Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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021206,000002: ## Copyright: Public domain.
021207,000003: ## Filename: P20-P25.agc
021208,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
021209,000005: ## This was the original program released for the Apollo 13 LM,
021210,000006: ## although several more revisions would follow. It has been
021211,000007: ## reconstructed from a listing of Luminary 131, from which it
021212,000008: ## differs on only two lines in P70-P71. The difference is
021213,000009: ## described in detail in Luminary memo #129, which was used
021214,000010: ## to perform the reconstruction. This file is intended to be a
021215,000011: ## faithful reconstruction, except that the code format has been
021216,000012: ## changed to conform to the requirements of the yaYUL assembler
021217,000013: ## rather than the original YUL assembler.
021218,000014: ## Reference: pp. 496-618
021219,000015: ## Contact: Ron Burkey <info@sandroid.org>.
021220,000016: ## Website: www.ibiblio.org/apollo/index.html
021221,000017: ## Mod history: 05/15/03 RSB. Began transcribing.
021222,000018: ## 12/01/03 RSB. Entered/corrected the previously-missing code from
021223,000019: ## the bottom of p. 595 using a replacement scan
021224,000020: ## provided by Gary Neff.
021225,000021: ## 05/14/05 RSB Corrected website reference above.
021226,000022: ## 2010-10-25 JL Fixed p583 page number.
021227,000023: ## 2011-05-07 JL Removed workarounds.
021228,000024: ## 2017-01-06 RSB Page numbers now agree with those on the
021229,000025: ## original harcopy, as opposed to the PDF page
021230,000026: ## numbers in 1701.pdf.
021231,000027: ## 2017-01-28 RSB WTIH -> WITH.
021232,000028: ## 2017-02-24 RSB Proofed comment text using octopus/ProoferComments.
021233,000029: ## 2017-02-28 RSB Fixed lingering typos.
021234,000030: ## 2017-03-07 RSB Comment-text error-fixes noted in proofing Luminary 116.
021235,000031: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021236,000032: ## side-by-side diff of Luminary 69/99/116/131/210.
021237,000033: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
021238,000034: ## 2021-05-30 ABS R21LEMB -> R21LEM8
021239,000035: ## $$/r29 -> $$/R29
021240,000036: ## R29REM0J -> R29REMOJ
021241,000037:
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021243,000039: # RENDEZVOUS NAVIGATION PROGRAM 20
021244,000040:
021245,000041: # PROGRAM DESCRIPTION
021246,000042:
021247,000043: # MOD NO - 2
021248,000044: # BY P. VOLANTE
021249,000045:
021250,000046: # FUNCTIONAL DESCRIPTION
021251,000047:
021252,000048: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021253,000049: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021254,000050: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021255,000051: # ON THE BASIS OF THE RR TRACKING DATA.
021256,000052:
021257,000053: # CALLING SEQUENCE -
021258,000054:
021259,000055: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021260,000056:
021261,000057: # SUBROUTINES CALLED
021262,000058:
021263,000059: # R02BOTH (IMU STATUS CHECK) FLAGUP
021264,000060: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021265,000061: # R23LEM (MANUAL ACQUISITION) BANKCALL
021266,000062: # LS201 (LOS DETERMINATION) TASKOVER
021267,000063: # LS202 (RANGE LIMIT TEST)
021268,000064: # R61LEM (PREFERRED TRACKING ATTITUDE)
021269,000065: # R21LEM (RR DESIGNATE) ENDOFJOB
021270,000066: # R22LEM (DATA READ) GOPERF1
021271,000067: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021272,000068: # PRIOLARM (PRIORITY DISPLAY)
021273,000069:
021274,000070: # NORMAL EXIT MODES -
021275,000071:
021276,000072: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021277,000073: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021278,000074:
021279,000075: # ALARM OR ABORT EXIT MODES -
021280,000076:
021281,000077: # RANGE GREATER THAN 400 NM DISPLAY
021282,000078:
021283,000079: # OUTPUT
021284,000080:
021285,000081: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021286,000082:
021287,000083: # ERASABLE INITIALIZATION REQUIRED
021288,000084:
021289,000085: # FLAGS SET + RESET
021290,000086:
021291,000087: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021292,000088:
021293,000089: # DEBRIS
021294,000090:
021295,000091: # CENTRALS - A,Q,L
021296,000092:
021297,000093: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021298,000094:
021299,000095: 33,2045 BANK 33
021300,000096: 24,2000 SETLOC P20S
021301,000097: 24,2000 BANK
021302,000098:
021303,000099: 24,2000 E7,1456 EBANK= LOSCOUNT
021304,000100: 24,2000 COUNT* $$/P20
021305,000101: 24,2000 24,2000 PROG22 = PROG20
021306,000102: 24,2000 05327 PROG20 TC 2PHSCHNG
021307,000103: 24,2001 00004 OCT 4
021308,000104: 24,2002 05022 OCT 05022
021309,000105: 24,2003 26000 OCT 26000 # PRIORITY 26
021310,000106: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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021312,000108: 24,2005 02007 TC ORBCHGO # YES
021313,000109: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021314,000110: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021315,000111: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021316,000112: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021317,000113: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021318,000114: 24,2013 34363 CAF OCT00012
021319,000115: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021320,000116: 24,2015 20634 CADR GOPERF4
021321,000117: 24,2016 06001 TC GOTOPOOH # TERMINATE
021322,000118: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021323,000119: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021324,000120: 24,2021 44753 ORBCHG1 CS ONE
021325,000121: 24,2022 61144 AD OPTION2
021326,000122: 24,2023 00006 EXTEND
021327,000123: 24,2024 12040 BZF PROG20A
021328,000124: 24,2025 32311 CAF V06N33*
021329,000125: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021330,000126: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021331,000127: 24,2030 06001 TC GOTOPOOH # TERMINATE
021332,000128: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021333,000129: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021334,000130: 24,2033 06042 ORBCHG2 TC INTPRET
021335,000131: 24,2034 77650 GOTO
021336,000132: 24,2035 64217 ORBCHG3
021337,000133:
021338,000134: 32,2217 BANK 32
021339,000135: 32,2000 SETLOC P20S4
021340,000136: 32,2000 BANK
021341,000137: 32,2217 COUNT* $$/P20
021342,000138:
021343,000139: 32,2217 77624 ORBCHG3 CALL
021344,000140: 32,2220 27410 INTSTALL
021345,000141: 32,2221 77745 DLOAD
021346,000142: 32,2222 03442 TIG
021347,000143: 32,2223 03661 STORE LNCHTM
021348,000144: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021349,000145: 32,2225 43014 CLEAR CLEAR
021350,000146: 32,2226 01674 VINTFLAG # LM INTEGRATION
021351,000147: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021352,000148: 32,2230 43014 CLEAR CLEAR
021353,000149: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021354,000150: 32,2232 01675 D6OR9FLG
021355,000151: 32,2233 77624 CALL
021356,000152: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
021357,000153: 32,2235 77624 CALL
021358,000154: 32,2236 11210 GRP2PC
021359,000155: 32,2237 77775 VLOAD
021360,000156: 32,2240 00017 RATT1
021361,000157: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021362,000158: 32,2242 00015 TAT
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021364,000160: 32,2243 34041 STCALL TDEC1
021365,000161: 32,2244 27410 INTSTALL
021366,000162: 32,2245 43014 SET CLEAR
021367,000163: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021368,000164: 32,2247 01673 INTYPFLG
021369,000165: 32,2250 43014 CLEAR BOFF
021370,000166: 32,2251 01676 DIM0FLAG
021371,000167: 32,2252 02756 RENDWFLG # W MATRIX VALID
021372,000168: 32,2253 64257 NOWMATX # NO
021373,000169: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021374,000170: 32,2255 01476 DIM0FLAG
021375,000171: 32,2256 01475 D6OR9FLG
021376,000172: 32,2257 77624 NOWMATX CALL
021377,000173: 32,2260 27133 INTEGRV # CSM INTEGRATION
021378,000174: 32,2261 77624 CALL
021379,000175: 32,2262 11210 GRP2PC
021380,000176: 32,2263 77775 VLOAD
021381,000177: 32,2264 00025 VATT1
021382,000178: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021383,000179: 32,2266 00017 RATT1
021384,000180: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021385,000181: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021386,000182: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021387,000183: 32,2272 24025 STOVL 20D # SAVE NSUB1
021388,000184: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021389,000185: 32,2274 53435 VXV UNIT # PLANE CHANGE
021390,000186: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021391,000187: 32,2276 27637 STOVL UCSM
021392,000188: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021393,000189: 32,2300 50256 UNIT DOT # AND RSUBC
021394,000190: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021395,000191: 32,2302 77752 SL1
021396,000192: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021397,000193: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021398,000194: 32,2305 06514 ONEB-2
021399,000195: 32,2306 77766 SQRT
021400,000196: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021401,000197: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021402,000198: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021403,000199: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021404,000200: 32,2313 77676 VCOMP
021405,000201: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021406,000202: 32,2315 45014 CLEAR CALL
021407,000203: 32,2316 03666 RVSW
021408,000204: 32,2317 24732 TIMETHET
021409,000205: 32,2320 77676 VCOMP
021410,000206: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021411,000207: 32,2322 77745 DLOAD
021412,000208: 32,2323 00037 T
021413,000209: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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021415,000211: 32,2325 03645 NEWVEL
021416,000212: 32,2326 77646 ABVAL
021417,000213: 32,2327 24025 STOVL 20D
021418,000214: 32,2330 00001 0D
021419,000215: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021420,000216: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021421,000217: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021422,000218: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021423,000219: 32,2335 03653 NEWPOS # ORBITAL PLANE
021424,000220: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021425,000221: 32,2337 00025 20D
021426,000222: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021427,000223: 32,2341 11210 GRP2PC
021428,000224: 32,2342 77624 CALL
021429,000225: 32,2343 27410 INTSTALL
021430,000226: 32,2344 44345 DLOAD BDSU
021431,000227: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021432,000228: 32,2346 03661 LNCHTM
021433,000229: 32,2347 25517 STOVL TET
021434,000230: 32,2350 03653 NEWPOS
021435,000231: 32,2351 01535 STORE RCV
021436,000232: 32,2352 25503 STOVL RRECT
021437,000233: 32,2353 03665 NCSMVEL
021438,000234: 32,2354 35511 STCALL VRECT
021439,000235: 32,2355 27705 MINIRECT
021440,000236: 32,2356 45174 AXT,2 CALL
021441,000237: 32,2357 00002 2
021442,000238: 32,2360 26660 ATOPCSM
021443,000239: 32,2361 77624 CALL
021444,000240: 32,2362 27417 INTWAKE0
021445,000241: 32,2363 77776 EXIT
021446,000242: 32,2364 04616 TC BANKCALL
021447,000243: 32,2365 50040 CADR PROG20A
021448,000244:
021449,000245: 24,2036 BANK 24
021450,000246: 24,2000 SETLOC P20S
021451,000247: 24,2000 BANK
021452,000248: 24,2036 COUNT* $$/P20
021453,000249:
021454,000250: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021455,000251: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021456,000252: 24,2040 04616 PROG20A TC BANKCALL
021457,000253: 24,2041 11233 CADR R02BOTH
021458,000254: 24,2042 05504 TC UPFLAG
021459,000255: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021460,000256: 24,2044 05504 TC UPFLAG
021461,000257: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021462,000258: 24,2046 05504 TC UPFLAG
021463,000259: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021464,000260: 24,2050 05516 TC DOWNFLAG
021465,000261: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021467,000263: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021468,000264: 24,2053 00040 ADRES ACMODFLG
021469,000265: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021470,000266: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021471,000267: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021472,000268: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021473,000269: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021474,000270: 24,2061 00041 ADRES LOSCMFLG
021475,000271: 24,2062 06011 TC CLRADMOD
021476,000272: 24,2063 05353 P20LEM1 TC PHASCHNG
021477,000273: 24,2064 04022 OCT 04022
021478,000274: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021479,000275: 24,2066 55462 TS MARKCTR
021480,000276: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE
021481,000277: 24,2070 77634 RTB
021482,000278: 24,2071 21574 LOADTIME
021483,000279: 24,2072 34041 STCALL TDEC1
021484,000280: 24,2073 51256 LPS20.1
021485,000281: 24,2074 77624 CALL
021486,000282: 24,2075 53570 LPS20.2 # TEST RANGE R/UTINE
021487,000283: 24,2076 77776 EXIT
021488,000284: 24,2077 50154 INDEX MPAC
021489,000285: 24,2100 02101 TC +1
021490,000286: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021491,000287: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021492,000288: 24,2103 04616 TC BANKCALL
021493,000289: 24,2104 21563 CADR PRIOLARM
021494,000290: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021495,000291: 24,2106 02102 TC -4 # PROC (ILLEGAL
021496,000292: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021497,000293: 24,2110 05155 TC ENDOFJOB
021498,000294:
021499,000295: 24,2111 05353 P20LEMA TC PHASCHNG
021500,000296: 24,2112 04022 OCT 04022
021501,000297: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021502,000298: 24,2114 02117 TC P20LEMB
021503,000299: 24,2115 04616 TC BANKCALL
021504,000300: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021505,000301: 24,2117 05353 P20LEMB TC PHASCHNG
021506,000302: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021507,000303: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021508,000304: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26
021509,000305: 24,2123 05146 TC PRIOCHNG
021510,000306: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021511,000307: 24,2125 74747 MASK TRACKBIT
021512,000308: 24,2126 00006 EXTEND
021513,000309: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021514,000310: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021515,000311: 24,2131 00006 EXTEND
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021517,000313: 24,2132 02033 RAND CHAN33
021518,000314: 24,2133 00006 EXTEND
021519,000315: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021520,000316:
021521,000317: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021522,000318: 24,2136 61010 AD MODREG # MAJOR MODE IS 20
021523,000319: 24,2137 00006 EXTEND
021524,000320: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
021525,000321:
021526,000322: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22
021527,000323: 24,2142 00006 EXTEND
021528,000324: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021529,000325: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021530,000326: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021531,000327: 24,2146 21563 CADR PRIOLARM
021532,000328: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
021533,000329: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021534,000330: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021535,000331: 24,2152 05155 TC ENDOFJOB
021536,000332: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021537,000333: 24,2154 04616 TC BANKCALL
021538,000334: 24,2155 20624 CADR GOPERF1
021539,000335: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021540,000336: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021541,000337: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021542,000338: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021543,000339: 24,2162 03137 TC R23LEM # NO - DO MANUAL ACQUISITION
021544,000340:
021545,000341: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021546,000342: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021547,000343: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021548,000344:
021549,000345: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021550,000346: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021551,000347:
021552,000348: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021553,000349: 24,2171 74737 MASK RCDU0BIT
021554,000350: 24,2172 00006 EXTEND
021555,000351: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021556,000352: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021557,000353: 24,2175 70076 MASK FLAGWRD2
021558,000354: 24,2176 00006 EXTEND
021559,000355: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021560,000356: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021561,000357: 24,2201 00037 ADRES SRCHOPTN
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021563,000359: 24,2202 05516 TC DOWNFLAG
021564,000360: 24,2203 00040 ADRES ACMODFLG
021565,000361: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021566,000362:
021567,000363: 24,2205 32304 P20LEMB4 CAF 250DEC
021568,000364: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021569,000365: 24,2207 01736 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021570,000366: 24,2210 02170 TC P20LEMB3
021571,000367:
021572,000368: 24,2211 06042 P20LEMC3 TC INTPRET
021573,000369: 24,2212 77634 RTB
021574,000370: 24,2213 21574 LOADTIME
021575,000371: 24,2214 34041 STCALL TDEC1
021576,000372: 24,2215 50312 UPPSV
021577,000373: 24,2216 77776 P20LEMC4 EXIT
021578,000374: 24,2217 05353 P20LEMC TC PHASCHNG
021579,000375: 24,2220 04022 OCT 04022
021580,000376: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021581,000377: 24,2222 74745 MASK RNDVZBIT
021582,000378: 24,2223 00006 EXTEND
021583,000379: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021584,000380: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021585,000381: 24,2226 74747 MASK TRACKBIT
021586,000382: 24,2227 00006 EXTEND
021587,000383: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021588,000384: 24,2231 02675 P20LEMF TC R21LEM
021589,000385:
021590,000386: 24,2232 32304 P20LEMWT CAF 250DEC
021591,000387: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021592,000388: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021593,000389: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021594,000390: 24,2236 74747 MASK TRACKBIT
021595,000391: 24,2237 00006 EXTEND
021596,000392: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021597,000393: 24,2241 05353 P20LMWT1 TC PHASCHNG
021598,000394: 24,2242 40072 OCT 40072
021599,000395: 24,2243 05155 TC ENDOFJOB
021600,000396:
021601,000397: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021602,000398: 24,2245 74745 MASK RNDVZBIT
021603,000399: 24,2246 00006 EXTEND
021604,000400: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021605,000401: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021606,000402: 24,2251 74747 MASK TRACKBIT
021607,000403: 24,2252 00006 EXTEND
021608,000404: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
|
Page 503
|
021610,000406: 24,2254 37717 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021611,000407: 24,2255 05105 TC FINDVAC
021612,000408: 24,2256 E7,1456 EBANK= LOSCOUNT
021613,000409: 24,2256 02631 50067 2CADR R22LEM42
021614,000410:
021615,000411: 24,2260 05261 TC TASKOVER
021616,000412:
021617,000413: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021618,000414: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021619,000415:
021620,000416: 24,2263 02244 TC P20LEMC1
021621,000417:
021622,000418: 24,2264 32667 P20LEMD CAF 1500DEC
021623,000419: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021624,000420: 24,2266 02270 ADRES P20LEMD1
021625,000421: 24,2267 05155 TC ENDOFJOB
021626,000422:
021627,000423: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021628,000424: 24,2271 74747 MASK TRACKBIT
021629,000425: 24,2272 10000 CCS A
021630,000426: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021631,000427: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021632,000428: 24,2275 02734 DEC 1500 B-14
021633,000429: 24,2276 02270 TC P20LEMD1
021634,000430:
021635,000431: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021636,000432: 24,2300 05105 TC FINDVAC
021637,000433: 24,2301 E7,1456 EBANK= LOSCOUNT
021638,000434: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021639,000435:
021640,000436: 24,2303 05261 TC TASKOVER
021641,000437:
021642,000438: 24,2304 00372 250DEC DEC 250 B-14
021643,000439: 24,2305 00526 ALRM526 OCT 00526
021644,000440: 24,2306 00201 OCT201 OCT 00201
021645,000441: 24,2307 00514 ALRM514 OCT 514
021646,000442: 24,2310 00074 MAXTRIES DEC 60 B-14
021647,000443: 24,2311 4363 OCT00012 EQUALS BINCON
021648,000444: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH
021649,000445: 24,2311 01441 V06N33* VN 0633
021650,000446: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021651,000447: 24,2313 01757 LS21X # TO PRESENT TIME
021652,000448: 24,2314 27410 INTSTALL
021653,000449: 24,2315 77624 CALL
021654,000450: 24,2316 26643 SETIFLGS
021655,000451: 24,2317 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
|
|
Page 504
|
021657,000453: 24,2320 02756 RENDWFLG
021658,000454: 24,2321 50332 UPPSV1
021659,000455: 24,2322 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021660,000456: 24,2323 43014 BON SET
021661,000457: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021662,000458: 24,2325 50327 UPPSV5
021663,000459: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9
021664,000460: 24,2327 77614 UPPSV5 BOF
021665,000461: 24,2330 00747 VEHUPFLG
021666,000462: 24,2331 50364 UPPSV3
021667,000463: 24,2332 77614 UPPSV1 SET
021668,000464: 24,2333 01474 VINTFLAG
021669,000465: 24,2334 77624 CALL
021670,000466: 24,2335 27133 INTEGRV
021671,000467: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE
021672,000468: 24,2337 11210 GRP2PC # TO PROTECT INTEGRATION
021673,000469: 24,2340 77624 CALL
021674,000470: 24,2341 27410 INTSTALL
021675,000471: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021676,000472: 24,2343 01571 TETCSM
021677,000473: 24,2344 01674 VINTFLAG
021678,000474: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021679,000475: 24,2346 26643 SETIFLGS # WITHOUT W-MATRIX
021680,000476: 24,2347 34041 STCALL TDEC1
021681,000477: 24,2350 27133 INTEGRV
021682,000478: 24,2351 77214 BOFF VLOAD
021683,000479: 24,2352 04347 SURFFLAG
021684,000480: 24,2353 50216 P20LEMC4
021685,000481: 24,2354 01661 RCVLEM
021686,000482: 24,2355 77742 VSR2
021687,000483: 24,2356 26352 STOVL LMPOS
021688,000484: 24,2357 01667 VCVLEM
021689,000485: 24,2360 77742 VSR2
021690,000486: 24,2361 02360 STORE LMVEL
021691,000487: 24,2362 77650 GOTO
021692,000488: 24,2363 01757 LS21X
021693,000489:
021694,000490: 24,2364 45014 UPPSV3 CLEAR CALL
021695,000491: 24,2365 01674 VINTFLAG
021696,000492: 24,2366 27133 INTEGRV
021697,000493: 24,2367 77624 CALL
021698,000494: 24,2370 11210 GRP2PC
021699,000495: 24,2371 77624 CALL
021700,000496: 24,2372 27410 INTSTALL
021701,000497: 24,2373 71214 SET DLOAD
021702,000498: 24,2374 01474 VINTFLAG
021703,000499: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
021704,000500: 24,2376 77650 GOTO
021705,000501: 24,2377 50345 UPPSV4
|
|
Page 505
|
021707,000503: 24,2400 E7,1456 EBANK= LOSCOUNT
021708,000504: 24,2400 COUNT* $$/P22
021709,000505:
|
|
Page 506
|
021711,000507: # PROGRAM DESCRIPTION
021712,000508:
021713,000509: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021714,000510: # MOD NO - 3
021715,000511: # BY P. VOLANTE
021716,000512:
021717,000513: # FUNCTIONAL DESCRIPTION
021718,000514:
021719,000515: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021720,000516: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021721,000517: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021722,000518: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021723,000519:
021724,000520: # CALLING SEQUENCE -
021725,000521:
021726,000522: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021727,000523:
021728,000524: # SUBROUTINES CALLED -
021729,000525:
021730,000526: # BANKCALL FLAGUP
021731,000527: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021732,000528: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021733,000529: # TASKOVER FINDVAC
021734,000530:
021735,000531: # NORMAL EXIT MODES -
021736,000532:
021737,000533: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021738,000534: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021739,000535:
021740,000536: # ALARM OR ABORT EXIT MODES -
021741,000537:
021742,000538: # NONE
021743,000539:
021744,000540: # OUTPUT
021745,000541:
021746,000542: # ERASABLE INITIALIZATION REQUIRED
021747,000543:
021748,000544: # FLAGS SET + RESET
021749,000545:
021750,000546: # TRACKFLG, P25FLAG
021751,000547:
021752,000548: # DEBRIS
021753,000549:
021754,000550: # NONE
021755,000551:
021756,000552: 24,2400 E7,1456 EBANK= LOSCOUNT
021757,000553: 24,2400 COUNT* $$/P25
021758,000554: 24,2400 05327 PROG25 TC 2PHSCHNG
021759,000555: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021760,000556: 24,2402 05022 OCT 05022
021761,000557: 24,2403 26000 OCT 26000 # PRIORITY 26
021762,000558:
021763,000559: 24,2404 04616 TC BANKCALL
021764,000560: 24,2405 11233 CADR R02BOTH # IMU STATUS CHECK
021765,000561: 24,2406 05504 TC UPFLAG
021766,000562: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG
021767,000563: 24,2410 05504 TC UPFLAG
021768,000564: 24,2411 00006 ADRES P25FLAG # SET P25FLAG
021769,000565: 24,2412 05516 TC DOWNFLAG
021770,000566: 24,2413 00010 ADRES RNDVZFLG
021771,000567: 24,2414 05353 P25LEM1 TC PHASCHNG
021772,000568: 24,2415 04022 OCT 04022
021773,000569: 24,2416 34743 CAF P25FLBIT
021774,000570: 24,2417 70074 MASK STATE # IS P25FLAG SET
021775,000571: 24,2420 00006 EXTEND
021776,000572: 24,2421 15155 BZF ENDOFJOB
021777,000573: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET?
|
|
Page 507
|
021779,000575: 24,2423 70075 MASK STATE +1
021780,000576: 24,2424 00006 EXTEND
021781,000577: 24,2425 12433 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021782,000578: 24,2426 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021783,000579: 24,2427 55745 TS R65CNTR
021784,000580: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021785,000581: 24,2431 46123 CADR R65LEM
021786,000582: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS
021787,000583: 24,2433 32444 P25LMWT1 CAF 60SCNDS
021788,000584: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021789,000585: 24,2435 02437 ADRES P25LEM2
021790,000586: 24,2436 05155 TC ENDOFJOB
021791,000587: 24,2437 35024 P25LEM2 CAF PRIO14
021792,000588: 24,2440 05105 TC FINDVAC
021793,000589: 24,2441 E7,1456 EBANK= LOSCOUNT
021794,000590: 24,2441 02414 50067 2CADR P25LEM1
021795,000591:
021796,000592: 24,2443 05261 TC TASKOVER
021797,000593: 24,2444 13560 60SCNDS DEC 6000 B-14
021798,000594:
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|
Page 508
|
021800,000596: # DATA READ ROUTINE 22 (LEM)
021801,000597: # PROGRAM DESCRIPTION
021802,000598:
021803,000599: # MOD NO - 2
021804,000600: # BY P VOLANTE
021805,000601:
021806,000602: # FUNCTIONAL DESCRIPTION
021807,000603:
021808,000604: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021809,000605: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021810,000606:
021811,000607: # CALLING SEQUENCE -
021812,000608:
021813,000609: # TC BANKCALL
021814,000610: # CADR R22LEM
021815,000611:
021816,000612: # SUBROUTINES CALLED -
021817,000613:
021818,000614: # LSR22.1 GOFLASH WAITLIST
021819,000615: # LSR22.2 PRIOLARM BANKCALL
021820,000616: # LSR22.3 R61LEM
021821,000617:
021822,000618: # NORMAL EXIT MODES -
021823,000619:
021824,000620: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021825,000621: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021826,000622: # R22 WILL TERMINATE SELF.
021827,000623:
021828,000624: # ALARM OR ABORT EXIT MODES -
021829,000625:
021830,000626: # PRIORITY ALARM
021831,000627: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021832,000628:
021833,000629: # OUTPUT
021834,000630:
021835,000631: # SEE OUTPUT FROM LSR22.3
021836,000632:
021837,000633: # ERASABLE INITIALIZATION REQUIRED
021838,000634:
021839,000635: # SEE LSR22.1, LSR22.2, LSR22.3
021840,000636:
021841,000637: # FLAGS SET + RESET
021842,000638:
021843,000639: # NOANGFLG
021844,000640:
021845,000641: # DEBRIS
021846,000642:
021847,000643: # SEE LSR22.1, LSR22.2, LSR22.3
021848,000644:
021849,000645: 24,2445 E7,1737 EBANK= LRS22.1X
021850,000646: 24,2445 COUNT* $$/R22
021851,000647: 24,2445 05353 R22LEM TC PHASCHNG
021852,000648: 24,2446 04022 OCT 04022
021853,000649: 24,2447 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021854,000650: 24,2450 70074 MASK STATE
021855,000651: 24,2451 00006 EXTEND
021856,000652: 24,2452 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021857,000653: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021858,000654: 24,2454 70075 MASK STATE +1
021859,000655: 24,2455 00006 EXTEND
021860,000656: 24,2456 12640 BZF R22WAIT # NO WAIT
021861,000657: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021862,000658: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT
021863,000659: 24,2461 02012 RAND CHAN12
021864,000660: 24,2462 00006 EXTEND
021865,000661: 24,2463 12111 BZF P20LEMA # NO - RETURN TO P20
021866,000662: 24,2464 34752 CAF BIT2 # YES
021867,000663: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021868,000664: 24,2466 02033 RAND CHAN33
|
|
Page 509
|
021870,000666: 24,2467 00006 EXTEND
021871,000667: 24,2470 12472 BZF +2 # YES CONTINUE
021872,000668: 24,2471 02135 TC P20LEMB5 # NO - SET IT
021873,000669: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021874,000670: 24,2473 74737 MASK RCDU0BIT
021875,000671: 24,2474 00006 EXTEND
021876,000672: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED
021877,000673: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
021878,000674: 24,2477 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021879,000675: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021880,000676: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021881,000677: 24,2502 50154 INDEX MPAC
021882,000678: 24,2503 02504 TC +1
021883,000679: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021884,000680: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021885,000681: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021886,000682: 24,2507 04616 TC BANKCALL
021887,000683: 24,2510 21563 CADR PRIOLARM
021888,000684: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021889,000685: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021890,000686: 24,2513 02506 TC -5 # ENTER (ILLEGAL OPTION)
021891,000687: 24,2514 05155 TC ENDOFJOB
021892,000688:
021893,000689: 24,2515 05353 R22LEM1 TC PHASCHNG
021894,000690: 24,2516 04022 OCT 04022
021895,000691: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA
021896,000692: 24,2520 04616 TC BANKCALL
021897,000693: 24,2521 20510 CADR PRIODSP
021898,000694: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021899,000695: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE)
021900,000696: 24,2524 02217 TC P20LEMC # ENTER (RECYCLE)
021901,000697: 24,2525 05353 R22LEM2 TC PHASCHNG
021902,000698: 24,2526 04022 OCT 04022
021903,000699: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021904,000700: 24,2530 02545 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021905,000701: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021906,000702: 24,2532 74747 MASK TRACKBIT
021907,000703: 24,2533 00006 EXTEND
021908,000704: 24,2534 12640 BZF R22WAIT # NO - WAIT
021909,000705: 24,2535 04616 TC BANKCALL # YES
021910,000706: 24,2536 51334 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021911,000707: 24,2537 50154 INDEX MPAC
021912,000708: 24,2540 02541 TC +1
021913,000709: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021914,000710: 24,2542 04616 TC BANKCALL
021915,000711: 24,2543 46116 CADR R61LEM
021916,000712: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021917,000713: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021918,000714: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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|
Page 510
|
021920,000716: 24,2547 00006 EXTEND
021921,000717: 24,2550 12631 BZF R22LEM42 # BRANCH - YES
021922,000718: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021923,000719: 24,2552 74745 MASK UPDATBIT
021924,000720: 24,2553 00006 EXTEND
021925,000721: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET
021926,000722: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021927,000723: 24,2556 55055 TS PHSPRDT2
021928,000724:
021929,000725: 24,2557 06042 TC INTPRET
021930,000726: 24,2560 77650 GOTO
021931,000727: 24,2561 54416 LSR22.3
021932,000728: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021933,000729: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021934,000730: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021935,000731: 24,2565 12624 TCF R22LEM44
021936,000732: 24,2566 77776 R22LEM96 EXIT
021937,000733: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021938,000734: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021939,000735: 24,2571 05353 TC PHASCHNG
021940,000736: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY
021941,000737: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY
021942,000738: 24,2574 05072 TC NOVAC
021943,000739: 24,2575 E7,1746 EBANK= N49FLAG
021944,000740: 24,2575 02645 50067 2CADR N49DSP
021945,000741:
021946,000742: 24,2577 06042 TC INTPRET
021947,000743: 24,2600 77735 SLOAD
021948,000744: 24,2601 03747 N49FLAG
021949,000745: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG
021950,000746: 24,2603 50600 -3 # SETTING CHANGED - BRANCH - NO
021951,000747: 24,2604 50612 R22LEM7 # PROCEED
021952,000748: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE - INCORPORATE
021953,000749: 24,2606 03675 LGRET # NEXT MEASUREMENT
021954,000750: 24,2607 44752 V34TON49 CS TWO
021955,000751: 24,2610 55746 TS N49FLAG
021956,000752: 24,2611 05155 TC ENDOFJOB
021957,000753: 24,2612 77776 R22LEM7 EXIT
021958,000754: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
021959,000755: 24,2614 64752 AD TWO
021960,000756: 24,2615 00006 EXTEND
021961,000757: 24,2616 12445 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
021962,000758: 24,2617 06042 TC INTPRET
021963,000759: 24,2620 77624 CALL
021964,000760: 24,2621 11210 GRP2PC # PHASE CHANGE AND
021965,000761: 24,2622 77650 GOTO # GO TO INCORPORATE DATA.
021966,000762: 24,2623 55431 ASTOK
021967,000763: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021968,000764: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021969,000765: 24,2626 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
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Page 511
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021971,000767: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE
021972,000768: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5
021973,000769: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021974,000770: 24,2632 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021975,000771: 24,2633 34752 CA TWO # NO - SET R65COUNTER = 2
021976,000772: 24,2634 55745 R22LEM45 TS R65CNTR
021977,000773: 24,2635 04616 TC BANKCALL
021978,000774: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021979,000775: 24,2637 02445 TC R22LEM
021980,000776: 24,2640 32667 R22WAIT CAF 1500DEC
021981,000777: 24,2641 02233 TC P20LEMWT +1
021982,000778:
021983,000779: 24,2642 04616 R22LEM46 TC BANKCALL
021984,000780: 24,2643 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021985,000781: 24,2644 02445 TC R22LEM
021986,000782:
021987,000783: 24,2645 32666 N49DSP CAF V06N49NB
021988,000784: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021989,000785: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021990,000786: 24,2650 02607 TC V34TON49 # TERMINATE - SET N49FLAG = -2
021991,000787: 24,2651 44753 CS ONE # PROCEED - N49FLAG = -1
021992,000788: 24,2652 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021993,000789: 24,2653 05155 TC ENDOFJOB
021994,000790: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021995,000791: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021996,000792: 24,2656 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021997,000793: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021998,000794: 24,2660 04616 TC BANKCALL # BAD DATA
021999,000795: 24,2661 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
022000,000796: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
022001,000797: 24,2663 02445 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
022002,000798:
022003,000799: 24,2664 00525 ALRM525 OCT 00525
022004,000800: 24,2665 01405 V06N05 VN 00605
022005,000801: 24,2666 01461 V06N49NB VN 00649
022006,000802: 24,2667 02734 1500DEC DEC 1500 B-14
022007,000803:
022008,000804: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
022009,000805: # RETURNS TO CALLER +1 IF P22FLAG SET
022010,000806: # TO CALLER +2 IF P22FLAG NOT SET
022011,000807:
022012,000808: 24,2670 COUNT* $$/P22
022013,000809: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
022014,000810: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET?
022015,000811: 24,2672 10000 CCS A # BRANCH - P22FLAG SET
022016,000812: 24,2673 24002 INCR Q # NOT SET
022017,000813: 24,2674 00002 TC Q # RETURN
022018,000814:
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Page 512
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022020,000816: # RR DESIGNATE ROUTINE (R21LEM)
022021,000817: # PROGRAM DESCRIPTION
022022,000818:
022023,000819: # MOD NO - 2
022024,000820: # BY P VOLANTE
022025,000821:
022026,000822: # FUNCTIONAL DESCRIPTION
022027,000823:
022028,000824: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
022029,000825: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
022030,000826:
022031,000827: # CALLING SEQUENCE -
022032,000828:
022033,000829: # TC BANKCALL
022034,000830: # CADR R21LEM
022035,000831:
022036,000832: # SUBROUTINES CALLED -
022037,000833:
022038,000834: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
022039,000835: # NOVAC INTPRET LPS20.1 PHASCHNG
022040,000836: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
022041,000837: # TASKOVER BANKCALL RADSTALL RRDESSM
022042,000838:
022043,000839: # NORMAL EXIT MODES
022044,000840: #
022045,000841: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
022046,000842: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
022047,000843:
022048,000844: # ALARM OR ABORT EXIT MODES -
022049,000845:
022050,000846: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
022051,000847: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
022052,000848: # ACQUISITION
022053,000849:
022054,000850: # OUTPUT
022055,000851:
022056,000852: # SEE LPS20.1, RRDESSM
022057,000853:
022058,000854: # ERASABLE INITIALIZATION REQUIRED
022059,000855:
022060,000856: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
022061,000857:
022062,000858: # FLAGS SET + RESET
022063,000859:
022064,000860: # LOSCMFLG LOKONSW
022065,000861:
022066,000862: # DEBRIS
022067,000863:
022068,000864: # SEE LPS20.1, RRDESSM
022069,000865:
022070,000866: 24,2675 E7,1456 EBANK= LOSCOUNT
022071,000867: 24,2675 COUNT* $$/R21
022072,000868: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
022073,000869: 24,2676 00006 EXTEND
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|
In the printout, there is a red, handwritten hyphen to the right of CHAN12 below.
|
022075,000871: 24,2677 03012 WAND CHAN12
022076,000872: 24,2700 02670 TC LUNSFCHK
022077,000873: 24,2701 02706 TC R21LEM5
022078,000874: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
022079,000875: 24,2703 55106 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
022080,000876: 24,2704 55107 TS TANG +1
022081,000877: 24,2705 02716 TC R21LEM6
022082,000878: 24,2706 34740 R21LEM5 CAF BIT12
022083,000879: 24,2707 70110 MASK RADMODES
022084,000880: 24,2710 10000 CCS A
022085,000881: 24,2711 02726 TC R21LEM10
022086,000882: 24,2712 34735 CAF BIT15
022087,000883: 24,2713 55106 TS TANG
022088,000884: 24,2714 44736 CS HALF
022089,000885: 24,2715 55107 TS TANG +1
022090,000886:
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Page 513
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022092,000888: 24,2716 05516 R21LEM6 TC DOWNFLAG
022093,000889: 24,2717 00012 ADRES LOKONSW
022094,000890: 24,2720 04616 TC BANKCALL
022095,000891: 24,2721 52506 CADR RRDESNB
022096,000892: 24,2722 02723 TC +1
022097,000893: 24,2723 04616 TC BANKCALL
022098,000894: 24,2724 17705 CADR RADSTALL
022099,000895: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
022100,000896: 24,2726 05504 R21LEM10 TC UPFLAG
022101,000897: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
022102,000898: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
022103,000899: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
022104,000900: 24,2732 36250 R21LEM2 CAF THREE
022105,000901: 24,2733 55456 TS LOSCOUNT
022106,000902: 24,2734 06042 R21LEM1 TC INTPRET
022107,000903: 24,2735 43234 RTB DAD
022108,000904: 24,2736 21574 LOADTIME
022109,000905: 24,2737 11122 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
022110,000906: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
022111,000907: 24,2741 51256 LPS20.1
022112,000908: 24,2742 77776 EXIT
022113,000909: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
022114,000910: 24,2744 00012 ADRES LOKONSW
022115,000911: 24,2745 05516 TC DOWNFLAG
022116,000912: 24,2746 00126 ADRES NORRMON
022117,000913: 24,2747 06042 TC INTPRET
022118,000914: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
022119,000915: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE
022120,000916: 24,2752 77776 EXIT
022121,000917: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
022122,000918: # ON LUNAR SURFACE
022123,000919: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
022124,000920: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
022125,000921: 24,2756 17705 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
022126,000922: 24,2757 02761 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
022127,000923: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
022128,000924: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503
022129,000925: 24,2762 04616 TC BANKCALL
022130,000926: 24,2763 21563 CADR PRIOLARM
022131,000927: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
022132,000928: 24,2765 02775 TC R21SRCH # PROC
022133,000929: 24,2766 02211 TC P20LEMC3
022134,000930: 24,2767 05155 TC ENDOFJOB
022135,000931: 24,2770 05516 R21END TC DOWNFLAG
022136,000932: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022137,000933: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022138,000934: 24,2773 02232 TC P20LEMWT # YES - BYPASS V50 N 72 DISPLAY
022139,000935: 24,2774 03123 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022140,000936: 24,2775 05353 R21SRCH TC PHASCHNG
022141,000937: 24,2776 04022 OCT 04022
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Page 514
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022143,000939: 24,2777 03210 TC R24LEM # SEARCH ROUTINE
022144,000940: 24,3000 00503 ALRM503 OCT 00503
022145,000941: 24,3001 00527 ALRM527 OCT 527
022146,000942:
022147,000943: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022148,000944: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022149,000945: 24,3004 05504 TC UPFLAG
022150,000946: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
022151,000947: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING
022152,000948: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG
022153,000949: 24,3010 06042 TC INTPRET
022154,000950: 24,3011 77634 R21LEM12 RTB
022155,000951: 24,3012 21574 LOADTIME
022156,000952: 24,3013 77615 R21LEM00 DAD
022157,000953: 24,3014 11120 TENSEC # TIME T = T + 10 SECS.
022158,000954: 24,3015 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022159,000955: 24,3016 34041 STCALL TDEC1
022160,000956: 24,3017 51256 LPS20.1 # COMPUTE LOS AT TIME T
022161,000957: 24,3020 77624 CALL
022162,000958: 24,3021 52404 RRDESSM
022163,000959: 24,3022 77776 EXIT
022164,000960: 24,3023 03035 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022165,000961: 24,3024 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022166,000962: 24,3025 06032 TC KILLTASK
022167,000963: 24,3026 52604 CADR BEGDES
022168,000964: 24,3027 06042 TC INTPRET
022169,000965: 24,3030 43014 BOF CLRGO
022170,000966: 24,3031 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022171,000967: 24,3032 51045 R21LEM8 # NO - GO TO CONTINUOUS DESIGNATE
022172,000968: 24,3033 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
022173,000969: 24,3034 51042 R21LEM50
022174,000970: 24,3035 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022175,000971: 24,3036 03040 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
022176,000972: 24,3037 03107 TC R21LEM11 # YES - PUT OUT ALARM 530
022177,000973: 24,3040 55423 R21LEM7 TS REPOSCNT
022178,000974: 24,3041 06042 TC INTPRET
022179,000975: 24,3042 52145 R21LEM50 DLOAD GOTO
022180,000976: 24,3043 03425 REPOSTM
022181,000977: 24,3044 51013 R21LEM00
022182,000978: 24,3045 77745 R21LEM8 DLOAD
022183,000979: 24,3046 03425 REPOSTM
022184,000980: 24,3047 34041 STCALL TDEC1
022185,000981: 24,3050 50312 UPPSV
022186,000982: 24,3051 77776 EXIT
022187,000983: 24,3052 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022188,000984: 24,3053 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022189,000985: 24,3054 05516 TC DOWNFLAG
022190,000986: 24,3055 00012 ADRES LOKONSW
022191,000987: 24,3056 05504 TC UPFLAG
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Page 515
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022193,000989: 24,3057 00126 ADRES NORRMON
022194,000990: 24,3060 04616 TC BANKCALL
022195,000991: 24,3061 52506 CADR RRDESNB
022196,000992: 24,3062 03063 TC +1
022197,000993: 24,3063 06042 TC INTPRET
022198,000994: 24,3064 44234 RTB BDSU
022199,000995: 24,3065 21574 LOADTIME # COMPUTE DELTA TIME
022200,000996: 24,3066 03425 REPOSTM # FOR LONGCALL
022201,000997: 24,3067 03427 STORE DELTATM
022202,000998: 24,3070 77776 EXIT
022203,000999: 24,3071 00006 EXTEND
022204,001000: 24,3072 31427 DCA DELTATM
022205,001001: 24,3073 05277 TC LONGCALL
022206,001002: 24,3074 E7,1456 EBANK= LOSCOUNT
022207,001003: 24,3074 03077 50067 2CADR R21LEM9
022208,001004:
022209,001005: 24,3076 05155 TC ENDOFJOB
022210,001006: 24,3077 06032 R21LEM9 TC KILLTASK
022211,001007: 24,3100 52613 CADR STDESIG
022212,001008: 24,3101 06011 TC CLRADMOD
022213,001009: 24,3102 37717 CAF PRIO26
022214,001010: 24,3103 05105 TC FINDVAC
022215,001011: 24,3104 E7,1456 EBANK= LOSCOUNT
022216,001012: 24,3104 02726 50067 2CADR R21LEM10
022217,001013:
022218,001014: 24,3106 05261 TC TASKOVER
022219,001015: 24,3107 33116 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
022220,001016: 24,3110 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022221,001017: 24,3111 21563 CADR PRIOLARM # 600 SECS.
022222,001018: 24,3112 06025 TC GOTOV56
022223,001019: 24,3113 06025 TC GOTOV56
022224,001020: 24,3114 06025 TC GOTOV56
022225,001021: 24,3115 05155 TC ENDOFJOB
022226,001022: 24,3116 00530 ALRM530 OCT 00530
022227,001023: 24,3117 00000 01750 TENSEC 2DEC 1000 B-28
022228,001024:
022229,001025: 24,3121 00000 00062 HALFSEC 2DEC 50 B-28
022230,001026:
022231,001027: 24,3123 05353 R21DISP TC PHASCHNG
022232,001028: 24,3124 04022 OCT 04022
022233,001029: 24,3125 33136 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022234,001030: 24,3126 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022235,001031: 24,3127 20711 CADR GOPERF2R
022236,001032: 24,3130 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022237,001033: 24,3131 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022238,001034: 24,3132 03125 TC -5 # ENTER ILLEGAL
022239,001035: 24,3133 34745 CAF BIT7
022240,001036: 24,3134 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022241,001037: 24,3135 05155 TC ENDOFJOB
022242,001038:
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Page 516
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022244,001040: 24,3136 01510 V06N72PV VN 00672
022245,001041:
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Page 517
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022247,001043: # MANUAL ACQUISITION ROUTINE R23LEM
022248,001044: # PROGRAM DESCRIPTION
022249,001045:
022250,001046: # MOD NO - 2
022251,001047: # BY P VOLANTE
022252,001048:
022253,001049: # FUNCTIONAL DESCRIPTION
022254,001050:
022255,001051: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022256,001052:
022257,001053: # CALLING SEQUENCE -
022258,001054:
022259,001055: # TC R23LEM
022260,001056:
022261,001057: # SUBROUTINES CALLED
022262,001058:
022263,001059: # BANKCALL R61LEM
022264,001060: # SETMINDB GOPERF1
022265,001061:
022266,001062: # NORMAL EXIT MODES -
022267,001063:
022268,001064: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022269,001065: # ,SELECTION OF PROC WILL CONTINUE R23
022270,001066: # ,SELECTION OF TERM WILL TERMINATE R23 + P20
022271,001067:
022272,001068: # ALARM OR ABORT EXIT MODES -
022273,001069:
022274,001070: # SEE NORMAL EXIT MODES ABOVE
022275,001071:
022276,001072: # OUTPUT
022277,001073:
022278,001074: # N.A.
022279,001075:
022280,001076: # ERASABLE INITIALIZATION REQUIRED -
022281,001077:
022282,001078: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022283,001079:
022284,001080: 24,3137 1142 EBANK= GENRET
022285,001081: 24,3137 COUNT* $$/R23
022286,001082: 24,3137 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022287,001083: 24,3140 00126 ADRES NORRMON
022288,001084: 24,3141 00004 INHINT
022289,001085: 24,3142 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022290,001086: 24,3143 40141 CADR SETMINDB
022291,001087: 24,3144 00003 RELINT
022292,001088: 24,3145 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022293,001089: 24,3146 00006 EXTEND
022294,001090: 24,3147 05012 WOR CHAN12
022295,001091: 24,3150 33207 CAF OCT205
022296,001092: 24,3151 04616 TC BANKCALL
022297,001093: 24,3152 20624 CADR GOPERF1
022298,001094: 24,3153 03200 TC R23LEM2 # TERMINATE
022299,001095: 24,3154 03156 TC R23LEM11 # PROCEDE
022300,001096: 24,3155 03203 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
022301,001097: 24,3156 00004 R23LEM11 INHINT
022302,001098: 24,3157 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022303,001099: 24,3160 00035 ADRES CDUT
022304,001100: 24,3161 03170 TC OUTOFLIM # NOT WITHIN LIMITS
022305,001101: 24,3162 04674 TC IBNKCALL # RESTORE DEADBAND TO
022306,001102: 24,3163 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022307,001103: 24,3164 00003 RELINT
022308,001104: 24,3165 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022309,001105: 24,3166 00126 ADRES NORRMON
022310,001106: 24,3167 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022311,001107: 24,3170 00003 OUTOFLIM RELINT
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Page 518
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022313,001109: 24,3171 33206 CAF OCT501PV
022314,001110: 24,3172 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022315,001111: 24,3173 21563 CADR PRIOLARM # LIMITS
022316,001112: 24,3174 03200 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022317,001113: 24,3175 03171 TC OUTOFLIM +1 # PROCEED ILLEGAL
022318,001114: 24,3176 03203 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
022319,001115: 24,3177 05155 TC ENDOFJOB
022320,001116: 24,3200 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022321,001117: 24,3201 00126 ADRES NORRMON
022322,001118: 24,3202 06025 TC GOTOV56 # AND EXIT VIA V56
022323,001119: 24,3203 04616 R23LEM3 TC BANKCALL
022324,001120: 24,3204 46116 CADR R61LEM
022325,001121: 24,3205 03145 TC R23LEM1
022326,001122:
022327,001123: 24,3206 00501 OCT501PV OCT 501
022328,001124: 24,3207 00205 OCT205 OCT 205
022329,001125:
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Page 519
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022331,001127: # SEARCH ROUTINE R24LEM
022332,001128: # PROGRAM DESCRIPTION
022333,001129:
022334,001130: # MOD NO - 2
022335,001131: # BY P. VOLANTE
022336,001132:
022337,001133: # FUNCTIONAL DESCRIPTION
022338,001134:
022339,001135: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022340,001136: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022341,001137: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022342,001138:
022343,001139: # CALLING SEQUENCE
022344,001140:
022345,001141: # CAF PRIONN
022346,001142: # TC FINDVAC
022347,001143: # EBANK= DATAGOOD
022348,001144: # 2CADR R24LEM
022349,001145:
022350,001146: # SUBROUTINES CALLED
022351,001147:
022352,001148: # FLAGUP FLAGDOWN BANKCALL
022353,001149: # R61LEM GOFLASHR FINDVAC
022354,001150: # ENDOFJOB NOVAC LSR24.1
022355,001151:
022356,001152: # NORMAL EXIT MODES -
022357,001153:
022358,001154: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
022359,001155: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022360,001156: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022361,001157:
022362,001158: # ALARM OR ABORT EXIT MODES -
022363,001159:
022364,001160: # SEE NORMAL EXIT MODES ABOVE
022365,001161:
022366,001162: # OUTPUT -
022367,001163:
022368,001164: # SEE OUTPUT FROM LSR24.1 + R61LEM
022369,001165:
022370,001166: # ERASABLE INITIALIZATION REQUIRED
022371,001167:
022372,001168: # SEE INPUT FOR LSR24.1
022373,001169:
022374,001170: # FLAGS SET + RESET
022375,001171:
022376,001172: # SRCHOPT, ACMODFLG
022377,001173:
022378,001174: 24,3210 E7,1733 EBANK= DATAGOOD
022379,001175: 24,3210 COUNT* $$/R24
022380,001176: 24,3210 05504 R24LEM TC UPFLAG
022381,001177: 24,3211 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022382,001178: 24,3212 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022383,001179: 24,3213 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022384,001180: 24,3214 34755 R24LEM1 CAF ZERO
022385,001181: 24,3215 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022386,001182: 24,3216 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022387,001183: 24,3217 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022388,001184: 24,3220 05353 R24LEM2 TC PHASCHNG
022389,001185: 24,3221 04022 OCT 04022
022390,001186: 24,3222 33255 CAF V16N80
022391,001187: 24,3223 04616 TC BANKCALL
022392,001188: 24,3224 20505 CADR PRIODSPR
022393,001189: 24,3225 06025 TC GOTOV56
022394,001190: 24,3226 03232 TC R24END # PROCEED EXIT R24 TO P20LEM1
022395,001191:
022396,001192: 24,3227 03236 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
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022398,001194: 24,3230 04616 TC BANKCALL
022399,001195: 24,3231 55442 CADR LRS24.1
022400,001196: 24,3232 06032 R24END TC KILLTASK
022401,001197: 24,3233 55643 CADR CALLDGCH
022402,001198: 24,3234 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022403,001199: 24,3235 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022404,001200:
022405,001201: 6011 BLOCK 3
022406,001202: 6000 SETLOC FFTAG6
022407,001203: 6000 BANK
022408,001204: 6011 COUNT* $$/R24
022409,001205:
022410,001206: 6011 46021 CLRADMOD CS BIT10+15
022411,001207: 6012 00004 INHINT
022412,001208: 6013 70110 MASK RADMODES
022413,001209: 6014 54110 TS RADMODES
022414,001210: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022415,001211: 6016 00006 EXTEND
022416,001212: 6017 03012 WAND CHAN12 # USER WILL RELINT
022417,001213:
022418,001214: 6020 00002 TC Q
022419,001215:
022420,001216: 6021 41000 BIT10+15 OCT 41000
022421,001217:
022422,001218: 24,3236 BANK 24
022423,001219: 24,2000 SETLOC P20S
022424,001220: 24,2000 BANK
022425,001221: 24,3236 COUNT* $$/R24
022426,001222:
022427,001223: 24,3236 05353 R24LEM3 TC PHASCHNG
022428,001224: 24,3237 04022 OCT 04022
022429,001225: 24,3240 06032 TC KILLTASK
022430,001226: 24,3241 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022431,001227: 24,3242 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022432,001228: 24,3243 34774 CAF .5SEC
022433,001229: 24,3244 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022434,001230: 24,3245 01736 CADR DELAYJOB
022435,001231: 24,3246 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022436,001232: 24,3247 03252 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022437,001233: 24,3250 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022438,001234: 24,3251 46116 CADR R61LEM # ATTITUDE MANEUVER
022439,001235: 24,3252 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022440,001236: 24,3253 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022441,001237: # RRDESSM WILL RETURN TO CALLER
022442,001238: 24,3254 03220 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022443,001239:
022444,001240: 24,3255 04120 V16N80 VN 01680
022445,001241:
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Page 521
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022447,001243: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022448,001244: # PROGRAM DESCRIPTION
022449,001245:
022450,001246: # MOD NO: 3 DATE: 4-11-67
022451,001247: # MOD BY: P VOLANTE SDC
022452,001248:
022453,001249: # FUNCTIONAL DESCRIPTION -
022454,001250:
022455,001251: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022456,001252: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022457,001253: # ATTITUDE.
022458,001254:
022459,001255: # CALLING SEQUENCE -
022460,001256:
022461,001257: # TC BANKCALL
022462,001258: # CADR R61LEM
022463,001259:
022464,001260: # SUBROUTINES CALLED
022465,001261:
022466,001262: # LPS20.1 VECPOINT
022467,001263: # KALCMAN3
022468,001264:
022469,001265: # NORMAL EXIT MODES -
022470,001266:
022471,001267: # NORMAL RETURN IS TO CALLER + 1
022472,001268:
022473,001269: # ALARM OR ABORT EXIT MODES -
022474,001270:
022475,001271: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022476,001272: # RENDEZVOUS FLAG ARE NOT SET.
022477,001273:
022478,001274: # OUTPUT -
022479,001275:
022480,001276: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022481,001277:
022482,001278: # ERASABLE INITIALIZATION REQUIRED
022483,001279:
022484,001280: # GENRET USED TO SAVE Q FOR RETURN
022485,001281:
022486,001282: # FLAGS SET + RESET
022487,001283:
022488,001284: # 3AXISFLG
022489,001285:
022490,001286: # DEBRIS
022491,001287:
022492,001288: # SEE SUBROUTINES
022493,001289:
022494,001290: 23,2000 SETLOC R61
022495,001291: 23,2000 BANK
022496,001292: 23,2116 E7,1456 EBANK= LOSCOUNT
022497,001293: 23,2116 COUNT* $$/R61
022498,001294: 23,2116 04645 R61LEM TC MAKECADR
022499,001295: 23,2117 55142 TS GENRET
022500,001296: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022501,001297: 23,2121 00024 ADRES R61FLAG
022502,001298: 23,2122 02152 TC R61C+L02
022503,001299: 23,2123 04645 R65LEM TC MAKECADR
022504,001300: 23,2124 55142 TS GENRET
022505,001301: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022506,001302: 23,2126 00024 ADRES R61FLAG
022507,001303: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022508,001304: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022509,001305: 23,2131 02033 RAND CHAN33
022510,001306: 23,2132 10000 CCS A
022511,001307: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD
022512,001308: 23,2134 05504 TC UPFLAG
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022514,001310: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM
022515,001311: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
022516,001312: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022517,001313: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022518,001314: 23,2141 17705 CADR RADSTALL # DURING ANY MARK PROCESSING,
022519,001315: 23,2142 12143 NOOP
022520,001316: 23,2143 04616 TC BANKCALL
022521,001317: 23,2144 53114 CADR RRRANGE
022522,001318: 23,2145 04616 TC BANKCALL
022523,001319: 23,2146 17705 CADR RADSTALL
022524,001320: 23,2147 12150 NOOP
022525,001321: 23,2150 05516 TC DOWNFLAG
022526,001322: 23,2151 00063 ADRES R04FLAG
022527,001323: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022528,001324: 23,2153 70075 MASK STATE +1
022529,001325: 23,2154 00006 EXTEND
022530,001326: 23,2155 12314 BZF R65WAIT # NOT SET
022531,001327: 23,2156 06042 R61C+L03 TC INTPRET
022532,001328: 23,2157 77775 VLOAD
022533,001329: 23,2160 06516 HIUNITZ
022534,001330: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022535,001331: 23,2162 43234 R61LEM1 RTB DAD
022536,001332: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022537,001333: 23,2164 15712 3SECONDS # SIX SECOND PERIOD.
022538,001334: 23,2165 34041 STCALL TDEC1
022539,001335: 23,2166 51256 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022540,001336: 23,2167 77775 VLOAD
022541,001337: 23,2170 01101 RRTARGET
022542,001338: 23,2171 03773 STORE POINTVSM
022543,001339: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022544,001340: 23,2173 46322 READCDUD
022545,001341: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022546,001342: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022547,001343: 23,2176 77776 EXIT
022548,001344: 23,2177 05353 TC PHASCHNG
022549,001345: 23,2200 04022 OCT 04022
022550,001346: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET
022551,001347: 23,2202 70075 MASK FLAGWRD1
022552,001348: 23,2203 00006 EXTEND
022553,001349: 23,2204 12314 BZF R65WAIT
022554,001350: 23,2205 04616 TC BANKCALL
022555,001351: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE
022556,001352: 23,2207 10000 CCS A
022557,001353: 23,2210 02302 TC R61C+L04 # NOT IN AUTO
022558,001354: 23,2211 06042 TC INTPRET
022559,001355: 23,2212 45175 VLOAD CALL
022560,001356: 23,2213 01101 RRTARGET
022561,001357: 23,2214 47650 CDU*SMNB
022562,001358: 23,2215 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022563,001359: 23,2216 00162 MPAC +5
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Page 523
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022565,001361: 23,2217 06320 COS15DEG
022566,001362: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022567,001363: 23,2221 46236 R61C+L05 # PHI GRE 10DEG
022568,001364: 23,2222 E6,1634 EBANK= CDUXD
022569,001365: 23,2222 35015 CAF EBANK6
022570,001366: 23,2223 54003 TS EBANK
022571,001367: 23,2224 00004 INHINT
022572,001368: 23,2225 00006 EXTEND
022573,001369: 23,2226 30322 DCA CPHI
022574,001370: 23,2227 53635 DXCH CDUXD
022575,001371: 23,2230 30323 CA CPSI
022576,001372: 23,2231 55636 TS CDUZD
022577,001373: 23,2232 00003 RELINT
022578,001374: 23,2233 E7,1456 EBANK= LOSCOUNT
022579,001375: 23,2233 35016 CAF EBANK7
022580,001376: 23,2234 54003 TS EBANK
022581,001377: 23,2235 02261 TC R61C+L06
022582,001378: 23,2236 77776 R61C+L05 EXIT
022583,001379: 23,2237 00004 INHINT
022584,001380: 23,2240 04674 TC IBNKCALL
022585,001381: 23,2241 40154 FCADR ZATTEROR
022586,001382: 23,2242 04674 TC IBNKCALL
022587,001383: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022588,001384: 23,2244 05516 TC DOWNFLAG
022589,001385: 23,2245 00124 ADRES 3AXISFLG
022590,001386: 23,2246 05504 TC UPFLAG
022591,001387: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022592,001388: 23,2250 04616 TC BANKCALL
022593,001389: 23,2251 54123 CADR R60LEM
022594,001390: 23,2252 00004 INHINT
022595,001391: 23,2253 04674 TC IBNKCALL
022596,001392: 23,2254 40115 FCADR RESTORDB
022597,001393: 23,2255 05353 TC PHASCHNG
022598,001394: 23,2256 04022 OCT 04022
022599,001395: 23,2257 05516 TC DOWNFLAG
022600,001396: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022601,001397: 23,2261 30075 R61C+L06 CA FLAGWRD1
022602,001398: 23,2262 74742 MASK R61FLBIT
022603,001399: 23,2263 10000 CCS A
022604,001400: 23,2264 02305 TC R61C+L4
022605,001401: 23,2265 11745 CCS R65CNTR
022606,001402: 23,2266 02270 TC +2
022607,001403: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022608,001404: 23,2270 55745 TS R65CNTR
022609,001405: 23,2271 32321 CAF 06SEC
022610,001406: 23,2272 05173 TC TWIDDLE
022611,001407: 23,2273 02275 ADRES R61C+L2
022612,001408: 23,2274 05155 TC ENDOFJOB
022613,001409: 23,2275 37717 R61C+L2 CAF PRIO26
022614,001410: 23,2276 05105 TC FINDVAC
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Page 524
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022616,001412: 23,2277 E7,1456 EBANK= LOSCOUNT
022617,001413: 23,2277 02127 46067 2CADR R61C+L01
022618,001414:
022619,001415: 23,2301 05261 TC TASKOVER
022620,001416: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022621,001417: 23,2303 54272 CADR BALLANGS
022622,001418: 23,2304 02261 TC R61C+L06
022623,001419: 23,2305 31142 R61C+L4 CAE GENRET
022624,001420: 23,2306 14640 TCF BANKJUMP # EXIT R61
022625,001421: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022626,001422: 23,2310 70074 MASK STATE
022627,001423: 23,2311 00006 EXTEND
022628,001424: 23,2312 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022629,001425: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE
022630,001426: 23,2314 04635 R65WAIT TC POSTJUMP
022631,001427: 23,2315 50232 CADR P20LEMWT
022632,001428:
022633,001429: 23,2316 00500 BIT7+9PV OCT 00500
022634,001430: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1
022635,001431:
022636,001432: 23,2321 01130 06SEC DEC 600 B-14
022637,001433: 23,2322 PHI EQUALS 20D
022638,001434: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022639,001435: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022640,001436: 23,2324 56003 XCH EBANK
022641,001437: 23,2325 54070 TS RUPTREG1
022642,001438: 23,2326 E6,1634 EBANK= CDUXD
022643,001439: 23,2326 31634 CA CDUXD
022644,001440: 23,2327 54154 TS MPAC
022645,001441: 23,2330 00006 EXTEND
022646,001442: 23,2331 31636 DCA CDUYD
022647,001443: 23,2332 52156 DXCH MPAC +1
022648,001444: 23,2333 30070 CA RUPTREG1
022649,001445: 23,2334 54003 TS EBANK
022650,001446: 23,2335 00003 RELINT
022651,001447: 23,2336 16502 TCF TMODE
022652,001448:
022653,001449: 4512 BLOCK 02
022654,001450: 4000 SETLOC RADARFF
022655,001451: 4000 BANK
022656,001452:
022657,001453: 4512 E7,1456 EBANK= LOSCOUNT
022658,001454: 4512 COUNT* $$/RRSUB
022659,001455:
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Page 525
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022661,001457: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022662,001458: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022663,001459:
022664,001460: 4512 00006 MAGSUB EXTEND
022665,001461: 4513 64515 BZMF +2
022666,001462: 4514 14516 TCF +2
022667,001463: 4515 40000 COM
022668,001464:
022669,001465: 4516 50002 INDEX Q
022670,001466: 4517 60000 AD 0
022671,001467: 4520 00006 EXTEND
022672,001468: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022673,001469: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
022674,001470:
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Page 526
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022676,001472: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022677,001473:
022678,001474: # FUNCTIONAL DESCRIPTION_
022679,001475:
022680,001476: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022681,001477: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022682,001478: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022683,001479: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022684,001480: # MODE 1 AND =1 FOR MODE 2.
022685,001481:
022686,001482: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022687,001483: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022688,001484: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022689,001485: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022690,001486:
022691,001487: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022692,001488: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022693,001489: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022694,001490: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022695,001491: # TO L +3.
022696,001492:
022697,001493: # CALLING SEQUENCE:
022698,001494:
022699,001495: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022700,001496: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022701,001497:
022702,001498: # ERASABLE INITIALIZATION REQUIRED:
022703,001499:
022704,001500: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022705,001501: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022706,001502: # CURRENT EBANK).
022707,001503:
022708,001504: # SUBROUTINES CALLED_ MAGSUB
022709,001505:
022710,001506: # JOBS OR TASKS INITIATED_ NONE
022711,001507:
022712,001508: # ALARMS_ NONE
022713,001509:
022714,001510: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022715,001511: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022716,001512:
022717,001513: 4523 00006 RRLIMCHK EXTEND
022718,001514: 4524 50002 INDEX Q
022719,001515: 4525 50000 INDEX 0
022720,001516: 4526 30001 DCA 0
022721,001517: 4527 24002 INCR Q
022722,001518: 4530 52062 DXCH ITEMP1
022723,001519: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022724,001520:
022725,001521: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022726,001522: 4533 70110 MASK RADMODES
022727,001523: 4534 10000 CCS A
022728,001524: 4535 14550 TCF MODE2CHK
022729,001525:
022730,001526: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
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Page 527
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022732,001528: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022733,001529: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022734,001530: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022735,001531:
022736,001532: 4542 34562 CAF 5.5DEGS
022737,001533: 4543 60062 AD ITEMP2 # S
022738,001534: 4544 04512 TC MAGSUB
022739,001535: 4545 64420 DEC -.35833 # 64.5 DEGS
022740,001536: 4546 00001 TC L
022741,001537: 4547 04560 TC RRLIMOK # IN LIMITS.
022742,001538:
022743,001539: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022744,001540: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022745,001541: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022746,001542: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022747,001543: 4554 00001 TC L
022748,001544:
022749,001545: 4555 30061 CA ITEMP1
022750,001546: 4556 04512 TC MAGSUB
022751,001547: 4557 51615 DEC -.69444 # 125 DEGS
022752,001548:
022753,001549: 4560 50001 RRLIMOK INDEX L
022754,001550: 4561 00001 TC L # ( = TC 1 )
022755,001551:
022756,001552: 4562 00765 5.5DEGS DEC .03056
022757,001553: 4563 16450 82DEGS DEC .45556
022758,001554:
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Page 528
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022760,001556: # PROGRAM NAME_ SETTRKF . IF EITHER:
022761,001557:
022762,001558: # FUNCTIONAL DESCRIPTION_
022763,001559: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022764,001560: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022765,001561: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022766,001562: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022767,001563: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022768,001564: # AUTO MODE (RADMODES BITS 13, 7, 2).
022769,001565: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022770,001566: # 8,5)
022771,001567: # 3) NO RR DATA (RADMODES BIT 4)
022772,001568: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022773,001569: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022774,001570: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022775,001571: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022776,001572: # TRACKER FAIL LAMP IS TURNED ON IF_
022777,001573: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022778,001574: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022779,001575: # EITHER THE ALT OR VEL INFORMATION
022780,001576: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022781,001577: # WITH EITHER THE AL
022782,001578:
022783,001579: # CALLING SEQUENCE:
022784,001580:
022785,001581: # L TC SETTRKF
022786,001582:
022787,001583: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022788,001584:
022789,001585: # SUBROUTINES CALLED_ NONE
022790,001586:
022791,001587: # JOBS OR TASKS INITIATED_ NONE
022792,001588:
022793,001589: # ALARMS_ TRACKER FAIL LAMP
022794,001590:
022795,001591: # EXIT_ L +1 (ALWAYS) ED.
022796,001592:
022797,001593: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022798,001594: 4565 71300 MASK IMODES33
022799,001595: 4566 10000 CCS A
022800,001596: 4567 00002 TC Q
022801,001597:
022802,001598: 4570 34744 RRTRKF CA BIT8
022803,001599: 4571 54001 TS L
022804,001600:
022805,001601: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022806,001602: 4573 70110 MASK RADMODES
022807,001603: 4574 00006 EXTEND
022808,001604: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022809,001605:
022810,001606: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022811,001607: 4577 70110 MASK RADMODES
|
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Page 529
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022813,001609: 4600 10000 CCS A
022814,001610: 4601 30001 TRKFLON CA L
022815,001611: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022816,001612: 4603 70001 MASK L
022817,001613: 4604 00006 EXTEND
022818,001614: 4605 16745 BZF TCQ # NO CHANGE.
022819,001615:
022820,001616: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022821,001617: 4607 00006 EXTEND
022822,001618: 4610 06001 RXOR LCHAN
022823,001619: 4611 74733 MASK POSMAX
022824,001620: 4612 64735 AD BIT15
022825,001621: 4613 55035 TS DSPTAB +11D
022826,001622: 4614 00002 TC Q
022827,001623:
022828,001624: 4615 10102 13,7,2 OCT 10102
022829,001625: 4616 ENDRMODF EQUALS
022830,001626:
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Page 530
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022832,001628: # PROGRAM NAME_ RRTURNON
022833,001629:
022834,001630: # FUNCTIONAL DESCRIPTION_
022835,001631:
022836,001632: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022837,001633: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022838,001634: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022839,001635: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022840,001636: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022841,001637: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022842,001638: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022843,001639: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022844,001640: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022845,001641: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022846,001642: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022847,001643: # TO TASKOVER.
022848,001644:
022849,001645: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022850,001646: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022851,001647: # THE RR (STATE BIT 7).
022852,001648:
022853,001649: # ERASABLE INITIALIZATION REQUIRED:
022854,001650:
022855,001651: # RADMODES, STATE
022856,001652:
022857,001653: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022858,001654:
022859,001655: # JOBS OR TASKS INITIATED_
022860,001656: #
022861,001657: # NONE
022862,001658:
022863,001659: # ALARMS_ NONE (SEE RRZEROSB)
022864,001660:
022865,001661: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022866,001662:
022867,001663: 24,3256 BANK 24
022868,001664: 25,2000 SETLOC P20S1
022869,001665: 25,2000 BANK
022870,001666:
022871,001667: 25,2073 E7,1456 EBANK= LOSCOUNT
022872,001668: 25,2073 COUNT* $$/RSUB
022873,001669: 25,2073 02102 RRTURNON TC RRZEROSB
022874,001670: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022875,001671: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022876,001672: 25,2076 44753 CS TURNONBT
022877,001673: 25,2077 70110 MASK RADMODES
022878,001674: 25,2100 54110 TS RADMODES
022879,001675: 25,2101 15261 TCF TASKOVER
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Page 531
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022881,001677: # PROGRAM NAME_ RRZEROSB
022882,001678:
022883,001679: # FUNCTIONAL DESCRIPTION_
022884,001680:
022885,001681: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022886,001682: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022887,001683: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022888,001684: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022889,001685: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022890,001686: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022891,001687: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022892,001688: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022893,001689: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022894,001690: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022895,001691: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022896,001692: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022897,001693: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022898,001694: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022899,001695: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022900,001696:
022901,001697: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022902,001698:
022903,001699: # ERASABLE INITIALIZATION REQUIRED:
022904,001700:
022905,001701: # RADMODES (BIT 13 SET), DSPTAB +11D
022906,001702:
022907,001703: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022908,001704:
022909,001705: # JOBS OR TASKS INITIATED_
022910,001706:
022911,001707: # NONE
022912,001708:
022913,001709: # ALARMS_ TRACKER FAIL
022914,001710:
022915,001711: # EXIT_ L +1 (ALWAYS)
022916,001712:
022917,001713: 25,2102 00006 RRZEROSB EXTEND
022918,001714: 25,2103 23312 QXCH RRRET
022919,001715: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022920,001716: 25,2105 00006 EXTEND # COMING HERE.
022921,001717: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022922,001718: 25,2107 05221 TC FIXDELAY
022923,001719: 25,2110 00002 DEC 2 B-14
022924,001720:
022925,001721: 25,2111 34755 CAF ZERO
022926,001722: 25,2112 54035 TS CDUT
022927,001723: 25,2113 54036 TS CDUS
022928,001724: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
022929,001725: 25,2115 00006 EXTEND
022930,001726: 25,2116 03012 WAND CHAN12
022931,001727: 25,2117 05221 TC FIXDELAY
022932,001728: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022933,001729:
022934,001730: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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Page 532
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022936,001732: 25,2122 70110 MASK RADMODES
022937,001733: 25,2123 54110 TS RADMODES
022938,001734:
022939,001735: 25,2124 30035 CA CDUT
022940,001736: 25,2125 04512 TC MAGSUB
022941,001737: 25,2126 57777 DEC -.5
022942,001738: 25,2127 12132 TCF +3 # IF MODE 2.
022943,001739:
022944,001740: 25,2130 34755 CAF ZERO
022945,001741: 25,2131 12133 TCF +2
022946,001742: 25,2132 34740 CAF ANTENBIT
022947,001743: 25,2133 56110 XCH RADMODES
022948,001744: 25,2134 77744 MASK -BIT12
022949,001745: 25,2135 26110 ADS RADMODES
022950,001746:
022951,001747: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022952,001748:
022953,001749: 25,2137 01312 TC RRRET # DONE.
022954,001750:
022955,001751: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
022956,001752:
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Page 533
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022958,001754: # PROGRAM NAME_ DORREPOS
022959,001755:
022960,001756: # FUNCTIONAL DESCRIPTION_
022961,001757:
022962,001758: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022963,001759: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022964,001760: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022965,001761: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022966,001762: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022967,001763: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022968,001764: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022969,001765: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022970,001766: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022971,001767: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022972,001768: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022973,001769: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022974,001770: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022975,001771: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022976,001772: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022977,001773: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022978,001774: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022979,001775: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022980,001776: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022981,001777: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022982,001778: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022983,001779: # TASKOVER.
022984,001780:
022985,001781: # CALLING SEQUENCE:
022986,001782:
022987,001783: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022988,001784: # NOT WITHIN LIMITS OF CURRENT MODE.
022989,001785:
022990,001786: # ERASABLE INITIALIZATION REQUIRED:
022991,001787:
022992,001788: # RADMODES
022993,001789:
022994,001790: # SUBROUTINES CALLED_
022995,001791:
022996,001792: # RRTONLY, RRSONLY, BEGDES (EXIT)
022997,001793:
022998,001794: # JOBS OR TASKS INITIATED_
022999,001795:
023000,001796: # NONE
023001,001797:
023002,001798: # ALARMS- NONE
023003,001799:
023004,001800: # EXIT_ TASKOVER, BEGDES
023005,001801:
023006,001802: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
023007,001803:
023008,001804: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
023009,001805:
023010,001806: 25,2141 05221 TC FIXDELAY
023011,001807: 25,2142 00002 DEC 2 B-14
023012,001808:
023013,001809: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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Page 534
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023015,001811: 25,2144 70110 MASK RADMODES
023016,001812: 25,2145 10000 CCS A
023017,001813: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
023018,001814: 25,2147 02252 TC RRTONLY
023019,001815:
023020,001816: 25,2150 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
023021,001817: 25,2151 70110 MASK RADMODES
023022,001818: 25,2152 10000 CCS A
023023,001819: 25,2153 44736 CS HALF # -90 FOR MODE 2.
023024,001820: 25,2154 02255 TC RRSONLY
023025,001821:
023026,001822: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
023027,001823: # REQUESTED DURING REPOSITION.
023028,001824: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
023029,001825: 25,2157 54110 TS RADMODES
023030,001826: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
023031,001827: 25,2161 10000 CCS A
023032,001828: 25,2162 12604 TCF BEGDES
023033,001829: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
023034,001830: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
023035,001831: 25,2165 03012 WAND CHAN12
023036,001832: 25,2166 15261 TCF TASKOVER
023037,001833:
023038,001834: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
023039,001835: 25,2170 00006 EXTEND
023040,001836: 25,2171 02012 RAND CHAN12
023041,001837: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
023042,001838: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED.
023043,001839:
023044,001840: 25,2174 54112 TS LASTYCMD
023045,001841: 25,2175 54113 TS LASTXCMD
023046,001842: 25,2176 34752 CAF BIT2
023047,001843: 25,2177 00006 EXTEND
023048,001844: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
023049,001845: 25,2201 00002 TC Q
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Page 535
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023051,001847: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
023052,001848:
023053,001849: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
023054,001850: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
023055,001851: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
023056,001852: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
023057,001853: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
023058,001854: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
023059,001855: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
023060,001856: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
023061,001857: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
023062,001858: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
023063,001859: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
023064,001860: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
023065,001861: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
023066,001862: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
023067,001863: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
023068,001864: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
023069,001865: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
023070,001866: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
023071,001867: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
023072,001868: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
023073,001869:
023074,001870: # CALLING SEQUENCE:
023075,001871:
023076,001872: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
023077,001873: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
023078,001874: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
023079,001875: # OTHER MODE.
023080,001876:
023081,001877: # ERASABLE INITIALIZATION REQUIRED:
023082,001878:
023083,001879: # RADMODES
023084,001880:
023085,001881: # SUBROUTINES CALLED_
023086,001882:
023087,001883: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
023088,001884:
023089,001885: # JOBS OR TASKS INITIATED_
023090,001886:
023091,001887: # NONE
023092,001888:
023093,001889: # ALARMS_ NONE
023094,001890:
023095,001891: # EXIT_ STDESIG
023096,001892:
023097,001893: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
023098,001894: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
023099,001895: 25,2204 10000 CCS A
023100,001896: 25,2205 34735 CAF BIT15
023101,001897: 25,2206 02252 TC RRTONLY
023102,001898:
023103,001899: 25,2207 37743 CAF -45DEGSR
023104,001900: 25,2210 02255 TC RRSONLY
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Page 536
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023106,001902: 25,2211 40110 CS RADMODES
023107,001903: 25,2212 74740 MASK ANTENBIT
023108,001904: 25,2213 10000 CCS A
023109,001905: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
023110,001906: 25,2215 62242 AD -50DEGSR
023111,001907: 25,2216 02252 TC RRTONLY
023112,001908:
023113,001909: 25,2217 40110 CS RADMODES
023114,001910: 25,2220 74740 MASK ANTENBIT
023115,001911: 25,2221 10000 CCS A
023116,001912: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
023117,001913: 25,2223 02252 TC RRTONLY
023118,001914:
023119,001915: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
023120,001916: 25,2225 74740 MASK ANTENBIT
023121,001917: 25,2226 10000 CCS A
023122,001918: 25,2227 44736 CS HALF
023123,001919: 25,2230 02255 TC RRSONLY
023124,001920:
023125,001921: 25,2231 02244 TC RMODINV
023126,001922: 25,2232 44736 CS REMODBIT # END OF REMODE.
023127,001923: 25,2233 70110 MASK RADMODES
023128,001924: 25,2234 54110 TS RADMODES
023129,001925:
023130,001926: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
023131,001927: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
023132,001928: 25,2237 00006 EXTEND
023133,001929: 25,2240 13560 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
023134,001930: 25,2241 02613 TC STDESIG # YES - RETURN TO DESIGNATE
023135,001931: 25,2242 7743 -45DEGSR = 13,14,15
023136,001932: 25,2242 67070 -50DEGSR DEC -.27778
023137,001933: 25,2243 61615 -80DEGSR DEC -.44444
023138,001934:
023139,001935: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023140,001936: 25,2245 34740 CAF ANTENBIT
023141,001937: 25,2246 00006 EXTEND
023142,001938: 25,2247 06001 RXOR LCHAN
023143,001939: 25,2250 54110 TS RADMODES
023144,001940: 25,2251 00002 TC Q
023145,001941:
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Page 537
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023147,001943: # PROGRAM NAMES_ RRTONLY, RRSONLY
023148,001944:
023149,001945: # FUNCTIONAL DESCRIPTION_
023150,001946:
023151,001947: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023152,001948: # RRMANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023153,001949: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023154,001950: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023155,001951: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023156,001952: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023157,001953: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023158,001954: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023159,001955: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023160,001956: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023161,001957: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023162,001958: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023163,001959: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023164,001960: # REPEATED.
023165,001961:
023166,001962: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023167,001963: # L TC RRTONLY (TRUNNION ONLY)
023168,001964: # RRSONLY (SHAFT ONLY)
023169,001965: # RRTONLY IS CALLED BY PREPOS29;
023170,001966: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023171,001967:
023172,001968: # ERASABLE INITIALIZATION REQUIRED:
023173,001969:
023174,001970: # C(A) = DESIRED ANGLE, RADMODES
023175,001971:
023176,001972: # SUBROUTINES CALLED_
023177,001973:
023178,001974: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023179,001975:
023180,001976: # JOBS OR TASKS INITIATED_
023181,001977:
023182,001978: # NONE
023183,001979:
023184,001980: # ALARMS_ NONE
023185,001981:
023186,001982: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023187,001983: # BITS 14, 11)
023188,001984: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023189,001985:
023190,001986: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023191,001987: 25,2253 34755 CAF ZERO
023192,001988: 25,2254 12257 TCF RR1AXIS
023193,001989:
023194,001990: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023195,001991: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023196,001992:
023197,001993: 25,2257 55314 RR1AXIS TS RRINDEX
023198,001994: 25,2260 00006 EXTEND
023199,001995: 25,2261 23312 QXCH RRRET
023200,001996: 25,2262 12265 TCF RR1AX2
023201,001997:
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Page 538
|
023203,001999: 25,2263 05221 NXTRR1AX TC FIXDELAY
023204,002000: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023205,002001:
023206,002002: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023207,002003: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023208,002004: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023209,002005: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
023210,002006:
023211,002007: 25,2271 31313 CA RDES
023212,002008: 25,2272 00006 EXTEND
023213,002009: 25,2273 51314 INDEX RRINDEX
023214,002010: 25,2274 20035 MSU CDUT
023215,002011: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023216,002012: 25,2276 00006 EXTEND
023217,002013: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023218,002014: 25,2300 54001 TS L
023219,002015: 25,2301 30110 CA RADMODES
023220,002016: 25,2302 74752 MASK AUTOMBIT
023221,002017: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023222,002018: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023223,002019: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
023224,002020:
023225,002021: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023226,002022: 25,2307 01312 TC RRRET # RETURN TO CALLER.
023227,002023:
023228,002024: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023229,002025: 25,2311 12313 TCF +2 # SETTING A TO 0.
023230,002026: 25,2312 56001 XCH L
023231,002027: 25,2313 53355 DXCH TRUNNCMD
023232,002028: 25,2314 02317 TC RROUT
023233,002029:
023234,002030: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023235,002031:
023236,002032: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023237,002033:
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Page 539
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023239,002035: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023240,002036:
023241,002037: # FUNCTIONAL DESCRIPTION_
023242,002038:
023243,002039: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023244,002040: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023245,002041: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023246,002042: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023247,002043: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023248,002044: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023249,002045: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023250,002046: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023251,002047: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023252,002048: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023253,002049: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023254,002050: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023255,002051: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023256,002052:
023257,002053: # CALLING SEQUENCE:
023258,002054: #
023259,002055: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023260,002056: # RRTONLY, RRSONLY, AND DODES
023261,002057:
023262,002058: # ERASABLE INITIALIZATION REQUIRED:
023263,002059:
023264,002060: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023265,002061: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023266,002062:
023267,002063: # SUBROUTINES CALLED_
023268,002064:
023269,002065: # MAGSUB
023270,002066:
023271,002067: # JOBS OR TASKS INITIATED_
023272,002068:
023273,002069: # NONE
023274,002070:
023275,002071: # ALARMS_ NONE
023276,002072:
023277,002073: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023278,002074:
023279,002075: 25,2317 22002 RROUT LXCH Q # SAVE RETURN.
023280,002076: 25,2320 34753 CAF ONE # LOOP TWICE.
023281,002077: 25,2321 54062 RROUT2 TS ITEMP2
023282,002078: 25,2322 50000 INDEX A
023283,002079: 25,2323 31354 CA TRUNNCMD
023284,002080: 25,2324 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023285,002081:
023286,002082: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023287,002083: 25,2326 77177 -RRLIMIT DEC -384 B-14
023288,002084: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023289,002085:
023290,002086: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023291,002087: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023292,002088: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023293,002089: 25,2333 40000 COM
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|
Page 540
|
023295,002091: 25,2334 60061 AD ITEMP1
023296,002092: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023297,002093: 25,2336 50062 INDEX ITEMP2
023298,002094: 25,2337 54053 TS CDUTCMD
023299,002095:
023300,002096: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023301,002097: 25,2341 12321 TCF RROUT2
023302,002098:
023303,002099: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
023304,002100: 25,2343 00006 EXTEND
023305,002101: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023306,002102: 25,2345 00001 TC L # RETURN.
023307,002103:
023308,002104: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023309,002105: 25,2347 42326 CS -RRLIMIT
023310,002106: 25,2350 12352 TCF +2
023311,002107: 25,2351 32326 CA -RRLIMIT
023312,002108: 25,2352 54061 TS ITEMP1
023313,002109: 25,2353 12331 TCF SETRRCTR +1
023314,002110:
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|
Page 541
|
023316,002112: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023317,002113:
023318,002114: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023319,002115: 25,2355 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023320,002116: 25,2356 10000 CCS A
023321,002117: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023322,002118:
023323,002119: 25,2360 00004 INHINT
023324,002120: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023325,002121: 25,2362 70110 MASK RADMODES
023326,002122: 25,2363 64737 AD RCDU0BIT
023327,002123: 25,2364 54110 TS RADMODES
023328,002124:
023329,002125: 25,2365 34753 CAF ONE
023330,002126: 25,2366 05203 TC WAITLIST
023331,002127: 25,2367 E7,1456 EBANK= LOSCOUNT
023332,002128: 25,2367 02401 52067 2CADR RRZ2
023333,002129:
023334,002130: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
023335,002131: 25,2372 74752 MASK AUTOMBIT
023336,002132: 25,2373 10000 CCS A
023337,002133: 25,2374 12377 TCF ROADBACK
023338,002134: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023339,002135: 25,2376 00510 OCT 510
023340,002136: 25,2377 00003 ROADBACK RELINT
023341,002137: 25,2400 14631 TCF SWRETURN
023342,002138:
023343,002139: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023344,002140: 25,2402 13551 TCF ENDRADAR
023345,002141:
023346,002142: 25,2403 02001 BIT11+1 OCT 02001
023347,002143:
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Page 542
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023349,002145: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023350,002146:
023351,002147: # FUNCTIONAL DESCRIPTION_
023352,002148:
023353,002149: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023354,002150: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023355,002151: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023356,002152: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023357,002153: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023358,002154: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023359,002155: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023360,002156: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023361,002157: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023362,002158: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023363,002159: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023364,002160: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023365,002161: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023366,002162: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023367,002163: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023368,002164: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023369,002165: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023370,002166: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023371,002167: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023372,002168: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023373,002169: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023374,002170: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023375,002171:
023376,002172: # CALLING SEQUENCE:
023377,002173:
023378,002174: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023379,002175: # L+1 RRDESSM
023380,002176: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023381,002177: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023382,002178:
023383,002179: # ERASABLE INITIALIZATION REQUIRED:
023384,002180:
023385,002181: # RRTARGET, RADMODES
023386,002182:
023387,002183: # SUBROUTINES CALLED_
023388,002184:
023389,002185: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023390,002186: # PART OF), RMODINV
023391,002187:
023392,002188: # JOBS OR TASKS INITIATED_
023393,002189:
023394,002190: # NONE
023395,002191:
023396,002192: # ALARMS_ NONE
023397,002193:
023398,002194: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023399,002195: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023400,002196: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023401,002197:
023402,002198: 25,2404 43020 RRDESSM STQ CLEAR
023403,002199: 25,2405 01112 DESRET
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|
Page 543
|
023405,002201: 25,2406 00271 RRNBSW
023406,002202: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023407,002203: 25,2410 47541 CDUTRIG
023408,002204: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023409,002205: 25,2412 01101 RRTARGET
023410,002206: 25,2413 47673 *SMNB*
023411,002207:
023412,002208: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023413,002209: 25,2415 26133 RRANGLES # ALTERNATE MODE.
023414,002210: 25,2416 77776 EXIT
023415,002211:
023416,002212: 25,2417 00004 INHINT
023417,002213: 25,2420 04523 TC RRLIMCHK
023418,002214: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023419,002215: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
023420,002216: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023421,002217: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
023422,002218: 25,2425 40104 CS FLAGWRD8
023423,002219: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023424,002220: 25,2427 00006 EXTEND
023425,002221: 25,2430 12467 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023426,002222: 25,2431 02472 TC TRYSWS
023427,002223:
023428,002224: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023429,002225: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023430,002226: 25,2434 00006 EXTEND
023431,002227: 25,2435 12467 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023432,002228: 25,2436 30074 CA STATE
023433,002229: 25,2437 74745 MASK RNDVZBIT
023434,002230: 25,2440 10000 CCS A # TEST RNDVZFLG.
023435,002231: 25,2441 02502 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023436,002232: 25,2442 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023437,002233:
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Page 544
|
023439,002235: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023440,002236:
023441,002237: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023442,002238: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023443,002239: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023444,002240: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023445,002241: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023446,002242: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023447,002243: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023448,002244: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023449,002245: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023450,002246: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023451,002247: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023452,002248: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023453,002249: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023454,002250: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023455,002251: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023456,002252: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023457,002253: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023458,002254: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023459,002255: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023460,002256: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023461,002257: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023462,002258:
023463,002259: # CALLING SEQUENCE:
023464,002260:
023465,002261: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023466,002262:
023467,002263: # ERASABLE INITIALIZATION REQUIRED:
023468,002264:
023469,002265: # RADMODES, (SEE DODES)
023470,002266:
023471,002267: # SUBROUTINES CALLED_
023472,002268:
023473,002269: # SETRRECR, WAITLIST
023474,002270:
023475,002271: # JOBS OR TASKS INITIATED_
023476,002272:
023477,002273: # BEGDES
023478,002274:
023479,002275: # ALARMS_ NONE
023480,002276:
023481,002277: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023482,002278: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023483,002279:
023484,002280: 25,2443 25112 STARTDES INCR DESRET
023485,002281: 25,2444 40110 CS RADMODES
023486,002282: 25,2445 74742 MASK DESIGBIT
023487,002283: 25,2446 26110 ADS RADMODES
023488,002284: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023489,002285: 25,2450 10000 CCS A
023490,002286: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023491,002287:
023492,002288: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
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Page 545
|
023494,002290: 25,2453 34752 CAF TWO
023495,002291: 25,2454 05203 TC WAITLIST
023496,002292: 25,2455 E7,1456 EBANK= LOSCOUNT
023497,002293: 25,2455 02604 52067 2CADR BEGDES
023498,002294:
023499,002295: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023500,002296: 25,2460 00006 EXTEND
023501,002297: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023502,002298: 25,2462 05155 TC ENDOFJOB # NO
023503,002299: 25,2463 00003 DESRTRN RELINT
023504,002300: 25,2464 25112 INCR DESRET
023505,002301: 25,2465 31112 CA DESRET
023506,002302: 25,2466 14640 TCF BANKJUMP
023507,002303:
023508,002304: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023509,002305: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023510,002306: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023511,002307:
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|
Page 546
|
023513,002309: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023514,002310:
023515,002311: 25,2472 02244 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023516,002312: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023517,002313: 25,2474 01110 ADRES MODEB
023518,002314: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023519,002315:
023520,002316: 25,2476 02244 TC RMODINV # RESET BIT12
023521,002317: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023522,002318: 25,2500 26110 ADS RADMODES
023523,002319:
023524,002320: 25,2501 12423 TCF OKDESSM
023525,002321:
023526,002322: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023527,002323: 25,2503 25112 INCR DESRET # TO CALLER +2
023528,002324: 25,2504 12467 TCF NORDSTAL
023529,002325:
023530,002326: 25,2505 00074 MAXTRYS DEC 60 B-14
023531,002327:
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|
Page 547
|
023533,002329: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023534,002330: # TANG AND TANG +1.
023535,002331:
023536,002332: 25,2506 04645 RRDESNB TC MAKECADR
023537,002333: 25,2507 55112 TS DESRET
023538,002334:
023539,002335: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023540,002336: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023541,002337: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023542,002338: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023543,002339: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023544,002340: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023545,002341: 25,2516 01106 ADRES TANG
023546,002342: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023547,002343:
023548,002344: 25,2520 00003 OKDESNB RELINT
023549,002345: 25,2521 00006 EXTEND
023550,002346: 25,2522 31107 DCA TANG
023551,002347: 25,2523 53753 DXCH TANGNB
023552,002348: 25,2524 06042 TC INTPRET
023553,002349:
023554,002350: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023555,002351: 25,2526 46041 RRNB
023556,002352: 25,2527 01101 STORE RRTARGET
023557,002353:
023558,002354: 25,2530 77414 SET EXIT
023559,002355: 25,2531 00071 RRNBSW
023560,002356:
023561,002357: 25,2532 00004 INHINT
023562,002358: 25,2533 12444 TCF STARTDES +1
023563,002359: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023564,002360: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023565,002361: 25,2536 01106 ADRES TANG
023566,002362: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023567,002363:
023568,002364: 25,2540 02244 TC RMODINV
023569,002365: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023570,002366: 25,2542 26110 ADS RADMODES
023571,002367: 25,2543 12520 TCF OKDESNB
023572,002368:
023573,002369: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023574,002370: 25,2545 05567 TC ALARM # BAD INPUT ANGLES.
023575,002371: 25,2546 00502 OCT 502
023576,002372: 25,2547 06011 TC CLRADMOD
023577,002373: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023578,002374:
023579,002375: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023580,002376: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023581,002377: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023582,002378: 25,2554 00006 EXTEND
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Page 548
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023584,002380: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023585,002381: 25,2556 30001 DCA 0
023586,002382: 25,2557 52062 DXCH ITEMP1
023587,002383: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023588,002384:
023589,002385: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023590,002386: 25,2562 70110 MASK RADMODES
023591,002387: 25,2563 10000 CCS A
023592,002388: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023593,002389: 25,2565 30061 CA ITEMP1
023594,002390: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023595,002391: 25,2567 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023596,002392: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023597,002393:
023598,002394: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023599,002395: 25,2572 00006 EXTEND
023600,002396: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023601,002397: 25,2574 64562 AD 5.5DEGS
023602,002398: 25,2575 04512 SHAFTLIM TC MAGSUB
023603,002399: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
023604,002400: 25,2577 00001 TC L # NOT IN LIMITS
023605,002401: 25,2600 04560 TC RRLIMOK # IN LIMITS
023606,002402: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023607,002403: 25,2602 12575 TCF SHAFTLIM
023608,002404:
023609,002405: 25,2603 03512 20.5DEGS DEC .11389
023610,002406:
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Page 549
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023612,002408: # PROGRAM NAME_ BEGDES
023613,002409:
023614,002410: # FUNCTIONAL DESCRIPTION_
023615,002411: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023616,002412: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023617,002413: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023618,002414: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023619,002415: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023620,002416: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023621,002417: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023622,002418: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023623,002419: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023624,002420: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023625,002421: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023626,002422: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023627,002423: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023628,002424: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023629,002425: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023630,002426: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023631,002427: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023632,002428: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023633,002429: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023634,002430: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023635,002431: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023636,002432: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023637,002433: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023638,002434: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023639,002435: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023640,002436:
023641,002437: # CALLING SEQUENCE:
023642,002438:
023643,002439: # WAITLIST CALL FROM STARTDES
023644,002440: # TCF BEGDES FROM DORREPOS
023645,002441: # TC STDESIG RETURNING, FROM REMODE
023646,002442:
023647,002443: # ERASABLE INITIALIZATION REQUIRED:
023648,002444: # DESCOUNT, RADMODES
023649,002445:
023650,002446: # SUBROUTINES CALLED_
023651,002447: # ENDRADAR, FINDVAC
023652,002448:
023653,002449: # JOBS OR TASKS INITIATED_ DODES
023654,002450:
023655,002451: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023656,002452: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023657,002453:
023658,002454: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023659,002455: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023660,002456: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023661,002457:
023662,002458: 25,2604 40110 BEGDES CS RADMODES
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Page 550
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023664,002460: 25,2605 74736 MASK REMODBIT
023665,002461: 25,2606 10000 CCS A
023666,002462: 25,2607 02613 TC STDESIG
023667,002463: 25,2610 02202 TC REMODE
023668,002464: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023669,002465: 25,2612 00062 DEC 50 B-14
023670,002466:
023671,002467: 25,2613 34741 STDESIG CAF REPOSBIT
023672,002468: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023673,002469: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023674,002470: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023675,002471:
023676,002472: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023677,002473: 25,2620 12623 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023678,002474: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023679,002475: 25,2622 12640 TCF MOREDES +1
023680,002476:
023681,002477: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023682,002478: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023683,002479: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023684,002480: 25,2626 13551 TCF ENDRADAR # CHECKING RR CDU FAIL.
023685,002481:
023686,002482: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023687,002483: 25,2630 12637 TCF MOREDES
023688,002484:
023689,002485: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023690,002486: 25,2632 00006 EXTEND
023691,002487: 25,2633 03012 WAND CHAN12
023692,002488: 25,2634 05516 BADDES TC DOWNFLAG
023693,002489: 25,2635 00271 ADRES DESIGFLG
023694,002490: 25,2636 13565 TCF RDBADEND
023695,002491:
023696,002492: 25,2637 55113 MOREDES TS DESCOUNT
023697,002493: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023698,002494: 25,2641 05105 TC FINDVAC
023699,002495: 25,2642 E7,1456 EBANK= LOSCOUNT
023700,002496: 25,2642 02646 52067 2CADR DODES
023701,002497:
023702,002498: 25,2644 12611 TCF DESLOOP
023703,002499:
023704,002500: 25,2645 20002 B14+B2 OCT 20002
023705,002501:
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Page 551
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023707,002503: # PROGRAM NAME_ DODES
023708,002504:
023709,002505: # FUNCTIONAL DESCRIPTION_
023710,002506:
023711,002507: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023712,002508: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023713,002509: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023714,002510: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023715,002511: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023716,002512: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023717,002513: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023718,002514: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023719,002515: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023720,002516: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023721,002517: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023722,002518: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023723,002519: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023724,002520: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023725,002521: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023726,002522: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023727,002523: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023728,002524: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023729,002525: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023730,002526: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023731,002527: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023732,002528: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023733,002529: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023734,002530: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023735,002531: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023736,002532: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023737,002533: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023738,002534: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023739,002535: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023740,002536: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023741,002537: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023742,002538: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023743,002539: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023744,002540: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023745,002541: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023746,002542: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023747,002543: # VIA ENDOFJOB.
023748,002544:
023749,002545: # CALLING SEQUENCE:
023750,002546:
023751,002547: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023752,002548:
023753,002549: # ERASABLE INITIALIZATION REQUIRED:
023754,002550:
023755,002551: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023756,002552: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023757,002553:
023758,002554: # SUBROUTINES CALLED_
023759,002555:
023760,002556: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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Page 552
|
023762,002558:
023763,002559: # JOBS OR TASKS INITIATED_
023764,002560:
023765,002561: # NONE
023766,002562:
023767,002563: # ALARMS_ NONE
023768,002564:
023769,002565: # EXIT_ ENDOFJOB (ALWAYS)
023770,002566:
023771,002567: 25,2646 00006 DODES EXTEND
023772,002568: 25,2647 30036 DCA CDUT
023773,002569: 25,2650 53107 DXCH TANG
023774,002570:
023775,002571: 25,2651 06042 TC INTPRET
023776,002572:
023777,002573: 25,2652 77201 SETPD VLOAD
023778,002574: 25,2653 00001 0
023779,002575: 25,2654 01101 RRTARGET
023780,002576: 25,2655 74214 BON VXSC
023781,002577: 25,2656 00311 RRNBSW
023782,002578: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
023783,002579: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023784,002580: 25,2661 63372 VSL1 PDVL
023785,002581: 25,2662 01761 LOSVEL
023786,002582: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023787,002583: 25,2664 13101 MCTOMS
023788,002584: 25,2665 45056 UNIT CALL
023789,002585: 25,2666 47541 CDUTRIG
023790,002586: 25,2667 77624 CALL
023791,002587: 25,2670 47673 *SMNB*
023792,002588:
023793,002589: 25,2671 14041 DONBRD STODL 32D
023794,002590: 25,2672 01110 TANG +1
023795,002591: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023796,002592: 25,2674 21577 CDULOGIC # (-SIN(S)).
023797,002593: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023798,002594: 25,2676 41546 COS PUSH
023799,002595: 25,2677 65205 DMP PDDL
023800,002596: 25,2700 00041 32D
023801,002597: 25,2701 00045 36D
023802,002598: 25,2702 44205 DMP BDSU
023803,002599: 25,2703 00001 0
023804,002600: 25,2704 77626 STADR
023805,002601: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
023806,002602:
023807,002603: 25,2706 47135 SLOAD RTB
023808,002604: 25,2707 01107 TANG
023809,002605: 25,2710 21577 CDULOGIC
023810,002606: 25,2711 71406 PUSH COS # COS(T) TO 4.
023811,002607: 25,2712 73525 PDDL SIN
023812,002608: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
023813,002609: 25,2714 00003 2
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Page 553
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023815,002611: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023816,002612: 25,2716 00005 4 # ( COS(T) )
023817,002613: 25,2717 41325 PDDL DMP # (SIN(T)COS(S))
023818,002614: 25,2720 00007 6
023819,002615: 25,2721 00001 0
023820,002616: 25,2722 55552 SL1 VDEF
023821,002617: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023822,002618: 25,2724 00041 32D
023823,002619:
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|
Page 554
|
023825,002621: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023826,002622: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023827,002623:
023828,002624: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023829,002625: 25,2726 00006 EXTEND
023830,002626: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023831,002627: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
023832,002628: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023833,002629: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023834,002630: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023835,002631: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023836,002632: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023837,002633: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023838,002634: 25,2737 41107 +3 CS TANG +1
023839,002635: 25,2740 00006 EXTEND
023840,002636: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023841,002637: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
023842,002638: 25,2743 06042 TC INTPRET
023843,002639:
023844,002640: 25,2744 41345 DLOAD DMP
023845,002641: 25,2745 00003 2 # COS(S).
023846,002642: 25,2746 00005 4 # COS(T).
023847,002643: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
023848,002644: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023849,002645: 25,2751 00001 0 # SIN(S).
023850,002646: 25,2752 72405 DMP SL1
023851,002647: 25,2753 00005 4 # COS(T).
023852,002648: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
023853,002649: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023854,002650: 25,2756 52761 +3
023855,002651: 25,2757 77624 CALL
023856,002652: 25,2760 47675 *NBSM* # GET URR IN SM AXES.
023857,002653: 25,2761 77441 DOT EXIT
023858,002654: 25,2762 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023859,002655:
023860,002656: 25,2763 00006 EXTEND
023861,002657: 25,2764 43077 DCS COS1/2DG
023862,002658: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023863,002659: 25,2766 10154 CCS MPAC
023864,002660: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023865,002661: 25,2770 12772 TCF +2
023866,002662: 25,2771 34753 CA ONE
023867,002663: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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Page 555
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023869,002665: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023870,002666:
023871,002667: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023872,002668: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023873,002669: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
023874,002670: 25,2776 13027 TCF DORROUT
023875,002671: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023876,002672: 25,3000 13010 TCF DGOODCHK
023877,002673: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023878,002674: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023879,002675: 25,3003 10000 CCS A
023880,002676: 25,3004 13015 TCF RRDESDUN
023881,002677:
023882,002678: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER.
023883,002679: 25,3006 00006 EXTEND
023884,002680: 25,3007 05012 WOR CHAN12
023885,002681:
023886,002682: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023887,002683: 25,3011 00006 EXTEND
023888,002684: 25,3012 02033 RAND CHAN33
023889,002685: 25,3013 10000 CCS A
023890,002686: 25,3014 13027 TCF DORROUT
023891,002687:
023892,002688: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023893,002689: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023894,002690: 25,3017 00004 INHINT
023895,002691: 25,3020 54110 TS RADMODES
023896,002692:
023897,002693: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023898,002694: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023899,002695: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023900,002696: 25,3024 00006 EXTEND
023901,002697: 25,3025 03012 WAND CHAN12
023902,002698: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023903,002699:
023904,002700: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023905,002701: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023906,002702: 25,3031 00006 EXTEND
023907,002703: 25,3032 13051 BZF NOTP20
023908,002704: 25,3033 06042 TC INTPRET
023909,002705: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023910,002706: 25,3035 01101 RRTARGET
023911,002707: 25,3036 01767 MLOSV
023912,002708: 25,3037 41572 VSL1 PUSH
023913,002709: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023914,002710: 25,3041 01761 LOSVEL # TO LOS VECTOR
023915,002711: 25,3042 13101 MCTOMS
023916,002712: 25,3043 53362 VSR1 VAD
023917,002713: 25,3044 77656 UNIT
023918,002714: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
|
|
Page 556
|
023920,002716: 25,3046 00045 36D
023921,002717: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE
023922,002718: 25,3050 77776 EXIT
023923,002719: 25,3051 00004 NOTP20 INHINT
023924,002720: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023925,002721: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023926,002722: 25,3054 10000 CCS A
023927,002723: 25,3055 02317 TC RROUT
023928,002724:
023929,002725: 25,3056 30076 CA FLAGWRD2
023930,002726: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023931,002727: 25,3060 00006 EXTEND # LOS COUNTER
023932,002728: 25,3061 15155 BZF ENDOFJOB
023933,002729: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023934,002730: 25,3063 03073 TC DODESEND # A NEW LOS
023935,002731: 25,3064 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023936,002732: 25,3065 52613 CADR DESLOOP +2
023937,002733: 25,3066 00003 RELINT
023938,002734: 25,3067 10067 CCS NEWJOB
023939,002735: 25,3070 05122 TC CHANG1
023940,002736: 25,3071 04616 TC BANKCALL
023941,002737: 25,3072 50732 CADR R21LEM2
023942,002738:
023943,002739: 25,3073 55456 DODESEND TS LOSCOUNT
023944,002740: 25,3074 05155 TC ENDOFJOB
023945,002741:
023946,002742: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023947,002743: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
023948,002744: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023949,002745: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
023950,002746:
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|
Page 557
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023952,002748: # RADAR READ INITIALIZATION
023953,002749:
023954,002750: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023955,002751:
023956,002752: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023957,002753: 25,3103 00017 ALLREAD OCT 17
023958,002754:
023959,002755: 25,3104 03123 LRVELZ TC INITREAD
023960,002756: 25,3105 00016 OCT 16
023961,002757:
023962,002758: 25,3106 03123 LRVELY TC INITREAD
023963,002759: 25,3107 00015 OCT 15
023964,002760:
023965,002761: 25,3110 03123 LRVELX TC INITREAD
023966,002762: 25,3111 00014 OCT 14
023967,002763:
023968,002764: 25,3112 03122 RRRDOT TC INITREAD -1
023969,002765: 25,3113 00012 OCT 12
023970,002766:
023971,002767: 25,3114 03122 RRRANGE TC INITREAD -1
023972,002768: 25,3115 00011 OCT 11
023973,002769:
023974,002770: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023975,002771: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023976,002772:
023977,002773: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023978,002774: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023979,002775: 25,3120 51104 INDEX TIMEHOLD
023980,002776: 25,3121 13104 TCF LRVELZ
023981,002777:
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|
Page 558
|
023983,002779: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023984,002780: 25,3123 00004 INITREAD INHINT
023985,002781:
023986,002782: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023987,002783: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023988,002784: 25,3126 74751 MP BIT3 # ENCOUNTERED).
023989,002785: 25,3127 53105 DXCH TIMEHOLD
023990,002786:
023991,002787: 25,3130 10000 CCS A
023992,002788: 25,3131 55110 TS NSAMP
023993,002789: 25,3132 64753 AD ONE
023994,002790: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023995,002791: # DOUBLE
023996,002792: 25,3133 55077 TS SAMPLIM
023997,002793:
023998,002794: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023999,002795: 25,3135 00006 EXTEND
024000,002796: 25,3136 02033 RAND CHAN33
024001,002797: 25,3137 55112 TS OLDATAGD
024002,002798:
024003,002799: 25,3140 43103 CS ALLREAD
024004,002800: 25,3141 00006 EXTEND
024005,002801: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
024006,002802:
024007,002803: 25,3143 50002 INDEX Q
024008,002804: 25,3144 30000 CAF 0
024009,002805: 25,3145 04674 TC IBNKCALL
024010,002806: 25,3146 36000 CADR RADSTART
024011,002807:
024012,002808: 25,3147 00006 EXTEND
024013,002809: 25,3150 30025 DCA TIME2
024014,002810: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
024015,002811:
024016,002812: 25,3152 34755 CAF ZERO
024017,002813: 25,3153 54001 TS L
024018,002814: 25,3154 53101 DXCH SAMPLSUM
024019,002815: 25,3155 12377 TCF ROADBACK
024020,002816:
024021,002817: 25,3156 00230 DGBITS OCT 230
024022,002818:
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|
Page 559
|
024024,002820: # RADAR RUPT READER
024025,002821:
024026,002822: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
024027,002823:
024028,002824: 25,2000 SETLOC RADARUPT
024029,002825: 25,2000 BANK
024030,002826:
024031,002827: 25,3157 COUNT* $$/RRUPT
024032,002828: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
024033,002829: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
024034,002830: 25,3161 54016 TS BANKRUPT
024035,002831: 25,3162 00006 EXTEND
024036,002832: 25,3163 22012 QXCH QRUPT
024037,002833:
024038,002834: 25,3164 00006 EXTEND
024039,002835: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG
024040,002836: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING.
024041,002837:
024042,002838: 25,3167 34757 CAF SEVEN
024043,002839: 25,3170 00006 EXTEND
024044,002840: 25,3171 02013 RAND CHAN13
024045,002841: 25,3172 55332 TS DNINDEX
024046,002842: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
024047,002843: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
024048,002844: 25,3175 30046 CA RNRAD
024049,002845: 25,3176 51332 INDEX DNINDEX
024050,002846: 25,3177 55327 TS DNRRANGE -1
024051,002847: 25,3200 11077 TRYCOUNT CCS SAMPLIM
024052,002848: 25,3201 13223 TCF PLENTY
024053,002849: 25,3202 13206 TCF NOMORE
024054,002850: 25,3203 05567 TC ALARM
024055,002851: 25,3204 00520 OCT 520
024056,002852: 25,3205 05270 TC RESUME
024057,002853:
024058,002854: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
024059,002855: 25,3207 74735 MASK LRBYBIT
024060,002856: 25,3210 00006 EXTEND
024061,002857: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
024062,002858:
024063,002859: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG.
024064,002860: 25,3213 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
024065,002861: 25,3214 00006 EXTEND
024066,002862: 25,3215 13220 BZF BADRAD
024067,002863:
024068,002864: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM.
024069,002865: 25,3217 00521 OCT 521
024070,002866: 25,3220 44753 BADRAD CS ONE
024071,002867: 25,3221 55077 TS SAMPLIM
024072,002868: 25,3222 03563 TC RDBADEND -2
024073,002869: 25,3223 55077 PLENTY TS SAMPLIM
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|
Page 560
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024075,002871: 25,3224 34751 CAF BIT3
024076,002872: 25,3225 00006 EXTEND
024077,002873: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
024078,002874: 25,3227 00006 EXTEND
024079,002875: 25,3230 13277 BZF RENDRAD
024080,002876:
024081,002877: 25,3231 03365 TC R77CHECK # R77 QUITS HERE.
024082,002878: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT
024083,002879: 25,3233 00006 EXTEND
024084,002880: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT
024085,002881: 25,3235 76250 MASK BIN3
024086,002882: 25,3236 00006 EXTEND
024087,002883: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING
024088,002884:
024089,002885: 25,3240 34733 CAF POSMAX
024090,002886: 25,3241 70046 MASK RNRAD
024091,002887: 25,3242 62000 AD LVELBIAS
024092,002888: 25,3243 54001 TS L
024093,002889: 25,3244 30046 CAE RNRAD
024094,002890: 25,3245 60000 DOUBLE
024095,002891: 25,3246 74753 MASK BIT1
024096,002892: 25,3247 52064 DXCH ITEMP3
024097,002893:
024098,002894: 25,3250 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
024099,002895: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
024100,002896: # INDEPENDENT OF DATA GOOD.
024101,002897:
024102,002898: 25,3252 11110 CCS NSAMP
024103,002899: 25,3253 03263 TC NOEND
024104,002900: 25,3254 44753 GOODRAD CS ONE
024105,002901: 25,3255 55077 TS SAMPLIM
024106,002902: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
024107,002903: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
024108,002904: 25,3260 54110 TS RADMODES
024109,002905: 25,3261 03612 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
024110,002906: 25,3262 03556 TC RGOODEND -2
024111,002907:
024112,002908: 25,3263 55110 NOEND TS NSAMP
024113,002909: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
024114,002910: 25,3265 13267 TCF +2
024115,002911: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
024116,002912: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT.
024117,002913: 25,3270 04674 TC IBNKCALL
024118,002914: 25,3271 36000 CADR RADSTART
024119,002915:
024120,002916: 25,3272 05270 TC RESUME
024121,002917:
024122,002918: 25,3273 34747 LRHEIGHT CAF BIT5
024123,002919: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
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|
Page 561
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024125,002921: 25,3275 34743 CAF BIT9
024126,002922: 25,3276 03321 TC SCALECHK -1
024127,002923:
024128,002924: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
024129,002925: 25,3300 70110 MASK RADMODES # LIMITS.
024130,002926: 25,3301 10000 CCS A
024131,002927: 25,3302 13220 TCF BADRAD
024132,002928:
024133,002929: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
024134,002930: 25,3304 74745 MASK RCDUFBIT
024135,002931: 25,3305 10000 CCS A
024136,002932: 25,3306 13220 TCF BADRAD
024137,002933:
024138,002934: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024139,002935: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024140,002936:
024141,002937: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT.
024142,002938: 25,3312 00006 EXTEND
024143,002939: 25,3313 02013 RAND CHAN13
024144,002940: 25,3314 54002 TS Q # FOR LATER TESTING.
024145,002941: 25,3315 10000 CCS A
024146,002942: 25,3316 13320 TCF +2
024147,002943: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024148,002944: 25,3320 34751 CAF BIT3
024149,002945: 25,3321 54001 TS L
024150,002946:
024151,002947: 25,3322 00006 SCALECHK EXTEND
024152,002948: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW
024153,002949: 25,3324 56001 XCH L
024154,002950: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE
024155,002951: 25,3326 00006 EXTEND
024156,002952: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER
024157,002953: 25,3330 10000 CCS A
024158,002954: 25,3331 03351 TC SCALCHNG # THEY DIFFER
024159,002955:
024160,002956: 25,3332 34733 RADIN CAF POSMAX
024161,002957: 25,3333 70046 MASK RNRAD
024162,002958: 25,3334 54064 TS ITEMP4
024163,002959:
024164,002960: 25,3335 30046 CAE RNRAD
024165,002961: 25,3336 60000 DOUBLE
024166,002962: 25,3337 74753 MASK BIT1
024167,002963: 25,3340 54063 TS ITEMP3
024168,002964:
024169,002965: 25,3341 10002 CCS Q # SEE IF RR RDOT.
024170,002966: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024171,002967:
024172,002968: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024173,002969: 25,3344 42002 DCS RDOTBIAS
024174,002970: 25,3345 20064 DASAMPL DAS ITEMP3
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|
Page 562
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024176,002972: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024177,002973: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024178,002974: 25,3350 03254 TC GOODRAD
024179,002975:
024180,002976: 25,3351 22110 SCALCHNG LXCH RADMODES
024181,002977: 25,3352 64753 AD BIT1
024182,002978: 25,3353 00006 EXTEND
024183,002979: 25,3354 06001 RXOR LCHAN
024184,002980: 25,3355 54110 TS RADMODES
024185,002981: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024186,002982: 25,3357 00006 EXTEND
024187,002983: 25,3360 02033 RAND CHAN33
024188,002984: 25,3361 55112 TS OLDATAGD
024189,002985: 25,3362 05504 TC UPFLAG # SET RNGSCFLG
024190,002986: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1
024191,002987: 25,3364 13220 TCF BADRAD
024192,002988:
024193,002989: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024194,002990:
024195,002991: 25,3365 40101 R77CHECK CS FLAGWRD5
024196,002992: 25,3366 74741 MASK R77FLBIT
024197,002993: 25,3367 10000 CCS A
024198,002994: 25,3370 00002 TC Q # NOT R77
024199,002995: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024200,002996: 25,3372 70110 MASK RADMODES
024201,002997: 25,3373 54001 TS L
024202,002998: 25,3374 33402 CA BITS5,8
024203,002999: 25,3375 00006 EXTEND
024204,003000: 25,3376 02033 RAND CHAN33
024205,003001: 25,3377 60001 AD L
024206,003002: 25,3400 54110 TS RADMODES
024207,003003: 25,3401 03556 TC RGOODEND -2
024208,003004: 25,3402 00220 BITS5,8 OCT 220
024209,003005:
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|
Page 563
|
024211,003007: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024212,003008:
024213,003009: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024214,003010: 25,3404 13406 TCF +2 # ON HIGH SCALE.
024215,003011: 25,3405 13346 TCF DGCHECK2
024216,003012:
024217,003013: 25,3406 31332 CA DNINDEX
024218,003014: 25,3407 74751 MASK BIT3
024219,003015: 25,3410 10000 CCS A
024220,003016: 25,3411 13420 TCF LRSCK
024221,003017:
024222,003018: 25,3412 52064 DXCH ITEMP3
024223,003019: 25,3413 20001 DDOUBL
024224,003020: 25,3414 20001 DDOUBL
024225,003021: 25,3415 20001 DDOUBL
024226,003022: 25,3416 52064 DXCH ITEMP3
024227,003023:
024228,003024: 25,3417 13346 TCF DGCHECK2
024229,003025:
024230,003026: 25,3420 00006 LRSCK EXTEND
024231,003027: 25,3421 30064 DCA ITEMP3
024232,003028: 25,3422 20001 DDOUBL
024233,003029: 25,3423 20001 DDOUBL
024234,003030: 25,3424 13345 TCF DASAMPL
024235,003031:
024236,003032: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024237,003033: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024238,003034: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024239,003035: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024240,003036: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024241,003037: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024242,003038: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024243,003039: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024244,003040: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024245,003041: 25,3436 60001 AD L
024246,003042: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO.
024247,003043: 25,3440 03264 TC RESAMPLE
024248,003044: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024249,003045: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION.
024250,003046: 25,3443 00002 TC Q
024251,003047:
024252,003048: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024253,003049: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024254,003050: 25,3446 60061 AD ITEMP1
024255,003051: 25,3447 54110 TS RADMODES
024256,003052:
024257,003053: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024258,003054: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
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Page 564
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024260,003056: 25,3452 03612 TC RADLITES
024261,003057: 25,3453 13206 TCF NOMORE
024262,003058:
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|
Page 565
|
024264,003060: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024265,003061:
024266,003062: 17,2000 SETLOC C13BANK
024267,003063: 17,2000 BANK
024268,003064:
024269,003065: 17,2000 54002 RADSTART TS Q
024270,003066: 17,2001 00006 +1 EXTEND
024271,003067: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024272,003068: 17,2003 54001 TS L
024273,003069:
024274,003070: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024275,003071: 17,2005 40000 COM
024276,003072: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024277,003073: 17,2007 74346 MASK LOW5
024278,003074: 17,2010 55270 TS RADDEL
024279,003075:
024280,003076: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024281,003077: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024282,003078: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024283,003079:
024284,003080: 17,2014 30002 CA Q
024285,003081: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024286,003082: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024287,003083:
024288,003084: 17,2017 40001 CS L
024289,003085: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024290,003086: 17,2021 04707 TC ISWRETRN
024291,003087:
024292,003088: 17,2022 55266 C13STAL1 TS C13FSAV
024293,003089:
024294,003090: 17,2023 34750 CA BIT4
024295,003091: 17,2024 00006 EXTEND
024296,003092: 17,2025 02013 RAND CHAN13
024297,003093: 17,2026 00006 EXTEND
024298,003094: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024299,003095:
024300,003096: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024301,003097: 17,2031 00006 EXTEND
024302,003098: 17,2032 00004 READ LOSCALAR
024303,003099: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024304,003100: 17,2034 64736 AD HALF
024305,003101: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024306,003102: 17,2036 56001 XCH L
024307,003103:
024308,003104: 17,2037 32053 CA 90MSCALR
024309,003105: 17,2040 61270 AD RADDEL
024310,003106: 17,2041 00006 EXTEND
024311,003107: 17,2042 60001 SU L
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Page 566
|
024313,003109: 17,2043 00006 EXTEND
024314,003110: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024315,003111:
024316,003112: 17,2045 62054 AD -DTSCALR
024317,003113: 17,2046 00006 EXTEND
024318,003114: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024319,003115:
024320,003116: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024321,003117: 17,2051 31266 CA C13FSAV
024322,003118: 17,2052 52005 DTCF
024323,003119:
024324,003120: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024325,003121: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024326,003122:
024327,003123: 6000 SETLOC FFTAG6
024328,003124: 6000 BANK
024329,003125:
024330,003126: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024331,003127: 6023 56004 XCH FBANK
024332,003128: 6024 12022 TCF C13STAL1
024333,003129:
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|
Page 567
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024335,003131: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024336,003132:
024337,003133: 25,2000 SETLOC P20S1
024338,003134: 25,2000 BANK
024339,003135:
024340,003136: 25,3454 COUNT* $$/RSUB
024341,003137: 25,3454 00004 LRPOS2 INHINT
024342,003138:
024343,003139: 25,3455 40110 CS RADMODES
024344,003140: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024345,003141: 25,3457 26110 ADS RADMODES
024346,003142:
024347,003143: 25,3460 34745 CAF BIT7
024348,003144: 25,3461 00006 EXTEND
024349,003145: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024350,003146: 25,3463 00006 EXTEND
024351,003147: 25,3464 13513 BZF RADNOOP
024352,003148:
024353,003149: 25,3465 34737 CAF BIT13
024354,003150: 25,3466 00006 EXTEND
024355,003151: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2
024356,003152: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024357,003153: 25,3471 05203 TC WAITLIST
024358,003154: 25,3472 E7,1456 EBANK= LOSCOUNT
024359,003155: 25,3472 03526 52067 2CADR LRPOSCAN
024360,003156:
024361,003157: 25,3474 02377 TC ROADBACK
024362,003158:
024363,003159: 25,3475 55077 LRPOSNXT TS SAMPLIM
024364,003160: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024365,003161: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024366,003162:
024367,003163: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024368,003164: 25,3501 00006 EXTEND
024369,003165: 25,3502 02033 RAND CHAN33
024370,003166: 25,3503 00006 EXTEND
024371,003167: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024372,003168:
024373,003169: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024374,003170: 25,3506 13475 TCF LRPOSNXT
024375,003171:
024376,003172: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024377,003173: 25,3510 00006 EXTEND
024378,003174: 25,3511 03012 WAND CHAN12
024379,003175: 25,3512 13565 TCF RDBADEND
024380,003176:
024381,003177: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024382,003178: 25,3514 05203 TC WAITLIST
024383,003179: 25,3515 E7,1456 EBANK= LOSCOUNT
024384,003180: 25,3515 03560 52067 2CADR RGOODEND
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|
Page 568
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024386,003182: 25,3517 02377 TC ROADBACK
024387,003183:
024388,003184: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024389,003185: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024390,003186:
024391,003187: 25,3522 44737 CS BIT13 # REMOVE COMMAND
024392,003188: 25,3523 00006 EXTEND
024393,003189: 25,3524 03012 WAND CHAN12
024394,003190: 25,3525 13560 TCF RGOODEND
024395,003191:
024396,003192: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024397,003193: 25,3527 13475 TCF LRPOSNXT
024398,003194: 25,3530 01130 6SECS DEC 600 B-14
024399,003195:
024400,003196: 25,3531 03454 LRP2COMM TC LRPOS2
024401,003197: 25,3532 04616 TC BANKCALL
024402,003198: 25,3533 17705 CADR RADSTALL
024403,003199: 25,3534 03536 TC LP2ALM
024404,003200: 25,3535 13547 TCF GOPINNER
024405,003201:
024406,003202: 25,3536 05567 LP2ALM TC ALARM
024407,003203: 25,3537 00523 OCT 523
024408,003204: 25,3540 13547 TCF GOPINNER
024409,003205:
024410,003206: 25,3541 35016 V59GP63 CA EBANK7
024411,003207: 25,3542 54003 TS EBANK
024412,003208: 25,3543 E7,1427 EBANK= RPCRTIME
024413,003209: 25,3543 34733 CA POSMAX
024414,003210: 25,3544 55427 TS RPCRTIME
024415,003211: 25,3545 44736 CS BIT14
024416,003212: 25,3546 55430 TS RPCRTQSW
024417,003213: 25,3547 04635 GOPINNER TC POSTJUMP
024418,003214: 25,3550 21051 CADR PINBRNCH
024419,003215:
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Page 569
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024421,003217: # SEQUENCES TO TERMINATE RR OPERATIONS.
024422,003218:
024423,003219: 25,3551 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024424,003220: 25,3552 70110 MASK RADMODES
024425,003221: 25,3553 10000 CCS A
024426,003222: 25,3554 13560 TCF RGOODEND
024427,003223: 25,3555 13565 TCF RDBADEND
024428,003224: 25,3556 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024429,003225: 25,3557 54332 TS RUPTAGN
024430,003226:
024431,003227: 25,3560 34752 RGOODEND CAF TWO
024432,003228: 25,3561 04635 TC POSTJUMP
024433,003229: 25,3562 17656 CADR GOODEND
024434,003230:
024435,003231: 25,3563 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024436,003232: 25,3564 54332 TS RUPTAGN
024437,003233: 25,3565 34752 RDBADEND CAF TWO
024438,003234: 25,3566 04635 TC POSTJUMP
024439,003235: 25,3567 17653 CADR BADEND
024440,003236:
024441,003237: 25,3570 6250 BIN3 EQUALS THREE
024442,003238:
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Page 570
|
024444,003240: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024445,003241: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024446,003242:
024447,003243: # FUNCTIONAL DESCRIPTION_
024448,003244: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024449,003245: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024450,003246: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024451,003247:
024452,003248: # CALLING SEQUENCE CALL
024453,003249: # LPS20.1
024454,003250:
024455,003251: # SUBROUTINES CALLED_
024456,003252: # LEMPREC, CSMPREC
024457,003253:
024458,003254: # NORMAL EXIT_ RETURN TO CALLER + 2
024459,003255:
024460,003256: # ERROR EXITS_ NONE
024461,003257:
024462,003258: # ALARMS_ NONE
024463,003259:
024464,003260: # OUTPUT_
024465,003261: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024466,003262: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024467,003263: # RRNBSW CLEARED
024468,003264:
024469,003265: # INITIALIZED ERASEABLE
024470,003266: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024471,003267: # SEE ORBITAL INTEGRATION ROUTINE
024472,003268:
024473,003269: # DEBRIS_
024474,003270: # MPAC DESTROYED BY THIS ROUTINE
024475,003271:
024476,003272: 23,2337 BANK 23
024477,003273: 24,2000 SETLOC P20S
024478,003274: 24,2000 BANK
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|
Page 571
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024480,003276: 24,3256 COUNT* $$/LPS20
024481,003277:
024482,003278: 24,3256 43020 LPS20.1 STQ BOFF
024483,003279: 24,3257 01757 LS21X
024484,003280: 24,3260 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024485,003281: 24,3261 51265 LMINT # SO CALL LEMCONIC TO GET LM STATE
024486,003282: 24,3262 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024487,003283: 24,3263 04307 SURFFLAG # DON'T CALL LEMCONIC
024488,003284: 24,3264 51275 CSMINT
024489,003285: 24,3265 77624 LMINT CALL
024490,003286: 24,3266 27077 LEMCONIC # EXTRAPOLATE LEM
024491,003287: 24,3267 77775 VLOAD
024492,003288: 24,3270 00001 RATT
024493,003289: 24,3271 26352 STOVL LMPOS # SAVE LM POSITION B-29
024494,003290: 24,3272 00007 VATT
024495,003291: 24,3273 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024496,003292: 24,3274 00015 TAT
024497,003293: 24,3275 34041 CSMINT STCALL TDEC1
024498,003294: 24,3276 27065 CSMCONIC # EXTRAPOLATE CSM
024499,003295: 24,3277 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024500,003296: 24,3300 00007 VATT
024501,003297: 24,3301 02360 LMVEL
024502,003298: 24,3302 76521 MXV VSL1
024503,003299: 24,3303 01734 REFSMMAT
024504,003300: 24,3304 77776 EXIT
024505,003301: 24,3305 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024506,003302: 24,3306 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024507,003303: 24,3307 06042 TC INTPRET
024508,003304: 24,3310 25761 STOVL LOSVEL
024509,003305: 24,3311 00001 RATT
024510,003306: 24,3312 43051 VSU BOFF
024511,003307: 24,3313 02352 LMPOS
024512,003308: 24,3314 00350 RNDVZFLG
024513,003309: 24,3315 51322 NOTSHIFT
024514,003310: 24,3316 77604 BOVB
024515,003311: 24,3317 57754 TCDANZIG
024516,003312: 24,3320 77661 VSL
024517,003313: 24,3321 20212 9D
024518,003314: 24,3322 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024519,003315: 24,3323 50102 526ALARM # THAN 400 N. M.
024520,003316: 24,3324 76521 MXV VSL1
024521,003317: 24,3325 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024522,003318: 24,3326 15101 STODL RRTARGET
024523,003319: 24,3327 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024524,003320: 24,3330 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024525,003321: 24,3331 77614 CLRGO
024526,003322: 24,3332 00231 RRNBSW
024527,003323: 24,3333 01757 LS21X
024528,003324:
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Page 572
|
024530,003326: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024531,003327: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024532,003328:
024533,003329: # FUNCTIONAL DESCRIPTION_
024534,003330: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024535,003331:
024536,003332: # CALLING SEQUENCE CALL
024537,003333: # LPS20.2
024538,003334:
024539,003335: # SUBROUTINES CALLED_ NONE
024540,003336:
024541,003337: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024542,003338:
024543,003339: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024544,003340:
024545,003341: # ALARMS_ NONE
024546,003342:
024547,003343: # OUTPUT_ NONE
024548,003344:
024549,003345: # INITIALIZED ERASEABLE_
024550,003346: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024551,003347:
024552,003348: # DEBRIS
024553,003349: # MPAC DESTROYED BY THIS ROUTINE
024554,003350:
024555,003351: 25,2000 SETLOC P20S1
024556,003352: 25,2000 BANK
024557,003353: 25,3570 COUNT* $$/LPS20
024558,003354:
024559,003355: 25,3570 45345 LPS20.2 DLOAD DSU
024560,003356: 25,3571 01767 MLOSV # MAGNITUDE OF LOS
024561,003357: 25,3572 13603 FHNM # OVER 400NM _
024562,003358: 25,3573 77644 BPL
024563,003359: 25,3574 53577 TOFAR
024564,003360: 25,3575 43535 SLOAD RVQ
024565,003361: 25,3576 06524 ZERO/SP
024566,003362: 25,3577 43535 TOFAR SLOAD RVQ
024567,003363: 25,3600 13602 ONE/SP
024568,003364: 25,3601 00001 ONE/SP DEC 1 B-14
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|
Page 573
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024570,003366: 25,3602 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024571,003367:
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|
Page 574
|
024573,003369: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024574,003370: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024575,003371:
024576,003372: # FUNCTIONAL DESCRIPTION
024577,003373: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024578,003374: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024579,003375: # RR REPOSITION AND RR CDU FAIL
024580,003376: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024581,003377:
024582,003378: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024583,003379:
024584,003380: # SUBROUTINES CALLED:
024585,003381: # RRRDOT LPS20.1
024586,003382: # RRRANGE BANKCALL
024587,003383: # RADSTALL CDULOGIC
024588,003384: # RRNB SMNB
024589,003385:
024590,003386: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024591,003387:
024592,003388: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024593,003389: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024594,003390: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024595,003391:
024596,003392: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024597,003393: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024598,003394:
024599,003395: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024600,003396: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024601,003397:
024602,003398: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024603,003399: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024604,003400: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024605,003401: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024606,003402: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024607,003403: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024608,003404:
024609,003405: # ERASABLE INITIALIZATION REQUIRED:
024610,003406: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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|
Page 575
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024612,003408: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024613,003409: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024614,003410: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024615,003411:
024616,003412: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024617,003413:
024618,003414: 32,2366 BANK 32
024619,003415: 32,2000 SETLOC LRS22
024620,003416: 32,2000 BANK
024621,003417: 32,2366 COUNT* $$/LRS22
024622,003418:
024623,003419: 32,2366 04645 LRS22.1 TC MAKECADR
024624,003420: 32,2367 55737 TS LRS22.1X
024625,003421: 32,2370 05516 TC DOWNFLAG
024626,003422: 32,2371 00120 ADRES RNGSCFLG
024627,003423: 32,2372 00004 INHINT
024628,003424: 32,2373 34751 CAF BIT3
024629,003425: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024630,003426: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024631,003427: 32,2376 54001 TS L
024632,003428: 32,2377 44751 CS RRRSBIT
024633,003429: 32,2400 70110 MASK RADMODES
024634,003430: 32,2401 60001 AD L
024635,003431: 32,2402 54110 TS RADMODES
024636,003432: 32,2403 00003 RELINT
024637,003433: 32,2404 04616 READRDOT TC BANKCALL
024638,003434: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024639,003435: 32,2406 04616 TC BANKCALL
024640,003436: 32,2407 17705 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024641,003437: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024642,003438:
024643,003439: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024644,003440: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024645,003441: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024646,003442: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024647,003443: 32,2415 53747 DXCH RDOTMSAV
024648,003444: 32,2416 00006 EXTEND
024649,003445: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024650,003446: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024651,003447: 32,2421 30032 CA CDUX
024652,003448: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024653,003449: 32,2423 00006 EXTEND
024654,003450: 32,2424 30025 DCA TIME2 # SAVE TIME
024655,003451: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024656,003452: 32,2426 00006 EXTEND
024657,003453: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024658,003454: 32,2430 53107 DXCH TANG
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Page 576
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024660,003456: 32,2431 00003 RELINT
024661,003457: 32,2432 04616 TC BANKCALL
024662,003458: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024663,003459: 32,2434 04616 TC BANKCALL
024664,003460: 32,2435 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
024665,003461: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
024666,003462: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024667,003463: 32,2440 00006 EXTEND
024668,003464: 32,2441 31331 DCA DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024669,003465: 32,2442 53761 DXCH RANGRDOT
024670,003466: 32,2443 52162 DXCH MPAC +5
024671,003467: 32,2444 53755 DXCH MKTIME # MARK TIME
024672,003468: 32,2445 52160 DXCH MPAC +3
024673,003469: 32,2446 53460 DXCH AIG # CDUY, CDUZ
024674,003470: 32,2447 00006 EXTEND
024675,003471: 32,2450 31107 DCA TANG # PRESERVE TANG
024676,003472: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024677,003473: 32,2452 30156 CA MPAC +2
024678,003474: 32,2453 55461 TS AOG # CDUX
024679,003475: 32,2454 06042 TC INTPRET
024680,003476: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024681,003477: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024682,003478: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024683,003479: 32,2460 20217 14D # FT./SECOND PER BIT
024684,003480: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024685,003481: 32,2462 03751 STORE RDOTM
024686,003482: 32,2463 47135 SLOAD RTB
024687,003483: 32,2464 01107 TANG # GET TRUNION ANGLE
024688,003484: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024689,003485: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024690,003486: 32,2467 47135 SLOAD RTB
024691,003487: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
024692,003488: 32,2471 21577 CDULOGIC
024693,003489: 32,2472 17736 STODL RRSHAFT
024694,003490: 32,2473 01101 SAMPLSUM
024695,003491: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024696,003492: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024697,003493: 32,2476 37757 STCALL RM
024698,003494: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024699,003495: 32,2500 17741 STODL RRBORSIT # AND SAVE
024700,003496: 32,2501 00025 20D
024701,003497: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024702,003498: 32,2503 51256 LPS20.1
024703,003499: 32,2504 77776 EXIT
024704,003500: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024705,003501: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024706,003502: 32,2507 31460 CA AMG
024707,003503: 32,2510 54767 TS CDUSPOT +2
024708,003504: 32,2511 31461 CA AOG
024709,003505: 32,2512 54771 TS CDUSPOT +4
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Page 577
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024711,003507: 32,2513 06042 TC INTPRET
024712,003508: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024713,003509: 32,2515 01101 RRTARGET
024714,003510: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024715,003511: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024716,003512: 32,2520 03741 RRBORSIT
024717,003513: 32,2521 65552 SL1 ACOS # BETWEEN THEM
024718,003514: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024719,003515: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024720,003516: 32,2524 24547 THREEDEG
024721,003517: 32,2525 64532 NORMEXIT # YES - NORMAL EXIT
024722,003518:
024723,003519: 32,2526 77776 EXIT # ERROR EXIT 2
024724,003520: 32,2527 34752 CAF BIT2 # SET ERROR CODE
024725,003521: 32,2530 54154 TS MPAC
024726,003522: 32,2531 12535 TCF OUT22.1
024727,003523:
024728,003524: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024729,003525: 32,2533 34755 CAF ZERO
024730,003526: 32,2534 54154 TS MPAC
024731,003527: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024732,003528: 32,2536 04640 TC BANKJUMP
024733,003529: 32,2537 30101 CHEXERR CAE FLAGWRD5
024734,003530: 32,2540 74742 MASK RNGSCBIT
024735,003531: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024736,003532: 32,2542 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024737,003533:
024738,003534: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024739,003535: 32,2544 54154 TS MPAC
024740,003536: 32,2545 02535 TC OUT22.1
024741,003537: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024742,003538:
024743,003539: 32,2550 1100 RRLOSVEC EQUALS RRTARGET
024744,003540:
|
|
Page 578
|
024746,003542: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024747,003543: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024748,003544:
024749,003545: # FUNCTIONAL DESCRIPTION-
024750,003546: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024751,003547:
024752,003548: # CALLING SEQUENCE - BANKCALL FOR LRS22.2
024753,003549:
024754,003550: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024755,003551:
024756,003552: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024757,003553:
024758,003554: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024759,003555:
024760,003556: # ALARMS - NONE IN THE AUTO MODE
024761,003557:
024762,003558: # ERASABLE INITIALIZATION REQUIRED -
024763,003559: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024764,003560: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024765,003561: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024766,003562:
024767,003563: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024768,003564:
024769,003565: 24,2000 SETLOC P20S
024770,003566: 24,2000 BANK
024771,003567: 24,3334 04645 LRS22.2 TC MAKECADR
024772,003568: 24,3335 55737 TS LRS22.1X
024773,003569: 24,3336 06042 TC INTPRET
024774,003570: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024775,003571: 24,3337 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024776,003572: 24,3340 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024777,003573: # LOS VECTOR, A HALF UNIT VECTOR
024778,003574: # IN NAV BASE AXES)
024779,003575: 24,3341 50025 DSU BMN
024780,003576: 24,3342 11356 30DEG
024781,003577: 24,3343 51350 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024782,003578: 24,3344 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024783,003579: 24,3345 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024784,003580: 24,3346 54154 TS MPAC
024785,003581: 24,3347 13353 TCF OUT22.2
024786,003582: 24,3350 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024787,003583:
|
|
Page 579
|
024789,003585: 24,3351 34755 CAF ZERO
024790,003586: 24,3352 54154 TS MPAC
024791,003587: 24,3353 31737 OUT22.2 CAE LRS22.1X
024792,003588: 24,3354 04640 TC BANKJUMP
024793,003589:
024794,003590: 24,3355 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024795,003591:
|
|
Page 580
|
024797,003593: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024798,003594: # MOD. NO 3 LOG SECTION - P20-25
024799,003595: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024800,003596:
024801,003597: # FUNCTIONAL DESCRIPTION
024802,003598: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024803,003599: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024804,003600: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024805,003601:
024806,003602: # CALLING SEQUENCE
024807,003603: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024808,003604: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024809,003605: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024810,003606: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024811,003607: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024812,003608: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024813,003609:
024814,003610: # SUBROUTINES CALLED
024815,003611: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024816,003612: # GETULC RARARANG INCORP2 NBSM INTSTALL
024817,003613:
024818,003614: # OUTPUT
024819,003615: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024820,003616: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024821,003617: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024822,003618: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024823,003619: # UPDATED W-MATRIX
024824,003620:
024825,003621: # ERASABLE INITIALIZATION REQUIRED
024826,003622: # LM AND CSM STATE VECTORS
024827,003623: # W-MATRIX
024828,003624: # MARK TIME IN MKTIME
024829,003625: # RADAR RANGE IN RM METERS B-29
024830,003626: # RANGE RATE IN RDOTM METERS/CSES B-7
024831,003627: # SHAFT ANGLE IN RRSHAFT REVS. B0
024832,003628: # TRUNNION ANGLE IN RRTRUN REVS. B0
024833,003629: # GIMBAL ANGLES INNER IN AIG
024834,003630: # MIDDLE IN AMG
024835,003631: # OUTER IN AOG
024836,003632: # REFSMMAT
024837,003633: # RENDWFLG
024838,003634: # NOANGFLG
024839,003635: # VEHUPFLG
024840,003636:
024841,003637: # DEBRIS
024842,003638: # PUSHLIST -- ALL
024843,003639: # MX, MY, MZ (VECTORS)
|
|
Page 581
|
024845,003641: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024846,003642:
024847,003643: 13,2207 BANK 13
024848,003644: 26,2000 SETLOC P20S3
024849,003645: 26,2000 BANK
024850,003646:
024851,003647: 26,2416 E7,1456 EBANK= LOSCOUNT
024852,003648: 26,2416 COUNT* $$/LSR22
024853,003649: 26,2416 77624 LSR22.3 CALL
024854,003650: 26,2417 11210 GRP2PC
024855,003651: 26,2420 43014 BON SET
024856,003652: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024857,003653: 26,2422 55200 LSR22.4 # YES
024858,003654: 26,2423 02466 DMENFLG
024859,003655: 26,2424 45014 BOFF CALL
024860,003656: 26,2425 00747 VEHUPFLG
024861,003657: 26,2426 54460 DOLEM
024862,003658: 26,2427 27410 INTSTALL
024863,003659: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION
024864,003660: 26,2431 01674 VINTFLAG
024865,003661: 26,2432 26643 SETIFLGS
024866,003662: 26,2433 77624 CALL
024867,003663: 26,2434 55242 INTGRCAL
024868,003664: 26,2435 77624 CALL
024869,003665: 26,2436 11210 GRP2PC
024870,003666: 26,2437 77624 CALL
024871,003667: 26,2440 27410 INTSTALL
024872,003668: 26,2441 43014 CLEAR BOFF
024873,003669: 26,2442 01676 DIM0FLAG
024874,003670: 26,2443 02756 RENDWFLG
024875,003671: 26,2444 54450 NOTWCSM
024876,003672: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024877,003673: 26,2446 01476 DIM0FLAG
024878,003674: 26,2447 01475 D6OR9FLG
024879,003675: 26,2450 43014 NOTWCSM SET CLEAR
024880,003676: 26,2451 01474 VINTFLAG
024881,003677: 26,2452 01673 INTYPFLG
024882,003678: 26,2453 45014 SET CALL
024883,003679: 26,2454 01472 STATEFLG
024884,003680: 26,2455 55242 INTGRCAL
024885,003681: 26,2456 77650 GOTO
024886,003682: 26,2457 54510 MARKTEST
024887,003683: 26,2460 77624 DOLEM CALL
024888,003684: 26,2461 27410 INTSTALL
024889,003685: 26,2462 45014 SET CALL
024890,003686: 26,2463 01474 VINTFLAG
024891,003687: 26,2464 26643 SETIFLGS
024892,003688: 26,2465 77624 CALL
024893,003689: 26,2466 55242 INTGRCAL
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|
Page 582
|
024895,003691: 26,2467 77624 CALL
024896,003692: 26,2470 11210 GRP2PC
024897,003693: 26,2471 77624 CALL
024898,003694: 26,2472 27410 INTSTALL
024899,003695: 26,2473 43014 CLEAR BOFF
024900,003696: 26,2474 01676 DIM0FLAG
024901,003697: 26,2475 02756 RENDWFLG
024902,003698: 26,2476 54502 NOTWLEM
024903,003699: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024904,003700: 26,2500 01476 DIM0FLAG
024905,003701: 26,2501 01475 D6OR9FLG
024906,003702: 26,2502 43014 NOTWLEM CLEAR CLEAR
024907,003703: 26,2503 01673 INTYPFLG
024908,003704: 26,2504 01674 VINTFLAG
024909,003705: 26,2505 45014 SET CALL
024910,003706: 26,2506 01472 STATEFLG
024911,003707: 26,2507 55242 INTGRCAL
024912,003708: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024913,003709: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024914,003710: 26,2512 54514 RANGEBQ
024915,003711: 26,2513 55251 WLINIT # YES - REINITIALIZE
024916,003712: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024917,003713: 26,2515 04307 SURFFLAG
024918,003714: 26,2516 54524 RANGEBQ1
024919,003715: 26,2517 34755 CA ZERO
024920,003716: 26,2520 55745 TS R65CNTR
024921,003717: 26,2521 04616 TC BANKCALL
024922,003718: 26,2522 46123 CADR R65LEM
024923,003719: 26,2523 06042 TC INTPRET
024924,003720: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024925,003721: 26,2525 00000 0
024926,003722: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024927,003723: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024928,003724: 26,2530 77714 INCR,2
024929,003725: 26,2531 00002 2
024930,003726: 26,2532 45134 SETX2 SXA,2 CALL
024931,003727: 26,2533 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024932,003728: 26,2534 11210 GRP2PC
024933,003729: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024934,003730: 26,2536 00001 1
024935,003731: 26,2537 01356 WHCHREAD
024936,003732: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024937,003733: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024938,003734: 26,2542 20635 28D
024939,003735: 26,2543 77634 RTB
024940,003736: 26,2544 21634 TPMODE # AND SAVE IN 20D
024941,003737: 26,2545 00025 STORE 20D
024942,003738: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024943,003739: 26,2547 55333 GETULC # B-VECTORS FOR RANGE
024944,003740: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
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Page 583
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024946,003742: 26,2551 00707 VEHUPFLG
024947,003743: 26,2552 54553 +1
024948,003744: 26,2553 27525 STOVL BVECTOR
024949,003745: 26,2554 06524 ZEROVECS
024950,003746: 26,2555 03533 STORE BVECTOR +6 # B1
024951,003747: 26,2556 17541 STODL BVECTOR +12D # B2
024952,003748: 26,2557 00045 36D
024953,003749: 26,2560 44257 SRR* BDSU
024954,003750: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024955,003751: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024956,003752: 26,2563 77657 SLR*
024957,003753: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024958,003754: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024959,003755: 26,2566 00045 36D # RLC B-29/B-27
024960,003756: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE
024961,003757: 26,2570 00047 X1
024962,003758: 26,2571 53605 DMP SR*
024963,003759: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024964,003760: 26,2573 20577 0 -2,1 # UNNORMALIZE
024965,003761: 26,2574 53657 SR* SR*
024966,003762: 26,2575 20601 0,1
024967,003763: 26,2576 57176 0,2
024968,003764: 26,2577 47057 SR* RTB
024969,003765: 26,2600 57176 0,2
024970,003766: 26,2601 21634 TPMODE
024971,003767: 26,2602 02707 STORE VARIANCE # B-40
024972,003768: 26,2603 76276 DCOMP TAD
024973,003769: 26,2604 00025 20D # B-40
024974,003770: 26,2605 72240 BMN TLOAD
024975,003771: 26,2606 54611 QOK
024976,003772: 26,2607 00025 20D # B-40
024977,003773: 26,2610 02707 STORE VARIANCE
024978,003774: 26,2611 77624 QOK CALL
024979,003775: 26,2612 55401 LGCUPDTE
024980,003776:
024981,003777: 26,2613 45131 SSP CALL
024982,003778: 26,2614 01357 WHCHREAD
024983,003779: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024984,003780: 26,2616 11210 GRP2PC
024985,003781: 26,2617 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024986,003782: 26,2620 55333 GETULC
024987,003783: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024988,003784: 26,2622 00045 36D # AND SHIFT TO B-23
024989,003785: 26,2623 57202 0 -4,2
024990,003786: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D
024991,003787: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024992,003788: 26,2626 00707 VEHUPFLG
024993,003789: 26,2627 54630 +1
024994,003790: 26,2630 77761 VXSC
024995,003791: 26,2631 00045 36D # B1 = RLC (B-24/B-22)
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|
Page 584
|
024997,003793: 26,2632 27533 STOVL BVECTOR +6
024998,003794: 26,2633 01653 NUVLEM
024999,003795: 26,2634 53257 VSR* VAD
025000,003796: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025001,003797: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5
025002,003798: 26,2637 53715 PDVL VSR* # VL TO PD6
025003,003799: 26,2640 01601 NUVCSM
025004,003800: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
025005,003801: 26,2642 52255 VAD VSU
025006,003802: 26,2643 01615 VCVCSM
025007,003803: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6
025008,003804: 26,2645 00001 0
025009,003805: 26,2646 00007 6
025010,003806: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
025011,003807: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
025012,003808: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
025013,003809: 26,2652 01773 RATEVAR
025014,003810: 26,2653 02707 STORE VARIANCE
025015,003811: 26,2654 54335 SLOAD SR
025016,003812: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
025017,003813: 26,2656 20621 16D # SHIFT TO DP (B-4)
025018,003814: 26,2657 00031 STORE 24D # AND SAVE IN 24D
025019,003815: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
025020,003816: 26,2661 02707 VARIANCE
025021,003817: 26,2662 54666 VOK # BRANCH - NO
025022,003818: 26,2663 77745 DLOAD # YES - USE MINIMUM VARIANCE
025023,003819: 26,2664 00031 24D
025024,003820: 26,2665 02707 STORE VARIANCE
025025,003821: 26,2666 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
025026,003822: 26,2667 53725 PDDL SLR* # TO B-10/B-8
025027,003823: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
025028,003824: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8
025029,003825: 26,2672 77625 DSU
025030,003826: 26,2673 77675 DMPR
025031,003827: 26,2674 00045 36D
025032,003828: 26,2675 27547 STOVL DELTAQ # B-33
025033,003829: 26,2676 00001 0 # NOW GET B0
025034,003830: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC
025035,003831: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
025036,003832: 26,2701 00707 VEHUPFLG
025037,003833: 26,2702 54703 +1
025038,003834: 26,2703 77657 VSR*
025039,003835: 26,2704 57200 0 -2,2 # SCALED B-5
025040,003836: 26,2705 27525 STOVL BVECTOR
025041,003837: 26,2706 06524 ZEROVECS
025042,003838: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
025043,003839: 26,2710 27541 STOVL BVECTOR +12D
025044,003840: 26,2711 03525 BVECTOR
025045,003841: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
025046,003842: 26,2713 00025 20D # SHIFT COUNT IN 20D
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Page 585
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025048,003844: 26,2714 51575 VLOAD ABVAL
025049,003845: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
025050,003846: 26,2716 71301 NORM DLOAD
025051,003847: 26,2717 00027 22D # SHIFT COUNT IN 22D
025052,003848: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER
025053,003849: 26,2721 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
025054,003850: 26,2722 00025 20D
025055,003851: 26,2723 54727 VOK1
025056,003852: 26,2724 52150 LXA,1 GOTO
025057,003853: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
025058,003854: 26,2726 54731 VOK2
025059,003855: 26,2727 77750 VOK1 LXA,1
025060,003856: 26,2730 00024 20D
025061,003857: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
025062,003858: 26,2732 03525 BVECTOR # WITH THI SSHIFT COUNT
025063,003859: 26,2733 20201 0,1
025064,003860: 26,2734 27525 STOVL BVECTOR
025065,003861: 26,2735 03533 BVECTOR +6
025066,003862: 26,2736 77657 VSL*
025067,003863: 26,2737 20201 0,1
025068,003864: 26,2740 17533 STODL BVECTOR +6
025069,003865: 26,2741 03547 DELTAQ
025070,003866: 26,2742 77657 SL*
025071,003867: 26,2743 20201 0,1
025072,003868: 26,2744 03547 STORE DELTAQ
025073,003869: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
025074,003870: 26,2746 00045 36D
025075,003871: 26,2747 20200 0 -1,1
025076,003872: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
025077,003873: 26,2751 02707 VARIANCE
025078,003874: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
025079,003875: 26,2753 21634 TPMODE
025080,003876: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE
025081,003877: 26,2755 55401 LGCUPDTE
025082,003878:
025083,003879: 26,2756 77624 CALL
025084,003880: 26,2757 11210 GRP2PC
025085,003881: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE
025086,003882: 26,2761 04307 SURFFLAG
025087,003883: 26,2762 55176 RENDEND # NO
025088,003884: 26,2763 E7,1457 EBANK= AIG
025089,003885: 26,2763 33332 MXMYMZ CAF AIGBANK
025090,003886: 26,2764 54006 TS BBANK
025091,003887: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ
025092,003888: 26,2766 54765 TS CDUSPOT
025093,003889: 26,2767 31460 CA AMG
025094,003890: 26,2770 54767 TS CDUSPOT +2
025095,003891: 26,2771 31461 CA AOG
025096,003892: 26,2772 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
025097,003893: 26,2773 06042 TC INTPRET
|
|
Page 586
|
025099,003895: 26,2774 45175 VLOAD CALL
025100,003896: 26,2775 06522 UNITX
025101,003897: 26,2776 47666 TRG*NBSM
025102,003898: 26,2777 76505 VXM VSL1
025103,003899: 26,3000 01734 REFSMMAT
025104,003900: 26,3001 27677 STOVL MX
025105,003901: 26,3002 06520 UNITY
025106,003902: 26,3003 77624 CALL
025107,003903: 26,3004 47675 *NBSM*
025108,003904: 26,3005 76505 VXM VSL1
025109,003905: 26,3006 01734 REFSMMAT
025110,003906: 26,3007 27705 STOVL MY
025111,003907: 26,3010 06516 UNITZ
025112,003908: 26,3011 77624 CALL
025113,003909: 26,3012 47675 *NBSM*
025114,003910: 26,3013 76505 VXM VSL1
025115,003911: 26,3014 01734 REFSMMAT
025116,003912: 26,3015 37713 SHAFTBQ STCALL MZ
025117,003913: 26,3016 55361 RADARANG
025118,003914: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
025119,003915: 26,3020 01357 WHCHREAD
025120,003916: 26,3021 00003 DEC 3 B-14
025121,003917: 26,3022 03724 ULC
025122,003918: 26,3023 72441 DOT SL1
025123,003919: 26,3024 03677 MX
025124,003920: 26,3025 24023 STOVL SINTH # 18D
025125,003921: 26,3026 03724 ULC
025126,003922: 26,3027 72441 DOT SL1
025127,003923: 26,3030 03713 MZ
025128,003924: 26,3031 34021 STCALL COSTH # 16D
025129,003925: 26,3032 26506 ARCTAN
025130,003926: 26,3033 41221 BDSU DMP
025131,003927: 26,3034 03736 RRSHAFT
025132,003928: 26,3035 15441 2PI/8
025133,003929: 26,3036 41472 SL3R PUSH
025134,003930: 26,3037 52545 DLOAD SL3
025135,003931: 26,3040 01701 X789
025136,003932: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025137,003933: 26,3042 56176 0,2
025138,003934: 26,3043 53605 DMP SRR*
025139,003935: 26,3044 03722 RXZ
025140,003936: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025141,003937: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025142,003938: 26,3047 03724 ULC
025143,003939: 26,3050 76435 VXV VSL1
025144,003940: 26,3051 03705 MY
025145,003941: 26,3052 77656 UNIT
025146,003942: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025147,003943: 26,3054 00747 VEHUPFLG
025148,003944: 26,3055 55056 +1
|
|
Page 587
|
025150,003946: 26,3056 27525 STOVL BVECTOR
025151,003947: 26,3057 06524 ZEROVECS
025152,003948: 26,3060 03533 STORE BVECTOR +6
025153,003949: 26,3061 17541 STODL BVECTOR +12D
025154,003950: 26,3062 03722 RXZ
025155,003951: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025156,003952: 26,3064 20577 0 -2,1
025157,003953: 26,3065 56176 0,2
025158,003954: 26,3066 03541 STORE BVECTOR +12D
025159,003955: 26,3067 77735 SLOAD
025160,003956: 26,3070 02011 SHAFTVAR
025161,003957: 26,3071 41215 DAD DMP
025162,003958: 26,3072 15436 IMUVAR # RAD**2 B12
025163,003959: 26,3073 03722 RXZ
025164,003960: 26,3074 41257 SRR* DMP
025165,003961: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025166,003962: 26,3076 03722 RXZ
025167,003963: 26,3077 53657 SR* SR*
025168,003964: 26,3100 20577 0 -2,1
025169,003965: 26,3101 57176 0,2
025170,003966: 26,3102 47057 SR* RTB
025171,003967: 26,3103 57176 0,2
025172,003968: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025173,003969: 26,3105 36707 STCALL VARIANCE # B-40
025174,003970: 26,3106 55401 LGCUPDTE
025175,003971:
025176,003972: 26,3107 77624 CALL
025177,003973: 26,3110 11210 GRP2PC
025178,003974: 26,3111 77624 TRUNBQ CALL
025179,003975: 26,3112 55361 RADARANG
025180,003976: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025181,003977: 26,3114 01357 WHCHREAD
025182,003978: 26,3115 00004 DEC 4 B-14
025183,003979: 26,3116 03724 ULC
025184,003980: 26,3117 76435 VXV VSL1
025185,003981: 26,3120 03705 MY
025186,003982: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC
025187,003983: 26,3122 03724 ULC
025188,003984: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025189,003985: 26,3124 00747 VEHUPFLG
025190,003986: 26,3125 55126 +1
025191,003987: 26,3126 27525 STOVL BVECTOR
025192,003988: 26,3127 06524 ZEROVECS
025193,003989: 26,3130 03533 STORE BVECTOR +6
025194,003990: 26,3131 17541 STODL BVECTOR +12D
025195,003991: 26,3132 03722 RXZ
025196,003992: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025197,003993: 26,3134 20577 0 -2,1
025198,003994: 26,3135 56176 0,2
025199,003995: 26,3136 03543 STORE BVECTOR +14D
|
|
Page 588
|
025201,003997: 26,3137 77735 SLOAD
025202,003998: 26,3140 02012 TRUNVAR
025203,003999: 26,3141 41215 DAD DMP
025204,004000: 26,3142 15436 IMUVAR
025205,004001: 26,3143 03722 RXZ
025206,004002: 26,3144 41257 SRR* DMP
025207,004003: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025208,004004: 26,3146 03722 RXZ
025209,004005: 26,3147 53657 SR* SR*
025210,004006: 26,3150 20577 0 -2,1
025211,004007: 26,3151 57176 0,2
025212,004008: 26,3152 47057 SR* RTB
025213,004009: 26,3153 57176 0,2
025214,004010: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025215,004011: 26,3155 16707 STODL VARIANCE
025216,004012: 26,3156 03732 SINTHETA
025217,004013: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025218,004014: 26,3160 03734 RRTRUN
025219,004015: 26,3161 56405 DMP SL3R
025220,004016: 26,3162 15441 2PI/8
025221,004017: 26,3163 52525 PDDL SL3
025222,004018: 26,3164 01703 X789 +2
025223,004019: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025224,004020: 26,3166 56176 0,2
025225,004021: 26,3167 53605 DMP SRR*
025226,004022: 26,3170 03722 RXZ
025227,004023: 26,3171 21601 0,1
025228,004024: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025229,004025: 26,3173 55401 LGCUPDTE
025230,004026: 26,3174 77624 CALL
025231,004027: 26,3175 11210 GRP2PC
025232,004028: 26,3176 77650 RENDEND GOTO
025233,004029: 26,3177 50562 R22LEM93
025234,004030:
025235,004031: # FUNCTIONAL DESCRIPTION
025236,004032: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025237,004033: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025238,004034: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025239,004035:
025240,004036: # SUBROUTINES CALLED
025241,004037: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025242,004038: # INTEGRV GETULC INCORP2
025243,004039:
025244,004040: # OUTPUT
025245,004041: # CORRECTED CSM STATE VECTOR (PERMANENT)
025246,004042: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025247,004043: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025248,004044: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025249,004045: # UPDATED W-MATRIX
|
|
Page 589
|
025251,004047:
025252,004048: # ERASABLE INITIALIZATION REQUIRED
025253,004049: # LM AND CSM STATE VECTORS
025254,004050: # W-MATRIX
025255,004051: # MARK TIME IN MKTIME
025256,004052: # RADAR RANGE IN RM METERS B-29
025257,004053: # RANGE RATE IN RDOTM METERS/CSEC B-7
025258,004054: # VEHUPFLG
025259,004055:
025260,004056: 26,3200 77624 LSR22.4 CALL
025261,004057: 26,3201 27410 INTSTALL
025262,004058: 26,3202 43014 SET CLEAR
025263,004059: 26,3203 01472 STATEFLG
025264,004060: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025265,004061: 26,3205 77624 CALL
025266,004062: 26,3206 55242 INTGRCAL
025267,004063: 26,3207 77624 CALL
025268,004064: 26,3210 11210 GRP2PC
025269,004065: 26,3211 45014 CLEAR CALL
025270,004066: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025271,004067: 26,3213 27410 INTSTALL
025272,004068: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025273,004069: 26,3215 03463 MARKCTR
025274,004070: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025275,004071: 26,3217 43014 CLEAR SET
025276,004072: 26,3220 01675 D6OR9FLG
025277,004073: 26,3221 01476 DIM0FLAG
025278,004074: 26,3222 43014 SET CLEAR
025279,004075: 26,3223 01474 VINTFLAG
025280,004076: 26,3224 01673 INTYPFLG
025281,004077: 26,3225 77624 CALL
025282,004078: 26,3226 55242 INTGRCAL
025283,004079: 26,3227 77650 GOTO
025284,004080: 26,3230 54514 RANGEBQ
025285,004081:
025286,004082: 26,3231 77624 INITWMX6 CALL
025287,004083: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025288,004084: 26,3233 45014 SET CALL
025289,004085: 26,3234 01474 VINTFLAG
025290,004086: 26,3235 26643 SETIFLGS
025291,004087: 26,3236 77624 CALL
025292,004088: 26,3237 55242 INTGRCAL
025293,004089: 26,3240 77650 GOTO
025294,004090: 26,3241 54514 RANGEBQ
025295,004091:
025296,004092: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025297,004093:
025298,004094: 26,3242 71220 INTGRCAL STQ DLOAD
025299,004095: 26,3243 03675 IGRET
025300,004096: 26,3244 03755 MKTIME
|
|
Page 590
|
025302,004098: 26,3245 34041 STCALL TDEC1
025303,004099: 26,3246 27133 INTEGRV
025304,004100: 26,3247 77650 GOTO
025305,004101: 26,3250 03675 IGRET
025306,004102:
025307,004103: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025308,004104: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025309,004105:
025310,004106: 26,3251 E5,1400 EBANK= W
025311,004107: 26,3251 77776 WLINIT EXIT
025312,004108: 26,3252 33331 CAF WBANK
025313,004109: 26,3253 54006 TS BBANK
025314,004110: 26,3254 33437 CAF WSIZE
025315,004111: 26,3255 55256 TS W.IND
025316,004112: 26,3256 34755 CAF ZERO
025317,004113:
025318,004114: 26,3257 51256 INDEX W.IND
025319,004115: 26,3260 55400 TS W
025320,004116: 26,3261 11256 CCS W.IND
025321,004117: 26,3262 03255 TC -5
025322,004118: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025323,004119: 26,3264 54006 TS BBANK
025324,004120: 26,3265 06042 TC INTPRET
025325,004121: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
025326,004122: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025327,004123: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025328,004124: 26,3271 02001 WRENDPOS
025329,004125: 26,3272 77650 GOTO
025330,004126: 26,3273 55276 WPOSTORE
025331,004127: 26,3274 77735 WLSRFPOS SLOAD
025332,004128: 26,3275 02007 WSURFPOS
025333,004129: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025334,004130: 26,3277 20606 5
025335,004131: 26,3300 02401 STORE W
025336,004132: 26,3301 02411 STORE W +8D
025337,004133: 26,3302 02421 STORE W +16D
025338,004134: 26,3303 67214 BON SLOAD
025339,004135: 26,3304 04307 SURFFLAG
025340,004136: 26,3305 55311 WLSRFVEL
025341,004137: 26,3306 02002 WRENDVEL
025342,004138: 26,3307 77650 GOTO
025343,004139: 26,3310 55313 WVELSTOR
025344,004140: 26,3311 77735 WLSRFVEL SLOAD
025345,004141: 26,3312 02010 WSURFVEL
025346,004142: 26,3313 02511 WVELSTOR STORE W +72D
025347,004143: 26,3314 02521 STORE W +80D
025348,004144: 26,3315 02531 STORE W +88D
025349,004145: 26,3316 77735 SLOAD
025350,004146: 26,3317 02003 WSHAFT
025351,004147: 26,3320 02621 STORE W +144D
025352,004148: 26,3321 77735 SLOAD
|
|
Page 591
|
025354,004150: 26,3322 02004 WTRUN
025355,004151: 26,3323 02631 STORE W +152D
025356,004152: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025357,004153: 26,3325 02476 RENDWFLG
025358,004154: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025359,004155: 26,3327 00000 0
025360,004156: 26,3330 77616 RVQ
025361,004157:
025362,004158: 26,3331 E5,1400 EBANK= W
025363,004159: 26,3331 54065 WBANK BBCON WLINIT
025364,004160: 26,3332 E7,1457 EBANK= AIG
025365,004161: 26,3332 54067 AIGBANK BBCON LSR22.3
025366,004162:
025367,004163: # GETULC
025368,004164:
025369,004165: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025370,004166: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025371,004167: # MAGNITUDE IN 36D.
025372,004168:
025373,004169: 26,3333 77201 GETULC SETPD VLOAD
025374,004170: 26,3334 00001 0
025375,004171: 26,3335 01645 DELTALEM
025376,004172: 26,3336 77754 LXA,2
025377,004173: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025378,004174: 26,3340 53257 VSR* VAD
025379,004175: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025380,004176: 26,3342 01661 RCVLEM
025381,004177: 26,3343 53715 PDVL VSR*
025382,004178: 26,3344 01573 DELTACSM
025383,004179: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025384,004180: 26,3346 52255 VAD VSU
025385,004181: 26,3347 01607 RCVCSM
025386,004182: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025387,004183: 26,3351 21725 NORMUNX1
025388,004184: 26,3352 17724 STODL ULC
025389,004185: 26,3353 00045 36D
025390,004186: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025391,004187: 26,3355 20201 0,1
025392,004188: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025393,004189: 26,3357 03724 ULC
025394,004190: 26,3360 77616 RVQ
025395,004191:
025396,004192: # RADARANG
025397,004193:
025398,004194: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025399,004195: # RXZ = (SQRT (1-SINTHETA**2))RLC
025400,004196: # OUTPUT
025401,004197: # ULC IN ULC, PD0
025402,004198: # RLC IN PD36D
025403,004199: # SIN THETA IN SINTHETA AND PD6
025404,004200: # RXZ NORM IN RXZ (N IN X1)
|
|
Page 592
|
025406,004202:
025407,004203: 26,3361 45020 RADARANG STQ CALL
025408,004204: 26,3362 03675 RDRET
025409,004205: 26,3363 55333 GETULC
025410,004206: 26,3364 50276 VCOMP DOT
025411,004207: 26,3365 03705 MY
025412,004208: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025413,004209: 26,3367 03732 STORE SINTHETA
025414,004210: 26,3370 44316 DSQ BDSU
025415,004211: 26,3371 06514 DP1/4TH # 1-(SIN THETA)**2
025416,004212: 26,3372 41366 SQRT DMP
025417,004213: 26,3373 00045 36D
025418,004214: 26,3374 60352 SL1 NORM
025419,004215: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025420,004216: 26,3376 03722 STORE RXZ
025421,004217: 26,3377 77650 GOTO # EXIT
025422,004218: 26,3400 03675 RDRET
025423,004219: 26,3401 45020 LGCUPDTE STQ CALL
025424,004220: 26,3402 03675 LGRET
025425,004221: 26,3403 46533 INCORP1
025426,004222: 26,3404 51575 VLOAD ABVAL
025427,004223: 26,3405 02673 DELTAX +6
025428,004224: 26,3406 53754 LXA,2 SRR*
025429,004225: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025430,004226: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025431,004227: 26,3411 24317 STOVL R22DISP +2
025432,004228: 26,3412 02665 DELTAX
025433,004229: 26,3413 53646 ABVAL SRR*
025434,004230: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025435,004231: 26,3415 00315 STORE R22DISP
025436,004232: 26,3416 54335 SLOAD SR
025437,004233: 26,3417 02005 RMAX
025438,004234: 26,3420 20613 10D
025439,004235: 26,3421 50025 DSU BMN
025440,004236: 26,3422 00315 R22DISP
025441,004237: 26,3423 50566 R22LEM96 # GO DISPLAY
025442,004238: 26,3424 45335 SLOAD DSU
025443,004239: 26,3425 02006 VMAX
025444,004240: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025445,004241: 26,3427 77640 BMN
025446,004242: 26,3430 50566 R22LEM96 # GO DISPLAY
025447,004243: 26,3431 77624 ASTOK CALL
025448,004244: 26,3432 46745 INCORP2
025449,004245: 26,3433 77650 GOTO
025450,004246: 26,3434 03675 LGRET
025451,004247: 26,3435 00103 03370 IMUVAR 2DEC 1 E-6 B12 # RAD**2
025452,004248:
025453,004249: 26,3437 00241 WSIZE DEC 161 B-14
025454,004250: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025455,004251:
025456,004252: 26,3442 E7,1456 EBANK= LOSCOUNT
025457,004253:
|
|
Page 593
|
025459,004255: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025460,004256: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025461,004257:
025462,004258: # FUNCTIONAL DESCRIPTION
025463,004259:
025464,004260: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025465,004261: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025466,004262: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025467,004263: # ATTITUDE MANEUVER.
025468,004264:
025469,004265: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025470,004266:
025471,004267: # SUBROUTINES CALLED
025472,004268:
025473,004269: # LEMCONIC R61LEM
025474,004270: # CSMCONIC RRDESSM
025475,004271: # JOBDELAY FLAGDOWN
025476,004272: # WAITLIST FLAGUP
025477,004273: # RRNB BANKCALL
025478,004274:
025479,004275: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025480,004276:
025481,004277: # OUTPUT
025482,004278:
025483,004279: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025484,004280: # 11111 INDICATES LOCKON ACHIEVED
025485,004281: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025486,004282:
025487,004283: # ERASABLE INITIALIZATION REQUIRED
025488,004284:
025489,004285: # SEARCH FLAG MUST BE SET
025490,004286: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025491,004287:
025492,004288: # DEBRIS
025493,004289:
025494,004290: # RLMSRCH UXVECT
025495,004291: # VXRLM UYVECT
025496,004292: # LOSDESRD NSRCHPNT
025497,004293: # DATAGOOD OMEGAD
025498,004294: # MPAC PUSHLIST
025499,004295:
025500,004296: 26,3442 COUNT* $$/LRS24
025501,004297: 26,3442 34755 LRS24.1 CAF ZERO
025502,004298: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025503,004299: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025504,004300: 26,3445 00006 EXTEND
|
|
Page 594
|
025506,004302: 26,3446 05012 WOR CHAN12
025507,004303: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025508,004304: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025509,004305: 26,3451 00006 EXTEND
025510,004306: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025511,004307:
025512,004308: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025513,004309: 26,3454 00004 INHINT
025514,004310: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025515,004311: 26,3456 E7,1456 EBANK= LOSCOUNT
025516,004312: 26,3456 03643 54067 2CADR CALLDGCH
025517,004313:
025518,004314: 26,3460 00003 RELINT
025519,004315: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025520,004316: 26,3462 74736 MASK REMODBIT
025521,004317: 26,3463 00006 EXTEND
025522,004318: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025523,004319: 26,3465 06042 TC INTPRET
025524,004320:
025525,004321: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025526,004322: 26,3467 21574 LOADTIME
025527,004323: 26,3470 15715 1.5SECS
025528,004324: 26,3471 34041 LRS24.11 STCALL TDEC1
025529,004325: 26,3472 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025530,004326: 26,3473 77775 VLOAD
025531,004327: 26,3474 00001 RATT
025532,004328: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025533,004329: 26,3476 00007 VATT
025534,004330: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025535,004331: 26,3500 00015 TAT
025536,004332: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025537,004333: 26,3502 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025538,004334: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025539,004335: 26,3504 00001 RATT
025540,004336: 26,3505 03676 RLMSRCH
025541,004337: 26,3506 77656 UNIT
025542,004338: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025543,004339: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025544,004340: 26,3511 47256 UNIT VXV
025545,004341: 26,3512 00001 RATT
025546,004342: 26,3513 77656 UNIT
025547,004343: 26,3514 03704 STORE VXRCM
025548,004344: 26,3515 52375 VLOAD VSU
025549,004345: 26,3516 00007 VATT
025550,004346: 26,3517 03740 SAVLEMV
025551,004347: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025552,004348: 26,3521 01734 REFSMMAT
025553,004349: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025554,004350: 26,3523 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 595
|
025556,004352: 26,3524 03737 NSRCHPNT
025557,004353: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025558,004354: 26,3526 53025 DSU BZE # IS N=1
025559,004355: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025560,004356: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025561,004357: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025562,004358: 26,3532 03720 UXVECT
025563,004359: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025564,004360: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025565,004361: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025566,004362: 26,3536 77761 VXSC
025567,004363: 26,3537 15705 SIN60DEG # UX = (COS 60) UXPR + (SIN 60) UYPR
025568,004364: 26,3540 27720 STOVL UXVECT
025569,004365: 26,3541 00015 UXVECTPR
025570,004366: 26,3542 53361 VXSC VAD
025571,004367: 26,3543 06522 COS60DEG
025572,004368: 26,3544 03720 UXVECT
025573,004369: 26,3545 77656 UNIT
025574,004370: 26,3546 27720 STOVL UXVECT
025575,004371: 26,3547 00015 UXVECTPR # UY = (-SIN 60) UXPR + (COS 60) UYPR
025576,004372: 26,3550 77761 VXSC
025577,004373: 26,3551 15705 SIN60DEG
025578,004374: 26,3552 27726 STOVL UYVECT
025579,004375: 26,3553 00023 UYVECTPR
025580,004376: 26,3554 52361 VXSC VSU
025581,004377: 26,3555 06522 COS60DEG
025582,004378: 26,3556 03726 UYVECT
025583,004379: 26,3557 77656 UNIT
025584,004380: 26,3560 03726 STORE UYVECT
025585,004381: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025586,004382: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025587,004383: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025588,004384: 26,3564 64256 UNIT MXV
025589,004385: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025590,004386: 26,3566 77772 VSL1
025591,004387: 26,3567 25101 CONTDESG STOVL RRTARGET
025592,004388: 26,3570 03740 SAVLEMV
025593,004389: 26,3571 01761 STORE LOSVEL
025594,004390: 26,3572 77776 EXIT
025595,004391: 26,3573 00004 INHINT
025596,004392: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025597,004393: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025598,004394: # POINT IN THE PATTERN
025599,004395: 26,3576 44735 CONTDES2 CS CDESBIT
025600,004396: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025601,004397: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025602,004398: 26,3601 54110 TS RADMODES
025603,004399: 26,3602 06042 TC INTPRET
025604,004400:
025605,004401: 26,3603 77624 CALL
|
|
Page 596
|
025607,004403: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025608,004404:
025609,004405: 26,3605 77776 EXIT
025610,004406: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025611,004407: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025612,004408:
025613,004409: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025614,004410: # SPACECRAFT +Z AXIS
025615,004411: 26,3610 00006 OMEGCALC EXTEND
025616,004412: 26,3611 30036 DCA CDUT
025617,004413: 26,3612 53753 DXCH TANGNB
025618,004414: 26,3613 06042 TC INTPRET
025619,004415: 26,3614 77624 CALL
025620,004416: 26,3615 46041 RRNB
025621,004417: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025622,004418: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025623,004419: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025624,004420: 26,3621 77776 EXIT
025625,004421: 26,3622 05155 TC ENDOFJOB
|
|
Page 597
|
025627,004423: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025628,004424:
025629,004425: 26,3623 47375 CALCXY VLOAD VXV
025630,004426: 26,3624 03704 VXRCM
025631,004427: 26,3625 03712 LOSDESRD
025632,004428: 26,3626 77656 UNIT
025633,004429: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025634,004430: 26,3630 03712 LOSDESRD
025635,004431: 26,3631 53435 VXV UNIT
025636,004432: 26,3632 03720 UXVECT
025637,004433: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025638,004434: 26,3634 77650 GOTO
025639,004435: 26,3635 55561 OFFCALC
025640,004436:
025641,004437: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025642,004438: 26,3637 03712 LOSDESRD
025643,004439: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025644,004440: 26,3641 52172 VSL1 GOTO
025645,004441: 26,3642 55567 CONTDESG
025646,004442:
025647,004443: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025648,004444: 26,3644 74745 MASK RNDVZBIT
025649,004445: 26,3645 00006 EXTEND
025650,004446: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025651,004447: 26,3647 37716 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025652,004448: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025653,004449: 26,3651 E7,1675 EBANK= RLMSRCH
025654,004450: 26,3651 03654 54067 2CADR DATGDCHK
025655,004451:
025656,004452: 26,3653 05261 TC TASKOVER
025657,004453:
025658,004454: 26,3654 34750 DATGDCHK CAF BIT4
025659,004455: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025660,004456: 26,3656 02033 RAND CHAN33
025661,004457: 26,3657 00006 EXTEND
025662,004458: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025663,004459: 26,3661 46245 CS SIX
025664,004460: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025665,004461: 26,3663 00006 EXTEND
025666,004462: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025667,004463: 26,3665 25736 INCR NSRCHPNT # NO - SET N = N+1 AN GO TO
025668,004464: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025669,004465:
025670,004466: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025671,004467: 26,3670 55733 TS DATAGOOD
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|
Page 598
|
025673,004469: 26,3671 00004 INHINT
025674,004470: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
025675,004471: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025676,004472: 26,3674 05155 TC ENDOFJOB
025677,004473:
025678,004474: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025679,004475: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025680,004476: 26,3677 00004 INHINT # REQUIRED IN P20
025681,004477: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025682,004478: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025683,004479: 26,3702 05155 TC ENDOFJOB
025684,004480:
025685,004481: 26,3703 25547 ALL1S DEC 11111 B-14
025686,004482: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025687,004483: 26,3706 23,2521 COS60DEG = DPHALF # (2DEC .50)
025688,004484: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025689,004485: 26,3706 UYVECTPR EQUALS 18D
025690,004486: 26,3706 RLMUNIT EQUALS 12D
025691,004487: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025692,004488: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025693,004489: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025694,004490: # **** ONEOCT NEEDS A LOWER ORDER ****
025695,004491: # **** WORD OF ZEROES ****
025696,004492: 26,3713 01130 6SECONDS DEC 600 B-14
025697,004493: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025698,004494:
025699,004495: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS
025700,004496:
025701,004497: 4616 BLOCK 02
025702,004498: 6000 SETLOC FFTAG5
025703,004499: 6000 BANK
025704,004500: 6025 COUNT* $$/P20
025705,004501: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025706,004502: 6026 36031 DCA VB56CADR # GOTOPOOH
025707,004503: 6027 15165 TCF SUPDXCHZ
025708,004504: 6030 E7,1471 EBANK= WHOCARES
025709,004505: 6030 03045 66107 VB56CADR 2CADR TRMTRACK
025710,004506:
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|
Page 599
|
025712,004508: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025713,004509: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025714,004510:
025715,004511: # FUNCTIONAL DESCRIPTION:
025716,004512:
025717,004513: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025718,004514: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025719,004515: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025720,004516: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025721,004517: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025722,004518: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025723,004519:
025724,004520: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025725,004521:
025726,004522: # SUBROUTINES CALLED:
025727,004523:
025728,004524: # REMODE RRTONLY
025729,004525: # UNIT MPACVBUF
025730,004526: # QUICTRIG AX*SR*T
025731,004527: # SPSIN SPCOS
025732,004528: # SETRRECR RROUT
025733,004529: # RRRDOT RRRANGE
025734,004530:
025735,004531: # EXIT: TO NOR29NOW, IN SERVICER.
025736,004532:
025737,004533: # OUTPUT: (ALL FOR DOWNLINK)
025738,004534:
025739,004535: # RM RDOTM (RAW)
025740,004536: # AIG AMG
025741,004537: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025742,004538: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025743,004539: # MKTIME
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|
Page 600
|
025745,004541:
025746,004542: # ERASABLE INITIALIZATION REQUIRED:
025747,004543:
025748,004544: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025749,004545: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025750,004546: # R(CSM) V(CSM)
025751,004547: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025752,004548:
025753,004549: # DEBRIS:
025754,004550:
025755,004551: # RADMODES (BIT 10)
025756,004552: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025757,004553: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025758,004554: # LOSCMFLG READRFLG
025759,004555:
025760,004556: # ALARMS: NONE.
025761,004557:
025762,004558: # COMPONENT JOBS AND TASKS:
025763,004559:
025764,004560: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025765,004561: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025766,004562: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025767,004563:
025768,004564: 33,2045 BANK 33
025769,004565: 33,2000 SETLOC R29/SERV
025770,004566: 33,2000 BANK
025771,004567:
025772,004568: 33,2045 COUNT* $$/R29
025773,004569:
025774,004570: 33,2045 5014 NR29&RDR EQUALS EBANK5
025775,004571:
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|
Page 601
|
025777,004573: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025778,004574: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025779,004575:
025780,004576: 33,2045 40110 R29 CS RADMODES
025781,004577: 33,2046 74742 MASK DESIGBIT
025782,004578: 33,2047 00006 EXTEND
025783,004579: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025784,004580:
025785,004581: 33,2051 00004 INHINT
025786,004582: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025787,004583: 33,2053 44736 CS BIT14
025788,004584: 33,2054 00006 EXTEND
025789,004585: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025790,004586: 33,2056 44740 CS LOSCMBIT
025791,004587: 33,2057 70076 MASK FLAGWRD2
025792,004588: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025793,004589: 33,2061 44753 CS OLDESBIT
025794,004590: 33,2062 70074 MASK STATE
025795,004591: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025796,004592: 33,2064 04616 TC BANKCALL
025797,004593: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025798,004594: 33,2066 34740 CA ANTENBIT
025799,004595: 33,2067 70110 MASK RADMODES
025800,004596: 33,2070 10000 CCS A # TEST RR MODE BIT.
025801,004597: 33,2071 12104 TCF SETPRPOS # MODE 2.
025802,004598:
025803,004599: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025804,004600: 33,2073 05072 TC NOVAC
025805,004601: 33,2074 E7,1456 EBANK= LOSCOUNT
025806,004602: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
025807,004603:
025808,004604: 33,2076 44742 CS DESIGBIT
025809,004605: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025810,004606: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025811,004607: 33,2101 34736 CA REMODBIT
025812,004608: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025813,004609: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025814,004610:
025815,004611: 33,2104 34753 SETPRPOS CA ONE
025816,004612: 33,2105 05203 TC WAITLIST
025817,004613: 33,2106 E7,1456 EBANK= LOSCOUNT
025818,004614: 33,2106 03604 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025819,004615:
025820,004616: 33,2110 34741 CA REPOSBIT
025821,004617: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025822,004618: 33,2112 12573 TCF NOR29NOW
025823,004619:
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|
Page 602
|
025825,004621: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025826,004622:
025827,004623: 33,2113 34753 R29REMOJ CA ONE
025828,004624: 33,2114 05203 TC WAITLIST
025829,004625: 33,2115 E7,1456 EBANK= LOSCOUNT
025830,004626: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025831,004627:
025832,004628: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025833,004629: 33,2120 17705 CADR RADSTALL
025834,004630:
025835,004631: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025836,004632: 33,2122 15155 TCF ENDOFJOB
025837,004633:
025838,004634: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025839,004635:
025840,004636: 25,2000 SETLOC R29S1
025841,004637: 25,2000 BANK
025842,004638:
025843,004639: 25,3604 34735 PREPOS29 CA NEGMAX # -180 DEG.
025844,004640: 25,3605 02252 TC RRTONLY # DRIVE TRUNNION CDU.
025845,004641: 25,3606 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025846,004642: 25,3607 70110 MASK RADMODES
025847,004643: 25,3610 54110 TS RADMODES
025848,004644: 25,3611 15261 TCF TASKOVER
025849,004645:
025850,004646: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025851,004647:
025852,004648: 33,2045 SETLOC R29
025853,004649: 33,2045 BANK
025854,004650:
025855,004651: 33,2123 00006 R29.LOS EXTEND
025856,004652: 33,2124 41234 DCS PIPTIME
025857,004653: 33,2125 52155 DXCH MPAC
025858,004654: 33,2126 00006 EXTEND
025859,004655: 33,2127 30025 DCA TIME2
025860,004656: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025861,004657: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025862,004658: 33,2132 30155 CA MPAC +1
025863,004659: 33,2133 00006 EXTEND
025864,004660: 33,2134 74740 MP BIT12
025865,004661: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025866,004662: 33,2136 06042 TC INTPRET
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|
Page 603
|
025868,004664: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025869,004665: # START IT UP WHEN THE DATA IS IN PLACE.
025870,004666: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025871,004667: 33,2140 01726 V(CSM)
025872,004668: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025873,004669: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025874,004670: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025875,004671: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025876,004672: 33,2145 03521 R
025877,004673: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025878,004674: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025879,004675: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025880,004676: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025881,004677:
025882,004678: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025883,004679: 33,2153 00001 0
025884,004680: 33,2154 77761 VXSC
025885,004681: 33,2155 26177 .5SECB17
025886,004682: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025887,004683: 33,2157 77414 CLEAR EXIT
025888,004684: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025889,004685:
025890,004686: 33,2161 40074 CS STATE
025891,004687: 33,2162 74753 MASK OLDESBIT
025892,004688: 33,2163 00006 EXTEND
025893,004689: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025894,004690: 33,2165 00004 INHINT
025895,004691: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025896,004692:
025897,004693: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025898,004694: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025899,004695: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025900,004696: 33,2172 05203 TC WAITLIST
025901,004697: 33,2173 E7,1456 EBANK= LOSCOUNT
025902,004698: 33,2173 03357 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025903,004699:
025904,004700: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025905,004701:
025906,004702: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025907,004703:
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|
Page 604
|
025909,004705: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025910,004706: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025911,004707:
025912,004708: 24,3357 BANK 24
025913,004709: 24,2000 SETLOC P20S
025914,004710: 24,2000 BANK
025915,004711:
025916,004712: 24,3357 COUNT* $$/R29
025917,004713:
025918,004714: 24,3357 35031 BEGDES29 CAF PRIO21
025919,004715: 24,3360 05072 TC NOVAC
025920,004716: 24,3361 E3,1760 EBANK= LOSVDT/4
025921,004717: 24,3361 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025922,004718:
025923,004719: 24,3363 34774 R29DLOOP CAF .5SEC
025924,004720: 24,3364 05224 TC VARDELAY
025925,004721:
025926,004722: 24,3365 40110 CS RADMODES
025927,004723: 24,3366 74742 MASK DESIGBIT
025928,004724: 24,3367 10000 CCS A
025929,004725: 24,3370 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025930,004726:
025931,004727: 24,3371 40076 CS FLAGWRD2
025932,004728: 24,3372 74740 MASK LOSCMBIT
025933,004729: 24,3373 00006 EXTEND
025934,004730: 24,3374 13377 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025935,004731: 24,3375 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025936,004732: 24,3376 13357 TCF BEGDES29
025937,004733:
025938,004734: 24,3377 34753 CA ONE
025939,004735: 24,3400 13364 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 605
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025941,004737: # R29DODES: RR DESIGNATION LOOP FOR R29
025942,004738:
025943,004739: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025944,004740: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025945,004741: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025946,004742: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025947,004743: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025948,004744:
025949,004745: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025950,004746: # TASK WHEN LOCK-ON IS ACHIEVED.
025951,004747:
025952,004748: 32,2550 BANK 32
025953,004749: 32,2000 SETLOC F2DPS*32
025954,004750: 32,2000 BANK
025955,004751:
025956,004752: 32,2550 COUNT* $$/R29
025957,004753: 32,2550 E3,1760 EBANK= LOSVDT/4
025958,004754:
025959,004755: 32,2550 34753 R29DODES CA ONE
025960,004756: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025961,004757: 32,2552 34756 CA FIVE
025962,004758:
025963,004759: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025964,004760: 32,2554 54002 TS Q
025965,004761: 32,2555 11106 CCS TANG
025966,004762: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025967,004763:
025968,004764: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025969,004765: 32,2560 50002 INDEX Q
025970,004766: 32,2561 31761 DCA LOSVDT/4
025971,004767: 32,2562 50002 INDEX Q
025972,004768: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025973,004769:
025974,004770: 32,2564 00006 R29DPAS1 EXTEND
025975,004771: 32,2565 50002 INDEX Q
025976,004772: 32,2566 31101 DCA LOSSM
025977,004773: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025978,004774: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025979,004775: 32,2571 11106 CCS TANG
025980,004776: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025981,004777:
025982,004778: 32,2573 00006 EXTEND
025983,004779: 32,2574 50002 INDEX Q
025984,004780: 32,2575 31761 DCA LOSVDT/4
025985,004781: 32,2576 50002 INDEX Q
025986,004782: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025987,004783:
025988,004784: 32,2600 10002 R29DVEND CCS Q
025989,004785: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025990,004786:
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Page 606
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025992,004788: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025993,004789:
025994,004790: 32,2602 52156 DXCH MPAC +1
025995,004791: 32,2603 52155 DXCH MPAC
025996,004792: 32,2604 32776 CA R29FXLOC # = ADRES INTB15 + -34D
025997,004793: 32,2605 54120 TS FIXLOC
025998,004794: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025999,004795: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
026000,004796: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
026001,004797:
026002,004798: 32,2611 11106 CCS TANG
026003,004799: 32,2612 12614 TCF +2
026004,004800: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
026005,004801: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
026006,004802: 32,2615 00006 EXTEND
026007,004803: 32,2616 30036 DCA CDUT
026008,004804: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
026009,004805: 32,2620 30033 CA CDUY
026010,004806: 32,2621 54765 TS CDUSPOT
026011,004807: 32,2622 30034 CA CDUZ
026012,004808: 32,2623 54767 TS CDUSPOT +2
026013,004809: 32,2624 30032 CA CDUX
026014,004810: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
026015,004811: 32,2626 04616 TC BANKCALL
026016,004812: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
026017,004813:
026018,004814: 32,2630 46250 GOTANGLS CS THREE
026019,004815: 32,2631 04616 TC BANKCALL
026020,004816: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
026021,004817:
026022,004818: 32,2633 11106 CCS TANG
026023,004819: 32,2634 12636 TCF +2
026024,004820: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
026025,004821:
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Page 607
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026027,004823: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
026028,004824: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
026029,004825:
026030,004826: 32,2636 00004 INHINT
026031,004827: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
026032,004828: 32,2640 31766 CA SAVECDUT
026033,004829: 32,2641 05032 TC SPCOS
026034,004830: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T.
026035,004831: 32,2643 41766 CS SAVECDUT
026036,004832: 32,2644 05033 TC SPSIN
026037,004833: 32,2645 54163 TS MODE # MODE = -SIN T.
026038,004834: 32,2646 00006 EXTEND
026039,004835: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
026040,004836: 32,2650 52155 DXCH MPAC
026041,004837: 32,2651 31767 CA SAVECDUT +1
026042,004838: 32,2652 05033 TC SPSIN
026043,004839: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
026044,004840: 32,2654 00006 EXTEND
026045,004841: 32,2655 70166 MP PUSHLOC
026046,004842: 32,2656 00006 EXTEND
026047,004843: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
026048,004844: 32,2660 20155 DAS MPAC
026049,004845: 32,2661 31767 CA SAVECDUT +1
026050,004846: 32,2662 05032 TC SPCOS
026051,004847: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
026052,004848: 32,2664 00006 EXTEND
026053,004849: 32,2665 70166 MP PUSHLOC
026054,004850: 32,2666 00006 EXTEND
026055,004851: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
026056,004852: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
026057,004853: 32,2671 00006 EXTEND # -SIN T, COS S COS T).
026058,004854: 32,2672 30155 DCA MPAC
026059,004855: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
026060,004856: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
026061,004857: 32,2675 34736 CA BIT14
026062,004858: 32,2676 12677 NOOP
026063,004859: 32,2677 00006 EXTEND
026064,004860: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
026065,004861: 32,2701 00003 RELINT
026066,004862: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
026067,004863:
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Page 608
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026069,004865: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
026070,004866:
026071,004867: 32,2703 31767 R29DPAS2 CA SAVECDUT +1
026072,004868: 32,2704 00006 EXTEND
026073,004869: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X.
026074,004870: 32,2706 53107 DXCH TANG
026075,004871: 32,2707 41766 CS SAVECDUT
026076,004872: 32,2710 00006 EXTEND
026077,004873: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
026078,004874: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
026079,004875: 32,2713 40163 CS MODE # - SIN S)
026080,004876: 32,2714 00006 EXTEND
026081,004877: 32,2715 71766 MP SAVECDUT
026082,004878: 32,2716 00006 EXTEND
026083,004879: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
026084,004880: 32,2720 52155 DXCH MPAC
026085,004881: 32,2721 30166 CA PUSHLOC
026086,004882: 32,2722 00006 EXTEND
026087,004883: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
026088,004884: 32,2724 20155 DAS MPAC
026089,004885: 32,2725 40163 CS MODE
026090,004886: 32,2726 00006 EXTEND
026091,004887: 32,2727 71767 MP SAVECDUT +1
026092,004888: 32,2730 00006 EXTEND
026093,004889: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
026094,004890: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
026095,004891: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
026096,004892: 32,2734 00006 EXTEND
026097,004893: 32,2735 72777 MP RR29GAIN
026098,004894: 32,2736 55354 TS TRUNNCMD
026099,004895: 32,2737 31106 CA TANG
026100,004896: 32,2740 00006 EXTEND
026101,004897: 32,2741 72777 MP RR29GAIN
026102,004898: 32,2742 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT
026103,004899:
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Page 609
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026105,004901: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
026106,004902: # READING DATA FROM THE RENDEZVOUS RADAR.
026107,004903:
026108,004904: 32,2743 34750 DGOOD? CAF BIT4
026109,004905: 32,2744 00006 EXTEND
026110,004906: 32,2745 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
026111,004907: 32,2746 00004 INHINT # (MAINLY FOR RROUT).
026112,004908: 32,2747 00006 EXTEND
026113,004909: 32,2750 12754 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
026114,004910:
026115,004911: 32,2751 04616 TC BANKCALL
026116,004912: 32,2752 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
026117,004913: 32,2753 12772 TCF END29DOD
026118,004914:
026119,004915: 32,2754 44742 R29LOKON CS DESIGBIT
026120,004916: 32,2755 70110 MASK RADMODES
026121,004917: 32,2756 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
026122,004918: 32,2757 44752 CS BIT2
026123,004919: 32,2760 00006 EXTEND
026124,004920: 32,2761 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
026125,004921: 32,2762 34743 CA READRBIT
026126,004922: 32,2763 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
026127,004923: 32,2764 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
026128,004924: 32,2765 44776 CS SUPER110 # -96D + 100D = 4.
026129,004925: 32,2766 64777 AD 1SEC # 0 + 100D = 100D.
026130,004926: 32,2767 05203 TC WAITLIST
026131,004927: 32,2770 E7,1456 EBANK= LOSCOUNT
026132,004928: 32,2770 03401 50067 2CADR R29READ # START READING TASK AND JOB.
026133,004929:
026134,004930: 32,2772 44740 END29DOD CS LOSCMBIT
026135,004931: 32,2773 70076 MASK FLAGWRD2
026136,004932: 32,2774 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026137,004933: 32,2775 15155 TCF ENDOFJOB
026138,004934:
026139,004935: 32,2776 00052 R29FXLOC ADRES INTB15+ -34D
026140,004936: 32,2777 56655 RR29GAIN DEC -.53624
026141,004937: 32,3000 E3,1760 LOSVDT/4 EQUALS LOSVEL
026142,004938: 32,3000 1100 LOSSM EQUALS RRTARGET
026143,004939: 32,3000 E3,1766 SAVECDUT EQUALS MLOSV
026144,004940:
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Page 610
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026146,004942: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026147,004943:
026148,004944: 24,3401 BANK 24
026149,004945: 24,2000 SETLOC P20S
026150,004946: 24,2000 BANK
026151,004947:
026152,004948: 24,3401 COUNT* $$/R29
026153,004949:
026154,004950: 24,3401 E7,1456 EBANK= LOSCOUNT
026155,004951:
026156,004952: 24,3401 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026157,004953: 24,3402 05072 TC NOVAC
026158,004954: 24,3403 E7,1456 EBANK= LOSCOUNT
026159,004955: 24,3403 03414 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026160,004956:
026161,004957: 24,3405 35000 CA 2SECS
026162,004958: 24,3406 05224 TC VARDELAY
026163,004959:
026164,004960: 24,3407 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026165,004961: 24,3410 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026166,004962: 24,3411 10000 CCS A
026167,004963: 24,3412 13401 TCF R29READ # IT'S OK; CALL IT AGAIN.
026168,004964: 24,3413 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026169,004965:
026170,004966: 24,3414 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026171,004967: 24,3415 74741 MASK NR29FBIT
026172,004968: 24,3416 10000 CCS A # TEST "NOR29FLG".
026173,004969: 24,3417 13501 TCF ENDR29RD # R29 OVER, EXIT WITH RR STILL LOCKED ON
026174,004970: 24,3420 30110 CA RADMODES
026175,004971: 24,3421 74752 MASK AUTOMBIT
026176,004972: 24,3422 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026177,004973: 24,3423 13476 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026178,004974:
026179,004975: 24,3424 04616 TC BANKCALL
026180,004976: 24,3425 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026181,004977: 24,3426 04616 TC BANKCALL
026182,004978: 24,3427 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026183,004979: 24,3430 13476 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026184,004980:
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Page 611
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026186,004982: # R29 RADAR READING CONTINUED.
026187,004983:
026188,004984: 24,3431 53105 DXCH TIMEHOLD
026189,004985: 24,3432 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026190,004986: 24,3433 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026191,004987: 24,3434 00006 EXTEND
026192,004988: 24,3435 30036 DCA CDUT
026193,004989: 24,3436 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026194,004990: 24,3437 00006 EXTEND
026195,004991: 24,3440 30034 DCA CDUY
026196,004992: 24,3441 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026197,004993: 24,3442 30032 CA CDUX
026198,004994: 24,3443 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026199,004995:
026200,004996: 24,3444 04616 R29RANGE TC BANKCALL
026201,004997: 24,3445 53114 CADR RRRANGE # INITIATE READING OF RR RANGE.
026202,004998: 24,3446 04616 TC BANKCALL
026203,004999: 24,3447 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026204,005000: 24,3450 13467 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026205,005001:
026206,005002: 24,3451 00004 INHINT
026207,005003: 24,3452 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026208,005004: 24,3453 53757 DXCH RM
026209,005005: 24,3454 52155 DXCH MPAC
026210,005006: 24,3455 53755 DXCH MKTIME
026211,005007: 24,3456 52157 DXCH MPAC +2
026212,005008: 24,3457 53753 DXCH TANGNB
026213,005009: 24,3460 52161 DXCH MPAC +4
026214,005010: 24,3461 53460 DXCH AIG
026215,005011: 24,3462 30162 CA MPAC +6
026216,005012: 24,3463 55461 TS AOG
026217,005013: 24,3464 34753 CA ONE
026218,005014: 24,3465 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026219,005015: 24,3466 15155 TCF ENDOFJOB
026220,005016:
026221,005017: 24,3467 40101 R29RRR? CS FLAGWRD5
026222,005018: 24,3470 74742 MASK BIT10
026223,005019: 24,3471 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026224,005020: 24,3472 13476 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026225,005021: 24,3473 05516 TC DOWNFLAG
026226,005022: 24,3474 00120 ADRES RNGSCFLG
026227,005023: 24,3475 13444 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026228,005024:
026229,005025: 24,3476 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE
026230,005026: 24,3477 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL
026231,005027: 24,3500 03012 WAND CHAN12
026232,005028: 24,3501 34755 ENDR29RD CA ZERO
026233,005029: 24,3502 55462 TS TRKMKCNT
026234,005030: 24,3503 05516 TC DOWNFLAG
026235,005031:
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Page 612
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026237,005033: 24,3504 00063 ADRES READRFLG
026238,005034: 24,3505 15155 TCF ENDOFJOB
026239,005035:
|
|
Page 613
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026241,005037: # W-MATRIX MONITOR
026242,005038:
026243,005039: 31,2007 BANK 31
026244,005040: 31,2000 SETLOC VB67
026245,005041: 31,2000 BANK
026246,005042: 31,2007 COUNT* $$/EXTVB
026247,005043:
026248,005044: 31,2007 E4,1600 EBANK= WWPOS
026249,005045:
026250,005046: 31,2007 06042 V67CALL TC INTPRET
026251,005047: 31,2010 77624 CALL
026252,005048: 31,2011 62120 V67WW
026253,005049: 31,2012 77776 EXIT
026254,005050: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026255,005051: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026256,005052: 31,2015 53607 DXCH WWBIAS +2
026257,005053: 31,2016 00006 EXTEND
026258,005054: 31,2017 31603 DCA WWVEL
026259,005055: 31,2020 53611 DXCH WWBIAS +4
026260,005056: 31,2021 00006 EXTEND
026261,005057: 31,2022 31605 DCA WWBIAS
026262,005058: 31,2023 53613 DXCH WWBIAS +6
026263,005059: 31,2024 32143 V06N99DS CAF V06N99
026264,005060: 31,2025 04616 TC BANKCALL
026265,005061: 31,2026 20334 CADR GOXDSPF
026266,005062: 31,2027 15472 TCF ENDEXT
026267,005063: 31,2030 12032 TCF V6N99PRO
026268,005064: 31,2031 12024 TCF V06N99DS
026269,005065: 31,2032 22007 V6N99PRO ZL
026270,005066: 31,2033 34756 CA FIVE
026271,005067: 31,2034 54002 N99LOOP TS Q
026272,005068: 31,2035 50002 INDEX Q
026273,005069: 31,2036 41600 CS WWPOS
026274,005070: 31,2037 50002 INDEX Q
026275,005071: 31,2040 61606 AD WWPOS +6
026276,005072: 31,2041 26001 ADS L
026277,005073: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026278,005074: 31,2043 12034 TCF N99LOOP
026279,005075: 31,2044 22000 LXCH A
026280,005076: 31,2045 00006 EXTEND
026281,005077: 31,2046 12051 BZF V06N9933
026282,005078: 31,2047 05504 TC UPFLAG
026283,005079: 31,2050 00160 ADRES V67FLAG
026284,005080:
026285,005081: 31,2051 06042 V06N9933 TC INTPRET
026286,005082: 31,2052 77414 BON EXIT
026287,005083: 31,2053 03707 V67FLAG
026288,005084: 31,2054 62056 +2
026289,005085: 31,2055 15472 TCF ENDEXT
026290,005086: 31,2056 77745 DLOAD
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Page 614
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026292,005088: 31,2057 02201 WWPOS
026293,005089: 31,2060 72412 SL4 SL1
026294,005090: 31,2061 14001 STODL 0D
026295,005091: 31,2062 02203 WWVEL
026296,005092: 31,2063 14003 STODL 2D
026297,005093: 31,2064 02205 WWBIAS
026298,005094: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026299,005095: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026300,005096: 31,2067 00005 STORE 4D
026301,005097: 31,2070 72014 BON LXA,1
026302,005098: 31,2071 04307 SURFFLAG
026303,005099: 31,2072 62102 V67SURF
026304,005100: 31,2073 00000 0D
026305,005101: 31,2074 72130 SXA,1 LXA,1
026306,005102: 31,2075 02000 WRENDPOS
026307,005103: 31,2076 00002 2D
026308,005104: 31,2077 52130 SXA,1 GOTO
026309,005105: 31,2100 02001 WRENDVEL
026310,005106: 31,2101 62110 V67CLRF
026311,005107: 31,2102 66150 V67SURF LXA,1 SXA,1
026312,005108: 31,2103 00000 0D
026313,005109: 31,2104 02006 WSURFPOS
026314,005110: 31,2105 66150 LXA,1 SXA,1
026315,005111: 31,2106 00002 2D
026316,005112: 31,2107 02007 WSURFVEL
026317,005113: 31,2110 66150 V67CLRF LXA,1 SXA,1
026318,005114: 31,2111 00004 4D
026319,005115: 31,2112 02003 WTRUN
026320,005116: 31,2113 77730 SXA,1
026321,005117: 31,2114 02002 WSHAFT
026322,005118: 31,2115 77414 CLEAR EXIT
026323,005119: 31,2116 02676 RENDWFLG
026324,005120: 31,2117 15472 TCF ENDEXT
026325,005121: 31,2120 40020 V67WW STQ BOV
026326,005122: 31,2121 00051 S2
026327,005123: 31,2122 62123 +1
026328,005124: 31,2123 45014 CLEAR CALL
026329,005125: 31,2124 03667 V67FLAG
026330,005126: 31,2125 27410 INTSTALL
026331,005127: 31,2126 71331 SSP DLOAD
026332,005128: 31,2127 00051 S1
026333,005129: 31,2130 00006 DEC 6 B-14
026334,005130: 31,2131 06524 ZEROVECS
026335,005131: 31,2132 02201 STORE WWPOS
026336,005132: 31,2133 02203 STORE WWVEL
026337,005133: 31,2134 02205 STORE WWBIAS
026338,005134: 31,2135 77770 AXT,1
026339,005135: 31,2136 00066 DEC 54 B-14
026340,005136: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026341,005137: 31,2140 02467 W +54D,1
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Page 615
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026343,005139: 31,2141 77650 GOTO
026344,005140: 31,2142 60002 ADDPOS
026345,005141: 31,2143 01543 V06N99 VN 0699
026346,005142:
026347,005143: 30,2000 SETLOC VB67A
026348,005144: 30,2000 BANK
026349,005145: 30,2002 COUNT* $$/EXTVB
026350,005146:
026351,005147: 30,2002 77615 ADDPOS DAD
026352,005148: 30,2003 02201 WWPOS
026353,005149: 30,2004 02201 STORE WWPOS
026354,005150: 30,2005 47573 VLOAD* VSQ
026355,005151: 30,2006 02555 W +108D,1
026356,005152: 30,2007 77615 DAD
026357,005153: 30,2010 02203 WWVEL
026358,005154: 30,2011 02203 STORE WWVEL
026359,005155: 30,2012 47573 VLOAD* VSQ
026360,005156: 30,2013 02643 W +162D,1
026361,005157: 30,2014 77615 DAD
026362,005158: 30,2015 02205 WWBIAS
026363,005159: 30,2016 02205 STORE WWBIAS
026364,005160: 30,2017 75500 TIX,1 SQRT
026365,005161: 30,2020 62137 NXPOSVEL
026366,005162: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026367,005163: 30,2022 20613 10D # NOUN SCALING (B-5)
026368,005164: 30,2023 16205 STODL WWBIAS
026369,005165: 30,2024 02203 WWVEL
026370,005166: 30,2025 77766 SQRT
026371,005167: 30,2026 16203 STODL WWVEL
026372,005168: 30,2027 02201 WWPOS
026373,005169: 30,2030 77766 SQRT
026374,005170: 30,2031 02201 STORE WWPOS
026375,005171: 30,2032 52000 BOV GOTO
026376,005172: 30,2033 60035 +2
026377,005173: 30,2034 60042 V67XXX
026378,005174: 30,2035 77745 DLOAD
026379,005175: 30,2036 06532 DPPOSMAX
026380,005176: 30,2037 02201 STORE WWPOS
026381,005177: 30,2040 02203 STORE WWVEL
026382,005178: 30,2041 02205 STORE WWBIAS
026383,005179: 30,2042 45345 V67XXX DLOAD DSU
026384,005180: 30,2043 02201 WWPOS
026385,005181: 30,2044 20060 FT99999
026386,005182: 30,2045 71240 BMN DLOAD
026387,005183: 30,2046 60051 +3
026388,005184: 30,2047 20060 FT99999
026389,005185: 30,2050 02201 STORE WWPOS
026390,005186: 30,2051 66150 LXA,1 SXA,1
026391,005187: 30,2052 00051 S2
026392,005188: 30,2053 00052 QPRET
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Page 616
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026394,005190: 30,2054 77776 EXIT
026395,005191: 30,2055 04635 TC POSTJUMP
026396,005192: 30,2056 27421 CADR INTWAKE
026397,005193:
026398,005194: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026399,005195:
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Page 617
|
026401,005197: 25,3612 BANK 25
026402,005198: 25,2000 SETLOC RADARUPT
026403,005199: 25,2000 BANK
026404,005200: 25,3612 COUNT* $$/RRUPT
026405,005201:
026406,005202: 25,3612 E7,1456 EBANK= LOSCOUNT
026407,005203:
026408,005204: 25,3612 44747 RADLITES CS BIT5
026409,005205: 25,3613 60061 AD ITEMP1
026410,005206: 25,3614 10000 CCS A
026411,005207: 25,3615 44753 CS ONE
026412,005208: 25,3616 13646 TCF VLIGHT
026413,005209:
026414,005210: 25,3617 14570 TCF RRTRKF
026415,005211:
026416,005212: 25,3620 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026417,005213:
026418,005214: 25,3621 34747 CA HLITE
026419,005215: 25,3622 54001 TS L
026420,005216:
026421,005217: 25,3623 34747 CA LRALTBIT
026422,005218: 25,3624 70110 BOTHLITS MASK RADMODES
026423,005219: 25,3625 10000 CCS A
026424,005220: 25,3626 13640 TCF ONLITES
026425,005221:
026426,005222: 25,3627 30107 CA FLGWRD11
026427,005223: 25,3630 50065 INDEX ITEMP5
026428,005224: 25,3631 74753 MASK HFLSHBIT
026429,005225: 25,3632 10000 CCS A
026430,005226: 25,3633 14570 TCF RRTRKF
026431,005227:
026432,005228: 25,3634 00006 LITIT EXTEND
026433,005229: 25,3635 22066 QXCH ITEMP6
026434,005230: 25,3636 04602 TC TRKFLON +1
026435,005231:
026436,005232: 25,3637 00066 TC ITEMP6
026437,005233:
026438,005234: 25,3640 50065 ONLITES INDEX ITEMP5
026439,005235: 25,3641 44753 CS HFLSHBIT
026440,005236: 25,3642 70107 MASK FLGWRD11
026441,005237: 25,3643 54107 TS FLGWRD11
026442,005238:
026443,005239: 25,3644 30001 CA L
026444,005240: 25,3645 13634 TCF LITIT
026445,005241: 25,3646 54065 VLIGHT TS ITEMP5
026446,005242: 25,3647 34751 CA VLITE
026447,005243: 25,3650 54001 TS L
026448,005244: 25,3651 34744 CA BIT8
026449,005245: 25,3652 13624 TCF BOTHLITS
026450,005246:
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Page 618
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026452,005248: 25,3653 4747 HLITE EQUALS BIT5
026453,005249: 25,3653 4751 VLITE EQUALS BIT3
026454,005250:
End of include-file P20-P25.agc. Parent file is MAIN.agc