Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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020712,000002: ## Copyright: Public domain.
020713,000003: ## Filename: P20-P25.agc
020714,000004: ## Purpose: A section of Luminary revision 96.
020715,000005: ## It is part of the reconstructed source code for the
020716,000006: ## original release of the flight software for the Lunar
020717,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
020718,000008: ## The code has been recreated from a previously reconstructed
020719,000009: ## copy of Luminary 97 by undoing changes described in anomaly
020720,000010: ## report LNY-59. The code has been adapted such that the
020721,000011: ## resulting bugger words exactly match those specified for
020722,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
020723,000013: ## high confidence that the reconstruction is correct.
020724,000014: ## Reference: pp. 492-613
020725,000015: ## Assembler: yaYUL
020726,000016: ## Contact: Ron Burkey <info@sandroid.org>.
020727,000017: ## Website: www.ibiblio.org/apollo/index.html
020728,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
020729,000019:
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020731,000021: # RENDEZVOUS NAVIGATION PROGRAM 20
020732,000022:
020733,000023: # PROGRAM DESCRIPTION
020734,000024:
020735,000025: # MOD NO - 2
020736,000026: # BY P. VOLANTE
020737,000027:
020738,000028: # FUNCTIONAL DESCRIPTION
020739,000029:
020740,000030: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
020741,000031: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
020742,000032: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
020743,000033: # ON THE BASIS OF THE RR TRACKING DATA.
020744,000034:
020745,000035: # CALLING SEQUENCE -
020746,000036:
020747,000037: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
020748,000038:
020749,000039: # SUBROUTINES CALLED
020750,000040:
020751,000041: # R02BOTH (IMU STATUS CHECK) FLAGUP
020752,000042: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
020753,000043: # R23LEM (MANUAL ACQUISITION) BANKCALL
020754,000044: # LS201 (LOS DETERMINATION) TASKOVER
020755,000045: # LS202 (RANGE LIMIT TEST)
020756,000046: # R61LEM (PREFERRED TRACKING ATTITUDE)
020757,000047: # R21LEM (RR DESIGNATE) ENDOFJOB
020758,000048: # R22LEM (DATA READ) GOPERF1
020759,000049: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
020760,000050: # PRIOLARM (PRIORITY DISPLAY)
020761,000051:
020762,000052: # NORMAL EXIT MODES -
020763,000053:
020764,000054: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
020765,000055: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
020766,000056:
020767,000057: # ALARM OR ABORT EXIT MODES -
020768,000058:
020769,000059: # RANGE GREATER THAN 400 NM DISPLAY
020770,000060:
020771,000061: # OUTPUT
020772,000062:
020773,000063: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
020774,000064:
020775,000065: # ERASABLE INITIALIZATION REQUIRED
020776,000066:
020777,000067: # FLAGS SET + RESET
020778,000068:
020779,000069: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
020780,000070:
020781,000071: # DEBRIS
020782,000072:
020783,000073: # CENTRALS - A,Q,L
020784,000074:
020785,000075: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
020786,000076:
020787,000077: 33,2045 BANK 33
020788,000078: 24,2000 SETLOC P20S
020789,000079: 24,2000 BANK
020790,000080:
020791,000081: 24,2000 E7,1456 EBANK= LOSCOUNT
020792,000082: 24,2000 COUNT* $$/P20
020793,000083: 24,2000 24,2000 PROG22 = PROG20
020794,000084: 24,2000 05327 PROG20 TC 2PHSCHNG
020795,000085: 24,2001 00004 OCT 4
020796,000086: 24,2002 05022 OCT 05022
020797,000087: 24,2003 26000 OCT 26000 # PRIORITY 26
020798,000088: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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020800,000090: 24,2005 02007 TC ORBCHGO # YES
020801,000091: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
020802,000092: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
020803,000093: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
020804,000094: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
020805,000095: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT
020806,000096: 24,2013 32311 CAF OCT00012
020807,000097: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
020808,000098: 24,2015 20633 CADR GOPERF4
020809,000099: 24,2016 06001 TC GOTOPOOH # TERMINATE
020810,000100: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
020811,000101: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
020812,000102: 24,2021 42312 ORBCHG1 CS P22ONE
020813,000103: 24,2022 61145 AD OPTION2
020814,000104: 24,2023 00006 EXTEND
020815,000105: 24,2024 12040 BZF PROG20A
020816,000106: 24,2025 32315 CAF V06N33*
020817,000107: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
020818,000108: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH
020819,000109: 24,2030 06001 TC GOTOPOOH # TERMINATE
020820,000110: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
020821,000111: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
020822,000112: 24,2033 06037 ORBCHG2 TC INTPRET
020823,000113: 24,2034 77650 GOTO
020824,000114: 24,2035 64217 ORBCHG3
020825,000115: 32,2217 BANK 32
020826,000116: 32,2000 SETLOC P20S4
020827,000117: 32,2000 BANK
020828,000118: 32,2217 COUNT* $$/P20
020829,000119:
020830,000120: 32,2217 77624 ORBCHG3 CALL
020831,000121: 32,2220 27414 INTSTALL
020832,000122: 32,2221 77745 DLOAD
020833,000123: 32,2222 03442 TIG
020834,000124: 32,2223 03661 STORE LNCHTM
020835,000125: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
020836,000126: 32,2225 43014 CLEAR CLEAR
020837,000127: 32,2226 01674 VINTFLAG # LM INTEGRATION
020838,000128: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
020839,000129: 32,2230 43014 CLEAR CLEAR
020840,000130: 32,2231 01676 DIM0FLAG # NO W-MATRIX
020841,000131: 32,2232 01675 D6OR9FLG
020842,000132: 32,2233 77624 CALL
020843,000133: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
020844,000134: 32,2235 77624 CALL
020845,000135: 32,2236 11244 GRP2PC
020846,000136: 32,2237 77775 VLOAD
020847,000137: 32,2240 00017 RATT1
020848,000138: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
020849,000139: 32,2242 00015 TAT
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020851,000141: 32,2243 34041 STCALL TDEC1
020852,000142: 32,2244 27414 INTSTALL
020853,000143: 32,2245 43014 SET CLEAR
020854,000144: 32,2246 01474 VINTFLAG # CSM INTEGRATION
020855,000145: 32,2247 01673 INTYPFLG
020856,000146: 32,2250 43014 CLEAR BOFF
020857,000147: 32,2251 01676 DIM0FLAG
020858,000148: 32,2252 02756 RENDWFLG # W MATRIX VALID
020859,000149: 32,2253 64257 NOWMATX # NO
020860,000150: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
020861,000151: 32,2255 01476 DIM0FLAG
020862,000152: 32,2256 01475 D6OR9FLG
020863,000153: 32,2257 77624 NOWMATX CALL
020864,000154: 32,2260 27134 INTEGRV # CSM INTEGRATION
020865,000155: 32,2261 77624 CALL
020866,000156: 32,2262 11244 GRP2PC
020867,000157: 32,2263 77775 VLOAD
020868,000158: 32,2264 00025 VATT1
020869,000159: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
020870,000160: 32,2266 00017 RATT1
020871,000161: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION
020872,000162: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020873,000163: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
020874,000164: 32,2272 24025 STOVL 20D # SAVE NSUB1
020875,000165: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
020876,000166: 32,2274 53435 VXV UNIT # PLANE CHANGE
020877,000167: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
020878,000168: 32,2276 27637 STOVL UCSM
020879,000169: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
020880,000170: 32,2300 50256 UNIT DOT # AND RSUBC
020881,000171: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
020882,000172: 32,2302 77752 SL1
020883,000173: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
020884,000174: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
020885,000175: 32,2305 10314 ONEB-2
020886,000176: 32,2306 77766 SQRT
020887,000177: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
020888,000178: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
020889,000179: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
020890,000180: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
020891,000181: 32,2313 77676 VCOMP
020892,000182: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
020893,000183: 32,2315 45014 CLEAR CALL
020894,000184: 32,2316 03666 RVSW
020895,000185: 32,2317 24732 TIMETHET
020896,000186: 32,2320 77676 VCOMP
020897,000187: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
020898,000188: 32,2322 77745 DLOAD
020899,000189: 32,2323 00037 T
020900,000190: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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020902,000192: 32,2325 03645 NEWVEL
020903,000193: 32,2326 77646 ABVAL
020904,000194: 32,2327 24025 STOVL 20D
020905,000195: 32,2330 00001 0D
020906,000196: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
020907,000197: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020908,000198: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
020909,000199: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
020910,000200: 32,2335 03653 NEWPOS # ORBITAL PLANE
020911,000201: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
020912,000202: 32,2337 00025 20D
020913,000203: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
020914,000204: 32,2341 11244 GRP2PC
020915,000205: 32,2342 77624 CALL
020916,000206: 32,2343 27414 INTSTALL
020917,000207: 32,2344 44345 DLOAD BDSU
020918,000208: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
020919,000209: 32,2346 03661 LNCHTM
020920,000210: 32,2347 25517 STOVL TET
020921,000211: 32,2350 03653 NEWPOS
020922,000212: 32,2351 01535 STORE RCV
020923,000213: 32,2352 25503 STOVL RRECT
020924,000214: 32,2353 03665 NCSMVEL
020925,000215: 32,2354 35511 STCALL VRECT
020926,000216: 32,2355 23455 MINIRECT
020927,000217: 32,2356 45174 AXT,2 CALL
020928,000218: 32,2357 00002 2
020929,000219: 32,2360 26661 ATOPCSM
020930,000220: 32,2361 77624 CALL
020931,000221: 32,2362 27423 INTWAKE0
020932,000222: 32,2363 77776 EXIT
020933,000223: 32,2364 04616 TC BANKCALL
020934,000224: 32,2365 50040 CADR PROG20A
020935,000225:
020936,000226: 24,2036 BANK 24
020937,000227: 24,2000 SETLOC P20S
020938,000228: 24,2000 BANK
020939,000229: 24,2036 COUNT* $$/P20
020940,000230:
020941,000231: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
020942,000232: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
020943,000233: 24,2040 04616 PROG20A TC BANKCALL
020944,000234: 24,2041 11254 CADR R02BOTH
020945,000235: 24,2042 05504 TC UPFLAG
020946,000236: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
020947,000237: 24,2044 05504 TC UPFLAG
020948,000238: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
020949,000239: 24,2046 05504 TC UPFLAG
020950,000240: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
020951,000241: 24,2050 05516 TC DOWNFLAG
020952,000242: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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020954,000244: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
020955,000245: 24,2053 00040 ADRES ACMODFLG
020956,000246: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
020957,000247: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
020958,000248: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
020959,000249: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
020960,000250: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
020961,000251: 24,2061 00041 ADRES LOSCMFLG
020962,000252: 24,2062 06011 TC CLRADMOD
020963,000253: 24,2063 05353 P20LEM1 TC PHASCHNG
020964,000254: 24,2064 04022 OCT 04022
020965,000255: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
020966,000256: 24,2066 55462 TS MARKCTR
020967,000257: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE
020968,000258: 24,2070 77634 RTB
020969,000259: 24,2071 21573 LOADTIME
020970,000260: 24,2072 34041 STCALL TDEC1
020971,000261: 24,2073 51255 LPS20.1
020972,000262: 24,2074 77624 CALL
020973,000263: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE
020974,000264: 24,2076 77776 EXIT
020975,000265: 24,2077 50154 INDEX MPAC
020976,000266: 24,2100 02101 TC +1
020977,000267: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
020978,000268: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
020979,000269: 24,2103 04616 TC BANKCALL
020980,000270: 24,2104 21562 CADR PRIOLARM
020981,000271: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
020982,000272: 24,2106 02102 TC -4 # PROC (ILLEGAL
020983,000273: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
020984,000274: 24,2110 05155 TC ENDOFJOB
020985,000275:
020986,000276: 24,2111 05353 P20LEMA TC PHASCHNG
020987,000277: 24,2112 04022 OCT 04022
020988,000278: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
020989,000279: 24,2114 02117 TC P20LEMB
020990,000280: 24,2115 04616 TC BANKCALL
020991,000281: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
020992,000282: 24,2117 05353 P20LEMB TC PHASCHNG
020993,000283: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
020994,000284: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
020995,000285: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26
020996,000286: 24,2123 05146 TC PRIOCHNG
020997,000287: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
020998,000288: 24,2125 74747 MASK TRACKBIT
020999,000289: 24,2126 00006 EXTEND
021000,000290: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021001,000291: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021002,000292: 24,2131 00006 EXTEND
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021004,000294: 24,2132 02033 RAND CHAN33
021005,000295: 24,2133 00006 EXTEND
021006,000296: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021007,000297:
021008,000298: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021009,000299: 24,2136 61011 AD MODREG # MAJOR MODE IS 20
021010,000300: 24,2137 00006 EXTEND
021011,000301: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES - OK TO DO PLEASE PERFORM
021012,000302:
021013,000303: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22
021014,000304: 24,2142 00006 EXTEND
021015,000305: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021016,000306: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021017,000307: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021018,000308: 24,2146 21562 CADR PRIOLARM
021019,000309: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
021020,000310: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021021,000311: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021022,000312: 24,2152 05155 TC ENDOFJOB
021023,000313: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021024,000314: 24,2154 04616 TC BANKCALL
021025,000315: 24,2155 20623 CADR GOPERF1
021026,000316: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021027,000317: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021028,000318: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021029,000319: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021030,000320: 24,2162 03135 TC R23LEM # NO - DO MANUAL ACQUISITION
021031,000321:
021032,000322: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021033,000323: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021034,000324: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021035,000325:
021036,000326: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021037,000327: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021038,000328:
021039,000329: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021040,000330: 24,2171 74737 MASK RCDU0BIT
021041,000331: 24,2172 00006 EXTEND
021042,000332: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021043,000333: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021044,000334: 24,2175 70076 MASK FLAGWRD2
021045,000335: 24,2176 00006 EXTEND
021046,000336: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021047,000337: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021048,000338: 24,2201 00037 ADRES SRCHOPTN
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021050,000340: 24,2202 05516 TC DOWNFLAG
021051,000341: 24,2203 00040 ADRES ACMODFLG
021052,000342: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021053,000343:
021054,000344: 24,2205 32304 P20LEMB4 CAF 250DEC
021055,000345: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021056,000346: 24,2207 01735 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021057,000347: 24,2210 02170 TC P20LEMB3
021058,000348:
021059,000349: 24,2211 06037 P20LEMC3 TC INTPRET
021060,000350: 24,2212 77634 RTB
021061,000351: 24,2213 21573 LOADTIME
021062,000352: 24,2214 34041 STCALL TDEC1
021063,000353: 24,2215 50316 UPPSV
021064,000354: 24,2216 77776 P20LEMC4 EXIT
021065,000355: 24,2217 05353 P20LEMC TC PHASCHNG
021066,000356: 24,2220 04022 OCT 04022
021067,000357: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021068,000358: 24,2222 74745 MASK RNDVZBIT
021069,000359: 24,2223 00006 EXTEND
021070,000360: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021071,000361: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021072,000362: 24,2226 74747 MASK TRACKBIT
021073,000363: 24,2227 00006 EXTEND
021074,000364: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021075,000365: 24,2231 02674 P20LEMF TC R21LEM
021076,000366:
021077,000367: 24,2232 32304 P20LEMWT CAF 250DEC
021078,000368: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021079,000369: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021080,000370: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021081,000371: 24,2236 74747 MASK TRACKBIT
021082,000372: 24,2237 00006 EXTEND
021083,000373: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021084,000374: 24,2241 05353 P20LMWT1 TC PHASCHNG
021085,000375: 24,2242 40072 OCT 40072
021086,000376: 24,2243 05155 TC ENDOFJOB
021087,000377:
021088,000378: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021089,000379: 24,2245 74745 MASK RNDVZBIT
021090,000380: 24,2246 00006 EXTEND
021091,000381: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021092,000382: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021093,000383: 24,2251 74747 MASK TRACKBIT
021094,000384: 24,2252 00006 EXTEND
021095,000385: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
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Page 499
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021097,000387: 24,2254 37714 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021098,000388: 24,2255 05105 TC FINDVAC
021099,000389: 24,2256 E7,1456 EBANK= LOSCOUNT
021100,000390: 24,2256 02627 50067 2CADR R22LEM42
021101,000391:
021102,000392: 24,2260 05261 TC TASKOVER
021103,000393:
021104,000394: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021105,000395: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021106,000396:
021107,000397: 24,2263 02244 TC P20LEMC1
021108,000398:
021109,000399: 24,2264 32666 P20LEMD CAF 1500DEC
021110,000400: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021111,000401: 24,2266 02270 ADRES P20LEMD1
021112,000402: 24,2267 05155 TC ENDOFJOB
021113,000403:
021114,000404: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021115,000405: 24,2271 74747 MASK TRACKBIT
021116,000406: 24,2272 10000 CCS A
021117,000407: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021118,000408: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021119,000409: 24,2275 02734 DEC 1500 B-14
021120,000410: 24,2276 02270 TC P20LEMD1
021121,000411:
021122,000412: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021123,000413: 24,2300 05105 TC FINDVAC
021124,000414: 24,2301 E7,1456 EBANK= LOSCOUNT
021125,000415: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021126,000416:
021127,000417: 24,2303 05261 TC TASKOVER
021128,000418:
021129,000419: 24,2304 00372 250DEC DEC 250 B-14
021130,000420: 24,2305 00526 ALRM526 OCT 00526
021131,000421: 24,2306 00201 OCT201 OCT 00201
021132,000422: 24,2307 00514 ALRM514 OCT 514
021133,000423: 24,2310 00074 MAXTRIES DEC 60 B-14
021134,000424: 24,2311 00012 OCT00012 OCT 00012
021135,000425: 24,2312 00001 P22ONE OCT 00001
021136,000426: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2
021137,000427:
021138,000428: 24,2315 01441 V06N33* VN 0633
021139,000429: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021140,000430: 24,2317 01757 LS21X # TO PRESENT TIME
021141,000431: 24,2320 27414 INTSTALL
021142,000432: 24,2321 77624 CALL
|
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Page 500
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021144,000434: 24,2322 26644 SETIFLGS
021145,000435: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
021146,000436: 24,2324 02756 RENDWFLG
021147,000437: 24,2325 50336 UPPSV1
021148,000438: 24,2326 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021149,000439: 24,2327 43014 BON SET
021150,000440: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021151,000441: 24,2331 50333 UPPSV5
021152,000442: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9
021153,000443: 24,2333 77614 UPPSV5 BOF
021154,000444: 24,2334 00747 VEHUPFLG
021155,000445: 24,2335 50370 UPPSV3
021156,000446: 24,2336 77614 UPPSV1 SET
021157,000447: 24,2337 01474 VINTFLAG
021158,000448: 24,2340 77624 CALL
021159,000449: 24,2341 27134 INTEGRV
021160,000450: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE
021161,000451: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION
021162,000452: 24,2344 77624 CALL
021163,000453: 24,2345 27414 INTSTALL
021164,000454: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021165,000455: 24,2347 01571 TETCSM
021166,000456: 24,2350 01674 VINTFLAG
021167,000457: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021168,000458: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX
021169,000459: 24,2353 34041 STCALL TDEC1
021170,000460: 24,2354 27134 INTEGRV
021171,000461: 24,2355 77214 BOFF VLOAD
021172,000462: 24,2356 04347 SURFFLAG
021173,000463: 24,2357 50216 P20LEMC4
021174,000464: 24,2360 01661 RCVLEM
021175,000465: 24,2361 77742 VSR2
021176,000466: 24,2362 26352 STOVL LMPOS
021177,000467: 24,2363 01667 VCVLEM
021178,000468: 24,2364 77742 VSR2
021179,000469: 24,2365 02360 STORE LMVEL
021180,000470: 24,2366 77650 GOTO
021181,000471: 24,2367 01757 LS21X
021182,000472:
021183,000473: 24,2370 45014 UPPSV3 CLEAR CALL
021184,000474: 24,2371 01674 VINTFLAG
021185,000475: 24,2372 27134 INTEGRV
021186,000476: 24,2373 77624 CALL
021187,000477: 24,2374 11244 GRP2PC
021188,000478: 24,2375 77624 CALL
021189,000479: 24,2376 27414 INTSTALL
021190,000480: 24,2377 71214 SET DLOAD
021191,000481: 24,2400 01474 VINTFLAG
021192,000482: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
|
|
Page 501
|
021194,000484: 24,2402 77650 GOTO
021195,000485: 24,2403 50351 UPPSV4
021196,000486: 24,2404 E7,1456 EBANK= LOSCOUNT
021197,000487: 24,2404 COUNT* $$/P22
021198,000488:
|
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Page 502
|
021200,000490: # PROGRAM DESCRIPTION
021201,000491:
021202,000492: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021203,000493: # MOD NO - 3
021204,000494: # BY P. VOLANTE
021205,000495:
021206,000496: # FUNCTIONAL DESCRIPTION
021207,000497:
021208,000498: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021209,000499: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021210,000500: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021211,000501: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021212,000502:
021213,000503: # CALLING SEQUENCE -
021214,000504:
021215,000505: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021216,000506:
021217,000507: # SUBROUTINES CALLED -
021218,000508:
021219,000509: # BANKCALL FLAGUP
021220,000510: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021221,000511: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021222,000512: # TASKOVER FINDVAC
021223,000513:
021224,000514: # NORMAL EXIT MODES -
021225,000515:
021226,000516: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021227,000517: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021228,000518:
021229,000519: # ALARM OR ABORT EXIT MODES -
021230,000520:
021231,000521: # NONE
021232,000522:
021233,000523: # OUTPUT
021234,000524:
021235,000525: # ERASABLE INITIALIZATION REQUIRED
021236,000526:
021237,000527: # FLAGS SET + RESET
021238,000528:
021239,000529: # TRACKFLG, P25FLAG
021240,000530:
021241,000531: # DEBRIS
021242,000532:
021243,000533: # NONE
021244,000534:
021245,000535: 24,2404 E7,1456 EBANK= LOSCOUNT
021246,000536: 24,2404 COUNT* $$/P25
021247,000537: 24,2404 05327 PROG25 TC 2PHSCHNG
021248,000538: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021249,000539: 24,2406 05022 OCT 05022
021250,000540: 24,2407 26000 OCT 26000 # PRIORITY 26
021251,000541:
021252,000542: 24,2410 04616 TC BANKCALL
021253,000543: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK
021254,000544: 24,2412 05504 TC UPFLAG
021255,000545: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG
021256,000546: 24,2414 05504 TC UPFLAG
021257,000547: 24,2415 00006 ADRES P25FLAG # SET P25FLAG
021258,000548: 24,2416 05353 P25LEM1 TC PHASCHNG
021259,000549: 24,2417 04022 OCT 04022
021260,000550: 24,2420 34743 CAF P25FLBIT
021261,000551: 24,2421 70074 MASK STATE # IS P25FLAG SET
021262,000552: 24,2422 00006 EXTEND
021263,000553: 24,2423 15155 BZF ENDOFJOB
021264,000554: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021265,000555: 24,2425 70075 MASK STATE +1
021266,000556: 24,2426 00006 EXTEND
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|
Page 503
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021268,000558: 24,2427 12437 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021269,000559: 24,2430 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021270,000560: 24,2431 55745 TS R65CNTR
021271,000561: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021272,000562: 24,2433 46123 CADR R65LEM
021273,000563: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS
021274,000564: 24,2435 05353 P25LEMWT TC PHASCHNG
021275,000565: 24,2436 00112 OCT 00112
021276,000566: 24,2437 32450 P25LMWT1 CAF 60SCNDS
021277,000567: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021278,000568: 24,2441 02443 ADRES P25LEM2
021279,000569: 24,2442 05155 TC ENDOFJOB
021280,000570: 24,2443 35024 P25LEM2 CAF PRIO14
021281,000571: 24,2444 05105 TC FINDVAC
021282,000572: 24,2445 E7,1456 EBANK= LOSCOUNT
021283,000573: 24,2445 02416 50067 2CADR P25LEM1
021284,000574:
021285,000575: 24,2447 05261 TC TASKOVER
021286,000576: 24,2450 13560 60SCNDS DEC 6000 B-14
021287,000577:
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Page 504
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021289,000579: # DATA READ ROUTINE 22 (LEM)
021290,000580: # PROGRAM DESCRIPTION
021291,000581:
021292,000582: # MOD NO - 2
021293,000583: # BY P VOLANTE
021294,000584:
021295,000585: # FUNCTIONAL DESCRIPTION
021296,000586:
021297,000587: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021298,000588: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021299,000589:
021300,000590: # CALLING SEQUENCE -
021301,000591:
021302,000592: # TC BANKCALL
021303,000593: # CADR R22LEM
021304,000594:
021305,000595: # SUBROUTINES CALLED -
021306,000596:
021307,000597: # LSR22.1 GOFLASH WAITLIST
021308,000598: # LSR22.2 PRIOLARM BANKCALL
021309,000599: # LSR22.3 R61LEM
021310,000600:
021311,000601: # NORMAL EXIT MODES -
021312,000602:
021313,000603: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021314,000604: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021315,000605: # R22 WILL TERMINATE SELF.
021316,000606:
021317,000607: # ALARM OR ABORT EXIT MODES -
021318,000608:
021319,000609: # PRIORITY ALARM
021320,000610: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021321,000611:
021322,000612: # OUTPUT
021323,000613:
021324,000614: # SEE OUTPUT FROM LSR22.3
021325,000615:
021326,000616: # ERASABLE INITIALIZATION REQUIRED
021327,000617:
021328,000618: # SEE LSR22.1, LSR22.2, LSR22.3
021329,000619:
021330,000620: # FLAGS SET + RESET
021331,000621:
021332,000622: # NOANGFLG
021333,000623:
021334,000624: # DEBRIS
021335,000625:
021336,000626: # SEE LSR22.1, LSR22.2, LSR22.3
021337,000627:
021338,000628: 24,2451 E7,1737 EBANK= LRS22.1X
021339,000629: 24,2451 COUNT* $$/R22
021340,000630: 24,2451 05353 R22LEM TC PHASCHNG
021341,000631: 24,2452 04022 OCT 04022
021342,000632: 24,2453 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021343,000633: 24,2454 70074 MASK STATE
021344,000634: 24,2455 00006 EXTEND
021345,000635: 24,2456 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021346,000636: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021347,000637: 24,2460 70075 MASK STATE +1
021348,000638: 24,2461 00006 EXTEND
021349,000639: 24,2462 12636 BZF R22WAIT # NO WAIT
021350,000640: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021351,000641: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021352,000642: 24,2465 02012 RAND CHAN12
021353,000643: 24,2466 00006 EXTEND
021354,000644: 24,2467 12111 BZF P20LEMA # NO - RETURN TO P20
021355,000645: 24,2470 34752 CAF BIT2 # YES
021356,000646: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021357,000647: 24,2472 02033 RAND CHAN33
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Page 505
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021359,000649: 24,2473 00006 EXTEND
021360,000650: 24,2474 12476 BZF +2 # YES CONTINUE
021361,000651: 24,2475 02135 TC P20LEMB5 # NO - SET IT
021362,000652: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021363,000653: 24,2477 74737 MASK RCDU0BIT
021364,000654: 24,2500 00006 EXTEND
021365,000655: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED
021366,000656: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AN EXTRA RADAR
021367,000657: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021368,000658: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021369,000659: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021370,000660: 24,2506 50154 INDEX MPAC
021371,000661: 24,2507 02510 TC +1
021372,000662: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021373,000663: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021374,000664: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021375,000665: 24,2513 04616 TC BANKCALL
021376,000666: 24,2514 21562 CADR PRIOLARM
021377,000667: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021378,000668: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021379,000669: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION)
021380,000670: 24,2520 05155 TC ENDOFJOB
021381,000671:
021382,000672: 24,2521 05353 R22LEM1 TC PHASCHNG
021383,000673: 24,2522 04022 OCT 04022
021384,000674: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA
021385,000675: 24,2524 04616 TC BANKCALL
021386,000676: 24,2525 20507 CADR PRIODSP
021387,000677: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021388,000678: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE)
021389,000679: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE)
021390,000680: 24,2531 05353 R22LEM2 TC PHASCHNG
021391,000681: 24,2532 04022 OCT 04022
021392,000682: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021393,000683: 24,2534 02551 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021394,000684: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021395,000685: 24,2536 74747 MASK TRACKBIT
021396,000686: 24,2537 00006 EXTEND
021397,000687: 24,2540 12636 BZF R22WAIT # NO - WAIT
021398,000688: 24,2541 04616 TC BANKCALL # YES
021399,000689: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021400,000690: 24,2543 50154 INDEX MPAC
021401,000691: 24,2544 02545 TC +1
021402,000692: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021403,000693: 24,2546 04616 TC BANKCALL
021404,000694: 24,2547 46116 CADR R61LEM
021405,000695: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021406,000696: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021407,000697: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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Page 506
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021409,000699: 24,2553 00006 EXTEND
021410,000700: 24,2554 12627 BZF R22LEM42 # BRANCH - YES
021411,000701: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021412,000702: 24,2556 74745 MASK UPDATBIT
021413,000703: 24,2557 00006 EXTEND
021414,000704: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET
021415,000705: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021416,000706: 24,2562 55056 TS PHSPRDT2
021417,000707:
021418,000708: 24,2563 06037 TC INTPRET
021419,000709: 24,2564 77650 GOTO
021420,000710: 24,2565 54412 LSR22.3
021421,000711: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021422,000712: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021423,000713: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021424,000714: 24,2571 12622 TCF R22LEM44
021425,000715: 24,2572 77776 R22LEM96 EXIT
021426,000716: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021427,000717: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021428,000718: 24,2575 05353 TC PHASCHNG
021429,000719: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY
021430,000720: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY
021431,000721: 24,2600 05072 TC NOVAC
021432,000722: 24,2601 E7,1746 EBANK= N49FLAG
021433,000723: 24,2601 02644 50067 2CADR N49DSP
021434,000724:
021435,000725: 24,2603 06037 TC INTPRET
021436,000726: 24,2604 77735 SLOAD
021437,000727: 24,2605 03747 N49FLAG
021438,000728: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG
021439,000729: 24,2607 50604 -3 # SETTING CHANGED - BRANCH - NO
021440,000730: 24,2610 50616 R22LEM7 # PROCEED
021441,000731: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
021442,000732: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021443,000733: 24,2613 02636 TC R22WAIT # YES - 15 SECOND DELAY
021444,000734: 24,2614 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
021445,000735: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
021446,000736: 24,2616 77624 R22LEM7 CALL # PROCEED
021447,000737: 24,2617 11244 GRP2PC # PHASE CHANGE AND
021448,000738: 24,2620 77650 GOTO # GO TO INCORPORATE DATA.
021449,000739: 24,2621 55431 ASTOK
021450,000740: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021451,000741: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021452,000742: 24,2624 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021453,000743: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE
021454,000744: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5
021455,000745: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021456,000746: 24,2630 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021457,000747: 24,2631 34752 CA TWO # NO - SET R65COUNTER = 2
021458,000748: 24,2632 55745 R22LEM45 TS R65CNTR
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021460,000750: 24,2633 04616 TC BANKCALL
021461,000751: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021462,000752: 24,2635 02451 TC R22LEM
021463,000753: 24,2636 32666 R22WAIT CAF 1500DEC
021464,000754: 24,2637 02233 TC P20LEMWT +1
021465,000755:
021466,000756: 24,2640 35000 R22LEM46 CAF 2SECS
021467,000757: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021468,000758: 24,2642 01735 CADR DELAYJOB
021469,000759: 24,2643 02451 TC R22LEM
021470,000760:
021471,000761: 24,2644 32665 N49DSP CAF V06N49NB
021472,000762: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021473,000763: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021474,000764: 24,2647 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
021475,000765: 24,2650 44753 CS ONE # PROCEED - N49FLAG = -1
021476,000766: 24,2651 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021477,000767: 24,2652 05155 TC ENDOFJOB
021478,000768: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021479,000769: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021480,000770: 24,2655 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021481,000771: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021482,000772: 24,2657 04616 TC BANKCALL # BAD DATA
021483,000773: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
021484,000774: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021485,000775: 24,2662 02451 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
021486,000776:
021487,000777: 24,2663 00525 ALRM525 OCT 00525
021488,000778: 24,2664 01405 V06N05 VN 00605
021489,000779: 24,2665 01461 V06N49NB VN 00649
021490,000780: 24,2666 02734 1500DEC DEC 1500 B-14
021491,000781:
021492,000782: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021493,000783: # RETURNS TO CALLER +1 IF P22FLAG SET
021494,000784: # TO CALLER +2 IF P22FLAG NOT SET
021495,000785:
021496,000786: 24,2667 COUNT* $$/P22
021497,000787: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021498,000788: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET?
021499,000789: 24,2671 10000 CCS A # BRANCH - P22FLAG SET
021500,000790: 24,2672 24002 INCR Q # NOT SET
021501,000791: 24,2673 00002 TC Q # RETURN
021502,000792:
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021504,000794: # RR DESIGNATE ROUTINE (R21LEM)
021505,000795: # PROGRAM DESCRIPTION
021506,000796:
021507,000797: # MOD NO - 2
021508,000798: # BY P VOLANTE
021509,000799:
021510,000800: # FUNCTIONAL DESCRIPTION
021511,000801:
021512,000802: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021513,000803: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021514,000804:
021515,000805: # CALLING SEQUENCE -
021516,000806:
021517,000807: # TC BANKCALL
021518,000808: # CADR R21LEM
021519,000809:
021520,000810: # SUBROUTINES CALLED -
021521,000811:
021522,000812: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021523,000813: # NOVAC INTPRET LPS20.1 PHASCHNG
021524,000814: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021525,000815: # TASKOVER BANKCALL RADSTALL RRDESSM
021526,000816:
021527,000817: # NORMAL EXIT MODES
021528,000818: #
021529,000819: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021530,000820: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021531,000821:
021532,000822: # ALARM OR ABORT EXIT MODES -
021533,000823:
021534,000824: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021535,000825: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021536,000826: # ACQUISITION
021537,000827:
021538,000828: # OUTPUT
021539,000829:
021540,000830: # SEE LPS20.1, RRDESSM
021541,000831:
021542,000832: # ERASABLE INITIALIZATION REQUIRED
021543,000833:
021544,000834: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021545,000835:
021546,000836: # FLAGS SET + RESET
021547,000837:
021548,000838: # LOSCMFLG LOKONSW
021549,000839:
021550,000840: # DEBRIS
021551,000841:
021552,000842: # SEE LPS20.1, RRDESSM
021553,000843:
021554,000844: 24,2674 E7,1456 EBANK= LOSCOUNT
021555,000845: 24,2674 COUNT* $$/R21
021556,000846: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021557,000847: 24,2675 00006 EXTEND
021558,000848: 24,2676 03012 WAND CHAN12
021559,000849: 24,2677 02667 TC LUNSFCHK
021560,000850: 24,2700 02705 TC R21LEM5
021561,000851: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021562,000852: 24,2702 55107 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021563,000853: 24,2703 55110 TS TANG +1
021564,000854: 24,2704 02715 TC R21LEM6
021565,000855: 24,2705 34740 R21LEM5 CAF BIT12
021566,000856: 24,2706 70110 MASK RADMODES
021567,000857: 24,2707 10000 CCS A
021568,000858: 24,2710 02725 TC R21LEM10
021569,000859: 24,2711 34735 CAF BIT15
021570,000860: 24,2712 55107 TS TANG
021571,000861: 24,2713 44736 CS HALF
021572,000862: 24,2714 55110 TS TANG +1
021573,000863:
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021575,000865: 24,2715 05516 R21LEM6 TC DOWNFLAG
021576,000866: 24,2716 00012 ADRES LOKONSW
021577,000867: 24,2717 04616 TC BANKCALL
021578,000868: 24,2720 52475 CADR RRDESNB
021579,000869: 24,2721 02722 TC +1
021580,000870: 24,2722 04616 TC BANKCALL
021581,000871: 24,2723 17714 CADR RADSTALL
021582,000872: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
021583,000873: 24,2725 05504 R21LEM10 TC UPFLAG
021584,000874: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021585,000875: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021586,000876: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021587,000877: 24,2731 36245 R21LEM2 CAF THREE
021588,000878: 24,2732 55456 TS LOSCOUNT
021589,000879: 24,2733 06037 R21LEM1 TC INTPRET
021590,000880: 24,2734 43234 RTB DAD
021591,000881: 24,2735 21573 LOADTIME
021592,000882: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021593,000883: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021594,000884: 24,2740 51255 LPS20.1
021595,000885: 24,2741 77776 EXIT
021596,000886: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
021597,000887: 24,2743 00012 ADRES LOKONSW
021598,000888: 24,2744 05516 TC DOWNFLAG
021599,000889: 24,2745 00126 ADRES NORRMON
021600,000890: 24,2746 06037 TC INTPRET
021601,000891: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021602,000892: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE
021603,000893: 24,2751 77776 EXIT
021604,000894: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021605,000895: # ON LUNAR SURFACE
021606,000896: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021607,000897: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021608,000898: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021609,000899: 24,2756 02760 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021610,000900: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021611,000901: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503
021612,000902: 24,2761 04616 TC BANKCALL
021613,000903: 24,2762 21562 CADR PRIOLARM
021614,000904: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021615,000905: 24,2764 02772 TC R21SRCH # PROC
021616,000906: 24,2765 02211 TC P20LEMC3
021617,000907: 24,2766 05155 TC ENDOFJOB
021618,000908: 24,2767 05516 R21END TC DOWNFLAG
021619,000909: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021620,000910: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021621,000911: 24,2772 05353 R21SRCH TC PHASCHNG
021622,000912: 24,2773 04022 OCT 04022
021623,000913: 24,2774 03206 TC R24LEM # SEARCH ROUTINE
021624,000914: 24,2775 00503 ALRM503 OCT 00503
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021626,000916: 24,2776 00527 ALRM527 OCT 527
021627,000917:
021628,000918: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021629,000919: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021630,000920: 24,3001 05504 TC UPFLAG
021631,000921: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
021632,000922: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING
021633,000923: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG
021634,000924: 24,3005 06037 TC INTPRET
021635,000925: 24,3006 77634 R21LEM12 RTB
021636,000926: 24,3007 21573 LOADTIME
021637,000927: 24,3010 77615 DAD
021638,000928: 24,3011 11116 TENSEC # TIME T = T + 10 SECS.
021639,000929: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
021640,000930: 24,3013 34041 STCALL TDEC1
021641,000931: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T
021642,000932: 24,3015 77624 CALL
021643,000933: 24,3016 52373 RRDESSM
021644,000934: 24,3017 77776 EXIT
021645,000935: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
021646,000936: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
021647,000937: 24,3022 06027 TC KILLTASK
021648,000938: 24,3023 52573 CADR BEGDES
021649,000939: 24,3024 06037 TC INTPRET
021650,000940: 24,3025 77614 BOF
021651,000941: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION
021652,000942: 24,3027 51043 R21LEMB # NO - GO TO CONTINUOUS DESIGNATE
021653,000943: 24,3030 77614 CLRGO
021654,000944: 24,3031 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
021655,000945: 24,3032 51037 R21LEM7 +1
021656,000946: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
021657,000947: 24,3034 03036 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
021658,000948: 24,3035 03105 TC R21LEM11 # YES - PUT OUT ALARM 530
021659,000949: 24,3036 55423 R21LEM7 TS REPOSCNT
021660,000950: 24,3037 06037 TC INTPRET
021661,000951: 24,3040 52145 DLOAD GOTO
021662,000952: 24,3041 03425 REPOSTM
021663,000953: 24,3042 51010 R21LEM12 +2
021664,000954: 24,3043 77745 R21LEMB DLOAD
021665,000955: 24,3044 03425 REPOSTM
021666,000956: 24,3045 34041 STCALL TDEC1
021667,000957: 24,3046 50316 UPPSV
021668,000958: 24,3047 77776 EXIT
021669,000959: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
021670,000960: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
021671,000961: 24,3052 05516 TC DOWNFLAG
021672,000962: 24,3053 00012 ADRES LOKONSW
021673,000963: 24,3054 05504 TC UPFLAG
021674,000964: 24,3055 00126 ADRES NORRMON
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021676,000966: 24,3056 04616 TC BANKCALL
021677,000967: 24,3057 52475 CADR RRDESNB
021678,000968: 24,3060 03061 TC +1
021679,000969: 24,3061 06037 TC INTPRET
021680,000970: 24,3062 44234 RTB BDSU
021681,000971: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME
021682,000972: 24,3064 03425 REPOSTM # FOR LONGCALL
021683,000973: 24,3065 03427 STORE DELTATM
021684,000974: 24,3066 77776 EXIT
021685,000975: 24,3067 00006 EXTEND
021686,000976: 24,3070 31427 DCA DELTATM
021687,000977: 24,3071 05277 TC LONGCALL
021688,000978: 24,3072 E7,1456 EBANK= LOSCOUNT
021689,000979: 24,3072 03075 50067 2CADR R21LEM9
021690,000980:
021691,000981: 24,3074 05155 TC ENDOFJOB
021692,000982: 24,3075 06027 R21LEM9 TC KILLTASK
021693,000983: 24,3076 52602 CADR STDESIG
021694,000984: 24,3077 06011 TC CLRADMOD
021695,000985: 24,3100 37714 CAF PRIO26
021696,000986: 24,3101 05105 TC FINDVAC
021697,000987: 24,3102 E7,1456 EBANK= LOSCOUNT
021698,000988: 24,3102 02725 50067 2CADR R21LEM10
021699,000989:
021700,000990: 24,3104 05261 TC TASKOVER
021701,000991: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
021702,000992: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
021703,000993: 24,3107 21562 CADR PRIOLARM # 600 SECS.
021704,000994: 24,3110 06022 TC GOTOV56
021705,000995: 24,3111 06022 TC GOTOV56
021706,000996: 24,3112 06022 TC GOTOV56
021707,000997: 24,3113 05155 TC ENDOFJOB
021708,000998: 24,3114 00530 ALRM530 OCT 00530
021709,000999: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28
021710,001000:
021711,001001: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28
021712,001002:
021713,001003: 24,3121 05353 R21DISP TC PHASCHNG
021714,001004: 24,3122 04022 OCT 04022
021715,001005: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
021716,001006: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
021717,001007: 24,3125 20710 CADR GOPERF2R
021718,001008: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56
021719,001009: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
021720,001010: 24,3130 03123 TC -5 # ENTER ILLEGAL
021721,001011: 24,3131 34745 CAF BIT7
021722,001012: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
021723,001013: 24,3133 05155 TC ENDOFJOB
021724,001014:
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Page 512
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021726,001016: 24,3134 01510 V06N72PV VN 00672
021727,001017:
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Page 513
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021729,001019: # MANUAL ACQUISITION ROUTINE R23LEM
021730,001020: # PROGRAM DESCRIPTION
021731,001021:
021732,001022: # MOD NO - 2
021733,001023: # BY P VOLANTE
021734,001024:
021735,001025: # FUNCTIONAL DESCRIPTION
021736,001026:
021737,001027: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
021738,001028:
021739,001029: # CALLING SEQUENCE -
021740,001030:
021741,001031: # TC R23LEM
021742,001032:
021743,001033: # SUBROUTINES CALLED
021744,001034:
021745,001035: # BANKCALL R61LEM
021746,001036: # SETMINDB GOPERF1
021747,001037:
021748,001038: # NORMAL EXIT MODES -
021749,001039:
021750,001040: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
021751,001041: # ,SELECTION OF PROC WILL CONTINUE R23
021752,001042: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
021753,001043:
021754,001044: # ALARM OR ABORT EXIT MODES -
021755,001045:
021756,001046: # SEE NORMAL EXIT MODES ABOVE
021757,001047:
021758,001048: # OUTPUT
021759,001049:
021760,001050: # N.A.
021761,001051:
021762,001052: # ERASABLE INITIALIZATION REQUIRED -
021763,001053:
021764,001054: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
021765,001055:
021766,001056: 24,3135 1143 EBANK= GENRET
021767,001057: 24,3135 COUNT* $$/R23
021768,001058: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
021769,001059: 24,3136 00126 ADRES NORRMON
021770,001060: 24,3137 00004 INHINT
021771,001061: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
021772,001062: 24,3141 40140 CADR SETMINDB
021773,001063: 24,3142 00003 RELINT
021774,001064: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
021775,001065: 24,3144 00006 EXTEND
021776,001066: 24,3145 05012 WOR CHAN12
021777,001067: 24,3146 33205 CAF OCT205
021778,001068: 24,3147 04616 TC BANKCALL
021779,001069: 24,3150 20623 CADR GOPERF1
021780,001070: 24,3151 03176 TC R23LEM2 # TERMINATE
021781,001071: 24,3152 03154 TC R23LEM11 # PROCEDE
021782,001072: 24,3153 03201 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
021783,001073: 24,3154 00004 R23LEM11 INHINT
021784,001074: 24,3155 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
021785,001075: 24,3156 00035 ADRES CDUT
021786,001076: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS
021787,001077: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO
021788,001078: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
021789,001079: 24,3162 00003 RELINT
021790,001080: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021791,001081: 24,3164 00126 ADRES NORRMON
021792,001082: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
021793,001083: 24,3166 00003 OUTOFLIM RELINT
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021795,001085: 24,3167 33204 CAF OCT501PV
021796,001086: 24,3170 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
021797,001087: 24,3171 21562 CADR PRIOLARM # LIMITS
021798,001088: 24,3172 03176 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
021799,001089: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL
021800,001090: 24,3174 03201 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
021801,001091: 24,3175 05155 TC ENDOFJOB
021802,001092: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021803,001093: 24,3177 00126 ADRES NORRMON
021804,001094: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56
021805,001095: 24,3201 04616 R23LEM3 TC BANKCALL
021806,001096: 24,3202 46116 CADR R61LEM
021807,001097: 24,3203 03143 TC R23LEM1
021808,001098:
021809,001099: 24,3204 00501 OCT501PV OCT 501
021810,001100: 24,3205 00205 OCT205 OCT 205
021811,001101:
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Page 515
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021813,001103: # SEARCH ROUTINE R24LEM
021814,001104: # PROGRAM DESCRIPTION
021815,001105:
021816,001106: # MOD NO - 2
021817,001107: # BY P. VOLANTE
021818,001108:
021819,001109: # FUNCTIONAL DESCRIPTION
021820,001110:
021821,001111: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
021822,001112: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
021823,001113: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
021824,001114:
021825,001115: # CALLING SEQUENCE
021826,001116:
021827,001117: # CAF PRIONN
021828,001118: # TC FINDVAC
021829,001119: # EBANK= DATAGOOD
021830,001120: # 2CADR R24LEM
021831,001121:
021832,001122: # SUBROUTINES CALLED
021833,001123:
021834,001124: # FLAGUP FLAGDOWN BANKCALL
021835,001125: # R61LEM GOFLASHR FINDVAC
021836,001126: # ENDOFJOB NOVAC LSR24.1
021837,001127:
021838,001128: # NORMAL EXIT MODES -
021839,001129:
021840,001130: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
021841,001131: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
021842,001132: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
021843,001133:
021844,001134: # ALARM OR ABORT EXIT MODES -
021845,001135:
021846,001136: # SEE NORMAL EXIT MODES ABOVE
021847,001137:
021848,001138: # OUTPUT -
021849,001139:
021850,001140: # SEE OUTPUT FROM LSR24.1 + R61LEM
021851,001141:
021852,001142: # ERASABLE INITIALIZATION REQUIRED
021853,001143:
021854,001144: # SEE INPUT FOR LSR24.1
021855,001145:
021856,001146: # FLAGS SET + RESET
021857,001147:
021858,001148: # SRCHOPT, ACMODFLG
021859,001149:
021860,001150: 24,3206 E7,1733 EBANK= DATAGOOD
021861,001151: 24,3206 COUNT* $$/R24
021862,001152: 24,3206 05504 R24LEM TC UPFLAG
021863,001153: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
021864,001154: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
021865,001155: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
021866,001156: 24,3212 34755 R24LEM1 CAF ZERO
021867,001157: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
021868,001158: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
021869,001159: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
021870,001160: 24,3216 05353 R24LEM2 TC PHASCHNG
021871,001161: 24,3217 04022 OCT 04022
021872,001162: 24,3220 33254 CAF V16N80
021873,001163: 24,3221 04616 TC BANKCALL
021874,001164: 24,3222 20504 CADR PRIODSPR
021875,001165: 24,3223 06022 TC GOTOV56
021876,001166: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1
021877,001167:
021878,001168: 24,3225 03234 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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Page 516
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021880,001170: 24,3226 04616 TC BANKCALL
021881,001171: 24,3227 55442 CADR LRS24.1
021882,001172: 24,3230 06027 R24END TC KILLTASK
021883,001173: 24,3231 55643 CADR CALLDGCH
021884,001174: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
021885,001175: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
021886,001176:
021887,001177: 6011 BLOCK 3
021888,001178: 6000 SETLOC FFTAG6
021889,001179: 6000 BANK
021890,001180: 6011 COUNT* $$/R24
021891,001181:
021892,001182: 6011 46021 CLRADMOD CS BIT10+15
021893,001183: 6012 00004 INHINT
021894,001184: 6013 70110 MASK RADMODES
021895,001185: 6014 54110 TS RADMODES
021896,001186: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
021897,001187: 6016 00006 EXTEND
021898,001188: 6017 03012 WAND CHAN12 # USER WILL RELINT
021899,001189:
021900,001190: 6020 00002 TC Q
021901,001191:
021902,001192: 6021 41000 BIT10+15 OCT 41000
021903,001193: 24,3234 BANK 24
021904,001194: 24,2000 SETLOC P20S
021905,001195: 24,2000 BANK
021906,001196: 24,3234 COUNT* $$/R24
021907,001197:
021908,001198: 24,3234 05353 R24LEM3 TC PHASCHNG
021909,001199: 24,3235 04022 OCT 04022
021910,001200: 24,3236 06027 TC KILLTASK
021911,001201: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
021912,001202: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
021913,001203: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP
021914,001204: 24,3242 34774 CAF .5SEC
021915,001205: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
021916,001206: 24,3244 01735 CADR DELAYJOB
021917,001207: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
021918,001208: 24,3246 03251 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
021919,001209: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
021920,001210: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
021921,001211: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
021922,001212: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
021923,001213: # RRDESSM WILL RETURN TO CALLER
021924,001214: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
021925,001215:
021926,001216: 24,3254 04120 V16N80 VN 01680
021927,001217:
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Page 517
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021929,001219: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
021930,001220: # PROGRAM DESCRIPTION
021931,001221:
021932,001222: # MOD NO: 3 DATE: 4-11-67
021933,001223: # MOD BY: P VOLANTE SDC
021934,001224:
021935,001225: # FUNCTIONAL DESCRIPTION -
021936,001226:
021937,001227: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
021938,001228: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
021939,001229: # ATTITUDE.
021940,001230:
021941,001231: # CALLING SEQUENCE -
021942,001232:
021943,001233: # TC BANKCALL
021944,001234: # CADR R61LEM
021945,001235:
021946,001236: # SUBROUTINES CALLED
021947,001237:
021948,001238: # LPS20.1 VECPOINT
021949,001239: # KALCMAN3
021950,001240:
021951,001241: # NORMAL EXIT MODES -
021952,001242:
021953,001243: # NORMAL RETURN IS TO CALLER + 1
021954,001244:
021955,001245: # ALARM OR ABORT EXIT MODES -
021956,001246:
021957,001247: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
021958,001248: # RENDEZVOUS FLAG ARE NOT SET.
021959,001249:
021960,001250: # OUTPUT -
021961,001251:
021962,001252: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
021963,001253:
021964,001254: # ERASABLE INITIALIZATION REQUIRED
021965,001255:
021966,001256: # GENRET USED TO SAVE Q FOR RETURN
021967,001257:
021968,001258: # FLAGS SET + RESET
021969,001259:
021970,001260: # 3AXISFLG
021971,001261:
021972,001262: # DEBRIS
021973,001263:
021974,001264: # SEE SUBROUTINES
021975,001265:
021976,001266: 23,2000 SETLOC R61
021977,001267: 23,2000 BANK
021978,001268: 23,2116 E7,1456 EBANK= LOSCOUNT
021979,001269: 23,2116 COUNT* $$/R61
021980,001270: 23,2116 04645 R61LEM TC MAKECADR
021981,001271: 23,2117 55143 TS GENRET
021982,001272: 23,2120 05504 TC UPFLAG # SET R61 FLAG
021983,001273: 23,2121 00024 ADRES R61FLAG
021984,001274: 23,2122 02127 TC R61C+L01
021985,001275: 23,2123 04645 R65LEM TC MAKECADR
021986,001276: 23,2124 55143 TS GENRET
021987,001277: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
021988,001278: 23,2126 00024 ADRES R61FLAG
021989,001279: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
021990,001280: 23,2130 70075 MASK STATE +1
021991,001281: 23,2131 00006 EXTEND
021992,001282: 23,2132 12271 BZF R65WAIT # NOT SET
021993,001283: 23,2133 06037 R61C+L03 TC INTPRET
021994,001284: 23,2134 77775 VLOAD
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Page 518
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021996,001286: 23,2135 06514 HIUNITZ
021997,001287: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
021998,001288: 23,2137 43234 R61LEM1 RTB DAD
021999,001289: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022000,001290: 23,2141 15712 3SECONDS # SIX SECOND PERIOD.
022001,001291: 23,2142 34041 STCALL TDEC1
022002,001292: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022003,001293: 23,2144 77775 VLOAD
022004,001294: 23,2145 01102 RRTARGET
022005,001295: 23,2146 03773 STORE POINTVSM
022006,001296: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022007,001297: 23,2150 46277 READCDUD
022008,001298: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022009,001299: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022010,001300: 23,2153 77776 EXIT
022011,001301: 23,2154 05353 TC PHASCHNG
022012,001302: 23,2155 04022 OCT 04022
022013,001303: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET
022014,001304: 23,2157 70075 MASK FLAGWRD1
022015,001305: 23,2160 00006 EXTEND
022016,001306: 23,2161 12271 BZF R65WAIT
022017,001307: 23,2162 04616 TC BANKCALL
022018,001308: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE
022019,001309: 23,2164 10000 CCS A
022020,001310: 23,2165 02257 TC R61C+L04 # NOT IN AUTO
022021,001311: 23,2166 06037 TC INTPRET
022022,001312: 23,2167 45175 VLOAD CALL
022023,001313: 23,2170 01102 RRTARGET
022024,001314: 23,2171 47646 CDU*SMNB
022025,001315: 23,2172 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022026,001316: 23,2173 00162 MPAC +5
022027,001317: 23,2174 06275 COS15DEG
022028,001318: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022029,001319: 23,2176 46213 R61C+L05 # PHI GRE 10DEG
022030,001320: 23,2177 E6,1635 EBANK= CDUXD
022031,001321: 23,2177 35015 CAF EBANK6
022032,001322: 23,2200 54003 TS EBANK
022033,001323: 23,2201 00004 INHINT
022034,001324: 23,2202 00006 EXTEND
022035,001325: 23,2203 30322 DCA CPHI
022036,001326: 23,2204 53636 DXCH CDUXD
022037,001327: 23,2205 30323 CA CPSI
022038,001328: 23,2206 55637 TS CDUZD
022039,001329: 23,2207 00003 RELINT
022040,001330: 23,2210 E7,1456 EBANK= LOSCOUNT
022041,001331: 23,2210 35016 CAF EBANK7
022042,001332: 23,2211 54003 TS EBANK
022043,001333: 23,2212 02236 TC R61C+L06
022044,001334: 23,2213 77776 R61C+L05 EXIT
022045,001335: 23,2214 00004 INHINT
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Page 519
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022047,001337: 23,2215 04674 TC IBNKCALL
022048,001338: 23,2216 40153 FCADR ZATTEROR
022049,001339: 23,2217 04674 TC IBNKCALL
022050,001340: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022051,001341: 23,2221 05516 TC DOWNFLAG
022052,001342: 23,2222 00124 ADRES 3AXISFLG
022053,001343: 23,2223 05504 TC UPFLAG
022054,001344: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022055,001345: 23,2225 04616 TC BANKCALL
022056,001346: 23,2226 54123 CADR R60LEM
022057,001347: 23,2227 00004 INHINT
022058,001348: 23,2230 04674 TC IBNKCALL
022059,001349: 23,2231 40123 FCADR RESTORDB
022060,001350: 23,2232 05353 TC PHASCHNG
022061,001351: 23,2233 04022 OCT 04022
022062,001352: 23,2234 05516 TC DOWNFLAG
022063,001353: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022064,001354: 23,2236 30075 R61C+L06 CA FLAGWRD1
022065,001355: 23,2237 74742 MASK R61FLBIT
022066,001356: 23,2240 10000 CCS A
022067,001357: 23,2241 02262 TC R61C+L4
022068,001358: 23,2242 11745 CCS R65CNTR
022069,001359: 23,2243 02245 TC +2
022070,001360: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022071,001361: 23,2245 55745 TS R65CNTR
022072,001362: 23,2246 32276 CAF 06SEC
022073,001363: 23,2247 05173 TC TWIDDLE
022074,001364: 23,2250 02252 ADRES R61C+L2
022075,001365: 23,2251 05155 TC ENDOFJOB
022076,001366: 23,2252 37714 R61C+L2 CAF PRIO26
022077,001367: 23,2253 05105 TC FINDVAC
022078,001368: 23,2254 E7,1456 EBANK= LOSCOUNT
022079,001369: 23,2254 02127 46067 2CADR R61C+L01
022080,001370:
022081,001371: 23,2256 05261 TC TASKOVER
022082,001372: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022083,001373: 23,2260 54266 CADR BALLANGS
022084,001374: 23,2261 02236 TC R61C+L06
022085,001375: 23,2262 31143 R61C+L4 CAE GENRET
022086,001376: 23,2263 14640 TCF BANKJUMP # EXIT R61
022087,001377: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022088,001378: 23,2265 70074 MASK STATE
022089,001379: 23,2266 00006 EXTEND
022090,001380: 23,2267 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022091,001381: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE
022092,001382: 23,2271 04635 R65WAIT TC POSTJUMP
022093,001383: 23,2272 50232 CADR P20LEMWT
022094,001384:
022095,001385: 23,2273 00500 BIT7+9PV OCT 00500
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Page 520
|
022097,001387: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1
022098,001388:
022099,001389: 23,2276 01130 06SEC DEC 600 B-14
022100,001390: 23,2277 PHI EQUALS 20D
022101,001391: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022102,001392: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022103,001393: 23,2301 56003 XCH EBANK
022104,001394: 23,2302 54070 TS RUPTREG1
022105,001395: 23,2303 E6,1635 EBANK= CDUXD
022106,001396: 23,2303 31635 CA CDUXD
022107,001397: 23,2304 54154 TS MPAC
022108,001398: 23,2305 00006 EXTEND
022109,001399: 23,2306 31637 DCA CDUYD
022110,001400: 23,2307 52156 DXCH MPAC +1
022111,001401: 23,2310 30070 CA RUPTREG1
022112,001402: 23,2311 54003 TS EBANK
022113,001403: 23,2312 00003 RELINT
022114,001404: 23,2313 16477 TCF TMODE
022115,001405: 4512 BLOCK 02
022116,001406: 4000 SETLOC RADARFF
022117,001407: 4000 BANK
022118,001408:
022119,001409: 4512 E7,1456 EBANK= LOSCOUNT
022120,001410: 4512 COUNT* $$/RRSUB
022121,001411:
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Page 521
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022123,001413: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022124,001414: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022125,001415:
022126,001416: 4512 00006 MAGSUB EXTEND
022127,001417: 4513 64515 BZMF +2
022128,001418: 4514 14516 TCF +2
022129,001419: 4515 40000 COM
022130,001420:
022131,001421: 4516 50002 INDEX Q
022132,001422: 4517 60000 AD 0
022133,001423: 4520 00006 EXTEND
022134,001424: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022135,001425: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2
022136,001426:
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Page 522
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022138,001428: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022139,001429:
022140,001430: # FUNCTIONAL DESCRIPTION_
022141,001431:
022142,001432: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022143,001433: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022144,001434: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022145,001435: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022146,001436: # MODE 1 AND =1 FOR MODE 2.
022147,001437:
022148,001438: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022149,001439: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022150,001440: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022151,001441: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022152,001442:
022153,001443: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022154,001444: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022155,001445: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022156,001446: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022157,001447: # TO L +3.
022158,001448:
022159,001449: # CALLING SEQUENCE:
022160,001450:
022161,001451: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022162,001452: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022163,001453:
022164,001454: # ERASABLE INITIALIZATION REQUIRED:
022165,001455:
022166,001456: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022167,001457: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022168,001458: # CURRENT EBANK).
022169,001459:
022170,001460: # SUBROUTINES CALLED_ MAGSUB
022171,001461:
022172,001462: # JOBS OR TASKS INITIATED_ NONE
022173,001463:
022174,001464: # ALARMS_ NONE
022175,001465:
022176,001466: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022177,001467: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022178,001468:
022179,001469: 4523 00006 RRLIMCHK EXTEND
022180,001470: 4524 50002 INDEX Q
022181,001471: 4525 50000 INDEX 0
022182,001472: 4526 30001 DCA 0
022183,001473: 4527 24002 INCR Q
022184,001474: 4530 52062 DXCH ITEMP1
022185,001475: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022186,001476:
022187,001477: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022188,001478: 4533 70110 MASK RADMODES
022189,001479: 4534 10000 CCS A
022190,001480: 4535 14550 TCF MODE2CHK
022191,001481:
022192,001482: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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Page 523
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022194,001484: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022195,001485: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022196,001486: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022197,001487:
022198,001488: 4542 34562 CAF 5.5DEGS
022199,001489: 4543 60062 AD ITEMP2 # S
022200,001490: 4544 04512 TC MAGSUB
022201,001491: 4545 64420 DEC -.35833 # 64.5 DEGS
022202,001492: 4546 00001 TC L
022203,001493: 4547 04560 TC RRLIMOK # IN LIMITS.
022204,001494:
022205,001495: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022206,001496: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022207,001497: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022208,001498: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022209,001499: 4554 00001 TC L
022210,001500:
022211,001501: 4555 30061 CA ITEMP1
022212,001502: 4556 04512 TC MAGSUB
022213,001503: 4557 51615 DEC -.69444 # 125 DEGS
022214,001504:
022215,001505: 4560 50001 RRLIMOK INDEX L
022216,001506: 4561 00001 TC L # ( = TC 1 )
022217,001507:
022218,001508: 4562 00765 5.5DEGS DEC .03056
022219,001509: 4563 16450 82DEGS DEC .45556
022220,001510:
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Page 524
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022222,001512: # PROGRAM NAME_ SETTRKF . IF EITHER:
022223,001513:
022224,001514: # FUNCTIONAL DESCRIPTION_
022225,001515: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022226,001516: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022227,001517: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022228,001518: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022229,001519: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022230,001520: # AUTO MODE (RADMODES BITS 13, 7, 2).
022231,001521: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022232,001522: # 8,5)
022233,001523: # 3) NO RR DATA (RADMODES BIT 4)
022234,001524: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022235,001525: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022236,001526: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022237,001527: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022238,001528: # TRACKER FAIL LAMP IS TURNED ON IF_
022239,001529: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022240,001530: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022241,001531: # EITHER THE ALT OR VEL INFORMATION
022242,001532: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022243,001533: # WITH EITHER THE AL
022244,001534:
022245,001535: # CALLING SEQUENCE:
022246,001536:
022247,001537: # L TC SETTRKF
022248,001538:
022249,001539: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022250,001540:
022251,001541: # SUBROUTINES CALLED_ NONE
022252,001542:
022253,001543: # JOBS OR TASKS INITIATED_ NONE
022254,001544:
022255,001545: # ALARMS_ TRACKER FAIL LAMP
022256,001546:
022257,001547: # EXIT_ L +1 (ALWAYS) ED.
022258,001548:
022259,001549: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022260,001550: 4565 71303 MASK IMODES33
022261,001551: 4566 10000 CCS A
022262,001552: 4567 00002 TC Q
022263,001553:
022264,001554: 4570 34744 RRTRKF CA BIT8
022265,001555: 4571 54001 TS L
022266,001556:
022267,001557: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022268,001558: 4573 70110 MASK RADMODES
022269,001559: 4574 00006 EXTEND
022270,001560: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022271,001561:
022272,001562: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022273,001563: 4577 70110 MASK RADMODES
|
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Page 525
|
022275,001565: 4600 10000 CCS A
022276,001566: 4601 30001 TRKFLON CA L
022277,001567: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022278,001568: 4603 70001 MASK L
022279,001569: 4604 00006 EXTEND
022280,001570: 4605 16742 BZF TCQ # NO CHANGE.
022281,001571:
022282,001572: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022283,001573: 4607 00006 EXTEND
022284,001574: 4610 06001 RXOR LCHAN
022285,001575: 4611 74733 MASK POSMAX
022286,001576: 4612 64735 AD BIT15
022287,001577: 4613 55036 TS DSPTAB +11D
022288,001578: 4614 00002 TC Q
022289,001579:
022290,001580: 4615 10102 13,7,2 OCT 10102
022291,001581: 4616 ENDRMODF EQUALS
022292,001582:
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Page 526
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022294,001584: # PROGRAM NAME_ RRTURNON
022295,001585:
022296,001586: # FUNCTIONAL DESCRIPTION_
022297,001587:
022298,001588: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022299,001589: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022300,001590: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022301,001591: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022302,001592: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022303,001593: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022304,001594: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022305,001595: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022306,001596: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022307,001597: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022308,001598: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022309,001599: # TO TASKOVER.
022310,001600:
022311,001601: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022312,001602: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022313,001603: # THE RR (STATE BIT 7).
022314,001604:
022315,001605: # ERASABLE INITIALIZATION REQUIRED:
022316,001606:
022317,001607: # RADMODES, STATE
022318,001608:
022319,001609: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022320,001610:
022321,001611: # JOBS OR TASKS INITIATED_
022322,001612: #
022323,001613: # NONE
022324,001614:
022325,001615: # ALARMS_ NONE (SEE RRZEROSB)
022326,001616:
022327,001617: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022328,001618:
022329,001619: 24,3255 BANK 24
022330,001620: 25,2000 SETLOC P20S1
022331,001621: 25,2000 BANK
022332,001622:
022333,001623: 25,2062 E7,1456 EBANK= LOSCOUNT
022334,001624: 25,2062 COUNT* $$/RSUB
022335,001625: 25,2062 02071 RRTURNON TC RRZEROSB
022336,001626: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022337,001627: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022338,001628: 25,2065 44753 CS TURNONBT
022339,001629: 25,2066 70110 MASK RADMODES
022340,001630: 25,2067 54110 TS RADMODES
022341,001631: 25,2070 15261 TCF TASKOVER
|
|
Page 527
|
022343,001633: # PROGRAM NAME_ RRZEROSB
022344,001634:
022345,001635: # FUNCTIONAL DESCRIPTION_
022346,001636: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022347,001637: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022348,001638: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022349,001639: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022350,001640: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022351,001641: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022352,001642: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022353,001643: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022354,001644: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022355,001645: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022356,001646: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022357,001647: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022358,001648: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022359,001649: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022360,001650: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022361,001651:
022362,001652: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022363,001653:
022364,001654: # ERASABLE INITIALIZATION REQUIRED:
022365,001655:
022366,001656: # RADMODES (BIT 13 SET), DSPTAB +11D
022367,001657:
022368,001658: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022369,001659:
022370,001660: # JOBS OR TASKS INITIATED_
022371,001661:
022372,001662: # NONE
022373,001663:
022374,001664: # ALARMS_ TRACKER FAIL
022375,001665:
022376,001666: # EXIT_ L +1 (ALWAYS)
022377,001667:
022378,001668: 25,2071 00006 RRZEROSB EXTEND
022379,001669: 25,2072 23315 QXCH RRRET
022380,001670: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022381,001671: 25,2074 00006 EXTEND # COMING HERE.
022382,001672: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022383,001673: 25,2076 05221 TC FIXDELAY
022384,001674: 25,2077 00002 DEC 2 B-14
022385,001675:
022386,001676: 25,2100 34755 CAF ZERO
022387,001677: 25,2101 54035 TS CDUT
022388,001678: 25,2102 54036 TS CDUS
022389,001679: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
022390,001680: 25,2104 00006 EXTEND
022391,001681: 25,2105 03012 WAND CHAN12
022392,001682: 25,2106 05221 TC FIXDELAY
022393,001683: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022394,001684:
022395,001685: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 528
|
022397,001687: 25,2111 70110 MASK RADMODES
022398,001688: 25,2112 54110 TS RADMODES
022399,001689:
022400,001690: 25,2113 30035 CA CDUT
022401,001691: 25,2114 04512 TC MAGSUB
022402,001692: 25,2115 57777 DEC -.5
022403,001693: 25,2116 12121 TCF +3 # IF MODE 2.
022404,001694:
022405,001695: 25,2117 34755 CAF ZERO
022406,001696: 25,2120 12122 TCF +2
022407,001697: 25,2121 34740 CAF ANTENBIT
022408,001698: 25,2122 56110 XCH RADMODES
022409,001699: 25,2123 77741 MASK -BIT12
022410,001700: 25,2124 26110 ADS RADMODES
022411,001701:
022412,001702: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022413,001703:
022414,001704: 25,2126 01315 TC RRRET # DONE.
022415,001705:
022416,001706: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT
022417,001707:
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|
Page 529
|
022419,001709: # PROGRAM NAME_ DORREPOS
022420,001710:
022421,001711: # FUNCTIONAL DESCRIPTION_
022422,001712:
022423,001713: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022424,001714: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022425,001715: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022426,001716: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022427,001717: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022428,001718: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022429,001719: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022430,001720: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022431,001721: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022432,001722: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022433,001723: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022434,001724: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022435,001725: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022436,001726: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022437,001727: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022438,001728: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022439,001729: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022440,001730: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022441,001731: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022442,001732: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022443,001733: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022444,001734: # TASKOVER.
022445,001735:
022446,001736: # CALLING SEQUENCE:
022447,001737:
022448,001738: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022449,001739: # NOT WITHIN LIMITS OF CURRENT MODE.
022450,001740:
022451,001741: # ERASABLE INITIALIZATION REQUIRED:
022452,001742:
022453,001743: # RADMODES
022454,001744:
022455,001745: # SUBROUTINES CALLED_
022456,001746:
022457,001747: # RRTONLY, RRSONLY, BEGDES (EXIT)
022458,001748:
022459,001749: # JOBS OR TASKS INITIATED_
022460,001750:
022461,001751: # NONE
022462,001752:
022463,001753: # ALARMS- NONE
022464,001754:
022465,001755: # EXIT_ TASKOVER, BEGDES
022466,001756:
022467,001757: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022468,001758:
022469,001759: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022470,001760:
022471,001761: 25,2130 05221 TC FIXDELAY
022472,001762: 25,2131 00002 DEC 2 B-14
022473,001763:
022474,001764: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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Page 530
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022476,001766: 25,2133 70110 MASK RADMODES
022477,001767: 25,2134 10000 CCS A
022478,001768: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022479,001769: 25,2136 02241 TC RRTONLY
022480,001770:
022481,001771: 25,2137 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022482,001772: 25,2140 70110 MASK RADMODES
022483,001773: 25,2141 10000 CCS A
022484,001774: 25,2142 44736 CS HALF # -90 FOR MODE 2.
022485,001775: 25,2143 02244 TC RRSONLY
022486,001776:
022487,001777: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022488,001778: # REQUESTED DURING REPOSITION.
022489,001779: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022490,001780: 25,2146 54110 TS RADMODES
022491,001781: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022492,001782: 25,2150 10000 CCS A
022493,001783: 25,2151 12573 TCF BEGDES
022494,001784: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022495,001785: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022496,001786: 25,2154 03012 WAND CHAN12
022497,001787: 25,2155 15261 TCF TASKOVER
022498,001788:
022499,001789: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022500,001790: 25,2157 00006 EXTEND
022501,001791: 25,2160 02012 RAND CHAN12
022502,001792: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022503,001793: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022504,001794:
022505,001795: 25,2163 54112 TS LASTYCMD
022506,001796: 25,2164 54113 TS LASTXCMD
022507,001797: 25,2165 34752 CAF BIT2
022508,001798: 25,2166 00006 EXTEND
022509,001799: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022510,001800: 25,2170 00002 TC Q
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Page 531
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022512,001802: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022513,001803:
022514,001804: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022515,001805: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022516,001806: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022517,001807: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022518,001808: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022519,001809: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022520,001810: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022521,001811: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022522,001812: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022523,001813: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022524,001814: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022525,001815: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022526,001816: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022527,001817: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022528,001818: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022529,001819: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022530,001820: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022531,001821: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022532,001822: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022533,001823: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022534,001824:
022535,001825: # CALLING SEQUENCE:
022536,001826:
022537,001827: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022538,001828: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022539,001829: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022540,001830: # OTHER MODE.
022541,001831:
022542,001832: # ERASABLE INITIALIZATION REQUIRED:
022543,001833:
022544,001834: # RADMODES
022545,001835:
022546,001836: # SUBROUTINES CALLED_
022547,001837:
022548,001838: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022549,001839:
022550,001840: # JOBS OR TASKS INITIATED_
022551,001841:
022552,001842: # NONE
022553,001843:
022554,001844: # ALARMS_ NONE
022555,001845:
022556,001846: # EXIT_ STDESIG
022557,001847:
022558,001848: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022559,001849: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022560,001850: 25,2173 10000 CCS A
022561,001851: 25,2174 34735 CAF BIT15
022562,001852: 25,2175 02241 TC RRTONLY
022563,001853:
022564,001854: 25,2176 37740 CAF -45DEGSR
022565,001855: 25,2177 02244 TC RRSONLY
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Page 532
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022567,001857: 25,2200 40110 CS RADMODES
022568,001858: 25,2201 74740 MASK ANTENBIT
022569,001859: 25,2202 10000 CCS A
022570,001860: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
022571,001861: 25,2204 62231 AD -50DEGSR
022572,001862: 25,2205 02241 TC RRTONLY
022573,001863:
022574,001864: 25,2206 40110 CS RADMODES
022575,001865: 25,2207 74740 MASK ANTENBIT
022576,001866: 25,2210 10000 CCS A
022577,001867: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
022578,001868: 25,2212 02241 TC RRTONLY
022579,001869:
022580,001870: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
022581,001871: 25,2214 74740 MASK ANTENBIT
022582,001872: 25,2215 10000 CCS A
022583,001873: 25,2216 44736 CS HALF
022584,001874: 25,2217 02244 TC RRSONLY
022585,001875:
022586,001876: 25,2220 02233 TC RMODINV
022587,001877:
022588,001878: 25,2221 44736 CS REMODBIT # END OF REMODE.
022589,001879: 25,2222 70110 MASK RADMODES
022590,001880: 25,2223 54110 TS RADMODES
022591,001881:
022592,001882: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022593,001883: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022594,001884: 25,2226 00006 EXTEND
022595,001885: 25,2227 13555 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
022596,001886: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
022597,001887: 25,2231 7740 -45DEGSR = 13,14,15
022598,001888: 25,2231 67070 -50DEGSR DEC -.27778
022599,001889: 25,2232 61615 -80DEGSR DEC -.44444
022600,001890:
022601,001891: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022602,001892: 25,2234 34740 CAF ANTENBIT
022603,001893: 25,2235 00006 EXTEND
022604,001894: 25,2236 06001 RXOR LCHAN
022605,001895: 25,2237 54110 TS RADMODES
022606,001896: 25,2240 00002 TC Q
022607,001897:
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Page 533
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022609,001899: # PROGRAM NAMES_ RRTONLY, RRSONLY
022610,001900:
022611,001901: # FUNCTIONAL DESCRIPTION_
022612,001902:
022613,001903: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022614,001904: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022615,001905: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022616,001906: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022617,001907: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022618,001908: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022619,001909: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022620,001910: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022621,001911: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022622,001912: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022623,001913: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022624,001914: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022625,001915: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022626,001916: # REPEATED.
022627,001917:
022628,001918: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022629,001919: # L TC RRTONLY (TRUNNION ONLY)
022630,001920: # RRSONLY (SHAFT ONLY)
022631,001921: # RRTONLY IS CALLED BY PREPOS29;
022632,001922: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022633,001923:
022634,001924: # ERASABLE INITIALIZATION REQUIRED:
022635,001925:
022636,001926: # C(A) = DESIRED ANGLE, RADMODES
022637,001927:
022638,001928: # SUBROUTINES CALLED_
022639,001929:
022640,001930: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
022641,001931:
022642,001932: # JOBS OR TASKS INITIATED_
022643,001933:
022644,001934: # NONE
022645,001935:
022646,001936: # ALARMS_ NONE
022647,001937:
022648,001938: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022649,001939: # BITS 14, 11)
022650,001940: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022651,001941:
022652,001942: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
022653,001943: 25,2242 34755 CAF ZERO
022654,001944: 25,2243 12246 TCF RR1AXIS
022655,001945:
022656,001946: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022657,001947: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022658,001948:
022659,001949: 25,2246 55317 RR1AXIS TS RRINDEX
022660,001950: 25,2247 00006 EXTEND
022661,001951: 25,2250 23315 QXCH RRRET
022662,001952: 25,2251 12254 TCF RR1AX2
022663,001953:
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|
Page 534
|
022665,001955: 25,2252 05221 NXTRR1AX TC FIXDELAY
022666,001956: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022667,001957:
022668,001958: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
022669,001959: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
022670,001960: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
022671,001961: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
022672,001962:
022673,001963: 25,2260 31316 CA RDES
022674,001964: 25,2261 00006 EXTEND
022675,001965: 25,2262 51317 INDEX RRINDEX
022676,001966: 25,2263 20035 MSU CDUT
022677,001967: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
022678,001968: 25,2265 00006 EXTEND
022679,001969: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
022680,001970: 25,2267 54001 TS L
022681,001971: 25,2270 30110 CA RADMODES
022682,001972: 25,2271 74752 MASK AUTOMBIT
022683,001973: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
022684,001974: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
022685,001975: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
022686,001976:
022687,001977: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
022688,001978: 25,2276 01315 TC RRRET # RETURN TO CALLER.
022689,001979:
022690,001980: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
022691,001981: 25,2300 12302 TCF +2 # SETTING A TO 0.
022692,001982: 25,2301 56001 XCH L
022693,001983: 25,2302 53110 DXCH TANG
022694,001984:
022695,001985: 25,2303 02306 TC RROUT
022696,001986:
022697,001987: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
022698,001988:
022699,001989: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
022700,001990:
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Page 535
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022702,001992: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
022703,001993:
022704,001994: # FUNCTIONAL DESCRIPTION_
022705,001995:
022706,001996: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
022707,001997: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
022708,001998: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
022709,001999: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
022710,002000: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
022711,002001: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
022712,002002: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
022713,002003: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
022714,002004: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
022715,002005: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
022716,002006: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
022717,002007: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
022718,002008: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
022719,002009:
022720,002010: # CALLING SEQUENCE:
022721,002011: #
022722,002012: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
022723,002013: # RRTONLY, RRSONLY, AND DODES
022724,002014:
022725,002015: # ERASABLE INITIALIZATION REQUIRED:
022726,002016:
022727,002017: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
022728,002018: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
022729,002019:
022730,002020: # SUBROUTINES CALLED_
022731,002021:
022732,002022: # MAGSUB
022733,002023:
022734,002024: # JOBS OR TASKS INITIATED_
022735,002025:
022736,002026: # NONE
022737,002027:
022738,002028: # ALARMS_ NONE
022739,002029:
022740,002030: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
022741,002031:
022742,002032: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
022743,002033: 25,2307 34753 CAF ONE # LOOP TWICE.
022744,002034: 25,2310 54062 RROUT2 TS ITEMP2
022745,002035: 25,2311 50000 INDEX A
022746,002036: 25,2312 31107 CA TANG
022747,002037: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
022748,002038:
022749,002039: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
022750,002040: 25,2315 77177 -RRLIMIT DEC -384 B-14
022751,002041: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
022752,002042:
022753,002043: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
022754,002044: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
022755,002045: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
022756,002046: 25,2322 40000 COM
|
|
Page 536
|
022758,002048: 25,2323 60061 AD ITEMP1
022759,002049: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
022760,002050: 25,2325 50062 INDEX ITEMP2
022761,002051: 25,2326 54053 TS CDUTCMD
022762,002052:
022763,002053: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
022764,002054: 25,2330 12310 TCF RROUT2
022765,002055:
022766,002056: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
022767,002057: 25,2332 00006 EXTEND
022768,002058: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
022769,002059: 25,2334 00001 TC L # RETURN.
022770,002060:
022771,002061: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
022772,002062: 25,2336 42315 CS -RRLIMIT
022773,002063: 25,2337 12341 TCF +2
022774,002064: 25,2340 32315 CA -RRLIMIT
022775,002065: 25,2341 54061 TS ITEMP1
022776,002066: 25,2342 12320 TCF SETRRCTR +1
022777,002067:
|
|
Page 537
|
022779,002069: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
022780,002070:
022781,002071: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
022782,002072: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
022783,002073: 25,2345 10000 CCS A
022784,002074: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
022785,002075:
022786,002076: 25,2347 00004 INHINT
022787,002077: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
022788,002078: 25,2351 70110 MASK RADMODES
022789,002079: 25,2352 64737 AD RCDU0BIT
022790,002080: 25,2353 54110 TS RADMODES
022791,002081:
022792,002082: 25,2354 34753 CAF ONE
022793,002083: 25,2355 05203 TC WAITLIST
022794,002084: 25,2356 E7,1456 EBANK= LOSCOUNT
022795,002085: 25,2356 02370 52067 2CADR RRZ2
022796,002086:
022797,002087: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
022798,002088: 25,2361 74752 MASK AUTOMBIT
022799,002089: 25,2362 10000 CCS A
022800,002090: 25,2363 12366 TCF ROADBACK
022801,002091: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
022802,002092: 25,2365 00510 OCT 510
022803,002093: 25,2366 00003 ROADBACK RELINT
022804,002094: 25,2367 14631 TCF SWRETURN
022805,002095:
022806,002096: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
022807,002097: 25,2371 13546 TCF ENDRADAR
022808,002098:
022809,002099: 25,2372 02001 BIT11+1 OCT 02001
022810,002100:
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|
Page 538
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022812,002102: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
022813,002103:
022814,002104: # FUNCTIONAL DESCRIPTION_
022815,002105:
022816,002106: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
022817,002107: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
022818,002108: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
022819,002109: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
022820,002110: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
022821,002111: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
022822,002112: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
022823,002113: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
022824,002114: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
022825,002115: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
022826,002116: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
022827,002117: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
022828,002118: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
022829,002119: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
022830,002120: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
022831,002121: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
022832,002122: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
022833,002123: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
022834,002124: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
022835,002125: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
022836,002126: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
022837,002127: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
022838,002128:
022839,002129: # CALLING SEQUENCE:
022840,002130:
022841,002131: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
022842,002132: # L+1 RRDESSM
022843,002133: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
022844,002134: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
022845,002135:
022846,002136: # ERASABLE INITIALIZATION REQUIRED:
022847,002137:
022848,002138: # RRTARGET, RADMODES
022849,002139:
022850,002140: # SUBROUTINES CALLED_
022851,002141:
022852,002142: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
022853,002143: # PART OF), RMODINV
022854,002144:
022855,002145: # JOBS OR TASKS INITIATED_
022856,002146:
022857,002147: # NONE
022858,002148:
022859,002149: # ALARMS_ NONE
022860,002150:
022861,002151: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
022862,002152: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
022863,002153: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
022864,002154:
022865,002155: 25,2373 43020 RRDESSM STQ CLEAR
022866,002156: 25,2374 01113 DESRET
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|
Page 539
|
022868,002158: 25,2375 00271 RRNBSW
022869,002159: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
022870,002160: 25,2377 47537 CDUTRIG
022871,002161: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
022872,002162: 25,2401 01102 RRTARGET
022873,002163: 25,2402 47671 *SMNB*
022874,002164:
022875,002165: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
022876,002166: 25,2404 26133 RRANGLES # ALTERNATE MODE.
022877,002167: 25,2405 77776 EXIT
022878,002168:
022879,002169: 25,2406 00004 INHINT
022880,002170: 25,2407 04523 TC RRLIMCHK
022881,002171: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
022882,002172: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
022883,002173: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
022884,002174: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
022885,002175: 25,2414 40104 CS FLAGWRD8
022886,002176: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
022887,002177: 25,2416 00006 EXTEND
022888,002178: 25,2417 12456 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
022889,002179: 25,2420 02461 TC TRYSWS
022890,002180:
022891,002181: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
022892,002182: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
022893,002183: 25,2423 00006 EXTEND
022894,002184: 25,2424 12456 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
022895,002185: 25,2425 30074 CA STATE
022896,002186: 25,2426 74745 MASK RNDVZBIT
022897,002187: 25,2427 10000 CCS A # TEST RNDVZFLG.
022898,002188: 25,2430 02471 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
022899,002189: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
022900,002190:
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|
Page 540
|
022902,002192: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
022903,002193:
022904,002194: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
022905,002195: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
022906,002196: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
022907,002197: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
022908,002198: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
022909,002199: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
022910,002200: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
022911,002201: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
022912,002202: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
022913,002203: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
022914,002204: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
022915,002205: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
022916,002206: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
022917,002207: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
022918,002208: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
022919,002209: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
022920,002210: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
022921,002211: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
022922,002212: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
022923,002213: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
022924,002214: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
022925,002215:
022926,002216: # CALLING SEQUENCE:
022927,002217:
022928,002218: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
022929,002219:
022930,002220: # ERASABLE INITIALIZATION REQUIRED:
022931,002221:
022932,002222: # RADMODES, (SEE DODES)
022933,002223:
022934,002224: # SUBROUTINES CALLED_
022935,002225:
022936,002226: # SETRRECR, WAITLIST
022937,002227:
022938,002228: # JOBS OR TASKS INITIATED_
022939,002229:
022940,002230: # BEGDES
022941,002231:
022942,002232: # ALARMS_ NONE
022943,002233:
022944,002234: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
022945,002235: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
022946,002236:
022947,002237: 25,2432 25113 STARTDES INCR DESRET
022948,002238: 25,2433 40110 CS RADMODES
022949,002239: 25,2434 74742 MASK DESIGBIT
022950,002240: 25,2435 26110 ADS RADMODES
022951,002241: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
022952,002242: 25,2437 10000 CCS A
022953,002243: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
022954,002244:
022955,002245: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 541
|
022957,002247: 25,2442 34752 CAF TWO
022958,002248: 25,2443 05203 TC WAITLIST
022959,002249: 25,2444 E7,1456 EBANK= LOSCOUNT
022960,002250: 25,2444 02573 52067 2CADR BEGDES
022961,002251:
022962,002252: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
022963,002253: 25,2447 00006 EXTEND
022964,002254: 25,2450 12452 BZF DESRTRN # YES SET EXIT
022965,002255: 25,2451 05155 TC ENDOFJOB # NO
022966,002256: 25,2452 00003 DESRTRN RELINT
022967,002257: 25,2453 25113 INCR DESRET
022968,002258: 25,2454 31113 CA DESRET
022969,002259: 25,2455 14640 TCF BANKJUMP
022970,002260:
022971,002261: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
022972,002262: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
022973,002263: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
022974,002264:
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|
Page 542
|
022976,002266: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
022977,002267:
022978,002268: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
022979,002269: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
022980,002270: 25,2463 01111 ADRES MODEB
022981,002271: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
022982,002272:
022983,002273: 25,2465 02233 TC RMODINV # RESET BIT12
022984,002274: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE.
022985,002275: 25,2467 26110 ADS RADMODES
022986,002276:
022987,002277: 25,2470 12412 TCF OKDESSM
022988,002278:
022989,002279: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
022990,002280: 25,2472 25113 INCR DESRET # TO CALLER +2
022991,002281: 25,2473 12456 TCF NORDSTAL
022992,002282:
022993,002283: 25,2474 00074 MAXTRYS DEC 60 B-14
022994,002284:
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|
Page 543
|
022996,002286: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
022997,002287: # TANG AND TANG +1.
022998,002288:
022999,002289: 25,2475 04645 RRDESNB TC MAKECADR
023000,002290: 25,2476 55113 TS DESRET
023001,002291:
023002,002292: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023003,002293: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
023004,002294: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
023005,002295: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
023006,002296: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
023007,002297: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023008,002298: 25,2505 01107 ADRES TANG
023009,002299: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
023010,002300:
023011,002301: 25,2507 00003 OKDESNB RELINT
023012,002302: 25,2510 00006 EXTEND
023013,002303: 25,2511 31110 DCA TANG
023014,002304: 25,2512 53753 DXCH TANGNB
023015,002305: 25,2513 06037 TC INTPRET
023016,002306:
023017,002307: 25,2514 77624 CALL # GET LOS IN NB COORDS.
023018,002308: 25,2515 46041 RRNB
023019,002309: 25,2516 01102 STORE RRTARGET
023020,002310:
023021,002311: 25,2517 77414 SET EXIT
023022,002312: 25,2520 00071 RRNBSW
023023,002313:
023024,002314: 25,2521 00004 INHINT
023025,002315: 25,2522 12433 TCF STARTDES +1
023026,002316: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023027,002317: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023028,002318: 25,2525 01107 ADRES TANG
023029,002319: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
023030,002320:
023031,002321: 25,2527 02233 TC RMODINV
023032,002322: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE.
023033,002323: 25,2531 26110 ADS RADMODES
023034,002324: 25,2532 12507 TCF OKDESNB
023035,002325:
023036,002326: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
023037,002327: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
023038,002328: 25,2535 00502 OCT 502
023039,002329: 25,2536 06011 TC CLRADMOD
023040,002330: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
023041,002331:
023042,002332: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023043,002333: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023044,002334: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023045,002335: 25,2543 00006 EXTEND
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Page 544
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023047,002337: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023048,002338: 25,2545 30001 DCA 0
023049,002339: 25,2546 52062 DXCH ITEMP1
023050,002340: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
023051,002341:
023052,002342: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023053,002343: 25,2551 70110 MASK RADMODES
023054,002344: 25,2552 10000 CCS A
023055,002345: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023056,002346: 25,2554 30061 CA ITEMP1
023057,002347: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023058,002348: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023059,002349: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023060,002350:
023061,002351: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023062,002352: 25,2561 00006 EXTEND
023063,002353: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023064,002354: 25,2563 64562 AD 5.5DEGS
023065,002355: 25,2564 04512 SHAFTLIM TC MAGSUB
023066,002356: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
023067,002357: 25,2566 00001 TC L # NOT IN LIMITS
023068,002358: 25,2567 04560 TC RRLIMOK # IN LIMITS
023069,002359: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023070,002360: 25,2571 12564 TCF SHAFTLIM
023071,002361:
023072,002362: 25,2572 03512 20.5DEGS DEC .11389
023073,002363:
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Page 545
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023075,002365: # PROGRAM NAME_ BEGDES
023076,002366:
023077,002367: # FUNCTIONAL DESCRIPTION_
023078,002368:
023079,002369: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023080,002370: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023081,002371: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023082,002372: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023083,002373: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023084,002374: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023085,002375: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023086,002376: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023087,002377: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023088,002378: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023089,002379: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023090,002380: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023091,002381: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023092,002382: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023093,002383: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023094,002384: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023095,002385: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023096,002386: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023097,002387: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023098,002388: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023099,002389: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023100,002390: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023101,002391: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023102,002392: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023103,002393: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023104,002394:
023105,002395: # CALLING SEQUENCE:
023106,002396:
023107,002397: # WAITLIST CALL FROM STARTDES
023108,002398: # TCF BEGDES FROM DORREPOS
023109,002399: # TC STDESIG RETURNING, FROM REMODE
023110,002400:
023111,002401: # ERASABLE INITIALIZATION REQUIRED:
023112,002402: # DESCOUNT, RADMODES
023113,002403:
023114,002404: # SUBROUTINES CALLED_
023115,002405: # ENDRADAR, FINDVAC
023116,002406:
023117,002407: # JOBS OR TASKS INITIATED_ DODES
023118,002408:
023119,002409: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023120,002410: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023121,002411:
023122,002412: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023123,002413: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023124,002414: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023125,002415:
023126,002416: 25,2573 40110 BEGDES CS RADMODES
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Page 546
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023128,002418: 25,2574 74736 MASK REMODBIT
023129,002419: 25,2575 10000 CCS A
023130,002420: 25,2576 02602 TC STDESIG
023131,002421: 25,2577 02171 TC REMODE
023132,002422: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023133,002423: 25,2601 00062 DEC 50 B-14
023134,002424:
023135,002425: 25,2602 34741 STDESIG CAF REPOSBIT
023136,002426: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023137,002427: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023138,002428: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023139,002429:
023140,002430: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023141,002431: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023142,002432: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023143,002433: 25,2611 12630 TCF MOREDES +1
023144,002434:
023145,002435: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023146,002436: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023147,002437: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023148,002438: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
023149,002439:
023150,002440: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023151,002441: 25,2617 12627 TCF MOREDES
023152,002442:
023153,002443: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023154,002444: 25,2621 00006 EXTEND
023155,002445: 25,2622 03012 WAND CHAN12
023156,002446: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG
023157,002447: 25,2624 70110 MASK RADMODES
023158,002448: 25,2625 54110 TS RADMODES
023159,002449: 25,2626 13562 TCF RDBADEND
023160,002450:
023161,002451: 25,2627 55114 MOREDES TS DESCOUNT
023162,002452: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023163,002453: 25,2631 05105 TC FINDVAC
023164,002454: 25,2632 E7,1456 EBANK= LOSCOUNT
023165,002455: 25,2632 02636 52067 2CADR DODES
023166,002456:
023167,002457: 25,2634 12600 TCF DESLOOP
023168,002458:
023169,002459: 25,2635 20002 B14+B2 OCT 20002
023170,002460:
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Page 547
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023172,002462: # PROGRAM NAME_ DODES
023173,002463:
023174,002464: # FUNCTIONAL DESCRIPTION_
023175,002465:
023176,002466: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023177,002467: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023178,002468: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023179,002469: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023180,002470: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023181,002471: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023182,002472: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023183,002473: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023184,002474: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023185,002475: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023186,002476: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023187,002477: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023188,002478: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023189,002479: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023190,002480: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023191,002481: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023192,002482: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023193,002483: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023194,002484: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023195,002485: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023196,002486: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023197,002487: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023198,002488: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023199,002489: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023200,002490: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023201,002491: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023202,002492: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023203,002493: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023204,002494: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023205,002495: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023206,002496: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023207,002497: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023208,002498: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023209,002499: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023210,002500: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023211,002501: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023212,002502: # VIA ENDOFJOB.
023213,002503:
023214,002504: # CALLING SEQUENCE:
023215,002505:
023216,002506: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023217,002507:
023218,002508: # ERASABLE INITIALIZATION REQUIRED:
023219,002509:
023220,002510: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023221,002511: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023222,002512:
023223,002513: # SUBROUTINES CALLED_
023224,002514:
023225,002515: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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Page 548
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023227,002517:
023228,002518: # JOBS OR TASKS INITIATED_
023229,002519:
023230,002520: # NONE
023231,002521:
023232,002522: # ALARMS_ NONE
023233,002523:
023234,002524: # EXIT_ ENDOFJOB (ALWAYS)
023235,002525:
023236,002526: 25,2636 00006 DODES EXTEND
023237,002527: 25,2637 30036 DCA CDUT
023238,002528: 25,2640 53110 DXCH TANG
023239,002529:
023240,002530: 25,2641 06037 TC INTPRET
023241,002531:
023242,002532: 25,2642 77201 SETPD VLOAD
023243,002533: 25,2643 00001 0
023244,002534: 25,2644 01102 RRTARGET
023245,002535: 25,2645 74214 BON VXSC
023246,002536: 25,2646 00311 RRNBSW
023247,002537: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
023248,002538: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023249,002539: 25,2651 63372 VSL1 PDVL
023250,002540: 25,2652 01761 LOSVEL
023251,002541: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023252,002542: 25,2654 13072 MCTOMS
023253,002543: 25,2655 45056 UNIT CALL
023254,002544: 25,2656 47537 CDUTRIG
023255,002545: 25,2657 77624 CALL
023256,002546: 25,2660 47671 *SMNB*
023257,002547:
023258,002548: 25,2661 14041 DONBRD STODL 32D
023259,002549: 25,2662 01111 TANG +1
023260,002550: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023261,002551: 25,2664 21576 CDULOGIC # (-SIN(S)).
023262,002552: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023263,002553: 25,2666 41546 COS PUSH
023264,002554: 25,2667 65205 DMP PDDL
023265,002555: 25,2670 00041 32D
023266,002556: 25,2671 00045 36D
023267,002557: 25,2672 44205 DMP BDSU
023268,002558: 25,2673 00001 0
023269,002559: 25,2674 77626 STADR
023270,002560: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
023271,002561:
023272,002562: 25,2676 47135 SLOAD RTB
023273,002563: 25,2677 01110 TANG
023274,002564: 25,2700 21576 CDULOGIC
023275,002565: 25,2701 71406 PUSH COS # COS(T) TO 4.
023276,002566: 25,2702 73525 PDDL SIN
023277,002567: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
023278,002568: 25,2704 00003 2
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Page 549
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023280,002570: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023281,002571: 25,2706 00005 4 # ( COS(T) )
023282,002572: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
023283,002573: 25,2710 00007 6
023284,002574: 25,2711 00001 0
023285,002575: 25,2712 55552 SL1 VDEF
023286,002576: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023287,002577: 25,2714 00041 32D
023288,002578:
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|
Page 550
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023290,002580: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023291,002581: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023292,002582:
023293,002583: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023294,002584: 25,2716 00006 EXTEND
023295,002585: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023296,002586: 25,2720 55107 TS TANG # TRUNNION COMMAND.
023297,002587: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023298,002588: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023299,002589: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023300,002590: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023301,002591: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023302,002592: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023303,002593: 25,2727 41110 +3 CS TANG +1
023304,002594: 25,2730 00006 EXTEND
023305,002595: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023306,002596: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
023307,002597: 25,2733 06037 TC INTPRET
023308,002598:
023309,002599: 25,2734 41345 DLOAD DMP
023310,002600: 25,2735 00003 2 # COS(S).
023311,002601: 25,2736 00005 4 # COS(T).
023312,002602: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
023313,002603: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023314,002604: 25,2741 00001 0 # SIN(S).
023315,002605: 25,2742 72405 DMP SL1
023316,002606: 25,2743 00005 4 # COS(T).
023317,002607: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
023318,002608: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023319,002609: 25,2746 52751 +3
023320,002610: 25,2747 77624 CALL
023321,002611: 25,2750 47673 *NBSM* # GET URR IN SM AXES.
023322,002612: 25,2751 77441 DOT EXIT
023323,002613: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023324,002614:
023325,002615: 25,2753 00006 EXTEND
023326,002616: 25,2754 43070 DCS COS1/2DG
023327,002617: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023328,002618: 25,2756 10154 CCS MPAC
023329,002619: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023330,002620: 25,2760 12762 TCF +2
023331,002621: 25,2761 34753 CA ONE
023332,002622: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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Page 551
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023334,002624: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023335,002625:
023336,002626: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023337,002627: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023338,002628: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
023339,002629: 25,2766 13017 TCF DORROUT
023340,002630: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023341,002631: 25,2770 13000 TCF DGOODCHK
023342,002632: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023343,002633: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023344,002634: 25,2773 10000 CCS A
023345,002635: 25,2774 13005 TCF RRDESDUN
023346,002636:
023347,002637: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
023348,002638: 25,2776 00006 EXTEND
023349,002639: 25,2777 05012 WOR CHAN12
023350,002640:
023351,002641: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023352,002642: 25,3001 00006 EXTEND
023353,002643: 25,3002 02033 RAND CHAN33
023354,002644: 25,3003 10000 CCS A
023355,002645: 25,3004 13017 TCF DORROUT
023356,002646:
023357,002647: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023358,002648: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023359,002649: 25,3007 00004 INHINT
023360,002650: 25,3010 54110 TS RADMODES
023361,002651:
023362,002652: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023363,002653: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023364,002654: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023365,002655: 25,3014 00006 EXTEND
023366,002656: 25,3015 03012 WAND CHAN12
023367,002657: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023368,002658:
023369,002659: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023370,002660: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023371,002661: 25,3021 00006 EXTEND
023372,002662: 25,3022 13041 BZF NOTP20
023373,002663: 25,3023 06037 TC INTPRET
023374,002664: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023375,002665: 25,3025 01102 RRTARGET
023376,002666: 25,3026 01767 MLOSV
023377,002667: 25,3027 41572 VSL1 PUSH
023378,002668: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023379,002669: 25,3031 01761 LOSVEL # TO LOS VECTOR
023380,002670: 25,3032 13072 MCTOMS
023381,002671: 25,3033 53362 VSR1 VAD
023382,002672: 25,3034 77656 UNIT
023383,002673: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 552
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023385,002675: 25,3036 00045 36D
023386,002676: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
023387,002677: 25,3040 77776 EXIT
023388,002678: 25,3041 00004 NOTP20 INHINT
023389,002679: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023390,002680: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023391,002681: 25,3044 10000 CCS A
023392,002682: 25,3045 02306 TC RROUT
023393,002683:
023394,002684: 25,3046 30076 CA FLAGWRD2
023395,002685: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023396,002686: 25,3050 00006 EXTEND # LOS COUNTER
023397,002687: 25,3051 15155 BZF ENDOFJOB
023398,002688: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023399,002689: 25,3053 03064 TC DODESEND # A NEW LOS
023400,002690: 25,3054 00004 INHINT
023401,002691: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023402,002692: 25,3056 52602 CADR DESLOOP +2
023403,002693: 25,3057 00003 RELINT
023404,002694: 25,3060 10067 CCS NEWJOB
023405,002695: 25,3061 05122 TC CHANG1
023406,002696: 25,3062 04616 TC BANKCALL
023407,002697: 25,3063 50731 CADR R21LEM2
023408,002698:
023409,002699: 25,3064 55456 DODESEND TS LOSCOUNT
023410,002700: 25,3065 05155 TC ENDOFJOB
023411,002701:
023412,002702: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023413,002703: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000
023414,002704: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023415,002705: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
023416,002706:
|
|
Page 553
|
023418,002708: # RADAR READ INITIALIZATION
023419,002709:
023420,002710: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023421,002711:
023422,002712: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023423,002713: 25,3074 00017 ALLREAD OCT 17
023424,002714:
023425,002715: 25,3075 03114 LRVELZ TC INITREAD
023426,002716: 25,3076 00016 OCT 16
023427,002717:
023428,002718: 25,3077 03114 LRVELY TC INITREAD
023429,002719: 25,3100 00015 OCT 15
023430,002720:
023431,002721: 25,3101 03114 LRVELX TC INITREAD
023432,002722: 25,3102 00014 OCT 14
023433,002723:
023434,002724: 25,3103 03113 RRRDOT TC INITREAD -1
023435,002725: 25,3104 00012 OCT 12
023436,002726:
023437,002727: 25,3105 03113 RRRANGE TC INITREAD -1
023438,002728: 25,3106 00011 OCT 11
023439,002729:
023440,002730: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023441,002731: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023442,002732:
023443,002733: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023444,002734: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023445,002735: 25,3111 51105 INDEX TIMEHOLD
023446,002736: 25,3112 13075 TCF LRVELZ
023447,002737:
|
|
Page 554
|
023449,002739: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023450,002740: 25,3114 00004 INITREAD INHINT
023451,002741:
023452,002742: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023453,002743: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023454,002744: 25,3117 74751 MP BIT3 # ENCOUNTERED).
023455,002745: 25,3120 53106 DXCH TIMEHOLD
023456,002746:
023457,002747: 25,3121 10000 CCS A
023458,002748: 25,3122 55111 TS NSAMP
023459,002749: 25,3123 64753 AD ONE
023460,002750: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023461,002751: # DOUBLE
023462,002752: 25,3124 55100 TS SAMPLIM
023463,002753:
023464,002754: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023465,002755: 25,3126 00006 EXTEND
023466,002756: 25,3127 02033 RAND CHAN33
023467,002757: 25,3130 55113 TS OLDATAGD
023468,002758:
023469,002759: 25,3131 43074 CS ALLREAD
023470,002760: 25,3132 00006 EXTEND
023471,002761: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023472,002762:
023473,002763: 25,3134 50002 INDEX Q
023474,002764: 25,3135 30000 CAF 0
023475,002765: 25,3136 00006 EXTEND
023476,002766: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
023477,002767:
023478,002768: 25,3140 00006 EXTEND
023479,002769: 25,3141 30025 DCA TIME2
023480,002770: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023481,002771:
023482,002772: 25,3143 34755 CAF ZERO
023483,002773: 25,3144 54001 TS L
023484,002774: 25,3145 53102 DXCH SAMPLSUM
023485,002775: 25,3146 12366 TCF ROADBACK
023486,002776:
023487,002777: 25,3147 00230 DGBITS OCT 230
023488,002778:
|
|
Page 555
|
023490,002780: # RADAR RUPT READER
023491,002781:
023492,002782: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023493,002783:
023494,002784: 25,2000 SETLOC RADARUPT
023495,002785: 25,2000 BANK
023496,002786:
023497,002787: 25,3150 COUNT* $$/RRUPT
023498,002788: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023499,002789: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023500,002790: 25,3152 54016 TS BANKRUPT
023501,002791: 25,3153 00006 EXTEND
023502,002792: 25,3154 22012 QXCH QRUPT
023503,002793:
023504,002794: 25,3155 34757 CAF SEVEN
023505,002795: 25,3156 00006 EXTEND
023506,002796: 25,3157 02013 RAND CHAN13
023507,002797: 25,3160 55335 TS DNINDEX
023508,002798: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023509,002799: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023510,002800: 25,3163 30046 CA RNRAD
023511,002801: 25,3164 51335 INDEX DNINDEX
023512,002802: 25,3165 55332 TS DNRRANGE -1
023513,002803: 25,3166 11100 TRYCOUNT CCS SAMPLIM
023514,002804: 25,3167 13211 TCF PLENTY
023515,002805: 25,3170 13174 TCF NOMORE
023516,002806: 25,3171 05567 TC ALARM
023517,002807: 25,3172 00520 OCT 520
023518,002808: 25,3173 05270 TC RESUME
023519,002809:
023520,002810: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023521,002811: 25,3175 74735 MASK LRBYBIT
023522,002812: 25,3176 00006 EXTEND
023523,002813: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023524,002814:
023525,002815: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
023526,002816: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
023527,002817: 25,3202 00006 EXTEND
023528,002818: 25,3203 13206 BZF BADRAD
023529,002819:
023530,002820: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
023531,002821: 25,3205 00521 OCT 521
023532,002822: 25,3206 44753 BADRAD CS ONE
023533,002823: 25,3207 55100 TS SAMPLIM
023534,002824: 25,3210 03560 TC RDBADEND -2
023535,002825: 25,3211 55100 PLENTY TS SAMPLIM
023536,002826: 25,3212 34751 CAF BIT3
023537,002827: 25,3213 00006 EXTEND
023538,002828: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023539,002829: 25,3215 00006 EXTEND
|
|
Page 556
|
023541,002831: 25,3216 13276 BZF RENDRAD
023542,002832:
023543,002833: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
023544,002834: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
023545,002835: 25,3221 00006 EXTEND
023546,002836: 25,3222 06033 RXOR CHAN33
023547,002837: 25,3223 74746 MASK BIT6
023548,002838: 25,3224 00006 EXTEND
023549,002839: 25,3225 13231 BZF VELCHK
023550,002840:
023551,002841: 25,3226 05567 TC ALARM
023552,002842: 25,3227 00522 OCT 522
023553,002843: 25,3230 03206 TC BADRAD
023554,002844:
023555,002845: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT
023556,002846: 25,3232 00006 EXTEND
023557,002847: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023558,002848: 25,3234 76245 MASK BIN3
023559,002849: 25,3235 00006 EXTEND
023560,002850: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
023561,002851:
023562,002852: 25,3237 34733 CAF POSMAX
023563,002853: 25,3240 70046 MASK RNRAD
023564,002854: 25,3241 62000 AD LVELBIAS
023565,002855: 25,3242 54001 TS L
023566,002856: 25,3243 30046 CAE RNRAD
023567,002857: 25,3244 60000 DOUBLE
023568,002858: 25,3245 74753 MASK BIT1
023569,002859: 25,3246 52064 DXCH ITEMP3
023570,002860:
023571,002861: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023572,002862: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023573,002863: # INDEPENDENT OF DATA GOOD.
023574,002864:
023575,002865: 25,3251 11111 CCS NSAMP
023576,002866: 25,3252 03262 TC NOEND
023577,002867: 25,3253 44753 GOODRAD CS ONE
023578,002868: 25,3254 55100 TS SAMPLIM
023579,002869: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023580,002870: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023581,002871: 25,3257 54110 TS RADMODES
023582,002872: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023583,002873: 25,3261 03553 TC RGOODEND -2
023584,002874:
023585,002875: 25,3262 55111 NOEND TS NSAMP
023586,002876: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023587,002877: 25,3264 13266 TCF +2
023588,002878: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023589,002879: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
023590,002880: 25,3267 00006 EXTEND
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|
Page 557
|
023592,002882: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
023593,002883: 25,3271 05270 TC RESUME
023594,002884:
023595,002885:
023596,002886: 25,3272 34747 LRHEIGHT CAF BIT5
023597,002887: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023598,002888:
023599,002889: 25,3274 34743 CAF BIT9
023600,002890: 25,3275 03320 TC SCALECHK -1
023601,002891:
023602,002892: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023603,002893: 25,3277 70110 MASK RADMODES # LIMITS.
023604,002894: 25,3300 10000 CCS A
023605,002895: 25,3301 13206 TCF BADRAD
023606,002896:
023607,002897: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023608,002898: 25,3303 74745 MASK RCDUFBIT
023609,002899: 25,3304 10000 CCS A
023610,002900: 25,3305 13206 TCF BADRAD
023611,002901:
023612,002902: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023613,002903: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023614,002904:
023615,002905: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
023616,002906: 25,3311 00006 EXTEND
023617,002907: 25,3312 02013 RAND CHAN13
023618,002908: 25,3313 54002 TS Q # FOR LATER TESTING.
023619,002909: 25,3314 10000 CCS A
023620,002910: 25,3315 13317 TCF +2
023621,002911: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023622,002912: 25,3317 34751 CAF BIT3
023623,002913: 25,3320 54001 TS L
023624,002914:
023625,002915: 25,3321 00006 SCALECHK EXTEND
023626,002916: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
023627,002917: 25,3323 56001 XCH L
023628,002918: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
023629,002919: 25,3325 00006 EXTEND
023630,002920: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
023631,002921: 25,3327 10000 CCS A
023632,002922: 25,3330 03350 TC SCALCHNG # THEY DIFFER
023633,002923:
023634,002924: 25,3331 34733 RADIN CAF POSMAX
023635,002925: 25,3332 70046 MASK RNRAD
023636,002926: 25,3333 54064 TS ITEMP4
023637,002927:
023638,002928: 25,3334 30046 CAE RNRAD
023639,002929: 25,3335 60000 DOUBLE
023640,002930: 25,3336 74753 MASK BIT1
023641,002931: 25,3337 54063 TS ITEMP3
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|
Page 558
|
023643,002933: 25,3340 10002 CCS Q # SEE IF RR RDOT.
023644,002934: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023645,002935:
023646,002936: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
023647,002937: 25,3343 42002 DCS RDOTBIAS
023648,002938: 25,3344 20064 DASAMPL DAS ITEMP3
023649,002939: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023650,002940: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023651,002941: 25,3347 03253 TC GOODRAD
023652,002942:
023653,002943: 25,3350 22110 SCALCHNG LXCH RADMODES
023654,002944: 25,3351 64753 AD BIT1
023655,002945: 25,3352 00006 EXTEND
023656,002946: 25,3353 06001 RXOR LCHAN
023657,002947: 25,3354 54110 TS RADMODES
023658,002948: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023659,002949: 25,3356 00006 EXTEND
023660,002950: 25,3357 02033 RAND CHAN33
023661,002951: 25,3360 55113 TS OLDATAGD
023662,002952: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
023663,002953: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
023664,002954: 25,3363 13206 TCF BADRAD
023665,002955:
023666,002956: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023667,002957:
023668,002958: 25,3364 40101 R77CHECK CS FLAGWRD5
023669,002959: 25,3365 74741 MASK R77FLBIT
023670,002960: 25,3366 10000 CCS A
023671,002961: 25,3367 00002 TC Q # NOT R77
023672,002962: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023673,002963: 25,3371 70110 MASK RADMODES
023674,002964: 25,3372 54001 TS L
023675,002965: 25,3373 33401 CA BITS5,8
023676,002966: 25,3374 00006 EXTEND
023677,002967: 25,3375 02033 RAND CHAN33
023678,002968: 25,3376 60001 AD L
023679,002969: 25,3377 54110 TS RADMODES
023680,002970: 25,3400 03553 TC RGOODEND -2
023681,002971: 25,3401 00220 BITS5,8 OCT 220
023682,002972:
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|
Page 559
|
023684,002974: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023685,002975:
023686,002976: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
023687,002977: 25,3403 13405 TCF +2 # ON HIGH SCALE.
023688,002978: 25,3404 13345 TCF DGCHECK2
023689,002979:
023690,002980: 25,3405 31335 CA DNINDEX
023691,002981: 25,3406 74751 MASK BIT3
023692,002982: 25,3407 10000 CCS A
023693,002983: 25,3410 13417 TCF LRSCK
023694,002984:
023695,002985: 25,3411 52064 DXCH ITEMP3
023696,002986: 25,3412 20001 DDOUBL
023697,002987: 25,3413 20001 DDOUBL
023698,002988: 25,3414 20001 DDOUBL
023699,002989: 25,3415 52064 DXCH ITEMP3
023700,002990:
023701,002991: 25,3416 13345 TCF DGCHECK2
023702,002992:
023703,002993: 25,3417 10063 LRSCK CCS ITEMP3
023704,002994: 25,3420 13431 TCF +11
023705,002995: 25,3421 40064 CS ITEMP4
023706,002996: 25,3422 63441 AD HISCALIM
023707,002997: 25,3423 00006 EXTEND
023708,002998: 25,3424 63431 BZMF +5
023709,002999:
023710,003000: 25,3425 40107 CS FLGWRD11
023711,003001: 25,3426 74751 MASK SCABBIT
023712,003002: 25,3427 26107 ADS FLGWRD11
023713,003003: 25,3430 13434 TCF +4
023714,003004:
023715,003005: 25,3431 44751 CS SCABBIT
023716,003006: 25,3432 70107 MASK FLGWRD11
023717,003007: 25,3433 54107 TS FLGWRD11
023718,003008:
023719,003009: 25,3434 00006 EXTEND
023720,003010: 25,3435 30064 DCA ITEMP3
023721,003011: 25,3436 20001 DDOUBL
023722,003012: 25,3437 20001 DDOUBL
023723,003013: 25,3440 13344 TCF DASAMPL
023724,003014:
023725,003015: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
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|
Page 560
|
023727,003017: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
023728,003018: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
023729,003019: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
023730,003020: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
023731,003021: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
023732,003022: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
023733,003023: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
023734,003024: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
023735,003025: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
023736,003026: 25,3453 60001 AD L
023737,003027: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
023738,003028: 25,3455 03263 TC RESAMPLE
023739,003029: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
023740,003030: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
023741,003031: 25,3460 00002 TC Q
023742,003032:
023743,003033: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
023744,003034: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
023745,003035: 25,3463 60061 AD ITEMP1
023746,003036: 25,3464 54110 TS RADMODES
023747,003037:
023748,003038: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
023749,003039: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
023750,003040: 25,3467 03616 TC RADLITES
023751,003041: 25,3470 13174 TCF NOMORE
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|
Page 561
|
023753,003043: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
023754,003044:
023755,003045: 25,2000 SETLOC P20S1
023756,003046: 25,2000 BANK
023757,003047:
023758,003048: 25,3471 COUNT* $$/RSUB
023759,003049: 25,3471 00004 LRPOS2 INHINT
023760,003050:
023761,003051: 25,3472 40110 CS RADMODES
023762,003052: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
023763,003053: 25,3474 26110 ADS RADMODES
023764,003054:
023765,003055: 25,3475 34745 CAF BIT7
023766,003056: 25,3476 00006 EXTEND
023767,003057: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
023768,003058: 25,3500 00006 EXTEND
023769,003059: 25,3501 13530 BZF RADNOOP
023770,003060:
023771,003061: 25,3502 34737 CAF BIT13
023772,003062: 25,3503 00006 EXTEND
023773,003063: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
023774,003064: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
023775,003065: 25,3506 05203 TC WAITLIST
023776,003066: 25,3507 E7,1456 EBANK= LOSCOUNT
023777,003067: 25,3507 03543 52067 2CADR LRPOSCAN
023778,003068:
023779,003069: 25,3511 02366 TC ROADBACK
023780,003070:
023781,003071: 25,3512 55100 LRPOSNXT TS SAMPLIM
023782,003072: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
023783,003073: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
023784,003074:
023785,003075: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
023786,003076: 25,3516 00006 EXTEND
023787,003077: 25,3517 02033 RAND CHAN33
023788,003078: 25,3520 00006 EXTEND
023789,003079: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
023790,003080:
023791,003081: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
023792,003082: 25,3523 13512 TCF LRPOSNXT
023793,003083:
023794,003084: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
023795,003085: 25,3525 00006 EXTEND
023796,003086: 25,3526 03012 WAND CHAN12
023797,003087: 25,3527 13562 TCF RDBADEND
023798,003088:
023799,003089: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
023800,003090: 25,3531 05203 TC WAITLIST
023801,003091: 25,3532 E7,1456 EBANK= LOSCOUNT
023802,003092: 25,3532 03555 52067 2CADR RGOODEND
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|
Page 562
|
023804,003094: 25,3534 02366 TC ROADBACK
023805,003095:
023806,003096: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
023807,003097: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
023808,003098:
023809,003099: 25,3537 44737 CS BIT13 # REMOVE COMMAND
023810,003100: 25,3540 00006 EXTEND
023811,003101: 25,3541 03012 WAND CHAN12
023812,003102: 25,3542 13555 TCF RGOODEND
023813,003103:
023814,003104: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
023815,003105: 25,3544 13512 TCF LRPOSNXT
023816,003106: 25,3545 01130 6SECS DEC 600 B-14
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Page 563
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023818,003108: # SEQUENCES TO TERMINATE RR OPERATIONS.
023819,003109:
023820,003110: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
023821,003111: 25,3547 70110 MASK RADMODES
023822,003112: 25,3550 10000 CCS A
023823,003113: 25,3551 13555 TCF RGOODEND
023824,003114: 25,3552 13562 TCF RDBADEND
023825,003115: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
023826,003116: 25,3554 54734 TS RUPTAGN
023827,003117:
023828,003118: 25,3555 34752 RGOODEND CAF TWO
023829,003119: 25,3556 04635 TC POSTJUMP
023830,003120: 25,3557 17665 CADR GOODEND
023831,003121:
023832,003122: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
023833,003123: 25,3561 54734 TS RUPTAGN
023834,003124: 25,3562 34752 RDBADEND CAF TWO
023835,003125: 25,3563 04635 TC POSTJUMP
023836,003126: 25,3564 17662 CADR BADEND
023837,003127:
023838,003128: 25,3565 6245 BIN3 EQUALS THREE
023839,003129:
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Page 564
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023841,003131: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
023842,003132: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
023843,003133:
023844,003134: # FUNCTIONAL DESCRIPTION_
023845,003135: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
023846,003136: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
023847,003137: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
023848,003138:
023849,003139: # CALLING SEQUENCE CALL
023850,003140: # LPS20.1
023851,003141:
023852,003142: # SUBROUTINES CALLED_
023853,003143: # LEMPREC, CSMPREC
023854,003144:
023855,003145: # NORMAL EXIT_ RETURN TO CALLER + 2
023856,003146:
023857,003147: # ERROR EXITS_ NONE
023858,003148:
023859,003149: # ALARMS_ NONE
023860,003150:
023861,003151: # OUTPUT_
023862,003152: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
023863,003153: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
023864,003154: # RRNBSW CLEARED
023865,003155:
023866,003156: # INITIALIZED ERASEABLE
023867,003157: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
023868,003158: # SEE ORBITAL INTEGRATION ROUTINE
023869,003159:
023870,003160: # DEBRIS_
023871,003161: # MPAC DESTROYED BY THIS ROUTINE
023872,003162:
023873,003163: 23,2314 BANK 23
023874,003164: 24,2000 SETLOC P20S
023875,003165: 24,2000 BANK
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Page 565
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023877,003167: 24,3255 COUNT* $$/LPS20
023878,003168:
023879,003169: 24,3255 43020 LPS20.1 STQ BOFF
023880,003170: 24,3256 01757 LS21X
023881,003171: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
023882,003172: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
023883,003173: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
023884,003174: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
023885,003175: 24,3263 51274 CSMINT
023886,003176: 24,3264 77624 LMINT CALL
023887,003177: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM
023888,003178: 24,3266 77775 VLOAD
023889,003179: 24,3267 00001 RATT
023890,003180: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
023891,003181: 24,3271 00007 VATT
023892,003182: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
023893,003183: 24,3273 00015 TAT
023894,003184: 24,3274 34041 CSMINT STCALL TDEC1
023895,003185: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM
023896,003186: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
023897,003187: 24,3277 00007 VATT
023898,003188: 24,3300 02360 LMVEL
023899,003189: 24,3301 76521 MXV VSL1
023900,003190: 24,3302 01734 REFSMMAT
023901,003191: 24,3303 77776 EXIT
023902,003192: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
023903,003193: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
023904,003194: 24,3306 06037 TC INTPRET
023905,003195: 24,3307 25761 STOVL LOSVEL
023906,003196: 24,3310 00001 RATT
023907,003197: 24,3311 43051 VSU BOFF
023908,003198: 24,3312 02352 LMPOS
023909,003199: 24,3313 00350 RNDVZFLG
023910,003200: 24,3314 51321 NOTSHIFT
023911,003201: 24,3315 77604 BOVB
023912,003202: 24,3316 57753 TCDANZIG
023913,003203: 24,3317 77661 VSL
023914,003204: 24,3320 20212 9D
023915,003205: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
023916,003206: 24,3322 50102 526ALARM # THAN 400 N. M.
023917,003207: 24,3323 76521 MXV VSL1
023918,003208: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
023919,003209: 24,3325 15102 STODL RRTARGET
023920,003210: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
023921,003211: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
023922,003212: 24,3330 77614 CLRGO
023923,003213: 24,3331 00231 RRNBSW
023924,003214: 24,3332 01757 LS21X
023925,003215:
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Page 566
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023927,003217: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
023928,003218: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
023929,003219:
023930,003220: # FUNCTIONAL DESCRIPTION_
023931,003221: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
023932,003222:
023933,003223: # CALLING SEQUENCE CALL
023934,003224: # LPS20.2
023935,003225:
023936,003226: # SUBROUTINES CALLED_ NONE
023937,003227:
023938,003228: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
023939,003229:
023940,003230: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
023941,003231:
023942,003232: # ALARMS_ NONE
023943,003233:
023944,003234: # OUTPUT_ NONE
023945,003235:
023946,003236: # INITIALIZED ERASEABLE_
023947,003237: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
023948,003238:
023949,003239: # DEBRIS
023950,003240: # MPAC DESTROYED BY THIS ROUTINE
023951,003241:
023952,003242: 25,2000 SETLOC P20S1
023953,003243: 25,2000 BANK
023954,003244: 25,3565 COUNT* $$/LPS20
023955,003245:
023956,003246: 25,3565 45345 LPS20.2 DLOAD DSU
023957,003247: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
023958,003248: 25,3567 13600 FHNM # OVER 400NM _
023959,003249: 25,3570 77644 BPL
023960,003250: 25,3571 53574 TOFAR
023961,003251: 25,3572 43535 SLOAD RVQ
023962,003252: 25,3573 06522 ZERO/SP
023963,003253: 25,3574 43535 TOFAR SLOAD RVQ
023964,003254: 25,3575 13577 ONE/SP
023965,003255: 25,3576 00001 ONE/SP DEC 1 B-14
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Page 567
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023967,003257: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
023968,003258:
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Page 568
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023970,003260: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
023971,003261: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
023972,003262:
023973,003263: # FUNCTIONAL DESCRIPTION
023974,003264: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
023975,003265: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
023976,003266: # RR REPOSITION AND RR CDU FAIL
023977,003267: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
023978,003268:
023979,003269: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
023980,003270:
023981,003271: # SUBROUTINES CALLED:
023982,003272: # RRRDOT LPS20.1
023983,003273: # RRRANGE BANKCALL
023984,003274: # RADSTALL CDULOGIC
023985,003275: # RRNB SMNB
023986,003276:
023987,003277: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
023988,003278:
023989,003279: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
023990,003280: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
023991,003281: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
023992,003282:
023993,003283: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
023994,003284: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
023995,003285:
023996,003286: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
023997,003287: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
023998,003288:
023999,003289: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024000,003290: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024001,003291: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024002,003292: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024003,003293: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024004,003294: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024005,003295:
024006,003296: # ERASABLE INITIALIZATION REQUIRED:
024007,003297: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 569
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024009,003299: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024010,003300: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024011,003301: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024012,003302:
024013,003303: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024014,003304:
024015,003305: 32,2366 BANK 32
024016,003306: 32,2000 SETLOC LRS22
024017,003307: 32,2000 BANK
024018,003308: 32,2366 COUNT* $$/LRS22
024019,003309:
024020,003310: 32,2366 04645 LRS22.1 TC MAKECADR
024021,003311: 32,2367 55737 TS LRS22.1X
024022,003312: 32,2370 05516 TC DOWNFLAG
024023,003313: 32,2371 00120 ADRES RNGSCFLG
024024,003314: 32,2372 00004 INHINT
024025,003315: 32,2373 34751 CAF BIT3
024026,003316: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024027,003317: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024028,003318: 32,2376 54001 TS L
024029,003319: 32,2377 44751 CS RRRSBIT
024030,003320: 32,2400 70110 MASK RADMODES
024031,003321: 32,2401 60001 AD L
024032,003322: 32,2402 54110 TS RADMODES
024033,003323: 32,2403 00003 RELINT
024034,003324: 32,2404 04616 READRDOT TC BANKCALL
024035,003325: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024036,003326: 32,2406 04616 TC BANKCALL
024037,003327: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024038,003328: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024039,003329:
024040,003330: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024041,003331: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024042,003332: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024043,003333: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024044,003334: 32,2415 53747 DXCH RDOTMSAV
024045,003335: 32,2416 00006 EXTEND
024046,003336: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024047,003337: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024048,003338: 32,2421 30032 CA CDUX
024049,003339: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024050,003340: 32,2423 00006 EXTEND
024051,003341: 32,2424 30025 DCA TIME2 # SAVE TIME
024052,003342: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024053,003343: 32,2426 00006 EXTEND
024054,003344: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024055,003345: 32,2430 53110 DXCH TANG
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Page 570
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024057,003347: 32,2431 00003 RELINT
024058,003348: 32,2432 04616 TC BANKCALL
024059,003349: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024060,003350: 32,2434 04616 TC BANKCALL
024061,003351: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
024062,003352: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ
024063,003353: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024064,003354: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024065,003355: 32,2441 53761 DXCH RANGRDOT
024066,003356: 32,2442 52162 DXCH MPAC +5
024067,003357: 32,2443 53755 DXCH MKTIME # MARK TIME
024068,003358: 32,2444 52160 DXCH MPAC +3
024069,003359: 32,2445 53460 DXCH AIG # CDUY, CDUZ
024070,003360: 32,2446 00006 EXTEND
024071,003361: 32,2447 31110 DCA TANG # PRESERVE TANG
024072,003362: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024073,003363: 32,2451 30156 CA MPAC +2
024074,003364: 32,2452 55461 TS AOG # CDUX
024075,003365: 32,2453 06037 TC INTPRET
024076,003366: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024077,003367: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024078,003368: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024079,003369: 32,2457 20217 14D # FT./SECOND PER BIT
024080,003370: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024081,003371: 32,2461 03751 STORE RDOTM
024082,003372: 32,2462 47135 SLOAD RTB
024083,003373: 32,2463 01110 TANG # GET TRUNION ANGLE
024084,003374: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024085,003375: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024086,003376: 32,2466 47135 SLOAD RTB
024087,003377: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE
024088,003378: 32,2470 21576 CDULOGIC
024089,003379: 32,2471 17736 STODL RRSHAFT
024090,003380: 32,2472 01102 SAMPLSUM
024091,003381: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024092,003382: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024093,003383: 32,2475 37757 STCALL RM
024094,003384: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024095,003385: 32,2477 17741 STODL RRBORSIT # AND SAVE
024096,003386: 32,2500 00025 20D
024097,003387: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024098,003388: 32,2502 51255 LPS20.1
024099,003389: 32,2503 77776 EXIT
024100,003390: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024101,003391: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024102,003392: 32,2506 31460 CA AMG
024103,003393: 32,2507 54770 TS CDUSPOT +2
024104,003394: 32,2510 31461 CA AOG
024105,003395: 32,2511 54772 TS CDUSPOT +4
024106,003396: 32,2512 06037 TC INTPRET
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Page 571
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024108,003398: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024109,003399: 32,2514 01102 RRTARGET
024110,003400: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024111,003401: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024112,003402: 32,2517 03741 RRBORSIT
024113,003403: 32,2520 65552 SL1 ACOS # BETWEEN THEM
024114,003404: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024115,003405: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024116,003406: 32,2523 24546 THREEDEG
024117,003407: 32,2524 64531 NORMEXIT # YES - NORMAL EXIT
024118,003408:
024119,003409: 32,2525 77776 EXIT # ERROR EXIT 2
024120,003410: 32,2526 34752 CAF BIT2 # SET ERROR CODE
024121,003411: 32,2527 54154 TS MPAC
024122,003412: 32,2530 12534 TCF OUT22.1
024123,003413:
024124,003414: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024125,003415: 32,2532 34755 CAF ZERO
024126,003416: 32,2533 54154 TS MPAC
024127,003417: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024128,003418: 32,2535 04640 TC BANKJUMP
024129,003419: 32,2536 30101 CHEXERR CAE FLAGWRD5
024130,003420: 32,2537 74742 MASK RNGSCBIT
024131,003421: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024132,003422: 32,2541 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024133,003423:
024134,003424: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024135,003425: 32,2543 54154 TS MPAC
024136,003426: 32,2544 02534 TC OUT22.1
024137,003427: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024138,003428:
024139,003429: 32,2547 1101 RRLOSVEC EQUALS RRTARGET
024140,003430:
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Page 572
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024142,003432: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024143,003433: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024144,003434:
024145,003435: # FUNCTIONAL DESCRIPTION-
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Yes, I know point #1 is missing. It is missing from the program listing — RSB 2003
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024147,003437: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024148,003438:
024149,003439: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024150,003440:
024151,003441: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024152,003442:
024153,003443: # NORMAL EXIT- RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024154,003444:
024155,003445: # ERROR EXIT- RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024156,003446:
024157,003447: # ALARMS- NONE IN THE AUTO MODE
024158,003448:
024159,003449: # ERASABLE INITIALIZATION REQUIRED -
024160,003450: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024161,003451: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024162,003452: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024163,003453:
024164,003454: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024165,003455:
024166,003456: 24,2000 SETLOC P20S
024167,003457: 24,2000 BANK
024168,003458: 24,3333 04645 LRS22.2 TC MAKECADR
024169,003459: 24,3334 55737 TS LRS22.1X
024170,003460: 24,3335 06037 TC INTPRET
024171,003461: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024172,003462: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024173,003463: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024174,003464: # LOS VECTOR, A HALF UNIT VECTOR
024175,003465: # IN NAV BASE AXES)
024176,003466: 24,3340 50025 DSU BMN
024177,003467: 24,3341 11355 30DEG
024178,003468: 24,3342 51347 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024179,003469: 24,3343 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024180,003470: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024181,003471: 24,3345 54154 TS MPAC
024182,003472: 24,3346 13352 TCF OUT22.2
024183,003473: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024184,003474:
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Page 573
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024186,003476: 24,3350 34755 CAF ZERO
024187,003477: 24,3351 54154 TS MPAC
024188,003478: 24,3352 31737 OUT22.2 CAE LRS22.1X
024189,003479: 24,3353 04640 TC BANKJUMP
024190,003480:
024191,003481: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024192,003482:
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Page 574
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024194,003484: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024195,003485: # MOD. NO 3 LOG SECTION - P20-25
024196,003486: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024197,003487:
024198,003488: # FUNCTIONAL DESCRIPTION
024199,003489: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024200,003490: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024201,003491: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024202,003492:
024203,003493: # CALLING SEQUENCE
024204,003494: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024205,003495: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024206,003496: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024207,003497: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024208,003498: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024209,003499: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024210,003500:
024211,003501: # SUBROUTINES CALLED
024212,003502: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024213,003503: # GETULC RARARANG INCORP2 NBSM INTSTALL
024214,003504:
024215,003505: # OUTPUT
024216,003506: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024217,003507: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024218,003508: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024219,003509: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024220,003510: # UPDATED W-MATRIX
024221,003511:
024222,003512: # ERASABLE INITIALIZATION REQUIRED
024223,003513: # LM AND CSM STATE VECTORS
024224,003514: # W-MATRIX
024225,003515: # MARK TIME IN MKTIME
024226,003516: # RADAR RANGE IN RM METERS B-29
024227,003517: # RANGE RATE IN RDOTM METERS/CSES B-7
024228,003518: # SHAFT ANGLE IN RRSHAFT REVS. B0
024229,003519: # TRUNNION ANGLE IN RRTRUN REVS. B0
024230,003520: # GIMBAL ANGLES INNER IN AIG
024231,003521: # MIDDLE IN AMG
024232,003522: # OUTER IN AOG
024233,003523: # REFSMMAT
024234,003524: # RENDWFLG
024235,003525: # NOANGFLG
024236,003526: # VEHUPFLG
024237,003527:
024238,003528: # DEBRIS
024239,003529: # PUSHLIST -- ALL
024240,003530: # MX, MY, MZ (VECTORS)
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Page 575
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024242,003532: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024243,003533:
024244,003534: 13,2207 BANK 13
024245,003535: 26,2000 SETLOC P20S3
024246,003536: 26,2000 BANK
024247,003537:
024248,003538: 26,2412 E7,1456 EBANK= LOSCOUNT
024249,003539: 26,2412 COUNT* $$/LSR22
024250,003540: 26,2412 77624 LSR22.3 CALL
024251,003541: 26,2413 11244 GRP2PC
024252,003542: 26,2414 43014 BON SET
024253,003543: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024254,003544: 26,2416 55200 LSR22.4 # YES
024255,003545: 26,2417 02466 DMENFLG
024256,003546: 26,2420 45014 BOFF CALL
024257,003547: 26,2421 00747 VEHUPFLG
024258,003548: 26,2422 54454 DOLEM
024259,003549: 26,2423 27414 INTSTALL
024260,003550: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION
024261,003551: 26,2425 01674 VINTFLAG
024262,003552: 26,2426 26644 SETIFLGS
024263,003553: 26,2427 77624 CALL
024264,003554: 26,2430 55242 INTGRCAL
024265,003555: 26,2431 77624 CALL
024266,003556: 26,2432 11244 GRP2PC
024267,003557: 26,2433 77624 CALL
024268,003558: 26,2434 27414 INTSTALL
024269,003559: 26,2435 43014 CLEAR BOFF
024270,003560: 26,2436 01676 DIM0FLAG
024271,003561: 26,2437 02756 RENDWFLG
024272,003562: 26,2440 54444 NOTWCSM
024273,003563: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024274,003564: 26,2442 01476 DIM0FLAG
024275,003565: 26,2443 01475 D6OR9FLG
024276,003566: 26,2444 43014 NOTWCSM SET CLEAR
024277,003567: 26,2445 01474 VINTFLAG
024278,003568: 26,2446 01673 INTYPFLG
024279,003569: 26,2447 45014 SET CALL
024280,003570: 26,2450 01472 STATEFLG
024281,003571: 26,2451 55242 INTGRCAL
024282,003572: 26,2452 77650 GOTO
024283,003573: 26,2453 54504 MARKTEST
024284,003574: 26,2454 77624 DOLEM CALL
024285,003575: 26,2455 27414 INTSTALL
024286,003576: 26,2456 45014 SET CALL
024287,003577: 26,2457 01474 VINTFLAG
024288,003578: 26,2460 26644 SETIFLGS
024289,003579: 26,2461 77624 CALL
024290,003580: 26,2462 55242 INTGRCAL
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|
Page 576
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024292,003582: 26,2463 77624 CALL
024293,003583: 26,2464 11244 GRP2PC
024294,003584: 26,2465 77624 CALL
024295,003585: 26,2466 27414 INTSTALL
024296,003586: 26,2467 43014 CLEAR BOFF
024297,003587: 26,2470 01676 DIM0FLAG
024298,003588: 26,2471 02756 RENDWFLG
024299,003589: 26,2472 54476 NOTWLEM
024300,003590: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024301,003591: 26,2474 01476 DIM0FLAG
024302,003592: 26,2475 01475 D6OR9FLG
024303,003593: 26,2476 43014 NOTWLEM CLEAR CLEAR
024304,003594: 26,2477 01673 INTYPFLG
024305,003595: 26,2500 01674 VINTFLAG
024306,003596: 26,2501 45014 SET CALL
024307,003597: 26,2502 01472 STATEFLG
024308,003598: 26,2503 55242 INTGRCAL
024309,003599: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024310,003600: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024311,003601: 26,2506 54510 RANGEBQ
024312,003602: 26,2507 55251 WLINIT # YES - REINITIALIZE
024313,003603: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024314,003604: 26,2511 04307 SURFFLAG
024315,003605: 26,2512 54520 RANGEBQ1
024316,003606: 26,2513 34755 CA ZERO
024317,003607: 26,2514 55745 TS R65CNTR
024318,003608: 26,2515 04616 TC BANKCALL
024319,003609: 26,2516 46123 CADR R65LEM
024320,003610: 26,2517 06037 TC INTPRET
024321,003611: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024322,003612: 26,2521 00000 0
024323,003613: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024324,003614: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024325,003615: 26,2524 77714 INCR,2
024326,003616: 26,2525 00002 2
024327,003617: 26,2526 45134 SETX2 SXA,2 CALL
024328,003618: 26,2527 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024329,003619: 26,2530 11244 GRP2PC
024330,003620: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024331,003621: 26,2532 00001 1
024332,003622: 26,2533 03745 WHCHREAD
024333,003623: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024334,003624: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024335,003625: 26,2536 20635 28D
024336,003626: 26,2537 77634 RTB
024337,003627: 26,2540 21633 TPMODE # AND SAVE IN 20D
024338,003628: 26,2541 00025 STORE 20D
024339,003629: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024340,003630: 26,2543 55333 GETULC # B-VECTORS FOR RANGE
024341,003631: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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Page 577
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024343,003633: 26,2545 00707 VEHUPFLG
024344,003634: 26,2546 54547 +1
024345,003635: 26,2547 27525 STOVL BVECTOR
024346,003636: 26,2550 06522 ZEROVECS
024347,003637: 26,2551 03533 STORE BVECTOR +6 # B1
024348,003638: 26,2552 17541 STODL BVECTOR +12D # B2
024349,003639: 26,2553 00045 36D
024350,003640: 26,2554 44257 SRR* BDSU
024351,003641: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024352,003642: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024353,003643: 26,2557 77657 SLR*
024354,003644: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024355,003645: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024356,003646: 26,2562 00045 36D # RLC B-29/B-27
024357,003647: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE
024358,003648: 26,2564 00047 X1
024359,003649: 26,2565 53605 DMP SR*
024360,003650: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024361,003651: 26,2567 20577 0 -2,1 # UNNORMALIZE
024362,003652: 26,2570 53657 SR* SR*
024363,003653: 26,2571 20601 0,1
024364,003654: 26,2572 57176 0,2
024365,003655: 26,2573 47057 SR* RTB
024366,003656: 26,2574 57176 0,2
024367,003657: 26,2575 21633 TPMODE
024368,003658: 26,2576 02707 STORE VARIANCE # B-40
024369,003659: 26,2577 76276 DCOMP TAD
024370,003660: 26,2600 00025 20D # B-40
024371,003661: 26,2601 72240 BMN TLOAD
024372,003662: 26,2602 54605 QOK
024373,003663: 26,2603 00025 20D # B-40
024374,003664: 26,2604 02707 STORE VARIANCE
024375,003665: 26,2605 77624 QOK CALL
024376,003666: 26,2606 55401 LGCUPDTE
024377,003667:
024378,003668: 26,2607 45131 SSP CALL
024379,003669: 26,2610 03746 WHCHREAD
024380,003670: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024381,003671: 26,2612 11244 GRP2PC
024382,003672: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024383,003673: 26,2614 55333 GETULC
024384,003674: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024385,003675: 26,2616 00045 36D # AND SHIFT TO B-23
024386,003676: 26,2617 57202 0 -4,2
024387,003677: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D
024388,003678: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024389,003679: 26,2622 00707 VEHUPFLG
024390,003680: 26,2623 54624 +1
024391,003681: 26,2624 77761 VXSC
024392,003682: 26,2625 00045 36D # B1 = RLC (B-24/B-22)
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Page 578
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024394,003684: 26,2626 27533 STOVL BVECTOR +6
024395,003685: 26,2627 01653 NUVLEM
024396,003686: 26,2630 53257 VSR* VAD
024397,003687: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024398,003688: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5
024399,003689: 26,2633 53715 PDVL VSR* # VL TO PD6
024400,003690: 26,2634 01601 NUVCSM
024401,003691: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024402,003692: 26,2636 52255 VAD VSU
024403,003693: 26,2637 01615 VCVCSM
024404,003694: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6
024405,003695: 26,2641 00001 0
024406,003696: 26,2642 00007 6
024407,003697: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024408,003698: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024409,003699: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024410,003700: 26,2646 01773 RATEVAR
024411,003701: 26,2647 02707 STORE VARIANCE
024412,003702: 26,2650 54335 SLOAD SR
024413,003703: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024414,003704: 26,2652 20621 16D # SHIFT TO DP (B-4)
024415,003705: 26,2653 00031 STORE 24D # AND SAVE IN 24D
024416,003706: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024417,003707: 26,2655 02707 VARIANCE
024418,003708: 26,2656 54662 VOK # BRANCH - NO
024419,003709: 26,2657 77745 DLOAD # YES - USE MINIMUM VARIANCE
024420,003710: 26,2660 00031 24D
024421,003711: 26,2661 02707 STORE VARIANCE
024422,003712: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024423,003713: 26,2663 53725 PDDL SLR* # TO B-10/B-8
024424,003714: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024425,003715: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8
024426,003716: 26,2666 77625 DSU
024427,003717: 26,2667 77675 DMPR
024428,003718: 26,2670 00045 36D
024429,003719: 26,2671 27547 STOVL DELTAQ # B-33
024430,003720: 26,2672 00001 0 # NOW GET B0
024431,003721: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC
024432,003722: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024433,003723: 26,2675 00707 VEHUPFLG
024434,003724: 26,2676 54677 +1
024435,003725: 26,2677 77657 VSR*
024436,003726: 26,2700 57200 0 -2,2 # SCALED B-5
024437,003727: 26,2701 27525 STOVL BVECTOR
024438,003728: 26,2702 06522 ZEROVECS
024439,003729: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024440,003730: 26,2704 27541 STOVL BVECTOR +12D
024441,003731: 26,2705 03525 BVECTOR
024442,003732: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024443,003733: 26,2707 00025 20D # SHIFT COUNT IN 20D
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Page 579
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024445,003735: 26,2710 51575 VLOAD ABVAL
024446,003736: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024447,003737: 26,2712 71301 NORM DLOAD
024448,003738: 26,2713 00027 22D # SHIFT COUNT IN 22D
024449,003739: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER
024450,003740: 26,2715 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024451,003741: 26,2716 00025 20D
024452,003742: 26,2717 54723 VOK1
024453,003743: 26,2720 52150 LXA,1 GOTO
024454,003744: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024455,003745: 26,2722 54725 VOK2
024456,003746: 26,2723 77750 VOK1 LXA,1
024457,003747: 26,2724 00024 20D
024458,003748: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024459,003749: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT
024460,003750: 26,2727 20201 0,1
024461,003751: 26,2730 27525 STOVL BVECTOR
024462,003752: 26,2731 03533 BVECTOR +6
024463,003753: 26,2732 77657 VSL*
024464,003754: 26,2733 20201 0,1
024465,003755: 26,2734 17533 STODL BVECTOR +6
024466,003756: 26,2735 03547 DELTAQ
024467,003757: 26,2736 77657 SL*
024468,003758: 26,2737 20201 0,1
024469,003759: 26,2740 03547 STORE DELTAQ
024470,003760: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024471,003761: 26,2742 00045 36D
024472,003762: 26,2743 20200 0 -1,1
024473,003763: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024474,003764: 26,2745 02707 VARIANCE
024475,003765: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024476,003766: 26,2747 21633 TPMODE
024477,003767: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024478,003768: 26,2751 55401 LGCUPDTE
024479,003769:
024480,003770: 26,2752 77624 CALL
024481,003771: 26,2753 11244 GRP2PC
024482,003772: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE
024483,003773: 26,2755 04307 SURFFLAG
024484,003774: 26,2756 55176 RENDEND # NO
024485,003775: 26,2757 E7,1457 EBANK= AIG
024486,003776: 26,2757 33332 MXMYMZ CAF AIGBANK
024487,003777: 26,2760 54006 TS BBANK
024488,003778: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024489,003779: 26,2762 54766 TS CDUSPOT
024490,003780: 26,2763 31460 CA AMG
024491,003781: 26,2764 54770 TS CDUSPOT +2
024492,003782: 26,2765 31461 CA AOG
024493,003783: 26,2766 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024494,003784: 26,2767 06037 TC INTPRET
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Page 580
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024496,003786: 26,2770 45175 VLOAD CALL
024497,003787: 26,2771 06520 UNITX
024498,003788: 26,2772 47664 TRG*NBSM
024499,003789: 26,2773 76505 VXM VSL1
024500,003790: 26,2774 01734 REFSMMAT
024501,003791: 26,2775 27677 STOVL MX
024502,003792: 26,2776 06516 UNITY
024503,003793: 26,2777 77624 CALL
024504,003794: 26,3000 47673 *NBSM*
024505,003795: 26,3001 76505 VXM VSL1
024506,003796: 26,3002 01734 REFSMMAT
024507,003797: 26,3003 27705 STOVL MY
024508,003798: 26,3004 06514 UNITZ
024509,003799: 26,3005 77624 CALL
024510,003800: 26,3006 47673 *NBSM*
024511,003801: 26,3007 76505 VXM VSL1
024512,003802: 26,3010 01734 REFSMMAT
024513,003803: 26,3011 37713 SHAFTBQ STCALL MZ
024514,003804: 26,3012 55361 RADARANG
024515,003805: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024516,003806: 26,3014 03746 WHCHREAD
024517,003807: 26,3015 00003 DEC 3 B-14
024518,003808: 26,3016 11244 GRP2PC
024519,003809: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
024520,003810: 26,3020 03724 ULC
024521,003811: 26,3021 03677 MX
024522,003812: 26,3022 77752 SL1
024523,003813: 26,3023 24023 STOVL SINTH # 18D
024524,003814: 26,3024 03724 ULC
024525,003815: 26,3025 72441 DOT SL1
024526,003816: 26,3026 03713 MZ
024527,003817: 26,3027 34021 STCALL COSTH # 16D
024528,003818: 26,3030 26510 ARCTAN
024529,003819: 26,3031 41221 BDSU DMP
024530,003820: 26,3032 03736 RRSHAFT
024531,003821: 26,3033 15441 2PI/8
024532,003822: 26,3034 41472 SL3R PUSH
024533,003823: 26,3035 52545 DLOAD SL3
024534,003824: 26,3036 01701 X789
024535,003825: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024536,003826: 26,3040 56176 0,2
024537,003827: 26,3041 53605 DMP SRR*
024538,003828: 26,3042 03722 RXZ
024539,003829: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024540,003830: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024541,003831: 26,3045 03724 ULC
024542,003832: 26,3046 76435 VXV VSL1
024543,003833: 26,3047 03705 MY
024544,003834: 26,3050 77656 UNIT
024545,003835: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
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Page 581
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024547,003837: 26,3052 00747 VEHUPFLG
024548,003838: 26,3053 55054 +1
024549,003839: 26,3054 27525 STOVL BVECTOR
024550,003840: 26,3055 06522 ZEROVECS
024551,003841: 26,3056 03533 STORE BVECTOR +6
024552,003842: 26,3057 17541 STODL BVECTOR +12D
024553,003843: 26,3060 03722 RXZ
024554,003844: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024555,003845: 26,3062 20577 0 -2,1
024556,003846: 26,3063 56176 0,2
024557,003847: 26,3064 03541 STORE BVECTOR +12D
024558,003848: 26,3065 77735 SLOAD
024559,003849: 26,3066 02011 SHAFTVAR
024560,003850: 26,3067 41215 DAD DMP
024561,003851: 26,3070 15436 IMUVAR # RAD**2 B12
024562,003852: 26,3071 03722 RXZ
024563,003853: 26,3072 41257 SRR* DMP
024564,003854: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024565,003855: 26,3074 03722 RXZ
024566,003856: 26,3075 53657 SR* SR*
024567,003857: 26,3076 20577 0 -2,1
024568,003858: 26,3077 57176 0,2
024569,003859: 26,3100 47057 SR* RTB
024570,003860: 26,3101 57176 0,2
024571,003861: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024572,003862: 26,3103 36707 STCALL VARIANCE # B-40
024573,003863: 26,3104 55401 LGCUPDTE
024574,003864:
024575,003865: 26,3105 77624 CALL
024576,003866: 26,3106 11244 GRP2PC
024577,003867: 26,3107 77624 TRUNBQ CALL
024578,003868: 26,3110 55361 RADARANG
024579,003869: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49
024580,003870: 26,3112 03746 WHCHREAD
024581,003871: 26,3113 00004 DEC 4 B-14
024582,003872: 26,3114 11244 GRP2PC
024583,003873: 26,3115 47375 VLOAD VXV
024584,003874: 26,3116 03724 ULC
024585,003875: 26,3117 03705 MY
024586,003876: 26,3120 47372 VSL1 VXV
024587,003877: 26,3121 03724 ULC
024588,003878: 26,3122 77772 VSL1 # (ULC X MY) X ULC
024589,003879: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024590,003880: 26,3124 00747 VEHUPFLG
024591,003881: 26,3125 55126 +1
024592,003882: 26,3126 27525 STOVL BVECTOR
024593,003883: 26,3127 06522 ZEROVECS
024594,003884: 26,3130 03533 STORE BVECTOR +6
024595,003885: 26,3131 17541 STODL BVECTOR +12D
024596,003886: 26,3132 03722 RXZ
|
|
Page 582
|
024598,003888: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024599,003889: 26,3134 20577 0 -2,1
024600,003890: 26,3135 56176 0,2
024601,003891: 26,3136 03543 STORE BVECTOR +14D
024602,003892: 26,3137 77735 SLOAD
024603,003893: 26,3140 02012 TRUNVAR
024604,003894: 26,3141 41215 DAD DMP
024605,003895: 26,3142 15436 IMUVAR
024606,003896: 26,3143 03722 RXZ
024607,003897: 26,3144 41257 SRR* DMP
024608,003898: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024609,003899: 26,3146 03722 RXZ
024610,003900: 26,3147 53657 SR* SR*
024611,003901: 26,3150 20577 0 -2,1
024612,003902: 26,3151 57176 0,2
024613,003903: 26,3152 47057 SR* RTB
024614,003904: 26,3153 57176 0,2
024615,003905: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024616,003906: 26,3155 16707 STODL VARIANCE
024617,003907: 26,3156 03732 SINTHETA
024618,003908: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
024619,003909: 26,3160 03734 RRTRUN
024620,003910: 26,3161 56405 DMP SL3R
024621,003911: 26,3162 15441 2PI/8
024622,003912: 26,3163 52525 PDDL SL3
024623,003913: 26,3164 01703 X789 +2
024624,003914: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024625,003915: 26,3166 56176 0,2
024626,003916: 26,3167 53605 DMP SRR*
024627,003917: 26,3170 03722 RXZ
024628,003918: 26,3171 21601 0,1
024629,003919: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
024630,003920: 26,3173 55401 LGCUPDTE
024631,003921: 26,3174 77624 CALL
024632,003922: 26,3175 11244 GRP2PC
024633,003923: 26,3176 77650 RENDEND GOTO
024634,003924: 26,3177 50566 R22LEM93
024635,003925:
024636,003926: # FUNCTIONAL DESCRIPTION
024637,003927: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
024638,003928: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
024639,003929: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
024640,003930:
024641,003931: # SUBROUTINES CALLED
024642,003932: # INSTALL LGCUPDTE INCORP1 RP-TO-R
024643,003933: # INTEGRV GETULC INCORP2
024644,003934:
024645,003935: # OUTPUT
024646,003936: # CORRECTED CSM STATE VECTOR (PERMANENT)
024647,003937: # NUMBER OF MARKS INCORPORATED IN MARKCTR
|
|
Page 583
|
024649,003939: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
024650,003940: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024651,003941: # UPDATED W-MATRIX
024652,003942:
024653,003943: # ERASABLE INITIALIZATION REQUIRED
024654,003944: # LM AND CSM STATE VECTORS
024655,003945: # W-MATRIX
024656,003946: # MARK TIME IN MKTIME
024657,003947: # RADAR RANGE IN RM METERS B-29
024658,003948: # RANGE RATE IN RDOTM METERS/CSEC B-7
024659,003949: # VEHUPFLG
024660,003950:
024661,003951: 26,3200 77624 LSR22.4 CALL
024662,003952: 26,3201 27414 INTSTALL
024663,003953: 26,3202 43014 SET CLEAR
024664,003954: 26,3203 01472 STATEFLG
024665,003955: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
024666,003956: 26,3205 77624 CALL
024667,003957: 26,3206 55242 INTGRCAL
024668,003958: 26,3207 77624 CALL
024669,003959: 26,3210 11244 GRP2PC
024670,003960: 26,3211 45014 CLEAR CALL
024671,003961: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
024672,003962: 26,3213 27414 INTSTALL
024673,003963: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
024674,003964: 26,3215 03463 MARKCTR
024675,003965: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
024676,003966: 26,3217 43014 CLEAR SET
024677,003967: 26,3220 01675 D6OR9FLG
024678,003968: 26,3221 01476 DIM0FLAG
024679,003969: 26,3222 43014 SET CLEAR
024680,003970: 26,3223 01474 VINTFLAG
024681,003971: 26,3224 01673 INTYPFLG
024682,003972: 26,3225 77624 CALL
024683,003973: 26,3226 55242 INTGRCAL
024684,003974: 26,3227 77650 GOTO
024685,003975: 26,3230 54510 RANGEBQ
024686,003976:
024687,003977: 26,3231 77624 INITWMX6 CALL
024688,003978: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
024689,003979: 26,3233 45014 SET CALL
024690,003980: 26,3234 01474 VINTFLAG
024691,003981: 26,3235 26644 SETIFLGS
024692,003982: 26,3236 77624 CALL
024693,003983: 26,3237 55242 INTGRCAL
024694,003984: 26,3240 77650 GOTO
024695,003985: 26,3241 54510 RANGEBQ
024696,003986:
024697,003987: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
|
|
Page 584
|
024699,003989: 26,3242 71220 INTGRCAL STQ DLOAD
024700,003990: 26,3243 03675 IGRET
024701,003991: 26,3244 03755 MKTIME
024702,003992: 26,3245 34041 STCALL TDEC1
024703,003993: 26,3246 27134 INTEGRV
024704,003994: 26,3247 77650 GOTO
024705,003995: 26,3250 03675 IGRET
024706,003996:
024707,003997: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
024708,003998: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
024709,003999:
024710,004000: 26,3251 E5,1400 EBANK= W
024711,004001: 26,3251 77776 WLINIT EXIT
024712,004002: 26,3252 33331 CAF WBANK
024713,004003: 26,3253 54006 TS BBANK
024714,004004: 26,3254 33437 CAF WSIZE
024715,004005: 26,3255 55257 TS W.IND
024716,004006: 26,3256 34755 CAF ZERO
024717,004007: 26,3257 51257 INDEX W.IND
024718,004008: 26,3260 55400 TS W
024719,004009: 26,3261 11257 CCS W.IND
024720,004010: 26,3262 03255 TC -5
024721,004011: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
024722,004012: 26,3264 54006 TS BBANK
024723,004013: 26,3265 06037 TC INTPRET
024724,004014: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
024725,004015: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
024726,004016: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
024727,004017: 26,3271 02001 WRENDPOS
024728,004018: 26,3272 77650 GOTO
024729,004019: 26,3273 55276 WPOSTORE
024730,004020: 26,3274 77735 WLSRFPOS SLOAD
024731,004021: 26,3275 02007 WSURFPOS
024732,004022: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
024733,004023: 26,3277 20606 5
024734,004024: 26,3300 02401 STORE W
024735,004025: 26,3301 02411 STORE W +8D
024736,004026: 26,3302 02421 STORE W +16D
024737,004027: 26,3303 67214 BON SLOAD
024738,004028: 26,3304 04307 SURFFLAG
024739,004029: 26,3305 55311 WLSRFVEL
024740,004030: 26,3306 02002 WRENDVEL
024741,004031: 26,3307 77650 GOTO
024742,004032: 26,3310 55313 WVELSTOR
024743,004033: 26,3311 77735 WLSRFVEL SLOAD
024744,004034: 26,3312 02010 WSURFVEL
024745,004035: 26,3313 02511 WVELSTOR STORE W +72D
024746,004036: 26,3314 02521 STORE W +80D
024747,004037: 26,3315 02531 STORE W +88D
024748,004038: 26,3316 77735 SLOAD
|
|
Page 585
|
024750,004040: 26,3317 02003 WSHAFT
024751,004041: 26,3320 02621 STORE W +144D
024752,004042: 26,3321 77735 SLOAD
024753,004043: 26,3322 02004 WTRUN
024754,004044: 26,3323 02631 STORE W +152D
024755,004045: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
024756,004046: 26,3325 02476 RENDWFLG
024757,004047: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
024758,004048: 26,3327 00000 0
024759,004049: 26,3330 77616 RVQ
024760,004050:
024761,004051: 26,3331 E5,1400 EBANK= W
024762,004052: 26,3331 54065 WBANK BBCON WLINIT
024763,004053: 26,3332 E7,1457 EBANK= AIG
024764,004054: 26,3332 54067 AIGBANK BBCON LSR22.3
024765,004055:
024766,004056: # GETULC
024767,004057:
024768,004058: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
024769,004059: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
024770,004060: # MAGNITUDE IN 36D.
024771,004061:
024772,004062: 26,3333 77201 GETULC SETPD VLOAD
024773,004063: 26,3334 00001 0
024774,004064: 26,3335 01645 DELTALEM
024775,004065: 26,3336 77754 LXA,2
024776,004066: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
024777,004067: 26,3340 53257 VSR* VAD
024778,004068: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024779,004069: 26,3342 01661 RCVLEM
024780,004070: 26,3343 53715 PDVL VSR*
024781,004071: 26,3344 01573 DELTACSM
024782,004072: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024783,004073: 26,3346 52255 VAD VSU
024784,004074: 26,3347 01607 RCVCSM
024785,004075: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
024786,004076: 26,3351 21724 NORMUNX1
024787,004077: 26,3352 17724 STODL ULC
024788,004078: 26,3353 00045 36D
024789,004079: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
024790,004080: 26,3355 20201 0,1
024791,004081: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
024792,004082: 26,3357 03724 ULC
024793,004083: 26,3360 77616 RVQ
024794,004084:
024795,004085: # RADARANG
024796,004086:
024797,004087: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
024798,004088: # RXZ = (SQRT (1-SINTHETA**2))RLC
024799,004089: # OUTPUT
024800,004090: # ULC IN ULC, PD0
|
|
Page 586
|
024802,004092: # RLC IN PD36D
024803,004093: # SIN THETA IN SINTHETA AND PD6
024804,004094: # RXZ NORM IN RXZ (N IN X1)
024805,004095:
024806,004096: 26,3361 45020 RADARANG STQ CALL
024807,004097: 26,3362 03675 RDRET
024808,004098: 26,3363 55333 GETULC
024809,004099: 26,3364 50276 VCOMP DOT
024810,004100: 26,3365 03705 MY
024811,004101: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
024812,004102: 26,3367 03732 STORE SINTHETA
024813,004103: 26,3370 44316 DSQ BDSU
024814,004104: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2
024815,004105: 26,3372 41366 SQRT DMP
024816,004106: 26,3373 00045 36D
024817,004107: 26,3374 60352 SL1 NORM
024818,004108: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
024819,004109: 26,3376 03722 STORE RXZ
024820,004110: 26,3377 77650 GOTO # EXIT
024821,004111: 26,3400 03675 RDRET
024822,004112: 26,3401 45020 LGCUPDTE STQ CALL
024823,004113: 26,3402 03675 LGRET
024824,004114: 26,3403 46531 INCORP1
024825,004115: 26,3404 51575 VLOAD ABVAL
024826,004116: 26,3405 02673 DELTAX +6
024827,004117: 26,3406 53754 LXA,2 SRR*
024828,004118: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024829,004119: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
024830,004120: 26,3411 24317 STOVL R22DISP +2
024831,004121: 26,3412 02665 DELTAX
024832,004122: 26,3413 53646 ABVAL SRR*
024833,004123: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
024834,004124: 26,3415 00315 STORE R22DISP
024835,004125: 26,3416 54335 SLOAD SR
024836,004126: 26,3417 02005 RMAX
024837,004127: 26,3420 20613 10D
024838,004128: 26,3421 50025 DSU BMN
024839,004129: 26,3422 00315 R22DISP
024840,004130: 26,3423 50572 R22LEM96 # GO DISPLAY
024841,004131: 26,3424 45335 SLOAD DSU
024842,004132: 26,3425 02006 VMAX
024843,004133: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
024844,004134: 26,3427 77640 BMN
024845,004135: 26,3430 50572 R22LEM96 # GO DISPLAY
024846,004136: 26,3431 77624 ASTOK CALL
024847,004137: 26,3432 46743 INCORP2
024848,004138: 26,3433 77650 GOTO
024849,004139: 26,3434 03675 LGRET
024850,004140: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
024851,004141:
024852,004142: 26,3437 00241 WSIZE DEC 161 B-14
|
|
Page 587
|
024854,004144: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
024855,004145:
024856,004146: 26,3442 E7,1456 EBANK= LOSCOUNT
|
|
Page 588
|
024858,004148:
024859,004149: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
024860,004150: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
024861,004151:
024862,004152: # FUNCTIONAL DESCRIPTION
024863,004153:
024864,004154: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
024865,004155: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
024866,004156: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
024867,004157: # ATTITUDE MANEUVER.
024868,004158:
024869,004159: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
024870,004160:
024871,004161: # SUBROUTINES CALLED
024872,004162:
024873,004163: # LEMCONIC R61LEM
024874,004164: # CSMCONIC RRDESSM
024875,004165: # JOBDELAY FLAGDOWN
024876,004166: # WAITLIST FLAGUP
024877,004167: # RRNB BANKCALL
024878,004168:
024879,004169: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
024880,004170:
024881,004171: # OUTPUT
024882,004172:
024883,004173: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
024884,004174: # 11111 INDICATES LOCKON ACHIEVED
024885,004175: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
024886,004176:
024887,004177: # ERASABLE INITIALIZATION REQUIRED
024888,004178:
024889,004179: # SEARCH FLAG MUST BE SET
024890,004180: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
024891,004181:
024892,004182: # DEBRIS
024893,004183:
024894,004184: # RLMSRCH UXVECT
024895,004185: # VXRLM UYVECT
024896,004186: # LOSDESRD NSRCHPNT
024897,004187: # DATAGOOD OMEGAD
024898,004188: # MPAC PUSHLIST
024899,004189:
024900,004190: 26,3442 COUNT* $$/LRS24
024901,004191: 26,3442 34755 LRS24.1 CAF ZERO
024902,004192: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
024903,004193: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
024904,004194: 26,3445 00006 EXTEND
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|
Page 589
|
024906,004196: 26,3446 05012 WOR CHAN12
024907,004197: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
024908,004198: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
024909,004199: 26,3451 00006 EXTEND
024910,004200: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
024911,004201:
024912,004202: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
024913,004203: 26,3454 00004 INHINT
024914,004204: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
024915,004205: 26,3456 E7,1456 EBANK= LOSCOUNT
024916,004206: 26,3456 03643 54067 2CADR CALLDGCH
024917,004207:
024918,004208: 26,3460 00003 RELINT
024919,004209: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
024920,004210: 26,3462 74736 MASK REMODBIT
024921,004211: 26,3463 00006 EXTEND
024922,004212: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
024923,004213: 26,3465 06037 TC INTPRET
024924,004214:
024925,004215: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
024926,004216: 26,3467 21573 LOADTIME
024927,004217: 26,3470 15715 1.5SECS
024928,004218: 26,3471 34041 LRS24.11 STCALL TDEC1
024929,004219: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
024930,004220: 26,3473 77775 VLOAD
024931,004221: 26,3474 00001 RATT
024932,004222: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
024933,004223: 26,3476 00007 VATT
024934,004224: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
024935,004225: 26,3500 00015 TAT
024936,004226: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
024937,004227: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
024938,004228: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
024939,004229: 26,3504 00001 RATT
024940,004230: 26,3505 03676 RLMSRCH
024941,004231: 26,3506 77656 UNIT
024942,004232: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
024943,004233: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
024944,004234: 26,3511 47256 UNIT VXV
024945,004235: 26,3512 00001 RATT
024946,004236: 26,3513 77656 UNIT
024947,004237: 26,3514 03704 STORE VXRCM
024948,004238: 26,3515 52375 VLOAD VSU
024949,004239: 26,3516 00007 VATT
024950,004240: 26,3517 03740 SAVLEMV
024951,004241: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
024952,004242: 26,3521 01734 REFSMMAT
024953,004243: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
024954,004244: 26,3523 53135 SLOAD BZE # CHECK IF N=0
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|
Page 590
|
024956,004246: 26,3524 03737 NSRCHPNT
024957,004247: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
024958,004248: 26,3526 53025 DSU BZE # IS N=1
024959,004249: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
024960,004250: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
024961,004251: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
024962,004252: 26,3532 03720 UXVECT
024963,004253: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
024964,004254: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
024965,004255: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
024966,004256: 26,3536 77761 VXSC
024967,004257: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR
024968,004258: 26,3540 27720 STOVL UXVECT
024969,004259: 26,3541 00015 UXVECTPR
024970,004260: 26,3542 53361 VXSC VAD
024971,004261: 26,3543 06520 COS60DEG
024972,004262: 26,3544 03720 UXVECT
024973,004263: 26,3545 77656 UNIT
024974,004264: 26,3546 27720 STOVL UXVECT
024975,004265: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR
024976,004266: 26,3550 77761 VXSC
024977,004267: 26,3551 15705 SIN60DEG
024978,004268: 26,3552 27726 STOVL UYVECT
024979,004269: 26,3553 00023 UYVECTPR
024980,004270: 26,3554 52361 VXSC VSU
024981,004271: 26,3555 06520 COS60DEG
024982,004272: 26,3556 03726 UYVECT
024983,004273: 26,3557 77656 UNIT
024984,004274: 26,3560 03726 STORE UYVECT
024985,004275: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
024986,004276: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
024987,004277: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
024988,004278: 26,3564 64256 UNIT MXV
024989,004279: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
024990,004280: 26,3566 77772 VSL1
024991,004281: 26,3567 25102 CONTDESG STOVL RRTARGET
024992,004282: 26,3570 03740 SAVLEMV
024993,004283: 26,3571 01761 STORE LOSVEL
024994,004284: 26,3572 77776 EXIT
024995,004285: 26,3573 00004 INHINT
024996,004286: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
024997,004287: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
024998,004288: # POINT IN THE PATTERN
024999,004289: 26,3576 44735 CONTDES2 CS CDESBIT
025000,004290: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025001,004291: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025002,004292: 26,3601 54110 TS RADMODES
025003,004293: 26,3602 06037 TC INTPRET
025004,004294:
025005,004295: 26,3603 77624 CALL
|
|
Page 591
|
025007,004297: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025008,004298:
025009,004299: 26,3605 77776 EXIT
025010,004300: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025011,004301: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025012,004302:
025013,004303: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025014,004304: # SPACECRAFT +Z AXIS
025015,004305: 26,3610 00006 OMEGCALC EXTEND
025016,004306: 26,3611 30036 DCA CDUT
025017,004307: 26,3612 53753 DXCH TANGNB
025018,004308: 26,3613 06037 TC INTPRET
025019,004309: 26,3614 77624 CALL
025020,004310: 26,3615 46041 RRNB
025021,004311: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025022,004312: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025023,004313: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025024,004314: 26,3621 77776 EXIT
025025,004315: 26,3622 05155 TC ENDOFJOB
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|
Page 592
|
025027,004317: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025028,004318:
025029,004319: 26,3623 47375 CALCXY VLOAD VXV
025030,004320: 26,3624 03704 VXRCM
025031,004321: 26,3625 03712 LOSDESRD
025032,004322: 26,3626 77656 UNIT
025033,004323: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025034,004324: 26,3630 03712 LOSDESRD
025035,004325: 26,3631 53435 VXV UNIT
025036,004326: 26,3632 03720 UXVECT
025037,004327: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025038,004328: 26,3634 77650 GOTO
025039,004329: 26,3635 55561 OFFCALC
025040,004330:
025041,004331: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025042,004332: 26,3637 03712 LOSDESRD
025043,004333: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025044,004334: 26,3641 52172 VSL1 GOTO
025045,004335: 26,3642 55567 CONTDESG
025046,004336:
025047,004337: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025048,004338: 26,3644 74745 MASK RNDVZBIT
025049,004339: 26,3645 00006 EXTEND
025050,004340: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025051,004341: 26,3647 37713 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025052,004342: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025053,004343: 26,3651 E7,1675 EBANK= RLMSRCH
025054,004344: 26,3651 03654 54067 2CADR DATGDCHK
025055,004345:
025056,004346: 26,3653 05261 TC TASKOVER
025057,004347:
025058,004348: 26,3654 34750 DATGDCHK CAF BIT4
025059,004349: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025060,004350: 26,3656 02033 RAND CHAN33
025061,004351: 26,3657 00006 EXTEND
025062,004352: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025063,004353: 26,3661 46242 CS SIX
025064,004354: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025065,004355: 26,3663 00006 EXTEND
025066,004356: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025067,004357: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
025068,004358: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025069,004359:
025070,004360: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025071,004361: 26,3670 55733 TS DATAGOOD
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|
Page 593
|
025073,004363: 26,3671 00004 INHINT
025074,004364: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
025075,004365: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025076,004366: 26,3674 05155 TC ENDOFJOB
025077,004367:
025078,004368: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025079,004369: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025080,004370: 26,3677 00004 INHINT # REQUIRED IN P20
025081,004371: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025082,004372: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025083,004373: 26,3702 05155 TC ENDOFJOB
025084,004374:
025085,004375: 26,3703 25547 ALL1S DEC 11111 B-14
025086,004376: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025087,004377: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50)
025088,004378: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025089,004379: 26,3706 UYVECTPR EQUALS 18D
025090,004380: 26,3706 RLMUNIT EQUALS 12D
025091,004381: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025092,004382:
025093,004383: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025094,004384: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025095,004385:
025096,004386: # **** ONEOCT NEEDS A LOWER ORDER ****
025097,004387: # **** WORD OF ZEROES ****
025098,004388: 26,3713 01130 6SECONDS DEC 600 B-14
025099,004389: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025100,004390:
025101,004391: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS
025102,004392:
025103,004393: 4616 BLOCK 02
025104,004394: 6000 SETLOC FFTAG5
025105,004395: 6000 BANK
025106,004396: 6022 COUNT* $$/P20
025107,004397: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025108,004398: 6023 36026 DCA VB56CADR # GOTOPOOH
025109,004399: 6024 15165 TCF SUPDXCHZ
025110,004400: 6025 E7,1471 EBANK= WHOCARES
025111,004401: 6025 03024 66107 VB56CADR 2CADR TRMTRACK
025112,004402:
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|
Page 594
|
025114,004404: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025115,004405: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025116,004406:
025117,004407: # FUNCTIONAL DESCRIPTION:
025118,004408:
025119,004409: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025120,004410: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025121,004411: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025122,004412: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025123,004413: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025124,004414: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025125,004415:
025126,004416: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025127,004417:
025128,004418: # SUBROUTINES CALLED:
025129,004419:
025130,004420: # REMODE RRTONLY
025131,004421: # UNIT MPACVBUF
025132,004422: # QUICTRIG AX*SR*T
025133,004423: # SPSIN SPCOS
025134,004424: # SETRRECR RROUT
025135,004425: # RRRDOT RRRANGE
025136,004426:
025137,004427: # EXIT: TO NOR29NOW, IN SERVICER.
025138,004428:
025139,004429: # OUTPUT: (ALL FOR DOWNLINK)
025140,004430:
025141,004431: # RM RDOTM (RAW)
025142,004432: # AIG AMG
025143,004433: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025144,004434: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025145,004435: # MKTIME
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|
Page 595
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025147,004437:
025148,004438: # ERASABLE INITIALIZATION REQUIRED:
025149,004439:
025150,004440: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025151,004441: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025152,004442: # R(CSM) V(CSM)
025153,004443: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025154,004444:
025155,004445: # DEBRIS:
025156,004446:
025157,004447: # RADMODES (BIT 10)
025158,004448: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025159,004449: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025160,004450: # LOSCMFLG READRFLG
025161,004451:
025162,004452: # ALARMS: NONE.
025163,004453:
025164,004454: # COMPONENT JOBS AND TASKS:
025165,004455:
025166,004456: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025167,004457: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025168,004458: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025169,004459:
025170,004460: 33,2045 BANK 33
025171,004461: 33,2000 SETLOC R29/SERV
025172,004462: 33,2000 BANK
025173,004463:
025174,004464: 33,2045 COUNT* $$/r29
025175,004465:
025176,004466: 33,2045 5014 NR29&RDR EQUALS EBANK5
025177,004467:
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|
Page 596
|
025179,004469: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025180,004470: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025181,004471:
025182,004472: 33,2045 40110 R29 CS RADMODES
025183,004473: 33,2046 74742 MASK DESIGBIT
025184,004474: 33,2047 00006 EXTEND
025185,004475: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025186,004476:
025187,004477: 33,2051 00004 INHINT
025188,004478: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025189,004479: 33,2053 44736 CS BIT14
025190,004480: 33,2054 00006 EXTEND
025191,004481: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025192,004482: 33,2056 44740 CS LOSCMBIT
025193,004483: 33,2057 70076 MASK FLAGWRD2
025194,004484: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025195,004485: 33,2061 44753 CS OLDESBIT
025196,004486: 33,2062 70074 MASK STATE
025197,004487: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025198,004488: 33,2064 04616 TC BANKCALL
025199,004489: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025200,004490: 33,2066 34740 CA ANTENBIT
025201,004491: 33,2067 70110 MASK RADMODES
025202,004492: 33,2070 10000 CCS A # TEST RR MODE BIT.
025203,004493: 33,2071 12104 TCF SETPRPOS # MODE 2.
025204,004494:
025205,004495: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025206,004496: 33,2073 05072 TC NOVAC
025207,004497: 33,2074 E7,1456 EBANK= LOSCOUNT
025208,004498: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
025209,004499:
025210,004500: 33,2076 44742 CS DESIGBIT
025211,004501: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025212,004502: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025213,004503: 33,2101 34736 CA REMODBIT
025214,004504: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025215,004505: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025216,004506:
025217,004507: 33,2104 34753 SETPRPOS CA ONE
025218,004508: 33,2105 05203 TC WAITLIST
025219,004509: 33,2106 E7,1456 EBANK= LOSCOUNT
025220,004510: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025221,004511:
025222,004512: 33,2110 34741 CA REPOSBIT
025223,004513: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025224,004514: 33,2112 12570 TCF NOR29NOW
025225,004515:
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|
Page 597
|
025227,004517: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025228,004518:
025229,004519: 33,2113 34753 R29REM0J CA ONE
025230,004520: 33,2114 05203 TC WAITLIST
025231,004521: 33,2115 E7,1456 EBANK= LOSCOUNT
025232,004522: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025233,004523:
025234,004524: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025235,004525: 33,2120 17714 CADR RADSTALL
025236,004526:
025237,004527: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025238,004528: 33,2122 15155 TCF ENDOFJOB
025239,004529:
025240,004530: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025241,004531:
025242,004532: 25,2000 SETLOC R29S1
025243,004533: 25,2000 BANK
025244,004534:
025245,004535: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
025246,004536: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
025247,004537: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025248,004538: 25,3604 70110 MASK RADMODES
025249,004539: 25,3605 54110 TS RADMODES
025250,004540: 25,3606 15261 TCF TASKOVER
025251,004541:
025252,004542: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025253,004543:
025254,004544: 33,2045 SETLOC R29
025255,004545: 33,2045 BANK
025256,004546:
025257,004547: 33,2123 00006 R29.LOS EXTEND
025258,004548: 33,2124 41235 DCS PIPTIME
025259,004549: 33,2125 52155 DXCH MPAC
025260,004550: 33,2126 00006 EXTEND
025261,004551: 33,2127 30025 DCA TIME2
025262,004552: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025263,004553: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025264,004554: 33,2132 30155 CA MPAC +1
025265,004555: 33,2133 00006 EXTEND
025266,004556: 33,2134 74740 MP BIT12
025267,004557: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025268,004558: 33,2136 06037 TC INTPRET
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|
Page 598
|
025270,004560: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025271,004561: # START IT UP WHEN THE DATA IS IN PLACE.
025272,004562:
025273,004563: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025274,004564: 33,2140 01726 V(CSM)
025275,004565: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025276,004566: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025277,004567: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025278,004568: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025279,004569: 33,2145 03521 R
025280,004570: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025281,004571: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025282,004572: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025283,004573: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025284,004574:
025285,004575: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025286,004576: 33,2153 00001 0
025287,004577: 33,2154 77761 VXSC
025288,004578: 33,2155 26177 .5SECB17
025289,004579: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025290,004580: 33,2157 77414 CLEAR EXIT
025291,004581: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025292,004582:
025293,004583: 33,2161 40074 CS STATE
025294,004584: 33,2162 74753 MASK OLDESBIT
025295,004585: 33,2163 00006 EXTEND
025296,004586: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025297,004587: 33,2165 00004 INHINT
025298,004588: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025299,004589:
025300,004590: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025301,004591: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025302,004592: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025303,004593: 33,2172 05203 TC WAITLIST
025304,004594: 33,2173 E7,1456 EBANK= LOSCOUNT
025305,004595: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025306,004596:
025307,004597: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025308,004598:
025309,004599: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025310,004600:
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|
Page 599
|
025312,004602: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025313,004603: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025314,004604:
025315,004605: 24,3356 BANK 24
025316,004606: 24,2000 SETLOC P20S
025317,004607: 24,2000 BANK
025318,004608:
025319,004609: 24,3356 COUNT* $$/R29
025320,004610:
025321,004611: 24,3356 35031 BEGDES29 CAF PRIO21
025322,004612: 24,3357 05072 TC NOVAC
025323,004613: 24,3360 E3,1760 EBANK= LOSVDT/4
025324,004614: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025325,004615:
025326,004616: 24,3362 34774 R29DLOOP CAF .5SEC
025327,004617: 24,3363 05224 TC VARDELAY
025328,004618:
025329,004619: 24,3364 40110 CS RADMODES
025330,004620: 24,3365 74742 MASK DESIGBIT
025331,004621: 24,3366 10000 CCS A
025332,004622: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025333,004623:
025334,004624: 24,3370 40076 CS FLAGWRD2
025335,004625: 24,3371 74740 MASK LOSCMBIT
025336,004626: 24,3372 00006 EXTEND
025337,004627: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025338,004628: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025339,004629: 24,3375 13356 TCF BEGDES29
025340,004630:
025341,004631: 24,3376 34753 CA ONE
025342,004632: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 600
|
025344,004634: # R29DODES: RR DESIGNATION LOOP FOR R29
025345,004635:
025346,004636: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025347,004637: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025348,004638: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025349,004639: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025350,004640: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025351,004641:
025352,004642: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025353,004643: # TASK WHEN LOCK-ON IS ACHIEVED.
025354,004644:
025355,004645: 32,2547 BANK 32
025356,004646: 32,2000 SETLOC F2DPS*32
025357,004647: 32,2000 BANK
025358,004648:
025359,004649: 32,2547 COUNT* $$/R29
025360,004650: 32,2547 E3,1760 EBANK= LOSVDT/4
025361,004651:
025362,004652: 32,2547 34753 R29DODES CA ONE
025363,004653: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025364,004654: 32,2551 34756 CA FIVE
025365,004655:
025366,004656: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025367,004657: 32,2553 54002 TS Q
025368,004658: 32,2554 11107 CCS TANG
025369,004659: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025370,004660:
025371,004661: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025372,004662: 32,2557 50002 INDEX Q
025373,004663: 32,2560 31761 DCA LOSVDT/4
025374,004664: 32,2561 50002 INDEX Q
025375,004665: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025376,004666:
025377,004667: 32,2563 00006 R29DPAS1 EXTEND
025378,004668: 32,2564 50002 INDEX Q
025379,004669: 32,2565 31102 DCA LOSSM
025380,004670: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025381,004671: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025382,004672: 32,2570 11107 CCS TANG
025383,004673: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025384,004674:
025385,004675: 32,2572 00006 EXTEND
025386,004676: 32,2573 50002 INDEX Q
025387,004677: 32,2574 31761 DCA LOSVDT/4
025388,004678: 32,2575 50002 INDEX Q
025389,004679: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025390,004680:
025391,004681: 32,2577 10002 R29DVEND CCS Q
025392,004682: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025393,004683:
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|
Page 601
|
025395,004685: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025396,004686:
025397,004687: 32,2601 52156 DXCH MPAC +1
025398,004688: 32,2602 52155 DXCH MPAC
025399,004689: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D
025400,004690: 32,2604 54120 TS FIXLOC
025401,004691: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025402,004692: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025403,004693: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025404,004694:
025405,004695: 32,2610 11107 CCS TANG
025406,004696: 32,2611 12613 TCF +2
025407,004697: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025408,004698: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025409,004699: 32,2614 00006 EXTEND
025410,004700: 32,2615 30036 DCA CDUT
025411,004701: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025412,004702: 32,2617 30033 CA CDUY
025413,004703: 32,2620 54766 TS CDUSPOT
025414,004704: 32,2621 30034 CA CDUZ
025415,004705: 32,2622 54770 TS CDUSPOT +2
025416,004706: 32,2623 30032 CA CDUX
025417,004707: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025418,004708: 32,2625 04616 TC BANKCALL
025419,004709: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025420,004710:
025421,004711: 32,2627 46245 GOTANGLS CS THREE
025422,004712: 32,2630 04616 TC BANKCALL
025423,004713: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025424,004714:
025425,004715: 32,2632 11107 CCS TANG
025426,004716: 32,2633 12635 TCF +2
025427,004717: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025428,004718:
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|
Page 602
|
025430,004720: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025431,004721: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025432,004722:
025433,004723: 32,2635 00004 INHINT
025434,004724: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025435,004725: 32,2637 31766 CA SAVECDUT
025436,004726: 32,2640 05032 TC SPCOS
025437,004727: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T.
025438,004728: 32,2642 41766 CS SAVECDUT
025439,004729: 32,2643 05033 TC SPSIN
025440,004730: 32,2644 54163 TS MODE # MODE = -SIN T.
025441,004731: 32,2645 00006 EXTEND
025442,004732: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025443,004733: 32,2647 52155 DXCH MPAC
025444,004734: 32,2650 31767 CA SAVECDUT +1
025445,004735: 32,2651 05033 TC SPSIN
025446,004736: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025447,004737: 32,2653 00006 EXTEND
025448,004738: 32,2654 70166 MP PUSHLOC
025449,004739: 32,2655 00006 EXTEND
025450,004740: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025451,004741: 32,2657 20155 DAS MPAC
025452,004742: 32,2660 31767 CA SAVECDUT +1
025453,004743: 32,2661 05032 TC SPCOS
025454,004744: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025455,004745: 32,2663 00006 EXTEND
025456,004746: 32,2664 70166 MP PUSHLOC
025457,004747: 32,2665 00006 EXTEND
025458,004748: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025459,004749: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025460,004750: 32,2670 00006 EXTEND # -SIN T, COS S COS T).
025461,004751: 32,2671 30155 DCA MPAC
025462,004752: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025463,004753: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025464,004754: 32,2674 34736 CA BIT14
025465,004755: 32,2675 12676 NOOP
025466,004756: 32,2676 00006 EXTEND
025467,004757: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025468,004758: 32,2700 00003 RELINT
025469,004759: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025470,004760:
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|
Page 603
|
025472,004762: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025473,004763:
025474,004764: 32,2702 31767 R29DPAS2 CA SAVECDUT +1
025475,004765: 32,2703 00006 EXTEND
025476,004766: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X.
025477,004767: 32,2705 53110 DXCH TANG
025478,004768: 32,2706 41766 CS SAVECDUT
025479,004769: 32,2707 00006 EXTEND
025480,004770: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025481,004771: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025482,004772: 32,2712 40163 CS MODE # - SIN S)
025483,004773: 32,2713 00006 EXTEND
025484,004774: 32,2714 71766 MP SAVECDUT
025485,004775: 32,2715 00006 EXTEND
025486,004776: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025487,004777: 32,2717 52155 DXCH MPAC
025488,004778: 32,2720 30166 CA PUSHLOC
025489,004779: 32,2721 00006 EXTEND
025490,004780: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025491,004781: 32,2723 20155 DAS MPAC
025492,004782: 32,2724 40163 CS MODE
025493,004783: 32,2725 00006 EXTEND
025494,004784: 32,2726 71767 MP SAVECDUT +1
025495,004785: 32,2727 00006 EXTEND
025496,004786: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025497,004787: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025498,004788: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025499,004789: 32,2733 00006 EXTEND
025500,004790: 32,2734 72775 MP RR29GAIN
025501,004791: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
025502,004792: 32,2736 00006 EXTEND
025503,004793: 32,2737 72775 MP RR29GAIN
025504,004794: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD.
025505,004795:
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|
Page 604
|
025507,004797: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025508,004798: # READING DATA FROM THE RENDEZVOUS RADAR.
025509,004799:
025510,004800: 32,2741 34750 DGOOD? CAF BIT4
025511,004801: 32,2742 00006 EXTEND
025512,004802: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025513,004803: 32,2744 00004 INHINT # (MAINLY FOR RROUT).
025514,004804: 32,2745 00006 EXTEND
025515,004805: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025516,004806:
025517,004807: 32,2747 04616 TC BANKCALL
025518,004808: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025519,004809: 32,2751 12770 TCF END29DOD
025520,004810:
025521,004811: 32,2752 44742 R29LOKON CS DESIGBIT
025522,004812: 32,2753 70110 MASK RADMODES
025523,004813: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025524,004814: 32,2755 44752 CS BIT2
025525,004815: 32,2756 00006 EXTEND
025526,004816: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025527,004817: 32,2760 34743 CA READRBIT
025528,004818: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025529,004819: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025530,004820: 32,2763 44776 CS SUPER110 # -96D + 100D = 4.
025531,004821: 32,2764 64777 AD 1SEC # 0 + 100D = 100D.
025532,004822: 32,2765 05203 TC WAITLIST
025533,004823: 32,2766 E7,1456 EBANK= LOSCOUNT
025534,004824: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB.
025535,004825:
025536,004826: 32,2770 44740 END29DOD CS LOSCMBIT
025537,004827: 32,2771 70076 MASK FLAGWRD2
025538,004828: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025539,004829: 32,2773 15155 TCF ENDOFJOB
025540,004830:
025541,004831: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D
025542,004832: 32,2775 56655 RR29GAIN DEC -.53624
025543,004833: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL
025544,004834: 32,2776 1101 LOSSM EQUALS RRTARGET
025545,004835: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV
025546,004836:
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Page 605
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025548,004838: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025549,004839:
025550,004840: 24,3400 BANK 24
025551,004841: 24,2000 SETLOC P20S
025552,004842: 24,2000 BANK
025553,004843:
025554,004844: 24,3400 COUNT* $$/R29
025555,004845:
025556,004846: 24,3400 E7,1456 EBANK= LOSCOUNT
025557,004847:
025558,004848: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST.
025559,004849: 24,3401 05072 TC NOVAC
025560,004850: 24,3402 E7,1456 EBANK= LOSCOUNT
025561,004851: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
025562,004852:
025563,004853: 24,3404 35000 CA 2SECS
025564,004854: 24,3405 05224 TC VARDELAY
025565,004855:
025566,004856: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
025567,004857: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
025568,004858: 24,3410 10000 CCS A
025569,004859: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
025570,004860: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
025571,004861:
025572,004862: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
025573,004863: 24,3414 74741 MASK NR29FBIT
025574,004864: 24,3415 10000 CCS A # TEST "NOR29FLG".
025575,004865: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
025576,004866:
025577,004867: 24,3417 30110 CA RADMODES
025578,004868: 24,3420 74752 MASK AUTOMBIT
025579,004869: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
025580,004870: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
025581,004871:
025582,004872: 24,3423 04616 TC BANKCALL
025583,004873: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
025584,004874: 24,3425 04616 TC BANKCALL
025585,004875: 24,3426 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025586,004876: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
025587,004877:
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Page 606
|
025589,004879: # R29 RADAR READING CONTINUED.
025590,004880:
025591,004881: 24,3430 53106 DXCH TIMEHOLD
025592,004882: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
025593,004883: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
025594,004884: 24,3433 00006 EXTEND
025595,004885: 24,3434 30036 DCA CDUT
025596,004886: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
025597,004887: 24,3436 00006 EXTEND
025598,004888: 24,3437 30034 DCA CDUY
025599,004889: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
025600,004890: 24,3441 30032 CA CDUX
025601,004891: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
025602,004892:
025603,004893: 24,3443 04616 R29RANGE TC BANKCALL
025604,004894: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
025605,004895: 24,3445 04616 TC BANKCALL
025606,004896: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025607,004897: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
025608,004898:
025609,004899: 24,3450 00004 INHINT
025610,004900: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
025611,004901: 24,3452 53757 DXCH RM
025612,004902: 24,3453 52155 DXCH MPAC
025613,004903: 24,3454 53755 DXCH MKTIME
025614,004904: 24,3455 52157 DXCH MPAC +2
025615,004905: 24,3456 53753 DXCH TANGNB
025616,004906: 24,3457 52161 DXCH MPAC +4
025617,004907: 24,3460 53460 DXCH AIG
025618,004908: 24,3461 30162 CA MPAC +6
025619,004909: 24,3462 55461 TS AOG
025620,004910: 24,3463 34753 CA ONE
025621,004911: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
025622,004912: 24,3465 15155 TCF ENDOFJOB
025623,004913:
025624,004914: 24,3466 40101 R29RRR? CS FLAGWRD5
025625,004915: 24,3467 74742 MASK BIT10
025626,004916: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
025627,004917: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
025628,004918: 24,3472 05516 TC DOWNFLAG
025629,004919: 24,3473 00120 ADRES RNGSCFLG
025630,004920: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
025631,004921:
025632,004922: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
025633,004923: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
025634,004924: 24,3477 05516 TC DOWNFLAG
025635,004925: 24,3500 00063 ADRES READRFLG
025636,004926: 24,3501 44736 CS BIT14
025637,004927: 24,3502 00006 EXTEND
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|
Page 607
|
025639,004929: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
025640,004930: 24,3504 15155 TCF ENDOFJOB
025641,004931:
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|
Page 608
|
025643,004933: # W-MATRIX MONITOR
025644,004934:
025645,004935: 31,2007 BANK 31
025646,004936: 31,2000 SETLOC VB67
025647,004937: 31,2000 BANK
025648,004938: 31,2007 COUNT* $$/EXTVB
025649,004939:
025650,004940: 31,2007 E4,1600 EBANK= WWPOS
025651,004941:
025652,004942: 31,2007 06037 V67CALL TC INTPRET
025653,004943: 31,2010 77624 CALL
025654,004944: 31,2011 62120 V67WW
025655,004945: 31,2012 77776 EXIT
025656,004946: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
025657,004947: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
025658,004948: 31,2015 53607 DXCH WWBIAS +2
025659,004949: 31,2016 00006 EXTEND
025660,004950: 31,2017 31603 DCA WWVEL
025661,004951: 31,2020 53611 DXCH WWBIAS +4
025662,004952: 31,2021 00006 EXTEND
025663,004953: 31,2022 31605 DCA WWBIAS
025664,004954: 31,2023 53613 DXCH WWBIAS +6
025665,004955: 31,2024 32143 V06N99DS CAF V06N99
025666,004956: 31,2025 04616 TC BANKCALL
025667,004957: 31,2026 20334 CADR GOXDSPF
025668,004958: 31,2027 15472 TCF ENDEXT
025669,004959: 31,2030 12032 TCF V6N99PRO
025670,004960: 31,2031 12024 TCF V06N99DS
025671,004961: 31,2032 22007 V6N99PRO ZL
025672,004962: 31,2033 34756 CA FIVE
025673,004963: 31,2034 54002 N99LOOP TS Q
025674,004964: 31,2035 50002 INDEX Q
025675,004965: 31,2036 41600 CS WWPOS
025676,004966: 31,2037 50002 INDEX Q
025677,004967: 31,2040 61606 AD WWPOS +6
025678,004968: 31,2041 26001 ADS L
025679,004969: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
025680,004970: 31,2043 12034 TCF N99LOOP
025681,004971: 31,2044 22000 LXCH A
025682,004972: 31,2045 00006 EXTEND
025683,004973: 31,2046 12051 BZF V06N9933
025684,004974: 31,2047 05504 TC UPFLAG
025685,004975: 31,2050 00160 ADRES V67FLAG
025686,004976:
025687,004977: 31,2051 06037 V06N9933 TC INTPRET
025688,004978: 31,2052 77414 BON EXIT
025689,004979: 31,2053 03707 V67FLAG
025690,004980: 31,2054 62056 +2
025691,004981: 31,2055 15472 TCF ENDEXT
025692,004982: 31,2056 77745 DLOAD
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|
Page 609
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025694,004984: 31,2057 02201 WWPOS
025695,004985: 31,2060 72412 SL4 SL1
025696,004986: 31,2061 14001 STODL 0D
025697,004987: 31,2062 02203 WWVEL
025698,004988: 31,2063 14003 STODL 2D
025699,004989: 31,2064 02205 WWBIAS
025700,004990: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
025701,004991: 31,2066 20213 10D # INTERNAL SCALING (B+5)
025702,004992: 31,2067 00005 STORE 4D
025703,004993: 31,2070 72014 BON LXA,1
025704,004994: 31,2071 04307 SURFFLAG
025705,004995: 31,2072 62102 V67SURF
025706,004996: 31,2073 00000 0D
025707,004997: 31,2074 72130 SXA,1 LXA,1
025708,004998: 31,2075 02000 WRENDPOS
025709,004999: 31,2076 00002 2D
025710,005000: 31,2077 52130 SXA,1 GOTO
025711,005001: 31,2100 02001 WRENDVEL
025712,005002: 31,2101 62110 V67CLRF
025713,005003: 31,2102 66150 V67SURF LXA,1 SXA,1
025714,005004: 31,2103 00000 0D
025715,005005: 31,2104 02006 WSURFPOS
025716,005006: 31,2105 66150 LXA,1 SXA,1
025717,005007: 31,2106 00002 2D
025718,005008: 31,2107 02007 WSURFVEL
025719,005009: 31,2110 66150 V67CLRF LXA,1 SXA,1
025720,005010: 31,2111 00004 4D
025721,005011: 31,2112 02003 WTRUN
025722,005012: 31,2113 77730 SXA,1
025723,005013: 31,2114 02002 WSHAFT
025724,005014: 31,2115 77414 CLEAR EXIT
025725,005015: 31,2116 02676 RENDWFLG
025726,005016: 31,2117 15472 TCF ENDEXT
025727,005017: 31,2120 40020 V67WW STQ BOV
025728,005018: 31,2121 00051 S2
025729,005019: 31,2122 62123 +1
025730,005020: 31,2123 45014 CLEAR CALL
025731,005021: 31,2124 03667 V67FLAG
025732,005022: 31,2125 27414 INTSTALL
025733,005023: 31,2126 71331 SSP DLOAD
025734,005024: 31,2127 00051 S1
025735,005025: 31,2130 00006 DEC 6 B-14
025736,005026: 31,2131 06522 ZEROVECS
025737,005027: 31,2132 02201 STORE WWPOS
025738,005028: 31,2133 02203 STORE WWVEL
025739,005029: 31,2134 02205 STORE WWBIAS
025740,005030: 31,2135 77770 AXT,1
025741,005031: 31,2136 00066 DEC 54 B-14
025742,005032: 31,2137 47573 NXPOSVEL VLOAD* VSQ
025743,005033: 31,2140 02467 W +54D,1
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Page 610
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025745,005035: 31,2141 77650 GOTO
025746,005036: 31,2142 60002 ADDPOS
025747,005037: 31,2143 01543 V06N99 VN 0699
025748,005038:
025749,005039: 30,2000 SETLOC VB67A
025750,005040: 30,2000 BANK
025751,005041: 30,2002 COUNT* $$/EXTVB
025752,005042:
025753,005043: 30,2002 77615 ADDPOS DAD
025754,005044: 30,2003 02201 WWPOS
025755,005045: 30,2004 02201 STORE WWPOS
025756,005046: 30,2005 47573 VLOAD* VSQ
025757,005047: 30,2006 02555 W +108D,1
025758,005048: 30,2007 77615 DAD
025759,005049: 30,2010 02203 WWVEL
025760,005050: 30,2011 02203 STORE WWVEL
025761,005051: 30,2012 47573 VLOAD* VSQ
025762,005052: 30,2013 02643 W +162D,1
025763,005053: 30,2014 77615 DAD
025764,005054: 30,2015 02205 WWBIAS
025765,005055: 30,2016 02205 STORE WWBIAS
025766,005056: 30,2017 75500 TIX,1 SQRT
025767,005057: 30,2020 62137 NXPOSVEL
025768,005058: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
025769,005059: 30,2022 20613 10D # NOUN SCALING (B-5)
025770,005060: 30,2023 16205 STODL WWBIAS
025771,005061: 30,2024 02203 WWVEL
025772,005062: 30,2025 77766 SQRT
025773,005063: 30,2026 16203 STODL WWVEL
025774,005064: 30,2027 02201 WWPOS
025775,005065: 30,2030 77766 SQRT
025776,005066: 30,2031 02201 STORE WWPOS
025777,005067: 30,2032 52000 BOV GOTO
025778,005068: 30,2033 60035 +2
025779,005069: 30,2034 60042 V67XXX
025780,005070: 30,2035 77745 DLOAD
025781,005071: 30,2036 06530 DPPOSMAX
025782,005072: 30,2037 02201 STORE WWPOS
025783,005073: 30,2040 02203 STORE WWVEL
025784,005074: 30,2041 02205 STORE WWBIAS
025785,005075: 30,2042 45345 V67XXX DLOAD DSU
025786,005076: 30,2043 02201 WWPOS
025787,005077: 30,2044 20060 FT99999
025788,005078: 30,2045 71240 BMN DLOAD
025789,005079: 30,2046 60051 +3
025790,005080: 30,2047 20060 FT99999
025791,005081: 30,2050 02201 STORE WWPOS
025792,005082: 30,2051 66150 LXA,1 SXA,1
025793,005083: 30,2052 00051 S2
025794,005084: 30,2053 00052 QPRET
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Page 611
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025796,005086: 30,2054 77776 EXIT
025797,005087: 30,2055 04635 TC POSTJUMP
025798,005088: 30,2056 27425 CADR INTWAKE
025799,005089:
025800,005090: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
025801,005091:
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Page 612
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025803,005093: 25,3607 BANK 25
025804,005094: 25,2000 SETLOC RADARUPT
025805,005095: 25,2000 BANK
025806,005096: 25,3607 COUNT* $$/RRUPT
025807,005097:
025808,005098: 25,3607 E7,1456 EBANK= LOSCOUNT
025809,005099:
025810,005100: 25,3607 34753 R12LITES CA ONE
025811,005101: 25,3610 71303 MASK IMODES33
025812,005102: 25,3611 10000 CCS A
025813,005103: 25,3612 14707 TCF ISWRETRN
025814,005104:
025815,005105: 25,3613 03630 TC HLIGHT
025816,005106: 25,3614 03625 TC HLIGHT -3
025817,005107: 25,3615 14707 TCF ISWRETRN
025818,005108:
025819,005109: 25,3616 34753 RADLITES CA BIT1
025820,005110: 25,3617 71303 MASK IMODES33
025821,005111: 25,3620 10000 CCS A
025822,005112: 25,3621 00002 TC Q
025823,005113:
025824,005114: 25,3622 44747 CS BIT5
025825,005115: 25,3623 60061 AD ITEMP1
025826,005116: 25,3624 10000 CCS A
025827,005117: 25,3625 44753 CS ONE
025828,005118: 25,3626 13664 TCF VLIGHT
025829,005119:
025830,005120: 25,3627 14570 TCF RRTRKF
025831,005121:
025832,005122: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
025833,005123:
025834,005124: 25,3631 34747 CA HLITE
025835,005125: 25,3632 54001 TS L
025836,005126:
025837,005127: 25,3633 30107 CA FLGWRD11
025838,005128: 25,3634 74751 MASK SCABBIT
025839,005129: 25,3635 10000 CCS A
025840,005130: 25,3636 13656 TCF ONLITES
025841,005131: 25,3637 34747 CA LRALTBIT
025842,005132: 25,3640 70110 BOTHLITS MASK RADMODES
025843,005133: 25,3641 10000 CCS A
025844,005134: 25,3642 13656 TCF ONLITES
025845,005135:
025846,005136: 25,3643 30107 CA FLGWRD11
025847,005137: 25,3644 50065 INDEX ITEMP5
025848,005138: 25,3645 74753 MASK HFLSHBIT
025849,005139: 25,3646 10000 CCS A
025850,005140: 25,3647 14570 TCF RRTRKF
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Page 613
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025852,005142: 25,3650 00006 LITIT EXTEND
025853,005143: 25,3651 22066 QXCH ITEMP6
025854,005144: 25,3652 04602 TC TRKFLON +1
025855,005145:
025856,005146: 25,3653 00006 EXTEND
025857,005147: 25,3654 22066 QXCH ITEMP6
025858,005148: 25,3655 14570 TCF RRTRKF
025859,005149:
025860,005150:
025861,005151: 25,3656 50065 ONLITES INDEX ITEMP5
025862,005152: 25,3657 44753 CS HFLSHBIT
025863,005153: 25,3660 70107 MASK FLGWRD11
025864,005154: 25,3661 54107 TS FLGWRD11
025865,005155:
025866,005156: 25,3662 30001 CA L
025867,005157: 25,3663 13650 TCF LITIT
025868,005158: 25,3664 54065 VLIGHT TS ITEMP5
025869,005159: 25,3665 34751 CA VLITE
025870,005160: 25,3666 54001 TS L
025871,005161: 25,3667 34744 CA BIT8
025872,005162: 25,3670 13640 TCF BOTHLITS
025873,005163:
025874,005164: 25,3671 4747 HLITE EQUALS BIT5
025875,005165: 25,3671 4751 VLITE EQUALS BIT3
025876,005166:
End of include-file P20-P25.agc. Parent file is MAIN.agc