Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
020758,000002: ## Copyright: Public domain.
020759,000003: ## Filename: P20-P25.agc
020760,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
020761,000005: ## It is part of the source code for the Lunar Module's (LM)
020762,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
020763,000007: ## Assembler: yaYUL
020764,000008: ## Contact: Onno Hommes <ohommes@cmu.edu>.
020765,000009: ## Website: www.ibiblio.org/apollo.
020766,000010: ## Pages: 0492-0613
020767,000011: ## Mod history: 2009-05-26 OH Transcribed from page images.
020768,000012: ## 2009-06-05 RSB Corrected a typos.
020769,000013: ## 2009-06-06 RSB Added a missing instruction, and a block
020770,000014: ## of 3 missing instructions.
020771,000015: ## 2009-06-07 RSB Fixed a misprint.
020772,000016: ## 2009-06-07 RSB Changed the construct "2DEC E-6 B12"
020773,000017: ## (which isn't legal in yaYUL) to
020774,000018: ## "2DEC 1.0 E-6 B12".
020775,000019: ## 2011-05-07 JL Removed workarounds.
020776,000020: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
020777,000021: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
020778,000022: ## and corrected the errors found.
020779,000023: ## 2017-01-28 RSB WTIH -> WITH.
020780,000024: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
020781,000025: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
020782,000026: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
020783,000027: ## side-by-side diff of Luminary 69/99/116/131/210.
020784,000028:
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020786,000030: # RENDEZVOUS NAVIGATION PROGRAM 20
020787,000031:
020788,000032: # PROGRAM DESCRIPTION
020789,000033:
020790,000034: # MOD NO - 2
020791,000035: # BY P. VOLANTE
020792,000036:
020793,000037: # FUNCTIONAL DESCRIPTION
020794,000038:
020795,000039: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
020796,000040: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
020797,000041: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
020798,000042: # ON THE BASIS OF THE RR TRACKING DATA.
020799,000043:
020800,000044: # CALLING SEQUENCE -
020801,000045:
020802,000046: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
020803,000047:
020804,000048: # SUBROUTINES CALLED
020805,000049:
020806,000050: # R02BOTH (IMU STATUS CHECK) FLAGUP
020807,000051: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
020808,000052: # R23LEM (MANUAL ACQUISITION) BANKCALL
020809,000053: # LS201 (LOS DETERMINATION) TASKOVER
020810,000054: # LS202 (RANGE LIMIT TEST)
020811,000055: # R61LEM (PREFERRED TRACKING ATTITUDE)
020812,000056: # R21LEM (RR DESIGNATE) ENDOFJOB
020813,000057: # R22LEM (DATA READ) GOPERF1
020814,000058: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
020815,000059: # PRIOLARM (PRIORITY DISPLAY)
020816,000060:
020817,000061: # NORMAL EXIT MODES -
020818,000062:
020819,000063: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
020820,000064: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
020821,000065:
020822,000066: # ALARM OR ABORT EXIT MODES -
020823,000067:
020824,000068: # RANGE GREATER THAN 400 NM DISPLAY
020825,000069:
020826,000070: # OUTPUT
020827,000071:
020828,000072: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
020829,000073:
020830,000074: # ERASABLE INITIALIZATION REQUIRED
020831,000075:
020832,000076: # FLAGS SET + RESET
020833,000077:
020834,000078: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
020835,000079:
020836,000080: # DEBRIS
020837,000081:
020838,000082: # CENTRALS - A,Q,L
020839,000083:
020840,000084: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
020841,000085:
020842,000086: 33,2045 BANK 33
020843,000087: 24,2000 SETLOC P20S
020844,000088: 24,2000 BANK
020845,000089:
020846,000090: 24,2000 E7,1456 EBANK= LOSCOUNT
020847,000091: 24,2000 COUNT* $$/P20
020848,000092: 24,2000 24,2000 PROG22 = PROG20
020849,000093: 24,2000 05327 PROG20 TC 2PHSCHNG
020850,000094: 24,2001 00004 OCT 4
020851,000095: 24,2002 05022 OCT 05022
020852,000096: 24,2003 26000 OCT 26000 # PRIORITY 26
020853,000097: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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020855,000099: 24,2005 02007 TC ORBCHGO # YES
020856,000100: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
020857,000101: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
020858,000102: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
020859,000103: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
020860,000104: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT
020861,000105: 24,2013 32311 CAF OCT00012
020862,000106: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
020863,000107: 24,2015 20633 CADR GOPERF4
020864,000108: 24,2016 06001 TC GOTOPOOH # TERMINATE
020865,000109: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
020866,000110: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
020867,000111: 24,2021 42312 ORBCHG1 CS P22ONE
020868,000112: 24,2022 61145 AD OPTION2
020869,000113: 24,2023 00006 EXTEND
020870,000114: 24,2024 12040 BZF PROG20A
020871,000115: 24,2025 32315 CAF V06N33*
020872,000116: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
020873,000117: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH
020874,000118: 24,2030 06001 TC GOTOPOOH # TERMINATE
020875,000119: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
020876,000120: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
020877,000121: 24,2033 06037 ORBCHG2 TC INTPRET
020878,000122: 24,2034 77650 GOTO
020879,000123: 24,2035 64217 ORBCHG3
020880,000124: 32,2217 BANK 32
020881,000125: 32,2000 SETLOC P20S4
020882,000126: 32,2000 BANK
020883,000127: 32,2217 COUNT* $$/P20
020884,000128:
020885,000129: 32,2217 77624 ORBCHG3 CALL
020886,000130: 32,2220 27414 INTSTALL
020887,000131: 32,2221 77745 DLOAD
020888,000132: 32,2222 03442 TIG
020889,000133: 32,2223 03661 STORE LNCHTM
020890,000134: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
020891,000135: 32,2225 43014 CLEAR CLEAR
020892,000136: 32,2226 01674 VINTFLAG # LM INTEGRATION
020893,000137: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
020894,000138: 32,2230 43014 CLEAR CLEAR
020895,000139: 32,2231 01676 DIM0FLAG # NO W-MATRIX
020896,000140: 32,2232 01675 D6OR9FLG
020897,000141: 32,2233 77624 CALL
020898,000142: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
020899,000143: 32,2235 77624 CALL
020900,000144: 32,2236 11244 GRP2PC
020901,000145: 32,2237 77775 VLOAD
020902,000146: 32,2240 00017 RATT1
020903,000147: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
020904,000148: 32,2242 00015 TAT
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020906,000150: 32,2243 34041 STCALL TDEC1
020907,000151: 32,2244 27414 INTSTALL
020908,000152: 32,2245 43014 SET CLEAR
020909,000153: 32,2246 01474 VINTFLAG # CSM INTEGRATION
020910,000154: 32,2247 01673 INTYPFLG
020911,000155: 32,2250 43014 CLEAR BOFF
020912,000156: 32,2251 01676 DIM0FLAG
020913,000157: 32,2252 02756 RENDWFLG # W MATRIX VALID
020914,000158: 32,2253 64257 NOWMATX # NO
020915,000159: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
020916,000160: 32,2255 01476 DIM0FLAG
020917,000161: 32,2256 01475 D6OR9FLG
020918,000162: 32,2257 77624 NOWMATX CALL
020919,000163: 32,2260 27134 INTEGRV # CSM INTEGRATION
020920,000164: 32,2261 77624 CALL
020921,000165: 32,2262 11244 GRP2PC
020922,000166: 32,2263 77775 VLOAD
020923,000167: 32,2264 00025 VATT1
020924,000168: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
020925,000169: 32,2266 00017 RATT1
020926,000170: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION
020927,000171: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020928,000172: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
020929,000173: 32,2272 24025 STOVL 20D # SAVE NSUB1
020930,000174: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
020931,000175: 32,2274 53435 VXV UNIT # PLANE CHANGE
020932,000176: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
020933,000177: 32,2276 27637 STOVL UCSM
020934,000178: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
020935,000179: 32,2300 50256 UNIT DOT # AND RSUBC
020936,000180: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
020937,000181: 32,2302 77752 SL1
020938,000182: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
020939,000183: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
020940,000184: 32,2305 10314 ONEB-2
020941,000185: 32,2306 77766 SQRT
020942,000186: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
020943,000187: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
020944,000188: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
020945,000189: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
020946,000190: 32,2313 77676 VCOMP
020947,000191: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
020948,000192: 32,2315 45014 CLEAR CALL
020949,000193: 32,2316 03666 RVSW
020950,000194: 32,2317 24732 TIMETHET
020951,000195: 32,2320 77676 VCOMP
020952,000196: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
020953,000197: 32,2322 77745 DLOAD
020954,000198: 32,2323 00037 T
020955,000199: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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020957,000201: 32,2325 03645 NEWVEL
020958,000202: 32,2326 77646 ABVAL
020959,000203: 32,2327 24025 STOVL 20D
020960,000204: 32,2330 00001 0D
020961,000205: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
020962,000206: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020963,000207: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
020964,000208: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
020965,000209: 32,2335 03653 NEWPOS # ORBITAL PLANE
020966,000210: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
020967,000211: 32,2337 00025 20D
020968,000212: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
020969,000213: 32,2341 11244 GRP2PC
020970,000214: 32,2342 77624 CALL
020971,000215: 32,2343 27414 INTSTALL
020972,000216: 32,2344 44345 DLOAD BDSU
020973,000217: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
020974,000218: 32,2346 03661 LNCHTM
020975,000219: 32,2347 25517 STOVL TET
020976,000220: 32,2350 03653 NEWPOS
020977,000221: 32,2351 01535 STORE RCV
020978,000222: 32,2352 25503 STOVL RRECT
020979,000223: 32,2353 03665 NCSMVEL
020980,000224: 32,2354 35511 STCALL VRECT
020981,000225: 32,2355 23455 MINIRECT
020982,000226: 32,2356 45174 AXT,2 CALL
020983,000227: 32,2357 00002 2
020984,000228: 32,2360 26661 ATOPCSM
020985,000229: 32,2361 77624 CALL
020986,000230: 32,2362 27423 INTWAKE0
020987,000231: 32,2363 77776 EXIT
020988,000232: 32,2364 04616 TC BANKCALL
020989,000233: 32,2365 50040 CADR PROG20A
020990,000234:
020991,000235: 24,2036 BANK 24
020992,000236: 24,2000 SETLOC P20S
020993,000237: 24,2000 BANK
020994,000238: 24,2036 COUNT* $$/P20
020995,000239:
020996,000240: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
020997,000241: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
020998,000242: 24,2040 04616 PROG20A TC BANKCALL
020999,000243: 24,2041 11254 CADR R02BOTH
021000,000244: 24,2042 05504 TC UPFLAG
021001,000245: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021002,000246: 24,2044 05504 TC UPFLAG
021003,000247: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021004,000248: 24,2046 05504 TC UPFLAG
021005,000249: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021006,000250: 24,2050 05516 TC DOWNFLAG
021007,000251: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021009,000253: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021010,000254: 24,2053 00040 ADRES ACMODFLG
021011,000255: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021012,000256: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021013,000257: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021014,000258: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021015,000259: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021016,000260: 24,2061 00041 ADRES LOSCMFLG
021017,000261: 24,2062 06011 TC CLRADMOD
021018,000262: 24,2063 05353 P20LEM1 TC PHASCHNG
021019,000263: 24,2064 04022 OCT 04022
021020,000264: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021021,000265: 24,2066 55462 TS MARKCTR
021022,000266: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE
021023,000267: 24,2070 77634 RTB
021024,000268: 24,2071 21573 LOADTIME
021025,000269: 24,2072 34041 STCALL TDEC1
021026,000270: 24,2073 51255 LPS20.1
021027,000271: 24,2074 77624 CALL
021028,000272: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE
021029,000273: 24,2076 77776 EXIT
021030,000274: 24,2077 50154 INDEX MPAC
021031,000275: 24,2100 02101 TC +1
021032,000276: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021033,000277: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021034,000278: 24,2103 04616 TC BANKCALL
021035,000279: 24,2104 21562 CADR PRIOLARM
021036,000280: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021037,000281: 24,2106 02102 TC -4 # PROC (ILLEGAL
021038,000282: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021039,000283: 24,2110 05155 TC ENDOFJOB
021040,000284:
021041,000285: 24,2111 05353 P20LEMA TC PHASCHNG
021042,000286: 24,2112 04022 OCT 04022
021043,000287: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021044,000288: 24,2114 02117 TC P20LEMB
021045,000289: 24,2115 04616 TC BANKCALL
021046,000290: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021047,000291: 24,2117 05353 P20LEMB TC PHASCHNG
021048,000292: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021049,000293: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021050,000294: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26
021051,000295: 24,2123 05146 TC PRIOCHNG
021052,000296: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021053,000297: 24,2125 74747 MASK TRACKBIT
021054,000298: 24,2126 00006 EXTEND
021055,000299: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021056,000300: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021057,000301: 24,2131 00006 EXTEND
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021059,000303: 24,2132 02033 RAND CHAN33
021060,000304: 24,2133 00006 EXTEND
021061,000305: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021062,000306:
021063,000307: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021064,000308: 24,2136 61011 AD MODREG # MAJOR MODE IS 20
021065,000309: 24,2137 00006 EXTEND
021066,000310: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES - OK TO DO PLEASE PERFORM
021067,000311:
021068,000312: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22
021069,000313: 24,2142 00006 EXTEND
021070,000314: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021071,000315: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021072,000316: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021073,000317: 24,2146 21562 CADR PRIOLARM
021074,000318: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
021075,000319: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021076,000320: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021077,000321: 24,2152 05155 TC ENDOFJOB
021078,000322: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021079,000323: 24,2154 04616 TC BANKCALL
021080,000324: 24,2155 20623 CADR GOPERF1
021081,000325: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021082,000326: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021083,000327: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021084,000328: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021085,000329: 24,2162 03135 TC R23LEM # NO - DO MANUAL ACQUISITION
021086,000330:
021087,000331: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021088,000332: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021089,000333: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021090,000334:
021091,000335: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021092,000336: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021093,000337:
021094,000338: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021095,000339: 24,2171 74737 MASK RCDU0BIT
021096,000340: 24,2172 00006 EXTEND
021097,000341: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021098,000342: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021099,000343: 24,2175 70076 MASK FLAGWRD2
021100,000344: 24,2176 00006 EXTEND
021101,000345: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021102,000346: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021103,000347: 24,2201 00037 ADRES SRCHOPTN
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021105,000349: 24,2202 05516 TC DOWNFLAG
021106,000350: 24,2203 00040 ADRES ACMODFLG
021107,000351: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021108,000352:
021109,000353: 24,2205 32304 P20LEMB4 CAF 250DEC
021110,000354: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021111,000355: 24,2207 01735 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021112,000356: 24,2210 02170 TC P20LEMB3
021113,000357:
021114,000358: 24,2211 06037 P20LEMC3 TC INTPRET
021115,000359: 24,2212 77634 RTB
021116,000360: 24,2213 21573 LOADTIME
021117,000361: 24,2214 34041 STCALL TDEC1
021118,000362: 24,2215 50316 UPPSV
021119,000363: 24,2216 77776 P20LEMC4 EXIT
021120,000364: 24,2217 05353 P20LEMC TC PHASCHNG
021121,000365: 24,2220 04022 OCT 04022
021122,000366: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021123,000367: 24,2222 74745 MASK RNDVZBIT
021124,000368: 24,2223 00006 EXTEND
021125,000369: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021126,000370: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021127,000371: 24,2226 74747 MASK TRACKBIT
021128,000372: 24,2227 00006 EXTEND
021129,000373: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021130,000374: 24,2231 02674 P20LEMF TC R21LEM
021131,000375:
021132,000376: 24,2232 32304 P20LEMWT CAF 250DEC
021133,000377: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021134,000378: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021135,000379: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021136,000380: 24,2236 74747 MASK TRACKBIT
021137,000381: 24,2237 00006 EXTEND
021138,000382: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021139,000383: 24,2241 05353 P20LMWT1 TC PHASCHNG
021140,000384: 24,2242 40072 OCT 40072
021141,000385: 24,2243 05155 TC ENDOFJOB
021142,000386:
021143,000387: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021144,000388: 24,2245 74745 MASK RNDVZBIT
021145,000389: 24,2246 00006 EXTEND
021146,000390: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021147,000391: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021148,000392: 24,2251 74747 MASK TRACKBIT
021149,000393: 24,2252 00006 EXTEND
021150,000394: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
|
Page 499 |
021152,000396: 24,2254 37714 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021153,000397: 24,2255 05105 TC FINDVAC
021154,000398: 24,2256 E7,1456 EBANK= LOSCOUNT
021155,000399: 24,2256 02627 50067 2CADR R22LEM42
021156,000400:
021157,000401: 24,2260 05261 TC TASKOVER
021158,000402:
021159,000403: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021160,000404: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021161,000405:
021162,000406: 24,2263 02244 TC P20LEMC1
021163,000407:
021164,000408: 24,2264 32666 P20LEMD CAF 1500DEC
021165,000409: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021166,000410: 24,2266 02270 ADRES P20LEMD1
021167,000411: 24,2267 05155 TC ENDOFJOB
021168,000412:
021169,000413: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021170,000414: 24,2271 74747 MASK TRACKBIT
021171,000415: 24,2272 10000 CCS A
021172,000416: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021173,000417: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021174,000418: 24,2275 02734 DEC 1500 B-14
021175,000419: 24,2276 02270 TC P20LEMD1
021176,000420:
021177,000421: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021178,000422: 24,2300 05105 TC FINDVAC
021179,000423: 24,2301 E7,1456 EBANK= LOSCOUNT
021180,000424: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021181,000425:
021182,000426: 24,2303 05261 TC TASKOVER
021183,000427:
021184,000428: 24,2304 00372 250DEC DEC 250 B-14
021185,000429: 24,2305 00526 ALRM526 OCT 00526
021186,000430: 24,2306 00201 OCT201 OCT 00201
021187,000431: 24,2307 00514 ALRM514 OCT 514
021188,000432: 24,2310 00074 MAXTRIES DEC 60 B-14
021189,000433: 24,2311 00012 OCT00012 OCT 00012
021190,000434: 24,2312 00001 P22ONE OCT 00001
021191,000435: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2
021192,000436:
021193,000437: 24,2315 01441 V06N33* VN 0633
021194,000438: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021195,000439: 24,2317 01757 LS21X # TO PRESENT TIME
021196,000440: 24,2320 27414 INTSTALL
021197,000441: 24,2321 77624 CALL
|
|
Page 500 |
021199,000443: 24,2322 26644 SETIFLGS
021200,000444: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
021201,000445: 24,2324 02756 RENDWFLG
021202,000446: 24,2325 50336 UPPSV1
021203,000447: 24,2326 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021204,000448: 24,2327 43014 BON SET
021205,000449: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021206,000450: 24,2331 50333 UPPSV5
021207,000451: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9
021208,000452: 24,2333 77614 UPPSV5 BOF
021209,000453: 24,2334 00747 VEHUPFLG
021210,000454: 24,2335 50370 UPPSV3
021211,000455: 24,2336 77614 UPPSV1 SET
021212,000456: 24,2337 01474 VINTFLAG
021213,000457: 24,2340 77624 CALL
021214,000458: 24,2341 27134 INTEGRV
021215,000459: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE
021216,000460: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION
021217,000461: 24,2344 77624 CALL
021218,000462: 24,2345 27414 INTSTALL
021219,000463: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021220,000464: 24,2347 01571 TETCSM
021221,000465: 24,2350 01674 VINTFLAG
021222,000466: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021223,000467: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX
021224,000468: 24,2353 34041 STCALL TDEC1
021225,000469: 24,2354 27134 INTEGRV
021226,000470: 24,2355 77214 BOFF VLOAD
021227,000471: 24,2356 04347 SURFFLAG
021228,000472: 24,2357 50216 P20LEMC4
021229,000473: 24,2360 01661 RCVLEM
021230,000474: 24,2361 77742 VSR2
021231,000475: 24,2362 26352 STOVL LMPOS
021232,000476: 24,2363 01667 VCVLEM
021233,000477: 24,2364 77742 VSR2
021234,000478: 24,2365 02360 STORE LMVEL
021235,000479: 24,2366 77650 GOTO
021236,000480: 24,2367 01757 LS21X
021237,000481:
021238,000482: 24,2370 45014 UPPSV3 CLEAR CALL
021239,000483: 24,2371 01674 VINTFLAG
021240,000484: 24,2372 27134 INTEGRV
021241,000485: 24,2373 77624 CALL
021242,000486: 24,2374 11244 GRP2PC
021243,000487: 24,2375 77624 CALL
021244,000488: 24,2376 27414 INTSTALL
021245,000489: 24,2377 71214 SET DLOAD
021246,000490: 24,2400 01474 VINTFLAG
021247,000491: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
|
|
Page 501 |
021249,000493: 24,2402 77650 GOTO
021250,000494: 24,2403 50351 UPPSV4
021251,000495: 24,2404 E7,1456 EBANK= LOSCOUNT
021252,000496: 24,2404 COUNT* $$/P22
021253,000497:
|
|
Page 502 |
021255,000499: # PROGRAM DESCRIPTION
021256,000500:
021257,000501: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021258,000502: # MOD NO - 3
021259,000503: # BY P. VOLANTE
021260,000504:
021261,000505: # FUNCTIONAL DESCRIPTION
021262,000506:
021263,000507: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021264,000508: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021265,000509: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021266,000510: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021267,000511:
021268,000512: # CALLING SEQUENCE -
021269,000513:
021270,000514: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021271,000515:
021272,000516: # SUBROUTINES CALLED -
021273,000517:
021274,000518: # BANKCALL FLAGUP
021275,000519: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021276,000520: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021277,000521: # TASKOVER FINDVAC
021278,000522:
021279,000523: # NORMAL EXIT MODES -
021280,000524:
021281,000525: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021282,000526: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021283,000527:
021284,000528: # ALARM OR ABORT EXIT MODES -
021285,000529:
021286,000530: # NONE
021287,000531:
021288,000532: # OUTPUT
021289,000533:
021290,000534: # ERASABLE INITIALIZATION REQUIRED
021291,000535:
021292,000536: # FLAGS SET + RESET
021293,000537:
021294,000538: # TRACKFLG, P25FLAG
021295,000539:
021296,000540: # DEBRIS
021297,000541:
021298,000542: # NONE
021299,000543:
021300,000544: 24,2404 E7,1456 EBANK= LOSCOUNT
021301,000545: 24,2404 COUNT* $$/P25
021302,000546: 24,2404 05327 PROG25 TC 2PHSCHNG
021303,000547: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021304,000548: 24,2406 05022 OCT 05022
021305,000549: 24,2407 26000 OCT 26000 # PRIORITY 26
021306,000550:
021307,000551: 24,2410 04616 TC BANKCALL
021308,000552: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK
021309,000553: 24,2412 05504 TC UPFLAG
021310,000554: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG
021311,000555: 24,2414 05504 TC UPFLAG
021312,000556: 24,2415 00006 ADRES P25FLAG # SET P25FLAG
021313,000557: 24,2416 05353 P25LEM1 TC PHASCHNG
021314,000558: 24,2417 04022 OCT 04022
021315,000559: 24,2420 34743 CAF P25FLBIT
021316,000560: 24,2421 70074 MASK STATE # IS P25FLAG SET
021317,000561: 24,2422 00006 EXTEND
021318,000562: 24,2423 15155 BZF ENDOFJOB
021319,000563: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021320,000564: 24,2425 70075 MASK STATE +1
021321,000565: 24,2426 00006 EXTEND
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|
Page 503 |
021323,000567: 24,2427 12437 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021324,000568: 24,2430 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021325,000569: 24,2431 55745 TS R65CNTR
021326,000570: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021327,000571: 24,2433 46123 CADR R65LEM
021328,000572: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS
021329,000573: 24,2435 05353 P25LEMWT TC PHASCHNG
021330,000574: 24,2436 00112 OCT 00112
021331,000575: 24,2437 32450 P25LMWT1 CAF 60SCNDS
021332,000576: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021333,000577: 24,2441 02443 ADRES P25LEM2
021334,000578: 24,2442 05155 TC ENDOFJOB
021335,000579: 24,2443 35024 P25LEM2 CAF PRIO14
021336,000580: 24,2444 05105 TC FINDVAC
021337,000581: 24,2445 E7,1456 EBANK= LOSCOUNT
021338,000582: 24,2445 02416 50067 2CADR P25LEM1
021339,000583:
021340,000584: 24,2447 05261 TC TASKOVER
021341,000585: 24,2450 13560 60SCNDS DEC 6000 B-14
021342,000586:
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|
Page 504 |
021344,000588: # DATA READ ROUTINE 22 (LEM)
021345,000589: # PROGRAM DESCRIPTION
021346,000590:
021347,000591: # MOD NO - 2
021348,000592: # BY P VOLANTE
021349,000593:
021350,000594: # FUNCTIONAL DESCRIPTION
021351,000595:
021352,000596: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021353,000597: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021354,000598:
021355,000599: # CALLING SEQUENCE -
021356,000600:
021357,000601: # TC BANKCALL
021358,000602: # CADR R22LEM
021359,000603:
021360,000604: # SUBROUTINES CALLED -
021361,000605:
021362,000606: # LSR22.1 GOFLASH WAITLIST
021363,000607: # LSR22.2 PRIOLARM BANKCALL
021364,000608: # LSR22.3 R61LEM
021365,000609:
021366,000610: # NORMAL EXIT MODES -
021367,000611:
021368,000612: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021369,000613: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021370,000614: # R22 WILL TERMINATE SELF.
021371,000615:
021372,000616: # ALARM OR ABORT EXIT MODES -
021373,000617:
021374,000618: # PRIORITY ALARM
021375,000619: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021376,000620:
021377,000621: # OUTPUT
021378,000622:
021379,000623: # SEE OUTPUT FROM LSR22.3
021380,000624:
021381,000625: # ERASABLE INITIALIZATION REQUIRED
021382,000626:
021383,000627: # SEE LSR22.1, LSR22.2, LSR22.3
021384,000628:
021385,000629: # FLAGS SET + RESET
021386,000630:
021387,000631: # NOANGFLG
021388,000632:
021389,000633: # DEBRIS
021390,000634:
021391,000635: # SEE LSR22.1, LSR22.2, LSR22.3
021392,000636:
021393,000637: 24,2451 E7,1737 EBANK= LRS22.1X
021394,000638: 24,2451 COUNT* $$/R22
021395,000639: 24,2451 05353 R22LEM TC PHASCHNG
021396,000640: 24,2452 04022 OCT 04022
021397,000641: 24,2453 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021398,000642: 24,2454 70074 MASK STATE
021399,000643: 24,2455 00006 EXTEND
021400,000644: 24,2456 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021401,000645: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021402,000646: 24,2460 70075 MASK STATE +1
021403,000647: 24,2461 00006 EXTEND
021404,000648: 24,2462 12636 BZF R22WAIT # NO WAIT
021405,000649: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021406,000650: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021407,000651: 24,2465 02012 RAND CHAN12
021408,000652: 24,2466 00006 EXTEND
021409,000653: 24,2467 12111 BZF P20LEMA # NO - RETURN TO P20
021410,000654: 24,2470 34752 CAF BIT2 # YES
021411,000655: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021412,000656: 24,2472 02033 RAND CHAN33
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|
Page 505 |
021414,000658: 24,2473 00006 EXTEND
021415,000659: 24,2474 12476 BZF +2 # YES CONTINUE
021416,000660: 24,2475 02135 TC P20LEMB5 # NO - SET IT
021417,000661: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021418,000662: 24,2477 74737 MASK RCDU0BIT
021419,000663: 24,2500 00006 EXTEND
021420,000664: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED
021421,000665: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AN EXTRA RADAR
021422,000666: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021423,000667: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021424,000668: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021425,000669: 24,2506 50154 INDEX MPAC
021426,000670: 24,2507 02510 TC +1
021427,000671: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021428,000672: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021429,000673: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021430,000674: 24,2513 04616 TC BANKCALL
021431,000675: 24,2514 21562 CADR PRIOLARM
021432,000676: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021433,000677: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021434,000678: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION)
021435,000679: 24,2520 05155 TC ENDOFJOB
021436,000680:
021437,000681: 24,2521 05353 R22LEM1 TC PHASCHNG
021438,000682: 24,2522 04022 OCT 04022
021439,000683: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA
021440,000684: 24,2524 04616 TC BANKCALL
021441,000685: 24,2525 20507 CADR PRIODSP
021442,000686: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021443,000687: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE)
021444,000688: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE)
021445,000689: 24,2531 05353 R22LEM2 TC PHASCHNG
021446,000690: 24,2532 04022 OCT 04022
021447,000691: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021448,000692: 24,2534 02551 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021449,000693: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021450,000694: 24,2536 74747 MASK TRACKBIT
021451,000695: 24,2537 00006 EXTEND
021452,000696: 24,2540 12636 BZF R22WAIT # NO - WAIT
021453,000697: 24,2541 04616 TC BANKCALL # YES
021454,000698: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021455,000699: 24,2543 50154 INDEX MPAC
021456,000700: 24,2544 02545 TC +1
021457,000701: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021458,000702: 24,2546 04616 TC BANKCALL
021459,000703: 24,2547 46116 CADR R61LEM
021460,000704: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021461,000705: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021462,000706: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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|
Page 506 |
021464,000708: 24,2553 00006 EXTEND
021465,000709: 24,2554 12627 BZF R22LEM42 # BRANCH - YES
021466,000710: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021467,000711: 24,2556 74745 MASK UPDATBIT
021468,000712: 24,2557 00006 EXTEND
021469,000713: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET
021470,000714: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021471,000715: 24,2562 55056 TS PHSPRDT2
021472,000716:
021473,000717: 24,2563 06037 TC INTPRET
021474,000718: 24,2564 77650 GOTO
021475,000719: 24,2565 54412 LSR22.3
021476,000720: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021477,000721: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021478,000722: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021479,000723: 24,2571 12622 TCF R22LEM44
021480,000724: 24,2572 77776 R22LEM96 EXIT
021481,000725: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021482,000726: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021483,000727: 24,2575 05353 TC PHASCHNG
021484,000728: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY
021485,000729: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY
021486,000730: 24,2600 05072 TC NOVAC
021487,000731: 24,2601 E7,1746 EBANK= N49FLAG
021488,000732: 24,2601 02644 50067 2CADR N49DSP
021489,000733:
021490,000734: 24,2603 06037 TC INTPRET
021491,000735: 24,2604 77735 SLOAD
021492,000736: 24,2605 03747 N49FLAG
021493,000737: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG
021494,000738: 24,2607 50604 -3 # SETTING CHANGED - BRANCH - NO
021495,000739: 24,2610 50616 R22LEM7 # PROCEED
021496,000740: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
021497,000741: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021498,000742: 24,2613 02636 TC R22WAIT # YES - 15 SECOND DELAY
021499,000743: 24,2614 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
021500,000744: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
021501,000745: 24,2616 77624 R22LEM7 CALL # PROCEED
021502,000746: 24,2617 11244 GRP2PC # PHASE CHANGE AND
021503,000747: 24,2620 77650 GOTO # GO TO INCORPORATE DATA.
021504,000748: 24,2621 55431 ASTOK
021505,000749: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021506,000750: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021507,000751: 24,2624 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021508,000752: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE
021509,000753: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5
021510,000754: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021511,000755: 24,2630 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021512,000756: 24,2631 34752 CA TWO # NO - SET R65COUNTER = 2
021513,000757: 24,2632 55745 R22LEM45 TS R65CNTR
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|
Page 507 |
021515,000759: 24,2633 04616 TC BANKCALL
021516,000760: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021517,000761: 24,2635 02451 TC R22LEM
021518,000762: 24,2636 32666 R22WAIT CAF 1500DEC
021519,000763: 24,2637 02233 TC P20LEMWT +1
021520,000764:
021521,000765: 24,2640 35000 R22LEM46 CAF 2SECS
021522,000766: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021523,000767: 24,2642 01735 CADR DELAYJOB
021524,000768: 24,2643 02451 TC R22LEM
021525,000769:
021526,000770: 24,2644 32665 N49DSP CAF V06N49NB
021527,000771: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021528,000772: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021529,000773: 24,2647 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
021530,000774: 24,2650 44753 CS ONE # PROCEED - N49FLAG = -1
021531,000775: 24,2651 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021532,000776: 24,2652 05155 TC ENDOFJOB
021533,000777: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021534,000778: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021535,000779: 24,2655 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021536,000780: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021537,000781: 24,2657 04616 TC BANKCALL # BAD DATA
021538,000782: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
021539,000783: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021540,000784: 24,2662 02451 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
021541,000785:
021542,000786: 24,2663 00525 ALRM525 OCT 00525
021543,000787: 24,2664 01405 V06N05 VN 00605
021544,000788: 24,2665 01461 V06N49NB VN 00649
021545,000789: 24,2666 02734 1500DEC DEC 1500 B-14
021546,000790:
021547,000791: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021548,000792: # RETURNS TO CALLER +1 IF P22FLAG SET
021549,000793: # TO CALLER +2 IF P22FLAG NOT SET
021550,000794:
021551,000795: 24,2667 COUNT* $$/P22
021552,000796: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021553,000797: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET?
021554,000798: 24,2671 10000 CCS A # BRANCH - P22FLAG SET
021555,000799: 24,2672 24002 INCR Q # NOT SET
021556,000800: 24,2673 00002 TC Q # RETURN
021557,000801:
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|
Page 508 |
021559,000803: # RR DESIGNATE ROUTINE (R21LEM)
021560,000804: # PROGRAM DESCRIPTION
021561,000805:
021562,000806: # MOD NO - 2
021563,000807: # BY P VOLANTE
021564,000808:
021565,000809: # FUNCTIONAL DESCRIPTION
021566,000810:
021567,000811: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021568,000812: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021569,000813:
021570,000814: # CALLING SEQUENCE -
021571,000815:
021572,000816: # TC BANKCALL
021573,000817: # CADR R21LEM
021574,000818:
021575,000819: # SUBROUTINES CALLED -
021576,000820:
021577,000821: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021578,000822: # NOVAC INTPRET LPS20.1 PHASCHNG
021579,000823: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021580,000824: # TASKOVER BANKCALL RADSTALL RRDESSM
021581,000825:
021582,000826: # NORMAL EXIT MODES
021583,000827: #
021584,000828: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021585,000829: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021586,000830:
021587,000831: # ALARM OR ABORT EXIT MODES -
021588,000832:
021589,000833: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021590,000834: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021591,000835: # ACQUISITION
021592,000836:
021593,000837: # OUTPUT
021594,000838:
021595,000839: # SEE LPS20.1, RRDESSM
021596,000840:
021597,000841: # ERASABLE INITIALIZATION REQUIRED
021598,000842:
021599,000843: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021600,000844:
021601,000845: # FLAGS SET + RESET
021602,000846:
021603,000847: # LOSCMFLG LOKONSW
021604,000848:
021605,000849: # DEBRIS
021606,000850:
021607,000851: # SEE LPS20.1, RRDESSM
021608,000852:
021609,000853: 24,2674 E7,1456 EBANK= LOSCOUNT
021610,000854: 24,2674 COUNT* $$/R21
021611,000855: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021612,000856: 24,2675 00006 EXTEND
021613,000857: 24,2676 03012 WAND CHAN12
021614,000858: 24,2677 02667 TC LUNSFCHK
021615,000859: 24,2700 02705 TC R21LEM5
021616,000860: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021617,000861: 24,2702 55107 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021618,000862: 24,2703 55110 TS TANG +1
021619,000863: 24,2704 02715 TC R21LEM6
021620,000864: 24,2705 34740 R21LEM5 CAF BIT12
021621,000865: 24,2706 70110 MASK RADMODES
021622,000866: 24,2707 10000 CCS A
021623,000867: 24,2710 02725 TC R21LEM10
021624,000868: 24,2711 34735 CAF BIT15
021625,000869: 24,2712 55107 TS TANG
021626,000870: 24,2713 44736 CS HALF
021627,000871: 24,2714 55110 TS TANG +1
021628,000872:
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|
Page 509 |
021630,000874: 24,2715 05516 R21LEM6 TC DOWNFLAG
021631,000875: 24,2716 00012 ADRES LOKONSW
021632,000876: 24,2717 04616 TC BANKCALL
021633,000877: 24,2720 52475 CADR RRDESNB
021634,000878: 24,2721 02722 TC +1
021635,000879: 24,2722 04616 TC BANKCALL
021636,000880: 24,2723 17714 CADR RADSTALL
021637,000881: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
021638,000882: 24,2725 05504 R21LEM10 TC UPFLAG
021639,000883: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021640,000884: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021641,000885: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021642,000886: 24,2731 36245 R21LEM2 CAF THREE
021643,000887: 24,2732 55456 TS LOSCOUNT
021644,000888: 24,2733 06037 R21LEM1 TC INTPRET
021645,000889: 24,2734 43234 RTB DAD
021646,000890: 24,2735 21573 LOADTIME
021647,000891: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021648,000892: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021649,000893: 24,2740 51255 LPS20.1
021650,000894: 24,2741 77776 EXIT
021651,000895: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
021652,000896: 24,2743 00012 ADRES LOKONSW
021653,000897: 24,2744 05516 TC DOWNFLAG
021654,000898: 24,2745 00126 ADRES NORRMON
021655,000899: 24,2746 06037 TC INTPRET
021656,000900: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021657,000901: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE
021658,000902: 24,2751 77776 EXIT
021659,000903: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021660,000904: # ON LUNAR SURFACE
021661,000905: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021662,000906: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021663,000907: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021664,000908: 24,2756 02760 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021665,000909: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021666,000910: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503
021667,000911: 24,2761 04616 TC BANKCALL
021668,000912: 24,2762 21562 CADR PRIOLARM
021669,000913: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021670,000914: 24,2764 02772 TC R21SRCH # PROC
021671,000915: 24,2765 02211 TC P20LEMC3
021672,000916: 24,2766 05155 TC ENDOFJOB
021673,000917: 24,2767 05516 R21END TC DOWNFLAG
021674,000918: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021675,000919: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021676,000920: 24,2772 05353 R21SRCH TC PHASCHNG
021677,000921: 24,2773 04022 OCT 04022
021678,000922: 24,2774 03206 TC R24LEM # SEARCH ROUTINE
021679,000923: 24,2775 00503 ALRM503 OCT 00503
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|
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021681,000925: 24,2776 00527 ALRM527 OCT 527
021682,000926:
021683,000927: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021684,000928: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021685,000929: 24,3001 05504 TC UPFLAG
021686,000930: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
021687,000931: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING
021688,000932: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG
021689,000933: 24,3005 06037 TC INTPRET
021690,000934: 24,3006 77634 R21LEM12 RTB
021691,000935: 24,3007 21573 LOADTIME
021692,000936: 24,3010 77615 DAD
021693,000937: 24,3011 11116 TENSEC # TIME T = T + 10 SECS.
021694,000938: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
021695,000939: 24,3013 34041 STCALL TDEC1
021696,000940: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T
021697,000941: 24,3015 77624 CALL
021698,000942: 24,3016 52373 RRDESSM
021699,000943: 24,3017 77776 EXIT
021700,000944: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
021701,000945: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
021702,000946: 24,3022 06027 TC KILLTASK
021703,000947: 24,3023 52573 CADR BEGDES
021704,000948: 24,3024 06037 TC INTPRET
021705,000949: 24,3025 77614 BOF
021706,000950: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION
021707,000951: 24,3027 51043 R21LEMB # NO - GO TO CONTINUOUS DESIGNATE
021708,000952: 24,3030 77614 CLRGO
021709,000953: 24,3031 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
021710,000954: 24,3032 51037 R21LEM7 +1
021711,000955: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
021712,000956: 24,3034 03036 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
021713,000957: 24,3035 03105 TC R21LEM11 # YES - PUT OUT ALARM 530
021714,000958: 24,3036 55423 R21LEM7 TS REPOSCNT
021715,000959: 24,3037 06037 TC INTPRET
021716,000960: 24,3040 52145 DLOAD GOTO
021717,000961: 24,3041 03425 REPOSTM
021718,000962: 24,3042 51010 R21LEM12 +2
021719,000963: 24,3043 77745 R21LEMB DLOAD
021720,000964: 24,3044 03425 REPOSTM
021721,000965: 24,3045 34041 STCALL TDEC1
021722,000966: 24,3046 50316 UPPSV
021723,000967: 24,3047 77776 EXIT
021724,000968: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
021725,000969: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
021726,000970: 24,3052 05516 TC DOWNFLAG
021727,000971: 24,3053 00012 ADRES LOKONSW
021728,000972: 24,3054 05504 TC UPFLAG
021729,000973: 24,3055 00126 ADRES NORRMON
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Page 511 |
021731,000975: 24,3056 04616 TC BANKCALL
021732,000976: 24,3057 52475 CADR RRDESNB
021733,000977: 24,3060 03061 TC +1
021734,000978: 24,3061 06037 TC INTPRET
021735,000979: 24,3062 44234 RTB BDSU
021736,000980: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME
021737,000981: 24,3064 03425 REPOSTM # FOR LONGCALL
021738,000982: 24,3065 03427 STORE DELTATM
021739,000983: 24,3066 77776 EXIT
021740,000984: 24,3067 00006 EXTEND
021741,000985: 24,3070 31427 DCA DELTATM
021742,000986: 24,3071 05277 TC LONGCALL
021743,000987: 24,3072 E7,1456 EBANK= LOSCOUNT
021744,000988: 24,3072 03075 50067 2CADR R21LEM9
021745,000989:
021746,000990: 24,3074 05155 TC ENDOFJOB
021747,000991: 24,3075 06027 R21LEM9 TC KILLTASK
021748,000992: 24,3076 52602 CADR STDESIG
021749,000993: 24,3077 06011 TC CLRADMOD
021750,000994: 24,3100 37714 CAF PRIO26
021751,000995: 24,3101 05105 TC FINDVAC
021752,000996: 24,3102 E7,1456 EBANK= LOSCOUNT
021753,000997: 24,3102 02725 50067 2CADR R21LEM10
021754,000998:
021755,000999: 24,3104 05261 TC TASKOVER
021756,001000: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
021757,001001: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
021758,001002: 24,3107 21562 CADR PRIOLARM # 600 SECS.
021759,001003: 24,3110 06022 TC GOTOV56
021760,001004: 24,3111 06022 TC GOTOV56
021761,001005: 24,3112 06022 TC GOTOV56
021762,001006: 24,3113 05155 TC ENDOFJOB
021763,001007: 24,3114 00530 ALRM530 OCT 00530
021764,001008: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28
021765,001009:
021766,001010: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28
021767,001011:
021768,001012: 24,3121 05353 R21DISP TC PHASCHNG
021769,001013: 24,3122 04022 OCT 04022
021770,001014: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
021771,001015: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
021772,001016: 24,3125 20710 CADR GOPERF2R
021773,001017: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56
021774,001018: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
021775,001019: 24,3130 03123 TC -5 # ENTER ILLEGAL
021776,001020: 24,3131 34745 CAF BIT7
021777,001021: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
021778,001022: 24,3133 05155 TC ENDOFJOB
021779,001023:
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Page 512 |
021781,001025: 24,3134 01510 V06N72PV VN 00672
021782,001026:
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|
Page 513 |
021784,001028: # MANUAL ACQUISITION ROUTINE R23LEM
021785,001029: # PROGRAM DESCRIPTION
021786,001030:
021787,001031: # MOD NO - 2
021788,001032: # BY P VOLANTE
021789,001033:
021790,001034: # FUNCTIONAL DESCRIPTION
021791,001035:
021792,001036: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
021793,001037:
021794,001038: # CALLING SEQUENCE -
021795,001039:
021796,001040: # TC R23LEM
021797,001041:
021798,001042: # SUBROUTINES CALLED
021799,001043:
021800,001044: # BANKCALL R61LEM
021801,001045: # SETMINDB GOPERF1
021802,001046:
021803,001047: # NORMAL EXIT MODES -
021804,001048:
021805,001049: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
021806,001050: # ,SELECTION OF PROC WILL CONTINUE R23
021807,001051: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
021808,001052:
021809,001053: # ALARM OR ABORT EXIT MODES -
021810,001054:
021811,001055: # SEE NORMAL EXIT MODES ABOVE
021812,001056:
021813,001057: # OUTPUT
021814,001058:
021815,001059: # N.A.
021816,001060:
021817,001061: # ERASABLE INITIALIZATION REQUIRED -
021818,001062:
021819,001063: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
021820,001064:
021821,001065: 24,3135 1143 EBANK= GENRET
021822,001066: 24,3135 COUNT* $$/R23
021823,001067: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
021824,001068: 24,3136 00126 ADRES NORRMON
021825,001069: 24,3137 00004 INHINT
021826,001070: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
021827,001071: 24,3141 40140 CADR SETMINDB
021828,001072: 24,3142 00003 RELINT
021829,001073: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
021830,001074: 24,3144 00006 EXTEND
021831,001075: 24,3145 05012 WOR CHAN12
021832,001076: 24,3146 33205 CAF OCT205
021833,001077: 24,3147 04616 TC BANKCALL
021834,001078: 24,3150 20623 CADR GOPERF1
021835,001079: 24,3151 03176 TC R23LEM2 # TERMINATE
021836,001080: 24,3152 03154 TC R23LEM11 # PROCEDE
021837,001081: 24,3153 03201 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
021838,001082: 24,3154 00004 R23LEM11 INHINT
021839,001083: 24,3155 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
021840,001084: 24,3156 00035 ADRES CDUT
021841,001085: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS
021842,001086: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO
021843,001087: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
021844,001088: 24,3162 00003 RELINT
021845,001089: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021846,001090: 24,3164 00126 ADRES NORRMON
021847,001091: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
021848,001092: 24,3166 00003 OUTOFLIM RELINT
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Page 514 |
021850,001094: 24,3167 33204 CAF OCT501PV
021851,001095: 24,3170 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
021852,001096: 24,3171 21562 CADR PRIOLARM # LIMITS
021853,001097: 24,3172 03176 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
021854,001098: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL
021855,001099: 24,3174 03201 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
021856,001100: 24,3175 05155 TC ENDOFJOB
021857,001101: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021858,001102: 24,3177 00126 ADRES NORRMON
021859,001103: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56
021860,001104: 24,3201 04616 R23LEM3 TC BANKCALL
021861,001105: 24,3202 46116 CADR R61LEM
021862,001106: 24,3203 03143 TC R23LEM1
021863,001107:
021864,001108: 24,3204 00501 OCT501PV OCT 501
021865,001109: 24,3205 00205 OCT205 OCT 205
021866,001110:
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Page 515 |
021868,001112: # SEARCH ROUTINE R24LEM
021869,001113: # PROGRAM DESCRIPTION
021870,001114:
021871,001115: # MOD NO - 2
021872,001116: # BY P. VOLANTE
021873,001117:
021874,001118: # FUNCTIONAL DESCRIPTION
021875,001119:
021876,001120: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
021877,001121: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
021878,001122: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
021879,001123:
021880,001124: # CALLING SEQUENCE
021881,001125:
021882,001126: # CAF PRIONN
021883,001127: # TC FINDVAC
021884,001128: # EBANK= DATAGOOD
021885,001129: # 2CADR R24LEM
021886,001130:
021887,001131: # SUBROUTINES CALLED
021888,001132:
021889,001133: # FLAGUP FLAGDOWN BANKCALL
021890,001134: # R61LEM GOFLASHR FINDVAC
021891,001135: # ENDOFJOB NOVAC LSR24.1
021892,001136:
021893,001137: # NORMAL EXIT MODES -
021894,001138:
021895,001139: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
021896,001140: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
021897,001141: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
021898,001142:
021899,001143: # ALARM OR ABORT EXIT MODES -
021900,001144:
021901,001145: # SEE NORMAL EXIT MODES ABOVE
021902,001146:
021903,001147: # OUTPUT -
021904,001148:
021905,001149: # SEE OUTPUT FROM LSR24.1 + R61LEM
021906,001150:
021907,001151: # ERASABLE INITIALIZATION REQUIRED
021908,001152:
021909,001153: # SEE INPUT FOR LSR24.1
021910,001154:
021911,001155: # FLAGS SET + RESET
021912,001156:
021913,001157: # SRCHOPT, ACMODFLG
021914,001158:
021915,001159: 24,3206 E7,1733 EBANK= DATAGOOD
021916,001160: 24,3206 COUNT* $$/R24
021917,001161: 24,3206 05504 R24LEM TC UPFLAG
021918,001162: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
021919,001163: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
021920,001164: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
021921,001165: 24,3212 34755 R24LEM1 CAF ZERO
021922,001166: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
021923,001167: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
021924,001168: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
021925,001169: 24,3216 05353 R24LEM2 TC PHASCHNG
021926,001170: 24,3217 04022 OCT 04022
021927,001171: 24,3220 33254 CAF V16N80
021928,001172: 24,3221 04616 TC BANKCALL
021929,001173: 24,3222 20504 CADR PRIODSPR
021930,001174: 24,3223 06022 TC GOTOV56
021931,001175: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1
021932,001176:
021933,001177: 24,3225 03234 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
|
|
Page 516 |
021935,001179: 24,3226 04616 TC BANKCALL
021936,001180: 24,3227 55442 CADR LRS24.1
021937,001181: 24,3230 06027 R24END TC KILLTASK
021938,001182: 24,3231 55643 CADR CALLDGCH
021939,001183: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
021940,001184: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
021941,001185:
021942,001186: 6011 BLOCK 3
021943,001187: 6000 SETLOC FFTAG6
021944,001188: 6000 BANK
021945,001189: 6011 COUNT* $$/R24
021946,001190:
021947,001191: 6011 46021 CLRADMOD CS BIT10+15
021948,001192: 6012 00004 INHINT
021949,001193: 6013 70110 MASK RADMODES
021950,001194: 6014 54110 TS RADMODES
021951,001195: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
021952,001196: 6016 00006 EXTEND
021953,001197: 6017 03012 WAND CHAN12 # USER WILL RELINT
021954,001198:
021955,001199: 6020 00002 TC Q
021956,001200:
021957,001201: 6021 41000 BIT10+15 OCT 41000
021958,001202: 24,3234 BANK 24
021959,001203: 24,2000 SETLOC P20S
021960,001204: 24,2000 BANK
021961,001205: 24,3234 COUNT* $$/R24
021962,001206:
021963,001207: 24,3234 05353 R24LEM3 TC PHASCHNG
021964,001208: 24,3235 04022 OCT 04022
021965,001209: 24,3236 06027 TC KILLTASK
021966,001210: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
021967,001211: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
021968,001212: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP
021969,001213: 24,3242 34774 CAF .5SEC
021970,001214: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
021971,001215: 24,3244 01735 CADR DELAYJOB
021972,001216: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
021973,001217: 24,3246 03251 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
021974,001218: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
021975,001219: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
021976,001220: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
021977,001221: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
021978,001222: # RRDESSM WILL RETURN TO CALLER
021979,001223: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
021980,001224:
021981,001225: 24,3254 04120 V16N80 VN 01680
021982,001226:
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|
Page 517 |
021984,001228: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
021985,001229: # PROGRAM DESCRIPTION
021986,001230:
021987,001231: # MOD NO: 3 DATE: 4-11-67
021988,001232: # MOD BY: P VOLANTE SDC
021989,001233:
021990,001234: # FUNCTIONAL DESCRIPTION -
021991,001235:
021992,001236: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
021993,001237: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
021994,001238: # ATTITUDE.
021995,001239:
021996,001240: # CALLING SEQUENCE -
021997,001241:
021998,001242: # TC BANKCALL
021999,001243: # CADR R61LEM
022000,001244:
022001,001245: # SUBROUTINES CALLED
022002,001246:
022003,001247: # LPS20.1 VECPOINT
022004,001248: # KALCMAN3
022005,001249:
022006,001250: # NORMAL EXIT MODES -
022007,001251:
022008,001252: # NORMAL RETURN IS TO CALLER + 1
022009,001253:
022010,001254: # ALARM OR ABORT EXIT MODES -
022011,001255:
022012,001256: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022013,001257: # RENDEZVOUS FLAG ARE NOT SET.
022014,001258:
022015,001259: # OUTPUT -
022016,001260:
022017,001261: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022018,001262:
022019,001263: # ERASABLE INITIALIZATION REQUIRED
022020,001264:
022021,001265: # GENRET USED TO SAVE Q FOR RETURN
022022,001266:
022023,001267: # FLAGS SET + RESET
022024,001268:
022025,001269: # 3AXISFLG
022026,001270:
022027,001271: # DEBRIS
022028,001272:
022029,001273: # SEE SUBROUTINES
022030,001274:
022031,001275: 23,2000 SETLOC R61
022032,001276: 23,2000 BANK
022033,001277: 23,2116 E7,1456 EBANK= LOSCOUNT
022034,001278: 23,2116 COUNT* $$/R61
022035,001279: 23,2116 04645 R61LEM TC MAKECADR
022036,001280: 23,2117 55143 TS GENRET
022037,001281: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022038,001282: 23,2121 00024 ADRES R61FLAG
022039,001283: 23,2122 02127 TC R61C+L01
022040,001284: 23,2123 04645 R65LEM TC MAKECADR
022041,001285: 23,2124 55143 TS GENRET
022042,001286: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022043,001287: 23,2126 00024 ADRES R61FLAG
022044,001288: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
022045,001289: 23,2130 70075 MASK STATE +1
022046,001290: 23,2131 00006 EXTEND
022047,001291: 23,2132 12271 BZF R65WAIT # NOT SET
022048,001292: 23,2133 06037 R61C+L03 TC INTPRET
022049,001293: 23,2134 77775 VLOAD
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|
Page 518 |
022051,001295: 23,2135 06514 HIUNITZ
022052,001296: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022053,001297: 23,2137 43234 R61LEM1 RTB DAD
022054,001298: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022055,001299: 23,2141 15712 3SECONDS # SIX SECOND PERIOD.
022056,001300: 23,2142 34041 STCALL TDEC1
022057,001301: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022058,001302: 23,2144 77775 VLOAD
022059,001303: 23,2145 01102 RRTARGET
022060,001304: 23,2146 03773 STORE POINTVSM
022061,001305: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022062,001306: 23,2150 46277 READCDUD
022063,001307: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022064,001308: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022065,001309: 23,2153 77776 EXIT
022066,001310: 23,2154 05353 TC PHASCHNG
022067,001311: 23,2155 04022 OCT 04022
022068,001312: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET
022069,001313: 23,2157 70075 MASK FLAGWRD1
022070,001314: 23,2160 00006 EXTEND
022071,001315: 23,2161 12271 BZF R65WAIT
022072,001316: 23,2162 04616 TC BANKCALL
022073,001317: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE
022074,001318: 23,2164 10000 CCS A
022075,001319: 23,2165 02257 TC R61C+L04 # NOT IN AUTO
022076,001320: 23,2166 06037 TC INTPRET
022077,001321: 23,2167 45175 VLOAD CALL
022078,001322: 23,2170 01102 RRTARGET
022079,001323: 23,2171 47646 CDU*SMNB
022080,001324: 23,2172 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022081,001325: 23,2173 00162 MPAC +5
022082,001326: 23,2174 06275 COS15DEG
022083,001327: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022084,001328: 23,2176 46213 R61C+L05 # PHI GRE 10DEG
022085,001329: 23,2177 E6,1635 EBANK= CDUXD
022086,001330: 23,2177 35015 CAF EBANK6
022087,001331: 23,2200 54003 TS EBANK
022088,001332: 23,2201 00004 INHINT
022089,001333: 23,2202 00006 EXTEND
022090,001334: 23,2203 30322 DCA CPHI
022091,001335: 23,2204 53636 DXCH CDUXD
022092,001336: 23,2205 30323 CA CPSI
022093,001337: 23,2206 55637 TS CDUZD
022094,001338: 23,2207 00003 RELINT
022095,001339: 23,2210 E7,1456 EBANK= LOSCOUNT
022096,001340: 23,2210 35016 CAF EBANK7
022097,001341: 23,2211 54003 TS EBANK
022098,001342: 23,2212 02236 TC R61C+L06
022099,001343: 23,2213 77776 R61C+L05 EXIT
022100,001344: 23,2214 00004 INHINT
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|
Page 519 |
022102,001346: 23,2215 04674 TC IBNKCALL
022103,001347: 23,2216 40153 FCADR ZATTEROR
022104,001348: 23,2217 04674 TC IBNKCALL
022105,001349: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022106,001350: 23,2221 05516 TC DOWNFLAG
022107,001351: 23,2222 00124 ADRES 3AXISFLG
022108,001352: 23,2223 05504 TC UPFLAG
022109,001353: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022110,001354: 23,2225 04616 TC BANKCALL
022111,001355: 23,2226 54123 CADR R60LEM
022112,001356: 23,2227 00004 INHINT
022113,001357: 23,2230 04674 TC IBNKCALL
022114,001358: 23,2231 40123 FCADR RESTORDB
022115,001359: 23,2232 05353 TC PHASCHNG
022116,001360: 23,2233 04022 OCT 04022
022117,001361: 23,2234 05516 TC DOWNFLAG
022118,001362: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022119,001363: 23,2236 30075 R61C+L06 CA FLAGWRD1
022120,001364: 23,2237 74742 MASK R61FLBIT
022121,001365: 23,2240 10000 CCS A
022122,001366: 23,2241 02262 TC R61C+L4
022123,001367: 23,2242 11745 CCS R65CNTR
022124,001368: 23,2243 02245 TC +2
022125,001369: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022126,001370: 23,2245 55745 TS R65CNTR
022127,001371: 23,2246 32276 CAF 06SEC
022128,001372: 23,2247 05173 TC TWIDDLE
022129,001373: 23,2250 02252 ADRES R61C+L2
022130,001374: 23,2251 05155 TC ENDOFJOB
022131,001375: 23,2252 37714 R61C+L2 CAF PRIO26
022132,001376: 23,2253 05105 TC FINDVAC
022133,001377: 23,2254 E7,1456 EBANK= LOSCOUNT
022134,001378: 23,2254 02127 46067 2CADR R61C+L01
022135,001379:
022136,001380: 23,2256 05261 TC TASKOVER
022137,001381: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022138,001382: 23,2260 54266 CADR BALLANGS
022139,001383: 23,2261 02236 TC R61C+L06
022140,001384: 23,2262 31143 R61C+L4 CAE GENRET
022141,001385: 23,2263 14640 TCF BANKJUMP # EXIT R61
022142,001386: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022143,001387: 23,2265 70074 MASK STATE
022144,001388: 23,2266 00006 EXTEND
022145,001389: 23,2267 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022146,001390: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE
022147,001391: 23,2271 04635 R65WAIT TC POSTJUMP
022148,001392: 23,2272 50232 CADR P20LEMWT
022149,001393:
022150,001394: 23,2273 00500 BIT7+9PV OCT 00500
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|
Page 520 |
022152,001396: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1
022153,001397:
022154,001398: 23,2276 01130 06SEC DEC 600 B-14
022155,001399: 23,2277 PHI EQUALS 20D
022156,001400: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022157,001401: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022158,001402: 23,2301 56003 XCH EBANK
022159,001403: 23,2302 54070 TS RUPTREG1
022160,001404: 23,2303 E6,1635 EBANK= CDUXD
022161,001405: 23,2303 31635 CA CDUXD
022162,001406: 23,2304 54154 TS MPAC
022163,001407: 23,2305 00006 EXTEND
022164,001408: 23,2306 31637 DCA CDUYD
022165,001409: 23,2307 52156 DXCH MPAC +1
022166,001410: 23,2310 30070 CA RUPTREG1
022167,001411: 23,2311 54003 TS EBANK
022168,001412: 23,2312 00003 RELINT
022169,001413: 23,2313 16477 TCF TMODE
022170,001414: 4512 BLOCK 02
022171,001415: 4000 SETLOC RADARFF
022172,001416: 4000 BANK
022173,001417:
022174,001418: 4512 E7,1456 EBANK= LOSCOUNT
022175,001419: 4512 COUNT* $$/RRSUB
022176,001420:
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|
Page 521 |
022178,001422: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022179,001423: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022180,001424:
022181,001425: 4512 00006 MAGSUB EXTEND
022182,001426: 4513 64515 BZMF +2
022183,001427: 4514 14516 TCF +2
022184,001428: 4515 40000 COM
022185,001429:
022186,001430: 4516 50002 INDEX Q
022187,001431: 4517 60000 AD 0
022188,001432: 4520 00006 EXTEND
022189,001433: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022190,001434: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2
022191,001435:
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|
Page 522 |
022193,001437: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022194,001438:
022195,001439: # FUNCTIONAL DESCRIPTION_
022196,001440:
022197,001441: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022198,001442: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022199,001443: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022200,001444: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022201,001445: # MODE 1 AND =1 FOR MODE 2.
022202,001446:
022203,001447: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022204,001448: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022205,001449: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022206,001450: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022207,001451:
022208,001452: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022209,001453: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022210,001454: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022211,001455: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022212,001456: # TO L +3.
022213,001457:
022214,001458: # CALLING SEQUENCE:
022215,001459:
022216,001460: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022217,001461: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022218,001462:
022219,001463: # ERASABLE INITIALIZATION REQUIRED:
022220,001464:
022221,001465: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022222,001466: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022223,001467: # CURRENT EBANK).
022224,001468:
022225,001469: # SUBROUTINES CALLED_ MAGSUB
022226,001470:
022227,001471: # JOBS OR TASKS INITIATED_ NONE
022228,001472:
022229,001473: # ALARMS_ NONE
022230,001474:
022231,001475: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022232,001476: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022233,001477:
022234,001478: 4523 00006 RRLIMCHK EXTEND
022235,001479: 4524 50002 INDEX Q
022236,001480: 4525 50000 INDEX 0
022237,001481: 4526 30001 DCA 0
022238,001482: 4527 24002 INCR Q
022239,001483: 4530 52062 DXCH ITEMP1
022240,001484: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022241,001485:
022242,001486: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022243,001487: 4533 70110 MASK RADMODES
022244,001488: 4534 10000 CCS A
022245,001489: 4535 14550 TCF MODE2CHK
022246,001490:
022247,001491: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
|
|
Page 523 |
022249,001493: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022250,001494: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022251,001495: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022252,001496:
022253,001497: 4542 34562 CAF 5.5DEGS
022254,001498: 4543 60062 AD ITEMP2 # S
022255,001499: 4544 04512 TC MAGSUB
022256,001500: 4545 64420 DEC -.35833 # 64.5 DEGS
022257,001501: 4546 00001 TC L
022258,001502: 4547 04560 TC RRLIMOK # IN LIMITS.
022259,001503:
022260,001504: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022261,001505: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022262,001506: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022263,001507: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022264,001508: 4554 00001 TC L
022265,001509:
022266,001510: 4555 30061 CA ITEMP1
022267,001511: 4556 04512 TC MAGSUB
022268,001512: 4557 51615 DEC -.69444 # 125 DEGS
022269,001513:
022270,001514: 4560 50001 RRLIMOK INDEX L
022271,001515: 4561 00001 TC L # ( = TC 1 )
022272,001516:
022273,001517: 4562 00765 5.5DEGS DEC .03056
022274,001518: 4563 16450 82DEGS DEC .45556
022275,001519:
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|
Page 524 |
022277,001521: # PROGRAM NAME_ SETTRKF . IF EITHER:
022278,001522:
022279,001523: # FUNCTIONAL DESCRIPTION_
022280,001524: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022281,001525: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022282,001526: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022283,001527: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022284,001528: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022285,001529: # AUTO MODE (RADMODES BITS 13, 7, 2).
022286,001530: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022287,001531: # 8,5)
022288,001532: # 3) NO RR DATA (RADMODES BIT 4)
022289,001533: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022290,001534: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022291,001535: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022292,001536: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022293,001537: # TRACKER FAIL LAMP IS TURNED ON IF_
022294,001538: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022295,001539: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022296,001540: # EITHER THE ALT OR VEL INFORMATION
022297,001541: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022298,001542: # WITH EITHER THE AL
022299,001543:
022300,001544: # CALLING SEQUENCE:
022301,001545:
022302,001546: # L TC SETTRKF
022303,001547:
022304,001548: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022305,001549:
022306,001550: # SUBROUTINES CALLED_ NONE
022307,001551:
022308,001552: # JOBS OR TASKS INITIATED_ NONE
022309,001553:
022310,001554: # ALARMS_ TRACKER FAIL LAMP
022311,001555:
022312,001556: # EXIT_ L +1 (ALWAYS) ED.
022313,001557:
022314,001558: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022315,001559: 4565 71303 MASK IMODES33
022316,001560: 4566 10000 CCS A
022317,001561: 4567 00002 TC Q
022318,001562:
022319,001563: 4570 34744 RRTRKF CA BIT8
022320,001564: 4571 54001 TS L
022321,001565:
022322,001566: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022323,001567: 4573 70110 MASK RADMODES
022324,001568: 4574 00006 EXTEND
022325,001569: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022326,001570:
022327,001571: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022328,001572: 4577 70110 MASK RADMODES
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|
Page 525 |
022330,001574: 4600 10000 CCS A
022331,001575: 4601 30001 TRKFLON CA L
022332,001576: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022333,001577: 4603 70001 MASK L
022334,001578: 4604 00006 EXTEND
022335,001579: 4605 16742 BZF TCQ # NO CHANGE.
022336,001580:
022337,001581: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022338,001582: 4607 00006 EXTEND
022339,001583: 4610 06001 RXOR LCHAN
022340,001584: 4611 74733 MASK POSMAX
022341,001585: 4612 64735 AD BIT15
022342,001586: 4613 55036 TS DSPTAB +11D
022343,001587: 4614 00002 TC Q
022344,001588:
022345,001589: 4615 10102 13,7,2 OCT 10102
022346,001590: 4616 ENDRMODF EQUALS
022347,001591:
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|
Page 526 |
022349,001593: # PROGRAM NAME_ RRTURNON
022350,001594:
022351,001595: # FUNCTIONAL DESCRIPTION_
022352,001596:
022353,001597: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022354,001598: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022355,001599: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022356,001600: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022357,001601: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022358,001602: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022359,001603: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022360,001604: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022361,001605: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022362,001606: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022363,001607: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022364,001608: # TO TASKOVER.
022365,001609:
022366,001610: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022367,001611: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022368,001612: # THE RR (STATE BIT 7).
022369,001613:
022370,001614: # ERASABLE INITIALIZATION REQUIRED:
022371,001615:
022372,001616: # RADMODES, STATE
022373,001617:
022374,001618: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022375,001619:
022376,001620: # JOBS OR TASKS INITIATED_
022377,001621: #
022378,001622: # NONE
022379,001623:
022380,001624: # ALARMS_ NONE (SEE RRZEROSB)
022381,001625:
022382,001626: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022383,001627:
022384,001628: 24,3255 BANK 24
022385,001629: 25,2000 SETLOC P20S1
022386,001630: 25,2000 BANK
022387,001631:
022388,001632: 25,2062 E7,1456 EBANK= LOSCOUNT
022389,001633: 25,2062 COUNT* $$/RSUB
022390,001634: 25,2062 02071 RRTURNON TC RRZEROSB
022391,001635: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022392,001636: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022393,001637: 25,2065 44753 CS TURNONBT
022394,001638: 25,2066 70110 MASK RADMODES
022395,001639: 25,2067 54110 TS RADMODES
022396,001640: 25,2070 15261 TCF TASKOVER
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|
Page 527 |
022398,001642: # PROGRAM NAME_ RRZEROSB
022399,001643:
022400,001644: # FUNCTIONAL DESCRIPTION_
022401,001645: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022402,001646: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022403,001647: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022404,001648: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022405,001649: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022406,001650: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022407,001651: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022408,001652: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022409,001653: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022410,001654: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022411,001655: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022412,001656: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022413,001657: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022414,001658: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022415,001659: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022416,001660:
022417,001661: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022418,001662:
022419,001663: # ERASABLE INITIALIZATION REQUIRED:
022420,001664:
022421,001665: # RADMODES (BIT 13 SET), DSPTAB +11D
022422,001666:
022423,001667: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022424,001668:
022425,001669: # JOBS OR TASKS INITIATED_
022426,001670:
022427,001671: # NONE
022428,001672:
022429,001673: # ALARMS_ TRACKER FAIL
022430,001674:
022431,001675: # EXIT_ L +1 (ALWAYS)
022432,001676:
022433,001677: 25,2071 00006 RRZEROSB EXTEND
022434,001678: 25,2072 23315 QXCH RRRET
022435,001679: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022436,001680: 25,2074 00006 EXTEND # COMING HERE.
022437,001681: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022438,001682: 25,2076 05221 TC FIXDELAY
022439,001683: 25,2077 00002 DEC 2 B-14
022440,001684:
022441,001685: 25,2100 34755 CAF ZERO
022442,001686: 25,2101 54035 TS CDUT
022443,001687: 25,2102 54036 TS CDUS
022444,001688: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
022445,001689: 25,2104 00006 EXTEND
022446,001690: 25,2105 03012 WAND CHAN12
022447,001691: 25,2106 05221 TC FIXDELAY
022448,001692: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022449,001693:
022450,001694: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 528 |
022452,001696: 25,2111 70110 MASK RADMODES
022453,001697: 25,2112 54110 TS RADMODES
022454,001698:
022455,001699: 25,2113 30035 CA CDUT
022456,001700: 25,2114 04512 TC MAGSUB
022457,001701: 25,2115 57777 DEC -.5
022458,001702: 25,2116 12121 TCF +3 # IF MODE 2.
022459,001703:
022460,001704: 25,2117 34755 CAF ZERO
022461,001705: 25,2120 12122 TCF +2
022462,001706: 25,2121 34740 CAF ANTENBIT
022463,001707: 25,2122 56110 XCH RADMODES
022464,001708: 25,2123 77741 MASK -BIT12
022465,001709: 25,2124 26110 ADS RADMODES
022466,001710:
022467,001711: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022468,001712:
022469,001713: 25,2126 01315 TC RRRET # DONE.
022470,001714:
022471,001715: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT
022472,001716:
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|
Page 529 |
022474,001718: # PROGRAM NAME_ DORREPOS
022475,001719:
022476,001720: # FUNCTIONAL DESCRIPTION_
022477,001721:
022478,001722: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022479,001723: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022480,001724: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022481,001725: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022482,001726: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022483,001727: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022484,001728: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022485,001729: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022486,001730: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022487,001731: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022488,001732: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022489,001733: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022490,001734: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022491,001735: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022492,001736: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022493,001737: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022494,001738: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022495,001739: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022496,001740: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022497,001741: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022498,001742: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022499,001743: # TASKOVER.
022500,001744:
022501,001745: # CALLING SEQUENCE:
022502,001746:
022503,001747: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022504,001748: # NOT WITHIN LIMITS OF CURRENT MODE.
022505,001749:
022506,001750: # ERASABLE INITIALIZATION REQUIRED:
022507,001751:
022508,001752: # RADMODES
022509,001753:
022510,001754: # SUBROUTINES CALLED_
022511,001755:
022512,001756: # RRTONLY, RRSONLY, BEGDES (EXIT)
022513,001757:
022514,001758: # JOBS OR TASKS INITIATED_
022515,001759:
022516,001760: # NONE
022517,001761:
022518,001762: # ALARMS- NONE
022519,001763:
022520,001764: # EXIT_ TASKOVER, BEGDES
022521,001765:
022522,001766: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022523,001767:
022524,001768: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022525,001769:
022526,001770: 25,2130 05221 TC FIXDELAY
022527,001771: 25,2131 00002 DEC 2 B-14
022528,001772:
022529,001773: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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|
Page 530 |
022531,001775: 25,2133 70110 MASK RADMODES
022532,001776: 25,2134 10000 CCS A
022533,001777: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022534,001778: 25,2136 02241 TC RRTONLY
022535,001779:
022536,001780: 25,2137 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022537,001781: 25,2140 70110 MASK RADMODES
022538,001782: 25,2141 10000 CCS A
022539,001783: 25,2142 44736 CS HALF # -90 FOR MODE 2.
022540,001784: 25,2143 02244 TC RRSONLY
022541,001785:
022542,001786: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022543,001787: # REQUESTED DURING REPOSITION.
022544,001788: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022545,001789: 25,2146 54110 TS RADMODES
022546,001790: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022547,001791: 25,2150 10000 CCS A
022548,001792: 25,2151 12573 TCF BEGDES
022549,001793: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022550,001794: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022551,001795: 25,2154 03012 WAND CHAN12
022552,001796: 25,2155 15261 TCF TASKOVER
022553,001797:
022554,001798: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022555,001799: 25,2157 00006 EXTEND
022556,001800: 25,2160 02012 RAND CHAN12
022557,001801: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022558,001802: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022559,001803:
022560,001804: 25,2163 54112 TS LASTYCMD
022561,001805: 25,2164 54113 TS LASTXCMD
022562,001806: 25,2165 34752 CAF BIT2
022563,001807: 25,2166 00006 EXTEND
022564,001808: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022565,001809: 25,2170 00002 TC Q
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|
Page 531 |
022567,001811: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022568,001812:
022569,001813: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022570,001814: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022571,001815: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022572,001816: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022573,001817: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022574,001818: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022575,001819: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022576,001820: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022577,001821: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022578,001822: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022579,001823: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022580,001824: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022581,001825: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022582,001826: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022583,001827: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022584,001828: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022585,001829: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022586,001830: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022587,001831: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022588,001832: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022589,001833:
022590,001834: # CALLING SEQUENCE:
022591,001835:
022592,001836: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022593,001837: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022594,001838: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022595,001839: # OTHER MODE.
022596,001840:
022597,001841: # ERASABLE INITIALIZATION REQUIRED:
022598,001842:
022599,001843: # RADMODES
022600,001844:
022601,001845: # SUBROUTINES CALLED_
022602,001846:
022603,001847: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022604,001848:
022605,001849: # JOBS OR TASKS INITIATED_
022606,001850:
022607,001851: # NONE
022608,001852:
022609,001853: # ALARMS_ NONE
022610,001854:
022611,001855: # EXIT_ STDESIG
022612,001856:
022613,001857: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022614,001858: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022615,001859: 25,2173 10000 CCS A
022616,001860: 25,2174 34735 CAF BIT15
022617,001861: 25,2175 02241 TC RRTONLY
022618,001862:
022619,001863: 25,2176 37740 CAF -45DEGSR
022620,001864: 25,2177 02244 TC RRSONLY
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Page 532 |
022622,001866: 25,2200 40110 CS RADMODES
022623,001867: 25,2201 74740 MASK ANTENBIT
022624,001868: 25,2202 10000 CCS A
022625,001869: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
022626,001870: 25,2204 62231 AD -50DEGSR
022627,001871: 25,2205 02241 TC RRTONLY
022628,001872:
022629,001873: 25,2206 40110 CS RADMODES
022630,001874: 25,2207 74740 MASK ANTENBIT
022631,001875: 25,2210 10000 CCS A
022632,001876: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
022633,001877: 25,2212 02241 TC RRTONLY
022634,001878:
022635,001879: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
022636,001880: 25,2214 74740 MASK ANTENBIT
022637,001881: 25,2215 10000 CCS A
022638,001882: 25,2216 44736 CS HALF
022639,001883: 25,2217 02244 TC RRSONLY
022640,001884:
022641,001885: 25,2220 02233 TC RMODINV
022642,001886:
022643,001887: 25,2221 44736 CS REMODBIT # END OF REMODE.
022644,001888: 25,2222 70110 MASK RADMODES
022645,001889: 25,2223 54110 TS RADMODES
022646,001890:
022647,001891: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022648,001892: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022649,001893: 25,2226 00006 EXTEND
022650,001894: 25,2227 13555 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
022651,001895: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
022652,001896: 25,2231 7740 -45DEGSR = 13,14,15
022653,001897: 25,2231 67070 -50DEGSR DEC -.27778
022654,001898: 25,2232 61615 -80DEGSR DEC -.44444
022655,001899:
022656,001900: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022657,001901: 25,2234 34740 CAF ANTENBIT
022658,001902: 25,2235 00006 EXTEND
022659,001903: 25,2236 06001 RXOR LCHAN
022660,001904: 25,2237 54110 TS RADMODES
022661,001905: 25,2240 00002 TC Q
022662,001906:
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Page 533 |
022664,001908: # PROGRAM NAMES_ RRTONLY, RRSONLY
022665,001909:
022666,001910: # FUNCTIONAL DESCRIPTION_
022667,001911:
022668,001912: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022669,001913: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022670,001914: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022671,001915: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022672,001916: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022673,001917: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022674,001918: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022675,001919: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022676,001920: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022677,001921: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022678,001922: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022679,001923: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022680,001924: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022681,001925: # REPEATED.
022682,001926:
022683,001927: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022684,001928: # L TC RRTONLY (TRUNNION ONLY)
022685,001929: # RRSONLY (SHAFT ONLY)
022686,001930: # RRTONLY IS CALLED BY PREPOS29;
022687,001931: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022688,001932:
022689,001933: # ERASABLE INITIALIZATION REQUIRED:
022690,001934:
022691,001935: # C(A) = DESIRED ANGLE, RADMODES
022692,001936:
022693,001937: # SUBROUTINES CALLED_
022694,001938:
022695,001939: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
022696,001940:
022697,001941: # JOBS OR TASKS INITIATED_
022698,001942:
022699,001943: # NONE
022700,001944:
022701,001945: # ALARMS_ NONE
022702,001946:
022703,001947: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022704,001948: # BITS 14, 11)
022705,001949: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022706,001950:
022707,001951: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
022708,001952: 25,2242 34755 CAF ZERO
022709,001953: 25,2243 12246 TCF RR1AXIS
022710,001954:
022711,001955: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022712,001956: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022713,001957:
022714,001958: 25,2246 55317 RR1AXIS TS RRINDEX
022715,001959: 25,2247 00006 EXTEND
022716,001960: 25,2250 23315 QXCH RRRET
022717,001961: 25,2251 12254 TCF RR1AX2
022718,001962:
|
|
Page 534 |
022720,001964: 25,2252 05221 NXTRR1AX TC FIXDELAY
022721,001965: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022722,001966:
022723,001967: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
022724,001968: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
022725,001969: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
022726,001970: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
022727,001971:
022728,001972: 25,2260 31316 CA RDES
022729,001973: 25,2261 00006 EXTEND
022730,001974: 25,2262 51317 INDEX RRINDEX
022731,001975: 25,2263 20035 MSU CDUT
022732,001976: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
022733,001977: 25,2265 00006 EXTEND
022734,001978: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
022735,001979: 25,2267 54001 TS L
022736,001980: 25,2270 30110 CA RADMODES
022737,001981: 25,2271 74752 MASK AUTOMBIT
022738,001982: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
022739,001983: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
022740,001984: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
022741,001985:
022742,001986: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
022743,001987: 25,2276 01315 TC RRRET # RETURN TO CALLER.
022744,001988:
022745,001989: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
022746,001990: 25,2300 12302 TCF +2 # SETTING A TO 0.
022747,001991: 25,2301 56001 XCH L
022748,001992: 25,2302 53110 DXCH TANG
022749,001993:
022750,001994: 25,2303 02306 TC RROUT
022751,001995:
022752,001996: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
022753,001997:
022754,001998: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
022755,001999:
|
|
Page 535 |
022757,002001: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
022758,002002:
022759,002003: # FUNCTIONAL DESCRIPTION_
022760,002004:
022761,002005: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
022762,002006: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
022763,002007: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
022764,002008: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
022765,002009: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
022766,002010: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
022767,002011: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
022768,002012: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
022769,002013: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
022770,002014: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
022771,002015: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
022772,002016: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
022773,002017: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
022774,002018:
022775,002019: # CALLING SEQUENCE:
022776,002020: #
022777,002021: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
022778,002022: # RRTONLY, RRSONLY, AND DODES
022779,002023:
022780,002024: # ERASABLE INITIALIZATION REQUIRED:
022781,002025:
022782,002026: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
022783,002027: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
022784,002028:
022785,002029: # SUBROUTINES CALLED_
022786,002030:
022787,002031: # MAGSUB
022788,002032:
022789,002033: # JOBS OR TASKS INITIATED_
022790,002034:
022791,002035: # NONE
022792,002036:
022793,002037: # ALARMS_ NONE
022794,002038:
022795,002039: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
022796,002040:
022797,002041: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
022798,002042: 25,2307 34753 CAF ONE # LOOP TWICE.
022799,002043: 25,2310 54062 RROUT2 TS ITEMP2
022800,002044: 25,2311 50000 INDEX A
022801,002045: 25,2312 31107 CA TANG
022802,002046: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
022803,002047:
022804,002048: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
022805,002049: 25,2315 77177 -RRLIMIT DEC -384 B-14
022806,002050: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
022807,002051:
022808,002052: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
022809,002053: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
022810,002054: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
022811,002055: 25,2322 40000 COM
|
|
Page 536 |
022813,002057: 25,2323 60061 AD ITEMP1
022814,002058: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
022815,002059: 25,2325 50062 INDEX ITEMP2
022816,002060: 25,2326 54053 TS CDUTCMD
022817,002061:
022818,002062: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
022819,002063: 25,2330 12310 TCF RROUT2
022820,002064:
022821,002065: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
022822,002066: 25,2332 00006 EXTEND
022823,002067: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
022824,002068: 25,2334 00001 TC L # RETURN.
022825,002069:
022826,002070: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
022827,002071: 25,2336 42315 CS -RRLIMIT
022828,002072: 25,2337 12341 TCF +2
022829,002073: 25,2340 32315 CA -RRLIMIT
022830,002074: 25,2341 54061 TS ITEMP1
022831,002075: 25,2342 12320 TCF SETRRCTR +1
022832,002076:
|
|
Page 537 |
022834,002078: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
022835,002079:
022836,002080: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
022837,002081: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
022838,002082: 25,2345 10000 CCS A
022839,002083: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
022840,002084:
022841,002085: 25,2347 00004 INHINT
022842,002086: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
022843,002087: 25,2351 70110 MASK RADMODES
022844,002088: 25,2352 64737 AD RCDU0BIT
022845,002089: 25,2353 54110 TS RADMODES
022846,002090:
022847,002091: 25,2354 34753 CAF ONE
022848,002092: 25,2355 05203 TC WAITLIST
022849,002093: 25,2356 E7,1456 EBANK= LOSCOUNT
022850,002094: 25,2356 02370 52067 2CADR RRZ2
022851,002095:
022852,002096: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
022853,002097: 25,2361 74752 MASK AUTOMBIT
022854,002098: 25,2362 10000 CCS A
022855,002099: 25,2363 12366 TCF ROADBACK
022856,002100: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
022857,002101: 25,2365 00510 OCT 510
022858,002102: 25,2366 00003 ROADBACK RELINT
022859,002103: 25,2367 14631 TCF SWRETURN
022860,002104:
022861,002105: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
022862,002106: 25,2371 13546 TCF ENDRADAR
022863,002107:
022864,002108: 25,2372 02001 BIT11+1 OCT 02001
022865,002109:
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|
Page 538 |
022867,002111: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
022868,002112:
022869,002113: # FUNCTIONAL DESCRIPTION_
022870,002114:
022871,002115: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
022872,002116: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
022873,002117: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
022874,002118: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
022875,002119: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
022876,002120: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
022877,002121: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
022878,002122: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
022879,002123: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
022880,002124: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
022881,002125: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
022882,002126: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
022883,002127: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
022884,002128: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
022885,002129: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
022886,002130: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
022887,002131: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
022888,002132: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
022889,002133: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
022890,002134: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
022891,002135: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
022892,002136: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
022893,002137:
022894,002138: # CALLING SEQUENCE:
022895,002139:
022896,002140: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
022897,002141: # L+1 RRDESSM
022898,002142: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
022899,002143: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
022900,002144:
022901,002145: # ERASABLE INITIALIZATION REQUIRED:
022902,002146:
022903,002147: # RRTARGET, RADMODES
022904,002148:
022905,002149: # SUBROUTINES CALLED_
022906,002150:
022907,002151: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
022908,002152: # PART OF), RMODINV
022909,002153:
022910,002154: # JOBS OR TASKS INITIATED_
022911,002155:
022912,002156: # NONE
022913,002157:
022914,002158: # ALARMS_ NONE
022915,002159:
022916,002160: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
022917,002161: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
022918,002162: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
022919,002163:
022920,002164: 25,2373 43020 RRDESSM STQ CLEAR
022921,002165: 25,2374 01113 DESRET
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|
Page 539 |
022923,002167: 25,2375 00271 RRNBSW
022924,002168: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
022925,002169: 25,2377 47537 CDUTRIG
022926,002170: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
022927,002171: 25,2401 01102 RRTARGET
022928,002172: 25,2402 47671 *SMNB*
022929,002173:
022930,002174: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
022931,002175: 25,2404 26133 RRANGLES # ALTERNATE MODE.
022932,002176: 25,2405 77776 EXIT
022933,002177:
022934,002178: 25,2406 00004 INHINT
022935,002179: 25,2407 04523 TC RRLIMCHK
022936,002180: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
022937,002181: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
022938,002182: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
022939,002183: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
022940,002184: 25,2414 40104 CS FLAGWRD8
022941,002185: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
022942,002186: 25,2416 00006 EXTEND
022943,002187: 25,2417 12456 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
022944,002188: 25,2420 02461 TC TRYSWS
022945,002189:
022946,002190: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
022947,002191: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
022948,002192: 25,2423 00006 EXTEND
022949,002193: 25,2424 12456 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
022950,002194: 25,2425 30074 CA STATE
022951,002195: 25,2426 74745 MASK RNDVZBIT
022952,002196: 25,2427 10000 CCS A # TEST RNDVZFLG.
022953,002197: 25,2430 02471 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
022954,002198: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
022955,002199:
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|
Page 540 |
022957,002201: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
022958,002202:
022959,002203: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
022960,002204: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
022961,002205: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
022962,002206: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
022963,002207: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
022964,002208: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
022965,002209: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
022966,002210: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
022967,002211: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
022968,002212: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
022969,002213: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
022970,002214: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
022971,002215: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
022972,002216: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
022973,002217: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
022974,002218: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
022975,002219: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
022976,002220: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
022977,002221: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
022978,002222: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
022979,002223: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
022980,002224:
022981,002225: # CALLING SEQUENCE:
022982,002226:
022983,002227: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
022984,002228:
022985,002229: # ERASABLE INITIALIZATION REQUIRED:
022986,002230:
022987,002231: # RADMODES, (SEE DODES)
022988,002232:
022989,002233: # SUBROUTINES CALLED_
022990,002234:
022991,002235: # SETRRECR, WAITLIST
022992,002236:
022993,002237: # JOBS OR TASKS INITIATED_
022994,002238:
022995,002239: # BEGDES
022996,002240:
022997,002241: # ALARMS_ NONE
022998,002242:
022999,002243: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023000,002244: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023001,002245:
023002,002246: 25,2432 25113 STARTDES INCR DESRET
023003,002247: 25,2433 40110 CS RADMODES
023004,002248: 25,2434 74742 MASK DESIGBIT
023005,002249: 25,2435 26110 ADS RADMODES
023006,002250: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023007,002251: 25,2437 10000 CCS A
023008,002252: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
023009,002253:
023010,002254: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 541 |
023012,002256: 25,2442 34752 CAF TWO
023013,002257: 25,2443 05203 TC WAITLIST
023014,002258: 25,2444 E7,1456 EBANK= LOSCOUNT
023015,002259: 25,2444 02573 52067 2CADR BEGDES
023016,002260:
023017,002261: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023018,002262: 25,2447 00006 EXTEND
023019,002263: 25,2450 12452 BZF DESRTRN # YES SET EXIT
023020,002264: 25,2451 05155 TC ENDOFJOB # NO
023021,002265: 25,2452 00003 DESRTRN RELINT
023022,002266: 25,2453 25113 INCR DESRET
023023,002267: 25,2454 31113 CA DESRET
023024,002268: 25,2455 14640 TCF BANKJUMP
023025,002269:
023026,002270: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023027,002271: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023028,002272: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023029,002273:
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|
Page 542 |
023031,002275: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023032,002276:
023033,002277: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023034,002278: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023035,002279: 25,2463 01111 ADRES MODEB
023036,002280: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023037,002281:
023038,002282: 25,2465 02233 TC RMODINV # RESET BIT12
023039,002283: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023040,002284: 25,2467 26110 ADS RADMODES
023041,002285:
023042,002286: 25,2470 12412 TCF OKDESSM
023043,002287:
023044,002288: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023045,002289: 25,2472 25113 INCR DESRET # TO CALLER +2
023046,002290: 25,2473 12456 TCF NORDSTAL
023047,002291:
023048,002292: 25,2474 00074 MAXTRYS DEC 60 B-14
023049,002293:
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|
Page 543 |
023051,002295: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023052,002296: # TANG AND TANG +1.
023053,002297:
023054,002298: 25,2475 04645 RRDESNB TC MAKECADR
023055,002299: 25,2476 55113 TS DESRET
023056,002300:
023057,002301: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023058,002302: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
023059,002303: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
023060,002304: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
023061,002305: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
023062,002306: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023063,002307: 25,2505 01107 ADRES TANG
023064,002308: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
023065,002309:
023066,002310: 25,2507 00003 OKDESNB RELINT
023067,002311: 25,2510 00006 EXTEND
023068,002312: 25,2511 31110 DCA TANG
023069,002313: 25,2512 53753 DXCH TANGNB
023070,002314: 25,2513 06037 TC INTPRET
023071,002315:
023072,002316: 25,2514 77624 CALL # GET LOS IN NB COORDS.
023073,002317: 25,2515 46041 RRNB
023074,002318: 25,2516 01102 STORE RRTARGET
023075,002319:
023076,002320: 25,2517 77414 SET EXIT
023077,002321: 25,2520 00071 RRNBSW
023078,002322:
023079,002323: 25,2521 00004 INHINT
023080,002324: 25,2522 12433 TCF STARTDES +1
023081,002325: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023082,002326: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023083,002327: 25,2525 01107 ADRES TANG
023084,002328: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
023085,002329:
023086,002330: 25,2527 02233 TC RMODINV
023087,002331: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE.
023088,002332: 25,2531 26110 ADS RADMODES
023089,002333: 25,2532 12507 TCF OKDESNB
023090,002334:
023091,002335: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
023092,002336: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
023093,002337: 25,2535 00502 OCT 502
023094,002338: 25,2536 06011 TC CLRADMOD
023095,002339: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
023096,002340:
023097,002341: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023098,002342: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023099,002343: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023100,002344: 25,2543 00006 EXTEND
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|
Page 544 |
023102,002346: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023103,002347: 25,2545 30001 DCA 0
023104,002348: 25,2546 52062 DXCH ITEMP1
023105,002349: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
023106,002350:
023107,002351: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023108,002352: 25,2551 70110 MASK RADMODES
023109,002353: 25,2552 10000 CCS A
023110,002354: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023111,002355: 25,2554 30061 CA ITEMP1
023112,002356: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023113,002357: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023114,002358: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023115,002359:
023116,002360: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023117,002361: 25,2561 00006 EXTEND
023118,002362: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023119,002363: 25,2563 64562 AD 5.5DEGS
023120,002364: 25,2564 04512 SHAFTLIM TC MAGSUB
023121,002365: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
023122,002366: 25,2566 00001 TC L # NOT IN LIMITS
023123,002367: 25,2567 04560 TC RRLIMOK # IN LIMITS
023124,002368: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023125,002369: 25,2571 12564 TCF SHAFTLIM
023126,002370:
023127,002371: 25,2572 03512 20.5DEGS DEC .11389
023128,002372:
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|
Page 545 |
023130,002374: # PROGRAM NAME_ BEGDES
023131,002375:
023132,002376: # FUNCTIONAL DESCRIPTION_
023133,002377:
023134,002378: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023135,002379: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023136,002380: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023137,002381: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023138,002382: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023139,002383: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023140,002384: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023141,002385: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023142,002386: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023143,002387: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023144,002388: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023145,002389: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023146,002390: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023147,002391: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023148,002392: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023149,002393: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023150,002394: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023151,002395: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023152,002396: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023153,002397: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023154,002398: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023155,002399: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023156,002400: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023157,002401: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023158,002402: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023159,002403:
023160,002404: # CALLING SEQUENCE:
023161,002405:
023162,002406: # WAITLIST CALL FROM STARTDES
023163,002407: # TCF BEGDES FROM DORREPOS
023164,002408: # TC STDESIG RETURNING, FROM REMODE
023165,002409:
023166,002410: # ERASABLE INITIALIZATION REQUIRED:
023167,002411: # DESCOUNT, RADMODES
023168,002412:
023169,002413: # SUBROUTINES CALLED_
023170,002414: # ENDRADAR, FINDVAC
023171,002415:
023172,002416: # JOBS OR TASKS INITIATED_ DODES
023173,002417:
023174,002418: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023175,002419: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023176,002420:
023177,002421: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023178,002422: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023179,002423: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023180,002424:
023181,002425: 25,2573 40110 BEGDES CS RADMODES
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|
Page 546 |
023183,002427: 25,2574 74736 MASK REMODBIT
023184,002428: 25,2575 10000 CCS A
023185,002429: 25,2576 02602 TC STDESIG
023186,002430: 25,2577 02171 TC REMODE
023187,002431: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023188,002432: 25,2601 00062 DEC 50 B-14
023189,002433:
023190,002434: 25,2602 34741 STDESIG CAF REPOSBIT
023191,002435: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023192,002436: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023193,002437: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023194,002438:
023195,002439: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023196,002440: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023197,002441: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023198,002442: 25,2611 12630 TCF MOREDES +1
023199,002443:
023200,002444: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023201,002445: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023202,002446: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023203,002447: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
023204,002448:
023205,002449: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023206,002450: 25,2617 12627 TCF MOREDES
023207,002451:
023208,002452: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023209,002453: 25,2621 00006 EXTEND
023210,002454: 25,2622 03012 WAND CHAN12
023211,002455: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG
023212,002456: 25,2624 70110 MASK RADMODES
023213,002457: 25,2625 54110 TS RADMODES
023214,002458: 25,2626 13562 TCF RDBADEND
023215,002459:
023216,002460: 25,2627 55114 MOREDES TS DESCOUNT
023217,002461: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023218,002462: 25,2631 05105 TC FINDVAC
023219,002463: 25,2632 E7,1456 EBANK= LOSCOUNT
023220,002464: 25,2632 02636 52067 2CADR DODES
023221,002465:
023222,002466: 25,2634 12600 TCF DESLOOP
023223,002467:
023224,002468: 25,2635 20002 B14+B2 OCT 20002
023225,002469:
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|
Page 547 |
023227,002471: # PROGRAM NAME_ DODES
023228,002472:
023229,002473: # FUNCTIONAL DESCRIPTION_
023230,002474:
023231,002475: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023232,002476: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023233,002477: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023234,002478: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023235,002479: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023236,002480: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023237,002481: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023238,002482: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023239,002483: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023240,002484: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023241,002485: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023242,002486: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023243,002487: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023244,002488: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023245,002489: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023246,002490: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023247,002491: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023248,002492: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023249,002493: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023250,002494: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023251,002495: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023252,002496: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023253,002497: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023254,002498: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023255,002499: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023256,002500: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023257,002501: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023258,002502: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023259,002503: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023260,002504: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023261,002505: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023262,002506: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023263,002507: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023264,002508: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023265,002509: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023266,002510: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023267,002511: # VIA ENDOFJOB.
023268,002512:
023269,002513: # CALLING SEQUENCE:
023270,002514:
023271,002515: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023272,002516:
023273,002517: # ERASABLE INITIALIZATION REQUIRED:
023274,002518:
023275,002519: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023276,002520: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023277,002521:
023278,002522: # SUBROUTINES CALLED_
023279,002523:
023280,002524: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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|
Page 548 |
023282,002526:
023283,002527: # JOBS OR TASKS INITIATED_
023284,002528:
023285,002529: # NONE
023286,002530:
023287,002531: # ALARMS_ NONE
023288,002532:
023289,002533: # EXIT_ ENDOFJOB (ALWAYS)
023290,002534:
023291,002535: 25,2636 00006 DODES EXTEND
023292,002536: 25,2637 30036 DCA CDUT
023293,002537: 25,2640 53110 DXCH TANG
023294,002538:
023295,002539: 25,2641 06037 TC INTPRET
023296,002540:
023297,002541: 25,2642 77201 SETPD VLOAD
023298,002542: 25,2643 00001 0
023299,002543: 25,2644 01102 RRTARGET
023300,002544: 25,2645 74214 BON VXSC
023301,002545: 25,2646 00311 RRNBSW
023302,002546: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
023303,002547: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023304,002548: 25,2651 63372 VSL1 PDVL
023305,002549: 25,2652 01761 LOSVEL
023306,002550: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023307,002551: 25,2654 13072 MCTOMS
023308,002552: 25,2655 45056 UNIT CALL
023309,002553: 25,2656 47537 CDUTRIG
023310,002554: 25,2657 77624 CALL
023311,002555: 25,2660 47671 *SMNB*
023312,002556:
023313,002557: 25,2661 14041 DONBRD STODL 32D
023314,002558: 25,2662 01111 TANG +1
023315,002559: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023316,002560: 25,2664 21576 CDULOGIC # (-SIN(S)).
023317,002561: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023318,002562: 25,2666 41546 COS PUSH
023319,002563: 25,2667 65205 DMP PDDL
023320,002564: 25,2670 00041 32D
023321,002565: 25,2671 00045 36D
023322,002566: 25,2672 44205 DMP BDSU
023323,002567: 25,2673 00001 0
023324,002568: 25,2674 77626 STADR
023325,002569: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
023326,002570:
023327,002571: 25,2676 47135 SLOAD RTB
023328,002572: 25,2677 01110 TANG
023329,002573: 25,2700 21576 CDULOGIC
023330,002574: 25,2701 71406 PUSH COS # COS(T) TO 4.
023331,002575: 25,2702 73525 PDDL SIN
023332,002576: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
023333,002577: 25,2704 00003 2
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|
Page 549 |
023335,002579: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023336,002580: 25,2706 00005 4 # ( COS(T) )
023337,002581: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
023338,002582: 25,2710 00007 6
023339,002583: 25,2711 00001 0
023340,002584: 25,2712 55552 SL1 VDEF
023341,002585: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023342,002586: 25,2714 00041 32D
023343,002587:
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|
Page 550 |
023345,002589: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023346,002590: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023347,002591:
023348,002592: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023349,002593: 25,2716 00006 EXTEND
023350,002594: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023351,002595: 25,2720 55107 TS TANG # TRUNNION COMMAND.
023352,002596: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023353,002597: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023354,002598: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023355,002599: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023356,002600: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023357,002601: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023358,002602: 25,2727 41110 +3 CS TANG +1
023359,002603: 25,2730 00006 EXTEND
023360,002604: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023361,002605: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
023362,002606: 25,2733 06037 TC INTPRET
023363,002607:
023364,002608: 25,2734 41345 DLOAD DMP
023365,002609: 25,2735 00003 2 # COS(S).
023366,002610: 25,2736 00005 4 # COS(T).
023367,002611: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
023368,002612: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023369,002613: 25,2741 00001 0 # SIN(S).
023370,002614: 25,2742 72405 DMP SL1
023371,002615: 25,2743 00005 4 # COS(T).
023372,002616: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
023373,002617: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023374,002618: 25,2746 52751 +3
023375,002619: 25,2747 77624 CALL
023376,002620: 25,2750 47673 *NBSM* # GET URR IN SM AXES.
023377,002621: 25,2751 77441 DOT EXIT
023378,002622: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023379,002623:
023380,002624: 25,2753 00006 EXTEND
023381,002625: 25,2754 43070 DCS COS1/2DG
023382,002626: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023383,002627: 25,2756 10154 CCS MPAC
023384,002628: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023385,002629: 25,2760 12762 TCF +2
023386,002630: 25,2761 34753 CA ONE
023387,002631: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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|
Page 551 |
023389,002633: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023390,002634:
023391,002635: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023392,002636: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023393,002637: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
023394,002638: 25,2766 13017 TCF DORROUT
023395,002639: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023396,002640: 25,2770 13000 TCF DGOODCHK
023397,002641: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023398,002642: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023399,002643: 25,2773 10000 CCS A
023400,002644: 25,2774 13005 TCF RRDESDUN
023401,002645:
023402,002646: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
023403,002647: 25,2776 00006 EXTEND
023404,002648: 25,2777 05012 WOR CHAN12
023405,002649:
023406,002650: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023407,002651: 25,3001 00006 EXTEND
023408,002652: 25,3002 02033 RAND CHAN33
023409,002653: 25,3003 10000 CCS A
023410,002654: 25,3004 13017 TCF DORROUT
023411,002655:
023412,002656: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023413,002657: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023414,002658: 25,3007 00004 INHINT
023415,002659: 25,3010 54110 TS RADMODES
023416,002660:
023417,002661: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023418,002662: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023419,002663: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023420,002664: 25,3014 00006 EXTEND
023421,002665: 25,3015 03012 WAND CHAN12
023422,002666: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023423,002667:
023424,002668: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023425,002669: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023426,002670: 25,3021 00006 EXTEND
023427,002671: 25,3022 13041 BZF NOTP20
023428,002672: 25,3023 06037 TC INTPRET
023429,002673: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023430,002674: 25,3025 01102 RRTARGET
023431,002675: 25,3026 01767 MLOSV
023432,002676: 25,3027 41572 VSL1 PUSH
023433,002677: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023434,002678: 25,3031 01761 LOSVEL # TO LOS VECTOR
023435,002679: 25,3032 13072 MCTOMS
023436,002680: 25,3033 53362 VSR1 VAD
023437,002681: 25,3034 77656 UNIT
023438,002682: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 552 |
023440,002684: 25,3036 00045 36D
023441,002685: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
023442,002686: 25,3040 77776 EXIT
023443,002687: 25,3041 00004 NOTP20 INHINT
023444,002688: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023445,002689: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023446,002690: 25,3044 10000 CCS A
023447,002691: 25,3045 02306 TC RROUT
023448,002692:
023449,002693: 25,3046 30076 CA FLAGWRD2
023450,002694: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023451,002695: 25,3050 00006 EXTEND # LOS COUNTER
023452,002696: 25,3051 15155 BZF ENDOFJOB
023453,002697: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023454,002698: 25,3053 03064 TC DODESEND # A NEW LOS
023455,002699: 25,3054 00004 INHINT
023456,002700: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023457,002701: 25,3056 52602 CADR DESLOOP +2
023458,002702: 25,3057 00003 RELINT
023459,002703: 25,3060 10067 CCS NEWJOB
023460,002704: 25,3061 05122 TC CHANG1
023461,002705: 25,3062 04616 TC BANKCALL
023462,002706: 25,3063 50731 CADR R21LEM2
023463,002707:
023464,002708: 25,3064 55456 DODESEND TS LOSCOUNT
023465,002709: 25,3065 05155 TC ENDOFJOB
023466,002710:
023467,002711: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023468,002712: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000
023469,002713: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023470,002714: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
023471,002715:
|
|
Page 553 |
023473,002717: # RADAR READ INITIALIZATION
023474,002718:
023475,002719: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023476,002720:
023477,002721: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023478,002722: 25,3074 00017 ALLREAD OCT 17
023479,002723:
023480,002724: 25,3075 03114 LRVELZ TC INITREAD
023481,002725: 25,3076 00016 OCT 16
023482,002726:
023483,002727: 25,3077 03114 LRVELY TC INITREAD
023484,002728: 25,3100 00015 OCT 15
023485,002729:
023486,002730: 25,3101 03114 LRVELX TC INITREAD
023487,002731: 25,3102 00014 OCT 14
023488,002732:
023489,002733: 25,3103 03113 RRRDOT TC INITREAD -1
023490,002734: 25,3104 00012 OCT 12
023491,002735:
023492,002736: 25,3105 03113 RRRANGE TC INITREAD -1
023493,002737: 25,3106 00011 OCT 11
023494,002738:
023495,002739: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023496,002740: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023497,002741:
023498,002742: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023499,002743: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023500,002744: 25,3111 51105 INDEX TIMEHOLD
023501,002745: 25,3112 13075 TCF LRVELZ
023502,002746:
|
|
Page 554 |
023504,002748: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023505,002749: 25,3114 00004 INITREAD INHINT
023506,002750:
023507,002751: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023508,002752: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023509,002753: 25,3117 74751 MP BIT3 # ENCOUNTERED).
023510,002754: 25,3120 53106 DXCH TIMEHOLD
023511,002755:
023512,002756: 25,3121 10000 CCS A
023513,002757: 25,3122 55111 TS NSAMP
023514,002758: 25,3123 64753 AD ONE
023515,002759: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023516,002760: # DOUBLE
023517,002761: 25,3124 55100 TS SAMPLIM
023518,002762:
023519,002763: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023520,002764: 25,3126 00006 EXTEND
023521,002765: 25,3127 02033 RAND CHAN33
023522,002766: 25,3130 55113 TS OLDATAGD
023523,002767:
023524,002768: 25,3131 43074 CS ALLREAD
023525,002769: 25,3132 00006 EXTEND
023526,002770: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023527,002771:
023528,002772: 25,3134 50002 INDEX Q
023529,002773: 25,3135 30000 CAF 0
023530,002774: 25,3136 00006 EXTEND
023531,002775: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
023532,002776:
023533,002777: 25,3140 00006 EXTEND
023534,002778: 25,3141 30025 DCA TIME2
023535,002779: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023536,002780:
023537,002781: 25,3143 34755 CAF ZERO
023538,002782: 25,3144 54001 TS L
023539,002783: 25,3145 53102 DXCH SAMPLSUM
023540,002784: 25,3146 12366 TCF ROADBACK
023541,002785:
023542,002786: 25,3147 00230 DGBITS OCT 230
023543,002787:
|
|
Page 555 |
023545,002789: # RADAR RUPT READER
023546,002790:
023547,002791: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023548,002792:
023549,002793: 25,2000 SETLOC RADARUPT
023550,002794: 25,2000 BANK
023551,002795:
023552,002796: 25,3150 COUNT* $$/RRUPT
023553,002797: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023554,002798: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023555,002799: 25,3152 54016 TS BANKRUPT
023556,002800: 25,3153 00006 EXTEND
023557,002801: 25,3154 22012 QXCH QRUPT
023558,002802:
023559,002803: 25,3155 34757 CAF SEVEN
023560,002804: 25,3156 00006 EXTEND
023561,002805: 25,3157 02013 RAND CHAN13
023562,002806: 25,3160 55335 TS DNINDEX
023563,002807: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023564,002808: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023565,002809: 25,3163 30046 CA RNRAD
023566,002810: 25,3164 51335 INDEX DNINDEX
023567,002811: 25,3165 55332 TS DNRRANGE -1
023568,002812: 25,3166 11100 TRYCOUNT CCS SAMPLIM
023569,002813: 25,3167 13211 TCF PLENTY
023570,002814: 25,3170 13174 TCF NOMORE
023571,002815: 25,3171 05567 TC ALARM
023572,002816: 25,3172 00520 OCT 520
023573,002817: 25,3173 05270 TC RESUME
023574,002818:
023575,002819: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023576,002820: 25,3175 74735 MASK LRBYBIT
023577,002821: 25,3176 00006 EXTEND
023578,002822: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023579,002823:
023580,002824: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
023581,002825: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
023582,002826: 25,3202 00006 EXTEND
023583,002827: 25,3203 13206 BZF BADRAD
023584,002828:
023585,002829: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
023586,002830: 25,3205 00521 OCT 521
023587,002831: 25,3206 44753 BADRAD CS ONE
023588,002832: 25,3207 55100 TS SAMPLIM
023589,002833: 25,3210 03560 TC RDBADEND -2
023590,002834: 25,3211 55100 PLENTY TS SAMPLIM
023591,002835: 25,3212 34751 CAF BIT3
023592,002836: 25,3213 00006 EXTEND
023593,002837: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023594,002838: 25,3215 00006 EXTEND
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|
Page 556 |
023596,002840: 25,3216 13276 BZF RENDRAD
023597,002841:
023598,002842: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
023599,002843: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
023600,002844: 25,3221 00006 EXTEND
023601,002845: 25,3222 06033 RXOR CHAN33
023602,002846: 25,3223 74746 MASK BIT6
023603,002847: 25,3224 00006 EXTEND
023604,002848: 25,3225 13231 BZF VELCHK
023605,002849:
023606,002850: 25,3226 05567 TC ALARM
023607,002851: 25,3227 00522 OCT 522
023608,002852: 25,3230 03206 TC BADRAD
023609,002853:
023610,002854: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT
023611,002855: 25,3232 00006 EXTEND
023612,002856: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023613,002857: 25,3234 76245 MASK BIN3
023614,002858: 25,3235 00006 EXTEND
023615,002859: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
023616,002860:
023617,002861: 25,3237 34733 CAF POSMAX
023618,002862: 25,3240 70046 MASK RNRAD
023619,002863: 25,3241 62000 AD LVELBIAS
023620,002864: 25,3242 54001 TS L
023621,002865: 25,3243 30046 CAE RNRAD
023622,002866: 25,3244 60000 DOUBLE
023623,002867: 25,3245 74753 MASK BIT1
023624,002868: 25,3246 52064 DXCH ITEMP3
023625,002869:
023626,002870: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023627,002871: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023628,002872: # INDEPENDENT OF DATA GOOD.
023629,002873:
023630,002874: 25,3251 11111 CCS NSAMP
023631,002875: 25,3252 03262 TC NOEND
023632,002876: 25,3253 44753 GOODRAD CS ONE
023633,002877: 25,3254 55100 TS SAMPLIM
023634,002878: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023635,002879: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023636,002880: 25,3257 54110 TS RADMODES
023637,002881: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023638,002882: 25,3261 03553 TC RGOODEND -2
023639,002883:
023640,002884: 25,3262 55111 NOEND TS NSAMP
023641,002885: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023642,002886: 25,3264 13266 TCF +2
023643,002887: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023644,002888: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
023645,002889: 25,3267 00006 EXTEND
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|
Page 557 |
023647,002891: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
023648,002892: 25,3271 05270 TC RESUME
023649,002893:
023650,002894:
023651,002895: 25,3272 34747 LRHEIGHT CAF BIT5
023652,002896: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023653,002897:
023654,002898: 25,3274 34743 CAF BIT9
023655,002899: 25,3275 03320 TC SCALECHK -1
023656,002900:
023657,002901: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023658,002902: 25,3277 70110 MASK RADMODES # LIMITS.
023659,002903: 25,3300 10000 CCS A
023660,002904: 25,3301 13206 TCF BADRAD
023661,002905:
023662,002906: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023663,002907: 25,3303 74745 MASK RCDUFBIT
023664,002908: 25,3304 10000 CCS A
023665,002909: 25,3305 13206 TCF BADRAD
023666,002910:
023667,002911: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023668,002912: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023669,002913:
023670,002914: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
023671,002915: 25,3311 00006 EXTEND
023672,002916: 25,3312 02013 RAND CHAN13
023673,002917: 25,3313 54002 TS Q # FOR LATER TESTING.
023674,002918: 25,3314 10000 CCS A
023675,002919: 25,3315 13317 TCF +2
023676,002920: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023677,002921: 25,3317 34751 CAF BIT3
023678,002922: 25,3320 54001 TS L
023679,002923:
023680,002924: 25,3321 00006 SCALECHK EXTEND
023681,002925: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
023682,002926: 25,3323 56001 XCH L
023683,002927: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
023684,002928: 25,3325 00006 EXTEND
023685,002929: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
023686,002930: 25,3327 10000 CCS A
023687,002931: 25,3330 03350 TC SCALCHNG # THEY DIFFER
023688,002932:
023689,002933: 25,3331 34733 RADIN CAF POSMAX
023690,002934: 25,3332 70046 MASK RNRAD
023691,002935: 25,3333 54064 TS ITEMP4
023692,002936:
023693,002937: 25,3334 30046 CAE RNRAD
023694,002938: 25,3335 60000 DOUBLE
023695,002939: 25,3336 74753 MASK BIT1
023696,002940: 25,3337 54063 TS ITEMP3
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|
Page 558 |
023698,002942: 25,3340 10002 CCS Q # SEE IF RR RDOT.
023699,002943: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023700,002944:
023701,002945: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
023702,002946: 25,3343 42002 DCS RDOTBIAS
023703,002947: 25,3344 20064 DASAMPL DAS ITEMP3
023704,002948: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023705,002949: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023706,002950: 25,3347 03253 TC GOODRAD
023707,002951:
023708,002952: 25,3350 22110 SCALCHNG LXCH RADMODES
023709,002953: 25,3351 64753 AD BIT1
023710,002954: 25,3352 00006 EXTEND
023711,002955: 25,3353 06001 RXOR LCHAN
023712,002956: 25,3354 54110 TS RADMODES
023713,002957: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023714,002958: 25,3356 00006 EXTEND
023715,002959: 25,3357 02033 RAND CHAN33
023716,002960: 25,3360 55113 TS OLDATAGD
023717,002961: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
023718,002962: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
023719,002963: 25,3363 13206 TCF BADRAD
023720,002964:
023721,002965: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023722,002966:
023723,002967: 25,3364 40101 R77CHECK CS FLAGWRD5
023724,002968: 25,3365 74741 MASK R77FLBIT
023725,002969: 25,3366 10000 CCS A
023726,002970: 25,3367 00002 TC Q # NOT R77
023727,002971: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023728,002972: 25,3371 70110 MASK RADMODES
023729,002973: 25,3372 54001 TS L
023730,002974: 25,3373 33401 CA BITS5,8
023731,002975: 25,3374 00006 EXTEND
023732,002976: 25,3375 02033 RAND CHAN33
023733,002977: 25,3376 60001 AD L
023734,002978: 25,3377 54110 TS RADMODES
023735,002979: 25,3400 03553 TC RGOODEND -2
023736,002980: 25,3401 00220 BITS5,8 OCT 220
023737,002981:
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|
Page 559 |
023739,002983: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023740,002984:
023741,002985: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
023742,002986: 25,3403 13405 TCF +2 # ON HIGH SCALE.
023743,002987: 25,3404 13345 TCF DGCHECK2
023744,002988:
023745,002989: 25,3405 31335 CA DNINDEX
023746,002990: 25,3406 74751 MASK BIT3
023747,002991: 25,3407 10000 CCS A
023748,002992: 25,3410 13417 TCF LRSCK
023749,002993:
023750,002994: 25,3411 52064 DXCH ITEMP3
023751,002995: 25,3412 20001 DDOUBL
023752,002996: 25,3413 20001 DDOUBL
023753,002997: 25,3414 20001 DDOUBL
023754,002998: 25,3415 52064 DXCH ITEMP3
023755,002999:
023756,003000: 25,3416 13345 TCF DGCHECK2
023757,003001:
023758,003002: 25,3417 10063 LRSCK CCS ITEMP3
023759,003003: 25,3420 13431 TCF +11
023760,003004: 25,3421 40064 CS ITEMP4
023761,003005: 25,3422 63441 AD HISCALIM
023762,003006: 25,3423 00006 EXTEND
023763,003007: 25,3424 63431 BZMF +5
023764,003008:
023765,003009: 25,3425 40107 CS FLGWRD11
023766,003010: 25,3426 74751 MASK SCABBIT
023767,003011: 25,3427 26107 ADS FLGWRD11
023768,003012: 25,3430 13434 TCF +4
023769,003013:
023770,003014: 25,3431 44751 CS SCABBIT
023771,003015: 25,3432 70107 MASK FLGWRD11
023772,003016: 25,3433 54107 TS FLGWRD11
023773,003017:
023774,003018: 25,3434 00006 EXTEND
023775,003019: 25,3435 30064 DCA ITEMP3
023776,003020: 25,3436 20001 DDOUBL
023777,003021: 25,3437 20001 DDOUBL
023778,003022: 25,3440 13344 TCF DASAMPL
023779,003023:
023780,003024: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
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|
Page 560 |
023782,003026: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
023783,003027: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
023784,003028: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
023785,003029: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
023786,003030: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
023787,003031: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
023788,003032: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
023789,003033: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
023790,003034: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
023791,003035: 25,3453 60001 AD L
023792,003036: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
023793,003037: 25,3455 03263 TC RESAMPLE
023794,003038: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
023795,003039: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
023796,003040: 25,3460 00002 TC Q
023797,003041:
023798,003042: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
023799,003043: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
023800,003044: 25,3463 60061 AD ITEMP1
023801,003045: 25,3464 54110 TS RADMODES
023802,003046:
023803,003047: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
023804,003048: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
023805,003049: 25,3467 03616 TC RADLITES
023806,003050: 25,3470 13174 TCF NOMORE
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|
Page 561 |
023808,003052: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
023809,003053:
023810,003054: 25,2000 SETLOC P20S1
023811,003055: 25,2000 BANK
023812,003056:
023813,003057: 25,3471 COUNT* $$/RSUB
023814,003058: 25,3471 00004 LRPOS2 INHINT
023815,003059:
023816,003060: 25,3472 40110 CS RADMODES
023817,003061: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
023818,003062: 25,3474 26110 ADS RADMODES
023819,003063:
023820,003064: 25,3475 34745 CAF BIT7
023821,003065: 25,3476 00006 EXTEND
023822,003066: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
023823,003067: 25,3500 00006 EXTEND
023824,003068: 25,3501 13530 BZF RADNOOP
023825,003069:
023826,003070: 25,3502 34737 CAF BIT13
023827,003071: 25,3503 00006 EXTEND
023828,003072: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
023829,003073: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
023830,003074: 25,3506 05203 TC WAITLIST
023831,003075: 25,3507 E7,1456 EBANK= LOSCOUNT
023832,003076: 25,3507 03543 52067 2CADR LRPOSCAN
023833,003077:
023834,003078: 25,3511 02366 TC ROADBACK
023835,003079:
023836,003080: 25,3512 55100 LRPOSNXT TS SAMPLIM
023837,003081: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
023838,003082: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
023839,003083:
023840,003084: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
023841,003085: 25,3516 00006 EXTEND
023842,003086: 25,3517 02033 RAND CHAN33
023843,003087: 25,3520 00006 EXTEND
023844,003088: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
023845,003089:
023846,003090: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
023847,003091: 25,3523 13512 TCF LRPOSNXT
023848,003092:
023849,003093: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
023850,003094: 25,3525 00006 EXTEND
023851,003095: 25,3526 03012 WAND CHAN12
023852,003096: 25,3527 13562 TCF RDBADEND
023853,003097:
023854,003098: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
023855,003099: 25,3531 05203 TC WAITLIST
023856,003100: 25,3532 E7,1456 EBANK= LOSCOUNT
023857,003101: 25,3532 03555 52067 2CADR RGOODEND
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|
Page 562 |
023859,003103: 25,3534 02366 TC ROADBACK
023860,003104:
023861,003105: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
023862,003106: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
023863,003107:
023864,003108: 25,3537 44737 CS BIT13 # REMOVE COMMAND
023865,003109: 25,3540 00006 EXTEND
023866,003110: 25,3541 03012 WAND CHAN12
023867,003111: 25,3542 13555 TCF RGOODEND
023868,003112:
023869,003113: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
023870,003114: 25,3544 13512 TCF LRPOSNXT
023871,003115: 25,3545 01130 6SECS DEC 600 B-14
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|
Page 563 |
023873,003117: # SEQUENCES TO TERMINATE RR OPERATIONS.
023874,003118:
023875,003119: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
023876,003120: 25,3547 70110 MASK RADMODES
023877,003121: 25,3550 10000 CCS A
023878,003122: 25,3551 13555 TCF RGOODEND
023879,003123: 25,3552 13562 TCF RDBADEND
023880,003124: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
023881,003125: 25,3554 54734 TS RUPTAGN
023882,003126:
023883,003127: 25,3555 34752 RGOODEND CAF TWO
023884,003128: 25,3556 04635 TC POSTJUMP
023885,003129: 25,3557 17665 CADR GOODEND
023886,003130:
023887,003131: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
023888,003132: 25,3561 54734 TS RUPTAGN
023889,003133: 25,3562 34752 RDBADEND CAF TWO
023890,003134: 25,3563 04635 TC POSTJUMP
023891,003135: 25,3564 17662 CADR BADEND
023892,003136:
023893,003137: 25,3565 6245 BIN3 EQUALS THREE
023894,003138:
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|
Page 564 |
023896,003140: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
023897,003141: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
023898,003142:
023899,003143: # FUNCTIONAL DESCRIPTION_
023900,003144: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
023901,003145: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
023902,003146: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
023903,003147:
023904,003148: # CALLING SEQUENCE CALL
023905,003149: # LPS20.1
023906,003150:
023907,003151: # SUBROUTINES CALLED_
023908,003152: # LEMPREC, CSMPREC
023909,003153:
023910,003154: # NORMAL EXIT_ RETURN TO CALLER + 2
023911,003155:
023912,003156: # ERROR EXITS_ NONE
023913,003157:
023914,003158: # ALARMS_ NONE
023915,003159:
023916,003160: # OUTPUT_
023917,003161: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
023918,003162: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
023919,003163: # RRNBSW CLEARED
023920,003164:
023921,003165: # INITIALIZED ERASEABLE
023922,003166: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
023923,003167: # SEE ORBITAL INTEGRATION ROUTINE
023924,003168:
023925,003169: # DEBRIS_
023926,003170: # MPAC DESTROYED BY THIS ROUTINE
023927,003171:
023928,003172: 23,2314 BANK 23
023929,003173: 24,2000 SETLOC P20S
023930,003174: 24,2000 BANK
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Page 565 |
023932,003176: 24,3255 COUNT* $$/LPS20
023933,003177:
023934,003178: 24,3255 43020 LPS20.1 STQ BOFF
023935,003179: 24,3256 01757 LS21X
023936,003180: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
023937,003181: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
023938,003182: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
023939,003183: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
023940,003184: 24,3263 51274 CSMINT
023941,003185: 24,3264 77624 LMINT CALL
023942,003186: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM
023943,003187: 24,3266 77775 VLOAD
023944,003188: 24,3267 00001 RATT
023945,003189: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
023946,003190: 24,3271 00007 VATT
023947,003191: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
023948,003192: 24,3273 00015 TAT
023949,003193: 24,3274 34041 CSMINT STCALL TDEC1
023950,003194: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM
023951,003195: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
023952,003196: 24,3277 00007 VATT
023953,003197: 24,3300 02360 LMVEL
023954,003198: 24,3301 76521 MXV VSL1
023955,003199: 24,3302 01734 REFSMMAT
023956,003200: 24,3303 77776 EXIT
023957,003201: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
023958,003202: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
023959,003203: 24,3306 06037 TC INTPRET
023960,003204: 24,3307 25761 STOVL LOSVEL
023961,003205: 24,3310 00001 RATT
023962,003206: 24,3311 43051 VSU BOFF
023963,003207: 24,3312 02352 LMPOS
023964,003208: 24,3313 00350 RNDVZFLG
023965,003209: 24,3314 51321 NOTSHIFT
023966,003210: 24,3315 77604 BOVB
023967,003211: 24,3316 57753 TCDANZIG
023968,003212: 24,3317 77661 VSL
023969,003213: 24,3320 20212 9D
023970,003214: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
023971,003215: 24,3322 50102 526ALARM # THAN 400 N. M.
023972,003216: 24,3323 76521 MXV VSL1
023973,003217: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
023974,003218: 24,3325 15102 STODL RRTARGET
023975,003219: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
023976,003220: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
023977,003221: 24,3330 77614 CLRGO
023978,003222: 24,3331 00231 RRNBSW
023979,003223: 24,3332 01757 LS21X
023980,003224:
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Page 566 |
023982,003226: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
023983,003227: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
023984,003228:
023985,003229: # FUNCTIONAL DESCRIPTION_
023986,003230: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
023987,003231:
023988,003232: # CALLING SEQUENCE CALL
023989,003233: # LPS20.2
023990,003234:
023991,003235: # SUBROUTINES CALLED_ NONE
023992,003236:
023993,003237: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
023994,003238:
023995,003239: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
023996,003240:
023997,003241: # ALARMS_ NONE
023998,003242:
023999,003243: # OUTPUT_ NONE
024000,003244:
024001,003245: # INITIALIZED ERASEABLE_
024002,003246: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024003,003247:
024004,003248: # DEBRIS
024005,003249: # MPAC DESTROYED BY THIS ROUTINE
024006,003250:
024007,003251: 25,2000 SETLOC P20S1
024008,003252: 25,2000 BANK
024009,003253: 25,3565 COUNT* $$/LPS20
024010,003254:
024011,003255: 25,3565 45345 LPS20.2 DLOAD DSU
024012,003256: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
024013,003257: 25,3567 13600 FHNM # OVER 400NM _
024014,003258: 25,3570 77644 BPL
024015,003259: 25,3571 53574 TOFAR
024016,003260: 25,3572 43535 SLOAD RVQ
024017,003261: 25,3573 06522 ZERO/SP
024018,003262: 25,3574 43535 TOFAR SLOAD RVQ
024019,003263: 25,3575 13577 ONE/SP
024020,003264: 25,3576 00001 ONE/SP DEC 1 B-14
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|
Page 567 |
024022,003266: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024023,003267:
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Page 568 |
024025,003269: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024026,003270: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024027,003271:
024028,003272: # FUNCTIONAL DESCRIPTION
024029,003273: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024030,003274: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024031,003275: # RR REPOSITION AND RR CDU FAIL
024032,003276: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024033,003277:
024034,003278: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024035,003279:
024036,003280: # SUBROUTINES CALLED:
024037,003281: # RRRDOT LPS20.1
024038,003282: # RRRANGE BANKCALL
024039,003283: # RADSTALL CDULOGIC
024040,003284: # RRNB SMNB
024041,003285:
024042,003286: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024043,003287:
024044,003288: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024045,003289: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024046,003290: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024047,003291:
024048,003292: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024049,003293: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024050,003294:
024051,003295: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024052,003296: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024053,003297:
024054,003298: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024055,003299: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024056,003300: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024057,003301: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024058,003302: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024059,003303: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024060,003304:
024061,003305: # ERASABLE INITIALIZATION REQUIRED:
024062,003306: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 569 |
024064,003308: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024065,003309: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024066,003310: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024067,003311:
024068,003312: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024069,003313:
024070,003314: 32,2366 BANK 32
024071,003315: 32,2000 SETLOC LRS22
024072,003316: 32,2000 BANK
024073,003317: 32,2366 COUNT* $$/LRS22
024074,003318:
024075,003319: 32,2366 04645 LRS22.1 TC MAKECADR
024076,003320: 32,2367 55737 TS LRS22.1X
024077,003321: 32,2370 05516 TC DOWNFLAG
024078,003322: 32,2371 00120 ADRES RNGSCFLG
024079,003323: 32,2372 00004 INHINT
024080,003324: 32,2373 34751 CAF BIT3
024081,003325: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024082,003326: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024083,003327: 32,2376 54001 TS L
024084,003328: 32,2377 44751 CS RRRSBIT
024085,003329: 32,2400 70110 MASK RADMODES
024086,003330: 32,2401 60001 AD L
024087,003331: 32,2402 54110 TS RADMODES
024088,003332: 32,2403 00003 RELINT
024089,003333: 32,2404 04616 READRDOT TC BANKCALL
024090,003334: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024091,003335: 32,2406 04616 TC BANKCALL
024092,003336: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024093,003337: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024094,003338:
024095,003339: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024096,003340: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024097,003341: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024098,003342: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024099,003343: 32,2415 53747 DXCH RDOTMSAV
024100,003344: 32,2416 00006 EXTEND
024101,003345: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024102,003346: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024103,003347: 32,2421 30032 CA CDUX
024104,003348: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024105,003349: 32,2423 00006 EXTEND
024106,003350: 32,2424 30025 DCA TIME2 # SAVE TIME
024107,003351: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024108,003352: 32,2426 00006 EXTEND
024109,003353: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024110,003354: 32,2430 53110 DXCH TANG
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Page 570 |
024112,003356: 32,2431 00003 RELINT
024113,003357: 32,2432 04616 TC BANKCALL
024114,003358: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024115,003359: 32,2434 04616 TC BANKCALL
024116,003360: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
024117,003361: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ
024118,003362: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024119,003363: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024120,003364: 32,2441 53761 DXCH RANGRDOT
024121,003365: 32,2442 52162 DXCH MPAC +5
024122,003366: 32,2443 53755 DXCH MKTIME # MARK TIME
024123,003367: 32,2444 52160 DXCH MPAC +3
024124,003368: 32,2445 53460 DXCH AIG # CDUY, CDUZ
024125,003369: 32,2446 00006 EXTEND
024126,003370: 32,2447 31110 DCA TANG # PRESERVE TANG
024127,003371: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024128,003372: 32,2451 30156 CA MPAC +2
024129,003373: 32,2452 55461 TS AOG # CDUX
024130,003374: 32,2453 06037 TC INTPRET
024131,003375: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024132,003376: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024133,003377: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024134,003378: 32,2457 20217 14D # FT./SECOND PER BIT
024135,003379: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024136,003380: 32,2461 03751 STORE RDOTM
024137,003381: 32,2462 47135 SLOAD RTB
024138,003382: 32,2463 01110 TANG # GET TRUNION ANGLE
024139,003383: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024140,003384: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024141,003385: 32,2466 47135 SLOAD RTB
024142,003386: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE
024143,003387: 32,2470 21576 CDULOGIC
024144,003388: 32,2471 17736 STODL RRSHAFT
024145,003389: 32,2472 01102 SAMPLSUM
024146,003390: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024147,003391: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024148,003392: 32,2475 37757 STCALL RM
024149,003393: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024150,003394: 32,2477 17741 STODL RRBORSIT # AND SAVE
024151,003395: 32,2500 00025 20D
024152,003396: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024153,003397: 32,2502 51255 LPS20.1
024154,003398: 32,2503 77776 EXIT
024155,003399: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024156,003400: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024157,003401: 32,2506 31460 CA AMG
024158,003402: 32,2507 54770 TS CDUSPOT +2
024159,003403: 32,2510 31461 CA AOG
024160,003404: 32,2511 54772 TS CDUSPOT +4
024161,003405: 32,2512 06037 TC INTPRET
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Page 571 |
024163,003407: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024164,003408: 32,2514 01102 RRTARGET
024165,003409: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024166,003410: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024167,003411: 32,2517 03741 RRBORSIT
024168,003412: 32,2520 65552 SL1 ACOS # BETWEEN THEM
024169,003413: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024170,003414: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024171,003415: 32,2523 24546 THREEDEG
024172,003416: 32,2524 64531 NORMEXIT # YES - NORMAL EXIT
024173,003417:
024174,003418: 32,2525 77776 EXIT # ERROR EXIT 2
024175,003419: 32,2526 34752 CAF BIT2 # SET ERROR CODE
024176,003420: 32,2527 54154 TS MPAC
024177,003421: 32,2530 12534 TCF OUT22.1
024178,003422:
024179,003423: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024180,003424: 32,2532 34755 CAF ZERO
024181,003425: 32,2533 54154 TS MPAC
024182,003426: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024183,003427: 32,2535 04640 TC BANKJUMP
024184,003428: 32,2536 30101 CHEXERR CAE FLAGWRD5
024185,003429: 32,2537 74742 MASK RNGSCBIT
024186,003430: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024187,003431: 32,2541 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024188,003432:
024189,003433: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024190,003434: 32,2543 54154 TS MPAC
024191,003435: 32,2544 02534 TC OUT22.1
024192,003436: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024193,003437:
024194,003438: 32,2547 1101 RRLOSVEC EQUALS RRTARGET
024195,003439:
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Page 572 |
024197,003441: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024198,003442: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024199,003443:
024200,003444: # FUNCTIONAL DESCRIPTION-
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Yes, I know point #1 is missing. It is missing from the program listing — RSB 2003 |
024202,003446: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024203,003447:
024204,003448: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024205,003449:
024206,003450: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024207,003451:
024208,003452: # NORMAL EXIT- RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024209,003453:
024210,003454: # ERROR EXIT- RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024211,003455:
024212,003456: # ALARMS- NONE IN THE AUTO MODE
024213,003457:
024214,003458: # ERASABLE INITIALIZATION REQUIRED -
024215,003459: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024216,003460: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024217,003461: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024218,003462:
024219,003463: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024220,003464:
024221,003465: 24,2000 SETLOC P20S
024222,003466: 24,2000 BANK
024223,003467: 24,3333 04645 LRS22.2 TC MAKECADR
024224,003468: 24,3334 55737 TS LRS22.1X
024225,003469: 24,3335 06037 TC INTPRET
024226,003470: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024227,003471: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024228,003472: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024229,003473: # LOS VECTOR, A HALF UNIT VECTOR
024230,003474: # IN NAV BASE AXES)
024231,003475: 24,3340 50025 DSU BMN
024232,003476: 24,3341 11355 30DEG
024233,003477: 24,3342 51347 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024234,003478: 24,3343 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024235,003479: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024236,003480: 24,3345 54154 TS MPAC
024237,003481: 24,3346 13352 TCF OUT22.2
024238,003482: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024239,003483:
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Page 573 |
024241,003485: 24,3350 34755 CAF ZERO
024242,003486: 24,3351 54154 TS MPAC
024243,003487: 24,3352 31737 OUT22.2 CAE LRS22.1X
024244,003488: 24,3353 04640 TC BANKJUMP
024245,003489:
024246,003490: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024247,003491:
|
|
Page 574 |
024249,003493: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024250,003494: # MOD. NO 3 LOG SECTION - P20-25
024251,003495: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024252,003496:
024253,003497: # FUNCTIONAL DESCRIPTION
024254,003498: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024255,003499: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024256,003500: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024257,003501:
024258,003502: # CALLING SEQUENCE
024259,003503: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024260,003504: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024261,003505: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024262,003506: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024263,003507: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024264,003508: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024265,003509:
024266,003510: # SUBROUTINES CALLED
024267,003511: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024268,003512: # GETULC RARARANG INCORP2 NBSM INTSTALL
024269,003513:
024270,003514: # OUTPUT
024271,003515: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024272,003516: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024273,003517: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024274,003518: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024275,003519: # UPDATED W-MATRIX
024276,003520:
024277,003521: # ERASABLE INITIALIZATION REQUIRED
024278,003522: # LM AND CSM STATE VECTORS
024279,003523: # W-MATRIX
024280,003524: # MARK TIME IN MKTIME
024281,003525: # RADAR RANGE IN RM METERS B-29
024282,003526: # RANGE RATE IN RDOTM METERS/CSES B-7
024283,003527: # SHAFT ANGLE IN RRSHAFT REVS. B0
024284,003528: # TRUNNION ANGLE IN RRTRUN REVS. B0
024285,003529: # GIMBAL ANGLES INNER IN AIG
024286,003530: # MIDDLE IN AMG
024287,003531: # OUTER IN AOG
024288,003532: # REFSMMAT
024289,003533: # RENDWFLG
024290,003534: # NOANGFLG
024291,003535: # VEHUPFLG
024292,003536:
024293,003537: # DEBRIS
024294,003538: # PUSHLIST -- ALL
024295,003539: # MX, MY, MZ (VECTORS)
|
|
Page 575 |
024297,003541: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024298,003542:
024299,003543: 13,2207 BANK 13
024300,003544: 26,2000 SETLOC P20S3
024301,003545: 26,2000 BANK
024302,003546:
024303,003547: 26,2412 E7,1456 EBANK= LOSCOUNT
024304,003548: 26,2412 COUNT* $$/LSR22
024305,003549: 26,2412 77624 LSR22.3 CALL
024306,003550: 26,2413 11244 GRP2PC
024307,003551: 26,2414 43014 BON SET
024308,003552: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024309,003553: 26,2416 55200 LSR22.4 # YES
024310,003554: 26,2417 02466 DMENFLG
024311,003555: 26,2420 45014 BOFF CALL
024312,003556: 26,2421 00747 VEHUPFLG
024313,003557: 26,2422 54454 DOLEM
024314,003558: 26,2423 27414 INTSTALL
024315,003559: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION
024316,003560: 26,2425 01674 VINTFLAG
024317,003561: 26,2426 26644 SETIFLGS
024318,003562: 26,2427 77624 CALL
024319,003563: 26,2430 55242 INTGRCAL
024320,003564: 26,2431 77624 CALL
024321,003565: 26,2432 11244 GRP2PC
024322,003566: 26,2433 77624 CALL
024323,003567: 26,2434 27414 INTSTALL
024324,003568: 26,2435 43014 CLEAR BOFF
024325,003569: 26,2436 01676 DIM0FLAG
024326,003570: 26,2437 02756 RENDWFLG
024327,003571: 26,2440 54444 NOTWCSM
024328,003572: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024329,003573: 26,2442 01476 DIM0FLAG
024330,003574: 26,2443 01475 D6OR9FLG
024331,003575: 26,2444 43014 NOTWCSM SET CLEAR
024332,003576: 26,2445 01474 VINTFLAG
024333,003577: 26,2446 01673 INTYPFLG
024334,003578: 26,2447 45014 SET CALL
024335,003579: 26,2450 01472 STATEFLG
024336,003580: 26,2451 55242 INTGRCAL
024337,003581: 26,2452 77650 GOTO
024338,003582: 26,2453 54504 MARKTEST
024339,003583: 26,2454 77624 DOLEM CALL
024340,003584: 26,2455 27414 INTSTALL
024341,003585: 26,2456 45014 SET CALL
024342,003586: 26,2457 01474 VINTFLAG
024343,003587: 26,2460 26644 SETIFLGS
024344,003588: 26,2461 77624 CALL
024345,003589: 26,2462 55242 INTGRCAL
|
|
Page 576 |
024347,003591: 26,2463 77624 CALL
024348,003592: 26,2464 11244 GRP2PC
024349,003593: 26,2465 77624 CALL
024350,003594: 26,2466 27414 INTSTALL
024351,003595: 26,2467 43014 CLEAR BOFF
024352,003596: 26,2470 01676 DIM0FLAG
024353,003597: 26,2471 02756 RENDWFLG
024354,003598: 26,2472 54476 NOTWLEM
024355,003599: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024356,003600: 26,2474 01476 DIM0FLAG
024357,003601: 26,2475 01475 D6OR9FLG
024358,003602: 26,2476 43014 NOTWLEM CLEAR CLEAR
024359,003603: 26,2477 01673 INTYPFLG
024360,003604: 26,2500 01674 VINTFLAG
024361,003605: 26,2501 45014 SET CALL
024362,003606: 26,2502 01472 STATEFLG
024363,003607: 26,2503 55242 INTGRCAL
024364,003608: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024365,003609: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024366,003610: 26,2506 54510 RANGEBQ
024367,003611: 26,2507 55251 WLINIT # YES - REINITIALIZE
024368,003612: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024369,003613: 26,2511 04307 SURFFLAG
024370,003614: 26,2512 54520 RANGEBQ1
024371,003615: 26,2513 34755 CA ZERO
024372,003616: 26,2514 55745 TS R65CNTR
024373,003617: 26,2515 04616 TC BANKCALL
024374,003618: 26,2516 46123 CADR R65LEM
024375,003619: 26,2517 06037 TC INTPRET
024376,003620: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024377,003621: 26,2521 00000 0
024378,003622: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024379,003623: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024380,003624: 26,2524 77714 INCR,2
024381,003625: 26,2525 00002 2
024382,003626: 26,2526 45134 SETX2 SXA,2 CALL
024383,003627: 26,2527 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024384,003628: 26,2530 11244 GRP2PC
024385,003629: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024386,003630: 26,2532 00001 1
024387,003631: 26,2533 03745 WHCHREAD
024388,003632: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024389,003633: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024390,003634: 26,2536 20635 28D
024391,003635: 26,2537 77634 RTB
024392,003636: 26,2540 21633 TPMODE # AND SAVE IN 20D
024393,003637: 26,2541 00025 STORE 20D
024394,003638: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024395,003639: 26,2543 55333 GETULC # B-VECTORS FOR RANGE
024396,003640: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
|
|
Page 577 |
024398,003642: 26,2545 00707 VEHUPFLG
024399,003643: 26,2546 54547 +1
024400,003644: 26,2547 27525 STOVL BVECTOR
024401,003645: 26,2550 06522 ZEROVECS
024402,003646: 26,2551 03533 STORE BVECTOR +6 # B1
024403,003647: 26,2552 17541 STODL BVECTOR +12D # B2
024404,003648: 26,2553 00045 36D
024405,003649: 26,2554 44257 SRR* BDSU
024406,003650: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024407,003651: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024408,003652: 26,2557 77657 SLR*
024409,003653: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024410,003654: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024411,003655: 26,2562 00045 36D # RLC B-29/B-27
024412,003656: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE
024413,003657: 26,2564 00047 X1
024414,003658: 26,2565 53605 DMP SR*
024415,003659: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024416,003660: 26,2567 20577 0 -2,1 # UNNORMALIZE
024417,003661: 26,2570 53657 SR* SR*
024418,003662: 26,2571 20601 0,1
024419,003663: 26,2572 57176 0,2
024420,003664: 26,2573 47057 SR* RTB
024421,003665: 26,2574 57176 0,2
024422,003666: 26,2575 21633 TPMODE
024423,003667: 26,2576 02707 STORE VARIANCE # B-40
024424,003668: 26,2577 76276 DCOMP TAD
024425,003669: 26,2600 00025 20D # B-40
024426,003670: 26,2601 72240 BMN TLOAD
024427,003671: 26,2602 54605 QOK
024428,003672: 26,2603 00025 20D # B-40
024429,003673: 26,2604 02707 STORE VARIANCE
024430,003674: 26,2605 77624 QOK CALL
024431,003675: 26,2606 55401 LGCUPDTE
024432,003676:
024433,003677: 26,2607 45131 SSP CALL
024434,003678: 26,2610 03746 WHCHREAD
024435,003679: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024436,003680: 26,2612 11244 GRP2PC
024437,003681: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024438,003682: 26,2614 55333 GETULC
024439,003683: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024440,003684: 26,2616 00045 36D # AND SHIFT TO B-23
024441,003685: 26,2617 57202 0 -4,2
024442,003686: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D
024443,003687: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024444,003688: 26,2622 00707 VEHUPFLG
024445,003689: 26,2623 54624 +1
024446,003690: 26,2624 77761 VXSC
024447,003691: 26,2625 00045 36D # B1 = RLC (B-24/B-22)
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|
Page 578 |
024449,003693: 26,2626 27533 STOVL BVECTOR +6
024450,003694: 26,2627 01653 NUVLEM
024451,003695: 26,2630 53257 VSR* VAD
024452,003696: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024453,003697: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5
024454,003698: 26,2633 53715 PDVL VSR* # VL TO PD6
024455,003699: 26,2634 01601 NUVCSM
024456,003700: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024457,003701: 26,2636 52255 VAD VSU
024458,003702: 26,2637 01615 VCVCSM
024459,003703: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6
024460,003704: 26,2641 00001 0
024461,003705: 26,2642 00007 6
024462,003706: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024463,003707: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024464,003708: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024465,003709: 26,2646 01773 RATEVAR
024466,003710: 26,2647 02707 STORE VARIANCE
024467,003711: 26,2650 54335 SLOAD SR
024468,003712: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024469,003713: 26,2652 20621 16D # SHIFT TO DP (B-4)
024470,003714: 26,2653 00031 STORE 24D # AND SAVE IN 24D
024471,003715: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024472,003716: 26,2655 02707 VARIANCE
024473,003717: 26,2656 54662 VOK # BRANCH - NO
024474,003718: 26,2657 77745 DLOAD # YES - USE MINIMUM VARIANCE
024475,003719: 26,2660 00031 24D
024476,003720: 26,2661 02707 STORE VARIANCE
024477,003721: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024478,003722: 26,2663 53725 PDDL SLR* # TO B-10/B-8
024479,003723: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024480,003724: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8
024481,003725: 26,2666 77625 DSU
024482,003726: 26,2667 77675 DMPR
024483,003727: 26,2670 00045 36D
024484,003728: 26,2671 27547 STOVL DELTAQ # B-33
024485,003729: 26,2672 00001 0 # NOW GET B0
024486,003730: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC
024487,003731: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024488,003732: 26,2675 00707 VEHUPFLG
024489,003733: 26,2676 54677 +1
024490,003734: 26,2677 77657 VSR*
024491,003735: 26,2700 57200 0 -2,2 # SCALED B-5
024492,003736: 26,2701 27525 STOVL BVECTOR
024493,003737: 26,2702 06522 ZEROVECS
024494,003738: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024495,003739: 26,2704 27541 STOVL BVECTOR +12D
024496,003740: 26,2705 03525 BVECTOR
024497,003741: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024498,003742: 26,2707 00025 20D # SHIFT COUNT IN 20D
|
|
Page 579 |
024500,003744: 26,2710 51575 VLOAD ABVAL
024501,003745: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024502,003746: 26,2712 71301 NORM DLOAD
024503,003747: 26,2713 00027 22D # SHIFT COUNT IN 22D
024504,003748: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER
024505,003749: 26,2715 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024506,003750: 26,2716 00025 20D
024507,003751: 26,2717 54723 VOK1
024508,003752: 26,2720 52150 LXA,1 GOTO
024509,003753: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024510,003754: 26,2722 54725 VOK2
024511,003755: 26,2723 77750 VOK1 LXA,1
024512,003756: 26,2724 00024 20D
024513,003757: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024514,003758: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT
024515,003759: 26,2727 20201 0,1
024516,003760: 26,2730 27525 STOVL BVECTOR
024517,003761: 26,2731 03533 BVECTOR +6
024518,003762: 26,2732 77657 VSL*
024519,003763: 26,2733 20201 0,1
024520,003764: 26,2734 17533 STODL BVECTOR +6
024521,003765: 26,2735 03547 DELTAQ
024522,003766: 26,2736 77657 SL*
024523,003767: 26,2737 20201 0,1
024524,003768: 26,2740 03547 STORE DELTAQ
024525,003769: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024526,003770: 26,2742 00045 36D
024527,003771: 26,2743 20200 0 -1,1
024528,003772: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024529,003773: 26,2745 02707 VARIANCE
024530,003774: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024531,003775: 26,2747 21633 TPMODE
024532,003776: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024533,003777: 26,2751 55401 LGCUPDTE
024534,003778:
024535,003779: 26,2752 77624 CALL
024536,003780: 26,2753 11244 GRP2PC
024537,003781: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE
024538,003782: 26,2755 04307 SURFFLAG
024539,003783: 26,2756 55176 RENDEND # NO
024540,003784: 26,2757 E7,1457 EBANK= AIG
024541,003785: 26,2757 33332 MXMYMZ CAF AIGBANK
024542,003786: 26,2760 54006 TS BBANK
024543,003787: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024544,003788: 26,2762 54766 TS CDUSPOT
024545,003789: 26,2763 31460 CA AMG
024546,003790: 26,2764 54770 TS CDUSPOT +2
024547,003791: 26,2765 31461 CA AOG
024548,003792: 26,2766 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024549,003793: 26,2767 06037 TC INTPRET
|
|
Page 580 |
024551,003795: 26,2770 45175 VLOAD CALL
024552,003796: 26,2771 06520 UNITX
024553,003797: 26,2772 47664 TRG*NBSM
024554,003798: 26,2773 76505 VXM VSL1
024555,003799: 26,2774 01734 REFSMMAT
024556,003800: 26,2775 27677 STOVL MX
024557,003801: 26,2776 06516 UNITY
024558,003802: 26,2777 77624 CALL
024559,003803: 26,3000 47673 *NBSM*
024560,003804: 26,3001 76505 VXM VSL1
024561,003805: 26,3002 01734 REFSMMAT
024562,003806: 26,3003 27705 STOVL MY
024563,003807: 26,3004 06514 UNITZ
024564,003808: 26,3005 77624 CALL
024565,003809: 26,3006 47673 *NBSM*
024566,003810: 26,3007 76505 VXM VSL1
024567,003811: 26,3010 01734 REFSMMAT
024568,003812: 26,3011 37713 SHAFTBQ STCALL MZ
024569,003813: 26,3012 55361 RADARANG
024570,003814: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024571,003815: 26,3014 03746 WHCHREAD
024572,003816: 26,3015 00003 DEC 3 B-14
024573,003817: 26,3016 11244 GRP2PC
024574,003818: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
024575,003819: 26,3020 03724 ULC
024576,003820: 26,3021 03677 MX
024577,003821: 26,3022 77752 SL1
024578,003822: 26,3023 24023 STOVL SINTH # 18D
024579,003823: 26,3024 03724 ULC
024580,003824: 26,3025 72441 DOT SL1
024581,003825: 26,3026 03713 MZ
024582,003826: 26,3027 34021 STCALL COSTH # 16D
024583,003827: 26,3030 26510 ARCTAN
024584,003828: 26,3031 41221 BDSU DMP
024585,003829: 26,3032 03736 RRSHAFT
024586,003830: 26,3033 15441 2PI/8
024587,003831: 26,3034 41472 SL3R PUSH
024588,003832: 26,3035 52545 DLOAD SL3
024589,003833: 26,3036 01701 X789
024590,003834: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024591,003835: 26,3040 56176 0,2
024592,003836: 26,3041 53605 DMP SRR*
024593,003837: 26,3042 03722 RXZ
024594,003838: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024595,003839: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024596,003840: 26,3045 03724 ULC
024597,003841: 26,3046 76435 VXV VSL1
024598,003842: 26,3047 03705 MY
024599,003843: 26,3050 77656 UNIT
024600,003844: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
|
|
Page 581 |
024602,003846: 26,3052 00747 VEHUPFLG
024603,003847: 26,3053 55054 +1
024604,003848: 26,3054 27525 STOVL BVECTOR
024605,003849: 26,3055 06522 ZEROVECS
024606,003850: 26,3056 03533 STORE BVECTOR +6
024607,003851: 26,3057 17541 STODL BVECTOR +12D
024608,003852: 26,3060 03722 RXZ
024609,003853: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024610,003854: 26,3062 20577 0 -2,1
024611,003855: 26,3063 56176 0,2
024612,003856: 26,3064 03541 STORE BVECTOR +12D
024613,003857: 26,3065 77735 SLOAD
024614,003858: 26,3066 02011 SHAFTVAR
024615,003859: 26,3067 41215 DAD DMP
024616,003860: 26,3070 15436 IMUVAR # RAD**2 B12
024617,003861: 26,3071 03722 RXZ
024618,003862: 26,3072 41257 SRR* DMP
024619,003863: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024620,003864: 26,3074 03722 RXZ
024621,003865: 26,3075 53657 SR* SR*
024622,003866: 26,3076 20577 0 -2,1
024623,003867: 26,3077 57176 0,2
024624,003868: 26,3100 47057 SR* RTB
024625,003869: 26,3101 57176 0,2
024626,003870: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024627,003871: 26,3103 36707 STCALL VARIANCE # B-40
024628,003872: 26,3104 55401 LGCUPDTE
024629,003873:
024630,003874: 26,3105 77624 CALL
024631,003875: 26,3106 11244 GRP2PC
024632,003876: 26,3107 77624 TRUNBQ CALL
024633,003877: 26,3110 55361 RADARANG
024634,003878: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49
024635,003879: 26,3112 03746 WHCHREAD
024636,003880: 26,3113 00004 DEC 4 B-14
024637,003881: 26,3114 11244 GRP2PC
024638,003882: 26,3115 47375 VLOAD VXV
024639,003883: 26,3116 03724 ULC
024640,003884: 26,3117 03705 MY
024641,003885: 26,3120 47372 VSL1 VXV
024642,003886: 26,3121 03724 ULC
024643,003887: 26,3122 77772 VSL1 # (ULC X MY) X ULC
024644,003888: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024645,003889: 26,3124 00747 VEHUPFLG
024646,003890: 26,3125 55126 +1
024647,003891: 26,3126 27525 STOVL BVECTOR
024648,003892: 26,3127 06522 ZEROVECS
024649,003893: 26,3130 03533 STORE BVECTOR +6
024650,003894: 26,3131 17541 STODL BVECTOR +12D
024651,003895: 26,3132 03722 RXZ
|
|
Page 582 |
024653,003897: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024654,003898: 26,3134 20577 0 -2,1
024655,003899: 26,3135 56176 0,2
024656,003900: 26,3136 03543 STORE BVECTOR +14D
024657,003901: 26,3137 77735 SLOAD
024658,003902: 26,3140 02012 TRUNVAR
024659,003903: 26,3141 41215 DAD DMP
024660,003904: 26,3142 15436 IMUVAR
024661,003905: 26,3143 03722 RXZ
024662,003906: 26,3144 41257 SRR* DMP
024663,003907: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024664,003908: 26,3146 03722 RXZ
024665,003909: 26,3147 53657 SR* SR*
024666,003910: 26,3150 20577 0 -2,1
024667,003911: 26,3151 57176 0,2
024668,003912: 26,3152 47057 SR* RTB
024669,003913: 26,3153 57176 0,2
024670,003914: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024671,003915: 26,3155 16707 STODL VARIANCE
024672,003916: 26,3156 03732 SINTHETA
024673,003917: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
024674,003918: 26,3160 03734 RRTRUN
024675,003919: 26,3161 56405 DMP SL3R
024676,003920: 26,3162 15441 2PI/8
024677,003921: 26,3163 52525 PDDL SL3
024678,003922: 26,3164 01703 X789 +2
024679,003923: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024680,003924: 26,3166 56176 0,2
024681,003925: 26,3167 53605 DMP SRR*
024682,003926: 26,3170 03722 RXZ
024683,003927: 26,3171 21601 0,1
024684,003928: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
024685,003929: 26,3173 55401 LGCUPDTE
024686,003930: 26,3174 77624 CALL
024687,003931: 26,3175 11244 GRP2PC
024688,003932: 26,3176 77650 RENDEND GOTO
024689,003933: 26,3177 50566 R22LEM93
024690,003934:
024691,003935: # FUNCTIONAL DESCRIPTION
024692,003936: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
024693,003937: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
024694,003938: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
024695,003939:
024696,003940: # SUBROUTINES CALLED
024697,003941: # INSTALL LGCUPDTE INCORP1 RP-TO-R
024698,003942: # INTEGRV GETULC INCORP2
024699,003943:
024700,003944: # OUTPUT
024701,003945: # CORRECTED CSM STATE VECTOR (PERMANENT)
024702,003946: # NUMBER OF MARKS INCORPORATED IN MARKCTR
|
|
Page 583 |
024704,003948: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
024705,003949: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024706,003950: # UPDATED W-MATRIX
024707,003951:
024708,003952: # ERASABLE INITIALIZATION REQUIRED
024709,003953: # LM AND CSM STATE VECTORS
024710,003954: # W-MATRIX
024711,003955: # MARK TIME IN MKTIME
024712,003956: # RADAR RANGE IN RM METERS B-29
024713,003957: # RANGE RATE IN RDOTM METERS/CSEC B-7
024714,003958: # VEHUPFLG
024715,003959:
024716,003960: 26,3200 77624 LSR22.4 CALL
024717,003961: 26,3201 27414 INTSTALL
024718,003962: 26,3202 43014 SET CLEAR
024719,003963: 26,3203 01472 STATEFLG
024720,003964: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
024721,003965: 26,3205 77624 CALL
024722,003966: 26,3206 55242 INTGRCAL
024723,003967: 26,3207 77624 CALL
024724,003968: 26,3210 11244 GRP2PC
024725,003969: 26,3211 45014 CLEAR CALL
024726,003970: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
024727,003971: 26,3213 27414 INTSTALL
024728,003972: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
024729,003973: 26,3215 03463 MARKCTR
024730,003974: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
024731,003975: 26,3217 43014 CLEAR SET
024732,003976: 26,3220 01675 D6OR9FLG
024733,003977: 26,3221 01476 DIM0FLAG
024734,003978: 26,3222 43014 SET CLEAR
024735,003979: 26,3223 01474 VINTFLAG
024736,003980: 26,3224 01673 INTYPFLG
024737,003981: 26,3225 77624 CALL
024738,003982: 26,3226 55242 INTGRCAL
024739,003983: 26,3227 77650 GOTO
024740,003984: 26,3230 54510 RANGEBQ
024741,003985:
024742,003986: 26,3231 77624 INITWMX6 CALL
024743,003987: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
024744,003988: 26,3233 45014 SET CALL
024745,003989: 26,3234 01474 VINTFLAG
024746,003990: 26,3235 26644 SETIFLGS
024747,003991: 26,3236 77624 CALL
024748,003992: 26,3237 55242 INTGRCAL
024749,003993: 26,3240 77650 GOTO
024750,003994: 26,3241 54510 RANGEBQ
024751,003995:
024752,003996: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
|
|
Page 584 |
024754,003998: 26,3242 71220 INTGRCAL STQ DLOAD
024755,003999: 26,3243 03675 IGRET
024756,004000: 26,3244 03755 MKTIME
024757,004001: 26,3245 34041 STCALL TDEC1
024758,004002: 26,3246 27134 INTEGRV
024759,004003: 26,3247 77650 GOTO
024760,004004: 26,3250 03675 IGRET
024761,004005:
024762,004006: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
024763,004007: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
024764,004008:
024765,004009: 26,3251 E5,1400 EBANK= W
024766,004010: 26,3251 77776 WLINIT EXIT
024767,004011: 26,3252 33331 CAF WBANK
024768,004012: 26,3253 54006 TS BBANK
024769,004013: 26,3254 33437 CAF WSIZE
024770,004014: 26,3255 55257 TS W.IND
024771,004015: 26,3256 34755 CAF ZERO
024772,004016: 26,3257 51257 INDEX W.IND
024773,004017: 26,3260 55400 TS W
024774,004018: 26,3261 11257 CCS W.IND
024775,004019: 26,3262 03255 TC -5
024776,004020: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
024777,004021: 26,3264 54006 TS BBANK
024778,004022: 26,3265 06037 TC INTPRET
024779,004023: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
024780,004024: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
024781,004025: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
024782,004026: 26,3271 02001 WRENDPOS
024783,004027: 26,3272 77650 GOTO
024784,004028: 26,3273 55276 WPOSTORE
024785,004029: 26,3274 77735 WLSRFPOS SLOAD
024786,004030: 26,3275 02007 WSURFPOS
024787,004031: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
024788,004032: 26,3277 20606 5
024789,004033: 26,3300 02401 STORE W
024790,004034: 26,3301 02411 STORE W +8D
024791,004035: 26,3302 02421 STORE W +16D
024792,004036: 26,3303 67214 BON SLOAD
024793,004037: 26,3304 04307 SURFFLAG
024794,004038: 26,3305 55311 WLSRFVEL
024795,004039: 26,3306 02002 WRENDVEL
024796,004040: 26,3307 77650 GOTO
024797,004041: 26,3310 55313 WVELSTOR
024798,004042: 26,3311 77735 WLSRFVEL SLOAD
024799,004043: 26,3312 02010 WSURFVEL
024800,004044: 26,3313 02511 WVELSTOR STORE W +72D
024801,004045: 26,3314 02521 STORE W +80D
024802,004046: 26,3315 02531 STORE W +88D
024803,004047: 26,3316 77735 SLOAD
|
|
Page 585 |
024805,004049: 26,3317 02003 WSHAFT
024806,004050: 26,3320 02621 STORE W +144D
024807,004051: 26,3321 77735 SLOAD
024808,004052: 26,3322 02004 WTRUN
024809,004053: 26,3323 02631 STORE W +152D
024810,004054: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
024811,004055: 26,3325 02476 RENDWFLG
024812,004056: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
024813,004057: 26,3327 00000 0
024814,004058: 26,3330 77616 RVQ
024815,004059:
024816,004060: 26,3331 E5,1400 EBANK= W
024817,004061: 26,3331 54065 WBANK BBCON WLINIT
024818,004062: 26,3332 E7,1457 EBANK= AIG
024819,004063: 26,3332 54067 AIGBANK BBCON LSR22.3
024820,004064:
024821,004065: # GETULC
024822,004066:
024823,004067: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
024824,004068: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
024825,004069: # MAGNITUDE IN 36D.
024826,004070:
024827,004071: 26,3333 77201 GETULC SETPD VLOAD
024828,004072: 26,3334 00001 0
024829,004073: 26,3335 01645 DELTALEM
024830,004074: 26,3336 77754 LXA,2
024831,004075: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
024832,004076: 26,3340 53257 VSR* VAD
024833,004077: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024834,004078: 26,3342 01661 RCVLEM
024835,004079: 26,3343 53715 PDVL VSR*
024836,004080: 26,3344 01573 DELTACSM
024837,004081: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024838,004082: 26,3346 52255 VAD VSU
024839,004083: 26,3347 01607 RCVCSM
024840,004084: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
024841,004085: 26,3351 21724 NORMUNX1
024842,004086: 26,3352 17724 STODL ULC
024843,004087: 26,3353 00045 36D
024844,004088: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
024845,004089: 26,3355 20201 0,1
024846,004090: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
024847,004091: 26,3357 03724 ULC
024848,004092: 26,3360 77616 RVQ
024849,004093:
024850,004094: # RADARANG
024851,004095:
024852,004096: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
024853,004097: # RXZ = (SQRT (1-SINTHETA**2))RLC
024854,004098: # OUTPUT
024855,004099: # ULC IN ULC, PD0
|
|
Page 586 |
024857,004101: # RLC IN PD36D
024858,004102: # SIN THETA IN SINTHETA AND PD6
024859,004103: # RXZ NORM IN RXZ (N IN X1)
024860,004104:
024861,004105: 26,3361 45020 RADARANG STQ CALL
024862,004106: 26,3362 03675 RDRET
024863,004107: 26,3363 55333 GETULC
024864,004108: 26,3364 50276 VCOMP DOT
024865,004109: 26,3365 03705 MY
024866,004110: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
024867,004111: 26,3367 03732 STORE SINTHETA
024868,004112: 26,3370 44316 DSQ BDSU
024869,004113: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2
024870,004114: 26,3372 41366 SQRT DMP
024871,004115: 26,3373 00045 36D
024872,004116: 26,3374 60352 SL1 NORM
024873,004117: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
024874,004118: 26,3376 03722 STORE RXZ
024875,004119: 26,3377 77650 GOTO # EXIT
024876,004120: 26,3400 03675 RDRET
024877,004121: 26,3401 45020 LGCUPDTE STQ CALL
024878,004122: 26,3402 03675 LGRET
024879,004123: 26,3403 46531 INCORP1
024880,004124: 26,3404 51575 VLOAD ABVAL
024881,004125: 26,3405 02673 DELTAX +6
024882,004126: 26,3406 53754 LXA,2 SRR*
024883,004127: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024884,004128: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
024885,004129: 26,3411 24317 STOVL R22DISP +2
024886,004130: 26,3412 02665 DELTAX
024887,004131: 26,3413 53646 ABVAL SRR*
024888,004132: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
024889,004133: 26,3415 00315 STORE R22DISP
024890,004134: 26,3416 54335 SLOAD SR
024891,004135: 26,3417 02005 RMAX
024892,004136: 26,3420 20613 10D
024893,004137: 26,3421 50025 DSU BMN
024894,004138: 26,3422 00315 R22DISP
024895,004139: 26,3423 50572 R22LEM96 # GO DISPLAY
024896,004140: 26,3424 45335 SLOAD DSU
024897,004141: 26,3425 02006 VMAX
024898,004142: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
024899,004143: 26,3427 77640 BMN
024900,004144: 26,3430 50572 R22LEM96 # GO DISPLAY
024901,004145: 26,3431 77624 ASTOK CALL
024902,004146: 26,3432 46743 INCORP2
024903,004147: 26,3433 77650 GOTO
024904,004148: 26,3434 03675 LGRET
024905,004149: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
024906,004150:
024907,004151: 26,3437 00241 WSIZE DEC 161 B-14
|
|
Page 587 |
024909,004153: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
024910,004154:
024911,004155: 26,3442 E7,1456 EBANK= LOSCOUNT
|
|
Page 588 |
024913,004157:
024914,004158: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
024915,004159: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
024916,004160:
024917,004161: # FUNCTIONAL DESCRIPTION
024918,004162:
024919,004163: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
024920,004164: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
024921,004165: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
024922,004166: # ATTITUDE MANEUVER.
024923,004167:
024924,004168: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
024925,004169:
024926,004170: # SUBROUTINES CALLED
024927,004171:
024928,004172: # LEMCONIC R61LEM
024929,004173: # CSMCONIC RRDESSM
024930,004174: # JOBDELAY FLAGDOWN
024931,004175: # WAITLIST FLAGUP
024932,004176: # RRNB BANKCALL
024933,004177:
024934,004178: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
024935,004179:
024936,004180: # OUTPUT
024937,004181:
024938,004182: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
024939,004183: # 11111 INDICATES LOCKON ACHIEVED
024940,004184: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
024941,004185:
024942,004186: # ERASABLE INITIALIZATION REQUIRED
024943,004187:
024944,004188: # SEARCH FLAG MUST BE SET
024945,004189: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
024946,004190:
024947,004191: # DEBRIS
024948,004192:
024949,004193: # RLMSRCH UXVECT
024950,004194: # VXRLM UYVECT
024951,004195: # LOSDESRD NSRCHPNT
024952,004196: # DATAGOOD OMEGAD
024953,004197: # MPAC PUSHLIST
024954,004198:
024955,004199: 26,3442 COUNT* $$/LRS24
024956,004200: 26,3442 34755 LRS24.1 CAF ZERO
024957,004201: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
024958,004202: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
024959,004203: 26,3445 00006 EXTEND
|
|
Page 589 |
024961,004205: 26,3446 05012 WOR CHAN12
024962,004206: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
024963,004207: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
024964,004208: 26,3451 00006 EXTEND
024965,004209: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
024966,004210:
024967,004211: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
024968,004212: 26,3454 00004 INHINT
024969,004213: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
024970,004214: 26,3456 E7,1456 EBANK= LOSCOUNT
024971,004215: 26,3456 03643 54067 2CADR CALLDGCH
024972,004216:
024973,004217: 26,3460 00003 RELINT
024974,004218: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
024975,004219: 26,3462 74736 MASK REMODBIT
024976,004220: 26,3463 00006 EXTEND
024977,004221: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
024978,004222: 26,3465 06037 TC INTPRET
024979,004223:
024980,004224: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
024981,004225: 26,3467 21573 LOADTIME
024982,004226: 26,3470 15715 1.5SECS
024983,004227: 26,3471 34041 LRS24.11 STCALL TDEC1
024984,004228: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
024985,004229: 26,3473 77775 VLOAD
024986,004230: 26,3474 00001 RATT
024987,004231: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
024988,004232: 26,3476 00007 VATT
024989,004233: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
024990,004234: 26,3500 00015 TAT
024991,004235: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
024992,004236: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
024993,004237: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
024994,004238: 26,3504 00001 RATT
024995,004239: 26,3505 03676 RLMSRCH
024996,004240: 26,3506 77656 UNIT
024997,004241: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
024998,004242: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
024999,004243: 26,3511 47256 UNIT VXV
025000,004244: 26,3512 00001 RATT
025001,004245: 26,3513 77656 UNIT
025002,004246: 26,3514 03704 STORE VXRCM
025003,004247: 26,3515 52375 VLOAD VSU
025004,004248: 26,3516 00007 VATT
025005,004249: 26,3517 03740 SAVLEMV
025006,004250: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025007,004251: 26,3521 01734 REFSMMAT
025008,004252: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025009,004253: 26,3523 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 590 |
025011,004255: 26,3524 03737 NSRCHPNT
025012,004256: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025013,004257: 26,3526 53025 DSU BZE # IS N=1
025014,004258: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025015,004259: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025016,004260: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025017,004261: 26,3532 03720 UXVECT
025018,004262: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025019,004263: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025020,004264: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025021,004265: 26,3536 77761 VXSC
025022,004266: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR
025023,004267: 26,3540 27720 STOVL UXVECT
025024,004268: 26,3541 00015 UXVECTPR
025025,004269: 26,3542 53361 VXSC VAD
025026,004270: 26,3543 06520 COS60DEG
025027,004271: 26,3544 03720 UXVECT
025028,004272: 26,3545 77656 UNIT
025029,004273: 26,3546 27720 STOVL UXVECT
025030,004274: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR
025031,004275: 26,3550 77761 VXSC
025032,004276: 26,3551 15705 SIN60DEG
025033,004277: 26,3552 27726 STOVL UYVECT
025034,004278: 26,3553 00023 UYVECTPR
025035,004279: 26,3554 52361 VXSC VSU
025036,004280: 26,3555 06520 COS60DEG
025037,004281: 26,3556 03726 UYVECT
025038,004282: 26,3557 77656 UNIT
025039,004283: 26,3560 03726 STORE UYVECT
025040,004284: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025041,004285: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025042,004286: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025043,004287: 26,3564 64256 UNIT MXV
025044,004288: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025045,004289: 26,3566 77772 VSL1
025046,004290: 26,3567 25102 CONTDESG STOVL RRTARGET
025047,004291: 26,3570 03740 SAVLEMV
025048,004292: 26,3571 01761 STORE LOSVEL
025049,004293: 26,3572 77776 EXIT
025050,004294: 26,3573 00004 INHINT
025051,004295: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025052,004296: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025053,004297: # POINT IN THE PATTERN
025054,004298: 26,3576 44735 CONTDES2 CS CDESBIT
025055,004299: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025056,004300: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025057,004301: 26,3601 54110 TS RADMODES
025058,004302: 26,3602 06037 TC INTPRET
025059,004303:
025060,004304: 26,3603 77624 CALL
|
|
Page 591 |
025062,004306: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025063,004307:
025064,004308: 26,3605 77776 EXIT
025065,004309: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025066,004310: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025067,004311:
025068,004312: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025069,004313: # SPACECRAFT +Z AXIS
025070,004314: 26,3610 00006 OMEGCALC EXTEND
025071,004315: 26,3611 30036 DCA CDUT
025072,004316: 26,3612 53753 DXCH TANGNB
025073,004317: 26,3613 06037 TC INTPRET
025074,004318: 26,3614 77624 CALL
025075,004319: 26,3615 46041 RRNB
025076,004320: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025077,004321: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025078,004322: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025079,004323: 26,3621 77776 EXIT
025080,004324: 26,3622 05155 TC ENDOFJOB
|
|
Page 592 |
025082,004326: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025083,004327:
025084,004328: 26,3623 47375 CALCXY VLOAD VXV
025085,004329: 26,3624 03704 VXRCM
025086,004330: 26,3625 03712 LOSDESRD
025087,004331: 26,3626 77656 UNIT
025088,004332: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025089,004333: 26,3630 03712 LOSDESRD
025090,004334: 26,3631 53435 VXV UNIT
025091,004335: 26,3632 03720 UXVECT
025092,004336: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025093,004337: 26,3634 77650 GOTO
025094,004338: 26,3635 55561 OFFCALC
025095,004339:
025096,004340: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025097,004341: 26,3637 03712 LOSDESRD
025098,004342: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025099,004343: 26,3641 52172 VSL1 GOTO
025100,004344: 26,3642 55567 CONTDESG
025101,004345:
025102,004346: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025103,004347: 26,3644 74745 MASK RNDVZBIT
025104,004348: 26,3645 00006 EXTEND
025105,004349: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025106,004350: 26,3647 37713 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025107,004351: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025108,004352: 26,3651 E7,1675 EBANK= RLMSRCH
025109,004353: 26,3651 03654 54067 2CADR DATGDCHK
025110,004354:
025111,004355: 26,3653 05261 TC TASKOVER
025112,004356:
025113,004357: 26,3654 34750 DATGDCHK CAF BIT4
025114,004358: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025115,004359: 26,3656 02033 RAND CHAN33
025116,004360: 26,3657 00006 EXTEND
025117,004361: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025118,004362: 26,3661 46242 CS SIX
025119,004363: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025120,004364: 26,3663 00006 EXTEND
025121,004365: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025122,004366: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
025123,004367: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025124,004368:
025125,004369: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025126,004370: 26,3670 55733 TS DATAGOOD
|
|
Page 593 |
025128,004372: 26,3671 00004 INHINT
025129,004373: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
025130,004374: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025131,004375: 26,3674 05155 TC ENDOFJOB
025132,004376:
025133,004377: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025134,004378: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025135,004379: 26,3677 00004 INHINT # REQUIRED IN P20
025136,004380: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025137,004381: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025138,004382: 26,3702 05155 TC ENDOFJOB
025139,004383:
025140,004384: 26,3703 25547 ALL1S DEC 11111 B-14
025141,004385: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025142,004386: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50)
025143,004387: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025144,004388: 26,3706 UYVECTPR EQUALS 18D
025145,004389: 26,3706 RLMUNIT EQUALS 12D
025146,004390: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025147,004391:
025148,004392: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025149,004393: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025150,004394:
025151,004395: # **** ONEOCT NEEDS A LOWER ORDER ****
025152,004396: # **** WORD OF ZEROES ****
025153,004397: 26,3713 01130 6SECONDS DEC 600 B-14
025154,004398: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025155,004399:
025156,004400: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS
025157,004401:
025158,004402: 4616 BLOCK 02
025159,004403: 6000 SETLOC FFTAG5
025160,004404: 6000 BANK
025161,004405: 6022 COUNT* $$/P20
025162,004406: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025163,004407: 6023 36026 DCA VB56CADR # GOTOPOOH
025164,004408: 6024 15165 TCF SUPDXCHZ
025165,004409: 6025 E7,1471 EBANK= WHOCARES
025166,004410: 6025 03024 66107 VB56CADR 2CADR TRMTRACK
025167,004411:
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|
Page 594 |
025169,004413: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025170,004414: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025171,004415:
025172,004416: # FUNCTIONAL DESCRIPTION:
025173,004417:
025174,004418: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025175,004419: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025176,004420: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025177,004421: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025178,004422: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025179,004423: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025180,004424:
025181,004425: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025182,004426:
025183,004427: # SUBROUTINES CALLED:
025184,004428:
025185,004429: # REMODE RRTONLY
025186,004430: # UNIT MPACVBUF
025187,004431: # QUICTRIG AX*SR*T
025188,004432: # SPSIN SPCOS
025189,004433: # SETRRECR RROUT
025190,004434: # RRRDOT RRRANGE
025191,004435:
025192,004436: # EXIT: TO NOR29NOW, IN SERVICER.
025193,004437:
025194,004438: # OUTPUT: (ALL FOR DOWNLINK)
025195,004439:
025196,004440: # RM RDOTM (RAW)
025197,004441: # AIG AMG
025198,004442: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025199,004443: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025200,004444: # MKTIME
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|
Page 595 |
025202,004446:
025203,004447: # ERASABLE INITIALIZATION REQUIRED:
025204,004448:
025205,004449: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025206,004450: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025207,004451: # R(CSM) V(CSM)
025208,004452: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025209,004453:
025210,004454: # DEBRIS:
025211,004455:
025212,004456: # RADMODES (BIT 10)
025213,004457: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025214,004458: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025215,004459: # LOSCMFLG READRFLG
025216,004460:
025217,004461: # ALARMS: NONE.
025218,004462:
025219,004463: # COMPONENT JOBS AND TASKS:
025220,004464:
025221,004465: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025222,004466: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025223,004467: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025224,004468:
025225,004469: 33,2045 BANK 33
025226,004470: 33,2000 SETLOC R29/SERV
025227,004471: 33,2000 BANK
025228,004472:
025229,004473: 33,2045 COUNT* $$/r29
025230,004474:
025231,004475: 33,2045 5014 NR29&RDR EQUALS EBANK5
025232,004476:
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|
Page 596 |
025234,004478: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025235,004479: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025236,004480:
025237,004481: 33,2045 40110 R29 CS RADMODES
025238,004482: 33,2046 74742 MASK DESIGBIT
025239,004483: 33,2047 00006 EXTEND
025240,004484: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025241,004485:
025242,004486: 33,2051 00004 INHINT
025243,004487: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025244,004488: 33,2053 44736 CS BIT14
025245,004489: 33,2054 00006 EXTEND
025246,004490: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025247,004491: 33,2056 44740 CS LOSCMBIT
025248,004492: 33,2057 70076 MASK FLAGWRD2
025249,004493: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025250,004494: 33,2061 44753 CS OLDESBIT
025251,004495: 33,2062 70074 MASK STATE
025252,004496: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025253,004497: 33,2064 04616 TC BANKCALL
025254,004498: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025255,004499: 33,2066 34740 CA ANTENBIT
025256,004500: 33,2067 70110 MASK RADMODES
025257,004501: 33,2070 10000 CCS A # TEST RR MODE BIT.
025258,004502: 33,2071 12104 TCF SETPRPOS # MODE 2.
025259,004503:
025260,004504: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025261,004505: 33,2073 05072 TC NOVAC
025262,004506: 33,2074 E7,1456 EBANK= LOSCOUNT
025263,004507: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
025264,004508:
025265,004509: 33,2076 44742 CS DESIGBIT
025266,004510: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025267,004511: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025268,004512: 33,2101 34736 CA REMODBIT
025269,004513: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025270,004514: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025271,004515:
025272,004516: 33,2104 34753 SETPRPOS CA ONE
025273,004517: 33,2105 05203 TC WAITLIST
025274,004518: 33,2106 E7,1456 EBANK= LOSCOUNT
025275,004519: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025276,004520:
025277,004521: 33,2110 34741 CA REPOSBIT
025278,004522: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025279,004523: 33,2112 12570 TCF NOR29NOW
025280,004524:
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|
Page 597 |
025282,004526: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025283,004527:
025284,004528: 33,2113 34753 R29REM0J CA ONE
025285,004529: 33,2114 05203 TC WAITLIST
025286,004530: 33,2115 E7,1456 EBANK= LOSCOUNT
025287,004531: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025288,004532:
025289,004533: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025290,004534: 33,2120 17714 CADR RADSTALL
025291,004535:
025292,004536: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025293,004537: 33,2122 15155 TCF ENDOFJOB
025294,004538:
025295,004539: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025296,004540:
025297,004541: 25,2000 SETLOC R29S1
025298,004542: 25,2000 BANK
025299,004543:
025300,004544: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
025301,004545: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
025302,004546: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025303,004547: 25,3604 70110 MASK RADMODES
025304,004548: 25,3605 54110 TS RADMODES
025305,004549: 25,3606 15261 TCF TASKOVER
025306,004550:
025307,004551: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025308,004552:
025309,004553: 33,2045 SETLOC R29
025310,004554: 33,2045 BANK
025311,004555:
025312,004556: 33,2123 00006 R29.LOS EXTEND
025313,004557: 33,2124 41235 DCS PIPTIME
025314,004558: 33,2125 52155 DXCH MPAC
025315,004559: 33,2126 00006 EXTEND
025316,004560: 33,2127 30025 DCA TIME2
025317,004561: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025318,004562: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025319,004563: 33,2132 30155 CA MPAC +1
025320,004564: 33,2133 00006 EXTEND
025321,004565: 33,2134 74740 MP BIT12
025322,004566: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025323,004567: 33,2136 06037 TC INTPRET
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|
Page 598 |
025325,004569: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025326,004570: # START IT UP WHEN THE DATA IS IN PLACE.
025327,004571:
025328,004572: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025329,004573: 33,2140 01726 V(CSM)
025330,004574: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025331,004575: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025332,004576: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025333,004577: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025334,004578: 33,2145 03521 R
025335,004579: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025336,004580: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025337,004581: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025338,004582: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025339,004583:
025340,004584: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025341,004585: 33,2153 00001 0
025342,004586: 33,2154 77761 VXSC
025343,004587: 33,2155 26177 .5SECB17
025344,004588: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025345,004589: 33,2157 77414 CLEAR EXIT
025346,004590: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025347,004591:
025348,004592: 33,2161 40074 CS STATE
025349,004593: 33,2162 74753 MASK OLDESBIT
025350,004594: 33,2163 00006 EXTEND
025351,004595: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025352,004596: 33,2165 00004 INHINT
025353,004597: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025354,004598:
025355,004599: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025356,004600: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025357,004601: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025358,004602: 33,2172 05203 TC WAITLIST
025359,004603: 33,2173 E7,1456 EBANK= LOSCOUNT
025360,004604: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025361,004605:
025362,004606: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025363,004607:
025364,004608: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025365,004609:
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|
Page 599 |
025367,004611: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025368,004612: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025369,004613:
025370,004614: 24,3356 BANK 24
025371,004615: 24,2000 SETLOC P20S
025372,004616: 24,2000 BANK
025373,004617:
025374,004618: 24,3356 COUNT* $$/R29
025375,004619:
025376,004620: 24,3356 35031 BEGDES29 CAF PRIO21
025377,004621: 24,3357 05072 TC NOVAC
025378,004622: 24,3360 E3,1760 EBANK= LOSVDT/4
025379,004623: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025380,004624:
025381,004625: 24,3362 34774 R29DLOOP CAF .5SEC
025382,004626: 24,3363 05224 TC VARDELAY
025383,004627:
025384,004628: 24,3364 40110 CS RADMODES
025385,004629: 24,3365 74742 MASK DESIGBIT
025386,004630: 24,3366 10000 CCS A
025387,004631: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025388,004632:
025389,004633: 24,3370 40076 CS FLAGWRD2
025390,004634: 24,3371 74740 MASK LOSCMBIT
025391,004635: 24,3372 00006 EXTEND
025392,004636: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025393,004637: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025394,004638: 24,3375 13356 TCF BEGDES29
025395,004639:
025396,004640: 24,3376 34753 CA ONE
025397,004641: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 600 |
025399,004643: # R29DODES: RR DESIGNATION LOOP FOR R29
025400,004644:
025401,004645: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025402,004646: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025403,004647: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025404,004648: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025405,004649: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025406,004650:
025407,004651: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025408,004652: # TASK WHEN LOCK-ON IS ACHIEVED.
025409,004653:
025410,004654: 32,2547 BANK 32
025411,004655: 32,2000 SETLOC F2DPS*32
025412,004656: 32,2000 BANK
025413,004657:
025414,004658: 32,2547 COUNT* $$/R29
025415,004659: 32,2547 E3,1760 EBANK= LOSVDT/4
025416,004660:
025417,004661: 32,2547 34753 R29DODES CA ONE
025418,004662: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025419,004663: 32,2551 34756 CA FIVE
025420,004664:
025421,004665: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025422,004666: 32,2553 54002 TS Q
025423,004667: 32,2554 11107 CCS TANG
025424,004668: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025425,004669:
025426,004670: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025427,004671: 32,2557 50002 INDEX Q
025428,004672: 32,2560 31761 DCA LOSVDT/4
025429,004673: 32,2561 50002 INDEX Q
025430,004674: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025431,004675:
025432,004676: 32,2563 00006 R29DPAS1 EXTEND
025433,004677: 32,2564 50002 INDEX Q
025434,004678: 32,2565 31102 DCA LOSSM
025435,004679: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025436,004680: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025437,004681: 32,2570 11107 CCS TANG
025438,004682: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025439,004683:
025440,004684: 32,2572 00006 EXTEND
025441,004685: 32,2573 50002 INDEX Q
025442,004686: 32,2574 31761 DCA LOSVDT/4
025443,004687: 32,2575 50002 INDEX Q
025444,004688: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025445,004689:
025446,004690: 32,2577 10002 R29DVEND CCS Q
025447,004691: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025448,004692:
|
|
Page 601 |
025450,004694: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025451,004695:
025452,004696: 32,2601 52156 DXCH MPAC +1
025453,004697: 32,2602 52155 DXCH MPAC
025454,004698: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D
025455,004699: 32,2604 54120 TS FIXLOC
025456,004700: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025457,004701: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025458,004702: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025459,004703:
025460,004704: 32,2610 11107 CCS TANG
025461,004705: 32,2611 12613 TCF +2
025462,004706: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025463,004707: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025464,004708: 32,2614 00006 EXTEND
025465,004709: 32,2615 30036 DCA CDUT
025466,004710: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025467,004711: 32,2617 30033 CA CDUY
025468,004712: 32,2620 54766 TS CDUSPOT
025469,004713: 32,2621 30034 CA CDUZ
025470,004714: 32,2622 54770 TS CDUSPOT +2
025471,004715: 32,2623 30032 CA CDUX
025472,004716: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025473,004717: 32,2625 04616 TC BANKCALL
025474,004718: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025475,004719:
025476,004720: 32,2627 46245 GOTANGLS CS THREE
025477,004721: 32,2630 04616 TC BANKCALL
025478,004722: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025479,004723:
025480,004724: 32,2632 11107 CCS TANG
025481,004725: 32,2633 12635 TCF +2
025482,004726: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025483,004727:
|
|
Page 602 |
025485,004729: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025486,004730: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025487,004731:
025488,004732: 32,2635 00004 INHINT
025489,004733: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025490,004734: 32,2637 31766 CA SAVECDUT
025491,004735: 32,2640 05032 TC SPCOS
025492,004736: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T.
025493,004737: 32,2642 41766 CS SAVECDUT
025494,004738: 32,2643 05033 TC SPSIN
025495,004739: 32,2644 54163 TS MODE # MODE = -SIN T.
025496,004740: 32,2645 00006 EXTEND
025497,004741: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025498,004742: 32,2647 52155 DXCH MPAC
025499,004743: 32,2650 31767 CA SAVECDUT +1
025500,004744: 32,2651 05033 TC SPSIN
025501,004745: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025502,004746: 32,2653 00006 EXTEND
025503,004747: 32,2654 70166 MP PUSHLOC
025504,004748: 32,2655 00006 EXTEND
025505,004749: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025506,004750: 32,2657 20155 DAS MPAC
025507,004751: 32,2660 31767 CA SAVECDUT +1
025508,004752: 32,2661 05032 TC SPCOS
025509,004753: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025510,004754: 32,2663 00006 EXTEND
025511,004755: 32,2664 70166 MP PUSHLOC
025512,004756: 32,2665 00006 EXTEND
025513,004757: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025514,004758: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025515,004759: 32,2670 00006 EXTEND # -SIN T, COS S COS T).
025516,004760: 32,2671 30155 DCA MPAC
025517,004761: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025518,004762: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025519,004763: 32,2674 34736 CA BIT14
025520,004764: 32,2675 12676 NOOP
025521,004765: 32,2676 00006 EXTEND
025522,004766: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025523,004767: 32,2700 00003 RELINT
025524,004768: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025525,004769:
|
|
Page 603 |
025527,004771: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025528,004772:
025529,004773: 32,2702 31767 R29DPAS2 CA SAVECDUT +1
025530,004774: 32,2703 00006 EXTEND
025531,004775: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X.
025532,004776: 32,2705 53110 DXCH TANG
025533,004777: 32,2706 41766 CS SAVECDUT
025534,004778: 32,2707 00006 EXTEND
025535,004779: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025536,004780: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025537,004781: 32,2712 40163 CS MODE # - SIN S)
025538,004782: 32,2713 00006 EXTEND
025539,004783: 32,2714 71766 MP SAVECDUT
025540,004784: 32,2715 00006 EXTEND
025541,004785: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025542,004786: 32,2717 52155 DXCH MPAC
025543,004787: 32,2720 30166 CA PUSHLOC
025544,004788: 32,2721 00006 EXTEND
025545,004789: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025546,004790: 32,2723 20155 DAS MPAC
025547,004791: 32,2724 40163 CS MODE
025548,004792: 32,2725 00006 EXTEND
025549,004793: 32,2726 71767 MP SAVECDUT +1
025550,004794: 32,2727 00006 EXTEND
025551,004795: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025552,004796: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025553,004797: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025554,004798: 32,2733 00006 EXTEND
025555,004799: 32,2734 72775 MP RR29GAIN
025556,004800: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
025557,004801: 32,2736 00006 EXTEND
025558,004802: 32,2737 72775 MP RR29GAIN
025559,004803: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD.
025560,004804:
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|
Page 604 |
025562,004806: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025563,004807: # READING DATA FROM THE RENDEZVOUS RADAR.
025564,004808:
025565,004809: 32,2741 34750 DGOOD? CAF BIT4
025566,004810: 32,2742 00006 EXTEND
025567,004811: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025568,004812: 32,2744 00004 INHINT # (MAINLY FOR RROUT).
025569,004813: 32,2745 00006 EXTEND
025570,004814: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025571,004815:
025572,004816: 32,2747 04616 TC BANKCALL
025573,004817: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025574,004818: 32,2751 12770 TCF END29DOD
025575,004819:
025576,004820: 32,2752 44742 R29LOKON CS DESIGBIT
025577,004821: 32,2753 70110 MASK RADMODES
025578,004822: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025579,004823: 32,2755 44752 CS BIT2
025580,004824: 32,2756 00006 EXTEND
025581,004825: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025582,004826: 32,2760 34743 CA READRBIT
025583,004827: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025584,004828: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025585,004829: 32,2763 44776 CS SUPER110 # -96D + 100D = 4.
025586,004830: 32,2764 64777 AD 1SEC # 0 + 100D = 100D.
025587,004831: 32,2765 05203 TC WAITLIST
025588,004832: 32,2766 E7,1456 EBANK= LOSCOUNT
025589,004833: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB.
025590,004834:
025591,004835: 32,2770 44740 END29DOD CS LOSCMBIT
025592,004836: 32,2771 70076 MASK FLAGWRD2
025593,004837: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025594,004838: 32,2773 15155 TCF ENDOFJOB
025595,004839:
025596,004840: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D
025597,004841: 32,2775 56655 RR29GAIN DEC -.53624
025598,004842: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL
025599,004843: 32,2776 1101 LOSSM EQUALS RRTARGET
025600,004844: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV
025601,004845:
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|
Page 605 |
025603,004847: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025604,004848:
025605,004849: 24,3400 BANK 24
025606,004850: 24,2000 SETLOC P20S
025607,004851: 24,2000 BANK
025608,004852:
025609,004853: 24,3400 COUNT* $$/R29
025610,004854:
025611,004855: 24,3400 E7,1456 EBANK= LOSCOUNT
025612,004856:
025613,004857: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST.
025614,004858: 24,3401 05072 TC NOVAC
025615,004859: 24,3402 E7,1456 EBANK= LOSCOUNT
025616,004860: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
025617,004861:
025618,004862: 24,3404 35000 CA 2SECS
025619,004863: 24,3405 05224 TC VARDELAY
025620,004864:
025621,004865: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
025622,004866: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
025623,004867: 24,3410 10000 CCS A
025624,004868: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
025625,004869: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
025626,004870:
025627,004871: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
025628,004872: 24,3414 74741 MASK NR29FBIT
025629,004873: 24,3415 10000 CCS A # TEST "NOR29FLG".
025630,004874: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
025631,004875:
025632,004876: 24,3417 30110 CA RADMODES
025633,004877: 24,3420 74752 MASK AUTOMBIT
025634,004878: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
025635,004879: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
025636,004880:
025637,004881: 24,3423 04616 TC BANKCALL
025638,004882: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
025639,004883: 24,3425 04616 TC BANKCALL
025640,004884: 24,3426 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025641,004885: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
025642,004886:
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|
Page 606 |
025644,004888: # R29 RADAR READING CONTINUED.
025645,004889:
025646,004890: 24,3430 53106 DXCH TIMEHOLD
025647,004891: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
025648,004892: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
025649,004893: 24,3433 00006 EXTEND
025650,004894: 24,3434 30036 DCA CDUT
025651,004895: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
025652,004896: 24,3436 00006 EXTEND
025653,004897: 24,3437 30034 DCA CDUY
025654,004898: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
025655,004899: 24,3441 30032 CA CDUX
025656,004900: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
025657,004901:
025658,004902: 24,3443 04616 R29RANGE TC BANKCALL
025659,004903: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
025660,004904: 24,3445 04616 TC BANKCALL
025661,004905: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025662,004906: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
025663,004907:
025664,004908: 24,3450 00004 INHINT
025665,004909: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
025666,004910: 24,3452 53757 DXCH RM
025667,004911: 24,3453 52155 DXCH MPAC
025668,004912: 24,3454 53755 DXCH MKTIME
025669,004913: 24,3455 52157 DXCH MPAC +2
025670,004914: 24,3456 53753 DXCH TANGNB
025671,004915: 24,3457 52161 DXCH MPAC +4
025672,004916: 24,3460 53460 DXCH AIG
025673,004917: 24,3461 30162 CA MPAC +6
025674,004918: 24,3462 55461 TS AOG
025675,004919: 24,3463 34753 CA ONE
025676,004920: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
025677,004921: 24,3465 15155 TCF ENDOFJOB
025678,004922:
025679,004923: 24,3466 40101 R29RRR? CS FLAGWRD5
025680,004924: 24,3467 74742 MASK BIT10
025681,004925: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
025682,004926: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
025683,004927: 24,3472 05516 TC DOWNFLAG
025684,004928: 24,3473 00120 ADRES RNGSCFLG
025685,004929: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
025686,004930:
025687,004931: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
025688,004932: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
025689,004933: 24,3477 05516 TC DOWNFLAG
025690,004934: 24,3500 00063 ADRES READRFLG
025691,004935: 24,3501 44736 CS BIT14
025692,004936: 24,3502 00006 EXTEND
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|
Page 607 |
025694,004938: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
025695,004939: 24,3504 15155 TCF ENDOFJOB
025696,004940:
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|
Page 608 |
025698,004942: # W-MATRIX MONITOR
025699,004943:
025700,004944: 31,2007 BANK 31
025701,004945: 31,2000 SETLOC VB67
025702,004946: 31,2000 BANK
025703,004947: 31,2007 COUNT* $$/EXTVB
025704,004948:
025705,004949: 31,2007 E4,1600 EBANK= WWPOS
025706,004950:
025707,004951: 31,2007 06037 V67CALL TC INTPRET
025708,004952: 31,2010 77624 CALL
025709,004953: 31,2011 62120 V67WW
025710,004954: 31,2012 77776 EXIT
025711,004955: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
025712,004956: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
025713,004957: 31,2015 53607 DXCH WWBIAS +2
025714,004958: 31,2016 00006 EXTEND
025715,004959: 31,2017 31603 DCA WWVEL
025716,004960: 31,2020 53611 DXCH WWBIAS +4
025717,004961: 31,2021 00006 EXTEND
025718,004962: 31,2022 31605 DCA WWBIAS
025719,004963: 31,2023 53613 DXCH WWBIAS +6
025720,004964: 31,2024 32143 V06N99DS CAF V06N99
025721,004965: 31,2025 04616 TC BANKCALL
025722,004966: 31,2026 20334 CADR GOXDSPF
025723,004967: 31,2027 15472 TCF ENDEXT
025724,004968: 31,2030 12032 TCF V6N99PRO
025725,004969: 31,2031 12024 TCF V06N99DS
025726,004970: 31,2032 22007 V6N99PRO ZL
025727,004971: 31,2033 34756 CA FIVE
025728,004972: 31,2034 54002 N99LOOP TS Q
025729,004973: 31,2035 50002 INDEX Q
025730,004974: 31,2036 41600 CS WWPOS
025731,004975: 31,2037 50002 INDEX Q
025732,004976: 31,2040 61606 AD WWPOS +6
025733,004977: 31,2041 26001 ADS L
025734,004978: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
025735,004979: 31,2043 12034 TCF N99LOOP
025736,004980: 31,2044 22000 LXCH A
025737,004981: 31,2045 00006 EXTEND
025738,004982: 31,2046 12051 BZF V06N9933
025739,004983: 31,2047 05504 TC UPFLAG
025740,004984: 31,2050 00160 ADRES V67FLAG
025741,004985:
025742,004986: 31,2051 06037 V06N9933 TC INTPRET
025743,004987: 31,2052 77414 BON EXIT
025744,004988: 31,2053 03707 V67FLAG
025745,004989: 31,2054 62056 +2
025746,004990: 31,2055 15472 TCF ENDEXT
025747,004991: 31,2056 77745 DLOAD
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|
Page 609 |
025749,004993: 31,2057 02201 WWPOS
025750,004994: 31,2060 72412 SL4 SL1
025751,004995: 31,2061 14001 STODL 0D
025752,004996: 31,2062 02203 WWVEL
025753,004997: 31,2063 14003 STODL 2D
025754,004998: 31,2064 02205 WWBIAS
025755,004999: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
025756,005000: 31,2066 20213 10D # INTERNAL SCALING (B+5)
025757,005001: 31,2067 00005 STORE 4D
025758,005002: 31,2070 72014 BON LXA,1
025759,005003: 31,2071 04307 SURFFLAG
025760,005004: 31,2072 62102 V67SURF
025761,005005: 31,2073 00000 0D
025762,005006: 31,2074 72130 SXA,1 LXA,1
025763,005007: 31,2075 02000 WRENDPOS
025764,005008: 31,2076 00002 2D
025765,005009: 31,2077 52130 SXA,1 GOTO
025766,005010: 31,2100 02001 WRENDVEL
025767,005011: 31,2101 62110 V67CLRF
025768,005012: 31,2102 66150 V67SURF LXA,1 SXA,1
025769,005013: 31,2103 00000 0D
025770,005014: 31,2104 02006 WSURFPOS
025771,005015: 31,2105 66150 LXA,1 SXA,1
025772,005016: 31,2106 00002 2D
025773,005017: 31,2107 02007 WSURFVEL
025774,005018: 31,2110 66150 V67CLRF LXA,1 SXA,1
025775,005019: 31,2111 00004 4D
025776,005020: 31,2112 02003 WTRUN
025777,005021: 31,2113 77730 SXA,1
025778,005022: 31,2114 02002 WSHAFT
025779,005023: 31,2115 77414 CLEAR EXIT
025780,005024: 31,2116 02676 RENDWFLG
025781,005025: 31,2117 15472 TCF ENDEXT
025782,005026: 31,2120 40020 V67WW STQ BOV
025783,005027: 31,2121 00051 S2
025784,005028: 31,2122 62123 +1
025785,005029: 31,2123 45014 CLEAR CALL
025786,005030: 31,2124 03667 V67FLAG
025787,005031: 31,2125 27414 INTSTALL
025788,005032: 31,2126 71331 SSP DLOAD
025789,005033: 31,2127 00051 S1
025790,005034: 31,2130 00006 DEC 6 B-14
025791,005035: 31,2131 06522 ZEROVECS
025792,005036: 31,2132 02201 STORE WWPOS
025793,005037: 31,2133 02203 STORE WWVEL
025794,005038: 31,2134 02205 STORE WWBIAS
025795,005039: 31,2135 77770 AXT,1
025796,005040: 31,2136 00066 DEC 54 B-14
025797,005041: 31,2137 47573 NXPOSVEL VLOAD* VSQ
025798,005042: 31,2140 02467 W +54D,1
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Page 610 |
025800,005044: 31,2141 77650 GOTO
025801,005045: 31,2142 60002 ADDPOS
025802,005046: 31,2143 01543 V06N99 VN 0699
025803,005047:
025804,005048: 30,2000 SETLOC VB67A
025805,005049: 30,2000 BANK
025806,005050: 30,2002 COUNT* $$/EXTVB
025807,005051:
025808,005052: 30,2002 77615 ADDPOS DAD
025809,005053: 30,2003 02201 WWPOS
025810,005054: 30,2004 02201 STORE WWPOS
025811,005055: 30,2005 47573 VLOAD* VSQ
025812,005056: 30,2006 02555 W +108D,1
025813,005057: 30,2007 77615 DAD
025814,005058: 30,2010 02203 WWVEL
025815,005059: 30,2011 02203 STORE WWVEL
025816,005060: 30,2012 47573 VLOAD* VSQ
025817,005061: 30,2013 02643 W +162D,1
025818,005062: 30,2014 77615 DAD
025819,005063: 30,2015 02205 WWBIAS
025820,005064: 30,2016 02205 STORE WWBIAS
025821,005065: 30,2017 75500 TIX,1 SQRT
025822,005066: 30,2020 62137 NXPOSVEL
025823,005067: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
025824,005068: 30,2022 20613 10D # NOUN SCALING (B-5)
025825,005069: 30,2023 16205 STODL WWBIAS
025826,005070: 30,2024 02203 WWVEL
025827,005071: 30,2025 77766 SQRT
025828,005072: 30,2026 16203 STODL WWVEL
025829,005073: 30,2027 02201 WWPOS
025830,005074: 30,2030 77766 SQRT
025831,005075: 30,2031 02201 STORE WWPOS
025832,005076: 30,2032 52000 BOV GOTO
025833,005077: 30,2033 60035 +2
025834,005078: 30,2034 60042 V67XXX
025835,005079: 30,2035 77745 DLOAD
025836,005080: 30,2036 06530 DPPOSMAX
025837,005081: 30,2037 02201 STORE WWPOS
025838,005082: 30,2040 02203 STORE WWVEL
025839,005083: 30,2041 02205 STORE WWBIAS
025840,005084: 30,2042 45345 V67XXX DLOAD DSU
025841,005085: 30,2043 02201 WWPOS
025842,005086: 30,2044 20060 FT99999
025843,005087: 30,2045 71240 BMN DLOAD
025844,005088: 30,2046 60051 +3
025845,005089: 30,2047 20060 FT99999
025846,005090: 30,2050 02201 STORE WWPOS
025847,005091: 30,2051 66150 LXA,1 SXA,1
025848,005092: 30,2052 00051 S2
025849,005093: 30,2053 00052 QPRET
|
|
Page 611 |
025851,005095: 30,2054 77776 EXIT
025852,005096: 30,2055 04635 TC POSTJUMP
025853,005097: 30,2056 27425 CADR INTWAKE
025854,005098:
025855,005099: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
025856,005100:
|
|
Page 612 |
025858,005102: 25,3607 BANK 25
025859,005103: 25,2000 SETLOC RADARUPT
025860,005104: 25,2000 BANK
025861,005105: 25,3607 COUNT* $$/RRUPT
025862,005106:
025863,005107: 25,3607 E7,1456 EBANK= LOSCOUNT
025864,005108:
025865,005109: 25,3607 34753 R12LITES CA ONE
025866,005110: 25,3610 71303 MASK IMODES33
025867,005111: 25,3611 10000 CCS A
025868,005112: 25,3612 14707 TCF ISWRETRN
025869,005113:
025870,005114: 25,3613 03630 TC HLIGHT
025871,005115: 25,3614 03625 TC HLIGHT -3
025872,005116: 25,3615 14707 TCF ISWRETRN
025873,005117:
025874,005118: 25,3616 34753 RADLITES CA BIT1
025875,005119: 25,3617 71303 MASK IMODES33
025876,005120: 25,3620 10000 CCS A
025877,005121: 25,3621 00002 TC Q
025878,005122:
025879,005123: 25,3622 44747 CS BIT5
025880,005124: 25,3623 60061 AD ITEMP1
025881,005125: 25,3624 10000 CCS A
025882,005126: 25,3625 44753 CS ONE
025883,005127: 25,3626 13664 TCF VLIGHT
025884,005128:
025885,005129: 25,3627 14570 TCF RRTRKF
025886,005130:
025887,005131: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
025888,005132:
025889,005133: 25,3631 34747 CA HLITE
025890,005134: 25,3632 54001 TS L
025891,005135:
025892,005136: 25,3633 30107 CA FLGWRD11
025893,005137: 25,3634 74751 MASK SCABBIT
025894,005138: 25,3635 10000 CCS A
025895,005139: 25,3636 13656 TCF ONLITES
025896,005140: 25,3637 34747 CA LRALTBIT
025897,005141: 25,3640 70110 BOTHLITS MASK RADMODES
025898,005142: 25,3641 10000 CCS A
025899,005143: 25,3642 13656 TCF ONLITES
025900,005144:
025901,005145: 25,3643 30107 CA FLGWRD11
025902,005146: 25,3644 50065 INDEX ITEMP5
025903,005147: 25,3645 74753 MASK HFLSHBIT
025904,005148: 25,3646 10000 CCS A
025905,005149: 25,3647 14570 TCF RRTRKF
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Page 613 |
025907,005151: 25,3650 00006 LITIT EXTEND
025908,005152: 25,3651 22066 QXCH ITEMP6
025909,005153: 25,3652 04602 TC TRKFLON +1
025910,005154:
025911,005155: 25,3653 00006 EXTEND
025912,005156: 25,3654 22066 QXCH ITEMP6
025913,005157: 25,3655 14570 TCF RRTRKF
025914,005158:
025915,005159:
025916,005160: 25,3656 50065 ONLITES INDEX ITEMP5
025917,005161: 25,3657 44753 CS HFLSHBIT
025918,005162: 25,3660 70107 MASK FLGWRD11
025919,005163: 25,3661 54107 TS FLGWRD11
025920,005164:
025921,005165: 25,3662 30001 CA L
025922,005166: 25,3663 13650 TCF LITIT
025923,005167: 25,3664 54065 VLIGHT TS ITEMP5
025924,005168: 25,3665 34751 CA VLITE
025925,005169: 25,3666 54001 TS L
025926,005170: 25,3667 34744 CA BIT8
025927,005171: 25,3670 13640 TCF BOTHLITS
025928,005172:
025929,005173: 25,3671 4747 HLITE EQUALS BIT5
025930,005174: 25,3671 4751 VLITE EQUALS BIT3
025931,005175:
End of include-file P20-P25.agc. Parent file is MAIN.agc