Source Code
|
These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
|
022174,000002: ## Copyright: Public domain.
022175,000003: ## Filename: P20-P25.agc
022176,000004: ## Purpose: A section of LUM69 revision 2.
022177,000005: ## It is part of the reconstructed source code for the flown
022178,000006: ## version of the flight software for the Lunar Module's (LM)
022179,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
022180,000008: ## been recreated from a copy of Luminary revsion 069, using
022181,000009: ## changes present in Luminary 099 which were described in
022182,000010: ## Luminary memos 75 and 78. The code has been adapted such
022183,000011: ## that the resulting bugger words exactly match those specified
022184,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
022185,000013: ## relatively high confidence that the reconstruction is correct.
022186,000014: ## Reference: pp. 504-623
022187,000015: ## Assembler: yaYUL
022188,000016: ## Contact: Ron Burkey <info@sandroid.org>.
022189,000017: ## Website: www.ibiblio.org/apollo/index.html
022190,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
022191,000019: ## 2021-05-30 ABS Removed R21LEM10 symbol not present in Luminary 69.
022192,000020: ## Replaced use of various descriptive *BIT symbols
022193,000021: ## with less descriptive BIT* symbols to match
022194,000022: ## Luminary 69.
022195,000023: ## R29REM0J -> R29REMOJ
022196,000024:
022197,000025:
|
|
Page 504
|
022199,000027:
022200,000028: # RENDEZVOUS NAVIGATION PROGRAM 20
022201,000029: # PROGRAM DESCRIPTION
022202,000030: # MOD NO - 2
022203,000031: # BY P. VOLANTE
022204,000032: # FUNCTIONAL DESCRIPTION
022205,000033:
022206,000034: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
022207,000035: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
022208,000036: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
022209,000037: # ON THE BASIS OF THE RR TRACKING DATA.
022210,000038: # CALLING SEQUENCE -
022211,000039:
022212,000040: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
022213,000041: # SUBROUTINES CALLED
022214,000042: # R02BOTH (IMU STATUS CHECK) FLAGUP
022215,000043: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
022216,000044: # R23LEM (MANUAL ACQUISITION) BANKCALL
022217,000045: # LS201 (LOS DETERMINATION) TASKOVER
022218,000046: # LS202 (RANGE LIMIT TEST)
022219,000047: # R61LEM (PREFERRED TRACKING ATTITUDE)
022220,000048: # R21LEM (RR DESIGNATE) ENDOFJOB
022221,000049: # R22LEM (DATA READ) GOPERF1
022222,000050: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
022223,000051: # PRIOLARM (PRIORITY DISPLAY)
022224,000052: # NORMAL EXIT MODES-
022225,000053: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022226,000054: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022227,000055: # ALARM OR ABORT EXIT MODES-
022228,000056: # RANGE GREATER THAN 400 NM DISPLAY
022229,000057: # OUTPUT
022230,000058: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
022231,000059: # ERASABLE INITIALIZATION REQUIRED
022232,000060: # FLAGS SET + RESET
022233,000061: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
022234,000062: # DEBRIS
022235,000063: # CENTRALS-A,Q,L
022236,000064: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
022237,000065:
022238,000066: 33,2045 BANK 33
022239,000067: 24,2000 SETLOC P20S
022240,000068: 24,2000 BANK
022241,000069:
022242,000070: 24,2022 E7,1454 EBANK= LOSCOUNT
022243,000071: 24,2022 COUNT* $$/P20
022244,000072: 24,2022 24,2022 PROG22 = PROG20
022245,000073: 24,2022 05327 PROG20 TC 2PHSCHNG
022246,000074: 24,2023 00004 OCT 4
022247,000075: 24,2024 05022 OCT 05022
022248,000076: 24,2025 26000 OCT 26000 # PRIORITY 26
022249,000077: 24,2026 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022250,000078:
|
|
Page 505
|
022252,000080: 24,2027 02031 TC ORBCHGO # YES
022253,000081: 24,2030 02060 TC PROG20A -2 # NO - CONTINUE WITH P20
022254,000082: 24,2031 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
022255,000083: 24,2032 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
022256,000084: 24,2033 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
022257,000085: 24,2034 55145 TS OPTION2 # CHANGE PRESENT ORBIT
022258,000086: 24,2035 32342 CAF OCT00012
022259,000087: 24,2036 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
022260,000088: 24,2037 20506 CADR GOPERF4
022261,000089: 24,2040 06001 TC GOTOPOOH # TERMINATE
022262,000090: 24,2041 02043 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
022263,000091: 24,2042 02035 TC -5 # R2 LOADED THRU DSKY
022264,000092: 24,2043 42343 ORBCHG1 CS P22ONE
022265,000093: 24,2044 61145 AD OPTION2
022266,000094: 24,2045 00006 EXTEND
022267,000095: 24,2046 12062 BZF PROG20A
022268,000096: 24,2047 32346 CAF V06N33*
022269,000097: 24,2050 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
022270,000098: 24,2051 20351 CADR GOFLASH # TIME OF LAUNCH
022271,000099: 24,2052 06001 TC GOTOPOOH # TERMINATE
022272,000100: 24,2053 02055 TC ORBCHG2 # PROCEED VALUES OK
022273,000101: 24,2054 02047 TC -5 # TIME LOADED THRU DSKY
022274,000102: 24,2055 06036 ORBCHG2 TC INTPRET
022275,000103: 24,2056 77650 GOTO
022276,000104: 24,2057 64227 ORBCHG3
022277,000105: 32,2227 BANK 32
022278,000106: 32,2000 SETLOC P20S4
022279,000107: 32,2000 BANK
022280,000108: 32,2227 COUNT* $$/P20
022281,000109:
022282,000110: 32,2227 77624 ORBCHG3 CALL
022283,000111: 32,2230 27412 INTSTALL
022284,000112: 32,2231 77745 DLOAD
022285,000113: 32,2232 03440 TIG
022286,000114: 32,2233 03657 STORE LNCHTM
022287,000115: 32,2234 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
022288,000116: 32,2235 43014 CLEAR CLEAR
022289,000117: 32,2236 01674 VINTFLAG # LM INTEGRATION
022290,000118: 32,2237 01673 INTYPFLG # PRECISION - ENCKE
022291,000119: 32,2240 43014 CLEAR CLEAR
022292,000120: 32,2241 01676 DIM0FLAG # NO W-MATRIX
022293,000121: 32,2242 01675 D6OR9FLG
022294,000122: 32,2243 77624 CALL
022295,000123: 32,2244 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
022296,000124: 32,2245 77624 CALL
022297,000125: 32,2246 11165 GRP2PC
022298,000126: 32,2247 77775 VLOAD
022299,000127: 32,2250 00017 RATT1
022300,000128: 32,2251 17627 STODL RSUBL # SAVE LM POSITION
022301,000129: 32,2252 00015 TAT
022302,000130:
|
|
Page 506
|
022304,000132: 32,2253 34041 STCALL TDEC1
022305,000133: 32,2254 27412 INTSTALL
022306,000134: 32,2255 43014 SET CLEAR
022307,000135: 32,2256 01474 VINTFLAG # CSM INTEGRATION
022308,000136: 32,2257 01673 INTYPFLG
022309,000137: 32,2260 43014 CLEAR BOFF
022310,000138: 32,2261 01676 DIM0FLAG
022311,000139: 32,2262 02756 RENDWFLG # W MATRIX VALID
022312,000140: 32,2263 64267 NOWMATX # NO
022313,000141: 32,2264 43014 SET SET # YES - SET FOR W MATRIX
022314,000142: 32,2265 01476 DIM0FLAG
022315,000143: 32,2266 01475 D6OR9FLG
022316,000144: 32,2267 77624 NOWMATX CALL
022317,000145: 32,2270 27134 INTEGRV # CSM INTEGRATION
022318,000146: 32,2271 77624 CALL
022319,000147: 32,2272 11165 GRP2PC
022320,000148: 32,2273 77775 VLOAD
022321,000149: 32,2274 00025 VATT1
022322,000150: 32,2275 25761 STOVL VSUBC # SAVE CSM VELOCITY
022323,000151: 32,2276 00017 RATT1
022324,000152: 32,2277 01102 STORE RSUBC # SAVE CSM POSITION
022325,000153: 32,2300 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022326,000154: 32,2301 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
022327,000155: 32,2302 24025 STOVL 20D # SAVE NSUB1
022328,000156: 32,2303 03627 RSUBL # COMPUTE ESTIMATED ORBITAL
022329,000157: 32,2304 53435 VXV UNIT # PLANE CHANGE
022330,000158: 32,2305 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
022331,000159: 32,2306 27635 STOVL UCSM
022332,000160: 32,2307 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
022333,000161: 32,2310 50256 UNIT DOT # AND RSUBC
022334,000162: 32,2311 03635 UCSM # COS A = UCSM DOT UNIT (R(CM))
022335,000163: 32,2312 77752 SL1
022336,000164: 32,2313 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
022337,000165: 32,2314 44316 DSQ BDSU # COMPUTE SINE A
022338,000166: 32,2315 10345 ONEB-2
022339,000167: 32,2316 77766 SQRT
022340,000168: 32,2317 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
022341,000169: 32,2320 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
022342,000170: 32,2321 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
022343,000171: 32,2322 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
022344,000172: 32,2323 77676 VCOMP
022345,000173: 32,2324 02744 STORE VVEC # TIME FOR TIME THETA B-5
022346,000174: 32,2325 45014 CLEAR CALL
022347,000175: 32,2326 03666 RVSW
022348,000176: 32,2327 24745 TIMETHET
022349,000177: 32,2330 77676 VCOMP
022350,000178: 32,2331 03643 STORE NEWVEL # TERMINAL VELOCITY OF CSM
022351,000179: 32,2332 77745 DLOAD
022352,000180: 32,2333 00037 T
022353,000181: 32,2334 27661 STOVL TRANSTM # TRANSFER TIME
022354,000182:
|
|
Page 507
|
022356,000184: 32,2335 03643 NEWVEL
022357,000185: 32,2336 77646 ABVAL
022358,000186: 32,2337 24025 STOVL 20D
022359,000187: 32,2340 00001 0D
022360,000188: 32,2341 03651 STORE NEWPOS # TERMINAL POSITION OF CSM
022361,000189: 32,2342 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022362,000190: 32,2343 03627 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
022363,000191: 32,2344 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
022364,000192: 32,2345 03651 NEWPOS # ORBITAL PLANE
022365,000193: 32,2346 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
022366,000194: 32,2347 00025 20D
022367,000195: 32,2350 37663 STCALL NCSMVEL # NEW CSM VELOCITY
022368,000196: 32,2351 11165 GRP2PC
022369,000197: 32,2352 77624 CALL
022370,000198: 32,2353 27412 INTSTALL
022371,000199: 32,2354 44345 DLOAD BDSU
022372,000200: 32,2355 03661 TRANSTM # LAUNCH TIME - TRANSFER TIME
022373,000201: 32,2356 03657 LNCHTM
022374,000202: 32,2357 25517 STOVL TET
022375,000203: 32,2360 03651 NEWPOS
022376,000204: 32,2361 01535 STORE RCV
022377,000205: 32,2362 25503 STOVL RRECT
022378,000206: 32,2363 03663 NCSMVEL
022379,000207: 32,2364 35511 STCALL VRECT
022380,000208: 32,2365 23361 MINIRECT
022381,000209: 32,2366 45174 AXT,2 CALL
022382,000210: 32,2367 00002 2
022383,000211: 32,2370 26661 ATOPCSM
022384,000212: 32,2371 77624 CALL
022385,000213: 32,2372 27425 INTWAKE0
022386,000214: 32,2373 77776 EXIT
022387,000215: 32,2374 04616 TC BANKCALL
022388,000216: 32,2375 50062 CADR PROG20A
022389,000217: 24,2060 BANK 24
022390,000218: 24,2000 SETLOC P20S
022391,000219: 24,2000 BANK
022392,000220: 24,2060 COUNT* $$/P20
022393,000221:
022394,000222: 24,2060 05516 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
022395,000223: 24,2061 00026 ADRES VEHUPFLG # TO BE UPDATED
022396,000224: 24,2062 04616 PROG20A TC BANKCALL
022397,000225: 24,2063 11175 CADR R02BOTH
022398,000226: 24,2064 05504 TC UPFLAG
022399,000227: 24,2065 00027 ADRES UPDATFLG # SET UPDATE FLAG
022400,000228: 24,2066 05504 TC UPFLAG
022401,000229: 24,2067 00031 ADRES TRACKFLG # SET TRACK FLAG
022402,000230: 24,2070 05504 TC UPFLAG
022403,000231: 24,2071 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
022404,000232: 24,2072 05516 TC DOWNFLAG
022405,000233: 24,2073 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
022406,000234:
|
|
Page 508
|
022408,000236: 24,2074 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
022409,000237: 24,2075 00040 ADRES ACMODFLG
022410,000238: 24,2076 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
022411,000239: 24,2077 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
022412,000240: 24,2100 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
022413,000241: 24,2101 00126 ADRES NORRMON # (RESET NORRMON FLAG)
022414,000242: 24,2102 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
022415,000243: 24,2103 00041 ADRES LOSCMFLG
022416,000244: 24,2104 05353 P20LEM1 TC PHASCHNG
022417,000245: 24,2105 04022 OCT 04022
022418,000246: 24,2106 34755 CAF ZERO # ZERO MARK COUNTER
022419,000247: 24,2107 55460 TS MARKCTR
022420,000248: 24,2110 06036 TC INTPRET # LOS DETERMINATION ROUTINE
022421,000249: 24,2111 77634 RTB
022422,000250: 24,2112 21462 LOADTIME
022423,000251: 24,2113 34041 STCALL TDEC1
022424,000252: 24,2114 51151 LPS20.1
022425,000253: 24,2115 77624 CALL
022426,000254: 24,2116 53565 LPS20.2 # TEST RANGE R/UTINE
022427,000255: 24,2117 77776 EXIT
022428,000256: 24,2120 50154 INDEX MPAC
022429,000257: 24,2121 02122 TC +1
022430,000258: 24,2122 02132 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
022431,000259: 24,2123 32336 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
022432,000260: 24,2124 04616 TC BANKCALL
022433,000261: 24,2125 21451 CADR PRIOLARM
022434,000262: 24,2126 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022435,000263: 24,2127 02123 TC -4 # PROC (ILLEGAL
022436,000264: 24,2130 02104 TC P20LEM1 # ENTER RECYCLE
022437,000265: 24,2131 05155 TC ENDOFJOB
022438,000266:
022439,000267:
022440,000268: 24,2132 05353 P20LEMA TC PHASCHNG
022441,000269: 24,2133 04022 OCT 04022
022442,000270: 24,2134 02714 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
022443,000271: 24,2135 02140 TC P20LEMB
022444,000272: 24,2136 04616 TC BANKCALL
022445,000273: 24,2137 46100 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
022446,000274: 24,2140 05353 P20LEMB TC PHASCHNG
022447,000275: 24,2141 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
022448,000276: 24,2142 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
022449,000277: 24,2143 37713 CAF PRIO26 # RESTORE PRIORITY 26
022450,000278: 24,2144 05146 TC PRIOCHNG
022451,000279: 24,2145 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
022452,000280: 24,2146 74747 MASK TRACKBIT
022453,000281: 24,2147 00006 EXTEND
022454,000282: 24,2150 12262 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
022455,000283: 24,2151 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
022456,000284: 24,2152 00006 EXTEND
022457,000285: 24,2153 02033 RAND CHAN33
022458,000286:
|
|
Page 509
|
022460,000288: 24,2154 00006 EXTEND
022461,000289: 24,2155 12211 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
022462,000290:
022463,000291: 24,2156 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
022464,000292: 24,2157 61011 AD MODREG # MAJOR MODE IS 20
022465,000293: 24,2160 00006 EXTEND
022466,000294: 24,2161 12174 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
022467,000295:
022468,000296:
022469,000297: 24,2162 67745 AD NEG2 # ALSO CHECK FOR P22
022470,000298: 24,2163 00006 EXTEND
022471,000299: 24,2164 12174 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
022472,000300: 24,2165 32340 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022473,000301: 24,2166 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
022474,000302: 24,2167 21451 CADR PRIOLARM
022475,000303: 24,2170 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
022476,000304: 24,2171 02140 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022477,000305: 24,2172 02140 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022478,000306: 24,2173 05155 TC ENDOFJOB
022479,000307: 24,2174 32337 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022480,000308: 24,2175 04616 TC BANKCALL
022481,000309: 24,2176 20476 CADR GOPERF1
022482,000310: 24,2177 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022483,000311: 24,2200 02140 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022484,000312: 24,2201 02714 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022485,000313: 24,2202 02207 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022486,000314: 24,2203 03027 TC R23LEM # NO - DO MANUAL ACQUISITION
022487,000315:
022488,000316:
022489,000317: 24,2204 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022490,000318: 24,2205 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022491,000319: 24,2206 02140 TC P20LEMB # RR AUTO MODE
022492,000320:
022493,000321:
022494,000322: 24,2207 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022495,000323: 24,2210 02140 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022496,000324:
022497,000325:
022498,000326: 24,2211 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022499,000327: 24,2212 74737 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
022500,000328: 24,2213 00006 EXTEND
022501,000329: 24,2214 12226 BZF P20LEMB4 # BRANCH - YES - WAIT
022502,000330: 24,2215 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022503,000331: 24,2216 70076 MASK FLAGWRD2
022504,000332: 24,2217 00006 EXTEND
022505,000333: 24,2220 12232 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
022506,000334: 24,2221 05516 TC DOWNFLAG # RESET TO AUTO MODE
022507,000335: 24,2222 00037 ADRES SRCHOPTN
022508,000336: 24,2223 05516 TC DOWNFLAG
022509,000337:
|
|
Page 510
|
022511,000339: 24,2224 00040 ADRES ACMODFLG
022512,000340: 24,2225 02262 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022513,000341:
022514,000342:
022515,000343: 24,2226 32335 P20LEMB4 CAF 250DEC
022516,000344: 24,2227 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022517,000345: 24,2230 01735 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
022518,000346: 24,2231 02211 TC P20LEMB3
022519,000347:
022520,000348:
022521,000349: 24,2232 06036 P20LEMC3 TC INTPRET
022522,000350: 24,2233 77624 CALL # DO A PERMANENT MEMORY PRECISION
022523,000351: 24,2234 50347 UPPSV # INTEGRATION TO ESTABLISH AN UP-TO-DATE
022524,000352: 24,2235 77214 BOFF VLOAD # BASE FOR CONICS (KEPLER) IN R21
022525,000353: 24,2236 04347 SURFFLAG
022526,000354: 24,2237 50246 P20LEMC4
022527,000355: 24,2240 01661 RCVLEM # WHEN ON LUNAR SURFACE
022528,000356: 24,2241 77742 VSR2 # SCALE B-29
022529,000357: 24,2242 26356 STOVL LMPOS
022530,000358: 24,2243 01667 VCVLEM
022531,000359: 24,2244 77742 VSR2
022532,000360: 24,2245 02364 STORE LMVEL
022533,000361: 24,2246 77776 P20LEMC4 EXIT
022534,000362: 24,2247 05353 P20LEMC TC PHASCHNG
022535,000363: 24,2250 04022 OCT 04022
022536,000364: 24,2251 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022537,000365: 24,2252 74745 MASK RNDVZBIT
022538,000366: 24,2253 00006 EXTEND
022539,000367: 24,2254 15155 BZF ENDOFJOB # NO - EXIT P20
022540,000368: 24,2255 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022541,000369: 24,2256 74747 MASK TRACKBIT
022542,000370: 24,2257 00006 EXTEND
022543,000371: 24,2260 12315 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022544,000372: 24,2261 02721 P20LEMF TC R21LEM
022545,000373:
022546,000374:
022547,000375: 24,2262 32335 P20LEMWT CAF 250DEC
022548,000376: 24,2263 00004 INHINT
022549,000377: 24,2264 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022550,000378: 24,2265 02275 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022551,000379: 24,2266 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022552,000380: 24,2267 74747 MASK TRACKBIT
022553,000381: 24,2270 00006 EXTEND
022554,000382: 24,2271 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022555,000383: 24,2272 05353 P20LMWT1 TC PHASCHNG
022556,000384: 24,2273 40072 OCT 40072
022557,000385: 24,2274 05155 TC ENDOFJOB
022558,000386:
022559,000387:
022560,000388: 24,2275 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022561,000389:
|
|
Page 511
|
022563,000391: 24,2276 74745 MASK RNDVZBIT
022564,000392: 24,2277 00006 EXTEND
022565,000393: 24,2300 15261 BZF TASKOVER # NO - EXIT P20/R22
022566,000394: 24,2301 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022567,000395: 24,2302 74747 MASK TRACKBIT
022568,000396: 24,2303 00006 EXTEND
022569,000397: 24,2304 12312 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
022570,000398: 24,2305 37713 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
022571,000399: 24,2306 05105 TC FINDVAC
022572,000400: 24,2307 E7,1454 EBANK= LOSCOUNT
022573,000401: 24,2307 02477 50067 2CADR R22LEM
022574,000402: 24,2311 05261 TC TASKOVER
022575,000403:
022576,000404:
022577,000405: 24,2312 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
022578,000406: 24,2313 02734 DEC 1500 B-14 # AND CHECK AGAIN
022579,000407:
022580,000408: 24,2314 02275 TC P20LEMC1
022581,000409:
022582,000410: 24,2315 32712 P20LEMD CAF 1500DEC
022583,000411: 24,2316 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022584,000412: 24,2317 02321 ADRES P20LEMD1
022585,000413: 24,2320 05155 TC ENDOFJOB
022586,000414:
022587,000415:
022588,000416: 24,2321 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022589,000417: 24,2322 74747 MASK TRACKBIT
022590,000418: 24,2323 10000 CCS A
022591,000419: 24,2324 12330 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
022592,000420: 24,2325 05221 TC FIXDELAY # NO-WAIT 15 SECONDS
022593,000421: 24,2326 02734 DEC 1500 B-14
022594,000422: 24,2327 02321 TC P20LEMD1
022595,000423:
022596,000424:
022597,000425: 24,2330 37713 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022598,000426: 24,2331 05105 TC FINDVAC
022599,000427: 24,2332 E7,1454 EBANK= LOSCOUNT
022600,000428: 24,2332 02232 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022601,000429: 24,2334 05261 TC TASKOVER
022602,000430:
022603,000431:
022604,000432: 24,2335 00372 250DEC DEC 250 B-14
022605,000433: 24,2336 00526 ALRM526 OCT 00526
022606,000434: 24,2337 00201 OCT201 OCT 00201
022607,000435: 24,2340 00514 ALRM514 OCT 514
022608,000436: 24,2341 00074 MAXTRIES DEC 60 B-14
022609,000437: 24,2342 00012 OCT00012 OCT 00012
022610,000438: 24,2343 00001 P22ONE OCT 00001
022611,000439:
|
|
Page 512
|
022613,000441: 24,2344 10000 00000 ONEB-2 2DEC 1.0 B-2
022614,000442: 24,2346 01441 V06N33* VN 0633
022615,000443: 24,2347 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022616,000444: 24,2350 01757 LS21X # TO PRESENT TIME
022617,000445: 24,2351 27412 INTSTALL
022618,000446: 24,2352 77624 CALL
022619,000447: 24,2353 26644 SETIFLGS
022620,000448: 24,2354 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
022621,000449: 24,2355 02756 RENDWFLG
022622,000450: 24,2356 50367 UPPSV1
022623,000451: 24,2357 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022624,000452: 24,2360 43014 BON SET
022625,000453: 24,2361 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022626,000454: 24,2362 50364 UPPSV5
022627,000455: 24,2363 01475 D6OR9FLG # OTHERWISE 9X9
022628,000456: 24,2364 77614 UPPSV5 BOF
022629,000457: 24,2365 00747 VEHUPFLG
022630,000458: 24,2366 50411 UPPSV3
022631,000459: 24,2367 47014 UPPSV1 SET RTB # CSM STATE BEING CORRECTED
022632,000460: 24,2370 01474 VINTFLAG
022633,000461: 24,2371 21462 LOADTIME
022634,000462: 24,2372 34041 STCALL TDEC1 # INTEGRATE CSM STATE WITH W-MATRIX
022635,000463: 24,2373 27134 INTEGRV
022636,000464: 24,2374 77624 CALL # GROUP 2 PHASE CHANGE
022637,000465: 24,2375 11165 GRP2PC # TO PROTECT INTEGRATION
022638,000466: 24,2376 77624 CALL
022639,000467: 24,2377 27412 INTSTALL
022640,000468: 24,2400 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022641,000469: 24,2401 01571 TETCSM
022642,000470: 24,2402 01674 VINTFLAG
022643,000471: 24,2403 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022644,000472: 24,2404 26644 SETIFLGS # WITHOUT W-MATRIX
022645,000473: 24,2405 34041 STCALL TDEC1
022646,000474: 24,2406 27134 INTEGRV
022647,000475: 24,2407 77650 GOTO
022648,000476: 24,2410 01757 LS21X
022649,000477:
022650,000478:
022651,000479: 24,2411 47014 UPPSV3 CLEAR RTB
022652,000480: 24,2412 01674 VINTFLAG
022653,000481: 24,2413 21462 LOADTIME
022654,000482: 24,2414 34041 STCALL TDEC1 # INTEGRATE LM STATE WITH W-MATRIX
022655,000483: 24,2415 27134 INTEGRV
022656,000484: 24,2416 77624 CALL
022657,000485: 24,2417 11165 GRP2PC
022658,000486: 24,2420 77624 CALL
022659,000487: 24,2421 27412 INTSTALL
022660,000488: 24,2422 71214 SET DLOAD
022661,000489: 24,2423 01474 VINTFLAG
022662,000490:
|
|
Page 513
|
022664,000492: 24,2424 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
022665,000493: 24,2425 77650 GOTO
022666,000494: 24,2426 50403 UPPSV4
022667,000495:
022668,000496:
022669,000497: 24,2427 E7,1454 EBANK= LOSCOUNT
022670,000498: 24,2427 COUNT* $$/P22
022671,000499:
|
|
Page 514
|
022673,000501: # PROGRAM DESCRIPTION
022674,000502: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022675,000503: # MOD NO - 3
022676,000504: # BY P. VOLANTE
022677,000505: # FUNCTIONAL DESCRIPTION
022678,000506:
022679,000507: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022680,000508: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022681,000509: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022682,000510: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022683,000511: # CALLING SEQUENCE -
022684,000512: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022685,000513: # SUBROUTINES CALLED -
022686,000514: # BANKCALL FLAGUP
022687,000515: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022688,000516: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022689,000517: # TASKOVER FINDVAC
022690,000518: # NORMAL EXIT MODES -
022691,000519: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022692,000520: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022693,000521: # ALARM OR ABORT EXIT MODES -
022694,000522: # NONE
022695,000523: # OUTPUT
022696,000524: # ERASABLE INITIALIZATION REQUIRED
022697,000525: # FLAGS SET + RESET
022698,000526: # TRACKFLG,P25FLAG
022699,000527: # DEBRIS
022700,000528: # NONE
022701,000529: 24,2427 E7,1454 EBANK= LOSCOUNT
022702,000530: 24,2427 COUNT* $$/P25
022703,000531: 24,2427 05327 PROG25 TC 2PHSCHNG
022704,000532: 24,2430 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022705,000533: 24,2431 05022 OCT 05022
022706,000534: 24,2432 26000 OCT 26000 # PRIORITY 26
022707,000535:
022708,000536: 24,2433 04616 TC BANKCALL
022709,000537: 24,2434 11175 CADR R02BOTH # IMU STATUS CHECK
022710,000538: 24,2435 05504 TC UPFLAG
022711,000539: 24,2436 00031 ADRES TRACKFLG # SET TRACK FLAG
022712,000540: 24,2437 05504 TC UPFLAG
022713,000541: 24,2440 00006 ADRES P25FLAG # SET P25FLAG
022714,000542: 24,2441 05353 P25LEM1 TC PHASCHNG
022715,000543: 24,2442 04022 OCT 04022
022716,000544: 24,2443 34743 CAF P25FLBIT
022717,000545: 24,2444 70074 MASK STATE # IS P25FLAG SET
022718,000546: 24,2445 00006 EXTEND
022719,000547: 24,2446 15155 BZF ENDOFJOB
022720,000548: 24,2447 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022721,000549: 24,2450 70075 MASK STATE +1
022722,000550: 24,2451 00006 EXTEND
022723,000551:
|
|
Page 515
|
022725,000553: 24,2452 12462 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022726,000554: 24,2453 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022727,000555: 24,2454 55743 TS R65CNTR
022728,000556: 24,2455 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022729,000557: 24,2456 46105 CADR R65LEM
022730,000558: 24,2457 02441 TC P25LEM1 # THEN GO CHECK FLAGS
022731,000559: 24,2460 05353 P25LEMWT TC PHASCHNG
022732,000560: 24,2461 00112 OCT 00112
022733,000561: 24,2462 32474 P25LMWT1 CAF 60SCNDS
022734,000562: 24,2463 00004 INHINT
022735,000563: 24,2464 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022736,000564: 24,2465 02467 ADRES P25LEM2
022737,000565: 24,2466 05155 TC ENDOFJOB
022738,000566: 24,2467 35024 P25LEM2 CAF PRIO14
022739,000567: 24,2470 05105 TC FINDVAC
022740,000568: 24,2471 E7,1454 EBANK= LOSCOUNT
022741,000569: 24,2471 02441 50067 2CADR P25LEM1
022742,000570: 24,2473 05261 TC TASKOVER
022743,000571: 24,2474 13560 60SCNDS DEC 6000 B-14
022744,000572: 24,2475 77776 P25OK EXIT
022745,000573: 24,2476 02460 TC P25LEMWT
022746,000574:
|
|
Page 516
|
022748,000576: # DATA READ ROUTINE 22 (LEM)
022749,000577: # PROGRAM DESCRIPTION
022750,000578: # MOD NO - 2
022751,000579: # BY P VOLANTE
022752,000580: # FUNCTIONAL DESCRIPTION
022753,000581:
022754,000582: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022755,000583: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022756,000584: # CALLING SEQUENCE -
022757,000585: # TC BANKCALL
022758,000586: # CADR R22LEM
022759,000587: # SUBROUTINES CALLED -
022760,000588: # LSR22.1 GOFLASH WAITLIST
022761,000589: # LSR22.2 PRIOLARM BANKCALL
022762,000590: # LSR22.3 R61LEM
022763,000591: # NORMAL EXIT MODES-
022764,000592: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022765,000593: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022766,000594: # R22 WILL TERMINATE SELF.
022767,000595: # ALARM OR ABORT EXIT MODES-
022768,000596: # PRIORITY ALARM
022769,000597: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022770,000598: # OUTPUT
022771,000599: # SEE OUTPUT FROM LSR22.3
022772,000600: # ERASABLE INITIALIZATION REQUIRED
022773,000601: # SEE LSR22.1,LSR22.2,LSR22.3
022774,000602: # FLAGS SET + RESET
022775,000603: # NOANGFLG
022776,000604: # DEBRIS
022777,000605: # SEE LSR22.1,LSR22.2,LSR22.3
022778,000606: 24,2477 E7,1735 EBANK= LRS22.1X
022779,000607: 24,2477 COUNT* $$/R22
022780,000608: 24,2477 05353 R22LEM TC PHASCHNG
022781,000609: 24,2500 04022 OCT 04022
022782,000610: 24,2501 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
022783,000611: 24,2502 70074 MASK STATE
022784,000612: 24,2503 00006 EXTEND
022785,000613: 24,2504 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
022786,000614: 24,2505 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022787,000615: 24,2506 70075 MASK STATE +1
022788,000616: 24,2507 00006 EXTEND
022789,000617: 24,2510 12664 BZF R22WAIT # NO WAIT
022790,000618: 24,2511 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
022791,000619: 24,2512 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
022792,000620: 24,2513 02012 RAND CHAN12
022793,000621: 24,2514 00006 EXTEND
022794,000622: 24,2515 12132 BZF P20LEMA # NO - RETURN TO P20
022795,000623: 24,2516 34752 CAF BIT2 # YES
022796,000624: 24,2517 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
022797,000625: 24,2520 02033 RAND CHAN33
022798,000626:
|
|
Page 517
|
022800,000628: 24,2521 00006 EXTEND
022801,000629: 24,2522 12524 BZF +2 # YES CONTINUE
022802,000630: 24,2523 02156 TC P20LEMB5 # NO - SET IT
022803,000631: 24,2524 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
022804,000632: 24,2525 74737 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
022805,000633: 24,2526 00006 EXTEND
022806,000634: 24,2527 12655 BZF R22LEM42 # CDUS BEING ZEROED
022807,000635: 24,2530 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
022808,000636: 24,2531 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
022809,000637: 24,2532 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
022810,000638: 24,2533 64376 CADR LRS22.1 # DATA READ SUBROUTINE
022811,000639: 24,2534 50154 INDEX MPAC
022812,000640: 24,2535 02536 TC +1
022813,000641: 24,2536 02557 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
022814,000642: 24,2537 02247 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022815,000643: 24,2540 32707 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
022816,000644: 24,2541 04616 TC BANKCALL
022817,000645: 24,2542 21451 CADR PRIOLARM
022818,000646: 24,2543 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022819,000647: 24,2544 02547 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
022820,000648: 24,2545 02540 TC -5 # ENTER (ILLEGAL OPTION)
022821,000649: 24,2546 05155 TC ENDOFJOB
022822,000650:
022823,000651:
022824,000652: 24,2547 05353 R22LEM1 TC PHASCHNG
022825,000653: 24,2550 04022 OCT 04022
022826,000654: 24,2551 32710 CAF V06N05 # DISPLAY DELTA THETA
022827,000655: 24,2552 04616 TC BANKCALL
022828,000656: 24,2553 20362 CADR PRIODSP
022829,000657: 24,2554 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022830,000658: 24,2555 02557 TC R22LEM2 # PROC (OK CONTINUE)
022831,000659: 24,2556 02247 TC P20LEMC # ENTER(RECYCLE)
022832,000660: 24,2557 05353 R22LEM2 TC PHASCHNG
022833,000661: 24,2560 04022 OCT 04022
022834,000662: 24,2561 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022835,000663: 24,2562 02577 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
022836,000664: 24,2563 30075 CA FLAGWRD1 # IS TRACK FLAG SET
022837,000665: 24,2564 74747 MASK TRACKBIT
022838,000666: 24,2565 00006 EXTEND
022839,000667: 24,2566 12664 BZF R22WAIT # NO - WAIT
022840,000668: 24,2567 04616 TC BANKCALL # YES
022841,000669: 24,2570 51230 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022842,000670: 24,2571 50154 INDEX MPAC
022843,000671: 24,2572 02573 TC +1
022844,000672: 24,2573 02577 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022845,000673: 24,2574 04616 TC BANKCALL
022846,000674: 24,2575 46100 CADR R61LEM
022847,000675: 24,2576 02664 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
022848,000676: 24,2577 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
022849,000677: 24,2600 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
022850,000678:
|
|
Page 518
|
022852,000680: 24,2601 00006 EXTEND
022853,000681: 24,2602 12655 BZF R22LEM42 # BRANCH-YES
022854,000682: 24,2603 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
022855,000683: 24,2604 74745 MASK UPDATBIT
022856,000684: 24,2605 00006 EXTEND
022857,000685: 24,2606 12655 BZF R22LEM42 # UPDATE FLAG NOT SET
022858,000686: 24,2607 37713 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
022859,000687: 24,2610 55056 TS PHSPRDT2
022860,000688:
022861,000689: 24,2611 06036 TC INTPRET
022862,000690: 24,2612 77650 GOTO
022863,000691: 24,2613 54370 LSR22.3
022864,000692: 24,2614 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
022865,000693: 24,2615 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
022866,000694: 24,2616 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
022867,000695: 24,2617 12650 TCF R22LEM44
022868,000696: 24,2620 77776 R22LEM96 EXIT
022869,000697: 24,2621 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
022870,000698: 24,2622 55744 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
022871,000699: 24,2623 05353 TC PHASCHNG
022872,000700: 24,2624 04022 OCT 04022 # TO PROTECT DISPLAY
022873,000701: 24,2625 37714 CAF PRIO27 # PROTECT DISPLAY
022874,000702: 24,2626 05072 TC NOVAC
022875,000703: 24,2627 E7,1744 EBANK= N49FLAG
022876,000704: 24,2627 02670 50067 2CADR N49DSP
022877,000705: 24,2631 06036 TC INTPRET
022878,000706: 24,2632 77735 SLOAD
022879,000707: 24,2633 03745 N49FLAG
022880,000708: 24,2634 50054 BZE BMN # LOOP TO CHECK IF FLAG
022881,000709: 24,2635 50632 -3 # SETTING CHANGED-BRANCH - NO
022882,000710: 24,2636 50644 R22LEM7 # PROCEED
022883,000711: 24,2637 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
022884,000712: 24,2640 02714 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022885,000713: 24,2641 02664 TC R22WAIT # YES - 15 SECOND DELAY
022886,000714: 24,2642 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
022887,000715: 24,2643 02660 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
022888,000716: 24,2644 77624 R22LEM7 CALL # PROCEED
022889,000717: 24,2645 11165 GRP2PC # PHASE CHANGE AND
022890,000718: 24,2646 77650 GOTO # GO TO INCORPORATE DATA.
022891,000719: 24,2647 55374 ASTOK
022892,000720: 24,2650 25460 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
022893,000721: 24,2651 02714 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022894,000722: 24,2652 02666 TC R22LEM46 # YES - WAIT 2 SECONDS
022895,000723: 24,2653 34756 CA FIVE # NOT ON LUNAR SURFACE
022896,000724: 24,2654 02660 TC R22LEM45 # R65COUNTER = 5
022897,000725: 24,2655 02714 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022898,000726: 24,2656 02666 TC R22LEM46 # YES - WAIT 2 SECONDS
022899,000727: 24,2657 34752 CA TWO # NO-SET R65COUNTER = 2
022900,000728: 24,2660 55743 R22LEM45 TS R65CNTR
022901,000729:
|
|
Page 519
|
022903,000731: 24,2661 04616 TC BANKCALL
022904,000732: 24,2662 46105 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
022905,000733: 24,2663 02477 TC R22LEM
022906,000734: 24,2664 32712 R22WAIT CAF 1500DEC
022907,000735: 24,2665 02263 TC P20LEMWT +1
022908,000736:
022909,000737:
022910,000738: 24,2666 35000 R22LEM46 CAF 2SECS
022911,000739: 24,2667 02263 TC P20LEMWT +1
022912,000740:
022913,000741:
022914,000742: 24,2670 32711 N49DSP CAF V06N49NB
022915,000743: 24,2671 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
022916,000744: 24,2672 20362 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022917,000745: 24,2673 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
022918,000746: 24,2674 44753 CS ONE # PROCEED - N49FLAG = -1
022919,000747: 24,2675 55744 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
022920,000748: 24,2676 05155 TC ENDOFJOB
022921,000749: 24,2677 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
022922,000750: 24,2700 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
022923,000751: 24,2701 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022924,000752: 24,2702 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022925,000753: 24,2703 04616 TC BANKCALL # BAD DATA
022926,000754: 24,2704 17667 CADR RADSTALL # WAIT FOR READ COMPLETE
022927,000755: 24,2705 02247 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
022928,000756: 24,2706 02477 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
022929,000757:
022930,000758:
022931,000759: 24,2707 00525 ALRM525 OCT 00525
022932,000760: 24,2710 01405 V06N05 VN 00605
022933,000761: 24,2711 01461 V06N49NB VN 00649
022934,000762: 24,2712 02734 1500DEC DEC 1500 B-14
022935,000763: 24,2713 10624 45SECNDS DEC 4500 B-14
022936,000764: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022937,000765: # RETURNS TO CALLER +1 IF P22FLAG SET
022938,000766: # TO CALLER +2 IF P22FLAG NOT SET
022939,000767:
022940,000768:
022941,000769: 24,2714 COUNT* $$/P22
022942,000770: 24,2714 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022943,000771: 24,2715 74744 MASK SURFFBIT # IS SURFFLAG SET?
022944,000772: 24,2716 10000 CCS A # BRANCH - P22FLAG SET
022945,000773: 24,2717 24002 INCR Q # NOT SET
022946,000774: 24,2720 00002 TC Q # RETURN
022947,000775:
|
|
Page 520
|
022949,000777: # RR DESIGNATE ROUTINE (R21LEM)
022950,000778: # PROGRAM DESCRIPTION
022951,000779: # MOD NO - 2
022952,000780: # BY P VOLANTE
022953,000781: # FUNCTIONAL DESCRIPTION
022954,000782:
022955,000783: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022956,000784: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022957,000785: # CALLING SEQUENCE -
022958,000786: # TC BANKCALL
022959,000787: # CADR R21LEM
022960,000788: # SUBROUTINES CALLED -
022961,000789: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022962,000790: # NOVAC INTPRET LPS20.1 PHASCHNG
022963,000791: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022964,000792: # TASKOVER BANKCALL RADSTALL RRDESSM
022965,000793: # NORMAL EXIT MODES
022966,000794: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022967,000795: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
022968,000796: # ALARM OR ABORT EXIT MODES-
022969,000797: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022970,000798: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022971,000799: # ACQUISITION
022972,000800: # OUTPUT
022973,000801: # SEE LPS20.1,RRDESSM
022974,000802: # ERASABLE INITIALIZATION REQUIRED
022975,000803: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
022976,000804: # FLAGS SET + RESET
022977,000805: # LOSCMFLG LOKONSW
022978,000806: # DEBRIS
022979,000807: # SEE LPS20.1,RRDESSM
022980,000808: 24,2721 E7,1454 EBANK= LOSCOUNT
022981,000809: 24,2721 COUNT* $$/R21
022982,000810: 24,2721 32341 R21LEM CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECS.) TO
022983,000811: 24,2722 55114 TS DESCOUNT # DESIGNATE AND LOCKON
022984,000812: 24,2723 02714 TC LUNSFCHK
022985,000813: 24,2724 02731 TC R21LEM5
022986,000814: 24,2725 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022987,000815: 24,2726 55107 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
022988,000816: 24,2727 55110 TS TANG +1
022989,000817: 24,2730 02735 TC R21LEM6
022990,000818: 24,2731 34735 R21LEM5 CAF BIT15 # IF ON LUNAR SURFACE-MODE 2-(T=180,S=-90)
022991,000819: 24,2732 55107 TS TANG
022992,000820: 24,2733 44736 CS HALF
022993,000821: 24,2734 55110 TS TANG +1
022994,000822: 24,2735 05516 R21LEM6 TC DOWNFLAG
022995,000823: 24,2736 00012 ADRES LOKONSW
022996,000824: 24,2737 04616 TC BANKCALL
022997,000825: 24,2740 52475 CADR RRDESNB
022998,000826: 24,2741 02742 TC +1
022999,000827:
|
|
Page 521
|
023001,000829: 24,2742 04616 TC BANKCALL
023002,000830: 24,2743 17667 CADR RADSTALL
023003,000831: 24,2744 02777 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
023004,000832: 24,2745 05504 TC UPFLAG # INDICATES LOS TO BE COMPUTED
023005,000833: 24,2746 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
023006,000834: 24,2747 44736 CS BIT14 # REMOVE RR SELF TRACK ENABLE
023007,000835: 24,2750 00006 EXTEND
023008,000836: 24,2751 03012 WAND CHAN12
023009,000837: 24,2752 36244 R21LEM2 CAF THREE
023010,000838: 24,2753 55454 TS LOSCOUNT
023011,000839: 24,2754 06036 R21LEM1 TC INTPRET
023012,000840: 24,2755 43234 RTB DAD
023013,000841: 24,2756 21462 LOADTIME
023014,000842: 24,2757 11026 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
023015,000843: 24,2760 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
023016,000844: 24,2761 51151 LPS20.1
023017,000845: 24,2762 77776 EXIT
023018,000846: 24,2763 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
023019,000847: 24,2764 00012 ADRES LOKONSW
023020,000848: 24,2765 06036 TC INTPRET
023021,000849: 24,2766 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
023022,000850: 24,2767 52373 RRDESSM # DESIGNATE ROUTINE
023023,000851: 24,2770 77776 EXIT
023024,000852: 24,2771 03016 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
023025,000853: # ON LUNAR SURFACE
023026,000854: 24,2772 02132 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
023027,000855: 24,2773 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
023028,000856: 24,2774 17667 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
023029,000857: 24,2775 02777 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
023030,000858: 24,2776 03006 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
023031,000859: 24,2777 33014 R21-503 CAF ALRM503 # ISSUE ALARM 503
023032,000860: 24,3000 04616 TC BANKCALL
023033,000861: 24,3001 21451 CADR PRIOLARM
023034,000862: 24,3002 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
023035,000863: 24,3003 03011 TC R21SRCH # PROC
023036,000864: 24,3004 02232 TC P20LEMC3
023037,000865: 24,3005 05155 TC ENDOFJOB
023038,000866: 24,3006 05516 R21END TC DOWNFLAG
023039,000867: 24,3007 00041 ADRES LOSCMFLG # RESET LOSCMFLG
023040,000868: 24,3010 02262 TC P20LEMWT # EXIT R21 TO PERFORM DATA READ
023041,000869: 24,3011 05353 R21SRCH TC PHASCHNG
023042,000870: 24,3012 04022 OCT 04022
023043,000871: 24,3013 03100 TC R24LEM # SEARCH ROUTINE
023044,000872: 24,3014 00503 ALRM503 OCT 00503
023045,000873: 24,3015 00527 ALRM527 OCT 527
023046,000874:
023047,000875:
023048,000876: 24,3016 33015 R21LEM4 CAF ALRM527 # ALARM 527-LOS NOT IN MODE 2 COVERAGE
023049,000877: 24,3017 04616 TC BANKCALL # ON LUNAR SURFACE
023050,000878: 24,3020 21451 CADR PRIOLARM
023051,000879:
|
|
Page 522
|
023053,000881: 24,3021 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
023054,000882: 24,3022 02232 TC P20LEMC3
023055,000883: 24,3023 03016 TC -5 # ENTER
023056,000884: 24,3024 05155 TC ENDOFJOB
023057,000885: 24,3025 00000 00062 HALFSEC 2DEC 50 B-28
023058,000886:
|
|
Page 523
|
023060,000888: # MANUAL ACQUISITION ROUTINE R23LEM
023061,000889: # PROGRAM DESCRIPTION
023062,000890: # MOD NO - 2
023063,000891: # BY P VOLANTE
023064,000892: # FUNCTIONAL DESCRIPTION
023065,000893:
023066,000894: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
023067,000895: # CALLING SEQUENCE -
023068,000896: # TC R23LEM
023069,000897: # SUBROUTINES CALLED
023070,000898: # BANKCALL R61LEM
023071,000899: # SETMINDB GOPERF1
023072,000900: # NORMAL EXIT MODES -
023073,000901: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
023074,000902: # ,SELECTION OF PROC WILL CONTINUE R23
023075,000903: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
023076,000904: # ALARM OR ABORT EXIT MODES -
023077,000905: # SEE NORMAL EXIT MODES ABOVE
023078,000906: # OUTPUT
023079,000907: # N.A.
023080,000908: # ERASABLE INITIALIZATION REQUIRED-
023081,000909: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
023082,000910: 24,3027 1143 EBANK= GENRET
023083,000911: 24,3027 COUNT* $$/R23
023084,000912: 24,3027 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
023085,000913: 24,3030 00126 ADRES NORRMON
023086,000914: 24,3031 00004 INHINT
023087,000915: 24,3032 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
023088,000916: 24,3033 40140 CADR SETMINDB
023089,000917: 24,3034 00003 RELINT
023090,000918: 24,3035 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
023091,000919: 24,3036 00006 EXTEND
023092,000920: 24,3037 05012 WOR CHAN12
023093,000921: 24,3040 33077 CAF OCT205
023094,000922: 24,3041 04616 TC BANKCALL
023095,000923: 24,3042 20476 CADR GOPERF1
023096,000924: 24,3043 03070 TC R23LEM2 # TERMINATE
023097,000925: 24,3044 03046 TC R23LEM11 # PROCEDE
023098,000926: 24,3045 03073 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
023099,000927: 24,3046 00004 R23LEM11 INHINT
023100,000928: 24,3047 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
023101,000929: 24,3050 00035 ADRES CDUT
023102,000930: 24,3051 03060 TC OUTOFLIM # NOT WITHIN LIMITS
023103,000931: 24,3052 04674 TC IBNKCALL # RESTORE DEADBAND TO
023104,000932: 24,3053 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
023105,000933: 24,3054 00003 RELINT
023106,000934: 24,3055 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023107,000935: 24,3056 00126 ADRES NORRMON
023108,000936: 24,3057 02204 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
023109,000937: 24,3060 00003 OUTOFLIM RELINT
023110,000938:
|
|
Page 524
|
023112,000940: 24,3061 33076 CAF OCT501PV
023113,000941: 24,3062 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
023114,000942: 24,3063 21451 CADR PRIOLARM # LIMITS
023115,000943: 24,3064 03070 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
023116,000944: 24,3065 03061 TC OUTOFLIM +1 # PROCEED ILLEGAL
023117,000945: 24,3066 03073 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
023118,000946: 24,3067 05155 TC ENDOFJOB
023119,000947: 24,3070 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023120,000948: 24,3071 00126 ADRES NORRMON
023121,000949: 24,3072 06022 TC GOTOV56 # AND EXIT VIA V56
023122,000950: 24,3073 04616 R23LEM3 TC BANKCALL
023123,000951: 24,3074 46100 CADR R61LEM
023124,000952: 24,3075 03035 TC R23LEM1
023125,000953:
023126,000954: 24,3076 00501 OCT501PV OCT 501
023127,000955: 24,3077 00205 OCT205 OCT 205
023128,000956:
|
|
Page 525
|
023130,000958: # SEARCH ROUTINE R24LEM
023131,000959: # PROGRAM DESCRIPTION
023132,000960: # MOD NO - 2
023133,000961: # BY P. VOLANTE
023134,000962: # FUNCTIONAL DESCRIPTION
023135,000963:
023136,000964: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
023137,000965: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
023138,000966: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
023139,000967: # CALLING SEQUENCE
023140,000968: # CAF PRIONN
023141,000969: # TC FINDVAC
023142,000970: # EBANK= DATAGOOD
023143,000971: # 2CADR R24LEM
023144,000972: # SUBROUTINES CALLED
023145,000973: # FLAGUP FLAGDOWN BANKCALL
023146,000974: # R61LEM GOFLASHR FINDVAC
023147,000975: # ENDOFJOB NOVAC LSR24.1
023148,000976: # NORMAL EXIT MODES-
023149,000977: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
023150,000978: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
023151,000979: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
023152,000980: # ALARM OR ABORT EXIT MODES-
023153,000981: # SEE NORMAL EXIT MODES ABOVE
023154,000982: # OUTPUT -
023155,000983: # SEE OUTPUT FROM LSR24.1 + R61LEM
023156,000984: # ERASABLE INITIALIZATION REQUIRED
023157,000985: # SEE INPUT FOR LSR24.1
023158,000986: # FLAGS SET + RESET
023159,000987: # SRCHOPT,ACMODFLG
023160,000988: 24,3100 E7,1731 EBANK= DATAGOOD
023161,000989: 24,3100 COUNT* $$/R24
023162,000990: 24,3100 05504 R24LEM TC UPFLAG
023163,000991: 24,3101 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
023164,000992: 24,3102 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
023165,000993: 24,3103 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
023166,000994: 24,3104 34755 R24LEM1 CAF ZERO
023167,000995: 24,3105 55731 TS DATAGOOD # ZERO OUT DATA INDICATOR
023168,000996: 24,3106 55732 TS OMEGAD # ZERO OMEGA DISPLAY REGS
023169,000997: 24,3107 55733 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
023170,000998: 24,3110 05353 R24LEM2 TC PHASCHNG
023171,000999: 24,3111 04022 OCT 04022
023172,001000: 24,3112 33150 CAF V16N80
023173,001001: 24,3113 04616 TC BANKCALL
023174,001002: 24,3114 20357 CADR PRIODSPR
023175,001003: 24,3115 06022 TC GOTOV56
023176,001004: 24,3116 03122 TC R24END # PROCEED EXIT R24 TO P20LEM1
023177,001005:
023178,001006:
023179,001007: 24,3117 03127 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
023180,001008:
|
|
Page 526
|
023182,001010: 24,3120 04616 TC BANKCALL
023183,001011: 24,3121 55405 CADR LRS24.1
023184,001012: 24,3122 00004 R24END INHINT
023185,001013: 24,3123 06027 TC KILLTASK
023186,001014: 24,3124 55605 CADR CALLDGCH
023187,001015: 24,3125 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
023188,001016: 24,3126 12104 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
023189,001017:
023190,001018: 6011 BLOCK 3
023191,001019: 6000 SETLOC FFTAG6
023192,001020: 6000 BANK
023193,001021: 6011 COUNT* $$/R24
023194,001022:
023195,001023: 6011 46021 CLRADMOD CS BIT10+15
023196,001024: 6012 00004 INHINT
023197,001025: 6013 70110 MASK RADMODES
023198,001026: 6014 54110 TS RADMODES
023199,001027: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
023200,001028: 6016 00006 EXTEND
023201,001029: 6017 03012 WAND CHAN12 # USER WILL RELINT
023202,001030:
023203,001031: 6020 00002 TC Q
023204,001032:
023205,001033: 6021 41000 BIT10+15 OCT 41000
023206,001034: 24,3127 BANK 24
023207,001035: 24,2000 SETLOC P20S
023208,001036: 24,2000 BANK
023209,001037: 24,3127 COUNT* $$/R24
023210,001038:
023211,001039: 24,3127 05353 R24LEM3 TC PHASCHNG
023212,001040: 24,3130 04022 OCT 04022
023213,001041: 24,3131 00004 INHINT
023214,001042: 24,3132 06027 TC KILLTASK
023215,001043: 24,3133 55605 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
023216,001044: 24,3134 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
023217,001045: 24,3135 00003 RELINT # HALF SECOND DESIGNATE LOOP
023218,001046: 24,3136 34774 CAF .5SEC
023219,001047: 24,3137 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
023220,001048: 24,3140 01735 CADR DELAYJOB
023221,001049: 24,3141 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
023222,001050: 24,3142 03110 TC R24LEM2 # YES-DONT DO ATTITUDE MANEUVER
023223,001051: 24,3143 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
023224,001052: 24,3144 46100 CADR R61LEM # ATTITUDE MANEUVER
023225,001053: 24,3145 34755 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
023226,001054: 24,3146 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
023227,001055: # RRDESSM WILL RETURN TO CALLER
023228,001056: 24,3147 03110 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
023229,001057:
|
|
Page 527
|
023231,001059: 24,3150 04120 V16N80 VN 01680
023232,001060:
|
|
Page 528
|
023234,001062: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
023235,001063: # PROGRAM DESCRIPTION
023236,001064: # MOD NO : 3 DATE : 4-11-67
023237,001065: # MOD BY : P VOLANTE SDC
023238,001066:
023239,001067:
023240,001068: # FUNCTIONAL DESCRIPTION-
023241,001069: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
023242,001070: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
023243,001071: # ATTITUDE.
023244,001072: # CALLING SEQUENCE-
023245,001073: # TC BANKCALL
023246,001074: # CADR R61LEM
023247,001075: # SUBROUTINES CALLED
023248,001076: # LPS20.1 VECPOINT
023249,001077: # KALCMAN3
023250,001078:
023251,001079:
023252,001080: # NORMAL EXIT MODES-
023253,001081: # NORMAL RETURN IS TO CALLER + 1
023254,001082: # ALARM OR ABORT EXIT MODES-
023255,001083: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
023256,001084: # RENDEZVOUS FLAG ARE NOT SET.
023257,001085: # OUTPUT -
023258,001086: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
023259,001087: # ERASABLE INITIALIZATION REQUIRED
023260,001088: # GENRET USED TO SAVE Q FOR RETURN
023261,001089: # FLAGS SET + RESET
023262,001090: # 3AXISFLG
023263,001091: # DEBRIS
023264,001092: # SEE SUBROUTINES
023265,001093: 23,2000 SETLOC R61
023266,001094: 23,2000 BANK
023267,001095: 23,2100 E7,1454 EBANK= LOSCOUNT
023268,001096: 23,2100 COUNT* $$/R61
023269,001097: 23,2100 04645 R61LEM TC MAKECADR
023270,001098: 23,2101 55143 TS GENRET
023271,001099: 23,2102 05504 TC UPFLAG # SET R61 FLAG
023272,001100: 23,2103 00024 ADRES R61FLAG
023273,001101: 23,2104 02111 TC R61C+L01
023274,001102: 23,2105 04645 R65LEM TC MAKECADR
023275,001103: 23,2106 55143 TS GENRET
023276,001104: 23,2107 05516 TC DOWNFLAG # RESET R61 FLAG
023277,001105: 23,2110 00024 ADRES R61FLAG
023278,001106: 23,2111 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
023279,001107: 23,2112 70075 MASK STATE +1
023280,001108: 23,2113 00006 EXTEND
023281,001109: 23,2114 12262 BZF R61C+L1 # NOT SET
023282,001110: 23,2115 06036 R61C+L03 TC INTPRET # SET
023283,001111: 23,2116 77775 VLOAD
023284,001112:
|
|
Page 529
|
023286,001114: 23,2117 06416 HIUNITZ
023287,001115: 23,2120 03761 STORE SCAXIS # TRACK AXIS UNIT VECTOR
023288,001116: 23,2121 77634 RTB
023289,001117: 23,2122 21462 LOADTIME # PRESENT TIME
023290,001118: 23,2123 77615 DAD # EXTRAPULATE FORWARD FORWARD TO CENTER OF
023291,001119: 23,2124 15654 3SECONDS # SIX SECOND PERIOD.
023292,001120: 23,2125 34041 STCALL TDEC1
023293,001121: 23,2126 51151 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
023294,001122: 23,2127 77775 VLOAD
023295,001123: 23,2130 01102 RRTARGET
023296,001124: 23,2131 03767 STORE POINTVSM # DIRECTION IN WHICH TRACK AXIS IS TO BE
023297,001125: 23,2132 77624 CALL
023298,001126: 23,2133 56016 VECPOINT # TO COMPUTE FINAL ANGLES
023299,001127: 23,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
023300,001128: 23,2135 77776 EXIT
023301,001129: 23,2136 05353 TC PHASCHNG
023302,001130: 23,2137 04022 OCT 04022
023303,001131: 23,2140 34747 CAF TRACKBIT # IS TRACK FLAG SET
023304,001132: 23,2141 70075 MASK FLAGWRD1
023305,001133: 23,2142 00006 EXTEND
023306,001134: 23,2143 12262 BZF R61C+L1 # BRANCH - NO SKIP THIS CYCLE OF R61/65
023307,001135: 23,2144 00006 EXTEND
023308,001136: 23,2145 00030 READ CHAN30 # CHECK AUTO MODE
023309,001137: 23,2146 74742 MASK BIT10
023310,001138: 23,2147 10000 CCS A
023311,001139: 23,2150 02255 TC R61C+L04 # NOT IN G+N C(A) = +
023312,001140: 23,2151 00006 EXTEND
023313,001141: 23,2152 00031 READ CHAN31
023314,001142: 23,2153 74736 MASK BIT14 # (+) = NOT IN AUTO, (+0) =AOK
023315,001143: 23,2154 10000 CCS A
023316,001144: 23,2155 02255 TC R61C+L04 # NOT IN AUTO MODE
023317,001145: 23,2156 06036 TC INTPRET
023318,001146: 23,2157 45175 VLOAD CALL
023319,001147: 23,2160 01102 RRTARGET
023320,001148: 23,2161 47552 CDU*SMNB
023321,001149: 23,2162 65545 DLOAD ACOS
023322,001150: 23,2163 00162 MPAC +5
023323,001151: 23,2164 14025 STODL PHI
023324,001152: 23,2165 06271 TENDEG
023325,001153: 23,2166 51021 BDSU BPL
023326,001154: 23,2167 00025 PHI
023327,001155: 23,2170 46206 R61C+L05 # PHI GRE 10DEG
023328,001156: 23,2171 E6,1633 EBANK= CDUXD
023329,001157: 23,2171 77776 EXIT
023330,001158: 23,2172 32273 CAF CDUBANK
023331,001159: 23,2173 54006 TS BBANK
023332,001160: 23,2174 00004 INHINT
023333,001161: 23,2175 00006 EXTEND
023334,001162: 23,2176 30322 DCA CPHI
023335,001163: 23,2177 53634 DXCH CDUXD
023336,001164:
|
|
Page 530
|
023338,001166: 23,2200 30323 CA CPSI
023339,001167: 23,2201 55635 TS CDUZD
023340,001168: 23,2202 00003 RELINT
023341,001169: 23,2203 E7,1454 EBANK= LOSCOUNT
023342,001170: 23,2203 32274 CAF R61BANK
023343,001171: 23,2204 54006 TS BBANK
023344,001172: 23,2205 02231 TC R61C+L06
023345,001173: 23,2206 77776 R61C+L05 EXIT
023346,001174: 23,2207 00004 INHINT
023347,001175: 23,2210 04674 TC IBNKCALL
023348,001176: 23,2211 40153 FCADR ZATTEROR
023349,001177: 23,2212 04674 TC IBNKCALL
023350,001178: 23,2213 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023351,001179: 23,2214 05516 TC DOWNFLAG
023352,001180: 23,2215 00124 ADRES 3AXISFLG
023353,001181: 23,2216 05504 TC UPFLAG
023354,001182: 23,2217 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023355,001183: 23,2220 04616 TC BANKCALL
023356,001184: 23,2221 54101 CADR R60LEM
023357,001185: 23,2222 00004 INHINT
023358,001186: 23,2223 04674 TC IBNKCALL
023359,001187: 23,2224 40123 FCADR RESTORDB
023360,001188: 23,2225 05353 TC PHASCHNG
023361,001189: 23,2226 04022 OCT 04022
023362,001190: 23,2227 05516 TC DOWNFLAG
023363,001191: 23,2230 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023364,001192: 23,2231 34742 R61C+L06 CAF R61FLBIT
023365,001193: 23,2232 70075 MASK STATE +1
023366,001194: 23,2233 00006 EXTEND
023367,001195: 23,2234 12236 BZF +2
023368,001196: 23,2235 02260 TC R61C+L4
023369,001197: 23,2236 31743 CA R65CNTR
023370,001198: 23,2237 10000 CCS A
023371,001199: 23,2240 02242 TC +2
023372,001200: 23,2241 02260 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023373,001201: 23,2242 55743 TS R65CNTR
023374,001202: 23,2243 32272 CAF 06SEC
023375,001203: 23,2244 00004 INHINT
023376,001204: 23,2245 05173 TC TWIDDLE
023377,001205: 23,2246 02250 ADRES R61C+L2
023378,001206: 23,2247 05155 TC ENDOFJOB
023379,001207: 23,2250 37713 R61C+L2 CAF PRIO26
023380,001208: 23,2251 05105 TC FINDVAC
023381,001209: 23,2252 E7,1454 EBANK= LOSCOUNT
023382,001210: 23,2252 02111 46067 2CADR R61C+L01
023383,001211: 23,2254 05261 TC TASKOVER
023384,001212: 23,2255 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023385,001213: 23,2256 54244 CADR BALLANGS
023386,001214: 23,2257 02231 TC R61C+L06
023387,001215:
|
|
Page 531
|
023389,001217: 23,2260 31143 R61C+L4 CAE GENRET
023390,001218: 23,2261 14640 TCF BANKJUMP # EXIT R61
023391,001219: 23,2262 32267 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023392,001220: 23,2263 70074 MASK STATE
023393,001221: 23,2264 00006 EXTEND
023394,001222: 23,2265 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
023395,001223: 23,2266 02231 TC R61C+L06 # YES EXIT ROUTINE
023396,001224: 23,2267 00500 BIT7+9PV OCT 00500
023397,001225: 23,2270 00707 03432 TENDEG 2DEC .02777777 # SCALED UNITS OF REVOLUTION B0
023398,001226: 23,2272 01130 06SEC DEC 600 B-14
023399,001227: 23,2273 PHI EQUALS 20D
023400,001228: 23,2273 E6,1633 EBANK= CDUXD
023401,001229: 23,2273 46066 CDUBANK BBCON R61C+L05
023402,001230: 23,2274 E7,1454 EBANK= LOSCOUNT
023403,001231: 23,2274 46067 R61BANK BBCON R61C+L05
023404,001232: 4512 BLOCK 02
023405,001233: 4000 SETLOC RADARFF
023406,001234: 4000 BANK
023407,001235:
023408,001236: 4512 E7,1454 EBANK= LOSCOUNT
023409,001237: 4512 COUNT* $$/RRSUB
023410,001238:
|
|
Page 532
|
023412,001240: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023413,001241: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023414,001242:
023415,001243: 4512 00006 MAGSUB EXTEND
023416,001244: 4513 64515 BZMF +2
023417,001245: 4514 14516 TCF +2
023418,001246: 4515 40000 COM
023419,001247:
023420,001248: 4516 50002 INDEX Q
023421,001249: 4517 60000 AD 0
023422,001250: 4520 00006 EXTEND
023423,001251: 4521 66740 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023424,001252: 4522 16736 TCF Q+1 # ABS(A) > CONST GO TO L+2
023425,001253:
|
|
Page 533
|
023427,001255: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023428,001256:
023429,001257: # FUNCTIONAL DESCRIPTION_
023430,001258: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023431,001259: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023432,001260: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023433,001261: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023434,001262: # MODE 1 AND =1 FOR MODE 2.
023435,001263: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023436,001264: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023437,001265: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023438,001266: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023439,001267: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023440,001268: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023441,001269: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023442,001270: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023443,001271: # TO L +3.
023444,001272:
023445,001273: # CALLING SEQUENCE:
023446,001274: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023447,001275: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023448,001276:
023449,001277: # ERASABLE INITIALIZATION REQUIRED:
023450,001278: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023451,001279: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023452,001280: # CURRENT EBANK).
023453,001281:
023454,001282: # SUBROUTINES CALLED_ MAGSUB
023455,001283:
023456,001284: # JOBS OR TASKS INITIATED_ NONE
023457,001285:
023458,001286: # ALARMS_ NONE
023459,001287:
023460,001288: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023461,001289: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023462,001290:
023463,001291: 4523 00006 RRLIMCHK EXTEND
023464,001292: 4524 50002 INDEX Q
023465,001293: 4525 50000 INDEX 0
023466,001294: 4526 30001 DCA 0
023467,001295: 4527 24002 INCR Q
023468,001296: 4530 52062 DXCH ITEMP1
023469,001297: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023470,001298:
023471,001299: 4532 34740 CAF BIT12 # SEE WHICH MODE RR IS IN.
023472,001300: 4533 70110 MASK RADMODES
023473,001301: 4534 10000 CCS A
023474,001302: 4535 14550 TCF MODE2CHK
023475,001303:
023476,001304: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
023477,001305:
|
|
Page 534
|
023479,001307: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023480,001308: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023481,001309: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023482,001310:
023483,001311: 4542 34562 CAF 5.5DEGS
023484,001312: 4543 60062 AD ITEMP2 # S
023485,001313: 4544 04512 TC MAGSUB
023486,001314: 4545 64420 DEC -.35833 # 64.5 DEGS
023487,001315: 4546 00001 TC L
023488,001316: 4547 04560 TC RRLIMOK # IN LIMITS.
023489,001317:
023490,001318: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023491,001319: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023492,001320: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023493,001321: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023494,001322: 4554 00001 TC L
023495,001323:
023496,001324: 4555 30061 CA ITEMP1
023497,001325: 4556 04512 TC MAGSUB
023498,001326: 4557 51615 DEC -.69444 # 125 DEGS
023499,001327:
023500,001328: 4560 50001 RRLIMOK INDEX L
023501,001329: 4561 00001 TC L # ( = TC 1 )
023502,001330:
023503,001331: 4562 00765 5.5DEGS DEC .03056
023504,001332: 4563 16450 82DEGS DEC .45556
023505,001333:
|
|
Page 535
|
023507,001335: # PROGRAM NAME_ SETTRKF . IF EITHER:
023508,001336:
023509,001337: # FUNCTIONAL DESCRIPTION_
023510,001338: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023511,001339: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023512,001340: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023513,001341: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023514,001342: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023515,001343: # AUTO MODE (RADMODES BITS 13, 7, 2).
023516,001344: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023517,001345: # 8,5)
023518,001346: # 3) NO RR DATA (RADMODES BIT 4)
023519,001347: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023520,001348: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023521,001349: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023522,001350: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023523,001351: # TRACKER FAIL LAMP IS TURNED ON IF_
023524,001352: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023525,001353: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023526,001354: # EITHER THE ALT OR VEL INFORMATION
023527,001355: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023528,001356: # WITH EITHER THE AL
023529,001357:
023530,001358: # CALLING SEQUENCE:
023531,001359: # L TC SETTRKF
023532,001360:
023533,001361: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023534,001362: # SUBROUTINES CALLED_ NONE
023535,001363:
023536,001364: # JOBS OR TASKS INITIATED_ NONE
023537,001365:
023538,001366: # ALARMS_ TRACKER FAIL LAMP
023539,001367:
023540,001368: # EXIT_ L +1 (ALWAYS) ED.
023541,001369:
023542,001370: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023543,001371: 4565 71303 MASK IMODES33
023544,001372: 4566 10000 CCS A
023545,001373: 4567 00002 TC Q
023546,001374:
023547,001375: 4570 34744 RRTRKF CA BIT8
023548,001376: 4571 54001 TS L
023549,001377:
023550,001378: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023551,001379: 4573 70110 MASK RADMODES
023552,001380: 4574 00006 EXTEND
023553,001381: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023554,001382:
023555,001383: 4576 34750 RRCHECK CAF BIT4 # SEE IF RR DATA FAILED.
023556,001384: 4577 70110 MASK RADMODES
023557,001385:
|
|
Page 536
|
023559,001387: 4600 10000 CCS A
023560,001388: 4601 30001 TRKFLON CA L
023561,001389: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023562,001390: 4603 70001 MASK L
023563,001391: 4604 00006 EXTEND
023564,001392: 4605 16741 BZF TCQ # NO CHANGE.
023565,001393:
023566,001394: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023567,001395: 4607 00006 EXTEND
023568,001396: 4610 06001 RXOR LCHAN
023569,001397: 4611 74733 MASK POSMAX
023570,001398: 4612 64735 AD BIT15
023571,001399: 4613 55036 TS DSPTAB +11D
023572,001400: 4614 00002 TC Q
023573,001401:
023574,001402: 4615 10102 13,7,2 OCT 10102
023575,001403: 4616 ENDRMODF EQUALS
023576,001404:
|
|
Page 537
|
023578,001406: # PROGRAM NAME_ RRTURNON
023579,001407:
023580,001408: # FUNCTIONAL DESCRIPTION_
023581,001409:
023582,001410: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023583,001411: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023584,001412: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023585,001413: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023586,001414: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023587,001415: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023588,001416: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023589,001417: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023590,001418: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023591,001419: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023592,001420: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023593,001421: # TO TASKOVER.
023594,001422:
023595,001423: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023596,001424: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023597,001425: # THE RR (STATE BIT 7).
023598,001426:
023599,001427: # ERASABLE INITIALIZATION REQUIRED:
023600,001428: # RADMODES, STATE
023601,001429:
023602,001430: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023603,001431:
023604,001432: # JOBS OR TASKS INITIATED_
023605,001433: # NONE
023606,001434:
023607,001435: # ALARMS_ NONE (SEE RRZEROSB)
023608,001436:
023609,001437: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023610,001438:
023611,001439: 24,3151 BANK 24
023612,001440: 25,2000 SETLOC P20S1
023613,001441: 25,2000 BANK
023614,001442:
023615,001443: 25,2062 E7,1454 EBANK= LOSCOUNT
023616,001444: 25,2062 COUNT* $$/RSUB
023617,001445: 25,2062 02071 RRTURNON TC RRZEROSB
023618,001446: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023619,001447: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023620,001448: 25,2065 44753 CS BIT1
023621,001449: 25,2066 70110 MASK RADMODES
023622,001450: 25,2067 54110 TS RADMODES
023623,001451: 25,2070 15261 TCF TASKOVER
023624,001452:
|
|
Page 538
|
023626,001454: # PROGRAM NAME_ RRZEROSB
023627,001455:
023628,001456: # FUNCTIONAL DESCRIPTION_
023629,001457: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023630,001458: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023631,001459: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023632,001460: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023633,001461: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023634,001462: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023635,001463: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023636,001464: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023637,001465: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023638,001466: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023639,001467: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023640,001468: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023641,001469: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023642,001470: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023643,001471: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023644,001472:
023645,001473: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
023646,001474: # ERASABLE INITIALIZATION REQUIRED:
023647,001475: # RADMODES (BIT 13 SET), DSPTAB +11D
023648,001476:
023649,001477: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
023650,001478:
023651,001479: # JOBS OR TASKS INITIATED_
023652,001480: # NONE
023653,001481:
023654,001482: # ALARMS_ TRACKER FAIL
023655,001483:
023656,001484: # EXIT_ L +1 (ALWAYS)
023657,001485:
023658,001486: 25,2071 00006 RRZEROSB EXTEND
023659,001487: 25,2072 23315 QXCH RRRET
023660,001488: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
023661,001489: 25,2074 00006 EXTEND # COMING HERE.
023662,001490: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
023663,001491: 25,2076 05221 TC FIXDELAY
023664,001492: 25,2077 00002 DEC 2 B-14
023665,001493:
023666,001494: 25,2100 34755 CAF ZERO
023667,001495: 25,2101 54035 TS CDUT
023668,001496: 25,2102 54036 TS CDUS
023669,001497: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
023670,001498: 25,2104 00006 EXTEND
023671,001499: 25,2105 03012 WAND CHAN12
023672,001500: 25,2106 05221 TC FIXDELAY
023673,001501: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
023674,001502:
023675,001503: 25,2110 44737 CS BIT13 # REMOVE ZEROING IN PROCESS BIT.
023676,001504:
|
|
Page 539
|
023678,001506: 25,2111 70110 MASK RADMODES
023679,001507: 25,2112 54110 TS RADMODES
023680,001508:
023681,001509: 25,2113 30035 CA CDUT
023682,001510: 25,2114 04512 TC MAGSUB
023683,001511: 25,2115 57777 DEC -.5
023684,001512: 25,2116 12121 TCF +3 # IF MODE 2.
023685,001513:
023686,001514: 25,2117 34755 CAF ZERO
023687,001515: 25,2120 12122 TCF +2
023688,001516: 25,2121 34740 CAF BIT12
023689,001517: 25,2122 56110 XCH RADMODES
023690,001518: 25,2123 77740 MASK -BIT12
023691,001519: 25,2124 26110 ADS RADMODES
023692,001520:
023693,001521: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
023694,001522:
023695,001523: 25,2126 01315 TC RRRET # DONE.
023696,001524:
023697,001525: 25,2127 7740 -BIT12 EQUALS -1/8 # IN SPROOT
023698,001526:
|
|
Page 540
|
023700,001528: # PROGRAM NAME_ DORREPOS
023701,001529: # FUNCTIONAL DESCRIPTION_
023702,001530: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023703,001531: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023704,001532: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023705,001533: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023706,001534: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023707,001535: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023708,001536: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023709,001537: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023710,001538: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023711,001539: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023712,001540: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023713,001541: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023714,001542: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023715,001543: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023716,001544: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023717,001545: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023718,001546: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023719,001547: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023720,001548: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023721,001549: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023722,001550: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023723,001551: # TASKOVER.
023724,001552:
023725,001553: # CALLING SEQUENCE:
023726,001554: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023727,001555: # NOT WITHIN LIMITS OF CURRENT MODE.
023728,001556:
023729,001557: # ERASABLE INITIALIZATION REQUIRED:
023730,001558: # RADMODES
023731,001559:
023732,001560: # SUBROUTINES CALLED_
023733,001561: # RRTONLY, RRSONLY, BEGDES (EXIT)
023734,001562:
023735,001563: # JOBS OR TASKS INITIATED_
023736,001564: # NONE
023737,001565:
023738,001566: # ALARMS- NONE
023739,001567:
023740,001568: # EXIT_ TASKOVER, BEGDES
023741,001569:
023742,001570: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023743,001571:
023744,001572: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023745,001573:
023746,001574: 25,2130 05221 TC FIXDELAY
023747,001575: 25,2131 00002 DEC 2 B-14
023748,001576:
023749,001577: 25,2132 34740 CAF BIT12 # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
023750,001578:
|
|
Page 541
|
023752,001580: 25,2133 70110 MASK RADMODES
023753,001581: 25,2134 10000 CCS A
023754,001582: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023755,001583: 25,2136 02241 TC RRTONLY
023756,001584:
023757,001585: 25,2137 34740 CAF BIT12 # NOW PUT SHAFT IN RIGHT POSITION.
023758,001586: 25,2140 70110 MASK RADMODES
023759,001587: 25,2141 10000 CCS A
023760,001588: 25,2142 44736 CS HALF # -90 FOR MODE 2.
023761,001589: 25,2143 02244 TC RRSONLY
023762,001590:
023763,001591: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023764,001592: # REQUESTED DURING REPOSITION.
023765,001593: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023766,001594: 25,2146 54110 TS RADMODES
023767,001595: 25,2147 74742 MASK BIT10 # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023768,001596: 25,2150 10000 CCS A
023769,001597: 25,2151 12573 TCF BEGDES
023770,001598: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023771,001599: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023772,001600: 25,2154 03012 WAND CHAN12
023773,001601: 25,2155 15261 TCF TASKOVER
023774,001602:
023775,001603: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023776,001604: 25,2157 00006 EXTEND
023777,001605: 25,2160 02012 RAND CHAN12
023778,001606: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023779,001607: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023780,001608:
023781,001609: 25,2163 54112 TS LASTYCMD
023782,001610: 25,2164 54113 TS LASTXCMD
023783,001611: 25,2165 34752 CAF BIT2
023784,001612: 25,2166 00006 EXTEND
023785,001613: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023786,001614: 25,2170 00002 TC Q
023787,001615:
|
|
Page 542
|
023789,001617: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023790,001618:
023791,001619: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023792,001620: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023793,001621: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023794,001622: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023795,001623: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023796,001624: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023797,001625: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023798,001626: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023799,001627: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023800,001628: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023801,001629: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023802,001630: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023803,001631: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023804,001632: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023805,001633: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023806,001634: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023807,001635: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023808,001636: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023809,001637: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023810,001638: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023811,001639:
023812,001640: # CALLING SEQUENCE:
023813,001641: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023814,001642: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023815,001643: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023816,001644: # OTHER MODE.
023817,001645:
023818,001646: # ERASABLE INITIALIZATION REQUIRED:
023819,001647: # RADMODES
023820,001648:
023821,001649: # SUBROUTINES CALLED_
023822,001650: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023823,001651:
023824,001652: # JOBS OR TASKS INITIATED_
023825,001653: # NONE
023826,001654:
023827,001655: # ALARMS_ NONE
023828,001656:
023829,001657: # EXIT_ STDESIG
023830,001658:
023831,001659: 25,2171 34740 REMODE CAF BIT12 # DRIVE TRUNNION TO 0 (180).
023832,001660: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023833,001661: 25,2173 10000 CCS A
023834,001662: 25,2174 34735 CAF BIT15
023835,001663: 25,2175 02241 TC RRTONLY
023836,001664:
023837,001665: 25,2176 37737 CAF -45DEGSR
023838,001666: 25,2177 02244 TC RRSONLY
023839,001667:
|
|
Page 543
|
023841,001669: 25,2200 40110 CS RADMODES
023842,001670: 25,2201 74740 MASK BIT12
023843,001671: 25,2202 10000 CCS A
023844,001672: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
023845,001673: 25,2204 62231 AD -50DEGSR
023846,001674: 25,2205 02241 TC RRTONLY
023847,001675:
023848,001676: 25,2206 40110 CS RADMODES
023849,001677: 25,2207 74740 MASK BIT12
023850,001678: 25,2210 10000 CCS A
023851,001679: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
023852,001680: 25,2212 02241 TC RRTONLY
023853,001681:
023854,001682: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
023855,001683: 25,2214 74740 MASK BIT12
023856,001684: 25,2215 10000 CCS A
023857,001685: 25,2216 44736 CS HALF
023858,001686: 25,2217 02244 TC RRSONLY
023859,001687:
023860,001688: 25,2220 02233 TC RMODINV
023861,001689:
023862,001690: 25,2221 44736 CS BIT14 # END OF REMODE.
023863,001691: 25,2222 70110 MASK RADMODES
023864,001692: 25,2223 54110 TS RADMODES
023865,001693:
023866,001694: 25,2224 34742 CAF BIT10 # WAS REMODE CALLED DURING DESIGNATE
023867,001695: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023868,001696: 25,2226 00006 EXTEND
023869,001697: 25,2227 13555 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
023870,001698: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
023871,001699: 25,2231 7737 -45DEGSR = 13,14,15
023872,001700: 25,2231 67070 -50DEGSR DEC -.27778
023873,001701: 25,2232 61615 -80DEGSR DEC -.44444
023874,001702:
023875,001703: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023876,001704: 25,2234 34740 CAF BIT12
023877,001705: 25,2235 00006 EXTEND
023878,001706: 25,2236 06001 RXOR LCHAN
023879,001707: 25,2237 54110 TS RADMODES
023880,001708: 25,2240 00002 TC Q
023881,001709:
|
|
Page 544
|
023883,001711: # PROGRAM NAMES_ RRTONLY, RRSONLY
023884,001712:
023885,001713: # FUNCTIONAL DESCRIPTION_
023886,001714: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023887,001715: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023888,001716: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023889,001717: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023890,001718: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023891,001719: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023892,001720: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023893,001721: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023894,001722: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023895,001723: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023896,001724: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023897,001725: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023898,001726: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023899,001727: # REPEATED.
023900,001728:
023901,001729: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023902,001730: # L TC RRTONLY (TRUNNION ONLY)
023903,001731: # RRSONLY (SHAFT ONLY)
023904,001732: # RRTONLY IS CALLED BY PREPOS29;
023905,001733: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023906,001734:
023907,001735: # ERASABLE INITIALIZATION REQUIRED:
023908,001736: # C(A) = DESIRED ANGLE, RADMODES
023909,001737:
023910,001738: # SUBROUTINES CALLED_
023911,001739: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023912,001740:
023913,001741: # JOBS OR TASKS INITIATED_
023914,001742: # NONE
023915,001743:
023916,001744: # ALARMS_ NONE
023917,001745:
023918,001746: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023919,001747: # BITS 14, 11)
023920,001748: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023921,001749:
023922,001750: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023923,001751: 25,2242 34755 CAF ZERO
023924,001752: 25,2243 12246 TCF RR1AXIS
023925,001753:
023926,001754: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023927,001755: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023928,001756:
023929,001757: 25,2246 55317 RR1AXIS TS RRINDEX
023930,001758: 25,2247 00006 EXTEND
023931,001759: 25,2250 23315 QXCH RRRET
023932,001760: 25,2251 12254 TCF RR1AX2
023933,001761:
|
|
Page 545
|
023935,001763: 25,2252 05221 NXTRR1AX TC FIXDELAY
023936,001764: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023937,001765:
023938,001766: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023939,001767: 25,2255 77707 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023940,001768: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023941,001769: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
023942,001770:
023943,001771: 25,2260 31316 CA RDES
023944,001772: 25,2261 00006 EXTEND
023945,001773: 25,2262 51317 INDEX RRINDEX
023946,001774: 25,2263 20035 MSU CDUT
023947,001775: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023948,001776: 25,2265 00006 EXTEND
023949,001777: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023950,001778: 25,2267 54001 TS L
023951,001779: 25,2270 30110 CA RADMODES
023952,001780: 25,2271 74752 MASK BIT2
023953,001781: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023954,001782: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023955,001783: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
023956,001784:
023957,001785: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023958,001786: 25,2276 01315 TC RRRET # RETURN TO CALLER.
023959,001787:
023960,001788: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023961,001789: 25,2300 12302 TCF +2 # SETTING A TO 0.
023962,001790: 25,2301 56001 XCH L
023963,001791: 25,2302 53110 DXCH TANG
023964,001792:
023965,001793: 25,2303 02306 TC RROUT
023966,001794:
023967,001795: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023968,001796:
023969,001797: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023970,001798:
|
|
Page 546
|
023972,001800: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023973,001801:
023974,001802: # FUNCTIONAL DESCRIPTION_
023975,001803: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023976,001804: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023977,001805: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023978,001806: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023979,001807: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023980,001808: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023981,001809: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023982,001810: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023983,001811: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023984,001812: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023985,001813: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023986,001814: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023987,001815: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023988,001816:
023989,001817: # CALLING SEQUENCE:
023990,001818: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023991,001819: # RRTONLY, RRSONLY, AND DODES
023992,001820:
023993,001821: # ERASABLE INITIALIZATION REQUIRED:
023994,001822: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023995,001823: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023996,001824:
023997,001825: # SUBROUTINES CALLED_
023998,001826: # MAGSUB
023999,001827:
024000,001828: # JOBS OR TASKS INITIATED_
024001,001829: # NONE
024002,001830:
024003,001831: # ALARMS_ NONE
024004,001832:
024005,001833: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
024006,001834:
024007,001835: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
024008,001836: 25,2307 34753 CAF ONE # LOOP TWICE.
024009,001837: 25,2310 54062 RROUT2 TS ITEMP2
024010,001838: 25,2311 50000 INDEX A
024011,001839: 25,2312 31107 CA TANG
024012,001840: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
024013,001841:
024014,001842: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
024015,001843: 25,2315 77177 -RRLIMIT DEC -384 B-14
024016,001844: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
024017,001845:
024018,001846: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
024019,001847: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
024020,001848: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
024021,001849: 25,2322 40000 COM
024022,001850:
|
|
Page 547
|
024024,001852: 25,2323 60061 AD ITEMP1
024025,001853: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
024026,001854: 25,2325 50062 INDEX ITEMP2
024027,001855: 25,2326 54053 TS CDUTCMD
024028,001856:
024029,001857: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
024030,001858: 25,2330 12310 TCF RROUT2
024031,001859:
024032,001860: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
024033,001861: 25,2332 00006 EXTEND
024034,001862: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
024035,001863: 25,2334 00001 TC L # RETURN.
024036,001864:
024037,001865: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
024038,001866: 25,2336 42315 CS -RRLIMIT
024039,001867: 25,2337 12341 TCF +2
024040,001868: 25,2340 32315 CA -RRLIMIT
024041,001869: 25,2341 54061 TS ITEMP1
024042,001870: 25,2342 12320 TCF SETRRCTR +1
024043,001871:
|
|
Page 548
|
024045,001873: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
024046,001874:
024047,001875: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
024048,001876: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
024049,001877: 25,2345 10000 CCS A
024050,001878: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
024051,001879:
024052,001880: 25,2347 00004 INHINT
024053,001881: 25,2350 44737 CS BIT13 # SET FLAG TO SHOW ZEROING IN PROGRESS.
024054,001882: 25,2351 70110 MASK RADMODES
024055,001883: 25,2352 64737 AD BIT13
024056,001884: 25,2353 54110 TS RADMODES
024057,001885:
024058,001886: 25,2354 34753 CAF ONE
024059,001887: 25,2355 05203 TC WAITLIST
024060,001888: 25,2356 E7,1454 EBANK= LOSCOUNT
024061,001889: 25,2356 02370 52067 2CADR RRZ2
024062,001890:
024063,001891: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
024064,001892: 25,2361 74752 MASK BIT2
024065,001893: 25,2362 10000 CCS A
024066,001894: 25,2363 12366 TCF ROADBACK
024067,001895: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
024068,001896: 25,2365 00510 OCT 510
024069,001897: 25,2366 00003 ROADBACK RELINT
024070,001898: 25,2367 14631 TCF SWRETURN
024071,001899:
024072,001900: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
024073,001901: 25,2371 13546 TCF ENDRADAR
024074,001902:
024075,001903: 25,2372 02001 BIT11+1 OCT 02001
024076,001904:
|
|
Page 549
|
024078,001906: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
024079,001907:
024080,001908: # FUNCTIONAL DESCRIPTION_
024081,001909: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
024082,001910: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
024083,001911: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
024084,001912: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
024085,001913: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
024086,001914: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
024087,001915: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
024088,001916: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
024089,001917: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
024090,001918: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
024091,001919: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
024092,001920: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
024093,001921: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
024094,001922: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
024095,001923: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
024096,001924: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
024097,001925: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
024098,001926: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
024099,001927: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
024100,001928: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
024101,001929: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
024102,001930: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
024103,001931:
024104,001932: # CALLING SEQUENCE:
024105,001933: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
024106,001934: # L+1 RRDESSM
024107,001935: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
024108,001936: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
024109,001937:
024110,001938: # ERASABLE INITIALIZATION REQUIRED:
024111,001939: # RRTARGET, RADMODES
024112,001940:
024113,001941: # SUBROUTINES CALLED_
024114,001942: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
024115,001943: # PART OF), RMODINV
024116,001944:
024117,001945: # JOBS OR TASKS INITIATED_
024118,001946: # NONE
024119,001947:
024120,001948: # ALARMS_ NONE
024121,001949:
024122,001950: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
024123,001951: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
024124,001952: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
024125,001953:
024126,001954: 25,2373 43020 RRDESSM STQ CLEAR
024127,001955: 25,2374 01113 DESRET
|
|
Page 550
|
024129,001957: 25,2375 00271 RRNBSW
024130,001958: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
024131,001959: 25,2377 47443 CDUTRIG
024132,001960: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024133,001961: 25,2401 01102 RRTARGET
024134,001962: 25,2402 47575 *SMNB*
024135,001963:
024136,001964: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
024137,001965: 25,2404 26133 RRANGLES # ALTERNATE MODE.
024138,001966: 25,2405 77776 EXIT
024139,001967:
024140,001968: 25,2406 00004 INHINT
024141,001969: 25,2407 04523 TC RRLIMCHK
024142,001970: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
024143,001971: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
024144,001972: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
024145,001973: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
024146,001974: 25,2414 40104 CS FLAGWRD8
024147,001975: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
024148,001976: 25,2416 00006 EXTEND
024149,001977: 25,2417 12456 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
024150,001978: 25,2420 02461 TC TRYSWS
024151,001979:
024152,001980:
024153,001981: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
024154,001982: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
024155,001983: 25,2423 00006 EXTEND
024156,001984: 25,2424 12456 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
024157,001985: 25,2425 30074 CA STATE
024158,001986: 25,2426 74745 MASK RNDVZBIT
024159,001987: 25,2427 10000 CCS A # TEST RNDVZFLG.
024160,001988: 25,2430 02471 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
024161,001989: 25,2431 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
024162,001990:
|
|
Page 551
|
024164,001992: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
024165,001993:
024166,001994: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
024167,001995: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
024168,001996: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
024169,001997: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
024170,001998: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
024171,001999: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
024172,002000: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
024173,002001: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
024174,002002: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
024175,002003: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
024176,002004: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
024177,002005: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
024178,002006: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
024179,002007: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
024180,002008: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
024181,002009: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
024182,002010: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
024183,002011: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
024184,002012: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
024185,002013: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
024186,002014: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
024187,002015:
024188,002016: # CALLING SEQUENCE:
024189,002017: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
024190,002018:
024191,002019: # ERASABLE INITIALIZATION REQUIRED:
024192,002020: # RADMODES, (SEE DODES)
024193,002021:
024194,002022: # SUBROUTINES CALLED_
024195,002023: # SETRRECR, WAITLIST
024196,002024:
024197,002025: # JOBS OR TASKS INITIATED_
024198,002026: # BEGDES
024199,002027:
024200,002028: # ALARMS_ NONE
024201,002029:
024202,002030: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
024203,002031: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
024204,002032:
024205,002033: 25,2432 25113 STARTDES INCR DESRET
024206,002034: 25,2433 40110 CS RADMODES
024207,002035: 25,2434 74742 MASK BIT10
024208,002036: 25,2435 26110 ADS RADMODES
024209,002037: 25,2436 74741 MASK BIT11 # SEE IF REPOSITION IN PROGRESS.
024210,002038: 25,2437 10000 CCS A
024211,002039: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
024212,002040:
024213,002041: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
|
|
Page 552
|
024215,002043: 25,2442 34752 CAF TWO
024216,002044: 25,2443 05203 TC WAITLIST
024217,002045: 25,2444 E7,1454 EBANK= LOSCOUNT
024218,002046: 25,2444 02573 52067 2CADR BEGDES
024219,002047:
024220,002048: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
024221,002049: 25,2447 00006 EXTEND
024222,002050: 25,2450 12452 BZF DESRTRN # YES SET EXIT
024223,002051: 25,2451 05155 TC ENDOFJOB # NO
024224,002052: 25,2452 00003 DESRTRN RELINT
024225,002053: 25,2453 25113 INCR DESRET
024226,002054: 25,2454 31113 CA DESRET
024227,002055: 25,2455 14640 TCF BANKJUMP
024228,002056:
024229,002057: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
024230,002058: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
024231,002059: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
024232,002060:
|
|
Page 553
|
024234,002062: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
024235,002063:
024236,002064: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
024237,002065: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
024238,002066: 25,2463 01111 ADRES MODEB
024239,002067: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
024240,002068:
024241,002069: 25,2465 02233 TC RMODINV # RESET BIT12
024242,002070: 25,2466 34736 CAF BIT14 # SET FLAG FOR REMODE.
024243,002071: 25,2467 26110 ADS RADMODES
024244,002072:
024245,002073: 25,2470 12412 TCF OKDESSM
024246,002074:
024247,002075: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
024248,002076: 25,2472 25113 INCR DESRET # TO CALLER +2
024249,002077: 25,2473 12456 TCF NORDSTAL
024250,002078:
024251,002079: 25,2474 00074 MAXTRYS DEC 60 B-14
024252,002080:
|
|
Page 554
|
024254,002082: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
024255,002083: # TANG AND TANG +1.
024256,002084:
024257,002085: 25,2475 04645 RRDESNB TC MAKECADR
024258,002086: 25,2476 55113 TS DESRET
024259,002087:
024260,002088: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
024261,002089: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
024262,002090: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
024263,002091: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
024264,002092: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
024265,002093: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024266,002094: 25,2505 01107 ADRES TANG
024267,002095: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
024268,002096:
024269,002097: 25,2507 00003 OKDESNB RELINT
024270,002098: 25,2510 00006 EXTEND
024271,002099: 25,2511 31110 DCA TANG
024272,002100: 25,2512 53751 DXCH TANGNB
024273,002101: 25,2513 06036 TC INTPRET
024274,002102:
024275,002103: 25,2514 77624 CALL # GET LOS IN NB COORDS.
024276,002104: 25,2515 46041 RRNB
024277,002105: 25,2516 01102 STORE RRTARGET
024278,002106:
024279,002107: 25,2517 77414 SET EXIT
024280,002108: 25,2520 00071 RRNBSW
024281,002109:
024282,002110: 25,2521 00004 INHINT
024283,002111: 25,2522 12433 TCF STARTDES +1
024284,002112: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
024285,002113: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024286,002114: 25,2525 01107 ADRES TANG
024287,002115: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
024288,002116:
024289,002117: 25,2527 02233 TC RMODINV
024290,002118: 25,2530 34736 CAF BIT14 # CALL FOR REMODE.
024291,002119: 25,2531 26110 ADS RADMODES
024292,002120: 25,2532 12507 TCF OKDESNB
024293,002121:
024294,002122: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
024295,002123: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
024296,002124: 25,2535 00502 OCT 502
024297,002125: 25,2536 06011 TC CLRADMOD
024298,002126: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
024299,002127:
024300,002128: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024301,002129: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
024302,002130: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
024303,002131: 25,2543 00006 EXTEND
024304,002132:
|
|
Page 555
|
024306,002134: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
024307,002135: 25,2545 30001 DCA 0
024308,002136: 25,2546 52062 DXCH ITEMP1
024309,002137: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
024310,002138:
024311,002139: 25,2550 34740 CAF BIT12 # SEE WHICH MODE RR IS IN
024312,002140: 25,2551 70110 MASK RADMODES
024313,002141: 25,2552 10000 CCS A
024314,002142: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
024315,002143: 25,2554 30061 CA ITEMP1
024316,002144: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024317,002145: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024318,002146: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024319,002147:
024320,002148: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024321,002149: 25,2561 00006 EXTEND
024322,002150: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024323,002151: 25,2563 64562 AD 5.5DEGS
024324,002152: 25,2564 04512 SHAFTLIM TC MAGSUB
024325,002153: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
024326,002154: 25,2566 00001 TC L # NOT IN LIMITS
024327,002155: 25,2567 04560 TC RRLIMOK # IN LIMITS
024328,002156: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024329,002157: 25,2571 12564 TCF SHAFTLIM
024330,002158:
024331,002159:
024332,002160: 25,2572 03512 20.5DEGS DEC .11389
024333,002161:
|
|
Page 556
|
024335,002163: # PROGRAM NAME_ BEGDES
024336,002164:
024337,002165: # FUNCTIONAL DESCRIPTION_
024338,002166: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024339,002167: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024340,002168: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024341,002169: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024342,002170: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024343,002171: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024344,002172: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024345,002173: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024346,002174: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024347,002175: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024348,002176: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024349,002177: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024350,002178: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024351,002179: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024352,002180: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024353,002181: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024354,002182: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024355,002183: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024356,002184: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024357,002185: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024358,002186: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024359,002187: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024360,002188: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024361,002189: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024362,002190: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024363,002191:
024364,002192: # CALLING SEQUENCE:
024365,002193: # WAITLIST CALL FROM STARTDES
024366,002194: # TCF BEGDES FROM DORREPOS
024367,002195: # TC STDESIG RETURNING, FROM REMODE
024368,002196:
024369,002197: # ERASABLE INITIALIZATION REQUIRED:
024370,002198: # DESCOUNT, RADMODES
024371,002199:
024372,002200: # SUBROUTINES CALLED_
024373,002201: # ENDRADAR, FINDVAC
024374,002202:
024375,002203: # JOBS OR TASKS INITIATED_ DODES
024376,002204:
024377,002205: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024378,002206: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024379,002207:
024380,002208: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024381,002209: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024382,002210: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024383,002211:
024384,002212: 25,2573 40110 BEGDES CS RADMODES
024385,002213:
|
|
Page 557
|
024387,002215: 25,2574 74736 MASK BIT14
024388,002216: 25,2575 10000 CCS A
024389,002217: 25,2576 02602 TC STDESIG
024390,002218: 25,2577 02171 TC REMODE
024391,002219: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024392,002220: 25,2601 00062 DEC 50 B-14
024393,002221:
024394,002222: 25,2602 34741 STDESIG CAF BIT11
024395,002223: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024396,002224: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024397,002225: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024398,002226:
024399,002227: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024400,002228: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024401,002229: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024402,002230: 25,2611 12630 TCF MOREDES +1
024403,002231:
024404,002232: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024405,002233: 25,2613 74742 MASK BIT10 # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024406,002234: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024407,002235: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
024408,002236:
024409,002237: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024410,002238: 25,2617 12627 TCF MOREDES
024411,002239:
024412,002240: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024413,002241: 25,2621 00006 EXTEND
024414,002242: 25,2622 03012 WAND CHAN12
024415,002243: 25,2623 44742 BADDES CS BIT10 # REMOVE DESIGNATE FLAG.
024416,002244: 25,2624 70110 MASK RADMODES
024417,002245: 25,2625 54110 TS RADMODES
024418,002246: 25,2626 13562 TCF RDBADEND
024419,002247:
024420,002248: 25,2627 55114 MOREDES TS DESCOUNT
024421,002249: 25,2630 37713 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024422,002250: 25,2631 05105 TC FINDVAC
024423,002251: 25,2632 E7,1454 EBANK= LOSCOUNT
024424,002252: 25,2632 02636 52067 2CADR DODES
024425,002253:
024426,002254: 25,2634 12600 TCF DESLOOP
024427,002255:
024428,002256: 25,2635 20002 B14+B2 OCT 20002
024429,002257:
|
|
Page 558
|
024431,002259: # PROGRAM NAME_ DODES
024432,002260:
024433,002261: # FUNCTIONAL DESCRIPTION_
024434,002262: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024435,002263: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024436,002264: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024437,002265: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024438,002266: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024439,002267: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024440,002268: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024441,002269: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024442,002270: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024443,002271: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024444,002272: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024445,002273: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024446,002274: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024447,002275: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024448,002276: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024449,002277: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024450,002278: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024451,002279: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024452,002280: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024453,002281: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024454,002282: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024455,002283: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024456,002284: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024457,002285: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024458,002286: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024459,002287: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024460,002288: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024461,002289: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024462,002290: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024463,002291: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024464,002292: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024465,002293: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024466,002294: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024467,002295: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024468,002296: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024469,002297: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024470,002298: # VIA ENDOFJOB.
024471,002299:
024472,002300: # CALLING SEQUENCE:
024473,002301: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024474,002302:
024475,002303: # ERASABLE INITIALIZATION REQUIRED:
024476,002304: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024477,002305: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024478,002306:
024479,002307: # SUBROUTINES CALLED_
024480,002308: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024481,002309:
|
|
Page 559
|
024483,002311: # JOBS OR TASKS INITIATED_
024484,002312: # NONE
024485,002313:
024486,002314: # ALARMS_ NONE
024487,002315:
024488,002316: # EXIT_ ENDOFJOB (ALWAYS)
024489,002317:
024490,002318: 25,2636 00006 DODES EXTEND
024491,002319: 25,2637 30036 DCA CDUT
024492,002320: 25,2640 53110 DXCH TANG
024493,002321:
024494,002322: 25,2641 06036 TC INTPRET
024495,002323:
024496,002324: 25,2642 77201 SETPD VLOAD
024497,002325: 25,2643 00001 0
024498,002326: 25,2644 01102 RRTARGET
024499,002327: 25,2645 74214 BON VXSC
024500,002328: 25,2646 00311 RRNBSW
024501,002329: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
024502,002330: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024503,002331: 25,2651 63372 VSL1 PDVL
024504,002332: 25,2652 01761 LOSVEL
024505,002333: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024506,002334: 25,2654 13072 MCTOMS
024507,002335: 25,2655 45056 UNIT CALL
024508,002336: 25,2656 47443 CDUTRIG
024509,002337: 25,2657 77624 CALL
024510,002338: 25,2660 47575 *SMNB*
024511,002339:
024512,002340: 25,2661 14041 DONBRD STODL 32D
024513,002341: 25,2662 01111 TANG +1
024514,002342: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024515,002343: 25,2664 21465 CDULOGIC # (-SIN(S)).
024516,002344: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024517,002345: 25,2666 41546 COS PUSH
024518,002346: 25,2667 65205 DMP PDDL
024519,002347: 25,2670 00041 32D
024520,002348: 25,2671 00045 36D
024521,002349: 25,2672 44205 DMP BDSU
024522,002350: 25,2673 00001 0
024523,002351: 25,2674 77626 STADR
024524,002352: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
024525,002353:
024526,002354: 25,2676 47135 SLOAD RTB
024527,002355: 25,2677 01110 TANG
024528,002356: 25,2700 21465 CDULOGIC
024529,002357: 25,2701 71406 PUSH COS # COS(T) TO 4.
024530,002358: 25,2702 73525 PDDL SIN
024531,002359: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
024532,002360: 25,2704 00003 2
024533,002361:
|
|
Page 560
|
024535,002363: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024536,002364: 25,2706 00005 4 # (COS(T) )
024537,002365: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
024538,002366: 25,2710 00007 6
024539,002367: 25,2711 00001 0
024540,002368: 25,2712 55552 SL1 VDEF
024541,002369: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024542,002370: 25,2714 00041 32D
024543,002371:
|
|
Page 561
|
024545,002373: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024546,002374: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024547,002375:
024548,002376: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024549,002377: 25,2716 00006 EXTEND
024550,002378: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024551,002379: 25,2720 55107 TS TANG # TRUNNION COMMAND.
024552,002380: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024553,002381: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024554,002382: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024555,002383: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024556,002384: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024557,002385: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024558,002386: 25,2727 41110 +3 CS TANG +1
024559,002387: 25,2730 00006 EXTEND
024560,002388: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024561,002389: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
024562,002390: 25,2733 06036 TC INTPRET
024563,002391:
024564,002392: 25,2734 41345 DLOAD DMP
024565,002393: 25,2735 00003 2 # COS(S).
024566,002394: 25,2736 00005 4 # COS(T).
024567,002395: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
024568,002396: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024569,002397: 25,2741 00001 0 # SIN(S).
024570,002398: 25,2742 72405 DMP SL1
024571,002399: 25,2743 00005 4 # COS(T).
024572,002400: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
024573,002401: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024574,002402: 25,2746 52751 +3
024575,002403: 25,2747 77624 CALL
024576,002404: 25,2750 47577 *NBSM* # GET URR IN SM AXES.
024577,002405: 25,2751 77441 DOT EXIT
024578,002406: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024579,002407:
024580,002408: 25,2753 00006 EXTEND
024581,002409: 25,2754 43070 DCS COS1/2DG
024582,002410: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024583,002411: 25,2756 10154 CCS MPAC
024584,002412: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024585,002413: 25,2760 12762 TCF +2
024586,002414: 25,2761 34753 CA ONE
024587,002415: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
024588,002416:
|
|
Page 562
|
024590,002418: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024591,002419:
024592,002420: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024593,002421: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024594,002422: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
024595,002423: 25,2766 13017 TCF DORROUT
024596,002424: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024597,002425: 25,2770 13000 TCF DGOODCHK
024598,002426: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024599,002427: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024600,002428: 25,2773 10000 CCS A
024601,002429: 25,2774 13005 TCF RRDESDUN
024602,002430:
024603,002431: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
024604,002432: 25,2776 00006 EXTEND
024605,002433: 25,2777 05012 WOR CHAN12
024606,002434:
024607,002435: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024608,002436: 25,3001 00006 EXTEND
024609,002437: 25,3002 02033 RAND CHAN33
024610,002438: 25,3003 10000 CCS A
024611,002439: 25,3004 13017 TCF DORROUT
024612,002440:
024613,002441: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024614,002442: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024615,002443: 25,3007 00004 INHINT
024616,002444: 25,3010 54110 TS RADMODES
024617,002445:
024618,002446: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024619,002447: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024620,002448: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024621,002449: 25,3014 00006 EXTEND
024622,002450: 25,3015 03012 WAND CHAN12
024623,002451: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024624,002452:
024625,002453: 25,3017 40074 DORROUT CS FLAGWRD0 # IF NOT IN P20/P22 BUT V41,DON'T DO
024626,002454: 25,3020 74745 MASK RNDVZBIT # VELOCITY CORRECTION.
024627,002455: 25,3021 10000 CCS A
024628,002456: 25,3022 03041 TC NOTP20
024629,002457: 25,3023 06036 TC INTPRET
024630,002458: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024631,002459: 25,3025 01102 RRTARGET
024632,002460: 25,3026 01767 MLOSV
024633,002461: 25,3027 41572 VSL1 PUSH
024634,002462: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024635,002463: 25,3031 01761 LOSVEL # TO LOS VECTOR
024636,002464: 25,3032 13072 MCTOMS
024637,002465: 25,3033 53362 VSR1 VAD
024638,002466: 25,3034 77656 UNIT
024639,002467: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
024640,002468:
|
|
Page 563
|
024642,002470: 25,3036 00045 36D
024643,002471: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
024644,002472: 25,3040 77776 EXIT
024645,002473: 25,3041 00004 NOTP20 INHINT
024646,002474: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024647,002475: 25,3043 74741 MASK BIT11 # REPOSITION HAS TAKEN OVER.
024648,002476: 25,3044 10000 CCS A
024649,002477: 25,3045 02306 TC RROUT
024650,002478:
024651,002479: 25,3046 30076 CA FLAGWRD2
024652,002480: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024653,002481: 25,3050 00006 EXTEND # LOS COUNTER
024654,002482: 25,3051 15155 BZF ENDOFJOB
024655,002483: 25,3052 11454 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
024656,002484: 25,3053 03064 TC DODESEND # A NEW LOS
024657,002485: 25,3054 00004 INHINT
024658,002486: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
024659,002487: 25,3056 52602 CADR DESLOOP +2
024660,002488: 25,3057 00003 RELINT
024661,002489: 25,3060 10067 CCS NEWJOB
024662,002490: 25,3061 05122 TC CHANG1
024663,002491: 25,3062 04616 TC BANKCALL
024664,002492: 25,3063 50752 CADR R21LEM2
024665,002493:
024666,002494:
024667,002495: 25,3064 55454 DODESEND TS LOSCOUNT
024668,002496: 25,3065 05155 TC ENDOFJOB
024669,002497:
024670,002498:
024671,002499: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
024672,002500: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
024673,002501: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
024674,002502:
|
|
Page 564
|
024676,002504: # RADAR READ INITIALIZATION
024677,002505:
024678,002506: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
024679,002507:
024680,002508: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
024681,002509: 25,3074 00017 ALLREAD OCT 17
024682,002510:
024683,002511: 25,3075 03114 LRVELZ TC INITREAD
024684,002512: 25,3076 00016 OCT 16
024685,002513:
024686,002514: 25,3077 03114 LRVELY TC INITREAD
024687,002515: 25,3100 00015 OCT 15
024688,002516:
024689,002517: 25,3101 03114 LRVELX TC INITREAD
024690,002518: 25,3102 00014 OCT 14
024691,002519:
024692,002520: 25,3103 03113 RRRDOT TC INITREAD -1
024693,002521: 25,3104 00012 OCT 12
024694,002522:
024695,002523: 25,3105 03113 RRRANGE TC INITREAD -1
024696,002524: 25,3106 00011 OCT 11
024697,002525:
024698,002526: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
024699,002527: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
024700,002528:
024701,002529: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
024702,002530: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
024703,002531: 25,3111 51105 INDEX TIMEHOLD
024704,002532: 25,3112 13075 TCF LRVELZ
024705,002533:
|
|
Page 565
|
024707,002535: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
024708,002536: 25,3114 00004 INITREAD INHINT
024709,002537:
024710,002538: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
024711,002539: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
024712,002540: 25,3117 74751 MP BIT3 # ENCOUNTERED).
024713,002541: 25,3120 53106 DXCH TIMEHOLD
024714,002542:
024715,002543: 25,3121 10000 CCS A
024716,002544: 25,3122 55111 TS NSAMP
024717,002545: 25,3123 64753 AD ONE
024718,002546: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
024719,002547: # DOUBLE
024720,002548: 25,3124 55100 TS SAMPLIM
024721,002549:
024722,002550: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
024723,002551: 25,3126 00006 EXTEND
024724,002552: 25,3127 02033 RAND CHAN33
024725,002553: 25,3130 55113 TS OLDATAGD
024726,002554:
024727,002555: 25,3131 43074 CS ALLREAD
024728,002556: 25,3132 00006 EXTEND
024729,002557: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
024730,002558:
024731,002559: 25,3134 50002 INDEX Q
024732,002560: 25,3135 30000 CAF 0
024733,002561: 25,3136 00006 EXTEND
024734,002562: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
024735,002563:
024736,002564: 25,3140 00006 EXTEND
024737,002565: 25,3141 30025 DCA TIME2
024738,002566: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
024739,002567:
024740,002568: 25,3143 34755 CAF ZERO
024741,002569: 25,3144 54001 TS L
024742,002570: 25,3145 53102 DXCH SAMPLSUM
024743,002571: 25,3146 12366 TCF ROADBACK
024744,002572:
024745,002573: 25,3147 00230 DGBITS OCT 230
024746,002574:
|
|
Page 566
|
024748,002576: # RADAR RUPT READER
024749,002577:
024750,002578: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024751,002579:
024752,002580: 25,2000 SETLOC RADARUPT
024753,002581: 25,2000 BANK
024754,002582:
024755,002583: 25,3150 COUNT* $$/RRUPT
024756,002584: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
024757,002585: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
024758,002586: 25,3152 54016 TS BANKRUPT
024759,002587: 25,3153 00006 EXTEND
024760,002588: 25,3154 22012 QXCH QRUPT
024761,002589:
024762,002590: 25,3155 34757 CAF SEVEN
024763,002591: 25,3156 00006 EXTEND
024764,002592: 25,3157 02013 RAND CHAN13
024765,002593: 25,3160 55335 TS DNINDEX
024766,002594: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO,DO NOT STORE
024767,002595: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024768,002596: 25,3163 30046 CA RNRAD
024769,002597: 25,3164 51335 INDEX DNINDEX
024770,002598: 25,3165 55332 TS DNRRANGE -1
024771,002599: 25,3166 11100 TRYCOUNT CCS SAMPLIM
024772,002600: 25,3167 13211 TCF PLENTY
024773,002601: 25,3170 13174 TCF NOMORE
024774,002602: 25,3171 05567 TC ALARM
024775,002603: 25,3172 00520 OCT 520
024776,002604: 25,3173 05270 TC RESUME
024777,002605:
024778,002606: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
024779,002607: 25,3175 74735 MASK LRBYBIT
024780,002608: 25,3176 00006 EXTEND
024781,002609: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
024782,002610:
024783,002611: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
024784,002612: 25,3201 74743 MASK R04FLBIT # IF 1,R04 IS RUNNING. DO NOT ALARM-
024785,002613: 25,3202 00006 EXTEND
024786,002614: 25,3203 13206 BZF BADRAD
024787,002615:
024788,002616: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
024789,002617: 25,3205 00521 OCT 521
024790,002618: 25,3206 44753 BADRAD CS ONE
024791,002619: 25,3207 55100 TS SAMPLIM
024792,002620: 25,3210 03560 TC RDBADEND -2
024793,002621: 25,3211 55100 PLENTY TS SAMPLIM
024794,002622: 25,3212 34751 CAF BIT3
024795,002623: 25,3213 00006 EXTEND
024796,002624: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
024797,002625: 25,3215 00006 EXTEND
024798,002626:
|
|
Page 567
|
024800,002628: 25,3216 13276 BZF RENDRAD
024801,002629:
024802,002630: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
024803,002631: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
024804,002632: 25,3221 00006 EXTEND
024805,002633: 25,3222 06033 RXOR CHAN33
024806,002634: 25,3223 74746 MASK BIT6
024807,002635: 25,3224 00006 EXTEND
024808,002636: 25,3225 13231 BZF VELCHK
024809,002637:
024810,002638: 25,3226 05567 TC ALARM
024811,002639: 25,3227 00522 OCT 522
024812,002640: 25,3230 03206 TC BADRAD
024813,002641:
024814,002642: 25,3231 36244 VELCHK CAF BIN3 # = 00003 OCT
024815,002643: 25,3232 00006 EXTEND
024816,002644: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
024817,002645: 25,3234 76244 MASK BIN3
024818,002646: 25,3235 00006 EXTEND
024819,002647: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
024820,002648:
024821,002649: 25,3237 34733 CAF POSMAX
024822,002650: 25,3240 70046 MASK RNRAD
024823,002651: 25,3241 62000 AD LVELBIAS
024824,002652: 25,3242 54001 TS L
024825,002653: 25,3243 30046 CAE RNRAD
024826,002654: 25,3244 60000 DOUBLE
024827,002655: 25,3245 74753 MASK BIT1
024828,002656: 25,3246 52064 DXCH ITEMP3
024829,002657:
024830,002658: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024831,002659: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
024832,002660: # INDEPENDENT OF DATA GOOD.
024833,002661:
024834,002662: 25,3251 11111 CCS NSAMP
024835,002663: 25,3252 03262 TC NOEND
024836,002664: 25,3253 44753 GOODRAD CS ONE
024837,002665: 25,3254 55100 TS SAMPLIM
024838,002666: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024839,002667: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
024840,002668: 25,3257 54110 TS RADMODES
024841,002669: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
024842,002670: 25,3261 03553 TC RGOODEND -2
024843,002671:
024844,002672: 25,3262 55111 NOEND TS NSAMP
024845,002673: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
024846,002674: 25,3264 13266 TCF +2
024847,002675: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
024848,002676: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
024849,002677: 25,3267 00006 EXTEND
024850,002678:
|
|
Page 568
|
024852,002680: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
024853,002681: 25,3271 05270 TC RESUME
024854,002682:
024855,002683:
024856,002684: 25,3272 34747 LRHEIGHT CAF BIT5
024857,002685: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024858,002686:
024859,002687: 25,3274 34743 CAF BIT9
024860,002688: 25,3275 03320 TC SCALECHK -1
024861,002689:
024862,002690: 25,3276 34741 RENDRAD CAF BIT11 # MAKE SURE ANTENNA HAS NOT GONE OUT OF
024863,002691: 25,3277 70110 MASK RADMODES # LIMITS.
024864,002692: 25,3300 10000 CCS A
024865,002693: 25,3301 13206 TCF BADRAD
024866,002694:
024867,002695: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
024868,002696: 25,3303 74745 MASK BIT7
024869,002697: 25,3304 10000 CCS A
024870,002698: 25,3305 13206 TCF BADRAD
024871,002699:
024872,002700: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024873,002701: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024874,002702:
024875,002703: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
024876,002704: 25,3311 00006 EXTEND
024877,002705: 25,3312 02013 RAND CHAN13
024878,002706: 25,3313 54002 TS Q # FOR LATER TESTING.
024879,002707: 25,3314 10000 CCS A
024880,002708: 25,3315 13317 TCF +2
024881,002709: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024882,002710: 25,3317 34751 CAF BIT3
024883,002711: 25,3320 54001 TS L
024884,002712:
024885,002713: 25,3321 00006 SCALECHK EXTEND
024886,002714: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
024887,002715: 25,3323 56001 XCH L
024888,002716: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
024889,002717: 25,3325 00006 EXTEND
024890,002718: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
024891,002719: 25,3327 10000 CCS A
024892,002720: 25,3330 03350 TC SCALCHNG # THEY DIFFER
024893,002721:
024894,002722: 25,3331 34733 RADIN CAF POSMAX
024895,002723: 25,3332 70046 MASK RNRAD
024896,002724: 25,3333 54064 TS ITEMP4
024897,002725:
024898,002726: 25,3334 30046 CAE RNRAD
024899,002727: 25,3335 60000 DOUBLE
024900,002728: 25,3336 74753 MASK BIT1
024901,002729: 25,3337 54063 TS ITEMP3
024902,002730:
|
|
Page 569
|
024904,002732: 25,3340 10002 CCS Q # SEE IF RR RDOT.
024905,002733: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024906,002734:
024907,002735: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024908,002736: 25,3343 42002 DCS RDOTBIAS
024909,002737: 25,3344 20064 DASAMPL DAS ITEMP3
024910,002738: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024911,002739: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024912,002740: 25,3347 03253 TC GOODRAD
024913,002741:
024914,002742: 25,3350 22110 SCALCHNG LXCH RADMODES
024915,002743: 25,3351 64753 AD BIT1
024916,002744: 25,3352 00006 EXTEND
024917,002745: 25,3353 06001 RXOR LCHAN
024918,002746: 25,3354 54110 TS RADMODES
024919,002747: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024920,002748: 25,3356 00006 EXTEND
024921,002749: 25,3357 02033 RAND CHAN33
024922,002750: 25,3360 55113 TS OLDATAGD
024923,002751: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
024924,002752: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
024925,002753: 25,3363 13206 TCF BADRAD
024926,002754:
024927,002755: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024928,002756:
024929,002757: 25,3364 40101 R77CHECK CS FLAGWRD5
024930,002758: 25,3365 74741 MASK R77FLBIT
024931,002759: 25,3366 10000 CCS A
024932,002760: 25,3367 00002 TC Q # NOT R77
024933,002761: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024934,002762: 25,3371 70110 MASK RADMODES
024935,002763: 25,3372 54001 TS L
024936,002764: 25,3373 33401 CA BITS5,8
024937,002765: 25,3374 00006 EXTEND
024938,002766: 25,3375 02033 RAND CHAN33
024939,002767: 25,3376 60001 AD L
024940,002768: 25,3377 54110 TS RADMODES
024941,002769: 25,3400 03553 TC RGOODEND -2
024942,002770: 25,3401 00220 BITS5,8 OCT 220
024943,002771:
|
|
Page 570
|
024945,002773: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024946,002774:
024947,002775: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024948,002776: 25,3403 13405 TCF +2 # ON HIGH SCALE.
024949,002777: 25,3404 13345 TCF DGCHECK2
024950,002778:
024951,002779: 25,3405 31335 CA DNINDEX
024952,002780: 25,3406 74751 MASK BIT3
024953,002781: 25,3407 10000 CCS A
024954,002782: 25,3410 13417 TCF LRSCK
024955,002783:
024956,002784: 25,3411 52064 DXCH ITEMP3
024957,002785: 25,3412 20001 DDOUBL
024958,002786: 25,3413 20001 DDOUBL
024959,002787: 25,3414 20001 DDOUBL
024960,002788: 25,3415 52064 DXCH ITEMP3
024961,002789:
024962,002790: 25,3416 13345 TCF DGCHECK2
024963,002791:
024964,002792: 25,3417 10063 LRSCK CCS ITEMP3
024965,002793: 25,3420 13431 TCF +11
024966,002794: 25,3421 40064 CS ITEMP4
024967,002795: 25,3422 63441 AD HISCALIM
024968,002796: 25,3423 00006 EXTEND
024969,002797: 25,3424 63431 BZMF +5
024970,002798:
024971,002799: 25,3425 40107 CS FLGWRD11
024972,002800: 25,3426 74751 MASK SCABBIT
024973,002801: 25,3427 26107 ADS FLGWRD11
024974,002802: 25,3430 13434 TCF +4
024975,002803:
024976,002804: 25,3431 44751 CS SCABBIT
024977,002805: 25,3432 70107 MASK FLGWRD11
024978,002806: 25,3433 54107 TS FLGWRD11
024979,002807:
024980,002808: 25,3434 00006 EXTEND
024981,002809: 25,3435 30064 DCA ITEMP3
024982,002810: 25,3436 20001 DDOUBL
024983,002811: 25,3437 20001 DDOUBL
024984,002812: 25,3440 13344 TCF DASAMPL
024985,002813:
024986,002814: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
024987,002815:
|
|
Page 571
|
024989,002817: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024990,002818: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024991,002819: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024992,002820: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024993,002821: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024994,002822: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024995,002823: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024996,002824: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024997,002825: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024998,002826: 25,3453 60001 AD L
024999,002827: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
025000,002828: 25,3455 03263 TC RESAMPLE
025001,002829: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
025002,002830: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
025003,002831: 25,3460 00002 TC Q
025004,002832:
025005,002833: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
025006,002834: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
025007,002835: 25,3463 60061 AD ITEMP1
025008,002836: 25,3464 54110 TS RADMODES
025009,002837:
025010,002838: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
025011,002839: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
025012,002840: 25,3467 03616 TC RADLITES
025013,002841: 25,3470 13174 TCF NOMORE
025014,002842:
|
|
Page 572
|
025016,002844: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
025017,002845:
025018,002846: 25,2000 SETLOC P20S1
025019,002847: 25,2000 BANK
025020,002848:
025021,002849: 25,3471 COUNT* $$/RSUB
025022,002850: 25,3471 00004 LRPOS2 INHINT
025023,002851:
025024,002852: 25,3472 40110 CS RADMODES
025025,002853: 25,3473 74746 MASK BIT6 # SET BIT6 TO SHOW DESIRED LR POS IS 2
025026,002854: 25,3474 26110 ADS RADMODES
025027,002855:
025028,002856: 25,3475 34745 CAF BIT7
025029,002857: 25,3476 00006 EXTEND
025030,002858: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
025031,002859: 25,3500 00006 EXTEND
025032,002860: 25,3501 13530 BZF RADNOOP
025033,002861:
025034,002862: 25,3502 34737 CAF BIT13
025035,002863: 25,3503 00006 EXTEND
025036,002864: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
025037,002865: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
025038,002866: 25,3506 05203 TC WAITLIST
025039,002867: 25,3507 E7,1454 EBANK= LOSCOUNT
025040,002868: 25,3507 03543 52067 2CADR LRPOSCAN
025041,002869:
025042,002870: 25,3511 02366 TC ROADBACK
025043,002871:
025044,002872: 25,3512 55100 LRPOSNXT TS SAMPLIM
025045,002873: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
025046,002874: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
025047,002875:
025048,002876: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
025049,002877: 25,3516 00006 EXTEND
025050,002878: 25,3517 02033 RAND CHAN33
025051,002879: 25,3520 00006 EXTEND
025052,002880: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
025053,002881:
025054,002882: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
025055,002883: 25,3523 13512 TCF LRPOSNXT
025056,002884:
025057,002885: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
025058,002886: 25,3525 00006 EXTEND
025059,002887: 25,3526 03012 WAND CHAN12
025060,002888: 25,3527 13562 TCF RDBADEND
025061,002889:
025062,002890: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
025063,002891: 25,3531 05203 TC WAITLIST
025064,002892: 25,3532 E7,1454 EBANK= LOSCOUNT
025065,002893: 25,3532 03555 52067 2CADR RGOODEND
025066,002894:
|
|
Page 573
|
025068,002896: 25,3534 02366 TC ROADBACK
025069,002897:
025070,002898: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
025071,002899: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
025072,002900:
025073,002901: 25,3537 44737 CS BIT13 # REMOVE COMMAND
025074,002902: 25,3540 00006 EXTEND
025075,002903: 25,3541 03012 WAND CHAN12
025076,002904: 25,3542 13555 TCF RGOODEND
025077,002905:
025078,002906: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
025079,002907: 25,3544 13512 TCF LRPOSNXT
025080,002908:
025081,002909: 25,3545 01130 6SECS DEC 600 B-14
025082,002910:
|
|
Page 574
|
025084,002912: # SEQUENCES TO TERMINATE RR OPERATIONS.
025085,002913:
025086,002914: 25,3546 34745 ENDRADAR CAF BIT7 # PROLOG TO CHECK RR CDU FAIL BEFORE END.
025087,002915: 25,3547 70110 MASK RADMODES
025088,002916: 25,3550 10000 CCS A
025089,002917: 25,3551 13555 TCF RGOODEND
025090,002918: 25,3552 13562 TCF RDBADEND
025091,002919: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
025092,002920: 25,3554 54734 TS RUPTAGN
025093,002921:
025094,002922: 25,3555 34752 RGOODEND CAF TWO
025095,002923: 25,3556 04635 TC POSTJUMP
025096,002924: 25,3557 17640 CADR GOODEND
025097,002925:
025098,002926: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
025099,002927: 25,3561 54734 TS RUPTAGN
025100,002928: 25,3562 34752 RDBADEND CAF TWO
025101,002929: 25,3563 04635 TC POSTJUMP
025102,002930: 25,3564 17635 CADR BADEND
025103,002931:
025104,002932: 25,3565 6244 BIN3 EQUALS THREE
025105,002933:
|
|
Page 575
|
025107,002935: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
025108,002936: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025109,002937:
025110,002938:
025111,002939: # FUNCTIONAL DESCRIPTION_
025112,002940:
025113,002941: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
025114,002942: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
025115,002943: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
025116,002944:
025117,002945:
025118,002946: # CALLING SEQUENCE CALL
025119,002947: # LPS20.1
025120,002948:
025121,002949: # SUBROUTINES CALLED_
025122,002950:
025123,002951: # LEMPREC,CSMPREC
025124,002952:
025125,002953:
025126,002954: # NORMAL EXIT_ RETURN TO CALLER + 2
025127,002955:
025128,002956:
025129,002957: # ERROR EXITS_ NONE
025130,002958:
025131,002959:
025132,002960: # ALARMS_ NONE
025133,002961:
025134,002962:
025135,002963: # OUTPUT_
025136,002964:
025137,002965: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
025138,002966: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
025139,002967: # RRNBSW CLEARED
025140,002968:
025141,002969:
025142,002970: # INITIALIZED ERASEABLE
025143,002971:
025144,002972: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
025145,002973: # SEE ORBITAL INTEGRATION ROUTINE
025146,002974:
025147,002975:
025148,002976: # DEBRIS_
025149,002977:
025150,002978: # MPAC DESTROYED BY THIS ROUTINE
025151,002979:
025152,002980: 23,2275 BANK 23
025153,002981: 24,2000 SETLOC P20S
025154,002982: 24,2000 BANK
025155,002983:
|
|
Page 576
|
025157,002985: 24,3151 COUNT* $$/LPS20
025158,002986:
025159,002987: 24,3151 43020 LPS20.1 STQ BOFF
025160,002988: 24,3152 01757 LS21X
025161,002989: 24,3153 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
025162,002990: 24,3154 51160 LMINT # SO CALL LEMCONIC TO GET LM STATE
025163,002991: 24,3155 77614 BON # IF IN R21 AND ON LUNAR SURFACE
025164,002992: 24,3156 04307 SURFFLAG # DON'T CALL LEMCONIC
025165,002993: 24,3157 51170 CSMINT
025166,002994: 24,3160 77624 LMINT CALL
025167,002995: 24,3161 27100 LEMCONIC # EXTRAPOLATE LEM
025168,002996: 24,3162 77775 VLOAD
025169,002997: 24,3163 00001 RATT
025170,002998: 24,3164 26356 STOVL LMPOS # SAVE LM POSITION B-29
025171,002999: 24,3165 00007 VATT
025172,003000: 24,3166 16364 STODL LMVEL # SAVE LM VELOCITY B-7
025173,003001: 24,3167 00015 TAT
025174,003002: 24,3170 34041 CSMINT STCALL TDEC1
025175,003003: 24,3171 27066 CSMCONIC # EXTRAPOLATE CSM
025176,003004: 24,3172 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
025177,003005: 24,3173 00007 VATT
025178,003006: 24,3174 02364 LMVEL
025179,003007: 24,3175 76521 MXV VSL1
025180,003008: 24,3176 01734 REFSMMAT
025181,003009: 24,3177 77776 EXIT
025182,003010: 24,3200 00004 INHINT
025183,003011: 24,3201 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
025184,003012: 24,3202 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
025185,003013: 24,3203 06036 TC INTPRET
025186,003014: 24,3204 25761 STOVL LOSVEL
025187,003015: 24,3205 00001 RATT
025188,003016: 24,3206 43051 VSU BOFF
025189,003017: 24,3207 02356 LMPOS
025190,003018: 24,3210 00350 RNDVZFLG
025191,003019: 24,3211 51217 NOTSHIFT
025192,003020: 24,3212 77604 BOVB
025193,003021: 24,3213 57725 TCDANZIG
025194,003022: 24,3214 41061 VSL BOVB
025195,003023: 24,3215 20212 9D
025196,003024: 24,3216 50123 526ALARM
025197,003025: 24,3217 77656 NOTSHIFT UNIT
025198,003026: 24,3220 76521 MXV VSL1
025199,003027: 24,3221 01734 REFSMMAT # CONVERT TO STABLE MEMBER
025200,003028: 24,3222 15102 STODL RRTARGET
025201,003029: 24,3223 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
025202,003030: 24,3224 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
025203,003031: 24,3225 77614 CLRGO
025204,003032: 24,3226 00231 RRNBSW
025205,003033: 24,3227 01757 LS21X
025206,003034:
|
|
Page 577
|
025208,003036: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
025209,003037: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025210,003038:
025211,003039:
025212,003040: # FUNCTIONAL DESCRIPTION_
025213,003041:
025214,003042: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025215,003043:
025216,003044:
025217,003045: # CALLING SEQUENCE CALL
025218,003046: # LPS20.2
025219,003047:
025220,003048:
025221,003049: # SUBROUTINES CALLED_ NONE
025222,003050:
025223,003051:
025224,003052: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025225,003053:
025226,003054:
025227,003055: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025228,003056:
025229,003057:
025230,003058: # ALARMS_ NONE
025231,003059:
025232,003060:
025233,003061: # OUTPUT_ NONE
025234,003062:
025235,003063:
025236,003064: # INITIALIZED ERASEABLE_
025237,003065:
025238,003066: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025239,003067: # DEBRIS
025240,003068:
025241,003069: # MPAC DESTROYED BY THIS ROUTINE
025242,003070:
025243,003071: 25,2000 SETLOC P20S1
025244,003072: 25,2000 BANK
025245,003073: 25,3565 COUNT* $$/LPS20
025246,003074:
025247,003075: 25,3565 45345 LPS20.2 DLOAD DSU
025248,003076: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
025249,003077: 25,3567 13600 FHNM # OVER 400NM _
025250,003078: 25,3570 77644 BPL
025251,003079: 25,3571 53574 TOFAR
025252,003080: 25,3572 43535 SLOAD RVQ
025253,003081: 25,3573 06424 ZERO/SP
025254,003082: 25,3574 43535 TOFAR SLOAD RVQ
025255,003083: 25,3575 13577 ONE/SP
025256,003084: 25,3576 00001 ONE/SP DEC 1 B-14
025257,003085:
|
|
Page 578
|
025259,003087: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
025260,003088:
|
|
Page 579
|
025262,003090: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025263,003091: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
025264,003092:
025265,003093:
025266,003094: # FUNCTIONAL DESCRIPTION
025267,003095:
025268,003096: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025269,003097: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025270,003098: # RR REPOSITION AND RR CDU FAIL
025271,003099:
025272,003100: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025273,003101:
025274,003102:
025275,003103: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
025276,003104:
025277,003105:
025278,003106: # SUBROUTINES CALLED:
025279,003107:
025280,003108: # RRRDOT LPS20.1
025281,003109: # RRRANGE BANKCALL
025282,003110: # RADSTALL CDULOGIC
025283,003111: # RRNB SMNB
025284,003112: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025285,003113:
025286,003114:
025287,003115: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025288,003116:
025289,003117: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025290,003118: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025291,003119:
025292,003120:
025293,003121: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025294,003122: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025295,003123:
025296,003124:
025297,003125: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025298,003126: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025299,003127:
025300,003128: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025301,003129:
025302,003130: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025303,003131: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025304,003132: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025305,003133: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025306,003134: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025307,003135:
025308,003136:
025309,003137: # ERASABLE INITIALIZATION REQUIRED:
025310,003138:
025311,003139: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
025312,003140:
|
|
Page 580
|
025314,003142: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025315,003143: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025316,003144:
025317,003145: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025318,003146:
025319,003147:
025320,003148: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
025321,003149:
025322,003150: 32,2376 BANK 32
025323,003151: 32,2000 SETLOC LRS22
025324,003152: 32,2000 BANK
025325,003153: 32,2376 COUNT* $$/LRS22
025326,003154:
025327,003155: 32,2376 04645 LRS22.1 TC MAKECADR
025328,003156: 32,2377 55735 TS LRS22.1X
025329,003157: 32,2400 05516 TC DOWNFLAG
025330,003158: 32,2401 00120 ADRES RNGSCFLG
025331,003159: 32,2402 00004 INHINT
025332,003160: 32,2403 34751 CAF BIT3
025333,003161: 32,2404 00006 EXTEND # GET RR RANGE SCALE
025334,003162: 32,2405 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025335,003163: 32,2406 54001 TS L
025336,003164: 32,2407 44751 CS BIT3 # AND SET IN RADMODES BIT3
025337,003165: 32,2410 70110 MASK RADMODES
025338,003166: 32,2411 60001 AD L
025339,003167: 32,2412 54110 TS RADMODES
025340,003168: 32,2413 00003 RELINT
025341,003169: 32,2414 04616 READRDOT TC BANKCALL
025342,003170: 32,2415 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025343,003171: 32,2416 04616 TC BANKCALL
025344,003172: 32,2417 17667 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025345,003173: 32,2420 12540 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025346,003174:
025347,003175: 32,2421 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025348,003176: 32,2422 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025349,003177: 32,2423 53753 DXCH MKTIME # TIME OF THE RANGE-RATE READING
025350,003178: 32,2424 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025351,003179: 32,2425 53745 DXCH RDOTMSAV
025352,003180: 32,2426 00006 EXTEND
025353,003181: 32,2427 30034 DCA CDUY # SAVE ICDU ANGLES
025354,003182: 32,2430 53456 DXCH AIG
025355,003183: 32,2431 30032 CA CDUX
025356,003184: 32,2432 55457 TS AOG
025357,003185: 32,2433 00006 EXTEND
025358,003186: 32,2434 30025 DCA TIME2 # SAVE TIME
025359,003187: 32,2435 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025360,003188: 32,2436 00006 EXTEND
025361,003189: 32,2437 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025362,003190: 32,2440 53110 DXCH TANG
025363,003191:
|
|
Page 581
|
025365,003193: 32,2441 00003 RELINT
025366,003194: 32,2442 04616 TC BANKCALL
025367,003195: 32,2443 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025368,003196: 32,2444 04616 TC BANKCALL
025369,003197: 32,2445 17667 CADR RADSTALL # WAIT FOR READ COMPLETE
025370,003198: 32,2446 02534 TC CHEXERR # CHECK FOR ERRORS DURING READ
025371,003199: 32,2447 06036 TC INTPRET
025372,003200: 32,2450 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025373,003201: 32,2451 03745 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
025374,003202: 32,2452 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025375,003203: 32,2453 20217 14D # FT./SECOND PER BIT
025376,003204: 32,2454 24012 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025377,003205: 32,2455 17747 STODL RDOTM # STORE FOR USE BY LSR22.3
025378,003206: 32,2456 01110 TANG
025379,003207: 32,2457 03751 STORE TANGNB
025380,003208: 32,2460 47135 SLOAD RTB
025381,003209: 32,2461 01110 TANG # GET TRUNION ANGLE
025382,003210: 32,2462 21465 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025383,003211: 32,2463 03732 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025384,003212: 32,2464 47135 SLOAD RTB
025385,003213: 32,2465 01111 TANG +1 # DITTO FOR SHAFT ANGLE
025386,003214: 32,2466 21465 CDULOGIC
025387,003215: 32,2467 17734 STODL RRSHAFT
025388,003216: 32,2470 01102 SAMPLSUM
025389,003217: 32,2471 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025390,003218: 32,2472 24014 RANGCONV # PER BIT, END WITH METERS,SCALED -29
025391,003219: 32,2473 37755 STCALL RM
025392,003220: 32,2474 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025393,003221: 32,2475 17737 STODL RRBORSIT # AND SAVE
025394,003222: 32,2476 00025 20D
025395,003223: 32,2477 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025396,003224: 32,2500 51151 LPS20.1
025397,003225: 32,2501 77776 EXIT
025398,003226: 32,2502 31455 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025399,003227: 32,2503 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025400,003228: 32,2504 31456 CA AMG
025401,003229: 32,2505 54770 TS CDUSPOT +2
025402,003230: 32,2506 31457 CA AOG
025403,003231: 32,2507 54772 TS CDUSPOT +4
025404,003232: 32,2510 06036 TC INTPRET
025405,003233: 32,2511 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025406,003234: 32,2512 01102 RRTARGET
025407,003235: 32,2513 47555 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025408,003236: 32,2514 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025409,003237: 32,2515 03737 RRBORSIT
025410,003238: 32,2516 65552 SL1 ACOS # BETWEEN THEM
025411,003239: 32,2517 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025412,003240: 32,2520 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025413,003241: 32,2521 24544 THREEDEG
025414,003242: 32,2522 64527 NORMEXIT # YES-NORMAL EXIT
025415,003243:
|
|
Page 582
|
025417,003245:
025418,003246: 32,2523 77776 EXIT # ERROR EXIT 2
025419,003247: 32,2524 34752 CAF BIT2 # SET ERROR CODE
025420,003248: 32,2525 54154 TS MPAC
025421,003249: 32,2526 12532 TCF OUT22.1
025422,003250:
025423,003251: 32,2527 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
025424,003252: 32,2530 34755 CAF ZERO
025425,003253: 32,2531 54154 TS MPAC
025426,003254: 32,2532 31735 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025427,003255: 32,2533 04640 TC BANKJUMP
025428,003256: 32,2534 30101 CHEXERR CAE FLAGWRD5
025429,003257: 32,2535 74742 MASK RNGSCBIT
025430,003258: 32,2536 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025431,003259: 32,2537 12414 TCF READRDOT # YES-TAKE ANOTHER READING
025432,003260:
025433,003261: 32,2540 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025434,003262: 32,2541 54154 TS MPAC
025435,003263: 32,2542 02532 TC OUT22.1
025436,003264: 32,2543 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
025437,003265: 32,2545 1101 RRLOSVEC EQUALS RRTARGET
025438,003266:
|
|
Page 583
|
025440,003268: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025441,003269:
025442,003270:
025443,003271: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
025444,003272:
025445,003273: # FUNCTIONAL DESCRIPTION-
025446,003274:
|
|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003)
|
025448,003276: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025449,003277:
025450,003278:
025451,003279: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025452,003280:
025453,003281:
025454,003282: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
025455,003283: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025456,003284:
025457,003285:
025458,003286: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025459,003287:
025460,003288:
025461,003289: # ALARMS - NONE IN THE AUTO MODE
025462,003290:
025463,003291:
025464,003292: # ERASABLE INITIALIZATION REQUIRED -
025465,003293: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025466,003294: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025467,003295: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025468,003296:
025469,003297:
025470,003298: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025471,003299:
025472,003300: 24,2000 SETLOC P20S
025473,003301: 24,2000 BANK
025474,003302: 24,3230 04645 LRS22.2 TC MAKECADR
025475,003303: 24,3231 55735 TS LRS22.1X
025476,003304: 24,3232 06036 TC INTPRET
025477,003305: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025478,003306: 24,3233 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025479,003307: 24,3234 03743 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
025480,003308: # LOS VECTOR,A HALF UNIT VECTOR
025481,003309: # IN NAV BASE AXES)
025482,003310: 24,3235 50025 DSU BMN
025483,003311: 24,3236 11252 30DEG
025484,003312: 24,3237 51244 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
025485,003313: 24,3240 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
025486,003314: 24,3241 34753 CAF BIT1 # SET ERROR CODE IN MPAC
025487,003315: 24,3242 54154 TS MPAC
025488,003316: 24,3243 13247 TCF OUT22.2
025489,003317: 24,3244 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
025490,003318:
|
|
Page 584
|
025492,003320: 24,3245 34755 CAF ZERO
025493,003321: 24,3246 54154 TS MPAC
025494,003322: 24,3247 31735 OUT22.2 CAE LRS22.1X
025495,003323: 24,3250 04640 TC BANKJUMP
025496,003324:
025497,003325: 24,3251 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
025498,003326:
|
|
Page 585
|
025500,003328: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
025501,003329: # MOD. NO 3 LOG SECTION - P20-25
025502,003330: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
025503,003331:
025504,003332: # FUNCTIONAL DESCRIPTION
025505,003333:
025506,003334: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025507,003335: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025508,003336: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025509,003337:
025510,003338: # CALLING SEQUENCE
025511,003339: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025512,003340: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025513,003341: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025514,003342: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025515,003343: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025516,003344: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
025517,003345:
025518,003346:
025519,003347: # SUBROUTINES CALLED
025520,003348: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
025521,003349: # GETULC RARARANG INCORP2 NBSM INTSTALL
025522,003350:
025523,003351: # OUTPUT
025524,003352: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025525,003353: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025526,003354: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025527,003355: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025528,003356: # UPDATED W-MATRIX
025529,003357:
025530,003358:
025531,003359: # ERASABLE INITIALIZATION REQUIRED
025532,003360: # LM AND CSM STATE VECTORS
025533,003361: # W-MATRIX
025534,003362: # MARK TIME IN MKTIME
025535,003363: # RADAR RANGE IN RM METERS B-29
025536,003364: # RANGE RATE IN RDOTM METERS/CSES B-7
025537,003365: # SHAFT ANGLE IN RRSHAFT REVS.B0
025538,003366: # TRUNNION ANGLE IN RRTRUN REVS. B0
025539,003367: # GIMBAL ANGLES INNER IN AIG
025540,003368: # MIDDLE IN AMG
025541,003369: # OUTER IN AOG
025542,003370: # REFSMMAT
025543,003371: # RENDWFLG
025544,003372: # NOANGFLG
025545,003373: # VEHUPFLG
025546,003374:
025547,003375: # DEBRIS
025548,003376: # PUSHLIST--ALL
025549,003377: # MX, MY, MZ (VECTORS)
025550,003378:
|
|
Page 586
|
025552,003380: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025553,003381:
025554,003382: 13,2207 BANK 13
025555,003383: 26,2000 SETLOC P20S3
025556,003384: 26,2000 BANK
025557,003385:
025558,003386: 26,2370 E7,1454 EBANK= LOSCOUNT
025559,003387: 26,2370 COUNT* $$/LSR22
025560,003388: 26,2370 77624 LSR22.3 CALL
025561,003389: 26,2371 11165 GRP2PC
025562,003390: 26,2372 43014 BON SET
025563,003391: 26,2373 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
025564,003392: 26,2374 55143 LSR22.4 # YES
025565,003393: 26,2375 02466 DMENFLG
025566,003394: 26,2376 45014 BOFF CALL
025567,003395: 26,2377 00747 VEHUPFLG
025568,003396: 26,2400 54432 DOLEM
025569,003397: 26,2401 27412 INTSTALL
025570,003398: 26,2402 45014 CLEAR CALL # LM PRECISION INTEGRATION
025571,003399: 26,2403 01674 VINTFLAG
025572,003400: 26,2404 26644 SETIFLGS
025573,003401: 26,2405 77624 CALL
025574,003402: 26,2406 55205 INTGRCAL
025575,003403: 26,2407 77624 CALL
025576,003404: 26,2410 11165 GRP2PC
025577,003405: 26,2411 77624 CALL
025578,003406: 26,2412 27412 INTSTALL
025579,003407: 26,2413 43014 CLEAR BOFF
025580,003408: 26,2414 01676 DIM0FLAG
025581,003409: 26,2415 02756 RENDWFLG
025582,003410: 26,2416 54422 NOTWCSM
025583,003411: 26,2417 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
025584,003412: 26,2420 01476 DIM0FLAG
025585,003413: 26,2421 01475 D6OR9FLG
025586,003414: 26,2422 43014 NOTWCSM SET CLEAR
025587,003415: 26,2423 01474 VINTFLAG
025588,003416: 26,2424 01673 INTYPFLG
025589,003417: 26,2425 45014 SET CALL
025590,003418: 26,2426 01472 STATEFLG
025591,003419: 26,2427 55205 INTGRCAL
025592,003420: 26,2430 77650 GOTO
025593,003421: 26,2431 54462 MARKTEST
025594,003422: 26,2432 77624 DOLEM CALL
025595,003423: 26,2433 27412 INTSTALL
025596,003424: 26,2434 45014 SET CALL
025597,003425: 26,2435 01474 VINTFLAG
025598,003426: 26,2436 26644 SETIFLGS
025599,003427: 26,2437 77624 CALL
025600,003428: 26,2440 55205 INTGRCAL
025601,003429:
|
|
Page 587
|
025603,003431: 26,2441 77624 CALL
025604,003432: 26,2442 11165 GRP2PC
025605,003433: 26,2443 77624 CALL
025606,003434: 26,2444 27412 INTSTALL
025607,003435: 26,2445 43014 CLEAR BOFF
025608,003436: 26,2446 01676 DIM0FLAG
025609,003437: 26,2447 02756 RENDWFLG
025610,003438: 26,2450 54454 NOTWLEM
025611,003439: 26,2451 43014 SET SET # LM WITH W-MATRIX INTEGRATION
025612,003440: 26,2452 01476 DIM0FLAG
025613,003441: 26,2453 01475 D6OR9FLG
025614,003442: 26,2454 43014 NOTWLEM CLEAR CLEAR
025615,003443: 26,2455 01673 INTYPFLG
025616,003444: 26,2456 01674 VINTFLAG
025617,003445: 26,2457 45014 SET CALL
025618,003446: 26,2460 01472 STATEFLG
025619,003447: 26,2461 55205 INTGRCAL
025620,003448: 26,2462 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
025621,003449: 26,2463 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
025622,003450: 26,2464 54474 RANGEBQ
025623,003451: 26,2465 55214 WLINIT # YES - REINITIALIZE
025624,003452: 26,2466 77776 EXIT
025625,003453: 26,2467 34755 CA ZERO
025626,003454: 26,2470 55743 TS R65CNTR
025627,003455: 26,2471 04616 TC BANKCALL
025628,003456: 26,2472 46105 CADR R65LEM
025629,003457: 26,2473 06036 TC INTPRET
025630,003458: 26,2474 43174 RANGEBQ AXT,2 BON # CLEAR X2.
025631,003459: 26,2475 00000 0
025632,003460: 26,2476 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
025633,003461: 26,2477 54502 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
025634,003462: 26,2500 77714 INCR,2
025635,003463: 26,2501 00002 2
025636,003464: 26,2502 45134 SETX2 SXA,2 CALL
025637,003465: 26,2503 03716 SCALSHFT # 0-MOON. 2-EARTH
025638,003466: 26,2504 11165 GRP2PC
025639,003467: 26,2505 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
025640,003468: 26,2506 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
025641,003469: 26,2507 20635 28D
025642,003470: 26,2510 77634 RTB
025643,003471: 26,2511 21537 TPMODE # AND SAVE IN 20D
025644,003472: 26,2512 00025 STORE 20D
025645,003473: 26,2513 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
025646,003474: 26,2514 55276 GETULC # B-VECTORS FOR RANGE
025647,003475: 26,2515 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025648,003476: 26,2516 00707 VEHUPFLG
025649,003477: 26,2517 54520 +1
025650,003478: 26,2520 27523 STOVL BVECTOR
025651,003479: 26,2521 06424 ZEROVECS
025652,003480: 26,2522 03531 STORE BVECTOR +6 # B1
025653,003481:
|
|
Page 588
|
025655,003483: 26,2523 17537 STODL BVECTOR +12D # B2
025656,003484: 26,2524 00045 36D
025657,003485: 26,2525 44257 SRR* BDSU
025658,003486: 26,2526 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
025659,003487: 26,2527 03755 RM # RM - (MAGNITUDE RCSM-RLM)
025660,003488: 26,2530 77657 SLR*
025661,003489: 26,2531 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
025662,003490: 26,2532 17545 STODL DELTAQ # EARTH B-29. MOON B-27
025663,003491: 26,2533 00045 36D # RLC B-29/B-27
025664,003492: 26,2534 63501 NORM DSQ # NORMALIZE AND SQUARE
025665,003493: 26,2535 00047 X1
025666,003494: 26,2536 53605 DMP SR*
025667,003495: 26,2537 01771 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
025668,003496: 26,2540 20577 0 -2,1 # UNNORMALIZE
025669,003497: 26,2541 53657 SR* SR*
025670,003498: 26,2542 20601 0,1
025671,003499: 26,2543 57176 0,2
025672,003500: 26,2544 47057 SR* RTB
025673,003501: 26,2545 57176 0,2
025674,003502: 26,2546 21537 TPMODE
025675,003503: 26,2547 02707 STORE VARIANCE # B-40
025676,003504: 26,2550 76276 DCOMP TAD
025677,003505: 26,2551 00025 20D # B-40
025678,003506: 26,2552 72240 BMN TLOAD
025679,003507: 26,2553 54556 QOK
025680,003508: 26,2554 00025 20D # B-40
025681,003509: 26,2555 02707 STORE VARIANCE
025682,003510: 26,2556 77624 QOK CALL
025683,003511: 26,2557 55344 LGCUPDTE
025684,003512:
025685,003513: 26,2560 77624 CALL
025686,003514: 26,2561 11165 GRP2PC
025687,003515: 26,2562 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
025688,003516: 26,2563 55276 GETULC
025689,003517: 26,2564 53725 PDDL SR* # GET RLC SCALED B-29/B-27
025690,003518: 26,2565 00045 36D # AND SHIFT TO B-23
025691,003519: 26,2566 57202 0 -4,2
025692,003520: 26,2567 24045 STOVL 36D # THEN STORE BACK IN 36D
025693,003521: 26,2570 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
025694,003522: 26,2571 00707 VEHUPFLG
025695,003523: 26,2572 54573 +1
025696,003524: 26,2573 77761 VXSC
025697,003525: 26,2574 00045 36D # B1 = RLC (B-24/B-22)
025698,003526: 26,2575 27531 STOVL BVECTOR +6
025699,003527: 26,2576 01653 NUVLEM
025700,003528: 26,2577 53257 VSR* VAD
025701,003529: 26,2600 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025702,003530: 26,2601 01667 VCVLEM # EARTH B-7. MOON B-5
025703,003531: 26,2602 53715 PDVL VSR* # VL TO PD6
025704,003532: 26,2603 01601 NUVCSM
025705,003533:
|
|
Page 589
|
025707,003535: 26,2604 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025708,003536: 26,2605 52255 VAD VSU
025709,003537: 26,2606 01615 VCVCSM
025710,003538: 26,2607 50315 PDVL DOT # VC - VL = VLC TO PD6
025711,003539: 26,2610 00001 0
025712,003540: 26,2611 00007 6
025713,003541: 26,2612 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025714,003542: 26,2613 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025715,003543: 26,2614 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025716,003544: 26,2615 01773 RATEVAR
025717,003545: 26,2616 02707 STORE VARIANCE
025718,003546: 26,2617 54335 SLOAD SR
025719,003547: 26,2620 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025720,003548: 26,2621 20621 16D # SHIFT TO DP (B -4)
025721,003549: 26,2622 00031 STORE 24D # AND SAVE IN 24D
025722,003550: 26,2623 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025723,003551: 26,2624 02707 VARIANCE
025724,003552: 26,2625 54631 VOK # BRANCH - NO
025725,003553: 26,2626 77745 DLOAD # YES - USE MINIMUM VARIANCE
025726,003554: 26,2627 00031 24D
025727,003555: 26,2630 02707 STORE VARIANCE
025728,003556: 26,2631 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
025729,003557: 26,2632 53725 PDDL SLR* # TO B-10/B-8
025730,003558: 26,2633 03747 RDOTM # SHIFT TO EARTH/MOON SPHERE
025731,003559: 26,2634 56577 0 -1,2 # B-7 TO B-10/B-8
025732,003560: 26,2635 77625 DSU
025733,003561: 26,2636 77675 DMPR
025734,003562: 26,2637 00045 36D
025735,003563: 26,2640 27545 STOVL DELTAQ # B-33
025736,003564: 26,2641 00001 0 # NOW GET B0
025737,003565: 26,2642 47235 VXV VXV # (ULC X VLC) X ULC
025738,003566: 26,2643 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025739,003567: 26,2644 00707 VEHUPFLG
025740,003568: 26,2645 54646 +1
025741,003569: 26,2646 77657 VSR*
025742,003570: 26,2647 57200 0 -2,2 # SCALED B-5
025743,003571: 26,2650 27523 STOVL BVECTOR
025744,003572: 26,2651 06424 ZEROVECS
025745,003573: 26,2652 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025746,003574: 26,2653 27537 STOVL BVECTOR +12D
025747,003575: 26,2654 03523 BVECTOR
025748,003576: 26,2655 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025749,003577: 26,2656 00025 20D # SHIFT COUNT IN 20D
025750,003578: 26,2657 51575 VLOAD ABVAL
025751,003579: 26,2660 03531 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025752,003580: 26,2661 71301 NORM DLOAD
025753,003581: 26,2662 00027 22D # SHIFT COUNT IN 22D
025754,003582: 26,2663 00027 22D # FIND WHICH SHIFT IS SMALLER
025755,003583: 26,2664 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
025756,003584: 26,2665 00025 20D
025757,003585:
|
|
Page 590
|
025759,003587: 26,2666 54672 VOK1
025760,003588: 26,2667 52150 LXA,1 GOTO
025761,003589: 26,2670 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025762,003590: 26,2671 54674 VOK2
025763,003591: 26,2672 77750 VOK1 LXA,1
025764,003592: 26,2673 00024 20D
025765,003593: 26,2674 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025766,003594: 26,2675 03523 BVECTOR # WITH THI SSHIFT COUNT
025767,003595: 26,2676 20201 0,1
025768,003596: 26,2677 27523 STOVL BVECTOR
025769,003597: 26,2700 03531 BVECTOR +6
025770,003598: 26,2701 77657 VSL*
025771,003599: 26,2702 20201 0,1
025772,003600: 26,2703 17531 STODL BVECTOR +6
025773,003601: 26,2704 03545 DELTAQ
025774,003602: 26,2705 77657 SL*
025775,003603: 26,2706 20201 0,1
025776,003604: 26,2707 03545 STORE DELTAQ
025777,003605: 26,2710 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025778,003606: 26,2711 00045 36D
025779,003607: 26,2712 20200 0 -1,1
025780,003608: 26,2713 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025781,003609: 26,2714 02707 VARIANCE
025782,003610: 26,2715 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025783,003611: 26,2716 21537 TPMODE
025784,003612: 26,2717 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025785,003613: 26,2720 55344 LGCUPDTE
025786,003614:
025787,003615: 26,2721 77624 CALL
025788,003616: 26,2722 11165 GRP2PC
025789,003617: 26,2723 77414 BON EXIT # ARE ANGLES TO BE DONE
025790,003618: 26,2724 04307 SURFFLAG
025791,003619: 26,2725 55141 RENDEND # NO
025792,003620: 26,2726 E7,1455 EBANK= AIG
025793,003621: 26,2726 33275 MXMYMZ CAF AIGBANK
025794,003622: 26,2727 54006 TS BBANK
025795,003623: 26,2730 31455 CA AIG # YES, COMPUTE MX, MY, MZ
025796,003624: 26,2731 54766 TS CDUSPOT
025797,003625: 26,2732 31456 CA AMG
025798,003626: 26,2733 54770 TS CDUSPOT +2
025799,003627: 26,2734 31457 CA AOG
025800,003628: 26,2735 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025801,003629: 26,2736 06036 TC INTPRET
025802,003630: 26,2737 45175 VLOAD CALL
025803,003631: 26,2740 06422 UNITX
025804,003632: 26,2741 47570 TRG*NBSM
025805,003633: 26,2742 76505 VXM VSL1
025806,003634: 26,2743 01734 REFSMMAT
025807,003635: 26,2744 27675 STOVL MX
025808,003636: 26,2745 06420 UNITY
025809,003637:
|
|
Page 591
|
025811,003639: 26,2746 77624 CALL
025812,003640: 26,2747 47577 *NBSM*
025813,003641: 26,2750 76505 VXM VSL1
025814,003642: 26,2751 01734 REFSMMAT
025815,003643: 26,2752 27703 STOVL MY
025816,003644: 26,2753 06416 UNITZ
025817,003645: 26,2754 77624 CALL
025818,003646: 26,2755 47577 *NBSM*
025819,003647: 26,2756 76505 VXM VSL1
025820,003648: 26,2757 01734 REFSMMAT
025821,003649: 26,2760 37711 SHAFTBQ STCALL MZ
025822,003650: 26,2761 55324 RADARANG
025823,003651: 26,2762 77624 CALL
025824,003652: 26,2763 11165 GRP2PC
025825,003653: 26,2764 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025826,003654: 26,2765 03722 ULC
025827,003655: 26,2766 03675 MX
025828,003656: 26,2767 77752 SL1
025829,003657: 26,2770 24023 STOVL SINTH # 18D
025830,003658: 26,2771 03722 ULC
025831,003659: 26,2772 72441 DOT SL1
025832,003660: 26,2773 03711 MZ
025833,003661: 26,2774 34021 STCALL COSTH # 16D
025834,003662: 26,2775 26510 ARCTAN
025835,003663: 26,2776 41221 BDSU DMP
025836,003664: 26,2777 03734 RRSHAFT
025837,003665: 26,3000 15404 2PI/8
025838,003666: 26,3001 41472 SL3R PUSH
025839,003667: 26,3002 52545 DLOAD SL3
025840,003668: 26,3003 01701 X789
025841,003669: 26,3004 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025842,003670: 26,3005 56176 0,2
025843,003671: 26,3006 53605 DMP SRR*
025844,003672: 26,3007 03720 RXZ
025845,003673: 26,3010 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025846,003674: 26,3011 27545 STOVL DELTAQ # EARTH B-29. MOON B-27
025847,003675: 26,3012 03722 ULC
025848,003676: 26,3013 76435 VXV VSL1
025849,003677: 26,3014 03703 MY
025850,003678: 26,3015 77656 UNIT
025851,003679: 26,3016 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025852,003680: 26,3017 00747 VEHUPFLG
025853,003681: 26,3020 55021 +1
025854,003682: 26,3021 27523 STOVL BVECTOR
025855,003683: 26,3022 06424 ZEROVECS
025856,003684: 26,3023 03531 STORE BVECTOR +6
025857,003685: 26,3024 17537 STODL BVECTOR +12D
025858,003686: 26,3025 03720 RXZ
025859,003687: 26,3026 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025860,003688: 26,3027 20577 0 -2,1
025861,003689:
|
|
Page 592
|
025863,003691: 26,3030 56176 0,2
025864,003692: 26,3031 03537 STORE BVECTOR +12D
025865,003693: 26,3032 77735 SLOAD
025866,003694: 26,3033 02011 SHAFTVAR
025867,003695: 26,3034 41215 DAD DMP
025868,003696: 26,3035 15401 IMUVAR # RAD**2 B12
025869,003697: 26,3036 03720 RXZ
025870,003698: 26,3037 41257 SRR* DMP
025871,003699: 26,3040 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025872,003700: 26,3041 03720 RXZ
025873,003701: 26,3042 53657 SR* SR*
025874,003702: 26,3043 20577 0 -2,1
025875,003703: 26,3044 57176 0,2
025876,003704: 26,3045 47057 SR* RTB
025877,003705: 26,3046 57176 0,2
025878,003706: 26,3047 21537 TPMODE # STORE VARIANCE TRIPLE PRECISION
025879,003707: 26,3050 36707 STCALL VARIANCE # B-40
025880,003708: 26,3051 55344 LGCUPDTE
025881,003709:
025882,003710: 26,3052 77624 CALL
025883,003711: 26,3053 11165 GRP2PC
025884,003712: 26,3054 77624 TRUNBQ CALL
025885,003713: 26,3055 55324 RADARANG
025886,003714: 26,3056 77624 CALL
025887,003715: 26,3057 11165 GRP2PC
025888,003716: 26,3060 47375 VLOAD VXV
025889,003717: 26,3061 03722 ULC
025890,003718: 26,3062 03703 MY
025891,003719: 26,3063 47372 VSL1 VXV
025892,003720: 26,3064 03722 ULC
025893,003721: 26,3065 77772 VSL1 # (ULC X MY) X ULC
025894,003722: 26,3066 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025895,003723: 26,3067 00747 VEHUPFLG
025896,003724: 26,3070 55071 +1
025897,003725: 26,3071 27523 STOVL BVECTOR
025898,003726: 26,3072 06424 ZEROVECS
025899,003727: 26,3073 03531 STORE BVECTOR +6
025900,003728: 26,3074 17537 STODL BVECTOR +12D
025901,003729: 26,3075 03720 RXZ
025902,003730: 26,3076 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025903,003731: 26,3077 20577 0 -2,1
025904,003732: 26,3100 56176 0,2
025905,003733: 26,3101 03541 STORE BVECTOR +14D
025906,003734: 26,3102 77735 SLOAD
025907,003735: 26,3103 02012 TRUNVAR
025908,003736: 26,3104 41215 DAD DMP
025909,003737: 26,3105 15401 IMUVAR
025910,003738: 26,3106 03720 RXZ
025911,003739: 26,3107 41257 SRR* DMP
025912,003740: 26,3110 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025913,003741:
|
|
Page 593
|
025915,003743: 26,3111 03720 RXZ
025916,003744: 26,3112 53657 SR* SR*
025917,003745: 26,3113 20577 0 -2,1
025918,003746: 26,3114 57176 0,2
025919,003747: 26,3115 47057 SR* RTB
025920,003748: 26,3116 57176 0,2
025921,003749: 26,3117 21537 TPMODE # STORE VARIANCE TRIPLE PRECISION
025922,003750: 26,3120 16707 STODL VARIANCE
025923,003751: 26,3121 03730 SINTHETA
025924,003752: 26,3122 44336 ASIN BDSU # SIN THETA IN PD6
025925,003753: 26,3123 03732 RRTRUN
025926,003754: 26,3124 56405 DMP SL3R
025927,003755: 26,3125 15404 2PI/8
025928,003756: 26,3126 52525 PDDL SL3
025929,003757: 26,3127 01703 X789 +2
025930,003758: 26,3130 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025931,003759: 26,3131 56176 0,2
025932,003760: 26,3132 53605 DMP SRR*
025933,003761: 26,3133 03720 RXZ
025934,003762: 26,3134 21601 0,1
025935,003763: 26,3135 37545 STCALL DELTAQ # EARTH B-29. MOON B-27
025936,003764: 26,3136 55344 LGCUPDTE
025937,003765: 26,3137 77624 CALL
025938,003766: 26,3140 11165 GRP2PC
025939,003767: 26,3141 77650 RENDEND GOTO
025940,003768: 26,3142 50614 R22LEM93
025941,003769: # FUNCTIONAL DESCRIPTION
025942,003770:
025943,003771: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025944,003772: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025945,003773: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025946,003774:
025947,003775: # SUBROUTINES CALLED
025948,003776: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025949,003777: # INTEGRV GETULC INCORP2
025950,003778:
025951,003779: # OUTPUT
025952,003780: # CORRECTED CSM STATE VECTOR (PERMANENT)
025953,003781: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025954,003782: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025955,003783: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025956,003784: # UPDATED W-MATRIX
025957,003785:
025958,003786: # ERASABLE INITIALIZATION REQUIRED
025959,003787: # LM AND CSM STATE VECTORS
025960,003788: # W-MATRIX
025961,003789: # MARK TIME IN MKTIME
025962,003790: # RADAR RANGE IN RM METERS B-29
025963,003791: # RANGE RATE IN RDOTM METERS/CSEC B-7
025964,003792: # VEHUPFLG
025965,003793:
|
|
Page 594
|
025967,003795: 26,3143 77624 LSR22.4 CALL
025968,003796: 26,3144 27412 INTSTALL
025969,003797: 26,3145 43014 SET CLEAR
025970,003798: 26,3146 01472 STATEFLG
025971,003799: 26,3147 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025972,003800: 26,3150 77624 CALL
025973,003801: 26,3151 55205 INTGRCAL
025974,003802: 26,3152 77624 CALL
025975,003803: 26,3153 11165 GRP2PC
025976,003804: 26,3154 45014 CLEAR CALL
025977,003805: 26,3155 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025978,003806: 26,3156 27412 INTSTALL
025979,003807: 26,3157 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025980,003808: 26,3160 03461 MARKCTR
025981,003809: 26,3161 55174 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025982,003810: 26,3162 43014 CLEAR SET
025983,003811: 26,3163 01675 D6OR9FLG
025984,003812: 26,3164 01476 DIM0FLAG
025985,003813: 26,3165 43014 SET CLEAR
025986,003814: 26,3166 01474 VINTFLAG
025987,003815: 26,3167 01673 INTYPFLG
025988,003816: 26,3170 77624 CALL
025989,003817: 26,3171 55205 INTGRCAL
025990,003818: 26,3172 77650 GOTO
025991,003819: 26,3173 54474 RANGEBQ
025992,003820:
025993,003821: 26,3174 77624 INITWMX6 CALL
025994,003822: 26,3175 55214 WLINIT # INITIALIZE W-MATRIX
025995,003823: 26,3176 45014 SET CALL
025996,003824: 26,3177 01474 VINTFLAG
025997,003825: 26,3200 26644 SETIFLGS
025998,003826: 26,3201 77624 CALL
025999,003827: 26,3202 55205 INTGRCAL
026000,003828: 26,3203 77650 GOTO
026001,003829: 26,3204 54474 RANGEBQ
026002,003830:
026003,003831: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
026004,003832:
026005,003833: 26,3205 71220 INTGRCAL STQ DLOAD
026006,003834: 26,3206 03673 IGRET
026007,003835: 26,3207 03753 MKTIME
026008,003836: 26,3210 34041 STCALL TDEC1
026009,003837: 26,3211 27134 INTEGRV
026010,003838: 26,3212 77650 GOTO
026011,003839: 26,3213 03673 IGRET
026012,003840:
026013,003841: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
026014,003842: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
026015,003843:
026016,003844: 26,3214 E5,1400 EBANK= W
026017,003845:
|
|
Page 595
|
026019,003847: 26,3214 77776 WLINIT EXIT
026020,003848: 26,3215 33274 CAF WBANK
026021,003849: 26,3216 54006 TS BBANK
026022,003850: 26,3217 33402 CAF WSIZE
026023,003851: 26,3220 55257 TS W.IND
026024,003852: 26,3221 34755 CAF ZERO
026025,003853: 26,3222 51257 INDEX W.IND
026026,003854: 26,3223 55400 TS W
026027,003855: 26,3224 11257 CCS W.IND
026028,003856: 26,3225 03220 TC -5
026029,003857: 26,3226 33275 CAF AIGBANK # RESTORE EBANK 7
026030,003858: 26,3227 54006 TS BBANK
026031,003859: 26,3230 06036 TC INTPRET
026032,003860: 26,3231 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
026033,003861: 26,3232 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
026034,003862: 26,3233 55237 WLSRFPOS # WRENDPOS AND WRENDVEL
026035,003863: 26,3234 02001 WRENDPOS
026036,003864: 26,3235 77650 GOTO
026037,003865: 26,3236 55241 WPOSTORE
026038,003866: 26,3237 77735 WLSRFPOS SLOAD
026039,003867: 26,3240 02007 WSURFPOS
026040,003868: 26,3241 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
026041,003869: 26,3242 20606 5
026042,003870: 26,3243 02401 STORE W
026043,003871: 26,3244 02411 STORE W +8D
026044,003872: 26,3245 02421 STORE W +16D
026045,003873: 26,3246 67214 BON SLOAD
026046,003874: 26,3247 04307 SURFFLAG
026047,003875: 26,3250 55254 WLSRFVEL
026048,003876: 26,3251 02002 WRENDVEL
026049,003877: 26,3252 77650 GOTO
026050,003878: 26,3253 55256 WVELSTOR
026051,003879: 26,3254 77735 WLSRFVEL SLOAD
026052,003880: 26,3255 02010 WSURFVEL
026053,003881: 26,3256 02511 WVELSTOR STORE W +72D
026054,003882: 26,3257 02521 STORE W +80D
026055,003883: 26,3260 02531 STORE W +88D
026056,003884: 26,3261 77735 SLOAD
026057,003885: 26,3262 02003 WSHAFT
026058,003886: 26,3263 02621 STORE W +144D
026059,003887: 26,3264 77735 SLOAD
026060,003888: 26,3265 02004 WTRUN
026061,003889: 26,3266 02631 STORE W +152D
026062,003890: 26,3267 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
026063,003891: 26,3270 02476 RENDWFLG
026064,003892: 26,3271 03461 MARKCTR # SET MARK COUNTER EQUAL ZERO
026065,003893: 26,3272 00000 0
026066,003894: 26,3273 77616 RVQ
026067,003895:
026068,003896: 26,3274 E5,1400 EBANK= W
026069,003897:
|
|
Page 596
|
026071,003899: 26,3274 54065 WBANK BBCON WLINIT
026072,003900: 26,3275 E7,1455 EBANK= AIG
026073,003901: 26,3275 54067 AIGBANK BBCON LSR22.3
026074,003902:
026075,003903: # GETULC
026076,003904:
026077,003905: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
026078,003906: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
026079,003907: # MAGNITUDE IN 36D.
026080,003908:
026081,003909: 26,3276 77201 GETULC SETPD VLOAD
026082,003910: 26,3277 00001 0
026083,003911: 26,3300 01645 DELTALEM
026084,003912: 26,3301 77754 LXA,2
026085,003913: 26,3302 03716 SCALSHFT # LOAD X2 WITH SCALE SHIFT
026086,003914: 26,3303 53257 VSR* VAD
026087,003915: 26,3304 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026088,003916: 26,3305 01661 RCVLEM
026089,003917: 26,3306 53715 PDVL VSR*
026090,003918: 26,3307 01573 DELTACSM
026091,003919: 26,3310 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026092,003920: 26,3311 52255 VAD VSU
026093,003921: 26,3312 01607 RCVCSM
026094,003922: 26,3313 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
026095,003923: 26,3314 21676 NORMUNX1
026096,003924: 26,3315 17722 STODL ULC
026097,003925: 26,3316 00045 36D
026098,003926: 26,3317 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
026099,003927: 26,3320 20201 0,1
026100,003928: 26,3321 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
026101,003929: 26,3322 03722 ULC
026102,003930: 26,3323 77616 RVQ
026103,003931:
026104,003932: # RADARANG
026105,003933:
026106,003934: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
026107,003935: # RXZ = (SQRT (1-SINTHETA**2))RLC
026108,003936: # OUTPUT
026109,003937: # ULC IN ULC, PD0
026110,003938: # RLC IN PD36D
026111,003939: # SIN THETA IN SINTHETA AND PD6
026112,003940: # RXZ NORM IN RXZ (N IN X1)
026113,003941: 26,3324 45020 RADARANG STQ CALL
026114,003942: 26,3325 03673 RDRET
026115,003943: 26,3326 55276 GETULC
026116,003944: 26,3327 50276 VCOMP DOT
026117,003945: 26,3330 03703 MY
026118,003946: 26,3331 41572 SL1R PUSH # SIN THETA TO PD6
026119,003947: 26,3332 03730 STORE SINTHETA
026120,003948: 26,3333 44316 DSQ BDSU
026121,003949: 26,3334 06414 DP1/4TH # 1 - (SIN THETA)**2
026122,003950:
|
|
Page 597
|
026124,003952: 26,3335 41366 SQRT DMP
026125,003953: 26,3336 00045 36D
026126,003954: 26,3337 60352 SL1 NORM
026127,003955: 26,3340 00047 X1 # SET SHIFT COUNTER IN X1
026128,003956: 26,3341 03720 STORE RXZ
026129,003957: 26,3342 77650 GOTO # EXIT
026130,003958: 26,3343 03673 RDRET
026131,003959: 26,3344 45020 LGCUPDTE STQ CALL
026132,003960: 26,3345 03673 LGRET
026133,003961: 26,3346 46433 INCORP1
026134,003962: 26,3347 51575 VLOAD ABVAL
026135,003963: 26,3350 02673 DELTAX +6
026136,003964: 26,3351 53754 LXA,2 SRR*
026137,003965: 26,3352 03716 SCALSHFT # 0 - MOON. 2 - EARTH
026138,003966: 26,3353 56174 2,2 # SET VEL DISPLAY TO B-7
026139,003967: 26,3354 24317 STOVL R22DISP +2
026140,003968: 26,3355 02665 DELTAX
026141,003969: 26,3356 53646 ABVAL SRR*
026142,003970: 26,3357 56174 2,2 # SET POS DISPLAY TO B-29
026143,003971: 26,3360 00315 STORE R22DISP
026144,003972: 26,3361 54335 SLOAD SR
026145,003973: 26,3362 02005 RMAX
026146,003974: 26,3363 20613 10D
026147,003975: 26,3364 50025 DSU BMN
026148,003976: 26,3365 00315 R22DISP
026149,003977: 26,3366 50620 R22LEM96 # GO DISPLAY
026150,003978: 26,3367 45335 SLOAD DSU
026151,003979: 26,3370 02006 VMAX
026152,003980: 26,3371 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
026153,003981: 26,3372 77640 BMN
026154,003982: 26,3373 50620 R22LEM96 # GO DISPLAY
026155,003983: 26,3374 77624 ASTOK CALL
026156,003984: 26,3375 46645 INCORP2
026157,003985: 26,3376 77650 GOTO
026158,003986: 26,3377 03673 LGRET
026159,003987: 26,3400 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
026160,003988:
026161,003989: 26,3402 00241 WSIZE DEC 161 B-14
026162,003990: 26,3403 31103 36652 2PI/8 2DEC 3.141592653 B-2
026163,003991: 26,3405 E7,1454 EBANK= LOSCOUNT
026164,003992:
|
|
Page 598
|
026166,003994: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
026167,003995: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
026168,003996:
026169,003997:
026170,003998: # FUNCTIONAL DESCRIPTION
026171,003999:
026172,004000: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026173,004001: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026174,004002: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026175,004003: # ATTITUDE MANEUVER.
026176,004004:
026177,004005:
026178,004006: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
026179,004007:
026180,004008:
026181,004009: # SUBROUTINES CALLED
026182,004010:
026183,004011: # LEMCONIC R61LEM
026184,004012: # CSMCONIC RRDESSM
026185,004013: # JOBDELAY FLAGDOWN
026186,004014: # WAITLIST FLAGUP
026187,004015: # RRNB BANKCALL
026188,004016:
026189,004017:
026190,004018: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026191,004019:
026192,004020:
026193,004021: # OUTPUT
026194,004022:
026195,004023: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026196,004024: # 11111 INDICATES LOCKON ACHIEVED
026197,004025: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026198,004026:
026199,004027: # ERASABLE INITIALIZATION REQUIRED
026200,004028: # SEARCH FLAG MUST BE SET
026201,004029: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026202,004030: # DEBRIS
026203,004031:
026204,004032: # RLMSRCH UXVECT
026205,004033: # VXRLM UYVECT
026206,004034: # LOSDESRD NSRCHPNT
026207,004035: # DATAGOOD OMEGAD
026208,004036: # MPAC PUSHLIST
026209,004037:
026210,004038: 26,3405 COUNT* $$/LRS24
026211,004039: 26,3405 34755 LRS24.1 CAF ZERO
026212,004040: 26,3406 55734 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
026213,004041: 26,3407 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
026214,004042: 26,3410 00006 EXTEND
026215,004043:
|
|
Page 599
|
026217,004045: 26,3411 05012 WOR CHAN12
026218,004046: 26,3412 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
026219,004047: 26,3413 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
026220,004048: 26,3414 00006 EXTEND
026221,004049: 26,3415 15155 BZF ENDOFJOB # NO-TERMINATE JOB
026222,004050:
026223,004051:
026224,004052: 26,3416 33655 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026225,004053: 26,3417 00004 INHINT
026226,004054: 26,3420 05203 TC WAITLIST # IN 6 SECONDS
026227,004055: 26,3421 E7,1454 EBANK= LOSCOUNT
026228,004056: 26,3421 03605 54067 2CADR CALLDGCH
026229,004057: 26,3423 00003 RELINT
026230,004058: 26,3424 40110 CS RADMODES # IS REMODE IN PROGRESS
026231,004059: 26,3425 74736 MASK BIT14 # (BIT 14 RADMODES = 1)
026232,004060: 26,3426 00006 EXTEND
026233,004061: 26,3427 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
026234,004062: 26,3430 06036 TC INTPRET
026235,004063:
026236,004064: 26,3431 77634 RTB
026237,004065: 26,3432 21462 LOADTIME
026238,004066: 26,3433 34041 LRS24.11 STCALL TDEC1
026239,004067: 26,3434 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
026240,004068: 26,3435 77775 VLOAD
026241,004069: 26,3436 00001 RATT
026242,004070: 26,3437 27674 STOVL RLMSRCH # SAVE LEM POSITION
026243,004071: 26,3440 00007 VATT
026244,004072: 26,3441 17736 STODL SAVLEMV # SAVE LEM VELOCITY
026245,004073: 26,3442 00015 TAT
026246,004074: 26,3443 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
026247,004075: 26,3444 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
026248,004076: 26,3445 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
026249,004077: 26,3446 00001 RATT
026250,004078: 26,3447 03674 RLMSRCH
026251,004079: 26,3450 77656 UNIT
026252,004080: 26,3451 27710 STOVL LOSDESRD # STORE DESIRED LOS
026253,004081: 26,3452 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
026254,004082: 26,3453 47256 UNIT VXV
026255,004083: 26,3454 00001 RATT
026256,004084: 26,3455 77656 UNIT
026257,004085: 26,3456 03702 STORE VXRCM
026258,004086: 26,3457 52375 VLOAD VSU
026259,004087: 26,3460 00007 VATT
026260,004088: 26,3461 03736 SAVLEMV
026261,004089: 26,3462 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
026262,004090: 26,3463 01734 REFSMMAT
026263,004091: 26,3464 03736 STORE SAVLEMV # VLC = V(CSM) - V(LM)
026264,004092: 26,3465 53135 SLOAD BZE # CHECK IF N=0
026265,004093: 26,3466 03735 NSRCHPNT
026266,004094:
|
|
Page 600
|
026268,004096: 26,3467 55600 DESGLOS # YES-DESIGNATE ALONG LOS
026269,004097: 26,3470 53025 DSU BZE # IS N=1
026270,004098: 26,3471 15653 ONEOCT # YES-CALCULATE X AND Y AXES OF
026271,004099: 26,3472 55565 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
026272,004100: 26,3473 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026273,004101: 26,3474 03716 UXVECT
026274,004102: 26,3475 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
026275,004103: 26,3476 03724 UYVECT # UXPRIME = ORIGINAL UX
026276,004104: 26,3477 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
026277,004105: 26,3500 77761 VXSC
026278,004106: 26,3501 15647 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
026279,004107: 26,3502 27716 STOVL UXVECT
026280,004108: 26,3503 00015 UXVECTPR
026281,004109: 26,3504 53361 VXSC VAD
026282,004110: 26,3505 06422 COS60DEG
026283,004111: 26,3506 03716 UXVECT
026284,004112: 26,3507 77656 UNIT
026285,004113: 26,3510 27716 STOVL UXVECT
026286,004114: 26,3511 00015 UXVECTPR # UY=(-SIN 60)UXPR +(COS 60)UYPR
026287,004115: 26,3512 77761 VXSC
026288,004116: 26,3513 15647 SIN60DEG
026289,004117: 26,3514 27724 STOVL UYVECT
026290,004118: 26,3515 00023 UYVECTPR
026291,004119: 26,3516 52361 VXSC VSU
026292,004120: 26,3517 06422 COS60DEG
026293,004121: 26,3520 03724 UYVECT
026294,004122: 26,3521 77656 UNIT
026295,004123: 26,3522 03724 STORE UYVECT
026296,004124: 26,3523 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
026297,004125: 26,3524 15651 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
026298,004126: 26,3525 03710 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
026299,004127: 26,3526 64256 UNIT MXV
026300,004128: 26,3527 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
026301,004129: 26,3530 77772 VSL1
026302,004130: 26,3531 25102 CONTDESG STOVL RRTARGET
026303,004131: 26,3532 03736 SAVLEMV
026304,004132: 26,3533 01761 STORE LOSVEL
026305,004133: 26,3534 77776 EXIT
026306,004134: 26,3535 00004 INHINT
026307,004135: 26,3536 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
026308,004136: 26,3537 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
026309,004137: # POINT IN THE PATTERN
026310,004138: 26,3540 44735 CONTDES2 CS BIT15
026311,004139: 26,3541 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
026312,004140: 26,3542 64735 AD BIT15 # A CONTINUOUS DESIGNATE WANTED
026313,004141: 26,3543 54110 TS RADMODES
026314,004142: 26,3544 06036 TC INTPRET
026315,004143:
026316,004144: 26,3545 77624 CALL
026317,004145: 26,3546 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
026318,004146:
|
|
Page 601
|
026320,004148:
026321,004149: 26,3547 77776 EXIT
026322,004150: 26,3550 03637 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
026323,004151: 26,3551 03637 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
026324,004152:
026325,004153:
026326,004154: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026327,004155: # SPACECRAFT +Z AXIS
026328,004156: 26,3552 00006 OMEGCALC EXTEND
026329,004157: 26,3553 30036 DCA CDUT
026330,004158: 26,3554 53751 DXCH TANGNB
026331,004159: 26,3555 06036 TC INTPRET
026332,004160: 26,3556 77624 CALL
026333,004161: 26,3557 46041 RRNB
026334,004162: 26,3560 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026335,004163: 26,3561 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026336,004164: 26,3562 03733 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026337,004165: 26,3563 77776 EXIT
026338,004166: 26,3564 05155 TC ENDOFJOB
026339,004167:
|
|
Page 602
|
026341,004169: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026342,004170:
026343,004171:
026344,004172: 26,3565 47375 CALCXY VLOAD VXV
026345,004173: 26,3566 03702 VXRCM
026346,004174: 26,3567 03710 LOSDESRD
026347,004175: 26,3570 77656 UNIT
026348,004176: 26,3571 27716 STOVL UXVECT # UX = (VLM X RLM) X LOS
026349,004177: 26,3572 03710 LOSDESRD
026350,004178: 26,3573 53435 VXV UNIT
026351,004179: 26,3574 03716 UXVECT
026352,004180: 26,3575 03724 STORE UYVECT # UY = LOS X UX
026353,004181: 26,3576 77650 GOTO
026354,004182: 26,3577 55523 OFFCALC
026355,004183:
026356,004184:
026357,004185: 26,3600 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026358,004186: 26,3601 03710 LOSDESRD
026359,004187: 26,3602 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026360,004188: 26,3603 52172 VSL1 GOTO
026361,004189: 26,3604 55531 CONTDESG
026362,004190:
026363,004191:
026364,004192: 26,3605 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026365,004193: 26,3606 74745 MASK RNDVZBIT
026366,004194: 26,3607 00006 EXTEND
026367,004195: 26,3610 15261 BZF TASKOVER # NO-EXIT R24
026368,004196: 26,3611 37712 CAF PRIO25 # YES-SCHEDULE JOB TO DRIVE RADAR TO NEXT
026369,004197: 26,3612 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026370,004198: 26,3613 E7,1673 EBANK= RLMSRCH
026371,004199: 26,3613 03616 54067 2CADR DATGDCHK
026372,004200: 26,3615 05261 TC TASKOVER
026373,004201:
026374,004202:
026375,004203: 26,3616 34750 DATGDCHK CAF BIT4
026376,004204: 26,3617 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026377,004205: 26,3620 02033 RAND CHAN33
026378,004206: 26,3621 00006 EXTEND
026379,004207: 26,3622 13631 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
026380,004208: 26,3623 46241 CS SIX
026381,004209: 26,3624 61734 AD NSRCHPNT # IS N GREATER THAN 6
026382,004210: 26,3625 00006 EXTEND
026383,004211: 26,3626 13405 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026384,004212: 26,3627 25734 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026385,004213: 26,3630 13407 TCF CHKSRCH # NEXT POINT IN PATTERN
026386,004214:
026387,004215:
026388,004216: 26,3631 33645 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026389,004217: 26,3632 55731 TS DATAGOOD
026390,004218:
|
|
Page 603
|
026392,004220: 26,3633 00004 INHINT
026393,004221: 26,3634 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
026394,004222: 26,3635 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026395,004223: 26,3636 05155 TC ENDOFJOB
026396,004224:
026397,004225: 26,3637 05567 LIMALARM TC ALARM # ISSUE ALARM 527- LOS NOT IN MODE2
026398,004226: 26,3640 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026399,004227: 26,3641 00004 INHINT # REQUIRED IN P20
026400,004228: 26,3642 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026401,004229: 26,3643 55605 CADR CALLDGCH # POINT IN SEARCH PATTERN
026402,004230: 26,3644 05155 TC ENDOFJOB
026403,004231:
026404,004232:
026405,004233: 26,3645 25547 ALL1S DEC 11111 B-14
026406,004234: 26,3646 33555 01106 SIN60DEG 2DEC .86603
026407,004235: 26,3650 23,2421 COS60DEG = DPHALF # (2DEC .50)
026408,004236: 26,3650 UXVECTPR EQUALS 12D # PREVIOUS
026409,004237: 26,3650 UYVECTPR EQUALS 18D
026410,004238: 26,3650 RLMUNIT EQUALS 12D
026411,004239: 26,3650 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026412,004240: 26,3652 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
026413,004241: 26,3653 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026414,004242: # **** ONEOCT NEEDS A LOWER ORDER ****
026415,004243: # **** WORD OF ZEROES ****
026416,004244: 26,3655 01130 6SECONDS DEC 600 B-14
026417,004245: 26,3656 00062 DEC50 DEC 50 B-14
026418,004246: # ********************************
026419,004247:
026420,004248: # TEST PROGRAM FOR LSR22.3 --- TO BE REMOVED
026421,004249: # ********************************
026422,004250:
026423,004251: 27,2156 BANK 27
026424,004252:
026425,004253: 27,2156 E7,1455 EBANK= AIG
026426,004254: 27,2156 COUNT* $$/RTEST
026427,004255: 27,2156 34755 TEST22.3 CAF ZERO
026428,004256: 27,2157 55122 TS LONG
026429,004257: 27,2160 06036 LOOP22.3 TC INTPRET
026430,004258: 27,2161 70744 LXC,2 DLOAD*
026431,004259: 27,2162 01122 LONG
026432,004260: 27,2163 62370 JOBOVER +1,2
026433,004261: 27,2164 03456 STORE AIG
026434,004262: 27,2165 77743 DLOAD*
026435,004263: 27,2166 62367 JOBOVER +2,2
026436,004264: 27,2167 03457 STORE AMG
026437,004265: 27,2170 77743 DLOAD*
026438,004266:
|
|
Page 604
|
026440,004268: 27,2171 62365 JOBOVER +4,2
026441,004269: 27,2172 03753 STORE MKTIME
026442,004270: 27,2173 77743 DLOAD*
026443,004271: 27,2174 62363 JOBOVER +6,2
026444,004272: 27,2175 03755 STORE RM
026445,004273: 27,2176 77743 DLOAD*
026446,004274: 27,2177 62361 JOBOVER +8D,2
026447,004275: 27,2200 03747 STORE RDOTM
026448,004276: 27,2201 77743 DLOAD*
026449,004277: 27,2202 62357 JOBOVER +10D,2
026450,004278: 27,2203 03734 STORE RRSHAFT
026451,004279: 27,2204 77743 DLOAD*
026452,004280: 27,2205 62355 JOBOVER +12D,2
026453,004281: 27,2206 03732 STORE RRTRUN
026454,004282: 27,2207 77624 CALL
026455,004283: 27,2210 54370 LSR22.3
026456,004284: 27,2211 77776 22.3ENT EXIT
026457,004285: 27,2212 31122 CA LONG
026458,004286: 27,2213 62222 AD DEC13T
026459,004287: 27,2214 55122 TS LONG
026460,004288: 27,2215 11123 CCS LONG +1
026461,004289: 27,2216 02220 TC +2
026462,004290: 27,2217 30000 STOP22.3 CA A
026463,004291: 27,2220 55123 TS LONG +1
026464,004292: 27,2221 02160 TC LOOP22.3
026465,004293: 27,2222 00015 DEC13T DEC 13 B-14
026466,004294:
026467,004295: 27,2223 26,3405 JOBOVER EQUALS LRS24.1 # **** TEMPORARY DEFINITION ******
026468,004296:
026469,004297: # END OF TEST PROGRAM
026470,004298: # ****************************************
026471,004299: 27,2223 23,2423 ZERO/SP EQUALS HI6ZEROS
026472,004300: 4616 BLOCK 02
026473,004301: 6000 SETLOC FFTAG5
026474,004302: 6000 BANK
026475,004303: 6022 COUNT* $$/P20
026476,004304: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026477,004305: 6023 36026 DCA VB56CADR # GOTOPOOH
026478,004306: 6024 15165 TCF SUPDXCHZ
026479,004307: 6025 E7,1467 EBANK= WHOCARES
026480,004308: 6025 03034 66107 VB56CADR 2CADR TRMTRACK
026481,004309:
026482,004310:
|
|
Page 605
|
026484,004312: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
026485,004313: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
026486,004314:
026487,004315:
026488,004316: # FUNCTIONAL DESCRIPTION:
026489,004317:
026490,004318: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
026491,004319: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
026492,004320: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
026493,004321: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
026494,004322: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
026495,004323: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
026496,004324:
026497,004325: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
026498,004326:
026499,004327:
026500,004328: # SUBROUTINES CALLED:
026501,004329:
026502,004330: # REMODE RRTONLY
026503,004331: # UNIT MPACVBUF
026504,004332: # QUICTRIG AX*SR*T
026505,004333: # SPSIN SPCOS
026506,004334: # SETRRECR RROUT
026507,004335: # RRRDOT RRRANGE
026508,004336:
026509,004337:
026510,004338: # EXIT: TO NOR29NOW, IN SERVICER.
026511,004339:
026512,004340:
026513,004341: # OUTPUT: (ALL FOR DOWNLINK)
026514,004342:
026515,004343: # RM RDOTM (RAW)
026516,004344: # AIG AMG
026517,004345: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
026518,004346: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
026519,004347: # MKTIME
026520,004348:
|
|
Page 606
|
026522,004350:
026523,004351: # ERASABLE INITIALIZATION REQUIRED:
026524,004352:
026525,004353: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
026526,004354: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
026527,004355: # R(CSM) V(CSM)
026528,004356: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
026529,004357:
026530,004358:
026531,004359: # DEBRIS:
026532,004360:
026533,004361: # RADMODES (BIT 10)
026534,004362: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
026535,004363: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
026536,004364: # LOSCMFLG READRFLG
026537,004365:
026538,004366:
026539,004367: # ALARMS: NONE.
026540,004368:
026541,004369:
026542,004370: # COMPONENT JOBS AND TASKS:
026543,004371:
026544,004372: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
026545,004373: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
026546,004374: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
026547,004375:
026548,004376:
026549,004377: 33,2045 BANK 33
026550,004378: 33,2000 SETLOC R29/SERV
026551,004379: 33,2000 BANK
026552,004380:
026553,004381: 33,2045 COUNT* $$/R29
026554,004382:
026555,004383: 33,2045 5014 NR29&RDR EQUALS EBANK5
026556,004384:
|
|
Page 607
|
026558,004386: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
026559,004387: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
026560,004388:
026561,004389: 33,2045 40110 R29 CS RADMODES
026562,004390: 33,2046 74742 MASK BIT10
026563,004391: 33,2047 00006 EXTEND
026564,004392: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
026565,004393:
026566,004394: 33,2051 00004 INHINT
026567,004395: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
026568,004396: 33,2053 44736 CS BIT14
026569,004397: 33,2054 00006 EXTEND
026570,004398: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
026571,004399: 33,2056 44740 CS LOSCMBIT
026572,004400: 33,2057 70076 MASK FLAGWRD2
026573,004401: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
026574,004402: 33,2061 44753 CS OLDESBIT
026575,004403: 33,2062 70074 MASK STATE
026576,004404: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
026577,004405: 33,2064 04616 TC BANKCALL
026578,004406: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
026579,004407: 33,2066 34740 CA BIT12
026580,004408: 33,2067 70110 MASK RADMODES
026581,004409: 33,2070 10000 CCS A # TEST RR MODE BIT.
026582,004410: 33,2071 12104 TCF SETPRPOS # MODE 2.
026583,004411:
026584,004412: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
026585,004413: 33,2073 05072 TC NOVAC
026586,004414: 33,2074 E7,1454 EBANK= LOSCOUNT
026587,004415: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
026588,004416:
026589,004417: 33,2076 44742 CS BIT10
026590,004418: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
026591,004419: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
026592,004420: 33,2101 34736 CA BIT14
026593,004421: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
026594,004422: 33,2103 12623 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
026595,004423:
026596,004424: 33,2104 34753 SETPRPOS CA ONE
026597,004425: 33,2105 05203 TC WAITLIST
026598,004426: 33,2106 E7,1454 EBANK= LOSCOUNT
026599,004427: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
026600,004428:
026601,004429: 33,2110 34741 CA BIT11
026602,004430: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
026603,004431: 33,2112 12623 TCF NOR29NOW
026604,004432:
|
|
Page 608
|
026606,004434: # FORCE RENDEZVOUS RADAR INTO MODE 2.
026607,004435:
026608,004436: 33,2113 34753 R29REMOJ CA ONE
026609,004437: 33,2114 05203 TC WAITLIST
026610,004438: 33,2115 E7,1454 EBANK= LOSCOUNT
026611,004439: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
026612,004440: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
026613,004441: 33,2120 17667 CADR RADSTALL
026614,004442:
026615,004443: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
026616,004444: 33,2122 15155 TCF ENDOFJOB
026617,004445:
026618,004446: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
026619,004447:
026620,004448: 25,2000 SETLOC R29S1
026621,004449: 25,2000 BANK
026622,004450:
026623,004451: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
026624,004452: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
026625,004453: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
026626,004454: 25,3604 70110 MASK RADMODES
026627,004455: 25,3605 54110 TS RADMODES
026628,004456: 25,3606 15261 TCF TASKOVER
026629,004457:
026630,004458:
026631,004459: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
026632,004460:
026633,004461:
026634,004462: 33,2045 SETLOC R29
026635,004463: 33,2045 BANK
026636,004464:
026637,004465: 33,2123 00006 R29.LOS EXTEND
026638,004466: 33,2124 41235 DCS PIPTIME
026639,004467: 33,2125 52155 DXCH MPAC
026640,004468: 33,2126 00006 EXTEND
026641,004469: 33,2127 30025 DCA TIME2
026642,004470: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
026643,004471: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
026644,004472: 33,2132 30155 CA MPAC +1
026645,004473: 33,2133 00006 EXTEND
026646,004474: 33,2134 74740 MP BIT12
026647,004475: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
026648,004476: 33,2136 06036 TC INTPRET
026649,004477:
|
|
Page 609
|
026651,004479: # LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
026652,004480: # START IT UP WHEN THE DATA IS IN PLACE.
026653,004481:
026654,004482:
026655,004483: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
026656,004484: 33,2140 01726 V(CSM)
026657,004485: 33,2141 03525 V # LOSVEL = V(CSM) - V.
026658,004486: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
026659,004487: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
026660,004488: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
026661,004489: 33,2145 03517 R
026662,004490: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
026663,004491: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
026664,004492: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
026665,004493: 33,2151 12623 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
026666,004494:
026667,004495: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
026668,004496: 33,2153 00001 0
026669,004497: 33,2154 77761 VXSC
026670,004498: 33,2155 26177 .5SECB17
026671,004499: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
026672,004500: 33,2157 77414 CLEAR EXIT
026673,004501: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
026674,004502:
026675,004503: 33,2161 40074 CS STATE
026676,004504: 33,2162 74753 MASK OLDESBIT
026677,004505: 33,2163 00006 EXTEND
026678,004506: 33,2164 12623 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
026679,004507: 33,2165 00004 INHINT
026680,004508: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
026681,004509:
026682,004510: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
026683,004511: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
026684,004512: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
026685,004513: 33,2172 05203 TC WAITLIST
026686,004514: 33,2173 E7,1454 EBANK= LOSCOUNT
026687,004515: 33,2173 03253 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
026688,004516: 33,2175 12623 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
026689,004517:
026690,004518: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
026691,004519:
|
|
Page 610
|
026693,004521: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
026694,004522: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
026695,004523:
026696,004524: 24,3253 BANK 24
026697,004525: 24,2000 SETLOC P20S
026698,004526: 24,2000 BANK
026699,004527:
026700,004528: 24,3253 COUNT* $$/R29
026701,004529:
026702,004530: 24,3253 35031 BEGDES29 CAF PRIO21
026703,004531: 24,3254 05072 TC NOVAC
026704,004532: 24,3255 E3,1760 EBANK= LOSVDT/4
026705,004533: 24,3255 02545 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
026706,004534:
026707,004535: 24,3257 34774 R29DLOOP CAF .5SEC
026708,004536: 24,3260 05224 TC VARDELAY
026709,004537:
026710,004538: 24,3261 40110 CS RADMODES
026711,004539: 24,3262 74742 MASK BIT10
026712,004540: 24,3263 10000 CCS A
026713,004541: 24,3264 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
026714,004542:
026715,004543: 24,3265 40076 CS FLAGWRD2
026716,004544: 24,3266 74740 MASK LOSCMBIT
026717,004545: 24,3267 00006 EXTEND
026718,004546: 24,3270 13273 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
026719,004547: 24,3271 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
026720,004548: 24,3272 13253 TCF BEGDES29
026721,004549:
026722,004550: 24,3273 34753 CA ONE
026723,004551: 24,3274 13260 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
026724,004552:
|
|
Page 611
|
026726,004554: # R29DODES: RR DESIGNATION LOOP FOR R29
026727,004555:
026728,004556: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
026729,004557: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
026730,004558: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
026731,004559: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
026732,004560: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
026733,004561:
026734,004562: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
026735,004563: # TASK WHEN LOCK-ON IS ACHIEVED.
026736,004564:
026737,004565: 32,2545 BANK 32
026738,004566: 32,2000 SETLOC F2DPS*32
026739,004567: 32,2000 BANK
026740,004568:
026741,004569: 32,2545 COUNT* $$/R29
026742,004570: 32,2545 E3,1760 EBANK= LOSVDT/4
026743,004571:
026744,004572: 32,2545 34753 R29DODES CA ONE
026745,004573: 32,2546 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
026746,004574: 32,2547 34756 CA FIVE
026747,004575:
026748,004576: 32,2550 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
026749,004577: 32,2551 54002 TS Q
026750,004578: 32,2552 11107 CCS TANG
026751,004579: 32,2553 12561 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
026752,004580:
026753,004581: 32,2554 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
026754,004582: 32,2555 50002 INDEX Q
026755,004583: 32,2556 31761 DCA LOSVDT/4
026756,004584: 32,2557 50002 INDEX Q
026757,004585: 32,2560 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
026758,004586:
026759,004587: 32,2561 00006 R29DPAS1 EXTEND
026760,004588: 32,2562 50002 INDEX Q
026761,004589: 32,2563 31102 DCA LOSSM
026762,004590: 32,2564 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
026763,004591: 32,2565 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
026764,004592: 32,2566 11107 CCS TANG
026765,004593: 32,2567 12575 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
026766,004594:
026767,004595: 32,2570 00006 EXTEND
026768,004596: 32,2571 50002 INDEX Q
026769,004597: 32,2572 31761 DCA LOSVDT/4
026770,004598: 32,2573 50002 INDEX Q
026771,004599: 32,2574 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
026772,004600:
026773,004601: 32,2575 10002 R29DVEND CCS Q
026774,004602: 32,2576 12550 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
026775,004603:
|
|
Page 612
|
026777,004605: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
026778,004606:
026779,004607: 32,2577 52156 DXCH MPAC +1
026780,004608: 32,2600 52155 DXCH MPAC
026781,004609: 32,2601 32770 CA R29FXLOC # = ADRES INTB15+ -34D
026782,004610: 32,2602 54120 TS FIXLOC
026783,004611: 32,2603 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
026784,004612: 32,2604 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
026785,004613: 32,2605 07531 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026786,004614:
026787,004615: 32,2606 11107 CCS TANG
026788,004616: 32,2607 12611 TCF +2
026789,004617: 32,2610 12625 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
026790,004618: 32,2611 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
026791,004619: 32,2612 00006 EXTEND
026792,004620: 32,2613 30036 DCA CDUT
026793,004621: 32,2614 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
026794,004622: 32,2615 30033 CA CDUY
026795,004623: 32,2616 54766 TS CDUSPOT
026796,004624: 32,2617 30034 CA CDUZ
026797,004625: 32,2620 54770 TS CDUSPOT +2
026798,004626: 32,2621 30032 CA CDUX
026799,004627: 32,2622 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026800,004628: 32,2623 04616 TC BANKCALL
026801,004629: 32,2624 47521 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
026802,004630:
026803,004631: 32,2625 46244 GOTANGLS CS THREE
026804,004632: 32,2626 04616 TC BANKCALL
026805,004633: 32,2627 47601 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026806,004634:
026807,004635: 32,2630 11107 CCS TANG
026808,004636: 32,2631 12633 TCF +2
026809,004637: 32,2632 12676 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
026810,004638:
|
|
Page 613
|
026812,004640: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026813,004641: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026814,004642:
026815,004643: 32,2633 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
026816,004644: 32,2634 31766 CA SAVECDUT
026817,004645: 32,2635 05032 TC SPCOS
026818,004646: 32,2636 54166 TS PUSHLOC # PUSHLOC = COS T.
026819,004647: 32,2637 41766 CS SAVECDUT
026820,004648: 32,2640 05033 TC SPSIN
026821,004649: 32,2641 54163 TS MODE # MODE = -SIN T.
026822,004650: 32,2642 00006 EXTEND
026823,004651: 32,2643 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
026824,004652: 32,2644 52155 DXCH MPAC
026825,004653: 32,2645 31767 CA SAVECDUT +1
026826,004654: 32,2646 05033 TC SPSIN
026827,004655: 32,2647 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
026828,004656: 32,2650 00006 EXTEND
026829,004657: 32,2651 70166 MP PUSHLOC
026830,004658: 32,2652 00006 EXTEND
026831,004659: 32,2653 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
026832,004660: 32,2654 20155 DAS MPAC
026833,004661: 32,2655 31767 CA SAVECDUT +1
026834,004662: 32,2656 05032 TC SPCOS
026835,004663: 32,2657 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
026836,004664: 32,2660 00006 EXTEND
026837,004665: 32,2661 70166 MP PUSHLOC
026838,004666: 32,2662 00006 EXTEND
026839,004667: 32,2663 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
026840,004668: 32,2664 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
026841,004669: 32,2665 00006 EXTEND # -SIN T, COS S COS T).
026842,004670: 32,2666 30155 DCA MPAC
026843,004671: 32,2667 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026844,004672: 32,2670 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
026845,004673: 32,2671 34736 CA BIT14
026846,004674: 32,2672 12673 NOOP
026847,004675: 32,2673 00006 EXTEND
026848,004676: 32,2674 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026849,004677: 32,2675 12547 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
026850,004678:
|
|
Page 614
|
026852,004680: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026853,004681:
026854,004682:
026855,004683: 32,2676 31767 R29DPAS2 CA SAVECDUT +1
026856,004684: 32,2677 00006 EXTEND
026857,004685: 32,2700 70122 MP VBUF # FORM COS S ULOSNB'X.
026858,004686: 32,2701 53110 DXCH TANG
026859,004687: 32,2702 41766 CS SAVECDUT
026860,004688: 32,2703 00006 EXTEND
026861,004689: 32,2704 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
026862,004690: 32,2705 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026863,004691: 32,2706 40163 CS MODE # - SIN S)
026864,004692: 32,2707 00006 EXTEND
026865,004693: 32,2710 71766 MP SAVECDUT
026866,004694: 32,2711 00006 EXTEND
026867,004695: 32,2712 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
026868,004696: 32,2713 52155 DXCH MPAC
026869,004697: 32,2714 30166 CA PUSHLOC
026870,004698: 32,2715 00006 EXTEND
026871,004699: 32,2716 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
026872,004700: 32,2717 20155 DAS MPAC
026873,004701: 32,2720 40163 CS MODE
026874,004702: 32,2721 00006 EXTEND
026875,004703: 32,2722 71767 MP SAVECDUT +1
026876,004704: 32,2723 00006 EXTEND
026877,004705: 32,2724 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
026878,004706: 32,2725 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
026879,004707: 32,2726 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
026880,004708: 32,2727 00006 EXTEND
026881,004709: 32,2730 72771 MP RR29GAIN
026882,004710: 32,2731 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
026883,004711: 32,2732 00006 EXTEND
026884,004712: 32,2733 72771 MP RR29GAIN
026885,004713: 32,2734 55110 TS TANG +1 # STORE REFINED S CMD.
026886,004714:
|
|
Page 615
|
026888,004716: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
026889,004717: # READING DATA FROM THE RENDEZVOUS RADAR.
026890,004718:
026891,004719: 32,2735 34750 DGOOD? CAF BIT4
026892,004720: 32,2736 00006 EXTEND
026893,004721: 32,2737 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
026894,004722: 32,2740 00004 INHINT # (MAINLY FOR RROUT).
026895,004723: 32,2741 00006 EXTEND
026896,004724: 32,2742 12746 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
026897,004725:
026898,004726: 32,2743 04616 TC BANKCALL
026899,004727: 32,2744 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026900,004728: 32,2745 12764 TCF END29DOD
026901,004729:
026902,004730: 32,2746 44742 R29LOKON CS BIT10
026903,004731: 32,2747 70110 MASK RADMODES
026904,004732: 32,2750 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
026905,004733: 32,2751 44752 CS BIT2
026906,004734: 32,2752 00006 EXTEND
026907,004735: 32,2753 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
026908,004736: 32,2754 34743 CA READRBIT
026909,004737: 32,2755 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
026910,004738: 32,2756 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
026911,004739: 32,2757 44776 CS SUPER110 # -96D + 100D = 4.
026912,004740: 32,2760 64777 AD 1SEC # 0 + 100D = 100D.
026913,004741: 32,2761 05203 TC WAITLIST
026914,004742: 32,2762 E7,1454 EBANK= LOSCOUNT
026915,004743: 32,2762 03275 50067 2CADR R29READ # START READING TASK AND JOB.
026916,004744:
026917,004745: 32,2764 44740 END29DOD CS LOSCMBIT
026918,004746: 32,2765 70076 MASK FLAGWRD2
026919,004747: 32,2766 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026920,004748: 32,2767 15155 TCF ENDOFJOB
026921,004749:
026922,004750: 32,2770 00052 R29FXLOC ADRES INTB15+ -34D
026923,004751: 32,2771 56655 RR29GAIN DEC -.53624
026924,004752: 32,2772 E3,1760 LOSVDT/4 EQUALS LOSVEL
026925,004753: 32,2772 1101 LOSSM EQUALS RRTARGET
026926,004754: 32,2772 E3,1766 SAVECDUT EQUALS MLOSV
026927,004755:
|
|
Page 616
|
026929,004757: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026930,004758:
026931,004759: 24,3275 BANK 24
026932,004760: 24,2000 SETLOC P20S
026933,004761: 24,2000 BANK
026934,004762:
026935,004763: 24,3275 COUNT* $$/R29
026936,004764:
026937,004765: 24,3275 E7,1454 EBANK= LOSCOUNT
026938,004766:
026939,004767: 24,3275 37713 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026940,004768: 24,3276 05072 TC NOVAC
026941,004769: 24,3277 E7,1454 EBANK= LOSCOUNT
026942,004770: 24,3277 03310 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026943,004771:
026944,004772: 24,3301 35000 CA 2SECS
026945,004773: 24,3302 05224 TC VARDELAY
026946,004774:
026947,004775: 24,3303 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026948,004776: 24,3304 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026949,004777: 24,3305 10000 CCS A
026950,004778: 24,3306 13275 TCF R29READ # IT'S OK; CALL IT AGAIN.
026951,004779: 24,3307 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026952,004780:
026953,004781: 24,3310 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026954,004782: 24,3311 74741 MASK NR29FBIT
026955,004783: 24,3312 10000 CCS A # TEST "NOR29FLG".
026956,004784: 24,3313 13372 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
026957,004785:
026958,004786: 24,3314 30110 CA RADMODES
026959,004787: 24,3315 74752 MASK BIT2
026960,004788: 24,3316 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026961,004789: 24,3317 13372 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026962,004790:
026963,004791: 24,3320 04616 TC BANKCALL
026964,004792: 24,3321 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026965,004793: 24,3322 04616 TC BANKCALL
026966,004794: 24,3323 17667 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026967,004795: 24,3324 13372 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026968,004796:
|
|
Page 617
|
026970,004798: # R29 RADAR READING CONTINUED.
026971,004799:
026972,004800:
026973,004801: 24,3325 53106 DXCH TIMEHOLD
026974,004802: 24,3326 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026975,004803: 24,3327 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026976,004804: 24,3330 00006 EXTEND
026977,004805: 24,3331 30036 DCA CDUT
026978,004806: 24,3332 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026979,004807: 24,3333 00006 EXTEND
026980,004808: 24,3334 30034 DCA CDUY
026981,004809: 24,3335 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026982,004810: 24,3336 30032 CA CDUX
026983,004811: 24,3337 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026984,004812:
026985,004813: 24,3340 04616 R29RANGE TC BANKCALL
026986,004814: 24,3341 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
026987,004815: 24,3342 04616 TC BANKCALL
026988,004816: 24,3343 17667 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026989,004817: 24,3344 13363 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026990,004818:
026991,004819: 24,3345 00004 INHINT
026992,004820: 24,3346 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026993,004821: 24,3347 53755 DXCH RM
026994,004822: 24,3350 52155 DXCH MPAC
026995,004823: 24,3351 53753 DXCH MKTIME
026996,004824: 24,3352 52157 DXCH MPAC +2
026997,004825: 24,3353 53751 DXCH TANGNB
026998,004826: 24,3354 52161 DXCH MPAC +4
026999,004827: 24,3355 53456 DXCH AIG
027000,004828: 24,3356 30162 CA MPAC +6
027001,004829: 24,3357 55457 TS AOG
027002,004830: 24,3360 34753 CA ONE
027003,004831: 24,3361 55460 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
027004,004832: 24,3362 15155 TCF ENDOFJOB
027005,004833:
027006,004834: 24,3363 40101 R29RRR? CS FLAGWRD5
027007,004835: 24,3364 74742 MASK BIT10
027008,004836: 24,3365 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
027009,004837: 24,3366 13372 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
027010,004838: 24,3367 05516 TC DOWNFLAG
027011,004839: 24,3370 00120 ADRES RNGSCFLG
027012,004840: 24,3371 13340 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
027013,004841:
027014,004842: 24,3372 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
027015,004843: 24,3373 55460 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
027016,004844: 24,3374 05516 TC DOWNFLAG
027017,004845: 24,3375 00063 ADRES READRFLG
027018,004846: 24,3376 44736 CS BIT14
027019,004847: 24,3377 00006 EXTEND
027020,004848:
|
|
Page 618
|
027022,004850: 24,3400 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
027023,004851: 24,3401 15155 TCF ENDOFJOB
027024,004852:
|
|
Page 619
|
027026,004854: # W-MATRIX MONITOR
027027,004855:
027028,004856: 31,2011 BANK 31
027029,004857: 31,2000 SETLOC VB67
027030,004858: 31,2000 BANK
027031,004859: 31,2011 COUNT* $$/EXTVB
027032,004860:
027033,004861: 31,2011 E4,1604 EBANK= WWPOS
027034,004862:
027035,004863: 31,2011 06036 V67CALL TC INTPRET
027036,004864: 31,2012 77624 CALL
027037,004865: 31,2013 62114 V67WW
027038,004866: 31,2014 77776 EXIT
027039,004867: 31,2015 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
027040,004868: 31,2016 31605 DCA WWPOS # COMPARISON AFTER THE DISPLAY
027041,004869: 31,2017 53611 DXCH WWVEL +2
027042,004870: 31,2020 00006 EXTEND
027043,004871: 31,2021 31607 DCA WWVEL
027044,004872: 31,2022 53613 DXCH WWVEL +4
027045,004873: 31,2023 32171 V06N99DS CAF V06N99
027046,004874: 31,2024 04616 TC BANKCALL
027047,004875: 31,2025 20231 CADR GOXDSPFR
027048,004876: 31,2026 15472 TCF ENDEXT
027049,004877: 31,2027 12034 TCF +5
027050,004878: 31,2030 12023 TCF V06N99DS
027051,004879: 31,2031 34751 CAF BIT3
027052,004880: 31,2032 05464 TC BLANKET
027053,004881: 31,2033 05155 TC ENDOFJOB
027054,004882: 31,2034 22007 +5 ZL
027055,004883: 31,2035 36244 CA THREE
027056,004884: 31,2036 54002 N99LOOP TS Q
027057,004885: 31,2037 50002 INDEX Q
027058,004886: 31,2040 41604 CS WWPOS
027059,004887: 31,2041 50002 INDEX Q
027060,004888: 31,2042 61610 AD WWPOS +4
027061,004889: 31,2043 26001 ADS L
027062,004890: 31,2044 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
027063,004891: 31,2045 12036 TCF N99LOOP
027064,004892: 31,2046 22000 LXCH A
027065,004893: 31,2047 00006 EXTEND
027066,004894: 31,2050 12053 BZF V06N9933
027067,004895: 31,2051 05504 TC UPFLAG
027068,004896: 31,2052 00160 ADRES V67FLAG
027069,004897:
027070,004898: 31,2053 06036 V06N9933 TC INTPRET
027071,004899: 31,2054 77414 BON EXIT
027072,004900: 31,2055 03707 V67FLAG
027073,004901: 31,2056 62060 +2
027074,004902: 31,2057 15472 TCF ENDEXT
027075,004903: 31,2060 41345 DLOAD DMP
027076,004904:
|
|
Page 620
|
027078,004906: 31,2061 02205 WWPOS
027079,004907: 31,2062 22170 1/SQRT3
027080,004908: 31,2063 72412 SL4 SL1
027081,004909: 31,2064 14001 STODL 0D
027082,004910: 31,2065 02207 WWVEL
027083,004911: 31,2066 77605 DMP
027084,004912: 31,2067 22170 1/SQRT3
027085,004913: 31,2070 00003 STORE 2D
027086,004914: 31,2071 72014 BON LXA,1
027087,004915: 31,2072 04307 SURFFLAG
027088,004916: 31,2073 62103 V67SURF
027089,004917: 31,2074 00000 0D
027090,004918: 31,2075 72130 SXA,1 LXA,1
027091,004919: 31,2076 02000 WRENDPOS
027092,004920: 31,2077 00002 2D
027093,004921: 31,2100 52130 SXA,1 GOTO
027094,004922: 31,2101 02001 WRENDVEL
027095,004923: 31,2102 62111 V67CLRF
027096,004924: 31,2103 66150 V67SURF LXA,1 SXA,1
027097,004925: 31,2104 00000 0D
027098,004926: 31,2105 02006 WSURFPOS
027099,004927: 31,2106 66150 LXA,1 SXA,1
027100,004928: 31,2107 00002 2D
027101,004929: 31,2110 02007 WSURFVEL
027102,004930: 31,2111 77414 V67CLRF CLEAR EXIT
027103,004931: 31,2112 02676 RENDWFLG
027104,004932: 31,2113 15472 TCF ENDEXT
027105,004933: 31,2114 40020 V67WW STQ BOV
027106,004934: 31,2115 00051 S2
027107,004935: 31,2116 62117 +1
027108,004936: 31,2117 45014 CLEAR CALL
027109,004937: 31,2120 03667 V67FLAG
027110,004938: 31,2121 27412 INTSTALL
027111,004939: 31,2122 71331 SSP DLOAD
027112,004940: 31,2123 00051 S1
027113,004941: 31,2124 00006 DEC 6 B-14
027114,004942: 31,2125 06424 ZEROVECS
027115,004943: 31,2126 02205 STORE WWPOS
027116,004944: 31,2127 02207 STORE WWVEL
027117,004945: 31,2130 77770 AXT,1
027118,004946: 31,2131 00066 DEC 54 B-14
027119,004947: 31,2132 47573 NXPOSVEL VLOAD* VSQ
027120,004948: 31,2133 02467 W +54D,1
027121,004949: 31,2134 77615 DAD
027122,004950: 31,2135 02205 WWPOS
027123,004951: 31,2136 02205 STORE WWPOS
027124,004952: 31,2137 47573 VLOAD* VSQ
027125,004953: 31,2140 02555 W +108D,1
027126,004954: 31,2141 77615 DAD
027127,004955: 31,2142 02207 WWVEL
027128,004956:
|
|
Page 621
|
027130,004958: 31,2143 02207 STORE WWVEL
027131,004959: 31,2144 75500 TIX,1 SQRT
027132,004960: 31,2145 62132 NXPOSVEL
027133,004961: 31,2146 16207 STODL WWVEL
027134,004962: 31,2147 02205 WWPOS
027135,004963: 31,2150 77766 SQRT
027136,004964: 31,2151 02205 STORE WWPOS
027137,004965: 31,2152 52000 BOV GOTO
027138,004966: 31,2153 62155 +2
027139,004967: 31,2154 62161 V67XXX
027140,004968: 31,2155 77745 DLOAD
027141,004969: 31,2156 06432 DPPOSMAX
027142,004970: 31,2157 02205 STORE WWPOS
027143,004971: 31,2160 02207 STORE WWVEL
027144,004972: 31,2161 66150 V67XXX LXA,1 SXA,1
027145,004973: 31,2162 00051 S2
027146,004974: 31,2163 00052 QPRET
027147,004975: 31,2164 77776 EXIT
027148,004976: 31,2165 04635 TC POSTJUMP
027149,004977: 31,2166 27427 CADR INTWAKE
027150,004978:
027151,004979: 31,2167 22363 11620 1/SQRT3 2DEC 0.5773502
027152,004980: 31,2171 01543 V06N99 VN 0699
027153,004981:
|
|
Page 622
|
027155,004983: 25,3607 BANK 25
027156,004984: 25,2000 SETLOC RADARUPT
027157,004985: 25,2000 BANK
027158,004986: 25,3607 COUNT* $$/RRUPT
027159,004987:
027160,004988: 25,3607 E7,1454 EBANK= LOSCOUNT
027161,004989:
027162,004990: 25,3607 34753 R12LITES CA ONE
027163,004991: 25,3610 71303 MASK IMODES33
027164,004992: 25,3611 10000 CCS A
027165,004993: 25,3612 14707 TCF ISWRETRN
027166,004994:
027167,004995: 25,3613 03630 TC HLIGHT
027168,004996: 25,3614 03625 TC HLIGHT -3
027169,004997: 25,3615 14707 TCF ISWRETRN
027170,004998:
027171,004999: 25,3616 34753 RADLITES CA BIT1
027172,005000: 25,3617 71303 MASK IMODES33
027173,005001: 25,3620 10000 CCS A
027174,005002: 25,3621 00002 TC Q
027175,005003:
027176,005004: 25,3622 44747 CS BIT5
027177,005005: 25,3623 60061 AD ITEMP1
027178,005006: 25,3624 10000 CCS A
027179,005007: 25,3625 44753 CS ONE
027180,005008: 25,3626 13664 TCF VLIGHT
027181,005009:
027182,005010: 25,3627 14570 TCF RRTRKF
027183,005011:
027184,005012: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
027185,005013:
027186,005014: 25,3631 34747 CA HLITE
027187,005015: 25,3632 54001 TS L
027188,005016:
027189,005017: 25,3633 30107 CA FLGWRD11
027190,005018: 25,3634 74751 MASK SCABBIT
027191,005019: 25,3635 10000 CCS A
027192,005020: 25,3636 13656 TCF ONLITES
027193,005021: 25,3637 34747 CA BIT5
027194,005022: 25,3640 70110 BOTHLITS MASK RADMODES
027195,005023: 25,3641 10000 CCS A
027196,005024: 25,3642 13656 TCF ONLITES
027197,005025:
027198,005026: 25,3643 30107 CA FLGWRD11
027199,005027: 25,3644 50065 INDEX ITEMP5
027200,005028: 25,3645 74753 MASK HFLSHBIT
027201,005029: 25,3646 10000 CCS A
027202,005030: 25,3647 14570 TCF RRTRKF
027203,005031:
|
|
Page 623
|
027205,005033: 25,3650 00006 LITIT EXTEND
027206,005034: 25,3651 22066 QXCH ITEMP6
027207,005035: 25,3652 04602 TC TRKFLON +1
027208,005036:
027209,005037: 25,3653 00006 EXTEND
027210,005038: 25,3654 22066 QXCH ITEMP6
027211,005039: 25,3655 14570 TCF RRTRKF
027212,005040:
027213,005041:
027214,005042: 25,3656 50065 ONLITES INDEX ITEMP5
027215,005043: 25,3657 44753 CS HFLSHBIT
027216,005044: 25,3660 70107 MASK FLGWRD11
027217,005045: 25,3661 54107 TS FLGWRD11
027218,005046:
027219,005047: 25,3662 30001 CA L
027220,005048: 25,3663 13650 TCF LITIT
027221,005049: 25,3664 54065 VLIGHT TS ITEMP5
027222,005050: 25,3665 34751 CA VLITE
027223,005051: 25,3666 54001 TS L
027224,005052: 25,3667 34744 CA BIT8
027225,005053: 25,3670 13640 TCF BOTHLITS
027226,005054:
027227,005055: 25,3671 4747 HLITE EQUALS BIT5
027228,005056: 25,3671 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc