GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
022269,000002: ## Copyright: Public domain.
022270,000003: ## Filename: P20-P25.agc
022271,000004: ## Purpose: The main source file for Luminary revision 069.
022272,000005: ## It is part of the source code for the original release
022273,000006: ## of the flight software for the Lunar Module's (LM) Apollo
022274,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
022275,000008: ## version was Luminary 69 revision 2, which included a
022276,000009: ## newer lunar gravity model and only affected module 2.
022277,000010: ## This file is intended to be a faithful transcription, except
022278,000011: ## that the code format has been changed to conform to the
022279,000012: ## requirements of the yaYUL assembler rather than the
022280,000013: ## original YUL assembler.
022281,000014: ## Reference: pp. 504-623
022282,000015: ## Assembler: yaYUL
022283,000016: ## Contact: Ron Burkey <info@sandroid.org>.
022284,000017: ## Website: www.ibiblio.org/apollo/index.html
022285,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
022286,000019: ## 2016-12-14 MAS Updated from comment-proofed Luminary 99 version.
022287,000020: ## 2016-01-16 HG Transcribed
022288,000021: ## 2017-01-22 HG Shift pseudo label +3 to column 2.
022289,000022: ## Add missing operator INHINT
022290,000023: ## 2017-01-23 HG Fix operator CCS -> CA
022291,000024: ## Fix value TENDEG .27... -> .027...
022292,000025: ## Fix operand R22LEM42 -> R22LEM
022293,000026: ## GOXDSPF -> GOXDSPFR
022294,000027: ## BIT13 -> BIT3
022295,000028: ## Fix operand modifier WWPOS +6 -> WWPOS +4
022296,000029: ## Fix statement CA FLAGWRD2 -> CS FLAGWRD0
022297,000030: ## EXTEND -> CCS A
022298,000031: ## BZF NOTP20 -> TC NOTP20
022299,000032: ## 2017-01-27 RSB Proofed comment text using octopus/prooferComments
022300,000033: ## and fixed errors found.
022301,000034: ## 2017-01-28 RSB WTIH -> WITH.
022302,000035: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
022303,000036: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
022304,000037: ## side-by-side diff of Luminary 69/99/116/131/210.
022305,000038: ## 2021-05-30 ABS Removed R21LEM10 symbol not present in scans.
022306,000039: ## Replaced use of various descriptive *BIT symbols
022307,000040: ## with less descriptive BIT* symbols to match scans.
022308,000041: ## R29REM0J -> R29REMOJ
022309,000042:
022310,000043: ##
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Page 504 |
022312,000045:
022313,000046: # RENDEZVOUS NAVIGATION PROGRAM 20
022314,000047: # PROGRAM DESCRIPTION
022315,000048: # MOD NO - 2
022316,000049: # BY P. VOLANTE
022317,000050: # FUNCTIONAL DESCRIPTION
022318,000051:
022319,000052: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
022320,000053: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
022321,000054: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
022322,000055: # ON THE BASIS OF THE RR TRACKING DATA.
022323,000056: # CALLING SEQUENCE -
022324,000057:
022325,000058: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
022326,000059: # SUBROUTINES CALLED
022327,000060: # R02BOTH (IMU STATUS CHECK) FLAGUP
022328,000061: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
022329,000062: # R23LEM (MANUAL ACQUISITION) BANKCALL
022330,000063: # LS201 (LOS DETERMINATION) TASKOVER
022331,000064: # LS202 (RANGE LIMIT TEST)
022332,000065: # R61LEM (PREFERRED TRACKING ATTITUDE)
022333,000066: # R21LEM (RR DESIGNATE) ENDOFJOB
022334,000067: # R22LEM (DATA READ) GOPERF1
022335,000068: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
022336,000069: # PRIOLARM (PRIORITY DISPLAY)
022337,000070: # NORMAL EXIT MODES-
022338,000071: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022339,000072: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
022340,000073: # ALARM OR ABORT EXIT MODES-
022341,000074: # RANGE GREATER THAN 400 NM DISPLAY
022342,000075: # OUTPUT
022343,000076: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
022344,000077: # ERASABLE INITIALIZATION REQUIRED
022345,000078: # FLAGS SET + RESET
022346,000079: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
022347,000080: # DEBRIS
022348,000081: # CENTRALS-A,Q,L
022349,000082: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
022350,000083:
022351,000084: 33,2045 BANK 33
022352,000085: 24,2000 SETLOC P20S
022353,000086: 24,2000 BANK
022354,000087:
022355,000088: 24,2022 E7,1454 EBANK= LOSCOUNT
022356,000089: 24,2022 COUNT* $$/P20
022357,000090: 24,2022 24,2022 PROG22 = PROG20
022358,000091: 24,2022 05327 PROG20 TC 2PHSCHNG
022359,000092: 24,2023 00004 OCT 4
022360,000093: 24,2024 05022 OCT 05022
022361,000094: 24,2025 26000 OCT 26000 # PRIORITY 26
022362,000095: 24,2026 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022363,000096:
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022365,000098: 24,2027 02031 TC ORBCHGO # YES
022366,000099: 24,2030 02060 TC PROG20A -2 # NO - CONTINUE WITH P20
022367,000100: 24,2031 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
022368,000101: 24,2032 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
022369,000102: 24,2033 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
022370,000103: 24,2034 55145 TS OPTION2 # CHANGE PRESENT ORBIT
022371,000104: 24,2035 32342 CAF OCT00012
022372,000105: 24,2036 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
022373,000106: 24,2037 20506 CADR GOPERF4
022374,000107: 24,2040 06001 TC GOTOPOOH # TERMINATE
022375,000108: 24,2041 02043 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
022376,000109: 24,2042 02035 TC -5 # R2 LOADED THRU DSKY
022377,000110: 24,2043 42343 ORBCHG1 CS P22ONE
022378,000111: 24,2044 61145 AD OPTION2
022379,000112: 24,2045 00006 EXTEND
022380,000113: 24,2046 12062 BZF PROG20A
022381,000114: 24,2047 32346 CAF V06N33*
022382,000115: 24,2050 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
022383,000116: 24,2051 20351 CADR GOFLASH # TIME OF LAUNCH
022384,000117: 24,2052 06001 TC GOTOPOOH # TERMINATE
022385,000118: 24,2053 02055 TC ORBCHG2 # PROCEED VALUES OK
022386,000119: 24,2054 02047 TC -5 # TIME LOADED THRU DSKY
022387,000120: 24,2055 06036 ORBCHG2 TC INTPRET
022388,000121: 24,2056 77650 GOTO
022389,000122: 24,2057 64227 ORBCHG3
022390,000123: 32,2227 BANK 32
022391,000124: 32,2000 SETLOC P20S4
022392,000125: 32,2000 BANK
022393,000126: 32,2227 COUNT* $$/P20
022394,000127:
022395,000128: 32,2227 77624 ORBCHG3 CALL
022396,000129: 32,2230 27412 INTSTALL
022397,000130: 32,2231 77745 DLOAD
022398,000131: 32,2232 03440 TIG
022399,000132: 32,2233 03657 STORE LNCHTM
022400,000133: 32,2234 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
022401,000134: 32,2235 43014 CLEAR CLEAR
022402,000135: 32,2236 01674 VINTFLAG # LM INTEGRATION
022403,000136: 32,2237 01673 INTYPFLG # PRECISION - ENCKE
022404,000137: 32,2240 43014 CLEAR CLEAR
022405,000138: 32,2241 01676 DIM0FLAG # NO W-MATRIX
022406,000139: 32,2242 01675 D6OR9FLG
022407,000140: 32,2243 77624 CALL
022408,000141: 32,2244 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
022409,000142: 32,2245 77624 CALL
022410,000143: 32,2246 11165 GRP2PC
022411,000144: 32,2247 77775 VLOAD
022412,000145: 32,2250 00017 RATT1
022413,000146: 32,2251 17627 STODL RSUBL # SAVE LM POSITION
022414,000147: 32,2252 00015 TAT
022415,000148:
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022417,000150: 32,2253 34041 STCALL TDEC1
022418,000151: 32,2254 27412 INTSTALL
022419,000152: 32,2255 43014 SET CLEAR
022420,000153: 32,2256 01474 VINTFLAG # CSM INTEGRATION
022421,000154: 32,2257 01673 INTYPFLG
022422,000155: 32,2260 43014 CLEAR BOFF
022423,000156: 32,2261 01676 DIM0FLAG
022424,000157: 32,2262 02756 RENDWFLG # W MATRIX VALID
022425,000158: 32,2263 64267 NOWMATX # NO
022426,000159: 32,2264 43014 SET SET # YES - SET FOR W MATRIX
022427,000160: 32,2265 01476 DIM0FLAG
022428,000161: 32,2266 01475 D6OR9FLG
022429,000162: 32,2267 77624 NOWMATX CALL
022430,000163: 32,2270 27134 INTEGRV # CSM INTEGRATION
022431,000164: 32,2271 77624 CALL
022432,000165: 32,2272 11165 GRP2PC
022433,000166: 32,2273 77775 VLOAD
022434,000167: 32,2274 00025 VATT1
022435,000168: 32,2275 25761 STOVL VSUBC # SAVE CSM VELOCITY
022436,000169: 32,2276 00017 RATT1
022437,000170: 32,2277 01102 STORE RSUBC # SAVE CSM POSITION
022438,000171: 32,2300 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022439,000172: 32,2301 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
022440,000173: 32,2302 24025 STOVL 20D # SAVE NSUB1
022441,000174: 32,2303 03627 RSUBL # COMPUTE ESTIMATED ORBITAL
022442,000175: 32,2304 53435 VXV UNIT # PLANE CHANGE
022443,000176: 32,2305 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
022444,000177: 32,2306 27635 STOVL UCSM
022445,000178: 32,2307 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
022446,000179: 32,2310 50256 UNIT DOT # AND RSUBC
022447,000180: 32,2311 03635 UCSM # COS A = UCSM DOT UNIT (R(CM))
022448,000181: 32,2312 77752 SL1
022449,000182: 32,2313 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
022450,000183: 32,2314 44316 DSQ BDSU # COMPUTE SINE A
022451,000184: 32,2315 10345 ONEB-2
022452,000185: 32,2316 77766 SQRT
022453,000186: 32,2317 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
022454,000187: 32,2320 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
022455,000188: 32,2321 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
022456,000189: 32,2322 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
022457,000190: 32,2323 77676 VCOMP
022458,000191: 32,2324 02744 STORE VVEC # TIME FOR TIME THETA B-5
022459,000192: 32,2325 45014 CLEAR CALL
022460,000193: 32,2326 03666 RVSW
022461,000194: 32,2327 24745 TIMETHET
022462,000195: 32,2330 77676 VCOMP
022463,000196: 32,2331 03643 STORE NEWVEL # TERMINAL VELOCITY OF CSM
022464,000197: 32,2332 77745 DLOAD
022465,000198: 32,2333 00037 T
022466,000199: 32,2334 27661 STOVL TRANSTM # TRANSFER TIME
022467,000200:
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022469,000202: 32,2335 03643 NEWVEL
022470,000203: 32,2336 77646 ABVAL
022471,000204: 32,2337 24025 STOVL 20D
022472,000205: 32,2340 00001 0D
022473,000206: 32,2341 03651 STORE NEWPOS # TERMINAL POSITION OF CSM
022474,000207: 32,2342 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
022475,000208: 32,2343 03627 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
022476,000209: 32,2344 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
022477,000210: 32,2345 03651 NEWPOS # ORBITAL PLANE
022478,000211: 32,2346 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
022479,000212: 32,2347 00025 20D
022480,000213: 32,2350 37663 STCALL NCSMVEL # NEW CSM VELOCITY
022481,000214: 32,2351 11165 GRP2PC
022482,000215: 32,2352 77624 CALL
022483,000216: 32,2353 27412 INTSTALL
022484,000217: 32,2354 44345 DLOAD BDSU
022485,000218: 32,2355 03661 TRANSTM # LAUNCH TIME - TRANSFER TIME
022486,000219: 32,2356 03657 LNCHTM
022487,000220: 32,2357 25517 STOVL TET
022488,000221: 32,2360 03651 NEWPOS
022489,000222: 32,2361 01535 STORE RCV
022490,000223: 32,2362 25503 STOVL RRECT
022491,000224: 32,2363 03663 NCSMVEL
022492,000225: 32,2364 35511 STCALL VRECT
022493,000226: 32,2365 23361 MINIRECT
022494,000227: 32,2366 45174 AXT,2 CALL
022495,000228: 32,2367 00002 2
022496,000229: 32,2370 26661 ATOPCSM
022497,000230: 32,2371 77624 CALL
022498,000231: 32,2372 27425 INTWAKE0
022499,000232: 32,2373 77776 EXIT
022500,000233: 32,2374 04616 TC BANKCALL
022501,000234: 32,2375 50062 CADR PROG20A
022502,000235: 24,2060 BANK 24
022503,000236: 24,2000 SETLOC P20S
022504,000237: 24,2000 BANK
022505,000238: 24,2060 COUNT* $$/P20
022506,000239:
022507,000240: 24,2060 05516 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
022508,000241: 24,2061 00026 ADRES VEHUPFLG # TO BE UPDATED
022509,000242: 24,2062 04616 PROG20A TC BANKCALL
022510,000243: 24,2063 11175 CADR R02BOTH
022511,000244: 24,2064 05504 TC UPFLAG
022512,000245: 24,2065 00027 ADRES UPDATFLG # SET UPDATE FLAG
022513,000246: 24,2066 05504 TC UPFLAG
022514,000247: 24,2067 00031 ADRES TRACKFLG # SET TRACK FLAG
022515,000248: 24,2070 05504 TC UPFLAG
022516,000249: 24,2071 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
022517,000250: 24,2072 05516 TC DOWNFLAG
022518,000251: 24,2073 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
022519,000252:
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022521,000254: 24,2074 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
022522,000255: 24,2075 00040 ADRES ACMODFLG
022523,000256: 24,2076 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
022524,000257: 24,2077 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
022525,000258: 24,2100 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
022526,000259: 24,2101 00126 ADRES NORRMON # (RESET NORRMON FLAG)
022527,000260: 24,2102 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
022528,000261: 24,2103 00041 ADRES LOSCMFLG
022529,000262: 24,2104 05353 P20LEM1 TC PHASCHNG
022530,000263: 24,2105 04022 OCT 04022
022531,000264: 24,2106 34755 CAF ZERO # ZERO MARK COUNTER
022532,000265: 24,2107 55460 TS MARKCTR
022533,000266: 24,2110 06036 TC INTPRET # LOS DETERMINATION ROUTINE
022534,000267: 24,2111 77634 RTB
022535,000268: 24,2112 21462 LOADTIME
022536,000269: 24,2113 34041 STCALL TDEC1
022537,000270: 24,2114 51151 LPS20.1
022538,000271: 24,2115 77624 CALL
022539,000272: 24,2116 53565 LPS20.2 # TEST RANGE R/UTINE
022540,000273: 24,2117 77776 EXIT
022541,000274: 24,2120 50154 INDEX MPAC
022542,000275: 24,2121 02122 TC +1
022543,000276: 24,2122 02132 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
022544,000277: 24,2123 32336 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
022545,000278: 24,2124 04616 TC BANKCALL
022546,000279: 24,2125 21451 CADR PRIOLARM
022547,000280: 24,2126 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022548,000281: 24,2127 02123 TC -4 # PROC (ILLEGAL
022549,000282: 24,2130 02104 TC P20LEM1 # ENTER RECYCLE
022550,000283: 24,2131 05155 TC ENDOFJOB
022551,000284:
022552,000285:
022553,000286: 24,2132 05353 P20LEMA TC PHASCHNG
022554,000287: 24,2133 04022 OCT 04022
022555,000288: 24,2134 02714 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
022556,000289: 24,2135 02140 TC P20LEMB
022557,000290: 24,2136 04616 TC BANKCALL
022558,000291: 24,2137 46100 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
022559,000292: 24,2140 05353 P20LEMB TC PHASCHNG
022560,000293: 24,2141 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
022561,000294: 24,2142 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
022562,000295: 24,2143 37713 CAF PRIO26 # RESTORE PRIORITY 26
022563,000296: 24,2144 05146 TC PRIOCHNG
022564,000297: 24,2145 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
022565,000298: 24,2146 74747 MASK TRACKBIT
022566,000299: 24,2147 00006 EXTEND
022567,000300: 24,2150 12262 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
022568,000301: 24,2151 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
022569,000302: 24,2152 00006 EXTEND
022570,000303: 24,2153 02033 RAND CHAN33
022571,000304:
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022573,000306: 24,2154 00006 EXTEND
022574,000307: 24,2155 12211 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
022575,000308:
022576,000309: 24,2156 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
022577,000310: 24,2157 61011 AD MODREG # MAJOR MODE IS 20
022578,000311: 24,2160 00006 EXTEND
022579,000312: 24,2161 12174 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
022580,000313:
022581,000314:
022582,000315: 24,2162 67745 AD NEG2 # ALSO CHECK FOR P22
022583,000316: 24,2163 00006 EXTEND
022584,000317: 24,2164 12174 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
022585,000318: 24,2165 32340 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
022586,000319: 24,2166 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
022587,000320: 24,2167 21451 CADR PRIOLARM
022588,000321: 24,2170 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
022589,000322: 24,2171 02140 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
022590,000323: 24,2172 02140 TC P20LEMB # TO CHECK AUTO MODE AGAIN
022591,000324: 24,2173 05155 TC ENDOFJOB
022592,000325: 24,2174 32337 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
022593,000326: 24,2175 04616 TC BANKCALL
022594,000327: 24,2176 20476 CADR GOPERF1
022595,000328: 24,2177 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022596,000329: 24,2200 02140 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
022597,000330: 24,2201 02714 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
022598,000331: 24,2202 02207 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
022599,000332: 24,2203 03027 TC R23LEM # NO - DO MANUAL ACQUISITION
022600,000333:
022601,000334:
022602,000335: 24,2204 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
022603,000336: 24,2205 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
022604,000337: 24,2206 02140 TC P20LEMB # RR AUTO MODE
022605,000338:
022606,000339:
022607,000340: 24,2207 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
022608,000341: 24,2210 02140 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
022609,000342:
022610,000343:
022611,000344: 24,2211 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
022612,000345: 24,2212 74737 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
022613,000346: 24,2213 00006 EXTEND
022614,000347: 24,2214 12226 BZF P20LEMB4 # BRANCH - YES - WAIT
022615,000348: 24,2215 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
022616,000349: 24,2216 70076 MASK FLAGWRD2
022617,000350: 24,2217 00006 EXTEND
022618,000351: 24,2220 12232 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
022619,000352: 24,2221 05516 TC DOWNFLAG # RESET TO AUTO MODE
022620,000353: 24,2222 00037 ADRES SRCHOPTN
022621,000354: 24,2223 05516 TC DOWNFLAG
022622,000355:
|
|
Page 510 |
022624,000357: 24,2224 00040 ADRES ACMODFLG
022625,000358: 24,2225 02262 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
022626,000359:
022627,000360:
022628,000361: 24,2226 32335 P20LEMB4 CAF 250DEC
022629,000362: 24,2227 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
022630,000363: 24,2230 01735 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
022631,000364: 24,2231 02211 TC P20LEMB3
022632,000365:
022633,000366:
022634,000367: 24,2232 06036 P20LEMC3 TC INTPRET
022635,000368: 24,2233 77624 CALL # DO A PERMANENT MEMORY PRECISION
022636,000369: 24,2234 50347 UPPSV # INTEGRATION TO ESTABLISH AN UP-TO-DATE
022637,000370: 24,2235 77214 BOFF VLOAD # BASE FOR CONICS (KEPLER) IN R21
022638,000371: 24,2236 04347 SURFFLAG
022639,000372: 24,2237 50246 P20LEMC4
022640,000373: 24,2240 01661 RCVLEM # WHEN ON LUNAR SURFACE
022641,000374: 24,2241 77742 VSR2 # SCALE B-29
022642,000375: 24,2242 26356 STOVL LMPOS
022643,000376: 24,2243 01667 VCVLEM
022644,000377: 24,2244 77742 VSR2
022645,000378: 24,2245 02364 STORE LMVEL
022646,000379: 24,2246 77776 P20LEMC4 EXIT
022647,000380: 24,2247 05353 P20LEMC TC PHASCHNG
022648,000381: 24,2250 04022 OCT 04022
022649,000382: 24,2251 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
022650,000383: 24,2252 74745 MASK RNDVZBIT
022651,000384: 24,2253 00006 EXTEND
022652,000385: 24,2254 15155 BZF ENDOFJOB # NO - EXIT P20
022653,000386: 24,2255 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
022654,000387: 24,2256 74747 MASK TRACKBIT
022655,000388: 24,2257 00006 EXTEND
022656,000389: 24,2260 12315 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
022657,000390: 24,2261 02721 P20LEMF TC R21LEM
022658,000391:
022659,000392:
022660,000393: 24,2262 32335 P20LEMWT CAF 250DEC
022661,000394: 24,2263 00004 INHINT
022662,000395: 24,2264 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
022663,000396: 24,2265 02275 ADRES P20LEMC1 # WAIT 2.5 SECONDS
022664,000397: 24,2266 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022665,000398: 24,2267 74747 MASK TRACKBIT
022666,000399: 24,2270 00006 EXTEND
022667,000400: 24,2271 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
022668,000401: 24,2272 05353 P20LMWT1 TC PHASCHNG
022669,000402: 24,2273 40072 OCT 40072
022670,000403: 24,2274 05155 TC ENDOFJOB
022671,000404:
022672,000405:
022673,000406: 24,2275 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
022674,000407:
|
|
Page 511 |
022676,000409: 24,2276 74745 MASK RNDVZBIT
022677,000410: 24,2277 00006 EXTEND
022678,000411: 24,2300 15261 BZF TASKOVER # NO - EXIT P20/R22
022679,000412: 24,2301 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
022680,000413: 24,2302 74747 MASK TRACKBIT
022681,000414: 24,2303 00006 EXTEND
022682,000415: 24,2304 12312 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
022683,000416: 24,2305 37713 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
022684,000417: 24,2306 05105 TC FINDVAC
022685,000418: 24,2307 E7,1454 EBANK= LOSCOUNT
022686,000419: 24,2307 02477 50067 2CADR R22LEM
022687,000420: 24,2311 05261 TC TASKOVER
022688,000421:
022689,000422:
022690,000423: 24,2312 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
022691,000424: 24,2313 02734 DEC 1500 B-14 # AND CHECK AGAIN
022692,000425:
022693,000426: 24,2314 02275 TC P20LEMC1
022694,000427:
022695,000428: 24,2315 32712 P20LEMD CAF 1500DEC
022696,000429: 24,2316 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
022697,000430: 24,2317 02321 ADRES P20LEMD1
022698,000431: 24,2320 05155 TC ENDOFJOB
022699,000432:
022700,000433:
022701,000434: 24,2321 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
022702,000435: 24,2322 74747 MASK TRACKBIT
022703,000436: 24,2323 10000 CCS A
022704,000437: 24,2324 12330 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
022705,000438: 24,2325 05221 TC FIXDELAY # NO-WAIT 15 SECONDS
022706,000439: 24,2326 02734 DEC 1500 B-14
022707,000440: 24,2327 02321 TC P20LEMD1
022708,000441:
022709,000442:
022710,000443: 24,2330 37713 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
022711,000444: 24,2331 05105 TC FINDVAC
022712,000445: 24,2332 E7,1454 EBANK= LOSCOUNT
022713,000446: 24,2332 02232 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
022714,000447: 24,2334 05261 TC TASKOVER
022715,000448:
022716,000449:
022717,000450: 24,2335 00372 250DEC DEC 250 B-14
022718,000451: 24,2336 00526 ALRM526 OCT 00526
022719,000452: 24,2337 00201 OCT201 OCT 00201
022720,000453: 24,2340 00514 ALRM514 OCT 514
022721,000454: 24,2341 00074 MAXTRIES DEC 60 B-14
022722,000455: 24,2342 00012 OCT00012 OCT 00012
022723,000456: 24,2343 00001 P22ONE OCT 00001
022724,000457:
|
|
Page 512 |
022726,000459: 24,2344 10000 00000 ONEB-2 2DEC 1.0 B-2
022727,000460: 24,2346 01441 V06N33* VN 0633
022728,000461: 24,2347 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
022729,000462: 24,2350 01757 LS21X # TO PRESENT TIME
022730,000463: 24,2351 27412 INTSTALL
022731,000464: 24,2352 77624 CALL
022732,000465: 24,2353 26644 SETIFLGS
022733,000466: 24,2354 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
022734,000467: 24,2355 02756 RENDWFLG
022735,000468: 24,2356 50367 UPPSV1
022736,000469: 24,2357 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
022737,000470: 24,2360 43014 BON SET
022738,000471: 24,2361 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
022739,000472: 24,2362 50364 UPPSV5
022740,000473: 24,2363 01475 D6OR9FLG # OTHERWISE 9X9
022741,000474: 24,2364 77614 UPPSV5 BOF
022742,000475: 24,2365 00747 VEHUPFLG
022743,000476: 24,2366 50411 UPPSV3
022744,000477: 24,2367 47014 UPPSV1 SET RTB # CSM STATE BEING CORRECTED
022745,000478: 24,2370 01474 VINTFLAG
022746,000479: 24,2371 21462 LOADTIME
022747,000480: 24,2372 34041 STCALL TDEC1 # INTEGRATE CSM STATE WITH W-MATRIX
022748,000481: 24,2373 27134 INTEGRV
022749,000482: 24,2374 77624 CALL # GROUP 2 PHASE CHANGE
022750,000483: 24,2375 11165 GRP2PC # TO PROTECT INTEGRATION
022751,000484: 24,2376 77624 CALL
022752,000485: 24,2377 27412 INTSTALL
022753,000486: 24,2400 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
022754,000487: 24,2401 01571 TETCSM
022755,000488: 24,2402 01674 VINTFLAG
022756,000489: 24,2403 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
022757,000490: 24,2404 26644 SETIFLGS # WITHOUT W-MATRIX
022758,000491: 24,2405 34041 STCALL TDEC1
022759,000492: 24,2406 27134 INTEGRV
022760,000493: 24,2407 77650 GOTO
022761,000494: 24,2410 01757 LS21X
022762,000495:
022763,000496:
022764,000497: 24,2411 47014 UPPSV3 CLEAR RTB
022765,000498: 24,2412 01674 VINTFLAG
022766,000499: 24,2413 21462 LOADTIME
022767,000500: 24,2414 34041 STCALL TDEC1 # INTEGRATE LM STATE WITH W-MATRIX
022768,000501: 24,2415 27134 INTEGRV
022769,000502: 24,2416 77624 CALL
022770,000503: 24,2417 11165 GRP2PC
022771,000504: 24,2420 77624 CALL
022772,000505: 24,2421 27412 INTSTALL
022773,000506: 24,2422 71214 SET DLOAD
022774,000507: 24,2423 01474 VINTFLAG
022775,000508:
|
|
Page 513 |
022777,000510: 24,2424 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
022778,000511: 24,2425 77650 GOTO
022779,000512: 24,2426 50403 UPPSV4
022780,000513:
022781,000514:
022782,000515: 24,2427 E7,1454 EBANK= LOSCOUNT
022783,000516: 24,2427 COUNT* $$/P22
022784,000517:
|
|
Page 514 |
022786,000519: # PROGRAM DESCRIPTION
022787,000520: # PREFERRED TRACKING ATTITUDE PROGRAM P25
022788,000521: # MOD NO - 3
022789,000522: # BY P. VOLANTE
022790,000523: # FUNCTIONAL DESCRIPTION
022791,000524:
022792,000525: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
022793,000526: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
022794,000527: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
022795,000528: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
022796,000529: # CALLING SEQUENCE -
022797,000530: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
022798,000531: # SUBROUTINES CALLED -
022799,000532: # BANKCALL FLAGUP
022800,000533: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
022801,000534: # R61LEM (PREF TRK ATT ROUT) WAITLIST
022802,000535: # TASKOVER FINDVAC
022803,000536: # NORMAL EXIT MODES -
022804,000537: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
022805,000538: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
022806,000539: # ALARM OR ABORT EXIT MODES -
022807,000540: # NONE
022808,000541: # OUTPUT
022809,000542: # ERASABLE INITIALIZATION REQUIRED
022810,000543: # FLAGS SET + RESET
022811,000544: # TRACKFLG,P25FLAG
022812,000545: # DEBRIS
022813,000546: # NONE
022814,000547: 24,2427 E7,1454 EBANK= LOSCOUNT
022815,000548: 24,2427 COUNT* $$/P25
022816,000549: 24,2427 05327 PROG25 TC 2PHSCHNG
022817,000550: 24,2430 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
022818,000551: 24,2431 05022 OCT 05022
022819,000552: 24,2432 26000 OCT 26000 # PRIORITY 26
022820,000553:
022821,000554: 24,2433 04616 TC BANKCALL
022822,000555: 24,2434 11175 CADR R02BOTH # IMU STATUS CHECK
022823,000556: 24,2435 05504 TC UPFLAG
022824,000557: 24,2436 00031 ADRES TRACKFLG # SET TRACK FLAG
022825,000558: 24,2437 05504 TC UPFLAG
022826,000559: 24,2440 00006 ADRES P25FLAG # SET P25FLAG
022827,000560: 24,2441 05353 P25LEM1 TC PHASCHNG
022828,000561: 24,2442 04022 OCT 04022
022829,000562: 24,2443 34743 CAF P25FLBIT
022830,000563: 24,2444 70074 MASK STATE # IS P25FLAG SET
022831,000564: 24,2445 00006 EXTEND
022832,000565: 24,2446 15155 BZF ENDOFJOB
022833,000566: 24,2447 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022834,000567: 24,2450 70075 MASK STATE +1
022835,000568: 24,2451 00006 EXTEND
022836,000569:
|
|
Page 515 |
022838,000571: 24,2452 12462 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
022839,000572: 24,2453 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
022840,000573: 24,2454 55743 TS R65CNTR
022841,000574: 24,2455 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
022842,000575: 24,2456 46105 CADR R65LEM
022843,000576: 24,2457 02441 TC P25LEM1 # THEN GO CHECK FLAGS
022844,000577: 24,2460 05353 P25LEMWT TC PHASCHNG
022845,000578: 24,2461 00112 OCT 00112
022846,000579: 24,2462 32474 P25LMWT1 CAF 60SCNDS
022847,000580: 24,2463 00004 INHINT
022848,000581: 24,2464 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
022849,000582: 24,2465 02467 ADRES P25LEM2
022850,000583: 24,2466 05155 TC ENDOFJOB
022851,000584: 24,2467 35024 P25LEM2 CAF PRIO14
022852,000585: 24,2470 05105 TC FINDVAC
022853,000586: 24,2471 E7,1454 EBANK= LOSCOUNT
022854,000587: 24,2471 02441 50067 2CADR P25LEM1
022855,000588: 24,2473 05261 TC TASKOVER
022856,000589: 24,2474 13560 60SCNDS DEC 6000 B-14
022857,000590: 24,2475 77776 P25OK EXIT
022858,000591: 24,2476 02460 TC P25LEMWT
022859,000592:
|
|
Page 516 |
022861,000594: # DATA READ ROUTINE 22 (LEM)
022862,000595: # PROGRAM DESCRIPTION
022863,000596: # MOD NO - 2
022864,000597: # BY P VOLANTE
022865,000598: # FUNCTIONAL DESCRIPTION
022866,000599:
022867,000600: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
022868,000601: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
022869,000602: # CALLING SEQUENCE -
022870,000603: # TC BANKCALL
022871,000604: # CADR R22LEM
022872,000605: # SUBROUTINES CALLED -
022873,000606: # LSR22.1 GOFLASH WAITLIST
022874,000607: # LSR22.2 PRIOLARM BANKCALL
022875,000608: # LSR22.3 R61LEM
022876,000609: # NORMAL EXIT MODES-
022877,000610: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
022878,000611: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
022879,000612: # R22 WILL TERMINATE SELF.
022880,000613: # ALARM OR ABORT EXIT MODES-
022881,000614: # PRIORITY ALARM
022882,000615: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
022883,000616: # OUTPUT
022884,000617: # SEE OUTPUT FROM LSR22.3
022885,000618: # ERASABLE INITIALIZATION REQUIRED
022886,000619: # SEE LSR22.1,LSR22.2,LSR22.3
022887,000620: # FLAGS SET + RESET
022888,000621: # NOANGFLG
022889,000622: # DEBRIS
022890,000623: # SEE LSR22.1,LSR22.2,LSR22.3
022891,000624: 24,2477 E7,1735 EBANK= LRS22.1X
022892,000625: 24,2477 COUNT* $$/R22
022893,000626: 24,2477 05353 R22LEM TC PHASCHNG
022894,000627: 24,2500 04022 OCT 04022
022895,000628: 24,2501 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
022896,000629: 24,2502 70074 MASK STATE
022897,000630: 24,2503 00006 EXTEND
022898,000631: 24,2504 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
022899,000632: 24,2505 34747 CAF TRACKBIT # IS TRACKFLAG SET?
022900,000633: 24,2506 70075 MASK STATE +1
022901,000634: 24,2507 00006 EXTEND
022902,000635: 24,2510 12664 BZF R22WAIT # NO WAIT
022903,000636: 24,2511 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
022904,000637: 24,2512 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
022905,000638: 24,2513 02012 RAND CHAN12
022906,000639: 24,2514 00006 EXTEND
022907,000640: 24,2515 12132 BZF P20LEMA # NO - RETURN TO P20
022908,000641: 24,2516 34752 CAF BIT2 # YES
022909,000642: 24,2517 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
022910,000643: 24,2520 02033 RAND CHAN33
022911,000644:
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|
Page 517 |
022913,000646: 24,2521 00006 EXTEND
022914,000647: 24,2522 12524 BZF +2 # YES CONTINUE
022915,000648: 24,2523 02156 TC P20LEMB5 # NO - SET IT
022916,000649: 24,2524 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
022917,000650: 24,2525 74737 MASK BIT13 # (BIT 13 RADMODES EQUAL ONE)
022918,000651: 24,2526 00006 EXTEND
022919,000652: 24,2527 12655 BZF R22LEM42 # CDUS BEING ZEROED
022920,000653: 24,2530 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
022921,000654: 24,2531 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
022922,000655: 24,2532 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
022923,000656: 24,2533 64376 CADR LRS22.1 # DATA READ SUBROUTINE
022924,000657: 24,2534 50154 INDEX MPAC
022925,000658: 24,2535 02536 TC +1
022926,000659: 24,2536 02557 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
022927,000660: 24,2537 02247 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
022928,000661: 24,2540 32707 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
022929,000662: 24,2541 04616 TC BANKCALL
022930,000663: 24,2542 21451 CADR PRIOLARM
022931,000664: 24,2543 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022932,000665: 24,2544 02547 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
022933,000666: 24,2545 02540 TC -5 # ENTER (ILLEGAL OPTION)
022934,000667: 24,2546 05155 TC ENDOFJOB
022935,000668:
022936,000669:
022937,000670: 24,2547 05353 R22LEM1 TC PHASCHNG
022938,000671: 24,2550 04022 OCT 04022
022939,000672: 24,2551 32710 CAF V06N05 # DISPLAY DELTA THETA
022940,000673: 24,2552 04616 TC BANKCALL
022941,000674: 24,2553 20362 CADR PRIODSP
022942,000675: 24,2554 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022943,000676: 24,2555 02557 TC R22LEM2 # PROC (OK CONTINUE)
022944,000677: 24,2556 02247 TC P20LEMC # ENTER(RECYCLE)
022945,000678: 24,2557 05353 R22LEM2 TC PHASCHNG
022946,000679: 24,2560 04022 OCT 04022
022947,000680: 24,2561 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
022948,000681: 24,2562 02577 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
022949,000682: 24,2563 30075 CA FLAGWRD1 # IS TRACK FLAG SET
022950,000683: 24,2564 74747 MASK TRACKBIT
022951,000684: 24,2565 00006 EXTEND
022952,000685: 24,2566 12664 BZF R22WAIT # NO - WAIT
022953,000686: 24,2567 04616 TC BANKCALL # YES
022954,000687: 24,2570 51230 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
022955,000688: 24,2571 50154 INDEX MPAC
022956,000689: 24,2572 02573 TC +1
022957,000690: 24,2573 02577 TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
022958,000691: 24,2574 04616 TC BANKCALL
022959,000692: 24,2575 46100 CADR R61LEM
022960,000693: 24,2576 02664 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
022961,000694: 24,2577 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
022962,000695: 24,2600 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
022963,000696:
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|
Page 518 |
022965,000698: 24,2601 00006 EXTEND
022966,000699: 24,2602 12655 BZF R22LEM42 # BRANCH-YES
022967,000700: 24,2603 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
022968,000701: 24,2604 74745 MASK UPDATBIT
022969,000702: 24,2605 00006 EXTEND
022970,000703: 24,2606 12655 BZF R22LEM42 # UPDATE FLAG NOT SET
022971,000704: 24,2607 37713 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
022972,000705: 24,2610 55056 TS PHSPRDT2
022973,000706:
022974,000707: 24,2611 06036 TC INTPRET
022975,000708: 24,2612 77650 GOTO
022976,000709: 24,2613 54370 LSR22.3
022977,000710: 24,2614 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
022978,000711: 24,2615 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
022979,000712: 24,2616 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
022980,000713: 24,2617 12650 TCF R22LEM44
022981,000714: 24,2620 77776 R22LEM96 EXIT
022982,000715: 24,2621 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
022983,000716: 24,2622 55744 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
022984,000717: 24,2623 05353 TC PHASCHNG
022985,000718: 24,2624 04022 OCT 04022 # TO PROTECT DISPLAY
022986,000719: 24,2625 37714 CAF PRIO27 # PROTECT DISPLAY
022987,000720: 24,2626 05072 TC NOVAC
022988,000721: 24,2627 E7,1744 EBANK= N49FLAG
022989,000722: 24,2627 02670 50067 2CADR N49DSP
022990,000723: 24,2631 06036 TC INTPRET
022991,000724: 24,2632 77735 SLOAD
022992,000725: 24,2633 03745 N49FLAG
022993,000726: 24,2634 50054 BZE BMN # LOOP TO CHECK IF FLAG
022994,000727: 24,2635 50632 -3 # SETTING CHANGED-BRANCH - NO
022995,000728: 24,2636 50644 R22LEM7 # PROCEED
022996,000729: 24,2637 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
022997,000730: 24,2640 02714 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022998,000731: 24,2641 02664 TC R22WAIT # YES - 15 SECOND DELAY
022999,000732: 24,2642 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
023000,000733: 24,2643 02660 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
023001,000734: 24,2644 77624 R22LEM7 CALL # PROCEED
023002,000735: 24,2645 11165 GRP2PC # PHASE CHANGE AND
023003,000736: 24,2646 77650 GOTO # GO TO INCORPORATE DATA.
023004,000737: 24,2647 55374 ASTOK
023005,000738: 24,2650 25460 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
023006,000739: 24,2651 02714 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
023007,000740: 24,2652 02666 TC R22LEM46 # YES - WAIT 2 SECONDS
023008,000741: 24,2653 34756 CA FIVE # NOT ON LUNAR SURFACE
023009,000742: 24,2654 02660 TC R22LEM45 # R65COUNTER = 5
023010,000743: 24,2655 02714 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
023011,000744: 24,2656 02666 TC R22LEM46 # YES - WAIT 2 SECONDS
023012,000745: 24,2657 34752 CA TWO # NO-SET R65COUNTER = 2
023013,000746: 24,2660 55743 R22LEM45 TS R65CNTR
023014,000747:
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|
Page 519 |
023016,000749: 24,2661 04616 TC BANKCALL
023017,000750: 24,2662 46105 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
023018,000751: 24,2663 02477 TC R22LEM
023019,000752: 24,2664 32712 R22WAIT CAF 1500DEC
023020,000753: 24,2665 02263 TC P20LEMWT +1
023021,000754:
023022,000755:
023023,000756: 24,2666 35000 R22LEM46 CAF 2SECS
023024,000757: 24,2667 02263 TC P20LEMWT +1
023025,000758:
023026,000759:
023027,000760: 24,2670 32711 N49DSP CAF V06N49NB
023028,000761: 24,2671 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
023029,000762: 24,2672 20362 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
023030,000763: 24,2673 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
023031,000764: 24,2674 44753 CS ONE # PROCEED - N49FLAG = -1
023032,000765: 24,2675 55744 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
023033,000766: 24,2676 05155 TC ENDOFJOB
023034,000767: 24,2677 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
023035,000768: 24,2700 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
023036,000769: 24,2701 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
023037,000770: 24,2702 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
023038,000771: 24,2703 04616 TC BANKCALL # BAD DATA
023039,000772: 24,2704 17667 CADR RADSTALL # WAIT FOR READ COMPLETE
023040,000773: 24,2705 02247 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
023041,000774: 24,2706 02477 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
023042,000775:
023043,000776:
023044,000777: 24,2707 00525 ALRM525 OCT 00525
023045,000778: 24,2710 01405 V06N05 VN 00605
023046,000779: 24,2711 01461 V06N49NB VN 00649
023047,000780: 24,2712 02734 1500DEC DEC 1500 B-14
023048,000781: 24,2713 10624 45SECNDS DEC 4500 B-14
023049,000782: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
023050,000783: # RETURNS TO CALLER +1 IF P22FLAG SET
023051,000784: # TO CALLER +2 IF P22FLAG NOT SET
023052,000785:
023053,000786:
023054,000787: 24,2714 COUNT* $$/P22
023055,000788: 24,2714 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
023056,000789: 24,2715 74744 MASK SURFFBIT # IS SURFFLAG SET?
023057,000790: 24,2716 10000 CCS A # BRANCH - P22FLAG SET
023058,000791: 24,2717 24002 INCR Q # NOT SET
023059,000792: 24,2720 00002 TC Q # RETURN
023060,000793:
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|
Page 520 |
023062,000795: # RR DESIGNATE ROUTINE (R21LEM)
023063,000796: # PROGRAM DESCRIPTION
023064,000797: # MOD NO - 2
023065,000798: # BY P VOLANTE
023066,000799: # FUNCTIONAL DESCRIPTION
023067,000800:
023068,000801: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
023069,000802: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
023070,000803: # CALLING SEQUENCE -
023071,000804: # TC BANKCALL
023072,000805: # CADR R21LEM
023073,000806: # SUBROUTINES CALLED -
023074,000807: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
023075,000808: # NOVAC INTPRET LPS20.1 PHASCHNG
023076,000809: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
023077,000810: # TASKOVER BANKCALL RADSTALL RRDESSM
023078,000811: # NORMAL EXIT MODES
023079,000812: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
023080,000813: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
023081,000814: # ALARM OR ABORT EXIT MODES-
023082,000815: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
023083,000816: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
023084,000817: # ACQUISITION
023085,000818: # OUTPUT
023086,000819: # SEE LPS20.1,RRDESSM
023087,000820: # ERASABLE INITIALIZATION REQUIRED
023088,000821: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
023089,000822: # FLAGS SET + RESET
023090,000823: # LOSCMFLG LOKONSW
023091,000824: # DEBRIS
023092,000825: # SEE LPS20.1,RRDESSM
023093,000826: 24,2721 E7,1454 EBANK= LOSCOUNT
023094,000827: 24,2721 COUNT* $$/R21
023095,000828: 24,2721 32341 R21LEM CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECS.) TO
023096,000829: 24,2722 55114 TS DESCOUNT # DESIGNATE AND LOCKON
023097,000830: 24,2723 02714 TC LUNSFCHK
023098,000831: 24,2724 02731 TC R21LEM5
023099,000832: 24,2725 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
023100,000833: 24,2726 55107 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
023101,000834: 24,2727 55110 TS TANG +1
023102,000835: 24,2730 02735 TC R21LEM6
023103,000836: 24,2731 34735 R21LEM5 CAF BIT15 # IF ON LUNAR SURFACE-MODE 2-(T=180,S=-90)
023104,000837: 24,2732 55107 TS TANG
023105,000838: 24,2733 44736 CS HALF
023106,000839: 24,2734 55110 TS TANG +1
023107,000840: 24,2735 05516 R21LEM6 TC DOWNFLAG
023108,000841: 24,2736 00012 ADRES LOKONSW
023109,000842: 24,2737 04616 TC BANKCALL
023110,000843: 24,2740 52475 CADR RRDESNB
023111,000844: 24,2741 02742 TC +1
023112,000845:
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Page 521 |
023114,000847: 24,2742 04616 TC BANKCALL
023115,000848: 24,2743 17667 CADR RADSTALL
023116,000849: 24,2744 02777 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
023117,000850: 24,2745 05504 TC UPFLAG # INDICATES LOS TO BE COMPUTED
023118,000851: 24,2746 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
023119,000852: 24,2747 44736 CS BIT14 # REMOVE RR SELF TRACK ENABLE
023120,000853: 24,2750 00006 EXTEND
023121,000854: 24,2751 03012 WAND CHAN12
023122,000855: 24,2752 36244 R21LEM2 CAF THREE
023123,000856: 24,2753 55454 TS LOSCOUNT
023124,000857: 24,2754 06036 R21LEM1 TC INTPRET
023125,000858: 24,2755 43234 RTB DAD
023126,000859: 24,2756 21462 LOADTIME
023127,000860: 24,2757 11026 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
023128,000861: 24,2760 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
023129,000862: 24,2761 51151 LPS20.1
023130,000863: 24,2762 77776 EXIT
023131,000864: 24,2763 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
023132,000865: 24,2764 00012 ADRES LOKONSW
023133,000866: 24,2765 06036 TC INTPRET
023134,000867: 24,2766 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
023135,000868: 24,2767 52373 RRDESSM # DESIGNATE ROUTINE
023136,000869: 24,2770 77776 EXIT
023137,000870: 24,2771 03016 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
023138,000871: # ON LUNAR SURFACE
023139,000872: 24,2772 02132 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
023140,000873: 24,2773 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
023141,000874: 24,2774 17667 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
023142,000875: 24,2775 02777 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
023143,000876: 24,2776 03006 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
023144,000877: 24,2777 33014 R21-503 CAF ALRM503 # ISSUE ALARM 503
023145,000878: 24,3000 04616 TC BANKCALL
023146,000879: 24,3001 21451 CADR PRIOLARM
023147,000880: 24,3002 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
023148,000881: 24,3003 03011 TC R21SRCH # PROC
023149,000882: 24,3004 02232 TC P20LEMC3
023150,000883: 24,3005 05155 TC ENDOFJOB
023151,000884: 24,3006 05516 R21END TC DOWNFLAG
023152,000885: 24,3007 00041 ADRES LOSCMFLG # RESET LOSCMFLG
023153,000886: 24,3010 02262 TC P20LEMWT # EXIT R21 TO PERFORM DATA READ
023154,000887: 24,3011 05353 R21SRCH TC PHASCHNG
023155,000888: 24,3012 04022 OCT 04022
023156,000889: 24,3013 03100 TC R24LEM # SEARCH ROUTINE
023157,000890: 24,3014 00503 ALRM503 OCT 00503
023158,000891: 24,3015 00527 ALRM527 OCT 527
023159,000892:
023160,000893:
023161,000894: 24,3016 33015 R21LEM4 CAF ALRM527 # ALARM 527-LOS NOT IN MODE 2 COVERAGE
023162,000895: 24,3017 04616 TC BANKCALL # ON LUNAR SURFACE
023163,000896: 24,3020 21451 CADR PRIOLARM
023164,000897:
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|
Page 522 |
023166,000899: 24,3021 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
023167,000900: 24,3022 02232 TC P20LEMC3
023168,000901: 24,3023 03016 TC -5 # ENTER
023169,000902: 24,3024 05155 TC ENDOFJOB
023170,000903: 24,3025 00000 00062 HALFSEC 2DEC 50 B-28
023171,000904:
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|
Page 523 |
023173,000906: # MANUAL ACQUISITION ROUTINE R23LEM
023174,000907: # PROGRAM DESCRIPTION
023175,000908: # MOD NO - 2
023176,000909: # BY P VOLANTE
023177,000910: # FUNCTIONAL DESCRIPTION
023178,000911:
023179,000912: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
023180,000913: # CALLING SEQUENCE -
023181,000914: # TC R23LEM
023182,000915: # SUBROUTINES CALLED
023183,000916: # BANKCALL R61LEM
023184,000917: # SETMINDB GOPERF1
023185,000918: # NORMAL EXIT MODES -
023186,000919: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
023187,000920: # ,SELECTION OF PROC WILL CONTINUE R23
023188,000921: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
023189,000922: # ALARM OR ABORT EXIT MODES -
023190,000923: # SEE NORMAL EXIT MODES ABOVE
023191,000924: # OUTPUT
023192,000925: # N.A.
023193,000926: # ERASABLE INITIALIZATION REQUIRED-
023194,000927: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
023195,000928: 24,3027 1143 EBANK= GENRET
023196,000929: 24,3027 COUNT* $$/R23
023197,000930: 24,3027 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
023198,000931: 24,3030 00126 ADRES NORRMON
023199,000932: 24,3031 00004 INHINT
023200,000933: 24,3032 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
023201,000934: 24,3033 40140 CADR SETMINDB
023202,000935: 24,3034 00003 RELINT
023203,000936: 24,3035 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
023204,000937: 24,3036 00006 EXTEND
023205,000938: 24,3037 05012 WOR CHAN12
023206,000939: 24,3040 33077 CAF OCT205
023207,000940: 24,3041 04616 TC BANKCALL
023208,000941: 24,3042 20476 CADR GOPERF1
023209,000942: 24,3043 03070 TC R23LEM2 # TERMINATE
023210,000943: 24,3044 03046 TC R23LEM11 # PROCEDE
023211,000944: 24,3045 03073 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
023212,000945: 24,3046 00004 R23LEM11 INHINT
023213,000946: 24,3047 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
023214,000947: 24,3050 00035 ADRES CDUT
023215,000948: 24,3051 03060 TC OUTOFLIM # NOT WITHIN LIMITS
023216,000949: 24,3052 04674 TC IBNKCALL # RESTORE DEADBAND TO
023217,000950: 24,3053 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
023218,000951: 24,3054 00003 RELINT
023219,000952: 24,3055 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023220,000953: 24,3056 00126 ADRES NORRMON
023221,000954: 24,3057 02204 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
023222,000955: 24,3060 00003 OUTOFLIM RELINT
023223,000956:
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|
Page 524 |
023225,000958: 24,3061 33076 CAF OCT501PV
023226,000959: 24,3062 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
023227,000960: 24,3063 21451 CADR PRIOLARM # LIMITS
023228,000961: 24,3064 03070 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
023229,000962: 24,3065 03061 TC OUTOFLIM +1 # PROCEED ILLEGAL
023230,000963: 24,3066 03073 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
023231,000964: 24,3067 05155 TC ENDOFJOB
023232,000965: 24,3070 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
023233,000966: 24,3071 00126 ADRES NORRMON
023234,000967: 24,3072 06022 TC GOTOV56 # AND EXIT VIA V56
023235,000968: 24,3073 04616 R23LEM3 TC BANKCALL
023236,000969: 24,3074 46100 CADR R61LEM
023237,000970: 24,3075 03035 TC R23LEM1
023238,000971:
023239,000972: 24,3076 00501 OCT501PV OCT 501
023240,000973: 24,3077 00205 OCT205 OCT 205
023241,000974:
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|
Page 525 |
023243,000976: # SEARCH ROUTINE R24LEM
023244,000977: # PROGRAM DESCRIPTION
023245,000978: # MOD NO - 2
023246,000979: # BY P. VOLANTE
023247,000980: # FUNCTIONAL DESCRIPTION
023248,000981:
023249,000982: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
023250,000983: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
023251,000984: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
023252,000985: # CALLING SEQUENCE
023253,000986: # CAF PRIONN
023254,000987: # TC FINDVAC
023255,000988: # EBANK= DATAGOOD
023256,000989: # 2CADR R24LEM
023257,000990: # SUBROUTINES CALLED
023258,000991: # FLAGUP FLAGDOWN BANKCALL
023259,000992: # R61LEM GOFLASHR FINDVAC
023260,000993: # ENDOFJOB NOVAC LSR24.1
023261,000994: # NORMAL EXIT MODES-
023262,000995: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
023263,000996: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
023264,000997: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
023265,000998: # ALARM OR ABORT EXIT MODES-
023266,000999: # SEE NORMAL EXIT MODES ABOVE
023267,001000: # OUTPUT -
023268,001001: # SEE OUTPUT FROM LSR24.1 + R61LEM
023269,001002: # ERASABLE INITIALIZATION REQUIRED
023270,001003: # SEE INPUT FOR LSR24.1
023271,001004: # FLAGS SET + RESET
023272,001005: # SRCHOPT,ACMODFLG
023273,001006: 24,3100 E7,1731 EBANK= DATAGOOD
023274,001007: 24,3100 COUNT* $$/R24
023275,001008: 24,3100 05504 R24LEM TC UPFLAG
023276,001009: 24,3101 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
023277,001010: 24,3102 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
023278,001011: 24,3103 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
023279,001012: 24,3104 34755 R24LEM1 CAF ZERO
023280,001013: 24,3105 55731 TS DATAGOOD # ZERO OUT DATA INDICATOR
023281,001014: 24,3106 55732 TS OMEGAD # ZERO OMEGA DISPLAY REGS
023282,001015: 24,3107 55733 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
023283,001016: 24,3110 05353 R24LEM2 TC PHASCHNG
023284,001017: 24,3111 04022 OCT 04022
023285,001018: 24,3112 33150 CAF V16N80
023286,001019: 24,3113 04616 TC BANKCALL
023287,001020: 24,3114 20357 CADR PRIODSPR
023288,001021: 24,3115 06022 TC GOTOV56
023289,001022: 24,3116 03122 TC R24END # PROCEED EXIT R24 TO P20LEM1
023290,001023:
023291,001024:
023292,001025: 24,3117 03127 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
023293,001026:
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Page 526 |
023295,001028: 24,3120 04616 TC BANKCALL
023296,001029: 24,3121 55405 CADR LRS24.1
023297,001030: 24,3122 00004 R24END INHINT
023298,001031: 24,3123 06027 TC KILLTASK
023299,001032: 24,3124 55605 CADR CALLDGCH
023300,001033: 24,3125 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
023301,001034: 24,3126 12104 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
023302,001035:
023303,001036: 6011 BLOCK 3
023304,001037: 6000 SETLOC FFTAG6
023305,001038: 6000 BANK
023306,001039: 6011 COUNT* $$/R24
023307,001040:
023308,001041: 6011 46021 CLRADMOD CS BIT10+15
023309,001042: 6012 00004 INHINT
023310,001043: 6013 70110 MASK RADMODES
023311,001044: 6014 54110 TS RADMODES
023312,001045: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
023313,001046: 6016 00006 EXTEND
023314,001047: 6017 03012 WAND CHAN12 # USER WILL RELINT
023315,001048:
023316,001049: 6020 00002 TC Q
023317,001050:
023318,001051: 6021 41000 BIT10+15 OCT 41000
023319,001052: 24,3127 BANK 24
023320,001053: 24,2000 SETLOC P20S
023321,001054: 24,2000 BANK
023322,001055: 24,3127 COUNT* $$/R24
023323,001056:
023324,001057: 24,3127 05353 R24LEM3 TC PHASCHNG
023325,001058: 24,3130 04022 OCT 04022
023326,001059: 24,3131 00004 INHINT
023327,001060: 24,3132 06027 TC KILLTASK
023328,001061: 24,3133 55605 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
023329,001062: 24,3134 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
023330,001063: 24,3135 00003 RELINT # HALF SECOND DESIGNATE LOOP
023331,001064: 24,3136 34774 CAF .5SEC
023332,001065: 24,3137 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
023333,001066: 24,3140 01735 CADR DELAYJOB
023334,001067: 24,3141 02714 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
023335,001068: 24,3142 03110 TC R24LEM2 # YES-DONT DO ATTITUDE MANEUVER
023336,001069: 24,3143 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
023337,001070: 24,3144 46100 CADR R61LEM # ATTITUDE MANEUVER
023338,001071: 24,3145 34755 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
023339,001072: 24,3146 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
023340,001073: # RRDESSM WILL RETURN TO CALLER
023341,001074: 24,3147 03110 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
023342,001075:
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Page 527 |
023344,001077: 24,3150 04120 V16N80 VN 01680
023345,001078:
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|
Page 528 |
023347,001080: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
023348,001081: # PROGRAM DESCRIPTION
023349,001082: # MOD NO : 3 DATE : 4-11-67
023350,001083: # MOD BY : P VOLANTE SDC
023351,001084:
023352,001085:
023353,001086: # FUNCTIONAL DESCRIPTION-
023354,001087: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
023355,001088: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
023356,001089: # ATTITUDE.
023357,001090: # CALLING SEQUENCE-
023358,001091: # TC BANKCALL
023359,001092: # CADR R61LEM
023360,001093: # SUBROUTINES CALLED
023361,001094: # LPS20.1 VECPOINT
023362,001095: # KALCMAN3
023363,001096:
023364,001097:
023365,001098: # NORMAL EXIT MODES-
023366,001099: # NORMAL RETURN IS TO CALLER + 1
023367,001100: # ALARM OR ABORT EXIT MODES-
023368,001101: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
023369,001102: # RENDEZVOUS FLAG ARE NOT SET.
023370,001103: # OUTPUT -
023371,001104: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
023372,001105: # ERASABLE INITIALIZATION REQUIRED
023373,001106: # GENRET USED TO SAVE Q FOR RETURN
023374,001107: # FLAGS SET + RESET
023375,001108: # 3AXISFLG
023376,001109: # DEBRIS
023377,001110: # SEE SUBROUTINES
023378,001111: 23,2000 SETLOC R61
023379,001112: 23,2000 BANK
023380,001113: 23,2100 E7,1454 EBANK= LOSCOUNT
023381,001114: 23,2100 COUNT* $$/R61
023382,001115: 23,2100 04645 R61LEM TC MAKECADR
023383,001116: 23,2101 55143 TS GENRET
023384,001117: 23,2102 05504 TC UPFLAG # SET R61 FLAG
023385,001118: 23,2103 00024 ADRES R61FLAG
023386,001119: 23,2104 02111 TC R61C+L01
023387,001120: 23,2105 04645 R65LEM TC MAKECADR
023388,001121: 23,2106 55143 TS GENRET
023389,001122: 23,2107 05516 TC DOWNFLAG # RESET R61 FLAG
023390,001123: 23,2110 00024 ADRES R61FLAG
023391,001124: 23,2111 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
023392,001125: 23,2112 70075 MASK STATE +1
023393,001126: 23,2113 00006 EXTEND
023394,001127: 23,2114 12262 BZF R61C+L1 # NOT SET
023395,001128: 23,2115 06036 R61C+L03 TC INTPRET # SET
023396,001129: 23,2116 77775 VLOAD
023397,001130:
|
|
Page 529 |
023399,001132: 23,2117 06416 HIUNITZ
023400,001133: 23,2120 03761 STORE SCAXIS # TRACK AXIS UNIT VECTOR
023401,001134: 23,2121 77634 RTB
023402,001135: 23,2122 21462 LOADTIME # PRESENT TIME
023403,001136: 23,2123 77615 DAD # EXTRAPULATE FORWARD FORWARD TO CENTER OF
023404,001137: 23,2124 15654 3SECONDS # SIX SECOND PERIOD.
023405,001138: 23,2125 34041 STCALL TDEC1
023406,001139: 23,2126 51151 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
023407,001140: 23,2127 77775 VLOAD
023408,001141: 23,2130 01102 RRTARGET
023409,001142: 23,2131 03767 STORE POINTVSM # DIRECTION IN WHICH TRACK AXIS IS TO BE
023410,001143: 23,2132 77624 CALL
023411,001144: 23,2133 56016 VECPOINT # TO COMPUTE FINAL ANGLES
023412,001145: 23,2134 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
023413,001146: 23,2135 77776 EXIT
023414,001147: 23,2136 05353 TC PHASCHNG
023415,001148: 23,2137 04022 OCT 04022
023416,001149: 23,2140 34747 CAF TRACKBIT # IS TRACK FLAG SET
023417,001150: 23,2141 70075 MASK FLAGWRD1
023418,001151: 23,2142 00006 EXTEND
023419,001152: 23,2143 12262 BZF R61C+L1 # BRANCH - NO SKIP THIS CYCLE OF R61/65
023420,001153: 23,2144 00006 EXTEND
023421,001154: 23,2145 00030 READ CHAN30 # CHECK AUTO MODE
023422,001155: 23,2146 74742 MASK BIT10
023423,001156: 23,2147 10000 CCS A
023424,001157: 23,2150 02255 TC R61C+L04 # NOT IN G+N C(A) = +
023425,001158: 23,2151 00006 EXTEND
023426,001159: 23,2152 00031 READ CHAN31
023427,001160: 23,2153 74736 MASK BIT14 # (+) = NOT IN AUTO, (+0) =AOK
023428,001161: 23,2154 10000 CCS A
023429,001162: 23,2155 02255 TC R61C+L04 # NOT IN AUTO MODE
023430,001163: 23,2156 06036 TC INTPRET
023431,001164: 23,2157 45175 VLOAD CALL
023432,001165: 23,2160 01102 RRTARGET
023433,001166: 23,2161 47552 CDU*SMNB
023434,001167: 23,2162 65545 DLOAD ACOS
023435,001168: 23,2163 00162 MPAC +5
023436,001169: 23,2164 14025 STODL PHI
023437,001170: 23,2165 06271 TENDEG
023438,001171: 23,2166 51021 BDSU BPL
023439,001172: 23,2167 00025 PHI
023440,001173: 23,2170 46206 R61C+L05 # PHI GRE 10DEG
023441,001174: 23,2171 E6,1633 EBANK= CDUXD
023442,001175: 23,2171 77776 EXIT
023443,001176: 23,2172 32273 CAF CDUBANK
023444,001177: 23,2173 54006 TS BBANK
023445,001178: 23,2174 00004 INHINT
023446,001179: 23,2175 00006 EXTEND
023447,001180: 23,2176 30322 DCA CPHI
023448,001181: 23,2177 53634 DXCH CDUXD
023449,001182:
|
|
Page 530 |
023451,001184: 23,2200 30323 CA CPSI
023452,001185: 23,2201 55635 TS CDUZD
023453,001186: 23,2202 00003 RELINT
023454,001187: 23,2203 E7,1454 EBANK= LOSCOUNT
023455,001188: 23,2203 32274 CAF R61BANK
023456,001189: 23,2204 54006 TS BBANK
023457,001190: 23,2205 02231 TC R61C+L06
023458,001191: 23,2206 77776 R61C+L05 EXIT
023459,001192: 23,2207 00004 INHINT
023460,001193: 23,2210 04674 TC IBNKCALL
023461,001194: 23,2211 40153 FCADR ZATTEROR
023462,001195: 23,2212 04674 TC IBNKCALL
023463,001196: 23,2213 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
023464,001197: 23,2214 05516 TC DOWNFLAG
023465,001198: 23,2215 00124 ADRES 3AXISFLG
023466,001199: 23,2216 05504 TC UPFLAG
023467,001200: 23,2217 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
023468,001201: 23,2220 04616 TC BANKCALL
023469,001202: 23,2221 54101 CADR R60LEM
023470,001203: 23,2222 00004 INHINT
023471,001204: 23,2223 04674 TC IBNKCALL
023472,001205: 23,2224 40123 FCADR RESTORDB
023473,001206: 23,2225 05353 TC PHASCHNG
023474,001207: 23,2226 04022 OCT 04022
023475,001208: 23,2227 05516 TC DOWNFLAG
023476,001209: 23,2230 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
023477,001210: 23,2231 34742 R61C+L06 CAF R61FLBIT
023478,001211: 23,2232 70075 MASK STATE +1
023479,001212: 23,2233 00006 EXTEND
023480,001213: 23,2234 12236 BZF +2
023481,001214: 23,2235 02260 TC R61C+L4
023482,001215: 23,2236 31743 CA R65CNTR
023483,001216: 23,2237 10000 CCS A
023484,001217: 23,2240 02242 TC +2
023485,001218: 23,2241 02260 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
023486,001219: 23,2242 55743 TS R65CNTR
023487,001220: 23,2243 32272 CAF 06SEC
023488,001221: 23,2244 00004 INHINT
023489,001222: 23,2245 05173 TC TWIDDLE
023490,001223: 23,2246 02250 ADRES R61C+L2
023491,001224: 23,2247 05155 TC ENDOFJOB
023492,001225: 23,2250 37713 R61C+L2 CAF PRIO26
023493,001226: 23,2251 05105 TC FINDVAC
023494,001227: 23,2252 E7,1454 EBANK= LOSCOUNT
023495,001228: 23,2252 02111 46067 2CADR R61C+L01
023496,001229: 23,2254 05261 TC TASKOVER
023497,001230: 23,2255 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
023498,001231: 23,2256 54244 CADR BALLANGS
023499,001232: 23,2257 02231 TC R61C+L06
023500,001233:
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|
Page 531 |
023502,001235: 23,2260 31143 R61C+L4 CAE GENRET
023503,001236: 23,2261 14640 TCF BANKJUMP # EXIT R61
023504,001237: 23,2262 32267 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
023505,001238: 23,2263 70074 MASK STATE
023506,001239: 23,2264 00006 EXTEND
023507,001240: 23,2265 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
023508,001241: 23,2266 02231 TC R61C+L06 # YES EXIT ROUTINE
023509,001242: 23,2267 00500 BIT7+9PV OCT 00500
023510,001243: 23,2270 00707 03432 TENDEG 2DEC .02777777 # SCALED UNITS OF REVOLUTION B0
023511,001244: 23,2272 01130 06SEC DEC 600 B-14
023512,001245: 23,2273 PHI EQUALS 20D
023513,001246: 23,2273 E6,1633 EBANK= CDUXD
023514,001247: 23,2273 46066 CDUBANK BBCON R61C+L05
023515,001248: 23,2274 E7,1454 EBANK= LOSCOUNT
023516,001249: 23,2274 46067 R61BANK BBCON R61C+L05
023517,001250: 4512 BLOCK 02
023518,001251: 4000 SETLOC RADARFF
023519,001252: 4000 BANK
023520,001253:
023521,001254: 4512 E7,1454 EBANK= LOSCOUNT
023522,001255: 4512 COUNT* $$/RRSUB
023523,001256:
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|
Page 532 |
023525,001258: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
023526,001259: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
023527,001260:
023528,001261: 4512 00006 MAGSUB EXTEND
023529,001262: 4513 64515 BZMF +2
023530,001263: 4514 14516 TCF +2
023531,001264: 4515 40000 COM
023532,001265:
023533,001266: 4516 50002 INDEX Q
023534,001267: 4517 60000 AD 0
023535,001268: 4520 00006 EXTEND
023536,001269: 4521 66740 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
023537,001270: 4522 16736 TCF Q+1 # ABS(A) > CONST GO TO L+2
023538,001271:
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|
Page 533 |
023540,001273: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
023541,001274:
023542,001275: # FUNCTIONAL DESCRIPTION_
023543,001276: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
023544,001277: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
023545,001278: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
023546,001279: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
023547,001280: # MODE 1 AND =1 FOR MODE 2.
023548,001281: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023549,001282: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
023550,001283: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
023551,001284: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
023552,001285: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
023553,001286: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
023554,001287: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
023555,001288: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
023556,001289: # TO L +3.
023557,001290:
023558,001291: # CALLING SEQUENCE:
023559,001292: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
023560,001293: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
023561,001294:
023562,001295: # ERASABLE INITIALIZATION REQUIRED:
023563,001296: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
023564,001297: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
023565,001298: # CURRENT EBANK).
023566,001299:
023567,001300: # SUBROUTINES CALLED_ MAGSUB
023568,001301:
023569,001302: # JOBS OR TASKS INITIATED_ NONE
023570,001303:
023571,001304: # ALARMS_ NONE
023572,001305:
023573,001306: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
023574,001307: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
023575,001308:
023576,001309: 4523 00006 RRLIMCHK EXTEND
023577,001310: 4524 50002 INDEX Q
023578,001311: 4525 50000 INDEX 0
023579,001312: 4526 30001 DCA 0
023580,001313: 4527 24002 INCR Q
023581,001314: 4530 52062 DXCH ITEMP1
023582,001315: 4531 22002 LXCH Q # L(CALLER +2) TO L.
023583,001316:
023584,001317: 4532 34740 CAF BIT12 # SEE WHICH MODE RR IS IN.
023585,001318: 4533 70110 MASK RADMODES
023586,001319: 4534 10000 CCS A
023587,001320: 4535 14550 TCF MODE2CHK
023588,001321:
023589,001322: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
023590,001323:
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|
Page 534 |
023592,001325: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
023593,001326: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
023594,001327: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
023595,001328:
023596,001329: 4542 34562 CAF 5.5DEGS
023597,001330: 4543 60062 AD ITEMP2 # S
023598,001331: 4544 04512 TC MAGSUB
023599,001332: 4545 64420 DEC -.35833 # 64.5 DEGS
023600,001333: 4546 00001 TC L
023601,001334: 4547 04560 TC RRLIMOK # IN LIMITS.
023602,001335:
023603,001336: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
023604,001337: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
023605,001338: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
023606,001339: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
023607,001340: 4554 00001 TC L
023608,001341:
023609,001342: 4555 30061 CA ITEMP1
023610,001343: 4556 04512 TC MAGSUB
023611,001344: 4557 51615 DEC -.69444 # 125 DEGS
023612,001345:
023613,001346: 4560 50001 RRLIMOK INDEX L
023614,001347: 4561 00001 TC L # ( = TC 1 )
023615,001348:
023616,001349: 4562 00765 5.5DEGS DEC .03056
023617,001350: 4563 16450 82DEGS DEC .45556
023618,001351:
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|
Page 535 |
023620,001353: # PROGRAM NAME_ SETTRKF . IF EITHER:
023621,001354:
023622,001355: # FUNCTIONAL DESCRIPTION_
023623,001356: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
023624,001357: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
023625,001358: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
023626,001359: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
023627,001360: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
023628,001361: # AUTO MODE (RADMODES BITS 13, 7, 2).
023629,001362: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
023630,001363: # 8,5)
023631,001364: # 3) NO RR DATA (RADMODES BIT 4)
023632,001365: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
023633,001366: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
023634,001367: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
023635,001368: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
023636,001369: # TRACKER FAIL LAMP IS TURNED ON IF_
023637,001370: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
023638,001371: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
023639,001372: # EITHER THE ALT OR VEL INFORMATION
023640,001373: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
023641,001374: # WITH EITHER THE AL
023642,001375:
023643,001376: # CALLING SEQUENCE:
023644,001377: # L TC SETTRKF
023645,001378:
023646,001379: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
023647,001380: # SUBROUTINES CALLED_ NONE
023648,001381:
023649,001382: # JOBS OR TASKS INITIATED_ NONE
023650,001383:
023651,001384: # ALARMS_ TRACKER FAIL LAMP
023652,001385:
023653,001386: # EXIT_ L +1 (ALWAYS) ED.
023654,001387:
023655,001388: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
023656,001389: 4565 71303 MASK IMODES33
023657,001390: 4566 10000 CCS A
023658,001391: 4567 00002 TC Q
023659,001392:
023660,001393: 4570 34744 RRTRKF CA BIT8
023661,001394: 4571 54001 TS L
023662,001395:
023663,001396: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
023664,001397: 4573 70110 MASK RADMODES
023665,001398: 4574 00006 EXTEND
023666,001399: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
023667,001400:
023668,001401: 4576 34750 RRCHECK CAF BIT4 # SEE IF RR DATA FAILED.
023669,001402: 4577 70110 MASK RADMODES
023670,001403:
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|
Page 536 |
023672,001405: 4600 10000 CCS A
023673,001406: 4601 30001 TRKFLON CA L
023674,001407: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
023675,001408: 4603 70001 MASK L
023676,001409: 4604 00006 EXTEND
023677,001410: 4605 16741 BZF TCQ # NO CHANGE.
023678,001411:
023679,001412: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
023680,001413: 4607 00006 EXTEND
023681,001414: 4610 06001 RXOR LCHAN
023682,001415: 4611 74733 MASK POSMAX
023683,001416: 4612 64735 AD BIT15
023684,001417: 4613 55036 TS DSPTAB +11D
023685,001418: 4614 00002 TC Q
023686,001419:
023687,001420: 4615 10102 13,7,2 OCT 10102
023688,001421: 4616 ENDRMODF EQUALS
023689,001422:
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|
Page 537 |
023691,001424: # PROGRAM NAME_ RRTURNON
023692,001425:
023693,001426: # FUNCTIONAL DESCRIPTION_
023694,001427:
023695,001428: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
023696,001429: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
023697,001430: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
023698,001431: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
023699,001432: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
023700,001433: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
023701,001434: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
023702,001435: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
023703,001436: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
023704,001437: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
023705,001438: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
023706,001439: # TO TASKOVER.
023707,001440:
023708,001441: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
023709,001442: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
023710,001443: # THE RR (STATE BIT 7).
023711,001444:
023712,001445: # ERASABLE INITIALIZATION REQUIRED:
023713,001446: # RADMODES, STATE
023714,001447:
023715,001448: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
023716,001449:
023717,001450: # JOBS OR TASKS INITIATED_
023718,001451: # NONE
023719,001452:
023720,001453: # ALARMS_ NONE (SEE RRZEROSB)
023721,001454:
023722,001455: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
023723,001456:
023724,001457: 24,3151 BANK 24
023725,001458: 25,2000 SETLOC P20S1
023726,001459: 25,2000 BANK
023727,001460:
023728,001461: 25,2062 E7,1454 EBANK= LOSCOUNT
023729,001462: 25,2062 COUNT* $$/RSUB
023730,001463: 25,2062 02071 RRTURNON TC RRZEROSB
023731,001464: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
023732,001465: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
023733,001466: 25,2065 44753 CS BIT1
023734,001467: 25,2066 70110 MASK RADMODES
023735,001468: 25,2067 54110 TS RADMODES
023736,001469: 25,2070 15261 TCF TASKOVER
023737,001470:
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|
Page 538 |
023739,001472: # PROGRAM NAME_ RRZEROSB
023740,001473:
023741,001474: # FUNCTIONAL DESCRIPTION_
023742,001475: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
023743,001476: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
023744,001477: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
023745,001478: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
023746,001479: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
023747,001480: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
023748,001481: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
023749,001482: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
023750,001483: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
023751,001484: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
023752,001485: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
023753,001486: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
023754,001487: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
023755,001488: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
023756,001489: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
023757,001490:
023758,001491: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
023759,001492: # ERASABLE INITIALIZATION REQUIRED:
023760,001493: # RADMODES (BIT 13 SET), DSPTAB +11D
023761,001494:
023762,001495: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
023763,001496:
023764,001497: # JOBS OR TASKS INITIATED_
023765,001498: # NONE
023766,001499:
023767,001500: # ALARMS_ TRACKER FAIL
023768,001501:
023769,001502: # EXIT_ L +1 (ALWAYS)
023770,001503:
023771,001504: 25,2071 00006 RRZEROSB EXTEND
023772,001505: 25,2072 23315 QXCH RRRET
023773,001506: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
023774,001507: 25,2074 00006 EXTEND # COMING HERE.
023775,001508: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
023776,001509: 25,2076 05221 TC FIXDELAY
023777,001510: 25,2077 00002 DEC 2 B-14
023778,001511:
023779,001512: 25,2100 34755 CAF ZERO
023780,001513: 25,2101 54035 TS CDUT
023781,001514: 25,2102 54036 TS CDUS
023782,001515: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
023783,001516: 25,2104 00006 EXTEND
023784,001517: 25,2105 03012 WAND CHAN12
023785,001518: 25,2106 05221 TC FIXDELAY
023786,001519: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
023787,001520:
023788,001521: 25,2110 44737 CS BIT13 # REMOVE ZEROING IN PROCESS BIT.
023789,001522:
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|
Page 539 |
023791,001524: 25,2111 70110 MASK RADMODES
023792,001525: 25,2112 54110 TS RADMODES
023793,001526:
023794,001527: 25,2113 30035 CA CDUT
023795,001528: 25,2114 04512 TC MAGSUB
023796,001529: 25,2115 57777 DEC -.5
023797,001530: 25,2116 12121 TCF +3 # IF MODE 2.
023798,001531:
023799,001532: 25,2117 34755 CAF ZERO
023800,001533: 25,2120 12122 TCF +2
023801,001534: 25,2121 34740 CAF BIT12
023802,001535: 25,2122 56110 XCH RADMODES
023803,001536: 25,2123 77740 MASK -BIT12
023804,001537: 25,2124 26110 ADS RADMODES
023805,001538:
023806,001539: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
023807,001540:
023808,001541: 25,2126 01315 TC RRRET # DONE.
023809,001542:
023810,001543: 25,2127 7740 -BIT12 EQUALS -1/8 # IN SPROOT
023811,001544:
|
|
Page 540 |
023813,001546: # PROGRAM NAME_ DORREPOS
023814,001547: # FUNCTIONAL DESCRIPTION_
023815,001548: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
023816,001549: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
023817,001550: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
023818,001551: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
023819,001552: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
023820,001553: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
023821,001554: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
023822,001555: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
023823,001556: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
023824,001557: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
023825,001558: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
023826,001559: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
023827,001560: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
023828,001561: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
023829,001562: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
023830,001563: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
023831,001564: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
023832,001565: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
023833,001566: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
023834,001567: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
023835,001568: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
023836,001569: # TASKOVER.
023837,001570:
023838,001571: # CALLING SEQUENCE:
023839,001572: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
023840,001573: # NOT WITHIN LIMITS OF CURRENT MODE.
023841,001574:
023842,001575: # ERASABLE INITIALIZATION REQUIRED:
023843,001576: # RADMODES
023844,001577:
023845,001578: # SUBROUTINES CALLED_
023846,001579: # RRTONLY, RRSONLY, BEGDES (EXIT)
023847,001580:
023848,001581: # JOBS OR TASKS INITIATED_
023849,001582: # NONE
023850,001583:
023851,001584: # ALARMS- NONE
023852,001585:
023853,001586: # EXIT_ TASKOVER, BEGDES
023854,001587:
023855,001588: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023856,001589:
023857,001590: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023858,001591:
023859,001592: 25,2130 05221 TC FIXDELAY
023860,001593: 25,2131 00002 DEC 2 B-14
023861,001594:
023862,001595: 25,2132 34740 CAF BIT12 # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
023863,001596:
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|
Page 541 |
023865,001598: 25,2133 70110 MASK RADMODES
023866,001599: 25,2134 10000 CCS A
023867,001600: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023868,001601: 25,2136 02241 TC RRTONLY
023869,001602:
023870,001603: 25,2137 34740 CAF BIT12 # NOW PUT SHAFT IN RIGHT POSITION.
023871,001604: 25,2140 70110 MASK RADMODES
023872,001605: 25,2141 10000 CCS A
023873,001606: 25,2142 44736 CS HALF # -90 FOR MODE 2.
023874,001607: 25,2143 02244 TC RRSONLY
023875,001608:
023876,001609: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023877,001610: # REQUESTED DURING REPOSITION.
023878,001611: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023879,001612: 25,2146 54110 TS RADMODES
023880,001613: 25,2147 74742 MASK BIT10 # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023881,001614: 25,2150 10000 CCS A
023882,001615: 25,2151 12573 TCF BEGDES
023883,001616: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023884,001617: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023885,001618: 25,2154 03012 WAND CHAN12
023886,001619: 25,2155 15261 TCF TASKOVER
023887,001620:
023888,001621: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023889,001622: 25,2157 00006 EXTEND
023890,001623: 25,2160 02012 RAND CHAN12
023891,001624: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023892,001625: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023893,001626:
023894,001627: 25,2163 54112 TS LASTYCMD
023895,001628: 25,2164 54113 TS LASTXCMD
023896,001629: 25,2165 34752 CAF BIT2
023897,001630: 25,2166 00006 EXTEND
023898,001631: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023899,001632: 25,2170 00002 TC Q
023900,001633:
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|
Page 542 |
023902,001635: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023903,001636:
023904,001637: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023905,001638: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023906,001639: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023907,001640: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023908,001641: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023909,001642: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023910,001643: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023911,001644: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023912,001645: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023913,001646: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023914,001647: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023915,001648: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023916,001649: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023917,001650: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023918,001651: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023919,001652: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023920,001653: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023921,001654: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023922,001655: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023923,001656: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023924,001657:
023925,001658: # CALLING SEQUENCE:
023926,001659: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023927,001660: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023928,001661: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023929,001662: # OTHER MODE.
023930,001663:
023931,001664: # ERASABLE INITIALIZATION REQUIRED:
023932,001665: # RADMODES
023933,001666:
023934,001667: # SUBROUTINES CALLED_
023935,001668: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023936,001669:
023937,001670: # JOBS OR TASKS INITIATED_
023938,001671: # NONE
023939,001672:
023940,001673: # ALARMS_ NONE
023941,001674:
023942,001675: # EXIT_ STDESIG
023943,001676:
023944,001677: 25,2171 34740 REMODE CAF BIT12 # DRIVE TRUNNION TO 0 (180).
023945,001678: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023946,001679: 25,2173 10000 CCS A
023947,001680: 25,2174 34735 CAF BIT15
023948,001681: 25,2175 02241 TC RRTONLY
023949,001682:
023950,001683: 25,2176 37737 CAF -45DEGSR
023951,001684: 25,2177 02244 TC RRSONLY
023952,001685:
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|
Page 543 |
023954,001687: 25,2200 40110 CS RADMODES
023955,001688: 25,2201 74740 MASK BIT12
023956,001689: 25,2202 10000 CCS A
023957,001690: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
023958,001691: 25,2204 62231 AD -50DEGSR
023959,001692: 25,2205 02241 TC RRTONLY
023960,001693:
023961,001694: 25,2206 40110 CS RADMODES
023962,001695: 25,2207 74740 MASK BIT12
023963,001696: 25,2210 10000 CCS A
023964,001697: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
023965,001698: 25,2212 02241 TC RRTONLY
023966,001699:
023967,001700: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
023968,001701: 25,2214 74740 MASK BIT12
023969,001702: 25,2215 10000 CCS A
023970,001703: 25,2216 44736 CS HALF
023971,001704: 25,2217 02244 TC RRSONLY
023972,001705:
023973,001706: 25,2220 02233 TC RMODINV
023974,001707:
023975,001708: 25,2221 44736 CS BIT14 # END OF REMODE.
023976,001709: 25,2222 70110 MASK RADMODES
023977,001710: 25,2223 54110 TS RADMODES
023978,001711:
023979,001712: 25,2224 34742 CAF BIT10 # WAS REMODE CALLED DURING DESIGNATE
023980,001713: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023981,001714: 25,2226 00006 EXTEND
023982,001715: 25,2227 13555 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
023983,001716: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
023984,001717: 25,2231 7737 -45DEGSR = 13,14,15
023985,001718: 25,2231 67070 -50DEGSR DEC -.27778
023986,001719: 25,2232 61615 -80DEGSR DEC -.44444
023987,001720:
023988,001721: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023989,001722: 25,2234 34740 CAF BIT12
023990,001723: 25,2235 00006 EXTEND
023991,001724: 25,2236 06001 RXOR LCHAN
023992,001725: 25,2237 54110 TS RADMODES
023993,001726: 25,2240 00002 TC Q
023994,001727:
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|
Page 544 |
023996,001729: # PROGRAM NAMES_ RRTONLY, RRSONLY
023997,001730:
023998,001731: # FUNCTIONAL DESCRIPTION_
023999,001732: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
024000,001733: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
024001,001734: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
024002,001735: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
024003,001736: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
024004,001737: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
024005,001738: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
024006,001739: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
024007,001740: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
024008,001741: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
024009,001742: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
024010,001743: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
024011,001744: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
024012,001745: # REPEATED.
024013,001746:
024014,001747: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
024015,001748: # L TC RRTONLY (TRUNNION ONLY)
024016,001749: # RRSONLY (SHAFT ONLY)
024017,001750: # RRTONLY IS CALLED BY PREPOS29;
024018,001751: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
024019,001752:
024020,001753: # ERASABLE INITIALIZATION REQUIRED:
024021,001754: # C(A) = DESIRED ANGLE, RADMODES
024022,001755:
024023,001756: # SUBROUTINES CALLED_
024024,001757: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
024025,001758:
024026,001759: # JOBS OR TASKS INITIATED_
024027,001760: # NONE
024028,001761:
024029,001762: # ALARMS_ NONE
024030,001763:
024031,001764: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
024032,001765: # BITS 14, 11)
024033,001766: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
024034,001767:
024035,001768: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
024036,001769: 25,2242 34755 CAF ZERO
024037,001770: 25,2243 12246 TCF RR1AXIS
024038,001771:
024039,001772: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
024040,001773: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
024041,001774:
024042,001775: 25,2246 55317 RR1AXIS TS RRINDEX
024043,001776: 25,2247 00006 EXTEND
024044,001777: 25,2250 23315 QXCH RRRET
024045,001778: 25,2251 12254 TCF RR1AX2
024046,001779:
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|
Page 545 |
024048,001781: 25,2252 05221 NXTRR1AX TC FIXDELAY
024049,001782: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
024050,001783:
024051,001784: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
024052,001785: 25,2255 77707 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
024053,001786: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
024054,001787: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
024055,001788:
024056,001789: 25,2260 31316 CA RDES
024057,001790: 25,2261 00006 EXTEND
024058,001791: 25,2262 51317 INDEX RRINDEX
024059,001792: 25,2263 20035 MSU CDUT
024060,001793: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
024061,001794: 25,2265 00006 EXTEND
024062,001795: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
024063,001796: 25,2267 54001 TS L
024064,001797: 25,2270 30110 CA RADMODES
024065,001798: 25,2271 74752 MASK BIT2
024066,001799: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
024067,001800: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
024068,001801: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
024069,001802:
024070,001803: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
024071,001804: 25,2276 01315 TC RRRET # RETURN TO CALLER.
024072,001805:
024073,001806: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
024074,001807: 25,2300 12302 TCF +2 # SETTING A TO 0.
024075,001808: 25,2301 56001 XCH L
024076,001809: 25,2302 53110 DXCH TANG
024077,001810:
024078,001811: 25,2303 02306 TC RROUT
024079,001812:
024080,001813: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
024081,001814:
024082,001815: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
024083,001816:
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Page 546 |
024085,001818: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
024086,001819:
024087,001820: # FUNCTIONAL DESCRIPTION_
024088,001821: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
024089,001822: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
024090,001823: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
024091,001824: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
024092,001825: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
024093,001826: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
024094,001827: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
024095,001828: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
024096,001829: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
024097,001830: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
024098,001831: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
024099,001832: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
024100,001833: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
024101,001834:
024102,001835: # CALLING SEQUENCE:
024103,001836: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
024104,001837: # RRTONLY, RRSONLY, AND DODES
024105,001838:
024106,001839: # ERASABLE INITIALIZATION REQUIRED:
024107,001840: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
024108,001841: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
024109,001842:
024110,001843: # SUBROUTINES CALLED_
024111,001844: # MAGSUB
024112,001845:
024113,001846: # JOBS OR TASKS INITIATED_
024114,001847: # NONE
024115,001848:
024116,001849: # ALARMS_ NONE
024117,001850:
024118,001851: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
024119,001852:
024120,001853: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
024121,001854: 25,2307 34753 CAF ONE # LOOP TWICE.
024122,001855: 25,2310 54062 RROUT2 TS ITEMP2
024123,001856: 25,2311 50000 INDEX A
024124,001857: 25,2312 31107 CA TANG
024125,001858: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
024126,001859:
024127,001860: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
024128,001861: 25,2315 77177 -RRLIMIT DEC -384 B-14
024129,001862: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
024130,001863:
024131,001864: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
024132,001865: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
024133,001866: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
024134,001867: 25,2322 40000 COM
024135,001868:
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Page 547 |
024137,001870: 25,2323 60061 AD ITEMP1
024138,001871: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
024139,001872: 25,2325 50062 INDEX ITEMP2
024140,001873: 25,2326 54053 TS CDUTCMD
024141,001874:
024142,001875: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
024143,001876: 25,2330 12310 TCF RROUT2
024144,001877:
024145,001878: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
024146,001879: 25,2332 00006 EXTEND
024147,001880: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
024148,001881: 25,2334 00001 TC L # RETURN.
024149,001882:
024150,001883: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
024151,001884: 25,2336 42315 CS -RRLIMIT
024152,001885: 25,2337 12341 TCF +2
024153,001886: 25,2340 32315 CA -RRLIMIT
024154,001887: 25,2341 54061 TS ITEMP1
024155,001888: 25,2342 12320 TCF SETRRCTR +1
024156,001889:
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|
Page 548 |
024158,001891: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
024159,001892:
024160,001893: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
024161,001894: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
024162,001895: 25,2345 10000 CCS A
024163,001896: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
024164,001897:
024165,001898: 25,2347 00004 INHINT
024166,001899: 25,2350 44737 CS BIT13 # SET FLAG TO SHOW ZEROING IN PROGRESS.
024167,001900: 25,2351 70110 MASK RADMODES
024168,001901: 25,2352 64737 AD BIT13
024169,001902: 25,2353 54110 TS RADMODES
024170,001903:
024171,001904: 25,2354 34753 CAF ONE
024172,001905: 25,2355 05203 TC WAITLIST
024173,001906: 25,2356 E7,1454 EBANK= LOSCOUNT
024174,001907: 25,2356 02370 52067 2CADR RRZ2
024175,001908:
024176,001909: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
024177,001910: 25,2361 74752 MASK BIT2
024178,001911: 25,2362 10000 CCS A
024179,001912: 25,2363 12366 TCF ROADBACK
024180,001913: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
024181,001914: 25,2365 00510 OCT 510
024182,001915: 25,2366 00003 ROADBACK RELINT
024183,001916: 25,2367 14631 TCF SWRETURN
024184,001917:
024185,001918: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
024186,001919: 25,2371 13546 TCF ENDRADAR
024187,001920:
024188,001921: 25,2372 02001 BIT11+1 OCT 02001
024189,001922:
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|
Page 549 |
024191,001924: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
024192,001925:
024193,001926: # FUNCTIONAL DESCRIPTION_
024194,001927: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
024195,001928: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
024196,001929: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
024197,001930: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
024198,001931: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
024199,001932: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
024200,001933: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
024201,001934: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
024202,001935: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
024203,001936: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
024204,001937: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
024205,001938: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
024206,001939: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
024207,001940: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
024208,001941: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
024209,001942: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
024210,001943: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
024211,001944: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
024212,001945: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
024213,001946: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
024214,001947: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
024215,001948: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
024216,001949:
024217,001950: # CALLING SEQUENCE:
024218,001951: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
024219,001952: # L+1 RRDESSM
024220,001953: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
024221,001954: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
024222,001955:
024223,001956: # ERASABLE INITIALIZATION REQUIRED:
024224,001957: # RRTARGET, RADMODES
024225,001958:
024226,001959: # SUBROUTINES CALLED_
024227,001960: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
024228,001961: # PART OF), RMODINV
024229,001962:
024230,001963: # JOBS OR TASKS INITIATED_
024231,001964: # NONE
024232,001965:
024233,001966: # ALARMS_ NONE
024234,001967:
024235,001968: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
024236,001969: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
024237,001970: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
024238,001971:
024239,001972: 25,2373 43020 RRDESSM STQ CLEAR
024240,001973: 25,2374 01113 DESRET
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|
Page 550 |
024242,001975: 25,2375 00271 RRNBSW
024243,001976: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
024244,001977: 25,2377 47443 CDUTRIG
024245,001978: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024246,001979: 25,2401 01102 RRTARGET
024247,001980: 25,2402 47575 *SMNB*
024248,001981:
024249,001982: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
024250,001983: 25,2404 26133 RRANGLES # ALTERNATE MODE.
024251,001984: 25,2405 77776 EXIT
024252,001985:
024253,001986: 25,2406 00004 INHINT
024254,001987: 25,2407 04523 TC RRLIMCHK
024255,001988: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
024256,001989: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
024257,001990: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
024258,001991: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
024259,001992: 25,2414 40104 CS FLAGWRD8
024260,001993: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
024261,001994: 25,2416 00006 EXTEND
024262,001995: 25,2417 12456 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
024263,001996: 25,2420 02461 TC TRYSWS
024264,001997:
024265,001998:
024266,001999: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
024267,002000: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
024268,002001: 25,2423 00006 EXTEND
024269,002002: 25,2424 12456 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
024270,002003: 25,2425 30074 CA STATE
024271,002004: 25,2426 74745 MASK RNDVZBIT
024272,002005: 25,2427 10000 CCS A # TEST RNDVZFLG.
024273,002006: 25,2430 02471 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
024274,002007: 25,2431 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
024275,002008:
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|
Page 551 |
024277,002010: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
024278,002011:
024279,002012: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
024280,002013: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
024281,002014: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
024282,002015: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
024283,002016: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
024284,002017: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
024285,002018: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
024286,002019: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
024287,002020: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
024288,002021: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
024289,002022: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
024290,002023: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
024291,002024: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
024292,002025: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
024293,002026: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
024294,002027: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
024295,002028: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
024296,002029: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
024297,002030: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
024298,002031: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
024299,002032: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
024300,002033:
024301,002034: # CALLING SEQUENCE:
024302,002035: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
024303,002036:
024304,002037: # ERASABLE INITIALIZATION REQUIRED:
024305,002038: # RADMODES, (SEE DODES)
024306,002039:
024307,002040: # SUBROUTINES CALLED_
024308,002041: # SETRRECR, WAITLIST
024309,002042:
024310,002043: # JOBS OR TASKS INITIATED_
024311,002044: # BEGDES
024312,002045:
024313,002046: # ALARMS_ NONE
024314,002047:
024315,002048: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
024316,002049: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
024317,002050:
024318,002051: 25,2432 25113 STARTDES INCR DESRET
024319,002052: 25,2433 40110 CS RADMODES
024320,002053: 25,2434 74742 MASK BIT10
024321,002054: 25,2435 26110 ADS RADMODES
024322,002055: 25,2436 74741 MASK BIT11 # SEE IF REPOSITION IN PROGRESS.
024323,002056: 25,2437 10000 CCS A
024324,002057: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
024325,002058:
024326,002059: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 552 |
024328,002061: 25,2442 34752 CAF TWO
024329,002062: 25,2443 05203 TC WAITLIST
024330,002063: 25,2444 E7,1454 EBANK= LOSCOUNT
024331,002064: 25,2444 02573 52067 2CADR BEGDES
024332,002065:
024333,002066: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
024334,002067: 25,2447 00006 EXTEND
024335,002068: 25,2450 12452 BZF DESRTRN # YES SET EXIT
024336,002069: 25,2451 05155 TC ENDOFJOB # NO
024337,002070: 25,2452 00003 DESRTRN RELINT
024338,002071: 25,2453 25113 INCR DESRET
024339,002072: 25,2454 31113 CA DESRET
024340,002073: 25,2455 14640 TCF BANKJUMP
024341,002074:
024342,002075: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
024343,002076: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
024344,002077: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
024345,002078:
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|
Page 553 |
024347,002080: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
024348,002081:
024349,002082: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
024350,002083: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
024351,002084: 25,2463 01111 ADRES MODEB
024352,002085: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
024353,002086:
024354,002087: 25,2465 02233 TC RMODINV # RESET BIT12
024355,002088: 25,2466 34736 CAF BIT14 # SET FLAG FOR REMODE.
024356,002089: 25,2467 26110 ADS RADMODES
024357,002090:
024358,002091: 25,2470 12412 TCF OKDESSM
024359,002092:
024360,002093: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
024361,002094: 25,2472 25113 INCR DESRET # TO CALLER +2
024362,002095: 25,2473 12456 TCF NORDSTAL
024363,002096:
024364,002097: 25,2474 00074 MAXTRYS DEC 60 B-14
024365,002098:
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|
Page 554 |
024367,002100: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
024368,002101: # TANG AND TANG +1.
024369,002102:
024370,002103: 25,2475 04645 RRDESNB TC MAKECADR
024371,002104: 25,2476 55113 TS DESRET
024372,002105:
024373,002106: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
024374,002107: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
024375,002108: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
024376,002109: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
024377,002110: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
024378,002111: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024379,002112: 25,2505 01107 ADRES TANG
024380,002113: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
024381,002114:
024382,002115: 25,2507 00003 OKDESNB RELINT
024383,002116: 25,2510 00006 EXTEND
024384,002117: 25,2511 31110 DCA TANG
024385,002118: 25,2512 53751 DXCH TANGNB
024386,002119: 25,2513 06036 TC INTPRET
024387,002120:
024388,002121: 25,2514 77624 CALL # GET LOS IN NB COORDS.
024389,002122: 25,2515 46041 RRNB
024390,002123: 25,2516 01102 STORE RRTARGET
024391,002124:
024392,002125: 25,2517 77414 SET EXIT
024393,002126: 25,2520 00071 RRNBSW
024394,002127:
024395,002128: 25,2521 00004 INHINT
024396,002129: 25,2522 12433 TCF STARTDES +1
024397,002130: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
024398,002131: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
024399,002132: 25,2525 01107 ADRES TANG
024400,002133: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
024401,002134:
024402,002135: 25,2527 02233 TC RMODINV
024403,002136: 25,2530 34736 CAF BIT14 # CALL FOR REMODE.
024404,002137: 25,2531 26110 ADS RADMODES
024405,002138: 25,2532 12507 TCF OKDESNB
024406,002139:
024407,002140: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
024408,002141: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
024409,002142: 25,2535 00502 OCT 502
024410,002143: 25,2536 06011 TC CLRADMOD
024411,002144: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
024412,002145:
024413,002146: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
024414,002147: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
024415,002148: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
024416,002149: 25,2543 00006 EXTEND
024417,002150:
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|
Page 555 |
024419,002152: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
024420,002153: 25,2545 30001 DCA 0
024421,002154: 25,2546 52062 DXCH ITEMP1
024422,002155: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
024423,002156:
024424,002157: 25,2550 34740 CAF BIT12 # SEE WHICH MODE RR IS IN
024425,002158: 25,2551 70110 MASK RADMODES
024426,002159: 25,2552 10000 CCS A
024427,002160: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
024428,002161: 25,2554 30061 CA ITEMP1
024429,002162: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
024430,002163: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
024431,002164: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
024432,002165:
024433,002166: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
024434,002167: 25,2561 00006 EXTEND
024435,002168: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
024436,002169: 25,2563 64562 AD 5.5DEGS
024437,002170: 25,2564 04512 SHAFTLIM TC MAGSUB
024438,002171: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
024439,002172: 25,2566 00001 TC L # NOT IN LIMITS
024440,002173: 25,2567 04560 TC RRLIMOK # IN LIMITS
024441,002174: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
024442,002175: 25,2571 12564 TCF SHAFTLIM
024443,002176:
024444,002177:
024445,002178: 25,2572 03512 20.5DEGS DEC .11389
024446,002179:
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|
Page 556 |
024448,002181: # PROGRAM NAME_ BEGDES
024449,002182:
024450,002183: # FUNCTIONAL DESCRIPTION_
024451,002184: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
024452,002185: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
024453,002186: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
024454,002187: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
024455,002188: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
024456,002189: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
024457,002190: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
024458,002191: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
024459,002192: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
024460,002193: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
024461,002194: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
024462,002195: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
024463,002196: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
024464,002197: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
024465,002198: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
024466,002199: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
024467,002200: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
024468,002201: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
024469,002202: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
024470,002203: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
024471,002204: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
024472,002205: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
024473,002206: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
024474,002207: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
024475,002208: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
024476,002209:
024477,002210: # CALLING SEQUENCE:
024478,002211: # WAITLIST CALL FROM STARTDES
024479,002212: # TCF BEGDES FROM DORREPOS
024480,002213: # TC STDESIG RETURNING, FROM REMODE
024481,002214:
024482,002215: # ERASABLE INITIALIZATION REQUIRED:
024483,002216: # DESCOUNT, RADMODES
024484,002217:
024485,002218: # SUBROUTINES CALLED_
024486,002219: # ENDRADAR, FINDVAC
024487,002220:
024488,002221: # JOBS OR TASKS INITIATED_ DODES
024489,002222:
024490,002223: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
024491,002224: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
024492,002225:
024493,002226: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
024494,002227: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
024495,002228: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
024496,002229:
024497,002230: 25,2573 40110 BEGDES CS RADMODES
024498,002231:
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|
Page 557 |
024500,002233: 25,2574 74736 MASK BIT14
024501,002234: 25,2575 10000 CCS A
024502,002235: 25,2576 02602 TC STDESIG
024503,002236: 25,2577 02171 TC REMODE
024504,002237: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
024505,002238: 25,2601 00062 DEC 50 B-14
024506,002239:
024507,002240: 25,2602 34741 STDESIG CAF BIT11
024508,002241: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
024509,002242: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
024510,002243: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
024511,002244:
024512,002245: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
024513,002246: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
024514,002247: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
024515,002248: 25,2611 12630 TCF MOREDES +1
024516,002249:
024517,002250: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
024518,002251: 25,2613 74742 MASK BIT10 # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
024519,002252: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
024520,002253: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
024521,002254:
024522,002255: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
024523,002256: 25,2617 12627 TCF MOREDES
024524,002257:
024525,002258: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
024526,002259: 25,2621 00006 EXTEND
024527,002260: 25,2622 03012 WAND CHAN12
024528,002261: 25,2623 44742 BADDES CS BIT10 # REMOVE DESIGNATE FLAG.
024529,002262: 25,2624 70110 MASK RADMODES
024530,002263: 25,2625 54110 TS RADMODES
024531,002264: 25,2626 13562 TCF RDBADEND
024532,002265:
024533,002266: 25,2627 55114 MOREDES TS DESCOUNT
024534,002267: 25,2630 37713 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
024535,002268: 25,2631 05105 TC FINDVAC
024536,002269: 25,2632 E7,1454 EBANK= LOSCOUNT
024537,002270: 25,2632 02636 52067 2CADR DODES
024538,002271:
024539,002272: 25,2634 12600 TCF DESLOOP
024540,002273:
024541,002274: 25,2635 20002 B14+B2 OCT 20002
024542,002275:
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Page 558 |
024544,002277: # PROGRAM NAME_ DODES
024545,002278:
024546,002279: # FUNCTIONAL DESCRIPTION_
024547,002280: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
024548,002281: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
024549,002282: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
024550,002283: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
024551,002284: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
024552,002285: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
024553,002286: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
024554,002287: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
024555,002288: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
024556,002289: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
024557,002290: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
024558,002291: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
024559,002292: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
024560,002293: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
024561,002294: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
024562,002295: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
024563,002296: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
024564,002297: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
024565,002298: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
024566,002299: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024567,002300: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
024568,002301: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
024569,002302: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
024570,002303: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
024571,002304: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
024572,002305: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
024573,002306: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
024574,002307: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
024575,002308: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
024576,002309: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
024577,002310: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
024578,002311: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
024579,002312: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
024580,002313: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
024581,002314: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
024582,002315: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
024583,002316: # VIA ENDOFJOB.
024584,002317:
024585,002318: # CALLING SEQUENCE:
024586,002319: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
024587,002320:
024588,002321: # ERASABLE INITIALIZATION REQUIRED:
024589,002322: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
024590,002323: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
024591,002324:
024592,002325: # SUBROUTINES CALLED_
024593,002326: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
024594,002327:
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Page 559 |
024596,002329: # JOBS OR TASKS INITIATED_
024597,002330: # NONE
024598,002331:
024599,002332: # ALARMS_ NONE
024600,002333:
024601,002334: # EXIT_ ENDOFJOB (ALWAYS)
024602,002335:
024603,002336: 25,2636 00006 DODES EXTEND
024604,002337: 25,2637 30036 DCA CDUT
024605,002338: 25,2640 53110 DXCH TANG
024606,002339:
024607,002340: 25,2641 06036 TC INTPRET
024608,002341:
024609,002342: 25,2642 77201 SETPD VLOAD
024610,002343: 25,2643 00001 0
024611,002344: 25,2644 01102 RRTARGET
024612,002345: 25,2645 74214 BON VXSC
024613,002346: 25,2646 00311 RRNBSW
024614,002347: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
024615,002348: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
024616,002349: 25,2651 63372 VSL1 PDVL
024617,002350: 25,2652 01761 LOSVEL
024618,002351: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
024619,002352: 25,2654 13072 MCTOMS
024620,002353: 25,2655 45056 UNIT CALL
024621,002354: 25,2656 47443 CDUTRIG
024622,002355: 25,2657 77624 CALL
024623,002356: 25,2660 47575 *SMNB*
024624,002357:
024625,002358: 25,2661 14041 DONBRD STODL 32D
024626,002359: 25,2662 01111 TANG +1
024627,002360: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
024628,002361: 25,2664 21465 CDULOGIC # (-SIN(S)).
024629,002362: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
024630,002363: 25,2666 41546 COS PUSH
024631,002364: 25,2667 65205 DMP PDDL
024632,002365: 25,2670 00041 32D
024633,002366: 25,2671 00045 36D
024634,002367: 25,2672 44205 DMP BDSU
024635,002368: 25,2673 00001 0
024636,002369: 25,2674 77626 STADR
024637,002370: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
024638,002371:
024639,002372: 25,2676 47135 SLOAD RTB
024640,002373: 25,2677 01110 TANG
024641,002374: 25,2700 21465 CDULOGIC
024642,002375: 25,2701 71406 PUSH COS # COS(T) TO 4.
024643,002376: 25,2702 73525 PDDL SIN
024644,002377: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
024645,002378: 25,2704 00003 2
024646,002379:
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Page 560 |
024648,002381: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
024649,002382: 25,2706 00005 4 # (COS(T) )
024650,002383: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
024651,002384: 25,2710 00007 6
024652,002385: 25,2711 00001 0
024653,002386: 25,2712 55552 SL1 VDEF
024654,002387: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
024655,002388: 25,2714 00041 32D
024656,002389:
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Page 561 |
024658,002391: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
024659,002392: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
024660,002393:
024661,002394: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
024662,002395: 25,2716 00006 EXTEND
024663,002396: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024664,002397: 25,2720 55107 TS TANG # TRUNNION COMMAND.
024665,002398: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
024666,002399: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
024667,002400: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
024668,002401: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
024669,002402: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
024670,002403: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
024671,002404: 25,2727 41110 +3 CS TANG +1
024672,002405: 25,2730 00006 EXTEND
024673,002406: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
024674,002407: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
024675,002408: 25,2733 06036 TC INTPRET
024676,002409:
024677,002410: 25,2734 41345 DLOAD DMP
024678,002411: 25,2735 00003 2 # COS(S).
024679,002412: 25,2736 00005 4 # COS(T).
024680,002413: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
024681,002414: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
024682,002415: 25,2741 00001 0 # SIN(S).
024683,002416: 25,2742 72405 DMP SL1
024684,002417: 25,2743 00005 4 # COS(T).
024685,002418: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
024686,002419: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
024687,002420: 25,2746 52751 +3
024688,002421: 25,2747 77624 CALL
024689,002422: 25,2750 47577 *NBSM* # GET URR IN SM AXES.
024690,002423: 25,2751 77441 DOT EXIT
024691,002424: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
024692,002425:
024693,002426: 25,2753 00006 EXTEND
024694,002427: 25,2754 43070 DCS COS1/2DG
024695,002428: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
024696,002429: 25,2756 10154 CCS MPAC
024697,002430: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
024698,002431: 25,2760 12762 TCF +2
024699,002432: 25,2761 34753 CA ONE
024700,002433: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
024701,002434:
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024703,002436: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
024704,002437:
024705,002438: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
024706,002439: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
024707,002440: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
024708,002441: 25,2766 13017 TCF DORROUT
024709,002442: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
024710,002443: 25,2770 13000 TCF DGOODCHK
024711,002444: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
024712,002445: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
024713,002446: 25,2773 10000 CCS A
024714,002447: 25,2774 13005 TCF RRDESDUN
024715,002448:
024716,002449: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
024717,002450: 25,2776 00006 EXTEND
024718,002451: 25,2777 05012 WOR CHAN12
024719,002452:
024720,002453: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
024721,002454: 25,3001 00006 EXTEND
024722,002455: 25,3002 02033 RAND CHAN33
024723,002456: 25,3003 10000 CCS A
024724,002457: 25,3004 13017 TCF DORROUT
024725,002458:
024726,002459: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
024727,002460: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
024728,002461: 25,3007 00004 INHINT
024729,002462: 25,3010 54110 TS RADMODES
024730,002463:
024731,002464: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
024732,002465: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
024733,002466: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
024734,002467: 25,3014 00006 EXTEND
024735,002468: 25,3015 03012 WAND CHAN12
024736,002469: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
024737,002470:
024738,002471: 25,3017 40074 DORROUT CS FLAGWRD0 # IF NOT IN P20/P22 BUT V41,DON'T DO
024739,002472: 25,3020 74745 MASK RNDVZBIT # VELOCITY CORRECTION.
024740,002473: 25,3021 10000 CCS A
024741,002474: 25,3022 03041 TC NOTP20
024742,002475: 25,3023 06036 TC INTPRET
024743,002476: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
024744,002477: 25,3025 01102 RRTARGET
024745,002478: 25,3026 01767 MLOSV
024746,002479: 25,3027 41572 VSL1 PUSH
024747,002480: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
024748,002481: 25,3031 01761 LOSVEL # TO LOS VECTOR
024749,002482: 25,3032 13072 MCTOMS
024750,002483: 25,3033 53362 VSR1 VAD
024751,002484: 25,3034 77656 UNIT
024752,002485: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
024753,002486:
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Page 563 |
024755,002488: 25,3036 00045 36D
024756,002489: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
024757,002490: 25,3040 77776 EXIT
024758,002491: 25,3041 00004 NOTP20 INHINT
024759,002492: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
024760,002493: 25,3043 74741 MASK BIT11 # REPOSITION HAS TAKEN OVER.
024761,002494: 25,3044 10000 CCS A
024762,002495: 25,3045 02306 TC RROUT
024763,002496:
024764,002497: 25,3046 30076 CA FLAGWRD2
024765,002498: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
024766,002499: 25,3050 00006 EXTEND # LOS COUNTER
024767,002500: 25,3051 15155 BZF ENDOFJOB
024768,002501: 25,3052 11454 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
024769,002502: 25,3053 03064 TC DODESEND # A NEW LOS
024770,002503: 25,3054 00004 INHINT
024771,002504: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
024772,002505: 25,3056 52602 CADR DESLOOP +2
024773,002506: 25,3057 00003 RELINT
024774,002507: 25,3060 10067 CCS NEWJOB
024775,002508: 25,3061 05122 TC CHANG1
024776,002509: 25,3062 04616 TC BANKCALL
024777,002510: 25,3063 50752 CADR R21LEM2
024778,002511:
024779,002512:
024780,002513: 25,3064 55454 DODESEND TS LOSCOUNT
024781,002514: 25,3065 05155 TC ENDOFJOB
024782,002515:
024783,002516:
024784,002517: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
024785,002518: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
024786,002519: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
024787,002520:
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Page 564 |
024789,002522: # RADAR READ INITIALIZATION
024790,002523:
024791,002524: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
024792,002525:
024793,002526: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
024794,002527: 25,3074 00017 ALLREAD OCT 17
024795,002528:
024796,002529: 25,3075 03114 LRVELZ TC INITREAD
024797,002530: 25,3076 00016 OCT 16
024798,002531:
024799,002532: 25,3077 03114 LRVELY TC INITREAD
024800,002533: 25,3100 00015 OCT 15
024801,002534:
024802,002535: 25,3101 03114 LRVELX TC INITREAD
024803,002536: 25,3102 00014 OCT 14
024804,002537:
024805,002538: 25,3103 03113 RRRDOT TC INITREAD -1
024806,002539: 25,3104 00012 OCT 12
024807,002540:
024808,002541: 25,3105 03113 RRRANGE TC INITREAD -1
024809,002542: 25,3106 00011 OCT 11
024810,002543:
024811,002544: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
024812,002545: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
024813,002546:
024814,002547: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
024815,002548: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
024816,002549: 25,3111 51105 INDEX TIMEHOLD
024817,002550: 25,3112 13075 TCF LRVELZ
024818,002551:
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024820,002553: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
024821,002554: 25,3114 00004 INITREAD INHINT
024822,002555:
024823,002556: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
024824,002557: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
024825,002558: 25,3117 74751 MP BIT3 # ENCOUNTERED).
024826,002559: 25,3120 53106 DXCH TIMEHOLD
024827,002560:
024828,002561: 25,3121 10000 CCS A
024829,002562: 25,3122 55111 TS NSAMP
024830,002563: 25,3123 64753 AD ONE
024831,002564: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
024832,002565: # DOUBLE
024833,002566: 25,3124 55100 TS SAMPLIM
024834,002567:
024835,002568: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
024836,002569: 25,3126 00006 EXTEND
024837,002570: 25,3127 02033 RAND CHAN33
024838,002571: 25,3130 55113 TS OLDATAGD
024839,002572:
024840,002573: 25,3131 43074 CS ALLREAD
024841,002574: 25,3132 00006 EXTEND
024842,002575: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
024843,002576:
024844,002577: 25,3134 50002 INDEX Q
024845,002578: 25,3135 30000 CAF 0
024846,002579: 25,3136 00006 EXTEND
024847,002580: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
024848,002581:
024849,002582: 25,3140 00006 EXTEND
024850,002583: 25,3141 30025 DCA TIME2
024851,002584: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
024852,002585:
024853,002586: 25,3143 34755 CAF ZERO
024854,002587: 25,3144 54001 TS L
024855,002588: 25,3145 53102 DXCH SAMPLSUM
024856,002589: 25,3146 12366 TCF ROADBACK
024857,002590:
024858,002591: 25,3147 00230 DGBITS OCT 230
024859,002592:
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Page 566 |
024861,002594: # RADAR RUPT READER
024862,002595:
024863,002596: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024864,002597:
024865,002598: 25,2000 SETLOC RADARUPT
024866,002599: 25,2000 BANK
024867,002600:
024868,002601: 25,3150 COUNT* $$/RRUPT
024869,002602: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
024870,002603: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
024871,002604: 25,3152 54016 TS BANKRUPT
024872,002605: 25,3153 00006 EXTEND
024873,002606: 25,3154 22012 QXCH QRUPT
024874,002607:
024875,002608: 25,3155 34757 CAF SEVEN
024876,002609: 25,3156 00006 EXTEND
024877,002610: 25,3157 02013 RAND CHAN13
024878,002611: 25,3160 55335 TS DNINDEX
024879,002612: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO,DO NOT STORE
024880,002613: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024881,002614: 25,3163 30046 CA RNRAD
024882,002615: 25,3164 51335 INDEX DNINDEX
024883,002616: 25,3165 55332 TS DNRRANGE -1
024884,002617: 25,3166 11100 TRYCOUNT CCS SAMPLIM
024885,002618: 25,3167 13211 TCF PLENTY
024886,002619: 25,3170 13174 TCF NOMORE
024887,002620: 25,3171 05567 TC ALARM
024888,002621: 25,3172 00520 OCT 520
024889,002622: 25,3173 05270 TC RESUME
024890,002623:
024891,002624: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
024892,002625: 25,3175 74735 MASK LRBYBIT
024893,002626: 25,3176 00006 EXTEND
024894,002627: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
024895,002628:
024896,002629: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
024897,002630: 25,3201 74743 MASK R04FLBIT # IF 1,R04 IS RUNNING. DO NOT ALARM-
024898,002631: 25,3202 00006 EXTEND
024899,002632: 25,3203 13206 BZF BADRAD
024900,002633:
024901,002634: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
024902,002635: 25,3205 00521 OCT 521
024903,002636: 25,3206 44753 BADRAD CS ONE
024904,002637: 25,3207 55100 TS SAMPLIM
024905,002638: 25,3210 03560 TC RDBADEND -2
024906,002639: 25,3211 55100 PLENTY TS SAMPLIM
024907,002640: 25,3212 34751 CAF BIT3
024908,002641: 25,3213 00006 EXTEND
024909,002642: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
024910,002643: 25,3215 00006 EXTEND
024911,002644:
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Page 567 |
024913,002646: 25,3216 13276 BZF RENDRAD
024914,002647:
024915,002648: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
024916,002649: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
024917,002650: 25,3221 00006 EXTEND
024918,002651: 25,3222 06033 RXOR CHAN33
024919,002652: 25,3223 74746 MASK BIT6
024920,002653: 25,3224 00006 EXTEND
024921,002654: 25,3225 13231 BZF VELCHK
024922,002655:
024923,002656: 25,3226 05567 TC ALARM
024924,002657: 25,3227 00522 OCT 522
024925,002658: 25,3230 03206 TC BADRAD
024926,002659:
024927,002660: 25,3231 36244 VELCHK CAF BIN3 # = 00003 OCT
024928,002661: 25,3232 00006 EXTEND
024929,002662: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
024930,002663: 25,3234 76244 MASK BIN3
024931,002664: 25,3235 00006 EXTEND
024932,002665: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
024933,002666:
024934,002667: 25,3237 34733 CAF POSMAX
024935,002668: 25,3240 70046 MASK RNRAD
024936,002669: 25,3241 62000 AD LVELBIAS
024937,002670: 25,3242 54001 TS L
024938,002671: 25,3243 30046 CAE RNRAD
024939,002672: 25,3244 60000 DOUBLE
024940,002673: 25,3245 74753 MASK BIT1
024941,002674: 25,3246 52064 DXCH ITEMP3
024942,002675:
024943,002676: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024944,002677: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
024945,002678: # INDEPENDENT OF DATA GOOD.
024946,002679:
024947,002680: 25,3251 11111 CCS NSAMP
024948,002681: 25,3252 03262 TC NOEND
024949,002682: 25,3253 44753 GOODRAD CS ONE
024950,002683: 25,3254 55100 TS SAMPLIM
024951,002684: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024952,002685: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
024953,002686: 25,3257 54110 TS RADMODES
024954,002687: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
024955,002688: 25,3261 03553 TC RGOODEND -2
024956,002689:
024957,002690: 25,3262 55111 NOEND TS NSAMP
024958,002691: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
024959,002692: 25,3264 13266 TCF +2
024960,002693: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
024961,002694: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
024962,002695: 25,3267 00006 EXTEND
024963,002696:
|
|
Page 568 |
024965,002698: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
024966,002699: 25,3271 05270 TC RESUME
024967,002700:
024968,002701:
024969,002702: 25,3272 34747 LRHEIGHT CAF BIT5
024970,002703: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024971,002704:
024972,002705: 25,3274 34743 CAF BIT9
024973,002706: 25,3275 03320 TC SCALECHK -1
024974,002707:
024975,002708: 25,3276 34741 RENDRAD CAF BIT11 # MAKE SURE ANTENNA HAS NOT GONE OUT OF
024976,002709: 25,3277 70110 MASK RADMODES # LIMITS.
024977,002710: 25,3300 10000 CCS A
024978,002711: 25,3301 13206 TCF BADRAD
024979,002712:
024980,002713: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
024981,002714: 25,3303 74745 MASK BIT7
024982,002715: 25,3304 10000 CCS A
024983,002716: 25,3305 13206 TCF BADRAD
024984,002717:
024985,002718: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024986,002719: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024987,002720:
024988,002721: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
024989,002722: 25,3311 00006 EXTEND
024990,002723: 25,3312 02013 RAND CHAN13
024991,002724: 25,3313 54002 TS Q # FOR LATER TESTING.
024992,002725: 25,3314 10000 CCS A
024993,002726: 25,3315 13317 TCF +2
024994,002727: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024995,002728: 25,3317 34751 CAF BIT3
024996,002729: 25,3320 54001 TS L
024997,002730:
024998,002731: 25,3321 00006 SCALECHK EXTEND
024999,002732: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
025000,002733: 25,3323 56001 XCH L
025001,002734: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
025002,002735: 25,3325 00006 EXTEND
025003,002736: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
025004,002737: 25,3327 10000 CCS A
025005,002738: 25,3330 03350 TC SCALCHNG # THEY DIFFER
025006,002739:
025007,002740: 25,3331 34733 RADIN CAF POSMAX
025008,002741: 25,3332 70046 MASK RNRAD
025009,002742: 25,3333 54064 TS ITEMP4
025010,002743:
025011,002744: 25,3334 30046 CAE RNRAD
025012,002745: 25,3335 60000 DOUBLE
025013,002746: 25,3336 74753 MASK BIT1
025014,002747: 25,3337 54063 TS ITEMP3
025015,002748:
|
|
Page 569 |
025017,002750: 25,3340 10002 CCS Q # SEE IF RR RDOT.
025018,002751: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
025019,002752:
025020,002753: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
025021,002754: 25,3343 42002 DCS RDOTBIAS
025022,002755: 25,3344 20064 DASAMPL DAS ITEMP3
025023,002756: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
025024,002757: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
025025,002758: 25,3347 03253 TC GOODRAD
025026,002759:
025027,002760: 25,3350 22110 SCALCHNG LXCH RADMODES
025028,002761: 25,3351 64753 AD BIT1
025029,002762: 25,3352 00006 EXTEND
025030,002763: 25,3353 06001 RXOR LCHAN
025031,002764: 25,3354 54110 TS RADMODES
025032,002765: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
025033,002766: 25,3356 00006 EXTEND
025034,002767: 25,3357 02033 RAND CHAN33
025035,002768: 25,3360 55113 TS OLDATAGD
025036,002769: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
025037,002770: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
025038,002771: 25,3363 13206 TCF BADRAD
025039,002772:
025040,002773: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
025041,002774:
025042,002775: 25,3364 40101 R77CHECK CS FLAGWRD5
025043,002776: 25,3365 74741 MASK R77FLBIT
025044,002777: 25,3366 10000 CCS A
025045,002778: 25,3367 00002 TC Q # NOT R77
025046,002779: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
025047,002780: 25,3371 70110 MASK RADMODES
025048,002781: 25,3372 54001 TS L
025049,002782: 25,3373 33401 CA BITS5,8
025050,002783: 25,3374 00006 EXTEND
025051,002784: 25,3375 02033 RAND CHAN33
025052,002785: 25,3376 60001 AD L
025053,002786: 25,3377 54110 TS RADMODES
025054,002787: 25,3400 03553 TC RGOODEND -2
025055,002788: 25,3401 00220 BITS5,8 OCT 220
025056,002789:
|
|
Page 570 |
025058,002791: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
025059,002792:
025060,002793: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
025061,002794: 25,3403 13405 TCF +2 # ON HIGH SCALE.
025062,002795: 25,3404 13345 TCF DGCHECK2
025063,002796:
025064,002797: 25,3405 31335 CA DNINDEX
025065,002798: 25,3406 74751 MASK BIT3
025066,002799: 25,3407 10000 CCS A
025067,002800: 25,3410 13417 TCF LRSCK
025068,002801:
025069,002802: 25,3411 52064 DXCH ITEMP3
025070,002803: 25,3412 20001 DDOUBL
025071,002804: 25,3413 20001 DDOUBL
025072,002805: 25,3414 20001 DDOUBL
025073,002806: 25,3415 52064 DXCH ITEMP3
025074,002807:
025075,002808: 25,3416 13345 TCF DGCHECK2
025076,002809:
025077,002810: 25,3417 10063 LRSCK CCS ITEMP3
025078,002811: 25,3420 13431 TCF +11
025079,002812: 25,3421 40064 CS ITEMP4
025080,002813: 25,3422 63441 AD HISCALIM
025081,002814: 25,3423 00006 EXTEND
025082,002815: 25,3424 63431 BZMF +5
025083,002816:
025084,002817: 25,3425 40107 CS FLGWRD11
025085,002818: 25,3426 74751 MASK SCABBIT
025086,002819: 25,3427 26107 ADS FLGWRD11
025087,002820: 25,3430 13434 TCF +4
025088,002821:
025089,002822: 25,3431 44751 CS SCABBIT
025090,002823: 25,3432 70107 MASK FLGWRD11
025091,002824: 25,3433 54107 TS FLGWRD11
025092,002825:
025093,002826: 25,3434 00006 EXTEND
025094,002827: 25,3435 30064 DCA ITEMP3
025095,002828: 25,3436 20001 DDOUBL
025096,002829: 25,3437 20001 DDOUBL
025097,002830: 25,3440 13344 TCF DASAMPL
025098,002831:
025099,002832: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
025100,002833:
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|
Page 571 |
025102,002835: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
025103,002836: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
025104,002837: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
025105,002838: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
025106,002839: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
025107,002840: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
025108,002841: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
025109,002842: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
025110,002843: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
025111,002844: 25,3453 60001 AD L
025112,002845: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
025113,002846: 25,3455 03263 TC RESAMPLE
025114,002847: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
025115,002848: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
025116,002849: 25,3460 00002 TC Q
025117,002850:
025118,002851: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
025119,002852: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
025120,002853: 25,3463 60061 AD ITEMP1
025121,002854: 25,3464 54110 TS RADMODES
025122,002855:
025123,002856: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
025124,002857: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
025125,002858: 25,3467 03616 TC RADLITES
025126,002859: 25,3470 13174 TCF NOMORE
025127,002860:
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|
Page 572 |
025129,002862: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
025130,002863:
025131,002864: 25,2000 SETLOC P20S1
025132,002865: 25,2000 BANK
025133,002866:
025134,002867: 25,3471 COUNT* $$/RSUB
025135,002868: 25,3471 00004 LRPOS2 INHINT
025136,002869:
025137,002870: 25,3472 40110 CS RADMODES
025138,002871: 25,3473 74746 MASK BIT6 # SET BIT6 TO SHOW DESIRED LR POS IS 2
025139,002872: 25,3474 26110 ADS RADMODES
025140,002873:
025141,002874: 25,3475 34745 CAF BIT7
025142,002875: 25,3476 00006 EXTEND
025143,002876: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
025144,002877: 25,3500 00006 EXTEND
025145,002878: 25,3501 13530 BZF RADNOOP
025146,002879:
025147,002880: 25,3502 34737 CAF BIT13
025148,002881: 25,3503 00006 EXTEND
025149,002882: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
025150,002883: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
025151,002884: 25,3506 05203 TC WAITLIST
025152,002885: 25,3507 E7,1454 EBANK= LOSCOUNT
025153,002886: 25,3507 03543 52067 2CADR LRPOSCAN
025154,002887:
025155,002888: 25,3511 02366 TC ROADBACK
025156,002889:
025157,002890: 25,3512 55100 LRPOSNXT TS SAMPLIM
025158,002891: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
025159,002892: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
025160,002893:
025161,002894: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
025162,002895: 25,3516 00006 EXTEND
025163,002896: 25,3517 02033 RAND CHAN33
025164,002897: 25,3520 00006 EXTEND
025165,002898: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
025166,002899:
025167,002900: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
025168,002901: 25,3523 13512 TCF LRPOSNXT
025169,002902:
025170,002903: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
025171,002904: 25,3525 00006 EXTEND
025172,002905: 25,3526 03012 WAND CHAN12
025173,002906: 25,3527 13562 TCF RDBADEND
025174,002907:
025175,002908: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
025176,002909: 25,3531 05203 TC WAITLIST
025177,002910: 25,3532 E7,1454 EBANK= LOSCOUNT
025178,002911: 25,3532 03555 52067 2CADR RGOODEND
025179,002912:
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|
Page 573 |
025181,002914: 25,3534 02366 TC ROADBACK
025182,002915:
025183,002916: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
025184,002917: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
025185,002918:
025186,002919: 25,3537 44737 CS BIT13 # REMOVE COMMAND
025187,002920: 25,3540 00006 EXTEND
025188,002921: 25,3541 03012 WAND CHAN12
025189,002922: 25,3542 13555 TCF RGOODEND
025190,002923:
025191,002924: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
025192,002925: 25,3544 13512 TCF LRPOSNXT
025193,002926:
025194,002927: 25,3545 01130 6SECS DEC 600 B-14
025195,002928:
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|
Page 574 |
025197,002930: # SEQUENCES TO TERMINATE RR OPERATIONS.
025198,002931:
025199,002932: 25,3546 34745 ENDRADAR CAF BIT7 # PROLOG TO CHECK RR CDU FAIL BEFORE END.
025200,002933: 25,3547 70110 MASK RADMODES
025201,002934: 25,3550 10000 CCS A
025202,002935: 25,3551 13555 TCF RGOODEND
025203,002936: 25,3552 13562 TCF RDBADEND
025204,002937: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
025205,002938: 25,3554 54734 TS RUPTAGN
025206,002939:
025207,002940: 25,3555 34752 RGOODEND CAF TWO
025208,002941: 25,3556 04635 TC POSTJUMP
025209,002942: 25,3557 17640 CADR GOODEND
025210,002943:
025211,002944: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
025212,002945: 25,3561 54734 TS RUPTAGN
025213,002946: 25,3562 34752 RDBADEND CAF TWO
025214,002947: 25,3563 04635 TC POSTJUMP
025215,002948: 25,3564 17635 CADR BADEND
025216,002949:
025217,002950: 25,3565 6244 BIN3 EQUALS THREE
025218,002951:
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|
Page 575 |
025220,002953: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
025221,002954: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025222,002955:
025223,002956:
025224,002957: # FUNCTIONAL DESCRIPTION_
025225,002958:
025226,002959: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
025227,002960: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
025228,002961: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
025229,002962:
025230,002963:
025231,002964: # CALLING SEQUENCE CALL
025232,002965: # LPS20.1
025233,002966:
025234,002967: # SUBROUTINES CALLED_
025235,002968:
025236,002969: # LEMPREC,CSMPREC
025237,002970:
025238,002971:
025239,002972: # NORMAL EXIT_ RETURN TO CALLER + 2
025240,002973:
025241,002974:
025242,002975: # ERROR EXITS_ NONE
025243,002976:
025244,002977:
025245,002978: # ALARMS_ NONE
025246,002979:
025247,002980:
025248,002981: # OUTPUT_
025249,002982:
025250,002983: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
025251,002984: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
025252,002985: # RRNBSW CLEARED
025253,002986:
025254,002987:
025255,002988: # INITIALIZED ERASEABLE
025256,002989:
025257,002990: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
025258,002991: # SEE ORBITAL INTEGRATION ROUTINE
025259,002992:
025260,002993:
025261,002994: # DEBRIS_
025262,002995:
025263,002996: # MPAC DESTROYED BY THIS ROUTINE
025264,002997:
025265,002998: 23,2275 BANK 23
025266,002999: 24,2000 SETLOC P20S
025267,003000: 24,2000 BANK
025268,003001:
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|
Page 576 |
025270,003003: 24,3151 COUNT* $$/LPS20
025271,003004:
025272,003005: 24,3151 43020 LPS20.1 STQ BOFF
025273,003006: 24,3152 01757 LS21X
025274,003007: 24,3153 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
025275,003008: 24,3154 51160 LMINT # SO CALL LEMCONIC TO GET LM STATE
025276,003009: 24,3155 77614 BON # IF IN R21 AND ON LUNAR SURFACE
025277,003010: 24,3156 04307 SURFFLAG # DON'T CALL LEMCONIC
025278,003011: 24,3157 51170 CSMINT
025279,003012: 24,3160 77624 LMINT CALL
025280,003013: 24,3161 27100 LEMCONIC # EXTRAPOLATE LEM
025281,003014: 24,3162 77775 VLOAD
025282,003015: 24,3163 00001 RATT
025283,003016: 24,3164 26356 STOVL LMPOS # SAVE LM POSITION B-29
025284,003017: 24,3165 00007 VATT
025285,003018: 24,3166 16364 STODL LMVEL # SAVE LM VELOCITY B-7
025286,003019: 24,3167 00015 TAT
025287,003020: 24,3170 34041 CSMINT STCALL TDEC1
025288,003021: 24,3171 27066 CSMCONIC # EXTRAPOLATE CSM
025289,003022: 24,3172 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
025290,003023: 24,3173 00007 VATT
025291,003024: 24,3174 02364 LMVEL
025292,003025: 24,3175 76521 MXV VSL1
025293,003026: 24,3176 01734 REFSMMAT
025294,003027: 24,3177 77776 EXIT
025295,003028: 24,3200 00004 INHINT
025296,003029: 24,3201 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
025297,003030: 24,3202 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
025298,003031: 24,3203 06036 TC INTPRET
025299,003032: 24,3204 25761 STOVL LOSVEL
025300,003033: 24,3205 00001 RATT
025301,003034: 24,3206 43051 VSU BOFF
025302,003035: 24,3207 02356 LMPOS
025303,003036: 24,3210 00350 RNDVZFLG
025304,003037: 24,3211 51217 NOTSHIFT
025305,003038: 24,3212 77604 BOVB
025306,003039: 24,3213 57725 TCDANZIG
025307,003040: 24,3214 41061 VSL BOVB
025308,003041: 24,3215 20212 9D
025309,003042: 24,3216 50123 526ALARM
025310,003043: 24,3217 77656 NOTSHIFT UNIT
025311,003044: 24,3220 76521 MXV VSL1
025312,003045: 24,3221 01734 REFSMMAT # CONVERT TO STABLE MEMBER
025313,003046: 24,3222 15102 STODL RRTARGET
025314,003047: 24,3223 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
025315,003048: 24,3224 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
025316,003049: 24,3225 77614 CLRGO
025317,003050: 24,3226 00231 RRNBSW
025318,003051: 24,3227 01757 LS21X
025319,003052:
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|
Page 577 |
025321,003054: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
025322,003055: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
025323,003056:
025324,003057:
025325,003058: # FUNCTIONAL DESCRIPTION_
025326,003059:
025327,003060: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
025328,003061:
025329,003062:
025330,003063: # CALLING SEQUENCE CALL
025331,003064: # LPS20.2
025332,003065:
025333,003066:
025334,003067: # SUBROUTINES CALLED_ NONE
025335,003068:
025336,003069:
025337,003070: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
025338,003071:
025339,003072:
025340,003073: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
025341,003074:
025342,003075:
025343,003076: # ALARMS_ NONE
025344,003077:
025345,003078:
025346,003079: # OUTPUT_ NONE
025347,003080:
025348,003081:
025349,003082: # INITIALIZED ERASEABLE_
025350,003083:
025351,003084: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
025352,003085: # DEBRIS
025353,003086:
025354,003087: # MPAC DESTROYED BY THIS ROUTINE
025355,003088:
025356,003089: 25,2000 SETLOC P20S1
025357,003090: 25,2000 BANK
025358,003091: 25,3565 COUNT* $$/LPS20
025359,003092:
025360,003093: 25,3565 45345 LPS20.2 DLOAD DSU
025361,003094: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
025362,003095: 25,3567 13600 FHNM # OVER 400NM _
025363,003096: 25,3570 77644 BPL
025364,003097: 25,3571 53574 TOFAR
025365,003098: 25,3572 43535 SLOAD RVQ
025366,003099: 25,3573 06424 ZERO/SP
025367,003100: 25,3574 43535 TOFAR SLOAD RVQ
025368,003101: 25,3575 13577 ONE/SP
025369,003102: 25,3576 00001 ONE/SP DEC 1 B-14
025370,003103:
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|
Page 578 |
025372,003105: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
025373,003106:
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|
Page 579 |
025375,003108: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
025376,003109: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
025377,003110:
025378,003111:
025379,003112: # FUNCTIONAL DESCRIPTION
025380,003113:
025381,003114: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
025382,003115: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
025383,003116: # RR REPOSITION AND RR CDU FAIL
025384,003117:
025385,003118: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
025386,003119:
025387,003120:
025388,003121: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
025389,003122:
025390,003123:
025391,003124: # SUBROUTINES CALLED:
025392,003125:
025393,003126: # RRRDOT LPS20.1
025394,003127: # RRRANGE BANKCALL
025395,003128: # RADSTALL CDULOGIC
025396,003129: # RRNB SMNB
025397,003130: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
025398,003131:
025399,003132:
025400,003133: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
025401,003134:
025402,003135: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
025403,003136: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
025404,003137:
025405,003138:
025406,003139: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
025407,003140: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
025408,003141:
025409,003142:
025410,003143: # OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
025411,003144: # RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
025412,003145:
025413,003146: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
025414,003147:
025415,003148: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
025416,003149: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
025417,003150: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
025418,003151: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
025419,003152: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
025420,003153:
025421,003154:
025422,003155: # ERASABLE INITIALIZATION REQUIRED:
025423,003156:
025424,003157: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
025425,003158:
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Page 580 |
025427,003160: # 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
025428,003161: # 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
025429,003162:
025430,003163: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
025431,003164:
025432,003165:
025433,003166: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
025434,003167:
025435,003168: 32,2376 BANK 32
025436,003169: 32,2000 SETLOC LRS22
025437,003170: 32,2000 BANK
025438,003171: 32,2376 COUNT* $$/LRS22
025439,003172:
025440,003173: 32,2376 04645 LRS22.1 TC MAKECADR
025441,003174: 32,2377 55735 TS LRS22.1X
025442,003175: 32,2400 05516 TC DOWNFLAG
025443,003176: 32,2401 00120 ADRES RNGSCFLG
025444,003177: 32,2402 00004 INHINT
025445,003178: 32,2403 34751 CAF BIT3
025446,003179: 32,2404 00006 EXTEND # GET RR RANGE SCALE
025447,003180: 32,2405 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
025448,003181: 32,2406 54001 TS L
025449,003182: 32,2407 44751 CS BIT3 # AND SET IN RADMODES BIT3
025450,003183: 32,2410 70110 MASK RADMODES
025451,003184: 32,2411 60001 AD L
025452,003185: 32,2412 54110 TS RADMODES
025453,003186: 32,2413 00003 RELINT
025454,003187: 32,2414 04616 READRDOT TC BANKCALL
025455,003188: 32,2415 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
025456,003189: 32,2416 04616 TC BANKCALL
025457,003190: 32,2417 17667 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
025458,003191: 32,2420 12540 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
025459,003192:
025460,003193: 32,2421 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
025461,003194: 32,2422 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
025462,003195: 32,2423 53753 DXCH MKTIME # TIME OF THE RANGE-RATE READING
025463,003196: 32,2424 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
025464,003197: 32,2425 53745 DXCH RDOTMSAV
025465,003198: 32,2426 00006 EXTEND
025466,003199: 32,2427 30034 DCA CDUY # SAVE ICDU ANGLES
025467,003200: 32,2430 53456 DXCH AIG
025468,003201: 32,2431 30032 CA CDUX
025469,003202: 32,2432 55457 TS AOG
025470,003203: 32,2433 00006 EXTEND
025471,003204: 32,2434 30025 DCA TIME2 # SAVE TIME
025472,003205: 32,2435 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
025473,003206: 32,2436 00006 EXTEND
025474,003207: 32,2437 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
025475,003208: 32,2440 53110 DXCH TANG
025476,003209:
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Page 581 |
025478,003211: 32,2441 00003 RELINT
025479,003212: 32,2442 04616 TC BANKCALL
025480,003213: 32,2443 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
025481,003214: 32,2444 04616 TC BANKCALL
025482,003215: 32,2445 17667 CADR RADSTALL # WAIT FOR READ COMPLETE
025483,003216: 32,2446 02534 TC CHEXERR # CHECK FOR ERRORS DURING READ
025484,003217: 32,2447 06036 TC INTPRET
025485,003218: 32,2450 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
025486,003219: 32,2451 03745 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
025487,003220: 32,2452 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
025488,003221: 32,2453 20217 14D # FT./SECOND PER BIT
025489,003222: 32,2454 24012 RDOTCONV # END WITH METERS/CENTISECOND, B-7
025490,003223: 32,2455 17747 STODL RDOTM # STORE FOR USE BY LSR22.3
025491,003224: 32,2456 01110 TANG
025492,003225: 32,2457 03751 STORE TANGNB
025493,003226: 32,2460 47135 SLOAD RTB
025494,003227: 32,2461 01110 TANG # GET TRUNION ANGLE
025495,003228: 32,2462 21465 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
025496,003229: 32,2463 03732 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
025497,003230: 32,2464 47135 SLOAD RTB
025498,003231: 32,2465 01111 TANG +1 # DITTO FOR SHAFT ANGLE
025499,003232: 32,2466 21465 CDULOGIC
025500,003233: 32,2467 17734 STODL RRSHAFT
025501,003234: 32,2470 01102 SAMPLSUM
025502,003235: 32,2471 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
025503,003236: 32,2472 24014 RANGCONV # PER BIT, END WITH METERS,SCALED -29
025504,003237: 32,2473 37755 STCALL RM
025505,003238: 32,2474 46041 RRNB # COMPUTE RADAR LOS USING RRNB
025506,003239: 32,2475 17737 STODL RRBORSIT # AND SAVE
025507,003240: 32,2476 00025 20D
025508,003241: 32,2477 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
025509,003242: 32,2500 51151 LPS20.1
025510,003243: 32,2501 77776 EXIT
025511,003244: 32,2502 31455 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
025512,003245: 32,2503 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
025513,003246: 32,2504 31456 CA AMG
025514,003247: 32,2505 54770 TS CDUSPOT +2
025515,003248: 32,2506 31457 CA AOG
025516,003249: 32,2507 54772 TS CDUSPOT +4
025517,003250: 32,2510 06036 TC INTPRET
025518,003251: 32,2511 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
025519,003252: 32,2512 01102 RRTARGET
025520,003253: 32,2513 47555 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
025521,003254: 32,2514 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
025522,003255: 32,2515 03737 RRBORSIT
025523,003256: 32,2516 65552 SL1 ACOS # BETWEEN THEM
025524,003257: 32,2517 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
025525,003258: 32,2520 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
025526,003259: 32,2521 24544 THREEDEG
025527,003260: 32,2522 64527 NORMEXIT # YES-NORMAL EXIT
025528,003261:
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Page 582 |
025530,003263:
025531,003264: 32,2523 77776 EXIT # ERROR EXIT 2
025532,003265: 32,2524 34752 CAF BIT2 # SET ERROR CODE
025533,003266: 32,2525 54154 TS MPAC
025534,003267: 32,2526 12532 TCF OUT22.1
025535,003268:
025536,003269: 32,2527 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
025537,003270: 32,2530 34755 CAF ZERO
025538,003271: 32,2531 54154 TS MPAC
025539,003272: 32,2532 31735 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
025540,003273: 32,2533 04640 TC BANKJUMP
025541,003274: 32,2534 30101 CHEXERR CAE FLAGWRD5
025542,003275: 32,2535 74742 MASK RNGSCBIT
025543,003276: 32,2536 10000 CCS A # CHECK IF RANGE SCALE CHANGED
025544,003277: 32,2537 12414 TCF READRDOT # YES-TAKE ANOTHER READING
025545,003278:
025546,003279: 32,2540 34753 EREXIT1 CA BIT1 # SET ERROR CODE
025547,003280: 32,2541 54154 TS MPAC
025548,003281: 32,2542 02532 TC OUT22.1
025549,003282: 32,2543 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
025550,003283: 32,2545 1101 RRLOSVEC EQUALS RRTARGET
025551,003284:
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Page 583 |
025553,003286: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
025554,003287:
025555,003288:
025556,003289: # MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
025557,003290:
025558,003291: # FUNCTIONAL DESCRIPTION-
025559,003292:
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|
(Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003) |
025561,003294: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
025562,003295:
025563,003296:
025564,003297: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
025565,003298:
025566,003299:
025567,003300: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
025568,003301: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
025569,003302:
025570,003303:
025571,003304: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
025572,003305:
025573,003306:
025574,003307: # ALARMS - NONE IN THE AUTO MODE
025575,003308:
025576,003309:
025577,003310: # ERASABLE INITIALIZATION REQUIRED -
025578,003311: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
025579,003312: # RM - RR RANGE, METERS B-29, FROM LRS22.1
025580,003313: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
025581,003314:
025582,003315:
025583,003316: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
025584,003317:
025585,003318: 24,2000 SETLOC P20S
025586,003319: 24,2000 BANK
025587,003320: 24,3230 04645 LRS22.2 TC MAKECADR
025588,003321: 24,3231 55735 TS LRS22.1X
025589,003322: 24,3232 06036 TC INTPRET
025590,003323: # CHECK IF RR LOS IS WITHIN 30 DEG OF
025591,003324: 24,3233 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
025592,003325: 24,3234 03743 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
025593,003326: # LOS VECTOR,A HALF UNIT VECTOR
025594,003327: # IN NAV BASE AXES)
025595,003328: 24,3235 50025 DSU BMN
025596,003329: 24,3236 11252 30DEG
025597,003330: 24,3237 51244 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
025598,003331: 24,3240 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
025599,003332: 24,3241 34753 CAF BIT1 # SET ERROR CODE IN MPAC
025600,003333: 24,3242 54154 TS MPAC
025601,003334: 24,3243 13247 TCF OUT22.2
025602,003335: 24,3244 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
025603,003336:
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Page 584 |
025605,003338: 24,3245 34755 CAF ZERO
025606,003339: 24,3246 54154 TS MPAC
025607,003340: 24,3247 31735 OUT22.2 CAE LRS22.1X
025608,003341: 24,3250 04640 TC BANKJUMP
025609,003342:
025610,003343: 24,3251 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
025611,003344:
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Page 585 |
025613,003346: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
025614,003347: # MOD. NO 3 LOG SECTION - P20-25
025615,003348: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
025616,003349:
025617,003350: # FUNCTIONAL DESCRIPTION
025618,003351:
025619,003352: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
025620,003353: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
025621,003354: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
025622,003355:
025623,003356: # CALLING SEQUENCE
025624,003357: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
025625,003358: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
025626,003359: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
025627,003360: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
025628,003361: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
025629,003362: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
025630,003363:
025631,003364:
025632,003365: # SUBROUTINES CALLED
025633,003366: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
025634,003367: # GETULC RARARANG INCORP2 NBSM INTSTALL
025635,003368:
025636,003369: # OUTPUT
025637,003370: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
025638,003371: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025639,003372: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
025640,003373: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025641,003374: # UPDATED W-MATRIX
025642,003375:
025643,003376:
025644,003377: # ERASABLE INITIALIZATION REQUIRED
025645,003378: # LM AND CSM STATE VECTORS
025646,003379: # W-MATRIX
025647,003380: # MARK TIME IN MKTIME
025648,003381: # RADAR RANGE IN RM METERS B-29
025649,003382: # RANGE RATE IN RDOTM METERS/CSES B-7
025650,003383: # SHAFT ANGLE IN RRSHAFT REVS.B0
025651,003384: # TRUNNION ANGLE IN RRTRUN REVS. B0
025652,003385: # GIMBAL ANGLES INNER IN AIG
025653,003386: # MIDDLE IN AMG
025654,003387: # OUTER IN AOG
025655,003388: # REFSMMAT
025656,003389: # RENDWFLG
025657,003390: # NOANGFLG
025658,003391: # VEHUPFLG
025659,003392:
025660,003393: # DEBRIS
025661,003394: # PUSHLIST--ALL
025662,003395: # MX, MY, MZ (VECTORS)
025663,003396:
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Page 586 |
025665,003398: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
025666,003399:
025667,003400: 13,2207 BANK 13
025668,003401: 26,2000 SETLOC P20S3
025669,003402: 26,2000 BANK
025670,003403:
025671,003404: 26,2370 E7,1454 EBANK= LOSCOUNT
025672,003405: 26,2370 COUNT* $$/LSR22
025673,003406: 26,2370 77624 LSR22.3 CALL
025674,003407: 26,2371 11165 GRP2PC
025675,003408: 26,2372 43014 BON SET
025676,003409: 26,2373 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
025677,003410: 26,2374 55143 LSR22.4 # YES
025678,003411: 26,2375 02466 DMENFLG
025679,003412: 26,2376 45014 BOFF CALL
025680,003413: 26,2377 00747 VEHUPFLG
025681,003414: 26,2400 54432 DOLEM
025682,003415: 26,2401 27412 INTSTALL
025683,003416: 26,2402 45014 CLEAR CALL # LM PRECISION INTEGRATION
025684,003417: 26,2403 01674 VINTFLAG
025685,003418: 26,2404 26644 SETIFLGS
025686,003419: 26,2405 77624 CALL
025687,003420: 26,2406 55205 INTGRCAL
025688,003421: 26,2407 77624 CALL
025689,003422: 26,2410 11165 GRP2PC
025690,003423: 26,2411 77624 CALL
025691,003424: 26,2412 27412 INTSTALL
025692,003425: 26,2413 43014 CLEAR BOFF
025693,003426: 26,2414 01676 DIM0FLAG
025694,003427: 26,2415 02756 RENDWFLG
025695,003428: 26,2416 54422 NOTWCSM
025696,003429: 26,2417 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
025697,003430: 26,2420 01476 DIM0FLAG
025698,003431: 26,2421 01475 D6OR9FLG
025699,003432: 26,2422 43014 NOTWCSM SET CLEAR
025700,003433: 26,2423 01474 VINTFLAG
025701,003434: 26,2424 01673 INTYPFLG
025702,003435: 26,2425 45014 SET CALL
025703,003436: 26,2426 01472 STATEFLG
025704,003437: 26,2427 55205 INTGRCAL
025705,003438: 26,2430 77650 GOTO
025706,003439: 26,2431 54462 MARKTEST
025707,003440: 26,2432 77624 DOLEM CALL
025708,003441: 26,2433 27412 INTSTALL
025709,003442: 26,2434 45014 SET CALL
025710,003443: 26,2435 01474 VINTFLAG
025711,003444: 26,2436 26644 SETIFLGS
025712,003445: 26,2437 77624 CALL
025713,003446: 26,2440 55205 INTGRCAL
025714,003447:
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Page 587 |
025716,003449: 26,2441 77624 CALL
025717,003450: 26,2442 11165 GRP2PC
025718,003451: 26,2443 77624 CALL
025719,003452: 26,2444 27412 INTSTALL
025720,003453: 26,2445 43014 CLEAR BOFF
025721,003454: 26,2446 01676 DIM0FLAG
025722,003455: 26,2447 02756 RENDWFLG
025723,003456: 26,2450 54454 NOTWLEM
025724,003457: 26,2451 43014 SET SET # LM WITH W-MATRIX INTEGRATION
025725,003458: 26,2452 01476 DIM0FLAG
025726,003459: 26,2453 01475 D6OR9FLG
025727,003460: 26,2454 43014 NOTWLEM CLEAR CLEAR
025728,003461: 26,2455 01673 INTYPFLG
025729,003462: 26,2456 01674 VINTFLAG
025730,003463: 26,2457 45014 SET CALL
025731,003464: 26,2460 01472 STATEFLG
025732,003465: 26,2461 55205 INTGRCAL
025733,003466: 26,2462 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
025734,003467: 26,2463 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
025735,003468: 26,2464 54474 RANGEBQ
025736,003469: 26,2465 55214 WLINIT # YES - REINITIALIZE
025737,003470: 26,2466 77776 EXIT
025738,003471: 26,2467 34755 CA ZERO
025739,003472: 26,2470 55743 TS R65CNTR
025740,003473: 26,2471 04616 TC BANKCALL
025741,003474: 26,2472 46105 CADR R65LEM
025742,003475: 26,2473 06036 TC INTPRET
025743,003476: 26,2474 43174 RANGEBQ AXT,2 BON # CLEAR X2.
025744,003477: 26,2475 00000 0
025745,003478: 26,2476 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
025746,003479: 26,2477 54502 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
025747,003480: 26,2500 77714 INCR,2
025748,003481: 26,2501 00002 2
025749,003482: 26,2502 45134 SETX2 SXA,2 CALL
025750,003483: 26,2503 03716 SCALSHFT # 0-MOON. 2-EARTH
025751,003484: 26,2504 11165 GRP2PC
025752,003485: 26,2505 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
025753,003486: 26,2506 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
025754,003487: 26,2507 20635 28D
025755,003488: 26,2510 77634 RTB
025756,003489: 26,2511 21537 TPMODE # AND SAVE IN 20D
025757,003490: 26,2512 00025 STORE 20D
025758,003491: 26,2513 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
025759,003492: 26,2514 55276 GETULC # B-VECTORS FOR RANGE
025760,003493: 26,2515 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025761,003494: 26,2516 00707 VEHUPFLG
025762,003495: 26,2517 54520 +1
025763,003496: 26,2520 27523 STOVL BVECTOR
025764,003497: 26,2521 06424 ZEROVECS
025765,003498: 26,2522 03531 STORE BVECTOR +6 # B1
025766,003499:
|
|
Page 588 |
025768,003501: 26,2523 17537 STODL BVECTOR +12D # B2
025769,003502: 26,2524 00045 36D
025770,003503: 26,2525 44257 SRR* BDSU
025771,003504: 26,2526 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
025772,003505: 26,2527 03755 RM # RM - (MAGNITUDE RCSM-RLM)
025773,003506: 26,2530 77657 SLR*
025774,003507: 26,2531 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
025775,003508: 26,2532 17545 STODL DELTAQ # EARTH B-29. MOON B-27
025776,003509: 26,2533 00045 36D # RLC B-29/B-27
025777,003510: 26,2534 63501 NORM DSQ # NORMALIZE AND SQUARE
025778,003511: 26,2535 00047 X1
025779,003512: 26,2536 53605 DMP SR*
025780,003513: 26,2537 01771 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
025781,003514: 26,2540 20577 0 -2,1 # UNNORMALIZE
025782,003515: 26,2541 53657 SR* SR*
025783,003516: 26,2542 20601 0,1
025784,003517: 26,2543 57176 0,2
025785,003518: 26,2544 47057 SR* RTB
025786,003519: 26,2545 57176 0,2
025787,003520: 26,2546 21537 TPMODE
025788,003521: 26,2547 02707 STORE VARIANCE # B-40
025789,003522: 26,2550 76276 DCOMP TAD
025790,003523: 26,2551 00025 20D # B-40
025791,003524: 26,2552 72240 BMN TLOAD
025792,003525: 26,2553 54556 QOK
025793,003526: 26,2554 00025 20D # B-40
025794,003527: 26,2555 02707 STORE VARIANCE
025795,003528: 26,2556 77624 QOK CALL
025796,003529: 26,2557 55344 LGCUPDTE
025797,003530:
025798,003531: 26,2560 77624 CALL
025799,003532: 26,2561 11165 GRP2PC
025800,003533: 26,2562 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
025801,003534: 26,2563 55276 GETULC
025802,003535: 26,2564 53725 PDDL SR* # GET RLC SCALED B-29/B-27
025803,003536: 26,2565 00045 36D # AND SHIFT TO B-23
025804,003537: 26,2566 57202 0 -4,2
025805,003538: 26,2567 24045 STOVL 36D # THEN STORE BACK IN 36D
025806,003539: 26,2570 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
025807,003540: 26,2571 00707 VEHUPFLG
025808,003541: 26,2572 54573 +1
025809,003542: 26,2573 77761 VXSC
025810,003543: 26,2574 00045 36D # B1 = RLC (B-24/B-22)
025811,003544: 26,2575 27531 STOVL BVECTOR +6
025812,003545: 26,2576 01653 NUVLEM
025813,003546: 26,2577 53257 VSR* VAD
025814,003547: 26,2600 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025815,003548: 26,2601 01667 VCVLEM # EARTH B-7. MOON B-5
025816,003549: 26,2602 53715 PDVL VSR* # VL TO PD6
025817,003550: 26,2603 01601 NUVCSM
025818,003551:
|
|
Page 589 |
025820,003553: 26,2604 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025821,003554: 26,2605 52255 VAD VSU
025822,003555: 26,2606 01615 VCVCSM
025823,003556: 26,2607 50315 PDVL DOT # VC - VL = VLC TO PD6
025824,003557: 26,2610 00001 0
025825,003558: 26,2611 00007 6
025826,003559: 26,2612 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025827,003560: 26,2613 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025828,003561: 26,2614 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025829,003562: 26,2615 01773 RATEVAR
025830,003563: 26,2616 02707 STORE VARIANCE
025831,003564: 26,2617 54335 SLOAD SR
025832,003565: 26,2620 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025833,003566: 26,2621 20621 16D # SHIFT TO DP (B -4)
025834,003567: 26,2622 00031 STORE 24D # AND SAVE IN 24D
025835,003568: 26,2623 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025836,003569: 26,2624 02707 VARIANCE
025837,003570: 26,2625 54631 VOK # BRANCH - NO
025838,003571: 26,2626 77745 DLOAD # YES - USE MINIMUM VARIANCE
025839,003572: 26,2627 00031 24D
025840,003573: 26,2630 02707 STORE VARIANCE
025841,003574: 26,2631 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
025842,003575: 26,2632 53725 PDDL SLR* # TO B-10/B-8
025843,003576: 26,2633 03747 RDOTM # SHIFT TO EARTH/MOON SPHERE
025844,003577: 26,2634 56577 0 -1,2 # B-7 TO B-10/B-8
025845,003578: 26,2635 77625 DSU
025846,003579: 26,2636 77675 DMPR
025847,003580: 26,2637 00045 36D
025848,003581: 26,2640 27545 STOVL DELTAQ # B-33
025849,003582: 26,2641 00001 0 # NOW GET B0
025850,003583: 26,2642 47235 VXV VXV # (ULC X VLC) X ULC
025851,003584: 26,2643 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025852,003585: 26,2644 00707 VEHUPFLG
025853,003586: 26,2645 54646 +1
025854,003587: 26,2646 77657 VSR*
025855,003588: 26,2647 57200 0 -2,2 # SCALED B-5
025856,003589: 26,2650 27523 STOVL BVECTOR
025857,003590: 26,2651 06424 ZEROVECS
025858,003591: 26,2652 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025859,003592: 26,2653 27537 STOVL BVECTOR +12D
025860,003593: 26,2654 03523 BVECTOR
025861,003594: 26,2655 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025862,003595: 26,2656 00025 20D # SHIFT COUNT IN 20D
025863,003596: 26,2657 51575 VLOAD ABVAL
025864,003597: 26,2660 03531 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025865,003598: 26,2661 71301 NORM DLOAD
025866,003599: 26,2662 00027 22D # SHIFT COUNT IN 22D
025867,003600: 26,2663 00027 22D # FIND WHICH SHIFT IS SMALLER
025868,003601: 26,2664 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
025869,003602: 26,2665 00025 20D
025870,003603:
|
|
Page 590 |
025872,003605: 26,2666 54672 VOK1
025873,003606: 26,2667 52150 LXA,1 GOTO
025874,003607: 26,2670 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025875,003608: 26,2671 54674 VOK2
025876,003609: 26,2672 77750 VOK1 LXA,1
025877,003610: 26,2673 00024 20D
025878,003611: 26,2674 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
025879,003612: 26,2675 03523 BVECTOR # WITH THI SSHIFT COUNT
025880,003613: 26,2676 20201 0,1
025881,003614: 26,2677 27523 STOVL BVECTOR
025882,003615: 26,2700 03531 BVECTOR +6
025883,003616: 26,2701 77657 VSL*
025884,003617: 26,2702 20201 0,1
025885,003618: 26,2703 17531 STODL BVECTOR +6
025886,003619: 26,2704 03545 DELTAQ
025887,003620: 26,2705 77657 SL*
025888,003621: 26,2706 20201 0,1
025889,003622: 26,2707 03545 STORE DELTAQ
025890,003623: 26,2710 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025891,003624: 26,2711 00045 36D
025892,003625: 26,2712 20200 0 -1,1
025893,003626: 26,2713 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025894,003627: 26,2714 02707 VARIANCE
025895,003628: 26,2715 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025896,003629: 26,2716 21537 TPMODE
025897,003630: 26,2717 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025898,003631: 26,2720 55344 LGCUPDTE
025899,003632:
025900,003633: 26,2721 77624 CALL
025901,003634: 26,2722 11165 GRP2PC
025902,003635: 26,2723 77414 BON EXIT # ARE ANGLES TO BE DONE
025903,003636: 26,2724 04307 SURFFLAG
025904,003637: 26,2725 55141 RENDEND # NO
025905,003638: 26,2726 E7,1455 EBANK= AIG
025906,003639: 26,2726 33275 MXMYMZ CAF AIGBANK
025907,003640: 26,2727 54006 TS BBANK
025908,003641: 26,2730 31455 CA AIG # YES, COMPUTE MX, MY, MZ
025909,003642: 26,2731 54766 TS CDUSPOT
025910,003643: 26,2732 31456 CA AMG
025911,003644: 26,2733 54770 TS CDUSPOT +2
025912,003645: 26,2734 31457 CA AOG
025913,003646: 26,2735 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025914,003647: 26,2736 06036 TC INTPRET
025915,003648: 26,2737 45175 VLOAD CALL
025916,003649: 26,2740 06422 UNITX
025917,003650: 26,2741 47570 TRG*NBSM
025918,003651: 26,2742 76505 VXM VSL1
025919,003652: 26,2743 01734 REFSMMAT
025920,003653: 26,2744 27675 STOVL MX
025921,003654: 26,2745 06420 UNITY
025922,003655:
|
|
Page 591 |
025924,003657: 26,2746 77624 CALL
025925,003658: 26,2747 47577 *NBSM*
025926,003659: 26,2750 76505 VXM VSL1
025927,003660: 26,2751 01734 REFSMMAT
025928,003661: 26,2752 27703 STOVL MY
025929,003662: 26,2753 06416 UNITZ
025930,003663: 26,2754 77624 CALL
025931,003664: 26,2755 47577 *NBSM*
025932,003665: 26,2756 76505 VXM VSL1
025933,003666: 26,2757 01734 REFSMMAT
025934,003667: 26,2760 37711 SHAFTBQ STCALL MZ
025935,003668: 26,2761 55324 RADARANG
025936,003669: 26,2762 77624 CALL
025937,003670: 26,2763 11165 GRP2PC
025938,003671: 26,2764 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025939,003672: 26,2765 03722 ULC
025940,003673: 26,2766 03675 MX
025941,003674: 26,2767 77752 SL1
025942,003675: 26,2770 24023 STOVL SINTH # 18D
025943,003676: 26,2771 03722 ULC
025944,003677: 26,2772 72441 DOT SL1
025945,003678: 26,2773 03711 MZ
025946,003679: 26,2774 34021 STCALL COSTH # 16D
025947,003680: 26,2775 26510 ARCTAN
025948,003681: 26,2776 41221 BDSU DMP
025949,003682: 26,2777 03734 RRSHAFT
025950,003683: 26,3000 15404 2PI/8
025951,003684: 26,3001 41472 SL3R PUSH
025952,003685: 26,3002 52545 DLOAD SL3
025953,003686: 26,3003 01701 X789
025954,003687: 26,3004 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025955,003688: 26,3005 56176 0,2
025956,003689: 26,3006 53605 DMP SRR*
025957,003690: 26,3007 03720 RXZ
025958,003691: 26,3010 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025959,003692: 26,3011 27545 STOVL DELTAQ # EARTH B-29. MOON B-27
025960,003693: 26,3012 03722 ULC
025961,003694: 26,3013 76435 VXV VSL1
025962,003695: 26,3014 03703 MY
025963,003696: 26,3015 77656 UNIT
025964,003697: 26,3016 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025965,003698: 26,3017 00747 VEHUPFLG
025966,003699: 26,3020 55021 +1
025967,003700: 26,3021 27523 STOVL BVECTOR
025968,003701: 26,3022 06424 ZEROVECS
025969,003702: 26,3023 03531 STORE BVECTOR +6
025970,003703: 26,3024 17537 STODL BVECTOR +12D
025971,003704: 26,3025 03720 RXZ
025972,003705: 26,3026 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025973,003706: 26,3027 20577 0 -2,1
025974,003707:
|
|
Page 592 |
025976,003709: 26,3030 56176 0,2
025977,003710: 26,3031 03537 STORE BVECTOR +12D
025978,003711: 26,3032 77735 SLOAD
025979,003712: 26,3033 02011 SHAFTVAR
025980,003713: 26,3034 41215 DAD DMP
025981,003714: 26,3035 15401 IMUVAR # RAD**2 B12
025982,003715: 26,3036 03720 RXZ
025983,003716: 26,3037 41257 SRR* DMP
025984,003717: 26,3040 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025985,003718: 26,3041 03720 RXZ
025986,003719: 26,3042 53657 SR* SR*
025987,003720: 26,3043 20577 0 -2,1
025988,003721: 26,3044 57176 0,2
025989,003722: 26,3045 47057 SR* RTB
025990,003723: 26,3046 57176 0,2
025991,003724: 26,3047 21537 TPMODE # STORE VARIANCE TRIPLE PRECISION
025992,003725: 26,3050 36707 STCALL VARIANCE # B-40
025993,003726: 26,3051 55344 LGCUPDTE
025994,003727:
025995,003728: 26,3052 77624 CALL
025996,003729: 26,3053 11165 GRP2PC
025997,003730: 26,3054 77624 TRUNBQ CALL
025998,003731: 26,3055 55324 RADARANG
025999,003732: 26,3056 77624 CALL
026000,003733: 26,3057 11165 GRP2PC
026001,003734: 26,3060 47375 VLOAD VXV
026002,003735: 26,3061 03722 ULC
026003,003736: 26,3062 03703 MY
026004,003737: 26,3063 47372 VSL1 VXV
026005,003738: 26,3064 03722 ULC
026006,003739: 26,3065 77772 VSL1 # (ULC X MY) X ULC
026007,003740: 26,3066 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
026008,003741: 26,3067 00747 VEHUPFLG
026009,003742: 26,3070 55071 +1
026010,003743: 26,3071 27523 STOVL BVECTOR
026011,003744: 26,3072 06424 ZEROVECS
026012,003745: 26,3073 03531 STORE BVECTOR +6
026013,003746: 26,3074 17537 STODL BVECTOR +12D
026014,003747: 26,3075 03720 RXZ
026015,003748: 26,3076 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
026016,003749: 26,3077 20577 0 -2,1
026017,003750: 26,3100 56176 0,2
026018,003751: 26,3101 03541 STORE BVECTOR +14D
026019,003752: 26,3102 77735 SLOAD
026020,003753: 26,3103 02012 TRUNVAR
026021,003754: 26,3104 41215 DAD DMP
026022,003755: 26,3105 15401 IMUVAR
026023,003756: 26,3106 03720 RXZ
026024,003757: 26,3107 41257 SRR* DMP
026025,003758: 26,3110 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
026026,003759:
|
|
Page 593 |
026028,003761: 26,3111 03720 RXZ
026029,003762: 26,3112 53657 SR* SR*
026030,003763: 26,3113 20577 0 -2,1
026031,003764: 26,3114 57176 0,2
026032,003765: 26,3115 47057 SR* RTB
026033,003766: 26,3116 57176 0,2
026034,003767: 26,3117 21537 TPMODE # STORE VARIANCE TRIPLE PRECISION
026035,003768: 26,3120 16707 STODL VARIANCE
026036,003769: 26,3121 03730 SINTHETA
026037,003770: 26,3122 44336 ASIN BDSU # SIN THETA IN PD6
026038,003771: 26,3123 03732 RRTRUN
026039,003772: 26,3124 56405 DMP SL3R
026040,003773: 26,3125 15404 2PI/8
026041,003774: 26,3126 52525 PDDL SL3
026042,003775: 26,3127 01703 X789 +2
026043,003776: 26,3130 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
026044,003777: 26,3131 56176 0,2
026045,003778: 26,3132 53605 DMP SRR*
026046,003779: 26,3133 03720 RXZ
026047,003780: 26,3134 21601 0,1
026048,003781: 26,3135 37545 STCALL DELTAQ # EARTH B-29. MOON B-27
026049,003782: 26,3136 55344 LGCUPDTE
026050,003783: 26,3137 77624 CALL
026051,003784: 26,3140 11165 GRP2PC
026052,003785: 26,3141 77650 RENDEND GOTO
026053,003786: 26,3142 50614 R22LEM93
026054,003787: # FUNCTIONAL DESCRIPTION
026055,003788:
026056,003789: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
026057,003790: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
026058,003791: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
026059,003792:
026060,003793: # SUBROUTINES CALLED
026061,003794: # INSTALL LGCUPDTE INCORP1 RP-TO-R
026062,003795: # INTEGRV GETULC INCORP2
026063,003796:
026064,003797: # OUTPUT
026065,003798: # CORRECTED CSM STATE VECTOR (PERMANENT)
026066,003799: # NUMBER OF MARKS INCORPORATED IN MARKCTR
026067,003800: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
026068,003801: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
026069,003802: # UPDATED W-MATRIX
026070,003803:
026071,003804: # ERASABLE INITIALIZATION REQUIRED
026072,003805: # LM AND CSM STATE VECTORS
026073,003806: # W-MATRIX
026074,003807: # MARK TIME IN MKTIME
026075,003808: # RADAR RANGE IN RM METERS B-29
026076,003809: # RANGE RATE IN RDOTM METERS/CSEC B-7
026077,003810: # VEHUPFLG
026078,003811:
|
|
Page 594 |
026080,003813: 26,3143 77624 LSR22.4 CALL
026081,003814: 26,3144 27412 INTSTALL
026082,003815: 26,3145 43014 SET CLEAR
026083,003816: 26,3146 01472 STATEFLG
026084,003817: 26,3147 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
026085,003818: 26,3150 77624 CALL
026086,003819: 26,3151 55205 INTGRCAL
026087,003820: 26,3152 77624 CALL
026088,003821: 26,3153 11165 GRP2PC
026089,003822: 26,3154 45014 CLEAR CALL
026090,003823: 26,3155 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
026091,003824: 26,3156 27412 INTSTALL
026092,003825: 26,3157 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
026093,003826: 26,3160 03461 MARKCTR
026094,003827: 26,3161 55174 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
026095,003828: 26,3162 43014 CLEAR SET
026096,003829: 26,3163 01675 D6OR9FLG
026097,003830: 26,3164 01476 DIM0FLAG
026098,003831: 26,3165 43014 SET CLEAR
026099,003832: 26,3166 01474 VINTFLAG
026100,003833: 26,3167 01673 INTYPFLG
026101,003834: 26,3170 77624 CALL
026102,003835: 26,3171 55205 INTGRCAL
026103,003836: 26,3172 77650 GOTO
026104,003837: 26,3173 54474 RANGEBQ
026105,003838:
026106,003839: 26,3174 77624 INITWMX6 CALL
026107,003840: 26,3175 55214 WLINIT # INITIALIZE W-MATRIX
026108,003841: 26,3176 45014 SET CALL
026109,003842: 26,3177 01474 VINTFLAG
026110,003843: 26,3200 26644 SETIFLGS
026111,003844: 26,3201 77624 CALL
026112,003845: 26,3202 55205 INTGRCAL
026113,003846: 26,3203 77650 GOTO
026114,003847: 26,3204 54474 RANGEBQ
026115,003848:
026116,003849: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
026117,003850:
026118,003851: 26,3205 71220 INTGRCAL STQ DLOAD
026119,003852: 26,3206 03673 IGRET
026120,003853: 26,3207 03753 MKTIME
026121,003854: 26,3210 34041 STCALL TDEC1
026122,003855: 26,3211 27134 INTEGRV
026123,003856: 26,3212 77650 GOTO
026124,003857: 26,3213 03673 IGRET
026125,003858:
026126,003859: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
026127,003860: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
026128,003861:
026129,003862: 26,3214 E5,1400 EBANK= W
026130,003863:
|
|
Page 595 |
026132,003865: 26,3214 77776 WLINIT EXIT
026133,003866: 26,3215 33274 CAF WBANK
026134,003867: 26,3216 54006 TS BBANK
026135,003868: 26,3217 33402 CAF WSIZE
026136,003869: 26,3220 55257 TS W.IND
026137,003870: 26,3221 34755 CAF ZERO
026138,003871: 26,3222 51257 INDEX W.IND
026139,003872: 26,3223 55400 TS W
026140,003873: 26,3224 11257 CCS W.IND
026141,003874: 26,3225 03220 TC -5
026142,003875: 26,3226 33275 CAF AIGBANK # RESTORE EBANK 7
026143,003876: 26,3227 54006 TS BBANK
026144,003877: 26,3230 06036 TC INTPRET
026145,003878: 26,3231 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
026146,003879: 26,3232 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
026147,003880: 26,3233 55237 WLSRFPOS # WRENDPOS AND WRENDVEL
026148,003881: 26,3234 02001 WRENDPOS
026149,003882: 26,3235 77650 GOTO
026150,003883: 26,3236 55241 WPOSTORE
026151,003884: 26,3237 77735 WLSRFPOS SLOAD
026152,003885: 26,3240 02007 WSURFPOS
026153,003886: 26,3241 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
026154,003887: 26,3242 20606 5
026155,003888: 26,3243 02401 STORE W
026156,003889: 26,3244 02411 STORE W +8D
026157,003890: 26,3245 02421 STORE W +16D
026158,003891: 26,3246 67214 BON SLOAD
026159,003892: 26,3247 04307 SURFFLAG
026160,003893: 26,3250 55254 WLSRFVEL
026161,003894: 26,3251 02002 WRENDVEL
026162,003895: 26,3252 77650 GOTO
026163,003896: 26,3253 55256 WVELSTOR
026164,003897: 26,3254 77735 WLSRFVEL SLOAD
026165,003898: 26,3255 02010 WSURFVEL
026166,003899: 26,3256 02511 WVELSTOR STORE W +72D
026167,003900: 26,3257 02521 STORE W +80D
026168,003901: 26,3260 02531 STORE W +88D
026169,003902: 26,3261 77735 SLOAD
026170,003903: 26,3262 02003 WSHAFT
026171,003904: 26,3263 02621 STORE W +144D
026172,003905: 26,3264 77735 SLOAD
026173,003906: 26,3265 02004 WTRUN
026174,003907: 26,3266 02631 STORE W +152D
026175,003908: 26,3267 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
026176,003909: 26,3270 02476 RENDWFLG
026177,003910: 26,3271 03461 MARKCTR # SET MARK COUNTER EQUAL ZERO
026178,003911: 26,3272 00000 0
026179,003912: 26,3273 77616 RVQ
026180,003913:
026181,003914: 26,3274 E5,1400 EBANK= W
026182,003915:
|
|
Page 596 |
026184,003917: 26,3274 54065 WBANK BBCON WLINIT
026185,003918: 26,3275 E7,1455 EBANK= AIG
026186,003919: 26,3275 54067 AIGBANK BBCON LSR22.3
026187,003920:
026188,003921: # GETULC
026189,003922:
026190,003923: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
026191,003924: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
026192,003925: # MAGNITUDE IN 36D.
026193,003926:
026194,003927: 26,3276 77201 GETULC SETPD VLOAD
026195,003928: 26,3277 00001 0
026196,003929: 26,3300 01645 DELTALEM
026197,003930: 26,3301 77754 LXA,2
026198,003931: 26,3302 03716 SCALSHFT # LOAD X2 WITH SCALE SHIFT
026199,003932: 26,3303 53257 VSR* VAD
026200,003933: 26,3304 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026201,003934: 26,3305 01661 RCVLEM
026202,003935: 26,3306 53715 PDVL VSR*
026203,003936: 26,3307 01573 DELTACSM
026204,003937: 26,3310 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
026205,003938: 26,3311 52255 VAD VSU
026206,003939: 26,3312 01607 RCVCSM
026207,003940: 26,3313 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
026208,003941: 26,3314 21676 NORMUNX1
026209,003942: 26,3315 17722 STODL ULC
026210,003943: 26,3316 00045 36D
026211,003944: 26,3317 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
026212,003945: 26,3320 20201 0,1
026213,003946: 26,3321 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
026214,003947: 26,3322 03722 ULC
026215,003948: 26,3323 77616 RVQ
026216,003949:
026217,003950: # RADARANG
026218,003951:
026219,003952: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
026220,003953: # RXZ = (SQRT (1-SINTHETA**2))RLC
026221,003954: # OUTPUT
026222,003955: # ULC IN ULC, PD0
026223,003956: # RLC IN PD36D
026224,003957: # SIN THETA IN SINTHETA AND PD6
026225,003958: # RXZ NORM IN RXZ (N IN X1)
026226,003959: 26,3324 45020 RADARANG STQ CALL
026227,003960: 26,3325 03673 RDRET
026228,003961: 26,3326 55276 GETULC
026229,003962: 26,3327 50276 VCOMP DOT
026230,003963: 26,3330 03703 MY
026231,003964: 26,3331 41572 SL1R PUSH # SIN THETA TO PD6
026232,003965: 26,3332 03730 STORE SINTHETA
026233,003966: 26,3333 44316 DSQ BDSU
026234,003967: 26,3334 06414 DP1/4TH # 1 - (SIN THETA)**2
026235,003968:
|
|
Page 597 |
026237,003970: 26,3335 41366 SQRT DMP
026238,003971: 26,3336 00045 36D
026239,003972: 26,3337 60352 SL1 NORM
026240,003973: 26,3340 00047 X1 # SET SHIFT COUNTER IN X1
026241,003974: 26,3341 03720 STORE RXZ
026242,003975: 26,3342 77650 GOTO # EXIT
026243,003976: 26,3343 03673 RDRET
026244,003977: 26,3344 45020 LGCUPDTE STQ CALL
026245,003978: 26,3345 03673 LGRET
026246,003979: 26,3346 46433 INCORP1
026247,003980: 26,3347 51575 VLOAD ABVAL
026248,003981: 26,3350 02673 DELTAX +6
026249,003982: 26,3351 53754 LXA,2 SRR*
026250,003983: 26,3352 03716 SCALSHFT # 0 - MOON. 2 - EARTH
026251,003984: 26,3353 56174 2,2 # SET VEL DISPLAY TO B-7
026252,003985: 26,3354 24317 STOVL R22DISP +2
026253,003986: 26,3355 02665 DELTAX
026254,003987: 26,3356 53646 ABVAL SRR*
026255,003988: 26,3357 56174 2,2 # SET POS DISPLAY TO B-29
026256,003989: 26,3360 00315 STORE R22DISP
026257,003990: 26,3361 54335 SLOAD SR
026258,003991: 26,3362 02005 RMAX
026259,003992: 26,3363 20613 10D
026260,003993: 26,3364 50025 DSU BMN
026261,003994: 26,3365 00315 R22DISP
026262,003995: 26,3366 50620 R22LEM96 # GO DISPLAY
026263,003996: 26,3367 45335 SLOAD DSU
026264,003997: 26,3370 02006 VMAX
026265,003998: 26,3371 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
026266,003999: 26,3372 77640 BMN
026267,004000: 26,3373 50620 R22LEM96 # GO DISPLAY
026268,004001: 26,3374 77624 ASTOK CALL
026269,004002: 26,3375 46645 INCORP2
026270,004003: 26,3376 77650 GOTO
026271,004004: 26,3377 03673 LGRET
026272,004005: 26,3400 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
026273,004006:
026274,004007: 26,3402 00241 WSIZE DEC 161 B-14
026275,004008: 26,3403 31103 36652 2PI/8 2DEC 3.141592653 B-2
026276,004009: 26,3405 E7,1454 EBANK= LOSCOUNT
026277,004010:
|
|
Page 598 |
026279,004012: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
026280,004013: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
026281,004014:
026282,004015:
026283,004016: # FUNCTIONAL DESCRIPTION
026284,004017:
026285,004018: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
026286,004019: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
026287,004020: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
026288,004021: # ATTITUDE MANEUVER.
026289,004022:
026290,004023:
026291,004024: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
026292,004025:
026293,004026:
026294,004027: # SUBROUTINES CALLED
026295,004028:
026296,004029: # LEMCONIC R61LEM
026297,004030: # CSMCONIC RRDESSM
026298,004031: # JOBDELAY FLAGDOWN
026299,004032: # WAITLIST FLAGUP
026300,004033: # RRNB BANKCALL
026301,004034:
026302,004035:
026303,004036: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
026304,004037:
026305,004038:
026306,004039: # OUTPUT
026307,004040:
026308,004041: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
026309,004042: # 11111 INDICATES LOCKON ACHIEVED
026310,004043: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
026311,004044:
026312,004045: # ERASABLE INITIALIZATION REQUIRED
026313,004046: # SEARCH FLAG MUST BE SET
026314,004047: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
026315,004048: # DEBRIS
026316,004049:
026317,004050: # RLMSRCH UXVECT
026318,004051: # VXRLM UYVECT
026319,004052: # LOSDESRD NSRCHPNT
026320,004053: # DATAGOOD OMEGAD
026321,004054: # MPAC PUSHLIST
026322,004055:
026323,004056: 26,3405 COUNT* $$/LRS24
026324,004057: 26,3405 34755 LRS24.1 CAF ZERO
026325,004058: 26,3406 55734 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
026326,004059: 26,3407 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
026327,004060: 26,3410 00006 EXTEND
026328,004061:
|
|
Page 599 |
026330,004063: 26,3411 05012 WOR CHAN12
026331,004064: 26,3412 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
026332,004065: 26,3413 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
026333,004066: 26,3414 00006 EXTEND
026334,004067: 26,3415 15155 BZF ENDOFJOB # NO-TERMINATE JOB
026335,004068:
026336,004069:
026337,004070: 26,3416 33655 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
026338,004071: 26,3417 00004 INHINT
026339,004072: 26,3420 05203 TC WAITLIST # IN 6 SECONDS
026340,004073: 26,3421 E7,1454 EBANK= LOSCOUNT
026341,004074: 26,3421 03605 54067 2CADR CALLDGCH
026342,004075: 26,3423 00003 RELINT
026343,004076: 26,3424 40110 CS RADMODES # IS REMODE IN PROGRESS
026344,004077: 26,3425 74736 MASK BIT14 # (BIT 14 RADMODES = 1)
026345,004078: 26,3426 00006 EXTEND
026346,004079: 26,3427 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
026347,004080: 26,3430 06036 TC INTPRET
026348,004081:
026349,004082: 26,3431 77634 RTB
026350,004083: 26,3432 21462 LOADTIME
026351,004084: 26,3433 34041 LRS24.11 STCALL TDEC1
026352,004085: 26,3434 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
026353,004086: 26,3435 77775 VLOAD
026354,004087: 26,3436 00001 RATT
026355,004088: 26,3437 27674 STOVL RLMSRCH # SAVE LEM POSITION
026356,004089: 26,3440 00007 VATT
026357,004090: 26,3441 17736 STODL SAVLEMV # SAVE LEM VELOCITY
026358,004091: 26,3442 00015 TAT
026359,004092: 26,3443 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
026360,004093: 26,3444 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
026361,004094: 26,3445 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
026362,004095: 26,3446 00001 RATT
026363,004096: 26,3447 03674 RLMSRCH
026364,004097: 26,3450 77656 UNIT
026365,004098: 26,3451 27710 STOVL LOSDESRD # STORE DESIRED LOS
026366,004099: 26,3452 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
026367,004100: 26,3453 47256 UNIT VXV
026368,004101: 26,3454 00001 RATT
026369,004102: 26,3455 77656 UNIT
026370,004103: 26,3456 03702 STORE VXRCM
026371,004104: 26,3457 52375 VLOAD VSU
026372,004105: 26,3460 00007 VATT
026373,004106: 26,3461 03736 SAVLEMV
026374,004107: 26,3462 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
026375,004108: 26,3463 01734 REFSMMAT
026376,004109: 26,3464 03736 STORE SAVLEMV # VLC = V(CSM) - V(LM)
026377,004110: 26,3465 53135 SLOAD BZE # CHECK IF N=0
026378,004111: 26,3466 03735 NSRCHPNT
026379,004112:
|
|
Page 600 |
026381,004114: 26,3467 55600 DESGLOS # YES-DESIGNATE ALONG LOS
026382,004115: 26,3470 53025 DSU BZE # IS N=1
026383,004116: 26,3471 15653 ONEOCT # YES-CALCULATE X AND Y AXES OF
026384,004117: 26,3472 55565 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
026385,004118: 26,3473 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
026386,004119: 26,3474 03716 UXVECT
026387,004120: 26,3475 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
026388,004121: 26,3476 03724 UYVECT # UXPRIME = ORIGINAL UX
026389,004122: 26,3477 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
026390,004123: 26,3500 77761 VXSC
026391,004124: 26,3501 15647 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
026392,004125: 26,3502 27716 STOVL UXVECT
026393,004126: 26,3503 00015 UXVECTPR
026394,004127: 26,3504 53361 VXSC VAD
026395,004128: 26,3505 06422 COS60DEG
026396,004129: 26,3506 03716 UXVECT
026397,004130: 26,3507 77656 UNIT
026398,004131: 26,3510 27716 STOVL UXVECT
026399,004132: 26,3511 00015 UXVECTPR # UY=(-SIN 60)UXPR +(COS 60)UYPR
026400,004133: 26,3512 77761 VXSC
026401,004134: 26,3513 15647 SIN60DEG
026402,004135: 26,3514 27724 STOVL UYVECT
026403,004136: 26,3515 00023 UYVECTPR
026404,004137: 26,3516 52361 VXSC VSU
026405,004138: 26,3517 06422 COS60DEG
026406,004139: 26,3520 03724 UYVECT
026407,004140: 26,3521 77656 UNIT
026408,004141: 26,3522 03724 STORE UYVECT
026409,004142: 26,3523 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
026410,004143: 26,3524 15651 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
026411,004144: 26,3525 03710 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
026412,004145: 26,3526 64256 UNIT MXV
026413,004146: 26,3527 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
026414,004147: 26,3530 77772 VSL1
026415,004148: 26,3531 25102 CONTDESG STOVL RRTARGET
026416,004149: 26,3532 03736 SAVLEMV
026417,004150: 26,3533 01761 STORE LOSVEL
026418,004151: 26,3534 77776 EXIT
026419,004152: 26,3535 00004 INHINT
026420,004153: 26,3536 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
026421,004154: 26,3537 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
026422,004155: # POINT IN THE PATTERN
026423,004156: 26,3540 44735 CONTDES2 CS BIT15
026424,004157: 26,3541 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
026425,004158: 26,3542 64735 AD BIT15 # A CONTINUOUS DESIGNATE WANTED
026426,004159: 26,3543 54110 TS RADMODES
026427,004160: 26,3544 06036 TC INTPRET
026428,004161:
026429,004162: 26,3545 77624 CALL
026430,004163: 26,3546 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
026431,004164:
|
|
Page 601 |
026433,004166:
026434,004167: 26,3547 77776 EXIT
026435,004168: 26,3550 03637 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
026436,004169: 26,3551 03637 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
026437,004170:
026438,004171:
026439,004172: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
026440,004173: # SPACECRAFT +Z AXIS
026441,004174: 26,3552 00006 OMEGCALC EXTEND
026442,004175: 26,3553 30036 DCA CDUT
026443,004176: 26,3554 53751 DXCH TANGNB
026444,004177: 26,3555 06036 TC INTPRET
026445,004178: 26,3556 77624 CALL
026446,004179: 26,3557 46041 RRNB
026447,004180: 26,3560 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
026448,004181: 26,3561 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
026449,004182: 26,3562 03733 STORE OMEGDISP # STORE FOR DISPLAY IN R2
026450,004183: 26,3563 77776 EXIT
026451,004184: 26,3564 05155 TC ENDOFJOB
026452,004185:
|
|
Page 602 |
026454,004187: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
026455,004188:
026456,004189:
026457,004190: 26,3565 47375 CALCXY VLOAD VXV
026458,004191: 26,3566 03702 VXRCM
026459,004192: 26,3567 03710 LOSDESRD
026460,004193: 26,3570 77656 UNIT
026461,004194: 26,3571 27716 STOVL UXVECT # UX = (VLM X RLM) X LOS
026462,004195: 26,3572 03710 LOSDESRD
026463,004196: 26,3573 53435 VXV UNIT
026464,004197: 26,3574 03716 UXVECT
026465,004198: 26,3575 03724 STORE UYVECT # UY = LOS X UX
026466,004199: 26,3576 77650 GOTO
026467,004200: 26,3577 55523 OFFCALC
026468,004201:
026469,004202:
026470,004203: 26,3600 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
026471,004204: 26,3601 03710 LOSDESRD
026472,004205: 26,3602 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
026473,004206: 26,3603 52172 VSL1 GOTO
026474,004207: 26,3604 55531 CONTDESG
026475,004208:
026476,004209:
026477,004210: 26,3605 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
026478,004211: 26,3606 74745 MASK RNDVZBIT
026479,004212: 26,3607 00006 EXTEND
026480,004213: 26,3610 15261 BZF TASKOVER # NO-EXIT R24
026481,004214: 26,3611 37712 CAF PRIO25 # YES-SCHEDULE JOB TO DRIVE RADAR TO NEXT
026482,004215: 26,3612 05105 TC FINDVAC # POINT IN SEARCH PATTERN
026483,004216: 26,3613 E7,1673 EBANK= RLMSRCH
026484,004217: 26,3613 03616 54067 2CADR DATGDCHK
026485,004218: 26,3615 05261 TC TASKOVER
026486,004219:
026487,004220:
026488,004221: 26,3616 34750 DATGDCHK CAF BIT4
026489,004222: 26,3617 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
026490,004223: 26,3620 02033 RAND CHAN33
026491,004224: 26,3621 00006 EXTEND
026492,004225: 26,3622 13631 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
026493,004226: 26,3623 46241 CS SIX
026494,004227: 26,3624 61734 AD NSRCHPNT # IS N GREATER THAN 6
026495,004228: 26,3625 00006 EXTEND
026496,004229: 26,3626 13405 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
026497,004230: 26,3627 25734 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
026498,004231: 26,3630 13407 TCF CHKSRCH # NEXT POINT IN PATTERN
026499,004232:
026500,004233:
026501,004234: 26,3631 33645 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
026502,004235: 26,3632 55731 TS DATAGOOD
026503,004236:
|
|
Page 603 |
026505,004238: 26,3633 00004 INHINT
026506,004239: 26,3634 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
026507,004240: 26,3635 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
026508,004241: 26,3636 05155 TC ENDOFJOB
026509,004242:
026510,004243: 26,3637 05567 LIMALARM TC ALARM # ISSUE ALARM 527- LOS NOT IN MODE2
026511,004244: 26,3640 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
026512,004245: 26,3641 00004 INHINT # REQUIRED IN P20
026513,004246: 26,3642 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
026514,004247: 26,3643 55605 CADR CALLDGCH # POINT IN SEARCH PATTERN
026515,004248: 26,3644 05155 TC ENDOFJOB
026516,004249:
026517,004250:
026518,004251: 26,3645 25547 ALL1S DEC 11111 B-14
026519,004252: 26,3646 33555 01106 SIN60DEG 2DEC .86603
026520,004253: 26,3650 23,2421 COS60DEG = DPHALF # (2DEC .50)
026521,004254: 26,3650 UXVECTPR EQUALS 12D # PREVIOUS
026522,004255: 26,3650 UYVECTPR EQUALS 18D
026523,004256: 26,3650 RLMUNIT EQUALS 12D
026524,004257: 26,3650 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
026525,004258: 26,3652 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
026526,004259: 26,3653 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
026527,004260: # **** ONEOCT NEEDS A LOWER ORDER ****
026528,004261: # **** WORD OF ZEROES ****
026529,004262: 26,3655 01130 6SECONDS DEC 600 B-14
026530,004263: 26,3656 00062 DEC50 DEC 50 B-14
026531,004264: # ********************************
026532,004265:
026533,004266: # TEST PROGRAM FOR LSR22.3 --- TO BE REMOVED
026534,004267: # ********************************
026535,004268:
026536,004269: 27,2156 BANK 27
026537,004270:
026538,004271: 27,2156 E7,1455 EBANK= AIG
026539,004272: 27,2156 COUNT* $$/RTEST
026540,004273: 27,2156 34755 TEST22.3 CAF ZERO
026541,004274: 27,2157 55122 TS LONG
026542,004275: 27,2160 06036 LOOP22.3 TC INTPRET
026543,004276: 27,2161 70744 LXC,2 DLOAD*
026544,004277: 27,2162 01122 LONG
026545,004278: 27,2163 62370 JOBOVER +1,2
026546,004279: 27,2164 03456 STORE AIG
026547,004280: 27,2165 77743 DLOAD*
026548,004281: 27,2166 62367 JOBOVER +2,2
026549,004282: 27,2167 03457 STORE AMG
026550,004283: 27,2170 77743 DLOAD*
026551,004284:
|
|
Page 604 |
026553,004286: 27,2171 62365 JOBOVER +4,2
026554,004287: 27,2172 03753 STORE MKTIME
026555,004288: 27,2173 77743 DLOAD*
026556,004289: 27,2174 62363 JOBOVER +6,2
026557,004290: 27,2175 03755 STORE RM
026558,004291: 27,2176 77743 DLOAD*
026559,004292: 27,2177 62361 JOBOVER +8D,2
026560,004293: 27,2200 03747 STORE RDOTM
026561,004294: 27,2201 77743 DLOAD*
026562,004295: 27,2202 62357 JOBOVER +10D,2
026563,004296: 27,2203 03734 STORE RRSHAFT
026564,004297: 27,2204 77743 DLOAD*
026565,004298: 27,2205 62355 JOBOVER +12D,2
026566,004299: 27,2206 03732 STORE RRTRUN
026567,004300: 27,2207 77624 CALL
026568,004301: 27,2210 54370 LSR22.3
026569,004302: 27,2211 77776 22.3ENT EXIT
026570,004303: 27,2212 31122 CA LONG
026571,004304: 27,2213 62222 AD DEC13T
026572,004305: 27,2214 55122 TS LONG
026573,004306: 27,2215 11123 CCS LONG +1
026574,004307: 27,2216 02220 TC +2
026575,004308: 27,2217 30000 STOP22.3 CA A
026576,004309: 27,2220 55123 TS LONG +1
026577,004310: 27,2221 02160 TC LOOP22.3
026578,004311: 27,2222 00015 DEC13T DEC 13 B-14
026579,004312:
026580,004313: 27,2223 26,3405 JOBOVER EQUALS LRS24.1 # **** TEMPORARY DEFINITION ******
026581,004314:
026582,004315: # END OF TEST PROGRAM
026583,004316: # ****************************************
026584,004317: 27,2223 23,2423 ZERO/SP EQUALS HI6ZEROS
026585,004318: 4616 BLOCK 02
026586,004319: 6000 SETLOC FFTAG5
026587,004320: 6000 BANK
026588,004321: 6022 COUNT* $$/P20
026589,004322: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
026590,004323: 6023 36026 DCA VB56CADR # GOTOPOOH
026591,004324: 6024 15165 TCF SUPDXCHZ
026592,004325: 6025 E7,1467 EBANK= WHOCARES
026593,004326: 6025 03034 66107 VB56CADR 2CADR TRMTRACK
026594,004327:
026595,004328:
|
|
Page 605 |
026597,004330: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
026598,004331: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
026599,004332:
026600,004333:
026601,004334: # FUNCTIONAL DESCRIPTION:
026602,004335:
026603,004336: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
026604,004337: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
026605,004338: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
026606,004339: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
026607,004340: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
026608,004341: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
026609,004342:
026610,004343: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
026611,004344:
026612,004345:
026613,004346: # SUBROUTINES CALLED:
026614,004347:
026615,004348: # REMODE RRTONLY
026616,004349: # UNIT MPACVBUF
026617,004350: # QUICTRIG AX*SR*T
026618,004351: # SPSIN SPCOS
026619,004352: # SETRRECR RROUT
026620,004353: # RRRDOT RRRANGE
026621,004354:
026622,004355:
026623,004356: # EXIT: TO NOR29NOW, IN SERVICER.
026624,004357:
026625,004358:
026626,004359: # OUTPUT: (ALL FOR DOWNLINK)
026627,004360:
026628,004361: # RM RDOTM (RAW)
026629,004362: # AIG AMG
026630,004363: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
026631,004364: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
026632,004365: # MKTIME
026633,004366:
|
|
Page 606 |
026635,004368:
026636,004369: # ERASABLE INITIALIZATION REQUIRED:
026637,004370:
026638,004371: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
026639,004372: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
026640,004373: # R(CSM) V(CSM)
026641,004374: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
026642,004375:
026643,004376:
026644,004377: # DEBRIS:
026645,004378:
026646,004379: # RADMODES (BIT 10)
026647,004380: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
026648,004381: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
026649,004382: # LOSCMFLG READRFLG
026650,004383:
026651,004384:
026652,004385: # ALARMS: NONE.
026653,004386:
026654,004387:
026655,004388: # COMPONENT JOBS AND TASKS:
026656,004389:
026657,004390: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
026658,004391: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
026659,004392: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
026660,004393:
026661,004394:
026662,004395: 33,2045 BANK 33
026663,004396: 33,2000 SETLOC R29/SERV
026664,004397: 33,2000 BANK
026665,004398:
026666,004399: 33,2045 COUNT* $$/R29
026667,004400:
026668,004401: 33,2045 5014 NR29&RDR EQUALS EBANK5
026669,004402:
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|
Page 607 |
026671,004404: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
026672,004405: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
026673,004406:
026674,004407: 33,2045 40110 R29 CS RADMODES
026675,004408: 33,2046 74742 MASK BIT10
026676,004409: 33,2047 00006 EXTEND
026677,004410: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
026678,004411:
026679,004412: 33,2051 00004 INHINT
026680,004413: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
026681,004414: 33,2053 44736 CS BIT14
026682,004415: 33,2054 00006 EXTEND
026683,004416: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
026684,004417: 33,2056 44740 CS LOSCMBIT
026685,004418: 33,2057 70076 MASK FLAGWRD2
026686,004419: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
026687,004420: 33,2061 44753 CS OLDESBIT
026688,004421: 33,2062 70074 MASK STATE
026689,004422: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
026690,004423: 33,2064 04616 TC BANKCALL
026691,004424: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
026692,004425: 33,2066 34740 CA BIT12
026693,004426: 33,2067 70110 MASK RADMODES
026694,004427: 33,2070 10000 CCS A # TEST RR MODE BIT.
026695,004428: 33,2071 12104 TCF SETPRPOS # MODE 2.
026696,004429:
026697,004430: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
026698,004431: 33,2073 05072 TC NOVAC
026699,004432: 33,2074 E7,1454 EBANK= LOSCOUNT
026700,004433: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
026701,004434:
026702,004435: 33,2076 44742 CS BIT10
026703,004436: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
026704,004437: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
026705,004438: 33,2101 34736 CA BIT14
026706,004439: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
026707,004440: 33,2103 12623 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
026708,004441:
026709,004442: 33,2104 34753 SETPRPOS CA ONE
026710,004443: 33,2105 05203 TC WAITLIST
026711,004444: 33,2106 E7,1454 EBANK= LOSCOUNT
026712,004445: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
026713,004446:
026714,004447: 33,2110 34741 CA BIT11
026715,004448: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
026716,004449: 33,2112 12623 TCF NOR29NOW
026717,004450:
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|
Page 608 |
026719,004452: # FORCE RENDEZVOUS RADAR INTO MODE 2.
026720,004453:
026721,004454: 33,2113 34753 R29REMOJ CA ONE
026722,004455: 33,2114 05203 TC WAITLIST
026723,004456: 33,2115 E7,1454 EBANK= LOSCOUNT
026724,004457: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
026725,004458: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
026726,004459: 33,2120 17667 CADR RADSTALL
026727,004460:
026728,004461: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
026729,004462: 33,2122 15155 TCF ENDOFJOB
026730,004463:
026731,004464: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
026732,004465:
026733,004466: 25,2000 SETLOC R29S1
026734,004467: 25,2000 BANK
026735,004468:
026736,004469: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
026737,004470: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
026738,004471: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
026739,004472: 25,3604 70110 MASK RADMODES
026740,004473: 25,3605 54110 TS RADMODES
026741,004474: 25,3606 15261 TCF TASKOVER
026742,004475:
026743,004476:
026744,004477: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
026745,004478:
026746,004479:
026747,004480: 33,2045 SETLOC R29
026748,004481: 33,2045 BANK
026749,004482:
026750,004483: 33,2123 00006 R29.LOS EXTEND
026751,004484: 33,2124 41235 DCS PIPTIME
026752,004485: 33,2125 52155 DXCH MPAC
026753,004486: 33,2126 00006 EXTEND
026754,004487: 33,2127 30025 DCA TIME2
026755,004488: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
026756,004489: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
026757,004490: 33,2132 30155 CA MPAC +1
026758,004491: 33,2133 00006 EXTEND
026759,004492: 33,2134 74740 MP BIT12
026760,004493: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
026761,004494: 33,2136 06036 TC INTPRET
026762,004495:
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|
Page 609 |
026764,004497: # LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
026765,004498: # START IT UP WHEN THE DATA IS IN PLACE.
026766,004499:
026767,004500:
026768,004501: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
026769,004502: 33,2140 01726 V(CSM)
026770,004503: 33,2141 03525 V # LOSVEL = V(CSM) - V.
026771,004504: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
026772,004505: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
026773,004506: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
026774,004507: 33,2145 03517 R
026775,004508: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
026776,004509: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
026777,004510: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
026778,004511: 33,2151 12623 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
026779,004512:
026780,004513: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
026781,004514: 33,2153 00001 0
026782,004515: 33,2154 77761 VXSC
026783,004516: 33,2155 26177 .5SECB17
026784,004517: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
026785,004518: 33,2157 77414 CLEAR EXIT
026786,004519: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
026787,004520:
026788,004521: 33,2161 40074 CS STATE
026789,004522: 33,2162 74753 MASK OLDESBIT
026790,004523: 33,2163 00006 EXTEND
026791,004524: 33,2164 12623 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
026792,004525: 33,2165 00004 INHINT
026793,004526: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
026794,004527:
026795,004528: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
026796,004529: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
026797,004530: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
026798,004531: 33,2172 05203 TC WAITLIST
026799,004532: 33,2173 E7,1454 EBANK= LOSCOUNT
026800,004533: 33,2173 03253 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
026801,004534: 33,2175 12623 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
026802,004535:
026803,004536: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
026804,004537:
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|
Page 610 |
026806,004539: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
026807,004540: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
026808,004541:
026809,004542: 24,3253 BANK 24
026810,004543: 24,2000 SETLOC P20S
026811,004544: 24,2000 BANK
026812,004545:
026813,004546: 24,3253 COUNT* $$/R29
026814,004547:
026815,004548: 24,3253 35031 BEGDES29 CAF PRIO21
026816,004549: 24,3254 05072 TC NOVAC
026817,004550: 24,3255 E3,1760 EBANK= LOSVDT/4
026818,004551: 24,3255 02545 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
026819,004552:
026820,004553: 24,3257 34774 R29DLOOP CAF .5SEC
026821,004554: 24,3260 05224 TC VARDELAY
026822,004555:
026823,004556: 24,3261 40110 CS RADMODES
026824,004557: 24,3262 74742 MASK BIT10
026825,004558: 24,3263 10000 CCS A
026826,004559: 24,3264 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
026827,004560:
026828,004561: 24,3265 40076 CS FLAGWRD2
026829,004562: 24,3266 74740 MASK LOSCMBIT
026830,004563: 24,3267 00006 EXTEND
026831,004564: 24,3270 13273 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
026832,004565: 24,3271 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
026833,004566: 24,3272 13253 TCF BEGDES29
026834,004567:
026835,004568: 24,3273 34753 CA ONE
026836,004569: 24,3274 13260 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
026837,004570:
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|
Page 611 |
026839,004572: # R29DODES: RR DESIGNATION LOOP FOR R29
026840,004573:
026841,004574: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
026842,004575: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
026843,004576: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
026844,004577: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
026845,004578: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
026846,004579:
026847,004580: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
026848,004581: # TASK WHEN LOCK-ON IS ACHIEVED.
026849,004582:
026850,004583: 32,2545 BANK 32
026851,004584: 32,2000 SETLOC F2DPS*32
026852,004585: 32,2000 BANK
026853,004586:
026854,004587: 32,2545 COUNT* $$/R29
026855,004588: 32,2545 E3,1760 EBANK= LOSVDT/4
026856,004589:
026857,004590: 32,2545 34753 R29DODES CA ONE
026858,004591: 32,2546 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
026859,004592: 32,2547 34756 CA FIVE
026860,004593:
026861,004594: 32,2550 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
026862,004595: 32,2551 54002 TS Q
026863,004596: 32,2552 11107 CCS TANG
026864,004597: 32,2553 12561 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
026865,004598:
026866,004599: 32,2554 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
026867,004600: 32,2555 50002 INDEX Q
026868,004601: 32,2556 31761 DCA LOSVDT/4
026869,004602: 32,2557 50002 INDEX Q
026870,004603: 32,2560 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
026871,004604:
026872,004605: 32,2561 00006 R29DPAS1 EXTEND
026873,004606: 32,2562 50002 INDEX Q
026874,004607: 32,2563 31102 DCA LOSSM
026875,004608: 32,2564 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
026876,004609: 32,2565 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
026877,004610: 32,2566 11107 CCS TANG
026878,004611: 32,2567 12575 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
026879,004612:
026880,004613: 32,2570 00006 EXTEND
026881,004614: 32,2571 50002 INDEX Q
026882,004615: 32,2572 31761 DCA LOSVDT/4
026883,004616: 32,2573 50002 INDEX Q
026884,004617: 32,2574 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
026885,004618:
026886,004619: 32,2575 10002 R29DVEND CCS Q
026887,004620: 32,2576 12550 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
026888,004621:
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|
Page 612 |
026890,004623: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
026891,004624:
026892,004625: 32,2577 52156 DXCH MPAC +1
026893,004626: 32,2600 52155 DXCH MPAC
026894,004627: 32,2601 32770 CA R29FXLOC # = ADRES INTB15+ -34D
026895,004628: 32,2602 54120 TS FIXLOC
026896,004629: 32,2603 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
026897,004630: 32,2604 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
026898,004631: 32,2605 07531 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026899,004632:
026900,004633: 32,2606 11107 CCS TANG
026901,004634: 32,2607 12611 TCF +2
026902,004635: 32,2610 12625 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
026903,004636: 32,2611 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
026904,004637: 32,2612 00006 EXTEND
026905,004638: 32,2613 30036 DCA CDUT
026906,004639: 32,2614 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
026907,004640: 32,2615 30033 CA CDUY
026908,004641: 32,2616 54766 TS CDUSPOT
026909,004642: 32,2617 30034 CA CDUZ
026910,004643: 32,2620 54770 TS CDUSPOT +2
026911,004644: 32,2621 30032 CA CDUX
026912,004645: 32,2622 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026913,004646: 32,2623 04616 TC BANKCALL
026914,004647: 32,2624 47521 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
026915,004648:
026916,004649: 32,2625 46244 GOTANGLS CS THREE
026917,004650: 32,2626 04616 TC BANKCALL
026918,004651: 32,2627 47601 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026919,004652:
026920,004653: 32,2630 11107 CCS TANG
026921,004654: 32,2631 12633 TCF +2
026922,004655: 32,2632 12676 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
026923,004656:
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|
Page 613 |
026925,004658: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026926,004659: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026927,004660:
026928,004661: 32,2633 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
026929,004662: 32,2634 31766 CA SAVECDUT
026930,004663: 32,2635 05032 TC SPCOS
026931,004664: 32,2636 54166 TS PUSHLOC # PUSHLOC = COS T.
026932,004665: 32,2637 41766 CS SAVECDUT
026933,004666: 32,2640 05033 TC SPSIN
026934,004667: 32,2641 54163 TS MODE # MODE = -SIN T.
026935,004668: 32,2642 00006 EXTEND
026936,004669: 32,2643 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
026937,004670: 32,2644 52155 DXCH MPAC
026938,004671: 32,2645 31767 CA SAVECDUT +1
026939,004672: 32,2646 05033 TC SPSIN
026940,004673: 32,2647 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
026941,004674: 32,2650 00006 EXTEND
026942,004675: 32,2651 70166 MP PUSHLOC
026943,004676: 32,2652 00006 EXTEND
026944,004677: 32,2653 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
026945,004678: 32,2654 20155 DAS MPAC
026946,004679: 32,2655 31767 CA SAVECDUT +1
026947,004680: 32,2656 05032 TC SPCOS
026948,004681: 32,2657 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
026949,004682: 32,2660 00006 EXTEND
026950,004683: 32,2661 70166 MP PUSHLOC
026951,004684: 32,2662 00006 EXTEND
026952,004685: 32,2663 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
026953,004686: 32,2664 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
026954,004687: 32,2665 00006 EXTEND # -SIN T, COS S COS T).
026955,004688: 32,2666 30155 DCA MPAC
026956,004689: 32,2667 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026957,004690: 32,2670 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
026958,004691: 32,2671 34736 CA BIT14
026959,004692: 32,2672 12673 NOOP
026960,004693: 32,2673 00006 EXTEND
026961,004694: 32,2674 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026962,004695: 32,2675 12547 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
026963,004696:
|
|
Page 614 |
026965,004698: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026966,004699:
026967,004700:
026968,004701: 32,2676 31767 R29DPAS2 CA SAVECDUT +1
026969,004702: 32,2677 00006 EXTEND
026970,004703: 32,2700 70122 MP VBUF # FORM COS S ULOSNB'X.
026971,004704: 32,2701 53110 DXCH TANG
026972,004705: 32,2702 41766 CS SAVECDUT
026973,004706: 32,2703 00006 EXTEND
026974,004707: 32,2704 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
026975,004708: 32,2705 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026976,004709: 32,2706 40163 CS MODE # - SIN S)
026977,004710: 32,2707 00006 EXTEND
026978,004711: 32,2710 71766 MP SAVECDUT
026979,004712: 32,2711 00006 EXTEND
026980,004713: 32,2712 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
026981,004714: 32,2713 52155 DXCH MPAC
026982,004715: 32,2714 30166 CA PUSHLOC
026983,004716: 32,2715 00006 EXTEND
026984,004717: 32,2716 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
026985,004718: 32,2717 20155 DAS MPAC
026986,004719: 32,2720 40163 CS MODE
026987,004720: 32,2721 00006 EXTEND
026988,004721: 32,2722 71767 MP SAVECDUT +1
026989,004722: 32,2723 00006 EXTEND
026990,004723: 32,2724 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
026991,004724: 32,2725 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
026992,004725: 32,2726 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
026993,004726: 32,2727 00006 EXTEND
026994,004727: 32,2730 72771 MP RR29GAIN
026995,004728: 32,2731 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
026996,004729: 32,2732 00006 EXTEND
026997,004730: 32,2733 72771 MP RR29GAIN
026998,004731: 32,2734 55110 TS TANG +1 # STORE REFINED S CMD.
026999,004732:
|
|
Page 615 |
027001,004734: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
027002,004735: # READING DATA FROM THE RENDEZVOUS RADAR.
027003,004736:
027004,004737: 32,2735 34750 DGOOD? CAF BIT4
027005,004738: 32,2736 00006 EXTEND
027006,004739: 32,2737 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
027007,004740: 32,2740 00004 INHINT # (MAINLY FOR RROUT).
027008,004741: 32,2741 00006 EXTEND
027009,004742: 32,2742 12746 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
027010,004743:
027011,004744: 32,2743 04616 TC BANKCALL
027012,004745: 32,2744 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
027013,004746: 32,2745 12764 TCF END29DOD
027014,004747:
027015,004748: 32,2746 44742 R29LOKON CS BIT10
027016,004749: 32,2747 70110 MASK RADMODES
027017,004750: 32,2750 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
027018,004751: 32,2751 44752 CS BIT2
027019,004752: 32,2752 00006 EXTEND
027020,004753: 32,2753 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
027021,004754: 32,2754 34743 CA READRBIT
027022,004755: 32,2755 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
027023,004756: 32,2756 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
027024,004757: 32,2757 44776 CS SUPER110 # -96D + 100D = 4.
027025,004758: 32,2760 64777 AD 1SEC # 0 + 100D = 100D.
027026,004759: 32,2761 05203 TC WAITLIST
027027,004760: 32,2762 E7,1454 EBANK= LOSCOUNT
027028,004761: 32,2762 03275 50067 2CADR R29READ # START READING TASK AND JOB.
027029,004762:
027030,004763: 32,2764 44740 END29DOD CS LOSCMBIT
027031,004764: 32,2765 70076 MASK FLAGWRD2
027032,004765: 32,2766 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
027033,004766: 32,2767 15155 TCF ENDOFJOB
027034,004767:
027035,004768: 32,2770 00052 R29FXLOC ADRES INTB15+ -34D
027036,004769: 32,2771 56655 RR29GAIN DEC -.53624
027037,004770: 32,2772 E3,1760 LOSVDT/4 EQUALS LOSVEL
027038,004771: 32,2772 1101 LOSSM EQUALS RRTARGET
027039,004772: 32,2772 E3,1766 SAVECDUT EQUALS MLOSV
027040,004773:
|
|
Page 616 |
027042,004775: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
027043,004776:
027044,004777: 24,3275 BANK 24
027045,004778: 24,2000 SETLOC P20S
027046,004779: 24,2000 BANK
027047,004780:
027048,004781: 24,3275 COUNT* $$/R29
027049,004782:
027050,004783: 24,3275 E7,1454 EBANK= LOSCOUNT
027051,004784:
027052,004785: 24,3275 37713 R29READ CAF PRIO26 # CALLED BY WAITLIST.
027053,004786: 24,3276 05072 TC NOVAC
027054,004787: 24,3277 E7,1454 EBANK= LOSCOUNT
027055,004788: 24,3277 03310 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
027056,004789:
027057,004790: 24,3301 35000 CA 2SECS
027058,004791: 24,3302 05224 TC VARDELAY
027059,004792:
027060,004793: 24,3303 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
027061,004794: 24,3304 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
027062,004795: 24,3305 10000 CCS A
027063,004796: 24,3306 13275 TCF R29READ # IT'S OK; CALL IT AGAIN.
027064,004797: 24,3307 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
027065,004798:
027066,004799: 24,3310 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
027067,004800: 24,3311 74741 MASK NR29FBIT
027068,004801: 24,3312 10000 CCS A # TEST "NOR29FLG".
027069,004802: 24,3313 13372 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
027070,004803:
027071,004804: 24,3314 30110 CA RADMODES
027072,004805: 24,3315 74752 MASK BIT2
027073,004806: 24,3316 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
027074,004807: 24,3317 13372 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
027075,004808:
027076,004809: 24,3320 04616 TC BANKCALL
027077,004810: 24,3321 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
027078,004811: 24,3322 04616 TC BANKCALL
027079,004812: 24,3323 17667 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
027080,004813: 24,3324 13372 TCF ENDRRD29 # BAD READ; REDESIGNATE.
027081,004814:
|
|
Page 617 |
027083,004816: # R29 RADAR READING CONTINUED.
027084,004817:
027085,004818:
027086,004819: 24,3325 53106 DXCH TIMEHOLD
027087,004820: 24,3326 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
027088,004821: 24,3327 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
027089,004822: 24,3330 00006 EXTEND
027090,004823: 24,3331 30036 DCA CDUT
027091,004824: 24,3332 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
027092,004825: 24,3333 00006 EXTEND
027093,004826: 24,3334 30034 DCA CDUY
027094,004827: 24,3335 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
027095,004828: 24,3336 30032 CA CDUX
027096,004829: 24,3337 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
027097,004830:
027098,004831: 24,3340 04616 R29RANGE TC BANKCALL
027099,004832: 24,3341 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
027100,004833: 24,3342 04616 TC BANKCALL
027101,004834: 24,3343 17667 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
027102,004835: 24,3344 13363 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
027103,004836:
027104,004837: 24,3345 00004 INHINT
027105,004838: 24,3346 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
027106,004839: 24,3347 53755 DXCH RM
027107,004840: 24,3350 52155 DXCH MPAC
027108,004841: 24,3351 53753 DXCH MKTIME
027109,004842: 24,3352 52157 DXCH MPAC +2
027110,004843: 24,3353 53751 DXCH TANGNB
027111,004844: 24,3354 52161 DXCH MPAC +4
027112,004845: 24,3355 53456 DXCH AIG
027113,004846: 24,3356 30162 CA MPAC +6
027114,004847: 24,3357 55457 TS AOG
027115,004848: 24,3360 34753 CA ONE
027116,004849: 24,3361 55460 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
027117,004850: 24,3362 15155 TCF ENDOFJOB
027118,004851:
027119,004852: 24,3363 40101 R29RRR? CS FLAGWRD5
027120,004853: 24,3364 74742 MASK BIT10
027121,004854: 24,3365 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
027122,004855: 24,3366 13372 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
027123,004856: 24,3367 05516 TC DOWNFLAG
027124,004857: 24,3370 00120 ADRES RNGSCFLG
027125,004858: 24,3371 13340 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
027126,004859:
027127,004860: 24,3372 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
027128,004861: 24,3373 55460 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
027129,004862: 24,3374 05516 TC DOWNFLAG
027130,004863: 24,3375 00063 ADRES READRFLG
027131,004864: 24,3376 44736 CS BIT14
027132,004865: 24,3377 00006 EXTEND
027133,004866:
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|
Page 618 |
027135,004868: 24,3400 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
027136,004869: 24,3401 15155 TCF ENDOFJOB
027137,004870:
|
|
Page 619 |
027139,004872: # W-MATRIX MONITOR
027140,004873:
027141,004874: 31,2011 BANK 31
027142,004875: 31,2000 SETLOC VB67
027143,004876: 31,2000 BANK
027144,004877: 31,2011 COUNT* $$/EXTVB
027145,004878:
027146,004879: 31,2011 E4,1604 EBANK= WWPOS
027147,004880:
027148,004881: 31,2011 06036 V67CALL TC INTPRET
027149,004882: 31,2012 77624 CALL
027150,004883: 31,2013 62114 V67WW
027151,004884: 31,2014 77776 EXIT
027152,004885: 31,2015 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
027153,004886: 31,2016 31605 DCA WWPOS # COMPARISON AFTER THE DISPLAY
027154,004887: 31,2017 53611 DXCH WWVEL +2
027155,004888: 31,2020 00006 EXTEND
027156,004889: 31,2021 31607 DCA WWVEL
027157,004890: 31,2022 53613 DXCH WWVEL +4
027158,004891: 31,2023 32171 V06N99DS CAF V06N99
027159,004892: 31,2024 04616 TC BANKCALL
027160,004893: 31,2025 20231 CADR GOXDSPFR
027161,004894: 31,2026 15472 TCF ENDEXT
027162,004895: 31,2027 12034 TCF +5
027163,004896: 31,2030 12023 TCF V06N99DS
027164,004897: 31,2031 34751 CAF BIT3
027165,004898: 31,2032 05464 TC BLANKET
027166,004899: 31,2033 05155 TC ENDOFJOB
027167,004900: 31,2034 22007 +5 ZL
027168,004901: 31,2035 36244 CA THREE
027169,004902: 31,2036 54002 N99LOOP TS Q
027170,004903: 31,2037 50002 INDEX Q
027171,004904: 31,2040 41604 CS WWPOS
027172,004905: 31,2041 50002 INDEX Q
027173,004906: 31,2042 61610 AD WWPOS +4
027174,004907: 31,2043 26001 ADS L
027175,004908: 31,2044 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
027176,004909: 31,2045 12036 TCF N99LOOP
027177,004910: 31,2046 22000 LXCH A
027178,004911: 31,2047 00006 EXTEND
027179,004912: 31,2050 12053 BZF V06N9933
027180,004913: 31,2051 05504 TC UPFLAG
027181,004914: 31,2052 00160 ADRES V67FLAG
027182,004915:
027183,004916: 31,2053 06036 V06N9933 TC INTPRET
027184,004917: 31,2054 77414 BON EXIT
027185,004918: 31,2055 03707 V67FLAG
027186,004919: 31,2056 62060 +2
027187,004920: 31,2057 15472 TCF ENDEXT
027188,004921: 31,2060 41345 DLOAD DMP
027189,004922:
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|
Page 620 |
027191,004924: 31,2061 02205 WWPOS
027192,004925: 31,2062 22170 1/SQRT3
027193,004926: 31,2063 72412 SL4 SL1
027194,004927: 31,2064 14001 STODL 0D
027195,004928: 31,2065 02207 WWVEL
027196,004929: 31,2066 77605 DMP
027197,004930: 31,2067 22170 1/SQRT3
027198,004931: 31,2070 00003 STORE 2D
027199,004932: 31,2071 72014 BON LXA,1
027200,004933: 31,2072 04307 SURFFLAG
027201,004934: 31,2073 62103 V67SURF
027202,004935: 31,2074 00000 0D
027203,004936: 31,2075 72130 SXA,1 LXA,1
027204,004937: 31,2076 02000 WRENDPOS
027205,004938: 31,2077 00002 2D
027206,004939: 31,2100 52130 SXA,1 GOTO
027207,004940: 31,2101 02001 WRENDVEL
027208,004941: 31,2102 62111 V67CLRF
027209,004942: 31,2103 66150 V67SURF LXA,1 SXA,1
027210,004943: 31,2104 00000 0D
027211,004944: 31,2105 02006 WSURFPOS
027212,004945: 31,2106 66150 LXA,1 SXA,1
027213,004946: 31,2107 00002 2D
027214,004947: 31,2110 02007 WSURFVEL
027215,004948: 31,2111 77414 V67CLRF CLEAR EXIT
027216,004949: 31,2112 02676 RENDWFLG
027217,004950: 31,2113 15472 TCF ENDEXT
027218,004951: 31,2114 40020 V67WW STQ BOV
027219,004952: 31,2115 00051 S2
027220,004953: 31,2116 62117 +1
027221,004954: 31,2117 45014 CLEAR CALL
027222,004955: 31,2120 03667 V67FLAG
027223,004956: 31,2121 27412 INTSTALL
027224,004957: 31,2122 71331 SSP DLOAD
027225,004958: 31,2123 00051 S1
027226,004959: 31,2124 00006 DEC 6 B-14
027227,004960: 31,2125 06424 ZEROVECS
027228,004961: 31,2126 02205 STORE WWPOS
027229,004962: 31,2127 02207 STORE WWVEL
027230,004963: 31,2130 77770 AXT,1
027231,004964: 31,2131 00066 DEC 54 B-14
027232,004965: 31,2132 47573 NXPOSVEL VLOAD* VSQ
027233,004966: 31,2133 02467 W +54D,1
027234,004967: 31,2134 77615 DAD
027235,004968: 31,2135 02205 WWPOS
027236,004969: 31,2136 02205 STORE WWPOS
027237,004970: 31,2137 47573 VLOAD* VSQ
027238,004971: 31,2140 02555 W +108D,1
027239,004972: 31,2141 77615 DAD
027240,004973: 31,2142 02207 WWVEL
027241,004974:
|
|
Page 621 |
027243,004976: 31,2143 02207 STORE WWVEL
027244,004977: 31,2144 75500 TIX,1 SQRT
027245,004978: 31,2145 62132 NXPOSVEL
027246,004979: 31,2146 16207 STODL WWVEL
027247,004980: 31,2147 02205 WWPOS
027248,004981: 31,2150 77766 SQRT
027249,004982: 31,2151 02205 STORE WWPOS
027250,004983: 31,2152 52000 BOV GOTO
027251,004984: 31,2153 62155 +2
027252,004985: 31,2154 62161 V67XXX
027253,004986: 31,2155 77745 DLOAD
027254,004987: 31,2156 06432 DPPOSMAX
027255,004988: 31,2157 02205 STORE WWPOS
027256,004989: 31,2160 02207 STORE WWVEL
027257,004990: 31,2161 66150 V67XXX LXA,1 SXA,1
027258,004991: 31,2162 00051 S2
027259,004992: 31,2163 00052 QPRET
027260,004993: 31,2164 77776 EXIT
027261,004994: 31,2165 04635 TC POSTJUMP
027262,004995: 31,2166 27427 CADR INTWAKE
027263,004996:
027264,004997: 31,2167 22363 11620 1/SQRT3 2DEC 0.5773502
027265,004998: 31,2171 01543 V06N99 VN 0699
027266,004999:
|
|
Page 622 |
027268,005001: 25,3607 BANK 25
027269,005002: 25,2000 SETLOC RADARUPT
027270,005003: 25,2000 BANK
027271,005004: 25,3607 COUNT* $$/RRUPT
027272,005005:
027273,005006: 25,3607 E7,1454 EBANK= LOSCOUNT
027274,005007:
027275,005008: 25,3607 34753 R12LITES CA ONE
027276,005009: 25,3610 71303 MASK IMODES33
027277,005010: 25,3611 10000 CCS A
027278,005011: 25,3612 14707 TCF ISWRETRN
027279,005012:
027280,005013: 25,3613 03630 TC HLIGHT
027281,005014: 25,3614 03625 TC HLIGHT -3
027282,005015: 25,3615 14707 TCF ISWRETRN
027283,005016:
027284,005017: 25,3616 34753 RADLITES CA BIT1
027285,005018: 25,3617 71303 MASK IMODES33
027286,005019: 25,3620 10000 CCS A
027287,005020: 25,3621 00002 TC Q
027288,005021:
027289,005022: 25,3622 44747 CS BIT5
027290,005023: 25,3623 60061 AD ITEMP1
027291,005024: 25,3624 10000 CCS A
027292,005025: 25,3625 44753 CS ONE
027293,005026: 25,3626 13664 TCF VLIGHT
027294,005027:
027295,005028: 25,3627 14570 TCF RRTRKF
027296,005029:
027297,005030: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
027298,005031:
027299,005032: 25,3631 34747 CA HLITE
027300,005033: 25,3632 54001 TS L
027301,005034:
027302,005035: 25,3633 30107 CA FLGWRD11
027303,005036: 25,3634 74751 MASK SCABBIT
027304,005037: 25,3635 10000 CCS A
027305,005038: 25,3636 13656 TCF ONLITES
027306,005039: 25,3637 34747 CA BIT5
027307,005040: 25,3640 70110 BOTHLITS MASK RADMODES
027308,005041: 25,3641 10000 CCS A
027309,005042: 25,3642 13656 TCF ONLITES
027310,005043:
027311,005044: 25,3643 30107 CA FLGWRD11
027312,005045: 25,3644 50065 INDEX ITEMP5
027313,005046: 25,3645 74753 MASK HFLSHBIT
027314,005047: 25,3646 10000 CCS A
027315,005048: 25,3647 14570 TCF RRTRKF
027316,005049:
|
|
Page 623 |
027318,005051: 25,3650 00006 LITIT EXTEND
027319,005052: 25,3651 22066 QXCH ITEMP6
027320,005053: 25,3652 04602 TC TRKFLON +1
027321,005054:
027322,005055: 25,3653 00006 EXTEND
027323,005056: 25,3654 22066 QXCH ITEMP6
027324,005057: 25,3655 14570 TCF RRTRKF
027325,005058:
027326,005059:
027327,005060: 25,3656 50065 ONLITES INDEX ITEMP5
027328,005061: 25,3657 44753 CS HFLSHBIT
027329,005062: 25,3660 70107 MASK FLGWRD11
027330,005063: 25,3661 54107 TS FLGWRD11
027331,005064:
027332,005065: 25,3662 30001 CA L
027333,005066: 25,3663 13650 TCF LITIT
027334,005067: 25,3664 54065 VLIGHT TS ITEMP5
027335,005068: 25,3665 34751 CA VLITE
027336,005069: 25,3666 54001 TS L
027337,005070: 25,3667 34744 CA BIT8
027338,005071: 25,3670 13640 TCF BOTHLITS
027339,005072:
027340,005073: 25,3671 4747 HLITE EQUALS BIT5
027341,005074: 25,3671 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc