
022341,000693: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
022342,000694: 24,2477 74737 MASK RCDU0BIT
022343,000695: 24,2500 00006 EXTEND
022344,000696: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED
022345,000697: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AN EXTRA RADAR
022346,000698: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
022347,000699: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
022348,000700: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE
022349,000701: 24,2506 50154 INDEX MPAC
022350,000702: 24,2507 02510 TC +1
022351,000703: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
022352,000704: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
022353,000705: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
022354,000706: 24,2513 04616 TC BANKCALL
022355,000707: 24,2514 21562 CADR PRIOLARM
022356,000708: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022357,000709: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
022358,000710: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION)
022359,000711: 24,2520 05155 TC ENDOFJOB
022360,000712:
022361,000713: 24,2521 05353 R22LEM1 TC PHASCHNG
022362,000714: 24,2522 04022 OCT 04022
022363,000715: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA
022364,000716: 24,2524 04616 TC BANKCALL
022365,000717: 24,2525 20507 CADR PRIODSP
022366,000718: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022367,000719: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE)
022368,000720: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE)
022369,000721: 24,2531 05353 R22LEM2 TC PHASCHNG
022370,000722: 24,2532 04022 OCT 04022
022371,000723: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022372,000724: 24,2534 02551 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
022373,000725: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET
022374,000726: 24,2536 74747 MASK TRACKBIT
022375,000727: 24,2537 00006 EXTEND
022376,000728: 24,2540 12636 BZF R22WAIT # NO - WAIT
022377,000729: 24,2541 04616 TC BANKCALL # YES
022378,000730: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022379,000731: 24,2543 50154 INDEX MPAC
022380,000732: 24,2544 02545 TC +1
022381,000733: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
022382,000734: 24,2546 04616 TC BANKCALL
022383,000735: 24,2547 46116 CADR R61LEM
022384,000736: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
022385,000737: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
022386,000738: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
|
|
Page 506 |
022388,000740: 24,2553 00006 EXTEND
022389,000741: 24,2554 12627 BZF R22LEM42 # BRANCH - YES
022390,000742: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
022391,000743: 24,2556 74745 MASK UPDATBIT
022392,000744: 24,2557 00006 EXTEND
022393,000745: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET
022394,000746: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
022395,000747: 24,2562 55056 TS PHSPRDT2
022396,000748:
022397,000749: 24,2563 06037 TC INTPRET
022398,000750: 24,2564 77650 GOTO
022399,000751: 24,2565 54412 LSR22.3
022400,000752: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
022401,000753: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
022402,000754: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
022403,000755: 24,2571 12622 TCF R22LEM44
022404,000756: 24,2572 77776 R22LEM96 EXIT
022405,000757: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
022406,000758: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
022407,000759: 24,2575 05353 TC PHASCHNG
022408,000760: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY
022409,000761: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY
022410,000762: 24,2600 05072 TC NOVAC
022411,000763: 24,2601 E7,1746 EBANK= N49FLAG
022412,000764: 24,2601 02644 50067 2CADR N49DSP
022413,000765:
022414,000766: 24,2603 06037 TC INTPRET
022415,000767: 24,2604 77735 SLOAD
022416,000768: 24,2605 03747 N49FLAG
022417,000769: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG
022418,000770: 24,2607 50604 -3 # SETTING CHANGED - BRANCH - NO
022419,000771: 24,2610 50616 R22LEM7 # PROCEED
022420,000772: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
022421,000773: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022422,000774: 24,2613 02636 TC R22WAIT # YES - 15 SECOND DELAY
022423,000775: 24,2614 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
022424,000776: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
022425,000777: 24,2616 77624 R22LEM7 CALL # PROCEED
022426,000778: 24,2617 11244 GRP2PC # PHASE CHANGE AND
022427,000779: 24,2620 77650 GOTO # GO TO INCORPORATE DATA.
022428,000780: 24,2621 55431 ASTOK
022429,000781: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
022430,000782: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022431,000783: 24,2624 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
022432,000784: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE
022433,000785: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5
022434,000786: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022435,000787: 24,2630 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
022436,000788: 24,2631 34752 CA TWO # NO - SET R65COUNTER = 2
022437,000789: 24,2632 55745 R22LEM45 TS R65CNTR
|
|
Page 507 |
022439,000791: 24,2633 04616 TC BANKCALL
022440,000792: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
022441,000793: 24,2635 02451 TC R22LEM
022442,000794: 24,2636 32666 R22WAIT CAF 1500DEC
022443,000795: 24,2637 02233 TC P20LEMWT +1
022444,000796:
022445,000797: 24,2640 35000 R22LEM46 CAF 2SECS
022446,000798: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
022447,000799: 24,2642 01735 CADR DELAYJOB
022448,000800: 24,2643 02451 TC R22LEM
022449,000801:
022450,000802: 24,2644 32665 N49DSP CAF V06N49NB
022451,000803: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
022452,000804: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022453,000805: 24,2647 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
022454,000806: 24,2650 44753 CS ONE # PROCEED - N49FLAG = -1
022455,000807: 24,2651 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
022456,000808: 24,2652 05155 TC ENDOFJOB
022457,000809: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
022458,000810: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
022459,000811: 24,2655 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022460,000812: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022461,000813: 24,2657 04616 TC BANKCALL # BAD DATA
022462,000814: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
022463,000815: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
022464,000816: 24,2662 02451 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
022465,000817:
022466,000818: 24,2663 00525 ALRM525 OCT 00525
022467,000819: 24,2664 01405 V06N05 VN 00605
022468,000820: 24,2665 01461 V06N49NB VN 00649
022469,000821: 24,2666 02734 1500DEC DEC 1500 B-14
022470,000822:
022471,000823: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022472,000824: # RETURNS TO CALLER +1 IF P22FLAG SET
022473,000825: # TO CALLER +2 IF P22FLAG NOT SET
022474,000826:
022475,000827: 24,2667 COUNT* $$/P22
022476,000828: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022477,000829: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET?
022478,000830: 24,2671 10000 CCS A # BRANCH - P22FLAG SET
022479,000831: 24,2672 24002 INCR Q # NOT SET
022480,000832: 24,2673 00002 TC Q # RETURN
022481,000833:
|
|
Page 508 |
022483,000835: # RR DESIGNATE ROUTINE (R21LEM)
022484,000836: # PROGRAM DESCRIPTION
022485,000837:
022486,000838: # MOD NO - 2
022487,000839: # BY P VOLANTE
022488,000840:
022489,000841: # FUNCTIONAL DESCRIPTION
022490,000842:
022491,000843: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022492,000844: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022493,000845:
022494,000846: # CALLING SEQUENCE -
022495,000847:
022496,000848: # TC BANKCALL
022497,000849: # CADR R21LEM
022498,000850:
022499,000851: # SUBROUTINES CALLED -
022500,000852:
022501,000853: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022502,000854: # NOVAC INTPRET LPS20.1 PHASCHNG
022503,000855: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022504,000856: # TASKOVER BANKCALL RADSTALL RRDESSM
022505,000857:
022506,000858: # NORMAL EXIT MODES
022507,000859: #
022508,000860: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022509,000861: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
022510,000862:
022511,000863: # ALARM OR ABORT EXIT MODES -
022512,000864:
022513,000865: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022514,000866: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022515,000867: # ACQUISITION
022516,000868:
022517,000869: # OUTPUT
022518,000870:
022519,000871: # SEE LPS20.1, RRDESSM
022520,000872:
022521,000873: # ERASABLE INITIALIZATION REQUIRED
022522,000874:
022523,000875: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
022524,000876:
022525,000877: # FLAGS SET + RESET
022526,000878:
022527,000879: # LOSCMFLG LOKONSW
022528,000880:
022529,000881: # DEBRIS
022530,000882:
022531,000883: # SEE LPS20.1, RRDESSM
022532,000884:
022533,000885: 24,2674 E7,1456 EBANK= LOSCOUNT
022534,000886: 24,2674 COUNT* $$/R21
022535,000887: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
022536,000888: 24,2675 00006 EXTEND
022537,000889: 24,2676 03012 WAND CHAN12
022538,000890: 24,2677 02667 TC LUNSFCHK
022539,000891: 24,2700 02705 TC R21LEM5
022540,000892: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022541,000893: 24,2702 55107 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
022542,000894: 24,2703 55110 TS TANG +1
022543,000895: 24,2704 02715 TC R21LEM6
022544,000896: 24,2705 34740 R21LEM5 CAF BIT12
022545,000897: 24,2706 70110 MASK RADMODES
022546,000898: 24,2707 10000 CCS A
022547,000899: 24,2710 02725 TC R21LEM10
022548,000900: 24,2711 34735 CAF BIT15
022549,000901: 24,2712 55107 TS TANG
022550,000902: 24,2713 44736 CS HALF
022551,000903: 24,2714 55110 TS TANG +1
022552,000904:
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|
Page 509 |
022554,000906: 24,2715 05516 R21LEM6 TC DOWNFLAG
022555,000907: 24,2716 00012 ADRES LOKONSW
022556,000908: 24,2717 04616 TC BANKCALL
022557,000909: 24,2720 52475 CADR RRDESNB
022558,000910: 24,2721 02722 TC +1
022559,000911: 24,2722 04616 TC BANKCALL
022560,000912: 24,2723 17714 CADR RADSTALL
022561,000913: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
022562,000914: 24,2725 05504 R21LEM10 TC UPFLAG
022563,000915: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022564,000916: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
022565,000917: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON
022566,000918: 24,2731 36245 R21LEM2 CAF THREE
022567,000919: 24,2732 55456 TS LOSCOUNT
022568,000920: 24,2733 06037 R21LEM1 TC INTPRET
022569,000921: 24,2734 43234 RTB DAD
022570,000922: 24,2735 21573 LOADTIME
022571,000923: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022572,000924: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022573,000925: 24,2740 51255 LPS20.1
022574,000926: 24,2741 77776 EXIT
022575,000927: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
022576,000928: 24,2743 00012 ADRES LOKONSW
022577,000929: 24,2744 05516 TC DOWNFLAG
022578,000930: 24,2745 00126 ADRES NORRMON
022579,000931: 24,2746 06037 TC INTPRET
022580,000932: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022581,000933: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE
022582,000934: 24,2751 77776 EXIT
022583,000935: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022584,000936: # ON LUNAR SURFACE
022585,000937: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022586,000938: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022587,000939: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022588,000940: 24,2756 02760 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
022589,000941: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022590,000942: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503
022591,000943: 24,2761 04616 TC BANKCALL
022592,000944: 24,2762 21562 CADR PRIOLARM
022593,000945: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022594,000946: 24,2764 02772 TC R21SRCH # PROC
022595,000947: 24,2765 02211 TC P20LEMC3
022596,000948: 24,2766 05155 TC ENDOFJOB
022597,000949: 24,2767 05516 R21END TC DOWNFLAG
022598,000950: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022599,000951: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022600,000952: 24,2772 05353 R21SRCH TC PHASCHNG
022601,000953: 24,2773 04022 OCT 04022
022602,000954: 24,2774 03206 TC R24LEM # SEARCH ROUTINE
022603,000955: 24,2775 00503 ALRM503 OCT 00503
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|
Page 510 |
022605,000957: 24,2776 00527 ALRM527 OCT 527
022606,000958:
022607,000959: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022608,000960: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022609,000961: 24,3001 05504 TC UPFLAG
022610,000962: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
022611,000963: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING
022612,000964: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG
022613,000965: 24,3005 06037 TC INTPRET
022614,000966: 24,3006 77634 R21LEM12 RTB
022615,000967: 24,3007 21573 LOADTIME
022616,000968: 24,3010 77615 DAD
022617,000969: 24,3011 11116 TENSEC # TIME T = T + 10 SECS.
022618,000970: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022619,000971: 24,3013 34041 STCALL TDEC1
022620,000972: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T
022621,000973: 24,3015 77624 CALL
022622,000974: 24,3016 52373 RRDESSM
022623,000975: 24,3017 77776 EXIT
022624,000976: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022625,000977: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022626,000978: 24,3022 06027 TC KILLTASK
022627,000979: 24,3023 52573 CADR BEGDES
022628,000980: 24,3024 06037 TC INTPRET
022629,000981: 24,3025 77614 BOF
022630,000982: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022631,000983: 24,3027 51043 R21LEM8 # NO - GO TO CONTINUOUS DESIGNATE
022632,000984: 24,3030 77614 CLRGO
022633,000985: 24,3031 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
022634,000986: 24,3032 51037 R21LEM7 +1
022635,000987: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022636,000988: 24,3034 03036 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
022637,000989: 24,3035 03105 TC R21LEM11 # YES - PUT OUT ALARM 530
022638,000990: 24,3036 55423 R21LEM7 TS REPOSCNT
022639,000991: 24,3037 06037 TC INTPRET
022640,000992: 24,3040 52145 DLOAD GOTO
022641,000993: 24,3041 03425 REPOSTM
022642,000994: 24,3042 51010 R21LEM12 +2
022643,000995: 24,3043 77745 R21LEM8 DLOAD
022644,000996: 24,3044 03425 REPOSTM
022645,000997: 24,3045 34041 STCALL TDEC1
022646,000998: 24,3046 50316 UPPSV
022647,000999: 24,3047 77776 EXIT
022648,001000: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022649,001001: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022650,001002: 24,3052 05516 TC DOWNFLAG
022651,001003: 24,3053 00012 ADRES LOKONSW
022652,001004: 24,3054 05504 TC UPFLAG
022653,001005: 24,3055 00126 ADRES NORRMON
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|
Page 511 |
022655,001007: 24,3056 04616 TC BANKCALL
022656,001008: 24,3057 52475 CADR RRDESNB
022657,001009: 24,3060 03061 TC +1
022658,001010: 24,3061 06037 TC INTPRET
022659,001011: 24,3062 44234 RTB BDSU
022660,001012: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME
022661,001013: 24,3064 03425 REPOSTM # FOR LONGCALL
022662,001014: 24,3065 03427 STORE DELTATM
022663,001015: 24,3066 77776 EXIT
022664,001016: 24,3067 00006 EXTEND
022665,001017: 24,3070 31427 DCA DELTATM
022666,001018: 24,3071 05277 TC LONGCALL
022667,001019: 24,3072 E7,1456 EBANK= LOSCOUNT
022668,001020: 24,3072 03075 50067 2CADR R21LEM9
022669,001021:
022670,001022: 24,3074 05155 TC ENDOFJOB
022671,001023: 24,3075 06027 R21LEM9 TC KILLTASK
022672,001024: 24,3076 52602 CADR STDESIG
022673,001025: 24,3077 06011 TC CLRADMOD
022674,001026: 24,3100 37714 CAF PRIO26
022675,001027: 24,3101 05105 TC FINDVAC
022676,001028: 24,3102 E7,1456 EBANK= LOSCOUNT
022677,001029: 24,3102 02725 50067 2CADR R21LEM10
022678,001030:
022679,001031: 24,3104 05261 TC TASKOVER
022680,001032: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
022681,001033: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022682,001034: 24,3107 21562 CADR PRIOLARM # 600 SECS.
022683,001035: 24,3110 06022 TC GOTOV56
022684,001036: 24,3111 06022 TC GOTOV56
022685,001037: 24,3112 06022 TC GOTOV56
022686,001038: 24,3113 05155 TC ENDOFJOB
022687,001039: 24,3114 00530 ALRM530 OCT 00530
022688,001040: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28
022689,001041:
022690,001042: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28
022691,001043:
022692,001044: 24,3121 05353 R21DISP TC PHASCHNG
022693,001045: 24,3122 04022 OCT 04022
022694,001046: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022695,001047: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022696,001048: 24,3125 20710 CADR GOPERF2R
022697,001049: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56
022698,001050: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022699,001051: 24,3130 03123 TC -5 # ENTER ILLEGAL
022700,001052: 24,3131 34745 CAF BIT7
022701,001053: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022702,001054: 24,3133 05155 TC ENDOFJOB
022703,001055:
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|
Page 512 |
022705,001057: 24,3134 01510 V06N72PV VN 00672
022706,001058:
|
|
Page 513 |
022708,001060: # MANUAL ACQUISITION ROUTINE R23LEM
022709,001061: # PROGRAM DESCRIPTION
022710,001062:
022711,001063: # MOD NO - 2
022712,001064: # BY P VOLANTE
022713,001065:
022714,001066: # FUNCTIONAL DESCRIPTION
022715,001067:
022716,001068: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022717,001069:
022718,001070: # CALLING SEQUENCE -
022719,001071:
022720,001072: # TC R23LEM
022721,001073:
022722,001074: # SUBROUTINES CALLED
022723,001075:
022724,001076: # BANKCALL R61LEM
022725,001077: # SETMINDB GOPERF1
022726,001078:
022727,001079: # NORMAL EXIT MODES -
022728,001080:
022729,001081: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022730,001082: # ,SELECTION OF PROC WILL CONTINUE R23
022731,001083: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022732,001084:
022733,001085: # ALARM OR ABORT EXIT MODES -
022734,001086:
022735,001087: # SEE NORMAL EXIT MODES ABOVE
022736,001088:
022737,001089: # OUTPUT
022738,001090:
022739,001091: # N.A.
022740,001092:
022741,001093: # ERASABLE INITIALIZATION REQUIRED -
022742,001094:
022743,001095: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022744,001096:
022745,001097: 24,3135 1143 EBANK= GENRET
022746,001098: 24,3135 COUNT* $$/R23
022747,001099: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022748,001100: 24,3136 00126 ADRES NORRMON
022749,001101: 24,3137 00004 INHINT
022750,001102: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022751,001103: 24,3141 40140 CADR SETMINDB
022752,001104: 24,3142 00003 RELINT
022753,001105: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022754,001106: 24,3144 00006 EXTEND
022755,001107: 24,3145 05012 WOR CHAN12
022756,001108: 24,3146 33205 CAF OCT205
022757,001109: 24,3147 04616 TC BANKCALL
022758,001110: 24,3150 20623 CADR GOPERF1
022759,001111: 24,3151 03176 TC R23LEM2 # TERMINATE
022760,001112: 24,3152 03154 TC R23LEM11 # PROCEDE
022761,001113: 24,3153 03201 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
022762,001114: 24,3154 00004 R23LEM11 INHINT
022763,001115: 24,3155 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022764,001116: 24,3156 00035 ADRES CDUT
022765,001117: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS
022766,001118: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO
022767,001119: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022768,001120: 24,3162 00003 RELINT
022769,001121: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022770,001122: 24,3164 00126 ADRES NORRMON
022771,001123: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022772,001124: 24,3166 00003 OUTOFLIM RELINT
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|
Page 514 |
022774,001126: 24,3167 33204 CAF OCT501PV
022775,001127: 24,3170 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022776,001128: 24,3171 21562 CADR PRIOLARM # LIMITS
022777,001129: 24,3172 03176 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022778,001130: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL
022779,001131: 24,3174 03201 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
022780,001132: 24,3175 05155 TC ENDOFJOB
022781,001133: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022782,001134: 24,3177 00126 ADRES NORRMON
022783,001135: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56
022784,001136: 24,3201 04616 R23LEM3 TC BANKCALL
022785,001137: 24,3202 46116 CADR R61LEM
022786,001138: 24,3203 03143 TC R23LEM1
022787,001139:
022788,001140: 24,3204 00501 OCT501PV OCT 501
022789,001141: 24,3205 00205 OCT205 OCT 205
022790,001142:
|
|
Page 515 |
022792,001144: # SEARCH ROUTINE R24LEM
022793,001145: # PROGRAM DESCRIPTION
022794,001146:
022795,001147: # MOD NO - 2
022796,001148: # BY P. VOLANTE
022797,001149:
022798,001150: # FUNCTIONAL DESCRIPTION
022799,001151:
022800,001152: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022801,001153: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022802,001154: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022803,001155:
022804,001156: # CALLING SEQUENCE
022805,001157:
022806,001158: # CAF PRIONN
022807,001159: # TC FINDVAC
022808,001160: # EBANK= DATAGOOD
022809,001161: # 2CADR R24LEM
022810,001162:
022811,001163: # SUBROUTINES CALLED
022812,001164:
022813,001165: # FLAGUP FLAGDOWN BANKCALL
022814,001166: # R61LEM GOFLASHR FINDVAC
022815,001167: # ENDOFJOB NOVAC LSR24.1
022816,001168:
022817,001169: # NORMAL EXIT MODES -
022818,001170:
022819,001171: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
022820,001172: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022821,001173: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022822,001174:
022823,001175: # ALARM OR ABORT EXIT MODES -
022824,001176:
022825,001177: # SEE NORMAL EXIT MODES ABOVE
022826,001178:
022827,001179: # OUTPUT -
022828,001180:
022829,001181: # SEE OUTPUT FROM LSR24.1 + R61LEM
022830,001182:
022831,001183: # ERASABLE INITIALIZATION REQUIRED
022832,001184:
022833,001185: # SEE INPUT FOR LSR24.1
022834,001186:
022835,001187: # FLAGS SET + RESET
022836,001188:
022837,001189: # SRCHOPT, ACMODFLG
022838,001190:
022839,001191: 24,3206 E7,1733 EBANK= DATAGOOD
022840,001192: 24,3206 COUNT* $$/R24
022841,001193: 24,3206 05504 R24LEM TC UPFLAG
022842,001194: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022843,001195: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022844,001196: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022845,001197: 24,3212 34755 R24LEM1 CAF ZERO
022846,001198: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022847,001199: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022848,001200: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022849,001201: 24,3216 05353 R24LEM2 TC PHASCHNG
022850,001202: 24,3217 04022 OCT 04022
022851,001203: 24,3220 33254 CAF V16N80
022852,001204: 24,3221 04616 TC BANKCALL
022853,001205: 24,3222 20504 CADR PRIODSPR
022854,001206: 24,3223 06022 TC GOTOV56
022855,001207: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1
022856,001208:
022857,001209: 24,3225 03234 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
|
|
Page 516 |
022859,001211: 24,3226 04616 TC BANKCALL
022860,001212: 24,3227 55442 CADR LRS24.1
022861,001213: 24,3230 06027 R24END TC KILLTASK
022862,001214: 24,3231 55643 CADR CALLDGCH
022863,001215: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022864,001216: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022865,001217:
022866,001218: 6011 BLOCK 3
022867,001219: 6000 SETLOC FFTAG6
022868,001220: 6000 BANK
022869,001221: 6011 COUNT* $$/R24
022870,001222:
022871,001223: 6011 46021 CLRADMOD CS BIT10+15
022872,001224: 6012 00004 INHINT
022873,001225: 6013 70110 MASK RADMODES
022874,001226: 6014 54110 TS RADMODES
022875,001227: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022876,001228: 6016 00006 EXTEND
022877,001229: 6017 03012 WAND CHAN12 # USER WILL RELINT
022878,001230:
022879,001231: 6020 00002 TC Q
022880,001232:
022881,001233: 6021 41000 BIT10+15 OCT 41000
022882,001234: 24,3234 BANK 24
022883,001235: 24,2000 SETLOC P20S
022884,001236: 24,2000 BANK
022885,001237: 24,3234 COUNT* $$/R24
022886,001238:
022887,001239: 24,3234 05353 R24LEM3 TC PHASCHNG
022888,001240: 24,3235 04022 OCT 04022
022889,001241: 24,3236 06027 TC KILLTASK
022890,001242: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022891,001243: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
022892,001244: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP
022893,001245: 24,3242 34774 CAF .5SEC
022894,001246: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022895,001247: 24,3244 01735 CADR DELAYJOB
022896,001248: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022897,001249: 24,3246 03251 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022898,001250: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022899,001251: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
022900,001252: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022901,001253: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022902,001254: # RRDESSM WILL RETURN TO CALLER
022903,001255: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022904,001256:
022905,001257: 24,3254 04120 V16N80 VN 01680
022906,001258:
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|
Page 517 |
022908,001260: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022909,001261: # PROGRAM DESCRIPTION
022910,001262:
022911,001263: # MOD NO: 3 DATE: 4-11-67
022912,001264: # MOD BY: P VOLANTE SDC
022913,001265:
022914,001266: # FUNCTIONAL DESCRIPTION -
022915,001267:
022916,001268: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022917,001269: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022918,001270: # ATTITUDE.
022919,001271:
022920,001272: # CALLING SEQUENCE -
022921,001273:
022922,001274: # TC BANKCALL
022923,001275: # CADR R61LEM
022924,001276:
022925,001277: # SUBROUTINES CALLED
022926,001278:
022927,001279: # LPS20.1 VECPOINT
022928,001280: # KALCMAN3
022929,001281:
022930,001282: # NORMAL EXIT MODES -
022931,001283:
022932,001284: # NORMAL RETURN IS TO CALLER + 1
022933,001285:
022934,001286: # ALARM OR ABORT EXIT MODES -
022935,001287:
022936,001288: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022937,001289: # RENDEZVOUS FLAG ARE NOT SET.
022938,001290:
022939,001291: # OUTPUT -
022940,001292:
022941,001293: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022942,001294:
022943,001295: # ERASABLE INITIALIZATION REQUIRED
022944,001296:
022945,001297: # GENRET USED TO SAVE Q FOR RETURN
022946,001298:
022947,001299: # FLAGS SET + RESET
022948,001300:
022949,001301: # 3AXISFLG
022950,001302:
022951,001303: # DEBRIS
022952,001304:
022953,001305: # SEE SUBROUTINES
022954,001306:
022955,001307: 23,2000 SETLOC R61
022956,001308: 23,2000 BANK
022957,001309: 23,2116 E7,1456 EBANK= LOSCOUNT
022958,001310: 23,2116 COUNT* $$/R61
022959,001311: 23,2116 04645 R61LEM TC MAKECADR
022960,001312: 23,2117 55143 TS GENRET
022961,001313: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022962,001314: 23,2121 00024 ADRES R61FLAG
022963,001315: 23,2122 02127 TC R61C+L01
022964,001316: 23,2123 04645 R65LEM TC MAKECADR
022965,001317: 23,2124 55143 TS GENRET
022966,001318: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022967,001319: 23,2126 00024 ADRES R61FLAG
022968,001320: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
022969,001321: 23,2130 70075 MASK STATE +1
022970,001322: 23,2131 00006 EXTEND
022971,001323: 23,2132 12271 BZF R65WAIT # NOT SET
022972,001324: 23,2133 06037 R61C+L03 TC INTPRET
022973,001325: 23,2134 77775 VLOAD
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|
Page 518 |
022975,001327: 23,2135 06514 HIUNITZ
022976,001328: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022977,001329: 23,2137 43234 R61LEM1 RTB DAD
022978,001330: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022979,001331: 23,2141 15712 3SECONDS # SIX SECOND PERIOD.
022980,001332: 23,2142 34041 STCALL TDEC1
022981,001333: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022982,001334: 23,2144 77775 VLOAD
022983,001335: 23,2145 01102 RRTARGET
022984,001336: 23,2146 03773 STORE POINTVSM
022985,001337: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022986,001338: 23,2150 46277 READCDUD
022987,001339: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022988,001340: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022989,001341: 23,2153 77776 EXIT
022990,001342: 23,2154 05353 TC PHASCHNG
022991,001343: 23,2155 04022 OCT 04022
022992,001344: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET
022993,001345: 23,2157 70075 MASK FLAGWRD1
022994,001346: 23,2160 00006 EXTEND
022995,001347: 23,2161 12271 BZF R65WAIT
022996,001348: 23,2162 04616 TC BANKCALL
022997,001349: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE
022998,001350: 23,2164 10000 CCS A
022999,001351: 23,2165 02257 TC R61C+L04 # NOT IN AUTO
023000,001352: 23,2166 06037 TC INTPRET
023001,001353: 23,2167 45175 VLOAD CALL
023002,001354: 23,2170 01102 RRTARGET
023003,001355: 23,2171 47646 CDU*SMNB
023004,001356: 23,2172 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
023005,001357: 23,2173 00162 MPAC +5
023006,001358: 23,2174 06275 COS15DEG
023007,001359: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
023008,001360: 23,2176 46213 R61C+L05 # PHI GRE 10DEG
023009,001361: 23,2177 E6,1635 EBANK= CDUXD
023010,001362: 23,2177 35015 CAF EBANK6
023011,001363: 23,2200 54003 TS EBANK
023012,001364: 23,2201 00004 INHINT
023013,001365: 23,2202 00006 EXTEND
023014,001366: 23,2203 30322 DCA CPHI
023015,001367: 23,2204 53636 DXCH CDUXD
023016,001368: 23,2205 30323 CA CPSI
023017,001369: 23,2206 55637 TS CDUZD
023018,001370: 23,2207 00003 RELINT
023019,001371: 23,2210 E7,1456 EBANK= LOSCOUNT
023020,001372: 23,2210 35016 CAF EBANK7
023021,001373: 23,2211 54003 TS EBANK
023022,001374: 23,2212 02236 TC R61C+L06
023023,001375: 23,2213 77776 R61C+L05 EXIT
023024,001376: 23,2214 00004 INHINT
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|
Page 519 |
023026,001378: 23,2215 04674 TC IBNKCALL
023027,001379: 23,2216 40153 FCADR ZATTEROR
023028,001380: 23,2217 04674 TC IBNKCALL
023029,001381: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023030,001382: 23,2221 05516 TC DOWNFLAG
023031,001383: 23,2222 00124 ADRES 3AXISFLG
023032,001384: 23,2223 05504 TC UPFLAG
023033,001385: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023034,001386: 23,2225 04616 TC BANKCALL
023035,001387: 23,2226 54123 CADR R60LEM
023036,001388: 23,2227 00004 INHINT
023037,001389: 23,2230 04674 TC IBNKCALL
023038,001390: 23,2231 40123 FCADR RESTORDB
023039,001391: 23,2232 05353 TC PHASCHNG
023040,001392: 23,2233 04022 OCT 04022
023041,001393: 23,2234 05516 TC DOWNFLAG
023042,001394: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023043,001395: 23,2236 30075 R61C+L06 CA FLAGWRD1
023044,001396: 23,2237 74742 MASK R61FLBIT
023045,001397: 23,2240 10000 CCS A
023046,001398: 23,2241 02262 TC R61C+L4
023047,001399: 23,2242 11745 CCS R65CNTR
023048,001400: 23,2243 02245 TC +2
023049,001401: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023050,001402: 23,2245 55745 TS R65CNTR
023051,001403: 23,2246 32276 CAF 06SEC
023052,001404: 23,2247 05173 TC TWIDDLE
023053,001405: 23,2250 02252 ADRES R61C+L2
023054,001406: 23,2251 05155 TC ENDOFJOB
023055,001407: 23,2252 37714 R61C+L2 CAF PRIO26
023056,001408: 23,2253 05105 TC FINDVAC
023057,001409: 23,2254 E7,1456 EBANK= LOSCOUNT
023058,001410: 23,2254 02127 46067 2CADR R61C+L01
023059,001411:
023060,001412: 23,2256 05261 TC TASKOVER
023061,001413: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023062,001414: 23,2260 54266 CADR BALLANGS
023063,001415: 23,2261 02236 TC R61C+L06
023064,001416: 23,2262 31143 R61C+L4 CAE GENRET
023065,001417: 23,2263 14640 TCF BANKJUMP # EXIT R61
023066,001418: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023067,001419: 23,2265 70074 MASK STATE
023068,001420: 23,2266 00006 EXTEND
023069,001421: 23,2267 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
023070,001422: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE
023071,001423: 23,2271 04635 R65WAIT TC POSTJUMP
023072,001424: 23,2272 50232 CADR P20LEMWT
023073,001425:
023074,001426: 23,2273 00500 BIT7+9PV OCT 00500
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|
Page 520 |
023076,001428: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1
023077,001429:
023078,001430: 23,2276 01130 06SEC DEC 600 B-14
023079,001431: 23,2277 PHI EQUALS 20D
023080,001432: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
023081,001433: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
023082,001434: 23,2301 56003 XCH EBANK
023083,001435: 23,2302 54070 TS RUPTREG1
023084,001436: 23,2303 E6,1635 EBANK= CDUXD
023085,001437: 23,2303 31635 CA CDUXD
023086,001438: 23,2304 54154 TS MPAC
023087,001439: 23,2305 00006 EXTEND
023088,001440: 23,2306 31637 DCA CDUYD
023089,001441: 23,2307 52156 DXCH MPAC +1
023090,001442: 23,2310 30070 CA RUPTREG1
023091,001443: 23,2311 54003 TS EBANK
023092,001444: 23,2312 00003 RELINT
023093,001445: 23,2313 16477 TCF TMODE
023094,001446: 4512 BLOCK 02
023095,001447: 4000 SETLOC RADARFF
023096,001448: 4000 BANK
023097,001449:
023098,001450: 4512 E7,1456 EBANK= LOSCOUNT
023099,001451: 4512 COUNT* $$/RRSUB
023100,001452:
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|
Page 521 |
023102,001454: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023103,001455: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023104,001456:
023105,001457: 4512 00006 MAGSUB EXTEND
023106,001458: 4513 64515 BZMF +2
023107,001459: 4514 14516 TCF +2
023108,001460: 4515 40000 COM
023109,001461:
023110,001462: 4516 50002 INDEX Q
023111,001463: 4517 60000 AD 0
023112,001464: 4520 00006 EXTEND
023113,001465: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023114,001466: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2
023115,001467:
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|
Page 522 |
023117,001469: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023118,001470:
023119,001471: # FUNCTIONAL DESCRIPTION_
023120,001472:
023121,001473: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023122,001474: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023123,001475: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023124,001476: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023125,001477: # MODE 1 AND =1 FOR MODE 2.
023126,001478:
023127,001479: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023128,001480: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023129,001481: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023130,001482: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023131,001483:
023132,001484: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023133,001485: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023134,001486: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023135,001487: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023136,001488: # TO L +3.
023137,001489:
023138,001490: # CALLING SEQUENCE:
023139,001491:
023140,001492: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023141,001493: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023142,001494:
023143,001495: # ERASABLE INITIALIZATION REQUIRED:
023144,001496:
023145,001497: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023146,001498: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023147,001499: # CURRENT EBANK).
023148,001500:
023149,001501: # SUBROUTINES CALLED_ MAGSUB
023150,001502:
023151,001503: # JOBS OR TASKS INITIATED_ NONE
023152,001504:
023153,001505: # ALARMS_ NONE
023154,001506:
023155,001507: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023156,001508: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023157,001509:
023158,001510: 4523 00006 RRLIMCHK EXTEND
023159,001511: 4524 50002 INDEX Q
023160,001512: 4525 50000 INDEX 0
023161,001513: 4526 30001 DCA 0
023162,001514: 4527 24002 INCR Q
023163,001515: 4530 52062 DXCH ITEMP1
023164,001516: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023165,001517:
023166,001518: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023167,001519: 4533 70110 MASK RADMODES
023168,001520: 4534 10000 CCS A
023169,001521: 4535 14550 TCF MODE2CHK
023170,001522:
023171,001523: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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|
Page 523 |
023173,001525: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023174,001526: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023175,001527: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023176,001528:
023177,001529: 4542 34562 CAF 5.5DEGS
023178,001530: 4543 60062 AD ITEMP2 # S
023179,001531: 4544 04512 TC MAGSUB
023180,001532: 4545 64420 DEC -.35833 # 64.5 DEGS
023181,001533: 4546 00001 TC L
023182,001534: 4547 04560 TC RRLIMOK # IN LIMITS.
023183,001535:
023184,001536: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023185,001537: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023186,001538: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023187,001539: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023188,001540: 4554 00001 TC L
023189,001541:
023190,001542: 4555 30061 CA ITEMP1
023191,001543: 4556 04512 TC MAGSUB
023192,001544: 4557 51615 DEC -.69444 # 125 DEGS
023193,001545:
023194,001546: 4560 50001 RRLIMOK INDEX L
023195,001547: 4561 00001 TC L # ( = TC 1 )
023196,001548:
023197,001549: 4562 00765 5.5DEGS DEC .03056
023198,001550: 4563 16450 82DEGS DEC .45556
023199,001551:
|
|
Page 524 |
023201,001553: # PROGRAM NAME_ SETTRKF . IF EITHER:
023202,001554:
023203,001555: # FUNCTIONAL DESCRIPTION_
023204,001556: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023205,001557: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023206,001558: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023207,001559: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023208,001560: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023209,001561: # AUTO MODE (RADMODES BITS 13, 7, 2).
023210,001562: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023211,001563: # 8,5)
023212,001564: # 3) NO RR DATA (RADMODES BIT 4)
023213,001565: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023214,001566: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023215,001567: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023216,001568: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023217,001569: # TRACKER FAIL LAMP IS TURNED ON IF_
023218,001570: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023219,001571: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023220,001572: # EITHER THE ALT OR VEL INFORMATION
023221,001573: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023222,001574: # WITH EITHER THE AL
023223,001575:
023224,001576: # CALLING SEQUENCE:
023225,001577:
023226,001578: # L TC SETTRKF
023227,001579:
023228,001580: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023229,001581:
023230,001582: # SUBROUTINES CALLED_ NONE
023231,001583:
023232,001584: # JOBS OR TASKS INITIATED_ NONE
023233,001585:
023234,001586: # ALARMS_ TRACKER FAIL LAMP
023235,001587:
023236,001588: # EXIT_ L +1 (ALWAYS) ED.
023237,001589:
023238,001590: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023239,001591: 4565 71303 MASK IMODES33
023240,001592: 4566 10000 CCS A
023241,001593: 4567 00002 TC Q
023242,001594:
023243,001595: 4570 34744 RRTRKF CA BIT8
023244,001596: 4571 54001 TS L
023245,001597:
023246,001598: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023247,001599: 4573 70110 MASK RADMODES
023248,001600: 4574 00006 EXTEND
023249,001601: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023250,001602:
023251,001603: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
023252,001604: 4577 70110 MASK RADMODES
|
|
Page 525 |
023254,001606: 4600 10000 CCS A
023255,001607: 4601 30001 TRKFLON CA L
023256,001608: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023257,001609: 4603 70001 MASK L
023258,001610: 4604 00006 EXTEND
023259,001611: 4605 16742 BZF TCQ # NO CHANGE.
023260,001612:
023261,001613: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023262,001614: 4607 00006 EXTEND
023263,001615: 4610 06001 RXOR LCHAN
023264,001616: 4611 74733 MASK POSMAX
023265,001617: 4612 64735 AD BIT15
023266,001618: 4613 55036 TS DSPTAB +11D
023267,001619: 4614 00002 TC Q
023268,001620:
023269,001621: 4615 10102 13,7,2 OCT 10102
023270,001622: 4616 ENDRMODF EQUALS
023271,001623:
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|
Page 526 |
023273,001625: # PROGRAM NAME_ RRTURNON
023274,001626:
023275,001627: # FUNCTIONAL DESCRIPTION_
023276,001628:
023277,001629: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023278,001630: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023279,001631: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023280,001632: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023281,001633: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023282,001634: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023283,001635: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023284,001636: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023285,001637: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023286,001638: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023287,001639: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023288,001640: # TO TASKOVER.
023289,001641:
023290,001642: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023291,001643: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023292,001644: # THE RR (STATE BIT 7).
023293,001645:
023294,001646: # ERASABLE INITIALIZATION REQUIRED:
023295,001647:
023296,001648: # RADMODES, STATE
023297,001649:
023298,001650: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023299,001651:
023300,001652: # JOBS OR TASKS INITIATED_
023301,001653: #
023302,001654: # NONE
023303,001655:
023304,001656: # ALARMS_ NONE (SEE RRZEROSB)
023305,001657:
023306,001658: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023307,001659:
023308,001660: 24,3255 BANK 24
023309,001661: 25,2000 SETLOC P20S1
023310,001662: 25,2000 BANK
023311,001663:
023312,001664: 25,2062 E7,1456 EBANK= LOSCOUNT
023313,001665: 25,2062 COUNT* $$/RSUB
023314,001666: 25,2062 02071 RRTURNON TC RRZEROSB
023315,001667: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023316,001668: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023317,001669: 25,2065 44753 CS TURNONBT
023318,001670: 25,2066 70110 MASK RADMODES
023319,001671: 25,2067 54110 TS RADMODES
023320,001672: 25,2070 15261 TCF TASKOVER
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|
Page 527 |
023322,001674: # PROGRAM NAME_ RRZEROSB
023323,001675:
023324,001676: # FUNCTIONAL DESCRIPTION_
023325,001677: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023326,001678: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023327,001679: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023328,001680: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023329,001681: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023330,001682: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023331,001683: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023332,001684: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023333,001685: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023334,001686: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023335,001687: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023336,001688: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023337,001689: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023338,001690: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023339,001691: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023340,001692:
023341,001693: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
023342,001694:
023343,001695: # ERASABLE INITIALIZATION REQUIRED:
023344,001696:
023345,001697: # RADMODES (BIT 13 SET), DSPTAB +11D
023346,001698:
023347,001699: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
023348,001700:
023349,001701: # JOBS OR TASKS INITIATED_
023350,001702:
023351,001703: # NONE
023352,001704:
023353,001705: # ALARMS_ TRACKER FAIL
023354,001706:
023355,001707: # EXIT_ L +1 (ALWAYS)
023356,001708:
023357,001709: 25,2071 00006 RRZEROSB EXTEND
023358,001710: 25,2072 23315 QXCH RRRET
023359,001711: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
023360,001712: 25,2074 00006 EXTEND # COMING HERE.
023361,001713: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
023362,001714: 25,2076 05221 TC FIXDELAY
023363,001715: 25,2077 00002 DEC 2 B-14
023364,001716:
023365,001717: 25,2100 34755 CAF ZERO
023366,001718: 25,2101 54035 TS CDUT
023367,001719: 25,2102 54036 TS CDUS
023368,001720: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
023369,001721: 25,2104 00006 EXTEND
023370,001722: 25,2105 03012 WAND CHAN12
023371,001723: 25,2106 05221 TC FIXDELAY
023372,001724: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
023373,001725:
023374,001726: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 528 |
023376,001728: 25,2111 70110 MASK RADMODES
023377,001729: 25,2112 54110 TS RADMODES
023378,001730:
023379,001731: 25,2113 30035 CA CDUT
023380,001732: 25,2114 04512 TC MAGSUB
023381,001733: 25,2115 57777 DEC -.5
023382,001734: 25,2116 12121 TCF +3 # IF MODE 2.
023383,001735:
023384,001736: 25,2117 34755 CAF ZERO
023385,001737: 25,2120 12122 TCF +2
023386,001738: 25,2121 34740 CAF ANTENBIT
023387,001739: 25,2122 56110 XCH RADMODES
023388,001740: 25,2123 77741 MASK -BIT12
023389,001741: 25,2124 26110 ADS RADMODES
023390,001742:
023391,001743: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
023392,001744:
023393,001745: 25,2126 01315 TC RRRET # DONE.
023394,001746:
023395,001747: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT
023396,001748:
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|
Page 529 |
023398,001750: # PROGRAM NAME_ DORREPOS
023399,001751:
023400,001752: # FUNCTIONAL DESCRIPTION_
023401,001753:
023402,001754: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023403,001755: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023404,001756: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023405,001757: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023406,001758: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023407,001759: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023408,001760: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023409,001761: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023410,001762: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023411,001763: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023412,001764: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023413,001765: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023414,001766: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023415,001767: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023416,001768: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023417,001769: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023418,001770: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023419,001771: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023420,001772: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023421,001773: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023422,001774: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023423,001775: # TASKOVER.
023424,001776:
023425,001777: # CALLING SEQUENCE:
023426,001778:
023427,001779: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023428,001780: # NOT WITHIN LIMITS OF CURRENT MODE.
023429,001781:
023430,001782: # ERASABLE INITIALIZATION REQUIRED:
023431,001783:
023432,001784: # RADMODES
023433,001785:
023434,001786: # SUBROUTINES CALLED_
023435,001787:
023436,001788: # RRTONLY, RRSONLY, BEGDES (EXIT)
023437,001789:
023438,001790: # JOBS OR TASKS INITIATED_
023439,001791:
023440,001792: # NONE
023441,001793:
023442,001794: # ALARMS- NONE
023443,001795:
023444,001796: # EXIT_ TASKOVER, BEGDES
023445,001797:
023446,001798: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023447,001799:
023448,001800: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023449,001801:
023450,001802: 25,2130 05221 TC FIXDELAY
023451,001803: 25,2131 00002 DEC 2 B-14
023452,001804:
023453,001805: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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|
Page 530 |
023455,001807: 25,2133 70110 MASK RADMODES
023456,001808: 25,2134 10000 CCS A
023457,001809: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023458,001810: 25,2136 02241 TC RRTONLY
023459,001811:
023460,001812: 25,2137 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
023461,001813: 25,2140 70110 MASK RADMODES
023462,001814: 25,2141 10000 CCS A
023463,001815: 25,2142 44736 CS HALF # -90 FOR MODE 2.
023464,001816: 25,2143 02244 TC RRSONLY
023465,001817:
023466,001818: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023467,001819: # REQUESTED DURING REPOSITION.
023468,001820: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023469,001821: 25,2146 54110 TS RADMODES
023470,001822: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023471,001823: 25,2150 10000 CCS A
023472,001824: 25,2151 12573 TCF BEGDES
023473,001825: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023474,001826: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023475,001827: 25,2154 03012 WAND CHAN12
023476,001828: 25,2155 15261 TCF TASKOVER
023477,001829:
023478,001830: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023479,001831: 25,2157 00006 EXTEND
023480,001832: 25,2160 02012 RAND CHAN12
023481,001833: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023482,001834: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023483,001835:
023484,001836: 25,2163 54112 TS LASTYCMD
023485,001837: 25,2164 54113 TS LASTXCMD
023486,001838: 25,2165 34752 CAF BIT2
023487,001839: 25,2166 00006 EXTEND
023488,001840: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023489,001841: 25,2170 00002 TC Q
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|
Page 531 |
023491,001843: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023492,001844:
023493,001845: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023494,001846: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023495,001847: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023496,001848: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023497,001849: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023498,001850: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023499,001851: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023500,001852: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023501,001853: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023502,001854: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023503,001855: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023504,001856: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023505,001857: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023506,001858: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023507,001859: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023508,001860: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023509,001861: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023510,001862: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023511,001863: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023512,001864: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023513,001865:
023514,001866: # CALLING SEQUENCE:
023515,001867:
023516,001868: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023517,001869: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023518,001870: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023519,001871: # OTHER MODE.
023520,001872:
023521,001873: # ERASABLE INITIALIZATION REQUIRED:
023522,001874:
023523,001875: # RADMODES
023524,001876:
023525,001877: # SUBROUTINES CALLED_
023526,001878:
023527,001879: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023528,001880:
023529,001881: # JOBS OR TASKS INITIATED_
023530,001882:
023531,001883: # NONE
023532,001884:
023533,001885: # ALARMS_ NONE
023534,001886:
023535,001887: # EXIT_ STDESIG
023536,001888:
023537,001889: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
023538,001890: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023539,001891: 25,2173 10000 CCS A
023540,001892: 25,2174 34735 CAF BIT15
023541,001893: 25,2175 02241 TC RRTONLY
023542,001894:
023543,001895: 25,2176 37740 CAF -45DEGSR
023544,001896: 25,2177 02244 TC RRSONLY
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|
Page 532 |
023546,001898: 25,2200 40110 CS RADMODES
023547,001899: 25,2201 74740 MASK ANTENBIT
023548,001900: 25,2202 10000 CCS A
023549,001901: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
023550,001902: 25,2204 62231 AD -50DEGSR
023551,001903: 25,2205 02241 TC RRTONLY
023552,001904:
023553,001905: 25,2206 40110 CS RADMODES
023554,001906: 25,2207 74740 MASK ANTENBIT
023555,001907: 25,2210 10000 CCS A
023556,001908: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
023557,001909: 25,2212 02241 TC RRTONLY
023558,001910:
023559,001911: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
023560,001912: 25,2214 74740 MASK ANTENBIT
023561,001913: 25,2215 10000 CCS A
023562,001914: 25,2216 44736 CS HALF
023563,001915: 25,2217 02244 TC RRSONLY
023564,001916:
023565,001917: 25,2220 02233 TC RMODINV
023566,001918:
023567,001919: 25,2221 44736 CS REMODBIT # END OF REMODE.
023568,001920: 25,2222 70110 MASK RADMODES
023569,001921: 25,2223 54110 TS RADMODES
023570,001922:
023571,001923: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
023572,001924: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023573,001925: 25,2226 00006 EXTEND
023574,001926: 25,2227 13555 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
023575,001927: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
023576,001928: 25,2231 7740 -45DEGSR = 13,14,15
023577,001929: 25,2231 67070 -50DEGSR DEC -.27778
023578,001930: 25,2232 61615 -80DEGSR DEC -.44444
023579,001931:
023580,001932: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023581,001933: 25,2234 34740 CAF ANTENBIT
023582,001934: 25,2235 00006 EXTEND
023583,001935: 25,2236 06001 RXOR LCHAN
023584,001936: 25,2237 54110 TS RADMODES
023585,001937: 25,2240 00002 TC Q
023586,001938:
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Page 533 |
023588,001940: # PROGRAM NAMES_ RRTONLY, RRSONLY
023589,001941:
023590,001942: # FUNCTIONAL DESCRIPTION_
023591,001943:
023592,001944: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023593,001945: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023594,001946: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023595,001947: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023596,001948: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023597,001949: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023598,001950: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023599,001951: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023600,001952: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023601,001953: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023602,001954: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023603,001955: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023604,001956: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023605,001957: # REPEATED.
023606,001958:
023607,001959: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023608,001960: # L TC RRTONLY (TRUNNION ONLY)
023609,001961: # RRSONLY (SHAFT ONLY)
023610,001962: # RRTONLY IS CALLED BY PREPOS29;
023611,001963: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023612,001964:
023613,001965: # ERASABLE INITIALIZATION REQUIRED:
023614,001966:
023615,001967: # C(A) = DESIRED ANGLE, RADMODES
023616,001968:
023617,001969: # SUBROUTINES CALLED_
023618,001970:
023619,001971: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023620,001972:
023621,001973: # JOBS OR TASKS INITIATED_
023622,001974:
023623,001975: # NONE
023624,001976:
023625,001977: # ALARMS_ NONE
023626,001978:
023627,001979: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023628,001980: # BITS 14, 11)
023629,001981: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023630,001982:
023631,001983: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023632,001984: 25,2242 34755 CAF ZERO
023633,001985: 25,2243 12246 TCF RR1AXIS
023634,001986:
023635,001987: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023636,001988: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023637,001989:
023638,001990: 25,2246 55317 RR1AXIS TS RRINDEX
023639,001991: 25,2247 00006 EXTEND
023640,001992: 25,2250 23315 QXCH RRRET
023641,001993: 25,2251 12254 TCF RR1AX2
023642,001994:
|
|
Page 534 |
023644,001996: 25,2252 05221 NXTRR1AX TC FIXDELAY
023645,001997: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023646,001998:
023647,001999: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023648,002000: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023649,002001: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023650,002002: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
023651,002003:
023652,002004: 25,2260 31316 CA RDES
023653,002005: 25,2261 00006 EXTEND
023654,002006: 25,2262 51317 INDEX RRINDEX
023655,002007: 25,2263 20035 MSU CDUT
023656,002008: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023657,002009: 25,2265 00006 EXTEND
023658,002010: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023659,002011: 25,2267 54001 TS L
023660,002012: 25,2270 30110 CA RADMODES
023661,002013: 25,2271 74752 MASK AUTOMBIT
023662,002014: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023663,002015: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023664,002016: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
023665,002017:
023666,002018: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023667,002019: 25,2276 01315 TC RRRET # RETURN TO CALLER.
023668,002020:
023669,002021: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023670,002022: 25,2300 12302 TCF +2 # SETTING A TO 0.
023671,002023: 25,2301 56001 XCH L
023672,002024: 25,2302 53110 DXCH TANG
023673,002025:
023674,002026: 25,2303 02306 TC RROUT
023675,002027:
023676,002028: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023677,002029:
023678,002030: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023679,002031:
|
|
Page 535 |
023681,002033: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023682,002034:
023683,002035: # FUNCTIONAL DESCRIPTION_
023684,002036:
023685,002037: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023686,002038: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023687,002039: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023688,002040: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023689,002041: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023690,002042: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023691,002043: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023692,002044: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023693,002045: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023694,002046: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023695,002047: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023696,002048: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023697,002049: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023698,002050:
023699,002051: # CALLING SEQUENCE:
023700,002052: #
023701,002053: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023702,002054: # RRTONLY, RRSONLY, AND DODES
023703,002055:
023704,002056: # ERASABLE INITIALIZATION REQUIRED:
023705,002057:
023706,002058: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023707,002059: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023708,002060:
023709,002061: # SUBROUTINES CALLED_
023710,002062:
023711,002063: # MAGSUB
023712,002064:
023713,002065: # JOBS OR TASKS INITIATED_
023714,002066:
023715,002067: # NONE
023716,002068:
023717,002069: # ALARMS_ NONE
023718,002070:
023719,002071: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023720,002072:
023721,002073: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
023722,002074: 25,2307 34753 CAF ONE # LOOP TWICE.
023723,002075: 25,2310 54062 RROUT2 TS ITEMP2
023724,002076: 25,2311 50000 INDEX A
023725,002077: 25,2312 31107 CA TANG
023726,002078: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023727,002079:
023728,002080: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023729,002081: 25,2315 77177 -RRLIMIT DEC -384 B-14
023730,002082: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023731,002083:
023732,002084: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023733,002085: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023734,002086: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023735,002087: 25,2322 40000 COM
|
|
Page 536 |
023737,002089: 25,2323 60061 AD ITEMP1
023738,002090: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023739,002091: 25,2325 50062 INDEX ITEMP2
023740,002092: 25,2326 54053 TS CDUTCMD
023741,002093:
023742,002094: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023743,002095: 25,2330 12310 TCF RROUT2
023744,002096:
023745,002097: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
023746,002098: 25,2332 00006 EXTEND
023747,002099: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023748,002100: 25,2334 00001 TC L # RETURN.
023749,002101:
023750,002102: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023751,002103: 25,2336 42315 CS -RRLIMIT
023752,002104: 25,2337 12341 TCF +2
023753,002105: 25,2340 32315 CA -RRLIMIT
023754,002106: 25,2341 54061 TS ITEMP1
023755,002107: 25,2342 12320 TCF SETRRCTR +1
023756,002108:
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|
Page 537 |
023758,002110: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023759,002111:
023760,002112: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023761,002113: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023762,002114: 25,2345 10000 CCS A
023763,002115: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023764,002116:
023765,002117: 25,2347 00004 INHINT
023766,002118: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023767,002119: 25,2351 70110 MASK RADMODES
023768,002120: 25,2352 64737 AD RCDU0BIT
023769,002121: 25,2353 54110 TS RADMODES
023770,002122:
023771,002123: 25,2354 34753 CAF ONE
023772,002124: 25,2355 05203 TC WAITLIST
023773,002125: 25,2356 E7,1456 EBANK= LOSCOUNT
023774,002126: 25,2356 02370 52067 2CADR RRZ2
023775,002127:
023776,002128: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
023777,002129: 25,2361 74752 MASK AUTOMBIT
023778,002130: 25,2362 10000 CCS A
023779,002131: 25,2363 12366 TCF ROADBACK
023780,002132: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023781,002133: 25,2365 00510 OCT 510
023782,002134: 25,2366 00003 ROADBACK RELINT
023783,002135: 25,2367 14631 TCF SWRETURN
023784,002136:
023785,002137: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023786,002138: 25,2371 13546 TCF ENDRADAR
023787,002139:
023788,002140: 25,2372 02001 BIT11+1 OCT 02001
023789,002141:
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|
Page 538 |
023791,002143: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023792,002144:
023793,002145: # FUNCTIONAL DESCRIPTION_
023794,002146:
023795,002147: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023796,002148: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023797,002149: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023798,002150: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023799,002151: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023800,002152: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023801,002153: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023802,002154: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023803,002155: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023804,002156: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023805,002157: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023806,002158: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023807,002159: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023808,002160: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023809,002161: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023810,002162: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023811,002163: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023812,002164: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023813,002165: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023814,002166: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023815,002167: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023816,002168: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023817,002169:
023818,002170: # CALLING SEQUENCE:
023819,002171:
023820,002172: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023821,002173: # L+1 RRDESSM
023822,002174: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023823,002175: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023824,002176:
023825,002177: # ERASABLE INITIALIZATION REQUIRED:
023826,002178:
023827,002179: # RRTARGET, RADMODES
023828,002180:
023829,002181: # SUBROUTINES CALLED_
023830,002182:
023831,002183: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023832,002184: # PART OF), RMODINV
023833,002185:
023834,002186: # JOBS OR TASKS INITIATED_
023835,002187:
023836,002188: # NONE
023837,002189:
023838,002190: # ALARMS_ NONE
023839,002191:
023840,002192: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023841,002193: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
023842,002194: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023843,002195:
023844,002196: 25,2373 43020 RRDESSM STQ CLEAR
023845,002197: 25,2374 01113 DESRET
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|
Page 539 |
023847,002199: 25,2375 00271 RRNBSW
023848,002200: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023849,002201: 25,2377 47537 CDUTRIG
023850,002202: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023851,002203: 25,2401 01102 RRTARGET
023852,002204: 25,2402 47671 *SMNB*
023853,002205:
023854,002206: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023855,002207: 25,2404 26133 RRANGLES # ALTERNATE MODE.
023856,002208: 25,2405 77776 EXIT
023857,002209:
023858,002210: 25,2406 00004 INHINT
023859,002211: 25,2407 04523 TC RRLIMCHK
023860,002212: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023861,002213: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
023862,002214: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023863,002215: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
023864,002216: 25,2414 40104 CS FLAGWRD8
023865,002217: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023866,002218: 25,2416 00006 EXTEND
023867,002219: 25,2417 12456 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023868,002220: 25,2420 02461 TC TRYSWS
023869,002221:
023870,002222: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023871,002223: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023872,002224: 25,2423 00006 EXTEND
023873,002225: 25,2424 12456 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023874,002226: 25,2425 30074 CA STATE
023875,002227: 25,2426 74745 MASK RNDVZBIT
023876,002228: 25,2427 10000 CCS A # TEST RNDVZFLG.
023877,002229: 25,2430 02471 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023878,002230: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023879,002231:
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|
Page 540 |
023881,002233: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023882,002234:
023883,002235: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023884,002236: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023885,002237: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023886,002238: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023887,002239: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023888,002240: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023889,002241: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023890,002242: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023891,002243: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023892,002244: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023893,002245: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023894,002246: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023895,002247: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023896,002248: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023897,002249: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023898,002250: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023899,002251: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023900,002252: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023901,002253: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023902,002254: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023903,002255: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023904,002256:
023905,002257: # CALLING SEQUENCE:
023906,002258:
023907,002259: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023908,002260:
023909,002261: # ERASABLE INITIALIZATION REQUIRED:
023910,002262:
023911,002263: # RADMODES, (SEE DODES)
023912,002264:
023913,002265: # SUBROUTINES CALLED_
023914,002266:
023915,002267: # SETRRECR, WAITLIST
023916,002268:
023917,002269: # JOBS OR TASKS INITIATED_
023918,002270:
023919,002271: # BEGDES
023920,002272:
023921,002273: # ALARMS_ NONE
023922,002274:
023923,002275: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023924,002276: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023925,002277:
023926,002278: 25,2432 25113 STARTDES INCR DESRET
023927,002279: 25,2433 40110 CS RADMODES
023928,002280: 25,2434 74742 MASK DESIGBIT
023929,002281: 25,2435 26110 ADS RADMODES
023930,002282: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023931,002283: 25,2437 10000 CCS A
023932,002284: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
023933,002285:
023934,002286: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 541 |
023936,002288: 25,2442 34752 CAF TWO
023937,002289: 25,2443 05203 TC WAITLIST
023938,002290: 25,2444 E7,1456 EBANK= LOSCOUNT
023939,002291: 25,2444 02573 52067 2CADR BEGDES
023940,002292:
023941,002293: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023942,002294: 25,2447 00006 EXTEND
023943,002295: 25,2450 12452 BZF DESRTRN # YES SET EXIT
023944,002296: 25,2451 05155 TC ENDOFJOB # NO
023945,002297: 25,2452 00003 DESRTRN RELINT
023946,002298: 25,2453 25113 INCR DESRET
023947,002299: 25,2454 31113 CA DESRET
023948,002300: 25,2455 14640 TCF BANKJUMP
023949,002301:
023950,002302: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023951,002303: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023952,002304: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023953,002305:
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|
Page 542 |
023955,002307: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023956,002308:
023957,002309: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023958,002310: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023959,002311: 25,2463 01111 ADRES MODEB
023960,002312: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023961,002313:
023962,002314: 25,2465 02233 TC RMODINV # RESET BIT12
023963,002315: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023964,002316: 25,2467 26110 ADS RADMODES
023965,002317:
023966,002318: 25,2470 12412 TCF OKDESSM
023967,002319:
023968,002320: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023969,002321: 25,2472 25113 INCR DESRET # TO CALLER +2
023970,002322: 25,2473 12456 TCF NORDSTAL
023971,002323:
023972,002324: 25,2474 00074 MAXTRYS DEC 60 B-14
023973,002325:
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|
Page 543 |
023975,002327: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023976,002328: # TANG AND TANG +1.
023977,002329:
023978,002330: 25,2475 04645 RRDESNB TC MAKECADR
023979,002331: 25,2476 55113 TS DESRET
023980,002332:
023981,002333: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023982,002334: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
023983,002335: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
023984,002336: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
023985,002337: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
023986,002338: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023987,002339: 25,2505 01107 ADRES TANG
023988,002340: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
023989,002341:
023990,002342: 25,2507 00003 OKDESNB RELINT
023991,002343: 25,2510 00006 EXTEND
023992,002344: 25,2511 31110 DCA TANG
023993,002345: 25,2512 53753 DXCH TANGNB
023994,002346: 25,2513 06037 TC INTPRET
023995,002347:
023996,002348: 25,2514 77624 CALL # GET LOS IN NB COORDS.
023997,002349: 25,2515 46041 RRNB
023998,002350: 25,2516 01102 STORE RRTARGET
023999,002351:
024000,002352: 25,2517 77414 SET EXIT
024001,002353: 25,2520 00071 RRNBSW
024002,002354:
024003,002355: 25,2521 00004 INHINT
024004,002356: 25,2522 12433 TCF STARTDES +1
024005,002357: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
024006,002358: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024007,002359: 25,2525 01107 ADRES TANG
024008,002360: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
024009,002361:
024010,002362: 25,2527 02233 TC RMODINV
024011,002363: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE.
024012,002364: 25,2531 26110 ADS RADMODES
024013,002365: 25,2532 12507 TCF OKDESNB
024014,002366:
024015,002367: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
024016,002368: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
024017,002369: 25,2535 00502 OCT 502
024018,002370: 25,2536 06011 TC CLRADMOD
024019,002371: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
024020,002372:
024021,002373: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024022,002374: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
024023,002375: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
024024,002376: 25,2543 00006 EXTEND
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|
Page 544 |
024026,002378: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
024027,002379: 25,2545 30001 DCA 0
024028,002380: 25,2546 52062 DXCH ITEMP1
024029,002381: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
024030,002382:
024031,002383: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
024032,002384: 25,2551 70110 MASK RADMODES
024033,002385: 25,2552 10000 CCS A
024034,002386: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
024035,002387: 25,2554 30061 CA ITEMP1
024036,002388: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024037,002389: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024038,002390: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024039,002391:
024040,002392: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024041,002393: 25,2561 00006 EXTEND
024042,002394: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024043,002395: 25,2563 64562 AD 5.5DEGS
024044,002396: 25,2564 04512 SHAFTLIM TC MAGSUB
024045,002397: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
024046,002398: 25,2566 00001 TC L # NOT IN LIMITS
024047,002399: 25,2567 04560 TC RRLIMOK # IN LIMITS
024048,002400: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024049,002401: 25,2571 12564 TCF SHAFTLIM
024050,002402:
024051,002403: 25,2572 03512 20.5DEGS DEC .11389
024052,002404:
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|
Page 545 |
024054,002406: # PROGRAM NAME_ BEGDES
024055,002407:
024056,002408: # FUNCTIONAL DESCRIPTION_
024057,002409:
024058,002410: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024059,002411: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024060,002412: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024061,002413: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024062,002414: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024063,002415: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024064,002416: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024065,002417: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024066,002418: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024067,002419: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024068,002420: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024069,002421: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024070,002422: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024071,002423: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024072,002424: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024073,002425: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024074,002426: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024075,002427: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024076,002428: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024077,002429: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024078,002430: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024079,002431: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024080,002432: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024081,002433: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024082,002434: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024083,002435:
024084,002436: # CALLING SEQUENCE:
024085,002437:
024086,002438: # WAITLIST CALL FROM STARTDES
024087,002439: # TCF BEGDES FROM DORREPOS
024088,002440: # TC STDESIG RETURNING, FROM REMODE
024089,002441:
024090,002442: # ERASABLE INITIALIZATION REQUIRED:
024091,002443: # DESCOUNT, RADMODES
024092,002444:
024093,002445: # SUBROUTINES CALLED_
024094,002446: # ENDRADAR, FINDVAC
024095,002447:
024096,002448: # JOBS OR TASKS INITIATED_ DODES
024097,002449:
024098,002450: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024099,002451: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024100,002452:
024101,002453: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024102,002454: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024103,002455: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024104,002456:
024105,002457: 25,2573 40110 BEGDES CS RADMODES
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|
Page 546 |
024107,002459: 25,2574 74736 MASK REMODBIT
024108,002460: 25,2575 10000 CCS A
024109,002461: 25,2576 02602 TC STDESIG
024110,002462: 25,2577 02171 TC REMODE
024111,002463: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024112,002464: 25,2601 00062 DEC 50 B-14
024113,002465:
024114,002466: 25,2602 34741 STDESIG CAF REPOSBIT
024115,002467: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024116,002468: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024117,002469: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024118,002470:
024119,002471: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024120,002472: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024121,002473: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024122,002474: 25,2611 12630 TCF MOREDES +1
024123,002475:
024124,002476: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024125,002477: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024126,002478: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024127,002479: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
024128,002480:
024129,002481: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024130,002482: 25,2617 12627 TCF MOREDES
024131,002483:
024132,002484: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024133,002485: 25,2621 00006 EXTEND
024134,002486: 25,2622 03012 WAND CHAN12
024135,002487: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG
024136,002488: 25,2624 70110 MASK RADMODES
024137,002489: 25,2625 54110 TS RADMODES
024138,002490: 25,2626 13562 TCF RDBADEND
024139,002491:
024140,002492: 25,2627 55114 MOREDES TS DESCOUNT
024141,002493: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024142,002494: 25,2631 05105 TC FINDVAC
024143,002495: 25,2632 E7,1456 EBANK= LOSCOUNT
024144,002496: 25,2632 02636 52067 2CADR DODES
024145,002497:
024146,002498: 25,2634 12600 TCF DESLOOP
024147,002499:
024148,002500: 25,2635 20002 B14+B2 OCT 20002
024149,002501:
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|
Page 547 |
024151,002503: # PROGRAM NAME_ DODES
024152,002504:
024153,002505: # FUNCTIONAL DESCRIPTION_
024154,002506:
024155,002507: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024156,002508: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024157,002509: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024158,002510: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024159,002511: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024160,002512: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
024161,002513: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
024162,002514: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024163,002515: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024164,002516: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024165,002517: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024166,002518: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024167,002519: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024168,002520: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024169,002521: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024170,002522: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024171,002523: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024172,002524: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024173,002525: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024174,002526: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024175,002527: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024176,002528: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024177,002529: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024178,002530: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024179,002531: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024180,002532: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024181,002533: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024182,002534: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024183,002535: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024184,002536: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024185,002537: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024186,002538: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024187,002539: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024188,002540: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024189,002541: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024190,002542: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024191,002543: # VIA ENDOFJOB.
024192,002544:
024193,002545: # CALLING SEQUENCE:
024194,002546:
024195,002547: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024196,002548:
024197,002549: # ERASABLE INITIALIZATION REQUIRED:
024198,002550:
024199,002551: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024200,002552: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024201,002553:
024202,002554: # SUBROUTINES CALLED_
024203,002555:
024204,002556: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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|
Page 548 |
024206,002558:
024207,002559: # JOBS OR TASKS INITIATED_
024208,002560:
024209,002561: # NONE
024210,002562:
024211,002563: # ALARMS_ NONE
024212,002564:
024213,002565: # EXIT_ ENDOFJOB (ALWAYS)
024214,002566:
024215,002567: 25,2636 00006 DODES EXTEND
024216,002568: 25,2637 30036 DCA CDUT
024217,002569: 25,2640 53110 DXCH TANG
024218,002570:
024219,002571: 25,2641 06037 TC INTPRET
024220,002572:
024221,002573: 25,2642 77201 SETPD VLOAD
024222,002574: 25,2643 00001 0
024223,002575: 25,2644 01102 RRTARGET
024224,002576: 25,2645 74214 BON VXSC
024225,002577: 25,2646 00311 RRNBSW
024226,002578: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
024227,002579: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024228,002580: 25,2651 63372 VSL1 PDVL
024229,002581: 25,2652 01761 LOSVEL
024230,002582: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024231,002583: 25,2654 13072 MCTOMS
024232,002584: 25,2655 45056 UNIT CALL
024233,002585: 25,2656 47537 CDUTRIG
024234,002586: 25,2657 77624 CALL
024235,002587: 25,2660 47671 *SMNB*
024236,002588:
024237,002589: 25,2661 14041 DONBRD STODL 32D
024238,002590: 25,2662 01111 TANG +1
024239,002591: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024240,002592: 25,2664 21576 CDULOGIC # (-SIN(S)).
024241,002593: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024242,002594: 25,2666 41546 COS PUSH
024243,002595: 25,2667 65205 DMP PDDL
024244,002596: 25,2670 00041 32D
024245,002597: 25,2671 00045 36D
024246,002598: 25,2672 44205 DMP BDSU
024247,002599: 25,2673 00001 0
024248,002600: 25,2674 77626 STADR
024249,002601: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
024250,002602:
024251,002603: 25,2676 47135 SLOAD RTB
024252,002604: 25,2677 01110 TANG
024253,002605: 25,2700 21576 CDULOGIC
024254,002606: 25,2701 71406 PUSH COS # COS(T) TO 4.
024255,002607: 25,2702 73525 PDDL SIN
024256,002608: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
024257,002609: 25,2704 00003 2
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|
Page 549 |
024259,002611: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024260,002612: 25,2706 00005 4 # ( COS(T) )
024261,002613: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
024262,002614: 25,2710 00007 6
024263,002615: 25,2711 00001 0
024264,002616: 25,2712 55552 SL1 VDEF
024265,002617: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024266,002618: 25,2714 00041 32D
024267,002619:
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|
Page 550 |
024269,002621: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024270,002622: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024271,002623:
024272,002624: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024273,002625: 25,2716 00006 EXTEND
024274,002626: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024275,002627: 25,2720 55107 TS TANG # TRUNNION COMMAND.
024276,002628: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024277,002629: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024278,002630: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024279,002631: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024280,002632: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024281,002633: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024282,002634: 25,2727 41110 +3 CS TANG +1
024283,002635: 25,2730 00006 EXTEND
024284,002636: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024285,002637: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
024286,002638: 25,2733 06037 TC INTPRET
024287,002639:
024288,002640: 25,2734 41345 DLOAD DMP
024289,002641: 25,2735 00003 2 # COS(S).
024290,002642: 25,2736 00005 4 # COS(T).
024291,002643: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
024292,002644: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024293,002645: 25,2741 00001 0 # SIN(S).
024294,002646: 25,2742 72405 DMP SL1
024295,002647: 25,2743 00005 4 # COS(T).
024296,002648: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
024297,002649: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024298,002650: 25,2746 52751 +3
024299,002651: 25,2747 77624 CALL
024300,002652: 25,2750 47673 *NBSM* # GET URR IN SM AXES.
024301,002653: 25,2751 77441 DOT EXIT
024302,002654: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024303,002655:
024304,002656: 25,2753 00006 EXTEND
024305,002657: 25,2754 43070 DCS COS1/2DG
024306,002658: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024307,002659: 25,2756 10154 CCS MPAC
024308,002660: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024309,002661: 25,2760 12762 TCF +2
024310,002662: 25,2761 34753 CA ONE
024311,002663: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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|
Page 551 |
024313,002665: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024314,002666:
024315,002667: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024316,002668: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024317,002669: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
024318,002670: 25,2766 13017 TCF DORROUT
024319,002671: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024320,002672: 25,2770 13000 TCF DGOODCHK
024321,002673: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024322,002674: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024323,002675: 25,2773 10000 CCS A
024324,002676: 25,2774 13005 TCF RRDESDUN
024325,002677:
024326,002678: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
024327,002679: 25,2776 00006 EXTEND
024328,002680: 25,2777 05012 WOR CHAN12
024329,002681:
024330,002682: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024331,002683: 25,3001 00006 EXTEND
024332,002684: 25,3002 02033 RAND CHAN33
024333,002685: 25,3003 10000 CCS A
024334,002686: 25,3004 13017 TCF DORROUT
024335,002687:
024336,002688: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024337,002689: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024338,002690: 25,3007 00004 INHINT
024339,002691: 25,3010 54110 TS RADMODES
024340,002692:
024341,002693: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024342,002694: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024343,002695: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024344,002696: 25,3014 00006 EXTEND
024345,002697: 25,3015 03012 WAND CHAN12
024346,002698: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024347,002699:
024348,002700: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
024349,002701: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
024350,002702: 25,3021 00006 EXTEND
024351,002703: 25,3022 13041 BZF NOTP20
024352,002704: 25,3023 06037 TC INTPRET
024353,002705: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024354,002706: 25,3025 01102 RRTARGET
024355,002707: 25,3026 01767 MLOSV
024356,002708: 25,3027 41572 VSL1 PUSH
024357,002709: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024358,002710: 25,3031 01761 LOSVEL # TO LOS VECTOR
024359,002711: 25,3032 13072 MCTOMS
024360,002712: 25,3033 53362 VSR1 VAD
024361,002713: 25,3034 77656 UNIT
024362,002714: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
|
|
Page 552 |
024364,002716: 25,3036 00045 36D
024365,002717: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
024366,002718: 25,3040 77776 EXIT
024367,002719: 25,3041 00004 NOTP20 INHINT
024368,002720: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024369,002721: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
024370,002722: 25,3044 10000 CCS A
024371,002723: 25,3045 02306 TC RROUT
024372,002724:
024373,002725: 25,3046 30076 CA FLAGWRD2
024374,002726: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024375,002727: 25,3050 00006 EXTEND # LOS COUNTER
024376,002728: 25,3051 15155 BZF ENDOFJOB
024377,002729: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
024378,002730: 25,3053 03064 TC DODESEND # A NEW LOS
024379,002731: 25,3054 00004 INHINT
024380,002732: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
024381,002733: 25,3056 52602 CADR DESLOOP +2
024382,002734: 25,3057 00003 RELINT
024383,002735: 25,3060 10067 CCS NEWJOB
024384,002736: 25,3061 05122 TC CHANG1
024385,002737: 25,3062 04616 TC BANKCALL
024386,002738: 25,3063 50731 CADR R21LEM2
024387,002739:
024388,002740: 25,3064 55456 DODESEND TS LOSCOUNT
024389,002741: 25,3065 05155 TC ENDOFJOB
024390,002742:
024391,002743: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
024392,002744: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000
024393,002745: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
024394,002746: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
024395,002747:
|
|
Page 553 |
024397,002749: # RADAR READ INITIALIZATION
024398,002750:
024399,002751: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
024400,002752:
024401,002753: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
024402,002754: 25,3074 00017 ALLREAD OCT 17
024403,002755:
024404,002756: 25,3075 03114 LRVELZ TC INITREAD
024405,002757: 25,3076 00016 OCT 16
024406,002758:
024407,002759: 25,3077 03114 LRVELY TC INITREAD
024408,002760: 25,3100 00015 OCT 15
024409,002761:
024410,002762: 25,3101 03114 LRVELX TC INITREAD
024411,002763: 25,3102 00014 OCT 14
024412,002764:
024413,002765: 25,3103 03113 RRRDOT TC INITREAD -1
024414,002766: 25,3104 00012 OCT 12
024415,002767:
024416,002768: 25,3105 03113 RRRANGE TC INITREAD -1
024417,002769: 25,3106 00011 OCT 11
024418,002770:
024419,002771: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
024420,002772: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
024421,002773:
024422,002774: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
024423,002775: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
024424,002776: 25,3111 51105 INDEX TIMEHOLD
024425,002777: 25,3112 13075 TCF LRVELZ
024426,002778:
|
|
Page 554 |
024428,002780: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
024429,002781: 25,3114 00004 INITREAD INHINT
024430,002782:
024431,002783: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
024432,002784: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
024433,002785: 25,3117 74751 MP BIT3 # ENCOUNTERED).
024434,002786: 25,3120 53106 DXCH TIMEHOLD
024435,002787:
024436,002788: 25,3121 10000 CCS A
024437,002789: 25,3122 55111 TS NSAMP
024438,002790: 25,3123 64753 AD ONE
024439,002791: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
024440,002792: # DOUBLE
024441,002793: 25,3124 55100 TS SAMPLIM
024442,002794:
024443,002795: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
024444,002796: 25,3126 00006 EXTEND
024445,002797: 25,3127 02033 RAND CHAN33
024446,002798: 25,3130 55113 TS OLDATAGD
024447,002799:
024448,002800: 25,3131 43074 CS ALLREAD
024449,002801: 25,3132 00006 EXTEND
024450,002802: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
024451,002803:
024452,002804: 25,3134 50002 INDEX Q
024453,002805: 25,3135 30000 CAF 0
024454,002806: 25,3136 00006 EXTEND
024455,002807: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
024456,002808:
024457,002809: 25,3140 00006 EXTEND
024458,002810: 25,3141 30025 DCA TIME2
024459,002811: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
024460,002812:
024461,002813: 25,3143 34755 CAF ZERO
024462,002814: 25,3144 54001 TS L
024463,002815: 25,3145 53102 DXCH SAMPLSUM
024464,002816: 25,3146 12366 TCF ROADBACK
024465,002817:
024466,002818: 25,3147 00230 DGBITS OCT 230
024467,002819:
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|
Page 555 |
024469,002821: # RADAR RUPT READER
024470,002822:
024471,002823: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024472,002824:
024473,002825: 25,2000 SETLOC RADARUPT
024474,002826: 25,2000 BANK
024475,002827:
024476,002828: 25,3150 COUNT* $$/RRUPT
024477,002829: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
024478,002830: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
024479,002831: 25,3152 54016 TS BANKRUPT
024480,002832: 25,3153 00006 EXTEND
024481,002833: 25,3154 22012 QXCH QRUPT
024482,002834:
024483,002835: 25,3155 34757 CAF SEVEN
024484,002836: 25,3156 00006 EXTEND
024485,002837: 25,3157 02013 RAND CHAN13
024486,002838: 25,3160 55335 TS DNINDEX
024487,002839: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
024488,002840: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024489,002841: 25,3163 30046 CA RNRAD
024490,002842: 25,3164 51335 INDEX DNINDEX
024491,002843: 25,3165 55332 TS DNRRANGE -1
024492,002844: 25,3166 11100 TRYCOUNT CCS SAMPLIM
024493,002845: 25,3167 13211 TCF PLENTY
024494,002846: 25,3170 13174 TCF NOMORE
024495,002847: 25,3171 05567 TC ALARM
024496,002848: 25,3172 00520 OCT 520
024497,002849: 25,3173 05270 TC RESUME
024498,002850:
024499,002851: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
024500,002852: 25,3175 74735 MASK LRBYBIT
024501,002853: 25,3176 00006 EXTEND
024502,002854: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
024503,002855:
024504,002856: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
024505,002857: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
024506,002858: 25,3202 00006 EXTEND
024507,002859: 25,3203 13206 BZF BADRAD
024508,002860:
024509,002861: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
024510,002862: 25,3205 00521 OCT 521
024511,002863: 25,3206 44753 BADRAD CS ONE
024512,002864: 25,3207 55100 TS SAMPLIM
024513,002865: 25,3210 03560 TC RDBADEND -2
024514,002866: 25,3211 55100 PLENTY TS SAMPLIM
024515,002867: 25,3212 34751 CAF BIT3
024516,002868: 25,3213 00006 EXTEND
024517,002869: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
024518,002870: 25,3215 00006 EXTEND
|
|
Page 556 |
024520,002872: 25,3216 13276 BZF RENDRAD
024521,002873:
024522,002874: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
024523,002875: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
024524,002876: 25,3221 00006 EXTEND
024525,002877: 25,3222 06033 RXOR CHAN33
024526,002878: 25,3223 74746 MASK BIT6
024527,002879: 25,3224 00006 EXTEND
024528,002880: 25,3225 13231 BZF VELCHK
024529,002881:
024530,002882: 25,3226 05567 TC ALARM
024531,002883: 25,3227 00522 OCT 522
024532,002884: 25,3230 03206 TC BADRAD
024533,002885:
024534,002886: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT
024535,002887: 25,3232 00006 EXTEND
024536,002888: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
024537,002889: 25,3234 76245 MASK BIN3
024538,002890: 25,3235 00006 EXTEND
024539,002891: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
024540,002892:
024541,002893: 25,3237 34733 CAF POSMAX
024542,002894: 25,3240 70046 MASK RNRAD
024543,002895: 25,3241 62000 AD LVELBIAS
024544,002896: 25,3242 54001 TS L
024545,002897: 25,3243 30046 CAE RNRAD
024546,002898: 25,3244 60000 DOUBLE
024547,002899: 25,3245 74753 MASK BIT1
024548,002900: 25,3246 52064 DXCH ITEMP3
024549,002901:
024550,002902: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024551,002903: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
024552,002904: # INDEPENDENT OF DATA GOOD.
024553,002905:
024554,002906: 25,3251 11111 CCS NSAMP
024555,002907: 25,3252 03262 TC NOEND
024556,002908: 25,3253 44753 GOODRAD CS ONE
024557,002909: 25,3254 55100 TS SAMPLIM
024558,002910: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024559,002911: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
024560,002912: 25,3257 54110 TS RADMODES
024561,002913: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
024562,002914: 25,3261 03553 TC RGOODEND -2
024563,002915:
024564,002916: 25,3262 55111 NOEND TS NSAMP
024565,002917: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
024566,002918: 25,3264 13266 TCF +2
024567,002919: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
024568,002920: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
024569,002921: 25,3267 00006 EXTEND
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|
Page 557 |
024571,002923: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
024572,002924: 25,3271 05270 TC RESUME
024573,002925:
024574,002926:
024575,002927: 25,3272 34747 LRHEIGHT CAF BIT5
024576,002928: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024577,002929:
024578,002930: 25,3274 34743 CAF BIT9
024579,002931: 25,3275 03320 TC SCALECHK -1
024580,002932:
024581,002933: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
024582,002934: 25,3277 70110 MASK RADMODES # LIMITS.
024583,002935: 25,3300 10000 CCS A
024584,002936: 25,3301 13206 TCF BADRAD
024585,002937:
024586,002938: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
024587,002939: 25,3303 74745 MASK RCDUFBIT
024588,002940: 25,3304 10000 CCS A
024589,002941: 25,3305 13206 TCF BADRAD
024590,002942:
024591,002943: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024592,002944: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024593,002945:
024594,002946: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
024595,002947: 25,3311 00006 EXTEND
024596,002948: 25,3312 02013 RAND CHAN13
024597,002949: 25,3313 54002 TS Q # FOR LATER TESTING.
024598,002950: 25,3314 10000 CCS A
024599,002951: 25,3315 13317 TCF +2
024600,002952: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024601,002953: 25,3317 34751 CAF BIT3
024602,002954: 25,3320 54001 TS L
024603,002955:
024604,002956: 25,3321 00006 SCALECHK EXTEND
024605,002957: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
024606,002958: 25,3323 56001 XCH L
024607,002959: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
024608,002960: 25,3325 00006 EXTEND
024609,002961: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
024610,002962: 25,3327 10000 CCS A
024611,002963: 25,3330 03350 TC SCALCHNG # THEY DIFFER
024612,002964:
024613,002965: 25,3331 34733 RADIN CAF POSMAX
024614,002966: 25,3332 70046 MASK RNRAD
024615,002967: 25,3333 54064 TS ITEMP4
024616,002968:
024617,002969: 25,3334 30046 CAE RNRAD
024618,002970: 25,3335 60000 DOUBLE
024619,002971: 25,3336 74753 MASK BIT1
024620,002972: 25,3337 54063 TS ITEMP3
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|
Page 558 |
024622,002974: 25,3340 10002 CCS Q # SEE IF RR RDOT.
024623,002975: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024624,002976:
024625,002977: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024626,002978: 25,3343 42002 DCS RDOTBIAS
024627,002979: 25,3344 20064 DASAMPL DAS ITEMP3
024628,002980: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024629,002981: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024630,002982: 25,3347 03253 TC GOODRAD
024631,002983:
024632,002984: 25,3350 22110 SCALCHNG LXCH RADMODES
024633,002985: 25,3351 64753 AD BIT1
024634,002986: 25,3352 00006 EXTEND
024635,002987: 25,3353 06001 RXOR LCHAN
024636,002988: 25,3354 54110 TS RADMODES
024637,002989: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024638,002990: 25,3356 00006 EXTEND
024639,002991: 25,3357 02033 RAND CHAN33
024640,002992: 25,3360 55113 TS OLDATAGD
024641,002993: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
024642,002994: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
024643,002995: 25,3363 13206 TCF BADRAD
024644,002996:
024645,002997: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024646,002998:
024647,002999: 25,3364 40101 R77CHECK CS FLAGWRD5
024648,003000: 25,3365 74741 MASK R77FLBIT
024649,003001: 25,3366 10000 CCS A
024650,003002: 25,3367 00002 TC Q # NOT R77
024651,003003: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024652,003004: 25,3371 70110 MASK RADMODES
024653,003005: 25,3372 54001 TS L
024654,003006: 25,3373 33401 CA BITS5,8
024655,003007: 25,3374 00006 EXTEND
024656,003008: 25,3375 02033 RAND CHAN33
024657,003009: 25,3376 60001 AD L
024658,003010: 25,3377 54110 TS RADMODES
024659,003011: 25,3400 03553 TC RGOODEND -2
024660,003012: 25,3401 00220 BITS5,8 OCT 220
024661,003013:
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|
Page 559 |
024663,003015: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024664,003016:
024665,003017: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024666,003018: 25,3403 13405 TCF +2 # ON HIGH SCALE.
024667,003019: 25,3404 13345 TCF DGCHECK2
024668,003020:
024669,003021: 25,3405 31335 CA DNINDEX
024670,003022: 25,3406 74751 MASK BIT3
024671,003023: 25,3407 10000 CCS A
024672,003024: 25,3410 13417 TCF LRSCK
024673,003025:
024674,003026: 25,3411 52064 DXCH ITEMP3
024675,003027: 25,3412 20001 DDOUBL
024676,003028: 25,3413 20001 DDOUBL
024677,003029: 25,3414 20001 DDOUBL
024678,003030: 25,3415 52064 DXCH ITEMP3
024679,003031:
024680,003032: 25,3416 13345 TCF DGCHECK2
024681,003033:
024682,003034: 25,3417 10063 LRSCK CCS ITEMP3
024683,003035: 25,3420 13431 TCF +11
024684,003036: 25,3421 40064 CS ITEMP4
024685,003037: 25,3422 63441 AD HISCALIM
024686,003038: 25,3423 00006 EXTEND
024687,003039: 25,3424 63431 BZMF +5
024688,003040:
024689,003041: 25,3425 40107 CS FLGWRD11
024690,003042: 25,3426 74751 MASK SCABBIT
024691,003043: 25,3427 26107 ADS FLGWRD11
024692,003044: 25,3430 13434 TCF +4
024693,003045:
024694,003046: 25,3431 44751 CS SCABBIT
024695,003047: 25,3432 70107 MASK FLGWRD11
024696,003048: 25,3433 54107 TS FLGWRD11
024697,003049:
024698,003050: 25,3434 00006 EXTEND
024699,003051: 25,3435 30064 DCA ITEMP3
024700,003052: 25,3436 20001 DDOUBL
024701,003053: 25,3437 20001 DDOUBL
024702,003054: 25,3440 13344 TCF DASAMPL
024703,003055:
024704,003056: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
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|
Page 560 |
024706,003058: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024707,003059: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024708,003060: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024709,003061: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024710,003062: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024711,003063: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024712,003064: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024713,003065: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024714,003066: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024715,003067: 25,3453 60001 AD L
024716,003068: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
024717,003069: 25,3455 03263 TC RESAMPLE
024718,003070: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024719,003071: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
024720,003072: 25,3460 00002 TC Q
024721,003073:
024722,003074: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024723,003075: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024724,003076: 25,3463 60061 AD ITEMP1
024725,003077: 25,3464 54110 TS RADMODES
024726,003078:
024727,003079: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024728,003080: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
024729,003081: 25,3467 03616 TC RADLITES
024730,003082: 25,3470 13174 TCF NOMORE
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|
Page 561 |
024732,003084: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024733,003085:
024734,003086: 25,2000 SETLOC P20S1
024735,003087: 25,2000 BANK
024736,003088:
024737,003089: 25,3471 COUNT* $$/RSUB
024738,003090: 25,3471 00004 LRPOS2 INHINT
024739,003091:
024740,003092: 25,3472 40110 CS RADMODES
024741,003093: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024742,003094: 25,3474 26110 ADS RADMODES
024743,003095:
024744,003096: 25,3475 34745 CAF BIT7
024745,003097: 25,3476 00006 EXTEND
024746,003098: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024747,003099: 25,3500 00006 EXTEND
024748,003100: 25,3501 13530 BZF RADNOOP
024749,003101:
024750,003102: 25,3502 34737 CAF BIT13
024751,003103: 25,3503 00006 EXTEND
024752,003104: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
024753,003105: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024754,003106: 25,3506 05203 TC WAITLIST
024755,003107: 25,3507 E7,1456 EBANK= LOSCOUNT
024756,003108: 25,3507 03543 52067 2CADR LRPOSCAN
024757,003109:
024758,003110: 25,3511 02366 TC ROADBACK
024759,003111:
024760,003112: 25,3512 55100 LRPOSNXT TS SAMPLIM
024761,003113: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024762,003114: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024763,003115:
024764,003116: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024765,003117: 25,3516 00006 EXTEND
024766,003118: 25,3517 02033 RAND CHAN33
024767,003119: 25,3520 00006 EXTEND
024768,003120: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024769,003121:
024770,003122: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
024771,003123: 25,3523 13512 TCF LRPOSNXT
024772,003124:
024773,003125: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024774,003126: 25,3525 00006 EXTEND
024775,003127: 25,3526 03012 WAND CHAN12
024776,003128: 25,3527 13562 TCF RDBADEND
024777,003129:
024778,003130: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024779,003131: 25,3531 05203 TC WAITLIST
024780,003132: 25,3532 E7,1456 EBANK= LOSCOUNT
024781,003133: 25,3532 03555 52067 2CADR RGOODEND
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Page 562 |
024783,003135: 25,3534 02366 TC ROADBACK
024784,003136:
024785,003137: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024786,003138: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024787,003139:
024788,003140: 25,3537 44737 CS BIT13 # REMOVE COMMAND
024789,003141: 25,3540 00006 EXTEND
024790,003142: 25,3541 03012 WAND CHAN12
024791,003143: 25,3542 13555 TCF RGOODEND
024792,003144:
024793,003145: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024794,003146: 25,3544 13512 TCF LRPOSNXT
024795,003147: 25,3545 01130 6SECS DEC 600 B-14
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Page 563 |
024797,003149: # SEQUENCES TO TERMINATE RR OPERATIONS.
024798,003150:
024799,003151: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024800,003152: 25,3547 70110 MASK RADMODES
024801,003153: 25,3550 10000 CCS A
024802,003154: 25,3551 13555 TCF RGOODEND
024803,003155: 25,3552 13562 TCF RDBADEND
024804,003156: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024805,003157: 25,3554 54734 TS RUPTAGN
024806,003158:
024807,003159: 25,3555 34752 RGOODEND CAF TWO
024808,003160: 25,3556 04635 TC POSTJUMP
024809,003161: 25,3557 17665 CADR GOODEND
024810,003162:
024811,003163: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024812,003164: 25,3561 54734 TS RUPTAGN
024813,003165: 25,3562 34752 RDBADEND CAF TWO
024814,003166: 25,3563 04635 TC POSTJUMP
024815,003167: 25,3564 17662 CADR BADEND
024816,003168:
024817,003169: 25,3565 6245 BIN3 EQUALS THREE
024818,003170:
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Page 564 |
024820,003172: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024821,003173: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024822,003174:
024823,003175: # FUNCTIONAL DESCRIPTION_
024824,003176: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024825,003177: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024826,003178: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024827,003179:
024828,003180: # CALLING SEQUENCE CALL
024829,003181: # LPS20.1
024830,003182:
024831,003183: # SUBROUTINES CALLED_
024832,003184: # LEMPREC, CSMPREC
024833,003185:
024834,003186: # NORMAL EXIT_ RETURN TO CALLER + 2
024835,003187:
024836,003188: # ERROR EXITS_ NONE
024837,003189:
024838,003190: # ALARMS_ NONE
024839,003191:
024840,003192: # OUTPUT_
024841,003193: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024842,003194: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024843,003195: # RRNBSW CLEARED
024844,003196:
024845,003197: # INITIALIZED ERASEABLE
024846,003198: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024847,003199: # SEE ORBITAL INTEGRATION ROUTINE
024848,003200:
024849,003201: # DEBRIS_
024850,003202: # MPAC DESTROYED BY THIS ROUTINE
024851,003203:
024852,003204: 23,2314 BANK 23
024853,003205: 24,2000 SETLOC P20S
024854,003206: 24,2000 BANK
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|
Page 565 |
024856,003208: 24,3255 COUNT* $$/LPS20
024857,003209:
024858,003210: 24,3255 43020 LPS20.1 STQ BOFF
024859,003211: 24,3256 01757 LS21X
024860,003212: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024861,003213: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
024862,003214: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024863,003215: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
024864,003216: 24,3263 51274 CSMINT
024865,003217: 24,3264 77624 LMINT CALL
024866,003218: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM
024867,003219: 24,3266 77775 VLOAD
024868,003220: 24,3267 00001 RATT
024869,003221: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
024870,003222: 24,3271 00007 VATT
024871,003223: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024872,003224: 24,3273 00015 TAT
024873,003225: 24,3274 34041 CSMINT STCALL TDEC1
024874,003226: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM
024875,003227: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024876,003228: 24,3277 00007 VATT
024877,003229: 24,3300 02360 LMVEL
024878,003230: 24,3301 76521 MXV VSL1
024879,003231: 24,3302 01734 REFSMMAT
024880,003232: 24,3303 77776 EXIT
024881,003233: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024882,003234: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024883,003235: 24,3306 06037 TC INTPRET
024884,003236: 24,3307 25761 STOVL LOSVEL
024885,003237: 24,3310 00001 RATT
024886,003238: 24,3311 43051 VSU BOFF
024887,003239: 24,3312 02352 LMPOS
024888,003240: 24,3313 00350 RNDVZFLG
024889,003241: 24,3314 51321 NOTSHIFT
024890,003242: 24,3315 77604 BOVB
024891,003243: 24,3316 57753 TCDANZIG
024892,003244: 24,3317 77661 VSL
024893,003245: 24,3320 20212 9D
024894,003246: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024895,003247: 24,3322 50102 526ALARM # THAN 400 N. M.
024896,003248: 24,3323 76521 MXV VSL1
024897,003249: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024898,003250: 24,3325 15102 STODL RRTARGET
024899,003251: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024900,003252: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024901,003253: 24,3330 77614 CLRGO
024902,003254: 24,3331 00231 RRNBSW
024903,003255: 24,3332 01757 LS21X
024904,003256:
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Page 566 |
024906,003258: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024907,003259: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024908,003260:
024909,003261: # FUNCTIONAL DESCRIPTION_
024910,003262: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024911,003263:
024912,003264: # CALLING SEQUENCE CALL
024913,003265: # LPS20.2
024914,003266:
024915,003267: # SUBROUTINES CALLED_ NONE
024916,003268:
024917,003269: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024918,003270:
024919,003271: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024920,003272:
024921,003273: # ALARMS_ NONE
024922,003274:
024923,003275: # OUTPUT_ NONE
024924,003276:
024925,003277: # INITIALIZED ERASEABLE_
024926,003278: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024927,003279:
024928,003280: # DEBRIS
024929,003281: # MPAC DESTROYED BY THIS ROUTINE
024930,003282:
024931,003283: 25,2000 SETLOC P20S1
024932,003284: 25,2000 BANK
024933,003285: 25,3565 COUNT* $$/LPS20
024934,003286:
024935,003287: 25,3565 45345 LPS20.2 DLOAD DSU
024936,003288: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
024937,003289: 25,3567 13600 FHNM # OVER 400NM _
024938,003290: 25,3570 77644 BPL
024939,003291: 25,3571 53574 TOFAR
024940,003292: 25,3572 43535 SLOAD RVQ
024941,003293: 25,3573 06522 ZERO/SP
024942,003294: 25,3574 43535 TOFAR SLOAD RVQ
024943,003295: 25,3575 13577 ONE/SP
024944,003296: 25,3576 00001 ONE/SP DEC 1 B-14
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Page 567 |
024946,003298: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024947,003299:
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Page 568 |
024949,003301: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024950,003302: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024951,003303:
024952,003304: # FUNCTIONAL DESCRIPTION
024953,003305: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024954,003306: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024955,003307: # RR REPOSITION AND RR CDU FAIL
024956,003308: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024957,003309:
024958,003310: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024959,003311:
024960,003312: # SUBROUTINES CALLED:
024961,003313: # RRRDOT LPS20.1
024962,003314: # RRRANGE BANKCALL
024963,003315: # RADSTALL CDULOGIC
024964,003316: # RRNB SMNB
024965,003317:
024966,003318: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024967,003319:
024968,003320: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024969,003321: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024970,003322: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024971,003323:
024972,003324: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024973,003325: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024974,003326:
024975,003327: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024976,003328: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024977,003329:
024978,003330: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024979,003331: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024980,003332: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024981,003333: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024982,003334: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024983,003335: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024984,003336:
024985,003337: # ERASABLE INITIALIZATION REQUIRED:
024986,003338: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 569 |
024988,003340: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024989,003341: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024990,003342: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024991,003343:
024992,003344: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024993,003345:
024994,003346: 32,2366 BANK 32
024995,003347: 32,2000 SETLOC LRS22
024996,003348: 32,2000 BANK
024997,003349: 32,2366 COUNT* $$/LRS22
024998,003350:
024999,003351: 32,2366 04645 LRS22.1 TC MAKECADR
025000,003352: 32,2367 55737 TS LRS22.1X
025001,003353: 32,2370 05516 TC DOWNFLAG
025002,003354: 32,2371 00120 ADRES RNGSCFLG
025003,003355: 32,2372 00004 INHINT
025004,003356: 32,2373 34751 CAF BIT3
025005,003357: 32,2374 00006 EXTEND # GET RR RANGE SCALE
025006,003358: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025007,003359: 32,2376 54001 TS L
025008,003360: 32,2377 44751 CS RRRSBIT
025009,003361: 32,2400 70110 MASK RADMODES
025010,003362: 32,2401 60001 AD L
025011,003363: 32,2402 54110 TS RADMODES
025012,003364: 32,2403 00003 RELINT
025013,003365: 32,2404 04616 READRDOT TC BANKCALL
025014,003366: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025015,003367: 32,2406 04616 TC BANKCALL
025016,003368: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025017,003369: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025018,003370:
025019,003371: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025020,003372: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025021,003373: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
025022,003374: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025023,003375: 32,2415 53747 DXCH RDOTMSAV
025024,003376: 32,2416 00006 EXTEND
025025,003377: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
025026,003378: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
025027,003379: 32,2421 30032 CA CDUX
025028,003380: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
025029,003381: 32,2423 00006 EXTEND
025030,003382: 32,2424 30025 DCA TIME2 # SAVE TIME
025031,003383: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025032,003384: 32,2426 00006 EXTEND
025033,003385: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025034,003386: 32,2430 53110 DXCH TANG
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Page 570 |
025036,003388: 32,2431 00003 RELINT
025037,003389: 32,2432 04616 TC BANKCALL
025038,003390: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025039,003391: 32,2434 04616 TC BANKCALL
025040,003392: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
025041,003393: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ
025042,003394: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
025043,003395: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA)
025044,003396: 32,2441 53761 DXCH RANGRDOT
025045,003397: 32,2442 52162 DXCH MPAC +5
025046,003398: 32,2443 53755 DXCH MKTIME # MARK TIME
025047,003399: 32,2444 52160 DXCH MPAC +3
025048,003400: 32,2445 53460 DXCH AIG # CDUY, CDUZ
025049,003401: 32,2446 00006 EXTEND
025050,003402: 32,2447 31110 DCA TANG # PRESERVE TANG
025051,003403: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
025052,003404: 32,2451 30156 CA MPAC +2
025053,003405: 32,2452 55461 TS AOG # CDUX
025054,003406: 32,2453 06037 TC INTPRET
025055,003407: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025056,003408: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
025057,003409: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025058,003410: 32,2457 20217 14D # FT./SECOND PER BIT
025059,003411: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025060,003412: 32,2461 03751 STORE RDOTM
025061,003413: 32,2462 47135 SLOAD RTB
025062,003414: 32,2463 01110 TANG # GET TRUNION ANGLE
025063,003415: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025064,003416: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025065,003417: 32,2466 47135 SLOAD RTB
025066,003418: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE
025067,003419: 32,2470 21576 CDULOGIC
025068,003420: 32,2471 17736 STODL RRSHAFT
025069,003421: 32,2472 01102 SAMPLSUM
025070,003422: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025071,003423: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
025072,003424: 32,2475 37757 STCALL RM
025073,003425: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025074,003426: 32,2477 17741 STODL RRBORSIT # AND SAVE
025075,003427: 32,2500 00025 20D
025076,003428: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025077,003429: 32,2502 51255 LPS20.1
025078,003430: 32,2503 77776 EXIT
025079,003431: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025080,003432: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025081,003433: 32,2506 31460 CA AMG
025082,003434: 32,2507 54770 TS CDUSPOT +2
025083,003435: 32,2510 31461 CA AOG
025084,003436: 32,2511 54772 TS CDUSPOT +4
025085,003437: 32,2512 06037 TC INTPRET
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Page 571 |
025087,003439: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025088,003440: 32,2514 01102 RRTARGET
025089,003441: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025090,003442: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025091,003443: 32,2517 03741 RRBORSIT
025092,003444: 32,2520 65552 SL1 ACOS # BETWEEN THEM
025093,003445: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025094,003446: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025095,003447: 32,2523 24546 THREEDEG
025096,003448: 32,2524 64531 NORMEXIT # YES - NORMAL EXIT
025097,003449:
025098,003450: 32,2525 77776 EXIT # ERROR EXIT 2
025099,003451: 32,2526 34752 CAF BIT2 # SET ERROR CODE
025100,003452: 32,2527 54154 TS MPAC
025101,003453: 32,2530 12534 TCF OUT22.1
025102,003454:
025103,003455: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
025104,003456: 32,2532 34755 CAF ZERO
025105,003457: 32,2533 54154 TS MPAC
025106,003458: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025107,003459: 32,2535 04640 TC BANKJUMP
025108,003460: 32,2536 30101 CHEXERR CAE FLAGWRD5
025109,003461: 32,2537 74742 MASK RNGSCBIT
025110,003462: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025111,003463: 32,2541 12404 TCF READRDOT # YES - TAKE ANOTHER READING
025112,003464:
025113,003465: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025114,003466: 32,2543 54154 TS MPAC
025115,003467: 32,2544 02534 TC OUT22.1
025116,003468: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
025117,003469:
025118,003470: 32,2547 1101 RRLOSVEC EQUALS RRTARGET
025119,003471:
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Page 572 |
025121,003473: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025122,003474: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
025123,003475:
025124,003476: # FUNCTIONAL DESCRIPTION-
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Yes, I know point #1 is missing. It is missing from the program listing — RSB 2003 |
025126,003478: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025127,003479:
025128,003480: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025129,003481:
025130,003482: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
025131,003483:
025132,003484: # NORMAL EXIT- RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025133,003485:
025134,003486: # ERROR EXIT- RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025135,003487:
025136,003488: # ALARMS- NONE IN THE AUTO MODE
025137,003489:
025138,003490: # ERASABLE INITIALIZATION REQUIRED -
025139,003491: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
025140,003492: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025141,003493: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
025142,003494:
025143,003495: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025144,003496:
025145,003497: 24,2000 SETLOC P20S
025146,003498: 24,2000 BANK
025147,003499: 24,3333 04645 LRS22.2 TC MAKECADR
025148,003500: 24,3334 55737 TS LRS22.1X
025149,003501: 24,3335 06037 TC INTPRET
025150,003502: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025151,003503: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025152,003504: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
025153,003505: # LOS VECTOR, A HALF UNIT VECTOR
025154,003506: # IN NAV BASE AXES)
025155,003507: 24,3340 50025 DSU BMN
025156,003508: 24,3341 11355 30DEG
025157,003509: 24,3342 51347 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
025158,003510: 24,3343 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
025159,003511: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
025160,003512: 24,3345 54154 TS MPAC
025161,003513: 24,3346 13352 TCF OUT22.2
025162,003514: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
025163,003515:
|
|
Page 573 |
025165,003517: 24,3350 34755 CAF ZERO
025166,003518: 24,3351 54154 TS MPAC
025167,003519: 24,3352 31737 OUT22.2 CAE LRS22.1X
025168,003520: 24,3353 04640 TC BANKJUMP
025169,003521:
025170,003522: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
025171,003523:
|
|
Page 574 |
025173,003525: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
025174,003526: # MOD. NO 3 LOG SECTION - P20-25
025175,003527: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
025176,003528:
025177,003529: # FUNCTIONAL DESCRIPTION
025178,003530: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025179,003531: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025180,003532: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025181,003533:
025182,003534: # CALLING SEQUENCE
025183,003535: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
025184,003536: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025185,003537: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025186,003538: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025187,003539: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025188,003540: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
025189,003541:
025190,003542: # SUBROUTINES CALLED
025191,003543: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
025192,003544: # GETULC RARARANG INCORP2 NBSM INTSTALL
025193,003545:
025194,003546: # OUTPUT
025195,003547: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025196,003548: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025197,003549: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025198,003550: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025199,003551: # UPDATED W-MATRIX
025200,003552:
025201,003553: # ERASABLE INITIALIZATION REQUIRED
025202,003554: # LM AND CSM STATE VECTORS
025203,003555: # W-MATRIX
025204,003556: # MARK TIME IN MKTIME
025205,003557: # RADAR RANGE IN RM METERS B-29
025206,003558: # RANGE RATE IN RDOTM METERS/CSES B-7
025207,003559: # SHAFT ANGLE IN RRSHAFT REVS. B0
025208,003560: # TRUNNION ANGLE IN RRTRUN REVS. B0
025209,003561: # GIMBAL ANGLES INNER IN AIG
025210,003562: # MIDDLE IN AMG
025211,003563: # OUTER IN AOG
025212,003564: # REFSMMAT
025213,003565: # RENDWFLG
025214,003566: # NOANGFLG
025215,003567: # VEHUPFLG
025216,003568:
025217,003569: # DEBRIS
025218,003570: # PUSHLIST -- ALL
025219,003571: # MX, MY, MZ (VECTORS)
|
|
Page 575 |
025221,003573: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
025222,003574:
025223,003575: 13,2207 BANK 13
025224,003576: 26,2000 SETLOC P20S3
025225,003577: 26,2000 BANK
025226,003578:
025227,003579: 26,2412 E7,1456 EBANK= LOSCOUNT
025228,003580: 26,2412 COUNT* $$/LSR22
025229,003581: 26,2412 77624 LSR22.3 CALL
025230,003582: 26,2413 11244 GRP2PC
025231,003583: 26,2414 43014 BON SET
025232,003584: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
025233,003585: 26,2416 55200 LSR22.4 # YES
025234,003586: 26,2417 02466 DMENFLG
025235,003587: 26,2420 45014 BOFF CALL
025236,003588: 26,2421 00747 VEHUPFLG
025237,003589: 26,2422 54454 DOLEM
025238,003590: 26,2423 27414 INTSTALL
025239,003591: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION
025240,003592: 26,2425 01674 VINTFLAG
025241,003593: 26,2426 26644 SETIFLGS
025242,003594: 26,2427 77624 CALL
025243,003595: 26,2430 55242 INTGRCAL
025244,003596: 26,2431 77624 CALL
025245,003597: 26,2432 11244 GRP2PC
025246,003598: 26,2433 77624 CALL
025247,003599: 26,2434 27414 INTSTALL
025248,003600: 26,2435 43014 CLEAR BOFF
025249,003601: 26,2436 01676 DIM0FLAG
025250,003602: 26,2437 02756 RENDWFLG
025251,003603: 26,2440 54444 NOTWCSM
025252,003604: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
025253,003605: 26,2442 01476 DIM0FLAG
025254,003606: 26,2443 01475 D6OR9FLG
025255,003607: 26,2444 43014 NOTWCSM SET CLEAR
025256,003608: 26,2445 01474 VINTFLAG
025257,003609: 26,2446 01673 INTYPFLG
025258,003610: 26,2447 45014 SET CALL
025259,003611: 26,2450 01472 STATEFLG
025260,003612: 26,2451 55242 INTGRCAL
025261,003613: 26,2452 77650 GOTO
025262,003614: 26,2453 54504 MARKTEST
025263,003615: 26,2454 77624 DOLEM CALL
025264,003616: 26,2455 27414 INTSTALL
025265,003617: 26,2456 45014 SET CALL
025266,003618: 26,2457 01474 VINTFLAG
025267,003619: 26,2460 26644 SETIFLGS
025268,003620: 26,2461 77624 CALL
025269,003621: 26,2462 55242 INTGRCAL
|
|
Page 576 |
025271,003623: 26,2463 77624 CALL
025272,003624: 26,2464 11244 GRP2PC
025273,003625: 26,2465 77624 CALL
025274,003626: 26,2466 27414 INTSTALL
025275,003627: 26,2467 43014 CLEAR BOFF
025276,003628: 26,2470 01676 DIM0FLAG
025277,003629: 26,2471 02756 RENDWFLG
025278,003630: 26,2472 54476 NOTWLEM
025279,003631: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION
025280,003632: 26,2474 01476 DIM0FLAG
025281,003633: 26,2475 01475 D6OR9FLG
025282,003634: 26,2476 43014 NOTWLEM CLEAR CLEAR
025283,003635: 26,2477 01673 INTYPFLG
025284,003636: 26,2500 01674 VINTFLAG
025285,003637: 26,2501 45014 SET CALL
025286,003638: 26,2502 01472 STATEFLG
025287,003639: 26,2503 55242 INTGRCAL
025288,003640: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
025289,003641: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
025290,003642: 26,2506 54510 RANGEBQ
025291,003643: 26,2507 55251 WLINIT # YES - REINITIALIZE
025292,003644: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
025293,003645: 26,2511 04307 SURFFLAG
025294,003646: 26,2512 54520 RANGEBQ1
025295,003647: 26,2513 34755 CA ZERO
025296,003648: 26,2514 55745 TS R65CNTR
025297,003649: 26,2515 04616 TC BANKCALL
025298,003650: 26,2516 46123 CADR R65LEM
025299,003651: 26,2517 06037 TC INTPRET
025300,003652: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
025301,003653: 26,2521 00000 0
025302,003654: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
025303,003655: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
025304,003656: 26,2524 77714 INCR,2
025305,003657: 26,2525 00002 2
025306,003658: 26,2526 45134 SETX2 SXA,2 CALL
025307,003659: 26,2527 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025308,003660: 26,2530 11244 GRP2PC
025309,003661: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
025310,003662: 26,2532 00001 1
025311,003663: 26,2533 03745 WHCHREAD
025312,003664: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
025313,003665: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
025314,003666: 26,2536 20635 28D
025315,003667: 26,2537 77634 RTB
025316,003668: 26,2540 21633 TPMODE # AND SAVE IN 20D
025317,003669: 26,2541 00025 STORE 20D
025318,003670: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
025319,003671: 26,2543 55333 GETULC # B-VECTORS FOR RANGE
025320,003672: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
|
|
Page 577 |
025322,003674: 26,2545 00707 VEHUPFLG
025323,003675: 26,2546 54547 +1
025324,003676: 26,2547 27525 STOVL BVECTOR
025325,003677: 26,2550 06522 ZEROVECS
025326,003678: 26,2551 03533 STORE BVECTOR +6 # B1
025327,003679: 26,2552 17541 STODL BVECTOR +12D # B2
025328,003680: 26,2553 00045 36D
025329,003681: 26,2554 44257 SRR* BDSU
025330,003682: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
025331,003683: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM)
025332,003684: 26,2557 77657 SLR*
025333,003685: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
025334,003686: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27
025335,003687: 26,2562 00045 36D # RLC B-29/B-27
025336,003688: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE
025337,003689: 26,2564 00047 X1
025338,003690: 26,2565 53605 DMP SR*
025339,003691: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
025340,003692: 26,2567 20577 0 -2,1 # UNNORMALIZE
025341,003693: 26,2570 53657 SR* SR*
025342,003694: 26,2571 20601 0,1
025343,003695: 26,2572 57176 0,2
025344,003696: 26,2573 47057 SR* RTB
025345,003697: 26,2574 57176 0,2
025346,003698: 26,2575 21633 TPMODE
025347,003699: 26,2576 02707 STORE VARIANCE # B-40
025348,003700: 26,2577 76276 DCOMP TAD
025349,003701: 26,2600 00025 20D # B-40
025350,003702: 26,2601 72240 BMN TLOAD
025351,003703: 26,2602 54605 QOK
025352,003704: 26,2603 00025 20D # B-40
025353,003705: 26,2604 02707 STORE VARIANCE
025354,003706: 26,2605 77624 QOK CALL
025355,003707: 26,2606 55401 LGCUPDTE
025356,003708:
025357,003709: 26,2607 45131 SSP CALL
025358,003710: 26,2610 03746 WHCHREAD
025359,003711: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
025360,003712: 26,2612 11244 GRP2PC
025361,003713: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
025362,003714: 26,2614 55333 GETULC
025363,003715: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27
025364,003716: 26,2616 00045 36D # AND SHIFT TO B-23
025365,003717: 26,2617 57202 0 -4,2
025366,003718: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D
025367,003719: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
025368,003720: 26,2622 00707 VEHUPFLG
025369,003721: 26,2623 54624 +1
025370,003722: 26,2624 77761 VXSC
025371,003723: 26,2625 00045 36D # B1 = RLC (B-24/B-22)
|
|
Page 578 |
025373,003725: 26,2626 27533 STOVL BVECTOR +6
025374,003726: 26,2627 01653 NUVLEM
025375,003727: 26,2630 53257 VSR* VAD
025376,003728: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025377,003729: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5
025378,003730: 26,2633 53715 PDVL VSR* # VL TO PD6
025379,003731: 26,2634 01601 NUVCSM
025380,003732: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025381,003733: 26,2636 52255 VAD VSU
025382,003734: 26,2637 01615 VCVCSM
025383,003735: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6
025384,003736: 26,2641 00001 0
025385,003737: 26,2642 00007 6
025386,003738: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025387,003739: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025388,003740: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025389,003741: 26,2646 01773 RATEVAR
025390,003742: 26,2647 02707 STORE VARIANCE
025391,003743: 26,2650 54335 SLOAD SR
025392,003744: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025393,003745: 26,2652 20621 16D # SHIFT TO DP (B-4)
025394,003746: 26,2653 00031 STORE 24D # AND SAVE IN 24D
025395,003747: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025396,003748: 26,2655 02707 VARIANCE
025397,003749: 26,2656 54662 VOK # BRANCH - NO
025398,003750: 26,2657 77745 DLOAD # YES - USE MINIMUM VARIANCE
025399,003751: 26,2660 00031 24D
025400,003752: 26,2661 02707 STORE VARIANCE
025401,003753: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
025402,003754: 26,2663 53725 PDDL SLR* # TO B-10/B-8
025403,003755: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
025404,003756: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8
025405,003757: 26,2666 77625 DSU
025406,003758: 26,2667 77675 DMPR
025407,003759: 26,2670 00045 36D
025408,003760: 26,2671 27547 STOVL DELTAQ # B-33
025409,003761: 26,2672 00001 0 # NOW GET B0
025410,003762: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC
025411,003763: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025412,003764: 26,2675 00707 VEHUPFLG
025413,003765: 26,2676 54677 +1
025414,003766: 26,2677 77657 VSR*
025415,003767: 26,2700 57200 0 -2,2 # SCALED B-5
025416,003768: 26,2701 27525 STOVL BVECTOR
025417,003769: 26,2702 06522 ZEROVECS
025418,003770: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025419,003771: 26,2704 27541 STOVL BVECTOR +12D
025420,003772: 26,2705 03525 BVECTOR
025421,003773: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025422,003774: 26,2707 00025 20D # SHIFT COUNT IN 20D
|
|
Page 579 |
025424,003776: 26,2710 51575 VLOAD ABVAL
025425,003777: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025426,003778: 26,2712 71301 NORM DLOAD
025427,003779: 26,2713 00027 22D # SHIFT COUNT IN 22D
025428,003780: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER
025429,003781: 26,2715 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
025430,003782: 26,2716 00025 20D
025431,003783: 26,2717 54723 VOK1
025432,003784: 26,2720 52150 LXA,1 GOTO
025433,003785: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025434,003786: 26,2722 54725 VOK2
025435,003787: 26,2723 77750 VOK1 LXA,1
025436,003788: 26,2724 00024 20D
025437,003789: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
025438,003790: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT
025439,003791: 26,2727 20201 0,1
025440,003792: 26,2730 27525 STOVL BVECTOR
025441,003793: 26,2731 03533 BVECTOR +6
025442,003794: 26,2732 77657 VSL*
025443,003795: 26,2733 20201 0,1
025444,003796: 26,2734 17533 STODL BVECTOR +6
025445,003797: 26,2735 03547 DELTAQ
025446,003798: 26,2736 77657 SL*
025447,003799: 26,2737 20201 0,1
025448,003800: 26,2740 03547 STORE DELTAQ
025449,003801: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025450,003802: 26,2742 00045 36D
025451,003803: 26,2743 20200 0 -1,1
025452,003804: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025453,003805: 26,2745 02707 VARIANCE
025454,003806: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025455,003807: 26,2747 21633 TPMODE
025456,003808: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025457,003809: 26,2751 55401 LGCUPDTE
025458,003810:
025459,003811: 26,2752 77624 CALL
025460,003812: 26,2753 11244 GRP2PC
025461,003813: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE
025462,003814: 26,2755 04307 SURFFLAG
025463,003815: 26,2756 55176 RENDEND # NO
025464,003816: 26,2757 E7,1457 EBANK= AIG
025465,003817: 26,2757 33332 MXMYMZ CAF AIGBANK
025466,003818: 26,2760 54006 TS BBANK
025467,003819: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ
025468,003820: 26,2762 54766 TS CDUSPOT
025469,003821: 26,2763 31460 CA AMG
025470,003822: 26,2764 54770 TS CDUSPOT +2
025471,003823: 26,2765 31461 CA AOG
025472,003824: 26,2766 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025473,003825: 26,2767 06037 TC INTPRET
|
|
Page 580 |
025475,003827: 26,2770 45175 VLOAD CALL
025476,003828: 26,2771 06520 UNITX
025477,003829: 26,2772 47664 TRG*NBSM
025478,003830: 26,2773 76505 VXM VSL1
025479,003831: 26,2774 01734 REFSMMAT
025480,003832: 26,2775 27677 STOVL MX
025481,003833: 26,2776 06516 UNITY
025482,003834: 26,2777 77624 CALL
025483,003835: 26,3000 47673 *NBSM*
025484,003836: 26,3001 76505 VXM VSL1
025485,003837: 26,3002 01734 REFSMMAT
025486,003838: 26,3003 27705 STOVL MY
025487,003839: 26,3004 06514 UNITZ
025488,003840: 26,3005 77624 CALL
025489,003841: 26,3006 47673 *NBSM*
025490,003842: 26,3007 76505 VXM VSL1
025491,003843: 26,3010 01734 REFSMMAT
025492,003844: 26,3011 37713 SHAFTBQ STCALL MZ
025493,003845: 26,3012 55361 RADARANG
025494,003846: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025495,003847: 26,3014 03746 WHCHREAD
025496,003848: 26,3015 00003 DEC 3 B-14
025497,003849: 26,3016 11244 GRP2PC
025498,003850: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025499,003851: 26,3020 03724 ULC
025500,003852: 26,3021 03677 MX
025501,003853: 26,3022 77752 SL1
025502,003854: 26,3023 24023 STOVL SINTH # 18D
025503,003855: 26,3024 03724 ULC
025504,003856: 26,3025 72441 DOT SL1
025505,003857: 26,3026 03713 MZ
025506,003858: 26,3027 34021 STCALL COSTH # 16D
025507,003859: 26,3030 26510 ARCTAN
025508,003860: 26,3031 41221 BDSU DMP
025509,003861: 26,3032 03736 RRSHAFT
025510,003862: 26,3033 15441 2PI/8
025511,003863: 26,3034 41472 SL3R PUSH
025512,003864: 26,3035 52545 DLOAD SL3
025513,003865: 26,3036 01701 X789
025514,003866: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025515,003867: 26,3040 56176 0,2
025516,003868: 26,3041 53605 DMP SRR*
025517,003869: 26,3042 03722 RXZ
025518,003870: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025519,003871: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025520,003872: 26,3045 03724 ULC
025521,003873: 26,3046 76435 VXV VSL1
025522,003874: 26,3047 03705 MY
025523,003875: 26,3050 77656 UNIT
025524,003876: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
|
|
Page 581 |
025526,003878: 26,3052 00747 VEHUPFLG
025527,003879: 26,3053 55054 +1
025528,003880: 26,3054 27525 STOVL BVECTOR
025529,003881: 26,3055 06522 ZEROVECS
025530,003882: 26,3056 03533 STORE BVECTOR +6
025531,003883: 26,3057 17541 STODL BVECTOR +12D
025532,003884: 26,3060 03722 RXZ
025533,003885: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025534,003886: 26,3062 20577 0 -2,1
025535,003887: 26,3063 56176 0,2
025536,003888: 26,3064 03541 STORE BVECTOR +12D
025537,003889: 26,3065 77735 SLOAD
025538,003890: 26,3066 02011 SHAFTVAR
025539,003891: 26,3067 41215 DAD DMP
025540,003892: 26,3070 15436 IMUVAR # RAD**2 B12
025541,003893: 26,3071 03722 RXZ
025542,003894: 26,3072 41257 SRR* DMP
025543,003895: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025544,003896: 26,3074 03722 RXZ
025545,003897: 26,3075 53657 SR* SR*
025546,003898: 26,3076 20577 0 -2,1
025547,003899: 26,3077 57176 0,2
025548,003900: 26,3100 47057 SR* RTB
025549,003901: 26,3101 57176 0,2
025550,003902: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
025551,003903: 26,3103 36707 STCALL VARIANCE # B-40
025552,003904: 26,3104 55401 LGCUPDTE
025553,003905:
025554,003906: 26,3105 77624 CALL
025555,003907: 26,3106 11244 GRP2PC
025556,003908: 26,3107 77624 TRUNBQ CALL
025557,003909: 26,3110 55361 RADARANG
025558,003910: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49
025559,003911: 26,3112 03746 WHCHREAD
025560,003912: 26,3113 00004 DEC 4 B-14
025561,003913: 26,3114 11244 GRP2PC
025562,003914: 26,3115 47375 VLOAD VXV
025563,003915: 26,3116 03724 ULC
025564,003916: 26,3117 03705 MY
025565,003917: 26,3120 47372 VSL1 VXV
025566,003918: 26,3121 03724 ULC
025567,003919: 26,3122 77772 VSL1 # (ULC X MY) X ULC
025568,003920: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025569,003921: 26,3124 00747 VEHUPFLG
025570,003922: 26,3125 55126 +1
025571,003923: 26,3126 27525 STOVL BVECTOR
025572,003924: 26,3127 06522 ZEROVECS
025573,003925: 26,3130 03533 STORE BVECTOR +6
025574,003926: 26,3131 17541 STODL BVECTOR +12D
025575,003927: 26,3132 03722 RXZ
|
|
Page 582 |
025577,003929: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025578,003930: 26,3134 20577 0 -2,1
025579,003931: 26,3135 56176 0,2
025580,003932: 26,3136 03543 STORE BVECTOR +14D
025581,003933: 26,3137 77735 SLOAD
025582,003934: 26,3140 02012 TRUNVAR
025583,003935: 26,3141 41215 DAD DMP
025584,003936: 26,3142 15436 IMUVAR
025585,003937: 26,3143 03722 RXZ
025586,003938: 26,3144 41257 SRR* DMP
025587,003939: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025588,003940: 26,3146 03722 RXZ
025589,003941: 26,3147 53657 SR* SR*
025590,003942: 26,3150 20577 0 -2,1
025591,003943: 26,3151 57176 0,2
025592,003944: 26,3152 47057 SR* RTB
025593,003945: 26,3153 57176 0,2
025594,003946: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
025595,003947: 26,3155 16707 STODL VARIANCE
025596,003948: 26,3156 03732 SINTHETA
025597,003949: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025598,003950: 26,3160 03734 RRTRUN
025599,003951: 26,3161 56405 DMP SL3R
025600,003952: 26,3162 15441 2PI/8
025601,003953: 26,3163 52525 PDDL SL3
025602,003954: 26,3164 01703 X789 +2
025603,003955: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025604,003956: 26,3166 56176 0,2
025605,003957: 26,3167 53605 DMP SRR*
025606,003958: 26,3170 03722 RXZ
025607,003959: 26,3171 21601 0,1
025608,003960: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025609,003961: 26,3173 55401 LGCUPDTE
025610,003962: 26,3174 77624 CALL
025611,003963: 26,3175 11244 GRP2PC
025612,003964: 26,3176 77650 RENDEND GOTO
025613,003965: 26,3177 50566 R22LEM93
025614,003966:
025615,003967: # FUNCTIONAL DESCRIPTION
025616,003968: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025617,003969: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025618,003970: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025619,003971:
025620,003972: # SUBROUTINES CALLED
025621,003973: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025622,003974: # INTEGRV GETULC INCORP2
025623,003975:
025624,003976: # OUTPUT
025625,003977: # CORRECTED CSM STATE VECTOR (PERMANENT)
025626,003978: # NUMBER OF MARKS INCORPORATED IN MARKCTR
|
|
Page 583 |
025628,003980: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025629,003981: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025630,003982: # UPDATED W-MATRIX
025631,003983:
025632,003984: # ERASABLE INITIALIZATION REQUIRED
025633,003985: # LM AND CSM STATE VECTORS
025634,003986: # W-MATRIX
025635,003987: # MARK TIME IN MKTIME
025636,003988: # RADAR RANGE IN RM METERS B-29
025637,003989: # RANGE RATE IN RDOTM METERS/CSEC B-7
025638,003990: # VEHUPFLG
025639,003991:
025640,003992: 26,3200 77624 LSR22.4 CALL
025641,003993: 26,3201 27414 INTSTALL
025642,003994: 26,3202 43014 SET CLEAR
025643,003995: 26,3203 01472 STATEFLG
025644,003996: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025645,003997: 26,3205 77624 CALL
025646,003998: 26,3206 55242 INTGRCAL
025647,003999: 26,3207 77624 CALL
025648,004000: 26,3210 11244 GRP2PC
025649,004001: 26,3211 45014 CLEAR CALL
025650,004002: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025651,004003: 26,3213 27414 INTSTALL
025652,004004: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025653,004005: 26,3215 03463 MARKCTR
025654,004006: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025655,004007: 26,3217 43014 CLEAR SET
025656,004008: 26,3220 01675 D6OR9FLG
025657,004009: 26,3221 01476 DIM0FLAG
025658,004010: 26,3222 43014 SET CLEAR
025659,004011: 26,3223 01474 VINTFLAG
025660,004012: 26,3224 01673 INTYPFLG
025661,004013: 26,3225 77624 CALL
025662,004014: 26,3226 55242 INTGRCAL
025663,004015: 26,3227 77650 GOTO
025664,004016: 26,3230 54510 RANGEBQ
025665,004017:
025666,004018: 26,3231 77624 INITWMX6 CALL
025667,004019: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025668,004020: 26,3233 45014 SET CALL
025669,004021: 26,3234 01474 VINTFLAG
025670,004022: 26,3235 26644 SETIFLGS
025671,004023: 26,3236 77624 CALL
025672,004024: 26,3237 55242 INTGRCAL
025673,004025: 26,3240 77650 GOTO
025674,004026: 26,3241 54510 RANGEBQ
025675,004027:
025676,004028: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
|
|
Page 584 |
025678,004030: 26,3242 71220 INTGRCAL STQ DLOAD
025679,004031: 26,3243 03675 IGRET
025680,004032: 26,3244 03755 MKTIME
025681,004033: 26,3245 34041 STCALL TDEC1
025682,004034: 26,3246 27134 INTEGRV
025683,004035: 26,3247 77650 GOTO
025684,004036: 26,3250 03675 IGRET
025685,004037:
025686,004038: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025687,004039: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025688,004040:
025689,004041: 26,3251 E5,1400 EBANK= W
025690,004042: 26,3251 77776 WLINIT EXIT
025691,004043: 26,3252 33331 CAF WBANK
025692,004044: 26,3253 54006 TS BBANK
025693,004045: 26,3254 33437 CAF WSIZE
025694,004046: 26,3255 55257 TS W.IND
025695,004047: 26,3256 34755 CAF ZERO
025696,004048: 26,3257 51257 INDEX W.IND
025697,004049: 26,3260 55400 TS W
025698,004050: 26,3261 11257 CCS W.IND
025699,004051: 26,3262 03255 TC -5
025700,004052: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025701,004053: 26,3264 54006 TS BBANK
025702,004054: 26,3265 06037 TC INTPRET
025703,004055: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
025704,004056: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025705,004057: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025706,004058: 26,3271 02001 WRENDPOS
025707,004059: 26,3272 77650 GOTO
025708,004060: 26,3273 55276 WPOSTORE
025709,004061: 26,3274 77735 WLSRFPOS SLOAD
025710,004062: 26,3275 02007 WSURFPOS
025711,004063: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025712,004064: 26,3277 20606 5
025713,004065: 26,3300 02401 STORE W
025714,004066: 26,3301 02411 STORE W +8D
025715,004067: 26,3302 02421 STORE W +16D
025716,004068: 26,3303 67214 BON SLOAD
025717,004069: 26,3304 04307 SURFFLAG
025718,004070: 26,3305 55311 WLSRFVEL
025719,004071: 26,3306 02002 WRENDVEL
025720,004072: 26,3307 77650 GOTO
025721,004073: 26,3310 55313 WVELSTOR
025722,004074: 26,3311 77735 WLSRFVEL SLOAD
025723,004075: 26,3312 02010 WSURFVEL
025724,004076: 26,3313 02511 WVELSTOR STORE W +72D
025725,004077: 26,3314 02521 STORE W +80D
025726,004078: 26,3315 02531 STORE W +88D
025727,004079: 26,3316 77735 SLOAD
|
|
Page 585 |
025729,004081: 26,3317 02003 WSHAFT
025730,004082: 26,3320 02621 STORE W +144D
025731,004083: 26,3321 77735 SLOAD
025732,004084: 26,3322 02004 WTRUN
025733,004085: 26,3323 02631 STORE W +152D
025734,004086: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025735,004087: 26,3325 02476 RENDWFLG
025736,004088: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025737,004089: 26,3327 00000 0
025738,004090: 26,3330 77616 RVQ
025739,004091:
025740,004092: 26,3331 E5,1400 EBANK= W
025741,004093: 26,3331 54065 WBANK BBCON WLINIT
025742,004094: 26,3332 E7,1457 EBANK= AIG
025743,004095: 26,3332 54067 AIGBANK BBCON LSR22.3
025744,004096:
025745,004097: # GETULC
025746,004098:
025747,004099: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025748,004100: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025749,004101: # MAGNITUDE IN 36D.
025750,004102:
025751,004103: 26,3333 77201 GETULC SETPD VLOAD
025752,004104: 26,3334 00001 0
025753,004105: 26,3335 01645 DELTALEM
025754,004106: 26,3336 77754 LXA,2
025755,004107: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025756,004108: 26,3340 53257 VSR* VAD
025757,004109: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025758,004110: 26,3342 01661 RCVLEM
025759,004111: 26,3343 53715 PDVL VSR*
025760,004112: 26,3344 01573 DELTACSM
025761,004113: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025762,004114: 26,3346 52255 VAD VSU
025763,004115: 26,3347 01607 RCVCSM
025764,004116: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025765,004117: 26,3351 21724 NORMUNX1
025766,004118: 26,3352 17724 STODL ULC
025767,004119: 26,3353 00045 36D
025768,004120: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025769,004121: 26,3355 20201 0,1
025770,004122: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025771,004123: 26,3357 03724 ULC
025772,004124: 26,3360 77616 RVQ
025773,004125:
025774,004126: # RADARANG
025775,004127:
025776,004128: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025777,004129: # RXZ = (SQRT (1-SINTHETA**2))RLC
025778,004130: # OUTPUT
025779,004131: # ULC IN ULC, PD0
|
|
Page 586 |
025781,004133: # RLC IN PD36D
025782,004134: # SIN THETA IN SINTHETA AND PD6
025783,004135: # RXZ NORM IN RXZ (N IN X1)
025784,004136:
025785,004137: 26,3361 45020 RADARANG STQ CALL
025786,004138: 26,3362 03675 RDRET
025787,004139: 26,3363 55333 GETULC
025788,004140: 26,3364 50276 VCOMP DOT
025789,004141: 26,3365 03705 MY
025790,004142: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025791,004143: 26,3367 03732 STORE SINTHETA
025792,004144: 26,3370 44316 DSQ BDSU
025793,004145: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2
025794,004146: 26,3372 41366 SQRT DMP
025795,004147: 26,3373 00045 36D
025796,004148: 26,3374 60352 SL1 NORM
025797,004149: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025798,004150: 26,3376 03722 STORE RXZ
025799,004151: 26,3377 77650 GOTO # EXIT
025800,004152: 26,3400 03675 RDRET
025801,004153: 26,3401 45020 LGCUPDTE STQ CALL
025802,004154: 26,3402 03675 LGRET
025803,004155: 26,3403 46531 INCORP1
025804,004156: 26,3404 51575 VLOAD ABVAL
025805,004157: 26,3405 02673 DELTAX +6
025806,004158: 26,3406 53754 LXA,2 SRR*
025807,004159: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025808,004160: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025809,004161: 26,3411 24317 STOVL R22DISP +2
025810,004162: 26,3412 02665 DELTAX
025811,004163: 26,3413 53646 ABVAL SRR*
025812,004164: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025813,004165: 26,3415 00315 STORE R22DISP
025814,004166: 26,3416 54335 SLOAD SR
025815,004167: 26,3417 02005 RMAX
025816,004168: 26,3420 20613 10D
025817,004169: 26,3421 50025 DSU BMN
025818,004170: 26,3422 00315 R22DISP
025819,004171: 26,3423 50572 R22LEM96 # GO DISPLAY
025820,004172: 26,3424 45335 SLOAD DSU
025821,004173: 26,3425 02006 VMAX
025822,004174: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025823,004175: 26,3427 77640 BMN
025824,004176: 26,3430 50572 R22LEM96 # GO DISPLAY
025825,004177: 26,3431 77624 ASTOK CALL
025826,004178: 26,3432 46743 INCORP2
025827,004179: 26,3433 77650 GOTO
025828,004180: 26,3434 03675 LGRET
025829,004181: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
025830,004182:
025831,004183: 26,3437 00241 WSIZE DEC 161 B-14
|
|
Page 587 |
025833,004185: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025834,004186:
025835,004187: 26,3442 E7,1456 EBANK= LOSCOUNT
|
|
Page 588 |
025837,004189:
025838,004190: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025839,004191: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025840,004192:
025841,004193: # FUNCTIONAL DESCRIPTION
025842,004194:
025843,004195: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025844,004196: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025845,004197: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025846,004198: # ATTITUDE MANEUVER.
025847,004199:
025848,004200: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025849,004201:
025850,004202: # SUBROUTINES CALLED
025851,004203:
025852,004204: # LEMCONIC R61LEM
025853,004205: # CSMCONIC RRDESSM
025854,004206: # JOBDELAY FLAGDOWN
025855,004207: # WAITLIST FLAGUP
025856,004208: # RRNB BANKCALL
025857,004209:
025858,004210: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025859,004211:
025860,004212: # OUTPUT
025861,004213:
025862,004214: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025863,004215: # 11111 INDICATES LOCKON ACHIEVED
025864,004216: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025865,004217:
025866,004218: # ERASABLE INITIALIZATION REQUIRED
025867,004219:
025868,004220: # SEARCH FLAG MUST BE SET
025869,004221: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025870,004222:
025871,004223: # DEBRIS
025872,004224:
025873,004225: # RLMSRCH UXVECT
025874,004226: # VXRLM UYVECT
025875,004227: # LOSDESRD NSRCHPNT
025876,004228: # DATAGOOD OMEGAD
025877,004229: # MPAC PUSHLIST
025878,004230:
025879,004231: 26,3442 COUNT* $$/LRS24
025880,004232: 26,3442 34755 LRS24.1 CAF ZERO
025881,004233: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025882,004234: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025883,004235: 26,3445 00006 EXTEND
|
|
Page 589 |
025885,004237: 26,3446 05012 WOR CHAN12
025886,004238: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025887,004239: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025888,004240: 26,3451 00006 EXTEND
025889,004241: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025890,004242:
025891,004243: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025892,004244: 26,3454 00004 INHINT
025893,004245: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025894,004246: 26,3456 E7,1456 EBANK= LOSCOUNT
025895,004247: 26,3456 03643 54067 2CADR CALLDGCH
025896,004248:
025897,004249: 26,3460 00003 RELINT
025898,004250: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025899,004251: 26,3462 74736 MASK REMODBIT
025900,004252: 26,3463 00006 EXTEND
025901,004253: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025902,004254: 26,3465 06037 TC INTPRET
025903,004255:
025904,004256: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025905,004257: 26,3467 21573 LOADTIME
025906,004258: 26,3470 15715 1.5SECS
025907,004259: 26,3471 34041 LRS24.11 STCALL TDEC1
025908,004260: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025909,004261: 26,3473 77775 VLOAD
025910,004262: 26,3474 00001 RATT
025911,004263: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025912,004264: 26,3476 00007 VATT
025913,004265: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025914,004266: 26,3500 00015 TAT
025915,004267: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025916,004268: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025917,004269: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025918,004270: 26,3504 00001 RATT
025919,004271: 26,3505 03676 RLMSRCH
025920,004272: 26,3506 77656 UNIT
025921,004273: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025922,004274: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025923,004275: 26,3511 47256 UNIT VXV
025924,004276: 26,3512 00001 RATT
025925,004277: 26,3513 77656 UNIT
025926,004278: 26,3514 03704 STORE VXRCM
025927,004279: 26,3515 52375 VLOAD VSU
025928,004280: 26,3516 00007 VATT
025929,004281: 26,3517 03740 SAVLEMV
025930,004282: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025931,004283: 26,3521 01734 REFSMMAT
025932,004284: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025933,004285: 26,3523 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 590 |
025935,004287: 26,3524 03737 NSRCHPNT
025936,004288: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025937,004289: 26,3526 53025 DSU BZE # IS N=1
025938,004290: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025939,004291: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025940,004292: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025941,004293: 26,3532 03720 UXVECT
025942,004294: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025943,004295: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025944,004296: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025945,004297: 26,3536 77761 VXSC
025946,004298: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR
025947,004299: 26,3540 27720 STOVL UXVECT
025948,004300: 26,3541 00015 UXVECTPR
025949,004301: 26,3542 53361 VXSC VAD
025950,004302: 26,3543 06520 COS60DEG
025951,004303: 26,3544 03720 UXVECT
025952,004304: 26,3545 77656 UNIT
025953,004305: 26,3546 27720 STOVL UXVECT
025954,004306: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR
025955,004307: 26,3550 77761 VXSC
025956,004308: 26,3551 15705 SIN60DEG
025957,004309: 26,3552 27726 STOVL UYVECT
025958,004310: 26,3553 00023 UYVECTPR
025959,004311: 26,3554 52361 VXSC VSU
025960,004312: 26,3555 06520 COS60DEG
025961,004313: 26,3556 03726 UYVECT
025962,004314: 26,3557 77656 UNIT
025963,004315: 26,3560 03726 STORE UYVECT
025964,004316: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025965,004317: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025966,004318: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025967,004319: 26,3564 64256 UNIT MXV
025968,004320: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025969,004321: 26,3566 77772 VSL1
025970,004322: 26,3567 25102 CONTDESG STOVL RRTARGET
025971,004323: 26,3570 03740 SAVLEMV
025972,004324: 26,3571 01761 STORE LOSVEL
025973,004325: 26,3572 77776 EXIT
025974,004326: 26,3573 00004 INHINT
025975,004327: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025976,004328: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025977,004329: # POINT IN THE PATTERN
025978,004330: 26,3576 44735 CONTDES2 CS CDESBIT
025979,004331: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025980,004332: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025981,004333: 26,3601 54110 TS RADMODES
025982,004334: 26,3602 06037 TC INTPRET
025983,004335:
025984,004336: 26,3603 77624 CALL
|
|
Page 591 |
025986,004338: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025987,004339:
025988,004340: 26,3605 77776 EXIT
025989,004341: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025990,004342: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025991,004343:
025992,004344: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025993,004345: # SPACECRAFT +Z AXIS
025994,004346: 26,3610 00006 OMEGCALC EXTEND
025995,004347: 26,3611 30036 DCA CDUT
025996,004348: 26,3612 53753 DXCH TANGNB
025997,004349: 26,3613 06037 TC INTPRET
025998,004350: 26,3614 77624 CALL
025999,004351: 26,3615 46041 RRNB
026000,004352: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026001,004353: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026002,004354: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026003,004355: 26,3621 77776 EXIT
026004,004356: 26,3622 05155 TC ENDOFJOB
|
|
Page 592 |
026006,004358: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026007,004359:
026008,004360: 26,3623 47375 CALCXY VLOAD VXV
026009,004361: 26,3624 03704 VXRCM
026010,004362: 26,3625 03712 LOSDESRD
026011,004363: 26,3626 77656 UNIT
026012,004364: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
026013,004365: 26,3630 03712 LOSDESRD
026014,004366: 26,3631 53435 VXV UNIT
026015,004367: 26,3632 03720 UXVECT
026016,004368: 26,3633 03726 STORE UYVECT # UY = LOS X UX
026017,004369: 26,3634 77650 GOTO
026018,004370: 26,3635 55561 OFFCALC
026019,004371:
026020,004372: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026021,004373: 26,3637 03712 LOSDESRD
026022,004374: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026023,004375: 26,3641 52172 VSL1 GOTO
026024,004376: 26,3642 55567 CONTDESG
026025,004377:
026026,004378: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026027,004379: 26,3644 74745 MASK RNDVZBIT
026028,004380: 26,3645 00006 EXTEND
026029,004381: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
026030,004382: 26,3647 37713 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
026031,004383: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026032,004384: 26,3651 E7,1675 EBANK= RLMSRCH
026033,004385: 26,3651 03654 54067 2CADR DATGDCHK
026034,004386:
026035,004387: 26,3653 05261 TC TASKOVER
026036,004388:
026037,004389: 26,3654 34750 DATGDCHK CAF BIT4
026038,004390: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026039,004391: 26,3656 02033 RAND CHAN33
026040,004392: 26,3657 00006 EXTEND
026041,004393: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
026042,004394: 26,3661 46242 CS SIX
026043,004395: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
026044,004396: 26,3663 00006 EXTEND
026045,004397: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026046,004398: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026047,004399: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
026048,004400:
026049,004401: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026050,004402: 26,3670 55733 TS DATAGOOD
|
|
Page 593 |
026052,004404: 26,3671 00004 INHINT
026053,004405: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
026054,004406: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026055,004407: 26,3674 05155 TC ENDOFJOB
026056,004408:
026057,004409: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
026058,004410: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026059,004411: 26,3677 00004 INHINT # REQUIRED IN P20
026060,004412: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026061,004413: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
026062,004414: 26,3702 05155 TC ENDOFJOB
026063,004415:
026064,004416: 26,3703 25547 ALL1S DEC 11111 B-14
026065,004417: 26,3704 33555 01106 SIN60DEG 2DEC .86603
026066,004418: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50)
026067,004419: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
026068,004420: 26,3706 UYVECTPR EQUALS 18D
026069,004421: 26,3706 RLMUNIT EQUALS 12D
026070,004422: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026071,004423:
026072,004424: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
026073,004425: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026074,004426:
026075,004427: # **** ONEOCT NEEDS A LOWER ORDER ****
026076,004428: # **** WORD OF ZEROES ****
026077,004429: 26,3713 01130 6SECONDS DEC 600 B-14
026078,004430: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
026079,004431:
026080,004432: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS
026081,004433:
026082,004434: 4616 BLOCK 02
026083,004435: 6000 SETLOC FFTAG5
026084,004436: 6000 BANK
026085,004437: 6022 COUNT* $$/P20
026086,004438: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026087,004439: 6023 36026 DCA VB56CADR # GOTOPOOH
026088,004440: 6024 15165 TCF SUPDXCHZ
026089,004441: 6025 E7,1471 EBANK= WHOCARES
026090,004442: 6025 03024 66107 VB56CADR 2CADR TRMTRACK
026091,004443:
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|
Page 594 |
026093,004445: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
026094,004446: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
026095,004447:
026096,004448: # FUNCTIONAL DESCRIPTION:
026097,004449:
026098,004450: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
026099,004451: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
026100,004452: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
026101,004453: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
026102,004454: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
026103,004455: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
026104,004456:
026105,004457: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
026106,004458:
026107,004459: # SUBROUTINES CALLED:
026108,004460:
026109,004461: # REMODE RRTONLY
026110,004462: # UNIT MPACVBUF
026111,004463: # QUICTRIG AX*SR*T
026112,004464: # SPSIN SPCOS
026113,004465: # SETRRECR RROUT
026114,004466: # RRRDOT RRRANGE
026115,004467:
026116,004468: # EXIT: TO NOR29NOW, IN SERVICER.
026117,004469:
026118,004470: # OUTPUT: (ALL FOR DOWNLINK)
026119,004471:
026120,004472: # RM RDOTM (RAW)
026121,004473: # AIG AMG
026122,004474: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
026123,004475: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
026124,004476: # MKTIME
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|
Page 595 |
026126,004478:
026127,004479: # ERASABLE INITIALIZATION REQUIRED:
026128,004480:
026129,004481: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
026130,004482: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
026131,004483: # R(CSM) V(CSM)
026132,004484: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
026133,004485:
026134,004486: # DEBRIS:
026135,004487:
026136,004488: # RADMODES (BIT 10)
026137,004489: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
026138,004490: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
026139,004491: # LOSCMFLG READRFLG
026140,004492:
026141,004493: # ALARMS: NONE.
026142,004494:
026143,004495: # COMPONENT JOBS AND TASKS:
026144,004496:
026145,004497: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
026146,004498: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
026147,004499: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
026148,004500:
026149,004501: 33,2045 BANK 33
026150,004502: 33,2000 SETLOC R29/SERV
026151,004503: 33,2000 BANK
026152,004504:
026153,004505: 33,2045 COUNT* $$/R29
026154,004506:
026155,004507: 33,2045 5014 NR29&RDR EQUALS EBANK5
026156,004508:
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|
Page 596 |
026158,004510: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
026159,004511: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
026160,004512:
026161,004513: 33,2045 40110 R29 CS RADMODES
026162,004514: 33,2046 74742 MASK DESIGBIT
026163,004515: 33,2047 00006 EXTEND
026164,004516: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
026165,004517:
026166,004518: 33,2051 00004 INHINT
026167,004519: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
026168,004520: 33,2053 44736 CS BIT14
026169,004521: 33,2054 00006 EXTEND
026170,004522: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
026171,004523: 33,2056 44740 CS LOSCMBIT
026172,004524: 33,2057 70076 MASK FLAGWRD2
026173,004525: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
026174,004526: 33,2061 44753 CS OLDESBIT
026175,004527: 33,2062 70074 MASK STATE
026176,004528: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
026177,004529: 33,2064 04616 TC BANKCALL
026178,004530: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
026179,004531: 33,2066 34740 CA ANTENBIT
026180,004532: 33,2067 70110 MASK RADMODES
026181,004533: 33,2070 10000 CCS A # TEST RR MODE BIT.
026182,004534: 33,2071 12104 TCF SETPRPOS # MODE 2.
026183,004535:
026184,004536: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
026185,004537: 33,2073 05072 TC NOVAC
026186,004538: 33,2074 E7,1456 EBANK= LOSCOUNT
026187,004539: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
026188,004540:
026189,004541: 33,2076 44742 CS DESIGBIT
026190,004542: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
026191,004543: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
026192,004544: 33,2101 34736 CA REMODBIT
026193,004545: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
026194,004546: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
026195,004547:
026196,004548: 33,2104 34753 SETPRPOS CA ONE
026197,004549: 33,2105 05203 TC WAITLIST
026198,004550: 33,2106 E7,1456 EBANK= LOSCOUNT
026199,004551: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
026200,004552:
026201,004553: 33,2110 34741 CA REPOSBIT
026202,004554: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
026203,004555: 33,2112 12570 TCF NOR29NOW
026204,004556:
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|
Page 597 |
026206,004558: # FORCE RENDEZVOUS RADAR INTO MODE 2.
026207,004559:
026208,004560: 33,2113 34753 R29REMOJ CA ONE
026209,004561: 33,2114 05203 TC WAITLIST
026210,004562: 33,2115 E7,1456 EBANK= LOSCOUNT
026211,004563: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
026212,004564:
026213,004565: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
026214,004566: 33,2120 17714 CADR RADSTALL
026215,004567:
026216,004568: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
026217,004569: 33,2122 15155 TCF ENDOFJOB
026218,004570:
026219,004571: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
026220,004572:
026221,004573: 25,2000 SETLOC R29S1
026222,004574: 25,2000 BANK
026223,004575:
026224,004576: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
026225,004577: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
026226,004578: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
026227,004579: 25,3604 70110 MASK RADMODES
026228,004580: 25,3605 54110 TS RADMODES
026229,004581: 25,3606 15261 TCF TASKOVER
026230,004582:
026231,004583: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
026232,004584:
026233,004585: 33,2045 SETLOC R29
026234,004586: 33,2045 BANK
026235,004587:
026236,004588: 33,2123 00006 R29.LOS EXTEND
026237,004589: 33,2124 41235 DCS PIPTIME
026238,004590: 33,2125 52155 DXCH MPAC
026239,004591: 33,2126 00006 EXTEND
026240,004592: 33,2127 30025 DCA TIME2
026241,004593: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
026242,004594: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
026243,004595: 33,2132 30155 CA MPAC +1
026244,004596: 33,2133 00006 EXTEND
026245,004597: 33,2134 74740 MP BIT12
026246,004598: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
026247,004599: 33,2136 06037 TC INTPRET
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|
Page 598 |
026249,004601: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
026250,004602: # START IT UP WHEN THE DATA IS IN PLACE.
026251,004603:
026252,004604: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
026253,004605: 33,2140 01726 V(CSM)
026254,004606: 33,2141 03527 V # LOSVEL = V(CSM) - V.
026255,004607: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
026256,004608: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
026257,004609: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
026258,004610: 33,2145 03521 R
026259,004611: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
026260,004612: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
026261,004613: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
026262,004614: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
026263,004615:
026264,004616: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
026265,004617: 33,2153 00001 0
026266,004618: 33,2154 77761 VXSC
026267,004619: 33,2155 26177 .5SECB17
026268,004620: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
026269,004621: 33,2157 77414 CLEAR EXIT
026270,004622: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
026271,004623:
026272,004624: 33,2161 40074 CS STATE
026273,004625: 33,2162 74753 MASK OLDESBIT
026274,004626: 33,2163 00006 EXTEND
026275,004627: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
026276,004628: 33,2165 00004 INHINT
026277,004629: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
026278,004630:
026279,004631: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
026280,004632: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
026281,004633: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
026282,004634: 33,2172 05203 TC WAITLIST
026283,004635: 33,2173 E7,1456 EBANK= LOSCOUNT
026284,004636: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
026285,004637:
026286,004638: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
026287,004639:
026288,004640: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
026289,004641:
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|
Page 599 |
026291,004643: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
026292,004644: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
026293,004645:
026294,004646: 24,3356 BANK 24
026295,004647: 24,2000 SETLOC P20S
026296,004648: 24,2000 BANK
026297,004649:
026298,004650: 24,3356 COUNT* $$/R29
026299,004651:
026300,004652: 24,3356 35031 BEGDES29 CAF PRIO21
026301,004653: 24,3357 05072 TC NOVAC
026302,004654: 24,3360 E3,1760 EBANK= LOSVDT/4
026303,004655: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
026304,004656:
026305,004657: 24,3362 34774 R29DLOOP CAF .5SEC
026306,004658: 24,3363 05224 TC VARDELAY
026307,004659:
026308,004660: 24,3364 40110 CS RADMODES
026309,004661: 24,3365 74742 MASK DESIGBIT
026310,004662: 24,3366 10000 CCS A
026311,004663: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
026312,004664:
026313,004665: 24,3370 40076 CS FLAGWRD2
026314,004666: 24,3371 74740 MASK LOSCMBIT
026315,004667: 24,3372 00006 EXTEND
026316,004668: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
026317,004669: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
026318,004670: 24,3375 13356 TCF BEGDES29
026319,004671:
026320,004672: 24,3376 34753 CA ONE
026321,004673: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 600 |
026323,004675: # R29DODES: RR DESIGNATION LOOP FOR R29
026324,004676:
026325,004677: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
026326,004678: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
026327,004679: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
026328,004680: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
026329,004681: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
026330,004682:
026331,004683: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
026332,004684: # TASK WHEN LOCK-ON IS ACHIEVED.
026333,004685:
026334,004686: 32,2547 BANK 32
026335,004687: 32,2000 SETLOC F2DPS*32
026336,004688: 32,2000 BANK
026337,004689:
026338,004690: 32,2547 COUNT* $$/R29
026339,004691: 32,2547 E3,1760 EBANK= LOSVDT/4
026340,004692:
026341,004693: 32,2547 34753 R29DODES CA ONE
026342,004694: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
026343,004695: 32,2551 34756 CA FIVE
026344,004696:
026345,004697: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
026346,004698: 32,2553 54002 TS Q
026347,004699: 32,2554 11107 CCS TANG
026348,004700: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
026349,004701:
026350,004702: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
026351,004703: 32,2557 50002 INDEX Q
026352,004704: 32,2560 31761 DCA LOSVDT/4
026353,004705: 32,2561 50002 INDEX Q
026354,004706: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
026355,004707:
026356,004708: 32,2563 00006 R29DPAS1 EXTEND
026357,004709: 32,2564 50002 INDEX Q
026358,004710: 32,2565 31102 DCA LOSSM
026359,004711: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
026360,004712: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
026361,004713: 32,2570 11107 CCS TANG
026362,004714: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
026363,004715:
026364,004716: 32,2572 00006 EXTEND
026365,004717: 32,2573 50002 INDEX Q
026366,004718: 32,2574 31761 DCA LOSVDT/4
026367,004719: 32,2575 50002 INDEX Q
026368,004720: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
026369,004721:
026370,004722: 32,2577 10002 R29DVEND CCS Q
026371,004723: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
026372,004724:
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|
Page 601 |
026374,004726: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
026375,004727:
026376,004728: 32,2601 52156 DXCH MPAC +1
026377,004729: 32,2602 52155 DXCH MPAC
026378,004730: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D
026379,004731: 32,2604 54120 TS FIXLOC
026380,004732: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
026381,004733: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
026382,004734: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026383,004735:
026384,004736: 32,2610 11107 CCS TANG
026385,004737: 32,2611 12613 TCF +2
026386,004738: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
026387,004739: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
026388,004740: 32,2614 00006 EXTEND
026389,004741: 32,2615 30036 DCA CDUT
026390,004742: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
026391,004743: 32,2617 30033 CA CDUY
026392,004744: 32,2620 54766 TS CDUSPOT
026393,004745: 32,2621 30034 CA CDUZ
026394,004746: 32,2622 54770 TS CDUSPOT +2
026395,004747: 32,2623 30032 CA CDUX
026396,004748: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026397,004749: 32,2625 04616 TC BANKCALL
026398,004750: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
026399,004751:
026400,004752: 32,2627 46245 GOTANGLS CS THREE
026401,004753: 32,2630 04616 TC BANKCALL
026402,004754: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026403,004755:
026404,004756: 32,2632 11107 CCS TANG
026405,004757: 32,2633 12635 TCF +2
026406,004758: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
026407,004759:
|
|
Page 602 |
026409,004761: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026410,004762: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026411,004763:
026412,004764: 32,2635 00004 INHINT
026413,004765: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
026414,004766: 32,2637 31766 CA SAVECDUT
026415,004767: 32,2640 05032 TC SPCOS
026416,004768: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T.
026417,004769: 32,2642 41766 CS SAVECDUT
026418,004770: 32,2643 05033 TC SPSIN
026419,004771: 32,2644 54163 TS MODE # MODE = -SIN T.
026420,004772: 32,2645 00006 EXTEND
026421,004773: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
026422,004774: 32,2647 52155 DXCH MPAC
026423,004775: 32,2650 31767 CA SAVECDUT +1
026424,004776: 32,2651 05033 TC SPSIN
026425,004777: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
026426,004778: 32,2653 00006 EXTEND
026427,004779: 32,2654 70166 MP PUSHLOC
026428,004780: 32,2655 00006 EXTEND
026429,004781: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
026430,004782: 32,2657 20155 DAS MPAC
026431,004783: 32,2660 31767 CA SAVECDUT +1
026432,004784: 32,2661 05032 TC SPCOS
026433,004785: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
026434,004786: 32,2663 00006 EXTEND
026435,004787: 32,2664 70166 MP PUSHLOC
026436,004788: 32,2665 00006 EXTEND
026437,004789: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
026438,004790: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
026439,004791: 32,2670 00006 EXTEND # -SIN T, COS S COS T).
026440,004792: 32,2671 30155 DCA MPAC
026441,004793: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026442,004794: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
026443,004795: 32,2674 34736 CA BIT14
026444,004796: 32,2675 12676 NOOP
026445,004797: 32,2676 00006 EXTEND
026446,004798: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026447,004799: 32,2700 00003 RELINT
026448,004800: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
026449,004801:
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|
Page 603 |
026451,004803: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026452,004804:
026453,004805: 32,2702 31767 R29DPAS2 CA SAVECDUT +1
026454,004806: 32,2703 00006 EXTEND
026455,004807: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X.
026456,004808: 32,2705 53110 DXCH TANG
026457,004809: 32,2706 41766 CS SAVECDUT
026458,004810: 32,2707 00006 EXTEND
026459,004811: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
026460,004812: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026461,004813: 32,2712 40163 CS MODE # - SIN S)
026462,004814: 32,2713 00006 EXTEND
026463,004815: 32,2714 71766 MP SAVECDUT
026464,004816: 32,2715 00006 EXTEND
026465,004817: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
026466,004818: 32,2717 52155 DXCH MPAC
026467,004819: 32,2720 30166 CA PUSHLOC
026468,004820: 32,2721 00006 EXTEND
026469,004821: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
026470,004822: 32,2723 20155 DAS MPAC
026471,004823: 32,2724 40163 CS MODE
026472,004824: 32,2725 00006 EXTEND
026473,004825: 32,2726 71767 MP SAVECDUT +1
026474,004826: 32,2727 00006 EXTEND
026475,004827: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
026476,004828: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
026477,004829: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
026478,004830: 32,2733 00006 EXTEND
026479,004831: 32,2734 72775 MP RR29GAIN
026480,004832: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
026481,004833: 32,2736 00006 EXTEND
026482,004834: 32,2737 72775 MP RR29GAIN
026483,004835: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD.
026484,004836:
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|
Page 604 |
026486,004838: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
026487,004839: # READING DATA FROM THE RENDEZVOUS RADAR.
026488,004840:
026489,004841: 32,2741 34750 DGOOD? CAF BIT4
026490,004842: 32,2742 00006 EXTEND
026491,004843: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
026492,004844: 32,2744 00004 INHINT # (MAINLY FOR RROUT).
026493,004845: 32,2745 00006 EXTEND
026494,004846: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
026495,004847:
026496,004848: 32,2747 04616 TC BANKCALL
026497,004849: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026498,004850: 32,2751 12770 TCF END29DOD
026499,004851:
026500,004852: 32,2752 44742 R29LOKON CS DESIGBIT
026501,004853: 32,2753 70110 MASK RADMODES
026502,004854: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
026503,004855: 32,2755 44752 CS BIT2
026504,004856: 32,2756 00006 EXTEND
026505,004857: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
026506,004858: 32,2760 34743 CA READRBIT
026507,004859: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
026508,004860: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
026509,004861: 32,2763 44776 CS SUPER110 # -96D + 100D = 4.
026510,004862: 32,2764 64777 AD 1SEC # 0 + 100D = 100D.
026511,004863: 32,2765 05203 TC WAITLIST
026512,004864: 32,2766 E7,1456 EBANK= LOSCOUNT
026513,004865: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB.
026514,004866:
026515,004867: 32,2770 44740 END29DOD CS LOSCMBIT
026516,004868: 32,2771 70076 MASK FLAGWRD2
026517,004869: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026518,004870: 32,2773 15155 TCF ENDOFJOB
026519,004871:
026520,004872: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D
026521,004873: 32,2775 56655 RR29GAIN DEC -.53624
026522,004874: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL
026523,004875: 32,2776 1101 LOSSM EQUALS RRTARGET
026524,004876: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV
026525,004877:
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|
Page 605 |
026527,004879: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026528,004880:
026529,004881: 24,3400 BANK 24
026530,004882: 24,2000 SETLOC P20S
026531,004883: 24,2000 BANK
026532,004884:
026533,004885: 24,3400 COUNT* $$/R29
026534,004886:
026535,004887: 24,3400 E7,1456 EBANK= LOSCOUNT
026536,004888:
026537,004889: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026538,004890: 24,3401 05072 TC NOVAC
026539,004891: 24,3402 E7,1456 EBANK= LOSCOUNT
026540,004892: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026541,004893:
026542,004894: 24,3404 35000 CA 2SECS
026543,004895: 24,3405 05224 TC VARDELAY
026544,004896:
026545,004897: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026546,004898: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026547,004899: 24,3410 10000 CCS A
026548,004900: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
026549,004901: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026550,004902:
026551,004903: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026552,004904: 24,3414 74741 MASK NR29FBIT
026553,004905: 24,3415 10000 CCS A # TEST "NOR29FLG".
026554,004906: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
026555,004907:
026556,004908: 24,3417 30110 CA RADMODES
026557,004909: 24,3420 74752 MASK AUTOMBIT
026558,004910: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026559,004911: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026560,004912:
026561,004913: 24,3423 04616 TC BANKCALL
026562,004914: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026563,004915: 24,3425 04616 TC BANKCALL
026564,004916: 24,3426 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026565,004917: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026566,004918:
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|
Page 606 |
026568,004920: # R29 RADAR READING CONTINUED.
026569,004921:
026570,004922: 24,3430 53106 DXCH TIMEHOLD
026571,004923: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026572,004924: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026573,004925: 24,3433 00006 EXTEND
026574,004926: 24,3434 30036 DCA CDUT
026575,004927: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026576,004928: 24,3436 00006 EXTEND
026577,004929: 24,3437 30034 DCA CDUY
026578,004930: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026579,004931: 24,3441 30032 CA CDUX
026580,004932: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026581,004933:
026582,004934: 24,3443 04616 R29RANGE TC BANKCALL
026583,004935: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
026584,004936: 24,3445 04616 TC BANKCALL
026585,004937: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026586,004938: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026587,004939:
026588,004940: 24,3450 00004 INHINT
026589,004941: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026590,004942: 24,3452 53757 DXCH RM
026591,004943: 24,3453 52155 DXCH MPAC
026592,004944: 24,3454 53755 DXCH MKTIME
026593,004945: 24,3455 52157 DXCH MPAC +2
026594,004946: 24,3456 53753 DXCH TANGNB
026595,004947: 24,3457 52161 DXCH MPAC +4
026596,004948: 24,3460 53460 DXCH AIG
026597,004949: 24,3461 30162 CA MPAC +6
026598,004950: 24,3462 55461 TS AOG
026599,004951: 24,3463 34753 CA ONE
026600,004952: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026601,004953: 24,3465 15155 TCF ENDOFJOB
026602,004954:
026603,004955: 24,3466 40101 R29RRR? CS FLAGWRD5
026604,004956: 24,3467 74742 MASK BIT10
026605,004957: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026606,004958: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026607,004959: 24,3472 05516 TC DOWNFLAG
026608,004960: 24,3473 00120 ADRES RNGSCFLG
026609,004961: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026610,004962:
026611,004963: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
026612,004964: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
026613,004965: 24,3477 05516 TC DOWNFLAG
026614,004966: 24,3500 00063 ADRES READRFLG
026615,004967: 24,3501 44736 CS BIT14
026616,004968: 24,3502 00006 EXTEND
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|
Page 607 |
026618,004970: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
026619,004971: 24,3504 15155 TCF ENDOFJOB
026620,004972:
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|
Page 608 |
026622,004974: # W-MATRIX MONITOR
026623,004975:
026624,004976: 31,2007 BANK 31
026625,004977: 31,2000 SETLOC VB67
026626,004978: 31,2000 BANK
026627,004979: 31,2007 COUNT* $$/EXTVB
026628,004980:
026629,004981: 31,2007 E4,1600 EBANK= WWPOS
026630,004982:
026631,004983: 31,2007 06037 V67CALL TC INTPRET
026632,004984: 31,2010 77624 CALL
026633,004985: 31,2011 62120 V67WW
026634,004986: 31,2012 77776 EXIT
026635,004987: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026636,004988: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026637,004989: 31,2015 53607 DXCH WWBIAS +2
026638,004990: 31,2016 00006 EXTEND
026639,004991: 31,2017 31603 DCA WWVEL
026640,004992: 31,2020 53611 DXCH WWBIAS +4
026641,004993: 31,2021 00006 EXTEND
026642,004994: 31,2022 31605 DCA WWBIAS
026643,004995: 31,2023 53613 DXCH WWBIAS +6
026644,004996: 31,2024 32143 V06N99DS CAF V06N99
026645,004997: 31,2025 04616 TC BANKCALL
026646,004998: 31,2026 20334 CADR GOXDSPF
026647,004999: 31,2027 15472 TCF ENDEXT
026648,005000: 31,2030 12032 TCF V6N99PRO
026649,005001: 31,2031 12024 TCF V06N99DS
026650,005002: 31,2032 22007 V6N99PRO ZL
026651,005003: 31,2033 34756 CA FIVE
026652,005004: 31,2034 54002 N99LOOP TS Q
026653,005005: 31,2035 50002 INDEX Q
026654,005006: 31,2036 41600 CS WWPOS
026655,005007: 31,2037 50002 INDEX Q
026656,005008: 31,2040 61606 AD WWPOS +6
026657,005009: 31,2041 26001 ADS L
026658,005010: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026659,005011: 31,2043 12034 TCF N99LOOP
026660,005012: 31,2044 22000 LXCH A
026661,005013: 31,2045 00006 EXTEND
026662,005014: 31,2046 12051 BZF V06N9933
026663,005015: 31,2047 05504 TC UPFLAG
026664,005016: 31,2050 00160 ADRES V67FLAG
026665,005017:
026666,005018: 31,2051 06037 V06N9933 TC INTPRET
026667,005019: 31,2052 77414 BON EXIT
026668,005020: 31,2053 03707 V67FLAG
026669,005021: 31,2054 62056 +2
026670,005022: 31,2055 15472 TCF ENDEXT
026671,005023: 31,2056 77745 DLOAD
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Page 609 |
026673,005025: 31,2057 02201 WWPOS
026674,005026: 31,2060 72412 SL4 SL1
026675,005027: 31,2061 14001 STODL 0D
026676,005028: 31,2062 02203 WWVEL
026677,005029: 31,2063 14003 STODL 2D
026678,005030: 31,2064 02205 WWBIAS
026679,005031: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026680,005032: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026681,005033: 31,2067 00005 STORE 4D
026682,005034: 31,2070 72014 BON LXA,1
026683,005035: 31,2071 04307 SURFFLAG
026684,005036: 31,2072 62102 V67SURF
026685,005037: 31,2073 00000 0D
026686,005038: 31,2074 72130 SXA,1 LXA,1
026687,005039: 31,2075 02000 WRENDPOS
026688,005040: 31,2076 00002 2D
026689,005041: 31,2077 52130 SXA,1 GOTO
026690,005042: 31,2100 02001 WRENDVEL
026691,005043: 31,2101 62110 V67CLRF
026692,005044: 31,2102 66150 V67SURF LXA,1 SXA,1
026693,005045: 31,2103 00000 0D
026694,005046: 31,2104 02006 WSURFPOS
026695,005047: 31,2105 66150 LXA,1 SXA,1
026696,005048: 31,2106 00002 2D
026697,005049: 31,2107 02007 WSURFVEL
026698,005050: 31,2110 66150 V67CLRF LXA,1 SXA,1
026699,005051: 31,2111 00004 4D
026700,005052: 31,2112 02003 WTRUN
026701,005053: 31,2113 77730 SXA,1
026702,005054: 31,2114 02002 WSHAFT
026703,005055: 31,2115 77414 CLEAR EXIT
026704,005056: 31,2116 02676 RENDWFLG
026705,005057: 31,2117 15472 TCF ENDEXT
026706,005058: 31,2120 40020 V67WW STQ BOV
026707,005059: 31,2121 00051 S2
026708,005060: 31,2122 62123 +1
026709,005061: 31,2123 45014 CLEAR CALL
026710,005062: 31,2124 03667 V67FLAG
026711,005063: 31,2125 27414 INTSTALL
026712,005064: 31,2126 71331 SSP DLOAD
026713,005065: 31,2127 00051 S1
026714,005066: 31,2130 00006 DEC 6 B-14
026715,005067: 31,2131 06522 ZEROVECS
026716,005068: 31,2132 02201 STORE WWPOS
026717,005069: 31,2133 02203 STORE WWVEL
026718,005070: 31,2134 02205 STORE WWBIAS
026719,005071: 31,2135 77770 AXT,1
026720,005072: 31,2136 00066 DEC 54 B-14
026721,005073: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026722,005074: 31,2140 02467 W +54D,1
|
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Page 610 |
026724,005076: 31,2141 77650 GOTO
026725,005077: 31,2142 60002 ADDPOS
026726,005078: 31,2143 01543 V06N99 VN 0699
026727,005079:
026728,005080: 30,2000 SETLOC VB67A
026729,005081: 30,2000 BANK
026730,005082: 30,2002 COUNT* $$/EXTVB
026731,005083:
026732,005084: 30,2002 77615 ADDPOS DAD
026733,005085: 30,2003 02201 WWPOS
026734,005086: 30,2004 02201 STORE WWPOS
026735,005087: 30,2005 47573 VLOAD* VSQ
026736,005088: 30,2006 02555 W +108D,1
026737,005089: 30,2007 77615 DAD
026738,005090: 30,2010 02203 WWVEL
026739,005091: 30,2011 02203 STORE WWVEL
026740,005092: 30,2012 47573 VLOAD* VSQ
026741,005093: 30,2013 02643 W +162D,1
026742,005094: 30,2014 77615 DAD
026743,005095: 30,2015 02205 WWBIAS
026744,005096: 30,2016 02205 STORE WWBIAS
026745,005097: 30,2017 75500 TIX,1 SQRT
026746,005098: 30,2020 62137 NXPOSVEL
026747,005099: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026748,005100: 30,2022 20613 10D # NOUN SCALING (B-5)
026749,005101: 30,2023 16205 STODL WWBIAS
026750,005102: 30,2024 02203 WWVEL
026751,005103: 30,2025 77766 SQRT
026752,005104: 30,2026 16203 STODL WWVEL
026753,005105: 30,2027 02201 WWPOS
026754,005106: 30,2030 77766 SQRT
026755,005107: 30,2031 02201 STORE WWPOS
026756,005108: 30,2032 52000 BOV GOTO
026757,005109: 30,2033 60035 +2
026758,005110: 30,2034 60042 V67XXX
026759,005111: 30,2035 77745 DLOAD
026760,005112: 30,2036 06530 DPPOSMAX
026761,005113: 30,2037 02201 STORE WWPOS
026762,005114: 30,2040 02203 STORE WWVEL
026763,005115: 30,2041 02205 STORE WWBIAS
026764,005116: 30,2042 45345 V67XXX DLOAD DSU
026765,005117: 30,2043 02201 WWPOS
026766,005118: 30,2044 20060 FT99999
026767,005119: 30,2045 71240 BMN DLOAD
026768,005120: 30,2046 60051 +3
026769,005121: 30,2047 20060 FT99999
026770,005122: 30,2050 02201 STORE WWPOS
026771,005123: 30,2051 66150 LXA,1 SXA,1
026772,005124: 30,2052 00051 S2
026773,005125: 30,2053 00052 QPRET
|
|
Page 611 |
026775,005127: 30,2054 77776 EXIT
026776,005128: 30,2055 04635 TC POSTJUMP
026777,005129: 30,2056 27425 CADR INTWAKE
026778,005130:
026779,005131: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026780,005132:
|
|
Page 612 |
026782,005134: 25,3607 BANK 25
026783,005135: 25,2000 SETLOC RADARUPT
026784,005136: 25,2000 BANK
026785,005137: 25,3607 COUNT* $$/RRUPT
026786,005138:
026787,005139: 25,3607 E7,1456 EBANK= LOSCOUNT
026788,005140:
026789,005141: 25,3607 34753 R12LITES CA ONE
026790,005142: 25,3610 71303 MASK IMODES33
026791,005143: 25,3611 10000 CCS A
026792,005144: 25,3612 14707 TCF ISWRETRN
026793,005145:
026794,005146: 25,3613 03630 TC HLIGHT
026795,005147: 25,3614 03625 TC HLIGHT -3
026796,005148: 25,3615 14707 TCF ISWRETRN
026797,005149:
026798,005150: 25,3616 34753 RADLITES CA BIT1
026799,005151: 25,3617 71303 MASK IMODES33
026800,005152: 25,3620 10000 CCS A
026801,005153: 25,3621 00002 TC Q
026802,005154:
026803,005155: 25,3622 44747 CS BIT5
026804,005156: 25,3623 60061 AD ITEMP1
026805,005157: 25,3624 10000 CCS A
026806,005158: 25,3625 44753 CS ONE
026807,005159: 25,3626 13664 TCF VLIGHT
026808,005160:
026809,005161: 25,3627 14570 TCF RRTRKF
026810,005162:
026811,005163: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026812,005164:
026813,005165: 25,3631 34747 CA HLITE
026814,005166: 25,3632 54001 TS L
026815,005167:
026816,005168: 25,3633 30107 CA FLGWRD11
026817,005169: 25,3634 74751 MASK SCABBIT
026818,005170: 25,3635 10000 CCS A
026819,005171: 25,3636 13656 TCF ONLITES
026820,005172: 25,3637 34747 CA LRALTBIT
026821,005173: 25,3640 70110 BOTHLITS MASK RADMODES
026822,005174: 25,3641 10000 CCS A
026823,005175: 25,3642 13656 TCF ONLITES
026824,005176:
026825,005177: 25,3643 30107 CA FLGWRD11
026826,005178: 25,3644 50065 INDEX ITEMP5
026827,005179: 25,3645 74753 MASK HFLSHBIT
026828,005180: 25,3646 10000 CCS A
026829,005181: 25,3647 14570 TCF RRTRKF
|
|
Page 613 |
026831,005183: 25,3650 00006 LITIT EXTEND
026832,005184: 25,3651 22066 QXCH ITEMP6
026833,005185: 25,3652 04602 TC TRKFLON +1
026834,005186:
026835,005187: 25,3653 00006 EXTEND
026836,005188: 25,3654 22066 QXCH ITEMP6
026837,005189: 25,3655 14570 TCF RRTRKF
026838,005190:
026839,005191:
026840,005192: 25,3656 50065 ONLITES INDEX ITEMP5
026841,005193: 25,3657 44753 CS HFLSHBIT
026842,005194: 25,3660 70107 MASK FLGWRD11
026843,005195: 25,3661 54107 TS FLGWRD11
026844,005196:
026845,005197: 25,3662 30001 CA L
026846,005198: 25,3663 13650 TCF LITIT
026847,005199: 25,3664 54065 VLIGHT TS ITEMP5
026848,005200: 25,3665 34751 CA VLITE
026849,005201: 25,3666 54001 TS L
026850,005202: 25,3667 34744 CA BIT8
026851,005203: 25,3670 13640 TCF BOTHLITS
026852,005204:
026853,005205: 25,3671 4747 HLITE EQUALS BIT5
026854,005206: 25,3671 4751 VLITE EQUALS BIT3
026855,005207:
End of include-file P20-P25.agc. Parent file is MAIN.agc