Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. 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 97 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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020822,000002: ## Copyright: Public domain.
020823,000003: ## Filename: P20-P25.agc
020824,000004: ## Purpose: A section of Luminary revision 97.
020825,000005: ## It is part of the reconstructed source code for the
020826,000006: ## second release of the flight software for the Lunar
020827,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
020828,000008: ## It was created to fix two incorrect ephemeris constants in
020829,000009: ## Luminary 96, as described by anomaly report LNY-59.
020830,000010: ## The code has been recreated from a copy of Luminary 99
020831,000011: ## revision 001, using asterisks indicating changed lines in
020832,000012: ## the listing and Luminary Memos #83 and #85, which list
020833,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
020834,000014: ## code has been adapted such that the resulting bugger words
020835,000015: ## exactly match those specified for Luminary 97 in NASA drawing
020836,000016: ## 2021152D, which gives relatively high confidence that the
020837,000017: ## reconstruction is correct.
020838,000018: ## Reference: pp. 492-613
020839,000019: ## Assembler: yaYUL
020840,000020: ## Contact: Ron Burkey <info@sandroid.org>.
020841,000021: ## Website: www.ibiblio.org/apollo/index.html
020842,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
020843,000023: ## 2021-05-30 ABS R21LEMB -> R21LEM8
020844,000024: ## $$/r29 -> $$/R29
020845,000025: ## R29REM0J -> R29REMOJ
020846,000026:
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020848,000028: # RENDEZVOUS NAVIGATION PROGRAM 20
020849,000029:
020850,000030: # PROGRAM DESCRIPTION
020851,000031:
020852,000032: # MOD NO - 2
020853,000033: # BY P. VOLANTE
020854,000034:
020855,000035: # FUNCTIONAL DESCRIPTION
020856,000036:
020857,000037: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
020858,000038: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
020859,000039: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
020860,000040: # ON THE BASIS OF THE RR TRACKING DATA.
020861,000041:
020862,000042: # CALLING SEQUENCE -
020863,000043:
020864,000044: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
020865,000045:
020866,000046: # SUBROUTINES CALLED
020867,000047:
020868,000048: # R02BOTH (IMU STATUS CHECK) FLAGUP
020869,000049: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
020870,000050: # R23LEM (MANUAL ACQUISITION) BANKCALL
020871,000051: # LS201 (LOS DETERMINATION) TASKOVER
020872,000052: # LS202 (RANGE LIMIT TEST)
020873,000053: # R61LEM (PREFERRED TRACKING ATTITUDE)
020874,000054: # R21LEM (RR DESIGNATE) ENDOFJOB
020875,000055: # R22LEM (DATA READ) GOPERF1
020876,000056: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
020877,000057: # PRIOLARM (PRIORITY DISPLAY)
020878,000058:
020879,000059: # NORMAL EXIT MODES -
020880,000060:
020881,000061: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
020882,000062: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
020883,000063:
020884,000064: # ALARM OR ABORT EXIT MODES -
020885,000065:
020886,000066: # RANGE GREATER THAN 400 NM DISPLAY
020887,000067:
020888,000068: # OUTPUT
020889,000069:
020890,000070: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
020891,000071:
020892,000072: # ERASABLE INITIALIZATION REQUIRED
020893,000073:
020894,000074: # FLAGS SET + RESET
020895,000075:
020896,000076: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
020897,000077:
020898,000078: # DEBRIS
020899,000079:
020900,000080: # CENTRALS - A,Q,L
020901,000081:
020902,000082: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
020903,000083:
020904,000084: 33,2045 BANK 33
020905,000085: 24,2000 SETLOC P20S
020906,000086: 24,2000 BANK
020907,000087:
020908,000088: 24,2000 E7,1456 EBANK= LOSCOUNT
020909,000089: 24,2000 COUNT* $$/P20
020910,000090: 24,2000 24,2000 PROG22 = PROG20
020911,000091: 24,2000 05327 PROG20 TC 2PHSCHNG
020912,000092: 24,2001 00004 OCT 4
020913,000093: 24,2002 05022 OCT 05022
020914,000094: 24,2003 26000 OCT 26000 # PRIORITY 26
020915,000095: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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020917,000097: 24,2005 02007 TC ORBCHGO # YES
020918,000098: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
020919,000099: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
020920,000100: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
020921,000101: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
020922,000102: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT
020923,000103: 24,2013 32311 CAF OCT00012
020924,000104: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
020925,000105: 24,2015 20633 CADR GOPERF4
020926,000106: 24,2016 06001 TC GOTOPOOH # TERMINATE
020927,000107: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
020928,000108: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
020929,000109: 24,2021 42312 ORBCHG1 CS P22ONE
020930,000110: 24,2022 61145 AD OPTION2
020931,000111: 24,2023 00006 EXTEND
020932,000112: 24,2024 12040 BZF PROG20A
020933,000113: 24,2025 32315 CAF V06N33*
020934,000114: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
020935,000115: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH
020936,000116: 24,2030 06001 TC GOTOPOOH # TERMINATE
020937,000117: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
020938,000118: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
020939,000119: 24,2033 06037 ORBCHG2 TC INTPRET
020940,000120: 24,2034 77650 GOTO
020941,000121: 24,2035 64217 ORBCHG3
020942,000122: 32,2217 BANK 32
020943,000123: 32,2000 SETLOC P20S4
020944,000124: 32,2000 BANK
020945,000125: 32,2217 COUNT* $$/P20
020946,000126:
020947,000127: 32,2217 77624 ORBCHG3 CALL
020948,000128: 32,2220 27414 INTSTALL
020949,000129: 32,2221 77745 DLOAD
020950,000130: 32,2222 03442 TIG
020951,000131: 32,2223 03661 STORE LNCHTM
020952,000132: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
020953,000133: 32,2225 43014 CLEAR CLEAR
020954,000134: 32,2226 01674 VINTFLAG # LM INTEGRATION
020955,000135: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
020956,000136: 32,2230 43014 CLEAR CLEAR
020957,000137: 32,2231 01676 DIM0FLAG # NO W-MATRIX
020958,000138: 32,2232 01675 D6OR9FLG
020959,000139: 32,2233 77624 CALL
020960,000140: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
020961,000141: 32,2235 77624 CALL
020962,000142: 32,2236 11244 GRP2PC
020963,000143: 32,2237 77775 VLOAD
020964,000144: 32,2240 00017 RATT1
020965,000145: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
020966,000146: 32,2242 00015 TAT
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020968,000148: 32,2243 34041 STCALL TDEC1
020969,000149: 32,2244 27414 INTSTALL
020970,000150: 32,2245 43014 SET CLEAR
020971,000151: 32,2246 01474 VINTFLAG # CSM INTEGRATION
020972,000152: 32,2247 01673 INTYPFLG
020973,000153: 32,2250 43014 CLEAR BOFF
020974,000154: 32,2251 01676 DIM0FLAG
020975,000155: 32,2252 02756 RENDWFLG # W MATRIX VALID
020976,000156: 32,2253 64257 NOWMATX # NO
020977,000157: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
020978,000158: 32,2255 01476 DIM0FLAG
020979,000159: 32,2256 01475 D6OR9FLG
020980,000160: 32,2257 77624 NOWMATX CALL
020981,000161: 32,2260 27134 INTEGRV # CSM INTEGRATION
020982,000162: 32,2261 77624 CALL
020983,000163: 32,2262 11244 GRP2PC
020984,000164: 32,2263 77775 VLOAD
020985,000165: 32,2264 00025 VATT1
020986,000166: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
020987,000167: 32,2266 00017 RATT1
020988,000168: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION
020989,000169: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
020990,000170: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
020991,000171: 32,2272 24025 STOVL 20D # SAVE NSUB1
020992,000172: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
020993,000173: 32,2274 53435 VXV UNIT # PLANE CHANGE
020994,000174: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
020995,000175: 32,2276 27637 STOVL UCSM
020996,000176: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
020997,000177: 32,2300 50256 UNIT DOT # AND RSUBC
020998,000178: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
020999,000179: 32,2302 77752 SL1
021000,000180: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021001,000181: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021002,000182: 32,2305 10314 ONEB-2
021003,000183: 32,2306 77766 SQRT
021004,000184: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021005,000185: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
021006,000186: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021007,000187: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021008,000188: 32,2313 77676 VCOMP
021009,000189: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021010,000190: 32,2315 45014 CLEAR CALL
021011,000191: 32,2316 03666 RVSW
021012,000192: 32,2317 24732 TIMETHET
021013,000193: 32,2320 77676 VCOMP
021014,000194: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021015,000195: 32,2322 77745 DLOAD
021016,000196: 32,2323 00037 T
021017,000197: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021019,000199: 32,2325 03645 NEWVEL
021020,000200: 32,2326 77646 ABVAL
021021,000201: 32,2327 24025 STOVL 20D
021022,000202: 32,2330 00001 0D
021023,000203: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021024,000204: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021025,000205: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021026,000206: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021027,000207: 32,2335 03653 NEWPOS # ORBITAL PLANE
021028,000208: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
021029,000209: 32,2337 00025 20D
021030,000210: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021031,000211: 32,2341 11244 GRP2PC
021032,000212: 32,2342 77624 CALL
021033,000213: 32,2343 27414 INTSTALL
021034,000214: 32,2344 44345 DLOAD BDSU
021035,000215: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021036,000216: 32,2346 03661 LNCHTM
021037,000217: 32,2347 25517 STOVL TET
021038,000218: 32,2350 03653 NEWPOS
021039,000219: 32,2351 01535 STORE RCV
021040,000220: 32,2352 25503 STOVL RRECT
021041,000221: 32,2353 03665 NCSMVEL
021042,000222: 32,2354 35511 STCALL VRECT
021043,000223: 32,2355 23455 MINIRECT
021044,000224: 32,2356 45174 AXT,2 CALL
021045,000225: 32,2357 00002 2
021046,000226: 32,2360 26661 ATOPCSM
021047,000227: 32,2361 77624 CALL
021048,000228: 32,2362 27423 INTWAKE0
021049,000229: 32,2363 77776 EXIT
021050,000230: 32,2364 04616 TC BANKCALL
021051,000231: 32,2365 50040 CADR PROG20A
021052,000232:
021053,000233: 24,2036 BANK 24
021054,000234: 24,2000 SETLOC P20S
021055,000235: 24,2000 BANK
021056,000236: 24,2036 COUNT* $$/P20
021057,000237:
021058,000238: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021059,000239: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021060,000240: 24,2040 04616 PROG20A TC BANKCALL
021061,000241: 24,2041 11254 CADR R02BOTH
021062,000242: 24,2042 05504 TC UPFLAG
021063,000243: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021064,000244: 24,2044 05504 TC UPFLAG
021065,000245: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021066,000246: 24,2046 05504 TC UPFLAG
021067,000247: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021068,000248: 24,2050 05516 TC DOWNFLAG
021069,000249: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021071,000251: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021072,000252: 24,2053 00040 ADRES ACMODFLG
021073,000253: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021074,000254: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021075,000255: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021076,000256: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021077,000257: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021078,000258: 24,2061 00041 ADRES LOSCMFLG
021079,000259: 24,2062 06011 TC CLRADMOD
021080,000260: 24,2063 05353 P20LEM1 TC PHASCHNG
021081,000261: 24,2064 04022 OCT 04022
021082,000262: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021083,000263: 24,2066 55462 TS MARKCTR
021084,000264: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE
021085,000265: 24,2070 77634 RTB
021086,000266: 24,2071 21573 LOADTIME
021087,000267: 24,2072 34041 STCALL TDEC1
021088,000268: 24,2073 51255 LPS20.1
021089,000269: 24,2074 77624 CALL
021090,000270: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE
021091,000271: 24,2076 77776 EXIT
021092,000272: 24,2077 50154 INDEX MPAC
021093,000273: 24,2100 02101 TC +1
021094,000274: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021095,000275: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021096,000276: 24,2103 04616 TC BANKCALL
021097,000277: 24,2104 21562 CADR PRIOLARM
021098,000278: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021099,000279: 24,2106 02102 TC -4 # PROC (ILLEGAL
021100,000280: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021101,000281: 24,2110 05155 TC ENDOFJOB
021102,000282:
021103,000283: 24,2111 05353 P20LEMA TC PHASCHNG
021104,000284: 24,2112 04022 OCT 04022
021105,000285: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021106,000286: 24,2114 02117 TC P20LEMB
021107,000287: 24,2115 04616 TC BANKCALL
021108,000288: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021109,000289: 24,2117 05353 P20LEMB TC PHASCHNG
021110,000290: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021111,000291: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021112,000292: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26
021113,000293: 24,2123 05146 TC PRIOCHNG
021114,000294: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021115,000295: 24,2125 74747 MASK TRACKBIT
021116,000296: 24,2126 00006 EXTEND
021117,000297: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021118,000298: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021119,000299: 24,2131 00006 EXTEND
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021121,000301: 24,2132 02033 RAND CHAN33
021122,000302: 24,2133 00006 EXTEND
021123,000303: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021124,000304:
021125,000305: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021126,000306: 24,2136 61011 AD MODREG # MAJOR MODE IS 20
021127,000307: 24,2137 00006 EXTEND
021128,000308: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES - OK TO DO PLEASE PERFORM
021129,000309:
021130,000310: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22
021131,000311: 24,2142 00006 EXTEND
021132,000312: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021133,000313: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021134,000314: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021135,000315: 24,2146 21562 CADR PRIOLARM
021136,000316: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
021137,000317: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021138,000318: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021139,000319: 24,2152 05155 TC ENDOFJOB
021140,000320: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021141,000321: 24,2154 04616 TC BANKCALL
021142,000322: 24,2155 20623 CADR GOPERF1
021143,000323: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021144,000324: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021145,000325: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021146,000326: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021147,000327: 24,2162 03135 TC R23LEM # NO - DO MANUAL ACQUISITION
021148,000328:
021149,000329: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021150,000330: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021151,000331: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021152,000332:
021153,000333: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021154,000334: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021155,000335:
021156,000336: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021157,000337: 24,2171 74737 MASK RCDU0BIT
021158,000338: 24,2172 00006 EXTEND
021159,000339: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021160,000340: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021161,000341: 24,2175 70076 MASK FLAGWRD2
021162,000342: 24,2176 00006 EXTEND
021163,000343: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021164,000344: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021165,000345: 24,2201 00037 ADRES SRCHOPTN
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021167,000347: 24,2202 05516 TC DOWNFLAG
021168,000348: 24,2203 00040 ADRES ACMODFLG
021169,000349: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021170,000350:
021171,000351: 24,2205 32304 P20LEMB4 CAF 250DEC
021172,000352: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021173,000353: 24,2207 01735 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021174,000354: 24,2210 02170 TC P20LEMB3
021175,000355:
021176,000356: 24,2211 06037 P20LEMC3 TC INTPRET
021177,000357: 24,2212 77634 RTB
021178,000358: 24,2213 21573 LOADTIME
021179,000359: 24,2214 34041 STCALL TDEC1
021180,000360: 24,2215 50316 UPPSV
021181,000361: 24,2216 77776 P20LEMC4 EXIT
021182,000362: 24,2217 05353 P20LEMC TC PHASCHNG
021183,000363: 24,2220 04022 OCT 04022
021184,000364: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021185,000365: 24,2222 74745 MASK RNDVZBIT
021186,000366: 24,2223 00006 EXTEND
021187,000367: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021188,000368: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021189,000369: 24,2226 74747 MASK TRACKBIT
021190,000370: 24,2227 00006 EXTEND
021191,000371: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021192,000372: 24,2231 02674 P20LEMF TC R21LEM
021193,000373:
021194,000374: 24,2232 32304 P20LEMWT CAF 250DEC
021195,000375: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021196,000376: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021197,000377: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021198,000378: 24,2236 74747 MASK TRACKBIT
021199,000379: 24,2237 00006 EXTEND
021200,000380: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021201,000381: 24,2241 05353 P20LMWT1 TC PHASCHNG
021202,000382: 24,2242 40072 OCT 40072
021203,000383: 24,2243 05155 TC ENDOFJOB
021204,000384:
021205,000385: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021206,000386: 24,2245 74745 MASK RNDVZBIT
021207,000387: 24,2246 00006 EXTEND
021208,000388: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021209,000389: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021210,000390: 24,2251 74747 MASK TRACKBIT
021211,000391: 24,2252 00006 EXTEND
021212,000392: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
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Page 499
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021214,000394: 24,2254 37714 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021215,000395: 24,2255 05105 TC FINDVAC
021216,000396: 24,2256 E7,1456 EBANK= LOSCOUNT
021217,000397: 24,2256 02627 50067 2CADR R22LEM42
021218,000398:
021219,000399: 24,2260 05261 TC TASKOVER
021220,000400:
021221,000401: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021222,000402: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021223,000403:
021224,000404: 24,2263 02244 TC P20LEMC1
021225,000405:
021226,000406: 24,2264 32666 P20LEMD CAF 1500DEC
021227,000407: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021228,000408: 24,2266 02270 ADRES P20LEMD1
021229,000409: 24,2267 05155 TC ENDOFJOB
021230,000410:
021231,000411: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021232,000412: 24,2271 74747 MASK TRACKBIT
021233,000413: 24,2272 10000 CCS A
021234,000414: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021235,000415: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021236,000416: 24,2275 02734 DEC 1500 B-14
021237,000417: 24,2276 02270 TC P20LEMD1
021238,000418:
021239,000419: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021240,000420: 24,2300 05105 TC FINDVAC
021241,000421: 24,2301 E7,1456 EBANK= LOSCOUNT
021242,000422: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021243,000423:
021244,000424: 24,2303 05261 TC TASKOVER
021245,000425:
021246,000426: 24,2304 00372 250DEC DEC 250 B-14
021247,000427: 24,2305 00526 ALRM526 OCT 00526
021248,000428: 24,2306 00201 OCT201 OCT 00201
021249,000429: 24,2307 00514 ALRM514 OCT 514
021250,000430: 24,2310 00074 MAXTRIES DEC 60 B-14
021251,000431: 24,2311 00012 OCT00012 OCT 00012
021252,000432: 24,2312 00001 P22ONE OCT 00001
021253,000433: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2
021254,000434:
021255,000435: 24,2315 01441 V06N33* VN 0633
021256,000436: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021257,000437: 24,2317 01757 LS21X # TO PRESENT TIME
021258,000438: 24,2320 27414 INTSTALL
021259,000439: 24,2321 77624 CALL
|
|
Page 500
|
021261,000441: 24,2322 26644 SETIFLGS
021262,000442: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
021263,000443: 24,2324 02756 RENDWFLG
021264,000444: 24,2325 50336 UPPSV1
021265,000445: 24,2326 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021266,000446: 24,2327 43014 BON SET
021267,000447: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021268,000448: 24,2331 50333 UPPSV5
021269,000449: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9
021270,000450: 24,2333 77614 UPPSV5 BOF
021271,000451: 24,2334 00747 VEHUPFLG
021272,000452: 24,2335 50370 UPPSV3
021273,000453: 24,2336 77614 UPPSV1 SET
021274,000454: 24,2337 01474 VINTFLAG
021275,000455: 24,2340 77624 CALL
021276,000456: 24,2341 27134 INTEGRV
021277,000457: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE
021278,000458: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION
021279,000459: 24,2344 77624 CALL
021280,000460: 24,2345 27414 INTSTALL
021281,000461: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021282,000462: 24,2347 01571 TETCSM
021283,000463: 24,2350 01674 VINTFLAG
021284,000464: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021285,000465: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX
021286,000466: 24,2353 34041 STCALL TDEC1
021287,000467: 24,2354 27134 INTEGRV
021288,000468: 24,2355 77214 BOFF VLOAD
021289,000469: 24,2356 04347 SURFFLAG
021290,000470: 24,2357 50216 P20LEMC4
021291,000471: 24,2360 01661 RCVLEM
021292,000472: 24,2361 77742 VSR2
021293,000473: 24,2362 26352 STOVL LMPOS
021294,000474: 24,2363 01667 VCVLEM
021295,000475: 24,2364 77742 VSR2
021296,000476: 24,2365 02360 STORE LMVEL
021297,000477: 24,2366 77650 GOTO
021298,000478: 24,2367 01757 LS21X
021299,000479:
021300,000480: 24,2370 45014 UPPSV3 CLEAR CALL
021301,000481: 24,2371 01674 VINTFLAG
021302,000482: 24,2372 27134 INTEGRV
021303,000483: 24,2373 77624 CALL
021304,000484: 24,2374 11244 GRP2PC
021305,000485: 24,2375 77624 CALL
021306,000486: 24,2376 27414 INTSTALL
021307,000487: 24,2377 71214 SET DLOAD
021308,000488: 24,2400 01474 VINTFLAG
021309,000489: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
|
|
Page 501
|
021311,000491: 24,2402 77650 GOTO
021312,000492: 24,2403 50351 UPPSV4
021313,000493: 24,2404 E7,1456 EBANK= LOSCOUNT
021314,000494: 24,2404 COUNT* $$/P22
021315,000495:
|
|
Page 502
|
021317,000497: # PROGRAM DESCRIPTION
021318,000498:
021319,000499: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021320,000500: # MOD NO - 3
021321,000501: # BY P. VOLANTE
021322,000502:
021323,000503: # FUNCTIONAL DESCRIPTION
021324,000504:
021325,000505: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021326,000506: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021327,000507: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021328,000508: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021329,000509:
021330,000510: # CALLING SEQUENCE -
021331,000511:
021332,000512: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021333,000513:
021334,000514: # SUBROUTINES CALLED -
021335,000515:
021336,000516: # BANKCALL FLAGUP
021337,000517: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021338,000518: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021339,000519: # TASKOVER FINDVAC
021340,000520:
021341,000521: # NORMAL EXIT MODES -
021342,000522:
021343,000523: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021344,000524: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021345,000525:
021346,000526: # ALARM OR ABORT EXIT MODES -
021347,000527:
021348,000528: # NONE
021349,000529:
021350,000530: # OUTPUT
021351,000531:
021352,000532: # ERASABLE INITIALIZATION REQUIRED
021353,000533:
021354,000534: # FLAGS SET + RESET
021355,000535:
021356,000536: # TRACKFLG, P25FLAG
021357,000537:
021358,000538: # DEBRIS
021359,000539:
021360,000540: # NONE
021361,000541:
021362,000542: 24,2404 E7,1456 EBANK= LOSCOUNT
021363,000543: 24,2404 COUNT* $$/P25
021364,000544: 24,2404 05327 PROG25 TC 2PHSCHNG
021365,000545: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021366,000546: 24,2406 05022 OCT 05022
021367,000547: 24,2407 26000 OCT 26000 # PRIORITY 26
021368,000548:
021369,000549: 24,2410 04616 TC BANKCALL
021370,000550: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK
021371,000551: 24,2412 05504 TC UPFLAG
021372,000552: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG
021373,000553: 24,2414 05504 TC UPFLAG
021374,000554: 24,2415 00006 ADRES P25FLAG # SET P25FLAG
021375,000555: 24,2416 05353 P25LEM1 TC PHASCHNG
021376,000556: 24,2417 04022 OCT 04022
021377,000557: 24,2420 34743 CAF P25FLBIT
021378,000558: 24,2421 70074 MASK STATE # IS P25FLAG SET
021379,000559: 24,2422 00006 EXTEND
021380,000560: 24,2423 15155 BZF ENDOFJOB
021381,000561: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021382,000562: 24,2425 70075 MASK STATE +1
021383,000563: 24,2426 00006 EXTEND
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|
Page 503
|
021385,000565: 24,2427 12437 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021386,000566: 24,2430 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021387,000567: 24,2431 55745 TS R65CNTR
021388,000568: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021389,000569: 24,2433 46123 CADR R65LEM
021390,000570: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS
021391,000571: 24,2435 05353 P25LEMWT TC PHASCHNG
021392,000572: 24,2436 00112 OCT 00112
021393,000573: 24,2437 32450 P25LMWT1 CAF 60SCNDS
021394,000574: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021395,000575: 24,2441 02443 ADRES P25LEM2
021396,000576: 24,2442 05155 TC ENDOFJOB
021397,000577: 24,2443 35024 P25LEM2 CAF PRIO14
021398,000578: 24,2444 05105 TC FINDVAC
021399,000579: 24,2445 E7,1456 EBANK= LOSCOUNT
021400,000580: 24,2445 02416 50067 2CADR P25LEM1
021401,000581:
021402,000582: 24,2447 05261 TC TASKOVER
021403,000583: 24,2450 13560 60SCNDS DEC 6000 B-14
021404,000584:
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Page 504
|
021406,000586: # DATA READ ROUTINE 22 (LEM)
021407,000587: # PROGRAM DESCRIPTION
021408,000588:
021409,000589: # MOD NO - 2
021410,000590: # BY P VOLANTE
021411,000591:
021412,000592: # FUNCTIONAL DESCRIPTION
021413,000593:
021414,000594: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021415,000595: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021416,000596:
021417,000597: # CALLING SEQUENCE -
021418,000598:
021419,000599: # TC BANKCALL
021420,000600: # CADR R22LEM
021421,000601:
021422,000602: # SUBROUTINES CALLED -
021423,000603:
021424,000604: # LSR22.1 GOFLASH WAITLIST
021425,000605: # LSR22.2 PRIOLARM BANKCALL
021426,000606: # LSR22.3 R61LEM
021427,000607:
021428,000608: # NORMAL EXIT MODES -
021429,000609:
021430,000610: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021431,000611: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021432,000612: # R22 WILL TERMINATE SELF.
021433,000613:
021434,000614: # ALARM OR ABORT EXIT MODES -
021435,000615:
021436,000616: # PRIORITY ALARM
021437,000617: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021438,000618:
021439,000619: # OUTPUT
021440,000620:
021441,000621: # SEE OUTPUT FROM LSR22.3
021442,000622:
021443,000623: # ERASABLE INITIALIZATION REQUIRED
021444,000624:
021445,000625: # SEE LSR22.1, LSR22.2, LSR22.3
021446,000626:
021447,000627: # FLAGS SET + RESET
021448,000628:
021449,000629: # NOANGFLG
021450,000630:
021451,000631: # DEBRIS
021452,000632:
021453,000633: # SEE LSR22.1, LSR22.2, LSR22.3
021454,000634:
021455,000635: 24,2451 E7,1737 EBANK= LRS22.1X
021456,000636: 24,2451 COUNT* $$/R22
021457,000637: 24,2451 05353 R22LEM TC PHASCHNG
021458,000638: 24,2452 04022 OCT 04022
021459,000639: 24,2453 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021460,000640: 24,2454 70074 MASK STATE
021461,000641: 24,2455 00006 EXTEND
021462,000642: 24,2456 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021463,000643: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021464,000644: 24,2460 70075 MASK STATE +1
021465,000645: 24,2461 00006 EXTEND
021466,000646: 24,2462 12636 BZF R22WAIT # NO WAIT
021467,000647: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021468,000648: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021469,000649: 24,2465 02012 RAND CHAN12
021470,000650: 24,2466 00006 EXTEND
021471,000651: 24,2467 12111 BZF P20LEMA # NO - RETURN TO P20
021472,000652: 24,2470 34752 CAF BIT2 # YES
021473,000653: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021474,000654: 24,2472 02033 RAND CHAN33
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|
Page 505
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021476,000656: 24,2473 00006 EXTEND
021477,000657: 24,2474 12476 BZF +2 # YES CONTINUE
021478,000658: 24,2475 02135 TC P20LEMB5 # NO - SET IT
021479,000659: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021480,000660: 24,2477 74737 MASK RCDU0BIT
021481,000661: 24,2500 00006 EXTEND
021482,000662: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED
021483,000663: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AN EXTRA RADAR
021484,000664: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021485,000665: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021486,000666: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021487,000667: 24,2506 50154 INDEX MPAC
021488,000668: 24,2507 02510 TC +1
021489,000669: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021490,000670: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021491,000671: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021492,000672: 24,2513 04616 TC BANKCALL
021493,000673: 24,2514 21562 CADR PRIOLARM
021494,000674: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021495,000675: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021496,000676: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION)
021497,000677: 24,2520 05155 TC ENDOFJOB
021498,000678:
021499,000679: 24,2521 05353 R22LEM1 TC PHASCHNG
021500,000680: 24,2522 04022 OCT 04022
021501,000681: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA
021502,000682: 24,2524 04616 TC BANKCALL
021503,000683: 24,2525 20507 CADR PRIODSP
021504,000684: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021505,000685: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE)
021506,000686: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE)
021507,000687: 24,2531 05353 R22LEM2 TC PHASCHNG
021508,000688: 24,2532 04022 OCT 04022
021509,000689: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021510,000690: 24,2534 02551 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021511,000691: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021512,000692: 24,2536 74747 MASK TRACKBIT
021513,000693: 24,2537 00006 EXTEND
021514,000694: 24,2540 12636 BZF R22WAIT # NO - WAIT
021515,000695: 24,2541 04616 TC BANKCALL # YES
021516,000696: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021517,000697: 24,2543 50154 INDEX MPAC
021518,000698: 24,2544 02545 TC +1
021519,000699: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021520,000700: 24,2546 04616 TC BANKCALL
021521,000701: 24,2547 46116 CADR R61LEM
021522,000702: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021523,000703: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021524,000704: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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|
Page 506
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021526,000706: 24,2553 00006 EXTEND
021527,000707: 24,2554 12627 BZF R22LEM42 # BRANCH - YES
021528,000708: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021529,000709: 24,2556 74745 MASK UPDATBIT
021530,000710: 24,2557 00006 EXTEND
021531,000711: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET
021532,000712: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021533,000713: 24,2562 55056 TS PHSPRDT2
021534,000714:
021535,000715: 24,2563 06037 TC INTPRET
021536,000716: 24,2564 77650 GOTO
021537,000717: 24,2565 54412 LSR22.3
021538,000718: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021539,000719: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021540,000720: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021541,000721: 24,2571 12622 TCF R22LEM44
021542,000722: 24,2572 77776 R22LEM96 EXIT
021543,000723: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021544,000724: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021545,000725: 24,2575 05353 TC PHASCHNG
021546,000726: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY
021547,000727: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY
021548,000728: 24,2600 05072 TC NOVAC
021549,000729: 24,2601 E7,1746 EBANK= N49FLAG
021550,000730: 24,2601 02644 50067 2CADR N49DSP
021551,000731:
021552,000732: 24,2603 06037 TC INTPRET
021553,000733: 24,2604 77735 SLOAD
021554,000734: 24,2605 03747 N49FLAG
021555,000735: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG
021556,000736: 24,2607 50604 -3 # SETTING CHANGED - BRANCH - NO
021557,000737: 24,2610 50616 R22LEM7 # PROCEED
021558,000738: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
021559,000739: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021560,000740: 24,2613 02636 TC R22WAIT # YES - 15 SECOND DELAY
021561,000741: 24,2614 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
021562,000742: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
021563,000743: 24,2616 77624 R22LEM7 CALL # PROCEED
021564,000744: 24,2617 11244 GRP2PC # PHASE CHANGE AND
021565,000745: 24,2620 77650 GOTO # GO TO INCORPORATE DATA.
021566,000746: 24,2621 55431 ASTOK
021567,000747: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021568,000748: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021569,000749: 24,2624 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021570,000750: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE
021571,000751: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5
021572,000752: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021573,000753: 24,2630 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021574,000754: 24,2631 34752 CA TWO # NO - SET R65COUNTER = 2
021575,000755: 24,2632 55745 R22LEM45 TS R65CNTR
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Page 507
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021577,000757: 24,2633 04616 TC BANKCALL
021578,000758: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021579,000759: 24,2635 02451 TC R22LEM
021580,000760: 24,2636 32666 R22WAIT CAF 1500DEC
021581,000761: 24,2637 02233 TC P20LEMWT +1
021582,000762:
021583,000763: 24,2640 35000 R22LEM46 CAF 2SECS
021584,000764: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021585,000765: 24,2642 01735 CADR DELAYJOB
021586,000766: 24,2643 02451 TC R22LEM
021587,000767:
021588,000768: 24,2644 32665 N49DSP CAF V06N49NB
021589,000769: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021590,000770: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021591,000771: 24,2647 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
021592,000772: 24,2650 44753 CS ONE # PROCEED - N49FLAG = -1
021593,000773: 24,2651 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021594,000774: 24,2652 05155 TC ENDOFJOB
021595,000775: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021596,000776: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021597,000777: 24,2655 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021598,000778: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021599,000779: 24,2657 04616 TC BANKCALL # BAD DATA
021600,000780: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
021601,000781: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021602,000782: 24,2662 02451 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
021603,000783:
021604,000784: 24,2663 00525 ALRM525 OCT 00525
021605,000785: 24,2664 01405 V06N05 VN 00605
021606,000786: 24,2665 01461 V06N49NB VN 00649
021607,000787: 24,2666 02734 1500DEC DEC 1500 B-14
021608,000788:
021609,000789: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021610,000790: # RETURNS TO CALLER +1 IF P22FLAG SET
021611,000791: # TO CALLER +2 IF P22FLAG NOT SET
021612,000792:
021613,000793: 24,2667 COUNT* $$/P22
021614,000794: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021615,000795: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET?
021616,000796: 24,2671 10000 CCS A # BRANCH - P22FLAG SET
021617,000797: 24,2672 24002 INCR Q # NOT SET
021618,000798: 24,2673 00002 TC Q # RETURN
021619,000799:
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021621,000801: # RR DESIGNATE ROUTINE (R21LEM)
021622,000802: # PROGRAM DESCRIPTION
021623,000803:
021624,000804: # MOD NO - 2
021625,000805: # BY P VOLANTE
021626,000806:
021627,000807: # FUNCTIONAL DESCRIPTION
021628,000808:
021629,000809: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021630,000810: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021631,000811:
021632,000812: # CALLING SEQUENCE -
021633,000813:
021634,000814: # TC BANKCALL
021635,000815: # CADR R21LEM
021636,000816:
021637,000817: # SUBROUTINES CALLED -
021638,000818:
021639,000819: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021640,000820: # NOVAC INTPRET LPS20.1 PHASCHNG
021641,000821: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021642,000822: # TASKOVER BANKCALL RADSTALL RRDESSM
021643,000823:
021644,000824: # NORMAL EXIT MODES
021645,000825: #
021646,000826: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021647,000827: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021648,000828:
021649,000829: # ALARM OR ABORT EXIT MODES -
021650,000830:
021651,000831: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021652,000832: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021653,000833: # ACQUISITION
021654,000834:
021655,000835: # OUTPUT
021656,000836:
021657,000837: # SEE LPS20.1, RRDESSM
021658,000838:
021659,000839: # ERASABLE INITIALIZATION REQUIRED
021660,000840:
021661,000841: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021662,000842:
021663,000843: # FLAGS SET + RESET
021664,000844:
021665,000845: # LOSCMFLG LOKONSW
021666,000846:
021667,000847: # DEBRIS
021668,000848:
021669,000849: # SEE LPS20.1, RRDESSM
021670,000850:
021671,000851: 24,2674 E7,1456 EBANK= LOSCOUNT
021672,000852: 24,2674 COUNT* $$/R21
021673,000853: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021674,000854: 24,2675 00006 EXTEND
021675,000855: 24,2676 03012 WAND CHAN12
021676,000856: 24,2677 02667 TC LUNSFCHK
021677,000857: 24,2700 02705 TC R21LEM5
021678,000858: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021679,000859: 24,2702 55107 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021680,000860: 24,2703 55110 TS TANG +1
021681,000861: 24,2704 02715 TC R21LEM6
021682,000862: 24,2705 34740 R21LEM5 CAF BIT12
021683,000863: 24,2706 70110 MASK RADMODES
021684,000864: 24,2707 10000 CCS A
021685,000865: 24,2710 02725 TC R21LEM10
021686,000866: 24,2711 34735 CAF BIT15
021687,000867: 24,2712 55107 TS TANG
021688,000868: 24,2713 44736 CS HALF
021689,000869: 24,2714 55110 TS TANG +1
021690,000870:
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021692,000872: 24,2715 05516 R21LEM6 TC DOWNFLAG
021693,000873: 24,2716 00012 ADRES LOKONSW
021694,000874: 24,2717 04616 TC BANKCALL
021695,000875: 24,2720 52475 CADR RRDESNB
021696,000876: 24,2721 02722 TC +1
021697,000877: 24,2722 04616 TC BANKCALL
021698,000878: 24,2723 17714 CADR RADSTALL
021699,000879: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
021700,000880: 24,2725 05504 R21LEM10 TC UPFLAG
021701,000881: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021702,000882: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021703,000883: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021704,000884: 24,2731 36245 R21LEM2 CAF THREE
021705,000885: 24,2732 55456 TS LOSCOUNT
021706,000886: 24,2733 06037 R21LEM1 TC INTPRET
021707,000887: 24,2734 43234 RTB DAD
021708,000888: 24,2735 21573 LOADTIME
021709,000889: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021710,000890: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021711,000891: 24,2740 51255 LPS20.1
021712,000892: 24,2741 77776 EXIT
021713,000893: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
021714,000894: 24,2743 00012 ADRES LOKONSW
021715,000895: 24,2744 05516 TC DOWNFLAG
021716,000896: 24,2745 00126 ADRES NORRMON
021717,000897: 24,2746 06037 TC INTPRET
021718,000898: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021719,000899: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE
021720,000900: 24,2751 77776 EXIT
021721,000901: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021722,000902: # ON LUNAR SURFACE
021723,000903: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021724,000904: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021725,000905: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021726,000906: 24,2756 02760 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021727,000907: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021728,000908: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503
021729,000909: 24,2761 04616 TC BANKCALL
021730,000910: 24,2762 21562 CADR PRIOLARM
021731,000911: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021732,000912: 24,2764 02772 TC R21SRCH # PROC
021733,000913: 24,2765 02211 TC P20LEMC3
021734,000914: 24,2766 05155 TC ENDOFJOB
021735,000915: 24,2767 05516 R21END TC DOWNFLAG
021736,000916: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021737,000917: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021738,000918: 24,2772 05353 R21SRCH TC PHASCHNG
021739,000919: 24,2773 04022 OCT 04022
021740,000920: 24,2774 03206 TC R24LEM # SEARCH ROUTINE
021741,000921: 24,2775 00503 ALRM503 OCT 00503
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021743,000923: 24,2776 00527 ALRM527 OCT 527
021744,000924:
021745,000925: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
021746,000926: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
021747,000927: 24,3001 05504 TC UPFLAG
021748,000928: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
021749,000929: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING
021750,000930: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG
021751,000931: 24,3005 06037 TC INTPRET
021752,000932: 24,3006 77634 R21LEM12 RTB
021753,000933: 24,3007 21573 LOADTIME
021754,000934: 24,3010 77615 DAD
021755,000935: 24,3011 11116 TENSEC # TIME T = T + 10 SECS.
021756,000936: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
021757,000937: 24,3013 34041 STCALL TDEC1
021758,000938: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T
021759,000939: 24,3015 77624 CALL
021760,000940: 24,3016 52373 RRDESSM
021761,000941: 24,3017 77776 EXIT
021762,000942: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
021763,000943: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
021764,000944: 24,3022 06027 TC KILLTASK
021765,000945: 24,3023 52573 CADR BEGDES
021766,000946: 24,3024 06037 TC INTPRET
021767,000947: 24,3025 77614 BOF
021768,000948: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION
021769,000949: 24,3027 51043 R21LEM8 # NO - GO TO CONTINUOUS DESIGNATE
021770,000950: 24,3030 77614 CLRGO
021771,000951: 24,3031 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
021772,000952: 24,3032 51037 R21LEM7 +1
021773,000953: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
021774,000954: 24,3034 03036 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
021775,000955: 24,3035 03105 TC R21LEM11 # YES - PUT OUT ALARM 530
021776,000956: 24,3036 55423 R21LEM7 TS REPOSCNT
021777,000957: 24,3037 06037 TC INTPRET
021778,000958: 24,3040 52145 DLOAD GOTO
021779,000959: 24,3041 03425 REPOSTM
021780,000960: 24,3042 51010 R21LEM12 +2
021781,000961: 24,3043 77745 R21LEM8 DLOAD
021782,000962: 24,3044 03425 REPOSTM
021783,000963: 24,3045 34041 STCALL TDEC1
021784,000964: 24,3046 50316 UPPSV
021785,000965: 24,3047 77776 EXIT
021786,000966: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
021787,000967: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
021788,000968: 24,3052 05516 TC DOWNFLAG
021789,000969: 24,3053 00012 ADRES LOKONSW
021790,000970: 24,3054 05504 TC UPFLAG
021791,000971: 24,3055 00126 ADRES NORRMON
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021793,000973: 24,3056 04616 TC BANKCALL
021794,000974: 24,3057 52475 CADR RRDESNB
021795,000975: 24,3060 03061 TC +1
021796,000976: 24,3061 06037 TC INTPRET
021797,000977: 24,3062 44234 RTB BDSU
021798,000978: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME
021799,000979: 24,3064 03425 REPOSTM # FOR LONGCALL
021800,000980: 24,3065 03427 STORE DELTATM
021801,000981: 24,3066 77776 EXIT
021802,000982: 24,3067 00006 EXTEND
021803,000983: 24,3070 31427 DCA DELTATM
021804,000984: 24,3071 05277 TC LONGCALL
021805,000985: 24,3072 E7,1456 EBANK= LOSCOUNT
021806,000986: 24,3072 03075 50067 2CADR R21LEM9
021807,000987:
021808,000988: 24,3074 05155 TC ENDOFJOB
021809,000989: 24,3075 06027 R21LEM9 TC KILLTASK
021810,000990: 24,3076 52602 CADR STDESIG
021811,000991: 24,3077 06011 TC CLRADMOD
021812,000992: 24,3100 37714 CAF PRIO26
021813,000993: 24,3101 05105 TC FINDVAC
021814,000994: 24,3102 E7,1456 EBANK= LOSCOUNT
021815,000995: 24,3102 02725 50067 2CADR R21LEM10
021816,000996:
021817,000997: 24,3104 05261 TC TASKOVER
021818,000998: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
021819,000999: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
021820,001000: 24,3107 21562 CADR PRIOLARM # 600 SECS.
021821,001001: 24,3110 06022 TC GOTOV56
021822,001002: 24,3111 06022 TC GOTOV56
021823,001003: 24,3112 06022 TC GOTOV56
021824,001004: 24,3113 05155 TC ENDOFJOB
021825,001005: 24,3114 00530 ALRM530 OCT 00530
021826,001006: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28
021827,001007:
021828,001008: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28
021829,001009:
021830,001010: 24,3121 05353 R21DISP TC PHASCHNG
021831,001011: 24,3122 04022 OCT 04022
021832,001012: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
021833,001013: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
021834,001014: 24,3125 20710 CADR GOPERF2R
021835,001015: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56
021836,001016: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
021837,001017: 24,3130 03123 TC -5 # ENTER ILLEGAL
021838,001018: 24,3131 34745 CAF BIT7
021839,001019: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
021840,001020: 24,3133 05155 TC ENDOFJOB
021841,001021:
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Page 512
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021843,001023: 24,3134 01510 V06N72PV VN 00672
021844,001024:
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Page 513
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021846,001026: # MANUAL ACQUISITION ROUTINE R23LEM
021847,001027: # PROGRAM DESCRIPTION
021848,001028:
021849,001029: # MOD NO - 2
021850,001030: # BY P VOLANTE
021851,001031:
021852,001032: # FUNCTIONAL DESCRIPTION
021853,001033:
021854,001034: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
021855,001035:
021856,001036: # CALLING SEQUENCE -
021857,001037:
021858,001038: # TC R23LEM
021859,001039:
021860,001040: # SUBROUTINES CALLED
021861,001041:
021862,001042: # BANKCALL R61LEM
021863,001043: # SETMINDB GOPERF1
021864,001044:
021865,001045: # NORMAL EXIT MODES -
021866,001046:
021867,001047: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
021868,001048: # ,SELECTION OF PROC WILL CONTINUE R23
021869,001049: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
021870,001050:
021871,001051: # ALARM OR ABORT EXIT MODES -
021872,001052:
021873,001053: # SEE NORMAL EXIT MODES ABOVE
021874,001054:
021875,001055: # OUTPUT
021876,001056:
021877,001057: # N.A.
021878,001058:
021879,001059: # ERASABLE INITIALIZATION REQUIRED -
021880,001060:
021881,001061: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
021882,001062:
021883,001063: 24,3135 1143 EBANK= GENRET
021884,001064: 24,3135 COUNT* $$/R23
021885,001065: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
021886,001066: 24,3136 00126 ADRES NORRMON
021887,001067: 24,3137 00004 INHINT
021888,001068: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
021889,001069: 24,3141 40140 CADR SETMINDB
021890,001070: 24,3142 00003 RELINT
021891,001071: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
021892,001072: 24,3144 00006 EXTEND
021893,001073: 24,3145 05012 WOR CHAN12
021894,001074: 24,3146 33205 CAF OCT205
021895,001075: 24,3147 04616 TC BANKCALL
021896,001076: 24,3150 20623 CADR GOPERF1
021897,001077: 24,3151 03176 TC R23LEM2 # TERMINATE
021898,001078: 24,3152 03154 TC R23LEM11 # PROCEDE
021899,001079: 24,3153 03201 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
021900,001080: 24,3154 00004 R23LEM11 INHINT
021901,001081: 24,3155 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
021902,001082: 24,3156 00035 ADRES CDUT
021903,001083: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS
021904,001084: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO
021905,001085: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
021906,001086: 24,3162 00003 RELINT
021907,001087: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021908,001088: 24,3164 00126 ADRES NORRMON
021909,001089: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
021910,001090: 24,3166 00003 OUTOFLIM RELINT
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Page 514
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021912,001092: 24,3167 33204 CAF OCT501PV
021913,001093: 24,3170 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
021914,001094: 24,3171 21562 CADR PRIOLARM # LIMITS
021915,001095: 24,3172 03176 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
021916,001096: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL
021917,001097: 24,3174 03201 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
021918,001098: 24,3175 05155 TC ENDOFJOB
021919,001099: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
021920,001100: 24,3177 00126 ADRES NORRMON
021921,001101: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56
021922,001102: 24,3201 04616 R23LEM3 TC BANKCALL
021923,001103: 24,3202 46116 CADR R61LEM
021924,001104: 24,3203 03143 TC R23LEM1
021925,001105:
021926,001106: 24,3204 00501 OCT501PV OCT 501
021927,001107: 24,3205 00205 OCT205 OCT 205
021928,001108:
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Page 515
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021930,001110: # SEARCH ROUTINE R24LEM
021931,001111: # PROGRAM DESCRIPTION
021932,001112:
021933,001113: # MOD NO - 2
021934,001114: # BY P. VOLANTE
021935,001115:
021936,001116: # FUNCTIONAL DESCRIPTION
021937,001117:
021938,001118: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
021939,001119: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
021940,001120: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
021941,001121:
021942,001122: # CALLING SEQUENCE
021943,001123:
021944,001124: # CAF PRIONN
021945,001125: # TC FINDVAC
021946,001126: # EBANK= DATAGOOD
021947,001127: # 2CADR R24LEM
021948,001128:
021949,001129: # SUBROUTINES CALLED
021950,001130:
021951,001131: # FLAGUP FLAGDOWN BANKCALL
021952,001132: # R61LEM GOFLASHR FINDVAC
021953,001133: # ENDOFJOB NOVAC LSR24.1
021954,001134:
021955,001135: # NORMAL EXIT MODES -
021956,001136:
021957,001137: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
021958,001138: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
021959,001139: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
021960,001140:
021961,001141: # ALARM OR ABORT EXIT MODES -
021962,001142:
021963,001143: # SEE NORMAL EXIT MODES ABOVE
021964,001144:
021965,001145: # OUTPUT -
021966,001146:
021967,001147: # SEE OUTPUT FROM LSR24.1 + R61LEM
021968,001148:
021969,001149: # ERASABLE INITIALIZATION REQUIRED
021970,001150:
021971,001151: # SEE INPUT FOR LSR24.1
021972,001152:
021973,001153: # FLAGS SET + RESET
021974,001154:
021975,001155: # SRCHOPT, ACMODFLG
021976,001156:
021977,001157: 24,3206 E7,1733 EBANK= DATAGOOD
021978,001158: 24,3206 COUNT* $$/R24
021979,001159: 24,3206 05504 R24LEM TC UPFLAG
021980,001160: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
021981,001161: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
021982,001162: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
021983,001163: 24,3212 34755 R24LEM1 CAF ZERO
021984,001164: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
021985,001165: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
021986,001166: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
021987,001167: 24,3216 05353 R24LEM2 TC PHASCHNG
021988,001168: 24,3217 04022 OCT 04022
021989,001169: 24,3220 33254 CAF V16N80
021990,001170: 24,3221 04616 TC BANKCALL
021991,001171: 24,3222 20504 CADR PRIODSPR
021992,001172: 24,3223 06022 TC GOTOV56
021993,001173: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1
021994,001174:
021995,001175: 24,3225 03234 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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Page 516
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021997,001177: 24,3226 04616 TC BANKCALL
021998,001178: 24,3227 55442 CADR LRS24.1
021999,001179: 24,3230 06027 R24END TC KILLTASK
022000,001180: 24,3231 55643 CADR CALLDGCH
022001,001181: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022002,001182: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022003,001183:
022004,001184: 6011 BLOCK 3
022005,001185: 6000 SETLOC FFTAG6
022006,001186: 6000 BANK
022007,001187: 6011 COUNT* $$/R24
022008,001188:
022009,001189: 6011 46021 CLRADMOD CS BIT10+15
022010,001190: 6012 00004 INHINT
022011,001191: 6013 70110 MASK RADMODES
022012,001192: 6014 54110 TS RADMODES
022013,001193: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022014,001194: 6016 00006 EXTEND
022015,001195: 6017 03012 WAND CHAN12 # USER WILL RELINT
022016,001196:
022017,001197: 6020 00002 TC Q
022018,001198:
022019,001199: 6021 41000 BIT10+15 OCT 41000
022020,001200: 24,3234 BANK 24
022021,001201: 24,2000 SETLOC P20S
022022,001202: 24,2000 BANK
022023,001203: 24,3234 COUNT* $$/R24
022024,001204:
022025,001205: 24,3234 05353 R24LEM3 TC PHASCHNG
022026,001206: 24,3235 04022 OCT 04022
022027,001207: 24,3236 06027 TC KILLTASK
022028,001208: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022029,001209: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
022030,001210: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP
022031,001211: 24,3242 34774 CAF .5SEC
022032,001212: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022033,001213: 24,3244 01735 CADR DELAYJOB
022034,001214: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022035,001215: 24,3246 03251 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022036,001216: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022037,001217: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
022038,001218: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022039,001219: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022040,001220: # RRDESSM WILL RETURN TO CALLER
022041,001221: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022042,001222:
022043,001223: 24,3254 04120 V16N80 VN 01680
022044,001224:
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Page 517
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022046,001226: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022047,001227: # PROGRAM DESCRIPTION
022048,001228:
022049,001229: # MOD NO: 3 DATE: 4-11-67
022050,001230: # MOD BY: P VOLANTE SDC
022051,001231:
022052,001232: # FUNCTIONAL DESCRIPTION -
022053,001233:
022054,001234: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022055,001235: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022056,001236: # ATTITUDE.
022057,001237:
022058,001238: # CALLING SEQUENCE -
022059,001239:
022060,001240: # TC BANKCALL
022061,001241: # CADR R61LEM
022062,001242:
022063,001243: # SUBROUTINES CALLED
022064,001244:
022065,001245: # LPS20.1 VECPOINT
022066,001246: # KALCMAN3
022067,001247:
022068,001248: # NORMAL EXIT MODES -
022069,001249:
022070,001250: # NORMAL RETURN IS TO CALLER + 1
022071,001251:
022072,001252: # ALARM OR ABORT EXIT MODES -
022073,001253:
022074,001254: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022075,001255: # RENDEZVOUS FLAG ARE NOT SET.
022076,001256:
022077,001257: # OUTPUT -
022078,001258:
022079,001259: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022080,001260:
022081,001261: # ERASABLE INITIALIZATION REQUIRED
022082,001262:
022083,001263: # GENRET USED TO SAVE Q FOR RETURN
022084,001264:
022085,001265: # FLAGS SET + RESET
022086,001266:
022087,001267: # 3AXISFLG
022088,001268:
022089,001269: # DEBRIS
022090,001270:
022091,001271: # SEE SUBROUTINES
022092,001272:
022093,001273: 23,2000 SETLOC R61
022094,001274: 23,2000 BANK
022095,001275: 23,2116 E7,1456 EBANK= LOSCOUNT
022096,001276: 23,2116 COUNT* $$/R61
022097,001277: 23,2116 04645 R61LEM TC MAKECADR
022098,001278: 23,2117 55143 TS GENRET
022099,001279: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022100,001280: 23,2121 00024 ADRES R61FLAG
022101,001281: 23,2122 02127 TC R61C+L01
022102,001282: 23,2123 04645 R65LEM TC MAKECADR
022103,001283: 23,2124 55143 TS GENRET
022104,001284: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022105,001285: 23,2126 00024 ADRES R61FLAG
022106,001286: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
022107,001287: 23,2130 70075 MASK STATE +1
022108,001288: 23,2131 00006 EXTEND
022109,001289: 23,2132 12271 BZF R65WAIT # NOT SET
022110,001290: 23,2133 06037 R61C+L03 TC INTPRET
022111,001291: 23,2134 77775 VLOAD
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Page 518
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022113,001293: 23,2135 06514 HIUNITZ
022114,001294: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022115,001295: 23,2137 43234 R61LEM1 RTB DAD
022116,001296: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022117,001297: 23,2141 15712 3SECONDS # SIX SECOND PERIOD.
022118,001298: 23,2142 34041 STCALL TDEC1
022119,001299: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022120,001300: 23,2144 77775 VLOAD
022121,001301: 23,2145 01102 RRTARGET
022122,001302: 23,2146 03773 STORE POINTVSM
022123,001303: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022124,001304: 23,2150 46277 READCDUD
022125,001305: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022126,001306: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022127,001307: 23,2153 77776 EXIT
022128,001308: 23,2154 05353 TC PHASCHNG
022129,001309: 23,2155 04022 OCT 04022
022130,001310: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET
022131,001311: 23,2157 70075 MASK FLAGWRD1
022132,001312: 23,2160 00006 EXTEND
022133,001313: 23,2161 12271 BZF R65WAIT
022134,001314: 23,2162 04616 TC BANKCALL
022135,001315: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE
022136,001316: 23,2164 10000 CCS A
022137,001317: 23,2165 02257 TC R61C+L04 # NOT IN AUTO
022138,001318: 23,2166 06037 TC INTPRET
022139,001319: 23,2167 45175 VLOAD CALL
022140,001320: 23,2170 01102 RRTARGET
022141,001321: 23,2171 47646 CDU*SMNB
022142,001322: 23,2172 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022143,001323: 23,2173 00162 MPAC +5
022144,001324: 23,2174 06275 COS15DEG
022145,001325: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022146,001326: 23,2176 46213 R61C+L05 # PHI GRE 10DEG
022147,001327: 23,2177 E6,1635 EBANK= CDUXD
022148,001328: 23,2177 35015 CAF EBANK6
022149,001329: 23,2200 54003 TS EBANK
022150,001330: 23,2201 00004 INHINT
022151,001331: 23,2202 00006 EXTEND
022152,001332: 23,2203 30322 DCA CPHI
022153,001333: 23,2204 53636 DXCH CDUXD
022154,001334: 23,2205 30323 CA CPSI
022155,001335: 23,2206 55637 TS CDUZD
022156,001336: 23,2207 00003 RELINT
022157,001337: 23,2210 E7,1456 EBANK= LOSCOUNT
022158,001338: 23,2210 35016 CAF EBANK7
022159,001339: 23,2211 54003 TS EBANK
022160,001340: 23,2212 02236 TC R61C+L06
022161,001341: 23,2213 77776 R61C+L05 EXIT
022162,001342: 23,2214 00004 INHINT
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Page 519
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022164,001344: 23,2215 04674 TC IBNKCALL
022165,001345: 23,2216 40153 FCADR ZATTEROR
022166,001346: 23,2217 04674 TC IBNKCALL
022167,001347: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022168,001348: 23,2221 05516 TC DOWNFLAG
022169,001349: 23,2222 00124 ADRES 3AXISFLG
022170,001350: 23,2223 05504 TC UPFLAG
022171,001351: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022172,001352: 23,2225 04616 TC BANKCALL
022173,001353: 23,2226 54123 CADR R60LEM
022174,001354: 23,2227 00004 INHINT
022175,001355: 23,2230 04674 TC IBNKCALL
022176,001356: 23,2231 40123 FCADR RESTORDB
022177,001357: 23,2232 05353 TC PHASCHNG
022178,001358: 23,2233 04022 OCT 04022
022179,001359: 23,2234 05516 TC DOWNFLAG
022180,001360: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022181,001361: 23,2236 30075 R61C+L06 CA FLAGWRD1
022182,001362: 23,2237 74742 MASK R61FLBIT
022183,001363: 23,2240 10000 CCS A
022184,001364: 23,2241 02262 TC R61C+L4
022185,001365: 23,2242 11745 CCS R65CNTR
022186,001366: 23,2243 02245 TC +2
022187,001367: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022188,001368: 23,2245 55745 TS R65CNTR
022189,001369: 23,2246 32276 CAF 06SEC
022190,001370: 23,2247 05173 TC TWIDDLE
022191,001371: 23,2250 02252 ADRES R61C+L2
022192,001372: 23,2251 05155 TC ENDOFJOB
022193,001373: 23,2252 37714 R61C+L2 CAF PRIO26
022194,001374: 23,2253 05105 TC FINDVAC
022195,001375: 23,2254 E7,1456 EBANK= LOSCOUNT
022196,001376: 23,2254 02127 46067 2CADR R61C+L01
022197,001377:
022198,001378: 23,2256 05261 TC TASKOVER
022199,001379: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022200,001380: 23,2260 54266 CADR BALLANGS
022201,001381: 23,2261 02236 TC R61C+L06
022202,001382: 23,2262 31143 R61C+L4 CAE GENRET
022203,001383: 23,2263 14640 TCF BANKJUMP # EXIT R61
022204,001384: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022205,001385: 23,2265 70074 MASK STATE
022206,001386: 23,2266 00006 EXTEND
022207,001387: 23,2267 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022208,001388: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE
022209,001389: 23,2271 04635 R65WAIT TC POSTJUMP
022210,001390: 23,2272 50232 CADR P20LEMWT
022211,001391:
022212,001392: 23,2273 00500 BIT7+9PV OCT 00500
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|
Page 520
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022214,001394: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1
022215,001395:
022216,001396: 23,2276 01130 06SEC DEC 600 B-14
022217,001397: 23,2277 PHI EQUALS 20D
022218,001398: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022219,001399: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022220,001400: 23,2301 56003 XCH EBANK
022221,001401: 23,2302 54070 TS RUPTREG1
022222,001402: 23,2303 E6,1635 EBANK= CDUXD
022223,001403: 23,2303 31635 CA CDUXD
022224,001404: 23,2304 54154 TS MPAC
022225,001405: 23,2305 00006 EXTEND
022226,001406: 23,2306 31637 DCA CDUYD
022227,001407: 23,2307 52156 DXCH MPAC +1
022228,001408: 23,2310 30070 CA RUPTREG1
022229,001409: 23,2311 54003 TS EBANK
022230,001410: 23,2312 00003 RELINT
022231,001411: 23,2313 16477 TCF TMODE
022232,001412: 4512 BLOCK 02
022233,001413: 4000 SETLOC RADARFF
022234,001414: 4000 BANK
022235,001415:
022236,001416: 4512 E7,1456 EBANK= LOSCOUNT
022237,001417: 4512 COUNT* $$/RRSUB
022238,001418:
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Page 521
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022240,001420: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022241,001421: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022242,001422:
022243,001423: 4512 00006 MAGSUB EXTEND
022244,001424: 4513 64515 BZMF +2
022245,001425: 4514 14516 TCF +2
022246,001426: 4515 40000 COM
022247,001427:
022248,001428: 4516 50002 INDEX Q
022249,001429: 4517 60000 AD 0
022250,001430: 4520 00006 EXTEND
022251,001431: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022252,001432: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2
022253,001433:
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Page 522
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022255,001435: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022256,001436:
022257,001437: # FUNCTIONAL DESCRIPTION_
022258,001438:
022259,001439: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022260,001440: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022261,001441: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022262,001442: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022263,001443: # MODE 1 AND =1 FOR MODE 2.
022264,001444:
022265,001445: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022266,001446: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022267,001447: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022268,001448: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022269,001449:
022270,001450: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022271,001451: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022272,001452: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022273,001453: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022274,001454: # TO L +3.
022275,001455:
022276,001456: # CALLING SEQUENCE:
022277,001457:
022278,001458: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022279,001459: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022280,001460:
022281,001461: # ERASABLE INITIALIZATION REQUIRED:
022282,001462:
022283,001463: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022284,001464: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022285,001465: # CURRENT EBANK).
022286,001466:
022287,001467: # SUBROUTINES CALLED_ MAGSUB
022288,001468:
022289,001469: # JOBS OR TASKS INITIATED_ NONE
022290,001470:
022291,001471: # ALARMS_ NONE
022292,001472:
022293,001473: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022294,001474: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022295,001475:
022296,001476: 4523 00006 RRLIMCHK EXTEND
022297,001477: 4524 50002 INDEX Q
022298,001478: 4525 50000 INDEX 0
022299,001479: 4526 30001 DCA 0
022300,001480: 4527 24002 INCR Q
022301,001481: 4530 52062 DXCH ITEMP1
022302,001482: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022303,001483:
022304,001484: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022305,001485: 4533 70110 MASK RADMODES
022306,001486: 4534 10000 CCS A
022307,001487: 4535 14550 TCF MODE2CHK
022308,001488:
022309,001489: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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Page 523
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022311,001491: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022312,001492: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022313,001493: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022314,001494:
022315,001495: 4542 34562 CAF 5.5DEGS
022316,001496: 4543 60062 AD ITEMP2 # S
022317,001497: 4544 04512 TC MAGSUB
022318,001498: 4545 64420 DEC -.35833 # 64.5 DEGS
022319,001499: 4546 00001 TC L
022320,001500: 4547 04560 TC RRLIMOK # IN LIMITS.
022321,001501:
022322,001502: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022323,001503: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022324,001504: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022325,001505: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022326,001506: 4554 00001 TC L
022327,001507:
022328,001508: 4555 30061 CA ITEMP1
022329,001509: 4556 04512 TC MAGSUB
022330,001510: 4557 51615 DEC -.69444 # 125 DEGS
022331,001511:
022332,001512: 4560 50001 RRLIMOK INDEX L
022333,001513: 4561 00001 TC L # ( = TC 1 )
022334,001514:
022335,001515: 4562 00765 5.5DEGS DEC .03056
022336,001516: 4563 16450 82DEGS DEC .45556
022337,001517:
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Page 524
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022339,001519: # PROGRAM NAME_ SETTRKF . IF EITHER:
022340,001520:
022341,001521: # FUNCTIONAL DESCRIPTION_
022342,001522: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022343,001523: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022344,001524: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022345,001525: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022346,001526: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022347,001527: # AUTO MODE (RADMODES BITS 13, 7, 2).
022348,001528: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022349,001529: # 8,5)
022350,001530: # 3) NO RR DATA (RADMODES BIT 4)
022351,001531: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022352,001532: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022353,001533: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022354,001534: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022355,001535: # TRACKER FAIL LAMP IS TURNED ON IF_
022356,001536: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022357,001537: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022358,001538: # EITHER THE ALT OR VEL INFORMATION
022359,001539: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022360,001540: # WITH EITHER THE AL
022361,001541:
022362,001542: # CALLING SEQUENCE:
022363,001543:
022364,001544: # L TC SETTRKF
022365,001545:
022366,001546: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022367,001547:
022368,001548: # SUBROUTINES CALLED_ NONE
022369,001549:
022370,001550: # JOBS OR TASKS INITIATED_ NONE
022371,001551:
022372,001552: # ALARMS_ TRACKER FAIL LAMP
022373,001553:
022374,001554: # EXIT_ L +1 (ALWAYS) ED.
022375,001555:
022376,001556: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022377,001557: 4565 71303 MASK IMODES33
022378,001558: 4566 10000 CCS A
022379,001559: 4567 00002 TC Q
022380,001560:
022381,001561: 4570 34744 RRTRKF CA BIT8
022382,001562: 4571 54001 TS L
022383,001563:
022384,001564: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022385,001565: 4573 70110 MASK RADMODES
022386,001566: 4574 00006 EXTEND
022387,001567: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022388,001568:
022389,001569: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022390,001570: 4577 70110 MASK RADMODES
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Page 525
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022392,001572: 4600 10000 CCS A
022393,001573: 4601 30001 TRKFLON CA L
022394,001574: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022395,001575: 4603 70001 MASK L
022396,001576: 4604 00006 EXTEND
022397,001577: 4605 16742 BZF TCQ # NO CHANGE.
022398,001578:
022399,001579: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022400,001580: 4607 00006 EXTEND
022401,001581: 4610 06001 RXOR LCHAN
022402,001582: 4611 74733 MASK POSMAX
022403,001583: 4612 64735 AD BIT15
022404,001584: 4613 55036 TS DSPTAB +11D
022405,001585: 4614 00002 TC Q
022406,001586:
022407,001587: 4615 10102 13,7,2 OCT 10102
022408,001588: 4616 ENDRMODF EQUALS
022409,001589:
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Page 526
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022411,001591: # PROGRAM NAME_ RRTURNON
022412,001592:
022413,001593: # FUNCTIONAL DESCRIPTION_
022414,001594:
022415,001595: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022416,001596: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022417,001597: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022418,001598: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022419,001599: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022420,001600: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022421,001601: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022422,001602: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022423,001603: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022424,001604: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022425,001605: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022426,001606: # TO TASKOVER.
022427,001607:
022428,001608: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022429,001609: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022430,001610: # THE RR (STATE BIT 7).
022431,001611:
022432,001612: # ERASABLE INITIALIZATION REQUIRED:
022433,001613:
022434,001614: # RADMODES, STATE
022435,001615:
022436,001616: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022437,001617:
022438,001618: # JOBS OR TASKS INITIATED_
022439,001619: #
022440,001620: # NONE
022441,001621:
022442,001622: # ALARMS_ NONE (SEE RRZEROSB)
022443,001623:
022444,001624: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022445,001625:
022446,001626: 24,3255 BANK 24
022447,001627: 25,2000 SETLOC P20S1
022448,001628: 25,2000 BANK
022449,001629:
022450,001630: 25,2062 E7,1456 EBANK= LOSCOUNT
022451,001631: 25,2062 COUNT* $$/RSUB
022452,001632: 25,2062 02071 RRTURNON TC RRZEROSB
022453,001633: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022454,001634: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022455,001635: 25,2065 44753 CS TURNONBT
022456,001636: 25,2066 70110 MASK RADMODES
022457,001637: 25,2067 54110 TS RADMODES
022458,001638: 25,2070 15261 TCF TASKOVER
|
|
Page 527
|
022460,001640: # PROGRAM NAME_ RRZEROSB
022461,001641:
022462,001642: # FUNCTIONAL DESCRIPTION_
022463,001643: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022464,001644: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022465,001645: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022466,001646: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022467,001647: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022468,001648: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022469,001649: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022470,001650: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022471,001651: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022472,001652: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022473,001653: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022474,001654: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022475,001655: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022476,001656: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022477,001657: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022478,001658:
022479,001659: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022480,001660:
022481,001661: # ERASABLE INITIALIZATION REQUIRED:
022482,001662:
022483,001663: # RADMODES (BIT 13 SET), DSPTAB +11D
022484,001664:
022485,001665: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022486,001666:
022487,001667: # JOBS OR TASKS INITIATED_
022488,001668:
022489,001669: # NONE
022490,001670:
022491,001671: # ALARMS_ TRACKER FAIL
022492,001672:
022493,001673: # EXIT_ L +1 (ALWAYS)
022494,001674:
022495,001675: 25,2071 00006 RRZEROSB EXTEND
022496,001676: 25,2072 23315 QXCH RRRET
022497,001677: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022498,001678: 25,2074 00006 EXTEND # COMING HERE.
022499,001679: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022500,001680: 25,2076 05221 TC FIXDELAY
022501,001681: 25,2077 00002 DEC 2 B-14
022502,001682:
022503,001683: 25,2100 34755 CAF ZERO
022504,001684: 25,2101 54035 TS CDUT
022505,001685: 25,2102 54036 TS CDUS
022506,001686: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
022507,001687: 25,2104 00006 EXTEND
022508,001688: 25,2105 03012 WAND CHAN12
022509,001689: 25,2106 05221 TC FIXDELAY
022510,001690: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022511,001691:
022512,001692: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 528
|
022514,001694: 25,2111 70110 MASK RADMODES
022515,001695: 25,2112 54110 TS RADMODES
022516,001696:
022517,001697: 25,2113 30035 CA CDUT
022518,001698: 25,2114 04512 TC MAGSUB
022519,001699: 25,2115 57777 DEC -.5
022520,001700: 25,2116 12121 TCF +3 # IF MODE 2.
022521,001701:
022522,001702: 25,2117 34755 CAF ZERO
022523,001703: 25,2120 12122 TCF +2
022524,001704: 25,2121 34740 CAF ANTENBIT
022525,001705: 25,2122 56110 XCH RADMODES
022526,001706: 25,2123 77741 MASK -BIT12
022527,001707: 25,2124 26110 ADS RADMODES
022528,001708:
022529,001709: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022530,001710:
022531,001711: 25,2126 01315 TC RRRET # DONE.
022532,001712:
022533,001713: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT
022534,001714:
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Page 529
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022536,001716: # PROGRAM NAME_ DORREPOS
022537,001717:
022538,001718: # FUNCTIONAL DESCRIPTION_
022539,001719:
022540,001720: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022541,001721: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022542,001722: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022543,001723: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022544,001724: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022545,001725: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022546,001726: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022547,001727: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022548,001728: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022549,001729: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022550,001730: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022551,001731: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022552,001732: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022553,001733: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022554,001734: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022555,001735: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022556,001736: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022557,001737: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022558,001738: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022559,001739: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022560,001740: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022561,001741: # TASKOVER.
022562,001742:
022563,001743: # CALLING SEQUENCE:
022564,001744:
022565,001745: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022566,001746: # NOT WITHIN LIMITS OF CURRENT MODE.
022567,001747:
022568,001748: # ERASABLE INITIALIZATION REQUIRED:
022569,001749:
022570,001750: # RADMODES
022571,001751:
022572,001752: # SUBROUTINES CALLED_
022573,001753:
022574,001754: # RRTONLY, RRSONLY, BEGDES (EXIT)
022575,001755:
022576,001756: # JOBS OR TASKS INITIATED_
022577,001757:
022578,001758: # NONE
022579,001759:
022580,001760: # ALARMS- NONE
022581,001761:
022582,001762: # EXIT_ TASKOVER, BEGDES
022583,001763:
022584,001764: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022585,001765:
022586,001766: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022587,001767:
022588,001768: 25,2130 05221 TC FIXDELAY
022589,001769: 25,2131 00002 DEC 2 B-14
022590,001770:
022591,001771: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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Page 530
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022593,001773: 25,2133 70110 MASK RADMODES
022594,001774: 25,2134 10000 CCS A
022595,001775: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022596,001776: 25,2136 02241 TC RRTONLY
022597,001777:
022598,001778: 25,2137 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022599,001779: 25,2140 70110 MASK RADMODES
022600,001780: 25,2141 10000 CCS A
022601,001781: 25,2142 44736 CS HALF # -90 FOR MODE 2.
022602,001782: 25,2143 02244 TC RRSONLY
022603,001783:
022604,001784: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022605,001785: # REQUESTED DURING REPOSITION.
022606,001786: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022607,001787: 25,2146 54110 TS RADMODES
022608,001788: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022609,001789: 25,2150 10000 CCS A
022610,001790: 25,2151 12573 TCF BEGDES
022611,001791: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022612,001792: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022613,001793: 25,2154 03012 WAND CHAN12
022614,001794: 25,2155 15261 TCF TASKOVER
022615,001795:
022616,001796: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022617,001797: 25,2157 00006 EXTEND
022618,001798: 25,2160 02012 RAND CHAN12
022619,001799: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022620,001800: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022621,001801:
022622,001802: 25,2163 54112 TS LASTYCMD
022623,001803: 25,2164 54113 TS LASTXCMD
022624,001804: 25,2165 34752 CAF BIT2
022625,001805: 25,2166 00006 EXTEND
022626,001806: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022627,001807: 25,2170 00002 TC Q
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Page 531
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022629,001809: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022630,001810:
022631,001811: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022632,001812: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022633,001813: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022634,001814: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022635,001815: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022636,001816: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022637,001817: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022638,001818: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022639,001819: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022640,001820: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022641,001821: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022642,001822: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022643,001823: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022644,001824: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022645,001825: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022646,001826: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022647,001827: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022648,001828: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022649,001829: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022650,001830: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022651,001831:
022652,001832: # CALLING SEQUENCE:
022653,001833:
022654,001834: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022655,001835: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022656,001836: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022657,001837: # OTHER MODE.
022658,001838:
022659,001839: # ERASABLE INITIALIZATION REQUIRED:
022660,001840:
022661,001841: # RADMODES
022662,001842:
022663,001843: # SUBROUTINES CALLED_
022664,001844:
022665,001845: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022666,001846:
022667,001847: # JOBS OR TASKS INITIATED_
022668,001848:
022669,001849: # NONE
022670,001850:
022671,001851: # ALARMS_ NONE
022672,001852:
022673,001853: # EXIT_ STDESIG
022674,001854:
022675,001855: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022676,001856: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022677,001857: 25,2173 10000 CCS A
022678,001858: 25,2174 34735 CAF BIT15
022679,001859: 25,2175 02241 TC RRTONLY
022680,001860:
022681,001861: 25,2176 37740 CAF -45DEGSR
022682,001862: 25,2177 02244 TC RRSONLY
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Page 532
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022684,001864: 25,2200 40110 CS RADMODES
022685,001865: 25,2201 74740 MASK ANTENBIT
022686,001866: 25,2202 10000 CCS A
022687,001867: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
022688,001868: 25,2204 62231 AD -50DEGSR
022689,001869: 25,2205 02241 TC RRTONLY
022690,001870:
022691,001871: 25,2206 40110 CS RADMODES
022692,001872: 25,2207 74740 MASK ANTENBIT
022693,001873: 25,2210 10000 CCS A
022694,001874: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
022695,001875: 25,2212 02241 TC RRTONLY
022696,001876:
022697,001877: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
022698,001878: 25,2214 74740 MASK ANTENBIT
022699,001879: 25,2215 10000 CCS A
022700,001880: 25,2216 44736 CS HALF
022701,001881: 25,2217 02244 TC RRSONLY
022702,001882:
022703,001883: 25,2220 02233 TC RMODINV
022704,001884:
022705,001885: 25,2221 44736 CS REMODBIT # END OF REMODE.
022706,001886: 25,2222 70110 MASK RADMODES
022707,001887: 25,2223 54110 TS RADMODES
022708,001888:
022709,001889: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022710,001890: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022711,001891: 25,2226 00006 EXTEND
022712,001892: 25,2227 13555 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
022713,001893: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
022714,001894: 25,2231 7740 -45DEGSR = 13,14,15
022715,001895: 25,2231 67070 -50DEGSR DEC -.27778
022716,001896: 25,2232 61615 -80DEGSR DEC -.44444
022717,001897:
022718,001898: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022719,001899: 25,2234 34740 CAF ANTENBIT
022720,001900: 25,2235 00006 EXTEND
022721,001901: 25,2236 06001 RXOR LCHAN
022722,001902: 25,2237 54110 TS RADMODES
022723,001903: 25,2240 00002 TC Q
022724,001904:
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Page 533
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022726,001906: # PROGRAM NAMES_ RRTONLY, RRSONLY
022727,001907:
022728,001908: # FUNCTIONAL DESCRIPTION_
022729,001909:
022730,001910: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022731,001911: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022732,001912: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022733,001913: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022734,001914: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022735,001915: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022736,001916: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022737,001917: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022738,001918: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022739,001919: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022740,001920: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022741,001921: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022742,001922: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022743,001923: # REPEATED.
022744,001924:
022745,001925: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022746,001926: # L TC RRTONLY (TRUNNION ONLY)
022747,001927: # RRSONLY (SHAFT ONLY)
022748,001928: # RRTONLY IS CALLED BY PREPOS29;
022749,001929: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022750,001930:
022751,001931: # ERASABLE INITIALIZATION REQUIRED:
022752,001932:
022753,001933: # C(A) = DESIRED ANGLE, RADMODES
022754,001934:
022755,001935: # SUBROUTINES CALLED_
022756,001936:
022757,001937: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
022758,001938:
022759,001939: # JOBS OR TASKS INITIATED_
022760,001940:
022761,001941: # NONE
022762,001942:
022763,001943: # ALARMS_ NONE
022764,001944:
022765,001945: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022766,001946: # BITS 14, 11)
022767,001947: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022768,001948:
022769,001949: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
022770,001950: 25,2242 34755 CAF ZERO
022771,001951: 25,2243 12246 TCF RR1AXIS
022772,001952:
022773,001953: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022774,001954: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022775,001955:
022776,001956: 25,2246 55317 RR1AXIS TS RRINDEX
022777,001957: 25,2247 00006 EXTEND
022778,001958: 25,2250 23315 QXCH RRRET
022779,001959: 25,2251 12254 TCF RR1AX2
022780,001960:
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Page 534
|
022782,001962: 25,2252 05221 NXTRR1AX TC FIXDELAY
022783,001963: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022784,001964:
022785,001965: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
022786,001966: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
022787,001967: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
022788,001968: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
022789,001969:
022790,001970: 25,2260 31316 CA RDES
022791,001971: 25,2261 00006 EXTEND
022792,001972: 25,2262 51317 INDEX RRINDEX
022793,001973: 25,2263 20035 MSU CDUT
022794,001974: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
022795,001975: 25,2265 00006 EXTEND
022796,001976: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
022797,001977: 25,2267 54001 TS L
022798,001978: 25,2270 30110 CA RADMODES
022799,001979: 25,2271 74752 MASK AUTOMBIT
022800,001980: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
022801,001981: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
022802,001982: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
022803,001983:
022804,001984: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
022805,001985: 25,2276 01315 TC RRRET # RETURN TO CALLER.
022806,001986:
022807,001987: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
022808,001988: 25,2300 12302 TCF +2 # SETTING A TO 0.
022809,001989: 25,2301 56001 XCH L
022810,001990: 25,2302 53110 DXCH TANG
022811,001991:
022812,001992: 25,2303 02306 TC RROUT
022813,001993:
022814,001994: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
022815,001995:
022816,001996: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
022817,001997:
|
|
Page 535
|
022819,001999: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
022820,002000:
022821,002001: # FUNCTIONAL DESCRIPTION_
022822,002002:
022823,002003: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
022824,002004: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
022825,002005: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
022826,002006: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
022827,002007: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
022828,002008: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
022829,002009: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
022830,002010: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
022831,002011: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
022832,002012: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
022833,002013: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
022834,002014: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
022835,002015: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
022836,002016:
022837,002017: # CALLING SEQUENCE:
022838,002018: #
022839,002019: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
022840,002020: # RRTONLY, RRSONLY, AND DODES
022841,002021:
022842,002022: # ERASABLE INITIALIZATION REQUIRED:
022843,002023:
022844,002024: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
022845,002025: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
022846,002026:
022847,002027: # SUBROUTINES CALLED_
022848,002028:
022849,002029: # MAGSUB
022850,002030:
022851,002031: # JOBS OR TASKS INITIATED_
022852,002032:
022853,002033: # NONE
022854,002034:
022855,002035: # ALARMS_ NONE
022856,002036:
022857,002037: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
022858,002038:
022859,002039: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
022860,002040: 25,2307 34753 CAF ONE # LOOP TWICE.
022861,002041: 25,2310 54062 RROUT2 TS ITEMP2
022862,002042: 25,2311 50000 INDEX A
022863,002043: 25,2312 31107 CA TANG
022864,002044: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
022865,002045:
022866,002046: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
022867,002047: 25,2315 77177 -RRLIMIT DEC -384 B-14
022868,002048: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
022869,002049:
022870,002050: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
022871,002051: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
022872,002052: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
022873,002053: 25,2322 40000 COM
|
|
Page 536
|
022875,002055: 25,2323 60061 AD ITEMP1
022876,002056: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
022877,002057: 25,2325 50062 INDEX ITEMP2
022878,002058: 25,2326 54053 TS CDUTCMD
022879,002059:
022880,002060: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
022881,002061: 25,2330 12310 TCF RROUT2
022882,002062:
022883,002063: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
022884,002064: 25,2332 00006 EXTEND
022885,002065: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
022886,002066: 25,2334 00001 TC L # RETURN.
022887,002067:
022888,002068: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
022889,002069: 25,2336 42315 CS -RRLIMIT
022890,002070: 25,2337 12341 TCF +2
022891,002071: 25,2340 32315 CA -RRLIMIT
022892,002072: 25,2341 54061 TS ITEMP1
022893,002073: 25,2342 12320 TCF SETRRCTR +1
022894,002074:
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|
Page 537
|
022896,002076: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
022897,002077:
022898,002078: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
022899,002079: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
022900,002080: 25,2345 10000 CCS A
022901,002081: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
022902,002082:
022903,002083: 25,2347 00004 INHINT
022904,002084: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
022905,002085: 25,2351 70110 MASK RADMODES
022906,002086: 25,2352 64737 AD RCDU0BIT
022907,002087: 25,2353 54110 TS RADMODES
022908,002088:
022909,002089: 25,2354 34753 CAF ONE
022910,002090: 25,2355 05203 TC WAITLIST
022911,002091: 25,2356 E7,1456 EBANK= LOSCOUNT
022912,002092: 25,2356 02370 52067 2CADR RRZ2
022913,002093:
022914,002094: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
022915,002095: 25,2361 74752 MASK AUTOMBIT
022916,002096: 25,2362 10000 CCS A
022917,002097: 25,2363 12366 TCF ROADBACK
022918,002098: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
022919,002099: 25,2365 00510 OCT 510
022920,002100: 25,2366 00003 ROADBACK RELINT
022921,002101: 25,2367 14631 TCF SWRETURN
022922,002102:
022923,002103: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
022924,002104: 25,2371 13546 TCF ENDRADAR
022925,002105:
022926,002106: 25,2372 02001 BIT11+1 OCT 02001
022927,002107:
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|
Page 538
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022929,002109: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
022930,002110:
022931,002111: # FUNCTIONAL DESCRIPTION_
022932,002112:
022933,002113: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
022934,002114: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
022935,002115: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
022936,002116: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
022937,002117: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
022938,002118: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
022939,002119: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
022940,002120: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
022941,002121: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
022942,002122: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
022943,002123: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
022944,002124: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
022945,002125: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
022946,002126: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
022947,002127: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
022948,002128: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
022949,002129: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
022950,002130: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
022951,002131: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
022952,002132: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
022953,002133: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
022954,002134: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
022955,002135:
022956,002136: # CALLING SEQUENCE:
022957,002137:
022958,002138: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
022959,002139: # L+1 RRDESSM
022960,002140: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
022961,002141: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
022962,002142:
022963,002143: # ERASABLE INITIALIZATION REQUIRED:
022964,002144:
022965,002145: # RRTARGET, RADMODES
022966,002146:
022967,002147: # SUBROUTINES CALLED_
022968,002148:
022969,002149: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
022970,002150: # PART OF), RMODINV
022971,002151:
022972,002152: # JOBS OR TASKS INITIATED_
022973,002153:
022974,002154: # NONE
022975,002155:
022976,002156: # ALARMS_ NONE
022977,002157:
022978,002158: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
022979,002159: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
022980,002160: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
022981,002161:
022982,002162: 25,2373 43020 RRDESSM STQ CLEAR
022983,002163: 25,2374 01113 DESRET
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|
Page 539
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022985,002165: 25,2375 00271 RRNBSW
022986,002166: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
022987,002167: 25,2377 47537 CDUTRIG
022988,002168: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
022989,002169: 25,2401 01102 RRTARGET
022990,002170: 25,2402 47671 *SMNB*
022991,002171:
022992,002172: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
022993,002173: 25,2404 26133 RRANGLES # ALTERNATE MODE.
022994,002174: 25,2405 77776 EXIT
022995,002175:
022996,002176: 25,2406 00004 INHINT
022997,002177: 25,2407 04523 TC RRLIMCHK
022998,002178: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
022999,002179: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
023000,002180: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023001,002181: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
023002,002182: 25,2414 40104 CS FLAGWRD8
023003,002183: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023004,002184: 25,2416 00006 EXTEND
023005,002185: 25,2417 12456 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023006,002186: 25,2420 02461 TC TRYSWS
023007,002187:
023008,002188: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023009,002189: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023010,002190: 25,2423 00006 EXTEND
023011,002191: 25,2424 12456 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023012,002192: 25,2425 30074 CA STATE
023013,002193: 25,2426 74745 MASK RNDVZBIT
023014,002194: 25,2427 10000 CCS A # TEST RNDVZFLG.
023015,002195: 25,2430 02471 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023016,002196: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023017,002197:
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Page 540
|
023019,002199: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023020,002200:
023021,002201: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023022,002202: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023023,002203: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023024,002204: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023025,002205: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023026,002206: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023027,002207: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023028,002208: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023029,002209: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023030,002210: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023031,002211: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023032,002212: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023033,002213: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023034,002214: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023035,002215: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023036,002216: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023037,002217: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023038,002218: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023039,002219: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023040,002220: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023041,002221: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023042,002222:
023043,002223: # CALLING SEQUENCE:
023044,002224:
023045,002225: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023046,002226:
023047,002227: # ERASABLE INITIALIZATION REQUIRED:
023048,002228:
023049,002229: # RADMODES, (SEE DODES)
023050,002230:
023051,002231: # SUBROUTINES CALLED_
023052,002232:
023053,002233: # SETRRECR, WAITLIST
023054,002234:
023055,002235: # JOBS OR TASKS INITIATED_
023056,002236:
023057,002237: # BEGDES
023058,002238:
023059,002239: # ALARMS_ NONE
023060,002240:
023061,002241: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023062,002242: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023063,002243:
023064,002244: 25,2432 25113 STARTDES INCR DESRET
023065,002245: 25,2433 40110 CS RADMODES
023066,002246: 25,2434 74742 MASK DESIGBIT
023067,002247: 25,2435 26110 ADS RADMODES
023068,002248: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023069,002249: 25,2437 10000 CCS A
023070,002250: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
023071,002251:
023072,002252: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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Page 541
|
023074,002254: 25,2442 34752 CAF TWO
023075,002255: 25,2443 05203 TC WAITLIST
023076,002256: 25,2444 E7,1456 EBANK= LOSCOUNT
023077,002257: 25,2444 02573 52067 2CADR BEGDES
023078,002258:
023079,002259: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023080,002260: 25,2447 00006 EXTEND
023081,002261: 25,2450 12452 BZF DESRTRN # YES SET EXIT
023082,002262: 25,2451 05155 TC ENDOFJOB # NO
023083,002263: 25,2452 00003 DESRTRN RELINT
023084,002264: 25,2453 25113 INCR DESRET
023085,002265: 25,2454 31113 CA DESRET
023086,002266: 25,2455 14640 TCF BANKJUMP
023087,002267:
023088,002268: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023089,002269: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023090,002270: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023091,002271:
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Page 542
|
023093,002273: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023094,002274:
023095,002275: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023096,002276: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023097,002277: 25,2463 01111 ADRES MODEB
023098,002278: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023099,002279:
023100,002280: 25,2465 02233 TC RMODINV # RESET BIT12
023101,002281: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023102,002282: 25,2467 26110 ADS RADMODES
023103,002283:
023104,002284: 25,2470 12412 TCF OKDESSM
023105,002285:
023106,002286: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023107,002287: 25,2472 25113 INCR DESRET # TO CALLER +2
023108,002288: 25,2473 12456 TCF NORDSTAL
023109,002289:
023110,002290: 25,2474 00074 MAXTRYS DEC 60 B-14
023111,002291:
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Page 543
|
023113,002293: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023114,002294: # TANG AND TANG +1.
023115,002295:
023116,002296: 25,2475 04645 RRDESNB TC MAKECADR
023117,002297: 25,2476 55113 TS DESRET
023118,002298:
023119,002299: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023120,002300: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
023121,002301: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
023122,002302: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
023123,002303: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
023124,002304: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023125,002305: 25,2505 01107 ADRES TANG
023126,002306: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
023127,002307:
023128,002308: 25,2507 00003 OKDESNB RELINT
023129,002309: 25,2510 00006 EXTEND
023130,002310: 25,2511 31110 DCA TANG
023131,002311: 25,2512 53753 DXCH TANGNB
023132,002312: 25,2513 06037 TC INTPRET
023133,002313:
023134,002314: 25,2514 77624 CALL # GET LOS IN NB COORDS.
023135,002315: 25,2515 46041 RRNB
023136,002316: 25,2516 01102 STORE RRTARGET
023137,002317:
023138,002318: 25,2517 77414 SET EXIT
023139,002319: 25,2520 00071 RRNBSW
023140,002320:
023141,002321: 25,2521 00004 INHINT
023142,002322: 25,2522 12433 TCF STARTDES +1
023143,002323: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023144,002324: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023145,002325: 25,2525 01107 ADRES TANG
023146,002326: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
023147,002327:
023148,002328: 25,2527 02233 TC RMODINV
023149,002329: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE.
023150,002330: 25,2531 26110 ADS RADMODES
023151,002331: 25,2532 12507 TCF OKDESNB
023152,002332:
023153,002333: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
023154,002334: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
023155,002335: 25,2535 00502 OCT 502
023156,002336: 25,2536 06011 TC CLRADMOD
023157,002337: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
023158,002338:
023159,002339: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023160,002340: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023161,002341: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023162,002342: 25,2543 00006 EXTEND
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Page 544
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023164,002344: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023165,002345: 25,2545 30001 DCA 0
023166,002346: 25,2546 52062 DXCH ITEMP1
023167,002347: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
023168,002348:
023169,002349: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023170,002350: 25,2551 70110 MASK RADMODES
023171,002351: 25,2552 10000 CCS A
023172,002352: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023173,002353: 25,2554 30061 CA ITEMP1
023174,002354: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023175,002355: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023176,002356: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023177,002357:
023178,002358: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023179,002359: 25,2561 00006 EXTEND
023180,002360: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023181,002361: 25,2563 64562 AD 5.5DEGS
023182,002362: 25,2564 04512 SHAFTLIM TC MAGSUB
023183,002363: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
023184,002364: 25,2566 00001 TC L # NOT IN LIMITS
023185,002365: 25,2567 04560 TC RRLIMOK # IN LIMITS
023186,002366: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023187,002367: 25,2571 12564 TCF SHAFTLIM
023188,002368:
023189,002369: 25,2572 03512 20.5DEGS DEC .11389
023190,002370:
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Page 545
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023192,002372: # PROGRAM NAME_ BEGDES
023193,002373:
023194,002374: # FUNCTIONAL DESCRIPTION_
023195,002375:
023196,002376: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023197,002377: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023198,002378: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023199,002379: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023200,002380: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023201,002381: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023202,002382: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023203,002383: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023204,002384: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023205,002385: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023206,002386: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023207,002387: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023208,002388: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023209,002389: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023210,002390: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023211,002391: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023212,002392: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023213,002393: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023214,002394: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023215,002395: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023216,002396: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023217,002397: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023218,002398: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023219,002399: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023220,002400: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023221,002401:
023222,002402: # CALLING SEQUENCE:
023223,002403:
023224,002404: # WAITLIST CALL FROM STARTDES
023225,002405: # TCF BEGDES FROM DORREPOS
023226,002406: # TC STDESIG RETURNING, FROM REMODE
023227,002407:
023228,002408: # ERASABLE INITIALIZATION REQUIRED:
023229,002409: # DESCOUNT, RADMODES
023230,002410:
023231,002411: # SUBROUTINES CALLED_
023232,002412: # ENDRADAR, FINDVAC
023233,002413:
023234,002414: # JOBS OR TASKS INITIATED_ DODES
023235,002415:
023236,002416: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023237,002417: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023238,002418:
023239,002419: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023240,002420: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023241,002421: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023242,002422:
023243,002423: 25,2573 40110 BEGDES CS RADMODES
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Page 546
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023245,002425: 25,2574 74736 MASK REMODBIT
023246,002426: 25,2575 10000 CCS A
023247,002427: 25,2576 02602 TC STDESIG
023248,002428: 25,2577 02171 TC REMODE
023249,002429: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023250,002430: 25,2601 00062 DEC 50 B-14
023251,002431:
023252,002432: 25,2602 34741 STDESIG CAF REPOSBIT
023253,002433: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023254,002434: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023255,002435: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023256,002436:
023257,002437: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023258,002438: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023259,002439: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023260,002440: 25,2611 12630 TCF MOREDES +1
023261,002441:
023262,002442: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023263,002443: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023264,002444: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023265,002445: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
023266,002446:
023267,002447: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023268,002448: 25,2617 12627 TCF MOREDES
023269,002449:
023270,002450: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023271,002451: 25,2621 00006 EXTEND
023272,002452: 25,2622 03012 WAND CHAN12
023273,002453: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG
023274,002454: 25,2624 70110 MASK RADMODES
023275,002455: 25,2625 54110 TS RADMODES
023276,002456: 25,2626 13562 TCF RDBADEND
023277,002457:
023278,002458: 25,2627 55114 MOREDES TS DESCOUNT
023279,002459: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023280,002460: 25,2631 05105 TC FINDVAC
023281,002461: 25,2632 E7,1456 EBANK= LOSCOUNT
023282,002462: 25,2632 02636 52067 2CADR DODES
023283,002463:
023284,002464: 25,2634 12600 TCF DESLOOP
023285,002465:
023286,002466: 25,2635 20002 B14+B2 OCT 20002
023287,002467:
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Page 547
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023289,002469: # PROGRAM NAME_ DODES
023290,002470:
023291,002471: # FUNCTIONAL DESCRIPTION_
023292,002472:
023293,002473: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023294,002474: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023295,002475: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023296,002476: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023297,002477: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023298,002478: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023299,002479: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023300,002480: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023301,002481: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023302,002482: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023303,002483: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023304,002484: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023305,002485: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023306,002486: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023307,002487: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023308,002488: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023309,002489: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023310,002490: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023311,002491: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023312,002492: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023313,002493: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023314,002494: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023315,002495: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023316,002496: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023317,002497: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023318,002498: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023319,002499: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023320,002500: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023321,002501: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023322,002502: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023323,002503: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023324,002504: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023325,002505: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023326,002506: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023327,002507: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023328,002508: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023329,002509: # VIA ENDOFJOB.
023330,002510:
023331,002511: # CALLING SEQUENCE:
023332,002512:
023333,002513: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023334,002514:
023335,002515: # ERASABLE INITIALIZATION REQUIRED:
023336,002516:
023337,002517: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023338,002518: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023339,002519:
023340,002520: # SUBROUTINES CALLED_
023341,002521:
023342,002522: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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Page 548
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023344,002524:
023345,002525: # JOBS OR TASKS INITIATED_
023346,002526:
023347,002527: # NONE
023348,002528:
023349,002529: # ALARMS_ NONE
023350,002530:
023351,002531: # EXIT_ ENDOFJOB (ALWAYS)
023352,002532:
023353,002533: 25,2636 00006 DODES EXTEND
023354,002534: 25,2637 30036 DCA CDUT
023355,002535: 25,2640 53110 DXCH TANG
023356,002536:
023357,002537: 25,2641 06037 TC INTPRET
023358,002538:
023359,002539: 25,2642 77201 SETPD VLOAD
023360,002540: 25,2643 00001 0
023361,002541: 25,2644 01102 RRTARGET
023362,002542: 25,2645 74214 BON VXSC
023363,002543: 25,2646 00311 RRNBSW
023364,002544: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
023365,002545: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023366,002546: 25,2651 63372 VSL1 PDVL
023367,002547: 25,2652 01761 LOSVEL
023368,002548: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023369,002549: 25,2654 13072 MCTOMS
023370,002550: 25,2655 45056 UNIT CALL
023371,002551: 25,2656 47537 CDUTRIG
023372,002552: 25,2657 77624 CALL
023373,002553: 25,2660 47671 *SMNB*
023374,002554:
023375,002555: 25,2661 14041 DONBRD STODL 32D
023376,002556: 25,2662 01111 TANG +1
023377,002557: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023378,002558: 25,2664 21576 CDULOGIC # (-SIN(S)).
023379,002559: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023380,002560: 25,2666 41546 COS PUSH
023381,002561: 25,2667 65205 DMP PDDL
023382,002562: 25,2670 00041 32D
023383,002563: 25,2671 00045 36D
023384,002564: 25,2672 44205 DMP BDSU
023385,002565: 25,2673 00001 0
023386,002566: 25,2674 77626 STADR
023387,002567: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
023388,002568:
023389,002569: 25,2676 47135 SLOAD RTB
023390,002570: 25,2677 01110 TANG
023391,002571: 25,2700 21576 CDULOGIC
023392,002572: 25,2701 71406 PUSH COS # COS(T) TO 4.
023393,002573: 25,2702 73525 PDDL SIN
023394,002574: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
023395,002575: 25,2704 00003 2
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Page 549
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023397,002577: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023398,002578: 25,2706 00005 4 # ( COS(T) )
023399,002579: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
023400,002580: 25,2710 00007 6
023401,002581: 25,2711 00001 0
023402,002582: 25,2712 55552 SL1 VDEF
023403,002583: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023404,002584: 25,2714 00041 32D
023405,002585:
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Page 550
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023407,002587: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023408,002588: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023409,002589:
023410,002590: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023411,002591: 25,2716 00006 EXTEND
023412,002592: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023413,002593: 25,2720 55107 TS TANG # TRUNNION COMMAND.
023414,002594: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023415,002595: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023416,002596: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023417,002597: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023418,002598: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023419,002599: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023420,002600: 25,2727 41110 +3 CS TANG +1
023421,002601: 25,2730 00006 EXTEND
023422,002602: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023423,002603: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
023424,002604: 25,2733 06037 TC INTPRET
023425,002605:
023426,002606: 25,2734 41345 DLOAD DMP
023427,002607: 25,2735 00003 2 # COS(S).
023428,002608: 25,2736 00005 4 # COS(T).
023429,002609: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
023430,002610: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023431,002611: 25,2741 00001 0 # SIN(S).
023432,002612: 25,2742 72405 DMP SL1
023433,002613: 25,2743 00005 4 # COS(T).
023434,002614: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
023435,002615: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023436,002616: 25,2746 52751 +3
023437,002617: 25,2747 77624 CALL
023438,002618: 25,2750 47673 *NBSM* # GET URR IN SM AXES.
023439,002619: 25,2751 77441 DOT EXIT
023440,002620: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023441,002621:
023442,002622: 25,2753 00006 EXTEND
023443,002623: 25,2754 43070 DCS COS1/2DG
023444,002624: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023445,002625: 25,2756 10154 CCS MPAC
023446,002626: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023447,002627: 25,2760 12762 TCF +2
023448,002628: 25,2761 34753 CA ONE
023449,002629: 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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023451,002631: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023452,002632:
023453,002633: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023454,002634: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023455,002635: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
023456,002636: 25,2766 13017 TCF DORROUT
023457,002637: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023458,002638: 25,2770 13000 TCF DGOODCHK
023459,002639: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023460,002640: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023461,002641: 25,2773 10000 CCS A
023462,002642: 25,2774 13005 TCF RRDESDUN
023463,002643:
023464,002644: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
023465,002645: 25,2776 00006 EXTEND
023466,002646: 25,2777 05012 WOR CHAN12
023467,002647:
023468,002648: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023469,002649: 25,3001 00006 EXTEND
023470,002650: 25,3002 02033 RAND CHAN33
023471,002651: 25,3003 10000 CCS A
023472,002652: 25,3004 13017 TCF DORROUT
023473,002653:
023474,002654: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023475,002655: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023476,002656: 25,3007 00004 INHINT
023477,002657: 25,3010 54110 TS RADMODES
023478,002658:
023479,002659: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023480,002660: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023481,002661: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023482,002662: 25,3014 00006 EXTEND
023483,002663: 25,3015 03012 WAND CHAN12
023484,002664: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023485,002665:
023486,002666: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023487,002667: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023488,002668: 25,3021 00006 EXTEND
023489,002669: 25,3022 13041 BZF NOTP20
023490,002670: 25,3023 06037 TC INTPRET
023491,002671: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023492,002672: 25,3025 01102 RRTARGET
023493,002673: 25,3026 01767 MLOSV
023494,002674: 25,3027 41572 VSL1 PUSH
023495,002675: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023496,002676: 25,3031 01761 LOSVEL # TO LOS VECTOR
023497,002677: 25,3032 13072 MCTOMS
023498,002678: 25,3033 53362 VSR1 VAD
023499,002679: 25,3034 77656 UNIT
023500,002680: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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Page 552
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023502,002682: 25,3036 00045 36D
023503,002683: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
023504,002684: 25,3040 77776 EXIT
023505,002685: 25,3041 00004 NOTP20 INHINT
023506,002686: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023507,002687: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023508,002688: 25,3044 10000 CCS A
023509,002689: 25,3045 02306 TC RROUT
023510,002690:
023511,002691: 25,3046 30076 CA FLAGWRD2
023512,002692: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023513,002693: 25,3050 00006 EXTEND # LOS COUNTER
023514,002694: 25,3051 15155 BZF ENDOFJOB
023515,002695: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023516,002696: 25,3053 03064 TC DODESEND # A NEW LOS
023517,002697: 25,3054 00004 INHINT
023518,002698: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023519,002699: 25,3056 52602 CADR DESLOOP +2
023520,002700: 25,3057 00003 RELINT
023521,002701: 25,3060 10067 CCS NEWJOB
023522,002702: 25,3061 05122 TC CHANG1
023523,002703: 25,3062 04616 TC BANKCALL
023524,002704: 25,3063 50731 CADR R21LEM2
023525,002705:
023526,002706: 25,3064 55456 DODESEND TS LOSCOUNT
023527,002707: 25,3065 05155 TC ENDOFJOB
023528,002708:
023529,002709: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023530,002710: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000
023531,002711: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023532,002712: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
023533,002713:
|
|
Page 553
|
023535,002715: # RADAR READ INITIALIZATION
023536,002716:
023537,002717: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023538,002718:
023539,002719: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023540,002720: 25,3074 00017 ALLREAD OCT 17
023541,002721:
023542,002722: 25,3075 03114 LRVELZ TC INITREAD
023543,002723: 25,3076 00016 OCT 16
023544,002724:
023545,002725: 25,3077 03114 LRVELY TC INITREAD
023546,002726: 25,3100 00015 OCT 15
023547,002727:
023548,002728: 25,3101 03114 LRVELX TC INITREAD
023549,002729: 25,3102 00014 OCT 14
023550,002730:
023551,002731: 25,3103 03113 RRRDOT TC INITREAD -1
023552,002732: 25,3104 00012 OCT 12
023553,002733:
023554,002734: 25,3105 03113 RRRANGE TC INITREAD -1
023555,002735: 25,3106 00011 OCT 11
023556,002736:
023557,002737: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023558,002738: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023559,002739:
023560,002740: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023561,002741: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023562,002742: 25,3111 51105 INDEX TIMEHOLD
023563,002743: 25,3112 13075 TCF LRVELZ
023564,002744:
|
|
Page 554
|
023566,002746: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023567,002747: 25,3114 00004 INITREAD INHINT
023568,002748:
023569,002749: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023570,002750: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023571,002751: 25,3117 74751 MP BIT3 # ENCOUNTERED).
023572,002752: 25,3120 53106 DXCH TIMEHOLD
023573,002753:
023574,002754: 25,3121 10000 CCS A
023575,002755: 25,3122 55111 TS NSAMP
023576,002756: 25,3123 64753 AD ONE
023577,002757: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023578,002758: # DOUBLE
023579,002759: 25,3124 55100 TS SAMPLIM
023580,002760:
023581,002761: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023582,002762: 25,3126 00006 EXTEND
023583,002763: 25,3127 02033 RAND CHAN33
023584,002764: 25,3130 55113 TS OLDATAGD
023585,002765:
023586,002766: 25,3131 43074 CS ALLREAD
023587,002767: 25,3132 00006 EXTEND
023588,002768: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023589,002769:
023590,002770: 25,3134 50002 INDEX Q
023591,002771: 25,3135 30000 CAF 0
023592,002772: 25,3136 00006 EXTEND
023593,002773: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
023594,002774:
023595,002775: 25,3140 00006 EXTEND
023596,002776: 25,3141 30025 DCA TIME2
023597,002777: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023598,002778:
023599,002779: 25,3143 34755 CAF ZERO
023600,002780: 25,3144 54001 TS L
023601,002781: 25,3145 53102 DXCH SAMPLSUM
023602,002782: 25,3146 12366 TCF ROADBACK
023603,002783:
023604,002784: 25,3147 00230 DGBITS OCT 230
023605,002785:
|
|
Page 555
|
023607,002787: # RADAR RUPT READER
023608,002788:
023609,002789: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023610,002790:
023611,002791: 25,2000 SETLOC RADARUPT
023612,002792: 25,2000 BANK
023613,002793:
023614,002794: 25,3150 COUNT* $$/RRUPT
023615,002795: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023616,002796: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023617,002797: 25,3152 54016 TS BANKRUPT
023618,002798: 25,3153 00006 EXTEND
023619,002799: 25,3154 22012 QXCH QRUPT
023620,002800:
023621,002801: 25,3155 34757 CAF SEVEN
023622,002802: 25,3156 00006 EXTEND
023623,002803: 25,3157 02013 RAND CHAN13
023624,002804: 25,3160 55335 TS DNINDEX
023625,002805: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023626,002806: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023627,002807: 25,3163 30046 CA RNRAD
023628,002808: 25,3164 51335 INDEX DNINDEX
023629,002809: 25,3165 55332 TS DNRRANGE -1
023630,002810: 25,3166 11100 TRYCOUNT CCS SAMPLIM
023631,002811: 25,3167 13211 TCF PLENTY
023632,002812: 25,3170 13174 TCF NOMORE
023633,002813: 25,3171 05567 TC ALARM
023634,002814: 25,3172 00520 OCT 520
023635,002815: 25,3173 05270 TC RESUME
023636,002816:
023637,002817: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023638,002818: 25,3175 74735 MASK LRBYBIT
023639,002819: 25,3176 00006 EXTEND
023640,002820: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023641,002821:
023642,002822: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
023643,002823: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
023644,002824: 25,3202 00006 EXTEND
023645,002825: 25,3203 13206 BZF BADRAD
023646,002826:
023647,002827: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
023648,002828: 25,3205 00521 OCT 521
023649,002829: 25,3206 44753 BADRAD CS ONE
023650,002830: 25,3207 55100 TS SAMPLIM
023651,002831: 25,3210 03560 TC RDBADEND -2
023652,002832: 25,3211 55100 PLENTY TS SAMPLIM
023653,002833: 25,3212 34751 CAF BIT3
023654,002834: 25,3213 00006 EXTEND
023655,002835: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023656,002836: 25,3215 00006 EXTEND
|
|
Page 556
|
023658,002838: 25,3216 13276 BZF RENDRAD
023659,002839:
023660,002840: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
023661,002841: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
023662,002842: 25,3221 00006 EXTEND
023663,002843: 25,3222 06033 RXOR CHAN33
023664,002844: 25,3223 74746 MASK BIT6
023665,002845: 25,3224 00006 EXTEND
023666,002846: 25,3225 13231 BZF VELCHK
023667,002847:
023668,002848: 25,3226 05567 TC ALARM
023669,002849: 25,3227 00522 OCT 522
023670,002850: 25,3230 03206 TC BADRAD
023671,002851:
023672,002852: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT
023673,002853: 25,3232 00006 EXTEND
023674,002854: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023675,002855: 25,3234 76245 MASK BIN3
023676,002856: 25,3235 00006 EXTEND
023677,002857: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
023678,002858:
023679,002859: 25,3237 34733 CAF POSMAX
023680,002860: 25,3240 70046 MASK RNRAD
023681,002861: 25,3241 62000 AD LVELBIAS
023682,002862: 25,3242 54001 TS L
023683,002863: 25,3243 30046 CAE RNRAD
023684,002864: 25,3244 60000 DOUBLE
023685,002865: 25,3245 74753 MASK BIT1
023686,002866: 25,3246 52064 DXCH ITEMP3
023687,002867:
023688,002868: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023689,002869: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023690,002870: # INDEPENDENT OF DATA GOOD.
023691,002871:
023692,002872: 25,3251 11111 CCS NSAMP
023693,002873: 25,3252 03262 TC NOEND
023694,002874: 25,3253 44753 GOODRAD CS ONE
023695,002875: 25,3254 55100 TS SAMPLIM
023696,002876: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023697,002877: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023698,002878: 25,3257 54110 TS RADMODES
023699,002879: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023700,002880: 25,3261 03553 TC RGOODEND -2
023701,002881:
023702,002882: 25,3262 55111 NOEND TS NSAMP
023703,002883: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023704,002884: 25,3264 13266 TCF +2
023705,002885: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023706,002886: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
023707,002887: 25,3267 00006 EXTEND
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|
Page 557
|
023709,002889: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
023710,002890: 25,3271 05270 TC RESUME
023711,002891:
023712,002892:
023713,002893: 25,3272 34747 LRHEIGHT CAF BIT5
023714,002894: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023715,002895:
023716,002896: 25,3274 34743 CAF BIT9
023717,002897: 25,3275 03320 TC SCALECHK -1
023718,002898:
023719,002899: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023720,002900: 25,3277 70110 MASK RADMODES # LIMITS.
023721,002901: 25,3300 10000 CCS A
023722,002902: 25,3301 13206 TCF BADRAD
023723,002903:
023724,002904: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023725,002905: 25,3303 74745 MASK RCDUFBIT
023726,002906: 25,3304 10000 CCS A
023727,002907: 25,3305 13206 TCF BADRAD
023728,002908:
023729,002909: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023730,002910: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023731,002911:
023732,002912: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
023733,002913: 25,3311 00006 EXTEND
023734,002914: 25,3312 02013 RAND CHAN13
023735,002915: 25,3313 54002 TS Q # FOR LATER TESTING.
023736,002916: 25,3314 10000 CCS A
023737,002917: 25,3315 13317 TCF +2
023738,002918: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023739,002919: 25,3317 34751 CAF BIT3
023740,002920: 25,3320 54001 TS L
023741,002921:
023742,002922: 25,3321 00006 SCALECHK EXTEND
023743,002923: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
023744,002924: 25,3323 56001 XCH L
023745,002925: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
023746,002926: 25,3325 00006 EXTEND
023747,002927: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
023748,002928: 25,3327 10000 CCS A
023749,002929: 25,3330 03350 TC SCALCHNG # THEY DIFFER
023750,002930:
023751,002931: 25,3331 34733 RADIN CAF POSMAX
023752,002932: 25,3332 70046 MASK RNRAD
023753,002933: 25,3333 54064 TS ITEMP4
023754,002934:
023755,002935: 25,3334 30046 CAE RNRAD
023756,002936: 25,3335 60000 DOUBLE
023757,002937: 25,3336 74753 MASK BIT1
023758,002938: 25,3337 54063 TS ITEMP3
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|
Page 558
|
023760,002940: 25,3340 10002 CCS Q # SEE IF RR RDOT.
023761,002941: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023762,002942:
023763,002943: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
023764,002944: 25,3343 42002 DCS RDOTBIAS
023765,002945: 25,3344 20064 DASAMPL DAS ITEMP3
023766,002946: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023767,002947: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023768,002948: 25,3347 03253 TC GOODRAD
023769,002949:
023770,002950: 25,3350 22110 SCALCHNG LXCH RADMODES
023771,002951: 25,3351 64753 AD BIT1
023772,002952: 25,3352 00006 EXTEND
023773,002953: 25,3353 06001 RXOR LCHAN
023774,002954: 25,3354 54110 TS RADMODES
023775,002955: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023776,002956: 25,3356 00006 EXTEND
023777,002957: 25,3357 02033 RAND CHAN33
023778,002958: 25,3360 55113 TS OLDATAGD
023779,002959: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
023780,002960: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
023781,002961: 25,3363 13206 TCF BADRAD
023782,002962:
023783,002963: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023784,002964:
023785,002965: 25,3364 40101 R77CHECK CS FLAGWRD5
023786,002966: 25,3365 74741 MASK R77FLBIT
023787,002967: 25,3366 10000 CCS A
023788,002968: 25,3367 00002 TC Q # NOT R77
023789,002969: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023790,002970: 25,3371 70110 MASK RADMODES
023791,002971: 25,3372 54001 TS L
023792,002972: 25,3373 33401 CA BITS5,8
023793,002973: 25,3374 00006 EXTEND
023794,002974: 25,3375 02033 RAND CHAN33
023795,002975: 25,3376 60001 AD L
023796,002976: 25,3377 54110 TS RADMODES
023797,002977: 25,3400 03553 TC RGOODEND -2
023798,002978: 25,3401 00220 BITS5,8 OCT 220
023799,002979:
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|
Page 559
|
023801,002981: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
023802,002982:
023803,002983: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
023804,002984: 25,3403 13405 TCF +2 # ON HIGH SCALE.
023805,002985: 25,3404 13345 TCF DGCHECK2
023806,002986:
023807,002987: 25,3405 31335 CA DNINDEX
023808,002988: 25,3406 74751 MASK BIT3
023809,002989: 25,3407 10000 CCS A
023810,002990: 25,3410 13417 TCF LRSCK
023811,002991:
023812,002992: 25,3411 52064 DXCH ITEMP3
023813,002993: 25,3412 20001 DDOUBL
023814,002994: 25,3413 20001 DDOUBL
023815,002995: 25,3414 20001 DDOUBL
023816,002996: 25,3415 52064 DXCH ITEMP3
023817,002997:
023818,002998: 25,3416 13345 TCF DGCHECK2
023819,002999:
023820,003000: 25,3417 10063 LRSCK CCS ITEMP3
023821,003001: 25,3420 13431 TCF +11
023822,003002: 25,3421 40064 CS ITEMP4
023823,003003: 25,3422 63441 AD HISCALIM
023824,003004: 25,3423 00006 EXTEND
023825,003005: 25,3424 63431 BZMF +5
023826,003006:
023827,003007: 25,3425 40107 CS FLGWRD11
023828,003008: 25,3426 74751 MASK SCABBIT
023829,003009: 25,3427 26107 ADS FLGWRD11
023830,003010: 25,3430 13434 TCF +4
023831,003011:
023832,003012: 25,3431 44751 CS SCABBIT
023833,003013: 25,3432 70107 MASK FLGWRD11
023834,003014: 25,3433 54107 TS FLGWRD11
023835,003015:
023836,003016: 25,3434 00006 EXTEND
023837,003017: 25,3435 30064 DCA ITEMP3
023838,003018: 25,3436 20001 DDOUBL
023839,003019: 25,3437 20001 DDOUBL
023840,003020: 25,3440 13344 TCF DASAMPL
023841,003021:
023842,003022: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
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|
Page 560
|
023844,003024: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
023845,003025: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
023846,003026: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
023847,003027: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
023848,003028: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
023849,003029: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
023850,003030: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
023851,003031: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
023852,003032: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
023853,003033: 25,3453 60001 AD L
023854,003034: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
023855,003035: 25,3455 03263 TC RESAMPLE
023856,003036: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
023857,003037: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
023858,003038: 25,3460 00002 TC Q
023859,003039:
023860,003040: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
023861,003041: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
023862,003042: 25,3463 60061 AD ITEMP1
023863,003043: 25,3464 54110 TS RADMODES
023864,003044:
023865,003045: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
023866,003046: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
023867,003047: 25,3467 03616 TC RADLITES
023868,003048: 25,3470 13174 TCF NOMORE
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|
Page 561
|
023870,003050: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
023871,003051:
023872,003052: 25,2000 SETLOC P20S1
023873,003053: 25,2000 BANK
023874,003054:
023875,003055: 25,3471 COUNT* $$/RSUB
023876,003056: 25,3471 00004 LRPOS2 INHINT
023877,003057:
023878,003058: 25,3472 40110 CS RADMODES
023879,003059: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
023880,003060: 25,3474 26110 ADS RADMODES
023881,003061:
023882,003062: 25,3475 34745 CAF BIT7
023883,003063: 25,3476 00006 EXTEND
023884,003064: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
023885,003065: 25,3500 00006 EXTEND
023886,003066: 25,3501 13530 BZF RADNOOP
023887,003067:
023888,003068: 25,3502 34737 CAF BIT13
023889,003069: 25,3503 00006 EXTEND
023890,003070: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
023891,003071: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
023892,003072: 25,3506 05203 TC WAITLIST
023893,003073: 25,3507 E7,1456 EBANK= LOSCOUNT
023894,003074: 25,3507 03543 52067 2CADR LRPOSCAN
023895,003075:
023896,003076: 25,3511 02366 TC ROADBACK
023897,003077:
023898,003078: 25,3512 55100 LRPOSNXT TS SAMPLIM
023899,003079: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
023900,003080: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
023901,003081:
023902,003082: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
023903,003083: 25,3516 00006 EXTEND
023904,003084: 25,3517 02033 RAND CHAN33
023905,003085: 25,3520 00006 EXTEND
023906,003086: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
023907,003087:
023908,003088: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
023909,003089: 25,3523 13512 TCF LRPOSNXT
023910,003090:
023911,003091: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
023912,003092: 25,3525 00006 EXTEND
023913,003093: 25,3526 03012 WAND CHAN12
023914,003094: 25,3527 13562 TCF RDBADEND
023915,003095:
023916,003096: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
023917,003097: 25,3531 05203 TC WAITLIST
023918,003098: 25,3532 E7,1456 EBANK= LOSCOUNT
023919,003099: 25,3532 03555 52067 2CADR RGOODEND
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Page 562
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023921,003101: 25,3534 02366 TC ROADBACK
023922,003102:
023923,003103: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
023924,003104: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
023925,003105:
023926,003106: 25,3537 44737 CS BIT13 # REMOVE COMMAND
023927,003107: 25,3540 00006 EXTEND
023928,003108: 25,3541 03012 WAND CHAN12
023929,003109: 25,3542 13555 TCF RGOODEND
023930,003110:
023931,003111: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
023932,003112: 25,3544 13512 TCF LRPOSNXT
023933,003113: 25,3545 01130 6SECS DEC 600 B-14
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Page 563
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023935,003115: # SEQUENCES TO TERMINATE RR OPERATIONS.
023936,003116:
023937,003117: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
023938,003118: 25,3547 70110 MASK RADMODES
023939,003119: 25,3550 10000 CCS A
023940,003120: 25,3551 13555 TCF RGOODEND
023941,003121: 25,3552 13562 TCF RDBADEND
023942,003122: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
023943,003123: 25,3554 54734 TS RUPTAGN
023944,003124:
023945,003125: 25,3555 34752 RGOODEND CAF TWO
023946,003126: 25,3556 04635 TC POSTJUMP
023947,003127: 25,3557 17665 CADR GOODEND
023948,003128:
023949,003129: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
023950,003130: 25,3561 54734 TS RUPTAGN
023951,003131: 25,3562 34752 RDBADEND CAF TWO
023952,003132: 25,3563 04635 TC POSTJUMP
023953,003133: 25,3564 17662 CADR BADEND
023954,003134:
023955,003135: 25,3565 6245 BIN3 EQUALS THREE
023956,003136:
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Page 564
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023958,003138: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
023959,003139: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
023960,003140:
023961,003141: # FUNCTIONAL DESCRIPTION_
023962,003142: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
023963,003143: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
023964,003144: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
023965,003145:
023966,003146: # CALLING SEQUENCE CALL
023967,003147: # LPS20.1
023968,003148:
023969,003149: # SUBROUTINES CALLED_
023970,003150: # LEMPREC, CSMPREC
023971,003151:
023972,003152: # NORMAL EXIT_ RETURN TO CALLER + 2
023973,003153:
023974,003154: # ERROR EXITS_ NONE
023975,003155:
023976,003156: # ALARMS_ NONE
023977,003157:
023978,003158: # OUTPUT_
023979,003159: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
023980,003160: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
023981,003161: # RRNBSW CLEARED
023982,003162:
023983,003163: # INITIALIZED ERASEABLE
023984,003164: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
023985,003165: # SEE ORBITAL INTEGRATION ROUTINE
023986,003166:
023987,003167: # DEBRIS_
023988,003168: # MPAC DESTROYED BY THIS ROUTINE
023989,003169:
023990,003170: 23,2314 BANK 23
023991,003171: 24,2000 SETLOC P20S
023992,003172: 24,2000 BANK
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Page 565
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023994,003174: 24,3255 COUNT* $$/LPS20
023995,003175:
023996,003176: 24,3255 43020 LPS20.1 STQ BOFF
023997,003177: 24,3256 01757 LS21X
023998,003178: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
023999,003179: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
024000,003180: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024001,003181: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
024002,003182: 24,3263 51274 CSMINT
024003,003183: 24,3264 77624 LMINT CALL
024004,003184: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM
024005,003185: 24,3266 77775 VLOAD
024006,003186: 24,3267 00001 RATT
024007,003187: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
024008,003188: 24,3271 00007 VATT
024009,003189: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024010,003190: 24,3273 00015 TAT
024011,003191: 24,3274 34041 CSMINT STCALL TDEC1
024012,003192: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM
024013,003193: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024014,003194: 24,3277 00007 VATT
024015,003195: 24,3300 02360 LMVEL
024016,003196: 24,3301 76521 MXV VSL1
024017,003197: 24,3302 01734 REFSMMAT
024018,003198: 24,3303 77776 EXIT
024019,003199: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024020,003200: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024021,003201: 24,3306 06037 TC INTPRET
024022,003202: 24,3307 25761 STOVL LOSVEL
024023,003203: 24,3310 00001 RATT
024024,003204: 24,3311 43051 VSU BOFF
024025,003205: 24,3312 02352 LMPOS
024026,003206: 24,3313 00350 RNDVZFLG
024027,003207: 24,3314 51321 NOTSHIFT
024028,003208: 24,3315 77604 BOVB
024029,003209: 24,3316 57753 TCDANZIG
024030,003210: 24,3317 77661 VSL
024031,003211: 24,3320 20212 9D
024032,003212: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024033,003213: 24,3322 50102 526ALARM # THAN 400 N. M.
024034,003214: 24,3323 76521 MXV VSL1
024035,003215: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024036,003216: 24,3325 15102 STODL RRTARGET
024037,003217: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024038,003218: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024039,003219: 24,3330 77614 CLRGO
024040,003220: 24,3331 00231 RRNBSW
024041,003221: 24,3332 01757 LS21X
024042,003222:
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Page 566
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024044,003224: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024045,003225: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024046,003226:
024047,003227: # FUNCTIONAL DESCRIPTION_
024048,003228: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024049,003229:
024050,003230: # CALLING SEQUENCE CALL
024051,003231: # LPS20.2
024052,003232:
024053,003233: # SUBROUTINES CALLED_ NONE
024054,003234:
024055,003235: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024056,003236:
024057,003237: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024058,003238:
024059,003239: # ALARMS_ NONE
024060,003240:
024061,003241: # OUTPUT_ NONE
024062,003242:
024063,003243: # INITIALIZED ERASEABLE_
024064,003244: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024065,003245:
024066,003246: # DEBRIS
024067,003247: # MPAC DESTROYED BY THIS ROUTINE
024068,003248:
024069,003249: 25,2000 SETLOC P20S1
024070,003250: 25,2000 BANK
024071,003251: 25,3565 COUNT* $$/LPS20
024072,003252:
024073,003253: 25,3565 45345 LPS20.2 DLOAD DSU
024074,003254: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
024075,003255: 25,3567 13600 FHNM # OVER 400NM _
024076,003256: 25,3570 77644 BPL
024077,003257: 25,3571 53574 TOFAR
024078,003258: 25,3572 43535 SLOAD RVQ
024079,003259: 25,3573 06522 ZERO/SP
024080,003260: 25,3574 43535 TOFAR SLOAD RVQ
024081,003261: 25,3575 13577 ONE/SP
024082,003262: 25,3576 00001 ONE/SP DEC 1 B-14
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Page 567
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024084,003264: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024085,003265:
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Page 568
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024087,003267: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024088,003268: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024089,003269:
024090,003270: # FUNCTIONAL DESCRIPTION
024091,003271: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024092,003272: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024093,003273: # RR REPOSITION AND RR CDU FAIL
024094,003274: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024095,003275:
024096,003276: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024097,003277:
024098,003278: # SUBROUTINES CALLED:
024099,003279: # RRRDOT LPS20.1
024100,003280: # RRRANGE BANKCALL
024101,003281: # RADSTALL CDULOGIC
024102,003282: # RRNB SMNB
024103,003283:
024104,003284: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024105,003285:
024106,003286: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024107,003287: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024108,003288: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024109,003289:
024110,003290: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024111,003291: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024112,003292:
024113,003293: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024114,003294: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024115,003295:
024116,003296: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024117,003297: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024118,003298: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024119,003299: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024120,003300: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024121,003301: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024122,003302:
024123,003303: # ERASABLE INITIALIZATION REQUIRED:
024124,003304: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 569
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024126,003306: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024127,003307: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024128,003308: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024129,003309:
024130,003310: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024131,003311:
024132,003312: 32,2366 BANK 32
024133,003313: 32,2000 SETLOC LRS22
024134,003314: 32,2000 BANK
024135,003315: 32,2366 COUNT* $$/LRS22
024136,003316:
024137,003317: 32,2366 04645 LRS22.1 TC MAKECADR
024138,003318: 32,2367 55737 TS LRS22.1X
024139,003319: 32,2370 05516 TC DOWNFLAG
024140,003320: 32,2371 00120 ADRES RNGSCFLG
024141,003321: 32,2372 00004 INHINT
024142,003322: 32,2373 34751 CAF BIT3
024143,003323: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024144,003324: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024145,003325: 32,2376 54001 TS L
024146,003326: 32,2377 44751 CS RRRSBIT
024147,003327: 32,2400 70110 MASK RADMODES
024148,003328: 32,2401 60001 AD L
024149,003329: 32,2402 54110 TS RADMODES
024150,003330: 32,2403 00003 RELINT
024151,003331: 32,2404 04616 READRDOT TC BANKCALL
024152,003332: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024153,003333: 32,2406 04616 TC BANKCALL
024154,003334: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024155,003335: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024156,003336:
024157,003337: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024158,003338: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024159,003339: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024160,003340: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024161,003341: 32,2415 53747 DXCH RDOTMSAV
024162,003342: 32,2416 00006 EXTEND
024163,003343: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024164,003344: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024165,003345: 32,2421 30032 CA CDUX
024166,003346: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024167,003347: 32,2423 00006 EXTEND
024168,003348: 32,2424 30025 DCA TIME2 # SAVE TIME
024169,003349: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024170,003350: 32,2426 00006 EXTEND
024171,003351: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024172,003352: 32,2430 53110 DXCH TANG
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Page 570
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024174,003354: 32,2431 00003 RELINT
024175,003355: 32,2432 04616 TC BANKCALL
024176,003356: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024177,003357: 32,2434 04616 TC BANKCALL
024178,003358: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
024179,003359: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ
024180,003360: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024181,003361: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024182,003362: 32,2441 53761 DXCH RANGRDOT
024183,003363: 32,2442 52162 DXCH MPAC +5
024184,003364: 32,2443 53755 DXCH MKTIME # MARK TIME
024185,003365: 32,2444 52160 DXCH MPAC +3
024186,003366: 32,2445 53460 DXCH AIG # CDUY, CDUZ
024187,003367: 32,2446 00006 EXTEND
024188,003368: 32,2447 31110 DCA TANG # PRESERVE TANG
024189,003369: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024190,003370: 32,2451 30156 CA MPAC +2
024191,003371: 32,2452 55461 TS AOG # CDUX
024192,003372: 32,2453 06037 TC INTPRET
024193,003373: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024194,003374: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024195,003375: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024196,003376: 32,2457 20217 14D # FT./SECOND PER BIT
024197,003377: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024198,003378: 32,2461 03751 STORE RDOTM
024199,003379: 32,2462 47135 SLOAD RTB
024200,003380: 32,2463 01110 TANG # GET TRUNION ANGLE
024201,003381: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024202,003382: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024203,003383: 32,2466 47135 SLOAD RTB
024204,003384: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE
024205,003385: 32,2470 21576 CDULOGIC
024206,003386: 32,2471 17736 STODL RRSHAFT
024207,003387: 32,2472 01102 SAMPLSUM
024208,003388: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024209,003389: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024210,003390: 32,2475 37757 STCALL RM
024211,003391: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024212,003392: 32,2477 17741 STODL RRBORSIT # AND SAVE
024213,003393: 32,2500 00025 20D
024214,003394: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024215,003395: 32,2502 51255 LPS20.1
024216,003396: 32,2503 77776 EXIT
024217,003397: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024218,003398: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024219,003399: 32,2506 31460 CA AMG
024220,003400: 32,2507 54770 TS CDUSPOT +2
024221,003401: 32,2510 31461 CA AOG
024222,003402: 32,2511 54772 TS CDUSPOT +4
024223,003403: 32,2512 06037 TC INTPRET
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Page 571
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024225,003405: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024226,003406: 32,2514 01102 RRTARGET
024227,003407: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024228,003408: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024229,003409: 32,2517 03741 RRBORSIT
024230,003410: 32,2520 65552 SL1 ACOS # BETWEEN THEM
024231,003411: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024232,003412: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024233,003413: 32,2523 24546 THREEDEG
024234,003414: 32,2524 64531 NORMEXIT # YES - NORMAL EXIT
024235,003415:
024236,003416: 32,2525 77776 EXIT # ERROR EXIT 2
024237,003417: 32,2526 34752 CAF BIT2 # SET ERROR CODE
024238,003418: 32,2527 54154 TS MPAC
024239,003419: 32,2530 12534 TCF OUT22.1
024240,003420:
024241,003421: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024242,003422: 32,2532 34755 CAF ZERO
024243,003423: 32,2533 54154 TS MPAC
024244,003424: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024245,003425: 32,2535 04640 TC BANKJUMP
024246,003426: 32,2536 30101 CHEXERR CAE FLAGWRD5
024247,003427: 32,2537 74742 MASK RNGSCBIT
024248,003428: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024249,003429: 32,2541 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024250,003430:
024251,003431: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024252,003432: 32,2543 54154 TS MPAC
024253,003433: 32,2544 02534 TC OUT22.1
024254,003434: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024255,003435:
024256,003436: 32,2547 1101 RRLOSVEC EQUALS RRTARGET
024257,003437:
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Page 572
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024259,003439: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024260,003440: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024261,003441:
024262,003442: # 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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024264,003444: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024265,003445:
024266,003446: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024267,003447:
024268,003448: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024269,003449:
024270,003450: # NORMAL EXIT- RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024271,003451:
024272,003452: # ERROR EXIT- RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024273,003453:
024274,003454: # ALARMS- NONE IN THE AUTO MODE
024275,003455:
024276,003456: # ERASABLE INITIALIZATION REQUIRED -
024277,003457: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024278,003458: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024279,003459: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024280,003460:
024281,003461: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024282,003462:
024283,003463: 24,2000 SETLOC P20S
024284,003464: 24,2000 BANK
024285,003465: 24,3333 04645 LRS22.2 TC MAKECADR
024286,003466: 24,3334 55737 TS LRS22.1X
024287,003467: 24,3335 06037 TC INTPRET
024288,003468: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024289,003469: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024290,003470: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024291,003471: # LOS VECTOR, A HALF UNIT VECTOR
024292,003472: # IN NAV BASE AXES)
024293,003473: 24,3340 50025 DSU BMN
024294,003474: 24,3341 11355 30DEG
024295,003475: 24,3342 51347 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024296,003476: 24,3343 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024297,003477: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024298,003478: 24,3345 54154 TS MPAC
024299,003479: 24,3346 13352 TCF OUT22.2
024300,003480: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024301,003481:
|
|
Page 573
|
024303,003483: 24,3350 34755 CAF ZERO
024304,003484: 24,3351 54154 TS MPAC
024305,003485: 24,3352 31737 OUT22.2 CAE LRS22.1X
024306,003486: 24,3353 04640 TC BANKJUMP
024307,003487:
024308,003488: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024309,003489:
|
|
Page 574
|
024311,003491: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024312,003492: # MOD. NO 3 LOG SECTION - P20-25
024313,003493: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024314,003494:
024315,003495: # FUNCTIONAL DESCRIPTION
024316,003496: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024317,003497: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024318,003498: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024319,003499:
024320,003500: # CALLING SEQUENCE
024321,003501: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024322,003502: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024323,003503: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024324,003504: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024325,003505: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024326,003506: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024327,003507:
024328,003508: # SUBROUTINES CALLED
024329,003509: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024330,003510: # GETULC RARARANG INCORP2 NBSM INTSTALL
024331,003511:
024332,003512: # OUTPUT
024333,003513: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024334,003514: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024335,003515: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024336,003516: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024337,003517: # UPDATED W-MATRIX
024338,003518:
024339,003519: # ERASABLE INITIALIZATION REQUIRED
024340,003520: # LM AND CSM STATE VECTORS
024341,003521: # W-MATRIX
024342,003522: # MARK TIME IN MKTIME
024343,003523: # RADAR RANGE IN RM METERS B-29
024344,003524: # RANGE RATE IN RDOTM METERS/CSES B-7
024345,003525: # SHAFT ANGLE IN RRSHAFT REVS. B0
024346,003526: # TRUNNION ANGLE IN RRTRUN REVS. B0
024347,003527: # GIMBAL ANGLES INNER IN AIG
024348,003528: # MIDDLE IN AMG
024349,003529: # OUTER IN AOG
024350,003530: # REFSMMAT
024351,003531: # RENDWFLG
024352,003532: # NOANGFLG
024353,003533: # VEHUPFLG
024354,003534:
024355,003535: # DEBRIS
024356,003536: # PUSHLIST -- ALL
024357,003537: # MX, MY, MZ (VECTORS)
|
|
Page 575
|
024359,003539: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024360,003540:
024361,003541: 13,2207 BANK 13
024362,003542: 26,2000 SETLOC P20S3
024363,003543: 26,2000 BANK
024364,003544:
024365,003545: 26,2412 E7,1456 EBANK= LOSCOUNT
024366,003546: 26,2412 COUNT* $$/LSR22
024367,003547: 26,2412 77624 LSR22.3 CALL
024368,003548: 26,2413 11244 GRP2PC
024369,003549: 26,2414 43014 BON SET
024370,003550: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024371,003551: 26,2416 55200 LSR22.4 # YES
024372,003552: 26,2417 02466 DMENFLG
024373,003553: 26,2420 45014 BOFF CALL
024374,003554: 26,2421 00747 VEHUPFLG
024375,003555: 26,2422 54454 DOLEM
024376,003556: 26,2423 27414 INTSTALL
024377,003557: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION
024378,003558: 26,2425 01674 VINTFLAG
024379,003559: 26,2426 26644 SETIFLGS
024380,003560: 26,2427 77624 CALL
024381,003561: 26,2430 55242 INTGRCAL
024382,003562: 26,2431 77624 CALL
024383,003563: 26,2432 11244 GRP2PC
024384,003564: 26,2433 77624 CALL
024385,003565: 26,2434 27414 INTSTALL
024386,003566: 26,2435 43014 CLEAR BOFF
024387,003567: 26,2436 01676 DIM0FLAG
024388,003568: 26,2437 02756 RENDWFLG
024389,003569: 26,2440 54444 NOTWCSM
024390,003570: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024391,003571: 26,2442 01476 DIM0FLAG
024392,003572: 26,2443 01475 D6OR9FLG
024393,003573: 26,2444 43014 NOTWCSM SET CLEAR
024394,003574: 26,2445 01474 VINTFLAG
024395,003575: 26,2446 01673 INTYPFLG
024396,003576: 26,2447 45014 SET CALL
024397,003577: 26,2450 01472 STATEFLG
024398,003578: 26,2451 55242 INTGRCAL
024399,003579: 26,2452 77650 GOTO
024400,003580: 26,2453 54504 MARKTEST
024401,003581: 26,2454 77624 DOLEM CALL
024402,003582: 26,2455 27414 INTSTALL
024403,003583: 26,2456 45014 SET CALL
024404,003584: 26,2457 01474 VINTFLAG
024405,003585: 26,2460 26644 SETIFLGS
024406,003586: 26,2461 77624 CALL
024407,003587: 26,2462 55242 INTGRCAL
|
|
Page 576
|
024409,003589: 26,2463 77624 CALL
024410,003590: 26,2464 11244 GRP2PC
024411,003591: 26,2465 77624 CALL
024412,003592: 26,2466 27414 INTSTALL
024413,003593: 26,2467 43014 CLEAR BOFF
024414,003594: 26,2470 01676 DIM0FLAG
024415,003595: 26,2471 02756 RENDWFLG
024416,003596: 26,2472 54476 NOTWLEM
024417,003597: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024418,003598: 26,2474 01476 DIM0FLAG
024419,003599: 26,2475 01475 D6OR9FLG
024420,003600: 26,2476 43014 NOTWLEM CLEAR CLEAR
024421,003601: 26,2477 01673 INTYPFLG
024422,003602: 26,2500 01674 VINTFLAG
024423,003603: 26,2501 45014 SET CALL
024424,003604: 26,2502 01472 STATEFLG
024425,003605: 26,2503 55242 INTGRCAL
024426,003606: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024427,003607: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024428,003608: 26,2506 54510 RANGEBQ
024429,003609: 26,2507 55251 WLINIT # YES - REINITIALIZE
024430,003610: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024431,003611: 26,2511 04307 SURFFLAG
024432,003612: 26,2512 54520 RANGEBQ1
024433,003613: 26,2513 34755 CA ZERO
024434,003614: 26,2514 55745 TS R65CNTR
024435,003615: 26,2515 04616 TC BANKCALL
024436,003616: 26,2516 46123 CADR R65LEM
024437,003617: 26,2517 06037 TC INTPRET
024438,003618: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024439,003619: 26,2521 00000 0
024440,003620: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024441,003621: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024442,003622: 26,2524 77714 INCR,2
024443,003623: 26,2525 00002 2
024444,003624: 26,2526 45134 SETX2 SXA,2 CALL
024445,003625: 26,2527 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024446,003626: 26,2530 11244 GRP2PC
024447,003627: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024448,003628: 26,2532 00001 1
024449,003629: 26,2533 03745 WHCHREAD
024450,003630: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024451,003631: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024452,003632: 26,2536 20635 28D
024453,003633: 26,2537 77634 RTB
024454,003634: 26,2540 21633 TPMODE # AND SAVE IN 20D
024455,003635: 26,2541 00025 STORE 20D
024456,003636: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024457,003637: 26,2543 55333 GETULC # B-VECTORS FOR RANGE
024458,003638: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
|
|
Page 577
|
024460,003640: 26,2545 00707 VEHUPFLG
024461,003641: 26,2546 54547 +1
024462,003642: 26,2547 27525 STOVL BVECTOR
024463,003643: 26,2550 06522 ZEROVECS
024464,003644: 26,2551 03533 STORE BVECTOR +6 # B1
024465,003645: 26,2552 17541 STODL BVECTOR +12D # B2
024466,003646: 26,2553 00045 36D
024467,003647: 26,2554 44257 SRR* BDSU
024468,003648: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024469,003649: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024470,003650: 26,2557 77657 SLR*
024471,003651: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024472,003652: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024473,003653: 26,2562 00045 36D # RLC B-29/B-27
024474,003654: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE
024475,003655: 26,2564 00047 X1
024476,003656: 26,2565 53605 DMP SR*
024477,003657: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024478,003658: 26,2567 20577 0 -2,1 # UNNORMALIZE
024479,003659: 26,2570 53657 SR* SR*
024480,003660: 26,2571 20601 0,1
024481,003661: 26,2572 57176 0,2
024482,003662: 26,2573 47057 SR* RTB
024483,003663: 26,2574 57176 0,2
024484,003664: 26,2575 21633 TPMODE
024485,003665: 26,2576 02707 STORE VARIANCE # B-40
024486,003666: 26,2577 76276 DCOMP TAD
024487,003667: 26,2600 00025 20D # B-40
024488,003668: 26,2601 72240 BMN TLOAD
024489,003669: 26,2602 54605 QOK
024490,003670: 26,2603 00025 20D # B-40
024491,003671: 26,2604 02707 STORE VARIANCE
024492,003672: 26,2605 77624 QOK CALL
024493,003673: 26,2606 55401 LGCUPDTE
024494,003674:
024495,003675: 26,2607 45131 SSP CALL
024496,003676: 26,2610 03746 WHCHREAD
024497,003677: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024498,003678: 26,2612 11244 GRP2PC
024499,003679: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024500,003680: 26,2614 55333 GETULC
024501,003681: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024502,003682: 26,2616 00045 36D # AND SHIFT TO B-23
024503,003683: 26,2617 57202 0 -4,2
024504,003684: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D
024505,003685: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024506,003686: 26,2622 00707 VEHUPFLG
024507,003687: 26,2623 54624 +1
024508,003688: 26,2624 77761 VXSC
024509,003689: 26,2625 00045 36D # B1 = RLC (B-24/B-22)
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|
Page 578
|
024511,003691: 26,2626 27533 STOVL BVECTOR +6
024512,003692: 26,2627 01653 NUVLEM
024513,003693: 26,2630 53257 VSR* VAD
024514,003694: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024515,003695: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5
024516,003696: 26,2633 53715 PDVL VSR* # VL TO PD6
024517,003697: 26,2634 01601 NUVCSM
024518,003698: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024519,003699: 26,2636 52255 VAD VSU
024520,003700: 26,2637 01615 VCVCSM
024521,003701: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6
024522,003702: 26,2641 00001 0
024523,003703: 26,2642 00007 6
024524,003704: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024525,003705: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024526,003706: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024527,003707: 26,2646 01773 RATEVAR
024528,003708: 26,2647 02707 STORE VARIANCE
024529,003709: 26,2650 54335 SLOAD SR
024530,003710: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024531,003711: 26,2652 20621 16D # SHIFT TO DP (B-4)
024532,003712: 26,2653 00031 STORE 24D # AND SAVE IN 24D
024533,003713: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024534,003714: 26,2655 02707 VARIANCE
024535,003715: 26,2656 54662 VOK # BRANCH - NO
024536,003716: 26,2657 77745 DLOAD # YES - USE MINIMUM VARIANCE
024537,003717: 26,2660 00031 24D
024538,003718: 26,2661 02707 STORE VARIANCE
024539,003719: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024540,003720: 26,2663 53725 PDDL SLR* # TO B-10/B-8
024541,003721: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024542,003722: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8
024543,003723: 26,2666 77625 DSU
024544,003724: 26,2667 77675 DMPR
024545,003725: 26,2670 00045 36D
024546,003726: 26,2671 27547 STOVL DELTAQ # B-33
024547,003727: 26,2672 00001 0 # NOW GET B0
024548,003728: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC
024549,003729: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024550,003730: 26,2675 00707 VEHUPFLG
024551,003731: 26,2676 54677 +1
024552,003732: 26,2677 77657 VSR*
024553,003733: 26,2700 57200 0 -2,2 # SCALED B-5
024554,003734: 26,2701 27525 STOVL BVECTOR
024555,003735: 26,2702 06522 ZEROVECS
024556,003736: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024557,003737: 26,2704 27541 STOVL BVECTOR +12D
024558,003738: 26,2705 03525 BVECTOR
024559,003739: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024560,003740: 26,2707 00025 20D # SHIFT COUNT IN 20D
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|
Page 579
|
024562,003742: 26,2710 51575 VLOAD ABVAL
024563,003743: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024564,003744: 26,2712 71301 NORM DLOAD
024565,003745: 26,2713 00027 22D # SHIFT COUNT IN 22D
024566,003746: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER
024567,003747: 26,2715 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024568,003748: 26,2716 00025 20D
024569,003749: 26,2717 54723 VOK1
024570,003750: 26,2720 52150 LXA,1 GOTO
024571,003751: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024572,003752: 26,2722 54725 VOK2
024573,003753: 26,2723 77750 VOK1 LXA,1
024574,003754: 26,2724 00024 20D
024575,003755: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024576,003756: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT
024577,003757: 26,2727 20201 0,1
024578,003758: 26,2730 27525 STOVL BVECTOR
024579,003759: 26,2731 03533 BVECTOR +6
024580,003760: 26,2732 77657 VSL*
024581,003761: 26,2733 20201 0,1
024582,003762: 26,2734 17533 STODL BVECTOR +6
024583,003763: 26,2735 03547 DELTAQ
024584,003764: 26,2736 77657 SL*
024585,003765: 26,2737 20201 0,1
024586,003766: 26,2740 03547 STORE DELTAQ
024587,003767: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024588,003768: 26,2742 00045 36D
024589,003769: 26,2743 20200 0 -1,1
024590,003770: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024591,003771: 26,2745 02707 VARIANCE
024592,003772: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024593,003773: 26,2747 21633 TPMODE
024594,003774: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024595,003775: 26,2751 55401 LGCUPDTE
024596,003776:
024597,003777: 26,2752 77624 CALL
024598,003778: 26,2753 11244 GRP2PC
024599,003779: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE
024600,003780: 26,2755 04307 SURFFLAG
024601,003781: 26,2756 55176 RENDEND # NO
024602,003782: 26,2757 E7,1457 EBANK= AIG
024603,003783: 26,2757 33332 MXMYMZ CAF AIGBANK
024604,003784: 26,2760 54006 TS BBANK
024605,003785: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024606,003786: 26,2762 54766 TS CDUSPOT
024607,003787: 26,2763 31460 CA AMG
024608,003788: 26,2764 54770 TS CDUSPOT +2
024609,003789: 26,2765 31461 CA AOG
024610,003790: 26,2766 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024611,003791: 26,2767 06037 TC INTPRET
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|
Page 580
|
024613,003793: 26,2770 45175 VLOAD CALL
024614,003794: 26,2771 06520 UNITX
024615,003795: 26,2772 47664 TRG*NBSM
024616,003796: 26,2773 76505 VXM VSL1
024617,003797: 26,2774 01734 REFSMMAT
024618,003798: 26,2775 27677 STOVL MX
024619,003799: 26,2776 06516 UNITY
024620,003800: 26,2777 77624 CALL
024621,003801: 26,3000 47673 *NBSM*
024622,003802: 26,3001 76505 VXM VSL1
024623,003803: 26,3002 01734 REFSMMAT
024624,003804: 26,3003 27705 STOVL MY
024625,003805: 26,3004 06514 UNITZ
024626,003806: 26,3005 77624 CALL
024627,003807: 26,3006 47673 *NBSM*
024628,003808: 26,3007 76505 VXM VSL1
024629,003809: 26,3010 01734 REFSMMAT
024630,003810: 26,3011 37713 SHAFTBQ STCALL MZ
024631,003811: 26,3012 55361 RADARANG
024632,003812: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024633,003813: 26,3014 03746 WHCHREAD
024634,003814: 26,3015 00003 DEC 3 B-14
024635,003815: 26,3016 11244 GRP2PC
024636,003816: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
024637,003817: 26,3020 03724 ULC
024638,003818: 26,3021 03677 MX
024639,003819: 26,3022 77752 SL1
024640,003820: 26,3023 24023 STOVL SINTH # 18D
024641,003821: 26,3024 03724 ULC
024642,003822: 26,3025 72441 DOT SL1
024643,003823: 26,3026 03713 MZ
024644,003824: 26,3027 34021 STCALL COSTH # 16D
024645,003825: 26,3030 26510 ARCTAN
024646,003826: 26,3031 41221 BDSU DMP
024647,003827: 26,3032 03736 RRSHAFT
024648,003828: 26,3033 15441 2PI/8
024649,003829: 26,3034 41472 SL3R PUSH
024650,003830: 26,3035 52545 DLOAD SL3
024651,003831: 26,3036 01701 X789
024652,003832: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024653,003833: 26,3040 56176 0,2
024654,003834: 26,3041 53605 DMP SRR*
024655,003835: 26,3042 03722 RXZ
024656,003836: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024657,003837: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024658,003838: 26,3045 03724 ULC
024659,003839: 26,3046 76435 VXV VSL1
024660,003840: 26,3047 03705 MY
024661,003841: 26,3050 77656 UNIT
024662,003842: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
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|
Page 581
|
024664,003844: 26,3052 00747 VEHUPFLG
024665,003845: 26,3053 55054 +1
024666,003846: 26,3054 27525 STOVL BVECTOR
024667,003847: 26,3055 06522 ZEROVECS
024668,003848: 26,3056 03533 STORE BVECTOR +6
024669,003849: 26,3057 17541 STODL BVECTOR +12D
024670,003850: 26,3060 03722 RXZ
024671,003851: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024672,003852: 26,3062 20577 0 -2,1
024673,003853: 26,3063 56176 0,2
024674,003854: 26,3064 03541 STORE BVECTOR +12D
024675,003855: 26,3065 77735 SLOAD
024676,003856: 26,3066 02011 SHAFTVAR
024677,003857: 26,3067 41215 DAD DMP
024678,003858: 26,3070 15436 IMUVAR # RAD**2 B12
024679,003859: 26,3071 03722 RXZ
024680,003860: 26,3072 41257 SRR* DMP
024681,003861: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024682,003862: 26,3074 03722 RXZ
024683,003863: 26,3075 53657 SR* SR*
024684,003864: 26,3076 20577 0 -2,1
024685,003865: 26,3077 57176 0,2
024686,003866: 26,3100 47057 SR* RTB
024687,003867: 26,3101 57176 0,2
024688,003868: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024689,003869: 26,3103 36707 STCALL VARIANCE # B-40
024690,003870: 26,3104 55401 LGCUPDTE
024691,003871:
024692,003872: 26,3105 77624 CALL
024693,003873: 26,3106 11244 GRP2PC
024694,003874: 26,3107 77624 TRUNBQ CALL
024695,003875: 26,3110 55361 RADARANG
024696,003876: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49
024697,003877: 26,3112 03746 WHCHREAD
024698,003878: 26,3113 00004 DEC 4 B-14
024699,003879: 26,3114 11244 GRP2PC
024700,003880: 26,3115 47375 VLOAD VXV
024701,003881: 26,3116 03724 ULC
024702,003882: 26,3117 03705 MY
024703,003883: 26,3120 47372 VSL1 VXV
024704,003884: 26,3121 03724 ULC
024705,003885: 26,3122 77772 VSL1 # (ULC X MY) X ULC
024706,003886: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024707,003887: 26,3124 00747 VEHUPFLG
024708,003888: 26,3125 55126 +1
024709,003889: 26,3126 27525 STOVL BVECTOR
024710,003890: 26,3127 06522 ZEROVECS
024711,003891: 26,3130 03533 STORE BVECTOR +6
024712,003892: 26,3131 17541 STODL BVECTOR +12D
024713,003893: 26,3132 03722 RXZ
|
|
Page 582
|
024715,003895: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024716,003896: 26,3134 20577 0 -2,1
024717,003897: 26,3135 56176 0,2
024718,003898: 26,3136 03543 STORE BVECTOR +14D
024719,003899: 26,3137 77735 SLOAD
024720,003900: 26,3140 02012 TRUNVAR
024721,003901: 26,3141 41215 DAD DMP
024722,003902: 26,3142 15436 IMUVAR
024723,003903: 26,3143 03722 RXZ
024724,003904: 26,3144 41257 SRR* DMP
024725,003905: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024726,003906: 26,3146 03722 RXZ
024727,003907: 26,3147 53657 SR* SR*
024728,003908: 26,3150 20577 0 -2,1
024729,003909: 26,3151 57176 0,2
024730,003910: 26,3152 47057 SR* RTB
024731,003911: 26,3153 57176 0,2
024732,003912: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
024733,003913: 26,3155 16707 STODL VARIANCE
024734,003914: 26,3156 03732 SINTHETA
024735,003915: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
024736,003916: 26,3160 03734 RRTRUN
024737,003917: 26,3161 56405 DMP SL3R
024738,003918: 26,3162 15441 2PI/8
024739,003919: 26,3163 52525 PDDL SL3
024740,003920: 26,3164 01703 X789 +2
024741,003921: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024742,003922: 26,3166 56176 0,2
024743,003923: 26,3167 53605 DMP SRR*
024744,003924: 26,3170 03722 RXZ
024745,003925: 26,3171 21601 0,1
024746,003926: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
024747,003927: 26,3173 55401 LGCUPDTE
024748,003928: 26,3174 77624 CALL
024749,003929: 26,3175 11244 GRP2PC
024750,003930: 26,3176 77650 RENDEND GOTO
024751,003931: 26,3177 50566 R22LEM93
024752,003932:
024753,003933: # FUNCTIONAL DESCRIPTION
024754,003934: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
024755,003935: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
024756,003936: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
024757,003937:
024758,003938: # SUBROUTINES CALLED
024759,003939: # INSTALL LGCUPDTE INCORP1 RP-TO-R
024760,003940: # INTEGRV GETULC INCORP2
024761,003941:
024762,003942: # OUTPUT
024763,003943: # CORRECTED CSM STATE VECTOR (PERMANENT)
024764,003944: # NUMBER OF MARKS INCORPORATED IN MARKCTR
|
|
Page 583
|
024766,003946: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
024767,003947: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024768,003948: # UPDATED W-MATRIX
024769,003949:
024770,003950: # ERASABLE INITIALIZATION REQUIRED
024771,003951: # LM AND CSM STATE VECTORS
024772,003952: # W-MATRIX
024773,003953: # MARK TIME IN MKTIME
024774,003954: # RADAR RANGE IN RM METERS B-29
024775,003955: # RANGE RATE IN RDOTM METERS/CSEC B-7
024776,003956: # VEHUPFLG
024777,003957:
024778,003958: 26,3200 77624 LSR22.4 CALL
024779,003959: 26,3201 27414 INTSTALL
024780,003960: 26,3202 43014 SET CLEAR
024781,003961: 26,3203 01472 STATEFLG
024782,003962: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
024783,003963: 26,3205 77624 CALL
024784,003964: 26,3206 55242 INTGRCAL
024785,003965: 26,3207 77624 CALL
024786,003966: 26,3210 11244 GRP2PC
024787,003967: 26,3211 45014 CLEAR CALL
024788,003968: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
024789,003969: 26,3213 27414 INTSTALL
024790,003970: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
024791,003971: 26,3215 03463 MARKCTR
024792,003972: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
024793,003973: 26,3217 43014 CLEAR SET
024794,003974: 26,3220 01675 D6OR9FLG
024795,003975: 26,3221 01476 DIM0FLAG
024796,003976: 26,3222 43014 SET CLEAR
024797,003977: 26,3223 01474 VINTFLAG
024798,003978: 26,3224 01673 INTYPFLG
024799,003979: 26,3225 77624 CALL
024800,003980: 26,3226 55242 INTGRCAL
024801,003981: 26,3227 77650 GOTO
024802,003982: 26,3230 54510 RANGEBQ
024803,003983:
024804,003984: 26,3231 77624 INITWMX6 CALL
024805,003985: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
024806,003986: 26,3233 45014 SET CALL
024807,003987: 26,3234 01474 VINTFLAG
024808,003988: 26,3235 26644 SETIFLGS
024809,003989: 26,3236 77624 CALL
024810,003990: 26,3237 55242 INTGRCAL
024811,003991: 26,3240 77650 GOTO
024812,003992: 26,3241 54510 RANGEBQ
024813,003993:
024814,003994: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
|
|
Page 584
|
024816,003996: 26,3242 71220 INTGRCAL STQ DLOAD
024817,003997: 26,3243 03675 IGRET
024818,003998: 26,3244 03755 MKTIME
024819,003999: 26,3245 34041 STCALL TDEC1
024820,004000: 26,3246 27134 INTEGRV
024821,004001: 26,3247 77650 GOTO
024822,004002: 26,3250 03675 IGRET
024823,004003:
024824,004004: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
024825,004005: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
024826,004006:
024827,004007: 26,3251 E5,1400 EBANK= W
024828,004008: 26,3251 77776 WLINIT EXIT
024829,004009: 26,3252 33331 CAF WBANK
024830,004010: 26,3253 54006 TS BBANK
024831,004011: 26,3254 33437 CAF WSIZE
024832,004012: 26,3255 55257 TS W.IND
024833,004013: 26,3256 34755 CAF ZERO
024834,004014: 26,3257 51257 INDEX W.IND
024835,004015: 26,3260 55400 TS W
024836,004016: 26,3261 11257 CCS W.IND
024837,004017: 26,3262 03255 TC -5
024838,004018: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
024839,004019: 26,3264 54006 TS BBANK
024840,004020: 26,3265 06037 TC INTPRET
024841,004021: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
024842,004022: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
024843,004023: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
024844,004024: 26,3271 02001 WRENDPOS
024845,004025: 26,3272 77650 GOTO
024846,004026: 26,3273 55276 WPOSTORE
024847,004027: 26,3274 77735 WLSRFPOS SLOAD
024848,004028: 26,3275 02007 WSURFPOS
024849,004029: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
024850,004030: 26,3277 20606 5
024851,004031: 26,3300 02401 STORE W
024852,004032: 26,3301 02411 STORE W +8D
024853,004033: 26,3302 02421 STORE W +16D
024854,004034: 26,3303 67214 BON SLOAD
024855,004035: 26,3304 04307 SURFFLAG
024856,004036: 26,3305 55311 WLSRFVEL
024857,004037: 26,3306 02002 WRENDVEL
024858,004038: 26,3307 77650 GOTO
024859,004039: 26,3310 55313 WVELSTOR
024860,004040: 26,3311 77735 WLSRFVEL SLOAD
024861,004041: 26,3312 02010 WSURFVEL
024862,004042: 26,3313 02511 WVELSTOR STORE W +72D
024863,004043: 26,3314 02521 STORE W +80D
024864,004044: 26,3315 02531 STORE W +88D
024865,004045: 26,3316 77735 SLOAD
|
|
Page 585
|
024867,004047: 26,3317 02003 WSHAFT
024868,004048: 26,3320 02621 STORE W +144D
024869,004049: 26,3321 77735 SLOAD
024870,004050: 26,3322 02004 WTRUN
024871,004051: 26,3323 02631 STORE W +152D
024872,004052: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
024873,004053: 26,3325 02476 RENDWFLG
024874,004054: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
024875,004055: 26,3327 00000 0
024876,004056: 26,3330 77616 RVQ
024877,004057:
024878,004058: 26,3331 E5,1400 EBANK= W
024879,004059: 26,3331 54065 WBANK BBCON WLINIT
024880,004060: 26,3332 E7,1457 EBANK= AIG
024881,004061: 26,3332 54067 AIGBANK BBCON LSR22.3
024882,004062:
024883,004063: # GETULC
024884,004064:
024885,004065: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
024886,004066: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
024887,004067: # MAGNITUDE IN 36D.
024888,004068:
024889,004069: 26,3333 77201 GETULC SETPD VLOAD
024890,004070: 26,3334 00001 0
024891,004071: 26,3335 01645 DELTALEM
024892,004072: 26,3336 77754 LXA,2
024893,004073: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
024894,004074: 26,3340 53257 VSR* VAD
024895,004075: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024896,004076: 26,3342 01661 RCVLEM
024897,004077: 26,3343 53715 PDVL VSR*
024898,004078: 26,3344 01573 DELTACSM
024899,004079: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
024900,004080: 26,3346 52255 VAD VSU
024901,004081: 26,3347 01607 RCVCSM
024902,004082: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
024903,004083: 26,3351 21724 NORMUNX1
024904,004084: 26,3352 17724 STODL ULC
024905,004085: 26,3353 00045 36D
024906,004086: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
024907,004087: 26,3355 20201 0,1
024908,004088: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
024909,004089: 26,3357 03724 ULC
024910,004090: 26,3360 77616 RVQ
024911,004091:
024912,004092: # RADARANG
024913,004093:
024914,004094: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
024915,004095: # RXZ = (SQRT (1-SINTHETA**2))RLC
024916,004096: # OUTPUT
024917,004097: # ULC IN ULC, PD0
|
|
Page 586
|
024919,004099: # RLC IN PD36D
024920,004100: # SIN THETA IN SINTHETA AND PD6
024921,004101: # RXZ NORM IN RXZ (N IN X1)
024922,004102:
024923,004103: 26,3361 45020 RADARANG STQ CALL
024924,004104: 26,3362 03675 RDRET
024925,004105: 26,3363 55333 GETULC
024926,004106: 26,3364 50276 VCOMP DOT
024927,004107: 26,3365 03705 MY
024928,004108: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
024929,004109: 26,3367 03732 STORE SINTHETA
024930,004110: 26,3370 44316 DSQ BDSU
024931,004111: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2
024932,004112: 26,3372 41366 SQRT DMP
024933,004113: 26,3373 00045 36D
024934,004114: 26,3374 60352 SL1 NORM
024935,004115: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
024936,004116: 26,3376 03722 STORE RXZ
024937,004117: 26,3377 77650 GOTO # EXIT
024938,004118: 26,3400 03675 RDRET
024939,004119: 26,3401 45020 LGCUPDTE STQ CALL
024940,004120: 26,3402 03675 LGRET
024941,004121: 26,3403 46531 INCORP1
024942,004122: 26,3404 51575 VLOAD ABVAL
024943,004123: 26,3405 02673 DELTAX +6
024944,004124: 26,3406 53754 LXA,2 SRR*
024945,004125: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024946,004126: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
024947,004127: 26,3411 24317 STOVL R22DISP +2
024948,004128: 26,3412 02665 DELTAX
024949,004129: 26,3413 53646 ABVAL SRR*
024950,004130: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
024951,004131: 26,3415 00315 STORE R22DISP
024952,004132: 26,3416 54335 SLOAD SR
024953,004133: 26,3417 02005 RMAX
024954,004134: 26,3420 20613 10D
024955,004135: 26,3421 50025 DSU BMN
024956,004136: 26,3422 00315 R22DISP
024957,004137: 26,3423 50572 R22LEM96 # GO DISPLAY
024958,004138: 26,3424 45335 SLOAD DSU
024959,004139: 26,3425 02006 VMAX
024960,004140: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
024961,004141: 26,3427 77640 BMN
024962,004142: 26,3430 50572 R22LEM96 # GO DISPLAY
024963,004143: 26,3431 77624 ASTOK CALL
024964,004144: 26,3432 46743 INCORP2
024965,004145: 26,3433 77650 GOTO
024966,004146: 26,3434 03675 LGRET
024967,004147: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
024968,004148:
024969,004149: 26,3437 00241 WSIZE DEC 161 B-14
|
|
Page 587
|
024971,004151: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
024972,004152:
024973,004153: 26,3442 E7,1456 EBANK= LOSCOUNT
|
|
Page 588
|
024975,004155:
024976,004156: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
024977,004157: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
024978,004158:
024979,004159: # FUNCTIONAL DESCRIPTION
024980,004160:
024981,004161: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
024982,004162: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
024983,004163: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
024984,004164: # ATTITUDE MANEUVER.
024985,004165:
024986,004166: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
024987,004167:
024988,004168: # SUBROUTINES CALLED
024989,004169:
024990,004170: # LEMCONIC R61LEM
024991,004171: # CSMCONIC RRDESSM
024992,004172: # JOBDELAY FLAGDOWN
024993,004173: # WAITLIST FLAGUP
024994,004174: # RRNB BANKCALL
024995,004175:
024996,004176: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
024997,004177:
024998,004178: # OUTPUT
024999,004179:
025000,004180: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025001,004181: # 11111 INDICATES LOCKON ACHIEVED
025002,004182: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025003,004183:
025004,004184: # ERASABLE INITIALIZATION REQUIRED
025005,004185:
025006,004186: # SEARCH FLAG MUST BE SET
025007,004187: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025008,004188:
025009,004189: # DEBRIS
025010,004190:
025011,004191: # RLMSRCH UXVECT
025012,004192: # VXRLM UYVECT
025013,004193: # LOSDESRD NSRCHPNT
025014,004194: # DATAGOOD OMEGAD
025015,004195: # MPAC PUSHLIST
025016,004196:
025017,004197: 26,3442 COUNT* $$/LRS24
025018,004198: 26,3442 34755 LRS24.1 CAF ZERO
025019,004199: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025020,004200: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025021,004201: 26,3445 00006 EXTEND
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|
Page 589
|
025023,004203: 26,3446 05012 WOR CHAN12
025024,004204: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025025,004205: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025026,004206: 26,3451 00006 EXTEND
025027,004207: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025028,004208:
025029,004209: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025030,004210: 26,3454 00004 INHINT
025031,004211: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025032,004212: 26,3456 E7,1456 EBANK= LOSCOUNT
025033,004213: 26,3456 03643 54067 2CADR CALLDGCH
025034,004214:
025035,004215: 26,3460 00003 RELINT
025036,004216: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025037,004217: 26,3462 74736 MASK REMODBIT
025038,004218: 26,3463 00006 EXTEND
025039,004219: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025040,004220: 26,3465 06037 TC INTPRET
025041,004221:
025042,004222: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025043,004223: 26,3467 21573 LOADTIME
025044,004224: 26,3470 15715 1.5SECS
025045,004225: 26,3471 34041 LRS24.11 STCALL TDEC1
025046,004226: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025047,004227: 26,3473 77775 VLOAD
025048,004228: 26,3474 00001 RATT
025049,004229: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025050,004230: 26,3476 00007 VATT
025051,004231: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025052,004232: 26,3500 00015 TAT
025053,004233: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025054,004234: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025055,004235: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025056,004236: 26,3504 00001 RATT
025057,004237: 26,3505 03676 RLMSRCH
025058,004238: 26,3506 77656 UNIT
025059,004239: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025060,004240: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025061,004241: 26,3511 47256 UNIT VXV
025062,004242: 26,3512 00001 RATT
025063,004243: 26,3513 77656 UNIT
025064,004244: 26,3514 03704 STORE VXRCM
025065,004245: 26,3515 52375 VLOAD VSU
025066,004246: 26,3516 00007 VATT
025067,004247: 26,3517 03740 SAVLEMV
025068,004248: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025069,004249: 26,3521 01734 REFSMMAT
025070,004250: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025071,004251: 26,3523 53135 SLOAD BZE # CHECK IF N=0
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|
Page 590
|
025073,004253: 26,3524 03737 NSRCHPNT
025074,004254: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025075,004255: 26,3526 53025 DSU BZE # IS N=1
025076,004256: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025077,004257: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025078,004258: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025079,004259: 26,3532 03720 UXVECT
025080,004260: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025081,004261: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025082,004262: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025083,004263: 26,3536 77761 VXSC
025084,004264: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR
025085,004265: 26,3540 27720 STOVL UXVECT
025086,004266: 26,3541 00015 UXVECTPR
025087,004267: 26,3542 53361 VXSC VAD
025088,004268: 26,3543 06520 COS60DEG
025089,004269: 26,3544 03720 UXVECT
025090,004270: 26,3545 77656 UNIT
025091,004271: 26,3546 27720 STOVL UXVECT
025092,004272: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR
025093,004273: 26,3550 77761 VXSC
025094,004274: 26,3551 15705 SIN60DEG
025095,004275: 26,3552 27726 STOVL UYVECT
025096,004276: 26,3553 00023 UYVECTPR
025097,004277: 26,3554 52361 VXSC VSU
025098,004278: 26,3555 06520 COS60DEG
025099,004279: 26,3556 03726 UYVECT
025100,004280: 26,3557 77656 UNIT
025101,004281: 26,3560 03726 STORE UYVECT
025102,004282: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025103,004283: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025104,004284: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025105,004285: 26,3564 64256 UNIT MXV
025106,004286: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025107,004287: 26,3566 77772 VSL1
025108,004288: 26,3567 25102 CONTDESG STOVL RRTARGET
025109,004289: 26,3570 03740 SAVLEMV
025110,004290: 26,3571 01761 STORE LOSVEL
025111,004291: 26,3572 77776 EXIT
025112,004292: 26,3573 00004 INHINT
025113,004293: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025114,004294: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025115,004295: # POINT IN THE PATTERN
025116,004296: 26,3576 44735 CONTDES2 CS CDESBIT
025117,004297: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025118,004298: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025119,004299: 26,3601 54110 TS RADMODES
025120,004300: 26,3602 06037 TC INTPRET
025121,004301:
025122,004302: 26,3603 77624 CALL
|
|
Page 591
|
025124,004304: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025125,004305:
025126,004306: 26,3605 77776 EXIT
025127,004307: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025128,004308: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025129,004309:
025130,004310: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025131,004311: # SPACECRAFT +Z AXIS
025132,004312: 26,3610 00006 OMEGCALC EXTEND
025133,004313: 26,3611 30036 DCA CDUT
025134,004314: 26,3612 53753 DXCH TANGNB
025135,004315: 26,3613 06037 TC INTPRET
025136,004316: 26,3614 77624 CALL
025137,004317: 26,3615 46041 RRNB
025138,004318: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025139,004319: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025140,004320: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025141,004321: 26,3621 77776 EXIT
025142,004322: 26,3622 05155 TC ENDOFJOB
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|
Page 592
|
025144,004324: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025145,004325:
025146,004326: 26,3623 47375 CALCXY VLOAD VXV
025147,004327: 26,3624 03704 VXRCM
025148,004328: 26,3625 03712 LOSDESRD
025149,004329: 26,3626 77656 UNIT
025150,004330: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025151,004331: 26,3630 03712 LOSDESRD
025152,004332: 26,3631 53435 VXV UNIT
025153,004333: 26,3632 03720 UXVECT
025154,004334: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025155,004335: 26,3634 77650 GOTO
025156,004336: 26,3635 55561 OFFCALC
025157,004337:
025158,004338: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025159,004339: 26,3637 03712 LOSDESRD
025160,004340: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025161,004341: 26,3641 52172 VSL1 GOTO
025162,004342: 26,3642 55567 CONTDESG
025163,004343:
025164,004344: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025165,004345: 26,3644 74745 MASK RNDVZBIT
025166,004346: 26,3645 00006 EXTEND
025167,004347: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025168,004348: 26,3647 37713 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025169,004349: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025170,004350: 26,3651 E7,1675 EBANK= RLMSRCH
025171,004351: 26,3651 03654 54067 2CADR DATGDCHK
025172,004352:
025173,004353: 26,3653 05261 TC TASKOVER
025174,004354:
025175,004355: 26,3654 34750 DATGDCHK CAF BIT4
025176,004356: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025177,004357: 26,3656 02033 RAND CHAN33
025178,004358: 26,3657 00006 EXTEND
025179,004359: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025180,004360: 26,3661 46242 CS SIX
025181,004361: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025182,004362: 26,3663 00006 EXTEND
025183,004363: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025184,004364: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
025185,004365: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025186,004366:
025187,004367: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025188,004368: 26,3670 55733 TS DATAGOOD
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|
Page 593
|
025190,004370: 26,3671 00004 INHINT
025191,004371: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
025192,004372: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025193,004373: 26,3674 05155 TC ENDOFJOB
025194,004374:
025195,004375: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025196,004376: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025197,004377: 26,3677 00004 INHINT # REQUIRED IN P20
025198,004378: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025199,004379: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025200,004380: 26,3702 05155 TC ENDOFJOB
025201,004381:
025202,004382: 26,3703 25547 ALL1S DEC 11111 B-14
025203,004383: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025204,004384: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50)
025205,004385: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025206,004386: 26,3706 UYVECTPR EQUALS 18D
025207,004387: 26,3706 RLMUNIT EQUALS 12D
025208,004388: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025209,004389:
025210,004390: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025211,004391: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025212,004392:
025213,004393: # **** ONEOCT NEEDS A LOWER ORDER ****
025214,004394: # **** WORD OF ZEROES ****
025215,004395: 26,3713 01130 6SECONDS DEC 600 B-14
025216,004396: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025217,004397:
025218,004398: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS
025219,004399:
025220,004400: 4616 BLOCK 02
025221,004401: 6000 SETLOC FFTAG5
025222,004402: 6000 BANK
025223,004403: 6022 COUNT* $$/P20
025224,004404: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025225,004405: 6023 36026 DCA VB56CADR # GOTOPOOH
025226,004406: 6024 15165 TCF SUPDXCHZ
025227,004407: 6025 E7,1471 EBANK= WHOCARES
025228,004408: 6025 03024 66107 VB56CADR 2CADR TRMTRACK
025229,004409:
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Page 594
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025231,004411: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025232,004412: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025233,004413:
025234,004414: # FUNCTIONAL DESCRIPTION:
025235,004415:
025236,004416: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025237,004417: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025238,004418: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025239,004419: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025240,004420: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025241,004421: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025242,004422:
025243,004423: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025244,004424:
025245,004425: # SUBROUTINES CALLED:
025246,004426:
025247,004427: # REMODE RRTONLY
025248,004428: # UNIT MPACVBUF
025249,004429: # QUICTRIG AX*SR*T
025250,004430: # SPSIN SPCOS
025251,004431: # SETRRECR RROUT
025252,004432: # RRRDOT RRRANGE
025253,004433:
025254,004434: # EXIT: TO NOR29NOW, IN SERVICER.
025255,004435:
025256,004436: # OUTPUT: (ALL FOR DOWNLINK)
025257,004437:
025258,004438: # RM RDOTM (RAW)
025259,004439: # AIG AMG
025260,004440: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025261,004441: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025262,004442: # MKTIME
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|
Page 595
|
025264,004444:
025265,004445: # ERASABLE INITIALIZATION REQUIRED:
025266,004446:
025267,004447: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025268,004448: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025269,004449: # R(CSM) V(CSM)
025270,004450: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025271,004451:
025272,004452: # DEBRIS:
025273,004453:
025274,004454: # RADMODES (BIT 10)
025275,004455: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025276,004456: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025277,004457: # LOSCMFLG READRFLG
025278,004458:
025279,004459: # ALARMS: NONE.
025280,004460:
025281,004461: # COMPONENT JOBS AND TASKS:
025282,004462:
025283,004463: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025284,004464: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025285,004465: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025286,004466:
025287,004467: 33,2045 BANK 33
025288,004468: 33,2000 SETLOC R29/SERV
025289,004469: 33,2000 BANK
025290,004470:
025291,004471: 33,2045 COUNT* $$/R29
025292,004472:
025293,004473: 33,2045 5014 NR29&RDR EQUALS EBANK5
025294,004474:
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|
Page 596
|
025296,004476: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025297,004477: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025298,004478:
025299,004479: 33,2045 40110 R29 CS RADMODES
025300,004480: 33,2046 74742 MASK DESIGBIT
025301,004481: 33,2047 00006 EXTEND
025302,004482: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025303,004483:
025304,004484: 33,2051 00004 INHINT
025305,004485: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025306,004486: 33,2053 44736 CS BIT14
025307,004487: 33,2054 00006 EXTEND
025308,004488: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025309,004489: 33,2056 44740 CS LOSCMBIT
025310,004490: 33,2057 70076 MASK FLAGWRD2
025311,004491: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025312,004492: 33,2061 44753 CS OLDESBIT
025313,004493: 33,2062 70074 MASK STATE
025314,004494: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025315,004495: 33,2064 04616 TC BANKCALL
025316,004496: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025317,004497: 33,2066 34740 CA ANTENBIT
025318,004498: 33,2067 70110 MASK RADMODES
025319,004499: 33,2070 10000 CCS A # TEST RR MODE BIT.
025320,004500: 33,2071 12104 TCF SETPRPOS # MODE 2.
025321,004501:
025322,004502: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025323,004503: 33,2073 05072 TC NOVAC
025324,004504: 33,2074 E7,1456 EBANK= LOSCOUNT
025325,004505: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
025326,004506:
025327,004507: 33,2076 44742 CS DESIGBIT
025328,004508: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025329,004509: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025330,004510: 33,2101 34736 CA REMODBIT
025331,004511: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025332,004512: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025333,004513:
025334,004514: 33,2104 34753 SETPRPOS CA ONE
025335,004515: 33,2105 05203 TC WAITLIST
025336,004516: 33,2106 E7,1456 EBANK= LOSCOUNT
025337,004517: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025338,004518:
025339,004519: 33,2110 34741 CA REPOSBIT
025340,004520: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025341,004521: 33,2112 12570 TCF NOR29NOW
025342,004522:
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|
Page 597
|
025344,004524: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025345,004525:
025346,004526: 33,2113 34753 R29REMOJ CA ONE
025347,004527: 33,2114 05203 TC WAITLIST
025348,004528: 33,2115 E7,1456 EBANK= LOSCOUNT
025349,004529: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025350,004530:
025351,004531: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025352,004532: 33,2120 17714 CADR RADSTALL
025353,004533:
025354,004534: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025355,004535: 33,2122 15155 TCF ENDOFJOB
025356,004536:
025357,004537: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025358,004538:
025359,004539: 25,2000 SETLOC R29S1
025360,004540: 25,2000 BANK
025361,004541:
025362,004542: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
025363,004543: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
025364,004544: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025365,004545: 25,3604 70110 MASK RADMODES
025366,004546: 25,3605 54110 TS RADMODES
025367,004547: 25,3606 15261 TCF TASKOVER
025368,004548:
025369,004549: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025370,004550:
025371,004551: 33,2045 SETLOC R29
025372,004552: 33,2045 BANK
025373,004553:
025374,004554: 33,2123 00006 R29.LOS EXTEND
025375,004555: 33,2124 41235 DCS PIPTIME
025376,004556: 33,2125 52155 DXCH MPAC
025377,004557: 33,2126 00006 EXTEND
025378,004558: 33,2127 30025 DCA TIME2
025379,004559: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025380,004560: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025381,004561: 33,2132 30155 CA MPAC +1
025382,004562: 33,2133 00006 EXTEND
025383,004563: 33,2134 74740 MP BIT12
025384,004564: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025385,004565: 33,2136 06037 TC INTPRET
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|
Page 598
|
025387,004567: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025388,004568: # START IT UP WHEN THE DATA IS IN PLACE.
025389,004569:
025390,004570: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025391,004571: 33,2140 01726 V(CSM)
025392,004572: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025393,004573: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025394,004574: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025395,004575: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025396,004576: 33,2145 03521 R
025397,004577: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025398,004578: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025399,004579: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025400,004580: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025401,004581:
025402,004582: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025403,004583: 33,2153 00001 0
025404,004584: 33,2154 77761 VXSC
025405,004585: 33,2155 26177 .5SECB17
025406,004586: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025407,004587: 33,2157 77414 CLEAR EXIT
025408,004588: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025409,004589:
025410,004590: 33,2161 40074 CS STATE
025411,004591: 33,2162 74753 MASK OLDESBIT
025412,004592: 33,2163 00006 EXTEND
025413,004593: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025414,004594: 33,2165 00004 INHINT
025415,004595: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025416,004596:
025417,004597: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025418,004598: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025419,004599: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025420,004600: 33,2172 05203 TC WAITLIST
025421,004601: 33,2173 E7,1456 EBANK= LOSCOUNT
025422,004602: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025423,004603:
025424,004604: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025425,004605:
025426,004606: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025427,004607:
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Page 599
|
025429,004609: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025430,004610: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025431,004611:
025432,004612: 24,3356 BANK 24
025433,004613: 24,2000 SETLOC P20S
025434,004614: 24,2000 BANK
025435,004615:
025436,004616: 24,3356 COUNT* $$/R29
025437,004617:
025438,004618: 24,3356 35031 BEGDES29 CAF PRIO21
025439,004619: 24,3357 05072 TC NOVAC
025440,004620: 24,3360 E3,1760 EBANK= LOSVDT/4
025441,004621: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025442,004622:
025443,004623: 24,3362 34774 R29DLOOP CAF .5SEC
025444,004624: 24,3363 05224 TC VARDELAY
025445,004625:
025446,004626: 24,3364 40110 CS RADMODES
025447,004627: 24,3365 74742 MASK DESIGBIT
025448,004628: 24,3366 10000 CCS A
025449,004629: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025450,004630:
025451,004631: 24,3370 40076 CS FLAGWRD2
025452,004632: 24,3371 74740 MASK LOSCMBIT
025453,004633: 24,3372 00006 EXTEND
025454,004634: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025455,004635: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025456,004636: 24,3375 13356 TCF BEGDES29
025457,004637:
025458,004638: 24,3376 34753 CA ONE
025459,004639: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 600
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025461,004641: # R29DODES: RR DESIGNATION LOOP FOR R29
025462,004642:
025463,004643: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025464,004644: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025465,004645: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025466,004646: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025467,004647: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025468,004648:
025469,004649: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025470,004650: # TASK WHEN LOCK-ON IS ACHIEVED.
025471,004651:
025472,004652: 32,2547 BANK 32
025473,004653: 32,2000 SETLOC F2DPS*32
025474,004654: 32,2000 BANK
025475,004655:
025476,004656: 32,2547 COUNT* $$/R29
025477,004657: 32,2547 E3,1760 EBANK= LOSVDT/4
025478,004658:
025479,004659: 32,2547 34753 R29DODES CA ONE
025480,004660: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025481,004661: 32,2551 34756 CA FIVE
025482,004662:
025483,004663: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025484,004664: 32,2553 54002 TS Q
025485,004665: 32,2554 11107 CCS TANG
025486,004666: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025487,004667:
025488,004668: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025489,004669: 32,2557 50002 INDEX Q
025490,004670: 32,2560 31761 DCA LOSVDT/4
025491,004671: 32,2561 50002 INDEX Q
025492,004672: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025493,004673:
025494,004674: 32,2563 00006 R29DPAS1 EXTEND
025495,004675: 32,2564 50002 INDEX Q
025496,004676: 32,2565 31102 DCA LOSSM
025497,004677: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025498,004678: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025499,004679: 32,2570 11107 CCS TANG
025500,004680: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025501,004681:
025502,004682: 32,2572 00006 EXTEND
025503,004683: 32,2573 50002 INDEX Q
025504,004684: 32,2574 31761 DCA LOSVDT/4
025505,004685: 32,2575 50002 INDEX Q
025506,004686: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025507,004687:
025508,004688: 32,2577 10002 R29DVEND CCS Q
025509,004689: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025510,004690:
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Page 601
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025512,004692: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025513,004693:
025514,004694: 32,2601 52156 DXCH MPAC +1
025515,004695: 32,2602 52155 DXCH MPAC
025516,004696: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D
025517,004697: 32,2604 54120 TS FIXLOC
025518,004698: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025519,004699: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025520,004700: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025521,004701:
025522,004702: 32,2610 11107 CCS TANG
025523,004703: 32,2611 12613 TCF +2
025524,004704: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025525,004705: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025526,004706: 32,2614 00006 EXTEND
025527,004707: 32,2615 30036 DCA CDUT
025528,004708: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025529,004709: 32,2617 30033 CA CDUY
025530,004710: 32,2620 54766 TS CDUSPOT
025531,004711: 32,2621 30034 CA CDUZ
025532,004712: 32,2622 54770 TS CDUSPOT +2
025533,004713: 32,2623 30032 CA CDUX
025534,004714: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025535,004715: 32,2625 04616 TC BANKCALL
025536,004716: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025537,004717:
025538,004718: 32,2627 46245 GOTANGLS CS THREE
025539,004719: 32,2630 04616 TC BANKCALL
025540,004720: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025541,004721:
025542,004722: 32,2632 11107 CCS TANG
025543,004723: 32,2633 12635 TCF +2
025544,004724: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025545,004725:
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|
Page 602
|
025547,004727: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025548,004728: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025549,004729:
025550,004730: 32,2635 00004 INHINT
025551,004731: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025552,004732: 32,2637 31766 CA SAVECDUT
025553,004733: 32,2640 05032 TC SPCOS
025554,004734: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T.
025555,004735: 32,2642 41766 CS SAVECDUT
025556,004736: 32,2643 05033 TC SPSIN
025557,004737: 32,2644 54163 TS MODE # MODE = -SIN T.
025558,004738: 32,2645 00006 EXTEND
025559,004739: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025560,004740: 32,2647 52155 DXCH MPAC
025561,004741: 32,2650 31767 CA SAVECDUT +1
025562,004742: 32,2651 05033 TC SPSIN
025563,004743: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025564,004744: 32,2653 00006 EXTEND
025565,004745: 32,2654 70166 MP PUSHLOC
025566,004746: 32,2655 00006 EXTEND
025567,004747: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025568,004748: 32,2657 20155 DAS MPAC
025569,004749: 32,2660 31767 CA SAVECDUT +1
025570,004750: 32,2661 05032 TC SPCOS
025571,004751: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025572,004752: 32,2663 00006 EXTEND
025573,004753: 32,2664 70166 MP PUSHLOC
025574,004754: 32,2665 00006 EXTEND
025575,004755: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025576,004756: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025577,004757: 32,2670 00006 EXTEND # -SIN T, COS S COS T).
025578,004758: 32,2671 30155 DCA MPAC
025579,004759: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025580,004760: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025581,004761: 32,2674 34736 CA BIT14
025582,004762: 32,2675 12676 NOOP
025583,004763: 32,2676 00006 EXTEND
025584,004764: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025585,004765: 32,2700 00003 RELINT
025586,004766: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025587,004767:
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|
Page 603
|
025589,004769: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025590,004770:
025591,004771: 32,2702 31767 R29DPAS2 CA SAVECDUT +1
025592,004772: 32,2703 00006 EXTEND
025593,004773: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X.
025594,004774: 32,2705 53110 DXCH TANG
025595,004775: 32,2706 41766 CS SAVECDUT
025596,004776: 32,2707 00006 EXTEND
025597,004777: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025598,004778: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025599,004779: 32,2712 40163 CS MODE # - SIN S)
025600,004780: 32,2713 00006 EXTEND
025601,004781: 32,2714 71766 MP SAVECDUT
025602,004782: 32,2715 00006 EXTEND
025603,004783: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025604,004784: 32,2717 52155 DXCH MPAC
025605,004785: 32,2720 30166 CA PUSHLOC
025606,004786: 32,2721 00006 EXTEND
025607,004787: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025608,004788: 32,2723 20155 DAS MPAC
025609,004789: 32,2724 40163 CS MODE
025610,004790: 32,2725 00006 EXTEND
025611,004791: 32,2726 71767 MP SAVECDUT +1
025612,004792: 32,2727 00006 EXTEND
025613,004793: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025614,004794: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025615,004795: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025616,004796: 32,2733 00006 EXTEND
025617,004797: 32,2734 72775 MP RR29GAIN
025618,004798: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
025619,004799: 32,2736 00006 EXTEND
025620,004800: 32,2737 72775 MP RR29GAIN
025621,004801: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD.
025622,004802:
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|
Page 604
|
025624,004804: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025625,004805: # READING DATA FROM THE RENDEZVOUS RADAR.
025626,004806:
025627,004807: 32,2741 34750 DGOOD? CAF BIT4
025628,004808: 32,2742 00006 EXTEND
025629,004809: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025630,004810: 32,2744 00004 INHINT # (MAINLY FOR RROUT).
025631,004811: 32,2745 00006 EXTEND
025632,004812: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025633,004813:
025634,004814: 32,2747 04616 TC BANKCALL
025635,004815: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025636,004816: 32,2751 12770 TCF END29DOD
025637,004817:
025638,004818: 32,2752 44742 R29LOKON CS DESIGBIT
025639,004819: 32,2753 70110 MASK RADMODES
025640,004820: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025641,004821: 32,2755 44752 CS BIT2
025642,004822: 32,2756 00006 EXTEND
025643,004823: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025644,004824: 32,2760 34743 CA READRBIT
025645,004825: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025646,004826: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025647,004827: 32,2763 44776 CS SUPER110 # -96D + 100D = 4.
025648,004828: 32,2764 64777 AD 1SEC # 0 + 100D = 100D.
025649,004829: 32,2765 05203 TC WAITLIST
025650,004830: 32,2766 E7,1456 EBANK= LOSCOUNT
025651,004831: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB.
025652,004832:
025653,004833: 32,2770 44740 END29DOD CS LOSCMBIT
025654,004834: 32,2771 70076 MASK FLAGWRD2
025655,004835: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
025656,004836: 32,2773 15155 TCF ENDOFJOB
025657,004837:
025658,004838: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D
025659,004839: 32,2775 56655 RR29GAIN DEC -.53624
025660,004840: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL
025661,004841: 32,2776 1101 LOSSM EQUALS RRTARGET
025662,004842: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV
025663,004843:
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Page 605
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025665,004845: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
025666,004846:
025667,004847: 24,3400 BANK 24
025668,004848: 24,2000 SETLOC P20S
025669,004849: 24,2000 BANK
025670,004850:
025671,004851: 24,3400 COUNT* $$/R29
025672,004852:
025673,004853: 24,3400 E7,1456 EBANK= LOSCOUNT
025674,004854:
025675,004855: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST.
025676,004856: 24,3401 05072 TC NOVAC
025677,004857: 24,3402 E7,1456 EBANK= LOSCOUNT
025678,004858: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
025679,004859:
025680,004860: 24,3404 35000 CA 2SECS
025681,004861: 24,3405 05224 TC VARDELAY
025682,004862:
025683,004863: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
025684,004864: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
025685,004865: 24,3410 10000 CCS A
025686,004866: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
025687,004867: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
025688,004868:
025689,004869: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
025690,004870: 24,3414 74741 MASK NR29FBIT
025691,004871: 24,3415 10000 CCS A # TEST "NOR29FLG".
025692,004872: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
025693,004873:
025694,004874: 24,3417 30110 CA RADMODES
025695,004875: 24,3420 74752 MASK AUTOMBIT
025696,004876: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
025697,004877: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
025698,004878:
025699,004879: 24,3423 04616 TC BANKCALL
025700,004880: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
025701,004881: 24,3425 04616 TC BANKCALL
025702,004882: 24,3426 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025703,004883: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
025704,004884:
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Page 606
|
025706,004886: # R29 RADAR READING CONTINUED.
025707,004887:
025708,004888: 24,3430 53106 DXCH TIMEHOLD
025709,004889: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
025710,004890: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
025711,004891: 24,3433 00006 EXTEND
025712,004892: 24,3434 30036 DCA CDUT
025713,004893: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
025714,004894: 24,3436 00006 EXTEND
025715,004895: 24,3437 30034 DCA CDUY
025716,004896: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
025717,004897: 24,3441 30032 CA CDUX
025718,004898: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
025719,004899:
025720,004900: 24,3443 04616 R29RANGE TC BANKCALL
025721,004901: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
025722,004902: 24,3445 04616 TC BANKCALL
025723,004903: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
025724,004904: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
025725,004905:
025726,004906: 24,3450 00004 INHINT
025727,004907: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
025728,004908: 24,3452 53757 DXCH RM
025729,004909: 24,3453 52155 DXCH MPAC
025730,004910: 24,3454 53755 DXCH MKTIME
025731,004911: 24,3455 52157 DXCH MPAC +2
025732,004912: 24,3456 53753 DXCH TANGNB
025733,004913: 24,3457 52161 DXCH MPAC +4
025734,004914: 24,3460 53460 DXCH AIG
025735,004915: 24,3461 30162 CA MPAC +6
025736,004916: 24,3462 55461 TS AOG
025737,004917: 24,3463 34753 CA ONE
025738,004918: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
025739,004919: 24,3465 15155 TCF ENDOFJOB
025740,004920:
025741,004921: 24,3466 40101 R29RRR? CS FLAGWRD5
025742,004922: 24,3467 74742 MASK BIT10
025743,004923: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
025744,004924: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
025745,004925: 24,3472 05516 TC DOWNFLAG
025746,004926: 24,3473 00120 ADRES RNGSCFLG
025747,004927: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
025748,004928:
025749,004929: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
025750,004930: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
025751,004931: 24,3477 05516 TC DOWNFLAG
025752,004932: 24,3500 00063 ADRES READRFLG
025753,004933: 24,3501 44736 CS BIT14
025754,004934: 24,3502 00006 EXTEND
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Page 607
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025756,004936: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
025757,004937: 24,3504 15155 TCF ENDOFJOB
025758,004938:
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|
Page 608
|
025760,004940: # W-MATRIX MONITOR
025761,004941:
025762,004942: 31,2007 BANK 31
025763,004943: 31,2000 SETLOC VB67
025764,004944: 31,2000 BANK
025765,004945: 31,2007 COUNT* $$/EXTVB
025766,004946:
025767,004947: 31,2007 E4,1600 EBANK= WWPOS
025768,004948:
025769,004949: 31,2007 06037 V67CALL TC INTPRET
025770,004950: 31,2010 77624 CALL
025771,004951: 31,2011 62120 V67WW
025772,004952: 31,2012 77776 EXIT
025773,004953: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
025774,004954: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
025775,004955: 31,2015 53607 DXCH WWBIAS +2
025776,004956: 31,2016 00006 EXTEND
025777,004957: 31,2017 31603 DCA WWVEL
025778,004958: 31,2020 53611 DXCH WWBIAS +4
025779,004959: 31,2021 00006 EXTEND
025780,004960: 31,2022 31605 DCA WWBIAS
025781,004961: 31,2023 53613 DXCH WWBIAS +6
025782,004962: 31,2024 32143 V06N99DS CAF V06N99
025783,004963: 31,2025 04616 TC BANKCALL
025784,004964: 31,2026 20334 CADR GOXDSPF
025785,004965: 31,2027 15472 TCF ENDEXT
025786,004966: 31,2030 12032 TCF V6N99PRO
025787,004967: 31,2031 12024 TCF V06N99DS
025788,004968: 31,2032 22007 V6N99PRO ZL
025789,004969: 31,2033 34756 CA FIVE
025790,004970: 31,2034 54002 N99LOOP TS Q
025791,004971: 31,2035 50002 INDEX Q
025792,004972: 31,2036 41600 CS WWPOS
025793,004973: 31,2037 50002 INDEX Q
025794,004974: 31,2040 61606 AD WWPOS +6
025795,004975: 31,2041 26001 ADS L
025796,004976: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
025797,004977: 31,2043 12034 TCF N99LOOP
025798,004978: 31,2044 22000 LXCH A
025799,004979: 31,2045 00006 EXTEND
025800,004980: 31,2046 12051 BZF V06N9933
025801,004981: 31,2047 05504 TC UPFLAG
025802,004982: 31,2050 00160 ADRES V67FLAG
025803,004983:
025804,004984: 31,2051 06037 V06N9933 TC INTPRET
025805,004985: 31,2052 77414 BON EXIT
025806,004986: 31,2053 03707 V67FLAG
025807,004987: 31,2054 62056 +2
025808,004988: 31,2055 15472 TCF ENDEXT
025809,004989: 31,2056 77745 DLOAD
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|
Page 609
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025811,004991: 31,2057 02201 WWPOS
025812,004992: 31,2060 72412 SL4 SL1
025813,004993: 31,2061 14001 STODL 0D
025814,004994: 31,2062 02203 WWVEL
025815,004995: 31,2063 14003 STODL 2D
025816,004996: 31,2064 02205 WWBIAS
025817,004997: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
025818,004998: 31,2066 20213 10D # INTERNAL SCALING (B+5)
025819,004999: 31,2067 00005 STORE 4D
025820,005000: 31,2070 72014 BON LXA,1
025821,005001: 31,2071 04307 SURFFLAG
025822,005002: 31,2072 62102 V67SURF
025823,005003: 31,2073 00000 0D
025824,005004: 31,2074 72130 SXA,1 LXA,1
025825,005005: 31,2075 02000 WRENDPOS
025826,005006: 31,2076 00002 2D
025827,005007: 31,2077 52130 SXA,1 GOTO
025828,005008: 31,2100 02001 WRENDVEL
025829,005009: 31,2101 62110 V67CLRF
025830,005010: 31,2102 66150 V67SURF LXA,1 SXA,1
025831,005011: 31,2103 00000 0D
025832,005012: 31,2104 02006 WSURFPOS
025833,005013: 31,2105 66150 LXA,1 SXA,1
025834,005014: 31,2106 00002 2D
025835,005015: 31,2107 02007 WSURFVEL
025836,005016: 31,2110 66150 V67CLRF LXA,1 SXA,1
025837,005017: 31,2111 00004 4D
025838,005018: 31,2112 02003 WTRUN
025839,005019: 31,2113 77730 SXA,1
025840,005020: 31,2114 02002 WSHAFT
025841,005021: 31,2115 77414 CLEAR EXIT
025842,005022: 31,2116 02676 RENDWFLG
025843,005023: 31,2117 15472 TCF ENDEXT
025844,005024: 31,2120 40020 V67WW STQ BOV
025845,005025: 31,2121 00051 S2
025846,005026: 31,2122 62123 +1
025847,005027: 31,2123 45014 CLEAR CALL
025848,005028: 31,2124 03667 V67FLAG
025849,005029: 31,2125 27414 INTSTALL
025850,005030: 31,2126 71331 SSP DLOAD
025851,005031: 31,2127 00051 S1
025852,005032: 31,2130 00006 DEC 6 B-14
025853,005033: 31,2131 06522 ZEROVECS
025854,005034: 31,2132 02201 STORE WWPOS
025855,005035: 31,2133 02203 STORE WWVEL
025856,005036: 31,2134 02205 STORE WWBIAS
025857,005037: 31,2135 77770 AXT,1
025858,005038: 31,2136 00066 DEC 54 B-14
025859,005039: 31,2137 47573 NXPOSVEL VLOAD* VSQ
025860,005040: 31,2140 02467 W +54D,1
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Page 610
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025862,005042: 31,2141 77650 GOTO
025863,005043: 31,2142 60002 ADDPOS
025864,005044: 31,2143 01543 V06N99 VN 0699
025865,005045:
025866,005046: 30,2000 SETLOC VB67A
025867,005047: 30,2000 BANK
025868,005048: 30,2002 COUNT* $$/EXTVB
025869,005049:
025870,005050: 30,2002 77615 ADDPOS DAD
025871,005051: 30,2003 02201 WWPOS
025872,005052: 30,2004 02201 STORE WWPOS
025873,005053: 30,2005 47573 VLOAD* VSQ
025874,005054: 30,2006 02555 W +108D,1
025875,005055: 30,2007 77615 DAD
025876,005056: 30,2010 02203 WWVEL
025877,005057: 30,2011 02203 STORE WWVEL
025878,005058: 30,2012 47573 VLOAD* VSQ
025879,005059: 30,2013 02643 W +162D,1
025880,005060: 30,2014 77615 DAD
025881,005061: 30,2015 02205 WWBIAS
025882,005062: 30,2016 02205 STORE WWBIAS
025883,005063: 30,2017 75500 TIX,1 SQRT
025884,005064: 30,2020 62137 NXPOSVEL
025885,005065: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
025886,005066: 30,2022 20613 10D # NOUN SCALING (B-5)
025887,005067: 30,2023 16205 STODL WWBIAS
025888,005068: 30,2024 02203 WWVEL
025889,005069: 30,2025 77766 SQRT
025890,005070: 30,2026 16203 STODL WWVEL
025891,005071: 30,2027 02201 WWPOS
025892,005072: 30,2030 77766 SQRT
025893,005073: 30,2031 02201 STORE WWPOS
025894,005074: 30,2032 52000 BOV GOTO
025895,005075: 30,2033 60035 +2
025896,005076: 30,2034 60042 V67XXX
025897,005077: 30,2035 77745 DLOAD
025898,005078: 30,2036 06530 DPPOSMAX
025899,005079: 30,2037 02201 STORE WWPOS
025900,005080: 30,2040 02203 STORE WWVEL
025901,005081: 30,2041 02205 STORE WWBIAS
025902,005082: 30,2042 45345 V67XXX DLOAD DSU
025903,005083: 30,2043 02201 WWPOS
025904,005084: 30,2044 20060 FT99999
025905,005085: 30,2045 71240 BMN DLOAD
025906,005086: 30,2046 60051 +3
025907,005087: 30,2047 20060 FT99999
025908,005088: 30,2050 02201 STORE WWPOS
025909,005089: 30,2051 66150 LXA,1 SXA,1
025910,005090: 30,2052 00051 S2
025911,005091: 30,2053 00052 QPRET
|
|
Page 611
|
025913,005093: 30,2054 77776 EXIT
025914,005094: 30,2055 04635 TC POSTJUMP
025915,005095: 30,2056 27425 CADR INTWAKE
025916,005096:
025917,005097: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
025918,005098:
|
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Page 612
|
025920,005100: 25,3607 BANK 25
025921,005101: 25,2000 SETLOC RADARUPT
025922,005102: 25,2000 BANK
025923,005103: 25,3607 COUNT* $$/RRUPT
025924,005104:
025925,005105: 25,3607 E7,1456 EBANK= LOSCOUNT
025926,005106:
025927,005107: 25,3607 34753 R12LITES CA ONE
025928,005108: 25,3610 71303 MASK IMODES33
025929,005109: 25,3611 10000 CCS A
025930,005110: 25,3612 14707 TCF ISWRETRN
025931,005111:
025932,005112: 25,3613 03630 TC HLIGHT
025933,005113: 25,3614 03625 TC HLIGHT -3
025934,005114: 25,3615 14707 TCF ISWRETRN
025935,005115:
025936,005116: 25,3616 34753 RADLITES CA BIT1
025937,005117: 25,3617 71303 MASK IMODES33
025938,005118: 25,3620 10000 CCS A
025939,005119: 25,3621 00002 TC Q
025940,005120:
025941,005121: 25,3622 44747 CS BIT5
025942,005122: 25,3623 60061 AD ITEMP1
025943,005123: 25,3624 10000 CCS A
025944,005124: 25,3625 44753 CS ONE
025945,005125: 25,3626 13664 TCF VLIGHT
025946,005126:
025947,005127: 25,3627 14570 TCF RRTRKF
025948,005128:
025949,005129: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
025950,005130:
025951,005131: 25,3631 34747 CA HLITE
025952,005132: 25,3632 54001 TS L
025953,005133:
025954,005134: 25,3633 30107 CA FLGWRD11
025955,005135: 25,3634 74751 MASK SCABBIT
025956,005136: 25,3635 10000 CCS A
025957,005137: 25,3636 13656 TCF ONLITES
025958,005138: 25,3637 34747 CA LRALTBIT
025959,005139: 25,3640 70110 BOTHLITS MASK RADMODES
025960,005140: 25,3641 10000 CCS A
025961,005141: 25,3642 13656 TCF ONLITES
025962,005142:
025963,005143: 25,3643 30107 CA FLGWRD11
025964,005144: 25,3644 50065 INDEX ITEMP5
025965,005145: 25,3645 74753 MASK HFLSHBIT
025966,005146: 25,3646 10000 CCS A
025967,005147: 25,3647 14570 TCF RRTRKF
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Page 613
|
025969,005149: 25,3650 00006 LITIT EXTEND
025970,005150: 25,3651 22066 QXCH ITEMP6
025971,005151: 25,3652 04602 TC TRKFLON +1
025972,005152:
025973,005153: 25,3653 00006 EXTEND
025974,005154: 25,3654 22066 QXCH ITEMP6
025975,005155: 25,3655 14570 TCF RRTRKF
025976,005156:
025977,005157:
025978,005158: 25,3656 50065 ONLITES INDEX ITEMP5
025979,005159: 25,3657 44753 CS HFLSHBIT
025980,005160: 25,3660 70107 MASK FLGWRD11
025981,005161: 25,3661 54107 TS FLGWRD11
025982,005162:
025983,005163: 25,3662 30001 CA L
025984,005164: 25,3663 13650 TCF LITIT
025985,005165: 25,3664 54065 VLIGHT TS ITEMP5
025986,005166: 25,3665 34751 CA VLITE
025987,005167: 25,3666 54001 TS L
025988,005168: 25,3667 34744 CA BIT8
025989,005169: 25,3670 13640 TCF BOTHLITS
025990,005170:
025991,005171: 25,3671 4747 HLITE EQUALS BIT5
025992,005172: 25,3671 4751 VLITE EQUALS BIT3
025993,005173:
End of include-file P20-P25.agc. Parent file is MAIN.agc