GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
021208,000002: ## Copyright: Public domain.
021209,000003: ## Filename: P20-P25.agc
021210,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
021211,000005: ## It is part of the source code for the Lunar Module's (LM)
021212,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
021213,000007: ## Assembler: yaYUL
021214,000008: ## Contact: Onno Hommes <ohommes@cmu.edu>.
021215,000009: ## Website: www.ibiblio.org/apollo.
021216,000010: ## Pages: 0492-0613
021217,000011: ## Mod history: 2009-05-26 OH Transcribed from page images.
021218,000012: ## 2009-06-05 RSB Corrected a typos.
021219,000013: ## 2009-06-06 RSB Added a missing instruction, and a block
021220,000014: ## of 3 missing instructions.
021221,000015: ## 2009-06-07 RSB Fixed a misprint.
021222,000016: ## 2009-06-07 RSB Changed the construct "2DEC E-6 B12"
021223,000017: ## (which isn't legal in yaYUL) to
021224,000018: ## "2DEC 1.0 E-6 B12".
021225,000019: ## 2011-05-07 JL Removed workarounds.
021226,000020: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
021227,000021: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
021228,000022: ## and corrected the errors found.
021229,000023: ## 2017-01-28 RSB WTIH -> WITH.
021230,000024: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
021231,000025: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021232,000026: ## side-by-side diff of Luminary 69/99/116/131/210.
021233,000027:
021234,000028: ## This source code has been transcribed or otherwise adapted from
021235,000029: ## digitized images of a hardcopy from the MIT Museum. The digitization
021236,000030: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
021237,000031: ## the Museum. Many thanks to both. The images (with suitable reduction
021238,000032: ## in storage size and consequent reduction in image quality as well) are
021239,000033: ## available online at www.ibiblio.org/apollo. If for some reason you
021240,000034: ## find that the images are illegible, contact me at info@sandroid.org
021241,000035: ## about getting access to the (much) higher-quality images which Paul
021242,000036: ## actually created.
021243,000037: ##
021244,000038: ## Notations on the hardcopy document read, in part:
021245,000039: ##
021246,000040: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
021247,000041: ## 16:27 JULY 14, 1969
021248,000042:
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021250,000044: # RENDEZVOUS NAVIGATION PROGRAM 20
021251,000045:
021252,000046: # PROGRAM DESCRIPTION
021253,000047:
021254,000048: # MOD NO - 2
021255,000049: # BY P. VOLANTE
021256,000050:
021257,000051: # FUNCTIONAL DESCRIPTION
021258,000052:
021259,000053: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021260,000054: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021261,000055: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021262,000056: # ON THE BASIS OF THE RR TRACKING DATA.
021263,000057:
021264,000058: # CALLING SEQUENCE -
021265,000059:
021266,000060: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021267,000061:
021268,000062: # SUBROUTINES CALLED
021269,000063:
021270,000064: # R02BOTH (IMU STATUS CHECK) FLAGUP
021271,000065: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021272,000066: # R23LEM (MANUAL ACQUISITION) BANKCALL
021273,000067: # LS201 (LOS DETERMINATION) TASKOVER
021274,000068: # LS202 (RANGE LIMIT TEST)
021275,000069: # R61LEM (PREFERRED TRACKING ATTITUDE)
021276,000070: # R21LEM (RR DESIGNATE) ENDOFJOB
021277,000071: # R22LEM (DATA READ) GOPERF1
021278,000072: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021279,000073: # PRIOLARM (PRIORITY DISPLAY)
021280,000074:
021281,000075: # NORMAL EXIT MODES -
021282,000076:
021283,000077: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021284,000078: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021285,000079:
021286,000080: # ALARM OR ABORT EXIT MODES -
021287,000081:
021288,000082: # RANGE GREATER THAN 400 NM DISPLAY
021289,000083:
021290,000084: # OUTPUT
021291,000085:
021292,000086: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021293,000087:
021294,000088: # ERASABLE INITIALIZATION REQUIRED
021295,000089:
021296,000090: # FLAGS SET + RESET
021297,000091:
021298,000092: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021299,000093:
021300,000094: # DEBRIS
021301,000095:
021302,000096: # CENTRALS - A,Q,L
021303,000097:
021304,000098: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021305,000099:
021306,000100: 33,2045 BANK 33
021307,000101: 24,2000 SETLOC P20S
021308,000102: 24,2000 BANK
021309,000103:
021310,000104: 24,2000 E7,1456 EBANK= LOSCOUNT
021311,000105: 24,2000 COUNT* $$/P20
021312,000106: 24,2000 24,2000 PROG22 = PROG20
021313,000107: 24,2000 05327 PROG20 TC 2PHSCHNG
021314,000108: 24,2001 00004 OCT 4
021315,000109: 24,2002 05022 OCT 05022
021316,000110: 24,2003 26000 OCT 26000 # PRIORITY 26
021317,000111: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021319,000113: 24,2005 02007 TC ORBCHGO # YES
021320,000114: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021321,000115: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021322,000116: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021323,000117: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021324,000118: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT
021325,000119: 24,2013 32311 CAF OCT00012
021326,000120: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021327,000121: 24,2015 20633 CADR GOPERF4
021328,000122: 24,2016 06001 TC GOTOPOOH # TERMINATE
021329,000123: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021330,000124: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021331,000125: 24,2021 42312 ORBCHG1 CS P22ONE
021332,000126: 24,2022 61145 AD OPTION2
021333,000127: 24,2023 00006 EXTEND
021334,000128: 24,2024 12040 BZF PROG20A
021335,000129: 24,2025 32315 CAF V06N33*
021336,000130: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021337,000131: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH
021338,000132: 24,2030 06001 TC GOTOPOOH # TERMINATE
021339,000133: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021340,000134: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021341,000135: 24,2033 06037 ORBCHG2 TC INTPRET
021342,000136: 24,2034 77650 GOTO
021343,000137: 24,2035 64217 ORBCHG3
021344,000138: 32,2217 BANK 32
021345,000139: 32,2000 SETLOC P20S4
021346,000140: 32,2000 BANK
021347,000141: 32,2217 COUNT* $$/P20
021348,000142:
021349,000143: 32,2217 77624 ORBCHG3 CALL
021350,000144: 32,2220 27414 INTSTALL
021351,000145: 32,2221 77745 DLOAD
021352,000146: 32,2222 03442 TIG
021353,000147: 32,2223 03661 STORE LNCHTM
021354,000148: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021355,000149: 32,2225 43014 CLEAR CLEAR
021356,000150: 32,2226 01674 VINTFLAG # LM INTEGRATION
021357,000151: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021358,000152: 32,2230 43014 CLEAR CLEAR
021359,000153: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021360,000154: 32,2232 01675 D6OR9FLG
021361,000155: 32,2233 77624 CALL
021362,000156: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
021363,000157: 32,2235 77624 CALL
021364,000158: 32,2236 11244 GRP2PC
021365,000159: 32,2237 77775 VLOAD
021366,000160: 32,2240 00017 RATT1
021367,000161: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021368,000162: 32,2242 00015 TAT
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021370,000164: 32,2243 34041 STCALL TDEC1
021371,000165: 32,2244 27414 INTSTALL
021372,000166: 32,2245 43014 SET CLEAR
021373,000167: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021374,000168: 32,2247 01673 INTYPFLG
021375,000169: 32,2250 43014 CLEAR BOFF
021376,000170: 32,2251 01676 DIM0FLAG
021377,000171: 32,2252 02756 RENDWFLG # W MATRIX VALID
021378,000172: 32,2253 64257 NOWMATX # NO
021379,000173: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021380,000174: 32,2255 01476 DIM0FLAG
021381,000175: 32,2256 01475 D6OR9FLG
021382,000176: 32,2257 77624 NOWMATX CALL
021383,000177: 32,2260 27134 INTEGRV # CSM INTEGRATION
021384,000178: 32,2261 77624 CALL
021385,000179: 32,2262 11244 GRP2PC
021386,000180: 32,2263 77775 VLOAD
021387,000181: 32,2264 00025 VATT1
021388,000182: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021389,000183: 32,2266 00017 RATT1
021390,000184: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION
021391,000185: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021392,000186: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021393,000187: 32,2272 24025 STOVL 20D # SAVE NSUB1
021394,000188: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021395,000189: 32,2274 53435 VXV UNIT # PLANE CHANGE
021396,000190: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021397,000191: 32,2276 27637 STOVL UCSM
021398,000192: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021399,000193: 32,2300 50256 UNIT DOT # AND RSUBC
021400,000194: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021401,000195: 32,2302 77752 SL1
021402,000196: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021403,000197: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021404,000198: 32,2305 10314 ONEB-2
021405,000199: 32,2306 77766 SQRT
021406,000200: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021407,000201: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
021408,000202: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021409,000203: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021410,000204: 32,2313 77676 VCOMP
021411,000205: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021412,000206: 32,2315 45014 CLEAR CALL
021413,000207: 32,2316 03666 RVSW
021414,000208: 32,2317 24732 TIMETHET
021415,000209: 32,2320 77676 VCOMP
021416,000210: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021417,000211: 32,2322 77745 DLOAD
021418,000212: 32,2323 00037 T
021419,000213: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021421,000215: 32,2325 03645 NEWVEL
021422,000216: 32,2326 77646 ABVAL
021423,000217: 32,2327 24025 STOVL 20D
021424,000218: 32,2330 00001 0D
021425,000219: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021426,000220: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021427,000221: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021428,000222: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021429,000223: 32,2335 03653 NEWPOS # ORBITAL PLANE
021430,000224: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
021431,000225: 32,2337 00025 20D
021432,000226: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021433,000227: 32,2341 11244 GRP2PC
021434,000228: 32,2342 77624 CALL
021435,000229: 32,2343 27414 INTSTALL
021436,000230: 32,2344 44345 DLOAD BDSU
021437,000231: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021438,000232: 32,2346 03661 LNCHTM
021439,000233: 32,2347 25517 STOVL TET
021440,000234: 32,2350 03653 NEWPOS
021441,000235: 32,2351 01535 STORE RCV
021442,000236: 32,2352 25503 STOVL RRECT
021443,000237: 32,2353 03665 NCSMVEL
021444,000238: 32,2354 35511 STCALL VRECT
021445,000239: 32,2355 23455 MINIRECT
021446,000240: 32,2356 45174 AXT,2 CALL
021447,000241: 32,2357 00002 2
021448,000242: 32,2360 26661 ATOPCSM
021449,000243: 32,2361 77624 CALL
021450,000244: 32,2362 27423 INTWAKE0
021451,000245: 32,2363 77776 EXIT
021452,000246: 32,2364 04616 TC BANKCALL
021453,000247: 32,2365 50040 CADR PROG20A
021454,000248:
021455,000249: 24,2036 BANK 24
021456,000250: 24,2000 SETLOC P20S
021457,000251: 24,2000 BANK
021458,000252: 24,2036 COUNT* $$/P20
021459,000253:
021460,000254: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021461,000255: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021462,000256: 24,2040 04616 PROG20A TC BANKCALL
021463,000257: 24,2041 11254 CADR R02BOTH
021464,000258: 24,2042 05504 TC UPFLAG
021465,000259: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021466,000260: 24,2044 05504 TC UPFLAG
021467,000261: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021468,000262: 24,2046 05504 TC UPFLAG
021469,000263: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021470,000264: 24,2050 05516 TC DOWNFLAG
021471,000265: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021473,000267: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021474,000268: 24,2053 00040 ADRES ACMODFLG
021475,000269: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021476,000270: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021477,000271: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021478,000272: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021479,000273: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021480,000274: 24,2061 00041 ADRES LOSCMFLG
021481,000275: 24,2062 06011 TC CLRADMOD
021482,000276: 24,2063 05353 P20LEM1 TC PHASCHNG
021483,000277: 24,2064 04022 OCT 04022
021484,000278: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021485,000279: 24,2066 55462 TS MARKCTR
021486,000280: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE
021487,000281: 24,2070 77634 RTB
021488,000282: 24,2071 21573 LOADTIME
021489,000283: 24,2072 34041 STCALL TDEC1
021490,000284: 24,2073 51255 LPS20.1
021491,000285: 24,2074 77624 CALL
021492,000286: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE
021493,000287: 24,2076 77776 EXIT
021494,000288: 24,2077 50154 INDEX MPAC
021495,000289: 24,2100 02101 TC +1
021496,000290: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021497,000291: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021498,000292: 24,2103 04616 TC BANKCALL
021499,000293: 24,2104 21562 CADR PRIOLARM
021500,000294: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021501,000295: 24,2106 02102 TC -4 # PROC (ILLEGAL
021502,000296: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021503,000297: 24,2110 05155 TC ENDOFJOB
021504,000298:
021505,000299: 24,2111 05353 P20LEMA TC PHASCHNG
021506,000300: 24,2112 04022 OCT 04022
021507,000301: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021508,000302: 24,2114 02117 TC P20LEMB
021509,000303: 24,2115 04616 TC BANKCALL
021510,000304: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021511,000305: 24,2117 05353 P20LEMB TC PHASCHNG
021512,000306: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021513,000307: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021514,000308: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26
021515,000309: 24,2123 05146 TC PRIOCHNG
021516,000310: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021517,000311: 24,2125 74747 MASK TRACKBIT
021518,000312: 24,2126 00006 EXTEND
021519,000313: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021520,000314: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021521,000315: 24,2131 00006 EXTEND
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021523,000317: 24,2132 02033 RAND CHAN33
021524,000318: 24,2133 00006 EXTEND
021525,000319: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021526,000320:
021527,000321: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021528,000322: 24,2136 61011 AD MODREG # MAJOR MODE IS 20
021529,000323: 24,2137 00006 EXTEND
021530,000324: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES - OK TO DO PLEASE PERFORM
021531,000325:
021532,000326: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22
021533,000327: 24,2142 00006 EXTEND
021534,000328: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021535,000329: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021536,000330: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021537,000331: 24,2146 21562 CADR PRIOLARM
021538,000332: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
021539,000333: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021540,000334: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021541,000335: 24,2152 05155 TC ENDOFJOB
021542,000336: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021543,000337: 24,2154 04616 TC BANKCALL
021544,000338: 24,2155 20623 CADR GOPERF1
021545,000339: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021546,000340: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021547,000341: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021548,000342: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021549,000343: 24,2162 03135 TC R23LEM # NO - DO MANUAL ACQUISITION
021550,000344:
021551,000345: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021552,000346: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021553,000347: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021554,000348:
021555,000349: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021556,000350: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021557,000351:
021558,000352: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021559,000353: 24,2171 74737 MASK RCDU0BIT
021560,000354: 24,2172 00006 EXTEND
021561,000355: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021562,000356: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021563,000357: 24,2175 70076 MASK FLAGWRD2
021564,000358: 24,2176 00006 EXTEND
021565,000359: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021566,000360: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021567,000361: 24,2201 00037 ADRES SRCHOPTN
|
|
Page 498 |
021569,000363: 24,2202 05516 TC DOWNFLAG
021570,000364: 24,2203 00040 ADRES ACMODFLG
021571,000365: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021572,000366:
021573,000367: 24,2205 32304 P20LEMB4 CAF 250DEC
021574,000368: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021575,000369: 24,2207 01735 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021576,000370: 24,2210 02170 TC P20LEMB3
021577,000371:
021578,000372: 24,2211 06037 P20LEMC3 TC INTPRET
021579,000373: 24,2212 77634 RTB
021580,000374: 24,2213 21573 LOADTIME
021581,000375: 24,2214 34041 STCALL TDEC1
021582,000376: 24,2215 50316 UPPSV
021583,000377: 24,2216 77776 P20LEMC4 EXIT
021584,000378: 24,2217 05353 P20LEMC TC PHASCHNG
021585,000379: 24,2220 04022 OCT 04022
021586,000380: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021587,000381: 24,2222 74745 MASK RNDVZBIT
021588,000382: 24,2223 00006 EXTEND
021589,000383: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021590,000384: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021591,000385: 24,2226 74747 MASK TRACKBIT
021592,000386: 24,2227 00006 EXTEND
021593,000387: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021594,000388: 24,2231 02674 P20LEMF TC R21LEM
021595,000389:
021596,000390: 24,2232 32304 P20LEMWT CAF 250DEC
021597,000391: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021598,000392: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021599,000393: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021600,000394: 24,2236 74747 MASK TRACKBIT
021601,000395: 24,2237 00006 EXTEND
021602,000396: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021603,000397: 24,2241 05353 P20LMWT1 TC PHASCHNG
021604,000398: 24,2242 40072 OCT 40072
021605,000399: 24,2243 05155 TC ENDOFJOB
021606,000400:
021607,000401: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021608,000402: 24,2245 74745 MASK RNDVZBIT
021609,000403: 24,2246 00006 EXTEND
021610,000404: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021611,000405: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021612,000406: 24,2251 74747 MASK TRACKBIT
021613,000407: 24,2252 00006 EXTEND
021614,000408: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
|
Page 499 |
021616,000410: 24,2254 37714 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021617,000411: 24,2255 05105 TC FINDVAC
021618,000412: 24,2256 E7,1456 EBANK= LOSCOUNT
021619,000413: 24,2256 02627 50067 2CADR R22LEM42
021620,000414:
021621,000415: 24,2260 05261 TC TASKOVER
021622,000416:
021623,000417: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021624,000418: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021625,000419:
021626,000420: 24,2263 02244 TC P20LEMC1
021627,000421:
021628,000422: 24,2264 32666 P20LEMD CAF 1500DEC
021629,000423: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021630,000424: 24,2266 02270 ADRES P20LEMD1
021631,000425: 24,2267 05155 TC ENDOFJOB
021632,000426:
021633,000427: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021634,000428: 24,2271 74747 MASK TRACKBIT
021635,000429: 24,2272 10000 CCS A
021636,000430: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021637,000431: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021638,000432: 24,2275 02734 DEC 1500 B-14
021639,000433: 24,2276 02270 TC P20LEMD1
021640,000434:
021641,000435: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021642,000436: 24,2300 05105 TC FINDVAC
021643,000437: 24,2301 E7,1456 EBANK= LOSCOUNT
021644,000438: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021645,000439:
021646,000440: 24,2303 05261 TC TASKOVER
021647,000441:
021648,000442: 24,2304 00372 250DEC DEC 250 B-14
021649,000443: 24,2305 00526 ALRM526 OCT 00526
021650,000444: 24,2306 00201 OCT201 OCT 00201
021651,000445: 24,2307 00514 ALRM514 OCT 514
021652,000446: 24,2310 00074 MAXTRIES DEC 60 B-14
021653,000447: 24,2311 00012 OCT00012 OCT 00012
021654,000448: 24,2312 00001 P22ONE OCT 00001
021655,000449: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2
021656,000450:
021657,000451: 24,2315 01441 V06N33* VN 0633
021658,000452: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021659,000453: 24,2317 01757 LS21X # TO PRESENT TIME
021660,000454: 24,2320 27414 INTSTALL
021661,000455: 24,2321 77624 CALL
|
|
Page 500 |
021663,000457: 24,2322 26644 SETIFLGS
021664,000458: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
021665,000459: 24,2324 02756 RENDWFLG
021666,000460: 24,2325 50336 UPPSV1
021667,000461: 24,2326 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021668,000462: 24,2327 43014 BON SET
021669,000463: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021670,000464: 24,2331 50333 UPPSV5
021671,000465: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9
021672,000466: 24,2333 77614 UPPSV5 BOF
021673,000467: 24,2334 00747 VEHUPFLG
021674,000468: 24,2335 50370 UPPSV3
021675,000469: 24,2336 77614 UPPSV1 SET
021676,000470: 24,2337 01474 VINTFLAG
021677,000471: 24,2340 77624 CALL
021678,000472: 24,2341 27134 INTEGRV
021679,000473: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE
021680,000474: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION
021681,000475: 24,2344 77624 CALL
021682,000476: 24,2345 27414 INTSTALL
021683,000477: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021684,000478: 24,2347 01571 TETCSM
021685,000479: 24,2350 01674 VINTFLAG
021686,000480: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021687,000481: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX
021688,000482: 24,2353 34041 STCALL TDEC1
021689,000483: 24,2354 27134 INTEGRV
021690,000484: 24,2355 77214 BOFF VLOAD
021691,000485: 24,2356 04347 SURFFLAG
021692,000486: 24,2357 50216 P20LEMC4
021693,000487: 24,2360 01661 RCVLEM
021694,000488: 24,2361 77742 VSR2
021695,000489: 24,2362 26352 STOVL LMPOS
021696,000490: 24,2363 01667 VCVLEM
021697,000491: 24,2364 77742 VSR2
021698,000492: 24,2365 02360 STORE LMVEL
021699,000493: 24,2366 77650 GOTO
021700,000494: 24,2367 01757 LS21X
021701,000495:
021702,000496: 24,2370 45014 UPPSV3 CLEAR CALL
021703,000497: 24,2371 01674 VINTFLAG
021704,000498: 24,2372 27134 INTEGRV
021705,000499: 24,2373 77624 CALL
021706,000500: 24,2374 11244 GRP2PC
021707,000501: 24,2375 77624 CALL
021708,000502: 24,2376 27414 INTSTALL
021709,000503: 24,2377 71214 SET DLOAD
021710,000504: 24,2400 01474 VINTFLAG
021711,000505: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
|
|
Page 501 |
021713,000507: 24,2402 77650 GOTO
021714,000508: 24,2403 50351 UPPSV4
021715,000509: 24,2404 E7,1456 EBANK= LOSCOUNT
021716,000510: 24,2404 COUNT* $$/P22
021717,000511:
|
|
Page 502 |
021719,000513: # PROGRAM DESCRIPTION
021720,000514:
021721,000515: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021722,000516: # MOD NO - 3
021723,000517: # BY P. VOLANTE
021724,000518:
021725,000519: # FUNCTIONAL DESCRIPTION
021726,000520:
021727,000521: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021728,000522: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021729,000523: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021730,000524: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021731,000525:
021732,000526: # CALLING SEQUENCE -
021733,000527:
021734,000528: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021735,000529:
021736,000530: # SUBROUTINES CALLED -
021737,000531:
021738,000532: # BANKCALL FLAGUP
021739,000533: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021740,000534: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021741,000535: # TASKOVER FINDVAC
021742,000536:
021743,000537: # NORMAL EXIT MODES -
021744,000538:
021745,000539: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021746,000540: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021747,000541:
021748,000542: # ALARM OR ABORT EXIT MODES -
021749,000543:
021750,000544: # NONE
021751,000545:
021752,000546: # OUTPUT
021753,000547:
021754,000548: # ERASABLE INITIALIZATION REQUIRED
021755,000549:
021756,000550: # FLAGS SET + RESET
021757,000551:
021758,000552: # TRACKFLG, P25FLAG
021759,000553:
021760,000554: # DEBRIS
021761,000555:
021762,000556: # NONE
021763,000557:
021764,000558: 24,2404 E7,1456 EBANK= LOSCOUNT
021765,000559: 24,2404 COUNT* $$/P25
021766,000560: 24,2404 05327 PROG25 TC 2PHSCHNG
021767,000561: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021768,000562: 24,2406 05022 OCT 05022
021769,000563: 24,2407 26000 OCT 26000 # PRIORITY 26
021770,000564:
021771,000565: 24,2410 04616 TC BANKCALL
021772,000566: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK
021773,000567: 24,2412 05504 TC UPFLAG
021774,000568: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG
021775,000569: 24,2414 05504 TC UPFLAG
021776,000570: 24,2415 00006 ADRES P25FLAG # SET P25FLAG
021777,000571: 24,2416 05353 P25LEM1 TC PHASCHNG
021778,000572: 24,2417 04022 OCT 04022
021779,000573: 24,2420 34743 CAF P25FLBIT
021780,000574: 24,2421 70074 MASK STATE # IS P25FLAG SET
021781,000575: 24,2422 00006 EXTEND
021782,000576: 24,2423 15155 BZF ENDOFJOB
021783,000577: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021784,000578: 24,2425 70075 MASK STATE +1
021785,000579: 24,2426 00006 EXTEND
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|
Page 503 |
021787,000581: 24,2427 12437 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021788,000582: 24,2430 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021789,000583: 24,2431 55745 TS R65CNTR
021790,000584: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021791,000585: 24,2433 46123 CADR R65LEM
021792,000586: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS
021793,000587: 24,2435 05353 P25LEMWT TC PHASCHNG
021794,000588: 24,2436 00112 OCT 00112
021795,000589: 24,2437 32450 P25LMWT1 CAF 60SCNDS
021796,000590: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021797,000591: 24,2441 02443 ADRES P25LEM2
021798,000592: 24,2442 05155 TC ENDOFJOB
021799,000593: 24,2443 35024 P25LEM2 CAF PRIO14
021800,000594: 24,2444 05105 TC FINDVAC
021801,000595: 24,2445 E7,1456 EBANK= LOSCOUNT
021802,000596: 24,2445 02416 50067 2CADR P25LEM1
021803,000597:
021804,000598: 24,2447 05261 TC TASKOVER
021805,000599: 24,2450 13560 60SCNDS DEC 6000 B-14
021806,000600:
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|
Page 504 |
021808,000602: # DATA READ ROUTINE 22 (LEM)
021809,000603: # PROGRAM DESCRIPTION
021810,000604:
021811,000605: # MOD NO - 2
021812,000606: # BY P VOLANTE
021813,000607:
021814,000608: # FUNCTIONAL DESCRIPTION
021815,000609:
021816,000610: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021817,000611: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021818,000612:
021819,000613: # CALLING SEQUENCE -
021820,000614:
021821,000615: # TC BANKCALL
021822,000616: # CADR R22LEM
021823,000617:
021824,000618: # SUBROUTINES CALLED -
021825,000619:
021826,000620: # LSR22.1 GOFLASH WAITLIST
021827,000621: # LSR22.2 PRIOLARM BANKCALL
021828,000622: # LSR22.3 R61LEM
021829,000623:
021830,000624: # NORMAL EXIT MODES -
021831,000625:
021832,000626: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021833,000627: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021834,000628: # R22 WILL TERMINATE SELF.
021835,000629:
021836,000630: # ALARM OR ABORT EXIT MODES -
021837,000631:
021838,000632: # PRIORITY ALARM
021839,000633: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021840,000634:
021841,000635: # OUTPUT
021842,000636:
021843,000637: # SEE OUTPUT FROM LSR22.3
021844,000638:
021845,000639: # ERASABLE INITIALIZATION REQUIRED
021846,000640:
021847,000641: # SEE LSR22.1, LSR22.2, LSR22.3
021848,000642:
021849,000643: # FLAGS SET + RESET
021850,000644:
021851,000645: # NOANGFLG
021852,000646:
021853,000647: # DEBRIS
021854,000648:
021855,000649: # SEE LSR22.1, LSR22.2, LSR22.3
021856,000650:
021857,000651: 24,2451 E7,1737 EBANK= LRS22.1X
021858,000652: 24,2451 COUNT* $$/R22
021859,000653: 24,2451 05353 R22LEM TC PHASCHNG
021860,000654: 24,2452 04022 OCT 04022
021861,000655: 24,2453 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021862,000656: 24,2454 70074 MASK STATE
021863,000657: 24,2455 00006 EXTEND
021864,000658: 24,2456 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021865,000659: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021866,000660: 24,2460 70075 MASK STATE +1
021867,000661: 24,2461 00006 EXTEND
021868,000662: 24,2462 12636 BZF R22WAIT # NO WAIT
021869,000663: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021870,000664: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021871,000665: 24,2465 02012 RAND CHAN12
021872,000666: 24,2466 00006 EXTEND
021873,000667: 24,2467 12111 BZF P20LEMA # NO - RETURN TO P20
021874,000668: 24,2470 34752 CAF BIT2 # YES
021875,000669: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021876,000670: 24,2472 02033 RAND CHAN33
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|
Page 505 |
021878,000672: 24,2473 00006 EXTEND
021879,000673: 24,2474 12476 BZF +2 # YES CONTINUE
021880,000674: 24,2475 02135 TC P20LEMB5 # NO - SET IT
021881,000675: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021882,000676: 24,2477 74737 MASK RCDU0BIT
021883,000677: 24,2500 00006 EXTEND
021884,000678: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED
021885,000679: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AN EXTRA RADAR
021886,000680: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021887,000681: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021888,000682: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021889,000683: 24,2506 50154 INDEX MPAC
021890,000684: 24,2507 02510 TC +1
021891,000685: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021892,000686: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021893,000687: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021894,000688: 24,2513 04616 TC BANKCALL
021895,000689: 24,2514 21562 CADR PRIOLARM
021896,000690: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021897,000691: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021898,000692: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION)
021899,000693: 24,2520 05155 TC ENDOFJOB
021900,000694:
021901,000695: 24,2521 05353 R22LEM1 TC PHASCHNG
021902,000696: 24,2522 04022 OCT 04022
021903,000697: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA
021904,000698: 24,2524 04616 TC BANKCALL
021905,000699: 24,2525 20507 CADR PRIODSP
021906,000700: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021907,000701: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE)
021908,000702: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE)
021909,000703: 24,2531 05353 R22LEM2 TC PHASCHNG
021910,000704: 24,2532 04022 OCT 04022
021911,000705: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021912,000706: 24,2534 02551 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021913,000707: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021914,000708: 24,2536 74747 MASK TRACKBIT
021915,000709: 24,2537 00006 EXTEND
021916,000710: 24,2540 12636 BZF R22WAIT # NO - WAIT
021917,000711: 24,2541 04616 TC BANKCALL # YES
021918,000712: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021919,000713: 24,2543 50154 INDEX MPAC
021920,000714: 24,2544 02545 TC +1
021921,000715: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021922,000716: 24,2546 04616 TC BANKCALL
021923,000717: 24,2547 46116 CADR R61LEM
021924,000718: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021925,000719: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021926,000720: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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|
Page 506 |
021928,000722: 24,2553 00006 EXTEND
021929,000723: 24,2554 12627 BZF R22LEM42 # BRANCH - YES
021930,000724: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021931,000725: 24,2556 74745 MASK UPDATBIT
021932,000726: 24,2557 00006 EXTEND
021933,000727: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET
021934,000728: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021935,000729: 24,2562 55056 TS PHSPRDT2
021936,000730:
021937,000731: 24,2563 06037 TC INTPRET
021938,000732: 24,2564 77650 GOTO
021939,000733: 24,2565 54412 LSR22.3
021940,000734: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021941,000735: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021942,000736: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021943,000737: 24,2571 12622 TCF R22LEM44
021944,000738: 24,2572 77776 R22LEM96 EXIT
021945,000739: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021946,000740: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021947,000741: 24,2575 05353 TC PHASCHNG
021948,000742: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY
021949,000743: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY
021950,000744: 24,2600 05072 TC NOVAC
021951,000745: 24,2601 E7,1746 EBANK= N49FLAG
021952,000746: 24,2601 02644 50067 2CADR N49DSP
021953,000747:
021954,000748: 24,2603 06037 TC INTPRET
021955,000749: 24,2604 77735 SLOAD
021956,000750: 24,2605 03747 N49FLAG
021957,000751: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG
021958,000752: 24,2607 50604 -3 # SETTING CHANGED - BRANCH - NO
021959,000753: 24,2610 50616 R22LEM7 # PROCEED
021960,000754: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
021961,000755: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021962,000756: 24,2613 02636 TC R22WAIT # YES - 15 SECOND DELAY
021963,000757: 24,2614 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
021964,000758: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
021965,000759: 24,2616 77624 R22LEM7 CALL # PROCEED
021966,000760: 24,2617 11244 GRP2PC # PHASE CHANGE AND
021967,000761: 24,2620 77650 GOTO # GO TO INCORPORATE DATA.
021968,000762: 24,2621 55431 ASTOK
021969,000763: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021970,000764: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021971,000765: 24,2624 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021972,000766: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE
021973,000767: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5
021974,000768: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021975,000769: 24,2630 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021976,000770: 24,2631 34752 CA TWO # NO - SET R65COUNTER = 2
021977,000771: 24,2632 55745 R22LEM45 TS R65CNTR
|
|
Page 507 |
021979,000773: 24,2633 04616 TC BANKCALL
021980,000774: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021981,000775: 24,2635 02451 TC R22LEM
021982,000776: 24,2636 32666 R22WAIT CAF 1500DEC
021983,000777: 24,2637 02233 TC P20LEMWT +1
021984,000778:
021985,000779: 24,2640 35000 R22LEM46 CAF 2SECS
021986,000780: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021987,000781: 24,2642 01735 CADR DELAYJOB
021988,000782: 24,2643 02451 TC R22LEM
021989,000783:
021990,000784: 24,2644 32665 N49DSP CAF V06N49NB
021991,000785: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021992,000786: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021993,000787: 24,2647 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
021994,000788: 24,2650 44753 CS ONE # PROCEED - N49FLAG = -1
021995,000789: 24,2651 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021996,000790: 24,2652 05155 TC ENDOFJOB
021997,000791: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021998,000792: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021999,000793: 24,2655 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022000,000794: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022001,000795: 24,2657 04616 TC BANKCALL # BAD DATA
022002,000796: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
022003,000797: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
022004,000798: 24,2662 02451 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
022005,000799:
022006,000800: 24,2663 00525 ALRM525 OCT 00525
022007,000801: 24,2664 01405 V06N05 VN 00605
022008,000802: 24,2665 01461 V06N49NB VN 00649
022009,000803: 24,2666 02734 1500DEC DEC 1500 B-14
022010,000804:
022011,000805: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022012,000806: # RETURNS TO CALLER +1 IF P22FLAG SET
022013,000807: # TO CALLER +2 IF P22FLAG NOT SET
022014,000808:
022015,000809: 24,2667 COUNT* $$/P22
022016,000810: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022017,000811: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET?
022018,000812: 24,2671 10000 CCS A # BRANCH - P22FLAG SET
022019,000813: 24,2672 24002 INCR Q # NOT SET
022020,000814: 24,2673 00002 TC Q # RETURN
022021,000815:
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|
Page 508 |
022023,000817: # RR DESIGNATE ROUTINE (R21LEM)
022024,000818: # PROGRAM DESCRIPTION
022025,000819:
022026,000820: # MOD NO - 2
022027,000821: # BY P VOLANTE
022028,000822:
022029,000823: # FUNCTIONAL DESCRIPTION
022030,000824:
022031,000825: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022032,000826: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022033,000827:
022034,000828: # CALLING SEQUENCE -
022035,000829:
022036,000830: # TC BANKCALL
022037,000831: # CADR R21LEM
022038,000832:
022039,000833: # SUBROUTINES CALLED -
022040,000834:
022041,000835: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022042,000836: # NOVAC INTPRET LPS20.1 PHASCHNG
022043,000837: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022044,000838: # TASKOVER BANKCALL RADSTALL RRDESSM
022045,000839:
022046,000840: # NORMAL EXIT MODES
022047,000841: #
022048,000842: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022049,000843: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
022050,000844:
022051,000845: # ALARM OR ABORT EXIT MODES -
022052,000846:
022053,000847: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022054,000848: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022055,000849: # ACQUISITION
022056,000850:
022057,000851: # OUTPUT
022058,000852:
022059,000853: # SEE LPS20.1, RRDESSM
022060,000854:
022061,000855: # ERASABLE INITIALIZATION REQUIRED
022062,000856:
022063,000857: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
022064,000858:
022065,000859: # FLAGS SET + RESET
022066,000860:
022067,000861: # LOSCMFLG LOKONSW
022068,000862:
022069,000863: # DEBRIS
022070,000864:
022071,000865: # SEE LPS20.1, RRDESSM
022072,000866:
022073,000867: 24,2674 E7,1456 EBANK= LOSCOUNT
022074,000868: 24,2674 COUNT* $$/R21
022075,000869: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
022076,000870: 24,2675 00006 EXTEND
022077,000871: 24,2676 03012 WAND CHAN12
022078,000872: 24,2677 02667 TC LUNSFCHK
022079,000873: 24,2700 02705 TC R21LEM5
022080,000874: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022081,000875: 24,2702 55107 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
022082,000876: 24,2703 55110 TS TANG +1
022083,000877: 24,2704 02715 TC R21LEM6
022084,000878: 24,2705 34740 R21LEM5 CAF BIT12
022085,000879: 24,2706 70110 MASK RADMODES
022086,000880: 24,2707 10000 CCS A
022087,000881: 24,2710 02725 TC R21LEM10
022088,000882: 24,2711 34735 CAF BIT15
022089,000883: 24,2712 55107 TS TANG
022090,000884: 24,2713 44736 CS HALF
022091,000885: 24,2714 55110 TS TANG +1
022092,000886:
|
|
Page 509 |
022094,000888: 24,2715 05516 R21LEM6 TC DOWNFLAG
022095,000889: 24,2716 00012 ADRES LOKONSW
022096,000890: 24,2717 04616 TC BANKCALL
022097,000891: 24,2720 52475 CADR RRDESNB
022098,000892: 24,2721 02722 TC +1
022099,000893: 24,2722 04616 TC BANKCALL
022100,000894: 24,2723 17714 CADR RADSTALL
022101,000895: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
022102,000896: 24,2725 05504 R21LEM10 TC UPFLAG
022103,000897: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022104,000898: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
022105,000899: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON
022106,000900: 24,2731 36245 R21LEM2 CAF THREE
022107,000901: 24,2732 55456 TS LOSCOUNT
022108,000902: 24,2733 06037 R21LEM1 TC INTPRET
022109,000903: 24,2734 43234 RTB DAD
022110,000904: 24,2735 21573 LOADTIME
022111,000905: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022112,000906: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022113,000907: 24,2740 51255 LPS20.1
022114,000908: 24,2741 77776 EXIT
022115,000909: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
022116,000910: 24,2743 00012 ADRES LOKONSW
022117,000911: 24,2744 05516 TC DOWNFLAG
022118,000912: 24,2745 00126 ADRES NORRMON
022119,000913: 24,2746 06037 TC INTPRET
022120,000914: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022121,000915: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE
022122,000916: 24,2751 77776 EXIT
022123,000917: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022124,000918: # ON LUNAR SURFACE
022125,000919: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022126,000920: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022127,000921: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022128,000922: 24,2756 02760 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
022129,000923: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022130,000924: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503
022131,000925: 24,2761 04616 TC BANKCALL
022132,000926: 24,2762 21562 CADR PRIOLARM
022133,000927: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022134,000928: 24,2764 02772 TC R21SRCH # PROC
022135,000929: 24,2765 02211 TC P20LEMC3
022136,000930: 24,2766 05155 TC ENDOFJOB
022137,000931: 24,2767 05516 R21END TC DOWNFLAG
022138,000932: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022139,000933: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022140,000934: 24,2772 05353 R21SRCH TC PHASCHNG
022141,000935: 24,2773 04022 OCT 04022
022142,000936: 24,2774 03206 TC R24LEM # SEARCH ROUTINE
022143,000937: 24,2775 00503 ALRM503 OCT 00503
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|
Page 510 |
022145,000939: 24,2776 00527 ALRM527 OCT 527
022146,000940:
022147,000941: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022148,000942: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022149,000943: 24,3001 05504 TC UPFLAG
022150,000944: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
022151,000945: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING
022152,000946: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG
022153,000947: 24,3005 06037 TC INTPRET
022154,000948: 24,3006 77634 R21LEM12 RTB
022155,000949: 24,3007 21573 LOADTIME
022156,000950: 24,3010 77615 DAD
022157,000951: 24,3011 11116 TENSEC # TIME T = T + 10 SECS.
022158,000952: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022159,000953: 24,3013 34041 STCALL TDEC1
022160,000954: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T
022161,000955: 24,3015 77624 CALL
022162,000956: 24,3016 52373 RRDESSM
022163,000957: 24,3017 77776 EXIT
022164,000958: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022165,000959: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022166,000960: 24,3022 06027 TC KILLTASK
022167,000961: 24,3023 52573 CADR BEGDES
022168,000962: 24,3024 06037 TC INTPRET
022169,000963: 24,3025 77614 BOF
022170,000964: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022171,000965: 24,3027 51043 R21LEMB # NO - GO TO CONTINUOUS DESIGNATE
022172,000966: 24,3030 77614 CLRGO
022173,000967: 24,3031 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
022174,000968: 24,3032 51037 R21LEM7 +1
022175,000969: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022176,000970: 24,3034 03036 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
022177,000971: 24,3035 03105 TC R21LEM11 # YES - PUT OUT ALARM 530
022178,000972: 24,3036 55423 R21LEM7 TS REPOSCNT
022179,000973: 24,3037 06037 TC INTPRET
022180,000974: 24,3040 52145 DLOAD GOTO
022181,000975: 24,3041 03425 REPOSTM
022182,000976: 24,3042 51010 R21LEM12 +2
022183,000977: 24,3043 77745 R21LEMB DLOAD
022184,000978: 24,3044 03425 REPOSTM
022185,000979: 24,3045 34041 STCALL TDEC1
022186,000980: 24,3046 50316 UPPSV
022187,000981: 24,3047 77776 EXIT
022188,000982: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022189,000983: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022190,000984: 24,3052 05516 TC DOWNFLAG
022191,000985: 24,3053 00012 ADRES LOKONSW
022192,000986: 24,3054 05504 TC UPFLAG
022193,000987: 24,3055 00126 ADRES NORRMON
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|
Page 511 |
022195,000989: 24,3056 04616 TC BANKCALL
022196,000990: 24,3057 52475 CADR RRDESNB
022197,000991: 24,3060 03061 TC +1
022198,000992: 24,3061 06037 TC INTPRET
022199,000993: 24,3062 44234 RTB BDSU
022200,000994: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME
022201,000995: 24,3064 03425 REPOSTM # FOR LONGCALL
022202,000996: 24,3065 03427 STORE DELTATM
022203,000997: 24,3066 77776 EXIT
022204,000998: 24,3067 00006 EXTEND
022205,000999: 24,3070 31427 DCA DELTATM
022206,001000: 24,3071 05277 TC LONGCALL
022207,001001: 24,3072 E7,1456 EBANK= LOSCOUNT
022208,001002: 24,3072 03075 50067 2CADR R21LEM9
022209,001003:
022210,001004: 24,3074 05155 TC ENDOFJOB
022211,001005: 24,3075 06027 R21LEM9 TC KILLTASK
022212,001006: 24,3076 52602 CADR STDESIG
022213,001007: 24,3077 06011 TC CLRADMOD
022214,001008: 24,3100 37714 CAF PRIO26
022215,001009: 24,3101 05105 TC FINDVAC
022216,001010: 24,3102 E7,1456 EBANK= LOSCOUNT
022217,001011: 24,3102 02725 50067 2CADR R21LEM10
022218,001012:
022219,001013: 24,3104 05261 TC TASKOVER
022220,001014: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
022221,001015: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022222,001016: 24,3107 21562 CADR PRIOLARM # 600 SECS.
022223,001017: 24,3110 06022 TC GOTOV56
022224,001018: 24,3111 06022 TC GOTOV56
022225,001019: 24,3112 06022 TC GOTOV56
022226,001020: 24,3113 05155 TC ENDOFJOB
022227,001021: 24,3114 00530 ALRM530 OCT 00530
022228,001022: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28
022229,001023:
022230,001024: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28
022231,001025:
022232,001026: 24,3121 05353 R21DISP TC PHASCHNG
022233,001027: 24,3122 04022 OCT 04022
022234,001028: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022235,001029: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022236,001030: 24,3125 20710 CADR GOPERF2R
022237,001031: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56
022238,001032: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022239,001033: 24,3130 03123 TC -5 # ENTER ILLEGAL
022240,001034: 24,3131 34745 CAF BIT7
022241,001035: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022242,001036: 24,3133 05155 TC ENDOFJOB
022243,001037:
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|
Page 512 |
022245,001039: 24,3134 01510 V06N72PV VN 00672
022246,001040:
|
|
Page 513 |
022248,001042: # MANUAL ACQUISITION ROUTINE R23LEM
022249,001043: # PROGRAM DESCRIPTION
022250,001044:
022251,001045: # MOD NO - 2
022252,001046: # BY P VOLANTE
022253,001047:
022254,001048: # FUNCTIONAL DESCRIPTION
022255,001049:
022256,001050: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022257,001051:
022258,001052: # CALLING SEQUENCE -
022259,001053:
022260,001054: # TC R23LEM
022261,001055:
022262,001056: # SUBROUTINES CALLED
022263,001057:
022264,001058: # BANKCALL R61LEM
022265,001059: # SETMINDB GOPERF1
022266,001060:
022267,001061: # NORMAL EXIT MODES -
022268,001062:
022269,001063: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022270,001064: # ,SELECTION OF PROC WILL CONTINUE R23
022271,001065: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022272,001066:
022273,001067: # ALARM OR ABORT EXIT MODES -
022274,001068:
022275,001069: # SEE NORMAL EXIT MODES ABOVE
022276,001070:
022277,001071: # OUTPUT
022278,001072:
022279,001073: # N.A.
022280,001074:
022281,001075: # ERASABLE INITIALIZATION REQUIRED -
022282,001076:
022283,001077: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022284,001078:
022285,001079: 24,3135 1143 EBANK= GENRET
022286,001080: 24,3135 COUNT* $$/R23
022287,001081: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022288,001082: 24,3136 00126 ADRES NORRMON
022289,001083: 24,3137 00004 INHINT
022290,001084: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022291,001085: 24,3141 40140 CADR SETMINDB
022292,001086: 24,3142 00003 RELINT
022293,001087: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022294,001088: 24,3144 00006 EXTEND
022295,001089: 24,3145 05012 WOR CHAN12
022296,001090: 24,3146 33205 CAF OCT205
022297,001091: 24,3147 04616 TC BANKCALL
022298,001092: 24,3150 20623 CADR GOPERF1
022299,001093: 24,3151 03176 TC R23LEM2 # TERMINATE
022300,001094: 24,3152 03154 TC R23LEM11 # PROCEDE
022301,001095: 24,3153 03201 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
022302,001096: 24,3154 00004 R23LEM11 INHINT
022303,001097: 24,3155 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022304,001098: 24,3156 00035 ADRES CDUT
022305,001099: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS
022306,001100: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO
022307,001101: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022308,001102: 24,3162 00003 RELINT
022309,001103: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022310,001104: 24,3164 00126 ADRES NORRMON
022311,001105: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022312,001106: 24,3166 00003 OUTOFLIM RELINT
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|
Page 514 |
022314,001108: 24,3167 33204 CAF OCT501PV
022315,001109: 24,3170 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022316,001110: 24,3171 21562 CADR PRIOLARM # LIMITS
022317,001111: 24,3172 03176 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022318,001112: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL
022319,001113: 24,3174 03201 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
022320,001114: 24,3175 05155 TC ENDOFJOB
022321,001115: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022322,001116: 24,3177 00126 ADRES NORRMON
022323,001117: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56
022324,001118: 24,3201 04616 R23LEM3 TC BANKCALL
022325,001119: 24,3202 46116 CADR R61LEM
022326,001120: 24,3203 03143 TC R23LEM1
022327,001121:
022328,001122: 24,3204 00501 OCT501PV OCT 501
022329,001123: 24,3205 00205 OCT205 OCT 205
022330,001124:
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Page 515 |
022332,001126: # SEARCH ROUTINE R24LEM
022333,001127: # PROGRAM DESCRIPTION
022334,001128:
022335,001129: # MOD NO - 2
022336,001130: # BY P. VOLANTE
022337,001131:
022338,001132: # FUNCTIONAL DESCRIPTION
022339,001133:
022340,001134: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022341,001135: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022342,001136: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022343,001137:
022344,001138: # CALLING SEQUENCE
022345,001139:
022346,001140: # CAF PRIONN
022347,001141: # TC FINDVAC
022348,001142: # EBANK= DATAGOOD
022349,001143: # 2CADR R24LEM
022350,001144:
022351,001145: # SUBROUTINES CALLED
022352,001146:
022353,001147: # FLAGUP FLAGDOWN BANKCALL
022354,001148: # R61LEM GOFLASHR FINDVAC
022355,001149: # ENDOFJOB NOVAC LSR24.1
022356,001150:
022357,001151: # NORMAL EXIT MODES -
022358,001152:
022359,001153: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
022360,001154: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022361,001155: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022362,001156:
022363,001157: # ALARM OR ABORT EXIT MODES -
022364,001158:
022365,001159: # SEE NORMAL EXIT MODES ABOVE
022366,001160:
022367,001161: # OUTPUT -
022368,001162:
022369,001163: # SEE OUTPUT FROM LSR24.1 + R61LEM
022370,001164:
022371,001165: # ERASABLE INITIALIZATION REQUIRED
022372,001166:
022373,001167: # SEE INPUT FOR LSR24.1
022374,001168:
022375,001169: # FLAGS SET + RESET
022376,001170:
022377,001171: # SRCHOPT, ACMODFLG
022378,001172:
022379,001173: 24,3206 E7,1733 EBANK= DATAGOOD
022380,001174: 24,3206 COUNT* $$/R24
022381,001175: 24,3206 05504 R24LEM TC UPFLAG
022382,001176: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022383,001177: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022384,001178: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022385,001179: 24,3212 34755 R24LEM1 CAF ZERO
022386,001180: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022387,001181: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022388,001182: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022389,001183: 24,3216 05353 R24LEM2 TC PHASCHNG
022390,001184: 24,3217 04022 OCT 04022
022391,001185: 24,3220 33254 CAF V16N80
022392,001186: 24,3221 04616 TC BANKCALL
022393,001187: 24,3222 20504 CADR PRIODSPR
022394,001188: 24,3223 06022 TC GOTOV56
022395,001189: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1
022396,001190:
022397,001191: 24,3225 03234 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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Page 516 |
022399,001193: 24,3226 04616 TC BANKCALL
022400,001194: 24,3227 55442 CADR LRS24.1
022401,001195: 24,3230 06027 R24END TC KILLTASK
022402,001196: 24,3231 55643 CADR CALLDGCH
022403,001197: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022404,001198: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022405,001199:
022406,001200: 6011 BLOCK 3
022407,001201: 6000 SETLOC FFTAG6
022408,001202: 6000 BANK
022409,001203: 6011 COUNT* $$/R24
022410,001204:
022411,001205: 6011 46021 CLRADMOD CS BIT10+15
022412,001206: 6012 00004 INHINT
022413,001207: 6013 70110 MASK RADMODES
022414,001208: 6014 54110 TS RADMODES
022415,001209: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022416,001210: 6016 00006 EXTEND
022417,001211: 6017 03012 WAND CHAN12 # USER WILL RELINT
022418,001212:
022419,001213: 6020 00002 TC Q
022420,001214:
022421,001215: 6021 41000 BIT10+15 OCT 41000
022422,001216: 24,3234 BANK 24
022423,001217: 24,2000 SETLOC P20S
022424,001218: 24,2000 BANK
022425,001219: 24,3234 COUNT* $$/R24
022426,001220:
022427,001221: 24,3234 05353 R24LEM3 TC PHASCHNG
022428,001222: 24,3235 04022 OCT 04022
022429,001223: 24,3236 06027 TC KILLTASK
022430,001224: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022431,001225: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
022432,001226: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP
022433,001227: 24,3242 34774 CAF .5SEC
022434,001228: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022435,001229: 24,3244 01735 CADR DELAYJOB
022436,001230: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022437,001231: 24,3246 03251 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022438,001232: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022439,001233: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
022440,001234: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022441,001235: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022442,001236: # RRDESSM WILL RETURN TO CALLER
022443,001237: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022444,001238:
022445,001239: 24,3254 04120 V16N80 VN 01680
022446,001240:
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Page 517 |
022448,001242: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022449,001243: # PROGRAM DESCRIPTION
022450,001244:
022451,001245: # MOD NO: 3 DATE: 4-11-67
022452,001246: # MOD BY: P VOLANTE SDC
022453,001247:
022454,001248: # FUNCTIONAL DESCRIPTION -
022455,001249:
022456,001250: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022457,001251: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022458,001252: # ATTITUDE.
022459,001253:
022460,001254: # CALLING SEQUENCE -
022461,001255:
022462,001256: # TC BANKCALL
022463,001257: # CADR R61LEM
022464,001258:
022465,001259: # SUBROUTINES CALLED
022466,001260:
022467,001261: # LPS20.1 VECPOINT
022468,001262: # KALCMAN3
022469,001263:
022470,001264: # NORMAL EXIT MODES -
022471,001265:
022472,001266: # NORMAL RETURN IS TO CALLER + 1
022473,001267:
022474,001268: # ALARM OR ABORT EXIT MODES -
022475,001269:
022476,001270: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022477,001271: # RENDEZVOUS FLAG ARE NOT SET.
022478,001272:
022479,001273: # OUTPUT -
022480,001274:
022481,001275: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022482,001276:
022483,001277: # ERASABLE INITIALIZATION REQUIRED
022484,001278:
022485,001279: # GENRET USED TO SAVE Q FOR RETURN
022486,001280:
022487,001281: # FLAGS SET + RESET
022488,001282:
022489,001283: # 3AXISFLG
022490,001284:
022491,001285: # DEBRIS
022492,001286:
022493,001287: # SEE SUBROUTINES
022494,001288:
022495,001289: 23,2000 SETLOC R61
022496,001290: 23,2000 BANK
022497,001291: 23,2116 E7,1456 EBANK= LOSCOUNT
022498,001292: 23,2116 COUNT* $$/R61
022499,001293: 23,2116 04645 R61LEM TC MAKECADR
022500,001294: 23,2117 55143 TS GENRET
022501,001295: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022502,001296: 23,2121 00024 ADRES R61FLAG
022503,001297: 23,2122 02127 TC R61C+L01
022504,001298: 23,2123 04645 R65LEM TC MAKECADR
022505,001299: 23,2124 55143 TS GENRET
022506,001300: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022507,001301: 23,2126 00024 ADRES R61FLAG
022508,001302: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
022509,001303: 23,2130 70075 MASK STATE +1
022510,001304: 23,2131 00006 EXTEND
022511,001305: 23,2132 12271 BZF R65WAIT # NOT SET
022512,001306: 23,2133 06037 R61C+L03 TC INTPRET
022513,001307: 23,2134 77775 VLOAD
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Page 518 |
022515,001309: 23,2135 06514 HIUNITZ
022516,001310: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022517,001311: 23,2137 43234 R61LEM1 RTB DAD
022518,001312: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022519,001313: 23,2141 15712 3SECONDS # SIX SECOND PERIOD.
022520,001314: 23,2142 34041 STCALL TDEC1
022521,001315: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022522,001316: 23,2144 77775 VLOAD
022523,001317: 23,2145 01102 RRTARGET
022524,001318: 23,2146 03773 STORE POINTVSM
022525,001319: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022526,001320: 23,2150 46277 READCDUD
022527,001321: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022528,001322: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022529,001323: 23,2153 77776 EXIT
022530,001324: 23,2154 05353 TC PHASCHNG
022531,001325: 23,2155 04022 OCT 04022
022532,001326: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET
022533,001327: 23,2157 70075 MASK FLAGWRD1
022534,001328: 23,2160 00006 EXTEND
022535,001329: 23,2161 12271 BZF R65WAIT
022536,001330: 23,2162 04616 TC BANKCALL
022537,001331: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE
022538,001332: 23,2164 10000 CCS A
022539,001333: 23,2165 02257 TC R61C+L04 # NOT IN AUTO
022540,001334: 23,2166 06037 TC INTPRET
022541,001335: 23,2167 45175 VLOAD CALL
022542,001336: 23,2170 01102 RRTARGET
022543,001337: 23,2171 47646 CDU*SMNB
022544,001338: 23,2172 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022545,001339: 23,2173 00162 MPAC +5
022546,001340: 23,2174 06275 COS15DEG
022547,001341: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022548,001342: 23,2176 46213 R61C+L05 # PHI GRE 10DEG
022549,001343: 23,2177 E6,1635 EBANK= CDUXD
022550,001344: 23,2177 35015 CAF EBANK6
022551,001345: 23,2200 54003 TS EBANK
022552,001346: 23,2201 00004 INHINT
022553,001347: 23,2202 00006 EXTEND
022554,001348: 23,2203 30322 DCA CPHI
022555,001349: 23,2204 53636 DXCH CDUXD
022556,001350: 23,2205 30323 CA CPSI
022557,001351: 23,2206 55637 TS CDUZD
022558,001352: 23,2207 00003 RELINT
022559,001353: 23,2210 E7,1456 EBANK= LOSCOUNT
022560,001354: 23,2210 35016 CAF EBANK7
022561,001355: 23,2211 54003 TS EBANK
022562,001356: 23,2212 02236 TC R61C+L06
022563,001357: 23,2213 77776 R61C+L05 EXIT
022564,001358: 23,2214 00004 INHINT
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Page 519 |
022566,001360: 23,2215 04674 TC IBNKCALL
022567,001361: 23,2216 40153 FCADR ZATTEROR
022568,001362: 23,2217 04674 TC IBNKCALL
022569,001363: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022570,001364: 23,2221 05516 TC DOWNFLAG
022571,001365: 23,2222 00124 ADRES 3AXISFLG
022572,001366: 23,2223 05504 TC UPFLAG
022573,001367: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022574,001368: 23,2225 04616 TC BANKCALL
022575,001369: 23,2226 54123 CADR R60LEM
022576,001370: 23,2227 00004 INHINT
022577,001371: 23,2230 04674 TC IBNKCALL
022578,001372: 23,2231 40123 FCADR RESTORDB
022579,001373: 23,2232 05353 TC PHASCHNG
022580,001374: 23,2233 04022 OCT 04022
022581,001375: 23,2234 05516 TC DOWNFLAG
022582,001376: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022583,001377: 23,2236 30075 R61C+L06 CA FLAGWRD1
022584,001378: 23,2237 74742 MASK R61FLBIT
022585,001379: 23,2240 10000 CCS A
022586,001380: 23,2241 02262 TC R61C+L4
022587,001381: 23,2242 11745 CCS R65CNTR
022588,001382: 23,2243 02245 TC +2
022589,001383: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022590,001384: 23,2245 55745 TS R65CNTR
022591,001385: 23,2246 32276 CAF 06SEC
022592,001386: 23,2247 05173 TC TWIDDLE
022593,001387: 23,2250 02252 ADRES R61C+L2
022594,001388: 23,2251 05155 TC ENDOFJOB
022595,001389: 23,2252 37714 R61C+L2 CAF PRIO26
022596,001390: 23,2253 05105 TC FINDVAC
022597,001391: 23,2254 E7,1456 EBANK= LOSCOUNT
022598,001392: 23,2254 02127 46067 2CADR R61C+L01
022599,001393:
022600,001394: 23,2256 05261 TC TASKOVER
022601,001395: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022602,001396: 23,2260 54266 CADR BALLANGS
022603,001397: 23,2261 02236 TC R61C+L06
022604,001398: 23,2262 31143 R61C+L4 CAE GENRET
022605,001399: 23,2263 14640 TCF BANKJUMP # EXIT R61
022606,001400: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022607,001401: 23,2265 70074 MASK STATE
022608,001402: 23,2266 00006 EXTEND
022609,001403: 23,2267 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022610,001404: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE
022611,001405: 23,2271 04635 R65WAIT TC POSTJUMP
022612,001406: 23,2272 50232 CADR P20LEMWT
022613,001407:
022614,001408: 23,2273 00500 BIT7+9PV OCT 00500
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Page 520 |
022616,001410: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1
022617,001411:
022618,001412: 23,2276 01130 06SEC DEC 600 B-14
022619,001413: 23,2277 PHI EQUALS 20D
022620,001414: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022621,001415: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022622,001416: 23,2301 56003 XCH EBANK
022623,001417: 23,2302 54070 TS RUPTREG1
022624,001418: 23,2303 E6,1635 EBANK= CDUXD
022625,001419: 23,2303 31635 CA CDUXD
022626,001420: 23,2304 54154 TS MPAC
022627,001421: 23,2305 00006 EXTEND
022628,001422: 23,2306 31637 DCA CDUYD
022629,001423: 23,2307 52156 DXCH MPAC +1
022630,001424: 23,2310 30070 CA RUPTREG1
022631,001425: 23,2311 54003 TS EBANK
022632,001426: 23,2312 00003 RELINT
022633,001427: 23,2313 16477 TCF TMODE
022634,001428: 4512 BLOCK 02
022635,001429: 4000 SETLOC RADARFF
022636,001430: 4000 BANK
022637,001431:
022638,001432: 4512 E7,1456 EBANK= LOSCOUNT
022639,001433: 4512 COUNT* $$/RRSUB
022640,001434:
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Page 521 |
022642,001436: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022643,001437: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022644,001438:
022645,001439: 4512 00006 MAGSUB EXTEND
022646,001440: 4513 64515 BZMF +2
022647,001441: 4514 14516 TCF +2
022648,001442: 4515 40000 COM
022649,001443:
022650,001444: 4516 50002 INDEX Q
022651,001445: 4517 60000 AD 0
022652,001446: 4520 00006 EXTEND
022653,001447: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022654,001448: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2
022655,001449:
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Page 522 |
022657,001451: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022658,001452:
022659,001453: # FUNCTIONAL DESCRIPTION_
022660,001454:
022661,001455: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022662,001456: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022663,001457: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022664,001458: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022665,001459: # MODE 1 AND =1 FOR MODE 2.
022666,001460:
022667,001461: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022668,001462: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022669,001463: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022670,001464: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022671,001465:
022672,001466: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022673,001467: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022674,001468: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022675,001469: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022676,001470: # TO L +3.
022677,001471:
022678,001472: # CALLING SEQUENCE:
022679,001473:
022680,001474: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022681,001475: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022682,001476:
022683,001477: # ERASABLE INITIALIZATION REQUIRED:
022684,001478:
022685,001479: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022686,001480: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022687,001481: # CURRENT EBANK).
022688,001482:
022689,001483: # SUBROUTINES CALLED_ MAGSUB
022690,001484:
022691,001485: # JOBS OR TASKS INITIATED_ NONE
022692,001486:
022693,001487: # ALARMS_ NONE
022694,001488:
022695,001489: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022696,001490: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022697,001491:
022698,001492: 4523 00006 RRLIMCHK EXTEND
022699,001493: 4524 50002 INDEX Q
022700,001494: 4525 50000 INDEX 0
022701,001495: 4526 30001 DCA 0
022702,001496: 4527 24002 INCR Q
022703,001497: 4530 52062 DXCH ITEMP1
022704,001498: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022705,001499:
022706,001500: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022707,001501: 4533 70110 MASK RADMODES
022708,001502: 4534 10000 CCS A
022709,001503: 4535 14550 TCF MODE2CHK
022710,001504:
022711,001505: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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Page 523 |
022713,001507: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022714,001508: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022715,001509: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022716,001510:
022717,001511: 4542 34562 CAF 5.5DEGS
022718,001512: 4543 60062 AD ITEMP2 # S
022719,001513: 4544 04512 TC MAGSUB
022720,001514: 4545 64420 DEC -.35833 # 64.5 DEGS
022721,001515: 4546 00001 TC L
022722,001516: 4547 04560 TC RRLIMOK # IN LIMITS.
022723,001517:
022724,001518: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022725,001519: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022726,001520: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022727,001521: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022728,001522: 4554 00001 TC L
022729,001523:
022730,001524: 4555 30061 CA ITEMP1
022731,001525: 4556 04512 TC MAGSUB
022732,001526: 4557 51615 DEC -.69444 # 125 DEGS
022733,001527:
022734,001528: 4560 50001 RRLIMOK INDEX L
022735,001529: 4561 00001 TC L # ( = TC 1 )
022736,001530:
022737,001531: 4562 00765 5.5DEGS DEC .03056
022738,001532: 4563 16450 82DEGS DEC .45556
022739,001533:
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Page 524 |
022741,001535: # PROGRAM NAME_ SETTRKF . IF EITHER:
022742,001536:
022743,001537: # FUNCTIONAL DESCRIPTION_
022744,001538: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022745,001539: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022746,001540: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022747,001541: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022748,001542: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022749,001543: # AUTO MODE (RADMODES BITS 13, 7, 2).
022750,001544: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022751,001545: # 8,5)
022752,001546: # 3) NO RR DATA (RADMODES BIT 4)
022753,001547: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022754,001548: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022755,001549: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022756,001550: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022757,001551: # TRACKER FAIL LAMP IS TURNED ON IF_
022758,001552: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022759,001553: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022760,001554: # EITHER THE ALT OR VEL INFORMATION
022761,001555: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022762,001556: # WITH EITHER THE AL
022763,001557:
022764,001558: # CALLING SEQUENCE:
022765,001559:
022766,001560: # L TC SETTRKF
022767,001561:
022768,001562: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022769,001563:
022770,001564: # SUBROUTINES CALLED_ NONE
022771,001565:
022772,001566: # JOBS OR TASKS INITIATED_ NONE
022773,001567:
022774,001568: # ALARMS_ TRACKER FAIL LAMP
022775,001569:
022776,001570: # EXIT_ L +1 (ALWAYS) ED.
022777,001571:
022778,001572: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022779,001573: 4565 71303 MASK IMODES33
022780,001574: 4566 10000 CCS A
022781,001575: 4567 00002 TC Q
022782,001576:
022783,001577: 4570 34744 RRTRKF CA BIT8
022784,001578: 4571 54001 TS L
022785,001579:
022786,001580: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022787,001581: 4573 70110 MASK RADMODES
022788,001582: 4574 00006 EXTEND
022789,001583: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022790,001584:
022791,001585: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022792,001586: 4577 70110 MASK RADMODES
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|
Page 525 |
022794,001588: 4600 10000 CCS A
022795,001589: 4601 30001 TRKFLON CA L
022796,001590: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022797,001591: 4603 70001 MASK L
022798,001592: 4604 00006 EXTEND
022799,001593: 4605 16742 BZF TCQ # NO CHANGE.
022800,001594:
022801,001595: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022802,001596: 4607 00006 EXTEND
022803,001597: 4610 06001 RXOR LCHAN
022804,001598: 4611 74733 MASK POSMAX
022805,001599: 4612 64735 AD BIT15
022806,001600: 4613 55036 TS DSPTAB +11D
022807,001601: 4614 00002 TC Q
022808,001602:
022809,001603: 4615 10102 13,7,2 OCT 10102
022810,001604: 4616 ENDRMODF EQUALS
022811,001605:
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|
Page 526 |
022813,001607: # PROGRAM NAME_ RRTURNON
022814,001608:
022815,001609: # FUNCTIONAL DESCRIPTION_
022816,001610:
022817,001611: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022818,001612: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022819,001613: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022820,001614: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022821,001615: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022822,001616: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022823,001617: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022824,001618: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022825,001619: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022826,001620: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022827,001621: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022828,001622: # TO TASKOVER.
022829,001623:
022830,001624: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022831,001625: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022832,001626: # THE RR (STATE BIT 7).
022833,001627:
022834,001628: # ERASABLE INITIALIZATION REQUIRED:
022835,001629:
022836,001630: # RADMODES, STATE
022837,001631:
022838,001632: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022839,001633:
022840,001634: # JOBS OR TASKS INITIATED_
022841,001635: #
022842,001636: # NONE
022843,001637:
022844,001638: # ALARMS_ NONE (SEE RRZEROSB)
022845,001639:
022846,001640: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022847,001641:
022848,001642: 24,3255 BANK 24
022849,001643: 25,2000 SETLOC P20S1
022850,001644: 25,2000 BANK
022851,001645:
022852,001646: 25,2062 E7,1456 EBANK= LOSCOUNT
022853,001647: 25,2062 COUNT* $$/RSUB
022854,001648: 25,2062 02071 RRTURNON TC RRZEROSB
022855,001649: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022856,001650: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022857,001651: 25,2065 44753 CS TURNONBT
022858,001652: 25,2066 70110 MASK RADMODES
022859,001653: 25,2067 54110 TS RADMODES
022860,001654: 25,2070 15261 TCF TASKOVER
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|
Page 527 |
022862,001656: # PROGRAM NAME_ RRZEROSB
022863,001657:
022864,001658: # FUNCTIONAL DESCRIPTION_
022865,001659: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022866,001660: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022867,001661: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022868,001662: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022869,001663: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022870,001664: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022871,001665: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022872,001666: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022873,001667: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022874,001668: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022875,001669: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022876,001670: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022877,001671: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022878,001672: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022879,001673: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022880,001674:
022881,001675: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022882,001676:
022883,001677: # ERASABLE INITIALIZATION REQUIRED:
022884,001678:
022885,001679: # RADMODES (BIT 13 SET), DSPTAB +11D
022886,001680:
022887,001681: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022888,001682:
022889,001683: # JOBS OR TASKS INITIATED_
022890,001684:
022891,001685: # NONE
022892,001686:
022893,001687: # ALARMS_ TRACKER FAIL
022894,001688:
022895,001689: # EXIT_ L +1 (ALWAYS)
022896,001690:
022897,001691: 25,2071 00006 RRZEROSB EXTEND
022898,001692: 25,2072 23315 QXCH RRRET
022899,001693: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022900,001694: 25,2074 00006 EXTEND # COMING HERE.
022901,001695: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022902,001696: 25,2076 05221 TC FIXDELAY
022903,001697: 25,2077 00002 DEC 2 B-14
022904,001698:
022905,001699: 25,2100 34755 CAF ZERO
022906,001700: 25,2101 54035 TS CDUT
022907,001701: 25,2102 54036 TS CDUS
022908,001702: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
022909,001703: 25,2104 00006 EXTEND
022910,001704: 25,2105 03012 WAND CHAN12
022911,001705: 25,2106 05221 TC FIXDELAY
022912,001706: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022913,001707:
022914,001708: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 528 |
022916,001710: 25,2111 70110 MASK RADMODES
022917,001711: 25,2112 54110 TS RADMODES
022918,001712:
022919,001713: 25,2113 30035 CA CDUT
022920,001714: 25,2114 04512 TC MAGSUB
022921,001715: 25,2115 57777 DEC -.5
022922,001716: 25,2116 12121 TCF +3 # IF MODE 2.
022923,001717:
022924,001718: 25,2117 34755 CAF ZERO
022925,001719: 25,2120 12122 TCF +2
022926,001720: 25,2121 34740 CAF ANTENBIT
022927,001721: 25,2122 56110 XCH RADMODES
022928,001722: 25,2123 77741 MASK -BIT12
022929,001723: 25,2124 26110 ADS RADMODES
022930,001724:
022931,001725: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022932,001726:
022933,001727: 25,2126 01315 TC RRRET # DONE.
022934,001728:
022935,001729: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT
022936,001730:
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|
Page 529 |
022938,001732: # PROGRAM NAME_ DORREPOS
022939,001733:
022940,001734: # FUNCTIONAL DESCRIPTION_
022941,001735:
022942,001736: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022943,001737: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022944,001738: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022945,001739: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022946,001740: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022947,001741: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022948,001742: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022949,001743: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022950,001744: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022951,001745: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022952,001746: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022953,001747: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022954,001748: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022955,001749: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022956,001750: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022957,001751: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022958,001752: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022959,001753: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022960,001754: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022961,001755: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022962,001756: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022963,001757: # TASKOVER.
022964,001758:
022965,001759: # CALLING SEQUENCE:
022966,001760:
022967,001761: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022968,001762: # NOT WITHIN LIMITS OF CURRENT MODE.
022969,001763:
022970,001764: # ERASABLE INITIALIZATION REQUIRED:
022971,001765:
022972,001766: # RADMODES
022973,001767:
022974,001768: # SUBROUTINES CALLED_
022975,001769:
022976,001770: # RRTONLY, RRSONLY, BEGDES (EXIT)
022977,001771:
022978,001772: # JOBS OR TASKS INITIATED_
022979,001773:
022980,001774: # NONE
022981,001775:
022982,001776: # ALARMS- NONE
022983,001777:
022984,001778: # EXIT_ TASKOVER, BEGDES
022985,001779:
022986,001780: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022987,001781:
022988,001782: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022989,001783:
022990,001784: 25,2130 05221 TC FIXDELAY
022991,001785: 25,2131 00002 DEC 2 B-14
022992,001786:
022993,001787: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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|
Page 530 |
022995,001789: 25,2133 70110 MASK RADMODES
022996,001790: 25,2134 10000 CCS A
022997,001791: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022998,001792: 25,2136 02241 TC RRTONLY
022999,001793:
023000,001794: 25,2137 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
023001,001795: 25,2140 70110 MASK RADMODES
023002,001796: 25,2141 10000 CCS A
023003,001797: 25,2142 44736 CS HALF # -90 FOR MODE 2.
023004,001798: 25,2143 02244 TC RRSONLY
023005,001799:
023006,001800: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023007,001801: # REQUESTED DURING REPOSITION.
023008,001802: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023009,001803: 25,2146 54110 TS RADMODES
023010,001804: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023011,001805: 25,2150 10000 CCS A
023012,001806: 25,2151 12573 TCF BEGDES
023013,001807: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023014,001808: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023015,001809: 25,2154 03012 WAND CHAN12
023016,001810: 25,2155 15261 TCF TASKOVER
023017,001811:
023018,001812: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023019,001813: 25,2157 00006 EXTEND
023020,001814: 25,2160 02012 RAND CHAN12
023021,001815: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023022,001816: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023023,001817:
023024,001818: 25,2163 54112 TS LASTYCMD
023025,001819: 25,2164 54113 TS LASTXCMD
023026,001820: 25,2165 34752 CAF BIT2
023027,001821: 25,2166 00006 EXTEND
023028,001822: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023029,001823: 25,2170 00002 TC Q
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|
Page 531 |
023031,001825: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023032,001826:
023033,001827: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023034,001828: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023035,001829: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023036,001830: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023037,001831: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023038,001832: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023039,001833: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023040,001834: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023041,001835: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023042,001836: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023043,001837: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023044,001838: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023045,001839: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023046,001840: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023047,001841: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023048,001842: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023049,001843: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023050,001844: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023051,001845: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023052,001846: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023053,001847:
023054,001848: # CALLING SEQUENCE:
023055,001849:
023056,001850: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023057,001851: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023058,001852: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023059,001853: # OTHER MODE.
023060,001854:
023061,001855: # ERASABLE INITIALIZATION REQUIRED:
023062,001856:
023063,001857: # RADMODES
023064,001858:
023065,001859: # SUBROUTINES CALLED_
023066,001860:
023067,001861: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023068,001862:
023069,001863: # JOBS OR TASKS INITIATED_
023070,001864:
023071,001865: # NONE
023072,001866:
023073,001867: # ALARMS_ NONE
023074,001868:
023075,001869: # EXIT_ STDESIG
023076,001870:
023077,001871: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
023078,001872: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023079,001873: 25,2173 10000 CCS A
023080,001874: 25,2174 34735 CAF BIT15
023081,001875: 25,2175 02241 TC RRTONLY
023082,001876:
023083,001877: 25,2176 37740 CAF -45DEGSR
023084,001878: 25,2177 02244 TC RRSONLY
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Page 532 |
023086,001880: 25,2200 40110 CS RADMODES
023087,001881: 25,2201 74740 MASK ANTENBIT
023088,001882: 25,2202 10000 CCS A
023089,001883: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
023090,001884: 25,2204 62231 AD -50DEGSR
023091,001885: 25,2205 02241 TC RRTONLY
023092,001886:
023093,001887: 25,2206 40110 CS RADMODES
023094,001888: 25,2207 74740 MASK ANTENBIT
023095,001889: 25,2210 10000 CCS A
023096,001890: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
023097,001891: 25,2212 02241 TC RRTONLY
023098,001892:
023099,001893: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
023100,001894: 25,2214 74740 MASK ANTENBIT
023101,001895: 25,2215 10000 CCS A
023102,001896: 25,2216 44736 CS HALF
023103,001897: 25,2217 02244 TC RRSONLY
023104,001898:
023105,001899: 25,2220 02233 TC RMODINV
023106,001900:
023107,001901: 25,2221 44736 CS REMODBIT # END OF REMODE.
023108,001902: 25,2222 70110 MASK RADMODES
023109,001903: 25,2223 54110 TS RADMODES
023110,001904:
023111,001905: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
023112,001906: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023113,001907: 25,2226 00006 EXTEND
023114,001908: 25,2227 13555 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
023115,001909: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
023116,001910: 25,2231 7740 -45DEGSR = 13,14,15
023117,001911: 25,2231 67070 -50DEGSR DEC -.27778
023118,001912: 25,2232 61615 -80DEGSR DEC -.44444
023119,001913:
023120,001914: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023121,001915: 25,2234 34740 CAF ANTENBIT
023122,001916: 25,2235 00006 EXTEND
023123,001917: 25,2236 06001 RXOR LCHAN
023124,001918: 25,2237 54110 TS RADMODES
023125,001919: 25,2240 00002 TC Q
023126,001920:
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Page 533 |
023128,001922: # PROGRAM NAMES_ RRTONLY, RRSONLY
023129,001923:
023130,001924: # FUNCTIONAL DESCRIPTION_
023131,001925:
023132,001926: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023133,001927: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023134,001928: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023135,001929: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023136,001930: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023137,001931: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023138,001932: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023139,001933: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023140,001934: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023141,001935: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023142,001936: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023143,001937: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023144,001938: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023145,001939: # REPEATED.
023146,001940:
023147,001941: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023148,001942: # L TC RRTONLY (TRUNNION ONLY)
023149,001943: # RRSONLY (SHAFT ONLY)
023150,001944: # RRTONLY IS CALLED BY PREPOS29;
023151,001945: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023152,001946:
023153,001947: # ERASABLE INITIALIZATION REQUIRED:
023154,001948:
023155,001949: # C(A) = DESIRED ANGLE, RADMODES
023156,001950:
023157,001951: # SUBROUTINES CALLED_
023158,001952:
023159,001953: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023160,001954:
023161,001955: # JOBS OR TASKS INITIATED_
023162,001956:
023163,001957: # NONE
023164,001958:
023165,001959: # ALARMS_ NONE
023166,001960:
023167,001961: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023168,001962: # BITS 14, 11)
023169,001963: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023170,001964:
023171,001965: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023172,001966: 25,2242 34755 CAF ZERO
023173,001967: 25,2243 12246 TCF RR1AXIS
023174,001968:
023175,001969: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023176,001970: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023177,001971:
023178,001972: 25,2246 55317 RR1AXIS TS RRINDEX
023179,001973: 25,2247 00006 EXTEND
023180,001974: 25,2250 23315 QXCH RRRET
023181,001975: 25,2251 12254 TCF RR1AX2
023182,001976:
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|
Page 534 |
023184,001978: 25,2252 05221 NXTRR1AX TC FIXDELAY
023185,001979: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023186,001980:
023187,001981: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023188,001982: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023189,001983: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023190,001984: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
023191,001985:
023192,001986: 25,2260 31316 CA RDES
023193,001987: 25,2261 00006 EXTEND
023194,001988: 25,2262 51317 INDEX RRINDEX
023195,001989: 25,2263 20035 MSU CDUT
023196,001990: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023197,001991: 25,2265 00006 EXTEND
023198,001992: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023199,001993: 25,2267 54001 TS L
023200,001994: 25,2270 30110 CA RADMODES
023201,001995: 25,2271 74752 MASK AUTOMBIT
023202,001996: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023203,001997: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023204,001998: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
023205,001999:
023206,002000: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023207,002001: 25,2276 01315 TC RRRET # RETURN TO CALLER.
023208,002002:
023209,002003: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023210,002004: 25,2300 12302 TCF +2 # SETTING A TO 0.
023211,002005: 25,2301 56001 XCH L
023212,002006: 25,2302 53110 DXCH TANG
023213,002007:
023214,002008: 25,2303 02306 TC RROUT
023215,002009:
023216,002010: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023217,002011:
023218,002012: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023219,002013:
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|
Page 535 |
023221,002015: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023222,002016:
023223,002017: # FUNCTIONAL DESCRIPTION_
023224,002018:
023225,002019: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023226,002020: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023227,002021: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023228,002022: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023229,002023: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023230,002024: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023231,002025: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023232,002026: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023233,002027: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023234,002028: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023235,002029: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023236,002030: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023237,002031: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023238,002032:
023239,002033: # CALLING SEQUENCE:
023240,002034: #
023241,002035: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023242,002036: # RRTONLY, RRSONLY, AND DODES
023243,002037:
023244,002038: # ERASABLE INITIALIZATION REQUIRED:
023245,002039:
023246,002040: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023247,002041: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023248,002042:
023249,002043: # SUBROUTINES CALLED_
023250,002044:
023251,002045: # MAGSUB
023252,002046:
023253,002047: # JOBS OR TASKS INITIATED_
023254,002048:
023255,002049: # NONE
023256,002050:
023257,002051: # ALARMS_ NONE
023258,002052:
023259,002053: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023260,002054:
023261,002055: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
023262,002056: 25,2307 34753 CAF ONE # LOOP TWICE.
023263,002057: 25,2310 54062 RROUT2 TS ITEMP2
023264,002058: 25,2311 50000 INDEX A
023265,002059: 25,2312 31107 CA TANG
023266,002060: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023267,002061:
023268,002062: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023269,002063: 25,2315 77177 -RRLIMIT DEC -384 B-14
023270,002064: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023271,002065:
023272,002066: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023273,002067: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023274,002068: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023275,002069: 25,2322 40000 COM
|
|
Page 536 |
023277,002071: 25,2323 60061 AD ITEMP1
023278,002072: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023279,002073: 25,2325 50062 INDEX ITEMP2
023280,002074: 25,2326 54053 TS CDUTCMD
023281,002075:
023282,002076: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023283,002077: 25,2330 12310 TCF RROUT2
023284,002078:
023285,002079: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
023286,002080: 25,2332 00006 EXTEND
023287,002081: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023288,002082: 25,2334 00001 TC L # RETURN.
023289,002083:
023290,002084: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023291,002085: 25,2336 42315 CS -RRLIMIT
023292,002086: 25,2337 12341 TCF +2
023293,002087: 25,2340 32315 CA -RRLIMIT
023294,002088: 25,2341 54061 TS ITEMP1
023295,002089: 25,2342 12320 TCF SETRRCTR +1
023296,002090:
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|
Page 537 |
023298,002092: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023299,002093:
023300,002094: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023301,002095: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023302,002096: 25,2345 10000 CCS A
023303,002097: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023304,002098:
023305,002099: 25,2347 00004 INHINT
023306,002100: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023307,002101: 25,2351 70110 MASK RADMODES
023308,002102: 25,2352 64737 AD RCDU0BIT
023309,002103: 25,2353 54110 TS RADMODES
023310,002104:
023311,002105: 25,2354 34753 CAF ONE
023312,002106: 25,2355 05203 TC WAITLIST
023313,002107: 25,2356 E7,1456 EBANK= LOSCOUNT
023314,002108: 25,2356 02370 52067 2CADR RRZ2
023315,002109:
023316,002110: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
023317,002111: 25,2361 74752 MASK AUTOMBIT
023318,002112: 25,2362 10000 CCS A
023319,002113: 25,2363 12366 TCF ROADBACK
023320,002114: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023321,002115: 25,2365 00510 OCT 510
023322,002116: 25,2366 00003 ROADBACK RELINT
023323,002117: 25,2367 14631 TCF SWRETURN
023324,002118:
023325,002119: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023326,002120: 25,2371 13546 TCF ENDRADAR
023327,002121:
023328,002122: 25,2372 02001 BIT11+1 OCT 02001
023329,002123:
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|
Page 538 |
023331,002125: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023332,002126:
023333,002127: # FUNCTIONAL DESCRIPTION_
023334,002128:
023335,002129: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023336,002130: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023337,002131: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023338,002132: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023339,002133: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023340,002134: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023341,002135: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023342,002136: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023343,002137: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023344,002138: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023345,002139: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023346,002140: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023347,002141: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023348,002142: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023349,002143: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023350,002144: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023351,002145: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023352,002146: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023353,002147: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023354,002148: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023355,002149: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023356,002150: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023357,002151:
023358,002152: # CALLING SEQUENCE:
023359,002153:
023360,002154: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023361,002155: # L+1 RRDESSM
023362,002156: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023363,002157: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023364,002158:
023365,002159: # ERASABLE INITIALIZATION REQUIRED:
023366,002160:
023367,002161: # RRTARGET, RADMODES
023368,002162:
023369,002163: # SUBROUTINES CALLED_
023370,002164:
023371,002165: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023372,002166: # PART OF), RMODINV
023373,002167:
023374,002168: # JOBS OR TASKS INITIATED_
023375,002169:
023376,002170: # NONE
023377,002171:
023378,002172: # ALARMS_ NONE
023379,002173:
023380,002174: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023381,002175: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
023382,002176: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023383,002177:
023384,002178: 25,2373 43020 RRDESSM STQ CLEAR
023385,002179: 25,2374 01113 DESRET
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|
Page 539 |
023387,002181: 25,2375 00271 RRNBSW
023388,002182: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023389,002183: 25,2377 47537 CDUTRIG
023390,002184: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023391,002185: 25,2401 01102 RRTARGET
023392,002186: 25,2402 47671 *SMNB*
023393,002187:
023394,002188: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023395,002189: 25,2404 26133 RRANGLES # ALTERNATE MODE.
023396,002190: 25,2405 77776 EXIT
023397,002191:
023398,002192: 25,2406 00004 INHINT
023399,002193: 25,2407 04523 TC RRLIMCHK
023400,002194: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023401,002195: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
023402,002196: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023403,002197: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
023404,002198: 25,2414 40104 CS FLAGWRD8
023405,002199: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023406,002200: 25,2416 00006 EXTEND
023407,002201: 25,2417 12456 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023408,002202: 25,2420 02461 TC TRYSWS
023409,002203:
023410,002204: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023411,002205: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023412,002206: 25,2423 00006 EXTEND
023413,002207: 25,2424 12456 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023414,002208: 25,2425 30074 CA STATE
023415,002209: 25,2426 74745 MASK RNDVZBIT
023416,002210: 25,2427 10000 CCS A # TEST RNDVZFLG.
023417,002211: 25,2430 02471 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023418,002212: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023419,002213:
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|
Page 540 |
023421,002215: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023422,002216:
023423,002217: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023424,002218: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023425,002219: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023426,002220: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023427,002221: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023428,002222: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023429,002223: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023430,002224: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023431,002225: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023432,002226: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023433,002227: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023434,002228: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023435,002229: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023436,002230: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023437,002231: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023438,002232: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023439,002233: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023440,002234: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023441,002235: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023442,002236: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023443,002237: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023444,002238:
023445,002239: # CALLING SEQUENCE:
023446,002240:
023447,002241: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023448,002242:
023449,002243: # ERASABLE INITIALIZATION REQUIRED:
023450,002244:
023451,002245: # RADMODES, (SEE DODES)
023452,002246:
023453,002247: # SUBROUTINES CALLED_
023454,002248:
023455,002249: # SETRRECR, WAITLIST
023456,002250:
023457,002251: # JOBS OR TASKS INITIATED_
023458,002252:
023459,002253: # BEGDES
023460,002254:
023461,002255: # ALARMS_ NONE
023462,002256:
023463,002257: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023464,002258: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023465,002259:
023466,002260: 25,2432 25113 STARTDES INCR DESRET
023467,002261: 25,2433 40110 CS RADMODES
023468,002262: 25,2434 74742 MASK DESIGBIT
023469,002263: 25,2435 26110 ADS RADMODES
023470,002264: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023471,002265: 25,2437 10000 CCS A
023472,002266: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
023473,002267:
023474,002268: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 541 |
023476,002270: 25,2442 34752 CAF TWO
023477,002271: 25,2443 05203 TC WAITLIST
023478,002272: 25,2444 E7,1456 EBANK= LOSCOUNT
023479,002273: 25,2444 02573 52067 2CADR BEGDES
023480,002274:
023481,002275: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023482,002276: 25,2447 00006 EXTEND
023483,002277: 25,2450 12452 BZF DESRTRN # YES SET EXIT
023484,002278: 25,2451 05155 TC ENDOFJOB # NO
023485,002279: 25,2452 00003 DESRTRN RELINT
023486,002280: 25,2453 25113 INCR DESRET
023487,002281: 25,2454 31113 CA DESRET
023488,002282: 25,2455 14640 TCF BANKJUMP
023489,002283:
023490,002284: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023491,002285: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023492,002286: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023493,002287:
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|
Page 542 |
023495,002289: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023496,002290:
023497,002291: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023498,002292: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023499,002293: 25,2463 01111 ADRES MODEB
023500,002294: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023501,002295:
023502,002296: 25,2465 02233 TC RMODINV # RESET BIT12
023503,002297: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023504,002298: 25,2467 26110 ADS RADMODES
023505,002299:
023506,002300: 25,2470 12412 TCF OKDESSM
023507,002301:
023508,002302: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023509,002303: 25,2472 25113 INCR DESRET # TO CALLER +2
023510,002304: 25,2473 12456 TCF NORDSTAL
023511,002305:
023512,002306: 25,2474 00074 MAXTRYS DEC 60 B-14
023513,002307:
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|
Page 543 |
023515,002309: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023516,002310: # TANG AND TANG +1.
023517,002311:
023518,002312: 25,2475 04645 RRDESNB TC MAKECADR
023519,002313: 25,2476 55113 TS DESRET
023520,002314:
023521,002315: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023522,002316: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
023523,002317: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
023524,002318: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
023525,002319: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
023526,002320: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023527,002321: 25,2505 01107 ADRES TANG
023528,002322: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
023529,002323:
023530,002324: 25,2507 00003 OKDESNB RELINT
023531,002325: 25,2510 00006 EXTEND
023532,002326: 25,2511 31110 DCA TANG
023533,002327: 25,2512 53753 DXCH TANGNB
023534,002328: 25,2513 06037 TC INTPRET
023535,002329:
023536,002330: 25,2514 77624 CALL # GET LOS IN NB COORDS.
023537,002331: 25,2515 46041 RRNB
023538,002332: 25,2516 01102 STORE RRTARGET
023539,002333:
023540,002334: 25,2517 77414 SET EXIT
023541,002335: 25,2520 00071 RRNBSW
023542,002336:
023543,002337: 25,2521 00004 INHINT
023544,002338: 25,2522 12433 TCF STARTDES +1
023545,002339: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023546,002340: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023547,002341: 25,2525 01107 ADRES TANG
023548,002342: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
023549,002343:
023550,002344: 25,2527 02233 TC RMODINV
023551,002345: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE.
023552,002346: 25,2531 26110 ADS RADMODES
023553,002347: 25,2532 12507 TCF OKDESNB
023554,002348:
023555,002349: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
023556,002350: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
023557,002351: 25,2535 00502 OCT 502
023558,002352: 25,2536 06011 TC CLRADMOD
023559,002353: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
023560,002354:
023561,002355: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023562,002356: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023563,002357: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023564,002358: 25,2543 00006 EXTEND
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|
Page 544 |
023566,002360: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023567,002361: 25,2545 30001 DCA 0
023568,002362: 25,2546 52062 DXCH ITEMP1
023569,002363: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
023570,002364:
023571,002365: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023572,002366: 25,2551 70110 MASK RADMODES
023573,002367: 25,2552 10000 CCS A
023574,002368: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023575,002369: 25,2554 30061 CA ITEMP1
023576,002370: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023577,002371: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023578,002372: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023579,002373:
023580,002374: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023581,002375: 25,2561 00006 EXTEND
023582,002376: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023583,002377: 25,2563 64562 AD 5.5DEGS
023584,002378: 25,2564 04512 SHAFTLIM TC MAGSUB
023585,002379: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
023586,002380: 25,2566 00001 TC L # NOT IN LIMITS
023587,002381: 25,2567 04560 TC RRLIMOK # IN LIMITS
023588,002382: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023589,002383: 25,2571 12564 TCF SHAFTLIM
023590,002384:
023591,002385: 25,2572 03512 20.5DEGS DEC .11389
023592,002386:
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|
Page 545 |
023594,002388: # PROGRAM NAME_ BEGDES
023595,002389:
023596,002390: # FUNCTIONAL DESCRIPTION_
023597,002391:
023598,002392: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023599,002393: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023600,002394: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023601,002395: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023602,002396: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023603,002397: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023604,002398: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023605,002399: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023606,002400: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023607,002401: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023608,002402: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023609,002403: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023610,002404: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023611,002405: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023612,002406: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023613,002407: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023614,002408: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023615,002409: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023616,002410: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023617,002411: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023618,002412: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023619,002413: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023620,002414: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023621,002415: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023622,002416: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023623,002417:
023624,002418: # CALLING SEQUENCE:
023625,002419:
023626,002420: # WAITLIST CALL FROM STARTDES
023627,002421: # TCF BEGDES FROM DORREPOS
023628,002422: # TC STDESIG RETURNING, FROM REMODE
023629,002423:
023630,002424: # ERASABLE INITIALIZATION REQUIRED:
023631,002425: # DESCOUNT, RADMODES
023632,002426:
023633,002427: # SUBROUTINES CALLED_
023634,002428: # ENDRADAR, FINDVAC
023635,002429:
023636,002430: # JOBS OR TASKS INITIATED_ DODES
023637,002431:
023638,002432: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023639,002433: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023640,002434:
023641,002435: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023642,002436: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023643,002437: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023644,002438:
023645,002439: 25,2573 40110 BEGDES CS RADMODES
|
|
Page 546 |
023647,002441: 25,2574 74736 MASK REMODBIT
023648,002442: 25,2575 10000 CCS A
023649,002443: 25,2576 02602 TC STDESIG
023650,002444: 25,2577 02171 TC REMODE
023651,002445: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023652,002446: 25,2601 00062 DEC 50 B-14
023653,002447:
023654,002448: 25,2602 34741 STDESIG CAF REPOSBIT
023655,002449: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023656,002450: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023657,002451: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023658,002452:
023659,002453: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023660,002454: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023661,002455: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023662,002456: 25,2611 12630 TCF MOREDES +1
023663,002457:
023664,002458: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023665,002459: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023666,002460: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023667,002461: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
023668,002462:
023669,002463: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023670,002464: 25,2617 12627 TCF MOREDES
023671,002465:
023672,002466: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023673,002467: 25,2621 00006 EXTEND
023674,002468: 25,2622 03012 WAND CHAN12
023675,002469: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG
023676,002470: 25,2624 70110 MASK RADMODES
023677,002471: 25,2625 54110 TS RADMODES
023678,002472: 25,2626 13562 TCF RDBADEND
023679,002473:
023680,002474: 25,2627 55114 MOREDES TS DESCOUNT
023681,002475: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023682,002476: 25,2631 05105 TC FINDVAC
023683,002477: 25,2632 E7,1456 EBANK= LOSCOUNT
023684,002478: 25,2632 02636 52067 2CADR DODES
023685,002479:
023686,002480: 25,2634 12600 TCF DESLOOP
023687,002481:
023688,002482: 25,2635 20002 B14+B2 OCT 20002
023689,002483:
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|
Page 547 |
023691,002485: # PROGRAM NAME_ DODES
023692,002486:
023693,002487: # FUNCTIONAL DESCRIPTION_
023694,002488:
023695,002489: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023696,002490: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023697,002491: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023698,002492: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023699,002493: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023700,002494: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023701,002495: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023702,002496: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023703,002497: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023704,002498: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023705,002499: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023706,002500: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023707,002501: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023708,002502: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023709,002503: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023710,002504: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023711,002505: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023712,002506: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023713,002507: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023714,002508: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023715,002509: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023716,002510: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023717,002511: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023718,002512: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023719,002513: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023720,002514: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023721,002515: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023722,002516: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023723,002517: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023724,002518: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023725,002519: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023726,002520: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023727,002521: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023728,002522: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023729,002523: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023730,002524: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023731,002525: # VIA ENDOFJOB.
023732,002526:
023733,002527: # CALLING SEQUENCE:
023734,002528:
023735,002529: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023736,002530:
023737,002531: # ERASABLE INITIALIZATION REQUIRED:
023738,002532:
023739,002533: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023740,002534: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023741,002535:
023742,002536: # SUBROUTINES CALLED_
023743,002537:
023744,002538: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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|
Page 548 |
023746,002540:
023747,002541: # JOBS OR TASKS INITIATED_
023748,002542:
023749,002543: # NONE
023750,002544:
023751,002545: # ALARMS_ NONE
023752,002546:
023753,002547: # EXIT_ ENDOFJOB (ALWAYS)
023754,002548:
023755,002549: 25,2636 00006 DODES EXTEND
023756,002550: 25,2637 30036 DCA CDUT
023757,002551: 25,2640 53110 DXCH TANG
023758,002552:
023759,002553: 25,2641 06037 TC INTPRET
023760,002554:
023761,002555: 25,2642 77201 SETPD VLOAD
023762,002556: 25,2643 00001 0
023763,002557: 25,2644 01102 RRTARGET
023764,002558: 25,2645 74214 BON VXSC
023765,002559: 25,2646 00311 RRNBSW
023766,002560: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
023767,002561: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023768,002562: 25,2651 63372 VSL1 PDVL
023769,002563: 25,2652 01761 LOSVEL
023770,002564: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023771,002565: 25,2654 13072 MCTOMS
023772,002566: 25,2655 45056 UNIT CALL
023773,002567: 25,2656 47537 CDUTRIG
023774,002568: 25,2657 77624 CALL
023775,002569: 25,2660 47671 *SMNB*
023776,002570:
023777,002571: 25,2661 14041 DONBRD STODL 32D
023778,002572: 25,2662 01111 TANG +1
023779,002573: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023780,002574: 25,2664 21576 CDULOGIC # (-SIN(S)).
023781,002575: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023782,002576: 25,2666 41546 COS PUSH
023783,002577: 25,2667 65205 DMP PDDL
023784,002578: 25,2670 00041 32D
023785,002579: 25,2671 00045 36D
023786,002580: 25,2672 44205 DMP BDSU
023787,002581: 25,2673 00001 0
023788,002582: 25,2674 77626 STADR
023789,002583: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
023790,002584:
023791,002585: 25,2676 47135 SLOAD RTB
023792,002586: 25,2677 01110 TANG
023793,002587: 25,2700 21576 CDULOGIC
023794,002588: 25,2701 71406 PUSH COS # COS(T) TO 4.
023795,002589: 25,2702 73525 PDDL SIN
023796,002590: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
023797,002591: 25,2704 00003 2
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|
Page 549 |
023799,002593: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023800,002594: 25,2706 00005 4 # ( COS(T) )
023801,002595: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
023802,002596: 25,2710 00007 6
023803,002597: 25,2711 00001 0
023804,002598: 25,2712 55552 SL1 VDEF
023805,002599: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023806,002600: 25,2714 00041 32D
023807,002601:
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|
Page 550 |
023809,002603: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023810,002604: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023811,002605:
023812,002606: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023813,002607: 25,2716 00006 EXTEND
023814,002608: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023815,002609: 25,2720 55107 TS TANG # TRUNNION COMMAND.
023816,002610: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023817,002611: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023818,002612: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023819,002613: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023820,002614: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023821,002615: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023822,002616: 25,2727 41110 +3 CS TANG +1
023823,002617: 25,2730 00006 EXTEND
023824,002618: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023825,002619: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
023826,002620: 25,2733 06037 TC INTPRET
023827,002621:
023828,002622: 25,2734 41345 DLOAD DMP
023829,002623: 25,2735 00003 2 # COS(S).
023830,002624: 25,2736 00005 4 # COS(T).
023831,002625: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
023832,002626: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023833,002627: 25,2741 00001 0 # SIN(S).
023834,002628: 25,2742 72405 DMP SL1
023835,002629: 25,2743 00005 4 # COS(T).
023836,002630: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
023837,002631: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023838,002632: 25,2746 52751 +3
023839,002633: 25,2747 77624 CALL
023840,002634: 25,2750 47673 *NBSM* # GET URR IN SM AXES.
023841,002635: 25,2751 77441 DOT EXIT
023842,002636: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023843,002637:
023844,002638: 25,2753 00006 EXTEND
023845,002639: 25,2754 43070 DCS COS1/2DG
023846,002640: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023847,002641: 25,2756 10154 CCS MPAC
023848,002642: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023849,002643: 25,2760 12762 TCF +2
023850,002644: 25,2761 34753 CA ONE
023851,002645: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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|
Page 551 |
023853,002647: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023854,002648:
023855,002649: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023856,002650: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023857,002651: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
023858,002652: 25,2766 13017 TCF DORROUT
023859,002653: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023860,002654: 25,2770 13000 TCF DGOODCHK
023861,002655: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023862,002656: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023863,002657: 25,2773 10000 CCS A
023864,002658: 25,2774 13005 TCF RRDESDUN
023865,002659:
023866,002660: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
023867,002661: 25,2776 00006 EXTEND
023868,002662: 25,2777 05012 WOR CHAN12
023869,002663:
023870,002664: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023871,002665: 25,3001 00006 EXTEND
023872,002666: 25,3002 02033 RAND CHAN33
023873,002667: 25,3003 10000 CCS A
023874,002668: 25,3004 13017 TCF DORROUT
023875,002669:
023876,002670: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023877,002671: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023878,002672: 25,3007 00004 INHINT
023879,002673: 25,3010 54110 TS RADMODES
023880,002674:
023881,002675: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023882,002676: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023883,002677: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023884,002678: 25,3014 00006 EXTEND
023885,002679: 25,3015 03012 WAND CHAN12
023886,002680: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023887,002681:
023888,002682: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023889,002683: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023890,002684: 25,3021 00006 EXTEND
023891,002685: 25,3022 13041 BZF NOTP20
023892,002686: 25,3023 06037 TC INTPRET
023893,002687: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023894,002688: 25,3025 01102 RRTARGET
023895,002689: 25,3026 01767 MLOSV
023896,002690: 25,3027 41572 VSL1 PUSH
023897,002691: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023898,002692: 25,3031 01761 LOSVEL # TO LOS VECTOR
023899,002693: 25,3032 13072 MCTOMS
023900,002694: 25,3033 53362 VSR1 VAD
023901,002695: 25,3034 77656 UNIT
023902,002696: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
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|
Page 552 |
023904,002698: 25,3036 00045 36D
023905,002699: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
023906,002700: 25,3040 77776 EXIT
023907,002701: 25,3041 00004 NOTP20 INHINT
023908,002702: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023909,002703: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023910,002704: 25,3044 10000 CCS A
023911,002705: 25,3045 02306 TC RROUT
023912,002706:
023913,002707: 25,3046 30076 CA FLAGWRD2
023914,002708: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023915,002709: 25,3050 00006 EXTEND # LOS COUNTER
023916,002710: 25,3051 15155 BZF ENDOFJOB
023917,002711: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023918,002712: 25,3053 03064 TC DODESEND # A NEW LOS
023919,002713: 25,3054 00004 INHINT
023920,002714: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023921,002715: 25,3056 52602 CADR DESLOOP +2
023922,002716: 25,3057 00003 RELINT
023923,002717: 25,3060 10067 CCS NEWJOB
023924,002718: 25,3061 05122 TC CHANG1
023925,002719: 25,3062 04616 TC BANKCALL
023926,002720: 25,3063 50731 CADR R21LEM2
023927,002721:
023928,002722: 25,3064 55456 DODESEND TS LOSCOUNT
023929,002723: 25,3065 05155 TC ENDOFJOB
023930,002724:
023931,002725: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023932,002726: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000
023933,002727: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023934,002728: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
023935,002729:
|
|
Page 553 |
023937,002731: # RADAR READ INITIALIZATION
023938,002732:
023939,002733: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023940,002734:
023941,002735: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023942,002736: 25,3074 00017 ALLREAD OCT 17
023943,002737:
023944,002738: 25,3075 03114 LRVELZ TC INITREAD
023945,002739: 25,3076 00016 OCT 16
023946,002740:
023947,002741: 25,3077 03114 LRVELY TC INITREAD
023948,002742: 25,3100 00015 OCT 15
023949,002743:
023950,002744: 25,3101 03114 LRVELX TC INITREAD
023951,002745: 25,3102 00014 OCT 14
023952,002746:
023953,002747: 25,3103 03113 RRRDOT TC INITREAD -1
023954,002748: 25,3104 00012 OCT 12
023955,002749:
023956,002750: 25,3105 03113 RRRANGE TC INITREAD -1
023957,002751: 25,3106 00011 OCT 11
023958,002752:
023959,002753: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023960,002754: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023961,002755:
023962,002756: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023963,002757: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023964,002758: 25,3111 51105 INDEX TIMEHOLD
023965,002759: 25,3112 13075 TCF LRVELZ
023966,002760:
|
|
Page 554 |
023968,002762: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023969,002763: 25,3114 00004 INITREAD INHINT
023970,002764:
023971,002765: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023972,002766: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023973,002767: 25,3117 74751 MP BIT3 # ENCOUNTERED).
023974,002768: 25,3120 53106 DXCH TIMEHOLD
023975,002769:
023976,002770: 25,3121 10000 CCS A
023977,002771: 25,3122 55111 TS NSAMP
023978,002772: 25,3123 64753 AD ONE
023979,002773: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023980,002774: # DOUBLE
023981,002775: 25,3124 55100 TS SAMPLIM
023982,002776:
023983,002777: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023984,002778: 25,3126 00006 EXTEND
023985,002779: 25,3127 02033 RAND CHAN33
023986,002780: 25,3130 55113 TS OLDATAGD
023987,002781:
023988,002782: 25,3131 43074 CS ALLREAD
023989,002783: 25,3132 00006 EXTEND
023990,002784: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023991,002785:
023992,002786: 25,3134 50002 INDEX Q
023993,002787: 25,3135 30000 CAF 0
023994,002788: 25,3136 00006 EXTEND
023995,002789: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
023996,002790:
023997,002791: 25,3140 00006 EXTEND
023998,002792: 25,3141 30025 DCA TIME2
023999,002793: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
024000,002794:
024001,002795: 25,3143 34755 CAF ZERO
024002,002796: 25,3144 54001 TS L
024003,002797: 25,3145 53102 DXCH SAMPLSUM
024004,002798: 25,3146 12366 TCF ROADBACK
024005,002799:
024006,002800: 25,3147 00230 DGBITS OCT 230
024007,002801:
|
|
Page 555 |
024009,002803: # RADAR RUPT READER
024010,002804:
024011,002805: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024012,002806:
024013,002807: 25,2000 SETLOC RADARUPT
024014,002808: 25,2000 BANK
024015,002809:
024016,002810: 25,3150 COUNT* $$/RRUPT
024017,002811: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
024018,002812: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
024019,002813: 25,3152 54016 TS BANKRUPT
024020,002814: 25,3153 00006 EXTEND
024021,002815: 25,3154 22012 QXCH QRUPT
024022,002816:
024023,002817: 25,3155 34757 CAF SEVEN
024024,002818: 25,3156 00006 EXTEND
024025,002819: 25,3157 02013 RAND CHAN13
024026,002820: 25,3160 55335 TS DNINDEX
024027,002821: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
024028,002822: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024029,002823: 25,3163 30046 CA RNRAD
024030,002824: 25,3164 51335 INDEX DNINDEX
024031,002825: 25,3165 55332 TS DNRRANGE -1
024032,002826: 25,3166 11100 TRYCOUNT CCS SAMPLIM
024033,002827: 25,3167 13211 TCF PLENTY
024034,002828: 25,3170 13174 TCF NOMORE
024035,002829: 25,3171 05567 TC ALARM
024036,002830: 25,3172 00520 OCT 520
024037,002831: 25,3173 05270 TC RESUME
024038,002832:
024039,002833: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
024040,002834: 25,3175 74735 MASK LRBYBIT
024041,002835: 25,3176 00006 EXTEND
024042,002836: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
024043,002837:
024044,002838: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
024045,002839: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
024046,002840: 25,3202 00006 EXTEND
024047,002841: 25,3203 13206 BZF BADRAD
024048,002842:
024049,002843: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
024050,002844: 25,3205 00521 OCT 521
024051,002845: 25,3206 44753 BADRAD CS ONE
024052,002846: 25,3207 55100 TS SAMPLIM
024053,002847: 25,3210 03560 TC RDBADEND -2
024054,002848: 25,3211 55100 PLENTY TS SAMPLIM
024055,002849: 25,3212 34751 CAF BIT3
024056,002850: 25,3213 00006 EXTEND
024057,002851: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
024058,002852: 25,3215 00006 EXTEND
|
|
Page 556 |
024060,002854: 25,3216 13276 BZF RENDRAD
024061,002855:
024062,002856: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
024063,002857: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
024064,002858: 25,3221 00006 EXTEND
024065,002859: 25,3222 06033 RXOR CHAN33
024066,002860: 25,3223 74746 MASK BIT6
024067,002861: 25,3224 00006 EXTEND
024068,002862: 25,3225 13231 BZF VELCHK
024069,002863:
024070,002864: 25,3226 05567 TC ALARM
024071,002865: 25,3227 00522 OCT 522
024072,002866: 25,3230 03206 TC BADRAD
024073,002867:
024074,002868: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT
024075,002869: 25,3232 00006 EXTEND
024076,002870: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
024077,002871: 25,3234 76245 MASK BIN3
024078,002872: 25,3235 00006 EXTEND
024079,002873: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
024080,002874:
024081,002875: 25,3237 34733 CAF POSMAX
024082,002876: 25,3240 70046 MASK RNRAD
024083,002877: 25,3241 62000 AD LVELBIAS
024084,002878: 25,3242 54001 TS L
024085,002879: 25,3243 30046 CAE RNRAD
024086,002880: 25,3244 60000 DOUBLE
024087,002881: 25,3245 74753 MASK BIT1
024088,002882: 25,3246 52064 DXCH ITEMP3
024089,002883:
024090,002884: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024091,002885: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
024092,002886: # INDEPENDENT OF DATA GOOD.
024093,002887:
024094,002888: 25,3251 11111 CCS NSAMP
024095,002889: 25,3252 03262 TC NOEND
024096,002890: 25,3253 44753 GOODRAD CS ONE
024097,002891: 25,3254 55100 TS SAMPLIM
024098,002892: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024099,002893: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
024100,002894: 25,3257 54110 TS RADMODES
024101,002895: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
024102,002896: 25,3261 03553 TC RGOODEND -2
024103,002897:
024104,002898: 25,3262 55111 NOEND TS NSAMP
024105,002899: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
024106,002900: 25,3264 13266 TCF +2
024107,002901: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
024108,002902: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
024109,002903: 25,3267 00006 EXTEND
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|
Page 557 |
024111,002905: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
024112,002906: 25,3271 05270 TC RESUME
024113,002907:
024114,002908:
024115,002909: 25,3272 34747 LRHEIGHT CAF BIT5
024116,002910: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024117,002911:
024118,002912: 25,3274 34743 CAF BIT9
024119,002913: 25,3275 03320 TC SCALECHK -1
024120,002914:
024121,002915: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
024122,002916: 25,3277 70110 MASK RADMODES # LIMITS.
024123,002917: 25,3300 10000 CCS A
024124,002918: 25,3301 13206 TCF BADRAD
024125,002919:
024126,002920: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
024127,002921: 25,3303 74745 MASK RCDUFBIT
024128,002922: 25,3304 10000 CCS A
024129,002923: 25,3305 13206 TCF BADRAD
024130,002924:
024131,002925: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024132,002926: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024133,002927:
024134,002928: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
024135,002929: 25,3311 00006 EXTEND
024136,002930: 25,3312 02013 RAND CHAN13
024137,002931: 25,3313 54002 TS Q # FOR LATER TESTING.
024138,002932: 25,3314 10000 CCS A
024139,002933: 25,3315 13317 TCF +2
024140,002934: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024141,002935: 25,3317 34751 CAF BIT3
024142,002936: 25,3320 54001 TS L
024143,002937:
024144,002938: 25,3321 00006 SCALECHK EXTEND
024145,002939: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
024146,002940: 25,3323 56001 XCH L
024147,002941: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
024148,002942: 25,3325 00006 EXTEND
024149,002943: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
024150,002944: 25,3327 10000 CCS A
024151,002945: 25,3330 03350 TC SCALCHNG # THEY DIFFER
024152,002946:
024153,002947: 25,3331 34733 RADIN CAF POSMAX
024154,002948: 25,3332 70046 MASK RNRAD
024155,002949: 25,3333 54064 TS ITEMP4
024156,002950:
024157,002951: 25,3334 30046 CAE RNRAD
024158,002952: 25,3335 60000 DOUBLE
024159,002953: 25,3336 74753 MASK BIT1
024160,002954: 25,3337 54063 TS ITEMP3
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|
Page 558 |
024162,002956: 25,3340 10002 CCS Q # SEE IF RR RDOT.
024163,002957: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024164,002958:
024165,002959: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024166,002960: 25,3343 42002 DCS RDOTBIAS
024167,002961: 25,3344 20064 DASAMPL DAS ITEMP3
024168,002962: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024169,002963: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024170,002964: 25,3347 03253 TC GOODRAD
024171,002965:
024172,002966: 25,3350 22110 SCALCHNG LXCH RADMODES
024173,002967: 25,3351 64753 AD BIT1
024174,002968: 25,3352 00006 EXTEND
024175,002969: 25,3353 06001 RXOR LCHAN
024176,002970: 25,3354 54110 TS RADMODES
024177,002971: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024178,002972: 25,3356 00006 EXTEND
024179,002973: 25,3357 02033 RAND CHAN33
024180,002974: 25,3360 55113 TS OLDATAGD
024181,002975: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
024182,002976: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
024183,002977: 25,3363 13206 TCF BADRAD
024184,002978:
024185,002979: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024186,002980:
024187,002981: 25,3364 40101 R77CHECK CS FLAGWRD5
024188,002982: 25,3365 74741 MASK R77FLBIT
024189,002983: 25,3366 10000 CCS A
024190,002984: 25,3367 00002 TC Q # NOT R77
024191,002985: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024192,002986: 25,3371 70110 MASK RADMODES
024193,002987: 25,3372 54001 TS L
024194,002988: 25,3373 33401 CA BITS5,8
024195,002989: 25,3374 00006 EXTEND
024196,002990: 25,3375 02033 RAND CHAN33
024197,002991: 25,3376 60001 AD L
024198,002992: 25,3377 54110 TS RADMODES
024199,002993: 25,3400 03553 TC RGOODEND -2
024200,002994: 25,3401 00220 BITS5,8 OCT 220
024201,002995:
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|
Page 559 |
024203,002997: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024204,002998:
024205,002999: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024206,003000: 25,3403 13405 TCF +2 # ON HIGH SCALE.
024207,003001: 25,3404 13345 TCF DGCHECK2
024208,003002:
024209,003003: 25,3405 31335 CA DNINDEX
024210,003004: 25,3406 74751 MASK BIT3
024211,003005: 25,3407 10000 CCS A
024212,003006: 25,3410 13417 TCF LRSCK
024213,003007:
024214,003008: 25,3411 52064 DXCH ITEMP3
024215,003009: 25,3412 20001 DDOUBL
024216,003010: 25,3413 20001 DDOUBL
024217,003011: 25,3414 20001 DDOUBL
024218,003012: 25,3415 52064 DXCH ITEMP3
024219,003013:
024220,003014: 25,3416 13345 TCF DGCHECK2
024221,003015:
024222,003016: 25,3417 10063 LRSCK CCS ITEMP3
024223,003017: 25,3420 13431 TCF +11
024224,003018: 25,3421 40064 CS ITEMP4
024225,003019: 25,3422 63441 AD HISCALIM
024226,003020: 25,3423 00006 EXTEND
024227,003021: 25,3424 63431 BZMF +5
024228,003022:
024229,003023: 25,3425 40107 CS FLGWRD11
024230,003024: 25,3426 74751 MASK SCABBIT
024231,003025: 25,3427 26107 ADS FLGWRD11
024232,003026: 25,3430 13434 TCF +4
024233,003027:
024234,003028: 25,3431 44751 CS SCABBIT
024235,003029: 25,3432 70107 MASK FLGWRD11
024236,003030: 25,3433 54107 TS FLGWRD11
024237,003031:
024238,003032: 25,3434 00006 EXTEND
024239,003033: 25,3435 30064 DCA ITEMP3
024240,003034: 25,3436 20001 DDOUBL
024241,003035: 25,3437 20001 DDOUBL
024242,003036: 25,3440 13344 TCF DASAMPL
024243,003037:
024244,003038: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
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|
Page 560 |
024246,003040: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024247,003041: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024248,003042: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024249,003043: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024250,003044: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024251,003045: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024252,003046: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024253,003047: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024254,003048: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024255,003049: 25,3453 60001 AD L
024256,003050: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
024257,003051: 25,3455 03263 TC RESAMPLE
024258,003052: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024259,003053: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
024260,003054: 25,3460 00002 TC Q
024261,003055:
024262,003056: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024263,003057: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024264,003058: 25,3463 60061 AD ITEMP1
024265,003059: 25,3464 54110 TS RADMODES
024266,003060:
024267,003061: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024268,003062: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
024269,003063: 25,3467 03616 TC RADLITES
024270,003064: 25,3470 13174 TCF NOMORE
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|
Page 561 |
024272,003066: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024273,003067:
024274,003068: 25,2000 SETLOC P20S1
024275,003069: 25,2000 BANK
024276,003070:
024277,003071: 25,3471 COUNT* $$/RSUB
024278,003072: 25,3471 00004 LRPOS2 INHINT
024279,003073:
024280,003074: 25,3472 40110 CS RADMODES
024281,003075: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024282,003076: 25,3474 26110 ADS RADMODES
024283,003077:
024284,003078: 25,3475 34745 CAF BIT7
024285,003079: 25,3476 00006 EXTEND
024286,003080: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024287,003081: 25,3500 00006 EXTEND
024288,003082: 25,3501 13530 BZF RADNOOP
024289,003083:
024290,003084: 25,3502 34737 CAF BIT13
024291,003085: 25,3503 00006 EXTEND
024292,003086: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
024293,003087: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024294,003088: 25,3506 05203 TC WAITLIST
024295,003089: 25,3507 E7,1456 EBANK= LOSCOUNT
024296,003090: 25,3507 03543 52067 2CADR LRPOSCAN
024297,003091:
024298,003092: 25,3511 02366 TC ROADBACK
024299,003093:
024300,003094: 25,3512 55100 LRPOSNXT TS SAMPLIM
024301,003095: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024302,003096: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024303,003097:
024304,003098: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024305,003099: 25,3516 00006 EXTEND
024306,003100: 25,3517 02033 RAND CHAN33
024307,003101: 25,3520 00006 EXTEND
024308,003102: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024309,003103:
024310,003104: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
024311,003105: 25,3523 13512 TCF LRPOSNXT
024312,003106:
024313,003107: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024314,003108: 25,3525 00006 EXTEND
024315,003109: 25,3526 03012 WAND CHAN12
024316,003110: 25,3527 13562 TCF RDBADEND
024317,003111:
024318,003112: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024319,003113: 25,3531 05203 TC WAITLIST
024320,003114: 25,3532 E7,1456 EBANK= LOSCOUNT
024321,003115: 25,3532 03555 52067 2CADR RGOODEND
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|
Page 562 |
024323,003117: 25,3534 02366 TC ROADBACK
024324,003118:
024325,003119: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024326,003120: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024327,003121:
024328,003122: 25,3537 44737 CS BIT13 # REMOVE COMMAND
024329,003123: 25,3540 00006 EXTEND
024330,003124: 25,3541 03012 WAND CHAN12
024331,003125: 25,3542 13555 TCF RGOODEND
024332,003126:
024333,003127: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024334,003128: 25,3544 13512 TCF LRPOSNXT
024335,003129: 25,3545 01130 6SECS DEC 600 B-14
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|
Page 563 |
024337,003131: # SEQUENCES TO TERMINATE RR OPERATIONS.
024338,003132:
024339,003133: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024340,003134: 25,3547 70110 MASK RADMODES
024341,003135: 25,3550 10000 CCS A
024342,003136: 25,3551 13555 TCF RGOODEND
024343,003137: 25,3552 13562 TCF RDBADEND
024344,003138: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024345,003139: 25,3554 54734 TS RUPTAGN
024346,003140:
024347,003141: 25,3555 34752 RGOODEND CAF TWO
024348,003142: 25,3556 04635 TC POSTJUMP
024349,003143: 25,3557 17665 CADR GOODEND
024350,003144:
024351,003145: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024352,003146: 25,3561 54734 TS RUPTAGN
024353,003147: 25,3562 34752 RDBADEND CAF TWO
024354,003148: 25,3563 04635 TC POSTJUMP
024355,003149: 25,3564 17662 CADR BADEND
024356,003150:
024357,003151: 25,3565 6245 BIN3 EQUALS THREE
024358,003152:
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|
Page 564 |
024360,003154: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024361,003155: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024362,003156:
024363,003157: # FUNCTIONAL DESCRIPTION_
024364,003158: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024365,003159: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024366,003160: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024367,003161:
024368,003162: # CALLING SEQUENCE CALL
024369,003163: # LPS20.1
024370,003164:
024371,003165: # SUBROUTINES CALLED_
024372,003166: # LEMPREC, CSMPREC
024373,003167:
024374,003168: # NORMAL EXIT_ RETURN TO CALLER + 2
024375,003169:
024376,003170: # ERROR EXITS_ NONE
024377,003171:
024378,003172: # ALARMS_ NONE
024379,003173:
024380,003174: # OUTPUT_
024381,003175: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024382,003176: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024383,003177: # RRNBSW CLEARED
024384,003178:
024385,003179: # INITIALIZED ERASEABLE
024386,003180: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024387,003181: # SEE ORBITAL INTEGRATION ROUTINE
024388,003182:
024389,003183: # DEBRIS_
024390,003184: # MPAC DESTROYED BY THIS ROUTINE
024391,003185:
024392,003186: 23,2314 BANK 23
024393,003187: 24,2000 SETLOC P20S
024394,003188: 24,2000 BANK
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|
Page 565 |
024396,003190: 24,3255 COUNT* $$/LPS20
024397,003191:
024398,003192: 24,3255 43020 LPS20.1 STQ BOFF
024399,003193: 24,3256 01757 LS21X
024400,003194: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024401,003195: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
024402,003196: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024403,003197: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
024404,003198: 24,3263 51274 CSMINT
024405,003199: 24,3264 77624 LMINT CALL
024406,003200: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM
024407,003201: 24,3266 77775 VLOAD
024408,003202: 24,3267 00001 RATT
024409,003203: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
024410,003204: 24,3271 00007 VATT
024411,003205: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024412,003206: 24,3273 00015 TAT
024413,003207: 24,3274 34041 CSMINT STCALL TDEC1
024414,003208: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM
024415,003209: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024416,003210: 24,3277 00007 VATT
024417,003211: 24,3300 02360 LMVEL
024418,003212: 24,3301 76521 MXV VSL1
024419,003213: 24,3302 01734 REFSMMAT
024420,003214: 24,3303 77776 EXIT
024421,003215: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024422,003216: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024423,003217: 24,3306 06037 TC INTPRET
024424,003218: 24,3307 25761 STOVL LOSVEL
024425,003219: 24,3310 00001 RATT
024426,003220: 24,3311 43051 VSU BOFF
024427,003221: 24,3312 02352 LMPOS
024428,003222: 24,3313 00350 RNDVZFLG
024429,003223: 24,3314 51321 NOTSHIFT
024430,003224: 24,3315 77604 BOVB
024431,003225: 24,3316 57753 TCDANZIG
024432,003226: 24,3317 77661 VSL
024433,003227: 24,3320 20212 9D
024434,003228: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024435,003229: 24,3322 50102 526ALARM # THAN 400 N. M.
024436,003230: 24,3323 76521 MXV VSL1
024437,003231: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024438,003232: 24,3325 15102 STODL RRTARGET
024439,003233: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024440,003234: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024441,003235: 24,3330 77614 CLRGO
024442,003236: 24,3331 00231 RRNBSW
024443,003237: 24,3332 01757 LS21X
024444,003238:
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|
Page 566 |
024446,003240: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024447,003241: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024448,003242:
024449,003243: # FUNCTIONAL DESCRIPTION_
024450,003244: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024451,003245:
024452,003246: # CALLING SEQUENCE CALL
024453,003247: # LPS20.2
024454,003248:
024455,003249: # SUBROUTINES CALLED_ NONE
024456,003250:
024457,003251: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024458,003252:
024459,003253: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024460,003254:
024461,003255: # ALARMS_ NONE
024462,003256:
024463,003257: # OUTPUT_ NONE
024464,003258:
024465,003259: # INITIALIZED ERASEABLE_
024466,003260: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024467,003261:
024468,003262: # DEBRIS
024469,003263: # MPAC DESTROYED BY THIS ROUTINE
024470,003264:
024471,003265: 25,2000 SETLOC P20S1
024472,003266: 25,2000 BANK
024473,003267: 25,3565 COUNT* $$/LPS20
024474,003268:
024475,003269: 25,3565 45345 LPS20.2 DLOAD DSU
024476,003270: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
024477,003271: 25,3567 13600 FHNM # OVER 400NM _
024478,003272: 25,3570 77644 BPL
024479,003273: 25,3571 53574 TOFAR
024480,003274: 25,3572 43535 SLOAD RVQ
024481,003275: 25,3573 06522 ZERO/SP
024482,003276: 25,3574 43535 TOFAR SLOAD RVQ
024483,003277: 25,3575 13577 ONE/SP
024484,003278: 25,3576 00001 ONE/SP DEC 1 B-14
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|
Page 567 |
024486,003280: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024487,003281:
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|
Page 568 |
024489,003283: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024490,003284: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024491,003285:
024492,003286: # FUNCTIONAL DESCRIPTION
024493,003287: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024494,003288: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024495,003289: # RR REPOSITION AND RR CDU FAIL
024496,003290: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024497,003291:
024498,003292: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024499,003293:
024500,003294: # SUBROUTINES CALLED:
024501,003295: # RRRDOT LPS20.1
024502,003296: # RRRANGE BANKCALL
024503,003297: # RADSTALL CDULOGIC
024504,003298: # RRNB SMNB
024505,003299:
024506,003300: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024507,003301:
024508,003302: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024509,003303: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024510,003304: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024511,003305:
024512,003306: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024513,003307: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024514,003308:
024515,003309: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024516,003310: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024517,003311:
024518,003312: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024519,003313: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024520,003314: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024521,003315: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024522,003316: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024523,003317: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024524,003318:
024525,003319: # ERASABLE INITIALIZATION REQUIRED:
024526,003320: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 569 |
024528,003322: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024529,003323: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024530,003324: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024531,003325:
024532,003326: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024533,003327:
024534,003328: 32,2366 BANK 32
024535,003329: 32,2000 SETLOC LRS22
024536,003330: 32,2000 BANK
024537,003331: 32,2366 COUNT* $$/LRS22
024538,003332:
024539,003333: 32,2366 04645 LRS22.1 TC MAKECADR
024540,003334: 32,2367 55737 TS LRS22.1X
024541,003335: 32,2370 05516 TC DOWNFLAG
024542,003336: 32,2371 00120 ADRES RNGSCFLG
024543,003337: 32,2372 00004 INHINT
024544,003338: 32,2373 34751 CAF BIT3
024545,003339: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024546,003340: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024547,003341: 32,2376 54001 TS L
024548,003342: 32,2377 44751 CS RRRSBIT
024549,003343: 32,2400 70110 MASK RADMODES
024550,003344: 32,2401 60001 AD L
024551,003345: 32,2402 54110 TS RADMODES
024552,003346: 32,2403 00003 RELINT
024553,003347: 32,2404 04616 READRDOT TC BANKCALL
024554,003348: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024555,003349: 32,2406 04616 TC BANKCALL
024556,003350: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024557,003351: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024558,003352:
024559,003353: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024560,003354: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024561,003355: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024562,003356: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024563,003357: 32,2415 53747 DXCH RDOTMSAV
024564,003358: 32,2416 00006 EXTEND
024565,003359: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024566,003360: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024567,003361: 32,2421 30032 CA CDUX
024568,003362: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024569,003363: 32,2423 00006 EXTEND
024570,003364: 32,2424 30025 DCA TIME2 # SAVE TIME
024571,003365: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024572,003366: 32,2426 00006 EXTEND
024573,003367: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024574,003368: 32,2430 53110 DXCH TANG
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Page 570 |
024576,003370: 32,2431 00003 RELINT
024577,003371: 32,2432 04616 TC BANKCALL
024578,003372: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024579,003373: 32,2434 04616 TC BANKCALL
024580,003374: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
024581,003375: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ
024582,003376: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024583,003377: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024584,003378: 32,2441 53761 DXCH RANGRDOT
024585,003379: 32,2442 52162 DXCH MPAC +5
024586,003380: 32,2443 53755 DXCH MKTIME # MARK TIME
024587,003381: 32,2444 52160 DXCH MPAC +3
024588,003382: 32,2445 53460 DXCH AIG # CDUY, CDUZ
024589,003383: 32,2446 00006 EXTEND
024590,003384: 32,2447 31110 DCA TANG # PRESERVE TANG
024591,003385: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024592,003386: 32,2451 30156 CA MPAC +2
024593,003387: 32,2452 55461 TS AOG # CDUX
024594,003388: 32,2453 06037 TC INTPRET
024595,003389: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024596,003390: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024597,003391: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024598,003392: 32,2457 20217 14D # FT./SECOND PER BIT
024599,003393: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024600,003394: 32,2461 03751 STORE RDOTM
024601,003395: 32,2462 47135 SLOAD RTB
024602,003396: 32,2463 01110 TANG # GET TRUNION ANGLE
024603,003397: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024604,003398: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024605,003399: 32,2466 47135 SLOAD RTB
024606,003400: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE
024607,003401: 32,2470 21576 CDULOGIC
024608,003402: 32,2471 17736 STODL RRSHAFT
024609,003403: 32,2472 01102 SAMPLSUM
024610,003404: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024611,003405: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024612,003406: 32,2475 37757 STCALL RM
024613,003407: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024614,003408: 32,2477 17741 STODL RRBORSIT # AND SAVE
024615,003409: 32,2500 00025 20D
024616,003410: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024617,003411: 32,2502 51255 LPS20.1
024618,003412: 32,2503 77776 EXIT
024619,003413: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024620,003414: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024621,003415: 32,2506 31460 CA AMG
024622,003416: 32,2507 54770 TS CDUSPOT +2
024623,003417: 32,2510 31461 CA AOG
024624,003418: 32,2511 54772 TS CDUSPOT +4
024625,003419: 32,2512 06037 TC INTPRET
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Page 571 |
024627,003421: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024628,003422: 32,2514 01102 RRTARGET
024629,003423: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024630,003424: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024631,003425: 32,2517 03741 RRBORSIT
024632,003426: 32,2520 65552 SL1 ACOS # BETWEEN THEM
024633,003427: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024634,003428: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024635,003429: 32,2523 24546 THREEDEG
024636,003430: 32,2524 64531 NORMEXIT # YES - NORMAL EXIT
024637,003431:
024638,003432: 32,2525 77776 EXIT # ERROR EXIT 2
024639,003433: 32,2526 34752 CAF BIT2 # SET ERROR CODE
024640,003434: 32,2527 54154 TS MPAC
024641,003435: 32,2530 12534 TCF OUT22.1
024642,003436:
024643,003437: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024644,003438: 32,2532 34755 CAF ZERO
024645,003439: 32,2533 54154 TS MPAC
024646,003440: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024647,003441: 32,2535 04640 TC BANKJUMP
024648,003442: 32,2536 30101 CHEXERR CAE FLAGWRD5
024649,003443: 32,2537 74742 MASK RNGSCBIT
024650,003444: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024651,003445: 32,2541 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024652,003446:
024653,003447: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024654,003448: 32,2543 54154 TS MPAC
024655,003449: 32,2544 02534 TC OUT22.1
024656,003450: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024657,003451:
024658,003452: 32,2547 1101 RRLOSVEC EQUALS RRTARGET
024659,003453:
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Page 572 |
024661,003455: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024662,003456: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024663,003457:
024664,003458: # FUNCTIONAL DESCRIPTION-
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Yes, I know point #1 is missing. It is missing from the program listing — RSB 2003 |
024666,003460: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024667,003461:
024668,003462: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024669,003463:
024670,003464: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024671,003465:
024672,003466: # NORMAL EXIT- RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024673,003467:
024674,003468: # ERROR EXIT- RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024675,003469:
024676,003470: # ALARMS- NONE IN THE AUTO MODE
024677,003471:
024678,003472: # ERASABLE INITIALIZATION REQUIRED -
024679,003473: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024680,003474: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024681,003475: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024682,003476:
024683,003477: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024684,003478:
024685,003479: 24,2000 SETLOC P20S
024686,003480: 24,2000 BANK
024687,003481: 24,3333 04645 LRS22.2 TC MAKECADR
024688,003482: 24,3334 55737 TS LRS22.1X
024689,003483: 24,3335 06037 TC INTPRET
024690,003484: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024691,003485: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024692,003486: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024693,003487: # LOS VECTOR, A HALF UNIT VECTOR
024694,003488: # IN NAV BASE AXES)
024695,003489: 24,3340 50025 DSU BMN
024696,003490: 24,3341 11355 30DEG
024697,003491: 24,3342 51347 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024698,003492: 24,3343 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024699,003493: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024700,003494: 24,3345 54154 TS MPAC
024701,003495: 24,3346 13352 TCF OUT22.2
024702,003496: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024703,003497:
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Page 573 |
024705,003499: 24,3350 34755 CAF ZERO
024706,003500: 24,3351 54154 TS MPAC
024707,003501: 24,3352 31737 OUT22.2 CAE LRS22.1X
024708,003502: 24,3353 04640 TC BANKJUMP
024709,003503:
024710,003504: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024711,003505:
|
|
Page 574 |
024713,003507: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024714,003508: # MOD. NO 3 LOG SECTION - P20-25
024715,003509: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024716,003510:
024717,003511: # FUNCTIONAL DESCRIPTION
024718,003512: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024719,003513: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024720,003514: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024721,003515:
024722,003516: # CALLING SEQUENCE
024723,003517: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024724,003518: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024725,003519: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024726,003520: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024727,003521: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024728,003522: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024729,003523:
024730,003524: # SUBROUTINES CALLED
024731,003525: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024732,003526: # GETULC RARARANG INCORP2 NBSM INTSTALL
024733,003527:
024734,003528: # OUTPUT
024735,003529: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024736,003530: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024737,003531: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024738,003532: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024739,003533: # UPDATED W-MATRIX
024740,003534:
024741,003535: # ERASABLE INITIALIZATION REQUIRED
024742,003536: # LM AND CSM STATE VECTORS
024743,003537: # W-MATRIX
024744,003538: # MARK TIME IN MKTIME
024745,003539: # RADAR RANGE IN RM METERS B-29
024746,003540: # RANGE RATE IN RDOTM METERS/CSES B-7
024747,003541: # SHAFT ANGLE IN RRSHAFT REVS. B0
024748,003542: # TRUNNION ANGLE IN RRTRUN REVS. B0
024749,003543: # GIMBAL ANGLES INNER IN AIG
024750,003544: # MIDDLE IN AMG
024751,003545: # OUTER IN AOG
024752,003546: # REFSMMAT
024753,003547: # RENDWFLG
024754,003548: # NOANGFLG
024755,003549: # VEHUPFLG
024756,003550:
024757,003551: # DEBRIS
024758,003552: # PUSHLIST -- ALL
024759,003553: # MX, MY, MZ (VECTORS)
|
|
Page 575 |
024761,003555: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024762,003556:
024763,003557: 13,2207 BANK 13
024764,003558: 26,2000 SETLOC P20S3
024765,003559: 26,2000 BANK
024766,003560:
024767,003561: 26,2412 E7,1456 EBANK= LOSCOUNT
024768,003562: 26,2412 COUNT* $$/LSR22
024769,003563: 26,2412 77624 LSR22.3 CALL
024770,003564: 26,2413 11244 GRP2PC
024771,003565: 26,2414 43014 BON SET
024772,003566: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024773,003567: 26,2416 55200 LSR22.4 # YES
024774,003568: 26,2417 02466 DMENFLG
024775,003569: 26,2420 45014 BOFF CALL
024776,003570: 26,2421 00747 VEHUPFLG
024777,003571: 26,2422 54454 DOLEM
024778,003572: 26,2423 27414 INTSTALL
024779,003573: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION
024780,003574: 26,2425 01674 VINTFLAG
024781,003575: 26,2426 26644 SETIFLGS
024782,003576: 26,2427 77624 CALL
024783,003577: 26,2430 55242 INTGRCAL
024784,003578: 26,2431 77624 CALL
024785,003579: 26,2432 11244 GRP2PC
024786,003580: 26,2433 77624 CALL
024787,003581: 26,2434 27414 INTSTALL
024788,003582: 26,2435 43014 CLEAR BOFF
024789,003583: 26,2436 01676 DIM0FLAG
024790,003584: 26,2437 02756 RENDWFLG
024791,003585: 26,2440 54444 NOTWCSM
024792,003586: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024793,003587: 26,2442 01476 DIM0FLAG
024794,003588: 26,2443 01475 D6OR9FLG
024795,003589: 26,2444 43014 NOTWCSM SET CLEAR
024796,003590: 26,2445 01474 VINTFLAG
024797,003591: 26,2446 01673 INTYPFLG
024798,003592: 26,2447 45014 SET CALL
024799,003593: 26,2450 01472 STATEFLG
024800,003594: 26,2451 55242 INTGRCAL
024801,003595: 26,2452 77650 GOTO
024802,003596: 26,2453 54504 MARKTEST
024803,003597: 26,2454 77624 DOLEM CALL
024804,003598: 26,2455 27414 INTSTALL
024805,003599: 26,2456 45014 SET CALL
024806,003600: 26,2457 01474 VINTFLAG
024807,003601: 26,2460 26644 SETIFLGS
024808,003602: 26,2461 77624 CALL
024809,003603: 26,2462 55242 INTGRCAL
|
|
Page 576 |
024811,003605: 26,2463 77624 CALL
024812,003606: 26,2464 11244 GRP2PC
024813,003607: 26,2465 77624 CALL
024814,003608: 26,2466 27414 INTSTALL
024815,003609: 26,2467 43014 CLEAR BOFF
024816,003610: 26,2470 01676 DIM0FLAG
024817,003611: 26,2471 02756 RENDWFLG
024818,003612: 26,2472 54476 NOTWLEM
024819,003613: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024820,003614: 26,2474 01476 DIM0FLAG
024821,003615: 26,2475 01475 D6OR9FLG
024822,003616: 26,2476 43014 NOTWLEM CLEAR CLEAR
024823,003617: 26,2477 01673 INTYPFLG
024824,003618: 26,2500 01674 VINTFLAG
024825,003619: 26,2501 45014 SET CALL
024826,003620: 26,2502 01472 STATEFLG
024827,003621: 26,2503 55242 INTGRCAL
024828,003622: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024829,003623: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024830,003624: 26,2506 54510 RANGEBQ
024831,003625: 26,2507 55251 WLINIT # YES - REINITIALIZE
024832,003626: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024833,003627: 26,2511 04307 SURFFLAG
024834,003628: 26,2512 54520 RANGEBQ1
024835,003629: 26,2513 34755 CA ZERO
024836,003630: 26,2514 55745 TS R65CNTR
024837,003631: 26,2515 04616 TC BANKCALL
024838,003632: 26,2516 46123 CADR R65LEM
024839,003633: 26,2517 06037 TC INTPRET
024840,003634: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024841,003635: 26,2521 00000 0
024842,003636: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024843,003637: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024844,003638: 26,2524 77714 INCR,2
024845,003639: 26,2525 00002 2
024846,003640: 26,2526 45134 SETX2 SXA,2 CALL
024847,003641: 26,2527 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024848,003642: 26,2530 11244 GRP2PC
024849,003643: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024850,003644: 26,2532 00001 1
024851,003645: 26,2533 03745 WHCHREAD
024852,003646: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024853,003647: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024854,003648: 26,2536 20635 28D
024855,003649: 26,2537 77634 RTB
024856,003650: 26,2540 21633 TPMODE # AND SAVE IN 20D
024857,003651: 26,2541 00025 STORE 20D
024858,003652: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024859,003653: 26,2543 55333 GETULC # B-VECTORS FOR RANGE
024860,003654: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
|
|
Page 577 |
024862,003656: 26,2545 00707 VEHUPFLG
024863,003657: 26,2546 54547 +1
024864,003658: 26,2547 27525 STOVL BVECTOR
024865,003659: 26,2550 06522 ZEROVECS
024866,003660: 26,2551 03533 STORE BVECTOR +6 # B1
024867,003661: 26,2552 17541 STODL BVECTOR +12D # B2
024868,003662: 26,2553 00045 36D
024869,003663: 26,2554 44257 SRR* BDSU
024870,003664: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024871,003665: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024872,003666: 26,2557 77657 SLR*
024873,003667: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024874,003668: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024875,003669: 26,2562 00045 36D # RLC B-29/B-27
024876,003670: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE
024877,003671: 26,2564 00047 X1
024878,003672: 26,2565 53605 DMP SR*
024879,003673: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024880,003674: 26,2567 20577 0 -2,1 # UNNORMALIZE
024881,003675: 26,2570 53657 SR* SR*
024882,003676: 26,2571 20601 0,1
024883,003677: 26,2572 57176 0,2
024884,003678: 26,2573 47057 SR* RTB
024885,003679: 26,2574 57176 0,2
024886,003680: 26,2575 21633 TPMODE
024887,003681: 26,2576 02707 STORE VARIANCE # B-40
024888,003682: 26,2577 76276 DCOMP TAD
024889,003683: 26,2600 00025 20D # B-40
024890,003684: 26,2601 72240 BMN TLOAD
024891,003685: 26,2602 54605 QOK
024892,003686: 26,2603 00025 20D # B-40
024893,003687: 26,2604 02707 STORE VARIANCE
024894,003688: 26,2605 77624 QOK CALL
024895,003689: 26,2606 55401 LGCUPDTE
024896,003690:
024897,003691: 26,2607 45131 SSP CALL
024898,003692: 26,2610 03746 WHCHREAD
024899,003693: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024900,003694: 26,2612 11244 GRP2PC
024901,003695: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024902,003696: 26,2614 55333 GETULC
024903,003697: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024904,003698: 26,2616 00045 36D # AND SHIFT TO B-23
024905,003699: 26,2617 57202 0 -4,2
024906,003700: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D
024907,003701: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024908,003702: 26,2622 00707 VEHUPFLG
024909,003703: 26,2623 54624 +1
024910,003704: 26,2624 77761 VXSC
024911,003705: 26,2625 00045 36D # B1 = RLC (B-24/B-22)
|
|
Page 578 |
024913,003707: 26,2626 27533 STOVL BVECTOR +6
024914,003708: 26,2627 01653 NUVLEM
024915,003709: 26,2630 53257 VSR* VAD
024916,003710: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024917,003711: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5
024918,003712: 26,2633 53715 PDVL VSR* # VL TO PD6
024919,003713: 26,2634 01601 NUVCSM
024920,003714: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024921,003715: 26,2636 52255 VAD VSU
024922,003716: 26,2637 01615 VCVCSM
024923,003717: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6
024924,003718: 26,2641 00001 0
024925,003719: 26,2642 00007 6
024926,003720: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024927,003721: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024928,003722: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024929,003723: 26,2646 01773 RATEVAR
024930,003724: 26,2647 02707 STORE VARIANCE
024931,003725: 26,2650 54335 SLOAD SR
024932,003726: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024933,003727: 26,2652 20621 16D # SHIFT TO DP (B-4)
024934,003728: 26,2653 00031 STORE 24D # AND SAVE IN 24D
024935,003729: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024936,003730: 26,2655 02707 VARIANCE
024937,003731: 26,2656 54662 VOK # BRANCH - NO
024938,003732: 26,2657 77745 DLOAD # YES - USE MINIMUM VARIANCE
024939,003733: 26,2660 00031 24D
024940,003734: 26,2661 02707 STORE VARIANCE
024941,003735: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024942,003736: 26,2663 53725 PDDL SLR* # TO B-10/B-8
024943,003737: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024944,003738: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8
024945,003739: 26,2666 77625 DSU
024946,003740: 26,2667 77675 DMPR
024947,003741: 26,2670 00045 36D
024948,003742: 26,2671 27547 STOVL DELTAQ # B-33
024949,003743: 26,2672 00001 0 # NOW GET B0
024950,003744: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC
024951,003745: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024952,003746: 26,2675 00707 VEHUPFLG
024953,003747: 26,2676 54677 +1
024954,003748: 26,2677 77657 VSR*
024955,003749: 26,2700 57200 0 -2,2 # SCALED B-5
024956,003750: 26,2701 27525 STOVL BVECTOR
024957,003751: 26,2702 06522 ZEROVECS
024958,003752: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024959,003753: 26,2704 27541 STOVL BVECTOR +12D
024960,003754: 26,2705 03525 BVECTOR
024961,003755: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024962,003756: 26,2707 00025 20D # SHIFT COUNT IN 20D
|
|
Page 579 |
024964,003758: 26,2710 51575 VLOAD ABVAL
024965,003759: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024966,003760: 26,2712 71301 NORM DLOAD
024967,003761: 26,2713 00027 22D # SHIFT COUNT IN 22D
024968,003762: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER
024969,003763: 26,2715 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024970,003764: 26,2716 00025 20D
024971,003765: 26,2717 54723 VOK1
024972,003766: 26,2720 52150 LXA,1 GOTO
024973,003767: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024974,003768: 26,2722 54725 VOK2
024975,003769: 26,2723 77750 VOK1 LXA,1
024976,003770: 26,2724 00024 20D
024977,003771: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024978,003772: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT
024979,003773: 26,2727 20201 0,1
024980,003774: 26,2730 27525 STOVL BVECTOR
024981,003775: 26,2731 03533 BVECTOR +6
024982,003776: 26,2732 77657 VSL*
024983,003777: 26,2733 20201 0,1
024984,003778: 26,2734 17533 STODL BVECTOR +6
024985,003779: 26,2735 03547 DELTAQ
024986,003780: 26,2736 77657 SL*
024987,003781: 26,2737 20201 0,1
024988,003782: 26,2740 03547 STORE DELTAQ
024989,003783: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024990,003784: 26,2742 00045 36D
024991,003785: 26,2743 20200 0 -1,1
024992,003786: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024993,003787: 26,2745 02707 VARIANCE
024994,003788: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024995,003789: 26,2747 21633 TPMODE
024996,003790: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024997,003791: 26,2751 55401 LGCUPDTE
024998,003792:
024999,003793: 26,2752 77624 CALL
025000,003794: 26,2753 11244 GRP2PC
025001,003795: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE
025002,003796: 26,2755 04307 SURFFLAG
025003,003797: 26,2756 55176 RENDEND # NO
025004,003798: 26,2757 E7,1457 EBANK= AIG
025005,003799: 26,2757 33332 MXMYMZ CAF AIGBANK
025006,003800: 26,2760 54006 TS BBANK
025007,003801: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ
025008,003802: 26,2762 54766 TS CDUSPOT
025009,003803: 26,2763 31460 CA AMG
025010,003804: 26,2764 54770 TS CDUSPOT +2
025011,003805: 26,2765 31461 CA AOG
025012,003806: 26,2766 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025013,003807: 26,2767 06037 TC INTPRET
|
|
Page 580 |
025015,003809: 26,2770 45175 VLOAD CALL
025016,003810: 26,2771 06520 UNITX
025017,003811: 26,2772 47664 TRG*NBSM
025018,003812: 26,2773 76505 VXM VSL1
025019,003813: 26,2774 01734 REFSMMAT
025020,003814: 26,2775 27677 STOVL MX
025021,003815: 26,2776 06516 UNITY
025022,003816: 26,2777 77624 CALL
025023,003817: 26,3000 47673 *NBSM*
025024,003818: 26,3001 76505 VXM VSL1
025025,003819: 26,3002 01734 REFSMMAT
025026,003820: 26,3003 27705 STOVL MY
025027,003821: 26,3004 06514 UNITZ
025028,003822: 26,3005 77624 CALL
025029,003823: 26,3006 47673 *NBSM*
025030,003824: 26,3007 76505 VXM VSL1
025031,003825: 26,3010 01734 REFSMMAT
025032,003826: 26,3011 37713 SHAFTBQ STCALL MZ
025033,003827: 26,3012 55361 RADARANG
025034,003828: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025035,003829: 26,3014 03746 WHCHREAD
025036,003830: 26,3015 00003 DEC 3 B-14
025037,003831: 26,3016 11244 GRP2PC
025038,003832: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025039,003833: 26,3020 03724 ULC
025040,003834: 26,3021 03677 MX
025041,003835: 26,3022 77752 SL1
025042,003836: 26,3023 24023 STOVL SINTH # 18D
025043,003837: 26,3024 03724 ULC
025044,003838: 26,3025 72441 DOT SL1
025045,003839: 26,3026 03713 MZ
025046,003840: 26,3027 34021 STCALL COSTH # 16D
025047,003841: 26,3030 26510 ARCTAN
025048,003842: 26,3031 41221 BDSU DMP
025049,003843: 26,3032 03736 RRSHAFT
025050,003844: 26,3033 15441 2PI/8
025051,003845: 26,3034 41472 SL3R PUSH
025052,003846: 26,3035 52545 DLOAD SL3
025053,003847: 26,3036 01701 X789
025054,003848: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025055,003849: 26,3040 56176 0,2
025056,003850: 26,3041 53605 DMP SRR*
025057,003851: 26,3042 03722 RXZ
025058,003852: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025059,003853: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025060,003854: 26,3045 03724 ULC
025061,003855: 26,3046 76435 VXV VSL1
025062,003856: 26,3047 03705 MY
025063,003857: 26,3050 77656 UNIT
025064,003858: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
|
|
Page 581 |
025066,003860: 26,3052 00747 VEHUPFLG
025067,003861: 26,3053 55054 +1
025068,003862: 26,3054 27525 STOVL BVECTOR
025069,003863: 26,3055 06522 ZEROVECS
025070,003864: 26,3056 03533 STORE BVECTOR +6
025071,003865: 26,3057 17541 STODL BVECTOR +12D
025072,003866: 26,3060 03722 RXZ
025073,003867: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025074,003868: 26,3062 20577 0 -2,1
025075,003869: 26,3063 56176 0,2
025076,003870: 26,3064 03541 STORE BVECTOR +12D
025077,003871: 26,3065 77735 SLOAD
025078,003872: 26,3066 02011 SHAFTVAR
025079,003873: 26,3067 41215 DAD DMP
025080,003874: 26,3070 15436 IMUVAR # RAD**2 B12
025081,003875: 26,3071 03722 RXZ
025082,003876: 26,3072 41257 SRR* DMP
025083,003877: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025084,003878: 26,3074 03722 RXZ
025085,003879: 26,3075 53657 SR* SR*
025086,003880: 26,3076 20577 0 -2,1
025087,003881: 26,3077 57176 0,2
025088,003882: 26,3100 47057 SR* RTB
025089,003883: 26,3101 57176 0,2
025090,003884: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
025091,003885: 26,3103 36707 STCALL VARIANCE # B-40
025092,003886: 26,3104 55401 LGCUPDTE
025093,003887:
025094,003888: 26,3105 77624 CALL
025095,003889: 26,3106 11244 GRP2PC
025096,003890: 26,3107 77624 TRUNBQ CALL
025097,003891: 26,3110 55361 RADARANG
025098,003892: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49
025099,003893: 26,3112 03746 WHCHREAD
025100,003894: 26,3113 00004 DEC 4 B-14
025101,003895: 26,3114 11244 GRP2PC
025102,003896: 26,3115 47375 VLOAD VXV
025103,003897: 26,3116 03724 ULC
025104,003898: 26,3117 03705 MY
025105,003899: 26,3120 47372 VSL1 VXV
025106,003900: 26,3121 03724 ULC
025107,003901: 26,3122 77772 VSL1 # (ULC X MY) X ULC
025108,003902: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025109,003903: 26,3124 00747 VEHUPFLG
025110,003904: 26,3125 55126 +1
025111,003905: 26,3126 27525 STOVL BVECTOR
025112,003906: 26,3127 06522 ZEROVECS
025113,003907: 26,3130 03533 STORE BVECTOR +6
025114,003908: 26,3131 17541 STODL BVECTOR +12D
025115,003909: 26,3132 03722 RXZ
|
|
Page 582 |
025117,003911: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025118,003912: 26,3134 20577 0 -2,1
025119,003913: 26,3135 56176 0,2
025120,003914: 26,3136 03543 STORE BVECTOR +14D
025121,003915: 26,3137 77735 SLOAD
025122,003916: 26,3140 02012 TRUNVAR
025123,003917: 26,3141 41215 DAD DMP
025124,003918: 26,3142 15436 IMUVAR
025125,003919: 26,3143 03722 RXZ
025126,003920: 26,3144 41257 SRR* DMP
025127,003921: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025128,003922: 26,3146 03722 RXZ
025129,003923: 26,3147 53657 SR* SR*
025130,003924: 26,3150 20577 0 -2,1
025131,003925: 26,3151 57176 0,2
025132,003926: 26,3152 47057 SR* RTB
025133,003927: 26,3153 57176 0,2
025134,003928: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
025135,003929: 26,3155 16707 STODL VARIANCE
025136,003930: 26,3156 03732 SINTHETA
025137,003931: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025138,003932: 26,3160 03734 RRTRUN
025139,003933: 26,3161 56405 DMP SL3R
025140,003934: 26,3162 15441 2PI/8
025141,003935: 26,3163 52525 PDDL SL3
025142,003936: 26,3164 01703 X789 +2
025143,003937: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025144,003938: 26,3166 56176 0,2
025145,003939: 26,3167 53605 DMP SRR*
025146,003940: 26,3170 03722 RXZ
025147,003941: 26,3171 21601 0,1
025148,003942: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025149,003943: 26,3173 55401 LGCUPDTE
025150,003944: 26,3174 77624 CALL
025151,003945: 26,3175 11244 GRP2PC
025152,003946: 26,3176 77650 RENDEND GOTO
025153,003947: 26,3177 50566 R22LEM93
025154,003948:
025155,003949: # FUNCTIONAL DESCRIPTION
025156,003950: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025157,003951: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025158,003952: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025159,003953:
025160,003954: # SUBROUTINES CALLED
025161,003955: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025162,003956: # INTEGRV GETULC INCORP2
025163,003957:
025164,003958: # OUTPUT
025165,003959: # CORRECTED CSM STATE VECTOR (PERMANENT)
025166,003960: # NUMBER OF MARKS INCORPORATED IN MARKCTR
|
|
Page 583 |
025168,003962: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025169,003963: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025170,003964: # UPDATED W-MATRIX
025171,003965:
025172,003966: # ERASABLE INITIALIZATION REQUIRED
025173,003967: # LM AND CSM STATE VECTORS
025174,003968: # W-MATRIX
025175,003969: # MARK TIME IN MKTIME
025176,003970: # RADAR RANGE IN RM METERS B-29
025177,003971: # RANGE RATE IN RDOTM METERS/CSEC B-7
025178,003972: # VEHUPFLG
025179,003973:
025180,003974: 26,3200 77624 LSR22.4 CALL
025181,003975: 26,3201 27414 INTSTALL
025182,003976: 26,3202 43014 SET CLEAR
025183,003977: 26,3203 01472 STATEFLG
025184,003978: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025185,003979: 26,3205 77624 CALL
025186,003980: 26,3206 55242 INTGRCAL
025187,003981: 26,3207 77624 CALL
025188,003982: 26,3210 11244 GRP2PC
025189,003983: 26,3211 45014 CLEAR CALL
025190,003984: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025191,003985: 26,3213 27414 INTSTALL
025192,003986: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025193,003987: 26,3215 03463 MARKCTR
025194,003988: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025195,003989: 26,3217 43014 CLEAR SET
025196,003990: 26,3220 01675 D6OR9FLG
025197,003991: 26,3221 01476 DIM0FLAG
025198,003992: 26,3222 43014 SET CLEAR
025199,003993: 26,3223 01474 VINTFLAG
025200,003994: 26,3224 01673 INTYPFLG
025201,003995: 26,3225 77624 CALL
025202,003996: 26,3226 55242 INTGRCAL
025203,003997: 26,3227 77650 GOTO
025204,003998: 26,3230 54510 RANGEBQ
025205,003999:
025206,004000: 26,3231 77624 INITWMX6 CALL
025207,004001: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025208,004002: 26,3233 45014 SET CALL
025209,004003: 26,3234 01474 VINTFLAG
025210,004004: 26,3235 26644 SETIFLGS
025211,004005: 26,3236 77624 CALL
025212,004006: 26,3237 55242 INTGRCAL
025213,004007: 26,3240 77650 GOTO
025214,004008: 26,3241 54510 RANGEBQ
025215,004009:
025216,004010: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
|
|
Page 584 |
025218,004012: 26,3242 71220 INTGRCAL STQ DLOAD
025219,004013: 26,3243 03675 IGRET
025220,004014: 26,3244 03755 MKTIME
025221,004015: 26,3245 34041 STCALL TDEC1
025222,004016: 26,3246 27134 INTEGRV
025223,004017: 26,3247 77650 GOTO
025224,004018: 26,3250 03675 IGRET
025225,004019:
025226,004020: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025227,004021: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025228,004022:
025229,004023: 26,3251 E5,1400 EBANK= W
025230,004024: 26,3251 77776 WLINIT EXIT
025231,004025: 26,3252 33331 CAF WBANK
025232,004026: 26,3253 54006 TS BBANK
025233,004027: 26,3254 33437 CAF WSIZE
025234,004028: 26,3255 55257 TS W.IND
025235,004029: 26,3256 34755 CAF ZERO
025236,004030: 26,3257 51257 INDEX W.IND
025237,004031: 26,3260 55400 TS W
025238,004032: 26,3261 11257 CCS W.IND
025239,004033: 26,3262 03255 TC -5
025240,004034: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025241,004035: 26,3264 54006 TS BBANK
025242,004036: 26,3265 06037 TC INTPRET
025243,004037: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
025244,004038: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025245,004039: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025246,004040: 26,3271 02001 WRENDPOS
025247,004041: 26,3272 77650 GOTO
025248,004042: 26,3273 55276 WPOSTORE
025249,004043: 26,3274 77735 WLSRFPOS SLOAD
025250,004044: 26,3275 02007 WSURFPOS
025251,004045: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025252,004046: 26,3277 20606 5
025253,004047: 26,3300 02401 STORE W
025254,004048: 26,3301 02411 STORE W +8D
025255,004049: 26,3302 02421 STORE W +16D
025256,004050: 26,3303 67214 BON SLOAD
025257,004051: 26,3304 04307 SURFFLAG
025258,004052: 26,3305 55311 WLSRFVEL
025259,004053: 26,3306 02002 WRENDVEL
025260,004054: 26,3307 77650 GOTO
025261,004055: 26,3310 55313 WVELSTOR
025262,004056: 26,3311 77735 WLSRFVEL SLOAD
025263,004057: 26,3312 02010 WSURFVEL
025264,004058: 26,3313 02511 WVELSTOR STORE W +72D
025265,004059: 26,3314 02521 STORE W +80D
025266,004060: 26,3315 02531 STORE W +88D
025267,004061: 26,3316 77735 SLOAD
|
|
Page 585 |
025269,004063: 26,3317 02003 WSHAFT
025270,004064: 26,3320 02621 STORE W +144D
025271,004065: 26,3321 77735 SLOAD
025272,004066: 26,3322 02004 WTRUN
025273,004067: 26,3323 02631 STORE W +152D
025274,004068: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025275,004069: 26,3325 02476 RENDWFLG
025276,004070: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025277,004071: 26,3327 00000 0
025278,004072: 26,3330 77616 RVQ
025279,004073:
025280,004074: 26,3331 E5,1400 EBANK= W
025281,004075: 26,3331 54065 WBANK BBCON WLINIT
025282,004076: 26,3332 E7,1457 EBANK= AIG
025283,004077: 26,3332 54067 AIGBANK BBCON LSR22.3
025284,004078:
025285,004079: # GETULC
025286,004080:
025287,004081: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025288,004082: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025289,004083: # MAGNITUDE IN 36D.
025290,004084:
025291,004085: 26,3333 77201 GETULC SETPD VLOAD
025292,004086: 26,3334 00001 0
025293,004087: 26,3335 01645 DELTALEM
025294,004088: 26,3336 77754 LXA,2
025295,004089: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025296,004090: 26,3340 53257 VSR* VAD
025297,004091: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025298,004092: 26,3342 01661 RCVLEM
025299,004093: 26,3343 53715 PDVL VSR*
025300,004094: 26,3344 01573 DELTACSM
025301,004095: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025302,004096: 26,3346 52255 VAD VSU
025303,004097: 26,3347 01607 RCVCSM
025304,004098: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025305,004099: 26,3351 21724 NORMUNX1
025306,004100: 26,3352 17724 STODL ULC
025307,004101: 26,3353 00045 36D
025308,004102: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025309,004103: 26,3355 20201 0,1
025310,004104: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025311,004105: 26,3357 03724 ULC
025312,004106: 26,3360 77616 RVQ
025313,004107:
025314,004108: # RADARANG
025315,004109:
025316,004110: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025317,004111: # RXZ = (SQRT (1-SINTHETA**2))RLC
025318,004112: # OUTPUT
025319,004113: # ULC IN ULC, PD0
|
|
Page 586 |
025321,004115: # RLC IN PD36D
025322,004116: # SIN THETA IN SINTHETA AND PD6
025323,004117: # RXZ NORM IN RXZ (N IN X1)
025324,004118:
025325,004119: 26,3361 45020 RADARANG STQ CALL
025326,004120: 26,3362 03675 RDRET
025327,004121: 26,3363 55333 GETULC
025328,004122: 26,3364 50276 VCOMP DOT
025329,004123: 26,3365 03705 MY
025330,004124: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025331,004125: 26,3367 03732 STORE SINTHETA
025332,004126: 26,3370 44316 DSQ BDSU
025333,004127: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2
025334,004128: 26,3372 41366 SQRT DMP
025335,004129: 26,3373 00045 36D
025336,004130: 26,3374 60352 SL1 NORM
025337,004131: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025338,004132: 26,3376 03722 STORE RXZ
025339,004133: 26,3377 77650 GOTO # EXIT
025340,004134: 26,3400 03675 RDRET
025341,004135: 26,3401 45020 LGCUPDTE STQ CALL
025342,004136: 26,3402 03675 LGRET
025343,004137: 26,3403 46531 INCORP1
025344,004138: 26,3404 51575 VLOAD ABVAL
025345,004139: 26,3405 02673 DELTAX +6
025346,004140: 26,3406 53754 LXA,2 SRR*
025347,004141: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025348,004142: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025349,004143: 26,3411 24317 STOVL R22DISP +2
025350,004144: 26,3412 02665 DELTAX
025351,004145: 26,3413 53646 ABVAL SRR*
025352,004146: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025353,004147: 26,3415 00315 STORE R22DISP
025354,004148: 26,3416 54335 SLOAD SR
025355,004149: 26,3417 02005 RMAX
025356,004150: 26,3420 20613 10D
025357,004151: 26,3421 50025 DSU BMN
025358,004152: 26,3422 00315 R22DISP
025359,004153: 26,3423 50572 R22LEM96 # GO DISPLAY
025360,004154: 26,3424 45335 SLOAD DSU
025361,004155: 26,3425 02006 VMAX
025362,004156: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025363,004157: 26,3427 77640 BMN
025364,004158: 26,3430 50572 R22LEM96 # GO DISPLAY
025365,004159: 26,3431 77624 ASTOK CALL
025366,004160: 26,3432 46743 INCORP2
025367,004161: 26,3433 77650 GOTO
025368,004162: 26,3434 03675 LGRET
025369,004163: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
025370,004164:
025371,004165: 26,3437 00241 WSIZE DEC 161 B-14
|
|
Page 587 |
025373,004167: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025374,004168:
025375,004169: 26,3442 E7,1456 EBANK= LOSCOUNT
|
|
Page 588 |
025377,004171:
025378,004172: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025379,004173: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025380,004174:
025381,004175: # FUNCTIONAL DESCRIPTION
025382,004176:
025383,004177: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025384,004178: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025385,004179: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025386,004180: # ATTITUDE MANEUVER.
025387,004181:
025388,004182: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025389,004183:
025390,004184: # SUBROUTINES CALLED
025391,004185:
025392,004186: # LEMCONIC R61LEM
025393,004187: # CSMCONIC RRDESSM
025394,004188: # JOBDELAY FLAGDOWN
025395,004189: # WAITLIST FLAGUP
025396,004190: # RRNB BANKCALL
025397,004191:
025398,004192: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025399,004193:
025400,004194: # OUTPUT
025401,004195:
025402,004196: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025403,004197: # 11111 INDICATES LOCKON ACHIEVED
025404,004198: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025405,004199:
025406,004200: # ERASABLE INITIALIZATION REQUIRED
025407,004201:
025408,004202: # SEARCH FLAG MUST BE SET
025409,004203: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025410,004204:
025411,004205: # DEBRIS
025412,004206:
025413,004207: # RLMSRCH UXVECT
025414,004208: # VXRLM UYVECT
025415,004209: # LOSDESRD NSRCHPNT
025416,004210: # DATAGOOD OMEGAD
025417,004211: # MPAC PUSHLIST
025418,004212:
025419,004213: 26,3442 COUNT* $$/LRS24
025420,004214: 26,3442 34755 LRS24.1 CAF ZERO
025421,004215: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025422,004216: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025423,004217: 26,3445 00006 EXTEND
|
|
Page 589 |
025425,004219: 26,3446 05012 WOR CHAN12
025426,004220: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025427,004221: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025428,004222: 26,3451 00006 EXTEND
025429,004223: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025430,004224:
025431,004225: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025432,004226: 26,3454 00004 INHINT
025433,004227: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025434,004228: 26,3456 E7,1456 EBANK= LOSCOUNT
025435,004229: 26,3456 03643 54067 2CADR CALLDGCH
025436,004230:
025437,004231: 26,3460 00003 RELINT
025438,004232: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025439,004233: 26,3462 74736 MASK REMODBIT
025440,004234: 26,3463 00006 EXTEND
025441,004235: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025442,004236: 26,3465 06037 TC INTPRET
025443,004237:
025444,004238: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025445,004239: 26,3467 21573 LOADTIME
025446,004240: 26,3470 15715 1.5SECS
025447,004241: 26,3471 34041 LRS24.11 STCALL TDEC1
025448,004242: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025449,004243: 26,3473 77775 VLOAD
025450,004244: 26,3474 00001 RATT
025451,004245: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025452,004246: 26,3476 00007 VATT
025453,004247: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025454,004248: 26,3500 00015 TAT
025455,004249: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025456,004250: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025457,004251: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025458,004252: 26,3504 00001 RATT
025459,004253: 26,3505 03676 RLMSRCH
025460,004254: 26,3506 77656 UNIT
025461,004255: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025462,004256: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025463,004257: 26,3511 47256 UNIT VXV
025464,004258: 26,3512 00001 RATT
025465,004259: 26,3513 77656 UNIT
025466,004260: 26,3514 03704 STORE VXRCM
025467,004261: 26,3515 52375 VLOAD VSU
025468,004262: 26,3516 00007 VATT
025469,004263: 26,3517 03740 SAVLEMV
025470,004264: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025471,004265: 26,3521 01734 REFSMMAT
025472,004266: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025473,004267: 26,3523 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 590 |
025475,004269: 26,3524 03737 NSRCHPNT
025476,004270: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025477,004271: 26,3526 53025 DSU BZE # IS N=1
025478,004272: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025479,004273: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025480,004274: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025481,004275: 26,3532 03720 UXVECT
025482,004276: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025483,004277: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025484,004278: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025485,004279: 26,3536 77761 VXSC
025486,004280: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR
025487,004281: 26,3540 27720 STOVL UXVECT
025488,004282: 26,3541 00015 UXVECTPR
025489,004283: 26,3542 53361 VXSC VAD
025490,004284: 26,3543 06520 COS60DEG
025491,004285: 26,3544 03720 UXVECT
025492,004286: 26,3545 77656 UNIT
025493,004287: 26,3546 27720 STOVL UXVECT
025494,004288: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR
025495,004289: 26,3550 77761 VXSC
025496,004290: 26,3551 15705 SIN60DEG
025497,004291: 26,3552 27726 STOVL UYVECT
025498,004292: 26,3553 00023 UYVECTPR
025499,004293: 26,3554 52361 VXSC VSU
025500,004294: 26,3555 06520 COS60DEG
025501,004295: 26,3556 03726 UYVECT
025502,004296: 26,3557 77656 UNIT
025503,004297: 26,3560 03726 STORE UYVECT
025504,004298: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025505,004299: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025506,004300: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025507,004301: 26,3564 64256 UNIT MXV
025508,004302: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025509,004303: 26,3566 77772 VSL1
025510,004304: 26,3567 25102 CONTDESG STOVL RRTARGET
025511,004305: 26,3570 03740 SAVLEMV
025512,004306: 26,3571 01761 STORE LOSVEL
025513,004307: 26,3572 77776 EXIT
025514,004308: 26,3573 00004 INHINT
025515,004309: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025516,004310: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025517,004311: # POINT IN THE PATTERN
025518,004312: 26,3576 44735 CONTDES2 CS CDESBIT
025519,004313: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025520,004314: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025521,004315: 26,3601 54110 TS RADMODES
025522,004316: 26,3602 06037 TC INTPRET
025523,004317:
025524,004318: 26,3603 77624 CALL
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|
Page 591 |
025526,004320: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025527,004321:
025528,004322: 26,3605 77776 EXIT
025529,004323: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025530,004324: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025531,004325:
025532,004326: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025533,004327: # SPACECRAFT +Z AXIS
025534,004328: 26,3610 00006 OMEGCALC EXTEND
025535,004329: 26,3611 30036 DCA CDUT
025536,004330: 26,3612 53753 DXCH TANGNB
025537,004331: 26,3613 06037 TC INTPRET
025538,004332: 26,3614 77624 CALL
025539,004333: 26,3615 46041 RRNB
025540,004334: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025541,004335: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025542,004336: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025543,004337: 26,3621 77776 EXIT
025544,004338: 26,3622 05155 TC ENDOFJOB
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|
Page 592 |
025546,004340: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025547,004341:
025548,004342: 26,3623 47375 CALCXY VLOAD VXV
025549,004343: 26,3624 03704 VXRCM
025550,004344: 26,3625 03712 LOSDESRD
025551,004345: 26,3626 77656 UNIT
025552,004346: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025553,004347: 26,3630 03712 LOSDESRD
025554,004348: 26,3631 53435 VXV UNIT
025555,004349: 26,3632 03720 UXVECT
025556,004350: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025557,004351: 26,3634 77650 GOTO
025558,004352: 26,3635 55561 OFFCALC
025559,004353:
025560,004354: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025561,004355: 26,3637 03712 LOSDESRD
025562,004356: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025563,004357: 26,3641 52172 VSL1 GOTO
025564,004358: 26,3642 55567 CONTDESG
025565,004359:
025566,004360: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025567,004361: 26,3644 74745 MASK RNDVZBIT
025568,004362: 26,3645 00006 EXTEND
025569,004363: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025570,004364: 26,3647 37713 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025571,004365: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025572,004366: 26,3651 E7,1675 EBANK= RLMSRCH
025573,004367: 26,3651 03654 54067 2CADR DATGDCHK
025574,004368:
025575,004369: 26,3653 05261 TC TASKOVER
025576,004370:
025577,004371: 26,3654 34750 DATGDCHK CAF BIT4
025578,004372: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025579,004373: 26,3656 02033 RAND CHAN33
025580,004374: 26,3657 00006 EXTEND
025581,004375: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025582,004376: 26,3661 46242 CS SIX
025583,004377: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025584,004378: 26,3663 00006 EXTEND
025585,004379: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025586,004380: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
025587,004381: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025588,004382:
025589,004383: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025590,004384: 26,3670 55733 TS DATAGOOD
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|
Page 593 |
025592,004386: 26,3671 00004 INHINT
025593,004387: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
025594,004388: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025595,004389: 26,3674 05155 TC ENDOFJOB
025596,004390:
025597,004391: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025598,004392: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025599,004393: 26,3677 00004 INHINT # REQUIRED IN P20
025600,004394: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025601,004395: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025602,004396: 26,3702 05155 TC ENDOFJOB
025603,004397:
025604,004398: 26,3703 25547 ALL1S DEC 11111 B-14
025605,004399: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025606,004400: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50)
025607,004401: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025608,004402: 26,3706 UYVECTPR EQUALS 18D
025609,004403: 26,3706 RLMUNIT EQUALS 12D
025610,004404: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025611,004405:
025612,004406: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025613,004407: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025614,004408:
025615,004409: # **** ONEOCT NEEDS A LOWER ORDER ****
025616,004410: # **** WORD OF ZEROES ****
025617,004411: 26,3713 01130 6SECONDS DEC 600 B-14
025618,004412: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025619,004413:
025620,004414: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS
025621,004415:
025622,004416: 4616 BLOCK 02
025623,004417: 6000 SETLOC FFTAG5
025624,004418: 6000 BANK
025625,004419: 6022 COUNT* $$/P20
025626,004420: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025627,004421: 6023 36026 DCA VB56CADR # GOTOPOOH
025628,004422: 6024 15165 TCF SUPDXCHZ
025629,004423: 6025 E7,1471 EBANK= WHOCARES
025630,004424: 6025 03024 66107 VB56CADR 2CADR TRMTRACK
025631,004425:
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|
Page 594 |
025633,004427: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025634,004428: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025635,004429:
025636,004430: # FUNCTIONAL DESCRIPTION:
025637,004431:
025638,004432: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025639,004433: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025640,004434: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025641,004435: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025642,004436: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025643,004437: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025644,004438:
025645,004439: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025646,004440:
025647,004441: # SUBROUTINES CALLED:
025648,004442:
025649,004443: # REMODE RRTONLY
025650,004444: # UNIT MPACVBUF
025651,004445: # QUICTRIG AX*SR*T
025652,004446: # SPSIN SPCOS
025653,004447: # SETRRECR RROUT
025654,004448: # RRRDOT RRRANGE
025655,004449:
025656,004450: # EXIT: TO NOR29NOW, IN SERVICER.
025657,004451:
025658,004452: # OUTPUT: (ALL FOR DOWNLINK)
025659,004453:
025660,004454: # RM RDOTM (RAW)
025661,004455: # AIG AMG
025662,004456: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025663,004457: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025664,004458: # MKTIME
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|
Page 595 |
025666,004460:
025667,004461: # ERASABLE INITIALIZATION REQUIRED:
025668,004462:
025669,004463: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025670,004464: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025671,004465: # R(CSM) V(CSM)
025672,004466: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025673,004467:
025674,004468: # DEBRIS:
025675,004469:
025676,004470: # RADMODES (BIT 10)
025677,004471: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025678,004472: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025679,004473: # LOSCMFLG READRFLG
025680,004474:
025681,004475: # ALARMS: NONE.
025682,004476:
025683,004477: # COMPONENT JOBS AND TASKS:
025684,004478:
025685,004479: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025686,004480: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025687,004481: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025688,004482:
025689,004483: 33,2045 BANK 33
025690,004484: 33,2000 SETLOC R29/SERV
025691,004485: 33,2000 BANK
025692,004486:
025693,004487: 33,2045 COUNT* $$/r29
025694,004488:
025695,004489: 33,2045 5014 NR29&RDR EQUALS EBANK5
025696,004490:
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|
Page 596 |
025698,004492: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025699,004493: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025700,004494:
025701,004495: 33,2045 40110 R29 CS RADMODES
025702,004496: 33,2046 74742 MASK DESIGBIT
025703,004497: 33,2047 00006 EXTEND
025704,004498: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025705,004499:
025706,004500: 33,2051 00004 INHINT
025707,004501: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025708,004502: 33,2053 44736 CS BIT14
025709,004503: 33,2054 00006 EXTEND
025710,004504: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025711,004505: 33,2056 44740 CS LOSCMBIT
025712,004506: 33,2057 70076 MASK FLAGWRD2
025713,004507: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025714,004508: 33,2061 44753 CS OLDESBIT
025715,004509: 33,2062 70074 MASK STATE
025716,004510: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025717,004511: 33,2064 04616 TC BANKCALL
025718,004512: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025719,004513: 33,2066 34740 CA ANTENBIT
025720,004514: 33,2067 70110 MASK RADMODES
025721,004515: 33,2070 10000 CCS A # TEST RR MODE BIT.
025722,004516: 33,2071 12104 TCF SETPRPOS # MODE 2.
025723,004517:
025724,004518: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025725,004519: 33,2073 05072 TC NOVAC
025726,004520: 33,2074 E7,1456 EBANK= LOSCOUNT
025727,004521: 33,2074 02113 66067 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN.
025728,004522:
025729,004523: 33,2076 44742 CS DESIGBIT
025730,004524: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025731,004525: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025732,004526: 33,2101 34736 CA REMODBIT
025733,004527: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025734,004528: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025735,004529:
025736,004530: 33,2104 34753 SETPRPOS CA ONE
025737,004531: 33,2105 05203 TC WAITLIST
025738,004532: 33,2106 E7,1456 EBANK= LOSCOUNT
025739,004533: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025740,004534:
025741,004535: 33,2110 34741 CA REPOSBIT
025742,004536: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025743,004537: 33,2112 12570 TCF NOR29NOW
025744,004538:
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|
Page 597 |
025746,004540: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025747,004541:
025748,004542: 33,2113 34753 R29REM0J CA ONE
025749,004543: 33,2114 05203 TC WAITLIST
025750,004544: 33,2115 E7,1456 EBANK= LOSCOUNT
025751,004545: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025752,004546:
025753,004547: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025754,004548: 33,2120 17714 CADR RADSTALL
025755,004549:
025756,004550: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025757,004551: 33,2122 15155 TCF ENDOFJOB
025758,004552:
025759,004553: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025760,004554:
025761,004555: 25,2000 SETLOC R29S1
025762,004556: 25,2000 BANK
025763,004557:
025764,004558: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
025765,004559: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
025766,004560: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025767,004561: 25,3604 70110 MASK RADMODES
025768,004562: 25,3605 54110 TS RADMODES
025769,004563: 25,3606 15261 TCF TASKOVER
025770,004564:
025771,004565: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025772,004566:
025773,004567: 33,2045 SETLOC R29
025774,004568: 33,2045 BANK
025775,004569:
025776,004570: 33,2123 00006 R29.LOS EXTEND
025777,004571: 33,2124 41235 DCS PIPTIME
025778,004572: 33,2125 52155 DXCH MPAC
025779,004573: 33,2126 00006 EXTEND
025780,004574: 33,2127 30025 DCA TIME2
025781,004575: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025782,004576: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025783,004577: 33,2132 30155 CA MPAC +1
025784,004578: 33,2133 00006 EXTEND
025785,004579: 33,2134 74740 MP BIT12
025786,004580: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025787,004581: 33,2136 06037 TC INTPRET
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|
Page 598 |
025789,004583: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025790,004584: # START IT UP WHEN THE DATA IS IN PLACE.
025791,004585:
025792,004586: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025793,004587: 33,2140 01726 V(CSM)
025794,004588: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025795,004589: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025796,004590: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025797,004591: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025798,004592: 33,2145 03521 R
025799,004593: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025800,004594: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025801,004595: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025802,004596: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025803,004597:
025804,004598: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025805,004599: 33,2153 00001 0
025806,004600: 33,2154 77761 VXSC
025807,004601: 33,2155 26177 .5SECB17
025808,004602: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025809,004603: 33,2157 77414 CLEAR EXIT
025810,004604: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025811,004605:
025812,004606: 33,2161 40074 CS STATE
025813,004607: 33,2162 74753 MASK OLDESBIT
025814,004608: 33,2163 00006 EXTEND
025815,004609: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025816,004610: 33,2165 00004 INHINT
025817,004611: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025818,004612:
025819,004613: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025820,004614: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025821,004615: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025822,004616: 33,2172 05203 TC WAITLIST
025823,004617: 33,2173 E7,1456 EBANK= LOSCOUNT
025824,004618: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025825,004619:
025826,004620: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025827,004621:
025828,004622: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025829,004623:
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|
Page 599 |
025831,004625: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025832,004626: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025833,004627:
025834,004628: 24,3356 BANK 24
025835,004629: 24,2000 SETLOC P20S
025836,004630: 24,2000 BANK
025837,004631:
025838,004632: 24,3356 COUNT* $$/R29
025839,004633:
025840,004634: 24,3356 35031 BEGDES29 CAF PRIO21
025841,004635: 24,3357 05072 TC NOVAC
025842,004636: 24,3360 E3,1760 EBANK= LOSVDT/4
025843,004637: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025844,004638:
025845,004639: 24,3362 34774 R29DLOOP CAF .5SEC
025846,004640: 24,3363 05224 TC VARDELAY
025847,004641:
025848,004642: 24,3364 40110 CS RADMODES
025849,004643: 24,3365 74742 MASK DESIGBIT
025850,004644: 24,3366 10000 CCS A
025851,004645: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025852,004646:
025853,004647: 24,3370 40076 CS FLAGWRD2
025854,004648: 24,3371 74740 MASK LOSCMBIT
025855,004649: 24,3372 00006 EXTEND
025856,004650: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025857,004651: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025858,004652: 24,3375 13356 TCF BEGDES29
025859,004653:
025860,004654: 24,3376 34753 CA ONE
025861,004655: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 600 |
025863,004657: # R29DODES: RR DESIGNATION LOOP FOR R29
025864,004658:
025865,004659: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025866,004660: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025867,004661: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025868,004662: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025869,004663: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025870,004664:
025871,004665: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025872,004666: # TASK WHEN LOCK-ON IS ACHIEVED.
025873,004667:
025874,004668: 32,2547 BANK 32
025875,004669: 32,2000 SETLOC F2DPS*32
025876,004670: 32,2000 BANK
025877,004671:
025878,004672: 32,2547 COUNT* $$/R29
025879,004673: 32,2547 E3,1760 EBANK= LOSVDT/4
025880,004674:
025881,004675: 32,2547 34753 R29DODES CA ONE
025882,004676: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025883,004677: 32,2551 34756 CA FIVE
025884,004678:
025885,004679: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025886,004680: 32,2553 54002 TS Q
025887,004681: 32,2554 11107 CCS TANG
025888,004682: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025889,004683:
025890,004684: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025891,004685: 32,2557 50002 INDEX Q
025892,004686: 32,2560 31761 DCA LOSVDT/4
025893,004687: 32,2561 50002 INDEX Q
025894,004688: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025895,004689:
025896,004690: 32,2563 00006 R29DPAS1 EXTEND
025897,004691: 32,2564 50002 INDEX Q
025898,004692: 32,2565 31102 DCA LOSSM
025899,004693: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025900,004694: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025901,004695: 32,2570 11107 CCS TANG
025902,004696: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025903,004697:
025904,004698: 32,2572 00006 EXTEND
025905,004699: 32,2573 50002 INDEX Q
025906,004700: 32,2574 31761 DCA LOSVDT/4
025907,004701: 32,2575 50002 INDEX Q
025908,004702: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025909,004703:
025910,004704: 32,2577 10002 R29DVEND CCS Q
025911,004705: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025912,004706:
|
|
Page 601 |
025914,004708: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025915,004709:
025916,004710: 32,2601 52156 DXCH MPAC +1
025917,004711: 32,2602 52155 DXCH MPAC
025918,004712: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D
025919,004713: 32,2604 54120 TS FIXLOC
025920,004714: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025921,004715: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025922,004716: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025923,004717:
025924,004718: 32,2610 11107 CCS TANG
025925,004719: 32,2611 12613 TCF +2
025926,004720: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025927,004721: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025928,004722: 32,2614 00006 EXTEND
025929,004723: 32,2615 30036 DCA CDUT
025930,004724: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025931,004725: 32,2617 30033 CA CDUY
025932,004726: 32,2620 54766 TS CDUSPOT
025933,004727: 32,2621 30034 CA CDUZ
025934,004728: 32,2622 54770 TS CDUSPOT +2
025935,004729: 32,2623 30032 CA CDUX
025936,004730: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025937,004731: 32,2625 04616 TC BANKCALL
025938,004732: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025939,004733:
025940,004734: 32,2627 46245 GOTANGLS CS THREE
025941,004735: 32,2630 04616 TC BANKCALL
025942,004736: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025943,004737:
025944,004738: 32,2632 11107 CCS TANG
025945,004739: 32,2633 12635 TCF +2
025946,004740: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025947,004741:
|
|
Page 602 |
025949,004743: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025950,004744: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025951,004745:
025952,004746: 32,2635 00004 INHINT
025953,004747: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025954,004748: 32,2637 31766 CA SAVECDUT
025955,004749: 32,2640 05032 TC SPCOS
025956,004750: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T.
025957,004751: 32,2642 41766 CS SAVECDUT
025958,004752: 32,2643 05033 TC SPSIN
025959,004753: 32,2644 54163 TS MODE # MODE = -SIN T.
025960,004754: 32,2645 00006 EXTEND
025961,004755: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025962,004756: 32,2647 52155 DXCH MPAC
025963,004757: 32,2650 31767 CA SAVECDUT +1
025964,004758: 32,2651 05033 TC SPSIN
025965,004759: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025966,004760: 32,2653 00006 EXTEND
025967,004761: 32,2654 70166 MP PUSHLOC
025968,004762: 32,2655 00006 EXTEND
025969,004763: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025970,004764: 32,2657 20155 DAS MPAC
025971,004765: 32,2660 31767 CA SAVECDUT +1
025972,004766: 32,2661 05032 TC SPCOS
025973,004767: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025974,004768: 32,2663 00006 EXTEND
025975,004769: 32,2664 70166 MP PUSHLOC
025976,004770: 32,2665 00006 EXTEND
025977,004771: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025978,004772: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025979,004773: 32,2670 00006 EXTEND # -SIN T, COS S COS T).
025980,004774: 32,2671 30155 DCA MPAC
025981,004775: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025982,004776: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025983,004777: 32,2674 34736 CA BIT14
025984,004778: 32,2675 12676 NOOP
025985,004779: 32,2676 00006 EXTEND
025986,004780: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025987,004781: 32,2700 00003 RELINT
025988,004782: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025989,004783:
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|
Page 603 |
025991,004785: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025992,004786:
025993,004787: 32,2702 31767 R29DPAS2 CA SAVECDUT +1
025994,004788: 32,2703 00006 EXTEND
025995,004789: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X.
025996,004790: 32,2705 53110 DXCH TANG
025997,004791: 32,2706 41766 CS SAVECDUT
025998,004792: 32,2707 00006 EXTEND
025999,004793: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
026000,004794: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026001,004795: 32,2712 40163 CS MODE # - SIN S)
026002,004796: 32,2713 00006 EXTEND
026003,004797: 32,2714 71766 MP SAVECDUT
026004,004798: 32,2715 00006 EXTEND
026005,004799: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
026006,004800: 32,2717 52155 DXCH MPAC
026007,004801: 32,2720 30166 CA PUSHLOC
026008,004802: 32,2721 00006 EXTEND
026009,004803: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
026010,004804: 32,2723 20155 DAS MPAC
026011,004805: 32,2724 40163 CS MODE
026012,004806: 32,2725 00006 EXTEND
026013,004807: 32,2726 71767 MP SAVECDUT +1
026014,004808: 32,2727 00006 EXTEND
026015,004809: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
026016,004810: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
026017,004811: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
026018,004812: 32,2733 00006 EXTEND
026019,004813: 32,2734 72775 MP RR29GAIN
026020,004814: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
026021,004815: 32,2736 00006 EXTEND
026022,004816: 32,2737 72775 MP RR29GAIN
026023,004817: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD.
026024,004818:
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|
Page 604 |
026026,004820: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
026027,004821: # READING DATA FROM THE RENDEZVOUS RADAR.
026028,004822:
026029,004823: 32,2741 34750 DGOOD? CAF BIT4
026030,004824: 32,2742 00006 EXTEND
026031,004825: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
026032,004826: 32,2744 00004 INHINT # (MAINLY FOR RROUT).
026033,004827: 32,2745 00006 EXTEND
026034,004828: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
026035,004829:
026036,004830: 32,2747 04616 TC BANKCALL
026037,004831: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026038,004832: 32,2751 12770 TCF END29DOD
026039,004833:
026040,004834: 32,2752 44742 R29LOKON CS DESIGBIT
026041,004835: 32,2753 70110 MASK RADMODES
026042,004836: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
026043,004837: 32,2755 44752 CS BIT2
026044,004838: 32,2756 00006 EXTEND
026045,004839: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
026046,004840: 32,2760 34743 CA READRBIT
026047,004841: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
026048,004842: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
026049,004843: 32,2763 44776 CS SUPER110 # -96D + 100D = 4.
026050,004844: 32,2764 64777 AD 1SEC # 0 + 100D = 100D.
026051,004845: 32,2765 05203 TC WAITLIST
026052,004846: 32,2766 E7,1456 EBANK= LOSCOUNT
026053,004847: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB.
026054,004848:
026055,004849: 32,2770 44740 END29DOD CS LOSCMBIT
026056,004850: 32,2771 70076 MASK FLAGWRD2
026057,004851: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026058,004852: 32,2773 15155 TCF ENDOFJOB
026059,004853:
026060,004854: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D
026061,004855: 32,2775 56655 RR29GAIN DEC -.53624
026062,004856: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL
026063,004857: 32,2776 1101 LOSSM EQUALS RRTARGET
026064,004858: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV
026065,004859:
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|
Page 605 |
026067,004861: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026068,004862:
026069,004863: 24,3400 BANK 24
026070,004864: 24,2000 SETLOC P20S
026071,004865: 24,2000 BANK
026072,004866:
026073,004867: 24,3400 COUNT* $$/R29
026074,004868:
026075,004869: 24,3400 E7,1456 EBANK= LOSCOUNT
026076,004870:
026077,004871: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026078,004872: 24,3401 05072 TC NOVAC
026079,004873: 24,3402 E7,1456 EBANK= LOSCOUNT
026080,004874: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026081,004875:
026082,004876: 24,3404 35000 CA 2SECS
026083,004877: 24,3405 05224 TC VARDELAY
026084,004878:
026085,004879: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026086,004880: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026087,004881: 24,3410 10000 CCS A
026088,004882: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
026089,004883: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026090,004884:
026091,004885: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026092,004886: 24,3414 74741 MASK NR29FBIT
026093,004887: 24,3415 10000 CCS A # TEST "NOR29FLG".
026094,004888: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
026095,004889:
026096,004890: 24,3417 30110 CA RADMODES
026097,004891: 24,3420 74752 MASK AUTOMBIT
026098,004892: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026099,004893: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026100,004894:
026101,004895: 24,3423 04616 TC BANKCALL
026102,004896: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026103,004897: 24,3425 04616 TC BANKCALL
026104,004898: 24,3426 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026105,004899: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026106,004900:
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|
Page 606 |
026108,004902: # R29 RADAR READING CONTINUED.
026109,004903:
026110,004904: 24,3430 53106 DXCH TIMEHOLD
026111,004905: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026112,004906: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026113,004907: 24,3433 00006 EXTEND
026114,004908: 24,3434 30036 DCA CDUT
026115,004909: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026116,004910: 24,3436 00006 EXTEND
026117,004911: 24,3437 30034 DCA CDUY
026118,004912: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026119,004913: 24,3441 30032 CA CDUX
026120,004914: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026121,004915:
026122,004916: 24,3443 04616 R29RANGE TC BANKCALL
026123,004917: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
026124,004918: 24,3445 04616 TC BANKCALL
026125,004919: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026126,004920: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026127,004921:
026128,004922: 24,3450 00004 INHINT
026129,004923: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026130,004924: 24,3452 53757 DXCH RM
026131,004925: 24,3453 52155 DXCH MPAC
026132,004926: 24,3454 53755 DXCH MKTIME
026133,004927: 24,3455 52157 DXCH MPAC +2
026134,004928: 24,3456 53753 DXCH TANGNB
026135,004929: 24,3457 52161 DXCH MPAC +4
026136,004930: 24,3460 53460 DXCH AIG
026137,004931: 24,3461 30162 CA MPAC +6
026138,004932: 24,3462 55461 TS AOG
026139,004933: 24,3463 34753 CA ONE
026140,004934: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026141,004935: 24,3465 15155 TCF ENDOFJOB
026142,004936:
026143,004937: 24,3466 40101 R29RRR? CS FLAGWRD5
026144,004938: 24,3467 74742 MASK BIT10
026145,004939: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026146,004940: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026147,004941: 24,3472 05516 TC DOWNFLAG
026148,004942: 24,3473 00120 ADRES RNGSCFLG
026149,004943: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026150,004944:
026151,004945: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
026152,004946: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
026153,004947: 24,3477 05516 TC DOWNFLAG
026154,004948: 24,3500 00063 ADRES READRFLG
026155,004949: 24,3501 44736 CS BIT14
026156,004950: 24,3502 00006 EXTEND
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|
Page 607 |
026158,004952: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
026159,004953: 24,3504 15155 TCF ENDOFJOB
026160,004954:
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|
Page 608 |
026162,004956: # W-MATRIX MONITOR
026163,004957:
026164,004958: 31,2007 BANK 31
026165,004959: 31,2000 SETLOC VB67
026166,004960: 31,2000 BANK
026167,004961: 31,2007 COUNT* $$/EXTVB
026168,004962:
026169,004963: 31,2007 E4,1600 EBANK= WWPOS
026170,004964:
026171,004965: 31,2007 06037 V67CALL TC INTPRET
026172,004966: 31,2010 77624 CALL
026173,004967: 31,2011 62120 V67WW
026174,004968: 31,2012 77776 EXIT
026175,004969: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026176,004970: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026177,004971: 31,2015 53607 DXCH WWBIAS +2
026178,004972: 31,2016 00006 EXTEND
026179,004973: 31,2017 31603 DCA WWVEL
026180,004974: 31,2020 53611 DXCH WWBIAS +4
026181,004975: 31,2021 00006 EXTEND
026182,004976: 31,2022 31605 DCA WWBIAS
026183,004977: 31,2023 53613 DXCH WWBIAS +6
026184,004978: 31,2024 32143 V06N99DS CAF V06N99
026185,004979: 31,2025 04616 TC BANKCALL
026186,004980: 31,2026 20334 CADR GOXDSPF
026187,004981: 31,2027 15472 TCF ENDEXT
026188,004982: 31,2030 12032 TCF V6N99PRO
026189,004983: 31,2031 12024 TCF V06N99DS
026190,004984: 31,2032 22007 V6N99PRO ZL
026191,004985: 31,2033 34756 CA FIVE
026192,004986: 31,2034 54002 N99LOOP TS Q
026193,004987: 31,2035 50002 INDEX Q
026194,004988: 31,2036 41600 CS WWPOS
026195,004989: 31,2037 50002 INDEX Q
026196,004990: 31,2040 61606 AD WWPOS +6
026197,004991: 31,2041 26001 ADS L
026198,004992: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026199,004993: 31,2043 12034 TCF N99LOOP
026200,004994: 31,2044 22000 LXCH A
026201,004995: 31,2045 00006 EXTEND
026202,004996: 31,2046 12051 BZF V06N9933
026203,004997: 31,2047 05504 TC UPFLAG
026204,004998: 31,2050 00160 ADRES V67FLAG
026205,004999:
026206,005000: 31,2051 06037 V06N9933 TC INTPRET
026207,005001: 31,2052 77414 BON EXIT
026208,005002: 31,2053 03707 V67FLAG
026209,005003: 31,2054 62056 +2
026210,005004: 31,2055 15472 TCF ENDEXT
026211,005005: 31,2056 77745 DLOAD
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|
Page 609 |
026213,005007: 31,2057 02201 WWPOS
026214,005008: 31,2060 72412 SL4 SL1
026215,005009: 31,2061 14001 STODL 0D
026216,005010: 31,2062 02203 WWVEL
026217,005011: 31,2063 14003 STODL 2D
026218,005012: 31,2064 02205 WWBIAS
026219,005013: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026220,005014: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026221,005015: 31,2067 00005 STORE 4D
026222,005016: 31,2070 72014 BON LXA,1
026223,005017: 31,2071 04307 SURFFLAG
026224,005018: 31,2072 62102 V67SURF
026225,005019: 31,2073 00000 0D
026226,005020: 31,2074 72130 SXA,1 LXA,1
026227,005021: 31,2075 02000 WRENDPOS
026228,005022: 31,2076 00002 2D
026229,005023: 31,2077 52130 SXA,1 GOTO
026230,005024: 31,2100 02001 WRENDVEL
026231,005025: 31,2101 62110 V67CLRF
026232,005026: 31,2102 66150 V67SURF LXA,1 SXA,1
026233,005027: 31,2103 00000 0D
026234,005028: 31,2104 02006 WSURFPOS
026235,005029: 31,2105 66150 LXA,1 SXA,1
026236,005030: 31,2106 00002 2D
026237,005031: 31,2107 02007 WSURFVEL
026238,005032: 31,2110 66150 V67CLRF LXA,1 SXA,1
026239,005033: 31,2111 00004 4D
026240,005034: 31,2112 02003 WTRUN
026241,005035: 31,2113 77730 SXA,1
026242,005036: 31,2114 02002 WSHAFT
026243,005037: 31,2115 77414 CLEAR EXIT
026244,005038: 31,2116 02676 RENDWFLG
026245,005039: 31,2117 15472 TCF ENDEXT
026246,005040: 31,2120 40020 V67WW STQ BOV
026247,005041: 31,2121 00051 S2
026248,005042: 31,2122 62123 +1
026249,005043: 31,2123 45014 CLEAR CALL
026250,005044: 31,2124 03667 V67FLAG
026251,005045: 31,2125 27414 INTSTALL
026252,005046: 31,2126 71331 SSP DLOAD
026253,005047: 31,2127 00051 S1
026254,005048: 31,2130 00006 DEC 6 B-14
026255,005049: 31,2131 06522 ZEROVECS
026256,005050: 31,2132 02201 STORE WWPOS
026257,005051: 31,2133 02203 STORE WWVEL
026258,005052: 31,2134 02205 STORE WWBIAS
026259,005053: 31,2135 77770 AXT,1
026260,005054: 31,2136 00066 DEC 54 B-14
026261,005055: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026262,005056: 31,2140 02467 W +54D,1
|
|
Page 610 |
026264,005058: 31,2141 77650 GOTO
026265,005059: 31,2142 60002 ADDPOS
026266,005060: 31,2143 01543 V06N99 VN 0699
026267,005061:
026268,005062: 30,2000 SETLOC VB67A
026269,005063: 30,2000 BANK
026270,005064: 30,2002 COUNT* $$/EXTVB
026271,005065:
026272,005066: 30,2002 77615 ADDPOS DAD
026273,005067: 30,2003 02201 WWPOS
026274,005068: 30,2004 02201 STORE WWPOS
026275,005069: 30,2005 47573 VLOAD* VSQ
026276,005070: 30,2006 02555 W +108D,1
026277,005071: 30,2007 77615 DAD
026278,005072: 30,2010 02203 WWVEL
026279,005073: 30,2011 02203 STORE WWVEL
026280,005074: 30,2012 47573 VLOAD* VSQ
026281,005075: 30,2013 02643 W +162D,1
026282,005076: 30,2014 77615 DAD
026283,005077: 30,2015 02205 WWBIAS
026284,005078: 30,2016 02205 STORE WWBIAS
026285,005079: 30,2017 75500 TIX,1 SQRT
026286,005080: 30,2020 62137 NXPOSVEL
026287,005081: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026288,005082: 30,2022 20613 10D # NOUN SCALING (B-5)
026289,005083: 30,2023 16205 STODL WWBIAS
026290,005084: 30,2024 02203 WWVEL
026291,005085: 30,2025 77766 SQRT
026292,005086: 30,2026 16203 STODL WWVEL
026293,005087: 30,2027 02201 WWPOS
026294,005088: 30,2030 77766 SQRT
026295,005089: 30,2031 02201 STORE WWPOS
026296,005090: 30,2032 52000 BOV GOTO
026297,005091: 30,2033 60035 +2
026298,005092: 30,2034 60042 V67XXX
026299,005093: 30,2035 77745 DLOAD
026300,005094: 30,2036 06530 DPPOSMAX
026301,005095: 30,2037 02201 STORE WWPOS
026302,005096: 30,2040 02203 STORE WWVEL
026303,005097: 30,2041 02205 STORE WWBIAS
026304,005098: 30,2042 45345 V67XXX DLOAD DSU
026305,005099: 30,2043 02201 WWPOS
026306,005100: 30,2044 20060 FT99999
026307,005101: 30,2045 71240 BMN DLOAD
026308,005102: 30,2046 60051 +3
026309,005103: 30,2047 20060 FT99999
026310,005104: 30,2050 02201 STORE WWPOS
026311,005105: 30,2051 66150 LXA,1 SXA,1
026312,005106: 30,2052 00051 S2
026313,005107: 30,2053 00052 QPRET
|
|
Page 611 |
026315,005109: 30,2054 77776 EXIT
026316,005110: 30,2055 04635 TC POSTJUMP
026317,005111: 30,2056 27425 CADR INTWAKE
026318,005112:
026319,005113: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026320,005114:
|
|
Page 612 |
026322,005116: 25,3607 BANK 25
026323,005117: 25,2000 SETLOC RADARUPT
026324,005118: 25,2000 BANK
026325,005119: 25,3607 COUNT* $$/RRUPT
026326,005120:
026327,005121: 25,3607 E7,1456 EBANK= LOSCOUNT
026328,005122:
026329,005123: 25,3607 34753 R12LITES CA ONE
026330,005124: 25,3610 71303 MASK IMODES33
026331,005125: 25,3611 10000 CCS A
026332,005126: 25,3612 14707 TCF ISWRETRN
026333,005127:
026334,005128: 25,3613 03630 TC HLIGHT
026335,005129: 25,3614 03625 TC HLIGHT -3
026336,005130: 25,3615 14707 TCF ISWRETRN
026337,005131:
026338,005132: 25,3616 34753 RADLITES CA BIT1
026339,005133: 25,3617 71303 MASK IMODES33
026340,005134: 25,3620 10000 CCS A
026341,005135: 25,3621 00002 TC Q
026342,005136:
026343,005137: 25,3622 44747 CS BIT5
026344,005138: 25,3623 60061 AD ITEMP1
026345,005139: 25,3624 10000 CCS A
026346,005140: 25,3625 44753 CS ONE
026347,005141: 25,3626 13664 TCF VLIGHT
026348,005142:
026349,005143: 25,3627 14570 TCF RRTRKF
026350,005144:
026351,005145: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026352,005146:
026353,005147: 25,3631 34747 CA HLITE
026354,005148: 25,3632 54001 TS L
026355,005149:
026356,005150: 25,3633 30107 CA FLGWRD11
026357,005151: 25,3634 74751 MASK SCABBIT
026358,005152: 25,3635 10000 CCS A
026359,005153: 25,3636 13656 TCF ONLITES
026360,005154: 25,3637 34747 CA LRALTBIT
026361,005155: 25,3640 70110 BOTHLITS MASK RADMODES
026362,005156: 25,3641 10000 CCS A
026363,005157: 25,3642 13656 TCF ONLITES
026364,005158:
026365,005159: 25,3643 30107 CA FLGWRD11
026366,005160: 25,3644 50065 INDEX ITEMP5
026367,005161: 25,3645 74753 MASK HFLSHBIT
026368,005162: 25,3646 10000 CCS A
026369,005163: 25,3647 14570 TCF RRTRKF
|
|
Page 613 |
026371,005165: 25,3650 00006 LITIT EXTEND
026372,005166: 25,3651 22066 QXCH ITEMP6
026373,005167: 25,3652 04602 TC TRKFLON +1
026374,005168:
026375,005169: 25,3653 00006 EXTEND
026376,005170: 25,3654 22066 QXCH ITEMP6
026377,005171: 25,3655 14570 TCF RRTRKF
026378,005172:
026379,005173:
026380,005174: 25,3656 50065 ONLITES INDEX ITEMP5
026381,005175: 25,3657 44753 CS HFLSHBIT
026382,005176: 25,3660 70107 MASK FLGWRD11
026383,005177: 25,3661 54107 TS FLGWRD11
026384,005178:
026385,005179: 25,3662 30001 CA L
026386,005180: 25,3663 13650 TCF LITIT
026387,005181: 25,3664 54065 VLIGHT TS ITEMP5
026388,005182: 25,3665 34751 CA VLITE
026389,005183: 25,3666 54001 TS L
026390,005184: 25,3667 34744 CA BIT8
026391,005185: 25,3670 13640 TCF BOTHLITS
026392,005186:
026393,005187: 25,3671 4747 HLITE EQUALS BIT5
026394,005188: 25,3671 4751 VLITE EQUALS BIT3
026395,005189:
End of include-file P20-P25.agc. Parent file is MAIN.agc