Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note 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 derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
021118,000002: ## Copyright: Public domain.
021119,000003: ## Filename: P20-P25.agc
021120,000004: ## Purpose: A section of Luminary revision 116.
021121,000005: ## It is part of the source code for the Lunar Module's (LM)
021122,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
021123,000007: ## This file is intended to be a faithful transcription, except
021124,000008: ## that the code format has been changed to conform to the
021125,000009: ## requirements of the yaYUL assembler rather than the
021126,000010: ## original YUL assembler.
021127,000011: ## Reference: pp. 494-616
021128,000012: ## Assembler: yaYUL
021129,000013: ## Contact: Ron Burkey <info@sandroid.org>.
021130,000014: ## Website: www.ibiblio.org/apollo/index.html
021131,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
021132,000016: ## 2017-01-28 RSB WTIH -> WITH.
021133,000017: ## 2017-03-09 HG Transcribed
021134,000018: ## 2017-03-13 RSB Proofed comment text via 3-way diff vs
021135,000019: ## Luminary 99 and 131.
021136,000020: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021137,000021: ## side-by-side diff of Luminary 69/99/116/131/210.
021138,000022: ## 2017-03-19 HG Fix operator CALL --> VLOAD
021139,000023: ## Fix statement CA BIT1 --> CS BIT5
021140,000024: ## Fix operand ENDRRD29 --> ENDR29RD
021141,000025: ## 2021-05-30 ABS R21LEMB -> R21LEM8
021142,000026: ## R29REM0J -> R29REMOJ
021143,000027:
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021145,000029: # RENDEZVOUS NAVIGATION PROGRAM 20
021146,000030: # PROGRAM DESCRIPTION
021147,000031: # MOD NO - 2
021148,000032: # BY P. VOLANTE
021149,000033: # FUNCTIONAL DESCRIPTION
021150,000034:
021151,000035: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021152,000036: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021153,000037: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021154,000038: # ON THE BASIS OF THE RR TRACKING DATA.
021155,000039: # CALLING SEQUENCE -
021156,000040:
021157,000041: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021158,000042: # SUBROUTINES CALLED
021159,000043: # R02BOTH (IMU STATUS CHECK) FLAGUP
021160,000044: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021161,000045: # R23LEM (MANUAL ACQUISITION) BANKCALL
021162,000046: # LS201 (LOS DETERMINATION) TASKOVER
021163,000047: # LS202 (RANGE LIMIT TEST)
021164,000048: # R61LEM (PREFERRED TRACKING ATTITUDE)
021165,000049: # R21LEM (RR DESIGNATE) ENDOFJOB
021166,000050: # R22LEM (DATA READ) GOPERF1
021167,000051: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021168,000052: # PRIOLARM (PRIORITY DISPLAY)
021169,000053: # NORMAL EXIT MODES-
021170,000054: # P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021171,000055: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021172,000056: # ALARM OR ABORT EXIT MODES-
021173,000057: # RANGE GREATER THAN 400 NM DISPLAY
021174,000058: # OUTPUT
021175,000059: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021176,000060: # ERASABLE INITIALIZATION REQUIRED
021177,000061: # FLAGS SET + RESET
021178,000062: # SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
021179,000063: # DEBRIS
021180,000064: # CENTRALS-A,Q,L
021181,000065: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021182,000066:
021183,000067: 33,2045 BANK 33
021184,000068: 24,2000 SETLOC P20S
021185,000069: 24,2000 BANK
021186,000070:
021187,000071: 24,2000 E7,1456 EBANK= LOSCOUNT
021188,000072: 24,2000 COUNT* $$/P20
021189,000073: 24,2000 24,2000 PROG22 = PROG20
021190,000074: 24,2000 05327 PROG20 TC 2PHSCHNG
021191,000075: 24,2001 00004 OCT 4
021192,000076: 24,2002 05022 OCT 05022
021193,000077: 24,2003 26000 OCT 26000 # PRIORITY 26
021194,000078: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
021195,000079:
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021197,000081: 24,2005 02007 TC ORBCHGO # YES
021198,000082: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021199,000083: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021200,000084: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021201,000085: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021202,000086: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021203,000087: 24,2013 34363 CAF OCT00012
021204,000088: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021205,000089: 24,2015 20634 CADR GOPERF4
021206,000090: 24,2016 06001 TC GOTOPOOH # TERMINATE
021207,000091: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021208,000092: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021209,000093: 24,2021 44753 ORBCHG1 CS ONE
021210,000094: 24,2022 61144 AD OPTION2
021211,000095: 24,2023 00006 EXTEND
021212,000096: 24,2024 12040 BZF PROG20A
021213,000097: 24,2025 32311 CAF V06N33*
021214,000098: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021215,000099: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021216,000100: 24,2030 06001 TC GOTOPOOH # TERMINATE
021217,000101: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021218,000102: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021219,000103: 24,2033 06042 ORBCHG2 TC INTPRET
021220,000104: 24,2034 77650 GOTO
021221,000105: 24,2035 64217 ORBCHG3
021222,000106: 32,2217 BANK 32
021223,000107: 32,2000 SETLOC P20S4
021224,000108: 32,2000 BANK
021225,000109: 32,2217 COUNT* $$/P20
021226,000110:
021227,000111: 32,2217 77624 ORBCHG3 CALL
021228,000112: 32,2220 27412 INTSTALL
021229,000113: 32,2221 77745 DLOAD
021230,000114: 32,2222 03442 TIG
021231,000115: 32,2223 03661 STORE LNCHTM
021232,000116: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021233,000117: 32,2225 43014 CLEAR CLEAR
021234,000118: 32,2226 01674 VINTFLAG # LM INTEGRATION
021235,000119: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021236,000120: 32,2230 43014 CLEAR CLEAR
021237,000121: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021238,000122: 32,2232 01675 D6OR9FLG
021239,000123: 32,2233 77624 CALL
021240,000124: 32,2234 27135 INTEGRV # PLANETARY INERTIAL ORIENTATION
021241,000125: 32,2235 77624 CALL
021242,000126: 32,2236 11226 GRP2PC
021243,000127: 32,2237 77775 VLOAD
021244,000128: 32,2240 00017 RATT1
021245,000129: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021246,000130: 32,2242 00015 TAT
021247,000131:
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021249,000133: 32,2243 34041 STCALL TDEC1
021250,000134: 32,2244 27412 INTSTALL
021251,000135: 32,2245 43014 SET CLEAR
021252,000136: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021253,000137: 32,2247 01673 INTYPFLG
021254,000138: 32,2250 43014 CLEAR BOFF
021255,000139: 32,2251 01676 DIM0FLAG
021256,000140: 32,2252 02756 RENDWFLG # W MATRIX VALID
021257,000141: 32,2253 64257 NOWMATX # NO
021258,000142: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021259,000143: 32,2255 01476 DIM0FLAG
021260,000144: 32,2256 01475 D6OR9FLG
021261,000145: 32,2257 77624 NOWMATX CALL
021262,000146: 32,2260 27135 INTEGRV # CSM INTEGRATION
021263,000147: 32,2261 77624 CALL
021264,000148: 32,2262 11226 GRP2PC
021265,000149: 32,2263 77775 VLOAD
021266,000150: 32,2264 00025 VATT1
021267,000151: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021268,000152: 32,2266 00017 RATT1
021269,000153: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021270,000154: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021271,000155: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021272,000156: 32,2272 24025 STOVL 20D # SAVE NSUB1
021273,000157: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021274,000158: 32,2274 53435 VXV UNIT # PLANE CHANGE
021275,000159: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021276,000160: 32,2276 27637 STOVL UCSM
021277,000161: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021278,000162: 32,2300 50256 UNIT DOT # AND RSUBC
021279,000163: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021280,000164: 32,2302 77752 SL1
021281,000165: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021282,000166: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021283,000167: 32,2305 06514 ONEB-2
021284,000168: 32,2306 77766 SQRT
021285,000169: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021286,000170: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021287,000171: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021288,000172: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021289,000173: 32,2313 77676 VCOMP
021290,000174: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021291,000175: 32,2315 45014 CLEAR CALL
021292,000176: 32,2316 03666 RVSW
021293,000177: 32,2317 24732 TIMETHET
021294,000178: 32,2320 77676 VCOMP
021295,000179: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021296,000180: 32,2322 77745 DLOAD
021297,000181: 32,2323 00037 T
021298,000182: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
021299,000183:
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021301,000185: 32,2325 03645 NEWVEL
021302,000186: 32,2326 77646 ABVAL
021303,000187: 32,2327 24025 STOVL 20D
021304,000188: 32,2330 00001 0D
021305,000189: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021306,000190: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021307,000191: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021308,000192: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021309,000193: 32,2335 03653 NEWPOS # ORBITAL PLANE
021310,000194: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021311,000195: 32,2337 00025 20D
021312,000196: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021313,000197: 32,2341 11226 GRP2PC
021314,000198: 32,2342 77624 CALL
021315,000199: 32,2343 27412 INTSTALL
021316,000200: 32,2344 44345 DLOAD BDSU
021317,000201: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021318,000202: 32,2346 03661 LNCHTM
021319,000203: 32,2347 25517 STOVL TET
021320,000204: 32,2350 03653 NEWPOS
021321,000205: 32,2351 01535 STORE RCV
021322,000206: 32,2352 25503 STOVL RRECT
021323,000207: 32,2353 03665 NCSMVEL
021324,000208: 32,2354 35511 STCALL VRECT
021325,000209: 32,2355 27707 MINIRECT
021326,000210: 32,2356 45174 AXT,2 CALL
021327,000211: 32,2357 00002 2
021328,000212: 32,2360 26662 ATOPCSM
021329,000213: 32,2361 77624 CALL
021330,000214: 32,2362 27421 INTWAKE0
021331,000215: 32,2363 77776 EXIT
021332,000216: 32,2364 04616 TC BANKCALL
021333,000217: 32,2365 50040 CADR PROG20A
021334,000218: 24,2036 BANK 24
021335,000219: 24,2000 SETLOC P20S
021336,000220: 24,2000 BANK
021337,000221: 24,2036 COUNT* $$/P20
021338,000222:
021339,000223: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
021340,000224: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021341,000225: 24,2040 04616 PROG20A TC BANKCALL
021342,000226: 24,2041 11236 CADR R02BOTH
021343,000227: 24,2042 05504 TC UPFLAG
021344,000228: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021345,000229: 24,2044 05504 TC UPFLAG
021346,000230: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021347,000231: 24,2046 05504 TC UPFLAG
021348,000232: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021349,000233: 24,2050 05516 TC DOWNFLAG
021350,000234: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
021351,000235:
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021353,000237: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021354,000238: 24,2053 00040 ADRES ACMODFLG
021355,000239: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021356,000240: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021357,000241: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021358,000242: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021359,000243: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021360,000244: 24,2061 00041 ADRES LOSCMFLG
021361,000245: 24,2062 06011 TC CLRADMOD
021362,000246: 24,2063 05353 P20LEM1 TC PHASCHNG
021363,000247: 24,2064 04022 OCT 04022
021364,000248: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021365,000249: 24,2066 55462 TS MARKCTR
021366,000250: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE
021367,000251: 24,2070 77634 RTB
021368,000252: 24,2071 21574 LOADTIME
021369,000253: 24,2072 34041 STCALL TDEC1
021370,000254: 24,2073 51255 LPS20.1
021371,000255: 24,2074 77624 CALL
021372,000256: 24,2075 53550 LPS20.2 # TEST RANGE R/UTINE
021373,000257: 24,2076 77776 EXIT
021374,000258: 24,2077 50154 INDEX MPAC
021375,000259: 24,2100 02101 TC +1
021376,000260: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021377,000261: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021378,000262: 24,2103 04616 TC BANKCALL
021379,000263: 24,2104 21563 CADR PRIOLARM
021380,000264: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021381,000265: 24,2106 02102 TC -4 # PROC (ILLEGAL
021382,000266: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021383,000267: 24,2110 05155 TC ENDOFJOB
021384,000268:
021385,000269:
021386,000270: 24,2111 05353 P20LEMA TC PHASCHNG
021387,000271: 24,2112 04022 OCT 04022
021388,000272: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021389,000273: 24,2114 02117 TC P20LEMB
021390,000274: 24,2115 04616 TC BANKCALL
021391,000275: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021392,000276: 24,2117 05353 P20LEMB TC PHASCHNG
021393,000277: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021394,000278: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021395,000279: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26
021396,000280: 24,2123 05146 TC PRIOCHNG
021397,000281: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021398,000282: 24,2125 74747 MASK TRACKBIT
021399,000283: 24,2126 00006 EXTEND
021400,000284: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021401,000285: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021402,000286: 24,2131 00006 EXTEND
021403,000287:
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021405,000289: 24,2132 02033 RAND CHAN33
021406,000290: 24,2133 00006 EXTEND
021407,000291: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021408,000292:
021409,000293:
021410,000294: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021411,000295: 24,2136 61010 AD MODREG # MAJOR MODE IS 20
021412,000296: 24,2137 00006 EXTEND
021413,000297: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
021414,000298:
021415,000299:
021416,000300: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22
021417,000301: 24,2142 00006 EXTEND
021418,000302: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021419,000303: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
021420,000304: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021421,000305: 24,2146 21563 CADR PRIOLARM
021422,000306: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
021423,000307: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021424,000308: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021425,000309: 24,2152 05155 TC ENDOFJOB
021426,000310: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021427,000311: 24,2154 04616 TC BANKCALL
021428,000312: 24,2155 20624 CADR GOPERF1
021429,000313: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021430,000314: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021431,000315: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021432,000316: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
021433,000317: 24,2162 03136 TC R23LEM # NO - DO MANUAL ACQUISITION
021434,000318:
021435,000319:
021436,000320: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021437,000321: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021438,000322: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021439,000323:
021440,000324:
021441,000325: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021442,000326: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021443,000327:
021444,000328:
021445,000329: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021446,000330: 24,2171 74737 MASK RCDU0BIT
021447,000331: 24,2172 00006 EXTEND
021448,000332: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021449,000333: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021450,000334: 24,2175 70076 MASK FLAGWRD2
021451,000335: 24,2176 00006 EXTEND
021452,000336: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021453,000337: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021454,000338: 24,2201 00037 ADRES SRCHOPTN
021455,000339:
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021457,000341: 24,2202 05516 TC DOWNFLAG
021458,000342: 24,2203 00040 ADRES ACMODFLG
021459,000343: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021460,000344:
021461,000345:
021462,000346: 24,2205 32304 P20LEMB4 CAF 250DEC
021463,000347: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021464,000348: 24,2207 01736 CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
021465,000349: 24,2210 02170 TC P20LEMB3
021466,000350:
021467,000351:
021468,000352: 24,2211 06042 P20LEMC3 TC INTPRET
021469,000353: 24,2212 77634 RTB
021470,000354: 24,2213 21574 LOADTIME
021471,000355: 24,2214 34041 STCALL TDEC1
021472,000356: 24,2215 50312 UPPSV
021473,000357: 24,2216 77776 P20LEMC4 EXIT
021474,000358: 24,2217 05353 P20LEMC TC PHASCHNG
021475,000359: 24,2220 04022 OCT 04022
021476,000360: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021477,000361: 24,2222 74745 MASK RNDVZBIT
021478,000362: 24,2223 00006 EXTEND
021479,000363: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021480,000364: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021481,000365: 24,2226 74747 MASK TRACKBIT
021482,000366: 24,2227 00006 EXTEND
021483,000367: 24,2230 12264 BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
021484,000368: 24,2231 02675 P20LEMF TC R21LEM
021485,000369:
021486,000370:
021487,000371: 24,2232 32304 P20LEMWT CAF 250DEC
021488,000372: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021489,000373: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021490,000374: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021491,000375: 24,2236 74747 MASK TRACKBIT
021492,000376: 24,2237 00006 EXTEND
021493,000377: 24,2240 15155 BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
021494,000378: 24,2241 05353 P20LMWT1 TC PHASCHNG
021495,000379: 24,2242 40072 OCT 40072
021496,000380: 24,2243 05155 TC ENDOFJOB
021497,000381:
021498,000382:
021499,000383: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021500,000384: 24,2245 74745 MASK RNDVZBIT
021501,000385: 24,2246 00006 EXTEND
021502,000386: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021503,000387: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021504,000388: 24,2251 74747 MASK TRACKBIT
021505,000389: 24,2252 00006 EXTEND
021506,000390: 24,2253 12261 BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
021507,000391:
|
|
Page 501 |
021509,000393: 24,2254 37717 CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
021510,000394: 24,2255 05105 TC FINDVAC
021511,000395: 24,2256 E7,1456 EBANK= LOSCOUNT
021512,000396: 24,2256 02631 50067 2CADR R22LEM42
021513,000397:
021514,000398: 24,2260 05261 TC TASKOVER
021515,000399:
021516,000400:
021517,000401: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
021518,000402: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021519,000403:
021520,000404: 24,2263 02244 TC P20LEMC1
021521,000405:
021522,000406: 24,2264 32667 P20LEMD CAF 1500DEC
021523,000407: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021524,000408: 24,2266 02270 ADRES P20LEMD1
021525,000409: 24,2267 05155 TC ENDOFJOB
021526,000410:
021527,000411:
021528,000412: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021529,000413: 24,2271 74747 MASK TRACKBIT
021530,000414: 24,2272 10000 CCS A
021531,000415: 24,2273 12277 TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
021532,000416: 24,2274 05221 TC FIXDELAY # NO-WAIT 15 SECONDS
021533,000417: 24,2275 02734 DEC 1500 B-14
021534,000418: 24,2276 02270 TC P20LEMD1
021535,000419:
021536,000420:
021537,000421: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021538,000422: 24,2300 05105 TC FINDVAC
021539,000423: 24,2301 E7,1456 EBANK= LOSCOUNT
021540,000424: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021541,000425:
021542,000426: 24,2303 05261 TC TASKOVER
021543,000427:
021544,000428:
021545,000429: 24,2304 00372 250DEC DEC 250 B-14
021546,000430: 24,2305 00526 ALRM526 OCT 00526
021547,000431: 24,2306 00201 OCT201 OCT 00201
021548,000432: 24,2307 00514 ALRM514 OCT 514
021549,000433: 24,2310 00074 MAXTRIES DEC 60 B-14
021550,000434: 24,2311 4363 OCT00012 EQUALS BINCON
021551,000435: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH
021552,000436: 24,2311 01441 V06N33* VN 0633
021553,000437: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021554,000438: 24,2313 01757 LS21X # TO PRESENT TIME
021555,000439: 24,2314 27412 INTSTALL
021556,000440: 24,2315 77624 CALL
021557,000441: 24,2316 26645 SETIFLGS
021558,000442: 24,2317 43014 BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
021559,000443:
|
|
Page 502 |
021561,000445: 24,2320 02756 RENDWFLG
021562,000446: 24,2321 50332 UPPSV1
021563,000447: 24,2322 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021564,000448: 24,2323 43014 BON SET
021565,000449: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021566,000450: 24,2325 50327 UPPSV5
021567,000451: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9
021568,000452: 24,2327 77614 UPPSV5 BOF
021569,000453: 24,2330 00747 VEHUPFLG
021570,000454: 24,2331 50364 UPPSV3
021571,000455: 24,2332 77614 UPPSV1 SET
021572,000456: 24,2333 01474 VINTFLAG
021573,000457: 24,2334 77624 CALL
021574,000458: 24,2335 27135 INTEGRV
021575,000459: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE
021576,000460: 24,2337 11226 GRP2PC # TO PROTECT INTEGRATION
021577,000461: 24,2340 77624 CALL
021578,000462: 24,2341 27412 INTSTALL
021579,000463: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021580,000464: 24,2343 01571 TETCSM
021581,000465: 24,2344 01674 VINTFLAG
021582,000466: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021583,000467: 24,2346 26645 SETIFLGS # WITHOUT W-MATRIX
021584,000468: 24,2347 34041 STCALL TDEC1
021585,000469: 24,2350 27135 INTEGRV
021586,000470: 24,2351 77214 BOFF VLOAD
021587,000471: 24,2352 04347 SURFFLAG
021588,000472: 24,2353 50216 P20LEMC4
021589,000473: 24,2354 01661 RCVLEM
021590,000474: 24,2355 77742 VSR2
021591,000475: 24,2356 26352 STOVL LMPOS
021592,000476: 24,2357 01667 VCVLEM
021593,000477: 24,2360 77742 VSR2
021594,000478: 24,2361 02360 STORE LMVEL
021595,000479: 24,2362 77650 GOTO
021596,000480: 24,2363 01757 LS21X
021597,000481:
021598,000482:
021599,000483: 24,2364 45014 UPPSV3 CLEAR CALL
021600,000484: 24,2365 01674 VINTFLAG
021601,000485: 24,2366 27135 INTEGRV
021602,000486: 24,2367 77624 CALL
021603,000487: 24,2370 11226 GRP2PC
021604,000488: 24,2371 77624 CALL
021605,000489: 24,2372 27412 INTSTALL
021606,000490: 24,2373 71214 SET DLOAD
021607,000491: 24,2374 01474 VINTFLAG
021608,000492: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
021609,000493: 24,2376 77650 GOTO
021610,000494: 24,2377 50345 UPPSV4
021611,000495:
|
|
Page 503 |
021613,000497: 24,2400 E7,1456 EBANK= LOSCOUNT
021614,000498: 24,2400 COUNT* $$/P22
021615,000499:
|
|
Page 504 |
021617,000501: # PROGRAM DESCRIPTION
021618,000502: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021619,000503: # MOD NO - 3
021620,000504: # BY P. VOLANTE
021621,000505: # FUNCTIONAL DESCRIPTION
021622,000506:
021623,000507: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021624,000508: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021625,000509: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021626,000510: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021627,000511: # CALLING SEQUENCE -
021628,000512: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021629,000513: # SUBROUTINES CALLED -
021630,000514: # BANKCALL FLAGUP
021631,000515: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021632,000516: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021633,000517: # TASKOVER FINDVAC
021634,000518: # NORMAL EXIT MODES -
021635,000519: # P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
021636,000520: # PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
021637,000521: # ALARM OR ABORT EXIT MODES -
021638,000522: # NONE
021639,000523: # OUTPUT
021640,000524: # ERASABLE INITIALIZATION REQUIRED
021641,000525: # FLAGS SET + RESET
021642,000526: # TRACKFLG,P25FLAG
021643,000527: # DEBRIS
021644,000528: # NONE
021645,000529: 24,2400 E7,1456 EBANK= LOSCOUNT
021646,000530: 24,2400 COUNT* $$/P25
021647,000531: 24,2400 05327 PROG25 TC 2PHSCHNG
021648,000532: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021649,000533: 24,2402 05022 OCT 05022
021650,000534: 24,2403 26000 OCT 26000 # PRIORITY 26
021651,000535:
021652,000536: 24,2404 04616 TC BANKCALL
021653,000537: 24,2405 11236 CADR R02BOTH # IMU STATUS CHECK
021654,000538: 24,2406 05504 TC UPFLAG
021655,000539: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG
021656,000540: 24,2410 05504 TC UPFLAG
021657,000541: 24,2411 00006 ADRES P25FLAG # SET P25FLAG
021658,000542: 24,2412 05516 TC DOWNFLAG
021659,000543: 24,2413 00010 ADRES RNDVZFLG
021660,000544: 24,2414 05353 P25LEM1 TC PHASCHNG
021661,000545: 24,2415 04022 OCT 04022
021662,000546: 24,2416 34743 CAF P25FLBIT
021663,000547: 24,2417 70074 MASK STATE # IS P25FLAG SET
021664,000548: 24,2420 00006 EXTEND
021665,000549: 24,2421 15155 BZF ENDOFJOB
021666,000550: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021667,000551:
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|
Page 505 |
021669,000553: 24,2423 70075 MASK STATE +1
021670,000554: 24,2424 00006 EXTEND
021671,000555: 24,2425 12433 BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
021672,000556: 24,2426 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021673,000557: 24,2427 55745 TS R65CNTR
021674,000558: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021675,000559: 24,2431 46123 CADR R65LEM
021676,000560: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS
021677,000561: 24,2433 32444 P25LMWT1 CAF 60SCNDS
021678,000562: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021679,000563: 24,2435 02437 ADRES P25LEM2
021680,000564: 24,2436 05155 TC ENDOFJOB
021681,000565: 24,2437 35024 P25LEM2 CAF PRIO14
021682,000566: 24,2440 05105 TC FINDVAC
021683,000567: 24,2441 E7,1456 EBANK= LOSCOUNT
021684,000568: 24,2441 02414 50067 2CADR P25LEM1
021685,000569: 24,2443 05261 TC TASKOVER
021686,000570: 24,2444 13560 60SCNDS DEC 6000 B-14
021687,000571:
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|
Page 506 |
021689,000573: # DATA READ ROUTINE 22 (LEM)
021690,000574: # PROGRAM DESCRIPTION
021691,000575: # MOD NO - 2
021692,000576: # BY P VOLANTE
021693,000577: # FUNCTIONAL DESCRIPTION
021694,000578:
021695,000579: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021696,000580: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021697,000581: # CALLING SEQUENCE -
021698,000582: # TC BANKCALL
021699,000583: # CADR R22LEM
021700,000584: # SUBROUTINES CALLED -
021701,000585: # LSR22.1 GOFLASH WAITLIST
021702,000586: # LSR22.2 PRIOLARM BANKCALL
021703,000587: # LSR22.3 R61LEM
021704,000588: # NORMAL EXIT MODES-
021705,000589: # R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
021706,000590: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021707,000591: # R22 WILL TERMINATE SELF.
021708,000592: # ALARM OR ABORT EXIT MODES-
021709,000593: # PRIORITY ALARM
021710,000594: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021711,000595: # OUTPUT
021712,000596: # SEE OUTPUT FROM LSR22.3
021713,000597: # ERASABLE INITIALIZATION REQUIRED
021714,000598: # SEE LSR22.1,LSR22.2,LSR22.3
021715,000599: # FLAGS SET + RESET
021716,000600: # NOANGFLG
021717,000601: # DEBRIS
021718,000602: # SEE LSR22.1,LSR22.2,LSR22.3
021719,000603: 24,2445 E7,1737 EBANK= LRS22.1X
021720,000604: 24,2445 COUNT* $$/R22
021721,000605: 24,2445 05353 R22LEM TC PHASCHNG
021722,000606: 24,2446 04022 OCT 04022
021723,000607: 24,2447 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021724,000608: 24,2450 70074 MASK STATE
021725,000609: 24,2451 00006 EXTEND
021726,000610: 24,2452 15155 BZF ENDOFJOB # NO-EXIT R22 AND P20
021727,000611: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021728,000612: 24,2454 70075 MASK STATE +1
021729,000613: 24,2455 00006 EXTEND
021730,000614: 24,2456 12640 BZF R22WAIT # NO WAIT
021731,000615: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021732,000616: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
021733,000617: 24,2461 02012 RAND CHAN12
021734,000618: 24,2462 00006 EXTEND
021735,000619: 24,2463 12111 BZF P20LEMA # NO - RETURN TO P20
021736,000620: 24,2464 34752 CAF BIT2 # YES
021737,000621: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021738,000622: 24,2466 02033 RAND CHAN33
021739,000623:
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|
Page 507 |
021741,000625: 24,2467 00006 EXTEND
021742,000626: 24,2470 12472 BZF +2 # YES CONTINUE
021743,000627: 24,2471 02135 TC P20LEMB5 # NO - SET IT
021744,000628: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021745,000629: 24,2473 74737 MASK RCDU0BIT
021746,000630: 24,2474 00006 EXTEND
021747,000631: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED
021748,000632: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
021749,000633: 24,2477 00152 OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
021750,000634: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021751,000635: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021752,000636: 24,2502 50154 INDEX MPAC
021753,000637: 24,2503 02504 TC +1
021754,000638: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021755,000639: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
021756,000640: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021757,000641: 24,2507 04616 TC BANKCALL
021758,000642: 24,2510 21563 CADR PRIOLARM
021759,000643: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021760,000644: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021761,000645: 24,2513 02506 TC -5 # ENTER(ILLEGAL OPTION)
021762,000646: 24,2514 05155 TC ENDOFJOB
021763,000647:
021764,000648:
021765,000649: 24,2515 05353 R22LEM1 TC PHASCHNG
021766,000650: 24,2516 04022 OCT 04022
021767,000651: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA
021768,000652: 24,2520 04616 TC BANKCALL
021769,000653: 24,2521 20510 CADR PRIODSP
021770,000654: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021771,000655: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE)
021772,000656: 24,2524 02217 TC P20LEMC # ENTER(RECYCLE)
021773,000657: 24,2525 05353 R22LEM2 TC PHASCHNG
021774,000658: 24,2526 04022 OCT 04022
021775,000659: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021776,000660: 24,2530 02545 TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
021777,000661: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021778,000662: 24,2532 74747 MASK TRACKBIT
021779,000663: 24,2533 00006 EXTEND
021780,000664: 24,2534 12640 BZF R22WAIT # NO - WAIT
021781,000665: 24,2535 04616 TC BANKCALL # YES
021782,000666: 24,2536 51333 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021783,000667: 24,2537 50154 INDEX MPAC
021784,000668: 24,2540 02541 TC +1
021785,000669: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021786,000670: 24,2542 04616 TC BANKCALL
021787,000671: 24,2543 46116 CADR R61LEM
021788,000672: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021789,000673: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021790,000674: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
021791,000675:
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|
Page 508 |
021793,000677: 24,2547 00006 EXTEND
021794,000678: 24,2550 12631 BZF R22LEM42 # BRANCH-YES
021795,000679: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021796,000680: 24,2552 74745 MASK UPDATBIT
021797,000681: 24,2553 00006 EXTEND
021798,000682: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET
021799,000683: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021800,000684: 24,2556 55055 TS PHSPRDT2
021801,000685:
021802,000686: 24,2557 06042 TC INTPRET
021803,000687: 24,2560 77650 GOTO
021804,000688: 24,2561 54416 LSR22.3
021805,000689: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021806,000690: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021807,000691: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021808,000692: 24,2565 12624 TCF R22LEM44
021809,000693: 24,2566 77776 R22LEM96 EXIT
021810,000694: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021811,000695: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021812,000696: 24,2571 05353 TC PHASCHNG
021813,000697: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY
021814,000698: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY
021815,000699: 24,2574 05072 TC NOVAC
021816,000700: 24,2575 E7,1746 EBANK= N49FLAG
021817,000701: 24,2575 02645 50067 2CADR N49DSP
021818,000702: 24,2577 06042 TC INTPRET
021819,000703: 24,2600 77735 SLOAD
021820,000704: 24,2601 03747 N49FLAG
021821,000705: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG
021822,000706: 24,2603 50600 -3 # SETTING CHANGED-BRANCH - NO
021823,000707: 24,2604 50612 R22LEM7 # PROCEED
021824,000708: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE-INCORPORATE
021825,000709: 24,2606 03675 LGRET # NEXT MEASUREMENT
021826,000710: 24,2607 44752 V34TON49 CS TWO
021827,000711: 24,2610 55746 TS N49FLAG
021828,000712: 24,2611 05155 TC ENDOFJOB
021829,000713: 24,2612 77776 R22LEM7 EXIT
021830,000714: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
021831,000715: 24,2614 64752 AD TWO
021832,000716: 24,2615 00006 EXTEND
021833,000717: 24,2616 12445 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
021834,000718: 24,2617 06042 TC INTPRET
021835,000719: 24,2620 77624 CALL
021836,000720: 24,2621 11226 GRP2PC # PHASE CHANGE AND
021837,000721: 24,2622 77650 GOTO # GO TO INCORPORATE DATA.
021838,000722: 24,2623 55431 ASTOK
021839,000723: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021840,000724: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021841,000725: 24,2626 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021842,000726:
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021844,000728: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE
021845,000729: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5
021846,000730: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021847,000731: 24,2632 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021848,000732: 24,2633 34752 CA TWO # NO-SET R65COUNTER = 2
021849,000733: 24,2634 55745 R22LEM45 TS R65CNTR
021850,000734: 24,2635 04616 TC BANKCALL
021851,000735: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021852,000736: 24,2637 02445 TC R22LEM
021853,000737: 24,2640 32667 R22WAIT CAF 1500DEC
021854,000738: 24,2641 02233 TC P20LEMWT +1
021855,000739:
021856,000740:
021857,000741: 24,2642 04616 R22LEM46 TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021858,000742: 24,2643 01735 CADR 2SECDELY
021859,000743: 24,2644 02445 TC R22LEM
021860,000744:
021861,000745: 24,2645 32666 N49DSP CAF V06N49NB
021862,000746: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021863,000747: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021864,000748: 24,2650 02607 TC V34TON49 # TERMINATE - SET N49FLAG = -2
021865,000749: 24,2651 44753 CS ONE # PROCEED - N49FLAG = -1
021866,000750: 24,2652 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021867,000751: 24,2653 05155 TC ENDOFJOB
021868,000752: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021869,000753: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021870,000754: 24,2656 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021871,000755: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021872,000756: 24,2660 04616 TC BANKCALL # BAD DATA
021873,000757: 24,2661 17706 CADR RADSTALL # WAIT FOR READ COMPLETE
021874,000758: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
021875,000759: 24,2663 02445 TC R22LEM # READ SUCCESSFUL-CONTINUE AT R22
021876,000760:
021877,000761:
021878,000762: 24,2664 00525 ALRM525 OCT 00525
021879,000763: 24,2665 01405 V06N05 VN 00605
021880,000764: 24,2666 01461 V06N49NB VN 00649
021881,000765: 24,2667 02734 1500DEC DEC 1500 B-14
021882,000766: # LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021883,000767: # RETURNS TO CALLER +1 IF P22FLAG SET
021884,000768: # TO CALLER +2 IF P22FLAG NOT SET
021885,000769:
021886,000770:
021887,000771: 24,2670 COUNT* $$/P22
021888,000772: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021889,000773: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET?
021890,000774: 24,2672 10000 CCS A # BRANCH - P22FLAG SET
021891,000775: 24,2673 24002 INCR Q # NOT SET
021892,000776: 24,2674 00002 TC Q # RETURN
021893,000777:
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021895,000779: # RR DESIGNATE ROUTINE (R21LEM)
021896,000780: # PROGRAM DESCRIPTION
021897,000781: # MOD NO - 2
021898,000782: # BY P VOLANTE
021899,000783: # FUNCTIONAL DESCRIPTION
021900,000784:
021901,000785: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021902,000786: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021903,000787: # CALLING SEQUENCE -
021904,000788: # TC BANKCALL
021905,000789: # CADR R21LEM
021906,000790: # SUBROUTINES CALLED -
021907,000791: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021908,000792: # NOVAC INTPRET LPS20.1 PHASCHNG
021909,000793: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021910,000794: # TASKOVER BANKCALL RADSTALL RRDESSM
021911,000795: # NORMAL EXIT MODES
021912,000796: # WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021913,000797: # WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
021914,000798: # ALARM OR ABORT EXIT MODES-
021915,000799: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021916,000800: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021917,000801: # ACQUISITION
021918,000802: # OUTPUT
021919,000803: # SEE LPS20.1,RRDESSM
021920,000804: # ERASABLE INITIALIZATION REQUIRED
021921,000805: # RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
021922,000806: # FLAGS SET + RESET
021923,000807: # LOSCMFLG LOKONSW
021924,000808: # DEBRIS
021925,000809: # SEE LPS20.1,RRDESSM
021926,000810: 24,2675 E7,1456 EBANK= LOSCOUNT
021927,000811: 24,2675 COUNT* $$/R21
021928,000812: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021929,000813: 24,2676 00006 EXTEND
021930,000814: 24,2677 03012 WAND CHAN12
021931,000815: 24,2700 02670 TC LUNSFCHK
021932,000816: 24,2701 02706 TC R21LEM5
021933,000817: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021934,000818: 24,2703 55106 TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
021935,000819: 24,2704 55107 TS TANG +1
021936,000820: 24,2705 02716 TC R21LEM6
021937,000821: 24,2706 34740 R21LEM5 CAF BIT12
021938,000822: 24,2707 70110 MASK RADMODES
021939,000823: 24,2710 10000 CCS A
021940,000824: 24,2711 02726 TC R21LEM10
021941,000825: 24,2712 34735 CAF BIT15
021942,000826: 24,2713 55106 TS TANG
021943,000827: 24,2714 44736 CS HALF
021944,000828: 24,2715 55107 TS TANG +1
021945,000829:
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Page 511 |
021947,000831: 24,2716 05516 R21LEM6 TC DOWNFLAG
021948,000832: 24,2717 00012 ADRES LOKONSW
021949,000833: 24,2720 04616 TC BANKCALL
021950,000834: 24,2721 52506 CADR RRDESNB
021951,000835: 24,2722 02723 TC +1
021952,000836: 24,2723 04616 TC BANKCALL
021953,000837: 24,2724 17706 CADR RADSTALL
021954,000838: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
021955,000839: 24,2726 05504 R21LEM10 TC UPFLAG
021956,000840: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021957,000841: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021958,000842: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021959,000843: 24,2732 36250 R21LEM2 CAF THREE
021960,000844: 24,2733 55456 TS LOSCOUNT
021961,000845: 24,2734 06042 R21LEM1 TC INTPRET
021962,000846: 24,2735 43234 RTB DAD
021963,000847: 24,2736 21574 LOADTIME
021964,000848: 24,2737 11121 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021965,000849: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021966,000850: 24,2741 51255 LPS20.1
021967,000851: 24,2742 77776 EXIT
021968,000852: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
021969,000853: 24,2744 00012 ADRES LOKONSW
021970,000854: 24,2745 05516 TC DOWNFLAG
021971,000855: 24,2746 00126 ADRES NORRMON
021972,000856: 24,2747 06042 TC INTPRET
021973,000857: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021974,000858: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE
021975,000859: 24,2752 77776 EXIT
021976,000860: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021977,000861: # ON LUNAR SURFACE
021978,000862: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021979,000863: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021980,000864: 24,2756 17706 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021981,000865: 24,2757 02761 TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
021982,000866: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021983,000867: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503
021984,000868: 24,2762 04616 TC BANKCALL
021985,000869: 24,2763 21563 CADR PRIOLARM
021986,000870: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021987,000871: 24,2765 02775 TC R21SRCH # PROC
021988,000872: 24,2766 02211 TC P20LEMC3
021989,000873: 24,2767 05155 TC ENDOFJOB
021990,000874: 24,2770 05516 R21END TC DOWNFLAG
021991,000875: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG
021992,000876: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021993,000877: 24,2773 02232 TC P20LEMWT # YES - BYPASS V 50 N 72 DISPLAY
021994,000878: 24,2774 03122 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
021995,000879: 24,2775 05353 R21SRCH TC PHASCHNG
021996,000880: 24,2776 04022 OCT 04022
021997,000881:
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Page 512 |
021999,000883: 24,2777 03207 TC R24LEM # SEARCH ROUTINE
022000,000884: 24,3000 00503 ALRM503 OCT 00503
022001,000885: 24,3001 00527 ALRM527 OCT 527
022002,000886:
022003,000887:
022004,000888: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022005,000889: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022006,000890: 24,3004 05504 TC UPFLAG
022007,000891: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
022008,000892: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING
022009,000893: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG
022010,000894: 24,3010 06042 TC INTPRET
022011,000895: 24,3011 43234 R21LEM12 RTB DAD
022012,000896: 24,3012 21574 LOADTIME
022013,000897: 24,3013 11117 TENSEC # TIME T = T + 10 SECS.
022014,000898: 24,3014 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022015,000899: 24,3015 34041 STCALL TDEC1
022016,000900: 24,3016 51255 LPS20.1 # COMPUTE LOS AT TIME T
022017,000901: 24,3017 77624 CALL
022018,000902: 24,3020 52404 RRDESSM
022019,000903: 24,3021 77776 EXIT
022020,000904: 24,3022 03034 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022021,000905: 24,3023 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022022,000906: 24,3024 06032 TC KILLTASK
022023,000907: 24,3025 52604 CADR BEGDES
022024,000908: 24,3026 06042 TC INTPRET
022025,000909: 24,3027 43014 BOF CLRGO
022026,000910: 24,3030 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022027,000911: 24,3031 51044 R21LEM8 # NO-GO TO CONTINUOUS DESIGNATE
022028,000912: 24,3032 00225 FSPASFLG # YES-RESET FIRST PASS FLAG
022029,000913: 24,3033 51041 R21LEM50
022030,000914: 24,3034 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022031,000915: 24,3035 03037 TC R21LEM7 # NO-ADD 10 SECS. RECOMPUTE LOS
022032,000916: 24,3036 03106 TC R21LEM11 # YES-PUT OUT ALARM 530
022033,000917: 24,3037 55423 R21LEM7 TS REPOSCNT
022034,000918: 24,3040 06042 TC INTPRET
022035,000919: 24,3041 52145 R21LEM50 DLOAD GOTO
022036,000920: 24,3042 03425 REPOSTM
022037,000921: 24,3043 51013 R21LEM12 +2
022038,000922: 24,3044 77745 R21LEM8 DLOAD
022039,000923: 24,3045 03425 REPOSTM
022040,000924: 24,3046 34041 STCALL TDEC1
022041,000925: 24,3047 50312 UPPSV
022042,000926: 24,3050 77776 EXIT
022043,000927: 24,3051 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022044,000928: 24,3052 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022045,000929: 24,3053 05516 TC DOWNFLAG
022046,000930: 24,3054 00012 ADRES LOKONSW
022047,000931: 24,3055 05504 TC UPFLAG
022048,000932: 24,3056 00126 ADRES NORRMON
022049,000933:
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Page 513 |
022051,000935: 24,3057 04616 TC BANKCALL
022052,000936: 24,3060 52506 CADR RRDESNB
022053,000937: 24,3061 03062 TC +1
022054,000938: 24,3062 06042 TC INTPRET
022055,000939: 24,3063 44234 RTB BDSU
022056,000940: 24,3064 21574 LOADTIME # COMPUTE DELTA TIME
022057,000941: 24,3065 03425 REPOSTM # FOR LONGCALL
022058,000942: 24,3066 03427 STORE DELTATM
022059,000943: 24,3067 77776 EXIT
022060,000944: 24,3070 00006 EXTEND
022061,000945: 24,3071 31427 DCA DELTATM
022062,000946: 24,3072 05277 TC LONGCALL
022063,000947: 24,3073 E7,1456 EBANK= LOSCOUNT
022064,000948: 24,3073 03076 50067 2CADR R21LEM9
022065,000949: 24,3075 05155 TC ENDOFJOB
022066,000950: 24,3076 06032 R21LEM9 TC KILLTASK
022067,000951: 24,3077 52613 CADR STDESIG
022068,000952: 24,3100 06011 TC CLRADMOD
022069,000953: 24,3101 37717 CAF PRIO26
022070,000954: 24,3102 05105 TC FINDVAC
022071,000955: 24,3103 E7,1456 EBANK= LOSCOUNT
022072,000956: 24,3103 02726 50067 2CADR R21LEM10
022073,000957: 24,3105 05261 TC TASKOVER
022074,000958: 24,3106 33115 R21LEM11 CAF ALRM530 # ALARM 530-LOS NOT IN COVERAGE
022075,000959: 24,3107 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022076,000960: 24,3110 21563 CADR PRIOLARM # 600 SECS.
022077,000961: 24,3111 06025 TC GOTOV56
022078,000962: 24,3112 06025 TC GOTOV56
022079,000963: 24,3113 06025 TC GOTOV56
022080,000964: 24,3114 05155 TC ENDOFJOB
022081,000965: 24,3115 00530 ALRM530 OCT 00530
022082,000966: 24,3116 00000 01750 TENSEC 2DEC 1000 B-28
022083,000967: 24,3120 00000 00062 HALFSEC 2DEC 50 B-28
022084,000968: 24,3122 05353 R21DISP TC PHASCHNG
022085,000969: 24,3123 04022 OCT 04022
022086,000970: 24,3124 33135 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022087,000971: 24,3125 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022088,000972: 24,3126 20711 CADR GOPERF2R
022089,000973: 24,3127 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022090,000974: 24,3130 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022091,000975: 24,3131 03124 TC -5 # ENTER ILLEGAL
022092,000976: 24,3132 34745 CAF BIT7
022093,000977: 24,3133 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022094,000978: 24,3134 05155 TC ENDOFJOB
022095,000979:
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Page 514 |
022097,000981: 24,3135 01510 V06N72PV VN 00672
022098,000982:
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Page 515 |
022100,000984: # MANUAL ACQUISITION ROUTINE R23LEM
022101,000985: # PROGRAM DESCRIPTION
022102,000986: # MOD NO - 2
022103,000987: # BY P VOLANTE
022104,000988: # FUNCTIONAL DESCRIPTION
022105,000989:
022106,000990: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022107,000991: # CALLING SEQUENCE -
022108,000992: # TC R23LEM
022109,000993: # SUBROUTINES CALLED
022110,000994: # BANKCALL R61LEM
022111,000995: # SETMINDB GOPERF1
022112,000996: # NORMAL EXIT MODES -
022113,000997: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022114,000998: # ,SELECTION OF PROC WILL CONTINUE R23
022115,000999: # ,SELECTION OF TERM WILL TERMINATE R23 +P20
022116,001000: # ALARM OR ABORT EXIT MODES -
022117,001001: # SEE NORMAL EXIT MODES ABOVE
022118,001002: # OUTPUT
022119,001003: # N.A.
022120,001004: # ERASABLE INITIALIZATION REQUIRED-
022121,001005: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022122,001006: 24,3136 1142 EBANK= GENRET
022123,001007: 24,3136 COUNT* $$/R23
022124,001008: 24,3136 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022125,001009: 24,3137 00126 ADRES NORRMON
022126,001010: 24,3140 00004 INHINT
022127,001011: 24,3141 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022128,001012: 24,3142 40141 CADR SETMINDB
022129,001013: 24,3143 00003 RELINT
022130,001014: 24,3144 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022131,001015: 24,3145 00006 EXTEND
022132,001016: 24,3146 05012 WOR CHAN12
022133,001017: 24,3147 33206 CAF OCT205
022134,001018: 24,3150 04616 TC BANKCALL
022135,001019: 24,3151 20624 CADR GOPERF1
022136,001020: 24,3152 03177 TC R23LEM2 # TERMINATE
022137,001021: 24,3153 03155 TC R23LEM11 # PROCEDE
022138,001022: 24,3154 03202 TC R23LEM3 # ENTER- DO ANOTHER MANUVER
022139,001023: 24,3155 00004 R23LEM11 INHINT
022140,001024: 24,3156 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022141,001025: 24,3157 00035 ADRES CDUT
022142,001026: 24,3160 03167 TC OUTOFLIM # NOT WITHIN LIMITS
022143,001027: 24,3161 04674 TC IBNKCALL # RESTORE DEADBAND TO
022144,001028: 24,3162 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022145,001029: 24,3163 00003 RELINT
022146,001030: 24,3164 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022147,001031: 24,3165 00126 ADRES NORRMON
022148,001032: 24,3166 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022149,001033: 24,3167 00003 OUTOFLIM RELINT
022150,001034:
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Page 516 |
022152,001036: 24,3170 33205 CAF OCT501PV
022153,001037: 24,3171 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022154,001038: 24,3172 21563 CADR PRIOLARM # LIMITS
022155,001039: 24,3173 03177 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022156,001040: 24,3174 03170 TC OUTOFLIM +1 # PROCEED ILLEGAL
022157,001041: 24,3175 03202 TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
022158,001042: 24,3176 05155 TC ENDOFJOB
022159,001043: 24,3177 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022160,001044: 24,3200 00126 ADRES NORRMON
022161,001045: 24,3201 06025 TC GOTOV56 # AND EXIT VIA V56
022162,001046: 24,3202 04616 R23LEM3 TC BANKCALL
022163,001047: 24,3203 46116 CADR R61LEM
022164,001048: 24,3204 03144 TC R23LEM1
022165,001049:
022166,001050:
022167,001051: 24,3205 00501 OCT501PV OCT 501
022168,001052: 24,3206 00205 OCT205 OCT 205
022169,001053:
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Page 517 |
022171,001055: # SEARCH ROUTINE R24LEM
022172,001056: # PROGRAM DESCRIPTION
022173,001057: # MOD NO - 2
022174,001058: # BY P. VOLANTE
022175,001059: # FUNCTIONAL DESCRIPTION
022176,001060:
022177,001061: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022178,001062: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022179,001063: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022180,001064: # CALLING SEQUENCE
022181,001065: # CAF PRIONN
022182,001066: # TC FINDVAC
022183,001067: # EBANK= DATAGOOD
022184,001068: # 2CADR R24LEM
022185,001069: # SUBROUTINES CALLED
022186,001070: # FLAGUP FLAGDOWN BANKCALL
022187,001071: # R61LEM GOFLASHR FINDVAC
022188,001072: # ENDOFJOB NOVAC LSR24.1
022189,001073: # NORMAL EXIT MODES-
022190,001074: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
022191,001075: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022192,001076: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022193,001077: # ALARM OR ABORT EXIT MODES-
022194,001078: # SEE NORMAL EXIT MODES ABOVE
022195,001079: # OUTPUT -
022196,001080: # SEE OUTPUT FROM LSR24.1 + R61LEM
022197,001081: # ERASABLE INITIALIZATION REQUIRED
022198,001082: # SEE INPUT FOR LSR24.1
022199,001083: # FLAGS SET + RESET
022200,001084: # SRCHOPT,ACMODFLG
022201,001085: 24,3207 E7,1733 EBANK= DATAGOOD
022202,001086: 24,3207 COUNT* $$/R24
022203,001087: 24,3207 05504 R24LEM TC UPFLAG
022204,001088: 24,3210 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022205,001089: 24,3211 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022206,001090: 24,3212 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022207,001091: 24,3213 34755 R24LEM1 CAF ZERO
022208,001092: 24,3214 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022209,001093: 24,3215 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022210,001094: 24,3216 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022211,001095: 24,3217 05353 R24LEM2 TC PHASCHNG
022212,001096: 24,3220 04022 OCT 04022
022213,001097: 24,3221 33254 CAF V16N80
022214,001098: 24,3222 04616 TC BANKCALL
022215,001099: 24,3223 20505 CADR PRIODSPR
022216,001100: 24,3224 06025 TC GOTOV56
022217,001101: 24,3225 03231 TC R24END # PROCEED EXIT R24 TO P20LEM1
022218,001102:
022219,001103:
022220,001104: 24,3226 03235 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
022221,001105:
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|
Page 518 |
022223,001107: 24,3227 04616 TC BANKCALL
022224,001108: 24,3230 55442 CADR LRS24.1
022225,001109: 24,3231 06032 R24END TC KILLTASK
022226,001110: 24,3232 55643 CADR CALLDGCH
022227,001111: 24,3233 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022228,001112: 24,3234 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022229,001113:
022230,001114: 6011 BLOCK 3
022231,001115: 6000 SETLOC FFTAG6
022232,001116: 6000 BANK
022233,001117: 6011 COUNT* $$/R24
022234,001118:
022235,001119: 6011 46021 CLRADMOD CS BIT10+15
022236,001120: 6012 00004 INHINT
022237,001121: 6013 70110 MASK RADMODES
022238,001122: 6014 54110 TS RADMODES
022239,001123: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022240,001124: 6016 00006 EXTEND
022241,001125: 6017 03012 WAND CHAN12 # USER WILL RELINT
022242,001126:
022243,001127: 6020 00002 TC Q
022244,001128:
022245,001129:
022246,001130: 6021 41000 BIT10+15 OCT 41000
022247,001131: 24,3235 BANK 24
022248,001132: 24,2000 SETLOC P20S
022249,001133: 24,2000 BANK
022250,001134: 24,3235 COUNT* $$/R24
022251,001135:
022252,001136: 24,3235 05353 R24LEM3 TC PHASCHNG
022253,001137: 24,3236 04022 OCT 04022
022254,001138: 24,3237 06032 TC KILLTASK
022255,001139: 24,3240 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022256,001140: 24,3241 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022257,001141: 24,3242 34774 CAF .5SEC
022258,001142: 24,3243 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022259,001143: 24,3244 01736 CADR DELAYJOB
022260,001144: 24,3245 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022261,001145: 24,3246 03251 TC R24LEM4 # YES-DONT DO ATTITUDE MANEUVER
022262,001146: 24,3247 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022263,001147: 24,3250 46116 CADR R61LEM # ATTITUDE MANEUVER
022264,001148: 24,3251 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022265,001149: 24,3252 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022266,001150: # RRDESSM WILL RETURN TO CALLER
022267,001151: 24,3253 03217 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022268,001152:
022269,001153:
022270,001154: 24,3254 04120 V16N80 VN 01680
022271,001155:
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|
Page 519 |
022273,001157: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022274,001158: # PROGRAM DESCRIPTION
022275,001159: # MOD NO : 3 DATE: 4-11-67
022276,001160: # MOD BY : P VOLANTE SDC
022277,001161:
022278,001162:
022279,001163: # FUNCTIONAL DESCRIPTION-
022280,001164: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022281,001165: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022282,001166: # ATTITUDE.
022283,001167: # CALLING SEQUENCE-
022284,001168: # TC BANKCALL
022285,001169: # CADR R61LEM
022286,001170: # SUBROUTINES CALLED
022287,001171: # LPS20.1 VECPOINT
022288,001172: # KALCMAN3
022289,001173:
022290,001174:
022291,001175: # NORMAL EXIT MODES-
022292,001176: # NORMAL RETURN IS TO CALLER + 1
022293,001177: # ALARM OR ABORT EXIT MODES-
022294,001178: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022295,001179: # RENDEZVOUS FLAG ARE NOT SET.
022296,001180: # OUTPUT -
022297,001181: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022298,001182: # ERASABLE INITIALIZATION REQUIRED
022299,001183: # GENRET USED TO SAVE Q FOR RETURN
022300,001184: # FLAGS SET + RESET
022301,001185: # 3AXISFLG
022302,001186: # DEBRIS
022303,001187: # SEE SUBROUTINES
022304,001188: 23,2000 SETLOC R61
022305,001189: 23,2000 BANK
022306,001190: 23,2116 E7,1456 EBANK= LOSCOUNT
022307,001191: 23,2116 COUNT* $$/R61
022308,001192: 23,2116 04645 R61LEM TC MAKECADR
022309,001193: 23,2117 55142 TS GENRET
022310,001194: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022311,001195: 23,2121 00024 ADRES R61FLAG
022312,001196: 23,2122 02152 TC R61C+L02
022313,001197: 23,2123 04645 R65LEM TC MAKECADR
022314,001198: 23,2124 55142 TS GENRET
022315,001199: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022316,001200: 23,2126 00024 ADRES R61FLAG
022317,001201: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022318,001202: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022319,001203: 23,2131 02033 RAND CHAN33
022320,001204: 23,2132 10000 CCS A
022321,001205: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD
022322,001206: 23,2134 05504 TC UPFLAG
022323,001207:
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|
Page 520 |
022325,001209: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM
022326,001210: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
022327,001211: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022328,001212: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022329,001213: 23,2141 17706 CADR RADSTALL # DURING ANY MARK PROCESSING,
022330,001214: 23,2142 12143 NOOP
022331,001215: 23,2143 04616 TC BANKCALL
022332,001216: 23,2144 53114 CADR RRRANGE
022333,001217: 23,2145 04616 TC BANKCALL
022334,001218: 23,2146 17706 CADR RADSTALL
022335,001219: 23,2147 12150 NOOP
022336,001220: 23,2150 05516 TC DOWNFLAG
022337,001221: 23,2151 00063 ADRES R04FLAG
022338,001222: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022339,001223: 23,2153 70075 MASK STATE +1
022340,001224: 23,2154 00006 EXTEND
022341,001225: 23,2155 12314 BZF R65WAIT # NOT SET
022342,001226: 23,2156 06042 R61C+L03 TC INTPRET
022343,001227: 23,2157 77775 VLOAD
022344,001228: 23,2160 06516 HIUNITZ
022345,001229: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022346,001230: 23,2162 43234 R61LEM1 RTB DAD
022347,001231: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022348,001232: 23,2164 15712 3SECONDS # SIX SECOND PERIOD.
022349,001233: 23,2165 34041 STCALL TDEC1
022350,001234: 23,2166 51255 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022351,001235: 23,2167 77775 VLOAD
022352,001236: 23,2170 01101 RRTARGET
022353,001237: 23,2171 03773 STORE POINTVSM
022354,001238: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022355,001239: 23,2173 46322 READCDUD
022356,001240: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022357,001241: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
022358,001242: 23,2176 77776 EXIT
022359,001243: 23,2177 05353 TC PHASCHNG
022360,001244: 23,2200 04022 OCT 04022
022361,001245: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET
022362,001246: 23,2202 70075 MASK FLAGWRD1
022363,001247: 23,2203 00006 EXTEND
022364,001248: 23,2204 12314 BZF R65WAIT
022365,001249: 23,2205 04616 TC BANKCALL
022366,001250: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE
022367,001251: 23,2207 10000 CCS A
022368,001252: 23,2210 02302 TC R61C+L04 # NOT IN AUTO
022369,001253: 23,2211 06042 TC INTPRET
022370,001254: 23,2212 45175 VLOAD CALL
022371,001255: 23,2213 01101 RRTARGET
022372,001256: 23,2214 47650 CDU*SMNB
022373,001257: 23,2215 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022374,001258: 23,2216 00162 MPAC +5
022375,001259:
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|
Page 521 |
022377,001261: 23,2217 06320 COS15DEG
022378,001262: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022379,001263: 23,2221 46236 R61C+L05 # PHI GRE 10DEG
022380,001264: 23,2222 E6,1635 EBANK= CDUXD
022381,001265: 23,2222 35015 CAF EBANK6
022382,001266: 23,2223 54003 TS EBANK
022383,001267: 23,2224 00004 INHINT
022384,001268: 23,2225 00006 EXTEND
022385,001269: 23,2226 30322 DCA CPHI
022386,001270: 23,2227 53636 DXCH CDUXD
022387,001271: 23,2230 30323 CA CPSI
022388,001272: 23,2231 55637 TS CDUZD
022389,001273: 23,2232 00003 RELINT
022390,001274: 23,2233 E7,1456 EBANK= LOSCOUNT
022391,001275: 23,2233 35016 CAF EBANK7
022392,001276: 23,2234 54003 TS EBANK
022393,001277: 23,2235 02261 TC R61C+L06
022394,001278: 23,2236 77776 R61C+L05 EXIT
022395,001279: 23,2237 00004 INHINT
022396,001280: 23,2240 04674 TC IBNKCALL
022397,001281: 23,2241 40154 FCADR ZATTEROR
022398,001282: 23,2242 04674 TC IBNKCALL
022399,001283: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022400,001284: 23,2244 05516 TC DOWNFLAG
022401,001285: 23,2245 00124 ADRES 3AXISFLG
022402,001286: 23,2246 05504 TC UPFLAG
022403,001287: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022404,001288: 23,2250 04616 TC BANKCALL
022405,001289: 23,2251 54123 CADR R60LEM
022406,001290: 23,2252 00004 INHINT
022407,001291: 23,2253 04674 TC IBNKCALL
022408,001292: 23,2254 40115 FCADR RESTORDB
022409,001293: 23,2255 05353 TC PHASCHNG
022410,001294: 23,2256 04022 OCT 04022
022411,001295: 23,2257 05516 TC DOWNFLAG
022412,001296: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022413,001297: 23,2261 30075 R61C+L06 CA FLAGWRD1
022414,001298: 23,2262 74742 MASK R61FLBIT
022415,001299: 23,2263 10000 CCS A
022416,001300: 23,2264 02305 TC R61C+L4
022417,001301: 23,2265 11745 CCS R65CNTR
022418,001302: 23,2266 02270 TC +2
022419,001303: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022420,001304: 23,2270 55745 TS R65CNTR
022421,001305: 23,2271 32321 CAF 06SEC
022422,001306: 23,2272 05173 TC TWIDDLE
022423,001307: 23,2273 02275 ADRES R61C+L2
022424,001308: 23,2274 05155 TC ENDOFJOB
022425,001309: 23,2275 37717 R61C+L2 CAF PRIO26
022426,001310: 23,2276 05105 TC FINDVAC
022427,001311:
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Page 522 |
022429,001313: 23,2277 E7,1456 EBANK= LOSCOUNT
022430,001314: 23,2277 02127 46067 2CADR R61C+L01
022431,001315: 23,2301 05261 TC TASKOVER
022432,001316: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022433,001317: 23,2303 54272 CADR BALLANGS
022434,001318: 23,2304 02261 TC R61C+L06
022435,001319: 23,2305 31142 R61C+L4 CAE GENRET
022436,001320: 23,2306 14640 TCF BANKJUMP # EXIT R61
022437,001321: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022438,001322: 23,2310 70074 MASK STATE
022439,001323: 23,2311 00006 EXTEND
022440,001324: 23,2312 15155 BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
022441,001325: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE
022442,001326: 23,2314 04635 R65WAIT TC POSTJUMP
022443,001327: 23,2315 50232 CADR P20LEMWT
022444,001328:
022445,001329:
022446,001330: 23,2316 00500 BIT7+9PV OCT 00500
022447,001331: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1
022448,001332: 23,2321 01130 06SEC DEC 600 B-14
022449,001333: 23,2322 PHI EQUALS 20D
022450,001334: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022451,001335: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022452,001336: 23,2324 56003 XCH EBANK
022453,001337: 23,2325 54070 TS RUPTREG1
022454,001338: 23,2326 E6,1635 EBANK= CDUXD
022455,001339: 23,2326 31635 CA CDUXD
022456,001340: 23,2327 54154 TS MPAC
022457,001341: 23,2330 00006 EXTEND
022458,001342: 23,2331 31637 DCA CDUYD
022459,001343: 23,2332 52156 DXCH MPAC +1
022460,001344: 23,2333 30070 CA RUPTREG1
022461,001345: 23,2334 54003 TS EBANK
022462,001346: 23,2335 00003 RELINT
022463,001347: 23,2336 16502 TCF TMODE
022464,001348: 4512 BLOCK 02
022465,001349: 4000 SETLOC RADARFF
022466,001350: 4000 BANK
022467,001351:
022468,001352: 4512 E7,1456 EBANK= LOSCOUNT
022469,001353: 4512 COUNT* $$/RRSUB
022470,001354:
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Page 523 |
022472,001356: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022473,001357: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022474,001358:
022475,001359: 4512 00006 MAGSUB EXTEND
022476,001360: 4513 64515 BZMF +2
022477,001361: 4514 14516 TCF +2
022478,001362: 4515 40000 COM
022479,001363:
022480,001364: 4516 50002 INDEX Q
022481,001365: 4517 60000 AD 0
022482,001366: 4520 00006 EXTEND
022483,001367: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022484,001368: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
022485,001369:
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Page 524 |
022487,001371: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022488,001372:
022489,001373: # FUNCTIONAL DESCRIPTION_
022490,001374: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022491,001375: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022492,001376: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022493,001377: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022494,001378: # MODE 1 AND =1 FOR MODE 2.
022495,001379: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022496,001380: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022497,001381: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022498,001382: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022499,001383: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022500,001384: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022501,001385: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022502,001386: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022503,001387: # TO L +3.
022504,001388:
022505,001389: # CALLING SEQUENCE:
022506,001390: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022507,001391: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022508,001392:
022509,001393: # ERASABLE INITIALIZATION REQUIRED:
022510,001394: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022511,001395: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022512,001396: # CURRENT EBANK).
022513,001397:
022514,001398: # SUBROUTINES CALLED_ MAGSUB
022515,001399:
022516,001400: # JOBS OR TASKS INITIATED_ NONE
022517,001401:
022518,001402: # ALARMS_ NONE
022519,001403:
022520,001404: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022521,001405: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022522,001406:
022523,001407: 4523 00006 RRLIMCHK EXTEND
022524,001408: 4524 50002 INDEX Q
022525,001409: 4525 50000 INDEX 0
022526,001410: 4526 30001 DCA 0
022527,001411: 4527 24002 INCR Q
022528,001412: 4530 52062 DXCH ITEMP1
022529,001413: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022530,001414:
022531,001415: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022532,001416: 4533 70110 MASK RADMODES
022533,001417: 4534 10000 CCS A
022534,001418: 4535 14550 TCF MODE2CHK
022535,001419:
022536,001420: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
022537,001421:
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Page 525 |
022539,001423: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022540,001424: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022541,001425: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022542,001426:
022543,001427: 4542 34562 CAF 5.5DEGS
022544,001428: 4543 60062 AD ITEMP2 # S
022545,001429: 4544 04512 TC MAGSUB
022546,001430: 4545 64420 DEC -.35833 # 64.5 DEGS
022547,001431: 4546 00001 TC L
022548,001432: 4547 04560 TC RRLIMOK # IN LIMITS.
022549,001433:
022550,001434: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022551,001435: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022552,001436: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022553,001437: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022554,001438: 4554 00001 TC L
022555,001439:
022556,001440: 4555 30061 CA ITEMP1
022557,001441: 4556 04512 TC MAGSUB
022558,001442: 4557 51615 DEC -.69444 # 125 DEGS
022559,001443:
022560,001444: 4560 50001 RRLIMOK INDEX L
022561,001445: 4561 00001 TC L # ( = TC 1 )
022562,001446:
022563,001447: 4562 00765 5.5DEGS DEC .03056
022564,001448: 4563 16450 82DEGS DEC .45556
022565,001449:
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Page 526 |
022567,001451: # PROGRAM NAME_ SETTRKF . IF EITHER:
022568,001452:
022569,001453: # FUNCTIONAL DESCRIPTION_
022570,001454: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022571,001455: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022572,001456: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022573,001457: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022574,001458: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022575,001459: # AUTO MODE (RADMODES BITS 13, 7, 2).
022576,001460: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022577,001461: # 8,5)
022578,001462: # 3) NO RR DATA (RADMODES BIT 4)
022579,001463: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022580,001464: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022581,001465: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022582,001466: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022583,001467: # TRACKER FAIL LAMP IS TURNED ON IF_
022584,001468: # A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022585,001469: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022586,001470: # EITHER THE ALT OR VEL INFORMATION
022587,001471: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022588,001472: # WITH EITHER THE AL
022589,001473:
022590,001474: # CALLING SEQUENCE:
022591,001475: # L TC SETTRKF
022592,001476:
022593,001477: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022594,001478: # SUBROUTINES CALLED_ NONE
022595,001479:
022596,001480: # JOBS OR TASKS INITIATED_ NONE
022597,001481:
022598,001482: # ALARMS_ TRACKER FAIL LAMP
022599,001483:
022600,001484: # EXIT_ L +1 (ALWAYS) ED.
022601,001485:
022602,001486: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022603,001487: 4565 71300 MASK IMODES33
022604,001488: 4566 10000 CCS A
022605,001489: 4567 00002 TC Q
022606,001490:
022607,001491: 4570 34744 RRTRKF CA BIT8
022608,001492: 4571 54001 TS L
022609,001493:
022610,001494: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022611,001495: 4573 70110 MASK RADMODES
022612,001496: 4574 00006 EXTEND
022613,001497: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022614,001498:
022615,001499: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022616,001500: 4577 70110 MASK RADMODES
022617,001501:
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|
Page 527 |
022619,001503: 4600 10000 CCS A
022620,001504: 4601 30001 TRKFLON CA L
022621,001505: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022622,001506: 4603 70001 MASK L
022623,001507: 4604 00006 EXTEND
022624,001508: 4605 16745 BZF TCQ # NO CHANGE.
022625,001509:
022626,001510: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022627,001511: 4607 00006 EXTEND
022628,001512: 4610 06001 RXOR LCHAN
022629,001513: 4611 74733 MASK POSMAX
022630,001514: 4612 64735 AD BIT15
022631,001515: 4613 55035 TS DSPTAB +11D
022632,001516: 4614 00002 TC Q
022633,001517:
022634,001518: 4615 10102 13,7,2 OCT 10102
022635,001519: 4616 ENDRMODF EQUALS
022636,001520:
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|
Page 528 |
022638,001522: # PROGRAM NAME_ RRTURNON
022639,001523:
022640,001524: # FUNCTIONAL DESCRIPTION_
022641,001525:
022642,001526: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022643,001527: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022644,001528: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022645,001529: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022646,001530: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022647,001531: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022648,001532: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022649,001533: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022650,001534: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022651,001535: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022652,001536: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022653,001537: # TO TASKOVER.
022654,001538:
022655,001539: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022656,001540: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022657,001541: # THE RR (STATE BIT 7).
022658,001542:
022659,001543: # ERASABLE INITIALIZATION REQUIRED:
022660,001544: # RADMODES, STATE
022661,001545:
022662,001546: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022663,001547:
022664,001548: # JOBS OR TASKS INITIATED_
022665,001549: # NONE
022666,001550:
022667,001551: # ALARMS_ NONE (SEE RRZEROSB)
022668,001552:
022669,001553: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022670,001554:
022671,001555: 24,3255 BANK 24
022672,001556: 25,2000 SETLOC P20S1
022673,001557: 25,2000 BANK
022674,001558:
022675,001559: 25,2073 E7,1456 EBANK= LOSCOUNT
022676,001560: 25,2073 COUNT* $$/RSUB
022677,001561: 25,2073 02102 RRTURNON TC RRZEROSB
022678,001562: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022679,001563: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022680,001564: 25,2076 44753 CS TURNONBT
022681,001565: 25,2077 70110 MASK RADMODES
022682,001566: 25,2100 54110 TS RADMODES
022683,001567: 25,2101 15261 TCF TASKOVER
022684,001568:
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|
Page 529 |
022686,001570: # PROGRAM NAME_ RRZEROSB
022687,001571:
022688,001572: # FUNCTIONAL DESCRIPTION_
022689,001573: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022690,001574: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022691,001575: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022692,001576: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022693,001577: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022694,001578: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022695,001579: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022696,001580: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022697,001581: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022698,001582: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022699,001583: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022700,001584: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022701,001585: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022702,001586: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022703,001587: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022704,001588:
022705,001589: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022706,001590: # ERASABLE INITIALIZATION REQUIRED:
022707,001591: # RADMODES (BIT 13 SET), DSPTAB +11D
022708,001592:
022709,001593: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022710,001594:
022711,001595: # JOBS OR TASKS INITIATED_
022712,001596: # NONE
022713,001597:
022714,001598: # ALARMS_ TRACKER FAIL
022715,001599:
022716,001600: # EXIT_ L +1 (ALWAYS)
022717,001601:
022718,001602: 25,2102 00006 RRZEROSB EXTEND
022719,001603: 25,2103 23312 QXCH RRRET
022720,001604: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022721,001605: 25,2105 00006 EXTEND # COMING HERE.
022722,001606: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022723,001607: 25,2107 05221 TC FIXDELAY
022724,001608: 25,2110 00002 DEC 2 B-14
022725,001609:
022726,001610: 25,2111 34755 CAF ZERO
022727,001611: 25,2112 54035 TS CDUT
022728,001612: 25,2113 54036 TS CDUS
022729,001613: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
022730,001614: 25,2115 00006 EXTEND
022731,001615: 25,2116 03012 WAND CHAN12
022732,001616: 25,2117 05221 TC FIXDELAY
022733,001617: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022734,001618:
022735,001619: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
022736,001620:
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|
Page 530 |
022738,001622: 25,2122 70110 MASK RADMODES
022739,001623: 25,2123 54110 TS RADMODES
022740,001624:
022741,001625: 25,2124 30035 CA CDUT
022742,001626: 25,2125 04512 TC MAGSUB
022743,001627: 25,2126 57777 DEC -.5
022744,001628: 25,2127 12132 TCF +3 # IF MODE 2.
022745,001629:
022746,001630: 25,2130 34755 CAF ZERO
022747,001631: 25,2131 12133 TCF +2
022748,001632: 25,2132 34740 CAF ANTENBIT
022749,001633: 25,2133 56110 XCH RADMODES
022750,001634: 25,2134 77744 MASK -BIT12
022751,001635: 25,2135 26110 ADS RADMODES
022752,001636:
022753,001637: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022754,001638:
022755,001639: 25,2137 01312 TC RRRET # DONE.
022756,001640:
022757,001641: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
022758,001642:
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|
Page 531 |
022760,001644: # PROGRAM NAME_ DORREPOS
022761,001645: # FUNCTIONAL DESCRIPTION_
022762,001646: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022763,001647: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022764,001648: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022765,001649: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022766,001650: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022767,001651: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022768,001652: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022769,001653: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022770,001654: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022771,001655: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022772,001656: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022773,001657: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022774,001658: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022775,001659: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022776,001660: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022777,001661: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022778,001662: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022779,001663: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022780,001664: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022781,001665: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022782,001666: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022783,001667: # TASKOVER.
022784,001668:
022785,001669: # CALLING SEQUENCE:
022786,001670: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022787,001671: # NOT WITHIN LIMITS OF CURRENT MODE.
022788,001672:
022789,001673: # ERASABLE INITIALIZATION REQUIRED:
022790,001674: # RADMODES
022791,001675:
022792,001676: # SUBROUTINES CALLED_
022793,001677: # RRTONLY, RRSONLY, BEGDES (EXIT)
022794,001678:
022795,001679: # JOBS OR TASKS INITIATED_
022796,001680: # NONE
022797,001681:
022798,001682: # ALARMS- NONE
022799,001683:
022800,001684: # EXIT_ TASKOVER, BEGDES
022801,001685:
022802,001686: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022803,001687:
022804,001688: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022805,001689:
022806,001690: 25,2141 05221 TC FIXDELAY
022807,001691: 25,2142 00002 DEC 2 B-14
022808,001692:
022809,001693: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
022810,001694:
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|
Page 532 |
022812,001696: 25,2144 70110 MASK RADMODES
022813,001697: 25,2145 10000 CCS A
022814,001698: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022815,001699: 25,2147 02252 TC RRTONLY
022816,001700:
022817,001701: 25,2150 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022818,001702: 25,2151 70110 MASK RADMODES
022819,001703: 25,2152 10000 CCS A
022820,001704: 25,2153 44736 CS HALF # -90 FOR MODE 2.
022821,001705: 25,2154 02255 TC RRSONLY
022822,001706:
022823,001707: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022824,001708: # REQUESTED DURING REPOSITION.
022825,001709: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022826,001710: 25,2157 54110 TS RADMODES
022827,001711: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022828,001712: 25,2161 10000 CCS A
022829,001713: 25,2162 12604 TCF BEGDES
022830,001714: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022831,001715: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022832,001716: 25,2165 03012 WAND CHAN12
022833,001717: 25,2166 15261 TCF TASKOVER
022834,001718:
022835,001719: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022836,001720: 25,2170 00006 EXTEND
022837,001721: 25,2171 02012 RAND CHAN12
022838,001722: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022839,001723: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022840,001724:
022841,001725: 25,2174 54112 TS LASTYCMD
022842,001726: 25,2175 54113 TS LASTXCMD
022843,001727: 25,2176 34752 CAF BIT2
022844,001728: 25,2177 00006 EXTEND
022845,001729: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022846,001730: 25,2201 00002 TC Q
022847,001731:
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Page 533 |
022849,001733: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022850,001734:
022851,001735: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022852,001736: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022853,001737: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022854,001738: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022855,001739: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022856,001740: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022857,001741: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022858,001742: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022859,001743: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022860,001744: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022861,001745: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022862,001746: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022863,001747: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022864,001748: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022865,001749: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022866,001750: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022867,001751: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022868,001752: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022869,001753: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022870,001754: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022871,001755:
022872,001756: # CALLING SEQUENCE:
022873,001757: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022874,001758: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022875,001759: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022876,001760: # OTHER MODE.
022877,001761:
022878,001762: # ERASABLE INITIALIZATION REQUIRED:
022879,001763: # RADMODES
022880,001764:
022881,001765: # SUBROUTINES CALLED_
022882,001766: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022883,001767:
022884,001768: # JOBS OR TASKS INITIATED_
022885,001769: # NONE
022886,001770:
022887,001771: # ALARMS_ NONE
022888,001772:
022889,001773: # EXIT_ STDESIG
022890,001774:
022891,001775: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022892,001776: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022893,001777: 25,2204 10000 CCS A
022894,001778: 25,2205 34735 CAF BIT15
022895,001779: 25,2206 02252 TC RRTONLY
022896,001780:
022897,001781: 25,2207 37743 CAF -45DEGSR
022898,001782: 25,2210 02255 TC RRSONLY
022899,001783:
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Page 534 |
022901,001785: 25,2211 40110 CS RADMODES
022902,001786: 25,2212 74740 MASK ANTENBIT
022903,001787: 25,2213 10000 CCS A
022904,001788: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
022905,001789: 25,2215 62242 AD -50DEGSR
022906,001790: 25,2216 02252 TC RRTONLY
022907,001791:
022908,001792: 25,2217 40110 CS RADMODES
022909,001793: 25,2220 74740 MASK ANTENBIT
022910,001794: 25,2221 10000 CCS A
022911,001795: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
022912,001796: 25,2223 02252 TC RRTONLY
022913,001797:
022914,001798: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
022915,001799: 25,2225 74740 MASK ANTENBIT
022916,001800: 25,2226 10000 CCS A
022917,001801: 25,2227 44736 CS HALF
022918,001802: 25,2230 02255 TC RRSONLY
022919,001803:
022920,001804: 25,2231 02244 TC RMODINV
022921,001805:
022922,001806: 25,2232 44736 CS REMODBIT # END OF REMODE.
022923,001807: 25,2233 70110 MASK RADMODES
022924,001808: 25,2234 54110 TS RADMODES
022925,001809:
022926,001810: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022927,001811: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022928,001812: 25,2237 00006 EXTEND
022929,001813: 25,2240 13540 BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
022930,001814: 25,2241 02613 TC STDESIG # YES - RETURN TO DESIGNATE
022931,001815: 25,2242 7743 -45DEGSR = 13,14,15
022932,001816: 25,2242 67070 -50DEGSR DEC -.27778
022933,001817: 25,2243 61615 -80DEGSR DEC -.44444
022934,001818:
022935,001819: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
022936,001820: 25,2245 34740 CAF ANTENBIT
022937,001821: 25,2246 00006 EXTEND
022938,001822: 25,2247 06001 RXOR LCHAN
022939,001823: 25,2250 54110 TS RADMODES
022940,001824: 25,2251 00002 TC Q
022941,001825:
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Page 535 |
022943,001827: # PROGRAM NAMES_ RRTONLY, RRSONLY
022944,001828:
022945,001829: # FUNCTIONAL DESCRIPTION_
022946,001830: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
022947,001831: # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
022948,001832: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
022949,001833: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
022950,001834: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
022951,001835: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
022952,001836: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
022953,001837: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
022954,001838: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
022955,001839: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
022956,001840: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
022957,001841: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
022958,001842: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
022959,001843: # REPEATED.
022960,001844:
022961,001845: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
022962,001846: # L TC RRTONLY (TRUNNION ONLY)
022963,001847: # RRSONLY (SHAFT ONLY)
022964,001848: # RRTONLY IS CALLED BY PREPOS29;
022965,001849: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
022966,001850:
022967,001851: # ERASABLE INITIALIZATION REQUIRED:
022968,001852: # C(A) = DESIRED ANGLE, RADMODES
022969,001853:
022970,001854: # SUBROUTINES CALLED_
022971,001855: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
022972,001856:
022973,001857: # JOBS OR TASKS INITIATED_
022974,001858: # NONE
022975,001859:
022976,001860: # ALARMS_ NONE
022977,001861:
022978,001862: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
022979,001863: # BITS 14, 11)
022980,001864: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
022981,001865:
022982,001866: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
022983,001867: 25,2253 34755 CAF ZERO
022984,001868: 25,2254 12257 TCF RR1AXIS
022985,001869:
022986,001870: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
022987,001871: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
022988,001872:
022989,001873: 25,2257 55314 RR1AXIS TS RRINDEX
022990,001874: 25,2260 00006 EXTEND
022991,001875: 25,2261 23312 QXCH RRRET
022992,001876: 25,2262 12265 TCF RR1AX2
022993,001877:
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Page 536 |
022995,001879: 25,2263 05221 NXTRR1AX TC FIXDELAY
022996,001880: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
022997,001881:
022998,001882: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
022999,001883: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023000,001884: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023001,001885: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
023002,001886:
023003,001887: 25,2271 31313 CA RDES
023004,001888: 25,2272 00006 EXTEND
023005,001889: 25,2273 51314 INDEX RRINDEX
023006,001890: 25,2274 20035 MSU CDUT
023007,001891: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023008,001892: 25,2276 00006 EXTEND
023009,001893: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023010,001894: 25,2300 54001 TS L
023011,001895: 25,2301 30110 CA RADMODES
023012,001896: 25,2302 74752 MASK AUTOMBIT
023013,001897: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023014,001898: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023015,001899: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
023016,001900:
023017,001901: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023018,001902: 25,2307 01312 TC RRRET # RETURN TO CALLER.
023019,001903:
023020,001904: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023021,001905: 25,2311 12313 TCF +2 # SETTING A TO 0.
023022,001906: 25,2312 56001 XCH L
023023,001907: 25,2313 53355 DXCH TRUNNCMD
023024,001908: 25,2314 02317 TC RROUT
023025,001909:
023026,001910: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023027,001911:
023028,001912: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023029,001913:
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Page 537 |
023031,001915: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023032,001916:
023033,001917: # FUNCTIONAL DESCRIPTION_
023034,001918: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023035,001919: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023036,001920: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023037,001921: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023038,001922: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023039,001923: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023040,001924: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023041,001925: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023042,001926: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023043,001927: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023044,001928: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023045,001929: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023046,001930: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023047,001931:
023048,001932: # CALLING SEQUENCE:
023049,001933: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023050,001934: # RRTONLY, RRSONLY, AND DODES
023051,001935:
023052,001936: # ERASABLE INITIALIZATION REQUIRED:
023053,001937: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023054,001938: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023055,001939:
023056,001940: # SUBROUTINES CALLED_
023057,001941: # MAGSUB
023058,001942:
023059,001943: # JOBS OR TASKS INITIATED_
023060,001944: # NONE
023061,001945:
023062,001946: # ALARMS_ NONE
023063,001947:
023064,001948: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023065,001949:
023066,001950: 25,2317 22002 RROUT LXCH Q # SAVE RETURN.
023067,001951: 25,2320 34753 CAF ONE # LOOP TWICE.
023068,001952: 25,2321 54062 RROUT2 TS ITEMP2
023069,001953: 25,2322 50000 INDEX A
023070,001954: 25,2323 31354 CA TRUNNCMD
023071,001955: 25,2324 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023072,001956:
023073,001957: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023074,001958: 25,2326 77177 -RRLIMIT DEC -384 B-14
023075,001959: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023076,001960:
023077,001961: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023078,001962: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023079,001963: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023080,001964: 25,2333 40000 COM
023081,001965:
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|
Page 538 |
023083,001967: 25,2334 60061 AD ITEMP1
023084,001968: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023085,001969: 25,2336 50062 INDEX ITEMP2
023086,001970: 25,2337 54053 TS CDUTCMD
023087,001971:
023088,001972: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023089,001973: 25,2341 12321 TCF RROUT2
023090,001974:
023091,001975: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
023092,001976: 25,2343 00006 EXTEND
023093,001977: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023094,001978: 25,2345 00001 TC L # RETURN.
023095,001979:
023096,001980: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023097,001981: 25,2347 42326 CS -RRLIMIT
023098,001982: 25,2350 12352 TCF +2
023099,001983: 25,2351 32326 CA -RRLIMIT
023100,001984: 25,2352 54061 TS ITEMP1
023101,001985: 25,2353 12331 TCF SETRRCTR +1
023102,001986:
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|
Page 539 |
023104,001988: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023105,001989:
023106,001990: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023107,001991: 25,2355 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023108,001992: 25,2356 10000 CCS A
023109,001993: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023110,001994:
023111,001995: 25,2360 00004 INHINT
023112,001996: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023113,001997: 25,2362 70110 MASK RADMODES
023114,001998: 25,2363 64737 AD RCDU0BIT
023115,001999: 25,2364 54110 TS RADMODES
023116,002000:
023117,002001: 25,2365 34753 CAF ONE
023118,002002: 25,2366 05203 TC WAITLIST
023119,002003: 25,2367 E7,1456 EBANK= LOSCOUNT
023120,002004: 25,2367 02401 52067 2CADR RRZ2
023121,002005: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
023122,002006: 25,2372 74752 MASK AUTOMBIT
023123,002007: 25,2373 10000 CCS A
023124,002008: 25,2374 12377 TCF ROADBACK
023125,002009: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023126,002010: 25,2376 00510 OCT 510
023127,002011: 25,2377 00003 ROADBACK RELINT
023128,002012: 25,2400 14631 TCF SWRETURN
023129,002013:
023130,002014: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023131,002015: 25,2402 13531 TCF ENDRADAR
023132,002016:
023133,002017: 25,2403 02001 BIT11+1 OCT 02001
023134,002018:
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|
Page 540 |
023136,002020: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023137,002021:
023138,002022: # FUNCTIONAL DESCRIPTION_
023139,002023: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023140,002024: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023141,002025: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023142,002026: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023143,002027: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023144,002028: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023145,002029: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023146,002030: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023147,002031: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023148,002032: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023149,002033: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023150,002034: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023151,002035: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023152,002036: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023153,002037: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023154,002038: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023155,002039: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023156,002040: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023157,002041: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023158,002042: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023159,002043: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023160,002044: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023161,002045:
023162,002046: # CALLING SEQUENCE:
023163,002047: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023164,002048: # L+1 RRDESSM
023165,002049: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023166,002050: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023167,002051:
023168,002052: # ERASABLE INITIALIZATION REQUIRED:
023169,002053: # RRTARGET, RADMODES
023170,002054:
023171,002055: # SUBROUTINES CALLED_
023172,002056: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023173,002057: # PART OF), RMODINV
023174,002058:
023175,002059: # JOBS OR TASKS INITIATED_
023176,002060: # NONE
023177,002061:
023178,002062: # ALARMS_ NONE
023179,002063:
023180,002064: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023181,002065: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023182,002066: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023183,002067:
023184,002068: 25,2404 43020 RRDESSM STQ CLEAR
023185,002069: 25,2405 01112 DESRET
023186,002070:
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|
Page 541 |
023188,002072: 25,2406 00271 RRNBSW
023189,002073: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023190,002074: 25,2410 47541 CDUTRIG
023191,002075: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023192,002076: 25,2412 01101 RRTARGET
023193,002077: 25,2413 47673 *SMNB*
023194,002078:
023195,002079: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023196,002080: 25,2415 26133 RRANGLES # ALTERNATE MODE.
023197,002081: 25,2416 77776 EXIT
023198,002082:
023199,002083: 25,2417 00004 INHINT
023200,002084: 25,2420 04523 TC RRLIMCHK
023201,002085: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023202,002086: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
023203,002087: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023204,002088: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
023205,002089: 25,2425 40104 CS FLAGWRD8
023206,002090: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023207,002091: 25,2427 00006 EXTEND
023208,002092: 25,2430 12467 BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
023209,002093: 25,2431 02472 TC TRYSWS
023210,002094:
023211,002095:
023212,002096: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023213,002097: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023214,002098: 25,2434 00006 EXTEND
023215,002099: 25,2435 12467 BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
023216,002100: 25,2436 30074 CA STATE
023217,002101: 25,2437 74745 MASK RNDVZBIT
023218,002102: 25,2440 10000 CCS A # TEST RNDVZFLG.
023219,002103: 25,2441 02502 TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
023220,002104: 25,2442 15155 TCF ENDOFJOB # ...BUT NOT IN R29.
023221,002105:
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Page 542 |
023223,002107: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023224,002108:
023225,002109: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023226,002110: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023227,002111: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023228,002112: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023229,002113: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023230,002114: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023231,002115: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023232,002116: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023233,002117: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023234,002118: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023235,002119: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023236,002120: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023237,002121: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023238,002122: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023239,002123: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023240,002124: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023241,002125: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023242,002126: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023243,002127: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023244,002128: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023245,002129: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023246,002130:
023247,002131: # CALLING SEQUENCE:
023248,002132: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023249,002133:
023250,002134: # ERASABLE INITIALIZATION REQUIRED:
023251,002135: # RADMODES, (SEE DODES)
023252,002136:
023253,002137: # SUBROUTINES CALLED_
023254,002138: # SETRRECR, WAITLIST
023255,002139:
023256,002140: # JOBS OR TASKS INITIATED_
023257,002141: # BEGDES
023258,002142:
023259,002143: # ALARMS_ NONE
023260,002144:
023261,002145: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023262,002146: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023263,002147:
023264,002148: 25,2443 25112 STARTDES INCR DESRET
023265,002149: 25,2444 40110 CS RADMODES
023266,002150: 25,2445 74742 MASK DESIGBIT
023267,002151: 25,2446 26110 ADS RADMODES
023268,002152: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023269,002153: 25,2450 10000 CCS A
023270,002154: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023271,002155:
023272,002156: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
023273,002157:
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Page 543 |
023275,002159: 25,2453 34752 CAF TWO
023276,002160: 25,2454 05203 TC WAITLIST
023277,002161: 25,2455 E7,1456 EBANK= LOSCOUNT
023278,002162: 25,2455 02604 52067 2CADR BEGDES
023279,002163: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023280,002164: 25,2460 00006 EXTEND
023281,002165: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023282,002166: 25,2462 05155 TC ENDOFJOB # NO
023283,002167: 25,2463 00003 DESRTRN RELINT
023284,002168: 25,2464 25112 INCR DESRET
023285,002169: 25,2465 31112 CA DESRET
023286,002170: 25,2466 14640 TCF BANKJUMP
023287,002171:
023288,002172:
023289,002173: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023290,002174: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023291,002175: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023292,002176:
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|
Page 544 |
023294,002178: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023295,002179:
023296,002180: 25,2472 02244 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023297,002181: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023298,002182: 25,2474 01110 ADRES MODEB
023299,002183: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023300,002184:
023301,002185: 25,2476 02244 TC RMODINV # RESET BIT12
023302,002186: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023303,002187: 25,2500 26110 ADS RADMODES
023304,002188:
023305,002189: 25,2501 12423 TCF OKDESSM
023306,002190:
023307,002191: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023308,002192: 25,2503 25112 INCR DESRET # TO CALLER +2
023309,002193: 25,2504 12467 TCF NORDSTAL
023310,002194:
023311,002195: 25,2505 00074 MAXTRYS DEC 60 B-14
023312,002196:
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|
Page 545 |
023314,002198: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023315,002199: # TANG AND TANG +1.
023316,002200:
023317,002201: 25,2506 04645 RRDESNB TC MAKECADR
023318,002202: 25,2507 55112 TS DESRET
023319,002203:
023320,002204: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023321,002205: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023322,002206: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023323,002207: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023324,002208: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023325,002209: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023326,002210: 25,2516 01106 ADRES TANG
023327,002211: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023328,002212:
023329,002213: 25,2520 00003 OKDESNB RELINT
023330,002214: 25,2521 00006 EXTEND
023331,002215: 25,2522 31107 DCA TANG
023332,002216: 25,2523 53753 DXCH TANGNB
023333,002217: 25,2524 06042 TC INTPRET
023334,002218:
023335,002219: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023336,002220: 25,2526 46041 RRNB
023337,002221: 25,2527 01101 STORE RRTARGET
023338,002222:
023339,002223: 25,2530 77414 SET EXIT
023340,002224: 25,2531 00071 RRNBSW
023341,002225:
023342,002226: 25,2532 00004 INHINT
023343,002227: 25,2533 12444 TCF STARTDES +1
023344,002228: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023345,002229: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023346,002230: 25,2536 01106 ADRES TANG
023347,002231: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023348,002232:
023349,002233: 25,2540 02244 TC RMODINV
023350,002234: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023351,002235: 25,2542 26110 ADS RADMODES
023352,002236: 25,2543 12520 TCF OKDESNB
023353,002237:
023354,002238: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023355,002239: 25,2545 05567 TC ALARM # BAD INPUT ANGLES.
023356,002240: 25,2546 00502 OCT 502
023357,002241: 25,2547 06011 TC CLRADMOD
023358,002242: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023359,002243:
023360,002244: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023361,002245: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023362,002246: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023363,002247: 25,2554 00006 EXTEND
023364,002248:
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Page 546 |
023366,002250: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023367,002251: 25,2556 30001 DCA 0
023368,002252: 25,2557 52062 DXCH ITEMP1
023369,002253: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023370,002254:
023371,002255: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023372,002256: 25,2562 70110 MASK RADMODES
023373,002257: 25,2563 10000 CCS A
023374,002258: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023375,002259: 25,2565 30061 CA ITEMP1
023376,002260: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023377,002261: 25,2567 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023378,002262: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023379,002263:
023380,002264: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023381,002265: 25,2572 00006 EXTEND
023382,002266: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023383,002267: 25,2574 64562 AD 5.5DEGS
023384,002268: 25,2575 04512 SHAFTLIM TC MAGSUB
023385,002269: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
023386,002270: 25,2577 00001 TC L # NOT IN LIMITS
023387,002271: 25,2600 04560 TC RRLIMOK # IN LIMITS
023388,002272: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023389,002273: 25,2602 12575 TCF SHAFTLIM
023390,002274:
023391,002275:
023392,002276: 25,2603 03512 20.5DEGS DEC .11389
023393,002277:
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|
Page 547 |
023395,002279: # PROGRAM NAME_ BEGDES
023396,002280:
023397,002281: # FUNCTIONAL DESCRIPTION_
023398,002282: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023399,002283: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023400,002284: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023401,002285: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023402,002286: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023403,002287: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023404,002288: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023405,002289: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023406,002290: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023407,002291: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023408,002292: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023409,002293: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023410,002294: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023411,002295: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023412,002296: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023413,002297: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023414,002298: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023415,002299: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023416,002300: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023417,002301: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023418,002302: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023419,002303: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023420,002304: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023421,002305: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023422,002306: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023423,002307:
023424,002308: # CALLING SEQUENCE:
023425,002309: # WAITLIST CALL FROM STARTDES
023426,002310: # TCF BEGDES FROM DORREPOS
023427,002311: # TC STDESIG RETURNING, FROM REMODE
023428,002312:
023429,002313: # ERASABLE INITIALIZATION REQUIRED:
023430,002314: # DESCOUNT, RADMODES
023431,002315:
023432,002316: # SUBROUTINES CALLED_
023433,002317: # ENDRADAR, FINDVAC
023434,002318:
023435,002319: # JOBS OR TASKS INITIATED_ DODES
023436,002320:
023437,002321: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023438,002322: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023439,002323:
023440,002324: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023441,002325: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023442,002326: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023443,002327:
023444,002328: 25,2604 40110 BEGDES CS RADMODES
023445,002329:
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|
Page 548 |
023447,002331: 25,2605 74736 MASK REMODBIT
023448,002332: 25,2606 10000 CCS A
023449,002333: 25,2607 02613 TC STDESIG
023450,002334: 25,2610 02202 TC REMODE
023451,002335: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023452,002336: 25,2612 00062 DEC 50 B-14
023453,002337:
023454,002338: 25,2613 34741 STDESIG CAF REPOSBIT
023455,002339: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023456,002340: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023457,002341: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023458,002342:
023459,002343: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023460,002344: 25,2620 12623 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023461,002345: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023462,002346: 25,2622 12640 TCF MOREDES +1
023463,002347:
023464,002348: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023465,002349: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023466,002350: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023467,002351: 25,2626 13531 TCF ENDRADAR # CHECKING RR CDU FAIL.
023468,002352:
023469,002353: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023470,002354: 25,2630 12637 TCF MOREDES
023471,002355:
023472,002356: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023473,002357: 25,2632 00006 EXTEND
023474,002358: 25,2633 03012 WAND CHAN12
023475,002359: 25,2634 05516 BADDES TC DOWNFLAG
023476,002360: 25,2635 00271 ADRES DESIGFLG
023477,002361: 25,2636 13545 TCF RDBADEND
023478,002362:
023479,002363: 25,2637 55113 MOREDES TS DESCOUNT
023480,002364: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023481,002365: 25,2641 05105 TC FINDVAC
023482,002366: 25,2642 E7,1456 EBANK= LOSCOUNT
023483,002367: 25,2642 02646 52067 2CADR DODES
023484,002368: 25,2644 12611 TCF DESLOOP
023485,002369:
023486,002370: 25,2645 20002 B14+B2 OCT 20002
023487,002371:
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|
Page 549 |
023489,002373: # PROGRAM NAME_ DODES
023490,002374:
023491,002375: # FUNCTIONAL DESCRIPTION_
023492,002376: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023493,002377: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023494,002378: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023495,002379: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023496,002380: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023497,002381: # + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
023498,002382: # -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
023499,002383: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023500,002384: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023501,002385: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023502,002386: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023503,002387: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023504,002388: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023505,002389: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023506,002390: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023507,002391: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023508,002392: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023509,002393: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023510,002394: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023511,002395: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023512,002396: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023513,002397: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023514,002398: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023515,002399: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023516,002400: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023517,002401: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023518,002402: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023519,002403: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023520,002404: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023521,002405: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023522,002406: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023523,002407: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023524,002408: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023525,002409: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023526,002410: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023527,002411: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023528,002412: # VIA ENDOFJOB.
023529,002413:
023530,002414: # CALLING SEQUENCE:
023531,002415: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023532,002416:
023533,002417: # ERASABLE INITIALIZATION REQUIRED:
023534,002418: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023535,002419: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023536,002420:
023537,002421: # SUBROUTINES CALLED_
023538,002422: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
023539,002423:
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|
Page 550 |
023541,002425:
023542,002426: # JOBS OR TASKS INITIATED_
023543,002427: # NONE
023544,002428:
023545,002429: # ALARMS_ NONE
023546,002430:
023547,002431: # EXIT_ ENDOFJOB (ALWAYS)
023548,002432:
023549,002433: 25,2646 00006 DODES EXTEND
023550,002434: 25,2647 30036 DCA CDUT
023551,002435: 25,2650 53107 DXCH TANG
023552,002436:
023553,002437: 25,2651 06042 TC INTPRET
023554,002438:
023555,002439: 25,2652 77201 SETPD VLOAD
023556,002440: 25,2653 00001 0
023557,002441: 25,2654 01101 RRTARGET
023558,002442: 25,2655 74214 BON VXSC
023559,002443: 25,2656 00311 RRNBSW
023560,002444: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
023561,002445: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023562,002446: 25,2661 63372 VSL1 PDVL
023563,002447: 25,2662 01761 LOSVEL
023564,002448: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023565,002449: 25,2664 13101 MCTOMS
023566,002450: 25,2665 45056 UNIT CALL
023567,002451: 25,2666 47541 CDUTRIG
023568,002452: 25,2667 77624 CALL
023569,002453: 25,2670 47673 *SMNB*
023570,002454:
023571,002455: 25,2671 14041 DONBRD STODL 32D
023572,002456: 25,2672 01110 TANG +1
023573,002457: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023574,002458: 25,2674 21577 CDULOGIC # (-SIN(S)).
023575,002459: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023576,002460: 25,2676 41546 COS PUSH
023577,002461: 25,2677 65205 DMP PDDL
023578,002462: 25,2700 00041 32D
023579,002463: 25,2701 00045 36D
023580,002464: 25,2702 44205 DMP BDSU
023581,002465: 25,2703 00001 0
023582,002466: 25,2704 77626 STADR
023583,002467: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
023584,002468:
023585,002469: 25,2706 47135 SLOAD RTB
023586,002470: 25,2707 01107 TANG
023587,002471: 25,2710 21577 CDULOGIC
023588,002472: 25,2711 71406 PUSH COS # COS(T) TO 4.
023589,002473: 25,2712 73525 PDDL SIN
023590,002474: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
023591,002475: 25,2714 00003 2
023592,002476:
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|
Page 551 |
023594,002478: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023595,002479: 25,2716 00005 4 # (COS(T) )
023596,002480: 25,2717 41325 PDDL DMP # (SIN(T)COS(S))
023597,002481: 25,2720 00007 6
023598,002482: 25,2721 00001 0
023599,002483: 25,2722 55552 SL1 VDEF
023600,002484: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023601,002485: 25,2724 00041 32D
023602,002486:
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|
Page 552 |
023604,002488: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023605,002489: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023606,002490:
023607,002491: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023608,002492: 25,2726 00006 EXTEND
023609,002493: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023610,002494: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
023611,002495: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023612,002496: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023613,002497: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023614,002498: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023615,002499: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023616,002500: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023617,002501: 25,2737 41107 +3 CS TANG +1
023618,002502: 25,2740 00006 EXTEND
023619,002503: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023620,002504: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
023621,002505: 25,2743 06042 TC INTPRET
023622,002506:
023623,002507: 25,2744 41345 DLOAD DMP
023624,002508: 25,2745 00003 2 # COS(S).
023625,002509: 25,2746 00005 4 # COS(T).
023626,002510: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
023627,002511: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023628,002512: 25,2751 00001 0 # SIN(S).
023629,002513: 25,2752 72405 DMP SL1
023630,002514: 25,2753 00005 4 # COS(T).
023631,002515: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
023632,002516: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023633,002517: 25,2756 52761 +3
023634,002518: 25,2757 77624 CALL
023635,002519: 25,2760 47675 *NBSM* # GET URR IN SM AXES.
023636,002520: 25,2761 77441 DOT EXIT
023637,002521: 25,2762 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023638,002522:
023639,002523: 25,2763 00006 EXTEND
023640,002524: 25,2764 43077 DCS COS1/2DG
023641,002525: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023642,002526: 25,2766 10154 CCS MPAC
023643,002527: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023644,002528: 25,2770 12772 TCF +2
023645,002529: 25,2771 34753 CA ONE
023646,002530: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
023647,002531:
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|
Page 553 |
023649,002533: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023650,002534:
023651,002535: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023652,002536: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023653,002537: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
023654,002538: 25,2776 13027 TCF DORROUT
023655,002539: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023656,002540: 25,3000 13010 TCF DGOODCHK
023657,002541: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023658,002542: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023659,002543: 25,3003 10000 CCS A
023660,002544: 25,3004 13015 TCF RRDESDUN
023661,002545:
023662,002546: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER.
023663,002547: 25,3006 00006 EXTEND
023664,002548: 25,3007 05012 WOR CHAN12
023665,002549:
023666,002550: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023667,002551: 25,3011 00006 EXTEND
023668,002552: 25,3012 02033 RAND CHAN33
023669,002553: 25,3013 10000 CCS A
023670,002554: 25,3014 13027 TCF DORROUT
023671,002555:
023672,002556: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023673,002557: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023674,002558: 25,3017 00004 INHINT
023675,002559: 25,3020 54110 TS RADMODES
023676,002560:
023677,002561: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023678,002562: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023679,002563: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023680,002564: 25,3024 00006 EXTEND
023681,002565: 25,3025 03012 WAND CHAN12
023682,002566: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023683,002567:
023684,002568: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023685,002569: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023686,002570: 25,3031 00006 EXTEND
023687,002571: 25,3032 13051 BZF NOTP20
023688,002572: 25,3033 06042 TC INTPRET
023689,002573: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023690,002574: 25,3035 01101 RRTARGET
023691,002575: 25,3036 01767 MLOSV
023692,002576: 25,3037 41572 VSL1 PUSH
023693,002577: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023694,002578: 25,3041 01761 LOSVEL # TO LOS VECTOR
023695,002579: 25,3042 13101 MCTOMS
023696,002580: 25,3043 53362 VSR1 VAD
023697,002581: 25,3044 77656 UNIT
023698,002582: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
023699,002583:
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|
Page 554 |
023701,002585: 25,3046 00045 36D
023702,002586: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE
023703,002587: 25,3050 77776 EXIT
023704,002588: 25,3051 00004 NOTP20 INHINT
023705,002589: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023706,002590: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023707,002591: 25,3054 10000 CCS A
023708,002592: 25,3055 02317 TC RROUT
023709,002593:
023710,002594: 25,3056 30076 CA FLAGWRD2
023711,002595: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023712,002596: 25,3060 00006 EXTEND # LOS COUNTER
023713,002597: 25,3061 15155 BZF ENDOFJOB
023714,002598: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023715,002599: 25,3063 03073 TC DODESEND # A NEW LOS
023716,002600: 25,3064 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023717,002601: 25,3065 52613 CADR DESLOOP +2
023718,002602: 25,3066 00003 RELINT
023719,002603: 25,3067 10067 CCS NEWJOB
023720,002604: 25,3070 05122 TC CHANG1
023721,002605: 25,3071 04616 TC BANKCALL
023722,002606: 25,3072 50732 CADR R21LEM2
023723,002607:
023724,002608:
023725,002609: 25,3073 55456 DODESEND TS LOSCOUNT
023726,002610: 25,3074 05155 TC ENDOFJOB
023727,002611:
023728,002612:
023729,002613: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023730,002614: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
023731,002615: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023732,002616: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
023733,002617:
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|
Page 555 |
023735,002619: # RADAR READ INITIALIZATION
023736,002620:
023737,002621: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023738,002622:
023739,002623: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023740,002624: 25,3103 00017 ALLREAD OCT 17
023741,002625:
023742,002626: 25,3104 03123 LRVELZ TC INITREAD
023743,002627: 25,3105 00016 OCT 16
023744,002628:
023745,002629: 25,3106 03123 LRVELY TC INITREAD
023746,002630: 25,3107 00015 OCT 15
023747,002631:
023748,002632: 25,3110 03123 LRVELX TC INITREAD
023749,002633: 25,3111 00014 OCT 14
023750,002634:
023751,002635: 25,3112 03122 RRRDOT TC INITREAD -1
023752,002636: 25,3113 00012 OCT 12
023753,002637:
023754,002638: 25,3114 03122 RRRANGE TC INITREAD -1
023755,002639: 25,3115 00011 OCT 11
023756,002640:
023757,002641: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023758,002642: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023759,002643:
023760,002644: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023761,002645: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023762,002646: 25,3120 51104 INDEX TIMEHOLD
023763,002647: 25,3121 13104 TCF LRVELZ
023764,002648:
|
|
Page 556 |
023766,002650: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023767,002651: 25,3123 00004 INITREAD INHINT
023768,002652:
023769,002653: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023770,002654: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023771,002655: 25,3126 74751 MP BIT3 # ENCOUNTERED).
023772,002656: 25,3127 53105 DXCH TIMEHOLD
023773,002657:
023774,002658: 25,3130 10000 CCS A
023775,002659: 25,3131 55110 TS NSAMP
023776,002660: 25,3132 64753 AD ONE
023777,002661: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023778,002662: # DOUBLE
023779,002663: 25,3133 55077 TS SAMPLIM
023780,002664:
023781,002665: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023782,002666: 25,3135 00006 EXTEND
023783,002667: 25,3136 02033 RAND CHAN33
023784,002668: 25,3137 55112 TS OLDATAGD
023785,002669:
023786,002670: 25,3140 43103 CS ALLREAD
023787,002671: 25,3141 00006 EXTEND
023788,002672: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023789,002673:
023790,002674: 25,3143 50002 INDEX Q
023791,002675: 25,3144 30000 CAF 0
023792,002676: 25,3145 04674 TC IBNKCALL
023793,002677: 25,3146 36000 CADR RADSTART
023794,002678:
023795,002679: 25,3147 00006 EXTEND
023796,002680: 25,3150 30025 DCA TIME2
023797,002681: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023798,002682:
023799,002683: 25,3152 34755 CAF ZERO
023800,002684: 25,3153 54001 TS L
023801,002685: 25,3154 53101 DXCH SAMPLSUM
023802,002686: 25,3155 12377 TCF ROADBACK
023803,002687:
023804,002688: 25,3156 00230 DGBITS OCT 230
023805,002689:
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|
Page 557 |
023807,002691: # RADAR RUPT READER
023808,002692:
023809,002693: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023810,002694:
023811,002695: 25,2000 SETLOC RADARUPT
023812,002696: 25,2000 BANK
023813,002697:
023814,002698: 25,3157 COUNT* $$/RRUPT
023815,002699: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023816,002700: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023817,002701: 25,3161 54016 TS BANKRUPT
023818,002702: 25,3162 00006 EXTEND
023819,002703: 25,3163 22012 QXCH QRUPT
023820,002704:
023821,002705: 25,3164 00006 EXTEND
023822,002706: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG
023823,002707: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING.
023824,002708:
023825,002709: 25,3167 34757 CAF SEVEN
023826,002710: 25,3170 00006 EXTEND
023827,002711: 25,3171 02013 RAND CHAN13
023828,002712: 25,3172 55332 TS DNINDEX
023829,002713: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO,DO NOT STORE
023830,002714: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023831,002715: 25,3175 30046 CA RNRAD
023832,002716: 25,3176 51332 INDEX DNINDEX
023833,002717: 25,3177 55327 TS DNRRANGE -1
023834,002718: 25,3200 11077 TRYCOUNT CCS SAMPLIM
023835,002719: 25,3201 13223 TCF PLENTY
023836,002720: 25,3202 13206 TCF NOMORE
023837,002721: 25,3203 05567 TC ALARM
023838,002722: 25,3204 00520 OCT 520
023839,002723: 25,3205 05270 TC RESUME
023840,002724:
023841,002725: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023842,002726: 25,3207 74735 MASK LRBYBIT
023843,002727: 25,3210 00006 EXTEND
023844,002728: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023845,002729:
023846,002730: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG.
023847,002731: 25,3213 74743 MASK R04FLBIT # IF 1,R04 IS RUNNING. DO NOT ALARM-
023848,002732: 25,3214 00006 EXTEND
023849,002733: 25,3215 13220 BZF BADRAD
023850,002734:
023851,002735: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM.
023852,002736: 25,3217 00521 OCT 521
023853,002737: 25,3220 44753 BADRAD CS ONE
023854,002738: 25,3221 55077 TS SAMPLIM
023855,002739: 25,3222 03543 TC RDBADEND -2
023856,002740: 25,3223 55077 PLENTY TS SAMPLIM
023857,002741:
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|
Page 558 |
023859,002743: 25,3224 34751 CAF BIT3
023860,002744: 25,3225 00006 EXTEND
023861,002745: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023862,002746: 25,3227 00006 EXTEND
023863,002747: 25,3230 13277 BZF RENDRAD
023864,002748:
023865,002749: 25,3231 03365 TC R77CHECK # R77 QUITS HERE.
023866,002750: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT
023867,002751: 25,3233 00006 EXTEND
023868,002752: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023869,002753: 25,3235 76250 MASK BIN3
023870,002754: 25,3236 00006 EXTEND
023871,002755: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING
023872,002756:
023873,002757: 25,3240 34733 CAF POSMAX
023874,002758: 25,3241 70046 MASK RNRAD
023875,002759: 25,3242 62000 AD LVELBIAS
023876,002760: 25,3243 54001 TS L
023877,002761: 25,3244 30046 CAE RNRAD
023878,002762: 25,3245 60000 DOUBLE
023879,002763: 25,3246 74753 MASK BIT1
023880,002764: 25,3247 52064 DXCH ITEMP3
023881,002765:
023882,002766: 25,3250 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023883,002767: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023884,002768: # INDEPENDENT OF DATA GOOD.
023885,002769:
023886,002770: 25,3252 11110 CCS NSAMP
023887,002771: 25,3253 03263 TC NOEND
023888,002772: 25,3254 44753 GOODRAD CS ONE
023889,002773: 25,3255 55077 TS SAMPLIM
023890,002774: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023891,002775: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023892,002776: 25,3260 54110 TS RADMODES
023893,002777: 25,3261 03572 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023894,002778: 25,3262 03536 TC RGOODEND -2
023895,002779:
023896,002780: 25,3263 55110 NOEND TS NSAMP
023897,002781: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023898,002782: 25,3265 13267 TCF +2
023899,002783: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023900,002784: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT.
023901,002785: 25,3270 04674 TC IBNKCALL
023902,002786: 25,3271 36000 CADR RADSTART
023903,002787:
023904,002788: 25,3272 05270 TC RESUME
023905,002789:
023906,002790:
023907,002791: 25,3273 34747 LRHEIGHT CAF BIT5
023908,002792: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023909,002793:
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|
Page 559 |
023911,002795:
023912,002796: 25,3275 34743 CAF BIT9
023913,002797: 25,3276 03321 TC SCALECHK -1
023914,002798:
023915,002799: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023916,002800: 25,3300 70110 MASK RADMODES # LIMITS.
023917,002801: 25,3301 10000 CCS A
023918,002802: 25,3302 13220 TCF BADRAD
023919,002803:
023920,002804: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023921,002805: 25,3304 74745 MASK RCDUFBIT
023922,002806: 25,3305 10000 CCS A
023923,002807: 25,3306 13220 TCF BADRAD
023924,002808:
023925,002809: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
023926,002810: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
023927,002811:
023928,002812: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT.
023929,002813: 25,3312 00006 EXTEND
023930,002814: 25,3313 02013 RAND CHAN13
023931,002815: 25,3314 54002 TS Q # FOR LATER TESTING.
023932,002816: 25,3315 10000 CCS A
023933,002817: 25,3316 13320 TCF +2
023934,002818: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
023935,002819: 25,3320 34751 CAF BIT3
023936,002820: 25,3321 54001 TS L
023937,002821:
023938,002822: 25,3322 00006 SCALECHK EXTEND
023939,002823: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW
023940,002824: 25,3324 56001 XCH L
023941,002825: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE
023942,002826: 25,3326 00006 EXTEND
023943,002827: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER
023944,002828: 25,3330 10000 CCS A
023945,002829: 25,3331 03351 TC SCALCHNG # THEY DIFFER
023946,002830:
023947,002831: 25,3332 34733 RADIN CAF POSMAX
023948,002832: 25,3333 70046 MASK RNRAD
023949,002833: 25,3334 54064 TS ITEMP4
023950,002834:
023951,002835: 25,3335 30046 CAE RNRAD
023952,002836: 25,3336 60000 DOUBLE
023953,002837: 25,3337 74753 MASK BIT1
023954,002838: 25,3340 54063 TS ITEMP3
023955,002839:
023956,002840: 25,3341 10002 CCS Q # SEE IF RR RDOT.
023957,002841: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
023958,002842:
023959,002843: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
023960,002844: 25,3344 42002 DCS RDOTBIAS
023961,002845: 25,3345 20064 DASAMPL DAS ITEMP3
023962,002846:
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|
Page 560 |
023964,002848: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
023965,002849: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE.
023966,002850: 25,3350 03254 TC GOODRAD
023967,002851:
023968,002852: 25,3351 22110 SCALCHNG LXCH RADMODES
023969,002853: 25,3352 64753 AD BIT1
023970,002854: 25,3353 00006 EXTEND
023971,002855: 25,3354 06001 RXOR LCHAN
023972,002856: 25,3355 54110 TS RADMODES
023973,002857: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
023974,002858: 25,3357 00006 EXTEND
023975,002859: 25,3360 02033 RAND CHAN33
023976,002860: 25,3361 55112 TS OLDATAGD
023977,002861: 25,3362 05504 TC UPFLAG # SET RNGSCFLG
023978,002862: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1
023979,002863: 25,3364 13220 TCF BADRAD
023980,002864:
023981,002865: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
023982,002866:
023983,002867: 25,3365 40101 R77CHECK CS FLAGWRD5
023984,002868: 25,3366 74741 MASK R77FLBIT
023985,002869: 25,3367 10000 CCS A
023986,002870: 25,3370 00002 TC Q # NOT R77
023987,002871: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
023988,002872: 25,3372 70110 MASK RADMODES
023989,002873: 25,3373 54001 TS L
023990,002874: 25,3374 33402 CA BITS5,8
023991,002875: 25,3375 00006 EXTEND
023992,002876: 25,3376 02033 RAND CHAN33
023993,002877: 25,3377 60001 AD L
023994,002878: 25,3400 54110 TS RADMODES
023995,002879: 25,3401 03536 TC RGOODEND -2
023996,002880: 25,3402 00220 BITS5,8 OCT 220
023997,002881:
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|
Page 561 |
023999,002883: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024000,002884:
024001,002885: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024002,002886: 25,3404 13406 TCF +2 # ON HIGH SCALE.
024003,002887: 25,3405 13346 TCF DGCHECK2
024004,002888:
024005,002889: 25,3406 31332 CA DNINDEX
024006,002890: 25,3407 74751 MASK BIT3
024007,002891: 25,3410 10000 CCS A
024008,002892: 25,3411 13420 TCF LRSCK
024009,002893:
024010,002894: 25,3412 52064 DXCH ITEMP3
024011,002895: 25,3413 20001 DDOUBL
024012,002896: 25,3414 20001 DDOUBL
024013,002897: 25,3415 20001 DDOUBL
024014,002898: 25,3416 52064 DXCH ITEMP3
024015,002899:
024016,002900: 25,3417 13346 TCF DGCHECK2
024017,002901:
024018,002902: 25,3420 00006 LRSCK EXTEND
024019,002903: 25,3421 30064 DCA ITEMP3
024020,002904: 25,3422 20001 DDOUBL
024021,002905: 25,3423 20001 DDOUBL
024022,002906: 25,3424 13345 TCF DASAMPL
024023,002907:
024024,002908:
024025,002909: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024026,002910: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024027,002911: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024028,002912: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024029,002913: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024030,002914: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024031,002915: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024032,002916: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024033,002917: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024034,002918: 25,3436 60001 AD L
024035,002919: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO.
024036,002920: 25,3440 03264 TC RESAMPLE
024037,002921: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024038,002922: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION.
024039,002923: 25,3443 00002 TC Q
024040,002924:
024041,002925: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024042,002926: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024043,002927: 25,3446 60061 AD ITEMP1
024044,002928: 25,3447 54110 TS RADMODES
024045,002929:
024046,002930: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024047,002931: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
024048,002932:
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|
Page 562 |
024050,002934: 25,3452 03572 TC RADLITES
024051,002935: 25,3453 13206 TCF NOMORE
024052,002936:
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|
Page 563 |
024054,002938: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024055,002939:
024056,002940:
024057,002941: 17,2000 SETLOC C13BANK
024058,002942: 17,2000 BANK
024059,002943:
024060,002944: 17,2000 54002 RADSTART TS Q
024061,002945: 17,2001 00006 +1 EXTEND
024062,002946: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024063,002947: 17,2003 54001 TS L
024064,002948:
024065,002949: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024066,002950: 17,2005 40000 COM
024067,002951: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024068,002952: 17,2007 74346 MASK LOW5
024069,002953: 17,2010 55270 TS RADDEL
024070,002954:
024071,002955: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024072,002956: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024073,002957: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024074,002958:
024075,002959: 17,2014 30002 CA Q
024076,002960: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024077,002961: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024078,002962:
024079,002963: 17,2017 40001 CS L
024080,002964: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024081,002965: 17,2021 04707 TC ISWRETRN
024082,002966:
024083,002967:
024084,002968: 17,2022 55266 C13STAL1 TS C13FSAV
024085,002969:
024086,002970: 17,2023 34750 CA BIT4
024087,002971: 17,2024 00006 EXTEND
024088,002972: 17,2025 02013 RAND CHAN13
024089,002973: 17,2026 00006 EXTEND
024090,002974: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024091,002975:
024092,002976: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024093,002977: 17,2031 00006 EXTEND
024094,002978: 17,2032 00004 READ LOSCALAR
024095,002979: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024096,002980: 17,2034 64736 AD HALF
024097,002981: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024098,002982: 17,2036 56001 XCH L
024099,002983:
024100,002984: 17,2037 32053 CA 90MSCALR
024101,002985: 17,2040 61270 AD RADDEL
024102,002986: 17,2041 00006 EXTEND
024103,002987: 17,2042 60001 SU L
024104,002988:
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|
Page 564 |
024106,002990: 17,2043 00006 EXTEND
024107,002991: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024108,002992:
024109,002993: 17,2045 62054 AD -DTSCALR
024110,002994: 17,2046 00006 EXTEND
024111,002995: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024112,002996:
024113,002997: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024114,002998: 17,2051 31266 CA C13FSAV
024115,002999: 17,2052 52005 DTCF
024116,003000:
024117,003001: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024118,003002: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024119,003003:
024120,003004: 6000 SETLOC FFTAG6
024121,003005: 6000 BANK
024122,003006:
024123,003007: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024124,003008: 6023 56004 XCH FBANK
024125,003009: 6024 12022 TCF C13STAL1
024126,003010:
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|
Page 565 |
024128,003012:
024129,003013: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024130,003014:
024131,003015: 25,2000 SETLOC P20S1
024132,003016: 25,2000 BANK
024133,003017:
024134,003018: 25,3454 COUNT* $$/RSUB
024135,003019: 25,3454 00004 LRPOS2 INHINT
024136,003020:
024137,003021: 25,3455 40110 CS RADMODES
024138,003022: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024139,003023: 25,3457 26110 ADS RADMODES
024140,003024:
024141,003025: 25,3460 34745 CAF BIT7
024142,003026: 25,3461 00006 EXTEND
024143,003027: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024144,003028: 25,3463 00006 EXTEND
024145,003029: 25,3464 13513 BZF RADNOOP
024146,003030:
024147,003031: 25,3465 34737 CAF BIT13
024148,003032: 25,3466 00006 EXTEND
024149,003033: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2
024150,003034: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024151,003035: 25,3471 05203 TC WAITLIST
024152,003036: 25,3472 E7,1456 EBANK= LOSCOUNT
024153,003037: 25,3472 03526 52067 2CADR LRPOSCAN
024154,003038: 25,3474 02377 TC ROADBACK
024155,003039:
024156,003040: 25,3475 55077 LRPOSNXT TS SAMPLIM
024157,003041: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024158,003042: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024159,003043:
024160,003044: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024161,003045: 25,3501 00006 EXTEND
024162,003046: 25,3502 02033 RAND CHAN33
024163,003047: 25,3503 00006 EXTEND
024164,003048: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024165,003049:
024166,003050: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024167,003051: 25,3506 13475 TCF LRPOSNXT
024168,003052:
024169,003053: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024170,003054: 25,3510 00006 EXTEND
024171,003055: 25,3511 03012 WAND CHAN12
024172,003056: 25,3512 13545 TCF RDBADEND
024173,003057:
024174,003058: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024175,003059: 25,3514 05203 TC WAITLIST
024176,003060: 25,3515 E7,1456 EBANK= LOSCOUNT
024177,003061: 25,3515 03540 52067 2CADR RGOODEND
024178,003062:
|
|
Page 566 |
024180,003064: 25,3517 02377 TC ROADBACK
024181,003065:
024182,003066: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024183,003067: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024184,003068:
024185,003069: 25,3522 44737 CS BIT13 # REMOVE COMMAND
024186,003070: 25,3523 00006 EXTEND
024187,003071: 25,3524 03012 WAND CHAN12
024188,003072: 25,3525 13540 TCF RGOODEND
024189,003073:
024190,003074: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024191,003075: 25,3527 13475 TCF LRPOSNXT
024192,003076:
024193,003077: 25,3530 01130 6SECS DEC 600 B-14
024194,003078:
|
|
Page 567 |
024196,003080: # SEQUENCES TO TERMINATE RR OPERATIONS.
024197,003081:
024198,003082: 25,3531 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024199,003083: 25,3532 70110 MASK RADMODES
024200,003084: 25,3533 10000 CCS A
024201,003085: 25,3534 13540 TCF RGOODEND
024202,003086: 25,3535 13545 TCF RDBADEND
024203,003087: 25,3536 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024204,003088: 25,3537 54332 TS RUPTAGN
024205,003089:
024206,003090: 25,3540 34752 RGOODEND CAF TWO
024207,003091: 25,3541 04635 TC POSTJUMP
024208,003092: 25,3542 17657 CADR GOODEND
024209,003093:
024210,003094: 25,3543 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024211,003095: 25,3544 54332 TS RUPTAGN
024212,003096: 25,3545 34752 RDBADEND CAF TWO
024213,003097: 25,3546 04635 TC POSTJUMP
024214,003098: 25,3547 17654 CADR BADEND
024215,003099:
024216,003100: 25,3550 6250 BIN3 EQUALS THREE
024217,003101:
|
|
Page 568 |
024219,003103: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024220,003104: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024221,003105:
024222,003106: # FUNCTIONAL DESCRIPTION_
024223,003107: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024224,003108: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024225,003109: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024226,003110:
024227,003111:
024228,003112: # CALLING SEQUENCE CALL
024229,003113: # LPS20.1
024230,003114:
024231,003115:
024232,003116: # SUBROUTINES CALLED_
024233,003117:
024234,003118: # LEMPREC,CSMPREC
024235,003119:
024236,003120: # NORMAL EXIT_ RETURN TO CALLER + 2
024237,003121:
024238,003122:
024239,003123: # ERROR EXITS_ NONE
024240,003124:
024241,003125:
024242,003126: # ALARMS_ NONE
024243,003127:
024244,003128: # OUTPUT_
024245,003129:
024246,003130: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024247,003131: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024248,003132: # RRNBSW CLEARED
024249,003133:
024250,003134:
024251,003135: # INITIALIZED ERASEABLE
024252,003136:
024253,003137: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024254,003138: # SEE ORBITAL INTEGRATION ROUTINE
024255,003139:
024256,003140:
024257,003141: # DEBRIS_
024258,003142:
024259,003143: # MPAC DESTROYED BY THIS ROUTINE
024260,003144:
024261,003145:
024262,003146: 23,2337 BANK 23
024263,003147: 24,2000 SETLOC P20S
024264,003148: 24,2000 BANK
024265,003149:
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|
Page 569 |
024267,003151: 24,3255 COUNT* $$/LPS20
024268,003152:
024269,003153: 24,3255 43020 LPS20.1 STQ BOFF
024270,003154: 24,3256 01757 LS21X
024271,003155: 24,3257 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024272,003156: 24,3260 51264 LMINT # SO CALL LEMCONIC TO GET LM STATE
024273,003157: 24,3261 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024274,003158: 24,3262 04307 SURFFLAG # DON'T CALL LEMCONIC
024275,003159: 24,3263 51274 CSMINT
024276,003160: 24,3264 77624 LMINT CALL
024277,003161: 24,3265 27101 LEMCONIC # EXTRAPOLATE LEM
024278,003162: 24,3266 77775 VLOAD
024279,003163: 24,3267 00001 RATT
024280,003164: 24,3270 26352 STOVL LMPOS # SAVE LM POSITION B-29
024281,003165: 24,3271 00007 VATT
024282,003166: 24,3272 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024283,003167: 24,3273 00015 TAT
024284,003168: 24,3274 34041 CSMINT STCALL TDEC1
024285,003169: 24,3275 27067 CSMCONIC # EXTRAPOLATE CSM
024286,003170: 24,3276 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024287,003171: 24,3277 00007 VATT
024288,003172: 24,3300 02360 LMVEL
024289,003173: 24,3301 76521 MXV VSL1
024290,003174: 24,3302 01734 REFSMMAT
024291,003175: 24,3303 77776 EXIT
024292,003176: 24,3304 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024293,003177: 24,3305 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024294,003178: 24,3306 06042 TC INTPRET
024295,003179: 24,3307 25761 STOVL LOSVEL
024296,003180: 24,3310 00001 RATT
024297,003181: 24,3311 43051 VSU BOFF
024298,003182: 24,3312 02352 LMPOS
024299,003183: 24,3313 00350 RNDVZFLG
024300,003184: 24,3314 51321 NOTSHIFT
024301,003185: 24,3315 77604 BOVB
024302,003186: 24,3316 57753 TCDANZIG
024303,003187: 24,3317 77661 VSL
024304,003188: 24,3320 20212 9D
024305,003189: 24,3321 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024306,003190: 24,3322 50102 526ALARM # THAN 400 N. M.
024307,003191: 24,3323 76521 MXV VSL1
024308,003192: 24,3324 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024309,003193: 24,3325 15101 STODL RRTARGET
024310,003194: 24,3326 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024311,003195: 24,3327 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024312,003196: 24,3330 77614 CLRGO
024313,003197: 24,3331 00231 RRNBSW
024314,003198: 24,3332 01757 LS21X
024315,003199:
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|
Page 570 |
024317,003201: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024318,003202: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024319,003203:
024320,003204:
024321,003205: # FUNCTIONAL DESCRIPTION_
024322,003206:
024323,003207: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024324,003208:
024325,003209:
024326,003210: # CALLING SEQUENCE CALL
024327,003211: # LPS20.2
024328,003212:
024329,003213:
024330,003214: # SUBROUTINES CALLED_ NONE
024331,003215:
024332,003216:
024333,003217: # NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024334,003218:
024335,003219:
024336,003220: # ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024337,003221:
024338,003222:
024339,003223: # ALARMS_ NONE
024340,003224:
024341,003225:
024342,003226: # OUTPUT_ NONE
024343,003227:
024344,003228:
024345,003229: # INITIALIZED ERASEABLE_
024346,003230:
024347,003231: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024348,003232: # DEBRIS
024349,003233:
024350,003234: # MPAC DESTROYED BY THIS ROUTINE
024351,003235:
024352,003236:
024353,003237: 25,2000 SETLOC P20S1
024354,003238: 25,2000 BANK
024355,003239: 25,3550 COUNT* $$/LPS20
024356,003240:
024357,003241: 25,3550 45345 LPS20.2 DLOAD DSU
024358,003242: 25,3551 01767 MLOSV # MAGNITUDE OF LOS
024359,003243: 25,3552 13563 FHNM # OVER 400NM _
024360,003244: 25,3553 77644 BPL
024361,003245: 25,3554 53557 TOFAR
024362,003246: 25,3555 43535 SLOAD RVQ
024363,003247: 25,3556 06524 ZERO/SP
024364,003248: 25,3557 43535 TOFAR SLOAD RVQ
024365,003249: 25,3560 13562 ONE/SP
024366,003250: 25,3561 00001 ONE/SP DEC 1 B-14
024367,003251:
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|
Page 571 |
024369,003253: 25,3562 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024370,003254:
|
|
Page 572 |
024372,003256: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024373,003257: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024374,003258:
024375,003259:
024376,003260: # FUNCTIONAL DESCRIPTION
024377,003261:
024378,003262: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
024379,003263: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
024380,003264: # RR REPOSITION AND RR CDU FAIL
024381,003265:
024382,003266: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024383,003267:
024384,003268:
024385,003269: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024386,003270:
024387,003271:
024388,003272: # SUBROUTINES CALLED:
024389,003273:
024390,003274: # RRRDOT LPS20.1
024391,003275: # RRRANGE BANKCALL
024392,003276: # RADSTALL CDULOGIC
024393,003277: # RRNB SMNB
024394,003278: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024395,003279:
024396,003280:
024397,003281: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024398,003282:
024399,003283: # 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024400,003284: # 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024401,003285:
024402,003286:
024403,003287: # ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024404,003288: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024405,003289:
024406,003290: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2)-A HALF-UNIT VECTOR
024407,003291: # RM- THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024408,003292:
024409,003293: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024410,003294:
024411,003295: # RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
024412,003296: # RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
024413,003297: # RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
024414,003298: # AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
024415,003299: # MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
024416,003300:
024417,003301:
024418,003302: # ERASABLE INITIALIZATION REQUIRED:
024419,003303:
024420,003304: # RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
024421,003305:
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|
Page 573 |
024423,003307: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024424,003308: # 2) RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
024425,003309:
024426,003310: # THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
024427,003311:
024428,003312:
024429,003313: # DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
024430,003314:
024431,003315: 32,2366 BANK 32
024432,003316: 32,2000 SETLOC LRS22
024433,003317: 32,2000 BANK
024434,003318: 32,2366 COUNT* $$/LRS22
024435,003319:
024436,003320: 32,2366 04645 LRS22.1 TC MAKECADR
024437,003321: 32,2367 55737 TS LRS22.1X
024438,003322: 32,2370 05516 TC DOWNFLAG
024439,003323: 32,2371 00120 ADRES RNGSCFLG
024440,003324: 32,2372 00004 INHINT
024441,003325: 32,2373 34751 CAF BIT3
024442,003326: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024443,003327: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024444,003328: 32,2376 54001 TS L
024445,003329: 32,2377 44751 CS RRRSBIT
024446,003330: 32,2400 70110 MASK RADMODES
024447,003331: 32,2401 60001 AD L
024448,003332: 32,2402 54110 TS RADMODES
024449,003333: 32,2403 00003 RELINT
024450,003334: 32,2404 04616 READRDOT TC BANKCALL
024451,003335: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024452,003336: 32,2406 04616 TC BANKCALL
024453,003337: 32,2407 17706 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024454,003338: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024455,003339:
024456,003340: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024457,003341: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024458,003342: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024459,003343: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024460,003344: 32,2415 53747 DXCH RDOTMSAV
024461,003345: 32,2416 00006 EXTEND
024462,003346: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024463,003347: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024464,003348: 32,2421 30032 CA CDUX
024465,003349: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024466,003350: 32,2423 00006 EXTEND
024467,003351: 32,2424 30025 DCA TIME2 # SAVE TIME
024468,003352: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024469,003353: 32,2426 00006 EXTEND
024470,003354: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024471,003355: 32,2430 53107 DXCH TANG
024472,003356:
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|
Page 574 |
024474,003358: 32,2431 00003 RELINT
024475,003359: 32,2432 04616 TC BANKCALL
024476,003360: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024477,003361: 32,2434 04616 TC BANKCALL
024478,003362: 32,2435 17706 CADR RADSTALL # WAIT FOR READ COMPLETE
024479,003363: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
024480,003364: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024481,003365: 32,2440 00006 EXTEND
024482,003366: 32,2441 31331 DCA DNRRANGE # RANGE,RANGE RATE (RAW DATA)
024483,003367: 32,2442 53761 DXCH RANGRDOT
024484,003368: 32,2443 52162 DXCH MPAC +5
024485,003369: 32,2444 53755 DXCH MKTIME # MARK TIME
024486,003370: 32,2445 52160 DXCH MPAC +3
024487,003371: 32,2446 53460 DXCH AIG # CDUY, CDUZ
024488,003372: 32,2447 00006 EXTEND
024489,003373: 32,2450 31107 DCA TANG # PRESERVE TANG
024490,003374: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024491,003375: 32,2452 30156 CA MPAC +2
024492,003376: 32,2453 55461 TS AOG # CDUX
024493,003377: 32,2454 06042 TC INTPRET
024494,003378: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024495,003379: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024496,003380: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024497,003381: 32,2460 20217 14D # FT./SECOND PER BIT
024498,003382: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024499,003383: 32,2462 03751 STORE RDOTM
024500,003384: 32,2463 47135 SLOAD RTB
024501,003385: 32,2464 01107 TANG # GET TRUNION ANGLE
024502,003386: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024503,003387: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024504,003388: 32,2467 47135 SLOAD RTB
024505,003389: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
024506,003390: 32,2471 21577 CDULOGIC
024507,003391: 32,2472 17736 STODL RRSHAFT
024508,003392: 32,2473 01101 SAMPLSUM
024509,003393: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024510,003394: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS,SCALED -29
024511,003395: 32,2476 37757 STCALL RM
024512,003396: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024513,003397: 32,2500 17741 STODL RRBORSIT # AND SAVE
024514,003398: 32,2501 00025 20D
024515,003399: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024516,003400: 32,2503 51255 LPS20.1
024517,003401: 32,2504 77776 EXIT
024518,003402: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024519,003403: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024520,003404: 32,2507 31460 CA AMG
024521,003405: 32,2510 54767 TS CDUSPOT +2
024522,003406: 32,2511 31461 CA AOG
024523,003407: 32,2512 54771 TS CDUSPOT +4
024524,003408:
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|
Page 575 |
024526,003410: 32,2513 06042 TC INTPRET
024527,003411: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024528,003412: 32,2515 01101 RRTARGET
024529,003413: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024530,003414: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024531,003415: 32,2520 03741 RRBORSIT
024532,003416: 32,2521 65552 SL1 ACOS # BETWEEN THEM
024533,003417: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024534,003418: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024535,003419: 32,2524 24547 THREEDEG
024536,003420: 32,2525 64532 NORMEXIT # YES-NORMAL EXIT
024537,003421:
024538,003422: 32,2526 77776 EXIT # ERROR EXIT 2
024539,003423: 32,2527 34752 CAF BIT2 # SET ERROR CODE
024540,003424: 32,2530 54154 TS MPAC
024541,003425: 32,2531 12535 TCF OUT22.1
024542,003426:
024543,003427: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
024544,003428: 32,2533 34755 CAF ZERO
024545,003429: 32,2534 54154 TS MPAC
024546,003430: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024547,003431: 32,2536 04640 TC BANKJUMP
024548,003432: 32,2537 30101 CHEXERR CAE FLAGWRD5
024549,003433: 32,2540 74742 MASK RNGSCBIT
024550,003434: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024551,003435: 32,2542 12404 TCF READRDOT # YES-TAKE ANOTHER READING
024552,003436:
024553,003437: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024554,003438: 32,2544 54154 TS MPAC
024555,003439: 32,2545 02535 TC OUT22.1
024556,003440: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
024557,003441: 32,2550 1100 RRLOSVEC EQUALS RRTARGET
024558,003442:
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|
Page 576 |
024560,003444: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024561,003445:
024562,003446:
024563,003447: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024564,003448:
024565,003449: # FUNCTIONAL DESCRIPTION-
024566,003450: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024567,003451:
024568,003452:
024569,003453: # CALLING SEQUENCE- BANKCALL FOR LRS22.2
024570,003454:
024571,003455:
024572,003456: # SUBROUTINES CALLED: G+N,AUTO SETMAXDB
024573,003457: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024574,003458:
024575,003459:
024576,003460: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024577,003461:
024578,003462:
024579,003463: # ALARMS - NONE IN THE AUTO MODE
024580,003464:
024581,003465:
024582,003466: # ERASABLE INITIALIZATION REQUIRED -
024583,003467: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
024584,003468: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024585,003469: # BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
024586,003470:
024587,003471:
024588,003472: # DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024589,003473:
024590,003474:
024591,003475: 24,2000 SETLOC P20S
024592,003476: 24,2000 BANK
024593,003477: 24,3333 04645 LRS22.2 TC MAKECADR
024594,003478: 24,3334 55737 TS LRS22.1X
024595,003479: 24,3335 06042 TC INTPRET
024596,003480: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024597,003481: 24,3336 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024598,003482: 24,3337 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024599,003483: # LOS VECTOR,A HALF UNIT VECTOR
024600,003484: # IN NAV BASE AXES)
024601,003485: 24,3340 50025 DSU BMN
024602,003486: 24,3341 11355 30DEG
024603,003487: 24,3342 51347 OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
024604,003488: 24,3343 77776 EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
024605,003489: 24,3344 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024606,003490: 24,3345 54154 TS MPAC
024607,003491: 24,3346 13352 TCF OUT22.2
024608,003492: 24,3347 77776 OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
024609,003493:
|
|
Page 577 |
024611,003495: 24,3350 34755 CAF ZERO
024612,003496: 24,3351 54154 TS MPAC
024613,003497: 24,3352 31737 OUT22.2 CAE LRS22.1X
024614,003498: 24,3353 04640 TC BANKJUMP
024615,003499:
024616,003500:
024617,003501: 24,3354 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
024618,003502:
|
|
Page 578 |
024620,003504: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024621,003505: # MOD. NO 3 LOG SECTION - P20-25
024622,003506: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024623,003507:
024624,003508: # FUNCTIONAL DESCRIPTION
024625,003509:
024626,003510: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024627,003511: # RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024628,003512: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024629,003513:
024630,003514: # CALLING SEQUENCE
024631,003515: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
024632,003516: # R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024633,003517: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024634,003518: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024635,003519: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024636,003520: # PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
024637,003521:
024638,003522:
024639,003523: # SUBROUTINES CALLED
024640,003524: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024641,003525: # GETULC RARARANG INCORP2 NBSM INTSTALL
024642,003526:
024643,003527: # OUTPUT
024644,003528: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024645,003529: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024646,003530: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024647,003531: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024648,003532: # UPDATED W-MATRIX
024649,003533:
024650,003534:
024651,003535: # ERASABLE INITIALIZATION REQUIRED
024652,003536: # LM AND CSM STATE VECTORS
024653,003537: # W-MATRIX
024654,003538: # MARK TIME IN MKTIME
024655,003539: # RADAR RANGE IN RM METERS B-29
024656,003540: # RANGE RATE IN RDOTM METERS/CSES B-7
024657,003541: # SHAFT ANGLE IN RRSHAFT REVS.B0
024658,003542: # TRUNNION ANGLE IN RRTRUN REVS. B0
024659,003543: # GIMBAL ANGLES INNER IN AIG
024660,003544: # MIDDLE IN AMG
024661,003545: # OUTER IN AOG
024662,003546: # REFSMMAT
024663,003547: # RENDWFLG
024664,003548: # NOANGFLG
024665,003549: # VEHUPFLG
024666,003550:
024667,003551: # DEBRIS
024668,003552: # PUSHLIST--ALL
024669,003553: # MX, MY, MZ (VECTORS)
024670,003554:
|
|
Page 579 |
024672,003556: # ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
024673,003557:
024674,003558:
024675,003559: 13,2207 BANK 13
024676,003560: 26,2000 SETLOC P20S3
024677,003561: 26,2000 BANK
024678,003562:
024679,003563: 26,2416 E7,1456 EBANK= LOSCOUNT
024680,003564: 26,2416 COUNT* $$/LSR22
024681,003565: 26,2416 77624 LSR22.3 CALL
024682,003566: 26,2417 11226 GRP2PC
024683,003567: 26,2420 43014 BON SET
024684,003568: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024685,003569: 26,2422 55200 LSR22.4 # YES
024686,003570: 26,2423 02466 DMENFLG
024687,003571: 26,2424 45014 BOFF CALL
024688,003572: 26,2425 00747 VEHUPFLG
024689,003573: 26,2426 54460 DOLEM
024690,003574: 26,2427 27412 INTSTALL
024691,003575: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION
024692,003576: 26,2431 01674 VINTFLAG
024693,003577: 26,2432 26645 SETIFLGS
024694,003578: 26,2433 77624 CALL
024695,003579: 26,2434 55242 INTGRCAL
024696,003580: 26,2435 77624 CALL
024697,003581: 26,2436 11226 GRP2PC
024698,003582: 26,2437 77624 CALL
024699,003583: 26,2440 27412 INTSTALL
024700,003584: 26,2441 43014 CLEAR BOFF
024701,003585: 26,2442 01676 DIM0FLAG
024702,003586: 26,2443 02756 RENDWFLG
024703,003587: 26,2444 54450 NOTWCSM
024704,003588: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024705,003589: 26,2446 01476 DIM0FLAG
024706,003590: 26,2447 01475 D6OR9FLG
024707,003591: 26,2450 43014 NOTWCSM SET CLEAR
024708,003592: 26,2451 01474 VINTFLAG
024709,003593: 26,2452 01673 INTYPFLG
024710,003594: 26,2453 45014 SET CALL
024711,003595: 26,2454 01472 STATEFLG
024712,003596: 26,2455 55242 INTGRCAL
024713,003597: 26,2456 77650 GOTO
024714,003598: 26,2457 54510 MARKTEST
024715,003599: 26,2460 77624 DOLEM CALL
024716,003600: 26,2461 27412 INTSTALL
024717,003601: 26,2462 45014 SET CALL
024718,003602: 26,2463 01474 VINTFLAG
024719,003603: 26,2464 26645 SETIFLGS
024720,003604: 26,2465 77624 CALL
024721,003605: 26,2466 55242 INTGRCAL
024722,003606:
|
|
Page 580 |
024724,003608: 26,2467 77624 CALL
024725,003609: 26,2470 11226 GRP2PC
024726,003610: 26,2471 77624 CALL
024727,003611: 26,2472 27412 INTSTALL
024728,003612: 26,2473 43014 CLEAR BOFF
024729,003613: 26,2474 01676 DIM0FLAG
024730,003614: 26,2475 02756 RENDWFLG
024731,003615: 26,2476 54502 NOTWLEM
024732,003616: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024733,003617: 26,2500 01476 DIM0FLAG
024734,003618: 26,2501 01475 D6OR9FLG
024735,003619: 26,2502 43014 NOTWLEM CLEAR CLEAR
024736,003620: 26,2503 01673 INTYPFLG
024737,003621: 26,2504 01674 VINTFLAG
024738,003622: 26,2505 45014 SET CALL
024739,003623: 26,2506 01472 STATEFLG
024740,003624: 26,2507 55242 INTGRCAL
024741,003625: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024742,003626: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024743,003627: 26,2512 54514 RANGEBQ
024744,003628: 26,2513 55251 WLINIT # YES-REINITIALIZE
024745,003629: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024746,003630: 26,2515 04307 SURFFLAG
024747,003631: 26,2516 54524 RANGEBQ1
024748,003632: 26,2517 34755 CA ZERO
024749,003633: 26,2520 55745 TS R65CNTR
024750,003634: 26,2521 04616 TC BANKCALL
024751,003635: 26,2522 46123 CADR R65LEM
024752,003636: 26,2523 06042 TC INTPRET
024753,003637: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024754,003638: 26,2525 00000 0
024755,003639: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024756,003640: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024757,003641: 26,2530 77714 INCR,2
024758,003642: 26,2531 00002 2
024759,003643: 26,2532 45134 SETX2 SXA,2 CALL
024760,003644: 26,2533 03720 SCALSHFT # 0-MOON. 2-EARTH
024761,003645: 26,2534 11226 GRP2PC
024762,003646: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024763,003647: 26,2536 00001 1
024764,003648: 26,2537 01356 WHCHREAD
024765,003649: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024766,003650: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024767,003651: 26,2542 20635 28D
024768,003652: 26,2543 77634 RTB
024769,003653: 26,2544 21634 TPMODE # AND SAVE IN 20D
024770,003654: 26,2545 00025 STORE 20D
024771,003655: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS,DELTAQ
024772,003656: 26,2547 55333 GETULC # B-VECTORS FOR RANGE
024773,003657: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024774,003658:
|
|
Page 581 |
024776,003660: 26,2551 00707 VEHUPFLG
024777,003661: 26,2552 54553 +1
024778,003662: 26,2553 27525 STOVL BVECTOR
024779,003663: 26,2554 06524 ZEROVECS
024780,003664: 26,2555 03533 STORE BVECTOR +6 # B1
024781,003665: 26,2556 17541 STODL BVECTOR +12D # B2
024782,003666: 26,2557 00045 36D
024783,003667: 26,2560 44257 SRR* BDSU
024784,003668: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024785,003669: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024786,003670: 26,2563 77657 SLR*
024787,003671: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024788,003672: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024789,003673: 26,2566 00045 36D # RLC B-29/B-27
024790,003674: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE
024791,003675: 26,2570 00047 X1
024792,003676: 26,2571 53605 DMP SR*
024793,003677: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
024794,003678: 26,2573 20577 0 -2,1 # UNNORMALIZE
024795,003679: 26,2574 53657 SR* SR*
024796,003680: 26,2575 20601 0,1
024797,003681: 26,2576 57176 0,2
024798,003682: 26,2577 47057 SR* RTB
024799,003683: 26,2600 57176 0,2
024800,003684: 26,2601 21634 TPMODE
024801,003685: 26,2602 02707 STORE VARIANCE # B-40
024802,003686: 26,2603 76276 DCOMP TAD
024803,003687: 26,2604 00025 20D # B-40
024804,003688: 26,2605 72240 BMN TLOAD
024805,003689: 26,2606 54611 QOK
024806,003690: 26,2607 00025 20D # B-40
024807,003691: 26,2610 02707 STORE VARIANCE
024808,003692: 26,2611 77624 QOK CALL
024809,003693: 26,2612 55401 LGCUPDTE
024810,003694:
024811,003695: 26,2613 45131 SSP CALL
024812,003696: 26,2614 01357 WHCHREAD
024813,003697: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024814,003698: 26,2616 11226 GRP2PC
024815,003699: 26,2617 77624 CALL # B-VECTOR,DELTAQ FOR RANGE RATE
024816,003700: 26,2620 55333 GETULC
024817,003701: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024818,003702: 26,2622 00045 36D # AND SHIFT TO B-23
024819,003703: 26,2623 57202 0 -4,2
024820,003704: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D
024821,003705: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024822,003706: 26,2626 00707 VEHUPFLG
024823,003707: 26,2627 54630 +1
024824,003708: 26,2630 77761 VXSC
024825,003709: 26,2631 00045 36D # B1 = RLC (B-24/B-22)
024826,003710:
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|
Page 582 |
024828,003712: 26,2632 27533 STOVL BVECTOR +6
024829,003713: 26,2633 01653 NUVLEM
024830,003714: 26,2634 53257 VSR* VAD
024831,003715: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024832,003716: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5
024833,003717: 26,2637 53715 PDVL VSR* # VL TO PD6
024834,003718: 26,2640 01601 NUVCSM
024835,003719: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024836,003720: 26,2642 52255 VAD VSU
024837,003721: 26,2643 01615 VCVCSM
024838,003722: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6
024839,003723: 26,2645 00001 0
024840,003724: 26,2646 00007 6
024841,003725: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024842,003726: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024843,003727: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024844,003728: 26,2652 01773 RATEVAR
024845,003729: 26,2653 02707 STORE VARIANCE
024846,003730: 26,2654 54335 SLOAD SR
024847,003731: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024848,003732: 26,2656 20621 16D # SHIFT TO DP (B -4)
024849,003733: 26,2657 00031 STORE 24D # AND SAVE IN 24D
024850,003734: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024851,003735: 26,2661 02707 VARIANCE
024852,003736: 26,2662 54666 VOK # BRANCH - NO
024853,003737: 26,2663 77745 DLOAD # YES - USE MINIMUM VARIANCE
024854,003738: 26,2664 00031 24D
024855,003739: 26,2665 02707 STORE VARIANCE
024856,003740: 26,2666 60545 VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
024857,003741: 26,2667 53725 PDDL SLR* # TO B-10/B-8
024858,003742: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024859,003743: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8
024860,003744: 26,2672 77625 DSU
024861,003745: 26,2673 77675 DMPR
024862,003746: 26,2674 00045 36D
024863,003747: 26,2675 27547 STOVL DELTAQ # B-33
024864,003748: 26,2676 00001 0 # NOW GET B0
024865,003749: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC
024866,003750: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024867,003751: 26,2701 00707 VEHUPFLG
024868,003752: 26,2702 54703 +1
024869,003753: 26,2703 77657 VSR*
024870,003754: 26,2704 57200 0 -2,2 # SCALED B-5
024871,003755: 26,2705 27525 STOVL BVECTOR
024872,003756: 26,2706 06524 ZEROVECS
024873,003757: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024874,003758: 26,2710 27541 STOVL BVECTOR +12D
024875,003759: 26,2711 03525 BVECTOR
024876,003760: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024877,003761: 26,2713 00025 20D # SHIFT COUNT IN 20D
024878,003762:
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|
Page 583 |
024880,003764: 26,2714 51575 VLOAD ABVAL
024881,003765: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024882,003766: 26,2716 71301 NORM DLOAD
024883,003767: 26,2717 00027 22D # SHIFT COUNT IN 22D
024884,003768: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER
024885,003769: 26,2721 50025 DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
024886,003770: 26,2722 00025 20D
024887,003771: 26,2723 54727 VOK1
024888,003772: 26,2724 52150 LXA,1 GOTO
024889,003773: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024890,003774: 26,2726 54731 VOK2
024891,003775: 26,2727 77750 VOK1 LXA,1
024892,003776: 26,2730 00024 20D
024893,003777: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
024894,003778: 26,2732 03525 BVECTOR # WITH THIS SHIFT COUNT
024895,003779: 26,2733 20201 0,1
024896,003780: 26,2734 27525 STOVL BVECTOR
024897,003781: 26,2735 03533 BVECTOR +6
024898,003782: 26,2736 77657 VSL*
024899,003783: 26,2737 20201 0,1
024900,003784: 26,2740 17533 STODL BVECTOR +6
024901,003785: 26,2741 03547 DELTAQ
024902,003786: 26,2742 77657 SL*
024903,003787: 26,2743 20201 0,1
024904,003788: 26,2744 03547 STORE DELTAQ
024905,003789: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024906,003790: 26,2746 00045 36D
024907,003791: 26,2747 20200 0 -1,1
024908,003792: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024909,003793: 26,2751 02707 VARIANCE
024910,003794: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024911,003795: 26,2753 21634 TPMODE
024912,003796: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024913,003797: 26,2755 55401 LGCUPDTE
024914,003798:
024915,003799: 26,2756 77624 CALL
024916,003800: 26,2757 11226 GRP2PC
024917,003801: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE
024918,003802: 26,2761 04307 SURFFLAG
024919,003803: 26,2762 55176 RENDEND # NO
024920,003804: 26,2763 E7,1457 EBANK= AIG
024921,003805: 26,2763 33332 MXMYMZ CAF AIGBANK
024922,003806: 26,2764 54006 TS BBANK
024923,003807: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024924,003808: 26,2766 54765 TS CDUSPOT
024925,003809: 26,2767 31460 CA AMG
024926,003810: 26,2770 54767 TS CDUSPOT +2
024927,003811: 26,2771 31461 CA AOG
024928,003812: 26,2772 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024929,003813: 26,2773 06042 TC INTPRET
024930,003814:
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|
Page 584 |
024932,003816: 26,2774 45175 VLOAD CALL
024933,003817: 26,2775 06522 UNITX
024934,003818: 26,2776 47666 TRG*NBSM
024935,003819: 26,2777 76505 VXM VSL1
024936,003820: 26,3000 01734 REFSMMAT
024937,003821: 26,3001 27677 STOVL MX
024938,003822: 26,3002 06520 UNITY
024939,003823: 26,3003 77624 CALL
024940,003824: 26,3004 47675 *NBSM*
024941,003825: 26,3005 76505 VXM VSL1
024942,003826: 26,3006 01734 REFSMMAT
024943,003827: 26,3007 27705 STOVL MY
024944,003828: 26,3010 06516 UNITZ
024945,003829: 26,3011 77624 CALL
024946,003830: 26,3012 47675 *NBSM*
024947,003831: 26,3013 76505 VXM VSL1
024948,003832: 26,3014 01734 REFSMMAT
024949,003833: 26,3015 37713 SHAFTBQ STCALL MZ
024950,003834: 26,3016 55361 RADARANG
024951,003835: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024952,003836: 26,3020 01357 WHCHREAD
024953,003837: 26,3021 00003 DEC 3 B-14
024954,003838: 26,3022 03724 ULC
024955,003839: 26,3023 72441 DOT SL1
024956,003840: 26,3024 03677 MX
024957,003841: 26,3025 24023 STOVL SINTH # 18D
024958,003842: 26,3026 03724 ULC
024959,003843: 26,3027 72441 DOT SL1
024960,003844: 26,3030 03713 MZ
024961,003845: 26,3031 34021 STCALL COSTH # 16D
024962,003846: 26,3032 26510 ARCTAN
024963,003847: 26,3033 41221 BDSU DMP
024964,003848: 26,3034 03736 RRSHAFT
024965,003849: 26,3035 15441 2PI/8
024966,003850: 26,3036 41472 SL3R PUSH
024967,003851: 26,3037 52545 DLOAD SL3
024968,003852: 26,3040 01701 X789
024969,003853: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
024970,003854: 26,3042 56176 0,2
024971,003855: 26,3043 53605 DMP SRR*
024972,003856: 26,3044 03722 RXZ
024973,003857: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
024974,003858: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
024975,003859: 26,3047 03724 ULC
024976,003860: 26,3050 76435 VXV VSL1
024977,003861: 26,3051 03705 MY
024978,003862: 26,3052 77656 UNIT
024979,003863: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
024980,003864: 26,3054 00747 VEHUPFLG
024981,003865: 26,3055 55056 +1
024982,003866:
|
|
Page 585 |
024984,003868: 26,3056 27525 STOVL BVECTOR
024985,003869: 26,3057 06524 ZEROVECS
024986,003870: 26,3060 03533 STORE BVECTOR +6
024987,003871: 26,3061 17541 STODL BVECTOR +12D
024988,003872: 26,3062 03722 RXZ
024989,003873: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
024990,003874: 26,3064 20577 0 -2,1
024991,003875: 26,3065 56176 0,2
024992,003876: 26,3066 03541 STORE BVECTOR +12D
024993,003877: 26,3067 77735 SLOAD
024994,003878: 26,3070 02011 SHAFTVAR
024995,003879: 26,3071 41215 DAD DMP
024996,003880: 26,3072 15436 IMUVAR # RAD**2 B12
024997,003881: 26,3073 03722 RXZ
024998,003882: 26,3074 41257 SRR* DMP
024999,003883: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025000,003884: 26,3076 03722 RXZ
025001,003885: 26,3077 53657 SR* SR*
025002,003886: 26,3100 20577 0 -2,1
025003,003887: 26,3101 57176 0,2
025004,003888: 26,3102 47057 SR* RTB
025005,003889: 26,3103 57176 0,2
025006,003890: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025007,003891: 26,3105 36707 STCALL VARIANCE # B-40
025008,003892: 26,3106 55401 LGCUPDTE
025009,003893:
025010,003894: 26,3107 77624 CALL
025011,003895: 26,3110 11226 GRP2PC
025012,003896: 26,3111 77624 TRUNBQ CALL
025013,003897: 26,3112 55361 RADARANG
025014,003898: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025015,003899: 26,3114 01357 WHCHREAD
025016,003900: 26,3115 00004 DEC 4 B-14
025017,003901: 26,3116 03724 ULC
025018,003902: 26,3117 76435 VXV VSL1
025019,003903: 26,3120 03705 MY
025020,003904: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC
025021,003905: 26,3122 03724 ULC
025022,003906: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025023,003907: 26,3124 00747 VEHUPFLG
025024,003908: 26,3125 55126 +1
025025,003909: 26,3126 27525 STOVL BVECTOR
025026,003910: 26,3127 06524 ZEROVECS
025027,003911: 26,3130 03533 STORE BVECTOR +6
025028,003912: 26,3131 17541 STODL BVECTOR +12D
025029,003913: 26,3132 03722 RXZ
025030,003914: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025031,003915: 26,3134 20577 0 -2,1
025032,003916: 26,3135 56176 0,2
025033,003917: 26,3136 03543 STORE BVECTOR +14D
025034,003918:
|
|
Page 586 |
025036,003920: 26,3137 77735 SLOAD
025037,003921: 26,3140 02012 TRUNVAR
025038,003922: 26,3141 41215 DAD DMP
025039,003923: 26,3142 15436 IMUVAR
025040,003924: 26,3143 03722 RXZ
025041,003925: 26,3144 41257 SRR* DMP
025042,003926: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025043,003927: 26,3146 03722 RXZ
025044,003928: 26,3147 53657 SR* SR*
025045,003929: 26,3150 20577 0 -2,1
025046,003930: 26,3151 57176 0,2
025047,003931: 26,3152 47057 SR* RTB
025048,003932: 26,3153 57176 0,2
025049,003933: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025050,003934: 26,3155 16707 STODL VARIANCE
025051,003935: 26,3156 03732 SINTHETA
025052,003936: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025053,003937: 26,3160 03734 RRTRUN
025054,003938: 26,3161 56405 DMP SL3R
025055,003939: 26,3162 15441 2PI/8
025056,003940: 26,3163 52525 PDDL SL3
025057,003941: 26,3164 01703 X789 +2
025058,003942: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025059,003943: 26,3166 56176 0,2
025060,003944: 26,3167 53605 DMP SRR*
025061,003945: 26,3170 03722 RXZ
025062,003946: 26,3171 21601 0,1
025063,003947: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025064,003948: 26,3173 55401 LGCUPDTE
025065,003949: 26,3174 77624 CALL
025066,003950: 26,3175 11226 GRP2PC
025067,003951: 26,3176 77650 RENDEND GOTO
025068,003952: 26,3177 50562 R22LEM93
025069,003953: # FUNCTIONAL DESCRIPTION
025070,003954: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025071,003955: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025072,003956: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025073,003957:
025074,003958: # SUBROUTINES CALLED
025075,003959: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025076,003960: # INTEGRV GETULC INCORP2
025077,003961:
025078,003962: # OUTPUT
025079,003963: # CORRECTED CSM STATE VECTOR (PERMANENT)
025080,003964: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025081,003965: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025082,003966: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025083,003967: # UPDATED W-MATRIX
025084,003968:
|
|
Page 587 |
025086,003970: # ERASABLE INITIALIZATION REQUIRED
025087,003971: # LM AND CSM STATE VECTORS
025088,003972: # W-MATRIX
025089,003973: # MARK TIME IN MKTIME
025090,003974: # RADAR RANGE IN RM METERS B-29
025091,003975: # RANGE RATE IN RDOTM METERS/CSEC B-7
025092,003976: # VEHUPFLG
025093,003977:
025094,003978:
025095,003979: 26,3200 77624 LSR22.4 CALL
025096,003980: 26,3201 27412 INTSTALL
025097,003981: 26,3202 43014 SET CLEAR
025098,003982: 26,3203 01472 STATEFLG
025099,003983: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025100,003984: 26,3205 77624 CALL
025101,003985: 26,3206 55242 INTGRCAL
025102,003986: 26,3207 77624 CALL
025103,003987: 26,3210 11226 GRP2PC
025104,003988: 26,3211 45014 CLEAR CALL
025105,003989: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025106,003990: 26,3213 27412 INTSTALL
025107,003991: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025108,003992: 26,3215 03463 MARKCTR
025109,003993: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025110,003994: 26,3217 43014 CLEAR SET
025111,003995: 26,3220 01675 D6OR9FLG
025112,003996: 26,3221 01476 DIM0FLAG
025113,003997: 26,3222 43014 SET CLEAR
025114,003998: 26,3223 01474 VINTFLAG
025115,003999: 26,3224 01673 INTYPFLG
025116,004000: 26,3225 77624 CALL
025117,004001: 26,3226 55242 INTGRCAL
025118,004002: 26,3227 77650 GOTO
025119,004003: 26,3230 54514 RANGEBQ
025120,004004:
025121,004005:
025122,004006: 26,3231 77624 INITWMX6 CALL
025123,004007: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025124,004008: 26,3233 45014 SET CALL
025125,004009: 26,3234 01474 VINTFLAG
025126,004010: 26,3235 26645 SETIFLGS
025127,004011: 26,3236 77624 CALL
025128,004012: 26,3237 55242 INTGRCAL
025129,004013: 26,3240 77650 GOTO
025130,004014: 26,3241 54514 RANGEBQ
025131,004015:
025132,004016: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025133,004017:
025134,004018: 26,3242 71220 INTGRCAL STQ DLOAD
025135,004019: 26,3243 03675 IGRET
025136,004020: 26,3244 03755 MKTIME
025137,004021:
|
|
Page 588 |
025139,004023: 26,3245 34041 STCALL TDEC1
025140,004024: 26,3246 27135 INTEGRV
025141,004025: 26,3247 77650 GOTO
025142,004026: 26,3250 03675 IGRET
025143,004027:
025144,004028: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025145,004029: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025146,004030:
025147,004031: 26,3251 E5,1400 EBANK= W
025148,004032: 26,3251 77776 WLINIT EXIT
025149,004033: 26,3252 33331 CAF WBANK
025150,004034: 26,3253 54006 TS BBANK
025151,004035: 26,3254 33437 CAF WSIZE
025152,004036: 26,3255 55256 TS W.IND
025153,004037: 26,3256 34755 CAF ZERO
025154,004038: 26,3257 51256 INDEX W.IND
025155,004039: 26,3260 55400 TS W
025156,004040: 26,3261 11256 CCS W.IND
025157,004041: 26,3262 03255 TC -5
025158,004042: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025159,004043: 26,3264 54006 TS BBANK
025160,004044: 26,3265 06042 TC INTPRET
025161,004045: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
025162,004046: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025163,004047: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025164,004048: 26,3271 02001 WRENDPOS
025165,004049: 26,3272 77650 GOTO
025166,004050: 26,3273 55276 WPOSTORE
025167,004051: 26,3274 77735 WLSRFPOS SLOAD
025168,004052: 26,3275 02007 WSURFPOS
025169,004053: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025170,004054: 26,3277 20606 5
025171,004055: 26,3300 02401 STORE W
025172,004056: 26,3301 02411 STORE W +8D
025173,004057: 26,3302 02421 STORE W +16D
025174,004058: 26,3303 67214 BON SLOAD
025175,004059: 26,3304 04307 SURFFLAG
025176,004060: 26,3305 55311 WLSRFVEL
025177,004061: 26,3306 02002 WRENDVEL
025178,004062: 26,3307 77650 GOTO
025179,004063: 26,3310 55313 WVELSTOR
025180,004064: 26,3311 77735 WLSRFVEL SLOAD
025181,004065: 26,3312 02010 WSURFVEL
025182,004066: 26,3313 02511 WVELSTOR STORE W +72D
025183,004067: 26,3314 02521 STORE W +80D
025184,004068: 26,3315 02531 STORE W +88D
025185,004069: 26,3316 77735 SLOAD
025186,004070: 26,3317 02003 WSHAFT
025187,004071: 26,3320 02621 STORE W +144D
025188,004072: 26,3321 77735 SLOAD
025189,004073:
|
|
Page 589 |
025191,004075: 26,3322 02004 WTRUN
025192,004076: 26,3323 02631 STORE W +152D
025193,004077: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025194,004078: 26,3325 02476 RENDWFLG
025195,004079: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025196,004080: 26,3327 00000 0
025197,004081: 26,3330 77616 RVQ
025198,004082:
025199,004083: 26,3331 E5,1400 EBANK= W
025200,004084: 26,3331 54065 WBANK BBCON WLINIT
025201,004085: 26,3332 E7,1457 EBANK= AIG
025202,004086: 26,3332 54067 AIGBANK BBCON LSR22.3
025203,004087:
025204,004088: # GETULC
025205,004089:
025206,004090: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025207,004091: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025208,004092: # MAGNITUDE IN 36D.
025209,004093:
025210,004094: 26,3333 77201 GETULC SETPD VLOAD
025211,004095: 26,3334 00001 0
025212,004096: 26,3335 01645 DELTALEM
025213,004097: 26,3336 77754 LXA,2
025214,004098: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025215,004099: 26,3340 53257 VSR* VAD
025216,004100: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025217,004101: 26,3342 01661 RCVLEM
025218,004102: 26,3343 53715 PDVL VSR*
025219,004103: 26,3344 01573 DELTACSM
025220,004104: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025221,004105: 26,3346 52255 VAD VSU
025222,004106: 26,3347 01607 RCVCSM
025223,004107: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025224,004108: 26,3351 21725 NORMUNX1
025225,004109: 26,3352 17724 STODL ULC
025226,004110: 26,3353 00045 36D
025227,004111: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025228,004112: 26,3355 20201 0,1
025229,004113: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025230,004114: 26,3357 03724 ULC
025231,004115: 26,3360 77616 RVQ
025232,004116: # RADARANG
025233,004117:
025234,004118: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025235,004119: # RXZ = (SQRT (1-SINTHETA**2))RLC
025236,004120: # OUTPUT
025237,004121: # ULC IN ULC, PD0
025238,004122: # RLC IN PD36D
025239,004123: # SIN THETA IN SINTHETA AND PD6
025240,004124: # RXZ NORM IN RXZ (N IN X1)
025241,004125:
|
|
Page 590 |
025243,004127: 26,3361 45020 RADARANG STQ CALL
025244,004128: 26,3362 03675 RDRET
025245,004129: 26,3363 55333 GETULC
025246,004130: 26,3364 50276 VCOMP DOT
025247,004131: 26,3365 03705 MY
025248,004132: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025249,004133: 26,3367 03732 STORE SINTHETA
025250,004134: 26,3370 44316 DSQ BDSU
025251,004135: 26,3371 06514 DP1/4TH # 1 - (SIN THETA)**2
025252,004136: 26,3372 41366 SQRT DMP
025253,004137: 26,3373 00045 36D
025254,004138: 26,3374 60352 SL1 NORM
025255,004139: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025256,004140: 26,3376 03722 STORE RXZ
025257,004141: 26,3377 77650 GOTO # EXIT
025258,004142: 26,3400 03675 RDRET
025259,004143: 26,3401 45020 LGCUPDTE STQ CALL
025260,004144: 26,3402 03675 LGRET
025261,004145: 26,3403 46533 INCORP1
025262,004146: 26,3404 51575 VLOAD ABVAL
025263,004147: 26,3405 02673 DELTAX +6
025264,004148: 26,3406 53754 LXA,2 SRR*
025265,004149: 26,3407 03720 SCALSHFT # 0-MOON. 2-EARTH
025266,004150: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025267,004151: 26,3411 24317 STOVL R22DISP +2
025268,004152: 26,3412 02665 DELTAX
025269,004153: 26,3413 53646 ABVAL SRR*
025270,004154: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025271,004155: 26,3415 00315 STORE R22DISP
025272,004156: 26,3416 54335 SLOAD SR
025273,004157: 26,3417 02005 RMAX
025274,004158: 26,3420 20613 10D
025275,004159: 26,3421 50025 DSU BMN
025276,004160: 26,3422 00315 R22DISP
025277,004161: 26,3423 50566 R22LEM96 # GO DISPLAY
025278,004162: 26,3424 45335 SLOAD DSU
025279,004163: 26,3425 02006 VMAX
025280,004164: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025281,004165: 26,3427 77640 BMN
025282,004166: 26,3430 50566 R22LEM96 # GO DISPLAY
025283,004167: 26,3431 77624 ASTOK CALL
025284,004168: 26,3432 46745 INCORP2
025285,004169: 26,3433 77650 GOTO
025286,004170: 26,3434 03675 LGRET
025287,004171: 26,3435 00103 03370 IMUVAR 2DEC E-6 B12 # RAD**2
025288,004172: 26,3437 00241 WSIZE DEC 161 B-14
025289,004173: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025290,004174: 26,3442 E7,1456 EBANK= LOSCOUNT
025291,004175:
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|
Page 591 |
025293,004177:
025294,004178: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025295,004179: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025296,004180:
025297,004181:
025298,004182: # FUNCTIONAL DESCRIPTION
025299,004183:
025300,004184: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025301,004185: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025302,004186: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025303,004187: # ATTITUDE MANEUVER.
025304,004188:
025305,004189:
025306,004190: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025307,004191:
025308,004192:
025309,004193: # SUBROUTINES CALLED
025310,004194:
025311,004195: # LEMCONIC R61LEM
025312,004196: # CSMCONIC RRDESSM
025313,004197: # JOBDELAY FLAGDOWN
025314,004198: # WAITLIST FLAGUP
025315,004199: # RRNB BANKCALL
025316,004200:
025317,004201:
025318,004202: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025319,004203:
025320,004204:
025321,004205: # OUTPUT
025322,004206:
025323,004207: # DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
025324,004208: # 11111 INDICATES LOCKON ACHIEVED
025325,004209: # OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025326,004210:
025327,004211: # ERASABLE INITIALIZATION REQUIRED
025328,004212: # SEARCH FLAG MUST BE SET
025329,004213: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025330,004214: # DEBRIS
025331,004215:
025332,004216: # RLMSRCH UXVECT
025333,004217: # VXRLM UYVECT
025334,004218: # LOSDESRD NSRCHPNT
025335,004219: # DATAGOOD OMEGAD
025336,004220: # MPAC PUSHLIST
025337,004221:
025338,004222:
025339,004223: 26,3442 COUNT* $$/LRS24
025340,004224: 26,3442 34755 LRS24.1 CAF ZERO
025341,004225: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025342,004226: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025343,004227: 26,3445 00006 EXTEND
025344,004228:
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|
Page 592 |
025346,004230: 26,3446 05012 WOR CHAN12
025347,004231: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025348,004232: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025349,004233: 26,3451 00006 EXTEND
025350,004234: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025351,004235:
025352,004236:
025353,004237: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025354,004238: 26,3454 00004 INHINT
025355,004239: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025356,004240: 26,3456 E7,1456 EBANK= LOSCOUNT
025357,004241: 26,3456 03643 54067 2CADR CALLDGCH
025358,004242: 26,3460 00003 RELINT
025359,004243: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025360,004244: 26,3462 74736 MASK REMODBIT
025361,004245: 26,3463 00006 EXTEND
025362,004246: 26,3464 15155 BZF ENDOFJOB # YES- WAIT SIX SECONDS
025363,004247: 26,3465 06042 TC INTPRET
025364,004248:
025365,004249: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025366,004250: 26,3467 21574 LOADTIME
025367,004251: 26,3470 15715 1.5SECS
025368,004252: 26,3471 34041 LRS24.11 STCALL TDEC1
025369,004253: 26,3472 27101 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025370,004254: 26,3473 77775 VLOAD
025371,004255: 26,3474 00001 RATT
025372,004256: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025373,004257: 26,3476 00007 VATT
025374,004258: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025375,004259: 26,3500 00015 TAT
025376,004260: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025377,004261: 26,3502 27067 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025378,004262: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
025379,004263: 26,3504 00001 RATT
025380,004264: 26,3505 03676 RLMSRCH
025381,004265: 26,3506 77656 UNIT
025382,004266: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025383,004267: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025384,004268: 26,3511 47256 UNIT VXV
025385,004269: 26,3512 00001 RATT
025386,004270: 26,3513 77656 UNIT
025387,004271: 26,3514 03704 STORE VXRCM
025388,004272: 26,3515 52375 VLOAD VSU
025389,004273: 26,3516 00007 VATT
025390,004274: 26,3517 03740 SAVLEMV
025391,004275: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025392,004276: 26,3521 01734 REFSMMAT
025393,004277: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025394,004278: 26,3523 53135 SLOAD BZE # CHECK IF N=0
025395,004279:
|
|
Page 593 |
025397,004281: 26,3524 03737 NSRCHPNT
025398,004282: 26,3525 55636 DESGLOS # YES-DESIGNATE ALONG LOS
025399,004283: 26,3526 53025 DSU BZE # IS N=1
025400,004284: 26,3527 15711 ONEOCT # YES-CALCULATE X AND Y AXES OF
025401,004285: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025402,004286: 26,3531 77775 VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
025403,004287: 26,3532 03720 UXVECT
025404,004288: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025405,004289: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025406,004290: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025407,004291: 26,3536 77761 VXSC
025408,004292: 26,3537 15705 SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
025409,004293: 26,3540 27720 STOVL UXVECT
025410,004294: 26,3541 00015 UXVECTPR
025411,004295: 26,3542 53361 VXSC VAD
025412,004296: 26,3543 06522 COS60DEG
025413,004297: 26,3544 03720 UXVECT
025414,004298: 26,3545 77656 UNIT
025415,004299: 26,3546 27720 STOVL UXVECT
025416,004300: 26,3547 00015 UXVECTPR # UY=(-SIN60)UXPR +(COS 60)UYPR
025417,004301: 26,3550 77761 VXSC
025418,004302: 26,3551 15705 SIN60DEG
025419,004303: 26,3552 27726 STOVL UYVECT
025420,004304: 26,3553 00023 UYVECTPR
025421,004305: 26,3554 52361 VXSC VSU
025422,004306: 26,3555 06522 COS60DEG
025423,004307: 26,3556 03726 UYVECT
025424,004308: 26,3557 77656 UNIT
025425,004309: 26,3560 03726 STORE UYVECT
025426,004310: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025427,004311: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025428,004312: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025429,004313: 26,3564 64256 UNIT MXV
025430,004314: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025431,004315: 26,3566 77772 VSL1
025432,004316: 26,3567 25101 CONTDESG STOVL RRTARGET
025433,004317: 26,3570 03740 SAVLEMV
025434,004318: 26,3571 01761 STORE LOSVEL
025435,004319: 26,3572 77776 EXIT
025436,004320: 26,3573 00004 INHINT
025437,004321: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025438,004322: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025439,004323: # POINT IN THE PATTERN
025440,004324: 26,3576 44735 CONTDES2 CS CDESBIT
025441,004325: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025442,004326: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025443,004327: 26,3601 54110 TS RADMODES
025444,004328: 26,3602 06042 TC INTPRET
025445,004329:
025446,004330: 26,3603 77624 CALL
025447,004331:
|
|
Page 594 |
025449,004333: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025450,004334:
025451,004335: 26,3605 77776 EXIT
025452,004336: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025453,004337: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025454,004338:
025455,004339:
025456,004340: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025457,004341: # SPACECRAFT +Z AXIS
025458,004342: 26,3610 00006 OMEGCALC EXTEND
025459,004343: 26,3611 30036 DCA CDUT
025460,004344: 26,3612 53753 DXCH TANGNB
025461,004345: 26,3613 06042 TC INTPRET
025462,004346: 26,3614 77624 CALL
025463,004347: 26,3615 46041 RRNB
025464,004348: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025465,004349: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025466,004350: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025467,004351: 26,3621 77776 EXIT
025468,004352: 26,3622 05155 TC ENDOFJOB
025469,004353:
|
|
Page 595 |
025471,004355: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025472,004356:
025473,004357:
025474,004358: 26,3623 47375 CALCXY VLOAD VXV
025475,004359: 26,3624 03704 VXRCM
025476,004360: 26,3625 03712 LOSDESRD
025477,004361: 26,3626 77656 UNIT
025478,004362: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025479,004363: 26,3630 03712 LOSDESRD
025480,004364: 26,3631 53435 VXV UNIT
025481,004365: 26,3632 03720 UXVECT
025482,004366: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025483,004367: 26,3634 77650 GOTO
025484,004368: 26,3635 55561 OFFCALC
025485,004369:
025486,004370:
025487,004371: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025488,004372: 26,3637 03712 LOSDESRD
025489,004373: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025490,004374: 26,3641 52172 VSL1 GOTO
025491,004375: 26,3642 55567 CONTDESG
025492,004376:
025493,004377:
025494,004378: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025495,004379: 26,3644 74745 MASK RNDVZBIT
025496,004380: 26,3645 00006 EXTEND
025497,004381: 26,3646 15261 BZF TASKOVER # NO-EXIT R24
025498,004382: 26,3647 37716 CAF PRIO25 # YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
025499,004383: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025500,004384: 26,3651 E7,1675 EBANK= RLMSRCH
025501,004385: 26,3651 03654 54067 2CADR DATGDCHK
025502,004386: 26,3653 05261 TC TASKOVER
025503,004387:
025504,004388:
025505,004389: 26,3654 34750 DATGDCHK CAF BIT4
025506,004390: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025507,004391: 26,3656 02033 RAND CHAN33
025508,004392: 26,3657 00006 EXTEND
025509,004393: 26,3660 13667 BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
025510,004394: 26,3661 46245 CS SIX
025511,004395: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025512,004396: 26,3663 00006 EXTEND
025513,004397: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025514,004398: 26,3665 25736 INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
025515,004399: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025516,004400:
025517,004401:
025518,004402: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025519,004403: 26,3670 55733 TS DATAGOOD
025520,004404:
|
|
Page 596 |
025522,004406: 26,3671 00004 INHINT
025523,004407: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
025524,004408: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025525,004409: 26,3674 05155 TC ENDOFJOB
025526,004410:
025527,004411: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527-LOS NOT IN MODE2
025528,004412: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025529,004413: 26,3677 00004 INHINT # REQUIRED IN P20
025530,004414: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025531,004415: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025532,004416: 26,3702 05155 TC ENDOFJOB
025533,004417:
025534,004418:
025535,004419: 26,3703 25547 ALL1S DEC 11111 B-14
025536,004420: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025537,004421: 26,3706 23,2521 COS60DEG = DPHALF # (2DEC .50)
025538,004422: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025539,004423: 26,3706 UYVECTPR EQUALS 18D
025540,004424: 26,3706 RLMUNIT EQUALS 12D
025541,004425: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025542,004426: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
025543,004427: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025544,004428: # **** ONEOCT NEEDS A LOWER ORDER ****
025545,004429: # **** WORD OF ZEROES ****
025546,004430: 26,3713 01130 6SECONDS DEC 600 B-14
025547,004431: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025548,004432: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS
025549,004433: 4616 BLOCK 02
025550,004434: 6000 SETLOC FFTAG5
025551,004435: 6000 BANK
025552,004436: 6025 COUNT* $$/P20
025553,004437: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025554,004438: 6026 36031 DCA VB56CADR # GOTOPOOH
025555,004439: 6027 15165 TCF SUPDXCHZ
025556,004440: 6030 E7,1471 EBANK= WHOCARES
025557,004441: 6030 03041 66107 VB56CADR 2CADR TRMTRACK
025558,004442:
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|
Page 597 |
025560,004444: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025561,004445: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025562,004446:
025563,004447:
025564,004448: # FUNCTIONAL DESCRIPTION:
025565,004449:
025566,004450: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025567,004451: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025568,004452: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025569,004453: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025570,004454: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025571,004455: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025572,004456:
025573,004457: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025574,004458:
025575,004459:
025576,004460: # SUBROUTINES CALLED:
025577,004461:
025578,004462: # REMODE RRTONLY
025579,004463: # UNIT MPACVBUF
025580,004464: # QUICTRIG AX*SR*T
025581,004465: # SPSIN SPCOS
025582,004466: # SETRRECR RROUT
025583,004467: # RRRDOT RRRANGE
025584,004468:
025585,004469:
025586,004470: # EXIT: TO NOR29NOW, IN SERVICER.
025587,004471:
025588,004472:
025589,004473: # OUTPUT: (ALL FOR DOWNLINK)
025590,004474:
025591,004475: # RM RDOTM (RAW)
025592,004476: # AIG AMG
025593,004477: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025594,004478: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025595,004479: # MKTIME
025596,004480:
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|
Page 598 |
025598,004482:
025599,004483: # ERASABLE INITIALIZATION REQUIRED:
025600,004484:
025601,004485: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025602,004486: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025603,004487: # R(CSM) V(CSM)
025604,004488: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025605,004489:
025606,004490:
025607,004491: # DEBRIS:
025608,004492:
025609,004493: # RADMODES (BIT 10)
025610,004494: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025611,004495: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025612,004496: # LOSCMFLG READRFLG
025613,004497:
025614,004498:
025615,004499: # ALARMS: NONE.
025616,004500:
025617,004501:
025618,004502: # COMPONENT JOBS AND TASKS:
025619,004503:
025620,004504: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025621,004505: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025622,004506: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025623,004507:
025624,004508:
025625,004509: 33,2045 BANK 33
025626,004510: 33,2000 SETLOC R29/SERV
025627,004511: 33,2000 BANK
025628,004512:
025629,004513: 33,2045 COUNT* $$/R29
025630,004514:
025631,004515: 33,2045 5014 NR29&RDR EQUALS EBANK5
025632,004516:
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|
Page 599 |
025634,004518: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025635,004519: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025636,004520:
025637,004521: 33,2045 40110 R29 CS RADMODES
025638,004522: 33,2046 74742 MASK DESIGBIT
025639,004523: 33,2047 00006 EXTEND
025640,004524: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025641,004525:
025642,004526: 33,2051 00004 INHINT
025643,004527: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025644,004528: 33,2053 44736 CS BIT14
025645,004529: 33,2054 00006 EXTEND
025646,004530: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025647,004531: 33,2056 44740 CS LOSCMBIT
025648,004532: 33,2057 70076 MASK FLAGWRD2
025649,004533: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025650,004534: 33,2061 44753 CS OLDESBIT
025651,004535: 33,2062 70074 MASK STATE
025652,004536: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025653,004537: 33,2064 04616 TC BANKCALL
025654,004538: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025655,004539: 33,2066 34740 CA ANTENBIT
025656,004540: 33,2067 70110 MASK RADMODES
025657,004541: 33,2070 10000 CCS A # TEST RR MODE BIT.
025658,004542: 33,2071 12104 TCF SETPRPOS # MODE 2.
025659,004543:
025660,004544: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025661,004545: 33,2073 05072 TC NOVAC
025662,004546: 33,2074 E7,1456 EBANK= LOSCOUNT
025663,004547: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
025664,004548:
025665,004549: 33,2076 44742 CS DESIGBIT
025666,004550: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025667,004551: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025668,004552: 33,2101 34736 CA REMODBIT
025669,004553: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025670,004554: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025671,004555:
025672,004556: 33,2104 34753 SETPRPOS CA ONE
025673,004557: 33,2105 05203 TC WAITLIST
025674,004558: 33,2106 E7,1456 EBANK= LOSCOUNT
025675,004559: 33,2106 03564 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025676,004560: 33,2110 34741 CA REPOSBIT
025677,004561: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025678,004562: 33,2112 12573 TCF NOR29NOW
025679,004563:
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|
Page 600 |
025681,004565: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025682,004566:
025683,004567:
025684,004568: 33,2113 34753 R29REMOJ CA ONE
025685,004569: 33,2114 05203 TC WAITLIST
025686,004570: 33,2115 E7,1456 EBANK= LOSCOUNT
025687,004571: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025688,004572: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025689,004573: 33,2120 17706 CADR RADSTALL
025690,004574:
025691,004575: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025692,004576: 33,2122 15155 TCF ENDOFJOB
025693,004577:
025694,004578: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025695,004579:
025696,004580: 25,2000 SETLOC R29S1
025697,004581: 25,2000 BANK
025698,004582:
025699,004583: 25,3564 34735 PREPOS29 CA NEGMAX # -180 DEG.
025700,004584: 25,3565 02252 TC RRTONLY # DRIVE TRUNNION CDU.
025701,004585: 25,3566 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025702,004586: 25,3567 70110 MASK RADMODES
025703,004587: 25,3570 54110 TS RADMODES
025704,004588: 25,3571 15261 TCF TASKOVER
025705,004589:
025706,004590:
025707,004591: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025708,004592:
025709,004593:
025710,004594: 33,2045 SETLOC R29
025711,004595: 33,2045 BANK
025712,004596:
025713,004597: 33,2123 00006 R29.LOS EXTEND
025714,004598: 33,2124 41234 DCS PIPTIME
025715,004599: 33,2125 52155 DXCH MPAC
025716,004600: 33,2126 00006 EXTEND
025717,004601: 33,2127 30025 DCA TIME2
025718,004602: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025719,004603: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025720,004604: 33,2132 30155 CA MPAC +1
025721,004605: 33,2133 00006 EXTEND
025722,004606: 33,2134 74740 MP BIT12
025723,004607: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025724,004608: 33,2136 06042 TC INTPRET
025725,004609:
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|
Page 601 |
025727,004611: # LOSCMFLG=0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025728,004612: # START IT UP WHEN THE DATA IS IN PLACE.
025729,004613:
025730,004614:
025731,004615: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025732,004616: 33,2140 01726 V(CSM)
025733,004617: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025734,004618: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025735,004619: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025736,004620: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025737,004621: 33,2145 03521 R
025738,004622: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025739,004623: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025740,004624: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025741,004625: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025742,004626:
025743,004627: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025744,004628: 33,2153 00001 0
025745,004629: 33,2154 77761 VXSC
025746,004630: 33,2155 26177 .5SECB17
025747,004631: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025748,004632: 33,2157 77414 CLEAR EXIT
025749,004633: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025750,004634:
025751,004635: 33,2161 40074 CS STATE
025752,004636: 33,2162 74753 MASK OLDESBIT
025753,004637: 33,2163 00006 EXTEND
025754,004638: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025755,004639: 33,2165 00004 INHINT
025756,004640: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025757,004641:
025758,004642: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025759,004643: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025760,004644: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025761,004645: 33,2172 05203 TC WAITLIST
025762,004646: 33,2173 E7,1456 EBANK= LOSCOUNT
025763,004647: 33,2173 03356 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025764,004648: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025765,004649:
025766,004650: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025767,004651:
|
|
Page 602 |
025769,004653: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025770,004654: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025771,004655:
025772,004656:
025773,004657: 24,3356 BANK 24
025774,004658: 24,2000 SETLOC P20S
025775,004659: 24,2000 BANK
025776,004660:
025777,004661: 24,3356 COUNT* $$/R29
025778,004662:
025779,004663: 24,3356 35031 BEGDES29 CAF PRIO21
025780,004664: 24,3357 05072 TC NOVAC
025781,004665: 24,3360 E3,1760 EBANK= LOSVDT/4
025782,004666: 24,3360 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025783,004667: 24,3362 34774 R29DLOOP CAF .5SEC
025784,004668: 24,3363 05224 TC VARDELAY
025785,004669:
025786,004670: 24,3364 40110 CS RADMODES
025787,004671: 24,3365 74742 MASK DESIGBIT
025788,004672: 24,3366 10000 CCS A
025789,004673: 24,3367 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025790,004674:
025791,004675: 24,3370 40076 CS FLAGWRD2
025792,004676: 24,3371 74740 MASK LOSCMBIT
025793,004677: 24,3372 00006 EXTEND
025794,004678: 24,3373 13376 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025795,004679: 24,3374 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025796,004680: 24,3375 13356 TCF BEGDES29
025797,004681:
025798,004682: 24,3376 34753 CA ONE
025799,004683: 24,3377 13363 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
025800,004684:
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|
Page 603 |
025802,004686: # R29DODES: RR DESIGNATION LOOP FOR R29
025803,004687:
025804,004688: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025805,004689: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025806,004690: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025807,004691: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025808,004692: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025809,004693:
025810,004694: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025811,004695: # TASK WHEN LOCK-ON IS ACHIEVED.
025812,004696:
025813,004697:
025814,004698: 32,2550 BANK 32
025815,004699: 32,2000 SETLOC F2DPS*32
025816,004700: 32,2000 BANK
025817,004701:
025818,004702: 32,2550 COUNT* $$/R29
025819,004703: 32,2550 E3,1760 EBANK= LOSVDT/4
025820,004704:
025821,004705: 32,2550 34753 R29DODES CA ONE
025822,004706: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025823,004707: 32,2552 34756 CA FIVE
025824,004708:
025825,004709: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025826,004710: 32,2554 54002 TS Q
025827,004711: 32,2555 11106 CCS TANG
025828,004712: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025829,004713:
025830,004714: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025831,004715: 32,2560 50002 INDEX Q
025832,004716: 32,2561 31761 DCA LOSVDT/4
025833,004717: 32,2562 50002 INDEX Q
025834,004718: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025835,004719:
025836,004720: 32,2564 00006 R29DPAS1 EXTEND
025837,004721: 32,2565 50002 INDEX Q
025838,004722: 32,2566 31101 DCA LOSSM
025839,004723: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025840,004724: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025841,004725: 32,2571 11106 CCS TANG
025842,004726: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025843,004727:
025844,004728: 32,2573 00006 EXTEND
025845,004729: 32,2574 50002 INDEX Q
025846,004730: 32,2575 31761 DCA LOSVDT/4
025847,004731: 32,2576 50002 INDEX Q
025848,004732: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025849,004733:
025850,004734: 32,2600 10002 R29DVEND CCS Q
025851,004735: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025852,004736:
|
|
Page 604 |
025854,004738: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025855,004739:
025856,004740: 32,2602 52156 DXCH MPAC +1
025857,004741: 32,2603 52155 DXCH MPAC
025858,004742: 32,2604 32775 CA R29FXLOC # = ADRES INTB15 + -34D
025859,004743: 32,2605 54120 TS FIXLOC
025860,004744: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025861,004745: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025862,004746: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025863,004747:
025864,004748: 32,2611 11106 CCS TANG
025865,004749: 32,2612 12614 TCF +2
025866,004750: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025867,004751: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025868,004752: 32,2615 00006 EXTEND
025869,004753: 32,2616 30036 DCA CDUT
025870,004754: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025871,004755: 32,2620 30033 CA CDUY
025872,004756: 32,2621 54765 TS CDUSPOT
025873,004757: 32,2622 30034 CA CDUZ
025874,004758: 32,2623 54767 TS CDUSPOT +2
025875,004759: 32,2624 30032 CA CDUX
025876,004760: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025877,004761: 32,2626 04616 TC BANKCALL
025878,004762: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025879,004763:
025880,004764: 32,2630 46250 GOTANGLS CS THREE
025881,004765: 32,2631 04616 TC BANKCALL
025882,004766: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025883,004767:
025884,004768: 32,2633 11106 CCS TANG
025885,004769: 32,2634 12636 TCF +2
025886,004770: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025887,004771:
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|
Page 605 |
025889,004773: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025890,004774: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025891,004775:
025892,004776:
025893,004777: 32,2636 00004 INHINT
025894,004778: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025895,004779: 32,2640 31766 CA SAVECDUT
025896,004780: 32,2641 05032 TC SPCOS
025897,004781: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T.
025898,004782: 32,2643 41766 CS SAVECDUT
025899,004783: 32,2644 05033 TC SPSIN
025900,004784: 32,2645 54163 TS MODE # MODE = -SIN T.
025901,004785: 32,2646 00006 EXTEND
025902,004786: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025903,004787: 32,2650 52155 DXCH MPAC
025904,004788: 32,2651 31767 CA SAVECDUT +1
025905,004789: 32,2652 05033 TC SPSIN
025906,004790: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025907,004791: 32,2654 00006 EXTEND
025908,004792: 32,2655 70166 MP PUSHLOC
025909,004793: 32,2656 00006 EXTEND
025910,004794: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025911,004795: 32,2660 20155 DAS MPAC
025912,004796: 32,2661 31767 CA SAVECDUT +1
025913,004797: 32,2662 05032 TC SPCOS
025914,004798: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S .
025915,004799: 32,2664 00006 EXTEND
025916,004800: 32,2665 70166 MP PUSHLOC
025917,004801: 32,2666 00006 EXTEND
025918,004802: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025919,004803: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025920,004804: 32,2671 00006 EXTEND # - SIN T, COS S COS T).
025921,004805: 32,2672 30155 DCA MPAC
025922,004806: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025923,004807: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025924,004808: 32,2675 34736 CA BIT14
025925,004809: 32,2676 12677 NOOP
025926,004810: 32,2677 00006 EXTEND
025927,004811: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025928,004812: 32,2701 00003 RELINT
025929,004813: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025930,004814:
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|
Page 606 |
025932,004816: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025933,004817:
025934,004818:
025935,004819: 32,2703 31767 R29DPAS2 CA SAVECDUT +1
025936,004820: 32,2704 00006 EXTEND
025937,004821: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X.
025938,004822: 32,2706 53107 DXCH TANG
025939,004823: 32,2707 41766 CS SAVECDUT
025940,004824: 32,2710 00006 EXTEND
025941,004825: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025942,004826: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025943,004827: 32,2713 40163 CS MODE # - SIN S)
025944,004828: 32,2714 00006 EXTEND
025945,004829: 32,2715 71766 MP SAVECDUT
025946,004830: 32,2716 00006 EXTEND
025947,004831: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025948,004832: 32,2720 52155 DXCH MPAC
025949,004833: 32,2721 30166 CA PUSHLOC
025950,004834: 32,2722 00006 EXTEND
025951,004835: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025952,004836: 32,2724 20155 DAS MPAC
025953,004837: 32,2725 40163 CS MODE
025954,004838: 32,2726 00006 EXTEND
025955,004839: 32,2727 71767 MP SAVECDUT +1
025956,004840: 32,2730 00006 EXTEND
025957,004841: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025958,004842: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025959,004843: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025960,004844: 32,2734 00006 EXTEND
025961,004845: 32,2735 72776 MP RR29GAIN
025962,004846: 32,2736 57354 XCH TRUNNCMD # STORE REFINED T CMD,GET RAW S CMD.
025963,004847: 32,2737 00006 EXTEND
025964,004848: 32,2740 72776 MP RR29GAIN
025965,004849: 32,2741 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT
025966,004850:
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|
Page 607 |
025968,004852: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025969,004853: # READING DATA FROM THE RENDEZVOUS RADAR.
025970,004854:
025971,004855:
025972,004856: 32,2742 34750 DGOOD? CAF BIT4
025973,004857: 32,2743 00006 EXTEND
025974,004858: 32,2744 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025975,004859: 32,2745 00004 INHINT # (MAINLY FOR RROUT).
025976,004860: 32,2746 00006 EXTEND
025977,004861: 32,2747 12753 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025978,004862:
025979,004863: 32,2750 04616 TC BANKCALL
025980,004864: 32,2751 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025981,004865: 32,2752 12771 TCF END29DOD
025982,004866:
025983,004867: 32,2753 44742 R29LOKON CS DESIGBIT
025984,004868: 32,2754 70110 MASK RADMODES
025985,004869: 32,2755 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025986,004870: 32,2756 44752 CS BIT2
025987,004871: 32,2757 00006 EXTEND
025988,004872: 32,2760 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025989,004873: 32,2761 34743 CA READRBIT
025990,004874: 32,2762 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025991,004875: 32,2763 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025992,004876: 32,2764 44776 CS SUPER110 # - 96D + 100D = 4.
025993,004877: 32,2765 64777 AD 1SEC # 0 + 100D = 100D.
025994,004878: 32,2766 05203 TC WAITLIST
025995,004879: 32,2767 E7,1456 EBANK= LOSCOUNT
025996,004880: 32,2767 03400 50067 2CADR R29READ # START READING TASK AND JOB.
025997,004881: 32,2771 44740 END29DOD CS LOSCMBIT
025998,004882: 32,2772 70076 MASK FLAGWRD2
025999,004883: 32,2773 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026000,004884: 32,2774 15155 TCF ENDOFJOB
026001,004885:
026002,004886: 32,2775 00052 R29FXLOC ADRES INTB15+ -34D
026003,004887: 32,2776 56655 RR29GAIN DEC -.53624
026004,004888: 32,2777 E3,1760 LOSVDT/4 EQUALS LOSVEL
026005,004889: 32,2777 1100 LOSSM EQUALS RRTARGET
026006,004890: 32,2777 E3,1766 SAVECDUT EQUALS MLOSV
026007,004891:
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|
Page 608 |
026009,004893: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026010,004894:
026011,004895:
026012,004896: 24,3400 BANK 24
026013,004897: 24,2000 SETLOC P20S
026014,004898: 24,2000 BANK
026015,004899:
026016,004900: 24,3400 COUNT* $$/R29
026017,004901:
026018,004902: 24,3400 E7,1456 EBANK= LOSCOUNT
026019,004903:
026020,004904: 24,3400 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026021,004905: 24,3401 05072 TC NOVAC
026022,004906: 24,3402 E7,1456 EBANK= LOSCOUNT
026023,004907: 24,3402 03413 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026024,004908:
026025,004909: 24,3404 35000 CA 2SECS
026026,004910: 24,3405 05224 TC VARDELAY
026027,004911:
026028,004912: 24,3406 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026029,004913: 24,3407 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026030,004914: 24,3410 10000 CCS A
026031,004915: 24,3411 13400 TCF R29READ # IT'S OK; CALL IT AGAIN.
026032,004916: 24,3412 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026033,004917:
026034,004918: 24,3413 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026035,004919: 24,3414 74741 MASK NR29FBIT
026036,004920: 24,3415 10000 CCS A # TEST "NOR29FLG".
026037,004921: 24,3416 13500 TCF ENDR29RD # R29 OVER,EXIT WITH RR STILL LOCKED ON
026038,004922: 24,3417 30110 CA RADMODES
026039,004923: 24,3420 74752 MASK AUTOMBIT
026040,004924: 24,3421 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026041,004925: 24,3422 13475 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026042,004926:
026043,004927: 24,3423 04616 TC BANKCALL
026044,004928: 24,3424 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026045,004929: 24,3425 04616 TC BANKCALL
026046,004930: 24,3426 17706 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026047,004931: 24,3427 13475 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026048,004932:
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|
Page 609 |
026050,004934: # R29 RADAR READING CONTINUED.
026051,004935:
026052,004936:
026053,004937: 24,3430 53105 DXCH TIMEHOLD
026054,004938: 24,3431 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026055,004939: 24,3432 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026056,004940: 24,3433 00006 EXTEND
026057,004941: 24,3434 30036 DCA CDUT
026058,004942: 24,3435 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026059,004943: 24,3436 00006 EXTEND
026060,004944: 24,3437 30034 DCA CDUY
026061,004945: 24,3440 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026062,004946: 24,3441 30032 CA CDUX
026063,004947: 24,3442 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026064,004948:
026065,004949: 24,3443 04616 R29RANGE TC BANKCALL
026066,004950: 24,3444 53114 CADR RRRANGE # INITIATE READING OF RR RANGE.
026067,004951: 24,3445 04616 TC BANKCALL
026068,004952: 24,3446 17706 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026069,004953: 24,3447 13466 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026070,004954:
026071,004955: 24,3450 00004 INHINT
026072,004956: 24,3451 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026073,004957: 24,3452 53757 DXCH RM
026074,004958: 24,3453 52155 DXCH MPAC
026075,004959: 24,3454 53755 DXCH MKTIME
026076,004960: 24,3455 52157 DXCH MPAC +2
026077,004961: 24,3456 53753 DXCH TANGNB
026078,004962: 24,3457 52161 DXCH MPAC +4
026079,004963: 24,3460 53460 DXCH AIG
026080,004964: 24,3461 30162 CA MPAC +6
026081,004965: 24,3462 55461 TS AOG
026082,004966: 24,3463 34753 CA ONE
026083,004967: 24,3464 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026084,004968: 24,3465 15155 TCF ENDOFJOB
026085,004969:
026086,004970: 24,3466 40101 R29RRR? CS FLAGWRD5
026087,004971: 24,3467 74742 MASK BIT10
026088,004972: 24,3470 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026089,004973: 24,3471 13475 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026090,004974: 24,3472 05516 TC DOWNFLAG
026091,004975: 24,3473 00120 ADRES RNGSCFLG
026092,004976: 24,3474 13443 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026093,004977:
026094,004978: 24,3475 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE
026095,004979: 24,3476 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL
026096,004980: 24,3477 03012 WAND CHAN12
026097,004981: 24,3500 34755 ENDR29RD CA ZERO
026098,004982: 24,3501 55462 TS TRKMKCNT
026099,004983: 24,3502 05516 TC DOWNFLAG
026100,004984:
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|
Page 610 |
026102,004986: 24,3503 00063 ADRES READRFLG
026103,004987: 24,3504 15155 TCF ENDOFJOB
026104,004988:
|
|
Page 611 |
026106,004990: # W-MATRIX MONITOR
026107,004991:
026108,004992:
026109,004993: 31,2007 BANK 31
026110,004994: 31,2000 SETLOC VB67
026111,004995: 31,2000 BANK
026112,004996: 31,2007 COUNT* $$/EXTVB
026113,004997:
026114,004998: 31,2007 E4,1600 EBANK= WWPOS
026115,004999:
026116,005000: 31,2007 06042 V67CALL TC INTPRET
026117,005001: 31,2010 77624 CALL
026118,005002: 31,2011 62120 V67WW
026119,005003: 31,2012 77776 EXIT
026120,005004: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026121,005005: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026122,005006: 31,2015 53607 DXCH WWBIAS +2
026123,005007: 31,2016 00006 EXTEND
026124,005008: 31,2017 31603 DCA WWVEL
026125,005009: 31,2020 53611 DXCH WWBIAS +4
026126,005010: 31,2021 00006 EXTEND
026127,005011: 31,2022 31605 DCA WWBIAS
026128,005012: 31,2023 53613 DXCH WWBIAS +6
026129,005013: 31,2024 32143 V06N99DS CAF V06N99
026130,005014: 31,2025 04616 TC BANKCALL
026131,005015: 31,2026 20334 CADR GOXDSPF
026132,005016: 31,2027 15472 TCF ENDEXT
026133,005017: 31,2030 12032 TCF V6N99PRO
026134,005018: 31,2031 12024 TCF V06N99DS
026135,005019: 31,2032 22007 V6N99PRO ZL
026136,005020: 31,2033 34756 CA FIVE
026137,005021: 31,2034 54002 N99LOOP TS Q
026138,005022: 31,2035 50002 INDEX Q
026139,005023: 31,2036 41600 CS WWPOS
026140,005024: 31,2037 50002 INDEX Q
026141,005025: 31,2040 61606 AD WWPOS +6
026142,005026: 31,2041 26001 ADS L
026143,005027: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026144,005028: 31,2043 12034 TCF N99LOOP
026145,005029: 31,2044 22000 LXCH A
026146,005030: 31,2045 00006 EXTEND
026147,005031: 31,2046 12051 BZF V06N9933
026148,005032: 31,2047 05504 TC UPFLAG
026149,005033: 31,2050 00160 ADRES V67FLAG
026150,005034:
026151,005035: 31,2051 06042 V06N9933 TC INTPRET
026152,005036: 31,2052 77414 BON EXIT
026153,005037: 31,2053 03707 V67FLAG
026154,005038: 31,2054 62056 +2
026155,005039: 31,2055 15472 TCF ENDEXT
026156,005040: 31,2056 77745 DLOAD
026157,005041:
|
|
Page 612 |
026159,005043: 31,2057 02201 WWPOS
026160,005044: 31,2060 72412 SL4 SL1
026161,005045: 31,2061 14001 STODL 0D
026162,005046: 31,2062 02203 WWVEL
026163,005047: 31,2063 14003 STODL 2D
026164,005048: 31,2064 02205 WWBIAS
026165,005049: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026166,005050: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026167,005051: 31,2067 00005 STORE 4D
026168,005052: 31,2070 72014 BON LXA,1
026169,005053: 31,2071 04307 SURFFLAG
026170,005054: 31,2072 62102 V67SURF
026171,005055: 31,2073 00000 0D
026172,005056: 31,2074 72130 SXA,1 LXA,1
026173,005057: 31,2075 02000 WRENDPOS
026174,005058: 31,2076 00002 2D
026175,005059: 31,2077 52130 SXA,1 GOTO
026176,005060: 31,2100 02001 WRENDVEL
026177,005061: 31,2101 62110 V67CLRF
026178,005062: 31,2102 66150 V67SURF LXA,1 SXA,1
026179,005063: 31,2103 00000 0D
026180,005064: 31,2104 02006 WSURFPOS
026181,005065: 31,2105 66150 LXA,1 SXA,1
026182,005066: 31,2106 00002 2D
026183,005067: 31,2107 02007 WSURFVEL
026184,005068: 31,2110 66150 V67CLRF LXA,1 SXA,1
026185,005069: 31,2111 00004 4D
026186,005070: 31,2112 02003 WTRUN
026187,005071: 31,2113 77730 SXA,1
026188,005072: 31,2114 02002 WSHAFT
026189,005073: 31,2115 77414 CLEAR EXIT
026190,005074: 31,2116 02676 RENDWFLG
026191,005075: 31,2117 15472 TCF ENDEXT
026192,005076: 31,2120 40020 V67WW STQ BOV
026193,005077: 31,2121 00051 S2
026194,005078: 31,2122 62123 +1
026195,005079: 31,2123 45014 CLEAR CALL
026196,005080: 31,2124 03667 V67FLAG
026197,005081: 31,2125 27412 INTSTALL
026198,005082: 31,2126 71331 SSP DLOAD
026199,005083: 31,2127 00051 S1
026200,005084: 31,2130 00006 DEC 6 B-14
026201,005085: 31,2131 06524 ZEROVECS
026202,005086: 31,2132 02201 STORE WWPOS
026203,005087: 31,2133 02203 STORE WWVEL
026204,005088: 31,2134 02205 STORE WWBIAS
026205,005089: 31,2135 77770 AXT,1
026206,005090: 31,2136 00066 DEC 54 B-14
026207,005091: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026208,005092: 31,2140 02467 W +54D,1
026209,005093:
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|
Page 613 |
026211,005095: 31,2141 77650 GOTO
026212,005096: 31,2142 60002 ADDPOS
026213,005097: 31,2143 01543 V06N99 VN 0699
026214,005098:
026215,005099: 30,2000 SETLOC VB67A
026216,005100: 30,2000 BANK
026217,005101: 30,2002 COUNT* $$/EXTVB
026218,005102:
026219,005103: 30,2002 77615 ADDPOS DAD
026220,005104: 30,2003 02201 WWPOS
026221,005105: 30,2004 02201 STORE WWPOS
026222,005106: 30,2005 47573 VLOAD* VSQ
026223,005107: 30,2006 02555 W +108D,1
026224,005108: 30,2007 77615 DAD
026225,005109: 30,2010 02203 WWVEL
026226,005110: 30,2011 02203 STORE WWVEL
026227,005111: 30,2012 47573 VLOAD* VSQ
026228,005112: 30,2013 02643 W +162D,1
026229,005113: 30,2014 77615 DAD
026230,005114: 30,2015 02205 WWBIAS
026231,005115: 30,2016 02205 STORE WWBIAS
026232,005116: 30,2017 75500 TIX,1 SQRT
026233,005117: 30,2020 62137 NXPOSVEL
026234,005118: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026235,005119: 30,2022 20613 10D # NOUN SCALING (B-5)
026236,005120: 30,2023 16205 STODL WWBIAS
026237,005121: 30,2024 02203 WWVEL
026238,005122: 30,2025 77766 SQRT
026239,005123: 30,2026 16203 STODL WWVEL
026240,005124: 30,2027 02201 WWPOS
026241,005125: 30,2030 77766 SQRT
026242,005126: 30,2031 02201 STORE WWPOS
026243,005127: 30,2032 52000 BOV GOTO
026244,005128: 30,2033 60035 +2
026245,005129: 30,2034 60042 V67XXX
026246,005130: 30,2035 77745 DLOAD
026247,005131: 30,2036 06532 DPPOSMAX
026248,005132: 30,2037 02201 STORE WWPOS
026249,005133: 30,2040 02203 STORE WWVEL
026250,005134: 30,2041 02205 STORE WWBIAS
026251,005135: 30,2042 45345 V67XXX DLOAD DSU
026252,005136: 30,2043 02201 WWPOS
026253,005137: 30,2044 20060 FT99999
026254,005138: 30,2045 71240 BMN DLOAD
026255,005139: 30,2046 60051 +3
026256,005140: 30,2047 20060 FT99999
026257,005141: 30,2050 02201 STORE WWPOS
026258,005142: 30,2051 66150 LXA,1 SXA,1
026259,005143: 30,2052 00051 S2
026260,005144: 30,2053 00052 QPRET
026261,005145:
|
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Page 614 |
026263,005147: 30,2054 77776 EXIT
026264,005148: 30,2055 04635 TC POSTJUMP
026265,005149: 30,2056 27423 CADR INTWAKE
026266,005150:
026267,005151: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026268,005152:
|
|
Page 615 |
026270,005154: 25,3572 BANK 25
026271,005155: 25,2000 SETLOC RADARUPT
026272,005156: 25,2000 BANK
026273,005157: 25,3572 COUNT* $$/RRUPT
026274,005158:
026275,005159: 25,3572 E7,1456 EBANK= LOSCOUNT
026276,005160:
026277,005161: 25,3572 44747 RADLITES CS BIT5
026278,005162: 25,3573 60061 AD ITEMP1
026279,005163: 25,3574 10000 CCS A
026280,005164: 25,3575 44753 CS ONE
026281,005165: 25,3576 13626 TCF VLIGHT
026282,005166:
026283,005167: 25,3577 14570 TCF RRTRKF
026284,005168:
026285,005169: 25,3600 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026286,005170:
026287,005171: 25,3601 34747 CA HLITE
026288,005172: 25,3602 54001 TS L
026289,005173:
026290,005174: 25,3603 34747 CA LRALTBIT
026291,005175: 25,3604 70110 BOTHLITS MASK RADMODES
026292,005176: 25,3605 10000 CCS A
026293,005177: 25,3606 13620 TCF ONLITES
026294,005178:
026295,005179: 25,3607 30107 CA FLGWRD11
026296,005180: 25,3610 50065 INDEX ITEMP5
026297,005181: 25,3611 74753 MASK HFLSHBIT
026298,005182: 25,3612 10000 CCS A
026299,005183: 25,3613 14570 TCF RRTRKF
026300,005184:
026301,005185: 25,3614 00006 LITIT EXTEND
026302,005186: 25,3615 22066 QXCH ITEMP6
026303,005187: 25,3616 04602 TC TRKFLON +1
026304,005188:
026305,005189: 25,3617 00066 TC ITEMP6
026306,005190:
026307,005191: 25,3620 50065 ONLITES INDEX ITEMP5
026308,005192: 25,3621 44753 CS HFLSHBIT
026309,005193: 25,3622 70107 MASK FLGWRD11
026310,005194: 25,3623 54107 TS FLGWRD11
026311,005195:
026312,005196: 25,3624 30001 CA L
026313,005197: 25,3625 13614 TCF LITIT
026314,005198: 25,3626 54065 VLIGHT TS ITEMP5
026315,005199: 25,3627 34751 CA VLITE
026316,005200: 25,3630 54001 TS L
026317,005201: 25,3631 34744 CA BIT8
026318,005202: 25,3632 13604 TCF BOTHLITS
026319,005203:
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Page 616 |
026321,005205: 25,3633 4747 HLITE EQUALS BIT5
026322,005206: 25,3633 4751 VLITE EQUALS BIT3
End of include-file P20-P25.agc. Parent file is MAIN.agc