GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.
Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
021075,000002: ## Copyright: Public domain.
021076,000003: ## Filename: P20-P25.agc
021077,000004: ## Purpose: A section of Luminary 1C, revision 131.
021078,000005: ## It is part of the source code for the Lunar Module's (LM)
021079,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
021080,000007: ## This file is intended to be a faithful transcription, except
021081,000008: ## that the code format has been changed to conform to the
021082,000009: ## requirements of the yaYUL assembler rather than the
021083,000010: ## original YUL assembler.
021084,000011: ## Reference: pp. 496-618
021085,000012: ## Contact: Ron Burkey <info@sandroid.org>.
021086,000013: ## Website: www.ibiblio.org/apollo/index.html
021087,000014: ## Mod history: 05/15/03 RSB. Began transcribing.
021088,000015: ## 12/01/03 RSB. Entered/corrected the previously-missing code from
021089,000016: ## the bottom of p. 595 using a replacement scan
021090,000017: ## provided by Gary Neff.
021091,000018: ## 05/14/05 RSB Corrected website reference above.
021092,000019: ## 2010-10-25 JL Fixed p583 page number.
021093,000020: ## 2011-05-07 JL Removed workarounds.
021094,000021: ## 2017-01-06 RSB Page numbers now agree with those on the
021095,000022: ## original harcopy, as opposed to the PDF page
021096,000023: ## numbers in 1701.pdf.
021097,000024: ## 2017-01-28 RSB WTIH -> WITH.
021098,000025: ## 2017-02-24 RSB Proofed comment text using octopus/ProoferComments.
021099,000026: ## 2017-02-28 RSB Fixed lingering typos.
021100,000027: ## 2017-03-07 RSB Comment-text error-fixes noted in proofing Luminary 116.
021101,000028: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
021102,000029: ## side-by-side diff of Luminary 69/99/116/131/210.
021103,000030: ## 2021-05-30 ABS R21LEMB -> R21LEM8
021104,000031: ## $$/r29 -> $$/R29
021105,000032: ## R29REM0J -> R29REMOJ
021106,000033:
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Page 496 |
021108,000035: # RENDEZVOUS NAVIGATION PROGRAM 20
021109,000036:
021110,000037: # PROGRAM DESCRIPTION
021111,000038:
021112,000039: # MOD NO - 2
021113,000040: # BY P. VOLANTE
021114,000041:
021115,000042: # FUNCTIONAL DESCRIPTION
021116,000043:
021117,000044: # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
021118,000045: # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
021119,000046: # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
021120,000047: # ON THE BASIS OF THE RR TRACKING DATA.
021121,000048:
021122,000049: # CALLING SEQUENCE -
021123,000050:
021124,000051: # ASTRONAUT REQUEST THROUGH DSKY V37E20E
021125,000052:
021126,000053: # SUBROUTINES CALLED
021127,000054:
021128,000055: # R02BOTH (IMU STATUS CHECK) FLAGUP
021129,000056: # GOFLASH (PINBALL-DISPLAY) FLAGDOWN
021130,000057: # R23LEM (MANUAL ACQUISITION) BANKCALL
021131,000058: # LS201 (LOS DETERMINATION) TASKOVER
021132,000059: # LS202 (RANGE LIMIT TEST)
021133,000060: # R61LEM (PREFERRED TRACKING ATTITUDE)
021134,000061: # R21LEM (RR DESIGNATE) ENDOFJOB
021135,000062: # R22LEM (DATA READ) GOPERF1
021136,000063: # R31LEM (RENDEZVOUS PARAMETER DISPLAY)
021137,000064: # PRIOLARM (PRIORITY DISPLAY)
021138,000065:
021139,000066: # NORMAL EXIT MODES -
021140,000067:
021141,000068: # P20 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021142,000069: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021143,000070:
021144,000071: # ALARM OR ABORT EXIT MODES -
021145,000072:
021146,000073: # RANGE GREATER THAN 400 NM DISPLAY
021147,000074:
021148,000075: # OUTPUT
021149,000076:
021150,000077: # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
021151,000078:
021152,000079: # ERASABLE INITIALIZATION REQUIRED
021153,000080:
021154,000081: # FLAGS SET + RESET
021155,000082:
021156,000083: # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG,
021157,000084:
021158,000085: # DEBRIS
021159,000086:
021160,000087: # CENTRALS - A,Q,L
021161,000088:
021162,000089: 25,2073 30,2000 SBANK= LOWSUPER # FOR LOW 2CADR'S.
021163,000090:
021164,000091: 33,2045 BANK 33
021165,000092: 24,2000 SETLOC P20S
021166,000093: 24,2000 BANK
021167,000094:
021168,000095: 24,2000 E7,1456 EBANK= LOSCOUNT
021169,000096: 24,2000 COUNT* $$/P20
021170,000097: 24,2000 24,2000 PROG22 = PROG20
021171,000098: 24,2000 05327 PROG20 TC 2PHSCHNG
021172,000099: 24,2001 00004 OCT 4
021173,000100: 24,2002 05022 OCT 05022
021174,000101: 24,2003 26000 OCT 26000 # PRIORITY 26
021175,000102: 24,2004 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
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Page 497 |
021177,000104: 24,2005 02007 TC ORBCHGO # YES
021178,000105: 24,2006 02036 TC PROG20A -2 # NO - CONTINUE WITH P20
021179,000106: 24,2007 05504 ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
021180,000107: 24,2010 00026 ADRES VEHUPFLG # VECTOR TO BE UPDATED
021181,000108: 24,2011 34753 CAF ONE # SET R2 FOR OPTION CSM WILL NOT
021182,000109: 24,2012 55144 TS OPTION2 # CHANGE PRESENT ORBIT
021183,000110: 24,2013 34363 CAF OCT00012
021184,000111: 24,2014 04616 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
021185,000112: 24,2015 20634 CADR GOPERF4
021186,000113: 24,2016 06001 TC GOTOPOOH # TERMINATE
021187,000114: 24,2017 02021 TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
021188,000115: 24,2020 02013 TC -5 # R2 LOADED THRU DSKY
021189,000116: 24,2021 44753 ORBCHG1 CS ONE
021190,000117: 24,2022 61144 AD OPTION2
021191,000118: 24,2023 00006 EXTEND
021192,000119: 24,2024 12040 BZF PROG20A
021193,000120: 24,2025 32311 CAF V06N33*
021194,000121: 24,2026 04616 TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
021195,000122: 24,2027 20477 CADR GOFLASH # TIME OF LAUNCH
021196,000123: 24,2030 06001 TC GOTOPOOH # TERMINATE
021197,000124: 24,2031 02033 TC ORBCHG2 # PROCEED VALUES OK
021198,000125: 24,2032 02025 TC -5 # TIME LOADED THRU DSKY
021199,000126: 24,2033 06042 ORBCHG2 TC INTPRET
021200,000127: 24,2034 77650 GOTO
021201,000128: 24,2035 64217 ORBCHG3
021202,000129:
021203,000130: 32,2217 BANK 32
021204,000131: 32,2000 SETLOC P20S4
021205,000132: 32,2000 BANK
021206,000133: 32,2217 COUNT* $$/P20
021207,000134:
021208,000135: 32,2217 77624 ORBCHG3 CALL
021209,000136: 32,2220 27410 INTSTALL
021210,000137: 32,2221 77745 DLOAD
021211,000138: 32,2222 03442 TIG
021212,000139: 32,2223 03661 STORE LNCHTM
021213,000140: 32,2224 00041 STORE TDEC1 # ESTIMATED LAUNCH TIME
021214,000141: 32,2225 43014 CLEAR CLEAR
021215,000142: 32,2226 01674 VINTFLAG # LM INTEGRATION
021216,000143: 32,2227 01673 INTYPFLG # PRECISION - ENCKE
021217,000144: 32,2230 43014 CLEAR CLEAR
021218,000145: 32,2231 01676 DIM0FLAG # NO W-MATRIX
021219,000146: 32,2232 01675 D6OR9FLG
021220,000147: 32,2233 77624 CALL
021221,000148: 32,2234 27133 INTEGRV # PLANETARY INERTIAL ORIENTATION
021222,000149: 32,2235 77624 CALL
021223,000150: 32,2236 11210 GRP2PC
021224,000151: 32,2237 77775 VLOAD
021225,000152: 32,2240 00017 RATT1
021226,000153: 32,2241 17631 STODL RSUBL # SAVE LM POSITION
021227,000154: 32,2242 00015 TAT
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Page 498 |
021229,000156: 32,2243 34041 STCALL TDEC1
021230,000157: 32,2244 27410 INTSTALL
021231,000158: 32,2245 43014 SET CLEAR
021232,000159: 32,2246 01474 VINTFLAG # CSM INTEGRATION
021233,000160: 32,2247 01673 INTYPFLG
021234,000161: 32,2250 43014 CLEAR BOFF
021235,000162: 32,2251 01676 DIM0FLAG
021236,000163: 32,2252 02756 RENDWFLG # W MATRIX VALID
021237,000164: 32,2253 64257 NOWMATX # NO
021238,000165: 32,2254 43014 SET SET # YES - SET FOR W MATRIX
021239,000166: 32,2255 01476 DIM0FLAG
021240,000167: 32,2256 01475 D6OR9FLG
021241,000168: 32,2257 77624 NOWMATX CALL
021242,000169: 32,2260 27133 INTEGRV # CSM INTEGRATION
021243,000170: 32,2261 77624 CALL
021244,000171: 32,2262 11210 GRP2PC
021245,000172: 32,2263 77775 VLOAD
021246,000173: 32,2264 00025 VATT1
021247,000174: 32,2265 25761 STOVL VSUBC # SAVE CSM VELOCITY
021248,000175: 32,2266 00017 RATT1
021249,000176: 32,2267 01101 STORE RSUBC # SAVE CSM POSITION
021250,000177: 32,2270 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021251,000178: 32,2271 01761 VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
021252,000179: 32,2272 24025 STOVL 20D # SAVE NSUB1
021253,000180: 32,2273 03631 RSUBL # COMPUTE ESTIMATED ORBITAL
021254,000181: 32,2274 53435 VXV UNIT # PLANE CHANGE
021255,000182: 32,2275 00025 20D # UCSM = UNIT(R(LM) CROSS NSUB1)
021256,000183: 32,2276 27637 STOVL UCSM
021257,000184: 32,2277 01101 RSUBC # COMPUTE ANGLE BETWEEN UCSM
021258,000185: 32,2300 50256 UNIT DOT # AND RSUBC
021259,000186: 32,2301 03637 UCSM # COS A = UCSM DOT UNIT (R(CM))
021260,000187: 32,2302 77752 SL1
021261,000188: 32,2303 02732 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
021262,000189: 32,2304 44316 DSQ BDSU # COMPUTE SINE A
021263,000190: 32,2305 06514 ONEB-2
021264,000191: 32,2306 77766 SQRT
021265,000192: 32,2307 26730 STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
021266,000193: 32,2310 01101 RSUBC # POSITION OF CSM AT EST. LAUNCH
021267,000194: 32,2311 26655 STOVL RVEC # TIME FOR TIME-THETA B-27
021268,000195: 32,2312 01761 VSUBC # VELOCITY OF CSM AT EST. LAUNCH
021269,000196: 32,2313 77676 VCOMP
021270,000197: 32,2314 02744 STORE VVEC # TIME FOR TIME THETA B-5
021271,000198: 32,2315 45014 CLEAR CALL
021272,000199: 32,2316 03666 RVSW
021273,000200: 32,2317 24732 TIMETHET
021274,000201: 32,2320 77676 VCOMP
021275,000202: 32,2321 03645 STORE NEWVEL # TERMINAL VELOCITY OF CSM
021276,000203: 32,2322 77745 DLOAD
021277,000204: 32,2323 00037 T
021278,000205: 32,2324 27663 STOVL TRANSTM # TRANSFER TIME
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Page 499 |
021280,000207: 32,2325 03645 NEWVEL
021281,000208: 32,2326 77646 ABVAL
021282,000209: 32,2327 24025 STOVL 20D
021283,000210: 32,2330 00001 0D
021284,000211: 32,2331 03653 STORE NEWPOS # TERMINAL POSITION OF CSM
021285,000212: 32,2332 53435 VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
021286,000213: 32,2333 03631 RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
021287,000214: 32,2334 53435 VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
021288,000215: 32,2335 03653 NEWPOS # ORBITAL PLANE
021289,000216: 32,2336 76561 VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
021290,000217: 32,2337 00025 20D
021291,000218: 32,2340 37665 STCALL NCSMVEL # NEW CSM VELOCITY
021292,000219: 32,2341 11210 GRP2PC
021293,000220: 32,2342 77624 CALL
021294,000221: 32,2343 27410 INTSTALL
021295,000222: 32,2344 44345 DLOAD BDSU
021296,000223: 32,2345 03663 TRANSTM # LAUNCH TIME - TRANSFER TIME
021297,000224: 32,2346 03661 LNCHTM
021298,000225: 32,2347 25517 STOVL TET
021299,000226: 32,2350 03653 NEWPOS
021300,000227: 32,2351 01535 STORE RCV
021301,000228: 32,2352 25503 STOVL RRECT
021302,000229: 32,2353 03665 NCSMVEL
021303,000230: 32,2354 35511 STCALL VRECT
021304,000231: 32,2355 27705 MINIRECT
021305,000232: 32,2356 45174 AXT,2 CALL
021306,000233: 32,2357 00002 2
021307,000234: 32,2360 26660 ATOPCSM
021308,000235: 32,2361 77624 CALL
021309,000236: 32,2362 27417 INTWAKE0
021310,000237: 32,2363 77776 EXIT
021311,000238: 32,2364 04616 TC BANKCALL
021312,000239: 32,2365 50040 CADR PROG20A
021313,000240:
021314,000241: 24,2036 BANK 24
021315,000242: 24,2000 SETLOC P20S
021316,000243: 24,2000 BANK
021317,000244: 24,2036 COUNT* $$/P20
021318,000245:
021319,000246: 24,2036 05516 TC DOWNFLAG # RESET VEHUPFLG - LM STATE VECTOR
021320,000247: 24,2037 00026 ADRES VEHUPFLG # TO BE UPDATED
021321,000248: 24,2040 04616 PROG20A TC BANKCALL
021322,000249: 24,2041 11233 CADR R02BOTH
021323,000250: 24,2042 05504 TC UPFLAG
021324,000251: 24,2043 00027 ADRES UPDATFLG # SET UPDATE FLAG
021325,000252: 24,2044 05504 TC UPFLAG
021326,000253: 24,2045 00031 ADRES TRACKFLG # SET TRACK FLAG
021327,000254: 24,2046 05504 TC UPFLAG
021328,000255: 24,2047 00010 ADRES RNDVZFLG # SET RENDEZVOUS FLAG
021329,000256: 24,2050 05516 TC DOWNFLAG
021330,000257: 24,2051 00037 ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
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021332,000259: 24,2052 05516 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
021333,000260: 24,2053 00040 ADRES ACMODFLG
021334,000261: 24,2054 05516 TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
021335,000262: 24,2055 00063 ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
021336,000263: 24,2056 05516 TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
021337,000264: 24,2057 00126 ADRES NORRMON # (RESET NORRMON FLAG)
021338,000265: 24,2060 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
021339,000266: 24,2061 00041 ADRES LOSCMFLG
021340,000267: 24,2062 06011 TC CLRADMOD
021341,000268: 24,2063 05353 P20LEM1 TC PHASCHNG
021342,000269: 24,2064 04022 OCT 04022
021343,000270: 24,2065 34755 CAF ZERO # ZERO MARK COUNTER
021344,000271: 24,2066 55462 TS MARKCTR
021345,000272: 24,2067 06042 TC INTPRET # LOS DETERMINATION ROUTINE
021346,000273: 24,2070 77634 RTB
021347,000274: 24,2071 21574 LOADTIME
021348,000275: 24,2072 34041 STCALL TDEC1
021349,000276: 24,2073 51256 LPS20.1
021350,000277: 24,2074 77624 CALL
021351,000278: 24,2075 53570 LPS20.2 # TEST RANGE R/UTINE
021352,000279: 24,2076 77776 EXIT
021353,000280: 24,2077 50154 INDEX MPAC
021354,000281: 24,2100 02101 TC +1
021355,000282: 24,2101 02111 TC P20LEMA # NORMAL RETURN WITHIN 400 N M
021356,000283: 24,2102 32305 526ALARM CAF ALRM526 # ERROR EXIT - RANGE > 400 N. MI.
021357,000284: 24,2103 04616 TC BANKCALL
021358,000285: 24,2104 21563 CADR PRIOLARM
021359,000286: 24,2105 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021360,000287: 24,2106 02102 TC -4 # PROC (ILLEGAL
021361,000288: 24,2107 02063 TC P20LEM1 # ENTER RECYCLE
021362,000289: 24,2110 05155 TC ENDOFJOB
021363,000290:
021364,000291: 24,2111 05353 P20LEMA TC PHASCHNG
021365,000292: 24,2112 04022 OCT 04022
021366,000293: 24,2113 02670 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
021367,000294: 24,2114 02117 TC P20LEMB
021368,000295: 24,2115 04616 TC BANKCALL
021369,000296: 24,2116 46116 CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
021370,000297: 24,2117 05353 P20LEMB TC PHASCHNG
021371,000298: 24,2120 05022 OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
021372,000299: 24,2121 10000 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
021373,000300: 24,2122 37717 CAF PRIO26 # RESTORE PRIORITY 26
021374,000301: 24,2123 05146 TC PRIOCHNG
021375,000302: 24,2124 30075 CA FLAGWRD1 # IS THE TRACK FLAG SET
021376,000303: 24,2125 74747 MASK TRACKBIT
021377,000304: 24,2126 00006 EXTEND
021378,000305: 24,2127 12232 BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
021379,000306: 24,2130 34752 P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
021380,000307: 24,2131 00006 EXTEND
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021382,000309: 24,2132 02033 RAND CHAN33
021383,000310: 24,2133 00006 EXTEND
021384,000311: 24,2134 12170 BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
021385,000312:
021386,000313: 24,2135 46007 P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
021387,000314: 24,2136 61010 AD MODREG # MAJOR MODE IS 20
021388,000315: 24,2137 00006 EXTEND
021389,000316: 24,2140 12153 BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
021390,000317:
021391,000318: 24,2141 67751 AD NEG2 # ALSO CHECK FOR P22
021392,000319: 24,2142 00006 EXTEND
021393,000320: 24,2143 12153 BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
021394,000321: 24,2144 32307 CAF ALRM514 # TRACK FLAG SET - FLASH PRIORITY ALARM 514 -
021395,000322: 24,2145 04616 TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
021396,000323: 24,2146 21563 CADR PRIOLARM
021397,000324: 24,2147 06025 TC GOTOV56 # TERMINATE EXITS VIA V56
021398,000325: 24,2150 02117 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
021399,000326: 24,2151 02117 TC P20LEMB # TO CHECK AUTO MODE AGAIN
021400,000327: 24,2152 05155 TC ENDOFJOB
021401,000328: 24,2153 32306 P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
021402,000329: 24,2154 04616 TC BANKCALL
021403,000330: 24,2155 20624 CADR GOPERF1
021404,000331: 24,2156 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021405,000332: 24,2157 02117 TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
021406,000333: 24,2160 02670 TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
021407,000334: 24,2161 02166 TC P20LEMB2 # YES - R23 NOT ALLOWED - TURN ON OPR ERROR
021408,000335: 24,2162 03137 TC R23LEM # NO - DO MANUAL ACQUISITION
021409,000336:
021410,000337: 24,2163 05504 P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
021411,000338: 24,2164 00040 ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
021412,000339: 24,2165 02117 TC P20LEMB # RR AUTO MODE
021413,000340:
021414,000341: 24,2166 04364 P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
021415,000342: 24,2167 02117 TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
021416,000343:
021417,000344: 24,2170 40110 P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
021418,000345: 24,2171 74737 MASK RCDU0BIT
021419,000346: 24,2172 00006 EXTEND
021420,000347: 24,2173 12205 BZF P20LEMB4 # BRANCH - YES - WAIT
021421,000348: 24,2174 34355 CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
021422,000349: 24,2175 70076 MASK FLAGWRD2
021423,000350: 24,2176 00006 EXTEND
021424,000351: 24,2177 12211 BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
021425,000352: 24,2200 05516 TC DOWNFLAG # RESET TO AUTO MODE
021426,000353: 24,2201 00037 ADRES SRCHOPTN
|
|
Page 502 |
021428,000355: 24,2202 05516 TC DOWNFLAG
021429,000356: 24,2203 00040 ADRES ACMODFLG
021430,000357: 24,2204 02232 TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
021431,000358:
021432,000359: 24,2205 32304 P20LEMB4 CAF 250DEC
021433,000360: 24,2206 04616 TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
021434,000361: 24,2207 01736 CADR DELAYJOB # ZEROED - THEN GO BACK AND CHECK AGAIN
021435,000362: 24,2210 02170 TC P20LEMB3
021436,000363:
021437,000364: 24,2211 06042 P20LEMC3 TC INTPRET
021438,000365: 24,2212 77634 RTB
021439,000366: 24,2213 21574 LOADTIME
021440,000367: 24,2214 34041 STCALL TDEC1
021441,000368: 24,2215 50312 UPPSV
021442,000369: 24,2216 77776 P20LEMC4 EXIT
021443,000370: 24,2217 05353 P20LEMC TC PHASCHNG
021444,000371: 24,2220 04022 OCT 04022
021445,000372: 24,2221 30074 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
021446,000373: 24,2222 74745 MASK RNDVZBIT
021447,000374: 24,2223 00006 EXTEND
021448,000375: 24,2224 15155 BZF ENDOFJOB # NO - EXIT P20
021449,000376: 24,2225 30075 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
021450,000377: 24,2226 74747 MASK TRACKBIT
021451,000378: 24,2227 00006 EXTEND
021452,000379: 24,2230 12264 BZF P20LEMD # BRANCH - TRACK FLAG NOT ON - WAIT 15 SECONDS
021453,000380: 24,2231 02675 P20LEMF TC R21LEM
021454,000381:
021455,000382: 24,2232 32304 P20LEMWT CAF 250DEC
021456,000383: 24,2233 05173 TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
021457,000384: 24,2234 02244 ADRES P20LEMC1 # WAIT 2.5 SECONDS
021458,000385: 24,2235 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021459,000386: 24,2236 74747 MASK TRACKBIT
021460,000387: 24,2237 00006 EXTEND
021461,000388: 24,2240 15155 BZF ENDOFJOB # NO - EXIT WITHOUT DOING 2.7 PHASE CHANGE
021462,000389: 24,2241 05353 P20LMWT1 TC PHASCHNG
021463,000390: 24,2242 40072 OCT 40072
021464,000391: 24,2243 05155 TC ENDOFJOB
021465,000392:
021466,000393: 24,2244 30074 P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
021467,000394: 24,2245 74745 MASK RNDVZBIT
021468,000395: 24,2246 00006 EXTEND
021469,000396: 24,2247 15261 BZF TASKOVER # NO - EXIT P20/R22
021470,000397: 24,2250 30075 CAE FLAGWRD1 # IS TRACK FLAG SET
021471,000398: 24,2251 74747 MASK TRACKBIT
021472,000399: 24,2252 00006 EXTEND
021473,000400: 24,2253 12261 BZF P20LEMC2 # NO - DONT SCHEDULE R22 JOB
|
|
Page 503 |
021475,000402: 24,2254 37717 CAF PRIO26 # YES - SCHEDULE R22 JOB (RR DATA READ)
021476,000403: 24,2255 05105 TC FINDVAC
021477,000404: 24,2256 E7,1456 EBANK= LOSCOUNT
021478,000405: 24,2256 02631 50067 2CADR R22LEM42
021479,000406:
021480,000407: 24,2260 05261 TC TASKOVER
021481,000408:
021482,000409: 24,2261 05221 P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS
021483,000410: 24,2262 02734 DEC 1500 B-14 # AND CHECK AGAIN
021484,000411:
021485,000412: 24,2263 02244 TC P20LEMC1
021486,000413:
021487,000414: 24,2264 32667 P20LEMD CAF 1500DEC
021488,000415: 24,2265 05173 TC TWIDDLE # WAITLIST FOR 15 SECONDS
021489,000416: 24,2266 02270 ADRES P20LEMD1
021490,000417: 24,2267 05155 TC ENDOFJOB
021491,000418:
021492,000419: 24,2270 30075 P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
021493,000420: 24,2271 74747 MASK TRACKBIT
021494,000421: 24,2272 10000 CCS A
021495,000422: 24,2273 12277 TCF P20LEMD2 # YES - SCHEDULE DESIGNATE JOB
021496,000423: 24,2274 05221 TC FIXDELAY # NO - WAIT 15 SECONDS
021497,000424: 24,2275 02734 DEC 1500 B-14
021498,000425: 24,2276 02270 TC P20LEMD1
021499,000426:
021500,000427: 24,2277 37717 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
021501,000428: 24,2300 05105 TC FINDVAC
021502,000429: 24,2301 E7,1456 EBANK= LOSCOUNT
021503,000430: 24,2301 02211 50067 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
021504,000431:
021505,000432: 24,2303 05261 TC TASKOVER
021506,000433:
021507,000434: 24,2304 00372 250DEC DEC 250 B-14
021508,000435: 24,2305 00526 ALRM526 OCT 00526
021509,000436: 24,2306 00201 OCT201 OCT 00201
021510,000437: 24,2307 00514 ALRM514 OCT 514
021511,000438: 24,2310 00074 MAXTRIES DEC 60 B-14
021512,000439: 24,2311 4363 OCT00012 EQUALS BINCON
021513,000440: 24,2311 23,2513 ONEB-2 EQUALS DP1/4TH
021514,000441: 24,2311 01441 V06N33* VN 0633
021515,000442: 24,2312 45020 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
021516,000443: 24,2313 01757 LS21X # TO PRESENT TIME
021517,000444: 24,2314 27410 INTSTALL
021518,000445: 24,2315 77624 CALL
021519,000446: 24,2316 26643 SETIFLGS
021520,000447: 24,2317 43014 BOF SET # IF W-MATRIX INVALID, DONT INTEGRATE IT
|
|
Page 504 |
021522,000449: 24,2320 02756 RENDWFLG
021523,000450: 24,2321 50332 UPPSV1
021524,000451: 24,2322 01476 DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
021525,000452: 24,2323 43014 BON SET
021526,000453: 24,2324 04307 SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
021527,000454: 24,2325 50327 UPPSV5
021528,000455: 24,2326 01475 D6OR9FLG # OTHERWISE 9X9
021529,000456: 24,2327 77614 UPPSV5 BOF
021530,000457: 24,2330 00747 VEHUPFLG
021531,000458: 24,2331 50364 UPPSV3
021532,000459: 24,2332 77614 UPPSV1 SET
021533,000460: 24,2333 01474 VINTFLAG
021534,000461: 24,2334 77624 CALL
021535,000462: 24,2335 27133 INTEGRV
021536,000463: 24,2336 77624 CALL # GROUP 2 PHASE CHANGE
021537,000464: 24,2337 11210 GRP2PC # TO PROTECT INTEGRATION
021538,000465: 24,2340 77624 CALL
021539,000466: 24,2341 27410 INTSTALL
021540,000467: 24,2342 43145 DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
021541,000468: 24,2343 01571 TETCSM
021542,000469: 24,2344 01674 VINTFLAG
021543,000470: 24,2345 77624 UPPSV4 CALL # INTEGRATE OTHER VEHICLE
021544,000471: 24,2346 26643 SETIFLGS # WITHOUT W-MATRIX
021545,000472: 24,2347 34041 STCALL TDEC1
021546,000473: 24,2350 27133 INTEGRV
021547,000474: 24,2351 77214 BOFF VLOAD
021548,000475: 24,2352 04347 SURFFLAG
021549,000476: 24,2353 50216 P20LEMC4
021550,000477: 24,2354 01661 RCVLEM
021551,000478: 24,2355 77742 VSR2
021552,000479: 24,2356 26352 STOVL LMPOS
021553,000480: 24,2357 01667 VCVLEM
021554,000481: 24,2360 77742 VSR2
021555,000482: 24,2361 02360 STORE LMVEL
021556,000483: 24,2362 77650 GOTO
021557,000484: 24,2363 01757 LS21X
021558,000485:
021559,000486: 24,2364 45014 UPPSV3 CLEAR CALL
021560,000487: 24,2365 01674 VINTFLAG
021561,000488: 24,2366 27133 INTEGRV
021562,000489: 24,2367 77624 CALL
021563,000490: 24,2370 11210 GRP2PC
021564,000491: 24,2371 77624 CALL
021565,000492: 24,2372 27410 INTSTALL
021566,000493: 24,2373 71214 SET DLOAD
021567,000494: 24,2374 01474 VINTFLAG
021568,000495: 24,2375 01643 TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
021569,000496: 24,2376 77650 GOTO
021570,000497: 24,2377 50345 UPPSV4
|
|
Page 505 |
021572,000499: 24,2400 E7,1456 EBANK= LOSCOUNT
021573,000500: 24,2400 COUNT* $$/P22
021574,000501:
|
|
Page 506 |
021576,000503: # PROGRAM DESCRIPTION
021577,000504:
021578,000505: # PREFERRED TRACKING ATTITUDE PROGRAM P25
021579,000506: # MOD NO - 3
021580,000507: # BY P. VOLANTE
021581,000508:
021582,000509: # FUNCTIONAL DESCRIPTION
021583,000510:
021584,000511: # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
021585,000512: # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
021586,000513: # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
021587,000514: # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
021588,000515:
021589,000516: # CALLING SEQUENCE -
021590,000517:
021591,000518: # ASTRONAUT REQUEST THROUGH DSKY V37E25E
021592,000519:
021593,000520: # SUBROUTINES CALLED -
021594,000521:
021595,000522: # BANKCALL FLAGUP
021596,000523: # R02BOTH (IMU STATUS CHECK) ENDOFJOB
021597,000524: # R61LEM (PREF TRK ATT ROUT) WAITLIST
021598,000525: # TASKOVER FINDVAC
021599,000526:
021600,000527: # NORMAL EXIT MODES -
021601,000528:
021602,000529: # P25 MAY BE TERMINATED IN TWO WAYS - ASTRONAUT SELECTION OF IDLING
021603,000530: # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
021604,000531:
021605,000532: # ALARM OR ABORT EXIT MODES -
021606,000533:
021607,000534: # NONE
021608,000535:
021609,000536: # OUTPUT
021610,000537:
021611,000538: # ERASABLE INITIALIZATION REQUIRED
021612,000539:
021613,000540: # FLAGS SET + RESET
021614,000541:
021615,000542: # TRACKFLG, P25FLAG
021616,000543:
021617,000544: # DEBRIS
021618,000545:
021619,000546: # NONE
021620,000547:
021621,000548: 24,2400 E7,1456 EBANK= LOSCOUNT
021622,000549: 24,2400 COUNT* $$/P25
021623,000550: 24,2400 05327 PROG25 TC 2PHSCHNG
021624,000551: 24,2401 00004 OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
021625,000552: 24,2402 05022 OCT 05022
021626,000553: 24,2403 26000 OCT 26000 # PRIORITY 26
021627,000554:
021628,000555: 24,2404 04616 TC BANKCALL
021629,000556: 24,2405 11233 CADR R02BOTH # IMU STATUS CHECK
021630,000557: 24,2406 05504 TC UPFLAG
021631,000558: 24,2407 00031 ADRES TRACKFLG # SET TRACK FLAG
021632,000559: 24,2410 05504 TC UPFLAG
021633,000560: 24,2411 00006 ADRES P25FLAG # SET P25FLAG
021634,000561: 24,2412 05516 TC DOWNFLAG
021635,000562: 24,2413 00010 ADRES RNDVZFLG
021636,000563: 24,2414 05353 P25LEM1 TC PHASCHNG
021637,000564: 24,2415 04022 OCT 04022
021638,000565: 24,2416 34743 CAF P25FLBIT
021639,000566: 24,2417 70074 MASK STATE # IS P25FLAG SET
021640,000567: 24,2420 00006 EXTEND
021641,000568: 24,2421 15155 BZF ENDOFJOB
021642,000569: 24,2422 34747 CAF TRACKBIT # IS TRACKFLAG SET?
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|
Page 507 |
021644,000571: 24,2423 70075 MASK STATE +1
021645,000572: 24,2424 00006 EXTEND
021646,000573: 24,2425 12433 BZF P25LMWT1 # NO - SKIP PHASE CHANGE AND WAIT 1 MINUTE
021647,000574: 24,2426 34757 CAF SEVEN # CALL R65 - FINE PREFERRED
021648,000575: 24,2427 55745 TS R65CNTR
021649,000576: 24,2430 04616 TC BANKCALL # TRACKING ATTITUDE ROUTINE
021650,000577: 24,2431 46123 CADR R65LEM
021651,000578: 24,2432 02414 TC P25LEM1 # THEN GO CHECK FLAGS
021652,000579: 24,2433 32444 P25LMWT1 CAF 60SCNDS
021653,000580: 24,2434 05173 TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
021654,000581: 24,2435 02437 ADRES P25LEM2
021655,000582: 24,2436 05155 TC ENDOFJOB
021656,000583: 24,2437 35024 P25LEM2 CAF PRIO14
021657,000584: 24,2440 05105 TC FINDVAC
021658,000585: 24,2441 E7,1456 EBANK= LOSCOUNT
021659,000586: 24,2441 02414 50067 2CADR P25LEM1
021660,000587:
021661,000588: 24,2443 05261 TC TASKOVER
021662,000589: 24,2444 13560 60SCNDS DEC 6000 B-14
021663,000590:
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|
Page 508 |
021665,000592: # DATA READ ROUTINE 22 (LEM)
021666,000593: # PROGRAM DESCRIPTION
021667,000594:
021668,000595: # MOD NO - 2
021669,000596: # BY P VOLANTE
021670,000597:
021671,000598: # FUNCTIONAL DESCRIPTION
021672,000599:
021673,000600: # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
021674,000601: # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
021675,000602:
021676,000603: # CALLING SEQUENCE -
021677,000604:
021678,000605: # TC BANKCALL
021679,000606: # CADR R22LEM
021680,000607:
021681,000608: # SUBROUTINES CALLED -
021682,000609:
021683,000610: # LSR22.1 GOFLASH WAITLIST
021684,000611: # LSR22.2 PRIOLARM BANKCALL
021685,000612: # LSR22.3 R61LEM
021686,000613:
021687,000614: # NORMAL EXIT MODES -
021688,000615:
021689,000616: # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA
021690,000617: # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
021691,000618: # R22 WILL TERMINATE SELF.
021692,000619:
021693,000620: # ALARM OR ABORT EXIT MODES -
021694,000621:
021695,000622: # PRIORITY ALARM
021696,000623: # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
021697,000624:
021698,000625: # OUTPUT
021699,000626:
021700,000627: # SEE OUTPUT FROM LSR22.3
021701,000628:
021702,000629: # ERASABLE INITIALIZATION REQUIRED
021703,000630:
021704,000631: # SEE LSR22.1, LSR22.2, LSR22.3
021705,000632:
021706,000633: # FLAGS SET + RESET
021707,000634:
021708,000635: # NOANGFLG
021709,000636:
021710,000637: # DEBRIS
021711,000638:
021712,000639: # SEE LSR22.1, LSR22.2, LSR22.3
021713,000640:
021714,000641: 24,2445 E7,1737 EBANK= LRS22.1X
021715,000642: 24,2445 COUNT* $$/R22
021716,000643: 24,2445 05353 R22LEM TC PHASCHNG
021717,000644: 24,2446 04022 OCT 04022
021718,000645: 24,2447 34745 CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
021719,000646: 24,2450 70074 MASK STATE
021720,000647: 24,2451 00006 EXTEND
021721,000648: 24,2452 15155 BZF ENDOFJOB # NO - EXIT R22 AND P20
021722,000649: 24,2453 34747 CAF TRACKBIT # IS TRACKFLAG SET?
021723,000650: 24,2454 70075 MASK STATE +1
021724,000651: 24,2455 00006 EXTEND
021725,000652: 24,2456 12640 BZF R22WAIT # NO WAIT
021726,000653: 24,2457 34736 R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
021727,000654: 24,2460 00006 EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT
021728,000655: 24,2461 02012 RAND CHAN12
021729,000656: 24,2462 00006 EXTEND
021730,000657: 24,2463 12111 BZF P20LEMA # NO - RETURN TO P20
021731,000658: 24,2464 34752 CAF BIT2 # YES
021732,000659: 24,2465 00006 EXTEND # IS RR AUTO MODE DISCRETE PRESENT
021733,000660: 24,2466 02033 RAND CHAN33
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|
Page 509 |
021735,000662: 24,2467 00006 EXTEND
021736,000663: 24,2470 12472 BZF +2 # YES CONTINUE
021737,000664: 24,2471 02135 TC P20LEMB5 # NO - SET IT
021738,000665: 24,2472 40110 CS RADMODES # ARE RR CDUS BEING ZEROED
021739,000666: 24,2473 74737 MASK RCDU0BIT
021740,000667: 24,2474 00006 EXTEND
021741,000668: 24,2475 12631 BZF R22LEM42 # CDUS BEING ZEROED
021742,000669: 24,2476 05353 TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
021743,000670: 24,2477 00152 OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED
021744,000671: 24,2500 04616 TC BANKCALL # YES READ DATA + CALCULATE LOS
021745,000672: 24,2501 64366 CADR LRS22.1 # DATA READ SUBROUTINE
021746,000673: 24,2502 50154 INDEX MPAC
021747,000674: 24,2503 02504 TC +1
021748,000675: 24,2504 02525 TC R22LEM2 # NORMAL RETURN (GOOD DATA)
021749,000676: 24,2505 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021750,000677: 24,2506 32664 CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
021751,000678: 24,2507 04616 TC BANKCALL
021752,000679: 24,2510 21563 CADR PRIOLARM
021753,000680: 24,2511 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021754,000681: 24,2512 02515 TC R22LEM1 # PROC (DISPLAY DELTA THETA)
021755,000682: 24,2513 02506 TC -5 # ENTER (ILLEGAL OPTION)
021756,000683: 24,2514 05155 TC ENDOFJOB
021757,000684:
021758,000685: 24,2515 05353 R22LEM1 TC PHASCHNG
021759,000686: 24,2516 04022 OCT 04022
021760,000687: 24,2517 32665 CAF V06N05 # DISPLAY DELTA THETA
021761,000688: 24,2520 04616 TC BANKCALL
021762,000689: 24,2521 20510 CADR PRIODSP
021763,000690: 24,2522 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021764,000691: 24,2523 02525 TC R22LEM2 # PROC (OK CONTINUE)
021765,000692: 24,2524 02217 TC P20LEMC # ENTER (RECYCLE)
021766,000693: 24,2525 05353 R22LEM2 TC PHASCHNG
021767,000694: 24,2526 04022 OCT 04022
021768,000695: 24,2527 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021769,000696: 24,2530 02545 TC R22LEM3 # YES - BYPASS FLAG CHECKS AND LRS22.2
021770,000697: 24,2531 30075 CA FLAGWRD1 # IS TRACK FLAG SET
021771,000698: 24,2532 74747 MASK TRACKBIT
021772,000699: 24,2533 00006 EXTEND
021773,000700: 24,2534 12640 BZF R22WAIT # NO - WAIT
021774,000701: 24,2535 04616 TC BANKCALL # YES
021775,000702: 24,2536 51334 CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
021776,000703: 24,2537 50154 INDEX MPAC
021777,000704: 24,2540 02541 TC +1
021778,000705: 24,2541 02545 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS)
021779,000706: 24,2542 04616 TC BANKCALL
021780,000707: 24,2543 46116 CADR R61LEM
021781,000708: 24,2544 02640 TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
021782,000709: 24,2545 40075 R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
021783,000710: 24,2546 74746 MASK NOUPFBIT # (IS NO UPDATE FLAG SET?)
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|
Page 510 |
021785,000712: 24,2547 00006 EXTEND
021786,000713: 24,2550 12631 BZF R22LEM42 # BRANCH - YES
021787,000714: 24,2551 30075 CA FLAGWRD1 # IS UPDATE FLAG SET
021788,000715: 24,2552 74745 MASK UPDATBIT
021789,000716: 24,2553 00006 EXTEND
021790,000717: 24,2554 12631 BZF R22LEM42 # UPDATE FLAG NOT SET
021791,000718: 24,2555 37717 CAF PRIO26 # INSURE HIGH PRIO IN RESTART
021792,000719: 24,2556 55055 TS PHSPRDT2
021793,000720:
021794,000721: 24,2557 06042 TC INTPRET
021795,000722: 24,2560 77650 GOTO
021796,000723: 24,2561 54416 LSR22.3
021797,000724: 24,2562 77776 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
021798,000725: 24,2563 05353 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
021799,000726: 24,2564 04022 OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
021800,000727: 24,2565 12624 TCF R22LEM44
021801,000728: 24,2566 77776 R22LEM96 EXIT
021802,000729: 24,2567 34755 CAF ZERO # SET N49FLAG = ZERO TO INDICATE
021803,000730: 24,2570 55746 TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
021804,000731: 24,2571 05353 TC PHASCHNG
021805,000732: 24,2572 04022 OCT 04022 # TO PROTECT DISPLAY
021806,000733: 24,2573 37720 CAF PRIO27 # PROTECT DISPLAY
021807,000734: 24,2574 05072 TC NOVAC
021808,000735: 24,2575 E7,1746 EBANK= N49FLAG
021809,000736: 24,2575 02645 50067 2CADR N49DSP
021810,000737:
021811,000738: 24,2577 06042 TC INTPRET
021812,000739: 24,2600 77735 SLOAD
021813,000740: 24,2601 03747 N49FLAG
021814,000741: 24,2602 50054 BZE BMN # LOOP TO CHECK IF FLAG
021815,000742: 24,2603 50600 -3 # SETTING CHANGED - BRANCH - NO
021816,000743: 24,2604 50612 R22LEM7 # PROCEED
021817,000744: 24,2605 77650 GOTO # DISPLAY ANSWERED BY RECYCLE - INCORPORATE
021818,000745: 24,2606 03675 LGRET # NEXT MEASUREMENT
021819,000746: 24,2607 44752 V34TON49 CS TWO
021820,000747: 24,2610 55746 TS N49FLAG
021821,000748: 24,2611 05155 TC ENDOFJOB
021822,000749: 24,2612 77776 R22LEM7 EXIT
021823,000750: 24,2613 31746 CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
021824,000751: 24,2614 64752 AD TWO
021825,000752: 24,2615 00006 EXTEND
021826,000753: 24,2616 12445 BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
021827,000754: 24,2617 06042 TC INTPRET
021828,000755: 24,2620 77624 CALL
021829,000756: 24,2621 11210 GRP2PC # PHASE CHANGE AND
021830,000757: 24,2622 77650 GOTO # GO TO INCORPORATE DATA.
021831,000758: 24,2623 55431 ASTOK
021832,000759: 24,2624 25462 R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
021833,000760: 24,2625 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
021834,000761: 24,2626 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
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Page 511 |
021836,000763: 24,2627 34756 CA FIVE # NOT ON LUNAR SURFACE
021837,000764: 24,2630 02634 TC R22LEM45 # R65COUNTER = 5
021838,000765: 24,2631 02670 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
021839,000766: 24,2632 02642 TC R22LEM46 # YES - WAIT 2 SECONDS
021840,000767: 24,2633 34752 CA TWO # NO - SET R65COUNTER = 2
021841,000768: 24,2634 55745 R22LEM45 TS R65CNTR
021842,000769: 24,2635 04616 TC BANKCALL
021843,000770: 24,2636 46123 CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
021844,000771: 24,2637 02445 TC R22LEM
021845,000772: 24,2640 32667 R22WAIT CAF 1500DEC
021846,000773: 24,2641 02233 TC P20LEMWT +1
021847,000774:
021848,000775: 24,2642 04616 R22LEM46 TC BANKCALL
021849,000776: 24,2643 01735 CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
021850,000777: 24,2644 02445 TC R22LEM
021851,000778:
021852,000779: 24,2645 32666 N49DSP CAF V06N49NB
021853,000780: 24,2646 04616 TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
021854,000781: 24,2647 20510 CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
021855,000782: 24,2650 02607 TC V34TON49 # TERMINATE - SET N49FLAG = -2
021856,000783: 24,2651 44753 CS ONE # PROCEED - N49FLAG = -1
021857,000784: 24,2652 55746 TS N49FLAG # RECYCLE - N49FLAG = + VALUE
021858,000785: 24,2653 05155 TC ENDOFJOB
021859,000786: 24,2654 05353 R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
021860,000787: 24,2655 00152 OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
021861,000788: 24,2656 04616 TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
021862,000789: 24,2657 53112 CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
021863,000790: 24,2660 04616 TC BANKCALL # BAD DATA
021864,000791: 24,2661 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
021865,000792: 24,2662 02217 TC P20LEMC # COULD NOT READ RADAR - TRY TO REDESIGNATE
021866,000793: 24,2663 02445 TC R22LEM # READ SUCCESSFUL - CONTINUE AT R22
021867,000794:
021868,000795: 24,2664 00525 ALRM525 OCT 00525
021869,000796: 24,2665 01405 V06N05 VN 00605
021870,000797: 24,2666 01461 V06N49NB VN 00649
021871,000798: 24,2667 02734 1500DEC DEC 1500 B-14
021872,000799:
021873,000800: # LUNSFCHK - CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
021874,000801: # RETURNS TO CALLER +1 IF P22FLAG SET
021875,000802: # TO CALLER +2 IF P22FLAG NOT SET
021876,000803:
021877,000804: 24,2670 COUNT* $$/P22
021878,000805: 24,2670 40104 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
021879,000806: 24,2671 74744 MASK SURFFBIT # IS SURFFLAG SET?
021880,000807: 24,2672 10000 CCS A # BRANCH - P22FLAG SET
021881,000808: 24,2673 24002 INCR Q # NOT SET
021882,000809: 24,2674 00002 TC Q # RETURN
021883,000810:
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Page 512 |
021885,000812: # RR DESIGNATE ROUTINE (R21LEM)
021886,000813: # PROGRAM DESCRIPTION
021887,000814:
021888,000815: # MOD NO - 2
021889,000816: # BY P VOLANTE
021890,000817:
021891,000818: # FUNCTIONAL DESCRIPTION
021892,000819:
021893,000820: # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
021894,000821: # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
021895,000822:
021896,000823: # CALLING SEQUENCE -
021897,000824:
021898,000825: # TC BANKCALL
021899,000826: # CADR R21LEM
021900,000827:
021901,000828: # SUBROUTINES CALLED -
021902,000829:
021903,000830: # FINDVAC FLAGUP ENDOFJOB PRIOLARM
021904,000831: # NOVAC INTPRET LPS20.1 PHASCHNG
021905,000832: # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
021906,000833: # TASKOVER BANKCALL RADSTALL RRDESSM
021907,000834:
021908,000835: # NORMAL EXIT MODES
021909,000836: #
021910,000837: # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ
021911,000838: # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA)
021912,000839:
021913,000840: # ALARM OR ABORT EXIT MODES -
021914,000841:
021915,000842: # PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
021916,000843: # THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
021917,000844: # ACQUISITION
021918,000845:
021919,000846: # OUTPUT
021920,000847:
021921,000848: # SEE LPS20.1, RRDESSM
021922,000849:
021923,000850: # ERASABLE INITIALIZATION REQUIRED
021924,000851:
021925,000852: # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM
021926,000853:
021927,000854: # FLAGS SET + RESET
021928,000855:
021929,000856: # LOSCMFLG LOKONSW
021930,000857:
021931,000858: # DEBRIS
021932,000859:
021933,000860: # SEE LPS20.1, RRDESSM
021934,000861:
021935,000862: 24,2675 E7,1456 EBANK= LOSCOUNT
021936,000863: 24,2675 COUNT* $$/R21
021937,000864: 24,2675 44736 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
021938,000865: 24,2676 00006 EXTEND
|
|
In the printout, there is a red, handwritten hyphen to the right of CHAN12 below. |
021940,000867: 24,2677 03012 WAND CHAN12
021941,000868: 24,2700 02670 TC LUNSFCHK
021942,000869: 24,2701 02706 TC R21LEM5
021943,000870: 24,2702 34755 CAF ZERO # COMMAND ANTENNA TO MODE CENTER
021944,000871: 24,2703 55106 TS TANG # IF NOT ON SURFACE - MODE 1 - (T=0,S=0)
021945,000872: 24,2704 55107 TS TANG +1
021946,000873: 24,2705 02716 TC R21LEM6
021947,000874: 24,2706 34740 R21LEM5 CAF BIT12
021948,000875: 24,2707 70110 MASK RADMODES
021949,000876: 24,2710 10000 CCS A
021950,000877: 24,2711 02726 TC R21LEM10
021951,000878: 24,2712 34735 CAF BIT15
021952,000879: 24,2713 55106 TS TANG
021953,000880: 24,2714 44736 CS HALF
021954,000881: 24,2715 55107 TS TANG +1
021955,000882:
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Page 513 |
021957,000884: 24,2716 05516 R21LEM6 TC DOWNFLAG
021958,000885: 24,2717 00012 ADRES LOKONSW
021959,000886: 24,2720 04616 TC BANKCALL
021960,000887: 24,2721 52506 CADR RRDESNB
021961,000888: 24,2722 02723 TC +1
021962,000889: 24,2723 04616 TC BANKCALL
021963,000890: 24,2724 17705 CADR RADSTALL
021964,000891: 24,2725 02761 TC R21-503 # BAD RETURN FROM DESIGNATE - ISSUE ALARM
021965,000892: 24,2726 05504 R21LEM10 TC UPFLAG
021966,000893: 24,2727 00041 ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
021967,000894: 24,2730 32310 CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
021968,000895: 24,2731 55113 TS DESCOUNT # TO DESIGNATE AND LOCK ON
021969,000896: 24,2732 36250 R21LEM2 CAF THREE
021970,000897: 24,2733 55456 TS LOSCOUNT
021971,000898: 24,2734 06042 R21LEM1 TC INTPRET
021972,000899: 24,2735 43234 RTB DAD
021973,000900: 24,2736 21574 LOADTIME
021974,000901: 24,2737 11122 HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
021975,000902: 24,2740 34041 STCALL TDEC1 # LOS DETERMINATION ROUTINE
021976,000903: 24,2741 51256 LPS20.1
021977,000904: 24,2742 77776 EXIT
021978,000905: 24,2743 05504 R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR - ON DESIRED
021979,000906: 24,2744 00012 ADRES LOKONSW
021980,000907: 24,2745 05516 TC DOWNFLAG
021981,000908: 24,2746 00126 ADRES NORRMON
021982,000909: 24,2747 06042 TC INTPRET
021983,000910: 24,2750 77624 CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
021984,000911: 24,2751 52404 RRDESSM # DESIGNATE ROUTINE
021985,000912: 24,2752 77776 EXIT
021986,000913: 24,2753 03002 TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
021987,000914: # ON LUNAR SURFACE
021988,000915: 24,2754 02111 TC P20LEMA # VEHICLE MANEUVER REQUIRED.
021989,000916: 24,2755 04616 TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
021990,000917: 24,2756 17705 CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
021991,000918: 24,2757 02761 TC +2 # BAD END - LOCKON NOT ACHIEVED IN 60 TRIES
021992,000919: 24,2760 02770 TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
021993,000920: 24,2761 33000 R21-503 CAF ALRM503 # ISSUE ALARM 503
021994,000921: 24,2762 04616 TC BANKCALL
021995,000922: 24,2763 21563 CADR PRIOLARM
021996,000923: 24,2764 06025 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
021997,000924: 24,2765 02775 TC R21SRCH # PROC
021998,000925: 24,2766 02211 TC P20LEMC3
021999,000926: 24,2767 05155 TC ENDOFJOB
022000,000927: 24,2770 05516 R21END TC DOWNFLAG
022001,000928: 24,2771 00041 ADRES LOSCMFLG # RESET LOSCMFLG
022002,000929: 24,2772 02670 TC LUNSFCHK # ARE WE ON LUNAR SURFACE
022003,000930: 24,2773 02232 TC P20LEMWT # YES - BYPASS V50 N 72 DISPLAY
022004,000931: 24,2774 03123 TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
022005,000932: 24,2775 05353 R21SRCH TC PHASCHNG
022006,000933: 24,2776 04022 OCT 04022
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Page 514 |
022008,000935: 24,2777 03210 TC R24LEM # SEARCH ROUTINE
022009,000936: 24,3000 00503 ALRM503 OCT 00503
022010,000937: 24,3001 00527 ALRM527 OCT 527
022011,000938:
022012,000939: 24,3002 32310 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
022013,000940: 24,3003 55423 TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
022014,000941: 24,3004 05504 TC UPFLAG
022015,000942: 24,3005 00005 ADRES FSPASFLG # SET FIRST PASS FLAG
022016,000943: 24,3006 05516 TC DOWNFLAG # RESET LOS BEING
022017,000944: 24,3007 00041 ADRES LOSCMFLG # COMPUTED FLAG
022018,000945: 24,3010 06042 TC INTPRET
022019,000946: 24,3011 77634 R21LEM12 RTB
022020,000947: 24,3012 21574 LOADTIME
022021,000948: 24,3013 77615 R21LEM00 DAD
022022,000949: 24,3014 11120 TENSEC # TIME T = T + 10 SECS.
022023,000950: 24,3015 03425 STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
022024,000951: 24,3016 34041 STCALL TDEC1
022025,000952: 24,3017 51256 LPS20.1 # COMPUTE LOS AT TIME T
022026,000953: 24,3020 77624 CALL
022027,000954: 24,3021 52404 RRDESSM
022028,000955: 24,3022 77776 EXIT
022029,000956: 24,3023 03035 TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
022030,000957: 24,3024 05155 TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
022031,000958: 24,3025 06032 TC KILLTASK
022032,000959: 24,3026 52604 CADR BEGDES
022033,000960: 24,3027 06042 TC INTPRET
022034,000961: 24,3030 43014 BOF CLRGO
022035,000962: 24,3031 00345 FSPASFLG # FIRST PASS THRU REPOSITION
022036,000963: 24,3032 51045 R21LEM8 # NO - GO TO CONTINUOUS DESIGNATE
022037,000964: 24,3033 00225 FSPASFLG # YES - RESET FIRST PASS FLAG
022038,000965: 24,3034 51042 R21LEM50
022039,000966: 24,3035 11423 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
022040,000967: 24,3036 03040 TC R21LEM7 # NO - ADD 10 SECS. RECOMPUTE LOS
022041,000968: 24,3037 03107 TC R21LEM11 # YES - PUT OUT ALARM 530
022042,000969: 24,3040 55423 R21LEM7 TS REPOSCNT
022043,000970: 24,3041 06042 TC INTPRET
022044,000971: 24,3042 52145 R21LEM50 DLOAD GOTO
022045,000972: 24,3043 03425 REPOSTM
022046,000973: 24,3044 51013 R21LEM00
022047,000974: 24,3045 77745 R21LEM8 DLOAD
022048,000975: 24,3046 03425 REPOSTM
022049,000976: 24,3047 34041 STCALL TDEC1
022050,000977: 24,3050 50312 UPPSV
022051,000978: 24,3051 77776 EXIT
022052,000979: 24,3052 05504 TC UPFLAG # SET RADMODES BIT 15 FOR
022053,000980: 24,3053 00264 ADRES CDESFLAG # CONTINUOUS DESIGNATION
022054,000981: 24,3054 05516 TC DOWNFLAG
022055,000982: 24,3055 00012 ADRES LOKONSW
022056,000983: 24,3056 05504 TC UPFLAG
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|
Page 515 |
022058,000985: 24,3057 00126 ADRES NORRMON
022059,000986: 24,3060 04616 TC BANKCALL
022060,000987: 24,3061 52506 CADR RRDESNB
022061,000988: 24,3062 03063 TC +1
022062,000989: 24,3063 06042 TC INTPRET
022063,000990: 24,3064 44234 RTB BDSU
022064,000991: 24,3065 21574 LOADTIME # COMPUTE DELTA TIME
022065,000992: 24,3066 03425 REPOSTM # FOR LONGCALL
022066,000993: 24,3067 03427 STORE DELTATM
022067,000994: 24,3070 77776 EXIT
022068,000995: 24,3071 00006 EXTEND
022069,000996: 24,3072 31427 DCA DELTATM
022070,000997: 24,3073 05277 TC LONGCALL
022071,000998: 24,3074 E7,1456 EBANK= LOSCOUNT
022072,000999: 24,3074 03077 50067 2CADR R21LEM9
022073,001000:
022074,001001: 24,3076 05155 TC ENDOFJOB
022075,001002: 24,3077 06032 R21LEM9 TC KILLTASK
022076,001003: 24,3100 52613 CADR STDESIG
022077,001004: 24,3101 06011 TC CLRADMOD
022078,001005: 24,3102 37717 CAF PRIO26
022079,001006: 24,3103 05105 TC FINDVAC
022080,001007: 24,3104 E7,1456 EBANK= LOSCOUNT
022081,001008: 24,3104 02726 50067 2CADR R21LEM10
022082,001009:
022083,001010: 24,3106 05261 TC TASKOVER
022084,001011: 24,3107 33116 R21LEM11 CAF ALRM530 # ALARM 530 - LOS NOT IN COVERAGE
022085,001012: 24,3110 04616 TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
022086,001013: 24,3111 21563 CADR PRIOLARM # 600 SECS.
022087,001014: 24,3112 06025 TC GOTOV56
022088,001015: 24,3113 06025 TC GOTOV56
022089,001016: 24,3114 06025 TC GOTOV56
022090,001017: 24,3115 05155 TC ENDOFJOB
022091,001018: 24,3116 00530 ALRM530 OCT 00530
022092,001019: 24,3117 00000 01750 TENSEC 2DEC 1000 B-28
022093,001020:
022094,001021: 24,3121 00000 00062 HALFSEC 2DEC 50 B-28
022095,001022:
022096,001023: 24,3123 05353 R21DISP TC PHASCHNG
022097,001024: 24,3124 04022 OCT 04022
022098,001025: 24,3125 33136 CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
022099,001026: 24,3126 04616 TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
022100,001027: 24,3127 20711 CADR GOPERF2R
022101,001028: 24,3130 06025 TC GOTOV56 # TERMINATE EXITS VIA V 56
022102,001029: 24,3131 02232 TC P20LEMWT # PROCEED CONTINUES TO R22
022103,001030: 24,3132 03125 TC -5 # ENTER ILLEGAL
022104,001031: 24,3133 34745 CAF BIT7
022105,001032: 24,3134 05464 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
022106,001033: 24,3135 05155 TC ENDOFJOB
022107,001034:
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Page 516 |
022109,001036: 24,3136 01510 V06N72PV VN 00672
022110,001037:
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|
Page 517 |
022112,001039: # MANUAL ACQUISITION ROUTINE R23LEM
022113,001040: # PROGRAM DESCRIPTION
022114,001041:
022115,001042: # MOD NO - 2
022116,001043: # BY P VOLANTE
022117,001044:
022118,001045: # FUNCTIONAL DESCRIPTION
022119,001046:
022120,001047: # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
022121,001048:
022122,001049: # CALLING SEQUENCE -
022123,001050:
022124,001051: # TC R23LEM
022125,001052:
022126,001053: # SUBROUTINES CALLED
022127,001054:
022128,001055: # BANKCALL R61LEM
022129,001056: # SETMINDB GOPERF1
022130,001057:
022131,001058: # NORMAL EXIT MODES -
022132,001059:
022133,001060: # IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
022134,001061: # ,SELECTION OF PROC WILL CONTINUE R23
022135,001062: # ,SELECTION OF TERM WILL TERMINATE R23 + P20
022136,001063:
022137,001064: # ALARM OR ABORT EXIT MODES -
022138,001065:
022139,001066: # SEE NORMAL EXIT MODES ABOVE
022140,001067:
022141,001068: # OUTPUT
022142,001069:
022143,001070: # N.A.
022144,001071:
022145,001072: # ERASABLE INITIALIZATION REQUIRED -
022146,001073:
022147,001074: # ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
022148,001075:
022149,001076: 24,3137 1142 EBANK= GENRET
022150,001077: 24,3137 COUNT* $$/R23
022151,001078: 24,3137 05504 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
022152,001079: 24,3140 00126 ADRES NORRMON
022153,001080: 24,3141 00004 INHINT
022154,001081: 24,3142 04674 TC IBNKCALL # SELECT MINIMUM DEADBAND
022155,001082: 24,3143 40141 CADR SETMINDB
022156,001083: 24,3144 00003 RELINT
022157,001084: 24,3145 34736 R23LEM1 CAF BIT14 # ENABLE TRACKER
022158,001085: 24,3146 00006 EXTEND
022159,001086: 24,3147 05012 WOR CHAN12
022160,001087: 24,3150 33207 CAF OCT205
022161,001088: 24,3151 04616 TC BANKCALL
022162,001089: 24,3152 20624 CADR GOPERF1
022163,001090: 24,3153 03200 TC R23LEM2 # TERMINATE
022164,001091: 24,3154 03156 TC R23LEM11 # PROCEDE
022165,001092: 24,3155 03203 TC R23LEM3 # ENTER - DO ANOTHER MANUVER
022166,001093: 24,3156 00004 R23LEM11 INHINT
022167,001094: 24,3157 04523 TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
022168,001095: 24,3160 00035 ADRES CDUT
022169,001096: 24,3161 03170 TC OUTOFLIM # NOT WITHIN LIMITS
022170,001097: 24,3162 04674 TC IBNKCALL # RESTORE DEADBAND TO
022171,001098: 24,3163 40115 CADR RESTORDB # ASTRONAUT SELECTED VALUE
022172,001099: 24,3164 00003 RELINT
022173,001100: 24,3165 05516 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022174,001101: 24,3166 00126 ADRES NORRMON
022175,001102: 24,3167 02163 TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
022176,001103: 24,3170 00003 OUTOFLIM RELINT
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Page 518 |
022178,001105: 24,3171 33206 CAF OCT501PV
022179,001106: 24,3172 04616 TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
022180,001107: 24,3173 21563 CADR PRIOLARM # LIMITS
022181,001108: 24,3174 03200 TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
022182,001109: 24,3175 03171 TC OUTOFLIM +1 # PROCEED ILLEGAL
022183,001110: 24,3176 03203 TC R23LEM3 # RECYCLE - DO ANOTHER MANUVER
022184,001111: 24,3177 05155 TC ENDOFJOB
022185,001112: 24,3200 05516 R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
022186,001113: 24,3201 00126 ADRES NORRMON
022187,001114: 24,3202 06025 TC GOTOV56 # AND EXIT VIA V56
022188,001115: 24,3203 04616 R23LEM3 TC BANKCALL
022189,001116: 24,3204 46116 CADR R61LEM
022190,001117: 24,3205 03145 TC R23LEM1
022191,001118:
022192,001119: 24,3206 00501 OCT501PV OCT 501
022193,001120: 24,3207 00205 OCT205 OCT 205
022194,001121:
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|
Page 519 |
022196,001123: # SEARCH ROUTINE R24LEM
022197,001124: # PROGRAM DESCRIPTION
022198,001125:
022199,001126: # MOD NO - 2
022200,001127: # BY P. VOLANTE
022201,001128:
022202,001129: # FUNCTIONAL DESCRIPTION
022203,001130:
022204,001131: # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
022205,001132: # FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
022206,001133: # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
022207,001134:
022208,001135: # CALLING SEQUENCE
022209,001136:
022210,001137: # CAF PRIONN
022211,001138: # TC FINDVAC
022212,001139: # EBANK= DATAGOOD
022213,001140: # 2CADR R24LEM
022214,001141:
022215,001142: # SUBROUTINES CALLED
022216,001143:
022217,001144: # FLAGUP FLAGDOWN BANKCALL
022218,001145: # R61LEM GOFLASHR FINDVAC
022219,001146: # ENDOFJOB NOVAC LSR24.1
022220,001147:
022221,001148: # NORMAL EXIT MODES -
022222,001149:
022223,001150: # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER
022224,001151: # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
022225,001152: # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
022226,001153:
022227,001154: # ALARM OR ABORT EXIT MODES -
022228,001155:
022229,001156: # SEE NORMAL EXIT MODES ABOVE
022230,001157:
022231,001158: # OUTPUT -
022232,001159:
022233,001160: # SEE OUTPUT FROM LSR24.1 + R61LEM
022234,001161:
022235,001162: # ERASABLE INITIALIZATION REQUIRED
022236,001163:
022237,001164: # SEE INPUT FOR LSR24.1
022238,001165:
022239,001166: # FLAGS SET + RESET
022240,001167:
022241,001168: # SRCHOPT, ACMODFLG
022242,001169:
022243,001170: 24,3210 E7,1733 EBANK= DATAGOOD
022244,001171: 24,3210 COUNT* $$/R24
022245,001172: 24,3210 05504 R24LEM TC UPFLAG
022246,001173: 24,3211 00037 ADRES SRCHOPTN # SET SRCHOPT FLAG
022247,001174: 24,3212 05516 TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
022248,001175: 24,3213 00041 ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
022249,001176: 24,3214 34755 R24LEM1 CAF ZERO
022250,001177: 24,3215 55733 TS DATAGOOD # ZERO OUT DATA INDICATOR
022251,001178: 24,3216 55734 TS OMEGAD # ZERO OMEGA DISPLAY REGS
022252,001179: 24,3217 55735 TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
022253,001180: 24,3220 05353 R24LEM2 TC PHASCHNG
022254,001181: 24,3221 04022 OCT 04022
022255,001182: 24,3222 33255 CAF V16N80
022256,001183: 24,3223 04616 TC BANKCALL
022257,001184: 24,3224 20505 CADR PRIODSPR
022258,001185: 24,3225 06025 TC GOTOV56
022259,001186: 24,3226 03232 TC R24END # PROCEED EXIT R24 TO P20LEM1
022260,001187:
022261,001188: 24,3227 03236 TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
|
|
Page 520 |
022263,001190: 24,3230 04616 TC BANKCALL
022264,001191: 24,3231 55442 CADR LRS24.1
022265,001192: 24,3232 06032 R24END TC KILLTASK
022266,001193: 24,3233 55643 CADR CALLDGCH
022267,001194: 24,3234 06011 TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
022268,001195: 24,3235 12063 TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
022269,001196:
022270,001197: 6011 BLOCK 3
022271,001198: 6000 SETLOC FFTAG6
022272,001199: 6000 BANK
022273,001200: 6011 COUNT* $$/R24
022274,001201:
022275,001202: 6011 46021 CLRADMOD CS BIT10+15
022276,001203: 6012 00004 INHINT
022277,001204: 6013 70110 MASK RADMODES
022278,001205: 6014 54110 TS RADMODES
022279,001206: 6015 44752 CS BIT2 # DISABLE RR ERROR COUNTERS
022280,001207: 6016 00006 EXTEND
022281,001208: 6017 03012 WAND CHAN12 # USER WILL RELINT
022282,001209:
022283,001210: 6020 00002 TC Q
022284,001211:
022285,001212: 6021 41000 BIT10+15 OCT 41000
022286,001213:
022287,001214: 24,3236 BANK 24
022288,001215: 24,2000 SETLOC P20S
022289,001216: 24,2000 BANK
022290,001217: 24,3236 COUNT* $$/R24
022291,001218:
022292,001219: 24,3236 05353 R24LEM3 TC PHASCHNG
022293,001220: 24,3237 04022 OCT 04022
022294,001221: 24,3240 06032 TC KILLTASK
022295,001222: 24,3241 55643 CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
022296,001223: 24,3242 06011 TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
022297,001224: 24,3243 34774 CAF .5SEC
022298,001225: 24,3244 04616 TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
022299,001226: 24,3245 01736 CADR DELAYJOB
022300,001227: 24,3246 02670 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
022301,001228: 24,3247 03252 TC R24LEM4 # YES - DONT DO ATTITUDE MANEUVER
022302,001229: 24,3250 04616 TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
022303,001230: 24,3251 46116 CADR R61LEM # ATTITUDE MANEUVER
022304,001231: 24,3252 34755 R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
022305,001232: 24,3253 55303 TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
022306,001233: # RRDESSM WILL RETURN TO CALLER
022307,001234: 24,3254 03220 TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
022308,001235:
022309,001236: 24,3255 04120 V16N80 VN 01680
022310,001237:
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|
Page 521 |
022312,001239: # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
022313,001240: # PROGRAM DESCRIPTION
022314,001241:
022315,001242: # MOD NO: 3 DATE: 4-11-67
022316,001243: # MOD BY: P VOLANTE SDC
022317,001244:
022318,001245: # FUNCTIONAL DESCRIPTION -
022319,001246:
022320,001247: # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
022321,001248: # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
022322,001249: # ATTITUDE.
022323,001250:
022324,001251: # CALLING SEQUENCE -
022325,001252:
022326,001253: # TC BANKCALL
022327,001254: # CADR R61LEM
022328,001255:
022329,001256: # SUBROUTINES CALLED
022330,001257:
022331,001258: # LPS20.1 VECPOINT
022332,001259: # KALCMAN3
022333,001260:
022334,001261: # NORMAL EXIT MODES -
022335,001262:
022336,001263: # NORMAL RETURN IS TO CALLER + 1
022337,001264:
022338,001265: # ALARM OR ABORT EXIT MODES -
022339,001266:
022340,001267: # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
022341,001268: # RENDEZVOUS FLAG ARE NOT SET.
022342,001269:
022343,001270: # OUTPUT -
022344,001271:
022345,001272: # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
022346,001273:
022347,001274: # ERASABLE INITIALIZATION REQUIRED
022348,001275:
022349,001276: # GENRET USED TO SAVE Q FOR RETURN
022350,001277:
022351,001278: # FLAGS SET + RESET
022352,001279:
022353,001280: # 3AXISFLG
022354,001281:
022355,001282: # DEBRIS
022356,001283:
022357,001284: # SEE SUBROUTINES
022358,001285:
022359,001286: 23,2000 SETLOC R61
022360,001287: 23,2000 BANK
022361,001288: 23,2116 E7,1456 EBANK= LOSCOUNT
022362,001289: 23,2116 COUNT* $$/R61
022363,001290: 23,2116 04645 R61LEM TC MAKECADR
022364,001291: 23,2117 55142 TS GENRET
022365,001292: 23,2120 05504 TC UPFLAG # SET R61 FLAG
022366,001293: 23,2121 00024 ADRES R61FLAG
022367,001294: 23,2122 02152 TC R61C+L02
022368,001295: 23,2123 04645 R65LEM TC MAKECADR
022369,001296: 23,2124 55142 TS GENRET
022370,001297: 23,2125 05516 TC DOWNFLAG # RESET R61 FLAG
022371,001298: 23,2126 00024 ADRES R61FLAG
022372,001299: 23,2127 34750 R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
022373,001300: 23,2130 00006 EXTEND # GOOD NOT PRESENT
022374,001301: 23,2131 02033 RAND CHAN33
022375,001302: 23,2132 10000 CCS A
022376,001303: 23,2133 12152 TCF R61C+L02 # NO DATA GOOD
022377,001304: 23,2134 05504 TC UPFLAG
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|
Page 522 |
022379,001306: 23,2135 00063 ADRES R04FLAG # PREVENT 521 ALM
022380,001307: 23,2136 04616 TC BANKCALL # READ RR RANGE AND RDOT
022381,001308: 23,2137 53112 CADR RRRDOT # EVERY R65 PASS (3 TIMES
022382,001309: 23,2140 04616 TC BANKCALL # BEFORE FIRST MARK, ONCE
022383,001310: 23,2141 17705 CADR RADSTALL # DURING ANY MARK PROCESSING,
022384,001311: 23,2142 12143 NOOP
022385,001312: 23,2143 04616 TC BANKCALL
022386,001313: 23,2144 53114 CADR RRRANGE
022387,001314: 23,2145 04616 TC BANKCALL
022388,001315: 23,2146 17705 CADR RADSTALL
022389,001316: 23,2147 12150 NOOP
022390,001317: 23,2150 05516 TC DOWNFLAG
022391,001318: 23,2151 00063 ADRES R04FLAG
022392,001319: 23,2152 34747 R61C+L02 CAF TRACKBIT # TRACKFLAG
022393,001320: 23,2153 70075 MASK STATE +1
022394,001321: 23,2154 00006 EXTEND
022395,001322: 23,2155 12314 BZF R65WAIT # NOT SET
022396,001323: 23,2156 06042 R61C+L03 TC INTPRET
022397,001324: 23,2157 77775 VLOAD
022398,001325: 23,2160 06516 HIUNITZ
022399,001326: 23,2161 03765 STORE SCAXIS # TRACK AXIS UNIT VECTOR
022400,001327: 23,2162 43234 R61LEM1 RTB DAD
022401,001328: 23,2163 21574 LOADTIME # EXTRAPOLATE FORWARD TO CENTER
022402,001329: 23,2164 15712 3SECONDS # SIX SECOND PERIOD.
022403,001330: 23,2165 34041 STCALL TDEC1
022404,001331: 23,2166 51256 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
022405,001332: 23,2167 77775 VLOAD
022406,001333: 23,2170 01101 RRTARGET
022407,001334: 23,2171 03773 STORE POINTVSM
022408,001335: 23,2172 45034 RTB CALL # GET DESIRED CDU'S FOR VECPNT1
022409,001336: 23,2173 46322 READCDUD
022410,001337: 23,2174 56032 VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
022411,001338: 23,2175 00322 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI
022412,001339: 23,2176 77776 EXIT
022413,001340: 23,2177 05353 TC PHASCHNG
022414,001341: 23,2200 04022 OCT 04022
022415,001342: 23,2201 34747 CAF TRACKBIT # IS TRACK FLAG SET
022416,001343: 23,2202 70075 MASK FLAGWRD1
022417,001344: 23,2203 00006 EXTEND
022418,001345: 23,2204 12314 BZF R65WAIT
022419,001346: 23,2205 04616 TC BANKCALL
022420,001347: 23,2206 54261 CADR G+N,AUTO # CHECK FOR AUTO MODE
022421,001348: 23,2207 10000 CCS A
022422,001349: 23,2210 02302 TC R61C+L04 # NOT IN AUTO
022423,001350: 23,2211 06042 TC INTPRET
022424,001351: 23,2212 45175 VLOAD CALL
022425,001352: 23,2213 01101 RRTARGET
022426,001353: 23,2214 47650 CDU*SMNB
022427,001354: 23,2215 45345 DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
022428,001355: 23,2216 00162 MPAC +5
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|
Page 523 |
022430,001357: 23,2217 06320 COS15DEG
022431,001358: 23,2220 77440 R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
022432,001359: 23,2221 46236 R61C+L05 # PHI GRE 10DEG
022433,001360: 23,2222 E6,1634 EBANK= CDUXD
022434,001361: 23,2222 35015 CAF EBANK6
022435,001362: 23,2223 54003 TS EBANK
022436,001363: 23,2224 00004 INHINT
022437,001364: 23,2225 00006 EXTEND
022438,001365: 23,2226 30322 DCA CPHI
022439,001366: 23,2227 53635 DXCH CDUXD
022440,001367: 23,2230 30323 CA CPSI
022441,001368: 23,2231 55636 TS CDUZD
022442,001369: 23,2232 00003 RELINT
022443,001370: 23,2233 E7,1456 EBANK= LOSCOUNT
022444,001371: 23,2233 35016 CAF EBANK7
022445,001372: 23,2234 54003 TS EBANK
022446,001373: 23,2235 02261 TC R61C+L06
022447,001374: 23,2236 77776 R61C+L05 EXIT
022448,001375: 23,2237 00004 INHINT
022449,001376: 23,2240 04674 TC IBNKCALL
022450,001377: 23,2241 40154 FCADR ZATTEROR
022451,001378: 23,2242 04674 TC IBNKCALL
022452,001379: 23,2243 40141 FCADR SETMINDB # REDUCE ATTITUDE ERROR
022453,001380: 23,2244 05516 TC DOWNFLAG
022454,001381: 23,2245 00124 ADRES 3AXISFLG
022455,001382: 23,2246 05504 TC UPFLAG
022456,001383: 23,2247 00077 ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
022457,001384: 23,2250 04616 TC BANKCALL
022458,001385: 23,2251 54123 CADR R60LEM
022459,001386: 23,2252 00004 INHINT
022460,001387: 23,2253 04674 TC IBNKCALL
022461,001388: 23,2254 40115 FCADR RESTORDB
022462,001389: 23,2255 05353 TC PHASCHNG
022463,001390: 23,2256 04022 OCT 04022
022464,001391: 23,2257 05516 TC DOWNFLAG
022465,001392: 23,2260 00077 ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
022466,001393: 23,2261 30075 R61C+L06 CA FLAGWRD1
022467,001394: 23,2262 74742 MASK R61FLBIT
022468,001395: 23,2263 10000 CCS A
022469,001396: 23,2264 02305 TC R61C+L4
022470,001397: 23,2265 11745 CCS R65CNTR
022471,001398: 23,2266 02270 TC +2
022472,001399: 23,2267 02305 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
022473,001400: 23,2270 55745 TS R65CNTR
022474,001401: 23,2271 32321 CAF 06SEC
022475,001402: 23,2272 05173 TC TWIDDLE
022476,001403: 23,2273 02275 ADRES R61C+L2
022477,001404: 23,2274 05155 TC ENDOFJOB
022478,001405: 23,2275 37717 R61C+L2 CAF PRIO26
022479,001406: 23,2276 05105 TC FINDVAC
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|
Page 524 |
022481,001408: 23,2277 E7,1456 EBANK= LOSCOUNT
022482,001409: 23,2277 02127 46067 2CADR R61C+L01
022483,001410:
022484,001411: 23,2301 05261 TC TASKOVER
022485,001412: 23,2302 04616 R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
022486,001413: 23,2303 54272 CADR BALLANGS
022487,001414: 23,2304 02261 TC R61C+L06
022488,001415: 23,2305 31142 R61C+L4 CAE GENRET
022489,001416: 23,2306 14640 TCF BANKJUMP # EXIT R61
022490,001417: 23,2307 32316 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
022491,001418: 23,2310 70074 MASK STATE
022492,001419: 23,2311 00006 EXTEND
022493,001420: 23,2312 15155 BZF ENDOFJOB # NO - EXIT ROUTINE AND PROGRAM.
022494,001421: 23,2313 02261 TC R61C+L06 # YES EXIT ROUTINE
022495,001422: 23,2314 04635 R65WAIT TC POSTJUMP
022496,001423: 23,2315 50232 CADR P20LEMWT
022497,001424:
022498,001425: 23,2316 00500 BIT7+9PV OCT 00500
022499,001426: 23,2317 17350 34602 COS15DEG 2DEC 0.96593 B-1
022500,001427:
022501,001428: 23,2321 01130 06SEC DEC 600 B-14
022502,001429: 23,2322 PHI EQUALS 20D
022503,001430: 23,2322 00004 READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
022504,001431: 23,2323 35015 CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
022505,001432: 23,2324 56003 XCH EBANK
022506,001433: 23,2325 54070 TS RUPTREG1
022507,001434: 23,2326 E6,1634 EBANK= CDUXD
022508,001435: 23,2326 31634 CA CDUXD
022509,001436: 23,2327 54154 TS MPAC
022510,001437: 23,2330 00006 EXTEND
022511,001438: 23,2331 31636 DCA CDUYD
022512,001439: 23,2332 52156 DXCH MPAC +1
022513,001440: 23,2333 30070 CA RUPTREG1
022514,001441: 23,2334 54003 TS EBANK
022515,001442: 23,2335 00003 RELINT
022516,001443: 23,2336 16502 TCF TMODE
022517,001444:
022518,001445: 4512 BLOCK 02
022519,001446: 4000 SETLOC RADARFF
022520,001447: 4000 BANK
022521,001448:
022522,001449: 4512 E7,1456 EBANK= LOSCOUNT
022523,001450: 4512 COUNT* $$/RRSUB
022524,001451:
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Page 525 |
022526,001453: # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
022527,001454: # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
022528,001455:
022529,001456: 4512 00006 MAGSUB EXTEND
022530,001457: 4513 64515 BZMF +2
022531,001458: 4514 14516 TCF +2
022532,001459: 4515 40000 COM
022533,001460:
022534,001461: 4516 50002 INDEX Q
022535,001462: 4517 60000 AD 0
022536,001463: 4520 00006 EXTEND
022537,001464: 4521 66744 BZMF Q+2 # ABS(A) <= CONST GO TO L+3
022538,001465: 4522 16742 TCF Q+1 # ABS(A) > CONST GO TO L+2
022539,001466:
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Page 526 |
022541,001468: # PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
022542,001469:
022543,001470: # FUNCTIONAL DESCRIPTION_
022544,001471:
022545,001472: # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
022546,001473: # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
022547,001474: # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
022548,001475: # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
022549,001476: # MODE 1 AND =1 FOR MODE 2.
022550,001477:
022551,001478: # MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022552,001479: # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
022553,001480: # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
022554,001481: # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
022555,001482:
022556,001483: # MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
022557,001484: # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
022558,001485: # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
022559,001486: # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
022560,001487: # TO L +3.
022561,001488:
022562,001489: # CALLING SEQUENCE:
022563,001490:
022564,001491: # L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
022565,001492: # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
022566,001493:
022567,001494: # ERASABLE INITIALIZATION REQUIRED:
022568,001495:
022569,001496: # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
022570,001497: # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
022571,001498: # CURRENT EBANK).
022572,001499:
022573,001500: # SUBROUTINES CALLED_ MAGSUB
022574,001501:
022575,001502: # JOBS OR TASKS INITIATED_ NONE
022576,001503:
022577,001504: # ALARMS_ NONE
022578,001505:
022579,001506: # EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
022580,001507: # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
022581,001508:
022582,001509: 4523 00006 RRLIMCHK EXTEND
022583,001510: 4524 50002 INDEX Q
022584,001511: 4525 50000 INDEX 0
022585,001512: 4526 30001 DCA 0
022586,001513: 4527 24002 INCR Q
022587,001514: 4530 52062 DXCH ITEMP1
022588,001515: 4531 22002 LXCH Q # L(CALLER +2) TO L.
022589,001516:
022590,001517: 4532 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
022591,001518: 4533 70110 MASK RADMODES
022592,001519: 4534 10000 CCS A
022593,001520: 4535 14550 TCF MODE2CHK
022594,001521:
022595,001522: 4536 30061 CA ITEMP1 # MODE 1 IS DEFINED AS
|
|
Page 527 |
022597,001524: 4537 04512 TC MAGSUB # 1. ABS(T) L 55 DEGS.
022598,001525: 4540 66161 DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
022599,001526: 4541 00001 TC L # (SHAFT LIMITS AT +59, -70 DEGS)
022600,001527:
022601,001528: 4542 34562 CAF 5.5DEGS
022602,001529: 4543 60062 AD ITEMP2 # S
022603,001530: 4544 04512 TC MAGSUB
022604,001531: 4545 64420 DEC -.35833 # 64.5 DEGS
022605,001532: 4546 00001 TC L
022606,001533: 4547 04560 TC RRLIMOK # IN LIMITS.
022607,001534:
022608,001535: 4550 34563 MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
022609,001536: 4551 60062 AD ITEMP2 # 1. ABS(T) G 125 DEGS.
022610,001537: 4552 04512 TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
022611,001538: 4553 65673 DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
022612,001539: 4554 00001 TC L
022613,001540:
022614,001541: 4555 30061 CA ITEMP1
022615,001542: 4556 04512 TC MAGSUB
022616,001543: 4557 51615 DEC -.69444 # 125 DEGS
022617,001544:
022618,001545: 4560 50001 RRLIMOK INDEX L
022619,001546: 4561 00001 TC L # ( = TC 1 )
022620,001547:
022621,001548: 4562 00765 5.5DEGS DEC .03056
022622,001549: 4563 16450 82DEGS DEC .45556
022623,001550:
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|
Page 528 |
022625,001552: # PROGRAM NAME_ SETTRKF . IF EITHER:
022626,001553:
022627,001554: # FUNCTIONAL DESCRIPTION_
022628,001555: # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
022629,001556: # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
022630,001557: # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
022631,001558: # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
022632,001559: # 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
022633,001560: # AUTO MODE (RADMODES BITS 13, 7, 2).
022634,001561: # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
022635,001562: # 8,5)
022636,001563: # 3) NO RR DATA (RADMODES BIT 4)
022637,001564: # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
022638,001565: # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
022639,001566: # LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
022640,001567: # THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
022641,001568: # TRACKER FAIL LAMP IS TURNED ON IF_
022642,001569: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
022643,001570: # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
022644,001571: # EITHER THE ALT OR VEL INFORMATION
022645,001572: # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
022646,001573: # WITH EITHER THE AL
022647,001574:
022648,001575: # CALLING SEQUENCE:
022649,001576:
022650,001577: # L TC SETTRKF
022651,001578:
022652,001579: # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
022653,001580:
022654,001581: # SUBROUTINES CALLED_ NONE
022655,001582:
022656,001583: # JOBS OR TASKS INITIATED_ NONE
022657,001584:
022658,001585: # ALARMS_ TRACKER FAIL LAMP
022659,001586:
022660,001587: # EXIT_ L +1 (ALWAYS) ED.
022661,001588:
022662,001589: 4564 34753 SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
022663,001590: 4565 71300 MASK IMODES33
022664,001591: 4566 10000 CCS A
022665,001592: 4567 00002 TC Q
022666,001593:
022667,001594: 4570 34744 RRTRKF CA BIT8
022668,001595: 4571 54001 TS L
022669,001596:
022670,001597: 4572 34615 CAF 13,7,2 # SEE IF CDU FAILED.
022671,001598: 4573 70110 MASK RADMODES
022672,001599: 4574 00006 EXTEND
022673,001600: 4575 14601 BZF TRKFLON # CONDITION 3 ABOVE.
022674,001601:
022675,001602: 4576 34750 RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
022676,001603: 4577 70110 MASK RADMODES
|
|
Page 529 |
022678,001605: 4600 10000 CCS A
022679,001606: 4601 30001 TRKFLON CA L
022680,001607: 4602 61035 AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
022681,001608: 4603 70001 MASK L
022682,001609: 4604 00006 EXTEND
022683,001610: 4605 16745 BZF TCQ # NO CHANGE.
022684,001611:
022685,001612: 4606 31035 FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
022686,001613: 4607 00006 EXTEND
022687,001614: 4610 06001 RXOR LCHAN
022688,001615: 4611 74733 MASK POSMAX
022689,001616: 4612 64735 AD BIT15
022690,001617: 4613 55035 TS DSPTAB +11D
022691,001618: 4614 00002 TC Q
022692,001619:
022693,001620: 4615 10102 13,7,2 OCT 10102
022694,001621: 4616 ENDRMODF EQUALS
022695,001622:
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|
Page 530 |
022697,001624: # PROGRAM NAME_ RRTURNON
022698,001625:
022699,001626: # FUNCTIONAL DESCRIPTION_
022700,001627:
022701,001628: # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
022702,001629: # RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
022703,001630: # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
022704,001631: # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
022705,001632: # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
022706,001633: # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
022707,001634: # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
022708,001635: # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
022709,001636: # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
022710,001637: # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
022711,001638: # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
022712,001639: # TO TASKOVER.
022713,001640:
022714,001641: # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
022715,001642: # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
022716,001643: # THE RR (STATE BIT 7).
022717,001644:
022718,001645: # ERASABLE INITIALIZATION REQUIRED:
022719,001646:
022720,001647: # RADMODES, STATE
022721,001648:
022722,001649: # SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
022723,001650:
022724,001651: # JOBS OR TASKS INITIATED_
022725,001652: #
022726,001653: # NONE
022727,001654:
022728,001655: # ALARMS_ NONE (SEE RRZEROSB)
022729,001656:
022730,001657: # EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
022731,001658:
022732,001659: 24,3256 BANK 24
022733,001660: 25,2000 SETLOC P20S1
022734,001661: 25,2000 BANK
022735,001662:
022736,001663: 25,2073 E7,1456 EBANK= LOSCOUNT
022737,001664: 25,2073 COUNT* $$/RSUB
022738,001665: 25,2073 02102 RRTURNON TC RRZEROSB
022739,001666: 25,2074 05221 TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
022740,001667: 25,2075 00144 DEC 100 B-14 # SO A MONITOR REPOSITION WONT ALARM.
022741,001668: 25,2076 44753 CS TURNONBT
022742,001669: 25,2077 70110 MASK RADMODES
022743,001670: 25,2100 54110 TS RADMODES
022744,001671: 25,2101 15261 TCF TASKOVER
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|
Page 531 |
022746,001673: # PROGRAM NAME_ RRZEROSB
022747,001674:
022748,001675: # FUNCTIONAL DESCRIPTION_
022749,001676:
022750,001677: # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
022751,001678: # DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
022752,001679: # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
022753,001680: # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
022754,001681: # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
022755,001682: # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
022756,001683: # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
022757,001684: # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
022758,001685: # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
022759,001686: # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
022760,001687: # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
022761,001688: # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
022762,001689: # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
022763,001690: # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
022764,001691: # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
022765,001692:
022766,001693: # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
022767,001694:
022768,001695: # ERASABLE INITIALIZATION REQUIRED:
022769,001696:
022770,001697: # RADMODES (BIT 13 SET), DSPTAB +11D
022771,001698:
022772,001699: # SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
022773,001700:
022774,001701: # JOBS OR TASKS INITIATED_
022775,001702:
022776,001703: # NONE
022777,001704:
022778,001705: # ALARMS_ TRACKER FAIL
022779,001706:
022780,001707: # EXIT_ L +1 (ALWAYS)
022781,001708:
022782,001709: 25,2102 00006 RRZEROSB EXTEND
022783,001710: 25,2103 23312 QXCH RRRET
022784,001711: 25,2104 34753 CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
022785,001712: 25,2105 00006 EXTEND # COMING HERE.
022786,001713: 25,2106 05012 WOR CHAN12 # TURN ON ZERO RR CDU
022787,001714: 25,2107 05221 TC FIXDELAY
022788,001715: 25,2110 00002 DEC 2 B-14
022789,001716:
022790,001717: 25,2111 34755 CAF ZERO
022791,001718: 25,2112 54035 TS CDUT
022792,001719: 25,2113 54036 TS CDUS
022793,001720: 25,2114 44753 CS ONE # REMOVE ZEROING BIT.
022794,001721: 25,2115 00006 EXTEND
022795,001722: 25,2116 03012 WAND CHAN12
022796,001723: 25,2117 05221 TC FIXDELAY
022797,001724: 25,2120 01750 DEC 1000 B-14 # RESET FAIL INHIBIT IN 10 SECS - D.281
022798,001725:
022799,001726: 25,2121 44737 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
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|
Page 532 |
022801,001728: 25,2122 70110 MASK RADMODES
022802,001729: 25,2123 54110 TS RADMODES
022803,001730:
022804,001731: 25,2124 30035 CA CDUT
022805,001732: 25,2125 04512 TC MAGSUB
022806,001733: 25,2126 57777 DEC -.5
022807,001734: 25,2127 12132 TCF +3 # IF MODE 2.
022808,001735:
022809,001736: 25,2130 34755 CAF ZERO
022810,001737: 25,2131 12133 TCF +2
022811,001738: 25,2132 34740 CAF ANTENBIT
022812,001739: 25,2133 56110 XCH RADMODES
022813,001740: 25,2134 77744 MASK -BIT12
022814,001741: 25,2135 26110 ADS RADMODES
022815,001742:
022816,001743: 25,2136 04564 TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
022817,001744:
022818,001745: 25,2137 01312 TC RRRET # DONE.
022819,001746:
022820,001747: 25,2140 7744 -BIT12 EQUALS -1/8 # IN SPROOT
022821,001748:
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|
Page 533 |
022823,001750: # PROGRAM NAME_ DORREPOS
022824,001751:
022825,001752: # FUNCTIONAL DESCRIPTION_
022826,001753:
022827,001754: # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
022828,001755: # TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
022829,001756: # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
022830,001757: # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
022831,001758: # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
022832,001759: # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
022833,001760: # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
022834,001761: # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
022835,001762: # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
022836,001763: # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
022837,001764: # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
022838,001765: # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
022839,001766: # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
022840,001767: # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
022841,001768: # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
022842,001769: # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
022843,001770: # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
022844,001771: # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
022845,001772: # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
022846,001773: # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
022847,001774: # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
022848,001775: # TASKOVER.
022849,001776:
022850,001777: # CALLING SEQUENCE:
022851,001778:
022852,001779: # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
022853,001780: # NOT WITHIN LIMITS OF CURRENT MODE.
022854,001781:
022855,001782: # ERASABLE INITIALIZATION REQUIRED:
022856,001783:
022857,001784: # RADMODES
022858,001785:
022859,001786: # SUBROUTINES CALLED_
022860,001787:
022861,001788: # RRTONLY, RRSONLY, BEGDES (EXIT)
022862,001789:
022863,001790: # JOBS OR TASKS INITIATED_
022864,001791:
022865,001792: # NONE
022866,001793:
022867,001794: # ALARMS- NONE
022868,001795:
022869,001796: # EXIT_ TASKOVER, BEGDES
022870,001797:
022871,001798: 25,2140 02167 DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
022872,001799:
022873,001800: # ALARM 501 DELETED IN DANCE 279 PER PCR 97.
022874,001801:
022875,001802: 25,2141 05221 TC FIXDELAY
022876,001803: 25,2142 00002 DEC 2 B-14
022877,001804:
022878,001805: 25,2143 34740 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
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|
Page 534 |
022880,001807: 25,2144 70110 MASK RADMODES
022881,001808: 25,2145 10000 CCS A
022882,001809: 25,2146 34735 CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
022883,001810: 25,2147 02252 TC RRTONLY
022884,001811:
022885,001812: 25,2150 34740 CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
022886,001813: 25,2151 70110 MASK RADMODES
022887,001814: 25,2152 10000 CCS A
022888,001815: 25,2153 44736 CS HALF # -90 FOR MODE 2.
022889,001816: 25,2154 02255 TC RRSONLY
022890,001817:
022891,001818: 25,2155 44741 REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
022892,001819: # REQUESTED DURING REPOSITION.
022893,001820: 25,2156 70110 MASK RADMODES # REMOVE REPOSITION BIT.
022894,001821: 25,2157 54110 TS RADMODES
022895,001822: 25,2160 74742 MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
022896,001823: 25,2161 10000 CCS A
022897,001824: 25,2162 12604 TCF BEGDES
022898,001825: 25,2163 44752 CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
022899,001826: 25,2164 00006 EXTEND # REMOVE ERROR COUNTER ENABLE.
022900,001827: 25,2165 03012 WAND CHAN12
022901,001828: 25,2166 15261 TCF TASKOVER
022902,001829:
022903,001830: 25,2167 34752 SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
022904,001831: 25,2170 00006 EXTEND
022905,001832: 25,2171 02012 RAND CHAN12
022906,001833: 25,2172 10000 CCS A # DO NOT CLEAR LAST COMMAND IF
022907,001834: 25,2173 00002 TC Q # ERROR COUNTERS ARE ENABLED.
022908,001835:
022909,001836: 25,2174 54112 TS LASTYCMD
022910,001837: 25,2175 54113 TS LASTXCMD
022911,001838: 25,2176 34752 CAF BIT2
022912,001839: 25,2177 00006 EXTEND
022913,001840: 25,2200 05012 WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
022914,001841: 25,2201 00002 TC Q
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|
Page 535 |
022916,001843: # PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
022917,001844:
022918,001845: # FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
022919,001846: # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
022920,001847: # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
022921,001848: # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
022922,001849: # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
022923,001850: # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
022924,001851: # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
022925,001852: # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
022926,001853: # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
022927,001854: # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
022928,001855: # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
022929,001856: # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
022930,001857: # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
022931,001858: # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
022932,001859: # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
022933,001860: # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
022934,001861: # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
022935,001862: # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
022936,001863: # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
022937,001864: # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
022938,001865:
022939,001866: # CALLING SEQUENCE:
022940,001867:
022941,001868: # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
022942,001869: # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
022943,001870: # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
022944,001871: # OTHER MODE.
022945,001872:
022946,001873: # ERASABLE INITIALIZATION REQUIRED:
022947,001874:
022948,001875: # RADMODES
022949,001876:
022950,001877: # SUBROUTINES CALLED_
022951,001878:
022952,001879: # RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
022953,001880:
022954,001881: # JOBS OR TASKS INITIATED_
022955,001882:
022956,001883: # NONE
022957,001884:
022958,001885: # ALARMS_ NONE
022959,001886:
022960,001887: # EXIT_ STDESIG
022961,001888:
022962,001889: 25,2202 34740 REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
022963,001890: 25,2203 70110 MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
022964,001891: 25,2204 10000 CCS A
022965,001892: 25,2205 34735 CAF BIT15
022966,001893: 25,2206 02252 TC RRTONLY
022967,001894:
022968,001895: 25,2207 37743 CAF -45DEGSR
022969,001896: 25,2210 02255 TC RRSONLY
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|
Page 536 |
022971,001898: 25,2211 40110 CS RADMODES
022972,001899: 25,2212 74740 MASK ANTENBIT
022973,001900: 25,2213 10000 CCS A
022974,001901: 25,2214 32243 CAF -80DEGSR # GO TO T = -130 (-50).
022975,001902: 25,2215 62242 AD -50DEGSR
022976,001903: 25,2216 02252 TC RRTONLY
022977,001904:
022978,001905: 25,2217 40110 CS RADMODES
022979,001906: 25,2220 74740 MASK ANTENBIT
022980,001907: 25,2221 10000 CCS A
022981,001908: 25,2222 34735 CAF BIT15 # GO TO T = -180 (+0).
022982,001909: 25,2223 02252 TC RRTONLY
022983,001910:
022984,001911: 25,2224 40110 CS RADMODES # GO TO S = -90 (+0).
022985,001912: 25,2225 74740 MASK ANTENBIT
022986,001913: 25,2226 10000 CCS A
022987,001914: 25,2227 44736 CS HALF
022988,001915: 25,2230 02255 TC RRSONLY
022989,001916:
022990,001917: 25,2231 02244 TC RMODINV
022991,001918: 25,2232 44736 CS REMODBIT # END OF REMODE.
022992,001919: 25,2233 70110 MASK RADMODES
022993,001920: 25,2234 54110 TS RADMODES
022994,001921:
022995,001922: 25,2235 34742 CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
022996,001923: 25,2236 70110 MASK RADMODES # (BIT10 RADMODES = 1)
022997,001924: 25,2237 00006 EXTEND
022998,001925: 25,2240 13560 BZF RGOODEND # NO - RETURN TO CALLER WAITING IN RADSTALL
022999,001926: 25,2241 02613 TC STDESIG # YES - RETURN TO DESIGNATE
023000,001927: 25,2242 7743 -45DEGSR = 13,14,15
023001,001928: 25,2242 67070 -50DEGSR DEC -.27778
023002,001929: 25,2243 61615 -80DEGSR DEC -.44444
023003,001930:
023004,001931: 25,2244 22110 RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
023005,001932: 25,2245 34740 CAF ANTENBIT
023006,001933: 25,2246 00006 EXTEND
023007,001934: 25,2247 06001 RXOR LCHAN
023008,001935: 25,2250 54110 TS RADMODES
023009,001936: 25,2251 00002 TC Q
023010,001937:
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|
Page 537 |
023012,001939: # PROGRAM NAMES_ RRTONLY, RRSONLY
023013,001940:
023014,001941: # FUNCTIONAL DESCRIPTION_
023015,001942:
023016,001943: # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
023017,001944: # RRMANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
023018,001945: # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
023019,001946: # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
023020,001947: # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
023021,001948: # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
023022,001949: # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
023023,001950: # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
023024,001951: # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
023025,001952: # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
023026,001953: # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
023027,001954: # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
023028,001955: # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
023029,001956: # REPEATED.
023030,001957:
023031,001958: # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
023032,001959: # L TC RRTONLY (TRUNNION ONLY)
023033,001960: # RRSONLY (SHAFT ONLY)
023034,001961: # RRTONLY IS CALLED BY PREPOS29;
023035,001962: # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
023036,001963:
023037,001964: # ERASABLE INITIALIZATION REQUIRED:
023038,001965:
023039,001966: # C(A) = DESIRED ANGLE, RADMODES
023040,001967:
023041,001968: # SUBROUTINES CALLED_
023042,001969:
023043,001970: # FIXDELAY, REPOSRPT, MAGSUB, RROUT
023044,001971:
023045,001972: # JOBS OR TASKS INITIATED_
023046,001973:
023047,001974: # NONE
023048,001975:
023049,001976: # ALARMS_ NONE
023050,001977:
023051,001978: # EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
023052,001979: # BITS 14, 11)
023053,001980: # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
023054,001981:
023055,001982: 25,2252 55313 RRTONLY TS RDES # DESIRED TRUNION ANGLE.
023056,001983: 25,2253 34755 CAF ZERO
023057,001984: 25,2254 12257 TCF RR1AXIS
023058,001985:
023059,001986: 25,2255 55313 RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
023060,001987: 25,2256 34753 CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
023061,001988:
023062,001989: 25,2257 55314 RR1AXIS TS RRINDEX
023063,001990: 25,2260 00006 EXTEND
023064,001991: 25,2261 23312 QXCH RRRET
023065,001992: 25,2262 12265 TCF RR1AX2
023066,001993:
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|
Page 538 |
023068,001995: 25,2263 05221 NXTRR1AX TC FIXDELAY
023069,001996: 25,2264 00062 DEC 50 B-14 # 2 SAMPLES PER SECOND.
023070,001997:
023071,001998: 25,2265 40110 RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
023072,001999: 25,2266 77713 MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
023073,002000: 25,2267 00006 EXTEND # PROGRESS, INTERRUPT IT AND START THE
023074,002001: 25,2270 12155 BZF REPOSRPT # REMODE IMMEDIATELY.
023075,002002:
023076,002003: 25,2271 31313 CA RDES
023077,002004: 25,2272 00006 EXTEND
023078,002005: 25,2273 51314 INDEX RRINDEX
023079,002006: 25,2274 20035 MSU CDUT
023080,002007: 25,2275 54061 TS ITEMP1 # SAVE ERROR SIGNAL.
023081,002008: 25,2276 00006 EXTEND
023082,002009: 25,2277 72316 MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
023083,002010: 25,2300 54001 TS L
023084,002011: 25,2301 30110 CA RADMODES
023085,002012: 25,2302 74752 MASK AUTOMBIT
023086,002013: 25,2303 56061 XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
023087,002014: 25,2304 04512 TC MAGSUB # SEE IF WITHIN ONE DEGREE.
023088,002015: 25,2305 77644 DEC -.00555 # SCALED IN HALF-REVS.
023089,002016:
023090,002017: 25,2306 10061 CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
023091,002018: 25,2307 01312 TC RRRET # RETURN TO CALLER.
023092,002019:
023093,002020: 25,2310 11314 CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
023094,002021: 25,2311 12313 TCF +2 # SETTING A TO 0.
023095,002022: 25,2312 56001 XCH L
023096,002023: 25,2313 53355 DXCH TRUNNCMD
023097,002024: 25,2314 02317 TC RROUT
023098,002025:
023099,002026: 25,2315 12263 TCF NXTRR1AX # COME BACK IN .5 SECONDS.
023100,002027:
023101,002028: 25,2316 22715 RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
023102,002029:
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|
Page 539 |
023104,002031: # PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
023105,002032:
023106,002033: # FUNCTIONAL DESCRIPTION_
023107,002034:
023108,002035: # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
023109,002036: # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
023110,002037: # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
023111,002038: # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
023112,002039: # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
023113,002040: # 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
023114,002041: # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
023115,002042: # THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
023116,002043: # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
023117,002044: # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
023118,002045: # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
023119,002046: # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
023120,002047: # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
023121,002048:
023122,002049: # CALLING SEQUENCE:
023123,002050: #
023124,002051: # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
023125,002052: # RRTONLY, RRSONLY, AND DODES
023126,002053:
023127,002054: # ERASABLE INITIALIZATION REQUIRED:
023128,002055:
023129,002056: # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
023130,002057: # (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
023131,002058:
023132,002059: # SUBROUTINES CALLED_
023133,002060:
023134,002061: # MAGSUB
023135,002062:
023136,002063: # JOBS OR TASKS INITIATED_
023137,002064:
023138,002065: # NONE
023139,002066:
023140,002067: # ALARMS_ NONE
023141,002068:
023142,002069: # EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
023143,002070:
023144,002071: 25,2317 22002 RROUT LXCH Q # SAVE RETURN.
023145,002072: 25,2320 34753 CAF ONE # LOOP TWICE.
023146,002073: 25,2321 54062 RROUT2 TS ITEMP2
023147,002074: 25,2322 50000 INDEX A
023148,002075: 25,2323 31354 CA TRUNNCMD
023149,002076: 25,2324 54061 TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
023150,002077:
023151,002078: 25,2325 04512 TC MAGSUB # SEE IF WITHIN LMITS.
023152,002079: 25,2326 77177 -RRLIMIT DEC -384 B-14
023153,002080: 25,2327 12346 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
023154,002081:
023155,002082: 25,2330 30061 SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
023156,002083: 25,2331 50062 INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
023157,002084: 25,2332 56112 XCH LASTYCMD # LASTYCMD AND LASTXCMD
023158,002085: 25,2333 40000 COM
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|
Page 540 |
023160,002087: 25,2334 60061 AD ITEMP1
023161,002088: 25,2335 64754 AD NEG0 # PREVENT +0 IN OUTCOUNTER
023162,002089: 25,2336 50062 INDEX ITEMP2
023163,002090: 25,2337 54053 TS CDUTCMD
023164,002091:
023165,002092: 25,2340 10062 CCS ITEMP2 # PROCESS BOTH INPUTS.
023166,002093: 25,2341 12321 TCF RROUT2
023167,002094:
023168,002095: 25,2342 35020 CAF PRIO6 # ENABLE COUNTERS.
023169,002096: 25,2343 00006 EXTEND
023170,002097: 25,2344 05014 WOR CHAN14 # PUT ON CDU DRIVES S AND T
023171,002098: 25,2345 00001 TC L # RETURN.
023172,002099:
023173,002100: 25,2346 10061 RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
023174,002101: 25,2347 42326 CS -RRLIMIT
023175,002102: 25,2350 12352 TCF +2
023176,002103: 25,2351 32326 CA -RRLIMIT
023177,002104: 25,2352 54061 TS ITEMP1
023178,002105: 25,2353 12331 TCF SETRRCTR +1
023179,002106:
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|
Page 541 |
023181,002108: # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
023182,002109:
023183,002110: 25,2354 32403 RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
023184,002111: 25,2355 70110 MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
023185,002112: 25,2356 10000 CCS A
023186,002113: 25,2357 13513 TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
023187,002114:
023188,002115: 25,2360 00004 INHINT
023189,002116: 25,2361 44737 CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
023190,002117: 25,2362 70110 MASK RADMODES
023191,002118: 25,2363 64737 AD RCDU0BIT
023192,002119: 25,2364 54110 TS RADMODES
023193,002120:
023194,002121: 25,2365 34753 CAF ONE
023195,002122: 25,2366 05203 TC WAITLIST
023196,002123: 25,2367 E7,1456 EBANK= LOSCOUNT
023197,002124: 25,2367 02401 52067 2CADR RRZ2
023198,002125:
023199,002126: 25,2371 40110 CS RADMODES # SEE IF IN AUTO MODE.
023200,002127: 25,2372 74752 MASK AUTOMBIT
023201,002128: 25,2373 10000 CCS A
023202,002129: 25,2374 12377 TCF ROADBACK
023203,002130: 25,2375 05567 TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
023204,002131: 25,2376 00510 OCT 510
023205,002132: 25,2377 00003 ROADBACK RELINT
023206,002133: 25,2400 14631 TCF SWRETURN
023207,002134:
023208,002135: 25,2401 02102 RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
023209,002136: 25,2402 13551 TCF ENDRADAR
023210,002137:
023211,002138: 25,2403 02001 BIT11+1 OCT 02001
023212,002139:
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|
Page 542 |
023214,002141: # PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
023215,002142:
023216,002143: # FUNCTIONAL DESCRIPTION_
023217,002144:
023218,002145: # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
023219,002146: # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
023220,002147: # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
023221,002148: # ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
023222,002149: # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
023223,002150: # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
023224,002151: # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
023225,002152: # TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
023226,002153: # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
023227,002154: # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
023228,002155: # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
023229,002156: # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
023230,002157: # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
023231,002158: # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
023232,002159: # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
023233,002160: # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
023234,002161: # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
023235,002162: # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
023236,002163: # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
023237,002164: # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
023238,002165: # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
023239,002166: # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
023240,002167:
023241,002168: # CALLING SEQUENCE:
023242,002169:
023243,002170: # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
023244,002171: # L+1 RRDESSM
023245,002172: # L+2 BASIC (VEHICLE MANEUVER REQUIRED)
023246,002173: # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
023247,002174:
023248,002175: # ERASABLE INITIALIZATION REQUIRED:
023249,002176:
023250,002177: # RRTARGET, RADMODES
023251,002178:
023252,002179: # SUBROUTINES CALLED_
023253,002180:
023254,002181: # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
023255,002182: # PART OF), RMODINV
023256,002183:
023257,002184: # JOBS OR TASKS INITIATED_
023258,002185:
023259,002186: # NONE
023260,002187:
023261,002188: # ALARMS_ NONE
023262,002189:
023263,002190: # EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
023264,002191: # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
023265,002192: # TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
023266,002193:
023267,002194: 25,2404 43020 RRDESSM STQ CLEAR
023268,002195: 25,2405 01112 DESRET
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|
Page 543 |
023270,002197: 25,2406 00271 RRNBSW
023271,002198: 25,2407 77624 CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
023272,002199: 25,2410 47541 CDUTRIG
023273,002200: 25,2411 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
023274,002201: 25,2412 01101 RRTARGET
023275,002202: 25,2413 47673 *SMNB*
023276,002203:
023277,002204: 25,2414 77624 CALL # GET RR GIMBAL ANGLES IN PRESENT AND
023278,002205: 25,2415 26133 RRANGLES # ALTERNATE MODE.
023279,002206: 25,2416 77776 EXIT
023280,002207:
023281,002208: 25,2417 00004 INHINT
023282,002209: 25,2420 04523 TC RRLIMCHK
023283,002210: 25,2421 01106 ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
023284,002211: 25,2422 02425 TC +3 # NOT IN CURRENT MODE
023285,002212: 25,2423 25112 OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
023286,002213: 25,2424 02443 TC STARTDES # SHOW DESIGNATE REQUIRED
023287,002214: 25,2425 40104 CS FLAGWRD8
023288,002215: 25,2426 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
023289,002216: 25,2427 00006 EXTEND
023290,002217: 25,2430 12467 BZF NORDSTAL # BRANCH - YES - CANNOT DESIGNATE IN MODE 2
023291,002218: 25,2431 02472 TC TRYSWS
023292,002219:
023293,002220: 25,2432 40104 LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
023294,002221: 25,2433 74744 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
023295,002222: 25,2434 00006 EXTEND
023296,002223: 25,2435 12467 BZF NORDSTAL # BRANCH - YES - RETURN TO CALLER - ALARM 527
023297,002224: 25,2436 30074 CA STATE
023298,002225: 25,2437 74745 MASK RNDVZBIT
023299,002226: 25,2440 10000 CCS A # TEST RNDVZFLG.
023300,002227: 25,2441 02502 TC NODESSM # NOT ON MOON - CALL FOR ATTITUDE MANEUVER
023301,002228: 25,2442 15155 TCF ENDOFJOB # ... BUT NOT IN R29.
023302,002229:
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|
Page 544 |
023304,002231: # PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
023305,002232:
023306,002233: # FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
023307,002234: # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
023308,002235: # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
023309,002236: # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
023310,002237: # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
023311,002238: # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
023312,002239: # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
023313,002240: # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
023314,002241: # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
023315,002242: # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
023316,002243: # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
023317,002244: # THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
023318,002245: # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
023319,002246: # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
023320,002247: # ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
023321,002248: # REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
023322,002249: # WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
023323,002250: # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
023324,002251: # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
023325,002252: # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
023326,002253: # AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
023327,002254:
023328,002255: # CALLING SEQUENCE:
023329,002256:
023330,002257: # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
023331,002258:
023332,002259: # ERASABLE INITIALIZATION REQUIRED:
023333,002260:
023334,002261: # RADMODES, (SEE DODES)
023335,002262:
023336,002263: # SUBROUTINES CALLED_
023337,002264:
023338,002265: # SETRRECR, WAITLIST
023339,002266:
023340,002267: # JOBS OR TASKS INITIATED_
023341,002268:
023342,002269: # BEGDES
023343,002270:
023344,002271: # ALARMS_ NONE
023345,002272:
023346,002273: # EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
023347,002274: # L+2 OF CALLING PROGRAM (SEE RRDESNB)
023348,002275:
023349,002276: 25,2443 25112 STARTDES INCR DESRET
023350,002277: 25,2444 40110 CS RADMODES
023351,002278: 25,2445 74742 MASK DESIGBIT
023352,002279: 25,2446 26110 ADS RADMODES
023353,002280: 25,2447 74741 MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
023354,002281: 25,2450 10000 CCS A
023355,002282: 25,2451 12457 TCF DESRETRN # ECTR ALREADY SET UP.
023356,002283:
023357,002284: 25,2452 02167 TC SETRRECR # SET UP ERROR COUNTERS.
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|
Page 545 |
023359,002286: 25,2453 34752 CAF TWO
023360,002287: 25,2454 05203 TC WAITLIST
023361,002288: 25,2455 E7,1456 EBANK= LOSCOUNT
023362,002289: 25,2455 02604 52067 2CADR BEGDES
023363,002290:
023364,002291: 25,2457 31303 DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
023365,002292: 25,2460 00006 EXTEND
023366,002293: 25,2461 12463 BZF DESRTRN # YES SET EXIT
023367,002294: 25,2462 05155 TC ENDOFJOB # NO
023368,002295: 25,2463 00003 DESRTRN RELINT
023369,002296: 25,2464 25112 INCR DESRET
023370,002297: 25,2465 31112 CA DESRET
023371,002298: 25,2466 14640 TCF BANKJUMP
023372,002299:
023373,002300: 25,2467 34755 NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
023374,002301: 25,2470 55303 TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
023375,002302: 25,2471 12463 TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
023376,002303:
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|
Page 546 |
023378,002305: # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
023379,002306:
023380,002307: 25,2472 02244 TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
023381,002308: 25,2473 04523 TC RRLIMCHK # TRY DIFFERENT MODE.
023382,002309: 25,2474 01110 ADRES MODEB
023383,002310: 25,2475 12502 TCF NODESSM # VEHICLE MANEUVER REQUIRED.
023384,002311:
023385,002312: 25,2476 02244 TC RMODINV # RESET BIT12
023386,002313: 25,2477 34736 CAF REMODBIT # SET FLAG FOR REMODE.
023387,002314: 25,2500 26110 ADS RADMODES
023388,002315:
023389,002316: 25,2501 12423 TCF OKDESSM
023390,002317:
023391,002318: 25,2502 02244 NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
023392,002319: 25,2503 25112 INCR DESRET # TO CALLER +2
023393,002320: 25,2504 12467 TCF NORDSTAL
023394,002321:
023395,002322: 25,2505 00074 MAXTRYS DEC 60 B-14
023396,002323:
|
|
Page 547 |
023398,002325: # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
023399,002326: # TANG AND TANG +1.
023400,002327:
023401,002328: 25,2506 04645 RRDESNB TC MAKECADR
023402,002329: 25,2507 55112 TS DESRET
023403,002330:
023404,002331: 25,2510 05516 TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
023405,002332: 25,2511 00041 ADRES LOSCMFLG # BACK TO R21
023406,002333: 25,2512 32505 CA MAXTRYS # SET TIME LIMIT COUNTER
023407,002334: 25,2513 55113 TS DESCOUNT # FOR DESIGNATE
023408,002335: 25,2514 00004 INHINT # SEE IF CURRENT MODE OK.
023409,002336: 25,2515 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023410,002337: 25,2516 01106 ADRES TANG
023411,002338: 25,2517 12534 TCF TRYSWN # SEE IF IN OTHER MODE.
023412,002339:
023413,002340: 25,2520 00003 OKDESNB RELINT
023414,002341: 25,2521 00006 EXTEND
023415,002342: 25,2522 31107 DCA TANG
023416,002343: 25,2523 53753 DXCH TANGNB
023417,002344: 25,2524 06042 TC INTPRET
023418,002345:
023419,002346: 25,2525 77624 CALL # GET LOS IN NB COORDS.
023420,002347: 25,2526 46041 RRNB
023421,002348: 25,2527 01101 STORE RRTARGET
023422,002349:
023423,002350: 25,2530 77414 SET EXIT
023424,002351: 25,2531 00071 RRNBSW
023425,002352:
023426,002353: 25,2532 00004 INHINT
023427,002354: 25,2533 12444 TCF STARTDES +1
023428,002355: 25,2534 02244 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
023429,002356: 25,2535 02551 TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
023430,002357: 25,2536 01106 ADRES TANG
023431,002358: 25,2537 12544 TCF NODESNB # NOT POSSIBLE.
023432,002359:
023433,002360: 25,2540 02244 TC RMODINV
023434,002361: 25,2541 34736 CAF REMODBIT # CALL FOR REMODE.
023435,002362: 25,2542 26110 ADS RADMODES
023436,002363: 25,2543 12520 TCF OKDESNB
023437,002364:
023438,002365: 25,2544 02244 NODESNB TC RMODINV # REINVERT MODE BIT.
023439,002366: 25,2545 05567 TC ALARM # BAD INPUT ANGLES.
023440,002367: 25,2546 00502 OCT 502
023441,002368: 25,2547 06011 TC CLRADMOD
023442,002369: 25,2550 05155 TC ENDOFJOB # AVOID 503 ALARM.
023443,002370:
023444,002371: 25,2551 50002 RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
023445,002372: 25,2552 30000 CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
023446,002373: 25,2553 24002 INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
023447,002374: 25,2554 00006 EXTEND
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|
Page 548 |
023449,002376: 25,2555 50000 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
023450,002377: 25,2556 30001 DCA 0
023451,002378: 25,2557 52062 DXCH ITEMP1
023452,002379: 25,2560 22002 LXCH Q # L(CALLER +2) TO L
023453,002380:
023454,002381: 25,2561 34740 CAF ANTENBIT # SEE WHICH MODE RR IS IN.
023455,002382: 25,2562 70110 MASK RADMODES
023456,002383: 25,2563 10000 CCS A
023457,002384: 25,2564 14550 TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
023458,002385: 25,2565 30061 CA ITEMP1
023459,002386: 25,2566 04512 TC MAGSUB # MODE 1 IS DEFINED AS
023460,002387: 25,2567 66161 DEC -.30555 # 1. ABS(T) L 55 DEGS
023461,002388: 25,2570 00001 TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
023462,002389:
023463,002390: 25,2571 30062 CA ITEMP2 # LOAD SHAFT ANGLE
023464,002391: 25,2572 00006 EXTEND
023465,002392: 25,2573 62601 BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
023466,002393: 25,2574 64562 AD 5.5DEGS
023467,002394: 25,2575 04512 SHAFTLIM TC MAGSUB
023468,002395: 25,2576 64420 DEC -.35833 # 64.5 DEGREES
023469,002396: 25,2577 00001 TC L # NOT IN LIMITS
023470,002397: 25,2600 04560 TC RRLIMOK # IN LIMITS
023471,002398: 25,2601 62603 NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
023472,002399: 25,2602 12575 TCF SHAFTLIM
023473,002400:
023474,002401: 25,2603 03512 20.5DEGS DEC .11389
023475,002402:
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|
Page 549 |
023477,002404: # PROGRAM NAME_ BEGDES
023478,002405:
023479,002406: # FUNCTIONAL DESCRIPTION_
023480,002407: # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
023481,002408: # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
023482,002409: # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
023483,002410: # CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
023484,002411: # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
023485,002412: # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
023486,002413: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
023487,002414: # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
023488,002415: # FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
023489,002416: # BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
023490,002417: # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
023491,002418: # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
023492,002419: # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
023493,002420: # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
023494,002421: # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
023495,002422: # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
023496,002423: # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
023497,002424: # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
023498,002425: # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
023499,002426: # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
023500,002427: # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
023501,002428: # (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
023502,002429: # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
023503,002430: # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
023504,002431: # BEFORE REPEATING THIS PROCEDURE AT STDESIG.
023505,002432:
023506,002433: # CALLING SEQUENCE:
023507,002434:
023508,002435: # WAITLIST CALL FROM STARTDES
023509,002436: # TCF BEGDES FROM DORREPOS
023510,002437: # TC STDESIG RETURNING, FROM REMODE
023511,002438:
023512,002439: # ERASABLE INITIALIZATION REQUIRED:
023513,002440: # DESCOUNT, RADMODES
023514,002441:
023515,002442: # SUBROUTINES CALLED_
023516,002443: # ENDRADAR, FINDVAC
023517,002444:
023518,002445: # JOBS OR TASKS INITIATED_ DODES
023519,002446:
023520,002447: # ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
023521,002448: # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
023522,002449:
023523,002450: # EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
023524,002451: # ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
023525,002452: # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
023526,002453:
023527,002454: 25,2604 40110 BEGDES CS RADMODES
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|
Page 550 |
023529,002456: 25,2605 74736 MASK REMODBIT
023530,002457: 25,2606 10000 CCS A
023531,002458: 25,2607 02613 TC STDESIG
023532,002459: 25,2610 02202 TC REMODE
023533,002460: 25,2611 05221 DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
023534,002461: 25,2612 00062 DEC 50 B-14
023535,002462:
023536,002463: 25,2613 34741 STDESIG CAF REPOSBIT
023537,002464: 25,2614 70110 MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
023538,002465: 25,2615 10000 CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
023539,002466: 25,2616 12634 TCF BADDES # REPOSITION TO BE IN PROGRESS.
023540,002467:
023541,002468: 25,2617 10110 CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
023542,002469: 25,2620 12623 TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
023543,002470: 25,2621 12623 TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
023544,002471: 25,2622 12640 TCF MOREDES +1
023545,002472:
023546,002473: 25,2623 40110 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
023547,002474: 25,2624 74742 MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
023548,002475: 25,2625 10000 CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
023549,002476: 25,2626 13551 TCF ENDRADAR # CHECKING RR CDU FAIL.
023550,002477:
023551,002478: 25,2627 11113 STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
023552,002479: 25,2630 12637 TCF MOREDES
023553,002480:
023554,002481: 25,2631 42645 CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
023555,002482: 25,2632 00006 EXTEND
023556,002483: 25,2633 03012 WAND CHAN12
023557,002484: 25,2634 05516 BADDES TC DOWNFLAG
023558,002485: 25,2635 00271 ADRES DESIGFLG
023559,002486: 25,2636 13565 TCF RDBADEND
023560,002487:
023561,002488: 25,2637 55113 MOREDES TS DESCOUNT
023562,002489: 25,2640 37717 CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
023563,002490: 25,2641 05105 TC FINDVAC
023564,002491: 25,2642 E7,1456 EBANK= LOSCOUNT
023565,002492: 25,2642 02646 52067 2CADR DODES
023566,002493:
023567,002494: 25,2644 12611 TCF DESLOOP
023568,002495:
023569,002496: 25,2645 20002 B14+B2 OCT 20002
023570,002497:
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|
Page 551 |
023572,002499: # PROGRAM NAME_ DODES
023573,002500:
023574,002501: # FUNCTIONAL DESCRIPTION_
023575,002502:
023576,002503: # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
023577,002504: # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
023578,002505: # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
023579,002506: # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
023580,002507: # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
023581,002508: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT)
023582,002509: # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S))
023583,002510: # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
023584,002511: # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
023585,002512: # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
023586,002513: # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
023587,002514: # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
023588,002515: # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
023589,002516: # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
023590,002517: # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
023591,002518: # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
023592,002519: # OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
023593,002520: # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
023594,002521: # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
023595,002522: # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023596,002523: # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
023597,002524: # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
023598,002525: # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
023599,002526: # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
023600,002527: # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
023601,002528: # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
023602,002529: # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
023603,002530: # COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
023604,002531: # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
023605,002532: # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
023606,002533: # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
023607,002534: # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
023608,002535: # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
023609,002536: # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
023610,002537: # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
023611,002538: # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
023612,002539: # VIA ENDOFJOB.
023613,002540:
023614,002541: # CALLING SEQUENCE:
023615,002542:
023616,002543: # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
023617,002544:
023618,002545: # ERASABLE INITIALIZATION REQUIRED:
023619,002546:
023620,002547: # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
023621,002548: # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
023622,002549:
023623,002550: # SUBROUTINES CALLED_
023624,002551:
023625,002552: # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
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|
Page 552 |
023627,002554:
023628,002555: # JOBS OR TASKS INITIATED_
023629,002556:
023630,002557: # NONE
023631,002558:
023632,002559: # ALARMS_ NONE
023633,002560:
023634,002561: # EXIT_ ENDOFJOB (ALWAYS)
023635,002562:
023636,002563: 25,2646 00006 DODES EXTEND
023637,002564: 25,2647 30036 DCA CDUT
023638,002565: 25,2650 53107 DXCH TANG
023639,002566:
023640,002567: 25,2651 06042 TC INTPRET
023641,002568:
023642,002569: 25,2652 77201 SETPD VLOAD
023643,002570: 25,2653 00001 0
023644,002571: 25,2654 01101 RRTARGET
023645,002572: 25,2655 74214 BON VXSC
023646,002573: 25,2656 00311 RRNBSW
023647,002574: 25,2657 52671 DONBRD # TARGET IN NAV-BASE COORDINATES
023648,002575: 25,2660 01767 MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
023649,002576: 25,2661 63372 VSL1 PDVL
023650,002577: 25,2662 01761 LOSVEL
023651,002578: 25,2663 53361 VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
023652,002579: 25,2664 13101 MCTOMS
023653,002580: 25,2665 45056 UNIT CALL
023654,002581: 25,2666 47541 CDUTRIG
023655,002582: 25,2667 77624 CALL
023656,002583: 25,2670 47673 *SMNB*
023657,002584:
023658,002585: 25,2671 14041 DONBRD STODL 32D
023659,002586: 25,2672 01110 TANG +1
023660,002587: 25,2673 41434 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
023661,002588: 25,2674 21577 CDULOGIC # (-SIN(S)).
023662,002589: 25,2675 65356 SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
023663,002590: 25,2676 41546 COS PUSH
023664,002591: 25,2677 65205 DMP PDDL
023665,002592: 25,2700 00041 32D
023666,002593: 25,2701 00045 36D
023667,002594: 25,2702 44205 DMP BDSU
023668,002595: 25,2703 00001 0
023669,002596: 25,2704 77626 STADR
023670,002597: 25,2705 76667 STORE TANG +1 # SHAFT COMMAND
023671,002598:
023672,002599: 25,2706 47135 SLOAD RTB
023673,002600: 25,2707 01107 TANG
023674,002601: 25,2710 21577 CDULOGIC
023675,002602: 25,2711 71406 PUSH COS # COS(T) TO 4.
023676,002603: 25,2712 73525 PDDL SIN
023677,002604: 25,2713 41206 PUSH DMP # SIN(T) TO 6.
023678,002605: 25,2714 00003 2
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|
Page 553 |
023680,002607: 25,2715 65352 SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
023681,002608: 25,2716 00005 4 # ( COS(T) )
023682,002609: 25,2717 41325 PDDL DMP # (SIN(T)COS(S))
023683,002610: 25,2720 00007 6
023684,002611: 25,2721 00001 0
023685,002612: 25,2722 55552 SL1 VDEF
023686,002613: 25,2723 77441 DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
023687,002614: 25,2724 00041 32D
023688,002615:
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|
Page 554 |
023690,002617: # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
023691,002618: # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
023692,002619:
023693,002620: 25,2725 40154 CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
023694,002621: 25,2726 00006 EXTEND
023695,002622: 25,2727 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023696,002623: 25,2730 55354 TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
023697,002624: 25,2731 40110 CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
023698,002625: 25,2732 74740 MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
023699,002626: 25,2733 00006 EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
023700,002627: 25,2734 12737 BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
023701,002628: 25,2735 31107 CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
023702,002629: 25,2736 12740 TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
023703,002630: 25,2737 41107 +3 CS TANG +1
023704,002631: 25,2740 00006 EXTEND
023705,002632: 25,2741 73075 MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
023706,002633: 25,2742 55355 TS SHAFTCMD # SHAFT COMMAND FOR RROUT
023707,002634: 25,2743 06042 TC INTPRET
023708,002635:
023709,002636: 25,2744 41345 DLOAD DMP
023710,002637: 25,2745 00003 2 # COS(S).
023711,002638: 25,2746 00005 4 # COS(T).
023712,002639: 25,2747 65352 SL1 PDDL # Z COMPONENT OF URR.
023713,002640: 25,2750 65276 DCOMP PDDL # Y COMPONENT = -SIN(T).
023714,002641: 25,2751 00001 0 # SIN(S).
023715,002642: 25,2752 72405 DMP SL1
023716,002643: 25,2753 00005 4 # COS(T).
023717,002644: 25,2754 43066 VDEF BON # FORM URR IN NB AXES.
023718,002645: 25,2755 00311 RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
023719,002646: 25,2756 52761 +3
023720,002647: 25,2757 77624 CALL
023721,002648: 25,2760 47675 *NBSM* # GET URR IN SM AXES.
023722,002649: 25,2761 77441 DOT EXIT
023723,002650: 25,2762 01101 RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
023724,002651:
023725,002652: 25,2763 00006 EXTEND
023726,002653: 25,2764 43077 DCS COS1/2DG
023727,002654: 25,2765 20155 DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
023728,002655: 25,2766 10154 CCS MPAC
023729,002656: 25,2767 34755 CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
023730,002657: 25,2770 12772 TCF +2
023731,002658: 25,2771 34753 CA ONE
023732,002659: 25,2772 54155 TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
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|
Page 555 |
023734,002661: # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
023735,002662:
023736,002663: 25,2773 10110 CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
023737,002664: 25,2774 12777 TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
023738,002665: 25,2775 12777 TCF SIGNLCHK # ERROR SIGNALS
023739,002666: 25,2776 13027 TCF DORROUT
023740,002667: 25,2777 10155 SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
023741,002668: 25,3000 13010 TCF DGOODCHK
023742,002669: 25,3001 40074 CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
023743,002670: 25,3002 74747 MASK LOKONBIT # PROBLEM IS FINISHED.
023744,002671: 25,3003 10000 CCS A
023745,002672: 25,3004 13015 TCF RRDESDUN
023746,002673:
023747,002674: 25,3005 34736 CAF BIT14 # ENABLE THE TRACKER.
023748,002675: 25,3006 00006 EXTEND
023749,002676: 25,3007 05012 WOR CHAN12
023750,002677:
023751,002678: 25,3010 34750 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
023752,002679: 25,3011 00006 EXTEND
023753,002680: 25,3012 02033 RAND CHAN33
023754,002681: 25,3013 10000 CCS A
023755,002682: 25,3014 13027 TCF DORROUT
023756,002683:
023757,002684: 25,3015 44742 RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
023758,002685: 25,3016 70110 MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
023759,002686: 25,3017 00004 INHINT
023760,002687: 25,3020 54110 TS RADMODES
023761,002688:
023762,002689: 25,3021 05516 TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
023763,002690: 25,3022 00041 ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
023764,002691: 25,3023 44752 CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
023765,002692: 25,3024 00006 EXTEND
023766,002693: 25,3025 03012 WAND CHAN12
023767,002694: 25,3026 15155 TCF ENDOFJOB # WITH ECTR DISABLED.
023768,002695:
023769,002696: 25,3027 30076 DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
023770,002697: 25,3030 77715 MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
023771,002698: 25,3031 00006 EXTEND
023772,002699: 25,3032 13051 BZF NOTP20
023773,002700: 25,3033 06042 TC INTPRET
023774,002701: 25,3034 74375 VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
023775,002702: 25,3035 01101 RRTARGET
023776,002703: 25,3036 01767 MLOSV
023777,002704: 25,3037 41572 VSL1 PUSH
023778,002705: 25,3040 74375 VLOAD VXSC # ADD .5 SEC. OF VELOCITY
023779,002706: 25,3041 01761 LOSVEL # TO LOS VECTOR
023780,002707: 25,3042 13101 MCTOMS
023781,002708: 25,3043 53362 VSR1 VAD
023782,002709: 25,3044 77656 UNIT
023783,002710: 25,3045 15101 STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
|
|
Page 556 |
023785,002712: 25,3046 00045 36D
023786,002713: 25,3047 01767 STORE MLOSV # AND STORE MAGNITUDE
023787,002714: 25,3050 77776 EXIT
023788,002715: 25,3051 00004 NOTP20 INHINT
023789,002716: 25,3052 40110 CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
023790,002717: 25,3053 74741 MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
023791,002718: 25,3054 10000 CCS A
023792,002719: 25,3055 02317 TC RROUT
023793,002720:
023794,002721: 25,3056 30076 CA FLAGWRD2
023795,002722: 25,3057 74740 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
023796,002723: 25,3060 00006 EXTEND # LOS COUNTER
023797,002724: 25,3061 15155 BZF ENDOFJOB
023798,002725: 25,3062 11456 CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
023799,002726: 25,3063 03073 TC DODESEND # A NEW LOS
023800,002727: 25,3064 06032 TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
023801,002728: 25,3065 52613 CADR DESLOOP +2
023802,002729: 25,3066 00003 RELINT
023803,002730: 25,3067 10067 CCS NEWJOB
023804,002731: 25,3070 05122 TC CHANG1
023805,002732: 25,3071 04616 TC BANKCALL
023806,002733: 25,3072 50732 CADR R21LEM2
023807,002734:
023808,002735: 25,3073 55456 DODESEND TS LOSCOUNT
023809,002736: 25,3074 05155 TC ENDOFJOB
023810,002737:
023811,002738: 25,3075 21122 RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
023812,002739: 25,3076 7715 BIT12,14 EQUALS PRIO24 # OCT 24000
023813,002740: 25,3076 07777 33005 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
023814,002741: 25,3100 00310 00000 MCTOMS 2DEC 100 B-13
023815,002742:
|
|
Page 557 |
023817,002744: # RADAR READ INITIALIZATION
023818,002745:
023819,002746: # RADAR DATA ARE READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW.
023820,002747:
023821,002748: 25,3102 03122 LRALT TC INITREAD -1 # ONE SAMPLE PER READING.
023822,002749: 25,3103 00017 ALLREAD OCT 17
023823,002750:
023824,002751: 25,3104 03123 LRVELZ TC INITREAD
023825,002752: 25,3105 00016 OCT 16
023826,002753:
023827,002754: 25,3106 03123 LRVELY TC INITREAD
023828,002755: 25,3107 00015 OCT 15
023829,002756:
023830,002757: 25,3110 03123 LRVELX TC INITREAD
023831,002758: 25,3111 00014 OCT 14
023832,002759:
023833,002760: 25,3112 03122 RRRDOT TC INITREAD -1
023834,002761: 25,3113 00012 OCT 12
023835,002762:
023836,002763: 25,3114 03122 RRRANGE TC INITREAD -1
023837,002764: 25,3115 00011 OCT 11
023838,002765:
023839,002766: # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE
023840,002767: # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP.
023841,002768:
023842,002769: 25,3116 55104 LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMEMTARILY
023843,002770: 25,3117 34756 CAF FIVE # SPECIFY FIVE SAMPLES
023844,002771: 25,3120 51104 INDEX TIMEHOLD
023845,002772: 25,3121 13104 TCF LRVELZ
023846,002773:
|
|
Page 558 |
023848,002775: 25,3122 34753 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE.
023849,002776: 25,3123 00004 INITREAD INHINT
023850,002777:
023851,002778: 25,3124 55104 TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING
023852,002779: 25,3125 00006 EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE
023853,002780: 25,3126 74751 MP BIT3 # ENCOUNTERED).
023854,002781: 25,3127 53105 DXCH TIMEHOLD
023855,002782:
023856,002783: 25,3130 10000 CCS A
023857,002784: 25,3131 55110 TS NSAMP
023858,002785: 25,3132 64753 AD ONE
023859,002786: # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES.
023860,002787: # DOUBLE
023861,002788: 25,3133 55077 TS SAMPLIM
023862,002789:
023863,002790: 25,3134 33156 CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS.
023864,002791: 25,3135 00006 EXTEND
023865,002792: 25,3136 02033 RAND CHAN33
023866,002793: 25,3137 55112 TS OLDATAGD
023867,002794:
023868,002795: 25,3140 43103 CS ALLREAD
023869,002796: 25,3141 00006 EXTEND
023870,002797: 25,3142 03013 WAND CHAN13 # REMOVE ALL RADAR BITS
023871,002798:
023872,002799: 25,3143 50002 INDEX Q
023873,002800: 25,3144 30000 CAF 0
023874,002801: 25,3145 04674 TC IBNKCALL
023875,002802: 25,3146 36000 CADR RADSTART
023876,002803:
023877,002804: 25,3147 00006 EXTEND
023878,002805: 25,3150 30025 DCA TIME2
023879,002806: 25,3151 21105 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT.
023880,002807:
023881,002808: 25,3152 34755 CAF ZERO
023882,002809: 25,3153 54001 TS L
023883,002810: 25,3154 53101 DXCH SAMPLSUM
023884,002811: 25,3155 12377 TCF ROADBACK
023885,002812:
023886,002813: 25,3156 00230 DGBITS OCT 230
023887,002814:
|
|
Page 559 |
023889,002816: # RADAR RUPT READER
023890,002817:
023891,002818: # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA $ LOTS MORE.
023892,002819:
023893,002820: 25,2000 SETLOC RADARUPT
023894,002821: 25,2000 BANK
023895,002822:
023896,002823: 25,3157 COUNT* $$/RRUPT
023897,002824: 25,3157 00006 RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS
023898,002825: 25,3160 04007 ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND.
023899,002826: 25,3161 54016 TS BANKRUPT
023900,002827: 25,3162 00006 EXTEND
023901,002828: 25,3163 22012 QXCH QRUPT
023902,002829:
023903,002830: 25,3164 00006 EXTEND
023904,002831: 25,3165 31454 DCA TTOGO # LOAD TIME TO TIG
023905,002832: 25,3166 53272 DXCH TTOTIG # FOR R65 RADAR READING.
023906,002833:
023907,002834: 25,3167 34757 CAF SEVEN
023908,002835: 25,3170 00006 EXTEND
023909,002836: 25,3171 02013 RAND CHAN13
023910,002837: 25,3172 55332 TS DNINDEX
023911,002838: 25,3173 00006 EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE
023912,002839: 25,3174 13200 BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS)
023913,002840: 25,3175 30046 CA RNRAD
023914,002841: 25,3176 51332 INDEX DNINDEX
023915,002842: 25,3177 55327 TS DNRRANGE -1
023916,002843: 25,3200 11077 TRYCOUNT CCS SAMPLIM
023917,002844: 25,3201 13223 TCF PLENTY
023918,002845: 25,3202 13206 TCF NOMORE
023919,002846: 25,3203 05567 TC ALARM
023920,002847: 25,3204 00520 OCT 520
023921,002848: 25,3205 05270 TC RESUME
023922,002849:
023923,002850: 25,3206 30107 NOMORE CA FLGWRD11 # IS LRBYPASS SET?
023924,002851: 25,3207 74735 MASK LRBYBIT
023925,002852: 25,3210 00006 EXTEND
023926,002853: 25,3211 13220 BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM.
023927,002854:
023928,002855: 25,3212 40077 CS FLAGWRD3 # CHECK R04FLAG.
023929,002856: 25,3213 74743 MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM-
023930,002857: 25,3214 00006 EXTEND
023931,002858: 25,3215 13220 BZF BADRAD
023932,002859:
023933,002860: 25,3216 05567 TC ALARM # P20 WANTS THE ALARM.
023934,002861: 25,3217 00521 OCT 521
023935,002862: 25,3220 44753 BADRAD CS ONE
023936,002863: 25,3221 55077 TS SAMPLIM
023937,002864: 25,3222 03563 TC RDBADEND -2
023938,002865: 25,3223 55077 PLENTY TS SAMPLIM
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|
Page 560 |
023940,002867: 25,3224 34751 CAF BIT3
023941,002868: 25,3225 00006 EXTEND
023942,002869: 25,3226 02013 RAND CHAN13 # TO FIND OUT WHICH RADAR
023943,002870: 25,3227 00006 EXTEND
023944,002871: 25,3230 13277 BZF RENDRAD
023945,002872:
023946,002873: 25,3231 03365 TC R77CHECK # R77 QUITS HERE.
023947,002874: 25,3232 36250 VELCHK CAF BIN3 # = 00003 OCT
023948,002875: 25,3233 00006 EXTEND
023949,002876: 25,3234 06013 RXOR CHAN13 # RESET ACTIVITY BIT
023950,002877: 25,3235 76250 MASK BIN3
023951,002878: 25,3236 00006 EXTEND
023952,002879: 25,3237 13273 BZF LRHEIGHT # TAKE A LR RANGE READING
023953,002880:
023954,002881: 25,3240 34733 CAF POSMAX
023955,002882: 25,3241 70046 MASK RNRAD
023956,002883: 25,3242 62000 AD LVELBIAS
023957,002884: 25,3243 54001 TS L
023958,002885: 25,3244 30046 CAE RNRAD
023959,002886: 25,3245 60000 DOUBLE
023960,002887: 25,3246 74753 MASK BIT1
023961,002888: 25,3247 52064 DXCH ITEMP3
023962,002889:
023963,002890: 25,3250 34744 CAF BIT8 # DATA GOOD ISNT CHECKED UNTIL AFTER READ-
023964,002891: 25,3251 03425 TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK
023965,002892: # INDEPENDENT OF DATA GOOD.
023966,002893:
023967,002894: 25,3252 11110 CCS NSAMP
023968,002895: 25,3253 03263 TC NOEND
023969,002896: 25,3254 44753 GOODRAD CS ONE
023970,002897: 25,3255 55077 TS SAMPLIM
023971,002898: 25,3256 40061 CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED,
023972,002899: 25,3257 70110 MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF.
023973,002900: 25,3260 54110 TS RADMODES
023974,002901: 25,3261 03612 TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD.
023975,002902: 25,3262 03556 TC RGOODEND -2
023976,002903:
023977,002904: 25,3263 55110 NOEND TS NSAMP
023978,002905: 25,3264 11077 RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE.
023979,002906: 25,3265 13267 TCF +2
023980,002907: 25,3266 13444 TCF DATAFAIL # N SAMPLES NOT AVAILABLE.
023981,002908: 25,3267 34750 CAF BIT4 # RESET ACTIVITY BIT.
023982,002909: 25,3270 04674 TC IBNKCALL
023983,002910: 25,3271 36000 CADR RADSTART
023984,002911:
023985,002912: 25,3272 05270 TC RESUME
023986,002913:
023987,002914: 25,3273 34747 LRHEIGHT CAF BIT5
023988,002915: 25,3274 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
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|
Page 561 |
023990,002917: 25,3275 34743 CAF BIT9
023991,002918: 25,3276 03321 TC SCALECHK -1
023992,002919:
023993,002920: 25,3277 34741 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF
023994,002921: 25,3300 70110 MASK RADMODES # LIMITS.
023995,002922: 25,3301 10000 CCS A
023996,002923: 25,3302 13220 TCF BADRAD
023997,002924:
023998,002925: 25,3303 40110 CS RADMODES # BE SURE RR CDU HASNT FAILED.
023999,002926: 25,3304 74745 MASK RCDUFBIT
024000,002927: 25,3305 10000 CCS A
024001,002928: 25,3306 13220 TCF BADRAD
024002,002929:
024003,002930: 25,3307 34750 CAF BIT4 # SEE IF DATA HAS BEEN GOOD.
024004,002931: 25,3310 54061 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33)
024005,002932:
024006,002933: 25,3311 34753 CAF BIT1 # SEE IF RR RDOT.
024007,002934: 25,3312 00006 EXTEND
024008,002935: 25,3313 02013 RAND CHAN13
024009,002936: 25,3314 54002 TS Q # FOR LATER TESTING.
024010,002937: 25,3315 10000 CCS A
024011,002938: 25,3316 13320 TCF +2
024012,002939: 25,3317 13332 TCF RADIN # NO SCALE CHECK FOR RR RDOT.
024013,002940: 25,3320 34751 CAF BIT3
024014,002941: 25,3321 54001 TS L
024015,002942:
024016,002943: 25,3322 00006 SCALECHK EXTEND
024017,002944: 25,3323 02033 RAND CHAN33 # SCALE STATUS NOW
024018,002945: 25,3324 56001 XCH L
024019,002946: 25,3325 70110 MASK RADMODES # SCALE STATUS BEFORE
024020,002947: 25,3326 00006 EXTEND
024021,002948: 25,3327 06001 RXOR LCHAN # SEE IF THEY DIFFER
024022,002949: 25,3330 10000 CCS A
024023,002950: 25,3331 03351 TC SCALCHNG # THEY DIFFER
024024,002951:
024025,002952: 25,3332 34733 RADIN CAF POSMAX
024026,002953: 25,3333 70046 MASK RNRAD
024027,002954: 25,3334 54064 TS ITEMP4
024028,002955:
024029,002956: 25,3335 30046 CAE RNRAD
024030,002957: 25,3336 60000 DOUBLE
024031,002958: 25,3337 74753 MASK BIT1
024032,002959: 25,3340 54063 TS ITEMP3
024033,002960:
024034,002961: 25,3341 10002 CCS Q # SEE IF RR RDOT.
024035,002962: 25,3342 13403 TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED.
024036,002963:
024037,002964: 25,3343 00006 EXTEND # IF RR RANGE RATE, THROW OUT BIAS.
024038,002965: 25,3344 42002 DCS RDOTBIAS
024039,002966: 25,3345 20064 DASAMPL DAS ITEMP3
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|
Page 562 |
024041,002968: 25,3346 30061 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND
024042,002969: 25,3347 03426 TC DGCHECK +1 # AFTER TAKING SAMPLE.
024043,002970: 25,3350 03254 TC GOODRAD
024044,002971:
024045,002972: 25,3351 22110 SCALCHNG LXCH RADMODES
024046,002973: 25,3352 64753 AD BIT1
024047,002974: 25,3353 00006 EXTEND
024048,002975: 25,3354 06001 RXOR LCHAN
024049,002976: 25,3355 54110 TS RADMODES
024050,002977: 25,3356 33156 CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS.
024051,002978: 25,3357 00006 EXTEND
024052,002979: 25,3360 02033 RAND CHAN33
024053,002980: 25,3361 55112 TS OLDATAGD
024054,002981: 25,3362 05504 TC UPFLAG # SET RNGSCFLG
024055,002982: 25,3363 00120 ADRES RNGSCFLG # FOR LRS24.1
024056,002983: 25,3364 13220 TCF BADRAD
024057,002984:
024058,002985: # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT.
024059,002986:
024060,002987: 25,3365 40101 R77CHECK CS FLAGWRD5
024061,002988: 25,3366 74741 MASK R77FLBIT
024062,002989: 25,3367 10000 CCS A
024063,002990: 25,3370 00002 TC Q # NOT R77
024064,002991: 25,3371 43402 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES
024065,002992: 25,3372 70110 MASK RADMODES
024066,002993: 25,3373 54001 TS L
024067,002994: 25,3374 33402 CA BITS5,8
024068,002995: 25,3375 00006 EXTEND
024069,002996: 25,3376 02033 RAND CHAN33
024070,002997: 25,3377 60001 AD L
024071,002998: 25,3400 54110 TS RADMODES
024072,002999: 25,3401 03556 TC RGOODEND -2
024073,003000: 25,3402 00220 BITS5,8 OCT 220
024074,003001:
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|
Page 563 |
024076,003003: # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE.
024077,003004:
024078,003005: 25,3403 10001 SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR.
024079,003006: 25,3404 13406 TCF +2 # ON HIGH SCALE.
024080,003007: 25,3405 13346 TCF DGCHECK2
024081,003008:
024082,003009: 25,3406 31332 CA DNINDEX
024083,003010: 25,3407 74751 MASK BIT3
024084,003011: 25,3410 10000 CCS A
024085,003012: 25,3411 13420 TCF LRSCK
024086,003013:
024087,003014: 25,3412 52064 DXCH ITEMP3
024088,003015: 25,3413 20001 DDOUBL
024089,003016: 25,3414 20001 DDOUBL
024090,003017: 25,3415 20001 DDOUBL
024091,003018: 25,3416 52064 DXCH ITEMP3
024092,003019:
024093,003020: 25,3417 13346 TCF DGCHECK2
024094,003021:
024095,003022: 25,3420 00006 LRSCK EXTEND
024096,003023: 25,3421 30064 DCA ITEMP3
024097,003024: 25,3422 20001 DDOUBL
024098,003025: 25,3423 20001 DDOUBL
024099,003026: 25,3424 13345 TCF DASAMPL
024100,003027:
024101,003028: 25,3425 54061 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND
024102,003029: 25,3426 00006 EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE
024103,003030: 25,3427 02033 RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF
024104,003031: 25,3430 54001 TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF
024105,003032: 25,3431 40061 CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED,
024106,003033: 25,3432 71112 MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD
024107,003034: 25,3433 60001 AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND
024108,003035: 25,3434 57112 XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA
024109,003036: 25,3435 70061 MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP.
024110,003037: 25,3436 60001 AD L
024111,003038: 25,3437 10000 CCS A # SHOULD BOTH BE ZERO.
024112,003039: 25,3440 03264 TC RESAMPLE
024113,003040: 25,3441 52064 DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO
024114,003041: 25,3442 21101 DAS SAMPLSUM # ACCUMULATION.
024115,003042: 25,3443 00002 TC Q
024116,003043:
024117,003044: 25,3444 40061 DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT
024118,003045: 25,3445 70110 MASK RADMODES # SHOWING SOME RADAR DATA FAILED.
024119,003046: 25,3446 60061 AD ITEMP1
024120,003047: 25,3447 54110 TS RADMODES
024121,003048:
024122,003049: 25,3450 52064 DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N
024123,003050: 25,3451 53101 DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY.
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|
Page 564 |
024125,003052: 25,3452 03612 TC RADLITES
024126,003053: 25,3453 13206 TCF NOMORE
024127,003054:
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|
Page 565 |
024129,003056: # CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
024130,003057:
024131,003058: 17,2000 SETLOC C13BANK
024132,003059: 17,2000 BANK
024133,003060:
024134,003061: 17,2000 54002 RADSTART TS Q
024135,003062: 17,2001 00006 +1 EXTEND
024136,003063: 17,2002 00004 READ LOSCALAR # READ PRESENT TIME
024137,003064: 17,2003 54001 TS L
024138,003065:
024139,003066: 17,2004 74346 MASK LOW5 # ONLY THE LOW 5 BITS MATTER
024140,003067: 17,2005 40000 COM
024141,003068: 17,2006 64746 AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
024142,003069: 17,2007 74346 MASK LOW5
024143,003070: 17,2010 55270 TS RADDEL
024144,003071:
024145,003072: 17,2011 67751 AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
024146,003073: 17,2012 00006 EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
024147,003074: 17,2013 62001 BZMF RADSTART +1 # BE 937.5 MICROSECONDS
024148,003075:
024149,003076: 17,2014 30002 CA Q
024150,003077: 17,2015 00006 EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
024151,003078: 17,2016 05013 WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
024152,003079:
024153,003080: 17,2017 40001 CS L
024154,003081: 17,2020 55267 TS RADTIME # SAVE NEGATIVE TIME OF READ
024155,003082: 17,2021 04707 TC ISWRETRN
024156,003083:
024157,003084: 17,2022 55266 C13STAL1 TS C13FSAV
024158,003085:
024159,003086: 17,2023 34750 CA BIT4
024160,003087: 17,2024 00006 EXTEND
024161,003088: 17,2025 02013 RAND CHAN13
024162,003089: 17,2026 00006 EXTEND
024163,003090: 17,2027 12050 BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
024164,003091:
024165,003092: 17,2030 12031 C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
024166,003093: 17,2031 00006 EXTEND
024167,003094: 17,2032 00004 READ LOSCALAR
024168,003095: 17,2033 61267 AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
024169,003096: 17,2034 64736 AD HALF
024170,003097: 17,2035 64736 AD HALF # CORRECT FOR TIME OVERFLOW
024171,003098: 17,2036 56001 XCH L
024172,003099:
024173,003100: 17,2037 32053 CA 90MSCALR
024174,003101: 17,2040 61270 AD RADDEL
024175,003102: 17,2041 00006 EXTEND
024176,003103: 17,2042 60001 SU L
|
|
Page 566 |
024178,003105: 17,2043 00006 EXTEND
024179,003106: 17,2044 62050 BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
024180,003107:
024181,003108: 17,2045 62054 AD -DTSCALR
024182,003109: 17,2046 00006 EXTEND
024183,003110: 17,2047 62030 BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
024184,003111:
024185,003112: 17,2050 22002 TCQSTAL LXCH Q # ALL IS WELL, RETURN
024186,003113: 17,2051 31266 CA C13FSAV
024187,003114: 17,2052 52005 DTCF
024188,003115:
024189,003116: 17,2053 00440 90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
024190,003117: 17,2054 77754 -DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
024191,003118:
024192,003119: 6000 SETLOC FFTAG6
024193,003120: 6000 BANK
024194,003121:
024195,003122: 6022 37727 C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
024196,003123: 6023 56004 XCH FBANK
024197,003124: 6024 12022 TCF C13STAL1
024198,003125:
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|
Page 567 |
024200,003127: # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
024201,003128:
024202,003129: 25,2000 SETLOC P20S1
024203,003130: 25,2000 BANK
024204,003131:
024205,003132: 25,3454 COUNT* $$/RSUB
024206,003133: 25,3454 00004 LRPOS2 INHINT
024207,003134:
024208,003135: 25,3455 40110 CS RADMODES
024209,003136: 25,3456 74746 MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
024210,003137: 25,3457 26110 ADS RADMODES
024211,003138:
024212,003139: 25,3460 34745 CAF BIT7
024213,003140: 25,3461 00006 EXTEND
024214,003141: 25,3462 02033 RAND CHAN33 # SEE IF ALREADY THERE.
024215,003142: 25,3463 00006 EXTEND
024216,003143: 25,3464 13513 BZF RADNOOP
024217,003144:
024218,003145: 25,3465 34737 CAF BIT13
024219,003146: 25,3466 00006 EXTEND
024220,003147: 25,3467 05012 WOR CHAN12 # COMMAND TO POSITION 2
024221,003148: 25,3470 33530 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
024222,003149: 25,3471 05203 TC WAITLIST
024223,003150: 25,3472 E7,1456 EBANK= LOSCOUNT
024224,003151: 25,3472 03526 52067 2CADR LRPOSCAN
024225,003152:
024226,003153: 25,3474 02377 TC ROADBACK
024227,003154:
024228,003155: 25,3475 55077 LRPOSNXT TS SAMPLIM
024229,003156: 25,3476 05221 TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER
024230,003157: 25,3477 00144 DEC 100 B-14 # INITIAL DELAY OF 7 SECONDS.
024231,003158:
024232,003159: 25,3500 34745 CAF BIT7 # SEE IF LR POS2 IS ON
024233,003160: 25,3501 00006 EXTEND
024234,003161: 25,3502 02033 RAND CHAN33
024235,003162: 25,3503 00006 EXTEND
024236,003163: 25,3504 13520 BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
024237,003164:
024238,003165: 25,3505 11077 CCS SAMPLIM # SEE IF MAX TIME UP.
024239,003166: 25,3506 13475 TCF LRPOSNXT
024240,003167:
024241,003168: 25,3507 44737 CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
024242,003169: 25,3510 00006 EXTEND
024243,003170: 25,3511 03012 WAND CHAN12
024244,003171: 25,3512 13565 TCF RDBADEND
024245,003172:
024246,003173: 25,3513 34753 RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED.
024247,003174: 25,3514 05203 TC WAITLIST
024248,003175: 25,3515 E7,1456 EBANK= LOSCOUNT
024249,003176: 25,3515 03560 52067 2CADR RGOODEND
|
|
Page 568 |
024251,003178: 25,3517 02377 TC ROADBACK
024252,003179:
024253,003180: 25,3520 35000 LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
024254,003181: 25,3521 05224 TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
024255,003182:
024256,003183: 25,3522 44737 CS BIT13 # REMOVE COMMAND
024257,003184: 25,3523 00006 EXTEND
024258,003185: 25,3524 03012 WAND CHAN12
024259,003186: 25,3525 13560 TCF RGOODEND
024260,003187:
024261,003188: 25,3526 34317 LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES.
024262,003189: 25,3527 13475 TCF LRPOSNXT
024263,003190: 25,3530 01130 6SECS DEC 600 B-14
024264,003191:
024265,003192: 25,3531 03454 LRP2COMM TC LRPOS2
024266,003193: 25,3532 04616 TC BANKCALL
024267,003194: 25,3533 17705 CADR RADSTALL
024268,003195: 25,3534 03536 TC LP2ALM
024269,003196: 25,3535 13547 TCF GOPINNER
024270,003197:
024271,003198: 25,3536 05567 LP2ALM TC ALARM
024272,003199: 25,3537 00523 OCT 523
024273,003200: 25,3540 13547 TCF GOPINNER
024274,003201:
024275,003202: 25,3541 35016 V59GP63 CA EBANK7
024276,003203: 25,3542 54003 TS EBANK
024277,003204: 25,3543 E7,1427 EBANK= RPCRTIME
024278,003205: 25,3543 34733 CA POSMAX
024279,003206: 25,3544 55427 TS RPCRTIME
024280,003207: 25,3545 44736 CS BIT14
024281,003208: 25,3546 55430 TS RPCRTQSW
024282,003209: 25,3547 04635 GOPINNER TC POSTJUMP
024283,003210: 25,3550 21051 CADR PINBRNCH
024284,003211:
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|
Page 569 |
024286,003213: # SEQUENCES TO TERMINATE RR OPERATIONS.
024287,003214:
024288,003215: 25,3551 34745 ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
024289,003216: 25,3552 70110 MASK RADMODES
024290,003217: 25,3553 10000 CCS A
024291,003218: 25,3554 13560 TCF RGOODEND
024292,003219: 25,3555 13565 TCF RDBADEND
024293,003220: 25,3556 44755 -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
024294,003221: 25,3557 54332 TS RUPTAGN
024295,003222:
024296,003223: 25,3560 34752 RGOODEND CAF TWO
024297,003224: 25,3561 04635 TC POSTJUMP
024298,003225: 25,3562 17656 CADR GOODEND
024299,003226:
024300,003227: 25,3563 44755 -2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
024301,003228: 25,3564 54332 TS RUPTAGN
024302,003229: 25,3565 34752 RDBADEND CAF TWO
024303,003230: 25,3566 04635 TC POSTJUMP
024304,003231: 25,3567 17653 CADR BADEND
024305,003232:
024306,003233: 25,3570 6250 BIN3 EQUALS THREE
024307,003234:
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|
Page 570 |
024309,003236: # PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
024310,003237: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024311,003238:
024312,003239: # FUNCTIONAL DESCRIPTION_
024313,003240: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
024314,003241: # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
024315,003242: # 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
024316,003243:
024317,003244: # CALLING SEQUENCE CALL
024318,003245: # LPS20.1
024319,003246:
024320,003247: # SUBROUTINES CALLED_
024321,003248: # LEMPREC, CSMPREC
024322,003249:
024323,003250: # NORMAL EXIT_ RETURN TO CALLER + 2
024324,003251:
024325,003252: # ERROR EXITS_ NONE
024326,003253:
024327,003254: # ALARMS_ NONE
024328,003255:
024329,003256: # OUTPUT_
024330,003257: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
024331,003258: # MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
024332,003259: # RRNBSW CLEARED
024333,003260:
024334,003261: # INITIALIZED ERASEABLE
024335,003262: # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
024336,003263: # SEE ORBITAL INTEGRATION ROUTINE
024337,003264:
024338,003265: # DEBRIS_
024339,003266: # MPAC DESTROYED BY THIS ROUTINE
024340,003267:
024341,003268: 23,2337 BANK 23
024342,003269: 24,2000 SETLOC P20S
024343,003270: 24,2000 BANK
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|
Page 571 |
024345,003272: 24,3256 COUNT* $$/LPS20
024346,003273:
024347,003274: 24,3256 43020 LPS20.1 STQ BOFF
024348,003275: 24,3257 01757 LS21X
024349,003276: 24,3260 01343 LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
024350,003277: 24,3261 51265 LMINT # SO CALL LEMCONIC TO GET LM STATE
024351,003278: 24,3262 77614 BON # IF IN R21 AND ON LUNAR SURFACE
024352,003279: 24,3263 04307 SURFFLAG # DON'T CALL LEMCONIC
024353,003280: 24,3264 51275 CSMINT
024354,003281: 24,3265 77624 LMINT CALL
024355,003282: 24,3266 27077 LEMCONIC # EXTRAPOLATE LEM
024356,003283: 24,3267 77775 VLOAD
024357,003284: 24,3270 00001 RATT
024358,003285: 24,3271 26352 STOVL LMPOS # SAVE LM POSITION B-29
024359,003286: 24,3272 00007 VATT
024360,003287: 24,3273 16360 STODL LMVEL # SAVE LM VELOCITY B-7
024361,003288: 24,3274 00015 TAT
024362,003289: 24,3275 34041 CSMINT STCALL TDEC1
024363,003290: 24,3276 27065 CSMCONIC # EXTRAPOLATE CSM
024364,003291: 24,3277 52375 VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
024365,003292: 24,3300 00007 VATT
024366,003293: 24,3301 02360 LMVEL
024367,003294: 24,3302 76521 MXV VSL1
024368,003295: 24,3303 01734 REFSMMAT
024369,003296: 24,3304 77776 EXIT
024370,003297: 24,3305 06032 TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
024371,003298: 24,3306 52613 CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
024372,003299: 24,3307 06042 TC INTPRET
024373,003300: 24,3310 25761 STOVL LOSVEL
024374,003301: 24,3311 00001 RATT
024375,003302: 24,3312 43051 VSU BOFF
024376,003303: 24,3313 02352 LMPOS
024377,003304: 24,3314 00350 RNDVZFLG
024378,003305: 24,3315 51322 NOTSHIFT
024379,003306: 24,3316 77604 BOVB
024380,003307: 24,3317 57754 TCDANZIG
024381,003308: 24,3320 77661 VSL
024382,003309: 24,3321 20212 9D
024383,003310: 24,3322 41056 NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER
024384,003311: 24,3323 50102 526ALARM # THAN 400 N. M.
024385,003312: 24,3324 76521 MXV VSL1
024386,003313: 24,3325 01734 REFSMMAT # CONVERT TO STABLE MEMBER
024387,003314: 24,3326 15101 STODL RRTARGET
024388,003315: 24,3327 00045 36D # SAVE MAGNITUDE OF LOS VECTOR FOR
024389,003316: 24,3330 01767 STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
024390,003317: 24,3331 77614 CLRGO
024391,003318: 24,3332 00231 RRNBSW
024392,003319: 24,3333 01757 LS21X
024393,003320:
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|
Page 572 |
024395,003322: # PROGRAM NAME_ LPS20.2 400 NM RANGE CHECK
024396,003323: # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
024397,003324:
024398,003325: # FUNCTIONAL DESCRIPTION_
024399,003326: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
024400,003327:
024401,003328: # CALLING SEQUENCE CALL
024402,003329: # LPS20.2
024403,003330:
024404,003331: # SUBROUTINES CALLED_ NONE
024405,003332:
024406,003333: # NORMAL EXIT_ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
024407,003334:
024408,003335: # ERROR EXITS_ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
024409,003336:
024410,003337: # ALARMS_ NONE
024411,003338:
024412,003339: # OUTPUT_ NONE
024413,003340:
024414,003341: # INITIALIZED ERASEABLE_
024415,003342: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
024416,003343:
024417,003344: # DEBRIS
024418,003345: # MPAC DESTROYED BY THIS ROUTINE
024419,003346:
024420,003347: 25,2000 SETLOC P20S1
024421,003348: 25,2000 BANK
024422,003349: 25,3570 COUNT* $$/LPS20
024423,003350:
024424,003351: 25,3570 45345 LPS20.2 DLOAD DSU
024425,003352: 25,3571 01767 MLOSV # MAGNITUDE OF LOS
024426,003353: 25,3572 13603 FHNM # OVER 400NM _
024427,003354: 25,3573 77644 BPL
024428,003355: 25,3574 53577 TOFAR
024429,003356: 25,3575 43535 SLOAD RVQ
024430,003357: 25,3576 06524 ZERO/SP
024431,003358: 25,3577 43535 TOFAR SLOAD RVQ
024432,003359: 25,3600 13602 ONE/SP
024433,003360: 25,3601 00001 ONE/SP DEC 1 B-14
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|
Page 573 |
024435,003362: 25,3602 26467 00000 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
024436,003363:
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|
Page 574 |
024438,003365: # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
024439,003366: # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
024440,003367:
024441,003368: # FUNCTIONAL DESCRIPTION
024442,003369: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS
024443,003370: # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR
024444,003371: # RR REPOSITION AND RR CDU FAIL
024445,003372: # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
024446,003373:
024447,003374: # CALLING SEQUENCE: BANKCALL FOR LRS22.1
024448,003375:
024449,003376: # SUBROUTINES CALLED:
024450,003377: # RRRDOT LPS20.1
024451,003378: # RRRANGE BANKCALL
024452,003379: # RADSTALL CDULOGIC
024453,003380: # RRNB SMNB
024454,003381:
024455,003382: # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
024456,003383:
024457,003384: # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
024458,003385: # 00001 - ERROR EXIT 1 - RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
024459,003386: # 00002 - ERROR EXIT 2 - RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
024460,003387:
024461,003388: # ALARMS: 521 - COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
024462,003389: # (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
024463,003390:
024464,003391: # OUTPUT: RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) - A HALF-UNIT VECTOR
024465,003392: # RM - THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED B-29 (USED BY LRS22.2 AND LRS22.3)
024466,003393:
024467,003394: # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
024468,003395: # RDOTM - THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED B-7
024469,003396: # RRTRUN - RR TRUNION ANGLE, DP, IN REVOLUTIONS, SCALED B0
024470,003397: # RRSHAFT - RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0
024471,003398: # AIG,AMG,AOG - THE CDU ANGLES, THREE SP WORDS
024472,003399: # MKTIME - THE TIME OF THE RR READING, DP, IN CENTISECONDS
024473,003400:
024474,003401: # ERASABLE INITIALIZATION REQUIRED:
024475,003402: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
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|
Page 575 |
024477,003404: # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
024478,003405: # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT
024479,003406: # THE CDU ANGLES FROM CDUX, CDUY, CDUZ AND TIME1 AND TIME2
024480,003407:
024481,003408: # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST
024482,003409:
024483,003410: 32,2366 BANK 32
024484,003411: 32,2000 SETLOC LRS22
024485,003412: 32,2000 BANK
024486,003413: 32,2366 COUNT* $$/LRS22
024487,003414:
024488,003415: 32,2366 04645 LRS22.1 TC MAKECADR
024489,003416: 32,2367 55737 TS LRS22.1X
024490,003417: 32,2370 05516 TC DOWNFLAG
024491,003418: 32,2371 00120 ADRES RNGSCFLG
024492,003419: 32,2372 00004 INHINT
024493,003420: 32,2373 34751 CAF BIT3
024494,003421: 32,2374 00006 EXTEND # GET RR RANGE SCALE
024495,003422: 32,2375 02033 RAND CHAN33 # FROM CHANNEL 33 BIT 3
024496,003423: 32,2376 54001 TS L
024497,003424: 32,2377 44751 CS RRRSBIT
024498,003425: 32,2400 70110 MASK RADMODES
024499,003426: 32,2401 60001 AD L
024500,003427: 32,2402 54110 TS RADMODES
024501,003428: 32,2403 00003 RELINT
024502,003429: 32,2404 04616 READRDOT TC BANKCALL
024503,003430: 32,2405 53112 CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
024504,003431: 32,2406 04616 TC BANKCALL
024505,003432: 32,2407 17705 CADR RADSTALL # WAIT FOR DATA READ COMPLETION
024506,003433: 32,2410 12543 TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
024507,003434:
024508,003435: 32,2411 00004 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
024509,003436: 32,2412 53105 DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
024510,003437: 32,2413 52162 DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
024511,003438: 32,2414 53101 DXCH SAMPLSUM # SAVE RANGE-RATE READING
024512,003439: 32,2415 53747 DXCH RDOTMSAV
024513,003440: 32,2416 00006 EXTEND
024514,003441: 32,2417 30034 DCA CDUY # SAVE ICDU ANGLES
024515,003442: 32,2420 52160 DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
024516,003443: 32,2421 30032 CA CDUX
024517,003444: 32,2422 54156 TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
024518,003445: 32,2423 00006 EXTEND
024519,003446: 32,2424 30025 DCA TIME2 # SAVE TIME
024520,003447: 32,2425 52155 DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
024521,003448: 32,2426 00006 EXTEND
024522,003449: 32,2427 30036 DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
024523,003450: 32,2430 53107 DXCH TANG
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|
Page 576 |
024525,003452: 32,2431 00003 RELINT
024526,003453: 32,2432 04616 TC BANKCALL
024527,003454: 32,2433 53114 CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
024528,003455: 32,2434 04616 TC BANKCALL
024529,003456: 32,2435 17705 CADR RADSTALL # WAIT FOR READ COMPLETE
024530,003457: 32,2436 02537 TC CHEXERR # CHECK FOR ERRORS DURING READ
024531,003458: 32,2437 00004 INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
024532,003459: 32,2440 00006 EXTEND
024533,003460: 32,2441 31331 DCA DNRRANGE # RANGE, RANGE RATE (RAW DATA)
024534,003461: 32,2442 53761 DXCH RANGRDOT
024535,003462: 32,2443 52162 DXCH MPAC +5
024536,003463: 32,2444 53755 DXCH MKTIME # MARK TIME
024537,003464: 32,2445 52160 DXCH MPAC +3
024538,003465: 32,2446 53460 DXCH AIG # CDUY, CDUZ
024539,003466: 32,2447 00006 EXTEND
024540,003467: 32,2450 31107 DCA TANG # PRESERVE TANG
024541,003468: 32,2451 53753 DXCH TANGNB # TRUNNION AND SHAFT ANGLES
024542,003469: 32,2452 30156 CA MPAC +2
024543,003470: 32,2453 55461 TS AOG # CDUX
024544,003471: 32,2454 06042 TC INTPRET
024545,003472: 32,2455 14025 STODL 20D # SAVE TIME OF CDU READINGS IN 20D
024546,003473: 32,2456 03747 RDOTMSAV # CONVERT RDOT UNITS AND SCALING
024547,003474: 32,2457 57261 SL DMPR # START WITH READING SCALED B-28, -.6278
024548,003475: 32,2460 20217 14D # FT./SECOND PER BIT
024549,003476: 32,2461 24002 RDOTCONV # END WITH METERS/CENTISECOND, B-7
024550,003477: 32,2462 03751 STORE RDOTM
024551,003478: 32,2463 47135 SLOAD RTB
024552,003479: 32,2464 01107 TANG # GET TRUNION ANGLE
024553,003480: 32,2465 21577 CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
024554,003481: 32,2466 03734 STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
024555,003482: 32,2467 47135 SLOAD RTB
024556,003483: 32,2470 01110 TANG +1 # DITTO FOR SHAFT ANGLE
024557,003484: 32,2471 21577 CDULOGIC
024558,003485: 32,2472 17736 STODL RRSHAFT
024559,003486: 32,2473 01101 SAMPLSUM
024560,003487: 32,2474 66405 DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
024561,003488: 32,2475 24004 RANGCONV # PER BIT, END WITH METERS, SCALED -29
024562,003489: 32,2476 37757 STCALL RM
024563,003490: 32,2477 46041 RRNB # COMPUTE RADAR LOS USING RRNB
024564,003491: 32,2500 17741 STODL RRBORSIT # AND SAVE
024565,003492: 32,2501 00025 20D
024566,003493: 32,2502 34041 STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
024567,003494: 32,2503 51256 LPS20.1
024568,003495: 32,2504 77776 EXIT
024569,003496: 32,2505 31457 CA AIG # STORE IMU CDU ANGLES AT MARKTIME
024570,003497: 32,2506 54765 TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
024571,003498: 32,2507 31460 CA AMG
024572,003499: 32,2510 54767 TS CDUSPOT +2
024573,003500: 32,2511 31461 CA AOG
024574,003501: 32,2512 54771 TS CDUSPOT +4
|
|
Page 577 |
024576,003503: 32,2513 06042 TC INTPRET
024577,003504: 32,2514 45175 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
024578,003505: 32,2515 01101 RRTARGET
024579,003506: 32,2516 47653 TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
024580,003507: 32,2517 77641 DOT # DOT WITH RADAR LOS TO GET ANGLE
024581,003508: 32,2520 03741 RRBORSIT
024582,003509: 32,2521 65552 SL1 ACOS # BETWEEN THEM
024583,003510: 32,2522 01045 STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
024584,003511: 32,2523 50025 DSU BMN # IS IT LESS THAN 3 DEGREES
024585,003512: 32,2524 24547 THREEDEG
024586,003513: 32,2525 64532 NORMEXIT # YES - NORMAL EXIT
024587,003514:
024588,003515: 32,2526 77776 EXIT # ERROR EXIT 2
024589,003516: 32,2527 34752 CAF BIT2 # SET ERROR CODE
024590,003517: 32,2530 54154 TS MPAC
024591,003518: 32,2531 12535 TCF OUT22.1
024592,003519:
024593,003520: 32,2532 77776 NORMEXIT EXIT # NORMAL EXIT - SET MPAC EQUAL ZERO
024594,003521: 32,2533 34755 CAF ZERO
024595,003522: 32,2534 54154 TS MPAC
024596,003523: 32,2535 31737 OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
024597,003524: 32,2536 04640 TC BANKJUMP
024598,003525: 32,2537 30101 CHEXERR CAE FLAGWRD5
024599,003526: 32,2540 74742 MASK RNGSCBIT
024600,003527: 32,2541 10000 CCS A # CHECK IF RANGE SCALE CHANGED
024601,003528: 32,2542 12404 TCF READRDOT # YES - TAKE ANOTHER READING
024602,003529:
024603,003530: 32,2543 34753 EREXIT1 CA BIT1 # SET ERROR CODE
024604,003531: 32,2544 54154 TS MPAC
024605,003532: 32,2545 02535 TC OUT22.1
024606,003533: 32,2546 00210 21042 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0
024607,003534:
024608,003535: 32,2550 1100 RRLOSVEC EQUALS RRTARGET
024609,003536:
|
|
Page 578 |
024611,003538: # PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
024612,003539: # MOD. NO.: 1 BY: P VOLANTE SDC DATE 4-11-67
024613,003540:
024614,003541: # FUNCTIONAL DESCRIPTION-
024615,003542: # 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
024616,003543:
024617,003544: # CALLING SEQUENCE - BANKCALL FOR LRS22.2
024618,003545:
024619,003546: # SUBROUTINES CALLED: G+N, AUTO SETMAXDB
024620,003547:
024621,003548: # NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
024622,003549:
024623,003550: # ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 - RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
024624,003551:
024625,003552: # ALARMS - NONE IN THE AUTO MODE
024626,003553:
024627,003554: # ERASABLE INITIALIZATION REQUIRED -
024628,003555: # RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR - A HALF UNIT VECTOR COMPUTED BY LRS22.1
024629,003556: # RM - RR RANGE, METERS B-29, FROM LRS22.1
024630,003557: # BIT 14 CHANNEL 31 - INDICATES AUTOPILOT IS IN AUTO MODE
024631,003558:
024632,003559: # DEBRIS - A,L,Q MPAC - PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
024633,003560:
024634,003561: 24,2000 SETLOC P20S
024635,003562: 24,2000 BANK
024636,003563: 24,3334 04645 LRS22.2 TC MAKECADR
024637,003564: 24,3335 55737 TS LRS22.1X
024638,003565: 24,3336 06042 TC INTPRET
024639,003566: # CHECK IF RR LOS IS WITHIN 30 DEG OF
024640,003567: 24,3337 65545 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
024641,003568: 24,3340 03745 RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
024642,003569: # LOS VECTOR, A HALF UNIT VECTOR
024643,003570: # IN NAV BASE AXES)
024644,003571: 24,3341 50025 DSU BMN
024645,003572: 24,3342 11356 30DEG
024646,003573: 24,3343 51350 OKEXIT # NORMAL EXIT - WITHIN 30 DEG.
024647,003574: 24,3344 77776 EXIT # ERROR EXIT - NOT WITHIN 30 DEG.
024648,003575: 24,3345 34753 CAF BIT1 # SET ERROR CODE IN MPAC
024649,003576: 24,3346 54154 TS MPAC
024650,003577: 24,3347 13353 TCF OUT22.2
024651,003578: 24,3350 77776 OKEXIT EXIT # NORMAL EXIT - SET MPAC = ZERO
024652,003579:
|
|
Page 579 |
024654,003581: 24,3351 34755 CAF ZERO
024655,003582: 24,3352 54154 TS MPAC
024656,003583: 24,3353 31737 OUT22.2 CAE LRS22.1X
024657,003584: 24,3354 04640 TC BANKJUMP
024658,003585:
024659,003586: 24,3355 02525 12525 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0
024660,003587:
|
|
Page 580 |
024662,003589: # PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
024663,003590: # MOD. NO 3 LOG SECTION - P20-25
024664,003591: # MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
024665,003592:
024666,003593: # FUNCTIONAL DESCRIPTION
024667,003594: # THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
024668,003595: # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
024669,003596: # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
024670,003597:
024671,003598: # CALLING SEQUENCE
024672,003599: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM
024673,003600: # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
024674,003601: # COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
024675,003602: # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
024676,003603: # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
024677,003604: # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK.
024678,003605:
024679,003606: # SUBROUTINES CALLED
024680,003607: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
024681,003608: # GETULC RARARANG INCORP2 NBSM INTSTALL
024682,003609:
024683,003610: # OUTPUT
024684,003611: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
024685,003612: # NUMBER OF MARKS INCORPORATED IN MARKCTR
024686,003613: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
024687,003614: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
024688,003615: # UPDATED W-MATRIX
024689,003616:
024690,003617: # ERASABLE INITIALIZATION REQUIRED
024691,003618: # LM AND CSM STATE VECTORS
024692,003619: # W-MATRIX
024693,003620: # MARK TIME IN MKTIME
024694,003621: # RADAR RANGE IN RM METERS B-29
024695,003622: # RANGE RATE IN RDOTM METERS/CSES B-7
024696,003623: # SHAFT ANGLE IN RRSHAFT REVS. B0
024697,003624: # TRUNNION ANGLE IN RRTRUN REVS. B0
024698,003625: # GIMBAL ANGLES INNER IN AIG
024699,003626: # MIDDLE IN AMG
024700,003627: # OUTER IN AOG
024701,003628: # REFSMMAT
024702,003629: # RENDWFLG
024703,003630: # NOANGFLG
024704,003631: # VEHUPFLG
024705,003632:
024706,003633: # DEBRIS
024707,003634: # PUSHLIST -- ALL
024708,003635: # MX, MY, MZ (VECTORS)
|
|
Page 581 |
024710,003637: # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T
024711,003638:
024712,003639: 13,2207 BANK 13
024713,003640: 26,2000 SETLOC P20S3
024714,003641: 26,2000 BANK
024715,003642:
024716,003643: 26,2416 E7,1456 EBANK= LOSCOUNT
024717,003644: 26,2416 COUNT* $$/LSR22
024718,003645: 26,2416 77624 LSR22.3 CALL
024719,003646: 26,2417 11210 GRP2PC
024720,003647: 26,2420 43014 BON SET
024721,003648: 26,2421 04307 SURFFLAG # ARE WE ON LUNAR SURFACE
024722,003649: 26,2422 55200 LSR22.4 # YES
024723,003650: 26,2423 02466 DMENFLG
024724,003651: 26,2424 45014 BOFF CALL
024725,003652: 26,2425 00747 VEHUPFLG
024726,003653: 26,2426 54460 DOLEM
024727,003654: 26,2427 27410 INTSTALL
024728,003655: 26,2430 45014 CLEAR CALL # LM PRECISION INTEGRATION
024729,003656: 26,2431 01674 VINTFLAG
024730,003657: 26,2432 26643 SETIFLGS
024731,003658: 26,2433 77624 CALL
024732,003659: 26,2434 55242 INTGRCAL
024733,003660: 26,2435 77624 CALL
024734,003661: 26,2436 11210 GRP2PC
024735,003662: 26,2437 77624 CALL
024736,003663: 26,2440 27410 INTSTALL
024737,003664: 26,2441 43014 CLEAR BOFF
024738,003665: 26,2442 01676 DIM0FLAG
024739,003666: 26,2443 02756 RENDWFLG
024740,003667: 26,2444 54450 NOTWCSM
024741,003668: 26,2445 43014 SET SET # CSM WITH W-MATRIX INTEGRATION
024742,003669: 26,2446 01476 DIM0FLAG
024743,003670: 26,2447 01475 D6OR9FLG
024744,003671: 26,2450 43014 NOTWCSM SET CLEAR
024745,003672: 26,2451 01474 VINTFLAG
024746,003673: 26,2452 01673 INTYPFLG
024747,003674: 26,2453 45014 SET CALL
024748,003675: 26,2454 01472 STATEFLG
024749,003676: 26,2455 55242 INTGRCAL
024750,003677: 26,2456 77650 GOTO
024751,003678: 26,2457 54510 MARKTEST
024752,003679: 26,2460 77624 DOLEM CALL
024753,003680: 26,2461 27410 INTSTALL
024754,003681: 26,2462 45014 SET CALL
024755,003682: 26,2463 01474 VINTFLAG
024756,003683: 26,2464 26643 SETIFLGS
024757,003684: 26,2465 77624 CALL
024758,003685: 26,2466 55242 INTGRCAL
|
|
Page 582 |
024760,003687: 26,2467 77624 CALL
024761,003688: 26,2470 11210 GRP2PC
024762,003689: 26,2471 77624 CALL
024763,003690: 26,2472 27410 INTSTALL
024764,003691: 26,2473 43014 CLEAR BOFF
024765,003692: 26,2474 01676 DIM0FLAG
024766,003693: 26,2475 02756 RENDWFLG
024767,003694: 26,2476 54502 NOTWLEM
024768,003695: 26,2477 43014 SET SET # LM WITH W-MATRIX INTEGRATION
024769,003696: 26,2500 01476 DIM0FLAG
024770,003697: 26,2501 01475 D6OR9FLG
024771,003698: 26,2502 43014 NOTWLEM CLEAR CLEAR
024772,003699: 26,2503 01673 INTYPFLG
024773,003700: 26,2504 01674 VINTFLAG
024774,003701: 26,2505 45014 SET CALL
024775,003702: 26,2506 01472 STATEFLG
024776,003703: 26,2507 55242 INTGRCAL
024777,003704: 26,2510 45014 MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
024778,003705: 26,2511 02716 RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
024779,003706: 26,2512 54514 RANGEBQ
024780,003707: 26,2513 55251 WLINIT # YES - REINITIALIZE
024781,003708: 26,2514 77414 RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
024782,003709: 26,2515 04307 SURFFLAG
024783,003710: 26,2516 54524 RANGEBQ1
024784,003711: 26,2517 34755 CA ZERO
024785,003712: 26,2520 55745 TS R65CNTR
024786,003713: 26,2521 04616 TC BANKCALL
024787,003714: 26,2522 46123 CADR R65LEM
024788,003715: 26,2523 06042 TC INTPRET
024789,003716: 26,2524 43174 RANGEBQ1 AXT,2 BON # CLEAR X2
024790,003717: 26,2525 00000 0
024791,003718: 26,2526 04304 LMOONFLG # IS MOON SPHERE OF INFLUENCE
024792,003719: 26,2527 54532 SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
024793,003720: 26,2530 77714 INCR,2
024794,003721: 26,2531 00002 2
024795,003722: 26,2532 45134 SETX2 SXA,2 CALL
024796,003723: 26,2533 03720 SCALSHFT # 0 - MOON. 2 - EARTH
024797,003724: 26,2534 11210 GRP2PC
024798,003725: 26,2535 66170 AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
024799,003726: 26,2536 00001 1
024800,003727: 26,2537 01356 WHCHREAD
024801,003728: 26,2540 54335 SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
024802,003729: 26,2541 01775 RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
024803,003730: 26,2542 20635 28D
024804,003731: 26,2543 77634 RTB
024805,003732: 26,2544 21634 TPMODE # AND SAVE IN 20D
024806,003733: 26,2545 00025 STORE 20D
024807,003734: 26,2546 77624 CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ
024808,003735: 26,2547 55333 GETULC # B-VECTORS FOR RANGE
024809,003736: 26,2550 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
|
|
Page 583 |
024811,003738: 26,2551 00707 VEHUPFLG
024812,003739: 26,2552 54553 +1
024813,003740: 26,2553 27525 STOVL BVECTOR
024814,003741: 26,2554 06524 ZEROVECS
024815,003742: 26,2555 03533 STORE BVECTOR +6 # B1
024816,003743: 26,2556 17541 STODL BVECTOR +12D # B2
024817,003744: 26,2557 00045 36D
024818,003745: 26,2560 44257 SRR* BDSU
024819,003746: 26,2561 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
024820,003747: 26,2562 03757 RM # RM - (MAGNITUDE RCSM-RLM)
024821,003748: 26,2563 77657 SLR*
024822,003749: 26,2564 56574 2,2 # SHIFT TO EARTH/MOON SPHERE
024823,003750: 26,2565 17547 STODL DELTAQ # EARTH B-29. MOON B-27
024824,003751: 26,2566 00045 36D # RLC B-29/B-27
024825,003752: 26,2567 63501 NORM DSQ # NORMALIZE AND SQUARE
024826,003753: 26,2570 00047 X1
024827,003754: 26,2571 53605 DMP SR*
024828,003755: 26,2572 01771 RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN
024829,003756: 26,2573 20577 0 -2,1 # UNNORMALIZE
024830,003757: 26,2574 53657 SR* SR*
024831,003758: 26,2575 20601 0,1
024832,003759: 26,2576 57176 0,2
024833,003760: 26,2577 47057 SR* RTB
024834,003761: 26,2600 57176 0,2
024835,003762: 26,2601 21634 TPMODE
024836,003763: 26,2602 02707 STORE VARIANCE # B-40
024837,003764: 26,2603 76276 DCOMP TAD
024838,003765: 26,2604 00025 20D # B-40
024839,003766: 26,2605 72240 BMN TLOAD
024840,003767: 26,2606 54611 QOK
024841,003768: 26,2607 00025 20D # B-40
024842,003769: 26,2610 02707 STORE VARIANCE
024843,003770: 26,2611 77624 QOK CALL
024844,003771: 26,2612 55401 LGCUPDTE
024845,003772:
024846,003773: 26,2613 45131 SSP CALL
024847,003774: 26,2614 01357 WHCHREAD
024848,003775: 26,2615 00002 DEC 2 B-14 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
024849,003776: 26,2616 11210 GRP2PC
024850,003777: 26,2617 77624 CALL # B-VECTOR, DELTAQ FOR RANGE RATE
024851,003778: 26,2620 55333 GETULC
024852,003779: 26,2621 53725 PDDL SR* # GET RLC SCALED B-29/B-27
024853,003780: 26,2622 00045 36D # AND SHIFT TO B-23
024854,003781: 26,2623 57202 0 -4,2
024855,003782: 26,2624 24045 STOVL 36D # THEN STORE BACK IN 36D
024856,003783: 26,2625 57414 BON VCOMP # B1, COMP. IF LM BEING CORRECTED
024857,003784: 26,2626 00707 VEHUPFLG
024858,003785: 26,2627 54630 +1
024859,003786: 26,2630 77761 VXSC
024860,003787: 26,2631 00045 36D # B1 = RLC (B-24/B-22)
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|
Page 584 |
024862,003789: 26,2632 27533 STOVL BVECTOR +6
024863,003790: 26,2633 01653 NUVLEM
024864,003791: 26,2634 53257 VSR* VAD
024865,003792: 26,2635 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024866,003793: 26,2636 01667 VCVLEM # EARTH B-7. MOON B-5
024867,003794: 26,2637 53715 PDVL VSR* # VL TO PD6
024868,003795: 26,2640 01601 NUVCSM
024869,003796: 26,2641 57170 6,2 # SHIFT FOR EARTH/MOON SPHERE
024870,003797: 26,2642 52255 VAD VSU
024871,003798: 26,2643 01615 VCVCSM
024872,003799: 26,2644 50315 PDVL DOT # VC - VL = VLC TO PD6
024873,003800: 26,2645 00001 0
024874,003801: 26,2646 00007 6
024875,003802: 26,2647 53606 PUSH SRR* # RDOT B-8/B-6 TO PD12
024876,003803: 26,2650 56174 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
024877,003804: 26,2651 57316 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
024878,003805: 26,2652 01773 RATEVAR
024879,003806: 26,2653 02707 STORE VARIANCE
024880,003807: 26,2654 54335 SLOAD SR
024881,003808: 26,2655 01776 VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
024882,003809: 26,2656 20621 16D # SHIFT TO DP (B-4)
024883,003810: 26,2657 00031 STORE 24D # AND SAVE IN 24D
024884,003811: 26,2660 50025 DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
024885,003812: 26,2661 02707 VARIANCE
024886,003813: 26,2662 54666 VOK # BRANCH - NO
024887,003814: 26,2663 77745 DLOAD # YES - USE MINIMUM VARIANCE
024888,003815: 26,2664 00031 24D
024889,003816: 26,2665 02707 STORE VARIANCE
024890,003817: 26,2666 60545 VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6
024891,003818: 26,2667 53725 PDDL SLR* # TO B-10/B-8
024892,003819: 26,2670 03751 RDOTM # SHIFT TO EARTH/MOON SPHERE
024893,003820: 26,2671 56577 0 -1,2 # B-7 TO B-10/B-8
024894,003821: 26,2672 77625 DSU
024895,003822: 26,2673 77675 DMPR
024896,003823: 26,2674 00045 36D
024897,003824: 26,2675 27547 STOVL DELTAQ # B-33
024898,003825: 26,2676 00001 0 # NOW GET B0
024899,003826: 26,2677 47235 VXV VXV # (ULC X VLC) X ULC
024900,003827: 26,2700 57414 BON VCOMP # B0, COMP. IF LM BEING CORRECTED
024901,003828: 26,2701 00707 VEHUPFLG
024902,003829: 26,2702 54703 +1
024903,003830: 26,2703 77657 VSR*
024904,003831: 26,2704 57200 0 -2,2 # SCALED B-5
024905,003832: 26,2705 27525 STOVL BVECTOR
024906,003833: 26,2706 06524 ZEROVECS
024907,003834: 26,2707 00025 STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
024908,003835: 26,2710 27541 STOVL BVECTOR +12D
024909,003836: 26,2711 03525 BVECTOR
024910,003837: 26,2712 60246 ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
024911,003838: 26,2713 00025 20D # SHIFT COUNT IN 20D
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|
Page 585 |
024913,003840: 26,2714 51575 VLOAD ABVAL
024914,003841: 26,2715 03533 BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
024915,003842: 26,2716 71301 NORM DLOAD
024916,003843: 26,2717 00027 22D # SHIFT COUNT IN 22D
024917,003844: 26,2720 00027 22D # FIND WHICH SHIFT IS SMALLER
024918,003845: 26,2721 50025 DSU BMN # BRANCH - B0 HAS SMALLER SHIFT COUNT
024919,003846: 26,2722 00025 20D
024920,003847: 26,2723 54727 VOK1
024921,003848: 26,2724 52150 LXA,1 GOTO
024922,003849: 26,2725 00026 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
024923,003850: 26,2726 54731 VOK2
024924,003851: 26,2727 77750 VOK1 LXA,1
024925,003852: 26,2730 00024 20D
024926,003853: 26,2731 53775 VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE
024927,003854: 26,2732 03525 BVECTOR # WITH THI SSHIFT COUNT
024928,003855: 26,2733 20201 0,1
024929,003856: 26,2734 27525 STOVL BVECTOR
024930,003857: 26,2735 03533 BVECTOR +6
024931,003858: 26,2736 77657 VSL*
024932,003859: 26,2737 20201 0,1
024933,003860: 26,2740 17533 STODL BVECTOR +6
024934,003861: 26,2741 03547 DELTAQ
024935,003862: 26,2742 77657 SL*
024936,003863: 26,2743 20201 0,1
024937,003864: 26,2744 03547 STORE DELTAQ
024938,003865: 26,2745 53745 DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
024939,003866: 26,2746 00045 36D
024940,003867: 26,2747 20200 0 -1,1
024941,003868: 26,2750 41316 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
024942,003869: 26,2751 02707 VARIANCE
024943,003870: 26,2752 47012 SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
024944,003871: 26,2753 21634 TPMODE
024945,003872: 26,2754 36707 STCALL VARIANCE # AND STORE TP VARIANCE
024946,003873: 26,2755 55401 LGCUPDTE
024947,003874:
024948,003875: 26,2756 77624 CALL
024949,003876: 26,2757 11210 GRP2PC
024950,003877: 26,2760 77414 BON EXIT # ARE ANGLES TO BE DONE
024951,003878: 26,2761 04307 SURFFLAG
024952,003879: 26,2762 55176 RENDEND # NO
024953,003880: 26,2763 E7,1457 EBANK= AIG
024954,003881: 26,2763 33332 MXMYMZ CAF AIGBANK
024955,003882: 26,2764 54006 TS BBANK
024956,003883: 26,2765 31457 CA AIG # YES, COMPUTE MX, MY, MZ
024957,003884: 26,2766 54765 TS CDUSPOT
024958,003885: 26,2767 31460 CA AMG
024959,003886: 26,2770 54767 TS CDUSPOT +2
024960,003887: 26,2771 31461 CA AOG
024961,003888: 26,2772 54771 TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
024962,003889: 26,2773 06042 TC INTPRET
|
|
Page 586 |
024964,003891: 26,2774 45175 VLOAD CALL
024965,003892: 26,2775 06522 UNITX
024966,003893: 26,2776 47666 TRG*NBSM
024967,003894: 26,2777 76505 VXM VSL1
024968,003895: 26,3000 01734 REFSMMAT
024969,003896: 26,3001 27677 STOVL MX
024970,003897: 26,3002 06520 UNITY
024971,003898: 26,3003 77624 CALL
024972,003899: 26,3004 47675 *NBSM*
024973,003900: 26,3005 76505 VXM VSL1
024974,003901: 26,3006 01734 REFSMMAT
024975,003902: 26,3007 27705 STOVL MY
024976,003903: 26,3010 06516 UNITZ
024977,003904: 26,3011 77624 CALL
024978,003905: 26,3012 47675 *NBSM*
024979,003906: 26,3013 76505 VXM VSL1
024980,003907: 26,3014 01734 REFSMMAT
024981,003908: 26,3015 37713 SHAFTBQ STCALL MZ
024982,003909: 26,3016 55361 RADARANG
024983,003910: 26,3017 77331 SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
024984,003911: 26,3020 01357 WHCHREAD
024985,003912: 26,3021 00003 DEC 3 B-14
024986,003913: 26,3022 03724 ULC
024987,003914: 26,3023 72441 DOT SL1
024988,003915: 26,3024 03677 MX
024989,003916: 26,3025 24023 STOVL SINTH # 18D
024990,003917: 26,3026 03724 ULC
024991,003918: 26,3027 72441 DOT SL1
024992,003919: 26,3030 03713 MZ
024993,003920: 26,3031 34021 STCALL COSTH # 16D
024994,003921: 26,3032 26506 ARCTAN
024995,003922: 26,3033 41221 BDSU DMP
024996,003923: 26,3034 03736 RRSHAFT
024997,003924: 26,3035 15441 2PI/8
024998,003925: 26,3036 41472 SL3R PUSH
024999,003926: 26,3037 52545 DLOAD SL3
025000,003927: 26,3040 01701 X789
025001,003928: 26,3041 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025002,003929: 26,3042 56176 0,2
025003,003930: 26,3043 53605 DMP SRR*
025004,003931: 26,3044 03722 RXZ
025005,003932: 26,3045 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025006,003933: 26,3046 27547 STOVL DELTAQ # EARTH B-29. MOON B-27
025007,003934: 26,3047 03724 ULC
025008,003935: 26,3050 76435 VXV VSL1
025009,003936: 26,3051 03705 MY
025010,003937: 26,3052 77656 UNIT
025011,003938: 26,3053 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025012,003939: 26,3054 00747 VEHUPFLG
025013,003940: 26,3055 55056 +1
|
|
Page 587 |
025015,003942: 26,3056 27525 STOVL BVECTOR
025016,003943: 26,3057 06524 ZEROVECS
025017,003944: 26,3060 03533 STORE BVECTOR +6
025018,003945: 26,3061 17541 STODL BVECTOR +12D
025019,003946: 26,3062 03722 RXZ
025020,003947: 26,3063 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025021,003948: 26,3064 20577 0 -2,1
025022,003949: 26,3065 56176 0,2
025023,003950: 26,3066 03541 STORE BVECTOR +12D
025024,003951: 26,3067 77735 SLOAD
025025,003952: 26,3070 02011 SHAFTVAR
025026,003953: 26,3071 41215 DAD DMP
025027,003954: 26,3072 15436 IMUVAR # RAD**2 B12
025028,003955: 26,3073 03722 RXZ
025029,003956: 26,3074 41257 SRR* DMP
025030,003957: 26,3075 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025031,003958: 26,3076 03722 RXZ
025032,003959: 26,3077 53657 SR* SR*
025033,003960: 26,3100 20577 0 -2,1
025034,003961: 26,3101 57176 0,2
025035,003962: 26,3102 47057 SR* RTB
025036,003963: 26,3103 57176 0,2
025037,003964: 26,3104 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025038,003965: 26,3105 36707 STCALL VARIANCE # B-40
025039,003966: 26,3106 55401 LGCUPDTE
025040,003967:
025041,003968: 26,3107 77624 CALL
025042,003969: 26,3110 11210 GRP2PC
025043,003970: 26,3111 77624 TRUNBQ CALL
025044,003971: 26,3112 55361 RADARANG
025045,003972: 26,3113 77331 SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
025046,003973: 26,3114 01357 WHCHREAD
025047,003974: 26,3115 00004 DEC 4 B-14
025048,003975: 26,3116 03724 ULC
025049,003976: 26,3117 76435 VXV VSL1
025050,003977: 26,3120 03705 MY
025051,003978: 26,3121 76435 VXV VSL1 # (ULC X MY) X ULC
025052,003979: 26,3122 03724 ULC
025053,003980: 26,3123 57414 BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
025054,003981: 26,3124 00747 VEHUPFLG
025055,003982: 26,3125 55126 +1
025056,003983: 26,3126 27525 STOVL BVECTOR
025057,003984: 26,3127 06524 ZEROVECS
025058,003985: 26,3130 03533 STORE BVECTOR +6
025059,003986: 26,3131 17541 STODL BVECTOR +12D
025060,003987: 26,3132 03722 RXZ
025061,003988: 26,3133 53657 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
025062,003989: 26,3134 20577 0 -2,1
025063,003990: 26,3135 56176 0,2
025064,003991: 26,3136 03543 STORE BVECTOR +14D
|
|
Page 588 |
025066,003993: 26,3137 77735 SLOAD
025067,003994: 26,3140 02012 TRUNVAR
025068,003995: 26,3141 41215 DAD DMP
025069,003996: 26,3142 15436 IMUVAR
025070,003997: 26,3143 03722 RXZ
025071,003998: 26,3144 41257 SRR* DMP
025072,003999: 26,3145 21601 0,1 # SHIFT TO EARTH/MOON SPHERE
025073,004000: 26,3146 03722 RXZ
025074,004001: 26,3147 53657 SR* SR*
025075,004002: 26,3150 20577 0 -2,1
025076,004003: 26,3151 57176 0,2
025077,004004: 26,3152 47057 SR* RTB
025078,004005: 26,3153 57176 0,2
025079,004006: 26,3154 21634 TPMODE # STORE VARIANCE TRIPLE PRECISION
025080,004007: 26,3155 16707 STODL VARIANCE
025081,004008: 26,3156 03732 SINTHETA
025082,004009: 26,3157 44336 ASIN BDSU # SIN THETA IN PD6
025083,004010: 26,3160 03734 RRTRUN
025084,004011: 26,3161 56405 DMP SL3R
025085,004012: 26,3162 15441 2PI/8
025086,004013: 26,3163 52525 PDDL SL3
025087,004014: 26,3164 01703 X789 +2
025088,004015: 26,3165 44257 SRR* BDSU # SHIFT FROM -5/-3 TO B0
025089,004016: 26,3166 56176 0,2
025090,004017: 26,3167 53605 DMP SRR*
025091,004018: 26,3170 03722 RXZ
025092,004019: 26,3171 21601 0,1
025093,004020: 26,3172 37547 STCALL DELTAQ # EARTH B-29. MOON B-27
025094,004021: 26,3173 55401 LGCUPDTE
025095,004022: 26,3174 77624 CALL
025096,004023: 26,3175 11210 GRP2PC
025097,004024: 26,3176 77650 RENDEND GOTO
025098,004025: 26,3177 50562 R22LEM93
025099,004026:
025100,004027: # FUNCTIONAL DESCRIPTION
025101,004028: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
025102,004029: # COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
025103,004030: # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
025104,004031:
025105,004032: # SUBROUTINES CALLED
025106,004033: # INSTALL LGCUPDTE INCORP1 RP-TO-R
025107,004034: # INTEGRV GETULC INCORP2
025108,004035:
025109,004036: # OUTPUT
025110,004037: # CORRECTED CSM STATE VECTOR (PERMANENT)
025111,004038: # NUMBER OF MARKS INCORPORATED IN MARKCTR
025112,004039: # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29
025113,004040: # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
025114,004041: # UPDATED W-MATRIX
|
|
Page 589 |
025116,004043:
025117,004044: # ERASABLE INITIALIZATION REQUIRED
025118,004045: # LM AND CSM STATE VECTORS
025119,004046: # W-MATRIX
025120,004047: # MARK TIME IN MKTIME
025121,004048: # RADAR RANGE IN RM METERS B-29
025122,004049: # RANGE RATE IN RDOTM METERS/CSEC B-7
025123,004050: # VEHUPFLG
025124,004051:
025125,004052: 26,3200 77624 LSR22.4 CALL
025126,004053: 26,3201 27410 INTSTALL
025127,004054: 26,3202 43014 SET CLEAR
025128,004055: 26,3203 01472 STATEFLG
025129,004056: 26,3204 01674 VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
025130,004057: 26,3205 77624 CALL
025131,004058: 26,3206 55242 INTGRCAL
025132,004059: 26,3207 77624 CALL
025133,004060: 26,3210 11210 GRP2PC
025134,004061: 26,3211 45014 CLEAR CALL
025135,004062: 26,3212 02666 DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
025136,004063: 26,3213 27410 INTSTALL
025137,004064: 26,3214 46145 DLOAD BHIZ # IS THIS FIRST TIME THROUGH
025138,004065: 26,3215 03463 MARKCTR
025139,004066: 26,3216 55231 INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
025140,004067: 26,3217 43014 CLEAR SET
025141,004068: 26,3220 01675 D6OR9FLG
025142,004069: 26,3221 01476 DIM0FLAG
025143,004070: 26,3222 43014 SET CLEAR
025144,004071: 26,3223 01474 VINTFLAG
025145,004072: 26,3224 01673 INTYPFLG
025146,004073: 26,3225 77624 CALL
025147,004074: 26,3226 55242 INTGRCAL
025148,004075: 26,3227 77650 GOTO
025149,004076: 26,3230 54514 RANGEBQ
025150,004077:
025151,004078: 26,3231 77624 INITWMX6 CALL
025152,004079: 26,3232 55251 WLINIT # INITIALIZE W-MATRIX
025153,004080: 26,3233 45014 SET CALL
025154,004081: 26,3234 01474 VINTFLAG
025155,004082: 26,3235 26643 SETIFLGS
025156,004083: 26,3236 77624 CALL
025157,004084: 26,3237 55242 INTGRCAL
025158,004085: 26,3240 77650 GOTO
025159,004086: 26,3241 54514 RANGEBQ
025160,004087:
025161,004088: # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
025162,004089:
025163,004090: 26,3242 71220 INTGRCAL STQ DLOAD
025164,004091: 26,3243 03675 IGRET
025165,004092: 26,3244 03755 MKTIME
|
|
Page 590 |
025167,004094: 26,3245 34041 STCALL TDEC1
025168,004095: 26,3246 27133 INTEGRV
025169,004096: 26,3247 77650 GOTO
025170,004097: 26,3250 03675 IGRET
025171,004098:
025172,004099: # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
025173,004100: # DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
025174,004101:
025175,004102: 26,3251 E5,1400 EBANK= W
025176,004103: 26,3251 77776 WLINIT EXIT
025177,004104: 26,3252 33331 CAF WBANK
025178,004105: 26,3253 54006 TS BBANK
025179,004106: 26,3254 33437 CAF WSIZE
025180,004107: 26,3255 55256 TS W.IND
025181,004108: 26,3256 34755 CAF ZERO
025182,004109:
025183,004110: 26,3257 51256 INDEX W.IND
025184,004111: 26,3260 55400 TS W
025185,004112: 26,3261 11256 CCS W.IND
025186,004113: 26,3262 03255 TC -5
025187,004114: 26,3263 33332 CAF AIGBANK # RESTORE EBANK 7
025188,004115: 26,3264 54006 TS BBANK
025189,004116: 26,3265 06042 TC INTPRET
025190,004117: 26,3266 67214 BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH
025191,004118: 26,3267 04307 SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
025192,004119: 26,3270 55274 WLSRFPOS # WRENDPOS AND WRENDVEL
025193,004120: 26,3271 02001 WRENDPOS
025194,004121: 26,3272 77650 GOTO
025195,004122: 26,3273 55276 WPOSTORE
025196,004123: 26,3274 77735 WLSRFPOS SLOAD
025197,004124: 26,3275 02007 WSURFPOS
025198,004125: 26,3276 77661 WPOSTORE SR # SHIFT TO B-19 SCALE
025199,004126: 26,3277 20606 5
025200,004127: 26,3300 02401 STORE W
025201,004128: 26,3301 02411 STORE W +8D
025202,004129: 26,3302 02421 STORE W +16D
025203,004130: 26,3303 67214 BON SLOAD
025204,004131: 26,3304 04307 SURFFLAG
025205,004132: 26,3305 55311 WLSRFVEL
025206,004133: 26,3306 02002 WRENDVEL
025207,004134: 26,3307 77650 GOTO
025208,004135: 26,3310 55313 WVELSTOR
025209,004136: 26,3311 77735 WLSRFVEL SLOAD
025210,004137: 26,3312 02010 WSURFVEL
025211,004138: 26,3313 02511 WVELSTOR STORE W +72D
025212,004139: 26,3314 02521 STORE W +80D
025213,004140: 26,3315 02531 STORE W +88D
025214,004141: 26,3316 77735 SLOAD
025215,004142: 26,3317 02003 WSHAFT
025216,004143: 26,3320 02621 STORE W +144D
025217,004144: 26,3321 77735 SLOAD
|
|
Page 591 |
025219,004146: 26,3322 02004 WTRUN
025220,004147: 26,3323 02631 STORE W +152D
025221,004148: 26,3324 66214 SET SSP # SET RENDWFLG - W-MATRIX VALID
025222,004149: 26,3325 02476 RENDWFLG
025223,004150: 26,3326 03463 MARKCTR # SET MARK COUNTER EQUAL ZERO
025224,004151: 26,3327 00000 0
025225,004152: 26,3330 77616 RVQ
025226,004153:
025227,004154: 26,3331 E5,1400 EBANK= W
025228,004155: 26,3331 54065 WBANK BBCON WLINIT
025229,004156: 26,3332 E7,1457 EBANK= AIG
025230,004157: 26,3332 54067 AIGBANK BBCON LSR22.3
025231,004158:
025232,004159: # GETULC
025233,004160:
025234,004161: # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
025235,004162: # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
025236,004163: # MAGNITUDE IN 36D.
025237,004164:
025238,004165: 26,3333 77201 GETULC SETPD VLOAD
025239,004166: 26,3334 00001 0
025240,004167: 26,3335 01645 DELTALEM
025241,004168: 26,3336 77754 LXA,2
025242,004169: 26,3337 03720 SCALSHFT # LOAD X2 WITH SCALE SHIFT
025243,004170: 26,3340 53257 VSR* VAD
025244,004171: 26,3341 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025245,004172: 26,3342 01661 RCVLEM
025246,004173: 26,3343 53715 PDVL VSR*
025247,004174: 26,3344 01573 DELTACSM
025248,004175: 26,3345 57165 9D,2 # SHIFT FOR EARTH/MOON SPHERE
025249,004176: 26,3346 52255 VAD VSU
025250,004177: 26,3347 01607 RCVCSM
025251,004178: 26,3350 41434 RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
025252,004179: 26,3351 21725 NORMUNX1
025253,004180: 26,3352 17724 STODL ULC
025254,004181: 26,3353 00045 36D
025255,004182: 26,3354 77657 SL* # ADJUST MAGNITUDE FROM NORMUNIT
025256,004183: 26,3355 20201 0,1
025257,004184: 26,3356 24045 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
025258,004185: 26,3357 03724 ULC
025259,004186: 26,3360 77616 RVQ
025260,004187:
025261,004188: # RADARANG
025262,004189:
025263,004190: # THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
025264,004191: # RXZ = (SQRT (1-SINTHETA**2))RLC
025265,004192: # OUTPUT
025266,004193: # ULC IN ULC, PD0
025267,004194: # RLC IN PD36D
025268,004195: # SIN THETA IN SINTHETA AND PD6
025269,004196: # RXZ NORM IN RXZ (N IN X1)
|
|
Page 592 |
025271,004198:
025272,004199: 26,3361 45020 RADARANG STQ CALL
025273,004200: 26,3362 03675 RDRET
025274,004201: 26,3363 55333 GETULC
025275,004202: 26,3364 50276 VCOMP DOT
025276,004203: 26,3365 03705 MY
025277,004204: 26,3366 41572 SL1R PUSH # SIN THETA TO PD6
025278,004205: 26,3367 03732 STORE SINTHETA
025279,004206: 26,3370 44316 DSQ BDSU
025280,004207: 26,3371 06514 DP1/4TH # 1-(SIN THETA)**2
025281,004208: 26,3372 41366 SQRT DMP
025282,004209: 26,3373 00045 36D
025283,004210: 26,3374 60352 SL1 NORM
025284,004211: 26,3375 00047 X1 # SET SHIFT COUNTER IN X1
025285,004212: 26,3376 03722 STORE RXZ
025286,004213: 26,3377 77650 GOTO # EXIT
025287,004214: 26,3400 03675 RDRET
025288,004215: 26,3401 45020 LGCUPDTE STQ CALL
025289,004216: 26,3402 03675 LGRET
025290,004217: 26,3403 46533 INCORP1
025291,004218: 26,3404 51575 VLOAD ABVAL
025292,004219: 26,3405 02673 DELTAX +6
025293,004220: 26,3406 53754 LXA,2 SRR*
025294,004221: 26,3407 03720 SCALSHFT # 0 - MOON. 2 - EARTH
025295,004222: 26,3410 56174 2,2 # SET VEL DISPLAY TO B-7
025296,004223: 26,3411 24317 STOVL R22DISP +2
025297,004224: 26,3412 02665 DELTAX
025298,004225: 26,3413 53646 ABVAL SRR*
025299,004226: 26,3414 56174 2,2 # SET POS DISPLAY TO B-29
025300,004227: 26,3415 00315 STORE R22DISP
025301,004228: 26,3416 54335 SLOAD SR
025302,004229: 26,3417 02005 RMAX
025303,004230: 26,3420 20613 10D
025304,004231: 26,3421 50025 DSU BMN
025305,004232: 26,3422 00315 R22DISP
025306,004233: 26,3423 50566 R22LEM96 # GO DISPLAY
025307,004234: 26,3424 45335 SLOAD DSU
025308,004235: 26,3425 02006 VMAX
025309,004236: 26,3426 00317 R22DISP +2 # VMAX MINUS VEL. DEVIATION
025310,004237: 26,3427 77640 BMN
025311,004238: 26,3430 50566 R22LEM96 # GO DISPLAY
025312,004239: 26,3431 77624 ASTOK CALL
025313,004240: 26,3432 46745 INCORP2
025314,004241: 26,3433 77650 GOTO
025315,004242: 26,3434 03675 LGRET
025316,004243: 26,3435 00103 03370 IMUVAR 2DEC 1 E-6 B12 # RAD**2
025317,004244:
025318,004245: 26,3437 00241 WSIZE DEC 161 B-14
025319,004246: 26,3440 31103 36652 2PI/8 2DEC 3.141592653 B-2
025320,004247:
025321,004248: 26,3442 E7,1456 EBANK= LOSCOUNT
025322,004249:
|
|
Page 593 |
025324,004251: # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
025325,004252: # MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
025326,004253:
025327,004254: # FUNCTIONAL DESCRIPTION
025328,004255:
025329,004256: # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
025330,004257: # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
025331,004258: # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
025332,004259: # ATTITUDE MANEUVER.
025333,004260:
025334,004261: # CALLING SEQUENCE - BANKCALL FOR LRS24.1
025335,004262:
025336,004263: # SUBROUTINES CALLED
025337,004264:
025338,004265: # LEMCONIC R61LEM
025339,004266: # CSMCONIC RRDESSM
025340,004267: # JOBDELAY FLAGDOWN
025341,004268: # WAITLIST FLAGUP
025342,004269: # RRNB BANKCALL
025343,004270:
025344,004271: # EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
025345,004272:
025346,004273: # OUTPUT
025347,004274:
025348,004275: # DATAGOOD (SP) - FOR DISPLAY IN R1 - 00000 INDICATES NO LOCKON
025349,004276: # 11111 INDICATES LOCKON ACHIEVED
025350,004277: # OMEGAD (SP) - FOR DISPLAY IN R2 - ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
025351,004278:
025352,004279: # ERASABLE INITIALIZATION REQUIRED
025353,004280:
025354,004281: # SEARCH FLAG MUST BE SET
025355,004282: # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
025356,004283:
025357,004284: # DEBRIS
025358,004285:
025359,004286: # RLMSRCH UXVECT
025360,004287: # VXRLM UYVECT
025361,004288: # LOSDESRD NSRCHPNT
025362,004289: # DATAGOOD OMEGAD
025363,004290: # MPAC PUSHLIST
025364,004291:
025365,004292: 26,3442 COUNT* $$/LRS24
025366,004293: 26,3442 34755 LRS24.1 CAF ZERO
025367,004294: 26,3443 55736 TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
025368,004295: 26,3444 34736 CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
025369,004296: 26,3445 00006 EXTEND
|
|
Page 594 |
025371,004298: 26,3446 05012 WOR CHAN12
025372,004299: 26,3447 34736 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
025373,004300: 26,3450 70076 MASK FLAGWRD2 # (SRCHOPT FLAG SET)
025374,004301: 26,3451 00006 EXTEND
025375,004302: 26,3452 15155 BZF ENDOFJOB # NO-TERMINATE JOB
025376,004303:
025377,004304: 26,3453 33713 CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
025378,004305: 26,3454 00004 INHINT
025379,004306: 26,3455 05203 TC WAITLIST # IN 6 SECONDS
025380,004307: 26,3456 E7,1456 EBANK= LOSCOUNT
025381,004308: 26,3456 03643 54067 2CADR CALLDGCH
025382,004309:
025383,004310: 26,3460 00003 RELINT
025384,004311: 26,3461 40110 CS RADMODES # IS REMODE IN PROGRESS
025385,004312: 26,3462 74736 MASK REMODBIT
025386,004313: 26,3463 00006 EXTEND
025387,004314: 26,3464 15155 BZF ENDOFJOB # YES - WAIT SIX SECONDS
025388,004315: 26,3465 06042 TC INTPRET
025389,004316:
025390,004317: 26,3466 43234 RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
025391,004318: 26,3467 21574 LOADTIME
025392,004319: 26,3470 15715 1.5SECS
025393,004320: 26,3471 34041 LRS24.11 STCALL TDEC1
025394,004321: 26,3472 27077 LEMCONIC # EXTRAPOLATE LM STATE VECTOR
025395,004322: 26,3473 77775 VLOAD
025396,004323: 26,3474 00001 RATT
025397,004324: 26,3475 27676 STOVL RLMSRCH # SAVE LEM POSITION
025398,004325: 26,3476 00007 VATT
025399,004326: 26,3477 17740 STODL SAVLEMV # SAVE LEM VELOCITY
025400,004327: 26,3500 00015 TAT
025401,004328: 26,3501 34041 STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
025402,004329: 26,3502 27065 CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
025403,004330: 26,3503 52375 VLOAD VSU # LOS VECTOR = R(CSM) - R(LM)
025404,004331: 26,3504 00001 RATT
025405,004332: 26,3505 03676 RLMSRCH
025406,004333: 26,3506 77656 UNIT
025407,004334: 26,3507 27712 STOVL LOSDESRD # STORE DESIRED LOS
025408,004335: 26,3510 00007 VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
025409,004336: 26,3511 47256 UNIT VXV
025410,004337: 26,3512 00001 RATT
025411,004338: 26,3513 77656 UNIT
025412,004339: 26,3514 03704 STORE VXRCM
025413,004340: 26,3515 52375 VLOAD VSU
025414,004341: 26,3516 00007 VATT
025415,004342: 26,3517 03740 SAVLEMV
025416,004343: 26,3520 76521 MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
025417,004344: 26,3521 01734 REFSMMAT
025418,004345: 26,3522 03740 STORE SAVLEMV # VLC = V(CSM) - V(LM)
025419,004346: 26,3523 53135 SLOAD BZE # CHECK IF N=0
|
|
Page 595 |
025421,004348: 26,3524 03737 NSRCHPNT
025422,004349: 26,3525 55636 DESGLOS # YES - DESIGNATE ALONG LOS
025423,004350: 26,3526 53025 DSU BZE # IS N=1
025424,004351: 26,3527 15711 ONEOCT # YES - CALCULATE X AND Y AXES OF
025425,004352: 26,3530 55623 CALCXY # SEARCH PATTERN COORDINATE SYSTEM
025426,004353: 26,3531 77775 VLOAD # NO - ROTATE X-Y AXES TO NEXT SEARCH POINT
025427,004354: 26,3532 03720 UXVECT
025428,004355: 26,3533 24015 STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
025429,004356: 26,3534 03726 UYVECT # UXPRIME = ORIGINAL UX
025430,004357: 26,3535 00023 STORE UYVECTPR # UYPRIME = ORIGINAL UY
025431,004358: 26,3536 77761 VXSC
025432,004359: 26,3537 15705 SIN60DEG # UX = (COS 60) UXPR + (SIN 60) UYPR
025433,004360: 26,3540 27720 STOVL UXVECT
025434,004361: 26,3541 00015 UXVECTPR
025435,004362: 26,3542 53361 VXSC VAD
025436,004363: 26,3543 06522 COS60DEG
025437,004364: 26,3544 03720 UXVECT
025438,004365: 26,3545 77656 UNIT
025439,004366: 26,3546 27720 STOVL UXVECT
025440,004367: 26,3547 00015 UXVECTPR # UY = (-SIN 60) UXPR + (COS 60) UYPR
025441,004368: 26,3550 77761 VXSC
025442,004369: 26,3551 15705 SIN60DEG
025443,004370: 26,3552 27726 STOVL UYVECT
025444,004371: 26,3553 00023 UYVECTPR
025445,004372: 26,3554 52361 VXSC VSU
025446,004373: 26,3555 06522 COS60DEG
025447,004374: 26,3556 03726 UYVECT
025448,004375: 26,3557 77656 UNIT
025449,004376: 26,3560 03726 STORE UYVECT
025450,004377: 26,3561 53361 OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
025451,004378: 26,3562 15707 OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
025452,004379: 26,3563 03712 LOSDESRD # DESIRED POINT IN SEARCH PATTERN
025453,004380: 26,3564 64256 UNIT MXV
025454,004381: 26,3565 01734 REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
025455,004382: 26,3566 77772 VSL1
025456,004383: 26,3567 25101 CONTDESG STOVL RRTARGET
025457,004384: 26,3570 03740 SAVLEMV
025458,004385: 26,3571 01761 STORE LOSVEL
025459,004386: 26,3572 77776 EXIT
025460,004387: 26,3573 00004 INHINT
025461,004388: 26,3574 06032 TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
025462,004389: 26,3575 52613 CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
025463,004390: # POINT IN THE PATTERN
025464,004391: 26,3576 44735 CONTDES2 CS CDESBIT
025465,004392: 26,3577 70110 MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
025466,004393: 26,3600 64735 AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
025467,004394: 26,3601 54110 TS RADMODES
025468,004395: 26,3602 06042 TC INTPRET
025469,004396:
025470,004397: 26,3603 77624 CALL
|
|
Page 596 |
025472,004399: 26,3604 52404 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
025473,004400:
025474,004401: 26,3605 77776 EXIT
025475,004402: 26,3606 03675 TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
025476,004403: 26,3607 03675 TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
025477,004404:
025478,004405: # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
025479,004406: # SPACECRAFT +Z AXIS
025480,004407: 26,3610 00006 OMEGCALC EXTEND
025481,004408: 26,3611 30036 DCA CDUT
025482,004409: 26,3612 53753 DXCH TANGNB
025483,004410: 26,3613 06042 TC INTPRET
025484,004411: 26,3614 77624 CALL
025485,004412: 26,3615 46041 RRNB
025486,004413: 26,3616 65545 DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
025487,004414: 26,3617 00045 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
025488,004415: 26,3620 03735 STORE OMEGDISP # STORE FOR DISPLAY IN R2
025489,004416: 26,3621 77776 EXIT
025490,004417: 26,3622 05155 TC ENDOFJOB
|
|
Page 597 |
025492,004419: # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
025493,004420:
025494,004421: 26,3623 47375 CALCXY VLOAD VXV
025495,004422: 26,3624 03704 VXRCM
025496,004423: 26,3625 03712 LOSDESRD
025497,004424: 26,3626 77656 UNIT
025498,004425: 26,3627 27720 STOVL UXVECT # UX = (VLM X RLM) X LOS
025499,004426: 26,3630 03712 LOSDESRD
025500,004427: 26,3631 53435 VXV UNIT
025501,004428: 26,3632 03720 UXVECT
025502,004429: 26,3633 03726 STORE UYVECT # UY = LOS X UX
025503,004430: 26,3634 77650 GOTO
025504,004431: 26,3635 55561 OFFCALC
025505,004432:
025506,004433: 26,3636 64375 DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
025507,004434: 26,3637 03712 LOSDESRD
025508,004435: 26,3640 01734 REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
025509,004436: 26,3641 52172 VSL1 GOTO
025510,004437: 26,3642 55567 CONTDESG
025511,004438:
025512,004439: 26,3643 30074 CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
025513,004440: 26,3644 74745 MASK RNDVZBIT
025514,004441: 26,3645 00006 EXTEND
025515,004442: 26,3646 15261 BZF TASKOVER # NO - EXIT R24
025516,004443: 26,3647 37716 CAF PRIO25 # YES - SCHEDULE JOB TO DRIVE RADAR TO NEXT
025517,004444: 26,3650 05105 TC FINDVAC # POINT IN SEARCH PATTERN
025518,004445: 26,3651 E7,1675 EBANK= RLMSRCH
025519,004446: 26,3651 03654 54067 2CADR DATGDCHK
025520,004447:
025521,004448: 26,3653 05261 TC TASKOVER
025522,004449:
025523,004450: 26,3654 34750 DATGDCHK CAF BIT4
025524,004451: 26,3655 00006 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
025525,004452: 26,3656 02033 RAND CHAN33
025526,004453: 26,3657 00006 EXTEND
025527,004454: 26,3660 13667 BZF STORE1S # YES - GO TO STORE 11111 FOR DISPLAY IN R1
025528,004455: 26,3661 46245 CS SIX
025529,004456: 26,3662 61736 AD NSRCHPNT # IS N GREATER THAN 6
025530,004457: 26,3663 00006 EXTEND
025531,004458: 26,3664 13442 BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
025532,004459: 26,3665 25736 INCR NSRCHPNT # NO - SET N = N+1 AN GO TO
025533,004460: 26,3666 13444 TCF CHKSRCH # NEXT POINT IN PATTERN
025534,004461:
025535,004462: 26,3667 33703 STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
025536,004463: 26,3670 55733 TS DATAGOOD
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|
Page 598 |
025538,004465: 26,3671 00004 INHINT
025539,004466: 26,3672 06032 TC KILLTASK # DELETE DESIGNATE TASK FROM
025540,004467: 26,3673 52613 CADR DESLOOP +2 # WAITLIST USING KILLTASK
025541,004468: 26,3674 05155 TC ENDOFJOB
025542,004469:
025543,004470: 26,3675 05567 LIMALARM TC ALARM # ISSUE ALARM 527 - LOS NOT IN MODE2
025544,004471: 26,3676 00527 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
025545,004472: 26,3677 00004 INHINT # REQUIRED IN P20
025546,004473: 26,3700 06032 TC KILLTASK # KILL WAITLIST CALL FOR NEXT
025547,004474: 26,3701 55643 CADR CALLDGCH # POINT IN SEARCH PATTERN
025548,004475: 26,3702 05155 TC ENDOFJOB
025549,004476:
025550,004477: 26,3703 25547 ALL1S DEC 11111 B-14
025551,004478: 26,3704 33555 01106 SIN60DEG 2DEC .86603
025552,004479: 26,3706 23,2521 COS60DEG = DPHALF # (2DEC .50)
025553,004480: 26,3706 UXVECTPR EQUALS 12D # PREVIOUS
025554,004481: 26,3706 UYVECTPR EQUALS 18D
025555,004482: 26,3706 RLMUNIT EQUALS 12D
025556,004483: 26,3706 01642 11045 OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
025557,004484: 26,3710 00001 ONEOCT OCT 00001 # **** NOTE - THESE TWO CONSTANTS MUST ****
025558,004485: 26,3711 00000 00454 3SECONDS 2DEC 300 B-28 # **** BE IN THIS ORDER BECAUSE ****
025559,004486: # **** ONEOCT NEEDS A LOWER ORDER ****
025560,004487: # **** WORD OF ZEROES ****
025561,004488: 26,3713 01130 6SECONDS DEC 600 B-14
025562,004489: 26,3714 00000 00226 1.5SECS 2DEC 150 B-28
025563,004490:
025564,004491: 26,3716 23,2523 ZERO/SP EQUALS HI6ZEROS
025565,004492:
025566,004493: 4616 BLOCK 02
025567,004494: 6000 SETLOC FFTAG5
025568,004495: 6000 BANK
025569,004496: 6025 COUNT* $$/P20
025570,004497: 6025 00006 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
025571,004498: 6026 36031 DCA VB56CADR # GOTOPOOH
025572,004499: 6027 15165 TCF SUPDXCHZ
025573,004500: 6030 E7,1471 EBANK= WHOCARES
025574,004501: 6030 03045 66107 VB56CADR 2CADR TRMTRACK
025575,004502:
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|
Page 599 |
025577,004504: # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT)
025578,004505: # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968.
025579,004506:
025580,004507: # FUNCTIONAL DESCRIPTION:
025581,004508:
025582,004509: # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTED LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE
025583,004510: # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF
025584,004511: # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT
025585,004512: # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR
025586,004513: # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN
025587,004514: # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT.
025588,004515:
025589,004516: # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER
025590,004517:
025591,004518: # SUBROUTINES CALLED:
025592,004519:
025593,004520: # REMODE RRTONLY
025594,004521: # UNIT MPACVBUF
025595,004522: # QUICTRIG AX*SR*T
025596,004523: # SPSIN SPCOS
025597,004524: # SETRRECR RROUT
025598,004525: # RRRDOT RRRANGE
025599,004526:
025600,004527: # EXIT: TO NOR29NOW, IN SERVICER.
025601,004528:
025602,004529: # OUTPUT: (ALL FOR DOWNLINK)
025603,004530:
025604,004531: # RM RDOTM (RAW)
025605,004532: # AIG AMG
025606,004533: # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT,
025607,004534: # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000.
025608,004535: # MKTIME
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|
Page 600 |
025610,004537:
025611,004538: # ERASABLE INITIALIZATION REQUIRED:
025612,004539:
025613,004540: # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29)
025614,004541: # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START)
025615,004542: # R(CSM) V(CSM)
025616,004543: # R V (PIPTIME THRU V BY AVE G IN SERVICER)
025617,004544:
025618,004545: # DEBRIS:
025619,004546:
025620,004547: # RADMODES (BIT 10)
025621,004548: # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL)
025622,004549: # SAVECDUT OLDESFLG (SAVECDUT = MLOSV)
025623,004550: # LOSCMFLG READRFLG
025624,004551:
025625,004552: # ALARMS: NONE.
025626,004553:
025627,004554: # COMPONENT JOBS AND TASKS:
025628,004555:
025629,004556: # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE; ALWAYS: TASK PREPOS29.
025630,004557: # DESIGNATING: TASK BEGDES29 & JOB R29DODES.
025631,004558: # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE.
025632,004559:
025633,004560: 33,2045 BANK 33
025634,004561: 33,2000 SETLOC R29/SERV
025635,004562: 33,2000 BANK
025636,004563:
025637,004564: 33,2045 COUNT* $$/R29
025638,004565:
025639,004566: 33,2045 5014 NR29&RDR EQUALS EBANK5
025640,004567:
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|
Page 601 |
025642,004569: # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA
025643,004570: # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE).
025644,004571:
025645,004572: 33,2045 40110 R29 CS RADMODES
025646,004573: 33,2046 74742 MASK DESIGBIT
025647,004574: 33,2047 00006 EXTEND
025648,004575: 33,2050 12123 BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON.
025649,004576:
025650,004577: 33,2051 00004 INHINT
025651,004578: 33,2052 26110 ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON.
025652,004579: 33,2053 44736 CS BIT14
025653,004580: 33,2054 00006 EXTEND
025654,004581: 33,2055 03012 WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE.
025655,004582: 33,2056 44740 CS LOSCMBIT
025656,004583: 33,2057 70076 MASK FLAGWRD2
025657,004584: 33,2060 54076 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF.
025658,004585: 33,2061 44753 CS OLDESBIT
025659,004586: 33,2062 70074 MASK STATE
025660,004587: 33,2063 54074 TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED.
025661,004588: 33,2064 04616 TC BANKCALL
025662,004589: 33,2065 52167 CADR SETRRECR # ENABLE RR ERROR COUNTERS.
025663,004590: 33,2066 34740 CA ANTENBIT
025664,004591: 33,2067 70110 MASK RADMODES
025665,004592: 33,2070 10000 CCS A # TEST RR MODE BIT.
025666,004593: 33,2071 12104 TCF SETPRPOS # MODE 2.
025667,004594:
025668,004595: 33,2072 35031 CA PRIO21 # MODE 1; MUST REMODE.
025669,004596: 33,2073 05072 TC NOVAC
025670,004597: 33,2074 E7,1456 EBANK= LOSCOUNT
025671,004598: 33,2074 02113 66067 2CADR R29REMOJ # NEEDS OWN JOB TO RADSTALL IN.
025672,004599:
025673,004600: 33,2076 44742 CS DESIGBIT
025674,004601: 33,2077 70110 MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES
025675,004602: 33,2100 54110 TS RADMODES # BEFORE CALLING REMODE
025676,004603: 33,2101 34736 CA REMODBIT
025677,004604: 33,2102 26110 ADS RADMODES # SHOW THAT REMODING IS ON.
025678,004605: 33,2103 12573 TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS.
025679,004606:
025680,004607: 33,2104 34753 SETPRPOS CA ONE
025681,004608: 33,2105 05203 TC WAITLIST
025682,004609: 33,2106 E7,1456 EBANK= LOSCOUNT
025683,004610: 33,2106 03604 52067 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO -180 DEG.
025684,004611:
025685,004612: 33,2110 34741 CA REPOSBIT
025686,004613: 33,2111 26110 ADS RADMODES # SHOW THAT REPOSITIONING IS ON.
025687,004614: 33,2112 12573 TCF NOR29NOW
025688,004615:
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|
Page 602 |
025690,004617: # FORCE RENDEZVOUS RADAR INTO MODE 2.
025691,004618:
025692,004619: 33,2113 34753 R29REMOJ CA ONE
025693,004620: 33,2114 05203 TC WAITLIST
025694,004621: 33,2115 E7,1456 EBANK= LOSCOUNT
025695,004622: 33,2115 02202 52067 2CADR REMODE # REMODE MUST RUN AS A TASK.
025696,004623:
025697,004624: 33,2117 04616 TC BANKCALL # WAIT FOR END OF REMODING.
025698,004625: 33,2120 17705 CADR RADSTALL
025699,004626:
025700,004627: 33,2121 15155 TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN.
025701,004628: 33,2122 15155 TCF ENDOFJOB
025702,004629:
025703,004630: # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG.
025704,004631:
025705,004632: 25,2000 SETLOC R29S1
025706,004633: 25,2000 BANK
025707,004634:
025708,004635: 25,3604 34735 PREPOS29 CA NEGMAX # -180 DEG.
025709,004636: 25,3605 02252 TC RRTONLY # DRIVE TRUNNION CDU.
025710,004637: 25,3606 44741 CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF.
025711,004638: 25,3607 70110 MASK RADMODES
025712,004639: 25,3610 54110 TS RADMODES
025713,004640: 25,3611 15261 TCF TASKOVER
025714,004641:
025715,004642: # COMPUTE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP.
025716,004643:
025717,004644: 33,2045 SETLOC R29
025718,004645: 33,2045 BANK
025719,004646:
025720,004647: 33,2123 00006 R29.LOS EXTEND
025721,004648: 33,2124 41234 DCS PIPTIME
025722,004649: 33,2125 52155 DXCH MPAC
025723,004650: 33,2126 00006 EXTEND
025724,004651: 33,2127 30025 DCA TIME2
025725,004652: 33,2130 20155 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28.
025726,004653: 33,2131 54163 TS MODE # SET MODE TO DOUBLE PRECISION.
025727,004654: 33,2132 30155 CA MPAC +1
025728,004655: 33,2133 00006 EXTEND
025729,004656: 33,2134 74740 MP BIT12
025730,004657: 33,2135 52155 DXCH MPAC # T-PIPTIME NOW SCALED B-17.
025731,004658: 33,2136 06042 TC INTPRET
|
|
Page 603 |
025733,004660: # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN
025734,004661: # START IT UP WHEN THE DATA IS IN PLACE.
025735,004662: 33,2137 52315 PDVL VSU # PUSH DOWN T-PIPTIME.
025736,004663: 33,2140 01726 V(CSM)
025737,004664: 33,2141 03527 V # LOSVEL = V(CSM) - V.
025738,004665: 33,2142 74325 PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM
025739,004666: 33,2143 52255 VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET
025740,004667: 33,2144 01720 R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES.
025741,004668: 33,2145 03521 R
025742,004669: 33,2146 77414 BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.)
025743,004670: 33,2147 01043 LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM-
025744,004671: 33,2150 66152 SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA.
025745,004672: 33,2151 12573 TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA.
025746,004673:
025747,004674: 33,2152 25101 SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES
025748,004675: 33,2153 00001 0
025749,004676: 33,2154 77761 VXSC
025750,004677: 33,2155 26177 .5SECB17
025751,004678: 33,2156 01761 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY.
025752,004679: 33,2157 77414 CLEAR EXIT
025753,004680: 33,2160 01263 LOSCMFLG # LET R29DLOOP USE NEW DATA.
025754,004681:
025755,004682: 33,2161 40074 CS STATE
025756,004683: 33,2162 74753 MASK OLDESBIT
025757,004684: 33,2163 00006 EXTEND
025758,004685: 33,2164 12573 BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED.
025759,004686: 33,2165 00004 INHINT
025760,004687: 33,2166 26074 ADS STATE # OTHERWISE REQUEST IT NOW.
025761,004688:
025762,004689: 33,2167 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND.
025763,004690: 33,2170 44776 CS SUPER110 # -96D +100D = 4.
025764,004691: 33,2171 64777 AD 1SEC # 0 +100D = 100D.
025765,004692: 33,2172 05203 TC WAITLIST
025766,004693: 33,2173 E7,1456 EBANK= LOSCOUNT
025767,004694: 33,2173 03357 50067 2CADR BEGDES29 # START BEGDES29 TASK ASAP.
025768,004695:
025769,004696: 33,2175 12573 TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS.
025770,004697:
025771,004698: 33,2176 00006 10000 .5SECB17 2DEC 50 B-17
025772,004699:
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|
Page 604 |
025774,004701: # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A
025775,004702: # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA.
025776,004703:
025777,004704: 24,3357 BANK 24
025778,004705: 24,2000 SETLOC P20S
025779,004706: 24,2000 BANK
025780,004707:
025781,004708: 24,3357 COUNT* $$/R29
025782,004709:
025783,004710: 24,3357 35031 BEGDES29 CAF PRIO21
025784,004711: 24,3360 05072 TC NOVAC
025785,004712: 24,3361 E3,1760 EBANK= LOSVDT/4
025786,004713: 24,3361 02550 64063 2CADR R29DODES # START R29DODES JOB TWICE A SECOND.
025787,004714:
025788,004715: 24,3363 34774 R29DLOOP CAF .5SEC
025789,004716: 24,3364 05224 TC VARDELAY
025790,004717:
025791,004718: 24,3365 40110 CS RADMODES
025792,004719: 24,3366 74742 MASK DESIGBIT
025793,004720: 24,3367 10000 CCS A
025794,004721: 24,3370 15261 TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF.
025795,004722:
025796,004723: 24,3371 40076 CS FLAGWRD2
025797,004724: 24,3372 74740 MASK LOSCMBIT
025798,004725: 24,3373 00006 EXTEND
025799,004726: 24,3374 13377 BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA.
025800,004727: 24,3375 26076 ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON.
025801,004728: 24,3376 13357 TCF BEGDES29
025802,004729:
025803,004730: 24,3377 34753 CA ONE
025804,004731: 24,3400 13364 TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA.
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|
Page 605 |
025806,004733: # R29DODES: RR DESIGNATION LOOP FOR R29
025807,004734:
025808,004735: # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR
025809,004736: # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY,
025810,004737: # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT
025811,004738: # ALL. THE UNIT(LOSSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE-
025812,004739: # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP.
025813,004740:
025814,004741: # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ
025815,004742: # TASK WHEN LOCK-ON IS ACHIEVED.
025816,004743:
025817,004744: 32,2550 BANK 32
025818,004745: 32,2000 SETLOC F2DPS*32
025819,004746: 32,2000 BANK
025820,004747:
025821,004748: 32,2550 COUNT* $$/R29
025822,004749: 32,2550 E3,1760 EBANK= LOSVDT/4
025823,004750:
025824,004751: 32,2550 34753 R29DODES CA ONE
025825,004752: 32,2551 55106 TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP.
025826,004753: 32,2552 34756 CA FIVE
025827,004754:
025828,004755: 32,2553 10000 R29DVBEG CCS A # COUNT DOWN BY TWOS IN VECTOR LOOP.
025829,004756: 32,2554 54002 TS Q
025830,004757: 32,2555 11106 CCS TANG
025831,004758: 32,2556 12564 TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP.
025832,004759:
025833,004760: 32,2557 00006 EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND).
025834,004761: 32,2560 50002 INDEX Q
025835,004762: 32,2561 31761 DCA LOSVDT/4
025836,004763: 32,2562 50002 INDEX Q
025837,004764: 32,2563 21101 DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND.
025838,004765:
025839,004766: 32,2564 00006 R29DPAS1 EXTEND
025840,004767: 32,2565 50002 INDEX Q
025841,004768: 32,2566 31101 DCA LOSSM
025842,004769: 32,2567 50002 INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO-
025843,004770: 32,2570 52156 DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS).
025844,004771: 32,2571 11106 CCS TANG
025845,004772: 32,2572 12600 TCF R29DVEND # BUG OUT HERE IN 1ST PASS.
025846,004773:
025847,004774: 32,2573 00006 EXTEND
025848,004775: 32,2574 50002 INDEX Q
025849,004776: 32,2575 31761 DCA LOSVDT/4
025850,004777: 32,2576 50002 INDEX Q
025851,004778: 32,2577 20156 DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS).
025852,004779:
025853,004780: 32,2600 10002 R29DVEND CCS Q
025854,004781: 32,2601 12553 TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP.
025855,004782:
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|
Page 606 |
025857,004784: # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS).
025858,004785:
025859,004786: 32,2602 52156 DXCH MPAC +1
025860,004787: 32,2603 52155 DXCH MPAC
025861,004788: 32,2604 32776 CA R29FXLOC # = ADRES INTB15 + -34D
025862,004789: 32,2605 54120 TS FIXLOC
025863,004790: 32,2606 04713 TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH
025864,004791: 32,2607 01023 CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE.
025865,004792: 32,2610 07535 TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA.
025866,004793:
025867,004794: 32,2611 11106 CCS TANG
025868,004795: 32,2612 12614 TCF +2
025869,004796: 32,2613 12630 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS.
025870,004797: 32,2614 00004 INHINT # ENSURE CONSISTENT CDU READINGS.
025871,004798: 32,2615 00006 EXTEND
025872,004799: 32,2616 30036 DCA CDUT
025873,004800: 32,2617 53767 DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES.
025874,004801: 32,2620 30033 CA CDUY
025875,004802: 32,2621 54765 TS CDUSPOT
025876,004803: 32,2622 30034 CA CDUZ
025877,004804: 32,2623 54767 TS CDUSPOT +2
025878,004805: 32,2624 30032 CA CDUX
025879,004806: 32,2625 54771 TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T.
025880,004807: 32,2626 04616 TC BANKCALL
025881,004808: 32,2627 47617 CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES.
025882,004809:
025883,004810: 32,2630 46250 GOTANGLS CS THREE
025884,004811: 32,2631 04616 TC BANKCALL
025885,004812: 32,2632 47677 CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB).
025886,004813:
025887,004814: 32,2633 11106 CCS TANG
025888,004815: 32,2634 12636 TCF +2
025889,004816: 32,2635 12703 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS.
025890,004817:
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|
Page 607 |
025892,004819: # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF
025893,004820: # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E. SMALLER ANGLE).
025894,004821:
025895,004822: 32,2636 00004 INHINT
025896,004823: 32,2637 55106 TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP.
025897,004824: 32,2640 31766 CA SAVECDUT
025898,004825: 32,2641 05032 TC SPCOS
025899,004826: 32,2642 54166 TS PUSHLOC # PUSHLOC = COS T.
025900,004827: 32,2643 41766 CS SAVECDUT
025901,004828: 32,2644 05033 TC SPSIN
025902,004829: 32,2645 54163 TS MODE # MODE = -SIN T.
025903,004830: 32,2646 00006 EXTEND
025904,004831: 32,2647 70124 MP VBUF +2 # FORM - SIN T ULOSNBY.
025905,004832: 32,2650 52155 DXCH MPAC
025906,004833: 32,2651 31767 CA SAVECDUT +1
025907,004834: 32,2652 05033 TC SPSIN
025908,004835: 32,2653 55766 TS SAVECDUT # SAVECDUT NOW = SIN S.
025909,004836: 32,2654 00006 EXTEND
025910,004837: 32,2655 70166 MP PUSHLOC
025911,004838: 32,2656 00006 EXTEND
025912,004839: 32,2657 70122 MP VBUF # FORM SIN S COS T ULOSNBX.
025913,004840: 32,2660 20155 DAS MPAC
025914,004841: 32,2661 31767 CA SAVECDUT +1
025915,004842: 32,2662 05032 TC SPCOS
025916,004843: 32,2663 55767 TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S.
025917,004844: 32,2664 00006 EXTEND
025918,004845: 32,2665 70166 MP PUSHLOC
025919,004846: 32,2666 00006 EXTEND
025920,004847: 32,2667 70126 MP VBUF +4 # FORM COS S COS T ULOSNBZ.
025921,004848: 32,2670 20155 DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T,
025922,004849: 32,2671 00006 EXTEND # -SIN T, COS S COS T).
025923,004850: 32,2672 30155 DCA MPAC
025924,004851: 32,2673 20155 TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR).
025925,004852: 32,2674 10000 CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS.
025926,004853: 32,2675 34736 CA BIT14
025927,004854: 32,2676 12677 NOOP
025928,004855: 32,2677 00006 EXTEND
025929,004856: 32,2700 05012 WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE.
025930,004857: 32,2701 00003 RELINT
025931,004858: 32,2702 12552 TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP.
025932,004859:
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|
Page 608 |
025934,004861: # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HALF THE ERROR IN HALF A SECOND.
025935,004862:
025936,004863: 32,2703 31767 R29DPAS2 CA SAVECDUT +1
025937,004864: 32,2704 00006 EXTEND
025938,004865: 32,2705 70122 MP VBUF # FORM COS S ULOSNB'X.
025939,004866: 32,2706 53107 DXCH TANG
025940,004867: 32,2707 41766 CS SAVECDUT
025941,004868: 32,2710 00006 EXTEND
025942,004869: 32,2711 70126 MP VBUF +4 # FORM - SIN S ULOSNB'Z.
025943,004870: 32,2712 21107 DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0,
025944,004871: 32,2713 40163 CS MODE # - SIN S)
025945,004872: 32,2714 00006 EXTEND
025946,004873: 32,2715 71766 MP SAVECDUT
025947,004874: 32,2716 00006 EXTEND
025948,004875: 32,2717 70122 MP VBUF # FORM SIN T SIN S ULOSNB'X.
025949,004876: 32,2720 52155 DXCH MPAC
025950,004877: 32,2721 30166 CA PUSHLOC
025951,004878: 32,2722 00006 EXTEND
025952,004879: 32,2723 70124 MP VBUF +2 # FORM COS T ULOSNB'Y.
025953,004880: 32,2724 20155 DAS MPAC
025954,004881: 32,2725 40163 CS MODE
025955,004882: 32,2726 00006 EXTEND
025956,004883: 32,2727 71767 MP SAVECDUT +1
025957,004884: 32,2730 00006 EXTEND
025958,004885: 32,2731 70126 MP VBUF +4 # FORM SIN T COS S ULOSNB'Z.
025959,004886: 32,2732 20155 DAS MPAC # RAW TRUNNION CMD = ULOSNB'.
025960,004887: 32,2733 30154 CA MPAC # (SIN S SIN T, COS T, SIN S COS T).
025961,004888: 32,2734 00006 EXTEND
025962,004889: 32,2735 72777 MP RR29GAIN
025963,004890: 32,2736 55354 TS TRUNNCMD
025964,004891: 32,2737 31106 CA TANG
025965,004892: 32,2740 00006 EXTEND
025966,004893: 32,2741 72777 MP RR29GAIN
025967,004894: 32,2742 55355 TS SHAFTCMD # STORE REFINED SHAFT COMMAND FOR RROUT
025968,004895:
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|
Page 609 |
025970,004897: # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START
025971,004898: # READING DATA FROM THE RENDEZVOUS RADAR.
025972,004899:
025973,004900: 32,2743 34750 DGOOD? CAF BIT4
025974,004901: 32,2744 00006 EXTEND
025975,004902: 32,2745 02033 RAND CHAN33 # GET RR DATA-GOOD BIT.
025976,004903: 32,2746 00004 INHINT # (MAINLY FOR RROUT).
025977,004904: 32,2747 00006 EXTEND
025978,004905: 32,2750 12754 BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT.
025979,004906:
025980,004907: 32,2751 04616 TC BANKCALL
025981,004908: 32,2752 52317 CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS.
025982,004909: 32,2753 12772 TCF END29DOD
025983,004910:
025984,004911: 32,2754 44742 R29LOKON CS DESIGBIT
025985,004912: 32,2755 70110 MASK RADMODES
025986,004913: 32,2756 54110 TS RADMODES # SHOW THAT DESIGNATION IS OVER.
025987,004914: 32,2757 44752 CS BIT2
025988,004915: 32,2760 00006 EXTEND
025989,004916: 32,2761 03012 WAND CHAN12 # DISABLE RR ERROR COUNTERS.
025990,004917: 32,2762 34743 CA READRBIT
025991,004918: 32,2763 26077 ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED.
025992,004919: 32,2764 11055 CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC.
025993,004920: 32,2765 44776 CS SUPER110 # -96D + 100D = 4.
025994,004921: 32,2766 64777 AD 1SEC # 0 + 100D = 100D.
025995,004922: 32,2767 05203 TC WAITLIST
025996,004923: 32,2770 E7,1456 EBANK= LOSCOUNT
025997,004924: 32,2770 03401 50067 2CADR R29READ # START READING TASK AND JOB.
025998,004925:
025999,004926: 32,2772 44740 END29DOD CS LOSCMBIT
026000,004927: 32,2773 70076 MASK FLAGWRD2
026001,004928: 32,2774 54076 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG.
026002,004929: 32,2775 15155 TCF ENDOFJOB
026003,004930:
026004,004931: 32,2776 00052 R29FXLOC ADRES INTB15+ -34D
026005,004932: 32,2777 56655 RR29GAIN DEC -.53624
026006,004933: 32,3000 E3,1760 LOSVDT/4 EQUALS LOSVEL
026007,004934: 32,3000 1100 LOSSM EQUALS RRTARGET
026008,004935: 32,3000 E3,1766 SAVECDUT EQUALS MLOSV
026009,004936:
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|
Page 610 |
026011,004938: # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON.
026012,004939:
026013,004940: 24,3401 BANK 24
026014,004941: 24,2000 SETLOC P20S
026015,004942: 24,2000 BANK
026016,004943:
026017,004944: 24,3401 COUNT* $$/R29
026018,004945:
026019,004946: 24,3401 E7,1456 EBANK= LOSCOUNT
026020,004947:
026021,004948: 24,3401 37717 R29READ CAF PRIO26 # CALLED BY WAITLIST.
026022,004949: 24,3402 05072 TC NOVAC
026023,004950: 24,3403 E7,1456 EBANK= LOSCOUNT
026024,004951: 24,3403 03414 50067 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29.
026025,004952:
026026,004953: 24,3405 35000 CA 2SECS
026027,004954: 24,3406 05224 TC VARDELAY
026028,004955:
026029,004956: 24,3407 30077 CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL
026030,004957: 24,3410 74743 MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.)
026031,004958: 24,3411 10000 CCS A
026032,004959: 24,3412 13401 TCF R29READ # IT'S OK; CALL IT AGAIN.
026033,004960: 24,3413 15261 TCF TASKOVER # IT AIN'T; WAIT FOR REDESIGNATE.
026034,004961:
026035,004962: 24,3414 30077 R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC.
026036,004963: 24,3415 74741 MASK NR29FBIT
026037,004964: 24,3416 10000 CCS A # TEST "NOR29FLG".
026038,004965: 24,3417 13501 TCF ENDR29RD # R29 OVER, EXIT WITH RR STILL LOCKED ON
026039,004966: 24,3420 30110 CA RADMODES
026040,004967: 24,3421 74752 MASK AUTOMBIT
026041,004968: 24,3422 10000 CCS A # TEST RR-NOT-IN-AUTO-MODE BIT.
026042,004969: 24,3423 13476 TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE.
026043,004970:
026044,004971: 24,3424 04616 TC BANKCALL
026045,004972: 24,3425 53112 CADR RRRDOT # INITIATE READING OF RANGE RATE.
026046,004973: 24,3426 04616 TC BANKCALL
026047,004974: 24,3427 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026048,004975: 24,3430 13476 TCF ENDRRD29 # BAD READ; REDESIGNATE.
026049,004976:
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|
Page 611 |
026051,004978: # R29 RADAR READING CONTINUED.
026052,004979:
026053,004980: 24,3431 53105 DXCH TIMEHOLD
026054,004981: 24,3432 52155 DXCH MPAC # TIME OF RR READING, FOR DOWNLINK.
026055,004982: 24,3433 00004 INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES.
026056,004983: 24,3434 00006 EXTEND
026057,004984: 24,3435 30036 DCA CDUT
026058,004985: 24,3436 52157 DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK.
026059,004986: 24,3437 00006 EXTEND
026060,004987: 24,3440 30034 DCA CDUY
026061,004988: 24,3441 52161 DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFER FOR COPYCYCLE.
026062,004989: 24,3442 30032 CA CDUX
026063,004990: 24,3443 54162 TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK.
026064,004991:
026065,004992: 24,3444 04616 R29RANGE TC BANKCALL
026066,004993: 24,3445 53114 CADR RRRANGE # INITIATE READING OF RR RANGE.
026067,004994: 24,3446 04616 TC BANKCALL
026068,004995: 24,3447 17705 CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY.
026069,004996: 24,3450 13467 TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH?
026070,004997:
026071,004998: 24,3451 00004 INHINT
026072,004999: 24,3452 53331 DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK.
026073,005000: 24,3453 53757 DXCH RM
026074,005001: 24,3454 52155 DXCH MPAC
026075,005002: 24,3455 53755 DXCH MKTIME
026076,005003: 24,3456 52157 DXCH MPAC +2
026077,005004: 24,3457 53753 DXCH TANGNB
026078,005005: 24,3460 52161 DXCH MPAC +4
026079,005006: 24,3461 53460 DXCH AIG
026080,005007: 24,3462 30162 CA MPAC +6
026081,005008: 24,3463 55461 TS AOG
026082,005009: 24,3464 34753 CA ONE
026083,005010: 24,3465 55462 TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT.
026084,005011: 24,3466 15155 TCF ENDOFJOB
026085,005012:
026086,005013: 24,3467 40101 R29RRR? CS FLAGWRD5
026087,005014: 24,3470 74742 MASK BIT10
026088,005015: 24,3471 10000 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)?
026089,005016: 24,3472 13476 TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE.
026090,005017: 24,3473 05516 TC DOWNFLAG
026091,005018: 24,3474 00120 ADRES RNGSCFLG
026092,005019: 24,3475 13444 TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN.
026093,005020:
026094,005021: 24,3476 44736 ENDRRD29 CS BIT14 # TROUBLE MADE US COME HERE TO LEAVE THE
026095,005022: 24,3477 00006 EXTEND # RR-READING MODE. DISCREDIT DOWNTEL
026096,005023: 24,3500 03012 WAND CHAN12
026097,005024: 24,3501 34755 ENDR29RD CA ZERO
026098,005025: 24,3502 55462 TS TRKMKCNT
026099,005026: 24,3503 05516 TC DOWNFLAG
026100,005027:
|
|
Page 612 |
026102,005029: 24,3504 00063 ADRES READRFLG
026103,005030: 24,3505 15155 TCF ENDOFJOB
026104,005031:
|
|
Page 613 |
026106,005033: # W-MATRIX MONITOR
026107,005034:
026108,005035: 31,2007 BANK 31
026109,005036: 31,2000 SETLOC VB67
026110,005037: 31,2000 BANK
026111,005038: 31,2007 COUNT* $$/EXTVB
026112,005039:
026113,005040: 31,2007 E4,1600 EBANK= WWPOS
026114,005041:
026115,005042: 31,2007 06042 V67CALL TC INTPRET
026116,005043: 31,2010 77624 CALL
026117,005044: 31,2011 62120 V67WW
026118,005045: 31,2012 77776 EXIT
026119,005046: 31,2013 00006 EXTEND # SAVE THE PRESENT N99 VALUES FOR
026120,005047: 31,2014 31601 DCA WWPOS # COMPARISON AFTER THE DISPLAY
026121,005048: 31,2015 53607 DXCH WWBIAS +2
026122,005049: 31,2016 00006 EXTEND
026123,005050: 31,2017 31603 DCA WWVEL
026124,005051: 31,2020 53611 DXCH WWBIAS +4
026125,005052: 31,2021 00006 EXTEND
026126,005053: 31,2022 31605 DCA WWBIAS
026127,005054: 31,2023 53613 DXCH WWBIAS +6
026128,005055: 31,2024 32143 V06N99DS CAF V06N99
026129,005056: 31,2025 04616 TC BANKCALL
026130,005057: 31,2026 20334 CADR GOXDSPF
026131,005058: 31,2027 15472 TCF ENDEXT
026132,005059: 31,2030 12032 TCF V6N99PRO
026133,005060: 31,2031 12024 TCF V06N99DS
026134,005061: 31,2032 22007 V6N99PRO ZL
026135,005062: 31,2033 34756 CA FIVE
026136,005063: 31,2034 54002 N99LOOP TS Q
026137,005064: 31,2035 50002 INDEX Q
026138,005065: 31,2036 41600 CS WWPOS
026139,005066: 31,2037 50002 INDEX Q
026140,005067: 31,2040 61606 AD WWPOS +6
026141,005068: 31,2041 26001 ADS L
026142,005069: 31,2042 10002 CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
026143,005070: 31,2043 12034 TCF N99LOOP
026144,005071: 31,2044 22000 LXCH A
026145,005072: 31,2045 00006 EXTEND
026146,005073: 31,2046 12051 BZF V06N9933
026147,005074: 31,2047 05504 TC UPFLAG
026148,005075: 31,2050 00160 ADRES V67FLAG
026149,005076:
026150,005077: 31,2051 06042 V06N9933 TC INTPRET
026151,005078: 31,2052 77414 BON EXIT
026152,005079: 31,2053 03707 V67FLAG
026153,005080: 31,2054 62056 +2
026154,005081: 31,2055 15472 TCF ENDEXT
026155,005082: 31,2056 77745 DLOAD
|
|
Page 614 |
026157,005084: 31,2057 02201 WWPOS
026158,005085: 31,2060 72412 SL4 SL1
026159,005086: 31,2061 14001 STODL 0D
026160,005087: 31,2062 02203 WWVEL
026161,005088: 31,2063 14003 STODL 2D
026162,005089: 31,2064 02205 WWBIAS
026163,005090: 31,2065 77661 SL # SHIFT FROM NOUN SCALING (B-5) TO
026164,005091: 31,2066 20213 10D # INTERNAL SCALING (B+5)
026165,005092: 31,2067 00005 STORE 4D
026166,005093: 31,2070 72014 BON LXA,1
026167,005094: 31,2071 04307 SURFFLAG
026168,005095: 31,2072 62102 V67SURF
026169,005096: 31,2073 00000 0D
026170,005097: 31,2074 72130 SXA,1 LXA,1
026171,005098: 31,2075 02000 WRENDPOS
026172,005099: 31,2076 00002 2D
026173,005100: 31,2077 52130 SXA,1 GOTO
026174,005101: 31,2100 02001 WRENDVEL
026175,005102: 31,2101 62110 V67CLRF
026176,005103: 31,2102 66150 V67SURF LXA,1 SXA,1
026177,005104: 31,2103 00000 0D
026178,005105: 31,2104 02006 WSURFPOS
026179,005106: 31,2105 66150 LXA,1 SXA,1
026180,005107: 31,2106 00002 2D
026181,005108: 31,2107 02007 WSURFVEL
026182,005109: 31,2110 66150 V67CLRF LXA,1 SXA,1
026183,005110: 31,2111 00004 4D
026184,005111: 31,2112 02003 WTRUN
026185,005112: 31,2113 77730 SXA,1
026186,005113: 31,2114 02002 WSHAFT
026187,005114: 31,2115 77414 CLEAR EXIT
026188,005115: 31,2116 02676 RENDWFLG
026189,005116: 31,2117 15472 TCF ENDEXT
026190,005117: 31,2120 40020 V67WW STQ BOV
026191,005118: 31,2121 00051 S2
026192,005119: 31,2122 62123 +1
026193,005120: 31,2123 45014 CLEAR CALL
026194,005121: 31,2124 03667 V67FLAG
026195,005122: 31,2125 27410 INTSTALL
026196,005123: 31,2126 71331 SSP DLOAD
026197,005124: 31,2127 00051 S1
026198,005125: 31,2130 00006 DEC 6 B-14
026199,005126: 31,2131 06524 ZEROVECS
026200,005127: 31,2132 02201 STORE WWPOS
026201,005128: 31,2133 02203 STORE WWVEL
026202,005129: 31,2134 02205 STORE WWBIAS
026203,005130: 31,2135 77770 AXT,1
026204,005131: 31,2136 00066 DEC 54 B-14
026205,005132: 31,2137 47573 NXPOSVEL VLOAD* VSQ
026206,005133: 31,2140 02467 W +54D,1
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|
Page 615 |
026208,005135: 31,2141 77650 GOTO
026209,005136: 31,2142 60002 ADDPOS
026210,005137: 31,2143 01543 V06N99 VN 0699
026211,005138:
026212,005139: 30,2000 SETLOC VB67A
026213,005140: 30,2000 BANK
026214,005141: 30,2002 COUNT* $$/EXTVB
026215,005142:
026216,005143: 30,2002 77615 ADDPOS DAD
026217,005144: 30,2003 02201 WWPOS
026218,005145: 30,2004 02201 STORE WWPOS
026219,005146: 30,2005 47573 VLOAD* VSQ
026220,005147: 30,2006 02555 W +108D,1
026221,005148: 30,2007 77615 DAD
026222,005149: 30,2010 02203 WWVEL
026223,005150: 30,2011 02203 STORE WWVEL
026224,005151: 30,2012 47573 VLOAD* VSQ
026225,005152: 30,2013 02643 W +162D,1
026226,005153: 30,2014 77615 DAD
026227,005154: 30,2015 02205 WWBIAS
026228,005155: 30,2016 02205 STORE WWBIAS
026229,005156: 30,2017 75500 TIX,1 SQRT
026230,005157: 30,2020 62137 NXPOSVEL
026231,005158: 30,2021 77661 SR # SHIFT FROM INTERNAL SCALING (B+5) TO
026232,005159: 30,2022 20613 10D # NOUN SCALING (B-5)
026233,005160: 30,2023 16205 STODL WWBIAS
026234,005161: 30,2024 02203 WWVEL
026235,005162: 30,2025 77766 SQRT
026236,005163: 30,2026 16203 STODL WWVEL
026237,005164: 30,2027 02201 WWPOS
026238,005165: 30,2030 77766 SQRT
026239,005166: 30,2031 02201 STORE WWPOS
026240,005167: 30,2032 52000 BOV GOTO
026241,005168: 30,2033 60035 +2
026242,005169: 30,2034 60042 V67XXX
026243,005170: 30,2035 77745 DLOAD
026244,005171: 30,2036 06532 DPPOSMAX
026245,005172: 30,2037 02201 STORE WWPOS
026246,005173: 30,2040 02203 STORE WWVEL
026247,005174: 30,2041 02205 STORE WWBIAS
026248,005175: 30,2042 45345 V67XXX DLOAD DSU
026249,005176: 30,2043 02201 WWPOS
026250,005177: 30,2044 20060 FT99999
026251,005178: 30,2045 71240 BMN DLOAD
026252,005179: 30,2046 60051 +3
026253,005180: 30,2047 20060 FT99999
026254,005181: 30,2050 02201 STORE WWPOS
026255,005182: 30,2051 66150 LXA,1 SXA,1
026256,005183: 30,2052 00051 S2
026257,005184: 30,2053 00052 QPRET
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|
Page 616 |
026259,005186: 30,2054 77776 EXIT
026260,005187: 30,2055 04635 TC POSTJUMP
026261,005188: 30,2056 27421 CADR INTWAKE
026262,005189:
026263,005190: 30,2057 01670 17000 FT99999 2DEC 30479 B-19
026264,005191:
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|
Page 617 |
026266,005193: 25,3612 BANK 25
026267,005194: 25,2000 SETLOC RADARUPT
026268,005195: 25,2000 BANK
026269,005196: 25,3612 COUNT* $$/RRUPT
026270,005197:
026271,005198: 25,3612 E7,1456 EBANK= LOSCOUNT
026272,005199:
026273,005200: 25,3612 44747 RADLITES CS BIT5
026274,005201: 25,3613 60061 AD ITEMP1
026275,005202: 25,3614 10000 CCS A
026276,005203: 25,3615 44753 CS ONE
026277,005204: 25,3616 13646 TCF VLIGHT
026278,005205:
026279,005206: 25,3617 14570 TCF RRTRKF
026280,005207:
026281,005208: 25,3620 54065 HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
026282,005209:
026283,005210: 25,3621 34747 CA HLITE
026284,005211: 25,3622 54001 TS L
026285,005212:
026286,005213: 25,3623 34747 CA LRALTBIT
026287,005214: 25,3624 70110 BOTHLITS MASK RADMODES
026288,005215: 25,3625 10000 CCS A
026289,005216: 25,3626 13640 TCF ONLITES
026290,005217:
026291,005218: 25,3627 30107 CA FLGWRD11
026292,005219: 25,3630 50065 INDEX ITEMP5
026293,005220: 25,3631 74753 MASK HFLSHBIT
026294,005221: 25,3632 10000 CCS A
026295,005222: 25,3633 14570 TCF RRTRKF
026296,005223:
026297,005224: 25,3634 00006 LITIT EXTEND
026298,005225: 25,3635 22066 QXCH ITEMP6
026299,005226: 25,3636 04602 TC TRKFLON +1
026300,005227:
026301,005228: 25,3637 00066 TC ITEMP6
026302,005229:
026303,005230: 25,3640 50065 ONLITES INDEX ITEMP5
026304,005231: 25,3641 44753 CS HFLSHBIT
026305,005232: 25,3642 70107 MASK FLGWRD11
026306,005233: 25,3643 54107 TS FLGWRD11
026307,005234:
026308,005235: 25,3644 30001 CA L
026309,005236: 25,3645 13634 TCF LITIT
026310,005237: 25,3646 54065 VLIGHT TS ITEMP5
026311,005238: 25,3647 34751 CA VLITE
026312,005239: 25,3650 54001 TS L
026313,005240: 25,3651 34744 CA BIT8
026314,005241: 25,3652 13624 TCF BOTHLITS
026315,005242:
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Page 618 |
026317,005244: 25,3653 4747 HLITE EQUALS BIT5
026318,005245: 25,3653 4751 VLITE EQUALS BIT3
026319,005246:
End of include-file P20-P25.agc. Parent file is MAIN.agc