GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note 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 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
021213,000002: ## Copyright: Public domain.
021214,000003: ## Filename: P20-P25.agc
021215,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
021216,000005: ## It is part of the source code for the Lunar Module's (LM)
021217,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
021218,000007: ## Assembler: yaYUL
021219,000008: ## Contact: Onno Hommes <ohommes@cmu.edu>.
021220,000009: ## Website: www.ibiblio.org/apollo.
021221,000010: ## Pages: 0492-0613
021222,000011: ## Mod history: 2009-05-26 OH Transcribed from page images.
021223,000012: ## 2009-06-05 RSB Corrected a typos.
021224,000013: ## 2009-06-06 RSB Added a missing instruction, and a block
021225,000014: ## of 3 missing instructions.
021226,000015: ## 2009-06-07 RSB Fixed a misprint.
021227,000016: ## 2009-06-07 RSB Changed the construct "2DEC E-6 B12"
021228,000017: ## (which isn't legal in yaYUL) to
021229,000018: ## "2DEC 1.0 E-6 B12".
021230,000019: ## 2011-05-07 JL Removed workarounds.
021231,000020: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
021232,000021: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
021233,000022: ## and corrected the errors found.
021234,000023: ## 2017-01-28 RSB WTIH -> WITH.
021235,000024: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
021236,000025: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021237,000026: ## side-by-side diff of Luminary 69/99/116/131/210.
021238,000027: ## 2021-05-30 ABS R21LEMB -> R21LEM8
021239,000028: ## $$/r29 -> $$/R29
021240,000029: ## R29REM0J -> R29REMOJ
021241,000030:
021242,000031: ## This source code has been transcribed or otherwise adapted from
021243,000032: ## digitized images of a hardcopy from the MIT Museum. The digitization
021244,000033: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
021245,000034: ## the Museum. Many thanks to both. The images (with suitable reduction
021246,000035: ## in storage size and consequent reduction in image quality as well) are
021247,000036: ## available online at www.ibiblio.org/apollo. If for some reason you
021248,000037: ## find that the images are illegible, contact me at info@sandroid.org
021249,000038: ## about getting access to the (much) higher-quality images which Paul
021250,000039: ## actually created.
021251,000040: ##
021252,000041: ## Notations on the hardcopy document read, in part:
021253,000042: ##
021254,000043: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
021255,000044: ## 16:27 JULY 14, 1969
021256,000045:
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021258,000047: # RENDEZVOUS NAVIGATION PROGRAM 20
021259,000048:
021260,000049: # PROGRAM DESCRIPTION
021261,000050:
021262,000051: # MOD NO - 2
021263,000052: # BY P. VOLANTE
021264,000053:
021265,000054: # FUNCTIONAL DESCRIPTION
021266,000055:
021267,000056: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021268,000057: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021269,000058: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021270,000059: # ON THE BASIS OF THE RR TRACKING DATA.
021271,000060:
021272,000061: # CALLING SEQUENCE -
021273,000062:
021274,000063: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021275,000064:
021276,000065: # SUBROUTINES CALLED
021277,000066:
021278,000067: # R02BOTH (IMU STATUS CHECK) FLAGUP
021279,000068: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021280,000069: # R23LEM (MANUAL ACQUISITION) BANKCALL
021281,000070: # LS201 (LOS DETERMINATION) TASKOVER
021282,000071: # LS202 (RANGE LIMIT TEST)
021283,000072: # R61LEM (PREFERRED TRACKING ATTITUDE)
021284,000073: # R21LEM (RR DESIGNATE) ENDOFJOB
021285,000074: # R22LEM (DATA READ) GOPERF1
021286,000075: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021287,000076: # PRIOLARM (PRIORITY DISPLAY)
021288,000077:
021289,000078: # NORMAL EXIT MODES -
021290,000079:
021291,000080: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021292,000081: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021293,000082:
021294,000083: # ALARM OR ABORT EXIT MODES -
021295,000084:
021296,000085: # RANGE GREATER THAN 400 NM DISPLAY
021297,000086:
021298,000087: # OUTPUT
021299,000088:
021300,000089: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021301,000090:
021302,000091: # ERASABLE INITIALIZATION REQUIRED
021303,000092:
021304,000093: # FLAGS SET + RESET
021305,000094:
021306,000095: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021307,000096:
021308,000097: # DEBRIS
021309,000098:
021310,000099: # CENTRALS - A,Q,L
021311,000100:
021312,000101: 25,2062 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021313,000102:
021314,000103: 33,2045 BANK 33
021315,000104: 24,2000 SETLOC P20S
021316,000105: 24,2000 BANK
021317,000106:
021318,000107: 24,2000 E7,1456 EBANK= LOSCOUNT
021319,000108: 24,2000 COUNT* $$/P20
021320,000109: 24,2000 24,2000 PROG22 = PROG20
021321,000110: 24,2000 05327 PROG20 TC 2PHSCHNG
021322,000111: 24,2001 00004 OCT 4
021323,000112: 24,2002 05022 OCT 05022
021324,000113: 24,2003 26000 OCT 26000 # PRIORITY 26
021325,000114: 24,2004 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021327,000116: 24,2005 02007 TC ORBCHGO # YES
021328,000117: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021329,000118: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021330,000119: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021331,000120: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021332,000121: 24,2012 55145 TS OPTION2 # CHANGE PRESENT ORBIT
021333,000122: 24,2013 32311 CAF OCT00012
021334,000123: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021335,000124: 24,2015 20633 CADR GOPERF4
021336,000125: 24,2016 06001 TC GOTOPOOH # TERMINATE
021337,000126: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021338,000127: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021339,000128: 24,2021 42312 ORBCHG1 CS P22ONE
021340,000129: 24,2022 61145 AD OPTION2
021341,000130: 24,2023 00006 EXTEND
021342,000131: 24,2024 12040 BZF PROG20A
021343,000132: 24,2025 32315 CAF V06N33*
021344,000133: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021345,000134: 24,2027 20476 CADR GOFLASH # TIME OF LAUNCH
021346,000135: 24,2030 06001 TC GOTOPOOH # TERMINATE
021347,000136: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021348,000137: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021349,000138: 24,2033 06037 ORBCHG2 TC INTPRET
021350,000139: 24,2034 77650 GOTO
021351,000140: 24,2035 64217 ORBCHG3
021352,000141: 32,2217 BANK 32
021353,000142: 32,2000 SETLOC P20S4
021354,000143: 32,2000 BANK
021355,000144: 32,2217 COUNT* $$/P20
021356,000145:
021357,000146: 32,2217 77624 ORBCHG3 CALL
021358,000147: 32,2220 27414 INTSTALL
021359,000148: 32,2221 77745 DLOAD
021360,000149: 32,2222 03442 TIG
021361,000150: 32,2223 03661 STORE LNCHTM
021362,000151: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021363,000152: 32,2225 43014 CLEAR CLEAR
021364,000153: 32,2226 01674 VINTFLAG # LM INTEGRATION
021365,000154: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021366,000155: 32,2230 43014 CLEAR CLEAR
021367,000156: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021368,000157: 32,2232 01675 D6OR9FLG
021369,000158: 32,2233 77624 CALL
021370,000159: 32,2234 27134 INTEGRV # PLANETARY INERTIAL ORIENTATION
021371,000160: 32,2235 77624 CALL
021372,000161: 32,2236 11244 GRP2PC
021373,000162: 32,2237 77775 VLOAD
021374,000163: 32,2240 00017 RATT1
021375,000164: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021376,000165: 32,2242 00015 TAT
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021378,000167: 32,2243 34041 STCALL TDEC1
021379,000168: 32,2244 27414 INTSTALL
021380,000169: 32,2245 43014 SET CLEAR
021381,000170: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021382,000171: 32,2247 01673 INTYPFLG
021383,000172: 32,2250 43014 CLEAR BOFF
021384,000173: 32,2251 01676 DIM0FLAG
021385,000174: 32,2252 02756 RENDWFLG # W MATRIX VALID
021386,000175: 32,2253 64257 NOWMATX # NO
021387,000176: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021388,000177: 32,2255 01476 DIM0FLAG
021389,000178: 32,2256 01475 D6OR9FLG
021390,000179: 32,2257 77624 NOWMATX CALL
021391,000180: 32,2260 27134 INTEGRV # CSM INTEGRATION
021392,000181: 32,2261 77624 CALL
021393,000182: 32,2262 11244 GRP2PC
021394,000183: 32,2263 77775 VLOAD
021395,000184: 32,2264 00025 VATT1
021396,000185: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021397,000186: 32,2266 00017 RATT1
021398,000187: 32,2267 01102 STORE RSUBC # SAVE CSM POSITION
021399,000188: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021400,000189: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021401,000190: 32,2272 24025 STOVL 20D # SAVE NSUB1
021402,000191: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021403,000192: 32,2274 53435 VXV UNIT # PLANE CHANGE
021404,000193: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021405,000194: 32,2276 27637 STOVL UCSM
021406,000195: 32,2277 01102 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021407,000196: 32,2300 50256 UNIT DOT # AND RSUBC
021408,000197: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021409,000198: 32,2302 77752 SL1
021410,000199: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021411,000200: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021412,000201: 32,2305 10314 ONEB-2
021413,000202: 32,2306 77766 SQRT
021414,000203: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021415,000204: 32,2310 01102 RSUBC # POSITION OF CSM AT EST. LAUNCH
021416,000205: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021417,000206: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021418,000207: 32,2313 77676 VCOMP
021419,000208: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021420,000209: 32,2315 45014 CLEAR CALL
021421,000210: 32,2316 03666 RVSW
021422,000211: 32,2317 24732 TIMETHET
021423,000212: 32,2320 77676 VCOMP
021424,000213: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021425,000214: 32,2322 77745 DLOAD
021426,000215: 32,2323 00037 T
021427,000216: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021429,000218: 32,2325 03645 NEWVEL
021430,000219: 32,2326 77646 ABVAL
021431,000220: 32,2327 24025 STOVL 20D
021432,000221: 32,2330 00001 0D
021433,000222: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021434,000223: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021435,000224: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021436,000225: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021437,000226: 32,2335 03653 NEWPOS # ORBITAL PLANE
021438,000227: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2
021439,000228: 32,2337 00025 20D
021440,000229: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021441,000230: 32,2341 11244 GRP2PC
021442,000231: 32,2342 77624 CALL
021443,000232: 32,2343 27414 INTSTALL
021444,000233: 32,2344 44345 DLOAD BDSU
021445,000234: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021446,000235: 32,2346 03661 LNCHTM
021447,000236: 32,2347 25517 STOVL TET
021448,000237: 32,2350 03653 NEWPOS
021449,000238: 32,2351 01535 STORE RCV
021450,000239: 32,2352 25503 STOVL RRECT
021451,000240: 32,2353 03665 NCSMVEL
021452,000241: 32,2354 35511 STCALL VRECT
021453,000242: 32,2355 23455 MINIRECT
021454,000243: 32,2356 45174 AXT,2 CALL
021455,000244: 32,2357 00002 2
021456,000245: 32,2360 26661 ATOPCSM
021457,000246: 32,2361 77624 CALL
021458,000247: 32,2362 27423 INTWAKE0
021459,000248: 32,2363 77776 EXIT
021460,000249: 32,2364 04616 TC BANKCALL
021461,000250: 32,2365 50040 CADR PROG20A
021462,000251:
021463,000252: 24,2036 BANK 24
021464,000253: 24,2000 SETLOC P20S
021465,000254: 24,2000 BANK
021466,000255: 24,2036 COUNT* $$/P20
021467,000256:
021468,000257: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021469,000258: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021470,000259: 24,2040 04616 PROG20A TC BANKCALL
021471,000260: 24,2041 11254 CADR R02BOTH
021472,000261: 24,2042 05504 TC UPFLAG
021473,000262: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021474,000263: 24,2044 05504 TC UPFLAG
021475,000264: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021476,000265: 24,2046 05504 TC UPFLAG
021477,000266: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021478,000267: 24,2050 05516 TC DOWNFLAG
021479,000268: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021481,000270: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021482,000271: 24,2053 00040 ADRES ACMODFLG
021483,000272: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021484,000273: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021485,000274: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021486,000275: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021487,000276: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021488,000277: 24,2061 00041 ADRES LOSCMFLG
021489,000278: 24,2062 06011 TC CLRADMOD
021490,000279: 24,2063 05353 P20LEM1 TC PHASCHNG
021491,000280: 24,2064 04022 OCT 04022
021492,000281: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021493,000282: 24,2066 55462 TS MARKCTR
021494,000283: 24,2067 06037 TC INTPRET # LOS DETERMINATION ROUTINE
021495,000284: 24,2070 77634 RTB
021496,000285: 24,2071 21573 LOADTIME
021497,000286: 24,2072 34041 STCALL TDEC1
021498,000287: 24,2073 51255 LPS20.1
021499,000288: 24,2074 77624 CALL
021500,000289: 24,2075 53565 LPS20.2 # TEST RANGE R/UTINE
021501,000290: 24,2076 77776 EXIT
021502,000291: 24,2077 50154 INDEX MPAC
021503,000292: 24,2100 02101 TC +1
021504,000293: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021505,000294: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021506,000295: 24,2103 04616 TC BANKCALL
021507,000296: 24,2104 21562 CADR PRIOLARM
021508,000297: 24,2105 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021509,000298: 24,2106 02102 TC -4 # PROC (ILLEGAL
021510,000299: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021511,000300: 24,2110 05155 TC ENDOFJOB
021512,000301:
021513,000302: 24,2111 05353 P20LEMA TC PHASCHNG
021514,000303: 24,2112 04022 OCT 04022
021515,000304: 24,2113 02667 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021516,000305: 24,2114 02117 TC P20LEMB
021517,000306: 24,2115 04616 TC BANKCALL
021518,000307: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021519,000308: 24,2117 05353 P20LEMB TC PHASCHNG
021520,000309: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021521,000310: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021522,000311: 24,2122 37714 CAF PRIO26 # RESTORE PRIORITY 26
021523,000312: 24,2123 05146 TC PRIOCHNG
021524,000313: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021525,000314: 24,2125 74747 MASK TRACKBIT
021526,000315: 24,2126 00006 EXTEND
021527,000316: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021528,000317: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021529,000318: 24,2131 00006 EXTEND
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021531,000320: 24,2132 02033 RAND CHAN33
021532,000321: 24,2133 00006 EXTEND
021533,000322: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021534,000323:
021535,000324: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021536,000325: 24,2136 61011 AD MODREG # MAJOR MODE IS 20
021537,000326: 24,2137 00006 EXTEND
021538,000327: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES - OK TO DO PLEASE PERFORM
021539,000328:
021540,000329: 24,2141 67746 AD NEG2 # ALSO CHECK FOR P22
021541,000330: 24,2142 00006 EXTEND
021542,000331: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021543,000332: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021544,000333: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021545,000334: 24,2146 21562 CADR PRIOLARM
021546,000335: 24,2147 06022 TC GOTOV56 # TERMINATE EXITS VIA V56
021547,000336: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021548,000337: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021549,000338: 24,2152 05155 TC ENDOFJOB
021550,000339: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021551,000340: 24,2154 04616 TC BANKCALL
021552,000341: 24,2155 20623 CADR GOPERF1
021553,000342: 24,2156 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021554,000343: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021555,000344: 24,2160 02667 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021556,000345: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021557,000346: 24,2162 03135 TC R23LEM # NO - DO MANUAL ACQUISITION
021558,000347:
021559,000348: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021560,000349: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021561,000350: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021562,000351:
021563,000352: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021564,000353: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021565,000354:
021566,000355: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021567,000356: 24,2171 74737 MASK RCDU0BIT
021568,000357: 24,2172 00006 EXTEND
021569,000358: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021570,000359: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021571,000360: 24,2175 70076 MASK FLAGWRD2
021572,000361: 24,2176 00006 EXTEND
021573,000362: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021574,000363: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021575,000364: 24,2201 00037 ADRES SRCHOPTN
|
|
Page 498 |
021577,000366: 24,2202 05516 TC DOWNFLAG
021578,000367: 24,2203 00040 ADRES ACMODFLG
021579,000368: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021580,000369:
021581,000370: 24,2205 32304 P20LEMB4 CAF 250DEC
021582,000371: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021583,000372: 24,2207 01735 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021584,000373: 24,2210 02170 TC P20LEMB3
021585,000374:
021586,000375: 24,2211 06037 P20LEMC3 TC INTPRET
021587,000376: 24,2212 77634 RTB
021588,000377: 24,2213 21573 LOADTIME
021589,000378: 24,2214 34041 STCALL TDEC1
021590,000379: 24,2215 50316 UPPSV
021591,000380: 24,2216 77776 P20LEMC4 EXIT
021592,000381: 24,2217 05353 P20LEMC TC PHASCHNG
021593,000382: 24,2220 04022 OCT 04022
021594,000383: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021595,000384: 24,2222 74745 MASK RNDVZBIT
021596,000385: 24,2223 00006 EXTEND
021597,000386: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021598,000387: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021599,000388: 24,2226 74747 MASK TRACKBIT
021600,000389: 24,2227 00006 EXTEND
021601,000390: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021602,000391: 24,2231 02674 P20LEMF TC R21LEM
021603,000392:
021604,000393: 24,2232 32304 P20LEMWT CAF 250DEC
021605,000394: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021606,000395: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021607,000396: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021608,000397: 24,2236 74747 MASK TRACKBIT
021609,000398: 24,2237 00006 EXTEND
021610,000399: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021611,000400: 24,2241 05353 P20LMWT1 TC PHASCHNG
021612,000401: 24,2242 40072 OCT 40072
021613,000402: 24,2243 05155 TC ENDOFJOB
021614,000403:
021615,000404: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021616,000405: 24,2245 74745 MASK RNDVZBIT
021617,000406: 24,2246 00006 EXTEND
021618,000407: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021619,000408: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021620,000409: 24,2251 74747 MASK TRACKBIT
021621,000410: 24,2252 00006 EXTEND
021622,000411: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
|
Page 499 |
021624,000413: 24,2254 37714 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021625,000414: 24,2255 05105 TC FINDVAC
021626,000415: 24,2256 E7,1456 EBANK= LOSCOUNT
021627,000416: 24,2256 02627 50067 2CADR R22LEM42
021628,000417:
021629,000418: 24,2260 05261 TC TASKOVER
021630,000419:
021631,000420: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021632,000421: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021633,000422:
021634,000423: 24,2263 02244 TC P20LEMC1
021635,000424:
021636,000425: 24,2264 32666 P20LEMD CAF 1500DEC
021637,000426: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021638,000427: 24,2266 02270 ADRES P20LEMD1
021639,000428: 24,2267 05155 TC ENDOFJOB
021640,000429:
021641,000430: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021642,000431: 24,2271 74747 MASK TRACKBIT
021643,000432: 24,2272 10000 CCS A
021644,000433: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021645,000434: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021646,000435: 24,2275 02734 DEC 1500 B-14
021647,000436: 24,2276 02270 TC P20LEMD1
021648,000437:
021649,000438: 24,2277 37714 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021650,000439: 24,2300 05105 TC FINDVAC
021651,000440: 24,2301 E7,1456 EBANK= LOSCOUNT
021652,000441: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021653,000442:
021654,000443: 24,2303 05261 TC TASKOVER
021655,000444:
021656,000445: 24,2304 00372 250DEC DEC 250 B-14
021657,000446: 24,2305 00526 ALRM526 OCT 00526
021658,000447: 24,2306 00201 OCT201 OCT 00201
021659,000448: 24,2307 00514 ALRM514 OCT 514
021660,000449: 24,2310 00074 MAXTRIES DEC 60 B-14
021661,000450: 24,2311 00012 OCT00012 OCT 00012
021662,000451: 24,2312 00001 P22ONE OCT 00001
021663,000452: 24,2313 10000 00000 ONEB-2 2DEC 1.0 B-2
021664,000453:
021665,000454: 24,2315 01441 V06N33* VN 0633
021666,000455: 24,2316 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021667,000456: 24,2317 01757 LS21X # TO PRESENT TIME
021668,000457: 24,2320 27414 INTSTALL
021669,000458: 24,2321 77624 CALL
|
|
Page 500 |
021671,000460: 24,2322 26644 SETIFLGS
021672,000461: 24,2323 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
021673,000462: 24,2324 02756 RENDWFLG
021674,000463: 24,2325 50336 UPPSV1
021675,000464: 24,2326 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021676,000465: 24,2327 43014 BON SET
021677,000466: 24,2330 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021678,000467: 24,2331 50333 UPPSV5
021679,000468: 24,2332 01475 D6OR9FLG # OTHERWISE 9X9
021680,000469: 24,2333 77614 UPPSV5 BOF
021681,000470: 24,2334 00747 VEHUPFLG
021682,000471: 24,2335 50370 UPPSV3
021683,000472: 24,2336 77614 UPPSV1 SET
021684,000473: 24,2337 01474 VINTFLAG
021685,000474: 24,2340 77624 CALL
021686,000475: 24,2341 27134 INTEGRV
021687,000476: 24,2342 77624 CALL # GROUP 2 PHASE CHANGE
021688,000477: 24,2343 11244 GRP2PC # TO PROTECT INTEGRATION
021689,000478: 24,2344 77624 CALL
021690,000479: 24,2345 27414 INTSTALL
021691,000480: 24,2346 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021692,000481: 24,2347 01571 TETCSM
021693,000482: 24,2350 01674 VINTFLAG
021694,000483: 24,2351 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021695,000484: 24,2352 26644 SETIFLGS # WITHOUT W-MATRIX
021696,000485: 24,2353 34041 STCALL TDEC1
021697,000486: 24,2354 27134 INTEGRV
021698,000487: 24,2355 77214 BOFF VLOAD
021699,000488: 24,2356 04347 SURFFLAG
021700,000489: 24,2357 50216 P20LEMC4
021701,000490: 24,2360 01661 RCVLEM
021702,000491: 24,2361 77742 VSR2
021703,000492: 24,2362 26352 STOVL LMPOS
021704,000493: 24,2363 01667 VCVLEM
021705,000494: 24,2364 77742 VSR2
021706,000495: 24,2365 02360 STORE LMVEL
021707,000496: 24,2366 77650 GOTO
021708,000497: 24,2367 01757 LS21X
021709,000498:
021710,000499: 24,2370 45014 UPPSV3 CLEAR CALL
021711,000500: 24,2371 01674 VINTFLAG
021712,000501: 24,2372 27134 INTEGRV
021713,000502: 24,2373 77624 CALL
021714,000503: 24,2374 11244 GRP2PC
021715,000504: 24,2375 77624 CALL
021716,000505: 24,2376 27414 INTSTALL
021717,000506: 24,2377 71214 SET DLOAD
021718,000507: 24,2400 01474 VINTFLAG
021719,000508: 24,2401 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
|
|
Page 501 |
021721,000510: 24,2402 77650 GOTO
021722,000511: 24,2403 50351 UPPSV4
021723,000512: 24,2404 E7,1456 EBANK= LOSCOUNT
021724,000513: 24,2404 COUNT* $$/P22
021725,000514:
|
|
Page 502 |
021727,000516: # PROGRAM DESCRIPTION
021728,000517:
021729,000518: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021730,000519: # MOD NO - 3
021731,000520: # BY P. VOLANTE
021732,000521:
021733,000522: # FUNCTIONAL DESCRIPTION
021734,000523:
021735,000524: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021736,000525: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021737,000526: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021738,000527: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021739,000528:
021740,000529: # CALLING SEQUENCE -
021741,000530:
021742,000531: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021743,000532:
021744,000533: # SUBROUTINES CALLED -
021745,000534:
021746,000535: # BANKCALL FLAGUP
021747,000536: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021748,000537: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021749,000538: # TASKOVER FINDVAC
021750,000539:
021751,000540: # NORMAL EXIT MODES -
021752,000541:
021753,000542: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021754,000543: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021755,000544:
021756,000545: # ALARM OR ABORT EXIT MODES -
021757,000546:
021758,000547: # NONE
021759,000548:
021760,000549: # OUTPUT
021761,000550:
021762,000551: # ERASABLE INITIALIZATION REQUIRED
021763,000552:
021764,000553: # FLAGS SET + RESET
021765,000554:
021766,000555: # TRACKFLG, P25FLAG
021767,000556:
021768,000557: # DEBRIS
021769,000558:
021770,000559: # NONE
021771,000560:
021772,000561: 24,2404 E7,1456 EBANK= LOSCOUNT
021773,000562: 24,2404 COUNT* $$/P25
021774,000563: 24,2404 05327 PROG25 TC 2PHSCHNG
021775,000564: 24,2405 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021776,000565: 24,2406 05022 OCT 05022
021777,000566: 24,2407 26000 OCT 26000 # PRIORITY 26
021778,000567:
021779,000568: 24,2410 04616 TC BANKCALL
021780,000569: 24,2411 11254 CADR R02BOTH # IMU STATUS CHECK
021781,000570: 24,2412 05504 TC UPFLAG
021782,000571: 24,2413 00031 ADRES TRACKFLG # SET TRACK FLAG
021783,000572: 24,2414 05504 TC UPFLAG
021784,000573: 24,2415 00006 ADRES P25FLAG # SET P25FLAG
021785,000574: 24,2416 05353 P25LEM1 TC PHASCHNG
021786,000575: 24,2417 04022 OCT 04022
021787,000576: 24,2420 34743 CAF P25FLBIT
021788,000577: 24,2421 70074 MASK STATE # IS P25FLAG SET
021789,000578: 24,2422 00006 EXTEND
021790,000579: 24,2423 15155 BZF ENDOFJOB
021791,000580: 24,2424 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021792,000581: 24,2425 70075 MASK STATE +1
021793,000582: 24,2426 00006 EXTEND
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|
Page 503 |
021795,000584: 24,2427 12437 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021796,000585: 24,2430 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021797,000586: 24,2431 55745 TS R65CNTR
021798,000587: 24,2432 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021799,000588: 24,2433 46123 CADR R65LEM
021800,000589: 24,2434 02416 TC P25LEM1 # THEN GO CHECK FLAGS
021801,000590: 24,2435 05353 P25LEMWT TC PHASCHNG
021802,000591: 24,2436 00112 OCT 00112
021803,000592: 24,2437 32450 P25LMWT1 CAF 60SCNDS
021804,000593: 24,2440 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021805,000594: 24,2441 02443 ADRES P25LEM2
021806,000595: 24,2442 05155 TC ENDOFJOB
021807,000596: 24,2443 35024 P25LEM2 CAF PRIO14
021808,000597: 24,2444 05105 TC FINDVAC
021809,000598: 24,2445 E7,1456 EBANK= LOSCOUNT
021810,000599: 24,2445 02416 50067 2CADR P25LEM1
021811,000600:
021812,000601: 24,2447 05261 TC TASKOVER
021813,000602: 24,2450 13560 60SCNDS DEC 6000 B-14
021814,000603:
|
|
Page 504 |
021816,000605: # DATA READ ROUTINE 22 (LEM)
021817,000606: # PROGRAM DESCRIPTION
021818,000607:
021819,000608: # MOD NO - 2
021820,000609: # BY P VOLANTE
021821,000610:
021822,000611: # FUNCTIONAL DESCRIPTION
021823,000612:
021824,000613: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021825,000614: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021826,000615:
021827,000616: # CALLING SEQUENCE -
021828,000617:
021829,000618: # TC BANKCALL
021830,000619: # CADR R22LEM
021831,000620:
021832,000621: # SUBROUTINES CALLED -
021833,000622:
021834,000623: # LSR22.1 GOFLASH WAITLIST
021835,000624: # LSR22.2 PRIOLARM BANKCALL
021836,000625: # LSR22.3 R61LEM
021837,000626:
021838,000627: # NORMAL EXIT MODES -
021839,000628:
021840,000629: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021841,000630: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021842,000631: # R22 WILL TERMINATE SELF.
021843,000632:
021844,000633: # ALARM OR ABORT EXIT MODES -
021845,000634:
021846,000635: # PRIORITY ALARM
021847,000636: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021848,000637:
021849,000638: # OUTPUT
021850,000639:
021851,000640: # SEE OUTPUT FROM LSR22.3
021852,000641:
021853,000642: # ERASABLE INITIALIZATION REQUIRED
021854,000643:
021855,000644: # SEE LSR22.1, LSR22.2, LSR22.3
021856,000645:
021857,000646: # FLAGS SET + RESET
021858,000647:
021859,000648: # NOANGFLG
021860,000649:
021861,000650: # DEBRIS
021862,000651:
021863,000652: # SEE LSR22.1, LSR22.2, LSR22.3
021864,000653:
021865,000654: 24,2451 E7,1737 EBANK= LRS22.1X
021866,000655: 24,2451 COUNT* $$/R22
021867,000656: 24,2451 05353 R22LEM TC PHASCHNG
021868,000657: 24,2452 04022 OCT 04022
021869,000658: 24,2453 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021870,000659: 24,2454 70074 MASK STATE
021871,000660: 24,2455 00006 EXTEND
021872,000661: 24,2456 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021873,000662: 24,2457 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021874,000663: 24,2460 70075 MASK STATE +1
021875,000664: 24,2461 00006 EXTEND
021876,000665: 24,2462 12636 BZF R22WAIT # NO WAIT
021877,000666: 24,2463 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021878,000667: 24,2464 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021879,000668: 24,2465 02012 RAND CHAN12
021880,000669: 24,2466 00006 EXTEND
021881,000670: 24,2467 12111 BZF P20LEMA # NO - RETURN TO P20
021882,000671: 24,2470 34752 CAF BIT2 # YES
021883,000672: 24,2471 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021884,000673: 24,2472 02033 RAND CHAN33
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|
Page 505 |
021886,000675: 24,2473 00006 EXTEND
021887,000676: 24,2474 12476 BZF +2 # YES CONTINUE
021888,000677: 24,2475 02135 TC P20LEMB5 # NO - SET IT
021889,000678: 24,2476 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021890,000679: 24,2477 74737 MASK RCDU0BIT
021891,000680: 24,2500 00006 EXTEND
021892,000681: 24,2501 12627 BZF R22LEM42 # CDUS BEING ZEROED
021893,000682: 24,2502 05353 TC PHASCHNG # IF A RESTART OCCURS, AN EXTRA RADAR
021894,000683: 24,2503 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021895,000684: 24,2504 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021896,000685: 24,2505 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021897,000686: 24,2506 50154 INDEX MPAC
021898,000687: 24,2507 02510 TC +1
021899,000688: 24,2510 02531 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021900,000689: 24,2511 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021901,000690: 24,2512 32663 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021902,000691: 24,2513 04616 TC BANKCALL
021903,000692: 24,2514 21562 CADR PRIOLARM
021904,000693: 24,2515 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021905,000694: 24,2516 02521 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021906,000695: 24,2517 02512 TC -5 # ENTER (ILLEGAL OPTION)
021907,000696: 24,2520 05155 TC ENDOFJOB
021908,000697:
021909,000698: 24,2521 05353 R22LEM1 TC PHASCHNG
021910,000699: 24,2522 04022 OCT 04022
021911,000700: 24,2523 32664 CAF V06N05 # DISPLAY DELTA THETA
021912,000701: 24,2524 04616 TC BANKCALL
021913,000702: 24,2525 20507 CADR PRIODSP
021914,000703: 24,2526 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021915,000704: 24,2527 02531 TC R22LEM2 # PROC (OK CONTINUE)
021916,000705: 24,2530 02217 TC P20LEMC # ENTER (RECYCLE)
021917,000706: 24,2531 05353 R22LEM2 TC PHASCHNG
021918,000707: 24,2532 04022 OCT 04022
021919,000708: 24,2533 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021920,000709: 24,2534 02551 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021921,000710: 24,2535 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021922,000711: 24,2536 74747 MASK TRACKBIT
021923,000712: 24,2537 00006 EXTEND
021924,000713: 24,2540 12636 BZF R22WAIT # NO - WAIT
021925,000714: 24,2541 04616 TC BANKCALL # YES
021926,000715: 24,2542 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021927,000716: 24,2543 50154 INDEX MPAC
021928,000717: 24,2544 02545 TC +1
021929,000718: 24,2545 02551 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021930,000719: 24,2546 04616 TC BANKCALL
021931,000720: 24,2547 46116 CADR R61LEM
021932,000721: 24,2550 02636 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021933,000722: 24,2551 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021934,000723: 24,2552 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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|
Page 506 |
021936,000725: 24,2553 00006 EXTEND
021937,000726: 24,2554 12627 BZF R22LEM42 # BRANCH - YES
021938,000727: 24,2555 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021939,000728: 24,2556 74745 MASK UPDATBIT
021940,000729: 24,2557 00006 EXTEND
021941,000730: 24,2560 12627 BZF R22LEM42 # UPDATE FLAG NOT SET
021942,000731: 24,2561 37714 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021943,000732: 24,2562 55056 TS PHSPRDT2
021944,000733:
021945,000734: 24,2563 06037 TC INTPRET
021946,000735: 24,2564 77650 GOTO
021947,000736: 24,2565 54412 LSR22.3
021948,000737: 24,2566 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021949,000738: 24,2567 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021950,000739: 24,2570 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021951,000740: 24,2571 12622 TCF R22LEM44
021952,000741: 24,2572 77776 R22LEM96 EXIT
021953,000742: 24,2573 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021954,000743: 24,2574 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021955,000744: 24,2575 05353 TC PHASCHNG
021956,000745: 24,2576 04022 OCT 04022 # TO PROTECT DISPLAY
021957,000746: 24,2577 37715 CAF PRIO27 # PROTECT DISPLAY
021958,000747: 24,2600 05072 TC NOVAC
021959,000748: 24,2601 E7,1746 EBANK= N49FLAG
021960,000749: 24,2601 02644 50067 2CADR N49DSP
021961,000750:
021962,000751: 24,2603 06037 TC INTPRET
021963,000752: 24,2604 77735 SLOAD
021964,000753: 24,2605 03747 N49FLAG
021965,000754: 24,2606 50054 BZE BMN # LOOP TO CHECK IF FLAG
021966,000755: 24,2607 50604 -3 # SETTING CHANGED - BRANCH - NO
021967,000756: 24,2610 50616 R22LEM7 # PROCEED
021968,000757: 24,2611 77776 EXIT # DISPLAY ANSWERED BY RECYCLE
021969,000758: 24,2612 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021970,000759: 24,2613 02636 TC R22WAIT # YES - 15 SECOND DELAY
021971,000760: 24,2614 34755 CA ZERO # NO - SET R65COUNTER = 0, DO FINE
021972,000761: 24,2615 02632 TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING
021973,000762: 24,2616 77624 R22LEM7 CALL # PROCEED
021974,000763: 24,2617 11244 GRP2PC # PHASE CHANGE AND
021975,000764: 24,2620 77650 GOTO # GO TO INCORPORATE DATA.
021976,000765: 24,2621 55431 ASTOK
021977,000766: 24,2622 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021978,000767: 24,2623 02667 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021979,000768: 24,2624 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021980,000769: 24,2625 34756 CA FIVE # NOT ON LUNAR SURFACE
021981,000770: 24,2626 02632 TC R22LEM45 # R65COUNTER = 5
021982,000771: 24,2627 02667 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021983,000772: 24,2630 02640 TC R22LEM46 # YES - WAIT 2 SECONDS
021984,000773: 24,2631 34752 CA TWO # NO - SET R65COUNTER = 2
021985,000774: 24,2632 55745 R22LEM45 TS R65CNTR
|
|
Page 507 |
021987,000776: 24,2633 04616 TC BANKCALL
021988,000777: 24,2634 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021989,000778: 24,2635 02451 TC R22LEM
021990,000779: 24,2636 32666 R22WAIT CAF 1500DEC
021991,000780: 24,2637 02233 TC P20LEMWT +1
021992,000781:
021993,000782: 24,2640 35000 R22LEM46 CAF 2SECS
021994,000783: 24,2641 04616 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021995,000784: 24,2642 01735 CADR DELAYJOB
021996,000785: 24,2643 02451 TC R22LEM
021997,000786:
021998,000787: 24,2644 32665 N49DSP CAF V06N49NB
021999,000788: 24,2645 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
022000,000789: 24,2646 20507 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
022001,000790: 24,2647 06022 TC GOTOV56 # TERMINATE - EXIT R22 AND P20
022002,000791: 24,2650 44753 CS ONE # PROCEED - N49FLAG = -1
022003,000792: 24,2651 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
022004,000793: 24,2652 05155 TC ENDOFJOB
022005,000794: 24,2653 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
022006,000795: 24,2654 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
022007,000796: 24,2655 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
022008,000797: 24,2656 53103 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
022009,000798: 24,2657 04616 TC BANKCALL # BAD DATA
022010,000799: 24,2660 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
022011,000800: 24,2661 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
022012,000801: 24,2662 02451 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
022013,000802:
022014,000803: 24,2663 00525 ALRM525 OCT 00525
022015,000804: 24,2664 01405 V06N05 VN 00605
022016,000805: 24,2665 01461 V06N49NB VN 00649
022017,000806: 24,2666 02734 1500DEC DEC 1500 B-14
022018,000807:
022019,000808: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022020,000809: # RETURNS TO CALLER +1 IF P22FLAG SET
022021,000810: # TO CALLER +2 IF P22FLAG NOT SET
022022,000811:
022023,000812: 24,2667 COUNT* $$/P22
022024,000813: 24,2667 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022025,000814: 24,2670 74744 MASK SURFFBIT # IS SURFFLAG SET?
022026,000815: 24,2671 10000 CCS A # BRANCH - P22FLAG SET
022027,000816: 24,2672 24002 INCR Q # NOT SET
022028,000817: 24,2673 00002 TC Q # RETURN
022029,000818:
|
|
Page 508 |
022031,000820: # RR DESIGNATE ROUTINE (R21LEM)
022032,000821: # PROGRAM DESCRIPTION
022033,000822:
022034,000823: # MOD NO - 2
022035,000824: # BY P VOLANTE
022036,000825:
022037,000826: # FUNCTIONAL DESCRIPTION
022038,000827:
022039,000828: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022040,000829: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022041,000830:
022042,000831: # CALLING SEQUENCE -
022043,000832:
022044,000833: # TC BANKCALL
022045,000834: # CADR R21LEM
022046,000835:
022047,000836: # SUBROUTINES CALLED -
022048,000837:
022049,000838: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022050,000839: # NOVAC INTPRET LPS20.1 PHASCHNG
022051,000840: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022052,000841: # TASKOVER BANKCALL RADSTALL RRDESSM
022053,000842:
022054,000843: # NORMAL EXIT MODES
022055,000844: #
022056,000845: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022057,000846: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
022058,000847:
022059,000848: # ALARM OR ABORT EXIT MODES -
022060,000849:
022061,000850: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022062,000851: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022063,000852: # ACQUISITION
022064,000853:
022065,000854: # OUTPUT
022066,000855:
022067,000856: # SEE LPS20.1, RRDESSM
022068,000857:
022069,000858: # ERASABLE INITIALIZATION REQUIRED
022070,000859:
022071,000860: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
022072,000861:
022073,000862: # FLAGS SET + RESET
022074,000863:
022075,000864: # LOSCMFLG LOKONSW
022076,000865:
022077,000866: # DEBRIS
022078,000867:
022079,000868: # SEE LPS20.1, RRDESSM
022080,000869:
022081,000870: 24,2674 E7,1456 EBANK= LOSCOUNT
022082,000871: 24,2674 COUNT* $$/R21
022083,000872: 24,2674 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
022084,000873: 24,2675 00006 EXTEND
022085,000874: 24,2676 03012 WAND CHAN12
022086,000875: 24,2677 02667 TC LUNSFCHK
022087,000876: 24,2700 02705 TC R21LEM5
022088,000877: 24,2701 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022089,000878: 24,2702 55107 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
022090,000879: 24,2703 55110 TS TANG +1
022091,000880: 24,2704 02715 TC R21LEM6
022092,000881: 24,2705 34740 R21LEM5 CAF BIT12
022093,000882: 24,2706 70110 MASK RADMODES
022094,000883: 24,2707 10000 CCS A
022095,000884: 24,2710 02725 TC R21LEM10
022096,000885: 24,2711 34735 CAF BIT15
022097,000886: 24,2712 55107 TS TANG
022098,000887: 24,2713 44736 CS HALF
022099,000888: 24,2714 55110 TS TANG +1
022100,000889:
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|
Page 509 |
022102,000891: 24,2715 05516 R21LEM6 TC DOWNFLAG
022103,000892: 24,2716 00012 ADRES LOKONSW
022104,000893: 24,2717 04616 TC BANKCALL
022105,000894: 24,2720 52475 CADR RRDESNB
022106,000895: 24,2721 02722 TC +1
022107,000896: 24,2722 04616 TC BANKCALL
022108,000897: 24,2723 17714 CADR RADSTALL
022109,000898: 24,2724 02760 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
022110,000899: 24,2725 05504 R21LEM10 TC UPFLAG
022111,000900: 24,2726 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022112,000901: 24,2727 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
022113,000902: 24,2730 55114 TS DESCOUNT # TO DESIGNATE AND LOCK ON
022114,000903: 24,2731 36245 R21LEM2 CAF THREE
022115,000904: 24,2732 55456 TS LOSCOUNT
022116,000905: 24,2733 06037 R21LEM1 TC INTPRET
022117,000906: 24,2734 43234 RTB DAD
022118,000907: 24,2735 21573 LOADTIME
022119,000908: 24,2736 11120 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022120,000909: 24,2737 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022121,000910: 24,2740 51255 LPS20.1
022122,000911: 24,2741 77776 EXIT
022123,000912: 24,2742 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
022124,000913: 24,2743 00012 ADRES LOKONSW
022125,000914: 24,2744 05516 TC DOWNFLAG
022126,000915: 24,2745 00126 ADRES NORRMON
022127,000916: 24,2746 06037 TC INTPRET
022128,000917: 24,2747 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022129,000918: 24,2750 52373 RRDESSM # DESIGNATE ROUTINE
022130,000919: 24,2751 77776 EXIT
022131,000920: 24,2752 02777 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022132,000921: # ON LUNAR SURFACE
022133,000922: 24,2753 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022134,000923: 24,2754 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022135,000924: 24,2755 17714 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022136,000925: 24,2756 02760 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
022137,000926: 24,2757 02767 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022138,000927: 24,2760 32775 R21-503 CAF ALRM503 # ISSUE ALARM 503
022139,000928: 24,2761 04616 TC BANKCALL
022140,000929: 24,2762 21562 CADR PRIOLARM
022141,000930: 24,2763 06022 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022142,000931: 24,2764 02772 TC R21SRCH # PROC
022143,000932: 24,2765 02211 TC P20LEMC3
022144,000933: 24,2766 05155 TC ENDOFJOB
022145,000934: 24,2767 05516 R21END TC DOWNFLAG
022146,000935: 24,2770 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022147,000936: 24,2771 03121 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022148,000937: 24,2772 05353 R21SRCH TC PHASCHNG
022149,000938: 24,2773 04022 OCT 04022
022150,000939: 24,2774 03206 TC R24LEM # SEARCH ROUTINE
022151,000940: 24,2775 00503 ALRM503 OCT 00503
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|
Page 510 |
022153,000942: 24,2776 00527 ALRM527 OCT 527
022154,000943:
022155,000944: 24,2777 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022156,000945: 24,3000 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022157,000946: 24,3001 05504 TC UPFLAG
022158,000947: 24,3002 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
022159,000948: 24,3003 05516 TC DOWNFLAG # RESET LOS BEING
022160,000949: 24,3004 00041 ADRES LOSCMFLG # COMPUTED FLAG
022161,000950: 24,3005 06037 TC INTPRET
022162,000951: 24,3006 77634 R21LEM12 RTB
022163,000952: 24,3007 21573 LOADTIME
022164,000953: 24,3010 77615 DAD
022165,000954: 24,3011 11116 TENSEC # TIME T = T + 10 SECS.
022166,000955: 24,3012 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022167,000956: 24,3013 34041 STCALL TDEC1
022168,000957: 24,3014 51255 LPS20.1 # COMPUTE LOS AT TIME T
022169,000958: 24,3015 77624 CALL
022170,000959: 24,3016 52373 RRDESSM
022171,000960: 24,3017 77776 EXIT
022172,000961: 24,3020 03033 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022173,000962: 24,3021 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022174,000963: 24,3022 06027 TC KILLTASK
022175,000964: 24,3023 52573 CADR BEGDES
022176,000965: 24,3024 06037 TC INTPRET
022177,000966: 24,3025 77614 BOF
022178,000967: 24,3026 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022179,000968: 24,3027 51043 R21LEM8 # NO - GO TO CONTINUOUS DESIGNATE
022180,000969: 24,3030 77614 CLRGO
022181,000970: 24,3031 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
022182,000971: 24,3032 51037 R21LEM7 +1
022183,000972: 24,3033 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022184,000973: 24,3034 03036 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
022185,000974: 24,3035 03105 TC R21LEM11 # YES - PUT OUT ALARM 530
022186,000975: 24,3036 55423 R21LEM7 TS REPOSCNT
022187,000976: 24,3037 06037 TC INTPRET
022188,000977: 24,3040 52145 DLOAD GOTO
022189,000978: 24,3041 03425 REPOSTM
022190,000979: 24,3042 51010 R21LEM12 +2
022191,000980: 24,3043 77745 R21LEM8 DLOAD
022192,000981: 24,3044 03425 REPOSTM
022193,000982: 24,3045 34041 STCALL TDEC1
022194,000983: 24,3046 50316 UPPSV
022195,000984: 24,3047 77776 EXIT
022196,000985: 24,3050 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022197,000986: 24,3051 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022198,000987: 24,3052 05516 TC DOWNFLAG
022199,000988: 24,3053 00012 ADRES LOKONSW
022200,000989: 24,3054 05504 TC UPFLAG
022201,000990: 24,3055 00126 ADRES NORRMON
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|
Page 511 |
022203,000992: 24,3056 04616 TC BANKCALL
022204,000993: 24,3057 52475 CADR RRDESNB
022205,000994: 24,3060 03061 TC +1
022206,000995: 24,3061 06037 TC INTPRET
022207,000996: 24,3062 44234 RTB BDSU
022208,000997: 24,3063 21573 LOADTIME # COMPUTE DELTA TIME
022209,000998: 24,3064 03425 REPOSTM # FOR LONGCALL
022210,000999: 24,3065 03427 STORE DELTATM
022211,001000: 24,3066 77776 EXIT
022212,001001: 24,3067 00006 EXTEND
022213,001002: 24,3070 31427 DCA DELTATM
022214,001003: 24,3071 05277 TC LONGCALL
022215,001004: 24,3072 E7,1456 EBANK= LOSCOUNT
022216,001005: 24,3072 03075 50067 2CADR R21LEM9
022217,001006:
022218,001007: 24,3074 05155 TC ENDOFJOB
022219,001008: 24,3075 06027 R21LEM9 TC KILLTASK
022220,001009: 24,3076 52602 CADR STDESIG
022221,001010: 24,3077 06011 TC CLRADMOD
022222,001011: 24,3100 37714 CAF PRIO26
022223,001012: 24,3101 05105 TC FINDVAC
022224,001013: 24,3102 E7,1456 EBANK= LOSCOUNT
022225,001014: 24,3102 02725 50067 2CADR R21LEM10
022226,001015:
022227,001016: 24,3104 05261 TC TASKOVER
022228,001017: 24,3105 33114 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
022229,001018: 24,3106 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022230,001019: 24,3107 21562 CADR PRIOLARM # 600 SECS.
022231,001020: 24,3110 06022 TC GOTOV56
022232,001021: 24,3111 06022 TC GOTOV56
022233,001022: 24,3112 06022 TC GOTOV56
022234,001023: 24,3113 05155 TC ENDOFJOB
022235,001024: 24,3114 00530 ALRM530 OCT 00530
022236,001025: 24,3115 00000 01750 TENSEC 2DEC 1000 B-28
022237,001026:
022238,001027: 24,3117 00000 00062 HALFSEC 2DEC 50 B-28
022239,001028:
022240,001029: 24,3121 05353 R21DISP TC PHASCHNG
022241,001030: 24,3122 04022 OCT 04022
022242,001031: 24,3123 33134 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022243,001032: 24,3124 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022244,001033: 24,3125 20710 CADR GOPERF2R
022245,001034: 24,3126 06022 TC GOTOV56 # TERMINATE EXITS VIA V 56
022246,001035: 24,3127 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022247,001036: 24,3130 03123 TC -5 # ENTER ILLEGAL
022248,001037: 24,3131 34745 CAF BIT7
022249,001038: 24,3132 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022250,001039: 24,3133 05155 TC ENDOFJOB
022251,001040:
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|
Page 512 |
022253,001042: 24,3134 01510 V06N72PV VN 00672
022254,001043:
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|
Page 513 |
022256,001045: # MANUAL ACQUISITION ROUTINE R23LEM
022257,001046: # PROGRAM DESCRIPTION
022258,001047:
022259,001048: # MOD NO - 2
022260,001049: # BY P VOLANTE
022261,001050:
022262,001051: # FUNCTIONAL DESCRIPTION
022263,001052:
022264,001053: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022265,001054:
022266,001055: # CALLING SEQUENCE -
022267,001056:
022268,001057: # TC R23LEM
022269,001058:
022270,001059: # SUBROUTINES CALLED
022271,001060:
022272,001061: # BANKCALL R61LEM
022273,001062: # SETMINDB GOPERF1
022274,001063:
022275,001064: # NORMAL EXIT MODES -
022276,001065:
022277,001066: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022278,001067: # ,SELECTION OF PROC WILL CONTINUE R23
022279,001068: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022280,001069:
022281,001070: # ALARM OR ABORT EXIT MODES -
022282,001071:
022283,001072: # SEE NORMAL EXIT MODES ABOVE
022284,001073:
022285,001074: # OUTPUT
022286,001075:
022287,001076: # N.A.
022288,001077:
022289,001078: # ERASABLE INITIALIZATION REQUIRED -
022290,001079:
022291,001080: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022292,001081:
022293,001082: 24,3135 1143 EBANK= GENRET
022294,001083: 24,3135 COUNT* $$/R23
022295,001084: 24,3135 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022296,001085: 24,3136 00126 ADRES NORRMON
022297,001086: 24,3137 00004 INHINT
022298,001087: 24,3140 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022299,001088: 24,3141 40140 CADR SETMINDB
022300,001089: 24,3142 00003 RELINT
022301,001090: 24,3143 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022302,001091: 24,3144 00006 EXTEND
022303,001092: 24,3145 05012 WOR CHAN12
022304,001093: 24,3146 33205 CAF OCT205
022305,001094: 24,3147 04616 TC BANKCALL
022306,001095: 24,3150 20623 CADR GOPERF1
022307,001096: 24,3151 03176 TC R23LEM2 # TERMINATE
022308,001097: 24,3152 03154 TC R23LEM11 # PROCEDE
022309,001098: 24,3153 03201 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
022310,001099: 24,3154 00004 R23LEM11 INHINT
022311,001100: 24,3155 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022312,001101: 24,3156 00035 ADRES CDUT
022313,001102: 24,3157 03166 TC OUTOFLIM # NOT WITHIN LIMITS
022314,001103: 24,3160 04674 TC IBNKCALL # RESTORE DEADBAND TO
022315,001104: 24,3161 40123 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022316,001105: 24,3162 00003 RELINT
022317,001106: 24,3163 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022318,001107: 24,3164 00126 ADRES NORRMON
022319,001108: 24,3165 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022320,001109: 24,3166 00003 OUTOFLIM RELINT
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|
Page 514 |
022322,001111: 24,3167 33204 CAF OCT501PV
022323,001112: 24,3170 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022324,001113: 24,3171 21562 CADR PRIOLARM # LIMITS
022325,001114: 24,3172 03176 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022326,001115: 24,3173 03167 TC OUTOFLIM +1 # PROCEED ILLEGAL
022327,001116: 24,3174 03201 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
022328,001117: 24,3175 05155 TC ENDOFJOB
022329,001118: 24,3176 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022330,001119: 24,3177 00126 ADRES NORRMON
022331,001120: 24,3200 06022 TC GOTOV56 # AND EXIT VIA V56
022332,001121: 24,3201 04616 R23LEM3 TC BANKCALL
022333,001122: 24,3202 46116 CADR R61LEM
022334,001123: 24,3203 03143 TC R23LEM1
022335,001124:
022336,001125: 24,3204 00501 OCT501PV OCT 501
022337,001126: 24,3205 00205 OCT205 OCT 205
022338,001127:
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Page 515 |
022340,001129: # SEARCH ROUTINE R24LEM
022341,001130: # PROGRAM DESCRIPTION
022342,001131:
022343,001132: # MOD NO - 2
022344,001133: # BY P. VOLANTE
022345,001134:
022346,001135: # FUNCTIONAL DESCRIPTION
022347,001136:
022348,001137: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022349,001138: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022350,001139: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022351,001140:
022352,001141: # CALLING SEQUENCE
022353,001142:
022354,001143: # CAF PRIONN
022355,001144: # TC FINDVAC
022356,001145: # EBANK= DATAGOOD
022357,001146: # 2CADR R24LEM
022358,001147:
022359,001148: # SUBROUTINES CALLED
022360,001149:
022361,001150: # FLAGUP FLAGDOWN BANKCALL
022362,001151: # R61LEM GOFLASHR FINDVAC
022363,001152: # ENDOFJOB NOVAC LSR24.1
022364,001153:
022365,001154: # NORMAL EXIT MODES -
022366,001155:
022367,001156: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
022368,001157: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022369,001158: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022370,001159:
022371,001160: # ALARM OR ABORT EXIT MODES -
022372,001161:
022373,001162: # SEE NORMAL EXIT MODES ABOVE
022374,001163:
022375,001164: # OUTPUT -
022376,001165:
022377,001166: # SEE OUTPUT FROM LSR24.1 + R61LEM
022378,001167:
022379,001168: # ERASABLE INITIALIZATION REQUIRED
022380,001169:
022381,001170: # SEE INPUT FOR LSR24.1
022382,001171:
022383,001172: # FLAGS SET + RESET
022384,001173:
022385,001174: # SRCHOPT, ACMODFLG
022386,001175:
022387,001176: 24,3206 E7,1733 EBANK= DATAGOOD
022388,001177: 24,3206 COUNT* $$/R24
022389,001178: 24,3206 05504 R24LEM TC UPFLAG
022390,001179: 24,3207 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022391,001180: 24,3210 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022392,001181: 24,3211 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022393,001182: 24,3212 34755 R24LEM1 CAF ZERO
022394,001183: 24,3213 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022395,001184: 24,3214 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022396,001185: 24,3215 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022397,001186: 24,3216 05353 R24LEM2 TC PHASCHNG
022398,001187: 24,3217 04022 OCT 04022
022399,001188: 24,3220 33254 CAF V16N80
022400,001189: 24,3221 04616 TC BANKCALL
022401,001190: 24,3222 20504 CADR PRIODSPR
022402,001191: 24,3223 06022 TC GOTOV56
022403,001192: 24,3224 03230 TC R24END # PROCEED EXIT R24 TO P20LEM1
022404,001193:
022405,001194: 24,3225 03234 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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|
Page 516 |
022407,001196: 24,3226 04616 TC BANKCALL
022408,001197: 24,3227 55442 CADR LRS24.1
022409,001198: 24,3230 06027 R24END TC KILLTASK
022410,001199: 24,3231 55643 CADR CALLDGCH
022411,001200: 24,3232 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022412,001201: 24,3233 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022413,001202:
022414,001203: 6011 BLOCK 3
022415,001204: 6000 SETLOC FFTAG6
022416,001205: 6000 BANK
022417,001206: 6011 COUNT* $$/R24
022418,001207:
022419,001208: 6011 46021 CLRADMOD CS BIT10+15
022420,001209: 6012 00004 INHINT
022421,001210: 6013 70110 MASK RADMODES
022422,001211: 6014 54110 TS RADMODES
022423,001212: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022424,001213: 6016 00006 EXTEND
022425,001214: 6017 03012 WAND CHAN12 # USER WILL RELINT
022426,001215:
022427,001216: 6020 00002 TC Q
022428,001217:
022429,001218: 6021 41000 BIT10+15 OCT 41000
022430,001219: 24,3234 BANK 24
022431,001220: 24,2000 SETLOC P20S
022432,001221: 24,2000 BANK
022433,001222: 24,3234 COUNT* $$/R24
022434,001223:
022435,001224: 24,3234 05353 R24LEM3 TC PHASCHNG
022436,001225: 24,3235 04022 OCT 04022
022437,001226: 24,3236 06027 TC KILLTASK
022438,001227: 24,3237 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022439,001228: 24,3240 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL
022440,001229: 24,3241 00003 RELINT # HALF SECOND DESIGNATE LOOP
022441,001230: 24,3242 34774 CAF .5SEC
022442,001231: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022443,001232: 24,3244 01735 CADR DELAYJOB
022444,001233: 24,3245 02667 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022445,001234: 24,3246 03251 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022446,001235: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022447,001236: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
022448,001237: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022449,001238: 24,3252 55306 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022450,001239: # RRDESSM WILL RETURN TO CALLER
022451,001240: 24,3253 03216 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022452,001241:
022453,001242: 24,3254 04120 V16N80 VN 01680
022454,001243:
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|
Page 517 |
022456,001245: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022457,001246: # PROGRAM DESCRIPTION
022458,001247:
022459,001248: # MOD NO: 3 DATE: 4-11-67
022460,001249: # MOD BY: P VOLANTE SDC
022461,001250:
022462,001251: # FUNCTIONAL DESCRIPTION -
022463,001252:
022464,001253: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022465,001254: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022466,001255: # ATTITUDE.
022467,001256:
022468,001257: # CALLING SEQUENCE -
022469,001258:
022470,001259: # TC BANKCALL
022471,001260: # CADR R61LEM
022472,001261:
022473,001262: # SUBROUTINES CALLED
022474,001263:
022475,001264: # LPS20.1 VECPOINT
022476,001265: # KALCMAN3
022477,001266:
022478,001267: # NORMAL EXIT MODES -
022479,001268:
022480,001269: # NORMAL RETURN IS TO CALLER + 1
022481,001270:
022482,001271: # ALARM OR ABORT EXIT MODES -
022483,001272:
022484,001273: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022485,001274: # RENDEZVOUS FLAG ARE NOT SET.
022486,001275:
022487,001276: # OUTPUT -
022488,001277:
022489,001278: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022490,001279:
022491,001280: # ERASABLE INITIALIZATION REQUIRED
022492,001281:
022493,001282: # GENRET USED TO SAVE Q FOR RETURN
022494,001283:
022495,001284: # FLAGS SET + RESET
022496,001285:
022497,001286: # 3AXISFLG
022498,001287:
022499,001288: # DEBRIS
022500,001289:
022501,001290: # SEE SUBROUTINES
022502,001291:
022503,001292: 23,2000 SETLOC R61
022504,001293: 23,2000 BANK
022505,001294: 23,2116 E7,1456 EBANK= LOSCOUNT
022506,001295: 23,2116 COUNT* $$/R61
022507,001296: 23,2116 04645 R61LEM TC MAKECADR
022508,001297: 23,2117 55143 TS GENRET
022509,001298: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022510,001299: 23,2121 00024 ADRES R61FLAG
022511,001300: 23,2122 02127 TC R61C+L01
022512,001301: 23,2123 04645 R65LEM TC MAKECADR
022513,001302: 23,2124 55143 TS GENRET
022514,001303: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022515,001304: 23,2126 00024 ADRES R61FLAG
022516,001305: 23,2127 34747 R61C+L01 CAF TRACKBIT # TRACKFLAG
022517,001306: 23,2130 70075 MASK STATE +1
022518,001307: 23,2131 00006 EXTEND
022519,001308: 23,2132 12271 BZF R65WAIT # NOT SET
022520,001309: 23,2133 06037 R61C+L03 TC INTPRET
022521,001310: 23,2134 77775 VLOAD
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|
Page 518 |
022523,001312: 23,2135 06514 HIUNITZ
022524,001313: 23,2136 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022525,001314: 23,2137 43234 R61LEM1 RTB DAD
022526,001315: 23,2140 21573 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022527,001316: 23,2141 15712 3SECONDS # SIX SECOND PERIOD.
022528,001317: 23,2142 34041 STCALL TDEC1
022529,001318: 23,2143 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022530,001319: 23,2144 77775 VLOAD
022531,001320: 23,2145 01102 RRTARGET
022532,001321: 23,2146 03773 STORE POINTVSM
022533,001322: 23,2147 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022534,001323: 23,2150 46277 READCDUD
022535,001324: 23,2151 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022536,001325: 23,2152 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022537,001326: 23,2153 77776 EXIT
022538,001327: 23,2154 05353 TC PHASCHNG
022539,001328: 23,2155 04022 OCT 04022
022540,001329: 23,2156 34747 CAF TRACKBIT # IS TRACK FLAG SET
022541,001330: 23,2157 70075 MASK FLAGWRD1
022542,001331: 23,2160 00006 EXTEND
022543,001332: 23,2161 12271 BZF R65WAIT
022544,001333: 23,2162 04616 TC BANKCALL
022545,001334: 23,2163 54255 CADR G+N,AUTO # CHECK FOR AUTO MODE
022546,001335: 23,2164 10000 CCS A
022547,001336: 23,2165 02257 TC R61C+L04 # NOT IN AUTO
022548,001337: 23,2166 06037 TC INTPRET
022549,001338: 23,2167 45175 VLOAD CALL
022550,001339: 23,2170 01102 RRTARGET
022551,001340: 23,2171 47646 CDU*SMNB
022552,001341: 23,2172 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022553,001342: 23,2173 00162 MPAC +5
022554,001343: 23,2174 06275 COS15DEG
022555,001344: 23,2175 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022556,001345: 23,2176 46213 R61C+L05 # PHI GRE 10DEG
022557,001346: 23,2177 E6,1635 EBANK= CDUXD
022558,001347: 23,2177 35015 CAF EBANK6
022559,001348: 23,2200 54003 TS EBANK
022560,001349: 23,2201 00004 INHINT
022561,001350: 23,2202 00006 EXTEND
022562,001351: 23,2203 30322 DCA CPHI
022563,001352: 23,2204 53636 DXCH CDUXD
022564,001353: 23,2205 30323 CA CPSI
022565,001354: 23,2206 55637 TS CDUZD
022566,001355: 23,2207 00003 RELINT
022567,001356: 23,2210 E7,1456 EBANK= LOSCOUNT
022568,001357: 23,2210 35016 CAF EBANK7
022569,001358: 23,2211 54003 TS EBANK
022570,001359: 23,2212 02236 TC R61C+L06
022571,001360: 23,2213 77776 R61C+L05 EXIT
022572,001361: 23,2214 00004 INHINT
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Page 519 |
022574,001363: 23,2215 04674 TC IBNKCALL
022575,001364: 23,2216 40153 FCADR ZATTEROR
022576,001365: 23,2217 04674 TC IBNKCALL
022577,001366: 23,2220 40140 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022578,001367: 23,2221 05516 TC DOWNFLAG
022579,001368: 23,2222 00124 ADRES 3AXISFLG
022580,001369: 23,2223 05504 TC UPFLAG
022581,001370: 23,2224 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022582,001371: 23,2225 04616 TC BANKCALL
022583,001372: 23,2226 54123 CADR R60LEM
022584,001373: 23,2227 00004 INHINT
022585,001374: 23,2230 04674 TC IBNKCALL
022586,001375: 23,2231 40123 FCADR RESTORDB
022587,001376: 23,2232 05353 TC PHASCHNG
022588,001377: 23,2233 04022 OCT 04022
022589,001378: 23,2234 05516 TC DOWNFLAG
022590,001379: 23,2235 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022591,001380: 23,2236 30075 R61C+L06 CA FLAGWRD1
022592,001381: 23,2237 74742 MASK R61FLBIT
022593,001382: 23,2240 10000 CCS A
022594,001383: 23,2241 02262 TC R61C+L4
022595,001384: 23,2242 11745 CCS R65CNTR
022596,001385: 23,2243 02245 TC +2
022597,001386: 23,2244 02262 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022598,001387: 23,2245 55745 TS R65CNTR
022599,001388: 23,2246 32276 CAF 06SEC
022600,001389: 23,2247 05173 TC TWIDDLE
022601,001390: 23,2250 02252 ADRES R61C+L2
022602,001391: 23,2251 05155 TC ENDOFJOB
022603,001392: 23,2252 37714 R61C+L2 CAF PRIO26
022604,001393: 23,2253 05105 TC FINDVAC
022605,001394: 23,2254 E7,1456 EBANK= LOSCOUNT
022606,001395: 23,2254 02127 46067 2CADR R61C+L01
022607,001396:
022608,001397: 23,2256 05261 TC TASKOVER
022609,001398: 23,2257 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022610,001399: 23,2260 54266 CADR BALLANGS
022611,001400: 23,2261 02236 TC R61C+L06
022612,001401: 23,2262 31143 R61C+L4 CAE GENRET
022613,001402: 23,2263 14640 TCF BANKJUMP # EXIT R61
022614,001403: 23,2264 32273 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022615,001404: 23,2265 70074 MASK STATE
022616,001405: 23,2266 00006 EXTEND
022617,001406: 23,2267 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022618,001407: 23,2270 02236 TC R61C+L06 # YES EXIT ROUTINE
022619,001408: 23,2271 04635 R65WAIT TC POSTJUMP
022620,001409: 23,2272 50232 CADR P20LEMWT
022621,001410:
022622,001411: 23,2273 00500 BIT7+9PV OCT 00500
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|
Page 520 |
022624,001413: 23,2274 17350 34602 COS15DEG 2DEC 0.96593 B-1
022625,001414:
022626,001415: 23,2276 01130 06SEC DEC 600 B-14
022627,001416: 23,2277 PHI EQUALS 20D
022628,001417: 23,2277 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022629,001418: 23,2300 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022630,001419: 23,2301 56003 XCH EBANK
022631,001420: 23,2302 54070 TS RUPTREG1
022632,001421: 23,2303 E6,1635 EBANK= CDUXD
022633,001422: 23,2303 31635 CA CDUXD
022634,001423: 23,2304 54154 TS MPAC
022635,001424: 23,2305 00006 EXTEND
022636,001425: 23,2306 31637 DCA CDUYD
022637,001426: 23,2307 52156 DXCH MPAC +1
022638,001427: 23,2310 30070 CA RUPTREG1
022639,001428: 23,2311 54003 TS EBANK
022640,001429: 23,2312 00003 RELINT
022641,001430: 23,2313 16477 TCF TMODE
022642,001431: 4512 BLOCK 02
022643,001432: 4000 SETLOC RADARFF
022644,001433: 4000 BANK
022645,001434:
022646,001435: 4512 E7,1456 EBANK= LOSCOUNT
022647,001436: 4512 COUNT* $$/RRSUB
022648,001437:
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|
Page 521 |
022650,001439: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022651,001440: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022652,001441:
022653,001442: 4512 00006 MAGSUB EXTEND
022654,001443: 4513 64515 BZMF +2
022655,001444: 4514 14516 TCF +2
022656,001445: 4515 40000 COM
022657,001446:
022658,001447: 4516 50002 INDEX Q
022659,001448: 4517 60000 AD 0
022660,001449: 4520 00006 EXTEND
022661,001450: 4521 66741 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022662,001451: 4522 16737 TCF Q+1 # ABS(A) > CONST GO TO L+2
022663,001452:
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|
Page 522 |
022665,001454: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022666,001455:
022667,001456: # FUNCTIONAL DESCRIPTION_
022668,001457:
022669,001458: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022670,001459: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022671,001460: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022672,001461: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022673,001462: # MODE 1 AND =1 FOR MODE 2.
022674,001463:
022675,001464: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022676,001465: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022677,001466: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022678,001467: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022679,001468:
022680,001469: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022681,001470: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022682,001471: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022683,001472: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022684,001473: # TO L +3.
022685,001474:
022686,001475: # CALLING SEQUENCE:
022687,001476:
022688,001477: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022689,001478: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022690,001479:
022691,001480: # ERASABLE INITIALIZATION REQUIRED:
022692,001481:
022693,001482: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022694,001483: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022695,001484: # CURRENT EBANK).
022696,001485:
022697,001486: # SUBROUTINES CALLED_ MAGSUB
022698,001487:
022699,001488: # JOBS OR TASKS INITIATED_ NONE
022700,001489:
022701,001490: # ALARMS_ NONE
022702,001491:
022703,001492: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022704,001493: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022705,001494:
022706,001495: 4523 00006 RRLIMCHK EXTEND
022707,001496: 4524 50002 INDEX Q
022708,001497: 4525 50000 INDEX 0
022709,001498: 4526 30001 DCA 0
022710,001499: 4527 24002 INCR Q
022711,001500: 4530 52062 DXCH ITEMP1
022712,001501: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022713,001502:
022714,001503: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022715,001504: 4533 70110 MASK RADMODES
022716,001505: 4534 10000 CCS A
022717,001506: 4535 14550 TCF MODE2CHK
022718,001507:
022719,001508: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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|
Page 523 |
022721,001510: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022722,001511: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022723,001512: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022724,001513:
022725,001514: 4542 34562 CAF 5.5DEGS
022726,001515: 4543 60062 AD ITEMP2 # S
022727,001516: 4544 04512 TC MAGSUB
022728,001517: 4545 64420 DEC -.35833 # 64.5 DEGS
022729,001518: 4546 00001 TC L
022730,001519: 4547 04560 TC RRLIMOK # IN LIMITS.
022731,001520:
022732,001521: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022733,001522: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022734,001523: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022735,001524: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022736,001525: 4554 00001 TC L
022737,001526:
022738,001527: 4555 30061 CA ITEMP1
022739,001528: 4556 04512 TC MAGSUB
022740,001529: 4557 51615 DEC -.69444 # 125 DEGS
022741,001530:
022742,001531: 4560 50001 RRLIMOK INDEX L
022743,001532: 4561 00001 TC L # ( = TC 1 )
022744,001533:
022745,001534: 4562 00765 5.5DEGS DEC .03056
022746,001535: 4563 16450 82DEGS DEC .45556
022747,001536:
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|
Page 524 |
022749,001538: # PROGRAM NAME_ SETTRKF . IF EITHER:
022750,001539:
022751,001540: # FUNCTIONAL DESCRIPTION_
022752,001541: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022753,001542: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022754,001543: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022755,001544: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022756,001545: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022757,001546: # AUTO MODE (RADMODES BITS 13, 7, 2).
022758,001547: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022759,001548: # 8,5)
022760,001549: # 3) NO RR DATA (RADMODES BIT 4)
022761,001550: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022762,001551: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022763,001552: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022764,001553: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022765,001554: # TRACKER FAIL LAMP IS TURNED ON IF_
022766,001555: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022767,001556: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022768,001557: # EITHER THE ALT OR VEL INFORMATION
022769,001558: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022770,001559: # WITH EITHER THE AL
022771,001560:
022772,001561: # CALLING SEQUENCE:
022773,001562:
022774,001563: # L TC SETTRKF
022775,001564:
022776,001565: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022777,001566:
022778,001567: # SUBROUTINES CALLED_ NONE
022779,001568:
022780,001569: # JOBS OR TASKS INITIATED_ NONE
022781,001570:
022782,001571: # ALARMS_ TRACKER FAIL LAMP
022783,001572:
022784,001573: # EXIT_ L +1 (ALWAYS) ED.
022785,001574:
022786,001575: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022787,001576: 4565 71303 MASK IMODES33
022788,001577: 4566 10000 CCS A
022789,001578: 4567 00002 TC Q
022790,001579:
022791,001580: 4570 34744 RRTRKF CA BIT8
022792,001581: 4571 54001 TS L
022793,001582:
022794,001583: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022795,001584: 4573 70110 MASK RADMODES
022796,001585: 4574 00006 EXTEND
022797,001586: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022798,001587:
022799,001588: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022800,001589: 4577 70110 MASK RADMODES
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Page 525 |
022802,001591: 4600 10000 CCS A
022803,001592: 4601 30001 TRKFLON CA L
022804,001593: 4602 61036 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022805,001594: 4603 70001 MASK L
022806,001595: 4604 00006 EXTEND
022807,001596: 4605 16742 BZF TCQ # NO CHANGE.
022808,001597:
022809,001598: 4606 31036 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022810,001599: 4607 00006 EXTEND
022811,001600: 4610 06001 RXOR LCHAN
022812,001601: 4611 74733 MASK POSMAX
022813,001602: 4612 64735 AD BIT15
022814,001603: 4613 55036 TS DSPTAB +11D
022815,001604: 4614 00002 TC Q
022816,001605:
022817,001606: 4615 10102 13,7,2 OCT 10102
022818,001607: 4616 ENDRMODF EQUALS
022819,001608:
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Page 526 |
022821,001610: # PROGRAM NAME_ RRTURNON
022822,001611:
022823,001612: # FUNCTIONAL DESCRIPTION_
022824,001613:
022825,001614: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022826,001615: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022827,001616: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022828,001617: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022829,001618: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022830,001619: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022831,001620: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022832,001621: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022833,001622: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022834,001623: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022835,001624: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022836,001625: # TO TASKOVER.
022837,001626:
022838,001627: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022839,001628: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022840,001629: # THE RR (STATE BIT 7).
022841,001630:
022842,001631: # ERASABLE INITIALIZATION REQUIRED:
022843,001632:
022844,001633: # RADMODES, STATE
022845,001634:
022846,001635: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022847,001636:
022848,001637: # JOBS OR TASKS INITIATED_
022849,001638: #
022850,001639: # NONE
022851,001640:
022852,001641: # ALARMS_ NONE (SEE RRZEROSB)
022853,001642:
022854,001643: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022855,001644:
022856,001645: 24,3255 BANK 24
022857,001646: 25,2000 SETLOC P20S1
022858,001647: 25,2000 BANK
022859,001648:
022860,001649: 25,2062 E7,1456 EBANK= LOSCOUNT
022861,001650: 25,2062 COUNT* $$/RSUB
022862,001651: 25,2062 02071 RRTURNON TC RRZEROSB
022863,001652: 25,2063 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022864,001653: 25,2064 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022865,001654: 25,2065 44753 CS TURNONBT
022866,001655: 25,2066 70110 MASK RADMODES
022867,001656: 25,2067 54110 TS RADMODES
022868,001657: 25,2070 15261 TCF TASKOVER
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Page 527 |
022870,001659: # PROGRAM NAME_ RRZEROSB
022871,001660:
022872,001661: # FUNCTIONAL DESCRIPTION_
022873,001662: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022874,001663: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022875,001664: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022876,001665: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022877,001666: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022878,001667: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022879,001668: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022880,001669: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022881,001670: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022882,001671: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022883,001672: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022884,001673: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022885,001674: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022886,001675: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022887,001676: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022888,001677:
022889,001678: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022890,001679:
022891,001680: # ERASABLE INITIALIZATION REQUIRED:
022892,001681:
022893,001682: # RADMODES (BIT 13 SET), DSPTAB +11D
022894,001683:
022895,001684: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022896,001685:
022897,001686: # JOBS OR TASKS INITIATED_
022898,001687:
022899,001688: # NONE
022900,001689:
022901,001690: # ALARMS_ TRACKER FAIL
022902,001691:
022903,001692: # EXIT_ L +1 (ALWAYS)
022904,001693:
022905,001694: 25,2071 00006 RRZEROSB EXTEND
022906,001695: 25,2072 23315 QXCH RRRET
022907,001696: 25,2073 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022908,001697: 25,2074 00006 EXTEND # COMING HERE.
022909,001698: 25,2075 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022910,001699: 25,2076 05221 TC FIXDELAY
022911,001700: 25,2077 00002 DEC 2 B-14
022912,001701:
022913,001702: 25,2100 34755 CAF ZERO
022914,001703: 25,2101 54035 TS CDUT
022915,001704: 25,2102 54036 TS CDUS
022916,001705: 25,2103 44753 CS ONE # REMOVE ZEROING BIT.
022917,001706: 25,2104 00006 EXTEND
022918,001707: 25,2105 03012 WAND CHAN12
022919,001708: 25,2106 05221 TC FIXDELAY
022920,001709: 25,2107 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022921,001710:
022922,001711: 25,2110 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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Page 528 |
022924,001713: 25,2111 70110 MASK RADMODES
022925,001714: 25,2112 54110 TS RADMODES
022926,001715:
022927,001716: 25,2113 30035 CA CDUT
022928,001717: 25,2114 04512 TC MAGSUB
022929,001718: 25,2115 57777 DEC -.5
022930,001719: 25,2116 12121 TCF +3 # IF MODE 2.
022931,001720:
022932,001721: 25,2117 34755 CAF ZERO
022933,001722: 25,2120 12122 TCF +2
022934,001723: 25,2121 34740 CAF ANTENBIT
022935,001724: 25,2122 56110 XCH RADMODES
022936,001725: 25,2123 77741 MASK -BIT12
022937,001726: 25,2124 26110 ADS RADMODES
022938,001727:
022939,001728: 25,2125 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022940,001729:
022941,001730: 25,2126 01315 TC RRRET # DONE.
022942,001731:
022943,001732: 25,2127 7741 -BIT12 EQUALS -1/8 # IN SPROOT
022944,001733:
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Page 529 |
022946,001735: # PROGRAM NAME_ DORREPOS
022947,001736:
022948,001737: # FUNCTIONAL DESCRIPTION_
022949,001738:
022950,001739: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022951,001740: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022952,001741: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022953,001742: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022954,001743: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022955,001744: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022956,001745: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022957,001746: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022958,001747: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022959,001748: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022960,001749: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022961,001750: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022962,001751: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022963,001752: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022964,001753: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022965,001754: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022966,001755: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022967,001756: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022968,001757: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022969,001758: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022970,001759: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022971,001760: # TASKOVER.
022972,001761:
022973,001762: # CALLING SEQUENCE:
022974,001763:
022975,001764: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022976,001765: # NOT WITHIN LIMITS OF CURRENT MODE.
022977,001766:
022978,001767: # ERASABLE INITIALIZATION REQUIRED:
022979,001768:
022980,001769: # RADMODES
022981,001770:
022982,001771: # SUBROUTINES CALLED_
022983,001772:
022984,001773: # RRTONLY, RRSONLY, BEGDES (EXIT)
022985,001774:
022986,001775: # JOBS OR TASKS INITIATED_
022987,001776:
022988,001777: # NONE
022989,001778:
022990,001779: # ALARMS- NONE
022991,001780:
022992,001781: # EXIT_ TASKOVER, BEGDES
022993,001782:
022994,001783: 25,2127 02156 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022995,001784:
022996,001785: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022997,001786:
022998,001787: 25,2130 05221 TC FIXDELAY
022999,001788: 25,2131 00002 DEC 2 B-14
023000,001789:
023001,001790: 25,2132 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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Page 530 |
023003,001792: 25,2133 70110 MASK RADMODES
023004,001793: 25,2134 10000 CCS A
023005,001794: 25,2135 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023006,001795: 25,2136 02241 TC RRTONLY
023007,001796:
023008,001797: 25,2137 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
023009,001798: 25,2140 70110 MASK RADMODES
023010,001799: 25,2141 10000 CCS A
023011,001800: 25,2142 44736 CS HALF # -90 FOR MODE 2.
023012,001801: 25,2143 02244 TC RRSONLY
023013,001802:
023014,001803: 25,2144 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023015,001804: # REQUESTED DURING REPOSITION.
023016,001805: 25,2145 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023017,001806: 25,2146 54110 TS RADMODES
023018,001807: 25,2147 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023019,001808: 25,2150 10000 CCS A
023020,001809: 25,2151 12573 TCF BEGDES
023021,001810: 25,2152 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023022,001811: 25,2153 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023023,001812: 25,2154 03012 WAND CHAN12
023024,001813: 25,2155 15261 TCF TASKOVER
023025,001814:
023026,001815: 25,2156 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023027,001816: 25,2157 00006 EXTEND
023028,001817: 25,2160 02012 RAND CHAN12
023029,001818: 25,2161 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023030,001819: 25,2162 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023031,001820:
023032,001821: 25,2163 54112 TS LASTYCMD
023033,001822: 25,2164 54113 TS LASTXCMD
023034,001823: 25,2165 34752 CAF BIT2
023035,001824: 25,2166 00006 EXTEND
023036,001825: 25,2167 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023037,001826: 25,2170 00002 TC Q
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Page 531 |
023039,001828: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023040,001829:
023041,001830: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023042,001831: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023043,001832: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023044,001833: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023045,001834: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023046,001835: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023047,001836: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023048,001837: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023049,001838: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023050,001839: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023051,001840: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023052,001841: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023053,001842: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023054,001843: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023055,001844: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023056,001845: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023057,001846: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023058,001847: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023059,001848: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023060,001849: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023061,001850:
023062,001851: # CALLING SEQUENCE:
023063,001852:
023064,001853: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023065,001854: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023066,001855: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023067,001856: # OTHER MODE.
023068,001857:
023069,001858: # ERASABLE INITIALIZATION REQUIRED:
023070,001859:
023071,001860: # RADMODES
023072,001861:
023073,001862: # SUBROUTINES CALLED_
023074,001863:
023075,001864: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023076,001865:
023077,001866: # JOBS OR TASKS INITIATED_
023078,001867:
023079,001868: # NONE
023080,001869:
023081,001870: # ALARMS_ NONE
023082,001871:
023083,001872: # EXIT_ STDESIG
023084,001873:
023085,001874: 25,2171 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
023086,001875: 25,2172 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023087,001876: 25,2173 10000 CCS A
023088,001877: 25,2174 34735 CAF BIT15
023089,001878: 25,2175 02241 TC RRTONLY
023090,001879:
023091,001880: 25,2176 37740 CAF -45DEGSR
023092,001881: 25,2177 02244 TC RRSONLY
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Page 532 |
023094,001883: 25,2200 40110 CS RADMODES
023095,001884: 25,2201 74740 MASK ANTENBIT
023096,001885: 25,2202 10000 CCS A
023097,001886: 25,2203 32232 CAF -80DEGSR # GO TO T = -130 (-50).
023098,001887: 25,2204 62231 AD -50DEGSR
023099,001888: 25,2205 02241 TC RRTONLY
023100,001889:
023101,001890: 25,2206 40110 CS RADMODES
023102,001891: 25,2207 74740 MASK ANTENBIT
023103,001892: 25,2210 10000 CCS A
023104,001893: 25,2211 34735 CAF BIT15 # GO TO T = -180 (+0).
023105,001894: 25,2212 02241 TC RRTONLY
023106,001895:
023107,001896: 25,2213 40110 CS RADMODES # GO TO S = -90 (+0).
023108,001897: 25,2214 74740 MASK ANTENBIT
023109,001898: 25,2215 10000 CCS A
023110,001899: 25,2216 44736 CS HALF
023111,001900: 25,2217 02244 TC RRSONLY
023112,001901:
023113,001902: 25,2220 02233 TC RMODINV
023114,001903:
023115,001904: 25,2221 44736 CS REMODBIT # END OF REMODE.
023116,001905: 25,2222 70110 MASK RADMODES
023117,001906: 25,2223 54110 TS RADMODES
023118,001907:
023119,001908: 25,2224 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
023120,001909: 25,2225 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023121,001910: 25,2226 00006 EXTEND
023122,001911: 25,2227 13555 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
023123,001912: 25,2230 02602 TC STDESIG # YES - RETURN TO DESIGNATE
023124,001913: 25,2231 7740 -45DEGSR = 13,14,15
023125,001914: 25,2231 67070 -50DEGSR DEC -.27778
023126,001915: 25,2232 61615 -80DEGSR DEC -.44444
023127,001916:
023128,001917: 25,2233 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023129,001918: 25,2234 34740 CAF ANTENBIT
023130,001919: 25,2235 00006 EXTEND
023131,001920: 25,2236 06001 RXOR LCHAN
023132,001921: 25,2237 54110 TS RADMODES
023133,001922: 25,2240 00002 TC Q
023134,001923:
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Page 533 |
023136,001925: # PROGRAM NAMES_ RRTONLY, RRSONLY
023137,001926:
023138,001927: # FUNCTIONAL DESCRIPTION_
023139,001928:
023140,001929: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023141,001930: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023142,001931: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023143,001932: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023144,001933: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023145,001934: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023146,001935: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023147,001936: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023148,001937: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023149,001938: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023150,001939: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023151,001940: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023152,001941: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023153,001942: # REPEATED.
023154,001943:
023155,001944: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023156,001945: # L TC RRTONLY (TRUNNION ONLY)
023157,001946: # RRSONLY (SHAFT ONLY)
023158,001947: # RRTONLY IS CALLED BY PREPOS29;
023159,001948: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023160,001949:
023161,001950: # ERASABLE INITIALIZATION REQUIRED:
023162,001951:
023163,001952: # C(A) = DESIRED ANGLE, RADMODES
023164,001953:
023165,001954: # SUBROUTINES CALLED_
023166,001955:
023167,001956: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023168,001957:
023169,001958: # JOBS OR TASKS INITIATED_
023170,001959:
023171,001960: # NONE
023172,001961:
023173,001962: # ALARMS_ NONE
023174,001963:
023175,001964: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023176,001965: # BITS 14, 11)
023177,001966: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023178,001967:
023179,001968: 25,2241 55316 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023180,001969: 25,2242 34755 CAF ZERO
023181,001970: 25,2243 12246 TCF RR1AXIS
023182,001971:
023183,001972: 25,2244 55316 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023184,001973: 25,2245 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023185,001974:
023186,001975: 25,2246 55317 RR1AXIS TS RRINDEX
023187,001976: 25,2247 00006 EXTEND
023188,001977: 25,2250 23315 QXCH RRRET
023189,001978: 25,2251 12254 TCF RR1AX2
023190,001979:
|
|
Page 534 |
023192,001981: 25,2252 05221 NXTRR1AX TC FIXDELAY
023193,001982: 25,2253 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023194,001983:
023195,001984: 25,2254 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023196,001985: 25,2255 77710 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023197,001986: 25,2256 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023198,001987: 25,2257 12144 BZF REPOSRPT # REMODE IMMEDIATELY.
023199,001988:
023200,001989: 25,2260 31316 CA RDES
023201,001990: 25,2261 00006 EXTEND
023202,001991: 25,2262 51317 INDEX RRINDEX
023203,001992: 25,2263 20035 MSU CDUT
023204,001993: 25,2264 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023205,001994: 25,2265 00006 EXTEND
023206,001995: 25,2266 72305 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023207,001996: 25,2267 54001 TS L
023208,001997: 25,2270 30110 CA RADMODES
023209,001998: 25,2271 74752 MASK AUTOMBIT
023210,001999: 25,2272 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023211,002000: 25,2273 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023212,002001: 25,2274 77644 DEC -.00555 # SCALED IN HALF-REVS.
023213,002002:
023214,002003: 25,2275 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023215,002004: 25,2276 01315 TC RRRET # RETURN TO CALLER.
023216,002005:
023217,002006: 25,2277 11317 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023218,002007: 25,2300 12302 TCF +2 # SETTING A TO 0.
023219,002008: 25,2301 56001 XCH L
023220,002009: 25,2302 53110 DXCH TANG
023221,002010:
023222,002011: 25,2303 02306 TC RROUT
023223,002012:
023224,002013: 25,2304 12252 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023225,002014:
023226,002015: 25,2305 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023227,002016:
|
|
Page 535 |
023229,002018: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023230,002019:
023231,002020: # FUNCTIONAL DESCRIPTION_
023232,002021:
023233,002022: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023234,002023: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023235,002024: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023236,002025: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023237,002026: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023238,002027: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023239,002028: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023240,002029: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023241,002030: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023242,002031: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023243,002032: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023244,002033: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023245,002034: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023246,002035:
023247,002036: # CALLING SEQUENCE:
023248,002037: #
023249,002038: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023250,002039: # RRTONLY, RRSONLY, AND DODES
023251,002040:
023252,002041: # ERASABLE INITIALIZATION REQUIRED:
023253,002042:
023254,002043: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023255,002044: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023256,002045:
023257,002046: # SUBROUTINES CALLED_
023258,002047:
023259,002048: # MAGSUB
023260,002049:
023261,002050: # JOBS OR TASKS INITIATED_
023262,002051:
023263,002052: # NONE
023264,002053:
023265,002054: # ALARMS_ NONE
023266,002055:
023267,002056: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023268,002057:
023269,002058: 25,2306 22002 RROUT LXCH Q # SAVE RETURN.
023270,002059: 25,2307 34753 CAF ONE # LOOP TWICE.
023271,002060: 25,2310 54062 RROUT2 TS ITEMP2
023272,002061: 25,2311 50000 INDEX A
023273,002062: 25,2312 31107 CA TANG
023274,002063: 25,2313 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023275,002064:
023276,002065: 25,2314 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023277,002066: 25,2315 77177 -RRLIMIT DEC -384 B-14
023278,002067: 25,2316 12335 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023279,002068:
023280,002069: 25,2317 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023281,002070: 25,2320 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023282,002071: 25,2321 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023283,002072: 25,2322 40000 COM
|
|
Page 536 |
023285,002074: 25,2323 60061 AD ITEMP1
023286,002075: 25,2324 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023287,002076: 25,2325 50062 INDEX ITEMP2
023288,002077: 25,2326 54053 TS CDUTCMD
023289,002078:
023290,002079: 25,2327 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023291,002080: 25,2330 12310 TCF RROUT2
023292,002081:
023293,002082: 25,2331 35020 CAF PRIO6 # ENABLE COUNTERS.
023294,002083: 25,2332 00006 EXTEND
023295,002084: 25,2333 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023296,002085: 25,2334 00001 TC L # RETURN.
023297,002086:
023298,002087: 25,2335 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023299,002088: 25,2336 42315 CS -RRLIMIT
023300,002089: 25,2337 12341 TCF +2
023301,002090: 25,2340 32315 CA -RRLIMIT
023302,002091: 25,2341 54061 TS ITEMP1
023303,002092: 25,2342 12320 TCF SETRRCTR +1
023304,002093:
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|
Page 537 |
023306,002095: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023307,002096:
023308,002097: 25,2343 32372 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023309,002098: 25,2344 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023310,002099: 25,2345 10000 CCS A
023311,002100: 25,2346 13530 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023312,002101:
023313,002102: 25,2347 00004 INHINT
023314,002103: 25,2350 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023315,002104: 25,2351 70110 MASK RADMODES
023316,002105: 25,2352 64737 AD RCDU0BIT
023317,002106: 25,2353 54110 TS RADMODES
023318,002107:
023319,002108: 25,2354 34753 CAF ONE
023320,002109: 25,2355 05203 TC WAITLIST
023321,002110: 25,2356 E7,1456 EBANK= LOSCOUNT
023322,002111: 25,2356 02370 52067 2CADR RRZ2
023323,002112:
023324,002113: 25,2360 40110 CS RADMODES # SEE IF IN AUTO MODE.
023325,002114: 25,2361 74752 MASK AUTOMBIT
023326,002115: 25,2362 10000 CCS A
023327,002116: 25,2363 12366 TCF ROADBACK
023328,002117: 25,2364 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023329,002118: 25,2365 00510 OCT 510
023330,002119: 25,2366 00003 ROADBACK RELINT
023331,002120: 25,2367 14631 TCF SWRETURN
023332,002121:
023333,002122: 25,2370 02071 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023334,002123: 25,2371 13546 TCF ENDRADAR
023335,002124:
023336,002125: 25,2372 02001 BIT11+1 OCT 02001
023337,002126:
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|
Page 538 |
023339,002128: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023340,002129:
023341,002130: # FUNCTIONAL DESCRIPTION_
023342,002131:
023343,002132: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023344,002133: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023345,002134: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023346,002135: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023347,002136: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023348,002137: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023349,002138: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023350,002139: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023351,002140: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023352,002141: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023353,002142: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023354,002143: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023355,002144: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023356,002145: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023357,002146: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023358,002147: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023359,002148: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023360,002149: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023361,002150: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023362,002151: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023363,002152: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023364,002153: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023365,002154:
023366,002155: # CALLING SEQUENCE:
023367,002156:
023368,002157: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023369,002158: # L+1 RRDESSM
023370,002159: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023371,002160: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023372,002161:
023373,002162: # ERASABLE INITIALIZATION REQUIRED:
023374,002163:
023375,002164: # RRTARGET, RADMODES
023376,002165:
023377,002166: # SUBROUTINES CALLED_
023378,002167:
023379,002168: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023380,002169: # PART OF), RMODINV
023381,002170:
023382,002171: # JOBS OR TASKS INITIATED_
023383,002172:
023384,002173: # NONE
023385,002174:
023386,002175: # ALARMS_ NONE
023387,002176:
023388,002177: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023389,002178: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE - RETURNS
023390,002179: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023391,002180:
023392,002181: 25,2373 43020 RRDESSM STQ CLEAR
023393,002182: 25,2374 01113 DESRET
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|
Page 539 |
023395,002184: 25,2375 00271 RRNBSW
023396,002185: 25,2376 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023397,002186: 25,2377 47537 CDUTRIG
023398,002187: 25,2400 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023399,002188: 25,2401 01102 RRTARGET
023400,002189: 25,2402 47671 *SMNB*
023401,002190:
023402,002191: 25,2403 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023403,002192: 25,2404 26133 RRANGLES # ALTERNATE MODE.
023404,002193: 25,2405 77776 EXIT
023405,002194:
023406,002195: 25,2406 00004 INHINT
023407,002196: 25,2407 04523 TC RRLIMCHK
023408,002197: 25,2410 01107 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023409,002198: 25,2411 02414 TC +3 # NOT IN CURRENT MODE
023410,002199: 25,2412 25113 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023411,002200: 25,2413 02432 TC STARTDES # SHOW DESIGNATE REQUIRED
023412,002201: 25,2414 40104 CS FLAGWRD8
023413,002202: 25,2415 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023414,002203: 25,2416 00006 EXTEND
023415,002204: 25,2417 12456 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023416,002205: 25,2420 02461 TC TRYSWS
023417,002206:
023418,002207: 25,2421 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023419,002208: 25,2422 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023420,002209: 25,2423 00006 EXTEND
023421,002210: 25,2424 12456 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023422,002211: 25,2425 30074 CA STATE
023423,002212: 25,2426 74745 MASK RNDVZBIT
023424,002213: 25,2427 10000 CCS A # TEST RNDVZFLG.
023425,002214: 25,2430 02471 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023426,002215: 25,2431 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023427,002216:
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|
Page 540 |
023429,002218: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023430,002219:
023431,002220: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023432,002221: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023433,002222: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023434,002223: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023435,002224: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023436,002225: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023437,002226: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023438,002227: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023439,002228: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023440,002229: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023441,002230: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023442,002231: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023443,002232: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023444,002233: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023445,002234: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023446,002235: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023447,002236: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023448,002237: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023449,002238: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023450,002239: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023451,002240: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023452,002241:
023453,002242: # CALLING SEQUENCE:
023454,002243:
023455,002244: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023456,002245:
023457,002246: # ERASABLE INITIALIZATION REQUIRED:
023458,002247:
023459,002248: # RADMODES, (SEE DODES)
023460,002249:
023461,002250: # SUBROUTINES CALLED_
023462,002251:
023463,002252: # SETRRECR, WAITLIST
023464,002253:
023465,002254: # JOBS OR TASKS INITIATED_
023466,002255:
023467,002256: # BEGDES
023468,002257:
023469,002258: # ALARMS_ NONE
023470,002259:
023471,002260: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023472,002261: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023473,002262:
023474,002263: 25,2432 25113 STARTDES INCR DESRET
023475,002264: 25,2433 40110 CS RADMODES
023476,002265: 25,2434 74742 MASK DESIGBIT
023477,002266: 25,2435 26110 ADS RADMODES
023478,002267: 25,2436 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023479,002268: 25,2437 10000 CCS A
023480,002269: 25,2440 12446 TCF DESRETRN # ECTR ALREADY SET UP.
023481,002270:
023482,002271: 25,2441 02156 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 541 |
023484,002273: 25,2442 34752 CAF TWO
023485,002274: 25,2443 05203 TC WAITLIST
023486,002275: 25,2444 E7,1456 EBANK= LOSCOUNT
023487,002276: 25,2444 02573 52067 2CADR BEGDES
023488,002277:
023489,002278: 25,2446 31306 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023490,002279: 25,2447 00006 EXTEND
023491,002280: 25,2450 12452 BZF DESRTRN # YES SET EXIT
023492,002281: 25,2451 05155 TC ENDOFJOB # NO
023493,002282: 25,2452 00003 DESRTRN RELINT
023494,002283: 25,2453 25113 INCR DESRET
023495,002284: 25,2454 31113 CA DESRET
023496,002285: 25,2455 14640 TCF BANKJUMP
023497,002286:
023498,002287: 25,2456 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023499,002288: 25,2457 55306 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023500,002289: 25,2460 12452 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023501,002290:
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|
Page 542 |
023503,002292: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023504,002293:
023505,002294: 25,2461 02233 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023506,002295: 25,2462 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023507,002296: 25,2463 01111 ADRES MODEB
023508,002297: 25,2464 12471 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023509,002298:
023510,002299: 25,2465 02233 TC RMODINV # RESET BIT12
023511,002300: 25,2466 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023512,002301: 25,2467 26110 ADS RADMODES
023513,002302:
023514,002303: 25,2470 12412 TCF OKDESSM
023515,002304:
023516,002305: 25,2471 02233 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023517,002306: 25,2472 25113 INCR DESRET # TO CALLER +2
023518,002307: 25,2473 12456 TCF NORDSTAL
023519,002308:
023520,002309: 25,2474 00074 MAXTRYS DEC 60 B-14
023521,002310:
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|
Page 543 |
023523,002312: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023524,002313: # TANG AND TANG +1.
023525,002314:
023526,002315: 25,2475 04645 RRDESNB TC MAKECADR
023527,002316: 25,2476 55113 TS DESRET
023528,002317:
023529,002318: 25,2477 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023530,002319: 25,2500 00041 ADRES LOSCMFLG # BACK TO R21
023531,002320: 25,2501 32474 CA MAXTRYS # SET TIME LIMIT COUNTER
023532,002321: 25,2502 55114 TS DESCOUNT # FOR DESIGNATE
023533,002322: 25,2503 00004 INHINT # SEE IF CURRENT MODE OK.
023534,002323: 25,2504 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023535,002324: 25,2505 01107 ADRES TANG
023536,002325: 25,2506 12523 TCF TRYSWN # SEE IF IN OTHER MODE.
023537,002326:
023538,002327: 25,2507 00003 OKDESNB RELINT
023539,002328: 25,2510 00006 EXTEND
023540,002329: 25,2511 31110 DCA TANG
023541,002330: 25,2512 53753 DXCH TANGNB
023542,002331: 25,2513 06037 TC INTPRET
023543,002332:
023544,002333: 25,2514 77624 CALL # GET LOS IN NB COORDS.
023545,002334: 25,2515 46041 RRNB
023546,002335: 25,2516 01102 STORE RRTARGET
023547,002336:
023548,002337: 25,2517 77414 SET EXIT
023549,002338: 25,2520 00071 RRNBSW
023550,002339:
023551,002340: 25,2521 00004 INHINT
023552,002341: 25,2522 12433 TCF STARTDES +1
023553,002342: 25,2523 02233 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023554,002343: 25,2524 02540 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023555,002344: 25,2525 01107 ADRES TANG
023556,002345: 25,2526 12533 TCF NODESNB # NOT POSSIBLE.
023557,002346:
023558,002347: 25,2527 02233 TC RMODINV
023559,002348: 25,2530 34736 CAF REMODBIT # CALL FOR REMODE.
023560,002349: 25,2531 26110 ADS RADMODES
023561,002350: 25,2532 12507 TCF OKDESNB
023562,002351:
023563,002352: 25,2533 02233 NODESNB TC RMODINV # REINVERT MODE BIT.
023564,002353: 25,2534 05567 TC ALARM # BAD INPUT ANGLES.
023565,002354: 25,2535 00502 OCT 502
023566,002355: 25,2536 06011 TC CLRADMOD
023567,002356: 25,2537 05155 TC ENDOFJOB # AVOID 503 ALARM.
023568,002357:
023569,002358: 25,2540 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023570,002359: 25,2541 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023571,002360: 25,2542 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023572,002361: 25,2543 00006 EXTEND
|
|
Page 544 |
023574,002363: 25,2544 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023575,002364: 25,2545 30001 DCA 0
023576,002365: 25,2546 52062 DXCH ITEMP1
023577,002366: 25,2547 22002 LXCH Q # L(CALLER +2) TO L
023578,002367:
023579,002368: 25,2550 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023580,002369: 25,2551 70110 MASK RADMODES
023581,002370: 25,2552 10000 CCS A
023582,002371: 25,2553 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023583,002372: 25,2554 30061 CA ITEMP1
023584,002373: 25,2555 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023585,002374: 25,2556 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023586,002375: 25,2557 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023587,002376:
023588,002377: 25,2560 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023589,002378: 25,2561 00006 EXTEND
023590,002379: 25,2562 62570 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023591,002380: 25,2563 64562 AD 5.5DEGS
023592,002381: 25,2564 04512 SHAFTLIM TC MAGSUB
023593,002382: 25,2565 64420 DEC -.35833 # 64.5 DEGREES
023594,002383: 25,2566 00001 TC L # NOT IN LIMITS
023595,002384: 25,2567 04560 TC RRLIMOK # IN LIMITS
023596,002385: 25,2570 62572 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023597,002386: 25,2571 12564 TCF SHAFTLIM
023598,002387:
023599,002388: 25,2572 03512 20.5DEGS DEC .11389
023600,002389:
|
|
Page 545 |
023602,002391: # PROGRAM NAME_ BEGDES
023603,002392:
023604,002393: # FUNCTIONAL DESCRIPTION_
023605,002394:
023606,002395: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023607,002396: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023608,002397: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023609,002398: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023610,002399: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023611,002400: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023612,002401: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023613,002402: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023614,002403: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023615,002404: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023616,002405: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023617,002406: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023618,002407: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023619,002408: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023620,002409: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023621,002410: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023622,002411: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023623,002412: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023624,002413: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023625,002414: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023626,002415: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023627,002416: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023628,002417: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023629,002418: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023630,002419: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023631,002420:
023632,002421: # CALLING SEQUENCE:
023633,002422:
023634,002423: # WAITLIST CALL FROM STARTDES
023635,002424: # TCF BEGDES FROM DORREPOS
023636,002425: # TC STDESIG RETURNING, FROM REMODE
023637,002426:
023638,002427: # ERASABLE INITIALIZATION REQUIRED:
023639,002428: # DESCOUNT, RADMODES
023640,002429:
023641,002430: # SUBROUTINES CALLED_
023642,002431: # ENDRADAR, FINDVAC
023643,002432:
023644,002433: # JOBS OR TASKS INITIATED_ DODES
023645,002434:
023646,002435: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023647,002436: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023648,002437:
023649,002438: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023650,002439: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023651,002440: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023652,002441:
023653,002442: 25,2573 40110 BEGDES CS RADMODES
|
|
Page 546 |
023655,002444: 25,2574 74736 MASK REMODBIT
023656,002445: 25,2575 10000 CCS A
023657,002446: 25,2576 02602 TC STDESIG
023658,002447: 25,2577 02171 TC REMODE
023659,002448: 25,2600 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023660,002449: 25,2601 00062 DEC 50 B-14
023661,002450:
023662,002451: 25,2602 34741 STDESIG CAF REPOSBIT
023663,002452: 25,2603 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023664,002453: 25,2604 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023665,002454: 25,2605 12623 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023666,002455:
023667,002456: 25,2606 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023668,002457: 25,2607 12612 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023669,002458: 25,2610 12612 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023670,002459: 25,2611 12630 TCF MOREDES +1
023671,002460:
023672,002461: 25,2612 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023673,002462: 25,2613 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023674,002463: 25,2614 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023675,002464: 25,2615 13546 TCF ENDRADAR # CHECKING RR CDU FAIL.
023676,002465:
023677,002466: 25,2616 11114 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023678,002467: 25,2617 12627 TCF MOREDES
023679,002468:
023680,002469: 25,2620 42635 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023681,002470: 25,2621 00006 EXTEND
023682,002471: 25,2622 03012 WAND CHAN12
023683,002472: 25,2623 44742 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG
023684,002473: 25,2624 70110 MASK RADMODES
023685,002474: 25,2625 54110 TS RADMODES
023686,002475: 25,2626 13562 TCF RDBADEND
023687,002476:
023688,002477: 25,2627 55114 MOREDES TS DESCOUNT
023689,002478: 25,2630 37714 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023690,002479: 25,2631 05105 TC FINDVAC
023691,002480: 25,2632 E7,1456 EBANK= LOSCOUNT
023692,002481: 25,2632 02636 52067 2CADR DODES
023693,002482:
023694,002483: 25,2634 12600 TCF DESLOOP
023695,002484:
023696,002485: 25,2635 20002 B14+B2 OCT 20002
023697,002486:
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|
Page 547 |
023699,002488: # PROGRAM NAME_ DODES
023700,002489:
023701,002490: # FUNCTIONAL DESCRIPTION_
023702,002491:
023703,002492: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023704,002493: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023705,002494: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023706,002495: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023707,002496: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023708,002497: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023709,002498: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023710,002499: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023711,002500: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023712,002501: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023713,002502: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023714,002503: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023715,002504: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023716,002505: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023717,002506: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023718,002507: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023719,002508: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023720,002509: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023721,002510: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023722,002511: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023723,002512: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023724,002513: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023725,002514: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023726,002515: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023727,002516: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023728,002517: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023729,002518: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023730,002519: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023731,002520: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023732,002521: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023733,002522: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023734,002523: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023735,002524: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023736,002525: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023737,002526: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023738,002527: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023739,002528: # VIA ENDOFJOB.
023740,002529:
023741,002530: # CALLING SEQUENCE:
023742,002531:
023743,002532: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023744,002533:
023745,002534: # ERASABLE INITIALIZATION REQUIRED:
023746,002535:
023747,002536: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023748,002537: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023749,002538:
023750,002539: # SUBROUTINES CALLED_
023751,002540:
023752,002541: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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|
Page 548 |
023754,002543:
023755,002544: # JOBS OR TASKS INITIATED_
023756,002545:
023757,002546: # NONE
023758,002547:
023759,002548: # ALARMS_ NONE
023760,002549:
023761,002550: # EXIT_ ENDOFJOB (ALWAYS)
023762,002551:
023763,002552: 25,2636 00006 DODES EXTEND
023764,002553: 25,2637 30036 DCA CDUT
023765,002554: 25,2640 53110 DXCH TANG
023766,002555:
023767,002556: 25,2641 06037 TC INTPRET
023768,002557:
023769,002558: 25,2642 77201 SETPD VLOAD
023770,002559: 25,2643 00001 0
023771,002560: 25,2644 01102 RRTARGET
023772,002561: 25,2645 74214 BON VXSC
023773,002562: 25,2646 00311 RRNBSW
023774,002563: 25,2647 52661 DONBRD # TARGET IN NAV-BASE COORDINATES
023775,002564: 25,2650 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023776,002565: 25,2651 63372 VSL1 PDVL
023777,002566: 25,2652 01761 LOSVEL
023778,002567: 25,2653 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023779,002568: 25,2654 13072 MCTOMS
023780,002569: 25,2655 45056 UNIT CALL
023781,002570: 25,2656 47537 CDUTRIG
023782,002571: 25,2657 77624 CALL
023783,002572: 25,2660 47671 *SMNB*
023784,002573:
023785,002574: 25,2661 14041 DONBRD STODL 32D
023786,002575: 25,2662 01111 TANG +1
023787,002576: 25,2663 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023788,002577: 25,2664 21576 CDULOGIC # (-SIN(S)).
023789,002578: 25,2665 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023790,002579: 25,2666 41546 COS PUSH
023791,002580: 25,2667 65205 DMP PDDL
023792,002581: 25,2670 00041 32D
023793,002582: 25,2671 00045 36D
023794,002583: 25,2672 44205 DMP BDSU
023795,002584: 25,2673 00001 0
023796,002585: 25,2674 77626 STADR
023797,002586: 25,2675 76666 STORE TANG +1 # SHAFT COMMAND
023798,002587:
023799,002588: 25,2676 47135 SLOAD RTB
023800,002589: 25,2677 01110 TANG
023801,002590: 25,2700 21576 CDULOGIC
023802,002591: 25,2701 71406 PUSH COS # COS(T) TO 4.
023803,002592: 25,2702 73525 PDDL SIN
023804,002593: 25,2703 41206 PUSH DMP # SIN(T) TO 6.
023805,002594: 25,2704 00003 2
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|
Page 549 |
023807,002596: 25,2705 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023808,002597: 25,2706 00005 4 # ( COS(T) )
023809,002598: 25,2707 41325 PDDL DMP # (SIN(T)COS(S))
023810,002599: 25,2710 00007 6
023811,002600: 25,2711 00001 0
023812,002601: 25,2712 55552 SL1 VDEF
023813,002602: 25,2713 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023814,002603: 25,2714 00041 32D
023815,002604:
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|
Page 550 |
023817,002606: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023818,002607: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023819,002608:
023820,002609: 25,2715 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023821,002610: 25,2716 00006 EXTEND
023822,002611: 25,2717 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023823,002612: 25,2720 55107 TS TANG # TRUNNION COMMAND.
023824,002613: 25,2721 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023825,002614: 25,2722 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023826,002615: 25,2723 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023827,002616: 25,2724 12727 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023828,002617: 25,2725 31110 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023829,002618: 25,2726 12730 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023830,002619: 25,2727 41110 +3 CS TANG +1
023831,002620: 25,2730 00006 EXTEND
023832,002621: 25,2731 73066 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023833,002622: 25,2732 55110 TS TANG +1 # SHAFT COMMAND.
023834,002623: 25,2733 06037 TC INTPRET
023835,002624:
023836,002625: 25,2734 41345 DLOAD DMP
023837,002626: 25,2735 00003 2 # COS(S).
023838,002627: 25,2736 00005 4 # COS(T).
023839,002628: 25,2737 65352 SL1 PDDL # Z COMPONENT OF URR.
023840,002629: 25,2740 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023841,002630: 25,2741 00001 0 # SIN(S).
023842,002631: 25,2742 72405 DMP SL1
023843,002632: 25,2743 00005 4 # COS(T).
023844,002633: 25,2744 43066 VDEF BON # FORM URR IN NB AXES.
023845,002634: 25,2745 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023846,002635: 25,2746 52751 +3
023847,002636: 25,2747 77624 CALL
023848,002637: 25,2750 47673 *NBSM* # GET URR IN SM AXES.
023849,002638: 25,2751 77441 DOT EXIT
023850,002639: 25,2752 01102 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023851,002640:
023852,002641: 25,2753 00006 EXTEND
023853,002642: 25,2754 43070 DCS COS1/2DG
023854,002643: 25,2755 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023855,002644: 25,2756 10154 CCS MPAC
023856,002645: 25,2757 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023857,002646: 25,2760 12762 TCF +2
023858,002647: 25,2761 34753 CA ONE
023859,002648: 25,2762 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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|
Page 551 |
023861,002650: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023862,002651:
023863,002652: 25,2763 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023864,002653: 25,2764 12767 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023865,002654: 25,2765 12767 TCF SIGNLCHK # ERROR SIGNALS
023866,002655: 25,2766 13017 TCF DORROUT
023867,002656: 25,2767 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023868,002657: 25,2770 13000 TCF DGOODCHK
023869,002658: 25,2771 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023870,002659: 25,2772 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023871,002660: 25,2773 10000 CCS A
023872,002661: 25,2774 13005 TCF RRDESDUN
023873,002662:
023874,002663: 25,2775 34736 CAF BIT14 # ENABLE THE TRACKER.
023875,002664: 25,2776 00006 EXTEND
023876,002665: 25,2777 05012 WOR CHAN12
023877,002666:
023878,002667: 25,3000 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023879,002668: 25,3001 00006 EXTEND
023880,002669: 25,3002 02033 RAND CHAN33
023881,002670: 25,3003 10000 CCS A
023882,002671: 25,3004 13017 TCF DORROUT
023883,002672:
023884,002673: 25,3005 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023885,002674: 25,3006 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023886,002675: 25,3007 00004 INHINT
023887,002676: 25,3010 54110 TS RADMODES
023888,002677:
023889,002678: 25,3011 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023890,002679: 25,3012 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023891,002680: 25,3013 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023892,002681: 25,3014 00006 EXTEND
023893,002682: 25,3015 03012 WAND CHAN12
023894,002683: 25,3016 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023895,002684:
023896,002685: 25,3017 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023897,002686: 25,3020 77712 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023898,002687: 25,3021 00006 EXTEND
023899,002688: 25,3022 13041 BZF NOTP20
023900,002689: 25,3023 06037 TC INTPRET
023901,002690: 25,3024 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023902,002691: 25,3025 01102 RRTARGET
023903,002692: 25,3026 01767 MLOSV
023904,002693: 25,3027 41572 VSL1 PUSH
023905,002694: 25,3030 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023906,002695: 25,3031 01761 LOSVEL # TO LOS VECTOR
023907,002696: 25,3032 13072 MCTOMS
023908,002697: 25,3033 53362 VSR1 VAD
023909,002698: 25,3034 77656 UNIT
023910,002699: 25,3035 15102 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
|
|
Page 552 |
023912,002701: 25,3036 00045 36D
023913,002702: 25,3037 01767 STORE MLOSV # AND STORE MAGNITUDE
023914,002703: 25,3040 77776 EXIT
023915,002704: 25,3041 00004 NOTP20 INHINT
023916,002705: 25,3042 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023917,002706: 25,3043 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023918,002707: 25,3044 10000 CCS A
023919,002708: 25,3045 02306 TC RROUT
023920,002709:
023921,002710: 25,3046 30076 CA FLAGWRD2
023922,002711: 25,3047 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023923,002712: 25,3050 00006 EXTEND # LOS COUNTER
023924,002713: 25,3051 15155 BZF ENDOFJOB
023925,002714: 25,3052 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023926,002715: 25,3053 03064 TC DODESEND # A NEW LOS
023927,002716: 25,3054 00004 INHINT
023928,002717: 25,3055 06027 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023929,002718: 25,3056 52602 CADR DESLOOP +2
023930,002719: 25,3057 00003 RELINT
023931,002720: 25,3060 10067 CCS NEWJOB
023932,002721: 25,3061 05122 TC CHANG1
023933,002722: 25,3062 04616 TC BANKCALL
023934,002723: 25,3063 50731 CADR R21LEM2
023935,002724:
023936,002725: 25,3064 55456 DODESEND TS LOSCOUNT
023937,002726: 25,3065 05155 TC ENDOFJOB
023938,002727:
023939,002728: 25,3066 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023940,002729: 25,3067 7712 BIT12,14 EQUALS PRIO24 # OCT 24000
023941,002730: 25,3067 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023942,002731: 25,3071 00310 00000 MCTOMS 2DEC 100 B-13
023943,002732:
|
|
Page 553 |
023945,002734: # RADAR READ INITIALIZATION
023946,002735:
023947,002736: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023948,002737:
023949,002738: 25,3073 03113 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023950,002739: 25,3074 00017 ALLREAD OCT 17
023951,002740:
023952,002741: 25,3075 03114 LRVELZ TC INITREAD
023953,002742: 25,3076 00016 OCT 16
023954,002743:
023955,002744: 25,3077 03114 LRVELY TC INITREAD
023956,002745: 25,3100 00015 OCT 15
023957,002746:
023958,002747: 25,3101 03114 LRVELX TC INITREAD
023959,002748: 25,3102 00014 OCT 14
023960,002749:
023961,002750: 25,3103 03113 RRRDOT TC INITREAD -1
023962,002751: 25,3104 00012 OCT 12
023963,002752:
023964,002753: 25,3105 03113 RRRANGE TC INITREAD -1
023965,002754: 25,3106 00011 OCT 11
023966,002755:
023967,002756: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023968,002757: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023969,002758:
023970,002759: 25,3107 55105 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023971,002760: 25,3110 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023972,002761: 25,3111 51105 INDEX TIMEHOLD
023973,002762: 25,3112 13075 TCF LRVELZ
023974,002763:
|
|
Page 554 |
023976,002765: 25,3113 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023977,002766: 25,3114 00004 INITREAD INHINT
023978,002767:
023979,002768: 25,3115 55105 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023980,002769: 25,3116 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023981,002770: 25,3117 74751 MP BIT3 # ENCOUNTERED).
023982,002771: 25,3120 53106 DXCH TIMEHOLD
023983,002772:
023984,002773: 25,3121 10000 CCS A
023985,002774: 25,3122 55111 TS NSAMP
023986,002775: 25,3123 64753 AD ONE
023987,002776: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023988,002777: # DOUBLE
023989,002778: 25,3124 55100 TS SAMPLIM
023990,002779:
023991,002780: 25,3125 33147 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023992,002781: 25,3126 00006 EXTEND
023993,002782: 25,3127 02033 RAND CHAN33
023994,002783: 25,3130 55113 TS OLDATAGD
023995,002784:
023996,002785: 25,3131 43074 CS ALLREAD
023997,002786: 25,3132 00006 EXTEND
023998,002787: 25,3133 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023999,002788:
024000,002789: 25,3134 50002 INDEX Q
024001,002790: 25,3135 30000 CAF 0
024002,002791: 25,3136 00006 EXTEND
024003,002792: 25,3137 05013 WOR CHAN13 # SET NEW RADAR BITS
024004,002793:
024005,002794: 25,3140 00006 EXTEND
024006,002795: 25,3141 30025 DCA TIME2
024007,002796: 25,3142 21106 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
024008,002797:
024009,002798: 25,3143 34755 CAF ZERO
024010,002799: 25,3144 54001 TS L
024011,002800: 25,3145 53102 DXCH SAMPLSUM
024012,002801: 25,3146 12366 TCF ROADBACK
024013,002802:
024014,002803: 25,3147 00230 DGBITS OCT 230
024015,002804:
|
|
Page 555 |
024017,002806: # RADAR RUPT READER
024018,002807:
024019,002808: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024020,002809:
024021,002810: 25,2000 SETLOC RADARUPT
024022,002811: 25,2000 BANK
024023,002812:
024024,002813: 25,3150 COUNT* $$/RRUPT
024025,002814: 25,3150 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
024026,002815: 25,3151 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
024027,002816: 25,3152 54016 TS BANKRUPT
024028,002817: 25,3153 00006 EXTEND
024029,002818: 25,3154 22012 QXCH QRUPT
024030,002819:
024031,002820: 25,3155 34757 CAF SEVEN
024032,002821: 25,3156 00006 EXTEND
024033,002822: 25,3157 02013 RAND CHAN13
024034,002823: 25,3160 55335 TS DNINDEX
024035,002824: 25,3161 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
024036,002825: 25,3162 13166 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024037,002826: 25,3163 30046 CA RNRAD
024038,002827: 25,3164 51335 INDEX DNINDEX
024039,002828: 25,3165 55332 TS DNRRANGE -1
024040,002829: 25,3166 11100 TRYCOUNT CCS SAMPLIM
024041,002830: 25,3167 13211 TCF PLENTY
024042,002831: 25,3170 13174 TCF NOMORE
024043,002832: 25,3171 05567 TC ALARM
024044,002833: 25,3172 00520 OCT 520
024045,002834: 25,3173 05270 TC RESUME
024046,002835:
024047,002836: 25,3174 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
024048,002837: 25,3175 74735 MASK LRBYBIT
024049,002838: 25,3176 00006 EXTEND
024050,002839: 25,3177 13206 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
024051,002840:
024052,002841: 25,3200 40077 CS FLAGWRD3 # CHECK R04FLAG.
024053,002842: 25,3201 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
024054,002843: 25,3202 00006 EXTEND
024055,002844: 25,3203 13206 BZF BADRAD
024056,002845:
024057,002846: 25,3204 05567 TC ALARM # P20 WANTS THE ALARM.
024058,002847: 25,3205 00521 OCT 521
024059,002848: 25,3206 44753 BADRAD CS ONE
024060,002849: 25,3207 55100 TS SAMPLIM
024061,002850: 25,3210 03560 TC RDBADEND -2
024062,002851: 25,3211 55100 PLENTY TS SAMPLIM
024063,002852: 25,3212 34751 CAF BIT3
024064,002853: 25,3213 00006 EXTEND
024065,002854: 25,3214 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
024066,002855: 25,3215 00006 EXTEND
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|
Page 556 |
024068,002857: 25,3216 13276 BZF RENDRAD
024069,002858:
024070,002859: 25,3217 03364 TC R77CHECK # R77 QUITS HERE.
024071,002860: 25,3220 30110 LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION.
024072,002861: 25,3221 00006 EXTEND
024073,002862: 25,3222 06033 RXOR CHAN33
024074,002863: 25,3223 74746 MASK BIT6
024075,002864: 25,3224 00006 EXTEND
024076,002865: 25,3225 13231 BZF VELCHK
024077,002866:
024078,002867: 25,3226 05567 TC ALARM
024079,002868: 25,3227 00522 OCT 522
024080,002869: 25,3230 03206 TC BADRAD
024081,002870:
024082,002871: 25,3231 36245 VELCHK CAF BIN3 # = 00003 OCT
024083,002872: 25,3232 00006 EXTEND
024084,002873: 25,3233 06013 RXOR CHAN13 # RESET ACTIVITY BIT
024085,002874: 25,3234 76245 MASK BIN3
024086,002875: 25,3235 00006 EXTEND
024087,002876: 25,3236 13272 BZF LRHEIGHT # TAKE A LR RANGE READING
024088,002877:
024089,002878: 25,3237 34733 CAF POSMAX
024090,002879: 25,3240 70046 MASK RNRAD
024091,002880: 25,3241 62000 AD LVELBIAS
024092,002881: 25,3242 54001 TS L
024093,002882: 25,3243 30046 CAE RNRAD
024094,002883: 25,3244 60000 DOUBLE
024095,002884: 25,3245 74753 MASK BIT1
024096,002885: 25,3246 52064 DXCH ITEMP3
024097,002886:
024098,002887: 25,3247 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024099,002888: 25,3250 03442 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
024100,002889: # INDEPENDENT OF DATA GOOD.
024101,002890:
024102,002891: 25,3251 11111 CCS NSAMP
024103,002892: 25,3252 03262 TC NOEND
024104,002893: 25,3253 44753 GOODRAD CS ONE
024105,002894: 25,3254 55100 TS SAMPLIM
024106,002895: 25,3255 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024107,002896: 25,3256 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
024108,002897: 25,3257 54110 TS RADMODES
024109,002898: 25,3260 03616 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
024110,002899: 25,3261 03553 TC RGOODEND -2
024111,002900:
024112,002901: 25,3262 55111 NOEND TS NSAMP
024113,002902: 25,3263 11100 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
024114,002903: 25,3264 13266 TCF +2
024115,002904: 25,3265 13461 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
024116,002905: 25,3266 34750 CAF BIT4 # RESET ACTIVITY BIT.
024117,002906: 25,3267 00006 EXTEND
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|
Page 557 |
024119,002908: 25,3270 05013 WOR CHAN13 # RESET ACTIVITY BIT
024120,002909: 25,3271 05270 TC RESUME
024121,002910:
024122,002911:
024123,002912: 25,3272 34747 LRHEIGHT CAF BIT5
024124,002913: 25,3273 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024125,002914:
024126,002915: 25,3274 34743 CAF BIT9
024127,002916: 25,3275 03320 TC SCALECHK -1
024128,002917:
024129,002918: 25,3276 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
024130,002919: 25,3277 70110 MASK RADMODES # LIMITS.
024131,002920: 25,3300 10000 CCS A
024132,002921: 25,3301 13206 TCF BADRAD
024133,002922:
024134,002923: 25,3302 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
024135,002924: 25,3303 74745 MASK RCDUFBIT
024136,002925: 25,3304 10000 CCS A
024137,002926: 25,3305 13206 TCF BADRAD
024138,002927:
024139,002928: 25,3306 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024140,002929: 25,3307 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024141,002930:
024142,002931: 25,3310 34753 CAF BIT1 # SEE IF RR RDOT.
024143,002932: 25,3311 00006 EXTEND
024144,002933: 25,3312 02013 RAND CHAN13
024145,002934: 25,3313 54002 TS Q # FOR LATER TESTING.
024146,002935: 25,3314 10000 CCS A
024147,002936: 25,3315 13317 TCF +2
024148,002937: 25,3316 13331 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024149,002938: 25,3317 34751 CAF BIT3
024150,002939: 25,3320 54001 TS L
024151,002940:
024152,002941: 25,3321 00006 SCALECHK EXTEND
024153,002942: 25,3322 02033 RAND CHAN33 # SCALE STATUS NOW
024154,002943: 25,3323 56001 XCH L
024155,002944: 25,3324 70110 MASK RADMODES # SCALE STATUS BEFORE
024156,002945: 25,3325 00006 EXTEND
024157,002946: 25,3326 06001 RXOR LCHAN # SEE IF THEY DIFFER
024158,002947: 25,3327 10000 CCS A
024159,002948: 25,3330 03350 TC SCALCHNG # THEY DIFFER
024160,002949:
024161,002950: 25,3331 34733 RADIN CAF POSMAX
024162,002951: 25,3332 70046 MASK RNRAD
024163,002952: 25,3333 54064 TS ITEMP4
024164,002953:
024165,002954: 25,3334 30046 CAE RNRAD
024166,002955: 25,3335 60000 DOUBLE
024167,002956: 25,3336 74753 MASK BIT1
024168,002957: 25,3337 54063 TS ITEMP3
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|
Page 558 |
024170,002959: 25,3340 10002 CCS Q # SEE IF RR RDOT.
024171,002960: 25,3341 13402 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024172,002961:
024173,002962: 25,3342 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024174,002963: 25,3343 42002 DCS RDOTBIAS
024175,002964: 25,3344 20064 DASAMPL DAS ITEMP3
024176,002965: 25,3345 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024177,002966: 25,3346 03443 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024178,002967: 25,3347 03253 TC GOODRAD
024179,002968:
024180,002969: 25,3350 22110 SCALCHNG LXCH RADMODES
024181,002970: 25,3351 64753 AD BIT1
024182,002971: 25,3352 00006 EXTEND
024183,002972: 25,3353 06001 RXOR LCHAN
024184,002973: 25,3354 54110 TS RADMODES
024185,002974: 25,3355 33147 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024186,002975: 25,3356 00006 EXTEND
024187,002976: 25,3357 02033 RAND CHAN33
024188,002977: 25,3360 55113 TS OLDATAGD
024189,002978: 25,3361 05504 TC UPFLAG # SET RNGSCFLG
024190,002979: 25,3362 00120 ADRES RNGSCFLG # FOR LRS24.1
024191,002980: 25,3363 13206 TCF BADRAD
024192,002981:
024193,002982: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024194,002983:
024195,002984: 25,3364 40101 R77CHECK CS FLAGWRD5
024196,002985: 25,3365 74741 MASK R77FLBIT
024197,002986: 25,3366 10000 CCS A
024198,002987: 25,3367 00002 TC Q # NOT R77
024199,002988: 25,3370 43401 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024200,002989: 25,3371 70110 MASK RADMODES
024201,002990: 25,3372 54001 TS L
024202,002991: 25,3373 33401 CA BITS5,8
024203,002992: 25,3374 00006 EXTEND
024204,002993: 25,3375 02033 RAND CHAN33
024205,002994: 25,3376 60001 AD L
024206,002995: 25,3377 54110 TS RADMODES
024207,002996: 25,3400 03553 TC RGOODEND -2
024208,002997: 25,3401 00220 BITS5,8 OCT 220
024209,002998:
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|
Page 559 |
024211,003000: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024212,003001:
024213,003002: 25,3402 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024214,003003: 25,3403 13405 TCF +2 # ON HIGH SCALE.
024215,003004: 25,3404 13345 TCF DGCHECK2
024216,003005:
024217,003006: 25,3405 31335 CA DNINDEX
024218,003007: 25,3406 74751 MASK BIT3
024219,003008: 25,3407 10000 CCS A
024220,003009: 25,3410 13417 TCF LRSCK
024221,003010:
024222,003011: 25,3411 52064 DXCH ITEMP3
024223,003012: 25,3412 20001 DDOUBL
024224,003013: 25,3413 20001 DDOUBL
024225,003014: 25,3414 20001 DDOUBL
024226,003015: 25,3415 52064 DXCH ITEMP3
024227,003016:
024228,003017: 25,3416 13345 TCF DGCHECK2
024229,003018:
024230,003019: 25,3417 10063 LRSCK CCS ITEMP3
024231,003020: 25,3420 13431 TCF +11
024232,003021: 25,3421 40064 CS ITEMP4
024233,003022: 25,3422 63441 AD HISCALIM
024234,003023: 25,3423 00006 EXTEND
024235,003024: 25,3424 63431 BZMF +5
024236,003025:
024237,003026: 25,3425 40107 CS FLGWRD11
024238,003027: 25,3426 74751 MASK SCABBIT
024239,003028: 25,3427 26107 ADS FLGWRD11
024240,003029: 25,3430 13434 TCF +4
024241,003030:
024242,003031: 25,3431 44751 CS SCABBIT
024243,003032: 25,3432 70107 MASK FLGWRD11
024244,003033: 25,3433 54107 TS FLGWRD11
024245,003034:
024246,003035: 25,3434 00006 EXTEND
024247,003036: 25,3435 30064 DCA ITEMP3
024248,003037: 25,3436 20001 DDOUBL
024249,003038: 25,3437 20001 DDOUBL
024250,003039: 25,3440 13344 TCF DASAMPL
024251,003040:
024252,003041: 25,3441 00714 HISCALIM DEC 460 B-14 # 2481.7 FT *****************************
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|
Page 560 |
024254,003043: 25,3442 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024255,003044: 25,3443 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024256,003045: 25,3444 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024257,003046: 25,3445 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024258,003047: 25,3446 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024259,003048: 25,3447 71113 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024260,003049: 25,3450 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024261,003050: 25,3451 57113 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024262,003051: 25,3452 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024263,003052: 25,3453 60001 AD L
024264,003053: 25,3454 10000 CCS A # SHOULD BOTH BE ZERO.
024265,003054: 25,3455 03263 TC RESAMPLE
024266,003055: 25,3456 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024267,003056: 25,3457 21102 DAS SAMPLSUM # ACCUMULATION.
024268,003057: 25,3460 00002 TC Q
024269,003058:
024270,003059: 25,3461 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024271,003060: 25,3462 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024272,003061: 25,3463 60061 AD ITEMP1
024273,003062: 25,3464 54110 TS RADMODES
024274,003063:
024275,003064: 25,3465 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024276,003065: 25,3466 53102 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
024277,003066: 25,3467 03616 TC RADLITES
024278,003067: 25,3470 13174 TCF NOMORE
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|
Page 561 |
024280,003069: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024281,003070:
024282,003071: 25,2000 SETLOC P20S1
024283,003072: 25,2000 BANK
024284,003073:
024285,003074: 25,3471 COUNT* $$/RSUB
024286,003075: 25,3471 00004 LRPOS2 INHINT
024287,003076:
024288,003077: 25,3472 40110 CS RADMODES
024289,003078: 25,3473 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024290,003079: 25,3474 26110 ADS RADMODES
024291,003080:
024292,003081: 25,3475 34745 CAF BIT7
024293,003082: 25,3476 00006 EXTEND
024294,003083: 25,3477 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024295,003084: 25,3500 00006 EXTEND
024296,003085: 25,3501 13530 BZF RADNOOP
024297,003086:
024298,003087: 25,3502 34737 CAF BIT13
024299,003088: 25,3503 00006 EXTEND
024300,003089: 25,3504 05012 WOR CHAN12 # COMMAND TO POSITION 2
024301,003090: 25,3505 33545 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024302,003091: 25,3506 05203 TC WAITLIST
024303,003092: 25,3507 E7,1456 EBANK= LOSCOUNT
024304,003093: 25,3507 03543 52067 2CADR LRPOSCAN
024305,003094:
024306,003095: 25,3511 02366 TC ROADBACK
024307,003096:
024308,003097: 25,3512 55100 LRPOSNXT TS SAMPLIM
024309,003098: 25,3513 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024310,003099: 25,3514 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024311,003100:
024312,003101: 25,3515 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024313,003102: 25,3516 00006 EXTEND
024314,003103: 25,3517 02033 RAND CHAN33
024315,003104: 25,3520 00006 EXTEND
024316,003105: 25,3521 13535 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024317,003106:
024318,003107: 25,3522 11100 CCS SAMPLIM # SEE IF MAX TIME UP.
024319,003108: 25,3523 13512 TCF LRPOSNXT
024320,003109:
024321,003110: 25,3524 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024322,003111: 25,3525 00006 EXTEND
024323,003112: 25,3526 03012 WAND CHAN12
024324,003113: 25,3527 13562 TCF RDBADEND
024325,003114:
024326,003115: 25,3530 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024327,003116: 25,3531 05203 TC WAITLIST
024328,003117: 25,3532 E7,1456 EBANK= LOSCOUNT
024329,003118: 25,3532 03555 52067 2CADR RGOODEND
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|
Page 562 |
024331,003120: 25,3534 02366 TC ROADBACK
024332,003121:
024333,003122: 25,3535 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024334,003123: 25,3536 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024335,003124:
024336,003125: 25,3537 44737 CS BIT13 # REMOVE COMMAND
024337,003126: 25,3540 00006 EXTEND
024338,003127: 25,3541 03012 WAND CHAN12
024339,003128: 25,3542 13555 TCF RGOODEND
024340,003129:
024341,003130: 25,3543 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024342,003131: 25,3544 13512 TCF LRPOSNXT
024343,003132: 25,3545 01130 6SECS DEC 600 B-14
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|
Page 563 |
024345,003134: # SEQUENCES TO TERMINATE RR OPERATIONS.
024346,003135:
024347,003136: 25,3546 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024348,003137: 25,3547 70110 MASK RADMODES
024349,003138: 25,3550 10000 CCS A
024350,003139: 25,3551 13555 TCF RGOODEND
024351,003140: 25,3552 13562 TCF RDBADEND
024352,003141: 25,3553 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024353,003142: 25,3554 54734 TS RUPTAGN
024354,003143:
024355,003144: 25,3555 34752 RGOODEND CAF TWO
024356,003145: 25,3556 04635 TC POSTJUMP
024357,003146: 25,3557 17665 CADR GOODEND
024358,003147:
024359,003148: 25,3560 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024360,003149: 25,3561 54734 TS RUPTAGN
024361,003150: 25,3562 34752 RDBADEND CAF TWO
024362,003151: 25,3563 04635 TC POSTJUMP
024363,003152: 25,3564 17662 CADR BADEND
024364,003153:
024365,003154: 25,3565 6245 BIN3 EQUALS THREE
024366,003155:
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|
Page 564 |
024368,003157: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024369,003158: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024370,003159:
024371,003160: # FUNCTIONAL DESCRIPTION_
024372,003161: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024373,003162: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024374,003163: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024375,003164:
024376,003165: # CALLING SEQUENCE CALL
024377,003166: # LPS20.1
024378,003167:
024379,003168: # SUBROUTINES CALLED_
024380,003169: # LEMPREC, CSMPREC
024381,003170:
024382,003171: # NORMAL EXIT_ RETURN TO CALLER + 2
024383,003172:
024384,003173: # ERROR EXITS_ NONE
024385,003174:
024386,003175: # ALARMS_ NONE
024387,003176:
024388,003177: # OUTPUT_
024389,003178: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024390,003179: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024391,003180: # RRNBSW CLEARED
024392,003181:
024393,003182: # INITIALIZED ERASEABLE
024394,003183: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024395,003184: # SEE ORBITAL INTEGRATION ROUTINE
024396,003185:
024397,003186: # DEBRIS_
024398,003187: # MPAC DESTROYED BY THIS ROUTINE
024399,003188:
024400,003189: 23,2314 BANK 23
024401,003190: 24,2000 SETLOC P20S
024402,003191: 24,2000 BANK
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|
Page 565 |
024404,003193: 24,3255 COUNT* $$/LPS20
024405,003194:
024406,003195: 24,3255 43020 LPS20.1 STQ BOFF
024407,003196: 24,3256 01757 LS21X
024408,003197: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024409,003198: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
024410,003199: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024411,003200: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
024412,003201: 24,3263 51274 CSMINT
024413,003202: 24,3264 77624 LMINT CALL
024414,003203: 24,3265 27100 LEMCONIC # EXTRAPOLATE LEM
024415,003204: 24,3266 77775 VLOAD
024416,003205: 24,3267 00001 RATT
024417,003206: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
024418,003207: 24,3271 00007 VATT
024419,003208: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024420,003209: 24,3273 00015 TAT
024421,003210: 24,3274 34041 CSMINT STCALL TDEC1
024422,003211: 24,3275 27066 CSMCONIC # EXTRAPOLATE CSM
024423,003212: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024424,003213: 24,3277 00007 VATT
024425,003214: 24,3300 02360 LMVEL
024426,003215: 24,3301 76521 MXV VSL1
024427,003216: 24,3302 01734 REFSMMAT
024428,003217: 24,3303 77776 EXIT
024429,003218: 24,3304 06027 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024430,003219: 24,3305 52602 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024431,003220: 24,3306 06037 TC INTPRET
024432,003221: 24,3307 25761 STOVL LOSVEL
024433,003222: 24,3310 00001 RATT
024434,003223: 24,3311 43051 VSU BOFF
024435,003224: 24,3312 02352 LMPOS
024436,003225: 24,3313 00350 RNDVZFLG
024437,003226: 24,3314 51321 NOTSHIFT
024438,003227: 24,3315 77604 BOVB
024439,003228: 24,3316 57753 TCDANZIG
024440,003229: 24,3317 77661 VSL
024441,003230: 24,3320 20212 9D
024442,003231: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024443,003232: 24,3322 50102 526ALARM # THAN 400 N. M.
024444,003233: 24,3323 76521 MXV VSL1
024445,003234: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024446,003235: 24,3325 15102 STODL RRTARGET
024447,003236: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024448,003237: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024449,003238: 24,3330 77614 CLRGO
024450,003239: 24,3331 00231 RRNBSW
024451,003240: 24,3332 01757 LS21X
024452,003241:
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|
Page 566 |
024454,003243: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024455,003244: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024456,003245:
024457,003246: # FUNCTIONAL DESCRIPTION_
024458,003247: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024459,003248:
024460,003249: # CALLING SEQUENCE CALL
024461,003250: # LPS20.2
024462,003251:
024463,003252: # SUBROUTINES CALLED_ NONE
024464,003253:
024465,003254: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024466,003255:
024467,003256: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024468,003257:
024469,003258: # ALARMS_ NONE
024470,003259:
024471,003260: # OUTPUT_ NONE
024472,003261:
024473,003262: # INITIALIZED ERASEABLE_
024474,003263: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024475,003264:
024476,003265: # DEBRIS
024477,003266: # MPAC DESTROYED BY THIS ROUTINE
024478,003267:
024479,003268: 25,2000 SETLOC P20S1
024480,003269: 25,2000 BANK
024481,003270: 25,3565 COUNT* $$/LPS20
024482,003271:
024483,003272: 25,3565 45345 LPS20.2 DLOAD DSU
024484,003273: 25,3566 01767 MLOSV # MAGNITUDE OF LOS
024485,003274: 25,3567 13600 FHNM # OVER 400NM _
024486,003275: 25,3570 77644 BPL
024487,003276: 25,3571 53574 TOFAR
024488,003277: 25,3572 43535 SLOAD RVQ
024489,003278: 25,3573 06522 ZERO/SP
024490,003279: 25,3574 43535 TOFAR SLOAD RVQ
024491,003280: 25,3575 13577 ONE/SP
024492,003281: 25,3576 00001 ONE/SP DEC 1 B-14
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|
Page 567 |
024494,003283: 25,3577 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024495,003284:
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Page 568 |
024497,003286: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024498,003287: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024499,003288:
024500,003289: # FUNCTIONAL DESCRIPTION
024501,003290: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024502,003291: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024503,003292: # RR REPOSITION AND RR CDU FAIL
024504,003293: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024505,003294:
024506,003295: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024507,003296:
024508,003297: # SUBROUTINES CALLED:
024509,003298: # RRRDOT LPS20.1
024510,003299: # RRRANGE BANKCALL
024511,003300: # RADSTALL CDULOGIC
024512,003301: # RRNB SMNB
024513,003302:
024514,003303: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024515,003304:
024516,003305: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024517,003306: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024518,003307: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024519,003308:
024520,003309: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024521,003310: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024522,003311:
024523,003312: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024524,003313: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024525,003314:
024526,003315: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024527,003316: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024528,003317: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024529,003318: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024530,003319: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024531,003320: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024532,003321:
024533,003322: # ERASABLE INITIALIZATION REQUIRED:
024534,003323: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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Page 569 |
024536,003325: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024537,003326: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024538,003327: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024539,003328:
024540,003329: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024541,003330:
024542,003331: 32,2366 BANK 32
024543,003332: 32,2000 SETLOC LRS22
024544,003333: 32,2000 BANK
024545,003334: 32,2366 COUNT* $$/LRS22
024546,003335:
024547,003336: 32,2366 04645 LRS22.1 TC MAKECADR
024548,003337: 32,2367 55737 TS LRS22.1X
024549,003338: 32,2370 05516 TC DOWNFLAG
024550,003339: 32,2371 00120 ADRES RNGSCFLG
024551,003340: 32,2372 00004 INHINT
024552,003341: 32,2373 34751 CAF BIT3
024553,003342: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024554,003343: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024555,003344: 32,2376 54001 TS L
024556,003345: 32,2377 44751 CS RRRSBIT
024557,003346: 32,2400 70110 MASK RADMODES
024558,003347: 32,2401 60001 AD L
024559,003348: 32,2402 54110 TS RADMODES
024560,003349: 32,2403 00003 RELINT
024561,003350: 32,2404 04616 READRDOT TC BANKCALL
024562,003351: 32,2405 53103 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024563,003352: 32,2406 04616 TC BANKCALL
024564,003353: 32,2407 17714 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024565,003354: 32,2410 12542 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024566,003355:
024567,003356: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024568,003357: 32,2412 53106 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024569,003358: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024570,003359: 32,2414 53102 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024571,003360: 32,2415 53747 DXCH RDOTMSAV
024572,003361: 32,2416 00006 EXTEND
024573,003362: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024574,003363: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024575,003364: 32,2421 30032 CA CDUX
024576,003365: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024577,003366: 32,2423 00006 EXTEND
024578,003367: 32,2424 30025 DCA TIME2 # SAVE TIME
024579,003368: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024580,003369: 32,2426 00006 EXTEND
024581,003370: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024582,003371: 32,2430 53110 DXCH TANG
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Page 570 |
024584,003373: 32,2431 00003 RELINT
024585,003374: 32,2432 04616 TC BANKCALL
024586,003375: 32,2433 53105 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024587,003376: 32,2434 04616 TC BANKCALL
024588,003377: 32,2435 17714 CADR RADSTALL # WAIT FOR READ COMPLETE
024589,003378: 32,2436 02536 TC CHEXERR # CHECK FOR ERRORS DURING READ
024590,003379: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024591,003380: 32,2440 53334 DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024592,003381: 32,2441 53761 DXCH RANGRDOT
024593,003382: 32,2442 52162 DXCH MPAC +5
024594,003383: 32,2443 53755 DXCH MKTIME # MARK TIME
024595,003384: 32,2444 52160 DXCH MPAC +3
024596,003385: 32,2445 53460 DXCH AIG # CDUY, CDUZ
024597,003386: 32,2446 00006 EXTEND
024598,003387: 32,2447 31110 DCA TANG # PRESERVE TANG
024599,003388: 32,2450 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024600,003389: 32,2451 30156 CA MPAC +2
024601,003390: 32,2452 55461 TS AOG # CDUX
024602,003391: 32,2453 06037 TC INTPRET
024603,003392: 32,2454 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024604,003393: 32,2455 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024605,003394: 32,2456 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024606,003395: 32,2457 20217 14D # FT./SECOND PER BIT
024607,003396: 32,2460 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024608,003397: 32,2461 03751 STORE RDOTM
024609,003398: 32,2462 47135 SLOAD RTB
024610,003399: 32,2463 01110 TANG # GET TRUNION ANGLE
024611,003400: 32,2464 21576 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024612,003401: 32,2465 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024613,003402: 32,2466 47135 SLOAD RTB
024614,003403: 32,2467 01111 TANG +1 # DITTO FOR SHAFT ANGLE
024615,003404: 32,2470 21576 CDULOGIC
024616,003405: 32,2471 17736 STODL RRSHAFT
024617,003406: 32,2472 01102 SAMPLSUM
024618,003407: 32,2473 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024619,003408: 32,2474 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024620,003409: 32,2475 37757 STCALL RM
024621,003410: 32,2476 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024622,003411: 32,2477 17741 STODL RRBORSIT # AND SAVE
024623,003412: 32,2500 00025 20D
024624,003413: 32,2501 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024625,003414: 32,2502 51255 LPS20.1
024626,003415: 32,2503 77776 EXIT
024627,003416: 32,2504 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024628,003417: 32,2505 54766 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024629,003418: 32,2506 31460 CA AMG
024630,003419: 32,2507 54770 TS CDUSPOT +2
024631,003420: 32,2510 31461 CA AOG
024632,003421: 32,2511 54772 TS CDUSPOT +4
024633,003422: 32,2512 06037 TC INTPRET
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Page 571 |
024635,003424: 32,2513 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024636,003425: 32,2514 01102 RRTARGET
024637,003426: 32,2515 47651 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024638,003427: 32,2516 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024639,003428: 32,2517 03741 RRBORSIT
024640,003429: 32,2520 65552 SL1 ACOS # BETWEEN THEM
024641,003430: 32,2521 01046 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024642,003431: 32,2522 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024643,003432: 32,2523 24546 THREEDEG
024644,003433: 32,2524 64531 NORMEXIT # YES - NORMAL EXIT
024645,003434:
024646,003435: 32,2525 77776 EXIT # ERROR EXIT 2
024647,003436: 32,2526 34752 CAF BIT2 # SET ERROR CODE
024648,003437: 32,2527 54154 TS MPAC
024649,003438: 32,2530 12534 TCF OUT22.1
024650,003439:
024651,003440: 32,2531 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024652,003441: 32,2532 34755 CAF ZERO
024653,003442: 32,2533 54154 TS MPAC
024654,003443: 32,2534 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024655,003444: 32,2535 04640 TC BANKJUMP
024656,003445: 32,2536 30101 CHEXERR CAE FLAGWRD5
024657,003446: 32,2537 74742 MASK RNGSCBIT
024658,003447: 32,2540 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024659,003448: 32,2541 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024660,003449:
024661,003450: 32,2542 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024662,003451: 32,2543 54154 TS MPAC
024663,003452: 32,2544 02534 TC OUT22.1
024664,003453: 32,2545 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024665,003454:
024666,003455: 32,2547 1101 RRLOSVEC EQUALS RRTARGET
024667,003456:
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Page 572 |
024669,003458: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024670,003459: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024671,003460:
024672,003461: # FUNCTIONAL DESCRIPTION-
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Yes, I know point #1 is missing. It is missing from the program listing — RSB 2003 |
024674,003463: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024675,003464:
024676,003465: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024677,003466:
024678,003467: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024679,003468:
024680,003469: # NORMAL EXIT- RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024681,003470:
024682,003471: # ERROR EXIT- RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024683,003472:
024684,003473: # ALARMS- NONE IN THE AUTO MODE
024685,003474:
024686,003475: # ERASABLE INITIALIZATION REQUIRED -
024687,003476: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024688,003477: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024689,003478: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024690,003479:
024691,003480: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024692,003481:
024693,003482: 24,2000 SETLOC P20S
024694,003483: 24,2000 BANK
024695,003484: 24,3333 04645 LRS22.2 TC MAKECADR
024696,003485: 24,3334 55737 TS LRS22.1X
024697,003486: 24,3335 06037 TC INTPRET
024698,003487: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024699,003488: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024700,003489: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024701,003490: # LOS VECTOR, A HALF UNIT VECTOR
024702,003491: # IN NAV BASE AXES)
024703,003492: 24,3340 50025 DSU BMN
024704,003493: 24,3341 11355 30DEG
024705,003494: 24,3342 51347 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024706,003495: 24,3343 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024707,003496: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024708,003497: 24,3345 54154 TS MPAC
024709,003498: 24,3346 13352 TCF OUT22.2
024710,003499: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024711,003500:
|
|
Page 573 |
024713,003502: 24,3350 34755 CAF ZERO
024714,003503: 24,3351 54154 TS MPAC
024715,003504: 24,3352 31737 OUT22.2 CAE LRS22.1X
024716,003505: 24,3353 04640 TC BANKJUMP
024717,003506:
024718,003507: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024719,003508:
|
|
Page 574 |
024721,003510: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024722,003511: # MOD. NO 3 LOG SECTION - P20-25
024723,003512: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024724,003513:
024725,003514: # FUNCTIONAL DESCRIPTION
024726,003515: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024727,003516: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024728,003517: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024729,003518:
024730,003519: # CALLING SEQUENCE
024731,003520: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024732,003521: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024733,003522: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024734,003523: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024735,003524: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024736,003525: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024737,003526:
024738,003527: # SUBROUTINES CALLED
024739,003528: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024740,003529: # GETULC RARARANG INCORP2 NBSM INTSTALL
024741,003530:
024742,003531: # OUTPUT
024743,003532: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024744,003533: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024745,003534: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024746,003535: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024747,003536: # UPDATED W-MATRIX
024748,003537:
024749,003538: # ERASABLE INITIALIZATION REQUIRED
024750,003539: # LM AND CSM STATE VECTORS
024751,003540: # W-MATRIX
024752,003541: # MARK TIME IN MKTIME
024753,003542: # RADAR RANGE IN RM METERS B-29
024754,003543: # RANGE RATE IN RDOTM METERS/CSES B-7
024755,003544: # SHAFT ANGLE IN RRSHAFT REVS. B0
024756,003545: # TRUNNION ANGLE IN RRTRUN REVS. B0
024757,003546: # GIMBAL ANGLES INNER IN AIG
024758,003547: # MIDDLE IN AMG
024759,003548: # OUTER IN AOG
024760,003549: # REFSMMAT
024761,003550: # RENDWFLG
024762,003551: # NOANGFLG
024763,003552: # VEHUPFLG
024764,003553:
024765,003554: # DEBRIS
024766,003555: # PUSHLIST -- ALL
024767,003556: # MX, MY, MZ (VECTORS)
|
|
Page 575 |
024769,003558: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024770,003559:
024771,003560: 13,2207 BANK 13
024772,003561: 26,2000 SETLOC P20S3
024773,003562: 26,2000 BANK
024774,003563:
024775,003564: 26,2412 E7,1456 EBANK= LOSCOUNT
024776,003565: 26,2412 COUNT* $$/LSR22
024777,003566: 26,2412 77624 LSR22.3 CALL
024778,003567: 26,2413 11244 GRP2PC
024779,003568: 26,2414 43014 BON SET
024780,003569: 26,2415 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024781,003570: 26,2416 55200 LSR22.4 # YES
024782,003571: 26,2417 02466 DMENFLG
024783,003572: 26,2420 45014 BOFF CALL
024784,003573: 26,2421 00747 VEHUPFLG
024785,003574: 26,2422 54454 DOLEM
024786,003575: 26,2423 27414 INTSTALL
024787,003576: 26,2424 45014 CLEAR CALL # LM PRECISION INTEGRATION
024788,003577: 26,2425 01674 VINTFLAG
024789,003578: 26,2426 26644 SETIFLGS
024790,003579: 26,2427 77624 CALL
024791,003580: 26,2430 55242 INTGRCAL
024792,003581: 26,2431 77624 CALL
024793,003582: 26,2432 11244 GRP2PC
024794,003583: 26,2433 77624 CALL
024795,003584: 26,2434 27414 INTSTALL
024796,003585: 26,2435 43014 CLEAR BOFF
024797,003586: 26,2436 01676 DIM0FLAG
024798,003587: 26,2437 02756 RENDWFLG
024799,003588: 26,2440 54444 NOTWCSM
024800,003589: 26,2441 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024801,003590: 26,2442 01476 DIM0FLAG
024802,003591: 26,2443 01475 D6OR9FLG
024803,003592: 26,2444 43014 NOTWCSM SET CLEAR
024804,003593: 26,2445 01474 VINTFLAG
024805,003594: 26,2446 01673 INTYPFLG
024806,003595: 26,2447 45014 SET CALL
024807,003596: 26,2450 01472 STATEFLG
024808,003597: 26,2451 55242 INTGRCAL
024809,003598: 26,2452 77650 GOTO
024810,003599: 26,2453 54504 MARKTEST
024811,003600: 26,2454 77624 DOLEM CALL
024812,003601: 26,2455 27414 INTSTALL
024813,003602: 26,2456 45014 SET CALL
024814,003603: 26,2457 01474 VINTFLAG
024815,003604: 26,2460 26644 SETIFLGS
024816,003605: 26,2461 77624 CALL
024817,003606: 26,2462 55242 INTGRCAL
|
|
Page 576 |
024819,003608: 26,2463 77624 CALL
024820,003609: 26,2464 11244 GRP2PC
024821,003610: 26,2465 77624 CALL
024822,003611: 26,2466 27414 INTSTALL
024823,003612: 26,2467 43014 CLEAR BOFF
024824,003613: 26,2470 01676 DIM0FLAG
024825,003614: 26,2471 02756 RENDWFLG
024826,003615: 26,2472 54476 NOTWLEM
024827,003616: 26,2473 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024828,003617: 26,2474 01476 DIM0FLAG
024829,003618: 26,2475 01475 D6OR9FLG
024830,003619: 26,2476 43014 NOTWLEM CLEAR CLEAR
024831,003620: 26,2477 01673 INTYPFLG
024832,003621: 26,2500 01674 VINTFLAG
024833,003622: 26,2501 45014 SET CALL
024834,003623: 26,2502 01472 STATEFLG
024835,003624: 26,2503 55242 INTGRCAL
024836,003625: 26,2504 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024837,003626: 26,2505 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024838,003627: 26,2506 54510 RANGEBQ
024839,003628: 26,2507 55251 WLINIT # YES - REINITIALIZE
024840,003629: 26,2510 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024841,003630: 26,2511 04307 SURFFLAG
024842,003631: 26,2512 54520 RANGEBQ1
024843,003632: 26,2513 34755 CA ZERO
024844,003633: 26,2514 55745 TS R65CNTR
024845,003634: 26,2515 04616 TC BANKCALL
024846,003635: 26,2516 46123 CADR R65LEM
024847,003636: 26,2517 06037 TC INTPRET
024848,003637: 26,2520 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024849,003638: 26,2521 00000 0
024850,003639: 26,2522 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024851,003640: 26,2523 54526 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024852,003641: 26,2524 77714 INCR,2
024853,003642: 26,2525 00002 2
024854,003643: 26,2526 45134 SETX2 SXA,2 CALL
024855,003644: 26,2527 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024856,003645: 26,2530 11244 GRP2PC
024857,003646: 26,2531 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024858,003647: 26,2532 00001 1
024859,003648: 26,2533 03745 WHCHREAD
024860,003649: 26,2534 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024861,003650: 26,2535 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024862,003651: 26,2536 20635 28D
024863,003652: 26,2537 77634 RTB
024864,003653: 26,2540 21633 TPMODE # AND SAVE IN 20D
024865,003654: 26,2541 00025 STORE 20D
024866,003655: 26,2542 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024867,003656: 26,2543 55333 GETULC # B-VECTORS FOR RANGE
024868,003657: 26,2544 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
|
|
Page 577 |
024870,003659: 26,2545 00707 VEHUPFLG
024871,003660: 26,2546 54547 +1
024872,003661: 26,2547 27525 STOVL BVECTOR
024873,003662: 26,2550 06522 ZEROVECS
024874,003663: 26,2551 03533 STORE BVECTOR +6 # B1
024875,003664: 26,2552 17541 STODL BVECTOR +12D # B2
024876,003665: 26,2553 00045 36D
024877,003666: 26,2554 44257 SRR* BDSU
024878,003667: 26,2555 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024879,003668: 26,2556 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024880,003669: 26,2557 77657 SLR*
024881,003670: 26,2560 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024882,003671: 26,2561 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024883,003672: 26,2562 00045 36D # RLC B-29/B-27
024884,003673: 26,2563 63501 NORM DSQ # NORMALIZE AND SQUARE
024885,003674: 26,2564 00047 X1
024886,003675: 26,2565 53605 DMP SR*
024887,003676: 26,2566 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024888,003677: 26,2567 20577 0 -2,1 # UNNORMALIZE
024889,003678: 26,2570 53657 SR* SR*
024890,003679: 26,2571 20601 0,1
024891,003680: 26,2572 57176 0,2
024892,003681: 26,2573 47057 SR* RTB
024893,003682: 26,2574 57176 0,2
024894,003683: 26,2575 21633 TPMODE
024895,003684: 26,2576 02707 STORE VARIANCE # B-40
024896,003685: 26,2577 76276 DCOMP TAD
024897,003686: 26,2600 00025 20D # B-40
024898,003687: 26,2601 72240 BMN TLOAD
024899,003688: 26,2602 54605 QOK
024900,003689: 26,2603 00025 20D # B-40
024901,003690: 26,2604 02707 STORE VARIANCE
024902,003691: 26,2605 77624 QOK CALL
024903,003692: 26,2606 55401 LGCUPDTE
024904,003693:
024905,003694: 26,2607 45131 SSP CALL
024906,003695: 26,2610 03746 WHCHREAD
024907,003696: 26,2611 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024908,003697: 26,2612 11244 GRP2PC
024909,003698: 26,2613 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024910,003699: 26,2614 55333 GETULC
024911,003700: 26,2615 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024912,003701: 26,2616 00045 36D # AND SHIFT TO B-23
024913,003702: 26,2617 57202 0 -4,2
024914,003703: 26,2620 24045 STOVL 36D # THEN STORE BACK IN 36D
024915,003704: 26,2621 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024916,003705: 26,2622 00707 VEHUPFLG
024917,003706: 26,2623 54624 +1
024918,003707: 26,2624 77761 VXSC
024919,003708: 26,2625 00045 36D # B1 = RLC (B-24/B-22)
|
|
Page 578 |
024921,003710: 26,2626 27533 STOVL BVECTOR +6
024922,003711: 26,2627 01653 NUVLEM
024923,003712: 26,2630 53257 VSR* VAD
024924,003713: 26,2631 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024925,003714: 26,2632 01667 VCVLEM # EARTH B-7. MOON B-5
024926,003715: 26,2633 53715 PDVL VSR* # VL TO PD6
024927,003716: 26,2634 01601 NUVCSM
024928,003717: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024929,003718: 26,2636 52255 VAD VSU
024930,003719: 26,2637 01615 VCVCSM
024931,003720: 26,2640 50315 PDVL DOT # VC - VL = VLC TO PD6
024932,003721: 26,2641 00001 0
024933,003722: 26,2642 00007 6
024934,003723: 26,2643 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024935,003724: 26,2644 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024936,003725: 26,2645 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024937,003726: 26,2646 01773 RATEVAR
024938,003727: 26,2647 02707 STORE VARIANCE
024939,003728: 26,2650 54335 SLOAD SR
024940,003729: 26,2651 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024941,003730: 26,2652 20621 16D # SHIFT TO DP (B-4)
024942,003731: 26,2653 00031 STORE 24D # AND SAVE IN 24D
024943,003732: 26,2654 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024944,003733: 26,2655 02707 VARIANCE
024945,003734: 26,2656 54662 VOK # BRANCH - NO
024946,003735: 26,2657 77745 DLOAD # YES - USE MINIMUM VARIANCE
024947,003736: 26,2660 00031 24D
024948,003737: 26,2661 02707 STORE VARIANCE
024949,003738: 26,2662 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024950,003739: 26,2663 53725 PDDL SLR* # TO B-10/B-8
024951,003740: 26,2664 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024952,003741: 26,2665 56577 0 -1,2 # B-7 TO B-10/B-8
024953,003742: 26,2666 77625 DSU
024954,003743: 26,2667 77675 DMPR
024955,003744: 26,2670 00045 36D
024956,003745: 26,2671 27547 STOVL DELTAQ # B-33
024957,003746: 26,2672 00001 0 # NOW GET B0
024958,003747: 26,2673 47235 VXV VXV # (ULC X VLC) X ULC
024959,003748: 26,2674 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024960,003749: 26,2675 00707 VEHUPFLG
024961,003750: 26,2676 54677 +1
024962,003751: 26,2677 77657 VSR*
024963,003752: 26,2700 57200 0 -2,2 # SCALED B-5
024964,003753: 26,2701 27525 STOVL BVECTOR
024965,003754: 26,2702 06522 ZEROVECS
024966,003755: 26,2703 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024967,003756: 26,2704 27541 STOVL BVECTOR +12D
024968,003757: 26,2705 03525 BVECTOR
024969,003758: 26,2706 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024970,003759: 26,2707 00025 20D # SHIFT COUNT IN 20D
|
|
Page 579 |
024972,003761: 26,2710 51575 VLOAD ABVAL
024973,003762: 26,2711 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024974,003763: 26,2712 71301 NORM DLOAD
024975,003764: 26,2713 00027 22D # SHIFT COUNT IN 22D
024976,003765: 26,2714 00027 22D # FIND WHICH SHIFT IS SMALLER
024977,003766: 26,2715 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024978,003767: 26,2716 00025 20D
024979,003768: 26,2717 54723 VOK1
024980,003769: 26,2720 52150 LXA,1 GOTO
024981,003770: 26,2721 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024982,003771: 26,2722 54725 VOK2
024983,003772: 26,2723 77750 VOK1 LXA,1
024984,003773: 26,2724 00024 20D
024985,003774: 26,2725 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024986,003775: 26,2726 03525 BVECTOR # WITH THI SSHIFT COUNT
024987,003776: 26,2727 20201 0,1
024988,003777: 26,2730 27525 STOVL BVECTOR
024989,003778: 26,2731 03533 BVECTOR +6
024990,003779: 26,2732 77657 VSL*
024991,003780: 26,2733 20201 0,1
024992,003781: 26,2734 17533 STODL BVECTOR +6
024993,003782: 26,2735 03547 DELTAQ
024994,003783: 26,2736 77657 SL*
024995,003784: 26,2737 20201 0,1
024996,003785: 26,2740 03547 STORE DELTAQ
024997,003786: 26,2741 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024998,003787: 26,2742 00045 36D
024999,003788: 26,2743 20200 0 -1,1
025000,003789: 26,2744 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025001,003790: 26,2745 02707 VARIANCE
025002,003791: 26,2746 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025003,003792: 26,2747 21633 TPMODE
025004,003793: 26,2750 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025005,003794: 26,2751 55401 LGCUPDTE
025006,003795:
025007,003796: 26,2752 77624 CALL
025008,003797: 26,2753 11244 GRP2PC
025009,003798: 26,2754 77414 BON EXIT # ARE ANGLES TO BE DONE
025010,003799: 26,2755 04307 SURFFLAG
025011,003800: 26,2756 55176 RENDEND # NO
025012,003801: 26,2757 E7,1457 EBANK= AIG
025013,003802: 26,2757 33332 MXMYMZ CAF AIGBANK
025014,003803: 26,2760 54006 TS BBANK
025015,003804: 26,2761 31457 CA AIG # YES, COMPUTE MX, MY, MZ
025016,003805: 26,2762 54766 TS CDUSPOT
025017,003806: 26,2763 31460 CA AMG
025018,003807: 26,2764 54770 TS CDUSPOT +2
025019,003808: 26,2765 31461 CA AOG
025020,003809: 26,2766 54772 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025021,003810: 26,2767 06037 TC INTPRET
|
|
Page 580 |
025023,003812: 26,2770 45175 VLOAD CALL
025024,003813: 26,2771 06520 UNITX
025025,003814: 26,2772 47664 TRG*NBSM
025026,003815: 26,2773 76505 VXM VSL1
025027,003816: 26,2774 01734 REFSMMAT
025028,003817: 26,2775 27677 STOVL MX
025029,003818: 26,2776 06516 UNITY
025030,003819: 26,2777 77624 CALL
025031,003820: 26,3000 47673 *NBSM*
025032,003821: 26,3001 76505 VXM VSL1
025033,003822: 26,3002 01734 REFSMMAT
025034,003823: 26,3003 27705 STOVL MY
025035,003824: 26,3004 06514 UNITZ
025036,003825: 26,3005 77624 CALL
025037,003826: 26,3006 47673 *NBSM*
025038,003827: 26,3007 76505 VXM VSL1
025039,003828: 26,3010 01734 REFSMMAT
025040,003829: 26,3011 37713 SHAFTBQ STCALL MZ
025041,003830: 26,3012 55361 RADARANG
025042,003831: 26,3013 45131 SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025043,003832: 26,3014 03746 WHCHREAD
025044,003833: 26,3015 00003 DEC 3 B-14
025045,003834: 26,3016 11244 GRP2PC
025046,003835: 26,3017 50375 VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG.
025047,003836: 26,3020 03724 ULC
025048,003837: 26,3021 03677 MX
025049,003838: 26,3022 77752 SL1
025050,003839: 26,3023 24023 STOVL SINTH # 18D
025051,003840: 26,3024 03724 ULC
025052,003841: 26,3025 72441 DOT SL1
025053,003842: 26,3026 03713 MZ
025054,003843: 26,3027 34021 STCALL COSTH # 16D
025055,003844: 26,3030 26510 ARCTAN
025056,003845: 26,3031 41221 BDSU DMP
025057,003846: 26,3032 03736 RRSHAFT
025058,003847: 26,3033 15441 2PI/8
025059,003848: 26,3034 41472 SL3R PUSH
025060,003849: 26,3035 52545 DLOAD SL3
025061,003850: 26,3036 01701 X789
025062,003851: 26,3037 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025063,003852: 26,3040 56176 0,2
025064,003853: 26,3041 53605 DMP SRR*
025065,003854: 26,3042 03722 RXZ
025066,003855: 26,3043 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025067,003856: 26,3044 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025068,003857: 26,3045 03724 ULC
025069,003858: 26,3046 76435 VXV VSL1
025070,003859: 26,3047 03705 MY
025071,003860: 26,3050 77656 UNIT
025072,003861: 26,3051 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
|
|
Page 581 |
025074,003863: 26,3052 00747 VEHUPFLG
025075,003864: 26,3053 55054 +1
025076,003865: 26,3054 27525 STOVL BVECTOR
025077,003866: 26,3055 06522 ZEROVECS
025078,003867: 26,3056 03533 STORE BVECTOR +6
025079,003868: 26,3057 17541 STODL BVECTOR +12D
025080,003869: 26,3060 03722 RXZ
025081,003870: 26,3061 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025082,003871: 26,3062 20577 0 -2,1
025083,003872: 26,3063 56176 0,2
025084,003873: 26,3064 03541 STORE BVECTOR +12D
025085,003874: 26,3065 77735 SLOAD
025086,003875: 26,3066 02011 SHAFTVAR
025087,003876: 26,3067 41215 DAD DMP
025088,003877: 26,3070 15436 IMUVAR # RAD**2 B12
025089,003878: 26,3071 03722 RXZ
025090,003879: 26,3072 41257 SRR* DMP
025091,003880: 26,3073 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025092,003881: 26,3074 03722 RXZ
025093,003882: 26,3075 53657 SR* SR*
025094,003883: 26,3076 20577 0 -2,1
025095,003884: 26,3077 57176 0,2
025096,003885: 26,3100 47057 SR* RTB
025097,003886: 26,3101 57176 0,2
025098,003887: 26,3102 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
025099,003888: 26,3103 36707 STCALL VARIANCE # B-40
025100,003889: 26,3104 55401 LGCUPDTE
025101,003890:
025102,003891: 26,3105 77624 CALL
025103,003892: 26,3106 11244 GRP2PC
025104,003893: 26,3107 77624 TRUNBQ CALL
025105,003894: 26,3110 55361 RADARANG
025106,003895: 26,3111 45131 SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49
025107,003896: 26,3112 03746 WHCHREAD
025108,003897: 26,3113 00004 DEC 4 B-14
025109,003898: 26,3114 11244 GRP2PC
025110,003899: 26,3115 47375 VLOAD VXV
025111,003900: 26,3116 03724 ULC
025112,003901: 26,3117 03705 MY
025113,003902: 26,3120 47372 VSL1 VXV
025114,003903: 26,3121 03724 ULC
025115,003904: 26,3122 77772 VSL1 # (ULC X MY) X ULC
025116,003905: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025117,003906: 26,3124 00747 VEHUPFLG
025118,003907: 26,3125 55126 +1
025119,003908: 26,3126 27525 STOVL BVECTOR
025120,003909: 26,3127 06522 ZEROVECS
025121,003910: 26,3130 03533 STORE BVECTOR +6
025122,003911: 26,3131 17541 STODL BVECTOR +12D
025123,003912: 26,3132 03722 RXZ
|
|
Page 582 |
025125,003914: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025126,003915: 26,3134 20577 0 -2,1
025127,003916: 26,3135 56176 0,2
025128,003917: 26,3136 03543 STORE BVECTOR +14D
025129,003918: 26,3137 77735 SLOAD
025130,003919: 26,3140 02012 TRUNVAR
025131,003920: 26,3141 41215 DAD DMP
025132,003921: 26,3142 15436 IMUVAR
025133,003922: 26,3143 03722 RXZ
025134,003923: 26,3144 41257 SRR* DMP
025135,003924: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025136,003925: 26,3146 03722 RXZ
025137,003926: 26,3147 53657 SR* SR*
025138,003927: 26,3150 20577 0 -2,1
025139,003928: 26,3151 57176 0,2
025140,003929: 26,3152 47057 SR* RTB
025141,003930: 26,3153 57176 0,2
025142,003931: 26,3154 21633 TPMODE # STORE VARIANCE TRIPLE PRECISION
025143,003932: 26,3155 16707 STODL VARIANCE
025144,003933: 26,3156 03732 SINTHETA
025145,003934: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025146,003935: 26,3160 03734 RRTRUN
025147,003936: 26,3161 56405 DMP SL3R
025148,003937: 26,3162 15441 2PI/8
025149,003938: 26,3163 52525 PDDL SL3
025150,003939: 26,3164 01703 X789 +2
025151,003940: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025152,003941: 26,3166 56176 0,2
025153,003942: 26,3167 53605 DMP SRR*
025154,003943: 26,3170 03722 RXZ
025155,003944: 26,3171 21601 0,1
025156,003945: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025157,003946: 26,3173 55401 LGCUPDTE
025158,003947: 26,3174 77624 CALL
025159,003948: 26,3175 11244 GRP2PC
025160,003949: 26,3176 77650 RENDEND GOTO
025161,003950: 26,3177 50566 R22LEM93
025162,003951:
025163,003952: # FUNCTIONAL DESCRIPTION
025164,003953: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025165,003954: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025166,003955: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025167,003956:
025168,003957: # SUBROUTINES CALLED
025169,003958: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025170,003959: # INTEGRV GETULC INCORP2
025171,003960:
025172,003961: # OUTPUT
025173,003962: # CORRECTED CSM STATE VECTOR (PERMANENT)
025174,003963: # NUMBER OF MARKS INCORPORATED IN MARKCTR
|
|
Page 583 |
025176,003965: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025177,003966: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025178,003967: # UPDATED W-MATRIX
025179,003968:
025180,003969: # ERASABLE INITIALIZATION REQUIRED
025181,003970: # LM AND CSM STATE VECTORS
025182,003971: # W-MATRIX
025183,003972: # MARK TIME IN MKTIME
025184,003973: # RADAR RANGE IN RM METERS B-29
025185,003974: # RANGE RATE IN RDOTM METERS/CSEC B-7
025186,003975: # VEHUPFLG
025187,003976:
025188,003977: 26,3200 77624 LSR22.4 CALL
025189,003978: 26,3201 27414 INTSTALL
025190,003979: 26,3202 43014 SET CLEAR
025191,003980: 26,3203 01472 STATEFLG
025192,003981: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025193,003982: 26,3205 77624 CALL
025194,003983: 26,3206 55242 INTGRCAL
025195,003984: 26,3207 77624 CALL
025196,003985: 26,3210 11244 GRP2PC
025197,003986: 26,3211 45014 CLEAR CALL
025198,003987: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025199,003988: 26,3213 27414 INTSTALL
025200,003989: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025201,003990: 26,3215 03463 MARKCTR
025202,003991: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025203,003992: 26,3217 43014 CLEAR SET
025204,003993: 26,3220 01675 D6OR9FLG
025205,003994: 26,3221 01476 DIM0FLAG
025206,003995: 26,3222 43014 SET CLEAR
025207,003996: 26,3223 01474 VINTFLAG
025208,003997: 26,3224 01673 INTYPFLG
025209,003998: 26,3225 77624 CALL
025210,003999: 26,3226 55242 INTGRCAL
025211,004000: 26,3227 77650 GOTO
025212,004001: 26,3230 54510 RANGEBQ
025213,004002:
025214,004003: 26,3231 77624 INITWMX6 CALL
025215,004004: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025216,004005: 26,3233 45014 SET CALL
025217,004006: 26,3234 01474 VINTFLAG
025218,004007: 26,3235 26644 SETIFLGS
025219,004008: 26,3236 77624 CALL
025220,004009: 26,3237 55242 INTGRCAL
025221,004010: 26,3240 77650 GOTO
025222,004011: 26,3241 54510 RANGEBQ
025223,004012:
025224,004013: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
|
|
Page 584 |
025226,004015: 26,3242 71220 INTGRCAL STQ DLOAD
025227,004016: 26,3243 03675 IGRET
025228,004017: 26,3244 03755 MKTIME
025229,004018: 26,3245 34041 STCALL TDEC1
025230,004019: 26,3246 27134 INTEGRV
025231,004020: 26,3247 77650 GOTO
025232,004021: 26,3250 03675 IGRET
025233,004022:
025234,004023: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025235,004024: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025236,004025:
025237,004026: 26,3251 E5,1400 EBANK= W
025238,004027: 26,3251 77776 WLINIT EXIT
025239,004028: 26,3252 33331 CAF WBANK
025240,004029: 26,3253 54006 TS BBANK
025241,004030: 26,3254 33437 CAF WSIZE
025242,004031: 26,3255 55257 TS W.IND
025243,004032: 26,3256 34755 CAF ZERO
025244,004033: 26,3257 51257 INDEX W.IND
025245,004034: 26,3260 55400 TS W
025246,004035: 26,3261 11257 CCS W.IND
025247,004036: 26,3262 03255 TC -5
025248,004037: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025249,004038: 26,3264 54006 TS BBANK
025250,004039: 26,3265 06037 TC INTPRET
025251,004040: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
025252,004041: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025253,004042: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025254,004043: 26,3271 02001 WRENDPOS
025255,004044: 26,3272 77650 GOTO
025256,004045: 26,3273 55276 WPOSTORE
025257,004046: 26,3274 77735 WLSRFPOS SLOAD
025258,004047: 26,3275 02007 WSURFPOS
025259,004048: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025260,004049: 26,3277 20606 5
025261,004050: 26,3300 02401 STORE W
025262,004051: 26,3301 02411 STORE W +8D
025263,004052: 26,3302 02421 STORE W +16D
025264,004053: 26,3303 67214 BON SLOAD
025265,004054: 26,3304 04307 SURFFLAG
025266,004055: 26,3305 55311 WLSRFVEL
025267,004056: 26,3306 02002 WRENDVEL
025268,004057: 26,3307 77650 GOTO
025269,004058: 26,3310 55313 WVELSTOR
025270,004059: 26,3311 77735 WLSRFVEL SLOAD
025271,004060: 26,3312 02010 WSURFVEL
025272,004061: 26,3313 02511 WVELSTOR STORE W +72D
025273,004062: 26,3314 02521 STORE W +80D
025274,004063: 26,3315 02531 STORE W +88D
025275,004064: 26,3316 77735 SLOAD
|
|
Page 585 |
025277,004066: 26,3317 02003 WSHAFT
025278,004067: 26,3320 02621 STORE W +144D
025279,004068: 26,3321 77735 SLOAD
025280,004069: 26,3322 02004 WTRUN
025281,004070: 26,3323 02631 STORE W +152D
025282,004071: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025283,004072: 26,3325 02476 RENDWFLG
025284,004073: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025285,004074: 26,3327 00000 0
025286,004075: 26,3330 77616 RVQ
025287,004076:
025288,004077: 26,3331 E5,1400 EBANK= W
025289,004078: 26,3331 54065 WBANK BBCON WLINIT
025290,004079: 26,3332 E7,1457 EBANK= AIG
025291,004080: 26,3332 54067 AIGBANK BBCON LSR22.3
025292,004081:
025293,004082: # GETULC
025294,004083:
025295,004084: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025296,004085: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025297,004086: # MAGNITUDE IN 36D.
025298,004087:
025299,004088: 26,3333 77201 GETULC SETPD VLOAD
025300,004089: 26,3334 00001 0
025301,004090: 26,3335 01645 DELTALEM
025302,004091: 26,3336 77754 LXA,2
025303,004092: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025304,004093: 26,3340 53257 VSR* VAD
025305,004094: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025306,004095: 26,3342 01661 RCVLEM
025307,004096: 26,3343 53715 PDVL VSR*
025308,004097: 26,3344 01573 DELTACSM
025309,004098: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025310,004099: 26,3346 52255 VAD VSU
025311,004100: 26,3347 01607 RCVCSM
025312,004101: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025313,004102: 26,3351 21724 NORMUNX1
025314,004103: 26,3352 17724 STODL ULC
025315,004104: 26,3353 00045 36D
025316,004105: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025317,004106: 26,3355 20201 0,1
025318,004107: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025319,004108: 26,3357 03724 ULC
025320,004109: 26,3360 77616 RVQ
025321,004110:
025322,004111: # RADARANG
025323,004112:
025324,004113: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025325,004114: # RXZ = (SQRT (1-SINTHETA**2))RLC
025326,004115: # OUTPUT
025327,004116: # ULC IN ULC, PD0
|
|
Page 586 |
025329,004118: # RLC IN PD36D
025330,004119: # SIN THETA IN SINTHETA AND PD6
025331,004120: # RXZ NORM IN RXZ (N IN X1)
025332,004121:
025333,004122: 26,3361 45020 RADARANG STQ CALL
025334,004123: 26,3362 03675 RDRET
025335,004124: 26,3363 55333 GETULC
025336,004125: 26,3364 50276 VCOMP DOT
025337,004126: 26,3365 03705 MY
025338,004127: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025339,004128: 26,3367 03732 STORE SINTHETA
025340,004129: 26,3370 44316 DSQ BDSU
025341,004130: 26,3371 06512 DP1/4TH # 1-(SIN THETA)**2
025342,004131: 26,3372 41366 SQRT DMP
025343,004132: 26,3373 00045 36D
025344,004133: 26,3374 60352 SL1 NORM
025345,004134: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025346,004135: 26,3376 03722 STORE RXZ
025347,004136: 26,3377 77650 GOTO # EXIT
025348,004137: 26,3400 03675 RDRET
025349,004138: 26,3401 45020 LGCUPDTE STQ CALL
025350,004139: 26,3402 03675 LGRET
025351,004140: 26,3403 46531 INCORP1
025352,004141: 26,3404 51575 VLOAD ABVAL
025353,004142: 26,3405 02673 DELTAX +6
025354,004143: 26,3406 53754 LXA,2 SRR*
025355,004144: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025356,004145: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025357,004146: 26,3411 24317 STOVL R22DISP +2
025358,004147: 26,3412 02665 DELTAX
025359,004148: 26,3413 53646 ABVAL SRR*
025360,004149: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025361,004150: 26,3415 00315 STORE R22DISP
025362,004151: 26,3416 54335 SLOAD SR
025363,004152: 26,3417 02005 RMAX
025364,004153: 26,3420 20613 10D
025365,004154: 26,3421 50025 DSU BMN
025366,004155: 26,3422 00315 R22DISP
025367,004156: 26,3423 50572 R22LEM96 # GO DISPLAY
025368,004157: 26,3424 45335 SLOAD DSU
025369,004158: 26,3425 02006 VMAX
025370,004159: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025371,004160: 26,3427 77640 BMN
025372,004161: 26,3430 50572 R22LEM96 # GO DISPLAY
025373,004162: 26,3431 77624 ASTOK CALL
025374,004163: 26,3432 46743 INCORP2
025375,004164: 26,3433 77650 GOTO
025376,004165: 26,3434 03675 LGRET
025377,004166: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
025378,004167:
025379,004168: 26,3437 00241 WSIZE DEC 161 B-14
|
|
Page 587 |
025381,004170: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025382,004171:
025383,004172: 26,3442 E7,1456 EBANK= LOSCOUNT
|
|
Page 588 |
025385,004174:
025386,004175: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025387,004176: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025388,004177:
025389,004178: # FUNCTIONAL DESCRIPTION
025390,004179:
025391,004180: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025392,004181: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025393,004182: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025394,004183: # ATTITUDE MANEUVER.
025395,004184:
025396,004185: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025397,004186:
025398,004187: # SUBROUTINES CALLED
025399,004188:
025400,004189: # LEMCONIC R61LEM
025401,004190: # CSMCONIC RRDESSM
025402,004191: # JOBDELAY FLAGDOWN
025403,004192: # WAITLIST FLAGUP
025404,004193: # RRNB BANKCALL
025405,004194:
025406,004195: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025407,004196:
025408,004197: # OUTPUT
025409,004198:
025410,004199: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025411,004200: # 11111 INDICATES LOCKON ACHIEVED
025412,004201: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025413,004202:
025414,004203: # ERASABLE INITIALIZATION REQUIRED
025415,004204:
025416,004205: # SEARCH FLAG MUST BE SET
025417,004206: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025418,004207:
025419,004208: # DEBRIS
025420,004209:
025421,004210: # RLMSRCH UXVECT
025422,004211: # VXRLM UYVECT
025423,004212: # LOSDESRD NSRCHPNT
025424,004213: # DATAGOOD OMEGAD
025425,004214: # MPAC PUSHLIST
025426,004215:
025427,004216: 26,3442 COUNT* $$/LRS24
025428,004217: 26,3442 34755 LRS24.1 CAF ZERO
025429,004218: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025430,004219: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025431,004220: 26,3445 00006 EXTEND
|
|
Page 589 |
025433,004222: 26,3446 05012 WOR CHAN12
025434,004223: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025435,004224: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025436,004225: 26,3451 00006 EXTEND
025437,004226: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025438,004227:
025439,004228: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025440,004229: 26,3454 00004 INHINT
025441,004230: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025442,004231: 26,3456 E7,1456 EBANK= LOSCOUNT
025443,004232: 26,3456 03643 54067 2CADR CALLDGCH
025444,004233:
025445,004234: 26,3460 00003 RELINT
025446,004235: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025447,004236: 26,3462 74736 MASK REMODBIT
025448,004237: 26,3463 00006 EXTEND
025449,004238: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025450,004239: 26,3465 06037 TC INTPRET
025451,004240:
025452,004241: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025453,004242: 26,3467 21573 LOADTIME
025454,004243: 26,3470 15715 1.5SECS
025455,004244: 26,3471 34041 LRS24.11 STCALL TDEC1
025456,004245: 26,3472 27100 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025457,004246: 26,3473 77775 VLOAD
025458,004247: 26,3474 00001 RATT
025459,004248: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025460,004249: 26,3476 00007 VATT
025461,004250: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025462,004251: 26,3500 00015 TAT
025463,004252: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025464,004253: 26,3502 27066 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025465,004254: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025466,004255: 26,3504 00001 RATT
025467,004256: 26,3505 03676 RLMSRCH
025468,004257: 26,3506 77656 UNIT
025469,004258: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025470,004259: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025471,004260: 26,3511 47256 UNIT VXV
025472,004261: 26,3512 00001 RATT
025473,004262: 26,3513 77656 UNIT
025474,004263: 26,3514 03704 STORE VXRCM
025475,004264: 26,3515 52375 VLOAD VSU
025476,004265: 26,3516 00007 VATT
025477,004266: 26,3517 03740 SAVLEMV
025478,004267: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025479,004268: 26,3521 01734 REFSMMAT
025480,004269: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025481,004270: 26,3523 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 590 |
025483,004272: 26,3524 03737 NSRCHPNT
025484,004273: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025485,004274: 26,3526 53025 DSU BZE # IS N=1
025486,004275: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025487,004276: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025488,004277: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025489,004278: 26,3532 03720 UXVECT
025490,004279: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025491,004280: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025492,004281: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025493,004282: 26,3536 77761 VXSC
025494,004283: 26,3537 15705 SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR
025495,004284: 26,3540 27720 STOVL UXVECT
025496,004285: 26,3541 00015 UXVECTPR
025497,004286: 26,3542 53361 VXSC VAD
025498,004287: 26,3543 06520 COS60DEG
025499,004288: 26,3544 03720 UXVECT
025500,004289: 26,3545 77656 UNIT
025501,004290: 26,3546 27720 STOVL UXVECT
025502,004291: 26,3547 00015 UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR
025503,004292: 26,3550 77761 VXSC
025504,004293: 26,3551 15705 SIN60DEG
025505,004294: 26,3552 27726 STOVL UYVECT
025506,004295: 26,3553 00023 UYVECTPR
025507,004296: 26,3554 52361 VXSC VSU
025508,004297: 26,3555 06520 COS60DEG
025509,004298: 26,3556 03726 UYVECT
025510,004299: 26,3557 77656 UNIT
025511,004300: 26,3560 03726 STORE UYVECT
025512,004301: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025513,004302: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025514,004303: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025515,004304: 26,3564 64256 UNIT MXV
025516,004305: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025517,004306: 26,3566 77772 VSL1
025518,004307: 26,3567 25102 CONTDESG STOVL RRTARGET
025519,004308: 26,3570 03740 SAVLEMV
025520,004309: 26,3571 01761 STORE LOSVEL
025521,004310: 26,3572 77776 EXIT
025522,004311: 26,3573 00004 INHINT
025523,004312: 26,3574 06027 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025524,004313: 26,3575 52602 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025525,004314: # POINT IN THE PATTERN
025526,004315: 26,3576 44735 CONTDES2 CS CDESBIT
025527,004316: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025528,004317: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025529,004318: 26,3601 54110 TS RADMODES
025530,004319: 26,3602 06037 TC INTPRET
025531,004320:
025532,004321: 26,3603 77624 CALL
|
|
Page 591 |
025534,004323: 26,3604 52373 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025535,004324:
025536,004325: 26,3605 77776 EXIT
025537,004326: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025538,004327: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025539,004328:
025540,004329: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025541,004330: # SPACECRAFT +Z AXIS
025542,004331: 26,3610 00006 OMEGCALC EXTEND
025543,004332: 26,3611 30036 DCA CDUT
025544,004333: 26,3612 53753 DXCH TANGNB
025545,004334: 26,3613 06037 TC INTPRET
025546,004335: 26,3614 77624 CALL
025547,004336: 26,3615 46041 RRNB
025548,004337: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025549,004338: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025550,004339: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025551,004340: 26,3621 77776 EXIT
025552,004341: 26,3622 05155 TC ENDOFJOB
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|
Page 592 |
025554,004343: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025555,004344:
025556,004345: 26,3623 47375 CALCXY VLOAD VXV
025557,004346: 26,3624 03704 VXRCM
025558,004347: 26,3625 03712 LOSDESRD
025559,004348: 26,3626 77656 UNIT
025560,004349: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025561,004350: 26,3630 03712 LOSDESRD
025562,004351: 26,3631 53435 VXV UNIT
025563,004352: 26,3632 03720 UXVECT
025564,004353: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025565,004354: 26,3634 77650 GOTO
025566,004355: 26,3635 55561 OFFCALC
025567,004356:
025568,004357: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025569,004358: 26,3637 03712 LOSDESRD
025570,004359: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025571,004360: 26,3641 52172 VSL1 GOTO
025572,004361: 26,3642 55567 CONTDESG
025573,004362:
025574,004363: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025575,004364: 26,3644 74745 MASK RNDVZBIT
025576,004365: 26,3645 00006 EXTEND
025577,004366: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025578,004367: 26,3647 37713 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025579,004368: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025580,004369: 26,3651 E7,1675 EBANK= RLMSRCH
025581,004370: 26,3651 03654 54067 2CADR DATGDCHK
025582,004371:
025583,004372: 26,3653 05261 TC TASKOVER
025584,004373:
025585,004374: 26,3654 34750 DATGDCHK CAF BIT4
025586,004375: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025587,004376: 26,3656 02033 RAND CHAN33
025588,004377: 26,3657 00006 EXTEND
025589,004378: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025590,004379: 26,3661 46242 CS SIX
025591,004380: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025592,004381: 26,3663 00006 EXTEND
025593,004382: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025594,004383: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
025595,004384: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025596,004385:
025597,004386: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025598,004387: 26,3670 55733 TS DATAGOOD
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|
Page 593 |
025600,004389: 26,3671 00004 INHINT
025601,004390: 26,3672 06027 TC KILLTASK # DELETE DESIGNATE TASK FROM
025602,004391: 26,3673 52602 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025603,004392: 26,3674 05155 TC ENDOFJOB
025604,004393:
025605,004394: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025606,004395: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025607,004396: 26,3677 00004 INHINT # REQUIRED IN P20
025608,004397: 26,3700 06027 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025609,004398: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025610,004399: 26,3702 05155 TC ENDOFJOB
025611,004400:
025612,004401: 26,3703 25547 ALL1S DEC 11111 B-14
025613,004402: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025614,004403: 26,3706 23,2517 COS60DEG = DPHALF # (2DEC .50)
025615,004404: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025616,004405: 26,3706 UYVECTPR EQUALS 18D
025617,004406: 26,3706 RLMUNIT EQUALS 12D
025618,004407: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025619,004408:
025620,004409: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025621,004410: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025622,004411:
025623,004412: # **** ONEOCT NEEDS A LOWER ORDER ****
025624,004413: # **** WORD OF ZEROES ****
025625,004414: 26,3713 01130 6SECONDS DEC 600 B-14
025626,004415: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025627,004416:
025628,004417: 26,3716 23,2521 ZERO/SP EQUALS HI6ZEROS
025629,004418:
025630,004419: 4616 BLOCK 02
025631,004420: 6000 SETLOC FFTAG5
025632,004421: 6000 BANK
025633,004422: 6022 COUNT* $$/P20
025634,004423: 6022 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025635,004424: 6023 36026 DCA VB56CADR # GOTOPOOH
025636,004425: 6024 15165 TCF SUPDXCHZ
025637,004426: 6025 E7,1471 EBANK= WHOCARES
025638,004427: 6025 03024 66107 VB56CADR 2CADR TRMTRACK
025639,004428:
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|
Page 594 |
025641,004430: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025642,004431: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025643,004432:
025644,004433: # FUNCTIONAL DESCRIPTION:
025645,004434:
025646,004435: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025647,004436: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025648,004437: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025649,004438: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025650,004439: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025651,004440: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025652,004441:
025653,004442: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025654,004443:
025655,004444: # SUBROUTINES CALLED:
025656,004445:
025657,004446: # REMODE RRTONLY
025658,004447: # UNIT MPACVBUF
025659,004448: # QUICTRIG AX*SR*T
025660,004449: # SPSIN SPCOS
025661,004450: # SETRRECR RROUT
025662,004451: # RRRDOT RRRANGE
025663,004452:
025664,004453: # EXIT: TO NOR29NOW, IN SERVICER.
025665,004454:
025666,004455: # OUTPUT: (ALL FOR DOWNLINK)
025667,004456:
025668,004457: # RM RDOTM (RAW)
025669,004458: # AIG AMG
025670,004459: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025671,004460: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025672,004461: # MKTIME
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|
Page 595 |
025674,004463:
025675,004464: # ERASABLE INITIALIZATION REQUIRED:
025676,004465:
025677,004466: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025678,004467: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025679,004468: # R(CSM) V(CSM)
025680,004469: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025681,004470:
025682,004471: # DEBRIS:
025683,004472:
025684,004473: # RADMODES (BIT 10)
025685,004474: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025686,004475: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025687,004476: # LOSCMFLG READRFLG
025688,004477:
025689,004478: # ALARMS: NONE.
025690,004479:
025691,004480: # COMPONENT JOBS AND TASKS:
025692,004481:
025693,004482: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025694,004483: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025695,004484: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025696,004485:
025697,004486: 33,2045 BANK 33
025698,004487: 33,2000 SETLOC R29/SERV
025699,004488: 33,2000 BANK
025700,004489:
025701,004490: 33,2045 COUNT* $$/R29
025702,004491:
025703,004492: 33,2045 5014 NR29&RDR EQUALS EBANK5
025704,004493:
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|
Page 596 |
025706,004495: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025707,004496: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025708,004497:
025709,004498: 33,2045 40110 R29 CS RADMODES
025710,004499: 33,2046 74742 MASK DESIGBIT
025711,004500: 33,2047 00006 EXTEND
025712,004501: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025713,004502:
025714,004503: 33,2051 00004 INHINT
025715,004504: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025716,004505: 33,2053 44736 CS BIT14
025717,004506: 33,2054 00006 EXTEND
025718,004507: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025719,004508: 33,2056 44740 CS LOSCMBIT
025720,004509: 33,2057 70076 MASK FLAGWRD2
025721,004510: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025722,004511: 33,2061 44753 CS OLDESBIT
025723,004512: 33,2062 70074 MASK STATE
025724,004513: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025725,004514: 33,2064 04616 TC BANKCALL
025726,004515: 33,2065 52156 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025727,004516: 33,2066 34740 CA ANTENBIT
025728,004517: 33,2067 70110 MASK RADMODES
025729,004518: 33,2070 10000 CCS A # TEST RR MODE BIT.
025730,004519: 33,2071 12104 TCF SETPRPOS # MODE 2.
025731,004520:
025732,004521: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025733,004522: 33,2073 05072 TC NOVAC
025734,004523: 33,2074 E7,1456 EBANK= LOSCOUNT
025735,004524: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
025736,004525:
025737,004526: 33,2076 44742 CS DESIGBIT
025738,004527: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025739,004528: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025740,004529: 33,2101 34736 CA REMODBIT
025741,004530: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025742,004531: 33,2103 12570 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025743,004532:
025744,004533: 33,2104 34753 SETPRPOS CA ONE
025745,004534: 33,2105 05203 TC WAITLIST
025746,004535: 33,2106 E7,1456 EBANK= LOSCOUNT
025747,004536: 33,2106 03601 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025748,004537:
025749,004538: 33,2110 34741 CA REPOSBIT
025750,004539: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025751,004540: 33,2112 12570 TCF NOR29NOW
025752,004541:
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|
Page 597 |
025754,004543: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025755,004544:
025756,004545: 33,2113 34753 R29REMOJ CA ONE
025757,004546: 33,2114 05203 TC WAITLIST
025758,004547: 33,2115 E7,1456 EBANK= LOSCOUNT
025759,004548: 33,2115 02171 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025760,004549:
025761,004550: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025762,004551: 33,2120 17714 CADR RADSTALL
025763,004552:
025764,004553: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025765,004554: 33,2122 15155 TCF ENDOFJOB
025766,004555:
025767,004556: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025768,004557:
025769,004558: 25,2000 SETLOC R29S1
025770,004559: 25,2000 BANK
025771,004560:
025772,004561: 25,3601 34735 PREPOS29 CA NEGMAX # -180 DEG.
025773,004562: 25,3602 02241 TC RRTONLY # DRIVE TRUNNION CDU.
025774,004563: 25,3603 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025775,004564: 25,3604 70110 MASK RADMODES
025776,004565: 25,3605 54110 TS RADMODES
025777,004566: 25,3606 15261 TCF TASKOVER
025778,004567:
025779,004568: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025780,004569:
025781,004570: 33,2045 SETLOC R29
025782,004571: 33,2045 BANK
025783,004572:
025784,004573: 33,2123 00006 R29.LOS EXTEND
025785,004574: 33,2124 41235 DCS PIPTIME
025786,004575: 33,2125 52155 DXCH MPAC
025787,004576: 33,2126 00006 EXTEND
025788,004577: 33,2127 30025 DCA TIME2
025789,004578: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025790,004579: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025791,004580: 33,2132 30155 CA MPAC +1
025792,004581: 33,2133 00006 EXTEND
025793,004582: 33,2134 74740 MP BIT12
025794,004583: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025795,004584: 33,2136 06037 TC INTPRET
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|
Page 598 |
025797,004586: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025798,004587: # START IT UP WHEN THE DATA IS IN PLACE.
025799,004588:
025800,004589: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025801,004590: 33,2140 01726 V(CSM)
025802,004591: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025803,004592: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025804,004593: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025805,004594: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025806,004595: 33,2145 03521 R
025807,004596: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025808,004597: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025809,004598: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025810,004599: 33,2151 12570 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025811,004600:
025812,004601: 33,2152 25102 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025813,004602: 33,2153 00001 0
025814,004603: 33,2154 77761 VXSC
025815,004604: 33,2155 26177 .5SECB17
025816,004605: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025817,004606: 33,2157 77414 CLEAR EXIT
025818,004607: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025819,004608:
025820,004609: 33,2161 40074 CS STATE
025821,004610: 33,2162 74753 MASK OLDESBIT
025822,004611: 33,2163 00006 EXTEND
025823,004612: 33,2164 12570 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025824,004613: 33,2165 00004 INHINT
025825,004614: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025826,004615:
025827,004616: 33,2167 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025828,004617: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025829,004618: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025830,004619: 33,2172 05203 TC WAITLIST
025831,004620: 33,2173 E7,1456 EBANK= LOSCOUNT
025832,004621: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025833,004622:
025834,004623: 33,2175 12570 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025835,004624:
025836,004625: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025837,004626:
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|
Page 599 |
025839,004628: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025840,004629: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025841,004630:
025842,004631: 24,3356 BANK 24
025843,004632: 24,2000 SETLOC P20S
025844,004633: 24,2000 BANK
025845,004634:
025846,004635: 24,3356 COUNT* $$/R29
025847,004636:
025848,004637: 24,3356 35031 BEGDES29 CAF PRIO21
025849,004638: 24,3357 05072 TC NOVAC
025850,004639: 24,3360 E3,1760 EBANK= LOSVDT/4
025851,004640: 24,3360 02547 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025852,004641:
025853,004642: 24,3362 34774 R29DLOOP CAF .5SEC
025854,004643: 24,3363 05224 TC VARDELAY
025855,004644:
025856,004645: 24,3364 40110 CS RADMODES
025857,004646: 24,3365 74742 MASK DESIGBIT
025858,004647: 24,3366 10000 CCS A
025859,004648: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025860,004649:
025861,004650: 24,3370 40076 CS FLAGWRD2
025862,004651: 24,3371 74740 MASK LOSCMBIT
025863,004652: 24,3372 00006 EXTEND
025864,004653: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025865,004654: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025866,004655: 24,3375 13356 TCF BEGDES29
025867,004656:
025868,004657: 24,3376 34753 CA ONE
025869,004658: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 600 |
025871,004660: # R29DODES: RR DESIGNATION LOOP FOR R29
025872,004661:
025873,004662: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025874,004663: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025875,004664: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025876,004665: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025877,004666: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025878,004667:
025879,004668: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025880,004669: # TASK WHEN LOCK-ON IS ACHIEVED.
025881,004670:
025882,004671: 32,2547 BANK 32
025883,004672: 32,2000 SETLOC F2DPS*32
025884,004673: 32,2000 BANK
025885,004674:
025886,004675: 32,2547 COUNT* $$/R29
025887,004676: 32,2547 E3,1760 EBANK= LOSVDT/4
025888,004677:
025889,004678: 32,2547 34753 R29DODES CA ONE
025890,004679: 32,2550 55107 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025891,004680: 32,2551 34756 CA FIVE
025892,004681:
025893,004682: 32,2552 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025894,004683: 32,2553 54002 TS Q
025895,004684: 32,2554 11107 CCS TANG
025896,004685: 32,2555 12563 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025897,004686:
025898,004687: 32,2556 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025899,004688: 32,2557 50002 INDEX Q
025900,004689: 32,2560 31761 DCA LOSVDT/4
025901,004690: 32,2561 50002 INDEX Q
025902,004691: 32,2562 21102 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025903,004692:
025904,004693: 32,2563 00006 R29DPAS1 EXTEND
025905,004694: 32,2564 50002 INDEX Q
025906,004695: 32,2565 31102 DCA LOSSM
025907,004696: 32,2566 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025908,004697: 32,2567 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025909,004698: 32,2570 11107 CCS TANG
025910,004699: 32,2571 12577 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025911,004700:
025912,004701: 32,2572 00006 EXTEND
025913,004702: 32,2573 50002 INDEX Q
025914,004703: 32,2574 31761 DCA LOSVDT/4
025915,004704: 32,2575 50002 INDEX Q
025916,004705: 32,2576 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025917,004706:
025918,004707: 32,2577 10002 R29DVEND CCS Q
025919,004708: 32,2600 12552 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025920,004709:
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|
Page 601 |
025922,004711: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025923,004712:
025924,004713: 32,2601 52156 DXCH MPAC +1
025925,004714: 32,2602 52155 DXCH MPAC
025926,004715: 32,2603 32774 CA R29FXLOC # = ADRES INTB15 + -34D
025927,004716: 32,2604 54120 TS FIXLOC
025928,004717: 32,2605 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025929,004718: 32,2606 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025930,004719: 32,2607 07532 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025931,004720:
025932,004721: 32,2610 11107 CCS TANG
025933,004722: 32,2611 12613 TCF +2
025934,004723: 32,2612 12627 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025935,004724: 32,2613 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025936,004725: 32,2614 00006 EXTEND
025937,004726: 32,2615 30036 DCA CDUT
025938,004727: 32,2616 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025939,004728: 32,2617 30033 CA CDUY
025940,004729: 32,2620 54766 TS CDUSPOT
025941,004730: 32,2621 30034 CA CDUZ
025942,004731: 32,2622 54770 TS CDUSPOT +2
025943,004732: 32,2623 30032 CA CDUX
025944,004733: 32,2624 54772 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025945,004734: 32,2625 04616 TC BANKCALL
025946,004735: 32,2626 47615 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025947,004736:
025948,004737: 32,2627 46245 GOTANGLS CS THREE
025949,004738: 32,2630 04616 TC BANKCALL
025950,004739: 32,2631 47675 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025951,004740:
025952,004741: 32,2632 11107 CCS TANG
025953,004742: 32,2633 12635 TCF +2
025954,004743: 32,2634 12702 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025955,004744:
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|
Page 602 |
025957,004746: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025958,004747: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025959,004748:
025960,004749: 32,2635 00004 INHINT
025961,004750: 32,2636 55107 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025962,004751: 32,2637 31766 CA SAVECDUT
025963,004752: 32,2640 05032 TC SPCOS
025964,004753: 32,2641 54166 TS PUSHLOC # PUSHLOC = COS T.
025965,004754: 32,2642 41766 CS SAVECDUT
025966,004755: 32,2643 05033 TC SPSIN
025967,004756: 32,2644 54163 TS MODE # MODE = -SIN T.
025968,004757: 32,2645 00006 EXTEND
025969,004758: 32,2646 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025970,004759: 32,2647 52155 DXCH MPAC
025971,004760: 32,2650 31767 CA SAVECDUT +1
025972,004761: 32,2651 05033 TC SPSIN
025973,004762: 32,2652 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025974,004763: 32,2653 00006 EXTEND
025975,004764: 32,2654 70166 MP PUSHLOC
025976,004765: 32,2655 00006 EXTEND
025977,004766: 32,2656 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025978,004767: 32,2657 20155 DAS MPAC
025979,004768: 32,2660 31767 CA SAVECDUT +1
025980,004769: 32,2661 05032 TC SPCOS
025981,004770: 32,2662 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025982,004771: 32,2663 00006 EXTEND
025983,004772: 32,2664 70166 MP PUSHLOC
025984,004773: 32,2665 00006 EXTEND
025985,004774: 32,2666 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025986,004775: 32,2667 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025987,004776: 32,2670 00006 EXTEND # -SIN T, COS S COS T).
025988,004777: 32,2671 30155 DCA MPAC
025989,004778: 32,2672 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025990,004779: 32,2673 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025991,004780: 32,2674 34736 CA BIT14
025992,004781: 32,2675 12676 NOOP
025993,004782: 32,2676 00006 EXTEND
025994,004783: 32,2677 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025995,004784: 32,2700 00003 RELINT
025996,004785: 32,2701 12551 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025997,004786:
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|
Page 603 |
025999,004788: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026000,004789:
026001,004790: 32,2702 31767 R29DPAS2 CA SAVECDUT +1
026002,004791: 32,2703 00006 EXTEND
026003,004792: 32,2704 70122 MP VBUF # FORM COS S ULOSNB'X.
026004,004793: 32,2705 53110 DXCH TANG
026005,004794: 32,2706 41766 CS SAVECDUT
026006,004795: 32,2707 00006 EXTEND
026007,004796: 32,2710 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
026008,004797: 32,2711 21110 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026009,004798: 32,2712 40163 CS MODE # - SIN S)
026010,004799: 32,2713 00006 EXTEND
026011,004800: 32,2714 71766 MP SAVECDUT
026012,004801: 32,2715 00006 EXTEND
026013,004802: 32,2716 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
026014,004803: 32,2717 52155 DXCH MPAC
026015,004804: 32,2720 30166 CA PUSHLOC
026016,004805: 32,2721 00006 EXTEND
026017,004806: 32,2722 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
026018,004807: 32,2723 20155 DAS MPAC
026019,004808: 32,2724 40163 CS MODE
026020,004809: 32,2725 00006 EXTEND
026021,004810: 32,2726 71767 MP SAVECDUT +1
026022,004811: 32,2727 00006 EXTEND
026023,004812: 32,2730 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
026024,004813: 32,2731 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
026025,004814: 32,2732 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
026026,004815: 32,2733 00006 EXTEND
026027,004816: 32,2734 72775 MP RR29GAIN
026028,004817: 32,2735 57107 XCH TANG # STORE REFINED T CMD, GET RAW S CMD.
026029,004818: 32,2736 00006 EXTEND
026030,004819: 32,2737 72775 MP RR29GAIN
026031,004820: 32,2740 55110 TS TANG +1 # STORE REFINED S CMD.
026032,004821:
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|
Page 604 |
026034,004823: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
026035,004824: # READING DATA FROM THE RENDEZVOUS RADAR.
026036,004825:
026037,004826: 32,2741 34750 DGOOD? CAF BIT4
026038,004827: 32,2742 00006 EXTEND
026039,004828: 32,2743 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
026040,004829: 32,2744 00004 INHINT # (MAINLY FOR RROUT).
026041,004830: 32,2745 00006 EXTEND
026042,004831: 32,2746 12752 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
026043,004832:
026044,004833: 32,2747 04616 TC BANKCALL
026045,004834: 32,2750 52306 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026046,004835: 32,2751 12770 TCF END29DOD
026047,004836:
026048,004837: 32,2752 44742 R29LOKON CS DESIGBIT
026049,004838: 32,2753 70110 MASK RADMODES
026050,004839: 32,2754 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
026051,004840: 32,2755 44752 CS BIT2
026052,004841: 32,2756 00006 EXTEND
026053,004842: 32,2757 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
026054,004843: 32,2760 34743 CA READRBIT
026055,004844: 32,2761 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
026056,004845: 32,2762 11056 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
026057,004846: 32,2763 44776 CS SUPER110 # -96D + 100D = 4.
026058,004847: 32,2764 64777 AD 1SEC # 0 + 100D = 100D.
026059,004848: 32,2765 05203 TC WAITLIST
026060,004849: 32,2766 E7,1456 EBANK= LOSCOUNT
026061,004850: 32,2766 03400 50067 2CADR R29READ # START READING TASK AND JOB.
026062,004851:
026063,004852: 32,2770 44740 END29DOD CS LOSCMBIT
026064,004853: 32,2771 70076 MASK FLAGWRD2
026065,004854: 32,2772 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026066,004855: 32,2773 15155 TCF ENDOFJOB
026067,004856:
026068,004857: 32,2774 00052 R29FXLOC ADRES INTB15+ -34D
026069,004858: 32,2775 56655 RR29GAIN DEC -.53624
026070,004859: 32,2776 E3,1760 LOSVDT/4 EQUALS LOSVEL
026071,004860: 32,2776 1101 LOSSM EQUALS RRTARGET
026072,004861: 32,2776 E3,1766 SAVECDUT EQUALS MLOSV
026073,004862:
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Page 605 |
026075,004864: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026076,004865:
026077,004866: 24,3400 BANK 24
026078,004867: 24,2000 SETLOC P20S
026079,004868: 24,2000 BANK
026080,004869:
026081,004870: 24,3400 COUNT* $$/R29
026082,004871:
026083,004872: 24,3400 E7,1456 EBANK= LOSCOUNT
026084,004873:
026085,004874: 24,3400 37714 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026086,004875: 24,3401 05072 TC NOVAC
026087,004876: 24,3402 E7,1456 EBANK= LOSCOUNT
026088,004877: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026089,004878:
026090,004879: 24,3404 35000 CA 2SECS
026091,004880: 24,3405 05224 TC VARDELAY
026092,004881:
026093,004882: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026094,004883: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026095,004884: 24,3410 10000 CCS A
026096,004885: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
026097,004886: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026098,004887:
026099,004888: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026100,004889: 24,3414 74741 MASK NR29FBIT
026101,004890: 24,3415 10000 CCS A # TEST "NOR29FLG".
026102,004891: 24,3416 13475 TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE.
026103,004892:
026104,004893: 24,3417 30110 CA RADMODES
026105,004894: 24,3420 74752 MASK AUTOMBIT
026106,004895: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026107,004896: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026108,004897:
026109,004898: 24,3423 04616 TC BANKCALL
026110,004899: 24,3424 53103 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026111,004900: 24,3425 04616 TC BANKCALL
026112,004901: 24,3426 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026113,004902: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026114,004903:
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Page 606 |
026116,004905: # R29 RADAR READING CONTINUED.
026117,004906:
026118,004907: 24,3430 53106 DXCH TIMEHOLD
026119,004908: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026120,004909: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026121,004910: 24,3433 00006 EXTEND
026122,004911: 24,3434 30036 DCA CDUT
026123,004912: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026124,004913: 24,3436 00006 EXTEND
026125,004914: 24,3437 30034 DCA CDUY
026126,004915: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026127,004916: 24,3441 30032 CA CDUX
026128,004917: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026129,004918:
026130,004919: 24,3443 04616 R29RANGE TC BANKCALL
026131,004920: 24,3444 53105 CADR RRRANGE # INITIATE READING OF RR RANGE.
026132,004921: 24,3445 04616 TC BANKCALL
026133,004922: 24,3446 17714 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026134,004923: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026135,004924:
026136,004925: 24,3450 00004 INHINT
026137,004926: 24,3451 53334 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026138,004927: 24,3452 53757 DXCH RM
026139,004928: 24,3453 52155 DXCH MPAC
026140,004929: 24,3454 53755 DXCH MKTIME
026141,004930: 24,3455 52157 DXCH MPAC +2
026142,004931: 24,3456 53753 DXCH TANGNB
026143,004932: 24,3457 52161 DXCH MPAC +4
026144,004933: 24,3460 53460 DXCH AIG
026145,004934: 24,3461 30162 CA MPAC +6
026146,004935: 24,3462 55461 TS AOG
026147,004936: 24,3463 34753 CA ONE
026148,004937: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026149,004938: 24,3465 15155 TCF ENDOFJOB
026150,004939:
026151,004940: 24,3466 40101 R29RRR? CS FLAGWRD5
026152,004941: 24,3467 74742 MASK BIT10
026153,004942: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026154,004943: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026155,004944: 24,3472 05516 TC DOWNFLAG
026156,004945: 24,3473 00120 ADRES RNGSCFLG
026157,004946: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026158,004947:
026159,004948: 24,3475 34755 ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE
026160,004949: 24,3476 55462 TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL.
026161,004950: 24,3477 05516 TC DOWNFLAG
026162,004951: 24,3500 00063 ADRES READRFLG
026163,004952: 24,3501 44736 CS BIT14
026164,004953: 24,3502 00006 EXTEND
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Page 607 |
026166,004955: 24,3503 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
026167,004956: 24,3504 15155 TCF ENDOFJOB
026168,004957:
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|
Page 608 |
026170,004959: # W-MATRIX MONITOR
026171,004960:
026172,004961: 31,2007 BANK 31
026173,004962: 31,2000 SETLOC VB67
026174,004963: 31,2000 BANK
026175,004964: 31,2007 COUNT* $$/EXTVB
026176,004965:
026177,004966: 31,2007 E4,1600 EBANK= WWPOS
026178,004967:
026179,004968: 31,2007 06037 V67CALL TC INTPRET
026180,004969: 31,2010 77624 CALL
026181,004970: 31,2011 62120 V67WW
026182,004971: 31,2012 77776 EXIT
026183,004972: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026184,004973: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026185,004974: 31,2015 53607 DXCH WWBIAS +2
026186,004975: 31,2016 00006 EXTEND
026187,004976: 31,2017 31603 DCA WWVEL
026188,004977: 31,2020 53611 DXCH WWBIAS +4
026189,004978: 31,2021 00006 EXTEND
026190,004979: 31,2022 31605 DCA WWBIAS
026191,004980: 31,2023 53613 DXCH WWBIAS +6
026192,004981: 31,2024 32143 V06N99DS CAF V06N99
026193,004982: 31,2025 04616 TC BANKCALL
026194,004983: 31,2026 20334 CADR GOXDSPF
026195,004984: 31,2027 15472 TCF ENDEXT
026196,004985: 31,2030 12032 TCF V6N99PRO
026197,004986: 31,2031 12024 TCF V06N99DS
026198,004987: 31,2032 22007 V6N99PRO ZL
026199,004988: 31,2033 34756 CA FIVE
026200,004989: 31,2034 54002 N99LOOP TS Q
026201,004990: 31,2035 50002 INDEX Q
026202,004991: 31,2036 41600 CS WWPOS
026203,004992: 31,2037 50002 INDEX Q
026204,004993: 31,2040 61606 AD WWPOS +6
026205,004994: 31,2041 26001 ADS L
026206,004995: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026207,004996: 31,2043 12034 TCF N99LOOP
026208,004997: 31,2044 22000 LXCH A
026209,004998: 31,2045 00006 EXTEND
026210,004999: 31,2046 12051 BZF V06N9933
026211,005000: 31,2047 05504 TC UPFLAG
026212,005001: 31,2050 00160 ADRES V67FLAG
026213,005002:
026214,005003: 31,2051 06037 V06N9933 TC INTPRET
026215,005004: 31,2052 77414 BON EXIT
026216,005005: 31,2053 03707 V67FLAG
026217,005006: 31,2054 62056 +2
026218,005007: 31,2055 15472 TCF ENDEXT
026219,005008: 31,2056 77745 DLOAD
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Page 609 |
026221,005010: 31,2057 02201 WWPOS
026222,005011: 31,2060 72412 SL4 SL1
026223,005012: 31,2061 14001 STODL 0D
026224,005013: 31,2062 02203 WWVEL
026225,005014: 31,2063 14003 STODL 2D
026226,005015: 31,2064 02205 WWBIAS
026227,005016: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026228,005017: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026229,005018: 31,2067 00005 STORE 4D
026230,005019: 31,2070 72014 BON LXA,1
026231,005020: 31,2071 04307 SURFFLAG
026232,005021: 31,2072 62102 V67SURF
026233,005022: 31,2073 00000 0D
026234,005023: 31,2074 72130 SXA,1 LXA,1
026235,005024: 31,2075 02000 WRENDPOS
026236,005025: 31,2076 00002 2D
026237,005026: 31,2077 52130 SXA,1 GOTO
026238,005027: 31,2100 02001 WRENDVEL
026239,005028: 31,2101 62110 V67CLRF
026240,005029: 31,2102 66150 V67SURF LXA,1 SXA,1
026241,005030: 31,2103 00000 0D
026242,005031: 31,2104 02006 WSURFPOS
026243,005032: 31,2105 66150 LXA,1 SXA,1
026244,005033: 31,2106 00002 2D
026245,005034: 31,2107 02007 WSURFVEL
026246,005035: 31,2110 66150 V67CLRF LXA,1 SXA,1
026247,005036: 31,2111 00004 4D
026248,005037: 31,2112 02003 WTRUN
026249,005038: 31,2113 77730 SXA,1
026250,005039: 31,2114 02002 WSHAFT
026251,005040: 31,2115 77414 CLEAR EXIT
026252,005041: 31,2116 02676 RENDWFLG
026253,005042: 31,2117 15472 TCF ENDEXT
026254,005043: 31,2120 40020 V67WW STQ BOV
026255,005044: 31,2121 00051 S2
026256,005045: 31,2122 62123 +1
026257,005046: 31,2123 45014 CLEAR CALL
026258,005047: 31,2124 03667 V67FLAG
026259,005048: 31,2125 27414 INTSTALL
026260,005049: 31,2126 71331 SSP DLOAD
026261,005050: 31,2127 00051 S1
026262,005051: 31,2130 00006 DEC 6 B-14
026263,005052: 31,2131 06522 ZEROVECS
026264,005053: 31,2132 02201 STORE WWPOS
026265,005054: 31,2133 02203 STORE WWVEL
026266,005055: 31,2134 02205 STORE WWBIAS
026267,005056: 31,2135 77770 AXT,1
026268,005057: 31,2136 00066 DEC 54 B-14
026269,005058: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026270,005059: 31,2140 02467 W +54D,1
|
|
Page 610 |
026272,005061: 31,2141 77650 GOTO
026273,005062: 31,2142 60002 ADDPOS
026274,005063: 31,2143 01543 V06N99 VN 0699
026275,005064:
026276,005065: 30,2000 SETLOC VB67A
026277,005066: 30,2000 BANK
026278,005067: 30,2002 COUNT* $$/EXTVB
026279,005068:
026280,005069: 30,2002 77615 ADDPOS DAD
026281,005070: 30,2003 02201 WWPOS
026282,005071: 30,2004 02201 STORE WWPOS
026283,005072: 30,2005 47573 VLOAD* VSQ
026284,005073: 30,2006 02555 W +108D,1
026285,005074: 30,2007 77615 DAD
026286,005075: 30,2010 02203 WWVEL
026287,005076: 30,2011 02203 STORE WWVEL
026288,005077: 30,2012 47573 VLOAD* VSQ
026289,005078: 30,2013 02643 W +162D,1
026290,005079: 30,2014 77615 DAD
026291,005080: 30,2015 02205 WWBIAS
026292,005081: 30,2016 02205 STORE WWBIAS
026293,005082: 30,2017 75500 TIX,1 SQRT
026294,005083: 30,2020 62137 NXPOSVEL
026295,005084: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026296,005085: 30,2022 20613 10D # NOUN SCALING (B-5)
026297,005086: 30,2023 16205 STODL WWBIAS
026298,005087: 30,2024 02203 WWVEL
026299,005088: 30,2025 77766 SQRT
026300,005089: 30,2026 16203 STODL WWVEL
026301,005090: 30,2027 02201 WWPOS
026302,005091: 30,2030 77766 SQRT
026303,005092: 30,2031 02201 STORE WWPOS
026304,005093: 30,2032 52000 BOV GOTO
026305,005094: 30,2033 60035 +2
026306,005095: 30,2034 60042 V67XXX
026307,005096: 30,2035 77745 DLOAD
026308,005097: 30,2036 06530 DPPOSMAX
026309,005098: 30,2037 02201 STORE WWPOS
026310,005099: 30,2040 02203 STORE WWVEL
026311,005100: 30,2041 02205 STORE WWBIAS
026312,005101: 30,2042 45345 V67XXX DLOAD DSU
026313,005102: 30,2043 02201 WWPOS
026314,005103: 30,2044 20060 FT99999
026315,005104: 30,2045 71240 BMN DLOAD
026316,005105: 30,2046 60051 +3
026317,005106: 30,2047 20060 FT99999
026318,005107: 30,2050 02201 STORE WWPOS
026319,005108: 30,2051 66150 LXA,1 SXA,1
026320,005109: 30,2052 00051 S2
026321,005110: 30,2053 00052 QPRET
|
|
Page 611 |
026323,005112: 30,2054 77776 EXIT
026324,005113: 30,2055 04635 TC POSTJUMP
026325,005114: 30,2056 27425 CADR INTWAKE
026326,005115:
026327,005116: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026328,005117:
|
|
Page 612 |
026330,005119: 25,3607 BANK 25
026331,005120: 25,2000 SETLOC RADARUPT
026332,005121: 25,2000 BANK
026333,005122: 25,3607 COUNT* $$/RRUPT
026334,005123:
026335,005124: 25,3607 E7,1456 EBANK= LOSCOUNT
026336,005125:
026337,005126: 25,3607 34753 R12LITES CA ONE
026338,005127: 25,3610 71303 MASK IMODES33
026339,005128: 25,3611 10000 CCS A
026340,005129: 25,3612 14707 TCF ISWRETRN
026341,005130:
026342,005131: 25,3613 03630 TC HLIGHT
026343,005132: 25,3614 03625 TC HLIGHT -3
026344,005133: 25,3615 14707 TCF ISWRETRN
026345,005134:
026346,005135: 25,3616 34753 RADLITES CA BIT1
026347,005136: 25,3617 71303 MASK IMODES33
026348,005137: 25,3620 10000 CCS A
026349,005138: 25,3621 00002 TC Q
026350,005139:
026351,005140: 25,3622 44747 CS BIT5
026352,005141: 25,3623 60061 AD ITEMP1
026353,005142: 25,3624 10000 CCS A
026354,005143: 25,3625 44753 CS ONE
026355,005144: 25,3626 13664 TCF VLIGHT
026356,005145:
026357,005146: 25,3627 14570 TCF RRTRKF
026358,005147:
026359,005148: 25,3630 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026360,005149:
026361,005150: 25,3631 34747 CA HLITE
026362,005151: 25,3632 54001 TS L
026363,005152:
026364,005153: 25,3633 30107 CA FLGWRD11
026365,005154: 25,3634 74751 MASK SCABBIT
026366,005155: 25,3635 10000 CCS A
026367,005156: 25,3636 13656 TCF ONLITES
026368,005157: 25,3637 34747 CA LRALTBIT
026369,005158: 25,3640 70110 BOTHLITS MASK RADMODES
026370,005159: 25,3641 10000 CCS A
026371,005160: 25,3642 13656 TCF ONLITES
026372,005161:
026373,005162: 25,3643 30107 CA FLGWRD11
026374,005163: 25,3644 50065 INDEX ITEMP5
026375,005164: 25,3645 74753 MASK HFLSHBIT
026376,005165: 25,3646 10000 CCS A
026377,005166: 25,3647 14570 TCF RRTRKF
|
|
Page 613 |
026379,005168: 25,3650 00006 LITIT EXTEND
026380,005169: 25,3651 22066 QXCH ITEMP6
026381,005170: 25,3652 04602 TC TRKFLON +1
026382,005171:
026383,005172: 25,3653 00006 EXTEND
026384,005173: 25,3654 22066 QXCH ITEMP6
026385,005174: 25,3655 14570 TCF RRTRKF
026386,005175:
026387,005176:
026388,005177: 25,3656 50065 ONLITES INDEX ITEMP5
026389,005178: 25,3657 44753 CS HFLSHBIT
026390,005179: 25,3660 70107 MASK FLGWRD11
026391,005180: 25,3661 54107 TS FLGWRD11
026392,005181:
026393,005182: 25,3662 30001 CA L
026394,005183: 25,3663 13650 TCF LITIT
026395,005184: 25,3664 54065 VLIGHT TS ITEMP5
026396,005185: 25,3665 34751 CA VLITE
026397,005186: 25,3666 54001 TS L
026398,005187: 25,3667 34744 CA BIT8
026399,005188: 25,3670 13640 TCF BOTHLITS
026400,005189:
026401,005190: 25,3671 4747 HLITE EQUALS BIT5
026402,005191: 25,3671 4751 VLITE EQUALS BIT3
026403,005192:
End of include-file P20-P25.agc. Parent file is MAIN.agc